Object 20A3H: Latch Position 2, Negative Edge; Object 20A4H: Latch Control Register; Object 20B0H: Trigger Variable Digital Input - Kollmorgen S300 Manual

5.2.1.36 Object 20A3h: Latch position 2, negative edge
This object is used to output the position at which the first negative edge occurred on digital input
2 following latch enable (also see object 20A4). Output reactivates the latch mimic for a process.
Prerequisite is the configuration of input 2 as a latch input (IN2MODE 26).
Index
Name
Object code
Data type
Category
Access
PDO mapping
Value range
Default value

5.2.1.37 Object 20A4h: Latch Control Register

The latch control register is used to enable the latch monitoring of digital inputs 1 and 2. The latch
is enabled with a 1 signal and locked with a 0 signal. Whether or not a latch event has occurred
can be recognized by the manufacturer status (see table), object 1002.
Index
Name
Object code
Data type
Category
Access
PDO mapping
Value range
Default value
Bit
0
1
2
3
4 to 7

5.2.1.38 Object 20B0h: Trigger Variable Digital Input 20

This object can be used to set the trigger variable for the software input 20. This object, which can
also be mapped, can be used for the start/stop procedure in the electric gearing (if IN20MODE =
51 or 53).
Index
Name
Object code
Data type
Category
Access
PDO mapping
Value range
Default value
20A3h
Latch position 2 negative edge
VAR
INTEGER32
optional
ro
possible
INTEGER32
0
20A4h
Latch Control Register
VAR
UNSIGNED8
optional
rw
possible
0 to 15
0
Edge
Enable positive edge on digital input 1
Enable negative edge on digital input 1
Enable positive edge on digital input 2
Enable negative edge on digital input 2
reserved
20B0h
Trigger variable digital input 20
VAR
INTEGER32
optional
rw
possible
INTEGER32
0
Kollmorgen | kdn.kollmorgen.com | December 2019
S300-S700 CANopen | 5 CANopen Drive Profile
Bit in Object 1002
20
21
4
18
47