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Communications
command
mode
2
6
Error code
bit7
6
0 : Normal
1 : Error
This command is used to read a current value of the deviation counter. (unit [pulse])
An output value is 32 bits.
"+" indicates that the encoder is in CW direction and "-" indicates that the encoder is in CCW direction relative to the position
command.
command
mode
2
7
Error code
bit7
6
0 : Normal
1 : Error
Data
bit7
6
Reserved
Command dividing/
multiplier switching
bit15
14
Reserved
Reserved
bit23
22
Reserved
Reserved
bit31
31
Reserved
Reserved
For "CW overtravel inhibited", "CCW overtravel inhibited" and speed zero clamp, "1" indicates the open status.
For other input signals, "0" indicates the open status.
Readout of the current deviation counter
Received data
0
axis
6
checksum
5
4
Command error
Readout of input signal
Received data
0
axis
7
checksum
5
4
Command error
5
4
Zero speed
Control mode
clamp
switching
13
12
Internal velocity
Internal velocity
command selection 2
command selection 1
21
20
Reserved
Reserved
29
28
Reserved
Reserved
170
2
3
2
2
3
2
3
2
CCW overtravel
CCW overtravel
inhibited
inhibited
11
10
Reserved
Counter cleared
19
18
Reserved
Reserved
27
26
Reserved
Reserved
Transmitted data
5
axis
6
2
Data (deviation) L
H
Error code
checksum
1
0
Transmitted data
5
axis
7
2
Data L
Data H
Error code
checksum
1
0
1
0
Alarm cleared
Servo-ON
9
8
Gain switching
Reserved
17
16
Reserved
Reserved
25
24
Reserved
Reserved
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