User guide

Publication 8720MC-IN002A-EN-P — December 2002
SCANport Command Interface 4-7
Rotation Direction - The rotation direction bit is used to identify the
direction of motor rotation.
Manual Reference Selected - Whenever the digital or SCANport
interfaces select the manual reference the drive acknowledges this
state by setting the manual reference selected bit 15, SCANport Output
Status Word.
The table below describes the fixed assignments for the eight 16 bit
input data words and the eight 16 bit output data words.
SCANport Data Interface
In addition to the SCANport Logic Command word, the SCANport
Logic Status word, the SCANport Command Reference and the
SCANport Feedback Output there are 16 additional 16 bit words
which can be exchanged between an Allen-Bradley PLC and the drive.
Data Word
Data Link
Identifier
8720MC
Parameter
Assignment
Default Link 8720MC Data Description
Data Type
(16 bit word)
Input Word 0 Logic Command 717 717 SCANport Logic Command Word Bit Pattern
Input Word 1 Command Reference 713 713
SCANport velocity/torque Input
Reference Value
Signed Integer
Input Word 2 Data In A1 725 36 SCANport Velocity Reference Value Signed Integer
Input Word 3 Data In A2 726 258
Target Position
±32,768 resolution units
Signed Integer
Input Word 4 Data In B1 727 153 Orient Angle Signed Integer
Input Word 5 Data In B2 728 259 Positioning Velocity Signed Integer
Input Word 6 Data In C1 729 260 Positioning Acceleration Signed Integer
Input Word 7 Data IN C2 730 222 Orient Speed Signed Integer
Input Word 8 Data IN D1 731 154 Orient Options Signed Integer
Input Word 9 Data In D2 732 Reserved Signed Integer
Output Word 0 Logic Status 718 718 SCANport Logic Status Word Bit Pattern
Output Word 1 Velocity Feedback 715 40 SCANport Velocity Feedback Signed Integer
Output Word 2 Data Out A1 733 11 Shut Down Errors Bit Pattern
Output Word 3 Data Out A2 734 129 8720MC Drive Errors Bit Pattern
Output Word 4 Data Out B1 735 13 Drive Status Bit Pattern
Output Word 5 Data Out B2 736 386 Motor Shaft power Integer
Output Word 6 Data Out C1 737 254 Actual parameter set Binary 0 -7
Output Word 7 Data Out C2 738 Reserved Signed Integer
Output Word 8 Data Out D1 739 347 Velocity Error Signed Integer
Output Word 9 Data Out D2 740 84 Torque Feedback Signed Integer