Using the Sensor Digital I/O

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 Sensor Digital I/O.

The Sensor Digital I/O has eighteen digital inputs and eight digital outputs. The inputs on the Sensor Digital I/O can be used for the following:

The inputs can be used to trigger event sequences using the Input to Event table. That is, rising edges and falling edges on these inputs can be set up to start any event sequence on one or more axes. Refer to Input to Event table for details. This ability is available unless the Communication DI/O is used in Input to Event mode.
The inputs can be used to control transitions between Steps in the Event Step table through the Single Input (I, i, O, and o) and Multiple Inputs link types. In this case, the transition is allowed or disallowed by the link type, but an event sequence must already have been started before the link types will be evaluated. This differs from using the Input to Event table, which actually begins an event sequence.
Inputs 16 and 17 can be used as either an edge or quadrature counter. See Using Counters for details.
When used in combination with a Communication DI/O using Parallel Event mode, the inputs can be used as part of that mode. Refer to Parallel Event mode for details.

The outputs of the Sensor DI/O can be used for the following:

The outputs can be set using the Set Outputs and Reset Outputs commands.

The use of this I/O is configured using the Sensor Digital I/O dialog box. To open this dialog box:

On the Tools menu, click Module Configuration.
In the Slots list, click the Sensor Digital I/O item. This item will be available only if the Sensor Digital I/O module is installed.
Click Slot options.

The Sensor Digital I/O dialog box has the following areas:

Invert Inputs check boxes

To invert inputs, select the check boxes of 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 check boxes

To invert outputs, select the check 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 Selection

The Sensor 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 or Communication Digital I/O modules can be enabled at a time. Refer to Using Counters for details.

This section will be unavailable if the Communication DI/O is configured in Parallel Event mode because this mode uses all inputs on both the Communication DI/O and Sensor DI/O.

This dialog box has two available commands:

Update RMC

This command sends the Sensor 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 dialog box and discards changes.