HA-680MLシリーズ 技術資料 - ハーモニック・ドライブ・システムズ
Contents
1. TN2. 1 1 1 3 6 2 3 gt 4
3. e 0 lt 50 C 90 RH
4. Y KUD 2 i RD A 0 32767 30000 1 22 CN2 9 FINISH MECHATROLINK
5. lt i 320 24 5m s e
6. 1 e 1 CN1 CN1 e 2 e 3 HA 680ML HA 680ML 2 e 1
7. 3 6 HA 680ML FET
8. 1 e 1 CN1 CN1 e 2 e 3 HA 680ML HA 680ML 2 e 1 3 4 Sr 8 6 8 1 UVW UVW
9. 8 i FHA 8C 0 3 x 0 1 RD FHA 11C 0 6 x 0 5 HA 680ML 6 FHA 14C 1 7 x 2 0 HA 680ML 4B RSF 8B 0 1x RSF 11B 0 2 x DNS RSF 14B 0 3 x 0 5 1 2 TN 3 4 8 1
10. UVW UVW gt dz 8S 1 11 1 gt ds 9S 50V
11. Cf 1 3 7 3 4
12. a 1 5 1 5 HA 680ML mm 260g 2 37MAX 108 20 Ry 106 m 1 1 1 Version No 3 8 PT x H 3 Le 8 i tn 1 S d a
13. 10 9999 3 1 7 3 03 7 gt 6 0 9999 1 1 7 3 7 4 1 7 2 04 1
14. SUP P8H EPR 4 HA 680ML HA 680ML HA 680ML HA 680ML
15. CN2 CN2 3M 3M 10120 3000PE 10320 52F0 008 2 1 2 2 HA 680ML 5 DC24V 10 20mA 1 dh e HA 680ML CN2 6 24V IN COM 6 3 3ko 0 1gF PC354 DC24V 10 20mA 1 aa sa HA 680ML 4
16. 98m s 10G We 3 3 30 mm 50 mm 100 mm HA 680ML HA 680ML 4 HA 680ML 4 HA 680ML 6 HA 680ML 4B HA 680ML 6B FHA 8C FHA 11C FHA 14C RSF 3C RS
17. 1 e 1 HA 680ML HA 680 2 e 1 3 e 1 00 01 02 03 4 e 1 3
18. 1 D e
19. 3 4 4 8 12 12 CN2 7 READY 0 1 CN2 8 ORG END 0 2 CN2 9 FINISH 0 4 CN2 10 ALARM 0 8 0 15 8 1 7 7 2 15 ms 0 99 0 16 MECHATROLINK 16 17
20. 72 DO CD C9 1 C9 2 90 UVW 40 7A B3 BO B1 EA 51 05 E6 WDT E5 4 11 4 4 4 6 P4 34 ALARM P4 100 P4 10 8 SYNC_SETODH Byte 1 SYNC_SET 0DH SYNC_SET ODH ALARM STATUS 2 2
21. EEPROM Read Write 100rmin 0 5s er skasisisasbiaitatagtettaSpi iat HH dh 2 1 HA 680ML CN2 20
22. S 0N e HA 680ML LED 2 1 MP2300 3 MP2300 HA 680ML MP2300 MP2300 4 MP2300 6 2 6 5 MP 2300
23. s s 1 C gt dl 3 4
24. 0 9999 0 05 2 0 0 9999 06 0 9999 0 7 5 7 2 07
25. 1 e 1 HA 680ML gt HA 680ML 2 e 1 3 4 e 2 HA 680ML HA 680ML Srr Sr e 8 1 1 e 1 HA 680ML HA 680ML 2
26. gt ddI 9S 1 9 LED LED LED 1 HA 680ML 2 LED LED4 LED5 ON 1 1 10 CPU LED4 LED5 1 LED 2 MECHATROLINK 3 LED LED RXMON LED3 MECHATROLINK TXMON LED2 MECHATROLINK ERR LED1 MECHATROLINK LED1 1 10 ELU HA 680ML
27. OFF OFF 13 CN2 ON NC b CN2 12 24V mm CN2 3 ORG 13
28. A 1 1 2 3 4 2 2 6 1 6 1 7
29. e 2 HA 680ML 50 C HA 680ML Sr 8 1 EEPROM EEPROM 1 e 1 HA 680ML HA 680ML 2 e 1 HA 680ML HA 680ML 100r min 0 5s
30. 1 3 1 3 HA 680ML HA 680ML 4 24 S000 FHA 8C 30 E200 CE 8 gt dl HA 680ML 4 24 S001 FHA 8C 50 E200 CE HA 680ML 4 24 S002 FHA 8C 100 E200 CE HA 680ML 4 24 S005 FHA 11C 30 E200 CE HA 680ML 4 24 S004 FHA 11C 50 E200 CE HA 680ML 4 24 S005 FHA 11C 100 E200 CE HA 680ML 6 24 S006 FHA 14C 30 E200 CE HA 680ML 6 24 S007 FHA 14C 50 E200 CE HA 680ML 6 24 S008 FHA 14C 100 E200 CE 8 HA 680ML 4B 24 S018 HA 680ML 4B 24 S019 RSF 3C 30 E020 C RSF 3C 50 E020 C HA 680ML 4B 24 S020 RSF 3C 100 E020 C HA 680ML 4B 24 S012 RSF 5B 30 E020 C HA 680ML 4B 24 S013 RSF 5B 50 E020 C HA 680ML 4B 24 S014 RSF 5B 100 E020 C HA 680ML 4B 24 S015 RSF 5B 30 E020 BC HA 680ML 4B 24 S016 RSF 5B 50 E020 BC HA 680ML 4B 24 S017 RSF 5B 100 E020 BC
31. 4 1 FWD IH 11 OUT COM 2 REV IH 12 A A LD 3 ORG 13 A LD 4 1 LATCH1 14 B B LD 5 2 LATCH2 15 B B LD 6 IN COM 16 Z DC24V LD 7 READY 17 Z LD 8 ORG END 18 MON GND 9 FINISH 19 10 ALARM 20 1 5 Z OC 13 14 2 HA 680ML 24V
32. 1 2 RE x 2 a FHA 8C UPJ1H102MHH 1000wF x 1 MR FHA 11G UPJ1H222MHH 2200uF x 1 HA 680ML 6 FHA 14C UPJ1H222MHH 2200uF x 4 HA 680ML 4B RSF 8B UPJ1H102MHH 1000uF x 1 5 RSF 11B UPJ1H222MHH 2200uF x 1 MA RSF 14B UPJ1H222MHH 2200uF x 2 HA 680 VM GND VM VW IC 5 R GND GND U 1 V M W W MC1 5 6 G 3 81 3 14 We 2 S 3 6 2 2 30 XxX WW HA 680ML R GND R GND U 9 V 1 W W MC1 5 6 G 3 81
33. 72 P3 19 O RS 2 RS 7 3 1 7 1 PSF 520 MECHATROLINK PSF 520 PSF 520 No 00 10 9999 01 10 9999 02 10 9999 03 0 9999 04 0 9999 05 0 9999 06
34. PSF 520 7 PSF 520 PSF 520 6 PSF 520 8 9 70 7 PSF 520 77
35. 3 5 HA 680ML HA 680ML HA 680ML HA 680ML 3 mm HA 680ML 4 HA 680ML 6 HA 680ML 4B HA 680ML 4B HA 680ML 6B FHA 8C FHA 14C RSF 3C RSF 8B RSF 11B FHA 11C RSF 5B RSF 14B MP MP 1 25 2 CP CP 1 25 U V W E 0 5 0 75 0 33 0 5 0 75 FG 1 25
36. HA 680ML 24 S AC HA 680 MECHATROLINIK 8 gt dl 9 CL CC Link ML MECHATROLINK 4 4A 6 6A FHA C mini 24V FHA 8C 11G 140 B RSF supermini RSF 3C 5B RSF B RSF 8B 11B 14B 24 DC24V No No TT HA 680ML 4 24 S007 HA 680ML 6 24 6655 S019 HA 680ML 4B 24 7819 HA 680ML 4B 24 1 2 gt ds 9S 1 2 No S021 RSF 8B 30 F100 24B C 7001 S022 HA 680ML 4B 24 RSF 8B 50 F100 24B C 7011 S023 RSF 8B 100 F 100 24B C 7021 S024 RSF 11B 30 F100 24B C 7031 S025 RSF 11B 50 F100 24B C 7041 S026 RSF 11B 100 F100 24B C 7051 HA 680ML 6B 24 S027 RSF 14B 30 F 100 24B C 7061 S028 RSF 14B 50 F 100 24B C 707 1 S029 RSF 14B 100 F100 24B C 7081 e FHA Cmini24V HA 680
37. 11 G MONITORS 3 12 95 13 SEL MON1 2 SEL MON1 2 95 14 IO MON TPOS 15 94 16 WDT REDT PP STATUS DEN 18 19 MFF MP2300 20 HA 680ML 21 22 23 17byte 29byte 17byte 29byte 25 26 27 28 29 4 22 4 4 4 6 P4 34 ALARM P4 10 0 P4 10 23 POSING 35H Byte
38. 09 F4 F5 DUT1 QN DUT2 OFF OUT3 ON DUT4 OFF 5 1 5 1 8 F1 F2 F3 Trriger Menu 2 HHT NC lt Run F11 F2 dS Fa 5 2 JH 5 1 yetMINeeetreFttBIWeiNYSREBRORRtvERSNeeRhs 6 1
39. SV_ON31H 0 SV_ON31H 0 0 SV_ON31H 1 SV_ ON31H 0 1 0 1 28 4 HA 680
40. 2 m HA 680ML 8 1 HA 680ML 1 e 1 HA 680ML HA 680ML 2 e 1 e 2 HA 680ML 50 C gt HA 680ML
41. 5 5 DC24V 3 Ne TN A 1
42. El PARAMETER PARAMETER A NO 94 27 SIZE 94 28 29 4 30 mm 4 5 4 6 P4 34 3 PRM_WR 02H Byte 17 PRM _WR 02H PRM WR 02H 18 SUBSTATUS 19 NO NO 6ms SIZE SIZE E2PROM 59 CONFIG 04H 24 25 2 9 92 HI 95 26 PARAMETER PARAMETER ar 0 Sd 27 28 No 29 NO NO
43. ON NO a CN2 12 24V dh 2 3 CN2 4 1 LATCH1 CN2 5 2 LATCH2 LATCH 38H EX_POSING 39H CRET 3AH LT SGN 13 ON NO a CN2 12 24V CN2 6 IN COM CN2 1 2 3 4 5
44. HA 680ML mea 3 15 3 7 s 1 2 3m 10m
45. 3096 0 1 0 1 0 1 RSF 7 12 MI 7 2 29 01 0
46. CN2 LED 0 5s 8 MECHATROLINK PSF 520 LED a 2 1 1 2 3 _ 10 4 a
47. T L CS 0263 83 6812 9 00 12 00 13 00 17 00 IS014001 IS09001 TUV SUD Management Service GmbH http hds co ip 2013 2 PEA SP 6 25 3 7F 140 0013 TEL 03 5471 7800 FAX 03 5471 7811 6 25 3 7F 140 0013 TEL 03 5471 7830 FAX 03 5471 7836 4 263 Y S T 3F 330 0854 TEL 048 647 8891Q FAX 048 647 8893 1856 1 399 8305 TEL 0263 83 6910 FAX 0263 83 6911 2 173 4 6F 465 0024 TEL 052 773 7451 Q FAX 052 773 7462 7 4 17 3F 532 0011 TEL 06 6885 5720 FAX 06 6885 5725
48. 14 BRK ON 21H 15 BRK_OFF 22H 16 SENS ON 23H 17 SENS_OFF 24H 18 HOLD 25H 19 SMON 30H 20 SV ON 31H 21 SV OFF 32H 22 INTERPOLATE 34H 23 POSING 35H 24 FEED 36H 25 LATCH 38H 26 EX POSIN 39H 27 ZRET 3AH 4 4 4 6 P4 34 ALARM P4 10 0 P4 10 1 NOP 00H Byte 1 NOP 00H NOP
49. 3 1 ee 3 2 ee 3 3 eee 94 3 5 ee 3 6 3 7 3 8 i a We 3 1 7 2 HA 680 HA 680ML 24 SHHII 3 AC 680 4 4A 6 6A FHA C mini 24V FHA 8C 11C 14 RSF super mini RSF 3C 5B RSF B
50. VC 3 16 3 7 2 RSF super mini RSF B mini 10114 3000PE 3M 10314 52F0 008 3M We CN2 10120 3000PE 3M 10320 52F0 008 3M 3 17 3 7 HA 680ML CN1 CN2
51. OFF 0 1 1 0 20 0 0 1 0 1 7 9 7 2 21
52. 4 6 P4 34 ALARM P4 10 0 P4 10 10 DISCONNECT OFH Byte 1 DISCONNECT O0FH IDISCONNECT OFH 2 ALARM 3 STATUS 4 5 6 OK 7 e 9 1 10 1 13 14 15 16 WDT REDT 11 PPRM_RD 1BH Byte 1 PPRM_RD 1BH PPRM_RD 1BH 2 ALARM 95 STATUS 4
53. 95 RH 3 3 HA 680ML 0 50 C 50 95 RH 4 9m s 0 5G 10Hz lt 55Hz
54. EIA232 PSF 520 PSF 520 8 1 1 1 2 HA 680ML
55. 3 50ms MONITOR1 2 3 e 9 e 10 NNE 1 95 11 12 13 SEL MON1 2 SEL MON17 2 14 IO_MON 15 16 WDT REDT 17 18 19 20 21 22 23 17byte 29byte 17byte 29byte 7 25 26 27 28 29 4 21 4 4 4 6 P4 34 ALARM P4 100 P4 10 22 INTERPOLATE 34H Byte 1 INTERPOLATE 34H INTERPOLATE 34H 2 ALARM a OPTION STATUS 8 TPOS MONITOR1 3 7 5 e 10 VFF
56. Byte 1 ZRET 3AH ZRET 3AH 2 LT SGN ALARM 3 OPTION STATUS 4 5 MONITOR1 2 3 8 CN 2 3 ORG CN2 4 5 LATCH1 2 9 Z 10 TSPD MONITOR 2 1 1 95 95 13 SEL MON1 2 SEL MON1 2 14 IO MON TSPD 125pps 15 94 16 WDT REDT 95 17 18 TSPD 4byte p s 19 20 21 22 23 17byte 29byte 17byte 29byte 9 25 26 27 28 29 TSPD 4 7 4 8 4 9 4 27 4 4
57. 18 Fa 0 SBALM de 1 1 SBWARING CE 8 1 6 5 ES 0 busy 2 SBCMDRDY 1 ready 4 37 5 1 NH Tr NC 5 1 PSF 520
58. 3 11 3 5 HA 680ML DC RB W FHA 8C 40 120 8 ME FHA 11C 80 240 HA 680ML 6 FHA 14C 120 360 RSF 3C RSF 5B 20 50 so90MI SG RSF 8B 40 120 RSF 11B 60 HA 680ML 6B EE 0 320 AC DC 5 FHA 8C JWS70P 24 OM FHA 11C JWS120P 24 HA 680ML 6 FHA 14C JWS240P 24 RSF 3C RSF 5B BS RSF 8B RSF 11B HA 680ML 6B ESE_4B_ JWS240P 24 mm PE 1 25 HA 680ML 3 12 We 9 3 5
59. ED _ 4 x 1 1 999 1 1 999 1 1 2 4 4 7 11 7 2 25 26 MECHATROL INK 25 26 27 ON
60. 1 2 1 CN1 CN1 2 3 HA 680ML HA 680ML 1 3 4 _8 Sr 50V
61. 9 10 PP ON 13 14 15 2 3 95 16 WDT REDT 1 CONFIG STATUS CMDRDY 0 CONFIG 1 4 4 4 6 P4 34 ALARM P4 10 0 P4 10 6 ALM_RD 05H Byte 1 ARM_RD 05H ARM_RD 05H 2 ALARM 3 STATUS 4 5 ALM_RD_MOD ALM_RD_MOD 2s 6 2 3 7 8
62. PSF 520 http www hds co jp PSF 520 OS Windows Me NT 2000 Xp Windows EIA 232 HDM RS232C 1 5m HA 680ML DF11 2428 SCF DF11 8DS 2C 1 Windows Vista 9 5 9 4 PSF 520 C NH 3 16 GND 3 18 EE 1 11 7 MP2300 6 2 ME 4 28 PAR Ci 5 1 UV ERA 8 7 ee 3 7 1 4 un kk 7 10 2 kk 7 10 hk 8 6 kk 8 6 CR 1 6 8 7 kki A 4 7 9 7 9 Rk 7 12 Ei 8 11 IN 8 9 PP 8 3 4 kk 3 10 kk 7 15 9 3 PS 3 14 PFISTER 4 30
63. AM26LS32 EIA 422A CN2 18 MON GND CN2 12 17 CN2 12 17 2 7 2 4 FHA XXXC mini 24V HA 680ML 24 MECHATROLINK SRD S RD SLD SRD RD SLD 7 1 IN COM 16 NFB DC24V D 6 O10 1 FWD IH D 1 5 C 2 AC FHA C mini 24V READY 7 ORG END FINISH ei ALARM COM 0UI COM i N IN is 1 B
64. 9 NO 9 10 1 1 PARAMETER 13 NO 94 SIZE 94 14 2 3 95 15 16 WDT REDT 3 PRM WR 02H Byte 1 PRM RD 02H PRM RD 02H 3 STATUS 5 NO NO 2 3 7 SIZE SIZE E2PROM 8 9 CONFIG 04H 10 e 11 RE EE 2 3 95 12 NO 94 94 13
65. MP2000 7 OWxx46 18 19 e 20 1 95 5 95 TSPD 125pps 22 23 94 24 _ 5 TPOS 4byte pls 17byte 29byte 17byte 29byte TSPD 4byte p s 26 STATUS DEN 27 LT SGN or 29 4 26 4 4 4 6 P4 34 ALARM P4 100 P4 10 27 ZRET3AH
66. 24V CN2 7 READY SV ON 31H ON OFF 14 ON CN2 7 READY DC24V 40mA 1 2 3 CN2 8 ORG END ON OFF 14 ON CN2 8
67. TB1 9 CN4 MECHATROLINK MECHATROLINK MECHATROLINK USB MECHATROLINK http www mechatrolink org CN1 CN2 UO CN3 1 PSF 520 HDM RS232C PSF 520 1 7
68. 3 STATUS EN 4 OK 6 COM_MOD COM_MOD 7 COM TIM COM TIM 8 e 9 COM_MOD CMD_MOD 10 11 e VER 21H 3 e COM_TIM 1 13 e CMD_MOD 94 CMD_TIM 94 15 Ver 21H 94 16 WDT REDT COM_MODE bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 SUBCMD 0 0 0 DTMOD SYNCMOD 0 0 1 2 1 1 3 D2 0or1 D1 0or1 0 1 bit1 SYNCMOD bit2 3 DTMOD bit7 SUBCMD 4 13 4 4
69. P4 10 7 ALM CLR 06H Byte 1 ARM CL 06H ARM CL 06H 2 ALARM 3 STATUS 4 5 ALM_CLR_MOD ALM CLR_MOD 4s 6 2 3 7 9 ALM CLR MOD 0 10 200ms 11 ALM CLR_MOD 1 2s 13 ALM CLR_MOD 14 94 15 2 3 95 16 WDT REDT 1
70. D 3 Q CN1 0 lt CN2 EIA 232 RS 232C CN3 EIA 232 RS 232C HDM RS232C HA 680ML 1 5m 1 Fe DF11 2428 SCF RxD 2 DF11 8DS 2C xp 2 0 2mm DTR 2 oO 3 10m GND 5 DSR nc NC MECHATROLINK MECHATROLINK MECHATROLINK USB MECHATROLINK http www mechatrolink org 3 18 We 9S 3 8
71. 0 7 6 1 7 2 10 11 12 MECHATROLINK 10 12 3 13 4 5 8 16 24 24 CN2 1 0 1 CN2 2 0 2 CN2 3 0 4 CN2 4 1 0 8 CN2 5 2 0 16 0 31 3 1 14
72. OFF NC b 14 ON OFF CN2 10 ALARM DC24V 40mA 1 2 6 dh dh 2 3 CN2 11 OUT COM CN2 7 8 9 10 CN2 12 A LD A CN2 13 LD A CN2 14 B LD B CN2 15 B LD B CN2 16 LD Z CN2 17 LD Z 26LS31
73. 14 94 15 No 16 WDT REDT HA 680ML MECHATROLINK MP2300 PC PSF 520 4 4 4 6 P4 34 ALARM P4 100 P4 10 No No No 0 4byte 25 4byte 1 4byte 26
74. EX_POSING 39H LT_SGN 2147483648 2147483647 0 ww xdl MECHATROLINK 40 POS_SET 20H PS_SUBCMD REFE 1 STATUS P SOT 1 2147483648 lt 2147483647 gt 2147483648 2147483647 2147483647 MECHATROLINK 42 7 14 1 7 2
75. 2 MECHATROLINK LED 0 5s 0 5s 0 5s 2s 0 5s 0 5s 0 5s 4 8 1 0 5s 8 1 1 2 2
76. SV ON 31h e 1 HA 680ML HA 680ML 3 SV ON 31h 5 8 9 U VW ON 1 2 gt 1 1 gt 2 33 34 2 gt 1 00 01
77. 1 0 1 1 1 7 3 30 31 32 MECHATROLINK 30 32 1 33 34 POSING 35H FEED 36H EX_POSING 39H x 10ms 0O m 0 rm 1 9999 1 7 13 7 2 MECHATROLINK 35 38
78. 0 9999 0 09 08 0 9999 4000 09 07 08 0 9999 0 1
79. 8 gt dl 3 2 We 9 3 2 3 2 HA 680ML HA 680ML HA 680ML HA 680ML 5m s 2 1055Hz HA 680ML HA 680ML HA 680ML 200C 85 C
80. 1 7 TB2 1 CP DC 24V 2 CP OV 3 5 3 MP DC 24V 2 4 MP OV RINT 5 NC TB1 1 VM 3 6 2 R 3 GND 4 U U 5 V V P3 13 6 W W 8 gt di CN1 1 FHA C mini DC24V 1 Vcc 5V 2 3 NC
81. NO 0 4byte 25 4byte 1 4byte 26 4byte 2 4byte 27 4byte 3 4byte 28 4byte 1 4 4byte 29 4byte 5 4byte 30 4byte 6 4byte 31 4byte 7 4byte 32 4byte 8 4byte 33 4byte 9 4byte 34 4byte 10 4byte 35 4byte 11 4byte 36 4byte 12 4byte 37 4byte 13 4byte 1 38 4byte 14 4byte 1 39 4byte 15 4byte 1 40 4byte 16 4byte 41 4byte 17 4byte 42
82. RSF supermini 9 1 3 RSF B mini RSF 8B 11B 14B e 3m 5m 10m EWC MB AO06 TN2 03 3m 05 5m 10 10m EVWVWB F MO809 3M14 03 3m 05 5m 10 10m 9 2 nd 9 2 s HA 680ML CN1 CN2 e CNK HA68ML S1 CN1 CN2 4 e CNK HA68ML S2 CN2 2 RF 2 CNK HA68ML S1 SS CNK HA68ML S2 1 CN2 a 10120 3000PE CN1 10114 3000PE 10314 52F0 008
83. 3 OPTION STATUS lt 2 TPOS 3 5 MONITOR1 8 8 LT_SGN 10 VFF MONITOR2 LPOS 11 12 MONITOR2 1 LPOS 13 SEL MON1 2 SEL MON1 2 _ VFF IO_MON 15 16 WDT REDT 3 95 17 95 18 TPOS 94 19 20 STATUS DEN 1 LT SGN or 5 53 bye 29byte 17byte 29byte 2 25 26 27 28 29 4 25 4 4 4 6
84. 32768 32767 0 7 16 7 3 No FHA 8C 30 FHA 8C 50 FHA 8C 100 00 40 40 40 01 75 75 75 02 20 20 20 03 0 0 0 04 0 0 0 05 0 0 0 06 0 0 0 07 0 0 0 08 0 0 0 09 4000 4000 4000 10 11 1 12 13 0 0 0 14 8 8 8 15 ms 0 0 0 16 1 17 188 194 185 18 188 194 185 19 ON OFF 0 0 0 20 0 0 0 21 30000 30000 30000 22 10 10 10 23
85. 7 3 01 1 10 9999 1 1 7 3 7 3 7 2 02
86. 2 000 HarmonicDrive HarmonicPlanetary Harmonicsyn TE TF MN ECT EFA MN E 7 so HanmnonicLinear AccuDrive BEAM SERVO ME TF
87. 38 39 0 0 0 40 1 41 2147483647 2147483647 2147483647 42 1 43 2147483648 2147483648 2147483648 44 1 45 0 0 0 46 10 10 10 47 r min 10 10 10 48 x 10ms 1 1 1 49 0 0 0 1 7 18 Mi 1 7 3 No FHA 14C 30 FHA 14C 50 FHA 14C 100 00 40 40 40 01 250 250 250 02 20 20 20 03 0 0 0 04 0 0 0 05 0 0 0 06 0 0 0 07
88. No34 MONITOR2 11 12 1 95 13 SEL MON172 SEL MON1 2 _ HOLD_MODE IO_MON 0 No34 15 1 16 WDT REDT 17 18 19 20 21 22 3 17byte 29byte 17byte 29byte a 25 26 27 28 29 4 18 4 4 4 6 P4 34 ALARM P4 10 P4 10 19 SMON 30H Byte SMON 30H SMON 30H ALARM STATUS MONITOR1
89. UVW UVW 6 2 7 2 HA 680 8 2 9 2 10 2 FET 11 2 EEPROM Read Write 12 2 CI 0 5s 13 2 1 MECHATROLINK ALM _CLR 06H 2 MECHATROLINK LED 0 0 2e e ue De
90. DI 5 DO 4 AB Z LED2 1 1 MECHATROLINK LED3 2 1 UVW IO 3M 20 3M 14 3202 RS 232C 8 MECHATROLINK USB MECHATROLINK 260g 0 50C 20 85 C 95 RH
91. ms 2147483648 2147483648 2147483648 44 1 45 0 0 0 46 r min 10 10 10 47 10 10 10 48 1 1 1 49 0 0 0 1 7 23 7 3 No RSF 14B 30 B RSF 14B 50 B RSF 14B 100 B 00 40 40 40 01 120 120 120 02 20 20 20 03 0 0 0 04 0 0 0 05 a 0 0 0 06 0 0 0 07 0 0 0 08 0 0 0 09 4000 4000 4000 10 11 1 12 13 0 0 0 14 8 8 8
92. 3m 10m FHA C mini 0 04Q m 3m 5m 10m RSF supermini EWA E JST09 3M14 30cm HA 680ML s s
93. DC24V 40mA 1 READY ORG END FINISH OUT COM COM e CN2 11 OUT COM DC24V 40mA 1 2 2 dh 2 2 HA 680ML 6 3 A Z 26LS31 e AM26LS32 2 3 DH 2 3 CN2 1 FWD IH CN2 2 REV IH OFF
94. MP MP ZRN OWxx3C OWxx3C MP No LS HA 680 DEC1 C ORG C Z 7 2 RO ZERO LATCH1 OLxx40 OLxx3E OLxx42 PRM_ WR No39 OWxx3C OWxx3C OBxx093 PRM WR No45 LS HA 680 OBxx093 PRM_WR No45 OLxx10 OLxx10 DEc zER ORG REN OLod6 0 LATcHt 5 OLxx3E PRM_WR No47 OLxx40 PRM_WR No47 OLxx42 PRM_WR No49 OWxx3C OWxx3C 2A Z OBx
95. 4 5 6 2 3 7 9 95 10 11 12 13 14 15 16 WDT RWDT 4 16 4 4 4 6 P4 34 ALARM P4 10 0 P4 10 16 SENS_ON 23H Byte 1 SENS_ON 23H SENS_ON 23H 2 ALARM 3 STATUS 4 5 MONITOR1 2 3 8 9 10 Ep MONITOR2 12 13 SEL MON17 2 SEL MON1 2 14 IO_MON 15 16 WDT RWDT 17 SENS_OFF 24H
96. 18 1 MECHATROLINK SV ON HOLD INTERPOLATE POSING FEED LATCH EX POSING ZRET 0 1 1 AC 1009 x 100 2 7 8 7 2 19 ON OFF ON
97. 43 POS_SET 20H PS_SUBCMD REFE 1 STATUS N_SOT 1 2147483648 2147483647 gt 2147483648 2147483647 2147483648 44 MECHATROLINK 44 45 ZRET 3AH 0 1 0 1
98. P4 34 ALARM P4 100 P4 10 26 EX POSING 39H Byte 1 EX POSING 39H EX_POSING 39H lt SN NN a OPTION STATUS 6 TPOS ap lt 2 3 MONITOR1 8 e TSPD p s TPOS 9 10 TSPD MONITOR2 No33 11 No34 12 MP2000 OWxx36 OWxx38 13 SEL MON1 2 SEL MON1 2 14 IO_ MON TPOS LT SGN 15 No39 16 WDT REDT
99. 0 5m MECHATROLINK II JEPMC W6022 50m 1 17 16 30m MECHATROLINK http www mechatrolink org 2 MP2000 HA 680ML MP2000 MP 3 MECHATROLINK MECHATROLINK 4 3 jal HA 680ML 2bit HA 680ML F
100. 2 3 2 10 4 2 5 UVW UVW 6 2 7 2 HA 680ML 2 9 2 10 2 FET 11 2 EEPROM Read Write 12 2 MS 100rpm 0 5s 9 2 1 MECHATROLINK ALM CLR 06H
101. Byte 1 SENS_OFF 24H SENS_OFF 24H EA 2 STATUS MONITOR1 2 3 8 9 10 MONITOR2 12 13 SEL MON1 2 SEL MON1 2 14 IO_MON 16 WDT RWDT 4 17 4 4 4 6 P4 34 ALARM P4 10 0 P4 10 18 HOLD 25H Byte 1 HOLD 25H HOLD 25H 2 ALARM 9 SRON STATUS 4 5 HOLD_MODE MONITOR1 2 3 7 8 g
102. 0 27 28 ALM_RD_MOD 94 29 I 5 PPRM_WR 1CH Byte 17 PPRM _WR 1CH PPRM_WR 1CH 18 SUBSTATUS 19 NO 4s 20 SIZE SIE No EEPROM 22 PARAMETER 23 24 25 1 95 PARAMETER PARAMETER 26 CMDRDY 0 27 HA 680ML 28 29 4 32 4 5 4 6 P4 34 6 SMON 30H Byte
103. 3 O10 NI on DD WDT REDT e WDT e 1 3 2 95 e 4 12 4 4 4 6 P4 34 ALARM P4 10 0 P4 10 9 CONNECT OEH Byte 1 CONNECT 0EH CONNECT OEH I 2 ALARM
104. 1 45 0 0 0 46 10 10 10 47 r min 10 10 10 48 x 10ms 1 1 1 49 0 0 0 1 7 19 7 3 No RSF 3C 30 RSF 3C 50 RSF 3C 100 00 100 100 100 01 120 120 120 02 2 10 10 10 03 0 0 0 04 0 0 0 05 0 0 0 06 0 0 0 07 0 0 0 08 0 0 0 09 4000 4000 4000 10 11 1 12 13 0 0 0 14 8 8 8 15 ms 0 0 0 16 1
105. RSF B mini 50 ana RSF 8B RSF 11B _ 1 1 2 ao esas 13 25 a RSF 8B NN sy 2 1 5 0 NT 6 10 1 1 0 50 100 150 200 100 RSF 11B RSF 14B 1 1 2 1 1 2 23 45 2 1 5 10 2 2 5 5 MECHATROLINK ALM_CLR 06H
106. 1 1 1 24 1 1 1 1 27 ON 0 0 0 28 29 1 1 1 30 31 1 32 33 x 10ms 1 1 1 34 x 10ms 1 1 1 35 3 38 39 0 0 0 40 1 41 2147483647 2147483647 2147483647 42 1 43 2147483648 2147483648 2147483648 44 1 45 0 0 0 46 10 10 10 47 r min 10 10 10 48 x 10ms 1 1 1 49 0 0 0 1 7 3 No FHA 11C 30 FHA 11C 50 FHA 11C 100 00
107. 2 3 HA 680ML MECHATROLINK HA 680ML RSF 7 HA 680ML LED HA 680ML RSF e HA 680ML LED
108. HA 680ML U VW P3 11 VM 8 VM GND R Lab U V W MC1 5 6 G 3 81 3 13 3 6 ka HA 680 2W RSF supermini
109. 1 1 2 35 45 2 2 5 6 RSF 3C 1 11 s RSF B mini RSF 8B 1 1 2 13 2 1 5 6 50 45 A EE RR NE RE ETE ss RSF 11B _ 30 NS 25 em ES EE ET ES 2 RSF 8B TLN NN 15 DE a 20 50 100 150 200 100 RSF 11B RSF 14B 1 1 2 23 2 1 5
110. 4byte 2 4byte 27 4byte 3 4byte 28 4byte 1 4 4byte 29 4byte 5 4byte 30 4byte 6 4byte 31 4byte 7 4byte 32 4byte 8 4byte 33 4byte 9 4byte 34 4byte 10 4byte 35 4byte 11 4byte 36 4byte 12 4byte 37 4byte 13 4byte 1 38 4byte 14 4byte 1 39 4byte 15 4byte 1 40 4byte 16 4byte 41 4byte 17 4byte 42 4byte 18 4byte 43 4byte 19 ON OFF 4byte 44 4byte 20 4byte 1 45
111. 0 5s 0 5s 0 5s 2s 0 5s 0 5s 0 5s 0 5s 4 8 gt dl gt dl S 1 11 IM HA 680ML 1 10 P1 12 FHA C mini 24V 0 50 100 150 200 250 300 100 RSF supermini s 50 10 100 300 FHA C mini 24V 1 1 25 170 2 3 16 RSF supermini RSF 5B
112. 12 MP2000 OWxx36 OWxx38 13 SEL MON1 2 SEL MON1 2 IO_MON e 95 TSPD 125pps 18 19 94 20 3 gt e TSPD 4byte p s 21 e 22 e STATUS DEN 23 ye 29byte 17byte 29byte 25 26 27 28 29 4 24 4 4 4 6 P4 34 ALARM P4 10 P4 10 25 LATCH 38H Byte 1 LATCH 38H LATCH 38H 2 MSN ALARM
113. 14 15 16 WDT RWDT 13 POS SET 20H Byte 1 PPRM _WR 20H PPRM_WR 20H ALARM 3 SAMIS 4 5 PS_SUBCMD PS_SUBCMD 6 2 3 7 POS_DATA POS_DATA PS_SUBCMD REFE 8 1 9 10 e 1 95 POS_SEL 3 94 12 94 13 POS_DATA gt POS_DATA gt 14 94 15 PS_SUBCMD REFE gt POS_DATA gt 1 94 16 WDT REDT POSSUBCMD 4bit 03H PS_SUBCMD bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 REFE 0 0 0 P
114. 40 40 40 01 225 225 225 02 20 20 20 03 0 0 0 04 a 0 0 0 05 0 0 0 06 0 0 0 07 0 0 0 08 0 0 0 09 4000 4000 4000 10 5 11 1 a 12 13 0 0 0 14 8 8 8 15 ms 0 0 0 16 1 17 211 238 200 18 211 238 200 19 ON OFF 0 0 0 20 0 0 0 21 30000 30000 30000 22 10 10 10 23 1 1 1 24 1 1 1 2 1 27 ON 0 0 0 28 29 1 1 1 30 _ 31 1 32 33 x 10ms 1 1 1 34 x 10ms 1 1 1 35
115. No RSF 8B 30 B RSF 8B 50 B RSF 8B 100 B 00 40 40 40 01 120 120 120 02 20 20 20 03 0 0 0 04 0 0 0 05 0 0 0 06 0 0 0 07 0 0 0 08 0 0 0 09 4000 4000 4000 10 11 1 12 13 0 0 0 14 8 8 8 15 ms 0 0 0 16 1 r min 17 190 195 193 18 190 195 193 19 ON OFF 0 0 0 20 0 0 0 21 30000 30000 30000 22 10 10 10 23 1 1 1 24 1 1 1 1 27 ON 0 0 0 28 29 1 1 1 30 r min
116. 0 busy 2 CMDRDY 2 2 1 ready 6 0 3 SVON 6 1 0 4 PON ON 5 0 O 0 46 6 ZPOINT 1 46 7 PSET 0 22 DEN 1 1 22 0 8 DEN 6 1 0 9 T LMT 1 0 10 L CMP 5 1 0 22 11 NEAR 8 1 22 0 12 P SOT 1
117. NKK KM L NINE 8 8 3 19 7 17 2 8 3 7 kL lt 3 4 3 14 9 5 7 14 PS 9 1 kisi 4 1 4 3 1 2 8 8 2 4 AA 7 11 SSSR RR A 3 7 3 8 2 7 1 SS 1 8 7 8 8 10 8 5 Ra 4 4 El CH nd 9 4 PSF 520 SR 4 34 CN HA 680ML 1
118. 4byte 21 4byte 46 4byte 22 4byte 47 4byte 23 4byte 1 48 4byte 24 4byte 1 49 4byte 1 4 4 4 6 P4 34 ALARM P4 10 0 P4 10 4 ID ID_RD 03H Byte 1 ID_RD 03H ID_RD 03H 2 ALARM 3 4 ME 5 DEVICE_CODE DEVICE_CODE 6 OFFSET OFFSET 2 3 7 SIZE SIZE 8 9 ID ID 10 11 1 ID DEVICE CODE
119. SV ON HOLD INTERPOLATE POSING FEED LATCH EX_POSING ZRET bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 0 0 0 0 0 0 0 0 bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8 N CL P CL 0 0 0 0 0 0 P CL N CL 0 1 4 34 4 6 STATUS 3 4 3byte bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 PSET ZPOINT PON SVON CMDRDY WARNG ALARM 4byte bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8 N SOT P SOT NEAR L CMP TLMT DEN 0 0 ALARM 1 6 0 1 WARING 1
120. 1 POSING 35H POSING 35H 2 ALARM OPTION STATUS 2 TPOS eo MONITOR1 2 3 8 TSPD p s TPOS 9 10 TSPD NRN No33 11 No34 12 MP2000 OWxx36 OWxx38 13 SEL MON1 2 SEL MON1 2 14 10 MON 15 1 95 16 WDT REDT 95 7 TSPD 125pps 94 19 TPOS 4byte pls 20 TSPD 4byte p s STATUS D
121. 5 e 1 3 8 4 Sr 8 1 Sr e PSF 520 No21 CN2 CLEAR CN2 DEV CLR CN2 ALM CLR 1 e 1 HA 680ML HA 680ML 2 e 1 00 01
122. HA 680ML CN2 3 ALARM HA 680ML CN2 7 S ON OFF HA 680ML 5 30 30 HA 680ML ON OFF ON OM OFF ON 0s ON 1
123. ee CS nIDaieRuiahssmt gt ds 9S 1 1 DC24V AC HA 680ML AC FHA C mini 24V AC AC RSFsupermini RSF B MECHATROLINK HA 680ML FHA C mini 24V RSF supermini RSF B MECHATROLINK DC24V 260g MECHATROLINKTI MECHATROLINK
124. 0 0 0 08 0 0 0 09 4000 4000 4000 10 11 1 12 a 13 0 0 0 14 8 8 8 15 ms 0 0 0 16 1 17 247 304 280 18 247 304 280 19 ON OFF 0 0 0 20 0 0 0 21 30000 30000 30000 22 10 10 10 23 1 1 1 24 1 1 1 5 27 ON 0 0 0 28 29 a 1 1 1 30 _31 1 32 33 x 10ms 1 1 1 34 x 10ms 1 1 1 35 a 38 39 0 0 0 40 1 41 2147483647 2147483647 2147483647 42 1 43 2147483648 2147483648 2147483648 44
125. 02 03 4 5 1 2 HA 680ML 50 HA 680ML 8 1 FET 1 e 1 HA 680ML HA 680ML 2 SV ON 31h e 1 HA 680ML HA 680ML
126. 4byte 18 4byte 43 4byte 19 ON OFF 4byte 44 4byte 20 4byte 1 45 4byte 21 4byte 46 4byte 22 4byte 47 4byte 23 4byte 1 48 4byte 24 4byte 1 49 4byte 4 3 1 4 5 4 6 P4 34 4 ALM_RD 05H Byte 17 ARM_RD 05H ARM_RD 05H 18 SUBSTATUS 19 ALM RD MOD ALM_RD_MOD 2 s 20 22 23 ALM_RD_MOD 0 24 5 ALM DATA ALM_RD_MOD 1 8 2s 26 8
127. SG 1 0 13 N SOT 1 lk 1 1 POS_SET 20H PS_SUBCMD REFE 1 4 35 4 6 SEL_ MON1 2 3 4 MONITOR17 273 4 SV_ON SV _OFF INTERPOLATE POSING FEED LATCH EX_POSING ZRET SENS_ON SENS_OFF bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 SEL MON2 SEL MON1 bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 SEL MON4 SEL MON3 0 POS MPOS 1 MPOS Command Counter Pulse 2 PERR Error Counter Pulse 3 APOS Feedback Counter Pulse 4 LPOS
128. VM R GND 1 25 2 SR AWG26 28 2 CN1 0 3mm 012e008 mi CN2 0 35mm MECHATROLINK En a CN4 MECHATROLINK 1 1 2 IV 600V HIV 3 3m 5m 10m 3 10 We 3 5 e FHA C mini 24V EWC MB A06 TN2 EWC E MO6 3M14 e RSF super mini EWA M JST04 TN2 EWA E JST09 3M14 0
129. 0 1 0 46 ZRET 3AH STATUS ZPOINT 1 1 32768 10 7 15 7 2 47 48 49 ZRET 3AH 2 ZRET 3AH 47 49 i a 48 TT CN2 3 LT_SGN r min 10 9999 10 X 10ms 1 9999 1
130. B be NR 7 16 Z INT hl ey 0 2 8 dm 2 4 RSF supermini 14 MECHATROLINK SRD SLD SRD SLD IN COM DC24V 0V _ FWD IH 1 1 gt ORG EACH1 __ LATCH2 2 READY ORG END FINISH ALARM COM OUT COM A B B 2 Z B2 12 13 14 15 16 17 18 HA 680ML 4B 24 TB2 CP CP MP 3 3k MP 1 gt TB1 3 3 nel
131. B3H CT BOH CT B1H FET EAH 51H 1007min 0 5s 05H E6H WDT WDT E5H 90 94 95 96 4 4 4 6 P4 34 ALARM P4 10 0
132. MECHATROLINK PSF 520 PSF 520 PSF 520 PSF 520 PSF 520 MECHATROLINK PSF 520 MON We 04 o 00 7
133. 17 229 212 201 18 229 212 201 19 ON OFF 0 0 0 20 0 0 0 21 30000 30000 30000 22 10 10 10 B 23 1 1 1 24 1 1 1 1 1 27 ON 0 0 0 28 29 0 0 0 30 31 1 32 33 x 10ms 1 1 1 34 35 1 38 39 0 0 0 40 1 2 41 2147483647 2147483647 2147483647 42 1 43 2147483648 2147483648 2147483648 44 1 45 0 0 0 46 10 10 10 47 r min 10 10 10 48 x 10ms 1 1 1 49 0 0 0 1
134. 3 So OPTION STATUS 5 5 50ms 6 MONITOR1 2 3 7 gt 10 MM 1 95 12 STATUSs 1 ALARM 13 SEL_MON1 2 SEL_MON1 2 14 IO_MON 15 16 WDT REDT 17 18 19 20 21 22 23 17byte 29byte 17byte 29byte 25 26 27 28 29 4 20 4 4 4 6 P4 34 ALARM P4 100 P4 10 21 SV OFF 32H Byte 1 SV OFF 32H SV OFF 32H ALARM STATUS
135. 1 29 0 03H 0 01H 1 NOP 00H 2 PRM RD 01H 3 PRM WR 02H RAM 4 ID_RD 03H HA 680ML ID PRM_WR 5 CONFIG 04H 6 AM Ep 05H 8 7 ALM CLR 06H 8 SYNC SET ODH 2 3 9 CONNECT 0EH MECHATROLINK 10 DISCONNECT OFH MECHATROLINK 11 PPRM_RD 1BH 12 PPRM WR 1CH EEPROM 13 POS SET 20H
136. 3 SV ON 31h U V W ON e 1 e 2 4 e 1 gt 1 m 2 33 34 e 2 1 00 0O1 02 03 5 4 5 e 1
137. 7 20 7 3 No RSF 5B 30 RSF 5B 50 RSF 5B 100 5 100 100 100 00 120 120 20 5 65 65 65 01 30 30 30 02 10 10 10 03 20 20 20 04 0 0 0 05 0 0 0 06 0 0 0 07 0 0 0 08 0 0 0 09 4000 4000 4000 10 11 1 12 13 0 0 0 14 8 8 8 15 ms 0 0 0 16 1 17 211 257 253 18 211 257 253 19 ON OFF 0 0 0 20 0 0 0 21 30000 30000 30000 22 10 10 10 23 1 1
138. EWC MB AO6 TN2 EWC E JST09 3M14 03 3m 05 5m 10 10m 3 e RSF supermini HA 680 EWA M JSTO4 TN2 EWA E MO9 3M14 03 3m 05 5m 10 10m 3 e RSF B mini HA 680 EWC MB AO6 TN2 EWB F MO809 3M14 03 3m 05 5m 10 10m 3 e CNK HA68ML S1 CNK HA68ML S2 e EIA 232 HDM RS232C 1 5m e HA 680 PSF 520 PSF 520 http Www hds co jp
139. PS ES NS 7 7 DAL TP NE 7 7 13 kk 7 7 14 Lik 7 7 5 SE 7 8 2 7 8 17 li 7 8 18 kk 7 8 19 ON OFF 7 9 20 i 7 9 21 kk 7 10 22 a ee nh 7 10 23 Li 7 11 24 Li 7 11 5 SRI 7 12 3 7 12 27 ON 7 12 28 7 12 29 kk 7 13 3830 NN 7 13 1 PI Sd 7 13 rr 7 13 6 Ei rk 7 13 34290 EE 7 13 1 2 GPS 7 14 3 B2 2 7 14 TE RF EP NRE 7 14 REO 7 14 39 7 14 0 7 14 0 7 14 A EP Elh 1 7 14 43
140. kk 3 13 3 14 3 16 3 16 CN1 i 3 16 CN2 ee 3 17 3 18 EIA 232 RS 232C CN3 kkk 3 18 MECHATROLINK 3 18 2 3 19 kk 3 19 kkk 3 19 4 4 1 4 2 4 3 4 4 4 5 5 6 6 1 7 7 1 7 2 MECHATROLINK a 4 1 ohh AN 4 4 2 NR 4 3 LAT TR 4 4 4 4 22 4 5 MP 4 28 4 30 Ag IE
141. 1 e 1 HA 680ML HA 680ML 2 e 1 01 02 03 e 2 3 Sr e 9 9 1 Sn eR aR RE 9 2 oe 9 3 ee 9 1 1 FHA C mini DC24V FHA C mini DC24V HA 680ML
142. 2 45 0 1 7 1 7 1 46 1 32768 47 10 9999 48 1 9999 49 32768 32767 1 MECHATROLINK 2 CONFIG 04H 7 2 MI 7 2 gz 00 10 9999 1 1
143. B4 SLD MECHATROLINK GND 1 9 1 8 CN2 20 8 gt dl 1 FWD IH 2 REV IH 3 ORG 4 1 LATCH1 5 2 LATCH2 6 IN COM 7 READY 8 ORG END 9 FINISH 10 ALARM 11 OUT COM 12 A LD A 13 LD A 14 B LD B 15 LD B 16 LD Z 17 LD Z 18 MON GND 19 20
144. FINISH 2 6 CN2 10 ALARM 2 6 CN2 11 OUT COM kk 2 7 CN2 12 A LD A kk 2 7 CN2 13 LD A kk 2 7 CN2 14 LD B Lik 2 7 CN2 15 B LD B Lik 2 7 CN2 16 LD Z kk 2 7 CN2 17 LD Z kk 2 7 CN2 18 MON GND 2 7 2 8 kk 3 1 3 1 NS 1 1 3 3 000 80 0280220000 20 0 40222000 3 4 kk 3 4 kk 3 5 De 3 6 SRR LE 3 7 kk 3 7 3 8 kk 3 9 3 10 kk 3 10 SN 3 11 kk 3 12
145. 0 9999 07 0 9999 08 0 9999 09 0 9999 10 2 11 2 12 2 13 0 31 14 0 15 1 15 0 99 1 16 2 17 0 1 18 0 1 19 ON OFF 0 1 20 0 1 1 21 0 32767 22 0 9999 23 1 999 1 24 1 999 1 25 2 26 2 27 ON 0 1 28 0 1 1 29 0 1 30 2 31 2 32 2 33 1 lt 9999 34 1 lt 9999 35 2 36 2 37 2 38 2 39 2147483648 2147483647 40 0 2 41 2147483648 2147483647 42 2 43 2147483648 2147483647 44
146. 17 SMON 30H SMON 30H 18 SUBSTATUS 19 SEL_MON3 4 SEL_MON3 4 20 21 22 23 24 25 26 27 28 29 MONITOR3 MONITOR4 e 1 95 4 33 4 6 LT SGN LATCH EX_ POSING ZRET bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 0 0 0 0 0 0 LT SGN LT SGN bit1 bit0 0 0 Z 0 1 CN2 4 1 1 0 CN2 5 2 OPTION OPTION
147. 8 2 Srr Str s 8 1 8 3 FHA C mini 24V 0 50 100 150 200 250 300 100 RSF supermini 50 100 150 200 250 300 100 FHA C mini 24V 1 1 25 170 2 3 16 RSF supermini RSF 5B 1 1 2 35 45 2 2 5 6 RSF 3C 8 1
148. ORG END HA 680 ORG END PC452 DC24V 40mA 1 CN2 9 FINISH 22 ON 14 ON HA 680 CN2 9 FINISH 3 DC24V 40mA 1 CN2 10 ALARM HA 680ML
149. 0 0 0 06 0 0 0 07 0 0 0 08 0 0 0 09 4000 4000 4000 10 11 1 12 13 0 0 0 14 a 8 8 8 15 ms 0 0 0 16 1 r min 17 288 322 191 18 288 322 191 19 ON OFF 0 0 0 20 0 0 0 21 30000 30000 30000 22 10 10 10 23 1 1 1 24 1 1 1 5 1 27 ON 0 0 0 28 a 29 1 1 1 30 r min a 31 1 r min _32 r min 33 ms 1 1 1 34 ms 1 1 1 35 1 38 39 0 0 0 40 1 41 2147483647 2147483647 2147483647 42 1 43
150. 0 04 Q m 3m 5m 10m 3 30cm 4 3 mm CN1 0 3mm CN2 0 35mm CN1 1 FHA C mini 24V 10114 3000PE 3M 10314 52F0 008 3M
151. 9 2 ALM_RD_MOD 0 EE ALM_DATA ALM_RD_MOD 1 8 12 2s 13 8 0 14 15 ALM_RD_MOD 94 2 3 95 16 WDT REDT 72H BOH ON No21 CBH C9H 1 10 C9H 2 90H UVW UVW 40H 50V 7AH
152. HA 680ML 4B 24 S021 RSF 8B 30 F100 24B C HA 680ML 4B 24 S022 RSF 8B 50 F100 24B C HA 680ML 4B 24 S023 RSF 8B 100 F100 24B C HA 680ML 6B 24 S024 RSF 11B 30 F100 24B C HA 680ML 6B 24 S025 RSF 11B 50 F100 24B C HA 680ML 6B 24 S026 RSF 11B 100 F100 24B C HA 680ML 6B 24 S027 RSF 14B 30 F100 24B C HA 680ML 6B 24 S028 RSF 14B 50 F100 24B C HA 680ML 6B 24 S029 RSF 14B 100 F100 24B C 1 4 gt dl S 1 4 1 4 HA 680ML 4 HA 680ML 6 HA 680ML 6B _24 S 24 S HA 680ML 4B 24 S _24 S FHA 8C FHA 11C FHA 14C RSF 3C RSF 5B RSF 8B RSF 11B RSF 14B 2 1 8 3 9 6 0 0 65 2 0 2 0 5 0 4 9 Arms 2 3 4 8 4 16 5 1 2 3 9 3 9 15 8 17 2 Arms DC24V 20 28V CP MP DC24V 20 lt 28V PVWVM 12 5kHz S 14 8 4 S 8
153. 4 5 SD LD 6 NC 7 SD LD 8 GND 5V 9 10 1 NC 13 14 2 RSF supermini 1 Vcc 5V 2 B B LD 3 Z Z LD 4 B B LD 5 A A LD 6 Z Z LD 7 A A LD 8 GND 5V 9 U U LD 10 U U LD 11 V V LD 12 V V LD 13 W W LD 14 W W LD 1 LD 1 8 gt dl S 1 7 3 RSF B mini 5 5 5V 2 B B LD 3 Z Z L
154. 2 3 NO w 1 oo J OO e 1 MONIEORS 95 a O ww SEL_MON1 2 SEL_MON1 2 IO_MON O1 i oo WDT REDT a Co O SS 17byte 29byte 17byte 29byte ww I O oo JI Oo 4 19 4 4 4 6 P4 34 ALARM P4 10 0 P4 10 20 SV _ON 31H Byte 1 SV_ON 31H SV_ON 31H 2 ALARM
155. 94 OFFSET 94 13 SIZE 1 lt 8 94 14 15 16 WDT REDT OFFSET 0 3 1415 6 17 18 19 AIBICIDIEIFI10 DEVICE_ CODE 00 H 8 0 0 0 10 0 0 0lolOl0 Ver 02 Oth 010 10 0 010 10 1010 10 0 1010 0 1 2 Ver HEX 3 Ver1 00 4 4 4 6 P4 34 ALARM P4 10 0 P4 10 5 CONFIG 04H Byte 1 CONFIG 04H CONFIG 04H 2 ALARM 3 0 4 5 4s w 6 2 3 7
156. Pulse 5 IPOS MPOS 6 TPOS Pulse 7 wit ne 8 FSPD r min 9 CSPD r min A TSPD r min B TRQ C ca D a a E F a a 4 36 4 6 IO IO_MON HA 680ML CN2 I O bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 SBCMDRDY SBWARNG SBALM SMON SV_ON SV_OFF HOLD INTERPOLATE FEED POSING LATCH EX_POSING ZRET SENS_ON SENS_OFF bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 2 1 0 0 0 REV IH FWD IH bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8 0 Ready 0 0 0 0 0 1 SUBSTATUS
157. RSF 8B 11B 14B 24 DC24V No ADJ HA 680ML HA 680ML HA 680ML 3 1 4 INPUT VOL HA 680ML 24 DC24V HA 680ML T
158. We 9 3 4 x HA 680ML FET PWM HA 680ML CPU HA 680ML HA 680ML RN 3 5m 2 1 3 5mm 1 P3 8
159. 10 1 1 2 45 2 2 5 5 MECHATROLINK ALM_CLR 06H PSF 520 No 21 MECHATROLINK ALM _CLR 06H
160. 31 1 r min 32 rmin 33 ms 1 1 1 34 ms 1 1 1 35 1 38 39 0 0 0 40 1 41 2147483647 2147483647 2147483647 42 1 43 ms 2147483648 2147483648 2147483648 44 1 45 0 0 0 46 r min 10 10 10 47 10 10 10 48 1 1 1 49 0 0 1 7 22 Ne wo MI 7 3 No RSF 11B 30 B RSF 11B 50 B RSF 11B 100 B 00 40 40 40 01 140 140 140 02 20 20 20 03 0 0 0 04 0 0 0 05
161. 0s 0 1s 0 5s 1 1 1 1 MECHATROLINK Os Os 0s 05 gt 3 19 4 MECHATROLINK 4 1 ee 4 2 ee 4 3 ee 4 4 oe 4 5 oo 4 6 Re 4 1 4 1 MECHATROLINK MECHATROLINK II 10Mbps 50m 0 5m 2 30 1 2 3 4 5ms 17 32 4 2 MP2000 2 1 i J mml589 gt JP 88 8988 MECHATROLINK TI JEPMC W6002 A5 E 3 30 1
162. 10320 52F0 008 MC1 575 ST 3 81 MC1 5 6 ST 3 81 lt XW4B 05B1 H1 XW4B 06B1 H1 9 3 9 3 EIA 232 HDM RS232C 1 5m Eh H nd 9 4 PSF 520 PSF 520 HA 680ML HA 680ML CN3 PSF 520 EIA 232 HDM RS232C 1 5m PSF 520 PSF 520
163. 0 0 0 1 7 24 7 3 7 25 8 1 6 1 HA 680ML LED 0 5s 8 PSF 520 MECHATROLINK ALM RD 05H Sr e ST LED 90 KR 3 1 1
164. 7 PSET 0 9999 10 7 10 7 2 23 24 e 360 1 x x e
165. Rn A 24 7 15 ig 0 7 15 5 7 15 1G 67 1 SE 7 15 47 nw 7 16 48 kk 7 16 7 16 ee 7 17 8 8 1 9 9 1 9 2 9 3 9 4 2 KR 8 1 kk 8 3 kk 8 5 8 6 Lu cucaiiiiiiiititatatttattatttaanttaat 8 6 UWW RAR 8 7 _ i 8 7 Muuciiiiiiiiiiiittttttt 8 8 Muuciiiiiiiiiiiettttt 8 8 ikki 8 9 ii 8 10 EEPROM Ltn 8 11 hi 8 11 kk 9 1 1 FHA C mini DC24V i 9 1 2 RSF supe
166. 00H ALARM STATUS OK I w OO 16 WDT REDT 35 17byte 17byte 29byte 29byte 4 4 4 6 P4 34 ALARM P4 10 0 P4 10 2 PRM_RD 01H Byte 1 PRM RD 01H PRM RD 01H 2 ALARM 3 4 EAN 5 6 2 Sa 2 3 7 SIZE SIZE 6
167. 02 03 e 2 23 24 e 3 1 gt 2 3 e 1 CN2 1 CN2 2 OFF CN2 4 e 1 1 e 2 2 8 1
168. 1 24 1 1 1 5 1 27 ON 0 0 0 28 eR 29 0 0 0 30 31 32 33 x 10ms 1 1 1 34 x 10ms 1 1 1 35 5 1 38 39 0 0 0 40 1 41 2147483647 2147483647 2147483647 42 1 43 2147483648 2147483648 2147483648 44 1 45 0 0 0 46 10 10 10 47 r min 10 10 10 48 x 10ms 1 1 1 49 0 0 0 1 gt 7 21 7 3
169. 15 ms 0 0 0 16 1 r min 17 293 365 261 18 293 365 261 19 ON OFF 0 0 0 20 5 0 0 0 21 30000 30000 30000 22 10 10 10 23 a 1 1 1 24 1 1 1 1 a 27 ON 0 0 0 28 29 1 1 1 30 r min 31 1 r min 32 rmin 33 ms 1 1 1 34 ms 1 1 1 35 1 ea 38 39 0 0 0 40 1 a 41 2147483647 2147483647 2147483647 42 1 43 ms 2147483648 2147483648 2147483648 44 1 45 0 0 0 46 rmin 10 10 10 47 10 10 10 48 1 1 1 49
170. 5 6 7 8 9 10 11 12 13 14 15 16 WDT RWDT 4 14 4 4 4 6 P4 34 ALARM P4 10 0 P4 10 12 PPRM_WR 1CH Byte 1 PPRM WR 1CH PPRM_WR 1CH EN 3 STATUS 5 4s NO NO 2 3 7 SIZE SIZE No RAM 8 EEPROM PARAMETER 9 10 i e PARAMETER PARAMETER 1 95 12 CMDRDY 0 13 HA 680ML
171. EH F 2 1 m _ 24 CN lt 2 M3X6 N HA 680ML E E si w 1 6 8 gt dl _1 gt dl S 1 6 LED 2 MECHATROLINK LED MECHATROLINK MECHATROLINK LED 1 HA 680ML LED TB2
172. LA2 SRD LA3 SLD LA4 TB2 LB SRD 8B2 CP d Ro P93 SLD LB RS DC24V NFB RNA 2 2 AC DC lac CN2 NE cp LL amp INCOM lt DC24V i 33k 1 1 ra FWD H 11 So 3 a TB1 1 1 5 Cd REVHH 12 1 1 33K R 1 1 r AC O o ORG US RSF B mniz 1 1 1 1 FET HATCHHI 14 5 1 O D 3 1 1 fAao Lo OM 1 DS LE READYY L 7 NN ORG END L8 _ _ FINSH L9 5V 1 1 ov 8 9 1 U 99 4 1 7 ALARM 0 J nd 0 1 d HH Y WCON Our bt 0 NINE amp V 0 w 1d HH WW Ww 49 HH W 1 1 1 Ad 2 5 TN 1 M G Na t A 79 Hm 1 1 EN 7 L 7 39 HH 4 7 0 MMIL7 Sg 0 ME Ya 4 26LS31 1 T oNT gt dnmi 2 4
173. NNN 1 6 0 1 RAN 1411 1111 11 2 Rk 2 5 i k 14 10 1 0N 1 1 DUS 1 2 ee 1 3 1 3 kk 1 4 S22 1 5 1 5 1 6 1 6 kk 1 7 1 7 kk 1 8 8 Ra 8 1 10 EAA 1 11 1 10 1 12 1 11 1 13 2 2 1 kk 2 1 kk 2 1 CN2 kk 2 1 2529 7 Se 2 2 2 3 kk 2 4 CN2 1 FWD IH kk 2 4 CN2 2 REV IH es 2 4 CN2 3 ORG kk 2 4 CN2 4 1 LATCH1 kk 2 5 CN2 5 2 LATCH2 kk 2 5 CN2 6 IN COM kk 2 5 2 4 3 3 1 3 2 3 3 3 5 3 6 3 7 3 8 CN2 7 READY ii 2 5 CN2 8 ORG END i 2 6 CN2 9
174. NOP 00H 2 PRM_RD 01H 3 PRM_WR 02H RAM 4 ALM _RD 05H 8 5 PPRM WR 1CH EEPROM 6 SMON 30H 4 6 P4 34 1 NOP 00H Byte 17 NOP 00h NOP 00h _ 18 SUBSTATUS 19 20 21 22 23 24 25 26 27 28 29 2 PRM_RD 01H Byte 17 PRM _RD 01H PRM_RD 01H 18 SUBSTATUS 19 NO NO 6ms 20 SI2E SIZE ls 22 No 23 24
175. VM 1 gt R GND U CN1 5V 1 OV 8 A 5 A 7 B Pa B 4 Z 6 U 9 26LS31 U 0 V 11 Ww V 12 W 13 W 14 cp _DC24V AC DC 22702 ce A NFB LF i 1 AC RSF supermini M Rrsr 58 I 1 EWA BXX JST03 TMC Bee 3 i 1 1 6 i 1 i 1 1 I 1 1 1 0 1 1 i 7 5V 1 Th 8 OV Nl 1 A I 2 B 30 0 Z NB 49 U E FN a DC24V WM IM 1 1 1 1 2 4 RSF B mini 14 HA 680ML B 24 CN4 MECHATROLINK LAM SRD
176. 1 15 20 NOF 7F 812 0011 TEL 092 451 7208 0 FAX 092 481 2493 1856 1 399 8305 TEL 0263 83 6800 FAX 0263 83 6901 No 1302 6R THA680ML
177. 2 e 3m 5m 10m EWC MB AO6 TN2 03 3m 05 5m 10 10m EWC E MO6 3M14 L 03 3m 05 5m 10 10m 9 2 RSF supermini RSF supermini HA 680ML 2 e 3m 5m 10m hi EVWA M JSTO4 TN2 03 3m 05 5m 10 10m EWA E E JST0O9 3M14 L 03 3m 05 5m 10 10m AC
178. 3 3m 05 5 e RSF B mini 1 EWC MB A06 TN2 EWB F MO809 3M14 HA 680ML Lmm HA 680ML MC1 5 5 G 3 81 AC DC JA HA 680ML
179. 4 30 pa 0 4 30 4 34 LT SGN 4 34 a OPTIONSR CS 4 34 STATUS I SS SS NE EE SIN 4 35 SEL MON1 2 3 4 MONITOR1 2 3 4 4 36 I0 UO _MON 4 37 SUBSTATUS LESMNNN RYAN 4 37 5 1 PS 520 5 1 6 1 kk 6 2 kk 6 2 Nh 6 3 PN A 6 3 7 1 oC oA 7 3 6090 7 3 01 7 3 02 kk 7 4 Se KMAAAANANNKAV NN 7 4 04 kk 7 5 05 kk 7 5 06 eees 7 5 7 3 9630 EK 7 6 08coiNJM ENNNNNNA 7 6 09 7 6 0 99 PRPRCRPWPRRRRH 7 7
180. D 4 B B LD 5 A A LD 6 Z Z LD 7 A A LD 8 GND 5V 9 U U LD 10 U U LD 11 V V LD 12 V V LD 13 W W LD 14 W W LD 1 LD CN3 1 1 FG 2 RXD 3 TXD 4 DTR 5 GND 6 DSR 7 NC 8 NC HDM RS232C CN4 MECHATROLINK A1 A2 SRD MECHATROLINK A3 SRD MECHATROLINK A4 SLD MECHATROLINK GND B1 B2 SRD MECHATROLINK B3 SRD MECHATROLINK
181. DC24V AC HA 680ML FHA 8C 11C 14C RSF 3C 5B 8B 11B 14B Ver 1 x HarmoniclDrive DC24V AC HA 680ML
182. EN 22 E_ py 29byte 7byte 29byte 2147493647 7FFFFFFFH 25 26 27 28 29 4 23 4 4 4 6 P4 34 ALARM P4 100 P4 10 24 FEED 36H Byte 1 FEED 36H FEED 36H 2 ALARM 3 OPTION STATUS 4 5 b MONITOR1 2 3 8 e TSPD p s 9 HOLD 25H 10 TSPD MONITOB2 No33 11 No34
183. F 5B RSF 8B a RSF 14B 10W 20W 40W 10W 15W 20W LO 3 5 3 3 HA 680ML 2 2mm 7 M4 2 HA 680ML 7 3 M4 4 M4 3 32 2 1 37MAX 108 20 106 m i FW rn J El dl eg T 1 e ba 1 lt ME 24
184. N 7 2 ON 32byte OFF 17byte 2 HA 680ML 41H 5FH 1 5 lt 2 a Ei 5 8 Dip SW bit1 Dip SW bit1 OFF 0 ON 0 50H OFF 1 41H ON 1 51H OFF 2 42H ON 2 52H OFF 3 43H ON 3 53H OFF 4 44H ON 4 54H OFF 5 45H ON 5 55H OFF 6 46H ON 6 56H OFF 7 47H ON 7 57H OFF 8 48H ON 8 58H OFF 9 49H ON 9 59H OFF A 4AH ON A 5AH OFF B 4BH ON B 5BH OFF C 4CH ON C 5CH OFF D 4DH ON D 5DH OFF E 4EH ON E 5EH OFF F 4FH ON F 5FH 4 4 HA 680ML
185. OS_SEL REFE 0 1 POS_SEL 4 15 3H 3H 94 4 4 4 6 P4 34 ALARM P4 100 P4 10 14 BRK _ON 21H Byte 1 BRK_ON 21H BRK_ON 21H 2 ALARM 3 STATUS 4 5 6 2 3 7 9 95 10 11 12 13 14 15 16 WDT RWDT 15 BRK OFF 22H Byte 1 BRK_OFF 22H BRK_OFF 22H 2 ALARM 3 STATUS
186. rmini 9 1 3 RSF B minih RSF 8B 11B 14B i 9 2 9 3 J 9 4 PSF 520 kk 9 5 10 AC FHA Cmini FHA 8C FHA 14C AC RSFsupermini RSF 3C RSF 5B AC RSF Bmini RSF 8B RSF 14B 1 4 se 1 2 ee 1 3 1 4 ee 1 5 ee 1 6 ee 1 7 ee 1 8 ieee 1 9 LED eee 1 10
187. x093 OBxx093 3 OLxx3E OLxx3E OLxx40 OLxx3E OLxx42 PRM _WR No39 OWxx3C OWxx3C obwqO obeqobxdO 1 C C Z OLxx10 OLxx40 OLxx10 2 or CE OT 4 28 4 4 OWxx3C HOME LS amp C 14 15 16 NOT amp C 18 19 17 INPUT amp C 4 29 MP HA 680ML No HOVE Lateh1 C UE OT 0 OWxx3C OWxx3C OT C 4 EEE a EEE TS ET OLxx42 INPUT OBxx05B 4 5 Eo 1
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