Digital inputs
Overview
The following inputs are available:
Input | Special function | Switching threshold switchable | Differential / single-ended |
---|---|---|---|
1 | Negative limit switch/clock input in clock-direction mode | yes, 5 V or 24 V | single-ended |
2 | Positive limit switch / direction input in clock-direction mode | yes, 5 V or 24 V | single-ended |
3 | Home switch | yes, 5 V or 24 V | single-ended |
4 | None | yes, 5 V or 24 V | single-ended |
5 | None | yes, 5 V or 24 V | single-ended |
Object entries
The value of an input can be manipulated using the following OD settings, whereby only the corresponding bit acts on the input here.
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3240h:01h (Special Function Enable): This bit allows special functions of an input to be switched off (value "0") or on (value "1"). If input 1 is not used as, e. g., a negative limit switch, the special function must be switched off to prevent an erroneous response to the signal generator. The object has no effect on bits 16 to 31.
The firmware evaluates the following bits:
- Bit 0: Negative limit switch (see Limitation of the range of motion)
- Bit 1: Positive limit switch (see Limitation of the range of motion)
- Bit 2: Home switch (see Homing)
- Bit 3: Interlock (see interlock function)
If, for example, two limit switches and one home switch are used, bits 0–2 in 3240h:01h must be set to "1".
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3240h:02h (Function Inverted): This subindex switches from normally open logic (a logical high level at the input yields the value "1" in object 60FDh) to normally closed logic (the logical high level at the input yields the value "0").
This applies for the special functions (except for the clock and direction inputs) and for the normal inputs. If the bit has the value "0", normally open logic applies; for the value "1", normally closed logic applies. Bit 0 changes the logic of input 1, bit 1 changes the logic of input 2, etc.
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3240h:03h (Force Enable): This subindex switches on the software simulation of input values if the corresponding bit is set to "1".
In this case, the actual values are no longer used in object 3240h:04h, but rather the set values for the respective input. Bit 0 corresponds to input 1 here, bit 1 to input 2, etc.
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3240h:04h (Force Value): This bit specifies the value that is to be read as the input value if the same bit was set in object 3240h:03h.
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3240h:05h (Raw Value): This object contains the unmodified input value.
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3240h:06h (Input Range Select): This can be used to switch inputs – that are equipped with this function – from the switching threshold of 5 V (bit is "0") to the switching threshold of 24 V (bit is "1"). Bit 0 corresponds to input 1 here, bit 1 to input 2, etc.
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60FDh (Digital Inputs): This object contains a summary of the inputs and the special functions.
Computation of the inputs
Computation of the input signal using the example of input 1:
The value at bit 0 of object 60FDh is interpreted by the firmware as negative limit switch; the result of the complete computation is stored in bit 16.
Input Routing
Principle
To perform the assignment of the inputs more flexibly, there is a mode called Input Routing Mode. This assigns a signal of a source to a bit in object 60FDh.
Activation
This mode is activated by setting object 3240h:08h (Routing Enable) to "1" .
Routing
Object 3242h determines which signal source is routed to which bit of 60FDh. Subindex 01h of 3242h determines bit 0, subindex 02h determines bit 1, and so forth. The signal sources and their numbers can be found in the following lists.
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 |
The following table describes the inverted signals of 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 |
Example |
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Input 1 is to be routed to bit 16 of object 60FDh: The number of the signal source for input 1 is "1". The routing for bit 16 is written in 3242h:11h. Hence, object 3242h:11h must be set to the value "1". |
Interlock function
The interlock function is a release that you control via bit 3 in 60FDh. If this bit is set to "1", the motor can move. If the bit is set to "0", the controller switches to the error state and the action stored in 605Eh is executed.
To activate the interlock function, you must switch on the special function by setting bit 3 in 3240:01h to "1".
Use Input Routing to define which signal source is routed to bit 3 of 60FDh and is to control the interlock function.
Example |
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Input 4 is to be routed to bit 3 of object 60FDh to control the interlock function. A low level is to result in an error state.
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