Specifications

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3401 Manual
Point I/O Stepper Module
Revision 2.0
Chapter 6: Command Mode Input Data
(Four 16 bit words sent from the 3401 module to the PLC)
(Six 16 bit words will be required for ControlLogix systems)
Because the data from the 3401 module may be updated asynchronously to the program scan, AMCI
recommends that the input data be buffered before it is used by the ladder logic program
16 bit Input
Word
ControlLogix ControlNet,
Ethernet, &
1769-L18 Systems
Configuration Input Data
0 Always Zero
1 Always Zero
0 2 Status Word MSW (see description below)
1 3 Status Word LSW (see description below)
2 4 Current Position MSW
3 5 Current Position LSW
Status Word MSW Layout
Bit 0 = set when the axis is moving CW
Bit 1 = set when the axis is moving CCW
Bit 2 = set when the stepper controller is in a HOLD STATE. This bit will be reset when the next move
operation is taking place.
Bit 3 = set when the axis is STOPPED
Bit 4 = set when the axis is AT HOME at the completion of a homing operation
Bit 5 = set when the axis is ACCELERATING
Bit 6 = set when the axis is DECELERATING
Bit 7 = set when MOVE COMPLETE. Valid for Absolute, Relative, and Blend Moves.
Bit 8 = set when there is a HOME INVALID ERROR
Bit 9 = set when there is an INVALID PROFILE
Bit 10 = set when POSITION INVALID
Bit 11 = set when there is an INPUT ERROR. (This bit will be automatically reset when the next move
operation is initiated. This bit will also be reset by a RESET ERRORS command.)
Bit 12 = set when there is a COMMAND ERROR. This bit must be reset before another command,
including immediate stop, will be accepted
Bit 13 = set when there is a CONFIGURATION ERROR
Bit 14 = set when MODULE OK
Bit 15 = MODE FLAG "1" configuration mode, "0" for command mode