Technical Manual PD4-E-M (EtherCAT)
7 Special functions
Input
Special function
Switching threshold
switchable
Differential /
single-ended
1
Negative limit switch
yes, 5 V or 24 V (see 3240
h
:06
h
)
2
Positive limit switch / direction
input in clock-direction mode
yes, 5 V or 24 V (see 3240
h
:06
h
)
3
Home switch / Clock input in
clock-direction mode
yes, 5 V or 24 V (see 3240
h
:06
h
)
4
None
yes, 5 V or 24 V (see 3240
h
:06
h
)
5
None
yes, 5 V or 24 V (see 3240
h
:06
h
)
6
None
yes, 5 V or 24 V (see 3240
h
:06
h
)
The inputs
can only be
switched
together (see
3240
:07
h
)
If you set 3240
:07
h
to the value "1", three differential inputs are available instead of six single-ended
inputs:
Pin
Function
2
- Input 1
3
Input 1
4
- Input 2
5
Input 2
6
- Input 3
7
Input 3
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.
•
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
•
Bit 1: Positive limit switch
•
Bit 2: Home switch
If, for example, two limit switches and one home switch are used, bits 0–2 in 3240
:01
h
must be set
to "1".
•
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
) 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.
•
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.
•
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
.
•
h
:05
h
(Raw Value): This object contains the unmodified input value.
Version: 1.0.1 / FIR-v1748
79
