- 6 -
13.4 Detailed description of interfaces .................................................................................................. 13-11
13.4.1 Sink I/O interface .................................................................................................................... 13-11
13.4.2 Source I/O interface ................................................................................................................ 13-13
14. COMMUNICATION FUNCTION 14- 1 to 14- 40
14. COMMUNICATION FUNCTION ....................................................................................................... 14-2
14.1 Structure .......................................................................................................................................... 14-3
14.1.1 Configuration diagram .............................................................................................................. 14-3
14.1.2 Precautions for using RS-422/RS-232C/USB communication function ................................... 14-5
14.2 Communication specifications ........................................................................................................ 14-6
14.2.1 Outline of communication ......................................................................................................... 14-6
14.2.2 Parameter setting ..................................................................................................................... 14-6
14.3 Protocol ........................................................................................................................................... 14-7
14.3.1 Transmission data configuration .............................................................................................. 14-7
14.3.2 Character codes ....................................................................................................................... 14-8
14.3.3 Error codes ............................................................................................................................... 14-9
14.3.4 Checksum ................................................................................................................................ 14-9
14.3.5 Time-out processing ................................................................................................................. 14-9
14.3.6 Retry processing ..................................................................................................................... 14-10
14.3.7 Initialization ............................................................................................................................. 14-10
14.3.8 Communication procedure example ....................................................................................... 14-11
14.4 Command and data No. list ........................................................................................................... 14-12
14.4.1 Reading command ................................................................................................................. 14-12
14.4.2 Writing commands ................................................................................................................. 14-18
14.5 Detailed explanations of commands ............................................................................................. 14-20
14.5.1 Data processing ...................................................................................................................... 14-20
14.5.2 Status display mode ............................................................................................................... 14-21
14.5.3 Parameter ............................................................................................................................... 14-22
14.5.4 External I/O signal status (DIO diagnosis).............................................................................. 14-27
14.5.5 Input device on/off .................................................................................................................. 14-30
14.5.6 Disabling/enabling I/O devices (DIO) ..................................................................................... 14-31
14.5.7 Input devices on/off (test operation) ....................................................................................... 14-32
14.5.8 Test operation mode............................................................................................................... 14-33
14.5.9 Output signal pin on/off (output signal (DO) forced output) .................................................... 14-37
14.5.10 Alarm history ......................................................................................................................... 14-38
14.5.11 Current alarm ........................................................................................................................ 14-39
14.5.12 Other commands .................................................................................................................. 14-40
15. SERVO MOTOR 15- 1 to 15- 6
15. SERVO MOTOR ............................................................................................................................... 15-2
15.1 Servo motor with a lock ................................................................................................................... 15-2
15.1.1 Features ................................................................................................................................... 15-2
15.1.2 Characteristics of servo motor with a lock ................................................................................ 15-4
15.2 Protection from oil and water .......................................................................................................... 15-5
15.3 Cable ............................................................................................................................................... 15-5
15.4 Rated speed of servo motor ............................................................................................................ 15-5
15.5 Mounting connectors ....................................................................................................................... 15-6
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