168Communicationscommand2mode1 Readout of the command pulse counterReceived data0axischecksum21Error codeTransmitted dataA current command position is expressed by absolute coordinates from the start-up time. (Cumulative sum of the number ofcommand pulses)The counter value is 32 bits.For the counter value, "-" indicates CW and "+" indicates CCW.bit70 : Normal1 : Error6 5Command error4 3 2 1 05axisCounter value LHError codechecksum21command2mode0 Readout of statusReceived data0axischecksum20Error codeTransmitted dataThe control modes are defined as follows:bit70 : Normal1 : Error6 5Command error4 3 2 1 0Statusbit7 6 5CCWTorque being output4CWTorque being output3CCWrotating2CWrotating1Less than DBpermission speed0Torque beinglimited3axisControl modeStatusError codechecksum20012High speed response positioning control modeInternal velocity control modeHigh function positioning controlBuy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com
