CANopen
Drive parameters
Depending on the drive hardware used, a digital input may have to be parameterised as a latch input in the drive.
The procedure for this depends on the drive and its manufacturer and must be carried out based on the drive documentation and possibly using commissioning and parameterisation software provided by the drive manufacturer.
Parameterisation of the cyclic telegram
When the measurement function is used in the cyclic actual value telegram, a telegram type must be configured containing the following data for transfer:
- Latch status word
- Latch position
A telegram type must be configured in the cycle command value telegram by transmitting the latch control word.
Axis parameters
Assign the following entries in the axis parameter lists for EtherCAT drives:
- Select probing signal edge by P-AXIS-00518
- Select probing input used on the drive (Digital Input 1 or 2) by the parameter P-AXIS-00517
(old P-AXIS-00113) | Latch at positive or negative probing signal edge:
| kenngr.measure.edge | POS / NEG |
(old P-AXIS-00295) | Select the number of the digital probing input in the drive (1/2):
| kenngr.measure.input | 1 / 2 |