ACR UG2 Parameter&Bit Ref

User Information
Warning — ACR Series products are used to control electrical and

mechanical components of motion control systems. You should test your
motion system for safety under all potential conditions. Failure to do so can
result in damage to equipment and/or serious injury to personnel.
ACR series products and the information in this guide are the proprietary property
of Parker Hannifin Corporation or its licensers, and may not be copied, disclosed,
or used for any purpose not expressly authorized by the owner thereof.
Since Parker Hannifin constantly strives to improve all of its products, we reserve
the right to change this guide, and software and hardware mentioned therein, at
any time without notice.
In no event will the provider of the equipment be liable for any incidental,
consequential, or special damages of any kind or nature whatsoever, including
but not limited to lost profits arising from or in any way connected with the use of
the equipment or this guide.
© 2003-2007 Parker Hannifin Corporation
All Rights Reserved
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ii
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Change Summary
The change summary below lists the latest additions, changes, and
corrections to the ACR Parameter and Bit Reference (formerly ACR
User’s Guide, Part 2), and the ACR-View Online Help. Changes to this
guide previous to revision E are in the Change Summary section of
ACR Command Language Reference (formerly ACR User’s Guide,
Part 1).
Revision G Changes
Document 88-025605-01G supersedes document 88-025605-01F.
Changes, additions, clarifications and corrections are as follows:
Topic Description
Parameter Reference
P4448 – P4583 Corrected Code for Control Flags from 0x11 to 0x10,
CANopen Control Flags Index from 0x60 to 0x2C. Corrected Code for Digital I/O
from 0x11 to 0x10, Index from 0x68 – 0x77 to 0x2D –
0x3C.
P4616 – P4623 EPL Corrected typo in Code.

Network Flags
P12288 – P14207, Added Cam Cycle Position (0x7D), Cam Cycle Number
P14336 – P16255 Axis (0x7E), and Cam Cycle Length (0x7F); Corrected table
Parameters (Axes 0-7 titles to reflect additional parameter numbers.
and 8-15)
Drive Talk for EPL: Changed overall headers to ACR90x0 only; added notes
P28672 – P30543, regarding EPL to descriptions for Analog Center
P30720 – P32691 Drive Deadband and Max Startup Voltage; added Shaft Power
Parameters (Axes 0-7 in Watts to Drive Parameters as Aries EPL option to
and 8-15) ±10V Input Signal (Index 0x46). Corrected parameter
numbering for all axes for the following: Drive
Configuration Parameters - from Gearbox Ratio to Fault
on Drive Disable, Drive Talk Status Parameters – from
Operating Hours to Operating Milliseconds.
P37376 – P37391 EPL Changed Network State description, indicators 2 and 3,

Network Parameters for clarity.
P38144 – P38391 EPLD Added EPLE Position and EPLE Velocity.

Position Parameters
EPLD Position
Parameters
Bit Reference
Axis Flags Bit Index 0 Added to description, “or the axis is in motion.”
(Not In Position)
Master Flags Bit Index Added to description, “or the axis is in motion.”
16 (Not In Position)
Parameter Reference - 1
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Topic Description
Bit 16128 - Bit 16383, Added Jog Move Interrupt.

Bit 16384 - Bit 16639
Quinary Axis Flags
(Axes 0-7 and 8-15)
Bit 96 - Bit 127 Rewrote description for Bit Index 17 (Trigger Software
Miscellaneous Outputs Capture).
for ACR1505 and
ACR8020
Bit 96 - Bit 127 Added Bit Index 18 (Trigger EPLD Soft Capture) and 19
Miscellaneous Outputs (Trigger EPLE Soft Capture). Rewrote description for Bit
for ACR90x0 and Aries Index 17 (Trigger Software Capture).
Controller
Bit 512 – Bit 767, Bit Corrected labeling of Increment and Decrement Count
7424 – Bit 7679 Master Sequence Flags.
Flags (Axes 0-7 and 8-
15)
Bit 2304 – Bit 2559 Added new Bit Index 6 CAM SRC Zero, and new Bit
Bit 8192 – Bit 8447 Index 11 SRC Based Accel (which was incorrectly a
Secondary Axis Flags duplication of Dir Limit Tripped).
(Axes 0-7 and 8-15)
Bit 4448 CANopen Flag Removed (duplicate of Bit11264 – Bit11279).

Parameters
Bit 5696 – Bit 5823 Corrected Code, Index, and Mask as needed.
Stream 4, 5, 6, and 7
Stream Flags
Bit 6400 – Bit 6655, Bit Corrected Flag Parameter Index from 0x14 to 0x19 (Axes
6656 – Bit 6911 Tertiary 0-7), and from 0x19 to 0x1A (Axes 8-15).
Axis Flags (Axes 0-7
and 8-15)
Drive Talk for EPL: Changed overall header to ACR90x0 only; added notes
Bit 10496 – Bit10750, Bit regarding EPL to descriptions for Auto Address Request,
10752 – Bit 11007 Drive Send ERRORL Request, Drive Status 1, and Drive
Control Flags (Axes 0-7 Status 2; added Shaft Power in Watts to Drive Control
and 8-15) Flags as Aries EPL option to ±10V Input Signal (Bit 22).
Bit 10496 – Bit10750 Corrected Bit numbering for all axes from Drive Temp
Drive Control Flags (Bit 23) to end of table.
(Axes 0-7)
Bit 11264 – Bit11279 Added Bit11281 (Starting) and Bit11282 (Start Failed) to
CANopen Control Flags table/descriptions. Corrected Code (from 0x10 to 0x11),
Index (from 0x2C to 0x60), and Mask (from x01 to 0xFF).
th
Bit 17152 – Bit 17407, New Senary (6 ) Axis Flags.
Bit 17408 – Bit 17663
Aries Controller Parameter Reference
ALIGN Removed references to hardware enable.
DRIVE ON, DRIVE OFF Removed.
2 - ACR Parameter and Bit Reference

Parker Hannifin
Revision F Changes
Document 88-025605-01F supersedes document 88-025605-01E.
Topic Description
Added new section: Includes the Aries Controller configuration parameters,

Aries Controller status parameters, and commands.
Parameter Reference
Revision E Changes
Document 88-025605-01E supersedes document 88-025605-01D.
Topic Description
Added Parameters for EPL Network Flag Parameter, P4616; EPL Network
EPL Parameter block, P37376-P37391; EPL Drive Status and
Control Parameter, block, P37632-P37887; EPL Drive
Position Parameter, block P38144-P38391; EPLD Digital
Input Flag Parameters, P4200-P4203; EPLD Digital
Output Flag Parameters, P4216-P4209.
Added Bits for EPL EPL Digital Input Flags, Bit3328-Bit3455; EPL Digital
Output Flags, Bit3840-Bit3967; EPL Network Flags,
Bit16640-Bit16660
Updated Quaternary Added Disable Encoder Fault Checking, Invert Motion

Axis Flags Direction, Disable Drive on Kill, and Latched Excess
Position Error. Removed DEO REN Pending. Corrected
layout of descriptions section.
Parker Hannifin
Parameter Reference
Parameter Overview
The following provides a list of parameter blocks:
Parameter Description
P0 – P4095 User Parameters
P4096 – P4375 Flag Parameters
P4400 – P4447 Drive Talk Flag Parameters
P4448 – P4583 CANopen Flag Parameters
P4600 – P4615 Quinary Axis Flag Parameters
P4616 EPL Network Parameter
P6144 – P6655 Object Parameters 0-15
P6656 – P6775 PLC Parameters
P6912 – P7119 Miscellaneous Parameters
P7168 – P7408 Program Parameters
P7424 – P7575 FSTST Setup Parameters
P8192 – P8255 Master 0 Parameters
P12288 – P12407 Axis 0 Parameters

Parker Hannifin
Parameter Description
P20480 – P20487 Logging Parameters
P24576 – P24831 Object Parameters 16-31
P28672 – P32591 Drive Talk Parameters
P32768 – P35327 CANopen Parameters
P36864 – P37353 Event Counter Parameters
P37376 – P37391 EPL Network Parameters
P37632 – P37887 EPL Drive Status and Control Parameters
P31844 - P38391 EPL Drive Position Parameters
Parker Hannifin

General Flag Parameters P
Code=0x10; Index=0x00; Mask=0xFF
Opto-Isolated Inputs LONG 4096
Opto-Isolated Outputs LONG 4097
Miscellaneous Inputs LONG 4098
Miscellaneous Outputs LONG 4099
User Group 0 LONG 4100

Expansion I/O Flag Parameters P

XIO Board 0 Inputs LONG 4104
XIO Board 0 Outputs LONG 4105

Master Flag Parameters P

Master 0 Flags LONG 4112


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Axis Flag Parameters P

Axis 0 Flags LONG 4120

Program Flag Parameters P

Program 0 Flags LONG 4128

Program Flag Parameters P


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PLC Flag Parameters P

PLC 0 Flags LONG 4144

Other Flag Parameters P

FIFO/Stream 1 Flags LONG 4152
LPT1 Flags LONG 4153
COM1 Flags LONG 4154
COM2 Flags LONG 4155

Secondary Master Flag Parameters P

Secondary Master 0 Flags LONG 4160


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Secondary Axis Flag Parameters P

Secondary Axis 0 Flags LONG 4168

Encoder Flag Parameters P

Code=0x10; Index=0x0A; Mask=0xFF
Encoder 0 Flags LONG 4176


Code=0x10; Index=0x0B; Mask=0xFF

Parker Hannifin

Code=0x10; Index=0x0C; Mask=0xFF

EPLD Digital Input Flag Parameters P

Code=0x10; Index=0x0D; Mask=0xFF
EPLD0 – 3 Digital Inputs LONG 4200
Reserved LONG 4204
Reserved LONG 4205
Reserved LONG 4206

Reserved LONG 4207
EPLD Digital Output Flag Parameters P

Code=0x10; Index=0x0F; Mask=0xFF
EPLD0 – 3 Digital Outputs LONG 4216
Reserved LONG 4220
Reserved LONG 4221
Reserved LONG 4222

Reserved LONG 4223

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DAC Flag Parameters P

Reserved LONG 4224
Reserved LONG 4225
Reserved LONG 4226
Reserved LONG 4222
Reserved LONG 4228
Reserved LONG 4229
Reserved LONG 4230

Reserved LONG 4231
DAC Flag Parameters P

Reserved LONG 4232
Reserved LONG 4233
Reserved LONG 4234
Reserved LONG 4235
Reserved LONG 4236
Reserved LONG 4237
Reserved LONG 4238

Reserved LONG 4239
ADC Flag Parameters P

Reserved LONG 4240
Reserved LONG 4241
Reserved LONG 4242
Reserved LONG 4243
Reserved LONG 4244
Reserved LONG 4245
Reserved LONG 4246

Reserved LONG 4247
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ADC Flag Parameters P

Reserved LONG 4248
Reserved LONG 4249
Reserved LONG 4250
Reserved LONG 4251
Reserved LONG 4252
Reserved LONG 4253
Reserved LONG 4254

Reserved LONG 4255
Tertiary Master Flag Parameters P

Tertiary Master 0 Flags LONG 4256

Tertiary Master Flag Parameters P



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Misc Control Flag Parameters P

Misc Control Group 1 LONG 4272
Reserved LONG 4273
Stream 4 LONG 4274
Stream 5 LONG 4275
Stream 2 LONG 4276
DPCB/Stream 3 LONG 4277
FSTAT LONG 4278

Reserved LONG 4279
Quaternary Master Flag Parameters P

Quaternary Master 0 Flags LONG 4280

Quaternary Master Flag Parameters P


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Tertiary Axis Flag Parameters P

Tertiary Axis 0 Flags LONG 4296

Tertiary Axis Flag Parameters P

Code=0x10; Index=0x1A; Mask=0xFF

Reserved P
Code=0x10; Index=0x1B; Mask=0xFF
Reserved LONG 4312
Reserved LONG 4313
Reserved LONG 4314
Reserved LONG 4315
Reserved LONG 4316
Reserved LONG 4317
Reserved LONG 4318

Reserved LONG 4319

Parker Hannifin
PLC Flag Parameters P

Code=0x10; Index=0x1C; Mask=0xFF

Master Flag Parameters P

Code=0x10; Index=0x1D; Mask=0xFF

Axis Flag Parameters P

Code=0x10; Index=0x1E; Mask=0xFF

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Secondary Master Flag Parameters P

Code=0x10; Index=0x1F; Mask=0xFF

Secondary Axis Flag Parameters P


Quaternary Axis Flag Parameters P

Quaternary Axis 0 Flags LONG 4360


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Quaternary Axis Flag Parameters P



Field Description Read/ Description
Write
Opto-Isolated Inputs R This Parameter shows the states of the onboard

isolated inputs. Each bit of this long parameter
represents an individual input state. See Bit 0 – 31 for
more information
Opto-Isolated R/W This Parameter shows the states of the onboard

Outputs isolated outputs or Drive outputs (ACR9000 only).
Each bit of this long parameter represents an
individual output state. See Bit 32 – 63 for more
information.
Miscellaneous R This Parameter shows the states of some

Inputs miscellaneous inputs such as the DIP switch inputs or
the Drive fault inputs (ACR9000 only), the High Speed
Inputs (ACR9000 only), the clock pulse inputs and the
Programmable Limit Switch inputs. See Bit 64 – 95 for
more information.
Miscellaneous R/W This Parameter shows the states of some

outputs miscellaneous outputs such as the LED outputs, the
Sample related outputs, trigger interrupt outputs and
expansion I/O enable outputs. See Bit 96 – 127 for
more information.
User Group R/W These Parameters show the states of users defined
Boolean flags. . Each bit of this long parameter
represents an individual user defined flag state. User
can use these flags and defined to suit their
application need. See Bit 128 – 255 for more
information.
XIO Board R/W These parameters show the states of the Expansion
I/O. For ACR9000, if P32711 is set to 1, the CANopen
I/O states will be mapped to these parameters.
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Write
Master Flags R/W These Parameters indicate the status of master move
profile. See Bit 512 – Bit 767 for master 0 – 7 and Bit
7424- Bit 7679 for master 8 – 15 for more information.
Axis Flags R/W These Parameters indicate the limit status, Gear and
Jog profile status of the axis. See Bit 768 – Bit 1023
for axis 0 – 7 and Bit 7680 – 7935 for axis 8 – 15 for
more information.
Program Flags R These Parameters indicate the status of user program

flow. See Bit 1024 – Bit 1535 for more information.
PLC Flags R These Parameters indicate the status of PLC

(Programmable Logic Controller) program flow. See Bit
1536 – Bit 1791 for more information.
FIFO/Stream Flags R/W This Parameter shows the status of the FIFO (First In
First Out data stream buffer). See Bit1792 – Bit1823
for more information.
LPT1 Flags R This Parameter shows the status of the LPT1 (the
parallel port interface). See Bit 1824 – Bit 1855 for
more information.
COM1 Flags R/W This Parameter shows the status of the serial COM1
data stream. See Bit 1856 – Bit 1887 for more
information.
COM2 Flags R/W This Parameter shows the status of the serial COM2
data stream. See Bit 1856 – Bit 1887 for more
information.
Secondary Master R/W This is the second set of Master move status flags.
Flags See Bit 2048 – Bit 2303 for more information.
Secondary Axis R/W This is the second set of Axis move status flags such
Flags as CAM, GEAR and Limit related. See Bit 2304 – Bit
2559 for more information.
Encoder Flags R These parameters report the status of encoder signal.

See bit 2560 – Bit3175
EPLD Digital Inputs R/W These parameters show drive input states.
EPLD Digital R These parameters show control drive output states.

Outputs
Tertiary Master R/W This is the third set of Master move status flags such
Flags as Spline and NURB motion related. See Bit 5120 – Bit
5631 for more information.
Misc. Control Group R/W This parameter shows some miscellaneous control
Flags flags. See bit 5632 – Bit 5663 for more information
Stream Flags R/W These parameters show the status of Ethernet

communication stream. ACR9000 creates a
communication stream for each Ethernet connection.

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Write
Quaternary Master R/W This is the fourth set of Master move status flags such
Flags as MBUF and Look Ahead motion related. See Bit
5888 – Bit 6399 for more information.
Tertiary Axis Flags R/W This is the third set of Axis move status flags for CAM,
GEAR and Limit related. See Bit 2304 – Bit 2559 for
more information.
Quaternary Axis R/W This is the fourth set of Axis move status flags for
Flags Position Maintenance, Ethernet Alarm, and Drive I/O.
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P4448 - P4583 CANopen Flag Parameters

Version 1.18.10 & Up - ACR9000 only
CANopen Control Flags P

Code=0x10; Index=0x2C, Mask=0xFF
CANopen Control Flag LONG 4448
Reserved LONG 4449
Reserved LONG 4450
Reserved LONG 4451
Reserved LONG 4452
Reserved LONG 4453
Reserved LONG 4454

Reserved LONG 4455
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Index CANopen Digital I/O Long Index
Parameters 0 1 2 3 4 5 6 7
Code=0x10
0x2D Node 0 DI LONG 4456 4457 4458 4459 4460 4461 4462 4463
0x2F Node 0 DO LONG 4472 4473 4474 4475 4476 4477 4478 4479
0x31 Node 1 DI LONG 4488 4489 4490 4491 4492 4493 4494 4495
0x33 Node 1 DO LONG 4504 4505 4506 4507 4508 4509 4510 4511
0x35 Node 2 DI LONG 4520 4521 4522 4523 4524 4525 4526 4527
0x37 Node 2 DO LONG 4536 4537 4538 4539 4540 4541 4542 4543
0x39 Node 3 DI LONG 4552 4553 4554 4555 4556 4557 4558 4559
0x3B Node 3 DO LONG 4568 4569 4570 4571 4572 4573 4574 4575
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Index CANopen Digital I/O Long Index
Parameters 8 9 10 11 12 13 14 15
Code=0x11
0x2E Node 0 DI LONG 4464 4465 4466 4467 4468 4469 4470 4471
0x30 Node 0 DO LONG 4480 4481 4482 4483 4484 4485 4486 4487
0x32 Node 1 DI LONG 4496 4497 4498 4499 4500 4501 4502 4503
0x34 Node 1 DO LONG 4512 4513 4514 4515 4516 4517 4518 4519
0x36 Node 2 DI LONG 4528 4529 4530 4531 4532 4533 4534 4535
0x38 Node 2 DO LONG 4544 4545 4546 4547 4548 4549 4550 4551
0x3A Node 3 DI LONG 4560 4561 4562 4563 4564 4565 4566 4567
0x3C Node 3 DO LONG 4576 4577 4578 4579 4580 4581 4582 4583

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Write
CANopen R/W Control flags for CANopen Network

Control Flag
Node Digital R/W Digital input bits.

Input
Node Digital R/W Digital output bits.

Output
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P4600 - P4615 Hardware, Software, and Homing

Parameters
Hardware, Software, and Homing Flags P

Code=0x10; Index=0x3f, Mask=0xff
Quinary Axis 0 Flags LONG 4600

Hardware, Software, and Homing Flags P

Code=0x10; Index=0x40, Mask=0xff


Write
Quinary Axis R/W Control and Status flags for Homing and Limits.
Flags

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P4616 - P4623 EPL Network Flag Parameters

EPL Network Flags P
Code=0x10; Index=0x41
EPL Network Flags LONG 4616
Reserved LONG 4617
Reserved LONG 4618
Reserved LONG 4619
Reserved LONG 4620
Reserved LONG 4621
Reserved LONG 4622

Reserved LONG 4623

Write
EPL Network R/W Control and Status flags for an Ethernet Powerlink Network.
Flags
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P6144 - P6655 Object Parameters

Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80
Index ENC Parameters ENC Number
Code=0x18 0 1 2 3 4 5 6 7
0x00 Encoder Position LONG 6144 6160 6176 6192 6208 6224 6240 6256
0x01 Encoder Velocity LONG 6145 6161 6177 6193 6209 6225 6241 6257
0x02 Reserved LONG 6146 6162 6178 6194 6210 6226 6242 6258
0x03 Reserved LONG 6147 6163 6179 6195 6211 6227 6243 6259
0x04 ABS Revolution LONG 6148 6164 6180 6196 6212 6228 6244 6260
0x05 Reserved LONG 6149 6165 6181 6197 6213 6229 6245 6261
0x06 Reserved LONG 6150 6166 6182 6198 6214 6230 6246 6262
0x07 Reserved LONG 6151 6167 6183 6199 6215 6231 6247 6263
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Index STEPPER Parameters STEPPER Number
Code=0x18 0 1 2 3 4 5 6 7
0x08 Stepper Signal FP32 6152 6168 6184 6200 6216 6232 6248 6264
0x09 Reserved FP32 6153 6169 6185 6201 6217 6233 6249 6265
0x0A Reserved FP32 6154 6170 6186 6202 6218 6234 6250 6266
0x0B Reserved FP32 6155 6171 6187 6203 6219 6235 6251 6267
0x0C Stepper Count LONG 6156 6172 6188 6204 6220 6236 6252 6268
0x0D Reserved LONG 6157 6173 6189 6205 6221 6237 6253 6269
0x0E Reserved LONG 6158 6174 6190 6206 6222 6238 6254 6270
0x0F Reserved LONG 6159 6175 6191 6207 6223 6239 6255 6271
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Index DAC Parameters DAC Number
Code=0x19 0 1 2 3 4 5 6 7
0x00 DAC Output FP32 6400 6416 6432 6448 6464 6480 6496 6512
0x01 Reserved FP32 6401 6417 6433 6449 6465 6481 6497 6513
0x02 DAC Gain FP32 6402 6418 6434 6450 6466 6482 6498 6514
0x03 DAC Offset FP32 6403 6419 6435 6451 6467 6483 6499 6515
0x04 Reserved FP32 6404 6420 6436 6452 6468 6484 6500 6516
0x05 Reserved FP32 6405 6421 6437 6453 6469 6485 6501 6517
0x06 Reserved FP32 6406 6422 6438 6454 6470 6486 6502 6518
0x07 Reserved FP32 6407 6423 6439 6455 6471 6487 6503 6519

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Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Index ADC Parameters ADC Number
Code=0x19 0 1 2 3 4 5 6 7
0x08 ADC Input FP32 6408 6424 6440 6456 6472 6488 6504 6520
0x09 Reserved FP32 6409 6425 6441 6457 6473 6489 6505 6521
0x0A ADC Gain FP32 6410 6426 6442 6458 6474 6490 6506 6522
0x0B ADC Offset FP32 6411 6427 6443 6459 6475 6491 6507 6523
0x0C Reserved FP32 6412 6428 6444 6460 6476 6492 6508 6524
0x0D Reserved FP32 6413 6429 6445 6461 6477 6493 6509 6525
0x0E Reserved FP32 6414 6430 6446 6462 6478 6494 6510 6526
0X0F Reserved FP32 6415 6431 6447 6463 6479 6495 6511 6527
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Code=0x18 8 9 10 11 12 13 14 15
0x81 Encoder Velocity LONG 6273 6289 6305 6321 6337 6353 6369 6385
0x82 Reserved LONG 6274 6290 6306 6322 6338 6354 6370 6386
0x83 Reserved LONG 6275 6291 6307 6323 6339 6355 6371 6387
0x84 ABS Revolution LONG 6276 6292 6308 6324 6340 6356 6372 6388
0x85 Reserved LONG 6277 6293 6309 6325 6341 6357 6373 6389
0x86 Reserved LONG 6278 6294 6310 6326 6342 6358 6374 6390
0X87 Reserved LONG 6279 6295 6311 6327 6343 6359 6375 6391
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Index STEPPER Parameters STEPPER Number
Code=0x18 8 9 10 11 12 13 14 15
0x88 Stepper Signal FP32 6280 6296 6312 6328 6344 6360 6376 6392
0x89 Reserved FP32 6281 6297 6313 6329 6345 6361 6377 6393
0X8A Reserved FP32 6282 6298 6314 6330 6346 6362 6378 6394
0x8B Reserved FP32 6283 6299 6315 6331 6347 6363 6379 6395
0x8C Stepper Count LONG 6284 6300 6316 6332 6348 6364 6380 6396
0x8D Reserved LONG 6285 6301 6317 6333 6349 6365 6381 6397
0x8E Reserved LONG 6286 6302 6318 6334 6350 6366 6382 6398
0x8F Reserved LONG 6287 6303 6319 6335 6351 6367 6383 6399
Parker Hannifin
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Index DAC Parameters DAC Number
Code=0x19 8 9 10 11 12 13 14 15
0x80 DAC Output FP32 6528 6544 6560 6576 6592 6608 6624 6640
0x81 Reserved FP32 6529 6545 6561 6577 6593 6609 6625 6641
0x82 DAC Gain FP32 6530 6546 6562 6578 6594 6610 6626 6642
0x83 DAC Offset FP32 6531 6547 6563 6579 6595 6611 6627 6643
0x84 Reserved FP32 6532 6548 6564 6580 6596 6612 6628 6644
0x85 Reserved FP32 6533 6549 6565 6581 6597 6613 6629 6645
0x86 Reserved FP32 6534 6550 6566 6582 6598 6614 6630 6646
0x87 Reserved FP32 6535 6551 6567 6583 6599 6615 6631 6647
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Index ADC Parameters ADC Number
Code=0x19 8 9 10 11 12 13 14 15
0x88 ADC Input FP32 6536 6552 6568 6584 6600 6616 6632 6648
0x89 Reserved FP32 6537 6553 6569 6585 6601 6617 6633 6649
0x8A ADC Gain FP32 6538 6554 6570 6586 6602 6618 6634 6650
0x8B ADC Offset FP32 6539 6555 6571 6587 6603 6619 6635 6651
0x8C Reserved FP32 6540 6556 6572 6588 6604 6620 6636 6652
0x8D Reserved FP32 6541 6557 6573 6589 6605 6621 6637 6653
0x8E Reserved FP32 6542 6558 6574 6590 6606 6622 6638 6654
0X8F Reserved FP32 6543 6559 6575 6591 6607 6623 6639 6655

Write
Encoder R Current position of the encoder in counts, updated every

Position servo period.
Encoder R Signed change in encoder counts since the previous servo

Velocity period.
ABS Revolution R Number of revolutions of the absolute encoder.
Stepper Signal R Intermediate signal applied to step generator.
Stepper Count R Signed step counts generated this servo period.
DAC Output R Voltage (volts) applied to DAC, updated every servo period.
DAC Gain R/W Gain factor to convert volts to DAC counts.
DAC Offset R/W Offset (volts) subtracted from DAC Output before DAC Gain
is applied.
ADC Input R Value of ADC input after ADC Gain and ADC Offset have
been applied, updated every servo period.
ADC Gain R/W Gain applied to normalized (-1 to 1) ADC value.
ADC Offset R/W Offset (volts) added to Gain adjusted ADC value.

Parker Hannifin
P24567 - P24831 Object Parameters

Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80
Code=0x18 16 17 18 19 20 21 22 23
0x80 Encoder Position LONG 24576 24592 24608 24624 N/A N/A N/A N/A
0x81 Encoder Velocity LONG 24577 24593 24609 24625 N/A N/A N/A N/A
0x82 Reserved LONG 24578 24594 24610 24626 N/A N/A N/A N/A
0x84 ABS Revolution LONG 24580 24596 24612 24628 N/A N/A N/A N/A
0X87 Reserved LONG 24583 24599 24615 24631 N/A N/A N/A N/A

Write
Encoder Position R Current position of the encoder in counts, updated

every servo period.
Encoder Velocity R Signed change in encoder counts since the previous

servo period.
ABS Revolution R Number of revolutions of the absolute encoder.
Parker Hannifin
P6656 - P6775 PLC Parameters

Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80
Index PLC Parameters PLC Number
Code=0x1A 0 1 2 3 4 5 6 7
0x00 Tick Preload LONG 6656 6672 6688 6704 6720 6736 6752 6768
0x01 Tick Count LONG 6657 6673 6689 6705 6721 6737 6753 6769
0x02 Reserved LONG 6658 6674 6690 6706 6722 6738 6754 6770
0x03 Reserved LONG 6659 6675 6691 6707 6723 6739 6755 6771
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Index TIM Parameters TIM Number
Code=0x1A 0 1 2 3 4 5 6 7
0x04 Timer Preload LONG 6660 6676 6692 6708 6724 6740 6756 6772
0x05 Timer Count LONG 6661 6677 6693 6709 6725 6741 6757 6773
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Index CNT Parameters CNT Number
Code=0x1A 0 1 2 3 4 5 6 7
0x06 Counter Preload LONG 6662 6678 6694 6710 6726 6742 6758 6774
0x07 Counter Count LONG 6663 6679 6695 6711 6727 6743 6759 6775

Write
Tick Preload R/W Scan rate in milliseconds.
Tick Count R Milliseconds remaining before scanning PLC program.
Timer Preload R/W Number of milliseconds between timer input activation and
timer output activation.
Timer Count R Milliseconds remaining before timer output activation.
Counter Preload R/W Starting count of down counter counting clock inputs.
Counter Count R Counts remaining before counter output goes active.

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P6912 - P7119 Miscellaneous Parameters

Mask Position Parameters P
Code=0x1B, Index=0x00
0x01 Sample Array Index LONG 6912
0x02 Sample Trigger Index LONG 6913
0x04 Sample Timer Clock LONG 6914
0x08 Sample Timer Period LONG 6915
0x10 Global System Clock LONG 6916
0x20 ADC State Control (ADC MODE) LONG 6917
0x40 ADC Positive Channels (ADC POS) LONG 6918

0x80 ADC Negative Channels (ADC NEG) LONG 6919
Mask Stream 4 Stream Parameters P

0x01 Stream 4 Character Buffer Count LONG 6944
0x02 Stream 4 Line Buffer Count LONG 6945
0x04 Stream 4 Free Character Space LONG 6946
0x08 Stream 4 Command Counter LONG 6947

0x10 Stream 4 Communication Timeout LONG 6948


Mask FIFO/Stream 1 Stream Parameters (DIM) P

0x01 FIFO/Stream 1 Character Buffer Count LONG 6976
0x02 FIFO/Stream 1 Line Buffer Count LONG 6977
0x04 FIFO/Stream 1 Free Character Space LONG 6978
0x08 FIFO/Stream 1 Command Counter LONG 6979

0x10 FIFO/Stream 1 Communication Timeout LONG 6980
Parker Hannifin
Mask COM1 Stream Parameters (DIM) P

Code=0x1B, Index=0x0C
0x01 COM1 Character Buffer Count LONG 7008
0x02 COM1 Line Buffer Count LONG 7009
0x04 COM1 Free Character Space LONG 7010
0x08 COM1 Command Counter LONG 7011
0x10 COM1 Communication Timeout LONG 7012

0x20 COM1 Startup Mode LONG 7013
Mask COM2 Stream Parameters (DIM) P

Code=0x1B; Index=0x0E
0x01 COM2 Character Buffer Count LONG 7024
0x02 COM2 Line Buffer Count LONG 7025
0x04 COM2 Free Character Space LONG 7026
0x08 COM2 Command Counter LONG 7027
0x10 COM2 Communication Timeout LONG 7028

0x20 COM2 Startup Mode LONG 7029
Mask Board Information (Version 1.18 & Up) P

Code=0x1B; Index=0x10
0x01 Card / Serial Number LONG 7040
0x02 Card Number LONG 7041
0x04 Firmware Version LONG 7042
0x08 Update Number LONG 7043
0x10 Diagnostics LONG 7044
0x20 FPGA ID LONG 7045

0x40 IO Configuration LONG 7046
Mask FSTAT Information P

0x01 FSTAT Period LONG 7056

0x02 FSTAT Count LONG 7057



Parker Hannifin
Mask Stream 3 Stream Parameters (DIM) P

0x01 DPCB/Stream 3 Character Buffer Count LONG 7088
0x02 DPCB/Stream 3 Line Buffer Count LONG 7089
0x04 DPCB/Stream 3 Free Character Space LONG 7090
0x08 DPCB/Stream 3 Command Counter LONG 7091

0x10 DPCB/Stream 3 Communication Timeout LONG 7092
Mask Firmware Information (FIRMWARE CHECKSUM) P

0x01 Bootflash Version LONG 7104
0x02 Bootflash Checksum LONG 7105
0x04 Reserved LONG 7106
0x10 Sysflash1 Version LONG 7108
0x20 Sysflash1 Checksum LONG 7109

Mask Firmware Information (FIRMWARE CHECKSUM) P

0x01 Sysflash2 Version LONG 7112
0x02 Sysflash2 Checksum LONG 7113
0x20 Userflash Checksum LONG 7117

Parker Hannifin

Write
Sample Array R Destination where the next samples are going to be put in
Index the user defined sample arrays. During sampling, if the
index is greater than or equal to the size of the array, that
channel is tagged as being full. If all channels are full, the
index is reset and the "trigger armed" and "in progress"
flags are cleared. This allows different channels to have
arrays of different lengths.
Sample Trigger R Set with the SAMP TRG command and is stored as a one's
Index complement number (to allow triggering on minus zero.) A
number greater than or equal to zero will trigger on an
active state or a rising edge depending on the setting of the
sample mode flag. A value less than zero is bitwise
inverted and triggers on an inactive state or a falling edge.
Sample Timer R The number of milliseconds remaining before a sample will
Clock be taken. This value is normally zero unless the sample
timer period has been set. Whenever a sample is taken,
this parameter is loaded with the value in sample timer
period.
Sample Timer R Loaded into the sample timer clock whenever a sample is
Period taken. This parameter is normally zero, indicating that
samples should be taken at the servo interrupt period. For
edge triggered sample operation, the period indicates the
number of milliseconds that will pass after an edge before a
sample is taken.
Global System R Free running millisecond clock.
Clock
ADC State R Current ADC state.
Control 0= Inactive
6= Active
ADC Positive R Packed values of ADC POS, 4 bits per channel.
Channels
ADC Negative R Packed values of ADC NEG, 4 bits per channel.
Channels
Character R Number of characters in the line so far. Set to zero when
Buffer Count the line is complete.
Line Buffer R Number of lines in buffer. Incremented when line is
Count complete; decremented when line is processed.
Free Character R Fee space for characters left in buffer.
Space
Command R Commands executed so far on this stream.
Counter
Communication R Timeout in milliseconds for receiving multi-word
Timeout communications.
Card/Serial R Returns the card type in the upper four digits returned. The
Number Serial N umber is returned in the lower four digits returned.
Currently, all board serial numbers default to “0000”. For
example:
ACR8010 board returns “80100000”
(Version 1.18 & Up)

Parker Hannifin

Write
Card Number R Returns the Card Number selected by the Card Address
Dip Switch (SW1). Refer to the appropriate hardware
manual for details. (Version 1.18 & Up)
Firmware R Returns the firmware version of the installed EPROM(s).
Version For example:
ACR8010 board with firmware version 1.18.01 EPROMs
returns “11801”
(Version 1.18 & Up)
Update Number R Returns the firmware version update number, if any, of the
installed EPROM(s). Firmware versions with no update
number will return a “0”. For example:
ACR8010 board with firmware version 1.18.01 Update 3
EPROMs returns “3”
(Version 1.18 & Up)
Diagnostics R Returns the card diagnostic information. This is a 32-bit
number representation of the information that is returned
from the DIAG command.
See parameter detailed description following these
descriptions. (Version 1.18 & Up)
FPGA ID R Returns the ID number of the Encoder FPGAs installed.
(Version 1.18 & Up)
IO Configuration R ACR1500 Only. Returns the IO Configuration of the
ACR1500 board. Returns a “0” for all other boards. (Version
1.18 & Up)
FSTAT Period R Sets the FSTAT update frequency.
FSTAT Count R Copies the FSTAT period to the FSTAT count when FSTAT
is on, or at the finish of every FSTAT update. The FSTAT
update occurs if FSTAT counter is less than or equal to
zero.
Bootflash R Version number for boot code.
Version
Bootflash R Flash checksum for boot code
Checksum
Sysflash1 R Version number for system code
Version
Sysflash1 R Flash checksum for system code.
Checksum
Sysflash2 R Version number for system code backup.
Version
Sysflash2 R Flash checksum for system code backup.
Checksum
Parker Hannifin
COM1 & COM2 Startup Modes

Note: ESAVE and ELOAD commands will store and load the COM1/COM2
startup mode settings in EEPROM/FLASH. ERASE will not modify the
COM1/COM2 startup mode settings in EEPROM/FLASH.
Note: Default echo modes are not affected by COM1/COM2 startup mode
settings. Cards numbered as Card Number 0 will default to ECHO 1; all
other card numbers will default to ECHO 6 (no echo).
COM1 Startup Mode (P7013)

Code=0x1B; Index=0x0C; Mask=0x20
COM2 Startup Mode (P7029)
Code=0x1B; Index=0x0E; Mask=0x20
Baud rate Field Selection Bit Index
Bit Description
Baud rate Bit 0 0
Baud Rate Bit 1 1
Baud Rate Bit 2 2
Baud Rate Bit 3 3
Baud Rate Bit 4 4
Baud Rate Bit 5 5
Baud Rate Bit 6 6

Baud Rate Bit 7 7
Data bits Control Fields Bit Index

Bit Description
Data bits Bit 0 8

Data bits Bit 1 9
Stop bits Control Fields Bit Index

Bit Description
Stop bits 10
Parity Bits Control Fields Bit Index

Bit Description
Parity Bit 0 11
Parity Bit 1 12
Reserved 13
Reserved 14
Startup Enable Control Fields Bit Index

Bit Description
Startup Enable 15

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Reserved Bit Index

Bits
Reserved 16
Reserved 17
Reserved 18
Reserved 19
Reserved 20
Reserved 21
Reserved 22
Reserved 23
Reserved 24
Reserved 25
Reserved 26
Reserved 27
Reserved 28
Reserved 29
Reserved 30
Reserved 31
COM1 & COM2 Startup Mode Bit Field Descriptions

Version 1.17 & Up - ACR8000
Version 1.18.02 & Up - ACR1200, ACR1500, ACR2000, ACR8010

Write
Baud rate R/W Selects the baud rate when the Autobaud Detect function is
disabled via the Startup Enable field. The baud rate field is
set as follows:
Baud rate Bit 7 thru Bit 0 = Baud rate / 300
For Example: To select a baud rate of 9600:
9600 / 300 = 32d = 20h
Data bits R/W Selects the number of data bits transmitted as follows:
Control 0 = 5 Data Bits
1 = 6 Data Bits
2 = 7 Data Bits
3 = 8 Data Bits
Stop bits R/W Selects the number of stop bits as follows:

Control 0 = 1 Stop Bit
1 = 2 Stop Bits
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Write
Parity Control R/W Selects the parity as follows:

0 = No Parity
1 = Odd Parity
2 = No Parity
3 = Even Parity
Startup Enable R/W Enables / disables the Autobaud Detect feature of the
motion controller board, in conjunction with the Autobaud
Detect Disable jumper (or switch for the ACR8000) as
follows:
0= Always autobaud detect (Note: The Autobaud
Detect Disable jumper (or switch) will be ignored)
1= If the Autobaud Detect Disable jumper (or switch)
is enabled, use the manual port communication settings
above; otherwise, autobaud detect.
Refer to the appropriate Hardware Manual for Autobaud
Detect Disable jumper (or switch) details.
ACR1200 Diagnostic Parameter Details

ACR1200 Diagnostic Parameter P7044
Code=0x1B; Index=0x80; Mask=0x10
ACR1200 Motherboard Bit
Bit Description Index
ISO 31
EXT 30
STP 29
ENC 28
Reserved 27
Reserved 26
Reserved 25
Reserved 24
BCF 23
BCL 22
VEE 21
VDD 20
Reserved 19
Reserved 18
Reserved 17
Reserved 16

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I/O Expansion Board 0 Bit

Board Present** 15
ISO 14
EXT 13
Reserved 12

Board Present** 11
ISO 10
EXT 9
Reserved 8

Board Present** 7
ISO 6
EXT 5
Reserved 4

Board Present** 3
ISO 2
EXT 1
Reserved 0
Where:
0 = Pass
1 = Fail
**Board Present:
0 = Expansion Board is detected (Present)
1 = Expansion Board is not detected (Not Present)
Parker Hannifin

Write
EXT R Isolated external voltage provided for the optoisolation

circuitry on the ACR1200 Motherboard.
PASS: External voltage present
FAIL: No external voltage present
ISO R On-board isolated +5VDC voltage provided for the

optoisolation circuitry on the ACR1200 Motherboard. The
isolated +5VDC is generated from the isolated external
supplied voltage.
PASS: On-board isolated +5VDC voltage present
FAIL: No voltage present
VDD R +12VDC supply voltage.

PASS: Voltage present
VEE R -12VDC supply voltage.

BCL R 1000 mAh Lithium Battery BT1 voltage low indicator. This is
a warning indicator that battery voltage is approaching
minimum requirements for SRAM back-up. Minimum SRAM
data retention voltage is 2.0VDC. BT1 should be replaced.
(Panasonic P/N CR2477N)
PASS: BT1 > 2.5 VDC
FAIL: BT1 is between 2.3 and 2.5 VDC (when BCF displays
PASS)
BCF R 1000 mAh Lithium Battery BT1 voltage fail indicator. This is
a warning indicator that battery voltage is below
requirements for SRAM back-up (minimum SRAM data
retention voltage is 2.0VDC). BT1 must be replaced.
(Panasonic P/N CR2477N)
PASS: BT1 > 2.2VDC
FAIL: BT1 is between 2.0 and 2.2 VDC.
ENC R Fused Encoder +5VDC available at the P1 encoder

connector.
STP R Fused Stepper +5VDC available at the P2 analog

connector.

Parker Hannifin

ACR1500 Board Bit
Reserved 31
Reserved 30
Reserved 29
EVCC 28
Reserved 27
Reserved 26
Reserved 25
Reserved 24
Reserved 23
Reserved 22
Reserved 21
Reserved 20
Reserved 19
Reserved 18
Reserved 17
Reserved 16
Reserved 15
Reserved 14
Reserved 13
Reserved 12
Reserved 11
Reserved 10
Reserved 9
Reserved 8
Reserved 7
Reserved 6
Reserved 5
Reserved 4
Reserved 3
Reserved 2
Reserved 1
Reserved 0
Where:
0 = Pass
1 = Fail
Parker Hannifin

Write
EVCC R Fused +5 VDC available at the P1 encoder connector.


IO PWR 31
STP PWR 30
ENC PWR 29
Reserved 28
Reserved 27
Reserved 26
Reserved 25
Reserved 24
Reserved 23
Reserved 22
Reserved 21
COM Board Present** 20
Reserved 19
Reserved 18
Reserved 17
Reserved 16

Board Present** 15
ISO 14
EXT 13
Reserved 12

Board Present** 11
ISO 10
EXT 9
Reserved 8

Parker Hannifin

Board Present** 7
ISO 6
EXT 5
Reserved 4

Board Present** 3
ISO 2
EXT 1
Reserved 0
Where:
0 = Fail
1 = Pass
**Board Present:

Write
ENC PWR R Fused +5VDC available at the P1 Encoder connector.

STP PWR R Fused +5VDC available at the P2 Analog I/O connector.

ISO PWR R Fused +5VDC available at the P3/P4 I/O connectors.

Parker Hannifin


ISO 31
EXT 30
Reserved 29
Reserved 28
Reserved 27
Reserved 26
Reserved 25
Reserved 24
ACRCOMM Module Bit

BCF 23
BCL 22
VEE 21
VDD 20
Reserved 19
Reserved 18
Reserved 17
Reserved 16

Board Present** 15
ISO 14
EXT 13
Reserved 12

Board Present** 11
ISO 10
EXT 9
Reserved 8

Parker Hannifin

Board Present** 7
ISO 6
EXT 5
Reserved 4

Board Present** 3
ISO 2
EXT 1
Reserved 0
Where:
0 = Pass
1 = Fail
**Board Present:
Field Read/ Description

Description Write
EXT R Isolated external voltage provided for the optoisolation circuitry

on the ACR2000 Motherboard.
ISO R On-board isolated +5VDC voltage provided for the optoisolation

circuitry on the ACR2000 Motherboard. The isolated +5VDC is
generated from the isolated external supplied voltage.

Parker Hannifin

Description Write

BCL R 1000 mAh Lithium Battery BT1 voltage low indicator. This is a
warning indicator that battery voltage is approaching minimum
requirements for SRAM back-up. Minimum SRAM data retention
voltage is 2.0VDC. BT1 should be replaced. (Panasonic P/N
CR2477N)
PASS: BT1 > 2.5VDC
PASS)

+5V 31
+24V 30
Reserved 29
Reserved 28
Reserved 27
Reserved 26
Reserved 25
Reserved 24
Reserved 23
Reserved 22
-12V 21
+12V 20
Reserved 19
Reserved 18
Reserved 17
Reserved 16

Reserved 15
Reserved 14
Reserved 13
Reserved 12

Parker Hannifin

Reserved 11
Reserved 10
Reserved 9
Reserved 8

Reserved 7
Reserved 6
Reserved 5
Reserved 4

Reserved 3
Reserved 2
Reserved 1
Reserved 0
Where:
0 = Pass
1 = Fail

Write
+24V R Isolated external voltage provided for the optoisolation

circuitry on the ACR8000 controller.
+5V R On-board isolated +5VDC voltage provided for the

optoisolation circuitry on the ACR8000 controller. The
supplied voltage.
+12V R +12VDC supply voltage.

-12V R -12VDC supply voltage.

Parker Hannifin

ISO 31
EXT 30
Reserved 29
Reserved 28
Reserved 27
Reserved 26
Reserved 25
Reserved 24
BCF 23
BCL 22
VEE 21
VDD 20
Reserved 19
Reserved 18
Reserved 17
Reserved 16

Board Present** 15
ISO 14
EXT 13
Reserved 12

Board Present** 11
ISO 10
EXT 9
Reserved 8

Board Present** 7
ISO 6
EXT 5
Reserved 4

Parker Hannifin

Board Present** 3
ISO 2
EXT 1
Reserved 0
Where:
0 = Pass
1 = Fail
**Board Present:

Descriptio Write
n
EXT R Isolated external voltage provided for the optoisolation circuitry

on the ACR8010 Motherboard.
ISO R On-board isolated +5VDC voltage provided for the optoisolation

circuitry on the ACR8010 Motherboard. The isolated +5VDC is
generated from the isolated external supplied voltage.


BCL R 1000 mAh Lithium Battery BT1 voltage low indicator. This is a
warning indicator that battery voltage is approaching minimum
requirements for SRAM back-up. Minimum SRAM data retention
voltage is 2.0VDC. BT1 should be replaced. (Panasonic P/N
CR2477N)
PASS: BT1 > 2.5VDC
PASS)
BCF R 1000 mAh Lithium Battery BT1 voltage fail indicator. This is a
warning indicator that battery voltage is below requirements for
SRAM back-up (minimum SRAM data retention voltage is
2.0VDC). BT1 must be replaced. (Panasonic P/N CR2477N)
PASS: BT1 > 2.2VDC
FAIL: BT1 is between 2.0 and 2.2 VDC.
Parker Hannifin

ISO 31
EXT 30
Reserved 29
Reserved 28
Reserved 27
Reserved 26
Reserved 25
Reserved 24
Reserved 23
Reserved 22
VEE 21
VDD 20
Reserved 19
Reserved 18
Reserved 17
Reserved 16

Board Present** 15
ISO 14
EXT 13
Reserved 12

Board Present** 11
ISO 10
EXT 9
Reserved 8

Parker Hannifin

Board Present** 7
ISO 6
EXT 5
Reserved 4
Board Present** 3
ISO 2
EXT 1
Reserved 0
Where:
0 = Pass
1 = Fail
**Board Present:

Write
ISO R EXT: Isolated external voltage provided for the

optoisolation circuitry on the ACR8020 Motherboard.
EXT R ISO: On-board isolated +5VDC voltage provided for the

optoisolation circuitry on the ACR8020 Motherboard. The
supplied voltage.
VEE R VDD: +12VDC supply voltage.

VDD R VEE: -12VDC supply voltage.

Parker Hannifin

ACR1500 Board Bit
Reserved 31
Reserved 30
Reserved 29
Reserved 28
Reserved 27
Reserved 26
Reserved 25
Reserved 24
Reserved 23
BCL 22
Reserved 21
Reserved 20
Reserved 19
Reserved 18
Reserved 17
Reserved 16
Reserved 15
Reserved 14
Reserved 13
Reserved 12
Reserved 11
Reserved 10
Reserved 9
Reserved 8
Reserved 7
Reserved 6
Reserved 5
Reserved 4
Reserved 3
Reserved 2
Reserved 1
Reserved 0
Where:
0 = Pass
1 = Fail

Parker Hannifin

Write
BCL R 210000 mAh Lithium Battery voltage low indicator. This is a

warning indicator that battery voltage is approaching
minimum requirements for SRAM back-up. Minimum SRAM
data retention voltage is 2.0VDC. Factory service is
required for battery replacement. (Tadiran P/N TL-5242/W)
PASS: Always for an old board, or if there is a good battery
in a board that supports battery backed RAM.
FAIL: If there is no battery or the battery is low in a board
that supports battery backed RAM. The fail will latch on
power-up if the battery <2.2 VDC.
Parker Hannifin
P7168 - P7408 Program Parameters
PROG0 - PROG7
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80
Index Program Parameters Program Number
Code=0x1C 0 1 2 3 4 5 6 7
0x00 Line Number (RUN) LONG 7168 7184 7200 7216 7232 7248 7264 7280
PROG8 - PROG15
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80
Index Program Parameters Program Number
Code=0x1C 8 9 10 11 12 13 14 15
0x80 Line Number (RUN) LONG 7296 7312 7328 7344 7360 7376 7392 7408

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P7424 - P7575 FSTAT Setup Parameters

ACR8020 only
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Index FSTAT Setup Parameters FSTAT Number
Code=0x1D 0 1 2 3 4 5 6 7
0x00 Reserved LONG 7424 7440 7456 7472 7488 7504 7520 7536
0x01 Reserved LONG 7425 7441 7457 7473 7489 7505 7521 7537
0x02 Reserved LONG 7426 7442 7458 7474 7490 7506 7522 7538
0x03 Code LONG 7427 7443 7459 7475 7491 7507 7523 7539
0x04 Index LONG 7428 7444 7460 7476 7492 7508 7524 7540
0x05 Type LONG 7429 7445 7461 7477 7493 7509 7525 7541
0x06 Reserved LONG 7430 7446 7462 7478 7494 7510 7526 7542
0x07 Reserved LONG 7431 7447 7463 7479 7495 7511 7527 7543
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Index FSTAT Setup Parameters FSTAT Number
Code=0x1D 8 9 10 11 12 13 14 15
0x80 Reserved LONG 7552 7568 N/A N/A N/A N/A N/A N/A
0x83 Code LONG 7555 7571 N/A N/A N/A N/A N/A N/A
0x84 Index LONG 7556 7572 N/A N/A N/A N/A N/A N/A
0x85 Type LONG 7557 7573 N/A N/A N/A N/A N/A N/A
Parker Hannifin

Write
Code Field R/W The group code and group index work as a pair to select
Description the data to be copied to dual port memory. The group code
selects a general data grouping and the group index selects
a set of eight fields within that group.
The group code and group index parameters can be
changed while the FSTAT is on and it won’t affect the
current FSTAT setup. The new FSTAT setup will not be
effective until the FSTAT ON REQUEST is acknowledged.
Index Field R/W The group code and group index work as a pair to select
Description the data to be copied to dual port memory. The group code
selects a general data grouping and the group index selects
a set of eight fields within that group.
The group code and group index parameters can be
changed while the FSTAT is on and it won’t affect the
current FSTAT setup. The new FSTAT setup will not be
effective until the FSTAT ON REQUEST is acknowledged.
Type Field R Data Type:

Description 1 =FP32
2 =LONG

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P7680 - P7871 Connection Status Parameters

Version 1.18.13 & Up- ACR9000 only
Mask Command Connection (Data\Index) Index (Stream)

Code=0x1E 0 1 2 3 4
0x01 Connection Status LONG 7680 7688 7696 7704 7712
0x02 Client's IP Address LONG 7681 7689 7697 7705 7713
0x04 Client's IP Port LONG 7682 7690 7698 7706 7714
0x08 Current Status Duration LONG 7683 7691 7699 7707 7715
0x10 Attached ACR Stream Number LONG 7684 7692 7700 7708 7716
0x20 Guarded By Watchdog Number LONG 7685 7693 7701 7709 7717
0x40 Reserved LONG 7686 7694 7702 7710 7718

0x80 Reserved LONG 7687 7695 7703 7711 7719
Mask Fast Status (Data\Index) Index (Stream)

Code=0x1E 8 9 10 11 12
0x10 Update Period To Client LONG 7748 7756 7764 7772 7780
0x20 Guarded By Watchdog Number LONG 7749 7757 7765 7773 7781
0x40 Reserved LONG 7750 7758 7766 7774 7782

0x80 Reserved LONG 7751 7759 7767 7775 7783
Mask Management Connection (Data\Index) Index (Stream)

Code=0x1E 16 17 18 19 20
0x10 Watchdog Timer Value LONG 7812 7820 7828 7836 7844
0x20 Watchdog Ticker Value LONG 7813 7821 7829 7837 7845
0x40 User Alarm Filter Value LONG 7814 7822 7830 7838 7846
0x80 Controller Alarm Filter Value LONG 7815 7823 7831 7839 7847
Parker Hannifin

Descriptions Write
Connection R The return values and descriptions are as follows:

Status 0 = Never connected. This means that no client has ever
connected to this resource.
1 = Currently connected, no watchdog. The resource has
a connected client, but the resource is not protected with a
watchdog.
2 = Currently connected, watchdog protected. This
resource has a connected client, and the resource is
protected with a watchdog.
3 = Connection closed by client. This resource had been
connected once, but the client has since closed the
connection.
4 = Connection aborted by watchdog. This resource had
been connected once, but the watchdog has since aborted
the connection.
Client's IP R The IP address of the current or recently connected client.

Address The address is expressed as an integer in the parameter–
the first number corresponds to the most significant byte of
the parameter, etc. When using DIAG command, the
address is expressed using dot notion (xxx.xxx.xxx.xxx).
This applies to all connection types (connection
management, fast status, and ASCII).
Client's IP Port R The port number of the current or recently connected client.
This is expressed as an integer in the parameter. This
applies to all connection types (connection management,
fast status, and ASCII).
Current Status R The duration of the current connection status. This is

Duration expressed as an integer number of seconds in the
parameter. When using DIAG command, the duration is
expressed as “hours:minutes:seconds”. This applies to all
connection types (connection management, fast status, and
ASCII).
Attached ACR R The stream number of the associated ACR command

Stream # stream. The stream number will be the same as the last
digit in the name reported by the STREAM command given
on this connection. This applies only to command stream
connections.
Update Period R The update period in milliseconds used by this connection

To Client to send Fast Status data to its client. This applies only to
Fast Status connections.
Guarded By R The management connection number whose watchdog

Watchdog # guards this connection. This number is meaningful only if
the connection status is 2 = currently connected, watchdog
protected. This applies only to command stream and Fast
Status connections.

Parker Hannifin

Descriptions Write
Watchdog Timer R This is the timer value in milliseconds supplied by the

Value management connection client in its most recent watchdog
request. This applies to only management connections
Watchdog R The ticker value supplied by the management connection

Ticker Value client in its most recent watchdog request. This applies to
only Connection Management connections.
User Alarm R This is the user alarm filter value supplied by the
Filter Value management connection client in its most recent alarm
subscription request. This applies to only Connection
Management connections.
Controller Alarm R This is the controller alarm filter value supplied by the
Filter Value management connection client in its most recent alarm
subscription request. This applies to only Connection
Management connections.
Parker Hannifin
P8192 - P10047 Master Parameters (Masters 0-7)

Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80
Index Position Parameters Master Number
Code=0x20 0 1 2 3 4 5 6 7
0x00 Distance Into Move FP32 8192 8448 8704 8960 9216 9472 9728 9984
0x01 Vector VEL FP32 8193 8449 8705 8961 9217 9473 9729 9985
0x02 Vector ACC FP32 8194 8450 8706 8962 9218 9474 9730 9986
0x03 Vector JRK FP32 8195 8451 8707 8963 9219 9475 9731 9987
0x04 Vector Length FP32 8196 8452 8708 8964 9220 9476 9732 9988
0x05 Target VEL FP32 8197 8453 8709 8965 9221 9477 9733 9989
0x06 Target ACC FP32 8198 8454 8710 8966 9222 9478 9734 9990
0x07 Reserved FP32 8199 8455 8711 8967 9223 9479 9735 9991
0x08 Distance To Go FP32 8200 8456 8712 8968 9224 9480 9736 9992
0x09 Feedrate Override FP32 8201 8457 8713 8969 9225 9481 9737 9993
(FOV)
0x0A Manual VECTOR FP32 8202 8458 8714 8970 9226 9482 9738 9994
0x0B Total Distance FP32 8203 8459 8715 8971 9227 9483 9739 9995
0x0C Distance Squared FP32 8204 8460 8716 8972 9228 9484 9740 9996
0x0D Velocity Squared FP32 8205 8461 8717 8973 9229 9485 9741 9997
0x0E Fraction Into Move FP32 8206 8462 8718 8974 9230 9486 9742 9998
0x0F Distance Into Path FP32 8207 8463 8719 8975 9231 9487 9743 9999
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Index Sequence Parameters Master Number
Code=0x20 0 1 2 3 4 5 6 7
0x10 Move Counter LONG 8208 8464 8720 8976 9232 9488 9744 10000
0x11 Reserved LONG 8209 8465 8721 8977 9233 9489 9745 10001
0x12 Reserved LONG 8210 8466 8722 8978 9234 9490 9746 10002
0x13 INT Response Period LONG 8211 8467 8723 8979 9235 9491 9747 10003
0x14 MBUF Filled LONG 8212 8468 8724 8980 9236 9492 9748 10004
0x15 Reserved LONG 8213 8469 8725 8981 9237 9493 9749 10005
0x16 Reserved LONG 8214 8470 8726 8982 9238 9494 9750 10006
0x17 Reserved LONG 8215 8471 8727 8983 9239 9495 9751 10007

Parker Hannifin
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Index Speed Parameters Master Number
Code=0x20 0 1 2 3 4 5 6 7
0x18 Rapid Feedrate FP32 8216 8472 8728 8984 9240 9496 9752 10008
Override (ROV)
0x19 Move Time (TMOV) FP32 8217 8473 8729 8985 9241 9497 9753 10009
0x1A Delta TMOV Time FP32 8218 8474 8730 8986 9242 9498 9754 10010
0x1B TMOV Velocity FP32 8219 8475 8731 8987 9243 9499 9755 10011
0x1C Time Over Velocity FP32 8220 8476 8732 8988 9245 9500 9756 10012
(TOV)
0x1D TOV Internal FP32 8221 8477 8733 8989 9245 9501 9757 10013
0x1E TOV Rate FP32 8222 8478 8734 8990 9246 9502 9758 10014
0x1F User Velocity FP32 8223 8479 8735 8991 9247 9503 9759 10015
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Index NURB SPLINE Parameters Master Number
Code=0x20 0 1 2 3 4 5 6 7
0x20 NURB Time Factor FP32 8224 8480 8736 8992 9248 9504 9760 10016
0x21 NURB Start Time FP32 8225 8481 8737 8993 9249 9505 9761 10017
0x22 Reserved FP32 8226 8482 8738 8994 9250 9506 9762 10018
0x23 Reserved FP32 8227 8483 8739 8995 9251 9507 9763 10019
0x24 SPLINE Time Factor FP32 8228 8484 8740 8996 9252 9508 9764 10020
0x25 SPLINE Buffer Length FP32 8229 8485 8741 8997 9253 9509 9765 10021
0x26 Reserved FP32 8230 8486 8742 8998 9254 9510 9766 10022
0x27 Reserved FP32 8231 8487 8743 8999 9255 9511 9767 10023
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Index LookAhead Parameters Master Number
Code=0x20 0 1 2 3 4 5 6 7
0x28 VEL LIMIT FP32 8232 8488 8744 9000 9256 9512 9768 10024
0x29 LOOK Ahead Min Vel FP32 8233 8489 8745 9001 9257 9513 9769 10025
0x2A Look Ahead Vector FP32 8234 8490 8746 9002 9258 9514 9770 10026
Angle
0x2B Reserved FP32 8235 8491 8747 9003 9259 9515 9771 10027
0x2C TANG Turn Limit FP32 8236 8492 8748 9004 9260 9516 9772 10028
0x2D Reserved FP32 8237 8493 8749 9005 9261 9517 9773 10029
0x2E Reserved FP32 8238 8494 8750 9006 9262 9518 9774 10030
0x2F Reserved FP32 8239 8495 8751 9007 9263 9519 9775 10031
Parker Hannifin
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Index Reserved Parameters Master Number
Code=0x20 0 1 2 3 4 5 6 7
0x30 Reserved FP32 8240 8496 8752 9008 9264 9520 9776 10032
0x31 Reserved FP32 8241 8497 8753 9009 9265 9521 9777 10033
0x32 Reserved FP32 8242 8498 8754 9010 9266 9522 9778 10034
0x33 Reserved FP32 8243 8499 8755 9011 9267 9523 9779 10035
0x34 Reserved FP32 8244 8500 8756 9012 9268 9524 9780 10036
0x35 Reserved FP32 8245 8501 8757 9013 9269 9525 9781 10037
0x36 Reserved FP32 8246 8502 8758 9014 9270 9526 9782 10038
0x37 Reserved FP32 8247 8503 8759 9015 9271 9527 9783 10039
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Code=0x20 0 1 2 3 4 5 6 7
0x38 Reserved LONG 8248 8504 8760 9016 9272 9528 9784 10040
0x39 Reserved LONG 8249 8505 8761 9017 9273 9529 9785 10041
0x3A Reserved LONG 8250 8506 8762 9018 9274 9530 9786 10042
0x3B Reserved LONG 8251 8507 8763 9019 9275 9531 9787 10043
0x3C Reserved LONG 8252 8508 8764 9020 9276 9532 9788 10044
0x3D Reserved LONG 8253 8509 8765 9021 9277 9533 9789 10045
0x3E Reserved LONG 8254 8510 8766 9022 9278 9534 9790 10046
0x3F Reserved LONG 8255 8511 8767 9023 9279 9535 9791 10047

Parker Hannifin

Write
Distance Into R The distance traveled into the current move.

Move
Vector Velocity R This is the current total vector velocity of all the axes
attached to the master. It is always positive and varies
between zero and user set velocity (VEL).
Vector R Current vector acceleration, could be plus or minus

Acceleration number.
Vector Jerk R Current vector jerk value.
Vector Length R User entered Target position.
Target Velocity R User entered velocity for the current move block in motion.
Target R User entered acceleration for the current move block in

Acceleration motion.
Distance To Go R This is the distance left for the current move in process.
Feedrate R See FOV command.

Override
Manual Vector R See VECTOR command.
Total Distance R User programmed total distance of the master up until

current move.
Distance R This is the square of the vector distance of all the axes
Squared attached to the master for the buffered move.
Velocity R Square of the current vector velocity.

Squared
Fraction Into R It goes from zero to one as the move goes from start to
Move end.
Distance Into R Current total distance traveled by the master.

Path
Move Counter R If the master flags to count up or down is set then this will
count the number of moves
INT Response R/W This is used by HSINT and INT commands. The default
Period value for the INT Response period is 5 (the units are in
servo period). It should be set –1 to turn this feature off.
MBUF Filled R It shows the number of moves buffered when using the
multi-buffer mode.
Rapid Feedrate R/W See ROV command

Override
Move Time R It is the time set in seconds for each move to complete.
See TMOV command for details.
Delta TMOV R When masters are synchronized, this is the minimum move
time time needed by each master to complete its move.
TMOV Velocity R This is the value set by the TMOV VEL command.
Time over R See TOV command.

Velocity
Parker Hannifin

Write
TOV internal R Current TOV value.
TOV Rate R/W User sets this value to change the rate of change of TOV
from one value to another.
User Velocity
NURB Time R/W This parameter may be changed before starting the NURB
Factor move to change the speed of NURB Time Mode
interpolator. Reducing this parameter by half will double the
speed.
NURB Start R/W Contains the values in which the NURB will go from zero
Time velocity to full velocity. Setting it zero nullifies it, and the
profiler go to full velocity immediately.
SPLINE Time R/W This parameter may be changed before starting the
Factor SPLINE move to change the speed of the SPLINE Time
Mode interpolator. Reducing this parameter by half will
double the speed.
SPLINE Buffer R/W The default value is 5. The user can change this value from
Length 2 to 5. Making the SPLINE buffer length smaller will result
in reduced smoothness of the position curve.
VEL Limit R The master current vector velocity will not go above this
limit.
LookAhead Min R/W Minimum velocity to which the LookAhead will slow down.
Velocity User can change this value.
LookAhead R 3-D vector turn angle at the end of current move

Vector Angle
TANG Turn R/W User sets this angle in degrees. If the angle between two
Limit moves is less then this angle then no extra move is
inserted for the tangential axis. The default value is zero,
which means that a move will always be inserted unless the
moves make a straight line.

Parker Hannifin
P10240 - P12095 Master Parameters (Masters 8-

15)
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80
Index Position Parameters Master Number
Code=0x28 8 9 10 11 12 13 14 15
0x00 Distance Into Move FP32 10240 10496 10752 11008 11264 11520 11776 12032
0x01 Vector VEL FP32 10241 10497 10753 11009 11265 11521 11777 12033
0x02 Vector ACC FP32 10242 10498 10754 11010 11266 11522 11778 12034
0x03 Vector JRK FP32 10243 10499 10755 11011 11267 11523 11779 12035
0x04 Vector Length FP32 10244 10500 10756 11012 11268 11524 11780 12036
0x05 Target VEL FP32 10245 10501 10757 11013 11269 11525 11781 12037
0x06 Target ACC FP32 10246 10502 10758 11014 11270 11526 11782 12038
0x07 Reserved FP32 10247 10503 10759 11015 11271 11527 11783 12039
0x08 Distance To Go FP32 10248 10504 10760 11016 11272 11528 11784 12040
0x09 Feedrate Override (FOV) FP32 10249 10505 10761 11017 11273 11529 11785 12041
0x0A Manual VECTOR FP32 10250 10506 10762 11018 11274 11530 11786 12042
0x0B Total Distance FP32 10251 10507 10763 11019 11275 11531 11787 12043
0x0C Distance Squared FP32 10252 10508 10764 11020 11276 11532 11788 12044
0x0D Velocity Squared FP32 10253 10509 10765 11021 11277 11533 11789 12045
0x0E Fraction Into Move FP32 10254 10510 10766 11022 11278 11534 11790 12046
0x0F Distance Into Path FP32 10255 10511 10767 11023 11279 11535 11791 12047
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Index Sequence Parameters Master Number
Code=0x28 8 9 10 11 12 13 14 15
0x10 Move Counter LONG 10256 10512 10768 11024 11280 11536 11792 12048
0x11 Reserved LONG 10257 10513 10769 11025 11281 11537 11793 12049
0x12 Reserved LONG 10258 10514 10770 11026 11282 11538 11794 12050
0x13 INT Response Period LONG 10259 10515 10771 11027 11283 11539 11795 12051
0x14 MBUF Filled LONG 10260 10516 10772 11028 11284 11540 11796 12052
0x15 Reserved LONG 10261 10517 10773 11029 11285 11541 11797 12053
0x16 Reserved LONG 10262 10518 10774 11030 11286 11542 11798 12054
0x17 Reserved LONG 10263 10519 10775 11031 11287 11543 11799 12055
Parker Hannifin
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Index Speed Parameters Master Number
Code=0x28
8 9 10 11 12 13 14 15
0x18 Rapid Feedrate Override FP32 10264 10520 10776 11032 11288 11544 11800 12056
(ROV)
0x19 Move Time (TMOV) FP32 10265 10521 10777 11033 11289 11545 11801 12057
0x1A Delta TMOV Time FP32 10266 10522 10778 11034 11290 11546 11802 12058
0x1B TMOV Velocity FP32 10267 10523 10779 11035 11291 11547 11803 12059
0x1C Time Over Velocity FP32 10268 10524 10780 11036 11292 11548 11804 12060
(TOV)
0x1D TOV Internal FP32 10269 10525 10781 11037 11293 11549 11805 12061
0x1E TOV Rate FP32 10270 10526 10782 11038 11294 11550 11806 12062
0x1F User Velocity FP32 10271 10527 10783 11039 11295 11551 11807 12063
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Index NURB SPLINE Parameters Master Number
Code=0x28 8 9 10 11 12 13 14 15
0x20 NURB Time Factor FP32 10272 10528 10784 11040 11296 11552 11808 12064
0x21 NURB Start Time FP32 10273 10529 10785 11041 11297 11553 11809 12065
0x22 Reserved FP32 10274 10530 10786 11042 11298 11554 11810 12066
0x23 Reserved FP32 10275 10531 10787 11043 11299 11555 11811 12067
0x24 SPLINE Time Factor FP32 10276 10532 10788 11044 11300 11556 11812 12068
0x25 SPLINE Buffer Length FP32 10277 10533 10789 11045 11301 11557 11813 12069
0x26 Reserved FP32 10278 10534 10790 11046 11302 11558 11814 12070
0x27 Reserved FP32 10279 10535 10791 11047 11303 11559 11815 12071
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Index LookAhead Parameters Master Number
Code=0x28 8 9 10 11 12 13 14 15
0x28 VEL LIMIT FP32 10280 10536 10792 11048 11304 11560 11816 12072
0x29 LOOK Ahead Min Vel FP32 10281 10537 10793 11049 11305 11561 11817 12073
0x2A Look Ahead Vector Angle FP32 10282 10538 10794 11050 11306 11562 11818 12074
0x2B Reserved FP32 10283 10539 10795 11051 11307 11563 11819 12075
0x2C TANG Turn Limit FP32 10284 10540 10796 11052 11308 11564 11820 12076
0x2D Reserved FP32 10285 10541 10797 11053 11309 11565 11821 12077
0x2E Reserved FP32 10286 10542 10798 11054 11310 11566 11822 12078
0x2F Reserved FP32 10287 10543 10799 11055 11311 11567 11823 12079

Parker Hannifin
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Code=0x28 8 9 10 11 12 13 14 15
0x30 Reserved FP32 10288 10544 10800 11056 11312 11568 11824 12080
0x31 Reserved FP32 10289 10545 10801 11057 11313 11569 11825 12081
0x32 Reserved FP32 10290 10546 10802 11058 11314 11570 11826 12082
0x33 Reserved FP32 10291 10547 10803 11059 11315 11571 11827 12083
0x34 Reserved FP32 10292 10548 10804 11060 11316 11572 11828 12084
0x35 Reserved FP32 10293 10549 10805 11061 11317 11573 11829 12085
0x36 Reserved FP32 10294 10550 10806 11062 11318 11574 11830 12086
0x37 Reserved FP32 10295 10551 10807 11063 11319 11575 11831 12087
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Code=0x28 8 9 10 11 12 13 14 15
0x38 Reserved LONG 10296 10552 10808 11064 11320 11576 11832 12088
0x39 Reserved LONG 10297 10553 10809 11065 11321 11577 11833 12089
0x3A Reserved LONG 10298 10554 10810 11066 11322 11578 11834 12090
0x3B Reserved LONG 10299 10555 10811 11067 11323 11579 11835 12091
0x3C Reserved LONG 10300 10556 10812 11068 11324 11580 11836 12092
0x3D Reserved LONG 10301 10557 10813 11069 11325 11581 11837 12093
0x3E Reserved LONG 10302 10558 10814 11070 11326 11582 11838 12094
0x3F Reserved LONG 10303 10559 10815 11071 11327 11583 11839 12095
Parker Hannifin

Write
Distance Into R The distance traveled into the current move.

Move
Vector Velocity R This is the current total vector velocity of all the axes
attached to the master. It is always positive and varies
between zero and user set velocity (VEL).
Vector R Current vector acceleration, could be plus or minus

Acceleration number.
Vector Jerk R Current vector jerk value.
Vector Length R User entered Target position.
Target Velocity R User entered velocity for the current move block in motion.
Target R User entered acceleration for the current move block in

Acceleration motion.
Distance To Go R This is the distance left for the current move in process.
Feedrate R See FOV command.

Override
Manual Vector R See VECTOR command.
Total Distance R User programmed total distance of the master up until

current move.
Distance R This is the square of the vector distance of all the axes
Squared attached to the master for the buffered move.
Velocity R Square of the current vector velocity.

Squared
Fraction Into R It goes from zero to one as the move goes from start to
Move end.
Distance Into R Current total distance traveled by the master.

Path
Move Counter R If the master flags to count up or down is set then this will
count the number of moves
INT Response R/W This is used by HSINT and INT commands. The default
Period value for the INT Response period is 5 (the units are in
servo period). It should be set –1 to turn this feature off.
MBUF Filled R It shows the number of moves buffered when using the
multi-buffer mode.
Rapid Feedrate R/W See ROV command

Override
Move Time R It is the time set in seconds for each move to complete.
See TMOV command for details.
Delta TMOV R When masters are synchronized, this is the minimum move
time time needed by each master to complete its move.
TMOV Velocity R This is the value set by the TMOV VEL command.
Time over R See TOV command.

Velocity

Parker Hannifin

Write
TOV internal R Current TOV value.
TOV Rate R/W User sets this value to change the rate of change of TOV
from one value to another.
User Velocity
NURB Time R/W This parameter may be changed before starting the NURB
Factor move to change the speed of NURB Time Mode
interpolator. Reducing this parameter by half will double the
speed.
NURB Start R/W Contains the values in which the NURB will go from zero
Time velocity to full velocity. Setting it zero nullifies it, and the
profiler go to full velocity immediately.
SPLINE Time R/W This parameter may be changed before starting the
Factor SPLINE move to change the speed of the SPLINE Time
Mode interpolator. Reducing this parameter by half will
double the speed.
SPLINE Buffer R/W The default value is 5. The user can change this value from
Length 2 to 5. Making the SPLINE buffer length smaller will result
in reduced smoothness of the position curve.
VEL Limit R The master current vector velocity will not go above this
limit.
LookAhead Min R/W Minimum velocity to which the LookAhead will slow down.
Velocity User can change this value.
LookAhead R 3-D vector turn angle at the end of current move

Vector Angle
TANG Turn R/W User sets this angle in degrees. If the angle between two
Limit moves is less then this angle then no extra move is
inserted for the tangential axis. The default value is zero,
which means that a move will always be inserted unless the
moves make a straight line.
Parker Hannifin
P12288 - P14207 Axis Parameters (Axes 0-7)

Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80
Index Position Parameters Axis Number
Code=0x30 0 1 2 3 4 5 6 7
0x00 Current Position LONG 12288 12544 12800 13056 13312 13568 13824 14080
0x01 Target Position LONG 12289 12545 12801 13057 13313 13569 13825 14081
0x02 Actual Position LONG 12290 12546 12802 13058 13314 13570 13826 14082
0x03 Following Error LONG 12291 12547 12803 13059 13315 13571 13827 14083
0x04 Hardware Capture LONG 12292 12548 12804 13060 13316 13572 13828 14084
(INTCAP)
0x05 Software Capture LONG 12293 12549 12805 13061 13317 13573 13829 14085
(INTCAP)
0x06 Primary Setpoint LONG 12294 12550 12806 13062 13318 13574 13830 14086
0x07 Secondary Setpoint LONG 12295 12551 12807 13063 13319 13575 13831 14087
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Index Offset Parameters Axis Number
Code=0x30 0 1 2 3 4 5 6 7
0x08 Gear Offset (GEAR RES) LONG 12296 12552 12808 13064 13320 13576 13832 14088
0x09 Jog Offset (JOG RES) LONG 12297 12553 12809 13065 13321 13577 13833 14089
0x0A Cam Offset (CAM RES) LONG 12298 12554 12810 13066 13322 13578 13834 14090
0x0B Ballscrew Offset LONG 12299 12555 12811 13067 13323 13579 13835 14091
0x0C Backlash Offset (BKL) LONG 12300 12556 12812 13068 13324 13580 13836 14092
0x0D Reserved LONG 12301 12557 12813 13069 13325 13581 13837 14093
0x0E Reserved LONG 12302 12558 12814 13070 13326 13582 13838 14094
0x0F Reserved LONG 12303 12559 12815 13071 13327 13583 13839 14095
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Index Servo Parameters Axis Number
Code=0x30 0 1 2 3 4 5 6 7
0x10 Proportional Gain FP32 12304 12560 12816 13072 13328 13584 13840 14096
(PGAIN)
0x11 Integral Gain (IGAIN) FP32 12305 12561 12817 13073 13329 13585 13841 14097
0x12 Integral Limit (ILIMIT) FP32 12306 12562 12818 13074 13330 13586 13842 14098
0x13 Integral Delay (IDELAY) FP32 12307 12563 12819 13075 13331 13587 13843 14099
0x14 Derivative Gain (DGAIN) FP32 12308 12564 12820 13076 13332 13588 13844 14100
0x15 Derivative Width FP32 12309 12565 12821 13077 13333 13589 13845 14101
(DWIDTH)
0x16 Feedforward Velocity FP32 12310 12566 12822 13078 13334 13590 13846 14102
(FFVEL)
0x17 Feedforward Accel FP32 12311 12567 12823 13079 13335 13591 13847 14103
(FFACC)

Parker Hannifin
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Index Monitor Parameters Axis Number
Code=0x30 0 1 2 3 4 5 6 7
0x18 Proportional Term FP32 12312 12568 12824 13080 13336 13592 13848 14104
0x19 Integral Term FP32 12313 12569 12825 13081 13337 13593 13849 14105
0x1A Derivative Term FP32 12314 12570 12826 13082 13338 13594 13850 14106
0x1B Velocity FP32 12315 12571 12827 13083 13339 13595 13851 14107
0x1C Acceleration FP32 12316 12572 12828 13084 13340 13596 13852 14108
0x1D Summation Point FP32 12317 12573 12829 13085 13341 13597 13853 14109
0x1E Filter Output Signal FP32 12318 12574 12830 13086 13342 13598 13854 14110
0x1F Output Signal FP32 12319 12575 12831 13087 13343 13599 13855 14111
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Index Limit Parameters Axis Number
Code=0x30 0 1 2 3 4 5 6 7
0x20 Plus Excess Error (EXC) FP32 12320 12576 12832 13088 13344 13600 13856 14112
0x21 Minus Excess Error FP32 12321 12577 12833 13089 13345 13601 13857 14113
(EXC)
0x22 Plus In Position (IPB) FP32 12322 12578 12834 13090 13346 13602 13858 14114
0x23 Minus In Position (IPB) FP32 12323 12579 12835 13091 13347 13603 13859 14115
0x24 Plus A Limit (ALM) FP32 12324 12580 12836 13092 13348 13604 13860 14116
0x25 Minus A Limit (ALM) FP32 12325 12581 12837 13093 13349 13605 13861 14117
0x26 Plus B Limit (BLM) FP32 12326 12582 12838 13094 13350 13606 13862 14118
0x27 Minus B Limit (BLM) FP32 12327 12583 12839 13095 13351 13607 13863 14119
0x28 Plus Torque Limit (TLM) FP32 12328 12584 12840 13096 13352 13608 13864 14120
0x29 Minus Torque Limit FP32 12329 12585 12841 13097 13353 13609 13865 14121
(TLM)
0x2A Plus Torque Band FP32 12330 12586 12842 13098 13354 13610 13866 14122
0x2B Minus Torque Band FP32 12331 12587 12843 13099 13355 13611 13867 14123
0x2C Backlash Setting (BKL) FP32 12332 12588 12844 13100 13356 13612 13868 14124
0x2D Reserved FP32 12333 12589 12845 13101 13357 13613 13869 14125
0x2E Plus Jog Limit (JLM) FP32 12334 12590 12846 13102 13358 13614 13870 14126
0x2F Minus Jog Limit (JLM) FP32 12335 12591 12847 13103 13359 13615 13871 14127
Parker Hannifin
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Index Filter 0 Parameters (NOTCH) Axis Number
Code=0x30 0 1 2 3 4 5 6 7
0x30 b2 Coefficient FP32 12336 12592 12848 13104 13360 13616 13872 14128
0x31 a2 Coefficient FP32 12337 12593 12849 13105 13361 13617 13873 14129
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Index Filter 1 Parameters (LOPASS) Axis Number
Code=0x30 0 1 2 3 4 5 6 7
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Index Jog Parameters Axis Number
Code=0x30 0 1 2 3 4 5 6 7
0x3A Current JOG VEL FP32 12346 12602 12858 13114 13370 13626 13882 14138
0x3B Current JOG ACC FP32 12347 12603 12859 13115 13371 13627 13883 14139
0x3C JOG VEL Setting FP32 12348 12604 12860 13116 13372 13628 13884 14140
0x3D JOG ACC Setting FP32 12349 12605 12861 13117 13373 13629 13885 14141
0x3E JOG DEC Setting FP32 12350 12606 12862 13118 13374 13630 13886 14142
0x3F JOG JRK Setting FP32 12351 12607 12863 13119 13375 13631 13887 14143
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Code=0x30 0 1 2 3 4 5 6 7
0x40 FBVEL Gain Setting FP32 12352 12608 12864 13120 13376 13632 13888 14144
0x41 FBVEL Term FP32 12353 12609 12865 13121 13377 13633 13889 14145
0x42 FFVEL Term FP32 12354 12610 12866 13122 13378 13634 13890 14146
0x43 FFACC Term FP32 12355 12611 12867 13123 13379 13635 13891 14147
0x44 Reserved FP32 12356 12612 12868 13124 13380 13636 13892 14148
0x45 Reserved FP32 12357 12613 12869 13125 13381 13637 13893 14149
0x46 Reserved FP32 12358 12614 12870 13126 13382 13638 13894 14150
0x47 Reserved FP32 12359 12615 12871 13127 13383 13639 13895 14151

Parker Hannifin
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Index Reserved Parameters Axis Number
Code=0x30 0 1 2 3 4 5 6 7
0x48 INVK Input FP32 12360 12616 12872 13128 13384 13640 13896 14152
0x49 INVK Output FP32 12361 12617 12873 13129 13385 13641 13897 14153
0x4A INVK Input Previous FP32 12362 12618 12874 13130 13386 13642 13898 14154
0x4B Reserved FP32 12363 12619 12875 13131 13387 13643 13899 14155
0x4C Reserved FP32 12364 12620 12876 13132 13388 13644 13900 14156
0x4D Reserved FP32 12365 12621 12877 13133 13389 13645 13901 14157
0x4E Reserved FP32 12366 12622 12878 13134 13390 13646 13902 14158
0x4F Reserved FP32 12367 12623 12879 13135 13391 13647 13903 14159
0x50 MAXVEL FP32 12368 12624 12880 13136 13392 13648 13904 14160
0x51 Gear Slip FP32 12369 12625 12881 13137 13393 13649 13905 14161
0x52 RPM Factor FP32 12370 12626 12882 13138 13394 13650 13906 14162
0x53 RPM FP32 12371 12627 12883 13139 13395 13651 13907 14163
0x54 Smooth Encoder Velocity FP32 12372 12628 12884 13140 13396 13652 13908 14164
0x55 Start Radius FP32 12373 12629 12885 13141 13397 13653 13909 14165
0x56 End Radius FP32 12374 12630 12886 13142 13398 13654 13910 14166
0x57 PPU FP32 12375 12631 12887 13143 13399 13655 13911 14167
0x58 Lock Feedback Gain FP32 12376 12632 12888 13144 13400 13656 13912 14168
0x59 DIP FP32 12377 12633 12889 13145 13401 13657 13913 14169
0x5A DIN FP32 12378 12634 12890 13146 13402 13658 13914 14170
0x5B KVF FP32 12379 12635 12891 13147 13403 13659 13915 14171
0x5C KVI FP32 12380 12636 12892 13148 13404 13660 13916 14172
0x5D KVP FP32 12381 12637 12893 13149 13405 13661 13917 14173
0x5E Reserved FP32 12382 12638 12894 13150 13406 13662 13918 14174
0x5F Reserved FP32 12383 12639 12895 13151 13407 13663 13919 14175
0x60 NOTCH Filter Center FLOAT 12384 12640 12896 13152 13408 13664 13920 14176
Frequency
0x61 NOTCH Filter Width FLOAT 12385 12641 12897 13153 13409 13665 13921 14177
0x62 LOPASS Cutoff FLOAT 12386 12642 12898 13154 13410 13666 13922 14178
Frequency
0x63 Reserved FLOAT 12387 12643 12899 13155 13411 13667 13923 14179
0x64 PM Velocity FLOAT 12388 12644 12900 13156 13412 13668 13924 14180
0x65 PM ACC FLOAT 12389 12645 12901 13157 13413 13669 13925 14181
0x66 Reserved FLOAT 12390 12646 12902 13158 13414 13670 13926 14182
0x67 PM SCALE FLOAT 12391 12647 12903 13159 13415 13671 13927 14183
0x68 Reserved LONG 12392 12648 12904 13160 13416 13672 13928 14184
0x69 Reserved LONG 12393 12649 12905 13161 13417 13673 13929 14185
0x6A Reserved LONG 12394 12650 12906 13162 13418 13674 13930 14186
0x6B Reserved LONG 12395 12651 12907 13163 13419 13675 13931 14187
Parker Hannifin
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Code=0x30 0 1 2 3 4 5 6 7
0x6C GEAR ON TRG Offset LONG 12396 12652 12908 13164 13420 13676 13932 14188
0x6D GEAR OFF TRG Offset LONG 12397 12653 12909 13165 13421 13677 13933 14189
0x6E Reserved LONG 12398 12654 12910 13166 13422 13678 13934 14190
0x6F Reserved LONG 12399 12655 12911 13167 13423 13679 13935 14191
0x70 CAM Cycles LONG 12400 12656 12912 13168 13424 13680 13936 14192
0x71 CAM Velocity Smooth LONG 12401 12657 12913 13169 13425 13681 13937 14193
0x72 DGAIN Smooth LONG 12402 12658 12914 13170 13426 13682 13938 14194
0x73 DZU LONG 12403 12659 12915 13171 13427 13683 13939 14195
0x74 DZL LONG 12404 12660 12916 13172 13428 13684 13940 14196
0x75 FFVC LONG 12405 12661 12917 13173 13429 13685 13941 14197
0x76 Reserved LONG 12406 12662 12918 13174 13430 13686 13942 14198
0x77 CAM Segment Active LONG 12407 12663 12919 13175 13431 13687 13943 14199
0x78 PM Deadband (PM DB) LONG 12408 12664 12920 13176 13432 13688 13944 14200
0x79 PM Current Velocity LONG 12409 12665 12921 13177 13433 13689 13945 14201
0x7A Reserved LONG 12410 12666 12922 13178 13434 13690 13946 14202
0x7B Reserved LONG 12411 12667 12923 13179 13435 13691 13947 14203
0x7C PM Position Error LONG 12412 12668 12924 13180 13436 13692 13948 14204
0x7D Cam Cycle Position LONG 12413 12669 12925 13181 13437 13693 13949 14205
0x7E Cam Cycle Number LONG 12414 12670 12926 13182 13438 13694 13950 14206
0x7F Cam Cycle Length LONG 12415 12671 12927 13183 13439 13695 13951 14207

Write
Current Position R/W This is the current commanded position of the axis.
Target Position R/W User programmed target position of the buffered move.
Actual Position R/W Current actual position read through feedback.
Following Error R/W Current following error in servo control loop.
Hardware Capture R Latest hardware-capture register value.
Software Capture R Latest software-capture register value.
Primary Setpoint R/W See Servo loop block diagram.
Secondary Setpoint R/W See servo loop block diagram.
Gear Offset R/W Current geared position.
Jog Offset R/W Current Jog position.
Cam Offset R/W Current Cam position.
Ballscrew Offset R/W Current ballscrew position.
Backlash Offset R/W Current backlash position.

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Write
Proportional Gain R/W See servo loop block diagram.
Integral Gain R/W See servo loop block diagram.
Integral Limit R/W See servo loop block diagram.
Integral Delay R/W See servo loop block diagram.
Derivative Gain R/W See servo loop block diagram.
Derivative Width R/W See servo loop block diagram.
Feedforward R/W See servo loop block diagram.

Velocity
Feedforward Accel R/W See servo loop block diagram.
Proportional Term R/W Value after the P Gain block.
Integral Term R/W Value after the Integral block.
Derivative Term R/W Value after the D-gain block.
Velocity R/W Current total velocity of an axis, including any cam and
gear velocity etc.
Acceleration R/W Current total acceleration of an axes, including any cam

and gear acceleration etc.
Summation Point R Intermediate servo loop signal, sum of all gain terms, but
before filtering.
Filter Output Signal R Filtered servo loop signal
Output Signal R Servo loop output signal to be fed into the DACs or
Stepper
Plus Excess Error R/W Excess error positive band value. See EXC command.
Minus Excess Error R/W Excess error negative band value. See EXC command.
Plus In Position R/W IPB ( in-position-band) positive value.
Minus In Position R/W IPB ( in-position-band) negative value.
Plus A Limit R/W Parameter set/reported by first argument of ALM

command
Minus A Limit R/W Parameter set/reported by second argument of ALM

command
Plus B Limit R/W Parameter set/reported by first argument of BLM

command
Minus B Limit R/W Parameter set/reported by second argument of BLM

command
Plus Torque Limit R/W Parameter set/reported by first argument of TLM

command
Minus Torque Limit R/W Parameter set/reported by second argument of TLM

command
Plus Torque Band R/W Parameter set/reported by first argument of ITB

command
Minus Torque Band R/W Parameter set/reported by second argument of ITB

command
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Write
Backlash Setting R/W Parameter set/reported by BKL command
Plus Jog Limit R/W Parameter set/reported by first argument of JLM

command
Minus Jog Limit R/W Parameter set/reported by second argument of JLM

command
NOTCH b2 R/W This parameter sets the b2 coefficient for the notch filter.
coefficient
NOTCH a2 R/W This parameter sets the a2 coefficient for the notch filter.
coefficient
coefficient
coefficient
coefficient
LOPASS b2 R/W This parameter sets the b2 coefficient for the lopass
coefficient filter.
LOPASS a2 R/W This parameter sets the a2 coefficient for the lopass
coefficient filter.
LOPASS b1 R/W This parameter sets the b1 coefficient for the lopass
coefficient filter.
coefficient filter.
coefficient filter.
Current JOG VEL R The instantaneous current velocity of a JOG move is

reported in the parameter.
Current JOG ACC R The instantaneous current acceleration of a JOG move is

JOG VEL Setting R/W This parameter sets the target JOG velocity.
JOG ACC Setting R/W This parameter sets the target JOG acceleration.
JOG DEC Setting R/W This parameter sets the target JOG deceleration.
JOG JRK Setting R/W This parameter sets the target JOG jerk.
FBVEL Gain R/W This parameter sets the FBVEL gain value
Setting
FBVEL Term R Current contribution to control signal from FBVEL gain.

Established by servo control.
FFVEL Term R Current contribution to control signal from FFVEL gain.

FFACC Term R Current contribution to control signal from FFACC gain.


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Write
INVK Input R/W The Cartesian coordinates entered by an end-user. The

input is sent to the inverse kinematic algorithms.
INVK Output R/W The rotational coordinates computed through inverse

kinematics.
INVK Input R/W Use this parameter to store the previous input.
Previous
Max Velocity Limit R/W Parameter set/reported by MAXVEL command.
Gear Slip R/W If the GEAR ACC value is other than zero, then the gear
ratio will smoothly ramp up to target Gear Ratio. This will
cause the gear to slip during the acceleration ramp. The
number of pulses slipped is recorded in this parameter.
The user can superimpose a normal move of this gear
slip value.
RPM Factor W If RPM factor > 0, then the algorithm turns on to calculate
the RPM
User enter its value according to following formula
RPM Factor =
60/(Encoder Pulses per Revolution * Servo Period).
RPM R Once the user enters the RPM factor> 0, the revolution
per minutes are calculated and stored in this parameter.
The axis must be attached to update this parameter.
Smooth Encoder R Intermediate value in calculation of RPM, units are

Velocity encoder counts/update
Start Radius R Internal variable used with Spiral Interpolation. Please

refer to the SINE command.
End Radius R Internal variable used with Spiral Interpolation. Please

refer to the SINE command.
PPU R/W Parameter set/reported by PPU command
Lock Feedback R/W Optional feedback gain for use with LOCK command,
Gain default = 0
DIP R/W Parameter set/reported by DIP command
DIN R/W Parameter set/reported by DIN command
KVF R/W Parameter set/reported by KVF command
KVI R/W Parameter set/reported by KVI command
KVP R/W Parameter set/reported by KVP command
NOTCH Filter R/W Parameter set/reported by first argument of NOTCH

Center Frequency command
NOTCH Filter R/W Parameter set/reported by second argument of NOTCH

Width command
LOPASS Cutoff R/W Parameter set/reported by LOPASS command

Frequency
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Write
Position R/W Sets the maximum velocity for a corrective move (PM
Maintenance VEL).
Velocity
Position R Sets the acceleration for the corrective move. Use the
Maintenance PM ACC command to set the value.
Acceleration
Position R/W Sets the value equal to the ratio between stepper pulses
Maintenance Scale and encoder counts per revolution.
Gear Trigger On R/W Refer to the GEAR ON TRG command.

Offset
Gear Trigger Off R/W Refer to the GEAR OFF TRG command.
Offset
CAM Cycles R/W The default value is zero, which means that if the CAM is
turned on, then it will stay on. However, if this value is
set to a positive number, then the CAM will stay on for
that number of CAM CYCLES, and then automatically
turn itself OFF. This parameter is valid for CAM Trigger
mode as well.
CAM Velocity R/W Used to smooth out the CAM velocity that used for the
Smooth feed forward control. The default value is “10”, which
means that the velocity is averaged across 10 samples,
to reduce the jitter in the velocity term. The user can
change this value as required by the application.
However, this value should be changed before turning the
CAM on.
DGAIN Smooth R/W Used to subdue the humming noise in a torque motor as
a result DGAIN. The default value is “0”, which means
that no smoothing is applied. The user may change this
value from “0” to “5”. The DGAIN command must be used
after changing this parameter, for the change to become
effective.
DZU R/W Parameter set/reported by DZU command
DZL R/W Parameter set/reported by DZL command
FFVC R/W Parameter set/reported by FFVC command
CAM Segment R Indicates the current CAM segment. (Version 1.18.08

Active Update 13)
Position R Sets the deadband zone where, when the axis enters the
Maintenance region, position maintenance stops. The Position
Deadband Maintenance Active flag clears when an axis enters its
assigned deadband range.
Use the PM DB command to set the range.
Position R When position maintenance running, reports the current

Maintenance velocity
Current Velocity

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Write
Position R The amount of error between actual and commanded

Maintenance positions (units in stepper pulses).
Position Error
Cam Cycle Position R The current number of CAM SRC counts within the
current cam cycle.
Cam Cycle Number R The number of completed cam cycles assuming cam
source is counting positive.
Cam Cycle Length R The total cam length equal to the sum of the CAM SEG
lengths.
Parker Hannifin
P14336 - P16255 Axis Parameters (Axes 8-15)

Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80
Index Position Parameters Axis Number
Code=0x38 8 9 10 11 12 13 14 15
0x00 Current Position LONG 14336 14592 14848 15104 15360 15616 15872 16128
0x01 Target Position LONG 14337 14593 14849 15105 15361 15617 15873 16129
0x02 Actual Position LONG 14338 14594 14850 15106 15362 15618 15874 16130
0x03 Following Error LONG 14339 14595 14851 15107 15363 15619 15875 16131
0x04 Hardware Capture LONG 14340 14596 14852 15108 15364 15620 15876 16132
(INTCAP)
0x05 Software Capture LONG 14341 14597 14853 15109 15365 15621 15877 16133
(INTCAP)
0x06 Primary Setpoint LONG 14342 14598 14854 15110 15366 15622 15878 16134
0x07 Secondary Setpoint LONG 14343 14599 14855 15111 15367 15623 15879 16135
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Index Offset Parameters Axis Number
Code=0x38 8 9 10 11 12 13 14 15
0x08 Gear Offset (GEAR RES) LONG 14344 14600 14856 15112 15368 15624 15880 16136
0x09 Jog Offset (JOG RES) LONG 14345 14601 14857 15113 15369 15625 15881 16137
0x0A Cam Offset (CAM RES) LONG 14346 14602 14858 15114 15370 15626 15882 16138
0x0B Ballscrew Offset LONG 14347 14603 14859 15115 15371 15627 15883 16139
0x0C Backlash Offset (BKL) LONG 14348 14604 14860 15116 15372 15628 15884 16140
0x0D Reserved LONG 14349 14605 14861 15117 15373 15629 15885 16141
0x0E Reserved LONG 14350 14606 14862 15118 15374 15630 15886 16142
0x0F Reserved LONG 14351 14607 14863 15119 15375 15631 15887 16143
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Code=0x38 8 9 10 11 12 13 14 15
(PGAIN)
0x11 Integral Gain (IGAIN) FP32 14353 14609 14865 15121 15377 15633 15889 16145
0x12 Integral Limit (ILIMIT) FP32 14354 14610 14866 15122 15378 15634 15890 16146
0x13 Integral Delay (IDELAY) FP32 14355 14611 14867 15123 15379 15635 15891 16147
0x14 Derivative Gain (DGAIN) FP32 14356 14612 14868 15124 15380 15636 15892 16148
0x15 Derivative Width FP32 14357 14613 14869 15125 15381 15637 15893 16149
(DWIDTH)
0x16 Feedforward Velocity FP32 14358 14614 14870 15126 15382 15638 15894 16150
(FFVEL)

Parker Hannifin
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Code=0x38 8 9 10 11 12 13 14 15
0x17 Feedforward Accel FP32 14359 14615 14871 15127 15383 15639 15895 16151
(FFACC)
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Index Monitor Parameters Axis Number
Code=0x38 8 9 10 11 12 13 14 15
0x18 Proportional Term FP32 14360 14616 14872 15128 15384 15640 15896 16152
0x19 Integral Term FP32 14361 14617 14873 15129 15385 15641 15897 16153
0x1A Derivative Term FP32 14362 14618 14874 15130 15386 15642 15898 16154
0x1B Velocity FP32 14363 14619 14875 15131 15387 15643 15899 16155
0x1C Acceleration FP32 14364 14620 14876 15132 15388 15644 15900 16156
0x1D Summation Point FP32 14365 14621 14877 15133 15389 15645 15901 16157
0x1E Filter Output Signal FP32 14366 14622 14878 15134 15390 15646 15902 16158
0x1F Output Signal FP32 14367 14623 14879 15135 15391 15647 15903 16159
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Index Limit Parameters Axis Number
Code=0x38 8 9 10 11 12 13 14 15
0x20 Plus Excess Error (EXC) FP32 14368 14624 14880 15136 15392 15648 15904 16160
0x21 Minus Excess Error FP32 14369 14625 14881 15137 15393 15649 15905 16161
(EXC)
0x22 Plus In Position (IPB) FP32 14370 14626 14882 15138 15394 15650 15906 16162
0x23 Minus In Position (IPB) FP32 14371 14627 14883 15139 15395 15651 15907 16163
0x24 Plus A Limit (ALM) FP32 14372 14628 14884 15140 15396 15652 15908 16164
0x25 Minus A Limit (ALM) FP32 14373 14629 14885 15141 15397 15653 15909 16165
0x26 Plus B Limit (BLM) FP32 14374 14630 14886 15142 15398 15654 15910 16166
0x27 Minus B Limit (BLM) FP32 14375 14631 14887 15143 15399 15655 15911 16167
0x28 Plus Torque Limit (TLM) FP32 14376 14632 14888 15144 15400 15656 15912 16168
0x29 Minus Torque Limit FP32 14377 14633 14889 15145 15401 15657 15913 16169
(TLM)
0x2A Plus Torque Band FP32 14378 14634 14890 15146 15402 15658 15914 16170
0x2B Minus Torque Band FP32 14379 14635 14891 15147 15403 15659 15915 16171
0x2C Backlash Setting (BKL) FP32 14380 14636 14892 15148 15404 15660 15916 16172
0x2D Reserved FP32 14381 14637 14893 15149 15405 15661 15917 16173
0x2E Plus Jog Limit (JLM) FP32 14382 14638 14894 15150 15406 15662 15918 16174
0x2F Minus Jog Limit (JLM) FP32 14383 14639 14895 15151 15407 15663 15919 16175
Parker Hannifin
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Index Filter 0 Parameters (NOTCH) Axis Number
Code=0x38 8 9 10 11 12 13 14 15
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Index Filter 1 Parameters (LOPASS) Axis Number
Code=0x38 8 9 10 11 12 13 14 15
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Index Jog Parameters Axis Number
Code=0x38 8 9 10 11 12 13 14 15
0x3A Current JOG VEL FP32 14394 14650 14906 15162 15418 15674 15930 16186
0x3B Current JOG ACC FP32 14395 14651 14907 15163 15419 15675 15931 16187
0x3C JOG VEL Setting FP32 14396 14652 14908 15164 15420 15676 15932 16188
0x3D JOG ACC Setting FP32 14397 14653 14909 15165 15421 15677 15933 16189
0x3E JOG DEC Setting FP32 14398 14654 14910 15166 15422 15678 15934 16190
0x3F JOG JRK Setting FP32 14399 14655 14911 15167 15423 15679 15935 16191
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Code=0x38 8 9 10 11 12 13 14 15
0x40 FBVEL Gain Setting FP32 14400 14656 14912 15168 15424 15680 15936 16192
0x41 FBVEL Term FP32 14401 14657 14913 15169 15425 15681 15937 16193
0x42 FFVEL Term FP32 14402 14658 14914 15170 15426 15682 15938 16194
0x43 FFACC Term FP32 14403 14659 14915 15171 15427 15683 15939 16195
0x44 Reserved FP32 14404 14660 14916 15172 15428 15684 15940 16196
0x45 Reserved FP32 14405 14661 14917 15173 15429 15685 15941 16197
0x46 Reserved FP32 14406 14662 14918 15174 15430 15686 15942 16198
0x47 Reserved FP32 14407 14663 14919 15175 15431 15687 15943 16199

Parker Hannifin
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Code=0x38 8 9 10 11 12 13 14 15
0x48 INVK Input FP32 14408 14664 14920 15176 15432 15688 15944 16200
0x49 INVK Output FP32 14409 14665 14921 15177 15433 15689 15945 16201
0x4A INVK Input Previous FP32 14410 14666 14922 15178 15434 15690 15946 16202
0x4B Reserved FP32 14411 14667 14923 15179 15435 15691 15947 16203
0x4C Reserved FP32 14412 14668 14924 15180 15436 15692 15948 16204
0x4D Reserved FP32 14413 14669 14925 15181 15437 15693 15949 16205
0x4E Reserved FP32 14414 14670 14926 15182 15438 15694 15950 16206
0x4F Reserved FP32 14415 14671 14927 15183 15439 15695 15951 16207
0x50 MAXVEL FP32 14416 14672 14928 15184 15440 15696 15952 16208
0x51 Gear Slip FP32 14417 14673 14929 15185 15441 15697 15953 16209
0x52 RPM Factor FP32 14418 14674 14930 15186 15442 15698 15954 16210
0x53 RPM FP32 14419 14675 14931 15187 15443 15699 15955 16211
0x54 Smooth Encoder Velocity FP32 14420 14676 14932 15188 15444 15700 15956 16212
0x55 Start Radius FP32 14421 14677 14933 15189 15445 15701 15957 16213
0x56 End Radius FP32 14422 14678 14934 15190 15446 15702 15958 16214
0x57 PPU FP32 14423 14679 14935 15191 15447 15703 15959 16215
0x58 Lock Feedback Gain FP32 14424 14680 14936 15192 15448 15704 15960 16216
0x59 DIP FP32 14425 14681 14937 15193 15449 15705 15961 16217
0x5A DIN FP32 14426 14682 14938 15194 15450 15706 15962 16218
0x5B KVF FP32 14427 14683 14939 15195 15451 15707 15963 16219
0x5C KVI FP32 14428 14684 14940 15196 15452 15708 15964 16220
0x5D KVP FP32 14429 14685 14941 15197 15453 15709 15965 16221
0x5E Reserved FP32 14430 14686 14942 15198 15454 15710 15966 16222
0x5F Reserved FP32 14431 14687 14943 15199 15455 15711 15967 16223
0x60 NOTCH Filter Center FP32 14432 14688 14944 15200 15456 15712 15968 16224
Frequency
0x61 NOTCH Filter Width FP32 14433 14689 14945 15201 15457 15713 15969 16225
0x62 LOPASS Cutoff FP32 14434 14690 14946 15202 15458 15714 15970 16226
Frequency
0x63 Reserved FP32 14435 14691 14947 15203 15459 15715 15971 16227
0x64 PM Velocity FP32 14436 14692 14948 15204 15460 15716 15972 16228
0x65 PM ACC FP32 14437 14693 14949 15205 15461 15717 15973 16229
0x66 Reserved FP32 14438 14694 14950 15206 15462 15718 15974 16230
0x67 PM SCALE FP32 14439 14695 14951 15207 15463 15719 15975 16231
0x68 Reserved LONG 14440 14696 14952 15208 15464 15720 15976 16232
0x69 Reserved LONG 14441 14697 14953 15209 15465 15721 15977 16233
0x6A Reserved LONG 14442 14698 14954 15210 15466 15722 15978 16234
0x6B Reserved LONG 14443 14699 14955 15211 15467 15723 15979 16235
Parker Hannifin
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Code=0x38 8 9 10 11 12 13 14 15
0x6C GEAR ON TRG Offset LONG 14444 14700 14956 15212 15468 15724 15980 16236
0x6D GEAR OFF TRG Offset LONG 14445 14701 14957 15213 15469 15725 15981 16237
0x6E Reserved LNG 14446 14702 14958 15214 15470 15726 15982 16238
0x6F Reserved LONG 14447 14703 14959 15215 15471 15727 15983 16239
0x70 CAM Cycles LONG 14448 14704 14960 15216 15472 15728 15984 16240
0x71 CAM Velocity Smooth LONG 14449 14705 14961 15217 15473 15729 15985 16241
0x72 DGAIN Smooth LONG 14450 14706 14962 15218 15474 15730 15986 16242
0x73 DZU LONG 14451 14707 14963 15219 15475 15731 15987 16243
0x74 DZL LONG 14452 14708 14964 15220 15476 15732 15988 16244
0x75 FFVC LONG 14453 14709 14965 15221 15477 15733 15989 16245
0x76 Reserved LONG 14454 14710 14966 15222 15478 15734 15990 16246
0x77 CAM Segment Active LONG 14455 14711 14967 15223 15479 15735 15991 16247
0x78 PM Deadband (PM DB) LONG 14456 14712 14968 15224 15480 15736 15992 16248
0x79 PM Current Velocity LONG 14457 14713 14969 15225 15481 15737 15993 16249
0x7A Reserved LONG 14458 14714 14970 15226 15482 15738 15994 16250
0x7B Reserved LONG 14459 14715 14971 15227 15483 15739 15995 16251
0x7C PM Position Error LONG 14460 14716 14972 15228 15484 15740 15996 16252
0x7D Cam Cycle Position LONG 14461 14717 14973 15229 15485 15741 15997 16253
0x7E Cam Cycle Number LONG 14462 14718 14974 15230 15486 15742 15998 16254
0x7F Cam Cycle Length LONG 14463 14719 14975 15231 15487 15743 15999 16255

Write
Current Position R/W This is the current commanded position of the axis.
Target Position R/W User programmed target position of the buffered move.
Actual Position R/W Current actual position read through feedback.
Following Error R/W Current following error in servo control loop.
Hardware Capture R Latest hardware-capture register value.
Software Capture R Latest software-capture register value.
Primary Setpoint R/W See Servo loop block diagram.
Secondary R/W See servo loop block diagram.

Setpoint
Gear Offset R/W Current geared position.
Jog Offset R/W Current Jog position.
Cam Offset R/W Current Cam position.
Ballscrew Offset R/W Current ballscrew position.
Backlash Offset R/W Current backlash position.

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Write
Proportional Gain R/W See servo loop block diagram.
Integral Gain R/W See servo loop block diagram.
Integral Limit R/W See servo loop block diagram.
Integral Delay R/W See servo loop block diagram.
Derivative Gain R/W See servo loop block diagram.
Derivative Width R/W See servo loop block diagram.
Feedforward R/W See servo loop block diagram.

Velocity
Feedforward Accel R/W See servo loop block diagram.
Proportional Term R/W Value after the P Gain block.
Integral Term R/W Value after the Integral block.
Derivative Term R/W Value after the D-gain block.
Velocity R/W Current total velocity of an axis, including any cam and
gear velocity etc.
Acceleration R/W Current total acceleration of an axes, including any cam

and gear acceleration etc.
Summation Point R Intermediate servo loop signal, sum of all gain terms, but
before filtering.
Filter Output R Filtered servo loop signal

Signal
Output Signal R Servo loop output signal to be fed into the DACs or
Stepper
Plus Excess Error R/W Excess error positive band value. See EXC command.
Minus Excess R/W Excess error negative band value. See EXC command.
Error
Plus In Position R/W IPB ( in-position-band) positive value.
Minus In Position R/W IPB ( in-position-band) negative value.
Plus A Limit R/W Parameter set/reported by first argument of ALM command
Minus A Limit R/W Parameter set/reported by second argument of ALM

command
Plus B Limit R/W Parameter set/reported by first argument of BLM command
Minus B Limit R/W Parameter set/reported by second argument of BLM

command
Plus Torque Limit R/W Parameter set/reported by first argument of TLM command
Minus Torque R/W Parameter set/reported by second argument of TLM

Limit command
Plus Torque Band R/W Parameter set/reported by first argument of ITB command
Minus Torque R/W Parameter set/reported by second argument of ITB

Band command
Backlash Setting R/W Parameter set/reported by BKL command
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Plus Jog Limit R/W Parameter set/reported by first argument of JLM command
Minus Jog Limit R/W Parameter set/reported by second argument of JLM

command
coefficient
coefficient
coefficient
coefficient
coefficient
LOPASS b2 R/W This parameter sets the b2 coefficient for the lopass filter.
coefficient
LOPASS a2 R/W This parameter sets the a2 coefficient for the lopass filter.
coefficient
LOPASS b1 R/W This parameter sets the b1 coefficient for the lopass filter.
coefficient
coefficient
coefficient
Current JOG VEL R The instantaneous current velocity of a JOG move is

Current JOG ACC R The instantaneous current acceleration of a JOG move is

JOG VEL Setting R/W This parameter sets the target JOG velocity.
JOG ACC Setting R/W This parameter sets the target JOG acceleration.
JOG DEC Setting R/W This parameter sets the target JOG deceleration.
JOG JRK Setting R/W This parameter sets the target JOG jerk.
FBVEL Gain R/W This parameter sets the FBVEL gain value
Setting
FBVEL Term R Current contribution to control signal from FBVEL gain.

FFVEL Term R Current contribution to control signal from FFVEL gain.

FFACC Term R Current contribution to control signal from FFACC gain.

INVK Input R/W The Cartesian coordinates entered by an end-user. The

input is sent to the inverse kinematic algorithms.

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INVK Output R/W The rotational coordinates computed through inverse
kinematics.
INVK Input R/W Use this parameter to store the previous input.
Previous
Max Velocity Limit R/W Parameter set/reported by MAXVEL command.
Gear Slip R/W If the GEAR ACC value is other than zero, then the gear
ratio will smoothly ramp up to target Gear Ratio. This will
cause the gear to slip during the acceleration ramp. The
number of pulses slipped is recorded in this parameter.
The user can superimpose a normal move of this gear slip
value.
RPM Factor W If RPM factor > 0, then the algorithm turns on to calculate
the RPM
User enter its value according to following formula
RPM Factor =
60/(Encoder Pulses per Revolution * Servo Period).
RPM R Once the user enters the RPM factor> 0, the revolution per
minutes are calculated and stored in this parameter. The
axis must be attached to update this parameter.
Smooth Encoder R Intermediate value in calculation of RPM, units are encoder

Velocity counts/update
Start Radius R Internal variable used with Spiral Interpolation. Please refer
to the SINE command.
End Radius R Internal variable used with Spiral Interpolation. Please refer
to the SINE command.
PPU R/W Parameter set/reported by PPU command
Lock Feedback R/W Optional feedback gain for use with LOCK command,
Gain default = 0
DIP R/W Parameter set/reported by DIP command
DIN R/W Parameter set/reported by DIN command
KVF R/W Parameter set/reported by KVF command
KVI R/W Parameter set/reported by KVI command
KVP R/W Parameter set/reported by KVP command
NOTCH Filter R/W Parameter set/reported by first argument of NOTCH

Center Frequency command
NOTCH Filter R/W Parameter set/reported by second argument of NOTCH

Width command
LOPASS Cutoff R/W Parameter set/reported by LOPASS command

Frequency
Position R/W Sets the maximum velocity for a corrective move (PM
Maintenance VEL).
Velocity
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Write
Position R Sets the acceleration for the corrective move. Use the PM
Maintenance ACC command to set the value.
Acceleration
Position R/W Sets the value equal to the ratio between stepper pulses
Maintenance and encoder counts per revolution.
Scale
Gear Trigger On R/W Refer to the GEAR ON TRG command.

Offset
Gear Trigger Off R/W Refer to the GEAR OFF TRG command.
Offset
CAM Cycles R/W The default value is zero, which means that if the CAM is
turned on, then it will stay on. However, if this value is set
to a positive number, then the CAM will stay on for that
number of CAM CYCLES, and then automatically turn itself
OFF. This parameter is valid for CAM Trigger mode as
well.
CAM Velocity R/W Used to smooth out the CAM velocity that used for the feed
Smooth forward control. The default value is “10”, which means that
the velocity is averaged across 10 samples, to reduce the
jitter in the velocity term. The user can change this value
as required by the application. However, this value should
be changed before turning the cam on.
DGAIN Smooth R/W Used to subdue the humming noise in a torque motor as a
result DGAIN. The default value is “0”, which means that
no smoothing is applied. The user may change this value
from “0” to “5”. The DGAIN command must be used after
changing this parameter, for the change to become
effective.
DZU R/W Parameter set/reported by DZU command
DZL R/W Parameter set/reported by DZL command
FFVC R/W Parameter set/reported by FFVC command
CAM Segment R Indicates the current CAM segment. (Version 1.18.08

Active Update 13)
Position R Sets the deadband zone where, when the axis enters the
Maintenance region, position maintenance stops. The Position
Deadband Maintenance Active flag clears when an axis enters its
assigned deadband range.
Use the PM DB command to set the range.
Position R When position maintenance running, reports the current

Maintenance velocity
Current Velocity
Position R The amount of error between actual and commanded

Maintenance positions (units in stepper pulses).
Position Error

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Cam Cycle R The current number of CAM SRC counts within the current
Position cam cycle.
Cam Cycle R The number of completed cam cycles assuming cam
Number source is counting positive.
Cam Cycle Length R The total cam length equal to the sum of the CAM SEG
lengths.
Parker Hannifin
P28672 - P30543 Drive Parameters (Axes 0-7)

ACR90x0 only
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Index Drive Configuration Parameters Axis Number
Code=0x70 0 1 2 3 4 5 6 7
0x00 Communication Device LONG 28672 28928 29184 29440 29696 29952 30208 30464
0x01 Drive Type LONG 28673 28929 29185 29441 29697 29953 30209 30465
0x02 Feedback Resolution LONG 28674 28930 29186 29442 29698 29954 30210 30466
0x03 Number of Pole Pairs LONG 28675 28931 29187 29443 29699 29955 30211 30467
0x04 Gearbox Ratio LONG 28676 28932 29188 29444 29700 29956 30212 30468
0x05 Heatsink Value LONG 28677 28933 29189 29445 29701 29957 30213 30469
0x06 Hall Feedback Control LONG 28678 28934 29190 29446 29702 29958 30214 30470
0x07 Disable Thermal LONG 28679 28935 29191 29447 29703 29959 30215 30471
Switches
0x08 Mode of Operation LONG 28680 28936 29192 29448 29704 29960 30216 30472
0x09 PWM Frequency LONG 28681 28937 29193 29449 29705 29961 30217 30473
0x0A Motor Switch Type LONG 28682 28938 29194 29450 29706 29962 30218 30474
0x0B Commanded Direction LONG 28683 28939 29195 29451 29707 29963 30219 30475
0x0C Enable Current Foldback LONG 28684 28940 29196 29452 29708 29964 30220 30476
0x0D Fault on Drive Disable LONG 28685 28941 29197 29453 29709 29965 30221 30477
0x0E Reserved LONG 28686 28942 29198 29454 29710 29966 30222 30478
0x0F Reserved LONG 28687 28943 29199 29455 29711 29967 30223 30479
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Index Drive Talk Status Parameters Axis Number
Code=0x70 0 1 2 3 4 5 6 7
0x10 Reserved LONG 28688 28944 29200 29456 29712 29968 30224 30480
0x11 Reserved LONG 28689 28945 29201 29457 29713 29969 30225 30481
0x12 Reserved LONG 28690 28946 29202 29458 29714 29970 30226 30482
0x13 Reserved LONG 28691 28947 29203 29459 29715 29971 30227 30483
0x14 Custom Product ID LONG 28692 28948 29204 29460 29716 29972 30228 30484
0x16 Current Hall State LONG 28694 28950 29206 29462 29718 29974 30230 30486
0x17 Operating Hours LONG 28695 28951 29207 29463 29719 29975 30231 30487
0x18 Operating Minutes LONG 28696 28952 29208 29464 29720 29976 30232 30488
0x19 Operating Milliseconds LONG 28697 28953 29209 29465 29721 29977 30233 30489
0x1A Reserved LONG 28698 28954 29210 29466 29722 29978 30234 30490
0x1B Reserved LONG 28699 28955 29211 29467 29723 29979 30235 30491
0x1C Reserved LONG 28700 28956 29212 29468 29724 29980 30236 30492

Parker Hannifin
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Code=0x70 0 1 2 3 4 5 6 7
0x1D Reserved LONG 28701 28957 29213 29469 29725 29981 30237 30493
0x1E Reserved LONG 28702 28958 29214 29470 29726 29982 30238 30494
0x1F Reserved LONG 28703 28959 29215 29471 29727 29983 30239 30495
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Index Drive Talk Configuration Axis Number
Parameters 0 1 2 3 4 5 6 7
Code=0x70
0x20 Continuous Current FP32 28704 28960 29216 29472 29728 29984 30240 30496
Derating
0x22 Peak Current Rating FP32 28706 28962 29218 29474 29730 29986 30242 30498
0x23 Motor Inductance FP32 28707 28963 29219 29475 29731 29987 30243 30499
0x24 Motor Inductance Factor FP32 28708 28964 29220 29476 29732 29988 30244 30500
0x25 Motor Max Temp FP32 28709 28965 29221 29477 29733 29989 30245 30501
0x26 Motor Resistance FP32 28710 28966 29222 29478 29734 29990 30246 30502
0x27 Motor Rated Speed FP32 28711 28967 29223 29479 29735 29991 30247 30503
0x28 Motor Damping FP32 28712 28968 29224 29480 29736 29992 30248 30504
0x29 Motor Rotor Inertia FP32 28713 28969 29225 29481 29737 29993 30249 30505
0x2A Motor Ke FP32 28714 28970 29226 29482 29738 29994 30250 30506
0x2B Motor Pitch FP32 28715 28971 29227 29483 29739 29995 30251 30507
0x2C Velocity Limit FP32 28716 28972 29228 29484 29740 29996 30252 30508
0x2D Torque Limit FP32 28717 28973 29229 29485 29741 29997 30253 30509
0x2E Torque Scale FP32 28718 28974 29230 29486 29742 29998 30254 30510
0x2F Motor Ambient Temp FP32 28719 28975 29231 29487 29743 29999 30255 30511
0x30 Motor Thermal FP32 28720 28976 29232 29488 29744 30000 30256 30512
Resistance
0x31 Motor Thermal Time FP32 28721 28977 29233 29489 29745 30001 30257 30513
Constant
0x32 Motor Winding Time FP32 28722 28978 29234 29490 29746 30002 30258 30514
Constant
0x33 Integral Gain FP32 28723 28979 29235 29491 29747 30003 30259 30515
0x35 Integral Error Limit FP32 28725 28981 29237 29493 29749 30005 30261 30517
0x36 Analog Center Deadband FP32 28726 28982 29238 29494 29750 30006 30262 30518
0x37 Max Startup Voltage FP32 28727 28983 29239 29495 29751 30007 30263 30519
0x38 Reserved FP32 28728 28984 29240 29496 29752 30008 30264 30520
0x39 Reserved FP32 28729 28985 29241 29497 29753 30009 30265 30521
0x3A Reserved FP32 28730 28986 29242 29498 29754 30010 30266 30522
0x3B Reserved FP32 28731 28987 29243 29499 29755 30011 30267 30523
Parker Hannifin
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Parameters 0 1 2 3 4 5 6 7
Code=0x70
0x3C Reserved FP32 28732 28988 29244 29500 29756 30012 30268 30524
0x3D Reserved FP32 28733 28989 29245 29501 29757 30013 30269 30525
0x3E Reserved FP32 28734 28990 29246 29502 29758 30014 30270 30526
0x3F Reserved FP32 28735 28991 29247 29503 29759 30015 30271 30527
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Code=0x70 0 1 2 3 4 5 6 7
0x40 Amplifier Cont Current FP32 28736 28992 29248 29504 29760 30016 30272 30528
Rating
0x41 Amplifier Max Current FP32 28737 28993 29249 29505 29761 30017 30273 30529
Rating
0x42 Commanded Current FP32 28738 28994 29250 29506 29762 30018 30274 30530
0x43 Commanded Torque FP32 28739 28995 29251 29507 29763 30019 30275 30531
0x44 Actual Torque FP32 28740 28996 29252 29508 29764 30020 30276 30532
0x45 Actual Velocity FP32 28741 28997 29253 29509 29765 30021 30277 30533
0x46 ±10V Input Signal or FP32 28742 28998 29254 29510 29766 30022 30278 30534
Shaft Power in Watts
0x47 Drive Temperature FP32 28743 28999 29255 29511 29767 30023 30279 30535
0x48 Motor Temperature FP32 28744 29000 29256 29512 29768 30024 30280 30536
0x49 Bus Voltage FP32 28745 29001 29257 29513 29769 30025 30281 30537
0x4A Reserved FP32 28746 29002 29258 29514 29770 30026 30282 30538
0x4B Reserved FP32 28747 29003 29259 29515 29771 30027 30283 30539
0x4C Reserved FP32 28748 29004 29260 29516 29772 30028 30284 30540
0x4D Reserved FP32 28749 29005 29261 29517 29773 30029 30285 30541
0x4E Reserved FP32 28750 29006 29262 29518 29774 30030 30286 30542
0x4F Reserved FP32 28751 29007 29263 29519 29775 30031 30287 30543

Parker Hannifin

Write
Communication R/W Sets the device number to use for drive talk. This must be
Device the same device number used in the OPEN DTALK
command.
Drive Type R/W Sets the drive type to talk to (Aries = 0)
Feedback R/W Establishes the encoder resolution (post quadrature) in

Resolution counts/rev or counts/electrical pitch.
Number of Pole R/W Sets the number of motor pole pairs.

Pairs
Gearbox Ratio R/W Sets the gearbox ratio, if using a gearbox.
Heatsink Value R Indicates whether the drive is configured with heat sinking
for its motor.
0 = no heatsink, 1 = heatsink; default = 0
Hall Feedback R/W Sets the logic sense of the hall sensors.
Control 0=Do not invert, 1=Invert
Disable Thermal R/W Sets drive fault mode when the motor thermal switch opens
Switches or is non-existent. 0=Enable, 1=Disable
Mode of R/W Sets the drive control mode for your Aries Drive.
Operation 1=Autorun, 2=Torque/Force, 4=Velocity, 6=Position,
7=Reversed Position
PWM Frequency R/W Sets the drives PWM frequency. 16 = 16 kHz, 32 = 32 kHz
Motor Switch R/W Sets the type of motor temperature switch used.
Type 0=NC, 1=PTC, 2=NO, 3=NTC
Commanded R/W Sets the direction of shaft rotation for positive analog input.
Direction 0=CW, 1=CCW
Enable Current R/W Sets the mode for the drive’s current foldback protection
Foldback feature. 0=Disable, 1=Enable
Fault on Drive R/W Sets the mode for fault notification on drive disable.
Disable 0=Disable, 1=Enable
Custom Product R Reports the custom product number if a custom winding is

ID used on the motor.
Encoder R Reports the present feedback device position.

Position
Current Hall R Reports the present hall sensor value from 1-6.
State
Operating Hours R Number of hours the Aries drive has been powered on .
Operating R Number of minutes the Aries drive has been powered on .

Minutes
Operating R Number of milliseconds the Aries drive has been powered

Milliseconds on .
Continuous R Reports the continuous current setting in the drive.

Current
Parker Hannifin

Write
Continuous R Reports the derating percentage of continuous current at

Current rated speed to account for velocity-related losses in the
Derating motor.
Peak Current R Reports the peak current setting of the drive.

Rating
Motor R Reports the motor inductance in mH.

Inductance
Motor R Reports the minimum motor inductance divided by the

Inductance maximum motor inductance.
Factor
Motor Max R Reports the maximum allowable motor winding

Temp temperature.
Motor R Reports the motor winding resistance in ohms.

Resistance
Motor Rated R Reports the motor rated speed in rpm.

Speed
Motor Damping R Reports the motor damping coefficient.
Motor Rotor R Reports the rotor inertia of the motor.

Inertia
Motor Ke R Reports the motor constant.
Motor Pitch R Reports the electrical pitch of the magnets in a linear servo
motor.
Velocity Limit R Reports the motor velocity limit.
Torque Limit R Reports the motor torque limit.
Torque Scale R Reports the torque/force scaling of the command input.
Motor Ambient R Reports the motor ambient temperature used by the

Temp software thermal model.
Motor Thermal R Reports the motor thermal resistance used by the software
Resistance thermal model.
Motor Thermal R Reports the motor thermal time constant.

Time Constant
Motor Winding R Reports the motor winding time constant.

Time Constant
Integral Gain R R Reports the drive setting for integral gain.
Proportional R Reports the drive setting for proportional gain.

Gain
Integral Error R Reports the limit of the integral error.

Limit
Analog Center R Reports the deadband around the command input. (Aries
Deadband AE only.)
Max Startup R Reports the maximum allowable voltage at the command

Voltage input on drive startup. (Aries AE only.)

Parker Hannifin

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Amplifier Cont R Reports the drives continuous current rating.

Current Rating
Amplifier Max R Reports the drives maximum current rating.

Current Rating
Commanded R Reports the commanded current from the drive.

Current
Commanded R Reports the commanded torque from the drive.

Torque
Actual Torque R Reports the actual torque from the motor.
Actual Velocity R Reports the motor actual velocity.
±10V Input R When talking to Aries AE or Aries SE, reports the command
Signal signal level.
Shaft Power R When talking to Aries EPL, reports the shaft power.
Drive R Reports the current drive temperature.

Temperature
Motor R Reports the current motor temperature as calculated by the

Temperature software thermal model.
Bus Voltage R Reports the drive bus voltage.
Parker Hannifin
P30720 - P32591 Drive Parameters (Axes 8-15)

ACR90x0 only
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Index Drive Configuration Parameters Axis Number
Code=0x78 8 9 10 11 12 13 14 15
0x00 Communication Device LONG 30720 30976 31232 31488 31744 32000 32256 32512
0x01 Drive Type LONG 30721 30977 31233 31489 31745 32001 32257 32513
0x02 Feedback Resolution LONG 30722 30978 31234 31490 31746 32002 32258 32514
0x03 Number of Pole Pairs LONG 30723 30979 31235 31491 31747 32003 32259 32515
0x04 Gearbox Ratio LONG 30724 30980 31236 31492 31748 32004 32260 32516
0x05 Heatsink Value LONG 30725 30981 31237 31493 31749 32005 32261 32517
0x06 Hall Feedback Control LONG 30726 30982 31238 31494 31750 32006 32262 32518
0x07 Disable Thermal LONG 30727 30983 31239 31495 31751 32007 32263 32519
Switches
0x08 Mode of Operation LONG 30728 30984 31240 31496 31752 32008 32264 32520
0x09 PWM Frequency LONG 30729 30985 31241 31497 31753 32009 32265 32521
0x0A Motor Switch Type LONG 30730 30986 31242 31498 31754 32010 32266 32522
0x0B Commanded Direction LONG 30731 30987 31243 31499 31755 32011 32267 32523
0x0C Enable Current Foldback LONG 30732 30988 31244 31500 31756 32012 32268 32524
0x0D Fault on Drive Disable LONG 30733 30989 31245 31501 31757 32013 32269 32525
0x0E Reserved LONG 30734 30990 31246 31502 31758 32014 32270 32526
0x0F Reserved LONG 30735 30991 31247 31503 31759 32015 32271 32527
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Parameters 8 9 10 11 12 13 14 15
Code=0x78
0x10 Reserved LONG 30736 30992 31248 31504 31760 32016 32272 32528
0x11 Reserved LONG 30737 30993 31249 31505 31761 32017 32273 32529
0x12 Reserved LONG 30738 30994 31250 31506 31762 32018 32274 32530
0x13 Reserved LONG 30739 30995 31251 31507 31763 32019 32275 32531
0x14 Custom Product ID LONG 30740 30996 31252 31508 31764 32020 32276 32532
0x16 Current Hall State LONG 30742 30998 31254 31510 31766 32022 32278 32534
0x17 Operating Hours LONG 30743 30999 31255 31511 31767 32023 32279 32535
0x18 Operating Minutes LONG 30744 31000 31256 31512 31768 32024 32280 32536
0x19 Operating Milliseconds LONG 30745 31001 31257 31513 31769 32025 32281 32537
0x1A Reserved LONG 30746 31002 31258 31514 31770 32026 32282 32538
0x1B Reserved LONG 30747 31003 31259 31515 31771 32027 32283 32539
0x1C Reserved LONG 30748 31004 31260 31516 31772 32028 32284 32540

Parker Hannifin
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Parameters 8 9 10 11 12 13 14 15
Code=0x78
0x1D Reserved LONG 30749 31005 31261 31517 31773 32029 32285 32541
0x1E Reserved LONG 30750 31006 31262 31518 31774 32030 32286 32542
0x1F Reserved LONG 30751 31007 31263 31519 31775 32031 32287 32543
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Parameters 8 9 10 11 12 13 14 15
Code=0x78
Derating
0x22 Peak Current Rating FP32 30754 31010 31266 31522 31778 32034 32290 32546
0x23 Motor Inductance FP32 30755 31011 31267 31523 31779 32035 32291 32547
0x24 Motor Inductance Factor FP32 30756 31012 31268 31524 31780 32036 32292 32548
0x25 Motor Max Temp FP32 30757 31013 31269 31525 31781 32037 32293 32549
0x26 Motor Resistance FP32 30758 31014 31270 31526 31782 32038 32294 32550
0x27 Motor Rated Speed FP32 30759 31015 31271 31527 31783 32039 32295 32551
0x28 Motor Damping FP32 30760 31016 31272 31528 31784 32040 32296 32552
0x29 Motor Rotor Inertia FP32 30761 31017 31273 31529 31785 32041 32297 32553
0x2A Motor Ke FP32 30762 31018 31274 31530 31786 32042 32298 32554
0x2B Motor Pitch FP32 30763 31019 31275 31531 31787 32043 32299 32555
0x2C Velocity Limit FP32 30764 31020 31276 31532 31788 32044 32300 32556
0x2D Torque Limit FP32 30765 31021 31277 31533 31789 32045 32301 32557
0x2E Torque Scale FP32 30766 31022 31278 31534 31790 32046 32302 32558
0x2F Motor Ambient Temp FP32 30767 31023 31279 31535 31791 32047 32303 32559
0x30 Motor Thermal FP32 30768 31024 31280 31536 31792 32048 32304 32560
Resistance
0x31 Motor Thermal Time FP32 30769 31025 31281 31537 31793 32049 32305 32561
Constant
0x32 Motor Winding Time FP32 30770 31026 31282 31538 31794 32050 32306 32562
Constant
0x33 Integral Gain FP32 30771 31027 31283 31539 31795 32051 32307 32563
0x35 Integral Error Limit FP32 30773 31029 31285 31541 31797 32053 32309 32565
0x36 Analog Center Deadband FP32 30774 31030 31286 31542 31798 32054 32310 32566
0x37 Max Startup Voltage FP32 30775 31031 31287 31543 31799 32055 32311 32567
0x38 Reserved FP32 30776 31032 31288 31544 31800 32056 32312 32568
0x39 Reserved FP32 30752 31008 31264 31520 31776 32032 32288 32544
0x3A Reserved FP32 30753 31009 31265 31521 31777 32033 32289 32545
Parker Hannifin
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Parameters 8 9 10 11 12 13 14 15
Code=0x78
0x3B Reserved FP32 30754 31010 31266 31522 31778 32034 32290 32546
0x3C Reserved FP32 30755 31011 31267 31523 31779 32035 32291 32547
0x3D Reserved FP32 30756 31012 31268 31524 31780 32036 32292 32548
0x3E Reserved FP32 30757 31013 31269 31525 31781 32037 32293 32549
0x3F Reserved FP32 30758 31014 31270 31526 31782 32038 32294 32550
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Code=0x78 8 9 10 11 12 13 14 15
0x40 Amplifier Cont Current FP32 30784 31040 31296 31552 31808 32064 32320 32576
Rating
0x41 Amplifier Max Current FP32 30785 31041 31297 31553 31809 32065 32321 32577
Rating
0x42 Commanded Current FP32 30786 31042 31298 31554 31810 32066 32322 32578
0x43 Commanded Torque FP32 30787 31043 31299 31555 31811 32067 32323 32579
0x44 Actual Torque FP32 30788 31044 31300 31556 31812 32068 32324 32580
0x45 Actual Velocity FP32 30789 31045 31301 31557 31813 32069 32325 32581
0x46 ±10V Input Signal or FP32 30790 31046 31302 31558 31814 32070 32326 32582
0x47 Drive Temperature FP32 30791 31047 31303 31559 31815 32071 32327 32583
0x48 Motor Temperature FP32 30792 31048 31304 31560 31816 32072 32328 32584
0x49 Bus Voltage FP32 30793 31049 31305 31561 31817 32073 32329 32585
0x4A Reserved FP32 30794 31050 31306 31562 31818 32074 32330 32586
0x4B Reserved FP32 30795 31051 31307 31563 31819 32075 32331 32587
0x4C Reserved FP32 30796 31052 31308 31564 31820 32076 32332 32588
0x4D Reserved FP32 30797 31053 31309 31565 31821 32077 32333 32589
0x4E Reserved FP32 30798 31054 31310 31566 31822 32078 32334 32590
0x4F Reserved FP32 30799 31055 31311 31567 31823 32079 32335 32591

Parker Hannifin

Write
Communication R/W Sets the device number to use for drive talk. This must be
Device the same device number used in the OPEN DTALK
command.
Drive Type R/W Sets the drive type to talk to (Aries = 0)
Feedback R/W Establishes the encoder resolution (post quadrature) in

Resolution counts/rev or counts/electrical pitch.
Number of Pole R/W Sets the number of motor pole pairs.

Pairs
Gearbox Ratio R/W Sets the gearbox ratio, if using a gearbox.
Heatsink Value R Indicates whether the drive is configured with heat sinking
for its motor.
0 = no heatsink, 1 = heatsink; default = 0
Hall Feedback R/W Sets the logic sense of the hall sensors.
Control 0=Do not invert, 1=Invert
Disable Thermal R/W Sets drive fault mode when the motor thermal switch opens
Switches or is non-existent. 0=Enable, 1=Disable
Mode of R/W Sets the drive control mode for your Aries Drive.
Operation 1=Autorun, 2=Torque/Force, 4=Velocity, 6=Position,
7=Reversed Position
PWM Frequency R/W Sets the drives PWM frequency. 16 = 16 kHz, 32 = 32 kHz
Motor Switch R/W Sets the type of motor temperature switch used.
Type 0=NC, 1=PTC, 2=NO, 3=NTC
Commanded R/W Sets the direction of shaft rotation for positive analog input.
Direction 0=CW, 1=CCW
Enable Current R/W Sets the mode for the drive’s current foldback protection
Foldback feature. 0=Disable, 1=Enable
Fault on Drive R/W Sets the mode for fault notification on drive disable.
Disable 0=Disable, 1=Enable
Custom Product R Reports the custom product number if a custom winding is

ID used on the motor.
Encoder R Reports the present feedback device position.

Position
Current Hall R Reports the present hall sensor value from 1-6.
State
Operating Hours R Number of hours the Aries drive has been powered on.
Operating R Number of minutes the Aries drive has been powered on.
Minutes
Operating R Number of milliseconds the Aries drive has been powered

Milliseconds on.
Continuous R Reports the continuous current setting in the drive.

Current
Parker Hannifin

Write
Continuous R Reports the derating percentage of continuous current at

Current rated speed to account for velocity-related losses in the
Derating motor.
Peak Current R Reports the peak current setting of the drive.

Rating
Motor R Reports the motor inductance in mH.

Inductance
Motor R Reports the minimum motor inductance divided by the

Inductance maximum motor inductance.
Factor
Motor Max R Reports the maximum allowable motor winding

Temp temperature.
Motor R Reports the motor winding resistance in ohms.

Resistance
Motor Rated R Reports the motor rated speed in rpm.

Speed
Motor Damping R Reports the motor damping coefficient.
Motor Rotor R Reports the rotor inertia of the motor.

Inertia
Motor Ke R Reports the motor constant.
Motor Pitch R Reports the electrical pitch of the magnets in a linear servo
motor.
Velocity Limit R Reports the motor velocity limit.
Torque Limit R Reports the motor torque limit.
Torque Scale R Reports the torque/force scaling of the command input.
Motor Ambient R Reports the motor ambient temperature used by the

Temp software thermal model.
Motor Thermal R Reports the motor thermal resistance used by the software
Resistance thermal model.
Motor Thermal R Reports the motor thermal time constant.

Time Constant
Motor Winding R Reports the motor winding time constant.

Time Constant
Integral Gain R R Reports the drive setting for integral gain.
Proportional R Reports the drive setting for proportional gain.

Gain
Integral Error R Reports the limit of the integral error.

Limit
Analog Center R Reports the deadband around the command input. (Aries
Deadband AE only.)
Max Startup R Reports the maximum allowable voltage at the command

Voltage input on drive startup. (Aries AE only.)

Parker Hannifin

Write
Amplifier Cont R Reports the drives continuous current rating.

Current Rating
Amplifier Max R Reports the drives maximum current rating.

Current Rating
Commanded R Reports the commanded current from the drive.

Current
Commanded R Reports the commanded torque from the drive.

Torque
Actual Torque R Reports the actual torque from the motor.
Actual Velocity R Reports the motor actual velocity.
±10V Input R When talking to Aries AE or Aries SE, reports the command
Signal signal level.
Shaft Power R When talking to Aries EPL, reports the shaft power.
Drive R Reports the current drive temperature.

Temperature
Motor R Reports the current motor temperature as calculated by the

Temperature software thermal model.
Bus Voltage R Reports the drive bus voltage.
Parker Hannifin
P32768 - P35327 CANopen Parameters

Status and Control

CANopen Status and Control P
Master Node ID LONG 32768
Bit Rate LONG 32769
Number of Slave Nodes LONG 32770
CANopen-Alt. Digital I/O Mapping LONG 32771
Cyclic Period LONG 32772
Health Period LONG 32773
Reserved LONG 32774

Total Digital Input Bytes LONG 32775
CANopen Status and Control P

Total Digital Output Bytes LONG 32776
Total Analog Input Points LONG 32777
Total Analog Output Points LONG 32778
Bus State LONG 32779
Reserved LONG 32780
Reserved LONG 32781
Reserved LONG 32782

Reserved LONG 32783
Node Status and Control

Index 0x00 0x02 0x04 0x06
Mask Limit Parameters Slave Node Index
Code=0x81
0 1 2 3
0x01 Node ID LONG 33024 33040 33056 33072
0x02 Number of Digital LONG 33025 33041 33057 33073

Input Bytes
0x04 Number of Digital LONG 33026 33042 33058 33074

Output Points
0x08 Number of Analog LONG 33027 33043 33059 33075

Input Bytes
0x10 Number of Analog LONG 33028 33044 33060 33076

Output Points
0x20 Health Type* LONG 33029 33045 33061 33077

Parker Hannifin
Index 0x00 0x02 0x04 0x06

Mask Limit Parameters Slave Node Index
Code=0x81
0 1 2 3
0x40 Node State LONG 33030 33046 33062 33078

0x80 Total Digital Input LONG 33031 33047 33063 33079
Bytes
Status and Control

Write
Master Node ID R/W ACR9000 master node ID number have a default of 5
Bit Rate R/W CAN slave node bit rate. Default of 125 (kbits / second).
Maximum bit rate is 1Mbit / second
Number of Slave R/W Number of slave nodes in the CAN network. Maximum of 4
nodes nodes is allowed. Default at 1.
Digital I/O R/W 1 = maps CAN digital I/O to the Expansion I/O flags for
mapping option PLC purpose
0 = disable the mapping
Cyclic Period R/W Transmission Cyclic Period. Default of 50
Health Period R/W Period for the master to ascertain that all nodes is still
alive. Default of 500 milliseconds
Total Digital R Total digital input bytes in the CAN network

Input Bytes
Total Digital R Total digital output bytes in the CAN network

Output Bytes
Total Analog R Total analog input points in the CAN network

Input Points
Total Analog R Total analog output points in the CAN network

Output Points
Bus State R 0 = CAN network is pre-initialized

1 = CAN network is pre-operational. Slave node
information and bit rate have been verified and ready to
start network
2 = CAN Network started
3 = Invalid Master node ID, it must be between 1 –127
inclusive
4 = Invalid slave node information
5 = Characterization error
6 = Excess Bus Error.
7 = Health Event
8 = Internal Error
9 = Transmission overflow
10 = Bus off. The CAN controller bus is off and the network
must be re-started.

Parker Hannifin
Node Status and Control

Write
Node ID R/W Slave Node ID number.
Number of digital R Number of digital input bytes of the slave node.

input bytes
Number of digital R Number of digital output bytes of the slave node.

output byte
Number of R Number of analog input points of the slave node.

analog input
points
Number of R Number of analog input points of the slave node.

analog output
points
Health Type* R/W 0 = Not present, 1 = heartbeat, 2 = lifeguarding (default)
Node State R Period for the master to ascertain that all nodes are still
alive. Default of 500 milliseconds.
Total Digital R Total digital input bytes in the CAN network.

Input Bytes
Health Type: This parameter determines which method (if any) will be used to
ensure the communication between the CANopen controller and the node is
intact.
• Heartbeat method requires the node to periodically declare its status to the
controller, but the controller does not provide any information to the node.
• Lifeguard method requires the controller to request the health status of

each node, and the frequency is expected by both the controller and the
node(s). This allows both to become aware of a broken connection, and in
that case, the node automatically sets its outputs to a safe state.
The default for this parameter is zero, telling the CANopen controller to choose
the best method for the node when it starts the network.
As of ACR9000 firmware version 1.19.0, the preferred choice is lifeguard if the

user leaves this parameter at zero. This change in preferred choice was made
for safety with respect to the outputs in the case of network disconnection. But
if the user makes a choice other than zero, the process is the same as in the
prior firmware version.
(Prior to ACR9000 firmware version 1.19.0, the preferred method was heartbeat,
which requires only half the network traffic as the lifeguard method, but may
not be supported by all nodes. If the user left this parameter at zero or explicitly
chose heartbeat, the controller would test the node for support of the
heartbeat method, and if present, use this method. The next choice would be
lifeguard, and the last choice would be no health monitoring. If the user
explicitly chose lifeguard, there is no test for support of heartbeat. After this
process was complete, the chosen method was implemented for the node and
the health type parameter would be updated to reflect the choice. For
example, it might be set at zero before the network is started, but automatically
change to 1 (heartbeat) as a result of starting the network.)

Parker Hannifin
Node 0
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80
Index CANopen Node 0 DAC/ADC Number
Analog I/O Parameters 0 1 2 3 4 5 6 7
Code=0xC2
0x00 DAC Value FP32 33280 33296 33312 33328 33344 33360 33376 33392
0x01 Reserved FP32 33281 33297 33313 33329 33345 33361 33377 33393
0x02 DAC Gain FP32 33282 33298 33314 33330 33346 33362 33378 33394
0x03 DAC Offset FP32 33283 33299 33315 33331 33347 33363 33379 33395
0x04 Reserved FP32 33284 33300 33316 33332 33348 33364 33380 33396
0x05 Reserved FP32 33285 33301 33317 33333 33349 33365 33381 33397
0x06 Reserved FP32 33286 33302 33318 33334 33350 33366 33382 33398
0x07 Reserved FP32 33287 33303 33319 33335 33351 33367 33383 33399
0x08 ADC Value FP32 33288 33304 33320 33336 33352 33368 33384 33400
0x09 Reserved FP32 33289 33305 33321 33337 33353 33369 33385 33401
0x0A ADC Gain FP32 33290 33306 33322 33338 33354 33370 33386 33402
0x0B ADC Offset FP32 33291 33307 33323 33339 33355 33371 33387 33403
0x0C Reserved FP32 33292 33308 33324 33340 33356 33372 33388 33404
0x0D Reserved FP32 33293 33309 33325 33341 33357 33373 33389 33405
0x0E Reserved FP32 33294 33310 33326 33342 33358 33374 33390 33406
0x0F Reserved FP32 33295 33311 33327 33343 33359 33375 33391 33407
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Code=0xC2
0x80 DAC Value FP32 33408 33424 33440 33456 33472 33488 33504 33520
0x81 Reserved FP32 33409 33425 33441 33457 33473 33489 33505 33521
0x82 DAC Gain FP32 33410 33426 33442 33458 33474 33490 33506 33522
0x83 DAC Offset FP32 33411 33427 33443 33459 33475 33491 33507 33523
0x84 Reserved FP32 33412 33428 33444 33460 33476 33492 33508 33524
0x85 Reserved FP32 33413 33429 33445 33461 33477 33493 33509 33525
0x86 Reserved FP32 33414 33430 33446 33462 33478 33494 33510 33526
0x87 Reserved FP32 33415 33431 33447 33463 33479 33495 33511 33527
0x88 ADC Value FP32 33416 33432 33448 33464 33480 33496 33512 33528
0x89 Reserved FP32 33417 33433 33449 33465 33481 33497 33513 33529
0x8A ADC Gain FP32 33418 33434 33450 33466 33482 33498 33514 33530
0x8B ADC Offset FP32 33419 33435 33451 33467 33483 33499 33515 33531
0x8C Reserved FP32 33420 33436 33452 33468 33484 33500 33516 33532
0x8D Reserved FP32 33421 33437 33453 33469 33485 33501 33517 33533
0x8E Reserved FP32 33422 33438 33454 33470 33486 33502 33518 33534
0x8F Reserved FP32 33423 33439 33455 33471 33487 33503 33519 33535

Parker Hannifin
Node 0 (continued)
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80
Code=0xC3
0x00 DAC Value FP32 33536 33552 33568 33584 33600 33616 33632 33648
0x01 Reserved FP32 33537 33553 33569 33585 33601 33617 33633 33649
0x02 DAC Gain FP32 33538 33554 33570 33586 33602 33618 33634 33650
0x03 DAC Offset FP32 33539 33555 33571 33587 33603 33619 33635 33651
0x04 Reserved FP32 33540 33556 33572 33588 33604 33620 33636 33652
0x05 Reserved FP32 33541 33557 33573 33589 33605 33621 33637 33653
0x06 Reserved FP32 33542 33558 33574 33590 33606 33622 33638 33654
0x07 Reserved FP32 33543 33559 33575 33591 33607 33623 33639 33655
0x08 ADC Value FP32 33544 33560 33576 33592 33608 33624 33640 33656
0x09 Reserved FP32 33545 33561 33577 33593 33609 33625 33641 33657
0x0A ADC Gain FP32 33546 33562 33578 33594 33610 33626 33642 33658
0x0B ADC Offset FP32 33547 33563 33579 33595 33611 33627 33643 33659
0x0C Reserved FP32 33548 33564 33580 33596 33612 33628 33644 33660
0x0D Reserved FP32 33549 33565 33581 33597 33613 33629 33645 33661
0x0E Reserved FP32 33550 33566 33582 33598 33614 33630 33646 33662
0x0F Reserved FP32 33551 33567 33583 33599 33615 33631 33647 33663
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Code=0xC3
0x80 DAC Value FP32 33664 33680 33696 33712 33728 33744 33760 33776
0x81 Reserved FP32 33665 33681 33697 33713 33729 33745 33761 33777
0x82 DAC Gain FP32 33666 33682 33698 33714 33730 33746 33762 33778
0x83 DAC Offset FP32 33667 33683 33699 33715 33731 33747 33763 33779
0x84 Reserved FP32 33668 33684 33700 33716 33732 33748 33764 33780
0x85 Reserved FP32 33669 33685 33701 33717 33733 33749 33765 33781
0x86 Reserved FP32 33670 33686 33702 33718 33734 33750 33766 33782
0x87 Reserved FP32 33671 33687 33703 33719 33735 33751 33767 33783
0x88 ADC Value FP32 33672 33688 33704 33720 33736 33752 33768 33784
0x89 Reserved FP32 33673 33689 33705 33721 33737 33753 33769 33785
0x8A ADC Gain FP32 33674 33690 33706 33722 33738 33754 33770 33786
0x8B ADC Offset FP32 33675 33691 33707 33723 33739 33755 33771 33787
0x8C Reserved FP32 33676 33692 33708 33724 33740 33756 33772 33788
0x8D Reserved FP32 33677 33693 33709 33725 33741 33757 33773 33789
0x8E Reserved FP32 33678 33694 33710 33726 33742 33758 33774 33790
0x8F Reserved FP32 33679 33695 33711 33727 33743 33759 33775 33791

Parker Hannifin
Node 1
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80
Code=0xC4
0x00 DAC Value FP32 33792 33808 33824 33840 33856 33872 33888 33904
0x01 Reserved FP32 33793 33809 33825 33841 33857 33873 33889 33905
0x02 DAC Gain FP32 33794 33810 33826 33842 33858 33874 33890 33906
0x03 DAC Offset FP32 33795 33811 33827 33843 33859 33875 33891 33907
0x04 Reserved FP32 33796 33812 33828 33844 33860 33876 33892 33908
0x05 Reserved FP32 33797 33813 33829 33845 33861 33877 33893 33909
0x06 Reserved FP32 33798 33814 33830 33846 33862 33878 33894 33910
0x07 Reserved FP32 33799 33815 33831 33847 33863 33879 33895 33911
0x08 ADC Value FP32 33800 33816 33832 33848 33864 33880 33896 33912
0x09 Reserved FP32 33801 33817 33833 33849 33865 33881 33897 33913
0x0A ADC Gain FP32 33802 33818 33834 33850 33866 33882 33898 33914
0x0B ADC Offset FP32 33803 33819 33835 33851 33867 33883 33899 33915
0x0C Reserved FP32 33804 33820 33836 33852 33868 33884 33900 33916
0x0D Reserved FP32 33805 33821 33837 33853 33869 33885 33901 33917
0x0E Reserved FP32 33806 33822 33838 33854 33870 33886 33902 33918
0x0F Reserved FP32 33807 33823 33839 33855 33871 33887 33903 33919
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Code=0xC4
0x80 DAC Value FP32 33920 33936 33952 33968 33984 34000 34016 34032
0x81 Reserved FP32 33921 33937 33953 33969 33985 34001 34017 34033
0x82 DAC Gain FP32 33922 33938 33954 33970 33986 34002 34018 34034
0x83 DAC Offset FP32 33923 33939 33955 33971 33987 34003 34019 34035
0x84 Reserved FP32 33924 33940 33956 33972 33988 34004 34020 34036
0x85 Reserved FP32 33925 33941 33957 33973 33989 34005 34021 34037
0x86 Reserved FP32 33926 33942 33958 33974 33990 34006 34022 34038
0x87 Reserved FP32 33927 33943 33959 33975 33991 34007 34023 34039
0x88 ADC Value FP32 33928 33944 33960 33976 33992 34008 34024 34040
0x89 Reserved FP32 33929 33945 33961 33977 33993 34009 34025 34041
0x8A ADC Gain FP32 33930 33946 33962 33978 33994 34010 34026 34042
0x8B ADC Offset FP32 33931 33947 33963 33979 33995 34011 34027 34043
0x8C Reserved FP32 33932 33948 33964 33980 33996 34012 34028 34044
0x8D Reserved FP32 33933 33949 33965 33981 33997 34013 34029 34045
0x8E Reserved FP32 33934 33950 33966 33982 33998 34014 34030 34046
0x8F Reserved FP32 33935 33951 33967 33983 33999 34015 34031 34047

Parker Hannifin
Node 1 (continued)
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80
Code=0xC5
0x00 DAC Value FP32 34048 34064 34080 34096 34112 34128 34144 34160
0x01 Reserved FP32 34049 34065 34081 34097 34113 34129 34145 34161
0x02 DAC Gain FP32 34050 34066 34082 34098 34114 34130 34146 34162
0x03 DAC Offset FP32 34051 34067 34083 34099 34115 34131 34147 34163
0x04 Reserved FP32 34052 34068 34084 34100 34116 34132 34148 34164
0x05 Reserved FP32 34053 34069 34085 34101 34117 34133 34149 34165
0x06 Reserved FP32 34054 34070 34086 34102 34118 34134 34150 34166
0x07 Reserved FP32 34055 34071 34087 34103 34119 34135 34151 34167
0x08 ADC Value FP32 34056 34072 34088 34104 34120 34136 34152 34168
0x09 Reserved FP32 34057 34073 34089 34105 34121 34137 34153 34169
0x0A ADC Gain FP32 34058 34074 34090 34106 34122 34138 34154 34170
0x0B ADC Offset FP32 34059 34075 34091 34107 34123 34139 34155 34171
0x0C Reserved FP32 34060 34076 34092 34108 34124 34140 34156 34172
0x0D Reserved FP32 34061 34077 34093 34109 34125 34141 34157 34173
0x0E Reserved FP32 34062 34078 34094 34110 34126 34142 34158 34174
0x0F Reserved FP32 34063 34079 34095 34111 34127 34143 34159 34175
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Code=0xC5
0x80 DAC Value FP32 34176 34192 34208 34224 34240 34256 34272 34288
0x81 Reserved FP32 34177 34193 34209 34225 34241 34257 34273 34289
0x82 DAC Gain FP32 34178 34194 34210 34226 34242 34258 34274 34290
0x83 DAC Offset FP32 34179 34195 34211 34227 34243 34259 34275 34291
0x84 Reserved FP32 34180 34196 34212 34228 34244 34260 34276 34292
0x85 Reserved FP32 34181 34197 34213 34229 34245 34261 34277 34293
0x86 Reserved FP32 34182 34198 34214 34230 34246 34262 34278 34294
0x87 Reserved FP32 34183 34199 34215 34231 34247 34263 34279 34295
0x88 ADC Value FP32 34184 34200 34216 34232 34248 34264 34280 34296
0x89 Reserved FP32 34185 34201 34217 34233 34249 34265 34281 34297
0x8A ADC Gain FP32 34186 34202 34218 34234 34250 34266 34282 34298
0x8B ADC Offset FP32 34187 34203 34219 34235 34251 34267 34283 34299
0x8C Reserved FP32 34188 34204 34220 34236 34252 34268 34284 34300
0x8D Reserved FP32 34189 34205 34221 34237 34253 34269 34285 34301
0x8E Reserved FP32 34190 34206 34222 34238 34254 34270 34286 34302
0x8F Reserved FP32 34191 34207 34223 34239 34255 34271 34287 34303

Parker Hannifin
Node 2
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80
Code=0xC6
0x00 DAC Value FP32 34304 34320 34336 34352 34368 34384 34400 34416
0x01 Reserved FP32 34305 34321 34337 34353 34369 34385 34401 34417
0x02 DAC Gain FP32 34306 34322 34338 34354 34370 34386 34402 34418
0x03 DAC Offset FP32 34307 34323 34339 34355 34371 34387 34403 34419
0x04 Reserved FP32 34308 34324 34340 34356 34372 34388 34404 34420
0x05 Reserved FP32 34309 34325 34341 34357 34373 34389 34405 34421
0x06 Reserved FP32 34310 34326 34342 34358 34374 34390 34406 34422
0x07 Reserved FP32 34311 34327 34343 34359 34375 34391 34407 34423
0x08 ADC Value FP32 34312 34328 34344 34360 34376 34392 34408 34424
0x09 Reserved FP32 34313 34329 34345 34361 34377 34393 34409 34425
0x0A ADC Gain FP32 34314 34330 34346 34362 34378 34394 34410 34426
0x0B ADC Offset FP32 34315 34331 34347 34363 34379 34395 34411 34427
0x0C Reserved FP32 34316 34332 34348 34364 34380 34396 34412 34428
0x0D Reserved FP32 34317 34333 34349 34365 34381 34397 34413 34429
0x0E Reserved FP32 34318 34334 34350 34366 34382 34398 34414 34430
0x0F Reserved FP32 34319 34335 34351 34367 34383 34399 34415 34431
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Code=0xC6
0x80 DAC Value FP32 34432 34448 34464 34480 34496 34512 34528 34544
0x81 Reserved FP32 34433 34449 34465 34481 34497 34513 34529 34545
0x82 DAC Gain FP32 34434 34450 34466 34482 34498 34514 34530 34546
0x83 DAC Offset FP32 34435 34451 34467 34483 34499 34515 34531 34547
0x84 Reserved FP32 34436 34452 34468 34484 34500 34516 34532 34548
0x85 Reserved FP32 34437 34453 34469 34485 34501 34517 34533 34549
0x86 Reserved FP32 34438 34454 34470 34486 34502 34518 34534 34550
0x87 Reserved FP32 34439 34455 34471 34487 34503 34519 34535 34551
0x88 ADC Value FP32 34440 34456 34472 34488 34504 34520 34536 34552
0x89 Reserved FP32 34441 34457 34473 34489 34505 34521 34537 34553
0x8A ADC Gain FP32 34442 34458 34474 34490 34506 34522 34538 34554
0x8B ADC Offset FP32 34443 34459 34475 34491 34507 34523 34539 34555
0x8C Reserved FP32 34444 34460 34476 34492 34508 34524 34540 34556
0x8D Reserved FP32 34445 34461 34477 34493 34509 34525 34541 34557
0x8E Reserved FP32 34446 34462 34478 34494 34510 34526 34542 34558
0x8F Reserved FP32 34447 34463 34479 34495 34511 34527 34543 34559

Parker Hannifin
Node 2 (continued)
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80
Code=0xC7
0x00 DAC Value FP32 34560 34576 34592 34608 34624 34640 34656 34672
0x01 Reserved FP32 34561 34577 34593 34609 34625 34641 34657 34673
0x02 DAC Gain FP32 34562 34578 34594 34610 34626 34642 34658 34674
0x03 DAC Offset FP32 34563 34579 34595 34611 34627 34643 34659 34675
0x04 Reserved FP32 34564 34580 34596 34612 34628 34644 34660 34676
0x05 Reserved FP32 34565 34581 34597 34613 34629 34645 34661 34677
0x06 Reserved FP32 34566 34582 34598 34614 34630 34646 34662 34678
0x07 Reserved FP32 34567 34583 34599 34615 34631 34647 34663 34679
0x08 ADC Value FP32 34568 34584 34600 34616 34632 34648 34664 34680
0x09 Reserved FP32 34569 34585 34601 34617 34633 34649 34665 34681
0x0A ADC Gain FP32 34570 34586 34602 34618 34634 34650 34666 34682
0x0B ADC Offset FP32 34571 34587 34603 34619 34635 34651 34667 34683
0x0C Reserved FP32 34572 34588 34604 34620 34636 34652 34668 34684
0x0D Reserved FP32 34573 34589 34605 34621 34637 34653 34669 34685
0x0E Reserved FP32 34574 34590 34606 34622 34638 34654 34670 34686
0x0F Reserved FP32 34575 34591 34607 34623 34639 34655 34671 34687
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Code=0xC7
0x80 DAC Value FP32 34688 34704 34720 34736 34752 34768 34784 34800
0x81 Reserved FP32 34689 34705 34721 34737 34753 34769 34785 34801
0x82 DAC Gain FP32 34690 34706 34722 34738 34754 34770 34786 34802
0x83 DAC Offset FP32 34691 34707 34723 34739 34755 34771 34787 34803
0x84 Reserved FP32 34692 34708 34724 34740 34756 34772 34788 34804
0x85 Reserved FP32 34693 34709 34725 34741 34757 34773 34789 34805
0x86 Reserved FP32 34694 34710 34726 34742 34758 34774 34790 34806
0x87 Reserved FP32 34695 34711 34727 34743 34759 34775 34791 34807
0x88 ADC Value FP32 34696 34712 34728 34744 34760 34776 34792 34808
0x89 Reserved FP32 34697 34713 34729 34745 34761 34777 34793 34809
0x8A ADC Gain FP32 34698 34714 34730 34746 34762 34778 34794 34810
0x8B ADC Offset FP32 34699 34715 34731 34747 34763 34779 34795 34811
0x8C Reserved FP32 34700 34716 34732 34748 34764 34780 34796 34812
0x8D Reserved FP32 34701 34717 34733 34749 34765 34781 34797 34813
0x8E Reserved FP32 34702 34718 34734 34750 34766 34782 34798 34814
0x8F Reserved FP32 34703 34719 34735 34751 34767 34783 34799 34815

Parker Hannifin
Node 3
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80
Code=0xC8
0x00 DAC Value FP32 34816 34832 34848 34864 34880 34896 34912 34928
0x01 Reserved FP32 34817 34833 34849 34865 34881 34897 34913 34929
0x02 DAC Gain FP32 34818 34834 34850 34866 34882 34898 34914 34930
0x03 DAC Offset FP32 34819 34835 34851 34867 34883 34899 34915 34931
0x04 Reserved FP32 34820 34836 34852 34868 34884 34900 34916 34932
0x05 Reserved FP32 34821 34837 34853 34869 34885 34901 34917 34933
0x06 Reserved FP32 34822 34838 34854 34870 34886 34902 34918 34934
0x07 Reserved FP32 34823 34839 34855 34871 34887 34903 34919 34935
0x08 ADC Value FP32 34824 34840 34856 34872 34888 34904 34920 34936
0x09 Reserved FP32 34825 34841 34857 34873 34889 34905 34921 34937
0x0A ADC Gain FP32 34826 34842 34858 34874 34890 34906 34922 34938
0x0B ADC Offset FP32 34827 34843 34859 34875 34891 34907 34923 34939
0x0C Reserved FP32 34828 34844 34860 34876 34892 34908 34924 34940
0x0D Reserved FP32 34829 34845 34861 34877 34893 34909 34925 34941
0x0E Reserved FP32 34830 34846 34862 34878 34894 34910 34926 34942
0x0F Reserved FP32 34831 34847 34863 34879 34895 34911 34927 34943
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Code=0xC8
0x80 DAC Value FP32 34944 34960 34976 34992 35008 35024 35040 35056
0x81 Reserved FP32 34945 34961 34977 34993 35009 35025 35041 35057
0x82 DAC Gain FP32 34946 34962 34978 34994 35010 35026 35042 35058
0x83 DAC Offset FP32 34947 34963 34979 34995 35011 35027 35043 35059
0x84 Reserved FP32 34948 34964 34980 34996 35012 35028 35044 35060
0x85 Reserved FP32 34949 34965 34981 34997 35013 35029 35045 35061
0x86 Reserved FP32 34950 34966 34982 34998 35014 35030 35046 35062
0x87 Reserved FP32 34951 34967 34983 34999 35015 35031 35047 35063
0x88 ADC Value FP32 34952 34968 34984 35000 35016 35032 35048 35064
0x89 Reserved FP32 34953 34969 34985 35001 35017 35033 35049 35065
0x8A ADC Gain FP32 34954 34970 34986 35002 35018 35034 35050 35066
0x8B ADC Offset FP32 34955 34971 34987 35003 35019 35035 35051 35067
0x8C Reserved FP32 34956 34972 34988 35004 35020 35036 35052 35068
0x8D Reserved FP32 34957 34973 34989 35005 35021 35037 35053 35069
0x8E Reserved FP32 34958 34974 34990 35006 35022 35038 35054 35070
0x8F Reserved FP32 34959 34975 34991 35007 35023 35039 35055 35071

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Node 3 (continued)
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80
Code=0xC9
0x00 DAC Value FP32 35072 35088 35104 35120 35136 35152 35168 35184
0x01 Reserved FP32 35073 35089 35105 35121 35137 35153 35169 35185
0x02 DAC Gain FP32 35074 35090 35106 35122 35138 35154 35170 35186
0x03 DAC Offset FP32 35075 35091 35107 35123 35139 35155 35171 35187
0x04 Reserved FP32 35076 35092 35108 35124 35140 35156 35172 35188
0x05 Reserved FP32 35077 35093 35109 35125 35141 35157 35173 35189
0x06 Reserved FP32 35078 35094 35110 35126 35142 35158 35174 35190
0x07 Reserved FP32 35079 35095 35111 35127 35143 35159 35175 35191
0x08 ADC Value FP32 35080 35096 35112 35128 35144 35160 35176 35192
0x09 Reserved FP32 35081 35097 35113 35129 35145 35161 35177 35193
0x0A ADC Gain FP32 35082 35098 35114 35130 35146 35162 35178 35194
0x0B ADC Offset FP32 35083 35099 35115 35131 35147 35163 35179 35195
0x0C Reserved FP32 35084 35100 35116 35132 35148 35164 35180 35196
0x0D Reserved FP32 35085 35101 35117 35133 35149 35165 35181 35197
0x0E Reserved FP32 35086 35102 35118 35134 35150 35166 35182 35198
0x0F Reserved FP32 35087 35103 35119 35135 35151 35167 35183 35199
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Code=0xC9
0x80 DAC Value FP32 35200 35216 35232 35248 35264 35280 35296 35312
0x81 Reserved FP32 35201 35217 35233 35249 35265 35281 35297 35313
0x82 DAC Gain FP32 35202 35218 35234 35250 35266 35282 35298 35314
0x83 DAC Offset FP32 35203 35219 35235 35251 35267 35283 35299 35315
0x84 Reserved FP32 35204 35220 35236 35252 35268 35284 35300 35316
0x85 Reserved FP32 35205 35221 35237 35253 35269 35285 35301 35317
0x86 Reserved FP32 35206 35222 35238 35254 35270 35286 35302 35318
0x87 Reserved FP32 35207 35223 35239 35255 35271 35287 35303 35319
0x88 ADC Value FP32 35208 35224 35240 35256 35272 35288 35304 35320
0x89 Reserved FP32 35209 35225 35241 35257 35273 35289 35305 35321
0x8A ADC Gain FP32 35210 35226 35242 35258 35274 35290 35306 35322
0x8B ADC Offset FP32 35211 35227 35243 35259 35275 35291 35307 35323
0x8C Reserved FP32 35212 35228 35244 35260 35276 35292 35308 35324
0x8D Reserved FP32 35213 35229 35245 35261 35277 35293 35309 35325
0x8E Reserved FP32 35214 35230 35246 35262 35278 35294 35310 35326
0x8F Reserved FP32 35215 35231 35247 35263 35279 35295 35311 35327

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Write
DAC Value R DAC output value
DAC Gain R/W DAC output gain
DAC Offset R/W DAC output offset
ADC Value R ADC input value
ADC Gain R/W ADC input gain
ADC Offset R/W ADC input offset

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P36864 - P37353 Event Counter Parameters

Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Field Description Bit Object Number
Code=0xD0 Index 0 1 2 3 4 5 6 7
Master Move Started 0 36864 36896 36928 36960 36992 37024 37056 37088
Master Move Ended 1 36865 36897 36929 36961 36993 37025 37057 37089
Enable Input Lost 2 36866 N/A N/A N/A N/A N/A N/A N/A
Drive Faulted 3 36867 36899 36931 36963 36995 37027 37059 37091
Limit Hit 4 36868 36900 36932 36964 36996 37028 37060 37092
Stall Detect 5 36869 36901 36933 36965 36997 37029 37061 37093
Program Complete 6 36870 36902 36934 36966 36998 37030 37062 37094
Encoder Disconnect 7 36871 36903 36935 36967 36999 37031 37063 37095
Encoder Phase Error 8 36872 36904 36936 36968 37000 37032 37064 37096
CANopen Node 9 36873 36905 36937 36969 N/A N/A N/A N/A
Failure
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Field Description Bit Object Number
Code=0xD1 Index 8 9 10 11 12 13 14 15
Master Move Started 0 N/A N/A N/A N/A N/A N/A N/A N/A
Master Move Ended 1 N/A N/A N/A N/A N/A N/A N/A N/A
Enable Input Lost 2 N/A N/A N/A N/A N/A N/A N/A N/A
Drive Faulted 3 N/A N/A N/A N/A N/A N/A N/A N/A
Limit Hit 4 N/A N/A N/A N/A N/A N/A N/A N/A
Stall Detect 5 N/A N/A N/A N/A N/A N/A N/A N/A
Program Complete 6 37126 37158 37190 37222 37254 37286 37318 37350
Encoder Disconnect 7 37127 37159 N/A N/A N/A N/A N/A N/A
Encoder Phase Error 8 37128 37160 N/A N/A N/A N/A N/A N/A
CANopen Node 9 N/A N/A N/A N/A N/A N/A N/A N/A
Failure

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Field Read/ Event Counter(s) Update

Descriptions Write
Master Move R/W Per master counters updated when master move starts if
Started “master int pending” bit set in master flags.
Master Move R/W Per master counters updated in “master end move” when
Ended master move ends.
To enable the alarm, set the Master Move Ended Alarm bit
(bit 12) in the Quaternary Master Flags.
Enable Input R/W Single counter updated in Enable Input Service

Lost
Drive Faulted R/W Periodic task that checks for new drive fault will also
update per slave counters.
To enable the alarm, set the Drive Faulted Alarm bit (bit 0)
in the Quaternary Axis Flags.
Limit Hit R/W TBD limit service will also update per slave counters
To enable the alarm, set the Limit Hit Alarm bit (bit 1) in the
Quaternary Axis Flags.
Stall Detect R/W TBD stall service will also update per slave counters
To enable the alarm, set the Stall Detect Alarm bit (bit 2) in
the Quaternary Axis Flags.
Program R/W Per program counters updated in “Prog Task” and “Multi-
Complete task”
To enable the alarm, set the Program Complete Alarm bit
(bit 13) in the Program Flags.
Encoder R/W Encoder periodic function will update per encoder event
Disconnect counters.
Encoder Phase R/W Encoder periodic function will update per encoder event
Error counters.
CANopen Node R/W Mailbox node state and node failure commands update per
Failure node counters

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P37376 - P37391 EPL Network Parameters

EPL Network Control Parameters P
Code=0xD2, Index=0x00
Number of Controlled Nodes (CN) LONG 37376
Reserved LONG 37377
Reserved LONG 37378
Reserved LONG 37379
Reserved LONG 37380
Reserved LONG 37381
Reserved LONG 37382

Reserved LONG 37383
EPL Network Status Parameters P

Code=0xD2, Index=0x01
Network State LONG 37384
Non-Operating Nodes Bit Reports LONG 37385
EPL Operation Error Code LONG 37386
EPLD Object OPENed LONG 37387
OPENed EPLD Device Number LONG 37388
Operation Duration in Seconds LONG 37389
Downloading or Resetting Nodes Bits (started) LONG 37390

Downloading or Resetting Nodes Bits (current) LONG 37391

Write
Number of R/W Sets the number EPL drives (called controlled nodes) in the
Controlled network.
Nodes (CN)
Network State R Indicates the state of the EPL LED on the controller.
0= Reset or not active. The Managing Node (MN) is off,
initializing, or in the reset state.
1= Basic Ethernet. The node is operating as a basic
Ethernet device, and not as an EPL device.
2= Pre-operational 1. The MN is asking for node status and
is configuring CNs. EPL cycles are reduced cycles, and do
not contain poll requests or poll responses.
3= Pre-operational 2. EPL cycles contain poll requests and
poll responses, but not all node configuration has finished.
The exchanged data is ignored.
4= Ready to Operate. The Controlled Node (CN) has
responded to a request from MN to enter this state, but
exchanged data is still ignored.
5= Operational. The EPL network is exchanging valid data.

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Write
6= Stopped. The EPL network has stopped.
Non-Operating R 0= EPLD0,
Nodes Bit 1= EPLD1, etc.
Reports
If the bit is set, the node is not operating as expected.
EPL Operation R Indicates an EPL error has occurred.

Error Code 0= No error.
1= Management Node (MN) encountered an Object
Dictionary error during start.
2= Invalid user-supplied node count. The number of nodes
provided in P37376 does not match the number of nodes
found.
3= Error in user-supplied external node data.
4= Eternal node encountered an Object Dictionary error
during start.
5= Unexpected external node found during start.
6= Error in Service Data Object (SDO).
7= Internal Error in EPL cycle start.
EPLD Object R -1= No objects are open for communication. See OPEN
OPENed command.
0-15= The identity of an Ethernet Powerlink drive. For
example EPLD0 as described by P37632-P37647.
OPENed EPLD R Indicates the device number of the EPL Drive that is open
Device Number for communication. See OPEN command.
Operational R The time the network has been operating since the most
Duration in recent network start (bit 16640 or EPLC ON).
Seconds
Downloading or R Bit 0 = EPLD0, bit 1 = EPLD1, etc.

Resetting The collection of nodes targeted by the most recent Aries
Nodes Bits EPL OS download or reset function.
(started)
Downloading or R Bit 0 = EPLD0, bit 1 = EPLD1, etc.

Resetting The collection of nodes still underway by the most recent
Nodes Bits Aries EPL OS download or reset function
(current)

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P37632 - P37887 EPLD Status & Control Parameters

Index 0x00 0x02 0x04 0x06 0x08 0x0A 0x0C 0x0E
Mask EPLD Control Parameters EPLD Number
Code=0xD3 0 1 2 3 4 5 6 7
0x01 Node ID LONG 37632 37648 37664 37680 37696 37712 37728 37744
0x02 Reserved LONG 37633 37649 37665 37681 37697 37713 37729 37745
0x04 Drive Mode LONG 37634 37650 37666 37682 37698 37714 37730 37746
0x08 TCP/IP Port Number LONG 37635 37651 37667 37683 37699 37715 37731 37747
0x10 OS Download or Reset LONG 37636 37652 37668 37684 37700 37716 37732 37748
Progress or Status
0x20 EPL Operation Error Code LONG 37637 37653 37669 37685 37701 37717 37733 37749
0x40 Attached Axis Number LONG 37638 37654 37670 37686 37702 37718 37734 37750
0x80 Node Status LONG 37639 37655 37671 37687 37703 37719 37735 37751
Index 0x01 0x03 0x05 0x07 0x09 0x0B 0x0D 0x0F

Mask EPLD Status Parameters EPLD Number
Code=0xD3 0 1 2 3 4 5 6 7
0x01 Operational Duration in LONG 37640 37656 37672 37688 37704 37720 37736 37752
Seconds
0x02 Node Failure Count LONG 37641 37657 37673 37689 37705 37721 37737 37753
0x04 Reserved LONG 37642 37658 37674 37690 37706 37722 37738 37754
0x08 Reserved LONG 37643 37659 37675 37691 37707 37723 37739 37755
0x10 Reserved LONG 37644 37660 37676 37692 37708 37724 37740 37756
0x20 Reserved LONG 37645 37661 37677 37693 37709 37725 37741 37757
0x40 Reserved LONG 37646 37662 37678 37694 37710 37726 37742 37758
0x80 Reserved LONG 37647 37663 37679 37695 37711 37727 37743 37759
Index 0x10 0x12 0x14 0x16 0x18 0x1A 0x1C 0x1E

Mask EPLD Control Parameters EPLD Number
Code=0XD3 8 9 10 11 12 13 14 15
0x01 Node ID LONG 37760 37776 37792 37808 37824 37840 37856 37872
0x02 Reserved LONG 37761 37777 37793 37809 37825 37841 37857 37873
0x04 Drive Mode LONG 37762 37778 37794 37810 37826 37842 37858 37874
0x08 TCP/IP Port Number LONG 37763 37779 37795 37811 37827 37843 37859 37875
0x10 OS Download or Reset LONG 37764 37780 37796 37812 37828 37844 37860 37876
Progress or Status
0x20 EPL Operation Error Code LONG 37765 37781 37797 37813 37829 37845 37861 37877
0x40 Attached Axis Number LONG 37766 37782 37798 37814 37830 37846 37862 37878
0x80 Node Status LONG 37767 37783 37799 37815 37831 37847 37863 37879

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Index 0x11 0x13 0x15 0x17 0x19 0x1B 0x1D 0x1F

Mask EPLD Status Parameters EPLD Number
Code=0xD3 8 9 10 11 12 13 14 15
0x01 Operational Duration in LONG 37768 37784 37800 37816 37832 37848 37864 37880
Seconds
0x02 Node Failure Count LONG 37769 37785 37801 37817 37833 37849 37865 37881
0x04 Reserved LONG 37770 37786 37802 37818 37834 37850 37866 37882
0x08 Reserved LONG 37771 37787 37803 37819 37835 37851 37867 37883
0x10 Reserved LONG 37772 37788 37804 37820 37836 37852 37868 37884
0x20 Reserved LONG 37773 37789 37805 37821 37837 37853 37869 37885
0x40 Reserved LONG 37774 37790 37806 37822 37838 37854 37870 37886
0x80 Reserved LONG 37775 37791 37807 37823 37839 37855 37871 37887

Write
Node ID R/W On each drive, rotary switches assign an external device

address.
Default value is 1.
Range is 1-99 (the value of the rotary switches on the Aries
EPL drive)
Drive Mode R/W Sets the drive mode. Currently, only mode 7 exists (Aries
EPL). The default value is 7.
TCP/IP Port R/W Sets the TCP/IP port number. The default port number is
Number 5002, required for Aries EPL drives.
OS Download or R Indicates the current progress, or final status of an OS

Reset Progress download or reset initiated by ACR-View.
or Status -1 = Operation pending (this node has not started yet).
1-100 = Percentage download complete (downloads only).
0 = Download or reset successful.
-5 = CRC failure at drive (downloads only).
-6 = Flash save failure at drive (downloads only).
-8 = Failure with TCP connection to drive.
EPL Operation R Indicates an EPL error has occurred.

Error Code 0 = No error
1 = Management Node (MN) encountered an Object
Dictionary error during start.
2 = Invalid user-supplied node count. The number of nodes
provided in P37376 does not match the number of nodes
found.
3 = Error in user-supplied external node data.
4 = External node encountered an Object Dictionary error
during start.
5 = Unexpected external node found during start.
6 = Error in Service Data Object (SDO).
7 = Internal Error in EPL cycle start.

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Write
Attached Axis R Reports the axis number to which the EPL drive is
Number attached. See the ATTACH AXIS command.
-1 = No attachment present.
Node Status R 0 = Never found

1 = Found
2 = Found, then lost
Operational R Indicates how long a node has been operating, either from
Duration in the start time of the original network operation, or since
Seconds being restarted by the controller.
Node Failure R Indicates the number of times the controller has tried to
Count restart a controlled node that stopped being operational
(since the overall network became operational).

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P38144 - P38391 EPLD Position Parameters

Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80
Index EPLD Position Parameters EPLD Number
Code=0xD5 0 1 2 3 4 5 6 7
0x00 EPLD Position LONG 38144 38160 38176 38192 38208 38224 38240 38256
0x01 EPLD Velocity LONG 38145 38161 38177 38193 38209 38225 38241 38257
0x02 EPLE Position LONG 38146 38162 38178 38194 38210 38226 38242 38258
0x03 EPLE Velocity LONG 38147 38163 38179 38195 38211 38227 38243 38259
0x04 Reserved LONG 38148 38164 38180 38196 38212 38228 38244 38260
0x05 Reserved LONG 38149 38165 38181 38197 38213 38229 38245 38261
0x06 Reserved LONG 38150 38166 38182 38198 38214 38230 38246 38262
0x07 Reserved LONG 38151 38167 38183 38199 38215 38231 38247 38263
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Index EPLD Position Parameters EPLD Number
Code=0xD5 8 9 10 11 12 13 14 15
0x80 EPLD Position LONG 38272 38288 38304 38320 38336 38352 38368 38384
0x81 EPLD Velocity LONG 38273 38289 38305 38321 38337 38353 38369 38385
0x82 EPLE Position LONG 38274 38290 38306 38322 38338 38354 38370 38386
0x83 EPLE Velocity LONG 38275 38291 38307 38323 38339 38355 38371 38387
0x84 Reserved LONG 38276 38292 38308 38324 38340 38356 38372 38388
0x85 Reserved LONG 38277 38293 38309 38325 38341 38357 38373 38389
0x86 Reserved LONG 38278 38294 38310 38326 38342 38358 38374 38390
0x87 Reserved LONG 38279 38295 38311 38327 38343 38359 38375 38391

Write
EPLD Position R Current position of the EPL drive’s encoder in counts,

updated every servo period.
EPLD Velocity R Signed change in EPL drive’s encoder counts since the
previous servo period.
EPLE Position R Current position of the EPL drive’s secondary encoder in

counts, updated every servo period.
EPLE Velocity R Signed change in EPL drive’s secondary encoder counts

since the pervious servo period.

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Parker Hannifin
Bit Reference
Bit Overview
The following is an outline of the bits detailed in this guide:
Description Bit Range Index

Opto-isolated Inputs Bit0 – Bit31 0x00
Opto-isolated Outputs Bit32 – Bit63 0x00
Miscellaneous Inputs Bit64 – Bit95 0x00
Miscellaneous Outputs Bit96 – Bit127 0x00
User Flags Group 1-4 Bit128 – Bit255 0x00

Expansion I/O Flags Bit256 – Bit511 0x01
Master Flags (0-7) Bit512 – Bit767 0x02
Axis Flags (0-7) Bit768 – Bit1023 0x03
Program Flags Bit1024 – Bit1535 0x04
PLC Flags Bit1536 – Bit1791 0x06
FIFO/Stream 1 Stream Flags Bit1792 – Bit1823 0x07

LPT1 Stream Flags Bit1824 – Bit1855 0x07
COM1 Stream Flags Bit1856 – Bit1887 0x07
COM2 Stream Flags Bit1888 – Bit1919 0x07
User Flags Group 5-8 Bit1920 – Bit2047 0x07
Secondary Master Flags (0-7) Bit2048 – Bit2303 0x08
Secondary Axis Flags (0-7) Bit2304 – Bit2559 0x09
Encoder Flags (0-15) Bit2560 – Bit3071 0x0A
Encoder Flags (16-23) Bit3072 – Bit3327 0x0C
EPLD Digital Inputs Bit3328 – Bit3455 0x0D
EPLD Digital Outputs Bit3840 – Bit3967 0x0F
DAC Flags Bit4096 – Bit4607 0x10
ADC Flags Bit4608 – Bit5119 0x12
Tertiary Master Flags Bit5120 – Bit5631 0x14
Miscellaneous Control Flags Groups 1-4 Bit5632 – Bit5759 0x16
Stream 2 Flags Bit5760 – Bit5791 0x16

DPCB/Stream 3 Flags Bit5792 – Bit5823 0x16
FSTAT Flags Bit5824 – Bit5855 0x16
Quaternary Master Flag Bit5888 – Bit6399 0x17
Tertiary Axis Flag Bit6400 – Bit6911 0x19
Reserved Bit6912 – Bit7167 0x1B
PLC Flags (8-15) Bit7168 – Bit7423 0x1C
Bit Reference - 121

Parker Hannifin
Description Bit Range Index

Master Axes Flag (8-15) Bit7424 – Bit7679 0x1D
Axis Flag (8-15) Bit7680 – Bit7935 0x1E
Secondary Master Flag (8-15) Bit7936 – Bit8191 0x1F
Secondary Axis Flag (8-15) Bit8192 – Bit8447 0x20
Quaternary Axis Flag (0-7) Bit8448 – Bit8703 0x21
Quaternary Axis Flag (8-15) Bit8704 – Bit8959 0x22
Drive Status 1 Flags (0-7) Bit9472 – Bit9727 0x25
Stream Flags for Drive Talk Bit11008 – Bit11263 0x2B
Quinary Axis Flag (0-7) Bit16128 – Bit16383 0x3F

Quinary Axis Flag (8-15) Bit16384 – Bit16639 0x40
EPL Network Flags Bit16640 – Bit16660 0x41
122 – ACR Parameter and Bit Reference

Parker Hannifin
Bit0 - Bit31 Opto-isolated Inputs

Flag Parameter 4096
Code=0x10; Index=0x00; Mask=0x01
Physical Bit
Flag Description Pinout Index Bit Number
INP 00 P4-1 0 0
INP 01 P4-2 1 1
INP 02 P4-3 2 2
INP 03 P4-4 3 3
INP 04 P4-5 4 4
INP 05 P4-6 5 5
INP 06 P4-7 6 6
INP 07 P4-8 7 7
INP 08 P4-9 8 8
INP 09 P4-10 9 9
INP 10 P4-11 10 10
INP 11 P4-12 11 11
INP 12 P4-13 12 12
INP 13 P4-14 13 13
INP 14 P4-15 14 14
INP 15 P4-16 15 15
INP 16 P4-17 16 16
INP 17 P4-18 17 17
INP 18 P4-19 18 18
INP 19 P4-20 19 19
INP 20 P4-21 20 20
INP 21 P4-22 21 21
INP 22 P4-23 22 22
INP 23 P4-24 23 23
INP 24 P4-25 24 24
INP 25 P4-26 25 25
INP 26 P4-27 26 26
INP 27 P4-28 27 27
INP 28 P4-29 28 28
INP 29 P4-20 29 29
INP 30 P4-31 30 30
INP 31 P4-32 31 31
Bit Reference - 123

Parker Hannifin

Description Write
Input R Indicates the state of the physical input.

Parker Hannifin
Bit32 - Bit63 Opto-isolated Outputs
Flag Parameter 4097

Physical Bit
OUT 32 P3-1 0 32
OUT 33 P3-2 1 33
OUT 34 P3-3 2 34
OUT 35 P3-4 3 35
OUT 36 P3-5 4 36
OUT 37 P3-6 5 37
OUT 38 P3-7 6 38
OUT 39 P3-8 7 39
OUT 40 P3-9 8 40
OUT 41 P3-10 9 41
OUT 42 P3-11 10 42
OUT 43 P3-12 11 43
OUT 44 P3-13 12 44
OUT 45 P3-14 13 45
OUT 46 P3-15 14 46
OUT 47 P3-16 15 47
OUT 48 P3-17 16 48
OUT 49 P3-18 17 49
OUT 50 P3-19 18 50
OUT 51 P3-20 19 51
OUT 52 P3-21 20 52
OUT 53 P3-22 21 53
OUT 54 P3-23 22 54
OUT 55 P3-24 23 55
OUT 56 P3-25 24 56
OUT 57 P3-26 25 57
OUT 58 P3-27 26 58
OUT 59 P3-28 27 59
OUT 60 P3-29 28 60
OUT 61 P3-20 29 61
OUT 62 P3-31 30 62
OUT 63 P3-32 31 63
Bit Reference - 125

Parker Hannifin

Description Write
Output R Indicates the state of the physical output.

Parker Hannifin
Bit32 - Bit63 Opto-isolated Outputs (ACR9000)

Flag Parameter 4097
Physical Bit
OUT 32 P3-1 0 32
OUT 33 P3-2 1 33
OUT 34 P3-3 2 34
OUT 35 P3-4 3 35
OUT 36 P3-5 4 36
OUT 37 P3-6 5 37
OUT 38 P3-7 6 38
OUT 39 P3-8 7 39
Drive Enable Output 0 P3-9 8 40
Drive Reset Output 0 P3-17 16 48
LED 0 Green P3-25 24 56
LED 0 Red P3-26 25 57
LED 1 Green P3-27 26 58
LED 1 Red P3-28 27 59
LED 2 Green P3-29 28 60
LED 2 Red P3-20 29 61
LED 3 Green P3-31 30 62

LED 3 Red P3-32 31 63
Bit Reference - 127

Parker Hannifin

Description Write
Output R Indicates the state of the physical output.
Drive Enable R/W If the Enable Drive I/O bit (bit index 20) in the Quaternary Axis
Output flags is clear, you can then control the state of the Drive
Enable Output.
Drive Reset R/W If the Enable Drive I/O bit (bit index 20) in the Quaternary Axis
Output flags is clear, you can then control the state of the Drive
Enable Output.
LED Green R/W If the Enable Drive I/O bit (bit index 20) in the Quaternary Axis
flags is clear, you can then control the state of the Drive
Enable Output.
LED Red R/W If the Enable Drive I/O bit (bit index 20) in the Quaternary Axis
flags is clear, you can then control the state of the Drive
Enable Output.

Parker Hannifin
Bit64 - Bit95 Miscellaneous Inputs
Flag Parameter 4098

Bit
Flag Description Index Bit Number
DIP Switch Input 0 (SW1-8) 0 64
Reserved 8 72
Reserved 9 73
Reserved 10 74
Reserved 11 75
Reserved 12 76
Reserved 13 77
Reserved 14 78
Reserved 15 79
20 ms Clock Pulse 16 80
1 Sec Clock Pulse 18 82
1 Minute Clock Pulse 19 83
Reserved 20 84
Reserved 21 85
Reserved 22 86
Reserved 23 87
PLS0 On 24 88
PLS1 On 25 89
PLS2 On 26 90
PLS3 On 27 91
PLS4 On 28 92
PLS5 On 29 93
PLS6 On 30 94
PLS7 On 31 95
Bit Reference - 129

Parker Hannifin

Description Write
DIP Switch R Indicates the physical state of the DIP switch (not applicable to
Input ACR9000).
20 ms Clock R Provides a real-time clock. The bit state changes every one-
Pulse half clock pulse.
1 Second Clock R Provides a real-time clock. The bit state changes every one-
1 Minute Clock R Provides a real-time clock. The bit state changes every one-
PLS On R The bit is set when the programmable limit switch is enabled.
For more information, see the PLS ON command.

Parker Hannifin
Bit64 - Bit95 Miscellaneous Inputs (ACR9000)

ACR9000 only
Flag Parameter 4098
Bit
Drive Fault Input 0 0 64
Trigger Input INP72 8 72
1 Sec Clock Pulse 18 82
1 Minute Clock Pulse 19 83
Reserved 20 84
Reserved 21 85
Reserved 22 86
Reserved 23 87
PLS0 On 24 88
PLS1 On 25 89
PLS2 On 26 90
PLS3 On 27 91
PLS4 On 28 92
PLS5 On 29 93
PLS6 On 30 94
PLS7 On 31 95
Bit Reference - 131

Parker Hannifin

Description Write
Drive Fault R Indicates the physical state of the drive’s fault input.
Input
Trigger Input R Indicates the physical state of the drives high-speed input.
1 Second Clock R Provides a real-time clock. The bit state changes every one-
1 Minute Clock R Provides a real-time clock. The bit state changes every one-
PLS On R The bit is set when the programmable limit switch is enabled.
For more information, see the PLS ON command.

Parker Hannifin
Bit96 - Bit127 Miscellaneous Outputs (ACR1505 and

ACR8020)
Flag Parameter 4099
Bit
LED Bank Output 0 (D34) 0 96
Sample Trigger Armed 8 104
Sample In Progress 9 105
Sample Mode Select 10 106
Sample Trigger Latched 11 107
Reserved 12 108
Reserved 13 109
Reserved 14 110
Reserved 15 111
Trigger AT Bus Interrupt 16 112
Trigger Software Capture 17 113
Reserved 18 114
Reserved 19 115
Expansion I/O Enable 0 20 116
Reserved 24 120
Reserved 25 121
Reserved 26 122
Reserved 27 123
Reserved 28 124
Reserved 29 125
Reserved 30 126
Reserved 31 127
Bit Reference - 133

Parker Hannifin

Description Write
LED Bank R/W Controls the state of the LED bank’s output.
Output
Sample Trigger R Controls the monitoring of the data sample trigger, which sets
Armed the Sample in Progress bit. The bit clears when all sample
channels are filled, thereby indicating the sample is complete.
Sample In R/W Controls sampling, and is normally set by a sample trigger

Progress condition. In addition, this bit can be set manually. The bit
clears when all sample channels are filled.
If the Sample Mode Select is set to edge trigger mode, the bit
clears after every sample. This prevents the controller from
taking multiple samples on the edge trigger condition.
Sample Mode R/W Controls the sample mode:
Select Continuous—Bit is clear. In continuous mode, a trigger event
sets the Sample In Progress bit, and the controller takes a
sample ever servo interrupt (or sample period) until all sample
channels are filled.
Edge Trigger—Bit is set. In the edge trigger mode, a trigger
edge sets the Sample In Progress bit. After a sample is taken,
the controller clears the Sample In Progress bit.
Sample Trigger R Indicates the previous state of the trigger event for detecting
Latched trigger edges. If the trigger event is detected and the previous
trigger condition was clear, the controller takes a sample.
Trigger AT Bus R/W Controls the bus interrupt for bus based controllers. When set,
Interrupt a bus interrupt is sent. In the ACR9000 controller, the interrupt
causes an Ethernet User Alarm.
Trigger R/W Controls a software encoder capture of all axes. When set, a
Software software capture is taken and stored in the Axis Parameters
Capture (bit index 5).
Expansion I/O R Indicates expansion I/O is present for bus based controllers.
Enable When the controller detects expansion I/O is present it sets the
Expansion I/O Enable bit. When set, controller checks the bit
and subsequently the expansion I/O each servo period.

Parker Hannifin
Bit96 - Bit127 Miscellaneous Outputs (ACR90x0 and

Aries Controller)
ACR90x0 and Aries Controller only
Flag Parameter 4099
Bit
LED 4 Green 0 96
LED 4 Red 1 97
LED 5 Green 2 98
LED 5 Red 3 99
LED 6 Green 4 100
LED 6 Red 5 101
LED 7 Green 6 102
LED 7 Red 7 103
Sample Trigger Armed 8 104
Sample In Progress 9 105
Sample Mode Select 10 106
Sample Trigger Latched 11 107
Reserved 12 108
Reserved 13 109
Reserved 14 110
Reserved 15 111
Trigger AT Bus Interrupt 16 112
Trigger Software Capture 17 113
Trigger EPLD Soft Capture 18 114
Trigger EPLE Soft Capture 19 115
Reserved 24 120
Reserved 25 121
Reserved 26 122
Reserved 27 123
Reserved 28 124
Reserved 29 125
Reserved 30 126
Bit Reference - 135

Parker Hannifin
Flag Parameter 4099

Bit
Reserved 31 127

Description Write
LED Bank R/W Controls the state of the LED bank’s output.
Output
Sample Trigger R Controls the monitoring of the data sample trigger, which sets
Armed the Sample in Progress bit. The bit clears when all sample
channels are filled, thereby indicating the sample is complete.
Sample In R/W Controls sampling, and is normally set by a sample trigger

Progress condition. In addition, this bit can be set manually. The bit
clears when all sample channels are filled.
If the Sample Mode Select is set to edge trigger mode, the bit
clears after every sample. This prevents the controller from
taking multiple samples on the edge trigger condition.
Sample Mode R/W Controls the sample mode:

Select Continuous—Bit is clear. In continuous mode, a trigger event
sets the Sample In Progress bit, and the controller takes a
sample ever servo interrupt (or sample period) until all sample
channels are filled.
Edge Trigger—Bit is set. In the edge trigger mode, a trigger
edge sets the Sample In Progress bit. After a sample is taken,
the controller clears the Sample In Progress bit.
Sample Trigger R Indicates the previous state of the trigger event for detecting
Latched trigger edges. If the trigger event is detected and the previous
trigger condition was clear, the controller takes a sample.
Trigger AT Bus R/W Controls the bus interrupt for bus based controllers. When set,
Interrupt a bus interrupt is sent. In the ACR9000 controller, the interrupt
causes an Ethernet User Alarm.
Trigger R/W Controls a software encoder capture of all axes. When set, a
Software software capture is taken and stored in the Axis Parameters
Capture (bit index 5. For example, P12293 for Axis0.)
Trigger EPLD R/W Controls a software encoder capture of all EPL axes primary
Soft Capture encoders. When set, a software capture is taken and stored in
the Axis Parameters, Software Capture (parameter index 5. For
example P12293 for Axis0.)
Trigger EPLE R/W Controls a software encoder of all EPL axes secondary
Soft Capture encoders. When set, a software capture is taken and stored in
the Axis Parameters, Software Capture (parameter index 5. For
example P12293 for Axis0.)
Expansion I/O R Indicates expansion I/O is present for bus based controllers.
Enable When the controller detects expansion I/O is present it sets
the Expansion I/O Enable bit. When set, controller checks the
bit and subsequently the expansion I/O each servo period.

Parker Hannifin
Bit128 - Bit255 User Flags Group 1-4
Mask 0x10 0x20 0x40 0x80

Flag Parameters 4100 4101 4102 4103
Bit User Group
Flag Description Index 0 1 2 3
User defined 0 128 160 192 224
User defined 1 129 161 193 225
User defined 2 130 162 194 226
User defined 3 131 163 195 227
User defined 4 132 164 196 228
User defined 5 133 165 197 229
User defined 6 134 166 198 230
User defined 7 135 167 199 231
User defined 8 136 168 200 232
User defined 9 137 169 201 233
User defined 10 138 170 202 234
User defined 11 139 171 203 235
User defined 12 140 172 204 236
User defined 13 141 173 205 237
User defined 14 142 174 206 238
User defined 15 143 175 207 239
User defined 16 144 176 208 240
User defined 17 145 177 209 241
User defined 18 146 178 210 242
User defined 19 147 179 211 243
User defined 20 148 180 212 244
User defined 21 149 181 213 245
User defined 22 150 182 214 246
User defined 23 151 183 215 247
User defined 24 152 184 216 248
User defined 25 153 185 217 249
User defined 26 154 186 218 250
User defined 27 155 187 219 251
User defined 28 156 188 220 252
User defined 29 157 189 221 253
User defined 30 158 190 222 254

User defined 31 159 191 223 255
Bit Reference - 137

Parker Hannifin

Description Write
User Defined R/W Controls the bit for user application purposes only. It does not
affect controller functions.

Parker Hannifin
Bit256 - Bit511 Expansion I/O Flags

Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80
Flag Parameter 4104 4105 4106 4107 4108 4109 4110 4111
Code=0x10; Index=0x01 Expansion I/O Board Number
I/O Number Bit 0 1 2 3
INP OUT Index INP OUT INP OUT INP OUT INP OUT
00 32 0 256 288 320 352 384 416 448 480
01 33 1 257 289 321 353 385 417 449 481
02 34 2 258 290 322 354 386 418 450 482
03 35 3 259 291 323 355 387 419 451 483
04 36 4 260 292 324 356 388 420 452 484
05 37 5 261 293 325 357 389 421 453 485
06 38 6 262 294 326 358 390 422 454 486
07 39 7 263 295 327 359 391 423 455 487
08 40 8 264 296 328 360 392 424 456 488
09 41 9 265 297 329 361 393 425 457 489
10 42 10 266 298 330 362 394 426 458 490
11 43 11 267 299 331 363 395 427 459 491
12 44 12 268 300 332 364 396 428 460 492
13 45 13 269 301 333 365 397 429 461 493
14 46 14 270 302 334 366 398 430 462 494
15 47 15 271 303 335 367 399 431 463 495
16 48 16 272 304 336 368 400 432 464 496
17 49 17 273 305 337 369 401 433 465 497
18 50 18 274 306 338 370 402 434 466 498
19 51 19 275 307 339 371 403 435 467 499
20 52 20 276 308 340 372 404 436 468 500
21 53 21 277 309 341 373 405 437 469 501
22 54 22 278 310 342 374 406 438 470 502
23 55 23 279 311 343 375 407 439 471 503
24 56 24 280 312 344 376 408 440 472 504
25 57 25 281 313 345 377 409 441 473 505
26 58 26 282 314 346 378 410 442 474 506
27 59 27 283 315 347 379 411 443 475 507
28 60 28 284 316 348 380 412 444 476 508
29 61 29 285 317 349 381 413 445 477 509
30 62 30 286 318 350 382 414 446 478 510
31 63 31 287 319 351 383 415 447 479 511
Bit Reference - 139

Parker Hannifin
Bit512 - Bit767 Master Flags (Masters 0-7)
Warning — The function of the “Kill All Moves” and “Stop All Moves” flags
has changed in Firmware Versions 1.17.05 and above.
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4112 4113 4114 4115 4116 4117 4118 4119
Bit MASTER Number
Status Flags Index 0 1 2 3 4 5 6 7
Accelerating 0 512 544 576 608 640 672 704 736
Decelerating 1 513 545 577 609 641 673 705 737
Stopping 2 514 546 578 610 642 674 706 738
Jerking 3 515 547 579 611 643 675 707 739
In Motion 4 516 548 580 612 644 676 708 740
Move Buffered 5 517 549 581 613 645 677 709 741
Feedholding 6 518 550 582 614 646 678 710 742

In Feedhold 7 519 551 583 615 647 679 711 743
Bit MASTER Number

Control Flags Index 0 1 2 3 4 5 6 7
Feedhold Request 8 520 552 584 616 648 680 712 744
Cycle Start Request 9 521 553 585 617 649 681 713 745
Kill All Moves 10 522 554 586 618 650 682 714 746
Stop All Moves 11 523 555 587 619 651 683 715 747
FVEL Zero Pending 12 524 556 588 620 652 684 716 748
FVEL Zero Active 13 525 557 589 621 653 685 717 749
FOV/ROV Lock Pending 14 526 558 590 622 654 686 718 750
FOV/ROV Lock Active 15 527 559 591 623 655 687 719 751
Bit MASTER Number

Limit Flags Index 0 1 2 3 4 5 6 7
Not In Position (IPB) 16 528 560 592 624 656 688 720 752
Not Excess Error (EXC) 17 529 561 593 625 657 689 721 753
Within A Limit (ALM) 18 530 562 594 626 658 690 722 754
Not Within B Limit (BLM) 19 531 563 595 627 669 691 723 755
Not Torque Limit (TLM) 20 532 564 596 628 660 692 724 756
Not In Torque Band (ITB) 21 533 565 597 629 661 693 725 757
Reserved 22 534 566 598 630 662 694 726 758

Reserved 23 535 567 599 631 663 695 727 759

Parker Hannifin
Bit MASTER Number

Sequence Flags Index 0 1 2 3 4 5 6 7
Increment Count 24 536 568 600 632 664 696 728 760
Decrement Count 25 537 569 601 633 665 697 729 761
Interrupt On Move 26 538 570 602 634 666 698 730 762
TRG Pending 27 539 571 603 635 667 699 731 763
Start Move Inhibit 28 540 572 604 636 668 700 732 764
REN Request Flag 29 541 573 605 637 669 701 733 765
Cycle Start Lockout 30 542 574 606 638 670 702 734 766
Reserved 31 543 575 607 639 671 703 735 767
Bit Reference - 141

Parker Hannifin
Status Flags
Description Write
Accelerating R (f) Flag will be set if the master is currently accelerating using the ACC ramp.
Decelerating R (f) Flag will be set if the master is currently decelerating using the DEC ramp.
Stopping R (f) Flag will be set if the master is currently decelerating to a complete stop
using STP ramp.
Jerking R (f) Flag will be set if the master acceleration is changing using the JRK ramp.
In Motion R (f) Flag set if the master is currently in a move, this Flag will also stay
activated when the master is in feedhold.
Move Buffered R (f) Flag set if the master currently has a move pending (buffered) while a
previous move is in progress. This Flag will clear when there are no moves
pending.
Feedholding R (f) Flag set if the master has received a feedhold request. The attached axes
are decelerating or stopped. This Flag will clear when a Cycle Start request
is received.
In Feedhold R (f) Flag set if the master has received a feedhold request and the attached
axes have stopped. This Flag will clear when a Cycle Start request is
received.
f = fast flag, sampled once each servo interrupt

s = slow flag, sample rate of approximately 50 ms (independent of servo interrupt rate)
Control Flags
Write
Feedhold R/W (s) This Flag will cause the current move to decelerate to zero and set the
Request Feedholding status flag. Processor acknowledgment clears the Flag.
Cycle Start R/W (s) This Flag will cause the move in progress when a Feedhold Request was
Request processed to accelerate and continue the moves. Processor
acknowledgment clears the Flag.
Kill All Moves R/W (s) See Flag description on following page.
Stop All Moves R/W (s) See Flag description on following page.
FVEL Zero R/W (s) State of "FVEL zero" flag at start of next move.
Pending
FVEL Zero Active R/W (s) When this flag is set, use 0 for FVEL instead of FVEL setting.
FOV/ROV Lock R/W (s) State of "FOV/ROV lock" flag at start of next move.
Pending
FOV/ROV Lock R/W (s) When this flag is set:

Active Use 1.0 for FOV instead of FOV setting, during feed moves.
Use 1.0 for ROV instead of ROV setting during rapid moves.


Parker Hannifin
The Kill All Moves and Stop All Moves flag functions are user selectable via the
Secondary Master Flags Bit Index 4 control flag, Enable Clear Request, as follows:
Secondary Master Flag Enable Clear Request – Cleared

(DEFAULT – Compatible with Firmware Version 1.17.05 and above)

Write
Kill All Moves R/W Setting this Flag will stop all moves without using
(s) any acceleration or deceleration ramps. This flag
does not halt any programs or PLCs.
The user is responsible for clearing this Flag.
Stop All Moves R/W Setting this Flag will cause the master to respond
(s) the same as receiving a Feedhold Request, wait for
"In Feedhold" flag, and then follow with a Kill All
Moves.
Processor acknowledgment clears the Kill All
Moves Flag. The user is responsible for clearing
the Kill All Moves Flag.
Secondary Master Flag Enable Clear Request – Set

(Compatible with Firmware Version 1.17.04 and below)

Write
Kill All Moves R/W (s) Setting this Flag will stop all moves without using
any acceleration or deceleration ramps. This flag
Moves Flag.
Stop All Moves R/W (s) Setting this Flag will cause the master to respond
the same as receiving a Feedhold Request, wait for
Moves.
Moves Flag.
Bit Reference - 143

Parker Hannifin
Limit Flags
Write
Not In Position R (s) Flag will be set whenever any attached axes has a
following error that is outside of its In-Position Band
(IPB), or the axis is in motion.
Not Excess Error R (s) Flag will be set if all of the attached axes has a following
error that is within their Excess Error bands (EXC)
Within A Limit R (s) Flag will be set if all attached axes have a command
position that is within the values set by Stroke Limit `A’
(ALM)
Not Within B Limit R (s) Flag will be set if any attached axes has a command
position that is outside of values set by Stroke Limit `B’
(BLM)
Not Torque Limit R (s) Flag will be set if none of the attached DAC outputs is
being torque limited. This is set by the value of Torque
Limit. (TLM)
Not in Torque Band R (s) Flag will be set if any attached DAC output is outside of
the torque band. This is set by the value of In-Torque
Band. (ITB)
Sequence Flags
Write
Increment Count R/W (f) When this flag is set, the move counter increments when
a move starts.
Decrement Count R/W (f) When this flag is set, the move counter decrements when
a move starts.
Interrupt On Move R/W (f) When this flag is set, an interrupt is sent to the AT Bus
when a move is fetched from FIFO and buffered.
TRG Pending R/W (f) This flag is set when the master is waiting for TRG
condition to become true.
Start Move Inhibit R/W (f) When this flag is set, buffered moves are prevented from
starting. This flag is used internally by the BLK/STEP
sequence.
REN Request Flag R/W (s) When This flag is set, the attached axes will perform a
REN command. Flag is cleared on operation.
Cycle Start Lockout R/W (f) When this f lag is set, the master will ignore cycle start
requests.

Parker Hannifin
Bit7424 - Bit7679 Master Flags (Masters 8-15)

Warning — The function of the “Kill All Moves” and “Stop All Moves” flags
has changed in Firmware Versions 1.17.05 and above.
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4328 4329 4330 4331 4332 4333 4334 4335
Code=0x10; Index=0x1D
Bit MASTER Number
Accelerating 0 7424 7456 7488 7520 7552 7584 7616 7648
Decelerating 1 7425 7457 7489 7521 7553 7585 7617 7649
Stopping 2 7426 7458 7490 7522 7554 7586 7618 7650
Jerking 3 7427 7459 7491 7523 7555 7587 7619 7651
In Motion 4 7428 7460 7492 7524 7556 7588 7620 7652
Move Buffered 5 7429 7461 7493 7525 7557 7589 7621 7653
Feedholding 6 7430 7462 7494 7526 7558 7590 7622 7654

In Feedhold 7 7431 7463 7495 7527 7559 7591 7623 7655
Bit MASTER Number

Feedhold Request 8 7432 7464 7496 7528 7560 7592 7624 7656
Cycle Start Request 9 7433 7465 7497 7529 7561 7593 7625 7657
Kill All Moves 10 7434 7466 7498 7530 7562 7594 7626 7658
Stop All Moves 11 7435 7467 7499 7531 7563 7595 7627 7659
FVEL Zero Pending 12 7436 7468 7500 7532 7564 7596 7628 7660
FVEL Zero Active 13 7437 7469 7501 7533 7565 7597 7629 7661
FOV/ROV Lock Pending 14 7438 7470 7502 7534 7566 7598 7630 7662
FOV/ROV Lock Active 15 7439 7471 7503 7535 7567 7599 7631 7663
Bit MASTER Number

Reserved 22 7446 7478 7510 7542 7574 7606 7638 7670

Reserved 23 7447 7479 7511 7543 7575 7607 7639 7671
Bit Reference - 145

Parker Hannifin
Bit MASTER Number

Sequence Flags Index 8 9 10 11 12 13 14 15
Increment Count 24 7448 7480 7512 7544 7576 7608 7640 7672
Decrement Count 25 7449 7481 7513 7545 7577 7609 7641 7673
Interrupt On Move 26 7450 7482 7514 7546 7578 7610 7642 7674
TRG Pending 27 7451 7483 7515 7547 7579 7611 7643 7675
Start Move Inhibit 28 7452 7484 7516 7548 7580 7612 7644 7676
REN Request Flag 29 7453 7485 7517 7549 7581 7613 7645 7677
Cycle Start Lockout 30 7454 7486 7518 7550 7582 7614 7646 7678
Reserved 31 7455 7487 7519 7551 7583 7615 7647 7679

Parker Hannifin
Status Flags
Write
Accelerating R (f) Flag will be set if the master is currently accelerating using the ACC
ramp.
Decelerating R (f) Flag will be set if the master is currently decelerating using the DEC
ramp.
Stopping R (f) Flag will be set if the master is currently decelerating to a complete
stop using STP ramp.
Jerking R (f) Flag will be set if the master acceleration is changing using the JRK
ramp.
In Motion R (f) Flag set if the master is currently in a move, this Flag will also stay
activated when the master is in feedhold.
Move Buffered R (f) Flag set if the master currently has a move pending (buffered) while
a previous move is in progress. This Flag will clear when there are
no moves pending.
Feedholding R (f) Flag set if the master has received a feedhold request. The attached
axes are decelerating or stopped. This Flag will clear when a Cycle
Start request is received.
In Feedhold R (f) Flag set if the master has received a feedhold request and the
attached axes have stopped. This Flag will clear when a Cycle Start
request is received.
Control Flags
Write
Feedhold Request R/W (s) This Flag will cause the current move to decelerate to zero and set the
Feedholding status flag. Processor acknowledgment clears the Flag.
Cycle Start Request R/W (s) This Flag will cause the move in progress when a Feedhold Request
was processed to accelerate and continue the moves. Processor
acknowledgment clears the Flag.
Kill All Moves R/W (s) See Flag description on following page.
Stop All Moves R/W (s) See Flag description on following page.
FVEL Zero Pending R/W (s) State of "FVEL zero" flag at start of next move.
FVEL Zero Active R/W (s) When this flag is set, use 0 for FVEL instead of FVEL setting.
FOV/ROV Lock R/W (s) State of "FOV/ROV lock" flag at start of next move.
Pending
FOV/ROV Lock R/W (s) When this flag is set, use 1.0 for FOV instead of FOV setting, during
Active feed moves.
When this flag is set, use 1.0 for ROV instead of ROV setting during
rapid moves.
Bit Reference - 147

Parker Hannifin
The Kill All Moves and Stop All Moves flag functions are user selectable via the
Secondary Master Flags Bit Index 4 control flag, Enable Clear Request, as follows:
Secondary Master Flag Enable Clear Request – Cleared

(DEFAULT – Compatible with Firmware Version 1.17.05 and above)

Write
The user is responsible for clearing this Flag.
Moves.
Moves Flag. The user is responsible for clearing
the Kill All Moves Flag.
Secondary Master Flag Enable Clear Request – Set

(Compatible with Firmware Version 1.17.04 and below)

Write
Moves Flag.
Moves.
Moves Flag.

Parker Hannifin
Limit Flags
Write
Not In Position R (s) Flag will be set whenever any attached axes has a
following error that is outside of its In-Position Band
(IPB)
Not Excess Error R (s) Flag will be set if all of the attached axes has a following
error that is within their Excess Error bands (EXC)
Within A Limit R (s) Flag will be set if all attached axes have a command
position that is within the values set by Stroke Limit ‘A’
(ALM)
Not Within B Limit R (s) Flag will be set if any attached axes has a command
position that is outside of values set by Stroke Limit ‘B’
(BLM)
Not Torque Limit R (s) Flag will be set if none of the attached DAC outputs is
being torque limited. This is set by the value of Torque
Limit. (TLM)
Not in Torque Band R (s) Flag will be set if any attached DAC output is outside of
the torque band. This is set by the value of In-Torque
Band. (ITB)
Sequence Flags
Write
Increment Count R/W (f) When this flag is set, the move counter increments when
a move starts.
Decrement Count R/W (f) When this flag is set, the move counter decrements when
a move starts.
Interrupt On Move R/W (f) When this flag is set, an interrupt is sent to the AT Bus
when a move is fetched from FIFO and buffered.
TRG Pending R/W (f) This flag is set when the master is waiting for TRG
condition to become true.
Start Move Inhibit R/W (f) When this flag is set, buffered moves are prevented from
starting. This flag is used internally by the BLK/STEP
sequence.
REN Request Flag R/W (s) When This flag is set, the attached axes will perform a
REN command. Flag is cleared on operation.
Cycle Start Lockout R/W (f) When this flag is set, the master will ignore cycle start
requests.
Bit Reference - 149

Parker Hannifin
Bit768 - Bit1023 Axis Flags (Axes 0-7)

Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80
Flag Parameter 4120 4121 4122 4123 4124 4125 4126 4127
Code=0x10; Index=-0x03
Bit AXIS Number
Reserved 6 774 806 838 870 902 934 966 998

Reserved 7 775 807 839 871 903 935 967 999
Bit AXIS Number

Not Marker 8 776 808 840 872 904 936 968 1000
Capture Complete 9 777 809 841 873 905 937 969 1001
(INTCAP)
HSINT Registered 10 778 810 842 874 906 938 970 1002
HSINT Aborted 11 779 811 843 875 907 939 971 1003
Sinusoidal Mode (SINE) 12 780 812 844 876 908 940 972 1004
Gear Lock (GEAR) 13 781 813 845 877 909 941 973 1005
Gear At Speed (GEAR) 14 782 814 846 878 910 942 974 1006
Gear Stopping (GEAR) 15 783 815 847 879 911 943 975 1007
Bit AXIS Number

Clamp Output Signal 16 784 816 848 880 912 944 976 1008
Open Servo Loop (AXIS) 17 785 817 849 881 913 945 977 1009
Biquad Filter Activate 18 786 818 850 882 914 946 978 1010
REN Request Flag 19 787 819 851 883 915 947 979 1011
Gear Activate (GEAR OFF, 20 788 820 852 884 916 948 980 1012
GEAR ON)
Gear Active 21 789 821 853 885 917 949 981 1013
Cam Activate 22 790 822 854 886 918 950 982 1014
Ballscrew Activate (BSC) 23 791 823 855 887 919 951 983 1015

Parker Hannifin
Bit AXIS Number

Jog Flags (JOG) Index 0 1 2 3 4 5 6 7
Jog Active 24 792 824 856 888 920 952 984 1016
Jog Direction 25 793 825 857 889 921 953 985 1017
Jog At Speed 26 794 826 858 890 922 954 986 1018
Jog Stopping 27 795 827 859 891 923 955 987 1019
Jog Forward (JOG_FWD) 28 796 828 860 892 924 956 988 1020
Jog Reverse (JOG_REV) 29 797 829 861 893 925 957 989 1021
Jog Limit Check 30 798 830 862 894 926 958 990 1022
Jog Lockout 31 799 831 863 895 927 959 991 1023
Bit Reference - 151

Parker Hannifin
Limit Flags
Write
Not in Position R (s) Flag will be set when following error is outside of In-
Position Band (IPB), or the axis is in motion.
Not Excess Error R (s) Flag will be set when following error is within Excess
Error band (EXC)
Within A Limit R (s) Flag will be set if command position is within the values
set by Stroke Limit ‘A’ (ALM)
Not Within B Limit R (s) Flag will be set if command position is outside of values
set by Stroke Limit ‘B’ (BLM)
Not Torque Limit R (s) Flag will be set if attached DAC output is being torque
limited. This is set by the value of Torque Limit. (TLM)
Not in Torque Band R (s) Flag will be set if attached DAC output is outside of the
torque band. This is set by the value of In-torque Band.
(ITB)
Status Flags
Write
Not Marker R (s) Flag will be set when encoder marker of attached
encoder is not present
Capture Complete R (f) Flag will be set on completion of an encoder capture

using the INTCAP command. Flag will clear when the
next INTCAP is issued.
HSINT Registered R Cleared by the start of the HSINT command. Set when a
hardware capture is detected within the HSINT capture
window and the “incmov” starts.
HSINT Aborted R Cleared by the start of the HSINT command. Set when
the optional HSINT “abort bit” is detected and the
sequence is aborted.
Sinusoidal Mode R/W (f) When this bit is set, linear moves are converted into
SINE commands.
Gear Lock R/W Set this bit to disable GEAR ACC and GEAR DEC and
force gear ratio to the programmed setting.
Gear At Speed R This bit is set when the internal gear ratio is equal to the
programmed gear ratio. This bit is cleared during GEAR
ACC and GEAR DEC ramps.
Gear Stopping R This bit is set during the final GEAR DEC ramp after a
GEAR OFF command is issued.


Parker Hannifin
Control Flags
Write
Clamp Output R/W (f) When this flag is set, the axis “Output Signal” parameter
Signal is forced to zero.
Open Servo Loop R/W (f) When this flag is set, the axis does not execute servo
loop.
Biquad Filter R/W (f) When this flag is set, the axis executes digital filters.
Activate
REN Request Flag R/W (s) When this flag is set, the axis executes a REN command.
Flag is cleared on operation
Gear Lock R/W Overrides the gearing ramp mechanism. Locks the
current gear ratio to the target gear ratio regardless of
the current GEAR ACC and GEAR DEC settings.
Gear At Speed R Set when gearing is active and the current gear ratio is
equal to the target gear ratio. Cleared if executing a gear
acc/dec ramp.
Gear Stopping R Set when gearing is active and the gear activation bit is
clear. When the current gear ratio reaches zero, the gear
active bit is cleared.
Gearing Activate R/W (f) Flag is set by GEAR ON and cleared by GEAR OFF. Can
be used to manually control gearing.
Gearing Active R Flag is set when gearing is active. If GEAR DEC is

enabled, this bit will remain set after a GEAR OFF until
the gear ratio ramps down to zero.
Cam Activate R/W (f) Flag is set by CAM ON and cleared by CAM OFF. Can
be used to manually control camming.
Ballscrew Activate R/W (f) Flag is set by BSC ON and cleared by BSC OFF. Can be
used to manually control ballscrew.
Bit Reference - 153

Parker Hannifin
Jog Flags
Write
Jog Active R (f) Flag is set when the axis is in any jog mode.
Jog Direction R (f) Flag is set when the axis is jogging negative and off
when jogging positive or not jogging.
Jog at Speed R (f) Flag is set when the axis speed is at the velocity set by
JOG VEL command.
Jog Stopping R (f) Flag is set when axis is ramping to zero jog velocity.
Jog Forward R/W (f) Flag is set when axis is jogging forward. Can be used to
start jog forward by setting the flag or stopping jog
forward by clearing the flag. The JOG FWD command
sets this bit. The JOG OFF command clears this bit.
Jog Reverse R/W (f) Flag is set when axis is jogging in reverse. Can be used
to start jog reverse by setting the flag or stopping jog
reverse by clearing the flag. The JOG REV command sets
this bit. The JOG OFF command clears this bit.
Jog Limit Check R/W (f) When this flag is set the jog limits are checked when the
JOG FWD and JOG REV commands are used. The
value of jog limits is set using the JLM command.
Jog Lockout R/W (f) When this flag is set a JOG FWD or JOG REV command
will set the appropriate flag but not produce motion. If
this flag is cleared and the Jog Forward or Jog Reverse
flag is set the Jog will start. If this flag is set while in a
jog mode it will not take effect until the present jog is
stopped.


Parker Hannifin
Bit7680 - Bit7935 Axis Flags (Axes 8-15)

Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80
Flag Parameter 4336 4337 4338 4339 4340 4341 4342 4343
Code=0x10; Index=-0x1E
Bit AXIS Number
Reserved 6 7686 7718 7750 7782 7814 7846 7878 7910

Reserved 7 7687 7719 7751 7783 7815 7847 7879 7911
Bit AXIS Number

Not Marker 8 7688 7720 7752 7784 7816 7848 7880 7912
Capture Complete 9 7689 7721 7753 7785 7817 7849 7881 7913
(INTCAP)
HSINT Registered 10 7690 7722 7754 7786 7818 7850 7882 7914
HSINT Aborted 11 7691 7723 7755 7787 7819 7851 7883 7915
Sinusoidal Mode (SINE) 12 7692 7724 7756 7788 7820 7852 7884 7916
Gear Lock (GEAR) 13 7693 7725 7757 7789 7821 7853 7885 7917
Gear At Speed (GEAR) 14 7694 7726 7758 7790 7822 7854 7886 7918
Gear Stopping (GEAR) 15 7695 7727 7759 7791 7823 7855 7887 7919
Bit AXIS Number

Clamp Output Signal 16 7696 7728 7760 7792 7824 7856 7888 7920
Open Servo Loop (AXIS) 17 7697 7729 7761 7793 7825 7857 7889 7921
Biquad Filter Activate 18 7698 7730 7762 7794 7826 7858 7890 7922
REN Request Flag 19 7699 7731 7763 7795 7827 7859 7891 7923
Gear Activate (GEAR OFF, 20 7700 7732 7764 7796 7828 7860 7892 7924
GEAR ON)
Gear Active 21 7701 7733 7765 7797 7829 7861 7893 7925
Cam Activate 22 7702 7734 7766 7798 7830 7862 7894 7926
Ballscrew Activate (BSC) 23 7703 7735 7767 7799 7831 7863 7895 7927
Bit Reference - 155

Parker Hannifin
Bit AXIS Number

Jog Flags (JOG) Index 8 9 10 11 12 13 14 15
Jog Active 24 7704 7736 7768 7800 7832 7864 7896 7928
Jog Direction 25 7705 7737 7769 7801 7833 7865 7897 7929
Jog At Speed 26 7706 7738 7770 7802 7834 7866 7898 7930
Jog Stopping 27 7707 7739 7771 7803 7835 7867 7899 7931
Jog Forward (JOG_FWD) 28 7708 7740 7772 7804 7836 7868 7900 7932
Jog Reverse (JOG_REV) 29 7709 7741 7773 7805 7837 7869 7901 7933
Jog Limit Check 30 7710 7742 7774 7806 7838 7870 7902 7934
Jog Lockout 31 7711 7743 7775 7807 7839 7871 7903 7935

Parker Hannifin
Limit Flags
Write
Not in Position R (s) Flag will be set when following error is outside of In-
Position Band (IPB)
Not Excess Error R (s) Flag will be set when following error is within Excess
Error band (EXC)
Within A Limit R (s) Flag will be set if command position is within the values
set by Stroke Limit ‘A’ (ALM)
Not Within B Limit R (s) Flag will be set if command position is outside of values
set by Stroke Limit ‘B’ (BLM)
Not Torque Limit R (s) Flag will be set if attached DAC output is being torque
limited. This is set by the value of Torque Limit. (TLM)
Not in Torque Band R (s) Flag will be set if attached DAC output is outside of the
torque band. This is set by the value of In-torque Band.
(ITB)
Status Flags
Write
Not Marker R (s) Flag will be set when encoder marker of attached
encoder is not present
Capture Complete R (f) Flag will be set on completion of an encoder capture

using the INTCAP command. Flag will clear when the
next INTCAP is issued.
HSINT Registered R Cleared by the start of the HSINT command. Set when a
hardware capture is detected within the HSINT capture
window and the “incmov” starts.
HSINT Aborted R Cleared by the start of the HSINT command. Set when
the optional HSINT “abort bit” is detected and the
sequence is aborted.
Sinusoidal Mode R/W (f) When this bit is set, linear moves is converted into SINE
commands.
Gear Lock R/W Set this bit to disable GEAR ACC and GEAR DEC and
force gear ratio to the programmed setting.
Gear At Speed R This bit is set when the internal gear ratio is equal to the
programmed gear ratio. This bit is cleared during GEAR
ACC and GEAR DEC ramps.
Gear Stopping R This bit is set during the final GEAR DEC ramp after a
GEAR OFF command is issued.

Bit Reference - 157

Parker Hannifin
Control Flags
Write
Clamp Output R/W (f) When this flag is set, the axis “Output Signal” parameter
Signal is forced to zero.
Open Servo Loop R/W (f) When this flag is set, the axis does not execute servo
loop.
Biquad Filter R/W (f) When this flag is set, the axis executes digital filters.
Activate
REN Request Flag R/W (s) When this flag is set, the axis executes a REN command.
Flag is cleared on operation
Gear Lock R/W Overrides the gearing ramp mechanism. Locks the
current gear ratio to the target gear ratio regardless of
the current GEAR ACC and GEAR DEC settings.
Gear At Speed R Set when gearing is active and the current gear ratio is
equal to the target gear ratio. Cleared if executing a gear
acc/dec ramp.
Gear Stopping R Set when gearing is active and the gear activation bit is
clear. When the current gear ratio reaches zero, the gear
active bit is cleared.
Gearing Activate R/W (f) Flag is set by GEAR ON and cleared by GEAR OFF. Can
be used to manually control gearing.
Gearing Active R Flag is set when gearing is active. If GEAR DEC is

enabled, this bit will remain set after a GEAR OFF until
the gear ratio ramps down to zero.
Cam Activate R/W (f) Flag is set by CAM ON and cleared by CAM OFF. Can
be used to manually control camming.
Ballscrew Activate R/W (f) Flag is set by BSC ON and cleared by BSC OFF. Can be
used to manually control ballscrew.

Parker Hannifin
Jog Flags
Write
Jog Active R (f) Flag is set when the axis is in any jog mode.
Jog Direction R (f) Flag is set when the axis is jogging negative and off
when jogging positive or not jogging.
Jog at Speed R (f) Flag is set when the axis speed is at the velocity set by
JOG VEL command.
Jog Stopping R (f) Flag is set when axis is ramping to zero.
Jog Forward R/W (f) Flag is set when axis is jogging forward. Can be used to
start jog forward by setting the flag or stopping jog
forward by clearing the flag. The JOG FWD command
sets this bit. The JOG OFF command clears this bit.
Jog Reverse R/W (f) Flag is set when axis is jogging in reverse. Can be used
to start jog reverse by setting the flag or stopping jog
reverse by clearing the flag. The JOG REV command sets
this bit. The JOG OFF command clears this bit.
Jog Limit Check R/W (f) When this flag is set the jog limits are checked when the
JOG FWD and JOG REV commands are used. The
value of jog limits is set using the JLM command.
Jog Lockout R/W (f) When this flag is set a JOG FWD or JOG REV command
will set the appropriate flag but not produce motion. If
this flag is cleared and the Jog Forward or Jog Reverse
flag is set the Jog will start. If this flag is set while in a
jog mode it will not take effect until the present jog is
stopped.

Bit Reference - 159

Parker Hannifin
Bit1024 - Bit1279 Program Flags (Programs 0-7)

Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80
Flag Parameter 4128 4129 4130 4131 4132 4133 4134 4135
Bit PROG Number
Program Running 0 1024 1056 1088 1120 1152 1184 1216 1248
Program Dwelling 1 1025 1057 1089 1121 1153 1185 1217 1249
Program Inhibited 2 1026 1058 1090 1122 1154 1186 1218 1250
Move Pending 3 1027 1059 1091 1123 1155 1187 1219 1251
Program Timeout 4 1028 1060 1092 1124 1156 1188 1220 1252
Program Modified 5 1029 1061 1093 1125 1157 1189 1221 1253
Reserved 6 1030 1062 1094 1126 1158 1190 1222 1254

Reserved 7 1031 1063 1095 1127 1159 1191 1223 1255
Bit PROG Number

Run Request Flag 8 1032 1064 1096 1128 1160 1192 1224 1256
Halt Request Flag 9 1033 1065 1097 1129 1161 1193 1225 1257
Reserved 10 1034 1066 1098 1130 1162 1194 1226 1258
Reserved 11 1035 1067 1099 1131 1163 1195 1227 1259
Trace Mode Enable 12 1036 1068 1100 1132 1164 1196 1228 1260
Program Complete Alarm 13 1037 1069 1101 1133 1165 1197 1229 1261
Reserved 14 1038 1070 1102 1134 1166 1198 1230 1262

Reserved 15 1039 1071 1103 1135 1167 1199 1231 1263
Bit PROG Number

Block Flags Index 0 1 2 3 4 5 6 7
Block Control 16 1040 1072 1104 1136 1168 1200 1232 1264
Block Edge Detect 17 1041 1073 1105 1137 1169 1201 1233 1265
Block Mode 18 1042 1074 1106 1138 1170 1202 1234 1266
Block Mode Waiting 19 1043 1075 1107 1139 1171 1203 1235 1267
Step First Block 20 1044 1076 1108 1140 1172 1204 1236 1268
Step Request Flag 21 1045 1077 1109 1141 1173 1205 1237 1269
Step Control 22 1046 1078 1110 1142 1174 1206 1238 1270
Step Edge Detect 23 1047 1079 1111 1143 1175 1207 1239 1271

Parker Hannifin
Bit PROG Number

Pause Flags Index 0 1 2 3 4 5 6 7
Pause Control 24 1048 1080 1112 1144 1176 1208 1240 1272
Pause Edge Detect 25 1049 1081 1113 1145 1177 1209 1241 1273
Pause Mode 26 1050 1082 1114 1146 1178 1210 1242 1274
Pause Mode Waiting 27 1051 1083 1115 1147 1179 1211 1243 1275
Reserved 28 1052 1084 1116 1148 1180 1212 1244 1276
Reserved 29 1053 1085 1117 1149 1181 1213 1245 1277
Reserved 30 1054 1086 1118 1150 1182 1214 1246 1278

Reserved 31 1055 1087 1119 1151 1183 1215 1247 1279
Bit Reference - 161

Parker Hannifin
Status Flags
Write
Program Running R (f) Flag is set when the program is running.
Program Dwelling R (f) Flag is set when a program operation is executing a

DWL command.
Program Inhibited R (f) Flag is set when the program operation is suspended
during an INH or IHPOS command.
Move Pending R This flag is used internally to indicate that the current
block being processed contains a move that will begin
when the block ends.
Program Time-out R (f) Flag is set if IHPOS command times out Cleared by
IHPOS command.
Program Modified R (f) This flag is set when program is modified (add, delete, or
edit program lines) Flag is cleared when program is run.
Control Flags
Write
Run Request Flag R/W (s) If this flag is set, program is RUN when detected. Flag is
cleared automatically
Halt Request Flag R/W (s) If this flag is set, program is Halted when detected. Flag
is cleared automatically
Trace Mode Enable R/W (f) Flag is set by TRON command, cleared with TROFF
command. Can be used to enable or disable trace mode.
Program Complete R/W (s) Setting this flag will enable the controller-invoked alarm
Alarm when program is completed.


Parker Hannifin
Block Flags
Write
Block Control R/W (s) Flag is set when a block command is issued for this
program. Flag is cleared by AUT command. Can be used
to initiate or cancel block mode by setting or clearing the
flag.
Block Edge Detect R (s) This flag reflects previous state of “Block Control” flag. It
is used for detecting edges.
Block Mode R (f) Flag is set as soon as block control is detected if no
master is attached. If attached to a master the program
will feedhold and flag will be set when the master “In
Feedhold” flag is detected.
Block Mode R (f) Flag is set when program is waiting for a STEP
Waiting command.
Step First Block R (f) Flag is set by entering block mode operation. Flag is
cleared after first step.
Step Request Flag R/W (s) This flag is set when a STEP command is issued, this
executes the next line of a program is block mode.
Step Control R/W (s) Rising edge of this flag causes the “Step Request” flag
to be set.
Step Edge Detect R (s) This flag reflects previous state of “Step Control” flag. It
Pause Flags
Write
Pause Control R/W (s) Flag is set when a pause command is issued for this
program. Flag is cleared by RESUME command. Can be
used to initiate or cancel pause mode by setting or
clearing the flag.
Pause Edge Detect R (s) This flag reflects previous state of “Pause Control” flag. It
Pause Mode R (f) Flag is set as soon as pause control is detected if no
Pause Mode R (f) This flag is set when the program is waiting for RESUME
Waiting command.

Bit Reference - 163

Parker Hannifin
Bit1280 - Bit1535 Program Flags (Programs 8-15)
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4136 4137 4138 4139 4140 4141 4142 4143
Bit PROG Number
Program Running 0 1280 1312 1344 1376 1408 1440 1472 1504
Program Dwelling 1 1281 1313 1345 1377 1409 1441 1473 1505
Program Inhibited 2 1282 1314 1346 1378 1410 1442 1474 1506
Move Pending 3 1283 1315 1347 1379 1411 1443 1475 1507
Program Timeout 4 1284 1316 1348 1380 1412 1444 1476 1508
Program Modified 5 1285 1317 1349 1381 1413 1445 1477 1509
Reserved 6 1286 1318 1350 1382 1414 1446 1478 1510

Reserved 7 1287 1319 1351 1383 1415 1447 1479 1511
Bit PROG Number

Run Request Flag 8 1288 1320 1352 1384 1416 1448 1480 1512
Halt Request Flag 9 1289 1321 1353 1385 1417 1449 1481 1513
Reserved 10 1290 1322 1354 1386 1418 1450 1482 1514
Reserved 11 1291 1323 1355 1387 1419 1451 1483 1515
Trace Mode Enable 12 1292 1324 1356 1388 1420 1452 1484 1516
Program Complete Alarm 13 1293 1325 1357 1389 1421 1453 1485 1517
Reserved 14 1294 1326 1358 1390 1422 1454 1486 1518

Reserved 15 1295 1327 1359 1391 1423 1455 1487 1519
Bit PROG Number

Block Flags Index 8 9 10 11 12 13 14 15
Block Control 16 1296 1328 1360 1392 1424 1456 1488 1520
Block Edge Detect 17 1297 1329 1361 1393 1425 1457 1489 1521
Block Mode 18 1298 1330 1362 1394 1426 1458 1490 1522
Block Mode Waiting 19 1299 1331 1363 1395 1427 1459 1491 1523
Step First Block 20 1300 1332 1364 1396 1428 1460 1492 1524
Step Request Flag 21 1301 1333 1365 1397 1429 1461 1493 1525
Step Control 22 1302 1334 1366 1398 1430 1462 1494 1526
Step Edge Detect 23 1303 1335 1367 1399 1431 1463 1495 1527

Parker Hannifin
Bit PROG Number

Pause Flags Index 8 9 10 11 12 13 14 15
Pause Control 24 1304 1336 1368 1400 1432 1464 1496 1528
Pause Edge Detect 25 1305 1337 1369 1401 1433 1465 1497 1529
Pause Mode 26 1306 1338 1370 1402 1434 1466 1498 1530
Pause Mode Waiting 27 1307 1339 1371 1403 1435 1467 1499 1531
Reserved 28 1308 1340 1372 1404 1436 1468 1500 1532
Reserved 29 1309 1341 1373 1405 1437 1469 1501 1533
Reserved 30 1310 1342 1374 1406 1438 1470 1502 1534

Reserved 31 1311 1343 1375 1407 1439 1471 1503 1535
Bit Reference - 165

Parker Hannifin
Status Flags
Write
Program Running R (f) Flag is set when the program is running.
Program Dwelling R (f) Flag is set when a program operation is executing a

DWL command.
Program Inhibited R (f) Flag is set when the program operation is suspended
during an INH or IHPOS command.
Move Pending R This flag is used internally to indicate that the current
block being processed contains a move that will begin
when the block ends.
Program Time-out R (f) Flag is set if IHPOS command times out Cleared by
IHPOS command.
Program Modified R (f) This flag is set when program is modified (add, delete, or
edit program lines) Flag is cleared when program is run.
Control Flags
Write
Run Request Flag R/W (s) If this flag is set, program is RUN when detected. Flag is
cleared automatically.
Halt Request Flag R/W (s) If this flag is set, program is Halted when detected. Flag
is cleared automatically.
Trace Mode Enable R/W (f) Flag is set by TRON command, cleared with TROFF
command. Can be used to enable or disable trace mode.
Program Complete R/W (s) Setting this flag will enable the controller-invoked alarm
Alarm when program is completed.


Parker Hannifin
Block Flags
Write
Block Control R/W (s) Flag is set when a block command is issued for this
program. Flag is cleared by AUT command. Can be used
to initiate or cancel block mode by setting or clearing the
flag.
Block Edge Detect R (s) This flag reflects previous state of “Block Control” flag. It
Block Mode R (f) Flag is set as soon as block control is detected if no
Block Mode R (f) Flag is set when program is waiting for a STEP
Waiting command.
Step First Block R (f) Flag is set by entering block mode operation. Flag is
cleared after first step.
Step Request Flag R/W (s) This flag is set when a STEP command is issued, this
executes the next line of a program is block mode.
Step Control R/W (s) Rising edge of this flag causes the “Step Request” flag
to be set.
Step Edge Detect R (s) This flag reflects previous state of “Step Control” flag. It
Pause Flags
Write
Pause Control R/W (s) Flag is set when a pause command is issued for this
program. Flag is cleared by RESUME command. Can be
used to initiate or cancel pause mode by setting or
clearing the flag.
Pause Edge Detect R (s) This flag reflects previous state of “Pause Control” flag. It
Pause Mode R (f) Flag is set as soon as pause control is detected if no
Pause Mode R (f) This flag is set when the program is waiting for RESUME
Waiting command.

Bit Reference - 167

Parker Hannifin
Bit1536 - Bit1791 PLC Flags (PLC 0-7)

Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80
Flag Parameter 4144 4145 4146 4147 4148 4149 4150 4151
Bit PLC Number
PLC Flags Index 0 1 2 3 4 5 6 7
PLC Running 0 1536 1568 1600 1632 1664 1696 1728 1760
First Scan 1 1537 1569 1601 1633 1665 1697 1729 1761
Run Request 2 1538 1570 1602 1634 1666 1698 1730 1762
Halt Request 3 1539 1571 1603 1635 1667 1699 1731 1763
Reserved 4 1540 1572 1604 1636 1668 1700 1732 1764
Reserved 5 1541 1573 1605 1637 1669 1701 1733 1765
Reserved 6 1542 1574 1606 1638 1670 1702 1734 1766

Reserved 7 1543 1575 1607 1639 1671 1703 1735 1767
Bit STEPPER Number

Stepper Flags Index 0 1 2 3 4 5 6 7
Stepper Direction 8 1544 1576 1608 1640 1672 1704 1736 1768
Stepper Low Power 9 1545 1577 1609 1641 1673 1705 1737 1769
Reserved 10 1546 1578 1610 1642 1674 1706 1738 1770
Reserved 11 1547 1579 1611 1643 1675 1707 1739 1771
Reserved 12 1548 1580 1612 1644 1676 1708 1740 1772
Reserved 13 1549 1581 1613 1645 1677 1709 1741 1773
Reserved 14 1550 1582 1614 1646 1678 1710 1742 1774

Reserved 15 1551 1583 1615 1647 1679 1711 1743 1775
Bit TIM / CNT Number

TIM / CNT Flags Index 0 1 2 3 4 5 6 7
Timer Output (TIM) 16 1552 1584 1616 1648 1680 1712 1744 1776
Timer Input (TIM) 17 1553 1585 1617 1649 1681 1713 1745 1777
Reserved 18 1554 1586 1618 1650 1682 1714 1746 1778
Reserved 19 1555 1587 1619 1651 1683 1715 1747 1779
Counter Output (CNT) 20 1556 1588 1620 1652 1684 1716 1748 1780
Counter Clock (CNT) 21 1557 1589 1621 1653 1685 1717 1749 1781
Counter Reset (CNT) 22 1558 1590 1622 1654 1686 1718 1750 1782
Reserved 23 1559 1591 1623 1655 1687 1719 1751 1783

Parker Hannifin
Bit KR Number
KR Flags Index 0 1 2 3 4 5 6 7
Reserved 24 1560 1592 1624 1656 1688 1720 1752 1784
Reserved 25 1561 1593 1625 1657 1689 1721 1753 1785
Reserved 26 1562 1594 1626 1658 1690 1722 1754 1786
Reserved 27 1563 1595 1627 1659 1691 1723 1755 1787
Latch Output (KR) 28 1564 1596 1628 1660 1692 1724 1756 1788
Latch Set (KR) 29 1565 1597 1629 1661 1693 1725 1757 1789
Latch Reset (KR) 30 1566 1598 1630 1662 1694 1726 1758 1790
Reserved 31 1567 1599 1631 1663 1695 1727 1759 1791
Bit Reference - 169

Parker Hannifin
PLC Flags
Write
PLC Running R (f) Flag is set when the PLC is running a program.
First Scan R (f) Flag is set when the PLC program is run, clears after first
scan.
Run Request R/W (s) If this flag is set, PLC is run when detected. Flag is
Halt Request R/W (s) If this flag is set, plc is Halted when detected. Flag is

Stepper Flags
Write
Stepper Direction R/W (f) Set this flag to invert the polarity of the stepper direction
output on the optional stepper module.
Stepper Low Power R/W (f) Set this flag to activate the low power output signal on
the optional stepper module.

TIM Flags
Write
Timer Output R (f) Flag is set when the timer count is zero. The flag will
remain set until the Timer input is cleared.
Timer Input R/W (f) Setting the flag will cause the timer count to decrement.
When the flag is cleared the timer is reset to its preset
value and the timer output flag is cleared.


Parker Hannifin
CNT Flags
Write
Counter Output R (f) Flag is set when the count is zero. The flag will remain
set until the counter reset flag is set.
Counter Clock R/W (f) Counter will decrement once on each rising edge of this
flag.
Counter Reset R/W (f) When flag is set the counter output is cleared and
counter clock inputs are ignored.
KR Flags
Write
Latch Output R (f) Flag will be set when the latch set flag is set. Flag will
remain set after latch set is removed. Flag will clear when
latch reset flag is set.
Latch Set R/W (f) Setting this flag will set latch output flag.
Latch Reset R/W (f) Setting this flag will clear latch output flag, latch set will
not function as long as this flag is set.

Bit Reference - 171

Parker Hannifin
Bit7168 - Bit7423 PLC Flags (PLC 8-15)

Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80
Flag Parameter 4320 4321 4322 4323 4324 4325 4326 4327
Code=0x10; Index=0x1C
Bit PLC Number
PLC Flags Index 8 9 10 11 12 13 14 15
Reserved 0 7168 7200 7232 7264 7296 7328 7360 7392
Reserved 1 7169 7201 7233 7265 7297 7329 7361 7393
Reserved 2 7170 7202 7234 7266 7298 7330 7362 7394
Reserved 3 7171 7203 7235 7267 7299 7331 7363 7395
Reserved 4 7172 7204 7236 7268 7300 7332 7364 7396
Reserved 5 7173 7205 7237 7269 7301 7333 7365 7397
Reserved 6 7174 7206 7238 7270 7302 7334 7366 7398

Reserved 7 7175 7207 7239 7271 7303 7335 7367 7399
Bit STEPPER Number

Stepper Flags Index 8 9 10 11 12 13 14 15
Stepper Direction 8 7176 7208 7240 7272 7304 7336 7368 7400
Stepper Low Power 9 7177 7209 7241 7273 7305 7337 7369 7401
Reserved 10 7178 7210 7242 7274 7306 7338 7370 7402
Reserved 11 7179 7211 7243 7275 7307 7339 7371 7403
Reserved 12 7180 7212 7244 7276 7308 7340 7372 7404
Reserved 13 7181 7213 7245 7277 7309 7341 7373 7405
Reserved 14 7182 7214 7246 7278 7310 7342 7374 7406

Reserved 15 7183 7215 7247 7279 7311 7343 7375 7407
Bit TIM / CNT Number

TIM / CNT Flags Index 8 9 10 11 12 13 14 15
Reserved 16 7184 7216 7248 7280 7312 7344 7376 7408
Reserved 17 7185 7217 7249 7281 7313 7345 7377 7409
Reserved 18 7186 7218 7250 7282 7314 7346 7378 7410
Reserved 19 7187 7219 7251 7283 7315 7347 7379 7411
Reserved 20 7188 7220 7252 7284 7316 7348 7380 7412
Reserved 21 7189 7221 7253 7285 7317 7349 7381 7413
Reserved 22 7190 7222 7254 7286 7318 7350 7382 7414

Reserved 23 7191 7223 7255 7287 7319 7351 7383 7415

Parker Hannifin
Bit KR Number
KR Flags Index 8 9 10 11 12 13 14 15
Reserved 24 7192 7224 7256 7288 7320 7352 7384 7416
Reserved 25 7193 7225 7257 7289 7321 7353 7385 7417
Reserved 26 7194 7226 7258 7290 7322 7354 7386 7418
Reserved 27 7195 7227 7259 7291 7323 7355 7387 7419
Reserved 28 7196 7228 7260 7292 7324 7356 7388 7420
Reserved 29 7197 7229 7261 7293 7325 7357 7389 7421
Reserved 30 7198 7230 7262 7294 7326 7358 7390 7422

Reserved 31 7199 7231 7263 7295 7327 7359 7391 7423
PLC Flags
Write
PLC Running R (f) Flag is set when the PLC is running a program.
First Scan R (f) Flag is set when the PLC program is run, clears after first
scan.
Run Request R/W (s) If this flag is set, PLC is run when detected. Flag is
Halt Request R/W (s) If this flag is set, plc is Halted when detected. Flag is

Stepper Flags
Write
Stepper Direction R/W (f) Set this flag to invert the polarity of the stepper direction
output on the optional stepper module.
Stepper Low Power R/W (f) Set this flag to activate the low power output signal on
the optional stepper module.

Bit Reference - 173

Parker Hannifin
TIM Flags
Write
Timer Output R (f) Flag is set when the timer count is zero. The flag will
remain set until the Timer input is cleared.
Timer Input R/W (f) Setting the flag will cause the timer count to decrement.
When the flag is cleared the timer is reset to its preset
value and the timer output flag is cleared.

CNT Flags
Write
Counter Output R (f) Flag is set when the count is zero. The flag will remain
set until the counter reset flag is set
Counter Clock R/W (f) Counter will decrement once on each rising edge of this
flag.
Counter Reset R/W (f) When flag is set the counter output is cleared and
counter clock inputs are ignored.
KR Flags
Write
Latch Output R (f) Flag will be set when the latch set flag is set. Flag will
remain set after latch set is removed. Flag will clear when
latch reset flag is set.
Latch Set R/W (f) Setting this flag will set latch output flag.
Latch Reset R/W (f) Setting this flag will clear latch output flag, latch set will
not function as long as this flag is set.


Parker Hannifin
Bit1792 - Bit1823 FIFO/Stream 1 Stream Flags
Flag Parameter 4152

Bit
Enable Character Echo 0 1792
Disable Error Reporting 1 1793
Disable Command Prompt 2 1794
Stream XON/XOFF 3 1795
Stream acknowledge binary write 4 1796
Reserved 5 1797
Reserved 6 1798
Reserved 7 1799
FIFO/Stream 1 Active 8 1800
FIFO/Stream 1 Waiting 9 1801
FIFO/Stream 1 Opened 10 1802
FIFO/Stream 1 Disabled 11 1803
FIFO/Stream 1 Echoing 12 1804
FIFO/Stream 1 Re-dimensioned 13 1805
Reserved 14 1806
Reserved 15 1807
FIFO/Stream 1 Open Request 16 1808
FIFO/Stream 1 Escape Request 17 1809
Reserved 18 1810
Reserved 19 1811
FIFO/Stream 1 Control Prefixing 20 1812
FIFO/Stream 1 High Bit Stripping 21 1813
Reserved 22 1814
Reserved 23 1815
Reserved 24 1816
Reserved 25 1817
Reserved 26 1818
Reserved 27 1819
Reserved 28 1820
Reserved 29 1821
Reserved 30 1822
Reserved 31 1823
Bit Reference - 175

Parker Hannifin
FIFO / Stream1 Configuration Flags

Description Write
Enable R/W Enable or disable the character echo after a command is sent.
Character Echo If flag is set, ACR command will be echoed back as it is
received. The flag is set as default.
Disable Error R/W Enable or disable the error reporting. If flag is set, no error
Reporting message is returned if an invalid command is entered. The
flag is cleared as default.
Disable R/W Enable or disable the command prompt. If flag is set, prompt
Command such as <sys> or <PROG> will not return after a command is
Prompt entered. The flag is cleared as default
Stream R/W Turn on or off XON/XOFF. If flag is set, XON/XOFF is disabled.
XON/XOFF The flag is cleared as default
Stream R/W Enable or disable binary write acknowledgement. If flag is set,

acknowledge controller will sent an acknowledgement after receives a
binary write binary write packet. The flag is cleared as default.
FIFO/Stream1 R This flag is set once the FIFO/Stream1 is connected. At power
Active up, this flag is cleared until communication is established
through COM1
FIFO/Stream1 R This flag is set when the stream has no traffic and waiting for
waiting coming characters.
FIFO/Stream1 R This flag is set when COM1 is opened to allow incoming

Opened characters to be used by program, see OPEN command for
more details. This flag is cleared when COM1 stream is
Closed, see CLOSE command for more details.
FIFO/Stream1 R/W Enable or disable the COM1 Stream communication. If flag is

Disabled set, COM1 stream is disabled, command is no longer able to
communicate through COM1. The flag is cleared as default.
FIFO/Stream1 R This flag is set when COM1 stream is ready for echo.
Echoing
FIFO/Stream1 R This flag is set when COM1 is re-dimensioned by the DIM

Re-dimensioned command.
FIFO/Stream1 R This flag is set when this stream is opened to allow incoming
open Request character to be used by a program instead of being interpreted
as commands. See OPEN command for more details. The
default state is off.
FIFO/Stream1 R This flag is set when an ESCAPE key is pressed, this bit is
Escape Request self-cleared.
FIFO/Stream1 R This flag is set when MODE is set to 1 or 3. See MODE

Control command for more details. The default state for COM1 is set.
Prefixing
FIFO/Stream1 R/W This flag is set when MODE is set to 0 or 2. See MODE
High Bit command for more details. The default state for COM1 is off.
Stripping

Parker Hannifin
Bit1824 - Bit1855 LPT1 Stream Flags
Flag Parameter 4153

Physical Bit
PD0 P5-23 0 1824
PD1 P5-24 1 1825
PD2 P5-25 2 1826
PD3 P5-26 3 1827
PD4 P5-27 4 1828
PD5 P5-28 5 1829
PD6 P5-29 6 1830
PD7 P5-30 7 1831
Reserved — 8 1832
Reserved — 9 1833
PRINT — 10 1834
ERR P5-19 11 1835
SLCT P5-34 12 1836
PE P5-33 13 1837
ACK P5-31 14 1838
BUSY P5-32 15 1839
STB P5-17 16 1840
AFD P5-18 17 1841
INIT P5-20 18 1842
SLIN P5-21 19 1843
INT2 EN — 20 1844
DIR — 21 1845
Reserved — 22 1846
Bit Reference - 177

Parker Hannifin
LPT1 Stream Flags

Description Write
PD0 – PD7 W Data registers use for outputting data on the parallel port
LPT1. For example clear PD0 & PD1 flags will set the data to
“3”. The default states are set.
PRINT W If flag is set, sent data to the printer
ERR R If flag is clear, it indicates a print error
SLCT R If flag is clear, it indicates the parallel port is selected
PE R If flag is clear, it indicates there is paper out error

ACK R parallel port acknowledge status flag
BUSY R If flag is clear, it indicates the parallel port is busy
STB R/W Strobe output on LPT1 parallel port
AFD R/W Setting this flag will perform auto linefeed
INIT R/W Setting this flag will initialize the printer
SLIN R/W LPT1 port select input.

INT2 EN R/W Enable / disable the parallel port LTPS interrupt
DIR R/W Setting this flag will enable the bi-directional function on LPT1
port

Parker Hannifin
Bit1856 - Bit1887 COM1 Stream Flags
Flag Parameter 4154

Bit
COM1 Stream Flags Index Bit Number
Reserved 5 1861
Reserved 6 1862
Reserved 7 1863
COM1 Stream Active 8 1864
COM1 Stream Waiting 9 1865
COM1 Stream Opened 10 1866
COM1 Stream Disabled 11 1867
COM1 Stream Echoing 12 1868
COM1 Re-dimensioned 13 1869
Reserved 14 1870
Reserved 15 1871
COM1 Open Request 16 1872
COM1 Escape Request 17 1873
Reserved 18 1874
Reserved 19 1875
COM1 Control Prefixing 20 1876
COM1 High Bit Stripping 21 1877
Reserved 22 1878
Reserved 23 1879
Bit Reference - 179

Parker Hannifin
Bit
COM1 Configuration Flags Index Bit Number
Serial Input MUX0 * 24 1880
Serial input MUX1 * 25 1881
Receive Flag * 26 1882
Transmit Flag * 27 1883
Reserved 28 1884
Reserved 29 1885
Reserved 30 1886
Reserved 31 1887
* ACR1200/ ACR2000/ ACR8010 serial communications control bits.

Parker Hannifin
COM1 Configuration Flags

Description Write
Command such as <SYS> or <PROG> will not return after a command is

COM1 Stream R This flag is set once the COM1 is connected. At power up, this
Active flag is cleared until communication is established through
COM1
COM1 Stream R This flag is set when the stream has no traffic and waiting for
COM1 Stream R This flag is set when COM1 is opened to allow incoming
Opened characters to be used by program. This flag is cleared when
COM1 stream is closed.
For more information, see the OPEN and CLOSE commands.
COM1 Stream R/W Enable or disable the COM1 Stream communication. If flag is
COM1 Stream R This flag is set when COM1 stream is ready for echo.
Echoing
COM1 Re- R This flag is set when COM1 is re-dimensioned by the DIM
dimensioned command.
COM1 open R This flag is set when this stream is opened to allow incoming
Request character to be used by a program instead of being interpreted
as commands. The default state is off.
For more information, see the OPEN command.
COM1 Escape R This flag is set when an escape key is pressed. The bit clears
Request itself.
COM1 Control R This flag is set when MODE is set to 1 or 3. The default state
Prefixing for COM1 is set.
For more information, see the MODE command.
COM1 High Bit R/W This flag is set when MODE is set to 0 or 2. The default state
Stripping for COM1 is off.
Bit Reference - 181

Parker Hannifin

Description Write
Serial Input R/W Flag is used in conjunction with the Serial Input MUX1 flag to
MUX0 set the COM1 serial communication protocol for the
ACR1200/ACR2000/ACR8010 boards. Refer to appropriate
hardware manual for set-up details.
Receive Flag R/W Flag is used in conjunction with the Transmit Flag to set the
COM1 RS-422/RS485 hardware interface for the
Transmit Flag R/W Flag is used in conjunction with the Receive Flag to set the

Parker Hannifin
Bit1888 - Bit1919 COM2 Stream Flags
Flag Parameter 4155

Bit
COM2 Stream Flags Index Bit Number
Reserved 5 1893
Reserved 6 1894
Reserved 7 1895
COM2 Stream Active 8 1896
COM2 Stream Waiting 9 1897
COM2 Stream Opened 10 1898
COM2 Stream Disabled 11 1899
COM2 Stream Echoing 12 1900
COM2 Re-dimensioned 13 1901
Reserved 14 1902
Reserved 15 1903
COM2 Open Request 16 1904
COM2 Escape Request 17 1905
Reserved 18 1906
Reserved 19 1907
COM2 Control Prefixing 20 1908
COM2 High Bit Stripping 21 1909
Reserved 22 1910
Reserved 23 1911
Bit Reference - 183

Parker Hannifin
Bit
COM2 Configuration Flags Index Bit Number
Serial Input MUX0 * 24 1912
Serial input MUX1 * 25 1913
Receive Flag * 26 1914
Transmit Flag * 27 1915
Reserved 28 1916
Reserved 29 1917
Reserved 30 1918
Reserved 31 1919
* ACR1200/ ACR2000/ ACR8010 serial communications control bits.

Parker Hannifin

Description Write
Command such as <SYS> or <PROG> will not return after a command is

COM2 Stream R This flag is set once the COM2 is connected. At power up, this
Active flag is cleared until communication is established through
COM2
COM2 Stream R This flag is set when the stream has no traffic and waiting for
COM2 Stream R This flag is set when COM1 is opened to allow incoming
Opened characters to be used by program. This flag is cleared when
COM1 stream is closed.
For more information, see the OPEN and CLOSE commands.
COM2 Stream R/W Enable or disable the COM1 Stream communication. If flag is
COM2 Stream R This flag is set when COM1 stream is ready for echo.
Echoing
COM2 Re- R This flag is set when COM1 is re-dimensioned by the DIM
dimensioned command.
COM2 open R This flag is set when this stream is opened to allow incoming
Request character to be used by a program instead of being interpreted
as commands. The default state is off.
For more information, see the OPEN command.
COM2 Escape R This flag is set when an escape key is pressed. The bit clears
Request itself.
COM2 Control R This flag is set when MODE is set to 1 or 3. The default state
Prefixing for COM1 is set.
COM2 High Bit R/W This flag is set when MODE is set to 0 or 2. The default state
Stripping for COM1 is off.
Bit Reference - 185

Parker Hannifin

Description Write
Receive Flag R/W Flag is used in conjunction with the Transmit Flag to set the
Transmit Flag R/W Flag is used in conjunction with the Receive Flag to set the

Parker Hannifin
Bit1920 - Bit2047 User Flags Group 4-7
Mask 0x10 0x20 0x40 0x80

Flag Parameter 4156 4157 4158 4159
Bit User Group
Flag Description Index 4 5 6 7
User defined 0 1920 1952 1984 2016
User defined 1 1921 1953 1985 2017
User defined 2 1922 1954 1986 2018
User defined 3 1923 1955 1987 2019
User defined 4 1924 1956 1988 2020
User defined 5 1925 1957 1989 2021
User defined 6 1926 1958 1990 2022
User defined 7 1927 1959 1991 2023
User defined 8 1928 1960 1992 2024
User defined 9 1929 1961 1993 2025
User defined 10 1930 1962 1994 2026
User defined 11 1931 1963 1995 2027
User defined 12 1932 1964 1996 2028
User defined 13 1933 1965 1997 2029
User defined 14 1934 1966 1998 2030
User defined 15 1935 1967 1999 2031
User defined 16 1936 1968 2000 2032
User defined 17 1937 1969 2001 2033
User defined 18 1938 1970 2002 2034
User defined 19 1939 1971 2003 2035
User defined 20 1940 1972 2004 2036
User defined 21 1941 1973 2005 2037
User defined 22 1942 1974 2006 2038
User defined 23 1943 1975 2007 2039
User defined 24 1944 1976 2008 2040
User defined 25 1945 1977 2009 2041
User defined 26 1946 1978 2010 2042
User defined 27 1947 1979 2011 2043
User defined 28 1948 1980 2012 2044
User defined 29 1949 1981 2013 2045
User defined 30 1950 1982 2014 2046

User defined 31 1951 1983 2015 2047
Bit Reference - 187

Parker Hannifin
Bit2048 - Bit2303 Secondary Master Flags (Masters 0-

7)
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4160 4161 4162 4163 4164 4165 4166 4167
Bit MASTER Number
Block Skip Check 0 2048 2080 2112 2144 2176 2208 2240 2272
Block Skip Input 1 2049 2081 2113 2145 2177 2209 2241 2273
Rapid Pending 2 2050 2082 2114 2146 2178 2210 2242 2274
Rapid Active (ROV) 3 2051 2083 2115 2147 2179 2211 2243 2275
Enable Clear Request 4 2052 2084 2116 2148 2180 2212 2244 2276
Enable Rapid Move Modes 5 2053 2085 2117 2149 2181 2213 2245 2277
Master Short Time 6 2054 2086 2118 2150 2182 2214 2246 2278
Master in TMOV 7 2055 2087 2119 2151 2183 2215 2247 2279
Reserved 8 2056 2088 2120 2152 2184 2216 2248 2280
Master TOV 9 2057 2089 2121 2153 2185 2217 2249 2281
Reserved 10 2058 2090 2122 2154 2188 2218 2250 2282
Reserved 11 2059 2091 2123 2155 2187 2219 2251 2283
Reserved 12 2060 2092 2124 2156 2188 2220 2252 2284
Reserved 13 2061 2093 2125 2157 2189 2221 2253 2285
Reserved 14 2062 2094 2126 2158 2190 2222 2254 2286
Reserved 15 2063 2095 2127 2159 2191 2223 2255 2287
Sync Mode (SYNC OFF, SYNC ON) 16 2064 2096 2128 2160 2192 2224 2256 2288
Sync Manual (SYNC) 17 2065 2097 2129 2161 2193 2225 2257 2289
Reserved 18 2066 2098 2130 2162 2194 2226 2258 2290
Sync Manual Loaded 19 2067 2099 2131 2163 2195 2227 2259 2291
Reserved 20 2068 2100 2132 2164 2196 2228 2260 2292
Reserved 21 2069 2101 2133 2165 2197 2229 2261 2293
Reserved 22 2070 2102 2134 2166 2198 2230 2262 2294
Reserved 23 2071 2103 2135 2167 2199 2231 2263 2295
Spiral mode 24 2072 2104 2136 2168 2200 2232 2264 2296
Reserved 25 2073 2105 2137 2169 2201 2233 2265 2297
TANG mode (TANG OFF, TANG ON) 26 2074 2106 2138 2170 2202 2234 2266 2298
Reserved 27 2075 2107 2139 2171 2203 2235 2267 2299

Parker Hannifin
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4160 4161 4162 4163 4164 4165 4166 4167
Bit MASTER Number
Axis MAXVEL 28 2076 2108 2140 2172 2204 2236 2268 2300
TARC Mode (TARC OFF, TARC ON) 29 2077 2109 2141 2173 2205 2237 2269 2301
Reserved 30 2078 2110 2142 2174 2206 2238 2270 2302

Reserved 31 2079 2111 2143 2175 2207 2239 2271 2303
Bit Reference - 189

Parker Hannifin
Control Flags
Description Write
Block Skip R/W If this flag and the “Block Skip Input” flag are set, the next move
Check command will be ignored. Otherwise moves are processed normally.
This flag is cleared after the move is either started or ignored.
Block Skip R/W This flag must be set for the “Block Skip Check” flag to cause a move
Input to be ignored.
Rapid Pending R/W State of “Rapid Active” flag at start of next move.
Rapid Active R/W When this flag is set, use ROV instead of FOV setting.
Enable Clear R/W When this flag is set, use Master Kill All Moves and Master Stop All
Request Moves definition compatible with Firmware Version 1.17.04 and
below.
When this flag is cleared (default), use Master Kill All Moves and
Master Stop All Moves definition compatible with Firmware Version
1.17.05 and above.
Refer to Master Flags.
Enable Rapid R/W When this flag is set, use Binary Header Code 0 definition compatible
Move Modes with Firmware Version 1.17.05 and above.
When this flag is clear (default), use Binary Header Code 0 definition
compatible with Firmware Version 1.17.04 and below.
Refer to Binary Move Command.
Master Short R/W When the TMOV is ON, this flag will be set if the move is too big to be
Time completed in the time specified by the TMOV command.
This flag will be cleared by a move, which can be done with in the
time set by TMOV command.
Master in TMOV R/W This flag must be set for the time base moves. The TMOV ON
command sets it and the TMOV OFF command clears it.
Master TOV R/W This flag is set when the master is using a TOV move. This flag must
be cleared to exit from TOV mode. Exiting from TOV mode reduces
load on the CPU and is recommended when not required.
Sync Mode R This flag is set to indicate that the master is in the sync mode. It is set
by the SYNC ON command and cleared by SYNC OFF command.
Sync Manual R/W When set, means that the moves should be loaded and started
manually for the synchronized masters. The SYNC MDI command sets
this flag and SYNC PROG command clears this flag.
Sync Manual R This flag is set when the move has been issued to the synchronized
Loaded master. When the masters in sync start the move, this flag is self-
cleared.
Spiral mode R/W This flag is set/cleared by the user to enable/disable the spiral motion.
See SPINE command and spiral interpolation.
TANG mode R TANG ON and OFF will set and clear this flag respectively
Axis MAXVEL R When this flag is set, axis velocity limit mode is enabled. See MAXVEL
command.
TARC mode R TARC ON and OFF will set and clear this flag respectively

Parker Hannifin
Bit7936 - Bit8191 Secondary Master Flags (Masters 8-

15)
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4344 4345 4346 4347 4348 4349 4350 4351
Code=0x10; Index=0x1F
Bit MASTER Number
Block Skip Check 0 7936 7968 8000 8032 8064 8096 8128 8160
Block Skip Input 1 7937 7969 8001 8033 8065 8097 8129 8161
Rapid Pending 2 7938 7970 8002 8034 8066 8098 8130 8162
Rapid Active (ROV) 3 7939 7971 8003 8035 8067 8099 8131 8163
Enable Clear Request 4 7940 7972 8004 8036 8068 8100 8132 8164
Enable Rapid Move Modes 5 7941 7973 8005 8037 8069 8101 8133 8165
Master Short Time 6 7942 7974 8006 8038 8070 8102 8134 8166
Master in TMOV 7 7943 7975 8007 8039 8071 8103 8135 8167
Reserved 8 7944 7976 8008 8040 8072 8104 8136 8168
Master TOV 9 7945 7977 8009 8041 8073 8105 8137 8169
Reserved 10 7946 7978 8010 8042 8074 8106 8138 8170
Reserved 11 7947 7979 8011 8043 8075 8107 8139 8171
Reserved 12 7948 7980 8012 8044 8076 8108 8140 8172
Reserved 13 7949 7981 8013 8045 8077 8109 8141 8173
Reserved 14 7950 7982 8014 8046 8078 8110 8142 8174
Reserved 15 7951 7983 8015 8047 8079 8111 8143 8175
Sync Mode (SYNC OFF, SYNC ON) 16 7952 7984 8016 8048 8080 8112 8144 8176
Sync Manual (SYNC) 17 7953 7985 8017 8049 8081 8113 8145 8177
Reserved 18 7954 7986 8018 8050 8082 8114 8146 8178
Sync Manual Loaded 19 7955 7987 8019 8051 8083 8115 8147 8179
Reserved 20 7956 7988 8020 8052 8084 8116 8148 8180
Reserved 21 7957 7989 8021 8053 8085 8117 8149 8181
Reserved 22 7958 7990 8022 8054 8086 8118 8150 8182
Reserved 23 7959 7991 8023 8055 8087 8119 8151 8183
Spiral mode 24 7960 7992 8024 8056 8088 8120 8152 8184
Reserved 25 7961 7993 8025 8057 8089 8121 8153 8185
TANG mode (TANG OFF, TANG ON) 26 7962 7994 8026 8058 8090 8122 8154 8186
Reserved 27 7963 7995 8027 8059 8091 8123 8155 8187
Axis MAXVEL 28 7964 7996 8028 8060 8092 8124 8156 8188
TARC Mode (TARC OFF, TARC ON) 29 7965 7997 8029 8061 8093 8125 8157 8189
Bit Reference - 191

Parker Hannifin
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4344 4345 4346 4347 4348 4349 4350 4351
Bit MASTER Number
Reserved 30 7966 7998 8030 8062 8094 8126 8158 8190

Reserved 31 7967 7999 8031 8063 8095 8127 8159 8191

Parker Hannifin
Control Flags
Description Write
Block Skip R/W If this flag and the “Block Skip Input” flag are set, the next move
Check command will be ignored. Otherwise moves are processed
normally. This flag is cleared after the move is either started or
ignored.
Block Skip R/W This flag must be set for the “Block Skip Check” flag to cause a
Input move to be ignored.
Rapid Pending R/W State of “Rapid Active” flag at start of next move.
Rapid Active R/W When this flag is set, use ROV instead of FOV setting.
Enable Clear R/W When this flag is set, use Master Kill All Moves and Master Stop All
Request Moves definition compatible with Firmware Version 1.17.04 and
below.
When this flag is cleared (default), use Master Kill All Moves and
Master Stop All Moves definition compatible with Firmware Version
1.17.05 and above.
Refer to Master Flags.
Enable Rapid R/W When this flag is set, use Binary Header Code 0 definition
Move Modes compatible with Firmware Version 1.17.05 and above.
When this flag is clear (default), use Binary Header Code 0
definition compatible with Firmware Version 1.17.04 and below.
Refer to Binary Move Command.
Master Short R/W When the TMOV is ON, this flag will be set, if the move is too big to
Time be completed in the time specified by the TMOV command.
This flag will be cleared by a move, which can be done with in the
time set by TMOV command.
Master in TMOV R/W This flag must be set for the time base moves. The TMOV ON
command sets it and the TMOV OFF command clears it.
Master TOV R/W This flag is set when the master is using a TOV move. This flag
must be cleared to exit from TOV mode. Exiting from TOV mode
reduces load on the CPU and is recommended when not required.
Sync Mode R This flag is set to indicate that the master is in the sync mode. It is
set by the SYNC ON command and cleared by SYNC OFF
command.
Sync Manual R/W When set, means that the moves should be loaded and started
manually for the synchronized masters. The SYNC MDI command
sets this flag and SYNC PROG command clears this flag.
Sync Manual R This flag is set when the move has been issued to the synchronized
Loaded master. When the masters in sync start the move, this flag is self-
cleared.
Spiral mode R/W

TANG mode R TANG ON and OFF will set and clear this flag respectively
Axis MAXVEL R When this flag is set, axis velocity limit mode is enabled. See
MAXVEL command.
TARC mode R TARC ON and OFF will set and clear this flag respectively
Bit Reference - 193

Parker Hannifin
Bit2304 - Bit2559 Secondary Axis Flags (Axes 0-7)
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4168 4169 4170 4171 4172 4173 4174 4175
Bit AXIS Number
Positive Dir Limit (ALM, 0 2304 2336 2368 2400 2432 2464 2496 2528
BLM)
Negative Dir Limit (ALM, 1 2305 2337 2369 2401 2433 2465 2497 2529
BLM)
Dir Limit Activate (ALM, 2 2306 2338 2370 2402 2434 2466 2498 2530
BLM)
Dir Limit Tripped (ALM, 3 2307 2339 2371 2403 2435 2467 2499 2531
BLM)
CAM Trigger Mode 4 2308 2340 2372 2404 2436 2468 2500 2532
CAM Trigger Started 5 2309 2341 2373 2405 2437 2469 2501 2533
CAM SRC Zero 6 2310 2342 2374 2406 2438 2470 2502 2534
Reserved 7 2311 2343 2375 2407 2439 2471 2503 2535
GEAR On Trig Armed 8 2312 2344 2376 2408 2440 2472 2504 2536
GEAR On Position 9 2313 2345 2377 2409 2441 2473 2505 2537
GEAR Trigger Started 10 2314 2346 2378 2410 2442 2474 2506 2538
SRC Based Accel (GEAR) 11 2315 2347 2379 2411 2443 2475 2507 2539
GEAR Off Armed 12 2316 2348 2380 2412 2444 2476 2508 2540
GEAR Off Position 13 2317 2349 2381 2413 2445 2477 2509 2541
GEAR Max 14 2318 2350 2382 2414 2446 2478 2510 2542
GEAR Min 15 2319 2351 2383 2415 2447 2479 2511 2543
Reserved 16 2320 2352 2384 2416 2448 2480 2512 2544
3D ARC (TARC) 17 2321 2353 2385 2417 2449 2481 2513 2545
Reserved 18 2322 2354 2386 2418 2450 2482 2514 2546
Reserved 19 2323 2355 2387 2419 2451 2483 2515 2547
Reserved 20 2324 2356 2388 2420 2452 2484 2516 2548
Reserved 21 2325 2357 2389 2421 2453 2485 2517 2549
Don’t Use Capture 22 2326 2358 2390 2422 2454 2486 2518 2550
Register
Stepper Feedback 23 2327 2359 2391 2423 2455 2487 2519 2551

Parker Hannifin
Bit AXIS Number

Fast Axis Limit Flags Index 0 1 2 3 4 5 6 7
Fast EXC Flags 24 2328 2360 2392 2424 2456 2488 2520 2552
Fast IPB Flags 25 2329 2361 2393 2425 2457 2489 2521 2553
Fast ALM Flags 26 2330 2362 2394 2426 2458 2490 2522 2554
Fast BLM Flags 27 2331 2363 2395 2427 2459 2491 2523 2555
Fast TLM Flags 28 2332 2364 2396 2428 2460 2492 2524 2556
Fast TIB Flags 29 2333 2365 2397 2429 2461 2493 2525 2557
Reserved 30 2334 2366 2398 2430 2462 2494 2526 2558

Fast Master Flags 31 2335 2367 2399 2431 2463 2495 2527 2559
Bit Reference - 195

Parker Hannifin
Control Flags
Description Write
Positive Dir R/W If this flag and the “Dir Limit Active” flag are set, the “Dir Limit
Limit Tripped” flag will be set and a feedhold will be issued if the
axis moves in the positive direction.
Negative Dir R/W Same as “Positive Dir Limit” except in the negative direction.
Limit
Dir Limit Active R/W Set this flag to activate directional limit checking.
Dir Limit R/W Set if a directional limit condition caused a master feedhold to
Tripped be issued.
CAM Trigger R CAM Trigger mode will set this bit and will clear itself when
Mode CAM turns OFF.
CAM Trigger R Set when the CAM is in trigger mode and the external input
Started has enabled the CAM. CAM OFF will clear this flag.
CAM SRC Zero R/W Causes subsequent CAM ON command to clear index into cam
table. This bit is self-cleaning.
Gear ON Trig R Set when the Gear Trigger Mode is set by the user. The
Armed processor will clear this flag when the gear has started.
Gear ON R Set when the Gear Offset position is reached to start gearing.
Position Gear Offset is the number of pulses after the trigger is
received.
Gear Trigger R Set when the gear is in trigger mode and the external input has
Started enabled the gear. GEAR OFF will clear this flag.
SRC Based R/W This flag will cause the GEAR ACC and GEAR DEC values to be
Accel interpreted as output units / input unit / input unit.
Gear Off R Set when the Gear Off Trigger Mode is set by the user. The
Trigger Armed processor will clear this flag.
Gear Off R Set when the Gear Offset position is reached to turn off
Position gearing. Gear Offset is the number of pulses after the trigger is
received.
R
Gear Max When the gear max limit is hit this flag is automatically set. It
self clears when gear comes back within the max limit
R
Gear Min When the gear min limit is hit this flag is automatically set. It
self clears when gear goes out of the min limit
3D ARC (TARC) R/W Setting this flag enables the axis as part of a 3D Arc move.
Clearing this flag removes the axis from a 3D Arc move.
R/W
Don’t Use This flag is set by the user to tell that there is no feedback
Capture encoder attached to the stepper motor. In this case the when
Register the interrupt comes the capture register value is not used
rather current commanded position value is used. (INTCAP)
R/W
Stepper This flag will ensure open loop stepper and still feedback the
Feedback for encoder counts for HSINT, INTCAP and MSEEK commands
HSINT

Parker Hannifin
Fast Axis Limit Flags

The default update rate for the following Axis Flags (Bit768 – Bit1023) is 50
milliseconds:
Axis Limit Flags

Not In Position (IPB)
Not Excess Error (EXC)
Within A Limit (ALM)
Not Within B Limit (BLM)
Not Torque Limit (TLM)
Not In Torque Band (ITB)
The user can select these flag groups to be updated at a higher rate using the Fast
Axis Limit Flags and the corresponding ‘Enable Fast Flags Update Mode’ flag, Bit5632
of the Misc. Control Group 1 flags.
When this mode is enabled (Bit5632), up to eight (8) axis in one group of Axis Limit
flags are updated each servo period, depending on the individual axes that are
selected. When more than one group of Fast Axis Limit Flags are selected, only one
group of Axis Limit Flags will be updated every servo period. All axes for the selected
group will be updated in the same servo period.
For example, if both Fast EXC Flags Axis 0-3 and Fast ALM Flags Axis 2-3 are
selected, and Enable Fast Flags Update Mode is set, Not Excess Error flags for axes
0-3 will be updated in one servo period. The next servo period, Within A Limit flags for
axes 2 and 3 will be updated. It takes two (2) servo periods to update both sets of flags.
If all six groups of flags are selected, it will take six (6) servo periods to update all flags.
Only the axes required for fast flag update should be enabled, to prevent unnecessary
burden on the CPU load during the servo period.
Fast Master Limit Flags

The default update rate for the Master Limit Flags (Bit512 – Bit767) is 50 milliseconds.
When this mode is selected, all master limit flags for the selected axes will be updated
in the servo period.
This mode works in conjunction with the Fast Axis Limit Flags. When Fast Axis Limit
Flags and Fast Master Limit Flags are both enabled, only one group of limit flags will be
updated in a single servo period. However, unlike the Axis Limit Flags, which update
only group of limit flags in a single servo period, all of the Master Limit Flags are
updated in a single servo period.
Bit Reference - 197

Parker Hannifin
Bit8192 - Bit8447 Secondary Axis Flags (Axes 8-15)
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4352 4353 4354 4355 4356 4357 4358 4359
Bit AXIS Number
Positive Dir Limit (ALM, 0 8192 8224 8256 8288 8320 8352 8384 8416
BLM)
Negative Dir Limit (ALM, 1 8193 8225 8257 8289 8321 8353 8385 8417
BLM)
Dir Limit Activate (ALM, 2 8194 8226 8258 8290 8322 8354 8386 8418
BLM)
Dir Limit Tripped (ALM, 3 8195 8227 8259 8291 8323 8355 8387 8419
BLM)
CAM Trigger Mode 4 8196 8228 8260 8292 8324 8356 8388 8420
CAM Trigger Started 5 8197 8229 8261 8293 8325 8357 8389 8421
CAM SRC Zero 6 8198 8230 8262 8294 8326 8358 8390 8422
Reserved 7 8199 8231 8263 8295 8327 8359 8391 8423
GEAR On Trig Armed 8 8200 8232 8264 8296 8328 8360 8392 8424
GEAR On Position 9 8201 8233 8265 8297 8329 8361 8393 8425
GEAR Trigger Started 10 8202 8234 8266 8298 8330 8362 8394 8426
SRC Based Accel (GEAR) 11 8203 8235 8267 8299 8331 8363 8395 8427
GEAR Off Armed 12 8204 8236 8268 8300 8332 8364 8396 8428
GEAR Off Position 13 8205 8237 8269 8301 8333 8365 8397 8429
GEAR Max 14 8206 8238 8270 8302 8334 8366 8398 8430
GEAR Min 15 8207 8239 8271 8303 8335 8367 8399 8431
Reserved 16 8208 8240 8272 8304 8336 8368 8400 8432
3D ARC (TARC) 17 8209 8241 8273 8305 8337 8369 8401 8433
Reserved 18 8210 8242 8274 8306 8338 8370 8402 8434
Reserved 19 8211 8243 8275 8307 8339 8371 8403 8435
Reserved 20 8212 8244 8276 8308 8340 8372 8404 8436
Reserved 21 8213 8245 8277 8309 8341 8373 8405 8437
Don’t Use Capture 22 8214 8246 8278 8310 8342 8374 8406 8438
Register
Stepper Feedback 23 8215 8247 8279 8311 8343 8375 8407 8439

Parker Hannifin
Bit AXIS Number

Fast Axis Limit Flags Index 8 9 10 11 12 13 14 15
Fast EXC Flags 24 8216 8248 8280 8312 8344 8376 8408 8440
Fast IPB Flags 25 8217 8249 8281 8313 8345 8377 8409 8441
Fast ALM Flags 26 8218 8250 8282 8314 8346 8378 8410 8442
Fast BLM Flags 27 8219 8251 8283 8315 8347 8379 8411 8443
Fast TLM Flags 28 8220 8252 8284 8316 8348 8380 8412 8444
Fast TIB Flags 29 8221 8253 8285 8317 8349 8381 8413 8445
Reserved 30 8222 8254 8286 8318 8350 8382 8414 8446

Fast Master Flags 31 8223 8255 8287 8319 8351 8383 8415 8447
Bit Reference - 199

Parker Hannifin
Control Flags
Description Write
Positive Dir R/W If this flag and the “Dir Limit Active” flag are set, the “Dir Limit
Limit Tripped” flag will be set and a feedhold will be issued if the
axis moves in the positive direction.
Negative Dir R/W Same as “Positive Dir Limit” except in the negative direction.
Limit
Dir Limit Active R/W Set this flag to activate directional limit checking.
Dir Limit R/W Set if a directional limit condition caused a master feedhold to
Tripped be issued.
CAM Trigger R CAM Trigger mode will set this bit and will clear itself when
Mode CAM turns OFF.
CAM Trigger R Set when the CAM is in trigger mode and the external input
Started has enabled the CAM. CAM OFF will clear this flag.
CAM SRC Zero R/W Causes subsequent CAM ON command to clear index into cam
table. This bit is self-cleaning.
Gear ON Trig R Set when the Gear Trigger Mode is set by the user. The
Armed processor will clear this flag when the gear has started.
Gear ON R Set when the Gear Offset position is reached to start gearing.
Position Gear Offset is the number of pulses after the trigger is
received.
Gear Trigger R Set when the gear is in trigger mode and the external input has
Started enabled the gear. GEAR OFF will clear this flag.
SRC Based R/W This flag will cause the GEAR ACC and GEAR DEC values to be
Accel interpreted as output units / input unit / input unit.
Gear Off R Set when the Gear Off Trigger Mode is set by the user. The
Trigger Armed processor will clear this flag.
Gear Off R Set when the Gear Offset position is reached to turn off
Position gearing. Gear Offset is the number of pulses after the trigger is
received.
Gear Max R When the gear max limit is hit this flag is automatically set. It
self clears when gear comes back within the max limit
Gear Min R When the gear min limit is hit this flag is automatically set. It
self clears when gear goes out of the min limit
3D ARC (TARC) R/W Setting this flag enables the axis as part of a 3D Arc move.
Clearing this flag removes the axis from a 3D Arc move.
Don’t Use R/W This flag is set by the user to tell that there is no feedback
Capture encoder attached to the stepper motor. In this case the when
Register the interrupt comes the capture register value is not used
rather current commanded position value is used. (INTCAP)
Stepper R/W This flag will ensure open loop stepper and still feedback the
Feedback for encoder counts for HSINT, INTCAP and MSEEK commands
HSINT

Parker Hannifin
Fast Axis Limit Flags

The default update rate for the following Axis Flags (Bit768 – Bit1023) is 50
milliseconds:
Axis Limit Flags

Not In Position (IPB)
Not Excess Error (EXC)
Within A Limit (ALM)
Not Within B Limit (BLM)
Not Torque Limit (TLM)
Not In Torque Band (ITB)
The user can select these flag groups to be updated at a higher rate using the Fast
Axis Limit Flags and the corresponding ‘Enable Fast Flags Update Mode’ flag, Bit5632
of the Misc. Control Group 1 flags.
When this mode is enabled (Bit5632), up to eight (8) axis in one group of Axis Limit
flags are updated each servo period, depending on the individual axes that are
selected. When more than one group of Fast Axis Limit Flags are selected, only one
group of Axis Limit Flags will be updated every servo period. All axes for the selected
group will be updated in the same servo period.
For example, if both Fast EXC Flags Axis 0-3 and Fast ALM Flags Axis 2-3 are
selected, and Enable Fast Flags Update Mode is set, Not Excess Error flags for axes
0-3 will be updated in one servo period. The next servo period, Within A Limit flags for
axes 2 and 3 will be updated. It takes two (2) servo periods to update both sets of flags.
If all six groups of flags are selected, it will take six (6) servo periods to update all flags.
Only the axes required for fast flag update should be enabled, to prevent unnecessary
burden on the CPU load during the servo period.
Fast Master Limit Flags

The default update rate for the Master Limit Flags (Bit512 – Bit767) is 50 milliseconds.
When this mode is selected, all master limit flags for the selected axes will be updated
in the servo period.
This mode works in conjunction with the Fast Axis Limit Flags. When Fast Axis Limit
Flags and Fast Master Limit Flags are both enabled, only one group of limit flags will be
updated in a single servo period. However, unlike the Axis Limit Flags, which update
only group of limit flags in a single servo period, all of the Master Limit Flags are
updated in a single servo period.
Bit Reference - 201

Parker Hannifin
Bit2560 - Bit3175 Encoder Flags
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4176 4177 4178 4179 4180 4181 4182 4183
Code-0x10; Index=0x0A
Bit Encoder Number
Encoder Flags Index 0 1 2 3 4 5 6 7
Encoder Signal Fault 0 2560 2592 2624 2656 2688 2720 2752 2784
(RES)
Encoder Signal Lost (RES) 1 2561 2593 2625 2657 2689 2721 2753 2785
Reserved 2 2562 2594 2626 2658 2690 2722 2754 2786
Reserved 3 2563 2595 2627 2659 2691 2723 2755 2787
ABS DATA Fault 4 2564 2596 2628 2660 2692 2724 2756 2788
ABS DATA Ready 5 2565 2597 2629 2661 2693 2725 2757 2789
Reserved 6 2566 2598 2630 2662 2694 2726 2758 2790
Reserved 7 2567 2599 2631 2663 2695 2727 2759 2791
OOP Random Mode 8 2568 2600 N/A N/A N/A N/A N/A N/A
OOP Enable 9 2569 2601 N/A N/A N/A N/A N/A N/A
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4184 4185 4186 4187 4188 4189 4190 4191
Code=0x10; Index=0x0B
Bit Encoder Number
Encoder Signal Fault 0 2816 2848 2880 2912 2944 2976 3008 3040
(RES)
Encoder Signal Lost (RES) 1 2817 2849 2881 2913 2945 2977 3009 3041
Reserved 2 2818 2850 2882 2914 2946 2978 3010 3042
Reserved 3 2819 2851 2883 2915 2947 2979 3011 3043
ABS DATA Fault 4 2820 2852 2884 2916 2948 2980 3012 3044
ABS DATA Ready 5 2821 2853 2885 2917 2949 2981 3013 3045
Reserved 6 2822 2854 2886 2918 2950 2982 3014 3046
Reserved 7 2823 2855 2887 2919 2951 2983 3015 3047
OOP Random Mode 8 N/A N/A N/A N/A N/A N/A N/A N/A
OOP Enable 9 N/A N/A N/A N/A N/A N/A N/A N/A

Parker Hannifin
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4192 4193 4194 4195 4196 4197 4198 4199
Bit Encoder Number
Encoder Signal Fault 0 3072 3104 3136 3168 N/A N/A N/A N/A
(RES)
Encoder Signal Lost (RES) 1 3073 3105 3137 3169 N/A N/A N/A N/A
Reserved 2 3074 3106 3138 3170 N/A N/A N/A N/A
ABS DATA Fault 4 3076 3108 3140 3172 N/A N/A N/A N/A
ABS DATA Ready 5 3077 3109 3141 3173 N/A N/A N/A N/A
Encoder Flags
Description Write
Encoder Signal R This flag is set if an encoder fault is detected by the state
Fault machine in the FPGA. This flag is cleared by the command
“ENCx RES”. This flag is available on the ACR1200 and
ACR8010 boards only.
Encoder Signal R This flag is set if an encoder fault is detected by the encoder
Lost check circuit. This flag is cleared by the command “ENCx
RES”. This flag is available on the ACR1200 and ACR8010
boards only.
ABS Data Fault R This flag is set if a bad data read is detected during a read of
the Yaskawa encoder.
ABS Data R This flag is set to indicate that a successful read of the
Ready Yaskawa encoder occurred and data is ready. In normal cases
this should always be on as it will only be cleared for several
micro seconds at a time.
OOP Random R Set from OOP RND mode and clear for OOP INC mode. OOP
Mode OFF command will clear this flag.
OOP Enable R Set by the start of the OOP command. In OOP INC mode it will
self clear when OOP command is completed firing output. In
the OOP RND mode, it will stay on. The user will have to issue
OOP OFF command to clear this flag.
Bit Reference - 203

Parker Hannifin
Bit3328 - Bit3455 EPLD Digital Inputs

Mask 0x01 0x02 0x04 0x08
Flag Parameter
code=0x10; index=0x0D 4200 4201 4202 4203 DSP-402
Object 60FD
Aries EPL Bit Bit Position
Inputs Index EPLD Number (n=EPLD num)
EPLD0 EPLD4 EPLD8 EPLD12
Input 0 0 3328 3360 3392 3424 EPLDn 3
Input 1 1 3329 3361 3393 3425 EPLDn 0
Input 2 2 3330 3362 3394 3426 EPLDn 1
Input 3 3 3331 3363 3395 3427 EPLDn 18
High Speed Input 4 4 3332 3364 3396 3428 EPLDn 2
No function 7 3335 3367 3399 3431 EPLDn 19
EPLD 1 EPLD5 EPLD9 EPLD13
Input 0 8 3336 3368 3400 3432 EPLDn 3
Input 1 9 3337 3369 3401 3433 EPLDn 0
Input 2 10 3338 3370 3402 3434 EPLDn 1
Input 3 11 3339 3371 3403 3435 EPLDn 18
Input 0 16 3344 3376 3408 3440 EPLDn 3
Input 1 17 3345 3377 3409 3441 EPLDn 0
Input 2 18 3346 3378 3410 3442 EPLDn 1
Input 3 19 3347 3379 3411 3443 EPLDn 18

Parker Hannifin
Mask 0x01 0x02 0x04 0x08

Flag Parameter
Object 60FD
Input 0 24 3352 3384 3416 3448 EPLDn 3
Input 1 25 3353 3385 3417 3449 EPLDn 0
Input 2 26 3354 3386 3418 3450 EPLDn 1
Input 3 27 3355 3387 3419 3451 EPLDn 18
Bit Reference - 205

Parker Hannifin
Bit3840 - Bit3967 EPLD Digital Outputs

Mask 0x01 0x02 0x04 0x08
Flag Parameter
Object 60FD
EPLD0 EPLD4 EPLD8 EPLD12
Output 0 0 3840 3872 3904 3936 EPLDn 16
Output 1 1 3841 3873 3905 3937 EPLDn 17
Output 2 2 3842 3874 3906 3938 EPLDn 18
Output 3 3 3843 3875 3907 3939 EPLDn 19
Output 0 8 3848 3880 3912 3944 EPLDn 16
Output 1 9 3849 3881 3913 3945 EPLDn 17
Output 2 10 3850 3882 3914 3946 EPLDn 18
Output 3 11 3851 3883 3915 3947 EPLDn 19
Output 0 16 3856 3888 3920 3952 EPLDn 16
Output 1 17 3857 3889 3921 3953 EPLDn 17
Output 2 18 3858 3890 3922 3954 EPLDn 18
Output 3 19 3859 3891 3923 3955 EPLDn 19

Parker Hannifin
Mask 0x01 0x02 0x04 0x08

Flag Parameter
Object 60FD
Output 0 24 3864 3896 3928 3960 EPLDn 16
Output 1 25 3865 3897 3929 3961 EPLDn 17
Output 2 26 3866 3898 3930 3962 EPLDn 18
Output 3 27 3867 3899 3931 3963 EPLDn 19

Bit Reference - 207

Parker Hannifin
Bit5120 - Bit5375 Tertiary Master Flags (Masters 0-7)

Version 1.18.04 & Up
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80
Flag Parameter 4256 4257 4258 4259 4260 4261 4262 4263
code=0x10; index=0x14
Bit MASTER Number
SPLINE Pending 0 5120 5152 5184 5216 5248 5280 5312 5344
SPLINE Buffered 1 5121 5153 5185 5217 5249 5281 5313 5345
SPLINE Interpolation 2 5122 5154 5186 5218 5250 5282 5314 5346
Reserved 3 5123 5155 5187 5219 5251 5283 5315 5347
SPLINE Velocity Mode 4 5124 5156 5188 5220 5252 5284 5316 5348
SPLINE Time Mode 5 5125 5157 5189 5221 5253 5285 5317 5349
Reserved 6 5126 5158 5190 5222 5254 5286 5318 5350
SPLINE Knot Present 7 5127 5159 5191 5223 5255 5287 5319 5351
SPLINE Acc Ramp 8 5128 5160 5192 5224 5256 5288 5320 5352
SPLINE Started 9 5129 5161 5193 5225 5257 5289 5321 5353
SPLINE Neg. Knot 10 5130 5162 5194 5226 5258 5290 5322 5354
SPLINE Moved 11 5131 5163 5195 5227 5259 5291 5323 5355
SPLINE Loaded 12 5132 5164 5196 5228 5260 5292 5324 5356
Reserved 13 5133 5165 5197 5229 5261 5293 5325 5357
SPLINE Profiler On 14 5134 5166 5198 5230 5262 5294 5326 5358
Reserved 15 5135 5167 5199 5231 5263 5295 5327 5359
NURB Loaded 16 5136 5168 5200 5232 5264 5296 5328 5360
Reserved 17 5137 5169 5201 5233 5265 5297 5329 5361
NURB Delta Done 18 5138 5170 5202 5234 5266 5298 5330 5362
NURB Stop Active 19 5139 5171 5203 5235 5267 5299 5331 5363
NURB Moved 20 5140 5172 5204 5236 5268 5300 5332 5364
NURB Interpolation 21 5141 5173 5205 5237 5269 5301 5333 5365
NURB Buffered 22 5142 5174 5206 5238 5270 5302 5334 5366
NURB Profiler On 23 5143 5175 5207 5239 5271 5303 5335 5367
NURB Pending 24 5144 5176 5208 5240 5272 5304 5336 5368
NURB Acc Ramp 25 5145 5177 5209 5241 5273 5405 5337 5369
Reserved 26 5146 5178 5210 5242 5274 5306 5338 5370
NURB Started 27 5147 5179 5211 5243 5275 5307 5339 5371
NURB Time 28 5148 5180 5212 5244 5276 5308 5340 5372
NURB Smooth 29 5149 5181 5213 5245 5277 5309 5341 5373
NURB Dynamic 30 5150 5182 5214 5246 5278 5310 5342 5374
NURB Neg Knot 31 5151 5183 5215 5247 5279 5311 5343 5375

Parker Hannifin

Description Write
SPLINE R This flag indicates to the spline profiler that a spline move is
Pending pending. The profiler then loads the move into a buffer and
clears the flag.
SPLINE R Flag set if a spline move is pending (buffered) while a previous

Buffered move is in progress. This flag will clear when there are no
moves pending.
SPLINE R/W This flag is set by the SPLINE mode command and remains set
Interpolation until the interpolation mode ends.
SPLINE R/W Indicates that SPLINE MODE 1 is on.

Velocity Mode
SPLINE Time R/W Indicates that SPLINE MODE 0 is on.

Mode
SPLINE Knot R/W This flag will be set if optional knot data is included in the
Present spline data.
SPLINE Acc R Setting the ‘feed hold bit 520’ on the master will put the spline
Ramp profiler in the acceleration/deceleration ramp mode. This flag
indicates this state.
SPLINE Started R/W If set, means that the SPLINE move has started. Self clears at
the end of the move
SPLINE Neg. R/W This flag is set when the user issues a negative knot and self
Knot clears when the SPLINE ends.
SPLINE Moved R When the current spline move is completed, the spline profiler
will move to the next spline and set this flag and clear the
SPLINE buffered flag. Sending the next move data will set the
SPLINE buffered flag and clear this flag.
SPLINE Load R The SPLINE MODE command will set this flag and it will stay
on until the end of the spline block. (i.e. until K-1 is issued.)
SPLINE Profiler R/W This flag indicates that the SPLINE profiler is calculating the
On curve points.
NURB Load R The NURB MODE command will set this flag and it will stay on
until the end of the nurb block. (i.e. until K-1 is issued.)
NURB Delta R This flag is used with only NURB MODE 2. At the beginning of
Done each segment this flag is set, indicating that a new delta period
is calculated for linear motion. This is cleared at the end of
each segment.
NURB Stop R When the negative knot is received and processed, the NURB
Active profiler activates the stop sequence by decelerating to a
slower velocity. This flag is set to indicate this state.
NURB Moved R When the current nurb move is completed, the nurb profiler
will move to the next nurb and set this flag and clear the NURB
buffered flag. Sending the next move data will set the NURB
buffered flag and clear this flag.
NURB R/W This flag is set by the NURB mode command and remains set
Bit Reference - 209

Parker Hannifin

Description Write
NURB Buffered R Flag set if a spline move is pending (buffered) while a previous
move is in progress. This flag will clear when there are no
moves pending.
NURB Profiler R/W This flag indicates that the NURB profiler is calculating the
On curve points.
NURB Pending R This flag indicates to the nurb profiler that a nurb move is
pending. The profiler then loads the move into a buffer and
clears the flag.
NURB Acc R Setting the ‘feed hold bit 520’ on the master will put the nurb
NURB Started R/W If set means that the NURB move has started. Self clears at the
end of the move
NURB Time R/W Indicates NURB MODE 0
NURB Smooth R/W Indicates NURB MODE 4

NURB Dynamic R/W Indicates NURB MODE 1
NURB Neg. R/W This flag is set when the user issues a negative knot and self
Knot clears when the NURB ends.

Parker Hannifin
Bit5376 - Bit5631 Tertiary Master Flags (Masters 8-15)

Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80
Flag Parameter 4264 4265 4266 4267 4268 4269 4270 4271
Bit MASTER Number
SPLINE Pending 0 5376 5408 5440 5472 5504 5536 5568 5600
SPLINE Buffered 1 5377 5409 5441 5473 5505 5537 5569 5601
SPLINE Interpolation 2 5378 5410 5442 5474 5506 5538 5570 5602
Reserved 3 5379 5411 5443 5475 5507 5539 5571 5603
SPLINE Velocity Mode 4 5380 5412 5444 5476 5508 5540 5572 5604
SPLINE Time Mode 5 5381 5413 5445 5477 5509 5541 5573 5605
Reserved 6 5382 5414 5446 5478 5510 5542 5574 5606
SPLINE Knot Present 7 5383 5415 5447 5479 5511 5543 5575 5607
SPLINE Acc Ramp 8 5384 5416 5448 5480 5512 5544 5576 5608
SPLINE Started 9 5385 5417 5449 5481 5513 5545 5577 5609
SPLINE Neg. Knot 10 5386 5418 5450 5482 5514 5546 5578 5610
SPLINE Moved 11 5387 5419 5451 5483 5515 5547 5579 5611
SPLINE Loaded 12 5388 5420 5452 5484 5516 5548 5580 5612
Reserved 13 5389 5421 5453 5485 5517 5549 5581 5613
SPLINE Profiler On 14 5390 5422 5454 5486 5518 5550 5582 5614
Reserved 15 5391 5423 5455 5487 5519 5551 5583 5615
NURB Loaded 16 5392 5424 5456 5488 5520 5552 5584 5616
Reserved 17 5393 5425 5457 5489 5521 5553 5585 5617
NURB Delta Done 18 5394 5426 5458 5490 5522 5554 5586 5618
NURB Stop Active 19 5395 5427 5459 5491 5523 5555 5587 5619
NURB Moved 20 5396 5428 5460 5492 5524 5556 5588 5620
NURB Interpolation 21 5397 5429 5461 5493 5525 5557 5589 5621
NURB Buffered 22 5398 5430 5462 5494 5526 5558 5590 5622
NURB Profiler On 23 5399 5431 5463 5495 5527 5559 5591 5623
NURB Pending 24 5400 5432 5464 5496 5528 5560 5592 5624
NURB Acc Ramp 25 5401 5433 5465 5497 5529 5561 5593 5625
Reserved 26 5402 5434 5466 5498 5530 5562 5594 5626
NURB Started 27 5403 5435 5467 5499 5531 5563 5595 5627
NURB Time 28 5404 5436 5468 5500 5532 5564 5596 5628
NURB Smooth 29 5405 5437 5469 5501 5533 5565 5597 5629
NURB Dynamic 30 5406 5438 5470 5502 5534 5566 5598 5630
NURB Neg Knot 31 5407 5439 5471 5503 5535 5567 5599 5631
Bit Reference - 211

Parker Hannifin

Description Write
SPLINE R This flag indicates to the spline profiler that a spline move is
Pending pending. The profiler then loads the move into a buffer and
clears the flag.
SPLINE R Flag set if a spline move is pending (buffered) while a previous

Buffered move is in progress. This flag will clear when there are no
moves pending.
SPLINE R/W This flag is set by the SPLINE MODE command and remains
Interpolation set until the interpolation mode ends.
SPLINE R/W Indicates that SPLINE MODE 1 is on.

Velocity Mode
SPLINE Time R/W Indicates that SPLINE MODE 0 is on.

Mode
SPLINE Knot R/W This flag will be set if optional knot data is included in the
Present SPLINE data.
SPLINE Acc R Setting the ‘feed hold bit 520’ on the master will put the spline
SPLINE Started R/W If set, means that the SPLINE move has started. Self clears at
the end of the move
SPLINE Neg. R/W This flag is set when the user issues a negative knot and self
Knot clears when the SPLINE ends.
SPLINE Moved R When the current spline move is completed, the spline profiler
will move to the next spline and set this flag and clear the
SPLINE buffered flag. Sending the next move data will set the
SPLINE buffered flag and clear this flag.
SPLINE Load R The SPLINE MODE command will set this flag and it will stay
on until the end of the spline block. (i.e. until K-1 is issued.)
SPLINE Profiler R/W This flag indicates that the SPLINE profiler is calculating the
On curve points.
NURB Load R The NURB MODE command will set this flag and it will stay on
until the end of the nurb block. (i.e. until K-1 is issued.)
NURB Delta R This flag is used with only NURB MODE 2. At the beginning of
Done each segment this flag is set, indicating that a new delta period
is calculated for linear motion. This is cleared at the end of
each segment.
NURB Stop R When the negative knot is received and processed, the NURB
Active profiler activates the stop sequence by decelerating to a
slower velocity. This flag is set to indicate this state.
NURB Moved R When the current nurb move is completed, the nurb profiler
will move to the next nurb and set this flag and clear the NURB
buffered flag. Sending the next move data will set the NURB
buffered flag and clear this flag.
NURB R/W This flag is set by the NURB mode command and remains set

Parker Hannifin

Description Write
NURB Buffered R Flag set if a spline move is pending (buffered) while a previous
move is in progress. This flag will clear when there are no
moves pending.
NURB Profiler R/W This flag indicates that the NURB profiler is calculating the
On curve points.
NURB Pending R This flag indicates to the nurb profiler that a nurb move is
pending. The profiler then loads the move into a buffer and
clears the flag.
NURB Acc R Setting the ‘feed hold bit 520’ on the master will put the nurb
NURB Started R/W If set means that the NURB move has started. Self clears at the
end of the move
NURB Time R/W Indicates NURB MODE 0
NURB Smooth R/W Indicates NURB MODE 4

NURB Dynamic R/W Indicates NURB MODE 1
NURB Neg. R/W This flag is set when the user issues a negative knot and self
Knot clears when the NURB ends.
Bit Reference - 213

Parker Hannifin
Bit5888 - Bit6143 Quaternary Master Flags (Master 0-

7)
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80
Flag Parameter 4280 4281 4282 4283 4284 4285 4286 4287
Bit MASTER Number
Flag Description Index 0 1 2 3 4 5 6 7
VEL LIMIT 0 5888 5920 5952 5984 6016 6048 6080 6112
LOOK Ahead Slowdown 1 5889 5921 5953 5985 6017 6049 6081 6113
Reserved 2 5890 5922 5954 5986 6018 6050 6082 6114
Reserved 3 5891 5923 5955 5987 6019 6051 6083 6115
MBUF mode (MBUF OFF, MBUF ON) 4 5892 5924 5956 5988 6020 6052 6084 6116
LOOK Ahead mode 5 5893 5925 5957 5989 6021 6053 6085 6117
Reserved 6 5894 5926 5958 5990 6022 6054 6086 6118
Reserved 7 5895 5927 5959 5991 6023 6055 6087 6119
Reserved 8 5896 5928 5960 5992 6024 6056 6088 6120
Reserved 9 5897 5929 5961 5993 6025 6057 6089 6121
MBUF user RAM 10 5898 5930 5962 5994 6026 6058 6090 6122
LOOK Ahead Neglect 11 5899 5931 5963 5995 6027 6059 6091 6123
Master Move Ended Alarm 12 5900 5932 5964 5996 6028 6060 6092 6124
Reserved 13 5901 5933 5965 5997 6029 6061 6093 6125
Reserved 14 5902 5934 5966 5998 6030 6062 6094 6126
Reserved 15 5903 5935 5967 5999 6031 6063 6095 6127
Perform Kinematics 16 5904 5936 5968 6000 6032 6064 6096 6128
Reserved 17 5905 5937 5969 6001 6033 6065 6097 6129
Reserved 18 5906 5938 5970 6002 6034 6066 6098 6130
Reserved 19 5907 5939 5971 6003 6035 6067 6099 6131
Reserved 20 5908 5940 5972 6004 6036 6068 6100 6132
Reserved 21 5909 5941 5973 6005 6037 6069 6101 6133
Reserved 22 5910 5942 5974 6006 6038 6070 6102 6134
Reserved 23 5911 5943 5975 6007 6039 6071 6103 6135
Reserved 24 5912 5944 5976 6008 6040 6072 6104 6136
Reserved 25 5913 5945 5977 6009 6041 6073 6105 6137
Reserved 26 5914 5946 5978 6010 6042 6074 6106 6138
Reserved 27 5915 5947 5979 6011 6043 6075 6107 6139
Reserved 28 5916 5948 5980 6012 6044 6076 6108 6140
Reserved 29 5917 5949 5981 6013 6045 6077 6109 6141

Parker Hannifin
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4280 4281 4282 4283 4284 4285 4286 4287
Bit MASTER Number
Reserved 30 5918 5950 5982 6014 6046 6078 6110 6142

Reserved 31 5919 5951 5983 6015 6047 6079 6111 6143

Description Write
VEL LIMIT R This flag is set when the master current vector velocity hits the
VEL LIMIT set by the user. It self clears
LookAhead R This flag is set by the look ahead algorithm to indicate that it is
Slow Down forcing to slow down
MBUF Mode R MBUF ON and OFF command will set and clear this flag
respectively
LookAhead R LOOK ON and OFF command will set and clear this flag
Mode respectively
MBUF user R DIM MBUF and MBUF OFF command will set and clear this flag
RAM respectively
LookAhead R/W User can set this flag to turn off the look ahead on the fly and
Neglect vice versa
Master Move R/W When this flag is set, an Ethernet Alarm will be sent at the end
Ended Alarm of a master move.
Perform R/W Setting this flag turns on kinematics. When the flag is cleared,
Kinematics the kinematics are turned off.
Bit Reference - 215

Parker Hannifin
Bit6144 - Bit6399 Quaternary Master Flags (Master 8-

15)
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80
Flag Parameter 4288 4289 4290 4291 4292 4293 4294 4295
Bit MASTER Number
VEL LIMIT 0 6144 6176 6208 6240 6272 6304 6336 6368
LOOK Ahead Slowdown 1 6145 6177 6209 6241 6273 6305 6337 6369
Reserved 2 6146 6178 6210 6242 6274 6306 6338 6370
Reserved 3 6147 6179 6211 6243 6275 6307 6339 6371
MBUF mode (MBUF OFF, MBUF ON) 4 6148 6180 6212 6244 6276 6308 6340 6372
LOOK Ahead mode 5 6149 6181 6213 6245 6277 6309 6341 6373
Reserved 6 6150 6182 6214 6246 6278 6310 6342 6374
Reserved 7 6151 6183 6215 6247 6279 6311 6343 6375
Reserved 8 6152 6184 6216 6248 6280 6312 6344 6376
Reserved 9 6153 6185 6217 6249 6281 6313 6345 6377
MBUF user RAM 10 6154 6186 6218 6250 6282 6314 6346 6378
LOOK Ahead Neglect 11 6155 6187 6219 6251 6283 6315 6347 6379
Master Move Ended Alarm 12 6156 6188 6220 6252 6284 6316 6348 6380
Reserved 13 6157 6189 6221 6253 6285 6317 6349 6381
Reserved 14 6158 6190 6222 6254 6286 6318 6350 6382
Reserved 15 6159 6191 6223 6255 6287 6319 6351 6383
Perform Kinematics 16 6160 6192 6224 6256 6288 6320 6352 6384
Reserved 17 6161 6193 6225 6257 6289 6321 6353 6385
Reserved 18 6162 6194 6226 6258 6290 6322 6354 6386
Reserved 19 6163 6195 6227 6259 6291 6323 6355 6387
Reserved 20 6164 6196 6228 6260 6292 6324 6356 6388
Reserved 21 6165 6197 6229 6261 6293 6325 6357 6389
Reserved 22 6166 6198 6230 6262 6294 6326 6358 6390
Reserved 23 6167 6199 6231 6263 6295 6327 6359 6391
Reserved 24 6168 6200 6232 6264 6296 6328 6360 6392
Reserved 25 6169 6201 6233 6265 6297 6329 6361 6393
Reserved 26 6170 6202 6234 6266 6298 6330 6362 6394
Reserved 27 6171 6203 6235 6267 6299 6331 6363 6395
Reserved 28 6172 6204 6236 6268 6300 6332 6364 6396
Reserved 29 6173 6205 6237 6269 6301 6333 6365 6397

Parker Hannifin
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4288 4289 4290 4291 4292 4293 4294 4295
Bit MASTER Number
Reserved 30 6174 6206 6238 6270 6302 6334 6366 6398

Reserved 31 6175 6207 6239 6271 6303 6335 6367 6399

Description Write
VEL LIMIT R This flag is set when the master current vector velocity hits the
VEL LIMIT set by the user. It self clears
LookAhead R This flag is set by the look ahead algorithm to indicate that it is
Slow Down forcing to slow down
MBUF Mode R MBUF ON and OFF command will set and clear this flag
respectively
LookAhead R LOOK ON and OFF command will set and clear this flag
Mode respectively
MBUF user R DIM MBUF and MBUF OFF command will set and clear this flag
RAM respectively
LookAhead R/W User can set this flag to turn off the look ahead on the fly and
Neglect vice versa
Master Move R/W When this flag is set, an Ethernet Alarm will be sent at the end
Ended Alarm of a master move.
Perform R/W Setting this flag turns on kinematics. When the flag is cleared,
Kinematics the kinematics are turned off.
Bit Reference - 217

Parker Hannifin
Bit6400 - Bit6655 Tertiary Axis Flags (Axes 0-7)

Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80
Flag Parameter 4296 4297 4298 4299 4300 4301 4302 4303
Bit MASTER Number
Reserved 0 6400 6432 6464 6496 6528 6560 6592 6624
Reserved 1 6401 6433 6465 6497 6529 6561 6593 6625
Reserved 2 6402 6434 6466 6498 6530 6562 6594 6626
Reserved 3 6403 6435 6467 6499 6531 6563 6595 6627
Filter Move 4 6404 6436 6468 6500 6532 6564 6596 6628
In Dead Band (DZL, DZU) 5 6405 6437 6469 6501 6533 6565 6597 6629
Reserved 6 6406 6438 6470 6502 6534 6566 6598 6630
Reserved 7 6407 6439 6471 6503 6535 6567 6599 6631
Reserved 8 6408 6440 6472 6504 6536 6568 6600 6632
Reserved 9 6409 6441 6473 6505 6537 6569 6601 6633
Reserved 10 6410 6442 6474 6506 6538 6570 6602 6634
Reserved 11 6411 6443 6475 6507 6539 6571 6603 6635
CAM POFF armed 12 6412 6444 6476 6508 6540 6572 6604 6636
Reserved 13 6413 6445 6477 6509 6541 6573 6605 6637
Reserved 14 6414 6446 6478 6510 6542 6574 6606 6638
Reserved 15 6415 6447 6479 6511 6543 6575 6607 6639
Tangential 16 6416 6448 6480 6512 6544 6576 6608 6640
Reserved 17 6417 6449 6481 6513 6545 6577 6609 6641
Reserved 18 6418 6450 6482 6514 6546 6578 6610 6642
Reserved 19 6419 6451 6483 6515 6547 6579 6611 6643
Reserved 20 6420 6452 6484 6516 6548 6580 6612 6644
Reserved 21 6421 6453 6485 6517 6549 6581 6613 6645
Reserved 22 6422 6454 6486 6518 6550 6582 6614 6646
Reserved 23 6423 6455 6487 6519 6551 6583 6615 6647
Reserved 24 6424 6456 6488 6520 6552 6584 6616 6648
Reserved 25 6425 6457 6489 6521 6553 6585 6617 6649
Reserved 26 6426 6458 6490 6522 6554 6586 6618 6650
Reserved 27 6427 6459 6491 6523 6555 6587 6619 6651
GEAR ON IHPOS Armed 28 6428 6460 6492 6524 6556 6588 6620 6652
Reserved 29 6429 6461 6493 6525 6557 6589 6621 6653
CAM ON IHPOS Armed 30 6430 6462 6494 6526 6558 6590 6622 6654

Parker Hannifin
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4296 4297 4298 4299 4300 4301 4302 4303
Bit MASTER Number
Reserved 31 6431 6463 6495 6527 6559 6591 6623 6655

Description Write
Filter Moved R FLT ON and OFF will set and clear this flag respectively.
In Dead Band R This flag is set when the following error in less the DZL and the
and master is not in motion. It will clear when the error is
bigger than DZU.
CAM POFF R This flag indicates that the CAM will end when the current CAM
armed cycle is complete (CAM POFF).
Tangential R This flag indicates that the axis is a tangential axis (TANG).
GEAR ON R Indicates that the GEAR is armed to begin when the GEAR
IHPOS armed source becomes equal to or going greater then the setpoint
value (GEAR ON IHPOS).
CAM ON IHPOS R Indicates that the CAM is armed to begin when the CAM source
armed becomes equal to or going greater then the setpoint value
(CAM ON IHPOS).
Bit Reference - 219

Parker Hannifin
Bit6656 - Bit6911 Tertiary Axis Flags (Axes 8-15)
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4304 4305 4306 4307 4308 4309 4310 4311
code=0x10; index=0x1A
Bit MASTER Number
Reserved 0 6656 6688 6720 6752 6784 6816 6848 6880
Reserved 1 6657 6689 6721 6753 6785 6817 6849 6881
Reserved 2 6658 6690 6722 6754 6786 6818 6850 6882
Reserved 3 6659 6691 6723 6755 6787 6819 6851 6883
Filter Move 4 6660 6692 6724 6756 6788 6820 6852 6884
In Dead Band (DZL, DZU) 5 6661 6693 6725 6757 6789 6821 6853 6885
Reserved 6 6662 6694 6726 6758 6790 6822 6854 6886
Reserved 7 6663 6695 6727 6759 6791 6823 6855 6887
Reserved 8 6664 6696 6728 6760 6792 6824 6856 6888
Reserved 9 6665 6697 6729 6761 6793 6825 6857 6889
Reserved 10 6666 6698 6730 6762 6794 6826 6858 6890
Reserved 11 6667 6699 6731 6763 6795 6827 6859 6891
CAM POFF armed 12 6668 6700 6732 6764 6796 6828 6860 6892
Reserved 13 6669 6701 6733 6765 6797 6829 6861 6893
Reserved 14 6670 6702 6734 6766 6798 6830 6862 6894
Reserved 15 6671 6703 6735 6767 6799 6831 6863 6895
Tangential 16 6672 6704 6736 6768 6800 6832 6864 6896
Reserved 17 6673 6705 6737 6769 6801 6833 6865 6897
Reserved 18 6674 6706 6738 6770 6802 6834 6866 6898
Reserved 19 6675 6707 6739 6771 6803 6835 6867 6899
Reserved 20 6676 6708 6740 6772 6804 6836 6868 6900
Reserved 21 6677 6709 6741 6773 6805 6837 6869 6901
Reserved 22 6678 6710 6742 6774 6806 6838 6870 6902
Reserved 23 6679 6711 6743 6775 6807 6839 6871 6903
Reserved 24 6680 6712 6744 6776 6808 6840 6872 6904
Reserved 25 6681 6713 6745 6777 6809 6841 6873 6905
Reserved 26 6682 6714 6746 6778 6810 6842 6874 6906
Reserved 27 6683 6715 6747 6779 6811 6843 6875 6907
GEAR ON IHPOS Armed 28 6684 6716 6748 6780 6812 6844 6876 6908
Reserved 29 6685 6717 6749 6781 6813 6845 6877 6909
CAM ON IHPOS Armed 30 6686 6718 6750 6782 6814 6846 6878 6910
Reserved 31 6687 6719 6751 6783 6815 6847 6879 6911

Parker Hannifin

Description Write
Filter Moved R FLT ON and OFF will set and clear this flag respectively.
In Dead Band R This flag is set when the following error in less the DZL and the
and master is not in motion. It will clear when the error is
bigger than DZU.
CAM POFF R This flag indicates that the CAM will end when the current CAM
armed cycle is complete (CAM POFF).
Tangential R This flag indicates that the axis is a tangential axis (TANG).
GEAR ON R Indicates that the GEAR is armed to begin when the GEAR
IHPOS armed source becomes equal to or going greater then the setpoint
value (GEAR ON IHPOS).
CAM ON IHPOS R Indicates that the CAM is armed to begin when the CAM source
armed becomes equal to or going greater then the setpoint value
(CAM ON IHPOS).
Bit Reference - 221

Parker Hannifin
Bit8448 - Bit8703 Quaternary Axis Flags (Axes 0-7)

Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4360 4361 4362 4363 4364 4365 4366 4367
Bit Axis Number
Ethernet Alarm on Drive 0 8448 8480 8512 8544 8576 8608 8640 8672
Fault
Ethernet Alarm on Hard 1 8449 8481 8513 8545 8577 8609 8641 8673
Limit Hit
Ethernet Alarm on Stall 2 8450 8482 8514 8546 8578 8610 8642 8674
Detect
Disable Encoder Fault 3 8451 8483 8515 8547 8579 8611 8643 8675
Response
Disable Drive Fault 4 8452 8484 8516 8548 8580 8612 8644 8676
Response
Invert Drive Fault Input 5 8453 8485 8517 8549 8581 8613 8645 8677
Level
Position Maintenance (PM) 6 8454 8486 8518 8550 8582 8614 8646 8678
Axis Stalled
Invert Motion Direction 7 8455 8487 8519 8551 8583 8615 8647 8679
PM Enable (PM OFF, PM 8 8456 8488 8520 8552 8584 8616 8648 8680
ON)
PM Active 9 8457 8489 8521 8553 8585 8617 8649 8681
PM Interrupted 10 8458 8490 8522 8554 8586 8618 8650 8682
PM Excess Error 11 8459 8491 8523 8555 8587 8619 8651 8683
PM In Dead Band 12 8460 8492 8524 8556 8588 8620 8652 8684
PM Correction Started 13 8461 8493 8525 8557 8589 8621 8653 8685
PM Positive Direction 14 8462 8494 8526 8558 8590 8622 8654 8686
PM Negative Direction 15 8463 8495 8527 8559 8591 8623 8655 8687
Enable CW/CCW (versus 16 8464 8496 8528 8560 8592 8624 8656 8688
Step/Dir)
Drive Enable Output 17 8465 8497 8529 8561 8593 8625 8657 8689
Drive Reset Output 18 8466 8498 8530 8562 8594 8626 8658 8690
Kill All Motion Request 19 8467 8499 8531 8563 8595 8627 8659 8691
Enable Drive I/O 20 8468 8500 8532 8564 8596 8628 8660 8692
Enable EXC Response 21 8469 8501 8533 8565 8597 8629 8661 8693
DEO Serves Shutdown 22 8470 8502 8534 8566 8598 8630 8662 8694
Function
Disable Drive on Kill 23 8471 8503 8535 8567 8599 8631 8663 8695

Parker Hannifin
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4360 4361 4362 4363 4364 4365 4366 4367
Bit Axis Number
Drive Fault Input 24 8472 8504 8536 8568 8600 8632 8664 8696
Reserved 25 8473 8505 8537 8569 8601 8633 8665 8697
DFI Response Inhibit 26 8474 8506 8538 8570 8602 8634 8666 8698
Completing Drive Reset 27 8475 8507 8539 8571 8603 8635 8667 8699
Physical Drive Enable 28 8476 8508 8540 8572 8604 8636 8668 8700
State
Drive Fault Latched 29 8477 8509 8541 8573 8605 8637 8669 8701
EPL Axis 30 8478 8510 8542 8574 8606 8638 8670 8702
Latched Excess Position 31 8479 8511 8543 8575 8607 8639 8671 8703
Error
Bit Reference - 223

Parker Hannifin

Description Write
Ethernet Alarm R/W Enables Ethernet Alarm in the case of Drive Fault on this axis.
on Drive Fault
Ethernet Alarm R/W Enables Ethernet Alarm in the case of Hard Limit Hit on this axis.
on Hard Limit
Hit
Ethernet Alarm R/W Enables Ethernet Alarm in the case of Stall Detect on this axis.
on Stall Detect
Disable R/W The user can select whether or not the controller responds to the
Encoder Fault Encoder fault flags of attached encoders by setting or clearing
Response the Disable Encoder Fault Response flag. This is clear by default,
which means that the controller will respond to encoder faults in
the same way as drive faults, as described in Disable Drive Fault
Response (below).
Disable Drive R/W The user can select whether or not the controller responds to the
Fault Drive Fault Input (DFI) flag by setting or clearing the Disable
Response Drive Fault Response flag. This is clear by default, which means
that the controller will respond to changes in the DFI flag. (See
Drive Fault Input (DFI) in this table.)
Invert Drive R/W The value of the Drive Fault Input (DFI) flag (described in this
Fault Input table) will depend on the actual physical input and the value of
Level the Invert Drive Fault Input Level (IDFIL) flag. If no current is
flowing to the input and the IDFIL flag is clear (the default), then
the DFI flag will be set. This would be the case if no drive were
attached to the connector on power up, or if a cable fell off, or if
a standard drive actually faulted. For some drives, however, the
presence of current, not the absence, indicates a fault. In this
case, the user would wish to set the IDFIL flag, so DFI would be
set if current were flowing to the input.
Position R When the error for an axis exceeds the limit set by the EXC
Maintenance command, this bit is set. This bit self-clears.
Axis Stalled
Invert Motion R/W By convention, default wiring, gains, and MULT values will result
Direction in clockwise shaft motion (viewed from the motor face) when the
count is becoming more positive. But some applications require
that some axes be opposite of this. The Invert Motion Direction
bit will implement this by inverting the polarity of the signal and
feedback objects attached to the axis. Note that changing this bit
(on or off) on an axis that has an attached ENC, DAC, or ADC will
simply invert the polarity of those objects by inverting the
current MULT or gain values. This allows the MULT and gain
values to accommodate “unconventional” wiring but still allow
the Invert Motion Direction bit to change the physical direction.
The Invert Motion Direction bit is saved by ESAVE.
Position R When position maintenance is enabled, the bit is set. You can set
Maintenance or clear the flag using the PM ON and PM OFF commands.
Enable

Parker Hannifin

Description Write
Position R When an axis is correcting the position, the bit is set. Position
Maintenance maintenance is active after motion has completed and an error
Active needs correcting. The bit clears when the axis moves within the
position maintenance deadband region.
Position R When the position maintenance move is interrupted by another
Maintenance move, the bit is set. The bit clears when the next position
Interrupted maintenance move begins.
Position R When the position maintenance move is interrupted a second

Maintenance successive time, the bit is set. The bit clears when the error falls
Excess Error within position maintenance deadband region.
Position R When an axis is located within the deadband, the bit is set. The
Maintenance bit clears when the axis is moving or gets out of dead band
In Dead Band region.
Position R Indicates position maintenance has already started on this axis.

Maintenance Used internally to test for commanded motion interrupting
Correction position maintenance.
Started
Position R When a position maintenance move is in a positive direction, the

Maintenance bit is set.
Positive
Direction
Position R When a position maintenance move is in a negative direction, the

Maintenance bit is clear.
Negative
Direction
Enable R/W The default is Step and Direction (bit set to 0). To enable
CW/CCW clockwise/counterclockwise stepper output, set the bit to 1.
(versus
Step/Dir)
Drive Enable R/W Some drives that have an “enable” input that must be enabled to
Output (DEO) power a motor. When the flag is enabled (bit set to 1), the drive is
enabled. You can also use the DRIVE ON command.
If the flag is disabled (bit set to 0), the drive is disabled; You can
also use the DRIVE OFF command.
Before you can use the Drive Enable Output (DEO) bit, you must
set the Enable Drive I/O bit. The corresponding physical output
uses the Physical Drive Enable State bit.
Note: When the DEO bit is enabled (bit set to 1), a REN command
is automatically sent (setting the commanded position to the
actual encoder position). This prevents the possibility for abrupt
motion to a distant commanded position. Enabling the drive also
clears the KAMR, Drive Fault Latched, and Latched Excess
Position Error bits (described in this table.)
Bit Reference - 225

Parker Hannifin

Description Write
Drive Reset R/W The drive reset output for an axis is connected to the drive reset
Output (DRO) input on a drive. When this bit is enabled, the drive/motor
combination resets itself. You can also use the DRIVE RES
command.
Before you can use the Drive Reset Output bit, you must set the
Enable Drive I/O bit.
Kill all Motion R/W When this bit is enabled, all motion is killed for the axis. In
Request addition, it enables the Kill All Moves bit in the master flags of
(KAMR) the master to which the axis is attached. The result is to kill all
motion on the given axis but also all other axes attached to the
master.
This bit may be explicitly set, but is also automatically set any
time motion is “killed” on this axis. Motion is killed when end of
travel limits are encountered, a CTRL-X or CTRL-Z is issued, a
drive fault is detected, or excess position error is detected.
To resume motion, first clear the Kill all Motion Request bit for
the axis and then clear the Kill all Motion Request bit in the
Master. You can then enable the appropriate axis flags for
motion. The KAMR bit may be cleared for all axes by issuing a
CTRL-Y.
Enable Drive R/W The default for ACR9000 controllers is enabled (bit set to 1); The
I/O (EDIO) default for all other controllers is disabled (bit set to 0).
Enable EXC R/W The ACR controllers will always test for excess position error, as
Response defined by the EXC command (Axis Parameters indices 0x20 and
0x21). When Enable EXC Response is enabled (bit set to 1), the
controller will respond to excess position error by killing all
motion and disabling the drive. If the bit is not set, position error
will be monitored, but not responded to. The default is set to
disabled (bit set to 0).
For more information, see the EXC command; or Axis
Parameters, indices 0x20 and 0x21.
DEO Serves R/W When enabled (bit set to 1), the Drive Enable Output Serves
Shutdown Shutdown Function reverses the behavior of the Drive Enable
Function Output bit.
Disable Drive R/W Normally, CTRL-Z will kill motion and disable all axes, and CTRL-
on Kill X will only kill motion. If the Disable Drive on Kill bit is set on an
axis, then CTRL-X will also disable that axis.
Drive Fault R Provides the state of the physical input when Enable Drive I/O
Input (DFI) has been enabled. The controller will respond to a new DFI active
on an axis only if DEO is also active on that axis. It will respond
by turning off the drive enable output and asserting the KAMR
flag in the quaternary slave flags of that axis.
DFI Response R If Drive Fault Input Response Inhibit is active (bit set to 1), then
Inhibit the drive is being re-enabled and the Drive Fault Input is being
cleared. This is a self-clearing flag; the operation lasts for 50 ms
to 100 ms. During this period the controller is unable to respond
to a Drive Fault Input.

Parker Hannifin

Description Write
Completing R Indicates whether a drive is in the process of resetting. This flag

Drive Reset is active (bit set to 1) during the final 50 ms of a Drive Reset
Output.
See also: Drive Fault Input Response Inhibit and Drive Reset
Output above.
Physical Drive R Indicates whether the physical Drive Enable Output is active (bit
Enable State set to 1) or inactive (bit set to 0).
Drive Fault R Indicates a drive fault has been detected. Stays latched until
Latched cleared with a DRIVE ON command.
EPL Axis R Indicates an EPLD is attached to this axis.
Latched R Indicates that excess position error has been detected, and that
Excess motion has been killed and the drive disabled as a result. Stays
Position Error latched until cleared with a DRIVE ON command.
Bit Reference - 227

Parker Hannifin
Bit8704 - Bit8959 Quaternary Axis Flags (Axes 8-15)

Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4368 4369 4370 4371 4372 4373 4374 4375
Bit Axis Number
Ethernet Alarm on Drive 0 8704 8736 8768 8800 8832 8864 8896 8928
Fault
Ethernet Alarm on Hard 1 8705 8737 8769 8801 8833 8865 8897 8929
Limit Hit
Ethernet Alarm on Stall 2 8706 8738 8770 8802 8834 8866 8898 8930
Detect
Disable Encoder Fault 3 8707 8739 8771 8803 8835 8867 8899 8931
Response
Disable Drive Fault 4 8708 8740 8772 8804 8836 8868 8900 8932
Response
Invert Drive Fault Input 5 8709 8741 8773 8805 8837 8869 8901 8933
Level
Position Maintenance (PM) 6 8710 8742 8774 8806 8838 8870 8902 8934
Axis Stalled
Invert Motion Direction 7 8711 8743 8775 8807 8839 8871 8903 8935
PM Enable (PM OFF, PM 8 8712 8744 8776 8808 8840 8872 8904 8936
ON)
PM Active 9 8713 8745 8777 8809 8841 8873 8905 8937
PM Interrupted 10 8714 8746 8778 8810 8842 8874 8906 8938
PM Excess Error 11 8715 8747 8779 8811 8843 8875 8907 8939
PM In Dead Zone 12 8716 8748 8780 8812 8844 8876 8908 8940
PM Correction Started 13 8717 8749 8781 8813 8845 8877 8909 8941
PM Positive Direction 14 8718 8750 8782 8814 8846 8878 8910 8942
PM Negative Direction 15 8719 8751 8783 8815 8847 8879 8911 8943
Enable CW/CCW (versus 16 8720 8752 8784 8816 8848 8880 8912 8944
Step/Dir)
Drive Enable Output 17 8721 8753 8785 8817 8849 8881 8913 8945
Drive Reset Output 18 8722 8754 8786 8818 8850 8882 8914 8946
Kill All Motion Request 19 8723 8755 8787 8819 8851 8883 8915 8947
Enable Drive I/O 20 8724 8756 8788 8820 8852 8884 8916 8948
Enable EXC Response 21 8725 8757 8789 8821 8853 8885 8917 8949
DEO Serves Shutdown 22 8726 8758 8790 8822 8854 8886 8918 8950
Function
Disable Drive on Kill 23 8727 8759 8791 8823 8855 8887 8919 8951

Parker Hannifin
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4368 4369 4370 4371 4372 4373 4374 4375
Bit Axis Number
Drive Fault Input 24 8728 8760 8792 8824 8856 8888 8920 8952
Reserved 25 8729 8761 8793 8825 8857 8889 8921 8953
DFI Response Inhibit 26 8730 8762 8794 8826 8858 8890 8922 8954
Completing Drive Reset 27 8731 8763 8795 8827 8859 8891 8923 8955
Physical Drive Enable 28 8732 8764 8796 8828 8860 8892 8924 8956
State
Drive Fault Latched 29 8733 8765 8797 8829 8861 8893 8925 8957
EPL Axis 30 8734 8766 8798 8830 8862 8894 8926 8958
Latched Excess Position 31 8735 8767 8799 8831 8863 8895 8927 8959
Error
Bit Reference - 229

Parker Hannifin

Description Write
Ethernet Alarm R/W Enables Ethernet Alarm in the case of Drive Fault on this axis.
on Drive Fault
Ethernet Alarm R/W Enables Ethernet Alarm in the case of Hard Limit Hit on this axis.
on Hard Limit
Hit
Ethernet Alarm R/W Enables Ethernet Alarm in the case of Stall Detect on this axis.
on Stall Detect
Disable R/W The user can select whether or not the controller responds to the
Encoder Fault Encoder fault flags of attached encoders by setting or clearing
Response the Disable Encoder Fault Response flag. This is clear by default,
which means that the controller will respond to encoder faults in
the same way as drive faults, as described in Disable Drive Fault
Response (below).
Disable Drive R/W The user can select whether or not the controller responds to the
Fault Drive Fault Input (DFI) flag by setting or clearing the Disable
Response Drive Fault Response flag. This is clear by default, which means
that the controller will respond to changes in the DFI flag. (See
Drive Fault Input (DFI) in this table.)
Invert Drive R/W The value of the Drive Fault Input (DFI) flag (described in this
Fault Input table) will depend on the actual physical input and the value of
Level the Invert Drive Fault Input Level (IDFIL) flag. If no current is
flowing to the input and the IDFIL flag is clear (the default), then
the DFI flag will be set. This would be the case if no drive were
attached to the connector on power up, or if a cable fell off, or if
a standard drive actually faulted. For some drives, however, the
presence of current, not the absence, indicates a fault. In this
case, the user would wish to set the IDFIL flag, so DFI would be
set if current were flowing to the input.
Position R When the error for an axis exceeds the limit set by the EXC
Maintenance command, this bit is set. This bit self-clears.
Axis Stalled
Invert Motion R/W By convention, default wiring, gains, and MULT values will result
Direction in clockwise shaft motion (viewed from the motor face) when the
count is becoming more positive. But some applications require
that some axes be opposite of this. The Invert Motion Direction
bit will implement this by inverting the polarity of the signal and
feedback objects attached to the axis. Note that changing this bit
(on or off) on an axis that has an attached ENC, DAC, or ADC will
simply invert the polarity of those objects by inverting the
current MULT or gain values. This allows the MULT and gain
values to accommodate “unconventional” wiring but still allow
the Invert Motion Direction bit to change the physical direction.
The Invert Motion Direction bit is saved by ESAVE.
Position R When position maintenance is enabled, the bit is set. You can set
Maintenance or clear the flag using the PM ON and PM OFF commands.
Enable

Parker Hannifin

Description Write
Position R When an axis is correcting the position, the bit is set. Position
Maintenance maintenance is active after motion has completed and an error
Active needs correcting. The bit clears when the axis moves within the
position maintenance deadband region.
Position R When the position maintenance move is interrupted by another

Maintenance move, the bit is set. The bit clears when the next position
Interrupted maintenance move begins.
Position R When the position maintenance move is interrupted a second

Maintenance successive time, the bit is set. The bit clears when the error falls
Excess Error within position maintenance deadband region.
Position R When an axis is located within the deadband, the bit is set. The
Maintenance bit clears when the axis is moving or gets out of dead band
In Dead Band region.
Position R Indicates position maintenance has already started on this axis.

Maintenance Used internally to test for commanded motion interrupting
Correction position maintenance.
Started
Position R When a position maintenance move is in a positive direction, the

Maintenance bit is set.
Positive
Direction
Position R When a position maintenance move is in a negative direction, the

Maintenance bit is clear.
Negative
Direction
Enable R/W The default is Step and Direction (bit set to 0). To enable
CW/CCW clockwise/counterclockwise stepper output, set the bit to 1.
(versus
Step/Dir)
Drive Enable R/W Some drives that have an “enable” input that must be enabled to
Output (DEO) power a motor. When the flag is enabled (bit set to 1), the drive is
enabled. You can also use the DRIVE ON command.
If the flag is disabled (bit set to 0), the drive is disabled; You can
also use the DRIVE OFF command.
Before you can use the Drive Enable Output (DEO) bit, you must
set the Enable Drive I/O bit. The corresponding physical output
uses the Physical Drive Enable State bit.
Note: When the DEO bit is enabled (bit set to 1), a REN command
is automatically sent (setting the commanded position to the
actual encoder position). This prevents the possibility for abrupt
motion to a distant commanded position. Enabling the drive also
clears the KAMR, Drive Fault Latched, and Latched Excess
Position Error bits (described in this table.)
Bit Reference - 231

Parker Hannifin

Description Write
Drive Reset R/W The drive reset output for an axis is connected to the drive reset
Output (DRO) input on a drive. When this bit is enabled, the drive/motor
combination resets itself. You can also use the DRIVE RES
command.
Before you can use the Drive Reset Output bit, you must set the
Enable Drive I/O bit.
Kill all Motion R/W When this bit is enabled, all motion is killed for the axis. In
Request addition, it enables the Kill All Moves bit in the master flags of
(KAMR) the master to which the axis is attached. The result is to kill all
motion on the given axis but also all other axes attached to the
master.
This bit may be explicitly set, but is also automatically set any
time motion is “killed” on this axis. Motion is killed when end of
travel limits are encountered, a CTRL-X or CTRL-Z is issued, a
drive fault is detected, or excess position error is detected.
To resume motion, first clear the Kill all Motion Request bit for
the axis and then clear the Kill all Motion Request bit in the
Master. You can then enable the appropriate axis flags for
motion. The KAMR bit may be cleared for all axes by issuing a
CTRL-Y.
Enable Drive R/W The default for ACR9000 controllers is enabled (bit set to 1); The
I/O (EDIO) default for all other controllers is disabled (bit set to 0).
Enable EXC R/W The ACR controllers will always test for excess position error, as
Response defined by the EXC command (Axis Parameters indices 0x20 and
0x21). When Enable EXC Response is enabled (bit set to 1), the
controller will respond to excess position error by killing all
motion and disabling the drive. If the bit is not set, position error
will be monitored, but not responded to. The default is set to
disabled (bit set to 0).
For more information, see the EXC command; or Axis
Parameters, indices 0x20 and 0x21.
DEO Serves R/W When enabled (bit set to 1), the Drive Enable Output Serves
Shutdown Shutdown Function reverses the behavior of the Drive Enable
Function Output bit.
Disable Drive R/W Normally, CTRL-Z will kill motion and disable all axes, and CTRL-
on Kill X will only kill motion. If the Disable Drive on Kill bit is set on an
axis, then CTRL-X will also disable that axis.
Drive Fault R Provides the state of the physical input when Enable Drive I/O
Input (DFI) has been enabled. The controller will respond to a new DFI active
on an axis only if DEO is also active on that axis. It will respond
by turning off the drive enable output and asserting the KAMR
flag in the quaternary slave flags of that axis.
DFI Response R If Drive Fault Input Response Inhibit is active (bit set to 1), then
Inhibit the drive is being re-enabled and the Drive Fault Input is being
cleared. This is a self-clearing flag; the operation lasts for 50 ms
to 100 ms. During this period the controller is unable to respond
to a Drive Fault Input.

Parker Hannifin

Description Write
Completing R Indicates whether a drive is in the process of resetting. This flag
Drive Reset is active (bit set to 1) during the final 50 ms of a Drive Reset
Output.
See also: Drive Fault Input Response Inhibit and Drive Reset
Output above.
Physical Drive R Indicates whether the physical Drive Enable Output is active (bit
Enable State set to 1) or inactive (bit set to 0).
Drive Fault R Indicates a drive fault has been detected. Stays latched until
Latched cleared with a DRIVE ON command
EPL Axis R Indicates an EPLD is attached to this axis.
Latched R Indicates that excess position error has been detected, and that
Excess motion has been killed and the drive disabled as a result. Stays
Position Error latched until cleared with a DRIVE ON command.
Bit Reference - 233

Parker Hannifin
Bit8960 - Bit9199 Drive Error-Log Flags (Axes 0-7)

Version 1.18.10 & Up—ACR9000 only
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4376 4377 4378 4379 4380 4381 4382 4383
Code-0x10; Index=0x23
Bit Axis Number
Axis Flags Index 0 1 2 3 4 5 6 7
Enable/Disable 0 8960 8992 9024 9056 9088 9120 9152 9184
Bridge fault 1 8961 8993 9025 9057 9089 9121 9153 9185
No PWM output 2 8962 8994 9026 9058 9090 9122 9154 9186
Over Voltage 3 8963 8995 9027 9059 9091 9123 9155 9187
Under Voltage 4 8964 8996 9028 9060 9092 9124 9156 9188
Excessive Startup Voltage 5 8965 8997 9029 9061 9093 9125 9157 9189
Drive Over Temperature 6 9866 8998 9030 9062 9094 9126 9158 9190
Motor Over Temperature 7 8967 8999 9031 9063 9095 9127 9159 9191
Motor Thermal Switch 8 8968 9000 9032 9064 9096 9128 9160 9192
Feedback Error 9 8969 9001 9033 9065 9097 9129 9161 9193
Hall error 10 8970 9002 9034 9066 9098 9130 9162 9194
Motor Configuration Error 11 8971 9003 9035 9067 9099 9131 9163 9195
Regeneration Fault 12 8972 9004 9036 9068 9100 9132 9164 9196
Reserved 13 8973 9005 9037 9069 9101 9133 9165 9197
Reserved 14 8974 9006 9038 9070 9102 9134 9166 9198

Reserved 15 8975 9007 9039 9071 9103 9135 9167 9199

Parker Hannifin

Write
Enable/Disable R/W Indicates the Enable/Disable state of the Drive (bit set to 1 =
enabled, bit set to 0 = disabled).
Bridge fault R/W Bit set to 1 enables drive logging of Bridge Faults.
No PWM output R/W Bit set to 1 enables drive logging of errors where the H-
Bridge is not switching.
Over Voltage R/W Bit set to 1 enables drive logging of errors where the Bus
Voltage is too high.
Under Voltage R/W Bit set to 1 enables drive logging of errors where the Bus
Voltage is too low.
Excessive R/W Bit set to 1 enables drive logging of errors where the
Startup Voltage command voltage was too high when the drive was enabled.
Drive Over R/W Bit set to 1 enables drive logging of errors where the
Temperature temperature of the drive is too high.
Motor Over R/W Bit set to 1 enables drive logging of errors where the
Temperature temperature of the motor, based on the thermal model of the
motor, is too high.
Motor Thermal R/W Bit set to 1 enables drive logging of errors where the
Switch temperature of the motor, based on the thermal switch of the
motor, is too high.
Feedback Error R/W Bit set to 1 enables drive logging of errors where the
feedback is not present or the signal levels are incorrect.
Hall Error R/W Bit set to 1 enables drive logging of errors with the Hall
sensors.
Motor R/W Bit set to 1 enables drive logging of errors with a motor
Configuration configuration parameter of the drive.
Error
Regeneration R/W Bit set to 1 enables drive logging of errors with the
Fault regeneration resistor of the drive.
Bit Reference - 235

Parker Hannifin
Bit9216 - Bit9455 Drive Error-Log Flags (Axes 8-15)

Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4384 4385 4386 4387 4388 4389 4390 4391
Bit Axis Number
Axis Flags Index 8 9 10 11 12 13 14 15
Enable/Disable 0 9216 9248 9280 9312 9344 9376 9408 9440
Bridge fault 1 9217 9249 9281 9313 9345 9377 9409 9441
No PWM output 2 9218 9250 9282 9314 9346 9378 9410 9442
Over Voltage 3 9219 9251 9283 9315 9347 9379 9411 9443
Under Voltage 4 9220 9252 9284 9316 9348 9380 9412 9444
Excessive Startup Voltage 5 9221 9253 9285 9317 9349 9381 9413 9445
Drive Over Temperature 6 9222 9254 9286 9318 9350 9382 9414 9446
Motor Over Temperature 7 9223 9255 9287 9319 9351 9383 9415 9447
Motor Thermal Switch 8 9224 9256 9288 9320 9352 9384 9416 9448
Feedback Error 9 9225 9257 9289 9321 9353 9385 9417 9449
Hall error 10 9226 9258 9290 9322 9354 9386 9418 9450
Motor Configuration Error 11 9227 9259 9291 9323 9355 9387 9419 9451
Regeneration Fault 12 9228 9260 9292 9324 9356 9388 9420 9452
Reserved 13 9229 9261 9293 9325 9357 9389 9421 9453
Reserved 14 9230 9262 9294 9326 9358 9390 9422 9454

Reserved 15 9231 9263 9295 9327 9359 9391 9423 9455

Parker Hannifin

Write
Enable/Disable R/W Indicates the Enable/Disable state of the Drive. (bit set to 1 =
enabled, bit set to 0 = disabled)
Bridge fault R/W Bit set to 1 enables drive logging of Bridge Faults.
No PWM output R/W Bit set to 1 enables drive logging of errors where the H-
Bridge is not switching.
Over Voltage R/W Bit set to 1 enables drive logging of errors where the Bus
Voltage is too high.
Under Voltage R/W Bit set to 1 enables drive logging of errors where the Bus
Voltage is too low.
Excessive R/W Bit set to 1 enables drive logging of errors where the
Startup Voltage command voltage was too high when the drive was enabled.
Drive Over R/W Bit set to 1 enables drive logging of errors where the
Temperature temperature of the drive is too high.
Motor Over R/W Bit set to 1 enables drive logging of errors where the
Temperature temperature of the motor, based on the thermal model of the
motor, is too high.
Motor Thermal R/W Bit set to 1 enables drive logging of errors where the
Switch temperature of the motor, based on the thermal switch of the
motor, is too high.
Feedback Error R/W Bit set to 1 enables drive logging of errors where the
feedback is not present or the signal levels are incorrect.
Hall Error R/W Bit set to 1 enables drive logging of errors with the Hall
sensors.
Motor R/W Bit set to 1 enables drive logging of errors with a motor
Configuration configuration parameter of the drive.
Error
Regeneration R/W Bit set to 1 enables drive logging of errors with the
Fault regeneration resistor of the drive.
Bit Reference - 237

Parker Hannifin
Bit9472 - Bit9727 Drive Status 1 Flags (Axes 0-7)

Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4392 4393 4394 4395 4396 4397 4398 4399
Bit Axis Number
Drive Status Flags Index 0 1 2 3 4 5 6 7
Motor Config Warning 0 9472 9504 9536 9568 9600 9632 9664 9696
Motor Config Error 1 9473 9505 9537 9569 9601 9633 9665 9697
Reserved 2 9474 9506 9538 9570 9602 9634 9666 9698
Max Inductance = 0 3 9475 9507 9539 9571 9603 9635 9667 9699
Rated Speed = 0 4 9476 9508 9540 9572 9604 9636 9668 9700
DPOLE = 0 5 9477 9509 9541 9573 9605 9637 9669 9701
Resistance = 0 6 9478 9510 9542 9574 9606 9638 9670 9702
Ke = 0 7 9479 9511 9543 9575 9607 9639 9671 9703
Cont Current = 0 8 9480 9512 9544 9576 9608 9640 9672 9704
Peak Current = 0 9 9481 9513 9545 9577 9609 9641 9673 9705
Cont Motor Current too 10 9482 9514 9546 9578 9610 9642 9674 9706
high for drive power level
Torque rating too high for 11 9483 9515 9547 9579 9611 9643 9675 9707
drive current
Peak current too high- use 12 9484 9516 9548 9580 9612 9644 9676 9708
drive’s value
Reserved 13 9485 9517 9549 9581 9613 9645 9677 9709
Reserved 14 9486 9518 9550 9582 9614 9646 9678 9710
Reserved 15 9487 9519 9551 9583 9615 9647 9679 9711
1:Brake Relay 16 9488 9520 9552 9584 9616 9648 9680 9712
Active0:Inactive
1:Fault Output Active 17 9489 9521 9553 9585 9617 9649 9681 9713
0:Fault output Inactive
Reserved 18 9490 9522 9554 9586 9618 9650 9682 9714
Reserved 19 9491 9523 9555 9587 9619 9651 9683 9715
Reserved 20 9492 9524 9556 9588 9620 9652 9684 9716
Reserved 21 9493 9525 9557 9589 9621 9653 9685 9717
Reserved 22 9494 9526 9558 9590 9622 9654 9686 9718
Reserved 23 9495 9527 9559 9591 9623 9655 9687 9719
Reserved 24 9496 9528 9560 9592 9624 9656 9688 9720
Reserved 25 9497 9529 9561 9593 9625 9657 9689 9721
Reserved 26 9498 9530 9562 9594 9626 9658 9690 9722
Reserved 27 9499 9531 9563 9595 9627 9659 9691 9723

Parker Hannifin
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4392 4393 4394 4395 4396 4397 4398 4399
Bit Axis Number
Reserved 28 9500 9532 9564 9596 9628 9660 9692 9724
Reserved 29 9501 9533 9565 9597 9629 9661 9693 9725
Reserved 30 9502 9534 9566 9598 9630 9662 9694 9726

Reserved 31 9503 9535 9567 9599 9631 9663 9695 9727
Bit Reference - 239

Parker Hannifin

Write
Motor Config R The motor rating is too high for the drive, and the drive is
Warning using its own limits for safety reasons.
Motor Config R One of the motor parameters is set to zero (0). Look at the
Error additional errors to find which parameters are set at zero (0).
Refer to your motor specifications for the correct value.
Max Inductance R This parameter is set to zero (0). To correct the error, you
=0 must set a non-zero (0) value. Refer to your motor
specifications for the correct value. (DMTIND)
Rated Speed = 0 R This parameter is set to zero (0). To correct the error, you
must set a non-zero value. Refer to your motor specifications
for the correct value. (DMTW)
DPOLE = 0 R This parameter is set to zero (0). To correct the error, you
for the correct value. (DPOLE)
Resistance = 0 R This parameter is set to zero (0). To correct the error, you
for the correct value. (DMTRES)
Ke = 0 R This parameter is set to zero (0). To correct the error, you

for the correct value. (DMKE)
Cont Current = 0 R This parameter is set to zero (0). To correct the error, you
for the correct value. (DMTIC)
Peak Current = 0 R This parameter is set to zero (0). To correct the error, you
for the correct value. (DMTIP)
Cont Motor R The continuous current of the motor is higher than the
Current too high continuous current rating of the drive. Use the continuous
for drive power current rating for the drive.
level
Torque rating R The motor’s torque rating is too high for the power level of
too high for the drive. Use the drive’s torque rating.
drive current
Peak current too R The peak current of the motor is higher than the peak current
high- use drive’s rating of the drive. Use the drive’s value for peak current.
value
Brake Relay R Bit set to 1 indicates that the Brake Relay Output of the drive
Active is active and 0 indicates that the Brake Relay Output is
Inactive.
Fault Output R Bit set to 1 indicates that the Fault Output of the drive is
Active active and 0 indicates that the Fault Output is Inactive.

Parker Hannifin

Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4400 4401 4402 4403 4404 4405 4406 4407
Bit Axis Number
Motor Config Warning 0 9728 9760 9792 9824 9856 9888 9920 9952
Motor Config Error 1 9729 9761 9793 9825 9857 9889 9921 9953
Reserved 2 9730 9762 9794 9826 9858 9890 9922 9954
Max Inductance = 0 3 9731 9763 9795 9827 9859 9891 9923 9955
Rated Speed = 0 4 9732 9764 9796 9828 9860 9892 9924 9956
DPOLE = 0 5 9733 9765 9797 9829 9861 9893 9925 9957
Resistance = 0 6 9734 9766 9798 9830 9862 9894 9926 9958
Ke = 0 7 9735 9767 9799 9831 9863 9895 9927 9959
Cont Current = 0 8 9736 9768 9800 9832 9864 9896 9928 9960
Peak Current = 0 9 9737 9769 9801 9833 9865 9897 9929 9961
Cont Motor Current too 10 9738 9770 9802 9834 9866 9898 9930 9962
high for drive power level
Torque rating too high for 11 9739 9771 9803 9835 9867 9899 9931 9963
drive current
Peak current too high- use 12 9740 9772 9804 9836 9868 9900 9932 9964
drive’s value
Reserved 13 9741 9773 9805 9837 9869 9901 9933 9965
Reserved 14 9742 9774 9806 9838 9870 9902 9934 9966
Reserved 15 9743 9775 9807 9839 9871 9903 9935 9967
1:Brake Relay Active 16 9744 9776 9808 9840 9872 9904 9936 9968
0:Inactive
1:Fault Output Active 17 9745 9777 9809 9841 9873 9905 9937 9969
0:Fault output Inactive
Reserved 18 9746 9778 9810 9842 9874 9906 9938 9970
Reserved 19 9747 9779 9811 9843 9875 9907 9939 9971
Reserved 20 9748 9780 9812 9844 9876 9908 9940 9972
Reserved 21 9749 9781 9813 9845 9877 9909 9941 9973
Reserved 22 9750 9782 9814 9846 9878 9910 9942 9974
Reserved 23 9751 9783 9815 9847 9879 9911 9943 9975
Reserved 24 9752 9784 9816 9848 9880 9912 9944 9976
Reserved 25 9753 9785 9817 9849 9881 9913 9945 9977
Reserved 26 9754 9786 9818 9850 9882 9914 9946 9978
Reserved 27 9755 9787 9819 9851 9883 9915 9947 9979
Bit Reference - 241

Parker Hannifin
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4400 4401 4402 4403 4404 4405 4406 4407
Bit Axis Number
Reserved 28 9756 9788 9820 9852 9884 9916 9948 9980
Reserved 29 9757 9789 9821 9853 9885 9917 9949 9981
Reserved 30 9758 9790 9822 9854 9886 9918 9950 9982

Reserved 31 9759 9791 9823 9855 9887 9919 9951 9983

Parker Hannifin

Write
Motor Config R The motor rating is too high for the drive, and the drive is
Warning using its own limits for safety reasons.
Motor Config R One of the motor parameters is set to zero (0). Look at the
Max Inductance R This parameter is set to zero (0). To correct the error, you
=0 must set a non-zero (0) value. Refer to your motor
specifications for the correct value. (DMTIND)
Rated Speed = 0 R This parameter is set to zero (0). To correct the error, you
for the correct value. (DMTW)
DPOLE = 0 R This parameter is set to zero (0). To correct the error, you
for the correct value. (DPOLE)
Resistance = 0 R This parameter is set to zero (0). To correct the error, you
for the correct value. (DMTRES)
Ke = 0 R This parameter is set to zero (0). To correct the error, you

for the correct value. (DMKE)
Cont Current = 0 R This parameter is set to zero (0). To correct the error, you
for the correct value. (DMTIC)
Peak Current = 0 R This parameter is set to zero (0). To correct the error, you
for the correct value. (DMTIP)
Cont Motor R The continuous current of the motor is higher than the
Current too high continuous current rating of the drive. Use the continuous
for drive power current rating for the drive.
level
Torque rating R The motor’s torque rating is too high for the power level of
too high for the drive. Use the drive’s torque rating.
drive current
Peak current too R The peak current of the motor is higher than the peak current
high- use drive’s rating of the drive. Use the drive’s value for peak current.
value
Brake Relay R Bit set to 1 indicates that the Brake Relay Output of the drive
Active is active and 0 indicates that the Brake Relay Output is
Inactive.
Fault Output R Bit set to 1 indicates that the Fault Output of the drive is
Active active and 0 indicates that the Fault Output is Inactive.
Bit Reference - 243

Parker Hannifin

Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4408 4409 4410 4411 4412 4413 4414 4415
Bit Axis Number
Drive Status 2 Flags Index 0 1 2 3 4 5 6 7
Power Regeneration Fault 0 9984 10016 10048 10080 10112 10144 10176 10208
Encoder Out Failure 1 9985 10017 10049 10081 10113 10145 10177 10209
Drive Temperature Fault 2 9986 10018 10050 10082 10114 10146 10178 10210
Motor Thermal Model Fault 3 9987 10019 10051 10083 10115 10147 10179 10211
Motor Temperature Fault 4 9988 10020 10052 10084 10116 10148 10180 10212
Bad Hall State 5 9989 10021 10053 10085 10117 10149 10181 10213
Feedback Failure 6 9990 10022 10054 10086 10118 10150 10182 10214
Drive Disabled 7 9991 10023 10055 10087 10119 10151 10183 10215
PWM not active 8 9992 10024 10056 10088 10120 10152 10184 10216
Power Regeneration 9 9993 10025 10057 10089 10121 10153 10185 10217
Warning
Shaft Power Limited 10 9994 10026 10058 10090 10122 10154 10186 10218
Warning
Reserved 11 9995 10027 10059 10091 10123 10155 10187 10219
Reserved 12 9996 10028 10060 10092 10124 10156 10188 10220
Reserved 13 9997 10029 10061 10093 10125 10157 10189 10221
Reserved 14 9998 10030 10062 10094 10126 10158 10190 10222
Reserved 15 9999 10031 10063 10095 10127 10159 10191 10223
Reserved 16 10000 10032 10064 10096 10128 10160 10192 10224
Reserved 17 10001 10033 10065 10097 10129 10161 10193 10225
Reserved 18 10002 10034 10066 10098 10130 10162 10194 10226
Reserved 19 10003 10035 10067 10099 10131 10163 10195 10227
Reserved 20 10004 10036 10068 10100 10132 10164 10196 10228
Reserved 21 10005 10037 10069 10101 10133 10165 10197 10229
Reserved 22 10006 10038 10070 10102 10134 10166 10198 10230
Reserved 23 10007 10039 10071 10103 10135 10167 10199 10231
Reserved 24 10008 10040 10072 10104 10136 10168 10200 10232
Excessive Command 25 10009 10041 10073 10105 10137 10169 10201 10233
voltage at enable
Drive Faulted 26 10010 10042 10074 10106 10138 10170 10202 10234
Bridge Hardware Fault 27 10011 10043 10075 10107 10139 10171 10203 10235
Bridge Temperature Fault 28 10012 10044 10076 10108 10140 10172 10204 10236

Parker Hannifin
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4408 4409 4410 4411 4412 4413 4414 4415
Bit Axis Number
Drive Status 2 Flags Index 0 1 2 3 4 5 6 7
Drive Over Voltage 29 10013 10045 10077 10109 10141 10173 10205 10237
Drive Under Voltage 30 10014 10046 10078 10110 10142 10174 10206 10238
Bridge Foldback 31 10015 10047 10079 10111 10143 10175 10207 10239
Bit Reference - 245

Parker Hannifin

Write
Power R Indicates that the drive has encountered a Power

Regeneration Regeneration Fault. Check the Regeneration Resistor of the
Fault Drive.
Encoder Out R Indicates the drive has encountered an error on its Encoder
Failure Output.
Drive R Indicates the drive has faulted due to temperature of the drive
Temperature being too high.
Fault
Motor Thermal R Indicates that the drive has faulted from the Motor
Model Fault Temperature based on the Motor Thermal Model.
Motor R Indicates that the drive has faulted from the Motor
Temperature Temperature based on the Motor thermal switch.
Fault
Bad Hall State R Indicates a problem with the Hall Sensors.
Feedback R Indicates a fault where the feedback is not present or the

Failure signal levels are incorrect.
Drive Disabled R Indicates that the drive is disabled.
PWM not active R Indicates that the H-Bridge is not switching.
Power R The drive is in Regeneration Mode.

Regeneration
Warning
Shaft Power R Shaft Power is limited to the rated output to protect the drive.
Limited Warning
Excessive R Indicates that the Command Voltage was too high when the
Command drive was enabled.
voltage at enable
Drive Faulted R Indicates that the drive is faulted.
Bridge Hardware R Indicates excessive current or short on the H Bridge.

Fault
Bridge R Indicates excessive temperature on the H Bridge.
Temperature
Fault
Drive Over R Indicates the Bus voltage of the drive is too high.
Voltage
Drive Under R Indicates the Bus voltage of the drive is too low.
Voltage
Bridge Foldback R Warning indicating the drive current is limited to prevent

overheating.

Parker Hannifin

Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4416 4417 4418 4419 4420 4421 4422 4423
Bit Axis Number
Power Regeneration Fault 0 10240 10272 10304 10336 10368 10400 10432 10464
Encoder Out Failure 1 10241 10273 10305 10337 10369 10401 10433 10465
Drive Temperature Fault 2 10242 10274 10306 10338 10370 10402 10434 10466
Motor Thermal Model Fault 3 10243 10275 10307 10339 10371 10403 10435 10467
Motor Temperature Fault 4 10244 10276 10308 10340 10372 10404 10436 10468
Bad Hall State 5 10245 10277 10309 10341 10373 10405 10437 10469
Feedback Failure 6 10246 10278 10310 10342 10374 10406 10438 10470
Drive Disabled 7 10247 10279 10311 10343 10375 10407 10439 10471
PWM not active 8 10248 10280 10312 10344 10376 10408 10440 10472
Power Regeneration 9 10249 10281 10313 10345 10377 10409 10441 10473
Warning
Shaft Power Limited 10 10250 10282 10314 10346 10378 10410 10442 10474
Warning
Reserved 11 10251 10283 10315 10347 10379 10411 10443 10475
Reserved 12 10252 10284 10316 10348 10380 10412 10444 10476
Reserved 13 10253 10285 10317 10349 10381 10413 10445 10477
Reserved 14 10254 10286 10318 10350 10382 10414 10446 10478
Reserved 15 10255 10287 10319 10351 10383 10415 10447 10479
Reserved 16 10256 10288 10320 10352 10384 10416 10448 10480
Reserved 17 10257 10289 10321 10353 10385 10417 10449 10481
Reserved 18 10258 10290 10322 10354 10386 10418 10450 10482
Reserved 19 10259 10291 10323 10355 10387 10419 10451 10483
Reserved 20 10260 10292 10324 10356 10388 10420 10452 10484
Reserved 21 10261 10293 10325 10357 10389 10421 10453 10485
Reserved 22 10262 10294 10326 10358 10390 10422 10454 10486
Reserved 23 10263 10295 10327 10359 10391 10423 10455 10487
Reserved 24 10264 10296 10328 10360 10392 10424 10456 10488
Excessive Command 25 10265 10297 10329 10361 10393 10425 10457 10489
voltage at enable
Drive Faulted 26 10266 10298 10330 10362 10394 10426 10458 10490
Bridge Hardware Fault 27 10267 10299 10331 10363 10395 10427 10459 10491
Bridge Temperature Fault 28 10268 10300 10332 10364 10396 10428 10460 10492
Bit Reference - 247

Parker Hannifin
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4416 4417 4418 4419 4420 4421 4422 4423
Bit Axis Number
Drive Over Voltage 29 10269 10301 10333 10365 10397 10429 10461 10493
Drive Under Voltage 30 10270 10302 10334 10366 10398 10430 10462 10494
Bridge Foldback 31 10271 10303 10335 10367 10399 10431 10463 10495

Parker Hannifin

Write
Power R Indicates that the drive has encountered a Power

Regeneration Regeneration Fault. Check the Regeneration Resistor of the
Fault Drive.
Encoder Out R Indicates the drive has encountered an error on its Encoder
Failure Output.
Drive R Indicates the drive has faulted due to temperature of the drive
Temperature being too high.
Fault
Motor Thermal R Indicates that the drive has faulted from the Motor
Model Fault Temperature based on the Motor Thermal Model.
Motor R Indicates that the drive has faulted from the Motor
Temperature Temperature based on the Motor thermal switch.
Fault
Bad Hall State R Indicates a problem with the Hall Sensors.
Feedback R Indicates a fault where the feedback is not present or the

Failure signal levels are incorrect.
Drive Disabled R Indicates that the drive is disabled.
PWM not active R Indicates that the H-Bridge is not switching.
Power R The drive is in Regeneration Mode.

Regeneration
Warning
Shaft Power R Shaft Power is limited to the rated output to protect the drive.
Limited Warning
Excessive R Indicates that the Command Voltage was too high when the
Command drive was enabled.
voltage at enable
Drive Faulted R Indicates that the drive is faulted.
Bridge Hardware R Indicates excessive current or short on the H Bridge.

Fault
Bridge R Indicates excessive temperature on the H Bridge.
Temperature
Fault
Drive Over R Indicates the Bus voltage of the drive is too high.
Voltage
Drive Under R Indicates the Bus voltage of the drive is too low.
Voltage
Bridge Foldback R Warning indicating the drive current is limited to prevent

overheating.
Bit Reference - 249

Parker Hannifin
Bit10496 - Bit10750 Drive Control Flags (Axes 0-7)

ACR90x0 only
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4424 4425 4426 4427 4428 4429 4430 4431
Drive Control Flags Bit Axis Number
Index
0 1 2 3 4 5 6 7
Auto Address Request 0 10496 10528 10560 10592 10624 10656 10688 10720
Get Config Request 1 10497 10529 10561 10593 10625 10657 10689 10721
Send Config Request 2 10498 10530 10562 10594 10626 10658 10690 10722
Send ERRORL Request 3 10499 10531 10563 10595 10627 10659 10691 10723
Get Drive Data Request 4 10500 10532 10564 10596 10628 10660 10692 10724
Reserved 5 10501 10533 10565 10597 10629 10661 10693 10725
Reserved 6 10502 10534 10566 10598 10630 10662 10694 10726
Drive Reset Status 7 10503 10535 10567 10599 10631 10663 10695 10727
(internal only)
Custom Product ID 8 10504 10536 10568 10600 10632 10664 10696 10728
Encoder Position 9 10505 10537 10569 10601 10633 10665 10697 10729
Current Hall State 10 10506 10538 10570 10602 10634 10666 10698 10730
(standard encoder only)
Operating Hours 11 10507 10539 10571 10603 10635 10667 10699 10731
Operating Minutes 12 10508 10540 10572 10604 10636 10668 10700 10732
Operating Milliseconds 13 10509 10541 10573 10605 10637 10669 10701 10733
Reserved 14 10510 10542 10574 10606 10638 10670 10702 10734
Reserved 15 10511 10543 10575 10607 10639 10671 10703 10735
Amplifier Cont Current 16 10512 10544 10576 10608 10640 10672 10704 10736
Rating
Amplifier Max Current 17 10513 10545 10577 10609 10641 10673 10705 10737
Rating
Commanded Current 18 10514 10546 10578 10610 10642 10674 10706 10738
Commanded Torque 19 10515 10547 10579 10611 10643 10675 10707 10739
Actual Torque 20 10516 10548 10580 10612 10644 10676 10708 10740
Actual Velocity 21 10517 10549 10581 10613 10645 10677 10709 10741
±10V Input Signal or 22 10518 10550 10582 10614 10646 10678 10710 10742
Drive Temp 23 10519 10551 10583 10615 10647 10679 10711 10743
Motor Temp 24 10520 10552 10584 10616 10648 10680 10712 10744
Bus Voltage 25 10521 10553 10585 10617 10649 10681 10713 10745
Reserved 26 10522 10554 10586 10618 10650 10682 10714 10746
Reserved 27 10523 10555 10587 10619 10651 10683 10715 10747

Parker Hannifin
Drive Status 1 28 10524 10556 10588 10620 10652 10684 10716 10748
Drive Status 2 29 10525 10557 10589 10621 10653 10685 10717 10749
Reserved 30 10526 10558 10590 10622 10654 10686 10718 10750
Reserved 31 10527 10559 10591 10623 10655 10687 10719 10751

Write
Auto Address R/W Bit is set to request that the drive Auto Addresses. Not used
Request for EPL.
Get Config R/W Bit is set to request drive configuration data is uploaded from
Request the drive.
Send Config R/W Bit is set to request drive configuration data is downloaded to
Request the drive.
Send ERRORL R/W Bit is set to request drive’s error log data. Not used for EPL.
Request
Get Drive Data R/W Bit is set to request to get drive data (that has been
Request requested) be uploaded from the drive.
Drive Reset R Indicates that the drive is in reset

Status
(internal only)
Custom Product R/W Bit is set to request drive’s Custom Product ID when the Get
ID Drive Data Request Bit is set.
Encoder R/W Bit is set to request drive’s Encoder Position when the Get
Position Drive Data Request Bit is set.
Current Hall R/W Bit is set to request drive’s Current Hall State when the Get
State (standard Drive Data Request Bit is set.
encoder only)
Operating Hours R/W Bit is set to request drive’s Operating Hours when the Get
Drive Data Request Bit is set.
Operating R/W Bit is set to request drive’s Operating Minutes when the Get
Minutes Drive Data Request Bit is set.
Operating R/W Bit is set to request drive’s Operating Milliseconds when the
Milliseconds Get Drive Data Request Bit is set.
Amplifier Cont R/W Bit is set to request drive’s Amplifier Continuous Current
Current Rating Rating when the Get Drive Data Request Bit is set.
Amplifier Max R/W Bit is set to request drive’s Amplifier Max Current Rating
Current Rating when the Get Drive Data Request Bit is set.
Commanded R/W Bit is set to request drive’s Commanded Current when the
Current Get Drive Data Request Bit is set.
Commanded R/W Bit is set to request drive’s Commanded Torque when the Get
Torque Drive Data Request Bit is set.
Actual Torque R/W Bit is set to request drive’s Actual Torque when the Get Drive
Data Request Bit is set.
Actual Velocity R/W Bit is set to request drive’s Actual Velocity when the Get
Bit Reference - 251

Parker Hannifin

Write
±10V Input R/W When talking to Aries AE or Aries SE drives, bit is set to
Signal request drive’s Analog Input Command Signal when the Get
Shaft Power in R/W When talking to Aries EPL drives, bit is set to request drive’s
Watts Shaft Power when the Get Drive Data Request Bit is set.
Drive Temp R/W Bit is set to request drive’s Drive Temperature when the Get
Motor Temp R/W Bit is set to request drive’s Motor Temperature when the Get
Bus Voltage R/W Bit is set to request drive’s Bus Voltage when the Get Drive
Drive Status 1 R/W Bit is set to request drive’s Drive Status 1 when the Get Drive
Data Request Bit is set. (Not required for Aries EPL; data is
retrieved automatically as part of the EPL cycle.)

Parker Hannifin
Bit10752 - Bit11007 Drive Control Flags (Axes 8-15)

ACR90x0 only
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4432 4433 4434 4435 4436 4437 4438 4439
Code=0x10; Index=0x2A
Bit Axis Number
Drive Control Flags Index 8 9 10 11 12 13 14 15
Auto Address Request 0 10752 10784 10816 10848 10880 10912 10944 10976
Get Config Request 1 10753 10785 10817 10849 10881 10913 10945 10977
Send Config Request 2 10754 10786 10818 10850 10882 10914 10946 10978
Send ERRORL Request 3 10755 10787 10819 10851 10883 10915 10947 10979
Get Drive Data Request 4 10756 10788 10820 10852 10884 10916 10948 10980
Reserved 5 10757 10789 10821 10853 10885 10917 10949 10981
Reserved 6 10758 10790 10822 10854 10886 10918 10950 10982
Drive Reset Status 7 10759 10791 10823 10855 10887 10919 10951 10983
(internal only)
Custom Product ID 8 10760 10792 10824 10856 10888 10920 10952 10984
Encoder Position 9 10761 10793 10825 10857 10889 10921 10953 10985
Current Hall State 10 10762 10794 10826 10858 10890 10922 10954 10986
(standard encoder only)
Operating Hours 11 10763 10795 10827 10859 10891 10923 10955 10987
Operating Minutes 12 10764 10796 10828 10860 10892 10924 10956 10988
Operating Milliseconds 13 10765 10797 10829 10861 10893 10925 10957 10989
Reserved 14 10766 10798 10830 10862 10894 10926 10958 10990
Reserved 15 10767 10799 10831 10863 10895 10927 10959 10991
Amplifier Cont Current 16 10768 10800 10832 10864 10896 10928 10960 10992
Rating
Amplifier Max Current 17 10769 10801 10833 10865 10897 10929 10961 10993
Rating
Commanded Current 18 10770 10802 10834 10866 10898 10930 10962 10994
Commanded Torque 19 10771 10803 10835 10867 10899 10931 10963 10995
Actual Torque 20 10772 10804 10836 10868 10900 10932 10964 10996
Actual Velocity 21 10773 10805 10837 10869 10901 10933 10965 10997
±10V Input Signal or 22 10774 10806 10838 10870 10902 10934 10966 10998
Drive Temp 23 10775 10807 10839 10871 10903 10935 10967 10999
Motor Temp 24 10776 10808 10840 10872 10904 10936 10968 11000
Bus Voltage 25 10777 10809 10841 10873 10905 10937 10969 11001
Reserved 26 10778 10810 10842 10874 10906 10938 10970 11002
Reserved 27 10779 10811 10843 10875 10907 10939 10971 11003
Bit Reference - 253

Parker Hannifin
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4432 4433 4434 4435 4436 4437 4438 4439
Bit Axis Number
Drive Control Flags Index 8 9 10 11 12 13 14 15
Drive Status 1 28 10780 10812 10844 10876 10908 10940 10972 11004
Drive Status 2 29 10781 10813 10845 10877 10909 10941 10973 11005
Reserved 30 10782 10814 10846 10878 10910 10942 10974 11006

Reserved 31 10783 10815 10847 10879 10911 10943 10975 11007

Write
Auto Address R/W Bit is set to request that the drive Auto Addresses. Not used
Request for EPL.
Get Config R/W Bit is set to request drive configuration data is uploaded from
Request the drive.
Send Config R/W Bit is set to request drive configuration data is downloaded to
Request the drive.
Send ERRORL R/W Bit is set to request drive’s error log data. Not used for EPL.
Request
Get Drive Data R/W Bit is set to request to get drive data (that has been
Request requested) be uploaded from the drive.
Drive Reset R Indicates that the drive is in reset.

Status
(internal only)
Custom Product R/W Bit is set to request drive’s Custom Product ID when the Get
ID Drive Data Request Bit is set.
Encoder R/W Bit is set to request drive’s Encoder Position when the Get
Position Drive Data Request Bit is set.
Current Hall R/W Bit is set to request drive’s Current Hall State when the Get
State (standard Drive Data Request Bit is set.
encoder only)
Operating Hours R/W Bit is set to request drive’s Operating Hours when the Get
Operating R/W Bit is set to request drive’s Operating Minutes when the Get
Minutes Drive Data Request Bit is set.
Operating R/W Bit is set to request drive’s Operating Milliseconds when the
Milliseconds Get Drive Data Request Bit is set.
Amplifier Cont R/W Bit is set to request drive’s Amplifier Continuous Current
Current Rating Rating when the Get Drive Data Request Bit is set.
Amplifier Max R/W Bit is set to request drive’s Amplifier Max Current Rating
Current Rating when the Get Drive Data Request Bit is set.
Commanded R/W Bit is set to request drive’s Commanded Current when the
Current Get Drive Data Request Bit is set.
Commanded R/W Bit is set to request drive’s Commanded Torque when the Get
Torque Drive Data Request Bit is set.

Parker Hannifin

Write
Actual Torque R/W Bit is set to request drive’s Actual Torque when the Get Drive
Actual Velocity R/W Bit is set to request drive’s Actual Velocity when the Get
±10V Input R/W When talking to Aries AE or Aries SE drives, bit is set to
Signal request drive’s Analog Input Command Signal when the Get
Shaft Power in R/W When talking to Aries EPL drives, bit is set to request drive’s
Watts Shaft Power when the Get Drive Data Request Bit is set.
Drive Temp R/W Bit is set to request drive’s Drive Temperature when the Get
Motor Temp R/W Bit is set to request drive’s Motor Temperature when the Get
Bus Voltage R/W Bit is set to request drive’s Bus Voltage when the Get Drive
Bit Reference - 255

Parker Hannifin
Bit11040 - Bit11071 Stream Flags for Drive Talk—LPT1

Flag Parameter 4441

Code=0x10; Index=0x2B; Mask=0x08
LPT1 Stream Drive Talk Control Bit
Flags Index Bit Number
Auto Address Request 0 11040
Reserved 1 11041
Reserved 2 11042
Reserved 3 11043
Reserved 4 11044
Reserved 5 11045
Reserved 6 11046
Reserved 7 11047
LPT1 Stream Drive Talk Status Bit

Reserved 8 11048
Reserved 9 11049
Reserved 10 11050
Reserved 11 11051
Stream DTALK Active 12 11052
Stream Drive Found 13 11053
Stream Drive Lost 14 11054
Stream Drive Timeout 15 11055
Stream Address Error 16 11056
Reserved 17 11057
Reserved 18 11058
Reserved 19 11059
Reserved 20 11060
Reserved 21 11061
Reserved 22 11062
Reserved 23 11063

Parker Hannifin
LPT1 Stream TALKTO/DTALK Bit

Status Flags Index Bit Number
Stream Forward to Stream 24 11064
Stream Forward to Drive 25 11065
Stream Response Pending 26 11066
Stream Forward Request 27 11067
Reserved 28 11068
Reserved 29 11069
Reserved 30 11070
Reserved 31 11071
Bit Reference - 257

Parker Hannifin

Write
Auto Address Request R/W When this flag is set the controller will start the
auto address process for all axes with a non-
zero Drive Talk Device Number.
This process will hold drives in the reset state
and issue addressing commands until all axes
are addressed in the order that the axes are
attached with the ATTACH command.
The flag is automatically cleared when the
process is finished.
Stream DTALK Active R Indicates whether drive talk is active or not.

Drive Talk becomes active after the OPEN
DTALK command is issued. Drive talk is
deactivated with the CLOSE command and any
of the errors below.
Stream Drive Found R This flag is set each time a successful response
from the drive has been read by the controller.
Stream Drive Lost R This flag is set if at any time the controller
requests data from the drive and the drive does
not respond. The controller never clears only
sets this flag.
Stream Drive Timeout R/W This flag is the same as the Drive Lost flag, but
when this flag is set the controller will not send
another query to the drive until this flag is
cleared.
Stream Address Error R This flag is set when an individual axis auto
address request was made, but the drive’s
reported address did not match the sent
address.
Stream Forward to Stream R Indicates this stream is either a source or

destination in TALKTO or DTALK. For internal
implementation use only.
Stream Forward to Drive R Indicates this stream is a source for DTALK. For
internal implementation use only.
Stream Response Pending R Indicates this stream has a DTALK response
pending. For internal implementation use only.
Stream Forward Request R Preliminary state before Stream Forward to

Stream for destination stream in DTALK. For

Parker Hannifin
Bit11072 - Bit11103 Stream Flags for Drive Talk—

COM1
Flag Parameter 4442

COM1 Stream Drive Talk Control Bit
Reserved 1 11073
Reserved 2 11074
Reserved 3 11075
Reserved 4 11076
Reserved 5 11077
Reserved 6 11078
Reserved 7 11079
COM1 Stream Drive Talk Status Bit

Reserved 8 11080
Reserved 9 11081
Reserved 10 11082
Reserved 11 11083
Reserved 17 11089
Reserved 18 11090
Reserved 19 11091
Reserved 20 11092
Reserved 21 11093
Reserved 22 11094
Reserved 23 11095
Bit Reference - 259

Parker Hannifin
COM1 Stream TALKTO/DTALK Bit

Reserved 28 11100
Reserved 29 11101
Reserved 30 11102
Reserved 31 11103

Parker Hannifin

Write

sets this flag.
cleared.
address.


Bit Reference - 261

Parker Hannifin
Bit11104 - Bit11135 Stream Flags for Drive Talk—

COM2
Flag Parameter 4443

COM2 Stream Drive Talk Control Bit
Reserved 1 11105
Reserved 2 11106
Reserved 3 11107
Reserved 4 11108
Reserved 5 11109
Reserved 6 11110
Reserved 7 11111
COM2 Stream Drive Talk Status Bit

Reserved 8 11112
Reserved 9 11113
Reserved 10 11114
Reserved 11 11115
Reserved 12 11116
Reserved 13 11117
Reserved 14 11118
Reserved 15 11119
Reserved 21 11125
Reserved 22 11126
Reserved 23 11127

Parker Hannifin
COM2 Stream TALKTO/DTALK Bit

Reserved 24 11128
Reserved 25 11129
Reserved 26 11130
Reserved 27 11131

Bit Reference - 263

Parker Hannifin

Write

sets this flag.
cleared.
address.



Parker Hannifin
Bit11168 - Bit11199 DPCB/Stream 3 Flags for Drive

Talk
Flag Parameter 4445

DUALPORT Stream Drive Talk Bit
Control Flags Index Bit Number
Reserved 1 11169
Reserved 2 11170
Reserved 3 11171
Reserved 4 11172
Reserved 5 11173
Reserved 6 11174
Reserved 7 11175
DUALPORT Stream Drive Talk Bit

Reserved 8 11176
Reserved 9 11177
Reserved 10 11178
Reserved 11 11179
Reserved 17 11185
Reserved 18 11186
Reserved 19 11187
Reserved 20 11188
Reserved 21 11189
Reserved 22 11190
Reserved 23 11191
Bit Reference - 265

Parker Hannifin
DUALPORT Stream Bit

TALKTO/DTALK Status Flags Index Bit Number
Reserved 28 11196
Reserved 29 11197
Reserved 30 11198
Reserved 31 11199

Parker Hannifin

Write

sets this flag.
cleared.
address.


Bit Reference - 267

Parker Hannifin
Bit11200 - Bit11231 Stream 4 Flags for Drive Talk

Flag Parameter 4446

Stream 4 Stream Drive Talk Control Bit
Reserved 1 11201
Reserved 2 11202
Reserved 3 11203
Reserved 4 11204
Reserved 5 11205
Reserved 6 11206
Reserved 7 11207
Stream 4 Stream Drive Talk Status Bit

Reserved 8 11208
Reserved 9 11209
Reserved 10 11210
Reserved 11 11211
Reserved 17 11217
Reserved 18 11218
Reserved 19 11219
Reserved 20 11220
Reserved 21 11221
Reserved 22 11222
Reserved 23 11223

Parker Hannifin
Stream 4 Stream TALKTO/DTALK Bit

Reserved 28 11228
Reserved 29 11229
Reserved 30 11230
Reserved 31 11231
Bit Reference - 269

Parker Hannifin

Write

sets this flag.
cleared.
address.



Parker Hannifin

Flag Parameter 4447

Reserved 1 11233
Reserved 2 11234
Reserved 3 11235
Reserved 4 11236
Reserved 5 11237
Reserved 6 11238
Reserved 7 11239

Reserved 8 11240
Reserved 9 11241
Reserved 10 11242
Reserved 11 11243
Reserved 17 11249
Reserved 18 11250
Reserved 19 11251
Reserved 20 11252
Reserved 21 11253
Reserved 22 11254
Reserved 23 11255
Bit Reference - 271

Parker Hannifin

Reserved 28 11260
Reserved 29 11261
Reserved 30 11262
Reserved 31 11263

Parker Hannifin

Write

sets this flag.
cleared.
address.


Bit Reference - 273

Parker Hannifin
Bit11264 - Bit11279 CANopen Control Flags

ACR90x0 only
Flag Parameter 4448

Bit
Control Flags Index Bit Number
Discover Network Config 0 11264
Start Network 1 11265
Reset Network 2 11266

Reserved 3 11267
Bit
CANopen Controller Installed 4 11268
Network Operational 5 11269
Network Start Failed 6 11270
Node Failure 7 11271
SW RX Overflow 8 11272
HW Rx Overflow 9 11273
Reserved 10 11274
Reserved 11 11275
Reserved 12 11276
Reserved 13 11277
Reserved 14 11278
Reserved 15 11279
Reserved 16 11280
Starting 17 11281
Start Failed 18 11282

Parker Hannifin

Write
Discover Network Config W When the bit is set, the controller attempts a
network discovery for the CANopen network. All
nodes in the CANopen network are then
configured for communications with the
controller (with CANopen option).
Start Network R/W Setting this self-clearing bit will start the
CANopen communications. User configuration
is verified and status is established. Action
complete when bit is clear.
Reset Network R/W Setting this self-clearing bit will reset the
CANopen network. Action complete when bit is
clear.
CANopen Controller R This flag is set to indicate that the CANopen
Installed hardware is installed on the ACR9000.
Network Operational R This flag is set to indicate that the CANopen

network is operation and running without errors.
Network Start Failed R This flag is set when a “Start Network”

command (bit 11265) has failed for any reason.
The network and parameters should be
inspected for proper wiring and configuration
before attempting to restart. Reason for failure
may be indicated by CANopen LED and P32779
Node Failure R This flag is set to indicate that a node has failed.
The network should be inspected for errors.
SW RX Overflow R This bit will be set when an overflow as occurred
on the software receive FIFO.
HW Rx Overflow R This bit will be set when an overflow has

occurred on the hardware receive FIFO.
Starting R Indicates that the Start Request has been
received and the Controller is in the process of
starting the CAN-Open network.
Start Failed R Indicates that the Start Request has failed.
Bit Reference - 275

Parker Hannifin
Bit11520 - Bit12031 Node 0 Digital Input Flags

Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80
Flag Parameter 4456 4457 4458 4459 4460 4461 4462 4463
Code-0x10; Index=0x2D
Bit
Index
Digital Input 0 11520 11552 11584 11616 11648 11680 11712 11744
Digital Input 1 11521 11553 11585 11617 11649 11681 11713 11745
Digital Input 2 11522 11554 11586 11618 11650 11682 11714 11746
Digital Input 3 11523 11555 11587 11619 11651 11683 11715 11747
Digital Input 4 11524 11556 11588 11620 11652 11684 11716 11748
Digital Input 5 11525 11557 11589 11621 11653 11685 11717 11749
Digital Input 6 11526 11558 11590 11622 11654 11686 11718 11750
Digital Input 7 11527 11559 11591 11623 11655 11687 11719 11751
Digital Input 8 11528 11560 11592 11624 11656 11688 11720 11752
Digital Input 9 11529 11561 11593 11625 11657 11689 11721 11753
Digital Input 10 11530 11562 11594 11626 11658 11690 11722 11754
Digital Input 11 11531 11563 11595 11627 11659 11691 11723 11755
Digital Input 12 11532 11564 11596 11628 11660 11692 11724 11756
Digital Input 13 11533 11565 11597 11629 11661 11693 11725 11757
Digital Input 14 11534 11566 11598 11630 11662 11694 11726 11758
Digital Input 15 11535 11567 11599 11631 11663 11695 11727 11759
Digital Input 16 11536 11568 11600 11632 11664 11696 11728 11760
Digital Input 17 11537 11569 11601 11633 11665 11697 11729 11761
Digital Input 18 11538 11570 11602 11634 11666 11698 11730 11762
Digital Input 19 11539 11571 11603 11635 11667 11699 11731 11763
Digital Input 20 11540 11572 11604 11636 11668 11700 11732 11764
Digital Input 21 11541 11573 11605 11637 11669 11701 11733 11765
Digital Input 22 11542 11574 11606 11638 11670 11702 11734 11766
Digital Input 23 11543 11575 11607 11639 11671 11703 11735 11767
Digital Input 24 11544 11576 11608 11640 11672 11704 11736 11768
Digital Input 25 11545 11577 11609 11641 11673 11705 11737 11769
Digital Input 26 11546 11578 11610 11642 11674 11706 11738 11770
Digital Input 27 11547 11579 11611 11643 11675 11707 11739 11771
Digital Input 28 11548 11580 11612 11644 11676 11708 11740 11772
Digital Input 29 11549 11581 11613 11645 11677 11709 11741 11773
Digital Input 30 11550 11582 11614 11646 11678 11710 11742 11774
Digital Input 31 11551 11583 11615 11647 11679 11711 11743 11775

Parker Hannifin
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4464 4465 4466 4467 4468 4469 4470 4471
Code=0x10; Index=0x2E
Bit
Index
Digital Input 0 11776 11808 11840 11872 11904 11936 11968 12000
Digital Input 1 11777 11809 11841 11873 11905 11937 11969 12001
Digital Input 2 11778 11810 11842 11874 11906 11938 11970 12002
Digital Input 3 11779 11811 11843 11875 11907 11939 11971 12003
Digital Input 4 11780 11812 11844 11876 11908 11940 11972 12004
Digital Input 5 11781 11813 11845 11877 11909 11941 11973 12005
Digital Input 6 11782 11814 11846 11878 11910 11942 11974 12006
Digital Input 7 11783 11815 11847 11879 11911 11943 11975 12007
Digital Input 8 11784 11816 11848 11880 11912 11944 11976 12008
Digital Input 9 11785 11817 11849 11881 11913 11945 11977 12009
Digital Input 10 11786 11818 11850 11882 11914 11946 11978 12010
Digital Input 11 11787 11819 11851 11883 11915 11947 11979 12011
Digital Input 12 11788 11820 11852 11884 11916 11948 11980 12012
Digital Input 13 11789 11821 11853 11885 11917 11949 11981 12013
Digital Input 14 11790 11822 11854 11886 11918 11950 11982 12014
Digital Input 15 11791 11823 11855 11887 11919 11951 11983 12015
Digital Input 16 11792 11824 11856 11888 11920 11952 11984 12016
Digital Input 17 11793 11825 11857 11889 11921 11953 11985 12017
Digital Input 18 11794 11826 11858 11890 11922 11954 11986 12018
Digital Input 19 11795 11827 11859 11891 11923 11955 11987 12019
Digital Input 20 11796 11828 11860 11892 11924 11956 11988 12020
Digital Input 21 11797 11829 11861 11893 11925 11957 11989 12021
Digital Input 22 11798 11830 11862 11894 11926 11958 11990 12022
Digital Input 23 11799 11831 11863 11895 11927 11959 11991 12023
Digital Input 24 11800 11832 11864 11896 11928 11960 11992 12024
Digital Input 25 11801 11833 11865 11897 11929 11961 11993 12025
Digital Input 26 11802 11834 11866 11898 11930 11962 11994 12026
Digital Input 27 11803 11835 11867 11899 11931 11963 11995 12027
Digital Input 28 11804 11836 11868 11900 11932 11964 11996 12028
Digital Input 29 11805 11837 11869 11901 11933 11965 11997 12029
Digital Input 30 11806 11838 11870 11902 11934 11966 11998 12030
Digital Input 31 11807 11839 11871 11903 11935 11967 11999 12031
Bit Reference - 277

Parker Hannifin
Bit12032 - Bit12543 Node 0 Digital Output Flags

Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80
Flag Parameter 4472 4473 4474 4475 4476 4477 4478 4479
Code-0x10; Index=0x2F
Bit
Index
Digital Output 0 12032 12064 12096 12128 12160 12192 12224 12256
Digital Output 1 12033 12065 12097 12129 12161 12193 12225 12257
Digital Output 2 12034 12066 12098 12130 12162 12194 12226 12258
Digital Output 3 12035 12067 12099 12131 12163 12195 12227 12259
Digital Output 4 12036 12068 12100 12132 12164 12196 12228 12260
Digital Output 5 12037 12069 12101 12133 12165 12197 12229 12261
Digital Output 6 12038 12070 12102 12134 12166 12198 12230 12262
Digital Output 7 12039 12071 12103 12135 12167 12199 12231 12263
Digital Output 8 12040 12072 12104 12136 12168 12200 12232 12264
Digital Output 9 12041 12073 12105 12137 12169 12201 12233 12265
Digital Output 10 12042 12074 12106 12138 12170 12202 12234 12266
Digital Output 11 12043 12075 12107 12139 12171 12203 12235 12267
Digital Output 12 12044 12076 12108 12140 12172 12204 12236 12268
Digital Output 13 12045 12077 12109 12141 12173 12205 12237 12269
Digital Output 14 12046 12078 12110 12142 12174 12206 12238 12270
Digital Output 15 12047 12079 12111 12143 12175 12207 12239 12271
Digital Output 16 12048 12080 12112 12144 12176 12208 12240 12272
Digital Output 17 12049 12081 12113 12145 12177 12209 12241 12273
Digital Output 18 12050 12082 12114 12146 12178 12210 12242 12274
Digital Output 19 12051 12083 12115 12147 12179 12211 12243 12275
Digital Output 20 12052 12084 12116 12148 12180 12212 12244 12276
Digital Output 21 12053 12085 12117 12149 12181 12213 12245 12277
Digital Output 22 12054 12086 12118 12150 12182 12214 12246 12278
Digital Output 23 12055 12087 12119 12151 12183 12215 12247 12279
Digital Output 24 12056 12088 12120 12152 12184 12216 12248 12280
Digital Output 25 12057 12089 12121 12153 12185 12217 12249 12281
Digital Output 26 12058 12090 12122 12154 12186 12218 12250 12282
Digital Output 27 12059 12091 12123 12155 12187 12219 12251 12283
Digital Output 28 12060 12092 12124 12156 12188 12220 12252 12284
Digital Output 29 12061 12093 12125 12157 12189 12221 12253 12285
Digital Output 30 12062 12094 12126 12158 12190 12222 12254 12286

Parker Hannifin
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4472 4473 4474 4475 4476 4477 4478 4479
Code-0x10; Index=0x2F
Bit
Index
Digital Output 31 12063 12095 12127 12159 12191 12223 12255 12287
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4480 4481 4482 4483 4484 4485 4486 4487
Bit
Index
Digital Output 0 12288 12320 12352 12384 12416 12448 12480 12512
Digital Output 1 12289 12321 12353 12385 12417 12449 12481 12513
Digital Output 2 12290 12322 12354 12386 12418 12450 12482 12514
Digital Output 3 12291 12323 12355 12387 12419 12451 12483 12515
Digital Output 4 12292 12324 12356 12388 12420 12452 12484 12516
Digital Output 5 12293 12325 12357 12389 12421 12453 12485 12517
Digital Output 6 12294 12326 12358 12390 12422 12454 12486 12518
Digital Output 7 12295 12327 12359 12391 12423 12455 12487 12519
Digital Output 8 12296 12328 12360 12392 12424 12456 12488 12520
Digital Output 9 12297 12329 12361 12393 12425 12457 12489 12521
Digital Output 10 12298 12330 12362 12394 12426 12458 12490 12522
Digital Output 11 12299 12331 12363 12395 12427 12459 12491 12523
Digital Output 12 12300 12332 12364 12396 12428 12460 12492 12524
Digital Output 13 12301 12333 12365 12397 12429 12461 12493 12525
Digital Output 14 12302 12334 12366 12398 12430 12462 12494 12526
Digital Output 15 12303 12335 12367 12399 12431 12463 12495 12527
Digital Output 16 12304 12336 12368 12400 12432 12464 12496 12528
Digital Output 17 12305 12337 12369 12401 12433 12465 12497 12529
Digital Output 18 12306 12338 12370 12402 12434 12466 12498 12530
Digital Output 19 12307 12339 12371 12403 12435 12467 12499 12531
Digital Output 20 12308 12340 12372 12404 12436 12468 12500 12532
Digital Output 21 12309 12341 12373 12405 12437 12469 12501 12533
Digital Output 22 12310 12342 12374 12406 12438 12470 12502 12534
Digital Output 23 12311 12343 12375 12407 12439 12471 12503 12535
Digital Output 24 12312 12344 12376 12408 12440 12472 12504 12536
Digital Output 25 12313 12345 12377 12409 12441 12473 12505 12537
Digital Output 26 12314 12346 12378 12410 12442 12474 12506 12538
Digital Output 27 12315 12347 12379 12411 12443 12475 12507 12539
Digital Output 28 12316 12348 12380 12412 12444 12476 12508 12540
Digital Output 29 12317 12349 12381 12413 12445 12477 12509 12541
Digital Output 30 12318 12350 12382 12414 12446 12478 12510 12542
Bit Reference - 279

Parker Hannifin
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4480 4481 4482 4483 4484 4485 4486 4487
Bit
Index
Digital Output 31 12319 12351 12383 12415 12447 12479 12511 12543

Parker Hannifin

Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80
Flag Parameter 4488 4489 4490 4491 4492 4493 4494 4495
Bit
Index
Digital Input 0 12544 12576 12608 12640 12672 12704 12736 12768
Digital Input 1 12545 12577 12609 12641 12673 12705 12737 12769
Digital Input 2 12546 12578 12610 12642 12674 12706 12738 12770
Digital Input 3 12547 12579 12611 12643 12675 12707 12739 12771
Digital Input 4 12548 12580 12612 12644 12676 12708 12740 12772
Digital Input 5 12549 12581 12613 12645 12677 12709 12741 12773
Digital Input 6 12550 12582 12614 12646 12678 12710 12742 12774
Digital Input 7 12551 12583 12615 12647 12679 12711 12743 12775
Digital Input 8 12552 12584 12616 12648 12680 12712 12744 12776
Digital Input 9 12553 12585 12617 12649 12681 12713 12745 12777
Digital Input 10 12554 12586 12618 12650 12682 12714 12746 12778
Digital Input 11 12555 12587 12619 12651 12683 12715 12747 12779
Digital Input 12 12556 12588 12620 12652 12684 12716 12748 12780
Digital Input 13 12557 12589 12621 12653 12685 12717 12749 12781
Digital Input 14 12558 12590 12622 12654 12686 12718 12750 12782
Digital Input 15 12559 12591 12623 12655 12687 12719 12751 12783
Digital Input 16 12560 12592 12624 12656 12688 12720 12752 12784
Digital Input 17 12561 12593 12625 12657 12689 12721 12753 12785
Digital Input 18 12562 12594 12626 12658 12690 12722 12754 12786
Digital Input 19 12563 12595 12627 12659 12691 12723 12755 12787
Digital Input 20 12564 12596 12628 12660 12692 12724 12756 12788
Digital Input 21 12565 12597 12629 12661 12693 12725 12757 12789
Digital Input 22 12566 12598 12630 12662 12694 12726 12758 12790
Digital Input 23 12567 12599 12631 12663 12695 12727 12759 12791
Digital Input 24 12568 12600 12632 12664 12696 12728 12760 12792
Digital Input 25 12569 12601 12633 12665 12697 12729 12761 12793
Digital Input 26 12570 12602 12634 12666 12698 12730 12762 12794
Digital Input 27 12571 12603 12635 12667 12699 12731 12763 12795
Digital Input 28 12572 12604 12636 12668 12700 12732 12764 12796
Digital Input 29 12573 12605 12637 12669 12701 12733 12765 12797
Digital Input 30 12574 12606 12638 12670 12702 12734 12766 12798
Bit Reference - 281

Parker Hannifin
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4488 4489 4490 4491 4492 4493 4494 4495
Bit
Index
Digital Input 31 12575 12607 12639 12671 12703 12735 12767 12799
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4496 4497 4498 4499 4500 4501 4502 4503
Bit
Index
Digital Input 0 12800 12832 12864 12896 12928 12960 12992 13024
Digital Input 1 12801 12833 12865 12897 12929 12961 12993 13025
Digital Input 2 12802 12834 12866 12898 12930 12962 12994 13026
Digital Input 3 12803 12835 12867 12899 12931 12963 12995 13027
Digital Input 4 12804 12836 12868 12900 12932 12964 12996 13028
Digital Input 5 12805 12837 12869 12901 12933 12965 12997 13029
Digital Input 6 12806 12838 12870 12902 12934 12966 12998 13030
Digital Input 7 12807 12839 12871 12903 12935 12967 12999 13031
Digital Input 8 12808 12840 12872 12904 12936 12968 13000 13032
Digital Input 9 12809 12841 12873 12905 12937 12969 13001 13033
Digital Input 10 12810 12842 12874 12906 12938 12970 13002 13034
Digital Input 11 12811 12843 12875 12907 12939 12971 13003 13035
Digital Input 12 12812 12844 12876 12908 12940 12972 13004 13036
Digital Input 13 12813 12845 12877 12909 12941 12973 13005 13037
Digital Input 14 12814 12846 12878 12910 12942 12974 13006 13038
Digital Input 15 12815 12847 12879 12911 12943 12975 13007 13039
Digital Input 16 12816 12848 12880 12912 12944 12976 13008 13040
Digital Input 17 12817 12849 12881 12913 12945 12977 13009 13041
Digital Input 18 12818 12850 12882 12914 12946 12978 13010 13042
Digital Input 19 12819 12851 12883 12915 12947 12979 13011 13043
Digital Input 20 12820 12852 12884 12916 12948 12980 13012 13044
Digital Input 21 12821 12853 12885 12917 12949 12981 13013 13045
Digital Input 22 12822 12854 12886 12918 12950 12982 13014 13046
Digital Input 23 12823 12855 12887 12919 12951 12983 13015 13047
Digital Input 24 12824 12856 12888 12920 12952 12984 13016 13048
Digital Input 25 12825 12857 12889 12921 12953 12985 13017 13049
Digital Input 26 12826 12858 12890 12922 12954 12986 13018 13050
Digital Input 27 12827 12859 12891 12923 12955 12987 13019 13051
Digital Input 28 12828 12860 12892 12924 12956 12988 13020 13052
Digital Input 29 12829 12861 12893 12925 12957 12989 13021 13053
Digital Input 30 12830 12862 12894 12926 12958 12990 13022 13054

Parker Hannifin
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4496 4497 4498 4499 4500 4501 4502 4503
Bit
Index
Digital Input 31 12831 12863 12895 12927 12959 12991 13023 13055
Bit Reference - 283

Parker Hannifin

Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80
Flag Parameter 4504 4505 4506 4507 4508 4509 4510 4511
Bit
Index
Digital Output 0 13056 13088 13120 13152 13184 13216 13248 13280
Digital Output 1 13057 13089 13121 13153 13185 13217 13249 13281
Digital Output 2 13058 13090 13122 13154 13186 13218 13250 13282
Digital Output 3 13059 13091 13123 13155 13187 13219 13251 13283
Digital Output 4 13060 13092 13124 13156 13188 13220 13252 13284
Digital Output 5 13061 13093 13125 13157 13189 13221 13253 13285
Digital Output 6 13062 13094 13126 13158 13190 13222 13254 13286
Digital Output 7 13063 13095 13127 13159 13191 13223 13255 13287
Digital Output 8 13064 13096 13128 13160 13192 13224 13256 13288
Digital Output 9 13065 13097 13129 13161 13193 13225 13257 13289
Digital Output 10 13066 13098 13130 13162 13194 13226 13258 13290
Digital Output 11 13067 13099 13131 13163 13195 13227 13259 13291
Digital Output 12 13068 13100 13132 13164 13196 13228 13260 13292
Digital Output 13 13069 13101 13133 13165 13197 13229 13261 13293
Digital Output 14 13070 13102 13134 13166 13198 13230 13262 13294
Digital Output 15 13071 13103 13135 13167 13199 13231 13263 13295
Digital Output 16 13072 13104 13136 13168 13200 13232 13264 13296
Digital Output 17 13073 13105 13137 13169 13201 13233 13265 13297
Digital Output 18 13074 13106 13138 13170 13202 13234 13266 13298
Digital Output 19 13075 13107 13139 13171 13203 13235 13267 13299
Digital Output 20 13076 13108 13140 13172 13204 13236 13268 13300
Digital Output 21 13077 13109 13141 13173 13205 13237 13269 13301
Digital Output 22 13078 13110 13142 13174 13206 13238 13270 13302
Digital Output 23 13079 13111 13143 13175 13207 13239 13271 13303
Digital Output 24 13080 13112 13144 13176 13208 13240 13272 13304
Digital Output 25 13081 13113 13145 13177 13209 13241 13273 13305
Digital Output 26 13082 13114 13146 13178 13210 13242 13274 13306
Digital Output 27 13083 13115 13147 13179 13211 13243 13275 13307
Digital Output 28 13084 13116 13148 13180 13212 13244 13276 13308
Digital Output 29 13085 13117 13149 13181 13213 13245 13277 13309
Digital Output 30 13086 13118 13150 13182 13214 13246 13278 13310

Parker Hannifin
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4504 4505 4506 4507 4508 4509 4510 4511
Bit
Index
Digital Output 31 13087 13119 13151 13183 13215 13247 13279 13311
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4512 4513 4514 4515 4516 4517 4518 4519
Bit
Index
Digital Output 0 13312 13344 13376 13408 13440 13472 13504 13536
Digital Output 1 13313 13345 13377 13409 13441 13473 13505 13537
Digital Output 2 13314 13346 13378 13410 13442 13474 13506 13538
Digital Output 3 13315 13347 13379 13411 13443 13475 13507 13539
Digital Output 4 13316 13348 13380 13412 13444 13476 13508 13540
Digital Output 5 13317 13349 13381 13413 13445 13477 13509 13541
Digital Output 6 13318 13350 13382 13414 13446 13478 13510 13542
Digital Output 7 13319 13351 13383 13415 13447 13479 13511 13543
Digital Output 8 13320 13352 13384 13416 13448 13480 13512 13544
Digital Output 9 13321 13353 13385 13417 13449 13481 13513 13545
Digital Output 10 13322 13354 13386 13418 13450 13482 13514 13546
Digital Output 11 13323 13355 13387 13419 13451 13483 13515 13547
Digital Output 12 13324 13356 13388 13420 13452 13484 13516 13548
Digital Output 13 13325 13357 13389 13421 13453 13485 13517 13549
Digital Output 14 13326 13358 13390 13422 13454 13486 13518 13550
Digital Output 15 13327 13359 13391 13423 13455 13487 13519 13551
Digital Output 16 13328 13360 13392 13424 13456 13488 13520 13552
Digital Output 17 13329 13361 13393 13425 13457 13489 13521 13553
Digital Output 18 13330 13362 13394 13426 13458 13490 13522 13554
Digital Output 19 13331 13363 13395 13427 13459 13491 13523 13555
Digital Output 20 13332 13364 13396 13428 13460 13492 13524 13556
Digital Output 21 13333 13365 13397 13429 13461 13493 13525 13557
Digital Output 22 13334 13366 13398 13430 13462 13494 13526 13558
Digital Output 23 13335 13367 13399 13431 13463 13495 13527 13559
Digital Output 24 13336 13368 13400 13432 13464 13496 13528 13560
Digital Output 25 13337 13369 13401 13433 13465 13497 13529 13561
Digital Output 26 13338 13370 13402 13434 13466 13498 13530 13562
Digital Output 27 13339 13371 13403 13435 13467 13499 13531 13563
Digital Output 28 13340 13372 13404 13436 13468 13500 13532 13564
Digital Output 29 13341 13373 13405 13437 13469 13501 13533 13565
Digital Output 30 13342 13374 13406 13438 13470 13502 13534 13566
Bit Reference - 285

Parker Hannifin
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4512 4513 4514 4515 4516 4517 4518 4519
Bit
Index
Digital Output 31 13343 13375 13407 13439 13471 13503 13535 13567

Parker Hannifin

Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80
Flag Parameter 4520 4521 4522 4523 4524 4525 4526 4527
Bit
Index
Digital Input 0 13568 13600 13632 13664 13696 13728 13760 13792
Digital Input 1 13569 13601 13633 13665 13697 13729 13761 13793
Digital Input 2 13570 13602 13634 13666 13698 13730 13762 13794
Digital Input 3 13571 13603 13635 13667 13699 13731 13763 13795
Digital Input 4 13572 13604 13636 13668 13700 13732 13764 13796
Digital Input 5 13573 13605 13637 13669 13701 13733 13765 13797
Digital Input 6 13574 13606 13638 13670 13702 13734 13766 13798
Digital Input 7 13575 13607 13639 13671 13703 13735 13767 13799
Digital Input 8 13576 13608 13640 13672 13704 13736 13768 13800
Digital Input 9 13577 13609 13641 13673 13705 13737 13769 13801
Digital Input 10 13578 13610 13642 13674 13706 13738 13770 13802
Digital Input 11 13579 13611 13643 13675 13707 13739 13771 13803
Digital Input 12 13580 13612 13644 13676 13708 13740 13772 13804
Digital Input 13 13581 13613 13645 13677 13709 13741 13773 13805
Digital Input 14 13582 13614 13646 13678 13710 13742 13774 13806
Digital Input 15 13583 13615 13647 13679 13711 13743 13775 13807
Digital Input 16 13584 13616 13648 13680 13712 13744 13776 13808
Digital Input 17 13585 13617 13649 13681 13713 13745 13777 13809
Digital Input 18 13586 13618 13650 13682 13714 13746 13778 13810
Digital Input 19 13587 13619 13651 13683 13715 13747 13779 13811
Digital Input 20 13588 13620 13652 13684 13716 13748 13780 13812
Digital Input 21 13589 13621 13653 13685 13717 13749 13781 13813
Digital Input 22 13590 13622 13654 13686 13718 13750 13782 13814
Digital Input 23 13591 13623 13655 13687 13719 13751 13783 13815
Digital Input 24 13592 13624 13656 13688 13720 13752 13784 13816
Digital Input 25 13593 13625 13657 13689 13721 13753 13785 13817
Digital Input 26 13594 13626 13658 13690 13722 13754 13786 13818
Digital Input 27 13595 13627 13659 13691 13723 13755 13787 13819
Digital Input 28 13596 13628 13660 13692 13724 13756 13788 13820
Digital Input 29 13597 13629 13661 13693 13725 13757 13789 13821
Digital Input 30 13598 13630 13662 13694 13726 13758 13790 13822
Bit Reference - 287

Parker Hannifin
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4520 4521 4522 4523 4524 4525 4526 4527
Bit
Index
Digital Input 31 13599 13631 13663 13695 13727 13759 13791 13823
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4528 4529 4530 4531 4532 4533 4534 4535
Bit
Index
Digital Input 0 13824 13856 13888 13920 13952 13984 14016 14048
Digital Input 1 13825 13857 13889 13921 13953 13985 14017 14049
Digital Input 2 13826 13858 13890 13922 13954 13986 14018 14050
Digital Input 3 13827 13859 13891 13923 13955 13987 14019 14051
Digital Input 4 13828 13860 13892 13924 13956 13988 14020 14052
Digital Input 5 13829 13861 13893 13925 13957 13989 14021 14053
Digital Input 6 13830 13862 13894 13926 13958 13990 14022 14054
Digital Input 7 13831 13863 13895 13927 13959 13991 14023 14055
Digital Input 8 13832 13864 13896 13928 13960 13992 14024 14056
Digital Input 9 13833 13865 13897 13929 13961 13993 14025 14057
Digital Input 10 13834 13866 13898 13930 13962 13994 14026 14058
Digital Input 11 13835 13867 13899 13931 13963 13995 14027 14059
Digital Input 12 13836 13868 13900 13932 13964 13996 14028 14060
Digital Input 13 13837 13869 13901 13933 13965 13997 14029 14061
Digital Input 14 13838 13870 13902 13934 13966 13998 14030 14062
Digital Input 15 13839 13871 13903 13935 13967 13999 14031 14063
Digital Input 16 13840 13872 13904 13936 13968 14000 14032 14064
Digital Input 17 13841 13873 13905 13937 13969 14001 14033 14065
Digital Input 18 13842 13874 13906 13938 13970 14002 14034 14066
Digital Input 19 13843 13875 13907 13939 13971 14003 14035 14067
Digital Input 20 13844 13876 13908 13940 13972 14004 14036 14068
Digital Input 21 13845 13877 13909 13941 13973 14005 14037 14069
Digital Input 22 13846 13878 13910 13942 13974 14006 14038 14070
Digital Input 23 13847 13879 13911 13943 13975 14007 14039 14071
Digital Input 24 13848 13880 13912 13944 13976 14008 14040 14072
Digital Input 25 13849 13881 13913 13945 13977 14009 14041 14073
Digital Input 26 13850 13882 13914 13946 13978 14010 14042 14074
Digital Input 27 13851 13883 13915 13947 13979 14011 14043 14075
Digital Input 28 13852 13884 13916 13948 13980 14012 14044 14076
Digital Input 29 13853 13885 13917 13949 13981 14013 14045 14077
Digital Input 30 13854 13886 13918 13950 13982 14014 14046 14078

Parker Hannifin
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4528 4529 4530 4531 4532 4533 4534 4535
Bit
Index
Digital Input 31 13855 13887 13919 13951 13983 14015 14047 14079
Bit Reference - 289

Parker Hannifin

Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80
Flag Parameter 4536 4537 4538 4539 4540 4541 4542 4543
Bit
Index
Digital Output 0 14080 14112 14144 14176 14208 14240 14272 14304
Digital Output 1 14081 14113 14145 14177 14209 14241 14273 14305
Digital Output 2 14082 14114 14146 14178 14210 14242 14274 14306
Digital Output 3 14083 14115 14147 14179 14211 14243 14275 14307
Digital Output 4 14084 14116 14148 14180 14212 14244 14276 14308
Digital Output 5 14085 14117 14149 14181 14213 14245 14277 14309
Digital Output 6 14086 14118 14150 14182 14214 14246 14278 14310
Digital Output 7 14087 14119 14151 14183 14215 14247 14279 14311
Digital Output 8 14088 14120 14152 14184 14216 14248 14280 14312
Digital Output 9 14089 14121 14153 14185 14217 14249 14281 14313
Digital Output 10 14090 14122 14154 14186 14218 14250 14282 14314
Digital Output 11 14091 14123 14155 14187 14219 14251 14283 14315
Digital Output 12 14092 14124 14156 14188 14220 14252 14284 14316
Digital Output 13 14093 14125 14157 14189 14221 14253 14285 14317
Digital Output 14 14094 14126 14158 14190 14222 14254 14286 14318
Digital Output 15 14095 14127 14159 14191 14223 14255 14287 14319
Digital Output 16 14096 14128 14160 14192 14224 14256 14288 14320
Digital Output 17 14097 14129 14161 14193 14225 14257 14289 14321
Digital Output 18 14098 14130 14162 14194 14226 14258 14290 14322
Digital Output 19 14099 14131 14163 14195 14227 14259 14291 14323
Digital Output 20 14100 14132 14164 14196 14228 14260 14292 14324
Digital Output 21 14101 14133 14165 14197 14229 14261 14293 14325
Digital Output 22 14102 14134 14166 14198 14230 14262 14294 14326
Digital Output 23 14103 14135 14167 14199 14231 14263 14295 14327
Digital Output 24 14104 14136 14168 14200 14232 14264 14296 14328
Digital Output 25 14105 14137 14169 14201 14233 14265 14297 14329
Digital Output 26 14106 14138 14170 14202 14234 14266 14298 14330
Digital Output 27 14107 14139 14171 14203 14235 14267 14299 14331
Digital Output 28 14108 14140 14172 14204 14236 14268 14300 14332
Digital Output 29 14109 14141 14173 14205 14237 14269 14301 14333
Digital Output 30 14110 14142 14174 14206 14238 14270 14302 14334

Parker Hannifin
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4536 4537 4538 4539 4540 4541 4542 4543
Bit
Index
Digital Output 31 14111 14143 14175 14207 14239 14271 14303 14335
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4544 4545 4546 4547 4548 4549 4550 4551
Bit
Index
Digital Output 0 14336 14368 14400 14432 14464 14496 14528 14560
Digital Output 1 14337 14369 14401 14433 14465 14497 14529 14561
Digital Output 2 14338 14370 14402 14434 14466 14498 14530 14562
Digital Output 3 14339 14371 14403 14435 14467 14499 14531 14563
Digital Output 4 14340 14372 14404 14436 14468 14500 14532 14564
Digital Output 5 14341 14373 14405 14437 14469 14501 14533 14565
Digital Output 6 14342 14374 14406 14438 14470 14502 14534 14566
Digital Output 7 14343 14375 14407 14439 14471 14503 14535 14567
Digital Output 8 14344 14376 14408 14440 14472 14504 14536 14568
Digital Output 9 14345 14377 14409 14441 14473 14505 14537 14569
Digital Output 10 14346 14378 14410 14442 14474 14506 14538 14570
Digital Output 11 14347 14379 14411 14443 14475 14507 14539 14571
Digital Output 12 14348 14380 14412 14444 14476 14508 14540 14572
Digital Output 13 14349 14381 14413 14445 14477 14509 14541 14573
Digital Output 14 14350 14382 14414 14446 14478 14510 14542 14574
Digital Output 15 14351 14383 14415 14447 14479 14511 14543 14575
Digital Output 16 14352 14384 14416 14448 14480 14512 14544 14576
Digital Output 17 14353 14385 14417 14449 14481 14513 14545 14577
Digital Output 18 14354 14386 14418 14450 14482 14514 14546 14578
Digital Output 19 14355 14387 14419 14451 14483 14515 14547 14579
Digital Output 20 14356 14388 14420 14452 14484 14516 14548 14580
Digital Output 21 14357 14389 14421 14453 14485 14517 14549 14581
Digital Output 22 14358 14390 14422 14454 14486 14518 14550 14582
Digital Output 23 14359 14391 14423 14455 14487 14519 14551 14583
Digital Output 24 14360 14392 14424 14456 14488 14520 14552 14584
Digital Output 25 14361 14393 14425 14457 14489 14521 14553 14585
Digital Output 26 14362 14394 14426 14458 14490 14522 14554 14586
Digital Output 27 14363 14395 14427 14459 14491 14523 14555 14587
Digital Output 28 14364 14396 14428 14460 14492 14524 14556 14588
Digital Output 29 14365 14397 14429 14461 14493 14525 14557 14589
Digital Output 30 14366 14398 14430 14462 14494 14526 14558 14590
Bit Reference - 291

Parker Hannifin
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4544 4545 4546 4547 4548 4549 4550 4551
Bit
Index
Digital Output 31 14367 14399 14431 14463 14495 14527 14559 14591

Parker Hannifin

Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80
Flag Parameter 4552 4553 4554 4555 4556 4557 4558 4559
Bit
Index
Digital Input 0 14592 14624 14656 14688 14720 14752 14784 14816
Digital Input 1 14593 14625 14657 14689 14721 14753 14785 14817
Digital Input 2 14594 14626 14658 14690 14722 14754 14786 14818
Digital Input 3 14595 14627 14659 14691 14723 14755 14787 14819
Digital Input 4 14596 14628 14660 14692 14724 14756 14788 14820
Digital Input 5 14597 14629 14661 14693 14725 14757 14789 14821
Digital Input 6 14598 14630 14662 14694 14726 14758 14790 14822
Digital Input 7 14599 14631 14663 14695 14727 14759 14791 14823
Digital Input 8 14600 14632 14664 14696 14728 14760 14792 14824
Digital Input 9 14601 14633 14665 14697 14729 14761 14793 14825
Digital Input 10 14602 14634 14666 14698 14730 14762 14794 14826
Digital Input 11 14603 14635 14667 14699 14731 14763 14795 14827
Digital Input 12 14604 14636 14668 14700 14732 14764 14796 14828
Digital Input 13 14605 14637 14669 14701 14733 14765 14797 14829
Digital Input 14 14606 14638 14670 14702 14734 14766 14798 14830
Digital Input 15 14607 14639 14671 14703 14735 14767 14799 14831
Digital Input 16 14608 14640 14672 14704 14736 14768 14800 14832
Digital Input 17 14609 14641 14673 14705 14737 14769 14801 14833
Digital Input 18 14610 14642 14674 14706 14738 14770 14802 14834
Digital Input 19 14611 14643 14675 14707 14739 14771 14803 14835
Digital Input 20 14612 14644 14676 14708 14740 14772 14804 14836
Digital Input 21 14613 14645 14677 14709 14741 14773 14805 14837
Digital Input 22 14614 14646 14678 14710 14742 14774 14806 14838
Digital Input 23 14615 14647 14679 14711 14743 14775 14807 14839
Digital Input 24 14616 14648 14680 14712 14744 14776 14808 14840
Digital Input 25 14617 14649 14681 14713 14745 14777 14809 14841
Digital Input 26 14618 14650 14682 14714 14746 14778 14810 14842
Digital Input 27 14619 14651 14683 14715 14747 14779 14811 14843
Digital Input 28 14620 14652 14684 14716 14748 14780 14812 14844
Digital Input 29 14621 14653 14685 14717 14749 14781 14813 14845
Digital Input 30 14622 14654 14686 14718 14750 14782 14814 14846
Bit Reference - 293

Parker Hannifin
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4552 4553 4554 4555 4556 4557 4558 4559
Bit
Index
Digital Input 31 14623 14655 14687 14719 14751 14783 14815 14847
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4560 4561 4562 4563 4564 4565 4566 4567
Bit
Index
Digital Input 0 14848 14880 14912 14944 14976 15008 15040 15072
Digital Input 1 14849 14881 14913 14945 14977 15009 15041 15073
Digital Input 2 14850 14882 14914 14946 14978 15010 15042 15074
Digital Input 3 14851 14883 14915 14947 14979 15011 15043 15075
Digital Input 4 14852 14884 14916 14948 14980 15012 15044 15076
Digital Input 5 14853 14885 14917 14949 14981 15013 15045 15077
Digital Input 6 14854 14886 14918 14950 14982 15014 15046 15078
Digital Input 7 14855 14887 14919 14951 14983 15015 15047 15079
Digital Input 8 14856 14888 14920 14952 14984 15016 15048 15080
Digital Input 9 14857 14889 14921 14953 14985 15017 15049 15081
Digital Input 10 14858 14890 14922 14954 14986 15018 15050 15082
Digital Input 11 14859 14891 14923 14955 14987 15019 15051 15083
Digital Input 12 14860 14892 14924 14956 14988 15020 15052 15084
Digital Input 13 14861 14893 14925 14957 14989 15021 15053 15085
Digital Input 14 14862 14894 14926 14958 14990 15022 15054 15086
Digital Input 15 14863 14895 14927 14959 14991 15023 15055 15087
Digital Input 16 14864 14896 14928 14960 14992 15024 15056 15088
Digital Input 17 14865 14897 14929 14961 14993 15025 15057 15089
Digital Input 18 14866 14898 14930 14962 14994 15026 15058 15090
Digital Input 19 14867 14899 14931 14963 14995 15027 15059 15091
Digital Input 20 14868 14900 14932 14964 14996 15028 15060 15092
Digital Input 21 14869 14901 14933 14965 14997 15029 15061 15093
Digital Input 22 14870 14902 14934 14966 14998 15030 15062 15094
Digital Input 23 14871 14903 14935 14967 14999 15031 15063 15095
Digital Input 24 14872 14904 14936 14968 15000 15032 15064 15096
Digital Input 25 14873 14905 14937 14969 15001 15033 15065 15097
Digital Input 26 14874 14906 14938 14970 15002 15034 15066 15098
Digital Input 27 14875 14907 14939 14971 15003 15035 15067 15099
Digital Input 28 14876 14908 14940 14972 15004 15036 15068 15100
Digital Input 29 14877 14909 14941 14973 15005 15037 15069 15101
Digital Input 30 14878 14910 14942 14974 15006 15038 15070 15102

Parker Hannifin
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4560 4561 4562 4563 4564 4565 4566 4567
Bit
Index
Digital Input 31 14879 14911 14943 14975 15007 15039 15071 15103
Bit Reference - 295

Parker Hannifin

Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80
Flag Parameter 4568 4569 4570 4571 4572 4573 4574 4575
Code-0x10; Index=0x3B
Bit
Index
Digital Output 0 15104 15136 15168 15200 15232 15264 15296 15328
Digital Output 1 15105 15137 15169 15201 15233 15265 15297 15329
Digital Output 2 15106 15138 15170 15202 15234 15266 15298 15330
Digital Output 3 15107 15139 15171 15203 15235 15267 15299 15331
Digital Output 4 15108 15140 15172 15204 15236 15268 15300 15332
Digital Output 5 15109 15141 15173 15205 15237 15269 15301 15333
Digital Output 6 15110 15142 15174 15206 15238 15270 15302 15334
Digital Output 7 15111 15143 15175 15207 15239 15271 15303 15335
Digital Output 8 15112 15144 15176 15208 15240 15272 15304 15336
Digital Output 9 15113 15145 15177 15209 15241 15273 15305 15337
Digital Output 10 15114 15146 15178 15210 15242 15274 15306 15338
Digital Output 11 15115 15147 15179 15211 15243 15275 15307 15339
Digital Output 12 15116 15148 15180 15212 15244 15276 15308 15340
Digital Output 13 15117 15149 15181 15213 15245 15277 15309 15341
Digital Output 14 15118 15150 15182 15214 15246 15278 15310 15342
Digital Output 15 15119 15151 15183 15215 15247 15279 15311 15343
Digital Output 16 15120 15152 15184 15216 15248 15280 15312 15344
Digital Output 17 15121 15153 15185 15217 15249 15281 15313 15345
Digital Output 18 15122 15154 15186 15218 15250 15282 15314 15346
Digital Output 19 15123 15155 15187 15219 15251 15283 15315 15347
Digital Output 20 15124 15156 15188 15220 15252 15284 15316 15348
Digital Output 21 15125 15157 15189 15221 15253 15285 15317 15349
Digital Output 22 15126 15158 15190 15222 15254 15286 15318 15350
Digital Output 23 15127 15159 15191 15223 15255 15287 15319 15351
Digital Output 24 15128 15160 15192 15224 15256 15288 15320 15352
Digital Output 25 15129 15161 15193 15225 15257 15289 15321 15353
Digital Output 26 15130 15162 15194 15226 15258 15290 15322 15354
Digital Output 27 15131 15163 15195 15227 15259 15291 15323 15355
Digital Output 28 15132 15164 15196 15228 15260 15292 15324 15356
Digital Output 29 15133 15165 15197 15229 15261 15293 15325 15357
Digital Output 30 15134 15166 15198 15230 15262 15294 15326 15358

Parker Hannifin
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4568 4569 4570 4571 4572 4573 4574 4575
Code-0x10; Index=0x3B
Bit
Index
Digital Output 31 15135 15167 15199 15231 15263 15295 15327 15359
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4576 4577 4578 4579 4580 4581 4582 4583
Bit
Index
Digital Output 0 15360 15392 15424 15456 15488 15520 15552 15584
Digital Output 1 15361 15393 15425 15457 15489 15521 15553 15585
Digital Output 2 15362 15394 15426 15458 15490 15522 15554 15586
Digital Output 3 15363 15395 15427 15459 15491 15523 15555 15587
Digital Output 4 15364 15396 15428 15460 15492 15524 15556 15588
Digital Output 5 15365 15397 15429 15461 15493 15525 15557 15589
Digital Output 6 15366 15398 15430 15462 15494 15526 15558 15590
Digital Output 7 15367 15399 15431 15463 15495 15527 15559 15591
Digital Output 8 15368 15400 15432 15464 15496 15528 15560 15592
Digital Output 9 15369 15401 15433 15465 15497 15529 15561 15593
Digital Output 10 15370 15402 15434 15466 15498 15530 15562 15594
Digital Output 11 15371 15403 15435 15467 15499 15531 15563 15595
Digital Output 12 15372 15404 15436 15468 15500 15532 15564 15596
Digital Output 13 15373 15405 15437 15469 15501 15533 15565 15597
Digital Output 14 15374 15406 15438 15470 15502 15534 15566 15598
Digital Output 15 15375 15407 15439 15471 15503 15535 15567 15599
Digital Output 16 15376 15408 15440 15472 15504 15536 15568 15600
Digital Output 17 15377 15409 15441 15473 15505 15537 15569 15601
Digital Output 18 15378 15410 15442 15474 15506 15538 15570 15602
Digital Output 19 15379 15411 15443 15475 15507 15539 15571 15603
Digital Output 20 15380 15412 15444 15476 15508 15540 15572 15604
Digital Output 21 15381 15413 15445 15477 15509 15541 15573 15605
Digital Output 22 15382 15414 15446 15478 15510 15542 15574 15606
Digital Output 23 15383 15415 15447 15479 15511 15543 15575 15607
Digital Output 24 15384 15416 15448 15480 15512 15544 15576 15608
Digital Output 25 15385 15417 15449 15481 15513 15545 15577 15609
Digital Output 26 15386 15418 15450 15482 15514 15546 15578 15610
Digital Output 27 15387 15419 15451 15483 15515 15547 15579 15611
Digital Output 28 15388 15420 15452 15484 15516 15548 15580 15612
Digital Output 29 15389 15421 15453 15485 15517 15549 15581 15613
Digital Output 30 15390 15422 15454 15486 15518 15550 15582 15614
Bit Reference - 297

Parker Hannifin
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4576 4577 4578 4579 4580 4581 4582 4583
Bit
Index
Digital Output 31 15391 15423 15455 15487 15519 15551 15583 15615

Parker Hannifin
Bit5632 - Bit5663 Miscellaneous Control Group 1

Flags
Version 1.18.04 & Up—ACR1200, ACR1500, ACR1505, ACR2000, ACR800,
ACR8010, and ARC8020
Version 1.18.10 & Up—ACR9000 only*
Flag Parameter 4272

Bit
Control Flag Index Bit Number
Enable Fast Flags Update Mode 0 5632
Reserved 1 5633
FBT 2 5634
Reserved 3 5635
Reserved 4 5636
Reserved 5 5637
Reserved 6 5638
Reserved 7 5639
Reserved 8 5640
Reserved 9 5641
Reserved 10 5642
Reserved 11 5643
Reserved 12 5644
Motion Enable Input (latched)* 13 5645
Motion Enable Input (unlatched)* 14 5646
Clear Motion Enable Input Latch* 15 5647
Reserved 16 5648
Reserved 17 5649
Reserved 18 5650
Force Line Numbers with Listing 19 5651

(LIST)
Reserved 20 5652
Reserved 21 5653
Reserved 22 5654
Reserved 23 5655
Bootflash Invalid/empty 24 5656

(FIRMWARE CHECKSUM)
Sysflash1 Invalid/empty 25 5657

(FIRMWARE CHECKSUM)
Bit Reference - 299

Parker Hannifin
Flag Parameter 4272

Bit
Control Flag Index Bit Number
Sysflash2 Invalid/empty 26 5658

(FIRMWARE CHECKSUM)
Userflash Invalid/empty 27 5659

(FIRMWARE CHECKSUM)
Firmware Backed Up 28 5660

(FIRMWARE CHECKSUM)
Reserved 29 5661
Reserved 30 5662
Reserved 31 5663
* ACR9000 only

Parker Hannifin
Control Flags
Write
Enable Fast R/W Setting this flag will enable the update of Fast Limit Flags
Flags Update (See Secondary Axis Flags).
Mode
FBT R Indicates if the FBT functionality is enabled. FBT ON sets this

flag and FBT OFF clears this flag.
Motion Enable R Flag is set when you de-assert the Enable input on the ACR
Input Latched controller.
Motion Enable R The flag reflects the current state of the Enable input on the
Input Unlatched ACR controller. It is set when the Enable input is de-asserted;
it is clear when the input is asserted.
Clear Motion R/W Flag clears the Motion Enable Input Latched bit. The flag is
Enable Input self-clearing
Latch
Bootflash R This flag is not valid until the FIRMWARE CHECKSUM
Invalid/empty command is issued and completed. This flag is cleared if
Bootflash code is valid. This flag is set if Bootflash is invalid
or empty.
Sysflash1 R This flag is not valid until the FIRMWARE CHECKSUM

Sysflash1 code is valid. This flag is set if Sysflash1 is invalid
or empty.
Sysflash2 R This flag is not valid until the FIRMWARE CHECKSUM

Sysflash2 code is valid. This flag is set if Sysflash2 is invalid
or empty.
Userflash R This flag is not valid until the FIRMWARE CHECKSUM
Userflash code is valid. This flag is set if Userflash is invalid
or empty.
Firmware R This flag is not valid until the FIRMWARE CHECKSUM

Backed Up command is issued and completed. This flag is cleared if
Sysflash1 code and Sysflash2 code is not identical. This flag
is set if Sysflash1 code and Sysflash2 code are identical.
Bit Reference - 301

Parker Hannifin
Bit5696 - Bit5727 Stream 4 Stream Flags
Flag Parameter 4274

Bit
Reserved 5 5701
Reserved 6 5702
Reserved 7 5703
Stream 4 Active 8 5704
Stream 4 Waiting 9 5705
Stream 4 Opened 10 5706
Stream 4 Disabled 11 5707
Stream 4 Echoing 12 5708
Stream 5 Re-dimensioned 13 5709
Reserved 14 5710
Reserved 15 5711
Stream 4 Open Request 16 5712
Stream 4 Escape Request 17 5713
Reserved 18 5714
Reserved 19 5715
Stream 4 Control Prefixing 20 5716
Stream 4 High Bit Stripping 21 5717
Reserved 22 5718
Reserved 23 5719
Reserved 24 5720
Reserved 25 5721
Reserved 26 5722
Reserved 27 5723
Reserved 28 5724
Reserved 29 5725
Reserved 30 5726
Reserved 31 5727

Parker Hannifin

Write
Enable character R/W Setting this flag enables characters to be echoed as they are
Echo received by the controller. Default = 1
Disable Error R/W Setting this flag disables error reporting on the stream.
Reporting Default = 0
Disable R/W Setting this flag disables the command Prompt. Default = 0
Command
Prompt
Stream R/W Setting this flag enables the Xon/Xoff flow control for this
XON/XOFF stream. Default = 0
Stream R/W Setting this flag will cause the Controller to send an ACK for
acknowledge binary packages coming in. Default = 0
binary write
Stream 4 Active R This flag indicates sending or receiving activity on the

stream.
Stream 4 Waiting R This flag indicates that the stream is waiting for a response
from a request.
Stream 4 R This flag indicates that the stream has been opened
Opened
Stream 4 R This flag indicates that the stream has been disabled.
Disabled
Stream 4 R This flag indicates that the echoing incoming characters

Echoing
Stream 4 Re- R This flag indicates that the stream has been re-dimensioned
dimensioned with the DIM command
Stream 4 Open R This flag indicates that the controller is processing a request
Request to open the stream
Stream 4 Escape R This flag indicates that the controller is processing a request
Request to escape the stream
Stream 4 Control R/W This flag dictates if Control Prefixing is used for binary
Prefixing communications for the stream. For more information, see
Binary Communication in the Programmer’s Guide.
Stream 4 High R/W This flag dictates if High-Bit Stripping will be used for this
Bit Stripping stream. For more information, see Binary Communication in
the Programmer’s Guide.
Bit Reference - 303

Parker Hannifin
Flag Parameter 4275

Bit
Reserved 5 5733
Reserved 6 5734
Reserved 7 5735
Reserved 14 5742
Reserved 15 5743
Reserved 18 5746
Reserved 19 5747
Reserved 22 5750
Reserved 23 5751
Reserved 24 5752
Reserved 25 5753
Reserved 26 5754
Reserved 27 5755
Reserved 28 5756
Reserved 29 5757
Reserved 30 5758
Reserved 31 5759

Parker Hannifin

Write
Command
Prompt
binary write

stream.
from a request.
Opened
Disabled

Echoing
Bit Reference - 305

Parker Hannifin
Flag Parameter 4276

Bit
Reserved 5 5765
Reserved 6 5766
Reserved 7 5767
Reserved 14 5774
Reserved 15 5775
Reserved 18 5778
Reserved 19 5779
Reserved 22 5782
Reserved 23 5783
Reserved 24 5784
Reserved 25 5785
Reserved 26 5786
Reserved 27 5787
Reserved 28 5788
Reserved 29 5789
Reserved 30 5790
Reserved 31 5791

Parker Hannifin

Write
Command
Prompt
binary write

stream.
from a request.
Opened
Disabled

Echoing
Bit Reference - 307

Parker Hannifin
Bit5792 - Bit5823 DPCB/Stream 3 Stream Flags

Version 1.18.06 & Up—ACR8020
Version 1.18.13 & Up—ACR9000
Flag Parameter 4277
Bit
Reserved 5 5797
Reserved 6 5798
Reserved 7 5799
DPCB/Stream 3 Active 8 5800
DPCB/Stream 3 Waiting 9 5801
DPCB/Stream 3 Opened 10 5802
DPCB/Stream 3 Disabled 11 5803
DPCB/Stream 3 Echoing 12 5804
DPCB/Stream 3 Re-dimensioned 13 5805
Reserved 14 5806
Reserved 15 5807
DPCB/Stream 3 Open Request 16 5808
DPCB/Stream 3 Escape Request 17 5809
Reserved 18 5810
Reserved 19 5811
DPCB/Stream 3 Control Prefixing 20 5812
DPCB/Stream 3 High Bit Stripping 21 5813
Reserved 22 5814
Reserved 23 5815
Reserved 24 5816
Reserved 25 5817
Reserved 26 5818
Reserved 27 5819
Reserved 28 5820
Reserved 29 5821
Reserved 30 5822

Parker Hannifin
Flag Parameter 4277

Bit
Reserved 31 5823

Write
Command
Prompt
binary write
DPCB/Stream 3 R This flag indicates sending or receiving activity on the

Active stream.
DPCB/Stream 3 R This flag indicates that the stream is waiting for a response
Waiting from a request.
DPCB/Stream 3 R This flag indicates that the stream has been opened
Opened
DPCB/Stream 3 R This flag indicates that the stream has been disabled.
Disabled
DPCB/Stream 3 R This flag indicates that the echoing incoming characters

Echoing
DPCB/Stream 3 R This flag indicates that the stream has been re-dimensioned
Re-dimensioned with the DIM command
DPCB/Stream 3 R This flag indicates that the controller is processing a request

Open Request to open the stream
DPCB/Stream 3 R This flag indicates that the controller is processing a request

Escape Request to escape the stream
DPCB/Stream 3 R/W This flag dictates if Control Prefixing is used for binary
Control Prefixing communications for the stream. For more information, see
DPCB/Stream 3 R/W This flag dictates if High-Bit Stripping will be used for this
High Bit stream. For more information, see Binary Communication in
Stripping the Programmer’s Guide.
Bit Reference - 309

Parker Hannifin
Bit5824 - Bit5855 FSTAT Flags

Flag Parameter 4278

Code=0x10; Index=0x16, Mask=0x40
Bit
FSTAT on 0 5824
FSTAT on request 1 5825
Reserved 2 5826
Reserved 3 5827
Reserved 4 5828
Reserved 5 5829
Reserved 6 5830
Reserved 7 5831
Reserved 8 5832
Reserved 9 5833
Reserved 10 5834
Reserved 11 5835
Reserved 12 5836
Reserved 13 5837
Reserved 14 5838
Reserved 15 5839
Reserved 16 5840
Reserved 17 5841
Reserved 18 5842
Reserved 19 5843
Reserved 20 5844
Reserved 21 5845
Reserved 22 5846
Reserved 23 5847
Reserved 24 5848
Reserved 25 5849
Reserved 26 5850
Reserved 27 5851
Reserved 28 5852
Reserved 29 5853
Reserved 30 5854
Reserved 31 5855

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FSTAT flags
0Field Description Read/ Description
Write
FSTAT On R/W Flag is set if the fast status is on; the flag is clear when fast
status is off. Do not manually set or clear the flag.
FSTAT On R/W Setting this Flag will update internal FSTAT parameters and
Request turn on FSTAT if FSTAT parameters are set up properly.
Processor acknowledgment clears the FSTAT ON Request
Flag.
Bit Reference - 311

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Flag Parameter 4440

Reserved 1 11009
Reserved 2 11010
Reserved 3 11011
Reserved 4 11012
Reserved 5 11013
Reserved 6 11014
Reserved 7 11015

Reserved 8 11016
Reserved 9 11017
Reserved 10 11018
Reserved 11 11019
Reserved 17 11025
Reserved 18 11026
Reserved 19 11027
Reserved 20 11028
Reserved 21 11029
Reserved 22 11030
Reserved 23 11031

Parker Hannifin

Reserved 28 11036
Reserved 29 11037
Reserved 30 11038
Reserved 31 11039
Bit Reference - 313

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Write
auto address process for all axes with a non-zero
Drive Talk Device Number.

Drive Talk becomes active after the OPEN DTALK
command is issued. Drive talk is deactivated with
the CLOSE command and any of the errors below.
not respond. The controller never clears only sets
this flag.
cleared.
reported address did not match the sent address.

Stream Response R Indicates this stream has a DTALK response

Pending pending. For internal implementation use only.


Parker Hannifin

Flag Parameter 4444

Reserved 1 11137
Reserved 2 11138
Reserved 3 11139
Reserved 4 11140
Reserved 5 11141
Reserved 6 11142
Reserved 7 11143

Reserved 8 11144
Reserved 9 11145
Reserved 10 11146
Reserved 11 11147
Reserved 17 11153
Reserved 18 11154
Reserved 19 11155
Reserved 20 11156
Reserved 21 11157
Reserved 22 11158
Reserved 23 11159

Bit Reference - 315

Parker Hannifin

Reserved 28 11164
Reserved 29 11165
Reserved 30 11166
Reserved 31 11167

Write
this flag.
cleared.



Parker Hannifin

Flag Parameter 4445

Reserved 1 11169
Reserved 2 11170
Reserved 3 11171
Reserved 4 11172
Reserved 5 11173
Reserved 6 11174
Reserved 7 11175

Reserved 8 11176
Reserved 9 11177
Reserved 10 11178
Reserved 11 11179
Reserved 17 11185
Reserved 18 11186
Reserved 19 11187
Reserved 20 11188
Reserved 21 11189
Reserved 22 11190
Reserved 23 11191

Bit Reference - 317

Parker Hannifin

Reserved 28 11196
Reserved 29 11197
Reserved 30 11198
Reserved 31 11199

Write
this flag.
cleared.



Parker Hannifin

Flag Parameter 4446

Reserved 1 11201
Reserved 2 11202
Reserved 3 11203
Reserved 4 11204
Reserved 5 11205
Reserved 6 11206
Reserved 7 11207

Reserved 8 11208
Reserved 9 11209
Reserved 10 11210
Reserved 11 11211
Reserved 17 11217
Reserved 18 11218
Reserved 19 11219
Reserved 20 11220
Reserved 21 11221
Reserved 22 11222
Reserved 23 11223

Bit Reference - 319

Parker Hannifin

Reserved 28 11228
Reserved 29 11229
Reserved 30 11230
Reserved 31 11231

Write
this flag.
cleared.



Parker Hannifin

Flag Parameter 4447

Reserved 1 11233
Reserved 2 11234
Reserved 3 11235
Reserved 4 11236
Reserved 5 11237
Reserved 6 11238
Reserved 7 11239

Reserved 8 11240
Reserved 9 11241
Reserved 10 11242
Reserved 11 11243
Reserved 17 11249
Reserved 18 11250
Reserved 19 11251
Reserved 20 11252
Reserved 21 11253
Reserved 22 11254
Reserved 23 11255

Bit Reference - 321

Parker Hannifin

Reserved 28 11260
Reserved 29 11261
Reserved 30 11262
Reserved 31 11263

Write
this flag.
cleared.



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Bit16128 - Bit16383 Quinary Axis Flags (Axes 0-7)

Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4600 4601 4602 4603 4604 4605 4606 4607
Bit AXIS Number
Positive EOT Limit Current 0 16128 16160 16192 16224 16256 16288 16320 16352
State
Negative EOT Limit 1 16129 16161 16193 16225 16257 16289 16321 16353
Current State
Home Limit Current State 2 16130 16162 16194 16226 16258 16290 16322 16354
Reserved 3 16131 16163 16195 16227 16259 16291 16323 16355
Positive EOT Limit 4 16132 16164 16196 16228 16260 16292 16324 16356
Encountered
Encountered
Found Home 6 16134 16166 16198 16230 16262 16294 16326 16358
Failed to find Home 7 16135 16167 16199 16231 16263 16295 16327 16359
Positive Soft Limit Current 8 16136 16168 16200 16232 16264 16296 16328 16360
State
Negative Soft Limit Current 9 16137 16169 16201 16233 16265 16297 16329 16361
State
Reserved 10 16138 16170 16202 16234 16266 16298 16330 16362
Reserved 11 16139 16171 16203 16235 16267 16299 16331 16363
Positive Soft Limit 12 16140 16172 16204 16236 16268 16300 16332 16364
Encountered
Negative Soft Limit 13 16141 16173 16205 16237 16269 16301 16333 16365
Encountered
LOCKFollower 14 16142 16174 16206 16238 16270 16302 16334 16366

LOCKLeader 15 16143 16175 16207 16239 16271 16303 16335 16367
Bit Reference - 323

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Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4600 4601 4602 4603 4604 4605 4606 4607
Bit AXIS Number
Positive EOT Limit Level 16 16144 16176 16208 16240 16272 16304 16336 16368
Invert
Negative EOT Limit Level 17 16145 16177 16209 16241 16273 16305 16337 16369
Invert
Home Limit Level Invert 18 16146 16178 16210 16242 16274 16306 16338 16370
Jog Move Interrupt 19 16147 16179 16211 16243 16275 16307 16339 16371
Positive EOT Limit Enable 20 16148 16180 16212 16244 16276 16308 16340 16372
(HLIM)
Enable(HLIM)
Positive Soft Limit Enable 22 16150 16182 16214 16246 16278 16310 16342 16374
(SLIM)
Negative Soft Limit Enable 23 16151 16183 16215 16247 16279 16311 16343 16375
(SLIM)
Home Backup Enable 24 16152 16184 16216 16248 16280 16312 16344 16376
Home Negative Edge 25 16153 16185 16217 16249 16281 16313 16345 16377
Select
Home Negative Final 26 16154 16186 16218 16250 16282 16314 16346 16378
Direction
Maintain LOCK Setpoint 27 16155 16187 16219 16251 16283 16315 16347 16379
Reserved 28 16156 16188 16220 16252 16284 16316 16348 16380
Reserved 29 16157 16189 16221 16253 16285 16317 16349 16381
Reserved 30 16158 16190 16222 16254 16286 16318 16350 16382

Reserved 31 16159 16191 16223 16255 16287 16319 16351 16383

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Write
Positive EOT R This flag indicates the status of the Positive EOT Limit. When
Limit Current this flag is CLR, the Positive EOT is not detected. When this
State flag is SET, the Positive EOT has been detected.
Negative EOT R This flag indicates the status of the Negative EOT Limit.
Limit Current When this flag is CLR, the Negative EOT is not detected.
State When this flag is SET, the Negative EOT has been detected.
Home Limit R This flag indicates the status of the Home Limit. When this
Current State flag is CLR, the Home Limit is not detected. When this flag is
SET, the Home Limit has been detected.
Positive EOT R This flag indicates that the Positive EOT Limit was
Limit encountered during a move. The Flag will be cleared when
Encountered the axis is moved in the Negative direction, or the axis is
enabled.
Negative EOT R This flag indicates that the Negative EOT Limit was
Encountered the axis is moved in the Positive direction, or the axis is
enabled.
Found Home R This flag indicates that the JOG HOME was successful.
The flag clears when the next move on that axis begins or
that of any other axis attached to the same master.
Failed to Find R This flag indicates that the JOG HOME was unsuccessful.
Home Both the Positive and Negative EOT was encountered before
the Home Limit was encountered.
Positive Soft R This flag indicates the status of the Positive Soft Limit. When
Limit Current this flag is CLR, the Positive Soft Limit is not detected. When
State this flag is SET, the Positive Soft Limit has been detected.
Negative Soft R This flag indicates the status of the Negative Soft Limit. When
Limit Current this flag is CLR, the Negative Soft Limit is not detected. When
State this flag is SET, the Negative Soft Limit has been detected.
Positive Soft R This flag indicates that the Positive Soft Limit was
enabled.
Negative Soft R This flag indicates that the Negative Soft Limit was
enabled.
LOCKFollower R When the LOCK command is issued, this status flag is set for
the follower axis.
LOCKLeader R When the LOCK command is issued, this status flag is set for
the leading axis.
Bit Reference - 325

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Write
Positive EOT R/W Used to Invert the active level of the Positive EOT Limit Input.
Limit level invert The Flag being set indicates that the Positive EOT Limit is
inverted so that current through the Opto Input means the
Limit is not detected and the case where no current is flowing
through the Opto Input, the Positive EOT is detected.
Negative EOT R/W Used to Invert the active level of the Negative EOT Limit
Limit level invert Input. The Flag being set indicates that the Negative EOT
Limit is inverted so that current through the Opto Input
means the Limit is not detected and the case where no
current is flowing through the Opto Input, the Negative EOT
is detected.
Home Limit level R/W Used to Invert the active level of the Home Limit Input. The
invert Flag being set indicates that the Home Limit is inverted so
that current through the Opto Input means the Limit is not
detected and the case where no current is flowing through
the Opto Input, the Home is detected.
Jog Move R/W Determines behavior of the Jog Profiler when a JOG move is
Interrupt in progress and another JOG INC or JOG ABS move is
commanded. If the flag is cleared, the current JOG move will
decelerate to a stop using JOG DEC before starting the next
JOG move. When the flag is set, the next JOG move will
continue at the current JOG velocity using the new command
JOG position.
Positive EOT R/W Flag set used to enable the Positive EOT Limit functionality.
limit enable
Negative EOT R/W Flag set used to enable the Negative EOT Limit functionality.
limit enable
Positive Soft R/W Flag set used to enable the Positive Soft Limit functionality.
limit enable
Negative Soft R/W Flag set used to enable the Negative Soft Limit functionality.
limit enable
Home Backup R/W Flag set used to enable Backup functionality for the JOG
Enabled HOME moves.
Home Negative R/W Flag set used to Select the Negative Edge of the Home Limit
Edge Select for the JOG HOME moves.
Home Negative R/W Flag set used to Select the Negative Final Direction for the
Final Direction JOG HOME moves.
Maintain LOCK R/W If this bit is set and an UNLOCK command is issued, then the
Setpoint setpoint will be maintained by the axes.

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Bit16384 - Bit16639 Quinary Axis Flags (Axes 8-15)

Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4608 4609 4610 4611 4612 4613 4614 4615
Bit AXIS Number
Positive EOT Limit Current 0 16384 16416 16448 16480 16512 16544 16576 16608
State
Current State
Home Limit Current State 2 16386 16418 16450 16482 16514 16546 16578 16610
Reserved 3 16387 16419 16451 16483 16515 16547 16579 16611
Positive EOT Limit 4 16388 16420 16452 16484 16516 16548 16580 16612
Encountered
Encountered
Found Home 6 16390 16422 16454 16486 16518 16550 16582 16614
Failed to Find Home 7 16391 16423 16455 16487 16519 16551 16583 16615
Positive Soft Limit Current 8 16392 16424 16456 16488 16520 16552 16584 16616
State
Negative Soft Limit Current 9 16393 16425 16457 16489 16521 16553 16585 16617
State
Reserved 10 16394 16426 16458 16490 16522 16554 16586 16618
Reserved 11 16395 16427 16459 16491 16523 16555 16587 16619
Positive Soft Limit 12 16396 16428 16460 16492 16524 16556 16588 16620
Encountered
Negative Soft Limit 13 16397 16429 16461 16493 16525 16557 16589 16621
Encountered
LOCKFollower 14 16398 16430 16462 16494 16526 16558 16590 16622

LOCKLeader 15 16399 16431 16463 16495 16527 16559 16591 16623
Bit Reference - 327

Parker Hannifin
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4608 4609 4610 4611 4612 4613 4614 4615
Bit AXIS Number
Positive EOT Limit Level 16 16400 16432 16464 16496 16528 16560 16592 16624
Invert
Negative EOT Limit Level 17 16401 16433 16465 16497 16529 16561 16593 16625
Invert
Home Limit Level Invert 18 16402 16434 16466 16498 16530 16562 16594 16626
Jog Move Interrupt 19 16403 16435 16467 16499 16531 16563 16595 16627
Positive EOT Limit Enable 20 16404 16436 16468 16500 16532 16564 16596 16628
(HLIM)
Enable(HLIM)
Positive Soft Limit Enable 22 16406 16438 16470 16502 16534 16566 16598 16630
(SLIM)
Negative Soft Limit Enable 23 16407 16439 16471 16503 16535 16567 16599 16631
(SLIM)
Home Backup Enable 24 16408 16440 16472 16504 16536 16568 16600 16632
Home Negative Edge 25 16409 16441 16473 16505 16537 16569 16601 16633
Select
Home Negative Final 26 16410 16442 16474 16506 16538 16570 16602 16634
Direction
Maintain LOCK Setpoint 27 16411 16443 16475 16507 16539 16571 16603 16635
Reserved 28 16412 16444 16476 16508 16540 16572 16604 16636
Reserved 29 16413 16445 16477 16509 16541 16573 16605 16637
Reserved 30 16414 16446 16478 16510 16542 16574 16606 16638

Reserved 31 16415 16447 16479 16511 16543 16575 16607 16639

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Write
Positive EOT R This flag indicates the status of the Positive EOT Limit. When
Limit Current this flag is CLR, the Positive EOT is not detected. When this
State flag is SET, the Positive EOT has been detected.
Negative EOT R This flag indicates the status of the Negative EOT Limit.
Limit Current When this flag is CLR, the Negative EOT is not detected.
State When this flag is SET, the Negative EOT has been detected.
Home Limit R This flag indicates the status of the Home Limit. When this
Current State flag is CLR, the Home Limit is not detected. When this flag is
SET, the Home Limit has been detected.
Positive EOT R This flag indicates that the Positive EOT Limit was
enabled.
Negative EOT R This flag indicates that the Negative EOT Limit was
enabled.
Found Home R This flag indicates that the JOG HOME was successful.
Failed to Find R This flag indicates that the JOG HOME was unsuccessful.
Home Both the Positive and Negative EOT was encountered before
the Home Limit was encountered.
Positive Soft R This flag indicates the status of the Positive Soft Limit. When
Limit Current this flag is CLR, the Positive Soft Limit is not detected. When
State this flag is SET, the Positive Soft Limit has been detected.
Negative Soft R This flag indicates the status of the Negative Soft Limit. When
Limit Current this flag is CLR, the Negative Soft Limit is not detected. When
State this flag is SET, the Negative Soft Limit has been detected.
Positive Soft R This flag indicates that the Positive Soft Limit was
enabled.
Negative Soft R This flag indicates that the Negative Soft Limit was
enabled.
LOCKFollower R When the LOCK command is issued, this status flag is set for
the follower axis.
LOCKLeader R When the LOCK command is issued, this status flag is set for
the leading axis.
Bit Reference - 329

Parker Hannifin

Write
Positive EOT R/W Used to Invert the active level of the Positive EOT Limit Input.
Limit level invert The Flag being set indicates that the Positive EOT Limit is
inverted so that current through the Opto Input means the
Limit is not detected and the case where no current is flowing
through the Opto Input, the Positive EOT is detected.
Negative EOT R/W Used to Invert the active level of the Negative EOT Limit
Limit level invert Input. The Flag being set indicates that the Negative EOT
Limit is inverted so that current through the Opto Input
means the Limit is not detected and the case where no
current is flowing through the Opto Input, the Negative EOT
is detected.
Home Limit level R/W Used to Invert the active level of the Home Limit Input. The
invert Flag being set indicates that the Home Limit is inverted so
that current through the Opto Input means the Limit is not
detected and the case where no current is flowing through
the Opto Input, the Home is detected.
Jog Move R/W Determines behavior of the Jog Profiler when a JOG move is
Interrupt in progress and another JOG INC or JOG ABS move is
commanded. If the flag is cleared, the current JOG move will
decelerate to a stop using JOG DEC before starting the next
JOG move. When the flag is set, the next JOG move will
continue at the current JOG velocity using the new command
JOG position.
Positive EOT R/W Flag set used to enable the Positive EOT Limit functionality.
limit enable
Negative EOT R/W Flag set used to enable the Negative EOT Limit functionality.
limit enable
Positive Soft R/W Flag set used to enable the Positive Soft Limit functionality.
limit enable
Negative Soft R/W Flag set used to enable the Negative Soft Limit functionality.
limit enable
Home Backup R/W Flag set used to enable Backup functionality for the JOG
Enabled HOME moves.
Home Negative R/W Flag set used to Select the Negative Edge of the Home Limit
Edge Select for the JOG HOME moves.
Home Negative R/W Flag set used to Select the Negative Final Direction for the
Final Direction JOG HOME moves.
Maintain LOCK R/W If this bit is set and an UNLOCK command is issued, then the
Setpoint setpoint will be maintained by the axes.

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Bit16640 – Bit16660 EPL Network Flags

EPL Network Control Flags 4616
Bit
EPL Control Flags Index Bit Number
Start Network 0 16640
Reset Network 1 16641
Reserved 2 16642
Reserved 3 16643
Reserved 4 16644
Reserved 5 16645
Reserved 6 16646
Reserved 7 16647
EPL Network Status Flags 4616

Bit
EPL Status Flags Index Bit Number
EPL Controller Installed 8 16648
Network Operational 9 16649
Network Start Failed 10 16650
EPL Node Failure 11 16651
EPLD Stream Open 12 16652
EPLD Stream Disconnected 13 16653
EPL Drive(s) Enabled 14 16654
Insufficient Period 15 16655
Starting Network 16 16656
Resetting Network 17 16657
Reserved 18 16658
Reserved 19 16659
Opening EPLD Stream 20 16660
Bit Reference - 331

Parker Hannifin

Write
Start Network R/W Set the bit to start the EPL network. The Managing Node (MN)
places the Controlled Nodes (CN) into a pre-operational state,
configures the CNs, then places the CNs into an operational
state. The bit is self-clearing.
Reset Network R/W Set the bit to reset the EPL network to a non-operational
state. The bit is self-clearing.
EPL Controller R The EPL controller card has been detected.

Installed
Network R The EPL controller is exchanging data with the drives.

Operational
Network Start R An attempt to start the network using bit 16640 has failed. To
Failed determine why the attempt failed, look at P37384-P37386.
EPL Node R An individual EPL node has failed. To determine which node
Failure failed, look at P37385
EPLD Stream R An EPLD stream is open (using the OPEN command). To

Open determine which EPL drive is communicating, and its device
number, look at P37387 and P37388
EPLD Stream R Set when an unexpected disconnection with an EPL drive
Disconnected occurs. The controller automatically closes the EPL
communication stream.
The bit remains set until the user clears it, or another OPEN
EPLD command is sent to the same drive to reestablish
communication.
EPL Drive(s) R The controller will not allow the network to be started or reset
Enabled if any of the EPL drives are enabled.
Insufficient R Set when the period is too low. Network will not start.
Period
Starting Network R Indicates that a network start is underway.
Resetting R Indicates that a network reset is underway.

Network
Opening EPLD R Indicates that the process of opening an EPLD stream is

Stream underway.

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Bit17152 – Bit17407 Senary Axis Flags (Axes 0-7)
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4632 4169 4170 4171 4172 4173 4174 4175
Bit AXIS Number
CAM SRC FLZ (CAM) 0 17152 17184 17216 17248 17280 17312 17344 17376
CAM IHPOS SRC ( CAM ) 1 17153 17185 17217 17249 17281 17313 17345 17377
Control Flags
Description Write
CAM SRC FLZ R/W If this flag is set, the index into the cam table will be set to the
CAM FLZ value when CAM ON is issued.
CAM IHPOS R/W If this flag is set, the CAM IHPOS setpoint will be compared to
SRC the count of the object named in the CAM SRC command.
Bit Reference - 333

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Bit17408 – Bit17663 Senary Axis Flags (Axes 8-15)
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Flag Parameter 4632 4633 4634 4635 4636 4637 4638 4639
Bit AXIS Number
CAM SRC FLZ (CAM) 0 17408 17440 17472 17504 17536 17568 17600 17632
CAM IHPOS SRC ( CAM ) 1 17409 17441 17473 17505 17537 17569 17601 17633
Control Flags
Description Write
CAM SRC FLZ R/W If this flag is set, the index into the cam table will be set to the
CAM FLZ value when CAM ON is issued.
CAM IHPOS R/W If this flag is set, the CAM IHPOS setpoint will be compared to
SRC the count of the object named in the CAM SRC command.

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Aries Controller Parameter

Reference
The Aries Controller is a single-axis drive/controller based on the Aries drive platform. It
can read up to two encoders, and is configured and programmed within the ACR-View
software environment using the AcroBASIC language which combines configuration
parameters, status parameters, and text commands.
This guide details the parameters and commands specific to the Aries Controller. The
main characteristics of these parameters and commands are detailed in the section
Configuration Parameters, with more details on each in the section Additional
Parameter/Command Information.
Parameter and Command Overview

The following is an overview of the parameters and commands detailed in this guide.
Configuration Parameters
C0 Encoder Resolution C25 Motor Temperature Switch Type
C1 Continuous Current C26 Motor Ambient Temperature
C2 Continuous Current Derating C27 Motor Winding Thermal Resistance
C3 Peak Current C28 Motor Thermal Time Constant
C4 Motor Inductance C29 Motor Winding Time Constant
C5 Motor Inductance Factor C38 Drive PWM Frequency
C6 Maximum Motor Winding Temperature C39 Thermal Switch Checking
C7 Motor Winding Resistance C41 Output Brake Delay
C8 Motor Rated Speed C44 Error Log Selection
C9 Number of Motor Pole Pairs C46 Fault on Drive Disable
C10 Motor Damping C47 Custom Winding Number
C11 Motor Rotor Inertia / Forcer Mass C67 Drive Control Mode
C12 Motor Electrical Pitch C81 Set Alignment Angle
C14 Torque / Force Limit C82 Encoder Offset
C15 Motor Ke C103 Drive Disable Delay
C16 Current Loop Bandwidth C117 I/O Debounce Time
C18 Current Foldback Enable C119 Hall-Less Commutation Gain
C20 Encoder Polarity C120 Hall-Less Commutation Peak Current
C21 Max. Pre-Quadrature Encoder Frequency C121 Hall-Less Commutation Damping
C22 Hall Sensor Configuration C137 Encoder Loss Time
C23 Hall-Only Commutation
Aries Controller Parameter Reference - 335

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Status Parameters
S6 Transfer Continuous Current Rating S22 Transfer Bus Voltage
S7 Transfer Maximum Current Rating S24 Transfer Operating Hours
S9 Current Command S25 Transfer Operating Minutes
S10 Transfer Command Torque / Force S26 Transfer Maximum Current Rating
S11 Transfer Actual Torque / Force S27 Transfer Hall State
S16 Transfer Position of Encoder S33 Transfer Power-Up Hours
S20 Transfer Drive Temperature S34 Transfer Power-Up Minutes
S21 Transfer Mode Temperature S35 Feedback Source
Commands
CERRLG Clear the Error Log DMTR Identify Motor
TERRLG Transfer the Error Log ERASE Reset Drive and Motor
DRCONFIG Configuration Errors and Warnings FLASH ERASE Erase Stored Programs
DRERROR Error-Checking Report-Back FLASH LOAD Load Programs
ALIGN Align Encoder FLASH RES Erase Motor Config and Drive Programs
BOOTREV Revision of Boot Code FLASH SAVE Save All Programs
STATUS Status (Full-Text Report) PERIOD Set the Period
Table 1 Aries Controller Parameters and Commands
Invalid Commands
The following shows the ACR commands that are not needed in the Aries Controller.
Entering these commands will return a syntax error.
Invalid Commands
ESAVE Save System Parameters CLEAR COM Clear Memory Allocation
ELOAD Load System Parameters DIM STREAM Allocate STREAM Memory
ADC Analog Input DIM FIFO Allocate FIFO Memory
DAC Analog Output Control CLEAR FIFO Clear Memory Allocation
CLEAR Clear Memory Allocation

STREAM
Table 2 Invalid Commands

Parker Hannifin
Functional Groups Listing

The tables in this section list the Aries Controller parameters and commands by
functional group.
Drive Configuration
Parameter / Command Description
C18 Current Foldback Enable
C20 Encoder Polarity
C21 Maximum Pre-Quadrature Encoder Frequency
C22 Hall Sensor Configuration
C38 Drive PWM Frequency
C46 Fault on Drive Disable
C67 Drive Control Mode
C117 I/O Debounce Time
C119 Hall-Less Commutation Gain
C120 Hall-Less Commutation Peak Current
C121 Hall-Less Commutation Damping
C137 Encoder Loss Time
S35 Feedback Source
DMTR Identify Motor
Encoder Configuration

C0 Encoder Resolution
Error Handling

C44 Error Log Selection
CERRLG Clear the Error Log
DRCONFIG Configuration Errors and Warnings
DRERROR Error-Checking Report-Back

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Motor Configuration

C1 Continuous Current
C2 Continuous Current Derating
C3 Peak Current
C4 Motor Inductance
C5 Motor Inductance Factor
C6 Maximum Motor Winding Temperature
C7 Motor Winding Resistance
C8 Motor Rated Speed
C9 Number of Motor Pole Pairs
C10 Motor Damping
C11 Motor Rotor Inertia/Forcer Mass
C12 Motor Electrical Pitch
C15 Motor KE
C25 Motor Temperature Switch Type
C26 Motor Ambient Temperature
C27 Motor Winding Thermal Resistance
C28 Motor Thermal Time Constant
C29 Motor Winding Time Constant
C39 Thermal Switch Checking
C47 Custom Winding Number
C81 Set Alignment Angle
C82 Encoder Offset
Output

C41 Output Brake Delay
C103 Drive Disable Delay
System

C14 Torque/Force Limit

Parker Hannifin
Transfer

S6 Transfer Continuous Current Rating
S7 Transfer Maximum Current Rating
S9 Transfer the Commanded Current
S10 Transfer Commanded Torque/Force
S11 Transfer Actual Torque/Force
S16 Transfer Position of Encoder
S20 Transfer Drive Temperature
S21 Transfer Mode Temperature
S22 Transfer Bus Voltage
S24 Transfer Operating Hours
S25 Transfer Operating Minutes
S27 Transfer Hall State
S33 Transfer Power-Up Hours
S34 Transfer Power-Up Minutes
STATUS Status (full-text report)
TERRLG Transfer the Error Log
Tuning

C16 Current Loop Bandwidth
The syntax for the Aries Controller parameters follows the form PARAMETER=units.
Units Rotary Motor: counts/rev; Linear Motor: counts/electrical pitch
Range 32 to 1073741823
Default 4000
Response 4000
Command ERES

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Units Amps (rms)
Range 0.00 to 200.00 ±0.01
Default 0.00
Response 6.50
Command DMTIC

Units % derating at rated speed
Range 0.00 to 100.00 ±0.01
Default 0.00
Response 5
Command DMTICD
C3 Peak Current
Units Amps (rms)
Range 0.00 to 400.00 ±0.01
Default 0.00
Response 7.5
Command DMTIP
C4 Motor Inductance
Units mH
Range 0.0 to 200.0 ±0.1
Default 0.0
Response 10
Command DMTIND

Units units
Range 0.00 to 1.00
Default 1
Response 1.00
Command DMTINF

Parker Hannifin
C6 Max Motor Winding Temp

Units Degrees Celsius
Range 0.0 to 200.0 ±0.1
Default 125.0
Response 125.0
Command DMTMAX

Units Ohm (measured line-to-line)
Range 0.00 to 100.00 ±0.01
Default 0.00
Response 7.50
Command DMTRES

Units Rotary Motor: rev/sec; Linear Motor: m/sec
Range 0.0 to 400.0 ±0.1
Default 0.0
Response 150.0
Command DMTW

Units pole pairs
Range 1 to 200
Default 0
Response 50
Command DPOLE
C10 Motor Damping

Units Rotary Motor: uNm/rad/sec; Linear Motor: N/meter/sec
Range Rotary Motor: 0.000000 to 10000 ±1; Linear Motors: C12 (electrical pitch
dependent)
Default 0.000000
Response DMTD200
Command DMTD

Parker Hannifin
C11 Motor Rotor Inertia / Forcer Mass

Units Rotary Motor: kgm2; Linear Motor: kg
Range Rotary Motor: 0.000 to 1000000.000 ±0.001; Linear Motors: C12
(electrical pitch dependent)
Default 0.000
Response 200.600
Command DMTJ

Units mm
Range 0 to 300.00 ±0.01
Default 0
Response 40.00
Command DMEPIT
C14 Torque / Force Limit

Units Rotary Motor: Nm; Linear Motor: N
Range Rotary Motor: 0.0 to 4000.0 ±0.1 (motor/drive dependent); Linear Motor:
C12 (electrical pitch dependent)
Default 400.00
Response 10.5
Command DMTLIM
C15 Motor Ke (Motor Voltage Constant)

Units Rotary Motor: v / krpm; Linear Motor: v / m / sec [Measured: v (0-peak);
krpm (line-to-line); meter/second (line-to-line)]
Range Rotary Motor: 0.0 to 800.0 ±0.1; Linear Motor: C12 dependent
Default 0.0
Response 15.0
Command DMTKE

Units Hz
Range 250 to 2500
Default 500
Response 500
Command DIBW

Parker Hannifin

Units enable bit
Range 0 (disable) or 1 (enable)
Default 1
Response 0
Command DIBW

Units polarity bit
Range 0 (normal) or 1 (reverse)
Default 0
Response 0
Command ENCPOL

Units none
Range 0 (266 KHz), 1 (533 KHz), or 2 (1.6 MHz)
Default 0
Response 0
Command ENCFLT

Units control option number
Range 0 (do not invert) or 1 (invert)
Default 0
Response 0
Command SHALL

Units Hall commutation type
Range 0 (sinusoidal), 1 (trapezoidal), 2 (DC brushed motor)
Default 0
Response 0
Command OHALL

Parker Hannifin

Units motor temperature switch type
Range 0 (normally closed), 1 (positive temperature coefficient thermistor),
2 (normally open), 3 (negative temperature coefficient thermistor)
Default 0
Response 0
Command DMTSWT

Units degrees Celsius
Range -50.00 to 250.00 ±0.01
Default 40.0
Response 40.0
Command DMTAMB

Units degrees Celsius / Watt
Range 0 to 16.00 ±0.01
Default 0.50
Response 23.60
Command DMTRWC

Units minutes
Range 0.0 to 7200.0 ±0.1
Default 0.0
Response 30.4
Command DMTTCM

Units minutes
Range 0.00 to 3600.00 ±0.01
Default 0.00
Response 28.40
Command DMTTCW

Parker Hannifin

Units kHz
Range 16 or 32
Default 16
Response 16
Command DPWM

Units enable bit
Range 0 (enable) or 1 (disable)
Default 0
Response 0
Command DTHERM

Units milliseconds
Range 0 to 10000
Default 500
Response 250
Command OUTBD

Units N/A
Range -2^31 to 2^31-1
Default 1111111111111111
Response 0
Command ERRORL

Units enable bit
Range 0 (disable) or 1 (enable)
Default 1
Response 1
Command FLTDSB

Parker Hannifin

Units none
Range 0 to 2^31-1
Default 0
Response 100
Command DMTCWN

Units control mode setting
Range 1 to 13
Default 2
Response 2
Command DMODE

Units encoder offset
Range -180 to +180
Default 0
Response 0
Command PVECT
C82 Encoder Offset

Units encoder offset
Range -3.142 to 3.142
Default 0
Response 0
Command ENCOFF

Units motor current disable time in milliseconds
Range 0 to 1000
Default 0
Response 0
Command INUFD

Parker Hannifin

Units debounce value in milliseconds
Range 1 to 1000
Default 2
Response 40
Command INDEB

Units none
Range 0 to 10000
Default 200
Response 200
Command HGAIN

Units none
Range 0 to 1
Default 0.05
Response 0.05
Command HPEAK

Units none
Range 0 to 200
Default 51
Response 200
Command HDAMP

Units milliseconds
Range 0 to 2000
Default 1000
Response 1000
Command ENCFT

Parker Hannifin
Status Parameters
The syntax for the Aries Controller Status Parameters follows the form PRINT
parameter.

Units Amps rms
Range drive dependant
Default N/A
Response 10
Command TDICNT

Units Amps rms
Range N/A
Default N/A
Response 10
Command TDIMAX
S9 Current Command
Units Amps peak
Range -S7 to S7
Default N/A
Response 1.2
Command N/A
S10 Transfer Command Torque / Force

Units Rotary Motor: Newton meters; Linear Motor: Newtons
Range -C14 to C14
Default N/A
Response 1.20
Command TTRQ

Parker Hannifin
S11 Transfer Actual Torque / Force

Units Rotary Motor: Newton meters; Linear Motor: Newtons
Range Rotary Motor: 0.0 to 500.0 (motor/drive dependant) ±0.1; Linear Motor:
C12 (electrical pitch) dependant
Default N/A
Response 1.20
Command TTRQA

Units Encoder counts
Range -2147483648 to 2147483647
Default N/A
Response 0
Command TPE

Range N/A
Default N/A
Response 50
Command TDTEMP

Range N/A
Default N/A
Response 45
Command TMTEMP

Units volts
Range N/A
Default N/A
Response 170.45
Command TVBUS

Parker Hannifin

Units lifetime operating hours (resolution is hours)
Range hour counter rolls over at 536854528 hrs.
Default N/A
Response 16
Command TDHRS

Units minutes
Range 0 to 59
Default N/A
Response 35
Command TDMIN

Units milliseconds
Range 0 to 59999
Default N/A
Response 35678
Command TDSEC

Units N/A
Range 1 to 7 (1 to 6 are valid)
Default N/A
Response 6
Command THALL

Units power-up operating hours (resolution is hours)
Range hour counter rolls over at 536854528 hrs.
Default N/A
Response 16
Command TUPHRS

Parker Hannifin

Units minutes
Range 1 to 59
Default N/A
Response 35
Command TUPMIN
S35 Feedback Source

Units N/A
Range N/A
Default 1
Response 2
Command SFB
Commands
The syntax for the Aries Controller commands follows the form COMMAND.
Command Description Units Range Default Response
ALIGN Align Encoder N/A N/A 0 none
Shows Revision of a: major N/A N/A N/A

Boot Code revision
BOOTREV
b: minor
revision
CERRLG Clear the Error Log N/A N/A N/A N/A
Identify Motor “Parker motor N/A “blank” SM232AE

DMTR identification
number”
Configuration Errors N/A N/A N/A No Errors

DRCONFIG
and Warnings
Error-Checking N/A N/A N/A No Errors

DRERROR
Report-Back
Erases motor configuration parameters and drive setup parameters and sets them to their defaults.
ERASE
Does not erase stored programs.

Parker Hannifin
Command Description Units Range Default Response
FLASH ERASE erases stored programs on the drive/controller.

FLASH LOAD loads programs from flash.
FLASH
FLASH RES erases motor configuration and drive/controller programs (ERASE + FLASH ERASE).
FLASH SAVE saves all programs to flash. (FLASH IMAGE yields the same results.)
Sets the Period seconds 0.00025 sec in increments N/A N/A

PERIOD of 0.00025, up to 1.75 ms
max.
Status (Full-Text N/A N/A N/A STATUS

STATUS
Report)
TERRLG Transfer the Error Log N/A N/A N/A N/A
Additional Parameter/Command Information

This section supplements the parameter and command information in the section Aries
Controller Parameter Reference. See DMTR (Identify Motor) for a list of automatically
configured commands.
Establishes the number of counts (post quadrature), per unit of travel.
The servo system's resolution is determined by the resolution of the encoder used with
the servo motor. If the encoder is mounted directly to the motor, the Aries Controller’s
resolution (C0 value) must match the encoder's resolution to ensure that the motor will
move according to the programmed distance and velocity. For example, Parker’s SM
and NeoMetric Series motors with the “E” encoder option use 1,000-line encoders, and
therefore have a 4,000 count/rev post-quadrature resolution (requires C0-4000).
Setup
When using a Parker motor and the ACR-View Configuration Wizard, this parameter is
automatically set for the selected motor.
If you did not use the ACR-View Configuration Wizard in the setup, or if you sent an
ERASE command or are using a non-Parker motor, this parameter is set to 4000 and it
must manually be set to the appropriate number.
Sets the continuous operating current for a motor.
Setup

Parker Hannifin
ERASE command or are using a non-Parker motor, this parameter is set to zero (0),
and it must manually be set to the appropriate number. Otherwise, the drive/controller
reports the following configuration errors:
E0 Motor Configuration Error
E8 Continuous Current=0
The internal winding temperature in a Parker rotary motor will reach 125˚C with a
specified heatsink in a 40˚C ambient environment. A Parker linear motor winding will
reach 90˚C in a 25˚C ambient environment.

Sets the current derating percentage at rated speed (C8 Motor Rated Speed).
This parameter sets the extent to which continuous current must be reduced at speed
to compensate for velocity-related losses in the motor.
For example C2=3 sets the motor’s continuous current derating to 3% [97% of
continuous value C1 Continuous Current)] at the motor’s rated speed (C8). At half this
speed, it will be reduced 1.5%.
Setup
and it must manually be set to the appropriate number.
C3 Peak Current
Sets a limit that the commanded current cannot exceed.
This parameter is typically set to three times the motor’s continuous current rating (C1
Continuous Current) or less. If the C3 parameter is set higher than the full-scale value
calculated by C14 (Torque / Force Limit), the new C3 value will be ignored.
If the C3 value exceeds the drive/controller’s maximum output current (S7 Transfer
Maximum Current Rating), the C3 value will be ignored and the maximum allowable
value will be used. See Table 3. The drive/controller reports:
E0 Motor Configuration Warning
E12 Peak Current Too High
Aries Maximum Current Rating (RMS)

Controller
AR-04CE 9A
AR-08CE 13.5A
AR-13CE 14.1
Table 3 Current Rating for Aries Controllers

Parker Hannifin
C4 Motor Inductance
Specifies the maximum value of motor inductance.
This value usually differs from the nominal nameplate value because actual inductance
is usually position dependent. If this parameter is not automatically set and the
maximum value of motor inductance is not known, specify the nominal inductance as
listed on the motor’s nameplate.
Setup
E3 Maximum Inductance=0
and shuts down.

Specifies the minimum motor inductance divided by the maximum motor inductance.
Setting C5 does not derate the motor. If this parameter is not set automatically and the
minimum value of the motor inductance is not known, use the nominal inductance as
listed on the motor’s nameplate, or set C5=1.00.
Setup
E3 Maximum Inductance=0
and shuts down the drive/controller.
C6 Maximum Motor Winding Temperature

Sets the maximum motor winding temperature allowed.
The C6 value, in conjunction with C28 (Motor Thermal Time Constant), C29 (Motor
Winding Time Constant), DMTRWC (Motor Thermal Resistance), and C1 (Continuous
Current), is used in a real-time estimation of the motor winding temperature. When the
winding temperature exceeds C6, a drive/controller fault occurs and the drive/controller
reports the following:
E35 Motor Thermal Model Fault

Parker Hannifin
Setup
and it must manually be set to a non-zero number.

Sets the motor winding resistance.
This resistance value is measured at 25˚C at the drive/controller end of the motor cable
(motor cable included). This resistance is the phase-to-phase resistance measured at
terminals U to V, V to W, or W to U.
Setup
and it must manually be set to a non-zero number. Otherwise, the drive/controller
E6 Resistance=0

Specifies the rated speed of the motor.
This value is used in conjunction with C2 (Continuous Current Derating) to protect the
motor from thermal damage.
If this value is not automatically set, specify the lesser of the following:
• (Rotary motor) Motor mechanical limited speed
• (Rotary motor) Encoder limit of 5 MHz (pre-quadrature)
• (Linear motor) Speed limitations include encoder resolution and track length
• The corner of the continuous speed/torque or speed/force curve (the point where
the continuous and peak torque/force curves meet)
Setup

Parker Hannifin
E4 Rated Speed=0

Sets the number of motor pole pairs.
The number of pole pairs is defined as the number of poles divided by 2 (P/2). The
electrical frequency of the current (ωe) is related to the mechanical speed (ωm) of the
motor by the pole pairs.
NOTE: All linear motors, regardless of the number of stator poles, are
considered one pole-pair (C9=1) machines.
Setup
E5 C9=0
C10 Motor Damping

Specifies the damping of the motor itself.
This includes both magnetic losses and bearing losses.
This parameter does not take effect until power to the drive/controller is cycled, or the
REBOOT command is sent.
Setup

Parker Hannifin
C11 Motor Rotor Inertia / Forcer Mass

Sets the motor rotor inertia for rotary motors, or the forcer mass for linear motors.
Setup
and it must manually be set to a non-zero number. Otherwise, if the drive/controller is
powered up when this command is set to zero (for example, if ERASE is executed), the
drive/controller reports a motor configuration error with E13, and shuts down the
drive/controller.

Sets the electrical pitch of the magnets for use with permanent magnet brushless linear
motors.
This parameter does not take effect until you cycle power to the drive/controller, or
send the REBOOT command.
(The electrical pitch can be equated to one revolution in a rotary motor with one pole-
pair.) Mechanically, the definition of the electrical pitch is the linear distance between
two magnets comprising a full magnetic cycle.
C14 Torque / Force Limit

Sets a maximum torque/force limit for the system.
Requests for higher torque/force will be clamped to this value. This parameter will
default automatically to a value appropriate to the motor selection (DMTR Identify
Motor) and the Aries Controller you are using, and in many cases, no changes are
required.
If your mechanical system has torque/force limitations (due, for example, to the
limitations of a coupler or belt), you can use this command to limit system torque/force
without affecting system scaling or gains. During initial tuning, this command can be
used to limit the torque/force produced if the system becomes unstable, reducing the
rate of motor heating, allowing more reaction time for the person tuning the system,
and reducing the chances of damage to the mechanical system. if C14 is set higher
than the value allowed by the motor’s peak current times the motor’s Kt, or the
drive/controller’s peak current times the motor’s Kt (whichever is lower), the new C14
value will be ignored (but not overwritten). In addition, the drive/controller reports the
following:
E11 Torque Rating Too High for Drive
and the maximum internal value is used. The warning can be cleared by sending the
REBOOT command or cycling power to the drive/controller.

Parker Hannifin
Setup
C15 Motor Ke
Specifies the motor voltage constant (Ke).
This value defaults to the nominal Ke of the motor selected with the DMTR (Identify
Motor) command.
Setup
E7 Bad Hall State

Sets the current loop bandwidth.
Higher values of C16 will give a faster response to changes in commanded current at
the expense of some overshoot. Lower values of C16 will give a slower response with
much less overshoot.

Enables (1) or disables (0) the drive/controller’s current foldback protection feature.
The current foldback feature reduces the drive/controller’s continuous current output by
20% when sustained current has the potential to overheat the drive/controller.

Reverses the encoder counting direction.
This parameter may be used if the encoder input is counting in the wrong direction (for
example, using a custom motor). This reverses the encoder counting direction without
having to change the actual wiring to the encoder input.

Parker Hannifin
To reverse the commanded direction of motion, make sure there is a direct correlation
between commanded direction and encoder direction. You can then set bit 8455 in
order to reverse both the commanded direction and the encoder direction.

Increases the default maximum pre-quadrature encoder frequency from 266 KHz to
533 KHz or 1.6 MHz.
This parameter allows users to take advantage of the higher input frequency, if
necessary, at the expense of some noise immunity.
For increased noise immunity, rotary motors have increased filtering on the encoder
input. The maximum input frequency is 266 KHz pre-quadrature for rotary motors by
default. If a linear motor is configured, the drive/controller sets a 533 KHz pre-
quadrature maximum input encoder frequency by default.

Controls the logic sense of the Hall sensors.
To invert the sensors, use the C22=1 command. To check the present value of the Hall
sensors, use the S27 parameter.

Sets the commutation type.
Use C23=1 to set trapezoidal commutation and C23=2 for DC brushed motors. DC
brushed motors should be wired to motor phases U and W, if they are used. The
default is C23=0 (sinusoidal encoder commutation once the first hall transition has
occurred).
This parameter requires a reset to take effect.

Sets the type of motor switch used.
Values of 0 or 1 behave exactly the same and are interchangeable. Sending C25=3
specifies a negative temperature coefficient thermistor. In this case S21 (Transfer
Mode Temp) reports the higher of the motor thermal model value or the calculated
thermistor temperature, once the thermistor temperature is above 60˚C. The
drive/controller faults with a motor temperature fault at a thermistor temp of 105˚C or
the motor thermal model setpoint (whichever is lower) when C25 is set to 3. The default
value for this command is C25=0, and will work with both positive temperature
coefficient thermistors and normally closed switches.

Parker Hannifin

Sets the motor ambient temperature used by the software motor thermal model.
This value, in conjunction with the C28 parameter (Motor Thermal Time Constant), the
C29 parameter (Motor Winding Time Constant), the C27 parameter (Motor Winding
Thermal Resistance), and the C1 parameter (Continuous Current), is used in a real-
time estimation of the motor winding temperature. When the winding temperature
exceeds the C6 parameter (Maximum Motor Winding Temperature), the drive/controller
faults and reports the following:
E35–Motor Thermal Fault

Specifies the temperature rise of the motor winding above motor case temperature per
watt of winding power dissipation.
Motor heatsinking does not affect this value.
Setup

Specifies the thermal time constant of the motor and its mounting.
The drive/controller uses this value to help protect the motor from thermal damage. It
describes the length of time the motor takes to reach 63% of its final temperature,
given constant power. Note that the motor mounting affects this measurement.
Continuous current ratings and published time constants for Parker motors are
specified when mounted to a 10" x 10" x ¼" aluminum plate in 25°C open air. If your
mounting surface provides heat-sinking or thermal mass significantly different from this,
a different value may be appropriate to your application. Note also that the C29
parameter value (Motor Winding Time Constant) itself is much faster than this;
therefore, the rise in winding temperature will initially be much faster than C28 would
suggest.
Setup

Parker Hannifin

Specifies the time constant of the motor winding alone.
This is the time for the winding to reach 63% of its final temperature rise above the rest
of the motor, given constant power. Note that this is not the time constant usually
specified in motor data sheets (see C28 Motor Thermal Time Constant); the C29
value is typically much faster.

Selects the drive/controller’s PWM frequency.
This value is the internal Pulse Width Modulation (PWM) frequency as seen at the
motor windings (the motor ripple current is twice this frequency.) In general, for a given
drive/controller power level, the higher the switching frequency, the lower the motor
ripple current heating and the lower both the peak and continuous current ratings.

This parameter is used to disable drive/controller faults when the motor thermal switch
opens.
C39 is useful when no thermal switch is present on the motor. Send the C39=0
command to re-enable thermal switch checking.

Specifies the amount of time that the brake relay will remain asserted after the current
is applied to the motor windings when the drive/controller is enabled.
This allows torque to build up in the motor while the fault output is still high. This is
important in vertical applications where the motor must be able to support the load
before the brake is released.

This parameter is used to choose the conditions that will be included in the error log.
When an error log bit is enabled, the operating system will respond to a specific
execution error by making an entry in the error log. Each bit corresponds to a different
error condition.
Use the TERRLG command (Transfer the Error Log) to view the error log. Clear it with
the CERRLG command (Clear the Error Log).

This parameter is used to enable/disable the Fault on Drive Disable mode.
If Fault on Drive Disable is enabled by C46=1 (the default setting), and the
drive/controller is disabled via the Enable input, fault output is activated and the brake
relay is opened.

Parker Hannifin

Displays the custom winding number of the motor (if present).
Setup

Selects the drive/controller control mode for the Aries Controller.
The following drive/controller modes are valid:
C67=1 Autorun—Rotates the motor at 1 rps/mps. Current is reduced by 10%
C67=2 Torque/Force Control (default)—Allows direct control of rotary motor torque,
or linear motor force.
C67=3 Feedback Alignment—Auto configures for feedback setup.
C67=10 Inertia Detection—Auto detects load to rotor inertia ratio.

Specifies the encoder angle when in alignment mode.
The angle can vary from -180 degrees to +180 degrees. By changing the angle, the
commutation can be determined manually. The motor should count in the positive
direction when going from -180 degrees to +180 degrees, the shaft should rotate
clockwise, and the hall states should count 6, 2, 3, 1, 5, 4 in that order, with the 4-6
transition occurring
at -180 degrees.
The C81 parameter can be used in conjunction with C82 (Encoder Offset) and S27
(Transfer Hall State) to perform a manual alignment if necessary.
C82 Encoder Offset

Specifies the encoder offset.
All standard (non-smart) Parker encoders have an encoder offset of 0 degrees. The
smart encoders store the encoder offset in the motor, which the drive/controller reads
(and stores in the C82 parameter) upon power-up. The offset can vary from -180
degrees (corresponding to C82=-3.142) to +180 degrees (corresponding to
C82=3.142).

Selects the de-bounce value for I/O inputs on the drive in milliseconds.

Parker Hannifin

Specifies the amount of time that the current will be applied to the windings while the
brake is engaged when the drive/controller is disabled.
This allows the brake relay to engage while the drive/controller is still enabled and
current is present in the windings. This is important in vertical applications where the
motor must be able to support the load before the brake is applied.

Selects the gain value for Hall-less commutation algorithm.

Selects the peak current value for the Hall-less commutation algorithm.
A value of 1 sets the peak current when using the algorithm to the peak current of the
drive/controller or motor (whichever is lower).

Selects the damping value for the Hall-less commutation algorithm.
A higher value increases the damping, while a lower value reduces the damping.
NOTE: If the damping value is too high, instability can result.

Selects the timeout value for the encoder loss detection algorithm.
If no encoder signals are noticed, or peak torque is applied for this amount of time
without any encoder change, then the drive will fault with an encoder loss fault. Set
C137=0 to disable encoder loss checking.
Status Parameters
Status parameters are read-only parameters.

Reports the continuous current rating of the drive/controller in amps rms.

Reports the maximum current rating of the drive/controller in amps rms.
S9 Transfer the Commanded Current

Reports the commanded current to the motor in amps (peak).

Parker Hannifin
S10 Transfer Commanded Torque/Force

Reports the commanded motor torque/force.
S11 Transfer Actual Torque/Force

Reports the calculated torque/force based on the motor’s current and the motor’s Ke.
The motor’s measured Ke value may vary by ±10%; therefore, the S11 value may vary
by ±10% of the actual torque at the motor.

Reports the present feedback device position, based on the encoder resolution (C0).

Reports the measured internal temperature of the drive/controller.

Reports the predicted temperature of the motor winding for Parker motors.
The temperature is estimated using the winding and motor time constants, the rated
continuous current, and the winding thermal resistance. The motor will fault (and the
drive/controller reports E35 Motor Thermal Model Fault) at an estimated
winding temperature of 125˚C, assuming the ambient temperature is 40˚C.
If C25 (Motor Temperature Switch Type) equals 3, and the thermal temperature is
greater than 60˚C, S21 reports the higher of the motor model thermistor temperature or
the Negative Temperature Coefficient (NTC) thermistor temperature.
If a non-Parker motor is used, the S21 value depends on parameters supplied for C27
(Motor Winding Thermal Resistance), C28 (Motor Thermal Time Constant), and C29
(Motor Winding Time Constant).

Reports the DC bus voltage available from the drive/controller in volts.

Reports the lifetime number of hours that the Aries Controller has had power applied
(Motor Input Power or Control Input Power).

Reports the minutes portion of the lifetime number of operating hours that the Aries
Controller has had power applied (Motor Input Power or Control Input Power).

Reports the milliseconds portion of the lifetime number of operating hours that the Aries
Controller has had power applied (Motor Input Power or Control Input Power).

Parker Hannifin

Reports the present Hall sensor value.
There are six distinct Hall states, from 1 to 6. Rotating the motor shaft clockwise, the
Hall state order should be 6, 2, 3, 1, 5, 4, 6, 2, 3, 1, 5, 4, 6 …
Values of 0 and 7 are invalid and will fault the drive/controller, and report E37 Bad
Hall State.
NOTE: For auto-configured “smart encoders,” the S27 parameter only reports the
initial Hall state of the encoder when power is applied.

Reports the number of hours that the Aries Controller has had power supplied (Motor
Input Power or Control Input Power).

Reports the minutes portion of the number of operating hours that the Aries Controller
has had power supplied (Motor Input Power or Control Input Power).
S35 Feedback Source

Reflects the type of motor auto-detected by the drive/controller.
Commands
ALIGN Align Encoder

Aligns the encoder on the motor so that the drive/controller can commutate the motor
correctly. This is especially useful for configuring a custom motor.
To align the motor:
1. Remove any load form the shaft. This procedure works best with an unloaded
motor.
2. Disable the drive/controller by typing DRIVE OFF AXIS0 into the terminal and
pressing Enter.
3. Type C67=3 in the terminal and press Enter to enter alignment mode.
4. Enable the drive/controller by typing DRIVE ON AXIS0 into the terminal and
press Enter.
5. Type ALIGN into the terminal and press Enter to begin the alignment process.
6. The drive/controller then begins the alignment procedure. This could take up to
20 seconds during which the motor turns up to 90 degrees.
7. The alignment process may modify the following parameters: C82 Encoder
Offset, C20 Encoder Polarity, and C22 Hall Sensor Configuration.

Parker Hannifin
BOOTREV Shows Revision of Boot Code

Shows the revision of the boot code stored in the drive/controller in the form of “a.b,”
where “a” is the Major revision, and “b” is the Minor revision of the boot code firmware.
CERRLG Clear the Error Log

Erases the stored contents of the error log.
The error log is updated every time an error occurs. Clearing the error log is a helpful
diagnostic tool; it allows you to start the diagnostic process when the error log is in a
known state so that you can check the error log in response to subsequent events.
DMTR Identify Motor

Records and reports the identification number of the Parker motor entered in the Aries
Support Tool.
The syntax for this command requires quotes: DMTR”motor name”.
When you select a specific Parker motor using the Aries Support Tool, the DMTR
setting and various motor parameters (see Table 4 below) are automatically configured
for the associated motor. Using the Aries Support Tool, you can save the parameters in
a configuration file.
For the DMTR and all the motor parameters and commands to take effect after
downloading the configuration file to the drive/controller, you must cycle drive/controller
power or send the RESET command.
Avoid using the DMTR command to change the motor name—the new DMTR value
may not represent the actual motor parameters that are currently loaded in the
drive/controller.
For a non-Parker motor, the default setting is blank (empty), and you must set all
relevant motor parameters manually.
The servo motor parameters automatically configured by the Aries Support Tool are
listed in Table 4. Although the parameter values are auto-configured when you select a
Parker motor using the Aries Support Tool, you may individually set the command
values with the respective configuration command.
Parameter Parameter
C0 Encoder Resolution C9 Number of Motor Pole Pairs
C1 Continuous Current C10 Motor Damping
C2 Continuous Current Derating C11 Motor Rotor Inertia/Forcer Mass
C3 Peak Current C12 Motor Electrical Pitch
C4 Motor Inductance C14 Torque/Force Limit
C5 Motor Inductance Factor C15 Motor Ke
C6 Maximum Motor Winding Temperature C27 Motor Winding Thermal Resistance
C7 Motor Winding Resistance C28 Motor Thermal Time Constant
C8 Motor Rated Speed C29 Motor Winding Time Constant
Table 4 Servo Motor Data Parameters

Parker Hannifin
Motor Configuration Error

If not configured (for example, a command remains at its factory default value, or an
ERASE command is executed), many of the above motor parameters will report a
motor configuration warning or error when powering up the Aries Controller:
-or-
An error also disables the drive/controller—DRIVE0.

To resolve the error or warning condition:
1. Complete the configuration by doing one of the following:
a. Select a Parker motor using the Aries Support Tool, or
b. Configure each motor parameter command with a value other than
zero (0) using a terminal emulator.
2. Download the resulting configuration information.
3. Send the RESET command or cycle power.
DRCONFIG Configuration Errors and Warnings

Gives a text-based status report of current configuration errors and warnings (E0
through E24). See Table 5 for the configuration errors and their resolutions.
Error Resolution
E0 Motor Configuration The motor rating is too high for the drive/controller, and the
Warning drive/controller is using its own limits for safety reasons.
E1 Motor Configuration One of the motor parameters is set to zero (0). Look at the
E3 Max Inductance = 0 This parameter is set to zero (0). To correct the error, you
for the correct value. (C4 Motor Inductance)
E4 Rated Speed = 0 This parameter is set to zero (0). To correct the error, you
for the correct value. (C8 Motor Rated Speed)
E5 C9 = 0 This parameter is set to zero (0). To correct the error, you
for the correct value. (C9 Number of Motor Pole Pairs)
E6 Resistance = 0 This parameter is set to zero (0). To correct the error, you
for the correct value. (C7 Motor Winding Resistance)
E7 Ke = 0 This parameter is set to zero (0). To correct the error, you
for the correct value. (C15 Motor Ke)
E8 Continuous Current = 0 This parameter is set to zero (0). To correct the error, you
for the correct value. (C1 Continuous Current)
E9 Peak Current = 0 This parameter is set to zero (0). To correct the error, you
for the correct value. (C3 Peak Current)

Parker Hannifin
Error Resolution
E10 Used Drive Continuous The continuous current of the motor is higher than the
Current continuous current rating of the drive/controller. Use the
continuous current rating for the drive/controller.
E11 Torque Rating > Peak The motor’s torque rating is too high for the power level of the
Power Rating drive/controller. Use the drive/controller’s torque rating.
E12 Used Drive Peak Current The peak current of the motor is higher than the peak current
rating of the drive/controller. Use the drive/controller’s value
for peak current.
E13 Inertia = 0 This parameter is set to zero (0). The drive/controller will not
enable Velocity or Position Modes. To correct the error, you
must set to a non-zero value. Refer to your motor
specifications for the correct value. (C11 Motor Rotor Inertia /
Forcer Mass)
E14 Damping = 0 This parameter is set to zero (0). The drive/controller will not
enable Velocity or Position Modes. To correct the error, you
must set to a non-zero value. Refer to your motor
specifications for the correct value. (C10 Motor Damping)
Table 5 Configuration Errors and Warnings
DRERROR Error-Checking Report-Back

Gives a text-based status report of drive/controller errors (E25 through E46) that
currently prevent the drive/controller from enabling.
To re-enable the drive/controller, correct the specified fault, then reset the unit or cycle
power to it.
Table 6 contains the possible errors appearing in the text-based report and their
descriptions.
Error Resolution
E26 Drive Faulted The drive/controller is faulted.

E27 Bridge Hardware Fault Excessive current or short on the H-bridge.
E29 Drive Over-Voltage The bus voltage is too high (>410 VDC). Lower AC Mains
voltage (Motor Input Power) and check for excessive
regeneration power. (S22 Transfer Bus Voltage)
E30 Drive Under-Voltage The bus voltage is too low (<85 VDC) or there is overly
aggressive acceleration or deceleration. Raise AC Mains
voltage (Motor Input Power). (S22 Transfer Bus Voltage)
E31 Bridge Foldback Drive/controller current was limited to prevent overheating
(warning only).
E32 Power Regeneration Fault Check the Regeneration resistor for a short.
E34 Drive Temperature Fault Wait for the drive/controller to cool down.
E35 Motor Thermal Model The motor thermal model has determined the motor is too hot.
Fault Wait for the motor to cool, and then re-enable the
drive/controller. (S21 Transfer Mode Temperature)
E36 Motor Temperature Fault Motor thermal switch has tripped. Wait for the motor to cool,
then re-enable the drive/controller. (S21 Transfer Mode
Temperature)
E37 Bad Hall State A problem with the Hall sensors exists. Check the Hall state
wiring. (S27 Transfer Hall State)
E38 Feedback Failure Feedback not present or the signal level is incorrect. (S16
Transfer Position of Encoder; S27 Transfer Hall State)

Parker Hannifin
E39 Drive Disabled The drive/controller is disabled.

E40 PWM Not Active The H-bridge is not switching.
E41 Power Regeneration The drive/controller regenerated (warning only).
Warning
E42 Shaft Power Limited Shaft power is limited to the rated output to protect the
Warning drive/controller (warning only).
E43 Excessive Speed at The motor was turning too fast when the drive/controller was
Enable enabled.
E47 Low Voltage Enable No motor power was present when the drive/controller was
enabled.
E48 Control Power Active The drive/controller is in Control power mode. No motor power
is present.
E49 Alignment Error The ALIGN command did not complete successfully. (S16
Transfer Position of Encoder; S27 Transfer Hall State)
E52 Encoder Read Fault The drive/controller determined there was loss of feedback.
Check the feedback wiring. (S16 Transfer Position of
Encoder; S27 Transfer Hall State)
E54 Encoder Loss Fault The Aries Controller could no longer detect the encoder.
Check the encoder connections. Check/modify for value of
C137 or set to zero (0) to disable this error.
Table 6 Error-Checking Report-Back Error Messages
ERASE Reset Drive and Motor

Erases motor configuration parameters and drive setup parameters and sets them to
their defaults.
Does not erase stored programs.
The ERASE command will reboot the unit, so make ERASE the last command.
FLASH Save and Restore Drive/Controller Configuration

FLASH ERASE erases stored programs on the drive/controller.
FLASH LOAD loads programs from flash.
FLASH RES erases motor configuration and drive/controller programs (ERASE +
FLASH ERASE).
FLASH SAVE saves all programs to flash. (Same function as FLASH IMAGE.)
PERIOD Sets the Period

Sets the value for the period.
The minimum value for this command is 0.25 ms, with increments of 0.25 ms up to a
maximum of 1.75 ms.
STATUS Status (Full-Text Report)

Provides full-text report of the current drive/controller status.
This command includes general features such as the OS Revision and Control power
mode. (Control power mode is active when TVBUS is less than 85 VDC.) Additionally,
it includes motor parameters and drive/controller status.

Parker Hannifin
Following is an example full-text report:

<*>GENERAL:
<*> OS Revision: Aries Revision 1.Ø
<*> Power Level: 75ØW
<*> Control Power: INACTIVE
<*>MOTOR:
<*> Motor Name: SM232AE
<*> Motor Type: ROTARY
<*> Feedback Type: SMART ENCODER
<*> Motor Temp: 4ØC
<*>DRIVE
<*> Drive: DISABLED
<*> PWM Frequency: 16 kHz
<*> Feedback Resolution: 8ØØØ
<*> Drive Temperature: 35C
<*> Bus Voltage: 85V
TERRLG Transfer Error Log

Displays the last ten error conditions or power cycles.
The display is in order or earliest to latest as a text-based status report. When each
error is logged, the following parameters are saved:
• Operating Hours (S24, S25, S26)
• Power-on Time
• Drive/Controller Temperature (S20)
• Motor Temperature (S21)
• Bus Voltage (S22)
• Active Errors (ERROR)

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Warning — ACR Series products are used to control electrical and

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Technical Support E-mail

P4616 – P4623 EPL Corrected typo in Code.

P37376 – P37391 EPL Changed Network State description, indicators 2 and 3,

P38144 – P38391 EPLD Added EPLE Position and EPLE Velocity.

Bit 16128 - Bit 16383, Added Jog Move Interrupt.

Bit 4448 CANopen Flag Removed (duplicate of Bit11264 – Bit11279).

Aries Controller Parameter Reference

ALIGN Removed references to hardware enable.

DRIVE ON, DRIVE OFF Removed.

2 - ACR Parameter and Bit Reference

Added new section: Includes the Aries Controller configuration parameters,

Updated Quaternary Added Disable Encoder Fault Checking, Invert Motion

P0 – P4095 User Parameters

P4096 – P4375 Flag Parameters

P4400 – P4447 Drive Talk Flag Parameters

P4448 – P4583 CANopen Flag Parameters

P4600 – P4615 Quinary Axis Flag Parameters

P4616 EPL Network Parameter

P6144 – P6655 Object Parameters 0-15

P6656 – P6775 PLC Parameters

P6912 – P7119 Miscellaneous Parameters

P7168 – P7408 Program Parameters

P7424 – P7575 FSTST Setup Parameters

P8192 – P8255 Master 0 Parameters

P8448 – P8511 Master 1 Parameters

P8704 – P8767 Master 2 Parameters

P8960 – P9023 Master 3 Parameters

P9216 – P9279 Master 4 Parameters

P9472 – P9535 Master 5 Parameters

P9728 – P9791 Master 6 Parameters

P9984 – P10047 Master 7 Parameters

P10240 – P10303 Master 8 Parameters

P10496 – P10559 Master 9 Parameters

P10752 – P10815 Master 10 Parameters

P11008 – P11071 Master 11 Parameters

P11264 – P11327 Master 12 Parameters

P11520 – P11583 Master 13 Parameters

P11776 – P11839 Master 14 Parameters

P12032 – P12095 Master 15 Parameters

P12288 – P12407 Axis 0 Parameters

P12544 – P12663 Axis 1 Parameters

P12800 – P12919 Axis 2 Parameters

P13056 – P13175 Axis 3 Parameters

4 - ACR Parameter and Bit Reference

P13312 – P13431 Axis 4 Parameters

P13568 – P13687 Axis 5 Parameters

P13824 – P13943 Axis 6 Parameters

P14080 – P14199 Axis 7 Parameters

P14336 – P14455 Axis 8 Parameters

P14592 – P14711 Axis 9 Parameters

P14848 – P14967 Axis 10 Parameters

P15104 – P15223 Axis 11 Parameters

P15360 – P15479 Axis 12 Parameters

P15616 – P15735 Axis 13 Parameters

P15872 – P15991 Axis 14 Parameters

P16128 – P16247 Axis 15 Parameters