5-49
MHT260a (Engl.)
5.9 WB area (T-link type)
This section explains the WB area of RYS
□□□
S3-RTS type.
RYS
□□□
S3-RTS type amplifier reserves 8 words in the WB area.
(1) Station number
The station number setting of amplifier (system para. 96) determines the address in WB area. The changed setting of the system parameter
is valid only after turning off and on power again.
(2) Read/rewrite data
The lower order 4 words of WB area are the read out area, and the higher order 4 words are the write area.
The data whether to read out or rewrite can be selected by on/off of bit 1 to 5 in word +5.
(3) CONT/OUT
The bit information at +0, +1 word and bit command at word +4, +5 position are valid in all the read/rewrite data status.
(4) Read command/rewrite command
To read data specified by the read/rewrite data select, turn on the read command at bit 7 in word +5 postion. The read end at bit 7 in word +1
turned on, when reading is end.
To write data, turn on the rewrite command at bit 6 in word +5. The rewrite end at bit 6 in word +1 turns on when writing is end.
・
WB area
Address
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
+0
OUT
5
OUT
6
OUT
7
OUT
8
OUT
9
OUT
10
OUT
11
OUT
12
OUT
13
OUT
14
OUT
15
OUT
16
OUT
17
OUT
18
OUT
19
OUT
20
+1
OUT
21
ALM4
ALM3 ALM2
ALM1
ALM0
Rewrite
end
Read
end
−
+2
Read data (High order word PC
ß
Amplifier)
+3
Read data (Low order word PC
ß
Amplifier)
+4
CONT
9
CONT
10
CONT
11
CONT
12
CONT
13
CONT
14
CONT
15
CONT
16
CONT
17
CONT
18
CONT
19
CONT
20
CONT
21
CONT
22
CONT
23
CONT
24
+5
CONT
25
Read/rewrite data select
Rewrite
command
Read
command
Address No.
+6
Rewrite data (High order word PC
à
Amplifier)
+7
Rewrite data (Low order word PC
à
Amplifier)
Read/rewrite data select
+1
+2
+3
+4
+5
WB area (when reading)
WB area (when rewriting)
OFF
OFF
OFF
OFF
OFF
Current feedback position
-
OFF
OFF
OFF
OFF
ON
Feedback speed
-
OFF
OFF
OFF
ON
OFF
Torque command
-
OFF
OFF
OFF
ON
ON
Deviation amount
-
OFF
OFF
ON
OFF
OFF
LS-Z phase pulse
-
OFF
OFF
ON
OFF
ON
-
-
OFF
OFF
ON
ON
OFF
-
-
OFF
OFF
ON
ON
ON
-
-
OFF
ON
OFF
OFF
OFF
-
-
OFF
ON
OFF
OFF
ON
Basic para.
Basic para.
OFF
ON
OFF
ON
OFF
System para.
System para.
OFF
ON
OFF
ON
ON
-
-
OFF
ON
ON
OFF
OFF
-
-
OFF
ON
ON
OFF
ON
-
Current feedback position
OFF
ON
ON
ON
OFF
Current command position
-
OFF
ON
ON
ON
ON
Command speed
-
ON
OFF
OFF
OFF
OFF
-
Speed command [FWD/REV]
Summary of Contents for Faldic-a RYS-R Series
Page 1: ...RYS R Type User s Manual MHT260a Engl...
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Page 83: ...0 0 0 0 0 0 1 1 2 3 4 0 1 0 5 6 1 0 6 7 0 0 8 0 9 5 5 2 9 0 6 4 5 5 2 3 9 7 9 7 9 5 5 4 6 6...
Page 84: ...6 7 A 6 B C D5 7 4 4 6 4 5 1 BE8 F70 CPU...
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