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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 20h and target speed (TSPD).
Set the target position (TPOS) to 0 because it is not used.
Set 0 to Latch_Sel1, select data to be returned to Monitor_Data in 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) The host controller checks that command echo is 17h, Type_Code echo is 20h 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 speed (TSPD), follow the procedure shown below.
Pr.7.23, bit 5 = 0: start as reference command changes
With command code 10h, change the value of target speed (TSPD), 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 value of target speed (TSPD).
If the new target speed (TSPD) is larger than the current command speed, accelerate it according to Pr.8.01, or if
new TSPD is smaller, decelerate it according to Pr.8.04.
7) To stop immediately, set Hard_Stop to 1; to decelerate according to setting of Pr.8.04, set Smooth_Stop or Pause to
1.
8) While operating in profile continuous movement (JOG) mode, NEAR remains 0 because no target position is set.
After outputting the movement command, the servo driver sets In_Progress to 0 (transfer complete), and 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 (e.g. monitor 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.
•
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 - 134 -
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