Panasonic MINAS-A5NL Series - 7-5-2 Profile absolute positioning (Type_Code: 10 h)

No. SX-DSV02310 - 125 -
R2.0 Motor Business Division, Appliances Company, Panasonic Corporation
7-5-2 Profile absolute positioning (Type_Code: 10h)
Set targ
et position (absolute position) to TPOS. Servo driver performs positioning by internally generates position
command.
Before executing, establish the home (return to home).
In the incremental mode, positioning can be done without determining the home, but be sure to read the servo driver
internal position information beforehand to prevent movement to unintentional position.
10h 10h 17h
Command
code
<Master (host controller)>
<Slave (servo driver)>
(Internal value)
Profile command
TPOS
TSPD
00000000h 00010000h
00000000h 00002000h
Busy 0: Command acceptable
CMD_Error
0: No command error
00001000h
10h
Command
code
TPOS
TSPD
00000000h
00000000h
Velocity
[Command unit/s]
Time
00001000h
00002000h
Internal command
velocity
In_Progress
1: Internal position command
being generated
10h 17h
Profile command
00010000h
00002000h 00001000h
TPOS Stop at target position
Pr.8.01 (Profile linear
acceleration constant)
10000
ASPD
Actual velocity
TSPD
Target velocity
1: Positioning completed
0: Positioning uncompleted
In_Position
1: Near positioning
0: Not near positioning
NEAR
Pr.8.04(Profile linear deceleration constant)
10000
0: Internal position
command stop
* Pr.7.23, bit 5 = 1 and
When position command filter is invalid.