Digital inputs and outputs The motor controller has digital inputs and outputs. Bit assignment The software in the controller assigns to bits to every output and input: The first bit corresponds to a special function of an input or output. These functions are always accessible at bit 0 to bit 15 inclusive. This includes limit switches and clock/direction inputs for the inputs and the brake control for the outputs. The output and the input as a level, these are accessible at bit 16 to 31. Example Bit 16 has to be used always to manipulate the value of output 1. To manipulate the special function "negative limit switch" the bit 0 has to be used. The assignment is displayed once more in the following image. Digital inputs Bit assignment The software in the controller assigns to bits to every output and input: The first bit corresponds to a special function of an input or output. These functions are always accessible at bit 0 to bit 15 inclusive. This includes limit switches and clock/direction inputs for the inputs and the brake control for the outputs. The output and the input as a level, these are accessible at bit 16 to 31. Example Bit 16 has to be used always to manipulate the value of output 1. To manipulate the special function "negative limit switch" the bit 0 has to be used. The assignment is displayed once more in the following image. Overview Note The digital inputs are sampled only once a millisecond. Changes in the input signal shorter than one millisecond cannot be processed. The following inputs are available: Input Special Function Signal threshold switchable Differential / single ended 1 Negative limit switch no, 5 V single ended 2 Positive limit switch no, 5 V single ended 3 Limit switch / Direction input in clock/direction mode no, 5 V single ended 4 Clock input in clock/direction mode no, 5 V single ended 5 no no, 5 V single ended The limit switches are described in chapter Tolerance bands of the limit switches. Object entries The following object dictionary settings can be used to manipulate the value of an input, in which case only the bit that corresponds to that input will have an effect: 3240h:01h This bit is used to switch the special functions of an input on (value "0") or off (value "1"). If input 1 is not to be used as a negative limit switch, for example, the special function must be switched off so that the signal encoder is not erroneously responded to. The object has no effects on bits 16 to 31. The firmware evaluates the following bits during a reference run (homing method): Bit 0: negative limit switch Bit 1: positive limit switch Bit 2: reference switch 3240h:02h This bit changes from closer logic (a logical high level at the input yields the value of "1" in object 60FDh) to opener logic (the logical high level at the input yields the value of "0"). This applies to the special functions (except the clock and directional inputs) and for the normal input. The input is set as closer logic if the corresponding bit is "0", it is set to opener logic with the value "1" respectively. 3240h:03h This bit switches on software simulation of the input values when it is set to "1". In this case, the actual values are no longer used; the values set in object 3240h:04h for the respective input are used instead. 3240h:04h This bit specifies the value to be read in as the input value if the same bit was set in object 3240h:03h. 3240h:05h This object contains the unmodified input value. Computation of the inputs Computation of the input using input 1 as an example: The value of bit 0 of object 60FDh is interpreted by the firmware as a negative limitation switch, and the result of the complete computation is stored in bit 16. Input Routing Principle In order to deal with a more flexible input assignment there is a mode called "Input Routing Mode". This mode assigns a signal from a source to a bit in the object 60FDh. Activation This mode is activated by setting the object 3240h:08h (Routing Enable) to "1". Note The entries 3240h:01h to 3240:04h will have no function anymore until the output routing is switched off again. Note With activating the input routing the values in the object 3242h get changed. These values corresponds to the function of the inputs without the input routing. The controller's inputs are behaving identically with activating the input routing. Therefore you should not switch between normal mode and input routing back and forth. Routing The object 3242h determines, which signal source will get routed to which bit in 60FDh. The sub-index 01h of 3242h determines bit 0, sub-index 02h bit 1, and so on. The signal sources and their numbers are listed in the following tables Number dec hex Signal source 00 00 Signal is always "0" 01 01 Physical input 1 02 02 Physical input 2 03 03 Physical input 3 04 04 Physical input 4 05 05 Physical input 5 06 06 Physical input 6 07 07 Physical input 7 08 08 Physical input 8 09 09 Physical input 9 10 0A Physical input 10 11 0B Physical input 11 12 0C Physical input 12 13 0D Physical input 13 14 0E Physical input 14 15 0F Physical input 15 16 10 Physical input 16 65 41 Hall input "U" 66 42 Hall input "V" 67 43 Hall input "W" 68 44 Encoder input "A" 69 45 Encoder input "B" 70 46 Encoder input "Index" 71 47 USB power signal 72 48 Status ethernet active 73 49 DIP switch 1 74 4A DIP switch 2 75 4B DIP switch 3 76 4C DIP switch 4 77 4D DIP switch 5 78 4E DIP switch 6 79 4F DIP switch 7 80 50 DIP switch 8 The following table describes the inverted signals from the previous table. Number dec hex Signal source 128 80 Signal is always "1" 129 81 Inverted physical input 1 130 82 Inverted physical input 2 131 83 Inverted physical input 3 132 84 Inverted physical input 4 133 85 Inverted physical input 5 134 86 Inverted physical input 6 135 87 Inverted physical input 7 136 88 Inverted physical input 8 137 89 Inverted physical input 9 138 8A Inverted physical input 10 139 8B Inverted physical input 11 140 8C Inverted physical input 12 141 8D Inverted physical input 13 142 8E Inverted physical input 14 143 8F Inverted physical input 15 144 90 Inverted physical input 16 193 C1 Inverted hall input "U" 194 C2 Inverted hall input "V" 195 C3 Inverted hall input "W" 196 C4 Inverted encoder input "A" 197 C5 Inverted encoder input "B" 198 C6 Inverted encoder input "Index" 199 C7 Inverted USB power signal 200 C8 Inverted status "Ethernet active" 201 C9 Inverted DIP switch 1 202 CA Inverted DIP switch 2 203 CB Inverted DIP switch 3 204 CC Inverted DIP switch 4 205 CD Inverted DIP switch 5 206 CE Inverted DIP switch 6 207 CF Inverted DIP switch 7 208 D0 Inverted DIP switch 8 Example The physical input 1 is designated to be route to bit 16 of the object 60FDh: The number of the signal source of the physical input 1 is the value "1". The routing for bit 16 will be written in the object 3242h:11h. Therefore the object 3242h:11h needs to be set to the value "1". Digital outputs Outputs The outputs are controlled using object 60FEh. Output 1 corresponds to bit 16 in object 60FEh, output 2 corresponds to bit 17, etc., as with the inputs. The outputs with special functions are again entered in the firmware in the lower bits 0 to 15. Currently only bit 0 is assigned that controls the motor brake. Circuits CAUTION Take notice of the maximum load of the output (see therefore the chapter "Electrical properties"). The outputs are realized as "Open Drain". Therefore a external supply voltage is needed. Example the output signal is supposed to get used further on. For that purpose a circuit like to one shown in the following image is necessary. At a supply voltage of +24 V a resistor value of Rextern of 10 kΩ recommended. Example A simple appliance is supposed to get used with the digital output. Object entries Additional object dictionary entries exist for manipulating the value of the outputs (see the following example for details). Similar to the inputs, only the bit at the corresponding position always has an effect on the respective output: 3250h:02h This can be used to change the logic from "closer" to "opener". When configured as a "closer", the outputs a logical high level if the bit is "1". When configured as an "opener", the outputs a logical low level if there is a "1" in object 60FEh. 3250h:03h If a bit is set in 3250h, the output is manually controlled. The value for the output is then contained in object 3250h:04h , which is also possible for the brake output. 3250h:04h The bits in this object specify the output value that is to be applied to the output when the manual control of the output is activated by object 3250h:03h. 3250h:05h This object does not have any function and is included for compatibility reasons. Computation of the outputs Example of the computation of the bits for the outputs: Output Routing Principle The "Output Routing Mode" assigns an output to a signal source, a "control bit" in object 60FEh:01 switches the signal on or off. The selection of the source is done with 3250h:01 to 05 high byte. The "control bit" is selected with 3250h:01 to 05 low byte (see following figure). Activation This mode is activated by setting the object 3250h:08h (Routing Enable) to "1". Note The entries 3250h:01h to 3250:04h will have no function anymore until the output routing is switched off again. Routing The sub-index of object 3252h determines, which signal source will get routed to which output. The assignment of sub-index to output pins are listed below: Sub-index 3252h Output Pin 01h Configuration of brake output (if available) 02h Configuration of output 1 03h Configuration of output 2 (if available) 04h Configuration of output 3 (if available) 05h Configuration of output 4 (if available) Note The maximum output frequency of brake output, output 1 and output 2 is 10kHz. All other output pins can only generate up to 500Hz signals. These subentries 3252h:01h to 05h are 16 bit entries, whereat the high byte (bit 15 to bit 8) indicates the signal source (e.g. the pwm generator) and the low byte (bit 7 to bit 0) determines the control bit in 60FEh:01. Bit 7 inverts the control bit taken from 60FEh:01. Normally the value "1" 60FEh:01 switches the signal "on", bit with bit 7 set, the value "0" switches the signal on. Number in 3252:01 to 05 00XXh Output is always "1" 01XXh Output is always "0" 02XXh Encoder signal with frequency divider 1 03XXh Encoder signal with frequency divider 2 04XXh Encoder signal with frequency divider 4 05XXh Encoder signal with frequency divider 8 06XXh Encoder signal with frequency divider 16 07XXh Encoder signal with frequency divider 32 08XXh Encoder signal with frequency divider 64 09XXh Position Actual Value (6064h) with frequency divider 1 0AXXh Position Actual Value (6064h) with frequency divider 2 0BXXh Position Actual Value (6064h) with frequency divider 4 0CXXh Position Actual Value (6064h) with frequency divider 8 0DXXh Position Actual Value (6064h) with frequency divider 16 0EXXh Position Actual Value (6064h) with frequency divider 32 0FXXh Position Actual Value (6064h) with frequency divider 64 10XXh brake pwm signal, which is configured with 2038h:05h and 06h 11XXh inverted brake pwm signal, which is configured with 2038h:05h and 06h Example The encoder output signal will get routed to output 1 with a frequency divider of "4". The output will get controlled by bit 5 of the object 60FE:01. 3250h:08h = 1 (switch on routing) 3252h:02h = 0405h (04XXh + 0005h). The following apply: 04XXh: Encoder signal with frequency divider 4 0005h: Selection of bit 5 of the object 60FEh:01 Switching on the output is done with setting the object 60FE:01 to the value "20h". Example The brake pwm signal will get routed to output 2. The automated brake control is using the bit 0 of 60FE:01, therefore this bit will be the control bit of the object 60FE:01 3250h:08h = 1 (switch on routing) 3252h:03h = 01080h (01XXh + 0080h). The following apply: 01XXh: Brake pwm signal 0080h: Selection of the inverted bit 0 of the object 60FE:01
Digital inputs and outputs The motor controller has digital inputs and outputs. Bit assignment The software in the controller assigns to bits to every output and input: The first bit corresponds to a special function of an input or output. These functions are always accessible at bit 0 to bit 15 inclusive. This includes limit switches and clock/direction inputs for the inputs and the brake control for the outputs. The output and the input as a level, these are accessible at bit 16 to 31. Example Bit 16 has to be used always to manipulate the value of output 1. To manipulate the special function "negative limit switch" the bit 0 has to be used. The assignment is displayed once more in the following image. Digital inputs Bit assignment The software in the controller assigns to bits to every output and input: The first bit corresponds to a special function of an input or output. These functions are always accessible at bit 0 to bit 15 inclusive. This includes limit switches and clock/direction inputs for the inputs and the brake control for the outputs. The output and the input as a level, these are accessible at bit 16 to 31. Example Bit 16 has to be used always to manipulate the value of output 1. To manipulate the special function "negative limit switch" the bit 0 has to be used. The assignment is displayed once more in the following image. Overview Note The digital inputs are sampled only once a millisecond. Changes in the input signal shorter than one millisecond cannot be processed. The following inputs are available: Input Special Function Signal threshold switchable Differential / single ended 1 Negative limit switch no, 5 V single ended 2 Positive limit switch no, 5 V single ended 3 Limit switch / Direction input in clock/direction mode no, 5 V single ended 4 Clock input in clock/direction mode no, 5 V single ended 5 no no, 5 V single ended The limit switches are described in chapter Tolerance bands of the limit switches. Object entries The following object dictionary settings can be used to manipulate the value of an input, in which case only the bit that corresponds to that input will have an effect: 3240h:01h This bit is used to switch the special functions of an input on (value "0") or off (value "1"). If input 1 is not to be used as a negative limit switch, for example, the special function must be switched off so that the signal encoder is not erroneously responded to. The object has no effects on bits 16 to 31. The firmware evaluates the following bits during a reference run (homing method): Bit 0: negative limit switch Bit 1: positive limit switch Bit 2: reference switch 3240h:02h This bit changes from closer logic (a logical high level at the input yields the value of "1" in object 60FDh) to opener logic (the logical high level at the input yields the value of "0"). This applies to the special functions (except the clock and directional inputs) and for the normal input. The input is set as closer logic if the corresponding bit is "0", it is set to opener logic with the value "1" respectively. 3240h:03h This bit switches on software simulation of the input values when it is set to "1". In this case, the actual values are no longer used; the values set in object 3240h:04h for the respective input are used instead. 3240h:04h This bit specifies the value to be read in as the input value if the same bit was set in object 3240h:03h. 3240h:05h This object contains the unmodified input value. Computation of the inputs Computation of the input using input 1 as an example: The value of bit 0 of object 60FDh is interpreted by the firmware as a negative limitation switch, and the result of the complete computation is stored in bit 16. Input Routing Principle In order to deal with a more flexible input assignment there is a mode called "Input Routing Mode". This mode assigns a signal from a source to a bit in the object 60FDh. Activation This mode is activated by setting the object 3240h:08h (Routing Enable) to "1". Note The entries 3240h:01h to 3240:04h will have no function anymore until the output routing is switched off again. Note With activating the input routing the values in the object 3242h get changed. These values corresponds to the function of the inputs without the input routing. The controller's inputs are behaving identically with activating the input routing. Therefore you should not switch between normal mode and input routing back and forth. Routing The object 3242h determines, which signal source will get routed to which bit in 60FDh. The sub-index 01h of 3242h determines bit 0, sub-index 02h bit 1, and so on. The signal sources and their numbers are listed in the following tables Number dec hex Signal source 00 00 Signal is always "0" 01 01 Physical input 1 02 02 Physical input 2 03 03 Physical input 3 04 04 Physical input 4 05 05 Physical input 5 06 06 Physical input 6 07 07 Physical input 7 08 08 Physical input 8 09 09 Physical input 9 10 0A Physical input 10 11 0B Physical input 11 12 0C Physical input 12 13 0D Physical input 13 14 0E Physical input 14 15 0F Physical input 15 16 10 Physical input 16 65 41 Hall input "U" 66 42 Hall input "V" 67 43 Hall input "W" 68 44 Encoder input "A" 69 45 Encoder input "B" 70 46 Encoder input "Index" 71 47 USB power signal 72 48 Status ethernet active 73 49 DIP switch 1 74 4A DIP switch 2 75 4B DIP switch 3 76 4C DIP switch 4 77 4D DIP switch 5 78 4E DIP switch 6 79 4F DIP switch 7 80 50 DIP switch 8 The following table describes the inverted signals from the previous table. Number dec hex Signal source 128 80 Signal is always "1" 129 81 Inverted physical input 1 130 82 Inverted physical input 2 131 83 Inverted physical input 3 132 84 Inverted physical input 4 133 85 Inverted physical input 5 134 86 Inverted physical input 6 135 87 Inverted physical input 7 136 88 Inverted physical input 8 137 89 Inverted physical input 9 138 8A Inverted physical input 10 139 8B Inverted physical input 11 140 8C Inverted physical input 12 141 8D Inverted physical input 13 142 8E Inverted physical input 14 143 8F Inverted physical input 15 144 90 Inverted physical input 16 193 C1 Inverted hall input "U" 194 C2 Inverted hall input "V" 195 C3 Inverted hall input "W" 196 C4 Inverted encoder input "A" 197 C5 Inverted encoder input "B" 198 C6 Inverted encoder input "Index" 199 C7 Inverted USB power signal 200 C8 Inverted status "Ethernet active" 201 C9 Inverted DIP switch 1 202 CA Inverted DIP switch 2 203 CB Inverted DIP switch 3 204 CC Inverted DIP switch 4 205 CD Inverted DIP switch 5 206 CE Inverted DIP switch 6 207 CF Inverted DIP switch 7 208 D0 Inverted DIP switch 8 Example The physical input 1 is designated to be route to bit 16 of the object 60FDh: The number of the signal source of the physical input 1 is the value "1". The routing for bit 16 will be written in the object 3242h:11h. Therefore the object 3242h:11h needs to be set to the value "1". Digital outputs Outputs The outputs are controlled using object 60FEh. Output 1 corresponds to bit 16 in object 60FEh, output 2 corresponds to bit 17, etc., as with the inputs. The outputs with special functions are again entered in the firmware in the lower bits 0 to 15. Currently only bit 0 is assigned that controls the motor brake. Circuits CAUTION Take notice of the maximum load of the output (see therefore the chapter "Electrical properties"). The outputs are realized as "Open Drain". Therefore a external supply voltage is needed. Example the output signal is supposed to get used further on. For that purpose a circuit like to one shown in the following image is necessary. At a supply voltage of +24 V a resistor value of Rextern of 10 kΩ recommended. Example A simple appliance is supposed to get used with the digital output. Object entries Additional object dictionary entries exist for manipulating the value of the outputs (see the following example for details). Similar to the inputs, only the bit at the corresponding position always has an effect on the respective output: 3250h:02h This can be used to change the logic from "closer" to "opener". When configured as a "closer", the outputs a logical high level if the bit is "1". When configured as an "opener", the outputs a logical low level if there is a "1" in object 60FEh. 3250h:03h If a bit is set in 3250h, the output is manually controlled. The value for the output is then contained in object 3250h:04h , which is also possible for the brake output. 3250h:04h The bits in this object specify the output value that is to be applied to the output when the manual control of the output is activated by object 3250h:03h. 3250h:05h This object does not have any function and is included for compatibility reasons. Computation of the outputs Example of the computation of the bits for the outputs: Output Routing Principle The "Output Routing Mode" assigns an output to a signal source, a "control bit" in object 60FEh:01 switches the signal on or off. The selection of the source is done with 3250h:01 to 05 high byte. The "control bit" is selected with 3250h:01 to 05 low byte (see following figure). Activation This mode is activated by setting the object 3250h:08h (Routing Enable) to "1". Note The entries 3250h:01h to 3250:04h will have no function anymore until the output routing is switched off again. Routing The sub-index of object 3252h determines, which signal source will get routed to which output. The assignment of sub-index to output pins are listed below: Sub-index 3252h Output Pin 01h Configuration of brake output (if available) 02h Configuration of output 1 03h Configuration of output 2 (if available) 04h Configuration of output 3 (if available) 05h Configuration of output 4 (if available) Note The maximum output frequency of brake output, output 1 and output 2 is 10kHz. All other output pins can only generate up to 500Hz signals. These subentries 3252h:01h to 05h are 16 bit entries, whereat the high byte (bit 15 to bit 8) indicates the signal source (e.g. the pwm generator) and the low byte (bit 7 to bit 0) determines the control bit in 60FEh:01. Bit 7 inverts the control bit taken from 60FEh:01. Normally the value "1" 60FEh:01 switches the signal "on", bit with bit 7 set, the value "0" switches the signal on. Number in 3252:01 to 05 00XXh Output is always "1" 01XXh Output is always "0" 02XXh Encoder signal with frequency divider 1 03XXh Encoder signal with frequency divider 2 04XXh Encoder signal with frequency divider 4 05XXh Encoder signal with frequency divider 8 06XXh Encoder signal with frequency divider 16 07XXh Encoder signal with frequency divider 32 08XXh Encoder signal with frequency divider 64 09XXh Position Actual Value (6064h) with frequency divider 1 0AXXh Position Actual Value (6064h) with frequency divider 2 0BXXh Position Actual Value (6064h) with frequency divider 4 0CXXh Position Actual Value (6064h) with frequency divider 8 0DXXh Position Actual Value (6064h) with frequency divider 16 0EXXh Position Actual Value (6064h) with frequency divider 32 0FXXh Position Actual Value (6064h) with frequency divider 64 10XXh brake pwm signal, which is configured with 2038h:05h and 06h 11XXh inverted brake pwm signal, which is configured with 2038h:05h and 06h Example The encoder output signal will get routed to output 1 with a frequency divider of "4". The output will get controlled by bit 5 of the object 60FE:01. 3250h:08h = 1 (switch on routing) 3252h:02h = 0405h (04XXh + 0005h). The following apply: 04XXh: Encoder signal with frequency divider 4 0005h: Selection of bit 5 of the object 60FEh:01 Switching on the output is done with setting the object 60FE:01 to the value "20h". Example The brake pwm signal will get routed to output 2. The automated brake control is using the bit 0 of 60FE:01, therefore this bit will be the control bit of the object 60FE:01 3250h:08h = 1 (switch on routing) 3252h:03h = 01080h (01XXh + 0080h). The following apply: 01XXh: Brake pwm signal 0080h: Selection of the inverted bit 0 of the object 60FE:01
Bit assignment The software in the controller assigns to bits to every output and input: The first bit corresponds to a special function of an input or output. These functions are always accessible at bit 0 to bit 15 inclusive. This includes limit switches and clock/direction inputs for the inputs and the brake control for the outputs. The output and the input as a level, these are accessible at bit 16 to 31. Example Bit 16 has to be used always to manipulate the value of output 1. To manipulate the special function "negative limit switch" the bit 0 has to be used. The assignment is displayed once more in the following image.
Digital inputs Bit assignment The software in the controller assigns to bits to every output and input: The first bit corresponds to a special function of an input or output. These functions are always accessible at bit 0 to bit 15 inclusive. This includes limit switches and clock/direction inputs for the inputs and the brake control for the outputs. The output and the input as a level, these are accessible at bit 16 to 31. Example Bit 16 has to be used always to manipulate the value of output 1. To manipulate the special function "negative limit switch" the bit 0 has to be used. The assignment is displayed once more in the following image. Overview Note The digital inputs are sampled only once a millisecond. Changes in the input signal shorter than one millisecond cannot be processed. The following inputs are available: Input Special Function Signal threshold switchable Differential / single ended 1 Negative limit switch no, 5 V single ended 2 Positive limit switch no, 5 V single ended 3 Limit switch / Direction input in clock/direction mode no, 5 V single ended 4 Clock input in clock/direction mode no, 5 V single ended 5 no no, 5 V single ended The limit switches are described in chapter Tolerance bands of the limit switches. Object entries The following object dictionary settings can be used to manipulate the value of an input, in which case only the bit that corresponds to that input will have an effect: 3240h:01h This bit is used to switch the special functions of an input on (value "0") or off (value "1"). If input 1 is not to be used as a negative limit switch, for example, the special function must be switched off so that the signal encoder is not erroneously responded to. The object has no effects on bits 16 to 31. The firmware evaluates the following bits during a reference run (homing method): Bit 0: negative limit switch Bit 1: positive limit switch Bit 2: reference switch 3240h:02h This bit changes from closer logic (a logical high level at the input yields the value of "1" in object 60FDh) to opener logic (the logical high level at the input yields the value of "0"). This applies to the special functions (except the clock and directional inputs) and for the normal input. The input is set as closer logic if the corresponding bit is "0", it is set to opener logic with the value "1" respectively. 3240h:03h This bit switches on software simulation of the input values when it is set to "1". In this case, the actual values are no longer used; the values set in object 3240h:04h for the respective input are used instead. 3240h:04h This bit specifies the value to be read in as the input value if the same bit was set in object 3240h:03h. 3240h:05h This object contains the unmodified input value. Computation of the inputs Computation of the input using input 1 as an example: The value of bit 0 of object 60FDh is interpreted by the firmware as a negative limitation switch, and the result of the complete computation is stored in bit 16. Input Routing Principle In order to deal with a more flexible input assignment there is a mode called "Input Routing Mode". This mode assigns a signal from a source to a bit in the object 60FDh. Activation This mode is activated by setting the object 3240h:08h (Routing Enable) to "1". Note The entries 3240h:01h to 3240:04h will have no function anymore until the output routing is switched off again. Note With activating the input routing the values in the object 3242h get changed. These values corresponds to the function of the inputs without the input routing. The controller's inputs are behaving identically with activating the input routing. Therefore you should not switch between normal mode and input routing back and forth. Routing The object 3242h determines, which signal source will get routed to which bit in 60FDh. The sub-index 01h of 3242h determines bit 0, sub-index 02h bit 1, and so on. The signal sources and their numbers are listed in the following tables Number dec hex Signal source 00 00 Signal is always "0" 01 01 Physical input 1 02 02 Physical input 2 03 03 Physical input 3 04 04 Physical input 4 05 05 Physical input 5 06 06 Physical input 6 07 07 Physical input 7 08 08 Physical input 8 09 09 Physical input 9 10 0A Physical input 10 11 0B Physical input 11 12 0C Physical input 12 13 0D Physical input 13 14 0E Physical input 14 15 0F Physical input 15 16 10 Physical input 16 65 41 Hall input "U" 66 42 Hall input "V" 67 43 Hall input "W" 68 44 Encoder input "A" 69 45 Encoder input "B" 70 46 Encoder input "Index" 71 47 USB power signal 72 48 Status ethernet active 73 49 DIP switch 1 74 4A DIP switch 2 75 4B DIP switch 3 76 4C DIP switch 4 77 4D DIP switch 5 78 4E DIP switch 6 79 4F DIP switch 7 80 50 DIP switch 8 The following table describes the inverted signals from the previous table. Number dec hex Signal source 128 80 Signal is always "1" 129 81 Inverted physical input 1 130 82 Inverted physical input 2 131 83 Inverted physical input 3 132 84 Inverted physical input 4 133 85 Inverted physical input 5 134 86 Inverted physical input 6 135 87 Inverted physical input 7 136 88 Inverted physical input 8 137 89 Inverted physical input 9 138 8A Inverted physical input 10 139 8B Inverted physical input 11 140 8C Inverted physical input 12 141 8D Inverted physical input 13 142 8E Inverted physical input 14 143 8F Inverted physical input 15 144 90 Inverted physical input 16 193 C1 Inverted hall input "U" 194 C2 Inverted hall input "V" 195 C3 Inverted hall input "W" 196 C4 Inverted encoder input "A" 197 C5 Inverted encoder input "B" 198 C6 Inverted encoder input "Index" 199 C7 Inverted USB power signal 200 C8 Inverted status "Ethernet active" 201 C9 Inverted DIP switch 1 202 CA Inverted DIP switch 2 203 CB Inverted DIP switch 3 204 CC Inverted DIP switch 4 205 CD Inverted DIP switch 5 206 CE Inverted DIP switch 6 207 CF Inverted DIP switch 7 208 D0 Inverted DIP switch 8 Example The physical input 1 is designated to be route to bit 16 of the object 60FDh: The number of the signal source of the physical input 1 is the value "1". The routing for bit 16 will be written in the object 3242h:11h. Therefore the object 3242h:11h needs to be set to the value "1".
Bit assignment The software in the controller assigns to bits to every output and input: The first bit corresponds to a special function of an input or output. These functions are always accessible at bit 0 to bit 15 inclusive. This includes limit switches and clock/direction inputs for the inputs and the brake control for the outputs. The output and the input as a level, these are accessible at bit 16 to 31. Example Bit 16 has to be used always to manipulate the value of output 1. To manipulate the special function "negative limit switch" the bit 0 has to be used. The assignment is displayed once more in the following image.
Overview Note The digital inputs are sampled only once a millisecond. Changes in the input signal shorter than one millisecond cannot be processed. The following inputs are available: Input Special Function Signal threshold switchable Differential / single ended 1 Negative limit switch no, 5 V single ended 2 Positive limit switch no, 5 V single ended 3 Limit switch / Direction input in clock/direction mode no, 5 V single ended 4 Clock input in clock/direction mode no, 5 V single ended 5 no no, 5 V single ended The limit switches are described in chapter Tolerance bands of the limit switches.
Object entries The following object dictionary settings can be used to manipulate the value of an input, in which case only the bit that corresponds to that input will have an effect: 3240h:01h This bit is used to switch the special functions of an input on (value "0") or off (value "1"). If input 1 is not to be used as a negative limit switch, for example, the special function must be switched off so that the signal encoder is not erroneously responded to. The object has no effects on bits 16 to 31. The firmware evaluates the following bits during a reference run (homing method): Bit 0: negative limit switch Bit 1: positive limit switch Bit 2: reference switch 3240h:02h This bit changes from closer logic (a logical high level at the input yields the value of "1" in object 60FDh) to opener logic (the logical high level at the input yields the value of "0"). This applies to the special functions (except the clock and directional inputs) and for the normal input. The input is set as closer logic if the corresponding bit is "0", it is set to opener logic with the value "1" respectively. 3240h:03h This bit switches on software simulation of the input values when it is set to "1". In this case, the actual values are no longer used; the values set in object 3240h:04h for the respective input are used instead. 3240h:04h This bit specifies the value to be read in as the input value if the same bit was set in object 3240h:03h. 3240h:05h This object contains the unmodified input value.
Computation of the inputs Computation of the input using input 1 as an example: The value of bit 0 of object 60FDh is interpreted by the firmware as a negative limitation switch, and the result of the complete computation is stored in bit 16.
Input Routing Principle In order to deal with a more flexible input assignment there is a mode called "Input Routing Mode". This mode assigns a signal from a source to a bit in the object 60FDh. Activation This mode is activated by setting the object 3240h:08h (Routing Enable) to "1". Note The entries 3240h:01h to 3240:04h will have no function anymore until the output routing is switched off again. Note With activating the input routing the values in the object 3242h get changed. These values corresponds to the function of the inputs without the input routing. The controller's inputs are behaving identically with activating the input routing. Therefore you should not switch between normal mode and input routing back and forth. Routing The object 3242h determines, which signal source will get routed to which bit in 60FDh. The sub-index 01h of 3242h determines bit 0, sub-index 02h bit 1, and so on. The signal sources and their numbers are listed in the following tables Number dec hex Signal source 00 00 Signal is always "0" 01 01 Physical input 1 02 02 Physical input 2 03 03 Physical input 3 04 04 Physical input 4 05 05 Physical input 5 06 06 Physical input 6 07 07 Physical input 7 08 08 Physical input 8 09 09 Physical input 9 10 0A Physical input 10 11 0B Physical input 11 12 0C Physical input 12 13 0D Physical input 13 14 0E Physical input 14 15 0F Physical input 15 16 10 Physical input 16 65 41 Hall input "U" 66 42 Hall input "V" 67 43 Hall input "W" 68 44 Encoder input "A" 69 45 Encoder input "B" 70 46 Encoder input "Index" 71 47 USB power signal 72 48 Status ethernet active 73 49 DIP switch 1 74 4A DIP switch 2 75 4B DIP switch 3 76 4C DIP switch 4 77 4D DIP switch 5 78 4E DIP switch 6 79 4F DIP switch 7 80 50 DIP switch 8 The following table describes the inverted signals from the previous table. Number dec hex Signal source 128 80 Signal is always "1" 129 81 Inverted physical input 1 130 82 Inverted physical input 2 131 83 Inverted physical input 3 132 84 Inverted physical input 4 133 85 Inverted physical input 5 134 86 Inverted physical input 6 135 87 Inverted physical input 7 136 88 Inverted physical input 8 137 89 Inverted physical input 9 138 8A Inverted physical input 10 139 8B Inverted physical input 11 140 8C Inverted physical input 12 141 8D Inverted physical input 13 142 8E Inverted physical input 14 143 8F Inverted physical input 15 144 90 Inverted physical input 16 193 C1 Inverted hall input "U" 194 C2 Inverted hall input "V" 195 C3 Inverted hall input "W" 196 C4 Inverted encoder input "A" 197 C5 Inverted encoder input "B" 198 C6 Inverted encoder input "Index" 199 C7 Inverted USB power signal 200 C8 Inverted status "Ethernet active" 201 C9 Inverted DIP switch 1 202 CA Inverted DIP switch 2 203 CB Inverted DIP switch 3 204 CC Inverted DIP switch 4 205 CD Inverted DIP switch 5 206 CE Inverted DIP switch 6 207 CF Inverted DIP switch 7 208 D0 Inverted DIP switch 8 Example The physical input 1 is designated to be route to bit 16 of the object 60FDh: The number of the signal source of the physical input 1 is the value "1". The routing for bit 16 will be written in the object 3242h:11h. Therefore the object 3242h:11h needs to be set to the value "1".
Principle In order to deal with a more flexible input assignment there is a mode called "Input Routing Mode". This mode assigns a signal from a source to a bit in the object 60FDh.
Activation This mode is activated by setting the object 3240h:08h (Routing Enable) to "1". Note The entries 3240h:01h to 3240:04h will have no function anymore until the output routing is switched off again. Note With activating the input routing the values in the object 3242h get changed. These values corresponds to the function of the inputs without the input routing. The controller's inputs are behaving identically with activating the input routing. Therefore you should not switch between normal mode and input routing back and forth.
Routing The object 3242h determines, which signal source will get routed to which bit in 60FDh. The sub-index 01h of 3242h determines bit 0, sub-index 02h bit 1, and so on. The signal sources and their numbers are listed in the following tables Number dec hex Signal source 00 00 Signal is always "0" 01 01 Physical input 1 02 02 Physical input 2 03 03 Physical input 3 04 04 Physical input 4 05 05 Physical input 5 06 06 Physical input 6 07 07 Physical input 7 08 08 Physical input 8 09 09 Physical input 9 10 0A Physical input 10 11 0B Physical input 11 12 0C Physical input 12 13 0D Physical input 13 14 0E Physical input 14 15 0F Physical input 15 16 10 Physical input 16 65 41 Hall input "U" 66 42 Hall input "V" 67 43 Hall input "W" 68 44 Encoder input "A" 69 45 Encoder input "B" 70 46 Encoder input "Index" 71 47 USB power signal 72 48 Status ethernet active 73 49 DIP switch 1 74 4A DIP switch 2 75 4B DIP switch 3 76 4C DIP switch 4 77 4D DIP switch 5 78 4E DIP switch 6 79 4F DIP switch 7 80 50 DIP switch 8 The following table describes the inverted signals from the previous table. Number dec hex Signal source 128 80 Signal is always "1" 129 81 Inverted physical input 1 130 82 Inverted physical input 2 131 83 Inverted physical input 3 132 84 Inverted physical input 4 133 85 Inverted physical input 5 134 86 Inverted physical input 6 135 87 Inverted physical input 7 136 88 Inverted physical input 8 137 89 Inverted physical input 9 138 8A Inverted physical input 10 139 8B Inverted physical input 11 140 8C Inverted physical input 12 141 8D Inverted physical input 13 142 8E Inverted physical input 14 143 8F Inverted physical input 15 144 90 Inverted physical input 16 193 C1 Inverted hall input "U" 194 C2 Inverted hall input "V" 195 C3 Inverted hall input "W" 196 C4 Inverted encoder input "A" 197 C5 Inverted encoder input "B" 198 C6 Inverted encoder input "Index" 199 C7 Inverted USB power signal 200 C8 Inverted status "Ethernet active" 201 C9 Inverted DIP switch 1 202 CA Inverted DIP switch 2 203 CB Inverted DIP switch 3 204 CC Inverted DIP switch 4 205 CD Inverted DIP switch 5 206 CE Inverted DIP switch 6 207 CF Inverted DIP switch 7 208 D0 Inverted DIP switch 8 Example The physical input 1 is designated to be route to bit 16 of the object 60FDh: The number of the signal source of the physical input 1 is the value "1". The routing for bit 16 will be written in the object 3242h:11h. Therefore the object 3242h:11h needs to be set to the value "1".
Digital outputs Outputs The outputs are controlled using object 60FEh. Output 1 corresponds to bit 16 in object 60FEh, output 2 corresponds to bit 17, etc., as with the inputs. The outputs with special functions are again entered in the firmware in the lower bits 0 to 15. Currently only bit 0 is assigned that controls the motor brake. Circuits CAUTION Take notice of the maximum load of the output (see therefore the chapter "Electrical properties"). The outputs are realized as "Open Drain". Therefore a external supply voltage is needed. Example the output signal is supposed to get used further on. For that purpose a circuit like to one shown in the following image is necessary. At a supply voltage of +24 V a resistor value of Rextern of 10 kΩ recommended. Example A simple appliance is supposed to get used with the digital output. Object entries Additional object dictionary entries exist for manipulating the value of the outputs (see the following example for details). Similar to the inputs, only the bit at the corresponding position always has an effect on the respective output: 3250h:02h This can be used to change the logic from "closer" to "opener". When configured as a "closer", the outputs a logical high level if the bit is "1". When configured as an "opener", the outputs a logical low level if there is a "1" in object 60FEh. 3250h:03h If a bit is set in 3250h, the output is manually controlled. The value for the output is then contained in object 3250h:04h , which is also possible for the brake output. 3250h:04h The bits in this object specify the output value that is to be applied to the output when the manual control of the output is activated by object 3250h:03h. 3250h:05h This object does not have any function and is included for compatibility reasons. Computation of the outputs Example of the computation of the bits for the outputs: Output Routing Principle The "Output Routing Mode" assigns an output to a signal source, a "control bit" in object 60FEh:01 switches the signal on or off. The selection of the source is done with 3250h:01 to 05 high byte. The "control bit" is selected with 3250h:01 to 05 low byte (see following figure). Activation This mode is activated by setting the object 3250h:08h (Routing Enable) to "1". Note The entries 3250h:01h to 3250:04h will have no function anymore until the output routing is switched off again. Routing The sub-index of object 3252h determines, which signal source will get routed to which output. The assignment of sub-index to output pins are listed below: Sub-index 3252h Output Pin 01h Configuration of brake output (if available) 02h Configuration of output 1 03h Configuration of output 2 (if available) 04h Configuration of output 3 (if available) 05h Configuration of output 4 (if available) Note The maximum output frequency of brake output, output 1 and output 2 is 10kHz. All other output pins can only generate up to 500Hz signals. These subentries 3252h:01h to 05h are 16 bit entries, whereat the high byte (bit 15 to bit 8) indicates the signal source (e.g. the pwm generator) and the low byte (bit 7 to bit 0) determines the control bit in 60FEh:01. Bit 7 inverts the control bit taken from 60FEh:01. Normally the value "1" 60FEh:01 switches the signal "on", bit with bit 7 set, the value "0" switches the signal on. Number in 3252:01 to 05 00XXh Output is always "1" 01XXh Output is always "0" 02XXh Encoder signal with frequency divider 1 03XXh Encoder signal with frequency divider 2 04XXh Encoder signal with frequency divider 4 05XXh Encoder signal with frequency divider 8 06XXh Encoder signal with frequency divider 16 07XXh Encoder signal with frequency divider 32 08XXh Encoder signal with frequency divider 64 09XXh Position Actual Value (6064h) with frequency divider 1 0AXXh Position Actual Value (6064h) with frequency divider 2 0BXXh Position Actual Value (6064h) with frequency divider 4 0CXXh Position Actual Value (6064h) with frequency divider 8 0DXXh Position Actual Value (6064h) with frequency divider 16 0EXXh Position Actual Value (6064h) with frequency divider 32 0FXXh Position Actual Value (6064h) with frequency divider 64 10XXh brake pwm signal, which is configured with 2038h:05h and 06h 11XXh inverted brake pwm signal, which is configured with 2038h:05h and 06h Example The encoder output signal will get routed to output 1 with a frequency divider of "4". The output will get controlled by bit 5 of the object 60FE:01. 3250h:08h = 1 (switch on routing) 3252h:02h = 0405h (04XXh + 0005h). The following apply: 04XXh: Encoder signal with frequency divider 4 0005h: Selection of bit 5 of the object 60FEh:01 Switching on the output is done with setting the object 60FE:01 to the value "20h". Example The brake pwm signal will get routed to output 2. The automated brake control is using the bit 0 of 60FE:01, therefore this bit will be the control bit of the object 60FE:01 3250h:08h = 1 (switch on routing) 3252h:03h = 01080h (01XXh + 0080h). The following apply: 01XXh: Brake pwm signal 0080h: Selection of the inverted bit 0 of the object 60FE:01
Outputs The outputs are controlled using object 60FEh. Output 1 corresponds to bit 16 in object 60FEh, output 2 corresponds to bit 17, etc., as with the inputs. The outputs with special functions are again entered in the firmware in the lower bits 0 to 15. Currently only bit 0 is assigned that controls the motor brake.
Circuits CAUTION Take notice of the maximum load of the output (see therefore the chapter "Electrical properties"). The outputs are realized as "Open Drain". Therefore a external supply voltage is needed. Example the output signal is supposed to get used further on. For that purpose a circuit like to one shown in the following image is necessary. At a supply voltage of +24 V a resistor value of Rextern of 10 kΩ recommended. Example A simple appliance is supposed to get used with the digital output.
Object entries Additional object dictionary entries exist for manipulating the value of the outputs (see the following example for details). Similar to the inputs, only the bit at the corresponding position always has an effect on the respective output: 3250h:02h This can be used to change the logic from "closer" to "opener". When configured as a "closer", the outputs a logical high level if the bit is "1". When configured as an "opener", the outputs a logical low level if there is a "1" in object 60FEh. 3250h:03h If a bit is set in 3250h, the output is manually controlled. The value for the output is then contained in object 3250h:04h , which is also possible for the brake output. 3250h:04h The bits in this object specify the output value that is to be applied to the output when the manual control of the output is activated by object 3250h:03h. 3250h:05h This object does not have any function and is included for compatibility reasons. Computation of the outputs Example of the computation of the bits for the outputs:
Output Routing Principle The "Output Routing Mode" assigns an output to a signal source, a "control bit" in object 60FEh:01 switches the signal on or off. The selection of the source is done with 3250h:01 to 05 high byte. The "control bit" is selected with 3250h:01 to 05 low byte (see following figure). Activation This mode is activated by setting the object 3250h:08h (Routing Enable) to "1". Note The entries 3250h:01h to 3250:04h will have no function anymore until the output routing is switched off again. Routing The sub-index of object 3252h determines, which signal source will get routed to which output. The assignment of sub-index to output pins are listed below: Sub-index 3252h Output Pin 01h Configuration of brake output (if available) 02h Configuration of output 1 03h Configuration of output 2 (if available) 04h Configuration of output 3 (if available) 05h Configuration of output 4 (if available) Note The maximum output frequency of brake output, output 1 and output 2 is 10kHz. All other output pins can only generate up to 500Hz signals. These subentries 3252h:01h to 05h are 16 bit entries, whereat the high byte (bit 15 to bit 8) indicates the signal source (e.g. the pwm generator) and the low byte (bit 7 to bit 0) determines the control bit in 60FEh:01. Bit 7 inverts the control bit taken from 60FEh:01. Normally the value "1" 60FEh:01 switches the signal "on", bit with bit 7 set, the value "0" switches the signal on. Number in 3252:01 to 05 00XXh Output is always "1" 01XXh Output is always "0" 02XXh Encoder signal with frequency divider 1 03XXh Encoder signal with frequency divider 2 04XXh Encoder signal with frequency divider 4 05XXh Encoder signal with frequency divider 8 06XXh Encoder signal with frequency divider 16 07XXh Encoder signal with frequency divider 32 08XXh Encoder signal with frequency divider 64 09XXh Position Actual Value (6064h) with frequency divider 1 0AXXh Position Actual Value (6064h) with frequency divider 2 0BXXh Position Actual Value (6064h) with frequency divider 4 0CXXh Position Actual Value (6064h) with frequency divider 8 0DXXh Position Actual Value (6064h) with frequency divider 16 0EXXh Position Actual Value (6064h) with frequency divider 32 0FXXh Position Actual Value (6064h) with frequency divider 64 10XXh brake pwm signal, which is configured with 2038h:05h and 06h 11XXh inverted brake pwm signal, which is configured with 2038h:05h and 06h Example The encoder output signal will get routed to output 1 with a frequency divider of "4". The output will get controlled by bit 5 of the object 60FE:01. 3250h:08h = 1 (switch on routing) 3252h:02h = 0405h (04XXh + 0005h). The following apply: 04XXh: Encoder signal with frequency divider 4 0005h: Selection of bit 5 of the object 60FEh:01 Switching on the output is done with setting the object 60FE:01 to the value "20h". Example The brake pwm signal will get routed to output 2. The automated brake control is using the bit 0 of 60FE:01, therefore this bit will be the control bit of the object 60FE:01 3250h:08h = 1 (switch on routing) 3252h:03h = 01080h (01XXh + 0080h). The following apply: 01XXh: Brake pwm signal 0080h: Selection of the inverted bit 0 of the object 60FE:01
Principle The "Output Routing Mode" assigns an output to a signal source, a "control bit" in object 60FEh:01 switches the signal on or off. The selection of the source is done with 3250h:01 to 05 high byte. The "control bit" is selected with 3250h:01 to 05 low byte (see following figure).
Activation This mode is activated by setting the object 3250h:08h (Routing Enable) to "1". Note The entries 3250h:01h to 3250:04h will have no function anymore until the output routing is switched off again.
Routing The sub-index of object 3252h determines, which signal source will get routed to which output. The assignment of sub-index to output pins are listed below: Sub-index 3252h Output Pin 01h Configuration of brake output (if available) 02h Configuration of output 1 03h Configuration of output 2 (if available) 04h Configuration of output 3 (if available) 05h Configuration of output 4 (if available) Note The maximum output frequency of brake output, output 1 and output 2 is 10kHz. All other output pins can only generate up to 500Hz signals. These subentries 3252h:01h to 05h are 16 bit entries, whereat the high byte (bit 15 to bit 8) indicates the signal source (e.g. the pwm generator) and the low byte (bit 7 to bit 0) determines the control bit in 60FEh:01. Bit 7 inverts the control bit taken from 60FEh:01. Normally the value "1" 60FEh:01 switches the signal "on", bit with bit 7 set, the value "0" switches the signal on. Number in 3252:01 to 05 00XXh Output is always "1" 01XXh Output is always "0" 02XXh Encoder signal with frequency divider 1 03XXh Encoder signal with frequency divider 2 04XXh Encoder signal with frequency divider 4 05XXh Encoder signal with frequency divider 8 06XXh Encoder signal with frequency divider 16 07XXh Encoder signal with frequency divider 32 08XXh Encoder signal with frequency divider 64 09XXh Position Actual Value (6064h) with frequency divider 1 0AXXh Position Actual Value (6064h) with frequency divider 2 0BXXh Position Actual Value (6064h) with frequency divider 4 0CXXh Position Actual Value (6064h) with frequency divider 8 0DXXh Position Actual Value (6064h) with frequency divider 16 0EXXh Position Actual Value (6064h) with frequency divider 32 0FXXh Position Actual Value (6064h) with frequency divider 64 10XXh brake pwm signal, which is configured with 2038h:05h and 06h 11XXh inverted brake pwm signal, which is configured with 2038h:05h and 06h Example The encoder output signal will get routed to output 1 with a frequency divider of "4". The output will get controlled by bit 5 of the object 60FE:01. 3250h:08h = 1 (switch on routing) 3252h:02h = 0405h (04XXh + 0005h). The following apply: 04XXh: Encoder signal with frequency divider 4 0005h: Selection of bit 5 of the object 60FEh:01 Switching on the output is done with setting the object 60FE:01 to the value "20h". Example The brake pwm signal will get routed to output 2. The automated brake control is using the bit 0 of 60FE:01, therefore this bit will be the control bit of the object 60FE:01 3250h:08h = 1 (switch on routing) 3252h:03h = 01080h (01XXh + 0080h). The following apply: 01XXh: Brake pwm signal 0080h: Selection of the inverted bit 0 of the object 60FE:01
