Panasonic MINAS-A5NL Series - 6-8 Profile command (Command code: 17 h)

No. SX-DSV02310 - 80 -
R2.0 Motor Business Division, Appliances Company, Panasonic Corporation
6-8 Profile command (Command code: 17h)
Use t
his command when starting the operation in profile
position control mode (PP) where servo driver internally
generates the position command.
This command supports cyclic command only in PP mode (1h).
Set the target position (TPOS) to Command_Data1 field and target speed (TSPD) to Command_Data3 field.
Set the acceleration/deceleration by using parameter Pr.8.01 (Profile linear acceleration constant) and Pr.8.04 (Profile
linear deceleration constant).
Set the operation mode of profile positioning and profile homing by using Type_Code.
For details of these profile operations, refer to 7-5.
 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_Counter MAC-ID 0
R
(1)
Update_Counter
_Echo
Actual_MAC-ID
1
TMG_
CNT
17h 1
CMD
_
Error
17h
2 2
3
Control_Bits
3
Status_Flags
4 L 4 L
5 ML 5 ML
6
M
H
6 MH
7
Target_Position (TPOS)
[Command unit]
H 7
Response_Data1
H
8 Type_Code 8 Type_Code_Echo
9 0 9 ERR WNG 0 Busy
PSL
/NSL
NSL
/PSL
NEA
R
Latch_
Comp
1
10 0 Latch_Sel1 10 0 Latch_Sel1_Echo
11 Monitor_Sel 11 Monitor_Sel_Echo
12 L 12 L
13 ML 13 ML
14
M
H
14 MH
15
Target_Speed (TSPD)
[Command unit/s] or [mm/s]
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.
Compatible control mode
NOP PP CP CV CT
-

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