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_RunMtrFwd_Left |
BOOL |
4:0260 |
1 |
Left Motor Control |
O_RunMtrFwd_Right |
BOOL |
4:0270 |
1 |
Right Motor Control |
O_RunMtrRev_Left |
BOOL |
4:0260 |
8 |
Left Motor Control |
O_RunMtrRev_Right |
BOOL |
4:0270 |
8 |
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 |