Communication C3I22T11312 192-120114 N5 C3I22T11 June 20085.4.3.2 Operating mode: Direct positioningThe communication between Master and Compax3 is made via the I/O messagesProcedure:Selection of the motion function: Bit 15, 13, 6 of the controlword 1Start of the motion function: Bit 4 of the controlword 1Specification of the motion parameters: Objects of the I/O messagesDesign of the I/O messages: DeviceNet – Master -> Compax3Controlword Operating mode Target positionIwn Iwn+2 Iwn+4 Iwn+6 Iwn+8 Iwn+10 Iwn+12 Iwn+14 Iwn+16Possible assignment:Designation Object No.Instan-ce.AttributeAssi-gnedwordsAssignmentControlword (Control word 1) 1100.3 1 optionalOperating mode 1100.5 1 optionalTarget position (position command value) 1100.6 2 optionalProfile velocity Y2 (1 decimal place) 1100.8 1 optionalProfile velocity Y4 (3 decimal places) 1100.7 2 optionalProfile acceleration U16 1111.10 1 optionalProfile acceleration U32 1111.3 2 optionalProfile deceleration U16 1111.16 1 optionalProfile decceleration U32 1111.4 2 optionalDig. Outputs (0-3) 140.3 1 optionalDig. outputs M1x option 133.3 1 optionalLayout of the Control word (see page 317).Profile velocity Y2 and Y4 do have the same function, they differ only in the wordwidth.The same applies for Profile acceleration U16 / 832 and Profile deceleration U16 /U32.You should therefore only use one of these two values.The meanings of the assignments change with the Gearing motion function:Target position (position com-mand value)= Gearing numeratorAttention:
