by P9-71(after completion the servo will enter the zero servo state). Execution is performed in the general mode. P9-00 = 2 : After servo activation is set ON, the servo will start running when the falling edge of the DI terminal defined as CTRG is received, from the starting segment selected by P9-70 to the end of the segment set by P9-71. For another run, it is required to give an additional CTRG falling edge signal. Execution is performed in the general mode. P9-00 = 3 : A segment desired to be executed is selected by external DI according to Table 8-3, and the execution is triggered by the falling edge of the CTRG terminal; when the execution is completed, the motor become static.
Table 8-3 Correspondence between DI terminal status and multi-segment position command Note: 0/1 in the table means the DI terminal is invalid/valid, other than the actual level. 167 Technical Manual for EA190 Series Servo Driver V100 Caution☞ 1.When activation is set ON again after it is set OFF, the servo will start execution from Pr1. 2.When each segment of position is completed, the motor shaft will stop first and wait for lapse of the stop time before the next segment is executed. Caution☞ 1.Each run needs to be triggered by CTRG, and starts from the starting segment set by P9-70.
2.When each segment of position is completed, the motor shaft will stop first and wait for lapse of the stop time before the next segment is executed.
Pr command CMD3 CMD2 CMD1 CMD0 CTRG Count of traveling pulses Permitted speed Stop time Pr1 0 0 0 0 ↓ P9-06 P9-08 P9-09 Pr2 0 0 0 1 ↓ P9-10 P9-12 P9-13 Pr3 0 0 1 0 ↓ P9-14 P9-16 P9-17 Pr4 0 0 1 1 ↓ P9-18 P9-20 P9-21 Pr5 0 1 0 0 ↓ P9-22 P9-24 P9-25 Pr6 0 1 0 1 ↓ P9-26 P9-28 P9-29 Pr7 0 1 1 0 ↓ P9-30 P9-32 P9-33 Pr8 0 1 1 1 ↓ P9-34 P9-36 P9-37 Pr9 1 0 0 0 ↓ P9-38 P9-40 P9-41 Pr10 1 0 0 1 ↓ P9-42 P9-44 P9-45 Pr11 1 0 1 0 ↓ P9-46 P9-48 P9-49 Pr12 1 0 1 1 ↓ P9-50 P9-52 P9-53 Pr13 1 1 0 0 ↓ P9-54 P9-56 P9-57 Pr14 1 1 0 1 ↓ P9-58 P9-60 P9-61 Pr15 1 1 1 0 ↓ P9-62 P9-64 P9-65 Pr16 1 1 1 1 ↓ P9-66 P9-68 P9-69 Caution☞ 1.It is required to set a DI terminal as function CTRG, while a DI terminal of CMDx function can be set as needed.
2.When a segment of position command is executed, execution of current segment of position will not be interrupted by any change to the status of the CMDx or CTRG terminal. 3. In this mode, the stop time parameter of each segment is invalid. The motor will remain in the static state after execution of the first segment of a position command is completed, until receipt of a CTRG faSlelrvion ONg edge when it will start to execute corresponding segment of the position command according to the DI terminal status then.