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 | 4:32700 | 4:4700 |
| 4:0036 | Sensor Detect | 4:32701 | 4:4701 |
| 4:0057 | Left Motor Temperature | 4:32702 | 4:4702 |
| 4:0058 | Left Motor Status | 4:32703 | 4:4703 |
| 4:0081 | Right Motor Temperature | 4:32704 | 4:4704 |
| 4:0082 | Right Motor Status | 4:32705 | 4:4705 |
| 4:0060 | Left Motor Port Digital I/O Status | 4:32706 | 4:4706 |
| 4:0084 | Right Motor Port Digital I/O Status | 4:32707 | 4:4707 |
| N/A | Current Module Reset Count | 4:32708 | 4:4708 |
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 | 4:32800 | 4:4800 |
| 4:0084 | Set Right Motor Port Digital Control | 4:32801 | 4:4801 |
| 4:0037 | Control Port Digital Output Control | 4:32802 | 4:4802 |
| 4:0260 | Left Motor Run / Reverse | 4:32803 | 4:4803 |
| 4:0270 | Right Motor Run / Reverse | 4:32804 | 4:4804 |
| 4:0040 | Left Motor Speed Reference | 4:32805 | 4:4805 |
| 4:0064 | Right Motor Speed Reference | 4:32806 | 4:4806 |
| 4:0022 | Clear Motor Error | 4:32807 | 4:4807 |
| N/A | Set Module Reset Count | 4:32808 | 4:4808 |