入出力信号用ｺﾈｸﾀ ｱﾅﾛｸﾞ・ﾊﾟﾙｽ列指令形, Mechatrolink通信指令形, ｱﾅﾛｸﾞﾓﾆﾀ – Yaskawa Sigma I to Sigma-5 Conversion Guide User Manual
Page 42: ﾊﾟｿｺﾝ接続ｹｰﾌﾞﾙ, Mechatrolink通信ｹｰﾌﾞﾙ, ｾｰﾌﾃｨ機能用ｹｰﾌﾞﾙ
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