0x23D0 - Analog input feedback

Index	Sub Index	Name	Data Type	Acc.	Pdo Map.	NVM	Value range	Default value	Units
0x23D0	0x01	Analog input used	UINT8	RW	No	Yes	UINT8	0x03	-
0x2434	0x02	Analog input motion offset	INT32	RW	No	Yes	INT32	0	motion units
0x2434	0x03	Reserved	UINT32	RW	No	Yes	UINT32	0	counts / s
0x2434	0x04	Analog input motion range	INT32	RW	No	Yes	INT32	0	motion units
0x2434	0x05	Analog input polarity	UINT8	RW	No	Yes	0 to 1	0	-

This object provides control to assign which analog input is used as analog input feedback. The valid value for analog input used goes from 1 to the number of analog inputs of the controller. Note that the number of analog inputs is hardware dependent.

SubIndex description:

0x01 (Analog input used): This object provides control to assign which analog input is used as analog feedback. The valid value for analog input used goes from 1 to the number of analog inputs of the controller. Note that the number of analog inputs is hardware dependent.

0x02 (Analog input offset): This object sets the offset or reference of the analog input used. This offset is applied after the analog read value is scaled into motion units (See below).

0x03 (Reserved)
0x04 (Motion range) : This object contains the whole range in motion units. This range value may exceed the maximum system limits, but the final demand value will be limited by the system limits module. For reverse motion, the range value must be negative.
0x05 (Polarity): Indicates the slope of the analog input measurements. This register is used to align the polarity of the analog readings with other feedbacks or the system movement. The permissible values are:
Value Meaning
0 Standard
1 Reversed

These parameters are used to scale the analog readings range, allowing to use an analog input feedback as absolute position reference with the same resolution than other feedback in the system. The resulting position value is computed:

Value	Meaning
0	Standard
1	Reversed