Rockwell Automation DeviceNet Communications Module - Manual (Page 51)

Using I/O Messaging 6-3
6.3 Using Logic Command/Status
When enabled, the Logic Command/Status word is always word 0 in
the I/O image. The Logic Command is a 16-bit word of control
produced by the scanner and consumed by the module. The Logic
Status is a 16-bit word of status produced by the module and
consumed by the scanner.
This manual contains the bit definitions for compatible products
available at the time of publication in Appendix D, Logic
Command/Status Words. For other products, refer to the
corresponding documentation.
6.4 Using Reference/Feedback
When enabled, Reference/Feedback always begins at word 1 in the
I/O image. The Reference (16 bits) is produced by the controller
and consumed by the module. The Feedback (16 bits) is produced
by the module and consumed by the controller.
6.5 Sample Ladder Logic Programs
The sample ladder logic programs work with MD65 drives.
Functions of the Sample Programs
The sample programs enable an operator to perform the following
actions:
• Obtain status information from the drive.
• Use the Logic Command to control the drive (for example, start,
stop).
• Send a Reference to the drive.
Module Settings for the Sample Programs
• Node address 1 is set using the switches.
• The module is configured for Single-Drive mode (mode jumper is
set to “Single”).
• Polled I/O was enabled during the scanner configuration.
Scanner Settings for the Example Programs
• The scanner is node 0 on the DeviceNet network.
• The scanner is in slot 1.
• The module I/O is mapped in word 0 and word 1.
• Data files, when used, are pointed out in the examples.
Size Valid Values In I/O Image Example
16-bit -32768 to 32767 Word 1 Figure 6.1