Bosch 6000 User's Guide download pdf (Page 121)

106

6000 Series Programmer's Guide

Programmable Inputs and Outputs

(including triggers and auxiliary outputs)

Programmable inputs and outputs allow the controller to detect and respond to the state of

switches, thumbwheels, electronic sensors, and outputs of other equipment such as drives and

PLCs. Based on the state of the inputs and outputs, read with the [IN] and [OUT]

commands, the controller can make program flow decisions and assign values to binary

variables for subsequent mathematical operations. These operations and the associated

program flow, branching, and variable commands are listed below.

Operation based on I/O State Associated Commands See Also*

I/O state assigned to a binary variable

[IN], [OUT], VARB

Variables

(Chapter 1, page 22)

I/O state used as a basis for comparison

in conditional branching & looping

statements

[IN], [OUT], IF, ELSE,

NIF, REPEAT, UNTIL,

WAIT, WHILE, NWHILE

Program Flow Control

(Chapter 1, page 25)

Input state used as a basis for a

conditional GO

[IN], GOWHEN

Synchronizing Motion

(Chapter 5, page 187)

I/O state used as a basis for a program

interrupt (GOSUB) conditional statement

ONIN

Program Interrupts

(Chapter 1, page 29)

* Refer also to the respective command descriptions in the

6000 Series Software Reference

CHECKING I/O STATUS: As discussed below, you can program and check the status of

each input and output with the INFNC and OUTFNC commands, respectively. To receive a

binary report of the state (on or off) of the I/O, use the TIN command (inputs) or the TOUT

command (outputs); the reports are in the format are identified in the I/O bit pattern table below.

DEFINE I/O ACTIVE LEVELS: Many people refer to a voltage level when referencing

the state of programmable inputs and outputs. Using the INLVL and OUTLVL commands,

you can define the logic levels of all the programmable inputs and outputs (general-purpose

I/O, plus trigger inputs and auxiliary outputs) as positive or negative. The product defaults to

an input/output level of Ø volts as its active level (referred to as “active low”); thus, a “1” will

appear in a status command referencing an input/output state when the voltage level is Ø volts

(e.g., if the device driving input #1 on axis 1 is on (sinking current) the 1TIN.1 status

command will report *1).

I/O UPDATE RATE: The programmable inputs and outputs are sampled at the “system

update rate.” The update rate for steppers is 2 ms. The update rate for servos is determined by

the INDAX and SSFR command settings (see table in SSFR command description).

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Bosch 6000 User's Guide Page 121

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