Panasonic MINAS-A5NL Series - 7. Operation; 7-1 Cyclic position control (CP) operation

No. SX-DSV02310 - 103 -
R2.0 Motor Business Division, Appliances Company, Panasonic Corporation
7. Operation
7-1 Cyclic position control (CP) operation
When the cyclic command (Byte 1, bits 6–4) is 2h and in servo-on condition (Servo_Active: response Byte 2, bit 7 is 1),
perform positioning operation according to the given command position (absolute position: Bytes 4–7).
You have to pay attention to the following.
7-1-1 Command follow-up process (command position at servo-off)
Fo
r the cyclic positioning (CP), position command is given as absolute position.
Therefore, if the actual position is changed by an external force, the position will return back to the command position
upon the next servo-on if the command position is kept. This operation may cause Err. 27.7 Command error protection
or Err. 26.0 Over-speed protection in certain condition. Do not apply the movement command during servo-on, even if
the direction is drive inhibit input.
To assure safety, when servo is off (Servo_Active = 0), be sure to set the actual position value read from the servo
driver to the command position (command position follows up the actual position).
Command
p
osition
(
Command
)
Actual
p
osition
Actual
p
osition
Actual
p
osition
Servo-on
Servo-off
Servo-on
Response Servo_Active=1
Response Servo_Active=0
Response Servo_Active=1
Bad example: Command position at servo-off (Command position is not set with actual position)
Command
p
osition
(
Command
)
Command
p
osition
(
Command
)
E
q
ui
p
ment is moved b
y
external force
Danger: Equipment returns to command
position rapidl
y
.