Digital outputs Outputs The outputs are controlled using object 60FEh. 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 again entered in the firmware in the lower bits 0 to 15. Currently only bit 0 is assigned that controls the motor brake. Circuits CAUTION Take notice of the maximum load of the output (see therefore the chapter "Electrical properties"). The outputs are realized as "Open Drain". Therefore a external supply voltage is needed. Example the output signal is supposed to get used further on. For that purpose a circuit like to one shown in the following image is necessary. At a supply voltage of +24 V a resistor value of Rextern of 10 kΩ recommended. Example A simple appliance is supposed to get used with the digital output. Object entries Additional object dictionary entries exist for manipulating the value of the outputs (see the following example for details). Similar to the inputs, only the bit at the corresponding position always has an effect on the respective output: 3250h:02h This can be used to change the logic from "closer" to "opener". When configured as a "closer", the outputs a logical high level if the bit is "1". When configured as an "opener", the outputs a logical low level if there is a "1" in object 60FEh. 3250h:03h If a bit is set in 3250h, the output is manually controlled. The value for the output is then contained in object 3250h:04h , which is also possible for the brake output. 3250h:04h The bits in this object specify the output value that is to be applied to the output when the manual control of the output is activated by object 3250h:03h. 3250h:05h This object does not have any function and is included for compatibility reasons. Computation of the outputs Example of the computation of the bits for the outputs: Output Routing Principle The "Output Routing Mode" assigns an output to a signal source, a "control bit" in object 60FEh:01 switches the signal on or off. The selection of the source is done with 3250h:01 to 05 high byte. The "control bit" is selected with 3250h:01 to 05 low byte (see following figure). Activation This mode is activated by setting the object 3250h:08h (Routing Enable) to "1". Note The entries 3250h:01h to 3250:04h will have no function anymore until the output routing is switched off again. Routing The sub-index of object 3252h determines, which signal source will get routed to which output. The assignment of sub-index to output pins are listed below: Sub-index 3252h Output Pin 01h Configuration of brake output (if available) 02h Configuration of output 1 03h Configuration of output 2 (if available) 04h Configuration of output 3 (if available) 05h Configuration of output 4 (if available) Note The maximum output frequency of brake output, output 1 and output 2 is 10kHz. All other output pins can only generate up to 500Hz signals. These subentries 3252h:01h to 05h are 16 bit entries, whereat the high byte (bit 15 to bit 8) indicates the signal source (e.g. the pwm generator) and the low byte (bit 7 to bit 0) determines the control bit in 60FEh:01. Bit 7 inverts the control bit taken from 60FEh:01. Normally the value "1" 60FEh:01 switches the signal "on", bit with bit 7 set, the value "0" switches the signal on. Number in 3252:01 to 05 00XXh Output is always "1" 01XXh Output is always "0" 02XXh Encoder signal with frequency divider 1 03XXh Encoder signal with frequency divider 2 04XXh Encoder signal with frequency divider 4 05XXh Encoder signal with frequency divider 8 06XXh Encoder signal with frequency divider 16 07XXh Encoder signal with frequency divider 32 08XXh Encoder signal 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 10XXh brake pwm signal, which is configured with 2038h:05h and 06h 11XXh inverted brake pwm signal, which is configured with 2038h:05h and 06h Example The encoder output signal will get routed to output 1 with a frequency divider of "4". The output will get controlled by bit 5 of the object 60FE:01. 3250h:08h = 1 (switch on routing) 3252h:02h = 0405h (04XXh + 0005h). The following apply: 04XXh: Encoder signal with frequency divider 4 0005h: Selection of bit 5 of the object 60FEh:01 Switching on the output is done with setting the object 60FE:01 to the value "20h". Example The brake pwm signal will get routed to output 2. The automated brake control is using the bit 0 of 60FE:01, therefore this bit will be the control bit of the object 60FE:01 3250h:08h = 1 (switch on routing) 3252h:03h = 01080h (01XXh + 0080h). The following apply: 01XXh: Brake pwm signal 0080h: Selection of the inverted bit 0 of the object 60FE:01
Digital outputs Outputs The outputs are controlled using object 60FEh. 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 again entered in the firmware in the lower bits 0 to 15. Currently only bit 0 is assigned that controls the motor brake. Circuits CAUTION Take notice of the maximum load of the output (see therefore the chapter "Electrical properties"). The outputs are realized as "Open Drain". Therefore a external supply voltage is needed. Example the output signal is supposed to get used further on. For that purpose a circuit like to one shown in the following image is necessary. At a supply voltage of +24 V a resistor value of Rextern of 10 kΩ recommended. Example A simple appliance is supposed to get used with the digital output. Object entries Additional object dictionary entries exist for manipulating the value of the outputs (see the following example for details). Similar to the inputs, only the bit at the corresponding position always has an effect on the respective output: 3250h:02h This can be used to change the logic from "closer" to "opener". When configured as a "closer", the outputs a logical high level if the bit is "1". When configured as an "opener", the outputs a logical low level if there is a "1" in object 60FEh. 3250h:03h If a bit is set in 3250h, the output is manually controlled. The value for the output is then contained in object 3250h:04h , which is also possible for the brake output. 3250h:04h The bits in this object specify the output value that is to be applied to the output when the manual control of the output is activated by object 3250h:03h. 3250h:05h This object does not have any function and is included for compatibility reasons. Computation of the outputs Example of the computation of the bits for the outputs: Output Routing Principle The "Output Routing Mode" assigns an output to a signal source, a "control bit" in object 60FEh:01 switches the signal on or off. The selection of the source is done with 3250h:01 to 05 high byte. The "control bit" is selected with 3250h:01 to 05 low byte (see following figure). Activation This mode is activated by setting the object 3250h:08h (Routing Enable) to "1". Note The entries 3250h:01h to 3250:04h will have no function anymore until the output routing is switched off again. Routing The sub-index of object 3252h determines, which signal source will get routed to which output. The assignment of sub-index to output pins are listed below: Sub-index 3252h Output Pin 01h Configuration of brake output (if available) 02h Configuration of output 1 03h Configuration of output 2 (if available) 04h Configuration of output 3 (if available) 05h Configuration of output 4 (if available) Note The maximum output frequency of brake output, output 1 and output 2 is 10kHz. All other output pins can only generate up to 500Hz signals. These subentries 3252h:01h to 05h are 16 bit entries, whereat the high byte (bit 15 to bit 8) indicates the signal source (e.g. the pwm generator) and the low byte (bit 7 to bit 0) determines the control bit in 60FEh:01. Bit 7 inverts the control bit taken from 60FEh:01. Normally the value "1" 60FEh:01 switches the signal "on", bit with bit 7 set, the value "0" switches the signal on. Number in 3252:01 to 05 00XXh Output is always "1" 01XXh Output is always "0" 02XXh Encoder signal with frequency divider 1 03XXh Encoder signal with frequency divider 2 04XXh Encoder signal with frequency divider 4 05XXh Encoder signal with frequency divider 8 06XXh Encoder signal with frequency divider 16 07XXh Encoder signal with frequency divider 32 08XXh Encoder signal 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 10XXh brake pwm signal, which is configured with 2038h:05h and 06h 11XXh inverted brake pwm signal, which is configured with 2038h:05h and 06h Example The encoder output signal will get routed to output 1 with a frequency divider of "4". The output will get controlled by bit 5 of the object 60FE:01. 3250h:08h = 1 (switch on routing) 3252h:02h = 0405h (04XXh + 0005h). The following apply: 04XXh: Encoder signal with frequency divider 4 0005h: Selection of bit 5 of the object 60FEh:01 Switching on the output is done with setting the object 60FE:01 to the value "20h". Example The brake pwm signal will get routed to output 2. The automated brake control is using the bit 0 of 60FE:01, therefore this bit will be the control bit of the object 60FE:01 3250h:08h = 1 (switch on routing) 3252h:03h = 01080h (01XXh + 0080h). The following apply: 01XXh: Brake pwm signal 0080h: Selection of the inverted bit 0 of the object 60FE:01
Outputs The outputs are controlled using object 60FEh. 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 again entered in the firmware in the lower bits 0 to 15. Currently only bit 0 is assigned that controls the motor brake.
Circuits CAUTION Take notice of the maximum load of the output (see therefore the chapter "Electrical properties"). The outputs are realized as "Open Drain". Therefore a external supply voltage is needed. Example the output signal is supposed to get used further on. For that purpose a circuit like to one shown in the following image is necessary. At a supply voltage of +24 V a resistor value of Rextern of 10 kΩ recommended. Example A simple appliance is supposed to get used with the digital output.
Object entries Additional object dictionary entries exist for manipulating the value of the outputs (see the following example for details). Similar to the inputs, only the bit at the corresponding position always has an effect on the respective output: 3250h:02h This can be used to change the logic from "closer" to "opener". When configured as a "closer", the outputs a logical high level if the bit is "1". When configured as an "opener", the outputs a logical low level if there is a "1" in object 60FEh. 3250h:03h If a bit is set in 3250h, the output is manually controlled. The value for the output is then contained in object 3250h:04h , which is also possible for the brake output. 3250h:04h The bits in this object specify the output value that is to be applied to the output when the manual control of the output is activated by object 3250h:03h. 3250h:05h This object does not have any function and is included for compatibility reasons. Computation of the outputs Example of the computation of the bits for the outputs:
Output Routing Principle The "Output Routing Mode" assigns an output to a signal source, a "control bit" in object 60FEh:01 switches the signal on or off. The selection of the source is done with 3250h:01 to 05 high byte. The "control bit" is selected with 3250h:01 to 05 low byte (see following figure). Activation This mode is activated by setting the object 3250h:08h (Routing Enable) to "1". Note The entries 3250h:01h to 3250:04h will have no function anymore until the output routing is switched off again. Routing The sub-index of object 3252h determines, which signal source will get routed to which output. The assignment of sub-index to output pins are listed below: Sub-index 3252h Output Pin 01h Configuration of brake output (if available) 02h Configuration of output 1 03h Configuration of output 2 (if available) 04h Configuration of output 3 (if available) 05h Configuration of output 4 (if available) Note The maximum output frequency of brake output, output 1 and output 2 is 10kHz. All other output pins can only generate up to 500Hz signals. These subentries 3252h:01h to 05h are 16 bit entries, whereat the high byte (bit 15 to bit 8) indicates the signal source (e.g. the pwm generator) and the low byte (bit 7 to bit 0) determines the control bit in 60FEh:01. Bit 7 inverts the control bit taken from 60FEh:01. Normally the value "1" 60FEh:01 switches the signal "on", bit with bit 7 set, the value "0" switches the signal on. Number in 3252:01 to 05 00XXh Output is always "1" 01XXh Output is always "0" 02XXh Encoder signal with frequency divider 1 03XXh Encoder signal with frequency divider 2 04XXh Encoder signal with frequency divider 4 05XXh Encoder signal with frequency divider 8 06XXh Encoder signal with frequency divider 16 07XXh Encoder signal with frequency divider 32 08XXh Encoder signal 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 10XXh brake pwm signal, which is configured with 2038h:05h and 06h 11XXh inverted brake pwm signal, which is configured with 2038h:05h and 06h Example The encoder output signal will get routed to output 1 with a frequency divider of "4". The output will get controlled by bit 5 of the object 60FE:01. 3250h:08h = 1 (switch on routing) 3252h:02h = 0405h (04XXh + 0005h). The following apply: 04XXh: Encoder signal with frequency divider 4 0005h: Selection of bit 5 of the object 60FEh:01 Switching on the output is done with setting the object 60FE:01 to the value "20h". Example The brake pwm signal will get routed to output 2. The automated brake control is using the bit 0 of 60FE:01, therefore this bit will be the control bit of the object 60FE:01 3250h:08h = 1 (switch on routing) 3252h:03h = 01080h (01XXh + 0080h). The following apply: 01XXh: Brake pwm signal 0080h: Selection of the inverted bit 0 of the object 60FE:01
Principle The "Output Routing Mode" assigns an output to a signal source, a "control bit" in object 60FEh:01 switches the signal on or off. The selection of the source is done with 3250h:01 to 05 high byte. The "control bit" is selected with 3250h:01 to 05 low byte (see following figure).
Activation This mode is activated by setting the object 3250h:08h (Routing Enable) to "1". Note The entries 3250h:01h to 3250:04h will have no function anymore until the output routing is switched off again.
Routing The sub-index of object 3252h determines, which signal source will get routed to which output. The assignment of sub-index to output pins are listed below: Sub-index 3252h Output Pin 01h Configuration of brake output (if available) 02h Configuration of output 1 03h Configuration of output 2 (if available) 04h Configuration of output 3 (if available) 05h Configuration of output 4 (if available) Note The maximum output frequency of brake output, output 1 and output 2 is 10kHz. All other output pins can only generate up to 500Hz signals. These subentries 3252h:01h to 05h are 16 bit entries, whereat the high byte (bit 15 to bit 8) indicates the signal source (e.g. the pwm generator) and the low byte (bit 7 to bit 0) determines the control bit in 60FEh:01. Bit 7 inverts the control bit taken from 60FEh:01. Normally the value "1" 60FEh:01 switches the signal "on", bit with bit 7 set, the value "0" switches the signal on. Number in 3252:01 to 05 00XXh Output is always "1" 01XXh Output is always "0" 02XXh Encoder signal with frequency divider 1 03XXh Encoder signal with frequency divider 2 04XXh Encoder signal with frequency divider 4 05XXh Encoder signal with frequency divider 8 06XXh Encoder signal with frequency divider 16 07XXh Encoder signal with frequency divider 32 08XXh Encoder signal 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 10XXh brake pwm signal, which is configured with 2038h:05h and 06h 11XXh inverted brake pwm signal, which is configured with 2038h:05h and 06h Example The encoder output signal will get routed to output 1 with a frequency divider of "4". The output will get controlled by bit 5 of the object 60FE:01. 3250h:08h = 1 (switch on routing) 3252h:02h = 0405h (04XXh + 0005h). The following apply: 04XXh: Encoder signal with frequency divider 4 0005h: Selection of bit 5 of the object 60FEh:01 Switching on the output is done with setting the object 60FE:01 to the value "20h". Example The brake pwm signal will get routed to output 2. The automated brake control is using the bit 0 of 60FE:01, therefore this bit will be the control bit of the object 60FE:01 3250h:08h = 1 (switch on routing) 3252h:03h = 01080h (01XXh + 0080h). The following apply: 01XXh: Brake pwm signal 0080h: Selection of the inverted bit 0 of the object 60FE:01
