IAI X-SEL - Page 443

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INTELLIGENT ACTUATOR
Appendix
I/O Parameters
No. Parameter name
Default value
(Reference)
Input
range
Unit Remarks
215 Attribute 3 of SIO
channel 2 opened to
user (standard mount)
01118040H
0H to
FFFFFFFFH
Bits 28 to 31: Flow control type
(0: None, 1: Xon/Xoff, 2: Hardware)
* Valid only in full-duplex communication.
* If flow control is performed, select 38.4 kbps or
below. Use of a higher baud rate may generate
an overrun error, etc.
Bits 24 to 27: Xon send selection when send is enabled after
SIO-CPU reset
(0: Do not send, 1: Send)
* Valid only in full-duplex communication with
Xon/Xoff flow control.
Bits 20 to 23: Send enable/disable selection at port open
(0: Disable, 1: Enable)
* Valid only in full-duplex communication with
Xon/Xoff flow control.
Bits 16 to 19: Xon/Xoff send selection at port close
(0: Do not send, 1: Send Xon, 2: Send Xoff)
* Valid only in full-duplex communication with
Xon/Xoff flow control.
Bits 8 to 15: Flow control high limit (bytes)
Bits 0 to 7: Flow control low limit (bytes)
* If values are set to a magnitude correlation of “Flow control low
limit  SCI receive buffer size – Flow control high limit,” both
the flow control high/low limits will be converted to a value
corresponding to one-fourth the SCI receive buffer size.
216 Attribute 4 of SIO
channel 2 opened to
user (standard mount)
00000000H
0H to
FFFFFFFFH
* This parameter is valid only in the RC gateway mode.
Bits 28 to 31: EMG operation type
(0: No processing, 1: Decelerate all axes to a
stop, 2: Turn all axis servos OFF)
Bits 24 to 27: (Reserved)
Bits 20 to 23: Control type (0: SEL)
Bits 12 to 19: (Reserved)
Bits 0 to 11: I/O pattern
(Main application version 0.65 or later/controller
with expanded memory (with gateway function)
only)
217 Attribute 5 of SIO
channel 2 opened to
user (standard mount)
00000000H
0H to
FFFFFFFFH
RC gateway link axis pattern (Axis Nos. 15 to 8)
(Main application version 0.65 or later/controller with expanded
memory (with gateway function) only)
218 Attribute 6 of SIO
channel 2 opened to
user (standard mount)
00000000H
0H to
FFFFFFFFH
RC gateway link axis pattern (Axis Nos. 7 to 0)
(Main application version 0.65 or later/controller with expanded
memory (with gateway function) only)
219 Attribute 7 of SIO
channel 2 opened to
user (standard mount)
00000000H
0H to
FFFFFFFFH
220 Attribute 8 of SIO
channel 2 opened to
user (standard mount)
00000000H
0H to
FFFFFFFFH
221 Attribute 9 of SIO
channel 2 opened to
user (standard mount)
00000000H
0H to
FFFFFFFFH
222 Attribute 10 of SIO
channel 2 opened to
user (standard mount)
00000000H
0H to
FFFFFFFFH