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Drive FPGA Table:
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| Parameter | Specification |
|---|---|
| Node Type | 0x00030070 |
| Option | 0x00000005 |
| FPGA | 0xC0FE003E |
| Motor Count | 4 |
| Parameter | Motor |
|---|---|
| Dedicated In 1 - Home | 0 |
| Dedicated In 2 - Limit HW Pos | 0 |
| Dedicated In 3 - Limit HW Neg | 0 |
| Dedicated In 5 - Home | 1 |
| Dedicated In 6 - Limit HW Pos | 1 |
| Dedicated In 7 - Limit HW Neg | 1 |
| Dedicated In 9 - Home | 2 |
| Dedicated In 10 - Limit HW Pos | 2 |
| Dedicated In 11 - Limit HW Neg | 2 |
| Dedicated In 13 - Home | 3 |
| Dedicated In 14 - Limit HW Pos | 3 |
| Dedicated In 15 - Limit HW Neg | 3 |
| General Purpose I/O Bit |
Axis 0 | Axis 1 | Axis 2 | Axis 3 |
|---|---|---|---|---|
| 0 | HSI1 |
HSI2 |
HSI3 |
HSI4 |
| 1 | IN 4 |
IN 8 |
IN 12 |
IN 16 |
| 2 | IN 20 |
IN 24 |
IN 28 |
IN 32 |
| 3 | HSI5 |
HSI6 |
HSI7 |
HSI8 |
| 4 | IN 17 |
IN 21 |
IN 25 |
IN 29 |
| 5 | IN 18 |
IN 22 |
IN 26 |
IN 30 |
| 6 | IN 19 |
IN 23 |
IN 27 |
IN 31 |
| 7 | OUT 1 |
OUT 9 |
OUT 17 |
OUT 25 |
| 8 | OUT 2 |
OUT 10 |
OUT 18 |
OUT 26 |
| 9 | OUT 3 |
OUT 11 |
OUT 19 |
OUT 27 |
| 10 | OUT 4 |
OUT 12 |
OUT 20 |
OUT 28 |
| 11 | OUT 5 |
OUT 13 |
OUT 21 |
OUT 29 |
| 12 | OUT 6 |
OUT 14 |
OUT 22 |
OUT 30 |
| 13 | OUT 7 |
OUT 15 |
OUT 23 |
OUT 31 |
| 14 | OUT 8 |
OUT 16 |
OUT 24 |
OUT 32 |
| 15 | HSO 1 |
HSO 2 |
HSO 3 |
HSO 4 |
| 16 | HSO 9 |
HSO 11 |
HSO 13 |
HSO 15 |
| 17 | HSO 10 |
HSO 12 |
HSO 14 |
HSO 16 |
GPIO - General Purpose I/O Bit IN x - Data Received on SPI Inputs OUT x - Data Transmitted on SPI Outputs HSI x - High Speed Inputs HSO x - High Speed Outputs |
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