Panasonic Minas A4 Series - Page 296

294
Communication
command
2
mode
4
• Read out of Present Speed
Reception data
0
axis

checksum
24
Error code
Transmission data
• Reads out the present speed. (Unit : [r/min])
• Output value in 16 bit
• Speed will be "–" for CW and "+" for CCW.
bit7
0 : Normal
1 : Error
6543210
3
axis

Data (present speed) L
H
error code
checksum
24
command
2
mode
5
• Read out of Present Torque Output
Reception data
0
axis

checksum
25
Error code
Transmission data
• Reads out the present torque output. (Unit : Converted with "Rated motor torque = 2000)
• Output value in 16 bit 
• Torque command will be "–" value for CW and "+" value for CCW.
bit7
0 : Normal
1 : Error
6543210
3
axis

Data (present torque) L 
H
error code
checksum
25
command
2
mode
2
• Read out of Feedback Pulse Counter
Reception data
0
axis

checksum
22
Error code
Transmission data
• Module returns the present position of feedback pulse counter in absolute coordinates from the staring point. 
• Counter value will be "–" for CW and "+" for CCW.
• Feedback pulse counter is the total pulse counts of the encoder and represents the actual motor position traveled
bit7
0 : Normal
1 : Error
65
Command error
4
RS485 error
Command error RS485 error
Command error RS485 error
3210

5
axis

counter value L


H
error code
checksum
22