Integrating MotionLinx with TwinCAT / MotionLinx-Ai SDOs /
Configuration
Index 0×4000
| Subindex | Data Type | Data Description |
|---|---|---|
| SubIndex 01 Sensor Polarity |
INT | Bitwise Value: bit 00 = Left Sensor Port – Aux Input bit 01 = Reserved bit 02 = Right Sensor Port – Aux Input bit 03 = Reserved bit 04 = Left Sensor Port – Sensor Input bit 05 = Reserved bit 06 = Right Sensor Port – Sensor Input bit 07 thru bit 15 = Reserved See Sensor Polarity Topic below |
| SubIndex 02 Sensor Debounce |
INT | Value in msec Specifies the time after a leading or trailing edge of the signal for which any other transitions are ignored. |
| SubIndex 03 Push-Pull Sensor Type |
INT | Bitwise Value: bit 00 = Left Sensor Port Inputs bit 01 = Right Sensor Port Inputs bit 02 thru bit 15 = Reserved ON = Both Inputs on the port are set to accept Push-Pull type device OFF = Both Inputs on the port are set for NPN/PNP Auto Detect |
| SubIndex 04 Motor Type Left |
INT | Integer value to set the Motor Performance type 0 = ECO Plus 1 = ECO 2 = BOOST 3 = BOOST 8 Refer to the Power Supply Sizing Topic for more details |
| SubIndex 05 Motor Type Right |
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| SubIndex 06 Brake Mode Left |
INT | Integer value to set the motor braking method See Motor Braking Methods Chart |
| SubIndex 07 Brake Mode Right |
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| SubIndex 08 Motor Speed Left |
INT | Integer value to set the motor speed: • For MDR the value is in mm/sec • For PGD the value is in motor RPM |
| SubIndex 09 Motor Speed Right |
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| SubIndex 0A InOrOutPin2 |
INT | Integer value to set the function of the Left and/or Right Sensor Port Pin2 1 = Use Left Sensor Port Pin 2 as OUTPUT 2 = Use Right Sensor Port Pin 2 as OUTPUT 3 = Use Both Left and Right Sensor Port’s Pin 2 as OUTPUT |
| SubIndex 0B Left Motor Slave |
INT | Integer value to set the function of the Left Motor 0 = Left Motor will maintain its own separate control from the Right Motor 1 = Left Motor will “slave” to Right Motor |
| SubIndex 0C Right Motor Slave |
INT | Integer value to set the function of the Right Motor 0 = Right Motor will maintain its own separate control from the Left Motor 1 = Right Motor will “slave” to Left Motor |
| SubIndex 0D P2 Voltage Limit |
INT | Integer value in mV for the motor generated voltage during deceleration at which the control will stop the motor and short the power transistors to dissipate the motor energy within the module’s power circuits. This internal dissipated energy is prevented from being fed back to the module’s power supply. Valid range = 26000 to 30000. Any value outside of this range will cause the default value of 27000 (27V) to be used |
| SubIndex 0E P1OnOff |
SINT | Motor Complimentary Mode Disable 0 = Motors are in default Complimentary Mode 1 = Complimentary Mode Disabled See Motor Complimentary Mode topic below |
Sensor Polarity
In this SDO register, when a given bit is set to 1; the logical state of the corresponding bit in the All Sensors object of PDO0 is inverted. This also inverts the LED state displayed on the module.
This is provided as a convenience for the master controller programmer. For example, the master controller could have re-useable code or routines that expect a photo sensor to have its electrical signal ON when it is “blocked”. Let’s say on a given module, you need to connect a photo sensor whose electrical signal is OFF when “blocked”. Instead of modifying the program logic in each and every place this input is used; you can simply change its logical polarity with this SDO register. This logical polarity setting also affects the LED state.
For example, by default when the Left Sensor input is electrically energized, its corresponding LED illuminates green and bit 4 of the All Sensors PDO register is a 1. If you set bit 4 in the SDO Sensor Polarity register; when the Left Sensor input is electrically energized, bit 4 of the All Sensors PDO is 0 and its corresponding LED is off.
| Sensor Polarity Configuration Bit Setting |
Electrical Signal on Port Pin |
Transmit PDO Bit State |
LED State |
|---|---|---|---|
| OFF | De-energized | OFF | OFF |
| OFF | Energized | ON | ON |
| ON | De-energized | ON | ON |
| ON | Energized | OFF | OFF |
Motor Complimentary Mode
The P1OnOff object is used for to help abate over-voltage situations for the power supply feeding the module. With Complementary Mode disabled, excess motor generated back EMF during deceleration is dissipated as heat instead of fed back into the DC power supply. Doing this reduces the overall motor efficiency. Complementary Mode enabled (default) provides the highest motor efficiency available from the module.