0x2434 - Analog input command source

Index	Sub Index	Name	Data Type	Acc.	Pdo Map.	NVM	Value range	Default value	Units
0x2434	0x01	Analog input used	UINT8	RW	No	Yes	UINT8	1	-
0x2434	0x02	Analog input motion offset	INT32	RW	No	Yes	INT32	0	motion units
0x2434	0x03	Analog input velocity deadband	UINT32	RW	No	Yes	UINT32	0	counts / s
0x2434	0x04	Analog input motion range (from 2.3.0)	INT32	RW	No	Yes	INT32	0	motion units

When using an analog input command source and working in Profile position mode the Software position limit register will be used as limits of the system. Therefore, the min voltage in the analog input will correspond to a Target position of Min. Software position limit, and the max voltage will correspond to a Max. Software position limit.

When working in Profile velocity mode the Max motor speed will be used as the maximum value of the system and the same value but with opposite sign for the minimum value of the system.

When working in Profile torque mode the Max torque will be used as the maximum value of the system and the same value but with opposite sign for the minimum value of the system.

SubIndex description:

0x01 (Analog input used): This object provides control to assign which analog input is used as analog command source. 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 (Velocity deadband): This object allows defining a deadband of values when analog input is used as Command reference source in Profile velocity mode.
If the difference between the value of the input and the analog input offset (value of the midpoint of the analog range) is smaller than deadband value, the input will be considered null. This characteristic allows reducing sensitivity at low speeds.

This registry is expressed in percentage of the analog input range, thus for example in 0 to 5 V analog input range; if the registry takes a value of 10, it will correspond to 10% of 5 V and therefore to a dead zone of ±0.5 V around 2.5 V. In the same way in -10 to 10 V analog input range, it will correspond to ±2V.
0x04 (Motion range) (from 2.3.0): 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.

These parameters are used to scale the analog readings range. The resulting commandedvalue is computed: