Panasonic IMC80A specifications Reference

[Reference]

command	mode
2	2

Error code

Readout of the feedback pulse counter

Received data

0

axis

2 2

checksum

Transmitted data

5

axis

2 2

Counter value L

H

Error code

checksum

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

A current position of the feedback pulse counter is expressed by absolute coordinates from the start-up time. For the counter value, "-" indicates CW and "+" indicates CCW.

The feedback pulse counter indicates a cumulative sum of pulses of the position detector, which corresponds to a position of the motor that really moves.

command	mode
2	4

Error code

Readout of current speed

Received data

0

axis

4 2

checksum

Transmitted data

3

axis

4	2
Data (current speed)	L
	H
Error code
checksum

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

This command is used to read current speed (unit [r/min]).

An output value is 16 bits.

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

command	mode
2	5

Readout of current torque output

Received data

0

axis

5 2

checksum

Transmitted data

3

axis

5	2
Data (torque)	L
	H
Error code
checksum

Error code

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

This command is used to read current torque output (unit: to be converted as rated torque = 2000). An output value is 16 bits.

Reference

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