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4.2.1.7 Input Only Heartbeat Assembly (Instance 199)
This assembly instance is used for the heartbeat connection point for
Input Only connections. The data size is 0.
4.3 Position Sensor Object (Class ID 23h)
4.3.1 Class Attributes
#
Name
Access
1
Revision
R
4.3.2 Instance Attributes
Hex
Dec
Name
#
#
1
1
Number of Attributes
2
2
Attribute List
a
10
Position Value Signed
b
11
Position Sensor Type
c
12
Direction Counting Toggle
f
15
Position Format
12
18
Position Measuring Increment
13
19
Preset Value
15
21
Position State Register
16
22
Position Low Limit
17
23
Position High Limit
18
24
Velocity Value
19
25
Velocity Format
1a
26
Velocity Resolution
1b
27
Minimum Velocity Setpoint
1c
28
Maximum Velocity Setpoint
29
41
Operating Status
2c
44
Alarms
2d
45
Supported Alarms
2e
46
Alarm Flag
2f
47
Warnings
30
48
Supported Warnings
31
49
Warning Flag
33
51
Offset Value
64
100
Position Filter Type
65
101
Velocity Filter Size
66
102
Fault Output Type
67
103
Sync Mode
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Default
Memory
Type
Value
NV
UINT
2
Access
Memory
R
NV
R
NV
R
V
R
NV
RW
NV
RW
NV
RW
NV
RW
V
R
V
RW
NV
RW
NV
R
V
RW
NV
RW
NV
RW
NV
RW
NV
R
V
R
V
R
NV
R
V
R
V
R
NV
R
V
R
NV
RW
NV
RW
NV
RW
NV
RW
NV
Number of Attributes (Attribute 1)
The total number of instance attributes supported. This will be a fixed
value of 28.
Attribute List (Attribute 2)
The list of supported instance attributes. This will be an array consisting
of all supported attribute numbers in numerical order.
Position Value Signed (Attribute 10)
The current position value read by the module.
scaled based on the Position Format engineering units and the Position
Measuring Increment and offset by the Offset Value.
Position Sensor Type (Attribute 11)
The type of sensor. This will be a fixed value of 8,
specifying an absolute linear encoder.
Default
Type
Value
Direction Counting Toggle (Attribute 12)
USINT
40
The direction that the Position Value increases.
A value of 0 indicates that the position increases
USINT[ ]
when moving away from the Head (electronics).
DINT
A value of 1 indicates that the position increases
when moving toward the Head (electronics).
UINT
0
BOOL
0
Position Format (Attribute 15)
The engineering units used for the Position Value.
ENGUNIT
0802h
This setting will determine the scaling for the
UDINT
1
Position Value.
DINT
0
Allowable values for this attribute are:
BYTE
0
Value
DINT
-16777215
2202h
DINT
16777215
2203h
DINT
0
2204h
ENGUNIT
2B01h
2207h
UDINT
10000
0800h
DINT
-16777215
0801h
DINT
16777215
0802h
BYTE
0
WORD
0
Position Measuring Increment (Attribute 18)
The size of "steps" in the Position Value
WORD
measurement.
BOOL
0
engineering units selected by the Position Format.
WORD
0
Example: Position Format is set to micron. Position
Measuring Increment is set to 5.
WORD
04C0h
Value will move in steps of 5 microns.
BOOL
0
Preset Value (Attribute 19)
DINT
0
The Preset Value is used to calibrate the Offset
USINT
3
Value at the current measured position.
the Preset Value is set, the Offset Value will be
USINT
3
calculated so that
USINT
0
BOOL
0
The value returned when the Preset Value is read
will be the last value written; it is meaningless once
the position sensor has moved.
This value will be
Position Units
centimeter
millimeter
micron
inch
0.01 inch
0.001 inch
0.0001 inch
The steps are specified in the
Position Value = Preset Value =
(internal scaled position value) + Offset Value
FACTORY AUTOMATION
The Position
When
®
15
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