Panasonic MINAS A6 Series Operating Instructions Manual page 457

4. Communication
Details of Communication Command
command mode
2 9
Error cod
bit7 6
0 : Normal
1 : Error
• Output value of speed and torque are in 16 bit and deviation in 32bit.
• Unit and sign of the output data is as same as that of command No. 24 (command = 2, mode = 4), 25 (mode = 5)
and 26 (mode = 6).
command mode
2 A
Error cod
bit7 6
0 : Normal
1 : Error
• Meaning of each bit of control mode, status, input signal, output signal and alarm data is as same as that of command
No. 20 (command = 2, mode = 0), 27 (mode = 7) and 28 (mode =8).
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• Read out of present speed, torque and positional command deviation
Recept on data
0
axis
9 2
checksum
5 4
Command error RS485 error
• Read out of status, input signal and output signal
Recept on data
0
axis
A 2
checksum
5 4
Command error RS485 error
Transm ss on data
9
data L
(speed) H
data L
(torque) H
data L
(deviation) H
error code
checksum
3 2
Transm ss on data
13 (0Dh)
A
control mode
status
input signal L
input signal H
output signal L
output signal H
alarm data L
alarm data H
error code
checksum
3 2
9
axis
2
1 0
axis
2
1 0
7-47
1
2
3
4
5
6
7