9 Internal Position
182 SD780 Series Servo Technical Manual
position command selection, triggering and stopping operations.
The setting of the internal position command is related to the function code pn898 . According to
the input value of Pn898,it will perform the according Pr command operation. The correspondence
between Pn898 and the Pr position command selection, trigger, and stop is shown in the following
table:
Pn898
Pr command function
1
～
31
Pr command segment number, trigger Pr position
instruction execution
Relative to Trig+PosNum
1000
The Pr command stop. Equivalent to a STOP bit
other
Invalid
In addition to triggering the Pr instruction segment, Pn898 can also display the segment number of
the current Pr instruction and whether it is completed. Reading Pn898, if current Pn898 is shown
as 10000+PosNum, then the current Pr instruction segment number PosNum of Pr instruction is
being executed. If Pn898 displays 20000+PosNum, it means that the current Pr instruction
segment number PosNum position instruction has been executed, and can receive the next Pr
instruction. The Pn898 function code is defined as shown in the following table:
Pn898
Communication given Pr command
segment number
○
Communication
address: 0x898
Default: 10000
Setting range: 0x0000
～
0xFFFF
Unit: N/A
Control mode: P
Parameter description: Pr position command segment number given by ommunication. By setting
Pn898, the Pr command segment that you want to execute can be given by communication
method and keypad mode. If the internal position command mode of Pr is selected while the servo
is enabled, when the value of Pn898 is set to between 1 and 31, the corresponding Pr position
command segment will be executed. During the execution of the entire Pr internal position
command, the value of Pn898 can be read to determine whether the current executing position
command segment and whether the current position command segment are executed.
If Pn898 is displayed in the format of 10000+PosNum, it indicates that the instruction segment
whose current Pr instruction segment number is PosNum is being executed.
If Pn898 is displayed in the format of 2000+PosNum, it means that the instruction segment whose
current Pr instruction segment number is PosNum has been executed, and the next Pr position
command segment can be accepted.
Note: When the servo is enabled, after set the point number in Pn898 and then execute it. If the
servo is not enabled, Pn898 will always display 20000, and the point operation will not be
performed. By setting Pn898 = 1000, the Pr command segment can be stopped by communication.
9.2.2 Position Command Control Parameter Configuration
Position command segment can be divided into a control position command word and the position
command pulses two parts.. 31 segment position command segment is defined in the
SD780.Assuming that the position command segment number is POSNUM, the control word of the
current position command segment is given by the function code Pn804+POSNUM*4; the current
position command pulse number is given by the function code Pn806+POSNUM*4. By analogy, a
total of 31 segment instruction segments are defined from function code Pn804 to Pn87E.
