Digital GPIO

Overview

This feature allows using the Digital Inputs of the Drive to command actions and to configure the Digital Outputs to trigger when certain events happen. This can be used to control some aspects of the Drive with an external signal or to control an external device with the Drive.

Available features are:

0 Disabled (default)

2 [IN] General Purpose Input

3 [OUT] General Purpose Output

4 [IN] Home Switch Active High - Level Triggered

5 [IN] Home Switch Active Low - Level Triggered

6 [IN] Positive Limit Switch Active High - Level Triggered for Homing & Edge Triggered (Latch) for Error (PosLmAct)

7 [IN] Positive Limit Switch Active Low - Level Triggered for Homing & Edge Triggered (Latch) for Error (PosLmAct)

8 [IN] Negative Limit Switch Active High - Level Triggered for Homing & Edge Triggered (Latch) for Error (NegLmAct)

9 [IN] Negative Limit Switch Active Low - Level Triggered for Homing & Edge Triggered (Latch) for Error (NegLmAct)

10 [IN] Interlock (Disable Operation) Active Low - Level Triggered

11 [IN] Fault Reset - Edge Triggered

12 [IN] Interlock (Fault Reaction) Active Low - Level Triggered

13 [IN] Time Stamped Rising Edge - Edge Triggered

14 [OUT] Mimics Target Reached (tr) Bit of Statusword

15 [OUT] Mimics Internal Limit Active (ila) Bit of Statusword

16 [OUT] Timestamped Triggered Output

17 [OUT] Position Triggered Output (Pulse)

18 [OUT] Mimics Fault (f) Bit of Statusword

19 [OUT] Mimics Switched On (so) Bit of Statusword

20 [OUT] Mimics Ready to Switch On (rtso) Bit of Statusword

21 [OUT] Mimics Operation Enabled (oe) Bit of Statusword

22 [OUT] Mimics Voltage Enabled (ve) Bit of Statusword

23 [OUT] Mimics Switch On Disabled (sod) Bit of Statusword

24 [OUT] Mimics Quick Stop (qs) Bit of Statusword

25 [OUT] Mimics Warning (w) Bit of Statusword

Usage

You can access the features in OBLAC Drives: Enter Feedback & IO/Digital IO

../../../../_images/use_GPIO_with_OD.png

Manual configuration

The actions and events on GPIO pins can also be configured manually in object Object 0x2210 (GPIO Pin Configuration).

In this object a feature can be selected for each Digital I/O pin.

Some features require additional settings in other objects as well.

Attention

Ensure that the selected pin allows the direction of the feature:

An input action can only be configured on a Digital In pin.
An output event can only be configured on a Digital Out pin.

Attention

Each feature can only be used on one pin (except for General Purpose Input and General Purpose Output)

Description of features

General purpose In- and Output (GPIO)

General Purpose Input (2)

The high and low logic (voltage levels) at the selected GPIO pin will be reflected in the corresponding bits of object 0x60FD (Digital Inputs) as 1 and 0 respectively.

General Purpose Output (3)

The value of the selected digital output is high if the corresponding bit in sub-object 0x60FE:1 is high and the corresponding mask bit in sub-object 0x60FE:2 is set as 1.

The output value will be the value set in the object 0x60FE:1 (Digital Output).

Using Digital GPIO with Home switches and limit switches

Note

Limit switch and Home switch configuration are used when the drive is in Homing Mode. Limit switches can also trigger Quick Stop in all modes. In homing mode Quick Stop is triggered by the limit switch if it is not being used by the homing method.

Home Switch Active High - Level Triggered (4)

Active and inactive state of the Home switch will be reflected as 1 and 0 respectively at the selected digital input.

Home Switch Active Low - Level Triggered (5)

Active and inactive state of the Home switch will be reflected as 0 and 1 respectively at the selected digital input.

Note

Irrespective of the switch type (Active High or Active Low), active and inactive states of the home switch will be shown as 1 and 0 respectively in bit 2 (home switch) of the Digital Input Object 0x60FD.

Positive Limit Switch Active High - Level Triggered for Homing & Edge Triggered (Latch) for Error (PosLmAct) (6)

Active and inactive state of the Positive limit switch will be reflected as 1 and 0 respectively at the selected digital input.

Positive Limit Switch Active Low - Level Triggered for Homing & Edge Triggered (Latch) for Error (PosLmAct) (7)

Active and inactive state of the Positive limit switch will be reflected as 0 and 1 respectively at the selected digital input.

Note

Irrespective of the switch type (Active High or Active Low), active and inactive states of the positive limit switch will be shown as 1 and 0 respectively in bit 1 (positive limit switch) of the Digital Input Object 0x60FD.

Note

Positive Limit switch also triggers Quick Stop, if the drive is either in any opmode other than HOMING or the drive in is HOMING mode but the switch is not being used by the homing method. If Positive Limit Switch has been activated in this case, then bit 2 (qs) of the Controlword will be cleared and Quick Stop will be executed.

Negative Limit Switch Active High - Level Triggered for Homing & Edge Triggered (Latch) for Error (NegLmAct) (8)

Active and inactive state of the Negative limit switch will be reflected as 1 and 0 , in the corresponding bit (according to configured GPIO) of the object 0x60FD (Digital Inputs)

Negative Limit Switch Active Low - Level Triggered for Homing & Edge Triggered (Latch) for Error (NegLmAct) (9)

Active and inactive state of the Negative limit switch will be reflected as 0 and 1 , in the corresponding bit (according to configured GPIO) of the object 0x60FD (Digital Inputs)

Note

Irrespective of the switch type (Active High or Active Low) , active and inactive states of the negative limit switch will be shown as 1 and 0 respectively in bit 0 (negative limit switch) of the Digital Input Object 0x60FD.

Note

Negative Limit switch also triggers Quick Stop, If drive is either in any opmode other than HOMING or drive in is HOMING mode but the switch is not being used by the homing method. If Negative Limit Switch has been activated in this case, then bit 2 (qs) of the Controlword will be cleared and Quick Stop will be executed.

Driving out of the limit switch is only possible in the opposite direction, the concrete behavior is mode-dependant:

Modes CSP, PP , PV , CSV , CST and PT

If a target is commanded which would move the axis further into the direction of the switch, the motor will stand still, since further movement in the direction of switch is not allowed.

Cogging torque compensation

If the switch is active and the user tries to switch to cogging torque compensation, this will not be allowed.

The error based on the activated switch will be raised by firmware.

Diagnostics mode

The following OS commands are not executed, if either of the limit switches is active:

  • OS command 2 (Open Loop Field Mode)

  • OS command 4 (Motor Phase Order Detection)

  • OS command 5 (Commutation offset detection with Methods 0 and 1)

  • OS command 6 (Open phase detection)

  • OS command 7 (Pole pair detection)

  • OS command 8 (Phase Resistance Measurement)

  • OS command 9 (Phase Inductance Measurement)

If any of these OS commands is called while a limit switch is active, the response will be OSCMD_ERROR_CMD_NOT_ALLOWED.

The following OS commands can be executed, even if either of the limit switches is active:

  • OS command 0 (Encoder register communication)

  • OS command 1 (iC-MU calibration mode)

  • OS command 3 (HRD streaming)

  • OS command 5 (Commutation offset detection with Method 2)

Homing modes

If the switch is active then Homing is only allowed in those modes that will take the axis away from the activated switch. All those methods which try to move the axis further into the limit switch will raise an error.

The error raised depends on the limit switch being active:

  • For a positive limit switch the error raised will be PosLmAct

  • For a negative limit switch the error raised will be NegLmAct

Input actions

Use case: Interlock

When connecting different devices for a common process it’s often necessary to ensure the correct order of operation. This can be done by routing the signals to the master but it comes at a cost for reaction-time, data load and additional wiring. Input actions allow interlocking an operation directly at the Drive to guarantee the correct order of the process.

Interlock (Disable Operation) Active Low - Level Triggered (10)

Clear bit 3 (eo) of controlword when the selected digital input is low.

This will cause the drive to transition into Operation disable state.

Interlock will remain active as long as the configured GPIO remains low and transitioning into OP Enabled state will not be possible. Transitioning into OP Enabled state will only be possible when interlock is deactivated by setting the GPIO input high. Bit 3 (interlock bit) of the Digital Inputs Object 60FD will also be high when Interlock is active.

Fault reset (11)

Set bit 7 (fr) of controlword when the selected digital input is high.

Interlock (Fault Reaction) Active Low - Level Triggered (12)

Raises the fault “Interlck”, when the selected digital input is low.

This will cause the drive to transition into Fault Reaction State.

Interlock will remain active as long as the configured GPIO remains low and entering into OP Enabled state will not be possible. If OP Enabled state is attempted to be entered while interlock is active, Interlck fault will be raised again by the firmware. Transitioning into OP Enabled state will be possible when interlock is deactivated by setting the configured GPIO input high. Bit 3 (interlock bit) of the Digital Inputs Object 60FD will also be high when Interlock is active.

Time Stamped Rising Edge - Edge Triggered (13)

Report a rising edge timestamp with 2 µs accuracy if GPIO is a 1-bit port. Otherwise the accuracy is 62.5 µs. The value of this GPIO is updated in shared memory at 16 kHz.

Output events

Mimics Target Reached (tr) Bit of Statusword (14)

The value of the selected Digital Output mimics bit 10 of the Statusword (tr). When the “tr” bit is high, the configured digital output will be high

Mimics Internal Limit Active (ila) Bit of Statusword (15)

The value of the selected Digital Output mimics bit 11 of the Statusword (ila). When the “ila” bit is high, the digital output value will be high.

Timestamp triggered Output (16)

Trigger the Digital Output at a certain timestamp. The output value will be the value set in the object 0x60FE:1 (Digital Output).

The value specified in subitem 1 of object 0x2211 (GPIO output events) is the Timestamp at which the GPIO should trigger. The unit is in 10 ns.

The value in 0x2211:1 can be used for setting this timestamp. But the unit must be converted to 10 of ns.

Note

The value need to be converted to be in the same time reference (1 µs vs. 10 ns)

Example:

The value read in object 0x20F0:0 is 2385309 µs. The Timestamp triggered output shall be triggered 15000 µs after the current time. Both times need to be converted to the units of 0x2211:1 and added: 2385309 * 100 + 15000 * 100 = 240030900.

Attention

When the DC Clock feature is not used, there is a drift between the timestamp and the DC Clock.

Note

If the GPIO is a 1-bit port, this is activated with an accuracy of 10 ns. Otherwise the accuracy is 62.5 µs.

Please refer to the table below for the type of port:

SOMANET Circulo

SOMANET Node

Digital I/O 1

1-bit port

1-bit port

Digital I/O 2

1-bit port

1-bit port

Digital I/O 3

1-bit port

1-bit port

Digital Output 4

multibit port

N/A

Digital I/O 4

N/A

1-bit port

Digital I/O 5

multibit port

N/A

Digital I/O 6

multibit port

N/A

Digital Input 7

multibit port

N/A

Position Triggered Output (Pulse) (17)

Output a configurable width pulse to the selected Digital Output at a certain encoder position. The encoder port that is used can be selected in subitem 2 of object 0x2213:

SOMANET Circulo

SOMANET Node

Encoder Connector 1

Internal encoder 1

Encoder Port 1

Encoder Connector 2

Internal encoder 2

Encoder Port 2

Encoder Connector 3

Encoder port 1

Encoder Port 3 / Digital IO

Encoder Connector 4

Encoder port 2

Encoder Connector 5

Digital I/O

Note

If an ABI encoder is used,the response will be almost immediate (within 0.34 µs). If another encoder type is selected, the response will be slower (within 62.5 µs).

Object 0x2213 allows further configuration of this output event by setting the following parameters:

  • Pulse Width

  • Position Setpoint at which the pulse needs to occur at GPIO

  • Selection of the encoder for which setpoint is defined.

Mimics Fault (f) Bit of Statusword (18)

The value of the selected Digital Output mimics bit 3 of the Statusword (f). When the “f” bit is high, the selected digital output will be high.

Mimics Switched On (so) Bit of Statusword (19)

The value of the selected Digital Output mimics bit 1 of the Statusword (so). When the “so” bit is high, the selected digital output will be high.

Mimics Ready to Switch On (rtso) Bit of Statusword (20)

The value of the selected Digital Output mimics bit 0 of the Statusword (rtso). When the “rtso” bit is high, the selected digital output will be high.

Mimics Operation Enabled (oe) Bit of Statusword (21)

The value of the selected Digital Output mimics bit 2 of the Statusword (oe). When the “oe” bit is high, the selected digital output will be high.

Mimics Voltage Enabled (ve) Bit of Statusword (22)

The value of the selected Digital Output mimics bit 4 of the Statusword (ve). When the “ve” bit is high, the selected digital output will be high.

Mimics Switch On Disabled (sod) Bit of Statusword (23)

The value of the selected Digital Output mimics bit 6 of the Statusword (sod). When the “sod” bit is high, the selected digital output will be high.

Mimics Quick Stop (qs) Bit of Statusword (24)

The value of the selected Digital Output mimics bit 5 of the Statusword (qs). When the “qs” bit is high, the selected digital output will be high.

Mimics Warning (w) Bit of Statusword (25)

The value of the selected Digital Output mimics bit 7 of the Statusword (w). When the “w” bit is high, the selected digital output will be high.

Parameters

Timestamp at which the GPIO should trigger for “Timestamped Triggered Output”

Time of the last rising edge for “Timestamped Rising Edge”

Sets Pulse Width, Position Setpoint and the encoder for “Position Triggered Output”

Note

The pulse is generated independantly of the direction from which the setpoint is crossed.

Manufacture specific bits set the state of digital output

Manufacture specific bits show the state of digital inputs.