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9. INTERFACE MODE
9.4 Interface
(1) System information
Address Content
0010
Interrupt output cycle
0011
0012
Command data update cycle
0013
(a) Interrupt output cycle
The interrupt output cycle (control cycle × N) outputs the value of N.
(b) Command data update cycle
The command data update cycle (control cycle × N) outputs the value of N.
(2) System status table
Address Content
0478
Command buffer read error counter
0479
(3) System command/status bit
System command
System status
Address Bit Symbol Signal name
Address Bit Symbol Signal name
03E0
0 ITE Interrupt processing complete
0450
0 ITO
Outputting with factor of
interrupt
1 ITS Interrupt output valid
1 IITO
During interface mode interrupt
valid
2
Reserved
2 Reserved
3
3 HRIF During highly response I/F valid
4 HMA
During user program memory
access
4 BMA
During system program
memory access
5
Reserved
5 PRINF
Continuous operation to torque
control compatible information
6
6
Reserved
7
7 IFMO In interface mode
(a) Details on command bit
Abbreviation Signal name Function details
ITS Interrupt output valid [Function]
Commands interrupt output valid.
[Operation]
Outputs the interrupt each interrupt output cycle when interrupt output valid (ITS) is
turned on.
HMA During user program
memory access
[Function]
Commands when the user program is accessing the command buffer.
[Operation]
When during user program memory access (HMA) is turned on, the system program
recognizes that the user program is accessing the command buffer, and does not
access the command buffer. When this happens, the system program counts up on
the command buffer read error counter.