ECM appsCAN Module Instruction Manual page 43

6.4. Configure PWM Outputs (PWM1, PWM2, PWM3, PWM4)
Select Output Type
There are three possible settings for each PWM output: pull-up resister, polarity, and pulse
mode. These settings are controlled by a 16-bit register that can be accessed by performing
an SDO read or write to OD address 0x5024, subindex 0x00.
bit 15 bit 14
Pulse4 Pulse3
bit 7 bit 6
Polarity4 Polarity3
Pulse#: 0 = configure channel as a normal PWM.
1 = configure channel as a one-shot pulse output.
(see Section 6.5 Configure Pulse Mode Outputs for full details)
Polarity#: 0 = configure as active high. 100% duty cycle deactivates low-side driver and
output is held high, either by the pull-up resistor or an external load.
1 = configure as active low. 100% duty cycle actives low-side driver and pulls
output to ground.
Pull-up#: 0 = configure as low-side driver. Pull-up resister is disabled.
1 = configure as output with 1K pull-up resister to 5V.
Example: Configure all PWM channels as active high outputs with pull-up resisters enabled.
CANid byte 0
0x600+NID 0x2B
Set Default Frequency and Duty Cycle
Default frequency and duty cycle values are stored as single precision floating point numbers
(IEEE-754) in the module. These values are applied to the outputs on startup before any
commands are received. They can be accessed by performing an SDO read or write to the
following Object Dictionary addresses. Note that FRQA applies to PWM channel 1 & 2, and
FRQB applies to PWM channel 3 & 4.
OD
Address
FRQA (1&2) 0x5027
FRQB (3&4) 0x5027
PWM1 0x5026
PWM2 0x5026
PWM3 0x5026
PWM4 0x5026
Bit 13 bit 12
Pulse2 Pulse1
bit 5 bit 4
Polarity2 Polarity1
byte 1 byte 2 byte 3
0x24 0x50 0x00
OD Factory
Subindex Default
0x00 100Hz
0x01 100Hz
0x00
0x01
0x02
0x03
bit 11 bit 10
Reserved Reserved
bit 3 bit 2
Pull-up4 Pull-up3
byte 4 byte 5
0x0F 0x00
0%
0%
0%
0%
bit 9 bit 8
Reserved Reserved
bit 1 bit 0
Pull-up2 Pull-up1
byte 6 byte 7
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