PD4-E CANopen Online Manual

Analog inputs

The controller has an analog input with 10-bit resolution. It is located on pin 8 of X4. You can configure the analog input as a current input or as a voltage input with object 3221h.

You can read out the analog value in a NanoJ program and use it as you like, e. g., to specify the target speed. The controller also offers pre-programmed operating modes (analog speed / joystick) that evaluate the analog input (see Special drive modes (clock-direction and analog speed)).

Object entries

To read out and, if necessary, manipulate the value of the analog input, use the following OD settings:

  • 3220h (Analog Inputs):

    This object displays the instantaneous values of the analog inputs in ADC digits.

  • 3221h: (Analogue Inputs Control):

    With this object, you can switch the analog input from voltage measurement to current measurement.

  • 3320h (Read Analogue Input):

    This object displays the instantaneous values of the analog inputs in user-defined units.

  • 3321h (Analogue Input Offset):

    This is the offset that is added to the read analog value (3220h) before scaling (multiplier from object 3322h and divisor from object 3323h).

  • 3322h(Analogue Input Factor Numerator):

    This is the value by which the read analog value (3220h + 3321) is multiplied before it is written in object 3320h.

  • 3323h(Analogue Input Factor Denominator):

    This is the value by which the read analog value (3220h + 3321h) is divided before it is written in object 3320h.

Scale analog value

You read the value in object 3320h (Read Analogue Input): This object displays the instantaneous values of the analog inputs in user-defined units.

The user-defined units are made up of offset (3321h) and scaling value (3322h/ 3323h). If both are still set to the default values, the value in 3320h is specified in the ADC Digits unit.

Example

Analog input 1 has a measuring range of 0 V…+10 V. There is a voltage of 0 V…+10 V on the analog input, which, at a resolution of 10 bits, corresponds to the value range 0…1023 ADC digits.

To display the analog value in the physical unit of millivolt, proceed as follows:

  1. Write the value "10000" (corresponds to the entire measurement range in millivolt) in 3322h:01h (Analogue Input Factor Numerator).
  2. Write the value "1023" (corresponds to the resolution in digits) in 3323h:01h (Analogue Input Factor Denominator).

At the maximum voltage of 10 V, now read out the value "10000" in object 3320h (Read Analogue Input):

1023 digits * 10000 mV / 1023 = 10000 mV

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