Shihlin electric SDP Series, Manual

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7. PR (procedure) program control introductions
7.1
PR introduction
PR (Procedure) program: in the PR mode, the PR program is the smallest unit of the command.
It contains one or more programs and there are 64 groups of programs can be programmed.
They are a group of homing programs (PATH#0) and 63 groups of PR programs
(PATH#01~PATH#63). There are three different methods to trigger the program.
Standard trigger: use POS1~POS6 to assign the triggering program, and triggered by
CTRG↑.
Event trigger: the program is triggered by the rising or falling edge of EV1~EV4, and you can
refer to the parameters setting of PF83 and PF84.
Software trigger: the program can be triggered by writing the required trigger number into
PF82 when servo is started.
7.2 The difference between the PR mode of SDP and SDA.
The PR mode of
SDA
The PR mode of SDP
Total number of
commands 8 independent
positions
1 set of homing (PATH#0)
63 sets of programs
(PATH#01~PATH#63)
Command type
positioning
command positioning/speed/JUMP/WRITE/
Indexing positioning
Position command
Either absolute/
relative Absolute/ incremental/relative(can use
alternatively)
Acceleration/deceleration
time
1 group 16 groups
Rotation speed 8 groups 16 groups
Delay time N/A 16 groups