CANopen Programmer's Manual - Maccon.de
CANopen Programmer's Manual - Maccon.de
CANopen Programmer's Manual - Maccon.de
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3: Device Control, Configuration, and Status <strong>CANopen</strong> Programmer’s <strong>Manual</strong><br />
OUTPUT PIN CONFIGURATION INDEX 0X2193<br />
Type Access Units Range Map PDO Memory<br />
Array RW - - YES RF<br />
Description<br />
This array consists of N i<strong>de</strong>ntical sub-elements, where N is the number of outputs. Sub-in<strong>de</strong>x 0<br />
contains the number of sub-elements of this array.<br />
OUTPUT PIN CONFIGURATION INDEX 0X2193, SUB-INDEX 1-N<br />
Type Access Units Range Map PDO Memory<br />
Variable RW - See Description, below. YES RF<br />
The values programmed into these objects allow the amplifier’s digital outputs to be driven by<br />
internal amplifier events, or externally driven.<br />
Each output configuration consists of a 16-bit configuration word (bits 0-15), followed by a variable<br />
number of words (2-4), <strong>de</strong>pending on the configuration co<strong>de</strong> chosen. The configuration word is<br />
<strong>de</strong>fined as follows:<br />
Bits Configuration<br />
0-2 Define which internal register drives the output. The acceptable values for these bits are as follows:<br />
Value Description<br />
0 Word 2 (bits 16-32) is used as a mask of the amplifier's Manufacturer Status Register object (in<strong>de</strong>x<br />
0x1002, p. 60). When any bit set in the mask is also set in the Manufacturer Status Register object,<br />
the output goes active.<br />
1 Word 2 (bits 16-32) is used as a mask of the amplifier's Latched Event Status Register (in<strong>de</strong>x<br />
0x2181, p. 62). When any bit set in the mask is also set in the Latched Event Status Register, the<br />
output goes active and remains active until the necessary bit in the Latched Event Status Register is<br />
cleared.<br />
2 Puts the output in manual mo<strong>de</strong>. Additional words are not used in this mo<strong>de</strong>, and the output's state<br />
follows the value programmed in the manual output control register.<br />
3 Word 2 (bits 16-32) is used as a mask of the amplifier's Trajectory Generator Status object (in<strong>de</strong>x<br />
0x2252, p. 202). When any bit set in the mask is also set in the Trajectory Generator Status object<br />
the output goes active.<br />
4 Output goes active if the actual axis position is between the low position specified in words 2 and 3<br />
(bits 16-47) and the high position specified in words 4 and 5 (bits 48-80).<br />
5 Output goes active if the actual axis position crosses, with a low to high transition; the position<br />
specified in words 2 and 3 (bits 16-47). The output will stay active for number of milliseconds<br />
specified in words 4 and 5 (bits 48-80).<br />
6 Same as 5 but for a high to low crossing.<br />
7 Same as 5 but for any crossing.<br />
3-7 Reserved for future use.<br />
8 If set, the output is active low. If clear, the output is active high.<br />
9-15 Reserved for future use.<br />
120 Copley Controls