Technical Manual for EA350 Analog Pulse Type Servo Driver V101 Caution ☞ 1. Whether this parameter is valid depends on the selected mode. 2. For normal work, the starting segment shall never be set greater than the ending segment. Parameter functions: Only when P9-00=10, set whether it is allowed to interrupt the position command of the segment being currently executed and switch to execute the position command of a newly selected segment. P9-72=0 : No interruption is allowed during execution of the segment being currently executed. Selection of a new segment will be executed immediately after execution of the current segment is completed. P9-72=1 :
If a new segment selection command is received during execution of the current segment, the servo will immediately terminate execution of the current segment and switch to execute the newly selected segment. Caution ☞ 1. This parameter is only valid when P9-00 = 10. 2. When this function is used, make sure P9-02=1; namely execution is performed in the absolute position mode. Otherwise unexpected results may occur. 8.15 PA-xx Multi-segment speed parameter If the servo driver is currently in the speed mode (P0-00=0), and the speed command source is a multi-segment speed command (P2-00=1), this group of functions can be enabled.
PA-xx comprises 34 function codes, including 16 groups (starting from PA-02) that correspond to multi-segment position commands Pr1 to Pr16; a running speed and time is set for every 2 function codes. Parameter functions: When P0-00=1 and P2-00=1, the multi-segment speed running mode is selected. PA-00=0 : Start continuous cyclic operation from spd1 based on a 16-segment speed command and the operation starts automatically when the servo activation is set on. Caution ☞ When activation is set ON again after it is set OFF, the servo will start execution from Pr1. PA-00=1 :
Start a single cycle of operation from spd1 based on a 16-segment speed command; the operation will start automatically when the servo activation is set on and will stop when spd16 is completed. For another run, reactivation is required. PA-00=2 : Start a single cycle of operation from spd1 based on a 16-segment speed command; the operation will start when the servo activation is set on and the CTRG receives a falling edge; when spd16 is completed, the operation will stop. For another run, it is required to receive an additional CTRG falling edge signal. 219 3: Trigger execution of the segment selected by the external DI s Not involved 4:
pr1~pr16, trigger execution of segment 1 for cyclic operation Pr1 P9-70 P9-71 5: pr1~pr16, trigger execution of segment 1 Pr1 Not involved P9-71 6: Trigger execution of the segment selected by P9-01 Not involved 7: Immediately execute the segment selected by P9-01 Not involved 8: pr1~pr16, activate the cyclic sequence to run the selected segment Pr1 P9-70 P9-71 9:
pr1~pr16, trigger the sequence to execute the selected segment P9-70 P9-70 P9-71 P9-72 Whether interruption of the current segment is allowed (when P9-00=10) Initial value 0 Communication address 0947H Unit - Time of taking effect With immediate effect Setting range 0~1 Data size 16bit Control mode P PA-00 Multi-segment speed command execution mode Initial value 0 Communication address 0A00H Unit - Time of taking effect Taking effect upon power-on again Setting range 0~4 Data size 16bit Control mode S