Integrating MotionLinx with TwinCAT / MotionLinx Data Objects /
MotionLinx-IO SDO
Configuration SDO – Index 0×4000
| Subindex | Data Type | Data Description |
|---|---|---|
| SubIndex 1 InOrOut |
INT | Input/Output Configuration 1 = set pin as Output 0 = set pin as Input bit 0 : Left Male Pin2 bit 1 : Left Female Pin2 bit 2 : Right Male Pin2 bit 3 : Right Female Pin2 bit 4 : Left Male Pin4 bit 5 : Left Female Pin4 bit 6 : Right Male Pin4 bit 7 : Right Female Pin4 bit 8 to bit 15 – reserved |
| SubIndex 2 Sensor Polarity |
INT | Inputs Polarity Configuration 0 = Input signal and interpreted logic state equal 1 = Invert logic state form signal state bit 0 : Left Male Pin2 bit 1 : Left Female Pin2 bit 2 : Right Male Pin2 bit 3 : Right Female Pin2 bit 4 : Left Male Pin4 bit 5 : Left Female Pin4 bit 6 : Right Male Pin4 bit 7 : Right Female Pin4 bit 8 to bit 15 – reserved See Sensor Polarity topic below |
| SubIndex 3 Outputs Polarity |
INT | Outputs Polarity Configuration 0 = Output signal and interpreted logic state equal 1 = Invert logic state from signal state bit 0 : Left Male Pin2 bit 1 : Left Female Pin2 bit 2 : Right Male Pin2 bit 3 : Right Female Pin2 bit 4 : Left Male Pin4 bit 5 : Left Female Pin4 bit 6 : Right Male Pin4 bit 7 : Right Female Pin4 bit 8 to bit 15 – reserved See Outputs Polarity topic below |
| SubIndex 4 PushPull |
INT | Push/Pull Inputs Configuration 0 = Input circuit NPN/PNP auto detect 1 = Input circuit is Push/Pull type bit 0 : Left Male Pin2 bit 1 : Left Female Pin2 bit 2 : Right Male Pin2 bit 3 : Right Female Pin2 bit 4 : Left Male Pin4 bit 5 : Left Female Pin4 bit 6 : Right Male Pin4 bit 7 : Right Female Pin4 bit 8 to bit 15 – reserved Note that this data is ignored if the Pin is configured as an Output |
| SubIndex 5 StateOnDisconnect |
INT | Output State on Disconnect Configuration 0 = Output Pin de-energizes upon communication loss with master controller 1 = Output Pin remains in last state upon communication loss with master controller bit 0 : Left Male Pin2 bit 1 : Left Female Pin2 bit 2 : Right Male Pin2 bit 3 : Right Female Pin2 bit 4 : Left Male Pin4 bit 5 : Left Female Pin4 bit 6 : Right Male Pin4 bit 7 : Right Female Pin4 bit 8 to bit 15 – reserved Note that this data is ignored if the Pin is configured as an Input |
| SubIndex 6 Sensor Debounce |
INT | Sensor Debounce Time Configuration Value in msec Minimum value = 2 msec Maximum value = 2000 msec Default value = 20 msec |
| SubIndex 7 thru 9 Reserved |
INT | Reserved for future use |
Sensor Polarity
This SubIndex is only used for Pins configured as Inputs in the InOrOut SubIndex. If a given Pin’s corresponding bit is 0 in this SubIndex, the logical state of the Pin’s data seen in the Transmit PDO0 – Object 0×1A00 SubIndex SensorInputs will match the logical state of the electrical signal on the Pin. If a given Pin’s corresponding bit is 1 in this SubIndex, the logical state of the Pin’s data seen in the Transmit PDO0 – Object 0×1A00 SubIndex SensorInputs will be inverted from the logical state of the electrical signal on the Pin.
This is provided as a convenience for the master controller programmer. For example, the master controller could have re-useable code or routines that expect a photo sensor to have its electrical signal ON when it is “blocked”. Let’s say on a given module, you need to connect a photo sensor whose electrical signal is OFF when “blocked”. Instead of modifying the program logic in each and every place this input is used; you can simply change its logical polarity with this SDO.
Please note that this SubIndex also controls the state of the LED indicators for the given Pin. The LED state will match the logical state of the pin.
For example, by default when the Left Sensor input is electrically energized, its corresponding LED illuminates green and bit 4 of the Transmit PDO0 – Object 0×1A00 SubIndex SensorInputs is a 1. If you set bit 4 in the SDO SensorPolarity; when the Left Sensor input is electrically energized, bit 4 of the Transmit PDO0 – Object 0×1A00 SubIndex SensorInputs is 0 and its corresponding LED is off.
| Sensor Polarity Configuration Bit Setting |
Electrical Signal on Port Pin |
Transmit PDO Bit State |
LED State |
|---|---|---|---|
| OFF | De-energized | OFF | OFF |
| OFF | Energized | ON | ON |
| ON | De-energized | ON | ON |
| ON | Energized | OFF | OFF |
Outputs Polarity
This SubIndex is only used for Pins configured as Outputs in the InOrOut SubIndex. If a given Pin’s corresponding bit is 0 in this SubIndex, when the master controller sets the logical state of the Pin in the Receive PDO0 – Object 0×1600 SubIndex Outputs, the electrical signal on the Pin will match this logical state. If a given Pin’s corresponding bit is 1 in this SubIndex, the electrical signal on the Pin will be inverted from the logical state.