AKD EtherCAT | 5 Appendix
5.3.39 Object 20A1h: Latch position 1, negative edge
This object is used to output the position or a time, depending on CAP0.MODE, at which the
first negative edge occurred on a signal, which can be configured with CAP0.TRIGGER. The
latch enable must be active for that purpose(see object 20A4 and 20A5).
Index
20A1h
Name
Latch position 1 negative edge CAP0.PLFB, Time capture CAP0.T
Object code
VAR
Data type
INTEGER32
Category
optional
Access
R/O
PDO mapping
possible
Value range
INTEGER32
Float scaling
var
Default value
0
5.3.40 Object 20A2h: Latch position 2, positive edge
This object is used to output the position or a time, depending on CAP1.MODE, at which the
first positive edge occurred on a signal, which can be configured with CAP1.TRIGGER. The
latch enable must be active for that purpose(see object 20A4 and 20A5).
Index
20A2h
Name
Latch position 2 positive edge CAP1.PLFB, Time capture CAP1.T
Object code
VAR
Data type
INTEGER32
Category
optional
Access
R/O
PDO mapping
possible
Value range
INTEGER32
Float scaling
var
Default value
0
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Kollmorgen | kdn.kollmorgen.com | October 2017
