No. SX-DSV02310 - 145 -
R2.0 Motor Business Division, Appliances Company, Panasonic Corporation
7-6-2 Precautions for control mode change during operation
•
Switching between modes PP (profile position control), CV (cyclic velocity control) and CT (cyclic thrust control)
during operation is possible.
• Upon switching to PP during operation, the profile operation should be started: change to 17h and not to 10h.
• Switching from CP (cyclic position control) to PP, CV or CT is possible during operation. In contrast, switching to
CP is possible while operation is paused.
To smoothly change control mode to CP, when applying the command from the host controller, command position
(TPOS) should include correction process.
When changing from PP to CP, control mode remains position control, but correction is required to command
position (TPOS) of given command.
<Supported switching during operation>
After switching
Before switching
PP
(17h)
CP
(2h)
CV
(3h)
CT
(4h)
PP(10h)
CP(20h)
CV(30h)
CT(40h)
▪ Do not change control mode during the following PP operation.
Otherwise, Err91.1 (RTEX command error protection) and command error (002Eh) will occur.
Type_Code Operation mode
12h Profile position latch absolute positioning
13h Profile position latch relative positioning
31h Profile homing 1
32h Profile homing 2
33h Profile homing 3
34h Profile homing 4
35h Profile homing 5
• When changing control mode during operation, correctly apply the command so that the velocity in the previous and
new modes are the same.
Actual velocity (APOS) before mode change = command velocity (target velocity) after mode change
When control mode is changed during acceleration/deceleration, mode may not be smoothly changed. Even at the
constant velocity, mode may not be smoothly changed due to certain factor, e.g. if acceleration/deceleration setting
is large.
• Before changing mode from CV or CT to PP with position command filter (FIR, smoothing) enabled, a steady
constant velocity should have been maintained for a period longer than the filter time constant (FIR, smoothing total
setting time).
• For smooth switching between control modes, disable the damping filter because the damping filter is active only
for position control.
• When the gain changes after switching of control mode, switching is not smoothly performed.
There are some other conditions
that prevent smooth switching operation.
If the vibration during switching cause problem, perform switching while related sections are in stop
condition.
2.02.0
2.02.0
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