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Input / Output 4-9MN1901
4.3.2 CREF and digital inputs
Pin 7 (CREF) controls the sense of all the digital inputs (X3 pins 9 to 17) and should be
permanently wired, dependent on the user requirements:
Active high: connect 0V to pin 7.
The digital inputs will be active when a voltage of +24VDC (greater than 12VDC) is applied to
them and will sink a current of approximately 5mA each.
Active low: connect +24VDC to pin7.
The digital inputs will be active when grounded (less than 2V) and will source a current of
approximately 5mA each.
The +24VDC supply is from a customer supplied 24VDC supply that should have a continuous
current capability of 1.75A.
The sense of the inputs can be configured in Mint WorkBench or controlled individually in Mint
using the keyword INPUTACTIVELEVEL.
See section 3.8 for more information about Drive Enable.
4.3.3 Special functions on inputs DIN4 and DIN5
In addition to being general purpose inputs, DIN4 and DIN5 are capable of special alternative
functions.
4.3.3.1 Pulse and direction inputs - DIN4 and DIN5
DIN4 and DIN5 can be configured using the MASTERSOURCE keyword to behave as pulse and
direction inputs:
H DIN4 is used as the pulse input. The pulse frequency controls the speed of the motor.
H DIN5 is used as the direction input. The state of the direction input controls the direction of
motion. A positive voltage will result in forward motion. If DIN5 is grounded, movement will
be in the opposite direction.
Note: If DIN4 and DIN5 have been configured as pulse and direction inputs, the
alternative pulse and direction inputs, available on connector X9, cannot be used.
See the Mint keyword MASTERSOURCE.
4.3.3.2 Fast inputs - DIN4 and DIN5
DIN4 and DIN5 can be configured using the FASTSELECT and FASTAUXSELECT keywords to
perform special functions:
H Fast interrupt hardware position capture input. The position of the axis is captured in real
time and can be read using the Mint keyword FASTPOS.
H Master or auxiliary encoder input capture, read using the Mint keyword
FASTAUXENCODER (DIN5 only).
The maximum latency to read the fast position is approximately 1μs. The fast interrupt will be
latched on a pulse width of about 30μs, although a width of 100μs is recommended to ensure
capture. To prevent subsequent inputs causing the captured value to be overwritten, the
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