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14. 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.
[1][2] [8][0]
[8][1]
[8][2]
(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 Data No. [8][0] Data No. [8][1] Data No. [8][2]
Device name Symbol Device name Symbol Device name Symbol
0 Ready RD
M code output 1 MCD00
1 M code output 2 MCD01
2 Zero speed ZSP M code output 3 MCD02
3 Limiting torque TLC M code output 4 MCD03
4 M code output 5 MCD10
5 In position INP M code output 6 MCD11
6 M code output 7 MCD12
7 Warning WNG M code output 8 MCD13
8 Trouble ALM Alarm code 0 ACD0
9 Alarm code 1 ACD1
10
Electromagnetic brake
interlock
MBR Alarm code 2 ACD2
11 dynamic brake interlock DB Alarm code 3 ACD3
12
Position data request 1 PRQ1
13 Position data request 2 PRQ2
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 finish 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