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15. COMMUNICATION FUNCTIONS
15.12.7 Input devices ON/OFF (test operation)
Each input devices can be turned on/off for test operation. 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. [0] [0] and data.
Command Data No. Set data
[9][2] [0][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)