Panasonic MINAS-A5NL Series - 6-5-4 Latch mode; 6-5-4-1 Starting;canceling latch mode; 6-5-4-2 Selecting latch trigger signal

No. SX-DSV02310 - 67 -
R2.0 Motor Business Division, Appliances Company, Panasonic Corporation
6-5-4 Latch mode
In th
e latch mode (Type_Code = 5h), the motor actual position can be latched and read at the input timing of trigger
signal without initializing position information.
While in the latch mode, Busy as latch process remains 0. This means that any other command e.g. parameter command
can be executed while in the latch mode. However, commands that initialize position information, such as reset command
and homing command (except for latch mode) forcibly cancel the established latch mode.
Note: In Latch trigger signal, Latch detection time has a difference with Logical rising edge and Logical falling edge.
This servo driver is recommended for Logical rising edge wfich set a-contact.
6-5-4-1 Starting/canceling latch mode
To sta
rt/cancel the latch mode, use Type_Code.
2CHs can be put in the latch mode at the same time.
Command Response
Byte
bit7 6 5 4 3 2 1 0
Byte
bit7 6 5 4 3 2 1 0
8 5
Latch_
Dis2
Latch_
Dis1
Latch_
Ena2
Latch_
Ena1
8 5
Latch_
Dis2_
Echo
Latch_
Dis1_
Echo
Latch_
Ena2_
Echo
Latch_
Ena1_
Echo
Type_Code
Latch_
Dis2
Latch_
Dis1
Latch_
Ena2
Latch_
Ena1
Description
50h 0 0 0 0
Position latch status monitor
▪ Use this to monitor the status without additional starting or canceling.
51h 0 0 0 1 Start position latch 1 (CH1).
52h 0 0 1 0 Start position latch 2 (CH2).
53h 0 0 1 1 Start position latch 1 (CH1) and 2 (CH2).
54h 0 1 0 0 Cancel position latch 1 (CH1).
58h 1 0 0 0 Cancel position latch 2 (CH2).
5Ch 1 1 0 0 Cancel position latch 1 (CH1) and 2 (CH2).
In the table above, “0” means to maintain the current latch start/cancel command without additional latch request/cancel.
6-5-4-2 Selecting latch trigger signal
To
select the latch trigger signal, use Latch_Sel1 and Latch_Sel2.
Command Response
Byte
bit7 6 5 4 3 2 1 0
Byte
bit7 6 5 4 3 2 1 0
10 Latch_Sel2 Latch_Sel1 10 Latch_Sel2_Echo Latch_Sel1_Echo
Setting value Latch trigger signal
0 Z phase
▪ Command error (005Ah) is returned at a serial communication type absolute external scale.
1 Logical rising edge of EXT1
2 Logical rising edge of EXT2
3 Logical rising edge of EXT3
4-8 Do not use.
If it chooses, a command error (0032h) will be returned.
9 Logical falling edge of EXT1
10 Logical falling edge of EXT2
11 Logical falling edge of EXT3
Latch_Sel1,
Latch_Sel2
12-15 Do not use.
If it chooses, a command error (0032h) will be returned.
2.02.0
2.02.0