3 Control interfaces
50 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English
3.2.3 Digital input/output signals as a function of the operating mode/mode
Designa-
tion
Pin
[X1.x]
[X1.1.x]
[X1.2.x]
Mode 0
Individual record
Mode 1 Mode 2
Record linking
Mode 3
Synchronisation
Jogging Teac hing
24 V DC [18] Supply voltage 24 V DC (output)
1)
GND 24V [6] Load “DIN/DOUT”
DI N 0 [19] Record selection bit 0 –
DI N 1 [7] Record selection bit 1 –
DI N 2 [20] Record selection bit 2 CLK/CW_24
DI N 3 [8] Record selection bit 3 Halt re cord
sequence
DI R/CCW_24
DI N 4 [21] Output stage enable
DI N 5 [9] Controller enable
DI N 6 [22] Limit switch 0
DI N 7 [10] Limit switch 1
DI N 8 [23] Start positioning – Teach Start record
sequence
Start
synchronisation
DI N 9
2)
(Sample)
[11] Mode bit 1 = 0 Mode bit 1 = 1
DI N 10 [3] Record selection
bit 4
Jog+ Record
selection
bit 4
NEXT1 –
DI N 11 [16] Record selection
bit 5
Jog– Record
selection
bit 5
NEXT2 –
DI N 12
3)
(AIN0)
[2] Mode bit 0 = 0 Mode bit 0 = 1 Mode bit 0 = 0 Mode bit 0 = 1
DI N 13
3)
(#AIN0)
[15] Stop
DOUT0 [24] Controller ready for operation
DOUT1 [12] Motion complete (MC)
4)
Standstill
reached
DOUT2 [25] Start c onfirmed
4)
– Teac h
confirmed
Star t confirmed
4)
Position
synchronous
DOUT3 [13] Common error
4)
1) Internally connected with power supply “24 V DC” (input) at the connection [X9.6].
2) The digital input (DIN9) is used as a sample input with flying measurement.
3) The digital inputs (DIN12/DIN13) are used as analogue inputs (AIN0/#AIN0) in speed, force or torque mode.
4) The digital output can be freely configured (default setting in the Festo Configuration Tool (FCT)).
Tab. 3.2 Overview: Digital I/O modules dependent on the operating mode/mode
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