Output data "full PLC mode"

0

Struct

ConveyStopControl

0.0
0.7

0.0
0.15

Value 0x01: Fieldbus controller is given the status Stop
Value 0x02: Stop status is reset for the fieldbus controller

1.0
1.7

1

Struct

LeftMDRasDIO

2.0
2.6

1.0
1.6

Res.

Bool

2.7

1.7

SetMotDIO: Changeover of PIN 3/4 of the motor port as a digital output
True: Activate DIO mode
False: Deactivate DIO mode

Bool

3.0

1.8

Res.

Bool

3.1

1.9

DrivePIN4: Set/reset digital output PIN4
True: Set digital output
False: Reset digital output

Bool

3.2

1.10

DrivePIN3: Set/reset digital output PIN3
True: Set digital output
False: Reset digital output

3.3
3.7

1.11
1.15

Res.

2

Struct

RightMDRasDIO

4.0
4.6

2.0
2.6

Res.

Bool

4.7

2.7

SetMotDIO: Changeover of PIN 2/4 of the motor port as a digital output
True: Activate DIO mode
False: Deactivate DIO mode

Bool

5.0

2.8

DrivePIN2: Set/reset motor port digital output PIN2
True: Set digital output
False: Reset digital output

Bool

5.1

2.9

Res.

Bool

5.2

2.10

DrivePIN3: Set/reset digital output PIN3
True: Set digital output
False: Reset digital output

5.3
5.7

2.11
2.15

Res.

3

Struct

SensorPortsDo

6.0
6.7

3.0
3.7

Res.

Bool

7.0

3.8

DriveLeftPIN2: Set/reset left sensor port digital output PIN2
True: Set digital output
False: Reset digital output

Bool

7.1

3.9

DriveRightPIN2: Set/reset right sensor port digital output PIN2
True: Set digital output
False: Reset digital output

7.2
7.4

3.10
3.12

Res.

Bool

7.5

3.13

SetLeftPIN2asDO: Changeover of the left sensor port PIN2 as a digital output
True: PIN2 = digital output (DO)
False: PIN2 = digital input (DI)

Bool

7.6

3.14

SetRightPIN2asDO: Changeover of the right sensor port PIN2 as a digital output
True: PIN2 = digital output (DO)
False: PIN2 = digital input (DI)

Bool

7.7

3.15

Res.

4

Struct Bool

LeftMDRControl

8.0

4.0

MDR_Direction: Changeover of direction of rotation
True: Direction of rotation ≠ default direction of rotation
False: Default direction of rotation

8.1
8.7

4.1
4.7

Res.

Bool

9.0

4.8

Run_MDR: Enabling of motor, left
True: Release
False: Stop

9.1
9.7

4.9
4.15

Res.

5

Word

LeftBrakeMode

10.0
10.7

5.0
5.15

Deceleration behavior of left drive
Value 0x01: Standard brake ramp
Value 0x02: Coasting
Value 0x03: ServoBrake

11.0
11.7

6

Word

Res.

12.0
12.7

6.0
6.15

13.0
13.7

7

Struct Bool

RightMDRControl

14.0

7.0

MDR_Direction: Changeover of direction of rotation
True: Direction of rotation ≠ default direction of rotation
False: Default direction of rotation

14.1
14.7

7.1
7.7

Res.

Bool

15.0

7.8

Run_MDR: Enabling of motor, right
True: Release
False: Stop

15.1
15.7

7.9
7.15

Res.

8

Word

RightBrakeMode

16.0
16.7

8.0
8.15

Deceleration behavior of the right drive
Value 0x01: Standard brake ramp
Value 0x02: Coasting
Value 0x03: ServoBrake

17.0
17.7

9

Word

Res

18.0
18.7

9.0
9.15

19.0
19.7

10

Int

LeftMDRSpeed

20.0
20.7

10.0
10.15

Speed/rotational speed of the left drive
with ECR: v(ECR) [m/s]×1000
with ECG: v(ECG) [rpm]×10

21.0
21.7

11

Int

RightMDRSpeed

22.0
22.7

11.0
11.15

Speed/rotational speed of the right drive
with ECR: v(ECR) [m/s]×1000
with ECG: v(ECG) [rpm]×10

23.0
23.7

12

Int

LeftMDRAccel

24.0
24.7

12.0
12.15

Acceleration of the left drive.
with ECR: a(ECR) [mm]
with ECG: a(ECG) [inc.]Impulses [inc]/motor revolution.

25.0
25.7

13

Int

LeftMDRDeccel

26.0
26.7

13.0
13.15

Deceleration of the left drive.
with ECR: a(ECR) [mm]
with ECG: a(ECG) [inc.]¹⁾

27.0
27.7

14

Int

RightMDRAccel

28.0
28.7

14.0
14.15

Acceleration of the right drive
with ECR: a(ECR) [mm]
with ECG: a(ECG) [inc.]¹⁾

29.0
29.7

15

Int

RightMDRDeccel

30.0
30.7

15.0
15.15

Deceleration of the right drive
with ECR: a(ECR) [mm]
with ECG: a(ECG) [inc.]¹⁾

31.0
31.7

16

Word

ClearMDRError

32.0
32.7

16.0
16.15

Fault reset
Value 0x01: ResetFlank control: The register is reset again after the reset (all bits = 0).

33.0
33.7

17

Word

StatusToDownstream

34.0
34.7

17.0
17.15

Used as an interface to an adjacent fieldbus controller configured in ZPA mode on the downstream side
Value 0x04: Wakeup for next zone
Value 0x01: Confirmation that the material being conveyed has left the local zone

35.0
35.7

18

Word

StatusToUpstream

36.0
36.7

18.0
18.15

Used as an interface to an adjacent fieldbus controller configured in ZPA mode on the upstream side
Value 0x05: Jam command for upstream zone
Value 0x01: Cancel jam command for upstream zone

37.0
37.7

19

Struct

SensorPolarity

38.0
38.7

19.0
19.7

Res.

Bool

39.0

19.8

Left_Pin2: Inversion of left sensor port PIN2
True: Invert sensor input
False: Default polarity

39.1

19.9

Res.

Bool

39.2

19.10

Right_Pin2: Inversion of right sensor port PIN2
True: Invert sensor input
False: Default polarity

39.3

19.11

Res.

Bool

39.4

19.12

Left_Pin4: Inversion of left sensor port PIN4
True: Invert sensor input
False: Default polarity

39.5

19.13

Res.

Bool

39.6

19.14

Right_Pin4: Inversion of right sensor port PIN4
True: Invert sensor input
False: Default polarity

39.7

19.15

Res.

20

Dword

TrackingToDownstream

40.0
40.7

20.0
2015

You can use this DWord together with StatusToDownstream to send product tracking information to the downstream ZPA fieldbus controller

41.0
41.7

21

42.0
42.8

21.0
21.15

43.0
43.8

22

DInt

ServoControlDistanceLeft

44.0
44.7

22.0
22.15

Target position value for left motor, absolute incremental value, 32 bit

23

45.0
45.15

46.0
46.7

23.0
23.15

47.0
47.7

24

Word

ServoControlCommandLeft

48.0
48.7

24

Control word for positioning of left motor
Value 0x01: Referencing, ServoDistance = set 0
Value 0x02: Move to setpoint position in ServoControlDistance

49.0
49.7

25

DInt

ServoControlDistanceLeft

50.0
50.7

25.0
25.15

Target position value for right motor, absolute incremental value, 32 bit

51.0
51.7

52.0
52.7

26.0
26.15

26

53.0
53.7

27

Word

ServoControlCommandRight

54.0
54.7

27.0
27.15

Control word for positioning of right motor
Value 0x01: Referencing, ServoDistance = set 0
Value 0x02: Move to setpoint position in ServoControlDistance

55.0
55.7