Panasonic MINAS-A5NL Series - 6-10 Command error (Command code: \[]\[]h)

No. SX-DSV02310 - 97 -
R2.0 Motor Business Division, Appliances Company, Panasonic Corporation
6-10 Command error (Command code: h)
If t
he servo driver cannot receive a command due to its incompleteness, it returns this response in which bit 7 of Byte 1 is
1.
 Main command: common to 16 byte and 32 byte mode
Command Response
Byte
bit7 6 5 4 3 2 1 0
Byte
bit7 6 5 4 3 2 1 0
0
C
(0)
Update_Counter MAC-ID 0
R
(1)
Update_Counter
_Echo
Actual_MAC-ID
1
TMG_
CNT
Command_Code (h) 1
CMD_
Error
(1)
Command_Code_Echo (h)
2 2
3
Control_Bits
3
Status_Flags
4 L 4 L
5 ML 5 ML
6 MH 6 MH
Cyclic
7
<Command_Data1>
Dependent on cyclic command
H 7
<Response_Data1>
Default: Actual_Position (APOS)
[Command unit]
H
8 L 8 L
9 ML 9
Error_Code
H
10 MH 10 L
11
<Command_Data2>
Dependent on non-cyclic command
H
11
0
H
12 L 12 L
13 ML 13 ML
14 MH 14 MH
N
on-cyclic
15
<Command_Data3>
Dependent on non-cyclic command
H 15
0
H
 Sub-command: specific to 32 byte mode
Command Response
Byte
bit7 6 5 4 3 2 1 0
Byte
bit7 6 5 4 3 2 1 0
16
Sub_
Chk
(1)
0 0 0
Sub_Command_Code
(Ah)
16
Sub_
CMD_
Err
Sub_
ERR
Sub_
WNG
Sub_
Busy
Sub_Command_Code_Ech
o
17 Sub_Type_Code 17 0
18 L 18 L
19
Sub_Index
H 19
Sub_Error_Code
H
20 L 20 L
21 ML 21 ML
22
M
H
22
M
H
23
Sub_Command_Data1
H 23
0
H
24 L 24 L
25 ML 25 ML
26
M
H
26
M
H
27
Sub_Command_Data2
H 27
Sub_Response_Data2
H
28 L 28 L
29 ML 29 ML
30
M
H
30
M
H
31
Sub_Command_Data3
H 31
Sub_Response_Data3
H
Title Command Response
CMD_Error
/Sub_CMD_Error
– Return 1.
Error_Code
/Sub_Error_Code
– Command error code
▪ For details, refer to Sections 6-10-1 and 6-10-2.