Panasonic MINAS-A5NL Series - 2-5 Communication cycle;command updating cycle, control mode and data size setup

No. SX-DSV02310 - 5 -
R2.0 Motor Business Division, Appliances Company, Panasonic Corporation
2-5 Communication cycle/command updating cycle, control mode and data size setup
Designation Description
Communication
cycle
• The cycle at which command or response RTEX frame is transferred.
• The servo driver processes the command and response basically at this cycle.
▪ If the communication cycle is 0.0833 ms (Pr7.20=0), please set an adaptive filter invalid. (Pr2.00=0)
and the pulse regeneration function is automatically disabled.
Command
updating cycle
• The cycle at which the host controller will update the command.
• In response, the servo driver performs the following processes.
Communication
cycle
0.0833 ms
• Processes the command and response with a period of 0.1666 [ms].
• Set the command updating cycle to 0.1666 [ms].
CP
• Calculates the changes in command position (CPOS) during
command updating period and generates the movement
command.
• If the command updating cycle on the servo driver is different
from that on the host controller, operation error will occur.
• Processes commands and responses at a position other than the
command position during communication cycle.
Other
communication
cycles
PP/CV/CT
• Processes commands and responses at the communication cycle,
regardless of the command updating cycle.
Control mode Abbreviation
Command
code
Description
NOP NOP 0h
Use this mode when transmitting temporary invalid
data immediately after establishment of the network.
Never use this mode for any other purpose.
Upon receiving this command, perform the control
based on the previously received command.
Profile position mode PP 1h
Use this mode when operating by specifying target
position, target speed and target
acceleration/deceleration (parameter) and by
generating position command in the servo driver.
Cyclic position mode CP 2h
Use this mode when operating by generating position
command in the host controller and by updating
(transmitting) the command position at the command
updating cycle.
Cyclic velocity mode CV 3h
Use this mode when operating by generating velocity
command in the host controller and by updating
(transmitting) the command velocity at the
communication cycle.
Cyclic thrust mode CT 4h
Use this mode when operating by generating thrust
command in the host controller and by updating
(transmitting) the command thrust at the
communication cycle.
2.02.0