13 - 10
13. COMMUNICATION FUNCTIONS
13.11 Command and Data No. List
13.11.1 Read commands
(1) Status display (Command [0][1])
Command
Data No.
Description
Display Item
Frame Length
[0][1]
[8][0]
cumulative feedback pulses
12
[0][1]
[8][1]
servo motor speed
12
[0][1]
[8][2]
droop pulses
12
[0][1]
[8][3]
cumulative command pulses
12
[0][1]
[8][4]
command pulse frequency
12
[0][1]
[8][5]
analog speed command voltage
analog speed limit voltage
12
[0][1]
[8][6]
analog torque command voltage
analog torque limit voltage
12
[0][1]
[8][7]
regenerative load ratio
12
[0][1]
[8][8]
effective load ratio
12
[0][1]
[8][9]
peak load ratio
12
[0][1]
[8][A]
within one-revolution position
12
[0][1]
[8][B]
Multi-revolution counter
12
[0][1]
[8][C]
Status display data value and
processing information
load inertia moment ratio
12
(2) Parameter (Command [0][5])
Command
Data No.
Description
Frame Length
[0][5]
[0][0] to
[3][1]
Current value of each parameter
(The decimal equivalent of the data No. value (hexadecimal) corresponds
to the parameter number.)
8
(3) External I/O signals (Command [1][2])
Command
Data No.
Description
Frame Length
[1][2]
[4][0]
External input pin statuses
8
[1][2]
[C][0]
External output pin statuses
8
(4) Alarm history (Command [3][3])
Command
Data No.
Description
Alarm Occurrence Sequence
Frame Length
[3][3]
[1][0]
most recent alarm
4
[3][3]
[1][1]
first alarm in past
4
[3][3]
[1][2]
second alarm in past
4
[3][3]
[1][3]
third alarm in past
4
[3][3]
[1][4]
fourth alarm in past
4
[3][3]
[1][5]
Alarm number in alarm history
fifth alarm in past
4
[3][3]
[2][0]
most recent alarm
8
[3][3]
[2][1]
first alarm in past
8
[3][3]
[2][2]
second alarm in past
8
[3][3]
[2][3]
third alarm in past
8
[3][3]
[2][4]
fourth alarm in past
8
[3][3]
[2][5]
Alarm occurrence time in alarm
history
fifth alarm in past
8
