CANopen Programmer's Manual - Maccon.de

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