Pcom Table Configuration - Servotronix CDHD2S User Manual

Application Setup
continuously compares the actual position with the defined value in PCOMN (or equivalent
EtherCAT/CANopen
object). When the feedback counter equals PCOMN, the PCOM module triggers the output.
Two user-defined positions (PCOMSTART and PCOMEND) define the position range
⚫
within which the position comparison function takes effect and triggers the output.
The user-defined constant (PCOMN) defines the number of encoder counts (interval)
⚫
between each output trigger.
Define the pulse width based on PCOMWIDTH.
⚫
Figure 6-28 Position comparison trigger output - cycle configuration

6.11.2 PCOM table configuration

The position table is configured to output pulses at specific positions or switch output states.
In this mode, the PCOM module continuously compares the actual position with the position
defined by PCOMTABLE. When the feedback counter equals the position in the table, the PCOM
module triggers the output.
For cycle configuration, the pulse width is the defined (PCOMWIDTH)
⚫
The user-defined constant (PCOMN) defines the number of encoder counts (interval)
⚫
between each output trigger.
Up to 32 user-defined positions (PCOMTABLE) define the specific positions that will trigger
output.
Define the number of trigger positions in the table according to the parameter
PCOMTABLELEN.
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