67
User
Manual
for
ELD2
Servo
Remark
：
Homing also be done by positioning function, only need to set the path to be homing mode.
CMD_OK and MC_OK Both of them can be used to represent action is complete
，
after the signal effective,
there will have a delay within 1 ms.
7.3.2 Trigger path
Positioning path can make single segment running, also can make continuous running,
configurable. There are three types of positioning path
：
Position location type, Speed running type
and homing type, for flexible use.
A total of 16PR path, each path set movement type alone, position method, speed, deceleration
and pause time, etc. relevant parameters
：
Parameters
Name
Specification
P900
The model of the PR pat, to determine the action property according to
motion mode
Motion mode
path 0
Bit0-3
：
TYPE: 0 No Action /1 position addressing /2 speed running/3
homing
Bit4:
INS,0 do not interrupt /1 interrupt
（
All interrupt now
）
Bit5: OVLP
，
0 do not overlap /1 overlap
（
Null
）
Bit6-7:
0 absolute position /1 relative instruction /2 Relative to the
motor
Bit8-13
：
0-15 Jump to the corresponding path
Bit14
：
JUMP: 0 do not jump /1 jump
