Panasonic MINAS-A5NL Series - 7-1-3 Prohibited matter of NOP command (0\[]h); 7-1-4 Command position upon communication error

No. SX-DSV02310 - 107 -
R2.0 Motor Business Division, Appliances Company, Panasonic Corporation
7-1-3 Prohibited matter of NOP command (0h)
NOP command (0h) is designed to be used for transient transmission while “the data to be transmitted is not yet
prepared” due to processing timing problem until network is established. Therefore, try to transmit regular command e.g.
20h that specifies control mode, as soon as possible and never try to transmit NOP, and not to try to retransmit NOP
.
If NOP command is transmitted while the motor is running in the cyclic positioning (CP) operation, the servo driver
controls at the command position determined by the previously received command, and the cycle is unchanged as if the
stop command is received. Never transmit NOP command which causes unstable operation.
7-1-4 Command position upon communication error
If co
mmunication error (CRC error, missing data, cyclic data error) occurs during CP control, control the command
position at the estimated position.
NOP
cycle
Command
p
osition
Data update period
Difference of command
position
(command velocity)
The same as stop command
Time
Bad Example: NOP command (00h) is inserted during position command (20h)