Technical Manual for EA350 Analog Pulse Type Servo Driver V101 For use of this function, it is required to set P0-00 to 6, with a DI terminal set to 10, and the terminal shall be set to be valid upon power on by P6-01. P0-6 and P0-07 shall be properly set to prevent equipment and motor damage. Setting values of these two parameters shall not exceed 100.00. P2-01 and P9-08 shall be set property to prevent overspeed resulting in mechanical problems. Parameter functions: Set whether to enable the function of reading motor parameters stored in the serial encoder upon power-on. P8-43=0 : Set whether to enable the function of reading motor parameters stored in the serial encoder upon power-on.
(For an incremental encoder, this parameter can only be 0) P8-43=1 : When the servo driver is powered on, if a properly connected encoder is detected and the encoder is a serial encoder (only for Tamagawa Encoder Protocol), motor parameters stored in the encoder will be immediately read and used. If parameters fail to be read or parameters read are abnormal, motor parameters defined by Pd-01 are used in default. 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 the servo is deactivated. Execution is performed in the general mode. 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.
Caution ☞ 212 P8-43 Motor parameters to be read after power-on Initial value 0 Communication address 0900H Unit - Time of taking effect With immediate effect Setting range 0~1 Data size 16bit Control mode P 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