
[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 |
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1 | : Error |
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A current position of the feedback pulse counter is expressed by absolute coordinates from the
For the counter value,
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 |
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| bit7 | 6 | 5 | 4 | 3 | 2 | 1 | 0 |
0 | : Normal |
| Command error |
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1 | : Error |
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This command is used to read current speed (unit [r/min]).
An output value is 16 bits.
For the counter value,
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 |
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Error code
| bit7 | 6 | 5 | 4 | 3 | 2 | 1 | 0 |
0 | : Normal |
| Command error |
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1 | : Error |
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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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