CIP Sync Response Assembly Data Structure (106)

See Overview of the CIP Sync Assembly for more information.

Axis 1 Byte Index	Axis 2 Byte Index	Field	Information
0	10	Status Word	Status bits for the state machine and mode control			EIP.ASY106.AXIS#.STATUS
			Bit (mask)	Description	Internal Behavior
			0 (0x0001)	Ready to Switch On	See CIP Sync: State Machine
			1 (0x0002)	Switched On
			2 (0x0004)	Operation Enabled
			3 (0x0008)	Fault
			4 (0x0010)	Voltage Enabled
			5 (0x0020)	Quick Stop
			6 (0x0040)	Switch On Disabled
			7 (0x0080)	Warning
			8 (0x0100)	STO - Safe Torque Off	See CIP Sync: State Machine
1	11		9 (0x0200)	Remote
			10 (0x0400)	Target Reached
			11 (0x0800)	Internal Limit Active
			12 (0x1000)	Operation Mode Specific Bit 12	Home Attained
			13 (0x2000)	Operation Mode Specific Bit 13	1) Homing Error 2) Position Following Error
			14 (0x4000)	Manufacturer Specific Bit 14	Motion Mode Selected (0 = Homing, 1 = Cyclic Position)
			15 (0x8000)	Manufacturer Specific Bit 15	Following Position
2 - 5	12 - 15	Position Command input to virtual axis in PLC	The axis' server loop position command scaled into fieldbus position units			EIP.ASY106.AXIS#.P
6 - 9	16 - 19	Position Actual	The axis' servo loop position feedback scaled into fieldbus position units			EIP.ASY106.AXIS#.PFB
Additional Bytes Index
20 - 23		Reserved
24 - 63		Dynamic Mapping Space