Emerson 400501-08 manual Position Control, Ccw

Page 86

74

Position Control

Master Receive Assembly Block - Position Control

Word

Bit 15

Bit 14

Bit 13

Bit 12

Bit 11

Bit 10

Bit 9

Bit 8

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

Enable

Valid

Absolute

End of

Data = 1

Stop

Trajectory

0

Reserved

Position

Fault

Index

Reserved

State

Ignore

Valid

Input

Motion

Started

Data = 0

CCW

CW

Command

Trajectory

Hardware

Hardware

1

Reserved

Reserved

Reserved

Response Assembly Code

Reserved

Start

Reserved

Reserved

Limit

Limit

Drive OK

Error

Echo

(Travel

(Travel

Limit -)

Limit +)

2

Data

Low Word

LS Bit

3

MS Bit

Data High Word

Master Send Assembly Block -Position Control

Word

Bit 15

Bit 14

Bit 13

Bit 12

Bit 11

Bit 10

Bit 9

Bit 8

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

Valid

0

Reserved

Enable

Data = 1

Reserved

Stop

Reserved

Absolute=0

Reserved

Start

Ignore

Incremental=1

Trajectory

Data = 0

1

Reserved

Response Assembly Code

Reserved

Command Assembly Code

2

Data

Low Word

LS Bit

3

MS Bit

Data High Word

Epsilon Ei DeviceNet Drive Reference Manual

Image 86

Contents Reference Manual Page Epsilon Ei DeviceNet Drive Reference Manual Page Website and Email Customer Support952 Technical Support 952 995-8033 or 800Document Conventions Training Services 952 995-8000 or 800Customer Service Sales 952 995-8000 or 800 Application Engineering 952 995-8000 or 800This Represents General Warning Safety InstructionsReference Materials Qualified PersonSetup, Commissioning and Maintenance Safety ConsiderationsSafety Precautions EnclosureSafety of Machinery General warningTable of Contents Drive Parameters Network Configuration Quick StartExplicit Messaging Quick Start Appendix Glossary IndexIntroduction PurposeDeviceNet Overview DeviceNet Communications LinkDeviceNet Messaging and Communications Master/Slave RelationshipMaster/Slave Relationship DeviceNet Hardware Components InstallationMechanical Installation CablesPower Supply Requirements Electrical InstallationConnectors Physical Connections to the DeviceNet NetworkInstallation Epsilon Ei DeviceNet Drive Reference Manual DeviceNet Tab Connection TypesSoftware Interface Polled I/O Connections Implicit MessagingBaud Rate Master Receive and Master Send Assembly Block SelectionsMacID Index Select Predefined Index Sel PredefConfiguring the DeviceNet Network Index Select User Defined Index Sel UserDefIndex Type Position ControlNo Operation CCWInput Word Select Data Pointer Code DescriptionOutput Word Select Data Pointer Command Assembly Code Response Assembly CodesConfiguring the DeviceNet Network Host Mode Enable Ei-DN Input Processing LogicCounters DeviceNet Online TabInformation Network Status LED StatusEstablished Connections Module Status LEDInput and Output Tab DeviceNet BitsFaults and Diagnostic Display Ei-DN Modbus Address DN Allocation Choice Connections EstablishedDN Allocation Master MacID DN Bus Off Counter DN Bus Off Fault CountDN Baud Rate DN Bus Off InterruptDN Device Type DN Comm Time-out Fault CountDN Duplicate MacID Fault Count DN FAB Master Receive BlockDN MacID DN Host ModeDN FAB Master Send Block DN Master Send Bitmap DN Master Receive BitmapDN Master Receive FAB Type DN Master Send FAB Type DN Module StatusDN Network Status DN Status Major Recoverable FaultDN Status Major Unrecoverable Fault DN Receive CounterDN Transmit Counter DN Status Minor Recoverable FaultDN Status Minor Unrecoverable Fault DN Vendor IDModule Status LED Accessing the EDS FileHardware Interface Viewing and Changing the Baud Rate and MacID Setting the Baud Rate and MacID Externally One TouchNetwork Status LED Display Value Baud Epsilon Ei DeviceNet Drive Reference Manual Network Configuration Quick Start EquipmentPolled I/O Setup Example #1 Index SelPredefNetwork Configuration Quick Start Example #2 Index Sel Userdef DN Setup / Index Sel Userdef Inputs Tab Outputs Tab Example #3 Index Type DN Setup / Index Type Output Word Select Input Word Select Example #4 Position Control Dn Setup / Position Control Network Configuration Quick Start Master Configuration RS Networx ConfigurationScanlist Tab Input Tab Output Tab Epsilon Ei DeviceNet Drive Reference Manual How to Send Explicit Messages Explicit Messaging Quick StartExecute Explicit Messaging Examples Description of N10 Integer FileExample 1 Read Index 0 Velocity Explanation of PLC ProgramExamples Example 2 Write Index 1 Velocity Integer File N11 High Byte Low ByteInterger File N10 High Byte Low Byte Explicit Messaging Quick Start Epsilon Ei DeviceNet Drive Reference Manual Name Drive ParametersBy Name DeviceNet Data TypeUdint Drive Parameters ProductID.Option1IDFunctionModule By DeviceNet Class 0x01 DeviceNet.DeviceNetIdentityObject.DeviceType 104 0x68 See Note 0x09 Index.Instance#.RegistrationOffset 109 0x6D 0x01 0x04 Position.FollowingError 0x01 0x0D Status.TorqueFeedback Epsilon Ei DeviceNet Drive Reference Manual Appendix Index Select PredefinedMaster Receive Assembly Block Index Sel User Def Index Select User DefinedIndex Type Position Control CCWGlossary Explicit Message Drop LineEpsilon Drive Explicit Messaging ConnectionsLink Consumer Object One touch ConfigurationConnections Link Producer ObjectUcmm Index Epsilon Ei DeviceNet Drive Reference Manual Index Epsilon Ei DeviceNet Drive Reference Manual