5.WINDOW FUNCTIONS B-63983EN/02
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[Completion codes]
0: The estimate disturbance torque data have been read normally.
4: The data specified as the data attribute is invalid because it is
neither -1 nor a value from 1 to n (n is the number of axes).
Alternatively, the specified axis number is greater than the number
of controlled axes.
[Output data structure]
Top address + 0
+2
+4
+6
+8
+10
(Function code)
211
(Completion code)
?
(See the explanation of
the completion codes. )
(Data length)
L
(L = 2
´
n, n is the number
of axes specified. )
(Data number)
1
(Data attribute)
M
(M: Input data)
Estimate disturbance torque
data for the controlled axis
specified (2 bytes)
Signed binary
(A negative value is represented in
2's complement.)
Value
+12
+10
+8 + (2
´
n)
Estimate disturbance torque
data for second axis (2 bytes)
Signed binary
(A negative value is represented in
2's complement.)
Value
Estimate disturbance torque
data for first axis (2 bytes)
When the number of controlled axes is 2
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