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15. COMMUNICATION FUNCTIONS
(5) Read of the statuses of output devices
Read the ON/OFF statuses of the output devices.
(a) Transmission
Transmit command [1][2] and data No. [8][0].
Command Data No.
[1][2] [8][0]
(b) Reply
The slave station sends back the statuses of the output devices.
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 Ready (RD) 10 Electromagnetic brake (MBR)
19
Temporary stop (PUS)
1 11 Dynamic brake interlock (DBR)
20
Point No. output 1 (PT0)
2 12
21
Point No. output 2 (PT1)
3 Limiting torque (TLC) 13
22
Point No. output 3 (PT 2)
4 14
23
Point No. output 4 (PT 3)
5 In position (INP) 15 Battery warning (BWNG)
24
Point No. output 5 (PT 4)
6 16 Rough match (CPO)
7 Warning (WNG)
8 Trouble (ALM)
17
Home position return completion
(ZP)
9 18 Position range (POT)
15.12.5 Input devices ON/OFF
POINT
The ON/OFF states of all devices in the servo amplifier are the states of
the data received last. Hence, when there is a device which must be kept
ON, send data which turns that device ON every time.
Each input device can be switched on/off. However, when the device to be switched off exists in the
external input signal, also switch off that input signal.
Send command [9][2], data No. [6][0] and data.
Command Data No. Set data
[9][2] [6][0] See below.
b31 b0
0:OFF
1:ON
b1
Command of each bit is transmitted to the slave
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)