Digital In Usage

Access rights: Profi
Description: Digital inputs are used.

• Normal (0x00)
  Digital inputs can be switched externally without affecting the module. They can be queried at any time with ,,CMD DIO''.
• Program (0x01)
  Pre-programmed ,,phrases'' can be executed. Before the very first phrase can be executed, all inputs must be set to ,,low''. Subsequently, up to 7 program phrasescan be selected. Input 1 is used for ,,executing''. The positions of the inputs 2 to 4 are only accepted, if rising edge at input 1 is used. If only input 1 is set, a reference movement is executed.
  

  Switching sequence:
  1. Set all inputs to ,,low''.
  2. Set inputs 2, 3, 4 to a required state (see the table below).
  3. Change input 1 to ,,high''.
  

  	Input 1	Input 2	Input 3	Input 4	Action
  MPC	IN 0	IN 1	IN 2	IN 3
  MCS	DI 1	DI 2	DI 3	DI 4
  	low	low	low	low	Reset (no action)
  	low->high	low	low	low	Referencing
  	low->high	high	low	low	Program phrase 0
  	low->high	low	high	low	Program phrase 1
  	low->high	high	high	low	Program phrase 2
  	low->high	low	low	high	Program phrase 3
  	low->high	high	low	high	Program phrase 4
  	low->high	low	high	high	Program phrase 5
  	low->high	high	high	high	Program phrase 6

  If external switches are activated ,,program'' mode is no longer available

  
  
  

Data: (3 bits) 0 .. 7