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Toggle monitor 0: Sequence input signal (Reference value 75)
Toggle monitor 1: Sequence input signal (Reference value 76)
This signal checks if communications between the SX controller and servo amplifier is properly carried
out.
Function
Using the toggle monitor bit and toggle answer bit, the normality of communications data of SX bus
can be checked.
If [toggle monitor 0, toggle monitor 1] is changed as [0, 0] → [0, 1] → [1, 0] → [1, 1] → [0, 0]
on the SX controller per bus cycle time in that order, [toggle answer 0, toggle answer 1] will change
in the same manner.
If the servo amplifier receives the same pattern three successive times in SX bus cycle time, the
servo amplifier issues an toggle error and stops operation to be controlled to stop. The controlled
stop motion follows the setting of PA2_61 (action sequence at servo-on OFF).
Power on
Controller
[0,0]
(toggle monitor 0, 1)
Servo amplifier
Toggle error
The toggle error is prepared as a dedicated signal (different detection function from alarm
detection, alarm code 4 to 0). The toggle error monitor becomes enabled after the toggle monitor 0
and 1 start to be updated. The toggle error signal can be reset with the alarm reset signal after the
toggle monitor 0 and 1 resume to be updated again.
Using the toggle answer bit on the CPU side of the SX, the data normality in input area can be
checked. If the toggle answer bit is updated following the toggle monitor bit update, the data in
input area are correct. If the toggle answer bit is not updated even though the toggle monitor bit
has been updated, data in input area have not been updated and remain in an old state. Use the
toggle monitor and toggle answer in accordance with the intended use of the input area.
[0,0]
[0,0]
[0,1]
[1,0]
[0,0]
[0,0]
[0,0]
Toggle error monitoring processing start
CHAPTER 2 WIRING
[1,1]
[0,0]
[0,0]
[0,1]
[1,0]
[1,1]
[0,0]
Same pattern in three
OFF
successive times
Description of I/O Signals
Time
[0,0]
[0,1]
[0,0]
[0,0]
ON
2-75
2
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