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(1) - ErrorCode is currently unused reserved and returns 0. Use MotorStatus to get motor error information
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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 | DigitalIO | 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
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| 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 | SINTError in communication module | (1) - ErrorCode is currently unused and returns 0. Use MotorStatus to get motor error information |
| WriteValue | 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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