Configuration Bits - Quadrature/Stepper Specific

For quadrature axes, these bits are used to select the active states of four inputs and to define the use of the Home Input status bit in the Status word.

Fault Input Active State - Bit 15

This bit determines the active state of the Fault Input. The active state of this input indicates that a fault has occurred. The Encoder Error status bit is set when the Fault input is active.

Bit 15	Active Input State
0	No current applied
1	Current Applied

Limit Inputs Active State - Bit 14

Determines the active state of the Extend (CW) and Retract (CCW) Limit Inputs. The active state of these inputs indicates that a limit has been reached. The Extend Limit status bit will be set when the Extend (CW) Limit Input is active, and the Retract Limit status bit will be set when the Retract (CCW) Limit Input is active:

Bit 14	Active Input State
0	No current applied
1	Current applied

Index (Z) Input Active State - Bit 13

Determines the active state of the Index (Z) Input:

Bit 13	Active Input State
0	Positive signal applied
1	Negative signal applied

Home (H) Input Active State - Bit 12

Determines the active state of the Home (H) Input:

Bit 12	Active Input State
0	Current applied
1	No current applied

Home Input Status Bit Level/Edge Select - Bit 7

This bit determines the use of the Home Input status bit, as shown below:

Bit 7

Home Input Status Bit Behavior

Latched Home Edge

The Home Input status bit is set and latched on the transition from both the index (Z) and home (H) inputs being active to one or both being inactive.

Level of H Input
The Home Input status bit is set when the Home (H) input is active. It is not latched.

For details on using this bit, see Homing a Quadrature Axis.