CANopen Programmer's Manual - Maccon.de

CANopen Programmer’s Manual 6: Homing Mode Operation
POSITION CAPTURE CONTROL REGISTER INDEX 0X2400
Type Access Units Range Map PDO Memory
Unsigned 16 RW - See Description, below. YES RF
Description
Sets up position capture features for the encoder index home switch input and high speed position
capture input. Bit-mapped as follows:
Bit Description
0 If set, the Captured Index Position (index 0x2402, p. 188) is captured on the falling edge of the index.
1 If set, the Captured Index Position is captured on the rising edge of the index.
2 If set, a Captured Index Position value will not be overwritten by a new position until it has been read. If clear,
new positions will overwrite old positions.
3,4 Reserved.
5 If set, Home Capture Position (index 0x2403, p. 188) captures falling edges of the home switch input
transition; if clear, it captures rising edges.
6 If set, Home Capture Position will not be overwritten by a new position until it has been read.
If clear, new positions will overwrite old positions.
8 If set, enable high speed input position capture. The position value is written to Captured Position for High
Speed Position Capture (index 0x2405, p. 188).
9 If set, don't overwrite high speed input capture positions.
10 If set, a Captured Position for High Speed Position Capture value will not be overwritten by a new position
until it has been read. If clear, new positions will overwrite old positions.
12 Clear actual position on every encoder index pulse.
POSITION CAPTURE STATUS REGISTER INDEX 0X2401
Type Access Units Range Map PDO Memory
Unsigned 16 RO - See Description, below. YES -
Description
Shows the current status of the index or home switch capture mechanism. Bit-mapped as follows:
Bit Description
0 If set, an index position has been captured. Cleared when the captured position is read.
1,2 Reserved.
3 If set, a new index transition occurred when a captured position was already stored.
The existing Captured Index Position (index 0x2402, p. 188) will be overwritten or preserved as programmed
in bit 2 of the Position Capture Control Register (index 0x2400, p. 187).
4 If set, new home switch transition data has been captured.
5,6 Reserved.
7 If set, a new home switch input transition occurred when a captured position was already stored. The existing
Home Capture Position (index 0x2403, p. 188) will be overwritten or preserved as programmed in bit 6 of the
Position Capture Control Register.
8 If set, a new high speed input position has been captured. Cleared when the captured position is read.
10 If set, high speed input position overflow.
11 If set, a new high speed input transition occurred when a Captured Position for High Speed Position Capture
(index 0x2405, p. 188) was already stored.
The existing Captured Position for High Speed Position Capture will be overwritten or preserved as
programmed in bit 10 of the Position Capture Control Register.
Copley Controls 187