9 Internal Position
186 SD780 Series Servo Technical Manual
Jump mode description:
If the current position command segment bit jump mode, the current position command segment
immediately jumps to the position command segment of the specified segment number, and the
position command of the specified segment is executed.
Function code B part function definition: select command mode.
Part B
Single / multi-segment
position mode
Speed mode
Jump mode
0
The current position
command value is the
absolute position value
After the
implementation of
the current speed
does not switch to
the next Pr
——
1
The current position
command value is the
incremental position value
The next segment of
Pr is automatically
executed after the
current speed is
executed
——
2
Current position command
value is relative position
value
——
——
Single segment/ multi segment position mode: Part B of the position command type description:
1 Absolute position command: The motor running target position value is the given position
command value.
TargetPos = PosAbs.
2 Relative position command: The motor running target position value is the current actual position
value plus the given relative position value.
TargetPos = PosRel.
3 Incremental position command: motor running target position value is the previous position
command value plus the current incremental position command value.
TargetPos = PosInc.
Speed mode: Part B function description:
In the speed mode, the B part of the control word indicates whether the next Pr command value is
automatically executed after the current speed command is reached. If the B part is 1, the next Pr
command value is automatically executed. The next Pr instruction can be a single-segment, multi-
segment position command, a speed command, or a jump command. If part B is 0, the motor will
continue to run at the speed value given by the current Pr until the next Pr instruction starts
execution.
Function code C part function definition: select the interrupt function.
Part C
Position mode
Speed mode
Jump mode
0
Interruption function
is not enabled
Interruption function
is not enabled
Interruption function
is not enabled
1
Interrupt function
enable
Interrupt function
enable
Interrupt function
enable
