Panasonic MINAS-A5NL Series - 5-6 Cyclic thrust control (CT) command (Command code: 4\[]h)

No. SX-DSV02310 - 51 -
R2.0 Motor Business Division, Appliances Company, Panasonic Corporation
5-6 Cyclic thrust control (CT) command (Command code: 4h)
In this thrust control mode, the host controller generates the command thrust and updates it (or transmits updated
command) at the communication cycle.
Upon receiving this command, the servo driver switches the internal control mode to thrust control.
For detailed thrust control block diagram, refer to Technical Reference, SX-DSV02309”Section 5-2-3”,
Functional Specification.
When this command is received in Block Diagram of 2 Degrees of Freedom Mode, it causes the command error.
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 (4h) 1
CMD_
Error
Command_Code_Echo (4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>
Command_
Thrust (CTRQ)
[0.1%]
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>
Command_ Thrust
(CTRQ)
Instruction thrust
[Size]: Signed 32-bit
[Unit]: 0.1%
[Setting range]: - motor maximum thrust – motor maximum
thrust
▪ Maximum thrust limit [%] = 100Pr9.07/(Pr9.062)
Pr9.07 (Motor instant maximum current [0.1A])
Pr9.06 (Motor rating effective current [0.1Arms])
–
<Response_Data1>
Actual_Position
(APOS)
– Default: Actual position of motor
[Size]: Signed 32-bit
[Unit]: Command unit
▪ For selection method of Response_Data 1, see 4-3-1.
Position command
Generation & process
Position
control
section
Velocity
control
section
Motor/
Feedback
Scale
Thrust
control
section
Target
position
Target speed
Acceleration (parameter)
Deceleration (parameter)
RTEX
communication
command
thrust
Speed limit value (parameter)
2.02.0