Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 218 of 909
I/O Port Hardware
The extensive and flexible I/O gives the SmartMotor the capability to control an entire
machine.
Each point of SmartMotor I/O can be used or configured as a digital input or digital output. For
example, on the D-style SmartMotor, there are seven points of 5V I/O located in the 15-pin D-
sub connector, and an optional ten points of isolated 24V I/O located in a circular, M-12
connector. The 5V I/O is push-pull; the 24V I/O is sourcing, for machine safety reasons.
Regardless of the I/O setting, the analog value can also be read. On the M-style SmartMotors,
there are eleven I/O points over two connectors, as well as a drive-enable input and a not
faulted signal output.
All I/O are organized into 16-bit status words starting at Status Word 16 of the controller, but
within I/O commands it is word 0 (zero). The I/O ports are initially inputs at power-up; once
the state is set using a discrete output command, it then controls the state of the I/O pin.
On-board I/O in any standard Class 5 motor is in the first I/O Status Word 0. The I/O can be
addressed through commands, and it is zero based — the first I/O number is 0 (zero). There
can be as many as 17 on-board I/O ports.
NOTE: Individual motor specifications must be reviewed to determine the number
and physical nature of the I/O. The physical nature of the I/O will address the
voltage levels and isolation characteristics of each I/O point.
Expanded I/O in a Class 5 motor starts at I/O Status Word 1, and the first expanded I/O
number is then 16. Again, individual motor specifications determine the number and physical
nature of the expanded I/O.
For all commands listed in the following sections:
IO is the I/O bit number. This can be passed in from a variable.
word is the status word number. This can be passed in from a variable.
mask is a bit-wise mask used to screen out certain bits. This can be passed in from
a variable.
W (capital W letter by itself) refers to "Word", or 16 bits of information. Selects
the word format of the command.
For your SmartMotor's connector specifications, refer to Connector Pinouts in the SmartMotor
Installation & Startup Guide for your motor.
Part 1: Programming: I/O Port Hardware
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