Read Out Of Status; Read Out Of Command Pulse Counter - Panasonic MINAS A5-series Operating Instructions Manual

4. Communication
Details of Communication Command
command mode
2 0
status
bit7
Error code
bit7
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 30r/min.
• Torque in-limit : This becomes 1 when torque command is limited by analog input or parameter.
command mode
2 1
Error code
bit7
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.
7-42

• Read out of status

Reception data
0
axis
0
checksum
6 5
6 5
Command error RS485 error

• Read out of command pulse counter

Reception data
0
axis
1
checksum
6 5
Command error RS485 error
2
4 3
Positive direction Negative direction
running running
4 3
2
4 3
Transmission data
3
axis
0 2
control mode
status
error code
checksum
2 1
Slower than DB Torque in-limit
permission
2 1
Transmission data
5
axis
1 2
counter value L
H
error code
checksum
2 1
0
0
0