Panasonic Minas A4 Series - Page 274

272
Absolute System
Enter the RSW value of the driver to which you want to communicate from the host to axis (*1 data) of the
command block, and transmit the command according to the RS232 communication protocol. For details
of communication, refer to P.278, "Communication".
Transmission and Reception Sequence of Absolute Data
Servo-Ready output will be turned on 2sec. after the control power is turned on. Capture the absolute data
in the following communication protocol while the Servo-Ready output is on and the fix the motor with brake
by Servo-Off (when the motor is at complete stall.).
RS232 Communication Protocol
Refer to the instruction manual of the host for the transmission/reception method of command.
Transmission starts
N
N
N
N
Y
Y
Y
Y
transmission finishes
05h transmission
Host requests 
for absolute 
data to driver
Host receives 
absolute data 
from driver
04h transmission
06h transmission 15h transmission
Reception of 
absolute data
(15 characters)
04h reception
06h reception
05h reception
Check sum 
OK'ed reception
01h transmission
00h transmission
2Dh transmission
* 1
* 2
D2h transmission
Data of *1 and *2 are determined by the 
setup of RSW (ID) of the front panel.
Check sum becomes OK'ed when the 
lower 8-bit of the sum of the received 
absolute data (15 characters) is 0.
RSW(ID)
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
Data of *1
00h
01h
02h
03h
04h
05h
06h
07h
08h
09h
0Ah
0Bh
0Ch
0Dh
0Eh
0Fh
Data of *2
2Eh
2Dh
2Ch
2Bh
2Ah
29h
28h
27h
26h
25h
24h
23h
22h
21h
20h
1Fh
• Allow 500ms or longer interval for axis switching when you want to capture multiple
axes data.
• It is recommended for you to repeat the above communication more than 2 times to
confirm the absolute data coincide, in order to avoid mis-operation due to unexpected
noise.