SERVO DRIVER( FDA7000 Series ) STANDARD PROTOCOL (Ver 100) 1
Contents 1 INTRODUCTION 2 PROTOCOL FRAME OUTLINE 3 FUNCTION FIELD 4 DATA FIELD 5 CRC CHECK 6 FUNCTION EXAM 7 EXCEPTION RESPONSE 8 I/O STATUS 9 OPR REGISTER 10 FDA7000 Address Map 11 Appendix 2
1 INTRODUCTION FDA7000 PROTOCOL 11 FDA7000 - FDA7000 Operator - RS232C, RS485 - Protocol - RS232C D/L, PC/L, RS485 - PLC, Touch Screen 12 121 RS232C - 9600bps - Digital Loader P-DORI Station Setup 122 RS485-9600, 19200, 38400, 57600bps - P-DORI Station Setup - (OPR CMD) 3
2 PROTOCOL FRAME OUTLINE Field 21 RTU(Remote Terminal Unit) Frame : Hex Data 211 Start - Frame - 9600bps 1bit 0104msec, ( 35character times, 1 Character = 10 bits) Start time 364msec(Min) RS485 Frame Frame 1 Frame Start Time 9600 bps 364ms 19200 bps 182ms 38400 bps 091ms 57600 bps 046ms - Start time frame, frame - Field 10bits 212 Address Field - Field 1 byte - RS485 Slave Device( ) ID - 1 ~ 247, RS-485 1 ~ 31 213 Function Field - Field 1 byte - Master( ) Slave( ) data code ( Function Code ) - Code 03, 06, 16 4
214 Data Field - Function Code Field 4 bytes - Register Address, Data, Byte-count 215 CRC Check - Field 2 bytes (CRC Check ) 216 Field - Start bit : 1 bit - Data bit : 8 bits ( 4bit hex 2 ) - Parity bit : 1 bit(even, odd), no bit(no parity) - Stop bit : 1 bit, 2 bits - Data LSB bit -> MSB bit 22 Mode - RTU Mode ASCII Mode - ( baud rate, parity mode, port) Slave device Mode - Modbus Network Device Mode -, data RTU Mode 23 OTIS Mode - Data RTU Mode 5
3 Function Field Function Field Code 31 03 : Read Holding Register(0x03) - Slave Device Code - - Register (40001 ~ 4xxxx), Data Address 0000 ~ xxxx-1 32 06 : Write Single Register(0x06) - Slave Device Setting Code - Setting 33 16 : Write Multiple Register(0x10) - Slave Device Setting Code - (Address ) Setting 34 SP Function Code - Code, Function Code - Code - 6Function Exam 6
4 Data Field Data Field 41 Data Field - Register( ) Address,, data, Function Code 42 Register Data Register data 4bytes Register Data type Integer, Float, 421 Integer data - Register 0 ~ 65535 data, Register -32768 ~ 32767 data - 4bytes 2bytes Don t care data 2bytes - 50000 (dec) data 422 Float data - 999999 ~ +999999 data - Float data format IEEE754, S : bit ( 1 bit ) E : bit ( 8 bit ) M : bit ( 23 bit ) Data = (-1) ^S x 1M x 2^(E-127) 7
- 1) 12345 data S : 0 E : 10001001 = 137 M : 0011010 01010000 00000000 = 1/8 + 1/16 + 1/64 + 1/512 + 1/2048 = 0205566406 Data = (-1)^0 x 1205566406 x 2^(137-127) = 12345-2) 12345 data S : 1 E : 10001001 = 137 M : 0011010 01010000 00000000 = 1/8 + 1/16 + 1/64 + 1/512 + 1/2048 = 0205566406 Data = (-1)^1 x 1205566406 x 2^(137-127) = -12345 43 Register data - Register Integer, Float, data type - (http://higenmotorcokr) Data ( Float <--> HEX ) 8
5 CRC Check CRC Check Field 51 Error Check Field - Field 2 bytes - 1 byte + 1 byte - CRC Check Method CRC-16( X^16 + X^15 + X^2 + 1 ) 52 CRC 1) 16bit register(0xffff) CRC Register( ) 2) CRC Register data(start, Parity, Stop bit 8 bit) XOR CRC Register 3) CRC Register 1 bit Shift 4) Shift carry 0, 3) carry 1, CRC Register 0xA001(POLY : polynomial value) XOR CRC Register 3) 5) 3) 4) 8 6) 8 data CRC Register 7) 1) ~ 6) 1byte CRC, frame N byte, 1) ~ 6) N-2 (-2 : Error CHK Field) 9
53 Block Diagram - CRC Block Diagram 10
54 CRC Check - 0x02 CRC16 ( POLY : 0xA001 ) 0x813E 0x02 CRC16 hex CRC16 CRC16 Data CRC16 Register CMD CRC CRC16 (Delphi ) Table Modicon Modbus Protocol Reference Guide 11
6 Function Exam Function Code 61 03 : Read Holding Register(0x03) - Slave Device(ID : 2) Register 108 ~ 109 1) Register 108 : 555(dec), 109 : 0(dec) ( Integer Type) Request Response 2) Register 108 :+12345(dec), 109 : -12345(dec) ( Float Type) Request Response 12
62 06 : Write Single Register(0x06) - Slave Device(ID : 2) Register 2(Addr : 0001) 3 setting Request Response - Function Code 06 Request Frame ( Set ting ) 63 16 : Write Multiple Register(0x10) - Slave Device(ID : 2) Register 2 2 register 10, 258 setting Request 13
Response 64 SP Function Code 641 JOG SP Function Code ( data hex ) Master JOG CMD Request Echo( CMD return ) 642 Alarm SP Function Code ( data hex ) 14
/ Request echo / table Response Response (Reg_val_4 ) 15
65 Data - Motor Parameter ( P1-02 ~ P1-06, P1-09 ) Masking ( 1 ) - Parameter data, Parameter data F ) Parameter : P1-01 ~ P1-20, Parameter : P1-01 ~ P1-21 Exception Error, P1-01 ~ P1-20 data, P1-21( Parameter) FFFFFFFF - Parameter Register Address data Exception Rule Exception Code -, 2 Start Address Register 16
7 Exception Response Exception Response 71 Master Device Slave Device 1) 2) Master, Slave (Master Device) Time-out 3) Master, data (parity, CRC, LRC ) Slave (Master Device) Time-out 4) frame CMD, Slave Code Function code, Register Address Slave Exception Response Exception Response Exception Code 72 Exception Response - 2 Field(Function Field + Exception Code Field) - Function Field ( Code = Function Code + h80 ) Modbus Protocol Function Code 128( h 80 ) bit 00000001 ~ 01111111, bit 0 Exception Response bit 1 set 129 ( h81 ) Exception Response Function Field data Function Code + h80 - Data Field Data,, Exception Response Exception Code 17
73 - Address Register Request Response 74 Exception Code 18
8 I/O Status - I/O ( : StE-17 ) - I/O Status Frame Data Field 4byte, 16bit Input, 16bit Output - Register 81 - Slave Device(ID : 2) I/O Status(Register Addr : 0x001A) Request ( ) Response INPUT Data( 16bit) : 0x0243 OUTPUT Data( 16bit) : 0x002B 82 821 16 bit ( Input ) 1 : ( GND24 ) 0 : 19
822 16 bit ( Output ) 1 : 0 : 20
9 OPR Register - CN1 Register - I/O OPR CMD P01-17 1 - Frame 32bit, 16 bit Don t care - 16 bit bit Table - Register 91 I/O OPR CMD 911 1 : 0 : ( GND24 ) 912 I/O OPR CMD - I/O OPR CMD Register Address 42001(0x07D0), CWLIM, CCWLIM, ESTOP, SPD1 : ON ( Slave ID : 2 ) F E D C B A 9 8 7 6 5 4 3 2 1 0 Don't care ALAR M /CLR STOP/ STAR T ESTOP TLI M CWLI M CCWLI M P/PI DI R SPD3 SDP2 SPD1 SVONE N Don't Care 1 1 0 1 0 0 1 1 1 1 0 1, I/O OPR CMD 0x0D3D Request 21
Response : Request echo 92 OPR CMD - I/O OPR CMD CN1 - I/O CN1 P1-17 Serial I/O 0 -> 1-22
10 FDA7000 Address Map 101 Address Data Type ( ) Min Max 40011 0x000A StE-01 INT Display Select R 1203 100 1330-40012 0x000B StE-02 Float Command Speed R 00-99999 99999 rpm 40013 0x000C StE-03 Float Motor Speed R 00-99999 99999 rpm 40014 0x000D StE-04 Float CCW Speed Limit R 30000 0 99999 rpm 40015 0x000E StE-05 Float CW Speed Limit R -30000-99999 0 rpm 40016 0x000F StE-06 INT Command Pulse R 0-99999 99999 pulse 40017 0x0010 StE-07 INT Feedback Pulse R 0-99999 99999 pulse 40018 0x0011 StE-08 INT Error Pulse R 0-99999 99999 pulse 40019 0x0012 StE-09 Float Command Torque R 00-300 300 % 40020 0x0013 StE-10 Float Load Rate R 00-300 300 % 40021 0x0014 StE-11 Float Max Load Rate R 00-300 300 % 40022 0x0015 StE-12 Float CCW TRQ LMT R 2754 0 300 % 40023 0x0016 StE-13 Float CW TRQ LMT R -2754-300 0 % 40024 0x0017 StE-14 Float Inertia Ratio R 20 0 50-40025 0x0018 StE-15 INT MULTI Turns R 0 0 99999 pulse 40026 0x0019 StE-16 INT Single Turn R 0 0 131072 pulse 40027 0x001A StE-17 BIT I/O Status R - 0 99999-40028 0x001B StE-18 Float PROG Version R 100 0 9999-40101 0x0064 * P01-01 INT Motor ID R/W 21 0 99-40102 0x0065 P01-02 Float Inertia - - 001 99999 gfcm^2 40103 0x0066 P01-03 Float TRQ Constant - - 01 99999 kgfcm/a 40104 0x0067 P01-04 Float Phase Inductance - - 0001 99999 mh 40105 0x0068 P01-05 Float Phase Resistance - - 0001 99999 40106 0x0069 P01-06 Float Rated Current - - 001 99999 A(rms) 40107 0x006A P01-07 Float Rated Speed - 0 9999 rpm 40108 0x006B P01-08 Float MAX Speed - 0 9999 rpm 40109 0x006C P01-09 Float Rated TRQ - - 0 9999 kgfcm 40110 0x006D P01-10 INT Pole Number - - 2 98 pole 40111 0x006E * P01-11 INT Drive ID R/W 10 0 10-40112 0x006F * P01-12 INT Encoder ID R/W 1(A) 0 9-40113 0x0070 * P01-13 INT Encoder Pulse R/W 2000 1 32768 ppr 40114 0x0071 P01-14 INT Pulse Out Rate R/W 2000 1 131072 pulse 40115 0x0072 * P01-15 INT COM Baud Rate R/W 0 0 3-40116 0x0073 * P01-16 INT Serial Select R/W 0 0 2-40117 0x0074 * P01-17 INT Serial I/O R/W 0 0 2-40118 0x0075 * P01-18 INT Serial ID R/W 1 0 31-40119 0x0076 P01-19 INT Parameter Lock R/W 0(off) 0 1-40120 0x0077 * P01-20 INT Absolute Origin R/W 0(off) 0 1-23
40201 0x00C8 * P02-01 INT Control Mode R/W 1 0 5-40202 0x00C9 P02-02 Float Mode Change Time R/W 5000 100 10000 ms 40203 0x00CA P02-03 Float CCW TRQ LMT R/W 3000 0 300 % 40204 0x00CB P02-04 Float CW TRQ LMT R/W -3000-300 0 % 40205 0x00CC P02-05 Float CCW Speed Limit R/W 30000 0 6000 rpm 40206 0x00CD P02-06 Float CW Speed Limit R/W -30000-6000 0 rpm 40207 0x00CE P02-07 Float Brake Speed R/W 500 0 99999 rpm 40208 0x00CF P02-08 Float Brake Time R/W 500 0 10000 ms 40209 0x00D0 P02-09 INT DB Mode R/W 2 0 3-40210 0x00D1 P02-10 INT Notch Filter1 R/W 0 0 2-40211 0x00D2 P02-11 Float NF Frequency1 R/W 3000 50 2000 Hz 40212 0x00D3 P02-12 Float NF Bandwidth1 R/W 950 10 999 % 40213 0x00D4 P02-13 INT Notch Filter2 R/W 0 0 1-40214 0x00D5 P02-14 Float NF Frequency2 R/W 5000 50 2000 Hz 40215 0x00D6 P02-15 Float NF Bandwidth2 R/W 950 10 999 % 40216 0x00D7 P02-16 Float TRQ Filter TC R/W 13 0 1000 ms 40217 0x00D8 P02-17 INT Auto Tuning R/W 0 0 1-40218 0x00D9 P02-18 INT System Response R/W 7 1 19-40219 0x00DA P02-19 Float Inertia Ratio R/W 20 1 50-40220 0x00DB P02-20 Float Gain ADJ Speed1 R/W 8000 100 5000 rpm 40221 0x00DC P02-21 Float Gain ADJ Speed2 R/W 1000 10 500 rpm 40222 0x00DD P02-22 Float Gain ADJ TRQ1 R/W 1500 50 300 % 40223 0x00DE P02-23 Float Gain ADJ TRQ2 R/W 500 0 300 % 40224 0x00DF P02-24 Float Contact Gain TC R/W 1000 0 10000 ms 40225 0x00E0 P02-25 INT Temporary Stop R/W 0(off) 0 1-40226 0x00E1 P02-26 INT Emergency Stop R/W 0(off) 0 1-40227 0x00E2 P02-27 INT Direction Select R/W 0(off) 0 1-40228 0x00E3 P02-28 INT Ripple COMPEN R/W 0(off) 0 1-40229 0x00E4 * P02-29 INT Parameter INIT R/W 0(off) 0 1-40301 0x012C * P03-01 INT Speed Gain Mode R/W 1 1 5-40302 0x012D P03-02 Float PI-IP Control % R/W 1000 0 100 % 40303 0x012E P03-03 Float Friction COMPEN R/W 00 0 100 % 40304 0x012F P03-04 Float Load COMPEN R/W 00 0 100 % 40305 0x0130 P03-05 Float SC Loop Gain1 R/W 300 0 1000 Hz 40306 0x0131 P03-06 Float SC TC1 R/W 300 0 10000 ms 40307 0x0132 P03-07 Float SC Loop Gain2 R/W 350 0 1000 Hz 40308 0x0133 P03-08 Float SC TC2 R/W 250 0 10000 ms 40309 0x0134 P03-09 Float Analog CMD TC R/W 00 0 2000 ms 40310 0x0135 P03-10 Float ACCEL Time R/W 00 0 90000 ms 40311 0x0136 P03-11 Float DECEL Time R/W 00 0 90000 ms 40312 0x0137 * P03-12 Float S-Mode TC R/W 00 0 9000 ms 40313 0x0138 P03-13 Float In Speed Range R/W 100 0 99999 rpm 24
40314 0x0139 P03-14 Float Zero Speed Range R/W 100 0 99999 rpm 40315 0x013A * P03-15 Float Analog +10[V] RPM R/W 15000 0 99999 rpm 40316 0x013B * P03-16 Float Analog -10[V] RPM R/W -15000-99999 0 rpm 40317 0x013C P03-17 INT Auto Offset R/W 0(off) 0 1-40318 0x013D P03-18 Float Manual Offset R/W 00-1000 1000 mv 40319 0x013E * P03-19 INT Override ENB R/W 0(off) 0 1-40320 0x013F P03-20 INT Clamp Mode R/W 0 0 2-40321 0x0140 P03-21 Float Clamp Voltage R/W 00-1000 1000 mv 40322 0x0141 * P03-22 Float F/Back TC R/W 00 0 2000 ms 40323 0x0142 P03-23 Float Zero SPD VIB REJ R/W 01 0 1000 rpm 40324 0x0143 * P03-24 INT Feedforward TRQ R/W 0 0 2-40401 0x0190 P04-01 Float Spped1 R/W 100-99999 99999 rpm 40402 0x0191 P04-02 Float Speed2 R/W 1000-99999 99999 rpm 40403 0x0192 P04-03 Float Speed3 R/W 2000-99999 99999 rpm 40404 0x0193 P04-04 Float Speed4 R/W 5000-99999 99999 rpm 40405 0x0194 P04-05 Float Speed5 R/W 10000-99999 99999 rpm 40406 0x0195 P04-06 Float Speed6 R/W 20000-99999 99999 rpm 40407 0x0196 P04-07 Float Speed7 R/W 30000-99999 99999 rpm 40408 0x0197 P04-08 Float Torque1 R/W 00-300 300 % 40409 0x0198 P04-09 Float Torque2 R/W 20-300 300 % 40410 0x0199 P04-10 Float Torque3 R/W 200-300 300 % 40411 0x019A P04-11 Float Torque4 R/W 500-300 300 % 40412 0x019B P04-12 Float Torque5 R/W 750-300 300 % 40413 0x019C P04-13 Float Torque6 R/W 1000-300 300 % 40414 0x019D P04-14 Float Torque7 R/W 1200-300 300 % 40501 0x01F4 * P05-01 INT POS Gain Mode R/W 1 1 5-40502 0x01F5 * P05-02 INT POS Pulse Type R/W 1 0 5-40503 0x01F6 P05-03 INT Speed Mode R/W 0(off) 0 1-40504 0x01F7 P05-04 Float Feedforward R/W 00 0 100 % 40505 0x01F8 P05-05 Float PC P Gain1 R/W 300 0 500 Hz 40506 0x01F9 P05-06 Float PC P Gain2 R/W 350 0 500 Hz 40507 0x01FA P05-07 INT PI-P Pulse ERR R/W 0 0 99999 pulse 40508 0x01FB P05-08 INT IN Position R/W 100 0 99999 pulse 40509 0x01FC P05-09 INT Follow ERR R/W 30000 0 99999 pulse 40510 0x01FD P05-10 Float POS CMD TC R/W 00 0 2000 ms 40511 0x01FE P05-11 Float FF TC R/W 00 0 2000 ms 40512 0x01FF * P05-12 INT ELCTR Gear NUM1 R/W 1 1 99999-40513 0x0200 * P05-13 INT ELCTR Gear DEN1 R/W 1 1 99999-40514 0x0201 * P05-14 INT ELCTR Gear NUM2 R/W 1 1 99999-25
40515 0x0202 * P05-15 INT ELCTR Gear DEN2 R/W 2 1 99999-40516 0x0203 * P05-16 INT ELCTR Gear NUM3 R/W 1 1 99999-40517 0x0204 * P05-17 INT ELCTR Gear DEN3 R/W 4 1 99999-40518 0x0205 * P05-18 INT ELCTR Gear NUM4 R/W 1 1 99999-40519 0x0206 * P05-19 INT ELCTR Gear DEN4 R/W 8 1 99999-40520 0x0207 P05-20 Float Bias SPD COMPEN R/W 00-1000 1000 rpm 40521 0x0208 P05-21 INT Bias Pulse Band R/W 10 0 500 pulse 40522 0x0209 P05-22 INT Backlash Pulse R/W 0 0 99999 pulse 40601 0x0258 * P06-01 Float Analog TRQ TC R/W 00 0 2000 ms 40602 0x0259 P06-02 Float TRQ ACCEL Time R/W 00 0 9000 ms 40603 0x025A P06-03 Float TRQ DECEL Time R/W 00 0 9000 ms 40604 0x025B * P06-04 Float TRQ S-Mode R/W 00 0 2000 ms 40605 0x025C P06-05 Float In TRQ Range R/W 100 0 100 % 40606 0x025D P06-06 Float Stop TRQ Range R/W 100 0 100 % 40607 0x025E P06-07 Float 10[V] TRQ R/W 1000 0 300 % 40608 0x025F P06-08 INT Auto Offset R/W 0(off) 0 1-40609 0x0260 P06-09 Float Manual Offset R/W 00-1000 1000 mv 40701 0x02BC * P07-01 INT CN1-18 R/W 1 0 30-40702 0x02BD * P07-02 INT CN1-43 R/W 9 0 20-40703 0x02BE * P07-03 INT CN1-17 R/W 10 0 20-40704 0x02BF * P07-04 INT CN1-42 R/W 11 0 20-40705 0x02C0 * P07-05 INT CN1-16 R/W 3 0 20-40706 0x02C1 * P07-06 INT CN1-41 R/W 4 0 20-40707 0x02C2 * P07-07 INT CN1-15 R/W 13 0 20-40708 0x02C3 * P07-08 INT CN1-40 R/W 14 0 20-40709 0x02C4 * P07-09 INT CN1-14 R/W 12 0 20-40710 0x02C5 * P07-10 INT CN1-39 R/W 16 0 20-40711 0x02C6 * P07-11 INT CN1-13 R/W 15 0 20-40712 0x02C7 * P07-12 INT CN1-38 R/W 19 0 20-40801 0x0320 * P08-01 INT CN1-23 R/W 0 0 30-40802 0x0321 * P08-02 INT CN1-48 R/W 3 0 18-40803 0x0322 * P08-03 INT CN1-22 R/W 6 0 18-40804 0x0323 * P08-04 INT CN1-47 R/W 5 0 18-40805 0x0324 * P08-05 INT CN1-21 R/W 7 0 18-40806 0x0325 * P08-06 INT CN1-46 R/W 9 0 18-40807 0x0326 * P08-07 INT CN1-20 R/W 14 0 18-40808 0x0327 * P08-08 INT CN1-45 R/W 15 0 18-40809 0x0328 * P08-09 INT CN1-19 R/W 16 0 18-40810 0x0329 * P08-10 INT CN1-44 R/W 17 0 18-26
40901 0x0384 P09-01 INT Monitor1 R/W 0 0 5-40902 0x0385 P09-02 INT Monitor2 R/W 0(off) 0 1-40903 0x0386 P09-03 Float Monitor ABS1 R/W 10 01 2000-40904 0x0387 P09-04 Float Monitor ABS2 R/W 00-1000 1000 mv 40905 0x0388 P09-05 INT Monitor Scale1 R/W 1 0 5-40906 0x0389 P09-06 INT Monitor Scale2 R/W 0(off) 0 1-40907 0x038A P09-07 Float Monitor Offset1 R/W 10 01 2000-40908 0x038B P09-08 Float Monitor Offset2 R/W 00-1000 1000 mv 41001 0x03E8 P10-01 INT Key Jog Mode R/W 0(off) 0 1-41002 0x03E9 P10-02 Float Key Jog Speed R/W 1000-99999 99999 rpm 41003 0x03EA P10-03 INT Auto Jog Mode R/W 0 0 2-41004 0x03EB P10-04 Float Jog Speed1 R/W 1000-99999 99999 rpm 41005 0x03EC P10-05 Float Jog Time1/REV1 R/W 10 0 5000 [sec]/[rev] 41006 0x03ED P10-06 Float Jog Speed2 R/W -1000-99999 99999 rpm 41007 0x03EE P10-07 Float Jog Time2/REV2 R/W 10 0 5000 [sec]/[rev] 41008 0x03EF P10-08 Float Jog Speed3 R/W 2000-99999 99999 rpm 41009 0x03F0 P10-09 Float Jog Time3/REV3 R/W 10 0 5000 [sec]/[rev] 41010 0x03F1 P10-10 Float Jog Speed4 R/W -2000-99999 99999 rpm 41011 0x03F2 P10-11 Float Jog Time4/REV4 R/W 10 0 5000 [sec]/[rev] 41012 0x03F3 P10-12 Float Jog Speed5 R/W 4000-99999 99999 rpm 41013 0x03F4 P10-13 Float Jog Time5/REV5 R/W 10 0 5000 [sec]/[rev] 41014 0x03F5 P10-14 Float Jog Speed6 R/W -4000-99999 99999 rpm 41015 0x03F6 P10-15 Float Jog Time6/REV6 R/W 10 0 5000 [sec]/[rev] 41016 0x03F7 P10-16 Float Jog Speed7 R/W 8000-99999 99999 rpm 41017 0x03F8 P10-17 Float Jog Time7/REV7 R/W 10 0 5000 [sec]/[rev] 41018 0x03F9 P10-18 Float Jog Speed8 R/W -8000-99999 99999 rpm 41019 0x03FA P10-19 Float Jog Time8/REV8 R/W 10 0 5000 [sec]/[rev] 27
Operating Address Address Data Type ( ) Min Max 42001 0x07D0 - - I/O DGT CMD W 0x0d3f - - - 42002 0x07D1 - Float SPD DGT CMD W 0 - - - 42003 0x07D2 - Float TRQ DGT CMD W 0 - - - 42004 0x07D3 - - POS DGT CMD W 0 - - - Alarm Address Address Data Type ( ) Min Max 42101 0x0834 - - Current Alarm R - - - - 42102 0x0835 - - Alarm Reset W - - - - 42103 0x0836 - - Alarm History R - - - - 42104 0x0837 - - Alarm History Reset W - - - - Jog Key Address Address Data Type ( ) Min Max 42201 0x0898 - - JOG ON W - - - - 42202 0x0899 - - JOG OFF W - - - - 42203 0x089A - - (CW) W - - - - 42204 0x089B - - (CCW) W - - - - 42205 0x089C - - (Stop) W - - - - PARAMETER FDA7000 28
11 APPENDIX 111 Appendix A : Serial Communication Cable 1111 RS232C Channel 1112 RS485 Channel [ PC Serial Port ] [ Servo DRV _CN3 CON ] [ Upper System ] [ Servo DRV _CN3 CON ] 1) Rt N Short( ) 2) (120 ) 3) Rt - RS485 Network 29
112 Appendix B : P- DORI Station P-DORI STATION Servo Driver PC P-DORI STATION OTIS 1121 - FDA7000, 1122 - Parameter Read/Write - Status Monitoring - Auto-tuning Menu - Digital < MAIN > < > < > < I/O > 1123 - P-DORI STATION P-DORI STATION MANUAL 30
- MEMO - 31