Motor I/O Enumeration Changes

With old versions of the MPI, all digital inputs were included into one enumeration, MPIMotorInput, while all digital outputs were included in another, MPIMotorOutput.

With SynqNet Phase II, digital I/O has been split up into 3 categories:

  • Dedicated Inputs - represented by MPIMotorDedicatedIn, refers to common inputs such as the home line.

  • Dedicated Outputs - represented by MPIMotorDedicatedOut, refers to common outputs such as the brake enable line.

  • Configurable and/or Node - Specific I/O, represented by MPIMotorIoMask. Presently, these only support digital inputs or outputs. In the future, support for stepper motor output and compares will be supported by these I/O.
When upgrading application code to SynqNet Phase II, check the drive manufacturer's configuration type and documentation for details about which configurable I/O are supported. If the enumerations are replaced without verifying a drive's capabilities, an application will compile, but it may not work.

The tables below shows how to upgrade motor I/O enumerations to SynqNet Phase II.

Analog & SynqNet Phase I MPI
SynqNet Phase II MPI
MPIMotorInputAMP_FAULT
MPIMotorDedicatedInAMP_FAULT
MPIMotorInputHOME
MPIMotorDedicatedInHOME
MPIMotorInputOVERTRAVEL_POS
MPIMotorDedicatedInLIMIT_HW_POS
MPIMotorInputOVERTRAVEL_NEG
MPIMotorDedicatedInLIMIT_HW_NEG
MPIMotorInputINDEX
MPIMotorDedicatedInINDEX
MPIMotorInputBROKEN_WIRE
MPIMotorDedicatedInFEEDBACK_FAULT
MPIMotorInputILLEGAL_STATE
(No equivalent enumeration)
MPIMotorDedicatedInBRAKE_APPLIED
(No equivalent enumeration)
MPIMotorDedicatedInDRIVE_STATUS_0
(No equivalent enumeration)
MPIMotorDedicatedInDRIVE_STATUS_1
(No equivalent enumeration)
MPIMotorDedicatedInDRIVE_STATUS_2
MPIMotorInputSIM4_INDEX
(No equivalent enumeration)
Sinusoidal Interpolation Not Supported
MPIMotorInputSIM4_ENCA
MPIMotorInputSIM4_ENCB
(No equivalent enumeration)
MPIMotorDedicatedOutAMP_ENABLE
MPIMotorOutputBRAKE_ENABLE
MPIMotorDedicatedOutBRAKE_RELEASE

Analog & SynqNet Phase I MPI
RMB Specific Values †
Equivalent General MPI Values
MPIMotorTransceiverConfigINPUT
(none - use generic MPI value –> ) MPIMotorIoTypeINPUT
MPIMotorTransceiverConfigOUTPUT
(none - use generic MPI value –> ) MPIMotorIoTypeOUTPUT
MPIMotorTransceiverConfigSTEP
(No equivalent enum -- Step Engine Not Yet Implemented)
MPIMotorTransceiverConfigDIR
(No equivalent enum -- Step Engine Not Yet Implemented)
MPIMotorTransceiverConfigCW
(No equivalent enum -- Step Engine Not Yet Implemented)
MPIMotorTransceiverConfigCCW
(No equivalent enum -- Step Engine Not Yet Implemented)
MPIMotorTransceiverConfigQUAD_A
(No equivalent enum -- Step Engine Not Yet Implemented)
MPIMotorTransceiverConfigQUAD_B
(No equivalent enum -- Step Engine Not Yet Implemented)
MPIMotorTransceiverConfigCOMPARE
(No equivalent enum -- Step Engine Not Yet Implemented)
MPIMotorTransceiverIdA
RMBMotorIoConfigXCVR_A MPIMotorIoConfigIndex0
MPIMotorTransceiverIdB
RMBMotorIoConfigXCVR_B MPIMotorIoConfigIndex1
MPIMotorTransceiverIdC
RMBMotorIoConfigXCVR_C MPIMotorIoConfigIndex2
MPIMotorTransceiverExtendedIdD
RMBMotorIoConfigXCVR_D MPIMotorIoConfigIndex3
MPIMotorTransceiverExtendedIdE
RMBMotorIoConfigXCVR_E MPIMotorIoConfigIndex4
MPIMotorTransceiverExtendedIdF
RMBMotorIoConfigXCVR_F MPIMotorIoConfigIndex5
(No equivalent enumeration)
RMBMotorIoConfigUSER_0_IN MPIMotorIoConfigIndex6
(No equivalent enumeration)
RMBMotorIoConfigUSER_0_OUT MPIMotorIoConfigIndex7
MPIMotorInputXCVR_A
RMBMotorXcvrA MPIMotorIoMask0
MPIMotorInputXCVR_B
RMBMotorXcvrB MPIMotorIoMask1
MPIMotorInputXCVR_C
RMBMotorXcvrC MPIMotorIoMask2
MPIMotorInputUSER
RMBMotorOptoUSER0_IN MPIMotorIoMask6
MPIMotorInputUSER_0
RMBMotorOptoUSER0_OUT MPIMotorIoMask6
MPIMotorInputUSER_1
(Not Supported by RMB)
(Vendor Specific)
MPIMotorOutputXCVR_A
RMBMotorXcvrA MPIMotorIoMask0
MPIMotorOutputXCVR_B
RMBMotorXcvrB MPIMotorIoMask1
MPIMotorOutputXCVR_C
RMBMotorXcvrC MPIMotorIoMask2
MPIXmpMotorIOMaskXCVR_D
RMBMotorXcvrD MPIMotorIoMask3
MPIXmpMotorIOMaskXCVR_E
RMBMotorXcvrE MPIMotorIoMask4
MPIXmpMotorIOMaskXCVR_F
RMBMotorXcvrF MPIMotorIoMask5
MPIMotorOutputUSER
RMBMotorOptoUSER0_OUT MPIMotorIoMask7
MPIMotorOutputUSER_0
RMBMotorOptoUSER0_OUT MPIMotorIoMask7
MPIMotorOutputUSER_1
(Not Supported by RMB)
(Vendor Specific)
† - RMB Specific Values are for only MEI RMB-10V Nodes