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5
Filter
Filter Constant sets the level of digital filtering according to
the following chart.
Digital Filtering
. The illustration above demonstrates the
effect of digital filtering (set with Filter
Constant) on module response to a
temperature change.
6
I/O Register Map
Registers
Description
%I1 to %I24
Digital Inputs
%I32
Output Fault
%I25 to %I31
Reserved
%Q1 to %Q16
Digital outputs
%Q17
Clear HSC1 accumulator to 0
%Q18
Totalizer: Clear HSC2
Quadrature 1-2: Accumulator 1
Reset to max – 1
%Q19
Clear HSC3 Accumulator to 0
%Q20
Totalizer: Clear HSC4
Quadrature 3-4: Accumulator 3
Reset to max – 1
%Q21 to %Q32
Reserved
%AI1 to %AI4
Analog inputs
%AI5, %AI6
HSC1 Accumulator
%AI7, %AI8
HSC2 Accumulator
%AI9, %AI10
HSC3 Accumulator
%AI11, %AI12
HSC4 Accumulator
%AQ1, %AQ2
PWM1 Duty Cycle
%AQ3, %AQ4
PWM2 Duty Cycle
%AQ5, %AQ6
PWM Prescale
%AQ7, %AQ8
PWM Period
%AQ9 to %AQ14
Analog outputs
Note:
Not all XLe units contain the I/O listed in this table.
Registers
PWM
HSC
Stepper
%AQ1
Start
Frequency
%AQ2
PWM1 Duty
Cycle
(32 bit)
HSC1
Preset
Value
Run
Frequency
%AQ3
%AQ4
PWM2 Duty
Cycle
(32 bit)
HSC2
Preset
Value
Accel Count
(32 bit)
%AQ5
%AQ6
PWM Prescale
(32 bit)
Run Count
(32 bit)
%AQ7
%AQ8
PWM Period
(32 bit)
Decel Count
(32 bit)
%Q1
Run
%I30
Ready/Done
%I31
Error
7
MJ2 Pinouts in Full and Half Duplex Modes
60
20
100
40
80
20
0
10
100
90
80
70
60
50
40
30
Scans
0
1
2
3
4
5
6
0
7
%
C
om
pl
et
e
[
]
Filter
Constant
Full Duplex Mode
Half Duplex Mode
Pin
MJ2 Pins
Signal
Direction
8
TXD
OUT
7
RXD
IN
6
0 V
Ground
5
*
+5 60mA
OUT
4
TX-
OUT
3
TX+
OUT
2
RX-
IN
1
RX+
IN
1
8
*
+5 on XLe Rev E and later
Pin
MJ2 Pins
Signal
Direction
8
TXD
OUT
7
RXD
IN
6
0 V
Ground
5
*
+5 60mA
OUT
4
TX-
OUT
3
TX+
OUT
2
TX-/RX-
IN/OUT
1
TX+/RX+
IN/OUT
1
8
*
+5 on XLe Rev E and later