Panasonic minas a4 series Instruction Manual page 274

Absolute System
Transmission and Reception Sequence of Absolute Data
Servo-Ready output will be turned on 2sec. after the control power is turned on. Capture the absolute data
in the following communication protocol while the Servo-Ready output is on and the fix the motor with brake
by Servo-Off (when the motor is at complete stall.).
RS232 Communication Protocol
Refer to the instruction manual of the host for the transmission/reception method of command.
Host requests
for absolute
data to driver
Host receives
absolute data
from driver
Enter the RSW value of the driver to which you want to communicate from the host to axis (*1 data) of the
command block, and transmit the command according to the RS232 communication protocol. For details
of communication, refer to P.278, "Communication".
• Allow 500ms or longer interval for axis switching when you want to capture multiple
axes data.
• It is recommended for you to repeat the above communication more than 2 times to
confirm the absolute data coincide, in order to avoid mis-operation due to unexpected
noise.
272
Transmission starts
05h transmission
N
04h reception
Y
00h transmission
01h transmission
*1
D2h transmission
2Dh transmission
*2
N
06h reception
Y
N
05h reception
Y
04h transmission
Reception of
absolute data
(15 characters)
N
Check sum
OK'ed reception
Y
06h transmission 15h transmission
transmission finishes
Data of *1 and *2 are determined by the
setup of RSW (ID) of the front panel.
RSW(ID) Data of *1 Data of *2
0 00h
1 01h
2 02h
3 03h
4 04h
5 05h
6 06h
7 07h
8 08h
9 09h
A 0Ah
B 0Bh
C 0Ch
D 0Dh
E 0Eh
F 0Fh
Check sum becomes OK'ed when the
lower 8-bit of the sum of the received
absolute data (15 characters) is 0.
2Eh
2Dh
2Ch
2Bh
2Ah
29h
28h
27h
26h
25h
24h
23h
22h
21h
20h
1Fh