Panasonic MINAS-A5NL Series - Page 6

No. SX-DSV02310
R2.0 Motor Business Division, Appliances Company, Panasonic Corporation
4-3 Data block in response (16-
byte/32-byte)................................................................................................................... 34
4-3-1 Command_Code_Echo and Response_Data (Response byte 1, 4 to 15)............................................................................... 35
4-3-2 Response header (Response byte 0) ...................................................................................................................................... 36
4-3-3 Status flag (Response byte 2) ................................................................................................................................................ 37
For details, refer to Technical Reference, SX-DSV02309”Section 4-2-4,9-1”, Functional Specification. ............................ 38
4-3-3-1 Servo Ready state (Servo_Ready)............................................................................................................................. 38
4-3-3-2 Internal position command generation state (In_Progress)/main power off alarm state (AC_OFF) ......................... 38
4-3-3-3 Servo-on in case of magnetic pole position estimation method ................................................................................ 39
4-4 Command data block of sub-command (only for 32-byte mode)............................................................................... 42
4-4-1 Sub-command code and sub-command argument (Command bytes 16 to 31)...................................................................... 43
4-5 Response data block of sub-command (only for 32-byte mode) ................................................................................ 44
4-5-1 Sub-command code echo and response data (Command bytes 16 to 31) .............................................................................. 45
5. Cyclic Command Description ................................................................................................................................... 46
5-1 Cyclic command list [Under review].......................................................................................................................... 46
5-2 NOP command (Command code: 0h) ..................................................................................................................... 47
5-3 Profile position control (PP) command (Command code: 1h)................................................................................ 48
5-4 Cyclic position control (CP) command (Command code: 2h) ................................................................................ 49
5-5 Cyclic velocity control (CV) command (Command code: 3h) ............................................................................. 50
5-6 Cyclic thrust control (CT) command (Command code: 4h) .................................................................................. 51
6. Non-cyclic Command Description............................................................................................................................ 52
6-1 Non-cyclic command list [Under review] .................................................................................................................. 52
6-2 Normal command (Command code: 0h)................................................................................................................. 53
6-3 Reset Command (Command code: 1h) ................................................................................................................... 54
6-3-1 Software reset mode (Type_Code: 001h) .............................................................................................................................. 55
6-3-2 Attribute C parameter validation mode (Type_Code: 011h).................................................................................................. 56
6-4 System ID Command (Command code: 2h) ........................................................................................................... 57
6-4-1 System ID command Type_Code list .................................................................................................................................... 58
6-4-2 Example of reading of vendor name (“Panasonic”)............................................................................................................... 59
6-4-3 Device type............................................................................................................................................................................ 59
6-4-4 Servo driver type ................................................................................................................................................................... 60
6-5 Homing command (Command code: 4h)................................................................................................................ 61
6-5-1 Type Code list of Homing Command .................................................................................................................................... 62
6-5-2 Assignment of external input signals related to return to home sequence ............................................................................. 64
6-5-3 Actual position setup and command position setup............................................................................................................... 65
6-5-4 Latch mode............................................................................................................................................................................ 67
6-5-4-1 Starting/canceling latch mode................................................................................................................................... 67
6-5-4-2 Selecting latch trigger signal..................................................................................................................................... 67
6-5-4-3 Checking latch mode complete status and latch position data .................................................................................. 68
6-6 Alarm command (Command code: 5h)................................................................................................................... 69
6-6-1 Alarm command Type_Code list ........................................................................................................................................... 70
6-6-2 Setting up of alarm code........................................................................................................................................................ 73
6-6-3 Alarm attribute....................................................................................................................................................................... 73