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15. COMMUNICATION FUNCTIONS

(3) Read of the statuses of input devices switched on through communication

Read the ON/OFF statuses of the input devices switched on through communication.
(a) Transmission

Transmit command [1][2] and data No. [6][0].

Command

Data No.

[1][2]

[6][0]

(b) Reply

The slave station sends back the statuses of the input pins.

b31

b0

0:OFF

1:ON

b1

Command of each bit is transmitted to the master
station as hexadecimal data.

bit

Signal name

bit

Signal name

bit

Signal name

0 Servo-on (SON)

12 Reverse rotation start (ST2)

24 Temporary stop/restart (STP)

1 Forward rotation stroke limit (LSP)

13

2 Reverse rotation stroke limit (LSN)

14

25

Manual pulse generator
multiplication 1 (TP0)

3 External torque limit selection (TL)

15

4 Internal torque limit selection (TL2)

16 Forced stop (EMG)

26

Manual pulse generator
multiplication 2 (TP1)

5 Proportion control selection (PC)

17 Automatic/manual selection (MD0)

27 Gain switch (CDP)

6 Reset (RES)

18 Proximity dog (DOG)

28

7

19 Program No. selection 1 (DI0)

29 Program input 1  (PI1)

8

20 Program No. selection 2 (DI1)

30 Program input 2  (PI2)

9

21 Program No. selection 3 (DI2)

31 Program input 3  (PI3)

10 Current position latch input (LPS)

22 Program No. selection 4 (DI3)

11 Forward rotation start (ST1)

23 Override selection (OVR)

(4) External output pin status read

Read the ON/OFF statuses of the external output pins.
(a) Transmission

Transmit command [1][2] and data No. [C][0].

Command

Data No.

[1][2]

[C][0]

(b) Reply

The slave station sends back the ON/OFF statuses of the output pins.

b31

b0

0:OFF

1:ON

b1

Command of each bit is transmitted to the master
station as hexadecimal data.

bit

External output pin

bit

External output pin

0

CN1A-19

5

CN1B-18

1

CN1A-18

6

CN1A-14

2

CN1B-19

3

CN1B-6

4

CN1B-4