User`s manual

DSM to PLC Interface
GFK-1742A Chapter 5 Motion Mate DSM314 to PLC Interface 5-25
5
Digital
A
nalog Selected Return Data Data Mode Data Offset
Y N Torque Command 00h not used
Y Y DSM Firmware Revision 10h not used
Y Y DSM Firmware Build ID No.
(hex)
11h not used
Y N Absolute Feedback Offset (cts) 17h not used
Y Y Parameter Data 18h Parameter Number (0–255)
Y Y CTL bits 1-32 19h not used
Y Y Analog Inputs - Axis 1 1Ch not used
Y Y Analog Inputs - Axis 2 1Dh not used
Y Y Analog Inputs - Aux 3 1Eh not used
Y Y Analog Inputs - Aux 4 1Fh not used
Y Y Commanded Position (user units) 20h not used
Y Y Follower Program Command
Position (cts)
21h not used
Y Y Unadjusted Actual Position (cts) 28h not used
Y Y Unadjusted Strobe 1 Position (cts) 29h not used
Y Y Unadjusted Strobe 2 Position (cts) 2Ah not used
Torque Command
is scaled so that +/- 10000 = +/- 100% torque.
DSM Firmware Revision
is interpreted as two separate words for major-minor revision codes.
DSM Firmware Build ID
is interpreted as a single hex word.
Absolute Feedback Offset
is the position offset (in counts) that is used to initialize
Actual
Position
when a GE Fanuc digital Absolute Encoder is used.
Actual Position
= Absolute Encoder
Data + Absolute Feedback Offset.
Analog Inputs
provides two words of data for each axis: low word = AIN1 and high word =
AIN2. The data is scaled so that +/- 32000 = +/- 10.0v.
Commanded Position (user units)
is a copy of the
Commanded Position
%AI data reported for
each axis. Refer to paragraph 2.04 in Chapter 5.
Follower Program Command Position
(cts) is the active commanded position (in feedback
counts) updated and used by the internal motion command generator. Refer to Chapter 9 -
Combined Follower and Commanded Motion.
Unadjusted Actual Position
is the accumulated actual position (in counts, not user units) with a
32 bit binary rollover value of -2,147,483,648 … +2,147,483,647.
Unadjusted Strobe 1 Position
is the value of
Unadjusted Actual Position
captured when a Strobe
1 input occurs.
Unadjusted Strobe 2 Position
is the value of
Unadjusted Actual Position
captured when a Strobe
2 input occurs.
At least three PLC sweeps or 10 milliseconds (whichever represents more time) must elapse
before the new Selected Return Data is available in the PLC.