Filter
Top Products
15 - 22
15. COMMUNICATION FUNCTIONS
15.12.4 External I/O signal statuses
(1) Reading of input device statuses
Read the statuses of the input devices.
(a) Transmission
Transmit command [1][2] and data No. [0][0].
Command Data No.
[1][2] [0][0]
(b) Reply
The slave station sends back the statuses of the input pins.
b31 b0
0:OFF
1:ON
b1
Command of each bit is transmitted to the master
station as hexadecimal data.
bit Signal name bit Signal name bit Signal name
0 Servo-on (SON) 12 Reverse rotation start (ST2)
24
Temporary stop/restart (STP)
1 Forward rotation stroke limit (LSP) 13
2 Reverse rotation stroke limit (LSN) 14
25
Manual pulse generator
multiplication 1 (TP0)
3 External torque limit selection (TL) 15
4 Internal torque limit selection (TL2) 16 Forced stop (EMG)
26
Manual pulse generator
multiplication 2 (TP1)
5 Proportion control selection (PC) 17 Automatic/manual selection (MD0)
27
Gain switch (CDP)
6 Reset (RES) 18 Proximity dog (DOG)
28
7 19 Point table No. selection 1 (DI0)
29
Point table No. selection 5 (DI4)
8 20 Point table No. selection 2 (DI1)
30
Teach (TCH)
9 21 Point table No. selection 3 (DI2)
31
10 22 Point table No. selection 4 (DI3)
11 Forward rotation start (ST1) 23 Override selection (OVR)
(2) External input pin status read
Read the ON/OFF statuses of the external output pins.
(a) Transmission
Transmit command [1][2] and data No. [4][0].
Command Data No.
[1][2] [4][0]
(b) Reply
The ON/OFF statuses of the input pins are sent back.
b31 b0
0:OFF
1:ON
b1
Command of each bit is transmitted to the master
station as hexadecimal data.
bit External input pin bit External input pin
0 CN1B-16 5 CN1A-8
1 CN1B-17 6 CN1B-7
2 CN1B-15 7 CN1B-8
3 CN1B-5 8 CN1B-9
4 CN1B-14
9 CN1A-19