Specifications

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3401 Manual
Point I/O Stepper Module
Revision 2.0
acceleration and or the deceleration parameters can also be changed, although these changes do not take
affect until the programmed speed is changed. Both the acceleration and deceleration parameters must be
valid when the speed is changed. If the changed velocity, acceleration, or deceleration parameters are
invalid, motion will stop, command and invalid profile errors will be generated, and the position will
become invalid.
An additional feature of the Manual Move parameter is the ability to do a One Shot Manual Move. With
the programmed speed set to zero, a 0 → 1 transition of the Manual Move bit will cause the stepper
controller to output 1 pulse in the specified direction. Please note that in One Shot Manual Move mode,
the Motion Direction bit will remain on and the Status LED will flash as long as the Manual Move
command bit remains set. The Stopped status bit will not be set when the Manual Move command bit is
reset.
If the End Limit Switch in the same direction as motion is reached during a Manual Move, the axis will
stop without deceleration and the input error and position invalid input bits will be set. For example,
reaching the CW Limit Switch during a CW Manual Move will stop the motion. However, an End Limit
Switch in the direction opposite to motion will not stop a Manual Move operation. For example, reaching
the CCW Limit Switch during a CW Manual Move. This feature allows the module to be moved off of
an active end limit switch.
Preset Current Position
This command will set the Current Position to the value present in the Target Position Registers. If the
position is currently invalid, presetting the position will cause the position to become valid. The
programmed speed, acceleration, and deceleration parameters must be zero when this command is sent to
the module.
The Preset Current Position command also resets the Move Compete input bit.
Reset Errors
This command clears all nonfatal errors detected by the stepper controller. A nonfatal error is one that
can be recovered from. For example, requesting an Absolute Move when the position is not valid is a
nonfatal error. The Lower Command Word must be zero when the Reset Errors command is issued.
When there is a Command Error, the controller will not perform any other operations until the Reset
Errors command is issued.
General Command Mode Information:
1. Only a 0 → 1 transition of any of the command bits listed above will cause the specified operation to
occur. If a command it to be issued more than once, then the 3401 module must see the Command bit
go to zero for at least one program scan before it will act on the second move command.
2. With the exception of the acceleration type and backplane proximity bits, only one command bit should
be set at any one time.