|
Index |
Sub Index |
Name |
Data Type |
Acc. |
Pdo Map. |
NVM |
Value range |
Default value |
Units |
|---|---|---|---|---|---|---|---|---|---|
|
0x2A10 |
0x01 |
GPI 1 mapping parameter |
UINT16 |
RW |
No |
Yes |
0 to 6 |
0 |
- |
|
0x2A10 |
0x02 |
GPI 2 mapping parameter |
UINT16 |
RW |
No |
Yes |
0 to 6 |
0 |
- |
|
0x2A10 |
0x03 |
GPI 3 mapping parameter |
UINT16 |
RW |
No |
Yes |
0 to 6 |
0 |
- |
|
0x2A10 |
0x04 |
GPI 4 mapping parameter |
UINT16 |
RW |
No |
Yes |
0 to 6 |
0 |
- |
|
0x2A10 |
0x05 |
GPI 5 mapping parameter |
UINT16 |
RW |
No |
Yes |
0 to 6 |
0 |
- |
|
0x2A10 |
0x06 |
GPI 6 mapping parameter |
UINT16 |
RW |
No |
Yes |
0 to 6 |
0 |
- |
|
0x2A10 |
0x07 |
GPI 7 mapping parameter |
UINT16 |
RW |
No |
Yes |
0 to 6 |
0 |
- |
|
0x2A10 |
0x08 |
GPI 8 mapping parameter |
UINT16 |
RW |
No |
Yes |
0 to 6 |
0 |
- |
|
0x2A10 |
0x09 |
HS GPI 1 mapping parameter |
UINT16 |
RW |
No |
Yes |
0 to 6 |
0 |
- |
|
0x2A10 |
0x0A |
HS GPI 2 mapping parameter |
UINT16 |
RW |
No |
Yes |
0 to 6 |
0 |
- |
The value of this register will indicate the which function is attached to the related GPI.
The functions available are:
|
Function |
Value |
|---|---|
|
GPI |
0 |
|
Positive Limit |
1 |
|
Negative Limit |
2 |
|
Home Limit |
3 |
|
Enable/disable |
4 |
|
Fault reset |
5 |
|
PWM Capture |
6 |
- PWM Capture function is only available on HSGPI pins (subindex 0x9 and 0xA), mapping other pins with this function will take no effect.
- It is recommended not to exceed a maximum signal frequency of 100KHz when PWM capture function is active.
Only one function for each GPI can be mapped. If the same function is attached to a different GPIs at the same time, only the last one to be configured is active.
Example:
- if fault reset is attached to the GPI 1 and the user attaches the same function to the GPI 2, the fault reset is unlinked from GPI 1 and the fault reset only will be active if GPI 2 is active.