A4P Communication Protocol

TECHNICAL REFERENCE MODEL

Product name: AC Servo Amplifier

Product number: MINAS-A4P Communication specifications

Issued on December 6, 2005

(Revised on )

Received by:

Date:

Motor Company., Matsushita Electric Industrial Co., Ltd. 7-1-1, Morofuku, Daito, Osaka, Japan 574-0044

Dept.

manager Checked Checked Designed

No. SR-DSV09560

MESSRS.

No. SR-DSV09560

A4P MOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO.,LTD.

REVISIONS

Date Page Sym REVISION Signed

No. SR-DSV09560

A4P MOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD

Contents

1 Communication specification ........................................................................................................................... 1

2 Network setting ................................................................................................................................................ 1 2-1 Setting of ID address .................................................................................................................................. 1

3 Parameter setting.............................................................................................................................................. 2

3-1 Setting of baud rate .................................................................................................................................. 2 3-2 Setting of RS485 communication response time........................................................................................ 2 3-3 Setting of Operation command system....................................................................................................... 2

4 Wiring .............................................................................................................................................................. 3

4-1 On terminating resistor ........................................................................................................................... 3 4-2 Notes ...................................................................................................................................................... 3

5 Communication procedure ............................................................................................................................. 4

5-1 Communication procedure overview ...................................................................................................... 4 5-2 Detail of communication procedure ....................................................................................................... 4 5-3 Communication timing chart .................................................................................................................. 5 5-4 RS485 timeout between characters ........................................................................................................ 5 5-5 Data configuration .................................................................................................................................. 6

5-5-1 Issuing of command (Master station Slave station) ................................................................... 6 5-5-2 Status response (slave station master station) ............................................................................ 6

5-6 List of commands ................................................................................................................................... 8 5-7 Command detail ..................................................................................................................................... 9

5-7-1 System command ........................................................................................................................... 9 5-7-2 Operation command ......................................................................................................................11 5-7-3 Operation setting command .......................................................................................................... 13 5-7-4 Servo parameter command ........................................................................................................... 14 5-7-5 Status command ........................................................................................................................... 16 5-7-6 Absolute encoder command ......................................................................................................... 19 5-7-7 Point specifying operation command ........................................................................................... 20 5-7-8 Positioning parameter ................................................................................................................... 22

No. SR-DSV09560 (26-1)


1. Communication specification

Communication RS-485 Half duplex, asynchronous system Baud rate 2400/4800/9600/19200/38400/57600bps

Start bit, 1 bit Data, 8 bits Parity bit, 1 bit Stop bit, 1 bit

Description of code

Binary format Maximum cable length 50 ｍ (full length) Settable ID address 0 - 31 (32 units) Block length Maximum 255 bytes

0 1 2 3 4 5 6 7 Parity Stop Start 0

2 Network setting

2-1 Setting of ID address

In setting ID address, use the rotary switch (NODE ADDRESS) provided on the front.

Rotary switch ID address

MSB LSB 0 0 0 1 0 1 2 0 2 ・・・

・・・

・・・

29 2 9 30 3 0 31 3 1

1 frame (11 bit)

Start

(LSB)

Next frame

ID address setting rotary switch (NODE ADDRESS)

MSD: Most significant digit, LSD: Least significant digit

Value Node address or axis number 0 - 31 Value on the left is the ID.

Other than above Do not set.

No. SR-DSV09560 (26-2)


3. Parameter setting

Added parameters for RS485 communication are following.

Altered data is enabled after resetting of the control power.

Parameter No. Parameter Name Related

control mode Setting range Function/Description

0D *

Baud rate of RS485 P, F 0 - 5

Defines the RS485 communication speed. 0: 2400[bps] 1: 4800[bps] 2: 9600[bps] 3: 19200[bps] 4: 38400[bps] 5: 57600[bps] The baud rate error is ±0.5%. A change of this parameter becomes enabled at power-on of the control power supply.

0E *

Operation command system P, F 0 - 1

Select a system of operation command such as point specifying operation. 0: Specifying I/O point, 1: RS485 communication command Ex) When the setting is 0, point specifying operation by I/O is enabled, and operation command by RS485 communication is not accepted. However, any command other than operation command (such as parameter reading and writing) is accepted..

40 *

RS485 Communication response time

P, F 0- 1000 Setting the time from command reception on slave side until returning. Unit is [ms]. When set 0 to 4 , response time is 5ms.

41 *

RS485 Timeout between

characters P, F 10-32767

Setting the time allowed for interval between frame receptions. Unit is [ms]. When set 0 to 9 , timeout between characters is 10ms.

3-1 Setting of baud rate

Set to any of 2400/4800/ 9600/19200/38400/57600 bps in servo parameter (0D) "RS485 Communication baud rate setting".

3-2 Setting of RS485 communication response time

1) Communication response time Set by servo parameter (40) "RS485 Communication response time". Set the response time since the servo amplifier receives communication data until it sends back the answer.

2) Setting of RS485 timeout between characters

Set by servo parameter (41) "RS485 Timeout between characters ". When the interval between frames received by servo amplifier is longer than preset time, timeout between characters occurs, and the amplifier does not answer.

3-3 Setting of Operation command system

For using the operation command via RS485 communication, set the servo parameter No.0E(Operation

command system ) to 1 (RS485 communication command ).

No. SR-DSV09560 (26-3)


4.Wiring

4-1 On terminating resistor

MINAS-A4 P series does not contain a terminating resistor inside the servo amplifier. Depending on the length of wiring, it is recommended to add a terminating resistor to the amplifier which physically falls on the end.

Terminating resistor (100 - 200 ohms)

Your controller

X3A

X3B

RS485 communication

(Connect between the connector pin 3 and 6.)

Inside of servo amplifier

Equivalent to ADM485

Pin 3 X3A

X3B

Pin 6

Pin 3 Pin 6

4-2 Notes

Use a terminal overlaid with gold for modular jack. Use a shielded modular cable. If no shielded cable is to be used, contact us.

No. SR-DSV09560 (26-4)


5 Communication procedure

5-1 Communication procedure overview

Master station (host controller) issues a command for a single slave station (servo amplifier). Slave stations is capable of answering master station only just after issuing a command to self station. Slave station is sure to answer status when it receives a command to self station.

5-2 Detail of communication procedure

Note: When power is turned on, wait until 5 seconds pass before starting communication. [1] Master station must attach an address to every instruction in sending.

Turn off send enable signal within the time set by servo parameter No.40(RS485 communication response time )after sending and set a receiving condition.

[2] All slave stations are ready for receiving data with normal send enable signal turned off. [3] All slave stations are capable of sending data to master station only just after receiving an instruction

corresponding to its own address. [4] Slave station attaches its address to the header for sending data in answering the master station. [5] Slave station, after receiving an instruction, start sending an answer in the time set by servo parameter

No.40(RS485 communication response time ) [6] Slave station, after answering, turns off send enable signal within about 2ms. [7] Master station, after receiving an answer from slave station, must be ready for issuing next instruction to

slave station when 5ms or more has passed. [8] Slave station ignores an instruction with different address and data with meaning unknown, and restarts

reception using next received data as a header. [9] Slave station discards all received data if parity error or checksum error occurs. (Returns no error.) [10] Slave station, when receiving unset instruction, determines that the instruction is not executable, and sends

back only the status. [11] When communication error occurs, master station must withhold issue of instruction and clear reception

buffer.

No. SR-DSV09560 (26-5)


5-3 Communication timing chart

(1)

(2) (4)

(3)

Issue of command Line driver enable

Status response Line driver enable

Master station

Slave station

(1) Time period after master station has issued a command until it turns off enabling. …≪T (2) Time period after slave station has received a command until it turns off enabling. …≦T (3) Time period after slave station has sent back the status until it turns off enabling. …≒2ms (4) Time period after master station has received the status until it is ready for …≧5ms

issuing next command to slave station.

T: the time set by servo parameter No.40(RS485 communication response time )

<Notes>

The slave station does not answer, when communication error has occurred. Then the host should send data again after the longer time than the time set by servo parameter No.40 (RS485 communication response time ) and the time set by servo parameter No.41(RS485 timeout between characters).

5-4 RS485 timeout between characters

When the interval between frames received by servo amplifier is longer than preset time (set by servo parameter No. 41(RS485 timeout between characters), RS485 timeout between characters occurs.

When RS485 timeout between characters occurs ,the servo amplifier discards all received data and wait the next receiving data.

receiving data ・・・・・・

between character

１frame (11bits)

No. SR-DSV09560 (26-6)


5-5 Data configuration

5-5-1 Issuing of command (Master station Slave station)

Packet length (N + 4) Address

Command Data

(N bytes) Checksum

Packet length: Indicates the number of bytes in one packet.

Note) Notation on specification is in decimal number. Use hexadecimal number in setting actual data.

Address: Address of slave station at the destination of command Command: Command defined by each piece of slave equipment Data: The number of bytes of data depends on a command. (0 - 251bytes). Checksum: The lower one byte of a value adding all bytes other than checksum is set to the checksum.

No. SR-DSV09560 (26-7)


5-5-2 Status response (slave station master station)

Packet length (N + 4) Address

Communication status Response data

(N bytes) Checksum

Packet length: Indicates the number of bytes in one packet.

(The number of all communication bytes including packet length and checksum) Note) Notation on specification is in decimal number.

Address: Indicates self address. Communication status: Communication status is the status which each slave station assigns communication

situation of a command just before (such as generated alarm situation) to one byte. Bit 3 - 7 is common data. Bit 0 - 2 is to be defined by each slave.

Bit Description 0 1 0 Operation command execution condition Not executed Being executed1 Homing Not completed Completed

2 Servo alarm/Drive prohibit signal detection Normal Abnormal

3 Unused - - 4 Command resend request No request Request 5 Command error Normal Error occurs 6 Data error Normal Error occurs 7 Communication error Normal Abnormal

Bit0:During execution of operation instruction, system turns on immediately upon

receiving point specifying operation. System also turns on during alarm clearing process by reset instruction (00h) .

Bit1:Send back 1 if homing completed, send back 0 if homing not completed. Bit2: Servo alarm/Drive prohibit signal detection turns ON when servo alarm occurs or /Drive

prohibit signal is detected.Drive prohibit detection error is cleared by operation start instruction when the motor starts operation or by resetting instruction.

Bit4:Command resend request is sent back when the servo amplifier could not execute a sent command. In this case, the same command should be sent to the servo amplifier again.

Bit5:Command error is sent back when undefined command is sent. Bit6:Data error is sent back when data of sent command is abnormal. (Command is not

executed.) Bit7:Communication error is sent back when the number of data is abnormal or when the

content of data is abnormal (when command could not be executed normally). Response data: The number of bytes of data depends on a command. ( 0 - 251 bytes) Checksum: The lower one byte of a value adding all bytes other than checksum is set to the

checksum.

No. SR-DSV09560 (26-8)


5-6. List of commands

Type Command Name Function 00h Reseting Clearing an alarm

02h Equipment status reading Sending back the operation situation of servo amplifier and the condition of limit sensor

03h Polling data reading Sending back the present position Syst

em

com

man

d

04h ASCII ID reading Sending back the manufacturer, product name, and version in ASCII data 14h Deceleration stop instruction To decelerate and stop the motor during operation.

15h Instantaneous stop instruction To instantaneously stop the motor during operation.

16h Speed change instruction Changing the speed of axis now operating.

17h Servo on/off instruction *2 To turn on and off the servo Ope

ratio

n co

mm

and

1Eh Temporary stop instruction To temporary stop the motor during operation.

Ope

ratio

n se

tting

co

mm

and

2Bh Gain selection Choosing the 1st or the 2nd gain

30h Servo parameter reading instruction Reading the value of servo parameter of specified number 31h Servo parameter setting instruction Setting a value in servo parameter

32h Servo parameter EEPROM writing instruction

Writing servo parameter in EEPROM

Serv

o pa

ram

eter

co

mm

and

33h Writing check instruction Checking the completion of writing when executing servo parameter writing instruction and EEPROM writing instruction

40h Present position reading instruction Reading the present position of motor

41h Present speed/torque/deviation reading instruction

Reading the present speed, torque output, and deviation counter of motor

Stat

us

com

man

d

42h Alarm reading Reading the number of alarm now being generated

Abs

olut

e en

code

r co

mm

and

51h Absolute clearing *1 Clearing the alarm of absolute encoder and multi-rotation data

70h Point specifying operation *2 Operating according to the setting of specified point

Poin

t sp

ecify

ing

oper

atio

n

71h Positioning I/O reading Sending back the operation situation of servo amplifier, condition of limit sensor, and point I/O

80h Step parameter reading Reading the value of specified step parameter. 81h Step parameter setting Setting a value in step parameter. 82h 16-bit positioning parameter reading Reading the value of specified 16-bit positioning parameter 83h 16-bit positioning parameter setting Setting a value in 16-bit positioning parameter 84h 32-bit positioning parameter reading Reading the value of specified 32-bit positioning parameter 85h 32-bit positioning parameter setting Setting a value in 32-bit positioning parameter

Posi

tioni

ng p

aram

eter

86h Positioning parameter EEPROM writing instruction Writing step parameter, 16-bit/32-bit positioning parameter in EEPROM

*1 When incremental encoder is used, "Command error" occurs. *2 These instructions are accepted only when "1" is set in servo parameter (0E) "Operation command system selection". In other condition, "Command error" occurs.

No. SR-DSV09560 (26-9)


5-7 Command detail

5-7-1 System command

5-7-1-1 Resetting (00h)

Send Return 04h 04h

Address Address 00h Status

Checksum Checksum

- Clearing the alarm

"Operation instruction execution condition" bit of status turns on during alarm clearing process. When alarm clearing process is completed, "Operation instruction execution condition" bit turns off.

- The operating motor stops, and operation instruction is terminated.

5-7-1-2 Equipment status reading (02h)

Send Return 04h 06h


Checksum D_STATUS1 D_STATUS2 Checksum

D_STATUS1: Status 1 of servo amplifier Bit Description 0 1 0 Motor revolution Stop Revolving 1 Revolution direction *2 + - 2 Unused - - 3 Servo-ON status Off On 4 Home sensor Out of sensor Within sensor 5 Unused - - 6 CCW over-travel inhibit input Operation allowed Operation prohibited 7 CW over-travel inhibit input Operation allowed Operation prohibited

*1: Revolution direction is defined by the 16bits positioning parmeter No.50(operation direction setting).

D_STATUS2: Status 2 of servo amplifier Bit Description 0 1 0 Positioning completion signal (COIN) Not completed Completed 1 Unused - - 2 Unused - - 3 Deceleration stop signal input Operation allowed Deceleration stop 4 Temporary stop signal input Operation allowed Temporary stop 5 Instantaneous stop signal input Operation allowed Instantaneous stop 6 Unused - - 7 Unused - -

- Information of D_STATUS 1 and 2 is updated every 1ms.

No. SR-DSV09560 (26-10)


5-7-1-3 Polling data reading (03h)

Send Return 04h 09h


Checksum D_STATUS1 POS/SCALE-POS L POS/SCALE-POS ML POS/SCALE-POS MH POS/SCALE-POS H Checksum

D_STATUS1: Status 1 of servo amplifier (See the previous item.) POS: Present position of motor (encoder feedback pulse) is returned in hexadecimal number.

Data is arranged in the order from low to high. Negative value is represented by complement of 2. During motor rotation, corresponding momentary position is returned.

SCALE-POS: Feedback pulse of external scale [pulse] - Status and present position of servo amplifier are read out. - In full-closed control, SCALE-POS is sent back.

5-7-1-4 ASCII ID reading (04h)

Send Return 04h 5Eh


Checksum Text Data Checksum

Text data: Panasonic [CR]

AC Servo amp MINAS-A4P [CR] ver **.**

- Manufacturer's code, model, and version of this servo amplifier are returned in ASCII text format. [CR] indicates 0Ah.

No. SR-DSV09560 (26-11)


5-7-2 Operation command

5-7-2-1 Deceleration stop instruction (14h)

Send Return 04h 04h


Checksum Checksum - This is a command for decelerating and stopping the operating motor.

It is ignored when the motor is not operating. - Operation instruction is terminated. - Deceleration time is depend on the setting of each operation.

5-7-2-2 Instantaneous stop instruction (15h)

Send Return 04h 04h


Checksum Checksum - This is a command for stopping the operating motor in an instant.

It is ignored when the motor is not operating. - Operation instruction is terminated. - Deceleration time is depend on the setting of 16bits positioning parameter No.49.

5-7-2-3 Speed change instruction (16h)

Send Return 06h 04h


SPD L Checksum SPD H

Checksum SPD: Change operation speed (［r/min］)

Represent the speed data in hexadecimal number and arrange in the order from low to high.

- This is an instruction for changing the speed of operating motor. It is ignored when the motor is not operating or when the motor is decelerating.

- It is valid only in jog operation and step operation. - Servo amplifier returns “data error” when the set value is larger than the maximum speed of the motor×1.2 or the value set by servo parameter No.73(over speed level). -From receiving speed change instruction (16h) to finishing point operation at that time, S-shaped acceleration and deceleration are invalid. Linear acceleration and deceleration are applied.

No. SR-DSV09560 (26-12)


5-7-2-4 Servo-ON instruction (17h)

Send Return 05h 04h


MODE Checksum Checksum

MODE: 0: Servo-OFF, Other than 0: Servo-ON - This command can be used only when servo parameter (0E) "Operation command system selection"

is set 1. In other condition, "Command error" occurs. - When servo parameter (5D) "Servo-ON input valid" is set 1, SRV-ON input (X5 connector pin23) is also valid. In that case, to be servo-ON condition, it need that both communication instruction and SRV-ON input are ON. If one of these two signals is OFF, the condition is servo-OFF. -When you want to use only communication instruction to change servo-ON/servo-OFF, set servo parameter (5D)

to 0.

5-7-2-5 Temporary stop instruction (1Eh)

Send Return 04h 04h

Address Address 1Eh Status

Checksum Checksum

- This is a command for temporary stopping the operating motor. - Send this command again, the operation is restarted. - When this command is sent before the operation is started, motor does not move even if the operation

instruction is sent. After the operation instruction , send this command again, the operation is started. - Durring temporary stop, if receiving Deceleration stop instruction (14h) or Instantaneous stop

instruction (15h), operation instruction is terminated. - Do not set Temporary stop to multi function input (X5 connector pin22 and 25).

(servo parameter No.5A and 5C) When you use both temporary stop instruction (1Eh) and temporary stop of multi function input (X5 connector pin22 and 25), the operation can not be guaranteed.

No. SR-DSV09560 (26-13)


5-7-3 Operation setting command

5-7-3-1 Gain selecting instruction (2Bh)

Send Return 05h 04h

Address Address 2Bh Status

GAIN Checksum Checksum

GAIN: Gain selection (0 - 1, initial value 0) 0: Selecting the 1st gain (Use servo parameter No. 10 - 14.) 1: Selecting the 2nd gain (User servo parameter No. 18 - 1C).

- Select the 1st gain/2nd gain. - If set the over range value to GAIN, "Data error" is set in status. - When using this instruction, set servo parameter No.30 at "1", and No.31 at "2".

No. SR-DSV09560 (26-14)


5-7-4 Servo parameter command

5-7-4-1 Servo parameter reading instruction (30h)

Send Return 05h 08h


NUM RESULT Checksum NUM

PARAM L PARAM H Checksum

RESULT: Result of reading 0: Now reading 1: Reading completed

NUM: Parameter number PARAM: Parameter value

Parameter value is returned in hexadecimal number. Data is arranged in the order from low to high.

- The value of servo parameter specified by parameter number is read. - When unusable parameter number is set, "Data error" is set in status, and "0" is returned respectively for

parameter number and parameter value in returned data. - When RESULT = 0, ignore data and send the same command again.

Read the data when RESULT = 1. - When the content of command changes with RESULT = 0, "Command error" is sent back.

When RESULT = 1, move to another command.

5-7-4-2 Servo parameter setting instruction (31h)

Send Return 07h 04h


NUM Checksum PARAM L PARAM H Checksum


Indicate parameter value in hexadecimal number, and arrange in the order from low to high. - Set a value of servo parameter specified by parameter number.

In order to make parameter valid after power cutoff, EEPROM writing instruction (32h) must be executed. - Check the result of writing parameter by servo parameter reading instruction (30h). In some cases, the value may

be automatically controlled inside the amplifier depending on the type of parameter. It may be necessary to change the setting order of parameter. (Such as parameter which is automatically changed by Servo parameter No. 5E, 5F torque limit, and by real-time AT function)

- If set the parameter number can not be used to NUMor set the over range value to PARAM "Data error" is set in status.

- During writing in EEPROM, command resend request bit turns on, and no processing is performed.

No. SR-DSV09560 (26-15)


5-7-4-3 Servo parameter EEPROM writing instruction (32h)

Send Return 04h 04h


Checksum Checksum - This is an instruction for writing in EEPROM in order to make a parameter valid after power cutoff. - Writing of parameter takes some time, so be sure to check the result of writing by writing check instruction

(33h).

5-7-4-4 Writing check instruction (33h)

Send Return 04h 05h


Checksum RESULT Checksum

RESULT: Result of writing 0: Writing process being continued, 1: Normal end, 2: Abnormal end

- This is an instruction for checking the condition of servo parameter EEPROM writing instruction (32h) and positioning parameter EEPROM writing instruction (86h).

- When continuing to execute writing process, in every issue of command, be sure to check that writing has been completed normally with use of this writing check instruction before executing next writing instruction.

No. SR-DSV09560 (26-16)


5-7-5 Status command

5-7-5-1 Present position reading instruction (40h)

Send Return 04h 0Ch


Checksum POS/SCALE_POS L POS/SCALE_POS ML POS/SCALE_POS MH POS/SCALE_POS H CMD_POS L CMD_POS ML CMD_POS MH CMD_POS H Checksum

POS: Present position of motor (encoder feedback pulse [pulse]) SCALE_POS: External scale feedback pulse sum [pulse] CMD_POS: Motor command position (command pulse [pulse])

Present position and command position of the motor are sent back in hexadecimal number. Data is arranged in the order from low to high. Negative value is represented by the complement of 2. During rotation of the motor, corresponding momentary position is sent back.

- Present position (feedback pulse and command pulse) is read. - Even when homing is not completed, a value is returned. In this case, it does not represent a correct input

position, therefore in this case, make judgment on host side in combination with homing completion signal of communication status.

- When servo is off and when alarm is on, the command position of motor follows the present position of motor. - In full-closed control, the total sum of external scale feedback pulse is sent back.

No. SR-DSV09560 (26-17)


5-7-5-2 Present speed/Torque output/Deviation counter reading instruction (41h)

Send Return 04h 0Ch


Checksum SPD L

SPD H

TRQ L TRQ H ERR/SCALE_ERR L ERR/SCALE_ERR ML ERR/SCALE_ERR MH ERR/SCALE_ERR H Checksum

SPD: Present speed of motor ([r/min]) TRQ: Torque output (x 20 [%]) ERR: Deviation counter value ([pulse])

Present speed, torque output, and deviation counter value are sent back in hexadecimal number. Data is arranged in the order from low to high. Negative value is represented by the complement of 2. During rotation of the motor, corresponding momentary position is sent back.

SCALE_ERR: External scale deviation [pulse] - Present operation speed, output torque, and deviation counter value of the motor are read. - Torque output "2000" is read at the rated torque (100%). - In full-closed control, external scale deviation is returned.

No. SR-DSV09560 (26-18)


5-7-5-3 Alarm description reading instruction (42h)

Send Return 04h 07h


Checksum ALM_NO ALM_DETAIL ALM_BIT Checksum

ALM_NO: Alarm number When no alarm is on, "0" is read.

ALM_DETAIL: Used by manufacturer ALM_BIT: Alarm bit information

Bit number Description 0 1 0 Servo alarm Normal Abnormal 1 Unused - - 2 CW over-travel inhibit input

error Not detected Detected

3 CCW over-travel inhibit input error

Not detected Detected

4 - 6 Unused - - 7 Alarm classification Resetting allowed Resetting not

allowed

- The number of alarm generated now is read in hexadecimal number. - See the engineering information for detail of alarm. - When drive prohibition signal is detected with no tripping of servo amplifier, alarm number is "0", and data

where only alarm bit information is set is read. (Servo alarm bit remains at "0".) Drive prohibition detection error is cleared by the operation start instruction when the motor starts operation or by the resetting instruction.

No. SR-DSV09560 (26-19)


5-7-6 Absolute encoder command

5-7-6-1 Absolute clearing (51h)

Send Return 04h 04h


Checksum Checksum - Alarm and multi-rotation data of absolute encoder are cleared. - During operation of motor, "Command error" is set in the status, and data is not cleared. - As for incremental encoder specification, "Command error" is returned.

No. SR-DSV09560 (26-20)


5-7-7 Point specifying operation command

5-7-7-1 Point specifying operation (70h)

Send Return 05h 05h


Pin № Pin № echo Checksum Checksum

Pin No.: Point specifying number Pin No. echo: Specified point number is returned as it is.

- Point specifying operation is performed. After receiving this instruction, operation starts in 2ms approx following the specified point number.

- If set the point number can not be used ,"Data error" is set in status. - This instruction is accepted only when "1" is set in servo parameter (0E) "Operation command system selection". In other condition, send back "Command error" .

Note) For stopping JOG operation, send deceleration start instruction (14h) or instantaneous stop instruction (15h) or use stop function of the multi function terminal(connector X5 Pin 22 and Pin 25).

Note ) When using the sequential operation, above point specifying is invalid, every time this command executed, point number is adding up by 1. Note) Even if the communication error occurs like wires are down during moving operation, the servo amp continue the operation. In case of jog operation especially, the motor continue

rotating. For the safety the protective equipments like limit sensors or emergency stop input have to be installed before using.

Point specifying operation

0 Alarm clearing 1 Point 1 operation ～ Point operation 4 Point 4 operation 5 Point 5 operation 6 Point 6 operation 7 Point 7 operation ～ Point operation 13 Point 13 operation14 Point 14 operation15 Point 15 operation～ Point operation 29 Point 29 operation30 Point 30 operation31 Point 31 operation～ Point operation 61 JOG- 62 JOG+ 63 Homing

No. SR-DSV09560 (26-21)


5-7-7-2 Positioning I/O reading (71h)

Send Return 04h 08h


Checksum D_STATUS 1 D_STATUS 2 PIN POUT Checksum

D_STATUS1: Status 1 of servo amplifier D_STATUS2: Status 2 of servo amplifier PIN: Point specifying input POUT: Present point output

- Status, point input, and output condition of servo amplifier are read. - PIN is updated when receiving operation instruction. The data displayed present operating point number during motor is moving, and previous operating point number during motor stops. - POUT is updated when completing operation instruction normally. The data displayed last completed operating

point number.

D_STATUS 1 D_STATUS 2

Bit Description 0 1 Bit Description 0 1

0 Motor rotation Stop During rotation

0 Positioning completion signal

Not completed

Completed

1 Rotation direction + - 1 Unused - - 2 Unused - - 2 Unused - -

3 Servo-ON condition Off On 3 Deceleration stop signal input

Operation allowed

Operation prohibited

4 Home sensor Out of sensor

Within sensor

4 Temporary stop signal input

Operation allowed

Temporary stop

5 Unused - - 5 Unused - -

6 CCW over-travel inhibit input

Operation allowed


6 Unused - -

7 CW over-travel inhibit input

Operation allowed


7 Operation prohibition signal input

Operation allowed


Point specifying input (PIN) Present point output (POUT)

Bit Description 0 1 Bit Description 0 1 0 P0_IN Off On 0 P0_OUT Off On 1 P1_IN Off On 1 P1_OUT Off On 2 P2_IN Off On 2 P2_OUT Off On 3 P4_IN Off On 3 P4_OUT Off On 4 P8_IN Off On 4 P8_OUT Off On 5 P16_IN Off On 5 P16_OUT Off On 6 P32_IN Off On 6 P32_OUT Off On 7 Unused - - 7 Unused - -

No. SR-DSV09560 (26-22)


5-7-8 Positioning parameter

5-7-8-1 Step parameter reading instruction (80h)

Send Return 05h 0Eh


Point number RESULT Checksum Point number

Operation mode Position/Standby time L Position/Standby time ML Position/Standby time MH Position/Standby time H Speed selecting number Acceleration/Deceleration number Block designation Checksum

RESULT: Result of reading

0: Now reading 1: Reading completed - Step parameter specified by point number is read. See "81h" for each item. The setting range is 1 to 60. - When unusable parameter number is set, "Data error" is set in status, and "0" is returned respectively for

parameter value in returned data.

No. SR-DSV09560 (26-23)


5-7-8-2 Step parameter setting (81h)

Send Return 0Dh 04h


Point number Checksum Operation mode

Position/Standby time L Position/Standby time ML Position/Standby time MH Position/Standby time H Speed selecting number

Acceleration/Deceleration number Block designation

Checksum

- When the over range value is set, "Data error" is set in status. [Point number] 1 - 60

Specify a point number for writing.

[Operation mode] 0 - 3

0: INC Relative position 1: ABC Absolute position 2: Rotary Rotation coordinates 3: Dwell time Standby time

[Position/Standby time] -2147483647 - 2147483648

When operation mode setting is 0 - 2, position [pulse] is applied, when it is 3, standby time [10ms] is applied.

[Speed selecting number] 0 - 15 Selecting the speed of operation. Setting range is 1 - 16. Ignored when operation mode is 3. However, data in the range must be written.

[Acceleration/Deceleration number]

Specify the acceleration number by upper 4 bits, and deceleration number by lower 4 bits. Each setting range is 0 - 3. Ignored when operating mode is 3. However, data in the range must be written.

[Block designation] 0 - 1

0: Single operation Only the operation of designated point is performed. 1: Block operation Operation of the next point is automatically performed following designated point

operation.

- Step parameter specified by point number is set. In order to make parameter valid after power cutoff, positioning parameter EEPROM writing instruction (86h) must be executed.

- Check the result of parameter writing by step parameter reading instruction (80h). - During writing in EEPROM, command resend request bit turns on, and no processing is performed.

No. SR-DSV09560 (26-24)


5-7-8-3 16-bit positioning parameter reading instruction (82h)

Send Return 05h 08h



PARAM L PARAM H Checksum


0: Now reading 1: Reading completed NUM: Parameter number PARAM: Parameter value


- The value of 16-bit positioning parameter specified by parameter number is read. - When unusable parameter number is set, "Data error" is set in status, and "0" is returned respectively for

parameter value in returned data. - When RESULT = 0, ignore data, and send the same command again.

Read the data when RESULT = 1. - When the description of command changes with RESULT = 0, "Command error" is sent back.


No. SR-DSV09560 (26-25)


5-7-8-4 16-bit positioning parameter setting (83h)

Send Return 07h 04h


NUM Checksum PARAM L PARAM H Checksum


Indicate the parameter value in hexadecimal number, and arrange data in the order from low to high.

- Set the value of 16-bit positioning parameter specified by parameter number. In order to make parameter valid after power cutoff, positioning parameter EEPROM writing instruction (86h) must be executed.

- When unusable parameter number or over range parameter value is set, "Data error" is set in status. - Check the result of writing parameter by use of 16-bit positioning parameter reading instruction (82h). - During EEPROM writing, command resend request bit is turned on and no processing is carried out.

5-7-8-5 32-bit positioning parameter reading (84h)

Send Return 05h 0Ah



PARAM L PARAM ML PARAM MH PARAM H Checksum


0: Now reading 1: Reading completed NUM: Parameter number PARAM: Parameter value


- The value of 32-bit positioning parameter specified by parameter number is read. - When unusable parameter number is set, "Data error" is set in status, and "0" is returned respectively for

parameter number and parameter value in returned data. - When RESULT = 0, ignore data, and send the same command again.

Read the data when RESULT = 1. - When the description of command changes with RESULT = 0, "Command error" is sent back.


No. SR-DSV09560 (26-26)


5-7-8-6 32-bit positioning parameter setting (85h)

Send Return 09h 04h


NUM Checksum PARAM L

PARAM ML PARAM MH PARAM H Checksum


Indicate the parameter value in hexadecimal number, and arrange data in the order from low to high.

- Set the value of 32-bit positioning parameter specified by parameter number. In order to make parameter valid after power cutoff, positioning parameter EEPROM write instruction (86h) must be executed.

- When unusable parameter number is set, "Data error" is set in status, and "0" is returned respectively for parameter number and parameter value in returned data.

- Check the result of writing parameter by use of 32-bit positioning parameter reading instruction (84h). - During EEPROM writing, command resend request bit is turned on and no processing is carried out.

5-7-8-7 Positioning parameter EEPROM writing instruction (86h)

Send Return 04h 04h


Checksum Checksum

- In order to make valid the step parameter, 16-bit/32-bit positioning parameter still after power cutoff, write them in EEPROM.

- Writing in EEPROM takes some time, so be sure to check the result of writing by writing check instruction (33h).

A4P Communication Protocol

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