Positioning for PLC-ES Special Program Operation Data
X-Axis control begins at offset 0 ~ +9.
Y-Axis control begins at offset +10 ~ +19.
X-Axis
| Offset | Item | Bit | Function |
|---|---|---|---|
| 0 | Control Flag | 0 | Disable Axis: 0 Enable Axis: 1 |
| 0 | Control Flag | 1 | Decelerate Stop Request (Activated on rising edge and automatically reset) |
| 0 | Control Flag | 2 | Emergency Stop Request (Activated on rising edge) |
| 0 | Control Flag | 3 | JOG/Inch Forward OFF: 0 JOG/Inch Forward ON: 1 |
| 0 | Control Flag | 4 | JOG/Inch Backward OFF: 0 JOG/Inch Backward ON: 1 |
| 0 | Control Flag | 5 | Reserved |
| 0 | Control Flag | 6 | Reserved |
| 0 | Control Flag | 7 | Reserved |
| 0 | Control Flag | 8 | Reserved |
| 0 | Control Flag | 9 | Reserved |
| 0 | Control Flag | A | Reserved |
| 0 | Control Flag | B | Reserved |
| 0 | Control Flag | C | Reserved |
| 0 | Control Flag | D | Reserved |
| 0 | Control Flag | E | Reserved |
| 0 | Control Flag | F | Error Clear Request (Activated on rising edge, automatically reset) |
| +1 | Status Flag | 0 | Run Stop: 0 Running: 1 |
| +1 | Status Flag | 1 | Under Position Control |
| +1 | Status Flag | 2 | Under Speed Control |
| +1 | Status Flag | 3 | Under Linear Interpolation |
| +1 | Status Flag | 4 | Under Origin Point Return (OPR) |
| +1 | Status Flag | 5 | Reserved |
| +1 | Status Flag | 6 | Reserved |
| +1 | Status Flag | 7 | Under Acceleration |
| +1 | Status Flag | 8 | Under Constant Speed |
| +1 | Status Flag | 9 | Under Deceleration |
| +1 | Status Flag | A | Under Dwell |
| +1 | Status Flag | B | Positioning Completed |
| +1 | Status Flag | C | OPR Completed |
| +1 | Status Flag | D | Direction Forward: 0 Backward: 1 |
| +1 | Status Flag | E | Disable Pulse Output |
| +1 | Status Flag | F | Error Occurred |
| +2 | Current Position Address | Low WORD | 2,147,483,648 ~ 2,147,483,647 pulse |
| +3 | Current Position Address | High WORD | |
| +4 | Current Speed | Low WORD | 1 ~ 100,000pps |
| +5 | Current Speed | High WORD | |
| +6 | Current Step | Current Position Program Step Number 1 ~ 30 | |
| +7 | Next Step | Next Position Program Step Number 1 ~ 30 | |
| +8 | Inching Movement | Inching Distance 0 ~ 65,535 pulse | |
| +9 | Error Code | Refer to the Error Codes table |
Y-Axis
| Offset | Item | Bit | Function |
|---|---|---|---|
| +10 | Control Flag | 0 | Disable Axis: 0 Enable Axis: 1 |
| +10 | Control Flag | 1 | Decelerate Stop Request (Activated on rising edge and automatically reset) |
| +10 | Control Flag | 2 | Emergency Stop Request (Activated on rising edge) |
| +10 | Control Flag | 3 | JOG/Inch Forward OFF: 0 JOG/Inch Forward ON: 1 |
| +10 | Control Flag | 4 | JOG/Inch Backward OFF: 0 JOG/Inch Backward ON: 1 |
| +10 | Control Flag | 5 | Reserved |
| +10 | Control Flag | 6 | Reserved |
| +10 | Control Flag | 7 | Reserved |
| +10 | Control Flag | 8 | Reserved |
| +10 | Control Flag | 9 | Reserved |
| +10 | Control Flag | A | Reserved |
| +10 | Control Flag | B | Reserved |
| +10 | Control Flag | C | Reserved |
| +10 | Control Flag | D | Reserved |
| +10 | Control Flag | E | Reserved |
| +10 | Control Flag | F | Error Clear Request (Activated on rising edge, automatically reset) |
| +11 | Status Flag | 0 | Run Stop: 0 Running: 1 |
| +11 | Status Flag | 1 | Under Position Control |
| +11 | Status Flag | 2 | Under Speed Control |
| +11 | Status Flag | 3 | Under Linear Interpolation |
| +11 | Status Flag | 4 | Under Origin Point Return (OPR) |
| +11 | Status Flag | 5 | Reserved |
| +11 | Status Flag | 6 | Reserved |
| +11 | Status Flag | 7 | Under Acceleration |
| +11 | Status Flag | 8 | Under Constant Speed |
| +11 | Status Flag | 9 | Under Deceleration |
| +11 | Status Flag | A | Under Dwell |
| +11 | Status Flag | B | Positioning Completed |
| +11 | Status Flag | C | OPR Completed |
| +11 | Status Flag | D | Direction Forward: 0 Backward: 1 |
| +11 | Status Flag | E | Disable Pulse Output |
| +11 | Status Flag | F | Error Occurred |
| +12 | Current Position Address | Low WORD | 2,147,483,648 ~ 2,147,483,647 pulse |
| +13 | Current Position Address | High WORD | |
| +14 | Current Speed | Low WORD | 1 ~ 100,000pps |
| +15 | Current Speed | High WORD | |
| +16 | Current Step | Current Position Program Step Number 1 ~ 30 | |
| +17 | Next Step | Next Position Program Step Number 1 ~ 30 | |
| +18 | Inching Movement | Inching Distance 0 ~ 65,535 pulse | |
| +19 | Error Code | Refer to the Error Codes table |