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15. COMMUNICATION FUNCTIONS
(3) Read of the statuses of input devices switched on through communication
Read the ON/OFF statuses of the input devices switched on through communication.
(a) Transmission
Transmit command [1][2] and data No. [6][0].
Command Data No.
[1][2] [6][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)
(4) External output pin status read
Read the ON/OFF statuses of the external output pins.
(a) Transmission
Transmit command [1][2] and data No. [C][0].
Command Data No.
[1][2] [C][0]
(b) Reply
The slave station sends back the ON/OFF statuses of the output pins.
b31 b0
0:OFF
1:ON
b1
Command of each bit is transmitted to the master
station as hexadecimal data.
bit External output pin bit External output pin
0 CN1A-19 5 CN1B-18
1 CN1A-18 6 CN1A-14
2 CN1B-19
3 CN1B-6
4 CN1B-4