System Id Command (Command Code: 2H) - Panasonic MINAS-A5NL Series Technical Reference

6-4 System ID Command (Command code: 2h)
Use this when you read out the system ID of the servo driver.
Return the information specified by Type_Code and Index
in ASCII code.
 Main command: common to 16 byte and 32 byte mode
Byte
bit7 6
C
0 Update_Counter
(0)
TMG_
1
CNT
2
3
4
5
6
7
8
9 0
10
11
12
13
14
15
 Sub-command: specific to 32 byte mode
Byte
bit7 6
Sub_
16 Chk 0
(1)
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
Title
Type_Code
/Type_Code_Echo
Sub_Type_Code
/Sub_Type_Code_Echo
Index/Index_Echo
Sub_Index
/Sub_Index_Echo
Command_Data3
/Monitor_Data
Sub_Command_Data1
/Sub_Monirot_Data
R2.0
Command
5 4 3 2 1
MAC-ID
2h
Control_Bits
Command_Data1
Type_Code
Index
Command_Data3
Command
5 4 3 2 1
Sub_Command_Code
0 0
(2h)
Sub_Type_Code
Sub_Index
Sub_Command_Data1
Sub_Command_Data2
Sub_Command_Data3
Command
Specify the system ID to be read.
▪ For details, refer Section 6-4-1.
Data specified by Pr.7.35 (RTEX command setup 1)
▪ For details, refer to Sections 7-7-1.
Set to 0
NOP

Byte
0 bit7 6
R Update_Counter
0
(1) _Echo
CMD_
1
Error
2
3
L 4
ML 5
M
6
H
H 7
L 8
H 9 ERR WNG
L 10
H 11
L 12
ML 13
M
14
H
H 15
Byte
0 bit7 6
Sub_
Sub_ Sub_
16 CMD_
ERR WNG
Err
17 Sub_Type_Code_Echo
L 18
H 19
L 20
ML 21
Sub_Monitor_Data
M
22
H
H 23
L 24
ML 25
Sub_Response_Data2
M
26
H
H 27
L 28
ML 29
M Sub_Response_Data3
30
H
H 31
Type_Code echo back value
Type_Code echo back value
Byte
12 (4 x Index) ASCII code
13 (4 x Index + 1) ASCII code
14 (4 x Index + 2) ASCII code
15 (4 x Index + 3) ASCII code
Motor Business Division, Appliances Company, Panasonic Corporation
No. SX-DSV02310 - 57 -
Compatible control mode
PP CP CV
  
Response
5 4 3 2 1
Actual_MAC-ID
2h
Status_Flags
Response_Data1
Type_Code_Echo
0 Busy
Index_Echo
Monitor_Data
(ASCII code)
Response
5 4 3 2 1
Sub_Command_Code_Ech
Sub_
o
Busy
(2h)
Sub_Index_Echo
(ASCII code)
Response
Read out value (ASCII code)
CT

0
L
ML
M
H
H
L
H
L
H
L
ML
M
H
H
0
L
H
L
ML
M
H
H
L
ML
M
H
H
L
ML
M
H
H