Panasonic MINAS-A5NL Series - Default Chapter; Table of Contents

No. SX-DSV02310
R2.0 Motor Business Division, Appliances Company, Panasonic Corporation
Contents
1. Introduction ................................................................................................................................................................. 1
2. Configuration and Initialization of R
TEX Communication System............................................................................ 2
2-1 Outline.......................................................................................................................................................................... 2
2-2 System structure ........................................................................................................................................................... 2
2-3 Basic specifications of network.................................................................................................................................... 3
2-4 Node address (MAC-ID) setting and front panel configuration ................................................................................... 4
2-5 Communication cycle/command updating cycle, control mode and data size setup .................................................... 5
2-5-1 Mode reference table ............................................................................................................................................................... 6
2-5-2 Related Parameter ................................................................................................................................................................... 7
2-5-3 Example of mode setup ........................................................................................................................................................... 7
2-6 COM LED, LINK LED and RTEX communication state ............................................................................................ 8
3. Transmission Protocol of R
TEX Communication Data .............................................................................................. 9
3-1 Transmission timing of data ......................................................................................................................................... 9
3-1-1 Transmission timing of communication period 0.5 ms/command updating period 0.5 ms.................................................... 10
3-1-2 Transmission timing of communication cycle 0.5 ms/command updating cycle 1.0 ms ....................................................... 10
3-1-3 Transmission timing of communication cycle 0.1666 ms/command updating cycle 0.1666 ms ........................................... 11
3-1-4 Transmission timing of communication cycle 0.0833 ms/command updating cycle 0.1666 ms ........................................... 11
3-1-5 Transmission timing of communication cycle 1.0 ms/command updating cycle 1.0 ms ....................................................... 12
3-2 Transmission of cyclic data ........................................................................................................................................ 13
3-2-1 Cyclic transmission area........................................................................................................................................................ 13
3-3 Transmission of Non-Cyclic Data .............................................................................................................................. 14
3-3-1 Non-cyclic transmission area................................................................................................................................................. 14
3-3-2 Non-cyclic status flag............................................................................................................................................................ 15
3-3-3 Non-cyclic command startup mode setting ........................................................................................................................... 16
3-3-4 Startup of non-cyclic command (MINAS-A4N compatible mode) ....................................................................................... 17
3-3-4-1 Basic sequence of non-cyclic command ................................................................................................................... 18
3-3-4-2 Read sequence of non-cyclic command.................................................................................................................... 19
3-3-4-3 Write sequence of non-cyclic command ................................................................................................................... 20
3-3-5 Startup of non-cyclic command (extend mode)..................................................................................................................... 21
4. RTEX Communication Data Block........................................................................................................................... 22
4-1 Transmission and reception memory in MNM1221 ................................................................................................... 22
4-2 Command data block arrangement (16-byte/32-byte mode) ...................................................................................... 23
4-2-1 Command code and command argument (Command bytes 1, 415) .................................................................................... 24
4-2-1-1 TMG_CNT setup and inter-axis synchronous mode ................................................................................................. 25
4-2-2 Command header (command byte 0)..................................................................................................................................... 27
4-2-2-1 Update_Counter setup............................................................................................................................................... 27
4-2-3 Control bit (Command Bytes 2 and 3)................................................................................................................................... 28
4-2-3-1 Servo_On/off command (Servo_on)......................................................................................................................... 29
4-2-3-2 Gain switching command (Gain_SW) ...................................................................................................................... 30
4-2-3-3 Thrust limit switching command (TL_SW).............................................................................................................. 31
4-2-3-4 Speed limit switching command (SL_SW)............................................................................................................... 32
4-2-3-5 External output signal operation instruction (EX-OUT 1/2) ..................................................................................... 33