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168
Communications
command
2
mode
1
Readout of the command pulse counter
Received data
0
axis
checksum
21
Error code
Transmitted data
A current command position is expressed by absolute coordinates from the start-up time. (Cumulative sum of the number of
command pulses)
The counter value is 32 bits.
For the counter value, "-" indicates CW and "+" indicates CCW.
bit7
0 : Normal
1 : Error
65
Command error
43210
5
axis
Counter value L
H
Error code
checksum
21
command
2
mode
0
Readout of status
Received data
0
axis
checksum
20
Error code
Transmitted data
The control modes are defined as follows:
bit7
0 : Normal
1 : Error
65
Command error
43210
Status
bit7 6 5
CCW
Torque being output
4
CW
Torque being output
3
CCW
rotating
2
CW
rotating
1
Less than DB
permission speed
0
Torque being
limited
3
axis
Control mode
Status
Error code
checksum
20
0
1
2
High speed response positioning control mode
Internal velocity control mode
High function positioning control