Rockwell Automation 2098-DSD-xxx Ultra3000 Digital Servo Drives with DeviceNet - Manual (Page 49)

Publication 2098-RM004A-EN-P – August 2002
Programming Reference 2-33
Input Assemblies
There are nine input assemblies. An input assembly can consist of a
32 bit Logic Status, an Extra Status Byte, and/or a Feedback Data
Value.
243
3
Position Compare 1 Max 112
244
3
Position Compare 2 Max 113
3
These commands are available only to indexing drives.
Command
Data
Pointer Name Parameter Object
Instance
Assembly Object,
Instance ID = 10 - Input Assembly
32 Bit Logic Status
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 Startup
Commutatio
n Done Tracking Axis Homed Registered In Dwell In Motion End of
Sequence At Home
1 Position
Compare 2 Position
Compare 1 At Index 1
Position At Index 0
Position Negative
Overtravel Positive
Overtravel Negative
Hardware
Overtravel Positive
Hardware
Overtravel
2 Drive
Enabled Up To Speed Negative
Current Limit Positive
Current Limit Within
Speed
Window Zero Speed Within
Position
Window In Position
3 Drive Ready Brake Active Reserved Reserved Reserved Reserved Fault Disable DC Bus
Charged
Assembly Object,
Instance ID = 11 - Input Assembly
32 Bit Logic Status, and Feedback Data Value
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 Startup
Commutation
Done Tracking Axis Homed Registered In Dwell In Motion End of
Sequence At Home
1 Position
Compare 2 Position
Compare 1 At Index 1
Position At Index 0
Position Negative
Overtravel Positive
Overtravel Negative
Hardware
Overtravel Positive
Hardware
Overtravel
2 Drive Enabled Up To Speed Negative
Current Limit Positive
Current Limit Within Speed
Window Zero Speed Within
Position
Window In Position
3 Drive Ready Brake Active Reserved Reserved Reserved Reserved Fault Disable DC Bus
Charged
4 Feedback Data Value - Low Byte