Specifications

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3401 Manual
Point I/O Stepper Module
Revision 2.0
End Limit Switch Active when the Home Command is issued
Note 1: The Home Input shown above can be either the Home Limit Switch or the Backplane Proximity
bit.
Note 2: The above diagram is only true if the active End Limit Switch is the same as the issued home
command, for example if the CW Limit Switch is active and a CW home command is issued. If
the CW Limit Switch is active and a CCW home command is issued, than the unit will home
normally, as if the end limit switch was not active.
Manual Move +/(CW), Manual Move -/(CCW)
This command performs the Manual Move operation at the programmed speed in the specified direction.
Motion will occur as long as the command bit remains set. The Target Position register must be zero
during all Manual Move operations.
If the programmed speed is less than or equal to the starting speed, the starting speed is not used and the
acceleration and deceleration parameters are ignored. The motor will “jump” to and run at the
programmed speed without any acceleration. The speed cannot be changed when the module is running
in this “constant speed mode.” If it is, a Command Error and an Invalid Profile Error will be generated
and the motion will be stopped.
If the programmed speed is greater than the starting speed, the axis begins the move at the starting speed,
accelerates until the programmed speed is reached, and continues to move at the programmed speed until
one of the following occurs:
-The Manual Move command bit is turned off
-The Immediate Stop output bit is set
-The Emergency Stop Input is activated
-The End Limit Switch in the same direction as the motion is reached
-The Programmed speed Changes
If the Manual Move command bit is turned off, the axis will decelerate at the programmed rate to the
starting speed and stop, retaining a valid position. If the Immediate Stop Output bit or the Emergency
Stop Input is used, the axis will stop without deceleration and the position will become invalid.
If the initial programmed speed is greater than the starting speed, the speed of a Manual Move operation
can be changed without stopping the motion. If the velocity data is changed while the axis is moving, the
module will accelerate or decelerate to the new speed, which can be less than the starting speed. The
1. End Limit Switch active when home
command is issued
2. Motor turns at the programmed speed in the
direction opposite of the requested homing operation
3. Home input is detected
going on and off
5. Runs at the starting speed until the
home input again turns on. Continues
to Marker Pulse if applicable.
4. Motor decelerates
and stops