Examples and tips
PROGRAMMING MANUAL 273
Revision 1.0
MECHATROLINK-II Servo Drivers inputs in the Trajexia I/O space
With the BASIC command IN, you can access the physically present inputs
in a BASIC program. These inputs can be built in the controller or connected
via the MECHATROLINK-II bus.
Servo Drivers can have additional inputs that are located on their I/O
connectors. These inputs can be used as forward and/or reverse limit
switches or origin switches. They are mapped into the Trajexia I/O space.
Thus, they can be accessed from BASIC programs. Trajexia only supports
this for Servo Drivers connected to the Trajexia system via the
MECHATROLINK-II bus. It is not supported for Flexible Axis Servo Drivers.
/i
Trajexia
input
Servo Driver input signal Description
Sigma-II Sigma-V Junma G-Series
Accurax
G5
16 P_OT P_OT P_OT P_OT Forward limit switch
17 N_OT N_OT N_OT N_OT Reverse limit switch
18 DEC DEC /DEC DEC Zero point return decelera-
tion
19 PA PA Not used Not used Encoder A phase signal
20 PB PB Not used Not used Encoder B phase signal
21 PC PC Not used PC Encoder C phase signal
22 EXT1 EXT1 /EXT1 EXT1 First external latch signal
23 EXT2 EXT2 Not used EXT2 Second external latch signal
24 EXT3 EXT3 Not used EXT3 Third external latch signal
25 BRK BRK /BRK BRK Brake output
26 Reserved HBB E-STP E-STP Emergency stop switch
27 Reserved Reserved Not used SI2 General input 2
28 IO12 IO12 Not used PCL General input 12 (Sigma-II
and Sigma-V), Torque limit
input in positive direction (G-
Series and Accurax G5)
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