5.3.41 Object 20A3h: Latch position 2, negative edge
This object is used to output the position or a time, depending on CAP1.MODE, at which the
first negative 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
20A3h
Name
Latch position 2 negative 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
5.3.42 Object 20A4h: Latch Control Register
The latch control register is used to enable the latch monitoring of the capture engines 0 and
1. The latch is enabled with a 1 signal and disabled with a 0 signal. Whether or not a latch
event has occurred can be recognised by the latch status register (object 20A5).
Index
20A4h
Name
Latch Control Register
Object code
VAR
Data type
UNSIGNED16
Category
optional
Access
rww
PDO mapping
possible
Value range
0 to 15
Default value
0
Bit
Value (bin)
Value (hex) Description
0
00000000 00000001
xx01
Enable extern latch 1 (positive rise)
1
00000000 00000010
xx02
Enable extern latch 1 (negative rise)
2
00000000 00000100
xx04
Enable extern latch 2 (positive rise)
3
00000000 00001000
xx08
Enable extern latch 2 (negative rise)
4 to 7
Reserve
8
00000001 00000000
01xx
Read external latch 1 (positive rise)
9
00000010 00000000
02xx
Read external latch 1 (negative rise)
10
00000011 00000000
03xx
Read external latch 2 (positive rise)
11
00000100 00000000
04xx
Read external latch 2 (negative rise)
12 to 15
Reserve
AKD EtherCAT | 5 Appendix
Kollmorgen | kdn.kollmorgen.com | October 2017
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