| Tag Name | Data Type | Module Register | Bit | Description |
|---|---|---|---|---|
| O_BrakeMethod_Left | SINT | 4:0261 | Lo Byte | Left Motor Control |
| O_BrakeMethod_Right | SINT | 4:0271 | Lo Byte | Right Motor Control |
| O_ClearMotorError | BOOL | 4:0022 | Motor Control | |
| O_ControlPortOutput_Left | BOOL | 4:0037 | 1 | Left Motor Control |
| O_ControlPortOutput_Right | BOOL | 4:0037 | 3 | Right Motor Control |
| O_ControlPortPin3Mask_Left | BOOL | 4:0034 | 1 | Sensor/Control Port Configuration |
| O_ControlPortPin3Mask_Right | BOOL | 4:0034 | 3 | Sensor/Control Port Configuration |
| O_ControlPortPin4Mask_Left | BOOL | 4:0034 | 5 | Sensor/Control Port Configuration |
| O_ControlPortPin4Mask_Right | BOOL | 4:0034 | 7 | Sensor/Control Port Configuration |
| O_ConveyStopCommand | INT | 4:0020 | ConveyStop | |
| O_DischargeTracking | DINT | 4:0201 (MSW) 4:0202 (LSW) | ZPA Tracking | |
| O_DownstreamStatus | SINT | 4:0196 | Lo Byte | ZPA Status |
| O_EnableModule | BOOL | - | - | Module Control |
| O_LeftMtrDigitalPin3 | BOOL | 4:0060 | 0 | Left Motor Port Digital Control |
| O_LeftMtrDigitalPin4 | BOOL | 4:0060 | 1 | Left Motor Port Digital Control |
| O_LeftMtrDigitalPin5 | BOOL | 4:0060 | 2 | Left Motor Port Digital Control |
| O_MtrAccel_Left | INT | 4:0043 | Left Motor Control | |
| O_MtrAccel_Right | INT | 4:0067 | Right Motor Control | |
| O_MtrDecel_Left | INT | 4:0044 | Left Motor Control | |
| O_MtrDecel_Right | INT | 4:0068 | Right Motor Control | |
| O_RightMtrDigitalPin3 | BOOL | 4:0084 | 0 | Right Motor Port Digital Control |
| O_RightMtrDigitalPin4 | BOOL | 4:0084 | 1 | Right Motor Port Digital Control |
| O_RightMtrDigitalPin5 | BOOL | 4:0084 | 2 | Right Motor Port Digital Control |
| O_Mtr_Run_Left | BOOL | 4:0260 | 0 | Left Motor Control |
| O_Mtr_Run_Right | BOOL | 4:0270 | 0 | Right Motor Control |
| O_Mtr_Dir_Left | BOOL | 4:0260 | 8 | Left Motor Control |
| O_Mtr_Dir_Right | BOOL | 4:0270 | 8 | Right Motor Control |
| O_Mtr_Slave_Mode_Left | SINT | 4:0260 | Hi Byte | Left Motor Control |
| O_Mtr_Slave_Mode_Right | SINT | 4:0260 | Hi Byte | Right Motor Control |
| O_SensorPortPin3Mask_Left | BOOL | 4:0034 | 0 | Sensor/Control Port Configuration |
| O_SensorPortPin3Mask_Right | BOOL | 4:0034 | 2 | Sensor/Control Port Configuration |
| O_SensorPortPin4Mask_Left | BOOL | 4:0034 | 4 | Sensor/Control Port Configuration |
| O_SensorPortPin4Mask_Right | BOOL | 4:0034 | 6 | Sensor/Control Port Configuration |
| O_ServoCmdPulses_Left | INT | 4:0008 | Left Servo Function | |
| O_ServoCmdPulses_Right | INT | 4:0013 | Right Servo Function | |
| O_ServoGoCmd_Left | BOOL | 4:0009 | 1 | Left Servo Function |
| O_ServoGoCmd_Right | BOOL | 4:0014 | 1 | Right Servo Function |
| O_ServoZero_Left | BOOL | 4:0009 | 0 | Left Servo Function |
| O_ServoZero_Right | BOOL | 4:0014 | 0 | Right Servo Function |
| O_LeftMtrDigital_Enable | BOOL | 4:0060 | 15 | Left Motor Port Digital Control |
| O_RightMtrDigital_Enable | BOOL | 4:0084 | 15 | Right Motor Port Digital Control |
| O_SpeedMethod_Left | SINT | 4:0262 | Lo Byte | Left Motor Control |
| O_SpeedMethod_Right | SINT | 4:0272 | Lo Byte | Right Motor Control |
| O_SpeedReference_Left | INT | 4:0040 | Left Motor Control | |
| O_SpeedReference_Right | INT | 4:0064 | Right Motor Control | |
| O_UpstreamStatus | SINT | 4:0116 | Lo Byte | ZPA Status |
| O_LeftMtrDigital_BrakePinEnable_NoD | BOOL | 4:0060 | 7 | Enable the Left Motor Port Brake pin digital output |
| O_LeftMtrDigital_BrakePin | BOOL | 4:0060 | 6 | Left Motor Brake Pin Digital Control |
| O_LeftMtrDigital_ClearOC | BOOL | 4:0060 | 8 | Left Motor Digital Clear Over-current Error |
| O_RightMtrDigital_BrakePinEnable_NoD | BOOL | 4:0084 | 7 | Enable the Right Motor Port Brake pin digital output |
| O_RightMtrDigital_BrakePin | BOOL | 4:0084 | 6 | Right Motor Brake Pin Digital Control |
| O_RightMtrDigital_ClearOC | BOOL | 4:0084 | 8 | Right Motor Digital Clear Over-current Error |