Menu 8 − Digital I/O

Mode: RFC‑A

Digital I/O Interface
The normal sample rate for the digital I/O system is 2ms, however it is possible to obtain a faster update rate for some parameters with certain inputs as described below. (Note that the keypad buttons and the rest button are always updated at the background rate and cannot be used for fast updating.)

Direction, read and write register parameters
Digital I/O Output Enable Register 1 (08.071), Digital I/O Input Register 1 (08.072) and Digital I/O Output Register 1 (08.073) provide direct access to read/control the digital I/O that is integral to the drive.

Limit Switches
If digital inputs 4 or 5 are routed to either the Forward Limit Switch (06.035) or Reverse Limit Switch (06.036) in RFC-A or RFC-S modes the update rate is 250us.

Parameters
The parameter structure for each digital I/O is shown in the diagram below. 

The table below covers all the possible digital I/O parameters. See Internal I/O Identifier (11.068) for details of which I/O is present for different I/O options.  

DI/O Function State Invert/Toggle Source/Destination Output Select
1 Input/Output 08.001 08.011 08.021 08.031
2 Input/Output 08.002 08.012 08.022 08.032
3 Input/Output 08.003 08.013 08.023 08.033
4 Input 08.004 08.014 08.024
5 Input 08.005 08.015 08.025
6 Input 08.006 08.016 08.026
7 Relay Output 08.007 08.017 08.027
8 24V Supply Output 08.008 08.018 08.028
9 Safe Torque Off 1 08.009


10 Safe Torque Off 2 08.040


11 Keypad Run Button 08.041 08.051 08.061
12 Keypad Auxiliary Button 08.042 08.052 08.062
13 24V Supply Input 08.043 08.053 08.063
14 Keypad Stop Button 08.044


15 Relay 2 Output 08.045 08.055 08.065
16 Drive Reset button 08.046


 


Parameter08.001  Digital Output 01 State
Short descriptionDisplays the state for digtial output 1
ModeRFC‑A
Minimum0Maximum1
Default Units 
Type1 Bit VolatileUpdate Rate2ms write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT

The Digtial I/O State parameter shows the state of digital I/O on the drive. All I/O except Digital Input 11 (Keypad Run Button), Digital Input 12 (Keypad Auxiliary Button), Digital Input 13 (24V Supply Input) and Digital Input 14 (Keypad Stop Button) use IEC61131-2 logic levels. As default the inputs use positive logic, and so the state parameter is 0 if the digital I/O is low or 1 if the digital I/O is high. Input Logic Polarity (08.029) can be set to zero to change the logic for Digital I/O1-6 to negative logic, so that the state parameter is 0 if the digital I/O is high or 1 if the digital I/O is low. The state parameter represents the digital I/O state whether it is an input or an output. If the digital I/O is configured as an output to be controlled using the Digital I/O Output Register 1 (08.073) then the state parameter will still show the state of the output even though the route source is zero and the invert parameter has no effect.

Digital Input 11 (Keypad Run Button), Digital Input 12 (Keypad Auxiliary Button) and Digital Input 14 (Keypad Stop Button) represent the state of the Run, Auxiliary and Stop buttons on any keypad fitted to the drive; the input state is determined by ORing the state of the button on each keypad connected to the drive, if the button is pressed the state parameter is one otherwise it is zero. If a keypad is not fitted the state parameters are zero.

Digital Input 13 (24V Supply Input) is an external 24V supply input that is monitored and can be used as a 24V digital input if an external 24V supply is not required. The state parameter is low for the voltage range from 0V to 17V and high for the voltage range above 18V. As the input is a power supply it will consume significant current if the level is taken above 24V when the drive is running from its internal power supply, or at any voltage level if this input is the only power supply to the drive.

Digital Input 09 (STO input 1) and Digital Input 10 (STO input 2) correspond to two safe torque off channels within the drive. Both channels must be in the high state for the drive to be enabled. The state parameters are 0 if the digital input is low, or 1 if the digital input is high. If option slot 3 does not contain an option module providing safety functions then both safe torque off channels are connected to their state parameters and the safe torque off input can enable/disable the drive. If an option module providing safety functions is fitted in option slot 3 then the option module can disable the drive by breaking the path of either one or both safe torque off channels. See Menu 6 for details of the drive enable system.


Parameter08.002  Digital Output 02 State
Short descriptionDisplays the state for digtial output 2
ModeRFC‑A
Minimum0Maximum1
Default Units 
Type1 Bit VolatileUpdate Rate2ms write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT

See Digital Output 01 State (08.001).


Parameter08.004  Digital Input 04 State
Short descriptionDisplays the state for digtial input 4
ModeRFC‑A
Minimum0Maximum1
Default Units 
Type1 Bit VolatileUpdate Rate2ms write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT

See Digital Output 01 State (08.001).


Parameter08.005  Digital Input 05 State
Short descriptionDisplays the state for digtial input 5
ModeRFC‑A
Minimum0Maximum1
Default Units 
Type1 Bit VolatileUpdate Rate2ms write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT

See Digital Output 01 State (08.001).


Parameter08.008  24V Supply Output State
Short descriptionDisplays the state for 24V supply output
ModeRFC‑A
Minimum0Maximum1
Default Units 
Type1 Bit VolatileUpdate Rate2ms write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT

See Digital Output 01 State (08.001).


Parameter08.009  STO Input 01 State
Short descriptionDisplays the state for Safe Torque Off 1 input
ModeRFC‑A
Minimum0Maximum1
Default Units 
Type1 Bit VolatileUpdate Rate2ms write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT

See Digital Output 01 State (08.001).


Parameter08.010  External Trip Mode
Short descriptionDefines behaviour of drive if STOs are low
ModeRFC‑A
Minimum0Maximum3
Default0Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, TE

ValueText
0Disable
1STO 1
2STO 2
3STO 1 OR STO 2

If External Trip Mode  (08.010) = 0 the safe torque off inputs simply enable or disable the drive. If External Trip Mode (08.010) > 0 it is possible to enable the following trip functions.

External Trip Mode  (08.010) Actions
0 Safe torque off inputs do not initiate trips
1 External Trip.001 if Safe Torque Off Input 1 is low
2 External Trip.002 if Safe Torque Off Input 2 is low
3

External Trip.001 if Safe Torque Off is low
OR
External Trip.002 if Safe Torque Off Input 2 is low


Parameter08.011  Digital Output 01 Invert
Short descriptionSet to invert Digital Output 01
ModeRFC‑A
Minimum0Maximum1
Default0Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, TE

ValueText
0Not Invert
1Invert

A value of 0 or 1 allows the digital I/O to be non-inverted or inverted respectively.


Parameter08.012  Digital Output 02 Invert
Short descriptionSet to invert Digital Output 02
ModeRFC‑A
Minimum0Maximum1
Default0Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, TE

ValueText
0Not Invert
1Invert

See Digital Output 01 Invert (08.011).


Parameter08.014  Digital Input 04 Invert
Short descriptionSet to invert Digital Input 04
ModeRFC‑A
Minimum0Maximum1
Default0Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, TE

ValueText
0Not Invert
1Invert

See Digital Output 01 Invert (08.011).


Parameter08.015  Digital Input 05 Invert
Short descriptionSet to invert Digital Input 05
ModeRFC‑A
Minimum0Maximum1
Default0Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, TE

ValueText
0Not Invert
1Invert

See Digital Output 01 Invert (08.011).


Parameter08.018  24V Supply Output Invert
Short descriptionSet to invert 24V Supply Output
ModeRFC‑A
Minimum0Maximum1
Default1Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, TE

ValueText
0Not Invert
1Invert

See Digital Output 01 Invert (08.011).


Parameter08.020  Digital I/O Read Word
Short descriptionDisplays the states for digital I/O 1 to 8
ModeRFC‑A
Minimum0Maximum511
Default Units 
Type16 Bit VolatileUpdate RateBackground write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT

Digital I/O Read Word (08.020) reflects the state of digital input/output 1 to STO input 1 as given below. Each bit matches the value of the state parameter for the respective digital input or output.

Digital I/O Read Word (08.020) bit Digital I/O
0 Digital I/O 1
1 Digital I/O 2
2 Digital I/O 3
3 Digital Input 4
4 Digital Input 5
5 Digital Input 6
6 Relay
7 24V Output
8 STO Input 1


Parameter08.021  Digital Output 01 Source
Short descriptionDefines the source parameter for Digital Output 1
ModeRFC‑A
Minimum0.000Maximum59.999
Default10.003Units 
Type16 Bit User SaveUpdate RateDrive Reset Read
Display FormatStandardDecimal Places3
CodingRW, DE, PT, BU

The Digital I/O Source/Destination parameters provide the routing for the source and/or destination for the digital I/O.


Parameter08.022  Digital Output 02 Source
Short descriptionDefines the source parameter for Digital Output 2
ModeRFC‑A
Minimum0.000Maximum59.999
Default12.040Units 
Type16 Bit User SaveUpdate RateDrive Reset Read
Display FormatStandardDecimal Places3
CodingRW, DE, PT, BU

See Digital Output 01 Source (08.021).


Parameter08.024  Digital Input 04 Destination
Short descriptionDefines the destination parameter for Digital Input 4
ModeRFC‑A
Minimum0.000Maximum59.999
Default6.030Units 
Type16 Bit User SaveUpdate RateDrive Reset Read
Display FormatStandardDecimal Places3
CodingRW, DE, PT, BU

See Digital Output 01 Source (08.021).


Parameter08.025  Digital Input 05 Destination
Short descriptionDefines the destination parameter for Digital Input 5
ModeRFC‑A
Minimum0.000Maximum59.999
Default6.032Units 
Type16 Bit User SaveUpdate RateDrive Reset Read
Display FormatStandardDecimal Places3
CodingRW, DE, PT, BU

See Digital Output 01 Source (08.021).


Parameter08.028  24V Supply Output Source
Short descriptionDefines the source parameter for 24V Supply Output
ModeRFC‑A
Minimum0.000Maximum59.999
Default0.000Units 
Type16 Bit User SaveUpdate RateDrive Reset Read
Display FormatStandardDecimal Places3
CodingRW, PT, BU

See Digital Output 01 Source (08.021).


Parameter08.040  STO Input 02 State
Short descriptionDisplays the state for the Safe Torque Off 2 input
ModeRFC‑A
Minimum0Maximum1
Default Units 
Type1 Bit VolatileUpdate Rate2ms write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT

See Digital Output 01 State (08.001).


Parameter08.041  Keypad Run Button State
Short descriptionDisplays the state for the Keypad Run Forward button
ModeRFC‑A
Minimum0Maximum1
Default Units 
Type1 Bit VolatileUpdate RateBackground write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT

See Digital Output 01 State (08.001).


Parameter08.042  Keypad Auxiliary Button State
Short descriptionDisplays the state for the Keypad Auxilary button
ModeRFC‑A
Minimum0Maximum1
Default Units 
Type1 Bit VolatileUpdate RateBackground write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT

See Digital Output 01 State (08.001).


Parameter08.044  Keypad Stop Button State
Short descriptionDisplays the state for the Keypad Stop button
ModeRFC‑A
Minimum0Maximum1
Default Units 
Type1 Bit VolatileUpdate RateBackground write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT

See Digital Output 01 State (08.001).


Parameter08.046  Drive Reset Button State
Short descriptionDisplays the state of the reset button on the front of the drive
ModeRFC‑A
Minimum0Maximum0
Default Units 
Type1 Bit VolatileUpdate RateBackground write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, NV, PT

See Digital Output 01 State (08.001).


Parameter08.051  Keypad Run Button Invert/Toggle
Short descriptionSet to invert/toggle Keypad Run Button
ModeRFC‑A
Minimum0Maximum2
Default0Units 
Type8 Bit User SaveUpdate RateBackground Read
Display FormatStandardDecimal Places0
CodingRW, TE

ValueText
0Not Invert
1Invert
2Toggle

A value of 0 or 1 allows the input state to be non-inverted or inverted respectively. An additional toggle function is provided for Keypad Run button inputs. The toggle function output changes state on each rising edge (0 to 1 change) at its input.


Parameter08.052  Keypad Auxiliary Button Invert/Toggle
Short descriptionSet to invert/toggle Keypad Auxiliary Button
ModeRFC‑A
Minimum0Maximum2
Default0Units 
Type8 Bit User SaveUpdate RateBackground Read
Display FormatStandardDecimal Places0
CodingRW, TE

ValueText
0Not Invert
1Invert
2Toggle

A value of 0 or 1 allows the input state to be non-inverted or inverted respectively. An additional toggle function is provided for Keypad Auxiliary button inputs. The toggle function output changes state on each rising edge (0 to 1 change) at its input.


Parameter08.061  Keypad Run Button Destination
Short descriptionDefines the destination parameter for the keypad run button
ModeRFC‑A
Minimum0.000Maximum59.999
Default0.000Units 
Type16 Bit User SaveUpdate RateDrive Reset Read
Display FormatStandardDecimal Places3
CodingRW, DE, PT, BU

See Digital Output 01 Source (08.021).


Parameter08.062  Keypad Auxiliary Button Destination
Short descriptionDefines the destination parameter for the keypad auxiliary button
ModeRFC‑A
Minimum0.000Maximum59.999
Default0.000Units 
Type16 Bit User SaveUpdate RateDrive Reset Read
Display FormatStandardDecimal Places3
CodingRW, DE, PT, BU

See Digital Output 01 Source (08.021).


Parameter08.071  Digital I/O Output Enable Register 1
Short descriptionDisplays the binary form of the DI/O output enable register
ModeRFC‑A
Minimum0
(Display: 0000000000000000)
Maximum65535
(Display: 1111111111111111)
Default0
(Display: 0000000000000000)
Units 
Type16 Bit User SaveUpdate RateBackground read
Display FormatBinaryDecimal Places0
CodingRW, PT, BU

The bits in the Digital I/O Output Enable Register 1 (08.071), Digital I/O Input Register 1 (08.072) and Digital I/O Output Register 1 (08.073) each correspond with one digital I/O as shown below. The update rate of the individual bits in these registers differs depending upon the I/O.

DI/O Bit Function Bit update rate
Input Register Output Register Output Enable Register
1 0 Digital Input/Output 2ms 250μs Background
2 1 Digital Input/Output 2ms 250μs Background
3 2 Digital Input/Output 2ms 2ms Background
4 3 Digital Input 250μs Not applicable Not applicable
5 4 Digital Input 250μs Not applicable Not applicable
6 5 Digital Input 2ms Not applicable Not applicable
7 6 Relay Output Bit always 0 2ms Background
8 7 24V Supply Output Bit always 0 2ms Background
9 8 Safe Torque Off 1 2ms Not applicable Not applicable
10 9 Safe Torque Off 2 2ms Not applicable Not applicable
11 10 Keypad Run Button Background Not applicable Not applicable
12 11 Keypad Auxiliary Button Background Not applicable Not applicable
13 12 24V Supply Input 2ms Not applicable Not applicable
14 13 Keypad Stop Button Background Not applicable Not applicable
15 14 Relay 2 Output Bit always 0 2ms Background
16 15 Drive Reset Button Background Not applicable Not applicable

The Digital I/O Input Register 1 (08.072) is always active and shows the value in the Digital I/O State parameter for all digital I/O configured as inputs. Bits in the Digital I/O Output Register 1 (08.073) can be used to control the digital I/O directly. The bits control the output directly and are not modified by the corresponding Digital I/O Invert/Toggle function. The bits in the Digital I/O Output Register 1 (08.073) only control the corresponding digital output if all the conditions below are met:

  1. The corresponding bit in the Digital I/O Output Enable Register 1 (08.071) must be set to 1.
  2. The digital I/O must be an output, or it must be an input/output and the corresponding Digital I/O Output Select parameter must be one.
  3. The corresponding Digital I/O Source/Destination parameter is not as valid source (e.g. 0.000) and the drive has been powered-up or reset since it was first selected.

If the above conditions are not met, the digital output is controlled by the normal logic.


Parameter08.072  Digital I/O Input Register 1
Short descriptionDisplays the binary form of the DI/O input register
ModeRFC‑A
Minimum0
(Display: 0000000000000000)
Maximum65535
(Display: 1111111111111111)
Default Units 
Type16 Bit VolatileUpdate Rate250µs write
Display FormatBinaryDecimal Places0
CodingRO, ND, NC, PT, BU

See Digital I/O Output Enable Register 1 (08.071).


Parameter08.073  Digital I/O Output Register 1
Short descriptionDisplays the binary form of the DI/O output register
ModeRFC‑A
Minimum0
(Display: 0000000000000000)
Maximum65535
(Display: 1111111111111111)
Default0
(Display: 0000000000000000)
Units 
Type16 Bit VolatileUpdate Rate250µs read
Display FormatBinaryDecimal Places0
CodingRW, PT, BU

See Digital I/O Output Enable Register 1 (08.071).