2.7 Command Data
2.7.1 Data Order
2-27
2
Command Format
2.7
Command Data
This section describes the servo-specific data used with servo commands.
2.7.1
Data Order
Data in commands and responses is stored in little endian byte order.
For example, 4-byte data "0x1234ABCD" in hexadecimal is stored from the least significant
byte as shown below.
2.7.2
Specifying Units
The units for the user command and parameter data can be selected.
The system of units is set in the common parameters. For the details on the common parame-
ters, refer to the following chapter for details.
Speed
The following units can be selected.
Settings are made with common parameters 41 and 42.
Position
The following units can be selected.
Settings are made with common parameters 43 and 44.
Acceleration
The following units can be selected.
Settings are made with common parameters 45 and 46.
Byte
Data
1
CD
2
AB
3
34
4
12
Unit
Remark
Reference unit/s (default)
×
10
n
[reference unit/s] can be set.
Reference unit/min
×
10
n
[reference unit/min] can be set.
"%" of rated speed
×
10
n
[%] can be set.
min
−
1
(rpm)
×
10
n
[min
−
1
] can be set.
Max. motor speed/40000000 (h)
Set "0" for common parameter 42.
Unit
Remark
Reference unit (default)
[Reference unit] Fixed
Set "0" for common parameter 44.
Unit
Remark
Reference unit/s
2
(default)
×
10
n
[reference unit/s
2
] can be set.
