Motion Coordinator Technical Reference Manual
Expansion Modules 5-9
Input/Output Modules
Software Interfacing
The Motion Coordinator will automatically detect and allow the use of correctly
connected CAN I/O channels. The CAN I/O are accessed with the same
IN
and
OP
commands used to access the built-in I/O on the Motion Coordinator. The
Motion Coordinator sets the system parameter
NIO
which reflects the number of
I/O's connected to the system. 3 system parameters are available to facilitate
the use of the CAN 16-I/O:
CANIO_STATUS, CANIO_ADDRESS and CANIO_ENABLE
When choosing which I/O devices should be connected to which channels the fol-
lowing points need to be considered:
• Inputs 0 - 31 ONLY are available for use with system parameters which specify
an input, such as
FWD_IN, REV_IN, DATUM_IN etc.
• Outputs 8 - 31 ONLY are available for use with the
PSWITCH command.
• The built-in I/O channels have the fastest operation <1mS
• CAN I/O channels 16 - 64 have the next fastest operation <2mS
• CAN I/O channels 64 - 191 have the next fastest operation <8mS
It is not possible to mix the CAN 16-I/O module which is running the TRIO I/O pro-
tocol with DeviceNet equipment on the same network.
Troubleshooting
If the network configuration is incorrect 2 indications will be seen: The CAN 16-I/
O module will indicate that it is uninitialised and the Motion Coordinator will
report the wrong number when questioned:
>>? NIO
If this is not as expected check:
• Terminating 120 Ohm Network Resistors fitted?
• 24Volt Power to each IO bank required?
• 24Volt Power to Network?
• DIP switches in sequence starting 0,1,2...?
• System Software Version 1.40 (or higher)?
• Motion Coordinator CANIO_ADDRESS=32?
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