Emerson Control Techniques Epsilon Ei Reference Manual page 24

Epsilon Ei DeviceNet Drive Reference Manual
Master Send Assembly Block - Index Sel (Userdef)
Word Bit 15 Bit 14 Bit 13 Bit 12
Index Index Index Index
0 Select Select Select Select
Bit 3 Bit 2 Bit 1 Bit 0
1 Reserved Reserved Reserved
2
3 MS Bit
Index Type
Index Type is the fixed assembly block used for reading and writing parameters when one
index is running different index types (incremental, absolute, etc.). The Index Type Assembly
Block is used to set up and initiate one index as a position controller but also provides the user
with the additional functionality of the Epsilon Ei drive (i.e. home, jog, or most other I/O
parameters). The Index Type Assembly Block gives the user the flexibility of being able to
control the drive position by position but also gives Home and Jog functionality right within
the DeviceNet I/O. See "Appendix" on page 71for expanded versions of these tables
Master Receive Assembly Block - Index Type
Word Bit 15 Bit 14 Bit 13 Bit 12
DN Bit DN Bit DN Bit
0
7 MR 6 MR 5 MR
1 Reserved Reserved Reserved
2
3 MS Bit
Master Send Assembly Block - Index Type
Word Bit 15 Bit 14 Bit 13 Bit 12
0 DN Bit 7 DN Bit 6 DN Bit 5 DN Bit 4
1 Reserved Reserved Reserved
2
3 MS Bit
Note
"Index Type" bit 1, 2, and 3 in Master Send Block determine the functionality if the
specified index. As noted in the Drives Parameters Reference Manual (400504-01) the
value of these bits reflect the following data: 000 Incremental Index, 001 Absolute Index,
010 Registration Index, 011 Rotary Plus, and 100 Rotary Minus.
Position Control
Position Control is the fixed assembly block designed using the "Position Controller" profile
for DeviceNet as a guide. Parameters are transferred over the polled I/O connection. Using
12
Bit 11 Bit 10 Bit 9 Bit 8 Bit 7
DN Bit DN Bit DN Bit DN Bit DN Bit
11 MS 10 MS 9 MS 8 MS 7 MS
Output Word Select Data Pointer (See page 15) Reserved
Data Low Word
Data High Word
Bit 11 Bit 10 Bit 9 Bit 8 Bit 7
DN Bit DN Bit DN Bit DN Bit DN Bit Enable
4 MR 3 MR 2 MR 1 MR 0 MR State
Input Word Select Data Pointer (See page 14) Reserved
Data Low Word
Data High Word
Bit 11 Bit 10 Bit 9 Bit 8 Bit 7
DN Bit 3 DN Bit 2 DN Bit 1 DN Bit 0 Enable
Output Word Select Data Pointer (See page 15) Jog Fast
Data Low Word
Data High Word
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Bit 6 Bit 5 Bit 4 Bit 3 Bit 2
DN Bit DN Bit DN Bit DN Bit DN Bit
6 MS 5 MS 4 MS 3 MS 2 MS
Reserved Enable Input Word Select Data Pointer (See page 14)
Bit 6 Bit 5 Bit 4 Bit 3 Bit 2
Home Reg
Absolute
Limit Limit End of Torque
Position
Distance Distance Home Limit
Valid
Hit Hit
Motion
Travel Travel
Reserved Reserved State Bit
Limit - Limit +
2
Bit 6 Bit 5 Bit 4 Bit 3 Bit 2
Index Index
Home
Reset Stop Type Bit Type Bit
Initiate
2 1
Jog - Jog + Input Word Select Data Pointer (See page 14)
Bit 1 Bit 0
DN Bit DN Bit
1 MS 0 MS
LS Bit
Bit 1 Bit 0
Drive
Fault
OK
Motion Motion
State Bit State Bit
1 0
LS Bit
Bit 1 Bit 0
Index
Start
Type Bit
Index
0
LS Bit