Feature Configuration
ANCA Motion
DS619-0-00-0019 - Rev 0
93
10
The AMD200
0’s compliance requirements for EtherCAT marking requires the drive to ensure that the 6 digital
outputs are set to a user defined safe state whenever the drive is in SAFEOP, while the drive itself
simultaneously and automatically removes torque from the motor. In the AMD2000 this is achieved by requiring
the digital outputs to enter their safe state settings whenever the drive leaves OP state.
The user is able to manipulate up to 7 different IDN to configure the desired setting of the digital outputs, for both
OP and Non-OP states of operation. These IDN are as follows,
IDN
Description
Data Type
Scaling
P-0-0576 / 33344
Digital Output Polarity
Unsigned Integer (4 bytes)
LSB corresponds to output 0
Bit = 1: Inverted
None
P-0-0577 / 33345
Digital Output Data
Unsigned Integer (4 bytes)
LSB corresponds to output 0
None
P-0-0582 / 33350
Digital Output Source IDN List
Unsigned Integer Array (2 bytes)
(Length = 32)
Index 0 corresponds to output 0
None
P-0-0583 / 33351
Digital Output Invert Mask
Binary (2 bytes)
(Length = 32)
Index 0 corresponds to output 0
Array Item = 1: Inverted
None
P-0-0584 / 33352
Digital Output Source Bitmask
Binary (2 bytes)
(Length = 32)
Index 0 corresponds to output 0
Array Item = 1: GPDIO Active
None
P-0-0585 / 33353
Digital Output User Configurable
Default Safe State
– General
Purpose
Binary (2 bytes)
(Length = 32)
Index 0 corresponds to output 0
None
P-0-0586 / 33354
Digital Output User Configurable
Default Safe State
– Hardware
Level
Unsigned Integer (4 bytes)
LSB corresponds to output 0
None
The details of the process by which the digital outputs are set is described below, and represented graphically in
Figure 10-5
. Clearly the bits in IDN 33350 are critical in determining whether the corresponding digital output is
referred to as “General Purpose,” or as a “Hardware Level” digital output. These variables can be accessed
through the Advanced Parameter Access interface in ANCA MotionBench.
Digital Output Polarity (33344)
o
is a 32 bit bitmask that is applied directly to 33345 in order to determine the final bit setting of
the digital outputs. Essentially it can reverse the logic level output for any particular bit in
33345.
The Digital Output Data (33345)
represents up to 32 bits of information, of which ONLY the first 6 least significant bits are used
by the digital outputs of the AMD2000. These represent the actual digital output that is
intended to be sent to the digital pins at each scan update interval of 4 ms (although faster
rates can be achieved with special configuration). Bit 0 of 33345 corresponds to digital output
1, bit 1 is digital output 2, and so on and so forth. Therefore, a program or user may pass any
Boolean values they wish through these digital outputs by setting the values in the appropriate
bits of IDN 33345.
Digital Output Source IDN List (33350)
However, IDN 33350 can override and replace any information that has been directly written to
33345. IDN 33350 is a 32 element array capable of holdi
ng up to 32 separate IDN’s.
If an element of 33350 is non-zero
, then the element’s value is taken to represent an IDN that
contains information to be issued to the corresponding digital output. Since the digital output
can only be set for Booleans, if the value contained in the relevant IDN variable is non-zero, the
intent will be to set the associated digital output via IDN 33345 to 1, and otherwise set it to 0
(note, IDN 33344 can be used to reverse this output arrangement).
If alternatively the element of 33350 is zero, and the drive is in normal operation (OP), then the
corresponding bit in 33345 will
NOT
be overwritten, and the information that is already
contained in 33345 will be relayed to its associated digital output (again, assuming no further
bitmasking is being applied by IDN 33344).
Digital Output Invert Mask (33351)
