NP5 CANopen Technical Manual

3243h Digital Input Homing Capture

Function

With this object, the current position can be noted automatically if a level change occurs at the digital input that is used for the home switch.

Note: Do not use this function in combination with a homing operation. The homing operation cannot otherwise be successfully completed.

Object description

Index 3243h
Object name Digital Input Homing Capture
Object Code ARRAY
Data type UNSIGNED32
Savable yes, category: application
Access read only
PDO mapping no
Allowed values
Preset value
Firmware version FIR-v1738-B501312
Change history

Value description

Subindex 00h
Name Number Of Entries
Data type UNSIGNED8
Access read only
PDO mapping no
Allowed values
Preset value 04h
Subindex 01h
Name Control
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values
Preset value 00000000h
Subindex 02h
Name Capture Count
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values
Preset value 00000000h
Subindex 03h
Name Value
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values
Preset value 00000000h
Subindex 04h
Name Sensor Raw Value
Data type UNSIGNED32
Access read / write
PDO mapping RX-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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