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. 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. 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. PA-00 = 3 : A segment desired to be executed is selected by the external DI according to Table 8-4; the servo will continue running, until the command changes. 173 Technical Manual for EA190 Series Servo Driver V100 Caution☞ 1. This parameter is only useful when P9-00 = 7, 10 or 11. 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. 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 Caution☞ When activation is set ON again after it is set OFF, the servo will start execution from Pr1.