Panasonic MINAS-A5NL Series - 7-3 Cyclic velocity control (CV) operation

No. SX-DSV02310 - 120 -
R2.0 Motor Business Division, Appliances Company, Panasonic Corporation
7-3 Cyclic velocity control (CV) operation
Use t
his operation when performing velocity control by setting command velocity to CSPD.
Servo driver’s control mode is velocity control without position loop. Input the velocity command directly to the velocity
loop.
When this command is received in Block Diagram of 2 Degrees of Freedom Mode, it causes the command error.
17h 10h 30h
Command code
(byte1)
<Master (host controller)>
<Slave>
CV command PP command
Command velocity
CSPD
(byte4-7)
00000000h 00000000h 00004000h 00002000h
10h 30h
Command code
(byte1)
CV command
00000000h 00004000h 00002000h
17h
PP command
00000000h
1: Positioning completed
0: Positioning uncompleted
In_Position
Velocity
Pr.3.12
(Acceleration time setting)
Internal command
velocity
Pr.3.13
(Deceleration time setting)
Pr.4.35
1000 mm/s
Time
Control mode
PP command
Position control (PP)
Position control (PP)
Pr.4.35
CSPD
Command velocity
1: Positioning completed
Velocity control (CV)
1: Velocity
coincidence
1: Velocity
coincidence
FSPD
Feedback velocity
Pr.8.04
(Profile linear deceleration
constant)
10000
Command velocity
CSPD
(byte4-7)
PP command
Smooth_Stop
0 1
0 1
Smooth_Stop
2.02.0