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15. COMMUNICATION FUNCTIONS
(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
(5) Current alarm (Command [0][2]
[3][5])
Command Data No. Description Frame length
[0][2] [0][0] Current alarm number 4
Command Data No. Description Status display item Frame length
[3][5] [8][0] Current position 12
[3][5] [8][1] Command position 12
[3][5] [8][2] Command remaining distance 12
[3][5] [8][3] Point table No. 12
[3][5] [8][4] Cumulative feedback pulses 12
[3][5] [8][5] Servo motor speed 12
[3][5] [8][6] Droop pulses 12
[3][5] [8][7] Override 12
[3][5] [8][8] Torque limit voltage 12
[3][5] [8][9] Regenerative load ratio 12
[3][5] [8][A] Effective load ratio 12
[3][5] [8][B] Peak load ratio 12
[3][5] [8][C] Instantaneous torque 12
[3][5] [8][D] Within one-revolution position 12
[3][5] [8][E] ABS counter 12
[3][5] [8][F] Load inertia moment ratio 12
[3][5] [9][0]
Status display data value and
processing information at alarm
occurrence
Bus voltage 12