Panasonic IMC80A specifications 171

[Reference]

command		mode	Readout of output signal
2		8
				Received data
			0
				axis
			8		2
				checksum
Warning data
bit7	Overload
bit5	Over-regeneration
bit0	Battery

Error code

Transmitted data

7

axis

8 2

Data L

Data H

Warning data L

H

Error code

checksum

bit7	6	5	4	3	2	1	0
0 : Normal		Command error
1 : Error
Data
bit7	6	5	4	3	2	1	0
Reserved	Reserved	Torque being	Zero speed	Electromagnetic	Positioning	Servo alarm	Servo ready
		limited	detected	brake released	completed
bit15	14	13	12	11	10	9	8
Reserved	Reserved	Dynamic brake	Reserved	Reserved	Reserved	Speed achieved	Reserved
		activated
bit23	22	21	20	19	18	17	16
Reserved	Reserved	Reserved	Reserved	Reserved	Reserved	Reserved	Reserved
bit31	31	29	28	27	26	25	24
Reserved	Reserved	Reserved	Reserved	Reserved	Reserved	Reserved	Reserved

The following table shows the relation between each signal and operation.

Signal	0	1
Servo ready	not Ready	Servo ready
Servo alarm	Normal condition	Abnormal condition
In positioning completed	Positioning not completed	Positioning being completed
Electromagnetic brake released	Electromagnetic brake running	Electromagnetic brake released
Zero speed detected	Zero speed not detected	Zero speed detected
Torque being limited	Torque not being limited	Torque being limited
Achieved speed	Not achieved speed	Speed being achieved
Dynamic brake activated	Dynamic brake released	Dynamic brake being activated

command	mode
2	9

Readout of current speed/torque/deviation counter

Error code

Received data

0

axis

9 2

checksum

Transmitted data

9

axis

9 2

Data L

(Speed) H

Data L

(Torque) H

Data L

(Deviation) H

Error code

checksum

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

The speed and torque output values are 16 bits and deviation output value is 32 bits.

The unit and sign of output data are same for command Nos. 24, 25, and 26.

Reference

171