Integrating MotionLinx with TwinCAT / MotionLinx Data Objects /
MotionLinx-IO Transmit PDO
There is one transmit PDO provided by the MotionLinx-IO module. This is the data that originates from the MotionLinx-IO module that is made available as input to the master controller.
Transmit PDO0 – Object 0×1A00
| Subindex | Index | Data Type | Data Description | |
|---|---|---|---|---|
| SubIndex 1 All Sensors |
Index 0×3000 SubIndex 0 |
INT | Bitwise Value – Read Only: bit 00 = Left Male Pin 2 bit 01 = Left Female Pin 2 bit 02 = Right Male Pin 2 bit 03 = Right Female Pin 2 bit 04 = Left Male Pin 4 bit 05 = Left Female Pin 4 bit 06 = Right Male Pin 4 bit 07 = Right Female Pin 4 |
*bit 08 = Error Left Male Pin 2 *bit 09 = Error Left Female Pin 2 *bit 10 = Error Right Male Pin 2 *bit 11 = Error Right Female Pin 2 *bit 12 = Error Left Male Pin 4 *bit 13 = Error Left Female Pin 4 *bit 14 = Error Right Male Pin 4 *bit 15 = Error Right Female Pin 4 *See Output Error topic below |
| SubIndex 2 System Diagnostic |
Index 0×3002 SubIndex 0 |
SINT | Bit 0: Under 14V Flag 1 = Module Logic Power is under 14V 0 = Module Logic Power is over 14V Bit 01- Bit 07: Reserved |
|
| SubIndex 3 Future Use |
Index 0×3001 SubIndex 0 |
SINT | Reserved for future use | |
Output Error
Bits 08 through 15 indicate error conditions for each port pin when they are configured as outputs. If any of these bits are set, it indicates that there is an over-current or short circuit detected on its respective port’s power supply.