6.4.1 Function that RS-232 Port Supports ........................................................ 6-11 6.4.2 Definitions of RS-232 Port Pins ............................................................... 6-11 6.4.3 RS-232 Hardware Connection ................................................................ 6-12 6.4.4 Supported Function Codes and Exception Codes ....................................... 6-12 6.5 SSI Absolute Encoder Port ....................................................................... 6-13 6.5.1 Function of SSI Absolute Encoder ...........................................................
6-13 6.5.2 Definitions of SSI Port Pins .................................................................... 6-13 6.5.3 SSI Absolute Encoder Hardware Connection ............................................. 6-14 6.6 Incremental Encoders .............................................................................. 6-15 6.6.1 Function of Incremental Encoder ............................................................ 6-15 6.6.2 Definition of Incremental Encoder Port Pins .............................................. 6-15 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 ...................................................... 6-17 6.7.3 Network Connection of Ethernet Communication Port ................................ 6-17 6.7.4 Function Codes that Ethernet Communication Port Supports ...................... 6-18 6.8 Motion Communication Port ..................................................................... 6-18 6.8.1 Function that Motion Communication Port Supports ..................................
6-18 6.8.2 Pins of Motion Communication Port ......................................................... 6-18 6.8.3 Motion Network Connection ................................................................... 6-19 6.8.4 Communication Speed and Communication Distance ................................. 6-19 6.9 CANopen Communication Port.................................................................. 6-20 6.9.1 Functions that CANopen Communication Port Supports ............................. 6-20 6.9.2 Pins of CANopen Communication Port...................................................... 6-21 6.9.3 PDO Mapping at CANopen Communication Port ........................................
6-21 6.9.4 Network Connection at CANopen Communication Port ............................... 6-21 Chapter 7 Execution Principle 6.9.5 CANopen Communication Rate and Communication Distance ..................... 6-22 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 iii