Filter
Top Products
12
Epsilon Ei DeviceNet Drive Reference Manual
Master Send Assembly Block - Index Sel (Userdef)
Index Type
Index Type is the fixed assembly block used for reading and writing parameters when one
index is running different index types (incremental, absolute, etc.). The Index Type Assembly
Block is used to set up and initiate one index as a position controller but also provides the user
with the additional functionality of the Epsilon Ei drive (i.e. home, jog, or most other I/O
parameters). The Index Type Assembly Block gives the user the flexibility of being able to
control the drive position by position but also gives Home and Jog functionality right within
the DeviceNet I/O. See “Appendix” on page 71for expanded versions of these tables
Master Receive Assembly Block - Index Type
Master Send Assembly Block - Index Type
Note
“Index Type” bit 1, 2, and 3 in Master Send Block determine the functionality if the
specified index. As noted in the Drives Parameters Reference Manual (400504-01) the
value of these bits reflect the following data: 000 Incremental Index, 001 Absolute Index,
010 Registration Index, 011 Rotary Plus, and 100 Rotary Minus.
Position Control
Position Control is the fixed assembly block designed using the “Position Controller” profile
for DeviceNet as a guide. Parameters are transferred over the polled I/O connection. Using
Word 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
0
Index
Select
Bit 3
Index
Select
Bit 2
Index
Select
Bit 1
Index
Select
Bit 0
DN Bit
11 MS
DN Bit
10 MS
DN Bit
9 MS
DN Bit
8 MS
DN Bit
7 MS
DN Bit
6 MS
DN Bit
5 MS
DN Bit
4 MS
DN Bit
3 MS
DN Bit
2 MS
DN Bit
1 MS
DN Bit
0 MS
1 Reserved Reserved Reserved Output Word Select Data Pointer (See page 15) Reserved Reserved Enable Input Word Select Data Pointer (See page 14)
2 Data Low Word LS Bit
3MS Bit Data High Word
Word 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
0
DN Bit
7 MR
DN Bit
6 MR
DN Bit
5 MR
DN Bit
4 MR
DN Bit
3 MR
DN Bit
2 MR
DN Bit
1 MR
DN Bit
0 MR
Enable
State
Absolute
Position
Valid
Home
Limit
Distance
Hit
Reg
Limit
Distance
Hit
End of
Home
Torque
Limit
Fault
Drive
OK
1 Reserved Reserved Reserved Input Word Select Data Pointer (See page 14) Reserved Reserved Reserved
Travel
Limit -
Travel
Limit +
Motion
State Bit
2
Motion
State Bit
1
Motion
State Bit
0
2 Data Low Word LS Bit
3MS Bit Data High Word
Word 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
0 DN Bit 7 DN Bit 6 DN Bit 5 DN Bit 4 DN Bit 3 DN Bit 2 DN Bit 1 DN Bit 0 Enable Reset Stop
Home
Initiate
Index
Type Bit
2
Index
Type Bit
1
Index
Type Bit
0
Start
Index
1 Reserved Reserved Reserved Output Word Select Data Pointer (See page 15) Jog Fast Jog - Jog + Input Word Select Data Pointer (See page 14)
2 Data Low Word LS Bit
3MS Bit Data High Word