# Inputs and Outputs

This chapter explains DIn/DOut states, input/output functions, inversion, output states, and STO configuration in the Inputs and Outputs window. Verify terminal wiring, external safety circuits, and field control logic before making changes.

## Before You Begin

Item | What to Check
--- | ---
Connection target | The current connection ID in the main window matches the target drive, and no other master is modifying the same device.
Mechanical state | Before working with PID, filters, the current loop, or excitation, make sure the motor is stopped, the load is supported, and personnel are clear of the mechanism.
I/O wiring | Before changing input/output functions or inversion, verify terminal wiring, external safety circuits, limits, the brake, and external control logic.
Parameter source | PID, current-loop, and filter parameters must come from project delivery documents or field commissioning records. Do not copy parameters from an unknown device.

High-risk operation: Switching outputs, mapping input/output functions, configuring STO, applying PID parameters, running speed/position/current excitation, or reversing current direction can change device response or trigger mechanism motion. Do not experiment until field conditions are confirmed.

## Recommended Procedure

1. Confirm that the main window is connected to the target drive and verify the current connection ID.
2. Read or re-read the current parameters after opening a window; do not overwrite field values directly.
3. Change only one area at a time, such as I/O mapping, PID parameters, or current-loop parameters.
4. After clicking Apply, check that status, position, speed, current, temperature, and I/O indications are as expected.
5. After confirming normal operation, follow the project process to decide whether to save to Flash.

Before tuning closed-loop parameters or running excitation, confirm that Motor, Feedback, and Control are configured correctly, and retain the last stable parameter set for recovery.

## Inputs and Outputs

Use the Inputs and Outputs window to view DIn/DOut states and configure functions, Inverse, output states, and STO Config.

Area | Description | Recommendations
--- | --- | ---
Name | Inputs are shown as DIn01-DIn06 and outputs as DOut01-DOut06. | Record the purpose of each terminal before making changes so field wiring is not confused with software function mapping.
Status | Shows the current input or output state as an icon. | When commissioning an external signal, observe state changes before deciding whether to change its function or inversion.
Function | Each input can be assigned a function, including unused, enable, negative position limit, positive position limit, mechanical brake, Speed 1, and Speed 2. | Select according to the wiring diagram and project definition; never infer a function from the terminal number alone.
Function | Each output can be assigned a function, including unused and several output-signal categories. | Select according to the wiring diagram and project definition. Confirm the expected external-device response before applying.
Inverse | Logic inversion can be set for each input. | Inversion changes the active-level interpretation. Stop the machine before confirming a limit, enable, or brake signal.
Inverse | Logic inversion can be set for each output. | Inversion changes the active output level. Stop the machine before confirming a signal connected to an external relay or brake.
Output state | Clicking an output-state icon changes the output combination, which is written to the device when applied. | An output may connect to an external relay, brake, master, or test device. Confirm the external response before clicking.
STO Config | The window provides Disabled, one-channel STO, and two-channel STO options. | STO is safety-related. Do not change it during ordinary commissioning without project safety approval.

I/O settings affect external interlocks, limits, enable, brakes, and safety circuits. If the resulting state is not as expected, stop commissioning immediately and restore the verified parameters.

When an EtherCAT master has control, some eTuner I/O operations may not take effect. Use the project communication design to determine whether the client or the master controls the inputs and outputs.

## Terminology

Term | Meaning | Why It Matters
--- | --- | ---
Inversion | Changes which logic level is treated as active for an input or output. | Incorrect inversion of a limit, enable, brake, or safety-related signal can make field behavior opposite to expectations.
STO | Input configuration related to Safe Torque Off. | This affects the safety circuit and must not be tested casually as an ordinary I/O function.
PID parameters | Closed-loop parameters that affect response speed, stiffness, steady-state error, and tendency to vibrate. | Unsuitable parameters may cause overshoot, vibration, impact, or following errors.
Filter | Filter settings for speed- or position-related signals. | Too little filtering may not suppress noise; too much may slow the response.
Excitation | Sends speed, position, or current excitation to observe system response. | Excitation can cause motion or torque changes and must follow a defined commissioning procedure.
Current direction | How the drive interprets current and torque direction. | An incorrect direction may cause abnormal torque direction, commutation faults, or motor instability.

## Troubleshooting

Symptom | Recommended Action
--- | ---
I/O state does not match the external signal | Check wiring, signal levels, inversion settings, input/output function mapping, and the connected device.
External device behaves abnormally after applying I/O settings | Stop commissioning immediately. Check DOut states and external relay or brake connections, then restore the verified configuration.
Vibration or impact after PID adjustment | Stop motion, restore the last stable parameters, and make further adjustments in smaller steps.
Response slows after updating filters | Check the speed/position filter settings for excessive filtering or settings unsuitable for the current load.
Motor behaves abnormally after current-loop changes | Disable the drive and check current KP, current KI, filter coefficient, reverse-current-direction setting, and motor parameters.
Device does not return to the expected state after excitation | Stop further operations, re-read parameters and status, and verify motor enable, motion state, error state, and current control source.