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13. COMMUNICATION FUNCTIONS
(4) Alarm history (Command [3][3])
Unit
Command Data No. Description Alarm occurrence sequence
Frame
length
IFU DRU
[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 4
[3][3] [2][1] first alarm in past 4
[3][3] [2][2] second alarm in past 4
[3][3] [2][3] third alarm in past 4
[3][3] [2][4] fourth alarm in past 4
[3][3] [2][5]
Alarm occurrence time in alarm history
fifth alarm in past 4
(5) Current alarm (Command [0][2] [3][5])
Unit
Command Data No. Description
Frame
length
IFU DRU
[0][2] [0][0] Current alarm number 4
Unit
Command Data No. Description Display item
Frame
length
IFU DRU
[3][5] [8][0] regenerative load ratio 12
[3][5] [8][1] Bus voltage 12
[3][5] [8][2]
Status display data value and processing
information at alarm occurrence
Peak Bus voltage 12
[3][5] [8][0] cumulative feedback pulses 12
[3][5] [8][1] Servo motor speed 12
[3][5] [8][2] droop pulses 12
[3][5] [8][3] cumulative command pulses 12
[3][5] [8][4] command pulse frequency 12
[3][5] [8][5] effective load ratio 12
[3][5] [8][6] peak load ratio 12
[3][5] [8][7] Instantaneous torque 12
[3][5] [8][8] within one-revolution position 12
[3][5] [8][9] ABS counter 12
[3][5] [8][A]
Status display data value and processing
information at alarm occurrence
load inertia moment ratio
12
(6) Others
Unit
Command Data No. Description
Frame
length
IFU DRU
[0][2] [9][0] Servo motor end pulse unit absolute position 8
[0][2] [9][1] Command unit absolute position 8
[0][2] [7][0] Software version 16
[0][0] [8][0] Read of slot connection status 8