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Epsilon Ei DeviceNet Drive Reference Manual
13. Using Output Word Select Data Pointer 0x0A to set Jog Velocity and Input Select Data
Pointer 0x06 to read back the torque command, use the following table to construct the
proper words for the read and write:
Final Word = XXX01010XXX00110
With zeros in for X’s = 2566 (0xA06)
Write to Words O:1.3 - O:1.4 to write to the selected jog velocity. Data can be obtained from
the online DN view described in the following step.
14. While online with PowerTools FM click the DeviceNet tab and open up the Master
Receive and Master Send Assembly Blocks. Verify that the correct data is moving back
and forth through the assembly blocks and that the data pointers are reading and writing
the data as expected.
Example #2 Index Sel (Userdef)
This sample procedure for the Index Sel (Userdef) assembly block will use the DN bits set up
from Example #1 to initiate indexes and a home. This procedure will also initiate Jog + and
Jog - and select between Jog Fast. Corresponding to these initiates, DeviceNet will read back
End of Index and End of Home bits, indicate in + Motion and in - Motion, Faults, and Drive
OK.
Using the Input and Output Word Select Data Pointer, this procedure will send index
velocities to the drive and receive position feedback from the drive.
1. Start a new Ei-DNconfiguration in PowerTools FM and configure the drive for the
particular motor that will be used. For more information consult the Epsilon Ei Drives
Reference Manual (P/N 400507-01.)
2. Enter the DeviceNet setup and set the MacID to 1 and the Baud Rate to 125K. Select the
Index Sel (Userdef) in both Master Send Assembly Block and Master Receive Assembly
Block setups.
Reserved Reserved Reserved
Output Word Select
Data Pointer (See
page 15) = 0x0A
Reserved Jog - Jog +
Input Word Select
Data Pointer (See
page 14) = 0x06
X X X 01010 X X X 00110