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171
[Reference]
Reference
command
2
mode
9
Readout of current speed/torque/deviation counter
Received data
29
Error code
Transmitted data
The speed and torque output values are 16 bits and deviation output value is 32 bits.
The unit and sign of output data are same for command Nos. 24, 25, and 26.
bit7
0 : Normal
1 : Error
65
Command error
43210
0
axis
checksum
29
command
2
mode
8
Readout of output signal
Received data
0
axis
checksum
28
Transmitted data
The following table shows the relation between each signal and operation.
28
Error code
bit7
0 : Normal
1 : Error
6543210
Command error
Data
bit7
Reserved
6
Reserved
5
Torque being
limited
4
Zero speed
detected
3
Electromagnetic
brake released
Positioning
completed
21
Servo alarm
0
Servo ready
bit15
Reserved
14
Reserved
13
Dynamic brake
activated
12
Reserved
11
Reserved
10
Reserved
9
Speed achieved
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
7
axis
Data L
Data H
Warning data L
H
Error code
checksum
9
axis
Data L
(Speed) H
Data L
(Torque) H
Data L
(Deviation) H
Error code
checksum
Warning data
bit7 Overload
bit5 Over-regeneration
bit0 Battery
Signal
Servo ready
Servo alarm
In positioning completed
Electromagnetic brake released
Zero speed detected
Torque being limited
Achieved speed
Dynamic brake activated
0
not Ready
Normal condition
Positioning not completed
Electromagnetic brake running
Zero speed not detected
Torque not being limited
Not achieved speed
Dynamic brake released
1
Servo ready
Abnormal condition
Positioning being completed
Electromagnetic brake released
Zero speed detected
Torque being limited
Speed being achieved
Dynamic brake being activated