Panasonic Minas E Series Instruction Manual page 168

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.
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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