Read Absolute Encoder; Read External Scale Deviation And Aggregate Pulse - Panasonic MINAS A6 Series Operating Instructions Manual

4. Communication
Details of Communication Command
command mode
2 D
23bit absolute
Status (L)
bit7
Battery alarm System down
Status (H)
• bit4 : System down
• bit5 : Battery alarm, multi-turn error, counter overflow, count error, full absolute status and logical sum of over speed
Error code
bit7
0 : Normal
1 : Error
• Command error generated for encoder other than absolute.
• 1 revolution data = 23bit (000000h to 7FFFFFh)
• Multi revolution data = 16bit (0000h to FFFFh)
command mode
2 E
Error code
bit7
0 : Normal
1 : Error
• External scale FB pulse sum will return the present position of the external scale counter in absolute coordinates from
the starting point.
• External scale FB pulse sum will be "-" for negative direction and "+" for positive direction.
• External scale deviation becomes "+" when the external scale is positioned at negative direction against position
command, and "–" when it is positioned at positive direction.
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7-50

• Read absolute encoder

Recept on data
0
axis
D
checksum
Encoder ID (L)
0Bh
6 5
Multi-turn error
0
6 5
Command error RS485 error

• Read external scale deviation and aggregate pulse

Recept on data
0
axis
E
checksum
6 5
Command error RS485 error
2
Encoder ID (H)
A7h
4 3
Counter Count error
overflow
4 3
2
4 3
Transm ss on data
11 (0Bh)
axis
D 2
Encoder ID (L)
(H)
Status (L)
(H)
(L)
1 revolution data
(H)
Multi rev data (L)
(H)
0
Error code
checksum
2 1
Full absolute Over speed
status
2 1
Transm ss on data
9
axis
E 2
(L)
External scale
FB aggregate pulse
(H)
(L)
external scale deviation
(H)
Error code
checksum
2 1
0
0
0