74
User
Manual
for
ELD2
Servo
P904
Acceleration time
Unit: ms/1000rpm
P905
Deceleration time
Unit: ms/1000rpm
P906
Pause time
Pause time after Instruction stop
P907
Special Parameters
Path 0 mapped to Pr8.02 directly
，
Other reserved
And so on
Each path occupy eight parameters and so on
Set path 1~ path15 as same as path0 .
Implement choice and start of actions by write corresponding instructions into 0x6002 (P8.02), to chose
which path to run .
7.4.4 Immediately trigger method
Fixed trigger is limited by 16 segment position, but immediately trigger method is flexible. It is
written to the current path at each time, at the same time trigger the operation of this path. Realize
position, speed , homing and such actions by a data frame.
This method adopt PR0 to implement, PR0 has 8 data in total, the last data P9.07 of it will
mapped to P8.02, write in 0x10 can trigger PR0 operation immediately, realize data trigger running
immediately.
Operating steps:
1. Firstly, configure homing and path which need to run, can power on and send parameter
configuration temporarily, also can configure and save with upper computer. (homing must be
configured)
2. Enable drive.
3. Operate fixed path by P8.02
4. Or write in immediate data by P9.00-9.07, and P9.07=0x10, implement immediately running path 0.
For example
：
Order
Sending orders
（
Master->Slave
）
Return command (Slave->Master
）
1
ID
Sub-station No.
0~31
ID
Sub-station No.
0~31
2
FC
Function code
0x10
FC
Function code
0x10
3
ADDR
Address
0x62
ADDR
Address
0x62
4 0x00
0x00
5
NUM1
Data quantity Word
0x00
NUM
Actually written data
quantity
0x00
6 0x08
0x08
7
NUM2
Data quantity Byte
0x10
CRC
check code
Lo
Hi
8-9
P9.00
Mode XXXX
10-11
P9.01
High position
XXXX
12-13
P9.02
Low position
XXXX
14-15
P9.03
Speed
XXXX
16-17
P9.04
Acceleration
XXXX
18-19
P9.05
Deceleration
XXXX
20-21
P9.06
Delay time
XXXX
22-23
P9.07
Trigger control
0x0010
24
CRC
Check code
Lo
25 Hi
