56
8.11 Command and data No. list
8.11.1 Read commands
(1) Status display (Command [0][1])
Command
Data No.
Description
Display Item
Frame Length
[0][1] [8][0]
Current
position
12
[0][1] [8][1]
Command
position
12
[0][1]
[8][2]
Command remaining distance
12
[0][1]
[8][3]
Point table No.
12
[0][1]
[8][4]
Cumulative feedback pulses
12
[0][1] [8][5]
Motor
speed
12
[0][1] [8][6]
Droop
pulses
12
[0][1] [8][7]
Override
12
[0][1]
[8][8]
Torque limit voltage
12
[0][1]
[8][9]
Regenerative load ratio
12
[0][1]
[8][A]
Effective load ratio
12
[0][1]
[8][B]
Peak load ratio
12
[0][1] [8][C]
Instantaneous
torque
12
[0][1]
[8][D]
Within one-revolution position
12
[0][1] [8][E]
ABS
counter
12
[0][1]
[8][F]
Load inertia moment ratio
12
[0][1] [9][0]
Status display data value and
processing information
Bus voltage
12
(2) Parameter (Command [0][5])
Command
Data No.
Description
Frame Length
[0][5]
[0][0] to
[5][A]
Current value of each parameter
(Decimal number of data No. corresponds to the parameter number.)
8
(3) External I/O signals (Command [1][2])
Command
Data No.
Description
Frame Length
[1][2]
[0][0]
Input device statuses
8
[1][2]
[4][0]
External input pin statuses
8
[1][2]
[6][0]
Statuses of input devices switched on through communication
8
[1][2]
[8][0]
Output device statuses
8
[1][2]
[C][0]
External output pin statuses
8
