Servo ON P9-00 = 10 : A segment desired to be executed (only Pr1~Pr4) is selected by external DI according to the following table for immediate execution; when execution is completed, the motor will become static and wait for the next valid edge of the DI terminal. P9-00 = 11 : A segment desired to be executed (only Pr1~Pr3 and homing) is selected by external DI according to the following table for immediate execution in the absolute position mode; when execution is completed, the motor will become static and wait for the next valid level of the DI terminal.
When CMD2 is valid, the DO terminal defined as HOME will have valid output after Pr3 and become invalid when other Pr commands are executed. 169 Technical Manual for EA190 Series Servo Driver V100 Caution☞ 1: The stop time between segments is invalid in this mode. 2: During running in this mode, including switch upon completion of one segment to the next segment for running, output of position reached signal is invalid, until execution of the last segment is completed. Pr command CMD3 CMD2 CMD1 CMD0 Count of traveling pulses Permitted speed Stop time Pr1 0 0 0 ↑ P9-06 P9-08 Invalid Pr2 0 0 ↑ 0 P9-10 P9-12 Invalid Pr3 0 ↑ 0 0 P9-14 P9-16 Invalid Pr4 ↑ 0 0 0 P9-18 P9-20 Invalid Caution☞ 1.
It is required to set P9-02 as the absolute position, and execute homing first after activation to determine the origin; otherwise unexpected results may occur. 2. When a segment of position command is executed, if P9-72 is set to allow interrupting the current segment, then once a new valid edge of CMDx terminal is received, the servo will immediately switch to execute the position command of the newly selected segment. Pr command CMD2 CMD1 CMD0 Count of traveling pulses Permitted speed Stop time -: Status of the terminal Pr1 0 0 1 P9-06 P9-08 Invalid Pr2 0 1 0 P9-10 P9-12 Invalid Pr3 0 0 0 P9-14 P9-16 Invalid No effect.
0 1 1 Invalid command 1 - - P9-14 P9-16 Invalid Caution☞ 1.In this mode, it is required to set P9-02 as the absolute position; otherwise unexpected results may occur. 2.For re-activation after deactivation, it is required to execute homing first to determine the origin.Otherwise the driver will not respond to the Pr command, or unexpected results may occur. 3.If P9-72 is set to allow interrupting the current segment, then once a new valid level of CMDx terminal is received when a segment of position command is being executed, the servo will immediately switch to execute the new segment.
Caution☞ 1.Modification to any parameter of the currently running segment will take effect upon the next execution of the segment. 2.If activation OFF, power failure or homing occurs during running, the segment being executed will be cleared (when P9-00 = 7, 10 or 11, whether the segment will be cleared depends on P9-02 bit1; however, it will surely be cleared if homing is executed). 3.When the CTRG terminal is used to trigger execution, it is required to set the DI terminal defined as CTRG to be valid at the low level. Servo ON P9-01 Segment selection for multi-segment position execution Initial value 0 Communication address 0901H Unit - Time of taking effect With immediate