Process image

DIG Inputs

You can find the digital inputs under "DIG Inputs".

Process image 1:

Data types

Process image 2: DIG Inputs
Process image 3: Input n: BIT
Process image 4: Sync Error: BIT

DIG Diag Inputs

Under "DIG Diag Inputs" you will find the diagnostic inputs of the digital outputs.

Process image 5:

Data types

Process image 6: DIG Diag Inputs
Process image 7: Diag Input n: BIT

"Diag Input n" indicates an error on Output n.

DIG Inputs Device

You can find the status inputs at "DIG Inputs Device".

Process image 8:

Data types

Process image 9: DIG Inputs Device
Process image 10: Safe state active: BIT
Process image 11: Error channel 1: BIT
Process image 12: Error channel 2: BIT
Process image 13: Sync error: BIT
Process image 14: TxPDO Toggle: BIT

"Safe state active" indicates whether the safe state is active.
The display only works in the EtherCAT states "Operational" (OP) and "Safe-Operational" (Safe-OP).
"Error channel 1": This bit is always 0
"Error channel 2": Collective error for all eight channels
"Sync Error": See EtherCAT system-documentation
"TxPDO Toggle": See EtherCAT system-documentation

DIG Outputs

You can find the digital outputs under "DIG Outputs".

Process image 15:

Data types

Process image 16: DIG Outputs
Process image 17: Output n: BIT

DIG Outputs Device

You can find the control outputs under "DIG Outputs Device".

Process image 18:

Data types

Process image 19: DIG Outputs Device
Process image 20: Set safe state: BIT
Process image 21: Reset outputs: BIT

"Set safe state" activates the safe state
"Reset outputs" resets the error bits "Error channel x". The outputs are reactivated.