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14. COMMUNICATION FUNCTION
(5) Output signal pin ON/OFF output signal (DO) forced output
In the test operation mode, the output signal pins can be turned on/off independently of the servo status.
Using command [9][0], disable the output signals in advance.
(a) Choosing DO forced output in test operation mode
Transmit command [8][B]
data No. [0][0] data "0004" to choose DO forced output.
00
Selection of test operation mode
4: DO forced output (output signal forced output)
04
(b) External output signal ON/OFF
Transmit the following communication commands.
Command Data No. Setting data
[9][2] [A][0] See below.
[A][1]
b31 b0
0: OFF
1: ON
b1
Command of each bit is transmitted to the slave
station as hexadecimal data.
bit
Data No. [A][0] Data No. [A][1]
bit
Data No. [A][0] Data No. [A][1]
CN6 connector pin CN10 connector pin CN6 connector pin CN10 connector pin
0 14
22
16
1 15
23
17
2 16
24
18
3
25
19
4
38
20
5
39
21
6
40
22
7
41
23
8
42
24
9
43
25
10
44
26
11
45
27
12
46
28
13
47
29
14
48
30
15
49
31
(c) End of DO forced output
Transmit command [8][B] + data No. [0][0] + data to cancel DO forced output.
Command Data No. Transmission data Description
[8][B] [0][0] 0000 End of DO forced output