Technical Reference - RTEX Communication Specification - [PDF: 1,921KB]

No. SX-DSV03078
TECHNICAL REFERENCE
– Realtime Express (RTEX) Communication Specification –
MODEL
Product Name: AC Servo Driver
Model No.: MINAS-A6N series (RTEX communication type)
Issued on
Feb. 29, 2016
Revised on
May. 20, 2016
Motor Business Unit, Electromechanical Control Business Division
Automotive & Industrial Systems Company, Panasonic Corporation
7-1-1 Morofuku, Daito-City, Osaka 574-0044, Japan
Phone: +81-72-871-1212
Fax : +81-72-870-3151
R2.0
No. SX-DSV03078
この英文仕様書は、原本である和文仕様書を元にパナソニック株式会社モータビジネス
ユニットが翻訳・発行するものです。翻訳は，原本の利用に際して一応の参考となるように
便宜的に仮訳したものであり、公的な校閲を受けたものではありません。
英語訳のみを使用して生じた不都合な事態に関しては，当社は一切責任を負うものでは
ありません。和文仕様書のみが有効です。
パナソニック株式会社
オートモーティブ＆インダストリアルシステムズ社
メカトロニクス事業部
モータビジネスユニット
This English specification is made and published by Motor Business Unit, Panasonic Corporation
based on the original Japanese specification. Translation is provided unofficially
only for the sake of convenience of utilizing the original Japanese specification
as a measure of reference. It is not officially reviewed. Motor Business Unit, Panasonic Corporation
is not liable for any disadvantages caused by utilizing only English specification.
Only the Japanese specification is effective.
Motor Business Unit, Electromechanical Control Business Division,
Automotive & Industrial Systems Company, Panasonic Corporation
R2.0
Motor Business Uint, Panasonic Corporation
No. SX-DSV03078
Revisions
Date
Page
Feb. 29, 2016
May. 20, 2016
Rev.
1.0
P.1
2.0
Description
Signed
NEWLY ISSUED
Software upgrade
CPU1 Ver1.04 -> Ver1.05
CPU2 Ver1.01 -> Ver1.02
P.1
Added the table of changes.
P.1
Added cautions of default setting
1) Function addition "Extend the quadrant projection suppression function"
(* No additions and corrections to this document)
2) Function addition
" Correction function for detection delay of latch position "
P.70
- Added the description of correcting of delaying latch position detection.
P.74
Corrected the description of Type Code 004h -> Manufacturer use
P.91
Corrected the description of Type Code 37h -> Manufacturer use
Note: The page number (Page) is the current page number at the time of revision.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX-DSV03078
Contents
1. Introduction ................................................................................................................................................................. 1
2. Configuration and Initialization of RTEX Communication System............................................................................ 2
2-1 Outline .......................................................................................................................................................................... 2
2-2 System structure ........................................................................................................................................................... 2
2-3 Basic specifications of network .................................................................................................................................... 3
2-4 Node address (MAC-ID) setting and front panel configuration ................................................................................... 4
2-5 Communication cycle/command updating cycle, control mode and data size setup .................................................... 5
2-5-1 Mode reference table ............................................................................................................................................................... 6
2-5-2 Related Parameter.................................................................................................................................................................... 7
2-5-3 Example of mode setup ........................................................................................................................................................... 7
2-6 COM LED, LINK LED and RTEX communication state ............................................................................................ 8
3. Transmission Protocol of RTEX Communication Data .............................................................................................. 9
3-1 Transmission timing of data ......................................................................................................................................... 9
3-1-1 Transmission timing of communication period 0.0625 ms/command updating period 0.125 ms .......................................... 10
3-1-2 Transmission timing of communication cycle 0.125 ms/command updating cycle 0.125 ms ............................................... 10
3-1-3 Transmission timing of communication cycle 0.125 ms/command updating cycle 0.250 ms ............................................... 11
3-1-4 Transmission timing of communication period 0.250 ms/command updating period 0.250 ms ............................................ 11
3-1-5 Transmission timing of communication cycle 0.250 ms/command updating cycle 0.5 ms ................................................... 12
3-1-6 Transmission timing of communication period 0.5 ms/command updating period 0.5 ms .................................................... 12
3-1-7 Transmission timing of communication cycle 0.5 ms/command updating cycle 1.0 ms ....................................................... 13
3-1-8 Transmission timing of communication period 1.0 ms/command updating period 1.0 ms .................................................... 13
3-1-9 Transmission timing of communication cycle 1.0 ms/command updating cycle 2.0 ms ....................................................... 14
3-1-10 Transmission timing of communication period 2.0 ms/command updating period 2.0 ms .................................................. 14
3-1-11 Transmission timing of communication cycle 2.0 ms/command updating cycle 4.0 ms ..................................................... 15
3-2 Transmission of cyclic data ........................................................................................................................................ 16
3-2-1 Cyclic transmission area ........................................................................................................................................................ 16
3-3 Transmission of Non-Cyclic Data .............................................................................................................................. 17
3-3-1 Non-cyclic transmission area................................................................................................................................................. 17
3-3-2 Non-cyclic status flag ............................................................................................................................................................ 18
3-3-3 Non-cyclic command startup mode setting ........................................................................................................................... 19
3-3-4 Startup of non-cyclic command (MINAS-A4N compatible mode) ....................................................................................... 20
3-3-4-1 Basic sequence of non-cyclic command ................................................................................................................... 21
3-3-4-2 Read sequence of non-cyclic command .................................................................................................................... 22
3-3-4-3 Write sequence of non-cyclic command ................................................................................................................... 23
3-3-5 Startup of non-cyclic command (extend mode) ..................................................................................................................... 24
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Motor Business Uint, Panasonic Corporation
No. SX-DSV03078
4. RTEX Communication Data Block ........................................................................................................................... 25
4-1 Transmission and reception memory in the RTEX communication IC ...................................................................... 25
4-2 Command data block arrangement (16-byte/32-byte mode) ...................................................................................... 26
4-2-1 Command code and command argument (Command bytes 1, 4-15) .................................................................................... 27
4-2-1-1 TMG_CNT setup and inter-axis synchronous mode ................................................................................................. 28
4-2-2 Command header (command byte 0) ..................................................................................................................................... 30
4-2-2-1 Update_Counter setup............................................................................................................................................... 30
4-2-3 Control bit (Command Bytes 2 and 3)................................................................................................................................... 31
4-2-3-1 Servo_On/off command (Servo_on) ......................................................................................................................... 32
4-2-3-2 Gain switching command (Gain_SW) ...................................................................................................................... 33
4-2-3-3 Torque limit switching command (TL_SW) ............................................................................................................. 34
4-2-3-4 Speed limit switching command (SL_SW) ............................................................................................................... 35
4-2-3-5 External output signal operation instruction (EX-OUT 1/2) ..................................................................................... 36
4-3 Data block in response (16-byte/32-byte)................................................................................................................... 37
4-3-1 Command_Code_Echo and Response_Data (Response byte 1, 4 to 15) ............................................................................... 38
4-3-2 Response header (Response byte 0) ...................................................................................................................................... 39
4-3-3 Status flag (Response byte 2) ................................................................................................................................................ 40
4-3-3-1 Servo Ready state (Servo_Ready)............................................................................................................................. 41
4-3-3-2 Internal position command generation state (In_Progress)/main power off alarm state (AC_OFF) ......................... 41
4-3-4 Input signal status flag (Response byte 3) ............................................................................................................................. 42
4-4 Command data block of sub-command (only for 32-byte mode) ............................................................................... 43
4-4-1 Sub-command code and sub-command argument (Command bytes 16 to 31) ...................................................................... 44
4-5 Response data block of sub-command (only for 32-byte mode) ................................................................................ 45
4-5-1 Sub-command code echo and response data (Command bytes 16 to 31) .............................................................................. 46
5. Cyclic Command Description ................................................................................................................................... 47
5-1 Cyclic command list ................................................................................................................................................... 47
5-2 NOP command (Command code: 0£h) ..................................................................................................................... 48
5-3 Profile position control (PP) command (Command code: 1£h) ................................................................................ 49
5-4 Cyclic position control (CP) command (Command code: 2£h) ................................................................................ 50
5-5 Cyclic velocity control (CV) command (Command code: 3£h) ............................................................................... 51
5-6 Cyclic torque control (CT) command (Command code: 4£h) .................................................................................. 52
6. Non-cyclic Command Description ............................................................................................................................ 53
6-1 Non-cyclic command list ............................................................................................................................................ 53
6-2 Normal command (Command code: £0h) ................................................................................................................. 54
6-3 Reset Command (Command code: £1h) ................................................................................................................... 55
6-3-1 Software reset mode (Type_Code: 001h) .............................................................................................................................. 56
6-3-2 Attribute C parameter validation mode (Type_Code: 011h) .................................................................................................. 57
6-4 System ID Command (Command code: £2h) ........................................................................................................... 58
6-4-1 System ID command Type_Code list .................................................................................................................................... 59
6-4-2 Example of reading of vendor name (“Panasonic”)............................................................................................................... 60
6-4-3 Device type............................................................................................................................................................................ 60
6-4-4 Servo driver software version ................................................................................................................................................ 61
6-4-5 Servo driver type ................................................................................................................................................................... 61
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Motor Business Uint, Panasonic Corporation
No. SX-DSV03078
6-5 Homing command (Command code: £4h) ................................................................................................................ 62
6-5-1 Type Code list of Homing Command .................................................................................................................................... 63
6-5-2 Assignment of external input signals related to return to home sequence ............................................................................. 65
6-5-3 Actual position setup and command position setup ............................................................................................................... 66
6-5-4 Latch mode ............................................................................................................................................................................ 68
6-5-4-1 Starting/canceling latch mode ................................................................................................................................... 68
6-5-4-2 Selecting latch trigger signal ..................................................................................................................................... 68
6-5-4-3 Checking latch mode complete status and latch position data .................................................................................. 69
6-5-4-4 Correcting function of delaying latch position detection .......................................................................................... 70
6-6 Alarm command (Command code: £5h) ................................................................................................................... 71
6-6-1 Alarm command Type_Code list ........................................................................................................................................... 72
6-6-2 Setting up of alarm code ........................................................................................................................................................ 75
6-6-3 Alarm attribute....................................................................................................................................................................... 75
6-7 Parameter Command (Command code: £6h) ............................................................................................................ 76
6-7-1 Type code list of parameter command ................................................................................................................................... 77
6-7-2 Parameter number of MINAS-A5N/A6N series .................................................................................................................... 78
6-7-3 Parameter number of MINAS-A6N series............................................................................................................................. 79
6-7-4 Parameter attribute of MINAS-A6N series ........................................................................................................................... 80
6-7-5 Protecting parameter writing/EEPROM writing through RTEX ........................................................................................... 80
6-8 Profile command (Command code: 17h).................................................................................................................... 81
6-8-1 Profile command Type_Code list .......................................................................................................................................... 83
6-8-2 Selection of latch trigger signal for positioning profile position latch ................................................................................... 84
6-8-3 Checking latch mode complete status and latch position data ............................................................................................... 84
6-8-4 Stop command ....................................................................................................................................................................... 85
6-8-5 Profile positioning neighborhood output (NEAR) ................................................................................................................. 86
6-8-6 Software limit (PSL/NSL) ..................................................................................................................................................... 87
6-8-7 Other precautions related to profile command....................................................................................................................... 88
6-9 Monitor Command (Command Code: £Ah) ............................................................................................................. 89
6-9-1 Type code list of monitor command ...................................................................................................................................... 90
6-9-2 Cause of no revolution .......................................................................................................................................................... 93
6-9-3 Assignment of the warning flag ............................................................................................................................................. 94
6-9-4 Position information during servo off, velocity control and torque control ........................................................................... 94
6-9-5 Status of input and output signals .......................................................................................................................................... 95
6-10 Command error (Command code: ££h) ................................................................................................................. 98
6-10-1 Command error detection .................................................................................................................................................... 99
6-10-1-1 Command error common to 16-byte and 32-byte modes ........................................................................................ 99
6-10-1-2 Command error in 32-byte mode .......................................................................................................................... 101
6-10-2 List of command error code............................................................................................................................................... 102
6-11 Communication Error (Command code: ££h/ Response code: FFh) ................................................................... 103
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No. SX-DSV03078
7. Operation ................................................................................................................................................................. 104
7-1 Cyclic position control (CP) operation ..................................................................................................................... 104
7-1-1 Command follow-up process (command position at servo-off)........................................................................................... 104
7-1-2 Prohibited matter of NOP command (0¨h) ........................................................................................................................ 105
7-1-3 Command position upon communication error ................................................................................................................... 105
7-1-4 Variations in command position during command updating period..................................................................................... 106
7-1-4-1 Limiting variations in command position ............................................................................................................... 106
7-1-4-2 Wrap rounding command position .......................................................................................................................... 106
7-1-4-3 Clearing position deviations ................................................................................................................................... 106
7-1-4-4 Amount of change saturation function of command position.................................................................................. 107
7-2 Homing operation ..................................................................................................................................................... 109
7-2-1 Normal return-to-home sequence in cyclic position control (CP) mode.............................................................................. 110
7-2-2 Sequence of actual position/command position setup ......................................................................................................... 112
7-2-3 Example of cyclic homing operation ................................................................................................................................... 114
7-2-3-1 Example of cyclic homing operation 1 ................................................................................................................... 115
7-2-3-2 Example of cyclic homing operation 2 ................................................................................................................... 117
7-2-3-3 Example of cyclic homing operation 3 ................................................................................................................... 118
7-2-3-4 Example of cyclic homing operation 4 ................................................................................................................... 119
7-2-4 Initialization of the absolute encoder ................................................................................................................................... 120
7-2-4-1 Absolute data .......................................................................................................................................................... 120
7-2-4-2 Clearing multi-turn data .......................................................................................................................................... 122
7-3 Cyclic velocity control (CV) operation .................................................................................................................... 123
7-4 Cyclic torque control (CT) operation ....................................................................................................................... 125
7-5 Profile position control (PP) operation ..................................................................................................................... 127
7-5-1 Profile position control (PP) related parameter ................................................................................................................... 127
7-5-2 Profile absolute positioning (Type_Code: 10h) ................................................................................................................... 128
7-5-3 Profile relative positioning (Type_Code: 11h)..................................................................................................................... 130
7-5-4 Profile position latch absolute positioning (Type_Code: 12h) ............................................................................................. 132
7-5-5 Profile position latch relative positioning (Type_Code: 13h) .............................................................................................. 135
7-5-6 Profile continuous revolution (JOG) (Type_Code: 20h)...................................................................................................... 136
7-5-7 Profile homing 1 (HOME + Z phase) (Type_Code: 31h) .................................................................................................... 138
7-5-8 Profile homing 2 (HOME) (Type_Code: 32h) ..................................................................................................................... 140
7-5-9 Profile homing 3 (Z phase) [Type_Code: 33h] .................................................................................................................... 142
7-5-10 Profile homing 4 (POT/NOT + HOME) (Type_Code: 34h) .............................................................................................. 144
7-5-11 Precautions for profile position control operation ............................................................................................................. 146
7-6 Control mode switching ........................................................................................................................................... 148
7-6-1 Control mode switching method.......................................................................................................................................... 148
7-6-2 Precautions for control mode change during operation ....................................................................................................... 149
7-6-3 Other precautions related to control mode switching .......................................................................................................... 150
7-7 Feedforward function ............................................................................................................................................... 151
7-7-1 Feedforward function validation parameter and command area to be used ......................................................................... 151
7-7-2 Setting unit and setting range .............................................................................................................................................. 153
7-7-3 Compatible control mode .................................................................................................................................................... 153
7-7-4 Other precautions related to feedforward function .............................................................................................................. 154
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No. SX-DSV03078
8. RTEX Communication Related Protective Function and Troubleshooting ............................................................. 155
8-1 RTEX communication related protective function ................................................................................................... 155
8-1-1 RTEX node address setting error protection (Err. 82.0)....................................................................................................... 156
8-1-2 RTEX continuous communication error protection 1 (Err. 83.0) ......................................................................................... 157
8-1-3 RTEX continuous communication error protection 2 (Err. 83.1) ......................................................................................... 158
8-1-4 RTEX time out error protection (Err. 84.0) ......................................................................................................................... 159
8-1-5 RTEX synchronization error protection (Err. 84.3) ............................................................................................................. 160
8-1-6 RTEX communication cycle error protection (Err. 84.5)..................................................................................................... 161
8-1-7 RTEX cyclic data error protection 1/2 (Err. 86.0/Err. 86.1) ................................................................................................. 162
8-1-8 RTEX_Update_Counter error protection (Err86.2) ............................................................................................................. 163
8-1-9 RTEX interaxis sync establishment error protection (Err90.2) ............................................................................................ 164
8-1-10 RTEX command error protection (Err91.1) ....................................................................................................................... 165
8-1-11 RTEX hardware error protection 1/2/3 (Err. 98.1/Err. 98.2/Err. 98.3) ............................................................................... 166
8-2 RTEX communication warnings .............................................................................................................................. 167
8-2-1 RTEX continuous communication error warning (WngC0h) .............................................................................................. 167
8-2-2 RTEX accumulated communication error warning (WngC1h)............................................................................................ 168
8-2-3 RTEX Update_Counter error warning (WngC2h) ............................................................................................................... 169
8-3 Locating disconnection point of network cable ........................................................................................................ 170
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 1 -
1. Introduction
This technical reference describes the specifications of the network interface “Realtime Express (RTEX)”
which connects the driver MINAS-A6N series to the host controller.
<Software version>
This technical reference applies to the servo drivers of the following software version:
*Please check the software version by setup support software PANATERM or RTEX communication command.
Software
version
CPU1 Ver1.04
CPU2 Ver1.01
CPU1 Ver1.05
CPU2 Ver1.02
Contents of function change
Available
PANATERM
6.0.0.6
or later
6.0.0.8
or later
First edition
Function extended edition 1
Additional capability
1) Extend the quadrant projection suppression function
Reference
SX-DSV03077
5-2-13, 8-1
This document
6-5-4-4
2) Correction function for detection delay of latch position
* "Function extended edition 1" has the upper compatibility with "First edition".
"Function extended edition 1" can work with "First edition" parameter settings.
<Object person>
This document is intended for use by engineers who design a host system that controls the servo driver MINAS-A6N
series.
< Related documentation >
SX-DSV03089: Reference specifications (Specification for hardware)
SX-DSV03077: Technical reference – Functional Specification –
<IMPORTANT>
•
All rights reserved. No part of this publication may be reproduced or transmitted in any form without prior
permission.
•
Motor Business Unit, Panasonic Corp. reserves the right to make modifications and improvements to its products
and/or documentation, including specifications and software, without prior notice.
•
The MINAS-A6N series have changed the default setting from the previous series, such as to enable the
two-degree-of-freedom control mode.
When replacing the previous series to MINAS-A6N series, please note that it is necessary to re-adjust the
parameters.
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Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 2 -
2. Configuration and Initialization of RTEX Communication System
2-1 Outline
The MINAS-A6N series is a servo driver equipped with an RTEX communication IC that functions in combination with a
100BASE-TX PHY (physical layer chip) compliant with IEEE 802.3.
A ring connection of a master (host device) and slave (MINAS-A6N series, etc.) equipped with an RTEX communication
IC comprises a master/slave type 100 Mbps real-time communication system suitable for multi-axis servo control.
2-2 System structure
CPU
RTEX
communication
IC
Host
Master
PHY
RTEX
RX
TX
PHY
RX
TX
PHY
RX
TX
PHY
Slave
RTEX
RTEX
RTEX
communication
IC
communication
IC
communication
IC
CPU
CPU
CPU
MINAS-A6N
Node address = 0
MINAS-A6N
Node address = 1
MINAS-A6N
Node address = n
(n <= 31)
Node address is the ID (MAC-ID) used to identify the slave on the network, and set up with the rotary switch (RSW) on
the front panel.
For the master produced by using the sample code provided by us, the node address setting procedure shown in the figure
above will not be required.
Notes:
• A Hub required in standard 100BASE-TX is not used because of ring topology.
• In the above figure, pulse transformer which is connected between PHY and connector and other components are
omitted.
• Use the STP (shield twisted pair) cable of Category-5e or upper specified by TIA/EIA-568 Standards for the
communication cable.
For details of wiring, refer to Reference Specificatiopn, SX-DSV03089.
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Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 3 -
2-3 Basic specifications of network
The following describes the basic specifications of the network interface.
R2.0
Item
Specifications
Topology
Ring
Physical layer
100BASE-TX (IEEE 802.3)
Baud rate
100 [Mbps]
Network Status LED
[COM], [LINK]
2 units
Setup of node address (MAC-ID)
Rotary switch (2-digit) on the front panel
Setup range: 0 to 31 (Default 0)
Communication cycle
(physical data transfer cycle)
0.0625, 0.125, 0.250, 0.5, 1, 2 [ms]
Command update period
0.125, 0.250, 0.5, 1, 2, 4 [ms]
Control mode
PP: Profile position mode
CP: Cyclic position mode
CV: Cyclic velocity mode
CT: Cyclic torque mode
Connecting cable
STP (shield twisted pair) cable conforming to category 5e or more of
TIA/EIA-568 standards.
Note: Use the straight wiring.
Cable length
a) Inter nodes: Max. 100 [m]
b) Total: Max. 200 [m]
Note: Use within the range which satisfied both of the above conditions.
Consult with us when you use exceeding the above b) condition.
Slaves to be connected (axes)
Max. 4 when communication cycle time is 0.0625 ms
Max. 8 when communication cycle time is 0.125 ms
Max. 16 when communication cycle time is 0.250 ms
Max. 32 when communication cycle time is 0.5, 1.0 or 2.0 ms
Notes: • Number of axes when all connected axes are in 16-byte mode.
When in the 32-byte mode, the number of axes connected is one half
that of axes connected in the 16-byte mode because the number of
transmit-receive data blocks is twice that required in the 16-byte
mode.
• These figures depend on the arithmetic processing power of the host
device.
• For the use with the same communication system as the MINAS-A5N
series, set the communication cycle to the same cycle (0.5 ms or 1.0
ms) as A5N.
Data size
16-byte mode: Transmit/receive
32-byte mode: Transmit/receive
Communication error detection
CRC-CCITT
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 4 -
2-4 Node address (MAC-ID) setting and front panel configuration
The figure below shows the front panel configuration of MINAS-A6N series.
COM LED
LINK LED
7-segment LED (2-digit)
Rotary switch (RSW) for node
address (MAC-ID) setup
Setup range: 0 to 31
Connector for analog monitor (X7)
Pin No.
Symbol
Description
1
AM1
Analog monitor 1
2
AM2
Analog monitor 2
3
GND
Signal ground
4, 5
-
Reserved
(Do not connect)
• Set the node address (MAC-ID) in a decimal number: high order digit on MSD rotary switch and low order on LSD
switch.
Example: When MAC-ID is 13, MSD = 1, LSD = 3.
• Node address (MAC-ID) set with the rotary switch will be loaded once when the control power is turned on.
Therefore, a change made after the power up will not be reflected to the control but will become active upon the next
power up.
• Do not change the value of the rotary switch in power on to avoid a trouble.
• Setup range of the node address (MAC-ID) is 0 to 31.
If the setup value exceeds 31, Err 82.0 “COM invalid node-address protection” will be occurred.
• The host controller (master), when transmitting, should specify the node address (MAC-ID) in Byte 0, bits 4-0 of the
command. If the node address is different from the address specified by the servo drive, Err 86.0 “Cyclic data error
protection 1” will occur.
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Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 5 -
2-5 Communication cycle/command updating cycle, control mode and data size setup
Designation
Description
• The cycle at which command or response RTEX frame is transferred.
Communication
cycle
• The servo driver processes the command and response basically at this cycle.
Exception: when the communication cycle is 0.0625 [ms]
• The cycle at which the host controller will update the command.
• In response, the servo driver performs the following processes.
Communication
• Processes the command and response with a period of 0.125 ms.
cycle
• Set the command updating cycle to 0.125 ms.
0.0625 ms
Command
updating cycle
• Calculates the changes in command position (CPOS) during
command updating period and generates the movement
command.
• If the command updating cycle on the servo driver is different
from that on the host controller, operation error will occur.
• Processes commands and responses at a position other than the
command position during communication cycle.
CP
Other
communication
cycles
PP/CV/CT
Control mode
NOP
Profile position mode
Cyclic position mode
Cyclic velocity mode
Cyclic torque mode
R2.0
Abbreviation
NOP
PP
CP
CV
CT
• Processes commands and responses at the communication cycle,
regardless of the command updating cycle.
Command
code
Description
0£h
Use this mode when transmitting temporary invalid
data immediately after establishment of the network.
Never use this mode for any other purpose.
Upon receiving this command, perform the control
based on the previously received command.
1£h
Use this mode when operating by specifying target
position, target speed and target
acceleration/deceleration (parameter) and by
generating position command in the servo driver.
2£h
Use this mode when operating by generating position
command in the host controller and by updating
(transmitting) the command position at the command
updating cycle.
3£h
Use this mode when operating by generating velocity
command in the host controller and by updating
(transmitting) the command velocity at the
communication cycle.
4£h
Use this mode when operating by generating torque
command in the host controller and by updating
(transmitting) the command torque at the
communication cycle.
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 6 -
2-5-1 Mode reference table
MINAS-A6N is compatible with the communication cycle, command updating cycle, control mode and data size shown
in the table below.
Note:
・Communication cycle and command update cycle are different from the part MINAS-A5N series.
・Full-closed control is not supported with the servo driver of this version.
・In case of communication cycle 0.25 [ms] or less, the electronic gear ratio supports only 1/1.
(1) 16 byte mode
¡: Compatible;
-: Not compatible
Command update period (ms)
0.5
1.0
Commu
0.125
0.250
2.0
4.0
nication
period
PP CP CV CT PP CP CV CT PP CP CV CT PP CP CV CT PP CP CV CT PP CP CV CT
(ms)
0.0625 - ¡ ¡ ¡ 0.125 - ¡ ¡ ¡ - ¡ ¡ ¡ 0.250
- ¡ ¡ ¡ - ¡ ¡ ¡ 0.5
¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ 1.0
¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ 2.0
¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡
(2) 32 byte mode
¡: Compatible;
Command update period (ms)
Commu
0.125
0.250
0.5
1.0
nication
period
PP CP CV CT PP CP CV CT PP CP CV CT PP CP CV
(ms)
0.0625 0.125 0.250
0.5
¡ ¡ ¡ ¡ ¡ ¡ ¡
1.0
¡ ¡ ¡
2.0
R2.0
-: Not compatible
2.0
4.0
CT PP CP CV CT PP CP CV CT
¡
¡
¡
¡
¡
¡
¡
¡
¡
¡
¡
¡
¡ ¡
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 7 -
2-5-2 Related Parameter
Class
0
7
7
No.
01
20
21
Attribute
Title
R
Control mode
setup
R
RTEX
communication
cycle setup
R
RTEX command
updating cycle
ratio setup
Setup
range
0–6
1–12
1–2
Unit
Function
–
You can set up the control mode to be used.
0: semi-closed control
Selectable between position (PP/CP), velocity (CV) and torque (CT)
controls
Others (can be set only by the manufacturer and not by the user)
–
Set up the RTEX communication cycle.
-1: Enable the setup by Pr7.91
3: 0.5 (ms)
6: 1.0 (ms)
Others (can be set only by the manufacturer and not by the user)
–
Set up the ratio of RTEX communication cycle to command updating cycle.
Setting = command updating cycle to communication cycle ratio
1: 1 (time)
2 2 (times)
7
22
R
RTEX function
expansion setup
1
-32768–
32767
–
[bit 0] specifies the data size of RTEX communication.
0: 16-byte mode
1: 32-byte mode
[bit 1] specifies the inter-axis sync mode when 2 or more axes are used
with TMG_CNT.
Set this parameter to 0 when not using TMG_CNT.
0: Interaxis semi-synchronous mode
1: Interaxis full-synchronous mode
▪ For details, refer to 4-2-1-1.
7
91
R
RTEX
communication
cycle setting 2
0–
2000000
ns
Set the communication cycle of RTEX communication in a unit of ns.
This parameter is enabled only when Pr7.20 is -1.
*Do not set other value than 0.0625, 0.125, 0.250, 0.5, 1, and 2 [ms].
Note:
Make sure to set the same cycle as the upper equipment for the RTEX communication cycle (Pr7.20, Pr7.91) and
RTEX command updating cycle (Pr7.21).
Also, make sure to set the same setting as the upper equipment for the extended RTEX function (Pr7.22).
Otherwise, the operation cannot be guaranteed.
2-5-3 Example of mode setup
Communication period of 0.5 ms, command updating period 1.0 ms, semi-closed control, 16-byte mode and interaxis
semi-synchronous mode
• Pr.0.01 = 0 (Semi-closed control)
• Pr.7.20 = 3 (Communication cycle 0.5 ms)
• Pr.7.21 = 2 (Command updating cycle 1.0 ms = 0.5 ms ´ 2)
• Pr.7.22 = 0 (16-byte mode and interaxis semi-synchronous mode)
* When Pr7.20 is not "-1", Pr7.91 is not available.
In this example setting, CP/CV/CT control mode selection is necessary by specifying command code.
Note:
If the combination of Pr7.20 “RTEX communication cycle setup”, Pr7.91 “RTEX communication cycle expansion
setting”, Pr7.21 “RTEX command updating cycle setup” and electronic gear ratio is are not suitable, Err93.5
“Parameter setting error protection 4” is generated.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 8 -
2-6 COM LED, LINK LED and RTEX communication state
The table below shows display state of COM LED and LINK LED and RTEX communication status.
COM LED
LINK LED
n COM LED
Description
Pr.7.23 bit 4 = 0
Pr.7.23 bit 4 = 1
RTEX
State
RTEX
Communication
RTEX
Communication
communication
communication
and servo are
communication
and servo are
state
IC state
Synced
IC state
Synced
OFF
Not established • INITIAL
• INITIAL
Not established
• RING_
• RING_
CONFIG
Under
CONFIG
Flashing Green
Not dependent
Not established
• READY
configuring
• READY
• RUNNING
Solid Green
Established
• RUNNING
• RUNNING
Not established
Clearable alarm relating to RTEX communication has occurred.
Flashing Red *If retracting operation is performed with RTEX communication timeout, Err84.0 does not occur;
therefore the lamp does not blink in red.
Solid Red
Non-clearable alarm relating to RTEX communication has occurred.
n LINK LED
State
OFF
Solid Green
Description
Non-connecting
(No power entry of transmitter node, or cable disconnection)
Proper connecting
(“TX” of transmitter node and own “RX” is electrically connected)
• If RTEX communication related alarm occurs while non-RTEX alarm (e.g. Err. 16.0) has occurred, COM LED shows
the new alarm by lighting or flashing in red as described above.
Note that the 7-seg LED still displays the non-RTEX related alarm.
• Upon power up or upon issuing of the reset command, LINK LED will blink once. This is normal because the LED is
initialized by the servo driver.
• Lighting condition of COM LED can be changed by the setting of bit 4 of Pr.7.23 “RTEX function expansion setup 2”.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 9 -
3. Transmission Protocol of RTEX Communication Data
3-1 Transmission timing of data
• If the synchronization between the communication and servo is not established, the command receiving timing and
response transmitting timing are unstable.
The timing diagram in this chapter shows established synchronization which can be verified through the logic output
signal (extended portion) of the monitor command.
• Because the echo back of the Update_Counter is generated in the data exchanging process of the servo driver, the echo
back (Update_Counter_Echo) is immediately returned unless a communication error occurs.
• In contrast, the echo back (Command_Code_Echo) in response to the command code is not immediately returned
because it is generated in command/response process. Relationship between Update_Counter and command code may
not be the same for transmitted data and received data.
• If the control mode is switched to a different control mode when the communication cycle is 0.0625 ms or 0.125 ms, the
response timing of the command code echo back is different from the response timing of internal data e.g. position
deviation which depends on the control mode. For details, refer to timing diagram in 3-1-3 and 3-1-4.
• If the command is not correctly received due to problem caused by command code or argument, the command error bit
(CMD_Error or Sub_CMD_Err) is set to 1 and returned. When the servo driver correctly receives the command, the
command error bit is set to 0.
For secure command transfer, hold the command code value until the echo back is received.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 10 -
3-1-1 Transmission timing of communication period 0.0625 ms/command updating period 0.125 ms
NC operation cycle 0.125 ms
Previous result of
NC operation
Pr.7.20 = -1
(Command update cycle) 0.125 ms
Pr.7.21 = 2
Communication cycle 0.0625 ms
Pr.7.91 = 62500
Data
exchange
Operation at master
T = 0.125 ms
W R Operation
W R Operation
C[N-1]
U[N-1]
Master TX (Command)
C[N-2]
U[N-1]
Master RX (Response)
W R Operation
W R Operation
W R Operation
C[N]
U[N]
C[N]
U[N]
C[N+1]
U[N+1]
C[N+1]
U[N+1]
C[N+2]
U[N+2]
C[N+2]
U[N+2]
C[N+3]
U[N+3]
C[N+3]
U[N+3]
C[N+4]
U[N+4]
C[N-2]
U[N-1]
C[N-1]
U[N]
C[N-1]
U[N]
C[N]
U[N+1]
C[N]
U[N+1]
C[N+1]
U[N+2]
C[N+1]
U[N+2]
C[N+2]
U[N+3]
C[N+2]
U[N+3]
Update_Counter_
Echo is
immediately
returned
Data exchange at servo
driver
R/W
R/W
(Cmd[N-1])
Command/response process
Servo operation
R/W
R/W
(Cmd[N])
(Cmd[N+1])
Command/response process for Cmd [N]
® Command_Code_Echo is not immediately returned.
R/W
R/W
(Cmd[N+2])
(Cmd[N+3])
Note: Data response process depending on the control
mode. When the control mode has been changed
between Cmd[N-1] and Cmd[N], result of operation
in the changed mode is returned at this point.
3-1-2 Transmission timing of communication cycle 0.125 ms/command updating cycle 0.125 ms
Previous result of
NC operation
NC operation cycle 0.125 ms
(Command update cycle) 0.125 ms
Pr.7.20 = -1
Pr.7.21 = 1
Communication cycle 0.125 ms
Pr.7.91 = 125000
Data
exchange
Operation at master
T = 0.125 ms
WR
Master TX (Command)
Master RX (Response)
Data exchange at servo
driver
Operation
Cmd[N]
UpCnt[N]
Cmd[N-2]
UpCnt[N-1]
W R Operation
W R Operation
W R Operation
W R Operation
Cmd[N+1]
UpCnt[N+1]
Cmd[N+2]
UpCnt[N+2]
Cmd[N+3]
UpCnt[N+3]
Cmd[N+4]
UpCnt[N+4]
Cmd[N-1]
UpCnt[N]
Cmd[N]
UpCnt[N+1]
Cmd[N+2]
UpCnt[N+3]
Update_Counter_
Echo is
immediately
returned
R/W
Command/response process
Servo operation
R/W
(Cmd[N-1])
R/W
R/W
(Cmd[N])
Command/response process for Cmd [N]
® Command_Code_Echo is not immediately returned.
R2.0
Cmd[N+1]
UpCnt[N+2]
WR
(Cmd[N+1])
R/W
R/W
(Cmd[N+2])
(Cmd[N+3])
Note: Data response process depending on the control mode.
When the control mode has been changed between
Cmd[N-1] and Cmd[N], result of operation in the
changed mode is returned at this point.
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 11 -
3-1-3 Transmission timing of communication cycle 0.125 ms/command updating cycle 0.250 ms
Previous result of
NC operation
NC operation cycle 0.250 ms
(Command update cycle)
Communication cycle 0.125 ms
Pr.7.20 = -1
Pr.7.21 = 2
Data
exchange
Operation at master
T = 0.250 ms
WR
Master TX (Command)
Master RX (Response)
Pr.7.91 = 125000
WR
Operation
Cmd [N]
UpCnt [N]
Cmd [N]
UpCnt [N]
Cmd [N-1]
UpCnt [N-1]
Operation
Cmd [N+1]
UpCnt [N+1]
Cmd [N-1]
UpCnt [N]
WR
Cmd [N+1]
UpCnt [N+1]
Cmd [N]
UpCnt [N]
Cmd [N]
UpCnt [N+1]
Update_Counter_
Echo is immediately
returned
Data exchange at servo
driver
Command/response process
Servo operation
R/W
R/W
R/W
(Cmd [N-1])
(Cmd [N])
R/W
(Cmd [N])
R/W
(Cmd [N+1])
Command/response process for Cmd [N]
® Command_Code_Echo is not immediately returned
3-1-4 Transmission timing of communication period 0.250 ms/command updating period 0.250 ms
Previous result of
NC operation
NC operation cycle 0.250 ms
(Command update cycle)
Pr.7.20 = -1
Communication period 0.250 ms
Pr.7.21 = 1
Data
exchange
Operation at master
T = 0.250 ms
Pr.7.91 = 250000
W R Operation
Master TX (Command)
Master RX (Response)
W R Operation
Cmd [N]
UpCnt [N]
W R Operation
Cmd [N+1]
UpCnt [N+1]
Cmd [N-2]
UpCnt [N-1]
W R Operation
Cmd [N+2]
UpCnt [N+2]
Cmd [N-1]
UpCnt [N]
Cmd [N+3]
UpCnt [N+3]
Cmd [N]
UpCnt [N+1]
Cmd [N+1]
UpCnt [N+2]
Update_Counter_
Echo is immediately
returned.
Data exchange at servo
driver
R/W
Command/response process
Servo operation
R/W
(Cmd [N-1])
R/W
(Cmd [N])
R/W
(Cmd [N+1])
R/W
(Cmd [N+2])
Command/response process for Cmd [N]
® Command_Code_Echo is not immediately returned.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 12 -
3-1-5 Transmission timing of communication cycle 0.250 ms/command updating cycle 0.5 ms
Previous result of
NC operation
NC operation cycle 0.500 ms
(Command update cycle)
Communication cycle 0.250 ms
Pr.7.20 = -1
Pr.7.21 = 2
Data
exchange
Operation at master
T = 0.5 ms
WR
Master TX (Command)
Master RX (Response)
Pr.7.91 = 250000
WR
Operation
Cmd [N]
UpCnt [N]
Cmd [N]
UpCnt [N]
Cmd [N-1]
UpCnt [N-1]
Operation
WR
Cmd [N+1]
UpCnt [N+1]
Cmd [N-1]
UpCnt [N]
Cmd [N+1]
UpCnt [N+1]
Cmd [N]
UpCnt [N]
Cmd [N]
UpCnt [N+1]
Update_Counter_
Echo is immediately
returned
Data exchange at servo
driver
Command/response process
Servo operation
R/W
R/W
R/W
(Cmd [N-1])
(Cmd [N])
R/W
R/W
(Cmd [N])
(Cmd [N+1])
Command/response process for Cmd [N]
® Command_Code_Echo is not immediately returned
3-1-6 Transmission timing of communication period 0.5 ms/command updating period 0.5 ms
Previous result of
NC operation
NC operation cycle 0.5 ms
(Command update cycle)
Pr.7.20 = 3
Communication period 0.5 ms
Pr.7.21 = 1
Data
exchange
Operation at master
T = 0.5 ms
W R Operation
Master TX (Command)
Master RX (Response)
W R Operation
Cmd [N]
UpCnt [N]
W R Operation
Cmd [N+1]
UpCnt [N+1]
Cmd [N-2]
UpCnt [N-1]
W R Operation
Cmd [N+2]
UpCnt [N+2]
Cmd [N-1]
UpCnt [N]
Cmd [N+3]
UpCnt [N+3]
Cmd [N]
UpCnt [N+1]
Cmd [N+1]
UpCnt [N+2]
Update_Counter_
Echo is immediately
returned.
Data exchange at servo
driver
R/W
Command/response process
Servo operation
R/W
(Cmd [N-1])
R/W
(Cmd [N])
R/W
(Cmd [N+1])
R/W
(Cmd [N+2])
Command/response process for Cmd [N]
® Command_Code_Echo is not immediately returned.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 13 -
3-1-7 Transmission timing of communication cycle 0.5 ms/command updating cycle 1.0 ms
Previous result of
NC operation
NC operation cycle 1.0 ms
(Command update cycle)
Communication cycle 0.5 ms
Pr.7.20 = 3
Pr.7.21 = 2
Data
exchange
Operation at master
T = 1.0 ms
WR
Master TX (Command)
Master RX (Response)
WR
Operation
Cmd [N]
UpCnt [N]
Cmd [N]
UpCnt [N]
Cmd [N-1]
UpCnt [N-1]
Operation
WR
Cmd [N+1]
UpCnt [N+1]
Cmd [N-1]
UpCnt [N]
Cmd [N+1]
UpCnt [N+1]
Cmd [N]
UpCnt [N]
Cmd [N]
UpCnt [N+1]
Update_Counter_
Echo is immediately
returned
Data exchange at servo
driver
Command/response process
Servo operation
R/W
R/W
R/W
(Cmd [N-1])
(Cmd [N])
R/W
R/W
(Cmd [N])
(Cmd [N+1])
Command/response process for Cmd [N]
® Command_Code_Echo is not immediately returned
3-1-8 Transmission timing of communication period 1.0 ms/command updating period 1.0 ms
Previous result of
NC operation
NC operation cycle 1.0 ms
(Command update cycle)
Pr.7.20 = 6
Communication period 1.0 ms
Pr.7.21 = 1
Data
exchange
Operation at master
T = 1.0 ms
W R Operation
Master TX (Command)
Master RX (Response)
W R Operation
Cmd [N]
UpCnt [N]
W R Operation
Cmd [N+1]
UpCnt [N+1]
Cmd [N-2]
UpCnt [N-1]
W R Operation
Cmd [N+2]
UpCnt [N+2]
Cmd [N-1]
UpCnt [N]
Cmd [N+3]
UpCnt [N+3]
Cmd [N]
UpCnt [N+1]
Cmd [N+1]
UpCnt [N+2]
Update_Counter_
Echo is immediately
returned.
Data exchange at servo
driver
R/W
Command/response process
Servo operation
R/W
(Cmd [N-1])
R/W
(Cmd [N])
R/W
(Cmd [N+1])
R/W
(Cmd [N+2])
Command/response process for Cmd [N]
® Command_Code_Echo is not immediately returned.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 14 -
3-1-9 Transmission timing of communication cycle 1.0 ms/command updating cycle 2.0 ms
Previous result of
NC operation
NC operation cycle 2.0 ms
(Command update cycle)
Communication cycle 1.0 ms
Pr.7.20 = 6
Pr.7.21 = 2
Data
exchange
Operation at master
T = 2.0 ms
WR
Master TX (Command)
Master RX (Response)
WR
Operation
Cmd [N]
UpCnt [N]
Cmd [N]
UpCnt [N]
Cmd [N-1]
UpCnt [N-1]
Operation
WR
Cmd [N+1]
UpCnt [N+1]
Cmd [N-1]
UpCnt [N]
Cmd [N+1]
UpCnt [N+1]
Cmd [N]
UpCnt [N]
Cmd [N]
UpCnt [N+1]
Update_Counter_
Echo is immediately
returned
Data exchange at servo
driver
Command/response process
Servo operation
R/W
R/W
R/W
(Cmd [N-1])
(Cmd [N])
R/W
R/W
(Cmd [N])
(Cmd [N+1])
Command/response process for Cmd [N]
® Command_Code_Echo is not immediately returned
3-1-10 Transmission timing of communication period 2.0 ms/command updating period 2.0 ms
Previous result of
NC operation
NC operation cycle 2.0 ms
(Command update cycle)
Pr.7.20 = -1
Communication period 2.0 ms
Pr.7.21 = 1
Data
exchange
Operation at master
T = 2.0 ms
Pr.7.91 = 2000000
W R Operation
Master TX (Command)
Master RX (Response)
W R Operation
Cmd [N]
UpCnt [N]
W R Operation
Cmd [N+1]
UpCnt [N+1]
Cmd [N-2]
UpCnt [N-1]
W R Operation
Cmd [N+2]
UpCnt [N+2]
Cmd [N-1]
UpCnt [N]
Cmd [N+3]
UpCnt [N+3]
Cmd [N]
UpCnt [N+1]
Cmd [N+1]
UpCnt [N+2]
Update_Counter_
Echo is immediately
returned.
Data exchange at servo
driver
R/W
Command/response process
Servo operation
R/W
(Cmd [N-1])
R/W
(Cmd [N])
R/W
(Cmd [N+1])
R/W
(Cmd [N+2])
Command/response process for Cmd [N]
® Command_Code_Echo is not immediately returned.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 15 -
3-1-11 Transmission timing of communication cycle 2.0 ms/command updating cycle 4.0 ms
Previous result of
NC operation
NC operation cycle 4.0 ms
(Command update cycle)
Communication cycle 2.0 ms
Pr.7.20 = -1
Pr.7.21 = 2
Data
exchange
Operation at master
T = 4.0 ms
WR
Master TX (Command)
Master RX (Response)
Pr.7.91 = 2000000
WR
Operation
Cmd [N]
UpCnt [N]
Cmd [N]
UpCnt [N]
Cmd [N-1]
UpCnt [N-1]
Operation
Cmd [N+1]
UpCnt [N+1]
Cmd [N-1]
UpCnt [N]
WR
Cmd [N+1]
UpCnt [N+1]
Cmd [N]
UpCnt [N]
Cmd [N]
UpCnt [N+1]
Update_Counter_
Echo is immediately
returned
Data exchange at servo
driver
Command/response process
Servo operation
R/W
R/W
R/W
(Cmd [N-1])
(Cmd [N])
R/W
(Cmd [N])
R/W
(Cmd [N+1])
Command/response process for Cmd [N]
® Command_Code_Echo is not immediately returned
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 16 -
3-2 Transmission of cyclic data
3-2-1 Cyclic transmission area
Use bytes 2 to 7 in command/response data block or bytes 24 to 31 in the 32-byte mode, as cyclic transmission area for
real-time data such as command position and feedforward data.
Use bytes 12 to 15 (Command_Data3) in command data block as cyclic transmission area by using Pr.7.35 “RTEX
command setting 1”. For details, refer to 7-7.
Use bytes 8 to 15 (Reponse_Data2/3) in response data block, or bytes 20 to 23 (Sub_Response_Data1) in the 32-byte
mode, as cyclic transmission area by using Pr.7.30 to Pr.7.32 “RTEX monitor select 2/3/4”. For details, refer to 4-3-1.
There is no special transmission procedure for the cyclic command area data. The servo driver will reflect the received
cyclic command data in the control at once, and will return the latest value of the cyclic response data.
n Main command: common to 16 byte and 32 byte mode
Command
Byte
0
Non- Cyclic
Cyclic
1
Response
bit7
6
5
4
3
2
C
Update_Counter
MAC-ID
(0)
TMG_
Command_Code
CNT
2
3
4
5
6
7
1
0
Byte
0
1
2
3
4
5
6
7
Control_Bits
Command_Data1
8
9
10
11
12
13
14
15
bit7
6
5
4
3
2
1
R Update_Counter
Actual MAC-ID
(1)
_Echo
CMD_
Command_Code_Echo
Error
0
Status_Flags
Response_Data1
Command_Data2
8
9
10
11
Response_Data2
Command_Data3
12
13
14
15
Response_Data3
n Sub-command: specific to 32 byte mode
Cyclic
Non-cyclic
Command
R2.0
Byte
bit7
6
5
4
16
Sub_
Chk
0
0
0
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
3
Response
2
1
0
Sub_Command_Code
Sub_Type_Code
Sub_Index
Sub_Command_Data1
Sub_Command_Data2
Sub_Command_Data3
Byte
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
bit7
6
Sub_
Sub_
CMD_
ERR
Err
5
4
Sub_
WNG
Sub_
Busy
3
2
1
0
Sub_Command_Code_Echo
Sub_Type_Code_Echo
Sub_Index_Echo
Sub_Response_Data1
Sub_Response_Data2
Sub_Response_Data3
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 17 -
3-3 Transmission of Non-Cyclic Data
3-3-1 Non-cyclic transmission area
Use bytes 8 to 15 in Command/Response Data Block and bytes 17 to 23 in 32-byte mode as Non-cyclic transmission
area for event-driven data such as parameter setup.
n Main command: common to 16 byte and 32 byte mode
Cyclic
Command
Byte
bit7
0
C
(0)
1
TMG_
CNT
6
5
4
Response
3
Update_Counter
2
1
0
MAC-ID
Command_Code
2
0
R
(1)
1
CMD_
Error
6
5
4
3
Update_Counter
_Echo
2
1
0
Actual MAC-ID
Command_Code_Echo
Status_Flags
3
4
4
5
5
Command_Data1
6
7
8
8
9
Command_Data2
10
11
11
12
13
Command_Data3
14
Response_Data2
10
12
13
Response_Data1
6
7
9
Non-cyclic
bit7
2
Control_Bits
3
Byte
Response_Data3
14
15
15
n Sub-command: specific to 32 byte mode
Command
Byte
Non-cyclic
16
17
18
19
22
0
5
0
4
0
3
2
1
0
Sub_Command_Code
Sub_Type_Code
Sub_Index
Byte
bit7
6
5
4
16
Sub_
CMD_
Err
Sub_
ERR
Sub_
WNG
Sub_
Busy
17
18
19
Sub_Command_Data1
21
22
23
24
24
26
Sub_Command_Data2
25
26
27
27
28
28
29
30
31
3
2
1
0
Sub_Command_Code_Echo
Sub_Type_Code_Echo
Sub_Index_Echo
20
23
25
Cyclic
Sub_
Chk
6
20
21
R2.0
bit7
Response
Sub_Command_Data3
29
30
Sub_Response_Data1
Sub_Response_Data2
Sub_Response_Data3
31
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 18 -
3-3-2 Non-cyclic status flag
Byte 9, bits 7-4 in the response show the status of the non-cyclic command, if the command is not a normal one (¨0h).
Bit
Title
Description
7
ERR
Set to 1 when error occurs during process after reception of the command.
6
WNG
Set to 1 when the command is processed but with certain problem, e.g. written
with restriction during parameter setting.
5
Reserved
4
Busy
Always return 0.
Kept at 1 while command is processed.
Byte 16, bits 6-4 in the response show the status of the sub-command in the 32-byte mode.
Bit
R2.0
Title
Description
6
Sub_ERR Set to 1 when error occurs during process after reception of the command.
5
Sub_WNG Set to 1 when the command is processed but with certain problem.
4
Sub_Busy Kept at 1 while command is processed.
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 19 -
3-3-3 Non-cyclic command startup mode setting
To set start-up condition of the non-cyclic command, use Pr.7.23 “REX function expansion setup 2”.
To make this condition compatible with MINAS-A4N, set bit 5 to 0.
Class
No.
Attribute
Title
Setup range
Unit
Function
[bit 5] sets non-cyclic command startup mode
Value
7
23
B
RTEX function
expansion setup 2
-32768
– 32767
—
0
1
R2.0
Function
(MINAS-A4N compatible mode)
Changing from standard command
(Extend mode)
Upon changing command mode and
command argument
See
3-3-4
3-3-5
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 20 -
3-3-4 Startup of non-cyclic command (MINAS-A4N compatible mode)
When transmitting non-cyclic command (including sub-command) in the MINAS-A4N compatible mode (Pr.7.23, bit 5
= 0), follow the procedure described below.
1) Be sure to change the code from the standard command (e.g. 20h) to the desired non-cyclic command.
(Set also Type_Code, Index, Command_Data3, etc., at the same time or beforehand.)
2) Hold the command until the normal echo-back is returned.
3) When normal echo-back is returned and Busy bit is 0, get the necessary data after checking ERR bit
and WNG bit. After that, bring the command code back to the standard command (e.g. normal
command: 20h).
Standard command
Description
These are reference command for handshaking when transferring non-cyclic
command.
Normal command (¨0h) serves as standard command.
10h, 20h, 30h, 40h
▪ If a sub-command, Sub_Command_Code = 0h is the standard command.
The change of command code is the trigger for executing the process. Only one process will be executed per one
trigger.
n Example: Operating procedure of non-cyclic command when changing parameter
When changing the multiple parameters continuously, it is necessary to bring the command code back to the standard
command (e.g. normal command: 20h) every time a parameter is changed.
Note that the process will not be executed only with changing the parameter number.
Example of parameter command (Command: 26h) : (For position control, and standard command is 20h.)
1st process
Command_Code
20h
Standard command
time
2nd process
20h
Standard command
20h
26h
Standard command
26h
*2)
Command_Code
_Echo
Busy
(Parameter processing
at the servo driver)
20h
Standard command
26h
20h
Standard command
26h
20h
Standard command
*1)
*1) Parameter process will be executed in the servo driver at the transition from normal command (20h) to parameter
command (26h).
The servo driver will execute one process at transition of command code when it receives the same command
during multiple communication cycles. (edge process)
*2) Make sure that Busy is 0 and check for normal echo of command code (including Type_Code etc.), and then return
to the normal command (20h).
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 21 -
3-3-4-1 Basic sequence of non-cyclic command
(When position control and the standard command is 20h)
Command acceptance
Command completion *1)
time
Ta
Command_Code
Tb
20h
2xh
20h
*2)
Command
*4)
Response
Command_Code
_Echo
20h
2xh
Processing
Busy
20h
*3)
At
command
accepted
0 or 1 *5)
WNG
0 or 1 *6)
ERR
Data
At
command
error
*6)
Command_Code
_Echo
Data fixed
Data of Command 20h
20h
Axh (Bit7 in 1)
Busy
“0”
ERR
“0”
Data of command 20h
20h
*1) Time of Ta and Tb depend on command.
In most reading processes, Tb will be 0 and Busy is not 1.
*2) Change of command code will be the trigger for executing the process.
*3) When you execute another non-cyclic command during processing (Busy is 1), command error (0101h) will
occur.
*4) After confirming Busy is 0 (the process is completed), bring the command back to normal command (20h). The
servo driver will continue to process even if command is returned to normal command during processing.
(Note that part of homing process will be aborted.)
*5) WNG bit will be 1 when a problem occurs even though the process has been executed.
(The parameter was set to the limited value that is different from the command value.)
*6) Command error shows whether the command could be accepted or not, and will be detected before executing the
process.
Some kind of errors during processing will be shown in ERR bit instead of command error. An error might occur
in some command (e.g. writing parameters to EEPROM) during processing. In such a case, retry the command
after confirming that ERR bit becomes 1.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 22 -
3-3-4-2 Read sequence of non-cyclic command
(When position control and the standard command is 20h)
Command acceptance
Ta
Command_Code
20h
Command completion
Tb
*1)
time
2xh
20h
Command
Response
Command_Code
_Echo
20h
20h
2xh
Type_Code
_Echo
Index_Echo
Busy
Processing
WNG
0
ERR
0
Response_Data3
(Byte 12–15) Data of Command 20h
Unstable
Read data
Data of command 20h
*1) Times of Ta and Tb depend on the command.
In most reading cases, Busy will not be 1. (Tb is 0.)
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 23 -
3-3-4-3 Write sequence of non-cyclic command
(When position control and the standard command is 20h)
Command acceptance
Ta
Command_Code
20h
Command completion
*1)
time
Tb
2xh
20h
Command
Response
Command_Code
_Echo
20h
2xh
20h
Type_Code
_Echo
Index_Echo
Busy
Processing
WNG
0 or 1 *2)
ERR
0 or 1 *3)
Response_Data
(Byte 12–15)
Data of command 20h
Unstable
Actual
written data
Data of command 20h
*1) Times of Ta and Tb depend on command.
*2) WNG bit will be 1 when a problem occurs even though the process has been executed.
(The parameter was set to the limited value that is different from the command value.)
*3) An error might occur in some command (e.g. writing parameters to EEPROM) during processing. In this case,
ERR bit will be 1 and retry the command.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 24 -
3-3-5 Startup of non-cyclic command (extend mode)
By setting non-cyclic command startup condition to the extend mode (Pr.7.23, bit 5 = 1), non-cyclic command can be
started in the following condition as well as upon changing from the standard command. Because this condition is not
applicable to certain commands, refer to individual command descriptions”Section5,6”.
1) Upon changing non-cyclic command code or sub-command code
2) Upon changing command argument (Command_Data2, Command_Data3)
Note: Not applied to Command_Data3 in feed forward data setting
Sub-command argument: Sub_Type_Code, Sub_Index or Sub_Command_Data1
n Precautions
• Do not use this mode if two or more data which must be changed simultaneously cannot be updated at 1 cycle.
• Profile operation starts upon changing the command code from the normal command (10h) to profile command (17h).
Exception: When the target position or target speed is updated during profile operation, the servo drive will response
to the change if the target position (TPOS) or target speed (TSPD) is changed while the command code 17h is
maintained.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 25 -
4. RTEX Communication Data Block
This chapter describes one or two data blocks (an axis worth of slave data: 16 or 32 bytes) allocated to the send/receive
memory in the RTEX communication IC.
4-1 Transmission and reception memory in the RTEX communication IC
MNM1221
16 bytes
Command data
Transmission memory
512 bytes
Block
#0
Block
#1
Block
#2
Block
#3
Block
#31
Reception memory
512 bytes
32 bytes *2)
*1)
16 bytes
Response data
Block
#0
Block
#1
Block
#2
Block
#3
Block
#31
32 bytes *2)
Control Register
Status Register
*1)
*1) Data block numbers, #0 to #31 represent the connecting order of the slaves.
Note that these are not the node addresses (MAC-ID).
*2) The slave set to 32-byte mode uses 2 consecutive 16-byte data blocks.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 26 -
4-2 Command data block arrangement (16-byte/32-byte mode)
Command will be transmitted from the master (host controller) to slave (servo driver).
Byte
bit 7
0
C/R(0)
bit 6
bit 5
bit 4
bit 3
Update_Counter
bit 2
bit 1
bit 0
MAC-ID (0 to 31)
1
0
2
Servo_On
0
0
Gain_SW
Command_Code
TL_SW
Homing_Ctrl
0
0
3
Hard_Stop
Smooth_Stop
Pause
0
SL_SW
0
EX-OUT2
EX-OUT1
4
5
L
ML
Command_Data1
6
MH
7
H
8
L
9
10
ML
Command_Data2
MH
11
H
12
L
13
ML
Command_Data3
14
MH
15
H
Notes: • Command code of byte 1 defines the contents from byte 4 to byte 15.
• Disposition of multiple byte data is little endian, which means that lower byte is first.
• Set the unused bit to 0.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 27 -
4-2-1 Command code and command argument (Command bytes 1, 4-15)
Byte
bit 7
1
0
bit 6
bit 5
bit 4
bit 3
bit 2
bit 1
bit 0
Command_Code
4–7
Command_Data1
8–11
Command_Data2
12–15
Command_Data3
Title
Description
Command_Code
• Set up the command code.
• Command code is classified into two types as cyclic command code for transmitting real-time data such
as command position and non-cyclic command code for transmitting event-driven data such as parameter
setup.
• Cyclic command code is assigned to bit 6 to 4 in byte 1 of command, and specifies the data for byte 4 to
7.
• Non-cyclic command code is assigned to bit 3 to 0 in byte 1 of command, and specifies the data for byte
8 to 15.
• Use of unsupported cyclic command causes Err. 86.1 RTEX cyclic data error protection 2 alarm.
▪ See the figure below for details.
TMG_CNT
• Use in inter-axis full synchronous mode. ▪ For details, refer to 4-2-1-1.
Command_Data1
• Set up the command data specified by cyclic command code.
▪ For details, refer to the command description (Chapters 5 and 6).
Command_Data2
• Set up the command data specified by non-cyclic command code.
▪ For details, refer to the command description (Chapters 5 and 6).
Command_Data3
• Set up the command data specified by non-cyclic command code.
▪ For details, refer to the command description (Chapters 5 and 6).
Byte
bit 7
1
TMG_CNT/
CMD_Error
bit 7
0
1
bit 6
bit 5
bit 3
Cyclic command code
(Specify data of Bytes 4–7.)
Application
Response
CMD_Error
Command normal
See 4-2-1-1.
Command error
bit 2
bit 1
bit 0
Non-cyclic command code
(Specify data of Bytes 8–15.)
Command
TMG_CNT
Cyclic command
bit 6–4
0
1
2
3
4
5–7
bit 4
Application
NOP
Profile position control mode (PP)
Cyclic position control mode (CP)
Cyclic velocity control mode (CV)
Cyclic torque control mode (CV)
Reserved
Non-cyclic command
bit 3–0
Application
0
Normal command
1
2
Reset command
System ID command
3
4
5
6
7
8–9
10
11–15
Reserved
Return to home command
Alarm command
Parameter command
Profile command
Reserved
Monitor command
Reserved
Set the cyclic command code to NOP (bits 6-4:0) only when transmitting invalid data after canceling the reset, and
specify the control mode to be used (PP, CP, CV or CT). Do not transmit NOP.
For details of each command, refer to Chapters 5 and 6.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 28 -
4-2-1-1 TMG_CNT setup and inter-axis synchronous mode
When bit 1 of Pr.7.22 “RTEX function expansion setup 1” is set at 1, the servo driver syncs its all internal control
cycles to the timing of TMG_CNT.
Category
No. Attribute
Parameter
Setting
range
Unit
Description
[bit 0] Set the data size of RTEX communication.
0: 16-byte mode
1: 32-byte mode
7
22
R
RTEX
function
expansion
setup 1
-32768
–32767
–
[bit 1] Set the inter-axis synchronous mode that uses
TMG_CNT.
When not using TMG_CNT, set this bit to 0.
0: Inter-axis semi-synchronous mode
1: Inter-axis full-synchronous mode
(1) Inter-axis semi-synchronous mode (Pr.7.22, bit 1 = 0)
In this mode, inter-axis synchronization will fail in some functions (e.g. Servo off sequence), although receiving
timing of operation instructions such as position instruction is coincident.
• Do not use TMG_CNT.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 29 -
(2) Inter-axis full-synchronous mode (Pr.7.22, bit 1 = 1)
This mode is used when MINAS-A6N’s all internal control process start timings between 2 or more axes are to
be synchronized. Some functions (e.g. Servo off sequence) other than operation instructions may also be
synchronized.
• Set the same value to the TMG_CNT for all axes and update the count every 2 ms.
• If TMG_CNT is not counted up correctly, communication is not established (COM_LED is not lit in green) or
inter-axis synchronization is not established.
• The time necessary to establish the communication (COM-LED is lit in green) varies depending on a pair of
axes to be synchronized.
• Even if synchronization is established, inter-axis synchronization will not be established when start-stop
communication error occurs at the start of the operation (especially at the beginning of the PP control mode).
time
TMG_CNT updating cycle
(2 ms)
Command updating cycle
(0.125 ms)
Communication cycle
(0.0625 ms)
Axis 1
3
Update_
Counter
2
0
1
0
TMG_CNT
Axis 2
1
0
1
0
1
0
3
Update_
Counter
2
0
1
0
TMG_CNT
Axis 3
0
3
Update_
Counter
2
0
TMG_CNT
0
1
0
0
<Example of 3-axis synchronization (communication cycle 0.0625 ms, command updating cycle 0.125 ms)>
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 30 -
4-2-2 Command header (command byte 0)
Byte
bit 7
0
C/R(0)
bit 6
bit 5
bit 4
bit 3
Update_Counter
Title
bit 1
bit 0
Description
• C/R bit distinguish command and response.
• Set this bit to 0 in command.
• If this bit is set to level other than 0, Err. 86.0 RTEX cyclic data error protection 1 alarm will be
generated.
C/R
Update_Counter
MAC-ID
bit 2
MAC-ID (0–31)
• Set the count up value at the command updating cycle.
• The purpose is to detect the command updating timing at servo driver.
• The servo driver echoes back this data in the response, the counter can also be used as the watchdog
timer.
• Set up the node address of the servo driver.
• If a node address different from actual setting value is used, Err. 86.0 “RTEX cyclic data error protection
1” alarm will be generated.
4-2-2-1 Update_Counter setup
Be sure to count up Update_Counter every command updating cycle at the data updating timing of the host controller.
Otherwise, operation command is not correctly received.
Because the counter used here is for the purpose of transferring the command updating timing to the servo driver,
regardless of actual updating process, count up operation must be done even if the content of the command data block
is unchanged.
Time
Command update cycle of host controller
(1 ms)
Communication
period
(500 ms)
3
2
1
Transmission of invalid data
after canceling the reset
Command
code
00h (NOP)
2
2
*2)
*1)
0
3
3
1
1
0
0
Transmission of valid data
20h (Cyclic Position Command)
<Example for setting of update counter (when command update cycle is 1 ms)>
*1) Set 1 to update counter at transmission of 1st valid data.
*2) When the counter overflowed, repeat from 0.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 31 -
4-2-3 Control bit (Command Bytes 2 and 3)
Byte
bit 7
bit 6
bit 5
bit 4
bit 3
bit 2
bit 1
bit 0
2
Servo_On
0
0
Gain_SW
TL_SW
Homing_Ctrl
0
0
3
Hard_Stop
Smooth_Stop
Pause
0
SL_SW
0
EX-OUT2
EX-OUT1
Title
Description
Servo_On
• Set up the Servo-ON/OFF command.
0: Servo-OFF, 1: Servo-ON
• When external servo on input (EX-SON) is assigned to interface connector (X4), the servo on command
is issued as EX-SON and Servo_On are logically ANDed.
▪ See section 4-2-3-1 for details.
Gain_SW
• Set up the gain changeover command.
0: Select 1st gain; 1: Select 2nd gain
• This signal is enabled when real-time auto tuning is disabled, 2nd gain is enabled, and gain switching
through RTEX communication is enabled.
▪ See section 4-2-3-2 for details.
TL_SW
Homing_Ctrl
Hard_Stop
• Use this to control homing operation.
• When this bit is at 1, the servo driver will detect the home reference trigger signal (e.g. Z-phase).
• This signal will be invalid except homing command.
▪ See section 7-2 for details.
• In the profile control (PP) mode, immediately stop the internal command generation process and end the
profile operation.
▪ See section 6-8-4 for details.
Smooth_Stop
• In the profile control (PP) mode, start and continue deceleration at the preset deceleration rate to fully
stop the profile operation.
▪ See section 6-8-4 for details.
Pause
• In the profile control (PP) mode, start and continue deceleration at the preset deceleration rate to pause
the profile operation.
▪ See section 6-8-4 for details.
SL_SW
EX-OUT2
EX-OUT1
R2.0
• Set up the torque limit switching command.
• This signal is enabled when Pr.5.21 “2nd torque limit” is set to 3 or 4.
▪ See section 4-2-3-3 for details.
• Set up the speed limit switching command when controlling the torque (CT).
• This signal is valid when parameter Pr.3.17 “Selection of speed limit” is set to 1.
▪ See section 4-2-3-4 for details.
• Select the external output signal RTEX operation output (EX-OUT1/EX-OUT2).
0: Output transistor is OFF; 1: Output transistor is ON
• This signal is enabled when RTEX operation output (EX-OUT1/EX-OUT2) is assigned to interface
connector X4.
• This signal does not affect the servo control.
▪ See section 4-2-3-5 for details.
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 32 -
4-2-3-1 Servo_On/off command (Servo_on)
Use this command to energize (servo on)/de-energize (servo off) the motor.
• When external servo on input (EX-SON) is assigned, the servo-on command for servo control process is enabled as
both external servo on input (EX-SON) and this bit are in servo on state.
When the external servo-on input (EX-SON) is not assigned, only this bit is enabled.
In case of pin assignment, basically same function shall be assigned to one terminal under any types of control mode.
External servo-on input
(EX-SON)
AND
Servo-on command for
servo-on control processing
RTEX servo-on command
(Servo_On)
<RTEX communication: External servo-on input (EX-SON) is assigned>
• Servo-on command cannot be used, if the servo is not ready for operation (in alarm condition or main power source is
off ), or motor is running (at 30 r/min or higher).
Servo-ready condition can be verified by checking Byte 2, bit 6 (Servo_Ready) in the response.
• During servo off (clearing positional deviation), the command position in the servo driver follows up the actual motor
position to minimize the positional deviation to 0. Therefore, to start CP control (cyclic position control) after servo is
on, re-set the coordinate system of the host controller with servo-off state, set the actual position value to the
command position, and then transmit the servo-on command. For detailed description, refer to Section 7-1-1.
• When the servo is turned off while the profile position control system is operating (In_Progress = 1), the profile
process is canceled.
• During servo off, servo internal process remains position control even if cyclic command is CV/CT.
n Instructions for use of the setup support software PANATERM
• When running “test run function” or “frequency response analyzing function (FFT)” by using the setup support
software PANATERM issues servo-on command. This command is also enabled when the external servo-on
(EX-SON) is assigned. If the external servo-on (EX-SON) is not assigned, only the servo-on command from the setup
support software PANATERM is enabled.
External servo-on input
Servo-on command for
(EX-SON)
AND
servo-on control processing
Servo-on command
by the setup
support software
PANATERM
<When the setup support software PANATERM is used: external servo-on input (EX-SON) is assigned>
• While running “test run function” or “frequency response analyzing function (FFT)” RTEX communication cannot be
used (should be previously turned off).
• Monitor value of servo-on input state on the setup support software PANATERM is “servo-on command to servo
control process”.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 33 -
4-2-3-2 Gain switching command (Gain_SW)
Class
1
No. Attribute
14
B
Title
Range
2nd gain setup
0–1
Unit
Description
-
Arrange this parameter when performing optimum adjustment
by using the gain switching function.
0: Fixed to 1st gain. Velocity loop operation is set to PI or P
depending on the control bit Gain_SW of RTEX
communication.
Gain_SW = 0 -> PI operation
Gain_SW = 1 -> P operation
1: Enable gain switching of 1st gain (Pr.1.00–Pr.1.04) and 2nd
gain (Pr.1.05–Pr.1.09).
The gain can be changed by using Gain_SW provided that the real time auto-gain tuning is disabled, 2nd gain is
enabled and gain switching through RTEX communication is enabled.
0: Select 1st gain
1: Select 2nd gain
Parameter to be set up
Setting value
Description
Pr.0.02
Real-time auto-gain tuning setup
0
Disable real-time auto-gain tuning
Pr.1.14
2nd gain setup
1
Enable 1st/2nd gain switching
Disable P/PI control switching
Pr.1.15
Mode of position control switching
2
Gain switching through RTEX communication (Gain_SW)
Pr.1.20
Mode of velocity control switching
2
Gain switching through RTEX communication (Gain_SW)
Pr.1.24
Mode of torque control switching
2
Gain switching through RTEX communication (Gain_SW)
Switching of velocity loop, P/PI control through Gain_SW is possible when real-time auto-gain tuning is disabled and
2nd gain is disabled.
0: PI control (enable velocity loop integral)
1: P control (clear velocity loop integral)
Parameter to be set up
R2.0
Setting value
Description
Pr.0.02
Real-time auto-gain tuning setup
0
Real-time auto-gain tuning function is disabled.
Pr.1.14
2nd gain setup
0
Enable 1st/2nd gain switching
Disable P/PI control switching
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 34 -
4-2-3-3 Torque limit switching command (TL_SW)
Torque limit can be selected from TL_SW when Pr.5.21 “Selection of torque limit” setting value is 3 or 4.
Note that during torque control, the switching function is disabled and Pr.0.13 “1st torque limit” is enabled.
Class
No. Attribute
Title
Range
Unit
Description
You can set up the torque limiting method
TL_SW = 0
TL_SW = 1
Setup
Negative
Positive
Negative
Positive
value
direction direction direction direction
1
5
21
B
Selection of
torque limit
2
0–4
–
3
Pr.0.13
Pr.5.22
Pr.0.13
Pr.0.13
Pr.5.22
Pr.0.13
Pr.5.22
4
Pr.5.22
Pr.0.13
Pr.5.26
Pr.5.25
▪ Pr.0.13 “1st torque limit”, Pr.5.22 “2nd torque limit”,
Pr.5.25 “External input positive direction torque limit”,
Pr.5.26 “External input negative direction torque limit”
When 0 is set, 1 will be internally set.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 35 -
4-2-3-4 Speed limit switching command (SL_SW)
When the setting value of Pr.3.17 “Selection of speed limit” is 1, the speed limit value during torque controlling can
be selected from SL_SW.
Class
3
No. Attribute
17
B
Title
Selection of
speed limit
Range
Unit
Description
Set the speed limit value selection method for torque
controlling.
Setup value
SL_SW = 0
SL_SW = 1
0–1
–
0
1
3
3
R2.0
21
22
B
B
Speed limit
value 1
Speed limit
value 2
020000
020000
Pr.3.21
Pr.3.21
Pr.3.22
r/min
Set the speed limit value for torque controlling.
During torque controlling, the speed set by the speed limit
value will not be exceeded.
The internal value is limited by the smallest setting speed of
Pr 5.13 “Over-speed level setup”, Pr 6.15 “2nd over-speed
level setup“ and internal value of the over-speed protection
level.
r/min
When Pr.3.17 “Selection of speed limit” = 1, set the speed
limit value as specified by SL_SW = 1.
The internal value is limited by the smallest setting speed of
Pr 5.13 “Over-speed level setup”, Pr 6.15 “2nd over-speed
level setup“ and internal value of the over-speed protection
level.
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 36 -
4-2-3-5 External output signal operation instruction (EX-OUT 1/2)
The external output signal S01 and S02 from the interface connector (X4) can be controlled by assigning RTEX
operation output 1 (EX-OUT 1) and RTEX operation output 2 (EX-OUT 2) to these signals.
State of the output transistor of RTEX operation output 1 (2) is as shown below: after establishment of RTEX, before
establishment of RTEX communication after resetting and shutoff after establishment of RTEX. Note that control bit
cannot be used for controlling through RTEX communication if RTEX communication is not established after
resetting or if shutoff occurs after establishment of RTEX. Safety of the system should be taken into consideration
when setting the system.
Class
No.
Attribute
Title
Range
Unit
7
24
C
RTEX function
expansion
setup 3
-32768
-32767
-
Signal
Symbol
Pr.7.24 RTEX
function
expansion setup
3
Description
bit0: Setup EX-OUT 1 output state during communication cutoff
after establishment of RTEX communication.
0: Hold
1: Initialize (output when EX-OUT 1 = 0)
bit1: Setup EX-OUT 2 output state during communication cutoff
after establishment of RTEX communication.
0: Hold
1: Initialize (output when EX-OUT 2 = 0)
State of output transistor
RTEX control
bit
Communication
Communication
Reset
established
blocked
EX-OUT1 = 0
OFF
EX-OUT1 = 1
ON
EX-OUT1 = 0
OFF
bit0 = 0
(Hold)
RTEX operation
output 1
EX-OUT1 = 1
ON
EX-OUT2 = 0
OFF
EX-OUT2 = 1
ON
EX-OUT2 = 0
OFF
EX-OUT2 = 1
ON
bit1 = 0
(Hold)
OFF
OFF
OFF
Hold
OFF
OFF
EX-OUT2
bit1 = 1
(Initialize)
R2.0
Hold
EX-OUT1
bit0 = 1
(Initialize)
RTEX operation
output 2
OFF
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 37 -
4-3 Data block in response (16-byte/32-byte)
Response will be transmitted from the slave (servo driver) to the master (host controller).
Byte
bit 7
0
C/R(1)
bit 6
bit 5
bit 4
bit 3
1
CMD_Error
2
Servo
_Active
Servo
_Ready
Alarm
Warning
Torque
_Limited
Homing
_Complete
3
E-STOP
SI-MON4
/EX-SON
SI-MON3
/EXT3
SI-MON2
/EXT2
SI-MON1
/EXT1
HOME
Update_Counter_Echo
bit 2
bit 1
Command_Code_Echo
In_Progress
4
5
6
bit 0
Actual_MAC-ID (0–31)
/AC_OFF
POT
/NOT
In_Position
NOT
/POT
L
ML
Response_Data1
MH
7
H
8
L
9
10
ML
Response_Data2
MH
11
H
12
L
13
14
ML
Response_Data3
MH
15
H
Notes: • Command code at command data block defines the contents from byte 4 to byte 15.
• Disposition of multiple byte data is little endian, which means that lower byte is first.
• Replies 0 at unused bits.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 38 -
4-3-1 Command_Code_Echo and Response_Data (Response byte 1, 4 to 15)
Byte
bit 7
1
CMD_Error
bit 5
bit 4
bit 3
4–7
Response_Data1
Response_Data2
12–15
Response_Data3
CMD_Error
Command_Code_Echo
bit 2
bit 1
bit 0
Command_Code_Echo
8–11
Title
R2.0
bit 6
Description
• Return 1 at the command error occurred.
Set to 1 when an error occurs upon receiving the command (before processing it).
• Return the echo-back value of command code.
Response_Data1
• Return the monitor data specified by Pr.7.29 “RTEX monitor select 1”.
Specify the monitor data by setting monitor command Standard Type_Code (8-bit) to Pr.7.29.
For Standard Type_Code details, refer to clause 6-9-1.
When Pr.7.29 = 0, actual position (New Type_Code = 07h) is returned as compatibility with
MINAS-A4N .
• Arrangement of byte data is little endian, which means that lower byte is first.
Response_Data2
• Return the response data specified by non-cyclic command code.
• When non-cyclic command code is 0h (normal command), returns the monitor data specified in
Pr.7.30 “RTEX monitor select 2”.
Specify the monitor data by setting monitor command Standard Type_Code (8-bit) to Pr.7.30.
For Standard Type_Code details, refer to clause 6-9-1.
When Pr.7.30 = 0, actual speed (New Type_Code = 05h) is returned as compatibility with
MINAS-A4N.
• Arrangement of byte data is little endian, which means that lower byte is first.
Response_Data3
• Return the response data specified by non-cyclic command code.
• When non-cyclic command code is 0h (normal command), returns the monitor data specified in
Pr.7.31 “RTEX monitor select 3”.
Specify the monitor data by setting monitor command Standard Type_Code (8-bit) to Pr.7.31.
For Standard Type_Code details, refer to clause 6-9-1.
When Pr.7.31 = 0, torque (New Type_Code = 06h) is returned as compatibility with MINAS-A4N.
• Arrangement of byte data is little endian, which means that lower byte is first.
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 39 -
4-3-2 Response header (Response byte 0)
Byte
bit 7
0
C/R(1)
Title
C/R
Update_Counter_Echo
Actual_MAC-ID
R2.0
bit 6
bit 5
bit 4
bit 3
Update_Counter_Echo
bit 2
bit 1
bit 0
Actual_MAC-ID (0–31)
Description
• C/R bit distinguish command and response.
• Return 1 as a response.
• Return the echo-back value of Update_Counter.
• Use this to check whether the drive has received properly.
• Return the node address of the servo driver.
• This is not echo-back, but actual value that is the setup of the RSW at power-up.
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 40 -
4-3-3 Status flag (Response byte 2)
Byte
bit 7
bit 6
2
Servo
_Active
Servo
_Ready
bit 5
Alarm
bit 4
bit 3
bit 2
bit 1
bit 0
Warning
Torque
_Limited
Homing
_Complete
In_Progress
/AC_OFF
In_Position
Title
Servo_Active
• Return 1 at Servo-ON state (motor energized).
• Also becomes servo-off state during deceleration with dynamic brake.
• In case of Pr7.24 “RTEX function extended setup 3” bit4=1, the Servo_Active flag forcibly returns the
servo OFF (non-energized) state until it becomes possible to accept commands after servo ON.
Servo_Ready
• Return 1 at Servo-Ready (transitionable to Servo-ON) state.
• Becomes 1 when all of the 3 conditions are satisfied, “Main power established”, “No alarm
occurrence” and “Synchronization between the servo and the communication established”.
For details, refer to Section 4-3-3-1.
Alarm
• Return 1 at alarm occurrence
Warning
• Return 1 at warning occurrence
• Determine whether to latch the warning state by the setting of Pr.6.27 “Warning latch state setup”. For
details, refer to technical reference, SX-DSV03077 “Section 7-3”, Functional Specification.
Torque_Limited
• Return 1 at torque limited.
• Set to 1 when the internal torque command is limited by a parameter, etc.
• Output condition during torque control can be set by Pr.7.03 “Setting output during torque limit”. For
details, refer to technical reference, SX-DSV03077 “Section 6-1”, Functional Specification.
Homing_Complete
• Return 1 at homing operation completed (except the latch mode) and holds 1 after that (secure home
position).
• Clears to 0 at reception of homing command (except the latch mode).
• Set at 1 when in the absolute mode (using absolute encoder with absolute), because the home position
is determined upon turning on of control power: set at 0 in the incremental mode.
• As with in the case of turning on of the control power, the position information and this bit are also
initialized as the reset command (¨1h) is executed.
• When the control power is turned on after executing “Trial run function”, “Frequency response
analyzing function (FFT function)” or “Absolute encoder multi-turn clear” from the setup support
software PANATERM, the value is initialized to the value that will be obtained by executing the reset
command, but the state of this bit remains unchanged. Repeat the homing process (reset control power
when absolute clear has been done).
In_Progress
/AC_OFF
• During setting of In_Progress and in profile position control (PP) mode, returns 1 while internal
command position is being generated, and returns 0 upon completion of the internal command position
generation (transfer out).
• Return 1 upon occurrence of main power off alarm during AC_OFF setting.
For the read signal selection method, see 4-3-3-2.
In_Position
R2.0
Description
• The function of flag depends on the control mode as shown below.
Function
Control mode
Description
Positioning
Position
• Return 1 upon completion of homing.
complete
control
• As with for positioning complete output (INP, external output
(CP, PP)
signal), set the output condition through parameters Pr.4.31
“”Positioning complete range, Pr.4.32 “Positioning complete
output setup” and Pr.4.33 INP hold time.
For details, refer to Technical Reference, SX-DSV03077 “Section
4-2-4”, Functional Specification.
Velocity
Velocity
• Return 1 when the motor actual speed and command velocity are
coincidence
control
the same.
(CV)
• As with for the speed coincidence output (V-COIN) (external
output signal), set the output condition through Pr.4.35 “Speed
coincidence range”.
For details, refer to Technical Reference, SX-DSV03077 “Section
4-3-2”, Functional Specification.
Torque
• Return 1 when the motor actual speed and the speed limit value
control
are the same.
(CT)
• Set the output condition through Pr.4.35 “Speed coincidence range”.
For details, refer to Technical Reference, SX-DSV03077 “Section
4-3-2”, Functional Specification.
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 41 -
4-3-3-1 Servo Ready state (Servo_Ready)
Return 1 at Servo-Ready (transitionable to Servo-ON) state.
• Becomes 1 when all of the 3 conditions are satisfied, “Main power established”, “No alarm occurrence” and
“Synchronization between the servo and the communication established”.
Main power established
No alarm occurrence
AND
Servo-Ready state
(transitionable to Servo-ON)
Synchronization between the
servo and the communication
• If the ratio of communication cycle and command updating cycle is not 1:1, in the inter-axis semi- synchronous
mode (Pr.7.22 bit 1 = 0), or if TMG_CNT is not correctly counted up in the inter-axis full-synchronous mode
(Pr.7.22 bit 1 = 1), servo-ready state is not possible.
• As an exceptional processing, during processing of reset command, in attribute C parameter validation mode, the
value is left undefined.
4-3-3-2 Internal position command generation state (In_Progress)/main power off alarm state (AC_OFF)
Using bit 8 of Pr.7.23 “RTEX function expansion setup 2”, select the signal to which bit 1 of status flag is to be
assigned.
R2.0
Class
No.
Attribute
Title
Range
Unit
7
23
B
RTEX function
expansion
setup 2
-32768
-32767
-
Description
[bit 8] RTEX status select by In_Progress/AC_OFF
0: In_Progress, 1: AC_OFF
▪ For description on other bits, refer to Technical reference,
SX-DSV03077 “Section 8-1”, Functional Specification.
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 42 -
4-3-4 Input signal status flag (Response byte 3)
Byte3 at Response is the status area of the external input signal from the interface connector, (X4).
Byte
bit 7
bit 6
bit 5
bit 4
bit 3
bit 2
bit 1
bit 0
3
SI-MON5
/E-STOP
SI-MON4
/EX-SON
SI-MON3
/EXT3
SI-MON2
/EXT2
SI-MON1
/EXT1
HOME
POT
/NOT
NOT
/POT
• On MINAS-A6N, 8 external input connection terminals are provided to which functions and logics may be assigned
individually. For details, refer to Technical Reference, SX-DSV03077 “Section 2-4-1”, Functional Specification.
• When function is not assigned to a terminal, corresponding bit in this status flag is set to 0.
A terminal can be assigned with 2 or more functions, but only 1 per control mode. However, this is confusion because
some functions are enabled and some are disabled upon changing control modes: Ideally, functions allocated to a
terminal should be common to all control modes.
• Because the following pair of designations are assigned to the same bit position, only one of designations can be
selected: SI-MON1/EXT1, SI-MON2/EXT2, SI-MON3/EXT3, SI-MON4/EX-SON and SI-MON5/E-STOP. If
attempt is made to allocate 2 or more functions to the same bit, Err.33.0 “I/F input multiple allocation error 1 protect”
or Err.33.1 “I/F input multiple allocation error 2 protect” will be enabled.
• This status returns the logical status (1: function active) but not physical status (input transistor ON/OFF state).
However, status of driver inhibit input (POT/NOT) can be logically set.
• EXT1, EXT2 and EXT3 indicate the state of input signal but not complete state of latch.
• For driver inhibit input (POT/NOT), status response condition, status bit arrangement and status logic can be set as
shown below while the function is disabled (Pr.5.04 = 1), through the parameter Pr.7.23 “RTEX function extended
setup 2”.
Because CCWL and CWL used on MINAS-A4N series are changed to POT and NOT, respectively, on MINAS-A6N
series, correctly set this parameter and Pr.0.00 Rotating direction setup to make the functions effective on
MINAS-A4N. For details, refer to Technical Reference, SX-DSV03077 “Section 4-1”, Functional Specification.
Class
7
No. Attribute
23
B
Title
RTEX function
extended setup 2
Range
-32768
–32767
Unit
–
Description
[bit 2] Set RTEX status response condition when POT/NOT
function is disabled Pr.5.04 = 1.
0: Enable in terms of RTEX status (response)
1: Disable in terms of RTEX status (not response =
normally 0)
[bit 3] POT/NOT RTEX status bit arrangement set up
0: POT at bit 1; NOT at bit 0
1: NOT at bit 1; POT at bit 0
[bit 6] POT/NOT RTEX status logic set up
0: No inversion (active 1)
1: Inversion (active 0)
▪ For description on other bits, refer to Technical reference,
SX-DSV03077 “Section 8-1”, Functional Specification.
• Noise filtering process is performed when capturing the input signals within the servo driver, and this causes some
detection delay. Total delay time including the transmission delay in communication will be several ms. If this delay
time gives inconvenience, provide the system that directly connects the sensor signal to host controller.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 43 -
4-4 Command data block of sub-command (only for 32-byte mode)
Sub-command is transferred from the master (host controller) to the slave (servo driver).
Byte
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
bit7
Sub_Chk
bit6
0
bit5
0
bit4
bit3
0
Sub_Type_Code
bit2
bit1
Sub_Command_Code
bit0
Sub_Index
L
ML
MH
H
L
ML
MH
H
L
ML
MH
H
Sub_Command_Data1
Sub_Command_Data2
Sub_Command_Data3
Notes: • Specify the arrangement of Byte 17 to Byte 23 by using Byte 16 sub-command codes.
• Arrangement of data bytes is little endian which means that lower byte is first.
• Set unused bit to 0.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 44 -
4-4-1 Sub-command code and sub-command argument (Command bytes 16 to 31)
Byte
16
17
18-19
20-23
24-27
28-31
bit7
Sub_Chk
bit6
0
bit5
0
Title
Sub_Chk
Sub_Command_Code
bit4
bit3
0
Sub_Type_Code
Sub_Index
Sub_Command_Data1
Sub_Command_Data2
Sub_Command_Data3
bit2
bit1
Sub_Command_Code
bit0
Description
• Used to check whether a sub-command frame or not.
• Be sure to set to 1.
• If this bit is 0 in the 32-byte mode, Err.86.0 “RTEX cyclic data error protection 1” will occur.
• Used to set sub-command code.
• Fundamental function is the same as that of equivalent non-cyclic command.
Below shows corresponding non-cyclic command (sub-command).
Sub-command code
Name of sub-command
0h
Normally
2h
System ID
Ah
Monitor
Sub_Type_Code
• Set the command data to be specified by sub-command code.
Sub_Index
• Set the command data to be specified by sub-command code.
Sub_Command_Data1
• Set the command data to be specified by sub-command code.
Sub_Command_Data2
• Set the data (Feed forward data) selected through Pr.7.36 “RTEX command setup 2”.
See 7-7 for details.
Sub_Command_Data3
• Set the data (Feed forward data) selected through Pr.7.37 “RTEX command setup 3”.
See 7-7 for details.
For details of the sub-commands, refer to Chapter 6.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 45 -
4-5 Response data block of sub-command (only for 32-byte mode)
Response of sub-command is transferred from the slave (servo driver) to master (host controller).
Byte
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
bit7
Sub_
CMD_Err
bit6
bit5
bit4
Sub_ERR
Sub_WNG
Sub_Busy
bit3
bit2
bit1
bit0
Sub_Command_Code_Echo
Sub_Type_Code_Echo
Sub_Index_Echo
L
ML
MH
H
L
ML
MH
H
L
ML
MH
H
Sub_Response_Data1
Sub_Response_Data2
Sub_Response_Data3
Notes: • Specify the arrangement of Byte 17 to Byte 23 by using Byte 16 sub-command codes.
• Arrangement of data bytes is little endian which means that lower byte is first.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 46 -
4-5-1 Sub-command code echo and response data (Command bytes 16 to 31)
Byte
16
bit7
Sub_
CMD_Err
17
18-19
20-23
24-27
28-31
bit6
bit5
bit4
Sub_ERR
Sub_WNG
Sub_Busy
bit2
bit1
bit0
Sub_Command_Code_Echo
Sub_Type_Code_Echo
Sub_Index_Echo
Sub_Response_Data1
Sub_Response_Data2
Sub_Response_Data3
Title
Sub_CMD_Err
Description
• Return 1 upon sub-command error.
Set this bit to 1 when error occurs upon receiving the sub-command (before executing it).
Sub_ERR
• Indicates the state of the sub-command error.
Set this bit to 1 when error occurs while processing after receiving the sub-command.
Sub_WNG
• Indicates the state of the sub-command error.
Set this bit to 1 when problem is found after processing the command.
Sub_Busy
• Indicates the state of the sub-command error.
Remain this bit at 1 while processing the command.
Sub_Command_Code_Echo
Sub_Type_Code_Echo
Sub_Index_Echo
R2.0
bit3
• Return echo back value of Sub_Command_Code.
• Return echo back value of Sub_Type_Code.
• Return echo back value of Sub_Index.
Sub_Response_Data1
• Return the response data specified by sub command code.
• Return the monitor data specified through Pr.7.32 “RTEX monitor select 4” when the sub-command code is 0h
(normal command).
Specify the monitor data by setting monitor command Standard Type_Code (8 bits) to Pr.7.32. For Standard
Type_Code details, refer to 6-9-1.
Return 0 when Pr.7.32 = 0.
• Arrangement of data bytes is little endian which means that lower byte is first.
Sub_Response_Data2
• Return the monitor data specified by Pr.7.33 “RTEX monitor select 5”.
Specify the monitor data by setting monitor command Standard Type_Code (8 bits) to Pr.7.33. For Standard
Type_Code details, refer to 6-9-1.
Return 0 when Pr.7.33 = 0.
• Arrangement of data bytes is little endian which means that lower byte is first.
Sub_Response_Data3
• Return the monitor data specified by Pr.7.34 “RTEX monitor select 6”.
Specify the monitor data by setting monitor command Standard Type_Code (8 bits) to Pr.7.34. For Standard
Type_Code details, refer to 6-9-1.
Return 0 when Pr.7.34 = 0.
• Arrangement of data bytes is little endian which means that lower byte is first.
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 47 -
5. Cyclic Command Description
5-1 Cyclic command list
Cyclic command requires no transfer procedure. That is, when received, it directly reflects on the control.
The cyclic command selects the control mode in the servo driver.
For relationship between the control mode and communication cycle/command updating cycle, refer to Section 2-5.
Control mode
NOP
Profile Position Mode
Cyclic Position Mode
Cyclic Velocity Mode
Cyclic Torque Mode
R2.0
Abbreviation
NOP
PP
CP
CV
CT
Command
_Code
Description
00h
For temporary transmission of invalid data
immediately after establishment of the network.
Never use this command for any other purpose.
Upon receiving this command, control is performed
based on the previously received command.
1£h
In this control mode, the target position, target
speed and acceleration/deceleration speed
(parameters) are specified and the position
command is generated in the servo driver.
For the operation command update (transmission),
input when approx. 100 ms has elapsed after the
servo ON.
2£h
In this mode, the host controller generates the
position command and updates it (or transmits
updated command) at the command updating cycle.
For the operation command update (transmission),
input when approx. 100 ms has elapsed after the
servo ON.
3£h
In this mode, the host controller generates the
velocity command and updates it (or transmits
updated command) at the communication cycle.
For the operation command update (transmission),
input when approx. 100 ms has elapsed after the
servo ON.
4£h
In this mode, the host controller generates the
torque command and updates it (or transmits
updated command) at the communication cycle.
For the operation command update (transmission),
input when approx. 100 ms has elapsed after the
servo ON.
* When this command is received in Block
Diagram of Tow-degree-of-freedom Mode, it
causes the command error.
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 48 -
5-2 NOP command (Command code: 0£h)
This is for the temporary transmission of invalid data after the network has been established.
Never use this command for any other purpose.
The servo driver will control based on the previous command.
Control bits (Byte 2–3) are also invalid (previous data is retained).
If NOP command is transmitted in servo-on state, the control bit is disabled, inhibiting servo off.
Byte
0
Non-cyclic
Cyclic
1
Command
bit7
6
5
4
3
2
1
C
Update_Counter
MAC-ID
(0)
TMG_
Command_Code (00h)
CNT
2
3
4
5
6
7
8
9
10
11
12
13
14
15
0
0
1
Optional
L
ML
MH
H
L
ML
MH
H
L
ML
MH
H
<Command_Data1>
Optional
<Command_Data2>
Optional
<Command_Data3>
Optional
Title
<Response_Data1>
Actual_Position
(APOS)
<Response_Data2>
Actual_Speed
(ASPD)
Command
–
<Response_Data3>
Torque
(TRQ)
–
Byte
–
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Response
bit7
6
5
4
3
2
1
R Update_Counter
Actual_MAC-ID
(1)
_Echo
CMD_
Command_Code_Echo (00h)
Error
0
Status_Flags
<Response_Data1>
Default: Actual_Position (APOS)
[Command unit]
<Response_Data2>
Default: Actual_Speed (ASPD)
[Command unit/s] or [r/min]
<Response_Data3>
Default: Torque (TRQ)
[0.1%]
L
ML
MH
H
L
ML
MH
H
L
ML
MH
H
Response
Default: Motor actual position
[Size]: Signed 32-bit
[Unit]: Command unit
Default: Motor actual speed
[Size]: Signed 32-bit
[Unit]: Setting value of Pr.7.25 RTEX speed unit setup
Pr.7.25
Unit
0
[r/min]
1
[Command unit/s]
Default: Instruction torque to motor
[Size]: Signed 32-bit
[Unit]: 0.1%
▪ For selection method of Response_Data 1/2/3, see 4-3-1.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 49 -
5-3 Profile position control (PP) command (Command code: 1£h)
In this position control mode, the target position, target speed and acceleration/deceleration speed are specified and the
servo driver internally generates the position command.
For the operation command update (transmission), input when approx. 100 ms has elapsed after the servo ON.
Upon receiving this command, the servo driver switches the internal control mode to the position control.
For detailed block diagram of the position control, refer to Technical Reference, SX-DSV03077 “Section 5-2-1”,
Functional Specification.
Command position
RTEX
communication
Target position
Position command
Generation & process
Position
control
section
Velocity
control
section
Torque
control
section
Target speed
Acceleration (parameter)
Motor/
Encoder
Deceleration (parameter)
Byte
0
Non-cyclic
Cyclic
1
Command
bit7
6
5
4
3
2
1
C
Update_Counter
MAC-ID
(0)
TMG_
Command_Code (1¨h)
CNT
2
3
4
5
6
7
8
9
10
11
12
13
14
15
0
0
1
Control_Bits
<Command_Data1>
Target_Position (TPOS)
[Command unit]
<Command_Data2>
Dependent on non-cyclic command
<Command_Data3>
Dependent on non-cyclic command
Byte
L
ML
MH
H
L
ML
MH
H
L
ML
MH
H
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Title
Command
<Command_Data1> Target position (absolute position)
Target_Position
[Size]: Signed 32-bit
(TPOS)
[Unit]: Instruction unit
[Setting range]: 80000000h-7FFFFFFFh
(-2147483648 to 2147483647)
<Response_Data1>
Actual_Position
(APOS)
* When the single-turn absolute function is effective
(Pr0.15=3)
[Setting range]: Refer to Technical Reference,
SX-DSV03077 “Section 6-2-2”, Function
Specification
–
Response
bit7
6
5
4
3
2
1
R Update_Counter
Actual_MAC-ID
(1)
_Echo
CMD_
Command_Code_Echo (1¨h)
Error
0
Status_Flags
<Response_Data1>
Default: Actual_Position (APOS)
[Command unit]
<Response_Data2>
Dependent on non-cyclic command
<Response_Data3>
Dependent on non-cyclic command
L
ML
MH
H
L
ML
MH
H
L
ML
MH
H
Response
–
Default: Actual position of motor
[Size]: Signed 32-bit
[Unit]: Instruction unit
▪ For selection method of Response_Data 1, see 4-3-1.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 50 -
5-4 Cyclic position control (CP) command (Command code: 2£h)
In this position control mode, the host controller generates the position command and updates it (or transmits updated
command) at the command updating cycle.
For the operation command update (transmission), input when approx. 100 ms has elapsed after the servo ON.
Upon receiving this command, the servo driver switches the internal control mode to the position control.
For detailed block diagram of the position control, refer to Technical Reference, SX-DSV03077 “Section 5-2-1”,
Functional Specification.
RTEX
communication
command position
Target
position
Position command
Generation & process
Position
control
section
Velocity
control
section
Torque
control
section
Target speed
Acceleration (parameter)
Motor/
Encoder
Deceleration (parameter)
Byte
0
Non-cyclic
Cyclic
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Command
bit7
6
5
4
3
2
1
C
Update_Counter
MAC-ID
(0)
TMG_
Command_Code (2¨h)
CNT
0
0
1
Control_Bits
<Command_Data1>
Target_Position (CMD_POS)
[Command unit]
<Command_Data2>
Dependent on non-cyclic command
<Command_Data3>
Dependent on non-cyclic command
Byte
L
ML
MH
H
L
ML
MH
H
L
ML
MH
H
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Title
Command
<Command_Data1> Target position (absolute position)
Target_Position
[Size]: Signed 32-bit
(TPOS)
[Unit]: Instruction unit
[Setting range]: 80000000h-7FFFFFFFh
(-2147483648 to 2147483647)
* When the single-turn absolute function is effective
(Pr0.15=3)
[Setting range]: Refer to Technical Reference,
SX-DSV03077 “Section 6-2-2”, Function
Specification
<Response_Data1>
–
Actual_Position
(APOS)
Response
bit7
6
5
4
3
2
1
R Update_Counter
Actual_MAC-ID
(1)
_Echo
CMD_
Command_Code_Echo (2¨h)
Error
0
Status_Flags
<Response_Data1>
Default: Actual_Position (APOS)
[Command unit]
<Response_Data2>
Dependent on non-cyclic command
<Response_Data3>
Dependent on non-cyclic command
L
ML
MH
H
L
ML
MH
H
L
ML
MH
H
Response
–
Default: Actual position of motor
[Size]: Signed 32-bit
[Unit]: Instruction unit
▪ For selection method of Response_Data 1, see 4-3-1.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 51 -
5-5 Cyclic velocity control (CV) command (Command code: 3£h)
In this velocity control mode, the host controller generates the command velocity and updates it (or transmits updated
command) at the communication cycle.
For the operation command update (transmission), input when approx. 100 ms has elapsed after the servo ON.
Upon receiving this command, the servo driver switches the internal control mode to velocity control.
For details of velocity control block diagram, refer to Technical Reference, SX-DSV03077 “Section 5-2-2”,
Functional Specification.
RTEX
communication
command speed
Target
position
Position command
Generation & process
Position
control
section
Velocity
control
section
Torque
control
section
Target speed
Acceleration (parameter)
Motor/
Encoder
Deceleration (parameter)
Byte
0
Non-cyclic
Cyclic
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Command
bit7
6
5
4
3
2
1
C
Update_Counter
MAC-ID
(0)
TMG_
Command_Code (3¨h)
CNT
0
0
1
Control_Bits
<Command_Data1>
Target_Position (CSPD)
[Command unit/s] or [r/min]
<Command_Data2>
Dependent on non-cyclic command
<Command_Data3>
Dependent on non-cyclic command
L
ML
MH
H
L
ML
MH
H
L
ML
MH
H
Title
Command
<Command_Data1> Instruction speed
Command_Speed [Size]: Signed 32-bit
(CSPD)
[Unit]: Setting value of Pr.7.25 RTEX speed unit setup
Pr.7.25
Unit
0
Byte
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Response
bit7
6
5
4
3
2
1
R Update_Counter
Actual_MAC-ID
(1)
_Echo
CMD_
Command_Code_Echo (3¨h)
Error
0
Status_Flags
<Response_Data1>
Default: Actual_Position (APOS)
[Command unit]
<Response_Data2>
Dependent on non-cyclic command
<Response_Data3>
Dependent on non-cyclic command
L
ML
MH
H
L
ML
MH
H
L
ML
MH
H
Response
–
[r/min]
1
[Command unit/s]
[Setting range]: - motor maximum speed to motor maximum
speed
<Response_Data1>
–
Default: Actual position of motor
Actual_Position
[Size]: Signed 32-bit
(APOS)
[Unit]: Command unit
▪ For selection method of Response_Data 1, see 4-3-1.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 52 -
5-6 Cyclic torque control (CT) command (Command code: 4£h)
In this torque control mode, the host controller generates the command torque and updates it (or transmits updated
command) at the communication cycle.
For the operation command update (transmission), input when approx. 100 ms has elapsed after the servo ON.
Upon receiving this command, the servo driver switches the internal control mode to torque control.
For detailed torque control block diagram, refer to Technical Reference, SX-DSV03077 “Section 5-2-3”,
Functional Specification.
When this command is received in the two-degree-of-freedom control mode, it causes the command error.
RTEX
communication
command torque
Speed limit value (parameter)
Target
position
Position command
Generation & process
Position
control
section
Velocity
control
section
Torque
control
section
Target speed
Acceleration (parameter)
Motor/
Encoder
Deceleration (parameter)
Byte
0
Non-Cyclic
Cyclic
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Command
bit7
6
5
4
3
2
1
C
Update_Counter
MAC-ID
(0)
TMG_
Command_Code (4¨h)
CNT
0
0
1
Control_Bits
<Command_Data1>
Command_Torque (CTRQ)
[0.1%]
<Command_Data2>
Dependent on non-cyclic command
<Command_Data3>
Dependent on non-cyclic command
Byte
L
ML
MH
H
L
ML
MH
H
L
ML
MH
H
Title
Command
<Command_Data1> Instruction speed
Command_Torque [Size]: Signed 32-bit
(CTRQ)
[Unit]: 0.1%
[Setting range]: - motor maximum torque to motor
maximum torque
<Response_Data1>
–
Actual_Position
(APOS)
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Response
bit7
6
5
4
3
2
1
R Update_Counter
Actual_MAC-ID
(1)
_Echo
CMD_
Command_Code_Echo (4¨h)
Error
0
Status_Flags
<Response_Data1>
Default: Actual_Position (APOS)
[Command unit]
<Response_Data2>
Dependent on non-cyclic command
<Response_Data3>
Dependent on non-cyclic command
L
ML
MH
H
L
ML
MH
H
L
ML
MH
H
Response
–
Default: Actual position of motor
[Size]: Signed 32-bit
[Unit]: Command unit
▪ For selection method of Response_Data 1, see 4-3-1.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 53 -
6. Non-cyclic Command Description
6-1 Non-cyclic command list
Non-cyclic commands such as parameter set up are event driven type command.
For details of transmission protocol, refer to Chapter 3.
For details of operation, refer to 6-2 and subsequent sections.
Non-cyclic
command
code
Title
£0h
Normal
£1h
Description
Supporting
subcommand
Cyclic command (correspondence
relation with £ shown under
“non-cyclic command code”)
NOP
(0h)
PP
(1h)
CP
(2h)
CV
(3h)
CT
(4h)
Use this command for normal operation.
This command is reference non-cyclic command.
¡
¡
¡
¡
¡
¡
Reset
Use this command to reset the servo driver, or to enable
attribute C parameter without resetting the servo driver.
-
p
¡
¡
¡
¡
£2h
System ID
Use this command to read the system ID of the servo
driver.
Information specified by Type_Code and Index will be
returned in ASCII code.
¡
p
¡
¡
¡
¡
£4h
Return to home
Use this command to start return to home operation, to
latch position information etc.
-
-
r
¡
r
r
£5h
Alarm
Use this to read an alarm code, to clear the current alarm
etc.
-
-
¡
¡
¡
¡
£6h
Parameter
Use this to read out or write parameter, to write to
EEPROM etc.
-
-
¡
¡
¡
¡
£7h
Profile
Use this to start operation in the profile position control
mode (PP).
-
-
¡
-
-
-
£Ah
Monitor
Use this to monitor position error, loading factor, etc.
¡
-
¡
¡
¡
¡
-
Command error
Response is returned if the servo driver cannot receive
an incomplete command, or Byte 1, bit 7 is 1.
-
-
-
-
-
-
Communication
error
The servo driver will send this response as it detects
communication error (CRC error).
Upon detecting the CRC error, servo driver will use the
previously received command for controlling.
(During CP controlling, command position is controlled
using estimated position.)
-
-
-
-
-
-
(FFh)
Response only
▪ ¡: Supported; r: Partially supported; p: Supported by the manufacturer (for specific applications only); –: Not supported
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 54 -
Compatible control mode
6-2 Normal command (Command code: £0h)
Command used for normal operation.
This command is also reference command of non-cyclic command.
NOP
PP
CP
CV
CT
™
™
™
™
™
n Main command: common to 16 byte and 32 byte mode
Byte
0
1
Command
bit7
6
5
4
3
2
1
C
Update_Counter
MAC-ID
(0)
TMG_
Command_Code (¨0h)
CNT
2
3
4
5
6
7
0
0
1
L
ML
MH
H
2
3
4
5
6
7
L
ML
MH
H
L
ML
MH
H
8
9
10
11
12
13
14
15
Control_Bits
Command_Data1
8
9
10
11
12
13
14
15
Command_Data2
Command_Data3
Byte
Response
bit7
6
5
4
3
2
1
R Update_Counter
Actual_MAC-ID
(1)
_Echo
CMD_
Command_Code_Echo (¨0h)
Error
0
Status_Flags
L
ML
MH
H
Response_Data1
L
ML
MH
H
L
ML
MH
H
Response_Data2
Response_Data3
n Sub-command: specific to 32 byte mode
Byte
bit7
16
Sub_
Chk
(1)
6
0
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
Title
Command_Data2
/Response_Data2
Command_Data3
/ Response_Data3
Sub_Type_Code
Sub_Index
Sub_Command_Data1
/Sub_Response_Data1
R2.0
5
0
Command
4
3
0
2
1
0
Sub_Command_Code
(0h)
Sub_Type_Code
Sub_Index
Sub_Command_Data1
Sub_Command_Data2
Sub_Command_Data3
Byte
bit7
6
5
16
Sub_
CMD_
Err
Sub_
ERR
Sub_
WNG
L
H
L
ML
MH
H
17
18
19
20
21
22
23
L
ML
MH
H
L
ML
MH
H
24
25
26
27
28
29
30
31
Command
Optional
Data specified by Pr.7.35 “RTEX command setup 1”
▪ For details, refer to Sections 7-7-1.
Optional
Optional
Optional
Response
4
3
2
1
0
Sub_ Sub_Command_Code_Echo
(0h)
Busy
Sub_Type_Code_Echo
Sub_Index_Echo
Sub_Response_Data1
Sub_Response_Data2
Sub_Response_Data3
L
H
L
ML
MH
H
L
ML
MH
H
L
ML
MH
H
Response
Data specified by Pr.7.30 “RTEX monitor select 2”
Data specified by Pr.7.31 “RTEX monitor select 3”
–
–
Data specified by Pr.7.32 “RTEX monitor select 4”
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 55 -
Compatible control mode
6-3 Reset Command (Command code: £1h)
Use this command to reset the servo driver, or to enable
attribute C parameter without resetting the servo driver.
NOP
PP
CP
CV
CT
p
™
™
™
™
<Precautions>
Before starting the reset command assure the safety: make sure that servo is off and apply brake to the
motor as necessary.
n Main command: common to 16 byte and 32 byte mode
Byte
0
Non-cyclic
Cyclic
1
bit7
6
5
C
Update_Counter
(0)
TMG_
CNT
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Command
4
3
2
1
0
Byte
MAC-ID
0
£1h
1
L
ML
MH
H
2
3
4
5
6
7
L
H
L
H
L
ML
MH
H
8
9
10
11
12
13
14
15
Control_Bits
Command_Data1
Type_Code
0
Index
(0)
Command_Data3
bit7
6
5
R Update_Counter
(1)
_Echo
CMD_
Error
Response
4
3
2
1
0
Actual_MAC-ID
£1h
Status_Flags
Response_Data1
ERR
WNG
Type_Code_Echo
0
Busy
Index_Echo
(0)
Monitor_Data
(0)
L
ML
MH
H
L
H
L
H
L
ML
MH
H
n Sub-command: specific to 32 byte mode
(Not supported): Cannot be used by a sub-command. Use only with the main command.
Title
Type_Code
/Type_Code_Echo
Command
Reset mode setup
Setting
value
001h
Index
/Index_Echo
Command_Data3
/Monitor_Data
R2.0
Response
Type_Code echo back value.
Description
Software reset mode
011h
Attribute C parameter validation mode
▪ For details, refer to Sections 6-3-1 and 6-3-2.
Set to 0
Data specified by Pr.7.35 “RTEX command setup 1”
▪ For details, refer to Sections 7-7-1.
Return 0
Return 0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 56 -
6-3-1 Software reset mode (Type_Code: 001h)
Use this mode when resetting (restarting) servo driver without turning off control power (software resetting).
Reset process has to be executed after confirming that the all of servo drivers have received reset command (£1h)
normally, because it is necessary to reset surely all servo drivers even if the communication error occurs.
For this purpose, the servo driver resets itself at transition from the reset command (£1h) to normal command (£0h).
If the communication error occurs at transition from the reset command to normal command, there might be case that
only some of the drivers can receive the normal command. In this case, the servo driver also resets itself if the
communication time-out has occurred in the condition that the last command was Reset command (£1h).
The following shows the procedures to reset servo drivers.
1) Change command code of all servo drivers from normal command (£0h) to Reset command (£1h). Also, be sure
to set Type_Code to 001h and Index and Setting_Data to 0.
2) Confirm that the value of Command Code Echo sent from all servo drivers is (£1h), and then return to normal
command (£0h).
3) The servo driver will start executing a reset process when normal command (£0h) has been received normally, or
when the communication time-out has occurred in the condition that the last received command was Reset
command (£1h).
4) Since there is no response from servo drivers due to the reset state, the master will detect the communication
time-out. When the time-out is detected, reset the RTEX communication IC and initialize the communication
again.
time
Command code to all
servo drivers
£0h
£1h
£0h
Td
Command code echoes
from all servo drivers
£0h
£1h
Return to normal
command (£0h)
after checking echoes
from all servo
drivers.
Reset process on the
servo drivers
Note: During resetting process, output signal (output transistor) is OFF.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 57 -
6-3-2 Attribute C parameter validation mode (Type_Code: 011h)
Use this mode when validating the changed parameter of attribute C after establishing communication without turning
off control power or resetting (software reset) servo driver.
When validating attribute C, it is not necessary to write this parameter to EEPROM before executing the command
(prewriting is optional).
Because the parameter of attribute R becomes effective only after resetting, it is not made effective by this command.
Reset the control power source or perform software reset (Type_Code = 001h). In this case, it is necessary to write the
parameter to EEPROM beforehand.
For attribution of a specific parameter, refer to Technical Reference, SX-DSV03077 “Section 8-1”,
Functional Specification.
• When this command is received in servo-on status, it causes the command error (0045h).
While processing the command, keep servo-off status. When servo is turned on (Servo_On = 1) during processing of
this command, Err. 27.7 “Position information initialization error protection” will occur.
• While executing this command, maintain this command and command argument (e.g. Type_Code).
• After execution of the command, all position information including actual position is initialized.
This means that return to home is not completed (provided not in absolute mode) and latch is not completed.
After successful completion of the command, repeat the return to home. Status and output signals during command
execution are as shown below.
Status/output signal
Before execution
Executing
After execution
Position information
Current position
information
Initialization
Information on the
current position with
reference to initialized
position *1)
Return to home status
Current status
Undefined
• Unfinished while
incrementing
• Finished in absolute
mode
Latch status
Current status
Undefined
Unfinished
Busy (non-cyclic status)
0
1
0
Other status
Current status
Undefined
Current status
Output signal
Current status
Undefined
Current status
*1) Information on position after initialization
<Incremental mode> All position information = 0
<Absolute mode>
All position information = Value of absolute encoder (scale)/electronic gear ratio +
Pr.7.13 “Absolute home position offset”
• While executing the command, do not run the setup support software PANATERM.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 58 -
Compatible control mode
6-4 System ID Command (Command code: £2h)
Use this when you read out the system ID of the servo driver.
Return the information specified by Type_Code and Index
in ASCII code.
NOP
PP
CP
CV
CT
p
™
™
™
™
n Main command: common to 16 byte and 32 byte mode
Byte
0
1
bit7
6
5
C
Update_Counter
(0)
TMG_
CNT
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Command
4
3
2
1
0
MAC-ID
Byte
0
£2h
1
Control_Bits
L
ML
MH
H
L
H
L
H
L
ML
MH
H
Command_Data1
Type_Code
0
Index
Command_Data3
2
3
4
5
6
7
8
9
10
11
12
13
14
15
bit7
6
5
R Update_Counter
(1)
_Echo
CMD_
Error
Response
4
3
2
1
0
Actual_MAC-ID
£2h
Status_Flags
L
ML
MH
H
L
H
L
H
L
ML
MH
H
Response_Data1
ERR
WNG
Type_Code_Echo
0
Busy
Index_Echo
Monitor_Data
(ASCII code)
n Sub-command: specific to 32 byte mode
Byte
16
bit7
Sub_
Chk
(1)
6
5
Command
4
3
0
0
0
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
Title
Type_Code
/Type_Code_Echo
Sub_Type_Code
/Sub_Type_Code_Echo
Index/Index_Echo
Sub_Index
/Sub_Index_Echo
Command_Data3
/Monitor_Data
Sub_Command_Data1
/Sub_Monirot_Data
R2.0
2
1
0
Sub_Command_Code
(2h)
16
Sub_Type_Code
Sub_Index
Sub_Command_Data1
Sub_Command_Data2
Sub_Command_Data3
Byte
L
H
L
ML
MH
H
L
ML
MH
H
L
ML
MH
H
bit7
Sub_
CMD_
Err
6
5
Sub_
ERR
Sub_
WNG
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
Command
Specify the system ID to be read.
▪ For details, refer Section 6-4-1.
Response
4
3
2
1
0
Sub_ Sub_Command_Code_Echo
Busy
(2h)
Sub_Type_Code_Echo
Sub_Index_Echo
Sub_Monitor_Data
(ASCII code)
Sub_Response_Data2
Sub_Response_Data3
L
H
L
ML
MH
H
L
ML
MH
H
L
ML
MH
H
Response
Type_Code echo back value
Index echo back value
Data specified by Pr.7.35 “RTEX command setup 1”
▪ For details, refer to Sections 7-7-1.
Set to 0
Byte
12
13
14
15
Read out value (ASCII code)
(4 x Index) ASCII code
(4 x Index + 1) ASCII code
(4 x Index + 2) ASCII code
(4 x Index + 3) ASCII code
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 59 -
6-4-1 System ID command Type_Code list
Type_Code
*1) *3)
Designation
A4N
standard
compatible
010h
01h
Vendor name
050h
05h
Device type
Description
“Panasonic”
Read out the device type.
Example: “1” Servo driver (rotary motor)
-
060h
06h
120h
12h
130h
140h
13h
14h
Driver serial No.
150h
15h
Driver type
Read out the type of servo driver.
Use this command to check the series of the servo driver and functions
supported by the servo driver.
220h
22h
Motor model No.
230h
23h
Motor serial No.
Read out the model number of the servo motor which is connected
to the servo driver.
Example: “MSMF022L1A1”
Read out the serial number of the servo motor which is connected
to the servo driver.
Example: “15120021”
310h
320h
340h
31h
32h
34h
Manufacturer use
Manufacturer use
Manufacturer use
Manufacturer use
Driver model No.
Servo driver software
version
Read out the model number of the servo driver. *2)
Example: “MADLN15NE”
Read out the serial number of the servo driver.
Read out the firmware version of the servo driver.
Read the CPU1 version from the 1st to 4th characters.
Read the CPU2 version from the 6th to 9th characters.
Example: “1.04_1.01”
-
*1) Command Error (0031h) will be returned at setting up the wrong Type Code.
*2) The 4th character in the model number also represents the series of the servo driver.
Series
4th character in the model number
MINAS-A4N
D
MINAS-A5N
H
MINAS-A6N
L
*3) A4N compatible Type_Code: compatible with that for A4N and can be used only with main command.
standard Type_Code:
Prepared for A5N, A6N and can be used with both main command and subcommand.
When using with main command, set upper 4-bit to 0.
* Although the product supports conventional Type_Code to maintain compatibility, basically use the standard
Type_Code.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 60 -
6-4-2 Example of reading of vendor name (“Panasonic”)
Byte
8
9
10
11
12
13
14
15
1st
2nd
3rd
Type_Code_Echo
01h
01h
01h
Index_Echo
0
1
2
ASCII code
ASCII code
ASCII code
ASCII code
‘P’
‘a’
‘n’
‘a’
‘s’
‘o’
‘n’
‘i’
‘c’
0 (NULL) *1)
0 (NULL) *1)
0 (NULL) *1)
*1) The servo driver will return 0 (NULL) at the end of the character string.
6-4-3 Device type
Device type is identified as follows:
With this servo driver, “1” will be returned.
Device type
Description
‘0’
(Reserved)
‘1’
Servo driver
‘2’
Stepping
‘3’
Pulse OUT
‘4’
Digital IN
‘5’
Digital OUT or IN & OUT
‘6’
Analog IN
‘7’
Analog OUT or IN & OUT
‘8’
(Reserved)
‘9’
Gateway
‘A’–’F’
(Reserved)
‘10’
(Reserved)
‘11’
(Reserved)
Note: Conventional MINAS-A4N does not support the device type.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 61 -
6-4-4 Servo driver software version
Example of read in the case of CPU1: Ver1.04, CPU2: Ver1.01
The data to be obtained is "1.04_1.01".
Byte
8
9
10
11
12
13
14
15
1st
2nd
3rd
Type_Code_Echo
14h
14h
14h
Index_Echo
0
1
2
ASCII code
ASCII code
ASCII code
ASCII code
‘1’
‘.’
‘0’
‘4’
‘_’
‘1’
‘.’
‘0’
‘1’
0 (NULL) *1)
0 (NULL) *1)
0 (NULL) *1)
*1) The servo driver will return 0 (NULL) at the end of the character string.
6-4-5 Servo driver type
Driver type is identified as follows:
Rotary type driver of MINAS-A6N series of the standard specification will response as shown below.
Index 0
Byte12 = ‘2’
Byte13 = ‘0’
Byte14 = ‘1’
Byte15 = ‘1’
Index 1
Byte12 = ‘1’
Byte13 = ‘1’
Index
0
Byte
12
13
1
2
3
4 and
subsequent
14
15
12
13
14
15
12-15
12-15
12-15
CP control
CV control
CT control
PP control
(Reserved)
(Reserved)
(Reserved)
(Reserved)
-
(Reserved)
(Reserved)
(Reserved)
(Reserved)
(NULL)
Type of
Series/function
Driver series
motor
connected
Servo
driver
type
‘0’
A4N
Rotary type Unsupported Unsupported Unsupported Unsupported
‘1’
A5N
Linear type
Supported
Supported
Supported
Supported
(Reserved)
(Reserved)
(Reserved)
(Reserved)
(Reserved)
‘2’
A6N
Other
(Reserved)
0
*1)
*1) Returned 0 (NULL) indicates the end of character string.
Note: Conventional MINAS-A4N does not support the servo driver type.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 62 -
Compatible control mode
6-5 Homing command (Command code: £4h)
Use this command when performing homing,
latching actual position, etc.
NOP
PP
CP
CV
CT
-
r
™
r
r
For details of return to home operation, refer to Section 7-2.
n Main command: common to 16 byte and 32 byte mode
Byte
0
1
bit7
6
5
C
Update_Counter
(0)
TMG_
CNT
2
3
4
5
6
7
Command
4
3
2
1
0
MAC-ID
Byte
0
£4h
1
Control_Bits
L
ML
MH
H
Command_Data1
2
3
4
5
6
7
8
Type_Code
8
9
0
9
10
11
12
13
14
15
Latch_Sel2
Latch_Sel1
Monitor_Sel
Setting_Data
(Command_Data3)
L
ML
MH
H
bit7
6
5
R Update_Counter
(1)
_Echo
CMD_
Error
Response
4
3
2
1
0
Actual_MAC-ID
£4h
Status_Flags
L
ML
MH
H
Response_Data1
Type_Code_Echo
ERR
10
11
12
13
14
15
Latch_ Latch_
Comp2 Comp1
Latch_Sel2_Echo
Latch_Sel1_Echo
Monitor_Sel_Echo
L
ML
Monitor_Data
MH
H
WNG
0
Busy
0
0
n Sub-command: specific to 32 byte mode
(Not supported): Cannot be used by a sub-command. Use only with the main command.
Title
Type_Code
/Type_Code_Echo
Latch_Comp1,
Latch_Comp2
Latch_Sel1,
Latch_Sel2,
/Latch_Sel1_Echo,
Latch_Sel2_Echo,
Monitor_Sel
/Monitor_Sel_Echo
Setting_Data
(Command_Data3)
/Monitor_Data
Command
Type of return-to-home
▪ For detailed description, refer to Section 6-5-1.
-
Latch position 1/2 complete state
▪ For detailed description, refer to Section 6-5-4.
<In latch mode>
<In latch mode>
Selection of position latch 1 (Ch1) or position latch 2 (Ch2) Latch_Sel1, Latch_Sel2 echo back value
trigger signal
▪ For detailed description, refer to Section 6-5-4.
▪ For detailed description, refer to Section 6-5-4.
<Mode other than latch>
<Mode other than latch>
Set to 0.
Latch_Sel1, Latch_Sel2 (= 0) echo back value
<In latch mode>
<In latch mode>
Selection of data to be returned to Monitor_Data
Selection of data to be returned to Monitor_Data
▪ For detailed description, refer to Section 6-5-4.
▪ For detailed description, refer to Section 6-5-4.
<Mode other than latch>
<Mode other than latch>
Set to 0.
Monitor_Sel(=0) echo back value
<Actual position setup and command position setup>
<Actual position setup/command position setup>
Actual position setting value and command position setting Echo back of actual position setting value/command
value
position setting value
[Size]: Signed 32-bit
[Size]: Signed 32-bit
[Unit]: Instruction unit
[Unit]: Instruction unit
[Setting range]: 80000000h-7FFFFFFFh
(-2147483648 to 2147483647)
* When the single-turn absolute function is effective
(Pr0.15=3)
[Setting range]: Refer to Technical Reference,
SX-DSV03077 “Section 6-2-2”, Function
Specification
<Non-actual position setup and Non-command position
setup>
Data specified by Pr.7.35 “RTEX command setup 1”
▪ For details, refer to Sections 7-7-1.
R2.0
Response
Type_Code echo back value
<In latch mode>
Monitor data selected through Monitor_Sel
▪ For detailed description, refer to Section 6-5-4.
<When not in actual position setup, command position
setup or latch mode>
Return 0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 63 -
6-5-1 Type Code list of Homing Command
Position
Type
information
_Code
with/without
*1)
initialization
11h
12h
13h
[With]
Initialization
mode
14h
15h
16h
17h
18h
19h
1Ah
1Bh
1Ch
1Dh
21h
22h
31h
50h
51h
52h
[Without]
Latch
mode
53h
54h
58h
5Ch
Type of
return-tohome
(reference
trigger)
Z- phase
HOME↑
*2)
HOME↓
*3)
POT↑ *2)
POT↓ *3)
NOT↑ *2)
NOT↓ *3)
EXT1↑ *2)
EXT1↓ *3)
EXT2↑ *2)
EXT2↓ *3)
EXT3↑ *2)
EXT3↓ *3)
Actual
position set
Command
position set
Clear
multi-turn
data of
absolute
encoder
Position
latch
Status
monitor
Position
latch 1
Start
Position
latch 2
Start
Position
latch 1, 2
Start
Position
latch 1
Cancel
Position
latch 2
Cancel
Position
latch 1, 2
Cancel
Profile position
control (PP)
SER
ABS
Pr.0.01(Control mode setup)
0: Semi-closed
Cyclic position
Cyclic velocity
control
control
(CP)
(CV)
SER
SER
ABS
ABS
Cyclic torque
control
(CT)
SER
ABS
Servo-on status
ON
OFF
–
○
–
–
–
○
–
–
–
○
○
INC
ABS
INC
ABS
INC
ABS
INC
ABS
–
–
○
–
–
–
–
–
–
○
–
–
–
○
–
○
–
–
–
Homing
_Ctrl
bit
used/
unused
Used
Unused
–
○
–
○
–
○
–
○
–
○
○
r
*5)
○
r
*5)
○
r
*5)
○
r
*5)
○
○
Unused
▪ ○: Supported; r: Partially supported; –: Not supported
*1)
*2)
*3)
*4)
Command error (0031h) will be returned at setting up the wrong type code.
[-]: Logical rising edge of external input signal (off ® on timing of internal processing)
[↓]: Logical falling edge of external input signal (on® off timing of internal processing)
If multi-turn clearing of the absolute encoder has been executed when the single-turn absolute function is effective,
command error (0051h) will be returned.
*5) Not available when the unlimited-turn absolute encoder function is enabled (Pr0.15=4)
R2.0
Terms in table above
Semi-closed
SER_ABS
23-bit absolute encoder
INC
Incremental mode
ABS
Absolute mode
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 64 -
Example: When Type_Code = 18h
• Semi-closed position control (CP) and SER_INC
• Servo on status
• Homing_Ctrl bit is 1
• Initialization to clear position information (actual position/internal command position) to 0 at the timing logical
level of EXT1 signal rises from 0 ® 1.
▪ Internal process includes position correction during arithmetic process (sampling).
• Profile absolute positioning/relative positioning, actual position setup during continuous rotation (In_Progress = 1) and
command position setup will be possible but it will cancel PP operation. Performing Type_Code = 1¨h, 31h will
cause Err.91.1 “RTEX command error protection” and command error (0059h). The latch mode can be started during
PP operation.
• During profile position latch absolute positioning/relative positioning and profile homing 1 to 4, these processes
overlap. Therefore, do not use this command (any Type_Code). Otherwise, Err.91.1 “RTEX command error
protection”, command error (0059h) will occur.
• Perform the clear multi-turn data of absolute encoder while maintaining servo-off condition. If servo is on, command
error (0056h) will occur.
• For other possible causes of error, refer to 6-10-2.
• Homing_Ctrl bit is not used for control of Actual position setting, Command position setting and clearing of multi-turn
data of absolute encoder.
• When Type_Code is 5£h, the position information is not initialized and the actual position is latched as the trigger is
detected.
• Edge will be detected in logic level of the signal, and not physical level.
• When POT/NOT is the home position reference trigger, be sure to set Pr.5.04 “Over-travel inhibit input setup” to 1, to
disable the over-travel inhibit input. Otherwise, Err. 38.2 “Drive inhibit input protection 3” will occur.
• For precautions on assignment of external signal associated with the return-to-home sequence, refer to Section 6-5-2.
• When the position information is initialized, the latched status is changed to unlatched status.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 65 -
6-5-2 Assignment of external input signals related to return to home sequence
When allocating the return-to-home related external inputs (HOME, POT, NOT, EXT1, EXT2 and EXT3) to the
internal terminals, note the following:
1)
EXT1 can be allocated only to SI5, EXT2 only to SI6 and EXT3 only to SI7.
2)
When using HOME, POT and NOT as home position reference trigger, HOME can be allocated only to SI5, POT
only to SI6 and NOT only to SI7.
3)
When allocating EXT1, EXT2, EXT3, HOME, POT or NOT to latch correction terminal (S15, S16 or S17),
allocate the same signal in all control modes.
Connections to use edge of the sensor signal as home position.
Latch correction
terminal
Logic
HOME
or
EXT1
SI5
a contact
or
b contact
POT
or
EXT2
SI6
a contact
or
b contact
orNOT
or
EXT3
SI7
a contact
or
b contact
Internal
process
If the conditions 1) to 3) are not met, Err. 33.8 “Latch input allocation error protection” will occur.
4)
If HOME, POT and NOT are not the home reference trigger, they can be allocated to normal terminal (SI1, SI2,
SI3, SI4 and SI8).
Connections not to use edge of the sensor signal as home position.
Non-latch
correction
terminal
EXT1
Logic
SI1
a contact
or
b contact
SI2
a contact
or
b contact
EXT2
EXT3
Internal
process
HOME
SI3
a contact
or
b contact
SI4
a contact
or
b contact
SI8
a contact
or
b contact
POT
NOT
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 66 -
6-5-3 Actual position setup and command position setup
Below shows the internal position information in the servo driver while executing the actual position setup
(Type_Code = 021h) and command position setup (Type_Code = 022h).
Type_Code
Designation
Position information after execution
021h
Actual position
setup
Actual position = internal command position = setting value (Setting_Data)
Position deviation = 0
022h
Command position
setup
Internal command position = setting value (Setting_Data)
Actual position = internal command position (after setting as described
above) - position deviation
<Initialization of position information by actual position setup>
Initialize the motor position (actual position at the time the servo driver received the command) to the setting value to
clear the position deviation, and set the internal command position to the motor position (actual position). Subsequently,
when the host controller issues a command and motor moves, initialized motor position may deviate from the target
position. If this positional deviation may cause problem, use the command position set.
n Expected application: Homing using stopper See 7-2-3-4.
(If high accuracy is not required: current motor position is initialized to the setting value.)
Internal command position
Servo on status in cyclic
position control mode
(CP)
Actual position
Position
deviation
Actual position setup execution
Initializing position
information according to
actual position setup
Internal command position
= setting value
Actual position
= setting value
R2.0
Position deviation
=0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 67 -
<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.
n Expected application: Homing with respect to latched position
(High accuracy required: internal command position is initialized to the setting value after
positioning to the latched position)
Internal command position
Servo on status in cyclic
position control mode
(CP)
Actual position
Position
deviation
Actual position setup
Initializing position
information according to
command position setup
Internal command position
= setting value
Position
deviation
Actual position
= setting value – Position deviation
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 68 -
6-5-4 Latch mode
In the latch mode (Type_Code = 5¨h), the motor actual position can be latched and read at the input timing of trigger
signal without initializing position information.
While in the latch mode, Busy as latch process remains 0. This means that any other command e.g. parameter command
can be executed while in the latch mode. However, commands that initialize position information, such as reset command
and homing command (except for latch mode) forcibly cancel the established latch mode.
6-5-4-1 Starting/canceling latch mode
To start/cancel the latch mode, use Type_Code.
2CHs can be put in the latch mode at the same time.
Command
Byte
bit7
6
8
5
4
3
Response
2
1
0
Byte
Latch_ Latch_ Latch_ Latch_
Dis2 Dis1 Ena2 Ena1
5
bit7
6
8
5
4
3
2
1
0
Latch_ Latch_ Latch_ Latch_
Dis2_ Dis1_ Ena2_ Ena1_
Echo Echo Echo Echo
5
Type_Code
Description
Latch_ Latch_ Latch_ Latch_
Dis2
Dis1
Ena2
Ena1
50h
0
0
0
0
Position latch status monitor
▪ Use this to monitor the status without additional starting or canceling.
51h
0
0
0
1
Start position latch 1 (CH1).
52h
0
0
1
0
Start position latch 2 (CH2).
53h
0
0
1
1
Start position latch 1 (CH1) and 2 (CH2).
54h
0
1
0
0
Cancel position latch 1 (CH1).
58h
1
0
0
0
Cancel position latch 2 (CH2).
5Ch
1
1
0
0
Cancel position latch 1 (CH1) and 2 (CH2).
In the table above, “0” means to maintain the current latch start/cancel command without additional latch
request/cancel.
6-5-4-2 Selecting latch trigger signal
To select the latch trigger signal, use Latch_Sel1 and Latch_Sel2.
Command
Byte
10
bit7
6
5
4
3
Latch_Sel2
Response
2
1
Latch_Sel1
0
Byte
10
Setting value
Latch_Sel1,
Latch_Sel2
Z phase
1
Logical rising edge of EXT1
2
Logical rising edge of EXT2
3
Logical rising edge of EXT3
R2.0
5
4
Latch_Sel2_Echo
3
2
1
0
Latch_Sel1_Echo
Do not use.
If it chooses, a command error (0032h) will be returned.
9
Logical falling edge of EXT1
10
Logical falling edge of EXT2
11
Logical falling edge of EXT3
12-15
6
Latch trigger signal
0
4-8
bit7
Do not use.
If it chooses, a command error (0032h) will be returned.
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 69 -
6-5-4-3 Checking latch mode complete status and latch position data
To check the end status of the latch mode, monitor Latch_Comp1 and Latch_Comp2.
To monitor the latch complete status (Latch_Comp1 and Latch_Comp2) again after executing another command, use
Type_Code = 50h.
Latch position 1/2 can also be checked by using monitor command.
Command
Byte
bit7
6
5
4
9
3
Response
2
1
0
0
Byte
9
bit7
6
ERR WNG
5
4
3
0
Busy
5
4
0
2
0
1
0
Latch_ Latch_
Comp2 Comp1
Description
Latch_Comp1
0: Latch not completed at latch position 1 (CH1)
1: Latch completed at latch position 1 (CH1)
Latch_Comp2
0: Latch not completed at latch position 2 (CH2)
1: Latch completed at latch position 2 (CH2)
Received latch position 1/2 data can be monitored by using Monitor_Data.
Using Monitor_Sel, select the data to be read out by Monitor_Data.
Use monitor command Type_Code (8-bit) for A6N to set Monitor_Sel.
Command
Byte
bit7
6
11
5
4
3
Response
2
1
0
Monitor_Sel
Byte
11
bit7
6
3
2
1
0
Monitor_Sel_Echo
12
L
12
L
13
ML
13
ML
MH
14
H
15
Command_Data3
14
15
Monitor_Sel
Monitor_Data
Monitor_Data
MH
H
Description
Title
Symbol
09h
Latch position 1
LPOS1
Actual motor position latched with CH1
0Ah
Latch position 2
LPOS2
Actual motor position latched with CH2
Note: Value of latch position 1/2 is undefined until latch is completed. Make sure that Latch_Comp1 and
Latch_Comp2 are at “1”.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 70 -
6-5-4-4 Correction function for detection delay of latch position
Correction time for the delay of the latch trigger signal detection can be set by the following parameter.
Class
No.
Attribute
Title
Range
Unit
7
9
B
Correction time -2000–
of latch delay1 2000
25ns
7
92
B
Correction time -2000–
of latch delay2 2000
25ns
C
RTEX function
-32768–
extended setup
32767
3
-
7
24
Function
Set the correction time for delay of the latch trigger
signal detection.
This parameter can be switched by Pr7.24 bit5.
bit5 is 0: The correction time is reflected in both the
latch signal rising edge detection and the
latch signal falling edge detection.
bit5 is 1: The correction time is reflected in the latch
signal rising edge detection.
*Signal state of edge detection means the following
The rising edge detection means the
photocoupler is turned ON.
The falling edge detection means the
photocoupler is turned OFF.
Set the correction time for delay of the latch trigger
signal detection.
This parameter can be switched by Pr7.24 bit5.
bit5 is 0: This parameter is disable.
bit5 is 1: The correction time is reflected in the latch
signal falling edge detection.
*Signal state of edge detection means the following
The rising edge detection means the
photocoupler is turned ON.
The falling edge detection means the
photocoupler is turned OFF.
bit5 The correction function for detection delay of
latch position.
0:The correction time of both the latch signal
rising edge detection and the latch signal
falling edge detection is set by Pr7.09
1:The correction time of the latch signal rising
edge detection is set by Pr7.09, the correction
time of the latch signal falling edge detection
is set by Pr7.92.
(Note) Delay time of the latch trigger signal detection is different by the operating environment and aging.
In the case of requesting accuracy, please set the correction time of latch delay as necessary.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 71 -
Compatible control mode
6-6 Alarm command (Command code: £5h)
Use this to read out alarm code or clear the present alarm.
NOP
PP
CP
CV
CT
-
™
™
™
™
n Main command: common to 16 byte and 32 byte mode
Byte
0
1
bit7
6
5
C
Update_Counter
(0)
TMG_
CNT
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Command
4
3
2
1
0
Byte
MAC-ID
0
£5h
1
L
ML
MH
H
2
3
4
5
6
7
L
H
L
H
L
ML
MH
H
8
9
10
11
12
13
14
15
Control_Bits
Command_Data1
Type_Code
0
Index
Command_Data3
bit7
6
5
R Update_Counter
(1)
_Echo
CMD_
Error
Response
4
3
2
1
0
Actual_MAC-ID
£5h
Status_Flags
Response_Data1
ERR
WNG
Type_Code_Echo
0
Busy
Index_Echo
Alarm_Code
Warning_Code
L
ML
MH
H
L
H
L
H
Main
Sub
L
H
n Sub-command: specific to 32 byte mode
(Not supported): Cannot be used by a sub-command. Use only with the main command.
Title
Type_Code
/Type_Code_Echo
Index
/Index_Echo
Command
Type of execution, e.g. alarm readout and clear
▪ For details, refer to Section 6-6-1.
Set up history number etc.
▪ For details, refer to Section 6-6-1.
Response
Echo back value of Type_Code
<Except for alarm attribute readout>
Echo back value of Index
<To read out alarm attribute>
Index: 0
Alarm code being issued
Index: not 0
Command_Data3
Alarm_Code
Data specified by Pr.7.35 “RTEX command setup 1”
▪ For details, refer to Sections 7-7-1.
-
Echo back value of Index
−
<In the case of other than alarm attribute read >
Alarm code
▪ For details, see 6-6-1 and 6-6-2.
<To read out alarm attribute>
Alarm attribute
▪ For details, see 6-6-3.
Warning_Code
-
<In the case of other than alarm attribute read >
Warning code
▪ For details, see 6-6-1.
<To read out alarm attribute>
Alarm attribute
▪ For details, see 6-6-3.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 72 -
6-6-1 Alarm command Type_Code list
Type_Code
*1)
000h
Title
Read out present alarm
or alarm history
Description
• When Index is 0, present alarm code (Alarm_Code) and warning code
(Warning_Code) will be read out.
• When Index is 1 to 14, past alarm code (alarm history) will be read out.
Larger Index value represents older alarm history. Because the warning
code (Warning_Code) is not recorded, Index code is always 0.
When alarm does not have occurred, 0 will be read at alarm code.
Index
Alarm_Code
Warning_Code
0
The code representing the current
alarm
The code representing the current
warning
1
The code for the last alarm
0
2
The code for the second last alarm
0
:
:
:
14
The code for the fourteenth last alarm
0
• Even if the command code and command argument are stored, they will
be updated as the new alarm or warning code is generated.
• When Index is not 0–14, Command error (0032h) will be returned.
• Set Data specified by Pr.7.35 “RTEX command setup 1” as
Command_Data3.
• When Pr.7.35 “RTEX command setup 1” is 0, and Command_Data3 is
not 0, Command error (0032h) will be returned.
• Some alarms are not recorded.
• When the value read out with Index = 0 is 0, it means that no alarm or
warning has occurred.
• If an alarm occurs while the previously occurred alarm is recorded in the
history, the value of the alarm code (Index = 0) for the new alarm is the
same as the value of the alarm code (Index = 1) for the preceding alarm.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 73 -
Type_Code
*1)
001h
Title
Clear alarm
Description
• When Index is 0, present alarm and warning will be cleared. And present
alarm code (Alarm_Code) and warning code (Warning_Code) will be
returned.
• The command code and command argument, if stored, will be updated.
• When Index is not 0, Command error (0032h) will be returned.
• Set Data specified by Pr.7.35 “RTEX command setup 1” as
Command_Data3.
• When Pr.7.35 “RTEX command setup 1” is 0, and Command_Data3 is
not 0, Command error (0032h) will be returned.
• When you try to execute this command to clear the alarm which is
inhibited to clear, or when you try to do so when no warning occurs,
command error (0042h) will be returned.(When the alarm which is
inhibited to clear and warning occurred on same time, since clearing
process of warning is performed, Command error (0042h) is not
returned.)
• Clear the warning by executing this command when “battery warning” of
the absolute encoder has occurred. And when the alarm which is
inhibited to clear has also occurred, this warning will be cleared.
• Clearing process may require approx. 10 s for completion.
• As clearing process starts, warning will be put in “cleared” state for
approx. 1 second, even if the cause of warning has not been removed.
Note that the 1-second clearing process is not interlocked with Busy.
002h
Read out alarm attribute • Using Index, specify the number of alarm for reading the alarm attribute.
Byte
Title
Specified alarm code
10
11
Index
L
Alarm code main number
H
Alarm code sub number
• When Index is 0 (L and H are 0), attribute of the current alarm is read,
with the alarm code of the current alarm is returned in Index_Echo.
If no alarm, Index_Echo and alarm attribute are returned with 0.
• If undefined alarm code is specified, command error 0032h will be
returned.
• Set Data specified by Pr.7.35 “RTEX command setup 1” as
Command_Data3.
• When Pr.7.35 “RTEX command setup 1” is 0, and Command_Data3 is
not 0, Command error (0032h) will be returned.
• Alarm attribute is returned in Bytes 12-15 of response.
*1) Command error (0031h) will be returned at setting up the wrong type code.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 74 -
Type_Code
*1)
Title
Description
004h
Manufacturer use
-
011h
Clear alarm history
• When Index is 0, all alarm history will be cleared. And present alarm
code (Alarm_Code) and warning code (Warning_Code) will be returned.
• When Index is not 0, Command error (0032h) will be returned.
• Set Data specified by Pr.7.35 “RTEX command setup 1” as
Command_Data3.
• When Pr.7.35 “RTEX command setup 1” is 0, and Command_Data3 is
not 0, Command error (0032h) will be returned.
• Alarm history is stored to EEPROM. When Err. 11.0 Control power
supply under-voltage protection occurs, command error (0061h) will be
returned because of EEPROM accessing failure.
021h
Manufacturer use
*1) Command error (0031h) will be returned at setting up the wrong type code.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 75 -
6-6-2 Setting up of alarm code
With MINAS-A6N series, an alarm code (Alarm_Code) is divided into the main and sub numbers. By using bit 1 of
Pr.7.23 “RTEX function expansion setup 2”, however, only the main number can be used as in the case of
MINAS-A4N.
Note that both the main and sub number should be specified when reading alarm attribute.
Bit 1 of Pr.7.23
Byte
12
13
Title
Alarm_Code
Main
Sub
0
(A4N compatible)
Main number
0
1
Main number
Sub number
6-6-3 Alarm attribute
Byte
12
13
14
15
bit7
6
5
NOT_REC NOT_ACLR EMG-STP
-
4
-
3
-
2
-
1
-
0
-
NOT_REC:
Do not record in alarm history.
NOT_ACLR: Do not clear.
EMG-STP:
Enable emergency stop.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 76 Compatible control mode
6-7 Parameter Command (Command code: £6h)
Use this to read out, to write the parameter and to write to EEPROM.
NOP
PP
CP
CV
CT
-
™
™
™
™
n Main command: common to 16 byte and 32 byte mode
Byte
0
1
bit7
6
5
C
Update_Counter
(0)
TMG_
CNT
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Command
4
3
2
1
0
MAC-ID
0
£6h
1
L
ML
MH
H
2
3
4
5
6
7
L
H
L
H
L
ML
MH
H
8
9
10
11
12
13
14
15
Control_Bits
Command_Data1
Type_Code
0
Index
Setting_Data
(Command_Data3)
Byte
bit7
6
5
R Update_Counter
(1)
_Echo
CMD_
Error
Response
4
3
2
1
0
Actual_MAC-ID
£6h
Status_Flags
Response_Data1
ERR
WNG
Type_Code_Echo
0
Busy
Index_Echo
Monitor_Data
L
ML
MH
H
L
H
L
H
L
ML
MH
H
n Sub-command: specific to 32 byte mode
(Not supported): Cannot be used by a sub-command. Use only with the main command.
Title
Type_Code
/Type_Code_Echo
Index
/Index_Echo
Setting_Data
(Command_Data3)
/Monitor_Data
Command
Type of execution, e.g. reading and writing of parameter
▪ For details, refer to Section 6-7-1.
Parameter number (Type, No.)
▪ For details, refer to Section 6-7-1.
<Reading parameter>
Data specified by Pr.7.35 “RTEX command 1”
▪ For details, refer to Sections 7-7-1.
<Writing parameter>
Parameter setting value *1)
[Size]: Signed 32-bit
[Unit]: Dependent on parameter
[Setting range]: Dependent on parameter
▪ For details, refer to Section 6-7-1.
<The number read-out of the parameters in a classification>
Data specified by Pr.7.35 “RTEX command 1”
▪ For details, refer to Sections 7-7-1.
<Parameter attribute read-out>
Data specified by Pr.7.35 “RTEX command 1”
▪ For details, refer to Sections 7-7-1.
<Writing to EEPROM>
Data specified by Pr.7.35 “RTEX command 1”
▪ For details, refer to Sections 7-7-1.
Response
Echo back value of Type_Code
Echo back value of Index
<Reading parameter>
Parameter value read out *2)
[Size]: Signed 32-bit
[Unit]: Dependent on parameter
▪ For details, refer to Section 6-7-1.
<Writing parameter>
Parameter value actually written *2)
[Size]: Signed 32-bit
[Unit]: Dependent on parameter
▪ For details, refer to Section 6-7-1.
<The number read-out of the parameters in a classification>
The number of parameters in a classification
▪ For details, refer to Sections 6-7-3.
<Parameter attribute read-out>
Parameter attribute
▪ For details, refer to Sections 6-7-4.
<Writing to EEPROM>
0 is returned.
*1) When the parameter value is 16-bit length, convert it to 32-bit.
Example: When -1000, set to FFFFFC18h
(Byte 15 = FFh, Byte 14 = FFh, Byte 13 = FCh, Byte 12 = 18h)
*2) When the parameter value is 16-bit length, it is converted to 32-bit and then returned.
During process, the value (Busy = 1) is unstable.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 77 -
6-7-1 Type code list of parameter command
Type_Code *1)
Title
Description
A4N
compatible
standard
000h
-
Undefined
• Do not use this Type_Code with MINAS-A6N.
Command error (0031h) will be returned
001h
-
Undefined
• Do not use this Type_Code with MINAS-A6N.
Command error (0031h) will be returned
-
010h
Parameter reading
• Use this to read out the parameter value from the servo driver.
• Set the parameter number (class, No.) to Index of command.
Byte
Title
Description
10
Index-L
Parameter No.
11
Index-H
Parameter class
• Set the data specified in Pr.7.35 “RTEX command setting 1” to Setting_Data of
command.
• Return the readout value as Monitor_Data in the response.
• If Index is unsupported parameter number (No. or class is outside of range) ,
command error 0032h will be returned.
• When Pr.7.35 “RTEX command setup 1” is 0, and Command_Data3 is not 0,
Command error (0032h) will be returned.
-
011h
Parameter writing
• Use this to write the parameter value to the servo driver.
• Set the parameter number (class, No.) to Index of command.
Byte
Title
Description
10
Index-L
Parameter No.
11
Index-H
Parameter class
• Set the writing value to Setting_Data.
Actual written value will be returned to the Monitor_Data of the response. When
the parameter was set by the limited value that is different from the command
value, WNG bit will be 1.
• If Index is unsupported parameter number (No. or class is outside of range) or if
Setting_Data is other than 0, command error 0032h will be returned.
When No. and class are within the range but not supported, command error 0032h
will be returned with Setting_Data other than 0.
• When the bit 0 of Pr.7.23 “RTEX function expansion setup 2” is set at 1, the
command cannot be executed. And command error 0201h will be returned.
• Command error 0041h will be returned if you try to a parameter of read only
attribute.
-
030h
The number read-out of the • The number of the parameters in a classification is read.
parameters in a
• Set the parameter class number to Index-H of command.
classification
• Fix 0 to Index-L of command.
Byte
Title
Description
10
Index-L
Fix 0
11
Index-H
Parameter class
• Set Data specified by Pr.7.35 “RTEX command setup 1” as Command_Data3.
• When Index-L is not 0, Command error (0032h) will be returned.
• When the classification number in which a parameter does not exist is specified, 0
will be returned.
• When Index-H is outside the parameter classification number, Command error
(0032h) will be returned.
• When Pr.7.35 “RTEX command setup 1” is 0, and Command_Data3 is not 0,
Command error (0032h) will be returned.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 78 -
Type_Code *1)
A4N
compatible
standard
-
040h
Title
Description
Parameter attribute
read-out
• The attribute of a parameter is read-out.
• Set the parameter number (class, No.) to Index of command.
Byte
Title
Description
10
Index-L
Parameter No.
11
Index-H
Parameter class
• Set Data specified by Pr.7.35 “RTEX command setup 1” as Command_Data3.
• When Index is outside the parameter number (No. or class), Command error
(0032h) will be returned.
• When Pr.7.35 “RTEX command setup 1” is 0, and Command_Data3 is not 0,
Command error (0032h) will be returned.
101h
081h
EEPROM writing
• Save the parameter value to EEPROM in the servo driver. (An error might occur
during processing. In this case, ERR bit will be 1 instead of command error, and
retry to transmit command.)
• Set 0 to Index of command.
• Set Data specified by Pr.7.35 “RTEX command setup 1” as Command_Data3.
• When Index is not 0, Command error (0032h) will be returned.
• When Pr.7.35 “RTEX command setup 1” is 0, and Command_Data3 is not 0,
Command error (0032h) will be returned.
• When Err. 11.0 “Control power supply under-voltage protection” occurs, command
error (0061h) will be returned because of EEPROM accessing failure.
• When the bit 0 of Pr.7.23 “RTEX function expansion setup 2” is set at 1, the
command cannot be executed. And command error 0201h will be returned.
*1) Command error (0031h) will be returned at setting up the wrong type code
6-7-2 Parameter number of MINAS-A5N/A6N series
The numbers of parameters used with MINAS-A5N/A6N series are divided into type (major number) and No. (minor
number).
The high byte (Index-H) of Index represents the type of parameter and the low byte (Index-L) represents the parameter
No.
For example, with Pr.7.23, set it as shown in the table below.
Byte
Title
Description
Setup value (with Pr.7.23)
10
Index-L
Parameter No.
23 (=17h)
11
Index-H
Parameter class
7 (=07h)
These parameters are not compatible with those of MINAS-A4N. To prevent operation error due to incompatible
parameters, parameter reading Type_Code and parameter writing Type_Code are changed.
Title
Type_Code
MINAS-A4N
MINAS-A5N, A6N
Parameter reading
000h
010h
Parameter writing
001h
011h
When Type_Code is set to 000h or 001h, command error 0031h is returned.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 79 -
6-7-3 Parameter number of MINAS-A6N series
The not used parameter and the manufacturer's use parameter are also contained in the parameters in a classification
read by Type_Code=030h.
Example)
Case of Index-H=08h (When reading the parameter number of the classification 8)
Since 20 parameters (Pr8.00-Pr8.19) exist as shown in the following table, 20 (14h) is returned.
Class
No.
8
00
For manufacturer’s use
Title
01
Profile linear acceleration constant
02
For manufacturer’s use
03
For manufacturer’s use
04
Profile linear deceleration constant
05
For manufacturer’s use
06
Not used
07
Not used
08
Not used
09
Not used
10
Amount of travel after profile position latch detection
11
Not used
12
Profile return to home position mode setup
13
Profile home position return velocity 1
14
Profile home position return velocity 2
15
For manufacturer’s use
16
Not used
17
Not used
18
Not used
19
For manufacturer’s use
• Please refer to the parameter table of 8-1 clause of Functional Specification (SX-DSV03077) for parameters and
details other than classification 8.
• Since the not used parameter is not indicated to the parameter table, it is careful.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 80 -
6-7-4 Parameter attribute of MINAS-A6N series
Attribute indicates when the changed parameter is made valid.
A: Always valid
B: Do not change parameter while the motor is operating or command is given.
▪ If a parameter is changed while the motor is operating or command is being issued, reflecting timing is not
defined.
C: Made valid, after resetting of control power, in software reset mode of RTEX communication reset command or
after execution of attribute C parameter validation mode.
R: Made valid after resetting of control power or execution of software reset mode of RTEX communication reset
command.
▪ Not made valid by executing attribute C parameter validation mode of reset command of RTEX
communication.
R0: Read only and cannot be changed through normal parameter changing procedure.
The bit assignment of the parameter attribute read by Type_Code=040h is as follows.
When an applicable bit is 1, it means being the attribute.
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Byte12
NOT_USE
(For
manufacturer’s use)
-
B_AT_
INIT
(For
manufacturer’s use)
-
-
-
Byte13
PARA
32BIT
-
-
B_PRM_
ATB_CFG
-
-
-
READ_
ONLY
Byte14
-
-
-
-
-
-
-
-
Byte15
-
-
-
-
-
-
-
-
NOT_USE
B_AT_INIT
B_PRM_ATB_CFG
READ_ONLY
PARA32BIT
: Not used parameter.
: Made valid after resetting of control power or execution of software reset mode of RTEX
communication reset command.
: Made valid after execution of attribute C parameter validation mode.
: Read only parameter.
: 32bit parameter (Parameter whose size is 2 bytes)
Example) Index-H=0, Index-L=8
Since Pr0.08 Command pulse counts per one motor revolution is Attribute C(B_AT_INIT,B_PRM_ATB_CFG)
and 32bit parameter(PARA32BIT), “00009010h” is returned
6-7-5 Protecting parameter writing/EEPROM writing through RTEX
Parameter writing or EEPROM writing via RTEX can be inhibited through the setting of bit 0 of Pr.7.23 “RTEX
function expansion setup 2”.
Attempting to access in inhibited status causes returning of command error (0201h).
Pr.7.23
bit 0
Parameter writing/EEPROM writing through RTEX
0
Enable
1
Disable (command error 0201h)
Use this function to prevent the possible problem as described below: the host controller attempts to change parameter
while the setup support software PANATERM is running to adjust the gain.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 81 -
Compatible control mode
6-8 Profile command (Command code: 17h)
Use this command when starting the operation in profile
position control mode (PP) where servo driver internally
generates the position command.
This command supports cyclic command only in PP mode (1h).
NOP
PP
CP
CV
CT
-
™
-
-
-
Set the target position (TPOS) to Command_Data1 field and target speed (TSPD) to Command_Data3 field.
Set the acceleration/deceleration by using parameter Pr.8.01 “Profile linear acceleration constant” and Pr.8.04 “Profile
linear deceleration constant”.
Set the operation mode of profile positioning and profile homing by using Type_Code.
For details of these profile operations, refer to 7-5.
n Main command: common to 16 byte and 32 byte mode
Byte
0
1
bit7
C
(0)
6
5
Command
4
3
TMG_
CNT
4
5
6
7
1
0
MAC-ID
Update_Counter
2
3
2
Byte
0
17h
1
Control_Bits
2
3
L
ML
MH
H
Target_Position (TPOS)
[Command unit]
4
5
6
7
8
Type_Code
8
9
0
9
10
11
12
13
14
15
0
Latch_Sel1
Monitor_Sel
Target_Speed (TSPD)
[Command unit/s] or [r/min]
L
ML
MH
H
10
11
12
13
14
15
bit7
6
5
R Update_Counter
(1)
_Echo
CMD
_
Error
4
Response
3
2
1
0
Actual_MAC-ID
17h
Status_Flags
Response_Data1
L
ML
MH
H
Type_Code_Echo
PSL
NSL
Latch_
ERR WNG 0
Busy
NEAR
/NSL /PSL
Comp1
0
Latch_Sel1_Echo
Monitor_Sel_Echo
L
ML
Monitor_Data
MH
H
n Sub-command: specific to 32 byte mode
(Not supported): Cannot be used by a sub-command. Use only with the main command.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 82 -
Title
Target_Position
(TPOS)
Response
–
Type_Code
/Type_Code_Echo
Latch_Comp1
Set operation mode of profile positioning
▪ For details, refer to 6-8-1.
-
Latch_Sel1
/Latch_Sel1_Echo
<Latch positioning mode>
(with Type_Code = 12h/13h)>
Select trigger signal of position latch (Ch1)
▪ For details, refer to 6-8-2.
<Other than latch positioning>
Set to 0.
Select data to be returned to Monitor_Data, by using
Type_Code of the monitor command (new 8-bit code for
A5N,A6N).
▪ For details, refer to 6-8-3.
Target speed
Monitor data selected by Monitor_Sel
[Size]: Signed 32-bit
▪ For details, refer to 6-9-1.
[Setting range]: - motor max. speed to motor max. speed
▪ When speed setting is in r/min, it is converted to
command unit/s through internal computation and the
equivalent value is limited within the range as shown
below:
-80000001h-7FFFFFFFh
(-2147483647-2147483647)
▪ During operation of positioning system (Type_Code =
10h, 11h, 12h, 13h), minimum value of setting range is 0.
[Unit]: Set by Pr.7.25 “RTEX speed unit setup”
Pr.7.25
Unit
Monitor_Sel
/Monitor_Sel_Echo
Target_Speed
(TSPD)
/Monitor_Data
R2.0
Command
<Absolute positioning mode (with Type_Code = 10h/12h)>
Target position
[Size]: Signed 32-bit
[Unit]: Instruction unit
[Setting range]: 80000000h-7FFFFFFFh
(-2147483648 to 2147483647)
<Relative positioning mode (with Type_Code = 11h/13h)>
Relative movement distance
[[Size]: Signed 32-bit
[Unit]: Instruction unit
[Setting range]: 80000000h-7FFFFFFFh
(-2147483647 to 2147483647)
<Non positioning mode>
Set to 0.
0
[r/min]
1
[Command unit/s]
Echo back value of Type_Code
Complete status at latch position 1
▪ For details, refer to 6-8-3.
<Latch positioning mode>
(with Type_Code = 12h/13h)>
Echo back value of Latch_Sel1
▪ For details, refer to 6-8-2.
<Other than latch positioning>
Echo back value of Latch_Sel1(=0)
Echo back value of Monitor_Sel
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 83 -
6-8-1 Profile command Type_Code list
Type_
Code
*1)
10h
11h
12h
13h
20h
31h
32h
33h
34h
35h
Title of profile
operation mode
Profile absolute
positioning
Profile relative
positioning
Profile Position
latch Absolute
positioning
Profile
Position latch
Relative
positioning
Profile
Continuous
revolution (JOG)
Profile
Homing 1
Profile
Homing 2
Profile
Homing 3
Profile
Homing 4
Description
Positioning to the target position (TPOS) specified
by absolute position
Positioning to the target position (TPOS) specified
as the relative movement distance from the current
internal command position (IPOS)
Operation starts in latch mode and upon detecting
latch trigger, performs positioning by moving
from the latch position 1 (LP0S1) to the stop
position with the relative distance to the stop
position being specified by the parameter setting.
Pr.0.01 Control mode setting
0: Semi-closed
SER_ABS
INC
ABS
¡
¡
¡
¡
¡
¡
¡
¡
¡
¡
Homing operation using HOME sensor and Z
phase
Homing operation using HOME sensor
¡
-
¡
-
Homing operation using Z phase
¡
-
Homing operation using
POT/NOT sensor and HOME sensor
¡
-
-
-
▪ To the target position (TPOS), set the position
(absolute position) which is used as stop
position when latch trigger is not detected.
Operation starts in latch mode and upon detecting
latch trigger, performs positioning by moving
from the latch position 1 (LP0S1) to the stop
position with the relative distance to the stop
position being specified by the parameter setting.
▪ To the target position (TPOS), set the position
which is used as stop position when latch trigger
is not detected. Set the stop position by relative
movement distance from the current internal
command position (IPOS).
Continuous revolution operation without requiring
setting of target position (TPOS)
Manufacturer's use
▪ ○: Supported; r: Partially supported; –: Not supported
*1) If Type_Code error occurs, command error (0031h) will be returned.
R2.0
Terms in table above
Semi-closed
SER_ABS
23-bit absolute encoder
INC
Incremental mode
ABS
Absolute mode
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 84 -
6-8-2 Selection of latch trigger signal for positioning profile position latch
For profile position latch absolute positioning (Type_Code = 12h) and profile position latch relative positioning
(Type_Code = 13h) use Latch_Sel1 to select the latch trigger signal.
Command
Byte
bit7
6
10
5
4
Response
3
2
0
1
0
Byte
Latch_Sel1
6
5
10
Setting value
Latch_Sel1
bit7
4
3
0
2
1
0
Latch_Sel1_Echo
Latch trigger signal
0
Z phase
1
Logical rising edge of EXT1
2
Logical rising edge of EXT2
3
Logical rising edge of EXT3
4-8
Do not use.
If it chooses, a command error (0032h) will be returned.
9
Logical falling edge of EXT1
10
Logical falling edge of EXT2
11
Logical falling edge of EXT3
12-15
Do not use.
If it chooses, a command error (0032h) will be returned.
6-8-3 Checking latch mode complete status and latch position data
To check the end status of latch mode at the profile position latch positioning, monitor Latch_Comp1.
Latch position 1 can be checked through monitor command.
Command
Byte
bit7
6
5
4
9
3
Response
2
1
0
Byte
0
9
bit7
6
5
ERR WNG
4
3
2
0
Busy
PSL
/NSL
NSL
/PSL
5
4
1
0
Latch_
NEAR
Comp1
Description
Latch_Comp1
0: Unlatched at latch position 1 (CH1)
1: Latched at latch position 1 (CH1)
Acquired latch position 1 data can be monitored through Monitor_Data.
Set 09h to Monitor_Sel.
Command
Byte
bit7
6
11
5
4
3
Response
2
1
Byte
Monitor_Sel
11
bit7
6
3
2
1
0
Monitor_Sel_Echo
12
L
12
L
13
ML
13
ML
MH
14
H
15
Command_Data3
14
15
Monitor_Sel
09h
R2.0
0
Monitor_Data
Title
Symbol
Latch position 1
LPOS1
Monitor_Data
MH
H
Description
Actual position of motor latched with CH1
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 85 -
6-8-4 Stop command
Profile operation can be stopped or paused by the setting of control bit (Control_Bits).
Byte
3
Command
bit7
Hard_Stop
Stop command
6
Smooth_Stop
5
Pause
4
0
3
SL_SW
2
0
1
EX-OUT2
0
EX-OUT1
Description
• Setting this bit to 1 in profile control mode immediately stops internal command generation process and
ends profile operation.
Hard_Stop
(Immediate stop)
• When internal command generation process stops, In_Progress bit is set to 0.
In_Progress bit varies depending on set values of Pr4.31 “Positioning complete range”, Pr4.32
“Positioning complete output setup” and Pr4.33 “INP hold time”. *1)
• Even if this bit is reset to 0, previous operation is not resumed.
To restart, change command from 10h to 17h.
• Setting this bit to 1 in profile control mode causes deceleration and stop at the rate specified by Pr.8.04
“Profile linear deceleration constant”, ending profile operation.
Smooth_Stop
(Deceleration to
stop)
• When internal command generation process stops, In_Progress bit is set to 0.
In_Progress bit varies depending on set values of Pr4.31 “Positioning complete range”, Pr4.32
“Positioning complete output setup” and Pr4.33 “INP hold time”. *1)
• Even if this bit is reset to 0, previous operation is not resumed.
To restart, change command from 10h to 17h.
• Setting this bit to 1 in profile control mode causes deceleration and stop at the rate specified by Pr.8.04
“Profile linear deceleration constant”, ending profile operation.
Pause
*2)
• After stopping of internal command generation process, In_Progress bit is maintained at 1.
In_Progress bit varies depending on set values of Pr4.31 “Positioning complete range”, Pr4.32
“Positioning complete output setup” and Pr4.33 “INP hold time”. *1)
• Even if this bit is reset to 0, previous operation is not resumed.
To restart, change command from 10h to 17h.
*1) For detailed output conditions of In Position bit, refer to Technical Reference, SX-DSV03077 “Section 4-2-4”,
Functional Specification.
*2) In case of doing profile homing, the function of Pause is same as Smooth_Stop.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 86 -
6-8-5 Profile positioning neighborhood output (NEAR)
While the profile positioning system is operating (Type_Code = 10h, 11h, 12h, 13h), this output indicates whether the
command position is near the target position.
Command
Byte
bit7
6
5
9
4
3
Response
2
1
0
0
Byte
9
Title
bit7
6
ERR WNG
5
0
4
3
2
Busy
PSL
/NSL
NSL
/PSL
1
0
Latch_
NEAR
Comp1
Description
• Return 1 at location near profile positioning position.
NEAR
Class
7
No.
15
• Set the output condition by Pr.7.15 “Positioning adjacent range”.
n Detection range
-Pr.7.15 <= internal target position - internal command position (IPOS: before filter) <= Pr.7.15
Attribute
parameter
Title
A
Positioning
adjacent range
Setting
range
Unit
Description
If the difference between internal target position
and command position is smaller than the specified
0Command unit
value during profile position control (PP), NEAR
1073741823
of RTEX communication status becomes 1.
When the latch trigger signal is detected during profile position latch absolute positioning (12h)/profile position latch
relative positioning(13h), the internal target position is updated to the value shown below, not to the value (TPOS) set
by the command.
Internal target position = latch position 1 (LPOS1) + Pr.8.10 Movement distance after detection of profile
position latch
Note that, when deceleration is decreased, for example due to update of internal target position, command position may
temporarily exceed internal target position, causing NEAR to turn on.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 87 -
6-8-6 Software limit (PSL/NSL)
These bits indicate whether the actual position (APOS) exceeds the software limit range during profile position control
(PP).
This status can be made valid only with profile command.
Command
Byte
bit7
6
5
4
9
3
Response
2
1
0
Byte
0
9
Title
Class
bit7
6
ERR WNG
5
0
4
3
2
Busy
PSL
/NSL
NSL
/PSL
1
0
Latch_
NEAR
Comp1
Description
PSL
• Return 1 when actual position (APOS) is larger than Pr.7.11 “Positive side software limit value”.
n Detection range
Pr.7.11 < APOS
• Use Pr.7.10 “Software limit function” to select Valid/Invalid.
NSL
• Return 1 when actual position (APOS) is smaller than Pr.7.12 “Negative side software limit
value”.
n Detection range
APOS < Pr.7.12
• Use Pr.7.10 “Software limit function” to select Valid/Invalid.
No. Attribute
7
10
A
7
11
A
7
12
A
parameter
Title
Setting
range
Unit
Description
Enable or disable software limit function during profile position
control (PP).
Set the software limit value through Pr.7.11 “Positive side
software limit value” and/or Pr.7.12 “Negative side software
limit value”.
0: Enable both software limits
Software limit
1: Disable positive software limit and enable negative software
0-3
function
limit
2: Enable positive software limit and disable negative software
limit
3: Disable both software limits
Note: RTEX communication status is 0 for limit signal
(PSL/NSL) disabled by this parameter.
It is also 0 when homing is uncompleted.
-1073741823
Set positive side and negative side software limits.
Positive side
Command
When the limit is exceeded, status PSL/NSL of RTEX
unit
software limit value
1073741823
communication is turned on (= 1).
Note: Make sure that positive side software limit > negative
-1073741823
Negative side
Command
side software limit.
unit
software limit value
1073741823
Note that arrangement of status bits may be changed as shown below.
Class
7
R2.0
No. Attribute
23
B
parameter
Title
RTEX function
expansion setup 2
Setting
range
-32768
-32767
Unit
Description
[bit 7] RTEX status bit arrangement setting for PSL/NSL
0: PSL at bit 3 and NSL at bit 2
1: NSL at bit 3 and PSL at bit 2
▪ For description on bits other than shown above, refer to
Technical Reference, SX-DSV03077 “Section 8-1”,
Functional Specification.
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 88 -
6-8-7 Other precautions related to profile command
• Imports command argument such as Target_Position (TPOS) and starts up when command code changed from 10h to
17h.
• In case of changing command argument and parameter set value in a state of command code 17, there may be cases
where values are not reflected or error is given depending on operation status, parameter setting status and arguments
to be changed as shown in the following table.
bit 5 of Pr7.23
bit 5 of Pr7.23
(non-cyclic command
(non-cyclic command
start-up mode)
start-up mode)
= 0 (A4N compatible mode)
= 1 (Expansion mode)
Parameter
to be changed
Command argument
to be changed
Target_Position
(TPOS)
In operation
In suspension
In operation
In suspension
Positioning mode
(Type_Code=10 – 13h)
△
△
○
△
Other than positioning
mode
–
–
–
–
×
△
×
△
Latch positioning mode
(Type_Code=12h,13h)
×
△
×
△
Other than latch
positioning mode
–
–
–
–
Monitor_Sel
△
△
○
△
Target_Speed
(TSPD)
△
△
○
△
Pr8.01 “Profile linear acceleration constant”
*
△
*
△
Pr8.04 “Profile linear deceleration constant”
*
△
*
△
Pr8.10 “Movement distance after detection of
profile position latch”
*
△
*
△
Pr8.12 “Profile homing mode setting”
*
△
*
△
Pr8.13 “Profile homing velocity1”
*
△
*
△
Type_Code
Latch_sel1
*
△
*
Pr8.14 “Profile homing velocity 2”
▪
○: Reflected
△: Not reflected by only change of value
Can be reflected by returning command code to 10h once and by changing it to 17h.
*: Not reflected
×: Change is prohibited
Err91.1 “RTEX command error protection” and command error (0140h) are generated.
–: Invalid
△
• During operation (In_Progress = 1), non-cyclic commands (except for certain homing commands) can also be
executed, maintaining profile operation. However, do not change operation mode (Type_Code and Latch_Sel1 in
profile command). Otherwise, Err.91.1 “RTEX command error protection” and command error 0104h will occur.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 89 -
Compatible control mode
6-9 Monitor Command (Command Code: £Ah)
Use this to read out position error and overload ratio etc.
NOP
PP
CP
CV
CT
-
™
™
™
™
n Main command: common to 16 byte and 32 byte mode
Byte
0
1
bit7
6
5
C
Update_Counter
(0)
TMG_
CNT
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Command
4
3
2
1
0
MAC-ID
Byte
0
£Ah
1
Control_Bits
L
ML
MH
H
L
H
L
H
L
ML
MH
H
Command_Data1
Type_Code
0
Index
Command_Data3
2
3
4
5
6
7
8
9
10
11
12
13
14
15
bit7
6
5
R Update_Counter
(1)
_Echo
CMD_
Error
Response
4
3
2
1
0
Actual_MAC-ID
£Ah
Status_Flags
L
ML
MH
H
L
H
L
H
L
ML
MH
H
Response_Data1
ERR
WNG
Type_Code_Echo
0
Busy
Index_Echo
Monitor_Data
n Sub-command: specific to 32 byte mode
Byte
16
bit7
Sub_
Chk
(1)
6
5
Command
4
3
0
0
0
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
R2.0
2
1
0
Sub_Command_Code
(Ah)
16
Sub_Type_Code
Sub_Index
Sub_Command_Data1
Sub_Command_Data2
Sub_Command_Data3
Title
Type_Code
/Type_Code_Echo
Sub_Type_Code
/Sub_Type_Code_Echo
Index/Index_Echo
Sub_Index
/Sub_Index_Echo
Command_Data3
/Monitor_Data
Command
Specify the monitor to be read
▪ For details, refer to Section 6-9-1.
Sub_Command_Data1
/Sub_Monirot_Data
Set to 0
Byte
L
H
L
ML
MH
H
L
ML
MH
H
L
ML
MH
H
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
bit7
Sub_
CMD_
Err
6
5
Sub_
ERR
Sub_
WNG
Response
4
3
Sub_
Busy
2
1
0
Sub_Command_Code_Echo
(Ah)
Sub_Type_Code_Echo
Sub_Index_Echo
Monitor_Data
Sub_Response_Data2
Sub_Response_Data3
L
H
L
ML
MH
H
L
ML
MH
H
L
ML
MH
H
Response
Type_Code echo back value
Type_Code echo back value
Data specified by Pr.7.35 “RTEX command setup 1”
▪ For details, refer to Sections 7-7-1.
Specified monitor data
[Size]: Signed 32-bit
(Sign is dependent on the monitor data)
[Unit]: Dependent on the monitor data
▪ If the length of monitor data is 16 bits, it will be
converted to 32-bit data before being returned.
▪ Even if the command code and command argument are
stored, the monitor data will be updated to the newest
value.
▪ For details, refer to Section 6-9-1.
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 90 -
6-9-1 Type code list of monitor command
Type_Code *1)
A4N
standard
compatible
Index
*2)
Title
Unit
Description
Refer to
<In position control mode>
Position deviation
* Method of calculating.the position deviation is
defined to change Pr7.23 bit4 "Command
positional deviation output setting".
(For details, refer to functional specification
Section 3-4.)
101h
01h
Position deviation
PERR
0
(1,2)
Command
unit
Pr7.23 bit4
Method of calculating
the position deviation
0
The deviation with respect to the
command after the filter
1
102h
02h
104h
04h
105h
05h
Encoder resolution
Internal command
position
(after filtering)
Actual speed
-
0
pulse/r
MPOS
0
Command
unit
ASPD
0
106h
06h
Torque
TRQ
0
-
07h
Actual position
APOS
0
-
08h
Internal command
position
(before filtering)
IPOS
0
-
09h
Latch position 1
LPOS1
0
-
0Ah
Latch position 2
LPOS2
0
-
0Ch
-
0Dh
111h
11h
112h
12h
Command velocity
(after filtering)
For manufacturer’s
use
Regenerative load
ratio
Overload ratio
MSPD
0
Set to
Pr.7.25
0.1%
Command
unit
Command
unit
Command
unit
Command
unit
Set to
Pr.7.25
-
-
-
-
0
0.1%
-
0
0.1%
The deviation with respect to the
command before the filter
<In speed/torque control mode>
Undefined
Note: Although the same data is returned whether
Index is 1 or 2, use Index = 0.
Encoder resolution of motor connected
6-9-4
Internal command position after filtering
Motor actual speed
▪ Set the unit through Pr.7.25 “RTEX speed unit setup”.
Pr.7.25
Unit
0
[r/min]
1
[Command unit/s]
Command torque to motor
6-9-4
-
-
Motor actual position
6-9-4
Internal command position before filtering
6-9-4
Motor actual position latched in CH1
Motor actual position latched in CH2
6-9-4
6-5-4
6-9-4
6-5-4
Command speed after filtering
▪ Set the unit through Pr.7.25 “RTEX speed unit setup”.
Pr.7.25
Unit
0
[r/min]
1
[Command unit/s]
▪ Value undefined in torque control mode
Ratio of the regenerative overload protection to the
alarm occurrence level
Ratio of the actual load to the rated motor load
-
-
*1) Upon Type_Code error, command error (0031h) will be returned.
Manufacturer will use a Type_Code not listed above.
When a Type_Code used by the manufacturer is set, undefined value will be returned in place of command error
(0031h).
*2) Upon Index error, command error (0032h) will be returned.
*3) A4N compatible Type_Code: Compatible with that for A4N and can be used only with main command.
standard Type_Code:
Prepared for A5N,A6N and can be used with both main command and subcommand.
When using with main command, set upper 4-bit to 0.
* Although the product supports conventional Type_Code to maintain compatibility, basically use the standard
Type_Code.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 91 -
Type_Code
Title
A4N
standard
compatible
21h
Logical input signal
22h
Logical output signal
Logical input signal
23h
(expansion portion)
Logical output signal
24h
(expansion portion)
25h
Physical input signal
26h
Physical output signal
Index
Unit
-
0
0
-
Logic level of input signal
Logic level of output signal
6-9-5
6-9-5
-
0
-
Logic level of input signal (expansion portion)
6-9-5
-
0
-
Logic level of output signal (expansion portion)
6-9-5
-
0
0
-
Physical level of input signal
Physical level of output signal
6-9-5
6-9-5
The ratio of load inertia to the motor’s rotor inertia
(equivalent of value in Pr.0.04)
Inertia ratio = (load inertia/ rotor inertia ) ´ 100
131h
31h
Inertia ratio
-
0
%
132h
32h
Automatic motor
recognition
-
0
-
133h
33h
Cause of no revolution
-
0
-
134h
34h
Warning flags
-
0
-
-
37h
For manufacturer’s use
-
-
-
Description
Refer to
0: Invalid
1: Valid
The number which shows the cause that the motor is
not running.
The number which shows the cause that the motor is
not running.
▪ The corresponding bit is set to 1 to activate the flag
(showing warning status).
-
-
6-9-2
6-9-3
-
The number which shows the cause that the motor is
not running.
▪ The value will increase at CCW rotation.
Mechanical angle = 0– (Encoder resolution - 1)
R2.0
201h
41h
Mechanical angle
(Single turn data)
-
0
pulse
202h
42h
Electrical angle
-
0
-
-
43h
Multi-turn data
-
-
Turn
-
61h
Power on cumulative
time
-
-
30 min
-
62h
Servo driver
temperature
-
-
°C
-
63h
Encoder temperature
-
-
°C
-
64h
No. of inrush resistance
relay operations
-
-
Cycle
-
65h
No. of dynamic brake
operations
-
-
Cycle
-
66h
Fan operating time
-
-
30 min
Note: When the incremental encoder is used,
Monitor_Data is kept FFFFFFFF [h] until the
Z-phase of the encoder is detected
(1 revolution data is at zero position) after
turning on of control power.
Electrical angle of the motor
▪ The value will increase at CCW rotation.
Electrical angle = 0–1FF [Hex]
-
-
Multi-turn data of absolute encoder
Cumulative on-time of control power to the servo
driver
▪ Because the power on time is recorded in unit of 30
minutes, a turn-on period shorter than 30 minutes is
not recorded.
-
Temperature inside the servo driver
-
Temperature inside the encoder
▪ Applicable only to 23-bit encoder: 0 for
unsupported encoder.
Operating cycles of inrush current suppression resistor
relay
▪ Saturation will occur at maximum value of
40000000h.
▪ Because the power on time is recorded in unit of 30
minutes, a turn-on period shorter than 30 minutes is
not recorded.
No. of operations of dynamic brake relay
▪ Saturation will occur at maximum value of
40000000h.
▪ Because the power on time is recorded in unit of 30
minutes, a turn-on period shorter than 30 minutes is
not recorded.
Operating time of cooling fan
▪ Because the power on time is recorded in unit of 30
minutes, a turn-on period shorter than 30 minutes is
not recorded.
▪ 0 when no fan is installed.
-
-
-
-
-
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 92 -
Type_Code
A4N
standard
compatible
Title
Index
Unit
-
67h
Fan life expectancy
-
-
0.1%
-
68h
Capacitor life expectancy
-
-
0.1%
401h
69h
71h
Voltage across PN
RTEX cumulative
communication errors
-
0
V
Cycle
411h
81h
Encoder cumulative
communication errors
-
0
Cycle
413h
-
83h
85h
For manufacturer’s use
For manufacturer’s use
-
-
-
R2.0
Description
Percent of fan life expectancy.
▪ Because the power on time is recorded in unit of 30
minutes, a turn-on period shorter than 30 minutes is not
recorded.
▪ 0 when no fan is installed.
Percent life expectancy of main power source capacitor
▪ Because the power on time is recorded in unit of 30
minutes, a turn-on period shorter than 30 minutes is not
recorded.
Main power source PN voltage
Total number of RTEX communication errors
▪ Saturation occurs at max. value FFFFh.
The count will be cleared upon restarting of servo driver or
resetting of control power source.
Total number of communication errors between encoders
▪ Saturation occurs at max. value FFFFh.
The count will be cleared upon restarting of servo driver or
resetting of control power source.
-
Refer to
-
-
-
-
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 93 -
6-9-2 Cause of no revolution
Cause of no
revolution
*1)
Item
Description
*2)
No cause
Any cause of no revolution cannot be detected.
Normally rotates.
Not in servo ready state.
• The main power of the servo driver has not been turned on.
• Some kind of errors is occurring.
• Synchronization between communication and servo is not
established.
• Processing in the attribute C parameter validation mode
according to the reset command.
And other
No servo-on command
The Servo On command is not given to the servo driver.
• Servo On bit of Command is 0.
• EX_ON (external servo-on input) is allocated and the signal is
off.
And others
3
Over-travel inhibit input active
• Pr.5.05 = 0,1 Sequence at over-travel inhibit (other than
immediate stop) and Pr.5.04 = 0 Over-travel inhibit input active;
and positive drive inhibit input (POT) is ON and operation
command is positive direction; or, negative drive inhibit input
(NOT) is ON and operation command is negative direction.
• Pr.5.05 = 2 Sequence at over-travel inhibit (immediate stop) and
Pr.5.04 = 0 Over-travel inhibit input active; and positive drive
inhibit input (POT) is ON and operation command is positive
direction or negative drive inhibit input (NOT) is ON, causing the
operation to stop, regardless of operation command input.
4
Torque limit value too small
Valid torque limit value is set to 5% or below the rated value.
7
Too low frequency of position
command input
Position command per control period is 1 command unit or smaller.
10
Instruction velocity through
RTEX communication is low.
The command velocity is set to 30r/min or below.
11
Manufacturer use
12
Instruction torque through RTEX
The command torque is low: 5% or below the rated torque.
communication is low.
0
1
2
13
Speed limit too low
–
• Pr.3.21 Speed limit value is set to 30 r/min or lower when Pr.3.17
= 0.
• When Pr.3.17 = 1, the speed limit of the parameter (Pr.3.21 or
Pr.3.22) specified by SL_SW bit of the command is set 30r/min
or lower.
Above mentioned 1 to 13 canses are not available and the motor
doesn't rotate.(Too small commanded value, too heavy load,
locking, crashing, servo driver/motor failure, etc.)
*1) Even if any number other than 0, the motor may revolve.
*2) The position command generation process may be interrupted by over-travel inhibit input, resulting in detection of
cause 7 instead of cause 3.
14
R2.0
Other causes
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 94 -
6-9-3 Assignment of the warning flag
bit 7
bit 6
bit 5
bit 4
bit 3
bit 2
bit 1
bit 0
Byte 12
Overload
Fun lock
Regenerative
overload
-
-
-
-
Battery
Byte 13
-
-
Main power
source off
Update
counter
Byte 14
-
-
-
-
Oscillation
detection
Encoder
communication
Encoder
overheating
Lifetime
detection
Byte 15
-
-
-
-
-
-
-
-
Cumulative
Continuous
communication communication
error
error
-
6-9-4 Position information during servo off, velocity control and torque control
Position information of command system during servo off, speed control and torque control varies to follow changes in
motor actual position even if the command position from the host controller is stopped.
During servo off, speed control and torque control, position deviation is undefined.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 95 -
6-9-5 Status of input and output signals
l Logical input signal
Acquire servo driver logical input signal information.
bit7
6
5
4
3
2
Positive
Negative
direction drive direction drive
inhibit input inhibit input
(POT)
(NOT)
1
Enable alarm
input
(E-STOP)
-
-
-
bit15
14
13
12
11
10
9
8
-
-
-
-
-
-
-
-
bit23
22
21
20
19
18
17
16
-
-
-
-
-
-
-
-
bit31
30
29
28
27
26
25
24
-
-
-
-
-
-
-
-
-
0
Servo on
command
*1)
*1) Not external servo on input status but the servo on command for servo control processing.
For details, refer to 4-2-3-1.
l Logical input signal (extended portion)
Acquire servo driver logical input signal (extended portion) information.
bit7
6
5
-
-
-
bit15
14
-
-
bit23
-
R2.0
4
Near home
input
(HOME)
3
13
12
11
10
9
8
-
-
-
-
-
-
17
16
-
-
-
2
1
0
External latch External latch External latch
input 3
input 2
input 1
(EXT3)
(EXT2)
(EXT1)
22
21
20
19
18
General
General
General
General
General
purpose
purpose
purpose
purpose
purpose
monitor input 5 monitor input 4 monitor input 3 monitor input 2 monitor input 1
(SI-MON5)
(SI-MON4)
(SI-MON3)
(SI-MON2)
(SI-MON1)
bit31
30
29
28
27
26
25
24
-
-
-
-
-
-
-
-
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 96 -
l Logical output signal
Acquire servo driver logical output signal information.
bit7
-
bit15
Servo on
output
(/SRV-ST)
*1
bit23
EDM
Output
(EDM)
*1)
6
5
4
Velocity
coincidence Torque limiting Zero speed
output
output
detect output
(TLC)
(ZSP)
(V-COIN)
3
2
1
0
Brake release
output
(BRK-OFF)
Positioning
complete
output
(INP)
Servo alarm
output
(ALM)
Servo ready
output
(S-RDY)
14
13
12
11
10
9
8
-
-
-
-
-
At-speed
output
(AT-SPEED)
-
19
Positioning
complete
output 2
(INP2)
18
Position
command
on/off output
(P-CMD)
17
Warning
output 2
16
Warning
output 1
(WARN2)
(WARN1)
25
RTEX
operation
output 2
(EX-OUT2)
24
RTEX
operation
output 1
(EX-OUT1)
22
21
20
Velocity
Alarm clear
Velocity
command
attribute output limiting output
on/off output
(ALM-ATB)
(V-LIMIT)
(V-CMD)
bit31
30
29
28
27
26
-
-
-
-
-
-
0 indicates the servo ON status and 1 indicates the servo OFF status.
l Logical output signal (extended portion)
Acquire servo driver logical output signal (extended portion) information.
R2.0
bit7
6
5
4
3
2
1
0
-
-
-
-
-
-
-
-
bit15
14
13
12
11
10
9
8
-
-
-
-
-
-
-
Communication
sync complete
output
(SYNC_CMP)
bit23
22
21
20
19
18
17
16
-
-
-
-
-
-
-
-
bit31
30
29
28
27
26
25
24
-
-
-
-
-
-
-
-
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 97 -
l Physical input signal
Acquire the level of physical input signal to servo driver.
Logic of input signal is 0 when input is open and 1 when it is connected to COM-.
bit7
SI8
Input
6
SI7
Input
5
SI6
Input
4
SI5
Input
3
SI4
Input
2
SI3
Input
1
SI2
Input
0
SI1
Input
bit15
14
13
12
11
10
9
8
-
-
-
-
-
-
-
-
bit23
22
21
20
19
18
17
16
-
-
-
-
-
-
-
-
bit31
30
29
28
27
26
25
24
-
-
-
-
-
-
-
-
1
SO2
Output
0
SO1
Output
l Physical output signal
Acquire the level of physical output signal from servo driver.
Logic of output signal is 0 when output transistor is off and 1 when it is on.
bit7
6
5
4
3
-
-
-
-
-
2
SO3
Output
bit15
14
13
12
11
10
9
8
-
-
-
-
-
-
-
-
bit23
22
21
20
19
18
17
16
-
-
-
-
-
-
-
-
bit31
30
29
28
27
26
25
24
-
-
-
-
-
-
-
-
*1) If Servo on status (SRV-ST) is allocated to the physical output signal, the servo is turned ON in the case of 1
and turned OFF in the case of 0.
*2）When position comparison output (CMP-OUT) is assigned to the PHY output signal, 0 is always set.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 98 6-10 Command error (Command code: ££h)
If the servo driver cannot receive a command due to its incompleteness, it returns this response in which bit 7 of Byte 1 is 1.
n Main command: common to 16 byte and 32 byte mode
Byte
bit7
6
5
C
Update_Counter
(0)
0
1
Cyclic
TMG_
CNT
2
3
4
5
6
7
Command
4
3
2
1
0
MAC-ID
0
Command_Code (££h)
1
L
ML
MH
H
2
3
4
5
6
7
L
ML
MH
H
L
ML
MH
H
8
9
10
11
12
13
14
15
Control_Bits
<Command_Data1>
Dependent on cyclic command
8
9
10
11
Non-cyclic
12
13
14
15
Byte
<Command_Data2>
Dependent on non-cyclic command
<Command_Data3>
Dependent on non-cyclic command
bit7
6
5
R Update_Counter
(1)
_Echo
CMD_
Error
(1)
Response
4
3
2
1
0
Actual_MAC-ID
Command_Code_Echo (££h)
Status_Flags
L
ML
MH
H
<Response_Data1>
Default: Actual_Position (APOS)
[Command unit]
L
H
L
H
L
ML
MH
H
Error_Code
0
0
n Sub-command: specific to 32 byte mode
Byte
bit7
6
5
Command
4
3
16
Sub_
Chk
(1)
0
0
0
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
Title
CMD_Error
/Sub_CMD_Error
Error_Code
/Sub_Error_Code
R2.0
2
1
0
Sub_Command_Code
(Ah)
Sub_Type_Code
Sub_Index
Sub_Command_Data1
Sub_Command_Data2
Sub_Command_Data3
Command
–
–
Byte
bit7
16
Sub_
CMD_
Err
L
H
L
ML
MH
H
17
18
19
20
21
22
23
L
ML
MH
H
L
ML
MH
H
24
25
26
27
28
29
30
31
6
5
Sub_ Sub_
ERR WNG
Response
4
3
2
1
0
Sub_
Sub_Command_Code_Echo
Busy
0
Sub_Error_Code
0
Sub_Response_Data2
Sub_Response_Data3
L
H
L
ML
MH
H
L
ML
MH
H
L
ML
MH
H
Response
Return 1.
Command error code
▪ For details, refer to Sections 6-10-1 and 6-10-2.
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 99 -
6-10-1 Command error detection
When command error occurs, the servo driver cannot receive the command and perform required process.
Build a system which either will not generate an error or will not enter unsafe status even if an error occurs.
6-10-1-1 Command error common to 16-byte and 32-byte modes
Command data valid ¡/invalid ´
(If invalid, the previous data is used.)
Field where error is
detected
Error content
Command code
*1)
Byte1
Byte
0
7
6-4
1
3-0
2-3
-
4-7
-
8-11
-
12-15
(FF invalid)
-
12-15
(FF valid)
-
Non-cyclic data
Byte
Byte
12-15
12-15
(FF invalid) (FF valid)
*8)
*8)
Error_Code
*5)
Alarm
Byte
2-3
Byte
4-7
Byte
8-11
´
´
´
´
´
´
0011h
´
´
´
´
´
´
´
0012h
´
´
´
´
´
´
´
0021h
Err86.1
Cyclic command error (except
for undefined error) *7)
´
´
´
´
´
´
´
002Eh
Err91.1
Undefined non-cyclic
command
*3)
(Unused bit is 1)
Cyclic data
(Command_Data1 is outside
the setting range, etc. *5)
Non-cyclic data
(Command_Data 2) is outside
the setting range. *6)
Non-cyclic data
(Command_Data 3) is outside
the setting range. *6)
Non-cyclic data
(Command_Data 3) is outside
the setting range. *6)
¡
*4)
´
¡
¡
´
´
¡
0022h
bit
6-4
bit
3-0
Mismatched node address
(MAC-ID)
*2)
C/R bit is 1
despite of command *2)
Undefined cyclic command
*2)
´
bit
4-0
Cyclic data
Err86.0
No error checked
¡
¡
¡
´
¡
¡
¡
¡
¡
¡
¡
´
´
¡
¡
¡
¡
¡
´
´
-
¡
¡
¡
¡
¡
-
´
Code
corresponding
to the error
No
occurrence
▪ See 6-10-2.
*1) Even if command code of byte 1 is invalid, the same value will be echo-backed in response.
*2) Command error (0021h) will be returned if cyclic command (Byte 1, bits 6-4) is not defined; command error
(0011h) will be returned if node address does not match; command error (0012h) will be returned if C/R bit is 1.
These cause unsafe condition due to lack of cyclic transfer: if error condition lasts for specified period, Err86.1
“RTEX cyclic data error protection 2” generates an alarm.
*3) Command error (0022h) will be returned when cyclic command (bits 6 to 4 at Byte 1) is complete and non-cyclic
command (bits 3 to 0 of Byte 1) is not defined.
*4) Only cyclic command (bits 6 to 4 at Byte 1) will be valid when non-cyclic command (bits 3 to 0 of Byte 1) is not
defined.
*5) When cyclic data (Byte 4 to 7) is outside the setting range, the command error (0033h) will occur and the previous
value will be used for operation. If previous cyclic command (Byte 1, bits 6-4) was different, causing the previous
value undefined, set the value to 0.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 100 -
*6) When non-cyclic data (byte 8 to 15) is abnormal, error code corresponding to the error content will be returned.
For details of error code, refer to 6-10-2.
*7) Command error (002Eh) will be returned if the defined cyclic command (Byte 1, bits 6-4) is not correctly received.
This causes unsafe condition due to lack of cyclic transfer and Err91.1 “RTEX command error protection”
generates alarm.
*8) “FF invalid” means that Command_Data3 feedforward is invalid and “FF valid” means feedforward is valid.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 101 -
6-10-1-2 Command error in 32-byte mode
Field where
error is detected
Error content
Subcommand data – valid ¡/invalid ´
(If invalid, use the previous command.)
SubcomSub_Chk mand code
Subcommand data
*1)
Byte16
Byte
bit
7
16
3-0
17-23
24-27
28-31
-
-
-
Sub_Chk bit is 0 in
32-byte mode.
*2)
Subcommand is
undefined.
*3)
Subcommand data
(Sub_Type_Code,
Sub_Index,
Sub_Command_Data1) is
outside the setting range,
etc.
*5)
Feedforward data 2
(Sub_Command_Data2)
is outside the setting
range.
*4)
Feedforward data 3
(Sub_Command_Data3)
is outside the setting
range.
*4)
Byte17
-23
Byte24
-27
Byte28
-31
Sub_Error
_Code
*5)
Alarm
Err86.0
bit7
bit
3-0
´
´
´
´
´
0012h
¡
´
´
¡
¡
0022h
¡
¡
´
¡
¡
Code
corresponding
to the error
No
occurrence
¡
¡
¡
´
¡
0034h
¡
¡
¡
¡
´
*1) Even if the subcommand code of Byte 16 is invalid, the value is echoed back in response.
*2) When Sub_Chk bit is 0, subcommand error (0012h) will be returned. This is interpreted as whole command (Bytes
0-31) in 32-byte mode is incorrect, and if error condition lasts for predetermined period, Err86.0 “RTEX cyclic
data error protection 1” causes an alarm. And when subcommand error (0012h) will be returned, main command
cannot execute required process.
*3) Even if subcommand (Byte 16, bits 3-0) is undefined, feedforward data 2/3 (Bytes 24-31) are made valid.
*4) When feedforward data is outside the setting range, command error (0034h) is generated and the previous value is
used for operation.
*5) When the value of subcommand data (Bytes 17-23) is not correct, corresponding Sub_Error_Code will be
returned.
For details of any other Sub_Error_Code, see 6-10-2.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 102 -
6-10-2 List of command error code
Category
Command header
related
Error_Code
0011h
• Mismatched node address (MAC-ID)
0012h
• C/R bit is 1 despite of command
• Sub_Chk is 0 in 32-byte mode.
0021h
• Cyclic command is not defined
0022h
• Non-cyclic command is not defined (when cyclic command is normal)
• Combination error of control mode and non-cyclic command.
• Subcommand is undefined in 32-byte mode.
002Eh
• Combination of communication cycle, 16/32-byte mode and control mode is not correct.
• Control mode has been changed by less than 2 ms.
• Control mode has been changed during profile position latch positioning/profile homing (Type_Code =
12h, 13h, 31h, 32h, 33h) operation.
• Control mode has been changed during execution of non-cyclic command (Busy = 1).
• Run the home return command (£4h) Type_Code=1£h/2£h during the velocity control (CV)/ torque
control (CT)
• When Block Diagram of Two-Degrees-of-Freedom Mode is disabled, Control mode has been changed
torque control.
0031h
• Type_Code/Sub_Type_Code is not defined.
0032h
• Non-cyclic data/subcommand data other than Type_Code/Sub_Type_Code is out of setup range.
0033h
• Cyclic data (command_data1) is out of setup range
0034h
• Feedforward data (Command_Data3, Sub_Command_Data2/3) is out of setup range.
0041h
• Write access is attempted to read only media.
0042h
• Alarm clear command is executed while an alarm that cannot be cleared and no warning is issued.
Command code,
control mode
related
Argument related
0043h
Not executable 1
(general)
Not executable 2
(Related to
return-to-home)
Not executable 4
(in process)
Not executable 5
(access inhibit)
R2.0
For manufacturer’s use
0045h
• In servo on state, reset command is executed in attribute C parameter validation mode.
0046h
• After deceleration and stop according to the drive inhibit input (POT/NOT), direction command
POT/NOT is applied.
• During deceleration according to the drive inhibit input (POT/NOT), a profile operation (except for
Type_Code = 31h, 32h, 33h) is started.
0051h
• Return-to-home command, multi-turn clear, is executed while the encoder is in the incremental mode.
• Multi-turn clearing of the home position return command was executed even when the single-turn absolute
function was effective.
0052h
• During cyclic position control (CP) in absolute mode, Type_Code = 1£h of homing command(£4h) has
been executed.
• During profile position control (PP) in absolute mode, profile homing has been executed.
0053h
• During cyclic position control (CP) in absolute mode, actual position set/command position set
(Type_Code = 21h, 22h) of homing command (£4h) have been executed.
0055h
For manufacturer’s use
0056h
• Return-to-home command, multi-turn clear, is executed while in the servo-on condition.
0057h
• Return-to-home command, Type_Code = 1£h, is executed while in the servo-off condition.
0058h
• While the external input is not assigned to the latch correct terminal, Type_Code is executed by using the
external input as a trigger.
0059h
• During profile position latch positioning/profile homing (Type_Code = 12h, 13h, 31h, 32h, 33h), homing
command (£4h) has been executed.
• During profile positioning/profile continuous revolution (Type_Code = 10h, 11h, 20h) homing command
(£4h) of initialization mode (Type_Code=1£h, 31h) has been executed.
005Ah
Not executable 3
(related to hardware
factor)
Cause
For manufacturer’s use
0061h
• “EEPROM writing” is not permitted because of under voltage of the control power
0101h
• In processing the previous command
0102h
• Command is not permitted to be accepted because the servo driver is accessing to the encoder now
0103h
• Command is not permitted to be accepted because the servo driver is accessing to the external scale now
0104h
• Type_Code has been changed while operating under profile position control (PP).
0201h
• Command is not permitted to be accepted because parameter writing or writing to EEPROM is inhibited
now
• Write parameter command or write EEPROM command is issued while bit 0 of Pr.7.23 “RTEX function
expansion setup 2” is set at 1.
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 103 -
6-11 Communication Error (Command code: ££h/ Response code: FFh)
This response will be returned when the communication error (CRC error) has been detected by the servo driver.
Then the servo driver continues controlling based on the previously received command.
Byte
bit7
6
5
C
Update_Counter
(0)
0
1
TMG_
CNT
2
3
4
5
6
7
Cyclic
Command
4
3
2
1
0
MAC-ID
0
Command_Code (¨¨h)
1
L
ML
MH
H
2
3
4
5
6
7
L
ML
MH
H
L
ML
MH
H
8
9
10
11
12
13
14
15
Control_Bits
<Command_Data1>
Dependent on cyclic command
8
9
10
11
Non-cyclic
12
13
14
15
Byte
<Command_Data2>
Dependent on non-cyclic command
<Command_Data3>
Dependent on non-cyclic command
bit7
6
5
R Update_Counter
(1)
_Echo
Response
4
3
2
1
0
Actual_MAC-ID
FFh
Status_Flags
L
ML
MH
H
<Response_Data1>
Default: Actual_Position (APOS)
[Command unit]
L
ML
MH
H
L
ML
MH
H
0
0
n Sub-command: specific to 32 byte mode
Byte
bit7
6
5
Command
4
3
16
Sub_
Chk
(1)
0
0
0
17
18
19
20
21
22
23
2
1
0
Sub_Command_Code
(Ah)
Sub_Type_Code
Sub_Index
Sub_Command_Data1
24
25
26
27
28
29
30
31
Sub_Command_Data2
Sub_Command_Data3
Byte
bit7
6
5
16
1
0
0
L
H
L
ML
MH
H
17
18
19
20
21
22
23
L
ML
MH
H
L
ML
MH
H
24
25
26
27
28
29
30
31
Response
4
3
0
2
1
0
Fh
0
L
H
L
ML
MH
H
0
0
Sub_Response_Data2
Sub_Response_Data3
Title
Command
Byte1
–
Return FFh
Byte6
–
Return 8Fh
L
ML
MH
H
L
ML
MH
H
Response
When the communication error (CRC error) occurs continuously, the servo amplifier shows Err83.0 “RTEX
communication error protection 1”.
Number of alarm geenration can be set by the following parameter.
Class
7
R2.0
No.
95
Attribute
Title
R
Number of RTEX
continuous
communication
error protection 1
detections
Range
0-17
Unit
Description
No. of
times
Set the number of RTEX continuous communication error protection
1 detections.
If a continuous CRC error occurs exceeding the number of times set
for this parameter, Err83.0 “RTEX continuous communication error
protection 1” occurs.
If 0 or 1 is set for this parameter, 2 is internally set.
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 104 -
7. Operation
7-1 Cyclic position control (CP) operation
When the cyclic command (Byte 1, bits 6–4) is 2h while in the semi-closed control mode and in servo-on condition
(Servo_Active: response Byte 2, bit 7 is 1), perform positioning operation according to the given command position
(absolute position: Bytes 4–7).
However, if the command position (absolute position: Byte4 to 7) input when the single-turn absolute function is effective
has become out of the setting range, command error (0033h) will be returned.
For details of the command position setting range, refer to Technical Reference, SX-DSV03077 "Section 6-2-2",
Functional Specification.
You have to pay attention to the following.
7-1-1 Command follow-up process (command position at servo-off)
For the cyclic positioning (CP), position command is given as absolute position.
Therefore, if the actual position is changed by an external force, the position will return back to the command position
upon the next servo-on if the command position is kept. This operation may cause Err. 27.7 “Command error
protection” or Err. 26.0 “Over-speed protection” in certain condition. Do not apply the movement command during
servo-on, even if the direction is drive inhibit input.
Therefore, for the sake of safety, be sure to have the command position set up with the actual position value read from
the servo driver when in the servo off condition (have the actual position tracked by the command position).
Be sure to judge the servo off condition for this processing by whether or not the response Servo_Active is 0.
Bad example: Command position at servo-off (Command position is not set with actual position)
Command position (Command)
Servo-on
Response Servo_Active=1
Actual position
Command position (Command)
Equipment is moved by external force
Servo-off
Actual position
Response Servo_Active=0
Command position (Command)
Danger: Equipment returns to command
position rapidly.
Servo-on
Response Servo_Active=1
R2.0
Actual position
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 105 -
7-1-2 Prohibited matter of NOP command (0¨h)
NOP command (0¨h) is designed to be used for transient transmission while “the data to be transmitted is not yet
prepared” due to processing timing problem until network is established. Therefore, try to transmit regular command e.g.
20h that specifies control mode, as soon as possible and never try to transmit NOP, and not to try to retransmit NOP.
If NOP command is transmitted while the motor is running in the cyclic positioning (CP) operation, the servo driver
controls at the command position determined by the previously received command, and the cycle is unchanged as if the
stop command is received. Never transmit NOP command which causes unstable operation.
Bad Example: NOP command (00h) is inserted during position command (20h)
Time
Data update period
NOP
cycle
Command position
The same as stop command
Difference of command
position
(command velocity)
7-1-3 Command position upon communication error
If communication error (CRC error, missing data, cyclic data error) occurs during CP control, control the command
position at the estimated position.
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7-1-4 Variations in command position during command updating period
7-1-4-1 Limiting variations in command position
When applying the movement command, make sure that variations in command position during command updating
period will not exceed the motor maximum speed.
If a variation of command position during communication period is too large, Err. 27.4 “Command error protection”
will be activated.
7-1-4-2 Wrap rounding command position
If a variation of command position during communication period has exceeded the following values, wraparound
process starts.
Wraparound threshold [command unit]
Absolute encoder setup
lower limit
upper limit
Infinitely rotatable absolute
0
(223*Pr6.88 setting value)-1
encoder mode
Other than infinitely rotatable
80000000h
7FFFFFFFh
absolute encoder mode
Example of wraparound process:
Command position changed from 7FFFFFFFh to 80000000h
(Other than infinitely rotatable absolute encoder mode)
Servo internal computation
Command position (command unit)
In negative direction
4294967295 (command
unit) no relative
displacement
7FFFFFFFh
In positive direction 1
(command unit) relative
displacement (wraparound
process)
Physical
position
80000000h
80000000h
7-1-4-3 Clearing position deviations
When clearing position deviations from the host controller, read the actual position (APOS) and set command position
to the value so that actual position (APOS) becomes equal to command position (CPOS).
Note that, as in the case of 7-1-4-1, change the command position (CPOS) gradually by dividing the command updating
period in several sub-periods so that variations in command position will not exceed the limit.
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7-1-4-4 Amount of change saturation function of command position
This function is to prevent from Err27.4 trrigered by abnormal input command which is caused by input command
calculation delay from master controller.
For the sake of motor operation stabilization, the amount of position command difference is saturated by the convirted
value from motor maximum velocity.
(1) Applicable Range
This function operates under the following conditions.
Conditions that command position saturation function to operate
Control mode • Position control (*1)
Others
• Should be in servo-on condition
• Parameters except for controls such as torque limit setup, are correctly set, assuring
that the motor can run smoothly.
• It is a Pr7.22 bit5 = 1 (Valid)
*1) Semi-closed control is the target.
(2) Caution
• By enabling this function, when the unexpected position command is received, the servo amplifier can
suppress Err27.4 “Comman Error Protection”.
In case of using this function, please consider well how the master controller behaves.
(3) Relevant parameters
AtClass No. tribute
7
R2.0
22
R
Title
Range
Unit
Function
RTEX function
extended setup 1
-32768
–32767
−
[bit5] Command pulse saturation function selection
0: Invalid
1: Valid (Saturated with motor maximum speed)
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 108 -
(4) Example of movement (CP control)
1. When invalid the amount of change saturation function of command position (Pr7.22 bit5=0)
As shwon below, when the master controller updates RTEX command position less timing than the command
update cycle,the difference of command position would become large at the timing of update period of RTEX
command position. Below shows 3 times faster.
Therefore, as the amount of change is larger than that of expected value, Err27.4 would be easy to occur.
1ms
1ms
1ms
RTEX
Command position
Time
Command position change
amount per
interpolation cycle
3 times
the speed
Time
If the amount of change exceeds the threshold,
Err27.4 occurs
2. When valid the amount of change saturation function of command position (Pr7.22 bit5=1)
In case that the anoumt of RTEX command position change becomes over motor maximum velocity, the
change of command position per command update cycle is saturated at the motor maximum velocity.
by this fucntion, even if the master controller sends the abnormal position command, Err27.4 wouldn't be
geerated and the motor operation would become stable.
1ms
1ms
1ms
RTEX
Command position
Time
Command position change
amount per
interpolation cycle
Motor maximum
speed
Time
It is saturated with limits which is
converted than motor maximum speed
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 109 -
7-2 Homing operation
When using the unit in incremental mode, homing is required before positioning after power up, software reset or
execution of attribute C parameter validating mode.
With MINAS-A6N, the following return-to-home sequences can be used.
Sequence
Description
Cyclic homing
The host controller controls the return-to-home sequence in cyclic position
control (CP) mode.
Profile homing
The servo driver controls the return-to-home sequence in profile position
control (PP) mode.
For profile homing, refer to 7-5.
Note: Return-to-home (except for multi-turn data clear of absolute encoder) cannot be started in the
velocity/torque control mode.
Switch to the cyclic position control (CP) mode or profile position control (PP) mode and start the
homing operation and then return back to the previous control mode.
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Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 110 -
7-2-1 Normal return-to-home sequence in cyclic position control (CP) mode
[Type_Code: 011h-01Dh]
The figure below shows the return-to-home sequence using the trigger signal (logical rising or falling edge of sensor or
Z-phase).
Initialize the position information so that Homing_Ctrl bit is 1 and trigger detection position is zero. When
Homing_Ctrl bit is 0, the position information is not initialized upon detecting of the trigger signal.
Time
Command
code
20h
24h *1)
20h
“Servo-Lock”
ignoring command position
*2)
Positioning according to command position
*5)
Homing_Ctrl
0
Positioning according
to command position
based on new reference
*5)
1
Command velocity
Actual velocity
Velocity
Trigger signal
*3)
Busy
1
0
0
1 *5)
*4)
Homing_Complete
Command
code
echo
20h
24h
20h
*1) When command code (24h) is changed to normal command (20h), homing process can be paused even when Busy
= 1. Even if Pr.7.23, bit 5 = 1 (start upon changing of command code and command argument), the normal
command (20h) is required to pause the homing process.
*2) In the incremental mode, internal command position and actual position are at 0 (home position) at power up.
Until homing process completes (home position is set by trigger signal), apply the command position with
reference to this 0 (home position).
*3) Using Type_code, select the logical rising or falling edge of the sensor or Z-phase as the trigger signal.
*4) Homing complete bit will be 0 when Homing command is accepted. Note that it is 0 at power-up until homing is
completed. However, if the homing is started with Homing_Ctrl = 1 at communication cycle 0.5 ms or more and
then the trigger signal is immediately detected, Homing_Complete will not be set to 0 but set to 1 after the
completion of the process at the first response. The homing process is successfully completed when no command
error is detected, echo back value is returned and Homing_Complete = 1.
*5) Homing complete bit will be 1 after homing is completed.
While the command code is holding 24h after Homing_Complete bit switched to 1, the servo driver will ignore the
command position and will stop the motor (servo-lock) at detected home position.
Note that during feedforward the value remains valid. If this causes a problem, keep feedforward value at 0 during
homing process.
During the process, be sure to set the command position to 0 (home position). When command code is started with
normal command (20h) or another command, operation will be started by a command according to the new
reference.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 111 -
*6) • When the home position detection, the motor returns overshoot distance (Homing return).
At this time, in the case of high response setting to position command and high speed
(mode of Two-degree-of-freedom control, etc),
if run homing return, the sound may occur when the homing is completed.
• When the Pr7.22 bit6“Homing return speed limit function enabled” is set to “1”, homing return speed limit
function is enabled.
If this function is enabled, homing return speed is limited by the Pr7.93“Homing return speed limit value”.
The effect of reducing the occurrence of sound is expected.
• Pr7.22 bit6 setting is activate after control power cycle, Pr7.93 setting is activate when reset command is enable
or after control power cycle.
• If this function is enabled, there is a possibility that the time to homing completion extending.
• If this function is disabled, homing return speed is limited by the maximum motor speed that the driver have
internally.
• When homing return speed exceeds the 3513h“Over-speed level setup”, Err26.0“Over-speed protection” occurs.
When homing return speed exceeds the 3615h“2nd over-speed level setup”, Err26.1“2nd over-speed protection”
occurs.
[Example of performing homing(Positive direction) with Index pulse]
Positional command speed
[r/min]
Z pulse
(home position)
detection timing
Deceleration section after
the Z pulse detection
Homing return section
in the case of Pr7.22 bit6=1
Time
-(Pr7.93)
-(maximum motor speed)
Homing return section
in the case of Pr7.22 bit6=0
Z pulse
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 112 -
7-2-2 Sequence of actual position/command position setup
[Type_Code: 021h, 022h]
The figure below shows the sequence in which no trigger signal is used and at a position, actual position or command
position is set to Setting_Data (Bytes 12-15).
During this operation, Homing_Ctrl bit is not used.
Time
Command
code
24h *1)
20h
20h
*2)
“Servo-Lock” ignoring Command Position
*5)
*5)
0
1
Busy
Positioning according
to command position
based on new reference
*3)
Homing_Complete
Command
code
echo
0
20h
1
*4)
20h
24h
*1) When command code (24h) is changed to normal command (20h), homing process can be paused even when Busy
= 1. Even if Pr.7.23, bit 5 = 1 (start upon changing of command code and command argument), the normal
command (20h) is required to pause the homing process.
*2) Do not change command position (byte 4–7) to prevent a trouble.
(You must set the actual position/command position when the motor is not rotating.)
*3) Homing_Complete bit will be 0 when Homing command (actual position/command position set) is accepted. Note
that it is 0 at power-up until homing is completed. However, if the communication cycle is 0.5 ms or more,
Homing_Ctrl will not be set to 0 but set to 1 after the completion of process upon reception of the first response.
The homing process is successfully completed when no command error is detected, echo back value is returned
and Homing_Complete = 1.
*4) <Actual position setup>
The actual position is set to the value of Setting_Data (Bytes12-15) and the command position in the servo
driver is also set to this value, the position deviation becomes 0.
Position information after operation
Actual position = command position = setting value (Setting_Data)
Position deviation = 0
<Command position setup>
The command position in the servo driver is set to the value of Setting_Data (Bytes12-15) of the command, and the
actual position is set to the command position after setup minus position deviation value. The deviation is held.
Position information after operation
Internal command position = setting value (Setting_Data)
Actual position = internal command position (value after setup as shown
above) – position deviation
Homing complete bit will be 1 after homing (actual position/command position setup) is completed.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 113 -
*5) At the time Homing_Complete bit is set to 1, the servo driver will ignore the command position and will stop the
motor (servo-lock) at detected home position while command code is held to 24h.
Note that during feedforward the value remains valid. If this causes a problem, keep feedforward value at 0 during
homing process.
When setting actual position, during this period, be sure to change the command position in the command to the
actual position set. At the time the command code starts the normal command (20h) or another command, the
driver will operate according to the command based on the new reference.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 114 -
7-2-3 Example of cyclic homing operation
Example
Reference of homing
Method
1
Combination of sensor signal
Control the motor velocity with observing the sensor
(HOME) and Z-phase of the encoder signal level, and operate Homing_Ctrl bit.
2
Sensor signal (EXT1)
3
Z-phase of the encoder
Operate Homing_Ctrl bit
4
Mechanical stopper
Set up a smaller torque limit in advance, and execute
“actual position set” when torque limited bit becomes
1 for a given length of time.
Note 1: When performing return-to-home by specifying the drive inhibit input (NOT/POT) as the reference home
position, be sure to set Pr.5.04 “Over-travel inhibit input setup” to 1 to disable the over-travel inhibit input.
Otherwise, Err. 38.2 “Drive inhibit input protection 3” will occur.
Note that even if the inhibit input is disabled, the driver receives the signal and can use it as home reference
signal.
Note 2: When performing home offset, do not use the actual position set but use the command position set. The actual
position set may produce a deviation equal to the position deviation.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 115 -
7-2-3-1 Example of cyclic homing operation 1
Below shows an example of return-to-home operation in the cyclic position control (CP) mode using the combination
of sensor signal (HOME) and Z-phase of the encoder. In this example, the first encoder Z-phase after passing the
sensing area of HOME sensor (position where one revolution data is zero) is the home.
1)
Set Type_Code to Z-phase (011h) of the encoder and set Homing_Ctrl bit to 0, and then change normal
command (20h) to homing command (24h).
Hold homing command (24h) until homing process completes.
2)
Execute the positioning to rotate the motor at 1st velocity according to command position, which is based on the
position at power-up.
3)
Slow down the command velocity (2nd velocity) when the rising edge of HOME is detected with HOME bit of
response.
4)
Set Homing_Ctrl bit to 1 when the falling edge of HOME is detected.
5)
When the servo driver detects Z-phase of the encoder, it will set Homing_Complete bit to 1, ignore command
position and stop the motor (servo-lock) at home position (single turn data is zero).
Note that during feedforward the value remains valid. If this causes a problem, keep feedforward value at 0
during homing process.
6)
After confirming that Homing_Complete bit has become 1, set Homing_Ctrl bit to 0, and then set 0 (home
position) to command position.
7)
Change the command code to the normal command (20h).
Then, positioning will start according to the new reference. Therefore, be sure to perform step 6) before changing
the command code to the normal command.
Time
Home position
1st velocity
Velocity
*1)
Command velocity
2nd velocity
Actual velocity
HOME
*2)
Homing_Ctrl
Z-phase of encoder
Homing_Complete
R2.0
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*1) Command velocity is differences of command position for the command update cycle. (It is internal operation
value of the servo driver.)
*2) If the fall edge position of the HOME signal is close to the Z phase of the encoder, a turn’s worth of
misalignment may occur (due to the delayed detection of the HOME signal, etc.). Install the motor in a position
separate by 180° in rotor mechanical angle, wherever possible.
The Z phase of the encoder can be checked with the following method.
semi-closed control
Method 1: Set parameter, Pr.7.00, “LED display” to 1 to display the mechanical angle on 7-segment
LED, and check the zero position of the encoder where the value is 0.
Method 2: Read out the mechanical angle by monitor command, and check the zero position of the
encoder where response value is 0.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 117 -
7-2-3-2 Example of cyclic homing operation 2
Below shows an example which defines the logical rising edge of EXT1 sensor in the cyclic position control (CP)
mode as the home.
1)
Set Type_Code to logical rising edge of EXT1 sensor (018h) and set Homing_Ctrl bit to 0, and change normal
command (20h) to return-to-home command (24h). Hold the return-to-home command (24h) until the
return-to-home operation completes.
2)
Execute the positioning (at 1st velocity) according to command position, which is based on the position at
power-up.
3)
When the logical falling edge of EXT1 sensor is detected (check EXT1 bit of the response), stop positioning and
set Homing_Ctrl bit to 1. Then, reverse the rotation (2nd speed).
4)
When the servo driver detects the logical rising edge of EXT1 sensor, set Homing_Complete bit to 1 and execute
servo-lock at home position by ignoring command position.
Note that during feedforward the value remains valid. If this causes a problem, keep feedforward value at 0
during homing process.
5)
After confirming that Homing_Complete bit has become 1, set Homing_Ctrl bit to 0, and then set 0 (home
position) to command position.
6)
Change the command code to the normal command (20h).
Then, positioning will start according to the new reference. Therefore, be sure to perform step 5) before changing
the command code back to the normal command.
Time
1st velocity
Home position
Velocity
Actual velocity
*1)
Command velocity
*2)
2nd velocity
HOME
Homing_Ctrl
Homing_Complete
*1) Command velocity is the differences of command position for the command update cycle. (It is internal
operation value of the servo driver.)
*2) Set up the 2nd Velocity as slow as possible.
Noise filtering process in the servo driver is executed when capturing sensor signals. This process causes the
detection delay. To minimize this delay, correction process is installed which will degrade the home position
detection precision if 2nd speed is set too high.
If you need higher accuracy, use the method of using the Z-phase of the encoder, and refer to “Example of cyclic
homing operation 1” on the previous page.
When the trigger position is detected at a higher speed, especially with excessively low electronic gear ratio, e.g.
1/1000, wraparound of the detection position will occur upon reverse conversion to command unit, causing
incorrect detection of the latch position. Latch trigger signal should be detected at the lowest possible speed.
R2.0
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7-2-3-3 Example of cyclic homing operation 3
Below shows an example of return-to-home operation in the cyclic position control (CP) mode using the Z-phase
(zero position of single turn data) as the home.
1)
Set Type_Code to Z phase (011h), set Homing_Ctrl bit to 1, and then change from normal command (20h) to
return-to-home command (24h).
Hold the return-to-home command until the homing process completes.
2)
Execute the positioning according to command position, which is based on the position at power-up.
3)
When the servo driver detects Z-phase of the encoder, it will ignore command position and stop the motor
(servo-lock) at detected home position (Z-phase). Then it will set Homing_Complete bit to 1.
Note that during feedforward the value remains valid. If this causes a problem, keep feedforward value at 0
during homing process.
4)
After confirming that Homing_Complete bit has become 1, set Homing_Ctrl bit to 0, and then set 0 (home
position) to command position.
5)
Change the command code back to normal command (20h).
Then, positioning will start according to the new reference. Therefore, be sure to perform step 4) before changing
the command code back to the normal command.
Time
Home position
*1)
Command velocity
Velocity
Actual velocity
Homing_Ctrl
Z-phase of encoder
Homing_Complete
*1) Command velocity is the differences of command position for the command update cycle. (It is internal
operation value of the servo driver.)
R2.0
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7-2-3-4 Example of cyclic homing operation 4
Below shows an example of return-to-home operation in the cyclic position control (CP) mode using the mechanical
stopper.
1)
Lower the torque limit value with using parameter command (26h) or TL SW bit of command.
Note: For setting the torque limit value, see section 4-2-3-3.
2)
Execute the positioning according to command position, which is based on the position at power-up. At this time,
lower Command Velocity for safety.
3)
Actual velocity will be 0 when the slider hit the stopper, and the status will show the torque limited (torque
limited bit will be 1).
4)
After verifying that the torque limited status continued for specified period (t1), switch the command from
normal (20h) to return-to-home command (24h). Set Type_Code to actual position set (021h) and setting position
(Byte 12–15) to 0 (or desired value). Do not change the command position.
5)
When the process of actual position set has completed in the servo driver, the driver will ignore the value of
command position and stop the motor (servo-lock) at the setup position. Then it will set homing complete bit to 1.
Note that during feedforward the value remains valid. If this causes a problem, keep feedforward value at 0
during homing process.
6)
After confirming that homing complete bit has become 1, then set the command position to the set actual
position.
7)
Change the command code back to normal command (20h).
Then, positioning will start according to the new reference. Therefore, be sure to perform step 6) before changing
the command code back to the normal command.
8)
Bring the torque limit value to the previous value.
Time
Actual position set
Command code
20h
24h
20h
Command
velocity
*1)
Velocity
Actual velocity
Mechanical stopper
*2)
Torque_Limited
t1
Homing_Complete
*1) Command velocity is the differences of command position for the command update cycle. (It is internal
operation value of the servo driver.)
*2) Torque limited bit may be 1 even if the slider does not hit the stopper since the torque limit is lowered. Therefore,
adjust t1 to avoid mis-detecting.
Note that position deviation error (Err. 24.0) might occur when t1 is too large.
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7-2-4 Initialization of the absolute encoder
Homing operation is not necessary with the absolute encoder at the position control mode (except when using the
absolute encoder as the incremental mode). However, it is necessary to clear “Multi-turn data” at the first start up of the
machine after installing the battery. (except for single-turn absolute mode)
7-2-4-1 Absolute data
There are 2 types of data which are read out from the absolute encoder (23 bits/r), “Single-turn data” which shows the
position of motor’s rotation within a single turn, and “Multi-turn data” which counts each single turn. This Multi-turn
data will be backed up by a battery since this is an electrical counter.
Both data have a polarity to increase in the direction of CCW.
You can select whether Err. 41.0, “Absolute encoder counter overflow” will be generated or not when Multi-turn data
has overflowed, with the parameter, Pr.0.15 “Absolute encoder set up”.
Back up at power off
Data width
+/- Sign
Data range
Not necessary
23 bit
Unsigned
0–8388607
Single-turn data
Multi-turn data
Backed up by battery
16 bit
Signed
0–65535(Max) *1)
*1) In case of infinitely rotatable absolute mode, the upper limit value can be set by Pr6.88 “Absolure encoder
multi-turn data upper-limit value”.
During normal absolute mode, the upper limit value becomes up to 65535.
The servo driver set up actual position based on the following formulas at power up.
Since Single-turn data is 23-bit width and Multi-turn data is 16-bit width, the width of the synthetic data will be
39-bit width. However, the servo driver will return the lower 32 bits to the host controller as actual position. As a
result, 7 bit in the highest order of multi-turn data 16 bits is lost, and the effective bit length will be 9 bits.
Parameter Pr.0.00
(Rotational direction setup)
When set to 1
(CCW is positive direction)
When set to 0
(CW is positive direction)
Actual_position
*1)
23bit
23bit
23
APOS = M × 2 + S + OFS
23
APOS = -(M × 2 + S) + OFS
APOS: Actual_Position
M: Multi-turn_Data
S: Single-turn_Data
OFS: Pr7.13
“Absolute home position offset”
*1) Expression when electronic gear ratio is 1:1
When electoronic gear is set, to set the value within signed 32bit width.
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Actual position (in cases where CCW is positive direction)
CCW direction
Single-turn_Data
223-1
Position
0
n
n-1
*1)
n-2
Multi-turn_Data
n-3
3
2
1
Position
0
Zone where Multi-turn data is cleared
*1) Value of n is as follows.
Infinitely rotatable absolute mode
Normal Absolute mode
R2.0
：n = Pr6.88
：n = 65535
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7-2-4-2 Clearing multi-turn data
When clearing multi-turn data, zero position will be multi-turn transition point at CW side in the zone where cleared.
In order to avoid the setting difference, execute the clearing operation at the position where single-turn data is
222(when 23bit/r), which is the farthest from the transition point of multi-turn data.
< Notes to avoid a trouble >
Execute this process (clear multi-turn data) in Servo-OFF (and fixing the moving parts by brake etc.
if necessary) and confirming safety.
Keep Servo-OFF until data clearing completes. After that, turn off control power once without fail,
and turn on the power again.
It is done to clear multi-turn data using the setup support software PANATERM (USB communication).
At that time, Err. 27.1, “Motion command error” will occur. However, this is not a problem because of a step for
safety.
As another way, the following figure shows the clearing sequence using homing command.
Time
Clear Multi-turn data
Command
code
*2) *7)
24h *1)
20h
*5)
Servo_Active
*6)
*2)
0
0
Busy
Homing_Complete
Command
code
echo
20h
*4)
1
*3)
20h
24h
20
*1) If command code (24h) is not held, homing process (clear multi-turn data) will be aborted. While the process is
executed, hold command code and do not abort homing process.
*2) Execute this process (clear multi-turn data) in Servo-OFF (and fixing the moving parts by brake etc. if necessary)
and confirming safety to avoid a trouble.
*3) When using as the absolute mode, homing complete bit is 1 after the reset, and it will be 0 when this command is
accepted.
Multi-turn data in the servo driver will be cleared and actual position will be initialized.
*4) After initialization of the actual position Homing_Complete bit is set to 1.
*5) After Command is accepted, hold Command Code (24h) for 10 ms or longer without fail. Though internal data
of the servo driver will be initialized soon, actually it takes longer time to initialize the encoder.
*6) It is required to turn off and on the control power of the servo driver after clearing multi-turn data. Note that reset
command cannot initialize the encoder
*7) If multi-turn clearing of the absolute encoder has been executed when the single-turn absolute function is
effective, command error (0051h) will be returned.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 123 -
7-3 Cyclic velocity control (CV) operation
Use this operation when performing velocity control by setting command velocity to CSPD.
Servo driver’s control mode is velocity control without position loop. Input the velocity command directly to the velocity
loop.
<Master (host controller)>
PP command
Command code
(byte1)
10h
Command velocity
CSPD
(byte4-7)
00000000h
CV command
PP command
30h
17h
00004000h
00002000h
0
Smooth_Stop
<Slave>
10h
Command velocity
CSPD
(byte4-7)
1
CV command
PP command
Command code
(byte1)
00000000h
PP command
30h
00000000h
17h
00004000h
00002000h
0
Smooth_Stop
00000000h
1
0: Positioning uncompleted
In_Position
1: Velocity
coincidence
1: Positioning completed
1: Velocity
coincidence
Velocity control (CV)
Position control (PP)
1: Positioning completed
Position control (PP)
Control mode
Velocity
1000 r/min
CSPD
Command velocity
Internal command
velocity
FSPD
Feedback velocity
Pr.4.35
Pr.8.04
(Profile linear deceleration
constant)
´10000
Pr.4.35
Time
R2.0
Pr.3.12
Pr.3.13
(Acceleration time setting)
(Deceleration time setting)
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 124 -
1) When using acceleration/deceleration for velocity command on the servo driver, set acceleration/deceleration through
Pr.3.12 “Acceleration time setting”, Pr.3.13 “Deceleration time setting” and Pr.3.14 “Sigmoid acceleration/
deceleration time setup” beforehand.
When the position loop is configured on the host controller, set Pr.3.12, Pr.3.13 and Pr.3.14 to 0.
When stop the operation with profile position control, set deceleration to Pr.8.04 “Profile linear deceleration constant”
before starting operation.
2) On the host controller set command code to CV control normal command (30h) and set command velocity (CSPD).
3) On the servo driver, change control mode from position control to velocity control as the command code 10h changes
to 30h, to accelerate (start operation) to command velocity (CSPD).
4) On the host controller, check that command code echo is 30h, no command error has occurred, and velocity control
has started. If command error has occurred, start proper counter measure according to the error code.
5) When command velocity (CSPD) is changed during operation, the servo driver updates the velocity upon receiving
the command.
If the new command velocity (CSPD) is higher than the current command velocity, acceleration is made based on
Pr.3.12, and if the new command velocity is lower than the current velocity, deceleration is made based on Pr.3.13.
6) To start stopping sequence, set the command velocity (CSPD) to 0. To use profile position control during stop
sequence, set command code to 17h and Hard_Stop to 1 for immediate stop, or set Smooth_Stop or Pause to 1 to start
deceleration according to Pr.8.04 setting.
7) When profile position control is used for stopping sequence: after completion of output of movement command, status
In_Progress becomes 0 (transfer complete), and absolute value of position deviation becomes below Pr.4.31
“Positioning complete range”, servo driver sets In_Position to 1 and informs the host controller that positioning has
been completed.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 125 -
7-4 Cyclic torque control (CT) operation
Use this operation when setting command torque to CTRQ and performing torque control operation.
The servo driver operates in torque control mode based on velocity loop.
When this command is received in the two-degree-of-freedom control mode, Err91.1 “RTEX command error protection”,
command error (002Eh) will occur.
<Master (host controller)>
PP command
Command code
(byte1)
10h
CTRQ
(byte4-7)
00000000h
CT command
PP command
40h
17h
000003E8h
000001F4h
00000000h
FFFFFC18h
Smooth_Stop
0
<Slave>
PP command
Command code
(byte1)
10h
TQREF
(byte9-12)
00000000h
1
CT command
PP command
40h
000003E8h
17h
000001F4h
00000000h
FFFFFC18h
Smooth_Stop
0
1
0: Positioning uncompleted
In_Position
1: Positioning completed
Position control
1: Velocity
coincidence
Torque control
1: Positioning completed
Position control
Control mode
Internal torque command
(TRQ)[0.1%]
000003E8h
000001F4h
Time
FFFFFC18h
Velocity
Pr.3.21
* Pr.3.17=0
Pr.4.35
FSPD
Feedback velocity
Internal command
velocity
Time
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 126 -
1) When stopping by using profile position control, set the deceleration by Pr.8.04 “Profile linear deceleration constant”
beforehand.
2) The host controller sets command code to normal command (40h) of CT control and sets command torque (CTRQ).
3) The servo driver changes the control mode from position to torque as the command code is changed from 10h to 40h,
starting acceleration (starting operation) according to command torque (CTRQ).
4) On the host controller check that command echo is 40h and no command error has occurred and torque control has
started. If a command error has occurred, take appropriate countermeasure according to the error code.
5) Upon receiving new command torque (TRQ) during operation, servo driver updates the torque.
6) To trigger stop sequence, set command velocity (CSPD) to 0. To stop with profile position control, set command code
to 17; to stop immediately, set Hard_Stop to 1; to decelerate according to the setting of Pr.8.04, set Smooth_Stop or
Pause to 1.
7) When stopping under profile position control, the servo driver sets In_Position to 1 as status In_Progress is set to 0
(transfer complete) and absolute position deviation is below the value specified by Pr.4.31 “Positioning complete
range”, and informs the host controller that the positioning operation has completed.
n Precautions
• While the velocity limit is active, the command torque (CTRQ) from the host controller is not directly applied to the
motor. As the motor velocity is controlled to the velocity limit value, the result is reflected on the torque command to
the motor. For velocity control function, refer to 4-2-3-4.
R2.0
•
While the torque control is active, torque limit switching function is disabled and only Pr.0.13 “1st torque limit” is
valid.
•
When absolute value of command torque (CTRQ) exceeds the value of Pr.0.13 “1st torque limit”, Pr.0.13 is given
priority.
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 127 -
7-5 Profile position control (PP) operation
7-5-1 Profile position control (PP) related parameter
Class
No.
Attribute
8
01
B
8
04
B
8
10
B
8
8
8
12
13
14
B
B
B
Title
Profile linear
acceleration
constant
Profile linear
deceleration
constant
Movement
distance after
detection of
profile position
latch
Profile homing
mode setting
Profile homing
velocity 1
Profile homing
velocity 2
Setup range
Unit
Description
Set acceleration for profile position control (PP).
10000
2 Be sure to set this parameter before starting
command unit/s
operation.
Set deceleration for profile position control (PP).
10000
1-429496
2 Be sure to set this parameter before starting
command unit/s
operation.
Set the movement distance after detection of latch
-1073741823
trigger signal input position, during profile
Command unit position latch positioning.
1073741823
1-429496
0-1
-
Select the polarity of latch trigger signal to be
detected during profile homing operation.
0: Positive direction
1: Negative direction
• For profile homing 2, select 0 setting. Setting
to 1 also causes homing operation in positive
direction.
Set the velocity for high velocity operation during
profile homing.
Set the unit according to Pr.7.25 “RTEX speed
unit setup”.
Maximum value is limited by the internal process
to the motor highest velocity.
0Command unit/s • When speed setting is in r/min, it is converted
2147483647
or r/min
to command unit/s through internal
computation and the equivalent value is
limited within the range as shown below:
00000001h to 7FFFFFFFh
(1 to 2147483647)
When setting value is 0, it is changed to 1 by
internal process and used for control.
Set the velocity for low velocity operation during
profile homing.
To minimize detection error, set the velocity to
the lowest possible value.
Set the unit according to Pr.7.25 “RTEX speed
unit setup”.
Maximum value is limited by the internal process
to the motor highest velocity.
Command unit/s
0• When speed setting is in r/min, it is converted
or r/min
2147483647
to command unit/s through internal
computation and the equivalent value is
limited within the range as shown below:
00000001h to 7FFFFFFFh
(1 to 2147483647)
When setting value is 0, it is changed to 1 by
internal process and used for control.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 128 -
7-5-2 Profile absolute positioning (Type_Code: 10h)
Set target position (absolute position) to TPOS. Servo driver performs positioning by internally generates position
command.
Before executing, establish the home (return to home).
In the incremental mode, positioning can be done without determining the home, but be sure to read the servo driver
internal position information beforehand to prevent movement to unintentional position.
<Master (host controller)>
Profile command
Command
code
10h
TPOS
00010000h
TSPD
00002000h
* Pr.7.23, bit 5 = 1 and
When position command filter is invalid.
17h
10h
00000000h
00001000h
<Slave (servo driver)>
(Internal value)
00000000h
Profile command
Command
code
10h
17h
TPOS
00000000h
00010000h
TSPD
00000000h
00002000h
Busy
10h
00001000h
0: Command acceptable
CMD_Error
0: No command error
In_Progress
0: Internal position
command stop
1: Internal position command
being generated
In_Position
1: Positioning completed
0: Positioning uncompleted
0: Not near positioning
NEAR
Velocity
[Command unit/s]
TSPD
Target velocity
00002000h
Pr.8.01 (Profile linear
acceleration constant)
´10000
Internal command
velocity
1: Near positioning
ASPD
Actual velocity
Pr.8.04(Profile linear deceleration constant)
´10000
00001000h
Time
TPOS Stop at target position
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 129 -
1) On the master (host controller), set command code to normal command (10h) of PP control. This does not directly
trigger profile operation.
Before operating, set acceleration/deceleration through Pr.8.01 “Profile linear acceleration constant”/Pr.8.04 “Profile
linear deceleration constant”.
2) With command code 10h, set Type_Code to 10h, target position (TPOS) and target speed (TSPD). Set the target
position as absolute position.
Select data to be returned to Monitor_Data in Latch_Sel1 0 and Monitor_Sel.
This does not directly trigger profile operation.
3) Change command code from 10h to 17h.
4) The servo driver starts the profile operation as the command code is changed from 10h to 17h, starting acceleration
(starting operation) to the target velocity (TSPD).
5) On the host controller check that command echo is 17h, Type_Code echo is 10h and status In_Progress is 1, and no
command error has occurred and absolute positioning has started. If command error has occurred, take proper
counter measure according to the error code.
6) When changing the target position (TPOS)/target speed (TSPD) during operation, follow the procedure shown
below.
n Pr.7.23, bit 5 = 0: start as reference command changes
With command code 10h, change the target position (TPOS)/target speed (TSPD) value, and return to step 3).
n Pr.7.23, bit 5 = 1: start as command code and command argument change
With command code 17h, change the target position (TPOS)/target speed (TSPD) value.
If the new target position (TPOS) is near than the current internal command position (before filtering: IPOS),
decelerate and stop according to Pr.8.04 and then accelerate to the new target position (TPOS).
If the new target speed (TSPD) is larger than the current command speed, accelerate according to Pr.8.01, and if
TSPD is smaller than the current command speed, decelerate according to Pr.8.04.
7) Then decelerate toward the target position (TPOS) at the rate set by Pr.8.04.
8) When the distance from internal command position (IPOS) to the target position becomes shorter than Pr.7.15
“Positioning adjacent range”, NEAR becomes 1 (profile positioning neighborhood). After outputting movement to
target position command, the servo driver sets status In_Progress to 0 (transfer complete). As the absolute value of
position deviation decreases below Pr.4.31 “Positioning complete range”, the driver sets In_Position to 1 and
informs the host controller that the positioning has completed.
n Precautions
• Other non-cyclic commands except for certain homing commands may be executed during operation (In_Progress = 1)
while maintaining profile operation. However, do not change the operation mode (Type_Code, Latch_Sel1 of profile
command), otherwise, Err91.1 “RTEX command error protection” and command error (0104h) will occur.
R2.0
•
If target speed (TSPD) is set at 0 or if Pause is set at 1, In_Progress will not be set to 0 (Internal position command stop)
after deceleration and stop. To end the process during operation, transmit Hard_Stop or Smooth_Stop, then, In_Progress
will be set to 0 (transfer complete) at stop.
•
If the command position input when the single-turn absolute function is effective has become out of the setting range, a
command error (0033h) will be returned. For details of the command position setting range, refer to Technical
Reference, SX-DSV03077 “Section 6-2-2”, Functional Specification.
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 130 -
7-5-3 Profile relative positioning (Type_Code: 11h)
Specify relative movement distance to TPOS and the servo driver performs positioning by internally generating position
command. To prevent movement to unintentional position, read servo driver internal command position (before
filtering: IPOS) while internal command generation is paused (In_Progress = 0) in PP control mode, before starting
operation.
Note: Internal command position (IPOS) changes by following motor position during servo off, velocity control (CV)
and torque control (CT).
▪ Pr.7.23, bit 5 = 1 and
When position command filter is invalid.
<Master (host controller)>
Profile command
Command
code
10h
TPOS
00010000h
TSPD
00002000h
17h
00000000h
00001000h
<Slave (servo driver)>
(Internal value)
Command
code
17h
00000000h
00010000h
TSPD
00000000h
00002000h
Busy
10h
00001000h
0: Command acceptable
CMD_Error
0: No command error
In_Progress
1: Internal position command being generated
In_Position
0: Not near positioning
Velocity
[Command unit/s]
Pr.8.01 (Profile linear
acceleration constant)
´10000
Internal command
velocity
0: Internal position
command stop
1: Positioning completed
0: Positioning uncompleted
NEAR
00002000h
00000000h
Profile command
10h
TPOS
TSPD
Target velocity
10h
1: Near positioning
ASPD
Actual velocity
Pr.8.04(Profile linear deceleration constant)
´10000
00001000h
TPOS = Relative movement distance
Time
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 131 -
1) On the host controller, set command code to normal command (10h) of PP control.
This setting does not directly trigger profile operation.
Before operating, set acceleration/deceleration according to Pr.8.01 “Profile linear acceleration constant” and
Pr.8.04 “Profile linear deceleration constant”.
2) With command code 10h, set Type_Code to 11h, relative movement distance (TPOS) and target speed (TSPD). Set
Latch_Sel1 to 0, and for Monitor_Sel, select data to be returned to Monitor_Data.
This does not directly trigger profile operation.
3) Change command code from 10h to 17h.
4) As command code changes from 10h to 17h, the servo driver sets the internal target position to the value shown
below, starts profile operation and accelerates (starts operation) to the target speed (TSPD).
Internal target position = internal command position (before filtering: IPOS) + relative movement distance
(TPOS)
5) The host controller checks that command echo is 17h, Type_Code echo is 11h and status In_Progress is 1, and no
command error has occurred and relative positioning has started. If command error has occurred, take proper
countermeasure according to the error code.
6) When changing the target speed (TSPD), follow the procedure shown below.
n Pr.7.23, bit 5 = 0: start as reference command changes
With command code 10h, change the target speed (TSPD) value, and return to step 3).
n Pr.7.23, bit 5 = 1: start as command code and command argument change
With command code 17h, change the target speed (TSPD) value.
If the new target speed (TSPD) is higher than the current command speed, accelerate the current speed according to
setting in Pr.8.01 and, if new TSPD is lower than the current command speed, decelerate the current speed according
to Pr.8.04.
7) Then decelerate toward the internal target position at a rate set by Pr.8.04.
8) When the distance from internal command position (IPOS) to the target position becomes shorter than Pr.7.15
“Positioning adjacent range”, NEAR becomes 1 (profile positioning neighborhood). After outputting the movement
to internal target position command, the servo driver sets status In_Progress to 0 (transfer complete). As the absolute
value of position deviation decreases below Pr.4.31 “Positioning complete range”, the driver sets In_Position to 1
and informs the host controller that the positioning has completed.
n Precautions
• Other non-cyclic commands except for homing command may be executed during operation (In_Progress = 1) while
maintaining profile operation. However, do not change the operation mode (Type_Code, Latch_Sel1 of profile
command), otherwise, Err91.1 “RTEX command error protection” and command error (0104h) will occur.
R2.0
•
Do not change relative movement distance (TPOS) during operation. For relative movement, internal target position is
calculated with reference to the internal command position (IPOS) at the time the currently operating command is
started (in Step 4) above.
•
When target speed (TSPD) is set at 0 or Pause is set at 1, In_Progress will not be set to 0 (Internal position command
stop) at the stop after deceleration. To end the process during operation, transmit Hard_Stop or Smooth_Stop, then,
In_Progress will be set to 0 (transfer complete) at stop.
•
If the command position input when the single-turn absolute function is effective has become out of the setting range, a
command error (0033h) will be returned. For details of the command position setting range, refer to Technical
Reference, SX-DSV03077 “Section 6-2-2”, Functional Specification.
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 132 -
7-5-4 Profile position latch absolute positioning (Type_Code: 12h)
Specify the target position (absolute position) to TPOS and the servo driver performs positioning by internally
generating position command. During positioning, it updates the target position upon detecting latch signal.
Perform the positioning after establishing home (after completion of return-to-home).
To prevent movement to unintentional position, read position information from the servo driver although the positioning
can be started before determining the home in the incremental mode.
Command code
10h
Response code
10h
17h
17h
Latch mode
Cancel
Cancel
Latch timing A
Inactive
Latch signal
Active
0: Unlatched
L_CMP1
1: Latched
Latch position 1
(LPOS1)
In_Progress
Velocity
[Command unit/s]
Feedback position of latch timing A
0: Internal position
command stop
1: Internal position command being generated
Movement distance after
detection of profile position
latch (Pr.8.10)
Internal command velocity
TSPD
Target velocity
Time
Update latch
position 1
(LPOS1)
R2.0
Stop at the
final target
position
Stop at TPOS
▪ When no latch signal
is input.
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 133 -
1) On the host controller, set command code to normal command (10h) of PP control.
This setting does not directly trigger profile operation.
Before starting operation, set acceleration/deceleration according to Pr.8.01 “Profile linear acceleration constant”
and Pr.8.04 “Profile linear deceleration constant”; set distance of movement after detection of latch signal according
to Pr.8.10 “Amount of travel after profile position latch detection”.
2) With command code 10h, set Type_Code to 12h, target position (absolute position) (TPOS) and target speed
(TSPD).
Select latch trigger signal as Latch_Sel1 and for Monitor_Sel select data to be returned to Monitor_Data.
This does not directly trigger profile operation.
3) Change command code from 10h to 17h.
4) As command code changes from 10h to 17h, the servo driver starts profile operation and accelerates (starts
operation) to the target speed (TSPD).
5) The host controller checks that command echo is 17h, Type_Code echo is 12h and status In_Progress is 1, and no
command error has occurred and absolute positioning has started. If command error has occurred, take proper
counter measure according to the error code.
6) Upon detecting latch trigger signal, update the internal target position as follows:
Internal target position = Latch position 1 (LPOS1) + movement distance after detection of profile position
latch (Pr.8.10)
7) Then decelerate toward the internal target position at the rate set according to setting of Pr.8.04.
8) When the distance from internal command position (IPOS) to the target position becomes shorter than Pr.7.15
“Positioning adjacent range”, NEAR becomes 1 (profile positioning neighborhood). After outputting movement to
target position command, the servo driver sets status In_Progress to 0 (transfer complete). As the absolute value of
position deviation decreases below Pr.4.31 “Positioning complete range”, the driver sets In_Position to 1 and
informs the host controller that the positioning has completed.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 134 -
n Precautions
• Other non-cyclic commands except for homing command may be executed during operation (In_Progress = 1) while
maintaining profile operation. However, do not change the operation mode (Type_Code, Latch_Sel1 of profile
command), otherwise, Err91.1 “RTEX command error protection” and command error (0104h) will occur.
•
When target speed (TSPD) is set at 0 or Pause is set at 1, In_Progress will not be set to 0 (Internal position command
stop) at the stop after deceleration. To end the process during operation, transmit Hard_Stop or Smooth_Stop, and
In_Progress will be set to 0 (transfer complete) at stop.
•
The operation after detection of latch signal input position is as shown below depending on the positioning direction and
the sign of parameter Pr.8.10 “Amount of travel after profile position latch detection”.
Sign of Pr.8.10
Positive number
Negative number
Stop after deceleration and
Stop after moving in
Positive
reverse direction and
positive direction (See
move in negative direction
direction
Note)
Position latch
and then stop
Positioning
Stop after deceleration and
direction
Stop after moving in
Negative
reverse direction and
negative direction (See
move in positive direction
direction
Note)
and then stop
Note: When the movement distance after detection of profile position latch is short for deceleration distance,
reverse will occur after deceleration and stop.
R2.0
•
The latch position 1 (LPOS1) and position latch complete 1 (L_CMP1) will be maintained until the subsequent latch
process starts or latch mode is canceled. However, upon initialization of position information or resetting of control
power source or if communication is not established, latch position 1 (LPOS1) is undefined: repeat the latch process.
•
When repeating position latching, transmit normal command 10h after position latching and then start the subsequent
latching process.
•
When external latch input signal is used, latch position 1 (LPOS1) is not correctly read.
To minimize the error rate, lower the speed around latch signal input as low as possible.
•
Be sure to maintain the value of the latch signal (Latch_Sel1) while processing this command (latch detection process).
•
If the target position is reached without detection of latch signal, latch status will be held.
•
If the command position input when the single-turn absolute function is effective has become out of the setting range, a
command error (0033h) will be returned. For details of the command position setting range, refer to Technical
Reference, SX-DSV03077 “Section 6-2-2”, Functional Specification.
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 135 -
7-5-5 Profile position latch relative positioning (Type_Code: 13h)
Specify the relative movement distance to TPOS and the servo driver performs positioning by internally generating
position command. During positioning, it updates the target position upon detecting latch signal.
To prevent movement to unintentional position, read command position (before filtering: IPOS) from the servo driver
while pausing internal command generation (In_Progress = 0) in the PP control mode.
Note: The internal command position (IPOS) will vary with the motor position during servo off, velocity control (CV)
and torque control (CT).
This positioning differs from the profile position latch absolute positioning in Type_Code at starting and in specifying
method of target position (TPOS).
For details of operation of the profile position latch absolute positioning, refer to 7-5-4.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 136 -
7-5-6 Profile continuous revolution (JOG) (Type_Code: 20h)
In this mode, target position (TPOS) is not specified but target speed (TSPD) is specified; and positioning starts as the
servo driver internally generates position command and continues revolution (JOG) until stop command is given.
▪ Pr.7.23, bit 5 = 1 and
When position command filter is invalid.
<Master (host controller)>
Profile command
Command code
10h
17h
00002000h
TSPD
10h
00001000h
Smooth_Stop
0
<Slave (servo driver)>
(Internal value)
Command
code
TSPD
1
Profile command
10h
00000000h
17h
00002000h
10h
00001000h
Smooth_Stop
0
Busy
1
0: Command acceptable
CMD_Error
0: No command error
In_Progress
1: Internal position command being generated
In_Position
0: Internal position
command stop
1: Positioning completed
0: Positioning uncompleted
0: Not near positioning
NEAR
TSPD
Target velocity
00000000h
Velocity
[Command unit/s]
00002000h
Pr.8.01 (Profile linear
acceleration constant)
´10000
Internal command
velocity
ASPD
Actual velocity
Pr.8.04 (Profile linear deceleration constant)
´10000
00001000h
Time
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 137 -
1) On the master (host controller), set command code to normal command (10h) of PP control. This does not directly
trigger profile operation.
Before operating, set acceleration/deceleration through Pr.8.01 “Profile linear acceleration constant”/Pr.8.04 “Profile
linear deceleration constant”.
2) With command code 10h, set Type_Code to 20h and target speed (TSPD).
Set the target position (TPOS) to 0 because it is not used.
Set 0 to Latch_Sel1, select data to be returned to Monitor_Data in Monitor_Sel.
This does not directly trigger profile operation.
3) Change command code from 10h to 17h.
4) The servo driver starts the profile operation as the command code is changed from 10h to 17h, starting acceleration
(starting operation) to the target velocity (TSPD).
5) The host controller checks that command echo is 17h, Type_Code echo is 20h and status In_Progress is 1, and no
command error has occurred and absolute positioning has started. If command error has occurred, take proper
counter measure according to the error code.
6) When changing the target speed (TSPD), follow the procedure shown below.
n Pr.7.23, bit 5 = 0: start as reference command changes
With command code 10h, change the value of target speed (TSPD), and return to step 3).
n Pr.7.23, bit 5 = 1: start as command code and command argument change
With command code 17h, change the value of target speed (TSPD).
If the new target speed (TSPD) is larger than the current command speed, accelerate it according to Pr.8.01, or if
new TSPD is smaller, decelerate it according to Pr.8.04.
7) To stop immediately, set Hard_Stop to 1; to decelerate according to setting of Pr.8.04, set Smooth_Stop or Pause to 1.
8) While operating in profile continuous revolution (JOG) mode, NEAR remains 0 because no target position is set.
After outputting the movement command, the servo driver sets In_Progress to 0 (transfer complete), and as the
absolute value of position deviation decreases below Pr.4.31 “Positioning complete range”, the driver sets
In_Position to 1 and informs the host controller that the positioning has completed.
n Precautions
• Other non-cyclic commands (e.g. monitor command) may be executed during operation (In_Progress = 1) while
maintaining profile operation. However, do not change the operation mode (Type_Code, Latch_Sel1 of profile
command), otherwise, Err91.1 “RTEX command error protection” and command error (0104h) will occur.
•
R2.0
If target speed (TSPD) is set at 0 or if Pause is set at 1, In_Progress will not be set to 0 (Internal position command stop)
after deceleration and stop. To end the process during operation, transmit Hard_Stop or Smooth_Stop, then, In_Progress
will be set to 0 (transfer complete) at stop.
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 138 -
7-5-7 Profile homing 1 (HOME + Z phase) (Type_Code: 31h)
This return-to-home process uses Z phase from HOME sensor as the trigger signal.
In this system, the position of the first Z phase after the HOME sensor in homing direction detected the rising edge is
denoted as the home position.
As the unit stops at the home position, the position information is initialized so that the position is set to 0.
Direction of homing (positive/negative) can be set according to Pr.8.12 “Profile homing mode setting”.
n Example: Pr.8.12 = 0 (Homing direction = positive direction trigger signal detection)
Start area
Homing direction (positive direction)
NOT ON
HOME ON
POT ON
Z phase
Velocity 1
Velocity 2
Velocity 2
Velocity 1
Ex.
Velocity 1
Velocity 2
See the next page.
Velocity 1
Velocity 2
Velocity 1
Velocity 1: Pr.8.13 (Profile homing velocity 1)
Velocity 2: Pr.8.14 (Profile homing velocity 2)
Home position
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 139 -
Example: Pr.8.12 = 0 (Positive direction trigger signal detection)—homing is started at a position more negative than
HOME sensor
1) The host controller sets the command code to normal command (10h) of PP control.
This does not start the profile operation.
Parameters related to acceleration/deceleration (Pr.8.01/Pr.8.04) and homing (Pr.8.12-Pr.8.14) should be set before
starting operation.
2) With normal command (10h) condition, set Type_Code to 31h.
Set target position (TPOS) and target speed (TSPD) to 0 because they are not used.
Set Latch_Sel1 to 0. For Monitor_Sel, select data to be returned to Monitor_Data.
This does not directly start profile operation.
3) Change command code 10h to 17h.
4) The servo driver starts profile operation as command code 10h changes to 17h, accelerates operation (starts
operation) according to Pr.8.01 “Profile linear acceleration constant” to reach Pr.8.13 “Profile homing velocity 1”.
Note that upon starting the profile operation, Homing_Complete is set to 0.
5) The host controller checks that command code echo is 17h, Type_Code echo is 31h and status In_Progress is 1, and
no command error has been generated, and homing operation has started. If command error is detected, the
controller should take appropriate countermeasure according to the error code.
6) When POT is detected before HOME sensor detection, start deceleration according to Pr.8.04 “Profile linear
deceleration constant” to stop.
7) At the stop position, start movement in the direction opposite to the homing at the speed specified by Pr.8.13.
8) When HOME sensor turns on and then OFF edge is detected, start deceleration at the rate specified by Pr.8.04.
9) At the stop position, start movement in the homing direction, accelerating according to Pr.8.14 “Profile homing
velocity 2”, re-entering HOME sensor area and stop upon detecting the 1st Z phase.
▪ Actually, detected position is determined by repositioning.
10) Initialize the position information so that the detected Z phase becomes 0 and Homing_Complete becomes 1, and
profile homing is finished.
n Precautions
• If Z phase is close to a point where HOME changes, the 1st Z phase may not be detected as home due to reading delay
of HOME sensor. Place Z phase far away from the point where HOME sensor changes the output.
R2.0
•
Sensors (HOME, POT, NOT) should be so arranged that once they detect something, nothing will pass through them
until deceleration and stop complete.
•
During profile homing 1 (HOME + Z phase), Pr.5.04 “Over-travel inhibit input setup” and Pr.5.05 “Sequence at
over-travel inhibit” are temporarily disabled. When POT/NOT is detected, reverse operation will automatically start
after deceleration and stop.
When using this function without using the over-travel inhibit input, do not allocate POT/NOT to general purpose input.
Simply setting Pr.5.04 to 1 will not disable the function.
•
If an error occurs during homing, e.g. the sensor cannot detect the home during reverse operation due to the over-travel
inhibit input and detects the over-travel inhibit input ON of reverse side, or, if both of over-travel inhibit inputs are ON
state, Err94.2 “Homing error protection” will occur, canceling homing process.
•
Other non-cyclic commands except for homing commands may be executed during operation (until Homing_Ccomplete
becomes 1) while maintaining profile operation. However, do not change the operation mode (Type_Code, Latch_Sel1
of profile command), otherwise, Err91.1 “RTEX command error protection” and command error (0104h) will occur.
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 140 -
7-5-8 Profile homing 2 (HOME) (Type_Code: 32h)
This return-to-home process uses Z phase from HOME sensor as the trigger signal.
Home position is defined as the point where HOME sensor detects the rising edge in return-to-home direction.
After stopping at the home position, initialize the position information so that this position is set at 0.
Only positive homing direction is supported.
Set Pr.8.12 “Profile homing mode setup” to 0.
Setting Pr.8.12 to 1 also causes homing in positive direction.
If POT/NOT is detected in the same direction of the direction of home position return, Err94.2 “Home position return
error protection” occurs and home position return processing is cancelled.
n Example: Pr.8.12 = 0 (Homing direction = positive direction trigger signal detection)
Start area
Homing direction (positive direction)
NOT ON
HOME ON
POT ON
Velocity 1
Velocity 2
Velocity 2
Velocity 1
Ex.
Velocity 1
Err94.2 (Homing error
protection) will occur upon
detection of POT.
See the next page.
Err94.2 (Homing error
protection) will occur at startup.
Velocity 1: Pr.8.13 (Profile homing velocity 1)
Velocity 2: Pr.8.14 (Profile homing velocity 2)
Home position
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 141 -
Example: Pr.8.12 = 0 (Positive direction trigger signal detection)—homing is started at a position more negative than
HOME sensor
1) The host controller sets the command code to normal command (10h) of PP control.
This does not start the profile operation.
Parameters related to acceleration/deceleration (Pr.8.01/Pr.8.04) and homing (Pr.8.12-Pr.8.14) should be set before
starting operation.
2) With normal command (10h) condition, set Type_Code to 32h.
Set target position (TPOS) and target speed (TSPD) to 0 because they are not used.
Set Latch_Sel1 to 0. For Monitor_Sel, select data to be returned to Monitor_Data.
This does not directly start profile operation.
3) Change command code 10h to 17h.
4) The servo driver starts profile operation as command code 10h changes to 17h, accelerates operation (starts
operation) according to Pr.8.01 “Profile linear acceleration constant” to reach Pr.8.13 “Profile homing velocity 1”.
Note that upon starting the profile operation, Homing_Complete is set to 0.
5) The host controller checks that command code echo is 17h, Type_Code echo is 32h and status In_Progress is 1, and
no command error has been generated, and homing operation has started. If command error is detected, the
controller should take appropriate countermeasure according to the error code.
6) When HOME sensor turns on, start deceleration according to Pr.8.04 “Profile linear deceleration constant” to stop.
7) At the stop position, start movement in the direction opposite to the homing at the speed specified by Pr.8.13.
8) When HOME sensor turns on and then OFF edge is detected, start deceleration at the rate specified by Pr.8.04.
9) At the stop position, start movement in the homing direction, accelerating according to Pr.8.14 “Profile homing
velocity 2”, and stop at the position where HOME sensor ON (rising edge) is detected.
▪ Actually, detected position is determined by repositioning.
10) Initialize the position information so that the detected HOME sensor rising edge is at 0 and Homing_Complete
becomes 1, and profile homing is finished.
n Precautions
• Set Pr.8.14 “Profile homing velocity 2” to the lowest possible velocity. Higher velocity may cause error due to delay in
reading.
R2.0
•
HOME sensors should be so arranged that once they detect something, nothing will pass through them until deceleration
and stop complete.
•
During profile homing 2 (HOME + Z phase), when the detected POT/NOT and the direction of homing are the same
direction, Err94.2 “Homing error protection” will occur and cancel homing process. When using this function without
using the over-travel inhibit input, do not allocate POT/NOT to general purpose input. Simply setting Pr.5.04 to 1 will
not disable the function.
•
Other non-cyclic commands except for homing commands may be executed during operation (until Homing_Ccomplete
becomes 1) while maintaining profile operation. However, do not change the operation mode (Type_Code, Latch_Sel1
of profile command), otherwise, Err91.1 “RTEX command error protection” and command error (0104h) will occur.
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 142 -
7-5-9 Profile homing 3 (Z phase) [Type_Code: 33h]
This homing sequence uses Z phase as the trigger signal.
Define the 1st Z phase position in the homing direction as the home position.
Stop at the home and initialize the position information to set this position at 0.
Direction of homing can be set to either positive or negative through the setting of Pr.8.12 “Profile homing mode
setup”.
If POT/NOT is detected in the same direction of the direction of home position return, Err94.2 “Home position return
error protection” occurs and home position return processing is cancelled.
n Example: Pr.8.12 = 0 (Homing direction = positive direction trigger signal detection)
Start area
Homing direction (positive direction)
NOT ON
POT ON
Z phase
Ignore Z phase within reverse
direction limit (NOT).
Velocity 2
Ex.
Velocity 2
See the next page.
Velocity 2
Err94.2 (Homing error
protection) will occur upon
detection of POT.
Err94.2 (Homing error
protection) will occur at startup.
Velocity 1: Pr.8.13 (Profile homing velocity 1)
Velocity 2: Pr.8.14 (Profile homing velocity 2)
Home position
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 143 -
Example: Pr.8.12 = 0 (Positive direction trigger signal detection)—homing is started at a position more negative than Z
phase
1) The host controller sets the command code to normal command (10h) of PP control.
This does not start the profile operation.
Parameters related to acceleration/deceleration (Pr.8.01/Pr.8.04) and homing (Pr.8.12-Pr.8.14) should be set before
starting operation.
2) With normal command (10h) condition, set Type_Code to 33h.
Set target position (TPOS) and target speed (TSPD) to 0 because they are not used.
Set Latch_Sel1 to 0. For Monitor_Sel, select data to be returned to Monitor_Data.
This does not directly start profile operation.
3) Change command code 10h to 17h.
4) The servo driver starts profile operation as command code 10h changes to 17h, accelerates operation (starts
operation) according to Pr.8.01 “Profile linear acceleration constant” to reach Pr.8.14 “Profile homing velocity 2”.
Note that upon starting the profile operation, Homing_Complete is set to 0.
5) The host controller checks that command code echo is 17h, Type_Code echo is 33h and status In_Progress is 1, and
no command error has been generated, and homing operation has started. If command error is detected, the
controller should take appropriate countermeasure according to the error code.
6) Stop at the position where the 1st Z phase is detected.
▪ Actually, detected position is determined by repositioning.
7) Initialize the position information to set the detected Z phase position to 0, and set Homing_Complete to 1 to finish
profile homing sequence.
n Precautions
• When the detected direction of drive inhibit input and the direction of homing are the same, Err94.2 “Homing error
protection” will occur, disabling reversal of movement direction.
R2.0
•
When the detected direction of drive inhibit input is opposite to the homing direction, Z phase is not detected or
ignored.
•
During profile homing 3 (Z phase), when the detected POT/NOT and the direction of homing are the same direction,
Err94.2 “Homing error protection” will occur and cancel homing process.
When using this function without using the over-travel inhibit input, do not allocate POT/NOT to general purpose input.
Simply setting Pr.5.04 to 1 will not disable the function.
•
Other non-cyclic commands except for homing commands may be executed during operation (until Homing_Ccomplete
becomes 1) while maintaining profile operation. However, do not change the operation mode (Type_Code, Latch_Sel1
of profile command), otherwise, Err91.1 “RTEX command error protection” and command error (0104h) will occur.
•
When the Z-phase width is great, there may be the wrong detection evaluating that the amount of deceleration travel is
smaller than the Z-phase width.
Adjust the amount of deceleration travel using Pr8.04 “Profile linear deceleration constant” to allow for a margin that
provides a sufficiently greater amount than the Z-phase width.
•
When there is more than one Z phase, this home position return method may not be able to detect a desired Z phase.
Therefore, have one Z phase or use the home position return method that combines the use of the HOME sensor
(Type_Code=31h).
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 144 -
7-5-10 Profile homing 4 (POT/NOT + HOME) (Type_Code: 34h)
This return-to-home process uses Z phase from HOME sensor as the trigger signal.
Home position is defined as the point where HOME sensor detects the rising edge in return-to-home direction.
After stopping at the home position, initialize the position information so that this position is set at 0.
Only positive homing direction is supported.
Set Pr.8.12 “Profile homing mode setup” to 0.
Setting Pr.8.12 to 1 also causes homing in positive direction.
If POT/NOT is detected in the same direction of the direction of home position return, reversal operation automatically
starts after a deceleration to stop, and then home position return processing continues.
n Example: Pr.8.12 = 0 (Homing direction = positive direction trigger signal detection)
Start area
Homing direction (positive direction)
NOT ON
HOME ON
POT ON
Velocity 1
Velocity 2
Velocity 2
Velocity 1
Ex.
Velocity 1
Velocity 2
See the next page.
Velocity 2
Velocity 1
Velocity 1: Pr.8.13 (Profile homing velocity 1)
Velocity 2: Pr.8.14 (Profile homing velocity 2)
Home position
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 145 -
Example: Pr.8.12 = 0 (Positive direction trigger signal detection)—homing is started at a position more negative than
HOME sensor
1) The host controller sets the command code to normal command (10h) of PP control.
This does not start the profile operation.
Parameters related to acceleration/deceleration (Pr.8.01/Pr.8.04) and homing (Pr.8.12-Pr.8.14) should be set before
starting operation.
2) With normal command (10h) condition, set Type_Code to 34h.
Set target position (TPOS) and target speed (TSPD) to 0 because they are not used.
Set Latch_Sel1 to 0. For Monitor_Sel, select data to be returned to Monitor_Data.
This does not directly start profile operation.
3) Change command code 10h to 17h.
4) The servo driver starts profile operation as command code 10h changes to 17h, accelerates operation (starts
operation) according to Pr.8.01 “Profile linear acceleration constant” to reach Pr.8.13 “Profile homing velocity 1”.
Note that upon starting the profile operation, Homing_Complete is set to 0.
5) The host controller checks that command code echo is 17h, Type_Code echo is 34h and status In_Progress is 1, and
no command error has been generated, and homing operation has started. If command error is detected, the
controller should take appropriate countermeasure according to the error code.
6) When HOME sensor turns on, start deceleration according to Pr.8.04 “Profile linear deceleration constant” to stop.
7) At the stop position, start movement in the direction opposite to the homing at the speed specified by Pr.8.13.
8) When HOME sensor turns on and then OFF edge is detected, start deceleration at the rate specified by Pr.8.04.
9) At the stop position, start movement in the homing direction, accelerating according to Pr.8.14 “Profile homing
velocity 2”, and stop at the position where HOME sensor ON (rising edge) is detected.
▪ Actually, detected position is determined by repositioning.
10) Initialize the position information so that the detected HOME sensor rising edge is at 0 and Homing_Complete
becomes 1, and profile homing is finished.
n Precautions
• Set Pr.8.14 “Profile homing velocity 2” to the lowest possible velocity. Higher velocity may cause error due to delay in
reading.
R2.0
•
HOME sensors should be so arranged that once they detect something, nothing will pass through them until deceleration
and stop complete.
•
During profile home position return 4 (POT/NOT +HOME), the setup of Pr5.04 “Drive disable input setting” and
Pr5.05 “Sequence for drive disable” is temporarily invalid. During POT/NOT detection, reversal operation is
automatically started after a deceleration to stop.
When using this function without using the over-travel inhibit input, do not allocate POT/NOT to general purpose input.
Simply setting Pr.5.04 to 1 will not disable the function.
•
If an error, such as the detection of drive disable input ON on the reverse side while failing to detect the home position
during reversal operation with the drive disable setup or the drive disable input turned ON on both sides, is detected
during home position return, Err94.2 “Home position return error protection” occurs and home position return
processing is cancelled.
•
Other non-cyclic commands except for homing commands may be executed during operation (until Homing_Ccomplete
becomes 1) while maintaining profile operation. However, do not change the operation mode (Type_Code, Latch_Sel1
of profile command), otherwise, Err91.1 “RTEX command error protection” and command error (0104h) will occur.
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 146 -
7-5-11 Precautions for profile position control operation
• When relative displacement exceeds the following values, wraparound process is used.
Wraparound threshold [command unit]
Absolute encoder setup
lower limit
upper limit
Infinitely rotatable absolute
0
(223*Pr6.88 setting value)-1
encoder mode
Other than infinitely rotatable
80000000h
7FFFFFFFh
absolute encoder mode
<Example of wraparound process: As TPOS changes from 7FFFFFFFh to 80000000h
(Other than infinitely rotatable absolute encoder mode)>
Servo internal arithmetic
command position (command unit)
No relative movement by
4294967295 (command
unit) in negative direction
80000000h
7FFFFFFFh
Relative movement by 1
(command unit) in positive
direction (wraparound
process)
Physical position
80000000h
• When the latch trigger signal is applied from external source, it should be detected at the lowest possible speed. If it is
detected at a higher speed, with very low electronic gear ratio (e.g. 1/1000), wraparound of detection position will
occur upon reverse conversion to command unit (latch position is not exactly detected).
• When the target speed (TSPD) is set outside the range, it causes command error (0032h).
Maximum target speed will be the motor maximum speed or 7FFFFFFFh (command unit/s), whichever small.
Note: Motor maximum speed includes errors caused by rounding in calculating process and by electronic gear.
• During acceleration, deceleration will be started if continuous acceleration may cause movement beyond the target
position. As a result, the speed may not reach the target speed (TSPD).
• When deceleration is made to the target speed which is slower than the current internal command speed, and even if
the resulting speed difference is smaller than the difference between decelerations, deceleration is made according to
the new decoration rate and then acceleration will made to attain the target speed. If this process causes problem, take
corrective measure, e.g. decrease Pr.8.04 “profile linear deceleration constant”.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 147 -
• The speed (including initial speed upon changing control mode) at the start of deceleration and Pr.8.04 “profile linear
deceleration constant” shall meet the following restriction.
<Restriction>
Amount of movement distance (P) necessary to decelerate from the initial speed to the target speed <
7FFFFFFFh (command unit)
For example, if the initial speed upon switching from the cyclic torque control does not meet the restriction, Err.27.5
“command generation error protection” will be generated.
Speed
(Command unit/s)
Pr.8.04
(Profile linear deceleration
constant ´ 10000)
Initial speed upon
switching
(Feedback speed)
Upper limit of
target speed
P
Time (s)
Cyclic torque control, etc.
R2.0
Profile position control
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 148 -
7-6 Control mode switching
7-6-1 Control mode switching method
•
When cyclic command change is received, the control mode is changed accordingly.
MINAS-A6N can response to the new control mode changed during operation.
For precautions for mode change during operation, refer to 7-6-2 and for other precautions refer to 7-6-3.
•
The non-cyclic command just prior to command mode change must be “Normal command (¨0h)”, and be sure to
change the control mode while “Non-cyclic command” is not being executed (Busy = 0). If the control mode is
changed while non-cyclic command is being executed (Busy = 1), Err91.1 “RTEX command error protection” and
command error (002Eh) will occur.
Example: During operation in CV (cyclic velocity control), mode is changed to PP (profile positioning)
<At master (host controller)>
Normal command of
CV
30h
Parameter command of CV
Command code
(byte1)
36h
Normal command of CV
17h
CSPD = 00002000h
(byte4-7)
(byte12-15)
Setting_Data
00000000h
36h
30h
TPOS = 01000000h
TSPD = ASPD just before switching
<Slave>
Command code
(byte1)
Response_Data1 (default APOS)
(byte4-7)
(byte8-11)
Type_Code_Echo etc.
(byte12-15)
Monitor_Data
Busy
1
Response_Data2
(default APOS)
Type_Code_Echo etc.
00000000h
Monitor_Data
0
Velocity control
(CV)
Control mode
00002000h
17h
Position control
(PP)
Velocit
y
ASPD
Actual
velocity
Internal
command
velocity
Time
Stop at TPOS
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 149 -
7-6-2 Precautions for control mode change during operation
•
Switching between modes PP (profile position control), CV (cyclic velocity control) and CT (cyclic torque control)
during operation is possible.
•
Upon switching to PP during operation, the profile operation should be started: change to 17h and not to 10h.
•
Switching from CP (cyclic position control) to PP, CV or CT is possible during operation. In contrast, switching to
CP is possible while operation is paused.
To smoothly change control mode to CP, when applying the command from the host controller, command position
(TPOS) should include correction process.
When changing from PP to CP, control mode remains position control, but correction is required to command
position (TPOS) of given command.
Supported switching during operation
After switching
Before switching
PP
(17h)
PP(10h)
▪
CV
(3¨h)
CT
(4¨h)
´
¡
¡
¡
¡
CP(20h)
¡
CV(30h)
¡
´
CT(40h)
¡
´
¡
¡
Do not change control mode during the following PP operation.
Otherwise, Err91.1 (RTEX command error protection) and command error (002Eh) will occur.
Type_Code
•
CP
(2¨h)
Operation mode
12h
Profile position latch absolute positioning
13h
Profile position latch relative positioning
31h
Profile homing 1
32h
Profile homing 2
33h
Profile homing 3
34h
Profile homing 4
When changing control mode during operation, correctly apply the command so that the velocity in the previous and
new modes are the same.
Actual velocity (APOS) before mode change = command velocity (target velocity) after mode change
When control mode is changed during acceleration/deceleration, mode may not be smoothly changed. Even at the
constant velocity, mode may not be smoothly changed due to certain factor, e.g. if acceleration/deceleration setting
is large.
•
Before changing mode from CV or CT to PP with position command filter (FIR, smoothing) enabled, a steady
constant velocity should have been maintained for a period longer than the filter time constant (FIR, smoothing total
setting time).
•
For smooth switching between control modes, disable the damping filter because the damping filter is active only
for position control.
•
When the gain changes after switching of control mode, switching is not smoothly performed.
There are some other conditions that prevent smooth switching operation.
If the vibration during switching cause problem, perform switching while related sections are in stop condition.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 150 -
7-6-3 Other precautions related to control mode switching
•
After servo-off (including alarm state), counter clear or deceleration and stop according to drive inhibit input, the
control mode in the servo driver is forced to change to PP and internal position command generation process is
forced to stop.
For example, if the main power is turned off in CV status, servo is turned off and internal status is switched to PP.
Result: status and monitor data that rely on control mode will be switched to position control instead of velocity
control.
R2.0
•
The control mode is forced to switch inside the driver depending on its operating status irrespective of the command
from the host device. This operation has an effect on input/output signal processing. Basically to one terminal assign
the whole mode same function.
[Conditions for the control mode to be forced to switch inside the driver]
・When Setup support software PANATERM frequency characteristics are measured (The mode will be forced
to switch to position, speed or torque control.)
・There is the statement ”Forcibly controls the position" in Operating setting of various sequence
(Technical Reference, SX-DSV03077 “Section 6-3”, Functional Specification).
•
When command is NOP (0¨h), or if cyclic command is not correctly received due to command error or
communication error, the previous command mode will be maintained. Note that commands (command velocity
etc.) to servo driver will not be disabled. For NOP command, refer to 7-1-2, for command error, refer to 6-10, and
for communication error, refer to 6-11.
•
When communication cycle is 0.0625 ms or 0.125 ms, generation of response data (e.g. position deviation)
depending on control mode will delay. For details, refer to 3-1-1 to 3-1-3.
•
For communication cycle/command update cycle, 16-byte mode/32-byte mode and combination of compatible
control modes, refer to 2-5-1. If unsupported combination is selected, it will cause Err91.1 “RTEX command error
protection” and command error (002Eh).
•
Make sure to perform switching of control mode (cyclic command) or transmitting of NOP (00h) while allowing an
interval of 2 ms or longer.
Err91.1 “RTEX command error” and command error (002Eh) occur if the control mode change is made
consecutively within a period shorter than 2 ms or if NOP (00h) is transmitted within 2 ms.
•
When homing command (¨4h) except for latch mode is being executed, do not change control mode. Before
changing control mode, be sure to perform homing process and select the normal command (¨0h). Follow the basic
switching method described above.
•
Torwue control mode doesn't support when Two-degree-of-freedom control is selected. therefore, Switching
function to CT is not available.
When CT is received under Two-degree-of-freedom control, Err91.1“RTEX command error protection” or
command error “002Eh” shall be generated.
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 151 -
7-7 Feedforward function
The host controller can transmit high resolution velocity feedforward (VFF) and torque feedforward (TFF).
7-7-1 Feedforward function validation parameter and command area to be used
n Main command: Common to 16-byte and 32-byte modes
Byte
0
1
2-3
4-7
8-11
12-15
Class
7
bit7
C/R
TMG_CNT
bit6
bit5
Update_Counter
bit3
bit2
MAC-ID
bit1
bit0
Command_Code
Control_Bits
Command_Data1
Command_Data2
Command_Data3
Parameter
title
No. Attribute
35
bit4
RTEX command
setup 1
C
Setup
range
0-2
Unit
-
Description
Set up non-cyclic command Command_Data3.
0: Disable
1: Velocity feedforward
(Command unit/s) or r/min)
2: Torque feedforward (0.1%)
Note: For non-cyclic command that uses Command_Data3 area as Setting_Data, disable is selected because
feedforward data cannot be transmitted (see table below), previously received value is used for operation.
If this operation causes problem, use Sub_Command_Data2/3 in 32-byte mode area shown on the next
page.
When Pr.7.35 = 0 (Disable feedforward), use Command_Data3 area as Setting_Data, and set value to 0
when non-cyclic command is not used (see the table below). When setup is not 0, Command error (0032h)
will be returned.
Non-cyclic
command
FF
transmission
Enable/disable
Command_Data3
Pr7.35 = 0
Pr7.35 = 1
Pr7.35 = 2
Normal
0h
All
-
¡
FF Disable
(set it as 0)
Velocity FF
Torque FF
Reset
1h
All
-
¡
FF Disable
(set it as 0)
Velocity FF
Torque FF
System ID
2h
All
-
¡
FF Disable
(set it as 0)
Velocity FF
Torque FF
021h/
022h
Actual
position/
command
position set
´
Setting_Data
(setting position)
Setting_Data
(setting position)
Setting_Data
(setting position)
Others
-
¡
FF Disable
(set it as 0)
Velocity FF
Torque FF
All
-
¡
FF Disable
(set it as 0)
Velocity FF
Torque FF
011h
Parameter
writing
´
Setting_Data
(parameter value)
Setting_Data
(parameter value)
Setting_Data
(parameter value)
Others
-
¡
FF Disable
(set it as 0)
Velocity FF
Torque FF
Homing
Alarm
Parameter
R2.0
Type_Code
4h
5h
6h
Profile
7h
All
-
´
Setting_Data
(target velocity)
Setting_Data
(target velocity)
Setting_Data
(target velocity)
Monitor
Ah
All
-
¡
FF Disable
(set it as 0)
Velocity FF
Torque FF
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 152 -
n Subcommand: Only for 32-byte mode
Byte
16
17
18-19
20-23
24-27
28-31
Class
R2.0
bit7
Sub_Chk
No.
Attribute
bit6
0
parameter
Title
bit5
0
Setup range
bit4
bit3
0
Sub_Type_Code
Sub_Index
Sub_Command_Data1
Sub_Command_Data2
Sub_Command_Data3
Unit
7
36
C
RTEX command
setup 2
0-2
-
7
37
C
RTEX command
setup 3
0-2
-
bit2
bit1
Sub_Command_Code
bit0
Description
Set subcommand, Sub_Command_Data2.
0: Disable
1: Velocity feedforward
(Command unit/s) or (r/min)
2: Torque feedforward (0.1%)
Set subcommand, Sub_Command_Data3.
0: Disable
1: Velocity feedforward
(Command unit/s) or (r/min)
2: Torque feedforward (0.1%)
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 153 -
7-7-2 Setting unit and setting range
Description
Velocity feedforward (VFF)
After converting the unit, add the value to velocity feedforward value calculated by Pr.1.10 and Pr.1.11, within
the range up to motor maximum speed.
[Size]: Signed 32-bit
[Unit]: Set according to Pr.7.25 RTEX velocity unit setup.
Pr.7.25
Unit
0
[r/min]
1
[command unit/s]
[Setting range]：- motor max. velocity to + motor max. velocity
Torque feedforward (TFF)
After converting the unit, add the value to torque feedforward value calculated according to Pr.1.12 and
Pr.1.13, within the range up to motor maximum torque.
[Size]: Signed 32-bit
[Unit]：0.1%
[Setting range]: - motor max. torque to + motor max. torque
7-7-3 Compatible control mode
The feedforward functions are compatible with the following control modes.
For block diagrams of these control modes, refer to Technical Reference, SX-DSV03077 “Section 5-2”,
Functional Specification.
R2.0
Position control (CP)
Position control (PP)
Velocity control (CV)
Torque control (CT)
Velocity feedforward (VFF)
Valid
¡
Invalid
´
Invalid
´
Invalid
´
Torque feedforward (TFF)
Valid
¡
Valid
¡
Valid
¡
Invalid
´
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 154 -
7-7-4 Other precautions related to feedforward function
R2.0
•
If multiple feedforward functions are set in 32-byte mode, Err93.5 “Parameter setting error protection 4” will occur.
This error will not occur in 16-byte mode.
•
When invalidating feedforward through the parameter, set the command area to 0.
Otherwise, command error (0034h) will occur.
•
During servo-lock after completion of homing, feedforward remains valid. When this state causes problem, keep
feedforward value at 0 during cyclic homing sequence.
•
During deceleration and stop process with servo-off, counter clear or drive inhibit input (POT/NOT), feedforward is
at 0.
•
When feedforward value in drive inhibit direction is set after deceleration and stop process triggered by drive inhibit
input (POT/NOT), command error (0046h) will occur and feedforward value is set to 0.
•
When setting value is outside the range, command error (0034h) will occur and previous normal value is held.
•
When the value set during switching of control mode is outside the range, command error (0034h) will also occur
and the previous normal value will be maintained. If the feedforward in the control mode before switching is invalid,
the value is 0.
•
In control mode with invalid feedforward, the feedforward value is 0.
•
During deceleration with drive inhibit input, torque feedforward is at 0.
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 155 -
8. RTEX Communication Related Protective Function and Troubleshooting
8-1 RTEX communication related protective function
Alarm code
(Decimal)
Attribute
Designation
Main Sub
[COM] display
0
RTEX node addressing error protection
¡
-
-
Lights in red
0
RTEX continuous communication error
protection 1
¡
¡
¡
Blinks in red
1
RTEX continuous communication error
protection 2
¡
¡
¡
Blinks in red
0
RTEX time out error protection
¡
¡
¡
Blinks in red
3
RTEX synchronization error protection
¡
-
-
Lights in red
5
RTEX communication cycle error
protection
¡
¡
¡
Blinks in red
0
RTEX cyclic data error protection 1
¡
¡
¡
Blinks in red
1
RTEX cyclic data error protection 2
¡
¡
¡
Blinks in red
2
RTEX UpdateCounter error protection
¡
-
¡
Lights in red
90
2
RTEX interaxis sync establishment error
protection
¡
-
-
Lights in red
91
1
RTEX command error protection
¡
¡
¡
Blinks in red
1
RTEX hardware error protection 1
¡
-
-
Lights in red
2
RTEX hardware error protection 2
¡
-
-
Lights in red
3
RTEX hardware error protection 3
¡
-
-
Lights in red
82
83
84
86
98
R2.0
History Can be Immediate
memory cleared
stop
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 156 -
8-1-1 RTEX node address setting error protection (Err. 82.0)
This alarm will occur when the value set on the node address setting rotary switch on the servo driver is outside the
setting range.
COM LED
LINK LED
Node address setting
rotary switch
Setting range: 0–31
7-seg LED (2-digit)
R2.0
Cause
• The value set on the rotary switch is outside of 0 to 31.
Detecting timing
• Upon power up of servo driver control power supply
• Upon restarting by the reset command
Internal process upon
detecting error
• RTEX communication is not established (aborted due to incomplete
initialization)
• RTEX communication state is kept INITIAL (transition).
Action
• Check the value set on the node address setting rotary switch.
• When necessary, correct the setting value (0-31), and turn on the servo driver
control power.
• Replace the servo driver as necessary.
Alarm clear attribute
• Cannot be cleared.
Display on COM LED
• Lighting in red
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 157 -
8-1-2 RTEX continuous communication error protection 1 (Err. 83.0)
This alarm will occur when reading error (CRC error) of the data delivered to the local node persists for the
predetermined period.
R2.0
Cause
• Reading error (CRC error) of the data delivered to the local node persists for the
number of times set for Pr7.95 “Number of RTEX continuous communication
error protection 1 detections”.
Detecting timing
• When RTEX communication status is RUNNING.
• When received data is read at the communication cycle.
Internal process upon
detecting error
• Discard the received data.
• Use the previously received normal data for processing (servo is in alarm
status).
• Return Byte 1 of response as FFh.
• RTEX communication keeps RUNNING status.
▪ Because the communication continues, if the normal reception is possible
after occurrence of alarm, commands such as alarm clear can be received.
Action
• Check the communication cable for excessive noises.
• Check the communication cable for length, layout arrangement, and
connections.
• Check that the communication cable is category 5-e or better shielded twisted
pair cable (STPC) specified by TIA/EIA-568.
• Replace the cable with a new one as necessary.
• Attach the ferrite core to the communication cable.
• Replace the servo driver as necessary.
• Increase the value set for Pr7.95.
Alarm clear attribute
• Can be cleared.
Display on COM LED
• Flashing in red
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 158 -
8-1-3 RTEX continuous communication error protection 2 (Err. 83.1)
This alarm will occur when reading error of the data delivered to the local node persists for the predetermined period.
This alarm indicates that CRC error, missing reception or cyclic error of the data delivered to the local node has
occurred.
If these errors occur alternatively, they are distinguished by the alarm.
R2.0
Cause
• Reading error (CRC error, missing reception or cyclic error) of the number of
times set for Pr7.96 “Number of RTEX continuous communication error
protection 2 detections”.
Detecting timing
• When RTEX communication status is RUNNING.
• When received data is read at the communication cycle.
▪ Missing reception will be detected only when sync is established.
Internal process upon
detecting error
• Discard the received data.
• Use the previously received normal data for processing (servo is in alarm
status).
• Return Byte 1 of response as FFh.
• RTEX communication keeps RUNNING status.
▪ Because the communication continues, if the normal reception is possible
after occurrence of alarm, commands such as alarm clear can be received.
Action
• Check the communication cable for excessive noises.
• Check the communication cable for length, layout arrangement, and
connections.
• Check that the communication cable is category 5-e or better shielded twisted
pair cable (STPC) specified by TIA/EIA-568.
• Replace the cable with a new one as necessary.
• Attach the ferrite core to the communication cable.
• Replace the servo driver as necessary.
• Increase the value set for Pr7.96.
Alarm clear attribute
• Can be cleared.
Display on COM LED
• Flashing in red
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 159 -
8-1-4 RTEX time out error protection (Err. 84.0)
This alarm will occur when communication data has not been received, and RTEX communication IC has not output the
reception interrupt (missing reception) process start signal for predetermined period.
R2.0
Cause
• Communication data has not been received, and RTEX communication IC has
not output the reception interrupt (missing reception) process start signal for the
number of times set for Pr7.97 “Number of RTEX communication timeout error
protection detections”.
Detecting timing
• When RTEX communication status is RUNNING.
• When synchronization between the communication and servo is established.
• When received data is read at the communication cycle.
Internal process upon
detecting error
• Use the previously received data for processing until an alarm is detected.
• If an alarm is detected, RTEX communication state changes to INITIAL state.
• Synchronization established between communication and servo is changed to
asynchronous state.
▪ The communication blackout occurs so that the host controller should
reestablish the communication.
Action
• Check the communication cable for disconnection.
• Check the preceding stage node whether it is ready for transmission.
▪ For checking procedure, refer to Section 8-3.
• Check the RTEX communication data transmission cycle of the host controller.
• Check to see that the communication cycle set by Pr.7.20 “RTEX
communication cycle setup” and Pr7.91 “RTEX communication cycle
expansion setting” matches the transmission cycle of the host controller.
• Check the communication cable for excessive noises.
• Check the communication cable for length, layout arrangement, and
connections.
• Check that the communication cable is category 5-e or better shielded twisted
pair cable (STPC) specified by TIA/EIA-568.
• Replace the cable with a new one as necessary.
• Attach the ferrite core to the communication cable.
• Replace the servo driver as necessary.
• Increase the value set for Pr7.97.
Alarm clear attribute
• Can be cleared.
Display on COM LED
• Flashing in red
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 160 -
8-1-5 RTEX synchronization error protection (Err. 84.3)
This alarm occurs when abnormal condition is detected during synchronization between the servo amplifier and
communication.
Cause
• Generated abnorlmal communication during synchronization between the servo
amplifier and communication.
Detecting timing
• When RTEX communication status is RUNNING.
• When synchronization between the communication and servo is established.
• During processing execution of establishing communication synchronization
Internal process upon
detecting error
During processing execution of establishing communication synchronization
• RTEX communication is not established (aborted due to incomplete
initialization)
• RTEX communication state is kept INITIAL (transition).
When synchronization between the communication and servo is established
• Use the previously received data for processing until an alarm is detected.
• If an alarm is detected, RTEX communication state changes to INITIAL state.
• Synchronization established between communication and servo is changed to
asynchronous state.
R2.0
Action
• Replace the servo driver if the cause is not removed after turning on control
power.
Alarm clear attribute
• Cannot be cleared.
Display on COM LED
• Lighting in red
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 161 -
8-1-6 RTEX communication cycle error protection (Err. 84.5)
This alarm occurs when the receive interrupt process start signal is output from RTEX communication IC at an irregular
frequency, causing out of synchronization between communication and servo.
R2.0
Cause
• The receive interrupt process start signal output from RTEX communication IC
at an irregular cycle causes out-of-synchronization between communication and
servo.
Detecting timing
• When RTEX communication status is RUNNING.
• When synchronization between the communication and servo is established.
• Output of receive interrupt process start signal
Internal process upon
detecting error
• Use the previously received data for processing until an alarm is detected.
• If an alarm is detected, RTEX communication state changes to INITIAL state.
• Synchronization established between communication and servo is changed to
asynchronous state.
▪ The communication blackout occurs so that the host controller should
reestablish the communication.
Action
• Check the RTEX communication data transmission cycle of the host controller.
• Check to see that the communication cycle set by Pr.7.20 “RTEX
communication cycle setup” and Pr7.91 “RTEX communication cycle
expansion setting” matches the transmission cycle of the host controller.
• Check the communication cable for excessive noises.
• Check the communication cable for length, layout arrangement, and
connections.
• Check that the communication cable is category 5-e or better shielded twisted
pair cable (STPC) specified by TIA/EIA-568.
• Replace the cable with a new one as necessary.
• Attach the ferrite core to the communication cable.
• Replace the servo driver as necessary.
Alarm clear attribute
• Can be cleared.
Display on COM LED
• Flashing in red
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 162 -
8-1-7 RTEX cyclic data error protection 1/2 (Err. 86.0/Err. 86.1)
This alarm will occur, when data error in cyclic command area (C/R, MAC_ID, cyclic command) occurs or when
Sub_Chk error continues in 32-byte mode for the predetermined period.
Cause
• Data error occurs in cyclic command area (C/R, MAC_ID, cyclic command) or
Sub_Chk error continues in 32-byte mode for the number of times set for
Pr7.98 “Number of RTEX cyclic data error protection 1/2 detections”.
Alarm code
Detected space
Cause
Err. 86.0
Err. 86.1
Byte 0. bit 4–0
MAC-ID
Not fit with setting on
rotary switch
Byte 0. bit 7
C/R
Set at 1
Byte 16. bit 7
Sub_Chk
Set at 0
Byte 1. bit 6–4
Cyclic command Undefined
Detecting timing
• When RTEX communication status is RUNNING.
• When synchronization between the communication and servo is established.
• When received data is read at the communication cycle.
Internal process upon
detecting error
• Command error occurs while in alarm condition.
Alarm code
Detected space
Err. 86.0
Byte 0. bit 4–0
MAC-ID
Byte 0. bit 7
C/R
Byte 16. bit 7
Sub_Chk
Error_Code
0011h
0012h
Err. 86.1
Byte 1. bit 6–4
Cyclic command
0021h
▪ For details of command error, see Section 6-9-1.
• Discard the received data.
• Use the previously received normal data for processing (servo is in alarm
status).
• RTEX communication keeps RUNNING status.
▪ Because the communication continues, if the normal reception is possible
after occurrence of alarm, commands such as alarm clear can be received.
R2.0
Action
• Check the data in the cyclic command field (Detected space in the table above).
• Check the process in the host controller
• Increase the value set for Pr7.98.
Alarm clear attribute
• Can be cleared.
Display on COM LED
• Flashing in red
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 163 -
8-1-8 RTEX_Update_Counter error protection (Err86.2)
This alarm will occur when Update_Counter is not renewed correctly because errors have been accumulated more
than set number for Pr.7.38 “RTEX_Update_Counter error protection”.
When Pr7.38 is 0 or 1, this alarm is invalid.
This alarm is to detect conflict in command renewal cycle between an upper device and the driver. Be careful,
detection may not be performed correctly if the communication cycles are not synchronized.
R2.0
Cause
• Update_Counter is not renewed correctly because errors have been
accumulated more than set number for Pr.7.38 “RTEX_Update_Counter error
protection”.
Detecting timing
• RTEX communication is in RUNNING state.
• Sync establishment between communication and servo is in transient condition.
• At reading received data of each command renewal cycle.
Internal process upon
detecting error
• Received data are taken as they are.
• RTEX communication state keeps RUNNING state.
• Sync establishment condition between communication and servo is continued.
Action
• Check if there is any problem in frequency setting in upper devise side and in
driver side.
• When Update_Counter is not used with ratio of communication frequency and
command renewal frequency being 1 : 1, this alarm is made invalid.
Alarm clear attribute
• Can not be cleared.
Display on COM LED
• Lights in red
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 164 -
8-1-9 RTEX interaxis sync establishment error protection (Err90.2)
This alarm will occur when communication error occurs in the full-sync mode and in sync establishment transient
condition or when the communication is interrupted.
R2.0
Cause
• Communication error occurs in full-sync mode and in sync establishment
transient condition or the communication is interrupted.
Detecting timing
• RTEX communication is in RUNNING state.
• Sync establishment between communication and servo is in transient condition.
Internal process upon
detecting error
• After detection of alarm, RTEX communication shifts to INITIAL state.
• Sync establishment condition between communication and servo is undefined.
Action
• Take the same measures as for Err83.0 or Err84.0.
Alarm clear attribute
• Can be cleared.
Display on COM LED
• Flashing in red
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 165 -
8-1-10 RTEX command error protection (Err91.1)
This error will occur when the cyclic command (Byte 1, bits 6-4) is defined but not correctly received.
R2.0
Cause
• Mismatched combination of communication cycle, 16/32-byte mode and control
mode.
• The control mode switching interval is shorter than 2 ms.
• Control mode is switched during profile position latch positioning/profile homing
operation (Type_Code = 12h, 13h, 31h, 32h, 33h).
• Control mode is switched during processing of non-cyclic command (Busy = 1).
• During operation of profile position latch positioning/profile homing (Type_Code
= 12h, 13h, 31h, 32h, 33h), the homing command (¨4h) is executed.
• During operation of profile positioning/profile continuous movement (Type_Code
=10h, 11h, 20h), the initialization mode (Type_Code = 1¨h, 31h) of the homing
command (¨4h) is executed.
• During operation with profile position control (PP), Type_Code is changed.
• Run the home return command (£4h) Type_Code=1£h/2£h during the velocity
control (CV)/torque control (CT)
• During Two-degrees-of-freedom Mode, Control mode has been changed torque
control (semi-closed control).
Detecting timing
• When RTEX communication status is RUNNING.
• When synchronization between the communication and servo is established.
• When received data is read at the communication cycle.
Internal process upon
detecting error
• The command error occurs upon occurrence of the alarm.
▪ For details of command error, see Section 6-10-1.
• RTEX communication keeps RUNNING status.
Action
• Check the process of the host controller.
▪ When changing to another control mode after selecting the current mode, wait at
least for 2 ms.
▪ Check correspondence relation between the executive function and control mode.
Alarm clear attribute
• Can be cleared.
Display on COM LED
• Flashing in red
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 166 -
8-1-11 RTEX hardware error protection 1/2/3 (Err. 98.1/Err. 98.2/Err. 98.3)
This alarm occurs when an error occurs in RTEX communication circuit.
R2.0
Cause
• An error occurs on RTEX communication circuit.
Detecting timing
• On power up of servo driver control power.
• Upon restarting by the reset command.
Internal process upon
detecting error
• RTEX communication cannot be established due to incomplete initialization.
• RTEX communication status is still in INITIAL condition (transition).
Action
• Replace the servo driver if the cause is not removed after turning on control
power.
Alarm clear attribute
• Cannot be cleared.
Display on COM LED
• Lighting in red
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 167 -
8-2 RTEX communication warnings
Warning
code
(decimal)
Designation
C0h
RTEX continuous communication error warning
C1h
RTEX accumulated communication error warning
C2h
RTEX Update_Counter error warning
8-2-1 RTEX continuous communication error warning (WngC0h)
This warning will occur when the No. of continuously detected reading errors (CRC errors) of the data delivered to the
local node reaches the setting value of Pr.7.26 “RTEX successive communication error warning setting”.
The detecting timing and corrective action are basically the same as those for Err. 83.0 “RTEX continuous
communication error”.
When Pr.7.26 is 0 or when bit 9 of Pr.6.38 Attribute C is 0, this warning is disabled.
R2.0
Cause
• The No. of detected continuous reading errors (CRC errors) of the data
delivered to the local node reaches the setting value of Pr.7.26 “RTEX
successive communication error warning setting”.
Detecting timing
• When RTEX communication status is RUNNING.
• When received data is read at the communication cycle.
Internal process upon
detecting error
•
•
•
•
•
Action
• Check the communication cable for excessive noises.
• Check the communication cable for length, layout arrangement, and
connections.
• Check that the communication cable is category 5-e or better shielded twisted
pair cable (STPC) specified by TIA/EIA-568.
• Replace the cable with a new one as necessary.
• Attach the ferrite core to the communication cable.
• Replace the servo driver as necessary.
Warning clearing
procedure after removal
of cause
• Disable this warning and then execute alarm clear.
• Execute the power reset or reset command to reboot the system.
Discard the received data.
Use the previously received normal data for processing.
Return Byte 1 of response as FFh.
RTEX communication keeps RUNNING status.
Synchronization between communication and servo is kept established.
▪ Because the communication continues, if the normal reception is possible
after occurrence of warning, commands such as alarm clear can be received.
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 168 -
8-2-2 RTEX accumulated communication error warning (WngC1h)
This warning will occur when the No. of detected accumulated reading errors (CRC errors) of the data delivered to the
local node reaches the setting value of Pr.7.27 “RTEX accumulated communication error warning setting”.
The detecting timing and corrective action are basically the same as those for Err. 83.0 “RTEX continuous
communication error”.
When Pr.7.27 is 0 or when bit 10 of Pr.6.38 Attribute C is 0, this warning is disabled.
R2.0
Cause
• The No. of detected accumulated reading errors (CRC errors) of the data
delivered to the local node reaches the setting value of Pr.7.27 “RTEX
accumulated communication error warning setting”.
Detecting timing
• When RTEX communication status is RUNNING.
• When received data is read at the communication cycle.
Internal process upon
detecting error
•
•
•
•
•
Action
• Check the communication cable for excessive noises.
• Check the communication cable for length, layout arrangement, and
connections.
• Check that the communication cable is category 5-e or better shielded twisted
pair cable (STPC) specified by TIA/EIA-568.
• Replace the cable with a new one as necessary.
• Attach the ferrite core to the communication cable.
• Replace the servo driver as necessary.
Warning clearing
procedure after removal
of cause
• Disable this warning and then execute alarm clear.
• Execute alarm clear command or the power reset or reset command to reboot
the system.
Discard the received data.
Use the previously received normal data for processing.
Return Byte 1 of response as FFh.
RTEX communication keeps RUNNING status.
Synchronization between communication and servo is kept established.
▪ Because the communication continues, if the normal reception is possible
after occurrence of warning, commands such as alarm clear can be received.
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 169 -
8-2-3 RTEX Update_Counter error warning (WngC2h)
This warning will occur when the total No. of updates of Update_Counter does not reach the setting of Pr.7.28
“RTEX_Update_Counter error warning setting”.
When the setting of Pr.7.28 is 0 or 1, or when bit 11 of Pr.6.38 Attribute C is 0, this warning is invalid.
This warning indicates that updating cycle of the host controller and that of the servo driver are different with each other.
Mismatched communication cycles will cause detection error.
R2.0
Cause
• Total number of updates of Update_Counter does not reach the setting of
Pr.7.28 “RTEX_Update_Counter error warning setting”.
Detecting timing
• When RTEX communication status is RUNNING.
• When synchronization between the communication and servo is established.
• When received data is read at the command update cycle.
Internal process upon
detecting error
• Capture the received data as it is.
• RTEX communication keeps RUNNING status.
• Synchronization between communication and servo is kept established.
▪ Because the communication continues, if the normal reception is possible
after occurrence of warning, commands such as alarm clear can be received.
Action
• Check to see that the host controller and driver are normally setting cycles.
• When the communication cycle to command updating cycle ratio is 1:1 and
Update_Counter is not used, this warning is disabled.
Warning clearing
procedure after removal
of cause
• Disable this warning and execute alarm clear.
• Execute alarm clear command or the power reset or reset command to reboot
the system.
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 170 -
8-3 Locating disconnection point of network cable
With power supplied to all nodes, check the network status LEDs, “LINK”. If an LED is not lighting, check the network
cable connected to the receiving connector (RX) of the servo driver having the unlit LED.
When checking on/off status of the LED, test the electrical connection regardless of condition and performance of RTEX
communication.
LINK LED
Host
controller
Master
RX
TX
RTEX
RX
TX
RX
TX
MINAS-A5N
Slave
[LINK]
Lighting in green
[LINK]
Off
[LINK]
Lighting in green
The cable connected to RX terminal of servo driver on
which LINK LED is not turned on is broken.
R2.0
Motor Business Uint, Panasonic Corporation
No. SX- DSV03078- 171 -
When the network cable connected to the receiving side breaks, Err. 84.0 “RTEX time out error protection” occurs.
When LINK LED that has been lighting in green is turned off, the possible cause is: disconnection or loose connection of
cable, or resetting (power shutdown or reset command) of the node connected to the preceding stage.
Host
controller
Master
RX
TX
RTEX
RX
TX
RX
TX
MINAS-A5N
Slave
[LINK]
Lighting in green
No alarm
[LINK]
Lighting in green
Err. 84.0
[LINK]
Lighting in green
Err. 84.0
Err. 84.0 has occurred but LINK is lighting in green
Is the cable connected to RX terminal of the servo driver
(Causing Err. 84.0) abnormal?
Is the servo driver upstream of the servo driver (Causing Err. 84.0) reset?
Note: When the master detects time out, send servo off command to all servos without initializing the communication to
shut down the servos connected upstream of disconnection point.
If the communication is initialized, all servos will cause Err. 84.0 “RTEX time out error protection”, making it
difficult to locate the disconnected section.
R2.0
Motor Business Uint, Panasonic Corporation