Introduction Welcome Methods of Use Communication Matrix Version Information Bug Reporting Setting Up the Controller Controller Preparation Choosing an IP Address First Motion Reading Digital Inputs Controller Description Specifications Communication Ports Controller Power Inputs and Outputs LED Indicators Motion System Mechanical Mechanical Connectors Power Connector Motor Connector Encoder Connector IO Connector EStop Connector Serial Connector Intermodule Plug Connector Options 3ENC Option 3PD Option IOH and IOL Option 6ABS Option Menu Reference File New Project Open Project Open Recents Open Resources Save Save As Save In Controller View Pascal Listing Hints Task Monitor Assembly Listing Symbol Tree Configure Communication Port Auto Drop Down Data Drop Down Compile To Flash Conditional Defines Remote Network Run Start App Stop App Help Block Help Text Help About Modbus Motion Interface Overview Archictecture Address Constants Examples Communication Communication State Last Escape Code Word Alignment Check Single Alignment Check Double Alignment Check Firmware Version Motion Abort Accel Actual Position Arm Capture Begin Move By Begin Move To Begin Stop Capture Bit Capture Has Tripped Capture Position Commanded Position Coordinate Inversion Counts Per User Unit Decel Destination Position Error Limit Error Position Initialize Group Jog Motor Move Is Finished Negative Limit Positive Limit Profile Phase Profile Velocity Set Capture Source Set Capture Trip Set Current To Speed Multitasking User Tasks User Words User Singles User Doubles IO Operations Configure IO Bit As Output Input Bit Sample Counter Sample Rate Set Output Bit Safety Reset Watchdog User Has Disabled Watchdog Has Tripped Motion Concepts User Units Motor States Homing Escape Codes 10 Divide Overflow Escape Code 11 Sample Overrun Escape Code 12 Axis Not Valid Escape Code 13 Speed Negative Escape Code 15 Curve Buffer Not Linked Escape Code 16 User Accels 0 Or Negative Escape Code 17 User Decells 0 Or Negative Escape Code 19 Unable To Resume Task Escape Code 20 Unable To Begin Task Escape Code 21 Append Move Overflow Escape Code 23 Motion Overrun Escape Code 24 Axis Is Busy Escape Code 25 File Reset Escape Code 26 File Rewrite Escape Code 27 Read Escape Code 28 Write Escape Code 29 Object Not Initialized Escape Code 31 Parameter Out Of Range Escape Code 32 Watchdog Failed To Reset Escape Code 33 Option Not Present Escape Code 34 IO Authorization Escape Code 35 Name Not Found Escape Code 36 Library Not Found Escape Code 37 DLL Procedure Not Found Escape Code 38 Neighbor Communication Escape Code 39 String Error Escape Code 40 Floating Point Error Escape Code 41 Task Stack Overflow Escape Code 42 Address Is Nil Escape Code 44 Plate Not Present 45 Position Limit Escape Code 46 Arm Capture Failure Escape Code 47 Task Address Is Not Valid Escape Code 48 Bitmap File Not Found Escape Code 49 Capture Not Present Escape Code 50 Encoder Position Not Present Escape Code 51 Dac Number Out Of Range Escape Code 52 Function Not Present Escape Code 53 Axis Does Not Support Enable Status Escape Code 54 Firmware Read Escape Code 55 Ethernet Socket Initialization Failed Escape Code 56 Ethernet Socket Initialized With Port 0 Escape Code 57 Ethernet Socket Already In Use Escape Code 58 Ethernet Socket Limit Exceeded Escape Code 59 Modbus Communication Package Required Escape Code 60 Watchdog Has Tripped Escape Code 61 Unresponsive Remote Controller Escape Code Deployment Commissioning Updating Firmware