Technical Manual PD4-E-M (EtherCAT)
7 Special functions
Number
dec
hex
Signal source
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
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".
7.1.3 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 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 outputs are implemented as "open drain". Hence, an external voltage supply is always necessary.
Example
The digital output signal should continue to be used. For this purpose, a circuit as shown in
the following figure is to be realized.
+
Nanotec Controller
Supply voltage
Output signal
R
extern
On / Off
Version: 1.0.1 / FIR-v1748
82
