Panasonic Minas A4 Series - Page 295

293
[Supplement]
Supplement
command 
2
mode
1
• Read out of Command Pulse Counter
Reception data
0
axis

checksum
21
Error code
Transmission data
• Module returns the present position in absolute coordinates from the starting point. (Total sum of accumulated
command pulses)
• Counter value in 32 bit.
• Counter value will be "-" for CW and "+" for CCW.
bit7
0 : Normal

1 : Error
65
Command error
4
RS485 error
3210
5
axis

counter value L


H
error code
checksum
21
command 
2
mode
0
• Readout of Status
Reception data
0
axis

checksum
20
Error code
Transmission data
• Control modes are defined as follows.
• CCW/CW torque generating : This becomes 1 when torque command is positive (CCW) or negative (CW).
• CCW/CW running : This becomes 1 when motor speed (after converted to r/min) is positive (CCW or negative (CW).
• Slower than DB permission : This becomes 1 when motor speed (after converted to r/min) is below 30r/min.
• Torque in-limit : This becomes 1 when torque command is limited by analog input or parameter.
bit7
0 : Normal

1 : Error
65
Command error
4
RS485 error
3210
status
bit7 6 5
CCW torque 
generating
4
CW torque 
generating
3
CCW running
2
CW running
1
Slower than DB
permission
0
Torque in-limit
3
axis

control mode
status
error code
checksum
20
0
1
2
3
Position control mode

Velocity control mode 
Torque control mode 
Full-closed control mode