Parameter functions: When P9-00 is set to 6 or 7, this parameter is used to select a segment to be executed. When it is set to a non-zero value, and no multi-segment position is currently being executed, the designated segment will be executed according to condition P9-00. When execution is completed, this parameter will be automatically reset to zero, and the device will wait for the next command. If this parameter is set to 8 when the motor is static, the servo will immediately execute segment Pr8 defined by parameters P9-33 and P9-34 (without executing P9-35); when execution is completed, this parameter will be automatically reset to 0 and the motor becomes static. Parameter functions:
Set whether a command is executed by the relative position or the absolute position when the servo runs in multi-segment position, and select storage of the running segment. P9-02 bit0 set whether a command is executed by the relative position or the absolute position when the servo runs in multi-segment position bit0 = 0 : Execution is performed by incremental position with the current position as reference. The count of pulses defined by each segment command of a multi-segment position starts from the current static position of the motor. When P9-06 is set to 12000 and P9-10 is set to -10000, Pr2 will be executed when execution of Pr1 is completed.
When segment Pr1 is executed, the motor rotates forward from the current static position by 12000 command pulses; then segment Pr2 is executed, and the motor rotates reversely by 10000 command pulses. Finally the motor stops at the position 2000 command pulses forward from the original position. bit0 = 1 : Execution is performed by absolute position with the current position as reference. The count of pulses defined by each segment command of a multi-segment position corresponds to an absolute position and starts from the current position (d0-34) of the motor. When P9-06 is set to 12000 and P9-10 is set to -10000, Pr2 will be executed when execution of Pr1 is completed.
Before execution of Pr1, the motor is static, and the value of d0-34 is 65300. When segment Pr1 is executed, the motor rotates reversely from the current static position by (65300-12000 = 43300) command pulses to arrive at the position d0-34 = 12000. Then segment Pr2 is executed, and the motor rotates reversely by (12000-(-10000) = 22000) command pulses. Finally the motor stops at the position d0-34 = -10000. P9-02 bit1 = 0 :
When P9.00 = 7, 10 or 11, if during execution of the current segment, execution is interrupted due to activation OFF, power failure or otherwise, the driver will memorize the pulses that have been executed of the current segment, and continue to execute pulses that have not be finished when S-ON is activated again. P9-02 bit1 = 1 : If execution is interrupted due to activation OFF, power failure or otherwise during execution of the current segment, then the segment that has been executed will be cleared.
170 Technical Manual for EA190 Series Servo Driver V100 effect Setting range 0~16 Data size 16bit Control mode P P9-02 Multi-segment position command reference setting Initial value 00H Communication address 0902H Unit - Time of taking effect With immediate effect Setting range 00H~11H Data size 16bit Control mode P For example: For example:
P9-03 Multi-segment acceleration time TPACC Initial value 100 Communication address 0903H Unit ms Time of taking effect Effective from the next segment Setting range 1~10000 Data size 16bit Control mode P P9-04 Multi-segment deceleration time TPDEC Initial value 100 Communication address 0904H Unit ms Time of taking effect Effective from the next segment Setting range 1~10000 Data size 16bit Control mode P