Owner's manual

Publication 2098-RM001C-EN-P – August 2002
2-34 Programming Reference
Assembly Object,
Instance ID = 12 - Input Assembly
32 Bit Logic Status, Extra Status Byte (with Write Data Status Bits, Handshake Echo Bit, Feedback Data Pointer) and
Feedback Data Value
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 Startup
Commutation
Done
Tracking Axis Homed Registered In Dwell In Motion End of
Sequence
At Home
1 Position
Compare 2
Position
Compare 1
At Index 1
Position
At Index 0
Position
Negative
Overtravel
Positive
Overtravel
Negative
Hardware
Overtravel
Positive
Hardware
Overtravel
2 Drive Enabled Up To Speed Negative
Current Limit
Positive
Current Limit
Within Speed
Window
Zero Speed Within
Position
Window
In Position
3 Drive Ready Brake Active Reserved Reserved Reserved Reserved Fault Disable DC Bus
Charged
4 Write Data
Busy/Ack
Write Data
Error
Handshake
Echo
Reserved Feedback Data Pointer
5 Feedback Data Value - Low Byte
6 Feedback Data Value - Low Middle Byte
7 Feedback Data Value - High Middle Byte
8 Feedback Data Value - High Byte
Assembly Object,
Instance ID = 13 - Input Assembly
32 Bit Logic Status, Extra Status Byte (with Write Data Status Bits, and Handshake Echo Bit)
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 Startup
Commutation
Done
Tracking Axis Homed Registered In Dwell In Motion End of
Sequence
At Home
1 Position
Compare 2
Position
Compare 1
At Index 1
Position
At Index 0
Position
Negative
Overtravel
Positive
Overtravel
Negative
Hardware
Overtravel
Positive
Hardware
Overtravel
2 Drive Enabled Up To Speed Negative
Current Limit
Positive
Current Limit
Within Speed
Window
Zero Speed Within
Position
Window
In Position
3 Drive Ready Brake Active Reserved Reserved Reserved Reserved Fault Disable DC Bus
Charged
4 Write Data
Busy/Ack
Write Data
Error
Handshake
Echo
Reserved Reserved Reserved Reserved Reserved