Technical Manual for EA350 Analog Pulse Type Servo Driver V101 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; and when execution is completed, the motor will become static. Note: 0/1 in the table means the DI terminal is invalid/valid, other than the actual level. 1. In this mode, the stop time parameter of each segment is invalid. The motor will remain in the static state after execution of the first segment of a position command is completed, until a change is detected in the state of CMDI terminal, upon which the position command of corresponding segment will be executed. 2.
When a segment of position command is executed, you can set via P9-72 whether it’s allowed to terminate the position command of current segment immediately and execute that of the newly selected segment instead. 3. In this mode, CTRG triggering is not required. Execution will be carried out immediately upon detection of state change in CMDI terminal by the driver. Caution ☞ 1: Modification to any parameter of the currently running segment will take effect upon the next execution of the segment. 2: If activation is set OFF or power failure or homing occurs during operation, the segment that has been executed will be cleared. 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. Caution ☞ 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: Sets whether a command is executed by the relative position or the absolute position when the servo runs in multi- segment position. P9-02 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. For example:
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 10,000 command pulses. Finally the motor stops at the position of 2,000 command pulses forward from the original position. P9-02 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. For example:
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. And then, when segment Pr2 is executed, 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 P9.01=7 or 10, 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 homing during execution of the current segment, the segment that has been executed will be cleared.
215 Pr command CMD1 CMD0 Count of traveling pulses Permitted speed Stop time Pr1 0 0 P9-06 P9-08 Invalid Pr2 0 1 P9-10 P9-12 Invalid Pr3 1 0 P9-14 P9-16 Invalid Pr4 1 1 P9-18 P9-20 Invalid P9-01 Segment selection for multi-segment position execution Initial value 0 Communication address 0901H Unit - Time of taking effect With immediate effect Setting range 0~16 Data size 16bit Control mode P P9-02 Multi-segment position command reference setting Initial value 00 Communication address 0902H Unit - Time of taking effect With immediate effect Setting range 00~11 Data size 16bit Control mode P