Read Feedback Pulse Counter - Panasonic MINAS A6 Series Operating Instructions Manual

4. Communication
Details of Communication Command
command mode
2 2
Error code
bit7
0 : Normal
1 : Error
• Module returns the present position of feedback pulse counter in absolute coordinates from the staring point.
• Counter value will be "–" for negative direction and "+" for positive direction.
• Feedback pulse counter is the total pulse counts of the encoder and represents the actual motor position traveled
command mode
2 4
Error code
bit7
0 : Normal
1 : Error
• Reads out the present speed. (Unit : [r/min])
• Output value in 16 bit
• Speed will be "–" for negative direction and "+" for positive direction.
command mode
2 5
Error code
bit7
0 : Normal
1 : Error
• Reads out the present torque output. (Unit : Converted with "Rated motor torque = 2000)
• Output value in 16 bit
• Torque command will be "–" value for negative direction and "+" value for positive direction.
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7-44
• Read out of feedback pulse counter
Reception data
0
axis
2
checksum
6 5
Command error RS485 error
• Read out of present speed
Reception data
0
axis
4
checksum
6 5
Command error RS485 error
• Read out of present torque output
Reception data
0
axis
5
checksum
6 5
Command error RS485 error
2
4 3
2
4 3
2
4 3
Transmission data
5
axis
2 2
counter value L
H
error code
checksum
2 1
Transmission data
3
axis
4 2
Data (present speed) L
H
error code
checksum
2 1
Transmission data
3
axis
5 2
Data (present torque) L
H
error code
checksum
2 1
0
0
0