SD710 Series Servo Drive User's Manual Chapter 12 Motion Control
14
Pn810.Y
Type of positioning control
0: Positioning control as incremental position
1: Positioning control as absolute position
2: Positioning control as relative position
0
Pn810.Z
Fixed speed control unit
0: Speed unit is 0.1rpm
1: Speed unit is PPS
0
Pn811.X
Acceleration time (ACC )
0 ~ 7: Corresponds to function codes Pn890 ~
Pn897
0
Pn811.Y
Deceleration time (DEC )
0 ~ 7: Corresponds to function codes Pn890 ~
Pn897
0
Pn811.Z
Positioning control target speed
0 ~ 7: Corresponds to function codes Pn8A0 ~
Pn8A7
0
Pn811.W
delay time
0 ~ 7: Corresponds to function codes Pn898 ~
Pn89F
0
Pn812
Pr1 path information
-2
31
~ 2
31
-1
0
...
...
...
...
Pn890 ~
Pn897
Pr acceleration and deceleration
time 0 ~ 7
0 ~ 60000
-
Pn898 ~
Pn89F
Pr delay time 0 ~ 7
0 ~ 60000
-
Pn8A0 ~
Pn8A7
Pr target speed 0 ~ 7
0 ~ 60000
-
Note
●
Round 1 of the sequential operation starts from Pr1 and runs to the path pointed to by Pn803.
●
If Pn804 = 0 or Pn804 > Pn803 in sequential operation, motor stops after 1 round of operation.
● If Pn804 ≤ Pn803
in sequential operation, the cyclic operation peforms after round 1 and the
starting segment number is Pn804.
12.2.3 Internal multi-segment position functional parameters
The point position function plans the corresponding position running route according to the set speed, acceleration and
deceleration time, delay, and target position value. The operation parameters of the first position command segment are
used as an example for illustration.
(1 ) Position command
In position mode, the pulse number of position command for point position control is given by Pn804+ POSNUM*4. The
position command units are user units. The pulse number in one revolution of position command is given by the electronic
gear ratio Pn204 and Pn206.
The target position value in position mode can be incremental position, relative position and absolute position.
①
The reference point of the incremental position is the target value of the current position command. As shown in
Figure 12.13, the first segment position command is set to PosCmd0, and after running the pulses of Pos0, the operation
ends, and the remaining pulses of PosRem0 are not completed. If the second segment incremental position command
PosCmd1 is inserted at this point, the total number of pulses run by the second segment position command, is
PosRem0, and the final operation position value is PosCmd1.
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