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9. INTERFACE MODE
(4) Axis command/status
(a) Axis command
Address Name Setting range Remarks
1030
Latest command buffer number 0 to 63 Set the latest command buffer number after updating.
1031
1032
Control mode command Refer to
remarks
Set the mode to switch to.
0000h: Position control mode
0001h: Speed control mode
0002h: Torque control mode
1033
1048
Torque control speed limit value
(0.01r/min)
0 to
1000000000
Set the speed limit value when in torque control mode.
When a value outside the setting range is set, the previous
value that was set within the valid range is the speed limit value.
Also, torque control setting error (operation alarm 2F, detail
No.01) occurs.
1049
104A
104B
Note. The addresses above are the addresses for the first axis. For the second axis and after, increase by C0h for each axis.
(b) Axis status
Address Name Setting range Remarks
108E Maximum buffer number 1 to 64 Notifies the maximum buffer number that can be used.
108F
1090 Transmit buffer number 0 to 63 Notifies buffer number that is being transmitted.
1091
1092 Control mode status Refer to
remarks
The current control mode is shown below.
000h: Position control mode
001h: Speed control mode
002h: Torque control mode
0: Control mode switch normal
8: Control mode switch error
(Note 1)
1093
Note 1. A control mode switch error occurs when conducting the following operations.
• Switching from position control mode to another control mode while zero speed (ZSP) is OFF.
• Specifying a control mode outside of range to control mode command.
2. The addresses above are the addresses for the first axis. For the second axis and after, increase by C0h for each axis.