Panasonic MINAS A6 Series - Read Feedback Pulse Counter

7-44
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 negative direction and "+" for positive direction.
bit7
0 : Normal
1 : Error
6 5 4 3 2 1 0
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 negative direction and "+" value for positive direction.
bit7
0 : Normal
1 : Error
6 5 4 3 2 1 0
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 negative direction and "+" for positive direction.
• Feedback pulse counter is the total pulse counts of the encoder and represents the actual motor position traveled
bit7
0 : Normal
1 : Error
6 5
Command error
4
RS485 error
Command error RS485 error
Command error RS485 error
3 2 1 0
5
axis
counter value L
H
error code
checksum
22
4. Communication
Details of Communication Command
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