Instruction Manual

5. Flow and Commands of Basic MECHATROLINK Communication
191
PLC input
address
(* n indicates the initial input address for each axis.)
1 word = 2 bytes = 16 bits
Current
position
(
u
pp
er word
)
Current
position
(
lower word
)
Command
current
(upper word)
Command
current
(lower word)
Current
speed
(upper word)
Current
speed
(lower word)
Alarm code
If the current position is a negative value, it is expressed by a 2’s complement.
If the current speed is a negative value, it is expressed by a 2’s complement.