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APPENDIX C: INDEXED MOVES
C1.3
Page C-3
Controlling Motion
C1.3.1 Status Bit Inputs (%I)
The status bit inputs of the STP113 are identical to those detailed in Section 3.1 on Page 3-1.
C1.3.2 Command Outputs (%Q)
The command bit outputs of the STP113 are identical to those detailed in Section 3.2 on Page 3-2 EXCEPT
for %Q11, which is defined in the STP113 as the “index move” command. An index move command causes
the stepper module to execute a special relative move. If a valid index signal (pin 14 on the terminal strip) is
not received, the module executes a standard relative move. If a valid index signal is received, the stepper
module moves a predetermined number of steps from that point.
Figure C1-1. Index move
C1.3.3 Status Word Inputs (%AI)
The status word inputs of the STP113 are identical to those detailed in Section 3.3 on Page 3-3.
C1.3.4 Command Word Outputs (%AQ)
The STP113 contains several command word outputs in addition to those detailed in Section 3.4 on Page 3-4.
Table C1-3 below lists the additional %AQ command word outputs.