Panasonic MINAS-A5NL Series - 6-8-6 Software limit (PSL;NSL)

No. SX-DSV02310 - 86 -
R2.0 Motor Business Division, Appliances Company, Panasonic Corporation
6-8-6 Software limit (PSL/NSL)
Th
ese bits indicate whether the actual position (APOS) exceeds the software limit range during profile position control
(PP).
This status can be made valid only with profile command.
Note that servo driver only returns the status but does not perform stopping process
. If stopping process is necessary,
perform it from the host controller.
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
PSL
• Return 1 when actual position (APOS) is larger than Pr.7.11 (Profile positive side software limit
value).
 Detection range
Pr.7.11 < APOS
• Use Pr.7.10 (Profile software limit function) to select Valid/Invalid.
NSL
• Return 1 when actual position (APOS) is smaller than Pr.7.12 (Profile negative side software limit
value).
 Detection range
APOS < Pr. 7.12
• Use Pr.7.10 (Profile software limit function) to select Valid/Invalid.
Class No. Attribute
parameter
Title
Setting
range
Unit Description
7 10 A
Profile software
limit function
03 -
Enable or disable software limit function during profile position
control (PP).
Set the software limit value through Pr.7.11 (Profile positive side
software limit value) and/or Pr.7.12 (Profile negative side
software limit value).
0: Enable both software limits
1: Disable positive software limit and enable negative software
limit
2: Enable positive software limit and disable negative software
limit
3: Disable both software limits
Note: RTEX communication status is 0 for limit signal
(PSL/NSL) disabled by this parameter.
It is also 0 when homing is uncompleted.
7 11 A
Profile positive side
limit value
-1073741823

1073741823
Command
unit
7 12 A
Profile negative side
limit value
-1073741823

1073741823
Command
unit
Set positive side and negative side software limits.
When the limit is exceeded, status PSL/NSL of RTEX
communication is turned on (= 1).
Note: Make sure that positive side software limit > negative
side software limit.
Note that arrangement of status bits may be changed as shown below.
Class No. Attribute
parameter
Title
Setting
range
Unit Description
7 23 B
RTEX function
expansion setup 2
-32768
32767
-
[bit 7] RTEX status bit arrangement setting for PSL/NSL
0: PSL at bit 3 and NSL at bit 2
1: NSL at bit 3 and PSL at bit 2
▪ For description on bits other than shown above, refer to
Technical Reference, SX-DSV02309”Section 9-1”,
Functional Specification.