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 |
|
|
|
|
|
| |||||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
