8.14 P9-xx Multi-segment position parameters If the servo driver is currently in the position mode (P0-00 = 1), and the position command source is a multi-segment position command (P1-00 = 1), this group of functions can be enabled. P9-xx comprises 54 function codes, including 16 groups (starting from P9-06) defined as a multi-segment position that corresponds to multi-segment position commands Pr1 to Pr16; a stop time is set for every 3 function codes relative to the target positions, the average speed permitted for running to the target positions and the stop time upon completion of positioning. Parameter functions: When P0-00 and P1-00 are set to 1, i.e.
when multi-segment position control is used, this parameter can be used to select the multi-segment position execution mode. Internal multi-segment position modes can be classified into two types, i.e. general execution mode (non-sequential execution mode) and sequential execution mode, which can be differentiated as follows: ● General mode. After a segment is completed and the motor stops, the next segment will be started. The stop time is set by a function code. ● Sequential mode. Upon completion of a segment, the following segment will be started without stop of the motor, while the speed at the first segment will accelerate or decelerate to the speed for the following segment.
P9-00 = 0 : After the servo activation is set ON, the servo will start execution from the 1st segment and continue to the end of the segment set by P9-71; afterwards, it will run cyclically between the starting segment set by P9-70 and the ending segment set by P9-71 until it is deactivated. Execution is performed in the general mode. P9-00 = 1 :
After activation is set ON, the servo will start running from Pr1 and continue to the end of the segment set 166 Technical Manual for EA190 Series Servo Driver V100 P9-00 Multi-segment position execution mode Initial value 0 Communication address 0900H Unit - Time of taking effect Taking effect upon power-on again Setting range 0~10 Data size 16bit Control mode P 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.