0x2A10 - GPI mapping parameter
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.