Orientalmotor aSTEP AZ Series, User Manual, Page: 97 / 180

IO data
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4 PR
OFINE
T c
ommunica
tion
4 IO data
4-1 IO data format
This section shows transfer contents of IO data. The order of data is in big-endian format.
Byte Input (driver
→
host controller) Output (host controller
→
driver)
0, 1 Remote I/O (R-OUT) Remote I/O (R-IN)
2, 3 Operation data number selection_R Operation data number selection
4, 5 Fixed I/O (OUT) Fixed I/O (IN)
6, 7 Present alarm Direct data operation operation type
8 to 11 Feedback position Direct data operation position
12 to 15 Feedback speed (Hz) Direct data operation speed
16 to 19 Command position Direct data operation starting/changing rate
20, 21 Torque monitor
Direct data operation stopping deceleration
22, 23 CST operating current
24, 25
Information
Direct data operation operating current
26, 27 Direct data operation forwarding destination
28, 29 Reserved Reserved
30, 31 Read parameter ID_R Read parameter ID
32, 33 Read/write status Write request
34, 35 Write parameter ID_R Write parameter ID
36 to 39 Read data Write data
40 to 43 Assignable monitor 0 −
44 to 47 Assignable monitor 1 −
48 to 51 Assignable monitor 2 −
52 to 55 Assignable monitor 3 −
All IO data in the format is periodically exchanged between the driver and the host controller. When
setting I/O data, check all data. If only a part of the data is set, the data that is not set may become
indefinite, causing the driver to operate abnormally or to malfunction.