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5 FUNCTIONS USED WITH SSCNET COMMUNICATION
5.8 Compatible Devices with SSCNETIII(/H)
• Home position return without passing motor Z phase
■Control mode
Control modes that can be used are shown below.
• Position control mode (position control, and speed control including position loop)
• Speed control mode (speed control not including position loop)
• Torque control mode (torque control)
However, it is not available to switch to continuous operation to torque control mode of "Speed-torque control". If the mode is
switched to continuous operation to torque control mode, a warning (error code: 09EAH) occurs and the operation stops. "1:
Feedback torque" cannot be set in "Torque initial value selection at control mode switching". If it is set, a warning (error code:
0A55H) occurs and the command value immediately after switching is the same as the case of selecting "0: Command
torque".
■Control of servo parameters
Parameters of VC series/VPH series are not controlled by Motion CPU. Therefore, even though the parameter of VC
series/VPH series is changed during the communication between Motion CPU and VC series/VPH series, it does not
process, and is not reflected to the parameter.
■Servo parameter change function
• Change function of servo parameter can be executed.
The following is the operation for the servo parameter change function.
• When the servo parameter of VC series/VPH series is changed by the servo parameter change function, the parameter
value after changing the servo parameter cannot be confirmed using VC/VPH data editing software. When confirming the
parameter value, execute the servo parameter read request. Also, when the power of VC series/VPH series is turned
OFF, the parameter changed by the servo parameter change function becomes invalid, and the value written by VC/VPH
data editing software becomes valid.
Servo driver Details
VC series When "1" is set in the first digit of the parameter of VC series "Select function for SSCNET on communicate mode (P612)", it is
possible to carry out the home position return without passing the zero point. (Return to home position after power is supplied will
be executed when passing of motor Z phase is not necessary.) When "0" is set, a minor error (error code: 197AH) occurs because
the home position is executed without passing the motor Z phase (motor reference position signal).
VPH series When the parameter of VPH series "Marker (zero point/Z-phase) transit selection in communication mode (P800)" is set to "Zero
return operation allowed", it is possible to carry out the home position return without passing the zero point. (Return to home
position after power is supplied will be executed when passing of motor Z phase is not necessary.) When "Zero return operation
allowed after the marker is passed" is set, a minor error (error code: 197AH) occurs because the home position is executed without
passing the motor Z phase (motor reference position signal).
Operation for the servo parameter change function
Servo parameter write
request
The servo parameter of VC series/VPH series is controlled in a unit of 2 words, so that it is necessary to set "3: 2 words write
request" in "Servo parameter write/read request (SD804)" for executing the parameter write. If "1: write request" is executed to
VC series/VPH series, the parameter write fails, and "-1" is stored in "Servo parameter write/read request (SD804)".
Servo parameter read
request
The servo parameter of VC series/VPH series is controlled in a unit of 2 words, so that it is necessary to set "4: 2 words read
request" in "Servo parameter write/read request (SD804)" for executing the parameter read. If "2: read request" is executed to
VC series/VPH series, the parameter read fails, and "-1" is stored in "Servo parameter write/read request (SD804)".
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