CANopen Programmer's Manual - Maccon.de

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3: Device Control, Configuration, and Status CANopen Programmer’s Manual INPUT PIN CONFIGURATION INDEX 0X2192 Type Access Units Range Map PDO Memory Array RW - - YES - Description This object consists of N identical sub-elements, where N is the number of input pins available on the amplifier. Sub-index 0 contains the number of sub-elements of this array. INPUT PIN CONFIGURATION INDEX 0X2192, SUB-INDEX 1-N Type Access Units Range Map PDO Memory Unsigned 16 RW - See Description, below NO RF These values allow functions to be assigned to each of the input pins. The available functions are: Code Description 0 No function 1 Reserved for future use (no function) 2 Reset the amplifier on the rising edge of the input. 3 Reset the amplifier on the falling edge of the input. 4 Positive side limit switch. Active high. See Misc Amplifier Options Register (index 0x2420, p. 76). 5 Positive side limit switch. Active low. See Misc Amplifier Options Register (index 0x2420, p. 76). 6 Negative side limit switch. Active high. See Misc Amplifier Options Register (index 0x2420, p. 76). 7 Negative side limit switch. Active low. See Misc Amplifier Options Register (index 0x2420, p. 76). 8 Motor temperature sensor. Active high. 9 Motor temperature sensor. Active low. 10 Disable amplifier when high. Clear latched faults on low to high transition. 11 Disable amplifier when low. Clear latched faults on high to low transition. 12 Reset on rising edge. Disable amplifier when high. 13 Reset on falling edge. Disable amplifier when low. 14 Home switch. Active high. 15 Home switch. Active low. 16 Disable amplifier when high. 17 Disable amplifier when low. 19 PWM synchronization. Only for high speed inputs; see amplifier data sheet. 20 Halt motor and prevent a new trajectory when high. 21 Halt motor and prevent a new trajectory when low. 22 High resolution analog divide when high. 23 High resolution analog divide when low. 24 High speed position capture on rising edge. Only for high speed inputs. 25 26 27 High speed position capture on falling edge. Only for high speed inputs. Counter input, rising edge. Note: Upper byte of this parameter designates which Indexer register to store the count in. Counter input, falling edge. Note: Upper byte of this parameter designates which Indexer register to store the count in. 118 Copley Controls
CANopen Programmer’s Manual 3: Device Control, Configuration, and Status INPUT PIN DEBOUNCE VALUES INDEX 0X2195 Type Access Units Range Map PDO Memory Array RW - - YES - Description This object consists of N identical sub-index objects, where N is the number of input pins available on the amplifier. (Sub-index object 0 contains the number of elements of this record.) These values allow debounce times to be assigned to each of the input pins. Each sub-index object can be described as shown below: INPUT PIN DEBOUNCE VALUES INDEX 0X2195, SUB-INDEX 1-N Type Access Units Range Map PDO Memory Unsigned 16 RW milliseconds 0 - 10,000 YES RF Description The debounce time for the input identified by the sub-index in milliseconds. This time specifies how long an input must remain stable in a new state before the amplifier recognizes the state. RAW INPUT PIN VALUE (16 BIT) INDEX 0X2196 Type Access Units Range Map PDO Memory Unsigned 16 RO - See Description, below. YES - Description This object shows the current state of the input pins before debouncing. The inputs are returned one per bit. The value of IN1 is returned in bit 0 (1 if high, 0 if low), IN2 in bit 1, etc. For input states with debouncing, see Input Pin States (index 0x2190, p. 116). RAW INPUT PIN VALUE (32 BIT) INDEX 0X219B Type Access Units Range Map PDO Memory Unsigned 32 RO - See Description, below. YES - Description The 32-bit value returned by this command gives the current state (high/low) of the amplifier’s input pins. Unlike input pin states, no debounce is applied when reading the inputs using this variable. The inputs are returned one per bit. The value of IN1 is returned in bit 0 (1 if high, 0 if low), IN2 in bit 1, etc. For input states with debouncing, see Input Pin States (index 0x2190, p. 116). Copley Controls 119
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