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Controller Digital I/O Overview

Introduction

All MEI motion controllers (XMP, ZMP and eXMP) support some I/O directly connected to the controller. The following table summarizes which of the input or output bits in the software are mapped to which physical hardware pin.

The XESTOP input pin does NOT perform any special function on the controller.

Bits
XMP
ZMP
eXMP
PCI
CPCI
PMC
PCI
PMC
IN0 OPTO_A* OPTO_A* OPTO_A* OPTO_A* OPTO_A*
IN1 OPTO_B* OPTO_B* OPTO_B* OPTO_B* OPTO_B*
IN2 OPTO_C* OPTO_C* OPTO_C* OPTO_C* OPTO_C*
IN3 OPTO_D* OPTO_D* OPTO_D* IN3 OPTO_D* OPTO_D*
IN4 OPTO_E* OPTO_E* OPTO_E* IN4 OPTO_E* OPTO_E*
IN5 OPTO_F* OPTO_F* OPTO_F* IN5 OPTO_F* OPTO_F*
IN6 XESTOP XESTOP XESTOP XESTOP XESTOP XESTOP
OUT0 OPTO_A* OPTO_A* OPTO_A* OUT0 OPTO_A* OPTO_A*
OUT1 OPTO_B* OPTO_B* OPTO_B* OUT1 OPTO_B* OPTO_B*
OUT2 OPTO_C* OPTO_C* OPTO_C* OUT2 OPTO_C* OPTO_C*
OUT3 OPTO_D* OPTO_D* OPTO_D* OPTO_D* OPTO_D*
OUT4 OPTO_E* OPTO_E* OPTO_E* OPTO_E* OPTO_E*
OUT5 OPTO_F* OPTO_F* OPTO_F* OPTO_F* OPTO_F*
* These pins share the physical output pins. The pin is either an input or output, and depends on the external wiring to the controller.

See Also

Connect Controller I/O: XMP-SynqNet Series

What I/O does a Controller Support?

The io field of the MPIControlInfo structure returned by the mpiControlInfo function, returns if each pin is supported on the specific controller along with a descriptive string, if the input or output is supported.


typedef struct MPIControlInfoIoDigitalIn {
MPI_BOOL supported;
const char *name;
} MPIControlInfoIoDigitalIn; typedef struct MPIControlInfoIoDigitalOut { MPI_BOOL supported; const char *name; } MPIControlInfoIoDigitalOut; typedef struct MPIControlInfoIo { MPIControlInfoIoDigitalIn digitalIn[MPIControlInMAX+1]; MPIControlInfoIoDigitalOut digitalOut[MPIControlOutMAX+1]; } MPIControlInfoIo; typedef struct MPIControlInfo { ... MPIControlInfoIo io; } MPIControlInfo;

For example, executing the following piece of code on a ZMP-PCI controller


MPIControlInfo controlInfo;
mpiControlInfo( control, &controlInfo );

would return the following contents:

Supported
0 = No
1 = Yes
Bit
controlInfo.io.digitalIn[0]
1
IN0
controlInfo.io.digitalIn[1]
1
IN1
controlInfo.io.digitalIn[2]
1
IN2
controlInfo.io.digitalIn[3]
0
controlInfo.io.digitalIn[4]
0
controlInfo.io.digitalIn[5]
0
controlInfo.io.digitalIn[6]
1
XESTOP
controlInfo.io.digitalOut[0]
1
OUT0
controlInfo.io.digitalOut[1]
1
OUT1
controlInfo.io.digitalOut[2]
1
OUT2
controlInfo.io.digitalOut[3]
0
controlInfo.io.digitalOut[4]
0
controlInfo.io.digitalOut[5]
0

Accessing the I/O on the Controller

The controller I/O can be set or monitored using the following MPI functions:

mpiControlDigitalIn
mpiControlDigitalOutSet
mpiControlDigitalOutGet

These functions take two arguments, bitStart and bitCount, which allow either a single bit to be accessed (bitCount equals one) or multiple, adjacent I/O bits to be accessed (bitCount is greater than one).

The following code shows how to get the state of controller input 1.


unsigned long input1;
mpiControlDigitalIn( control, 1, 1, &input1 );

The next piece of code shows how to set three controller outputs (2, 3 and 4):


mpiControlDigitalOutSet( control, 2, 3, 7, TRUE );

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