Panasonic MINAS A6N Series, Operating Instructions Manual

Page: 108 / 495

3-4 Rev.2.00
Basic Specifications of Network
Item Specifications
Topology Ring
Physical layer 100BASE-TX
（
IEEE 802.3
）
Baud rate 100 Mbps
Communication
cycle
(physical data
transfer cycle)
0.0625
、
0.125
、
0.25
、
0.5
、
1.0
、
2.0 ms
• The cycle at which command or response RTEX frame is transferred.
• The servo driver processes the command and response basically at this cycle.
Exception: when the communication cycle is 0.0625 [ms]
Command update
cycle
0.125
、
0.25
、
0.5
、
1.0
、
2.0
、
4.0 ms
・
The cycle at which the host controller will update the command.
・
In response, the servo driver performs the following processes.
Communication
cycle 0.0625 ms
• Processes the command and response with a cycle of 0.125 ms.
• Set the command updating cycle to 0.125 ms.
Other
communication
cycles
CP
• Calculates the changes in command position
(CPOS) during command updating cycle 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.
PP/CV/CT
• Processes commands and responses at the
communication cycle, regardless of the
command updating cycle.
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
Mode Reference Table
(1)16 byte mode
○
:Compatible
、
−:Not compatible
Commu-
nication
cycle
[ms]
Command update cycle [ms]
0.125 0.25 0.5 1.0 2.0 4.0
PP CP CV CT PP CP CV CT PP CP CV CT PP CP CV CT PP CP CV CT PP CP CV CT
0.0625 —
○ ○ ○
— — — — —
○
— — — — — — — — — — — — — —
0.125 —
○ ○ ○
—
○ ○ ○
—
○ ○ ○
— — — — — — — — — — — —
0.25 —
○ ○ ○
—
○ ○ ○
— — — — — — — — — — — —
0.5
○ ○ ○ ○ ○ ○ ○ ○
— — — — — — — —
1.0
○ ○ ○ ○ ○ ○ ○ ○
— — — —
2.0
○ ○ ○ ○ ○ ○ ○ ○
1.Outline of Command Input and Network
Command Input
、
Network Setup