Transferring Absolute Data - Panasonic MINAS A6 Series Operating Instructions Manual

2. Absolute system

Transferring absolute data

RS232 Communication Protocol
Refer to the instruction manual of the host for the transmission/reception method of com-
mand.
Host requests
for absolute
data to driver
Host receives
absolute data
from driver
Enter the Pr5.31 value of the driver to which you want to communicate from the host to
axis (*1 data) of the command block, and transmit the command according to the RS232
communication protocol. For details of communication, refer to P.7-27, "Communica-
tion".
Caution • Allow 50 ms or longer interval for axis switching when you want to
capture multiple axes data.
• It is recommended for you to repeat the above communication more
than 2 times to confirm the absolute data coincide, in order to avoid
mis-operation due to unexpected noise.
Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com
Transmission starts
05h transmission
N
04h reception
Y
00h transmission
01h transmission
*1
D2h transmission
2Dh transmission
*2
N
06h reception
Y
N
05h reception
Y
04h transmission
Reception of
absolute data
(15 characters)
N
Check sum
OK'ed reception
Y
06h transmission 15h transmission
transmission finishes
Data of *1 and *2 are determined by the setup
of Pr5.31 "Axis address".
Axis address
Data of *1
(example)
0 00h
1 01h
2 02h
3 03h
4 04h
5 05h
6 06h
7 07h
8 08h
9 09h
10 0Ah
11 0Bh
12 0Ch
13 0Dh
14 0Eh
15 0Fh
16 10h
17 11h
18 12h
19 13h
20 14h
21 15h
22 16h
23 17h
24 18h
25 19h
26 1Ah
27 1Bh
28 1Ch
29 1Dh
30 1Eh
31 1Fh
Check sum becomes OK'ed when the lower
8-bit of the sum of the received absolute data
(15 characters) is 0.
1
2
Data of *2
2Eh
2Dh
2Ch
2Bh
3
2Ah
29h
28h
27h
26h
25h
24h
23h
22h
21h
4
20h
1Fh
1Eh
1Dh
1Ch
1Bh
1Ah
19h
18h
5
17h
16h
15h
14h
13h
12h
11h
10h
0Fh
6
7
7-17