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Configure an input GPIO to perform a certain action depending on its value.
The GPIO has to be enabled in 0x2210 GPIO.
Configurable actions are:
Timestamped rising edge: Report timestamp of selected GPIO last rising edge.
Disable operation: Clear bit 3 (eo) of controlword when the selected GPIO is high.
Quick stop: Clear bit 2 (qs) of controlword when the selected GPIO is high.
Fault reset: Set bit 7 (fr) of controlword when the selected GPIO is high.
| Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping |
|---|---|---|---|---|---|---|---|---|---|
| Timestamp on rising edge | 0x2212:1 | UDINT | 32 | 0 | readonly (default) | Transmit PDO (Inputs) | |||
|
Timestamp at which the last rising edge happened in case "Timestamped rising edge" is selected. The unit is in 10 ns. |
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