User manual

PD-1021 TMCL Firmware V1.19 Manual (Rev. 1.01 / 2012-JUL-30) 32
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3.5.14 SIO (set output)
This command sets the status of the general digital output either to low (0) or to high (1).
Internal function: the passed value is transferred to the specified output line.
Related commands: GIO, WAIT
Mnemonic: SIO <port number>, <bank number>, <value>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
14
<port number>
<bank number>
<value>
Reply structure:
STATUS
VALUE
100 – OK
(don't care)
Example:
Set OUT_1 to high (bank 2, output 1; general purpose output)
Mnemonic: SIO 1, 2, 1
Binary:
Byte Index
0
1
2
3
4
5
6
7
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Value (hex)
$01
$0e
$01
$02
$00
$00
$00
$01
Power, communication
and I/O
1
Figure 3.1: I/O connector of PD-1021
Please note, that the module has four I/O pins
including two open drain outputs:
Pin 7: OUT_0 (open collector)
Pin 8: OUT_1 (open collector)
Please refer to the Hardware Manual for further
information.