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5. Type R Interface <br />
<br />
Command Code13284h<br />
Data Length0 byte<br />
Absolute Position RD <br />
This command reads the absolute position counter inside the amplifier and returns a 4 byte signed<br />
data.<br />
Returned<br />
data<br />
Signed 4 bytesbased on the resolution setting, returned in order, starting with the<br />
lower bytes<br />
<br />
Command Code13385h<br />
Data Length0 byte<br />
Velocity monitor <br />
This command monitors the actual velocity.<br />
Returned<br />
data<br />
The returned data is 2 bytes in an absolute value (unit 1min -1, returned in ascending<br />
order).<br />
<br />
Command Code13486h<br />
Data Length0 byte<br />
ALM Monitor <br />
This command reads the alarm history.<br />
Returned<br />
data<br />
The returned data is 8 bytes.<br />
DAT1Current alarm status / DAT2 to 8Alarm history (in the order of most recent to oldest)<br />
A low voltage(MPE) alarm is saved only if the power is recovered after detecting the<br />
low voltage.<br />
<br />
Abbreviation Code(Hex) description<br />
No alarm Normal status<br />
DE Sensor disconnected<br />
OV Input power voltage is above the specification range<br />
MPE Input power voltage is below the specification range<br />
RSTE Initialization error (overload) / power line disconnected<br />
OVF Servo error<br />
OL Overload stop<br />
OS Overspeed<br />
RGOL Regeneration voltage is over the specified value<br />
ORG Zero-return error<br />
CNT OVF Deviation counter over flow<br />
Wrap around Absolute position counter sign reversal<br />
HSTOP Push error (wide swing)<br />
LAE Sensor phase error<br />
OC Overcurrent<br />
EEPER Non-volatile memory error<br />
558
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