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Byte	Value	Description
0	0x00-0xFF	Any value. This will be echoed back on the response
1	0x00	Ignored
2	0x00	Ignored
3	0xF6	Command ID for Configuration configuration request

The response packet is returned as follows

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The information request returns a complete set of the motor's information state data including, position, speed, drive status, IO, etc

To request the configuration information data send the following data packet:

length = 4 bytes

Byte	Value	Description
0	0x00-0xFF	Any value. This will be echoed back on the response
1	0x00	Interval Time in ms low byte
2	0x00	Interval

CommandB3 (Command ID)B2B1B0Configuration Request0xF4

Time in ms high byte
3	0xF4	Command ID for information request

Interval Time

The Interval Time is a 16 bit value that sets the response interval in ms. It has the following characteristics

The following data is received on a request or on an interval response

length = 33 bytes

in ms low bytesome data

Byte	Name	Description
0	Data echo	Echo the data sent in B0 of the request
1-2	Counter Value	Each response increments the counter value. A query resets the counter.
3	0xF5 - Command ID	Response command ID is 0xF5
4-7	CPUTime	CPU clock time in 50us counts
8-11	ActualPosition	The actual position of the motor in encoder counts
12-15	ActualTargetPosition	The actual instantaneous position the motor is currently moving to.
16-17	MotorStatus	The motors status (error, homing, in position, etc)
18-19	ActualRatedCurrent	Percentage (0.1%) of rated current. 1000 = rated, 1100 = peak.
20-21	ActualOverloadTorque	Percentage (0.1%) of overload torque.
22-23	AnalogIN	10 bit analog input value (0-1023)
24	DigitalIN	Digital IN status. B0-B3 = IN1-IN4
25	Temperature	Drive temperature in ºC
26-27	DCVoltage	24V DC bus voltage in 0.1V
28	DigitalOUT	Digital OUT status. B0-B1 = OUT1-OUT2
29	Reserved	-
30	ModeOfOperationDisplay	Indicates the mode of operation currently set
31	ActualSpeed	Actual speed of the motor in encoder counts/s

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