* Note 12 bits resolution for Ports 1 and 2
7.2. PWM Outputs (Analog Outputs)
There are 16 DIOP ports, all of which are capable of being configured as a PWM Outputs as shown
below. All of the PWMs are per default current regulated in hardware. The current regulation is
achieved by completing the circuit to PWM GND (pin 3 on all DIOP connectors). Although digital
in nature, the ports are considered to be Analog Outputs for the purposes of the CANopen interface,
which uses 16-bit values to represent the PWM Outputs, just as would for true Analog Outputs.
Note that there is only one PWM GND for each pair of PWM Outputs. Therefore, the PWM Outputs
must be used in opposing pairs if both outputs are to be used. i.e. “forwards/backwards”, “left
right” or “up/down” etc. In this way, the PWM GND is never used simultaneously by both PWM
Outputs in the pair. The pairs are matched on the same connector. Each of the pairs are split into
channels A and B.
The ports are protected against ESD, short circuit and current overload.
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