# Menu 8 − Digital I/O

Mode: RFC‑S

Digital I/O Interface
The normal sample rate for the digital I/O system is 2ms, however it is possible to obtain a faster update rate for some parameters with certain inputs as described below. (Note that the keypad buttons are always updated at the background rate and cannot be used for fast updating.)

Direction, read and write register parameters
Digital I/O Output Enable Register 1 (08.071), Digital I/O Input Register 1 (08.072) and Digital I/O Output Register 1 (08.073) provide direct access to read/control the digital I/O that is integral to the drive.

Limit Switches
If digital inputs 4 or 5 are routed to either the Forward Limit Switch (06.035) or Reverse Limit Switch (06.036) in RFC-A or RFC-S modes the update rate is 250us.

Parameters
The same parameter structure is used for every digital I/O except for the Safe Torque Off inputs which are dedicated inputs that do not include routing as shown in the diagram below.

The table below gives the digital I/O parameter structure.

DI/O | Function | State | Invert/Toggle | Source/Destination | Output Select
1 | Input/Output | 08.001 | 08.011 | 08.021 | 08.031 1,2
2 | Input/Output | 08.002 | 08.012 | 08.022 | 08.032 1,2
3 | Input/Output | 08.003 1 | 08.013 1 | 08.023 1 | 08.033 2
4 | Input | 08.004 | 08.014 | 08.024 |
5 | Input | 08.005 | 08.015 | 08.025 |
6 | Input | 08.006 1 | 08.016 1 | 08.026 1 |
7 | Relay Output | 08.007 | 08.017 | 08.027 |
8 | 24V Supply Output | 08.008 | 08.018 | 08.028 |
9 | Safe Torque Off 1 | 08.009 |  |  |
10 | Safe Torque Off 2 | 08.040 |  |  |
11 | Keypad Run Button | 08.041 | 08.051 | 08.061 |
12 | Keypad Auxiliary Button | 08.042 | 08.052 | 08.062 |
13 | 24V Supply Input | 08.043 | 08.053 | 08.063 |
14 | Keypad Stop Button | 08.044 |  |  |
15 | Relay 2 Output | 08.045 3 | 08.055 3 | 08.065 3 |

1 Only available if I/O hardware gives Internal I/O Identifier (11.068) = 0 or 2.
2 Internally forced to one if I/O hardware gives Internal I/O Identifier (11.068) = 1.
3 Only available if I/O hardware gives Internal I/O Identifier (11.068) = 2.

Parameter | 08.001 Digital I/O 01 State
--- | ---
Short description | Displays the state for digtial input/output1
Mode | RFC‑S
Minimum | 0 | Maximum | 1
Default |  | Units |
Type | 1 Bit Volatile | Update Rate | 2ms write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

The Digtial I/O State parameter shows the state of digital I/O on the drive. All I/O except Digital Input 11 (Keypad Run Button), Digital Input 12 (Keypad Auxiliary Button), Digital Input 13 (24V Supply Input) and Digital Input 14 (Keypad Stop Button) use IEC61131-2 logic levels. As default the inputs use positive logic, and so the state parameter is 0 if the digital I/O is low or 1 if the digital I/O is high. Input Logic Polarity (08.029) can be set to zero to change the logic for Digital I/O1-6 to negative logic, so that the state parameter is 0 if the digital I/O is high or 1 if the digital I/O is low. The state parameter represents the digital I/O state whether it is an input or an output. If the digital I/O is configured as an output to be controlled using the Digital I/O Output Register 1 (08.073) then the state parameter will still show the state of the output even though the route source is zero and the invert parameter has no effect.

Digital Input 11 (Keypad Run Button), Digital Input 12 (Keypad Auxiliary Button) and Digital Input 14 (Keypad Stop Button) represent the state of the Run, Auxiliary and Stop buttons on any keypad fitted to the drive; the input state is determined by ORing the state of the button on each keypad connected to the drive, if the button is pressed the state parameter is one otherwise it is zero. If a keypad is not fitted the state parameters are zero.

Digital Input 13 (24V Supply Input) is an external 24V supply input that is monitored and can be used as a 24V digital input if an external 24V supply is not required. The state parameter is low for the voltage range from 0V to 17V and high for the voltage range above 18V. As the input is a power supply it will consume significant current if the level is taken above 24V when the drive is running from its internal power supply, or at any voltage level if this input is the only power supply to the drive.

Digital Input 09 (STO input 1) and Digital Input 10 (STO input 2) correspond to two safe torque off channels within the drive. Both channels must be in the high state for the drive to be enabled. The state parameters are 0 if the digital input is low, or 1 if the digital input is high. If option slot 3 does not contain an option module providing safety functions then both safe torque off channels are connected to their state parameters and the safe torque off input can enable/disable the drive. If an option module providing safety functions is fitted in option slot 3 then the option module can disable the drive by breaking the path of either one or both safe torque off channels. See Menu 6 for details of the drive enable system.

Parameter | 08.002 Digital I/O 02 State
--- | ---
Short description | Displays the state for digtial input/output 2
Mode | RFC‑S
Minimum | 0 | Maximum | 1
Default |  | Units |
Type | 1 Bit Volatile | Update Rate | 2ms write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

See Digital I/O 01 State (08.001).

Parameter | 08.004 Digital Input 04 State
--- | ---
Short description | Displays the state for digtial input 4
Mode | RFC‑S
Minimum | 0 | Maximum | 1
Default |  | Units |
Type | 1 Bit Volatile | Update Rate | 2ms write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

See Digital I/O 01 State (08.001).

Parameter | 08.005 Digital Input 05 State
--- | ---
Short description | Displays the state for digtial input 5
Mode | RFC‑S
Minimum | 0 | Maximum | 1
Default |  | Units |
Type | 1 Bit Volatile | Update Rate | 2ms write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

See Digital I/O 01 State (08.001).

Parameter | 08.007 Relay Output State
--- | ---
Short description | Displays the state for relay output
Mode | RFC‑S
Minimum | 0 | Maximum | 1
Default |  | Units |
Type | 1 Bit Volatile | Update Rate | 2ms write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

See Digital I/O 01 State (08.001).

Parameter | 08.008 24V Supply Output State
--- | ---
Short description | Displays the state for 24V supply output
Mode | RFC‑S
Minimum | 0 | Maximum | 1
Default |  | Units |
Type | 1 Bit Volatile | Update Rate | 2ms write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

See Digital I/O 01 State (08.001).

Parameter | 08.009 STO Input 01 State
--- | ---
Short description | Displays the state for Safe Torque Off 1 input
Mode | RFC‑S
Minimum | 0 | Maximum | 1
Default |  | Units |
Type | 1 Bit Volatile | Update Rate | 2ms write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

See Digital I/O 01 State (08.001).

Parameter | 08.010 External Trip Mode
--- | ---
Short description | Defines behaviour of drive if STOs are low
Mode | RFC‑S
Minimum | 0 | Maximum | 3
Default | 0 | Units |
Type | 8 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, TE

Value | Text
0 | Disable
1 | STO 1
2 | STO 2
3 | STO 1 OR STO 2

If External Trip Mode (08.010) = 0 the safe torque off inputs simply enable or disable the drive. If External Trip Mode (08.010) > 0 it is possible to enable the following trip functions.

External Trip Mode (08.010) | Actions
0 | Safe torque off inputs do not initiate trips
1 | External Trip.001 if Safe Torque Off Input 1 is low
2 | External Trip.002 if Safe Torque Off Input 2 is low
3 | External Trip.001 if Safe Torque Off is low OR External Trip.002 if Safe Torque Off Input 2 is low

Parameter | 08.011 Digital I/O 01 Invert
--- | ---
Short description | Set to invert Digital I/O 01
Mode | RFC‑S
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 8 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, TE

Value | Text
0 | Not Invert
1 | Invert

A value of 0 or 1 allows the digital I/O to be non-inverted or inverted respectively.

Parameter | 08.012 Digital I/O 02 Invert
--- | ---
Short description | Set to invert Digital I/O 02
Mode | RFC‑S
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 8 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, TE

Value | Text
0 | Not Invert
1 | Invert

See Digital I/O 01 Invert (08.011).

Parameter | 08.014 Digital Input 04 Invert
--- | ---
Short description | Set to invert Digital Input 04
Mode | RFC‑S
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 8 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, TE

Value | Text
0 | Not Invert
1 | Invert

See Digital I/O 01 Invert (08.011).

Parameter | 08.015 Digital Input 05 Invert
--- | ---
Short description | Set to invert Digital Input 05
Mode | RFC‑S
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 8 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, TE

Value | Text
0 | Not Invert
1 | Invert

See Digital I/O 01 Invert (08.011).

Parameter | 08.017 Relay Invert
--- | ---
Short description | Set to invert the Relay Output
Mode | RFC‑S
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 8 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, TE

Value | Text
0 | Not Invert
1 | Invert

See Digital I/O 01 Invert (08.011).

Parameter | 08.018 24V Supply Output Invert
--- | ---
Short description | Set to invert 24V Supply Output
Mode | RFC‑S
Minimum | 0 | Maximum | 1
Default | 1 | Units |
Type | 8 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, TE

Value | Text
0 | Not Invert
1 | Invert

See Digital I/O 01 Invert (08.011).

Parameter | 08.020 Digital I/O Read Word
--- | ---
Short description | Displays the states for digital I/O 1 to 8
Mode | RFC‑S
Minimum | 0 | Maximum | 511
Default |  | Units |
Type | 16 Bit Volatile | Update Rate | Background write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

Digital I/O Read Word (08.020) reflects the state of digital input/output 1 to STO input 1 as given below. Each bit matches the value of the state parameter for the respective digital input or output.

Digital I/O Read Word (08.020) bit | Digital I/O
0 | Digital I/O 1
1 | Digital I/O 2
2 | Digital I/O 3
3 | Digital Input 4
4 | Digital Input 5
5 | Digital Input 6
6 | Relay
7 | 24V Output
8 | STO Input 1

Parameter | 08.021 Digital I/O 01 Source/Destination
--- | ---
Short description | Defines the source or destination parameter for Digital I/O 1
Mode | RFC‑S
Minimum | 0.000 | Maximum | 59.999
Default | 10.003 | Units |
Type | 16 Bit User Save | Update Rate | Drive Reset Read
Display Format | Standard | Decimal Places | 3
Coding | RW, DE, PT, BU

The Digital I/O Source/Destination parameters provide the routing for the source and/or destination for the digital I/O.

Parameter | 08.022 Digital I/O 02 Source/Destination
--- | ---
Short description | Defines the source or destination parameter for Digital I/O 2
Mode | RFC‑S
Minimum | 0.000 | Maximum | 59.999
Default | 0.000 | Units |
Type | 16 Bit User Save | Update Rate | Drive Reset Read
Display Format | Standard | Decimal Places | 3
Coding | RW, DE, PT, BU

See Digital I/O 01 Source/Destination (08.021).

Parameter | 08.024 Digital Input 04 Destination
--- | ---
Short description | Defines the destination parameter for Digital Input 4
Mode | RFC‑S
Minimum | 0.000 | Maximum | 59.999
Default | 6.030 | Units |
Type | 16 Bit User Save | Update Rate | Drive Reset Read
Display Format | Standard | Decimal Places | 3
Coding | RW, DE, PT, BU

See Digital I/O 01 Source/Destination (08.021).

Parameter | 08.025 Digital Input 05 Destination
--- | ---
Short description | Defines the destination parameter for Digital Input 5
Mode | RFC‑S
Minimum | 0.000 | Maximum | 59.999
Default | 6.032 | Units |
Type | 16 Bit User Save | Update Rate | Drive Reset Read
Display Format | Standard | Decimal Places | 3
Coding | RW, DE, PT, BU

See Digital I/O 01 Source/Destination (08.021).

Parameter | 08.027 Relay Output Source
--- | ---
Short description | Defines the source parameter for the Relay Output
Mode | RFC‑S
Minimum | 0.000 | Maximum | 59.999
Default | 10.001 | Units |
Type | 16 Bit User Save | Update Rate | Drive Reset Read
Display Format | Standard | Decimal Places | 3
Coding | RW, PT, BU

See Digital I/O 01 Source/Destination (08.021).

Parameter | 08.028 24V Supply Output Source
--- | ---
Short description | Defines the source parameter for 24V Supply Output
Mode | RFC‑S
Minimum | 0.000 | Maximum | 59.999
Default | 0.000 | Units |
Type | 16 Bit User Save | Update Rate | Drive Reset Read
Display Format | Standard | Decimal Places | 3
Coding | RW, PT, BU

See Digital I/O 01 Source/Destination (08.021).

Parameter | 08.040 STO Input 02 State
--- | ---
Short description | Displays the state for the Safe Torque Off 2 input
Mode | RFC‑S
Minimum | 0 | Maximum | 1
Default |  | Units |
Type | 1 Bit Volatile | Update Rate | 2ms write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

See Digital I/O 01 State (08.001).

Parameter | 08.041 Keypad Run Button State
--- | ---
Short description | Displays the state for the Keypad Run Forward button
Mode | RFC‑S
Minimum | 0 | Maximum | 1
Default |  | Units |
Type | 1 Bit Volatile | Update Rate | Background write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

See Digital I/O 01 State (08.001).

Parameter | 08.042 Keypad Auxiliary Button State
--- | ---
Short description | Displays the state for the Keypad Auxilary button
Mode | RFC‑S
Minimum | 0 | Maximum | 1
Default |  | Units |
Type | 1 Bit Volatile | Update Rate | Background write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

See Digital I/O 01 State (08.001).

Parameter | 08.043 24V Supply Input State
--- | ---
Short description | Displays the state for the 24V Supply Input
Mode | RFC‑S
Minimum | 0 | Maximum | 1
Default |  | Units |
Type | 1 Bit Volatile | Update Rate | 2ms write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

See Digital I/O 01 State (08.001).

Parameter | 08.044 Keypad Stop Button State
--- | ---
Short description | Displays the state for the Keypad Stop button
Mode | RFC‑S
Minimum | 0 | Maximum | 1
Default |  | Units |
Type | 1 Bit Volatile | Update Rate | Background write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

See Digital I/O 01 State (08.001).

Parameter | 08.051 Keypad Run Button Invert/Toggle
--- | ---
Short description | Set to invert/toggle Keypad Run Button
Mode | RFC‑S
Minimum | 0 | Maximum | 2
Default | 0 | Units |
Type | 8 Bit User Save | Update Rate | Drive Reset Read
Display Format | Standard | Decimal Places | 0
Coding | RW, TE

Value | Text
0 | Not Invert
1 | Invert
2 | Toggle

A value of 0 or 1 allows the input state to be non-inverted or inverted respectively. An additional toggle function is provided for Keypad Run button inputs. The toggle function output changes state on each rising edge (0 to 1 change) at its input.

Parameter | 08.052 Keypad Auxiliary Button Invert/Toggle
--- | ---
Short description | Set to invert/toggle Keypad Auxiliary Button
Mode | RFC‑S
Minimum | 0 | Maximum | 2
Default | 0 | Units |
Type | 8 Bit User Save | Update Rate | Drive Reset Read
Display Format | Standard | Decimal Places | 0
Coding | RW, TE

Value | Text
0 | Not Invert
1 | Invert
2 | Toggle

A value of 0 or 1 allows the input state to be non-inverted or inverted respectively. An additional toggle function is provided for Keypad Auxiliary button inputs. The toggle function output changes state on each rising edge (0 to 1 change) at its input.

Parameter | 08.053 24V Supply Input Invert
--- | ---
Short description | Set to invert/toggle 24V Supply Input
Mode | RFC‑S
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 8 Bit User Save | Update Rate | Drive Reset Read
Display Format | Standard | Decimal Places | 0
Coding | RW, TE

Value | Text
0 | Not Invert
1 | Invert

See Digital I/O 01 Source/Destination (08.021).

Parameter | 08.061 Keypad Run Button Destination
--- | ---
Short description | Defines the source or destination paramter for DI/O 11
Mode | RFC‑S
Minimum | 0.000 | Maximum | 59.999
Default | 0.000 | Units |
Type | 16 Bit User Save | Update Rate | Drive Reset Read
Display Format | Standard | Decimal Places | 3
Coding | RW, DE, PT, BU

See Digital I/O 01 Source/Destination (08.021).

Parameter | 08.062 Keypad Auxiliary Button Destination
--- | ---
Short description | Defines the source or destination paramter for DI/O 12
Mode | RFC‑S
Minimum | 0.000 | Maximum | 59.999
Default | 0.000 | Units |
Type | 16 Bit User Save | Update Rate | Drive Reset Read
Display Format | Standard | Decimal Places | 3
Coding | RW, DE, PT, BU

See Digital I/O 01 Source/Destination (08.021).

Parameter | 08.063 24V Supply Input Source
--- | ---
Short description | Defines the source or destination paramter for DI/O 13
Mode | RFC‑S
Minimum | 0.000 | Maximum | 59.999
Default | 0.000 | Units |
Type | 16 Bit User Save | Update Rate | Drive Reset Read
Display Format | Standard | Decimal Places | 3
Coding | RW, DE, PT, BU

See Digital I/O 01 Source/Destination (08.021).

Parameter | 08.071 Digital I/O Output Enable Register 1
--- | ---
Short description | Displays the binary form of the DI/O output enable register
Mode | RFC‑S
Minimum | 0 (Display: 0000000000000000) | Maximum | 65535 (Display: 1111111111111111)
Default | 0 (Display: 0000000000000000) | Units |
Type | 16 Bit User Save | Update Rate | Background read
Display Format | Binary | Decimal Places | 0
Coding | RW, PT, BU

The bits in the Digital I/O Output Enable Register 1 (08.071), Digital I/O Input Register 1 (08.072) and Digital I/O Output Register 1 (08.073) each correspond with one digital I/O as shown below. The update rate of the individual bits in these registers differs depending upon the I/O.

DI/O | Bit | Function | Bit update rate |  |
Input Register | Output Register | Output Enable Register |  |  |
1 | 0 | Digital Input/Output | 2ms | 250μs | Background
2 | 1 | Digital Input/Output | 2ms | 250μs | Background
3 | 2 | Digital Input/Output | 2ms | 2ms | Background
4 | 3 | Digital Input | 250μs | Not applicable | Not applicable
5 | 4 | Digital Input | 250μs | Not applicable | Not applicable
6 | 5 | Digital Input | 2ms | Not applicable | Not applicable
7 | 6 | Relay Output | Bit always 0 | 2ms | Background
8 | 7 | 24V Supply Output | Bit always 0 | 2ms | Background
9 | 8 | Safe Torque Off 1 | 2ms | Not applicable | Not applicable
10 | 9 | Safe Torque Off 2 | 2ms | Not applicable | Not applicable
11 | 10 | Keypad Run Button | Background | Not applicable | Not applicable
12 | 11 | Keypad Auxiliary Button | Background | Not applicable | Not applicable
13 | 12 | 24V Supply Input | 2ms | Not applicable | Not applicable
14 | 13 | Keypad Stop Button | Background | Not applicable | Not applicable
15 | 14 | Relay 2 Output | Bit always 0 | 2ms | Background

The Digital I/O Input Register 1 (08.072) is always active and shows the value in the Digital I/O State parameter for all digital I/O configured as inputs. Bits in the Digital I/O Output Register 1 (08.073) can be used to control the digital I/O directly. The bits control the output directly and are not modified by the corresponding Digital I/O Invert/Toggle function. The bits in the Digital I/O Output Register 1 (08.073) only control the corresponding digital output if all the conditions below are met:

1. The corresponding bit in the Digital I/O Output Enable Register 1 (08.071) must be set to 1.
2. The digital I/O must be an output, or it must be an input/output and the corresponding Digital I/O Output Select parameter must be one.
3. The corresponding Digital I/O Source/Destination parameter is not as valid source (e.g. 0.000) and the drive has been powered-up or reset since it was first selected.

If the above conditions are not met, the digital output is controlled by the normal logic.

Parameter | 08.072 Digital I/O Input Register 1
--- | ---
Short description | Displays the binary form of the DI/O input register
Mode | RFC‑S
Minimum | 0 (Display: 0000000000000000) | Maximum | 65535 (Display: 1111111111111111)
Default |  | Units |
Type | 16 Bit Volatile | Update Rate | 250µs write
Display Format | Binary | Decimal Places | 0
Coding | RO, ND, NC, PT, BU

See Digital I/O Output Enable Register 1 (08.071).

Parameter | 08.073 Digital I/O Output Register 1
--- | ---
Short description | Displays the binary form of the DI/O output register
Mode | RFC‑S
Minimum | 0 (Display: 0000000000000000) | Maximum | 65535 (Display: 1111111111111111)
Default | 0 (Display: 0000000000000000) | Units |
Type | 16 Bit Volatile | Update Rate | 250µs read
Display Format | Binary | Decimal Places | 0
Coding | RW, PT, BU

See Digital I/O Output Enable Register 1 (08.071).