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15. COMMUNICATION FUNCTION
(4) Alarm history (Command [3][3])
Command Data No. Description Alarm occurrence sequence Frame length
[1] [0] most recent alarm
[1] [1] first alarm in past
[1] [2] second alarm in past
[1] [3] third alarm in past
[1] [4] fourth alarm in past
[1] [5]
Alarm number in alarm history
fifth alarm in past
4
[2] [0] most recent alarm
[2] [1] first alarm in past
[2] [2] second alarm in past
[2] [3] third alarm in past
[2] [4] fourth alarm in past
[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
[0][0] Current position
[0][1] Command position
[0][2] Command remaining distance
[0][3] Point table No.
[0][4] Cumulative feedback pulses
[0][5] Servo motor speed
[0][6] Droop pulses
[0][7]
[0][8]
[0][9]
[0][A] Regenerative load ratio
[0][B] Effective load ratio
[0][C] Peak load ratio
[0][D] Instantaneous torque
[0][E] Within one-revolution position
[0][F] ABS counter
[1][0] Load inertia moment ratio
[1][1]
Status display name and unit at
alarm occurrence
Bus voltage
16
[0][0] Current position
[0][1] Command position
[0][2] Command remaining distance
[0][3] Point table No.
[0][4] Cumulative feedback pulses
[0][5] Servo motor speed
[0][6] Droop pulses
[0][7]
[0][8]
[0][9]
[0][A] Regenerative load ratio
[0][B] Effective load ratio
[0][C] Peak load ratio
[0][D] Instantaneous torque
[0][E] Within one-revolution position
[0][F] ABS counter
[1][0] Load inertia moment ratio
[3] [5]
[1][1]
Status display data value and
processing information at alarm
occurrence
Bus voltage
12