CANopen Programmer's Manual - Maccon.de

3: Device Control, Configuration, and Status CANopen Programmer’s Manual
DIGITAL CONTROL INPUT SCALING INDEX 0X2321
Type Access Units Range Map PDO Memory
Integer 32 RW See Description, below. See Description, below. YES RF
Description
When the amplifier is running in a mode that takes input from the digital control input pins (as
determined by the setting of object 0x2300, Desired State), this object gives the amount of current
to command at 100% PWM input. The scaling depends on what the PWM input is driving:
Current mode: 0.01 A
Velocity: 0.1 counts/s
In position mode the scaling factor is a ratio of two 16-bit values. The first word passed gives the
numerator and the second word gives the denominator. This ratio determines the number of
encoder units moved for each pulse (or encoder count) input.
For example, a ratio of 1/3 would cause the motor to move 1 encoder unit for every three input
steps.
DIGITAL INPUTS INDEX 0X60FD
Type Access Units Range Map PDO Memory
Unsigned 32 RO - See Description, below. EVENT -
Description
This object gives the present value of the digital inputs of the amplifier. The lower 16 bits are
defined by the device profile and show the value of input based on the function associated with
them. The upper 16 bits give the raw values of the inputs connected to the amplifier in the same
ordering as Input Pin States (index 0x2190, p. 116).
Bits Description
0 Negative limit switch is active when set.
1 Positive limit switch is active when set.
2 Home switch is active when set.
3 Amplifier enable input is active when set.
4-15 Reserved.
16-
31
Raw input mapping. These bits contain the same data as Input Pin States (index 0x2190, p. 116).
CONFIGURE I/O OPTIONS INDEX 0X2198
Type Access Units Range Map PDO Memory
Integer32 RW - - NO RF
Description
This parameter is used to configure optional features of the general purpose I/O. Bit-mapped:
Bit Description
0-3 For AEM/APM, these bits determine whether several I/O pins are used as a serial interface for
expanded I/O features, and if so how they are configured.
0 – normal I/O
1 – AEM/APM development board LEDs and address switches.
2 – LEDs wired the same as the developer's kit board, but using separate red & green LEDs for the network
status.
4-31 Reserved for future use.
122 Copley Controls