User`s manual

DSM to PLC Interface
GFK-1742A Chapter 5 Motion Mate DSM314 to PLC Interface 5-7
5
Section 2: %AI Status Words
The following %AI Status Words are transferred automatically from the DSM314 to the CPU each
sweep. The total number of the %AI Status Words is configured with the Configuration Software
to be a length of 24, 44, 64 or 84. The actual addresses of the Status Words depend on the
starting address configured for the %AI references. See Table 4-1, “Settings Tab.” The word
numbers listed in the following table are offsets to this starting address. All reference section
designations pertain to this chapter. All %AI data except
Actual Velocity
is updated within the
DSM314 at the position loop sampling rate (2 ms for digital servos, 0.5 ms or 1.0 ms for some
analog servo configurations).
Actual Velocity
is updated once every 128 milliseconds.
Table 5-4. %AI Status Words
Word
Offset
Description Axis Ref
Word
Offset
Description Axis Ref
00 Module Status Code N/A 2.01
01-03
Reserved
04 Axis 1 Error Code Servo 1 2.02 44 Axis 3 Error Code Servo 3 2.02
05 Command Block Number Servo 1 2.03 45 Command Block Number Servo 3 2.03
06-07 Commanded Position Servo 1 2.04 46-47 Commanded Position Servo 3 2.04
08-09 Actual Position Servo 1 2.05 48-49 Actual Position Servo 3 2.05
10-11 Strobe 1 Position Servo 1 2.06 50-51 Strobe 1 Position Servo 3 2.06
12-13 Strobe 2 Position Servo 1 2.06 52-53 Strobe 2 Position Servo 3 2.06
14-15 Position Error Servo 1 2.07 54-55 Position Error Servo 3 2.07
16-17 Commanded Velocity Servo 1 2.08 56-57 Commanded Velocity Servo 3 2.08
18-19 Actual Velocity Servo 1 2.09 58-59 Actual Velocity Servo 3 2.09
20-21 User Selected Data 1 Servo 1 2.10 60-61 User Selected Data 1 Servo 3 2.10
22-23 User Selected Data 2 Servo 1 2.11 62-63 User Selected Data 2 Servo 3 2.11
24 Axis 2 Error Code Servo 2 2.02
64
Axis 4 Error Code Servo 4 2.02
25 Commanded Block Number Servo 2 2.03
65
Command Block Number Servo 4 2.03
26-27 Commanded Position Servo 2 2.04
66-67
Commanded Position Servo 4 2.04
28-29 Actual Position Servo 2 2.05
68-69
Actual Position Servo 4 2.05
30-31 Strobe 1 Position Servo 2 2.06
70-71
Strobe 1 Position Servo 4 2.06
32-33 Strobe 2 Position Servo 2 2.06
72-73
Strobe 2 Position Servo 4 2.06
34-35 Position Error Servo 2 2.07
74-75
Position Error Servo 4 2.07
36-37 Commanded Velocity Servo 2 2.08
76-77
Commanded Velocity Servo 4 2.08
38-39 Actual Velocity Servo 2 2.09
78-79
Actual Velocity Servo 4 2.09
40-41 User Selected Data 1 Servo 2 2.10
80-81
User Selected Data 1 Servo 4 2.10
42-43 User Selected Data 2 Servo 2 2.11
82-83
User Selected Data 2 Servo 4 2.11