BIT
#
VALUE
DEFINITION
0 0 disable amplifier fault input checking
*0 1 enable amplifier fault input checking
1 0 do not disable motor on amplifier fault event
*1 1 disable motor on amplifier fault event
*2 0 do not abort motion on amplifier fault event
2 1 abort motion on amplifier fault event
3 0 reserved
3 1 reserved
4 0 reserved
4 1 reserved
5 0 amplifier fault input active low
1 amplifier fault input active high
0 configure step motor control outputs for STEP /
DIRECTION
6 1 configure step motor control outputs for +STEP/-STEP
*7 0 configure STEP output as active low
7 1 configure STEP output as active high
8 0 configure DIRECTION output as active low for negative
move
*8 1 configure DIRECTION output as active high for negative
move
*9 0 do not invert servo DAC output polarity
9 1 invert servo DAC output polarity
*10 0 amplifier enable output active low
10 1 amplifier enable output active high
*11 0
+
stepper motor winding is FULL
11 1
+
stepper motor winding is HALF
• • •
31 0 reserved
31 1 reserved
* default setting
+ This bit assignment is effective only on ESP100 and
ESP300 motion controllers. Also, any change in motor
winding takes affect only when the controller is reset or
power cycled. As a result, amplifier I/O configuration must
be saved to memory and controller must be reset for this
change to take affect.
*5
*6
RETURNS If the “?” sign takes the place of nn value, this command reports the current
setting in hexadecimal notation.
REL. COMMANDS ZB - set feedback configuration
ZE - set e-stop configuration
ZF - set following error configuration
ZH - set hardware limit configuration
ZS - set software limit configuration
ZZ - set general system configuration
Section 3 – Remote Mode 3-159
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