Panasonic MINAS A5-series, Operating Instructions Manual

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7-46
command
2
mode
A
• Read out of status, input signal and output signal
Reception data
0
axis
checksum
2 A
Error cod
Transmission data
• Meaning of each bit of control mode, status, input signal, output signal and alarm data is as same as that of command
No. 20 (command = 2, mode = 0), 27 (mode = 7) and 28 (mode =8).
bit7
0 : Normal
1 : Error
6 5
Command error
4
RS485 error
3 2 1 0
13 (0Dh)
axis
control mode
status
input signal L
input signal H
output signal L
output signal H
alarm data L
alarm data H
error code
checksum
2 A
command
2
mode
9
• Read out of present speed, torque and deviation counter
Reception data
2 9
Error cod
Transmission data
• Output value of speed and torque are in 16 bit and deviation in 32 bit.
• Unit and sign of the output data is as same as that of command No. 24 (command = 2, mode = 4), 25 (mode = 5)
and 26 (mode = 6).
bit7
0 : Normal
1 : Error
6 5
Command error
4
RS485 error
3 2 1 0
0
axis
checksum
2 9
9
axis
data L
(speed) H
data L
(torque) H
data L
(deviation) H
error code
checksum
4. Communication
Details of Communication Command