Rockwell Automation 2092-DAx Ultra1500 Host Commands for Serial Communication Reference Manual - Manual (Page 40)

Publication 2092-RM001A-EN-P — March 2005
2-28 Command Reference
Group 3 Parameters
[Pr – 3.00] Follower
Data Size: 4 digits
Digit 0: Command Type
Range: Value Description
0x0 Step/Direction - CW + CCW, positive logic
0x1 Step/Direction - CW + CCW, negative
logic
0x2 Step Up/Step Down - Pulse Line + Sign,
positive logic
0x3 Step Up/Step Down - Pulse Line + Sign,
negative logic
0x4 Auxiliary Encoder - A Phase + B Phase,
positive logic
0x5 Auxiliary Encoder - A Phase + B Phase,
double input multiplication, positive logic
0x6 Auxiliary Encoder - A Phase + B Phase,
quadruple input multiplication, positive logic
For command types 0x4, 0x5, and 0x6:
Motor Counts = Master Lines * MULT * .... (4 * [Pr3.01]) / [Pr3.02]
where MULT is 1, 2, or 4 for command types 0x4, 0x5, and 0x6
respectively.
Default: 0x0
Operating Mode: Follower
Digit 1: Controller Output Type
Range: Value Description
0x0 Line driver output to host controller.
0x1 Open collector output to host controller.
Default: 0x0
Operating Mode: Follower
Digit 2: Encoder Output Forward Direction
Range: Value Description
0x0 During forward rotation, Encoder Output
Phase A have a lead of 90
° over Phase B.
0x1 During forward rotation, Encoder Output
Phase B have a lead of 90
° over Phase A.
Default: 0x0
Operating Mode: All
Digit 3: “Clear Pos Error” Input Mode