Panasonic minas a4 series Instruction Manual page 296

Communication
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 CW and "+" for CCW.
• 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 CW and "+" for CCW.
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 CW and "+" value for CCW.
294
• Read out of Feedback Pulse Counter
Reception data
0
axis
2
checksum
5 4
Command error RS485 error
• Read out of Present Speed
Reception data
0
axis
4
checksum
5 4
Command error RS485 error
• Read out of Present Torque Output
Reception data
0
axis
5
checksum
5 4
Command error RS485 error
2
3 2
2
3 2
2
3 2
Transmission data
5
axis
2 2
counter value L
H
error code
checksum
1 0
Transmission data
3
axis
4 2
Data (present speed) L
H
error code
checksum
1 0
Transmission data
3
axis
5 2
Data (present torque) L
H
error code
checksum
1 0