CANopen Programmer's Manual - Maccon.de

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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
CANopen Programmer’s Manual 3: Device Control, Configuration, and Status 3.8: XENUS REGEN RESISTOR OBJECTS Contents of this Section This section describes the following objects: Xenus Regen Resisitor Resistance Index 0x2150 .................................................................................. 124 Xenus Regen Resisitor Continuous Power Index 0x2151 ....................................................................... 124 Xenus Regen Resisitor Peak Power Index 0x2152................................................................................. 124 Xenus Regen Resisitor Peak Time Index 0x2153 ................................................................................... 124 Xenus Regen Resisitor Turn-On Voltage Index 0x2154 ......................................................................... 124 Xenus Regen Resisitor Turn-Off Voltage Index 0x2155 ......................................................................... 124 Xenus Regen Resisitor Model String Index 0x2156 ................................................................................ 124 Xenus Regen Resisitor Status Index 0x2157 .......................................................................................... 125 Copley Controls 123
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