0x2210 GPIO pin configuration
Configurable general purpose inputs and outputs with a 4 kHz update rate.
For hardware that supports it, each pin can be configured as follows:
| Value
|
Definition
|
| 0 |
Disabled |
| 2 |
[IN] General Purpose Input |
| 3 |
[OUT] General Purpose Output |
| 4 |
[IN] Home Switch Active High - Level Triggered |
| 5 |
[IN] Home Switch Active Low - Level Triggered |
| 6 |
[IN] Positive Limit Switch Active High - Level Triggered for Homing & Edge Triggered (Latch) for Error (PosLmAct) |
| 7 |
[IN] Positive Limit Switch Active Low - Level Triggered for Homing & Edge Triggered (Latch) for Error (PosLmAct) |
| 8 |
[IN] Negative Limit Switch Active High - Level Triggered for Homing & Edge Triggered (Latch) for Error (NegLmAct) |
| 9 |
[IN] Negative Limit Switch Active Low - Level Triggered for Homing & Edge Triggered (Latch) for Error (NegLmAct) |
| 10 |
[IN] Interlock (Disable Operation) Active Low - Level Triggered |
| 11 |
[IN] Fault Reset - Edge Triggered |
| 12 |
[IN] Interlock (Fault Reaction) Active Low - Level Triggered |
| 13 |
[IN] Time Stamped Rising Edge - Edge Triggered |
| 14 |
[OUT] Mimics Target Reached (tr) Bit of Statusword |
| 15 |
[OUT] Mimics Internal Limit Active (ila) Bit of Statusword |
| 16 |
[OUT] Timestamped Triggered Output |
| 17 |
[OUT] Position Triggered Output (Pulse) |
| 18 |
[OUT] Mimics Fault (f) Bit of Statusword |
| 19 |
[OUT] Mimics Switched On (so) Bit of Statusword |
| 20 |
[OUT] Mimics Ready to Switch On (rtso) Bit of Statusword |
| 21 |
[OUT] Mimics Operation Enabled (oe) Bit of Statusword |
| 22 |
[OUT] Mimics Voltage Enabled (ve) Bit of Statusword |
| 23 |
[OUT] Mimics Switch On Disabled (sod) Bit of Statusword |
| 24 |
[OUT] Mimics Quick Stop (qs) Bit of Statusword |
| 25 |
[OUT] Mimics Warning (w) Bit of Statusword |
| 26 |
[OUT] Configure as addressable LED (see object 0x2215) |
| Name |
Index:Sub |
Type |
Bit Size |
Options |
Unit |
Access |
PDO Mapping |
| Digital IO 1 |
0x2210:1 |
USINT |
8 |
| Disabled |
0 |
| [IN] General Purpose |
2 |
| [OUT] General Purpose |
3 |
| [IN] Home Switch (Active High) |
4 |
| [IN] Home Switch (Active Low) |
5 |
| [IN] Limit Switch Positive (Active High) |
6 |
| [IN] Limit Switch Positive (Active Low ) |
7 |
| [IN] Limit Switch Negative (Active High) |
8 |
| [IN] Limit Switch Negative (Active Low) |
9 |
| [IN] Interlock - Disable Operation (Active Low) |
10 |
| [IN] Fault Reset (Active High) |
11 |
| [IN] Interlock - Fault Reaction (Active Low) |
12 |
| [IN] Timestamped Rising Edge (Active High) |
13 |
| [OUT] Target Reached |
14 |
| [OUT] Internal limit Active |
15 |
| [OUT] Timestamped Triggered Output |
16 |
| [OUT] Position Triggered Output (Pulse) |
17 |
| [OUT] Fault |
18 |
| [OUT] Switched On |
19 |
| [OUT] Ready to Switch On |
20 |
| [OUT] Operation Enabled |
21 |
| [OUT] Voltage Enabled |
22 |
| [OUT] Switch On Disabled |
23 |
| [OUT] Quick Stop |
24 |
| [OUT] Warning |
25 |
| [OUT] Addressable LED |
26 |
|
|
readwrite |
|
| Name |
Index:Sub |
Type |
Bit Size |
Options |
Unit |
Access |
PDO Mapping |
| Digital IO 2 |
0x2210:2 |
USINT |
8 |
| Disabled |
0 |
| [IN] General Purpose |
2 |
| [OUT] General Purpose |
3 |
| [IN] Home Switch (Active High) |
4 |
| [IN] Home Switch (Active Low) |
5 |
| [IN] Limit Switch Positive (Active High) |
6 |
| [IN] Limit Switch Positive (Active Low ) |
7 |
| [IN] Limit Switch Negative (Active High) |
8 |
| [IN] Limit Switch Negative (Active Low) |
9 |
| [IN] Interlock - Disable Operation (Active Low) |
10 |
| [IN] Fault Reset (Active High) |
11 |
| [IN] Interlock - Fault Reaction (Active Low) |
12 |
| [IN] Timestamped Rising Edge (Active High) |
13 |
| [OUT] Target Reached |
14 |
| [OUT] Internal limit Active |
15 |
| [OUT] Timestamped Triggered Output |
16 |
| [OUT] Position Triggered Output (Pulse) |
17 |
| [OUT] Fault |
18 |
| [OUT] Switched On |
19 |
| [OUT] Ready to Switch On |
20 |
| [OUT] Operation Enabled |
21 |
| [OUT] Voltage Enabled |
22 |
| [OUT] Switch On Disabled |
23 |
| [OUT] Quick Stop |
24 |
| [OUT] Warning |
25 |
| [OUT] Addressable LED |
26 |
|
|
readwrite |
|
| Name |
Index:Sub |
Type |
Bit Size |
Options |
Unit |
Access |
PDO Mapping |
| Digital IO 3 |
0x2210:3 |
USINT |
8 |
| Disabled |
0 |
| [IN] General Purpose |
2 |
| [OUT] General Purpose |
3 |
| [IN] Home Switch (Active High) |
4 |
| [IN] Home Switch (Active Low) |
5 |
| [IN] Limit Switch Positive (Active High) |
6 |
| [IN] Limit Switch Positive (Active Low ) |
7 |
| [IN] Limit Switch Negative (Active High) |
8 |
| [IN] Limit Switch Negative (Active Low) |
9 |
| [IN] Interlock - Disable Operation (Active Low) |
10 |
| [IN] Fault Reset (Active High) |
11 |
| [IN] Interlock - Fault Reaction (Active Low) |
12 |
| [IN] Timestamped Rising Edge (Active High) |
13 |
| [OUT] Target Reached |
14 |
| [OUT] Internal limit Active |
15 |
| [OUT] Timestamped Triggered Output |
16 |
| [OUT] Position Triggered Output (Pulse) |
17 |
| [OUT] Fault |
18 |
| [OUT] Switched On |
19 |
| [OUT] Ready to Switch On |
20 |
| [OUT] Operation Enabled |
21 |
| [OUT] Voltage Enabled |
22 |
| [OUT] Switch On Disabled |
23 |
| [OUT] Quick Stop |
24 |
| [OUT] Warning |
25 |
| [OUT] Addressable LED |
26 |
|
|
readwrite |
|
| Name |
Index:Sub |
Type |
Bit Size |
Options |
Unit |
Access |
PDO Mapping |
| Digital IO 4 |
0x2210:4 |
USINT |
8 |
| Disabled |
0 |
| [IN] General Purpose |
2 |
| [OUT] General Purpose |
3 |
| [IN] Home Switch (Active High) |
4 |
| [IN] Home Switch (Active Low) |
5 |
| [IN] Limit Switch Positive (Active High) |
6 |
| [IN] Limit Switch Positive (Active Low ) |
7 |
| [IN] Limit Switch Negative (Active High) |
8 |
| [IN] Limit Switch Negative (Active Low) |
9 |
| [IN] Interlock - Disable Operation (Active Low) |
10 |
| [IN] Fault Reset (Active High) |
11 |
| [IN] Interlock - Fault Reaction (Active Low) |
12 |
| [IN] Timestamped Rising Edge (Active High) |
13 |
| [OUT] Target Reached |
14 |
| [OUT] Internal limit Active |
15 |
| [OUT] Timestamped Triggered Output |
16 |
| [OUT] Position Triggered Output (Pulse) |
17 |
| [OUT] Fault |
18 |
| [OUT] Switched On |
19 |
| [OUT] Ready to Switch On |
20 |
| [OUT] Operation Enabled |
21 |
| [OUT] Voltage Enabled |
22 |
| [OUT] Switch On Disabled |
23 |
| [OUT] Quick Stop |
24 |
| [OUT] Warning |
25 |
| [OUT] Addressable LED |
26 |
|
|
readwrite |
|
| Name |
Index:Sub |
Type |
Bit Size |
Options |
Unit |
Access |
PDO Mapping |
| Digital IO 5 |
0x2210:5 |
USINT |
8 |
| Disabled |
0 |
| [IN] General Purpose |
2 |
| [OUT] General Purpose |
3 |
| [IN] Home Switch (Active High) |
4 |
| [IN] Home Switch (Active Low) |
5 |
| [IN] Limit Switch Positive (Active High) |
6 |
| [IN] Limit Switch Positive (Active Low ) |
7 |
| [IN] Limit Switch Negative (Active High) |
8 |
| [IN] Limit Switch Negative (Active Low) |
9 |
| [IN] Interlock - Disable Operation (Active Low) |
10 |
| [IN] Fault Reset (Active High) |
11 |
| [IN] Interlock - Fault Reaction (Active Low) |
12 |
| [IN] Timestamped Rising Edge (Active High) |
13 |
| [OUT] Target Reached |
14 |
| [OUT] Internal limit Active |
15 |
| [OUT] Timestamped Triggered Output |
16 |
| [OUT] Position Triggered Output (Pulse) |
17 |
| [OUT] Fault |
18 |
| [OUT] Switched On |
19 |
| [OUT] Ready to Switch On |
20 |
| [OUT] Operation Enabled |
21 |
| [OUT] Voltage Enabled |
22 |
| [OUT] Switch On Disabled |
23 |
| [OUT] Quick Stop |
24 |
| [OUT] Warning |
25 |
| [OUT] Addressable LED |
26 |
|
|
readwrite |
|
| Name |
Index:Sub |
Type |
Bit Size |
Options |
Unit |
Access |
PDO Mapping |
| Digital IO 6 |
0x2210:6 |
USINT |
8 |
| Disabled |
0 |
| [IN] General Purpose |
2 |
| [OUT] General Purpose |
3 |
| [IN] Home Switch (Active High) |
4 |
| [IN] Home Switch (Active Low) |
5 |
| [IN] Limit Switch Positive (Active High) |
6 |
| [IN] Limit Switch Positive (Active Low ) |
7 |
| [IN] Limit Switch Negative (Active High) |
8 |
| [IN] Limit Switch Negative (Active Low) |
9 |
| [IN] Interlock - Disable Operation (Active Low) |
10 |
| [IN] Fault Reset (Active High) |
11 |
| [IN] Interlock - Fault Reaction (Active Low) |
12 |
| [IN] Timestamped Rising Edge (Active High) |
13 |
| [OUT] Target Reached |
14 |
| [OUT] Internal limit Active |
15 |
| [OUT] Timestamped Triggered Output |
16 |
| [OUT] Position Triggered Output (Pulse) |
17 |
| [OUT] Fault |
18 |
| [OUT] Switched On |
19 |
| [OUT] Ready to Switch On |
20 |
| [OUT] Operation Enabled |
21 |
| [OUT] Voltage Enabled |
22 |
| [OUT] Switch On Disabled |
23 |
| [OUT] Quick Stop |
24 |
| [OUT] Warning |
25 |
| [OUT] Addressable LED |
26 |
|
|
readwrite |
|
| Name |
Index:Sub |
Type |
Bit Size |
Options |
Unit |
Access |
PDO Mapping |
| Digital IO 7 |
0x2210:7 |
USINT |
8 |
| Disabled |
0 |
| [IN] General Purpose |
2 |
| [OUT] General Purpose |
3 |
| [IN] Home Switch (Active High) |
4 |
| [IN] Home Switch (Active Low) |
5 |
| [IN] Limit Switch Positive (Active High) |
6 |
| [IN] Limit Switch Positive (Active Low ) |
7 |
| [IN] Limit Switch Negative (Active High) |
8 |
| [IN] Limit Switch Negative (Active Low) |
9 |
| [IN] Interlock - Disable Operation (Active Low) |
10 |
| [IN] Fault Reset (Active High) |
11 |
| [IN] Interlock - Fault Reaction (Active Low) |
12 |
| [IN] Timestamped Rising Edge (Active High) |
13 |
| [OUT] Target Reached |
14 |
| [OUT] Internal limit Active |
15 |
| [OUT] Timestamped Triggered Output |
16 |
| [OUT] Position Triggered Output (Pulse) |
17 |
| [OUT] Fault |
18 |
| [OUT] Switched On |
19 |
| [OUT] Ready to Switch On |
20 |
| [OUT] Operation Enabled |
21 |
| [OUT] Voltage Enabled |
22 |
| [OUT] Switch On Disabled |
23 |
| [OUT] Quick Stop |
24 |
| [OUT] Warning |
25 |
| [OUT] Addressable LED |
26 |
|
|
readwrite |
|