0x2436 - Internal generator cmd source
Index | Sub Index | Name | Data Type | Acc. | Pdo Map. | NVM | Value range | Default value | Units |
|---|---|---|---|---|---|---|---|---|---|
0x2436 | 0x01 | Function type | UINT8 | RW | No | No | UINT8 | 0 | - |
| 0x2436 | 0x02 | Amplitude | UINT32 (from release 2.3.4, otherwise UINT16) | RW | No | Yes | UINT32 | 1000 | Motion units |
| 0x2436 | 0x03 | Frequency (10 mHz) | UINT16 (from release 2.3.4, otherwise UINT8) | RW | No | Yes | UINT16 | 10 | 10 mHz |
| 0x2436 | 0x04 | Digital output signaling (Deprecated from version 1.3.0) | UINT8 | RW | No | Yes | UINT8 | 0 | - |
EMCL includes an internal signal generator to allow performing repetitive movements without the need of an external master.
It can be used only in Cyclic synchronous modes.
SubIndex description:
0x01 (Function type): The register value has the following meaning:
Value
Definition
0
Sinusoidal signal
1
Reserved
2 Square signal 3…255 Reserved Sinusoidal signal is only available for Cyclic synchronous position mode.
- 0x02 (Amplitude): Select the peak amplitude, expressed in motion units (‰ of rated torque, position counts or velocity counts/s), of the generated signal.
- 0x03 (Frequency): Select the frequency, expressed in 10 mHz, of the generated signal. (i.e. default value '10' on this register, means a frequency of 100 mHz)
- 0x04 (Digital output signaling): Allows to generate a signaling using general purpose digital outputs according to generated signal. Writing a 1 will select Digital output 1, etc. Digital output will be active half of the period. Writing a zero will disable the signaling.
