Output data "reduced PLC mode"

Process data word [PO]

Data type

Designation

Bytewise
notation
[byte.bit]

Wordwise
notation
[word.bit]

Description

0

Struct

LeftMDRasDIO

0.0
0.6

0.0
0.6

Res.

 

Bool

 

0.7

0.7

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

 

Bool

 

1.0

0.8

Res.

 

Bool

 

1.1

0.9

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

 

Bool

 

1.2

0.10

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

 

 

 

1.3
1.7

0.11
0.15

Res.

1

Struct

RightMDRasDIO

2.0
2.6

1.0
1.6

Res.

 

Bool

 

2.7

1.7

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

 

Bool

 

3.0

1.8

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

 

Bool

 

3.1

1.9

Res.

 

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

SensorPortsDo

4.0
4.7

2.0
2.7

Res.

 

Bool

 

5.0

2.8

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

 

Bool

 

5.1

2.9

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

 

 

 

5.2
5.4

2.10
2.12

Res.

 

Bool

 

5.5

2.13

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

 

Bool

 

5.6

2.14

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

 

Bool

 

5.7

2.15

Res.

3

Struct Bool

LeftMDRControl

6.0

3.0

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

 

 

 

6.1
6.7

3.1
3.7

Res.

 

Bool

 

7.0

3.8

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

 

 

 

7.1
7.7

3.9
3.15

Res.

4

Struct Bool

RightMDRControl

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, right
True: Release
False: Stop

 

 

 

9.1
9.7

4.9
4.15

Res.

5

Int

LeftMDRSpeed

10.0
10.7

5.0
5.15

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

 

 

 

11.0
11.7

6

Int

RightMDRSpeed

12.0
12.7

6.0
6.15

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

 

 

 

13.0
13.7

7

Word

ClearMDRError

14.0
14.7

7.0
7.15

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

 

 

 

15.0
15.7