AKD CANopen | 7 CANopen Drive Profile
7.2.2.9 Object 20A5h: Latch Status Register
The latch status register is used to look for the states of the capture engines 0 and 1.
Index 20A5h
Name Latch Status Register
Object code VAR
Data type UNSIGNED16
Category optional
Access rwr
PDO mapping possible
Value range -
Default value 0
Bit Value (bin) Value (hex) Description
0 00000000 00000001 zz01 External latch 1 valid (positive rise)
1 00000000 00000010 zz02 External latch 1 valid (negative rise)
2 00000000 00000100 zz04 External latch 2 valid (positive rise)
3 00000000 00001000 zz08 External latch 2 valid (negative rise)
4 00000000 00010000 z10 Latched position of encoder index pulse valid (positive rise)
5 to 7 Reserve
8 to 11 00000001 00000000 z1zz Acknowledge value external latch 1 (positive rise)
00000010 00000000 z2zz Acknowledge value external latch 1 (negative rise)
00000011 00000000 z3zz Acknowledge value external latch 2 (positive rise)
00000100 00000000 z4zz Acknowledge value external latch 2 (negative rise)
00000101 00000000 z5zz Acknowledge value of latched position of encoder index
pulse (positive rise)
12 to 15 00010000 00000000 1zzz State Digital Input 4
00100000 00000000 2zzz State Digital Input 3
01000000 00000000 4zzz State Digital Input 2
10000000 00000000 8zzz State Digital Input 1
7.2.2.10 Object 20A6h: Latch position 1, positive or negative edge
This object is used to output the position or a time, depending on CAP0.MODE, at which the first positive or neg-
ative 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 20A6h
Name Latch position 1, positive or negative, CAP0.PLFB
Object code VAR
Data type INTEGER32
Category optional
Access ro
PDO mapping possible
Value range INTEGER32
Default value 0
64 Kollmorgen™ | November 2012
To Next Page
Loading...
Need help?
General
