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15.3 Protocol .................................................................................................................................................15- 5
15.3.1 Transmission data configuration.................................................................................................... 15- 5
15.3.2 Character codes............................................................................................................................. 15- 6
15.3.3 Error codes..................................................................................................................................... 15- 7
15.3.4 Checksum....................................................................................................................................... 15- 7
15.3.5 Time-out operation ......................................................................................................................... 15- 8
15.3.6 Retry operation...............................................................................................................................15- 8
15.3.7 Initialization.....................................................................................................................................15- 9
15.3.8 Communication procedure example.............................................................................................. 15- 9
15.4 Command and data No. list .................................................................................................................15-10
15.4.1 Read commands ...........................................................................................................................15-10
15.4.2 Write commands ...........................................................................................................................15-14
15.5 Detailed explanations of commands ...................................................................................................15-17
15.5.1 Data processing ............................................................................................................................15-17
15.5.2 Status display ................................................................................................................................15-19
15.5.3 Parameters.................................................................................................................................... 15-20
15.5.4 External I/O signal statuses (DIO diagnosis) ............................................................................... 15-23
15.5.5 Device ON/OFF.............................................................................................................................15-28
15.5.6 Disable/enable of I/O devices (DIO)............................................................................................. 15-29
15.5.7 Input devices ON/OFF (test operation) ........................................................................................15-30
15.5.8 Test operation mode ..................................................................................................................... 15-31
15.5.9 Alarm history..................................................................................................................................15-37
15.5.10 Current alarm ..............................................................................................................................15-38
15.5.11 Point table.................................................................................................................................... 15-39
15.5.12 Servo amplifier group designation.............................................................................................. 15-45
15.5.13 Other commands......................................................................................................................... 15-46
16. INDEXER POSITIONING OPERATION 16- 1 to 16-112
16.1 Function................................................................................................................................................. 16- 1
16.1.1 Overview.........................................................................................................................................16- 1
16.1.2 Servo amplifier standard specifications (functions only)............................................................... 16- 1
16.1.3 Function list .................................................................................................................................... 16- 2
16.2 I/O signals (I/O devices) transferred to/from the programmable controller CPU................................16- 3
16.2.1 I/O signals (I/O devices)................................................................................................................. 16- 3
16.2.2 Detailed explanation of I/O signals ................................................................................................16- 5
16.2.3 Monitor codes................................................................................................................................16-14
16.2.4 Instruction codes (RWwn
2 RWwn 3)...................................................................................16-15
16.2.5 Respond codes (RWrn
2) ..........................................................................................................16-22
16.3 Signal....................................................................................................................................................16-23
16.3.1 Signal (device) explanation...........................................................................................................16-23
16.3.2 Detailed description of signals (devices) ......................................................................................16-26
16.4 Switching power on for the first time ...................................................................................................16-29
16.4.1 Startup procedure .........................................................................................................................16-29
16.4.2 Wiring check ..................................................................................................................................16-30
16.4.3 Surrounding environment .............................................................................................................16-31
16.5 Startup ..................................................................................................................................................16-32
16.5.1 Power on and off procedures........................................................................................................16-32
16.5.2 Stop................................................................................................................................................16-32