Panasonic MINAS-A5NL Series - 6-8-5 Profile positioning neighborhood output (NEAR)

No. SX-DSV02310 - 85 -
R2.0 Motor Business Division, Appliances Company, Panasonic Corporation
6-8-5 Profile positioning neighborhood output (NEAR)
W
hile the profile positioning system is operating (Type_Code = 10h, 11h, 12h, 13h), this output indicates whether the
command position is near the target position.
Command Response
Byte
bit7 6 5 4 3 2 1 0
Byte
bit7 6 5 4 3 2 1 0
9 0 9 ERR
WN
G
0 Busy
PSL
/NSL
NSL
/PSL
NEAR
Latch_
Comp1
Title Description
NEAR
• Return 1 at location near profile positioning position.
• Set the output condition by Pr.7.15 (Profile positioning neighborhood range).
 Detection range
-Pr.7.15 <= internal target position - internal command position (IPOS: before filter) <= Pr.7.15
Class No. Attribute
parameter
Title
Setting
range
Unit Description
7 15 A
Profile
positioning
neighborhood
range
0
1073741823
Command unit
If the difference between internal target position
and command position is smaller than the specified
value during profile position control (PP), NEAR
of RTEX communication status becomes 1.
When the latch trigger signal is detected during profile position latch absolute positioning (12h)/profile position latch
relative positioning(13h), the internal target position is updated to the value shown below, not to the value (TPOS) set
by the command.
Internal target position = latch position 1 (LPOS1) + Pr.8.10 (Movement distance after detection of profile
position latch)
Note that, when deceleration is decreased, for example due to update of internal target position, command position may
temporarily exceed internal target position, causing NEAR to turn on.