6.4 RS-232 Communication Port ................................................................ 6-12 6.4.1 Function that RS-232 Port Supports .................................................... 6-12 6.4.2 Definitions of RS-232 Port Pins ........................................................... 6-12 6.4.3 RS-232 Hardware Connection ............................................................. 6-12 6.4.4 Supported Function Codes and Exception Codes .................................... 6-13 6.5 SSI Absolute Encoder Port ................................................................... 6-14 6.5.1 Function of SSI Absolute Encoder ........................................................
6-14 6.5.2 Definitions of SSI Port Pins ................................................................. 6-14 6.5.3 SSI Absolute Encoder Hardware Connection ......................................... 6-14 6.6 Incremental Encoders .......................................................................... 6-16 6.6.1 Function of Incremental Encoder ......................................................... 6-16 6.6.2 Definition of Incremental Encoder Port Pins .......................................... 6-16 6.6.3 Incremental Encoder Hardware Connection .......................................... 6-16 6.7 Ethernet Communication Port ..............................................................
6-17 6.7.1 Function that Ethernet Communication Port Supports ............................ 6-17 6.7.2 Pins of Ethernet Communication Port ................................................... 6-19 6.7.3 Network Connection of Ethernet Communication Port ............................ 6-19 6.7.4 Function Codes that Ethernet Communication Port Supports ................... 6-20 6.8 EtherCAT Communication Port ............................................................. 6-21 6.8.1 Function that EtherCAT Communication Port Supports ........................... 6-21 6.8.2 Pins of EtherCAT Communication Port ..................................................
6-21 6.8.3 Network Connection of EtherCAT Communication Port ........................... 6-21 6.8.4 EtherCAT Communication Distance ...................................................... 6-21 6.9 CANopen Communication Port ............................................................. 6-22 6.9.1 Function that CANopen Communication Ports Support ........................... 6-22 6.9.2 Pins of CANopen Communication Port .................................................. 6-23 6.9.3 PDO Mapping at CANopen Communication Port ..................................... 6-23 6.9.4 Network Connection at CANopen Communication Port ...........................
6-23 6.9.5 CANopen Communication Rate and Communication Distance .................. 6-24 Chapter 7 Execution Principle 7.1 Tasks ................................................................................................. 7-2 7.1.1 Task Types .................................................................................... 7-2 7.1.2 Priority levels of Tasks .................................................................... 7-4 7.1.3 Watchdog for a Task ....................................................................... 7-6 7.1.4 Motion and Communication Instructions for Each Task Type................. 7-7 7.2 The Impact of PLC RUN or STOP on Variables and Devices ..............
7-10 7.3 Synchronization Cycle Period Setting .............................................. 7-10 Chapter 8 Logic Instructions iii