Emerson Control Techniques Epsilon Ei Reference Manual page 25

the position controller profile positions, velocities, accels, and decels can be written for a
single index. The index can then be initiated. The Position Control object is used heavily
when a central PLC is desired to control all of the Slaves. This type of configuration allows
for quick parameter changes. The following tables display the data mapping for the Position
Control Assembly Blocks. See "Appendix" on page 71 for expanded versions of these tables
Master Receive Assembly Block - Position Control
Word Bit 15 Bit 14 Bit 13 Bit 12 Bit 11
0 Reserved Reserved Reserved Reserved
1 Reserved Reserved Reserved Response Assembly Code (See page 16)
2
3 MS Bit
Master Send Assembly Block - Position Control
Word Bit 15 Bit 14 Bit 13 Bit 12 Bit 11
0 Reserved Reserved Reserved Reserved Reserved
1 Reserved Reserved Reserved Response Assembly Code (See page 16)
2
3 MS Bit
No Operation
The No Operation Assembly Block is used when the user only needs to read back data. This
assembly block allows the user to put any data into the corresponding PLC address without
affect from the drive. This type of assembly block is used heavily in applications when the
PLC is explicit messaging.
Master Send Assembly Block - No Operation
Word Bit 15 Bit 14 Bit 13 Bit 12
0
1
2
3
Get other manuals https://www.bkmanuals.com
Bit 10 Bit 9 Bit 8 Bit 7
Enable
Reserved Reserved Reserved Reserved
State
Command
Error
Data Low Word
Data High Word
Bit 10 Bit 9 Bit 8 Bit 7 Bit 6
Valid
Data = 1
Reserved Reserved Reserved Enable
Ignore
Data = 0
Reserved Reserved
Data Low Word
Data High Word
Bit 11 Bit 10 Bit 9 Bit 8 Bit 7
Configuring the DeviceNet Network
Bit 6 Bit 5 Bit 4 Bit 3 Bit 2
Valid
Absolute End of
Data = 1 Stop
Position Fault Index
Ignore Input
Valid Motion
Data = 0
CCW
Hardware
Trajectory
Reserved Reserved Reserved Limit
Start Echo
(Travel
Limit -)
Bit 5 Bit 4 Bit 3 Bit 2
Absolute=0
Reserved Stop Reserved
Incremental=1
Reserved Command Assembly Code (See page 16)
Bit 6 Bit 5 Bit 4 Bit 3 Bit 2
Bit 1 Bit 0
Trajectory
Reserved
Started
CW
Hardware
Limit Drive OK
(Travel
Limit +)
LS Bit
Bit 1 Bit 0
Start
Reserved
Trajectory
LS Bit
Bit 1 Bit 0
13