Panasonic AC Servo MINAS E Series IMC80A Instrukcja Użytkownika Pobierz pdf (Strona 15)

169

[Reference]

Reference

command

mode

Readout of current speed

Received data

axis

checksum

Error code

Transmitted data

This command is used to read current speed (unit [r/min]).

An output value is 16 bits.

For the counter value, "-" indicates CW and "+" indicates CCW.

bit7

0 : Normal

1 : Error

6543210

axis

Data (current speed) L

Error code

checksum

command

mode

Readout of current torque output

Received data

axis

checksum

Error code

Transmitted data

This command is used to read current torque output (unit: to be converted as rated torque = 2000).

An output value is 16 bits.

bit7

0 : Normal

1 : Error

6543210

axis

Data (torque) L

Error code

checksum

command

mode

Readout of the feedback pulse counter

Received data

axis

checksum

Error code

Transmitted data

A current position of the feedback pulse counter is expressed by absolute coordinates from the start-up time.

For the counter value, "-" indicates CW and "+" indicates CCW.

The feedback pulse counter indicates a cumulative sum of pulses of the position detector, which corresponds to a position of

the motor that really moves.

bit7

0 : Normal

1 : Error

Command error

3210

axis

Counter value L

Error code

checksum

1 2 ... 10 11 12 13 14 15 16 17 18 19 20 ... 61 62

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Panasonic AC Servo MINAS E Series IMC80A Instrukcja Użytkownika Strona 15

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