Address Read Write
0 Dig Input Ch 0 .. 7 Dig Output channels
1 Dig Input Ch 8 .. 15
2 Bit 0 sense Estop Write 1 to exit Estop
Write 0 to enter Estop
Bit 1 sense Fault
15 Module ID code 0x31
When reading reg 2 (Estop) bit 1 senses the condition of the safety chain. A 0 means the loop is closed and OK. A 1 means the loop is broken, and indicates a fault. When this bit reads 1, the hardware will not allow the board to come out of Estop, and will go to E-stop immediately. Bit 0 senses the condition of the Estop flip-flop. A 0 means out-of-Estop, and a 1 indicates that the system is in E-stop.