3241h Digital Input Position Capture
Function
With this object, the encoder position can be noted automatically if a level change occurs at digital input .
Object description
| Index | 3241h |
| Object name | Digital Input Position Capture |
| Object Code | ARRAY |
| Data type | UNSIGNED32 |
| Savable | yes, category: application |
| Access | read only |
| PDO mapping | TX-PDO |
| Allowed values | |
| Preset value | |
| Firmware version | FIR-v1446 |
| Change history |
Firmware version FIR-v1446: "Data type" entry changed from "UNSIGNED32" to "UNSIGNED8". Firmware version FIR-v1738-B501312: "Name" entry changed from "Encoder Raw Value" to "Sensor Raw Value". Firmware version FIR-v1748-B531667: "PDO mapping" table entry for subindex 00 changed from "no" to "TX-PDO". Firmware version FIR-v1748-B531667: "PDO mapping" table entry for subindex 01 changed from "RX-PDO" to "TX-PDO". Firmware version FIR-v1748-B531667: "PDO mapping" table entry for subindex 02 changed from "RX-PDO" to "TX-PDO". Firmware version FIR-v1748-B531667: "PDO mapping" table entry for subindex 03 changed from "RX-PDO" to "TX-PDO". Firmware version FIR-v1748-B531667: "PDO mapping" table entry for subindex 04 changed from "RX-PDO" to "TX-PDO". |
Value description
| Subindex | 00h |
| Name | Number Of Entries |
| Data type | UNSIGNED8 |
| Access | read only |
| PDO mapping | TX-PDO |
| Allowed values | |
| Preset value | 04h |
| Subindex | 01h - 04h |
| Name | Control For Capture Of Input #1 - #4 |
| Data type | UNSIGNED32 |
| Access | read / write |
| PDO mapping | TX-PDO |
| Allowed values | |
| Preset value | 00000000h |
Description
- Subindex 01h: This is used to select the type of level change:
- Deactivate function: Value "0"
- With rising edge: Value "1"
- With falling edge: Value "2"
- Both edges: Value "3"
- Subindex 02h: Specifies the number of the noted level changes since the time the function was started; is reset to 0 if subindex 01h is set to 1,2 or 3
- Subindex 03h: Encoder position of the level change (in absolute user units from 6064h)
- Subindex 04h: Encoder position of the level change