Communication C3I22T11314 192-120114 N5 C3I22T11 June 20085.4.3.3 Operating mode: Positioning with set selectionThe communication between Master and Compax3 is made via the the I/O messa-geProcedure:Defining the motion sets with the Compax3 ServoManager or via Explicit Messa-ges.Selecting the desired motion set via control word 2Start the motion with control word 1 Bit 4.the I/O message: layout DeviceNet – Master -> Compax3Controlword Controlword2Own Own+2 Own+4 Own+6 Own+8 Own+10 Own+12 Own+14 Own+16Possible assignment:Designation Object No.Instan-ce.AttributeAssi-gnedwordsAssignmentControlword (Control word 1) 1100.3 1 optionalControlword2 (control word 2) 1100.4 1 optionalOperating mode 1100.5 1 optionalDig. Outputs (0-3) 140.3 1 optionalDig. outputs M1x option 133.3 1 optionalLayout of the Control word (see page 317).the I/O message: layout Compax3 -> DeviceNet – MasterStatuswordIwn Iwn+2 Iwn+4 Iwn+6 Iwn+8 Iwn+10 Iwn+12 Iwn+14 Iwn+16Possible assignment:Designation Object No.Instan-ce.AttributeAssignedwordsAssignmentStatusword (Status word 1) 1000.3 1 optionalStatusword2 (status word 2) 1000.4 1 optionalPosition actual value 680.5 2 optionalVelocity actual value Y4 681.5 2 optionalTorque actual value 683.1 1 optionalFollow error actual value 680.6 1Dig. inputs (0-7) 120.3 1 optionalDig. inputs M1x option 121.2 1 optionalOperating mode display 1000.5 1 optionalLastError (current Compax3 errors) 550.1Layout of the Status word. (see page 319)Please use the Compax3 ServoManager or the explicit messages in order to enterthe motion sets.Layout of the set table (see page 315).Defining sets:
