Page History
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| Byte | Name | Data Type |
|---|---|---|
| 0-3 | us50Counter | DINT |
| 4-7 | ActualPosition | DINT |
| 8-11 | MotionTarget | DINT |
| 12-15 | ActualSpeed | DINT |
| 16-17 | MotorStatus | INT |
| 18-19 | PercentActualCurrent | INT |
| 20-21 | PercentOverloadTorque | INT |
| 22-23 | AnalogIN | INT |
| 24-25 | DCVoltage | INT |
| 26 | DigitalINDigitalIO | SINT |
| 27 | Temperature | SINT |
| 28 | ModeOfOperationDisplay | SINT |
| 29 | ErrorCode(1) | SINT |
| 30-31 | ReadAddress1 | INT |
| 32-35 | ReadValue1 | DINT |
(1) - ErrorCode is currently reserved and returns 0. Use MotorStatus to get motor error information
O2T (Output) Message
- Instance = 112
- Size = 28
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| Byte | Name | Data Type |
|---|---|---|
| 0-3 | us50Counter | DINT |
| 4-7 | ActualPosition | DINT |
| 8-11 | MotionTarget | DINT |
| 12-15 | ActualSpeed | DINT |
| 16-17 | MotorStatus | INT |
| 18-19 | PercentActualCurrent | INT |
| 20-21 | PercentOverloadTorque | INT |
| 22-23 | AnalogIN | INT |
| 24-25 | DCVoltage | INT |
| 26 | DigitalINDigitalIO | SINT |
| 27 | Temperature | SINT |
| 28 | ModeOfOperationDisplay | SINT |
| 29 | ErrorCode(1) | SINT |
| 30-31 | ReadAddress1 | INT |
| 32-35 | ReadValue1 | DINT |
| 36-37 | ReadAddress2 | INT |
| 38-39 | ReadAddress3 | INT |
| 40-41 | ReadAddress4 | INT |
| 42-43 | ReadAddress5 | INT |
| 44-47 | ReadValue2 | DINT |
| 48-51 | RadValue3 | DINT |
| 52-55 | ReadValue4 | DINT |
| 56-59 | ReadValue5 | DINT |
(1) - ErrorCode is currently reserved and returns 0. Use MotorStatus to get motor error information
O2T (Output) Message
- Instance = 113
- Size = 44
...
| Name | Unit | Data Type | Access |
|---|---|---|---|
| SpeedTarget | counts/s | DINT | AOI(1) or Axis tag |
| TorqueTarget | 0.1% rated torque Range: ± 1100 Where:
| INT | AOI or Axis Tag |
(1) MoveTorque AOI
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General Resources
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EDS File
The CM1-T EtherNet/IP eds file can be found on the See Datasheets and Downloads to download the UDTs, AOIs and sample program.
User Data Types
Direct Control Operation
CM1T_Axis
page.
CM1-T Library
TheCM1-T Library for use with Codesys, Schneider, Beckhoff, Wago and other IEC 61131-3 PLCs can be found on the Datasheets and Downloads page.
RSLogix Resources
See Datasheets and Downloads to download the UDTs, AOIs and sample program.
User Data Types
Direct Control Operation
CM1T_Axis
The CM1-TThe CM1-T_Axis data type defines how the bytes are assigned withing the IO message.
| Name | Data Type | Description |
|---|---|---|
| Input | SINT[36] | Data coming from the CM1-T |
| Output | SINT[28] | Data going to the CM1-T |
| us50Counter | DINT | Motor 50us counter |
| ModeOfOperation | SINT | Select control mode |
| ModeOfOperationDisplay | SINT | Current control mode |
| Controlword | CM1T_Controlword | Control operation |
| DriveStatus | CM1T_DriveStatus | Drive status |
| PositionTarget | DINT | Target position for position move |
| SpeedTarget | DINT | Max speed for target move |
| TorqueTarget | INT | Max torque for target move |
| AccelerationTarget | INT | Acceleration for target move |
| DecelerationTarget | INT | Deceleration for target move |
| PositionActual | DINT | Actual position of the motor |
| TargetActual | DINT | 1ms target position of the motor |
| PositionError | DINT | Error between actual and target |
| SpeedActual | DINT | Actual speed of the motor |
| CurrentActual | INT | Actual current percentage of the motor (0.1% rated) |
| OverloadActual | INT | 0.1% of overload torque |
| DCVoltage | INT | 24V DC input value at 0.1V |
| AnalogIN | INT | 10bit analog input (0-1023) |
| DigitalIN | SINT | Read digital inputs |
| DigitalOUT | SINT | Set digital outputs |
| Temperature | SINT | Drive temperature in °C |
| ErrorCode | SINTError in communication module | ErrorCode is currently reserved and returns 0. Use MotorStatus to get motor error information |
| ReadAddress1 | INT | Address of register to read |
| ReadValue1 | DINT | Value of read register |
| ReadValueAddress1 | INT | Address of the current read register |
| WriteValue1 | DINT | Register write value |
| WriteRegister1 | INT | Write register address |
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| Name | Data Type | Description | |
|---|---|---|---|
| Input | SINT[60] | Data coming from the CM1-T | |
| Output | SINT[44] | Data going to the CM1-T | |
| us50Counter | DINT | Motor 50us counter | |
| DriveStatus | CM1T_DriveStatus | Drive status | |
| PositionActual | DINT | Actual position of the motor | |
| TargetActual | DINT | 1ms target position of the motor | |
| PositionError | DINT | Error between actual and target | |
| SpeedActual | DINT | Actual speed of the motor | |
| CurrentActual | INT | Actual current percentage of the motor (0.1% rated) | |
| OverloadActual | INT | 0.1% of overload torque | |
| DCVoltage | INT | 24V DC input value at 0.1V | |
| AnalogIN | INT | 10bit analog input (0-1023) | |
| DigitalIN | SINT | Read digital inputs | |
| DigitalOUT | SINT | Set digital outputs | |
| Temperature | SINT | Drive temperature in °C | |
| ErrorCode | SINT | Error in communication module | (1) - ErrorCode is currently unused and returns 0. Use MotorStatus to get motor error information |
| WriteValueWriteValue | DINT[5] | Register write value (array) Address of register to read | |
| ReadValue | DINT[5] | Value of read register (array) | |
| WriteAddress | INT[5] | Write register address (array) | |
| ReadAddress | INT[5] | Read address register (array) | |
| ReadValueAddress | INT[5] | Address of the current returned read register (array) |
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B - Complete Register Address Map
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