CANopen Programmer's Manual - Maccon.de

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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
CANopen Programmer’s Manual 3: Device Control, Configuration, and Status OUTPUT STATES AND PROGRAM CONTROL INDEX 0X2194 Type Access Units Range Map PDO Memory Unsigned 16 RW - See Description, below. EVENT R Description When read, this parameter gives the active/inactive state of the amplifier’s general-purpose digital outputs. Each bit represents an input number. Bit 0 = digital output 1 (OUT1), bit 1 = OUT2, etc., up to OUTn, the number of digital outputs on the amplifier. Additional bits are ignored. Outputs that have been configured for program control can be set by writing to this parameter (see the Output pin configuration object, index 0x2193, p. 120 for pin configuration details). Set a bit to activate the output. It will be activated high or low according to how it was programmed. Clear a bit to make the output inactive. If an output was not configured for program control it will not be affected. DIGITAL CONTROL INPUT CONFIGURATION INDEX 0X2320 Type Access Units Range Map PDO Memory Integer 16 RW - See Description, below. YES RF Description Defines the configuration of the digital control inputs when the amplifier is running in a mode that uses them as a control source. The lower 8 bits control the PWM input configuration for controlling current and velocity modes. The upper 8 bits configure the digital inputs when running in position mode. Bits Description 0 If set, use PWM in signed/magnitude mode. If clear, use PWM in 50% duty cycle offset mode. 1 Invert the PWM input if set. 2 Invert the sign bit if set. 3 Allow 100% duty cycle if set. If clear, treat 100% duty cycle as a zero command, providing a measure of safety in case of controller failure or cable break. 4-7 Reserved for future use. 8-9 Input pin interpretation for position mode (see below). Value Description 0 Step & Direction mode. 1 Separate up & down counters. 2 Quadrature encoder input. 10-11 Reserved for future use. 12 Count falling edges if set, rising edges if clear. 13 Invert command signal. 14-15 Selects source of digital position input command. Value Description 0 Single ended high speed inputs. 1 Multi-mode encoder port. 2 Differential high speed inputs. 3 Motor encoder port. Copley Controls 121
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