Kollmorgen S300

4.2.1.36 Object 20A3h: Latch position 2, negative edge
This object is used to output the position at which the first negative edge occurred on digital input 2
following latch enable (also see object 20A4). Output reactivates the latch mimic for a process. Pre
-
requisite is the configuration of input 2 as a latch input (IN2MODE 26).
Index 20A3
h
Name
Latch position 2, negative edge
Object code
VAR
Data type
INTEGER32
Category
optional
Access
ro
PDO mapping
possible
Value range
INTEGER32
Default value
0
4.2.1.37 Object 20A4h: Latch Control Register
The latch control register is used to enable the latch monitoring of digital inputs 1 and 2. The latch is
enabled with a 1 signal and locked with a 0 signal. Whether or not a latch event has occurred can
be recognised by the manufacturer status (see table), object 1002.
Index 20A4
h
Name
Latch Control Register
Object code
VAR
Data type
UNSIGNED8
Category
optional
Access
rww
PDO mapping
possible
Value range
0...15
Default value
0
Bit Edge Bit in Object 1002
0 Enable positive edge on digital input 1 20
1 Enable negative edge on digital input 1 21
2 Enable positive edge on digital input 2 4
3 Enable negative edge on digital input 2 18
4-7 reserviert
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CANopen Drive Profile 11/2018 Kollmorgen