Panasonic MINAS-A5NL Series - 6-10-1 Command error detection

No. SX-DSV02310 - 98 -
R2.0 Motor Business Division, Appliances Company, Panasonic Corporation
6-10-1 Command error detection
Whe
n command error occurs, the servo driver cannot receive the command and perform required process.
Build a system which either will not generate an error or will not enter unsafe status even if an error occurs.
6-10-1-1 Command error common to 16-byte and 32-byte modes
Command data Valid/Invalid
(If invalid, the previous data is used.)
Command code
*1)
Cyclic data Non-cyclic data
Field where error is
detected
Byte1
Byte bit
Error content
bit
64
bit
30
Byte
23
Byte
47
Byte
811
Byte
1215
(FF invalid)
*8)
Byte
1215
(FF valid)
*8)
Error_Code
*5)
Alarm
40
Mismatched node address
(MAC-ID) *2)
       0011h
0
7
C/R bit is 1
despite of command *2)
       0012h
Err86.0
Undefined cyclic command
*2)
       0021h Err86.1
64
Cyclic command error (except
for undefined error) *7)
       002Eh Err91.1
1
30
Undefined non-cyclic
command
*3)

*4)
      0022h
23 - (Unused bit is 1) No error checked
47 -
Cyclic data
(Command_Data1 is outside
the setting range, etc. *5)
      
811 -
Non-cyclic data
(Command_Data 2) is outside
the setting range. *6)
      
1215
(FF invalid)
-
Non-cyclic data
(Command_Data 3) is outside
the setting range. *6)
      
1215
(FF valid)
-
Non-cyclic data
(Command_Data 3) is outside
the setting range. *6)
      
Code
corresponding
to the error
▪ See 6-10-2.
No
occurrence
*1) Even if command code of byte 1 is invalid, the same value will be echo-backed in response.
*2) Command error (0021h) will be returned if cyclic command (Byte 1, bits 6-4) is not defined; command error
(0011h) will be returned if node address does not match; command error (0012h) will be returned if C/R bit is 1.
These cause unsafe condition due to lack of cyclic transfer: if error condition lasts for specified period, Err86.1
(RTEX cyclic data error protection 2) generates an alarm.
*3) Command error (0022h) will be returned when cyclic command (bits 6 to 4 at Byte 1) is complete and non-cyclic
command (bits 3 to 0 of Byte 1) is not defined.
*4) Only cyclic command (bits 6 to 4 at Byte 1) will be valid when non-cyclic command (bits 3 to 0 of Byte 1) is not
defined.
*5) When cyclic data (Byte 4 to 7) is outside the setting range, the command error (0033h) will occur and the previous
value will be used for operation. If previous cyclic command (Byte 1, bits 6-4) was different, causing the previous
value undefined, set the value to 0.