C5-E CANopen/USB Technical Manual

Digital inputs


Note: For digital inputs with 5 V, the length of the supply lines must not exceed 3 meters.
Note: The digital inputs are sampled once per millisecond. Signal changes at the input less than one millisecond in duration are not processed.

The following inputs are available:

Input Special function Switching threshold switchable Differential / single-ended
1 Negative limit switch yes, 5 V or 24 V (see 3240:06) single-ended
2 Positive limit switch yes, 5 V or 24 V (see 3240:06) single-ended
3 Home switch yes, 5 V or 24 V (see 3240:06) single-ended
4 None yes, 5 V or 24 V (see 3240:06) single-ended
5 None yes, 5 V or 24 V (see 3240:06) single-ended

Object entries

The value of an input can be manipulated using the following OD settings, whereby only the corresponding bit acts on the input here.

  • 3240h:01h (Special Function Enable): This bit allows special functions of an input to be switched off (value "0") or on (value "1"). If input 1 is not used as, e.g., a negative limit switch, the special function must be switched off to prevent an erroneous response to the signal generator. The object has no effect on bits 16 to 31.

    The firmware evaluates the following bits:

    • Bit 0: Negative limit switch
    • Bit 1: Positive limit switch
    • Bit 2: Home switch

    If, for example, two limit switches and one home switch are used, bits 0–2 in 3240h:01h must be set to "1".


  • 3240h:02h (Function Inverted): This bit switches from normally open logic (a logical high level at the input yields the value "1" in object 60FDh) to normally closed logic (the logical high level at the input yields the value "0"). This applies for the special functions (except for the clock and direction inputs) and for the normal inputs. If the bit has the value "0", normally open logic applies; for the value "1", normally closed logic applies.

  • 3240h:03h (Force Enable): This bit switches on the software simulation of input values if it is set to "1". In this case, the actual values are no longer used in object 3240h:04h, but rather the set values for the respective input.

  • 3240h:04h (Force Value): This bit specifies the value that is to be read as the input value if the same bit was set in object 3240h:03h.

  • 3240h:05h (Raw Value): This object contains the unmodified input value.

  • 3240h:06h (Input Range Select): This can be used to switch inputs – that are equipped with this function – from the switching threshold of 5 V (bit is "0") to the switching threshold of 24 V (bit is "1"). Bit 0 corresponds to input 1 here, bit 1 to input 2, etc.

  • 60FDh (Digital Inputs): This object contains a summary of the inputs and the special functions.

Computation of the inputs

Computation of the input signal using the example of input 1:

The value at bit 0 of object 60FDh is interpreted by the firmware as negative limit switch; the result of the complete computation is stored in bit 16.

Input Routing


To perform the assignment of the inputs more flexibly, there is a mode called Input Routing Mode. This assigns a signal of a source to a bit in object 60FDh.


This mode is activated by setting object 3240h:08h (Routing Enable) to 1.

Note: Entries 3240h:01h to 3240:04h then have no function until Input Routing is again switched off.
Note: If Input Routing is switched on, the initial values of 3242h are changed and correspond to the function of the input as it was before activation of Input Routing. The inputs of the controller behave the same with activation of Input Routing. Therefore, you should not switch back and forth between the normal mode and Input Routing.


Object 3242h determines which signal source is routed to which bit of 60FDh. Subindex 01h of 3242h determines bit 0, subindex 02h determines bit 1, and so forth. You can find the signal sources and their numbers in the following lists.

dec hex Signal source
00 00 Signal is always 0
01 01 Physical input 1
02 02 Physical input 2
03 03 Physical input 3
04 04 Physical input 4
05 05 Physical input 5
06 06 Physical input 6
07 07 Physical input 7
08 08 Physical input 8
09 09 Physical input 9
10 0A Physical input 10
11 0B Physical input 11
12 0C Physical input 12
13 0D Physical input 13
14 0E Physical input 14
15 0F Physical input 15
16 10 Physical input 16
65 41 Hall input "U"
66 42 Hall input "V"
67 43 Hall input "W"
68 44 Encoder input "A"
69 45 Encoder input "B"
70 46 Encoder input "Index"
71 47 USB Power Signal

The following table describes the inverted signals of the previous table.

dec hex Signal source
128 80 Signal is always 1
129 81 Inverted physical input 1
130 82 Inverted physical input 2
131 83 Inverted physical input 3
132 84 Inverted physical input 4
133 85 Inverted physical input 5
134 86 Inverted physical input 6
135 87 Inverted physical input 7
136 88 Inverted physical input 8
137 89 Inverted physical input 9
138 8A Inverted physical input 10
139 8B Inverted physical input 11
140 8C Inverted physical input 12
141 8D Inverted physical input 13
142 8E Inverted physical input 14
143 8F Inverted physical input 15
144 90 Inverted physical input 16
193 C1 Inverted Hall input "U"
194 C2 Inverted Hall input "V"
195 C3 Inverted Hall input "W"
196 C4 Inverted encoder input "A"
197 C5 Inverted encoder input "B"
198 C6 Inverted encoder input "Index"
199 C7 Inverted USB power signal



Input 1 is to be routed to bit 16 of object 60FDh:

The number of the signal source for input 1 is "1". The routing for bit 16 is written in 3242h:11h.

Hence, object 3242h:11h must be set to the value "1".