Specifications

72
(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) 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)
(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
0 CN1A-19 5 CN1B-18
1 CN1A-18 6 CN1A-14
2 CN1B-19
3 CN1B-6
4 CN1B-4