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Communications
command
mode
2
0
Status
bit7
6
Error code
bit7
6
0 : Normal
1 : Error
The control modes are defined as follows:
0
High speed response positioning control mode
1
Internal velocity control mode
2
High function positioning control
command
mode
2
1
Error code
bit7
6
0 : Normal
1 : Error
A current command position is expressed by absolute coordinates from the start-up time. (Cumulative sum of the number of
command pulses)
The counter value is 32 bits.
For the counter value, "-" indicates CW and "+" indicates CCW.
Readout of status
Received data
0
axis
0
checksum
5
4
CCW
CW
Torque being output
Torque being output
5
4
Command error
Readout of the command pulse counter
Received data
0
axis
1
checksum
5
4
Command error
2
3
2
CCW
CW
rotating
rotating
3
2
2
3
2
168
Transmitted data
3
axis
0
2
Control mode
Status
Error code
checksum
1
0
Less than DB
Torque being
permission speed
limited
1
0
Transmitted data
5
axis
1
2
Counter value L
H
Error code
checksum
1
0
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