3.6 Setup Procedure
3.6.3 Setting and Checking Other Station Monitoring
3-11
3
Pr
essur
e Feedback Contr
ol
Allocations for Other Station Monitoring
Set Pn9B1 to the station address to allocate to other station monitor channel 1.
Set Pn9B2 to the number of transmission bytes for other station monitor channel 1.
Set Pn9B3 to specify the contents of data assigned to other station monitor channel 1.
For details on the Connection Request command (CONNECT: 0Eh) and Data Read/Write_A
command (DATA_RWA: 20h), refer to the following document (issued by the MECHA-
TROLINK Members Association).
MECHATROLINK-III Standard I/O Profile Command Manual
Pn9B1
Other Station Monitor 1: Station Address
Setting Range
Setting Unit
Default Setting
When Enabled
Classification
0002 to FEEF
–
0002
After restart
Setup
Pn9B2
Other Station Monitor 1: Number of Transmission Bytes
Setting Range
Setting Unit
Default Setting
When Enabled
Classification
0 to 4
–
3
After restart
Setup
Parameter
Meaning
When Enabled
Classification
Pn9B3
n.
XX
Address offset
After restart
Setup
n.
X
Data size (unit: bytes)
n.X
Reserved parameter (Do not change.)
The setting of Pn9B3 = n.
XX depends on the data format of the MECHATROLINK-III dis-
tributed I/O device that is used. The data format when you use an R7G4HML3-6-LC2 I/O
Module from M-System Co., Ltd. is given below. This depends on the information in the 6th
to 9th bytes.
Example of parameter settings when you use an R7G4HML3-6-LC2 I/O Module.
Pn9B1 = 0004h (R7G4HML3-6-LC2 station address)
Pn9B2 = 0001h (number of transmission bytes: 16)
Pn9B3 = 1206h (address offset: 6 (input 0), 2 bytes)
Note: If you use an R7G4HML3-6-LC2 I/O Module, always set Pn9B2 to n.
1 (16 bytes).
Information
Torque
Torque
Information
Byte
Command
(hexadecimal)
Response
(hexadecimal)
Remarks
0
20
20
–
1
0
0
–
2
CMD_CTRL
CMD_STAT
–
3
4
0
Total input lower 8 bits
This gives the total for the 6th and 8th bytes
of input 0.
5
0
Total input upper 8 bits
This gives the total for the 7th and 9th bytes
of input 0.
6
0
Input 0 lower 8 bits
Input 0
7
0
Input 0 upper 8 bits
8
0
Input 1 lower 8 bits
Input 1
9
0
Input 1 upper 8 bits
10 to 15
0
0
Not used.
Example
Summary of Contents for SGD7S-R70A20A023F40B
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