Software |
MCode OS |
Program storage |
Type |
Flash |
[Bytes] |
11,120 |
User registers |
Integer |
4 |
Floating Point |
8 |
Length [Bits] |
32 |
Math |
+, -, x, ÷, >, <, =, <=, >= |
Logic |
AND, OR, XOR, NOT |
Trigonometric |
ABS, COS, ACOS, LOG2, LOG10, PI, SIN, ASIN, SQRT, TAN, ATAN |
Branch functions |
Branch & call |
Input functions |
Home, limit plus, limit minus, go, stop, pause, jog plus, jog minus, general purpose, capture |
Output functions |
Moving, error, velocity change, stall, locked rotor, moving position, hMT active, make-up active, encoder A, encoder B, trip, attention. general purpose, |
Trip functions |
Trip on input, trip on position, trip on time, trip capture, trip on relative position, trip on main power loss |
Encoder functions1 |
hMTechnology, stall detection, position maintenance, find index |
EtherNet/IP (ODVA Confomance Checked) |
Object Model |
0x01 |
Identity object |
0x04 |
Assembly object (parameters mappable) |
0xF5 |
TCP object |
0xF6 |
Ethernet object |
Manufacturer specific object classes |
0x64 |
Setup instructions |
0x65 |
Miscellaneous instructions and flags |
0x66 |
Motion instructions and flags |
0x67 |
I/O instruction variables and flags |
0x68 |
Position related instructions and flags |
0x69 |
Encoder related instructions and flags1 |
0x6A |
hMTechnology specific instructions1 |
Modbus/TCP |
Device ID |
43/14d (0x2B/0x0E) |
Read device identification |
Public function codes |
02d (0x02) |
Read digital inputs |
01d (0x01) |
Read coils (digital outputs) |
05d (0x05) |
Write single coil (digital output) |
03d (0x03) |
Read holding register |
16d (0x10) |
Write multiple registers |
Manufacturer specific function codes |
65d (0x41) |
Read I/O and trip configuration and parameters |
66d (0x42) |
Write I/O and trip configuration and parameters, enter upgrade mode. |
Profinet IO |
Output |
Slot 1 |
Size |
128 Bytes |
Registers |
38 |
Input |
Slot 2 |
Registers |
34 |
Register mapping |
Variable, user defined |
1) Closed loop models with encoder only.