4.2.1.24 Object 2051h: Configuration of Position Registers
This object is used to enable and set the trigger type and the polarity of the 16 position registers.
Objects 2052h and 2053h are used to specify whether the absolute position, or the position relative
to the actual position should be evaluated.
Index 2051
h
Name
Configuration of Position Registers
Object code
ARRAY
Data type
UNSIGNED32
Category
optional
Subindex 0
Description
Number of entries
Data type
UNSIGNED8
Category
optional
Access
ro
PDO mapping
not possible
Value range
3
Default value
3
Using subindex 1, the position registers 16 P1 .. P16 can be individually enabled or locked via the
assigned bits 0..15. The position register is locked by setting the relevant bit.
Subindex 1
Description
Enable position registers
Category
optional
Access
rww
PDO mapping
possible
Value range
0...65535
Default value
0
Subindex 2 defines the trigger type of the 16 position registers P1 - P16. If the corresponding bit is
set to 0, the position is constantly monitored. If it is set to 1, after the position register is activated,
the corresponding enable bit from subindex 1 is reset and monitoring is thus switched off.
Subindex 2
Description
Position register mode
Category
optional
Access
rww
PDO mapping
possible
Value range
0...65535
Default value
0
Subindex 3 is used to set the polarity for the monitoring of the 16 position registers P1 - P16. If it is
set to 0, overshooting of the position is monitored, if it is set to 1, the undershoot of the position of
the corresponding position register is monitored.
Subindex 3
Description
Position register polarity
Category
optional
Access
rw
PDO mapping
possible
Value range
0...65535
Default value
0
CANopen for S300/S700 41
Kollmorgen 11/2018 CANopen Drive Profile
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