Configure the onboard I/O channel

The onboard I/Os support the following channel functions according to the processor module type.

Onboard I/O type	Channel function	PM5012-T-ETH	PM5012-R-ETH	Channel name when available
Digital input channel total thereof as	Digital input	6	6	DI0 … DI5
Fast input x, max. 5 kHz	Digital input	6	6	DI0 … DI5
	Interrupt input	4	4	DI0 … DI3
	Fast counter	2	2	DI4 … DI5
Digital output channel total thereof as	Digital output	4	4	DO0 … DO3
Fast output x, max. 5 kHz	Digital output	4	4	DO0 … DO3
	Limit switch	4	-	DO0 … DO3
	PWM output	4	-	DO0 … DO3

Onboard I/O type	Channel function	PM5032-T-ETH PM5052-T-ETH PM5072-T-2ETH(W) PM5082-T-2ETH	PM5032-R-ETH PM5052-R-ETH	Channel name when available
Digital input channel total	Digital input	12	12	DI0 … DI11
Fast input x, max. 5 kHz	Digital input	4	4	DI0 … DI3
	Interrupt input	4	4	DI0 … DI3
	Touch/Reset	4, together with dedicated encoder	4, together with dedicated encoder	DI0 … DI3
Fast input x, max. 100 kHz	Digital input	4	4	DI4 … DI7
	Encoder input	2, with A/B tracks	2, with A/B tracks	DI4 … DI7
	Fast counter	4	4	DI4 … DI7
Standard input	Digital input	4	4	DI8 … DI11
Digital output channel total	Digital output	8	6	DO0 … DO7 DO0 … DO5
Fast output x, max. 5 kHz	Digital output	4	-	DO0 … DO3
	Limit switch	4	-	DO0 … DO3
	PWM output	4	-	DO0 … DO3
Fast output x, max. 100 ... 200 kHz	Digital output	4	-	DO4 … DO7
	Limit switch	4	-	DO4 … DO7
	PWM output	4	-	DO4 … DO7
	PTO output	2, pair of output, in CW/CCW or Pulse/Direction mode or 4 as Pulse with standard outputs as Direction	-	DO4 … DO7
Digital in/output configurable channel total	Digital in/output	2	2	DC12 … DC13
Standard dig. channel	Digital In/output	2	2	DC12 … DC13
Fast output, max. 100 ... 200 kHz	Limit switch	-	2	DC12 … DC13
	PWM output	-	2	DC12 … DC13
	PTO output	-	1, pair of output, in CW/CCW or Pulse/Direction mode	DC12 … DC13

When debugging AC500-eCo applications and reaching a breakpoint, the onboard outputs are set to zero.

Basic CPU: PM5012-x-ETH

For all CPU versions, the configuration of the input channels is identical. The configuration of the output channels is available only for CPU version with transistor output channels.

Version with relay outputs

For CPU versions with relay outputs, the configuration of the input channels is identical. No configuration is available for relay output channels.

Configurable parameters

The following parameter can be configured.

Onboard I/O type	Parameter	Channel name	Default value	Value	Description
Digital inputs	Input X, input delay	Channel 0..5	8 ms	No delay	Configures input with no delay.
				1 ms	Configures 1 ms input delay.
				8 ms	Configures 8 ms input delay.
				32 ms	Configures 32 ms input delay.
	Input X, channel configuration	Channel 0..3	Input/Interrupt	Input/Interrupt	Configures the channel as normal digital or interrupt input.
	The configuration /function of the following channels is realized using function blocks in the program	Channel 4..5	Input	Input	Configures the channel as normal digital input.
				Encoder 0 track-A or B	Configures the pair of channels as encoder input track A or B. When that value is configured then both channels are reserved for that functionality.
				Forward counter	Configures the channel as forward counter.
The configuration of output channel is only available on the CPU with transistor outputs
Digital outputs	Output X, channel configuration	Channel 0..3	Output	Output	Configures the channel as digital output.
				Limit switch	Configures the channel as limit switch output.
				PWM	Configures the channel as PWM output.

Standard CPU: PM5032-x-ETH, PM5052-x-ETH Pro CPU: PM5072-T-2ETH, PM5082-T-2ETH

For all CPU versions the configuration of the input channels is the same. The configuration of the output channels is only available on CPU version with transistor output channels, the digital configurable In/Output channels are present on both version (transistor or relay output) but with different features configurable:

For the CPU with relay outputs, the digital configurable Input/Output channels have specific functionalities:

Onboard I/O type	Parameter	Channel name	Default value	Value	Description
Digital inputs	Input X, input delay	Channel 0..11	8 ms	No delay	Configures input with no delay.
				1 ms	Configures 1 ms input delay.
				8 ms	Configures 8 ms input delay.
				32 ms	Configures 32 ms input delay.
Fast inputs max. 5 kHz	Input X, channel configuration	Channel 0..1	Input/Interrupt	Input/Interrupt	Configures the channel as normal digital or interrupt input.
		Channel 0..1	Input/Interrupt	Touch/Reset 0	Configures the pair of adjacent channels as Touch/Reset inputs together with encoder 0.
		Channel 2..3	Input/Interrupt	Input/Interrupt	Configures the channel as normal digital or interrupt input.
		Channel 2..3	Input/Interrupt	Touch/Reset 1	Configures the pair of adjacent channels as Touch/Reset inputs together with encoder 1.
Fast inputs max. 100/200 kHz	The function of the following channels is realized using function blocks in the program	Channel 4..5	Input	Input	Configures the channel as normal digital input.
Max. frequency 200 kHz	When that value is configured then both channels are reserved for that functionality			Encoder 0 track-A or B	Configures the pair of adjacent channels as encoder 0 input track A or B.
Max. frequency 100 kHz				Forward counter	Configures the channel as forward counter.
Fast inputs max. 100/200 kHz		Channel 6..7	Input	Input	Configures the channel as normal digital input.
Max. frequency 200 kHz	When that value is configured then both channels are reserved for that functionality			Encoder 1 track-A or B	Configures the pair of adjacent channels as encoder 1 input track A or B.
				Touch/Reset	Configures the pair of adjacent channels as Touch/Reset inputs together with encoder 0.
Max. frequency 100 kHz				Forward counter	Configures the channel as forward counter.
The following configuration of output channel is only available on the CPU with transistor.
Fast outputs, max. 5 kHz	Output X, channel configuration	Channel 0..3	Output	Output	Configures the channel as digital output.
	The configuration / function of the following channels is realized using function blocks in the program			Limit switch	Configures the channel as limit switch output.
				PWM	Configures the channel as PWM output.
Fast outputs max. 100/200 kHz	Output X, channel configuration	Channel 4..7	Output	Output	Configures the channel as digital output.
Fast outputs max. 100/200 kHz	The function of the following channels is realized using function blocks in the program			Limit switch	Configures the channel as limit switch output.
Max. frequency 100 kHz				PWM	Configures the channel as PWM output.
Max. frequency 100/200 kHz	Depending on the OBIOMotionPTO or OBIOMotionPWM function block used			PTO	Configures the pair of adjacent channels as PTO output or one as pulse and a standard output as direction.
Digital configurable input/outputs	Output X, channel configuration	Channel DC12..DC13	Input/Output	Input/Output	Configures the channel as digital input/output.
The following configuration of output channel is only available on the CPU with relay outputs
Digital configurable input/outputs	Output X, channel configuration	Channel DC12..DC13	Input/Output	Input/Output	Configures the channel as digital input/output.
Digital configurable input/outputs	The function of the following channels is realized using function blocks in the program			Limit switch	Configures the channel as limit switch output.
Max. frequency 100 kHz				PWM	Configures the channel as PWM output.
Max. frequency 100/200 kHz	Depending on the OBIOMotionPTO or OBIOMotionPWM function block used			PTO	Configures the pair of channels as PTO output.