Rockwell Automation 2071-Axx Kinetix 3 Component Servo Drive Serial Host Command Reference Manual - Manual (Page 85)

Rockwell Automation Publication 2071-RM001B-EN-P - April 2013 85
Standard Drive Parameters Appendix A
Group 3 - Position Control
[Pr - 3.00] Follower
Data Size 4 digits
Digit 0 Command Type
Ultraware Name Command Type
Range Value Description
0x0 Step Up/Step Down,
Positive logic
0x1 Step Up/Step Down,
Negative logic
0x2 Step/Direction, Positive
Logic
0x3 Step/Direction, Negative
Logic
0x4 Auxiliary Encoder, x1
0x5 Auxiliary Encoder, x2
0x6 Auxiliary Encoder, x4
Default 0x0
Note For Command types 0x4, 0x5, and 0x6:
Motor Counts = Master Lines * MULT * ……
…. (4 * Para3.01) / Para3.02
where MULT is 1, 2 or 4 for command types 0x4, 0x5 and
0x6 respectively.
Applicable Operating Mode Follower
Digit 1 Controller Output Type
Ultraware Name Controller Output Type
Range Value Description
0x0 Use Low speed Line Drive
Output in Host Controller
for isolated electrical
connection.
0x1 Use Open Collector in Host
Controller.
0x2 Use High Frequency Line
Drive Output in Host
Controller.
Default 0x0
Applicable Operating Mode Follower
Digit 2 Encoder Output Forward Direction
Ultraware Name Encoder Output Forward Direction
Range Value Description
0x0 During Forward Rotation,
Encoder Output Phase A
have a lead of 90º over
Phase B.
0x1 During Forward Rotation,
Encoder Output Phase B
have a lead of 90º over
Phase A.