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(1) When using CMD_POS Invalid bit (Pr7.40-bit0=0)
Regardless of status of magnetic pole position estimation, Servo_Active bit of RTEX status is 1 when
servo is on. (Motor is in activated state.)
Example: Movement during CP control, Pr7.43=7
1. After control power is turned on, make CMD-POS_Invalid bit 1 under the state of servo-off
(Servo_Active bit is 0) and make command invalid.
2. When turning servo on (make Servo_On bit 1), magnetic pole position estimation is implemented.
3. During magnetic pole position estimation, magnetic pole detection completion output
(SI-MON4/EX-SON bit) turns to be 0.
After confirming that magnetic pole position estimation is finished normally and magnetic pole
detection completion output (SI-MON4/EX-SON bit) turns to be 1, set command position at value of
actual position (APOS) and make CMD-POS_Invalid bit 0 and make command valid.
After servo amp receives CMD-POS_Invalid bit =0, command position is made valid.
Command
code
Servo_Ready
CMD-POS_Invalid
Servo_On
Servo_Active
SI-MON4/EX-SON
(Pole detected output)
Position
R2.0
Turn ON the main circuit and control power
**h
20h
0
0
0
0
Estimating pole position
0
1
1
1
1
1
Actual position
Instructed position
Instructed position invalid
Motor Business Division, Appliances Company, Panasonic Corporation
No. SX-DSV02310 - 105 -
Time
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