Specifications

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3401 Manual
Point I/O Stepper Module
Revision 2.0
The Home Invalid bit will be set under the following conditions
1. Issuing a Home command if the Programmed Speed is less than the starting speed.
2. Issuing a Homing command with the Target Position registers not equal to zero.
3. Issuing a Home Command in a direction that has not been configured.
4. If the opposite End Limit Switch is reached during a homing operation. For example, if the CCW
Limit Switch is first reached during a CW homing operation. Improper placement or configuration
of the limit switch would most likely cause this error.
The Invalid Profile bit will be set under the following conditions
1. If the Programmed Speed is less than the starting speed.
2. If the Target Position, Programmed Speed, Acceleration, or Deceleration parameters are outside of
their valid ranges. This also includes if the LSW is outside of the range of –999 to +999 or if one
word of the parameter is negative and the other is not zero and positive.
3. If the defined profile overflows the internal registers of the 3401 module.
4. Setting the number of Blend Move Segments to be less than 2 or greater than 16.
5. If a Blend Move segment does not reach the Programmed Speed. That is, if the distance that it
takes to accelerate to the programmed speed exceeds the length of the segment.
6. Programming a Blend Move segment without changing the Programmed Speed.
7. If a Manual Move is initiated with data in the Target Position register.
8. Changing the speed of a Manual Move whose initial speed was less than or equal to the starting
speed.
9. If invalid changes are made to the velocity, acceleration, or deceleration parameters of a manual
move that is occurring. This also includes if the lower word is outside of the range of 0 to 999.
The Position Invalid will be set under the following conditions
1. After a configuration operation has occurred. This will be true even if the position was valid
before the configuration operation occurred.
2. After an Immediate Stop command has been issued.
3. If the Emergency Stop input has been activated.
4. If either of the End Limit Switches become active during any move operation except for homing and
if the same end limit is reached during a Manual Move. For example, if the CW Limit Switch is
reached during a CW Manual Move.
5. If the opposite End Limit Switch is reached during a homing operation. For example, if the CCW
Limit Switch is first reached during a CW homing operation. Improper placement or configuration
of the limit switch would most likely cause this error.
The Input Error bit will be set under the following conditions
1. If the Emergency Stop input has been activated.
2. If either of the End Limit Switches become active during any move operation except for homing, and
if the same end limit is reached during a Manual Move. For example, if the CW Limit Switch is
reached during a CW Manual Move.
3. Performing a Manual Move in the same direction as the active End Limit Switch.
4. If the opposite End Limit Switch is reached during a homing operation. For example, if the CCW
Limit Switch is first reached during a CW homing operation. Improper wiring or placement of the
limit switch would most likely cause this error.