Panasonic MINAS-A5NL Series - 3-2 Transmission of cyclic data

No. SX-DSV02310 - 13 -
R2.0 Motor Business Division, Appliances Company, Panasonic Corporation
3-2 Transmission of cyclic data
3-2-1 Cyclic transmission area
Use
bytes 2 to 7 in command/response data block or bytes 24 to 31 in the 32-byte mode, as cyclic transmission area for
real-time data such as command position and feedforward data.
Use bytes 12 to 15 (Command_Data3) in command data block as cyclic transmission area by using Pr.7.35 (RTEX
command setup 1). For details, refer to 7-7.
Use bytes 8 to 15 (Reponse_Data2/3) in response data block, or bytes 20 to 23 (Sub_Response_Data1) in the 32-byte
mode, as cyclic transmission area by using Pr.7.30 to Pr.7.32 (RTEX monitor select 2/3/4). For details, refer to 4-3-1.
There is no special transmission procedure for the cyclic command area data. The servo driver will reflect the received
cyclic command data in the control at once, and will return the latest value of the cyclic response data.
 Main command: common to 16 byte and 32 byte mode
Command Response
Byte
bit7 6 5 4 3 2 1 0
Byte
bit7 6 5 4 3 2 1 0
0
C
(0)
Update_Counter MAC-ID 0
R
(1)
Update_Counter
_Echo
Actual MAC-ID
1
TMG_
CNT
Command_Code 1
CMD_
Error
Command_Code_Echo
2 2
3
Control_Bits
3
Status_Flags
4 4
5 5
6 6
Cyclic
7
Command_Data1
7
Response_Data1
8 8
9 9
10 10
11
Command_Data2
11
Response_Data2
12 12
13 13
14 14
Non- Cyclic
15
Command_Data3
15
Response_Data3
 Sub-command: specific to 32 byte mode
Command Response
Byte
bit7 6 5 4 3 2 1 0
Byte
bit7 6 5 4 3 2 1 0
16
Sub_
Chk
0 0 0 Sub_Command_Code 16
Sub_
CMD_
Err
Sub_
ERR
Sub_
WNG
Sub_
Busy
Sub_Command_Code_Echo
17 Sub_Type_Code 17 Sub_Type_Code_Echo
18 18
19
Sub_Index
19
Sub_Index_Echo
20 20
21 21
22 22
Non-cyclic
23
Sub_Command_Data1
23
Sub_Response_Data1
24 24
25 25
26 26
27
Sub_Command_Data2
27
Sub_Response_Data2
28 28
29 29
30 30
Cyclic
31
Sub_Command_Data3
31
Sub_Response_Data3