weintek iR-PU01-P, User Manual

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Table of Contents
1. Product Overview ................................................................................................... 1
2. Specifications .......................................................................................................... 2
Module Specification ..................................................................................... 2 2.1
Digital Input Specification .............................................................................. 2 2.2
Digital Output Specification ........................................................................... 2 2.3
3. LED Indicators ......................................................................................................... 3
AX1 LED .......................................................................................................... 3 3.1
Run/Error/Warn LED ...................................................................................... 3 3.2
I/O LED ........................................................................................................... 3 3.3
4. Error Handling ......................................................................................................... 4
Function Block Error ....................................................................................... 4 4.1
Warning .......................................................................................................... 4 4.2
Error ............................................................................................................... 5 4.3
5. Wiring ..................................................................................................................... 6
Notes on Wiring ............................................................................................. 6 5.1
Digital Input / Output Wiring ......................................................................... 6 5.2
Differential Output Wiring ............................................................................. 7 5.3
Differential Input Wiring ................................................................................ 8 5.4
6. Connecting a Coupler ............................................................................................. 9
iR-COP ............................................................................................................ 9 6.1
Slot and Axis ................................................................................................... 9 6.2
7. Features ................................................................................................................ 10
Feature List ................................................................................................... 10 7.1
High Speed Pulse Output ............................................................................. 10 7.2
High Speed Pulse Input (Encoder) ............................................................... 12 7.3
Positioning Control (Buffer Mode Supported) ............................................. 13 7.4
Velocity Control ............................................................................................ 14 7.5
Homing ......................................................................................................... 15 7.6
Synchronized Motion (Gear / MPG) ............................................................. 15 7.7
Digital Cam Switch ....................................................................................... 15 7.8
Capture ......................................................................................................... 16 7.9
Configurable I/O ........................................................................................... 16 7.10
Motion Control working with I/O Control.................................................... 16 7.11
8. Object Dictionary .................................................................................................. 17
Manufacturer Specific Profile Area (5500h - 58FFh) ................................... 17 8.1
8.1.1
Digital Input
：
5500h ........................................................................... 20
8.1.2 Pulse Input Method
：
5501h ............................................................... 21