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INTELLIGENT ACTUATOR
Part 4 Commands
1.24 Extended Commands
ECMD1 (Get motor current value (as percentage of rated current))
Command, declaration
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
Optional Optional ECMD 1
Axis
number
CC
This command is supported by controllers of main application version 0.37 or later.
This command can be entered using PC software of version 4.0.0.1 or later, ANSI teaching pendants of
version 1.05 or later, or IAI’s standard teaching pendants of version 1.31 or later.
[Function] Store in variable 99 the motor current value (percentage of the rated current) of the “axis
number” specified in operand 2.
(Note) • The motor current value to be obtained (as a percentage of the rated current) represents
filtered fed-back current data subject to analog error. Accordingly, provide a margin of 5%
or more if the obtained motor current is to be compared against the “steady-state (non-
push motion) torque limit (maximum limit)” set by expanded command code 250.
[Example] ECMD 1 2 Extended command 1
Store the motor current value (percentage of the rated
current) of axis 2 in variable 99.
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