PLC I/O Mode Inputs
| Module Address | Register Name | Assembled Address for FW 5.2 | Assembled Address for FW 4.25 and earlier |
|---|---|---|---|
| 4:0035 | Sensor & Control Port Inputs | 4:12700 | 4:2700 |
| 4:0036 | Sensor Detect | 4:12701 | 4:2701 |
| 4:0057 | Left Motor Temperature | 4:12702 | 4:2702 |
| 4:0058 | Left Motor Status | 4:12703 | 4:2703 |
| 4:0081 | Right Motor Temperature | 4:12704 | 4:2704 |
| 4:0082 | Right Motor Status | 4:12705 | 4:2705 |
| 4:0060 | Left Motor Port Digital I/O Status | 4:12706 | 4:2706 |
| 4:0084 | Right Motor Port Digital I/O Status | 4:12707 | 4:2707 |
| N/A | Reserved | 4:12708 | 4:2708 |
PLC I/O Mode Outputs
| Module Address | Register Name | Assembled Address for FW 5.2 | Assembled Address for FW 4.25 and earlier |
|---|---|---|---|
| 4:0060 | Set Left Motor Port Digital Control | 4:12800 | 4:2800 |
| 4:0084 | Set Right Motor Port Digital Control | 4:12801 | 4:2801 |
| 4:0037 | Control Port Digital Output Control | 4:12802 | 4:2802 |
| 4:0260 | Left Motor Run / Reverse | 4:12803 | 4:2803 |
| 4:0270 | Right Motor Run / Reverse | 4:12804 | 4:2804 |
| 4:0040 | Left Motor Speed Reference | 4:12805 | 4:2805 |
| 4:0064 | Right Motor Speed Reference | 4:12806 | 4:2806 |
| 4:0022 | Clear Motor Error | 4:12807 | 4:2807 |
| N/A | Reserved | 4:12808 | 4:2808 |