Technical Manual N5 (CANopen)
7 Special functions
Input
Special function
Switching threshold
switchable
Differential /
single-ended
1
Negative limit switch
yes, 5 V or 24 V (see 3240
h
:06
h
) single-ended
2
Positive limit switch
yes, 5 V or 24 V (see 3240
h
:06
h
) single-ended
3
Home switch
yes, 5 V or 24 V (see 3240
h
:06
h
) single-ended
4
None
yes, 5 V or 24 V (see 3240
h
:06
h
) single-ended
5
None
no, 5 V to 24 V wide range input
single-ended
6
None
no, 5 V to 24 V wide range input
single-ended
Object entries
The value of an input can be manipulated using the following OD settings, whereby only the
corresponding bit acts on the input here.
•
h
:01
h
(Special Function Enable): This bit allows special functions of an input to be switched
off (value "0") or on (value "1"). If input 1 is not used as, e.g., a negative limit switch, the special
function must be switched off to prevent an erroneous response to the signal generator. The object
has no effect on bits 16 to 31.
The firmware evaluates the following bits:
•
Bit 0: Negative limit switch
•
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 bit 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.
•
h
:03
h
(Force Enable): This bit switches on the software simulation of input values if it is set to
"1". In this case, the actual values are no longer used in object 3240
:04
h
, but rather the set values
for the respective input.
•
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
:05
h
(Raw Value): This object contains the unmodified input value.
•
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
(Digital Inputs): This object contains a summary of the inputs and the special functions.
Computation of the inputs
Computation of the input signal using the example of input 1:
The value at bit 0 of object 60FD
h
is interpreted by the firmware as negative limit switch; the result of
the complete computation is stored in bit 16.
Version: 2.0.1 / FIR-v1650
86
