DS-401 V2.

0 CANopen Device Profile for Generic I/O Modules CiA

CiA Draft Standard 401

CANopen
Device Profile for Generic I/O Modules

Version 2.0
Date: 20 December 1999

© CAN in Automation (CiA) e. V.

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DS-401 V2.0 CANopen Device Profile for Generic I/O Modules CiA

Errata Sheet for CiA DS-401 V 2.0 (Date: 2000-05-22)

CANopen Device Profile for Generic I/O Modules

Chapter Page Action Text

5.2 9 Delete • Stop_Remote_Node indication
5.2 9 Add Object 1029h: Error Behaviour

This object specifies to which state an I/O module shall be set, when a
communication error, output error or input error is detected.
0 = pre-operational (only if current state is operational)
1 = no state change
2 = stopped
In addition to the specification in /2/ the following Sub-indexes may be
implemented.

Sub-Index: 2h
Description: Output Error
Access: rw
Entry Category: Optional
PDO Mapping: No
Value Range: 0h to 2h
Default Value: 0h

Sub-Index: 3h
Description: Input Error
Access: rw
Entry Category: Optional
PDO Mapping: No
Value Range: 0h to 2h
Default Value: 0h

Note: If the object 1029h is not implemented the device shall be set into pre-
operational state in the case a communication error is detected.
7.1.2 17 Change In the figure the object 6007h shall be the interrupt mask low-to-high and the
object 6008h shall be the interrupt mask high-to-low.
7.1.2 18 Change The data type of the objects 6120h, 6122h, and 6123h is Unsigned32
7.1.4 21 Change In the figure the operator shall be ‘≥’.
8.1.6 29 Change Sub-Index FEh value range: Unsigned8
8.2.5 52 Change 0 = Output shall be set to ‘0’ in case of fault, if Object 6206h is enabled
1 = Output shall be set to ‘1’ in case of fault, if Object 6206h is enabled
8.2.6 53 Change 1 = Output shall be set to the received output value
8.2.10 57 Change If corresponding Object (6250h .. 6257h) is enabled
8.3.2 70 Change Sub-Index 2h .. 1Ch Access: ro
8.4.4 77 Change This object shall write the Float value to the output channel ‘n’.
8.5.2 80 Change Default values of Sub-indexes 1h to FEh shall be 7h
8.5.3 81 Change Type errors: determine - shall
8.5.3 81 Delete The duplicated Default value in Sub-index 0h table
8.5.5 83 Add when the analogue input is equal or rises above the given value.
8.5.16 94 Change Default values of Sub-indexes 1h to FEh shall be 1.0
8.5.19 97 Change Default values of Sub-indexes 1h to FEh shall be 1
8.6.3 100 Change Default values of Sub-indexes 1h to FEh shall be 1.0
8.6.4 101 Add or a Remote_stop_node_indication.
8.6.10 105 Change Default values of Sub-indexes 1h to FEh shall be 1
8.6.11 106 Delete The object 6450h is substituted by the object 1029h.

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Table of contents
1 SCOPE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

2 NORMATIVE REFERENCES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

3 DEFINITIONS, ACRONYMS AND ABBREVIATIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

4 OPERATING PRINCIPLE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

4.1 INTRODUCTION........................................................................................................................ 9

5 ERROR HANDLING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

5.1 PRINCIPLE ............................................................................................................................ 10

5.2 ERROR BEHAVIOUR ................................................................................................................ 10
5.3 ADDITIONAL ERROR CODE MEANINGS......................................................................................... 10

6 PREDEFINITIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

6.1 INTRODUCTION...................................................................................................................... 11
6.2 PRE-DEFINED COMMUNICATION OBJECTS .................................................................................... 12
6.2.1 Object 1000h: Device Type ........................................................................................... 12
6.2.2 Object 1001h: Error Register ........................................................................................ 12
6.2.3 1st RPDO mapping (digital outputs) ............................................................................... 12
6.2.4 1st TPDO mapping (digital inputs) ................................................................................. 13
6.2.5 2nd RPDO mapping (analogue outputs)........................................................................... 14
6.2.6 2nd TPDO mapping (analogue inputs)............................................................................. 14
6.2.7 3rd RPDO mapping (analogue outputs) ........................................................................... 15
6.2.8 3rd TPDO mapping (analogue inputs)............................................................................. 15
6.2.9 4th RPDO mapping (analogue outputs) ........................................................................... 16
6.2.10 4th TPDO mapping (analogue inputs) ............................................................................. 16

7 OBJECT DICTIONARY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

7.1 INPUT AND OUTPUT FUNCTION PRINCIPLES.................................................................................. 17

7.1.1 Object dictionary for the digital input and output modules................................................... 17
7.1.2 Digital input module .................................................................................................... 18
7.1.3 Digital output module................................................................................................... 20
7.1.4 Analogue input module................................................................................................. 22
7.1.5. Analogue output module ............................................................................................... 23
7.1.6 Analogue input set-ups ................................................................................................. 24
7.1.7 Analogue output set-ups................................................................................................ 24
7.1.8 General device profile objects........................................................................................ 24

8 OBJECT DESCRIPTIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

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8. 1 DIGITAL INPUT MODULE....................................................................................................... 25

8.1.1 Object 6000h: Read Input 8-Bit...................................................................................... 25
8.1.2 Object 6002h: Polarity Input 8-Bit.................................................................................. 26
8.1.3 Object 6003h: Filter Constant Input 8-Bit ........................................................................ 27
8.1.4 Object 6005h: Global Interrupt Enable Digital 8-Bit.......................................................... 28
8.1.5 Object 6006h: Interrupt Mask Any Change 8-Bit ............................................................... 29
8.1.6 Object 6007h: Interrupt Mask Low-to-High 8-Bit .............................................................. 30
8.1.7 Object 6008h: Interrupt Mask High-to-Low 8-Bit .............................................................. 31
8.1.8 Object 6020h .. Object 6027: Read Input Bit 1 to 128 .. Read Input Bit 896 to 1024.................. 32
8.1.9 Object 6030h .. Object 6037h: Polarity Input Bit 1 to 128 .. Polarity Input Bit 897 to 1024........ 33
8.1.10 Object 6038h .. Object 6045h: Filter Constant Input Bit 1 to 128 .. Filter Constant Input Bit 897 to
1024 34
8.1.11 Object 6050h to Object 6057h: Interrupt Mask Input Any Change Bit 1 to 128 .. Interrupt Mask
Input Any Change Bit 897 to 1024................................................................................................... 35
8.1.12 Object 6060h .. Object 6067h: Interrupt Mask Input Low-to-High Bit 1 to 128 .. Interrupt Mask
Input Low-to-High Bit 897 to 1024 .................................................................................................. 36
8.1.13 Object 6070h .. Object 6077h: Interrupt Mask Input High-to-Low Bit 1 to 128 .. Interrupt Mask
Input High-to-Low Bit 897 to 1024 .................................................................................................. 37
8.1.14 Object 6100h: Read Input 16-bit .................................................................................... 38
8.1.15 Object 6102h: Polarity Input 16-bit ................................................................................ 39
8.1.16 Object 6103h: Filter Constant Input 16-bit....................................................................... 40
8.1.17 Object 6106h: Interrupt Mask Input Any Change 16-bit ...................................................... 41
8.1.18 Object 6107h: Interrupt Mask Input Low-to-High 16-bit ..................................................... 42
8.1.19 Object 6108h: Interrupt Mask Input High-to-Low 16-bit ..................................................... 43
8.1.20 Object 6120h: Read Input 32-bit .................................................................................... 44
8.1.21 Object 6122h: Polarity Input 32-bit ................................................................................ 45
8.1.22 Object 6123h: Filter Constant Input 32-bit....................................................................... 46
8.1.23 Object 6126h: Interrupt Mask Input Any Change 32-bit ...................................................... 47
8.1.24 Object 6127h: Interrupt Mask Input Low-to-High 32-bit ..................................................... 48
8.1.25 Object 6128h: Interrupt Mask Input High-to-Low 32-bit ..................................................... 49
8.2 DIGITAL OUTPUT MODULE........................................................................................................ 50
8.2.1 Object 6200h: Write Output 8-Bit ................................................................................... 50
8.2.3 Object 6202h: Change Polarity Output 8-Bit .................................................................... 51
8.2.4 Object 6206h: Error Mode Output 8-Bit .......................................................................... 52
8.2.5 Object 6207h: Error Value Output 8-Bit .......................................................................... 53
8.2.6 Object 6208h: Filter Mask Output 8-Bit........................................................................... 54
8.2.7 Object 6220h .. Object 6227h: Write Output Bit 1 to 128 .. Write Output Bit 897 to 1024 .......... 55
8.2.8 Object 6240h .. Object 6247h: Change Polarity Output Bit 1 to 128 .. Change Polarity Output Bit
897 to 1024 56

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8.2.9 Object 6250h .. Object 6257: Error Mode Output Bit 1 to 128 .. Error Mode Output Bit 897 to
1024 57
8.2.10 Object 6260h .. Object 6267h: Error Value Output Bit 1 to 128 .. Error Value Output Bit 897 to
1024 58
8.2.11 Object 6270h .. Object 6277h: Filter Mask Output Bit 1 to 128 .. Filter Constant Mask Bit 897 to
1024 59
8.2.12 Object 6300h: Write Output 16-bit ......................................................................................... 60
8.2.13 Object 6302h: Change Polarity Output 16-Bit................................................................... 61
8.2.14 Object 6306h: Error Mode Output 16-Bit......................................................................... 62
8.2.15 Object 6307h: Error Value Output 16-Bit......................................................................... 63
8.2.16 Object 6308h: Filter Mask Output 16-Bit ......................................................................... 64
8.2.17 Object 6320h: Write Output 32-Bit ................................................................................. 65
8.2.21 Object 6322h: Change Polarity Output 32-Bit................................................................... 66
8.2.22 Object 6326h: Error Mode Output 32-Bit......................................................................... 67
8.2.23 Object 6327h: Error Value Output 32-Bit......................................................................... 68
8.2.24 Object 6328h: Filter Mask Output 32-Bit ......................................................................... 69
8.3 ANALOGUE INPUT MODULE ...................................................................................................... 70
8.3.1 Object 6400h: Read Analogue Input 8-Bit ........................................................................ 70
8.3.2 Object 6401h: Read Analogue Input 16-Bit....................................................................... 71
8.3.3 Object 6402h: Read Analogue Input 32-Bit....................................................................... 72
8.3.4 Object 6403h: Read Analogue Input Float........................................................................ 73
8.3.5 Object 6404h: Read Manufacturer-specific Analogue Input ................................................. 74
8.4 ANALOGUE OUTPUT MODULE.................................................................................................... 75
8.4.1 Object 6410h: Write Analogue Output 8-Bit ..................................................................... 75
8.4.2 Object 6411h: Write Analogue Output 16-Bit.................................................................... 76
8.4.3 Object 6412h: Write Analogue Output 32-Bit.................................................................... 77
8.4.4 Object 6413h: Write Analogue Output Float..................................................................... 78
8.4.5 Object 6414h: Write Manufacturer-specific Analogue Output .............................................. 79
8.5 ANALOGUE INPUT SET-UPS ....................................................................................................... 80
8.5.1 Object 6420h.............................................................................................................. 80
8.5.2 Object 6421h: Analogue Input Interrupt Trigger Selection .................................................. 81
8.5.3 Object 6422h: Analogue Input Interrupt Source ................................................................ 82
8.5.4 Object 6423h: Analogue Input Global Interrupt Enable ...................................................... 83
8.5.5 Object 6424h: Analogue Input Interrupt Upper Limit Integer............................................... 84
8.5.6 Object 6425h: Analogue Input Interrupt Lower Limit Integer............................................... 85
8.5.7 Object 6426h: Analogue Input Interrupt Delta Unsigned..................................................... 86
8.5.8 Object 6427h: Analogue Input Interrupt Negative Delta Unsigned........................................ 87
8.5.9 Object 6428h: Analogue Input Interrupt Positive Delta Unsigned ......................................... 88
8.5.10 Object 6429h: Analogue Input Interrupt Upper Limit Float ................................................. 89

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8.5.11 Object 642Ah: Analogue Input Interrupt Lower Limit Float................................................. 90

8.5.12 Object 642Bh: Analogue Input Interrupt Delta Float.......................................................... 91
8.5.13 Object 642Ch: Analogue Input Interrupt Negative Delta Float............................................. 92
8.5.14 Object 642Dh: Analogue Input Interrupt Positive Delta Float.............................................. 93
8.5.15 Object 642Eh: Analogue Input Offset Float ...................................................................... 94
8.5.16 Object 642Fh: Analogue Input Scaling Float .................................................................... 95
8.5.17 Object 6430h: Analogue Input SI Unit............................................................................. 96
8.5.18 Object 6431h: Analogue Input Offset Integer .................................................................... 97
8.5.19 Object 6432h: Analogue Input Scaling Integer .................................................................. 98
8.6 ANALOGUE OUTPUT SET-UPS .................................................................................................... 99
8.6.1 Object 6440h.............................................................................................................. 99
8.6.2 Object 6441h: Analogue Output Offset Float ...................................................................100
8.6.3 Object 6442h: Analogue Output Scaling Float .................................................................101
8.6.4 Object 6443h: Analogue Output Error Mode ...................................................................102
8.6.5 Object 6444h: Analogue Output Error Value Integer.........................................................103
8.6.8 Object 6445h: Analogue Output Error Value Float ...........................................................104
8.6.9 Object 6446h: Analogue Output Offset Integer.................................................................105
8.6.10 Object 6447h: Analogue Output Scaling Integer...............................................................106
8.6.11 Object 6450h: Analogue Output SI Unit..........................................................................107
8.7 GENERAL DEVICE PROFILE OBJECTS ..........................................................................................108
8.7.1 Object 67FEh: Error Behaviour....................................................................................108
8.7.2 Object 67FF: Device Type ...........................................................................................108

APPENDIX A: JOYSTICK

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1 Scope
This document represents the CANopen device profiles for generic digital and analogue input and output
modules. All these devices use communication techniques, which conform to those described in the
CANopen Communication Profile (CiA Draft Standard DS-301). In addition, programmable I/O devices
may use communication techniques, which conform to those described in the Framework for
programmable CANopen Devices (CiA Draft Standard Proposal DSP-302). These specifications should
be consulted in parallel to this device profile specification.
In the appendices, some specific I/O devices are defined.

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2 Normative references

/1/: IS 11898, Road vehicles – Interchange of digital information – Controller area network
(CAN), November 1993.

/2/: CiA DS-301 V4.0, CANopen application layer and communication profile, June 1999.

/3/ CiA DRP-303-2 V1.0, Representation of SI Units and Prefixes, July 1999.

/4/ CiA DSP-302 V2.0, Framework for programmable CANopen devices, November 1998

3 Definitions, acronyms and abbreviations

CAN
Controller Area Network. Data link layer protocol for serial communication as specified in ISO
11898-1 (1999).
CiA
CAN in Automation international users and manufacturers group e.V. Non-profit association
promoting Controller Area Network (CAN).
COB
Communication Object, which is made of one or more CAN frames. Any information transmitted
via CANopen has to be mapped into COBs.
COB-ID
COB-Identifier. Identifies a COB uniquely in a CAN network. The identifier determines the priority
of that COB in the data link layer, too.
SDO
Service Data Object. Peer-to-peer communication with access to the Object Dictionary of a
CANopen device.
I/O
Input and output
RPDO
Receive Process Data Object. Communication object of a device, which contains output data.
SDO
Service Data Object. Peer-to-peer communication with access to the Object Dictionary of a
CANopen device.
TPDO
Transmit Process Data Object. Communication object of a device, which contains input data.

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4 Operating principle
4.1 Introduction
The purpose of I/O modules is to connect sensors and actuators to CANopen networks. In operational
mode, input data can be transmitted from the inputs via TPDOs (Transmit Process Data Object). By
default, the PDO transmission is triggered by an interrupt (event). Optionally PDOs may be transmitted
synchronously or remotely requested. In addition, it is possible to read input data via SDO (Service Data
Object) communication from another module, or to write data via SDO to the network, if the module
provides SDO client functionality.
Output data can be received via RPDO (Receive Process Data Object) by those I/O modules that have
output capabilities. Output data also can be received via SDO communication services.
However, the main purpose of SDO communication is to configure an I/O module. The module can
receive via SDO I/O configuration data, parameters for converting data into meaningful measurements
and so on. I/O modules compliant with this device profile use pre-defined PDOs. The default mapping of
Application Objects into Transmit PDOs (TPDO) resp. Receive PDOs (RPDO) may be changed via SDO,
if variable PDO mapping is supported. An I/O module may provide optionally Sync Producer/Consumer,
Time-Stamp Producer/Consumer and Emergency Producer/Consumer functionality. For new designs, it is
highly recommended to support Heartbeat functionality.

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5 Error handling
5.1 Principle
Emergency Messages shall be triggered by internal errors in the device and they are assigned the
highest possible priority to ensure that they get access to the bus without latency. By default, the
Emergency Messages shall contain the error field with pre-defined error numbers and additional
information.

5.2 Error behaviour

If a serious device failure is detected the module shall enter by default autonomously the pre-operational
state. If object 67FEh is implemented, the device can be configured to enter alternatively the stopped
state or remain in the current state in case of an device failure. Device failures shall include the following
communication errors:
• Bus-off conditions of the CAN interface
• Life guarding event with the state ‘occurred’
• Heartbeat event with state ‘occurred’
• Stop_Remote_Node indication
Serious device errors also can be caused by device internal failures.

5.3 Additional error code meanings

Error Code Meaning

2310h Current at outputs to high (overload)
2320h Short circuit at outputs
2330h Load dump at outputs
3110h Input voltage to high
3120h Input voltage to low
3210h Internal voltage to high
3220h Internal voltage to low
3310h Output voltage to high
3320h Output voltage to low

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6 Predefinitions
6.1 Introduction
If a device supports a specific type of I/O functionality (analogue/digital I/O) it shall support the related
default PDOs. However, the module can support additional manufacturer-specific PDOs. If variable PDO
mapping is supported the PDO default settings can be changed by means of configuration.
There shall be up to 4 enabled TPDOs and up to 4 enabled RPDOs with default mappings. If a module
did not support a specific I/O function, the related default PDOs shall remain unused. If a device supports
more then the default digital input or output channels, the related analogue default PDOs shall remain
unused and the additional digital I/Os can use additional PDOs. This shall be the same for additional
analogue channels.
All TPDOs with transmission type 255 shall be transmitted when entering the OPERATIONAL state.

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6.2 Pre-defined communication objects

Modules compliant with this device profile shall come with default values for some communication objects
(1000h to 1FFFh), which are not specified in all details in /2/.

6.2.1 Object 1000h: Device Type

The object at index 1000h describes the type of device and its functionality. For multiple device modules
the Additional Information parameter shall contain FFFFh. In this case, the object 67FFh shall be
implemented.

Additional Information General Information

Specific I/O Device Profile Number
Functionality Functionality
31 24 23 16 15 8 7 0
MSB LSB
General Information
Device Profile Number: 401d
Additional Information
1 = function is implemented
0 = function is not implemented

I/O Functionality: 16th Bit: Digital input

17th Bit: Digital output
18th Bit: Analogue input
19th Bit: Analogue output
Rest: Reserved
Any combination of digital/analogue, inputs and outputs is allowed.
Specific Functionality:

Code Function Reference

0h No specific function -
1h Joystick Appendix A
2h .. FFh Reserved -

6.2.2 Object 1001h: Error Register

The device-specific bits in the status word are reserved for future use.
6.2.3 1st RPDO mapping (digital outputs)
This RPDO receives asynchronously the values of maximum 64 digital outputs to I/O module. The default
transmission type shall be 255. The default values of the mapped outputs are described in the Default
State objects. Note: After power-on and application reset these default objects are valid.
Index Default Value
Sub-Index Comment

1600h 0h number of mapped objects No

1h 1st object to be mapped 6200 01 08h

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2h 2nd object to be mapped 6200 02 08h

3h 3th object to be mapped 6200 03 08h
4h 4th object to be mapped 6200 04 08h
5h 5th object to be mapped 6200 05 08h
6h 6th object to be mapped 6200 06 08h
7h 7th object to be mapped 6200 07 08h
8h 8th object to be mapped 6200 08 08h

The number of mapped objects into the PDO depends on the hardware.

6.2.4 1st TPDO mapping (digital inputs)

This TPDO transmits event-driven the values of maximum 64 digital inputs. The default transmission type
shall be 255; the default values for inhibit and event timer are 0. If one digital input changes its value, this
PDO shall be transmitted immediately. If an interrupt mask is enabled, the PDO shall be transmitted only
if the interrupt condition is fulfilled.
Index Default Value
Sub-Index Comment
1A00h 0h number of mapped objects No
1h 1st object to be mapped 6000 01 08h
2h 2nd object to be mapped 6000 02 08h
3h 3th object to be mapped 6000 03 08h
4h 4th object to be mapped 6000 04 08h
5h 5th object to be mapped 6000 05 08h
6h 6th object to be mapped 6000 06 08h
7h 7th object to be mapped 6000 07 08h
8h 8th object to be mapped 6000 08 08h

The number of mapped objects into the PDO depends on the hardware.

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6.2.5 2nd RPDO mapping (analogue outputs)

This RPDO receives asynchronously the 16-bit values of maximum 4 analogue outputs to the module.
The default transmission type shall be 255. The default values of the mapped outputs are described in
the Default State objects. Note: After power-on and application reset these default objects are valid.
Index Default Value
Sub-Index Comment
1601h 0h number of mapped objects No
1h 1st object to be mapped 6411 01 10h
2h 2nd object to be mapped 6411 02 10h
3h 3rd object to be mapped 6411 03 10h
4h 4th object to be mapped 6411 04 10h

The number of mapped objects into the PDO depends on the hardware.

6.2.6 2nd TPDO mapping (analogue inputs)

This TPDO transmits event-driven the 16-bit values of maximum 4 analogue inputs. The default
transmission type shall be 255; the default values for inhibit and event timer are 0. By default the interrupt
source (object 6423h) is disabled. If one analogue input changes its value and object 6423h is enabled,
the PDO shall be transmitted immediately. If an analogue interrupt condition is enabled, the PDO shall be
transmitted only if this interrupt condition is fulfilled. If more than one interrupt condition is enabled, the
PDO shall be transmitted if one of these conditions is fulfilled.
Index Default Value
Sub-Index Comment
1A01h 0h number of mapped objects No
1h 1st object to be mapped 6401 01 10h
2h 2nd object to be mapped 6401 02 10h
3h 3rd object to be mapped 6401 03 10h
4h 4th object to be mapped 6401 04 10h

The number of mapped objects into the PDO depends on the hardware.

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6.2.7 3rd RPDO mapping (analogue outputs)

This RPDO receives asynchronously the 16-bit values of maximum 4 analogue outputs to the module.
The default transmission type shall be 255.
Index
Sub-Index Comment Default Value
1602h 0h number of mapped objects No
1h 1st object to be mapped 6411 05 10h
2h 2nd object to be mapped 6411 06 10h
3h 3rd object to be mapped 6411 07 10h
4h 4th object to be mapped 6411 08 10h

The number of mapped objects into the PDO depends on the hardware.

6.2.8 3rd TPDO mapping (analogue inputs)

This TPDO transmits event-driven the 16-bit values of maximum 4 analogue inputs. The default
transmission type shall be 255. By default the interrupt source (object 6423h) is disabled. If one analogue
input changes its value and object 6423h is enabled, the PDO shall be transmitted immediately. If an
analogue interrupt condition is enabled, the PDO shall be transmitted only if this interrupt condition is
fulfilled. If more than one interrupt condition is enabled, the PDO shall be transmitted if one of these
conditions is fulfilled.
Index
Sub-Index Comment Default Value
1A02h 0h number of mapped objects No
1h 1st object to be mapped 6401 05 10h
2h 2nd object to be mapped 6401 06 10h
3h 3rd object to be mapped 6401 07 10h
4h 4th object to be mapped 6401 08 10h

The number of mapped objects into the PDO depends on the hardware.

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6.2.9 4th RPDO mapping (analogue outputs)

This RPDO receives asynchronously the 16-bit values of maximum 4 analogue outputs to the module.
The default transmission type shall be 255.
Index
Sub-Index Comment Default Value
1603h 0h number of mapped objects No
1h 1st object to be mapped 6411 09 10h
2h 2nd object to be mapped 6411 0A 10h
3h 3rd object to be mapped 6411 0B 10h
4h 4th object to be mapped 6411 0C 10h

The number of mapped objects into the PDO depends on the hardware.

6.2.10 4th TPDO mapping (analogue inputs)

This TPDO transmits event-driven the 16-bit values of maximum 4 analogue inputs. The default
transmission type shall be 255. By default the interrupt source (object 6423h) is disabled. If one analogue
input changes its value and object 6423h is enabled, the PDO shall be transmitted immediately. If an
analogue interrupt condition is enabled, the PDO shall be transmitted only if this interrupt condition is
fulfilled. If more than one interrupt condition is enabled, the PDO shall be transmitted if one of these
conditions is fulfilled.
Index
Sub-Index Comment Default Value
1A03h 0h number of mapped objects No
1h 1st object to be mapped 6401 09 10h
2h 2nd object to be mapped 6401 0A 10h
3h 3rd object to be mapped 6401 0B 10h
4h 4th object to be mapped 6401 0C 10h

The number of mapped objects into the PDO depends on the hardware.

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7 Object dictionary

Each I/O module compliant with this device profile shall share the CANopen Object Dictionary entries
from 6000h to 67FFh. These entries are common to all I/O modules and each module only implements
those objects relevant to its functions. Object Description and Entry Description are specified in /2/.

7.1 Input and output function principles

7.1.1 Object dictionary for the digital input and output modules

Command sequence
It is possible to switch the modules output or input polarity. This feature is the one which is nearest to the
sensors and actuators, e.g. if the polarity of an output is enabled and the output is set to high, then the
output level is ‘0’.
The following table shows the profile command sequence.

Commands Polarity Switch Process

Read Input enabled: 0 change to 1 Sensor or Actuator
Write Output 1 change to 0
Interrupt Mask disabled: 0 remains 0
Error Mode 1 remains 1

Example of the polarity with a digital output:

internal output signal

XOR output signal to the process
polarity

Access to 1-, 8-, 16- and 32-points

There are different objects to allow 1-bit, 8-bit, 16-bit or 32-bit access to digital inputs or outputs (e.g.
definition of polarity). If these objects define the same function, they access single database. Example: If
the Object 6002h (Change Polarity Input 8-Bit) Subindex 1h has the value AAh and Subindex 2h the
value 0Fh, Object 6102 (Change Polarity Input 16-Bit) Subindex 1h will have the value 0FAAh.

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DS-401 V2.0 CANopen Device Profile for Generic I/O Modules CiA

7.1.2 Digital input module

There are different access methods defined. By default, 8-bit access shall be supported; the other access
methods are optional. The tables list the digital input objects.
The following table lists the objects for 8-bit access.
Index Object Name Data Type Category
Code
(OC)
6000h Array Read Input 8-bit Unsigned8 C: DI
6001h - Reserved - -
6002h Array Polarity Input 8-bit Unsigned8 O
6003h Array Filter Constant Input 8-bit Unsigned8 O
6004h - Reserved - -
6005h Var Global Interrupt Enable Digital Boolean O
6006h Array Interrupt Mask Any Change 8-bit Unsigned8 O
6007h Array Interrupt Mask Low-to-High 8-bit Unsigned8 O
6008h Array Interrupt Mask High-to-Low 8-bit Unsigned8 O
6009h - Reserved - -
to
601Eh - Reserved - -

The figure shows the relationship between the digital input objects for an 8-bit access.

Single Filter Default Default

Digital Constant Mapping Communication
OPTIO-
Input Parameter Parameter
NAL 6003h
FILTER
{1,0} 1A00h 1800h

{1,0}
CHANG {1,0} ENTRY MAP TRANS-
E into into MIT
POLAR- 6000h TPDO1 TPDO1
ITY
CAN
{E,D} {Unsigned8} {8 Byte} {TPDO1} Transmission
{E,D}
6002h 6006h

Polarity Input Any Change

{T,F}
{E,D}

6007h =1 CLOSE
{T,F} {T,F}
OR IF
E = enabled TRUE
D = disabled High-to-
T = true Low
{E,D}
F = false {E,D}
6008h Interrupt
{T,F} 6005h
Enable
Low-to-
High

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DS-401 V2.0 CANopen Device Profile for Generic I/O Modules CiA

The following table lists the objects for 1-bit, 16-bit and 32-bit access.
Index OC Name Data Type Category
601Fh - Reserved - -
6020h Array Read Input Bit 1 to 128 Boolean O
to
6027h Array Read Input Bit 897 to 1024 Boolean O
6028h - Reserved - -
to
602Fh - Reserved - -
6030h Array Polarity Input Bit 1 to 128 Boolean O
to
6037h Array Polarity Input Bit 897 to 1024 Boolean O
6038h Array Filter Constant Input Bit 1 to 128 Boolean O
to
6045h Array Filter Constant Input Bit 897 to 1024 Boolean O
604Fh - Reserved - -
6050h Array Interrupt Mask Input Bit 1 to 128 Any Change Boolean O
to
6057h Array Interrupt Mask Input Bit 897 to 1024 Any Change Boolean O
6058h - Reserved - -
to
605Fh - Reserved - -
6060h Array Interrupt Mask Input Bit 1 to 128 Low-to-High Boolean O
to
6067h Array Interrupt Mask Input Bit 897 to 1024 Low-to-High Boolean O
6068h - Reserved - -
to
606Fh - Reserved - -
6070h Array Interrupt Mask Input Bit 1 to 128 High-to-Low Boolean O
to
6077h Array Interrupt Mask Input Bit 897 to 1024 High-to-Low Boolean O
6078h - Reserved - -
to
60FFh - Reserved - -
6100h Array Read Input 16-Bit Unsigned16 O
6101h - Reserved - -
6102h Array Polarity Input 16-Bit Unsigned16 O
6103h Array Filter Constant Input 16-Bit Unsigned16 O
6104h - Reserved - -
6105h - Reserved - -
6106h Array Interrupt Mask Input 16-Bit Any Change Unsigned16 O
6107h Array Interrupt Mask Input 16-Bit Low-to-High Unsigned16 O
6108h Array Interrupt Mask Input 16-Bit High-to–Low Unsigned16 O
6109h - Reserved - -
to
611Fh - Reserved - -
6120h Array Read Input 32-Bit Unsigned16 O
6121h - Reserved - -
6122h Array Polarity Input 32-Bit Unsigned16 O
6123h Array Filter Constant Input 32-Bit Unsigned16 -
6124h - Reserved - -
6125h - Reserved - -
6126h Array Interrupt Mask Input 32-Bit Any Change Unsigned32 O
6127h Array Interrupt Mask Input 32-Bit Low-to-High Unsigned32 O
6128h Array Interrupt Mask Input 32-Bit High-to-Low Unsigned32 O
6129h - Reserved - -
to
61FFh - Reserved - -

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7.1.3 Digital output module

There are different access methods defined. By default, 8-bit access shall be supported; the other access
methods are optional. The tables list the digital output objects.
The following table lists the objects for 8-bit access.
Index Object Name Data Type Category
Code
(OC)
6200h Array Write Output 8-Bit Unsigned8 C: DO
6201h - Reserved - -
6202h Array Change Polarity Output 8-Bit Unsigned8 O
6203h Reserved - -
to
6205h - Reserved - -
6206h Array Error Mode Output 8-Bit Unsigned8 O
6207h Array Error State Output 8-Bit Unsigned8 O
6208h Array Filter Constant Output 8-Bit Unsigned8 O
6209h - Reserved - -
to
621Eh - Reserved - -

The figure shows the relationship between the digital output objects for an 8-bit access.

Default Default
Communication Mapping Change Filter
Parameter Parameter Polarity Mask

1400h 1600h 6202h 6208h

{21h} {20h}
{E,D} {E,D}
{8 Byte} {0,1}

RECEIVE ENTRY CHANGE BLOCK {0,1}

{RPDO1} {0,1} POLARITY {0,1} FILTER
RPDO1 into
6200h
CAN Single
Reception Digital
Output
Error Mode SWITCH
IF 0h
6206h
{0h,1h} Switch if
Device
Error Value
{0,1} Failure

6207h

E = enabled
D = disabled

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DS-401 V2.0 CANopen Device Profile for Generic I/O Modules CiA

The following table lists the objects for 1-, 16- and 32-Bit access.

Index OC Name Data Type Category

621Fh - Reserved -
6220h Array Write Output Bit 1 to 128 Boolean O
to
6227h Array Write Output Bit 897 to 1024 Boolean O
6228h - Reserved - -
to
623Fh - Reserved - -
6240h Array Change Polarity Output Bit 1 to 128 Boolean O
to
6247h Array Change Polarity Output Bit 897 to 1024 Boolean O
6248h - Reserved - -
to
624Fh - Reserved - -
6250h Array Error Mode Output Bit 1 to 128 Boolean O
to
6257h Array Default Mode Output Bit 897 to 1024 Boolean O
6258h - reserved - -
to
625Fh - reserved - -
6260h Array Error Value Output Bit 1 to 128 Boolean O
to
6267h Array Error Value Output Bit 897 to 1024 Boolean O
6268h - Reserved - -
to
626Fh - Reserved - -
6270h Array Filter Constant Output Bit 1 to 128 Boolean O
to
6277h Array Filter Constant Output Bit 897 to 1024 Boolean O
6278h - Reserved - -
to
62FFh - Reserved - -
6300h Array Write Output 16-Bit Unsigned16 O
6301h - Reserved - -
6302h Array Change Polarity Output 16-Bit Unsigned16 O
6303h - Reserved - -
to
6305h - Reserved - -
6306h Array Error Mode Output 16-Bit Unsigned16 O
6307h Array Error Value Output 16-Bit Unsigned16 O
6308h Array Filter Constant Output 16-Bit Unsigned16 O
6309h - Reserved - -
to
631Fh - Reserved - -
6320h Array Write Output 32-Bit Unsigned32 O
6321h - Reserved - -
6322h Array Change Polarity Output 32-Bit Unsigned32 O
6323h - Reserved - -
to
6325h - Reserved - -
6326h Array Error Mode Output 32-Bit Unsigned32 O
6327h Array Error State Output 32-Bit Unsigned32 O
6328h Array Filter Constant Output 32-Bit Unsigned32 O
6329h - Reserved - -
to
63FFh - Reserved - -

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7.1.4 Analogue input module

There are different access methods defined. By default, 16-bit access shall be supported; the other
access methods are optional.
Index Object Name Data Type Category
Code
6400h Array Read Analogue Input 8-Bit Integer8 O
6401h Array Read Analogue Input 16-Bit Integer16 C: AI
6402h Array Read Analogue Input 32-Bit Integer32 O
6403h Array Read Analogue Input Float Float O
6404h Array Read Manufacturer-specific Analogue Input specific O

The figure shows the relationship between the analogue input objects for an Integer16 access.

Default Default
Mapping Communication
Offset Scaling Parameter Parameter
6431h 6432h 1A01 .. 3h 1801 .. 3h
(2) (2)

642Eh 642Fh

A/D Signal (1) ENTRY (4)* MAP TRANS-

Conver- Condition into into MIT
ter CAN
-ing 6401h TPDO2 .. TPDO2 ..
Transmission
4 4
{8 Byte} {TPDO2.. 4}
Single {V,A}
Analog (2)
6424h {T,F} {T,F}
Input
6429h > =1 &
{T,F}
CLOSE
Upper Limit XOR AND IF
TRUE
(2) {T,F}
6425h
642Ah <
Lower Limit {E,D}
{T,F}
∆
6426h Interrupt 6423h
Value Difference
Enable
(3)
(3) (3)
642Bh
Positive Value T = true (1) = up to 16 bit
Negative Value 6427h 6428h Difference F = false (2) = Integer32
Difference E = enabled (3) = Unsigned32
D = disabled (4) = Integer16
642Ch 642Dh * = left adjusted

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 DS-401 V2.0 CANopen Device Profile for Generic I/O Modules CiA

7.1.5. Analogue output module

There are different access methods defined. By default, 16-bit access shall be supported; the other
access methods are optional.
Index Object Name Data Type Category
Code
6410h Array Write Analogue Output 8-Bit Integer8 O
6411h Array Write Analogue Output 16-Bit Integer16 C:AO
6412h Array Write Analogue Output 32-Bit Integer32 O
6413h Array Write Analogue Output Float Float O
6414h Array Write Manufacturer-specific Analogue Output specific O

The figure shows the relationship between the analogue output objects for an Integer16 access.

Default Default
Communication Mapping
Parameter Parameter

1401 .. 3h 1601 .. 3h

(1) (1)
6446h 6447h
6441h 6442h

RECEIVE ENTRY (2)* Signal D/A

{RPDO2 .. 4} RPDO2 .. 4 into Condition Converter {V,A}
6411h -ing
CAN
Reception Single
Analog
Output

Error Mode SWITCH

IF 0h
6443h
Switch if
{0h,1h} Device
Failure
Error Value
(1)
E = enabled
6444h D = disabled
(1) = Integer32
(2) = Integer16
6445h * = left adjusted
with default value of 0

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DS-401 V2.0 CANopen Device Profile for Generic I/O Modules CiA

7.1.6 Analogue input set-ups

Index Object Name Data Type Category
Code
6420h - Reserved for compatibility reason - -
6421h Array Analogue Input Interrupt Trigger Selection Unsigned8 O
6422h Array Analogue Input Interrupt Source Unsigned32 O
6423h Var Analogue Input Global Interrupt Enable Boolean C: AI
6424h Array Analogue Input Interrupt Upper Limit Integer Integer32 O
6425h Array Analogue Input Interrupt Lower Limit Integer Integer32 O
6426h Array Analogue Input Interrupt Delta Unsigned Unsigned32 O
6427h Array Analogue Input Interrupt Negative Delta Unsigned Unsigned32 O
6428h Array Analogue Input Interrupt Positive Delta Unsigned Unsigned32 O
6429h Array Analogue Input Interrupt Upper Limit Float Float O
642Ah Array Analogue Input Interrupt Lower Limit Float Float O
642Bh Array Analogue Input Interrupt Delta Float Float O
642Ch Array Analogue Input Interrupt Negative Delta Float Float O
642Dh Array Analogue Input Interrupt Positive Delta Float Float O
642Eh Array Analogue Input Offset Float Float O
642Fh Array Analogue Input Scaling Float Float O
6430h Array Analogue Input SI Unit Unsigned32 O
6431h Array Analogue Input Offset Integer Integer32 O
6432h Array Analogue Input Scaling Integer Integer32 O
6433h - Reserved - -
to
673Fh - Reserved - -

7.1.7 Analogue output set-ups

Index Object Name Data Type Category
Code
6440h - Reserved for compatibility reason - -
6441h Array Analogue Output Offset Float Float O
6442h Array Analogue Output Scaling Float Float O
6443h Array Analogue Output Error Mode Unsigned8 O
6444h Array Analogue Output Error Value Integer Integer32 O
6445h Array Analogue Output Error Value Float Float O
6446h Array Analogue Output Offset Integer Integer32 O
6447h Array Analogue Output Scaling Integer Integer32 O
6448h - Reserved - -
to
644Fh - Reserved - -
6450h Array Analogue Output SI Unit Unsigned32 O
6451h - Reserved - -
to
67FDh - Reserved - -

7.1.8 General device profile objects

Index Object Name Data Type Category
Code
67FEh Array Error Behaviour Unsigned8 O
67FFh Var Device Type (see /2/) Unsigned32 O

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DS-401 V2.0 CANopen Device Profile for Generic I/O Modules CiA

8 Object descriptions
8. 1 Digital input module
8.1.1 Object 6000h: Read Input 8-Bit
This object shall read groups of 8 input lines as 8-bit information. A maximum of 254 x 8-Bit inputs is
addressable (2032 inputs). This object is mandatory for digital input modules and shall support all
implemented input lines.

Object Description
INDEX 6000h
Name Read Input 8 Bit
Object Code Array
Data Type Unsigned8
Category Conditional: Device with digital inputs
Entry Description
Sub-Index 0h
Description Number of Input 8 Bit
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Read Input 1h to 8h
Access ro
Entry Category Mandatory
PDO Mapping Default
Value Range Unsigned8
Default Value No

Sub-Index 2h .. 8h
Description Read Input 9h to 10h .. Read Input 39h to
40h
Access ro
Entry Category Optional
PDO Mapping Default
Value Range Unsigned8
Default Value No

to

Sub-Index 9h .. FEh
Description Read Input 41h to 48h .. Read Input Read
Input 7E8h to 7F0h
Access ro
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned8
Default value No

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8.1.2 Object 6002h: Polarity Input 8-Bit

This object shall define the polarity of a group of 8 input lines. Input polarity can be inverted individually.
1 = input inverted
0 = input not inverted
If the object is not supported the device shall behave accordingly to the default value.

Object Description
INDEX 6002h
Name Polarity Input 8-Bit
Object Code Array
Data Type Unsigned8
Category Optional
Entry Description
Sub-Index 0h
Description Number of Input 8-Bit
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Polarity Input 1h to 8h
Access rw
Entry Category Mandatory
PDO Mapping Possible
Value Range Unsigned8
Default Value 0h

Sub-Index 2h
Description Polarity Input 9h to 10h
Access rw
Entry Category Optional
PDO Mapping Possible
Value Range Unsigned8
Default Value 0h

to

Sub-Index FEh
Description Polarity Input 7E8h to 7F0h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned8
Default Value 0h

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DS-401 V2.0 CANopen Device Profile for Generic I/O Modules CiA

8.1.3 Object 6003h: Filter Constant Input 8-Bit

This object defines that an additional configurable filter constant shall be enabled or disabled.
1 = enabled
0 = disabled

Object Description
INDEX 6003h
Name Filter Constant Input 8-Bit
Object Code Array
Data Type Unsigned8
Category Optional
Entry Description
Sub-Index 0h
Description Number of Input 8-Bit
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Filter Constant Input 1h to 8h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Unsigned8
Default Value 0h

Sub-Index 2h
Description Filter Constant Input 9h to 10h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned8
Default Value 0h

to

Sub-Index FEh
Description Filter Constant Input 7E8h to 7F0h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned8
Default Value 0h

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DS-401 V2.0 CANopen Device Profile for Generic I/O Modules CiA

8.1.4 Object 6005h: Global Interrupt Enable Digital 8-Bit

This object shall enable and disable globally the interrupt behaviour without changing the interrupt masks.
In event-driven mode the device transmits the input values depending on the interrupt masks in objects
6006h, 6007h, and 6008h (resp. 6050h .. 6057h, 6060h .. 6067h, 6070h .. 6077h, or 6106h, 6107h,
6108h, or 6126h, 6127h, 6127h) and the PDO transmission type.
TRUE = global interrupt enabled
FALSE = global interrupt disabled

Object Description
INDEX 6005h
Name Global Interrupt Enable Digital 8-Bit
Object Code Variable
Data Type Boolean
Category Optional
Entry Description
Sub-Index 0h
Access rw
PDO Mapping No
Value Range Boolean
Default Value TRUE

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DS-401 V2.0 CANopen Device Profile for Generic I/O Modules CiA

8.1.5 Object 6006h: Interrupt Mask Any Change 8-Bit

This object determines, which input port lines shall activate an interrupt by positive or/and negative edge
detection.
1 = interrupt enabled
0 = interrupt disabled
If the object is not supported the device shall behave accordingly to the default value.

Object Description
INDEX 6006h
Name Interrupt Mask Any Change 8-Bit
Object Code Array
Data Type Unsigned8
Category Optional
Entry Description
Sub-Index 0h
Description Number of Input 8-Bit
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Interrupt Any Change 1h to 8h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Unsigned8
Default Value FFh

Sub-Index 2h
Description Interrupt Any Change 9h to 10h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned8
Default Value FFh

to

Sub-Index FEh
Description Interrupt Any Change 7E8h to 7F0h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned8
Default Value FFh

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DS-401 V2.0 CANopen Device Profile for Generic I/O Modules CiA

8.1.6 Object 6007h: Interrupt Mask Low-to-High 8-Bit

This object determines, which input port lines shall activate an interrupt by positive edge detection (logical
0 to 1). Done for groups of 8 lines. The values shall be in an ”OR” connection to the values of object
6006h (Interrupt Mask Any Change 8-Bit). If inputs are inverted by object 6002h (Polarity Input 8-Bit), the
positive logical edge shall correspond to negative physical edge.
1 = interrupt enabled
0 = interrupt disabled

Object Description
INDEX 6007h
Name Interrupt Mask Low to High 8-Bit
Object Code Array
Data Type Unsigned8
Category Optional
Entry Description
Sub-Index 0h
Description Number of Input 8-Bit
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Interrupt Low to High 1h to 8h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Unsigned8
Default Value 0h

Sub-Index 2h
Description Interrupt Low to High 9h to 10h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned8
Default Value 0h

to

Sub-Index FEh
Description Interrupt Low to High 7E8h to 7F0h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned
Default Value 0h

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DS-401 V2.0 CANopen Device Profile for Generic I/O Modules CiA

8.1.7 Object 6008h: Interrupt Mask High-to-Low 8-Bit

This object determines, which input port lines shall activate an interrupt by negative edge detection
(logical 1 to 0). Done for groups of 8 lines. The values shall be in an ”OR” connection to the values of
object 6006h (Interrupt Mask Any Change 8-Bit). If inputs are inverted by object 6002h (Polarity Input 8-
Bit), the negative logical edge shall correspond to positive physical edge.
1 = interrupt enabled
0 = interrupt disabled

Object Description
INDEX 6008h
Name Interrupt Mask High to Low 8-Bit
Object Code Array
Data Type Unsigned8
Category Optional
Entry Description
Sub-Index 0h
Description Number of Input 8-bit
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Interrupt High to Low 1h to 8h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Unsigned8
Default Value 0h

Sub-Index 2h
Description Interrupt High to Low 9h to 10h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned8
Default Value 0h

to

Sub-Index FEh
Description Interrupt High to Low 7F1h to 7F8h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned8
Default Value 0h

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8.1.8 Object 6020h .. Object 6027: Read Input Bit 1 to 128 .. Read Input Bit 896 to 1024
These objects shall read single input lines information. A maximum of 128 input lines is addressable at
one index. The Object 6020h shall address the input lines 1 to 128, the Object 6021h shall address the
input lines 129 to 256, etc.

Object Description
INDEX 6020h
Name Read Input Bit 1h to 80h
Object Code Array
Array Boolean
Category Optional
Entry Description
Sub-Index 0h
Description Number of Input Bit
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to 80h
Default Value No

Sub-Index 1h
Description Read Input 1h
Access ro
Entry Category Mandatory
PDO Mapping Optional
Value Range Boolean
Default Value No

Sub-Index 2h
Description Read Single Input 2h
Access ro
Entry Category Optional
PDO Mapping Optional
Value Range Boolean
Default Value No

to

Sub-Index 80h
Description Read Single Input 80h
Access ro
Entry Category Optional
PDO Mapping Optional
Value Range Boolean
Default Value No

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8.1.9 Object 6030h .. Object 6037h: Polarity Input Bit 1 to 128 .. Polarity Input Bit 897 to 1024

These objects shall define the polarity of single input lines. A maximum of 128 input lines is addressable
at one index. The Object 6030h shall address the input lines 1 to 128, the Object 6031h shall address the
input lines 129 to 256, etc.
TRUE = input inverted
FALSE = input not inverted
If these objects are not supported the device shall behave accordingly to the default value.

Object Description
INDEX 6030h
Name Polarity Input Bit 1h to 80h
Object Code Array
Data Type Boolean
Category Optional
Entry Description
Sub-Index 0h
Description Number of Input Bit
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to 80h
Default Value No

Sub-Index 1h
Description Polarity Input Bit 1h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Boolean
Default Value FALSE

Sub-Index 2h
Description Polarity Input Bit 2h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Boolean
Default Value FALSE

to

Sub-Index 80h
Description Polarity Input Bit 80h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Boolean
Default Value FALSE

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8.1.10 Object 6038h .. Object 6045h: Filter Constant Input Bit 1 to 128 .. Filter Constant Input Bit
897 to 1024
These objects shall set filter constants for input modules. This defines that an additional configurable filter
constant can be enabled or disabled. The Object 6038h shall address the input lines 1 to 128, the Object
6039h shall address the input lines 129 to 256, etc.
TRUE = enabled
FALSE = disabled

Object Description
INDEX 6038h
Name Filter Constant Input Bit 1h to 80h
Object Code Array
Data Type Boolean
Category Optional
Entry Description
Sub-Index 0h
Description Number of Input Bit
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to 80h
Default Value No

Sub-Index 1h
Description Filter Constant Input Bit 1h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Boolean
Default Value FALSE

Sub-Index 2h
Description Filter Constant Input Bit 2h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Boolean
Default Value FALSE

to

Sub-Index 80h
Description Filter Constant Input Bit 80h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Boolean
Default Value FALSE

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DS-401 V2.0 CANopen Device Profile for Generic I/O Modules CiA

8.1.11 Object 6050h to Object 6057h: Interrupt Mask Input Any Change Bit 1 to 128 .. Interrupt
Mask Input Any Change Bit 897 to 1024
These objects shall set interrupt masks for single input lines. A maximum of 128 Bit inputs is addressable
at one index. The Object 6050h shall address the input lines 1 to 128, the Object 6051h shall address the
input lines 129 to 256, etc.
TRUE = interrupt enabled
FALSE = interrupt disabled

Object Description
INDEX 6050h
Name Interrupt Mask Input Bit Any Change 1h to 80h
Object Code Array
Data Type Boolean
Category Optional
Entry Description
Sub-Index 0h
Description Number of Input Bit
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to 80h
Default Value No

Sub-Index 1h
Description Interrupt Mask Any Change Input Bit 1h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Boolean
Default Value TRUE

Sub-Index 2h
Description Interrupt Mask Any Change Input Bit 2h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Boolean
Default Value TRUE

to

Sub-Index 80h
Description Interrupt Mask Any Change Input 80h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Boolean
Default Value TRUE

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DS-401 V2.0 CANopen Device Profile for Generic I/O Modules CiA

8.1.12 Object 6060h .. Object 6067h: Interrupt Mask Input Low-to-High Bit 1 to 128 .. Interrupt
Mask Input Low-to-High Bit 897 to 1024
These objects shall set interrupt masks for a single input line. A maximum of 128 Bit inputs is
addressable at one index. The Object 6060h shall address the input lines 1 to 128, the Object 6061h shall
address the input lines 129 to 256, etc. The values shall be in an ”OR” connection to the values of object
6050h to 6057h (Interrupt Mask Any Change). If inputs are inverted by object 6030h to 6037h (Polarity
Input), the positive logical edge shall correspond to negative physical edge.
TRUE = interrupt enabled
FALSE = interrupt disabled

Object Description
INDEX 6060h
Name Interrupt Mask Input Low to High Bit 1h to 80h
Object Code Array
Data Type Boolean
Category Optional
Entry Description
Sub-Index 0h
Description Number of Input Bit
Access rw
Entry Category Mandatory
PDO Mapping No
Value Range 1h to 80h
Default Value No

Sub-Index 1h
Description Interrupt Mask Low to High Input 1h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Boolean
Default Value FALSE

Sub-Index 2h
Description Interrupt Mask Low to High Input 2h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Boolean
Default Value FALSE

to

Sub-Index 80h
Description Interrupt Mask Low to High Input 80h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Boolean
Default Value FALSE

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DS-401 V2.0 CANopen Device Profile for Generic I/O Modules CiA

8.1.13 Object 6070h .. Object 6077h: Interrupt Mask Input High-to-Low Bit 1 to 128 .. Interrupt
Mask Input High-to-Low Bit 897 to 1024
The Objects shall set interrupt masks for single input lines. A maximum of 128 Bit inputs is addressable at
one index. The Object 6070h shall address the input lines 1 to 128, the Object 6071h shall address the
input lines 129 to 256, etc. The values shall be in an ”OR” connection to the values of object 6050h to
6057h (Interrupt Mask Any Change). If inputs are inverted by object 6030h to 6037h (Polarity Input), the
negative logical edge shall correspond to positive physical edge.
TRUE = interrupt enabled
FALSE = interrupt disabled

Object Description
INDEX 6060h
Name Interrupt Mask Input High to Low Bit 1h to 80h
Object Code Array
Data Type Boolean
Category Optional
Entry Description
Sub-Index 0h
Description Number of Input Bit
Access rw
Entry Category Mandatory
PDO Mapping No
Value Range 1h to 80h
Default Value No

Sub-Index 1h
Description Interrupt Mask High to Low Input 1h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Boolean
Default Value FALSE

Sub-Index 2h
Description Interrupt Mask High to Low Input 2h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Boolean
Default Value FALSE

to

Sub-Index 80h
Description Interrupt Mask High to Low Input 80h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Boolean
Default Value FALSE
Default Value FALSE

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DS-401 V2.0 CANopen Device Profile for Generic I/O Modules CiA

8.1.14 Object 6100h: Read Input 16-bit

The object shall read a group of 16 input lines as a 16-bit information. A maximum of 254 x 16-Bit words
is addressable (4064 inputs).
1 = input inverted
0 = input not inverted
If the object is not supported the device shall behave accordingly to the default value.

Object Description
INDEX 6100h
Name Read Input 16-bit
Object Code Array
Data Type Unsigned16
Category Optional
Entry Description
Sub-Index 0h
Description Number of Input 16-bit
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Read Input 1h to 10h
Access ro
Entry Category Mandatory
PDO Mapping Optional
Value Range Unsigned16
Default Value No

Sub-Index 2h
Description Read Input 11h to 20h
Access ro
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned16
Default Value No

to

Sub-Index FEh
Description Read Input FD0h to FE0h
Access ro
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned16
Default Value No

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DS-401 V2.0 CANopen Device Profile for Generic I/O Modules CiA

8.1.15 Object 6102h: Polarity Input 16-bit

This object shall define the polarity for a group of 16 input lines. Inputs can be inverted individually.
1 = input inverted
0 = input not inverted
If the object is not supported the device shall behave accordingly to the default value.

Object Description
INDEX 6102h
Name Polarity Input 16-bit
Object Code Array
Data Type Unsigned16
Category Optional
Entry Description
Sub-Index 0h
Description Number of Input 16-bit
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Polarity Input 1h to 10h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Unsigned16
Default Value 0h

Sub-Index 2h
Description Polarity Input 11h to 20h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned16
Default Value 0h

to

Sub-Index FEh
Description Polarity Input FD1h to FF0h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned16
Default Value 0h

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DS-401 V2.0 CANopen Device Profile for Generic I/O Modules CiA

8.1.16 Object 6103h: Filter Constant Input 16-bit

This object defines that an additional configurable filter constant shall be enabled or disabled.
1 = enabled
0 = disabled

Object Description
INDEX 6103h
Name Filter Constant Input 16-bit
Object Code Array
Data Type Unsigned16
Category Optional
Entry Description
Sub-Index 0h
Description Number of Input 16-bit
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Filter Constant Input 1h to 10h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Unsigned16
Default Value 0h

Sub-Index 2h
Description Filter Constant Input 11h to 20h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned16
Default Value 0h

to

Sub-Index FEh
Description Filter Constant Input FD1h to FE0h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned16
Default Value 0h

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DS-401 V2.0 CANopen Device Profile for Generic I/O Modules CiA

8.1.17 Object 6106h: Interrupt Mask Input Any Change 16-bit

This object determines, which input port lines shall activate an interrupt. Done for groups of 16 lines and
for any change of a digital input line.
1 = interrupt enabled
0 = interrupt disabled

Object Description
INDEX 6106h
Name Interrupt Mask Input Any Change 16-bit
Object Code Array
Data Type Unsigned16
Category Optional
Entry Description
Sub-Index 0h
Description Number of Input 16-bit
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Interrupt Any Change Inputs 1h to 10h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Unsigned16
Default Value FFFFh

Sub-Index 2h
Description Interrupt Any Change Inputs 11h to 20h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned16
Default Value FFFFh

to

Sub-Index FEh
Description Interrupt Any Change Inputs FD1h to FE0h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned16
Default Value FFFFh

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DS-401 V2.0 CANopen Device Profile for Generic I/O Modules CiA

8.1.18 Object 6107h: Interrupt Mask Input Low-to-High 16-bit

This object determines, which input port lines shall activate an interrupt. Done for groups of 16 lines and
for a change from low-to-high of a digital input line. The values shall be in an ”OR” connection to the
values of object 6106h (Interrupt Mask Any Change 16-Bit). If inputs are inverted by object 6102h
(Polarity Input 16-Bit), the positive logical edge shall correspond to negative physical edge.
1 = interrupt enabled
0 = interrupt disabled

Object Description
INDEX 6107h
Name Interrupt Mask Input Low to High 16-bit
Object Code Array
Data Type Unsigned16
Category Optional
Entry Description
Sub-Index 0h
Description Number of Input 16-bit
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Interrupt Low to High Inputs 1h to 10h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Unsigned16
Default Value 0h

Sub-Index 2h
Description Interrupt Low to High Inputs 11h to 20h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned16
Default Value 0h

to

Sub-Index FEh
Description Interrupt Low to High Inputs FD1h to FE0h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned16
Default Value 0h

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DS-401 V2.0 CANopen Device Profile for Generic I/O Modules CiA

8.1.19 Object 6108h: Interrupt Mask Input High-to-Low 16-bit

This object determines, which input port lines shall activate an interrupt. Done for groups of 16 lines and
for a change from high-to-low of a digital input line. The values shall be in an ”OR” connection to the
values of object 6106h (Interrupt Mask Any Change 16-Bit). If inputs are inverted by object 6102h
(Polarity Input 16-Bit), the negative logical edge shall correspond to positive physical edge.
1 = interrupt enabled
0 = interrupt disabled

Object Description
INDEX 6108h
Name Interrupt Mask Input High to Low 16-bit
Object Code Array
Data Type Unsigned16
Category Optional
Entry Description
Sub-Index 0h
Description Number of Input 16-bit
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Interrupt High to Low Inputs 1h to 10h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Unsigned16
Default Value 0h

Sub-Index 2h
Description Interrupt High to Low Inputs 11h to 20h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned16
Default Value 0h

to

Sub-Index FEh
Description Interrupt High to Low Inputs FD1h to FE0h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned16
Default Value 0h

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DS-401 V2.0 CANopen Device Profile for Generic I/O Modules CiA

8.1.20 Object 6120h: Read Input 32-bit

This object shall read a group of 32 input lines as 32-bit information. A maximum of 254 x 32-Bit words is
addressable (8128 inputs).

Object Description
INDEX 6120h
Name Read Input 4 Byte
Object Code Array
Data Type Unsigned32
Category Optional
Entry Description
Sub-Index 0h
Description Number of Input 32-bit
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Read Inputs 1h to 20h
Access ro
Entry Category Mandatory
PDO Mapping Optional
Value Range Unsigned32
Default Value No

Sub-Index 2h
Description Read Inputs 21h to 40h
Access ro
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned32
Default Value No

to

Sub-Index FEh
Description Read Inputs 1FA0h to 1FC0h
Access ro
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned32
Default Value No

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DS-401 V2.0 CANopen Device Profile for Generic I/O Modules CiA

8.1.21 Object 6122h: Polarity Input 32-bit

This object shall define the polarity for a group of 32 input lines. Inputs can be inverted individually.
1 = input inverted
0 = input not inverted
If the object is not supported the device shall behave accordingly to the default value.

Object Description
INDEX 6122h
Name Polarity Input 32-bit
Object Code Array
Data Type Unsigned32
Category Optional
Entry Description
Sub-Index 0h
Description Number of Input 32-bit
Access ro
PDO Mapping No
Value Range 1h to FEh
Default Value 0h

Sub-Index 1h
Description Polarity Inputs 1h to 20h
Access rw
Entry Category Mandatory
PDO Mapping No
Value Range Unsigned32
Default Value 0h

Sub-Index 2h
Description Polarity Inputs 21h to 40h
Access rw
Entry Category Optional
PDO Mapping No
Value Range Unsigned32
Default Value 0h

to

Sub-Index FEh
Description Polarity Inputs 1FA0h to 1FC0h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned32
Default Value 0h

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DS-401 V2.0 CANopen Device Profile for Generic I/O Modules CiA

8.1.22 Object 6123h: Filter Constant Input 32-bit

This object defines that an additional configurable filter constant shall be enabled and disabled.
1 = enabled
0 = disabled

Object Description
INDEX 6123h
Name Filter Constant Input 32-bit
Object Code Array
Data Type Unsinged32
Category Optional
Entry Description
Sub-Index 0h
Description Number of Input 32-bit
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Filter Constant Inputs 1h to 20h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Unsigned32
Default Value 0h

Sub-Index 2h
Description Filter Constant Inputs 21h to 40h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned32
Default Value 0h

to

Sub-Index FEh
Description Filter Constant Inputs 1FA1h to 1FC0h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned32
Default Value 0h

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DS-401 V2.0 CANopen Device Profile for Generic I/O Modules CiA

8.1.23 Object 6126h: Interrupt Mask Input Any Change 32-bit

This object determines which input port lines shall activate an interrupt. Done for groups of 32 lines and
for any change of a digital input line.
1 = interrupt enabled
0 = interrupt disabled

Object Description
INDEX 6126h
Name Interrupt Mask Input Any Change 32-bit
Object Code Array
Data Type Unsigned32
Category Optional
Entry Description
Sub-Index 0h
Description Number of Input 32-bit
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Interrupt Any Change Input 1h to 20h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Unsigned32
Default Value FFFF FFFFh

Sub-Index 2h
Description Interrupt Any Change Input 21h to 40h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned32
Default Value FFFF FFFFh

to

Sub-Index FEh
Description Interrupt Any Change Input 1FA1h to 1FC0h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned32
Default Value FFFF FFFFh

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DS-401 V2.0 CANopen Device Profile for Generic I/O Modules CiA

8.1.24 Object 6127h: Interrupt Mask Input Low-to-High 32-bit

This object determines, which input port lines shall activate an interrupt. Done for groups of 32 lines and
for a change from low-to-high of a digital input line. The values shall be in an ”OR” connection to the
values of object 6126h (Interrupt Mask Any Change 32-Bit). If inputs are inverted by object 6122h
(Polarity Input 32-Bit), the positive logical edge shall correspond to negative physical edge.
1 = interrupt enabled
0 = interrupt disabled

Object Description
INDEX 6127h
Name Interrupt Mask Input Low to High 32-bit
Object Code Array
Data Type Unsigned32
Category Optional
Entry Description
Sub-Index 0h
Description Number of Input 32-bit
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Interrupt Low to High Input 1h to 20h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Unsigned32
Default Value oh

Sub-Index 2h
Description Interrupt Low to High Input 21h to 40h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned32
Default Value 0h

to

Sub-Index FEh
Description Interrupt Low to High Input 1FA1h to 1FC0h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned32
Default Value 0h

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DS-401 V2.0 CANopen Device Profile for Generic I/O Modules CiA

8.1.25 Object 6128h: Interrupt Mask Input High-to-Low 32-bit

This object determines, which input port lines shall activate an interrupt. Done for groups of 32 lines and
for a change from high-to-low of a digital input line. The values shall be in an ”OR” connection to the
values of object 6126h (Interrupt Mask Any Change 32-Bit). If inputs are inverted by object 6122h
(Polarity Input 32-Bit), the negative logical edge shall correspond to positive physical edge.
1 = interrupt enabled
0 = interrupt disabled

Object Description
INDEX 6128h
Name Interrupt Mask Input High to Low 32-bit
Object Code Array
Data Type Unsigned32
Category Optional
Entry Description
Sub-Index 0h
Description Number of Input 32-bit
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Interrupt High to Low Input 1h to 20h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Unsigned32
Default Value 0h

Sub-Index 2h
Description Interrupt High to Low Input 21h to 40h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned32
Default Value 0h

to

Sub-Index FEh
Description Interrupt High to Low Input 1FA1h to 1FC0h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unisgned32
Default Vlaue 0h

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DS-401 V2.0 CANopen Device Profile for Generic I/O Modules CiA

8.2 Digital output module

8.2.1 Object 6200h: Write Output 8-Bit
This object shall set a group of 8 output lines as a Byte of information. A maximum of 254 x 8 Bit output
blocks is addressable.

Object Description
INDEX 6200h
Name Write Output 8-Bit
Object Code Array (8h)
Data Type Unsigned8
Category Conditional: Device with digital outputs
Entry Description
Sub-Index 0h
Description Number of Output 8-Bit
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Write Output 1h to 8h
Access rw
Entry Category Mandatory
PDO Mapping Default
Value Range Unsigned8
Default Value 0h

Sub-Index 2h .. 8h
Description Write Output 9h to 10h .. Write Output 39h to
40h
Access rw
Entry Category Optional
PDO Mapping Default
Value Range Unsigned8
Default Value 0h

to

Sub-Index 9h .. FEh
Description Write Output 41h to 48h .. Write Output 7E9h
to 7F0h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned8
Default Value 0h

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DS-401 V2.0 CANopen Device Profile for Generic I/O Modules CiA

8.2.3 Object 6202h: Change Polarity Output 8-Bit

This object shall define the polarity of a group of 8 output lines. Output polarity can be inverted
individually.
1 = output inverted
0 = output not inverted
If the object is not supported the device behaves accordingly to the default value.

Object Description
INDEX 6202h
Name Change Polarity Output 8-Bit
Object Code Array
Data Type Unsigned8
Category Optional
Entry Description
Sub-Index 0h
Description Number of Output 8-Bit
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Change Polarity Output 1h to 8h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Unsigned8
Default Value 0h

Sub-Index 2h
Description Change Polarity Output 9h to 10h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned8
Default Value 0h

to

Sub-Index FEh
Description Change Polarity Output 7E9h to 7F0h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned8
Default Value 0h

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DS-401 V2.0 CANopen Device Profile for Generic I/O Modules CiA

8.2.4 Object 6206h: Error Mode Output 8-Bit

This object indicates, whether an output is set to a pre-defined error value (see object 6207h) in case of
an internal device failure.
1 = output value shall take the pre-defined condition specified in object 6207h
0 = output value shall be kept if an error occurs

Object Description
INDEX 6206h
Name Error Mode Output 8-Bit
Object Code Array
Data Type Unsigned8
Category Optional
Entry Description
Sub-Index 0h
Description Number of Output 8-Bit
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Error Mode Output 1h to 8h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Unsigned8
Default Value FFh

Sub-Index 2h
Description Error Mode Output 9h to 10h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned8
Default Value FFh

to

Sub-Index FEh
Description Error Mode Output 7E9h to 7F0h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned8
Default Value FFh

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DS-401 V2.0 CANopen Device Profile for Generic I/O Modules CiA

8.2.5 Object 6207h: Error Value Output 8-Bit

On condition that the corresponding Error Mode is active, device failures (see chapter 5.2) shall set the
outputs to the value configured by this object.
0 = Output is set to ‘0’ in case of fault, if Object 6206h is enabled
1 = Output is set to ‘1’ in case of fault, if Object 6206h is enabled

Object Description
INDEX 6207h
Name Error Value Output 8-Bit
Object Code Array
Data Type Unsigned8
Category Optional
Entry Description
Sub-Index 0h
Description Number of Output 8-Bit
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Error Value Output 1h to 8h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Unsigned8
Default Value 0h

Sub-Index 2h
Description Error Value Output 9h to 10h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned8
Default Value 0h

to

Sub-Index FEh
Description Error Value Output 7E9h to 7F0h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned8
Default Value 0h

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DS-401 V2.0 CANopen Device Profile for Generic I/O Modules CiA

8.2.6 Object 6208h: Filter Mask Output 8-Bit

This object defines an additional configurable output filter mask for a group of 8 outputs.
1 = output shall set to the received output value
0 = don’t care the received output value is neglected for the appropriated output channel, the old output
value shall be kept.

Object Description
INDEX 6208h
Name Filter Mask Output 8-Bit
Object Code Array
Data Type Unsigned8
Category Optional
Entry Description
Sub-Index 0h
Description Number of Output 8-Bit
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Filter Mask Output 1h to 8h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Unsigned8
Default Value FF

Sub-Index 2h
Description Filter Mask Output 9h to 10h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned8
Default Value FF

to

Sub-Index FEh
Description Filter Mask Output 7E9h to 7F0h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned8
Default Value FF

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DS-401 V2.0 CANopen Device Profile for Generic I/O Modules CiA

8.2.7 Object 6220h .. Object 6227h: Write Output Bit 1 to 128 .. Write Output Bit 897 to 1024
These objects shall set single output lines information. A maximum of 128 outputs is addressable at one
index. The Object 6220h shall address output lines 1 to 128, the Object 6221h shall address output lines
129 to 256, etc.

Object Description
INDEX 6220h
Name Write Output Bit 1 to 128
Object Code Array
Data Type Boolean
Category Optional
Entry Description
Sub-Index 0h
Description Number of Output Bit
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to 80h
Default Value No

Sub-Index 1h
Description Write Output 1h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Boolean
Default Value FALSE

Sub-Index 2h
Description Write Output 2h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Boolean
Default Value FALSE

to

Sub-Index 80h
Description Write Output 80h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Boolean
Default Value FALSE

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DS-401 V2.0 CANopen Device Profile for Generic I/O Modules CiA

8.2.8 Object 6240h .. Object 6247h: Change Polarity Output Bit 1 to 128 .. Change Polarity
Output Bit 897 to 1024
These objects shall set the polarity of single output lines. A maximum of 128 outputs is addressable at
one index. The Object 6240h shall address output lines 1 to 128, the Object 6241h shall address output
lines 129 to 256, etc.
1 = output inverted
0 = output not inverted
If these objects are not supported the device shall behave accordingly to the default value.

Object Description
INDEX 6240h
Name Change Polarity Output Bit 1 to 128
Object Code Array
Data Type Boolean
Category Optional
Entry Description
Sub-Index 0h
Description Number of Output Bit
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to 80h
Default Value No

Sub-Index 1h
Description Change Polarity Output 1h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Boolean
Default Value FALSE

Sub-Index 2h
Description Change Polarity Output 2h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Boolean
Default Value FALSE

to

Sub-Index 80h
Description Change Polarity Output 80h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Boolean
Default Value FALSE

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DS-401 V2.0 CANopen Device Profile for Generic I/O Modules CiA

8.2.9 Object 6250h .. Object 6257: Error Mode Output Bit 1 to 128 .. Error Mode Output Bit 897 to
1024
These objects indicate, whether is set to a pre-defined error (see object 6260h .. 6267h) in case of an
internal device failure. A maximum of 128 outputs is addressable at one index. The Object 6250h shall
address output lines 1 to 128, the Object 6251h shall address output lines 129 to 256, etc.
1 = output value shall take the pre-defined condition as specified in objects 6260h .. 6267h
0 = output value shall be kept if an error occurs

Object Description
INDEX 6250h
Name Error Mode Output Lines 1 to 128
Object Code Array
Data Type Boolean
Category Optional
Entry Description
Sub-Index 0h
Description Number of Output Bit
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1 to 80h
Default Value No

Sub-Index 1h
Description Error Mode Output 1h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Boolean
Default Value TRUE

Sub-Index 2h
Description Error Mode Output 2h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Boolean
Default Value TRUE

to

Sub-Index 80h
Description Error Mode Output 80h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Boolean
Default Value TRUE

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DS-401 V2.0 CANopen Device Profile for Generic I/O Modules CiA

8.2.10 Object 6260h .. Object 6267h: Error Value Output Bit 1 to 128 .. Error Value Output Bit 897
to 1024
On condition that the corresponding Error Mode is active, device failures (see chapter 5.2) shall set the
outputs to the value configured by this object. A maximum of 128 outputs is addressable at one index.
The Object 6260h shall address output lines 1 to 128, the Object 6261h shall address output lines 129 to
256, etc.
0 = Output shall be set to ‘0’ in case of fault, if the corresponding Object (6250h .. 6257h) is enabled
1= Output shall be set to ‘1’ in case of fault, if corresponding Object (6250h .. 6257h) is disabled

Object Description
INDEX 6260h
Name Error Value Output Bit 1 to 128
Object Code Array
Data Type Boolean
Categrory Optional
Entry Description
Sub-Index 0h
Description Number of Output Bit
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to 80h
Default Value No
Default Value No

Sub-Index 1h
Description Error Value Output 1h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Boolean
Default Value FALSE

Sub-Index 2h
Description Error Value Output 2h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Boolean
Default Value FALSE

to

Sub-Index 80h
Description Error Value Output 80h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Boolean
Default Value FALSE

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8.2.11 Object 6270h .. Object 6277h: Filter Mask Output Bit 1 to 128 .. Filter Constant Mask Bit 897
to 1024
This object defines an additional configurable output filter mask for a single output.
1 = output shall set to the received output value
0 = don’t care the received output value is neglected for the appropriated output channel, the old output
value shall be kept.
A maximum of 128 outputs is addressable at one index. The Object 6270h shall address output lines 1 to
128, the Object 6271h shall address output lines 129 to 256, etc.

Object Description
INDEX 6270h
Name Filter Constant Output Bit 1 to 128
Object Code Array
Data Type Boolean
Category Optional
Entry Description
Sub-Index 0h
Description Number of Output Bit
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1 to 80h
Default Value No

Sub-Index 1h
Description Filter Constant Output 1h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Boolean
Default Value TRUE

Sub-Index 2h
Description Filter Constant Output 2h
Data Type Boolean
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Boolean
Default Value TRUE

to

Sub-Index 80h
Description Filter Constant Output 80h
Data Type Boolean
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Boolean
Default Value TRUE

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8.2.12 Object 6300h: Write Output 16-bit

Shall write a group of 16 output lines as 2-Byte information. A maximum of 255 x 16-Bit words is
addressable (4080 outputs).

Object Description
INDEX 6300h
Name Write Output 16-Bit
Object Code Array
Data Type Unsigned16
Category Optional
Entry Description
Sub-Index 0h
Description Number of Output 16-Bit
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Write Output 1h to 10h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Unsigned16
Default Value 0h

Sub-Index 2h
Description Write Output 11h to 20h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned16
Default Value 0h

to

Sub-Index FEh
Description Write Output FE0h to FF0h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned16
Default Value 0h

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8.2.13 Object 6302h: Change Polarity Output 16-Bit

This object shall define the polarity for a group of 16 output lines. Input polarity can be inverted
individually
1 = enabled
0 = disabled
If the object is not supported the device shall behave accordingly to the default value.

Object Description
INDEX 6302h
Name Change Polarity Output 16-Bit
Object Code Array
Data Type Unsigned32
Category Optional
Entry Description
Sub-Index 0h
Description Number of Output 16-Bit
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Polarity Output 1h to 10h
Data Type Unsigned16 (6h)
Access rw
Entry Category Mandatory
PDO Mapping No
Value Range Unsigned16
Default Value 0h

Sub-Index 2h
Description Polarity Output 11h to 20h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsinged16
Default Value 0h

to

Sub-Index FEh
Description Polarity Output FE0h to FF0h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsinged16
Default Value 0h

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8.2.14 Object 6306h: Error Mode Output 16-Bit

These objects indicate, whether an output is set to a pre-defined error value (see object 6307h) in case of
an internal device failure.
1 = output value shall take the pre-defined condition as specified in object 6307h
0 = output value shall be kept if an error occurs

Object Description
INDEX 6306h
Name Error Mode Output 16-Bit
Object Code Array
Data Type Unsigned16
Category Optional
Entry Description
Sub-Index 0h
Description Number of Output 16-Bit
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Error Mode Output 1h to 10h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Unsigned16
Default Value FFFFh

Sub-Index 2h
Description Error Mode Output 11h to 20h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned16
Default Value FFFFh

to

Sub-Index FEh
Description Error Mode Output FE0h to FF0h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned16
Default Value FFFFh

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8.2.15 Object 6307h: Error Value Output 16-Bit

On condition that the corresponding Error Mode is active, device failures (see chapter 5.2) shall set the
outputs to the value configured by this object.
0 = Output shall be set to ‘0’ in case of fault, if Object 6306h is enabled
1 = Output shall be set to ‘1’ in case of fault, if Object 6306h is enabled

Object Description
INDEX 6307h
Name Error Value Output 16-Bit
Object Code Array
Data Type Unsigned16
Category Optional
Entry Description
Sub-Index 0h
Description Number of Output 16-Bit
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Error Value Output 1h to 10h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Unsigned16
Default Value 0h

Sub-Index 2h
Description Error Value Output 11h to 20h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned16
Default Value 0h

to

Sub-Index FEh
Description Error Value Output FE0h to FF0h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned16
Default Value 0h

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8.2.16 Object 6308h: Filter Mask Output 16-Bit

This object defines an additional configurable output filter mask for a group of 16 outputs.
1 = output is shall set to the received output value
0 = don’t care the received output value is neglected for the appropriated output channel, the old output
value shall be kept.

Object Description
INDEX 6308h
Name Filter Mask Output 16-Bit
Object Code Array
Data Type Unsigned16
Category Optional
Entry Description
Sub-Index 0h
Description Number of Output 16-Bit
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Filter Mask Output 1h to 10h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned16
Default Value FFFFh

Sub-Index 2h
Description Filter Mask Output 11h to 20h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned16
Default Value FFFF

to

Sub-Index FEh
Description Filter Mask Output FE0h to FF0h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned16
Default Value FFFFh

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8.2.17 Object 6320h: Write Output 32-Bit

This object shall write a group of 32 output lines as 4-Byte information. A maximum of 255 x 32-Bit words
is addressable (8160 outputs).

Object Description
INDEX 6320h
Name Write Output 32-Bit
Object Code Array
Data Type Unsigned32
Category Optional
Entry Description
Sub-Index 0h
Description Number of Output 32-Bit
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1 to FEh
Default Value No

Sub-Index 1h
Description Write Output 1h to 20h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Unsigned32
Default Value 0h

Sub-Index 2h
Description Write Output 21h to 40h
Data Type Unsigned32
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned32
Default Value 0h

to

Sub-Index FEh
Description Write Output 1FC0h to 1FE0h
Data Type Unsigned32
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned32
Default Value 0h

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8.2.21 Object 6322h: Change Polarity Output 32-Bit

This object shall define the polarity for a group of 32 output lines. Input polarity can be inverted
individually.
1 = enabled
0 = disabled
If the object is not supported the device shall behave accordingly to the default value.

Object Description
INDEX 6322h
Name Change Polarity Output 32-Bit
Object Code Array
Data Type Unsigned32
Category Optional
Entry Description
Sub-Index 0h
Description Number of Output 32-Bit
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Polarity Output 1h to 20h
Access rw
Entry Category Mandatory
PDO Mapping No
Value Range Unsinged32
Default Value 0h

Sub-Index 2h
Description Polarity Output 21h to 40h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned32
Default Value 0h

to

Sub-Index FEh
Description Polarity Output 1FC0h to 1FE0h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned32
Default Value 0h

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8.2.22 Object 6326h: Error Mode Output 32-Bit

These objects indicate, whether an output is set to a pre-defined error value (see also object 6327h) in
case of an internal device failure.
1 = output value shall take the pre-defined condition as specified in Object 6327h
0 = output value shall be kept if an error occurs

Object Description
INDEX 6326h
Name Error Mode Output 32-Bit
Object Code Array
Data Type Unsigned32
Category Optional
Entry Description
Sub-Index 0h
Description Number of Output 32-Bit
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Error Mode Output 1h to 20h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Unsigned32
Default Value FFFF FFFFh

Sub-Index 2h
Description Error Mode Output 21h to 40h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned32
Default Value FFFF FFFFh

to

Sub-Index FEh
Description Error Mode Output 1FC0h to 1FE0h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned32
Default Value FFFF FFFFh

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8.2.23 Object 6327h: Error Value Output 32-Bit

On condition that the corresponding Error Mode is active, device failures (see chapter 5.2) shall set the
outputs to the value configured by this object.
0 = Output shall be set to ‘0’ in case of fault, if Object 6326h is enabled
1 = Output shall be set to ‘1’ in case of fault, if Object 6326h is enabled

Object Description
INDEX 6327h
Name Error Value Output 32-Bit
Object Code Array
Data Type Unsigned32
Category Optional
Entry Description
Sub-Index 0h
Description Number of Output 32-Bit
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Error Value Output 1h to 20h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Unsigned32
Default Value 0h

Sub-Index 2h
Description Error Value Output 21h to 40h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned32
Default Value 0h

to

Sub-Index FEh
Description Error Value Output 1FC0h to 1FE0h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned32
Default Value 0h

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8.2.24 Object 6328h: Filter Mask Output 32-Bit

This object defines an additional configurable output filter mask for a group of 32 outputs.
1 = output shall be set to the received output value
0 = don’t care the received output value is neglected for the appropriated output channel, the old output
value shall be kept.

Object Description
INDEX 6328h
Name Filter Mask Output 32-Bit
Object Code Array
Data Type Unsigned32
Category Optional
Entry Description
Sub-Index 0h
Description Number of Output 32-Bit
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Filter Mask Output 1h to 20h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Unsigned32
Default Value FFFF FFFFh

Sub-Index 2h
Description Filter Mask Output 21h to 40h
Data Type Unsigned32
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned32
Default Value FFFF FFFFh

to

Sub-Index FEh
Description Filter Mask Output 1FC0h to 1FE0h
Data Type Unsigned32
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned32
Default Value FFFF FFFFh

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8.3 Analogue input module

8.3.1 Object 6400h: Read Analogue Input 8-Bit
This object shall read the value of the input channel 'n'. Value is 8-Bit or less in size. The value shall be
always left adjusted. The remaining bits at the right side of the LSB shall be set to zero.

Object Description
INDEX 6400h
Name Read Analogue Input 8-Bit
Object Code Array
Data Type Integer8
Category Optional
Entry Description
Sub-Index 0h
Description Number of Analogue Input 8-Bit
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Analogue Input 1h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Integer8
Default Value No

to

Sub-Index FEh
Description Analogue Input FEh
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Integer8
Default Value No

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8.3.2 Object 6401h: Read Analogue Input 16-Bit

This object shall read the value of the input channel 'n'. Value is 16-Bit wide or less. The value shall be
always left adjusted. The remaining bits at the right side of the LSB shall be set to zero.

Object Description
INDEX 6401h
Name Read Analogue Input 16-Bit
Object Code Array
Data Type Integer16
Category Conditional: Device with analog input
Entry Description
Sub-Index 0h
Description Number of Analogue Input 16-Bit
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Analogue Input 1h
Access rw
Entry Category Mandatory
PDO Mapping Default
Value Range Integer16
Default Value No

Sub-Index 2h .. 1Ch
Description Analogue Input 2h .. Analogue Input 1Ch
Access rw
Entry Category Optional
PDO Mapping Default
Value Range Integer
Default Value No

to

Sub-Index 1Dh .. FEh

Description Analogue Input 1Dh .. Analogue Input FEh
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Integer
Default Value No

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8.3.3 Object 6402h: Read Analogue Input 32-Bit

This object shall read the value of the input channel 'n'. Value is 32-Bit wide or less. The value shall be
always left adjusted. The remaining bits at the right side of the LSB shall be set to zero.

Object Description
INDEX 6402h
Name Read Analogue Input 32-Bit
Object Code Array
Data Type Integer32
Category Optional
Entry Description
Sub-Index 0h
Description Number of Analogue Input 32-Bit
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Analogue Input 1h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Integer32
Default Value No

to

Sub-Index FEh
Description Analogue Input FEh
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Integer32
Default Value No

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8.3.4 Object 6403h: Read Analogue Input Float

This object shall read the Float value of the input channel 'n'.

Float value = Integer value x Input scale + Offset value

Object Description
INDEX 6403h
Name Read Analogue Input Float
Object Code Array
Data Type Float
Category Optional
Entry Description
Sub-Index 0h
Description Number of Analogue Input Float
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Analogue Input 1h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Float
Default Value No

Sub-Index 2h
Description Analogue Input 2h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Float
Default Value No

to

Sub-Index FEh
Description Analogue Input FEh
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Float
Default Value No

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8.3.5 Object 6404h: Read Manufacturer-specific Analogue Input

This object shall read the manufacturer-specific value of the input channel 'n'.

Object Description
INDEX 6404h
Name Read Manufacturer Specific Analogue Input
Object Code Record
Data Type Manufacturer-specific
Category Optional
Entry Description
Sub-Index 0h
Description Number of Analogue Input
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Analogue Input 1h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Manufacturer-specific
Default Value No

to

Sub-Index FEh
Description Analogue Input FEh
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Manufacturer-specific
Default Value No

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8.4 Analogue output module

8.4.1 Object 6410h: Write Analogue Output 8-Bit

This object shall write an Integer8 value to the output channel 'n'. The value shall be always left adjusted.

Object Description
INDEX 6410h
Name Write Analogue Output 8-Bit
Object Code Array
Data Type Integer8
Category Optional
Entry Description
Sub-Index 0h
Description Number of Analogue Output 8-Bit
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Analogue Output 1h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Integer8
Default Value 0h

Sub-Index 2h
Description Analogue Output 2h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Integer8
Default Value 0h

to

Sub-Index FEh
Description Analogue Output FEh
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Integer8
Default Value 0h

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8.4.2 Object 6411h: Write Analogue Output 16-Bit

This object shall write an Integer16 value to the output channel 'n'. The value shall be always left
adjusted.

Object Description
INDEX 6411h
Name Write Analogue Output 16-Bit
Object Code Array
Data Type Integer16
Category Conditional: Device with analogue output
Entry Description
Sub-Index 0h
Description Number of Analogue Output 16-Bit
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Analogue Output 1h
Access rw
Entry Category Mandatory
PDO Mapping Default
Value Range Integer16
Default Value 0h

Sub-Index 2h .. 1Ch
Description Analogue Output 2h .. Analogue Output 1Ch
Access rw
Entry Category Default
PDO Mapping Optional
Value Range Integer
Default Value 0h

to

Sub-Index 1Dh .. FEh

Description Analogue Output 1Dh .. Analogue Output
FEh
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Integer
Default Value 0h

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8.4.3 Object 6412h: Write Analogue Output 32-Bit

This object shall write an Integer32 value to the output channel 'n'. The value shall be always left
adjusted.

Object Description
INDEX 6412h
Name Write Analogue Output 32-Bit
Object Code Array
Data Type Integer32
Category Optional
Entry Description
Sub-Index 0h
Description Number of Analogue Output 32-Bit
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Analogue Output 1h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Integer32
Default Value 0h

Sub-Index 2h
Description Analogue Output 2h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Integer32
Default Value 0h

to

Sub-Index FEh
Description Analogue Output FEh
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Integer32
Default Value 0h

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8.4.4 Object 6413h: Write Analogue Output Float

This object shall write the Integer value to the output channel 'n'.

Float value – Output offset

Integer value = -------------------------------------------
Output scale

Object Description
INDEX 6413h
Name Write Analogue Output Float
Object Code Array
Data Type Float
Category Optional
Entry Description
Sub-Index 0h
Description Number of Analogue Output Float
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Analogue Output 1h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Float
Default Value 0.0

Sub-Index 2h
Description Analogue Output 2h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Float
Default Value 0.0

to

Sub-Index FEh
Description Analogue Output FEh
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Float
Default Value 0.0

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8.4.5 Object 6414h: Write Manufacturer-specific Analogue Output

Writes the manufacturer-specific value to the output channel 'n'.

Object Description
INDEX 6414h
Name Write Manufacturer Specific Analogue Output
Object Code Record or Array
Data Type Manufacturer-specific
Category Optional
Entry Description
Sub-Index 0h
Description Number of Analogue Output
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Analogue Output 1h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Manufacturer-specific
Default Value Manufacturer-specific

Sub-Index 2h
Description Analogue Output 2h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Manufacturer-specific
Default Value Manufacturer-specific

to

Sub-Index FEh
Description Analogue Output FEh
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Manufacturer-specific
Default Value Manufacturer-specific

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8.5 Analogue input set-ups

8.5.1 Object 6420h
Reserved for compatibility reason.

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8.5.2 Object 6421h: Analogue Input Interrupt Trigger Selection

This object determines, which events shall cause an interrupt for a specific channel. Bits set in the list
below shall refer to ways in which interrupts may be triggered.

Bit no. Interrupt trigger

0 Upper limit exceeded
1 Input below lower limit
2 Input changed by more than delta
3 Input reduced by more than negative delta
4 Input increased by more than positive delta
5 to 7 reserved for future use.

Object Description
INDEX 6421h
Name Interrupt Trigger Selection
Object Code Array
Data Type Unsigned8
Category Optional
Entry Description
Sub-Index 0h
Description Number of Analogue Input
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Analogue Input 1h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range See above
Default Value No

Sub-Index 2h
Description Analogue Input 2h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range See above
Default Value No

to

Sub-Index FEh
Description Analogue Input FEh
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range See above
Default Value No

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8.5.3 Object 6422h: Analogue Input Interrupt Source

This object shall determine, which channel has produced an interrupt. Bits set shall relate to the number
of any channels that have produced interrupts. The bits shall be reset automatically after read by SDO or
transmitted by means of a PDO.
1 = interrupt produced
0 = no interrupt produced

Object Description
INDEX 6422h
Name Analogue Input Interrupt Source
Object Code Array
Data Type Unsigned32
Category Optional
Entry Description
Sub-Index 0h
Description Number of Interrupt Source Banks
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to 8h
Default Value No

Sub-Index 1h
Description Interrupt Source Bank 1
Access ro
Entry Category Mandatory
PDO Mapping Optional
Value Range Unsigned32
Default Value 0h

Sub-Index 2h
Description Interrupt Source Bank 2
Access ro
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned32
Default Value 0h

to

Sub-Index 8h
Description Interrupt Source Bank 8
Access ro
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned32
Default Value 0h

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8.5.4 Object 6423h: Analogue Input Global Interrupt Enable

This object shall enable and disable globally the interrupt behaviour without changing the interrupt mask.
By default, no analogue input activates an interrupt.
TRUE = global interrupt enabled
FALSE = global interrupt disabled
If the object is not supported the device shall behave accordingly to the default value.

Object Description
INDEX 6423h
Name Analogue Input Global Interrupt Enable
Object Code Var
Data Type Boolean
Category Conditional: Device with analogue input
Object Description
Sub-Index 0h
Access rw
PDO Mapping Optional
Value Range Boolean
Default Value FALSE

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8.5.5 Object 6424h: Analogue Input Interrupt Upper Limit Integer

When enabled (see Object 6423h), an interrupt is triggered when the analogue input rises above the
given value. The value shall be always left adjusted. As long as the trigger condition is meet, every
change of the analogue input data generates a new interrupt, as long as there is no additional trigger
condition, e.g. an input interrupt delta (6426h).
Note: Configuration of the Analogue Input Interrupt Upper Limit Float object (6429h) shall cause also
value change in object 6424h and vice versa.

Object Description
INDEX 6424h
Name Analogue Input Interrupt Upper Limit Integer
Object Code Array
Data Type Integer32
Category Optional
Entry Description
Sub-Index 0h
Description Number of Analogue Input
Access ro
Entry Category Manadatory
PDO Mapping No
Value Range 1h to FEh
Default No

Sub-Index 1h
Description Analogue Input 1h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Integer32
Default Value 0h

Sub-Index 2h
Description Analogue Input 2h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Integer32
Default Value 0h

to

Sub-Index FEh
Description Analogue Input FEh
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Integer32
Default Value 0h

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8.5.6 Object 6425h: Analogue Input Interrupt Lower Limit Integer

When enabled (see Object 6423h), an interrupt is triggered when the analogue input falls below the given
value. The value shall be always left adjusted. As long as the trigger condition is meet, every change of
the analogue input data generates a new interrupt, as long as there is no additional trigger condition, e.g.
an input interrupt delta (6426h).
Note: Configuration of the Analogue Input Interrupt Lower Limit Float object (642Ah) shall cause also
value change in object 6425h and vice versa.

Object Description
INDEX 6425h
Name Analogue Input Interrupt Lower Limit Integer
Object Code Array
Data Type Integer32
Category Optional
Entry Description
Sub-Index 0h
Description Number of Analogue Input
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Analogue Input 1h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Integer32
Default Value 0h

Sub-Index 2h
Description Analogue Input 2h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Integer32
Default Value 0h

to

Sub-Index FEh
Description Analogue Input FEh
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Integer32
Default Value 0h

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8.5.7 Object 6426h: Analogue Input Interrupt Delta Unsigned

This object shall set the delta value (rising or falling above or below the last communicated value) for
interrupt-enabled analogue inputs (see Object 6423h).
Note: Configuration of the Analogue Input Interrupt Delta Float object (642Bh) shall cause also value
change in object 6426h and vice versa.

Object Description
INDEX 6426h
Name Analogue Input Interrupt Delta Unsigned
Object Code Array
Data Type Unsigned32
Category Optional
Entry Description
Sub-Index 0h
Description Number of Analogue Input
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Analogue Input 1h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Unsigned32
Default Value 0h

Sub-Index 2h
Description Analogue Input 2h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned32
Default Value 0h

to

Sub-Index FEh
Description Analogue Input FEh
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned
Default Value 0h

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8.5.8 Object 6427h: Analogue Input Interrupt Negative Delta Unsigned

This object shall set the negative delta value (falling below the last communicated value) for interrupt-
enabled analogue inputs (see Object 6423h).
Note: Configuration of the Analogue Input Interrupt Negative Delta Float object (642Ch) shall cause also
value change in object 6427h and vice versa.

Object Description
INDEX 6427h
Name Analogue Input Interrupt Negative Delta Unsigned
Object Code Array
Data Type Unsigned32
Category Optional
Entry Description
Sub-Index 0h
Description Number of Analogue Inputs
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Analogue Input 1h
Access rw
Entry Category Manadatory
PDO Mapping Optional
Value Range Unsigned32
Default Value 0h

Sub-Index 2h
Description Analogue Input 2h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned32
Default Value 0h

to

Sub-Index FEh
Description Analogue Input FEh
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned32
Default Value 0h

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8.5.9 Object 6428h: Analogue Input Interrupt Positive Delta Unsigned

This object shall set the positive delta value (rising above the last communicated value) for interrupt-
enabled analogue inputs (see Object 6423h).
Note: Configuration of the Analogue Input Interrupt Positive Delta Float object (642Dh) shall cause also
value change in object 6428h and vice versa.

Object Description
INDEX 6428h
Name Analogue Input Interrupt Positive Delta Unsigned
Object Code Array
Data Type Unsigned32
Category Optional
Entry Description
Sub-Index 0h
Description Number of Analogue Input
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Analogue Input 1h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Unsigned32
Default Value 0h

Sub-Index 2h
Description Analogue Input 2h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned32
Default Value 0h

to

Sub-Index FEh
Description Analogue Input FEh
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned32
Default Value 0h

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8.5.10 Object 6429h: Analogue Input Interrupt Upper Limit Float

This object shall set the converted upper limits for interrupt-enabled analogue inputs (see Object 6423h).
As long as the trigger condition is meet, every change of the analogue input data generates a new
interrupt, as long as there is no additional trigger condition, e.g. an input interrupt delta (642Bh).
Note: Configuration of the Analogue Input Interrupt Upper Limit Integer object (6424h) shall cause also
value change in object 6429h and vice versa.

Object Description
INDEX 6429h
Name Analogue Input Interrupt Upper Limit Float
Object Code Array
Data Type Float
Category Optional
Entry Description
Sub-Index 0h
Description Number of Analogue Input
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Analogue Input 1h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Float
Default Value 0.0

Sub-Index 2h
Description Analogue Input 2h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Float
Default Value 0.0

to

Sub-Index FEh
Description Analogue Input FEh
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Float
Default Value 0.0

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8.5.11 Object 642Ah: Analogue Input Interrupt Lower Limit Float

This object shall set the lower limits for interrupt-enabled analogue inputs (see Object 6423h). As long as
the trigger condition is meet, every change of the analogue input data generates a new interrupt, as long
as there is no additional trigger condition, e.g. an input interrupt delta (642Bh).
Note: Configuration of the Analogue Input Interrupt Lower Limit Integer object (6425h) shall cause also
value change in object 642Ah and vice versa.

Object Description
INDEX 642Ah
Name Analogue Input Interrupt Lower Limit Float
Object Code Array
Data Type Float
Category Optional
Entry Description
Sub-Index 0h
Description Number Analogue Inputs
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Analogue Input 1h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Float
Default Value 0.0

Sub-Index 2h
Description Analogue Input 2h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Float
Default Value 0.0

to

Sub-Index FEh
Description Analogue Input FEh
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Float
Default Value 0.0

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8.5.12 Object 642Bh: Analogue Input Interrupt Delta Float

This object shall set the delta value (rising or falling above or below the last sample) in Float format for
interrupt-enabled analogue inputs (see Object 6423h).
Note: Configuration of the Analogue Input Interrupt Delta Unsigned object (6426h) shall cause also value
change in object 642Bh and vice versa.

Object Description
INDEX 642Bh
Name Analogue Input Interrupt Delta Float
Object Code Array
Data Type Float
Catagory Optional
Entry Description
Sub-Index 0h
Description Number of Analogue Input
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Analogue Input 1h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Float
Default Value 0.0

Sub-Index 2h
Description Analogue Input 2h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Float
Default Value 0.0

to

Sub-Index FEh
Description Analogue Input FEh
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Float
Default Value 0.0

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8.5.13 Object 642Ch: Analogue Input Interrupt Negative Delta Float

This object shall set the negative delta value (falling below the last sample) in Float format for interrupt-
enabled analogue inputs (see Object 6423h).
Note: Configuration of the Analogue Input Interrupt Negative Delta Unsigned object (6427h) shall cause
also value change in object 642Ch and vice versa.

Object Description
INDEX 642Ch
Name Analogue Input Interrupt Negative Delta Float
Object Code Array
Data Type Float
Category Optional
Entry Description
Sub-Index 0h
Description Number of Analogue Inputs
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Analogue Input 1h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Float
Default Value 0.0

Sub-Index 2h
Description Analogue Input 2h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Float
Default Value 0.0

to

Sub-Index FEh
Description Analogue Input FEh
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Float
Default Value 0.0

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8.5.14 Object 642Dh: Analogue Input Interrupt Positive Delta Float

This object shall set the positive delta value (rising above the last sample) in Float format for interrupt-
enabled analogue inputs (see Object 6423h).
Note: Configuration of the Analogue Input Interrupt Positive Delta Unsigned object (6428h) shall cause
also value change in object 642Dh and vice versa.

Object Description
INDEX 642Dh
Name Analogue Input Interrupt Positive Delta Float
Object Code Array
Data Type Float
Category Optional
Entry Description
Sub-Index 0h
Description Number of Analogue Input
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Analogue Input 1h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Float
Default Value 0.0

Sub-Index 2h
Description Analogue Input 2h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Float
Default Value 0.0

to

Sub-Index FEh
Description Analogue Input FEh
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Float
Default Value 0.0

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8.5.15 Object 642Eh: Analogue Input Offset Float

This object shall set the offsets in Float format for input data (Object 6403h) for channel 'n'.
Note: Configuration of the Analogue Input Offset Integer object (6431h) shall cause also value change in
object 642Eh and vice versa.

Object Description
INDEX 642Eh
Name Analogue Input Offset Float
Object Code Array
Data Type Float
Category Optional
Entry Description
Sub-Index 0h
Description Number of Analogue Input
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Analogue Input 1h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Float
Default Value 0.0

Sub-Index 2h
Description Analogue Input 2h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Float
Default Value 0.0

to

Sub-Index FEh
Description Analogue Input FEh
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Float
Default Value 0.0

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DS-401 V2.0 CANopen Device Profile for Generic I/O Modules CiA

8.5.16 Object 642Fh: Analogue Input Scaling Float

This object shall set the scaling in Float format for input data (Object 6403h).
Note: Configuration of the Analogue Input Scaling Integer object (6432h) shall cause also value change in
object 642Fh and vice versa.

Object Description
INDEX 642Fh
Name Analogue Input Scaling Float
Object Code Array
Data Type Float
Category Optional
Entry Description
Sub-Index 0h
Description Number of Analogue Input
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Analogue Input 1h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Float
Default Value 0.0

Sub-Index 2h
Description Analogue Input 2h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Float
Default Value 0.0

to

Sub-Index FEh
Description Analogue Input FEh
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Float
Default Value 0.0

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8.5.17 Object 6430h: Analogue Input SI Unit

This object shall assign SI units and prefixes for analogue inputs. The structure of the SI unit entry shall
be as followed:
31 24 23 16 15 8 7 0

Prefix SI Numerator SI Denominator reserved

MSB LSB
The values for prefix, SI numerator, and SI denominator are specified in /3/.

Object Description
INDEX 6430h
Name Analogue Input SI Unit
Object Code Array
Data Type Unsigned32
Category Optional
Entry Description
Sub-Index 0h
Description Number of Analogue Input
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Analogue Input 1h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Unsigned32
Default Value 0h

Sub-Index 2h
Description Analogue Input 2h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned32
Default Value 0h

to

Sub-Index FEh
Description Analogue Input FEh
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned32
Default Value 0h

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8.5.18 Object 6431h: Analogue Input Offset Integer

This object shall set the offset in Integer format for input data (Object 6403h).
Note: Configuration of the Analogue Input Offset Float object (642Eh) shall cause also value change in
object 6431h and vice versa.

Object Description
INDEX 642Eh
Name Analogue Input Offset Integer
Object Code Array
Data Type Integer32
Category Optional
Entry Description
Sub-Index 0h
Description Number of Analogue Input
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Analogue Input 1h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Integer32
Default Value 0h

Sub-Index 2h
Description Analogue Input 2h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Integer32
Default Value 0h

to

Sub-Index FEh
Description Analogue Input FEh
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Integer32
Default Value 0h

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8.5.19 Object 6432h: Analogue Input Scaling Integer

This object shall set the scaling in Integer format or input data (Object 6403h).
Note: Configuration of the Analogue Input Scaling Float object (642Fh) shall cause also value change in
object 6432h and vice versa.

Object Description
INDEX 642Fh
Name Analogue Input Scaling Integer
Object Code Array
Data Type Integer32
Category Optional
Entry Description
Sub-Index 0h
Description Number of Analogue Input
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Analogue Input 1h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Integer32
Default Value 0h

Sub-Index 2h
Description Analogue Input 2h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Integer32
Default Value 0h

to

Sub-Index FEh
Description Analogue Input FEh
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Integer32
Default Value 0h

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DS-401 V2.0 CANopen Device Profile for Generic I/O Modules CiA

8.6 Analogue output set-ups

8.6.1 Object 6440h
Reserved for compatibility reason.

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DS-401 V2.0 CANopen Device Profile for Generic I/O Modules CiA

8.6.2 Object 6441h: Analogue Output Offset Float

This object shall set the offset in Float format for output data (Object 6413h).
Note: Configuration of the Analogue Output Offset Integer object (6446h) shall cause also value change
in object 6441h and vice versa.

Object Description
INDEX 6441h
Name Analogue Output Offset Float
Object Code Array
Data Type Float
Category Optional
Entry Description
Sub-Index 0h
Description Number of Analogue Output
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Analogue Output 1h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Float
Default Value 0.0

Sub-Index 2h
Description Analogue Output 2h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Float
Default Value 0.0

to

Sub-Index FEh
Description Analogue Output FEh
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Float
Default Value 0.0

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DS-401 V2.0 CANopen Device Profile for Generic I/O Modules CiA

8.6.3 Object 6442h: Analogue Output Scaling Float

This object shall set the scaling in Float format for output data (Object 6413h).
Note: Configuration of the Analogue Output Scaling Integer object (6447h) shall cause also value change
in object 6442h and vice versa.

Object Description
INDEX 6442h
Name Analogue Output Scaling Float
Object Code Array
Data Type Float
Category Optional
Entry Description
Sub-Index 0h
Description Number of Analogue Output
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Analogue Output 1h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Float
Default Value 0.0

Sub-Index 2h
Description Analogue Output 2h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Float
Default 0.0

to

Sub-Index FEh
Description Analogue Output FEh
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Float
Default 0.0

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8.6.4 Object 6443h: Analogue Output Error Mode

This object defines, whether an output is set to a pre-defined error value (see object 6444h) in case of an
internal device failure.
0h = actual value rest
1h = reverts to error value integer (6444h)
others = reserved

Object Description
INDEX 6443h
Name Analogue Output Error Mode
Object Code Array
Data Type Unsigned8
Category Optional
Entry Description
Sub-Index 0h
Description Number of Analogue Outputs
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Error Mode Analogue Output 1h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Unsigned8
Default Value 1h

Sub-Index 2h
Description Error Mode Analogue Output 2h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned8
Default Value 1h

to

Sub-Index FEh
Description Error Mode Analogue Output FEh
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned8
Default Value 1h

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8.6.5 Object 6444h: Analogue Output Error Value Integer

On condition that the corresponding Error Mode is active, device failures (see chapter 5.2) shall set the
outputs to the value configured by this object..
Note: Configuration of the Analogue Output Error Value Float object (6445h) shall cause also value
change in object 6444h and vice versa.

Object Description
INDEX 6444h
Name Analogue Output Error Value Integer
Object Code Array
Data Type Integer32
Category Optional
Entry Description
Sub-Index 0h
Description Number of Analogue Output
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Analogue Output 1h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Integer32
Default Value 0h

Sub-Index 2h
Description Analogue Output 2h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Integer32
Default Value 0h

to

Sub-Index FEh
Description Analogue Output FEh
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Integer32
Default Value 0h

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8.6.8 Object 6445h: Analogue Output Error Value Float

On condition that the corresponding Error Mode is active, device failures (see chapter 5.2) shall set the
outputs to the value configured by this object.
Note: Configuration of the Analogue Output Error Value Integer object (6444h) shall cause also value
change in object 6445h and vice versa.

Object Description
INDEX 6445h
Name Analogue Output Error Value Float
Object Code Array
Data Type Float
Category Optional
Entry Description
Sub-Index 0h
Description Number of Analogue Outputs
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Analogue Output 1h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Float
Default Value 0.0

Sub-Index 2h
Description Analogue Output 2h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Float
Default Value 0.0

to

Sub-Index FEh
Description Analogue Output FEh
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Float
Default Value 0.0

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8.6.9 Object 6446h: Analogue Output Offset Integer

This object shall set the offset in Integer format for output data (Object 6413h).
Note: Configuration of the Analogue Output Offset Float object (6441h) shall cause also value change in
object 6446h and vice versa.

Object Description
INDEX 6446h
Name Analogue Output Offset Integer
Object Code Array
Data Type Integer32
Category Optional
Entry Description
Sub-Index 0h
Description Number of Analogue Output
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Analogue Output 1h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Integer32
Default Value 0h

Sub-Index 2h
Description Analogue Output 2h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Integer32
Default Value 0h

to

Sub-Index FEh
Description Analogue Output FEh
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Integer32
Default Value 0h

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DS-401 V2.0 CANopen Device Profile for Generic I/O Modules CiA

8.6.10 Object 6447h: Analogue Output Scaling Integer

This object shall set the scaling in Integer format for output data (Object 6413h).
Note: Configuration of the Analogue Output Scaling Float object (6442h) shall cause also value change in
object 6447h and vice versa.

Object Description
INDEX 6447h
Name Analogue Output Scaling Integer
Object Code Array
Data Type Integer32
Category Optional
Entry Description
Sub-Index 0h
Description Number of Analogue Output
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Analogue Output 1h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Integer32
Default Value 0h

Sub-Index 2h
Description Analogue Output 2h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Integer32
Default 0h

to

Sub-Index FEh
Description Analogue Output FEh
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Integer32
Default 0h

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8.6.11 Object 6450h: Analogue Output SI Unit

This object shall assign SI units and prefixes for analogue outputs. The structure of the SI unit entry shall
be as followed:
31 24 23 16 15 8 7 0

Prefix SI Numerator SI Denominator reserved

MSB LSB
The values for prefix, SI numerator, and SI denominator are specified in /3/.

Object Description
INDEX 6430h
Name Analogue Output SI Unit
Object Code Array
Data Type Unsigned32
Category Optional
Entry Description
Sub-Index 0h
Description Number of Analogue Output
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to FEh
Default Value No

Sub-Index 1h
Description Analogue Output 1h
Access rw
Entry Category Mandatory
PDO Mapping Optional
Value Range Unsigned32
Default Value 0h

Sub-Index 2h
Description Analogue Output 2h
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned32
Default Value 0h

to

Sub-Index FEh
Description Analogue Output FEh
Access rw
Entry Category Optional
PDO Mapping Optional
Value Range Unsigned32
Default Value 0h

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DS-401 V2.0 CANopen Device Profile for Generic I/O Modules CiA

8.7 General device profile objects

8.7.1 Object 67FEh: Error Behaviour
This object specifies to which state an I/O module shall be set, when a communication error, output error
or input error is detected.
0 = pre-operational (only if current state is operational)
1 = no state change
2 = stopped

Object Description
INDEX 67FEh
Name Error Behaviour
Object Code Array
Data Type Unsigned8
Category Optional
Entry Description
Sub-Index 0h
Description Number of Error Classes
Access ro
Entry Category Mandatory
PDO Mapping No
Value Range 1h to 3h
Default Value No

Sub-Index 1h
Description Communication Error
Access rw
Entry Category Mandatory
PDO Mapping No
Value Range 0h to 2h
Default Value 0h

Sub-Index 2h
Description Output Error
Access rw
Entry Category Optional
PDO Mapping No
Value Range 0h to 2h
Default Value 0h

Sub-Index 3h
Description Input Error
Access rw
Entry Category Optional
PDO Mapping No
Value Range 0h to 2h
Default Value 0h

Note: If this object is not implemented the device shall be set into pre-operational state in the case a
communication error is detected.

8.7.2 Object 67FF: Device Type

This objects shall describe the first virtual device in a multiple device module according to /2/

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APPENDIX A Joystick CiA DS-401

Appendix A informative): Joystick

This appendix proposes the use of DS-401 for joysticks adopted as a special input module. This input module supports
digital inputs and analogue inputs. The digital inputs are the buttons of the joystick and the analogue inputs are the
proportional input values.

A1 Pre-defined communication objects

A1.1 Index 1000h (device type)

The specific functionality is defined as a joystick with digital and analogue inputs.

Additional Information Device Profile Number

Specific Functionality I/O Functionality
1h 5h 192h

A2 Buttons
The buttons uses the functionality for digital inputs with 8-bit access. It is mandatory to support object 6000h and optionally
the related configuration objects.

A3 Proportional inputs
The proportional inputs use the functionality for analogue inputs with 16-bit access. It is mandatory to support object 6401h
and optionally all related configuration objects.

The default value for the object 6430h (Analogue Input SI Unit) is:

31 24 23 16 15 8 7 0

00h 00h 00h 00h

MSB LSB

A4 Mapping

A4.1 1st TPDO mapping (buttons)

The first TPDO transmits the values of maximum 8 x 8 buttons. The first 8 buttons (Index 6000h sub-index 1h) are specified
for the following purpose, all other buttons provide manufacturer-specific behaviour:

7 0

unused unused unused unused unused memory memory memory

z-axis y-axis x-axis

MSB LSB

A1
APPENDIX A Joystick CiA DS-401

The memory buttons for x-, y-, and z-axes shall save the proportional values of the related axes:
0 = save value
1 = release value

A4.2 2nd TPDO mapping (proportional inputs)

The second TPDO transmits the 16-bit values of maximum 4 proportional inputs. The first 3 analogue values (Index 6010h
sub-index 1h .. 3h) are used for the three dimensions (x, y, z), the other analogue value is manufacturer-specific.

63 48 47 32 31 16 15 0

manufacturer-specific z-dimension y-dimension x-dimension

MSB LSB

A4.3 Implementation hints

A4.3.1 Periodical PDO transmission

If periodical PDO transmission is requested, the event timer should be set to ≠ 0.

A4.3.2 Additional proportional inputs

If additional proportional inputs are required, the pre-defined 3rd and 4th TPDO should be used.

A4.3.3 Transmission of proportional inputs

In order to transmit only the first proportional value different from 0, the analogue input set-up
objects should be used.

A1