No. SX-DSV02310 - 18 -
R2.0 Motor
Business
Division,
Appliances Company, Panasonic Corporation
3-3-4-1 Basic sequence of non-cyclic command
(When position control and the standard command is 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.
20h
2xh
20h 2xh
20h
Busy
ERR
20h
Axh (Bit7 in 1)
20h
Busy
ERR
“0”
“0”
At
command
accepted
At
command
error
*6)
Processing
Tb
Ta
20h
Data
Data fixed
Data of Command 20h
Data of command 20h
*4)
*3)
0 or 1 *6)
*2)
Command_Code
Command_Code
_Echo
Command_Code
_Echo
Command
Response
WNG
0 or 1 *5)
time
Command acceptance
Command completion *1)
