No. SX-DSV02310 - 121 -
R2.0 Motor Business Division, Appliances Company, Panasonic Corporation
1) When using acceleration/deceleration for velocity command on the servo driver, set acceleration/deceleration through
Pr.3.12 (Acceleration time setting), Pr.3.13 (Deceleration time setting) and Pr.3.14 (S-curve acceleration/deceleration)
beforehand.
When the position loop is configured on the host controller, set Pr.3.12, Pr.3.13 and Pr.3.14 to 0.
When stop the operation with profile position control, set deceleration to Pr.8.04 (Profile linear deceleration constant)
before starting operation.
2) On the host controller set command code to CV control normal command (30h) and set command velocity (CSPD).
3) On the servo driver, change control mode from position control to velocity control as the command code 10h changes
to 30h, to accelerate (start operation) to command velocity (CSPD).
4) On the host controller, check that command code echo is 30h, no command error has occurred, and velocity control
has started. If command error has occurred, start proper counter measure according to the error code.
5) When command velocity (CSPD) is changed during operation, the servo driver updates the velocity upon receiving
the command.
If the new command velocity (CSPD) is higher than the current command velocity, acceleration is made based on
Pr.3.12, and if the new command velocity is lower than the current velocity, deceleration is made based on Pr.3.13.
6) To start stopping sequence, set the command velocity (CSPD) to 0. To use profile position control during stop
sequence, set command code to 17h and Hard_Stop to 1 for immediate stop, or set Smooth_Stop or Pause to 1 to start
deceleration according to Pr.8.04 setting.
7) When profile position control is used for stopping sequence: after completion of output of movement command, status
In_Progress becomes 0 (transfer complete), and absolute value of position deviation becomes below Pr.4.31
(Positioning complete range), servo driver sets In_Position to 1 and informs the host controller that positioning has
been completed.
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