Specifications

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3401 Manual
Point I/O Stepper Module
Revision 2.0
A Command Error will be generated under the following conditions
1. If the RPI time is set to too small a value for your system. Even though the command data itself is
correct, it may not be transferred to the 3401 module correctly. For example, the module may
receive only half of the new command data during one transfer cycle. If the combination of half new
data and half old data is not valid, the module will generate a command error.
2. Configuring the unit while a move operation is occurring. The move will run to completion and then
the configuration will be allowed to occur, clearing the command error.
3. If more than one Command bit in output word 0 (MSW) is set.
4. 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.
5. If the programmed speed is less than the starting speed. This applies to Absolute Moves, Relative
Moves, Homing operations, and Blend Moves. However, Manual Moves can be run at speeds less
than the starting speed.
6. Performing an Absolute Move when the Current Position is not valid.
7. Issuing a Hold Command when there is no Absolute or Relative move in progress. For example,
during Manual Moves, Blend Moves, or Homing Operations.
8. Issuing a Resume command when the channel is not in a Hold state.
9. A Preset Command that has data in the registers that contain the Programmed Speed, Acceleration,
or Deceleration parameters.
10. Issuing a Homing Command with S-Curve Acceleration selected.
11. Performing a Manual Move with data in the Target Position registers.
12. Changing the speed of a Manual Move whose initial speed was less than or equal to the starting
speed.
13. If invalid changes are made to the velocity, acceleration, or deceleration parameters of a manual
move that is occurring.
14. If a Blend Move operation was initiated before the profile was programmed.
15. If a blend move profile is started with data in the target position, programmed speed, acceleration, or
deceleration parameters.
16. If a blend move profile is programmed while a blend move operation is in progress. If this occurs,
the final segments deceleration will be used to immediately stop the motion.
17. If the hold command is issued while a blend move profile is running. If this occurs, the command
error bit will be set while the blend move profile runs to completion. When completed, the
command error will be reset.
The Configuration Error bit will be set under the following conditions
1. At power up, before the 3401 module has been configured.
2. If an invalid configuration has been sent to the module.
The Module OK Flag
This bit will be set as long as the module is operating. Only a fatal error will cause this bit to be reset to
zero.