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Communications
Details on Communications Commands
command
0
mode
1
Readout of CPU version information
Received data
0
axis
checksum
01
Error code
Transmitted data
For version information, Ver. is divided into high order data and low order data and sent back. (The decimal point
returns low-order 4 bits of the high order data as "0".)
A version is expressed by digits of 0 to 9 (Example: Ver.3.13 is composed of high order data 30h and low order data 13h).
This indicates the CPU version.
bit7
0 : Normal
1 : Error
65
Command error
43210
3
axis
Version (high order)
Error code
checksum
01
(low order)
List of Communications Commands
Description
command
0
1
2
8
9
B
mode
1
5
6
1
0
1
2
4
5
6
7
8
9
A
0
1
4
0
1
2
3
4
0
1
2
NOP
Readout of CPU version
Readout of the driver model name
Readout of the motor model name
INIT
Setting of protocol parameters
POS, STATUS, I/O
Readout of status
Readout of the command pulse counter
Readout of the feedback pulse counter
Readout of current speed
Readout of current torque output
Readout of the current deviation counter
Readout of input signal
Readout of output signal
Readout of current speed/torque/deviation counter
Readout of status/input signal/output signal
PARAMETER
Individual readout of parameters
Individual writing of parameters
Writing of parameters to EEPROM
ALARM
Readout of current alarm data
Individual readout of alarm history
Batch readout of alarm history
Alarm history clear (also on EEPROM)
Alarm clear
PARAMETER
Individual readout of user parameters
Page readout of user parameters
Page writing of user parameters
<Note>
Be sure to use the above commands only. We could not guarantee proper operation of the driver when you
transmit a command not listed above.