Read Status - Panasonic MINAS A6 Series Operating Instructions Manual

4. Communication
Details of Communication Command
command mode
2 0
status
bit7 6
Error code
bit7 6
0 : Normal
1 : Error
• Control modes are defined as follows.
0 Position control mode
1 Velocity control mode
2 Torque control mode
3 Full-closed control mode
• positive direction/negative direction running : This becomes 1 when motor speed (after converted to r/min) is positive
(positive direction) or negative (negative direction).
• Slower than DB permission : This becomes 1 when motor speed (after converted to r/min) is below 30 r/min.
• Torque in-limit : This becomes 1 when torque command is limited by analog input or parameter.
command mode
2
1
Error code
bit7 6
0 : Normal
1 : Error
• Module returns the present position in absolute coordinates from the starting point. (Total sum of accumulated
command pulses)
• Counter value in 32 bit.
• Counter value will be "–" for negative direction and "+" for positive direction.
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• Read out of status
Reception data
0
axis
0 2
checksum
5 4
5 4
Command error RS485 error
• Read out of command pulse counter
Reception data
0
axis
1 2
checksum
5 4
Command error RS485 error
Transmission data
0
3 2
Positive direction Negative direction
running running
3 2
Transmission data
1
3 2
3
axis
2
control mode
status
error code
checksum
1 0
Slower than DB Torque in-limit
permission
1 0
5
axis
2
counter value L
H
error code
checksum
1 0
7-43
1
2
3
4
5
6
7