NANOTEC PD4-E, Technical Manual

Page: 86 / 295

Technical Manual PD4-E-M (EtherCAT)
7 Special functions
Number in 3252:01 to 05
01XX
h
Output is always "0"
02XX
h
Encoder signal (6063
h
) with frequency divider 1
03XX
h
Encoder signal (6063
h
) with frequency divider 2
04XX
h
Encoder signal (6063
h
) with frequency divider 4
05XX
h
Encoder signal (6063
h
) with frequency divider 8
06XX
h
Encoder signal (6063
h
) with frequency divider 16
07XX
h
Encoder signal (6063
h
) with frequency divider 32
08XX
h
Encoder signal (6063
h
) with frequency divider 64
09XX
h
Position Actual Value (6064
h
) with frequency divider 1
0AXX
h
Position Actual Value (6064
h
) with frequency divider 2
0BXX
h
Position Actual Value (6064
h
) with frequency divider 4
0CXX
h
Position Actual Value (6064
h
) with frequency divider 8
0DXX
h
Position Actual Value (6064
h
) with frequency divider 16
0EXX
h
Position Actual Value (6064
h
) with frequency divider 32
0FXX
h
Position Actual Value (6064
h
) with frequency divider 64
10XX
h
PWM signal that is configured with object 2038
h
:05
h
and 06
h
11XX
h
Inverted PWM signal that is configured with object 2038
h
:05
h
and 06
h
Example
The encoder signal (6063
h
) is to be applied to output 1 with a frequency divider 4. The output
is to be controlled with bit 5 of object 60FE:01.
• 3250
h
:08
h
= 1 (activate routing)
• 3252
h
:02
h
= 0405
h
(04XX
h
+ 0005
h
) Dabei ist:
• 04XX
h
: Encoder signal with frequency divider 4
• 0005
h
: Selection of bit 5 of 60FE:01
The output is switched on by setting bit 5 in object 60FE:01.
Example
The brake PWM signal is to be applied to output 2. Because the automatic brake control
uses bit 0 of 60FE:01
h
, this should be used as control bit.
• 3250
h
:08
h
= 1 (activate routing)
• 3252
h
:03
h
= 1080
h
(=10XX
h
+ 0080
h
). Where:
• 10XX
h
: Brake PWM signal
• 0080
h
: Selection of the inverted bit 0 of object 60FE:01
Version: 1.0.1 / FIR-v1748 86