Panasonic Minas E Series Instruction Manual page 169

command mode
2
2
Error code
bit7 6
0 : Normal
1 : Error
A current position of the feedback pulse counter is expressed by absolute coordinates from the start-up time.
For the counter value, "-" indicates CW and "+" indicates CCW.
The feedback pulse counter indicates a cumulative sum of pulses of the position detector, which corresponds to a position of
the motor that really moves.
command mode
2 4
Error code
bit7 6
0 : Normal
1 : Error
This command is used to read current speed (unit [r/min]).
An output value is 16 bits.
For the counter value, "-" indicates CW and "+" indicates CCW.
command mode
2 5
Error code
bit7 6
0 : Normal
1 : Error
This command is used to read current torque output (unit: to be converted as rated torque = 2000).
An output value is 16 bits.
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Readout of the feedback pulse counter
Received data
0
axis
2
checksum
5 4
Command error
Readout of current speed
Received data
0
axis
4
checksum
5 4
Command error
Readout of current torque output
Received data
0
axis
5
checksum
5 4
Command error
169
2
3 2
2
3 2
2
3 2
[Reference]
Transmitted data
5
axis
2 2
Counter value L
H
Error code
checksum
1 0
Transmitted data
3
axis
4 2
Data (current speed) L
H
Error code
checksum
1 0
Transmitted data
3
axis
5 2
Data (torque) L
H
Error code
checksum
1 0