Specifications

73
(5) Read of the statuses of output devices
Read the ON/OFF statuses of the output devices.
(a) Transmission
Transmit command [1][2] and data No. [8][0].
Command Data No.
[1][2] [8][0]
(b) Reply
The slave station sends back the statuses of the output devices.
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 Ready (RD) 11 Dynamic brake (DBR) 22 Point table No. output 3 (PT2)
1 12 23 Point table No. output 4 (PT3)
2 13 24 Point table No. output 5 (PT4)
3 Limiting torque (TLC) 14 25
4 15 Battery warning (BWNG) 26
5 In position (INP) 16 Rough match (CPO) 27
6 17 Zeroing completion (ZP) 28 Moving complete (MEND)
7 Warning (WNG) 18 Position range output (POT) 29
8 Trouble (ALM) 19 Temporary stop (PUS) 30
9 20 Point table No. output 1 (PT0) 31
10 Electromagnetic brake (MBR) 21 Point table No. output 2 (PT1) 32
8.12.5 Device ON/OFF
Each input device can be switched on/off. However, when the device to be switched off exists in the
external input signal, also switch off that input signal.
Send command [9][2], data No. [6][0] and data.
Command Data No. Set Data
[9][2] [6][0] See below.
b31 b0
0:OFF
1:ON
b1
Command of each bit is transmitted to the slave
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)