Download OPERATION MANUAL Position Control Units - Support

Appendix C
Operation Area I/O Allocations
I/O
Word
Input
b+3
(PCU
to CPU
Unit)
Bits
00
01
02
03
04
05
06
07
08
09
10
11 to 15
b+4
b+5
--00 to 03
04 to 07
08 to 15
b+6
---
b+7
---
b+8
---
b+9
---
b+10
---
b+11
---
b+12
---
b+13
---
b+14
---
b+15
---
b+16 to --b+23
Category
Name
External I/O Forward rotation limit
status
input
Reverse rotation limit
input
Origin proximity input
Encoder Phase A
input
Encoder Phase B
input
Encoder Phase Z
input
External latch signal
1 input
External latch signal
2 input
External latch signal
3 input
Brake output
Emergency stop
input (See note 2.)
Reserved by the system.
Errors
Axis error code
Expanded
Monitor 1 type
monitoring Monitor 2 type
Present
position
Expanded
monitoring
Servo
Parameter
data
---
Not used (reserved
by the system).
Feedback present
position (rightmost
word)
Feedback present
position (leftmost
word)
Command present
position (rightmost
word)
Command present
position (leftmost
word)
Monitor 1 (rightmost
word)
Monitor 1 (leftmost
word)
Monitor 2 (rightmost
word)
Monitor 2 (leftmost
word)
Read data (rightmost
word)
Read data (leftmost
word)
Not used (reserved
by the system).
Function
Returns the status of I/O signals for each axis.
1: Signal valid
0: Signal invalid
The external I/O status shows the enabled/disabled
status of signals used for PCU control.
This status is different from the electrical ON/OFF
status of the I/O signals.
Displays axis error code/warning code for each axis.
Shows monitor type for monitor 1.
Shows monitor type for monitor 2.
Always 0.
Present position:
Feedback present position (rightmost word)
Feedback present position (leftmost word)
Present position:
Command position (rightmost word)
Command position (leftmost word)
Monitor value specified for monitor 1 type.
Monitor value specified for monitor 2 type.
Contains the Servo Parameter that was read.
Always 0.
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