The Digital I/O module provides a simple communications interface between the motion controller and the system controller or Programmable Controller (P/C). RMC modules are available with two types of Digital I/O. When a digital I/O is installed to the left of the CPU, it is called the Communication Digital I/O. When a digital I/O is installed to the right of the CPU, it is called the Sensor Digital I/O. Both share the same specifications, refer to Digital I/O Specifications for this information. However, the Sensor and Communication Digital I/O’s have different features. This topic discusses the features of the Communication Digital I/O.
The Communication Digital I/O has eighteen digital inputs and eight digital outputs. The use of these digital inputs is configured using the Communication DI/O Options dialog box. To open this dialog box:
On the Tools menu, click Module Configuration.
In the Slots list, click the Comm Digital I/O item. This item will only be available if a Communication Digital I/O module is installed.
Click Slot options.
The Communication DI/O Options dialog box has the following areas:
Invert Inputs
To invert inputs, check the boxes next to the inputs you want inverted. When digital inputs are displayed with the I/O Bit Monitor they are displayed after they have been inverted.
Invert Outputs
To invert outputs, check the boxes next to the outputs you want inverted. When digital outputs are displayed with the I/O Bit Monitor they are displayed before they have been inverted.
Counter Type
The Communication Digital I/O is equipped with quadrature and edge counters. Only one of these two counters may be used at a time. Similarly, only one of the counters on the Sensor DI/O module can be enabled at a time. Refer to Using Counters for details.
Note: In Parallel Position and Parallel Event modes, the inputs used by the counters are reserved for other uses. Therefore, counters cannot be used in these modes.
DI/O Mode
The Communication Digital I/O can operate in several modes. To configure the mode of your choice, do the following:
In the DI/O Mode list, click the appropriate mode. Use the drop-down arrow.
Click Mode options to display the options window corresponding to the selected mode.
After making changes to the mode options window, click OK in the Mode Options dialog box.
Click Update RMC.
The Update Module Configuration dialog box will be displayed to indicate the progress. If the module could not be reset automatically, you may be prompted to reset the module manually.
The available modes are described in the following sections:
Error Indication
Note This section is only used by RMC CPU firmware dating 20011112 or later.
By default, the Ready discrete output (CPU output 0) matches the state of the Run/Stop input (CPU input 0). However, with 20011112 or later firmware, this output can also be used to indicate that an error has occurred on a group of axes. To select the axes you want to monitor for errors, check the boxes next to each axis you want to monitor.
If an error bit turns on in the Status Word for any of these selected axes, and that error bit has been set up to trigger a Soft or Hard Stop by the Auto Stop word, then the Ready output will turn off even if the Run/Stop output is on. Therefore, the Ready output will be on if the Run/Stop output is on and there are no Auto Stop errors on any of the selected axes.
This dialog box has two available commands:
Update RMC
This command sends the Communication Digital I/O options to the RMC, issues an Update Flash command, and resets the RMC to make all changes take effect.
Cancel
This command closes the options dialog and discards any changes made.
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