| Tag Name | Data Type | Module Register | Bit | Description |
|---|---|---|---|---|
| I_Heartbeat | BOOL | 4:0035 | 15 | 1 sec on / 1 sec off Module Heartbeat |
| I_Mtr_Dig_Sts_OverCurrent_Left | BOOL | 4:0060 | 14 | More than 1A detected on one or more outputs |
| I_Mtr_Dig_Sts_OverCurrent_Right | BOOL | 4:0084 | 14 | More than 1A detected on one or more outputs |
| I_Mtr_Dig_Sts_ShortCircuit_Left | BOOL | 4:0060 | 12 | Short Circuit Error on one or more outputs |
| I_Mtr_Dig_Sts_ShortCircuit_Right | BOOL | 4:0084 | 12 | Short Circuit Error on one or more outputs |
| I_Mtr_Sts_BadHall_Left | BOOL | 4:0058 | 14 | Hall Effect Sensor error |
| I_Mtr_Sts_BadHall_Right | BOOL | 4:0082 | 14 | Hall Effect Sensor error |
| I_Mtr_Sts_Digital_Mode_Left | BOOL | 4:0058 | 2 | Left Motor Port is in Digital mode |
| I_Mtr_Sts_Digital_Mode_Right | BOOL | 4:0082 | 2 | Right Motor Port is in Digital mode |
| I_Mtr_Sts_LowVoltage_Left | BOOL | 4:0058 | 7 | Under 18 Volts |
| I_Mtr_Sts_LowVoltage_Right | BOOL | 4:0082 | 7 | Under 18 Volts |
| I_Mtr_Sts_MaxTorque_Left | BOOL | 4:0058 | 9 | MDR running with maximum torque |
| I_Mtr_Sts_MaxTorque_Right | BOOL | 4:0082 | 9 | MDR running with maximum torque |
| I_Mtr_Sts_MDRStatus1_Left | BOOL | 4:0058 | 0 | This field and MDRStatus2 indicate the status of the left motor |
| I_Mtr_Sts_MDRStatus1_Right | BOOL | 4:0082 | 0 | This field and MDRStatus2 indicate the status of the right motor |
| I_Mtr_Sts_MDRStatus2_Left | BOOL | 4:0058 | 1 | This field and MDRStatus1 indicate the status of the left motor |
| I_Mtr_Sts_MDRStatus2_Right | BOOL | 4:0082 | 1 | This field and MDRStatus1 indicate the status of the right motor |
| I_Mtr_Sts_NotConnected_Left | BOOL | 4:0058 | 11 | Motor not connected |
| I_Mtr_Sts_NotConnected_Right | BOOL | 4:0082 | 11 | Motor not connected |
| I_Mtr_Sts_NotUsed_Left | BOOL | 4:0058 | 15 | Motor not used |
| I_Mtr_Sts_NotUsed_Right | BOOL | 4:0082 | 15 | Motor not used |
| I_Mtr_Sts_Overheat_Left | BOOL | 4:0058 | 8 | Above 105 C |
| I_Mtr_Sts_Overheat_Right | BOOL | 4:0082 | 8 | Above 105 C |
| I_Mtr_Sts_Overload_Left | BOOL | 4:0058 | 12 | Overloaded – has been running 20s in Stalled |
| I_Mtr_Sts_Overload_Right | BOOL | 4:0082 | 12 | Overloaded – has been running 20s in Stalled |
| I_Mtr_Sts_OverVoltage_Left | BOOL | 4:0058 | 6 | Above 30 Volts |
| I_Mtr_Sts_OverVoltage_Right | BOOL | 4:0082 | 6 | Above 30 Volts |
| I_Mtr_Sts_ShortCircuit_Left | BOOL | 4:0058 | 10 | Short circuit on the motor |
| I_Mtr_Sts_ShortCircuit_Right | BOOL | 4:0082 | 10 | Short circuit on the motor |
| I_Mtr_Sts_Stalled_Left | BOOL | 4:0058 | 13 | Motor speed is 10% less than the selected speed |
| I_Mtr_Sts_Stalled_Right | BOOL | 4:0082 | 13 | Motor speed is 10% less than the selected speed |
| I_Sensor_Detect_Left_Port | BOOL | 4:0036 | 1 | Sensor Detected on Left Pin 2 |
| I_Sensor_Detect_Right_Port | BOOL | 4:0036 | 0 | Sensor Detected on Right Pin 2 |
| I_Sensor_Port_AUX_Left | BOOL | 4:0035 | 0 | Left Sensor Port Pin 4 (AUX) Energized |
| I_Sensor_Port_AUX_Right | BOOL | 4:0035 | 2 | Right Sensor Port Pin 4 (AUX) Energized |
| I_Sensor_Port_SEN_Left | BOOL | 4:0035 | 4 | Left Sensor Port Pin 2 Energized |
| I_Sensor_Port_SEN_Right | BOOL | 4:0035 | 6 | Right Sensor Port Pin 2 Energized |
| I_Temp_MDR_Left | INT | 4:0057 | Hi Byte | Left Motor Temperature Reading |
| I_Temp_MDR_Right | INT | 4:0081 | Hi Byte | Right Motor Temperature Reading |
| I_Temp_On_Board_Left | INT | 4:0057 | Lo Byte | Left On Board Temperature Reading |
| I_Temp_On_Board_Right | INT | 4:0081 | Lo Byte | Right On Board Temperature Reading |
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