CIP Sync Command Assembly Data Structure (105)
See Overview of the CIP Sync Assembly for more information.
| Axis 1 Byte Index |
Axis 2 Byte Index |
Field | Information | |||
|---|---|---|---|---|---|---|
| 0 | 14 | Control Word | Status bits for the state machine and mode control | EIP.ASY105.AXIS#.CONTROL | ||
| Bit (Mask) | Description | Internal Behavior | ||||
| 0 (0x0001) | Switch On | See CIP Sync: State Machine | ||||
| 1 (0x0002) | Disable Voltage | |||||
| 2 (0x0004) | Quick Stop | |||||
| 3 (0x0008) | Enable Operation | |||||
| 4 (0x0010) | Operation Mode Specific Bit 4 | Start Home / Follow Position | ||||
| 5 (0x0020) | Operation Mode Specific Bit 5 | Reserved | ||||
| 6 (0x0040) | Operation Mode Specific Bit 6 | Reserved | ||||
| 7 (0x0080) | Reset Fault | See CIP Sync: State Machine | ||||
| 1 | 15 | 8 (0x0100) | Pause/Halt | See CIP Sync: State Machine | ||
| 9 (0x0200) | Operation Mode Specific Bit 9 | Reserved | ||||
| 10 (0x0400) | Reserved Bit 10 | Reserved | ||||
| 11 (0x0800) | Manufacturer Specific Bit 11 | Select Home Mode | ||||
| 12 (0x1000) | Manufacturer Specific Bit 12 | Select Cyclic Position Mode | ||||
| 13 (0x2000) | Manufacturer Specific Bit 13 | Reserved | ||||
| 14 (0x4000) | Manufacturer Specific Bit 14 | Reserved | ||||
| 15 (0x8000) | Manufacturer Specific Bit 15 | Reserved | ||||
| 2 - 5 | 16 - 19 | Position Command | Used to set position command when Streaming bit is High. | EIP.ASY105.AXIS#.P | ||
| 6 - 13 | 20 - 27 | System Timestamp | 64 bit / 8 Byte CIP Sync timestamp used for coordinated motion. | EIP.ASY105.AXIS#.SYSTEMTIME | ||
| Additional Bytes Index | ||||||
| 28 - 31 | Reserved | |||||
| 32 - 63 | Dynamic Mapping Space | |||||
