Mounting and Wiring

Bit0：

1: Channel 24V power supply abnormal

0: Normal

Module status.

M_Status[6:0]：

000_0000: Module in idle state

000_0010: Module in operation state

000_0110: Module in software emergency stop state

000_1000: Module pulse transmission completed state

1xx_xxxx: Startup operation flag

M_Status[6]: Module operation flag bit. When M_ctrl changes from 0 to 1, the flag signal is set as 1. Only writing 1 into bit6 of the controller Mctrl can clear the flag signal.

M_Status[7]：

0: Invalid

1: After Mctrl RUN command reset, when this flag is detected as 1, the Mctrl RUN command can be set to initiate module pulse output

In the cyclic synchronous position mode, it remains in operation state by default.

Relative operation position.

Current module speed.

0: Normal

Bit0: The starting speed is greater than the operation speed.

Bit2: Mode error

BIT0: RUN, command operation enable, starting on the rising edge, and stopping on the falling edge.

BIT1: UPDATE, set as 1 to update operational parameters during motor operation (AccTime, DecTime, Spdss, Spdset, and Posset parameters)

BIT2: ESTOP, emergency stop command. Upon receiving this command, the module immediately stops pulse output without any acceleration or deceleration. Default is 0. When emergency stop is required, set this bit as 1. This bit must be reset as 0 before the next operation.

BIT3: Clear the M_Pos_Relative position value on the rising edge, which is effective in all modes.

BIT4: Alarm clear.

BIT5: Direction bit in the speed mode. In the speed mode, control forward or reverse direction.

BIT6: The operation flag is cleared and the module completes startup. M_Status[6] will be set. If the PLC detects this flag signal as 1 (closed-loop detection), it indicates that the module has successfully transmitted pulses. When the next pulse needs to be transmitted, this clear command should be used to reset the operation flag before initiating the next operation detection.

BIT7: When set as 1 in the speed mode, the M_Pos_Relative position value will not be cleared at startup.

Note: In the cyclic synchronous position mode, only BIT3 is valid, and the remaining BITs are reserved.

Bit0~3: Motion mode setting

0: Relative position output mode

1: Speed mode

3: Cyclic synchronous position mode (The module needs to be configured to DC synchronous mode)

Others: Reserved

Bit4~5: Pulse output mode setting

0: Pulse + direction

1：CW/CCW

Others: Reserved

Bit6~7: Reserved

Note: When changing the WorkMode, M_Ctrl must be set as 0.

Acceleration time (ms). It is used to set the acceleration

Invalid in the cyclic synchronous position mode.

Deceleration time (ms). It is used to set the deceleration

Invalid in the cyclic synchronous position mode.

User-defined starting or stopping speed (Hz), data range 0~4000000

Invalid in the cyclic synchronous position mode.

User-defined operating speed (Hz), data range 0~4000000

Invalid in the cyclic synchronous position mode.

User-defined position, unit: pulse count

In the cyclic synchronous position mode, it represents the number of pulses to be sent within one EtherCAT bus cycle