Panasonic MINAS-A5NL Series Technical Reference
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Panasonic MINAS-A5NL Series Technical Reference

Panasonic MINAS-A5NL Series Technical Reference

Ac servo driver
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R2.0
TECHNICAL REFERENCE
– Realtime Express (RTEX) Communication Specification –
MODEL
Product Name: AC Servo Driver
Part Number: MINAS-A5NL Series
(RTEX communication type/Linear type)
Motor Business Division, Appliances Company
Panasonic Corporation
7-1-1 Morofuku, Daito-City, Osaka 574-0044, Japan
Phone :
Fax
Checked
Issued on
Sep. 15
Revised on
Apr. 1
(072) 871-1212
:
(072) 870-3151
Checked
Designed
No. SX-DSV02310
th
, 2011
st
, 2013

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Summary of Contents for Panasonic MINAS-A5NL Series

  • Page 1 No. SX-DSV02310 TECHNICAL REFERENCE – Realtime Express (RTEX) Communication Specification – MODEL Product Name: AC Servo Driver Part Number: MINAS-A5NL Series (RTEX communication type/Linear type) Issued on Sep. 15 , 2011 Revised on Apr. 1 , 2013 Motor Business Division, Appliances Company...
  • Page 2 Translation is provided unofficially only for the sake of convenience of utilizing the original Japanese specification as a measure of reference. It is not officially reviewed. Motor Business Division, Appliances Company of Panasonic Corporation is not liable for any disadvantages caused by utilizing only English specification. Only the Japanese specification is effective.
  • Page 3 EXT3) used as a home position reference trigger and a latch trigger 3)The falling edge (HOME, POT, NOT) used as a home position reference 62,67,83,110 trigger Note: The page number (Page) is the current page number at the time of revision. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 4 Added the description of pulse regeneration function. Added the description of Safety input signal, External device monitor 94,95 (EDM) output. Note: The page number (Page) is the current page number at the time of revision. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 5: Table Of Contents

    4-2-3-2 Gain switching command (Gain_SW) ........................30 4-2-3-3 Thrust limit switching command (TL_SW) ......................31 4-2-3-4 Speed limit switching command (SL_SW)....................... 32 4-2-3-5 External output signal operation instruction (EX-OUT 1/2) ..................33 R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 6 6-3-2 Attribute C parameter validation mode (Type_Code: 011h) ....................56 6-4 System ID Command (Command code: 2h) ......................57 6-4-1 System ID command Type_Code list ............................ 58 6-4-2 Example of reading of vendor name (“Panasonic”)....................... 59 6-4-3 Device type.................................... 59 6-4-4 Servo driver type ................................... 60 6-5 Homing command (Command code: 4h)........................
  • Page 7 7-2-3-1 Example of cyclic homing operation 1 ........................114 7-2-3-2 Example of cyclic homing operation 2 ........................116 7-2-3-3 Example of cyclic homing operation 3 ........................118 7-2-3-4 Example of cyclic homing operation 4 ........................119 R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 8 8-2-1 RTEX continuous communication error warning (WngC0h) ....................163 8-2-2 RTEX accumulated communication error warning (WngC1h).................... 164 8-2-3 RTEX Update_Counter error warning (WngC2h) ....................... 165 8-3 Locating disconnection point of network cable......................166 R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 9: Introduction

    1. Introduction This technical reference describes the specifications of the network interface “Realtime Express” (hereafter referred to as RTEX) which connects the driver MINAS-A5NL series (hereinafter read MINAS-A5NL in place of MINAS-A5N) to the host controller. This document should be treated according to the nondisclosure contract.

  • Page 10: Configuration And Initialization Of Rtex Communication System

    • In the above figure, pulse transformer which is connected between PHY and connector and other components are omitted. • Use the STP (shield twisted pair) cable of Category-5e or upper specified by TIA/EIA-568 Standards for the communication cable. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 11: Basic Specifications Of Network

    16-byte mode (fractions omitted). • These figures depend on the arithmetic processing power of the host device. 16-byte mode: Transmit/receive Data size 32-byte mode: Transmit/receive Communication error detection CRC-CCITT R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 12: Node Address (Mac-Id) Setting And Front Panel Configuration

    • The host controller (master), when transmitting, should specify the node address (MAC-ID) in Byte 0, bits 4-0 of the command. If the node address is different from the address specified by the servo drive, Err 86.0 (Cyclic data error protection 1) will occur. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 13: Communication Cycle/Command Updating Cycle, Control Mode And Data Size Setup

    (transmitting) the command velocity at the communication cycle. Use this mode when operating by generating thrust command in the host controller and by updating Cyclic thrust mode 4h (transmitting) the command thrust at the communication cycle. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 14: Mode Reference Table

    Command update period (ms) Communication period 0.1666 (ms) PP CP CV CT PP CP CV CT PP CP CV CT 0.0833 0.1666             R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 15: Related Parameter

    In this example setting, CP/CV/CT control mode selection is necessary by specifying command code. Note: If matching condition of Pr.7.20 RTEX communication cycle setup and Pr.7.21 RTEX command updating cycle setup is not established, Err.93.5 Parameter setup error protection 4 will be generated. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 16: Com Led, Link Led And Rtex Communication State

    • Upon power up or upon issuing of the reset command, LINK LED will blink once. This is normal because the LED is initialized by the servo driver. • Lighting condition of COM LED can be changed by the setting of bit 4 of Pr.7.23 (RTEX function expansion setup 2). R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 17: Transmission Protocol Of Rtex Communication Data

    (CMD_Error or Sub_CMD_Err) is set to 1 and returned. When the servo driver correctly receives the command, the command error bit is set to 0. For secure command transfer, hold the command code value until the echo back is received. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 18: Transmission Timing Of Communication Period 0.5 Ms/Command Updating Period 0.5 Ms

    Echo is immediately Data exchange at servo returned driver (Cmd [N-1]) (Cmd [N]) (Cmd [N]) (Cmd [N+1]) Command/response process Servo operation Command/response process for Cmd [N]  Command_Code_Echo is not immediately returned R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 19: Transmission Timing Of Communication Cycle 0.1666 Ms/Command Updating Cycle 0.1666 Ms

    When the control mode has been changed Command/response process for Cmd [N] between Cmd[N-1] and Cmd[N], result of operation  Command_Code_Echo is not immediately returned. in the changed mode is returned at this point. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 20: Transmission Timing Of Communication Cycle 1.0 Ms/Command Updating Cycle 1.0 Ms

    UpCnt[N] UpCnt[N+1] UpCnt[N+2] Update_Counter_ Echo is Data exchange at servo immediately driver returned. (Cmd[N-1]) (Cmd[N]) (Cmd[N+1]) (Cmd[N+2]) Command/response process Servo operation Command/response process for Cmd [N]  Command_Code_Echo is not immediately returned. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 21: Transmission Of Cyclic Data

     Sub-command: specific to 32 byte mode Command Response Byte Byte bit7 bit7 Sub_ Sub_ Sub_ Sub_ Sub_ Sub_Command_Code CMD_ Sub_Command_Code_Echo Busy Sub_Type_Code Sub_Type_Code_Echo Sub_Index Sub_Index_Echo Sub_Command_Data1 Sub_Response_Data1 Sub_Command_Data2 Sub_Response_Data2 Sub_Command_Data3 Sub_Response_Data3 R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 22: Transmission Of Non-Cyclic Data

     Sub-command: specific to 32 byte mode Command Response Byte Byte bit7 bit7 Sub_ Sub_ Sub_ Sub_ Sub_ Sub_Command_Code CMD_ Sub_Command_Code_Echo Busy Sub_Type_Code Sub_Type_Code_Echo Sub_Index Sub_Index_Echo Sub_Command_Data1 Sub_Response_Data1 Sub_Command_Data2 Sub_Response_Data2 Sub_Command_Data3 Sub_Response_Data3 R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 23: Non-Cyclic Status Flag

    Sub_ERR Set to 1 when error occurs during process after reception of the command. Sub_WNG Set to 1 when the command is processed but with certain problem. Sub_Busy Kept at 1 while command is processed. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 24: Non-Cyclic Command Startup Mode Setting

    [bit 5] sets non-cyclic command startup mode Value Function (MINAS-A4N compatible mode) RTEX function -32768 3-3-4 — Changing from standard command 32767 expansion setup 2 (Extend mode) 3-3-5 Upon changing command mode and command argument R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 25: Startup Of Non-Cyclic Command (Minas-A4N Compatible Mode)

    (edge process) *2) Make sure that Busy is 0 and check for normal echo of command code (including Type_Code etc.), and then return to the normal command (20h). R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 26: Basic Sequence Of Non-Cyclic Command

    Some kind of errors during processing will be shown in ERR bit instead of command error. An error might occur in some command (e.g. writing parameters to EEPROM) during processing. In such a case, retry the command after confirming that ERR bit becomes 1. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 27: Read Sequence Of Non-Cyclic Command

    Data of Command 20h Read data Data of command 20h (Byte 12–15) *1) Times of Ta and Tb depend on the command. In most reading cases, Busy will not be 1. (Tb is 0.) R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 28: Write Sequence Of Non-Cyclic Command

    (The parameter was set to the limited value that is different from the command value.) *3) An error might occur in some command (e.g. writing parameters to EEPROM) during processing. In this case, ERR bit will be 1 and retry the command. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 29: Startup Of Non-Cyclic Command (Extend Mode)

    Exception: When the target position or target speed is updated during profile operation, the servo drive will response to the change if the target position (TPOS) or target speed (TSPD) is changed while the command code 17h is maintained. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 30: Rtex Communication Data Block

    *1) Data block numbers, #0 to #31 represent the connecting order of the slaves. Note that these are not the node addresses (MAC-ID). *2) The slave set to 32-byte mode uses 2 consecutive 16-byte data blocks. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 31: Command Data Block Arrangement (16-Byte/32-Byte Mode)

    Notes: • Command code of byte 1 defines the contents from byte 4 to byte 15. • Disposition of multiple byte data is little endian, which means that lower byte is first. • Set the unused bit to 0. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 32: Command Code And Command Argument (Command Bytes 1, 415)

    Set the cyclic command code to NOP (bits 64:0) only when transmitting invalid data after canceling the reset, and specify the control mode to be used (PP, CP, CV or CT). Do not transmit NOP. For details of each command, refer to Chapters 5 and 6. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 33: Tmg_Cnt Setup And Inter-Axis Synchronous Mode

    (1) Inter-axis semi-synchronous mode (Pr.7.22, bit 1 = 0) In this mode, inter-axis synchronization will fail in some functions (e.g. analog monitoring), although receiving timing of operation instructions such as position instruction is coincident. • Do not use TMG_CNT. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 34 Communication cycle (0.0833 ms) Axis 1 Update_ Counter TMG_CNT Axis 2 Update_ Counter TMG_CNT Axis 3 Update_ Counter TMG_CNT <Example of 3-axis synchronization (communication cycle 0.0833 ms, command updating cycle 0.166 ms)> R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 35: Command Header (Command Byte 0)

    <Example for setting of update counter (when command update cycle is 1 ms)> *1) Set 1 to update counter at transmission of 1st valid data. *2) When the counter overflowed, repeat from 0. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 36: Control Bit (Command Bytes 2 And 3)

    • This signal is enabled when RTEX operation output (EX-OUT1/EX-OUT2) is assigned to interface EX-OUT1 connector X4. • This signal does not affect the servo control. ▪ See section 4-2-3-5 for details. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 37: Servo_On/Off Command (Servo_On)

    • While running “test run function” or “frequency response analyzing function (FFT)” RTEX communication and each setting tool cannot be used (should be previously turned off). • Monitor value of servo-on input state on PANATERM is “servo-on command to servo control process”. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 38: Gain Switching Command (Gain_Sw)

    1: P control (clear velocity loop integral) Parameter to be set up Setting value Description Pr.0.02 Real-time auto-gain tuning setup Real-time auto-gain tuning function is disabled. Enable 1st/2nd gain switching Pr.1.14 2nd gain setup Disable P/PI control switching R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 39: Thrust Limit Switching Command (Tl_Sw)

    Pr.0.13 thrust limit Pr.0.13 Pr.5.22 Pr.5.22 Pr.0.13 Pr.5.26 Pr.5.25 ▪ Pr.0.13 (1st thrust limit), Pr.5.22 (2nd thrust limit) Pr.5.25 (External input positive direction thrust limit), Pr.5.26 (External input negative direction thrust limit) R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 40: Speed Limit Switching Command (Sl_Sw)

    The internal value is limited by the setting of Pr. 5.13 mm/s value 2 20000 (Overspeed level setting), Pr. 6.15 (2nd overspeed level setting) or Pr. 9.10 (Maximum overspeed level setting), whichever lowest. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 41: External Output Signal Operation Instruction (Ex-Out 1/2)

    = 1 (Initialize) EX-OUT1 = 1 EX-OUT2 = 0 bit1 = 0 Hold (Hold) EX-OUT2 = 1 RTEX operation EX-OUT2 output 2 EX-OUT2 = 0 bit1 = 1 (Initialize) EX-OUT2 = 1 R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 42: Data Block In Response (16-Byte/32-Byte)

    • Disposition of multiple byte data is little endian, which means that lower byte is first. • Replies 0 at unused bits. • For Byte 3, CS Complete can be allocated to either one of bit 0 – 7 for other than above. See 4-3-4 for details. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 43: Command_Code_Echo And Response_Data (Response Byte 1, 4 To 15)

    For New Type_Code details, refer to clause 6-9-1. When Pr.7.31 = 0, thrust (New Type_Code = 06h) is returned as compatibility with MINAS-A4N. • Arrangement of byte data is little endian, which means that lower byte is first. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 44: Response Header (Response Byte 0)

    • Use this to check whether the drive has received properly. • Return the node address of the servo driver. Actual_MAC-ID • This is not echo-back, but actual value that is the setup of the RSW at power-up. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 45: Status Flag (Response Byte 2)

    • Return 1 when the motor actual speed and the speed limit value (CT) are the same. • Set the output condition through Pr.4.35 (Speed coincidence range).For details, refer to Technical Reference, SX-DSV02309”Section 4-3-2”, Functional Specification. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 46: For Details, Refer To Technical Reference, Sx-Dsv02309"Section 4-2-4,9-1", Functional Specification

    [bit 8] RTEX status select by In_Progress/AC_OFF RTEX function 0: In_Progress, 1: AC_OFF -32768  expansion 32767 setup 2 ▪ For description on other bits, refer to Technical reference, SX-DSV02309”Section 9-1”, Functional Specification. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 47: Servo-On In Case Of Magnetic Pole Position Estimation Method

    (For details, see 7-1-2.) And in case of Pr7.24 ( )bit4 = 1, Servo_Active returns a servo-off state compulsorily until a RTEX function extended setup 3 charge + current offset setup is completed. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 48 Total delay time including the transmission delay in communication will be several ms. If this delay time gives inconvenience, provide the system that directly connects the sensor signal to host controller. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 49 2: Byte3.bit1 (POT/NOT) Completion output 3: Byte3.bit2 (HOME) setting 4: Byte3.bit3 (SI-MON1/EXT1/CS1) 5: Byte3.bit4 (SI-MON2/EXT2/CS2) 6: Byte3.bit5 (SI-MON3/EXT3/CS3) 7: Byte3.bit6 (SI-MON4/EX-SON) 8: Byte3.bit7 (SI-MON5/E-STOP) ▪ In ( ) is signal name before allocation. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 50: Command Data Block Of Sub-Command (Only For 32-Byte Mode)

    Notes: • Specify the arrangement of Byte 17 to Byte 23 by using Byte 16 sub-command codes. • Arrangement of data bytes is little endian which means that lower byte is first. • Set unused bit to 0. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 51: Sub-Command Code And Sub-Command Argument (Command Bytes 16 To 31)

    See 7-7 for details. • Set the data (Feed forward data) selected through Pr.7.37 (RTEX command setup 3). Sub_Command_Data3 See 7-7 for details. For details of the sub-commands, refer to Chapter 6. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 52: Response Data Block Of Sub-Command (Only For 32-Byte Mode)

    Notes: • Specify the arrangement of Byte 17 to Byte 23 by using Byte 16 sub-command codes. • Arrangement of data bytes is little endian which means that lower byte is first. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 53: Sub-Command Code Echo And Response Data (Command Bytes 16 To 31)

    Specify the monitor data by setting monitor command Type_Code for A5N (8 bits) to Pr.7.34. For details, refer to Sub_Response_Data3 6-9-1. Return 0 when Pr.7.34 = 0. • Arrangement of data bytes is little endian which means that lower byte is first. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 54: Cyclic Command Description

    (or transmits updated command) at the communication cycle. Cyclic Thrust Mode 4h ※When this command is received in Block Diagram of 2 Degrees of Freedom Mode, it causes the command error. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 55: Nop Command (Command Code: 0H)

    [Unit]: Setting value of Pr.7.25 (RTEX speed unit setup) Pr.7.25 Unit mm/s [Command unit/s] <Response_Data3> – Default: Instruction thrust to motor Thrust [Size]: Signed 32-bit (TRQ) [Unit]: 0.1% ▪ For selection method of Response_Data 1/2/3, see 4-3-1. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 56: Profile Position Control (Pp) Command (Command Code: 1H)

    [Unit]: Instruction unit [Setting range]: 80000000h-7FFFFFFFh (-2147483648 to 2147483647) <Response_Data1> – Default: Actual position of motor Actual_Position [Size]: Signed 32-bit (APOS) [Unit]: Instruction unit ▪ For selection method of Response_Data 1, see 4-3-1. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 57: Cyclic Position Control (Cp) Command (Command Code: 2H)

    [Unit]: Instruction unit [Setting range]: 80000000h-7FFFFFFFh (-2147483648 to 2147483647) <Response_Data1> – Default: Actual position of motor Actual_Position [Size]: Signed 32-bit (APOS) [Unit]: Instruction unit ▪ For selection method of Response_Data 1, see 4-3-1. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 58: Cyclic Velocity Control (Cv) Command (Command Code: 3H)

    [Setting range]: -Maximum overspeed level – maximum overspeed level <Response_Data1> – Default: Actual position of motor Actual_Position [Size]: Signed 32-bit (APOS) [Unit]: Command unit ▪ For selection method of Response_Data 1, see 4-3-1. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 59: Cyclic Thrust Control (Ct) Command (Command Code: 4H)

    Pr9.07 (Motor instant maximum current [0.1A]) Pr9.06 (Motor rating effective current [0.1Arms]) <Response_Data1> – Default: Actual position of motor Actual_Position [Size]: Signed 32-bit (APOS) [Unit]: Command unit ▪ For selection method of Response_Data 1, see 4-3-1. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 60: Non-Cyclic Command Description

    (During CP controlling, command position is controlled using estimated position.) ▪ : Supported; : Partially supported; : Supported by the manufacturer (for specific applications only); –: Not supported R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 61: Normal Command (Command Code: 0H)

    Data specified by Pr.7.31 RTEX monitor select 3 / Response_Data3 ▪ For details, refer to Sections 7-7-1. Sub_Type_Code Optional – Sub_Index Optional – Sub_Command_Data1 Optional Data specified by Pr.7.32 (RTEX monitor select 4) /Sub_Response_Data1 R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 62: Reset Command (Command Code: 1H)

    ▪ For details, refer to Sections 6-3-1 and 6-3-2. Index Set to 0 Return 0 /Index_Echo Command_Data3 Data specified by Pr.7.35 (RTEX command setup 1) Return 0 /Monitor_Data ▪ For details, refer to Sections 7-7-1. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 63: Software Reset Mode (Type_Code: 001H)

    Command code echoes after checking echoes 0h 1h from all servo drivers from all servo drivers. Reset process on the servo drivers Note: During resetting process, output signal (output transistor) is OFF. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 64: Attribute C Parameter Validation Mode (Type_Code: 011H)

    <Absolute mode (absolute scale)> All position information = Value of absolute scale/electronic gear ratio + Pr.7.13 (Absolute home position offset) • While executing the command, do not run the setup support software PANATERM. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 65: System Id Command (Command Code: 2H)

    Read out value (ASCII code) (4 x Index) ASCII code (4 x Index + 1) ASCII code Sub_Command_Data1 Set to 0 (4 x Index + 2) ASCII code /Sub_Monirot_Data (4 x Index + 3) ASCII code R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 66: System Id Command Type_Code List

    Prepared for A5N and can be used with both main command and subcommand. When using with main command, set upper 4-bit to 0. ▪ Although the product supports conventional Type_Code to maintain compatibility, basically use the new Type_Code. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 67: Example Of Reading Of Vendor Name ("Panasonic")

    No. SX-DSV02310 - 59 - 6-4-2 Example of reading of vendor name (“Panasonic”) Byte Type_Code_Echo Index_Echo ASCII code ‘P’ ‘s’ ‘c’ ASCII code ‘a’ ‘o’ 0 (NULL) *1) ASCII code ‘n’ ‘n’ 0 (NULL) *1) ASCII code ‘a’ ‘i’ 0 (NULL) *1) *1) The servo driver will return 0 (NULL) at the end of the character string.

  • Page 68: Servo Driver Type

    Supported Supported Supported Supported type Other (Reserved) (Reserved) (Reserved) (Reserved) (Reserved) (Reserved) *1) Returned 0 (NULL) indicates the end of character string. Note: Conventional MINAS-A4N does not support the servo driver type. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 69: Homing Command (Command Code: 4H)

    Data specified by Pr.7.35 (RTEX command setup 1) ▪ For detailed description, refer to Section 6-5-4. ▪ For details, refer to Sections 7-7-1. <When not in actual position setup, command position setup or latch mode> Return 0 R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 70: Type Code List Of Homing Command

    ▪ ○: Supported; : Partially supported; –: Not supported Terms in above table Feedback scale type Serial communication type SER_INC incremental feedback scale Serial communication type SER_ABS absolute feedback scale AB output type ABZ_INC incremental feedback scale R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 71 • For precautions on assignment of external signal associated with the return-to-home sequence, refer to Section 6-5-2. • When the position information is initialized, the latched status is changed to unlatched status. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 72: Assignment Of External Input Signals Related To Return To Home Sequence

    EXT1 process terminal a contact or b contact EXT2 a contact or b contact EXT3 HOME a contact or b contact a contact or b contact a contact or b contact R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 73: Actual Position Setup And Command Position Setup

    (CP) Position Actual position deviation Actual position setup execution Initializing position Internal command position information according to = setting value actual position setup Actual position Position deviation = setting value R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 74 (CP) Position Actual position deviation Actual position setup Internal command position Initializing position = setting value information according to command position setup Position deviation Actual position = setting value – Position deviation R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 75: Latch Mode

    If it chooses, a command error (0032h) will be returned. Logical falling edge of EXT1 Logical falling edge of EXT2 Logical falling edge of EXT3 12-15 Do not use. If it chooses, a command error (0032h) will be returned. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 76: Checking Latch Mode Complete Status And Latch Position Data

    Actual motor position latched with CH1 Latch position 2 LPOS2 Actual motor position latched with CH2 Note: Value of latch position 1/2 is undefined until latch is completed. Make sure that Latch_Comp1 and Latch_Comp2 are at “1”. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 77: Alarm Command (Command Code: 5H)

    Alarm attribute ▪ For details, see 6-6-3.  Warning_Code <Except for alarm attribute readout> Warning code ▪ For details, see 6-6-1. <To read out alarm attribute> Alarm attribute ▪ For details, see 6-6-3. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 78: Alarm Command Type_Code List

    • If an alarm occurs while the previously occurred alarm is recorded in the history, the value of the alarm code (Index = 0) for the new alarm is the same as the value of the alarm code (Index = 1) for the preceding alarm. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 79 • When Pr.7.35 RTEX command setup 1 is 0, and Command_Data3 is not 0, Command error (0032h) will be returned. • Alarm attribute is returned in Bytes 1215 of response. *1) Command error (0031h) will be returned at setting up the wrong type code. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 80 • Confirm the specification of feedback scale because time necessary to clear the error is different depending on specification of feedback scale. *1) Command error (0031h) will be returned at setting up the wrong type code. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 81: Setting Up Of Alarm Code

    (compatible with conventional model) Main Main number Main number Alarm_Code Sub number 6-6-3 Alarm attribute Byte bit7 NOT_REC NOT_ACLR EMG-STP NOT_REC: Do not record in alarm history. NOT_ACLR: Do not clear. EMG-STP: Enable emergency stop. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 82: Parameter Command (Command Code: 6H)

    (Byte 15 = FFh, Byte 14 = FFh, Byte 13 = FCh, Byte 12 = 18h) *2) When the parameter value is 16-bit length, it is converted to 32-bit and then returned. During process, the value (Busy = 1) is unstable. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 83: Type Code List Of Parameter Command

    • When Index is outside the parameter number (No. or class), Command error(0032h) will be returned. • When Pr.7.35 RTEX command setup 1 is 0, and Command_Data3 is not 0,Command error (0032h) will be returned. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 84 • When the bit 0 of Pr.7.23 (RTEX function expansion setup 2) is set at 1, the command cannot be executed. And command error 0201h will be returned. *1) Command error (0031h) will be returned at setting up the wrong type code. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 85: Parameter Number Of Minas-A5N Series

    Type_Code and parameter writing Type_Code are changed. Type_Code Title MINAS-A4N MINAS-A5N Parameter reading 000h 010h Parameter writing 001h 011h When Type_Code is set to 000h or 001h, command error 0031h is returned. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 86: Parameter Number Of Minas-A5N Series

    • Please refer to the parameter table of 9-1 clause of Functional Specification (SX-DSC02202) for parameters and details other than classification 8. • Since the not used parameter is not indicated to the parameter table, it is careful. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 87: Parameter Attribute Of Mins-A5N Series

    Disable (command error 0201h) Use this function to prevent the possible problem as described below: the host controller attempts to change parameter while the setup support software PANATERM is running to adjust the gain. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 88: Profile Command (Command Code: 17H)

    Latch_Sel1 Latch_Sel1_Echo Monitor_Sel Monitor_Sel_Echo Target_Speed (TSPD) Monitor_Data [Command unit/s] or [mm/s]  Sub-command: specific to 32 byte mode (Not supported): Cannot be used by a sub-command. Use only with the main command. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 89 ▪ During operation of positioning system (Type_Code = 10h, 11h, 12h, 13h), minimum value of setting range is 0. [Unit]: Set by Pr.7.25 (RTEX speed unit setup) Pr.7.25 Unit [mm/s] [Command unit/s] R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 90: Profile Command Type_Code List

    ▪ : Supported; : Partially supported; –: Not supported Terms in above table Feedback scale type Serial communication type SER_INC incremental feedback scale Serial communication type SER_ABS absolute feedback scale AB phase output type ABZ_INC incremental feedback scale R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 91: Selection Of Latch Trigger Signal For Positioning Profile Position Latch

    Acquired latch position 1 data can be monitored through Monitor_Data. Set 09h to Monitor_Sel. Command Response Byte Byte bit7 bit7 Monitor_Sel Monitor_Sel_Echo Command_Data3 Monitor_Data Monitor_Data Monitor_Sel Description Title Symbol Latch position 1 LPOS1 Actual position of motor latched with CH1 R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 92: Stop Command

    (Positioning complete output setup) and Pr4.33 (INP hold time). *1) • Resetting this bit to 0 during deceleration or stopping resumes previous operation. *1) For detailed output conditions of In Position bit, see SX-DSV02309”Section 4-2-4”, Functional Specification. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 93: Profile Positioning Neighborhood Output (Near)

    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. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 94: Software Limit (Psl/Nsl)

    1: NSL at bit 3 and PSL at bit 2 RTEX function -32768 32767 expansion setup 2 ▪ For description on bits other than shown above, refer to Technical Reference, SX-DSV02309”Section 9-1”, Functional Specification. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 95: Other Precautions Related To Profile Command

    • During operation (In_Progress = 1), non-cyclic commands (except for certain homing commands) can also be executed, maintaining profile operation. However, do not change operation mode (Type_Code and Latch_Sel1 in profile command). Otherwise, Err.91.1 (RTEX command error protection) and command error (0104h) will occur. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 96: Monitor Command (Command Code: Ah)

    32-bit data before being returned. /Sub_Monirot_Data ▪ Even if the command code and command argument are stored, the monitor data will be updated to the newest value. ▪ For details, refer to Section 6-9-1. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 97: Type Code List Of Monitor Command [Under Review]

    New Type_Code: Prepared for A5N and can be used with both main command and subcommand. When using with main command, set upper 4-bit to 0. * Although the product supports conventional Type_Code to maintain compatibility, basically use the new Type_Code. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 98 ▪ 0 when no fan is installed. *4) When confirming count direction, make sure to set at 1 for setting of Pr0.00 “Movement direction setting”, write EEPROM, turn on power again and then make confirmation. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 99 ▪ Value is renewed after completion of magnetic pole pole position position estimation. ▪ When Pr9.20 (Selection of magnetic pole detection method) ≠2 (other than magnetic pole estimation method), 0 is indicated. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 100: Cause Of No Movement

    *1) Even if any number other than 0, the motor may move. *2) The position command generation process may be interrupted by over-travel inhibit input, resulting in detection of cause 7 instead of cause 3. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 101: Assignment Of The Warning Flag

    Position information of command system during servo off, speed control and thrust control varies to follow changes in motor actual position even if the command position from the host controller is stopped. During servo off, speed control and thrust control, position deviation is undefined. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 102: Status Of Input And Output Signals

    5 monitor input 4 monitor input 3 monitor input 2 monitor input 1 (SI-MON5) (SI-MON4) (SI-MON3) (SI-MON2) (SI-MON1) bit31 Signal input Signal input Signal input (CS3) (CS2) (CS1) R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 103 2 output 1 (EX-OUT2) (EX-OUT1)  Logical output signal (extended portion) Acquire servo driver logical output signal (extended portion) information. bit7 bit15 Communication sync complete output (SYNC_CMP) bit23 bit31 R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 104 Acquire the level of physical output signal from servo driver. Logic of output signal is 0 when output transistor is off and 1 when it is on. bit7 Output Output Output bit15 bit23 bit31 R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 105: Command Error (Command Code: H)

    Busy Sub_Type_Code Sub_Index Sub_Error_Code Sub_Command_Data1 Sub_Command_Data2 Sub_Response_Data2 Sub_Command_Data3 Sub_Response_Data3 Title Command Response CMD_Error – Return 1. /Sub_CMD_Error Error_Code – Command error code /Sub_Error_Code ▪ For details, refer to Sections 6-10-1 and 6-10-2. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 106: Command Error Detection

    *5) When cyclic data (Byte 4 to 7) is outside the setting range, the command error (0033h) will occur and the previous value will be used for operation. If previous cyclic command (Byte 1, bits 6-4) was different, causing the previous value undefined, set the value to 0. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 107 This causes unsafe condition due to lack of cyclic transfer and Err91.1 (RTEX command error protection) generates alarm. *8) “FF invalid” means that Command_Data3 feedforward is invalid and “FF valid” means feedforward is valid. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 108: Command Error In 32-Byte Mode

    *4) When feedforward data is outside the setting range, command error (0034h) is generated and the previous value is used for operation. *5) When the value of subcommand data (Bytes 1723) is not correct, corresponding Sub_Error_Code will be returned. For details of any other Sub_Error_Code, see 6-10-2. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 109: List Of Command Error Code

    • Command is not permitted to be accepted because parameter writing or writing to EEPROM is inhibited Not executable 5 0201h (access inhibit) • Write parameter command or write EEPROM command is issued while bit 0 of Pr.7.23 (RTEX function expansion setup 2) is set at 1. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 110: Communication Error (Command Code: H/ Response Code: Ffh)

     Sub-command: specific to 32 byte mode Command Response Byte Byte bit7 bit7 Sub_ Sub_Command_Code (Ah) Sub_Type_Code Sub_Index Sub_Command_Data1 Sub_Command_Data2 Sub_Response_Data2 Sub_Command_Data3 Sub_Response_Data3 Title Command Response Byte1 – Return FFh Byte6 – Return 8Fh R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 111: Operation

    Actual position Response Servo_Active=1 Command position (Command) Equipment is moved by external force Servo-off Actual position Response Servo_Active=0 Command position (Command) Danger: Equipment returns to command position rapidly. Servo-on Actual position Response Servo_Active=1 R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 112: Countermeasure For Vibration When Completion Of Magnetic Pole Position Estimation

    2: Byte3.bit1 (POT/NOT) Completion output 3: Byte3.bit2 (HOME) setting 4: Byte3.bit3 (SI-MON1/EXT1/CS1) 5: Byte3.bit4 (SI-MON2/EXT2/CS2) 6: Byte3.bit5 (SI-MON3/EXT3/CS3) 7: Byte3.bit6 (SI-MON4/EX-SON) 8: Byte3.bit7 (SI-MON5/E-STOP) ▪ In ( ) is signal name before allocation. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 113 After servo amp receives CMD-POS_Invalid bit =0, command position is made valid. Time Turn ON the main circuit and control power Command code Servo_Ready CMD-POS_Invalid Servo_On Servo_Active SI-MON4/EX-SON Estimating pole position (Pole detected output) Actual position Position Instructed position Instructed position invalid R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 114 Instructed position Instructed position valid Track the instructed position while detecting pole position *1) Be careful that the motor power is supplied but the Servo Active bit is zero while estimating pole position. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 115: Prohibited Matter Of Nop Command (0H)

    Difference of command position (command velocity) 7-1-4 Command position upon communication error If communication error (CRC error, missing data, cyclic data error) occurs during CP control, control the command position at the estimated position. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 116: Variations In Command Position During Command Updating Period

    Note that, as in the case of 7-1-4-1, change the command position (CPOS) gradually by dividing the command updating period in several sub-periods so that variations in command position will not exceed the limit. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 117: Homing Operation

    Note: Return-to-home (except for multi-turn data clear of absolute encoder) cannot be started in the velocity/thrust control mode. Switch to the cyclic position control (CP) mode or profile position control (PP) mode and start the homing operation and then return back to the previous control mode. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 118: Normal Return-To-Home Sequence In Cyclic Position Control (Cp) Mode

    During the process, be sure to set the command position to 0 (home position). When command code is started with normal command (20h) or another command, operation will be started by a command according to the new reference. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 119: Sequence Of Actual Position/Command Position Setup

    Internal command position = setting value (Setting_Data) Actual position = internal command position (value after setup as shown above) – position deviation Homing complete bit will be 1 after homing (actual position/command position setup) is completed. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 120 When setting actual position, during this period, be sure to change the command position in the command to the actual position set. At the time the command code starts the normal command (20h) or another command, the driver will operate according to the command based on the new reference. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 121: Example Of Cyclic Homing Operation

    Note 2: When performing home offset, do not use the actual position set but use the command position set. The actual position set may produce a deviation equal to the position deviation. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 122: Example Of Cyclic Homing Operation 1

    Time Command code 1st velocity Home position Velocity Command velocity 2nd velocity Actual velocity HOME Homing_Ctrl Z-phase of feeback scale Busy Homing_Complete Command code echo R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 123 Z phase counter is indicated on 7-segment LED.  When using ABZ phase output type incremental feedback scale Method Position where signal is changed when original signal of Z phase is confirmed. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 124: Example Of Cyclic Homing Operation 2

    Then, positioning will start according to the new reference. Therefore, be sure to perform step 5) before changing the command code back to the normal command. Time Command code 1st velocity Home position Velocity Actual velocity 2nd velocity Command velocity HOME Homing_Ctrl Busy Homing_Complete Command code echo R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 125 1/1000, wraparound of the detection position will occur upon reverse conversion to command unit, causing incorrect detection of the latch position. Latch trigger signal should be detected at the lowest possible speed. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 126: Example Of Cyclic Homing Operation 3

    Z-phase of feedback scale Busy Homing_Complete Command code echo *1) Command velocity is the differences of command position for the command update cycle. (It is internal operation value of the servo driver.) R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 127: Example Of Cyclic Homing Operation 4

    *2) Thrust limited bit may be 1 even if the slider does not hit the stopper since the thrust limit is lowered. Therefore, adjust t1 to avoid mis-detecting. Note that position deviation error (Err. 24.0) might occur when t1 is too large. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 128: Cyclic Velocity Control (Cv) Operation

    Position control (PP) Control mode Velocity 1000 mm/s CSPD Internal command Command velocity velocity FSPD Feedback velocity Pr.4.35 Pr.8.04 (Profile linear deceleration constant) 10000 Pr.4.35 Time Pr.3.12 Pr.3.13 (Acceleration time setting) (Deceleration time setting) R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 129 In_Progress becomes 0 (transfer complete), and absolute value of position deviation becomes below Pr.4.31 (Positioning complete range), servo driver sets In_Position to 1 and informs the host controller that positioning has been completed. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 130: Cyclic Thrust Control (Ct) Operation [Under Review]

    1: Positioning completed 1: Velocity coincidence Position control Tthrust control Position control Control mode Internal thrust command (TRQ)[0.1%] 000003E8h 000001F4h Time FFFFFC18h Velocity Pr.3.21 Pr.4.35 * Pr.3.17=0 Internal command FSPD velocity Feedback velocity Time R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 131 While the thrust control is active, thrust limit switching function is disabled and only Pr.0.13 (1st thrust limit) is valid. • When absolute value of command thrust (CTRQ) exceeds the value of Pr.0.13 (1st thrust limit), Pr.0.13 is given priority. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 132: Profile Position Control (Pp) Operation

    80000001h to 7FFFFFFFh (2147483647 to 2147483647) When setting value is 0, it is changed to 1 by internal process and used for control. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 133: Profile Absolute Positioning (Type_Code: 10H)

    1: Near positioning Velocity ASPD Internal command [Command unit/s] Actual velocity TSPD velocity Target velocity 00002000h Pr.8.04(Profile linear deceleration constant) Pr.8.01 (Profile linear 10000 acceleration constant) 10000 00001000h Time TPOS Stop at target position R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 134 If target speed (TSPD) is set at 0 or if Pause is set at 1, In_Progress will not be set to 0 (Internal position command stop) after deceleration and stop. To end the process during operation, transmit Hard_Stop or Smooth_Stop, then, In_Progress will be set to 0 (transfer complete) at stop. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 135: Profile Relative Positioning (Type_Code: 11H)

    1: Near positioning Velocity ASPD Internal command TSPD [Command unit/s] Actual velocity velocity Target velocity 00002000h Pr.8.04(Profile linear deceleration constant) Pr.8.01 (Profile linear 10000 acceleration constant) 10000 00001000h TPOS = Relative movement distance Time R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 136 When target speed (TSPD) is set at 0 or Pause is set at 1, In_Progress will not be set to 0 (Internal position command stop) at the stop after deceleration. To end the process during operation, transmit Hard_Stop or Smooth_Stop, then, In_Progress will be set to 0 (transfer complete) at stop. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 137: Profile Position Latch Absolute Positioning (Type_Code: 12H)

    Internal command velocity detection of profile position latch (Pr.8.10) TSPD Target velocity Time Update latch Stop at the Stop at TPOS position 1 final target ▪ When no latch signal (LPOS1) position is input. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 138 In_Progress to 0 (transfer complete). As the absolute value of position deviation decreases below Pr.4.31 (Positioning complete range), the driver sets In_Position to 1 and informs the host controller that the positioning has completed. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 139 Be sure to maintain the value of the latch signal (Latch_Sel1) while processing this command (latch detection process). • If the target position is reached without detection of latch signal, latch status will be held. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 140: Profile Position Latch Relative Positioning (Type_Code: 13H)

    This positioning differs from the profile position latch absolute positioning in Type_Code at starting and in specifying method of target position (TPOS). For details of operation of the profile position latch absolute positioning, refer to 7-5-4. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 141: Profile Continuous Movement (Jog) (Type_Code: 20H)

    0: Not near positioning NEAR Velocity ASPD Internal command [Command unit/s] Actual velocity velocity TSPD Target velocity 00002000h Pr.8.04 (Profile linear deceleration constant) Pr.8.01 (Profile linear 10000 acceleration constant) 10000 00001000h Time R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 142 If target speed (TSPD) is set at 0 or if Pause is set at 1, In_Progress will not be set to 0 (Internal position command stop) after deceleration and stop. To end the process during operation, transmit Hard_Stop or Smooth_Stop, then, In_Progress will be set to 0 (transfer complete) at stop. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 143: Profile Homing 1 (Home + Z Phase) (Type_Code: 31H)

    Velocity 1 Velocity 1 Velocity 2 See the next page. Velocity 1 Velocity 2 Velocity 1 Velocity 1: Pr.8.13 (Profile homing velocity 1) Velocity 2: Pr.8.14 (Profile homing velocity 2) Home position R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 144 Other non-cyclic commands except for homing commands may be executed during operation (until Homing_Ccomplete becomes 1) while maintaining profile operation. However, do not change the operation mode (Type_Code, Latch_Sel1 of profile command), otherwise, Err91.1 (RTEX command error protection) and command error (0104h) will occur. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 145: Profile Homing 4(2) (Home) (Type_Code: 34H(32H))

    Velocity 1 Velocity 1 Velocity 2 See the next page. Velocity 1 Velocity 2 Velocity 1 Velocity 1: Pr.8.13 (Profile homing velocity 1) Velocity 2: Pr.8.14 (Profile homing velocity 2) Home position R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 146 Other non-cyclic commands except for homing commands may be executed during operation (until Homing_Ccomplete becomes 1) while maintaining profile operation. However, do not change the operation mode (Type_Code, Latch_Sel1 of profile command), otherwise, Err91.1 (RTEX command error protection) and command error (0104h) will occur. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 147: Profile Homing 5(3) (Z Phase) [Type_Code: 35H(33H)]

    (NOT). Velocity 2 Velocity 2 See the next page. Velocity 2 Velocity 2 Velocity 2 Velocity 1: Pr.8.13 (Profile homing velocity 1) Velocity 2: Pr.8.14 (Profile homing velocity 2) Home position R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 148 Other non-cyclic commands except for homing commands may be executed during operation (until Homing_Complete becomes 1) while maintaining profile operation. However, do not change the operation mode (Type_Code, Latch_Sel1 of profile command), otherwise, Err91.1 (RTEX command error protection) and command error (0104h) will occur. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 149 • When there are two or more Z phases, Z phase to expect may be unable to be detected. For this reason, please set Z phase to one or use profile homing (Type_Code:31h) which was combined with the HOME sensor. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 150: Precautions For Profile Position Control Operation

    If this process causes problem, take corrective measure, e.g. decrease Pr.8.04 (profile linear deceleration constant). R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 151 (command generation error protection) will be generated. Speed (Command unit/s) Pr.8.04 (Profile linear deceleration constant  10000) Initial speed upon switching (Feedback speed) Upper limit of target speed Time (s) Cyclic thrust control, etc. Profile position control R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 152: Control Mode Switching

    Type_Code_Echo etc. (byte8-11) Type_Code_Echo etc. (default APOS) Monitor_Data 00000000h Monitor_Data (byte12-15) Busy Velocity control Position control (CV) (PP) Control mode Velocit ASPD 00002000h Actual velocity Internal command velocity Time Stop at TPOS R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 153: Precautions For Control Mode Change During Operation

    When the gain changes after switching of control mode, switching is not smoothly performed. There are some other conditions that prevent smooth switching operation. If the vibration during switching cause problem, perform switching while related sections are in stop condition. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 154: Other Precautions Related To Control Mode Switching

    • When Block Diagram of 2 Degrees of Freedom Mode is disabled,. do not change control mode other than position control mode. When control modes were changed, Err91.1 (RTEX command error protection) and command error (002Eh) will occur. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 155: Feedforward Function

     Velocity FF Thrust FF (set it as 0) Setting_Data Setting_Data Setting_Data  Profile (target velocity) (target velocity) (target velocity) FF Disable Monitor  Velocity FF Thrust FF (set it as 0) R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 156 1: Velocity feedforward setup 2 (Command unit/s) or (mm/s) Thrust feedforward (0.1%) Set subcommand, Sub_Command_Data3. 0: Disable RTEX command 02 1: Velocity feedforward setup 3 (Command unit/s) or (mm/s) Thrust feedforward (0.1%) R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 157: Setting Unit And Setting Range

    Position control (CP) Position control (PP) Velocity control (CV) Thrust control (CT) Velocity feedforward (VFF) Valid Invalid Invalid Invalid     Thrust feedforward (TFF) Valid Valid Valid Invalid     R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 158: Other Precautions Related To Feedforward Function

    If the feedforward in the control mode before switching is invalid, the value is 0. • In control mode with invalid feedforward, the feedforward value is 0. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 159: Rtex Communication Related Protective Function And Troubleshooting

      Blinks in red RTEX hardware error protection 1  Lights in red Lights in red RTEX hardware error protection 2  RTEX hardware error protection 3  Lights in red R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 160: Rtex Node Address Setting Error Protection (Err. 82.0)

    • When necessary, correct the setting value (031), and turn on the servo driver control power. • Replace the servo driver as necessary. Alarm clear attribute • Cannot be cleared. Display on COM LED • Lighting in red R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 161: Rtex Continuous Communication Error Protection 1 (Err. 83.0)

    • Replace the cable with a new one as necessary. • Attach the ferrite core to the communication cable. • Replace the servo driver as necessary. Alarm clear attribute • Can be cleared. Display on COM LED • Flashing in red R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 162: Rtex Continuous Communication Error Protection 2 (Err. 83.1)

    • Replace the cable with a new one as necessary. • Attach the ferrite core to the communication cable. • Replace the servo driver as necessary. Alarm clear attribute • Can be cleared. Display on COM LED • Flashing in red R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 163: Rtex Communication Timeout Error Protection (Err. 84.0)

    • Replace the cable with a new one as necessary. • Attach the ferrite core to the communication cable. • Replace the servo driver as necessary. Alarm clear attribute • Can be cleared. Display on COM LED • Flashing in red R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 164: Rtex Synchronization And Initialization Error Protection (Err. 84.3)

    Action • Replace the servo driver if the cause is not removed after turning on control power. Alarm clear attribute • Cannot be cleared. Display on COM LED • Lighting in red R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 165: Rtex Communication Cycle Error Protection (Err. 84.5)

    • Replace the cable with a new one as necessary. • Attach the ferrite core to the communication cable. • Replace the servo driver as necessary. Alarm clear attribute • Can be cleared. Display on COM LED • Flashing in red R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 166: Rtex Cyclic Data Error Protection 1/2 (Err. 86.0/Err. 86.1)

    • Check the data in the cyclic command field (Detected space in the table above). • Check the process in the host controller Alarm clear attribute • Can be cleared. Display on COM LED • Flashing in red R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 167: Rtex_Update_Counter Error Protection (Err86.2)

    • When Update_Counter is not used with ratio of communication frequency and command renewal frequency being 1 : 1, this alarm is made invalid. Alarm clear attribute • Can not be cleared. Display on COM LED • Lights in red R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 168: Rtex Interaxis Sync Establishment Error Protection (Err90.2)

    • Sync establishment condition between communication and servo is undefined. Action • Take the same measures as for Err83.0 or Err84.0. Alarm clear attribute • Cannot be cleared. Display on COM LED • Flashing in red R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 169: Rtex Command Error Protection (Err91.1)

    * When changing to another control mode after selecting the current mode, wait at least for 2 ms. * Check correspondence relation between the executive function and control mode. Alarm clear attribute • Can be cleared. Display on COM LED • Flashing in red R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 170: Rtex Hardware Error Protection 1/2/3 (Err. 98.1/Err. 98.2/Err. 98.3)

    Action • Replace the servo driver if the cause is not removed after turning on control power. Alarm clear attribute • Cannot be cleared. Display on COM LED • Lighting in red R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 171: Rtex Communication Warnings

    • Replace the servo driver as necessary. Warning clearing • Disable this warning and then execute alarm clear. procedure after removal • Execute the power reset or reset command to reboot the system. of cause R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 172: Rtex Accumulated Communication Error Warning (Wngc1H)

    Warning clearing • Disable this warning and then execute alarm clear. procedure after removal • Execute alarm clear command or the power reset or reset command to reboot of cause the system. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 173: Rtex Update_Counter Error Warning (Wngc2H)

    Update_Counter is not used, this warning is disabled. Warning clearing • Disable this warning and execute alarm clear. procedure after removal • Execute alarm clear command or the power reset or reset command to reboot of cause the system. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 174: Locating Disconnection Point Of Network Cable

    RTEX MINAS-A5N [LINK] [LINK] [LINK] Slave Lighting in green Lighting in green The cable connected to RX terminal of servo driver on which LINK LED is not turned on is broken. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 175 If the communication is initialized, all servos will cause Err. 84.0(RTEX communication timeout error protection) making it difficult to locate the disconnected section. R2.0 Motor Business Division, Appliances Company, Panasonic Corporation...

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