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15. COMMUNICATION FUNCTION
15.5.13 Other commands
(1) Servo motor side pulse unit absolute position
Read the absolute position in the servo motor s ide pulse unit.
Note that overflow will occur in the position of 8192 or more revolutions from the home posit ion.
(a) Transmission
Send command [0][2] and data No. [9][0].
Command Data No.
[0][2] [9][0]
(b) Reply
The slave station sends back the requested serv o motor side pulses.
A
bsolute value is sent back in hexadecimal in
the servo motor side pulse unit.
(Must be converted into decimal)
For example, data "000186A0" is 100000 [pulse] in the motor side pu lse unit.
(2) Command unit absolute position
Read the absolute position in the command unit.
(a) Transmission
Send command [0][2] and data No. [9][1].
Command Data No.
[0][2] [9][1]
(b) Reply
The slave station sends back the requested com mand pulses.
Absolute value is sent back in hexadecimal in the
command unit.
(Must be converted into decimal)
For example, data "000186A0" is 100000 [pulse] in the command unit.
(3) Software version
Reads the software version of the servo amplif ier.
(a) Transmission
Send command [0][2] and data No.[7][0].
Command Data No.
[0][2] [7][0]
(b) Reply
The slave station returns the software version requested.
Software version (15 digits)
Space