Table of Contents
4. Communication
Details of Communication Command
command
mode
2
2
Error code
bit7
6
0 : Normal
1 : Error
• 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
command
mode
2
4
Error code
bit7
6
0 : Normal
1 : Error
• Reads out the present speed. (Unit : [r/min])
• Output value in 16 bit
• Speed will be "–" for negative direction and "+" for positive direction.
command
mode
2
5
Error code
bit7
6
0 : Normal
1 : Error
• 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.
• Read out of feedback pulse counter
Reception data
0
axis
2
2
checksum
5
4
Command error
RS485 error
• Read out of present speed
Reception data
0
axis
4
2
checksum
5
4
Command error RS485 error
• Read out of present torque output
Reception data
0
axis
5
2
checksum
5
4
Command error RS485 error
Transmission data
2
counter value L
error code
checksum
3
2
Transmission data
4
Data (present speed) L
error code
checksum
3
2
Transmission data
5
Data (present torque) L
error code
checksum
3
2
5
axis
2
H
1
0
3
axis
2
H
1
0
3
axis
2
H
1
0
7-43
1
2
3
4
5
6
7
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