7.2.2.7 Object 20A3h: Latch position 2, negative edge
This object is used to output the position or a time, depending on CAP0.MODE, at which the first negative edge
occurred on a signal, which can be configured with the command CAP0.TRIGGER. The latch enable must be
active for that purpose(see object 20A4 and 20A5).
Index 20A3h
Name Latch position 2, negative edge, CAP1.PLFB
Time capture, CAP1.T
Object code VAR
Data type INTEGER32
Category optional
Access R/O
PDO mapping possible
Value range INTEGER32
Default value 0
7.2.2.8 Object 20A4h: Latch Control Register
The latch control register is used to enable the latch monitoring of the capture engines 0 and 1. The latch is ena-
bled with a 1 signal and disabled with a 0 signal. Whether or not a latch event has occurred can be recognised by
the latch status register (object 20A5).
Index 20A4h
Name Latch Control Register
Object code VAR
Data type UNSIGNED16
Category optional
Access rww
PDO mapping possible
Value range 0 to 15
Default value 0
Bit Value (bin) Value (hex) Description
0 00000000 00000001 xx01 Enable extern latch 1 (positive rise)
1 00000000 00000010 xx02 Enable extern latch 1 (negative rise)
2 00000000 00000100 xx04 Enable extern latch 2 (positive rise)
3 00000000 00001000 xx08 Enable extern latch 2 (negative rise)
4 00000000 00010000 xx10 Enable latch of encoder index pulse
5 to 7 Reserve
8 00000001 00000000 01xx Read external latch 1 (positive rise)
9 00000010 00000000 02xx Read external latch 1 (negative rise)
10 00000011 00000000 03xx Read external latch 2 (positive rise)
11 00000100 00000000 04xx Read external latch 2 (negative rise)
12 00000101 00000000 05xx Read latched position of encoder index pulse
13 to
15
Reserve
AKD CANopen | 7 CANopen Drive Profile
Kollmorgen™ | November 2012 63
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