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1) On the master (host controller), set command code to normal command (10h) of PP control. This does not directly
trigger profile operation.
Before operating, set acceleration/deceleration through Pr.8.01 (Profile linear acceleration constant)/Pr.8.04 (Profile
linear deceleration constant).
2) With command code 10h, set Type_Code to 10h, target position (TPOS) and target speed (TSPD). Set the target
position as absolute position.
Select data to be returned to Monitor_Data in Latch_Sel1 0 and Monitor_Sel.
This does not directly trigger profile operation.
3) Change command code from 10h to 17h.
4) The servo driver starts the profile operation as the command code is changed from 10h to 17h, starting acceleration
(starting operation) to the target velocity (TSPD).
5) On the host controller check that command echo is 17h, Type_Code echo is 10h and status In_Progress is 1, and no
command error has occurred and absolute positioning has started. If command error has occurred, take proper
counter measure according to the error code.
6) When changing the target position (TPOS)/target speed (TSPD) during operation, follow the procedure shown
below.
Pr.7.23, bit 5 = 0: start as reference command changes
With command code 10h, change the target position (TPOS)/target speed (TSPD) value, and return to step
3).
Pr.7.23, bit 5 = 1: start as command code and command argument change
With command code 17h, change the target position (TPOS)/target speed (TSPD) value.
If the new target position (TPOS) is near than the current internal command position (before filtering: IPOS),
decelerate and stop according to Pr.8.04 and then accelerate to the new target position (TPOS).
If the new target speed (TSPD) is larger than the current command speed, accelerate according to Pr.8.01, and if
TSPD is smaller than the current command speed, decelerate according to Pr.8.04.
7) Then decelerate toward the target position (TPOS) at the rate set by Pr.8.04.
8) When the distance from internal command position (IPOS) to the target position becomes shorter than Pr.8.16
Profile positioning neighborhood range, NEAR becomes 1 (profile positioning neighborhood). After outputting
movement to target position command, the servo driver sets status In_Progress to 0 (transfer complete). As the
absolute value of position deviation decreases below Pr.4.31 (Positioning complete range), the driver sets
In_Position to 1 and informs the host controller that the positioning has completed.
Precautions
•
Other non-cyclic commands except for certain homing commands may be executed during operation (In_Progress = 1)
while maintaining profile operation. However, do not change the operation mode (Type_Code, Latch_Sel1 of profile
command), otherwise, Err91.1 (RTEX command error protection) and command error (0104h) will occur.
•
If target speed (TSPD) is set at 0 or if Pause is set at 1, In_Progress will not be set to 0 (Internal position command stop)
after deceleration and stop. To end the process during operation, transmit Hard_Stop or Smooth_Stop, then, In_Progress
will be set to 0 (transfer complete) at stop.
R2.0
Motor Business Division, Appliances Company, Panasonic Corporation
No. SX-DSV02310 - 126 -
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