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9 COMMON FUNCTIONS
9.8 Driver Communication Function
■I/O signals of slave axis
• Input signal: All signals cannot be used. The error detection signal turns ON "Error detection" ([Md.31] Status: b13).
• Output signal: All signals cannot be used.
■Data used for positioning control of slave axis
• Only the following axis monitor data are valid in slave axis.
• Only the following axis control data are valid in slave axis.
Item Remark
[Md.23] Axis error No. Valid for only servo error detection.
[Md.35] Torque limit stored value/forward torque limit stored value
[Md.102] Deviation counter value
[Md.103] Motor rotation speed
[Md.104] Motor current value
[Md.107] Parameter error No.
[Md.108] Servo status1 The following bits are valid.
• b0: READY ON
•b1: Servo ON
• b7: Servo alarm
*: The slave axis is always controlled in torque control mode, "control
mode (b2, b3)" is set to torque control mode (0, 1).
[Md.109] Regenerative load ratio/Optional data monitor output 1
[Md.110] Effective load torque/Optional data monitor output 2
[Md.111] Peak torque ratio/Optional data monitor output 3
[Md.112] Optional data monitor output 4
[Md.114] Servo alarm
[Md.119] Servo status2 The following bit is valid.
• b0: Zero point pass
(Execute home position return to the master axis.)
[Md.120] Reverse torque limit stored value
Item Remark
[Cd.5] Axis error reset Reset is valid for only servo error detection.
[Cd.22] New torque value/forward new torque value
[Cd.100] Servo OFF command
[Cd.101] Torque output setting value
[Cd.112] Torque change function switching request
[Cd.113] Reverse new torque value
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