Panasonic MINAS A6 Series - Read Absolute Encoder; Read External Scale Deviation and Aggregate Pulse

7-50
command
2
mode
D
• Read absolute encoder
Recept on data
0
axis
checksum
2D
Status (L)
Status (H)
Transm ss on data
• bit4 : System down
• bit5 : Battery alarm, multi-turn error, counter overflow, count error, full absolute status and logical sum of over speed
• Command error generated for encoder other than absolute.
• 1 revolution data = 23bit (000000h to 7FFFFFh)
• Multi revolution data = 16bit (0000h to FFFFh)
bit7
Battery alarm
6
System down
5
Multi-turn error
4
0
3
Counter
overflow
2
Count error
1
Full absolute
status
0
Over speed
Error code
bit7
0 : Normal
1 : Error
6 5
Command error
4
RS485 error
3 2 1 0
11 (0Bh)
axis
Encoder ID (L)
(H)
Status (L)
(H)
(L)
1 revolution data
(H)
Multi rev data (L)
(H)
0
Error code
checksum
2D
Encoder ID (L) Encoder ID (H)
command
2
mode
E
• Read external scale deviation and aggregate pulse
Recept on data
2E
Error code
Transm ss on data
• External scale FB pulse sum will return the present position of the external scale counter in absolute coordinates from
the starting point.
• External scale FB pulse sum will be "-" for negative direction and "+" for positive direction.
• External scale deviation becomes "+" when the external scale is positioned at negative direction against position
command, and "–" when it is positioned at positive direction.
bit7
0 : Normal
1 : Error
6 5 4
RS485 errorCommand error
3 2 1 0
0
axis
checksum
2E
9
axis
(L)
External scale
FB aggregate pulse
(H)
(L)
external scale deviation
(H)
Error code
checksum
23bit absolute 0Bh A7h
4. Communication
Details of Communication Command
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