AKD EtherCAT | 5 Appendix
5.3.43 Object 20A5h: Latch Status Register
The latch status register is used to look for the states of the capture engines 0 and 1.
Index
20A5h
Name
Latch Status Register
Object code
VAR
Data type
UNSIGNED16
Category
optional
Access
rwr
PDO mapping
possible
Value range
-
Default value
0
Bit
Value
(bin)
Value
(hex)
Description
0
00000000 00000001 zz01 External latch 1 valid (positive rise)
1
00000000 00000010 zz02 External latch 1 valid (negative rise)
2
00000000 00000100 zz04 External latch 2 valid (positive rise)
3
00000000 00001000 zz08 External latch 2 valid (negative rise)
4 to 7
Reserve
8
00000001 00000000 z1zz Acknowledge value external latch 1 (positive rise)
9
00000010 00000000 z2zz Acknowledge value external latch 1 (negative rise)
10
00000011 00000000 z3zz Acknowledge value external latch 2 (positive rise)
11
00000100 00000000 z4zz Acknowledge value external latch 2 (negative rise)
12
00010000 00000000 1zzz State Digital Input 4
13
00100000 00000000 2zzz State Digital Input 3
14
01000000 00000000 4zzz State Digital Input 2
15
10000000 00000000 8zzz State Digital Input 1
5.3.44 Object 20A6h: Latch position 1, positive or negative edge
This object is used to output the position or a time, depending on CAP0.MODE, at which the
first positive or negative edge occurred on a signal, that can be configured with
CAP0.TRIGGER. Latch enable must be active for that purpose (see object 20A4 and 20A5).
Index
20A6h
Name
Latch position 1 positive or negative CAP0.PLFB
Object code
VAR
Data type
INTEGER32
Category
optional
Access
ro
PDO mapping
possible
Value range
INTEGER32
Float scaling
var
Default value
0
124
Kollmorgen | kdn.kollmorgen.com | October 2017
