Object 2051H: Configuration Of Position Registers - Kollmorgen S300 Interface Manual

Kollmorgen
4.2.1.24

Object 2051h: Configuration of Position Registers

This object is used to enable and set the trigger type and the polarity of the 16 position registers.
Objects 2052h and 2053h are used to specify whether the absolute position, or the position relative
to the actual position should be evaluated.
Index
Name
Object code
Data type
Category
Subindex
Description
Data type
Category
Access
PDO mapping
Value range
Default value
Using subindex 1, the position registers 16 P1 .. P16 can be individually enabled or locked via the
assigned bits 0..15. The position register is locked by setting the relevant bit.
Subindex
Description
Category
Access
PDO mapping
Value range
Default value
Subindex 2 defines the trigger type of the 16 position registers P1 - P16. If the corresponding bit is
set to 0, the position is constantly monitored. If it is set to 1, after the position register is activated,
the corresponding enable bit from subindex 1 is reset and monitoring is thus switched off.
Subindex
Description
Category
Access
PDO mapping
Value range
Default value
Subindex 3 is used to set the polarity for the monitoring of the 16 position registers P1 - P16. If it is
set to 0, overshooting of the position is monitored, if it is set to 1, the undershoot of the position of
the corresponding position register is monitored.
Subindex
Description
Category
Access
PDO mapping
Value range
Default value
CANopen for S300/S700
11/2018
2051
h
Configuration of Position Registers
ARRAY
UNSIGNED32
optional
0
Number of entries
UNSIGNED8
optional
ro
not possible
3
3
1
Enable position registers
optional
rww
possible
0...65535
0
2
Position register mode
optional
rww
possible
0...65535
0
3
Position register polarity
optional
rw
possible
0...65535
0
CANopen Drive Profile
41