BECKHOFF AX2000 CANopen communication profile - Manual (Page 79)

4.10.6 Object 2087h: Latch Positions Digital Input 1
The Objects covered by Index 2087 are used for reading out the latch positions from digital input 1
and for enabling the latch functions of digital inputs 1 and 2.
Index 2087 h
Brief description Latch Positions Digital Input 1
Object code RECORD
Number of elements 4
Sub-index:
Sub-index 01 h
Brief description Latch Positions Digital Input 1, positive
Unit —
Access ro
PDO mapping possible
Data type INTEGER32
Value range INTEGER32
Default value 0
Sub-index 02 h
Brief description Latch Positions Digital Input 1, negative
Unit —
Access ro
PDO mapping possible
Data type INTEGER32
Value range INTEGER32
Default value 0
Sub-index 03 h
Brief description Latch Enable for Inputs 1 and 2
Unit —
Access rw
PDO mapping possible
Data type UNSIGNED8
Value range 0...15
Default value 0
This mappable Object is used to enable the positive/negative edges of latch inputs 1/2. For this pur-
pose, the latch function (INxMODE = 26) must be configured for these inputs. The enable bits are
assigned to the function as shown below:
Bit Enable
0 Enable positive latch event at digital input 1
1 Enable negative latch event at digital input 1
2 Enable positive latch event at digital input 2
3 Enable negative latch event at digital input 2
CANopen for AX2000/2500 79
BECKHOFF
07/2007
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