ConveyLinx PLC Developers Guide

ERSC Family

Register Name Internal Address Assembled PLC Address Description
ConveyStop Command 4:0020 M: 4:1800
E: O.Data [0]
P: Byte 0 (Hi)
P: Byte 1 (Lo)		 Integer Value
0 = No Command
1 = Command local module’s Stop Group to go to Stopped State
2 = Command local module’s Stop Group to Clear Stopped State
Set Digital Control
Left Motor Port		 4:0060 M: 4:1801
E: O.Data [1]
P: Byte 2 (Hi)
P: Byte 3 (Lo)		 Bitwise Value
Bit 00 = Energize Left Motor Port Pin 3
Bit 01 = Energize Left Motor Port Pin 4
Bit 02 = Energize Left Motor Port Pin 5
Bit 03 = Reserved
Bit 04 = Reserved
Bit 05 = Reserved
Bit 06 = Brake Output Pin 9
Bit 07 = Enable Brake Pin 9 when Left Motor Port is NOT in Digital Mode
Bit 08 = Clear over-current error
Bit 09 = Reserved
Bit 10 = Reserved
Bit 11 = Reserved
Bit 12 = Reserved
Bit 13 = Reserved
Bit 14 = Reserved
Bit 15 = Digital Output Mode Enable
0 = Use Left Motor Port for Motor Control
1 = Use Left Motor Port as Digital Outputs
Set Digital Control
Right Motor Port		 4:0084 M: 4:1802
E: O.Data [2]
P: Byte 4 (Hi)
P: Byte 5 (Lo)		 Bitwise Value
Bit 00 = Energize Right Motor Port Pin 3
Bit 01 = Energize Right Motor Port Pin 4
Bit 02 = Energize Right Motor Port Pin 3
Bit 03 = Reserved
Bit 04 = Reserved
Bit 05 = Reserved
Bit 06 = Brake Output Right Motor Port Pin 9
Bit 07 = Enable Brake Pin 9 when Right Motor Port is NOT in Digital Mode
Bit 08 = Clear over-current error
Bit 09 = Reserved
Bit 10 = Reserved
Bit 11 = Reserved
Bit 12 = Reserved
Bit 13 = Reserved
Bit 14 = Reserved
Bit 15 = Digital Output Mode Enable
0 = Use Right Motor Port for Motor Control
1 = Use Right Motor Port as Digital Outputs
Control Port Digital Output Control 4:0037 M: 4:1803
E: O.Data [3]
P: Byte 6 (Hi)
P: Byte 7 (Lo)		 Bitwise Value
Bit 00 = Reserved
Bit 01 = Left Control Port Output
Bit 02 = Reserved
Bit 03 = Right Control Port Output
All other Bits reserved
Run / Reverse
Left Motor		 4:0260 M: 4:1804
E: O.Data [4]
P: Byte 8 (Hi)
P: Byte 9 (Lo)		 Bitwise Value
Bit 00 :
 1 = Run Command
 0 = Stop Command
Bit 08 :
 0 = Run in Configured Direction
 1 = Run opposite of Configured Direction
Set Brake Method
Left Motor		 4:0261 M: 4:1805
E: O.Data [5]
P: Byte 10 (Hi)
P: Byte 11 (Lo)		 Integer Value
1 = Use Standard Brake Method
2 = Use Free Coast Brake Method
3 = Use Servo Brake 1 Method
4 = Use Servo Brake 2 Method
0 = Remain at last configured or last value entered
Set Slave Mode
Left Motor		 4:0262 M: 4:1806
E: O.Data [6]
P: Byte 12 (Hi)
P: Byte 13 (Lo)		 Byte-Wise Integer Value
Low Byte Value
 0 = Remain at last configured or last value entered
 1 = Use Open Loop
 1 = Use Closed Loop
High Byte Value
 0 = Ignore
 1 = Slave Mode OFF
 2 = Slave Mode ON – Left = Right
 3 = Slave Mode ON – Left opposite of Right
Run / Reverse
Right Motor		 4:0270 M: 4:1807
E: O.Data [7]
P: Byte 14 (Hi)
P: Byte 15 (Lo)		 Bitwise Value
Bit 00 :
 1 = Run Command
 0 = Stop Command
Bit 08 :
 0 = Run in Configured Direction
 1 = Run opposite of Configured Direction
Set Brake Method
Right Motor		 4:0271 M: 4:1808
E: O.Data [8]
P: Byte 16 (Hi)
P: Byte 17 (Lo)		 Integer Value
1 = Use Standard Brake Method
2 = Use Free Coast Brake Method
3 = Use Servo Brake 1 Method
4 = Use Servo Brake 2 Method
0 = Remain at last configured or last value entered
Set Slave Mode
Right Motor		 4:0272 M: 4:1809
E: O.Data [9]
P: Byte 18 (Hi)
P: Byte 19 (Lo)		 Byte-wise Integer Value
Low Byte Value
 0 = Remain at last configured or last value entered
 1 = Use Open Loop
 1 = Use Closed Loop
High Byte Value
 0 = Ignore
 1 = Slave Mode OFF
 2 = Slave Mode ON – Right = Left Motor
 3 = Slave Mode ON – Right opposite of Left
Set Speed Reference
Left Motor		 4:0040 M: 4:1810
E: O.Data [10]
P: Byte 20 (Hi)
P: Byte 21 (Lo)		 Integer Value
Value = 0.1% increments of max speed
Range = 0 to 1000
Example: 400 = 40% of Max PWM
0 = Remain at last non-zero value entered
Set Speed Reference
Right Motor		 4:0064 M: 4:1811
E: O.Data [11]
P: Byte 22 (Hi)
P: Byte 23 (Lo)		 Integer Value
Value = 0.1% increments of max speed
Range = 0 to 1000
Example: 400 = 40% of Max PWM
0 = Remain at last non-zero value entered
Set Acceleration
Left Motor		 4:0043 M: 4:1812
E: O.Data [12]
P: Byte 24 (Hi)
P: Byte 25 (Lo)		 Integer Value
When Speed Control is Open Loop:
Value = msec
Range = 30 to 10000
Example: 900 = 0.9 sec
When Speed Control is Closed Loop:
Value = Motor Pulses
Range = 30 to 10000
For Either Open or Closed Loop:
0 = Remain at last non-zero value entered
Set Deceleration
Left Motor		 4:0044 M: 4:1813
E: O.Data [13]
P: Byte 26 (Hi)
P: Byte 27 (Lo)		 Integer Value
When Speed Control is Open Loop:
Value = msec
Range = 0 to 10000
Example: 900 = 0.9 sec
When Speed Control is Closed Loop:
Value = Motor Pulses
Range = 0 to 10000
For Either Open or Closed Loop:
0 = Remain at last non-zero value entered
Set Acceleration
Right Motor		 4:0067 M: 4:1814
E: O.Data [14]
P: Byte 28 (Hi)
P: Byte 29 (Lo)		 Integer Value
When Speed Control is Open Loop:
Value = msec
Range = 30 to 10000
Example: 900 = 0.9 sec
When Speed Control is Closed Loop:
Value = Motor Pulses
Range = 30 to 10000
For Either Open or Closed Loop:
0 = Remain at last non-zero value entered
Set Deceleration
Right Motor		 4:0068 M: 4:1815
E: O.Data [15]
P: Byte 30 (Hi)
P: Byte 31 (Lo)		 Integer Value
When Speed Control is Open Loop:
Value = msec
Range = 0 to 10000
Example: 900 = 0.9 sec
When Speed Control is Closed Loop:
Value = Motor Pulses
Range = 0 to 10000
For Either Open or Closed Loop:
0 = Remain at last non-zero value entered
Clear Motor Error 4:0022 M: 4:1816
E: O.Data [16]
P: Byte 32 (Hi)
P: Byte 33 (Lo)		 Integer Value
1 = Send Reset command
0 = Clear Reset command
Set Status
to Downstream Module		 4:0196 M: 4:1817
E: O.Data [17]
P: Byte 34 (Hi)
P: Byte 35 (Lo)		 Integer Value
Used to write this module’s ZPA Status to its neighboring Downstream module
4 = Instruct Downstream module to “wake-up” and run its most upstream zone
1 = Instructs Downstream module that carton has exited local zone and to accept any tracking data written in Set Discharge Tracking Word 1 / Word 2 registers when carton arrives
Set Status
to Upstream Module		 4:0116 M: 4:1818
E: O.Data [18]
P: Byte 36 (Hi)
P: Byte 37 (Lo)		 Integer Value
Used to write this module’s ZPA Status to its neighboring Upstream module
5 = Instructs Upstream module’s discharge zone to accumulate and hold any carton that arrives at its discharge zone
1 = Instructs Upstream module’s discharge zone to release any carton that arrives at its discharge zone
Set Sensor/Control Port Input
Signal Condition Mask		 4:0034 M: 4:1819
E: O.Data [19]
P: Byte 38 (Hi)
P: Byte 39 (Lo)		 Bitwise Value
Bit 00 = Left Sensor Port – Pin 3
Bit 01 = Left Control Port – Pin 3
Bit 02 = Right Sensor Port – Pin 3
Bit 03 = Right Control Port – Pin 3
Bit 04 = Left Sensor Port – Pin 4
Bit 05 = Left Control Port – Pin 4
Bit 06 = Right Sensor Port – Pin 4
Bit 07 = Right Control Port – Pin 4
All other Bits reserved
Set Discharge Tracking Word 1 4:0201 M: 4:1820
E: O.Data [20]
P: Byte 40 (Hi)
P: Byte 41 (Lo)		 Integer Value
Only used when local PLC I/O Mode module needs to pass tracking data Word 1 to a downstream connected ConveyLinx Module. Used in conjunction with Set Status to Downstream Module register
Set Discharge Tracking Word 2 4:0202 M: 4:1821
E: O.Data [21]
P: Byte 42 (Hi)
P: Byte 43 (Lo)		 Integer Value
Only used when local PLC I/O Mode module needs to pass tracking data Word 2 to a downstream connected ConveyLinx Module. Used in conjunction with Set Status to Downstream Module register
Reserved N/A M: 4:1822
E: O.Data [22]
P: Byte 44 (Hi)
P: Byte 45 (Lo)		 Reserved
Set Servo Position Value
Left Motor		 4:0008 M: 4:1823
E: O.Data [23]
P: Byte 46 (Hi)
P: Byte 47 (Lo)		 Signed Integer Value
Value of the position to move to on the next Left Motor Servo Run Command
MDR = Value is in Motor Pulses
PGD = Value is in Motor Pulses
Range = -32767 to +32767
Set Servo Command Word
Left Motor		 4:0009 M: 4:1824
E: O.Data [24]
P: Byte 48 (Hi)
P: Byte 49 (Lo)		 Bitwise Value
Bit 00 = Set Bit to Reset Left Motor Servo Position Value to 0
Bit 01 = Set to Initiate Run Left Motor to position set in the Left Motor Servo Position Value Register
All other Bits reserved
Set Servo Position Value
Right Motor		 4:0013 M: 4:1825
E: O.Data [25]
P: Byte 50 (Hi)
P: Byte 51 (Lo)		 Signed Integer Value
Value of the position to move to on the next Right Motor Servo Run Command
MDR = Value is in Motor Pulses
PGD = Value is in Motor Pulses
Range = -32767 to +32767
Set Servo Command Word
Right Motor		 4:0014 M: 4:1826
E: O.Data [26]
P: Byte 52 (Hi)
P: Byte 53 (Lo)		 Bitwise Value
Bit 00 = Set Bit to Reset Right Motor Servo Position Value to 0
Bit 01 = Set to Initiate Run Right Motor to position set in the Left Motor Servo Position Value Register
All other Bits reserved