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configured by the second parameter of the I/O Setup (S1-4, S9-12) variable. The goal of this I/O configuration scheme is to
maximize compatibility between the MForce MicroDrive and standard sensors and switches.
MForce MicroDrive Digital Input Functions
The MForce MicroDrive inputs may be interfaced to a variety of sinking or sourcing devices. An input may be programmed to
be a general purpose user input, or to one of nine dedicated input functions. These may then be programmed to have an active
state of either HIGH or LOW.
The inputs are configured using the "S" Variable (See MCode Software Reference Manual for precise details on this command).
The command is entered into the IMS terminal or program file as S<IO point>=<IO Type>,<Active State><Sink/Source>.
Example:
S9=3,1,0
S3=0,0,1
Input Functions (I/O Points 1-4, 9-12)
The following table lists the programmable input functions of the MForce.
Function
General Purpose
Home
Limit +
Limit –
G0
Soft Stop
Pause
Jog +
Jog –
Reset
Part 2: Connections and Interface
'set IO point 9 to be a Limit- input, Active HIGH, Sourcing
'set IO Point 3 to be a General Purpose input, Active LOW,
'Sinking
Description
General Purpose Input function
used to control program branches,
subroutine calls or BCD functions
when input bank is used as a
group
Homing input. Will function as
specified by the Home (HM)
command.
Positive Limit Input. Will function
as specified by the Limit (LM)
Command.
Negative Limit Input. Will function
as specified by the Limit (LM)
Command.
G0 Input. Will run program located
at address 1 on activation.
Soft Stop input. Stops motion with
deceleration and stops program
execution.
Pause/Resume program with
motion.
Will Jog motor in the positive
direction at Max. Velocity (VM).
The Jog Enable (JE) Flag must be
set for this to function.
Will Jog motor in the negative
direction at Max. Velocity (VM).
The Jog Enable (JE) Flag must be
set for this to function.
When set as RESET input, then
the action is equivalent to a ^C
entered into a terminal.
Table 2.4.1: Programmable Input Functions
Parameter
Active
(S1-S4, S9-S12)
0
0/1
1
0/1
2
0/1
3
0/1
4
0/1
5
0/1
6
0/1
7
0/1
8
0/1
11
0/1
Sink/
Source
0/1
0/1
0/1
0/1
0/1
0/1
0/1
0/1
0/1
0/1
2-21
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