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).

Index

20A1h

Name

LatchClosedThe 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

  • "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 ILClosed"Instruction list" This is a low-level language and resembles assembly.KP 1.000 in WorkBench.