IAI RoboNet - Page 69

49
Part 1 S
p
ecification
Relative address from beginning
Command name
CC-Link*6 DeviceNet
PROFIBUS
RS485SIO *1
PLC output (request) PLC input (response)
RY 2*/RX 2* +2 +4/+5 1046H
RY 3*/RX 3* +3 +6/+7 Deceleration read
POS number
If the command has been
successful, the value returned
in the response is the same as
the value set in the request.
RY 4*/RX 4* +4 +8/+9 0 Deceleration data *5
RY 5*/RX 5* +5 +10/+11 0
RY 6*/RX 6* +6 +12/+13 Axis number 0 to FH
Read deceleration
RY 7*/RX 7* +7 +14/+15 Cannot be used.
If the command has been
successful, the value returned
in the response is the same as
the value set in the request.
RY 2*/RX 2* +2 +4/+5 1047H
RY 3*/RX 3* +3 +6/+7 Position number
If the command has been
successful, the value returned
in the response is the same as
the value set in the request.
RY 4*/RX 4* +4 +8/+9 0 0000 to 00FFH
(00FFH, maximum current)
RY 5*/RX 5* +5 +10/+11 0
RY 6*/RX 6* +6 +12/+13 Axis number 0 to FH
Read
push-current-limiting
value
RY 7*/RX 7* +7 +14/+15 Cannot be used.
If the command has been
successful, the value returned
in the response is the same as
the value set in the request.
RY 2*/RX 2* +2 +4/+5 1048H
RY 3*/RX 3* +3 +6/+7 Position number
If the command has been
successful, the value returned
in the response is the same as
the value set in the request.
RY 4*/RX 4* +4 +8/+9 0 0000 to 00FFH
(00FFH, maximum current)
RY 5*/RX 5* +5 +10/+11 0
RY 6*/RX 6* +6 +12/+13 Axis number 0 to FH
Read load current
threshold
RY 7*/RX 7* +7 +14/+15 Cannot be used.
If the command has been
successful, the value returned
in the response is the same as
the value set in the request.
*1 Axis numbers (0) to (15) correspond to data 00 to 0FH.
*2 32-bit signed integer data. The details are the same as described in *2 under [1].
*3 32-bit integer data. The details are the same as described in *4 under [1].
*4 32-bit integer data. The details are the same as described in *5 under [1].
*5 16-bit integer data. The details are the same as described in *6 under [1].
*6 The asterisk (*) in addresses is a value between 0 and F.