Emerson P/N 400361-00 manual How I/O Works, 6.1 I/O Scan, SM-EZMotion Module I/O, Unidrive SP I/O

6How I/O Works

6.1I/O Scan

When used to activate SM-EZMotion functions, the Unidrive SP and SM-EZMotion module I/O are scanned every trajectory update. If the Unidrive SP I/O is used to trigger functions in the base drive itself (i.e. Threshold Detectors, Programmable Logic, Binary Sum, etc.), then the Unidrive SP I/O is only scanned every 4ms. The scan rate is different when the Unidrive SP I/O is used with SM-EZMotion functions because the SM-EZMotion processor scans the I/O faster than the base drive firmware does.

6.2 SM-EZMotion Module I/O

There are four digital inputs and two digital outputs on the SM-EZMotion module. These I/O are scanned normally at the trajectory update rate (user configured). If an input is assigned to a function that does not use captured data, then it will be updated every trajectory update.

The SM-EZMotion module I/O can also be captured with 1 microsecond accuracy by using the High Speed Capture object in the SM-EZMotion module. If an input is assigned to a function that uses captured data (i.e. Index.#.Initiate), then the input will automatically be captured with 1 microsecond accuracy, and the data is passed to the destination.

To use the SM-EZMotion module I/O in the PowerTools Pro Assignments view, the four Inputs are called EZInput.# and the two Outputs are called EZOutput.# (where # represents the specific I/O number)

6.3 Unidrive SP I/O

The Unidrive SP has three I/O points that are configured by the user to be Inputs or Outputs, along with three dedicated Inputs. The scan rate of the I/O on the Unidrive SP depends on what they are being used for. If the I/O are being used by the SM-EZMotion module functions, then they are updated every trajectory update (user configured). If the I/O are being used solely for Unidrive SP functions (i.e. Threshold Detectors, Programmable Logic, Binary Sum, etc.), then they are updated every 4 milliseconds.

To use the Unidrive SP I/O in the PowerTools Pro Assignments view, the three Input/Output lines are called SPIO.#.In or SPIO.#.Out depending on how they are configured (where # represents the specific I/O number). The configured Input/Output lines will be listed both on the Inputs group of Sources, and the Outputs group of Destinations. Therefore, it is important for the user to know how the Inputs/Outputs have been configured. The dedicated Inputs are referred to as SPInput.# (where # represents the specific I/O number).

6.4 SM-I/O Plus Module I/O

The SM-I/O Plus module has three I/O points that are configured by the user to be Inputs or Outputs, along with three dedicated Inputs. The scan rate of the I/O on the SM-I/O Plus module depends on how many SM-I/O Plus modules are being used. If using one SM-I/O Plus module, the I/O on the SM-I/O Plus module is updated every 8 milliseconds. If a second SM-I/O Plus module is used, the I/O on both SM-I/O Plus modules are updated every 16 milliseconds.

To use the Unidrive SP I/O in the PowerTools Pro Assignments view, the three Input/Output lines are called SlotX.IO.#.In or SlotX.IO.#.Out depending on how they are configured (where X represents the slot number the module is located in, and # represents the specific I/O number). The configured Input/Output lines will be listed both under the Inputs group of Sources, and the Outputs group of Destinations. Therefore, it is important for the user to know how the Inputs/Outputs have been configured. The dedicated Inputs are referred to as SlotX.Input.# (where X represents the slot number the module is located in, and # represents the specific I/O number).

Because of the slower scan rate of the SM-I/O Plus module inputs and outputs, it is recommended that these I/O not be used for critical motion functions (e.g. Home Switches, Registration Sensors, Travel Limits, PLS’s, etc.).

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