3202 Rev A Module Specifications - Advanced Micro Controls Inc

Chapter 6: Command Mode Input Data(Sixteen 32 bit words sent from the 3202 module to the PLC)3202 Rev A Module SpecificationsTwo Channel ControlLogix Stepper ModuleRevision 4.0Sample Programs showing how to program the 3202 module are available from the following page ofour website; http://www.amci.com/sampleprograms.asp32 bitInputWordStatus Word LayoutChannelCommand Mode InputDataUnits0 1 Status Word See Description Below1 1 Current Position Counts (# of steps output)2 1 Current Encoder /Diagnostic Feedback DataEncoder Counts using X4decoding3 1 Captured Data Counts4 1 0 05 1 0 06 1 0 07 1 0 08 2 Status Word See Description Below9 2 Current Position Counts (# of steps output)10 2 Current Encoder /Diagnostic Feedback Data11 2 Captured Data Counts12 2 0 013 2 0 014 2 0 015 2 0 0Encoder Counts using X4decodingbit 0 = set when the axis is moving CWbit 1 = set when the axis is moving CCWbit 2 = set when the stepper controller is in a HOLD STATEbit 3 = set when the axis is STOPPED (This bit will not be set if the Move Complete, At Home, or Holdbits are set)bit 4 = set when the axis is AT HOME at the completion of a homing operationbit 5 = set when the axis is ACCELERATINGbit 6 = set when the axis is DECELERATINGbit 7 = set when MOVE COMPLETE. Valid for Absolute, Relative, and Blend Movesbit 8 = set when the stepper controller is running a BLEND MOVE profilebit 9 = reservedbit 10 = set when POSITION INVALIDbit 11 = set when there is an INPUT ERROR (A move can be initiated when there is an Input Error)bit 12 = set when there is a COMMAND ERROR, must be reset before another command, including anImmediate Stop, will be acceptedbit 13 = set when there is a CONFIGURATION ERROR (This bit is not set when the channel is disabled)bit 14 = set when there is a HOME INVALID ERRORbit 15 = set when there is an INVALID PROFILE20 Gear Drive, Plymouth Industrial Park, Terryville, CT 06786 page: 33Tel: (860) 585-1254 Fax: (860)584-1973 E-mail: Sales @amci.com