0x2435 - PWM command source
Index | Sub Index | Name | Data Type | Acc. | Pdo Map. | NVM | Value range | Default value | Units |
|---|---|---|---|---|---|---|---|---|---|
| 0x2435 | 0x01 | Mode | UINT8 | RW | No | Yes | UINT8 | 0 | - |
| 0x2435 | 0x02 | PWM input motion offset | INT32 | RW | No | Yes | INT32 | 0 | motion units |
| 0x2435 | 0x03 | PWM input velocity deadband | UINT32 | RW | No | Yes | INT32 | 0 | counts / s |
| 0x2435 | 0x04 | PWM input motion range (from 2.3.0) | INT32 | RW | No | Yes | INT32 | 0 | motion units |
| 0x2435 | 0x05 | PWM duty actual (from 2.3.0) | UINT16 | RO | No | No | UINT16 | 0 | ‰ |
| 0x2435 | 0x06 | PWM period actual (from 2.3.0) | UINT16 | RO | No | No | UINT16 | 0 | μs |
Motion units
Motion units means that the units depends on the selected mode of operation.Examples:
- Mode of operation: Profile position. Motion units: counts
- Mode of operation: Cyclic Sync velocity. Motion units: counts / s
- Mode of operation: Profile Torque. Motion units: ‰ of rated torque
There are two main modes of working with PWM command source:
- PWM & direction (Dual input mode): It uses two inputs; one to assign the magnitude of the movement and another to assign the direction:
- Applying a "LOW" voltage value to direction pin will make the system to go in negative directions.
- Applying a "HIGH" voltage value to direction pin will make the system to go in positive directions.
- PWM (Single input mode): It uses only one input to control the direction and the magnitude.
The direction and magnitude pins and the input voltage values are hardware dependent. Please refer to the Installation manual of the related drive.
Value definition:
Value | Description |
|---|---|
0x00 | Single input mode |
0x01 | Dual input mode |
The subindexes PWM input motion offset and PWM input motion range are used to scale the PWM read value into the desired motion units.
PWM input motion offset is only used in Single input mode.
The PWM input velocity deadband is only applied for velocity modes. If the difference between the value of the input and the 0 reference is smaller than deadband value, the input will be considered null.
The subindexes PWM duty actual and PWM period actual contain the parameters of the current PWM input.