140 Rockwell Automation Publication 2080-UM002N-EN-E - November 2022
Chapter 8 EtherNet/IP Network
CylicMoveType SINT
Enumerated value used to determine the cyclic move
type.
-128…-1 = Reserved
0 = Rotary positive
1 = Rotary negative
2 = Rotary shortest path
3…127 = Reserved
TravelMode DINT
Enumerated value used to determine the travel
constraints of the axis.
-128…+1 = Reserved
2 = Non-cyclic move
3…9 = Reserved
10 = Cyclic move
11…127 = Reserved
PositionControl SINT
PositionControl.0 BIT
When executing a motion command, the next
movement can override the previous movement.
0 = Does not override the previous
movement
1 = Can override the previous movement
PositionCommandOve
rride
PositionControl.1 BIT
The next movement can overlap the end of the current
movement.
0 = Does not overlap the next movement
1 = Overlaps the next movement
PositionCommandOve
rlap
PositionControl.2 BIT
Selects between the high-speed digital inputs that are
used to capture position feedback.
Vendor specific
0 = DI9 is selected
1 = DI10 is selected
CapturedPositionSele
ct
TorqueReference DINT
Represents the output torque level when the operation
mode is Torque Mode (3). This value is in percent of
motor rated torque.
-4000…+4000 (enumeration is 0.1x)
TorqueRampTime DINT Represents the time to reach the torque reference. 1…65500 ms
StartingIndex SINT
The first index (position register) that the drive should
execute.
-128…-1 = Reserved
0 = PR 0: Homing
1…99 = PR 1…PR 99
100…127 = Reserved
CamMasterReference SINT
CamExecutionSchedule SINT Future
CamExecutionMode SINT Future
CamSetting SINT Future
CamSetting3 BIT Future CamStopMode
CamSlaveScaling DINT Future
CamLockPosition DINT Future
CamMasterLockPosition DINT Future
CamMasterLeadingCounts DINT Future
CamMasterUnlockCounts DINT Future
CamMasterCyclicLeadingCounts DINT Future
GearRatioSlaveCounts DINT
Integer value that represents slave counts. This value is
P1.044 Gear Ratio Follower Counts from the E-gear ratio
in Kinetix 5100 software.
GearRatioMasterCounts DINT
Integer value that represents master counts. This value
is P1.045 Gear Ratio Master Counts from the E-gear
ratio in Kinetix 5100 software.
Table 18 - Kinetix 5100 Motion Drive Output Assembly Data (Continued)
Name Data Type Description Value Comment
Table 19 - PowerFlex 520-series Drive Input Assembly Data (Position Mode)
Name Data Type Description Value Comment
DriveStatus INT
DriveStatus.0 BIT Indicates whether the drive is ready for operation.
0 = Not ready
1 = Ready
Ready
DriveStatus.1 BIT Indicates whether the drive is operating.
0 = Not active
1 = Active (Running)
Active
DriveStatus.2 BIT Indicates the command direction.
0 = Cmd reverse
1 = Cmd forward
CommandDir
DriveStatus.3 BIT Indicates the rotating direction.
0 = Rotating reverse
1 = Rotating forward
ActualDir
DriveStatus.4 BIT Indicates the acceleration state.
0 = Not accelerating
1 = Accelerating
Accelerating
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