Examples and tips
PROGRAMMING MANUAL
273
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MECHATROLINK-II Servo Drivers inputs in the Trajexia I/O space
With the BASIC command
IN
, you can access the physically present inputs
in a BASIC program. These inputs can be built in the controller or connected
via the MECHATROLINK-II bus.
Servo Drivers can have additional inputs that are located on their I/O
connectors. These inputs can be used as forward and/or reverse limit
switches or origin switches. They are mapped into the Trajexia I/O space.
Thus, they can be accessed from BASIC programs. Trajexia only supports
this for Servo Drivers connected to the Trajexia system via the
MECHATROLINK-II bus. It is not supported for Flexible Axis Servo Drivers.
/i
Trajexia
input
Servo Driver input signal
Description
Sigma-II
Sigma-V
Junma
G-Series
Accurax
G5
16
P_OT
P_OT
P_OT
P_OT
Forward limit switch
17
N_OT
N_OT
N_OT
N_OT
Reverse limit switch
18
DEC
DEC
/DEC
DEC
Zero point return decelera-
tion
19
PA
PA
Not used
Not used
Encoder A phase signal
20
PB
PB
Not used
Not used
Encoder B phase signal
21
PC
PC
Not used
PC
Encoder C phase signal
22
EXT1
EXT1
/EXT1
EXT1
First external latch signal
23
EXT2
EXT2
Not used
EXT2
Second external latch signal
24
EXT3
EXT3
Not used
EXT3
Third external latch signal
25
BRK
BRK
/BRK
BRK
Brake output
26
Reserved
HBB
E-STP
E-STP
Emergency stop switch
27
Reserved
Reserved
Not used
SI2
General input 2
28
IO12
IO12
Not used
PCL
General input 12 (Sigma-II
and Sigma-V), Torque limit
input in positive direction (G-
Series and Accurax G5)