Specifications

20 Gear Drive, Plymouth Industrial Park, Terryville, CT 06786 page: 30
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3401 Manual
Point I/O Stepper Module
Revision 2.0
Command Word MSW
Bit 0 = set to perform an ABSOLUTE MOVE operation
Bit 1 = set to perform a RELATIVE MOVE operation
Bit 2 = set to perform a HOLD MOVE operation
Bit 3 = set to perform a RESUME MOVE operation
Bit 4 = set to perform an IMMEDIATE STOP operation
Bit 5 = set to perform a FIND HOME +/(CW) operation
Bit 6 = set to perform a FIND HOME -/(CCW) operation
Bit 7 = set to perform a MANUAL MOVE +/(CW) operation
Bit 8 = set to perform a MANUAL MOVE -/(CCW) operation
Bit 9 = set to PRESET the Current Position (This function also resets the Move Complete input bit)
Bit 10 = reserved
Bit 11 = set to perform a RESET ERRORS operation
Bit 12 = set to RUN BLEND MOVE PROFILE in the positive direction
Bit 13 = set to RUN BLEND MOVE PROFILE in the negative direction
Bit 14 = reserved;
Bit 15 = MODE FLAG: "1" for Configuration Mode "0" for Command Mode
Command Word LSW
Bit 0 = reset for CONSTANT ACCELERATION, set for S-CURVE ACCELERATION
Bit 1 = reset for TRIANGULAR S-CURVE ACCELERATION, set for TRAPOZOIDAL S-CURVE
ACCELERATION. This bit is only valid if bit 0 of the LSW is set.
Bits 2 to 7 = Reserved
Bit 8 = set to PROGRAM a BLEND MOVE PROFILE. This bit must remain on while the Blend
Move Profile segments are being programmed.
Bit 9 = BLEND MOVE TRANSMIT bit
Bits 10 and 11 = Reserved
Bit 12 = Back plane Home Proximity bit.
The 3401 module will ignore the state of this bit unless the module was configured to
accept backplane home proximity operations, and if there is no homing operation taking
place.
If the 3401 has been configured to use the Backplane Proximity Bit, the 3401 module will
ignore any transitions on the home input until the PLC has set this bit.
Bits 13 to 15 = Reserved.
Note: The bits in the LSW must be reset when single bit commands in the MSW are issued. For
example, the LSW must be zero when the RESET ERRORS command is issued.