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

Example Packets

The following example uses Packet Sender to execute some direct moves, query configuration and query information.

Direct - Run uses a speed = 100, acceleration = 100, deceleration = 1000 and Torque = 1100.

The image below shows Packet Sender with the response to Query Info

Image Added

The Packet Sender database for the above example can downlaoded here - CM1-T Example.ini

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