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command
mode
2
8
Warning data
bit7 Overload
bit5 Over-regeneration
bit0 Battery
Error code
bit7
6
0 : Normal
1 : Error
Data
bit7
6
Reserved
Reserved
bit15
14
Reserved
Reserved
bit23
22
Reserved
Reserved
bit31
31
Reserved
Reserved
The following table shows the relation between each signal and operation.
Signal
Servo ready
Servo alarm
In positioning completed
Electromagnetic brake released
Zero speed detected
Torque being limited
Achieved speed
Dynamic brake activated
command
mode
2
9
Error code
bit7
6
0 : Normal
1 : Error
The speed and torque output values are 16 bits and deviation output value is 32 bits.
The unit and sign of output data are same for command Nos. 24, 25, and 26.
Readout of output signal
Received data
0
axis
8
checksum
5
4
Command error
5
4
Torque being
Zero speed
limited
detected
13
12
Dynamic brake
Reserved
activated
21
20
Reserved
Reserved
29
28
Reserved
Reserved
0
not Ready
Normal condition
Positioning not completed
Electromagnetic brake running
Zero speed not detected
Torque not being limited
Not achieved speed
Dynamic brake released
Readout of current speed/torque/deviation counter
Received data
0
axis
9
checksum
5
4
Command error
2
3
2
3
2
Electromagnetic
Positioning
brake released
completed
11
10
Reserved
Reserved
19
18
Reserved
Reserved
27
26
Reserved
Reserved
1
Servo ready
Abnormal condition
Positioning being completed
Electromagnetic brake released
Zero speed detected
Torque being limited
Speed being achieved
Dynamic brake being activated
2
3
2
171
[Reference]
Transmitted data
7
axis
8
2
Data L
Data H
Warning data
L
H
Error code
checksum
1
0
1
0
Servo alarm
Servo ready
9
8
Speed achieved
Reserved
17
16
Reserved
Reserved
25
24
Reserved
Reserved
Transmitted data
9
axis
9
2
Data
L
(Speed) H
Data
L
(Torque) H
Data
L
(Deviation) H
Error code
checksum
1
0
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