# Channels of the stepper motor module

With u-create web, the channels of the UR20-1SM-50W-6DI2DO-P I/O module correspond to functions. The channels do not provide direct access to raw process data.

## Output channels

Name | Type | Description
--- | --- | ---
out_enable | BOOL | TRUE enables motor driver
out_start | BOOL | TRUE initiates actions
out_jog_cw | BOOL | TRUE sets jogging direction to clockwise
out_jog_ccw | BOOL | TRUE sets jogging direction to counter-clockwise
out_pos_change | BOOL | TRUE enables releasing end positions
out_error_reset | BOOL | TRUE resets the module state after an error has been detected
out_set_do0 | BOOL | TRUE sets DO 0 to high
out_set_do1 | BOOL | TRUE sets DO 1 to high
out_operation_mode | UINT | 0: jog mode 1: referencing 2: absolute positioning 3: relative positioning
out_accel_mode | UINT | 0: constant acceleration 1: linear acceleration 2: optimal acceleration
out_ref_pos | DINT | Reference position in increments
out_target_pos | DINT | Target position in increments
out_target_velocity | UINT | Target velocity in increments/s
out_target_accel | UINT | Target acceleration in increments/s²

## Input channels

Name | Type | Description
--- | --- | ---
in_enabled | BOOL | TRUE, if the motor driver is enabled
in_referenced | BOOL | TRUE, if a reference run was executed successfully
in_state_moving | BOOL | TRUE, if the motor is running
in_state_dir | BOOL | 0: motor moves clockwise 1: motor moves counter-clockwise
in_state_target_pos | BOOL | TRUE, if the motor reached the target position
in_error | BOOL | TRUE, if an error was detected
in_power_ok | BOOL | TRUE, if the power supply is OK
in_range_exceeded | BOOL | TRUE, if the traversing range was exceeded
in_accel_exceeded | BOOL | TRUE, if the maximum acceleration was exceeded
in_stepper_motor_driver | BOOL | TRUE, if an error has been detected
in_current_pos | DINT | Current position in increments
in_current_velocity | UINT | Current velocity in increments/s
in_state_di0 | BOOL | TRUE, if the logical state of DI 0 is TRUE
in_state_di1 | BOOL | TRUE, if the logical state of DI 1 is TRUE
in_state_di2 | BOOL | TRUE, if the logical state of DI 2 is TRUE
in_state_di3 | BOOL | TRUE, if the logical state of DI 3 is TRUE
in_state_di4 | BOOL | TRUE, if the logical state of DI 4 is TRUE
in_state_di5 | BOOL | TRUE, if the logical state of DI 5 is TRUE
in_state_do0 | BOOL | TRUE, if the logical state of DO 0 is TRUE
in_state_do1 | BOOL | TRUE, if the logical state of DO 1 is TRUE