7-3 Cyclic velocity control (CV) operation .................................................................................................................... 120

7-4 Cyclic thrust control (CT) operation [Under review] ............................................................................................... 122

7-5 Profile position control (PP) operation ..................................................................................................................... 124

7-5-1 Profile position control (PP) related parameter ................................................................................................................... 124

7-5-2 Profile absolute positioning (Type_Code: 10h) ................................................................................................................... 125

7-5-3 Profile relative positioning (Type_Code: 11h)..................................................................................................................... 127

7-5-4 Profile position latch absolute positioning (Type_Code: 12h)............................................................................................. 129

7-5-5 Profile position latch relative positioning (Type_Code: 13h) .............................................................................................. 132

7-5-6 Profile continuous movement (JOG) (Type_Code: 20h) ..................................................................................................... 133

7-5-7 Profile homing 1 (HOME + Z phase) (Type_Code: 31h) .................................................................................................... 135

7-5-8 Profile homing 4(2) (HOME) (Type_Code: 34h(32h))........................................................................................................ 137

7-5-9 Profile homing 5(3) (Z phase) [Type_Code: 35h(33h)]....................................................................................................... 139

7-5-10. Precautions for profile position control operation ............................................................................................................ 142

7-6 Control mode switching ........................................................................................................................................... 144

7-6-1 Control mode switching method.......................................................................................................................................... 144

7-6-2 Precautions for control mode change during operation ....................................................................................................... 145

7-6-3 Other precautions related to control mode switching .......................................................................................................... 146

7-7 Feedforward function ............................................................................................................................................... 147

7-7-1 Feedforward function validation parameter and command area to be used......................................................................... 147

7-7-2 Setting unit and setting range .............................................................................................................................................. 149

7-7-3 Compatible control mode .................................................................................................................................................... 149

7-7-4 Other precautions related to feedforward function .............................................................................................................. 150

8. RTEX Communication Related Protective Function and Troubleshooting............................................................. 151

8-1 RTEX communication related protective function ................................................................................................... 151

8-1-1 RTEX node address setting error protection (Err. 82.0)....................................................................................................... 152

8-1-2 RTEX continuous communication error protection 1 (Err. 83.0)......................................................................................... 153

8-1-3 RTEX continuous communication error protection 2 (Err. 83.1)......................................................................................... 154

8-1-4 RTEX communication timeout error protection (Err. 84.0) ................................................................................................. 155

8-1-5 RTEX synchronization and initialization error protection (Err. 84.3).................................................................................. 156

8-1-6 RTEX communication cycle error protection (Err. 84.5)..................................................................................................... 157

8-1-7 RTEX cyclic data error protection 1/2 (Err. 86.0/Err. 86.1)................................................................................................. 158

8-1-8 RTEX_Update_Counter error protection (Err86.2) ............................................................................................................. 159

8-1-9 RTEX interaxis sync establishment error protection (Err90.2)............................................................................................ 160

8-1-10 RTEX command error protection (Err91.1) ..................................................................................................................... 161

8-1-11 RTEX hardware error protection 1/2/3 (Err. 98.1/Err. 98.2/Err. 98.3) ............................................................................... 162

8-2 RTEX communication warnings .............................................................................................................................. 163

8-2-1 RTEX continuous communication error warning (WngC0h) .............................................................................................. 163

8-2-2 RTEX accumulated communication error warning (WngC1h)............................................................................................ 164

8-2-3 RTEX Update_Counter error warning (WngC2h) ............................................................................................................... 165

8-3 Locating disconnection point of network cable........................................................................................................ 166

R2.0

Motor Business Division, Appliances Company, Panasonic Corporation

No. SX-DSV02310

Table of Contents