Digital outputs Outputs The outputs are controlled via object 60FEh. Here, output 1 corresponds to bit 16 in object 60FEh, output 2 corresponds to bit 17, etc., as with the inputs. The first 4 I/O pins can be configured as outputs, see Defining input and output assignments. The outputs with special functions are again entered in the firmware in the lower bits 0 to 15. The only bit assigned at the present time is bit 0, which controls the motor brake. Wiring Note: Always observe the maximum capacity of the output (see Pin assignment). The digital outputs, with the exception of the brake output, have a digital level of 3.3 V DC. The maximum admissible current is 10 mA. The brake output is implemented as open drain. Hence, an external voltage supply as shown in the following figure is always necessary. See also Automatic brake control. Object entries Additional OD entries are available for manipulating the value of the outputs (see the following example for further information). As with the inputs, only the bit at the corresponding location acts on the respective output: 3250h:01h: No function. 3250h:02h: This is used to switch the logic from normally open to normally closed. Configured as normally open, the input outputs a logical high level if the bit is "1". With the normally closed configuration, a logical low level is output accordingly for a "1" in object 60FEh. 3250h:03h: If a bit is set here, the output is controlled manually. The value for the output is then in object 3250h:4h; this is also possible for the brake output. 3250h:04h: The bits in this object specify the output value that is to be applied at the output if manual control of the output is activated by means of object 3250h:03h. 3250h:05h: This object has no function and is included for reasons of compatibility. Computation of the outputs Example for calculating the bits of the outputs: Output Routing Principle The "Output Routing Mode" assigns an output a signal source; a control bit in object 60FEh:01h switches the signal on or off. The source is selected with 3252h:01 to 05 in the "high byte" (bit 15 to bit 8). The assignment of a control bit from object 60FEh:01h is performed in the "low byte" (bit 7 to bit 0) of 3252h:01h to 05 (see following figure). Activation This mode is activated by setting object 3250h:08h (Routing Enable) to 1. Note: Entries 3250h:01h to 3250:04h then have no function until "Output Routing" is switched off again. Routing The subindex of object 3252h determines which signal source is routed to which output. The output assignments are listed in the following: Subindex 3252h Output Pin 01h Configuration of the brake output (if available) 02h Configuration of output 1 03h Configuration of output 2 (if available) 04h Configuration of output 3 (if available) 05h Configuration of output 4 (if available) Note: The maximum output frequency of the brake output, output 1 and output 2 is 10 kHz. All other outputs can only produce signals up to 500 Hz. Subindices 3252h:01h to 05h are 16 bits wide, whereby the high byte selects the signal source (e.g., the PWM generator) and the low byte determines the control bit in object 60FEh:01. Bit 7 of 3252h:01h to 05 inverts the control from object 60FEh:01. Normally, value "1" in object 60FEh:01 switches on the signal; if bit 7 is set, the value "0" switches on the signal. Number in 3252:01 to 05 00XXh Output is always "1" 01XXh Output is always "0" 02XXh Encoder signal (6063h) with frequency divider 1 03XXh Encoder signal (6063h) with frequency divider 2 04XXh Encoder signal (6063h) with frequency divider 4 05XXh Encoder signal (6063h) with frequency divider 8 06XXh Encoder signal (6063h) with frequency divider 16 07XXh Encoder signal (6063h) with frequency divider 32 08XXh Encoder signal (6063h) with frequency divider 64 09XXh Position Actual Value (6064h) with frequency divider 1 0AXXh Position Actual Value (6064h) with frequency divider 2 0BXXh Position Actual Value (6064h) with frequency divider 4 0CXXh Position Actual Value (6064h) with frequency divider 8 0DXXh Position Actual Value (6064h) with frequency divider 16 0EXXh Position Actual Value (6064h) with frequency divider 32 0FXXh Position Actual Value (6064h) with frequency divider 64 10XXh Brake PWM signal that is configured with object 2038h:05h and 06h 11XXh Inverted brake PWM signal that is configured with object 2038h:05h and 06h Example The encoder signal (6063h) is to be applied to output 1 with a frequency divider 4. The output is to be controlled with bit 5 of object 60FE:01. 3250h:08h = 1 (activate routing) 3252h:02h = 0405h (04XXh + 0005h) Dabei ist: 04XXh: Encoder signal with frequency divider 4 0005h: Selection of bit 5 of 60FE:01 The output is switched on by setting bit 5 in object 60FE:01. Example The brake PWM signal is to be applied to output 2. Because the automatic brake control uses bit 0 of 60FE:01h, this should be used as control bit. 3250h:08h = 1 (activate routing) 3252h:03h = 1080h (=10XXh + 0080h). Where: 10XXh: Brake PWM signal 0080h: Selection of the inverted bit 0 of object 60FE:01
Digital outputs Outputs The outputs are controlled via object 60FEh. Here, output 1 corresponds to bit 16 in object 60FEh, output 2 corresponds to bit 17, etc., as with the inputs. The first 4 I/O pins can be configured as outputs, see Defining input and output assignments. The outputs with special functions are again entered in the firmware in the lower bits 0 to 15. The only bit assigned at the present time is bit 0, which controls the motor brake. Wiring Note: Always observe the maximum capacity of the output (see Pin assignment). The digital outputs, with the exception of the brake output, have a digital level of 3.3 V DC. The maximum admissible current is 10 mA. The brake output is implemented as open drain. Hence, an external voltage supply as shown in the following figure is always necessary. See also Automatic brake control. Object entries Additional OD entries are available for manipulating the value of the outputs (see the following example for further information). As with the inputs, only the bit at the corresponding location acts on the respective output: 3250h:01h: No function. 3250h:02h: This is used to switch the logic from normally open to normally closed. Configured as normally open, the input outputs a logical high level if the bit is "1". With the normally closed configuration, a logical low level is output accordingly for a "1" in object 60FEh. 3250h:03h: If a bit is set here, the output is controlled manually. The value for the output is then in object 3250h:4h; this is also possible for the brake output. 3250h:04h: The bits in this object specify the output value that is to be applied at the output if manual control of the output is activated by means of object 3250h:03h. 3250h:05h: This object has no function and is included for reasons of compatibility. Computation of the outputs Example for calculating the bits of the outputs: Output Routing Principle The "Output Routing Mode" assigns an output a signal source; a control bit in object 60FEh:01h switches the signal on or off. The source is selected with 3252h:01 to 05 in the "high byte" (bit 15 to bit 8). The assignment of a control bit from object 60FEh:01h is performed in the "low byte" (bit 7 to bit 0) of 3252h:01h to 05 (see following figure). Activation This mode is activated by setting object 3250h:08h (Routing Enable) to 1. Note: Entries 3250h:01h to 3250:04h then have no function until "Output Routing" is switched off again. Routing The subindex of object 3252h determines which signal source is routed to which output. The output assignments are listed in the following: Subindex 3252h Output Pin 01h Configuration of the brake output (if available) 02h Configuration of output 1 03h Configuration of output 2 (if available) 04h Configuration of output 3 (if available) 05h Configuration of output 4 (if available) Note: The maximum output frequency of the brake output, output 1 and output 2 is 10 kHz. All other outputs can only produce signals up to 500 Hz. Subindices 3252h:01h to 05h are 16 bits wide, whereby the high byte selects the signal source (e.g., the PWM generator) and the low byte determines the control bit in object 60FEh:01. Bit 7 of 3252h:01h to 05 inverts the control from object 60FEh:01. Normally, value "1" in object 60FEh:01 switches on the signal; if bit 7 is set, the value "0" switches on the signal. Number in 3252:01 to 05 00XXh Output is always "1" 01XXh Output is always "0" 02XXh Encoder signal (6063h) with frequency divider 1 03XXh Encoder signal (6063h) with frequency divider 2 04XXh Encoder signal (6063h) with frequency divider 4 05XXh Encoder signal (6063h) with frequency divider 8 06XXh Encoder signal (6063h) with frequency divider 16 07XXh Encoder signal (6063h) with frequency divider 32 08XXh Encoder signal (6063h) with frequency divider 64 09XXh Position Actual Value (6064h) with frequency divider 1 0AXXh Position Actual Value (6064h) with frequency divider 2 0BXXh Position Actual Value (6064h) with frequency divider 4 0CXXh Position Actual Value (6064h) with frequency divider 8 0DXXh Position Actual Value (6064h) with frequency divider 16 0EXXh Position Actual Value (6064h) with frequency divider 32 0FXXh Position Actual Value (6064h) with frequency divider 64 10XXh Brake PWM signal that is configured with object 2038h:05h and 06h 11XXh Inverted brake PWM signal that is configured with object 2038h:05h and 06h Example The encoder signal (6063h) is to be applied to output 1 with a frequency divider 4. The output is to be controlled with bit 5 of object 60FE:01. 3250h:08h = 1 (activate routing) 3252h:02h = 0405h (04XXh + 0005h) Dabei ist: 04XXh: Encoder signal with frequency divider 4 0005h: Selection of bit 5 of 60FE:01 The output is switched on by setting bit 5 in object 60FE:01. Example The brake PWM signal is to be applied to output 2. Because the automatic brake control uses bit 0 of 60FE:01h, this should be used as control bit. 3250h:08h = 1 (activate routing) 3252h:03h = 1080h (=10XXh + 0080h). Where: 10XXh: Brake PWM signal 0080h: Selection of the inverted bit 0 of object 60FE:01
Outputs The outputs are controlled via object 60FEh. Here, output 1 corresponds to bit 16 in object 60FEh, output 2 corresponds to bit 17, etc., as with the inputs. The first 4 I/O pins can be configured as outputs, see Defining input and output assignments. The outputs with special functions are again entered in the firmware in the lower bits 0 to 15. The only bit assigned at the present time is bit 0, which controls the motor brake.
Wiring Note: Always observe the maximum capacity of the output (see Pin assignment). The digital outputs, with the exception of the brake output, have a digital level of 3.3 V DC. The maximum admissible current is 10 mA. The brake output is implemented as open drain. Hence, an external voltage supply as shown in the following figure is always necessary. See also Automatic brake control.
Object entries Additional OD entries are available for manipulating the value of the outputs (see the following example for further information). As with the inputs, only the bit at the corresponding location acts on the respective output: 3250h:01h: No function. 3250h:02h: This is used to switch the logic from normally open to normally closed. Configured as normally open, the input outputs a logical high level if the bit is "1". With the normally closed configuration, a logical low level is output accordingly for a "1" in object 60FEh. 3250h:03h: If a bit is set here, the output is controlled manually. The value for the output is then in object 3250h:4h; this is also possible for the brake output. 3250h:04h: The bits in this object specify the output value that is to be applied at the output if manual control of the output is activated by means of object 3250h:03h. 3250h:05h: This object has no function and is included for reasons of compatibility.
Output Routing Principle The "Output Routing Mode" assigns an output a signal source; a control bit in object 60FEh:01h switches the signal on or off. The source is selected with 3252h:01 to 05 in the "high byte" (bit 15 to bit 8). The assignment of a control bit from object 60FEh:01h is performed in the "low byte" (bit 7 to bit 0) of 3252h:01h to 05 (see following figure). Activation This mode is activated by setting object 3250h:08h (Routing Enable) to 1. Note: Entries 3250h:01h to 3250:04h then have no function until "Output Routing" is switched off again. Routing The subindex of object 3252h determines which signal source is routed to which output. The output assignments are listed in the following: Subindex 3252h Output Pin 01h Configuration of the brake output (if available) 02h Configuration of output 1 03h Configuration of output 2 (if available) 04h Configuration of output 3 (if available) 05h Configuration of output 4 (if available) Note: The maximum output frequency of the brake output, output 1 and output 2 is 10 kHz. All other outputs can only produce signals up to 500 Hz. Subindices 3252h:01h to 05h are 16 bits wide, whereby the high byte selects the signal source (e.g., the PWM generator) and the low byte determines the control bit in object 60FEh:01. Bit 7 of 3252h:01h to 05 inverts the control from object 60FEh:01. Normally, value "1" in object 60FEh:01 switches on the signal; if bit 7 is set, the value "0" switches on the signal. Number in 3252:01 to 05 00XXh Output is always "1" 01XXh Output is always "0" 02XXh Encoder signal (6063h) with frequency divider 1 03XXh Encoder signal (6063h) with frequency divider 2 04XXh Encoder signal (6063h) with frequency divider 4 05XXh Encoder signal (6063h) with frequency divider 8 06XXh Encoder signal (6063h) with frequency divider 16 07XXh Encoder signal (6063h) with frequency divider 32 08XXh Encoder signal (6063h) with frequency divider 64 09XXh Position Actual Value (6064h) with frequency divider 1 0AXXh Position Actual Value (6064h) with frequency divider 2 0BXXh Position Actual Value (6064h) with frequency divider 4 0CXXh Position Actual Value (6064h) with frequency divider 8 0DXXh Position Actual Value (6064h) with frequency divider 16 0EXXh Position Actual Value (6064h) with frequency divider 32 0FXXh Position Actual Value (6064h) with frequency divider 64 10XXh Brake PWM signal that is configured with object 2038h:05h and 06h 11XXh Inverted brake PWM signal that is configured with object 2038h:05h and 06h Example The encoder signal (6063h) is to be applied to output 1 with a frequency divider 4. The output is to be controlled with bit 5 of object 60FE:01. 3250h:08h = 1 (activate routing) 3252h:02h = 0405h (04XXh + 0005h) Dabei ist: 04XXh: Encoder signal with frequency divider 4 0005h: Selection of bit 5 of 60FE:01 The output is switched on by setting bit 5 in object 60FE:01. Example The brake PWM signal is to be applied to output 2. Because the automatic brake control uses bit 0 of 60FE:01h, this should be used as control bit. 3250h:08h = 1 (activate routing) 3252h:03h = 1080h (=10XXh + 0080h). Where: 10XXh: Brake PWM signal 0080h: Selection of the inverted bit 0 of object 60FE:01
Principle The "Output Routing Mode" assigns an output a signal source; a control bit in object 60FEh:01h switches the signal on or off. The source is selected with 3252h:01 to 05 in the "high byte" (bit 15 to bit 8). The assignment of a control bit from object 60FEh:01h is performed in the "low byte" (bit 7 to bit 0) of 3252h:01h to 05 (see following figure).
Activation This mode is activated by setting object 3250h:08h (Routing Enable) to 1. Note: Entries 3250h:01h to 3250:04h then have no function until "Output Routing" is switched off again.
Routing The subindex of object 3252h determines which signal source is routed to which output. The output assignments are listed in the following: Subindex 3252h Output Pin 01h Configuration of the brake output (if available) 02h Configuration of output 1 03h Configuration of output 2 (if available) 04h Configuration of output 3 (if available) 05h Configuration of output 4 (if available) Note: The maximum output frequency of the brake output, output 1 and output 2 is 10 kHz. All other outputs can only produce signals up to 500 Hz. Subindices 3252h:01h to 05h are 16 bits wide, whereby the high byte selects the signal source (e.g., the PWM generator) and the low byte determines the control bit in object 60FEh:01. Bit 7 of 3252h:01h to 05 inverts the control from object 60FEh:01. Normally, value "1" in object 60FEh:01 switches on the signal; if bit 7 is set, the value "0" switches on the signal. Number in 3252:01 to 05 00XXh Output is always "1" 01XXh Output is always "0" 02XXh Encoder signal (6063h) with frequency divider 1 03XXh Encoder signal (6063h) with frequency divider 2 04XXh Encoder signal (6063h) with frequency divider 4 05XXh Encoder signal (6063h) with frequency divider 8 06XXh Encoder signal (6063h) with frequency divider 16 07XXh Encoder signal (6063h) with frequency divider 32 08XXh Encoder signal (6063h) with frequency divider 64 09XXh Position Actual Value (6064h) with frequency divider 1 0AXXh Position Actual Value (6064h) with frequency divider 2 0BXXh Position Actual Value (6064h) with frequency divider 4 0CXXh Position Actual Value (6064h) with frequency divider 8 0DXXh Position Actual Value (6064h) with frequency divider 16 0EXXh Position Actual Value (6064h) with frequency divider 32 0FXXh Position Actual Value (6064h) with frequency divider 64 10XXh Brake PWM signal that is configured with object 2038h:05h and 06h 11XXh Inverted brake PWM signal that is configured with object 2038h:05h and 06h Example The encoder signal (6063h) is to be applied to output 1 with a frequency divider 4. The output is to be controlled with bit 5 of object 60FE:01. 3250h:08h = 1 (activate routing) 3252h:02h = 0405h (04XXh + 0005h) Dabei ist: 04XXh: Encoder signal with frequency divider 4 0005h: Selection of bit 5 of 60FE:01 The output is switched on by setting bit 5 in object 60FE:01. Example The brake PWM signal is to be applied to output 2. Because the automatic brake control uses bit 0 of 60FE:01h, this should be used as control bit. 3250h:08h = 1 (activate routing) 3252h:03h = 1080h (=10XXh + 0080h). Where: 10XXh: Brake PWM signal 0080h: Selection of the inverted bit 0 of object 60FE:01
