Servotronix CDHD2S - PCOM Fixed Cycle Configuration

Application Setup
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⚫ Cycle configuration: Trigger output based on the fixed feedback count between
positions.
⚫ Table configuration: Trigger output based on the predefined position group.
⚫ Timing configuration: trigger output when there is a time offset with the SYNC0 signal.
The controller updates the time offset every cycle.
Note: When using the incremental feedback device, it must be homing before setting any
PCOM module parameters.
The following parameters are used to configure and monitor the PCOM module.
Table 6-16
VarCom
CANopen/CoE object
PROFINET
parameters
Description
PCOMCNTRL{1|2}
2191h，
2192h，
Sub-Index 0
Sub-Index 0
Configure and match comparison trigger
output (PCOM) module.
PCOMDIR{1|2}
2195h，
2196h，
Sub-Index 0
Sub-Index 0
Define whether the motor triggers the
output when it moves in negative, positive
or any direction.
PCOMEND{1|2}
219Dh，
219Eh，
Sub-Index 0
Sub-Index 0
Position of PCOM module to stop triggering
output.
PCOMN{1|2}
219Fh，
21A0h，
Sub-Index 0
Sub-Index 0
Fixed number of feedback counts between
each output trigger position.
PCOMSTART{1|2}
219Bh，
219Ch，
Sub-Index 0
Sub-Index 0
Position of PCOM module to start triggering
output.
PCOMSTATUS{1|2}
2193h，
2194h，
Sub-Index 0
Sub-Index 0
Actual state of PCOM module.
PCOMTABLE{1|2}
21A1h，
21A2h，
Sub-Index 0
Sub-Index 0
A set of positions to be triggered for output.
PCOMTABLELEN{1|2}
2197h，
2198h，
Sub-Index 0
Sub-Index 0
Number of positions in the PCOM table
PCOMWIDTH{1|2}
2199h，
219Ah，
Sub-Index 0
Sub-Index 0
Pulse output signal width.
DIFPORTMODE
21A3h, sub-index0
Differential (RS422) digital port hardware and
output function.
OUTMODEn27|28
209Ch
Output triggered by PCOM module 1|2
6.11.1 PCOM fixed cycle configuration
The cycle configuration is used to output pulses or switch output states at fixed intervals
(defined as a set of position feedback counts (PCOMN)). In this mode, the PCOM module