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)
