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 Actual Velocity  
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

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 EdgeClosedA rising edge is the transition of a digital signal from low to high. It is also called positive 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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