Specifications

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3401 Manual
Point I/O Stepper Module
Revision 2.0
Configuration Bits MSW
Bit 0: Set when the Limit Input is configured to be used as an Emergency Stop input. When this bit
is set, an active Limit Input will immediately stop all motion.
Bit 1: Set when the Limit Input is configured to be used as a CW Over Travel Limit Switch. When
this bit is set, an active Limit Input will stop Absolute, Relative, and Blend Move profiles. It
will also stop CW Manual Move operations, but not CCW Manual Move operations. If the
Limit Input is reached during a CW Home operation, the direction of motion will be reversed
and the 3401 module will search for the home input in the CCW direction.
Bit 2: Set when the Limit Input is configured to be used as a CCW Over Travel Limit Switch.
When this bit is set, an active Limit Input will stop Absolute, Relative, and Blend Move
profiles. It will also stop CCW Manual Move operations, but not CW Manual Move
operations. If the Limit Input is reached during a CCW Home operation, the direction of
motion will be reversed and the 3401 module will search for the home input in the CW
direction.
Bit 3: Reserved for future use
Bit 4: Set when a CW Homing Operations will be allowed. If this bit is reset, issuing a CW Home
command will generate a Home Invalid error.
Bit 5: Set when a CCW Homing Operations will be allowed. If this bit is reset, issuing a CCW
Home command will generate a Home Invalid error.
Note: It is possible to set both bits 4 and 5, only one of the two bits, or to not set either of
the bits.
Bit 6: set for backplane Home Proximity operations (this bit can only be set if bits 4 or 5 are used)
The 3401 can be configured to ignore changes on the physical home input until the Home
Proximity Bit makes a 0 to 1 transition. The 3401 will home on the next inactive to active
change of the physical home input once this transition occurs. You must program your PLC to
control the state of this bit. Do not set this bit if you want to home only to the home input.
Bit 7: “1” when output pulse type is pulse train and direction
“0” when output pulse type is CW pulse train and CCW pulse train
Bits 8 to 14: Reserved for future use
Bit 15: “1” for configuration mode operations, “0” for command mode operations
Configuration Bits LSW (Defines the Input Active Level of the Limit and Home Input)
Bit 0: determines the active level of the Limit Input configured to be used as an E-Stop Input
Bit 1: determines the active level of the Limit Input configured to be used as a CW over travel limit
switch
Bit 2: determines the active level of the Limit Input configured to be used as a CCW over travel limit
switch
Bit 3: determines the active level of the Home input
Bits 4 to 15: Reserved for future use, must be zero
AMCI feels that it is dangerous to home in a direction that does not
have an End Limit Switch configured. Configuration Bits 4 and 5 were
created to ensure that the user is aware of this warning when selecting
the configuration bits. Even though it is not recommended, it is
possible to configure the 3401 module to home in a direction that does
not have an end limit switch configured.