Panasonic MINAS-A5NL Series - 6-5-3 Actual position setup and command position setup

No. SX-DSV02310 - 65 -
R2.0 Motor Business Division, Appliances Company, Panasonic Corporation
6-5-3 Actual position setup and command position setup
Belo
w shows the internal position information in the servo driver while executing the actual position setup (Type_Code
= 021h) and command position setup (Type_Code = 022h).
Type_Code Designation Position information after execution
021h Actual position
setup
Actual position = internal command position = setting value (Setting_Data)
Position deviation = 0
022h Command position
setup
Internal command position = setting value (Setting_Data)
Actual position = internal command position (after setting as described
above)  position deviation
<Initialization of position information by actual position setup>
Initialize the motor position (actual position at the time the servo driver received the command) to the setting value to
clear the position deviation, and set the internal command position to the motor position (actual position). Subsequently,
when the host controller issues a command and motor moves, initialized motor position may deviate from the target
position. If this positional deviation may cause problem, use the command position set.
 Expected application: Homing using stopper ▪ See 7-2-3-4.
(If high accuracy is not required: current motor position is initialized to the setting value.)
Internal command position
Actual
p
osition
Actual position setup execution
Position
deviation
Internal command position
= setting value
Actual position
= setting value
Position deviation
= 0
Initializing position
information according to
actual position setup
Servo on status in cyclic
position control mode
(CP)