Oriental motor AlphaStep AZ Series, User Manual

Page: 51 / 120

IO data
3 PR
OFINE
T c
ommunica
tion
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4-5 Data writing
This section explains the flow that data is written from the host controller to the driver.
„
Area of IO data used
Input (driver → host controller)
Byte Description
32, 33 Read/write status
34, 35 Write parameter ID_R
Output (host controller → driver)
Byte Description
32, 33 Write request
34, 35 Write parameter ID
36 to 39 Write data
„
Flow that data is written to
Host controller
1. Checks the WR-END has been turned OFF.
2. Sets a parameter ID to be written to in the write
parameter ID.
3. Sets a value to be written in the write data.
Driver
4. Turns the WR-REQ ON.
6. Checks the WR-END has been turned ON.
7. Turns the WR-REQ OFF.
9. Clears the write parameter ID and the write data.
5. The data is written, and the WR-END is turned ON.
8. The WR-END is turned OFF.
Write parameter ID Parameter ID to be written to
2
1
3
4
5 6 7
8
Write value Data clear
Parameter ID to be written to
Write data
WR-REQ
WR-END
WR-ERR
Write parameter ID_R
WR-ERR *
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Data clear
9
9
* If an error occurs while data is being written, the WR-END and WR-ERR are simultaneously turned ON.