3.1.9.1.83 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
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