Panasonic MINAS A5-series Operating Instructions Manual page 315

2. Absolute system
Transferring absolute data
Composition of Absolute Data
Absolute data consists of singe-turn data which shows the absolute position per one
revolution and multi-turn data which counts the number of revolution of the motor after
clearing the encoder.
Single-turn data
Multi-turn data
Motor rotational direction
Single-turn data and multi-turn data are composed by using 15-character data (hexadeci-
mal binary code) which are received via RS232 or RS485.
Received
absolute data
(15 characters)
• Details of multi-turn data
Absolute counter over
error protection
Single-turn data
multi-turn data
Remarks
If the multi-turn data of the above fig. is between 32768 to 65535, convert it to signed
date after deducting 65536.
131071 0,1,2
–1 0
origin
CW
0Bh
Axis address
D2h
03h
11h
Encoder status (L)
Encoder status (H)
Single-turn data (L)
Single-turn data (M)
Single-turn data (H)
Multi-turn data (L)
Multi-turn data (H)
00h
Error code
Checksum
65535
CW
Error
Single-turn data (H)×10000h+Single-turn data (M)×100h+Single-turn data (L)
multi-turn data (H) ×100h+multi-turn data (L)
... 13107 1 0,1,2 ... 131071 0,1,
0 1 1 2
CCW
Setup value of Pr5.31 "Axis address".
Becomes to 0 when the communication is
carried out normally. If not 0, capture the
absolute data from the driver again
0 CCW
Normal Error
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