fruitcore robotics HORST600, Руководство по сборке

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6 horstCONTROL I/O
40
6.4.4 General Digital Inputs
There are 20 general digital inputs available at terminal
blocks X1, X2 and X3. Inputs DI01 to DI20 (Digital In) are
+24 V input channels and correspond to IEC 61131-2
Type 1 and 3.
If the
Configurable Safe Inputs
, page 37 are configured
as general digital inputs, 8 further inputs are available.
An additional filter can also be configured here via
horstFX. The maximum possible duration for the general
digital inputs is 32767 ms.
The following functions can be configured for the general
digital inputs (see
Software Configuration Options for Dig-
ital Interfaces, page 44):
Function Description
Not assigned -
Start program Starts a program from outside, flank LO – HI
Pause program Pauses a running program, flank LO – HI
Continue program Continues a paused program, flank LO – HI
Pause/continue program Pauses a running program (flank LO – HI) or continues it (flank
HI – LO)
Acknowledge internal error Acknowledges an internal error, flank LO – HI
Acknowledge emergency stop Acknowledges an internal emergency stop, flank LO – HI
Acknowledge safety stop Acknowledges a safety stop, flank LO – HI
Acknowledge internal error/emer-
gency stop/safety stop Acknowledges all errors and emergency stops/safety stop,
flank LO
– HI
Reduced speed Activates driving with reduced speed (not safety-critical from
the laser scanner’s warning area), flank LO – HI
Table 6-7: Configurable functions for general digital inputs
Fig. 6-11: Connection of general digital inputs