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Pulseroller MotionLinx-Ai2 Complete Manual

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MotionLinx Family
Complete Guide
Version 1 — 14 April 2022
Copyright © 2022 PULSEROLLER

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Summary of Contents for Pulseroller MotionLinx-Ai2

  • Page 1 MotionLinx Family Complete Guide Version 1 — 14 April 2022 Copyright © 2022 PULSEROLLER...

  • Page 2: Table Of Contents

    Table of Contents 1. 1. About This Manual About This Manual ..............................................2 2 2. 2. Glossary of T Glossary of Ter erms ms ..............................................5 5 3. 3. Getting Started Getting Started ................................................7 7 4. 4. Module Har Module Hardwar dware e ........................
  • Page 3 5.5.1. Object Dictionary Items Available for Custom PDOs ..........79 5.5.2. How to Customize PDOs in TwinCAT ..............81 6. 6. IO IOX Interface Module X Interface Module ............................................84 6.1. Pin 2 Output on Aux I/O M8 ..................86 6.2. Pin 2 Output on Wired Terminals.................. 87...

  • Page 4: About This Manual About This Manual

    PULSEROLLER MotionLinx Family Complete Guide - 1_en 1. 1. About This Manual About This Manual P P r r oducts Cover oducts Covered in this Manual ed in this Manual MotionLinx- MotionLinx- Article Article Number Number 4022-0000 4022-0000 ConveyLinx- ConveyLinx-...
  • Page 5 The illustrations, charts, sample programs and layout examples shown in this guide are intended solely for purposes of example. Since there are many variables and requirements associated with any particular installation, Pulseroller does not assume responsibility or liability (to include intellectual property...
  • Page 6 PULSEROLLER MotionLinx Family Complete Guide - 1_en Web Site: www.pulseroller.com Page 4 of 87...

  • Page 7: Glossary Of T Glossary Of Ter Erms

    PULSEROLLER MotionLinx Family Complete Guide - 1_en 2. 2. Glossary of T Glossary of Ter erms T T er erm m Definition Definition The patented technology used to control a DC motor with external Ai T Ai Technology echnology commutation over a standard M8 4-pin connector...
  • Page 8 ‘For both types of photo-sensors, when they detect their reflected light source, their signaling output circuit changes state. PulseRoller brand proprietary motor control platform that provides electronic intelligence inside the motor that can be read by ConveyLinx-Ai Family and Sener...

  • Page 9: Getting Started Getting Started

    PULSEROLLER MotionLinx Family Complete Guide - 1_en 3. 3. Getting Started Getting Started P P urpose of this Manual urpose of this Manual The purpose of this manual is to: • Identify the components and ports available on a module •...

  • Page 10: Module Har Module Hardwar Dware

    PULSEROLLER MotionLinx Family Complete Guide - 1_en 4. 4. Module Har Module Hardwar dware e MotionLinx-Ai MotionLinx-Ai modules are designed to be installed and integrated typically into a conveyor’s mechanical side frame assembly. The MotionLinx-Ai MotionLinx-Ai module is a controller for up to 2 Sener...

  • Page 11: Motionlinx-Ai

    PULSEROLLER MotionLinx Family Complete Guide - 1_en 4.1. 4.1. Identif Identifying Module Components ying Module Components The MotionLinx Family of controllers have very similar module components, but there are small differences between the different models, so each module has its own page for component identification.
  • Page 12 PULSEROLLER MotionLinx Family Complete Guide - 1_en 4.1.1. 4.1.1. MotionLinx-Ai MotionLinx-Ai Item Item Description Description 24VDC Power Terminals with separate connections for Logic and Motors Motor Left LED & Motor Right LED – Motor status indicators & Left Sensor & Right Sensor Status LED Indicators &...
  • Page 13 PULSEROLLER MotionLinx Family Complete Guide - 1_en Removable IP54 RJ-45 Port Compartment Cover – Left and Right IP54 Protection Shrouds for Ethernet cabling and power wiring • Indicates items shipped unattached to the module but are included in the module’s box...
  • Page 14 PULSEROLLER MotionLinx Family Complete Guide - 1_en 4.1.2. 4.1.2. MotionLinx-IO MotionLinx-IO Item Item Description Description 24VDC Power Terminals with separate connections for Logic and Motors & & IO Port LED status indicators & Module EtherCAT Status LED Indicator Module Power LED Indicator Left and Right Male IO Ports –...
  • Page 15 PULSEROLLER MotionLinx Family Complete Guide - 1_en IP54 Protection Shrouds for Ethernet cabling and power wiring • Indicates items shipped unattached to the module but are included in the module’s box Page 13 of 87...
  • Page 16 PULSEROLLER MotionLinx Family Complete Guide - 1_en 4.2. 4.2. Mounting Dimensions Mounting Dimensions Dimensions and Mounting Hole Dimensions are identical for MotionLinx-Ai and MotionLinx-IO Page 14 of 87...

  • Page 17: Mounting Dimensions

    PULSEROLLER MotionLinx Family Complete Guide - 1_en Mounting Hole Dimensions Mounting Hole Dimensions Page 15 of 87...

  • Page 18: Module Power Connections

    IP54 installation of the power and Ethernet wiring. 12 AWG (3.31 mm ) Max wire size, 5-6 mm strip length Please note the photos below depict Pulseroller ConveyLinx-Ai2 modules. The power terminals, connections, IP54 shrouds, etc. are all identical for MotionLinx- Ai and MotionLinx-IO...
  • Page 19 PULSEROLLER MotionLinx Family Complete Guide - 1_en Once wiring has been completed the power wiring compartment is then sealed by snapping into Once wiring has been completed the power wiring compartment is then sealed by snapping into place the P...
  • Page 20 PULSEROLLER MotionLinx Family Complete Guide - 1_en 4.4. 4.4. Motor and L Motor and Logic P ogic Power ower Both MotionLinx-Ai MotionLinx-Ai and MotionLinx-IO MotionLinx-IO each are equipped with the ability to separate the MDR P P ower ower or Digital Output P...
  • Page 21 PULSEROLLER MotionLinx Family Complete Guide - 1_en Connecting Separate L Connecting Separate Logic and Switched ogic and Switched MDR MDR P P ower ower The diagram shows the connection for when Logic Power is coming from a separate power supply than the MDR Power. Please note that the Logic Power supply is connected to the Logic terminals for all 8 modules.
  • Page 22 PULSEROLLER MotionLinx Family Complete Guide - 1_en Page 20 of 87...
  • Page 23 See MotionLinx-Ai SDOs Configuration Topic for details on selecting Motor T Motor Type Pulseroller assumes the user is aware of MDR power requirements for the application and that the user and/or installer have properly sized 24VDC power supplies and wiring based upon all applicable codes and standards. Pulseroller also assumes installation will follow proper equipment grounding practices.

  • Page 24: Motor Ports (Motionlinx-Ai Only)

    PULSEROLLER MotionLinx Family Complete Guide - 1_en 4.6. 4.6. Motor P Motor Ports (MotionLinx-Ai Only) orts (MotionLinx-Ai Only) Both ports utilize a 4-pin M8 male receptacle. Each receptacle is mechanically keyed to assure proper orientation upon plugging in. M8 4 P...

  • Page 25: Sensor Ports (Motionlinx-Ai Only)

    PULSEROLLER MotionLinx Family Complete Guide - 1_en 4.7. 4.7. Sensor P Sensor Ports (MotionLinx-Ai Only) orts (MotionLinx-Ai Only) Each sensor port is a standard M8 Female receptacle with standard pin-out: P P in in Signal Signal Description Description 24VDC Module’s 24VDC Supply I/O Signal –...

  • Page 26: Electrical Connections For Sensor Port Aux I/O

    Module to their own M8 connection port. These splitter cables wire the +24V and Common connections in parallel Splitter cables are commercially available from multiple sources. Click here for information for Pulseroller IOX-2 Breakout/Splitter Module T T ypical P ypical Parallel Splitter Cable Usage...
  • Page 27 PULSEROLLER MotionLinx Family Complete Guide - 1_en Aux I/O P Aux I/O Pin 2 Input Connection Diagram in 2 Input Connection Diagram Because the auto-sensing circuit requires a nominal voltage in order to operate, there will be some small amount of leakage current possible between Module Pin 2 and Pin 3 (GND).

  • Page 28: Io Ports (Motionlinx-Io Only)

    Splitter cables are commercially available from multiple sources. Click here for information for Pulseroller IOX-2 Breakout/Splitter Module Please note that for MotionLinx-IO modules, the Pulseroller IOX-2 Breakout/ Splitter will only function as a passive splitter. The active breakout circuitry is not applicable.
  • Page 29 PULSEROLLER MotionLinx Family Complete Guide - 1_en 4.8.1. 4.8.1. L L ef eft & Right F t & Right Female P emale Ports orts Input W Input Wiring iring Note that each Input Pin can be wired NPN or PNP...
  • Page 30 PULSEROLLER MotionLinx Family Complete Guide - 1_en Output W Output Wiring iring Note that the total current is limited limited to 400 mA for to 400 mA for B B OTH OTH Output P Output Pins Please note that MotionLinx-IO Pins configured as outputs are PNP (sourcing)
  • Page 31 PULSEROLLER MotionLinx Family Complete Guide - 1_en 4.8.2. 4.8.2. L L ef eft & Right Male P t & Right Male Ports orts Page 29 of 87...
  • Page 32 PULSEROLLER MotionLinx Family Complete Guide - 1_en Input W Input Wiring iring Note that each Input Pin can be wired NPN or PNP independently Output W Output Wiring iring Note that the total current is limited limited to 400 mA for...
  • Page 33 Shown below are the EtherCAT cables installed using shrouds to protect the RJ-45 connectors on the cables. Each module is shipped with 3 shrouds – 2 for the EtherCAT Cables and 1 for the power wiring. Even though the images depict Pulseroller ConveyLinx-Ai2 ConveyLinx-Ai2 modules, both the MotionLinx-Ai...
  • Page 34 PULSEROLLER MotionLinx Family Complete Guide - 1_en shrouds and covers How to install shr How to install shrouds on EtherCA ouds on EtherCAT cables T cables Assembly T Assembly Tool Phoenix Contact P Phoenix Contact Part Number 2891547 FL IP 54...

  • Page 35: Led Status Indicators

    PULSEROLLER MotionLinx Family Complete Guide - 1_en 4.10. 4.10. LED Status Indicators LED Status Indicators MotionLinx-Ai and MotionLinx-IO module status is indicated by several LED’s. All LED’s with the exception of the Ethernet Link and Activity LEDs are multi-colored and context sensitive. The following sections indicate the various meanings of all LED indicators.
  • Page 36 PULSEROLLER MotionLinx Family Complete Guide - 1_en Motors (MotionLinx-Ai Only) Motors (MotionLinx-Ai Only) Indicator Indicator Item Item LED State State Description Description Motor is not running and no faults detected Solid ON GREEN Motor is running If Motor is running – indicates current limit If Motor is stopped –...
  • Page 37 PULSEROLLER MotionLinx Family Complete Guide - 1_en Sensors (MotionLinx-Ai Only) Sensors (MotionLinx-Ai Only) Indicator Indicator Item Item LED State State Description Description Solid ON AMBER Module is booting up Solid ON GREEN Sensor input is energized Sensors L Sensors Lef eft t &...
  • Page 38 PULSEROLLER MotionLinx Family Complete Guide - 1_en P P ower (Same for both MotionLinx-Ai and MotionLinx-IO) ower (Same for both MotionLinx-Ai and MotionLinx-IO) Indicator Indicator Item Item LED State State Description Description Power supply is connected and voltage is within...

  • Page 39: Technical Specifications

    PULSEROLLER MotionLinx Family Complete Guide - 1_en 4.11. 4.11. T T echnical Specifications echnical Specifications Certifications & Standar Certifications & Standards (common to both MotionLinx-Ai ds (common to both MotionLinx-Ai and MotionLinx-IO) and MotionLinx-IO) Programmable controllers — Part 2: Equipment requirements and...
  • Page 40 PULSEROLLER MotionLinx Family Complete Guide - 1_en Supported P Supported Pr r otocols (common to both MotionLinx-Ai and MotionLinx-IO) otocols (common to both MotionLinx-Ai and MotionLinx-IO) • EtherCAT Page 38 of 87...

  • Page 41: Motionlinx-Ai

    PULSEROLLER MotionLinx Family Complete Guide - 1_en 4.11.1. 4.11.1. MotionLinx-Ai MotionLinx-Ai P P ower Connection ower Connection Power connector is Degson DG245-5.0, 12 AWG (3.31 mm ) Max wire size, 5-6 mm strip length Electrical and Envir Electrical and Environmental R...
  • Page 42 PULSEROLLER MotionLinx Family Complete Guide - 1_en Sensor P Sensor Port I/O ort I/O Each MotionLinx-Ai MotionLinx-Ai module is equipped with two 4-pin female M8 style Sensor I/O ports primarily used to connect a photo-electric sensor to the module. Each of these ports has one pin dedicated as an input for the sensor (Pin 4) and one Aux I/O pin (Ppin 2) that is configurable to be either an input or an output.
  • Page 43 PULSEROLLER MotionLinx Family Complete Guide - 1_en Sensor P Sensor Port 24VDC (P ort 24VDC (Pin 1) and in 1) and GND GND (P (Pin 3) in 3) Pin 1 of each Sensor Port provides 24V for powering up an input device (such as a sensor) and/ or for supplying the load when Pin 2 is configured as an output.
  • Page 44 PULSEROLLER MotionLinx Family Complete Guide - 1_en capable of detecting a short-circuit between a BLDC coil output and ground. Such a short-circuit will cause damage to the high-side bridge transistors. When operating these outputs as general purpose outputs, the high-side transistors are...
  • Page 45 PULSEROLLER MotionLinx Family Complete Guide - 1_en Page 43 of 87...

  • Page 46: Motionlinx-Io

    PULSEROLLER MotionLinx Family Complete Guide - 1_en 4.11.2. 4.11.2. MotionLinx-IO MotionLinx-IO P P ower Connection ower Connection Power connector is Degson DG245-5.0, 12 AWG (3.31 mm ) Max wire size, 5-6 mm strip length Electrical and Envir Electrical and Environmental R...
  • Page 47 PULSEROLLER MotionLinx Family Complete Guide - 1_en I/O P I/O Port Inputs ort Inputs Each MotionLinx-IO MotionLinx-IO module is equipped with two 4-pin female and two 4-pin male M8 style I/O Ports. Pin 2 and Pin 4 of each of these is master controller configurable to be either an input or an output.
  • Page 48 PULSEROLLER MotionLinx Family Complete Guide - 1_en 5. 5. Integrating MotionLinx with T Integrating MotionLinx with TwinCA winCAT T MotionLinx-Ai MotionLinx-Ai and MotionLinx-IO MotionLinx-IO modules require an EtherCA EtherCAT master contr T master controller oller for operation. The EtherCA EtherCAT master contr...
  • Page 49 MotionLinx-Ai and MotionLinx-IO MotionLinx-IO ESI files will be available in the downloads section of pulseroller.com. Once downloaded from the website; you must place the file(s) in proper folder in the the TwinCAT installation. In our example, the TwinCAT installation on our PC was made to the default location: C:\TwinCAT\3.1\Config\IO\EtherCAT...
  • Page 50 PULSEROLLER MotionLinx Family Complete Guide - 1_en 5.2. 5.2. A A dding Modules to T dding Modules to TwinCA winCAT P T Pr r oject oject Once you have installed the ESI ESI file(s) in your T T winCA winCAT T IDE and created your project solution;...
  • Page 51 PULSEROLLER MotionLinx Family Complete Guide - 1_en When you have inserted the desired quantity of individual MotionLinx-Ai MotionLinx-Ai modules, you can expand your project tree to see the individual devices. In our example we inserted 5 MotionLinx-Ai modules. When the...
  • Page 52 PULSEROLLER MotionLinx Family Complete Guide - 1_en When you expand your project tree, you can see the 3 MotionLinx-IO modules. Note that T T winCA winCAT T automatically increments a numerical suffix so each device has a unique name. On-Line Method...

  • Page 53: Motionlinx Data Objects

    PULSEROLLER MotionLinx Family Complete Guide - 1_en 5.3. 5.3. MotionLinx Data Objects MotionLinx Data Objects The data exchange between remote MotionLinx-Ai MotionLinx-Ai and MotionLinx-IO MotionLinx-IO devices and the PC based T T winCA winCAT T controller is CANO CANOpen over EtherCA pen over EtherCAT (CoE) T (CoE) .

  • Page 54: Motionlinx-Ai Transmit Pdos

    PULSEROLLER MotionLinx Family Complete Guide - 1_en For the MotionLinx-Ai MotionLinx-Ai module there are 2 T T ransmit ransmit PDO PDOs s and 3 R R eceive eceive PDO PDOs s . Each PDO has a number of SubInde SubIndex x objects that...
  • Page 55 PULSEROLLER MotionLinx Family Complete Guide - 1_en Please consult your TwinCAT or other IDE for details on specific instructions to read/write SDO data. MotionLinx-Ai SDOs MotionLinx-IO SDO Page 53 of 87...
  • Page 56 PULSEROLLER MotionLinx Family Complete Guide - 1_en 5.3.1. 5.3.1. MotionLinx-Ai T MotionLinx-Ai Transmit PDOs ransmit PDOs There are two transmit PDOs provided by the MotionLinx-Aimodule. This is the data that originates from theMotionLinx-Ai module that is made available as input to the master controller.
  • Page 57 PULSEROLLER MotionLinx Family Complete Guide - 1_en T T ransmit PDO1 – Module Diagnostics (Object 0×1A01) ransmit PDO1 – Module Diagnostics (Object 0×1A01) Data Data Subinde Subindex x Inde Index x Data Description Data Description T T ype SubInde SubIndex 1 Bitwise Value –...
  • Page 58 PULSEROLLER MotionLinx Family Complete Guide - 1_en Motor running in CW Direction Motor not running and no braking applied (free to spin) Page 56 of 87...

  • Page 59: Motionlinx-Ai Receive Pdos

    PULSEROLLER MotionLinx Family Complete Guide - 1_en 5.3.2. 5.3.2. MotionLinx-Ai R MotionLinx-Ai Receive PDOs eceive PDOs There are 3 receive PDOs utilized by the MotionLinx-Ai module. This is the data that originates from the master controller that is received by the MotionLinx-Ai module.
  • Page 60 Nor Normal is the default factory setting for all Pulseroller control modules. Once the controls have decelerated the rotor to a stop, the motor coils are F F r r ee internally disconnected and only the mechanical gearbox inertia holds the rotor in place.
  • Page 61 PULSEROLLER MotionLinx Family Complete Guide - 1_en Deceleration Deceleration SubInde SubIndex 0 Right Right R R eceive PDO2 – Servo/P eceive PDO2 – Servo/Periphery (Object 0×1602) eriphery (Object 0×1602) Data Data Subinde Subindex x Inde Index x Data Description Data Description...
  • Page 62 PULSEROLLER MotionLinx Family Complete Guide - 1_en 5.3.3. 5.3.3. MotionLinx-IO T MotionLinx-IO Transmit PDO ransmit PDO There is one transmit PDO provided by the MotionLinx-IO module. This is the data that originates from the MotionLinx-IO module that is made available as input to the master controller.
  • Page 63 PULSEROLLER MotionLinx Family Complete Guide - 1_en outputs. If any of these bits are set, it indicates that there is an over-current or short circuit detected on its respective port’s power supply. Page 61 of 87...
  • Page 64 PULSEROLLER MotionLinx Family Complete Guide - 1_en 5.3.4. 5.3.4. MotionLinx-IO R MotionLinx-IO Receive PDO eceive PDO There is one receive PDO utilized by the MotionLinx-IO module. This is the data that originates from the master controller that is received by the MotionLinx-IO module R R eceive PDO0 –...

  • Page 65: Using Pdo Data

    PULSEROLLER MotionLinx Family Complete Guide - 1_en 5.3.5. 5.3.5. Using PDO Data Using PDO Data Once each device has been added to your project; you need to link the desired PDO PDO SubInde SubIndex x objects objects from the desired MotionLinx-Ai...
  • Page 66 PULSEROLLER MotionLinx Family Complete Guide - 1_en 5.3.6. 5.3.6. MotionLinx-Ai SDOs MotionLinx-Ai SDOs The SDOs provided by the MotionLinx-Ai module are: • Configuration Configuration • Service R Service Read Object ead Object • L L ef eft Motor Data t Motor Data •...

  • Page 67: Configuration

    PULSEROLLER MotionLinx Family Complete Guide - 1_en 5.3.6.1. 5.3.6.1. Configuration Configuration Configuration Configuration SDO SDO – Inde – Index 0×4000 x 0×4000 Subinde Subindex x Data T Data Type Data Description Data Description Bitwise Value: bit 00 = Left Sensor Port – Aux Input bit 01 = Reserved bit 02 = Right Sensor Port –...
  • Page 68 PULSEROLLER MotionLinx Family Complete Guide - 1_en SubInde SubIndex 07 x 07 Brak Brake Mode e Mode Right Right SubInde SubIndex 08 x 08 Motor Speed Motor Speed Integer value to set the motor speed: L L ef eft t •...
  • Page 69 PULSEROLLER MotionLinx Family Complete Guide - 1_en module. This is provided as a convenience for the master controller programmer. For example, the master controller could have re-useable code or routines that expect a photo sensor to have its electrical signal ON when it is “blocked”. Let’s say on a given module, you need to connect a photo sensor whose electrical signal is OFF when “blocked”.

  • Page 70: Service Read Object

    PULSEROLLER MotionLinx Family Complete Guide - 1_en 5.3.6.2. 5.3.6.2. Service R Service Read Object ead Object Service R Service Read Object ead Object SDO SDO – Inde – Index 0×4001 x 0×4001 Subinde Subindex x Data T Data Type Data Description...
  • Page 71 PULSEROLLER MotionLinx Family Complete Guide - 1_en R R eal Speed eal Speed SubInde SubIndex 0B x 0B • For PGD value is in RPM x 10 Right Motor Right Motor R R eal Speed eal Speed SubInde SubIndex 0C...
  • Page 72 PULSEROLLER MotionLinx Family Complete Guide - 1_en 5.3.6.3. 5.3.6.3. Motor Data L Motor Data Lef eft and Motor Data t and Motor Data Right Right Motor Data L Motor Data Lef eft & Motor Data Right t & Motor Data Right SDO SDO –...
  • Page 73 PULSEROLLER MotionLinx Family Complete Guide - 1_en Manufactur Manufacture e Numerical value of the last two digits of the year of SINT SINT Month Month manufacture Shaf Shaft t SINT SINT Internally coded numerical value ASCII value indicating tube material/covering option: •...
  • Page 74 PULSEROLLER MotionLinx Family Complete Guide - 1_en 5.3.7. 5.3.7. MotionLinx-IO SDO MotionLinx-IO SDO Configuration Configuration SDO SDO – Inde – Index 0×4000 x 0×4000 Subinde Subindex x Data T Data Type Data Description Data Description Input/Output Configuration Input/Output Configuration 1 = set pin as Output...
  • Page 75 PULSEROLLER MotionLinx Family Complete Guide - 1_en bit 4 : Left Male Pin4 bit 5 : Left Female Pin4 bit 6 : Right Male Pin4 bit 7 : Right Female Pin4 bit 8 to bit 15 – reserved See Outputs P...
  • Page 76 PULSEROLLER MotionLinx Family Complete Guide - 1_en Value in msec Sensor Debounce Sensor Debounce Minimum value = 2 msec Maximum value = 2000 msec Default value = 20 msec SubInde SubIndex 7 thru 9 x 7 thru 9 Reserved for future use...
  • Page 77 PULSEROLLER MotionLinx Family Complete Guide - 1_en configuring the Pin as an output. During this time delay, if you have a device connected to the Pin, it may receive the auto-detect circuit’s voltage and leakage current Page 75 of 87...
  • Page 78 The TwinCAT software will allow you to upgrade one, several, or all modules on your network. Firmware upgrade files, when available, can be downloaded from Pulseroller.com Once you have downloaded the firmware file (it will always have a .bin file extension); place it in an accessible folder on your PC.
  • Page 79 PULSEROLLER MotionLinx Family Complete Guide - 1_en a password (49) to complete the upgrade as shown . MotionLinx MotionLinx ESI ESI F F ile Upgrade ile Upgrade Similar to the module firmware upgrade, the ESI upgrade follows the same procedure except you select “EEPROM Update”...

  • Page 80: Motionlinx-Io Sdo

    PULSEROLLER MotionLinx Family Complete Guide - 1_en 5.5. 5.5. Customizing MotionLinx-Ai PDOs Customizing MotionLinx-Ai PDOs The MotionLinx-Ai MotionLinx-Ai module’s’ CoE CoE definition contains the capacity for 6 Receive PDOs (RxPDO) and 6 Transmit PDOs (TxPDO). By default 3 of the RxPDOs are pre-defined and enabled leaving 3 spare and by default 2 of the TxPDOs are pre-defined and enabled leaving 4 spare.
  • Page 81 PULSEROLLER MotionLinx Family Complete Guide - 1_en 5.5.1. 5.5.1. Object Dictionary Items A Object Dictionary Items Available for vailable for Custom PDOs Custom PDOs OD Items A OD Items Available for TxPDOs vailable for TxPDOs Dictionary Dictionary Data Data Inde...
  • Page 82 PULSEROLLER MotionLinx Family Complete Guide - 1_en bit 05 = Reserved bit 06 = Right Sensor Port – Sensor Input bit 07 thru bit 15 = Reserved Integer value to set the function of the Left Motor 0×4000 0×4000 0 = Left Motor will maintain its own separate control...
  • Page 83 PULSEROLLER MotionLinx Family Complete Guide - 1_en 5.5.2. 5.5.2. How to Customize PDOs in T How to Customize PDOs in TwinCA winCAT T Creating a New eating a New PDO In this example we are going to configure the unused and available RxPDO3.
  • Page 84 PULSEROLLER MotionLinx Family Complete Guide - 1_en For our example, we only want the ConveyStopControl object in our PDO. This object is only 1 byte in length (USINT). The length of a PDO has to be in multiples of 4 bytes, so we have to add 3 more bytes of data.
  • Page 85 PULSEROLLER MotionLinx Family Complete Guide - 1_en corresponding checkbox Page 83 of 87...
  • Page 86 M8 cable accessories to gain access to the Aux I/O pin on the sensor ports. Pulseroller offers a Breakout/Splitter Module Accessory that offers the same cable splitter functionality as the commercially available M8 units along with breaking out some of the signals to convenient wire terminal access for flying lead devices.
  • Page 87 PULSEROLLER MotionLinx Family Complete Guide - 1_en Electrical Schematic Electrical Schematic Page 85 of 87...
  • Page 88 PULSEROLLER MotionLinx Family Complete Guide - 1_en 6.1. 6.1. P P in 2 Output on Aux I/O M8 in 2 Output on Aux I/O M8 Please note: Diagram shown is for MotionLinx-Ai module. It is not recommended to use the IOX-2 for use with any MotionLinx-IO ports configured as Outputs...
  • Page 89 PULSEROLLER MotionLinx Family Complete Guide - 1_en 6.2. 6.2. P P in 2 Output on W in 2 Output on Wir ired T ed Ter erminals minals Please note: Diagram shown is for MotionLinx-Ai module only. The IOX-2 breakout terminals will not work at all for any MotionLinx-IO ports configured as Outputs...

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