|
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.