Mitsubishi Electric MELSERVO MR-J4-03A6-RJ, Instruction Manual

Page: 441 / 610

10. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL)
10 - 18
(3) Reading the status of input devices switched on with communication
Reads the on/off statuses of the input devices switched on with communication.
(a) Transmission
Transmit command [1] [2] + data No. [6] [0] to [6] [3].
Command Data No.
[1] [2] [6] [0] to [6] [3]
(b) Return
The slave station returns the status of the input devices.
b31 b1b0
1: On
0: Off
Command of each bit is transmitted to the master station as hexadecimal data.
Bit
Symbol
Data No. [6] [0] Data No. [6] [1] Data No. [6] [2] Data No. [6] [3]
0 SON MD0 POS00
1 LSP ABSM MD1 POS01
2 LSN ABSR POS02
3 TL TCH POS03
4 TL1 TP0 POS10
5 PC TP1 POS11
6 RES OVR POS12
7 CR POS13
8 SP1 STAB POS20
9 SP2 DOG/SIG POS21
10 SP3 SPD1 POS22
11 ST1/RS2 SPD2 POS23
12 ST2/RS1 SPD3 POSP
13 CMX1 SPD4 POSN
14 CMX2 STRB
15 LOP
16 MSD LPS
17 PI1 RT
18 EM2/EM1 PI2 RTCDP
19 PI3
20 STAB2 CAMC OV0
21 CI0 OV1
22 CI1 OV2
23 CI2 OV3
24 TSTP CI3 DI0
25 CLTC DI1
26 CPCD DI2
27 CDP DI3
28 CLD DI4
29 MECR (Note) DI5
30 DI6
31 DI7
Note. This is not available with the MR-J4-03A6-RJ servo amplifier.
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