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When p e r f o r m i n g t h e w r i t e - i n
o r r e a d o u t o f
p r e s e t d a t a between
Y l 9
t h e s e q u e n c e r a n d KD71,
t h e d a t a t y p e i s a p p e n d e d w h e n t r a n s -
Y 1 A
f e r r i n g t h e d a t a .
T h i s i s u s e d f o r d a t a d i s c r i m i n a t i o n w h e n
Acceleration
1
deceleration time
.
Torque r e s t r i c t i o n
Backlash compensa-
t i o n
Speed r e s t r i c t i o n
(upper order 1
Speed r e s t r i c t i o n
(
lower order 1
Upper stroke l i m i t
(upper order)
Upper stroke l i m i t
(lower order)
Lower stroke l i m i t
(upper order)
Lower stroke l i m i t
(upper order)
t r a n s m i t t i n g a l a r g e a m o u n t o f d a t a b e t w e e n t h e s e q u e n c e r a n d
KD71
.
T a b l e 1 1 . 2
D a t a t y p e s
~-
~
Zero p o i n t r e t u r n
Z e r o p o i n t address
.
(upper order)
Present address
(lower order)
Zero p o i n t r e t u r n
speed (upper order)
Zero p o i n t r e t u r n
speed (lower order)
Zero point r e t u r n
creep speed
(upper order)
Zero point r e t u r n
creep speed
(Lower order)
Torque r e s t r i c t i o n
' m o d e
Dwell
time
Data type
6
Z e r o
p o i n t
r e t u r n data
I
Parameter
Y l B
Positioning data
Data number
Positioning ad-
dress (upper order)
Positioning address
(lower order)
Speed
(upper order)
Speed
(lower order)
..
Torque r e s t r i c t i o n
Dwell
time
Positioning p a t t e r n
I
Y 1 C
Present value,
torque r e s t r i c t i o n
Present address upper
order
Present address lower
*Torque r e s t r i c t i o n
value
* s t a t u s
* T h i s i n d i c a t e s t h a t o n l y r e a d o u t
f r o m t h e s e q u e n c e r i s p o s s i b l e .
O t h e r d a t a c a n b e
e n t e r e d
Or
read.
D a t a d i s c r i m i n a t i o n
i s
b y t h e h i g h e s t o r d e r d i g i t o f 4 - d i g i t
d a t a .
D a t a t r a n s m i s s i o n b e t w e e n K D 7 1 b
K C P U
i s p e r f o r m e d b y
b i n a r y v a l u e s .
When t r a n s m i t t i n g
d a t a type
3
w i t h
d a t a
200
a s i n t h e f o l l o w i n g c a s e , t h e b i n a r y v a l u e
3 0 0 0
( B B 8 H )
a n d b i -
n a r y v a l u e
2 0 0
( C 8 H ) a r e a d d e d t o t r a n s m i t t h e v a l u e
3 2 0 0
( C 8 0 H ) .
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