Emerson Control Techniques Epsilon Ei - Page 86

74
Epsilon Ei DeviceNet Drive Reference Manual
Position Control
Master Receive Assembly Block - Position Control 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
0 Reserved
Enable
State
Valid
Data = 1
Ignore
Data = 0
Absolute
Position
Valid
Stop
Input
Fault
End of
Index
Motion
Reserved
Trajectory
Started
1 Reserved Reserved Reserved Response Assembly Code
Command
Error
Reserved
Trajectory
Start
Echo
Reserved Reserved
CCW
Hardware
Limit
(Travel
Limit -)
CW
Hardware
Limit
(Travel
Limit +)
Drive OK
2 Data Low Word LS Bit 3 MS Bit Data High Word
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
0 Reserved Enable
Valid
Data = 1
Ignore
Data = 0
Reserved Stop Reserved
Absolute=0
Incremental=1
Reserved
Start
Trajectory
1 Reserved Response Assembly Code Reserved Command Assembly Code 2 Data Low Word LS Bit 3 MS Bit Data High Word
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