SD710 Series Servo Drive User's Manual Chapter 12 Motion Control
16
Pn812 can be set to a negative value.
(4 ) Time delay
①
For single-segment position, single-time multi-segment position and cyclic multi-segment position modes, the
time
delay is valid
. Set the delay for Pr1 to T (ms ), and after the Pr1 command is completed, a delay of T (ms ) is required
before the next Pr command segment can be executed. If the delay is 0, the deceleration process of the current Pr
command or the acceleration process of the next Pr command is skipped. For example, if the target speed of Pr1 is
800rpm and the target speed of Pr2 is 1000rpm, when switching from Pr1 to Pr2, if the delay is 0, the acceleration is
directly from 800rpm to 1000rpm.
②
For sequential multi-segment position, the
delay is not valid,
and the deceleration process or acceleration process
will be skipped between segments, and it will start directly at the deceleration point of the previous segment and run to
the target speed of the next segment. For example, if the target speed of Pr1 is 1000rpm and the target speed of Pr2 is
800rpm, when switching from Pr1 to Pr2, it will directly decelerate from 1000rpm to 800rpm.
12.2.4 Single-segment position operation
For the single segment operation mode (Pn802.X=0 ) in the multi-segment position, it means that the Pr command
segment is changed and triggered by the user through an external DI terminal or communication function code (Pn806 ).
When the Pr path is selected through an external terminal, the terminal-Pr path relationship is shown in Table 12-3. When
triggered by the communication function code, the home position return is executed when Pn806 = 0, and the
corresponding Pr path is executed when it is 1 ~ 15. During the operation, Pn806=10000+Num (Num is the Pr path
segment, for example, when running the Pr1, Num=1 ); after the operation, Pn806=20000+Num.
Table 12-3 Terminals and corresponding Pr paths during single-segment position operation
POS3
POS2
POS1
POS0
CTRG↑
Command Execution
CTRG↓
Command Execution
0
0
0
0
Home position return
stop immediately
0
0
0
1
Pr1
0
0
1
0
Pr2
0
0
1
1
Pr 3
0
1
0
0
Pr 4
0
1
0
1
Pr 5
0
1
1
0
Pr 6
0
1
1
1
Pr 7
1
0
0
0
Pr 8
1
0
0
1
Pr 9
1
0
1
0
Pr 10
1
0
1
1
Pr 11
1
1
0
0
Pr 12
1
1
0
1
Pr 13
1
1
1
0
Pr 14
1
1
1
1
Pr 15
Table 12-4 Example of Single-Segment Position Operation
Steps
Items
Specific actions
1
Mode Selection
Pn000.X=0
(control mode is position control )
Pn002.X=2
(Position control command source is internal multi-segment position )
Pn802.X=0
(single segment operation mode selected ).
Pn204=0, Pn206=20000
(23-bit encoder motor, electronic gear ratio is 8388608: 20000).
2
Terminal
Assignment
Pn601.YX=0x01
(assign terminal X1 as servo enable terminal S-ON ).
Pn604.YX=0x20
(assign terminal X4 as internal position trigger termsinal CTRG ).
Pn605.YX=0x21
(assign terminal X5 as internal position selection POS0 ).
