4-3 Data block in response (16-byte/32-byte)................................................................................................................... 34

4-3-1 Command_Code_Echo and Response_Data (Response byte 1, 4 to 15) ............................................................................... 35

4-3-2 Response header (Response byte 0) ...................................................................................................................................... 36

4-3-3 Status flag (Response byte 2) ................................................................................................................................................ 37

For details, refer to Technical Reference, SX-DSV02309"Section 4-2-4,9-1", Functional Specification. ............................ 38

4-3-3-1 Servo Ready state (Servo_Ready)............................................................................................................................. 38

4-3-3-2 Internal position command generation state (In_Progress)/main power off alarm state (AC_OFF) ......................... 38

4-3-3-3 Servo-on in case of magnetic pole position estimation method ................................................................................ 39

4-4 Command data block of sub-command (only for 32-byte mode)............................................................................... 42

4-4-1 Sub-command code and sub-command argument (Command bytes 16 to 31)...................................................................... 43

4-5 Response data block of sub-command (only for 32-byte mode) ................................................................................ 44

4-5-1 Sub-command code echo and response data (Command bytes 16 to 31) .............................................................................. 45

5. Cyclic Command Description ................................................................................................................................... 46

5-1 Cyclic command list [Under review].......................................................................................................................... 46

5-2 NOP command (Command code: 0h) ..................................................................................................................... 47

5-3 Profile position control (PP) command (Command code: 1h) ................................................................................ 48

5-4 Cyclic position control (CP) command (Command code: 2h) ................................................................................ 49

5-5 Cyclic velocity control (CV) command (Command code: 3h) ............................................................................. 50

5-6 Cyclic thrust control (CT) command (Command code: 4h) .................................................................................. 51

6. Non-cyclic Command Description............................................................................................................................ 52

6-1 Non-cyclic command list [Under review] .................................................................................................................. 52

6-2 Normal command (Command code: 0h)................................................................................................................. 53

6-3 Reset Command (Command code: 1h) ................................................................................................................... 54

6-3-1 Software reset mode (Type_Code: 001h) .............................................................................................................................. 55

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)................................................................................................................ 61

6-5-1 Type Code list of Homing Command .................................................................................................................................... 62

6-5-2 Assignment of external input signals related to return to home sequence ............................................................................. 64

6-5-3 Actual position setup and command position setup ............................................................................................................... 65

6-5-4 Latch mode............................................................................................................................................................................ 67

6-5-4-1 Starting/canceling latch mode................................................................................................................................... 67

6-5-4-2 Selecting latch trigger signal..................................................................................................................................... 67

6-5-4-3 Checking latch mode complete status and latch position data .................................................................................. 68

6-6 Alarm command (Command code: 5h) ................................................................................................................... 69

6-6-1 Alarm command Type_Code list ........................................................................................................................................... 70

6-6-2 Setting up of alarm code........................................................................................................................................................ 73

6-6-3 Alarm attribute....................................................................................................................................................................... 73

R2.0

Motor Business Division, Appliances Company, Panasonic Corporation

No. SX-DSV02310

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