No. SX-DSV02310 - 123 -
R2.0 Motor Business Division, Appliances Company, Panasonic Corporation
1) When stopping by using profile position control, set the deceleration by Pr.8.04 (Profile linear deceleration constant)
beforehand.
2) The host controller sets command code to normal command (40h) of CT control and sets command thrust (CTRQ).
3) The servo driver changes the control mode from position to thrust as the command code is changed from 10h to 40h,
starting acceleration (starting operation) according to command thrust (CTRQ).
4) On the host controller check that command echo is 40h and no command error has occurred and thrust control has
started. If a command error has occurred, take appropriate countermeasure according to the error code.
5) Upon receiving new command thrust (TRQ) during operation, servo driver updates the thrust.
6) To trigger stop sequence, set command velocity (CSPD) to 0. To stop with profile position control, set command code
to 17; to stop immediately, set Hard_Stop to 1; to decelerate according to the setting of Pr.8.04, set Smooth_Stop or
Pause to 1.
7) When stopping under profile position control, the servo driver sets In_Position to 1 as status In_Progress is set to 0
(transfer complete) and absolute position deviation is below the value specified by Pr.4.31 (Positioning complete
range), and informs the host controller that the positioning operation has completed.
Precautions
• While the velocity limit is active, the command thrust (CTRQ) from the host controller is not directly applied to the
motor. As the motor velocity is controlled to the velocity limit value, the result is reflected on the thrust command to
the motor.
For velocity control function, refer to 4-2-3-4.
• While the thrust control is active, thrust limit switching function is disabled and only Pr.0.13 (1st thrust limit) is valid.
• When absolute value of command thrust (CTRQ) exceeds the value of Pr.0.13 (1st thrust limit), Pr.0.13 is given
priority.
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