SD710 Series Servo Drive User's Manual Chapter 12 Motion Control
18
v/rpm
t
100
200
500
1000
12.2.6 Cyclic continuous operation
Cyclic continuous operation (Pn802.X=2 ) is the second operation method of internal multi-segment position, which starts
from Pr1 and the end segment is controlled by the value of Pn803, for example, Pn803=3, the cyclic multi-segment
position is triggered to run from Pr1 to Pr3; then it starts from Pr1 again and runs to Pr3, and the cycle repeats.
Table 12-6 Example of Cyclic Multi-Segment Position Run
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=2
(select cyclic continuous operation mode ).
Pn204=0, Pn206=20000
(23-bit encoder moto, 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 terminal CTRG ).
3
Multi-
segment
position Pr
command
setting
Pn803 = 4
, (the internal multi-segment position endpoint is set to Pr4 ).
Pr1: Pn810=0x0000, Pn811=0x0000, Pn812=100000.
Pr2: Pn814=0x0000, Pn815=0x1111, Pn816=200000.
Pr3: Pn818=0x0000, Pn819=0x2222, Pn81A=300000.
Pr4: Pn81C=0x0000, Pn81D=0x3333, Pn81E=400000.
Acceleration and deceleration time 0 ~ 3, target speed 0 ~ 3, and delay time 0 ~ 3 are default
values.
4
Terminal
trigger
cyclic multi-
segment
position
Enable servo:
Slide CTRG from 0 to 1 to trigger a single multi-segment run command.
The speed waveform of the operation is shown below, running from Pr1 to Pr4 and then Pr1
again, cyclically.
