Mitsubishi Electric MR-J4, Instruction Manual

Page: 567 / 794

14. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL)
14 - 38
14.5.12 Other commands
(1) Servo motor-side pulse unit absolute position
The following shows how to read the absolute position in the servo motor-side pulse unit. Note that
overflow will occur in the position of 8192 or more revolutions from the home position.
(a) Transmission
Transmit command [0] [2] and data No. [9] [0].
Command Data No.
[0] [2] [9] [0]
(b) Return
The slave station returns the requested servo motor-side pulses.
Absolute position is sent back in hexadecimal in the servo motor-side pulse unit
(Data must be converted into decimal.)
For example, data "000186A0" is 100000 pulses in the motor-side pulse unit.
(2) Command unit absolute position
The following shows how to read the absolute position in the command unit.
(a) Transmission
Transmit command [0] [2] and data No. [9] [1].
Command Data No.
[0] [2] [9] [1]
(b) Return
The slave station returns the requested command pulses.
Absolute position is sent back in hexadecimal in the command unit
(Data must be converted into decimal.)
For example, data "000186A0" is 100000 pulses in the command unit.
(3) Software version
The following shows how to read the software version of the servo amplifier.
(a) Transmission
Transmit command [0] [2] and data No. [7] [0].
Command Data No.
[0] [2] [7] [0]
(b) Return
The slave station returns the requested software version.
Software version (15 digits)
Space