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170
Communications
command
2
mode
7
Readout of input signal
Received data
0
axis
checksum
27
Error code
Transmitted data
For "CW overtravel inhibited", "CCW overtravel inhibited" and speed zero clamp, "1" indicates the open status.
For other input signals, "0" indicates the open status.
bit7
0 : Normal
1 : Error
6543210
5
axis
Data L
Data H
Error code
checksum
27
command
2
mode
6
Readout of the current deviation counter
Received data
0
axis
checksum
26
Error code
Transmitted data
This command is used to read a current value of the deviation counter. (unit [pulse])
An output value is 32 bits.
"+" indicates that the encoder is in CW direction and "-" indicates that the encoder is in CCW direction relative to the position
command.
bit7
0 : Normal
1 : Error
65
Command error
4
Command error
Data
3210
5
axis
Data (deviation) L
H
Error code
checksum
26
bit7
Reserved
6
Command dividing/
multiplier switching
5
Zero speed
clamp
4
Control mode
switching
3
CCW overtravel
inhibited
CCW overtravel
inhibited
21
Alarm cleared
0
Servo-ON
bit15
Reserved
14
Reserved
13
Internal velocity
command selection 2
12
Internal velocity
command selection 1
11
Reserved
10
Counter cleared
9
Gain switching
8
Reserved
Reserved
22
Reserved
21
Reserved
20
Reserved
19
Reserved
18
Reserved
17
Reserved
16
Reserved
bit23
bit31
Reserved
31
Reserved
29
Reserved
28
Reserved
27
Reserved
26
Reserved
25
Reserved
24
Reserved