nimcConfigureMotionIOMap

Device Compatibility Device Compatibility 7330 Y 7340 Y 7344 N 7350 Y 7390 Y NI SoftMotion Controller for CANopen—Xenus N NI SoftMotion Controller for CANopen—Accelnet N

Configure Motion I/O Map

Usage

status = nimcConfigureMotionIOMap(TnimcDeviceHandle deviceHandle, TnimcAxisHandle axisHandle, TnimcMotionIOMap attribute, i32 ioAxis, TnimcMotionIOMapLineType lineType, u32 line);

Purpose

Maps a general purpose I/O line to an alternate function of an axis.

Parameters

Name	Type	Description
deviceHandle	TnimcDeviceHandle	assigned by Measurement & Automation Explorer (MAX)
axisHandle	TnimcAxisHandle	axis to configure
attribute	TnimcMotionIOMap	the attribute to map to for the input axis
ioAxis	i32	axis that specifies the digital I/O line to map
lineType	TnimcMotionIOMapLineType	line type to map
line	u32	digital line number of the axis

Parameter Discussion

axisHandle is the axis to configure with this function. Valid values are 1 through 8. On motion controllers that support fewer than eight axes, configuring non-existent axes returns error –70006 (NIMC_badResourceIDOrAxisError). Refer to Axes for axis resource IDs.

attribute is the action to map to a digital I/O line. The following are valid attributes:

attribute	Description
TnimcMotionIOMapDefaultInput	Maps a general purpose I/O line as the default input line.
TnimcMotionIOMapDefaultOutput	Maps a general purpose I/O line as the default output line.
TnimcMotionIOMapShutdown	Maps a general purpose input line as the shutdown (E-Stop) line. Refer to Enable Shutdown for more information about the shutdown (E-Stop) functionality of the controller.
TnimcMotionIOMapInhibitOut	Maps a general purpose output line as an inhibit-out line. Refer to Write Motion I/O Data for more information about the inhibit outputs.
TnimcMotionIOMapAlarmClear	Maps a general purpose output line as an alarm clear line. Refer to Write Motion I/O Data for more information about alarm clear.
TnimcMotionIOMapInhibitIn	Maps a general purpose input line as an inhibit-in line. Refer to Write Motion I/O Data for more information about the inhibit inputs.
TnimcMotionIOMapDriveReady	Maps a general purpose input line as a drive ready line. Refer to Write Motion I/O Data for more information about the drive ready signal.
TnimcMotionIOMapInPosition	Maps a general purpose input line as an in-position line. Refer to Write Motion I/O Data for more information about the in-position inputs.

ioAxis is the axis of the digital I/O line to map.

lineType line type to apply the selected attribute to. The following is the valid attribute:

attribute	Description
TnimcMotionIOMapLineTypeDigitalIO	Maps a digital I/O line.

line is line of the ioAxis to map.

Using This Function

This function maps a general-purpose I/O line to an alternate function of an axis such as inhibit output. For example, to map axis 3 general-purpose output bit 1 to the inhibit output of axis 3, the function call appears as

status = nimcConfigureMotionIOMap(boardID, 3, TnimcMotionIOMapInhibitOut, 3, TnimcMotionIOMapLineTypeDigitalIO, 1);

Notes   For all attributes except for TnimcMotionIOMapShutdown, the axisHandle input must be the same as the ioAxis input. The action TnimcMotionIOMapShutdown applies to the device level. The axisHandle input is ignored. Furthermore, only one general-purpose input can be mapped to this attribute. 7330, 7340, and 7350 controllers do not support the TnimcMotionIOMapInhibitOut and TnimcMotionIOMapShutdown attributes because these controllers have dedicated pins for these signals. 7390 controllers do not support the TnimcMotionIOMapInhibitIn and TnimcMotionIOMapInPosition attributes because this controller has dedicated pins for these signals.

The following table lists the drive signals and their implementation on the controller:

Signal Name		Signal Direction	Controller Support
Controller	Drive		7330	7340	7350	7390
Inhibit-Out	Servo On	Output	Dedicated	Dedicated	Dedicated	Mappable
Inhibit-In	Servo Alarm	Input	Mappable	Mappable	Mappable	Dedicated
Drive Ready	Servo Ready	Input	Mappable	Mappable	Mappable	Mappable
In-Position	In-Position	Input	Mappable	Mappable	Mappable	Dedicated
Alarm Clear	Alarm Clear	Output	Mappable	Mappable	Mappable	Mappable

The active state of a dedicated signal is directly configurable using this function. The active state of a mappable signal is determined by the active state of the line being used.

For example, to set the active state of the Alarm Clear signal, a mappable signal on all controllers, set the active state of the line the signal is mapped to using the Write Digital I/O Data function.

To set the active state of the inhibit-in signal on a PCI-7390, which has a dedicated line for this signal, use the TnimcMotionIODataInhibitInActiveState attribute of the Write Motion I/O Data function.

You cannot use this function to map signals on NI 7330/7340/7350 controllers on lines greater than line 7. For example, on an NI 7356 controller, you can use this function to configure axis 5, lines 0 through 7 (port 5), but you cannot configure lines 8 through 15, which are on the second port (port 7) of axis five. Refer to the Remarks section of Write Digital I/O Data for the port to axis and line mapping for these controllers.