14. COMMUNICATION FUNCTION
14 - 15
Command Data No. Description Status display
Frame
length
[3] [5] [8] [0] Cumulative feedback pulses
Motor-side cumu. feedback pulses (after gear)
[8] [1]
Status display data value and
processing information
Servo motor speed
Servo motor speed
[8] [2] Droop pulses
Motor-side droop pulses
[8] [3] Cumulative command pulses
[8] [4] Command pulse frequency
[8] [5] Analog speed command voltage
Analog speed limit voltage
[8] [6] Analog torque limit voltage
Analog torque command voltage
[8] [7] Regenerative load ratio
[8] [8] Effective load ratio
[8] [9] Peak load ratio
[8] [A] Instantaneous torque
Instantaneous thrust
[8] [B] Position within one-revolution
Motor encoder position within one-revolution
Virtual position within one-revolution
[8] [C] ABS counter
Motor encoder ABS counter
Virtual ABS counter
[8] [D] Load to motor inertia ratio
Load to motor mass ratio
[8] [E] Bus voltage
12
[8] [F] Load-side cumulative feedback pulses
[9] [0] Load-side droop pulses
[9] [1] Load-side encoder information 1
Z-phase counter
[9] [2] Load-side encoder information 2
[9] [6] Temperature of motor thermistor
[9] [7] Motor-side cumu. feedback pulses (before gear)
[9] [8] Electrical angle
[9] [E] Motor-side/load-side position deviation
[9] [F] Motor-side/load-side speed deviation
[A] [0] Encoder inside temperature
[A] [1] Settling time
[A] [2] Oscillation detection frequency
[A] [3] Number of tough operations
[A] [8] Unit power consumption
[A] [9] Unit total power consumption
(7) Test operation mode (command [0] [0])
Command Data No. Description Frame length
[0] [0] [1] [2] Test operation mode reading
0000: Normal mode (not test operation mode)
0001: JOG operation
0002: Positioning operation
0003: Motor-less operation
0004: Output signal (DO) forced output
4
(8) Software version (command [0] [2])
Command Data No. Description Frame length
[9] [0] Servo motor-side pulse unit absolute position 8
[9] [1] Command unit absolute position 8
[0] [2]
[7] [0] Software version 16
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