Panasonic MINAS-A5NL Series - 5-3 Profile position control (PP) command (Command code: 1\[]h)

No. SX-DSV02310 - 48 -
R2.0 Motor Business Division, Appliances Company, Panasonic Corporation
5-3 Profile position control (PP) command (Command code: 1h)
In this
position control mode, the target position, target speed and acceleration/deceleration speed are specified and the
servo driver internally generates the position command.
Upon receiving this command, the servo driver switches the internal control mode to the position control.
For detailed block diagram of the position control, refer to Technical Reference, SX-DSV02309”Section 5-2-1”,
Functional Specification.
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h) 1
CMD_
Error
Command_Code_Echo (1h)
2 2
3
Control_Bits
3
Status_Flags
4 L 4 L
5 ML 5 ML
6 MH 6 MH
Cyclic
7
<Command_Data1>
Target_Position (TPOS)
[Command unit]
H 7
<Response_Data1>
Default: Actual_Position (APOS)
[Command unit]
H
8 L 8 L
9 ML 9 ML
10 MH 10 MH
11
<Command_Data2>
Dependent on non-cyclic command
H 11
<Response_Data2>
Dependent on non-cyclic command
H
12 L 12 L
13 ML 13 ML
14 MH 14 MH
Non-cyclic
15
<Command_Data3>
Dependent on non-cyclic command
H 15
<Response_Data3>
Dependent on non-cyclic command
H
Title Command Response
<Command_Data1>
Target_Position
(TPOS)
Target position (absolute position)
[Size]: Signed 32-bit
[Unit]: Instruction unit
[Setting range]: 80000000h-7FFFFFFFh
(-2147483648 to 2147483647)
–
<Response_Data1>
Actual_Position
(APOS)
– Default: Actual position of motor
[Size]: Signed 32-bit
[Unit]: Instruction unit
▪ For selection method of Response_Data 1, see 4-3-1.
Position
control
section
Velocity
control
section
Motor/
Feedback
Scale
Thrust
control
section
Position command
Generation & process
Target position
Target speed
Acceleration (parameter)
Deceleration (parameter)
RTEX
communication
Command position