Object 20A4h: Latch Control Register

The latch control register is used to enable the latch monitoring of the capture engines 0 and 1. The latch is enabled with a 1 signal and disabled with a 0 signal. Whether or not a latch event has occurred can be recognised by the latch status register (object 20A5).

Index

20A4h

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 Control Register

Object code

VAR

Data type

UNSIGNED16

Category

optional

Access

rww

PDO mapping

possible

Value range

0 to 15

Default value

0

Bit

Value (bin)

Value (hex)

Description

0

00000000 00000001

xx01

Enable extern latch 1 (positive rise)

1

00000000 00000010

xx02

Enable extern latch 1 (negative rise)

2

00000000 00000100

xx04

Enable extern latch 2 (positive rise)

3

00000000 00001000

xx08

Enable extern latch 2 (negative rise)

4 to 7

 

 

Reserve

8

00000001 00000000

01xx

Read external latch 1 (positive rise)

9

00000010 00000000

02xx

Read external latch 1 (negative rise)

10

00000011 00000000

03xx

Read external latch 2 (positive rise)

11

00000100 00000000

04xx

Read external latch 2 (negative rise)

12 to 15

  

 

Reserve