Outline Of Command Input And Network - Panasonic MINAS A6N Series Operating Instructions Manual

3
Setup
Control Mode and Command Input Mode
MINAS-A6N has 4 command input modes, can be selected based on RTEX communication
command controllor.
Pr0.01
0
・ Because the actual command input mode depends on the controller, please confirm the
Note
controller data.
Outline of Command Input Mode
① Profile position control (PP) mode
In this Position Control Mode, the target position, target speed and acceleration/decelera-
tion speed are specified and the servo driver internally generates the position command.
communication
Target position
Target speed
Acceleration (parameter)
Deceleration (parameter)
② Cyclic position control (CP) mode
In this Position Control Mode, the host controller generates the position command and up-
dates it (or transmits updated command) at the command updating cycle.
3-2

1.Outline of Command Input and Network

Sutup of Command Input and Network
Control mode
Position Control Mode（Semi - close）
Velocity Control Mode（Semi - close）
Torque Control Mode（Semi - close）
Command position
RTEX
Position command
Generation
& process
RTEX
communication
Command position
Position command
Generation
Target position
& process
Target speed
Acceleration (parameter)
Deceleration (parameter)
Command input mode
① Profile position control (PP) mode
② Cyclic position control (CP) mode
③ Cyclic velocity control (CV) mode
④ Cyclic torque control (CT) mode
Position Velocity
control control
section section
Semi - close
Position
Velocity
control
control
section section
Semi - close
Torque
control
Motor
section
Encoder
Torque
control
Motor
section
Encoder
Rev.2.00