Panasonic MINAS-A5NL Series - 3-3-4 Startup of non-cyclic command (MINAS-A4 N compatible mode)

No. SX-DSV02310 - 17 -
R2.0 Motor Business Division, Appliances Company, Panasonic Corporation
3-3-4 Startup of non-cyclic command (MINAS-A4N compatible mode)
Whe
n transmitting non-cyclic command (including sub-command) in the MINAS-A4N compatible mode (Pr.7.23, bit 5
= 0), follow the procedure described below.
1) Be sure to change the code from the standard command (e.g. 20h) to the desired non-cyclic command.
(Set also Type_Code, Index, Command_Data3, etc., at the same time or beforehand.)
2) Hold the command until the normal echo-back is returned.
3) When normal echo-back is returned and Busy bit is 0, get the necessary data after checking ERR bit
and WNG bit. After that, bring the command code back to the standard command (e.g. normal
command: 20h).
Standard command Description
10h, 20h, 30h, 40h
These are reference command for handshaking when transferring non-cyclic
command.
Normal command (0h) serves as standard command.
▪ If a sub-command, Sub_Command_Code = 0h is the standard command.
The change of command code is the trigger for executing the process. Only one process will be executed per one
trigger.
 Example: Operating procedure of non-cyclic command when changing parameter
When changing the multiple parameters continuously, it is necessary to bring the command code back to the standard
command (e.g. normal command: 20h) every time a parameter is changed.
Note that the process will not be executed only with changing the parameter number.
*1) Parameter process will be executed in the servo driver at the transition from normal command (20h) to parameter
command (26h).
The servo driver will execute one process at transition of command code when it receives the same command
during multiple communication cycles. (edge process)
*2) Make sure that Busy is 0 and check for normal echo of command code (including Type_Code etc.), and then return
to the normal command (20h).
26h
26h
26h
26h
Exam
p
le of
p
arameter command
(
Command: 26h
)
:
(
For
p
osition control, and standard command is 20h.
)
1st process 2nd process
*2)
*1)
Command_Code
Command_Code
_Echo
20h
Standard command
time
Busy
(Parameter processing
at the servo driver)
20h
Standard command
20h
Standard command
20h
Standard command
20h
Standard command
20h
Standard command