Panasonic MINAS-A5NL Series Technical Reference page 74

<Initialization of position information according to command position setup>
Upon receiving a command from the host controller, servo driver initializes the internal command position to the setting
value while maintaining the current position deviation, and then determines the motor actual position by subtracting
position deviation from the setting value. As a result, the motor position is initialized to the presumed position even if
the motor moves after the host controller has issued a command provided that the internal command position (after
filter) is stopped.
 Expected application: Homing with respect to latched position
Servo on status in cyclic
position control mode
(CP)
Initializing position
information according to
command position setup
R2.0
(High accuracy required: internal command position is initialized to the setting value after
positioning to the latched position)
Actual position
Actual position setup
Actual position
= setting value – Position deviation
Internal command position
Position
deviation
Internal command position
= setting value
Position
deviation
Motor Business Division, Appliances Company, Panasonic Corporation
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