Shibaura CA20-M10, Руководство по эксплуатации

Страница: 210 / 384

11
– 20
(13) " Read override " command (DA00H)
Command (CC-Link master station
→
CA20-M10-CC) Response (CC-Link master station
←
CA20-M10-CC)
Remote
register
b15------b8 b7------b0 Remarks
Remote
register
b15------b8 b7------b0 Remarks
RWwn DAH 00H Command RWrn DAH 00H
Same value as
command
RWw(n+1)
～
RWw(n+F)
Fixed at “K0”
Use prohibited
RWr(n+1) K1-K100 Override
RWr(n+2)
Fixed at “K0”
Unused
RWr(n+3) Error code
RWr(n+4)
～
RWr(n+F)
Fixed at “K0”
Unused

Unit of override value: [%]
Error code
0000H Normal
1000H Command analysis error (An error is found in the command.)
2000H Controller error state
(14) " Read override " command (DA00H)
Command (CC-Link master station
→
CA20-M10-CC) Response (CC-Link master station
←
CA20-M10-CC)
Remote
register
b15------b8 b7------b0 Remarks
Remote
register
b15------b8 b7------b0 Remarks
RWwn EEH 08H Command RWrn EEH 08H
Same value as
command
RWw(n+1)
～
RWw(n+F)
Fixed at “K0”
Use prohibited
RWr(n+1)
Fixed at “K0”
Unused
RWr(n+2) Fix
ed at “K0”
Unused
RWr(n+3) Error code
RWr(n+4)
K-999-K999 Axis 1 torque
RWr(n+5)
RWr(n+6)
～
RWr(n+F)
Fixed at “K0”
Unused

Data length of torque value: 32 bits

Unit of torque value: 0.01 [T] (Ex.: +2.00[T]

K+200)

T: Rating torque

It is impossible to monitor axis 2 to axis 4.
Error code
0000H Normal
1000H Command analysis error (An error is found in the command.)