Panasonic MINAS-A5NL Series - 7-4 Cyclic thrust control (CT) operation [Under review]

No. SX-DSV02310 - 122 -
R2.0 Motor Business Division, Appliances Company, Panasonic Corporation
7-4 Cyclic thrust control (CT) operation
[Under review]
Use this operation when setting command thrust to CTRQ and performing thrust control operation.
The servo driver operates in thrust control mode based on velocity loop.
When this command is received in Block Diagram of 2 Degrees of Freedom Mode, it causes the command error.
17h 10h 40h
Command code
(byte1)
<Master (host controller)>
<Slave>
CT command PP command
CTRQ
(byte4-7)
00000000h 00000000h 000003E8h 000001F4h
10h 40h
Command code
(byte1)
CT command
00000000h 000003E8h 000001F4h
17h
PP command
00000000h
1: Positioning completed
In_Position
Velocity
Time
Control mode
PP command
Position control Position control
FSPD
Feedback velocity
TQREF
(byte9-12)
FFFFFC18h
Time
Pr.3.21
* Pr.3.17=0
0: Positioning uncompleted
Internal command
velocity
000003E8h
FFFFFC18h
000001F4h
1: Positioning completed
Smooth_Stop
0 1
PP command
FFFFFC18h
0 1
Smooth_Stop
Pr.4.35
1: Velocity
coincidence
Internal thrust command
(TRQ)[0.1%]
Tthrust control
2.02.0