CL3-E CANopen/USB Technical Manual: 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:

3240_h:01_h

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
3240_h:02_h

This bit changes from closer logic (a logical high level at the input yields the value of "1" in object 60FD_h) 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.
3240_h:03_h

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 3240_h:04_h for the respective input are used instead.
3240_h:04_h

This bit specifies the value to be read in as the input value if the same bit was set in object 3240_h:03_h.
3240_h:05_h

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 60FD_h 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 60FD_h.

Activation

This mode is activated by setting the object 3240_h:08_h (Routing Enable) to "1".

Note
The entries 3240_h:01_h to 3240:04_h will have no function anymore until the output routing is switched off again.

Note
With activating the input routing the values in the object 3242_h 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 3242_h determines, which signal source will get routed to which bit in 60FD_h. The sub-index 01_h of 3242_h determines bit 0, sub-index 02_h 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 60FD_h:

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 3242_h:11_h.

Therefore the object 3242_h:11_h needs to be set to the value "1".