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5
Commissioning
106
Festo – GDCP-CMMO-ST-EA-SY-EN – 2017-05c – English
5.6.1
Digital inputs/outputs
Designation
Designation
Pin
DIN
MODE 0 (record selection)
MODE 1 (jogging/teaching)
1
RECORD Bit 0
RECORD Bit 0
X1.1
2
RECORD Bit 1
RECORD Bit 1
X1.2
3
RECORD Bit 2
RECORD Bit 2
X1.3
4
RECORD Bit 3
JOG+
X1.4
5
RECORD Bit 4
JOG–
X1.5
6
Start
TEACH
X1.6
7
TIME DELAY#
STOP#
X1.7
8
MODE
X1.8
9
BRAKE CONTROL
X1.9
10
ENABLE
X1.10
11
RESET
X1.11
DOUT
MODE 0 (record selection)
MODE 1 (jogging/teaching)
1
Motion complete
X1.12
2
START ACK#
TEACH ACK#
X1.13
3
PAUSED/STOPPED#
STOPPED#
X1.14
4
MOVING
X1.15
5
ERROR#
X1.16
6…7
parameterisable
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FCT [...][Controller][I/O Configuration] Digital Outputs
X1.17…18
8
IN ZONE
X1.19
9
REFERENCED
X1.20
10
Ready
X1.21
11
TORQUE LIMIT REACHED
X1.22
Tab. 5.9
Binary profile: overview of digital inputs/outputs
The inputs are scanned at intervals (scanning rate tmax = 1 ms). That enables the controller to re
spond to an input signal after a delay.
Logical status of inputs/outputs
Note the difference between the electrical level (High, Low) and the logical status (1, 0) of an input or
output, dependent on the version of the motor controller. The timing diagrams shown in the following
chapters illustrate the logical status.
Logical
State
electrical level
Positive logic (CMMO-ST PNP)
Negative logic (CMMO-ST NPN)
1
High-level (24 V)
Low-level (0 V)
0
Low-level (0 V)
High-level (24 V)
Tab. 5.10 Logical status
In standard cases, logical status “1” is the active status. Inputs/outputs for which the logical status
differs, i.e. is “0”, are labelled in Tab. 5.9 with the # symbol.
Содержание CMMO-ST-C5-1-DION
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