9 Internal Position
183 SD780 Series Servo Technical Manual
9.2.3 Position Command Segment Control Word Definition
The control word for the position command segment is given by Pn804. The lower 16 bits define
the point control mode, and the higher16 bits define the point operation parameter selection.
Pn804
Pr 1 control word
○
Communication
address: 0x804
Default: 0x 00000000
Setting range: 0x0
～
0x80000000
Unit: N/A
Control mode: P
Parameter description: The lower 16 bits of the internal position command control word are the
internal position command trajectory planning control word. Interpolation, overlap, relative /
absolute, single-segment / multi-segment / speed / jump of internal position commands can be
planned by the lower 16 bits of the internal position command control word. The upper 16 bits
define the speed, acceleration, deceleration, and delay time of the Pr position command. The
function code from Pn880 to Pn897 defines the acceleration/deceleration time, positioning speed
and delay time during the operation of the Pr position command.
0 : Single segment position mode
1 : Multi-segment position mode
2 : Speed control mode
3: Jump mode
0 : Absolute position value
1 : Incremental position value
2 : Relative position value
0 : Run at a constant speed after the speed is reached
1 : Automatically run the next segment speed after the
speed is reached
Invalid
0 : The interrupt function is off 1: The interrupt function is on
0 : The overlapping function is off
1 : The over lapping function is on
0 : Target speed unit: rpm
1 : Target speed unit: pps
Invalid
Acceleration time segment number selection
Deceleration time segment number selection
Position command speed segment number selection
Invalid
Delay time segment number selection
A
B
C
D
E
F
G
H
Pn804 low 16 bit
Pn804 high 16 bit
