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16.1.1 General Specifications .......................................................................... 16-2
16.1.2 EtherCAT Communication Specifications ............................................. 16-3
16.1.3 Performance Specifications .................................................................. 16-4
16.2 I/O Allocation ........................................................................................ 16-8
16.3 Whole Configuration of Unit Memories ............................................... 16-10
16.4 Unit Memories (Input and Output Control Areas) ............................... 16-13
16.4.1 Configuration of Input Control Area .................................................... 16-13
16.4.2 List of Input Control Area Functions .................................................... 16-14
16.4.3 Configuration of Output Control Area .................................................. 16-26
16.4.4 List of Output Control Area Functions ................................................. 16-27
16.5 Unit Memories (Common Area) .......................................................... 16-35
16.5.1 Configuration of Common Area ........................................................... 16-35
16.5.2 Setting Parameter Control Area .......................................................... 16-36
16.5.3 Operation Speed Rate Area ................................................................ 16-36
16.5.4 Axis Group Setting Area ...................................................................... 16-37
16.5.5 Current Value Update Data Area ........................................................ 16-38
16.5.6 Torque Limit Area ................................................................................ 16-40
16.5.7 Actual Speed Monitor Area ................................................................. 16-41
16.5.8 Positioning Control Starting Table Number Setting Area .................... 16-41
16.5.9 Positioning Control Area ..................................................................... 16-42
16.5.10 Error Annunciation and Clear Area ................................................. 16-43
16.5.11 Warning Annunciation and Clear Area ............................................ 16-45
16.5.12 Synchronous Control Monitor Area ................................................. 16-47
16.5.13 System Operation Setting Area ....................................................... 16-48
16.5.14 Time Chart Function Operation Setting/Annunciation Area ............ 16-49
16.5.15 ESM Switch Control Area ................................................................ 16-51
16.6 Unit Memories (Each Axis Information Area) ...................................... 16-52
16.6.1 Configuration of Each Axis Information Area ...................................... 16-52
16.6.2 Each Axis Information & Monitor Area ................................................ 16-53
16.7 Unit Memories (Each Axis Setting Area) ............................................ 16-56
16.7.1 Configuration of Each Axis Setting Area ............................................. 16-56
16.7.2 Configuration of Parameter Setting Area ............................................ 16-57
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