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 |
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|
| CCW | CW | CCW | CW | Less than DB | Torque being |
|
|
| Torque being output | Torque being output | rotating | rotating | permission speed | limited |
Error code |
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| |
| bit7 | 6 | 5 | 4 | 3 | 2 | 1 | 0 |
0 | : Normal |
| Command error |
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|
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|
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1 | : Error |
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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 |
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A current command position is expressed by absolute coordinates from the
The counter value is 32 bits.
For the counter value,
