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
24 [OUT] Mimics Quick Stop (qs) Bit of Statusword
25 [OUT] Mimics Warning (w) Bit of Statusword
Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Pin 1 0x2210:1 USINT 8
Disabled 0
[IN] General Purpose 2
[OUT] General Purpose 3
[IN] Home Switch (Active High) 4
[IN] Home Switch (Active Low) 5
[IN] Limit Switch Positive (Active High) 6
[IN] Limit Switch Positive (Active Low ) 7
[IN] Limit Switch Negative (Active High) 8
[IN] Limit Switch Negative (Active Low) 9
[IN] Interlock - Disable Operation (Active Low) 10
[IN] Fault Reset (Active High) 11
[IN] Interlock - Fault Reaction (Active Low) 12
[IN] Timestamped Rising Edge (Active High) 13
[OUT] Target Reached 14
[OUT] Internal limit Active 15
[OUT] Timestamped Triggered Output 16
[OUT] Position Triggered Output (Pulse) 17
[OUT] Fault 18
[OUT] Switched On 19
[OUT] Ready to Switch On 20
[OUT] Operation Enabled 21
[OUT] Voltage Enabled 22
[OUT] Switch On Disabled 23
[OUT] Quick Stop 24
[OUT] Warning 25
readwrite

Pin 1 : DIO [With Pull Down Resistor]
Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Pin 2 0x2210:2 USINT 8
Disabled 0
[IN] General Purpose 2
[OUT] General Purpose 3
[IN] Home Switch (Active High) 4
[IN] Home Switch (Active Low) 5
[IN] Limit Switch Positive (Active High) 6
[IN] Limit Switch Positive (Active Low ) 7
[IN] Limit Switch Negative (Active High) 8
[IN] Limit Switch Negative (Active Low) 9
[IN] Interlock - Disable Operation (Active Low) 10
[IN] Fault Reset (Active High) 11
[IN] Interlock - Fault Reaction (Active Low) 12
[IN] Timestamped Rising Edge (Active High) 13
[OUT] Target Reached 14
[OUT] Internal limit Active 15
[OUT] Timestamped Triggered Output 16
[OUT] Position Triggered Output (Pulse) 17
[OUT] Fault 18
[OUT] Switched On 19
[OUT] Ready to Switch On 20
[OUT] Operation Enabled 21
[OUT] Voltage Enabled 22
[OUT] Switch On Disabled 23
[OUT] Quick Stop 24
[OUT] Warning 25
readwrite

Pin 2 : DIO [With Pull Down Resistor]
Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Pin 3 0x2210:3 USINT 8
Disabled 0
[IN] General Purpose 2
[OUT] General Purpose 3
[IN] Home Switch (Active High) 4
[IN] Home Switch (Active Low) 5
[IN] Limit Switch Positive (Active High) 6
[IN] Limit Switch Positive (Active Low ) 7
[IN] Limit Switch Negative (Active High) 8
[IN] Limit Switch Negative (Active Low) 9
[IN] Interlock - Disable Operation (Active Low) 10
[IN] Fault Reset (Active High) 11
[IN] Interlock - Fault Reaction (Active Low) 12
[IN] Timestamped Rising Edge (Active High) 13
[OUT] Target Reached 14
[OUT] Internal limit Active 15
[OUT] Timestamped Triggered Output 16
[OUT] Position Triggered Output (Pulse) 17
[OUT] Fault 18
[OUT] Switched On 19
[OUT] Ready to Switch On 20
[OUT] Operation Enabled 21
[OUT] Voltage Enabled 22
[OUT] Switch On Disabled 23
[OUT] Quick Stop 24
[OUT] Warning 25
readwrite

Pin 3 : DIO [With Pull Down Resistor]
Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Pin 4 0x2210:4 USINT 8
Disabled 0
[IN] General Purpose 2
[OUT] General Purpose 3
[IN] Home Switch (Active High) 4
[IN] Home Switch (Active Low) 5
[IN] Limit Switch Positive (Active High) 6
[IN] Limit Switch Positive (Active Low ) 7
[IN] Limit Switch Negative (Active High) 8
[IN] Limit Switch Negative (Active Low) 9
[IN] Interlock - Disable Operation (Active Low) 10
[IN] Fault Reset (Active High) 11
[IN] Interlock - Fault Reaction (Active Low) 12
[IN] Timestamped Rising Edge (Active High) 13
[OUT] Target Reached 14
[OUT] Internal limit Active 15
[OUT] Timestamped Triggered Output 16
[OUT] Position Triggered Output (Pulse) 17
[OUT] Fault 18
[OUT] Switched On 19
[OUT] Ready to Switch On 20
[OUT] Operation Enabled 21
[OUT] Voltage Enabled 22
[OUT] Switch On Disabled 23
[OUT] Quick Stop 24
[OUT] Warning 25
readwrite

Pin 4 : DIO [With Pull Down Resistor] (For Circulo : Only DO)
Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Pin 5 0x2210:5 USINT 8
Disabled 0
[IN] General Purpose 2
[OUT] General Purpose 3
[IN] Home Switch (Active High) 4
[IN] Home Switch (Active Low) 5
[IN] Limit Switch Positive (Active High) 6
[IN] Limit Switch Positive (Active Low ) 7
[IN] Limit Switch Negative (Active High) 8
[IN] Limit Switch Negative (Active Low) 9
[IN] Interlock - Disable Operation (Active Low) 10
[IN] Fault Reset (Active High) 11
[IN] Interlock - Fault Reaction (Active Low) 12
[IN] Timestamped Rising Edge (Active High) 13
[OUT] Target Reached 14
[OUT] Internal limit Active 15
[OUT] Timestamped Triggered Output 16
[OUT] Position Triggered Output (Pulse) 17
[OUT] Fault 18
[OUT] Switched On 19
[OUT] Ready to Switch On 20
[OUT] Operation Enabled 21
[OUT] Voltage Enabled 22
[OUT] Switch On Disabled 23
[OUT] Quick Stop 24
[OUT] Warning 25
readwrite

Pin 5 : DIO [Without Pull Down Resistor]
Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Pin 6 0x2210:6 USINT 8
Disabled 0
[IN] General Purpose 2
[OUT] General Purpose 3
[IN] Home Switch (Active High) 4
[IN] Home Switch (Active Low) 5
[IN] Limit Switch Positive (Active High) 6
[IN] Limit Switch Positive (Active Low ) 7
[IN] Limit Switch Negative (Active High) 8
[IN] Limit Switch Negative (Active Low) 9
[IN] Interlock - Disable Operation (Active Low) 10
[IN] Fault Reset (Active High) 11
[IN] Interlock - Fault Reaction (Active Low) 12
[IN] Timestamped Rising Edge (Active High) 13
[OUT] Target Reached 14
[OUT] Internal limit Active 15
[OUT] Timestamped Triggered Output 16
[OUT] Position Triggered Output (Pulse) 17
[OUT] Fault 18
[OUT] Switched On 19
[OUT] Ready to Switch On 20
[OUT] Operation Enabled 21
[OUT] Voltage Enabled 22
[OUT] Switch On Disabled 23
[OUT] Quick Stop 24
[OUT] Warning 25
readwrite

Pin 6 : DIO [Without Pull Down Resistor]
Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Pin 7 0x2210:7 USINT 8
Disabled 0
[IN] General Purpose 2
[OUT] General Purpose 3
[IN] Home Switch (Active High) 4
[IN] Home Switch (Active Low) 5
[IN] Limit Switch Positive (Active High) 6
[IN] Limit Switch Positive (Active Low ) 7
[IN] Limit Switch Negative (Active High) 8
[IN] Limit Switch Negative (Active Low) 9
[IN] Interlock - Disable Operation (Active Low) 10
[IN] Fault Reset (Active High) 11
[IN] Interlock - Fault Reaction (Active Low) 12
[IN] Timestamped Rising Edge (Active High) 13
[OUT] Target Reached 14
[OUT] Internal limit Active 15
[OUT] Timestamped Triggered Output 16
[OUT] Position Triggered Output (Pulse) 17
[OUT] Fault 18
[OUT] Switched On 19
[OUT] Ready to Switch On 20
[OUT] Operation Enabled 21
[OUT] Voltage Enabled 22
[OUT] Switch On Disabled 23
[OUT] Quick Stop 24
[OUT] Warning 25
readwrite

Pin 7 : DI [With Pull Down Resistor]