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Panasonic MINAS-A5NL Series, Technical Reference

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Panasonic MINAS-A5NL Series Technical Reference Download Page 152

No. SX-DSV02310 - 144 - 

R2.0 Motor 

Business 

Division, 

Appliances Company, Panasonic Corporation 

 

 

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-A5N 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) 

 

Command code 

(byte1) 

<At master (host controller)> 

<Slave> 

(byte4-7) 

Velocit

y 

00002000h 

Time

Control mode 

Position control 

(PP) 

Velocity control 

(CV) 

(byte12-15) 

Setting_Data 

36h 

Parameter command of CV 

17h 

Normal command of 

CV

Normal command of CV 

TPOS = 01000000h 

CSPD = 00002000h 

TSPD = ASPD just before switching 

00000000h 

30h

Command code 

(byte1) 

(byte4-7) 

(byte8-11) 

Type_Code_Echo etc. 

36h 

17h 

Response_Data1 (default APOS) 

Response_Data2 

(default APOS) 

30h

Busy 1  0 

Internal 

command 

velocity 

ASPD 

Actual 

velocity 

Stop at TPOS 

(byte12-15) 

Monitor_Data 

Monitor_Data 

00000000h 

Type_Code_Echo etc. 

Summary of Contents for MINAS-A5NL Series

Page 1: ...ame AC Servo Driver Part Number MINAS A5NL Series RTEX communication type Linear type Issued on Sep 15th 2011 Revised on Apr 1st 2013 Motor Business Division Appliances Company Panasonic Corporation 7 1 1 Morofuku Daito City Osaka 574 0044 Japan Phone 072 871 1212 Fax 072 870 3151 Checked Checked Designed ...

Page 2: ...tor Business Division Appliances Company of 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 Division Appliances Company of Panasonic Corporation is not liable for any disadvantages caused by ...

Page 3: ... 74 Added the description in Description 010h 101h 75 Added the description of RTEX communication befor reset commmand 140 Changed the description of Pr7 32 Pr7 35 140 Changed the description of Disable FF Disable Command_Data3 140 Added the description of When setup is Note Mar 30 2012 All 1 3 Changed company name 5 7 Added the description of pulse regeneration 35 Added the description of Respons...

Page 4: ...nal function 37 39 7 Pr7 24 RTEX function extended setup 3 extension bit2 Setting condition to output the positioning complete signal during servo off bit3 Setting condition for In_Position positioning complete signal of RTEX communication bit4 Setting condition for Servo_Active servo on state signal of RTEX Communication 8 Pr6 10 Function extended setup extension bit9 For manufacturer use Added t...

Page 5: ... 5 Transmission timing of communication cycle 1 0 ms command updating cycle 1 0 ms 12 3 2 Transmission of cyclic data 13 3 2 1 Cyclic transmission area 13 3 3 Transmission of Non Cyclic Data 14 3 3 1 Non cyclic transmission area 14 3 3 2 Non cyclic status flag 15 3 3 3 Non cyclic command startup mode setting 16 3 3 4 Startup of non cyclic command MINAS A4N compatible mode 17 3 3 4 1 Basic sequence...

Page 6: ...ion control PP command Command code 1 h 48 5 4 Cyclic position control CP command Command code 2 h 49 5 5 Cyclic velocity control CV command Command code 3 h 50 5 6 Cyclic thrust control CT command Command code 4 h 51 6 Non cyclic Command Description 52 6 1 Non cyclic command list Under review 52 6 2 Normal command Command code 0h 53 6 3 Reset Command Command code 1h 54 6 3 1 Software reset mode T...

Page 7: ...f input and output signals 94 6 10 Command error Command code h 97 6 10 1 Command error detection 98 6 10 1 1 Command error common to 16 byte and 32 byte modes 98 6 10 1 2 Command error in 32 byte mode 100 6 10 2 List of command error code 101 6 11 Communication Error Command code h Response code FFh 102 7 Operation 103 7 1 Cyclic position control CP operation 103 7 1 1 Command follow up process c...

Page 8: ...ameter and command area to be used 147 7 7 2 Setting unit and setting range 149 7 7 3 Compatible control mode 149 7 7 4 Other precautions related to feedforward function 150 8 RTEX Communication Related Protective Function and Troubleshooting 151 8 1 RTEX communication related protective function 151 8 1 1 RTEX node address setting error protection Err 82 0 152 8 1 2 RTEX continuous communication ...

Page 9: ... controls the servo driver MINAS A5N series References SX DSV02308 Reference specification mainly describes specifications related to hardware SX DSV02309 Technical reference functional specification IMPORTANT 1 All rights reserved No part of this publication may be reproduced or transmitted in any form without prior permission 2 Motor Business Division Appliances Company Panasonic Corp reserves t...

Page 10: ...stem structure 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 tra...

Page 11: ... of TIA EIA 568 standards Note Use the straight wiring Cable length a Inter nodes Max 100 m Under review b Total Max 200 m Under review 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 5 when communication cycle time is 0 0833 ms Max 10 when communication cycle time is 0 1666 ms Max 3...

Page 12: ...l 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 di...

Page 13: ... position other than the command position during communication cycle Other communication cycles PP CV CT Processes commands and responses at the communication cycle regardless of the command updating cycle Control mode Abbreviation Command code Description NOP NOP 0 h Use this mode when transmitting temporary invalid data immediately after establishment of the network Never use this mode for any o...

Page 14: ... data size shown in the table below 1 16 byte mode Compatible with system Compatible with no system Command update period ms 0 1666 0 5 1 0 Communication period ms PP CP CV CT PP CP CV CT PP CP CV CT 0 0833 0 1666 0 5 1 0 2 32 byte mode Compatible with system Compatible with no system Command update period ms 0 1666 0 5 1 0 Communication period ms PP CP CV CT PP CP CV CT PP CP CV CT 0 0833 0 1666 ...

Page 15: ...es 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 bit2 For manufacturer s use Always set to 0 bit3 For manufacturer s use Always set to 0 Note Be sure to set communication cycle Pr7 20 and command updating cycle Pr7 21 of RTEX at same frequency as in upper device For function expa...

Page 16: ...to RTEX communication has occurred Solid Red Non clearable alarm relating to RTEX communication has occurred 1 MNM1221 is an ASIC developed to control RTEX communication LINK LED State Description OFF Non connecting No power entry of transmitter node or cable disconnection Solid Green Proper connecting TX of transmitter node and own RX is electrically connected If RTEX communication related alarm ...

Page 17: ...k 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 0833 mm or 0 1666 ms the response timing of the command code e...

Page 18: ...d_Code_Echo is not immediately returned Cmd N 1 UpCnt N 1 Cmd N UpCnt N Cmd N 1 UpCnt N Cmd N 1 UpCnt N 1 Cmd N UpCnt N Cmd N UpCnt N Cmd N Cmd N 1 Cmd N 1 Cmd N 1 UpCnt N 1 Cmd N UpCnt N 1 W R Pr 7 21 2 Pr 7 20 3 Operation W R Communication period 0 5 ms Operation at master T 0 5 ms Master TX Command Data exchange at servo driver Previous result of NC operation Data exchange R W R W R W R W Updat...

Page 19: ... N 2 C N 3 U N 3 C N 2 U N 1 C N 1 U N C N U N 1 C N 1 U N 2 C N 2 U N 3 C N 1 U N C N U N 1 C N 1 U N 2 C N 2 U N 3 C N 2 U N 1 Operation W R Cmd N 1 Cmd N Cmd N 1 Cmd N 2 Cmd N 3 Pr 7 21 2 Pr 7 20 0 Operation W R Communication cycle 0 1666 ms Operation at master T 0 5 ms Master TX Command Data exchange at servo driver Previous result of NC operation Data exchange R W R W R W R W Update_Counter_ ...

Page 20: ...of NC operation Data exchange R W R W R W R W Update_Counter_ Echo is immediately returned Master RX Response Cmd N 1 Operation W R Operation W R Operation W R R W Command response process Servo operation Command response process for Cmd N Command_Code_Echo is not immediately returned Cmd N 2 UpCnt N 1 Cmd N 1 UpCnt N 1 Cmd N 1 UpCnt N Cmd N 2 UpCnt N 2 Cmd N UpCnt N 1 Cmd N UpCnt N Cmd N Cmd N 1 ...

Page 21: ...cyclic command data in the control at once and will return the latest value of the cyclic response data Main command common to 16 byte and 32 byte mode Command Response Byte bit7 6 5 4 3 2 1 0 Byte bit7 6 5 4 3 2 1 0 0 C 0 Update_Counter MAC ID 0 R 1 Update_Counter _Echo Actual MAC ID 1 TMG_ CNT Command_Code 1 CMD_ Error Command_Code_Echo 2 2 3 Control_Bits 3 Status_Flags 4 4 5 5 6 6 Cyclic 7 Comm...

Page 22: ...and_Code 1 CMD_ Error Command_Code_Echo 2 2 3 Control_Bits 3 Status_Flags 4 4 5 5 6 6 Cyclic 7 Command_Data1 7 Response_Data1 8 8 9 9 10 10 11 Command_Data2 11 Response_Data2 12 12 13 13 14 14 Non cyclic 15 Command_Data3 15 Response_Data3 Sub command specific to 32 byte mode Command Response Byte bit7 6 5 4 3 2 1 0 Byte bit7 6 5 4 3 2 1 0 16 Sub_ Chk 0 0 0 Sub_Command_Code 16 Sub_ CMD_ Err Sub_ ER...

Page 23: ...he 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 Always return 0 4 Busy 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 Title Description 6 Sub_ERR Set to 1 when error occurs during process after reception of the command 5...

Page 24: ... 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 7 23 B RTEX function expansion setup 2 32768 32767 bit 5 sets non cyclic command startup mode Value Function See 0 MINAS A4N compatible mode Changing from standard command 3 3 4 1 Extend mode Upon changing command mode and command argument 3 3 5 ...

Page 25: ...s the trigger for executing the process Only one process will be executed per one trigger 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 chan...

Page 26: ...oming 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 err...

Page 27: ... command is 20h 1 Times of Ta and Tb depend on the command In most reading cases Busy will not be 1 Tb is 0 20h 2xh 20h 2xh 20h Command_Code Command_Code _Echo Busy WNG Processing Command acceptance Tb Command completion Ta 20h Response_Data3 Byte 12 15 Read data Data of Command 20h Data of command 20h Unstable Type_Code _Echo Index_Echo ERR 0 0 1 Command Response time ...

Page 28: ...he 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 20h 2xh 20h 2xh 20h Command_Code Command_Code _Echo Busy WNG Processing Command acceptance Tb Command completion Ta 20h Response_Data Byte 12 15 Actual written data Data of c...

Page 29: ...mmand 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 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...

Page 30: ...ransmission and reception memory in MNM1221 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 Status Register Control Register Reception memory 512 bytes Transmission memory 512 bytes MNM1221 32 bytes 2 16 bytes 32 bytes 2 16 bytes Block 31 Block 3 Block ...

Page 31: ...bit 1 bit 0 0 C R 0 Update_Counter MAC ID 0 to 31 1 0 Command_Code 2 Servo_On 0 0 Gain_SW TL_SW Homing_Ctrl 0 CMD POS Invalid 3 Hard_Stop Smooth_Stop Pause 0 SL_SW 0 EX OUT2 EX OUT1 4 L 5 ML 6 MH 7 Command_Data1 H 8 L 9 ML 10 MH 11 Command_Data2 H 12 L 13 ML 14 MH 15 Command_Data3 H Notes Command code of byte 1 defines the contents from byte 4 to byte 15 Disposition of multiple byte data is little...

Page 32: ...efer 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 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 1 TMG_CNT CMD_Error Cycl...

Page 33: ...32767 bit 0 Set the data size of RTEX communication 0 16 byte mode 1 32 byte mode 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 bit 2 For manufacturer s use Always set to 0 bit 3 For manufacturer s use Always set to 0 1 Inter axis semi synchronous mode Pr 7 22 bit 1 0 In thi...

Page 34: ...n 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 C...

Page 35: ...ual 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 d...

Page 36: ... g Z phase This signal will be invalid except homing command See section 7 2 for details CMD POS Invalid Basically use this in case of no polarity sensor for linear motor Pr9 20 Selection of magnetic pole detection method 2 When this bit is at 1 command is invalid See section 4 3 3 3 for details Hard_Stop In the profile control PP mode immediately stop the internal command generation process and e...

Page 37: ...ned 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 Instructions for use of the setup support software PANATERM and linear motor automatic setting software MotorAutoSetup When running test run function or frequency response analyzing function FFT...

Page 38: ...d 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 communicatio...

Page 39: ...rust limit is enabled Class No Attribute Title Range Unit Description 5 21 B Selection of thrust limit 1 4 You can set up the thrust limiting method TL_SW 0 TL_SW 1 Setup value Negative direction Positive direction Negative direction Positive direction 1 Pr 0 13 2 Pr 5 22 Pr 0 13 Pr 5 22 Pr 0 13 3 Pr 0 13 Pr 5 22 4 Pr 5 22 Pr 0 13 Pr 5 26 Pr 5 25 Pr 0 13 1st thrust limit Pr 5 22 2nd thrust limit P...

Page 40: ... 21 Pr 3 22 3 21 B Speed limit value 1 0 20000 mm s Set the speed limit value for thrust controlling During thrust controlling the speed set by the speed limit value will not be exceeded The internal value is limited by the setting of Pr 5 13 Overspeed level setting Pr 6 15 2nd overspeed level setting or Pr9 10 Maximum overspeed level setting whichever lowest 3 22 B Speed limit value 2 0 20000 mm ...

Page 41: ... establishment of RTEX Safety of the system should be taken into consideration when setting the system Class No Attribute Title Range Unit Description 7 24 C RTEX function expansion setup 3 32768 32767 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 communicatio...

Page 42: ... Alarm Warning Torque _Limited Homing _Complete In_Progress In_Position 3 E STOP SI MON4 EX SON SI MON3 EXT3 CS3 SI MON2 EXT2 CS2 SI MON1 EXT1 CS1 HOME POT NOT NOT POT 4 L 5 ML 6 MH 7 Response_Data1 H 8 L 9 ML 10 MH 11 Response_Data2 H 12 L 13 ML 14 MH 15 Response_Data3 H Notes Command code at command data block defines the contents from byte 4 to byte 15 Disposition of multiple byte data is littl...

Page 43: ...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 New Type_Code 8 bit to Pr 7 30 For details refer to 6 9 1 When Pr 7 30 0 actual speed New...

Page 44: ...1 Update_Counter_Echo Actual_MAC ID 0 31 Title Description C R C R bit distinguish command and response Return 1 as a response Update_Counter_Echo Return the echo back value of Update_Counter Use this to check whether the drive has received properly Actual_MAC ID 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 ...

Page 45: ...ower Conversely when using feedback scale of incremental specification initial value is 0 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 f...

Page 46: ... occurrence and Synchronization between the servo and the communication established 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 rese...

Page 47: ...n estimation Making command position follow during magnetic pole position estimation For this reason method of servo on at the time of magnetic pole position estimation is either one of below When set value of Bit0 of Pr7 40 RTEX function expansion setting 4 is 0 1 is returned to Servo_Active Bit of RTEX status at first servo on after power is turned on When set value of Bit0 of Pr7 40 RTEX functi...

Page 48: ...turns 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 di...

Page 49: ...t returned Class No Title Unit SettingRange Size byte Function Description 7 40 RTEX function Expansion setting 4 32768 32767 2 bit1 Switch data which set to Byte3 bit3 5 of RTEX status at CS signal method Pr9 20 1 0 SI MON1 EXT1 SI MON3 EXT3 1 CS1 CS3 Class No Title Unit SettingRange Size byte Function Description 7 43 Magnetic pole position estimation Completion output setting 0 8 2 Set bit arra...

Page 50: ... driver Byte bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 16 Sub_Chk 0 0 0 Sub_Command_Code 17 Sub_Type_Code 18 19 Sub_Index 20 L 21 ML 22 MH 23 Sub_Command_Data1 H 24 L 25 ML 26 MH 27 Sub_Command_Data2 H 28 L 29 ML 30 MH 31 Sub_Command_Data3 H 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...

Page 51: ...ommand_Code 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...

Page 52: ...r Byte bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 16 Sub_ CMD_Err Sub_ERR Sub_WNG Sub_Busy Sub_Command_Code_Echo 17 Sub_Type_Code_Echo 18 19 Sub_Index_Echo 20 L 21 ML 22 MH 23 Sub_Response_Data1 H 24 L 25 ML 26 MH 27 Sub_Response_Data2 H 28 L 29 ML 30 MH 31 Sub_Response_Data3 H Notes Specify the arrangement of Byte 17 to Byte 23 by using Byte 16 sub command codes Arrangement of data bytes is little e...

Page 53: ..._Command_Code Sub_Type_Code_Echo Return echo back value of Sub_Type_Code Sub_Index_Echo 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 Type_Code for A5N 8 bits to Pr ...

Page 54: ...mand Profile Position Mode PP 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 Cyclic Position Mode CP 2 h In this mode the host controller generates the position command and updates it or transmits updated command at the command updating cycle Cyclic Velocity Mode CV 3 h...

Page 55: ...r Command_Code_Echo 00h 2 2 3 Optional 3 Status_Flags 4 L 4 L 5 ML 5 ML 6 MH 6 MH Cyclic 7 Command_Data1 Optional H 7 Response_Data1 Default Actual_Position APOS Command unit H 8 L 8 L 9 ML 9 ML 10 MH 10 MH 11 Command_Data2 Optional H 11 Response_Data2 Default Actual_Speed ASPD Command unit s or mm s H 12 L 12 L 13 ML 13 ML 14 MH 14 MH Non cyclic 15 Command_Data3 Optional H 15 Response_Data3 Defau...

Page 56: ...L 6 MH 6 MH Cyclic 7 Command_Data1 Target_Position TPOS Command unit H 7 Response_Data1 Default Actual_Position APOS Command unit H 8 L 8 L 9 ML 9 ML 10 MH 10 MH 11 Command_Data2 Dependent on non cyclic command H 11 Response_Data2 Dependent on non cyclic command H 12 L 12 L 13 ML 13 ML 14 MH 14 MH Non cyclic 15 Command_Data3 Dependent on non cyclic command H 15 Response_Data3 Dependent on non cycl...

Page 57: ...yclic 7 Command_Data1 Target_Position CMD_POS Command unit H 7 Response_Data1 Default Actual_Position APOS Command unit H 8 L 8 L 9 ML 9 ML 10 MH 10 MH 11 Command_Data2 Dependent on non cyclic command H 11 Response_Data2 Dependent on non cyclic command H 12 L 12 L 13 ML 13 ML 14 MH 14 MH Non cyclic 15 Command_Data3 Dependent on non cyclic command H 15 Response_Data3 Dependent on non cyclic command...

Page 58: ...5 ML 6 MH 6 MH Cyclic 7 Command_Data1 Target_Position CSPD Command unit s or mm s H 7 Response_Data1 Default Actual_Position APOS Command unit H 8 L 8 L 9 ML 9 ML 10 MH 10 MH 11 Command_Data2 Dependent on non cyclic command H 11 Response_Data2 Dependent on non cyclic command H 12 L 12 L 13 ML 13 ML 14 MH 14 MH Non cyclic 15 Command_Data3 Dependent on non cyclic command H 15 Response_Data3 Dependen...

Page 59: ...ta1 Command_ Thrust CTRQ 0 1 H 7 Response_Data1 Default Actual_Position APOS Command unit H 8 L 8 L 9 ML 9 ML 10 MH 10 MH 11 Command_Data2 Dependent on non cyclic command H 11 Response_Data2 Dependent on non cyclic command H 12 L 12 L 13 ML 13 ML 14 MH 14 MH Non Cyclic 15 Command_Data3 Dependent on non cyclic command H 15 Response_Data3 Dependent on non cyclic command H Title Command Response Comm...

Page 60: ...he servo driver Information specified by Type_Code and Index will be returned in ASCII code 4h Return to home Use this command to start return to home operation to latch position information etc 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 posi...

Page 61: ...d Response Byte bit7 6 5 4 3 2 1 0 Byte bit7 6 5 4 3 2 1 0 16 Sub_ Chk 1 0 0 0 Sub_Command_Code 0h 16 Sub_ CMD_ Err Sub_ ERR Sub_ WNG Sub_ Busy Sub_Command_Code_Ech o 0h 17 Sub_Type_Code 17 Sub_Type_Code_Echo 18 L 18 L 19 Sub_Index H 19 Sub_Index_Echo H 20 L 20 L 21 ML 21 ML 22 M H 22 M H 23 Sub_Command_Data1 H 23 Sub_Response_Data1 H 24 L 24 L 25 ML 25 ML 26 M H 26 M H 27 Sub_Command_Data2 H 27 S...

Page 62: ...atus_Flags 4 L 4 L 5 ML 5 ML 6 MH 6 M H Cyclic 7 Command_Data1 H 7 Response_Data1 H 8 Type_Code L 8 Type_Code_Echo L 9 0 H 9 ERR WNG 0 Busy H 10 L 10 L 11 Index 0 H 11 Index_Echo 0 H 12 L 12 L 13 ML 13 ML 14 MH 14 M H Non cyclic 15 Command_Data3 H 15 Monitor_Data 0 H Sub command specific to 32 byte mode Not supported Cannot be used by a sub command Use only with the main command Title Command Resp...

Page 63: ...et 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...

Page 64: ...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 absolute scale and latch is not completed After successful completion of the command repeat the return to home ...

Page 65: ...t7 6 5 4 3 2 1 0 16 Sub_ Chk 1 0 0 0 Sub_Command_Code 2h 16 Sub_ CMD_ Err Sub_ ERR Sub_ WNG Sub_ Busy Sub_Command_Code_Ech o 2h 17 Sub_Type_Code 17 Sub_Type_Code_Echo 18 L 18 L 19 Sub_Index H 19 Sub_Index_Echo H 20 L 20 L 21 ML 21 ML 22 M H 22 M H 23 Sub_Command_Data1 H 23 Sub_Monitor_Data ASCII code H 24 L 24 L 25 ML 25 ML 26 M H 26 M H 27 Sub_Command_Data2 H 27 Sub_Response_Data2 H 28 L 28 L 29 ...

Page 66: ...ndor ID of the feedback scale 2 320h 32h Model ID of the feedback scale 2 Read out the feedback scale vendor ID and model ID Example Vendor ID Model ID Vendor name Model name 1 AT573A 3 Mitutoyo Corporation 2 ST770A ST770AL 1 SR77 SR87 4 Magnescale Co Ltd 2 SR75 SR85 340h 34h Manufacturer use 1 Command Error 0031h will be returned at setting up the wrong Type Code 2 NULL 0 will be returned when re...

Page 67: ... n 0 NULL 1 15 ASCII code a i 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 ...

Page 68: ...Byte 12 13 14 15 12 13 14 15 12 15 12 15 12 15 Series function Driver series Type of motor connected CP control CV control CT control PP control Reserved Reserved Reserved Reserved 0 A4N Rotary type Unsupported Unsupported Unsupported Unsupported 1 A5N Linear type Supported Supported Supported Supported Servo driver type Other Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved...

Page 69: ... position latch 2 Ch2 trigger signal For detailed description refer to Section 6 5 4 In latch mode Latch_Sel1 Latch_Sel2 echo back value For detailed description refer to Section 6 5 4 Latch_Sel1 Latch_Sel2 Latch_Sel1_Echo Latch_Sel2_Echo Mode other than latch Set to 0 Mode other than latch Latch_Sel1 Latch_Sel2 0 echo back value In latch mode Selection of data to be returned to Monitor_Data For d...

Page 70: ... Position latch Status monitor 51h Position latch 1 Start 52h Position latch 2 Start 53h Position latch 1 2 Start 54h Position latch 1 Cancel 58h Position latch 2 Cancel Without Latch mode 5Ch Position latch 1 2 Cancel 4 4 4 4 Unused 1 Command error 0031h will be returned at setting up the wrong type code 2 Logical rising edge of external input signal off on timing of internal processing 3 Logical...

Page 71: ...elative positioning and profile homing 1 2 3 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 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 Typ...

Page 72: ...ble is disconnected Therefore safety must be secured by a different measure such as mechanical stopper 4 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 If the conditions 1 to 3 are not met Err 33 8 External latching input allocation error protection will occur 5 If HOME POT and NOT are not the home reference ...

Page 73: ...tual 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 d...

Page 74: ... 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 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 Actual po...

Page 75: ...Ena1_ Echo Type_Code Latch_ Dis2 Latch_ Dis1 Latch_ Ena2 Latch_ Ena1 Description 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 CH...

Page 76: ...ch 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 A5N to set Monitor_Sel Command Response Byte bit7 6 5 4 3 2 1 0 Byte bit7 6 5 4 3 2 1 ...

Page 77: ...e Not supported Cannot be used by a sub command Use only with the main command Title Command Response Type_Code Type_Code_Echo Type of execution e g alarm readout and clear For details refer to Section 6 6 1 Echo back value of Type_Code Except for alarm attribute readout Echo back value of Index Index Index_Echo Set up history number etc For details refer to Section 6 6 1 To read out alarm attribu...

Page 78: ... 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...

Page 79: ... Command error 0042h is not returned 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 By...

Page 80: ...error on feedback scale When Index is 0 some errors which are detected and latched on the serial communication type feedback scale will be cleared It is not clearing the alarm on the servo driver 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_Data...

Page 81: ... 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 Title 0 compatible with conventional model 1 12 Main Main number Main number 13 Alarm_Code Sub 0 Sub number 6 6 3 Alarm attribute Byte bit7 6 5 4 3 2 1 0 12 NOT_REC NOT_ACLR EMG STP 13 14 15 NOT_REC Do not record in al...

Page 82: ...ting parameter Parameter setting value 1 Size Signed 32 bit Unit Dependent on parameter Setting range Dependent on parameter For details refer to Section 7 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 Data specified by Pr 7 35 RTEX command 1 For de...

Page 83: ...ex 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 ...

Page 84: ...ber 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 ...

Page 85: ...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 Type_Code Title MINAS...

Page 86: ...celeration 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 manu...

Page 87: ... bit1 bit0 Byte12 NOT_USE For manufactur er s use B_AT_ INIT For manufactur er s use Byte13 PARA 32BIT B_PRM_ ATB_CFG READ_ ONLY Byte14 Byte15 NOT_USE Not used parameter B_AT_INIT Made valid after resetting of control power or execution of software reset mode of RTEX communication reset command B_PRM_ATB_CFG Made valid after execution of attribute C parameter validation mode READ_ONLY Read onry pa...

Page 88: ... homing by using Type_Code For details of these profile operations refer to 7 5 Main command common to 16 byte and 32 byte mode Command Response Byte bit7 6 5 4 3 2 1 0 Byte bit7 6 5 4 3 2 1 0 0 C 0 Update_Counter MAC ID 0 R 1 Update_Counter _Echo Actual_MAC ID 1 TMG_ CNT 17h 1 CMD _ Error 17h 2 2 3 Control_Bits 3 Status_Flags 4 L 4 L 5 ML 5 ML 6 M H 6 MH 7 Target_Position TPOS Command unit H 7 Re...

Page 89: ... refer to 6 8 2 Latch positioning mode with Type_Code 12h 13h Echo back value of Latch_Sel1 For details refer to 6 8 2 Latch_Sel1 Latch_Sel1_Echo Other than latch positioning Set to 0 Other than latch positioning Echo back value of Latch_Sel1 0 Monitor_Sel Monitor_Sel_Echo Select data to be returned to Monitor_Data by using Type_Code of the monitor command new 8 bit code for A5N For details refer ...

Page 90: ...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 2 20h Profile Continuous movement JOG Continuous revolution operation without requiring setting of target position TPOS 31h Profil...

Page 91: ...Logical falling edge of EXT2 11 Logical falling edge of EXT3 Latch_Sel1 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 Response Byte bit7 6 5 4 3 2...

Page 92: ...s deceleration and stop at the rate specified by Pr 8 04 Profile linear deceleration constant ending profile operation 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 n...

Page 93: ...ass No Attribute parameter Title Setting range Unit Description 7 15 A Profile positioning neighborhood range 0 1073741823 Command unit If the difference between internal target position and command position is smaller than the specified value during profile position control PP NEAR of RTEX communication status becomes 1 When the latch trigger signal is detected during profile position latch absol...

Page 94: ... software limit function during profile position control PP Set the software limit value through Pr 7 11 Profile positive side software limit value and or Pr 7 12 Profile negative side software limit value 0 Enable both software limits 1 Disable positive software limit and enable negative software limit 2 Enable positive software limit and disable negative software limit 3 Disable both software li...

Page 95: ...g mode Type_Code Latch positioning mode Type_Code 12h 13h Latch_sel1 Other than latch positioning mode Monitor_Sel Command argument to be changed 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 Parameter to b...

Page 96: ...ub_Type_Code_Echo 18 L 18 L 19 Sub_Index H 19 Sub_Index_Echo H 20 L 20 L 21 ML 21 ML 22 M H 22 MH 23 Sub_Command_Data1 H 23 Monitor_Data H 24 L 24 L 25 ML 25 ML 26 M H 26 MH 27 Sub_Command_Data2 H 27 Sub_Response_Data2 H 28 L 28 L 29 ML 29 ML 30 M H 30 MH 31 Sub_Command_Data3 H 31 Sub_Response_Data3 H Title Command Response Type_Code Type_Code_Echo Sub_Type_Code Sub_Type_Code_Echo Type_Code echo b...

Page 97: ...tion 1 LPOS1 0 Command unit Motor actual position latched in CH1 6 9 4 6 5 4 0Ah Latch position 2 LPOS2 0 Command unit Motor actual position latched in CH2 6 9 4 6 5 4 0Ch Command velocity after filtering MSPD 0 Set to Pr 7 25 Command speed after filtering Set the unit through Pr 7 25 RTEX speed unit setup Pr 7 25 Unit 0 mm s 1 Command unit s Value undefined in thrust control mode 111h 11h Regener...

Page 98: ...l increase at movement of positive direction when polarity is fixed and Pr0 00 1 Movement direction setting 4 Electrical angle 0 1FF Hex 43h Maker use 61h Power on cumulative time 30 min 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 62h Servo driver temperature C Temperatu...

Page 99: ... is 10 it means estimation accuracy of magnetic pole position is within 10 degree of electric angle The smaller in this value the better in accuracy This accuracy is accuracy estimated from magnetic pole position estimation method and does not guarantee actual accuracy Use it as a reference When estimation of magnetic pole position is not completed 0 is returned When estimation of magnetic pole po...

Page 100: ...op 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 Thrust limit value too small Valid thrust limit value is set to 5 or below the rated value 7 Too low frequency of position command input Position comma...

Page 101: ... error Continuous communication error Scale error Byte 14 Scale communication Oscillation detection Lifetime detection Byte 15 6 9 4 Position information during servo off velocity control and thrust control Position information of command system during servo off speed control and thrust control varies to follow changes in motor actual position even if the command position from the host controller ...

Page 102: ...servo on input status but the servo on command for servo control processing For details refer to 4 2 3 1 Logical input signal extended portion Acquire servo driver logical input signal extended portion information bit7 6 5 4 3 2 1 0 Near home input HOME External latch input 3 EXT3 External latch input 2 EXT2 External latch input 1 EXT1 bit15 14 13 12 11 10 9 8 bit23 22 21 20 19 18 17 16 General pu...

Page 103: ...12 11 10 9 8 At speed output AT SPEED bit23 22 21 20 19 18 17 16 EDM output EDM Velocity command on off output V CMD Alarm clear attribute output ALM ATB Velocity limiting output V LIMIT Positioning complete output 2 INP2 Position command on off output P CMD Warning output 2 WARN2 Warning output 1 WARN1 bit31 30 29 28 27 26 25 24 RTEX operation output 2 EX OUT2 RTEX operation output 1 EX OUT1 Logi...

Page 104: ... 3 2 1 0 SI8 Input SI7 Input SI6 Input SI5 Input SI4 Input SI3 Input SI2 Input 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 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 1 0 SO3 Output SO2 Output SO1 Output bit15 14 13 12 11...

Page 105: ...nit H 8 L 8 L 9 ML 9 Error_Code H 10 MH 10 L 11 Command_Data2 Dependent on non cyclic command H 11 0 H 12 L 12 L 13 ML 13 ML 14 MH 14 MH Non cyclic 15 Command_Data3 Dependent on non cyclic command H 15 0 H Sub command specific to 32 byte mode Command Response Byte bit7 6 5 4 3 2 1 0 Byte bit7 6 5 4 3 2 1 0 16 Sub_ Chk 1 0 0 0 Sub_Command_Code Ah 16 Sub_ CMD_ Err Sub_ ERR Sub_ WNG Sub_ Busy Sub_Com...

Page 106: ...ta 2 is outside the setting range 6 12 15 FF invalid Non cyclic data Command_Data 3 is outside the setting range 6 12 15 FF valid Non cyclic data Command_Data 3 is outside the setting range 6 Code corresponding to the error See 6 10 2 No occurrence 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 Byt...

Page 107: ...ll 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 ...

Page 108: ...ommand_Data3 is outside the setting range 4 0034h No occurrence 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 a...

Page 109: ...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 34h 35h is started 0051h Maker use 0052h During cyclic position control CP in absolute mode absolute scale Type_Code 1 h of homing command 4h has been executed During profile position control PP ...

Page 110: ...Data1 Dependent on cyclic command H 7 Response_Data1 Default Actual_Position APOS Command unit H 8 L 8 L 9 ML 9 ML 10 MH 10 MH 11 Command_Data2 Dependent on non cyclic command H 11 0 H 12 L 12 L 13 ML 13 ML 14 MH 14 MH Non cyclic 15 Command_Data3 Dependent on non cyclic command H 15 0 H Sub command specific to 32 byte mode Command Response Byte bit7 6 5 4 3 2 1 0 Byte bit7 6 5 4 3 2 1 0 16 Sub_ Ch...

Page 111: ...pon 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 To assure safety when servo is off Servo_Active 0 be sure to set the actual position value read from the servo driver to the command posi...

Page 112: ...s No Title Unit Range Size byte Function Description 7 40 RTEX function Expansion setting 4 32768 32767 2 bit0 Set condition which turn on Servo_Active bit of RTEX status when magnetic pole position estimation Pr9 20 2 is valid 0 Not depend on magnetic pole position estimation 1 Turn off forcibly during magnetic pole position estimation 43 Magnetic pole position estimation Completion output settin...

Page 113: ...mplemented 3 During magnetic pole position estimation magnetic pole detection completion output SI MON4 EX SON bit turns to be 0 After confirming that magnetic pole position estimation is finished normally and magnetic pole detection completion output SI MON4 EX SON bit turns to be 1 set command position at value of actual position APOS and make CMD POS_Invalid bit 0 and make command valid After s...

Page 114: ...ompletion output SI MON4 EX SON bit and Servo_Active bit are turned to be 0 During this set command position of upper device to value of actual position APOS and make command position follow actual position APOS When magnetic pole position estimation is completed normally magnetic pole detection completion output SI MON4 EX SON bit and Servo_Active bit are turned to be 1 1 Be careful that the moto...

Page 115: ...mand 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 7 1 4 Command position upon communication error If communication error CRC error missing data cyc...

Page 116: ...tivated 7 1 5 2 Wrap rounding command position If a variation of command position during communication period has exceeded 7FFFFFFFh wraparound process starts 7 1 5 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...

Page 117: ...e 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 thrust control mode Switch to the cy...

Page 118: ...l refer to 6 5 1 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 pr...

Page 119: ...he 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 infor...

Page 120: ...n 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 accor...

Page 121: ...ecute actual position set when thrust 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 inpu...

Page 122: ...nd 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 feeback scale 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 c...

Page 123: ...l the motor at the position where Zero position of the encoder will deviate with 180 degrees half turn at the mechanical angle from the falling edge of HOME The Z phase of feeback scale position at which single turn data is zero can be checked by using the following method When using serial communication type incremental feedback scale Method Position where indicated value is changed when paramete...

Page 124: ...t to 1 Then reverse the rotation 2nd speed 4 When the servo driver detects the logical rising edge of HOME sensor set Homing_Complete bit to 1 and execute servo lock at home position by ignoring command position However please keep in mind that the value becomes effective with as also during the servo lock after cyclic homing operation when feedforward enters from the master host controller When t...

Page 125: ...e 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 feedback scale 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 ...

Page 126: ...d 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 cod...

Page 127: ... 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 po...

Page 128: ...CV command PP command Command velocity CSPD byte4 7 00000000h 00000000h 00004000h 00002000h 10h 30h Command code byte1 CV command 00000000h 00004000h 00002000h 17h PP command 00000000h 1 Positioning completed 0 Positioning uncompleted In_Position Velocity Pr 3 12 Acceleration time setting Internal command velocity Pr 3 13 Deceleration time setting Pr 4 35 1000 mm s Time Control mode PP command Pos...

Page 129: ... 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 i...

Page 130: ... code byte1 Master host controller Slave CT command PP command CTRQ byte4 7 00000000h 00000000h 000003E8h 000001F4h 10h 40h Command code byte1 CT command 00000000h 000003E8h 000001F4h 17h PP command 00000000h 1 Positioning completed In_Position Velocity Time Control mode PP command Position control Position control FSPD Feedback velocity TQREF byte9 12 FFFFFC18h Time Pr 3 21 Pr 3 17 0 0 Positionin...

Page 131: ...d 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 ...

Page 132: ...uses homing operation in positive direction 8 13 B Profile homing velocity 1 0 2147483647 Command unit s or mm s 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 of Pr9 10 Maximum overspeed level When speed setting is in mm s it is converted to command unit s through internal ...

Page 133: ... servo driver Internal value Profile command TPOS TSPD 00000000h 00010000h 00000000h 00002000h Busy 0 Command acceptable CMD_Error 0 No command error 00001000h 10h Command code TPOS TSPD 00000000h 00000000h Velocity Command unit s Time 00001000h 00002000h Internal command velocity In_Progress 1 Internal position command being generated 10h 17h Profile command 00010000h 00002000h 00001000h TPOS Sto...

Page 134: ...de 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 curre...

Page 135: ...0h 17h Command code Master host controller Slave servo driver Internal value Profile command TPOS TSPD 00000000h 00010000h 00000000h 00002000h Busy CMD_Error 00001000h 10h Command code TPOS TSPD 00000000h 00000000h Velocity Command unit s Time 00001000h 00002000h Internal command velocity In_Progress 10h 17h Profile command 00010000h 00002000h 00001000h Pr 8 01 Profile linear acceleration constant...

Page 136: ...ge 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 IP...

Page 137: ... position read position information from the servo driver although the positioning can be started before determining the home in the incremental mode 10h 17h 10h 17h Latch signal Response code L_CMP1 Command code 0 Unlatched 1 Latched Latch mode Cancel Cancel Latch timing A Latch position 1 LPOS1 Feedback position of latch timing A Inactive Active Time Velocity Command unit s TSPD Target velocity ...

Page 138: ...rates 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 Intern...

Page 139: ...n and move in negative direction and then stop Position latch Positioning direction Negative direction Stop after deceleration and reverse direction and move in positive direction and then stop Stop after moving in negative direction See Note Note When the movement distance after detection of profile position latch is short for deceleration distance reverse will occur after deceleration and stop T...

Page 140: ...o 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 thrust control CT This positioning differs from the profile position latch absolute positioning...

Page 141: ...and TSPD 00000000h 00002000h Busy 0 Command acceptable CMD_Error 0 No command error 00001000h 10h Command code TSPD 00000000h Velocity Command unit s Time 00001000h 00002000h Internal command velocity In_Progress 1 Internal position command being generated 10h 17h Profile command 00002000h 00001000h Pr 8 01 Profile linear acceleration constant 10000 ASPD Actual velocity TSPD Target velocity 1 Posi...

Page 142: ...alue of target speed TSPD and return to step 3 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 accord...

Page 143: ...t 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 Example Pr 8 12 0 Homing direction positive direction trigger signal detection HOME ON NOT ON Z phase Homing direction positive direction Velocity 1 Velocity 2 Start area Velocity 1 Velocity 2 Velocit...

Page 144: ...n 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 prof...

Page 145: ...oint 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 Be aware that negative direction is not supported Set Pr 8 12 Profile homing mode setting to 0 Setting Pr 8 12 to 1 also causes homing in positive direction Example Type_Code ...

Page 146: ...n 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 ris...

Page 147: ...deceleration and stop 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 Example Type_Code 35h Pr 8 12 0 Homing direction positive direction trigger signal detection NOT ON...

Page 148: ...at the speed specified by Pr 8 14 8 When Z phase 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 Z phase sensor ON rising edge is detected Actually detected position is determined by repositioning ...

Page 149: ...r than Z phase width It may mis detecting For this reason please prepare a margin so that amount of decelerating movement becomes larger enough than Z phase width When there are two or more Z phases Z phase to expect may be unable to be detected For this reason please set Z phase to one or use profile homing Type_Code 31h which was combined with the HOME sensor ...

Page 150: ...it s whichever small Note Maximum overspeed level 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 c...

Page 151: ...f 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 thrust control does not meet the restriction Err 27 5 command generation error protection will be generated P Pr 8 04 Profile linear deceleration constant 10000 Initial speed upon switching Feedback speed Speed Command unit ...

Page 152: ...ode 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 Command code byte1 At master host controller Slave byte4 7 Velocit y 00002000h Time Control mode Position control PP Velocity control CV byte12 15 Setting_Data 36h P...

Page 153: ... 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 35h Profile homing 5 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 ...

Page 154: ...communication error refer to 6 11 When communication cycle is 0 0833 ms or 0 1666 ms generation of response data e g position deviation depending on control mode will delay For details refer to 3 1 3 and 3 1 4 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...

Page 155: ...b_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_Data3 and set value to 0 as specified by each command when non cyclic command is not used see the table below When setup is not 0 Command error 0032h will be returned Command_Data3 Non cyclic command Type_Code FF transmission Enable disable Pr7 35 0 Pr7 35 1 Pr7 35 2 N...

Page 156: ...dex 20 23 Sub_Command_Data1 24 27 Sub_Command_Data2 28 31 Sub_Command_Data3 Class No Attribute parameter Title Setup range Unit Description 7 36 C RTEX command setup 2 0 2 Set subcommand Sub_Command_Data2 0 Disable 1 Velocity feedforward Command unit s or mm s 2 Thrust feedforward 0 1 7 37 C RTEX command setup 3 0 2 Set subcommand Sub_Command_Data3 0 Disable 1 Velocity feedforward Command unit s o...

Page 157: ...value to thrust feedforward value calculated according to Pr 1 12 and Pr 1 13 within the range up to motor maximum thrust Size Signed 32 bit Unit 0 1 Setting range motor max thrust to motor max thrust Maximum thrust limit 100 x Pr9 07 Pr9 06 2 Pr9 07 Motor instant maxmum current 0 1A Pr9 06 Motor rating effective current 0 1 Arms 7 7 3 Compatible control mode The feedforward functions are compatib...

Page 158: ...ing 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 003...

Page 159: ...us communication error protection 2 Blinks in red 0 RTEX time out error protection Blinks in red 3 RTEX synchronization and initialization error protection Lights in red 84 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 86 2 RTEX UpdateCounter error protection Lights in red 90 2 RTEX ...

Page 160: ...r 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 s...

Page 161: ...d 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 lengt...

Page 162: ...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 ...

Page 163: ... 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 communic...

Page 164: ...ion process fails to synchronize the communication and servo driver Detecting timing On power up of servo driver control power Upon restarting by the reset command Internal process upon detecting error Fails to establish RTEX communication aborts due to incomplete initialization RTEX communication status is still in INITIAL condition transition Action Replace the servo driver if the cause is not r...

Page 165: ... 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 cy...

Page 166: ...us 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 Error_Code Byte 0 bit 4 0 MAC ID 0011h Byte 0 bit 7 C R Err 86 0 Byte 16 bit 7 Sub_Chk 0012h Err 86 1 Byte 1 bit 6 4 Cyclic command 0021h For details ...

Page 167: ...tly 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 ke...

Page 168: ...urs 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 se...

Page 169: ...n 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 thrust control CT When Block Diagram of 2 Degrees of Freedom Mode is disabled Control mode has been changed other than position control Detecting timing When RTEX communication status is ...

Page 170: ...ommunication 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 a...

Page 171: ... 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 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...

Page 172: ...en 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 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...

Page 173: ...ng 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 cont...

Page 174: ...twork 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 RX TX RX TX RX TX Master Slave RTEX MINAS A5N LINK Off Lighting in green Lighting in green The cable connected to RX terminal of servo driver on which...

Page 175: ...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 communication timeout error protection making it difficult to locate the disconnected section Host controller RX TX RX TX RX TX Master Slave RTEX MINAS A5N LINK Lighting in green Err 84 ...

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