Digital I/O

SOMANET supports several Digital I/O which can be either used as GPIO or SPI SSI (single-ended), I²C, BiSS (single-ended).

Details and default settings are described in detail for Servo Node EtherCAT and for Servo Node Circulo.

Configuration of Digital I/Os as Input or Output

Most Digital I/Os are configurable as either input or output independently if they are used as general purpose input/output (GPIO). This is done in object 0x2210.

Subitems 1-4 describe the available pins and can be configured with these values:

  • 0 Disabled (default)
  • 1 Input without pull-down
  • 2 Input active high - a pull-down resistor will be activated
  • 3 Output