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1) On the host controller, set command code to normal command (10h) of PP control.
This setting does not directly trigger profile operation.
Before operating, set acceleration/deceleration according to Pr.8.01 (Profile linear acceleration constant) and Pr.8.04
(Profile linear deceleration constant).
2) With command code 10h, set Type_Code to 11h, relative movement distance (TPOS) and target speed (TSPD). Set
Latch_Sel1 to 0, and for Monitor_Sel, select data to be returned to Monitor_Data.
This does not directly trigger profile operation.
3) Change command code from 10h to 17h.
4) As command code changes from 10h to 17h, the servo driver sets the internal target position to the value shown
below, starts profile operation and accelerates (starts operation) to the target speed (TSPD).
Internal target position = internal command position (before filtering: IPOS) + relative movement distance
5) The host controller checks that command echo is 17h, Type_Code echo is 11h and status In_Progress is 1, and no
command error has occurred and relative positioning has started. If command error has occurred, take proper
countermeasure according to the error code.
6) When changing the target speed (TSPD), follow the procedure shown below.
Pr.7.23, bit 5 = 0: start as reference command changes
With command code 10h, change the 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 speed (TSPD) value.
If the new target speed (TSPD) is higher than the current command speed, accelerate the current speed according to
setting in Pr.8.01 and, if new TSPD is lower than the current command speed, decelerate the current speed according
to Pr.8.04.
7) Then decelerate toward the internal target position at a 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 the
movement to internal 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 homing command 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.
•
Do not change relative movement distance (TPOS) during operation. For relative movement, internal target position is
calculated with reference to the internal command position (IPOS) at the time the currently operating command is
started (in Step 4) above.
•
When target speed (TSPD) is set at 0 or Pause is set at 1, In_Progress will not be set to 0 (Internal position command
stop) at the stop after deceleration. 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
(TPOS)
Motor Business Division, Appliances Company, Panasonic Corporation
No. SX-DSV02310 - 128 -
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