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14. COMMUNICATION FUNCTIONS
14.12.11 Other commands
(1) Servo motor end pulse unit absolute position
Read the absolute position in the servo motor end pulse unit.
Note that overflow will occur in the position of 16384 or more revolutions from the home position.
(a) Transmission
Send command [0][2] and data No. [9][0].
Command Data No.
[0][2] [9][0]
(b) Reply
The slave station sends back the requested servo motor end pulses.
Absolute value is sent back in hexadecimal in
the servo motor end pulse unit.
(Must be converted into decimal)
For example, data "000186A0" is 100000 [pulse] in the motor end pulse unit.
(2) Command unit absolute position
Read the absolute position in the command unit.
(a) Transmission
Send command [0][2] and data No. [9][1].
Command Data No.
[0][2] [9][1]
(b) Reply
The slave station sends back the requested command pulses.
Absolute value is sent back in hexadecimal in the
command unit.
(Must be converted into decimal)
For example, data "000186A0" is 100000 [pulse] in the command unit.
(3) Software version
Reads the software version of the servo amplifier.
(a) Transmission
Send command [0][2] and data No.[7][0].
Command Data No.
[0][2] [7][0]
(b) Reply
The slave station returns the software version requested.
Software version (15 digits)
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