Oriental motor aSTEP AZ mini Driver, User Manual

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Functions
87
3 E
therC
AT c
ommunica
tion
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Direct I/O
The status of direct I/O can be checked with the Direct I/O (406Ah). The arrangement of bits is as follows.
Bit 31 Bit 30 Bit 29 Bit 28 Bit 27 Bit 26 Bit 25 Bit 24
− − − − − − − −
Bit 23 Bit 22 Bit 21 Bit 20 Bit 19 Bit 18 Bit 17 Bit 16
− − − − − − − −
Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8
VR-IN3 VR-IN2 VR-IN1 VR-IN0 − − − −
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
− − − − − − IN1 IN0
Related objects
Index Sub Name Type Access PDO Save Range Update
406Ah 00h Direct I/O U32 RO TxPDO − − −
„
I/O status
The status of the I/O inside the driver can be monitored with the I/O status. The arrangement of bits for the internal I/
O is as follows.
Driver object Description
I/O status 1
(40B8h)
Bit 31 Bit 30 Bit 29 Bit 28 Bit 27 Bit 26 Bit 25 Bit 24
SLIT HOMES RV-LS FW-LS RV-BLK FW-BLK − −
Bit 23 Bit 22 Bit 21 Bit 20 Bit 19 Bit 18 Bit 17 Bit 16
SPD-LMT CRNT-LMT T-MODE − − CCM − HMI
Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8
− INFO-CLR LAT-CLR − − − P-PRESET ALM-RST
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
− − STOP − CLR − FREE Not used
I/O status 2
(40B9h)
Bit 31 Bit 30 Bit 29 Bit 28 Bit 27 Bit 26 Bit 25 Bit 24
− − − − − − − −
Bit 23 Bit 22 Bit 21 Bit 20 Bit 19 Bit 18 Bit 17 Bit 16
− − − − − − − −
Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8
− − − − − − − −
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
− − − − − − − −
I/O status 3
(40BAh)
Bit 31 Bit 30 Bit 29 Bit 28 Bit 27 Bit 26 Bit 25 Bit 24
R15 R14 R13 R12 R11 R10 R9 R8
Bit 23 Bit 22 Bit 21 Bit 20 Bit 19 Bit 18 Bit 17 Bit 16
R7 R6 R5 R4 R3 R2 R1 R0
Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8
− − − − − − − −
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
− − − − − − − −