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