MotionLinx Family Complete Guide

3.3.1. MotionLinx-Ai Transmit PDOs

Integrating MotionLinx with TwinCAT / MotionLinx Data Objects /

MotionLinx-Ai Transmit PDOs


There are two transmit PDOs provided by the MotionLinx-Aimodule. This is the data that originates from theMotionLinx-Ai module that is made available as input to the master controller.

Transmit PDO0 – Module Inputs (Object 0×1A00)

Subindex Index Data Type Data Description
SubIndex 1
All Sensors		 Index 0×3000
SubIndex 0		 INT Bitwise Value – Read Only:
   bit 00 = Left Sensor Port – Aux Input
   bit 01 = Reserved
   bit 02 = Right Sensor Port – Aux Input
   bit 03 = Reserved
   bit 04 = Left Sensor Port – Sensor Input
   bit 05 = Reserved
   bit 06 = Right Sensor Port – Sensor Input
   bit 07 thru bit 14 = Reserved
   bit 15 = 2 sec on / 2 sec off heartbeat
SubIndex 2
Servo State
Left Motor		 Index 0×3001
SubIndex 0		 SINT Bit 0: Servo Command Status
   1 = Last Servo Run Command Complete
   0 = Servo Command in Process
Bit 01: Servo Reset Status
   Echoes state Left/Right Motor Servo Command Bit 0
Bit 2: Servo Command Status
   Echoes state of Left/Right Motor Servo Command bit 1
SubIndex 3
Servo State
Right Motor		 Index 0×3006
SubIndex 0
SubIndex 4
Servo Position
Left Motor		 Index 0×3002
SubIndex 0		 INT Signed integer value that indicates the current position of the Left/Right Motor in relation to its “0” position
   • For MDR the value is in mm
   • For PGD the value is in motor pulses
SubIndex 5
Servo Position
Right Motor		 Index 0×3003
SubIndex 0

Transmit PDO1 – Module Diagnostics (Object 0×1A01)

Subindex Index Data Type Data Description
SubIndex 1
Module Diagnostic
Left Motor		 Index 0×3004
SubIndex 0		 INT Bitwise Value – Read Only:
   bit 00 = Motor Status*
   bit 01 = Motor Status*
   bit 02 = Port in Digital Mode
   bit 03 = Reserved
   bit 04 = Reserved
   bit 05 = Board Overheat
   bit 06 = Over-Voltage
   bit 07 = Low Voltage

   bit 08 = Overheated
   bit 09 = MaxTorque
   bit 10 = Short Circuit
   bit 11 = Motor Not Connected
   bit 12 = Overloaded
   bit 13 = Motor Stalled
   bit 14 = Hall Sensor Error
   bit 15 = Motor Not Used
SubIndex 2
Module Diagnostic
Right Motor		 Index 0×3005
SubIndex 0
SubIndex 3
System Diagnostic		 Index 0×3013 Byte Bitwise Value – Read Only:
   bit 00 = Logic voltage is below 14V
   bit 01 = Left Motor set speed is greater than the max. allowed speed for the attached motor
   bit 02 = Left Motor set speed is less than the min. allowed speed for the attached motor
   bit 03 = Right Motor set speed is greater than the max. allowed speed for the attached motor
   bit 04 = Right Motor set speed is less than the min. allowed speed for the attached motor
   bit 05 = Reserved
   bit 06 = Reserved
   bit 07 = Reserved

Motor Status Bits

Bits 0 and 1 are used in combination to provide 4 possible states for motor status. The following chart defines the bit values for these states:

Bit 1 Bit 0 Description
 OFF   OFF  Motor not running, standard or servo braking applied
 OFF   ON  Motor running in CCW Direction
 ON   OFF  Motor running in CW Direction
 ON   ON  Motor not running and no braking applied (free to spin)