ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 61)

Function m_dout.polarity, m_dout.plr – used to define polarity of Maestro digital
output
Call Format variable = m_dout.polarity - get polarity value
m_dout.polarity = expression - set polarity value
Limitation
0 – 0xFF
Note: all of the polarity value bits defines the polarity for the
corresponding digital output channel: polarity 0x01 – for m_dout[0]
(channel 0), polarity 0x02 – for m_dout[1] (channel 1), polarity 0x04 – for
m_dout[2] (channel 2), ect. For all 8 digital output channels polarity value
is – 0xFF (binary value: 1111 1111).
Example m_dout.plr = 0x0F
for more details see: \SamplesTutorial\ CallBackFunctions\InputCallBack
4.6.2 CAN I/O Functions (DS 401 Object Properties)
For more details see the CiA CANopen DS 401 protocol.
To set output values: <output_name> = <value>
<output_name>[const_index]= <value>
To get output value: <val> = <output_name>
<val> = <output_name>[const_index]
To get input value: <val> = <input_name>
<val> = <input_name>[const_index]
To set one output channel values: <output_name>[channel_number] =
<boolean_value>
To get one output channel value: <boolean_value > =
<output_name>[channel_number]
To get one input channel value: <boolean_value> =
<input_name>[channel_number]
4.6.2.1 Digital Input
Property flt (filter) – filter constant input
Default 0
Limitation 0 – 0xFFFFFFFF
Type Unsigned integer
Property irq (interrupt) –global input interrupt enable
Default 1
Limitation 0 – 1
Type Boolean
Property mhl (maskhl) – input interrupt mask high-to-low change
Default 0
Limitation 0 – 0xFFFFFFFF
Type Unsigned integer
Maestro Software Manual General and Motion Instructions
MAN-MASSW (Ver. Q)
4-42