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Dedicated Digital Inputs and Outputs

The Guidance Controller includes dedicated digital inputs and outputs that reflect and control internal system functions, as shown in the table below. These values may be displayed by a control panel or tested by a GPL procedure. Depending on your hardware options, some of these signals may not be present or other additional dedicated inputs or outputs may exist.

Dedicated digital inputs and outputs can only be referenced on the local controller where the physical input or output exists. For example, a master controller cannot reference dedicated IO on a slave controller or vice versa.

 
 

Extreme care should be used when altering the values of dedicated output signals to avoid conflicting with system operations that control these signals.

 

In the following table an "n" in the signal number indicates that the value is available for multiple axes or channels.  The "n" should be set from 1 to n where 1 corresponds to the first axes or channel.

Signal Number I/O Label Description

8n31

O

 

Brake control signal for motor n. Asserting this signal releases the brake, de-asserting it sets the brake. Depending on your robot, only some motors have brakes. For single-axis controllers, only 8131 is connected.

8n49

O

 

3rd Party "Amplifier Enable" output signal. Set to enable the nth DAC amplifier (n = 1 to 6), clear to disable the DAC amplifier.  Automatically cleared by ESTOP or after the Error Block time if a DAC amplifier fault occurs.

If the corresponding DAC is not configured to control a 3rd Party amplifier, this signal operates like any other General Digital Output signal.

8n61

O

 

3rd Party "Amplifier Fault" reset signal.  Set to reset a latched amplifier fault (signal 18n33).  Always reads as zero.

18001

I

 

Reads 1 if high power is on.

18002

I

 

Reads 1 if front panel lamp failed.

18003

I

 

Reads 1 if E-STOP channel 1 asserted.

18004

I

 

Reads 1 if E-STOP channel 2 asserted.

18005

I

 

Reads 1 if delayed E-STOP active.

18006

I

 

Reads 1 if E-STOP timer expired.

18007

I

 

Reads 1 if front panel High Power Enable asserted.

18008

I

 

Reads 1 if Auto/Manual channel 1 is set to Auto.

18009

I

 

Reads 1 if Auto/Manual channel 2 is set to Auto.

18010

I

 

Reads 1 if watchdog timer expired.

18011

I

 

Reserved

18012

I

 

Reads 1 if external E-STOP asserted.

18n10

I

 

Digital input #1 in the nth (n=1 to 6) encoder interface connector.   This can be configured for a "Home" digital input switch if "Dedicated DIN selection" (Dataid 10108) is set to 3 or Hall-effect sensor #1 if DataID 10108 is set to 2.

18n11

I

 

Digital input #2 in the nth (n=1 to 6) encoder interface connector.   This can be configured for a "Positive over-travel" digital input switch if "Dedicated DIN selection" (Dataid 10108) is set to 3 or Hall-effect sensor #2 if DataID 10108 is set to 2.

18n12

I

 

Digital input #3 in the nth (n=1 to 6) encoder interface connector.   This can be configured for a "Negative over-travel" digital input switch if "Dedicated DIN selection" (Dataid 10108) is set to 3 or Hall-effect sensor #3 if DataID 10108 is set to 2.

18n33

I

 

3rd Party "Amplifier Fault" latched input signal.  Shows the nth DAC amplifier fault status (n=1 to 6).  Latched if a fault occurs.  Fault cleared by setting output 8n61.

If the corresponding DAC is not configured to control a 3rd Party amplifier, this signal operates like any other unlatched General Digital Input signal.