Epsilon Ei DeviceNet Drive Reference Manual
13.Using Output Word Select Data Pointer 0x0A to set Jog Velocity and Input Select Data Pointer 0x06 to read back the torque command, use the following table to construct the proper words for the read and write:
Reserved | Reserved | Reserved | Output Word Select | Reserved | Jog - | Jog + | Input Word Select |
Data Pointer (See | Data Pointer (See | ||||||
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| page 15) = 0x0A |
|
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| page 14) = 0x06 |
X | X | X | 01010 | X | X | X | 00110 |
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|
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Final Word = XXX01010XXX00110 With zeros in for X’s = 2566 (0xA06)
Write to Words O:1.3 - O:1.4 to write to the selected jog velocity. Data can be obtained from the online DN view described in the following step.
14.While online with PowerTools FM click the DeviceNet tab and open up the Master Receive and Master Send Assembly Blocks. Verify that the correct data is moving back and forth through the assembly blocks and that the data pointers are reading and writing the data as expected.
Example #2 Index Sel (Userdef)
This sample procedure for the Index Sel (Userdef) assembly block will use the DN bits set up from Example #1 to initiate indexes and a home. This procedure will also initiate Jog + and Jog - and select between Jog Fast. Corresponding to these initiates, DeviceNet will read back End of Index and End of Home bits, indicate in + Motion and in - Motion, Faults, and Drive OK.
Using the Input and Output Word Select Data Pointer, this procedure will send index velocities to the drive and receive position feedback from the drive.
1.Start a new
2.Enter the DeviceNet setup and set the MacID to 1 and the Baud Rate to 125K. Select the Index Sel (Userdef) in both Master Send Assembly Block and Master Receive Assembly Block setups.
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