[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

 

 

 

 

 

1

: Error

 

 

 

 

 

 

 

A current position of the feedback pulse counter is expressed by absolute coordinates from the start-up time. For the counter value, "-" indicates CW and "+" indicates CCW.

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

 

 

bit7

6

5

4

3

2

1

0

0

: Normal

 

Command error

 

 

 

 

 

1

: Error

 

 

 

 

 

 

 

This command is used to read current speed (unit [r/min]).

An output value is 16 bits.

For the counter value, "-" indicates CW and "+" indicates CCW.

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

 

Error code

 

bit7

6

5

4

3

2

1

0

0

: Normal

 

Command error

 

 

 

 

 

1

: Error

 

 

 

 

 

 

 

This command is used to read current torque output (unit: to be converted as rated torque = 2000). An output value is 16 bits.

Reference

169

Page 15
Image 15
Panasonic IMC80A specifications Reference