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15. COMMUNICATION FUNCTION
(5) Read of the statuses of output devices
Read the ON/OFF statuses of the output devices.
(a) Transmission
Transmit command [1][2] and the data No. corresponding to the output device.
Command Data No.
[8][0] [1][2]
[8][1]
(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.
Data No. [8][0] Data No. [8][1]
bit
Device name Symbol Device name Symbol
0 Ready RD
1
2 Zero speed ZSP
3 Limiting torque TLC
4
5 In position INP
6
7 Warning WNG
8 Trouble ALM
9
10
Electromagnetic brake
interlock
MBR
11 dynamic brake interlock DB
12
13
14
15 Battery warning BWNG
16 Rough match CPO
17
Home position return
completion
ZP
18 Position range output POT
19 Temporary stop PUS
20
21
22
23
24
Point table No. output 1 PT0
25 Variable gain selection CDPS Point table No. output 2 PT1
26 Point table No. output 3 PT2
27
Point table No. output 4 PT3
28 Movement completion MEND Point table No. output 5 PT4
29 Point table No. output 6 PT5
30 Point table No. output 7 PT6
31
Point table No. output 8 PT7