Rockwell Automation Publication 2080-UM002N-EN-E - November 2022 159
Chapter 9 Motion Control
3. Wire the Controller
For fixed and configurable inputs/outputs, see Input and Output Signals
on page 159.
See Sample Motion Wiring Configuration on 2080-LC30-xxQVB / 2080-LC50-xxQVB /
2080-LC70-xxQVB on page 161 for reference.
The next sections provide a more detailed description of the motion components. You can also
see the Connected Components Workbench Online Help for more information about each
motion function block and their variable inputs and outputs.
Input and Output Signals Multiple input/output control signals are required for each motion axis, as described in the
next tables. PTO Pulse and PTO Direction are required for an axis. The rest of the input/outputs
can be disabled and reused as regular I/O.
These I/O can be configured through the axis configuration feature in Connected Components
Workbench. Any outputs assigned for motion should not be controlled in the user program.
See Motion Axis Configuration in Connected Components Workbench
on page 180.
Fixed PTO Input/Output
Motion Signals PTO0 (EM_00) PTO1 (EM_01) PTO2 (EM_02)
Logical Name in
Software
Name on Terminal
Block
Logical Name in
Software
Name on
Terminal Block
Logical Name in
Software
Name on Terminal
Block
PTO pulse _IO_EM_DO_00 O-00 _IO_EM_DO_01 O-01 IO_EM_DO_02 O-02
PTO direction _IO_EM_DO_03 O-03 _IO_EM_DO_04 O-04 IO_EM_DO_05 O-05
Lower (Negative) Limit switch _IO_EM_DI_00 I-00 _IO_EM_DI_04 I-04 IO_EM_DI_08 I-08
Upper (Positive) Limit switch _IO_EM_DI_01 I-01 _IO_EM_DI_05 I-05 IO_EM_DI_09 I-09
Absolute Home switch _IO_EM_DI_02 I-02 _IO_EM_DI_06 I-06 IO_EM_DI_10 I-10
Touch Probe Input switch _IO_EM_DI_03 I-03 _IO_EM_DI_07 I-07 IO_EM_DI_11 I-11
Configurable Input/Output
Motion Signals Input/Output Notes
Servo/Drive On OUTPUT Can be configured as any embedded output.
Servo/Drive Ready INPUT Can be configured as any embedded input.
In-Position signal (from
servo/motor)
INPUT Can be configured as any embedded input.
Home Marker INPUT Can be configured as any embedded input, from input 0...15.
IMPORTANT If an output is configured for motion, then that output can no longer be
controlled or monitored by the user program and cannot be forced. For
example, when a PTO Pulse output is generating pulses, the
corresponding logical variable IO_EM_DO_xx will not toggle its value and
will not display the pulses in the Variable Monitor but the physical LED
will give an indication.
If an input is configured for motion, then forcing the input only affects
the user program logic and not motion. For example, if the input Drive
Ready is false, then the user cannot force Drive Ready to true by forcing
the corresponding logical variable IO_EM_DI_xx to be true.
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