Panasonic MINAS-A5NL Series Technical Reference page 138

1) On the host controller, set command code to normal command (10h) of PP control.
This setting does not directly trigger profile operation.
Before starting operation, set acceleration/deceleration according to Pr.8.01 (Profile linear acceleration constant) and
Pr.8.04 (Profile linear deceleration constant); set distance of movement after detection of latch signal according to
Pr.8.10 (Movement distance after detection of profile position latch).
2) With command code 10h, set Type_Code to 12h, target position (absolute position) (TPOS) and target speed
(TSPD).
Select latch trigger signal as Latch_Sel1 and for Monitor_Sel select data to be returned to Monitor_Data.
This does not directly trigger profile operation.
3) Change command code from 10h to 17h.
4) As command code changes from 10h to 17h, the servo driver starts profile operation and accelerates (starts
operation) to the target speed (TSPD).
5) The host controller checks that command echo is 17h, Type_Code echo is 12h and status In_Progress is 1, and no
command error has occurred and absolute positioning has started. If command error has occurred, take proper
counter measure according to the error code.
6) Upon detecting latch trigger signal, update the internal target position as follows:
Internal target position = Latch position 1 (LPOS1) + Movement distance after detection of profile position
7) Then decelerate toward the internal target position at the rate set according to setting of Pr.8.04.
8) When the distance from internal command position (IPOS) to the target position becomes shorter than Pr.8.16
Profile positioning neighborhood range, NEAR becomes 1 (profile positioning neighborhood). After outputting
movement to target position command, the servo driver sets status 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
latch (Pr.8.10)
Motor Business Division, Appliances Company, Panasonic Corporation
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