B&R Industries X20 System, User Manual

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X20 system modules • Digital signal processing modules • X20CM1201
1320 X20 system User's Manual 3.10
4.16.2.10.4.3 Enables the interface
This command activates the movement interface. The status of the interface is displayed in the 4.16.2.10.5.5
"Read status" register (bit 5). The interface is disabled following a reset. This is necessary to ensure a consistent
parameter field.
Code 0x02
Parameter 0
Data 0 to 3 0
4.16.2.10.4.4 Configure parameters
Code 0x03
Parameter See parameter list
Data 0 to 3 Parameter data
Parameter list
Parameter Description Parameter format
Movement blocks
Calculating the address
: Addr = (BlockN - 1) * 32 + (StepN - 1) * 8
BlockN = 1 to 4
StepN = 1 to 8
Addr Movement BlockN StepN: Position (relative or absolute) DINT value
Addr + 1 Movement BlockN StepN: Timeout or delay Time format
Addr + 2 Movement BlockN StepN: Trigger condition (edge or comparator value) Trigger condition
Addr + 3 Movement BlockN StepN: Debug information (read only) 0
Configuration
0x80 Jitter tolerance negative (must be a negative value) Time format
0x81 Jitter tolerance positive (must be a positive value) Time format
0x82 Overshoot tolerance negative (must be a negative value) Time format
0x83 Overshoot tolerance positive (must be a positive value) Time format
0x84 - 0x87 Reserved
0x88 Setup time - negative direction Time format
0x89 Setup time - positive direction Time format
0x8a Stop time - negative direction Time format
0x8b Stop time - positive direction Time format
0x8C - 0x8F Reserved
0x90 Output configuration (push/pull) Output configuration
0x91 Output state - negative direction, high speed Output states
0x92 Output state - negative direction, low speed Output states
0x93 Output state, negative direction - setup Output states
0x94 Output state - stop Output states
0x95 Output state, positive direction - setup Output states
0x96 Output state - positive direction, low speed Output states
0x97 Output state - positive direction, high speed Output states
0x98 Safe input state - negative direction Safe input states
0x99 Safe input state - positive direction Safe input states
0x9A - 0x9B Reserved
0x9C Safe minimum position - negative direction DINT value
0x9D Safe maximum position - negative direction DINT value
0x9E Safe minimum position - positive direction DINT value
0x9F Safe maximum position - positive direction DINT value
0xA0 - 0xBF Reserved
Status indicators
0xC0 Current position 0
0xC1 Target position 0
0xC2 Error information 0; Error information
0xC3 I/O states 0; I/O states
0xC4 - 0xFF Reserved
Parameter formats used
DINT value
The possible values depend on the respective command.
Data type Value
DINT -2,147,483,648 to 2,147,483,647
Time format
Time in microseconds. System resolution is a result of the system cycle time (default: 50 μs).