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 |
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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 |
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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 |
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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 |
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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". |