14. COMMUNICATION FUNCTION
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14.5.12 Other commands
(1) Servo motor-side pulse unit absolute position
Read the absolute position in the servo motor-side pulse unit. Note that overflow will occur in the
position of 8192 or more revolutions from the home position.
(a) Transmission
Transmit command [0] [2] and data No. [9] [0].
Command Data No.
[0] [2] [9] [0]
(b) Return
The slave station returns the requested servo motor-side pulses.
Absolute position is sent back in hexadecimal in the servo motor-side pulse unit.
(Data must be converted into decimal.)
For example, data "000186A0" is 100000 pulses in the motor-side pulse unit.
(2) Command unit absolute position
Read the absolute position in the command unit.
(a) Transmission
Transmit command [0] [2] and data No. [9] [1].
Command Data No.
[0] [2] [9] [1]
(b) Return
The slave station returns the requested command pulses.
Absolute position is sent back in hexadecimal in the command unit.
(Data must be converted into decimal.)
For example, data "000186A0" is 100000 pulses in the command unit.
(3) Software version
Reads the software version of the servo amplifier.
(a) Transmission
Transmit command [0] [2] and data No. [7] [0].
Command Data No.
[0] [2] [7] [0]
(b) Return
The slave station returns the requested software version.
Software version (15 digits)
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