16-10 CANopen Master Control Applications....................................................................16-119
16-11 Modbus Remote IO Control Applications (Use MODRW) ..........................................16-130
CHAPTER 17 SAFE TORQUE OFF FUNCTION………………………......…………………….17-1
17-1 Basic Function Description…………........................................................................17-2
17-2 Safe Torque Off Terminal Function Description........................................................17-3
17-3 Wiring Diagram........................................................................................................17-4
17-4 Failure Rate of the Drive Safety Function................................................................17-5
17-5 Reset the Parameter Settings…..............................................................................17-5
17-6 Timing Diagram Description......................................................................................17-6
17-7 Fault Codes and Troubleshooting Instructions……...…………………………………17-9
17-8 Test and Fault Confirmation…………………………...………………………………….17-11
APPENDIX A. MODBUS PROTOCOL…………………………………..………………………..A-1
A-
1 Code Description…………............................................................................................A-2
A-2
Data Format..................................................................................................................A-2
A-3 Communication Protocol...............................................................................................A-4
A-4 Address List..................................................................................................................A-9
A-5 Exception Response…................................................................................................A-16
APPENDIX B. REVISION HISTORY……………………………………..………………………..B-1
Issued Edition: 01
Firmware Version: V1.04 (Refer to Parameter 00-06 on the product to get the firmware version.)
Issued Date: 2023/2
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