Technical Manual for EA350 Analog Pulse Type Servo Driver V101 Table 8-5 Correspondence between DI status and multi-segment speed command Note: 0/1 in the table means the DI terminal is invalid/valid, other than the actual level. 1. Set a DI terminal to the CMD0, CMD1, CMD2 or CMD3 function as needed. 2. When the terminal status changes, the segment being executed will immediately change by accelerating or decelerating to the set speed of the target segment according to settings of P2-04 or P2-05. Caution ☞ PA-00=4 : Continue execution by the segment speed set by PA-01, and stop when PA-01=0. 1.
Modification to any parameter of the segment that is currently running following the command sequence at an internal multi-segment speed (i.e. PA-00=0, 1 or 2) will not be executed during the current run, nor become valid until the next execution of the segment. 2. When a DI terminal is used for multi-segment speed switching, i.e. PA-00=3, the run time parameter is invalid, and the servo motor runs at the speed of corresponding segment according to the status of the external terminal. Besides, any modification to the speed of the current segment will be immediately executed. 3. If activation is set OFF or power failure occurs during operation, executed segment will be cleared. 4.
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 PA-00=4, this parameter is used to select a segment to be executed. When this parameter is set to a non-zero value, the designated segment speed will be immediately executed. For example, if this parameter is changed to 8, the servo will immediately run at the speed set by PA-17 for segment spd8. When this parameter is set to 0, the servo will stop and wait for the next command. Two parameters involved in spd 1 are taken below for demonstration. The same applies for other groups. Parameter functions:
First-segment rotating speed of the multi-segment speed. Parameter functions: It refers to the run time of the first-segment speed when cyclic operation is selected (PA-00=0, 1, 2). Caution ☞ When PA-00=3, 4, this parameter is invalid.
221 Multi-segment speed CMD3 CMD2 CMD1 CMD0 Running speed Run time command Spd1 0 0 0 0 PA-02 PA-03 Spd2 0 0 0 1 PA-04 PA-05 Spd3 0 0 1 0 PA-06 PA-07 Spd4 0 0 1 1 PA-08 PA-09 Spd5 0 1 0 0 PA-10 PA-11 Spd6 0 1 0 1 PA-12 PA-13 Spd7 0 1 1 0 PA-14 PA-15 Spd8 0 1 1 1 PA-16 PA-17 Spd9 1 0 0 0 PA-18 PA-19 Spd10 1 0 0 1 PA-20 PA-21 Spd11 1 0 1 0 PA-22 PA-23 Spd12 1 0 1 1 PA-24 PA-25 Spd13 1 1 0 0 PA-26 PA-27 Spd14 1 1 0 1 PA-28 PA-29 Spd15 1 1 1 0 PA-30 PA-31 Spd16 1 1 1 1 PA-32 PA-33 PA-01 Segment selection in case of multi-segment speed for execution Initial value 0 Communication address 0A00H Unit - Time of taking effect With immediate effect Setting range 0~16 Data size 16bit Control mode S PA-02 Running speed for spd 1 of the multi-segment speed command Initial value 100 Communication address 0A02H Unit rpm Time of taking effect With immediate effect Setting range -6000~6000 Data size 16bit Control mode S PA-03 Running time of multi-segment speed command Spd1 Initial value 1.0 Communication address 0A03H Unit s Time of taking effect With immediate effect Setting range 0~6553.5 Data size 16bit Control mode S