AXIOMATIC AX030301 User manual

USER MANUAL UMAX030301
18 DIGITAL INPUT
With CANopen®
USER MANUAL
P/N: AX030301

Version 3.0.0 Preliminary Documentation – May be Subject to Change ii
VERSION HISTORY
Version Date Author Modifications
2.0.0 April 9, 2009 Roberto Romero Initial Draft
2.1.0 February 8, 2011 Anna Murray Added new object 5555h. Updated formatting.
3.0.0 March 4, 2013 Amanda Wilkins Reflects new hardware with EMC compliance and
added Technical Specifications

Version 3.0.0 Preliminary Documentation – May be Subject to Change iii
TABLE OF CONTENTS
1. GENERAL …………………………………………………………………………………………………..………………. 5
1.1. Axiomatic 18 Digital Input.……………………………………………………………………………………….. 5
1.2. Dimensions and Pinout…………………………………………………………………………………………… 6
1.3. References…………………………………………………………………………………………………………. 7
2. USING 18 DIGITAL INPUT THROUGH CANOPEN…………………………………………………………………… 8
2.1. Node ID and Baudrate……………………………………………………………………………………………. 8
2.2. Digital Input Function Block…………………..………………………………………………………..………… 8
2.3. Analog Input Function Block…………………………………..…………………………………………………. 9
2.4. Input Sensor Types……………………………………………………………………………………………….. 10
2.5. Fault Detection…………………………………………………………………………………………………….. 11
3. OBJECT DICTIONARY………………………………………………………………………………………...………….. 12
3.1. COMMUNICATION OBJECTS………………………………………………………………………..…………. 12
3.1.1. PDO Parameters……………………………………………………………………………………………… 13
3.1.2. Object 1000h: Device Type………………………………………………………………………..………… 15
3.1.3. Object 1001h: Error Register……………………………………………………………………...………… 15
3.1.4. Object 1003h: Pre-Defined Error Field…………………………………………………………...………… 16
3.1.5. Object 1010h: Store Parameters………………………………………………………………….………… 17
3.1.6. Object 1011h: Restore Default Parameters……………………………………………………………….. 18
3.1.7. Object 1016h: Consumer Heartbeat Time……………………………………………………….………… 19
3.1.8. Object 1018h: Identity Object……………………………………………………………………..………… 20
3.1.9. Object 1029h: Error Behaviour……………………………………………………………………………… 21
3.1.10. Object 5555h: Start in Operational……….………………………………………………………………… 22
3.2. DIGITAL INPUT FUNCTION BLOCK (DS-404)………………………………………………………………… 23
3.2.1. Object 2000h: DI Level State…………………………………………………………………………………
3.2.2. Object 6000h: DI Read State 8 Input Lines………………………………………………………………… 23
24
3.2.3. Object 6002h: DI Polarity 8 Input Lines…………………………………………………………..………... 25
3.3. ANALOG INPUT FUNCTION BLOCK (DS-404)……………………………………………………. ………… 26
3.3.1. Object 2010h: AI Error Minimum………………………………………………………………….………… 26
3.3.2. Object 2080h: AI Error Maximum…………………………………………………………………………… 27
3.3.3. Object 2090h: AI Measuring Window……………………………………………….……………………… 27
3.3.4. Object 20A0h: AI Enable Error Checking 8 Input Lines………………………………………..………… 28
3.3.5. Object 20B0h: AI Error Response Delay…………………………………………………….…..………… 29
3.3.6. Object 7100h: AI Input Field Value…………………………………………………….…………………… 30
3.3.7. Object 6110h: AI Sensor Type…………………………………………………….……………………….. 31
3.3.8. Object 6112h: AI Operating Mode…………………………………………………….………….………… 31
3.3.9. Object 7120h: AI Input Scaling 1 FV…………………………………………………….……….………… 32
3.3.10. Object 7121h: AI Input Scaling 1 PV…………………………………………………….……….………… 33
3.3.11. Object 7122h: AI Input Scaling 2 FV…………………………………………………….……….………… 33
3.3.12. Object 7123h: AI Input Scaling 2 PV…………………………………………………….……….………… 34
3.3.13. Object 7124h: AI Input Offset…………………………………………………….……………….………… 34
3.3.14. Object 6125h: AI Autozero…………………………………………………….…………………..………… 35
3.3.15. Object 7130h: AI Input Process Value…………………………………………………….……..………… 35
3.3.16. Object 6132h: AI Decimal Digits PV…………………………………………………….………..………… 36
3.3.17. Object 61A0h: AI Filter Type…………………………………………………….………………...……….. 37
3.3.18. Object 61A1h: AI Filter Constant…………………………………………………….……………………… 38

Version 3.0.0 Preliminary Documentation – May be Subject to Change iv
3.4. FAULT DETECTION BLOCK (AXIOMATIC)…………………………………………………………………… 39
3.4.1. Object 4000h: FD Field Value………………………………………………………………………………. 39
3.4.2. Object 4001h: FD Set Threshold……………………………………………………………………………. 40
3.4.3. Object 4002h: FD Clear Threshold…………………………………………………………………………. 41
3.4.4. Object 400Ah: FD Enable Error Checking 8 Faults………………………………………………………. 41
3.4.5. Object 400Bh: FD Error Response Delay………………………………………………………………….. 42
4. ERROR HANDLING…………………………………………………………………………………………….………….. 43
4.1. Emergency Frame Codes (EMCY)…………………………………………………………………… ……….. 43
4.2. 18 Digital Input Fault Mode Behaviour…………...……………………………………………………………. 44
5. APPENDIX – TECHNICAL SPECIFICATIONS ………………………………………………………………………… 45

Version 3.0.0 Preliminary Documentation – May be Subject to Change 5-46
1. GENERAL
1.1. Axiomatic 18 Digital Input
The Axiomatic 18 Digital Input is a CANopen compliant [DS-301] input module with a configurable
selection of input types. The object dictionary is compatible with the CiA DS-404 device profile.
(device profile for measurement devices and closed-loop controllers.) In addition to the standard
objects for this device profile, the 18 Digital Input also includes a number of manufacturer specific
objects to extend the functionality beyond that of the basic profile.
The module includes the following inputs:
Eighteen (18) digital inputs (DI1 to DI18) that can be configured (using a CANopen object) as
one of the following:
oActive High input (where a +V is = ON and 0 V = OFF)
oActive Low input (where a 0 V is = ON and +V = OFF)
Inputs 1 to 8 (AI1 to AI8) are the only software configurable inputs that can be individually
configured (using a CANopen object) as one of the following types:
oPWM [0-100%]
oFrequency [0 to 10kHz]
o16-bit Counter
Refer to the appendix for full electrical specifications of the inputs.

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1.2. Dimensions and Pinout
2. Grey Connector Black Connector
Pin # Function Pin # Function
1 CAN_H 1 Digital Input 7
2 CAN_L 2 Digital Input 8
3 CAN_Shield 3 Digital Input 9
4 GND 4 Digital Input 10
5 Power- 5 Digital Input 11
6 Power+ 6 Digital Input 12
7 Digital Input 6 7 Digital Input 18
8 Digital Input 5 8 Digital Input 17
9 Digital Input 4 9 Digital Input 16
10 Digital Input 3 10 Digital Input 15
11 Digital Input 2 11 Digital Input 14
12 Digital Input 1 12 Digital Input 13

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1.3. References
[DS-301] CiA DS-301 V4.02 – CANopen Application Layer and Communication
Profile. CAN in Automation 2002
[DS-404] CiA DS-404 V1.2 – Device Profile for Measurement Devices and
Closed-Loop Controllers. CAN in Automation 2002
[DS-305] CiA DS-305 V2.0 – Layer Setting Service (LSS) and Protocols. CAN in
Automation 2006
LSS Protocol, User’s Manual V1.2. Axiomatic Technologies 2004
TDAX030301 Technical Datasheet, AX030301 Series. Axiomatic Technologies

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2. USING 18 Digital INPUT THROUGH CANOPEN
2.1. Node ID and Baudrate
The 18 Digital Input module supports the Layer Setting Service (LSS) protocols to configure the
node-id and baudrate. Refer to the document “LSS Protocol” for more details.
2.2. Digital Input Function Block
The digital input function block handles the reading of any input pin configured as a digital input.
Note, however, that the operating input mode for NORMAL operation (PWM, FREQ or COUNTER)
is set through the object 6112h, in the analog input function block. For inputs that are NOT
configured as digital, the rest of the objects associated with the digital input block are ignored.
On the 18 Digital Input, the inputs are hardware supported and are configured through object
2000h. This sets the input to either active high (+V) or active low (0 V) signal. The application
object 6002h allows the input polarity to be changed in software. The state of the input is a logical
combination of hardware and software polarity. See figure 3.2.1 for more details.
Figure 2.2.1 Digital Input Block Diagram
The application object 6000h holds the state (1 = ON, 0 = OFF) of each digital input in the following
manner:
For the 18 digital input lines on the controller, the bit order is as shown below.
Subindex 1:
Subindex 2:
Subindex 3:
DI 1DI 2DI 3DI 4DI 5DI 6DI 7DI 8 07
DI 9DI 10DI 11DI 12DI 13DI 14DI 15DI 16 07
DI 17DI 18XXXXXXXXXXXXXXXXXX 07

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2.3. Analog Input Function Block
The analog input function block handles the reading of any input configured for normal operation
(analog) by the object 6112h. The type of input is determined by object 6110h, and can be set to
one of the following three modes
PWM Input, range 0-100% Duty Cycle
Frequency Input, range 0-10,000 Hz
16-bit Counter, range 1 to 65535
Important Note!
PWM inputs are sampled every 10ms.
The sampling time of frequency inputs are controlled by object 2090h [Measuring Window]
The 16-bit Counter has a 1ms resolution.
The conversion from input field value to process value is generally described as a linear
transformation. The two pairs of field values and their corresponding process values define
calibration points 1 and 2. (Input Scaling 1 FV/ Input Scaling 1 PV and Input Scaling 2 FV/ Input
Scaling 2 PV) See DS-404 for more information.
If error checking on an input is enabled by object 20A0h, then the controller will compare the
measured field value to the values in objects 2010h [Error Minimum] and 2080h [Error Maximum].
If less than 2010h, or greater than 2080h, the controller will flag an error after the delay time in
object 20B0h has passed. (See section 4 for more details on emergency objects, and the
controller’s response to errors.) Error checking is not available with a digital input or a 16-bit
counter input.
For the Field (7100h) and Process (7130h) objects values corresponding to the 8 analog input
lines on the controller, the bit order is as shown.

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Figure 2.3.1 PWM, Frequency or Counter Input Block Diagram
2.4. Input Sensor Types
The 18 Digital Inputs module is a device that measures inputs and sends the data to a CANopen
network. Each input can be configured for any one of the following options by selecting the desired
Operating Mode (6112h) set for 'Normal Operation’ and the Sensor Type (6110h) objects.
The properties and behavior of the input in each mode are described below.
Input Disabled: This mode is selected by setting the Operating Mode (6112h) to 'Not Used'.
The Field Value (7100h) and Process Value (7130h) are always 0.
Digital Input: This mode is selected by setting the Operating Mode (6112h) to 'Digital Input'.
This mode is configured to read the state of the digital input pin together with
the hardware polarity object (2000h) and the software polarity object (6002h)
to determine the logical state (ON/OFF) of the digital input channel.
The input is read by the DI Read State (6000h) object in the Digital Input
Block.
Error detection objects are not used, since error detection is not possible in
this mode. The Field Value (7100h) and Process Value (7130h) are always 0.
PWM Duty Cycle: The input is configured to measure the duty cycle of a pulse width modulated
(PWM) signal in the range of 0 to 100%dc, with a frequency between 10Hz to
10kHz. Field value (7100h) and error detection objects (2010h and 2080), will
be interpreted in percent duty cycle divided by 100 [%dc / 100].
Frequency: The input is configured to count the number of pulses that occur over the
period of the Measuring Window object (2090h). At the end of the measuring
window, the frequency of the pulses is calculated, and the FV is updated. Field
value (7100h) and error detection objects (2010h and 2080), will be interpreted
in hertz [Hz].
Window
2090h
Input Type
6110h
Operation
6112h Constant
61A1h
Input
Pin
Count/
Timer Meas.
Calc.
Scaling
Field Value
7100h Dec. Digits 6132h
Filter PWM
61A0h Proc. Val
7130h
Scale 1 FV
7120h
Scale 2 FV
7122h
Offset
7124h
Scale 1 PV
7121h
Scale 2 PV
7123h
Autozero
6125h
Error
Checking
Err Min
2010h
Err Max
2080h
Err Active
20A0h
Err Delay
20B0h Error
React Controller
CAN Bus
Not 16-bit
Counter

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16-bit Counter: The input is configured to count pulse on the input until the value in the
Measuring Window object (2090h) is reached. While the counter is active, a
timer with a 1ms resolution is running in the background. When the count has
been reached, the value in the 1ms timer is captured and updated to the Field
Value object (7100h). The timer is reset until the count value once again
reaches the Measuring Window. Error detection objects are not used, since
error detection is not possible in this mode.
NOTE: The difference between Frequency and Counter mode is that the
Frequency mode gives the number of pulses that occur in the Measuring Window
Period, while the counter gives the period of time it takes for the number of pulses
in the Measuring Window to be read at the input.
2.5. Fault Detection
In addition to the 8 analog inputs, the 18 Digital Inputs module has the capability to detect and
report other faults. The types of faults it could detect are:
Module Over-Temperature
Power Supply Over Voltage
Power Supply Under Voltage
The objects associated with Fault Detection are all manufacturer defined objects, and are
described in detail in the Object Dictionary.
These FAULTS are currently NOT supported by this module.
They are left here for compatibility purposes.

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3. OBJECT DICTIONARY
The CANopen object dictionary of the 18 Digital Inputs is based on CiA device profile DS-404
V1.2. (Device profile for measurement devices and closed-loop controllers.) The object dictionary
also includes some manufacturer-specific objects for extended functionality.
3.1. COMMUNICATION OBJECTS
The communication objects supported by the 18 Digital Input are listed in the following table. A
more detailed description of some of the objects is given in the following subchapters. Only those
objects that have device-profile specific information are described. For more information on the
other objects, refer to the generic CANopen protocol specification DS-301.
Index
(hex) Object Object Type Data Type Access PDO Mapping
1000 Device Type VAR UNSIGNED32 RO No
1001 Error Register VAR UNSIGNED8 RO No
1002 Manufacturer Status Register VAR UNSIGNED32 RO No
1003 Pre-Defined Error Field ARRAY UNSIGNED32 RO No
100C Guard Time VAR UNSIGNED16 RW No
100D Life Time Factor VAR UNSIGNED8 RW No
1010 Store Parameters ARRAY UNSIGNED32 RW No
1011 Restore Default Parameters ARRAY UNSIGNED32 RW No
1016 Consumer Heartbeat Time ARRAY UNSIGNED32 RW No
1017 Producer Heartbeat Time VAR UNSIGNED16 RW No
1018 Identity Object RECORD RO No
1020 Verify Configuration ARRAY UNSIGNED32 RW No
1029 Error Behaviour ARRAY UNSIGNED8 RW No
1400 RPDO1 Communication Parameter RECORD RW No
1401 RPDO2 Communication Parameter RECORD RW No
1402 RPDO3 Communication Parameter RECORD RW No
1403 RPDO4 Communication Parameter RECORD RW No
1600 RPDO1 Mapping Parameter RECORD RW No
1601 RPDO2 Mapping Parameter RECORD RW No
1602 RPDO3 Mapping Parameter RECORD RW No
1603 RPDO4 Mapping Parameter RECORD RW No
1800 TPDO1 Communication Parameter RECORD RW No
1801 TPDO2 Communication Parameter RECORD RW No
1802 TPDO3 Communication Parameter RECORD RW No
1803 TPDO4 Communication Parameter RECORD RW No
1A00 TPDO1 Mapping Parameter RECORD RW No
1A01 TPDO2 Mapping Parameter RECORD RW No
1A02 TPDO3 Mapping Parameter RECORD RW No
1A03 TPDO4 Mapping Parameter RECORD RW No
5555 Start in Operational Mode VAR BOOLEAN RW No

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3.1.1. PDO Parameters
All RPDOs and TPDOs in the 18 Digital Inputs use the same default communication
parameters, respectively. The PDO IDs are set according to the pre-defined connection set
described in [DS-301]. All receive PDOs are set to transmission type 255, and all transmit
PDOs to transmission type 254, with the event timer (subindex 5) set to 100 (100ms).
All PDOs are dynamically mappable, and the user can therefore change the mapping of the
PDOs. The granularity is 8-bits, so the objects can be mapped with byte offsets. The
mapping parameter records include 4 subindexes for the PDO mapping. The default PDO
mappings are listed in the following tables.
RPDO1: default ID 0x200 + node ID
Subindex Value Object
0 0 Number of mapped application objects in PDO
1 0
2 0
3 0
4 0
RPDO2: default ID 0x300 + node ID
Subindex Value Object
0 0 Number of mapped application objects in PDO
1 0
2 0
3 0
4 0
RPDO3: default ID 0x400 + node ID
Subindex Value Object
0 0 Number of mapped application objects in PDO
1 0
2 0
3 0
4 0
RPDO4: default ID 0x500 + node ID
Subindex Value Object
0 0 Number of mapped application objects in PDO
1 0
2 0
3 0
4 0

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TPDO1: default ID 0x180 + node ID
Subindex Value Object
0 4 Number of mapped application objects in PDO
1 0x60000110 DI Input 1 to 8 (DI8 = Bit 8 and DI1 = Bit 1)
2 0x60000210 DI input 9 to 16 (DI6 = Bit 8 and DI9 = Bit 1)
3 0x60000310 DI input 17 to 18 (DI8 = Bit 2 and DI17 = Bit 1)
4 0 Not used
TPDO2: default ID 0x280 + node ID
Subindex Value Object
0 4 Number of mapped application objects in PDO
1 0x71000110 AI Input Field Value for AI 1
2 0x71000210 AI Input Field Value for AI 2
3 0x71000310 AI Input Field Value for AI 3
4 0x71000410 AI Input Field Value for AI 4
TPDO3: default ID 0x380 + node ID
Subindex Value Object
0 2 Number of mapped application objects in PDO
1 0x71000510 AI Input Field Value for AI 5
2 0x71000210 AI Input Field Value for AI 6
3 0x71000710 AI Input Field Value for AI 7
4 0x71000810 AI Input Field Value for AI 8
TPDO4: default ID 0x480 + node ID
Subindex Value Object
0 0 Number of mapped application objects in PDO
1 0
2 0
3 0
4 0

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3.1.2. Object 1000h: Device Type
This object contains information about the device type as per device profile DS-404. The
value stored in this object is 0x00030194, indicating that the 18 Digital Input includes the
following function blocks defined in the device profile.
Digital Input (DI)
Analog Input (AI)
Object Description
Index 1000h
Name Device Type
Object Type VAR
Data Type UNSIGNED32
Entry Description
Access RO
PDO Mapping No
Value Range 0x00030194
Default Value 0x00030194
3.1.3. Object 1001h: Error Register
This object is an error register for the device. Any time there is an error detected by the 18
Digital Input, the Generic Error Bit (bit 0) is set. Only if there are no errors in the module will
this bit be cleared. No other bits in this register are used by the 18 Digital Input.
Object Description
Index 1001h
Name Error Register
Object Type VAR
Data Type UNSIGNED8
Entry Description
Access RO
PDO Mapping No
Value Range 00h or 01h
Default Value 0

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3.1.4. Object 1003h: Pre-Defined Error Field
The object 1003h provides an error history by listing the errors in the order that they have
occurred. An error is added to the top of the list when it occurs, and is immediately removed
when the error condition has been cleared. The latest error is always at subindex 1, with
subindex 0 containing the number of errors currently in the list. When the device is in an
error-free state, the value of subindex 0 is zero.
The error list may be cleared by writing a zero to subindex 0, which will clear all errors from
the list, regardless of whether or not they are still present. Clearing the list does NOT mean
that the module will return to the error-free behaviour state if at least one error is still active.
The 18 Digital Input has a limitation of a maximum of 16 errors in the list. If the device
registers more errors, the list will be truncated, and the oldest entries will be lost.
The error codes stored in the list are 32-bit unsigned numbers, consisting of two 16-bit
fields. The lower 16-bit field is the EMCY error code, and the higher 16-bit field is a
manufacturer-specific code. The manufacturer-specific code is divided into two 8-bit fields,
with the higher byte indicating the error description, and the lower byte indicating the
channel number where the error occurred.
MSB LSB
Error Description Channel EMCY Error Code
See Section 4 for a complete list of the error code fields.
Object Description
Index 1003h
Name Pre-Defined Error Field
Object Type VAR
Data Type UNSIGNED32
Entry Description
Subindex 0h
Description Number of entries
Access RO
PDO Mapping No
Value Range 0 to 16
Default Value 0
Subindex 1h to 10h
Description Standard error field
Access RO
PDO Mapping No
Value Range UNSIGNED32
Default Value 0

Version 3.0.0 Preliminary Documentation – May be Subject to Change 17-46
3.1.5. Object 1010h: Store Parameters
This object supports the saving of parameters in non-volatile memory. In order to avoid
storage of parameters by mistake, storage is only executed when a specific signature is
written to the appropriate subindex. The signature is “save”.
The signature is a 32-bit unsigned number, composed of the ASCII codes of the signature
characters, according to the following table:
MSB LSB
e v a s
65h 76h 61h 73h
On reception of the correct signature to an appropriate subindex, the 18 Digital Input will
store the parameters in non-volatile memory, and then confirm the SDO transmission.
By read access, the object provides information about the module’s saving capabilities.
Object Description
Index 1010h
Name Store Parameters
Object Type ARRAY
Data Type UNSIGNED32
Entry Description
Subindex 0h
Description Largest subindex supported
Access RO
PDO Mapping No
Value Range 4
Default Value 4
Subindex 1h
Description Save all parameters
Access RW
PDO Mapping No
Value Range 0x65766173 (write access)
1h (read access)
Default Value 1h (saves parameters on command)
Subindex 2h
Description Save communication parameters
Access RW
PDO Mapping No
Value Range 0x65766173 (write access)
1h (read access)
Default Value 1h (saves parameters on command)
Subindex 3h
Description Save application parameters
Access RW
PDO Mapping No
Value Range 0x65766173 (write access)
1h (read access)
Default Value 1h (saves parameters on command)

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Subindex 4h
Description Save manufacturer parameters
Access RW
PDO Mapping No
Value Range 0x65766173 (write access)
1h (read access)
Default Value 1h (saves parameters on command)
3.1.6. Object 1011h: Restore Default Parameters
This object supports the restoring of the default values for the object dictionary in non-
volatile memory. In order to avoid restoring of parameters by mistake, the device restores
the defaults only when a specific signature is written to the appropriate subindex. The
signature is “load”.
The signature is a 32-bit unsigned number, composed of the ASCII codes of the signature
characters, according to the following table:
MSB LSB
d a o l
64h 61h 6Fh 6Ch
On reception of the correct signature to an appropriate subindex, the 18 Digital Input will
restore the defaults in non-volatile memory, and then confirm the SDO transmission. The
default values are set valid after the device is reset or power-cycled.
By read access, the object provides information about the module’s default parameter
restoring capabilities.
Object Description
Index 1011h
Name Restore Default Parameters
Object Type ARRAY
Data Type UNSIGNED32
Entry Description
Subindex 0h
Description Largest subindex supported
Access RO
PDO Mapping No
Value Range 4
Default Value 4
Subindex 1h
Description Restore all default parameters
Access RW
PDO Mapping No
Value Range 0x64616F6C (write access)
1h (read access)
Default Value 1h (restores defaults on command)
Subindex 2h
Description Restore default communication parameters
Access RW
PDO Mapping No

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Value Range 0x64616F6C (write access)
1h (read access)
Default Value 1h (restores defaults on command)
Subindex 3h
Description Restore default application parameters
Access RW
PDO Mapping No
Value Range 0x64616F6C (write access)
1h (read access)
Default Value 1h (restores defaults on command)
Subindex 4h
Description Restore default manufacturer parameters
Access RW
PDO Mapping No
Value Range 0x64616F6C (write access)
1h (read access)
Default Value 1h (restores defaults on command)
3.1.7. Object 1016h: Consumer Heartbeat Time
The 18 Digital Input can be a consumer of heartbeat objects for up to four modules. This
object defines the expected heartbeat cycle time for those modules, and if set to zero, it is
not used. When non-zero, the time is a multiple of 1ms, and monitoring will start after the
reception of the first heartbeat from the module. If the 18 Digital Input fails to receive a
heartbeat from a node in the expected timeframe, it will indicate a communication error, and
respond as per object 1029h.
Bits 31-24 23-16 15-0
Value Reserved 00h Node-ID Heartbeat time
Encoded as UNSIGNED8 UNSIGNED16
Object Description
Index 1016h
Name Consumer heartbeat time
Object Type ARRAY
Data Type UNSIGNED32
Entry Description
Subindex 0h
Description Number of entries
Access RO
PDO Mapping No
Value Range 4
Default Value 4
Subindex 1h to 4h
Description Consumer heartbeat time
Access RW
PDO Mapping No
Value Range UNSIGNED32
Default Value 0

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3.1.8. Object 1018h: Identity Object
The identity object indicates the data of the 18 Digital Input, including vendor id, device id,
software and hardware version numbers, and the serial number.
In the Revision Number entry at subindex 3, the format of the data is as shown below
MSB LSB
Major revision number (object dictionary) Hardware Revision Software Version
Object Description
Index 1018h
Name Identity
Object Type RECORD
Data Type Identity Record
Entry Description
Subindex 0h
Description Number of entries
Access RO
PDO Mapping No
Value Range 4
Default Value 4
Subindex 1h
Description Vendor ID
Access RO
PDO Mapping No
Value Range 0x00000055
Default Value 0x00000055 (Axiomatic)
Subindex 2h
Description Product Code
Access RO
PDO Mapping No
Value Range 0xAA030301
Default Value 0xAA030301
Subindex 3h
Description Revision Number
Access RO
PDO Mapping No
Value Range UNSIGNED32
Default Value No
Subindex 4h
Description Serial Number
Access RO
PDO Mapping No
Value Range UNSIGNED32
Default Value No