Panasonic IMC80A specifications 168

Communications

command	mode
2	0

Status

Readout of status

Received data

0

axis

0 2

checksum

Transmitted data

3

axis

0 2

Control mode

Status

Error code

checksum

	bit7	6	5	4	3	2	1	0
			CCW	CW	CCW	CW	Less than DB	Torque being
			Torque being output	Torque being output	rotating	rotating	permission speed	limited
Error code
	bit7	6	5	4	3	2	1	0
0	: Normal		Command error
1	: Error

The control modes are defined as follows:

0High speed response positioning control mode

1Internal velocity control mode

2High function positioning control

command	mode
2	1

Error code

Readout of the command pulse counter

Received data

0

axis

1 2

checksum

Transmitted data

5

axis

1 2

Counter value L

H

Error code

checksum

	bit7	6	5	4	3	2	1	0
0	: Normal		Command error
1	: Error

A current command position is expressed by absolute coordinates from the start-up time. (Cumulative sum of the number of command pulses)

The counter value is 32 bits.

For the counter value, "-" indicates CW and "+" indicates CCW.

168