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15. COMMUNICATION FUNCTIONS
(3) Read of the statuses of input devices switched on through communication
Read the ON/OFF statuses of the input devices switched on through communication.
(a) Transmission
Transmit command [1][2] and data No. [6][0].
Command Data No.
[1][2] [6][0]
(b) Reply
The slave station sends back the statuses of the input pins.
b31 b0
0:OFF
1:ON
b1
Command of each bit is transmitted to the master
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 Program No. selection 1 (DI0) 29 Program input 1 (PI1)
8 20 Program No. selection 2 (DI1) 30 Program input 2 (PI2)
9 21 Program No. selection 3 (DI2) 31 Program input 3 (PI3)
10 Current position latch input (LPS) 22 Program No. selection 4 (DI3)
11 Forward rotation start (ST1) 23 Override selection (OVR)
(4) External output pin status read
Read the ON/OFF statuses of the external output pins.
(a) Transmission
Transmit command [1][2] and data No. [C][0].
Command Data No.
[1][2] [C][0]
(b) Reply
The slave station sends back the ON/OFF statuses of the output pins.
b31 b0
0:OFF
1:ON
b1
Command of each bit is transmitted to the master
station as hexadecimal data.
bit External output pin bit External output pin
0CN1A-19 5CN1B-18
1CN1A-18 6CN1A-14
2CN1B-19
3CN1B-6
4CN1B-4