Communications

List of Communications Commands

command

mode

Description

 

 

NOP

0

1

Readout of CPU version

5

Readout of the driver model name

 

 

6

Readout of the motor model name

1

 

INIT

1

Setting of protocol parameters

 

 

 

POS, STATUS, I/O

 

0

Readout of status

 

1

Readout of the command pulse counter

 

2

Readout of the feedback pulse counter

2

4

Readout of current speed

5

Readout of current torque output

 

6

Readout of the current deviation counter

 

7

Readout of input signal

 

8

Readout of output signal

 

9

Readout of current speed/torque/deviation counter

 

A

Readout of status/input signal/output signal

 

 

PARAMETER

8

0

Individual readout of parameters

1

Individual writing of parameters

 

 

4

Writing of parameters to EEPROM

 

 

ALARM

 

0

Readout of current alarm data

9

1

Individual readout of alarm history

2

Batch readout of alarm history

 

 

3

Alarm history clear (also on EEPROM)

 

4

Alarm clear

 

 

PARAMETER

B

0

Individual readout of user parameters

1

Page readout of user parameters

 

 

2

Page writing of user parameters

<Note>

Be sure to use the above commands only. We could not guarantee proper operation of the driver when you

transmit a command not listed above.

Details on Communications Commands

command

mode

0

1

Error code

Readout of CPU version information

Received data

0

axis

1

0

checksum

Transmitted data

3

axis

1

0

Version (high order) (low order)

Error code

checksum

 

bit7

6

5

4

3

2

1

0

0

: Normal

 

Command error

 

 

 

 

 

1

: Error

 

 

 

 

 

 

 

For version information, Ver. is divided into high order data and low order data and sent back. (The decimal point returns low-order 4 bits of the high order data as "0".)

A version is expressed by digits of 0 to 9 (Example: Ver.3.13 is composed of high order data 30h and low order data 13h). This indicates the CPU version.

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Panasonic IMC80A specifications List of Communications Commands, Details on Communications Commands