Digital Output Behavior - Revision history

MAB at 14:15, 30 March 2026

2026-03-30T14:15:58Z

← Older revision		Revision as of 14:15, 30 March 2026
Line 12:		Line 12:

	= Configuration =		= Configuration =
	From iRC V15 the behavior of the digital IO modules can be configured to the ~~following~~ modes:		From iRC V15 the behavior of the digital IO modules can be configured to the modes "always", "nodisable", "reenable_com" and "reenable". In iRC V14 and earlier the behavior is "always", from V15 it is "reenable_com".
	* "always"~~: Disable outputs on "disable motors", does not enable on startup~~, ~~does not re-enable on error~~
	* "nodisable"~~: Keeps outputs enabled when motors are disabled~~, ~~does not enable on startup, does not re-enable on error~~
	* "reenable_com"~~: Keeps outputs enabled when motors are disabled, enables outputs on startup, re-enable outputs only on communication timeout~~
	* "reenable"~~: Keeps outputs enabled when motors are disabled~~, ~~enables outputs on startup, re-enables outputs on any error~~

	~~In iRC V14 and earlier the~~ behavior ~~is "~~always"~~, from V15 it is "reenable_com~~".		{\| class="wikitable"
			\|+ Digital output behavior in different situations
			\|-
			! !! always !! nodisable !! reenable_com !! reenable
			\|-
			\| on "disable motors" \|\| '''disabled''' \|\| enabled \|\| enabled \|\| enabled
			\|-
			\| on startup \|\| '''disabled''' \|\| '''disabled''' \|\| enabled \|\| enabled
			\|-
			\| on COM error \|\| '''disabled''' \|\| '''disabled''' \|\| enabled \|\| enabled
			\|-
			\| on error \|\| '''disabled''' \|\| '''disabled''' \|\| '''disabled''' \|\| enabled
			\|}

	Note that re-enabling outputs after an error caused by the IO module may cause ~~an edge in any~~ high signal. Re-enabling may fail, if the error can not be resolved by a reset.		Note that re-enabling outputs after an error caused by the IO module may cause a short high signal. Re-enabling may fail, if the error can not be resolved by a reset.

	The behavior can be configured in the [[Robot Configuration File]]. Find the line starting with "<BusConfiguration" and add the parameter "DOutBehavior", e.g.:		The behavior can be configured in the [[Robot Configuration File]]. Find the line starting with "<BusConfiguration" and add the parameter "DOutBehavior", e.g.:

MAB at 13:49, 30 March 2026

2026-03-30T13:49:14Z

← Older revision		Revision as of 13:49, 30 March 2026
Line 1:		Line 1:
	When digital IO modules are disabled all digital outputs, even if set, are disabled, while digital inputs can still be read. This article explains how to influence this behavior depending on your application's needs.		When digital IO modules are disabled all digital outputs, even if set, are disabled, while digital inputs can still be read. This article explains how to influence this behavior depending on your application's needs.

			This article only applies to CPR CANv2 IO modules (i.e. all CPR IO modules except CANopen modules).

	= Disabled State =		= Disabled State =

MAB: /* Configuration */

2026-03-30T13:30:03Z

Configuration

← Older revision		Revision as of 13:30, 30 March 2026
Line 13:		Line 13:
	* "always": Disable outputs on "disable motors", does not enable on startup, does not re-enable on error		* "always": Disable outputs on "disable motors", does not enable on startup, does not re-enable on error
	* "nodisable": Keeps outputs enabled when motors are disabled, does not enable on startup, does not re-enable on error		* "nodisable": Keeps outputs enabled when motors are disabled, does not enable on startup, does not re-enable on error
	* "reenable_com": Keeps outputs enabled when motors are disabled, enables outputs on startup, ~~does not~~ re-enable on ~~error~~		* "reenable_com": Keeps outputs enabled when motors are disabled, enables outputs on startup, re-enable outputs only on communication timeout
	* "reenable": Keeps outputs enabled when motors are disabled, enables outputs on startup, re-enables outputs on error		* "reenable": Keeps outputs enabled when motors are disabled, enables outputs on startup, re-enables outputs on any error

	In iRC V14 and earlier the behavior is "always", from V15 it is "reenable_com".		In iRC V14 and earlier the behavior is "always", from V15 it is "reenable_com".

MAB: Created page with "When digital IO modules are disabled all digital outputs, even if set, are disabled, while digital inputs can still be read. This article explains how to influence this behavior depending on your application's needs. = Disabled State = Digital IO modules may be disabled in 3 situations: * Immediately after startup * When the module detects an error situation * When disabling motors In these situations all outputs are disabled by the hardware, even if they are set by th..."

2025-12-18T15:06:09Z

Created page with "When digital IO modules are disabled all digital outputs, even if set, are disabled, while digital inputs can still be read. This article explains how to influence this behavior depending on your application's needs. = Disabled State = Digital IO modules may be disabled in 3 situations: * Immediately after startup * When the module detects an error situation * When disabling motors In these situations all outputs are disabled by the hardware, even if they are set by th..."

New page

When digital IO modules are disabled all digital outputs, even if set, are disabled, while digital inputs can still be read. This article explains how to influence this behavior depending on your application's needs.

= Disabled State =
Digital IO modules may be disabled in 3 situations:
* Immediately after startup
* When the module detects an error situation
* When disabling motors

In these situations all outputs are disabled by the hardware, even if they are set by the software. In contrast the "Reset and Error States" (see the IO configuration in iRC) can enable or disable individual outputs on software errors.

= Configuration =
From iRC V15 the behavior of the digital IO modules can be configured to the following modes:
* "always": Disable outputs on "disable motors", does not enable on startup, does not re-enable on error
* "nodisable": Keeps outputs enabled when motors are disabled, does not enable on startup, does not re-enable on error
* "reenable_com": Keeps outputs enabled when motors are disabled, enables outputs on startup, does not re-enable on error
* "reenable": Keeps outputs enabled when motors are disabled, enables outputs on startup, re-enables outputs on error

In iRC V14 and earlier the behavior is "always", from V15 it is "reenable_com".

Note that re-enabling outputs after an error caused by the IO module may cause an edge in any high signal. Re-enabling may fail, if the error can not be resolved by a reset.

The behavior can be configured in the [[Robot Configuration File]]. Find the line starting with "<BusConfiguration" and add the parameter "DOutBehavior", e.g.:
<BusConfiguration Protocol="CPRCANv2" CycleTimeMS="10" GapMS="0" DOutBehavior="reenable"

[[Category:Configuration]][[Category:TinyCtrl]]