Pcom Fixed Cycle Configuration - Servotronix CDHD2S User Manual

Application Setup
Cycle configuration: Trigger output based on the fixed feedback count between
⚫
positions.
Table configuration: Trigger output based on the predefined position group.
⚫
Timing configuration: trigger output when there is a time offset with the SYNC0 signal.
⚫
The controller updates the time offset every cycle.
Note: When using the incremental feedback device, it must be homing before setting any
PCOM module parameters.
The following parameters are used to configure and monitor the PCOM module.
VarCom
2191h，
PCOMCNTRL{1|2}
2192h，
2195h，
PCOMDIR{1|2}
2196h，
219Dh，
PCOMEND{1|2}
219Eh，
219Fh，
PCOMN{1|2}
21A0h，
219Bh，
PCOMSTART{1|2}
219Ch，
2193h，
PCOMSTATUS{1|2}
2194h，
21A1h，
PCOMTABLE{1|2}
21A2h，
2197h，
PCOMTABLELEN{1|2}
2198h，
2199h，
PCOMWIDTH{1|2}
219Ah，
DIFPORTMODE
OUTMODEn27|28

6.11.1 PCOM fixed cycle configuration

The cycle configuration is used to output pulses or switch output states at fixed intervals
(defined as a set of position feedback counts (PCOMN)). In this mode, the PCOM module
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CANopen/CoE object
Sub-Index 0
Sub-Index 0
Sub-Index 0
Sub-Index 0
Sub-Index 0
Sub-Index 0
Sub-Index 0
Sub-Index 0
Sub-Index 0
Sub-Index 0
Sub-Index 0
Sub-Index 0
Sub-Index 0
Sub-Index 0
Sub-Index 0
Sub-Index 0
Sub-Index 0
Sub-Index 0
21A3h, sub-index0
209Ch
Table 6-16
PROFINET
parameters
Configure and match comparison trigger
Define whether the motor triggers the
output when it moves in negative, positive
Position of PCOM module to stop triggering
Fixed number of feedback counts between
each output trigger position.
Position of PCOM module to start triggering
Actual state of PCOM module.
A set of positions to be triggered for output.
Number of positions in the PCOM table
Differential (RS422) digital port hardware and
Output triggered by PCOM module 1|2
Description
output (PCOM) module.
or any direction.
output.
output.
Pulse output signal width.
output function.