Panasonic IMC80A Transmission Sequence Transmission Protocol

161

[Reference]

Reference

Host MINAS-E

Received

Data

Transmitted

Data

(1) ENQ (05h)

(2) EOT (04h)

(3) Data Block

(4) ACK (06h)

(or NAK (15h))

(5) ENQ (05h)

(6) EOT (04h)

(7) Data Block

(8) ACK (06h)

(or NAK (15h))

x

1

x

3

x

4

x

5

x

6

STATUS

ALM CODE

Line Control

Direction of transmission and conflict are solved.

Reception mode …The module enters reception mode after receiving ENQ and returning EOT.

Transmission mode … The module enters transmission mode after sending ENQ and receiving EOT.

When there occurs a conflict between the transmitting module and receiving module:

When subsequent to transmission of ENQ, a slave receives ENQ while waiting for EOT, priority is given to

ENQ sent from a maser, and the slave enters the reception mode.

Transmission Control

Entering transmission mode, a module transmits a command block continuously and then waits for reception

of ACK. When the module receives ACK, transmission is complete. When the number of transferred

command bytes is incorrect, ACK may not be returned. When ACK is not returned within T2 period, or when

NAK or any code other than ACK is received, transmission retry will be executed. The retry will start with

ENQ.

Receiving Control

Entering receiving mode, the module receives transmitted blocks continuously. It obtains the number of

command bytes from the first byte, and receives as many command bytes as that number plus 3. When the

sum of received data is zero, reception is considered successfully ended and ACK is returned. When

abnormal checksum or timeout between characters occurs, NAK is sent.

Transmission SequenceTransmission Protocol

RS232C

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.