Examples and tips
PROGRAMMING MANUAL 271
Revision 1.0
5.1.4 Mapping Servo Driver inputs and outputs
The Trajexia controller has got a digital I/O space that consists of 256 digital
inputs and 256 digital outputs.
The digital outputs range has four parts:
• Digital outputs 0 - 7.
These outputs do not physically exist on the TJ2-MC64. If you write
these outputs, nothing happens. If you read these outputs, they return 0.
• Digital outputs 8 - 15.
These outputs physically exist on the TJ2-MC64. You can physically
access them on the 28-pin screwless connector on the front side of the
TJ2-MC64 (see the Hardware Reference Manual for details). If you write
these outputs, they become active and give a 24 VDC signal. If you read
these outputs, they return their current status. Use the command OP to
write and read these outputs.
• Digital outputs 16 - 31.
These outputs are software outputs only. They do not physically exist on
the TJ2-MC64, but you can write them and read their correct status. You
use these outputs mostly in BASIC programs to accomplish some
control sequences that require outputs which do not need to be physical.
Use the command OP to write and read these outputs.
• Digital outputs 32 - 255.
These outputs are physically present only if additional digital I/O units
are connected to the TJ2-MC64 via MECHATROLINK-II bus. Writing
and reading them if they do not physically exist (when the I/O units are
not connected) has no effect. Use the command OP to write and read
these outputs.
All outputs are unique to the controller. They are not accessed per axis.
The digital input range has three parts:
• Digital inputs 0 - 15.
These inputs physically exist on the TJ2-MC64. You can physically
access them on the 28-pin screwless connector on the front side of the
TJ2-MC64 (see the Hardware Reference Manual for details). These
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