User Manual
Chapter 3 Gateway R unit Part 1 Specification
[2] Pos
i
Command
n
Read target p
o
Read position
band
Read speed
Read individu
a
boundary+
Read individu
a
boundary-
Read acceler
a
i
tion table data
n
ame
CC
-
o
sition
RY 2
RY 3
RY 4
RY 5
RY 6
RY 7
ing RY 2
RY 3
RY 4
RY 5
RY 6
RY 7
RY 2
RY 3
RY 4
RY 5
RY 6
RY 7
a
l zone RY 2
RY 3
RY 4
RY 5
RY 6
RY 7
a
l zone RY 2
RY 3
RY 4
RY 5
RY 6
RY 7
a
tion
RY 2
RY 3
RY 4
RY 5
RY 6
RY 7
read comman
Relative ad
d
-
Link*6
Devi
c
*/RX 2*
+
*/RX 3*
+
*/RX 4*
+
*/RX 5*
+
*/RX 6*
+
*/RX 7*
+
*/RX 2*
+
*/RX 3*
+
*/RX 4*
+
*/RX 5*
+
*/RX 6*
+
*/RX 7*
+
*/RX 2*
+
*/RX 3*
+
*/RX 4*
+
*/RX 5*
+
*/RX 6*
+
*/RX 7*
+
*/RX 2*
+
*/RX 3*
+
*/RX 4*
+
*/RX 5*
+
*/RX 6*
+
*/RX 7*
+
*/RX 2*
+
*/RX 3*
+
*/RX 4*
+
*/RX 5*
+
*/RX 6*
+
*/RX 7*
+
*/RX 2*
+
*/RX 3*
+
*/RX 4*
+
*/RX 5*
+
*/RX 6*
+
*/RX 7*
+
ds
d
ress from be
g
c
eNet
Pro
Ethe
r
RS4
8
+
2
+
4
+
3
+
6
+
4
+
8
+
5
+1
0
+
6
+1
2
+
7
+1
4
+
2
+
4
+
3
+
6
+
4
+
8
+
5
+1
0
+
6
+1
2
+
7
+1
4
+
2
+
4
+
3
+
6
+
4
+
8
+
5
+1
0
+
6
+1
2
+
7
+1
4
+
2
+
4
+
3
+
6
+
4
+
8
+
5
+1
0
+
6
+1
2
+
7
+1
4
+
2
+
4
+
3
+
6
+
4
+
8
+
5
+1
0
+
6
+1
2
+
7
+1
4
+
2
+
4
+
3
+
6
+
4
+
8
+
5
+1
0
+
6
+1
2
+
7
+1
4
g
inning
P
fibus
r
Net/IP
8
5SIO *1
4
/
+5
6
/
+7
8
/
+9
0
/+11
2
/+13 A
x
4
/+15
4
/
+5
6
/
+7
8
/
+9
0
/+11
2
/+13
A
4
/+15
4
/
+5
6
/
+7
8
/
+9
0
/+11
2
/+13
A
4
/+15
4
/
+5
6
/
+7
8
/
+9
0
/+11
2
/+13
A
4
/+15
4
/
+5
6
/
+7
8
/
+9
0
/+11
2
/+13
A
4
/+15
4
/
+5
6
/
+7
8
/+9
0
/+11
2
/+13
A
4
/+15
P
LC output (re
q
1040H
Position nu
m
0
0
x
is number 0 t
o
Cannot be u
s
1041H
Position nu
m
0
0
A
xis number 0
Cannot be u
s
1042H
Position nu
m
0
0
A
xis number 0
Cannot be u
s
1043H
Position nu
m
0
0
A
xis number 0
Cannot be u
s
1044H
Position nu
m
0
0
A
xis number 0
Cannot be u
s
1045H
Position nu
m
0
0
A
xis number 0
Cannot be u
s
q
uest)
P
If t
h
e
suc
c
in
t
h
t
he
v
m
ber
Tar
g
o
FH*1
If t
h
e
suc
c
in
t
h
t
he
v
s
ed.
If t
h
e
suc
c
in
t
h
t
he
v
m
ber
Pos
to FH
If t
h
e
suc
c
in
t
h
t
he
v
s
ed.
If t
h
e
suc
c
in
t
h
t
he
v
m
ber
Sp
e
to FH
If t
h
e
suc
c
in
t
h
t
he
v
s
ed.
If t
h
e
suc
c
in
t
h
t
he
v
m
ber
Indi
v
dat
a
to FH
If t
h
e
suc
c
in
t
h
t
he
v
s
ed.
If t
h
e
suc
c
in
t
h
t
he
v
m
ber
Indi
v
dat
a
to FH
If t
h
e
suc
c
in
t
h
t
he
v
s
ed.
If t
h
e
suc
c
in
t
h
t
he
v
m
ber
Acc
e
If t
h
e
suc
c
in
t
h
t
he
v
to FH
s
ed.
P
LC input (res
p
e
command has
c
ess
f
ul
, t
he
valu
e
h
e
response
is
t
h
v
alue
se
t
in
t
he
r
g
et position data
e
command has
c
ess
f
ul
, t
he
valu
e
h
e
response
is
t
h
v
alue
se
t
in
t
he
r
e
command has
c
ess
f
ul
, t
he
val
u
h
e
response
is
t
h
v
alue
se
t
in
t
he
r
itioning band da
t
e
command has
c
ess
f
ul
, t
he
valu
e
h
e
response
is
t
h
v
alue
se
t
in
t
he
r
e
command has
c
ess
f
ul
, t
he
val
u
h
e
response
is
t
h
v
alue
se
t
in
t
he
r
e
ed data *4
e
command has
c
ess
f
ul
, t
he
valu
e
h
e
response
is
t
h
v
alue
se
t
in
t
he
r
e
command has
c
ess
f
ul
, t
he
val
u
h
e
response
is
t
h
v
alue
se
t
in
t
he
r
v
idual zone bou
n
a
*2
e
command has
c
ess
f
ul
, t
he
val
u
h
e
response
is
t
h
v
alue
se
t
in
t
he
r
e
command has
c
ess
f
ul
, t
he
valu
e
h
e
response
is
t
h
v
alue
se
t
in
t
he
r
v
idual zone bou
n
a
*2
e
command has
c
ess
f
ul
, t
he
val
u
h
e
response
is
t
h
v
alue
se
t
in
t
he
r
e
command has
c
ess
f
ul
, t
he
valu
e
h
e
response
is
t
h
v
alue
se
t
in
t
he
r
eleration data *
5
e
command has
c
ess
f
ul
, t
he
val
u
h
e
response
is
t
h
v
alue
se
t
in
t
he
r
p
onse)
been
e
returned
e
same
as
r
eques
t.
*2
been
e
returned
e
same
as
r
eques
t.
been
u
e
returned
h
e
same
as
r
eques
t.
t
a *3
been
e
returned
e
same
as
r
eques
t.
been
u
e
returned
h
e
same
as
r
eques
t.
been
e
returned
e
same
as
r
eques
t.
been
u
e
returned
h
e
same
as
r
eques
t.
n
dary+
been
u
e
returned
h
e
same
as
r
eques
t.
been
e
returned
e
same
as
r
eques
t.
n
dary-
been
u
e
returned
h
e
same
as
r
eques
t.
been
e
returned
e
same
as
r
eques
t.
5
been
u
e
returned
h
e
same
as
r
eques
t.
Part 1 Specification
-78-