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14. COMMUNICATION FUNCTIONS
14.11 Command and data No. list
14.11.1 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] Instantaneous torque 12
[0][1] [8][B] within one-revolution position 12
[0][1] [8][C] ABS counter 12
[0][1] [8][D] load inertia moment ratio 12
[0][1] [8][E]
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][4]
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