Specifications

20 Gear Drive, Plymouth Industrial Park, Terryville, CT 06786 page: 35
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3401 Manual
Point I/O Stepper Module
Revision 2.0
Status Word LSW Layout
Bit 0 = set when the Limit Input configured as an Emergency Stop is active
Bit 1 = set when the Limit Input configured as a CW Limit Switch is active
Bit 2 = set when the Limit Input configured as a CCW Limit switch is active
Bit 3 = set when the HOME LIMIT SWITCH input is active
Bits 4 to 11: Reserved
Bit 8 = set when the stepper controller is running a BLEND MOVE profile
Bit 9 = BLEND MOVE to ACKNOWLEDGE bit, set when the 3401 has received a blend move
programming block
Bits 10 and 11: Reserved
Bit 12 = set when the backplane home proximity output bit is set, even if no home operation is occurring.
Bits 13 to 15: Reserved
CURRENT POSITION
These two words (MSW and LSW) report the Current Position based on the number of steps that have been
output to the stepper driver. . The upper word (MSW) has the 1000s places and the lower word (LSW) has
the 1s, 10s and 100s places. A negative Current Position value will be displayed as a negative decimal
number in both the MSW and LSW. For example;
The +8,388,607 range of the output parameters does not limit the current position data. The current
position instead has a range of 0 to 65,535,999. The LSW word has a range of –999 to 999 and all 16 bits
are used in the upper word. Please note that if the Most Significant Bit is used to indicate the sign, the
MSW value will become negative when it changes from 7fffh to 8000h or positive if it changes from
8000h to 7fffh.
Switching from Configuration Mode to Command Mode will cause the Current Position to be reset to
zero.
The Stopped Bit will be set under the following conditions
The Stopped Bit will be set whenever the 3401 module is in command mode and there is no motion
occurring. The Stopped bit will turn on 400 to 500ms after motion has stopped.
The Move Complete Bit will be set under the following conditions
After an Absolute Move, a Relative Move, or a Blend Move have been successively completed. The
Move Complete bit will be reset when the next move operation is initiated or when a Preset Command
has been issued.
Value MSW LSW
-12,345 -12 -345
12,000 12 0
-12,000 -12 0
345 0 345
-345 0 -345