.

Drive FPGA Table:
Kollmorgen S1800 - 6 axis

Parameter Specification
Node Type
0x00030070
Option
0x00000003
FPGA
0xC0FE003E
Motor Count
6

Dedicated I/O

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
Dedicated In 17 - Home 4
Dedicated In 18 - Limit HW Pos 4
Dedicated In 19 - Limit HW Neg 4
Dedicated In 21 - Home 5
Dedicated In 22 - Limit HW Pos 5
Dedicated In 23 - Limit HW Neg 5

General Purpose I/O

GPIO Axis 0 Axis 1 Axis 2 Axis 3 Axis 4 Axis 5
0
HSI1
HSI2
HSI3
HSI4
HSI5
HSI6
1
IN 4
IN 8
IN 12
IN 16
    
2
IN 20
IN 24
IN 28
IN 32
   
3
N/A
N/A
N/A
HSI8
    
4
N/A
N/A
N/A
IN 29
   
5
N/A
N/A
N/A
IN 30
   
6
N/A
N/A
N/A
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
HSO 5
HSO 6
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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