Digital inputs and outputs
This product is equipped with digital inputs and outputs. You can find the exact number for the given product variant in chapter Pin assignment.
In 323Ah User Pin Settings, you configure the hardware as follows:
- Subindex 01h: Here, you define the level for the inputs/outputs:
- Value "0": 5 V
- Value "1": 24 V (inputs) or +Up (outputs)
Note: Use for the inputs a voltage that is smaller than the operating voltage +Up. - Subindex 02h: Here, you define the wiring for the digital inputs:
- Value "0" (Pull-Down): High level when 5/24 V at Pin.
- Value "1" (Pull-Up): High level without external voltage at Pin.
Digital inputs
Overview
Computation of the inputs
Object 60FDh (Digital Inputs) contains a summary of the inputs and the special functions. The current status of the inputs is likewise read out from object 324Ah Inputs (including Hall sensors and incremental encoders, if present).
The following table lists the value of the corresponding bit in the respective object for the inputs depending on the configuration in 323Ah User Pin Settings:
| Voltage at pin | Subindex 02 (Pull-Up Enable) |
Subindex 01 (Voltage Level Select) |
Bit value |
|---|---|---|---|
| n.c | 0 (Pull-Down) | X | 0 |
| GND | 0 (Pull-Down) | X | 0 |
| 5 V | 0 (Pull-Down) | 0 (5 ) | 1 |
| 5 V | 0 (Pull-Down) | 1 (24 ) | 0 |
| 24 V | 0 (Pull-Down) | 1 (24 ) | 1 |
| n.c. | 1 (Pull-Up) | X | 1 |
| GND | 1 (Pull-Up) | X | 0 |
| 5 V | 1 (Pull-Up) | 0 (5 ) | 1 |
| 5 V | 1 (Pull-Up) | 1 (24 ) | 0 |
| 24 V | 1 (Pull-Up) | 1 (24 ) | 1 |
Special functions
The firmware evaluates the following bits in 60FDh:
- 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)
You define the assignment of the bits to the pins with the Input Routing.
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.
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" |
| 81 | 51 | Negative block |
| 82 | 52 | Positive block |
| 90 | 5A | Analog input |
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" |
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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". |
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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.
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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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Digital outputs
Outputs
The outputs are controlled via object 60FEh. Here, 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 entered in the firmware in the lower bits 0 to 15. The only bit assigned at the present time is bit 0, which controls the motor brake.
Wiring
Output Routing
Principle
The "Output Routing Mode" assigns an output a signal source; a control bit in object 60FEh:01h switches the signal on or off.
The source is selected with 3252h:01 to n in the "high byte" (bit 15 to bit 8). The assignment of a control bit from object 60FEh:01h is performed in the "low byte" (bit 7 to bit 0) of 3252h:01h to n (see following figure).
Routing
The subindex of object 3252h determines which signal source is routed to which output. The output assignments are listed in the following:
Subindices 3252h:01h to 0nh are 16 bits wide, whereby the high byte selects the signal source (e. g., the PWM generator) and the low byte determines the control bit in object 60FEh:01.
Bit 7 of 3252h:01h to 0nh inverts the controller from object 60FEh:01. Normally, value "1" in object 60FEh:01h switches on the signal; if bit 7 is set, the value "0" switches on the signal.
| Number in 3252:01 to 0n | |
|---|---|
| 00XXh | Output is always "1" |
| 01XXh | Output is always "0" |
| 02XXh | Encoder signal (6063h) with frequency divider 1 |
| 03XXh | Encoder signal (6063h) with frequency divider 2 |
| 04XXh | Encoder signal (6063h) with frequency divider 4 |
| 05XXh | Encoder signal (6063h) with frequency divider 8 |
| 06XXh | Encoder signal (6063h) with frequency divider 16 |
| 07XXh | Encoder signal (6063h) with frequency divider 32 |
| 08XXh | Encoder signal (6063h) 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 |
On any change of the "encoder signal" (6063h) or the current position (6064h in user-defined units) by an increment, a pulse is output at the digital input (for frequency divider 1). Take this into account when selecting the frequency divider and the unit, especially when using sensors with low resolution (such as Hall sensors).
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Example |
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The encoder signal (6063h) is to be applied to output 1 with a frequency divider 4. The output is to be controlled with bit 5 of object 60FE:01. The output is switched on by setting bit 5 in object 60FE:01. |
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Example |
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The brake PWM signal is to be applied to output 2. Because the automatic brake control uses bit 0 of 60FE:01h, this should be used as control bit. |
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