Panasonic MINAS-A5NL Series - User Manual

R2.0
No. SX-DSV02310
TECHNICAL REFERENCE
– Realtime Express (RTEX) Communication Specification –
MODEL
Product Name: AC Servo Driver
Part Number: MINAS-A5NL Series
(RTEX communication type/Linear type)
Issued on
Sep. 15
th
, 2011
Revised on
Apr.
1
st
, 2013
Motor Business Division, Appliances Company
Panasonic Corporation
7-1-1 Morofuku, Daito-City, Osaka 574-0044, Japan
Phone : (072) 871-1212
Fax : (072) 870-3151
Checked
Checked
Designed

Summary

1. Introduction

2. Configuration and Initialization of RTEX Communication System

2-1 Outline

Overview of RTEX system components and architecture.

2-2 System structure

Master-Slave architecture and ring connection of RTEX network.

2-3 Basic specifications of network

Details network topology, baud rate, cycles, cable, and data size.

2-4 Node address (MAC-ID) setting and front panel configuration

Explains setting node address via rotary switch and panel components.

2-5 Communication cycle;command updating cycle, control mode and data size setup

Defines cycles, modes (NOP, PP, CP, CV, CT), and data size.

2-5-1 Mode reference table

Table of compatible communication cycles, update periods, and control modes.

2-5-2 Related Parameter

Details parameters for RTEX cycle, update ratio, and function expansion.

2-6 COM LED, LINK LED and RTEX communication state

Describes status indicators and their relation to RTEX communication.

3. Transmission Protocol of RTEX Communication Data

3-1 Transmission timing of data

Explains transmission timing, synchronization, and command/response.

3-2 Transmission of cyclic data

Details cyclic transmission area for real-time data.

3-3 Transmission of Non-Cyclic Data

Describes non-cyclic transmission area for event-driven data.

3-3-2 Non-cyclic status flag

Explains status bits (ERR, WNG, Busy) in non-cyclic command responses.

3-3-3 Non-cyclic command startup mode setting

Describes setting startup conditions for non-cyclic commands.

3-3-4 Startup of non-cyclic command (MINAS-A4 N compatible mode)

Details procedure for non-cyclic commands in A4N compatible mode.

3-3-5 Startup of non-cyclic command (extend mode)

Explains starting non-cyclic commands in extend mode.

4. RTEX Communication Data Block

4-1 Transmission and reception memory in MNM1221

Describes memory assignment in MNM1221 ASIC.

4-2 Command data block arrangement (16-byte;32-byte mode)

Details command data byte arrangement.

4-2-1 Command code and command argument (Command bytes 1, 4-15)

Explains command codes and arguments.

4-2-1-1 TMG_CNT setup and inter-axis synchronous mode

Details TMG_CNT setup and sync modes.

4-2-2 Command header (command byte 0)

Describes command header byte (0).

4-2-3 Control bit (Command Bytes 2 and 3)

Details function of control bits in command bytes.

4-2-3-1 Servo_On;off command (Servo_on)

Explains servo on/off command.

4-2-3-2 Gain switching command (Gain_SW)

Details gain switching command.

4-2-3-3 Thrust limit switching command (TL_SW)

Explains thrust limit switching.

4-2-3-4 Speed limit switching command (SL_SW)

Describes speed limit switching.

4-2-3-5 External output signal operation instruction (EX-OUT 1;2)

Explains controlling external output signals.

4-3 Data block in response (16-byte;32-byte)

Details response data block structure.

4-3-1 Command_Code_Echo and Response_Data (Response byte 1, 4 to 15)

Explains echo and response data.

4-3-2 Response header (Response byte 0)

Describes response header.

4-3-3 Status flag (Response byte 2)

Details status flags.

4-3-3-1 Servo Ready state (Servo_Ready)

Explains Servo_Ready state conditions.

4-3-3-2 Internal position command generation state (In_Progress);main power off alarm state (AC_OFF)

Describes In_Progress and AC_OFF flags.

4-3-4 Input signal status flag (Response byte 3)

Details external input signal status.

4-4 Command data block of sub-command (only for 32-byte mode)

Details sub-command data block structure.

4-4-1 Sub-command code and sub-command argument (Command bytes 16 to 31)

Explains sub-command codes and arguments.

4-5 Response data block of sub-command (only for 32-byte mode)

Details sub-command response data block structure.

4-5-1 Sub-command code echo and response data (Command bytes 16 to 31)

Explains sub-command echo and response data.

5. Cyclic Command Description

5-1 Cyclic command list [Under review]

Lists available cyclic commands.

5-2 NOP command (Command code: 0\[]h)

Describes the NOP command for temporary invalid data transmission.

5-3 Profile position control (PP) command (Command code: 1\[]h)

Details the PP command for specifying target position, speed, and acceleration/deceleration.

5-4 Cyclic position control (CP) command (Command code: 2\[]h)

Explains the CP command for generating position commands.

5-5 Cyclic velocity control (CV) command (Command code: 3\[]h)

Describes the CV command for generating velocity commands.

5-6 Cyclic thrust control (CT) command (Command code: 4\[]h)

Details the CT command for generating thrust commands.

6. Non-cyclic Command Description

6-1 Non-cyclic command list [Under review]

Lists non-cyclic commands and their supporting cyclic modes.

6-2 Normal command (Command code: \[]0 h)

Describes the Normal command for general operation.

6-3 Reset Command (Command code: \[]1 h)

Explains the Reset command for driver reset or parameter validation.

6-3-1 Software reset mode (Type_Code: 001 h)

Details the procedure for software resetting the driver.

6-3-2 Attribute C parameter validation mode (Type_Code: 011 h)

Describes validating attribute C parameters after communication setup.

6-4 System ID Command (Command code: \[]2 h)

Explains the System ID command for reading driver information.

6-4-1 System ID command Type_Code list

Lists Type_Codes for retrieving system IDs.

6-4-3 Device type

Describes how the device type is identified.

6-4-4 Servo driver type

Details how the servo driver type is identified.

6-5 Homing command (Command code: \[]4 h)

Explains the Homing command for returning to home and latching position.

6-5-1 Type Code list of Homing Command

Lists Type_Codes for homing commands and their compatibility.

6-5-2 Assignment of external input signals related to return to home sequence

Details assigning external inputs for homing.

6-5-3 Actual position setup and command position setup

Explains setting actual or command position to initialize position information.

6-5-4 Latch mode

Describes the latch mode for capturing and reading motor position.

6-5-4-1 Starting;canceling latch mode

Explains how to start and cancel latch modes.

6-5-4-2 Selecting latch trigger signal

Details selecting latch trigger signals.

6-5-4-3 Checking latch mode complete status and latch position data

Explains monitoring latch status and data.

6-6 Alarm command (Command code: \[]5 h)

Describes the Alarm command for reading and clearing alarms.

6-6-1 Alarm command Type_Code list

Lists Type_Codes for alarm commands.

6-7 Parameter Command (Command code: \[]6 h)

Explains the Parameter command for reading and writing parameters.

6-7-1 Type code list of parameter command

Lists Type_Codes for parameter commands.

6-7-2 Parameter number of MINAS-A5 N series

Details parameter numbering for MINAS-A5N.

6-7-4 Parameter attribute of MINS-A5 N series

Explains parameter attributes affecting validity.

6-7-5 Protecting parameter writing;EEPROM writing through RTEX

Describes protection for parameter writing/EEPROM via RTEX.

6-8 Profile command (Command code: 17 h)

Explains the Profile command for PP operation.

6-8-1 Profile command Type_Code list

Lists Type_Codes for profile operations.

6-8-2 Selection of latch trigger signal for positioning profile position latch

Details latch trigger signal selection.

6-8-3 Checking latch mode complete status and latch position data

Explains checking latch status and data.

6-8-4 Stop command

Describes stop commands for profile operations.

6-8-5 Profile positioning neighborhood output (NEAR)

Explains the NEAR output status.

6-8-6 Software limit (PSL;NSL)

Details software limits (PSL/NSL) during PP control.

6-8-7 Other precautions related to profile command

Provides profile operation precautions.

6-9 Monitor Command (Command Code: \[]Ah)

Explains the Monitor command for reading status.

6-9-1 Type code list of monitor command [Under review]

Lists Type_Codes for retrieving monitor data.

6-9-5 Status of input and output signals

Describes input/output signal status.

6-10 Command error (Command code: \[]\[]h)

Details command error responses for incomplete or invalid commands.

6-10-1 Command error detection

Explains command error detection for 16-byte and 32-byte modes.

6-10-2 List of command error code

Provides a list of command error codes, causes, and categories.

6-11 Communication Error (Command code: \[]\[]h; Response code: FFh)

Describes communication errors (CRC error) and their handling.

7. Operation

7-1 Cyclic position control (CP) operation

Explains positioning operation using CP mode with command position.

7-1-2 Countermeasure for vibration when completion of magnetic pole position estimation

Details measures to prevent vibration during magnetic pole estimation.

7-1-3 Prohibited matter of NOP command (0\[]h)

Warns against improper use of the NOP command.

7-1-4 Command position upon communication error

Explains command position handling during communication errors.

7-1-5 Variations in command position during command updating period

Discusses limiting command position variations and wraparound.

7-1-5-1 Limiting variations in command position

Focuses on limiting command position variations.

7-1-5-2 Wrap rounding command position

Explains the wraparound process for command position.

7-1-5-3 Clearing position deviations

Describes clearing position deviations.

7-2 Homing operation

Explains the necessity and sequences of homing operation.

7-2-1 Normal return-to-home sequence in cyclic position control (CP) mode

Illustrates return-to-home sequence in CP mode.

7-2-2 Sequence of actual position;command position setup

Details position setup sequences.

7-2-3 Example of cyclic homing operation

Provides examples of cyclic homing operations.

7-3 Cyclic velocity control (CV) operation

Explains CV operation for velocity control.

7-4 Cyclic thrust control (CT) operation [Under review]

Describes CT operation for thrust control.

7-5 Profile position control (PP) operation

Explains PP operation.

7-5-1 Profile position control (PP) related parameter

Lists parameters related to PP operation.

7-5-2 Profile absolute positioning (Type_Code: 10 h)

Details profile absolute positioning.

7-5-3 Profile relative positioning (Type_Code: 11 h)

Explains profile relative positioning.

7-5-4 Profile position latch absolute positioning (Type_Code: 12 h)

Describes latch absolute positioning.

7-5-5 Profile position latch relative positioning (Type_Code: 13 h)

Details latch relative positioning.

7-5-6 Profile continuous movement (JOG) (Type_Code: 20 h)

Explains continuous movement (JOG).

7-5-7 Profile homing 1 (HOME + Z phase) (Type_Code: 31 h)

Describes homing 1.

7-5-8 Profile homing 4(2) (HOME) (Type_Code: 34 h(32 h))

Details homing 4.

7-5-9 Profile homing 5(3) (Z phase) [Type_Code: 35 h(33 h)]

Explains homing 5.

7-5-10. Precautions for profile position control operation

Provides profile operation precautions.

7-6 Control mode switching

Explains control mode switching.

7-6-2 Precautions for control mode change during operation

Lists precautions for mode change.

7-6-3 Other precautions related to control mode switching

Covers additional switching precautions.

7-7 Feedforward function

Introduces feedforward functions.

7-7-1 Feedforward function validation parameter and command area to be used

Details feedforward parameters.

7-7-2 Setting unit and setting range

Specifies feedforward units and ranges.

7-7-3 Compatible control mode

Shows feedforward compatibility with control modes.

7-7-4 Other precautions related to feedforward function

Lists feedforward precautions.

8. RTEX Communication Related Protective Function and Troubleshooting

8-1 RTEX communication related protective function

Lists RTEX communication protective functions (alarms).

8-1-1 RTEX node address setting error protection (Err. 82.0)

Details the alarm for incorrect node address setting.

8-1-2 RTEX continuous communication error protection 1 (Err. 83.0)

Explains the alarm for persistent reading errors (CRC).

8-1-3 RTEX continuous communication error protection 2 (Err. 83.1)

Describes the alarm for persistent CRC, missing, or cyclic errors.

8-1-4 RTEX communication timeout error protection (Err. 84.0)

Details the alarm for communication data not being received.

8-1-5 RTEX synchronization and initialization error protection (Err. 84.3)

Explains the alarm for synchronization failures.

8-1-6 RTEX communication cycle error protection (Err. 84.5)

Describes the alarm for irregular receive interrupt signals.

8-1-7 RTEX cyclic data error protection 1;2 (Err. 86.0;Err. 86.1)

Details alarms for data errors or Sub_Chk errors.

8-1-8 RTEX_Update_Counter error protection (Err86.2)

Explains the warning for incorrect Update_Counter renewal.

8-1-9 RTEX interaxis sync establishment error protection (Err90.2)

Describes alarms for interaxis sync establishment errors.

8-1-10 RTEX command error protection (Err91.1)

Details errors when cyclic commands are not correctly received.

8-1-11 RTEX hardware error protection 1;2;3 (Err. 98.1;Err. 98.2;Err. 98.3)

Explains alarms for RTEX circuit hardware errors.

8-2 RTEX communication warnings

Lists RTEX communication warnings.

8-2-1 RTEX continuous communication error warning (WngC0 h)

Details continuous error warning.

8-2-2 RTEX accumulated communication error warning (WngC1 h)

Explains accumulated error warning.

8-2-3 RTEX Update_Counter error warning (WngC2 h)

Describes Update_Counter error warning.

8-3 Locating disconnection point of network cable

Provides guidance on locating cable disconnections.

Panasonic MINAS-A5NL Series Specifications