Panasonic MINAS-A5NL Series - 7-5-3 Profile relative positioning (Type_Code: 11 h)

No. SX-DSV02310 - 127 -
R2.0 Motor Business Division, Appliances Company, Panasonic Corporation
7-5-3 Profile relative positioning (Type_Code: 11h)
Sp
ecify relative movement distance to TPOS and the servo driver performs positioning by internally generating position
command. To prevent movement to unintentional position, read servo driver internal command position (before
filtering: IPOS) while internal command generation is paused (In_Progress = 0) in PP control mode, before starting
operation.
Note: Internal command position (IPOS) changes by following motor position during servo off, velocity control (CV)
and thrust control (CT).
10h 10h 17h
Command
code
<Master (host controller)>
<Slave (servo driver)>
(Internal value)
Profile command
TPOS
TSPD
00000000h 00010000h
00000000h 00002000h
Busy
CMD_Error
00001000h
10h Command
code
TPOS
TSPD
00000000h
00000000h
Velocity
[Command unit/s]
Time
00001000h
00002000h
Internal command
velocity
In_Progress
10h 17h
Profile command
00010000h
00002000h 00001000h
Pr.8.01 (Profile linear
acceleration constant)
10000
ASPD
Actual velocity
TSPD
Target velocity
1: Positioning completed
In_Position
▪ Pr.7.23, bit 5 = 1 and
When position command filter is invalid.
1: Near positioning
NEAR
Pr.8.04(Profile linear deceleration constant)
10000
TPOS = Relative movement distance
0: Command acceptable
0: No command error
1: Internal position command being generated
0: Positioning uncompleted
0: Not near positioning
0: Internal position
command stop