Technical data

HN.50.Y1.02 23
Step 3:
Connecting joystick
signals to PVE outputs
In the PVG CIP OD the inputs have indexes
1400-1403. In this OD range only the format of
incoming message is shown, not the values.
The values of incoming joystick signals can be
read from the index range 2100-2103.
Index for changing Index from which
COB-ID, see step 1 values can be read
1
st
PDO 1400, sub 1 2100, sub 1-C
2
nd
PDO 1401, sub 1 2101, sub 1-C
3
rd
PDO 1402, sub 1 2102, sub 1-C
4
th
PDO 1403, sub 1 2103, sub 1-C
PVG CIP inputs can be connected with Prof 1
CIP outputs by writing the corresponding
value index in the PVG CIP input mapping
structure.
Connections between inputs and outputs in
PVG CIP are made as follows:
PROP1 PVE1 A
PROP2 PVE1 B
PROP3 PVE2 A
PROP1 PROP4 PVE2 B
PROP2 Push 3A PVE3 A
1
st
PDO
PROP3 Push 3B PVE3 B
PROP4 Push 4A PVE4 A
REST Push 4B PVE4 B
D1 1-8 Push 5 PVE5 A
Push 6 PVE5 B
Push 7 PVE6 A
Push 8 PVE6 B
PVE7 A
PROP1 PVE7 B
PROP2 PVE8 A
PROP3 PVE8 B
PROP1 PROP4 PVPX
PROP2 Push 3A
2
nd
PDO
PROP3 Push 3B
Float position control
PROP4 Push 4A
mapping
OD 2105
REST Push 4B
DI 1-8 Push 5 PVE1
Push 6 PVE2
Push 7 PVE3
Push 8 PVE4
PVE5
PROP1 PVE6
PROP2 PVE7
PROP3 PVE8
PROP1 PROP4
PROP2 Push 3A
3
rd
PDO
PROP3 Push 3B
PROP4 Push 4A
REST Push 4B
DI 1-8 Push 5
Push 6
Push 7
Push 8
PROP1
PROP2
PROP1 PROP3
PROP2 PROP4
4
th
PDO
PROP3 Push 3A
PROP4 Push 3B
REST Push 4A
DI 1-8 Push 4B
Push 5
Push 6
Push 7
Push 8
OUTPUT
OD 2104
FORMAT
OD 1400-1403
VALUE
OD 2100-2103