Rockwell Automation 2097-Vxxx Kinetix 300 EtherNet/IP Indexing Servo Drive User Manual - Manual (Page 192)

192 Rockwell Automation Publication 2097-UM001D-EN-P - November 2012
Appendix B Input and Output Assembly
Table 71 - Input Assembly Instance (Assembly 113)
In this Input Assembly example, the parameter ActiveIndex with a range of
24…27 bytes is expanded to show the low byte, low middle byte, high middle
byte, and high byte. These values are typical for each parameter in
Table 71 .
Table 72 - Input Assembly Example
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 Reserved Registration
EventStatus Current
LimitStatus Reserved Reserved Position
LockStatus Physical
AxisFault Drive En
1…3 Reserved
4 Reserved Axis Homed
Status Homing Status Negative
Overtravel Input Positive
Overtravel Input Reserved Motion Complete Indexing Status
5…7 Reserved
8 Reserved Power Structure
En Velocity
LockStatus Velocity Standstill
Status
9…11 Reserved
12 Digital Input
B4Status Digital Input
B3Status Digital Input
B2Status Digital Input
B1Status Digital Input
A4Status Digital Input
A3Status Digital Input
A2Status Digital Input
A1Status
13…15 Reserved
16 Reserved Digital Input
C4Status Digital Input
C3Status Digital Input
C2Status Digital Input
C1Status
17…19 Reserved
20…23 ActiveIndex (DINT)
24…27 ActualVelocity (REAL)
28…31 ActualPosition (REAL)
32…35 PositionCommand (REAL)
36…39 PositionError (REAL)
40…43 MotorCurrent (REAL)
44…47 RegistrationPosition (REAL)
48…51 UserDefinedIntegerData0 (DINT)
52…55 UserDefinedIntegerData1 (DINT)
56…59 UserDefinedIntegerReal0 (REAL)
60…64 UserDefinedIntegerReal1 (REAL)
Byte Parameter Value
20 ActiveIndex - Low byte
21 ActiveIndex - Low middle byte
22 ActiveIndex - High middle byte
23 ActiveIndex - High byte