No. SX-DSV02310 - 87 -
R2.0 Motor Business Division, Appliances Company, Panasonic Corporation
6-8-7 Other precautions relat
ed to profile command
• Imports command argument such as Target_Position (TPOS) and starts up when command code changed from 10h to
17h.
• In case of changing command argument and parameter set value in a state of command code 17, there may be cases
where values are not reflected or error is given depending on operation status, parameter setting status and arguments
to be changed as shown in the following table.
bit 5 of Pr7.23
(non-cyclic command
start-up mode)
= 0 (A4N compatible mode)
bit 5 of Pr7.23
(non-cyclic command
start-up mode)
= 1 (Expansion mode)
In operation In suspension In operation In suspension
Positioning mode
(Type_Code=10 – 13h)
△
△
○
△
Target_Position
(TPOS)
Other than positioning
mode
– – – –
Type_Code ×
△
×
△
Latch positioning mode
(Type_Code=12h,13h)
×
△
×
△
Latch_sel1
Other than latch
positioning mode
– – – –
Monitor_Sel
△
△
○
△
Command argument
to be changed
Target_Speed
(TSPD)
△
△
○
△
Pr8.01 (Profile linear acceleration constant)
*
△
*
△
Pr8.04 (Profile linear deceleration constant)
*
△
*
△
Pr8.10 (Movement distance after detection of
profile position latch)
*
△
*
△
Pr8.12 (Profile homing mode setting )
*
△
*
△
Pr8.13 (Profile homing velocity1)
*
△
*
△
Parameter
to be changed
Pr8.14 (Profile homing velocity 2)
*
△
*
△
▪ ○: Reflected
△
: Not reflected by only change of value
Can be reflected by returning command code to 10h once and by changing it to 17h.
*: Not reflected
×: Change is prohibited
Err91.1 (RTEX command error protection) and command error (0140h) are generated.
–: Invalid
• During operation (In_Progress = 1), non-cyclic commands (except for certain homing commands) can also be
executed, maintaining profile operation. However, do not change operation mode (Type_Code and Latch_Sel1 in
profile command). Otherwise, Err.91.1 (RTEX command error protection) and command error (0104h) will occur.
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