9 Internal Position
191 SD780 Series Servo Technical Manual
Default: 0
Setting range: - 2^31
～
2^31
Unit: circle
Control mode: P
Parameter description: In the single-segment / multi-segment position mode, it is the position
command pulse number given. In speed mode, it is the running target speed given.
Note: Pay attention to the speed given unit when the speed value is given in the speed mode, and
the speed unit is given by the D part of Pn804.
9.2.5 Position Command Segment Sharing Parameters
The speed, acceleration/deceleration time, and delay time of the Pr position command are
common parameters. Each of the Pr position command segments can select one of eight speeds,
acceleration/deceleration time, and delay time as the operating parameters of the current position
command segment. The shared parameter definition is as follows:
Pn880
Internal multi-segment position
acceleration/deceleration time selection 0
○
Communication
address: 0x880
Default:100
Setting range:0
～
60000
Unit:N/A
Control mode: P
Parameter description: Internal position command acceleration/deceleration time selection. From
the function code Pn880 to the function code Pn887, a total of 8 sets of internal multi-segment
position acceleration/deceleration time are defined. Control the actual internal multi-segment
position, according to the part E of the position of the control command multi-segment word high
16 bit of , select Pn880 to Pn887 a parameter as an internal position command acceleration time;
controlled according to an internal position multistage position The F- part of the upper 16 bits of
the word selects one of Pn880 to Pn887 as the deceleration time of the internal multi-segment
position command.
Note: When several different position command segments select the same acceleration
/deceleration time function code, modify the acceleration/deceleration time value of the
corresponding function code, and the acceleration/deceleration time of several position commands
will be changed at the same time. Deceleration time setting is from 0rpm to accelerate to rated
speed of the motor required.
Pn881
Internal multi-segment position
acceleration/deceleration time selection 1
○
Communication
address: 0x881
Default: 200
Setting range: 0
～
60000
Unit: ms
Control mode: P
Same as Pn881
Pn882
Internal multi-segment position
acceleration/deceleration time selection 2
○
Communication
address: 0x882
Default: 300
Setting range: 0
～
60000
Unit: ms
Control mode: P
Same as Pn881
Pn883
Internal multi-segment position
acceleration/deceleration time selection 3
○
Communication
address: 0x883
