ASCII - Command IN4MODE    
Syntax Transmit IN4MODE [Data]    
Syntax Receive IN4MODE <Data>   Available in  
Type Variable rw   MMI Yes
ASCII Format Integer8   CANBus Object Number 356B (hex)
DIM -   PROFIBUS PNU 1707 (dec) IND = 1 (dec)
Range 0 .. 90   DPR 107 (dec)
Default 0    
Opmode All   Data Type Bus/DPR Integer8
Drive State Disabled + Reset (Coldstart)   Weighting  
Start Firmware 1.0    
Configuration Yes   Last Change of this Object 2.13
Function Group digital I/O   EEPROM Yes
Short Description Function of Digital Input 4

Description

The IN4MODE command is used to configure the function of the digital input INPUT4.
The amplifier must be switched off and then on again after an alteration of this parameter.
The following functions can be configured:
Status Function Description
IN4MODE=0 Off The state of the input 1 is read and can be used via fieldbus or Slot card.
IN4MODE=1 Off
IN4MODE=2 PSTOP (4.78) A low on the input disables the positive direction (clockwise if DIR=1, counterclockwise if DIR=0). At the same time, a warning "n10" is displayed. If a negative edge is recognised while the motor is running, the drive stops the motor in OPMODE=0 (velocity control with setpoint zero) using the DECSTOP ramp. When the motor has stopped, the old OPMODE is activated.
IN4MODE=3 NSTOP A low on the input disables the negative direction (clockwise if DIR=0, counterclockwise if DIR=1). At the same time, a warning "n11" is displayed. If a negative edge is recognised while the motor is running, the drive stops the motor in OPMODE=0 (velocity control with setpoint zero) using the DECSTOP ramp. When the motor has stopped, the old OPMODE is activated.
IN4MODE=4 NSTOP + Int. off A low on the input disables the negative direction (counterclockwise if DIR=1, clockwise if DIR=0). At the same time, a warning "n11" is displayed. If a negative edge is recognised while the motor is running, the drive stops the motor in OPMODE=0 (velocity control with setpoint zero) using the DECSTOP ramp. When the motor has stopped, the old OPMODE is activated (without integral part in the velocity controller).
IN4MODE=5 NSTOP+Intg.Off A low on the input disables the negative direction (clockwise if DIR=0, counterclockwise if DIR=1). At the same time, a warning "n11" is displayed. If a negative edge is recognised while the motor is running, the drive stops the motor in OPMODE=0 (velocity control with setpoint zero) using the DECSTOP ramp. When the motor has stopped, the old OPMODE is activated (without integral part in the velocity controller).
IN4MODE=6 Off
IN4MODE=7 Off
IN4MODE=8 selection Analog In 1/ .2 Switches over the setpoint inputs Analog In 1/2 at ANCNFG = 0. This function is only effective if the analog set-point
function 0,Xcmd=Analog In 1 has been selected.
High level at the input : Analog In 2 (terminals X3/6,7) is active
Low level at the input : Analog In 1 (terminals X3/4,5) is active
IN4MODE=9 MT_No_Bit Here you can select the motion tasks that are stored in the servo amplifier (numbers 1...7) or the
reference traverse/homing (0). The motion task number is presented externally at the digital inputs
as a logical word, with a width of max. 3 bits . An input is required to start the motion task (INxMODE =17,
Start_MT IO). If you wire up a reference/homing switch (INxMODE =12, Reference) and (also) want to start a
following task (INxMODE =15, Start_MT Next) externally, the number of inputs that are available for selecting
the motion tasks will be further reduced.
IN4MODE=10 Intg.Off Switch off the integral component of the velocity controller, the P-gain remains at the set value, the
actual- (rotational) velocity feedback remains in operation.
IN4MODE=11 v/Torq.Contr. Bypasses the velocity controller. The analog setpoint is taken 1:1 as the setpoint for current control,
i.e. change over from velocity control to current (torque) control.
High-level at the input : torque control
Low-level at the input : velocity control
Depending on OPMODE, it changes between OPMODE=0 (low) and OPMODE=2 (high) or OPMODE=1 (low) and OPMODE=3 (high).
IN4MODE=12 Reference home/reference switch located on machine
IN4MODE=13 digital encoder /SSI Changeover of the encoder-emulation (position output) on connector X5.
High level at the input : SSI-compatible position signals (ENCMODE = 2)
High level at the input : ROD-compatible position signals (ENCMODE = 1)
IN4MODE=14 FError_clear Clear the warning of a contouring error (display n03) or the response monitoring (display n04).
IN4MODE=15 Start_MT Next The following task, that is defined in the motion task by “Start with I/O” is started. The target position
of the present motion task must be reached before the following task can be started.
(see also O_C tablel 3)
IN4MODE=16 Start_MT No x Start a motion task that is stored in the servo amplifier, by giving the motion task number. After the
function has been selected you can enter the motion task number as the auxiliary variable IN4TRIG.
Motion task number “0” (IN4TRIG=0) initiates homing/reference traverse. A rising edge starts the motion task, a
falling edge cancels the motion task.

Only OPMODE 4 or 8
IN4MODE=17 Start_MT IO Start_MT IO Start of the motion task that has the number that is presented, bit-coded, at the digital inputs
(PSTOP/NSTOP/DIGITAL-IN1/DIGITAL-IN2, see function 9, MT_No_Bit ). A rising edge starts the
motion task a falling edge cancels the motion task by a STOP - command
IN4MODE=18 Ipeak2 x Switch over to a second (lower) peak value of current. Scaled as x (0...100) % of the peak current
of the instrument. After the function has been selected you can enter the percentage value as the
auxiliary variable IN4TRIG.
Make the conversion according to the following equation:
IN4TRIG given in % of IPEAK
IN4MODE=19 Off
IN4MODE=20 Start_Jog v=x Start of the setup mode "Constant velocity" with a defined speed. After selecting the
function, you can enter the speed in IN4TRIG. A rising edge starts the motion, a
falling edge cancels the motion. This function works in position control, so OPMODE=8 has to be selected. The speed is given in units of the position controller given by VUNIT, the sign selects the moving direction.
IN4MODE=21 U_Mon.off Turns off the undervoltage monitoring function of the servo amplifier.
High = off
Low = on
IN4MODE=22 MT Restart Continues the motion task that was previously interrupted by a STOP - command.
IN4MODE=23 Start2_MT No x Start of a motion task that is stored in the servo amplifier, with definition of the motion task number.
After selecting the function, you can enter the motion task number in IN4TRIG
Motion task number “0” starts the homing run. A rising edge starts the motion task.
Warning !
The motion task does not stop automatically if the start signal is removed !
The motion task must be stopped by
— a falling edge on another digital input (configured with 16, FStart_Nr x)
— the ASCII command STOP
— the STOP function via Bus or digital input
IN4MODE=24 Switch over OPMODE The two different OPMODEs, that can be selected for switching over via the digital input, are written in the IN4TRIG help variable of the this input. The lower byte consists the OPMODE that should be available when the input has a negative edge. The higher byte consists the OPMODE that should be available when the input has a positive edge. When the drive is switched on, the OPMODE is set automatically to the corresponding state of the input. The contents of the help variable must be in decimal !!
e.g.:

Input1=low OPMODE=4
Input1=high OPMODE=8

IN1MODE=24 (Activate Input)
IN4TRIG=2052 (Decimal 0804h)

2052 (Dec) = 0804 (Hex)
IN4MODE=25 Zero_latch Sets the digital encoder zero pulse offset. The current position, depending on the digital encoder resolution (ENCOUT) that is set,
is calculated at the rising edge and stored as NI-Offset in ENCZERO. After that, an automatic SAVE is generated. This function is used to perform
an automatic setting of the zero pulse in one turn of the motor..
IN4MODE=27 Quick Stop Low state on the input starts an emergency stop function, that is executed with the ramp DECSTOP. Independently of the selected OPMODE, in this phase, the drive stops in velocity control. When it has stopped, it switches over to the original mode.

Drive is still enabled!
IN4MODE=28 Starting Jogmode ONLY OPMODE = 8
Firmware >= 0.73
A rising edge starts a jogmode with speed VJOG.
A falling edge stopps the movement.
IN4MODE=29 Starting motion task / homing Start_MT IO Start of the motion task that has the number that is presented, bit-coded, at the digital inputs
(PSTOP/NSTOP/DIGITAL-IN1/DIGITAL-IN2, see function 9, MT_No_Bit ). A falling ege does not stop motion.
IN4MODE=30 Command Buffer 1 A positive or negative edge on the input starts a command buffer. This command buffer contains separate ASCII objects, that are separated with semicolon (;).
The command buffer for the positive edge is INH4CMD, the command buffer for the negative edge is IN4LCMD.
The max. length of that buffers is 56 character for each.
If a digital input is configured with INxMODE=30, this input will proceed in that way.
When the drive is switched on, the Command buffer is set automatically started to the corresponding state of the input.
IN4MODE=32 Brake Warning !
With suspended loads, this function will lead to slipping of the axes !

A rising edge at the input triggers the braking output of the servo amplifier.
This function is only available while the amplifier is disabled.
IN4MODE=33 see 30 Different from the functionality 30, the resulting answers of the commands are not suppressed, but are send to the seriell communication channel RS232.

This setting can't be used in combination with GUI software.
IN4MODE=36 Give Offset to Gearing Function Gearing mode OPMODE =4.
A high signal on the digital input configured with this INxMODE adds a difference velocity to the gearing. This allows a simple synchronisation of two axes. The difference velocity is given to IN4TRIG. The scaling is in 32Bit per revolution every 250µs. The difference velocity (n) must be known, then the IN4TRIG can be calculated:

IN4TRIG = n [rpm]*2^32/(4000*60)
example: n = 500 [U/min]
INxTRIG = 500 * 2^32 / (4000*60) = 8947848
IN1MODE=37 change of source for position detection with EXTPOS > 0 = 0 Position from the external encoder (preselection with EXTPOS).
= 1 Position is detected by the first encoder on the motor (FBTYPE).
IN4MODE=38 Enable signal for following motion task Definition of a motion task with following motion tasks. If INxMODE=15 is used (start of an following motion task via I/O), IN1MODE=38 can be used, to have an additional enable for the start of the following motion tasks. Means, that the following motion task is started, if once a rising edge on digital input 1 was detected and then the INxMODE=15 input is enabled to start the following motion task.
IN4MODE=39 Constant velocity for defined time This function starts a constant velocity for a defined time. The parameters for velocity and time are given by IN4TRIG. The velocity is given by the lower 16 bit (scaling by VUNIT), bit 15 is the sign and defines the moving direction and the time by the upper 16 bit (given in msec) of the help variable IN4TRIG.
A rising edge at INPUT1 changes the OPMODE to 0 (digital velocity)
and gives the velocity that is given by IN4TRIG.
After the defined time or a falling edge at INPUT1 is detected, the digital velocity setpoint is set to "0". After the actual velocity has reached "0" the OPMODE is automatically switched back to the old one.

Example for defining the help variable IN4TRIG
1. Velocity = 1000 rpm
time = 10 sec = 10000 msec
IN4TRIG = 0x271003E8 = 655361000

2. Velocity = -500 rpm
time = 10 msec
IN4TRIG = 0x000afe0c = 720396
IN4MODE=40 Additional hardware input The digital input works as an additional hardware input. Only if this input has a high signal, the power stage is enabled.
This Function can be used by several inputs. In this case, the inputs are configured in series. All inputs have to be high to enable the power stage.
IN4MODE=41 Emergency Stop If the input is going to low, the drive stops the motor using the DECSTOP ramp. If zero velocity is reached (V<VEL0), the power stage is disabled.
While stopping the motor the bit 24 (0x01000000) in TRJSTAT is set.
The input is read in the 250µs task.
IN4MODE=42 Activate/deactivate electronic gearing Activate/deactivate electronic gearing in OPMODE = 4.
This function is practical only with slave axis.
A rising edge on the digital input starts the motion from 0 to the master speed and a falling edge changes the speed from master speed to 0.
The ramp times can be set by ACCR for the acceleration and DECR for deceleration time.
IN4MODE=43 Activate/deactivate electronic gearing with position latch Activate/deactivate electronic gearing in OPMODE = 4.
This function is practical only with slave axis.
A rising edge on the digital input starts the motion from 0 to the master speed and a falling edge changes the speed from master speed to 0.
The ramp times can be set by ACCR for the acceleration and DECR for deceleration time
In contrast to IN1MODE = 42, the master position is latched at the rising edge of the input and the position delay caused by the ramp is compensated. IN4TRIG gives the possibility to add an position offset (in PGEARI units) to the latched position.
IN4MODE=49 emergency stop (sensorless) (High active)
By a going edge an emergency stop is activated (current controlled without feedback)
IN4MODE=50
IN4MODE=51
IN4MODE=53
IN4MODE=57 switch to second parameter set Low: std. Parameter used
High: second Parameter group used

see also command PARCNFG
IN4MODE=60 VOSPD-Switch Switch Overspeed Threshhold (VOSPD)
IN4MODE=62 discharge of the dc-bus When the DC-Bus should be discharge, first switch off the main voltage. Manually, set the digital input to 1, after some seconds, the DC-Link capacitor is discharged and VBUS nearby 0
Set back the digital input to 0 and now the DC-Bus can be charged again and the amplifier can be operated as
normal.

Danger:
In order to prevent this function from being activated when the supply is switched on, the net-BTB signal (power supply on) is internally monitored.
If the monitoring of the net BTB is switched off (NONBTB> 0), this function can not be used.