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Panasonic IMC80A Communications Method, List of User Parameters Related to Communications, Handshaking Code

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Communications

Communications Method

Set RS232C communications baud rate with Pr0C. Any change to these parameters will be valid when you

power on the control power supply. For detailed information, refer to list of parameters related to the following

communications:

RS232C

Full-duplex, asynchronous communication method

2400, 4800, 9600bps

8 bit

No

1 bit

1 bit

Communications baud rate

Data

Parity

Start bit

Stop bit

Time for data transmission is calculated with the following expression, for instance, in the case of 9600 [bps]:

When the baud rates of 2400 bps and 4800 [bps] are used, data transmission time will be 4.17 [ms/byte] and

2.08 [ms/byte], respectively. Note, however, actual communication time will be added time necessary for

processing received command, and necessary for switching between a line and transmission/reception control.

List of User Parameters Related to Communications

PrNo.

00

0C

Shaft name

Setting of baud rate for

RS232C communications

Set the communications speed of RS232C communications.

0 : 2400[bps] 1 : 4800[bps] 2 : 9600[bps]

A change will be valid when you power on the control power supply.

Parameter Name

Range of Setting

1 - 15

0 - 2

Functional Description

Refer to descriptions on parameters on pages 88 and 116.

Handshaking Code

For line control, the following codes are used.

ENQ …When the module has a block to transmit, it sends ENQ.

EOT … When the module is ready to receive a block, it sends EOT. The line enters transmission mode when

sending ENQ and receiving EOT. It enters reception mode when receiving ENQ and sending EOT.

ACK … When a received block is judged normal, ACK is returned.

NAK … When a received block is judged as abnormal, NAK is returned. A judgment is made based on

checksum and timeout.

Code

05h

04h

06h

15h

Name

ENQ

EOT

ACK

NAK

Functions

Transmission request

Ready for receiving

Acknowledgement

Negative acknowledgement

(1000/9600) x (1 + 8 + 1) = 1.04 [ms/byte]

Start bit Stop bit

Data

Contents

Main Reference Outline of PANATERM, Setup Support Software Connection Method Installing PANATERM on Hard Disk Steps of Procedure Starting PANATERM Steps of Procedure Page Communications Specification Connection of Communications Line You must leave pins 1, 2, 6, 7 and 8 of X6 unconnected. X6Host RS232C Host (ID)=1 Communications Method List of User Parameters Related to Communications Parameter Name PrNo. 00 0C Shaft name Transmission Sequence Transmission Protocol Configuration of Data Block Protocol Parameter Example of Data Communication Example of Changing Parameters State Transition Diagram Idling Receiving module Transmitting Module Waiting for EOT Transmission of block Waiting for ACK/NAK Communications Timing <Caution> The time represents a period of time from stop bit rising edge. Details on Communications Commands Readout of CPU version information List of Communications Commands command 0 1 2 8 9 B Setting of RS232C protocol parameters Readout of the driver model name Readout of the motor model name Readout of the command pulse counter Readout of status The control modes are defined as follows: 0 1 2 Readout of current speed Readout of current torque output Readout of the feedback pulse counter Readout of input signal Readout of the current deviation counter Readout of current speed/torque/deviation counter Readout of output signal The following table shows the relation between each signal and operation. Readout of status/input signal/output signal Individual writing of parameters Writing of parameters to EEPROM Individual readout of parameters Individual readout of alarm history History No.1 to No.14 indicate the 1st to 14th previous alarm history, respectively. Batch readout of alarm history The command is used to read 14 previous alarm events. Readout of current alarm data Alarm clear This command clears the current alarm (only applicable to alarms that can be cleared). Alarm history clear Page readout of user parameters A page number is designated from 0 to 7, and 16 parameters are read from each page designation. Individual readout of user parameters Page writing of user parameters Pulse row position command Distance: P1 [P] Traveling speed: F [PPS] Command dividing multiplier ratio Gear Machine Servo driver D = Pr46 x 2 Pr4B Description on Dividing/Multiplier Ratio Relation between Positional Resolution/Moving Speed and Command Dividing Multiplier Ratio 1. Set the positional resolution (M) at approx. 1/5 to 1/10 of the positioning accuracy ( D = ( M = P1 x (D/E) x (1/R) x L................................. (1) Page Conformance to EC Directives/UL Standards EC Directives EMC Directives Applicable Standards Peripheral Equipment Environment M Power Circuit Breaker Noise Filter Conformance to EC Directives/UL Standards Noise Filter for Signal cables Grounding Leakage Breaker Driver and Peripheral Devices Applied Thereto (EC Directives) Conformance to UL Standards MINAS-E Series Table of Junction Cable by Model Junction Cable for Encoder Junction Cable for Motors (Robotop 600V DP) Junction Cable for Brakes (Robotop 600V DP) Connector Kits for Power Supply of the Driver Connector Kits for Connection of Motor and Encoder (5) Pin arrangement of connector for junction of encoder cable (6) Pin arrangement of connector for junction of motor power line (7) Pin arrangement of connector for connector CN X3 Connector Kit for Connection with Host Controller 39 113 (3)Table of Wiring Interface Cable for Connection with Host Controller Communications Cable (Connection with Personal Computer) PANATERM, software for communications control Console External Regenerative Resistor DIN Rail Mounting Unit Reactor Figure 1 Figure 2 E6-I F 4-H G Recommended Parts Page Dimensional Outline Drawing MUMA Series 50W to 400W Motor Output 50W, 100W 200W, 400W LG 230mm 220mm Specification of Keyed Version (Dimension) Shaft-end Center Tap TP Output 50W, 100W 200W 400W Screw M3 M4 M5 Depth 6 8 10 Allowable Load of Output Shaft Motor Characteristics (S-T Characteristics) Supply Voltage of Driver AC100V MUMA012P1 MUMA021P1 Servo Motor with Gear Check the Combination of Driver and Motor with Gear Incremental Specification 2500 P/r You must not use any combination other than those listed below. The mark "*" under the model name of the a pp licable motors refer to the structure of motor. Dimensional Outline Drawing of Motor with Gear Servo Motor with Gear Detailed View of Shaft End Moment of Inertia (10-4kg m2) Allowable Load of Output Shaft of Servo Motor with Gear Requests Concerning Installation Characteristics of Servo Motor with Gear (S-T Characteristics) 1/5 1/9 1/25 200V 400W 100V Driver Internal Block Diagram M RE EEPROM Control Block Diagram Control Block Diagram Waveform Graphic Deceleration Specifications Driver Motor Hit-and-stop Initialization and Load Pressing Control Hit-and-stop Initialization (3) (1) (2) (1) (1) Hit-and-stop Initialization and Load Pressing Control Load Pressing Control A B C D E H I L O P S U T R W Page Page After-Sale Service (Repair) Memorandum Motor Company Matsushita Electric Industrial Co., Ltd.