Panasonic MINAS-BL GP series Instructions Manual page 42

Communication
• $S: Parameter writing command (with EEPROM writing function)
Received data (Host → Amplifier)
SOH STX $
Amplifier ID Host ID Command
• When the device number set on the amplifier (value of Pr60) matches with the
amplifier ID of received data, parameter change is executed.
• When parameter address and parameter value are abnormal, NAK is answered.
• Set the parameter address at '80 □□ '. ('8062' for Pr62)
• Set the parameter value in 4 digits of ASCII code (P1, P2, P3, and P4) which is
obtained by conversion from the data to hexadecimal.
(e.g. 100 = '0064', –100 = 'FF9C')
• NAK is answered while the amplifier detects undervoltage error, and the parameter is
not changed.
• Changed parameter is written to EEPROM by this command. Response may take
some time since EEPROM writing process is required.
• When run command is executed by I/O while parameter is being written by
communication at the same time, enter the run command after receiving ACK
response from the amplifier. The motor runs per the written parameter.
• Writing to EEPROM should be requisite minimum.
• $R: Parameter reading request command
Received data (Host → Amplifier)
SOH STX $
Amplifier ID Host ID Command
• Set the parameter address at '80 □□ '. ('8062' for Pr62). Set the parameter value at
'0000'.
• Enter request for sending after execution of this command, parameter value is
responded.
• #R: Parameter response command
Transmission data (Amplifier → Host)
SOH STX #
Host ID Amplifier ID Command
• When requested parameter address is abnormal, '0000' as parameter value is
answered. You should check parameter address as you requested.
• When the parameter reading request command is normally completed, the amplifier
answers a parameter value when it receives request for sending.
• Parameter address which is read out is sent by '80 □□ '.
• Parameter value is sent in 4 digits of ASCII code (P1, P2, P3, and P4) which is
obtained by conversion from the data to hexadecimal.
(e.g. 100 = '0064', –100 = 'FF9C')
S 8 0 P1 P2 P3
Parameter address Parameter value
R 8 0 0 0 0
Parameter address Parameter value
R 8 0 P1 P2 P3
Parameter address Parameter value
－ 82 －
8103h: Amplifier status
• $R: Status reading request command
P4 ETX BCC
Received data (Host → Amplifier)
SOH
Amplifier ID
• Enter request for sending after execution of this command, the amplifier status is
answered.
• Set '0000' in data value.
• #R: Status response command
Transmission data (Amplifier → Host)
SOH
Host ID
• When the amplifier receives request for sending after normal completion of status
reading request command, the amplifier answers status value.
• #C: Data updating request command
Transmission data (Amplifier → Host)
SOH
Host ID
• The amplifier saves the status in executing request for sending, and makes the
0 ETX BCC
response above when the status in receiving the next request for sending has
changed. Read data is the same as in execution of data number 8103.
[Detail of status]
D1
D2
D3
D4
P4 ETX BCC Detail above is converted into hexadecimal and represented in ASCII code.
e.g.) Data value = 30h 30h 30h 41h = '000A' = indicates in-position status with homing
completed.
STX $ R 8 1
Host ID Command Data number
STX # R 8 1
Amplifier ID Command Data number
STX # C 8 1
Amplifier ID Command Data number
Bit 3 Bit 2
0 0
0 0
Torque under restriction Overload detection
Homing completion In-motion
－ 83 －
0 3 0 0 0 0 ETX BCC
Data value
0 3 D1 D2 D3 D4 ETX BCC
Data value
0 3 D1 D2 D3 D4 ETX BCC
Data value
Bit 1 Bit 0
0 0
0 0
0 0
In-position Trip output