No.

SR-DSV09560

MESSRS.

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.
Checked Checked Designed
manager
 No. SR-DSV09560

REVISIONS
Date Page Sym REVISION Signed

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

 No. SR-DSV09560

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 Æ Slave station) ................................................................... 6
5-5-2 Status response (slave station Æ 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

A4P MOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD

 No. SR-DSV09560 (26-1)

1. Communication specification

Communication RS-485 Half duplex, asynchronous system

Baud rate
Description of code
Maximum cable length
Settable ID address
Block length
2400/4800/9600/19200/38400/57600bps
Start bit, 1 bit
Data, 8 bits
Parity bit, 1 bit
Stop bit, 1 bit
Binary format
50 ｍ (full length)
0 - 31 (32 units)
Maximum 255 bytes

(LSB)

Start Parity Stop Start

0 1 2 3 4 5 6 7 0

1 frame (11 bit) Next frame

2 Network setting

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.

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

A4P MOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD

 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 Related Setting

Parameter Name Function/Description
No. control mode range
Defines the RS485 communication speed.
0: 2400[bps] 1: 4800[bps] 2: 9600[bps]
0D Baud rate of 3: 19200[bps] 4: 38400[bps] 5: 57600[bps]
P, F 0-5
* RS485 The baud rate error is ±0.5%.
A change of this parameter becomes enabled at power-on of the control power
supply.
Select a system of operation command such as point specifying operation.
0: Specifying I/O point, 1: RS485 communication command
0E Operation
P, F 0-1 Ex) When the setting is 0, point specifying operation by I/O is enabled, and operation
* command system
command by RS485 communication is not accepted. However, any command other
than operation command (such as parameter reading and writing) is accepted..
RS485 Setting the time from command reception on slave side until returning.
40
Communication P, F 0- 1000 Unit is [ms].
*
response time When set 0 to 4 , response time is 5ms.
RS485 Timeout Setting the time allowed for interval between frame receptions.
41
between P, F 10-32767 Unit is [ms].
*
characters 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 ).

A4P MOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD

 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.

X3A
Your
controller
RS485
communication
X3B

Terminating resistor
(100 - 200 ohms)

(Connect between the

connector pin 3 and 6.)

Inside of servo amplifier

Equivalent to
ADM485
Pin 3
X3A
Pin 6

Pin 3
X3B
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.

A4P MOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD

 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.

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 No. SR-DSV09560 (26-5)

5-3 Communication timing chart

Issue of
Master station command
Line driver
enable

Status
Slave station response
Line driver
enable
(1) (3)

(2) (4)

(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.

１frame (11bits)

receiving data ・・・・・・

between character

A4P MOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD

 No. SR-DSV09560 (26-6)

5-5 Data configuration

5-5-1 Issuing of command (Master station Æ 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.

A4P MOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD

 No. SR-DSV09560 (26-7)

5-5-2 Status response (slave station Æ 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 executed
1 Homing Not completed Completed
Servo alarm/Drive prohibit signal
2 Normal Abnormal
detection
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.

A4P MOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD

 No. SR-DSV09560 (26-8)

5-6. List of commands

Type Command Name Function
00h Reseting Clearing an alarm
command

Sending back the operation situation of servo amplifier and the condition of
System

02h Equipment status reading

limit sensor
03h Polling data reading Sending back the present position
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.
Operation
command

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

command
setting

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

30h Servo parameter reading instruction Reading the value of servo parameter of specified number
Servo parameter

31h Servo parameter setting instruction Setting a value in servo parameter

command

Servo parameter EEPROM writing Writing servo parameter in EEPROM

32h
instruction
Checking the completion of writing when executing servo parameter writing
33h Writing check instruction
instruction and EEPROM writing instruction
40h Present position reading instruction Reading the present position of motor
command
Status

Present speed/torque/deviation Reading the present speed, torque output, and deviation counter of motor
41h
reading instruction
42h Alarm reading Reading the number of alarm now being generated
command
Absolute
encoder

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
specifying
operation
Point

Sending back the operation situation of servo amplifier, condition of limit

71h Positioning I/O reading
sensor, and point I/O
80h Step parameter reading Reading the value of specified step parameter.
Positioning 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
Positioning parameter EEPROM
86h Writing step parameter, 16-bit/32-bit positioning parameter in EEPROM
writing instruction
*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.

A4P MOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD

 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
Address Address
02h Status
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.

A4P MOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD

 No. SR-DSV09560 (26-10)

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

Send Return
04h 09h
Address Address
03h Status
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
Address Address
04h Status
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.

A4P MOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD

 No. SR-DSV09560 (26-11)

5-7-2 Operation command

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

Send Return
04h 04h
Address Address
14h Status
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
Address Address
15h Status
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
Address Address
16h Status
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.

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 No. SR-DSV09560 (26-12)

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

Send Return
05h 04h
Address Address
17h Status
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.

A4P MOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD

 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".

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 No. SR-DSV09560 (26-14)

5-7-4 Servo parameter command

5-7-4-1 Servo parameter reading instruction (30h)
Send Return
05h 08h
Address Address
30h Status
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
Address Address
31h Status
NUM Checksum
PARAM L
PARAM H
Checksum
NUM: Parameter number
PARAM: Parameter value
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.

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 No. SR-DSV09560 (26-15)

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

Send Return
04h 04h
Address Address
32h Status
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
Address Address
33h Status
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.

A4P MOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD

 No. SR-DSV09560 (26-16)

5-7-5 Status command

5-7-5-1 Present position reading instruction (40h)
Send Return
04h 0Ch
Address Address
40h Status
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.

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 No. SR-DSV09560 (26-17)

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

Send Return
04h 0Ch
Address Address
41h Status
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.

A4P MOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD

 No. SR-DSV09560 (26-18)

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

Send Return
04h 07h
Address Address
42h Status
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 Not detected Detected
error
3 CCW over-travel inhibit Not detected Detected
input error
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.

A4P MOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD

 No. SR-DSV09560 (26-19)

5-7-6 Absolute encoder command

5-7-6-1 Absolute clearing (51h)
Send Return
04h 04h
Address Address
51h Status
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.

A4P MOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD

 No. SR-DSV09560 (26-20)

5-7-7 Point specifying operation command

5-7-7-1 Point specifying operation (70h)
Send Return
05h 05h
Address Address
70h Status
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" .

Point
operation
specifying
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 operation
14 Point 14 operation
15 Point 15 operation
∼ Point operation
29 Point 29 operation
30 Point 30 operation
31 Point 31 operation
∼ Point operation
61 JOG-
62 JOG+
63 Homing

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.

A4P MOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD

 No. SR-DSV09560 (26-21)

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

Send Return
04h 08h
Address Address
71h Status
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

During Positioning Not
0 Motor rotation Stop 0 Completed
rotation completion signal completed
1 Rotation direction + - 1 Unused - -
2 Unused - - 2 Unused - -
Deceleration stop Operation Operation
3 Servo-ON condition Off On 3
signal input allowed prohibited
Out of Within Temporary stop Operation Temporary
4 Home sensor 4
sensor sensor signal input allowed stop
5 Unused - - 5 Unused - -
CCW over-travel Operation Operation
6 6 Unused - -
inhibit input allowed prohibited
Operation
CW over-travel Operation Operation Operation Operation
7 7 prohibition signal
inhibit input allowed prohibited allowed prohibited
input

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 - -

A4P MOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD

 No. SR-DSV09560 (26-22)

5-7-8 Positioning parameter

5-7-8-1 Step parameter reading instruction (80h)
Send Return
05h 0Eh
Address Address
80h Status
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.

A4P MOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD

 No. SR-DSV09560 (26-23)

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

Send Return
0Dh 04h
Address Address
81h Status
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.

A4P MOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD

 No. SR-DSV09560 (26-24)

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

Send Return
05h 08h
Address Address
82h Status
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 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.
When RESULT = 1, move to another command.

A4P MOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD

 No. SR-DSV09560 (26-25)

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

Send Return
07h 04h
Address Address
83h Status
NUM Checksum
PARAM L
PARAM H
Checksum

NUM: Parameter number

PARAM: Parameter value
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
Address Address
84h Status
NUM RESULT
Checksum NUM
PARAM L
PARAM ML
PARAM MH
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 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.
When RESULT = 1, move to another command.

A4P MOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD

 No. SR-DSV09560 (26-26)

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

Send Return
09h 04h
Address Address
85h Status
NUM Checksum
PARAM L
PARAM ML
PARAM MH
PARAM H
Checksum

NUM: Parameter number

PARAM: Parameter value
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
Address Address
86h Status
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 MOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD