Panasonic MINAS-A5NL Series - 7-2-2 Sequence of actual position;command position setup

No. SX-DSV02310 - 111 -
R2.0 Motor Business Division, Appliances Company, Panasonic Corporation
7-2-2 Sequence of actual position/command position setup
[
Type_Code: 021h, 022h]
The figure below shows the sequence in which no trigger signal is used and at a position, actual position or command
position is set to Setting_Data (Bytes 1215).
During this operation, Homing_Ctrl bit is not used.
*1) When command code (24h) is changed to normal command (20h), homing process can be paused even when Busy
= 1. Even if Pr.7.23, bit 5 = 1 (start upon changing of command code and command argument), the normal
command (20h) is required to pause the homing process.
*2) Do not change command position (byte 4–7) to prevent a trouble.
(You must set the actual position/command position when the motor is not rotating.)
*3) Homing_Complete bit will be 0 when Homing command (actual position/command position set) is accepted. Note
that it is 0 at power-up until homing is completed. However, if the communication cycle is 0.5 ms or more,
Homing_Ctrl will not be set to 0 but set to 1 after the completion of process upon reception of the first response.
The homing process is successfully completed when no command error is detected, echo back value is returned
and Homing_Complete = 1.
*4) <Actual position setup>
The actual position is set to the value of Setting_Data (Bytes1215) and the command position in the servo
driver is also set to this value, the position deviation becomes 0.
Position information after operation
Actual position = command position = setting value (Setting_Data)
Position deviation = 0
<Command position setup>
The command position in the servo driver is set to the value of Setting_Data (Bytes1215) of the command, and the
actual position is set to the command position after setup minus position deviation value. The deviation is held.
Position information after operation
Internal command position = setting value (Setting_Data)
Actual position = internal command position (value after setup as shown
above) – position deviation
Homing complete bit will be 1 after homing (actual position/command position setup) is completed.
Homing_Complete
“Servo-Loc
k
”i
g
norin
g
Command Position
24h *1
)
20h
20h
Command
code
24h
20h
20h
*2)
1
Busy
*5)
*5)
*3)
0
1
0
Positioning according
to command position
based on new reference
*4)
Time
Command
code
echo