NP5 CANopen Online Manual

Digital inputs and outputs

This controller is equipped with 6 digital I/O pins. Of these, 4 can be configured as either input or output. Pins DIO5_IO_MISO and DIO6_IO_CLK are preset as inputs.

Defining input and output assignments

Digital inputs/outputs 1…4 can be freely assigned on the PCI connector strip of the device, see also Pin assignment and 3231h Flex IO Configuration.

Pin 1: DIO1_IO_CS
Pin 2: DIO2_CD_CLK
Pin 3: DIO3_CD_DIR
Pin 4: DIO4_IO_MOSI

Subindex 03_h Alternate Function Mask: This bit mask defines whether the alternative function of the pin is to be activated.

To activate an alternative function, set the corresponding bit to "1":


Bit	Pin	Alternative function
1	DIO2_CD_CLK	Clock input in clock-direction mode
2	DIO3_CD_DIR	Direction input in clock-direction mode

Note:

If you do not activate the alternative function, you can no longer use the corresponding pin as a normal input/output.

If the Clock-direction mode is activated, the pins for clock and direction are automatically configured accordingly and the settings in 3231_h are overwritten.

Subindex 01_h Output Mask: This bit mask defines whether the pin is used as input or output (depending on whether an alternative function was activated for the pin in subindex 03_h):
- Bit = "0": Pin is input (default)
- Bit = "1": Pin is output
Subindex 02_h Pullup Mask: This bit mask defines whether the pin is a pullup or pulldown:
- Bit = "0": Pin is pulldown (default)
- Bit = "1": Pin is pullup
Subindex 02_h is only active for the pin if it is defined as an input.

Example for subindex 01_h: Pin 2 and pin 3 are to be outputs, value = "6" (=0110 _b)

Check which of the pins you would like to assign an alternative function to and set the corresponding bits in 3231_h:03_h to "1".
Determine which pins you would like to define as input or output.
Determine which inputs you would like to define as pull down or pull up.
Set the values in 3231_h:01_h and 3321_h:02_h accordingly.
Store the object by writing the value "65766173_h" in 1010_h:03_h (see chapterSaving objects) and restart the controller.

Bit assignment

The software of the controller assigns each input and output two bits in the respective object (e.g., 60FDh Digital Inputs or 60FEh Digital Outputs):

The first bit corresponds to the special function of an output or input. These functions are always available on bits 0 to 15 (inclusive) of the respective object. These include the limit switches and the home switch for the digital inputs and the brake control for the outputs.
The second bit shows the output/input as a level; these are then available on bits 16 to 31.


Example
	To manipulate the value of output 2, always use bit 17 in 60FE_h. To activate the "negative limit switch" special function of input 1, set bit 0 in 3240_h:01_h; to query the status of the input, read bit 0 in 60FD_h. Bit 16 in 60FD_h also shows the status of input 1 (independent of whether or not the special function of the input was activated). This assignment is graphically illustrated in the following drawing.

Tip: The first 4 I/O pins can also be configured as outputs, see Defining input and output assignments. If these are configured as outputs, the current status can still be read back in bits 16 to 19 of object 60FD_h. The assignment of the bits in 60FD_h thereby remains unchanged; bit 20 corresponds to input 5 and bit 21 to input 6.

Digital inputs

Overview

Note: For digital inputs with 5 V, the length of the supply lines must not exceed 3 meters.

Note: The digital inputs are sampled once per millisecond. Signal changes at the input less than one millisecond in duration are not processed.

The following inputs are available:


PIN/input	Name for Input Routing
B3/DIO1_IO_CS	physical input 1
B4/DIO2_CD_CLK	physical input 2
B5/DIO3_CD_DIR	physical input 3
B6/DIO4_IO_MOSI	physical input 4
B7/DIO5_IO_MISO	physical input 5
B8/DIO6_IO_CLK	physical input 6

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.

3240_h:01_h (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 3240_h:01_h must be set to "1".
3240_h:02_h (Function Inverted): This subindex switches from normally open logic (a logical high level at the input yields the value "1" in object 60FD_h) 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.
3240_h:03_h (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 3240_h:04_h, but rather the set values for the respective input. Bit 0 corresponds to input 1 here, bit 1 to input 2, etc.
3240_h:04_h (Force Value): This bit specifies the value that is to be read as the input value if the same bit was set in object 3240_h:03_h.
3240_h:05_h (Raw Value): This object contains the unmodified input value.
60FD_h (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 60FD_h 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 60FD_h.

Activation

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

Note: Entries 3240_h:01_h to 3240:04_h then have no function until Input Routing is again switched off.

Note: If Input Routing is switched on, the initial values of 3242_h are changed and correspond to the function of the input as it was before activation of Input Routing. The inputs of the controller behave the same with activation of Input Routing. Therefore, you should not switch back and forth between the normal mode and Input Routing.

Routing

Object 3242_h determines which signal source is routed to which bit of 60FD_h. Subindex 01_h of 3242_h determines bit 0, subindex 02_h 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"

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"


Example
	Input 1 is to be routed to bit 16 of object 60FD_h: The number of the signal source for input 1 is "1". The routing for bit 16 is written in 3242_h:11_h. Hence, object 3242_h:11_h must be set to the value "1".

Interlock function

The interlock function is a release that you control via bit 3 in 60FD_h. 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 605E_h is executed.

To activate the interlock function, you must switch on the special function by setting bit 3 in 3240:01_h to "1".

Use Input Routing to define which signal source is routed to bit 3 of 60FD_h and is to control the interlock function.


Example
	Input 4 is to be routed to bit 3 of object 60FD_h to control the interlock function. A low level is to result in an error state. To activate Input Routing, set 3240_h:08_h to "1". To route input 4 to bit 3, set 3242_h:04_h to "4".

Digital outputs

Outputs

The outputs are controlled via object 60FE_h. Here, output 1 corresponds to bit 16 in object 60FE_h, output 2 corresponds to bit 17, etc., as with the inputs. The first 4 I/O pins can be configured as outputs, see Defining input and output assignments. The outputs with special functions are again 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

Note: Always observe the maximum capacity of the output (see Pin assignment).

The digital outputs, with the exception of the brake output, have a digital level of 3.3 V DC. The maximum admissible current is 10 mA.

The brake output is implemented as open drain. Hence, an external voltage supply as shown in the following figure is always necessary. See also Automatic brake control.