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).

"Float Scaling" is applied objects which match floating-point parameters in WorkBench/Telnet. Float scaling "variable" (var) means, that the scaling is not fixed, but depending on other settings or parameters.
Examples for fixed scaling:
Object 607Ah is listed as 1:1 - this means that commanding a value of 1000 in SDO 607Ah is equivalent to entering MT.P 1000.000 in WorkBench.
Object 3598h is listed as 1000:1 - this means that commanding a value of 1000 in SDO 3598h is equivalent to entering IL"Instruction list" This is a low-level language and resembles assembly.KP 1.000 in WorkBench.

Index	20A1h
Name	LatchThe control word is used to activate the drive's latch status machine. The latch control word is processed independently of the EtherCAT bus cycle. The status word is used to return the drive's latch status 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