SMI21
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12.3.
Torque Programs
12.3.1.
Types of Inputs in C100 Programs
The table below defines the function associated with each of the inputs in the 2 C100 programs (the color
associated with the input number corresponds to that of the I/O bundle):
Programs
Inputs
C101
C102
In1
ON/OFF
000 : "In6" torque setpoint
001 : Priority torque 1
010 : Priority torque 2
100 : Priority torque 3
In2
Direction
In3
Not used
In4
Fast stop
00 : Fast stop
10 : CCW
01 : CW
11 : Stop, disable error
In5
Torque ramp
In6
Torque
Torque
(if In1 = In2 = In3 = 0)
Key:
Digital type input
Analog or PWM type input
Forthcoming programs
12.3.2.
Types of Outputs in C100 Programs
For all expert torque programs, we have 2 configurable output configurations (the color associated with the
output number corresponds to that of the I/O bundle):
Out1
Out2
Out3
Out4
Type 2
Real speed
Real torque
Motor running
Error
PWM
PWM
Digital
Digital
Type 10
Real speed
(centered on
50%)
Real torque
(centered on
50%)
00 : error detected
01 : motor running
10 : motor stopped, torque position reached
and held
11 : motor stopped, no torque applied
PWM
PWM
Digital combinations
Key:
Digital type output
PWM/Pulse/Frequency type output
