Orientalmotor aSTEP AZ Series, User Manual, Page: 98 / 180

IO data
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4-2 Input data
Data transferred from the driver to the host controller is called Input data.
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Input data format
Contents of the Input data is as follows. The order of data is in big-endian format.
Byte Size (byte) Description
0, 1 2 Remote I/O (R-OUT)
2, 3 2 Operation data number selection_R
4, 5 2 Fixed I/O (OUT)
6, 7 2 Present alarm
8 to 11 4 Feedback position
12 to 15 4 Feedback speed (Hz)
16 to 19 4 Command position
20, 21 2 Torque monitor
22, 23 2 CST operating current
24 to 27 4 Information
28, 29 2 Reserved
30, 31 2 Read parameter ID_R
32, 33 2 Read/write status
34, 35 2 Write parameter ID_R
36 to 39 4 Read data
40 to 43 4 Assignable monitor 0
44 to 47 4 Assignable monitor 1
48 to 51 4 Assignable monitor 2
52 to 55 4 Assignable monitor 3
z
Order of 2 byte data
Example: When the CST operating current is 1,000 (0x03E8h)
Byte Size (byte) Description Value (Hex)
22
2
CST operating current (upper) 0x03
23 CST operating current (lower) 0xE8
z
Order of 4 byte data
Example: When the feedback position is 300,000 (0x000493E0h)
Byte Size (byte) Description Value (Hex)
8
4
Feedback position (most significant) 0x00
9 Feedback position (upper) 0x04
10 Feedback position (lower) 0x93
11 Feedback position (least significant) 0xE0