Showing help for All Types with All Fieldbus and Functional Safety All

Select your Device Type

The model number will indicate what kind of device you have. Find the label on the side of the device, where "Model No:" is indicated.

Select your Fieldbus

The model number will indicate what kind of fieldbus you have. Find the label on the side of the device, where "Model No:" is indicated.

Select your Functional Safety Version

The model number will indicate what kind of function safety you have. Find the label on the side of the device, where "Model No:" is indicated.

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ACTION#.SOURCE

Description

This keyword defines the input source for an action.

Value Description
0 No source
1 Mains ready
2 Digital Input
3 Digital Dio (Bidirectional)
4 Velocity Feedback
5 Axis Faulted
6 Home Complete
7 Motion Task in Position
8 Controlled Stop Active
9 Software Limit
10 Move Complete
11 Position Error, Absolute
12 Axis Enabled
13 Analog Input
14 Current Command
15 Velocity Error
16 Velocity Command
17 Position Feedback
18 Axis Disable Immediately
19 Brake State
20 Ready to Operate (RTO/BTB)
21 Compare Digital Inputs
22 Feedback Fault
23 User Variable
25 Current Feedback
200 Safe Input
201 Safe Dual Input
202 Safe Output
203 Safe Dual Output
204 STO active
205 SS1 active
206 SS2 active
207 SOS active
208 SBC active
209 SLS active
210 SSM active
211 SSR active
212 SDI_n active
213 SDI_p active
214 SLA active
215 SAR active
216 SLI active
217 SLP active
218 SCA active

21 - Compare Digital Outputs

Some actions need to be triggered based on the state of multiple digital inputs. For such cases, the Compare Digital Inputs action source provides a mechanism for specifying a combination of digital input values.

A 32-bit word containing the states of all DIN pins (DIN.STATES) and bidirectional digital IO pins (DIO.STATES) is updated prior to running the action table rows. DINs are assigned bits 0-19, and DIOs are assigned bits 20-31.

To set up an action to run based on a digital input combination, set ACTION#.SOURCE to 21 (Compare Digital Inputs). ACTION#.SOURCEID is unused, and ACTION#.SOURCEPARAM defines a mask corresponding to the pins you wish to check. For example, to check DIN2, DIN5, and DIO3, set ACTION#.SOURCEPARAM to 4194322 (0x00400012).

Set ACTION#.CONDITIONVALUE to the specific value of the digital input combination you want to match. Continuing the example, to match the combination DIN2 = 1, DIN5 = 0, and DIO3 = 1, set ACTION#.CONDITIONVALUE to 4194306 (0x00400002).

When ACTION#.CONDITION is 2 (Follows) the comparison is continuously true if the digital input match is successful. When ACTION#.CONDITION is 1 (Inverts) the comparison is true if one or more of the digital inputs does not match its specified value. When ACTION#.CONDITION is 5 (Rising Edge) the comparison triggers the action task on the first sample where the digital input matches. When ACTION#.CONDITION is 6 (Falling Edge) the comparison triggers the task on the first sample where one or more digital inputs fails to match.

Versions

Action Version Notes
Implemented 02-00-00-000

General Information

Type

Read/Write

Units

N/A

Range

0 to 20

Default Value

0 (no source)

Data Type

Integer

Stored in Non Volatile Memory

Yes

Variants Supported

All variants are supported.


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