Panasonic MINAS-A5NL Series Technical Reference page 7

6-7 Parameter Command (Command code: 6h) ............................................................................................................ 74
6-7-1 Type code list of parameter command ................................................................................................................................... 75
6-7-2 Parameter number of MINAS-A5N series............................................................................................................................. 77
6-7-3 Parameter number of MINAS-A5N series............................................................................................................................. 78
6-7-4 Parameter attribute of MINS-A5N series .............................................................................................................................. 79
6-7-5 Protecting parameter writing/EEPROM writing through RTEX ........................................................................................... 79
6-8 Profile command (Command code: 17h).................................................................................................................... 80
6-8-1 Profile command Type_Code list .......................................................................................................................................... 82
6-8-2 Selection of latch trigger signal for positioning profile position latch................................................................................... 83
6-8-3 Checking latch mode complete status and latch position data ............................................................................................... 83
6-8-4 Stop command....................................................................................................................................................................... 84
6-8-5 Profile positioning neighborhood output (NEAR)................................................................................................................. 85
6-8-6 Software limit (PSL/NSL)..................................................................................................................................................... 86
6-8-7 Other precautions related to profile command....................................................................................................................... 87
6-9 Monitor Command (Command Code: Ah) ............................................................................................................. 88
6-9-1 Type code list of monitor command [Under review] ............................................................................................................. 89
6-9-2 Cause of no movement .......................................................................................................................................................... 92
6-9-3 Assignment of the warning flag............................................................................................................................................. 93
6-9-4 Position information during servo off, velocity control and thrust control ............................................................................ 93
6-9-5 Status of input and output signals.......................................................................................................................................... 94
6-10 Command error (Command code: h)................................................................................................................. 97
6-10-1 Command error detection .................................................................................................................................................... 98
6-10-1-1 Command error common to 16-byte and 32-byte modes........................................................................................ 98
6-10-1-2 Command error in 32-byte mode .......................................................................................................................... 100
6-10-2 List of command error code .............................................................................................................................................. 101
6-11 Communication Error (Command code: h/ Response code: FFh) ................................................................... 102
7. Operation................................................................................................................................................................. 103
7-1 Cyclic position control (CP) operation ..................................................................................................................... 103
7-1-1 Command follow-up process (command position at servo-off)........................................................................................... 103
7-1-2 Countermeasure for vibration when completion of magnetic pole position estimation ....................................................... 104
7-1-3 Prohibited matter of NOP command (0h) ........................................................................................................................ 107
7-1-4 Command position upon communication error ................................................................................................................... 107
7-1-5 Variations in command position during command updating period..................................................................................... 108
7-1-5-1 Limiting variations in command position ............................................................................................................... 108
7-1-5-2 Wrap rounding command position.......................................................................................................................... 108
7-1-5-3 Clearing position deviations ................................................................................................................................... 108
7-2 Homing operation..................................................................................................................................................... 109
7-2-1 Normal return-to-home sequence in cyclic position control (CP) mode.............................................................................. 110
7-2-2 Sequence of actual position/command position setup ..........................................................................................................111
7-2-3 Example of cyclic homing operation................................................................................................................................... 113
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
No. SX-DSV02310