Beckhoff EtherCAT Technology Section I Manual de usuario descargar pdf (Pagina 113)

Process Data Interface (PDI)

Slave Controller – Technology I-93

16.3 General Purpose I/O

Some ESCs support general purpose inputs, outputs, or both. General Purpose I/O is much different

from Digital I/O, because of missing consistency and security features, and no bit-write support.

16.3.1 General Purpose Inputs

The general purpose inputs are directly mapped into the General Purpose Input registers. Consistency

of the general purpose inputs is not provided.

16.3.2 General Purpose Output

The general purpose output signals reflect the values of the General Purpose Output register without

watchdog protection. The General Purpose Output register can be written both by ECAT and PDI. The

general purpose outputs are intended e.g. for application specific LED outputs. General purpose

outputs are updated at the end of an EtherCAT frame or at the end of a PDI access.

Consistency of the general purpose outputs is not provided, and they are also not watchdog-secured.

Additionally, they do not support bit-wise modification with FMMUs.

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Beckhoff EtherCAT Technology Section I Manual de usuario Pagina 113