Specifications

71
8.12.4 External I/O signal statuses
(1) Reading of input device statuses
Read the statuses of the input devices.
(a) Transmission
Transmit command [1][2] and data No. [0][0].
Command Data No.
[1][2] [0][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) 10 20 Point table selection 2 (DI1)
1 Forward rotation stroke limit (LSP) 11 Forward rotation start (ST1) 21 Point table selection 3 (DI2)
2 Reverse rotation stroke limit (LSN) 12 Reverse rotation start (ST2) 22 Point table selection 4 (DI3)
3 External torque limit selection (TL) 13 23
4 Internal torque limit selection (TL2) 14 24 Temporary stop/restart (STP)
5 Proportion control selection (PC) 15 25
6 Alarm reset (RES) 16 Emergency stop (EMG) 26
7 17 Automatic/manual selection (MDO) 27 Gain changing (CDP)
8 18 Proximity dog (DOG) 28
9 19 Point table selection 1 (DI0) 29 Point table selection 5 (DI4)
(2) External input pin status read
Read the ON/OFF statuses of the external output pins.
(a) Transmission
Transmit command [1][2] and data No. [4][0].
Command Data No.
[1][2] [4][0]
(b) Reply
The ON/OFF statuses of the input pins are sent back.
b31 b0
0:OFF
1:ON
b1
Command of each bit is transmitted to the master
station as hexadecimal data.
bit External Input Pin bit External Input Pin
0 CN1B-16 5 CN1A-8
1 CN1B-17 6 CN1B-7
2 CN1B-15 7 CN1B-8
3 CN1B-5 8 CN1B-9
4 CN1B-14 9 CN1A-19