SD710 Series Servo Drive User's Manual Chapter 12 Motion Control
17
3
Acceleration &
deceleration
time setting
Pn890=600
(The acceleration and deceleration time for the 0th segment is 600, and the
acceleration from 0 to 3000rpm or deceleration from 3000rpm to 0 is 600ms ).
4
Pr1 command
control word
setting
Pn810.X=0, Pn810.Y=0
(i.e. incremental positioning mode selected ).
Pn811=0x0000
(target speed is Pn8A0, i.e. 100rpm; acceleration and deceleration time
is Pn890, i.e. 600ms; delay time is Pn898, i.e. 0ms, no delay ).
5
Terminal trigger
operation Pr1
Enabling servo with POS0 = 1, i.e. selecting the Pr1 path.
Pn812 = 100000, i.e. Pr1 information is100000 pulses.
Slide CTRG from 0 to 1 to run Pr1 for 100,000 pulses at 100 rpm.
After running, Un013 has increased by 100000 to the value before the running.
6
Communication
trigger operation
Pr1
Let Pn812 = 200000 and Pn806 = 1, then the servo runs the internal position Pr1 for
200000 pulses.
If Pn806=1000 during operation, the servo stops immediately.
12.2.5 Single continuous run
The single multi-segment position (Pn802.X=1 ) is an operation mode of the internal multi-segment position, which starts
from Pr1 and runs only once per trigger. The end segment of the internal position is controlled by the value of Pn803, e.g.
Pn803=3, and the single multi-segment position runs from Pr1 to Pr3 when triggered.
Table 12-5 Example of a single 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=1
(select single continuous operation mode ).
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 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 & deceleration time 0~3, target speed 0~3, and delay 0~3 are default values.
4
Terminal
trigger single
multi-segment
position
Enabling servo.
Slide CTRG from 0 to 1 to trigger a single multi-segment operation command.
The speed waveform of the operation is shown below with an encoder position feedback
pulse increment of 100000 PUU.
