Panasonic MINAS-BL KP Series Reference Specifications page 49

●List of commands
Com-
Transmission
Code
direction
mand
Host →
$P 24h 50h
Amplifier
Host →
$S 24h 53h
Amplifier
Host →
$R 24h 52h
Amplifier
Amplifier →
#R 23h 52h
Amplifier →
#C 23h 43h
Amplifier →
# I 23h 49h
●Transmission procedure
$P/$S: Data writing/Parameter writing command
①Host →Amplifier (Data writing)
SOH
Amplifier ID
②Amplifier →Host (result response)
SOH
Host ID Amplifier ID
･Answers NAK when requested data number (parameter address) or data value (parameter value)
is abnormal. Shows that parameter was properly set only when ACK is answered from the amplifier.
･No result is answered from the amplifier when amplifier ID is 80h (128).
$R: Data reading/Parameter reading command
①Host →Amplifier (Data reading request)
SOH
Amplifier ID
･Set data '0000' when executing data reading command.
･When amplifier ID is 80h (128), data reading/parameter reading command is ignored.
②Amplifier →Host (Result response)
SOH
Host ID Amplifier ID
③Host →Amplifier (Request for sending)
SOH
Amplifier ID
④Amplifier →Host (Response of data)
SOH
Host ID Amplifier ID
･Response data when amplifier is powered on is initial request response.
･When requested data number (parameter address) is abnormal, '0000' as reading data
･Please use reading data after checking a data number (parameter number)
⑤Host →Amplifier (Result response)
SOH
Amplifier ID
⑥Amplifier →Host (Communication completion response)
SOH
Host ID
Data writing command. Change of parameter and motor control data.
(In changing parameter, parameter is not written to EEPROM.)
Data writing command. Change of parameter and motor control data.
(In changing parameter, parameter is written to EEPROM.)
*Writing to EEPROM should be requisite minimum.
(EEPROM endurance: approx. 100,000 write cycle.)
Data reading request command. Command which requests the parameter,
status, and control detail of motor.
Response to data reading request. Returns the parameter, status, and
control detail of motor to $R.
Host
Data update request response. Returns the status of amplifier (8103h) to
host in response to request for sending command when data of amplifier
Host
status (8103h) has changed from previous request for sending.
Initial request response. When the amplifier is powered on, 9999 is sent follow-
Host ing #I in response to initial inquiry from host controller (Request for sending).
STX
＄ Ｐ
Host ID Command Data number
ACK
STX
＄ Ｒ
Host ID Command
ACK
ENQ
Host ID
STX
＃ Ｒ
Command Data number
ACK
Host ID
EOT
Amplifier ID
Description
＊ ＊ ＊ ＊ ＊
(parameter address)
＊ ＊ ＊ ＊ ０
Data number
(parameter address)
＊ ＊ ＊ ＊ ＊
(parameter address)
№ SX-DCT00221 -46-
ETX BCC
＊ ＊ ＊
Data
(parameter value)
ETX BCC
０ ０ ０
Data
(parameter value)
ETX BCC
＊ ＊ ＊
Reading data
(parameter value)
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