Mitsumi electronic MR-J3- A Manual De Usuario
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13. COMMUNICATION FUNCTION
13.5.12 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.
Note that overflow will occur in the position of 8192 or more revolutions from the home position.
(a) Transmission
Send command [0][2] and data No.[9][0].
Command
Data No.
[0][2] [9][0]
(b) Reply
The slave station sends back the requested servo motor side pulses.
Absolute position is sent back in hexadecimal in
the servo motor side pulse unit.
(Must be converted into decimal)
the servo motor side pulse unit.
(Must be converted into decimal)
For example, data "000186A0" is 100000 [pulse] in the motor side pulse unit.
(2) Command unit absolute position
Read the absolute position in the command unit.
(a) Transmission
Send command [0][2] and data No.[9][1].
Command
Data No.
[0][2] [9][1]
(b) Reply
The slave station sends back the requested command pulses.
Absolute position is sent back in hexadecimal in the
command unit.
(Must be converted into decimal)
command unit.
(Must be converted into decimal)
For example, data "000186A0" is 100000 [pulse] in the command unit.