No. SX-DSV02310 - 61 -
R2.0 Motor Business Division, Appliances Company, Panasonic Corporation
6-5 Homing command (Command code: 4h
)
Use this command when performing homing,
latching actual position, etc.
For details of return to home operation, refer to Section 7-2.
Main command: common to 16 byte and 32 byte mode
Command Response
Byte
bit7 6 5 4 3 2 1 0
Byte
bit7 6 5 4 3 2 1 0
0
C
(0)
Update_Count
er
MAC-ID 0
R
(1)
Update_Counter
_Echo
Actual_MAC-ID
1
TMG_
CNT
4h 1
CMD_
Error
4h
2 2
3
Control_Bits
3
Status_Flags
4 L 4 L
5 ML 5 ML
6
M
H
6 MH
7
Command_Data1
H 7
Response_Data1
H
8 Type_Code 8 Type_Code_Echo
9 0 9 ERR WNG 0 Busy 0 0
Latch_
Comp2
Latch_
Comp1
10 Latch_Sel2 Latch_Sel1 10 Latch_Sel2_Echo Latch_Sel1_Echo
11 Monitor_Sel 11 Monitor_Sel_Echo
12 L 12 L
13 ML 13 ML
14
M
H
14 MH
15
Setting_Data
(Command_Data3)
H 15
Monitor_Data
H
Sub-command: specific to 32 byte mode
(Not supported): Cannot be used by a sub-command. Use only with the main command.
Title Command Response
Type_Code
/Type_Code_Echo
Type of return-to-home
▪ For detailed description, refer to Section 6-5-1.
Type_Code echo back value
Latch_Comp1,
Latch_Comp2
Latch position 1/2 complete state
▪ For detailed description, refer to Section 6-5-4.
<In latch mode>
Selection of position latch 1 (Ch1) or position latch 2 (Ch2)
trigger signal
▪ For detailed description, refer to Section 6-5-4.
<In latch mode>
Latch_Sel1, Latch_Sel2 echo back value
▪ For detailed description, refer to Section 6-5-4.
Latch_Sel1,
Latch_Sel2,
/Latch_Sel1_Echo,
Latch_Sel2_Echo,
<Mode other than latch>
Set to 0.
<Mode other than latch>
Latch_Sel1, Latch_Sel2 (= 0) echo back value
<In latch mode>
Selection of data to be returned to Monitor_Data
▪ For detailed description, refer to Section 6-5-4.
<In latch mode>
Selection of data to be returned to Monitor_Data
▪ For detailed description, refer to Section 6-5-4.
Monitor_Sel
/Monitor_Sel_Echo
<Mode other than latch>
Set to 0.
<Mode other than latch>
Monitor_Sel(=0) echo back value
<Actual position setup and command position setup>
Actual position setting value and command position setting
value
[Size]: Signed 32-bit
[Unit]: Instruction unit
[Setting range]: 80000000h7FFFFFFFh
(-2147483648 to 2147483647)
<Actual position setup/command position setup>
Echo back of actual position setting value/command
position setting value
[Size]: Signed 32-bit
[Unit]: Instruction unit
<In latch mode>
Monitor data selected through Monitor_Sel
▪ For detailed description, refer to Section 6-5-4.
Setting_Data
(Command_Data3)
/Monitor_Data
<Non-actual position setup and Non-command position
setup>
Data specified by Pr.7.35 (RTEX command setup 1)
▪ For details, refer to Sections 7-7-1.
<When not in actual position setup, command position
setup or latch mode>
Return 0
Compatible control mode
NOP PP CP CV CT
-
To Next Page
Loading...
