PD2-C CANopen Online Manual

3241h Digital Input Capture

Function

With this object, the encoder position can be noted automatically if a level change occurs at digital input 2.

Object description

Index 3241h
Object name Digital Input Capture
Object Code ARRAY
Data type UNSIGNED32
Savable yes, category: application
Access read only
PDO mapping no
Allowed values
Preset value
Firmware version FIR-v1446
Change history

Firmware version FIR-v1446: "Data type" entry changed from "UNSIGNED32" to "UNSIGNED8".

Firmware version FIR-v1650-B527540: "PDO mapping" table entry for subindex 00 changed from "no" to "TX-PDO".

Firmware version FIR-v1650-B527540: "PDO mapping" table entry for subindex 01 changed from "RX-PDO" to "TX-PDO".

Firmware version FIR-v1650-B527540: "PDO mapping" table entry for subindex 02 changed from "RX-PDO" to "TX-PDO".

Firmware version FIR-v1650-B527540: "PDO mapping" table entry for subindex 03 changed from "RX-PDO" to "TX-PDO".

Firmware version FIR-v1650-B527540: "PDO mapping" table entry for subindex 04 changed from "RX-PDO" to "TX-PDO".

Value description

Subindex 00h
Name Highest Sub-index Supported
Data type UNSIGNED8
Access read only
PDO mapping TX-PDO
Allowed values
Preset value 04h
Subindex 01h
Name Control
Data type UNSIGNED32
Access read / write
PDO mapping TX-PDO
Allowed values
Preset value 00000000h
Subindex 02h
Name Capture Count
Data type UNSIGNED32
Access read / write
PDO mapping TX-PDO
Allowed values
Preset value 00000000h
Subindex 03h
Name Value
Data type UNSIGNED32
Access read / write
PDO mapping TX-PDO
Allowed values
Preset value 00000000h
Subindex 04h
Name Encoder Raw Value
Data type UNSIGNED32
Access read / write
PDO mapping TX-PDO
Allowed values
Preset value 00000000h

Description

  • Subindex 01h: This is used to select the type of level change:
    • Deactivate function: Value "0"
    • With rising edge: Value "1"
    • With falling edge: Value "2"
    • Both edges: Value "3"
  • Subindex 02h: Specifies the number of the noted level changes since the time the function was started; is reset to 0 if subindex 01h is set to 1,2 or 3
  • Subindex 03h: Encoder position of the level change (in absolute user units from 6064h)
  • Subindex 04h: Encoder position of the level change
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