MOOG ANIMATICS Class 6 SmartMotor, Installation & Start?Up Manual

Page: 51 / 58

I/O Control Examples
Logical
I/O
Number
Input or
Output
Possible
(Selectable)
Functions
Default Operation
0
Input only, digital or ana-
log
General purpose General purpose
1
Input only, digital or ana-
log
General purpose General purpose
2
Input only, digital or ana-
log Positive limit, or general
purpose
Positive limit
3
Input only, digital or ana-
log Negative limit, or gen-
eral purpose
Negative limit
4
Input only, digital or ana-
log
General purpose, or
index capture for
external encoder
General purpose
5
Input only, digital or ana-
log
General purpose, or
index capture for
internal encoder
General purpose
6
Input only, digital or ana-
log General purpose, G com-
mand, or homing input
General purpose
7 Input only, digital Drive enable Drive enable
8 Output only, digital
Brake output or general-
purpose output
Brake output
9 Output only, digital Not fault Not fault
I/O Control Examples
To make output 8 a general-purpose output:
EOBK (-1) 'Disables brake output from any I/O pin
OR (8) 'Clears output (0 volts)
OS (8) 'Sets output (24 volts)
EOBK (8) 'Restores output 8 to brake function
To read inputs:
x= IN ( W ,0,15) 'Reads inputs 0,1,2,3 as bitfield stored into variable x
EIGN (2) 'Disables positive limit, makes a general-purpose input
EIGN (3) 'Disables negative limit, makes a general-purpose input
EILP 'Re-enables positive limit
RIN (3) 'Reads input 3
Scale Factor Calculation – Sample Rates
The sample rate for Class 6 SmartMotors is fixed at 16,000 Hz (16 kHz).
Moog Animatics Class 6 SmartMotor™ Installation & Startup Guide, Rev. 03 - PRELIMINARY
Page 51 of 58