Technical Manual PD4-E-M (EtherCAT)
10 Description of the object dictionary
•
Bit 1: Positive limit switch
•
Bit 2: Home switch
If, for example, two limit switches and one home switch are used, bits 0–2 in 3240
:01
h
must be set
to "1".
•
h
:02
h
(Function Inverted): This subindex switches from normally open logic (a logical high level
at the input yields the value "1" in object 60FD
) to normally closed logic (the logical high level at the
input yields the value "0").
This applies for the special functions (except for the clock and direction inputs) and for the normal
inputs. If the bit has the value "0", normally open logic applies; for the value "1", normally closed
logic applies. Bit 0 changes the logic of input 1, bit 1 changes the logic of input 2, etc.
•
h
:03
h
(Force Enable): This subindex switches on the software simulation of input values if the
corresponding bit is set to "1".
In this case, the actual values are no longer used in object 3240
h
:04
h
, but rather the set values for
the respective input. Bit 0 corresponds to input 1 here, bit 1 to input 2, etc.
•
h
:04
h
(Force Value): This bit specifies the value that is to be read as the input value if the same
bit was set in object 3240
h
:03
h
.
•
h
:06
h
(Input Range Select): This can be used to switch inputs – that are equipped with this
function – from the switching threshold of 5 V (bit is "0") to the switching threshold of 24 V (bit is
"1"). Bit 0 corresponds to input 1 here, bit 1 to input 2, etc.
•
h
:07
h
(Differential Select): With the inputs, this subindex switches between "single-ended
input" (value "0" in the subindex) and "differential input" (value "1" in the subindex) once for all
inputs.
•
08
h
: This subindex deactivates (value "0") or activates (value "1") the input routing.
3241h Digital Input Capture
Function
With this object, the encoder position can be noted automatically if a level change occurs at digital input
1.
Object description
Index
3241
h
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-v1738-B501312: "Name" entry changed from
"Encoder Raw Value" to "Sensor Raw Value".
Firmware version FIR-v1748-B531667: "PDO mapping" table entry for
subindex 00 changed from "no" to "TX-PDO".
Firmware version FIR-v1748-B531667: "PDO mapping" table entry for
subindex 01 changed from "RX-PDO" to "TX-PDO".
Version: 1.0.1 / FIR-v1748
200
