User Manual for ELD2 Servo
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69
CM D_OK and M C_OK Both of them can be used to represent action is complete
，
after the signal effective, there will
have a delay within 1 ms.
7.3.2 Trigger path
Positioning path can make single segment running, also can make continuous running, configurable.
There are three types of positioning path
：
Position location type, Speed running type and homing type, for
flexible use.
A total of 16PR path, each path set movement type alone, position method, speed, deceleration and
pause time, etc. relevant parameters
：
Parameters
Name
Specification
Pr9.00
Motion mode path 0
PR path mode, determine the action according to type property
Bit0-3
：
Motion Type ,
0 No Action
1 Position Mode
2 Speed running
3 Homing
4 Stop,
use P/V/H to express
Bit4
：
INS,
0 do no interrupt /
1 interrupt,
Use
！
to express not interrupt ,
Bit5
：
OVLP
，
0 do not overlap
1 overlap,
Use SJ to express no overlap jump, CJ to express overlap
jump,
（
right now no
）
Bit6-7
：
0 absolute
1 relative instruction
2 relative to the motor
ABS/INC/REL/
Bit8-13
：
0-15 Jump to the corresponding path
，
Use SJ0x or CJ0x to
express.
Bit14
：
JUMP
，
0 No jump
1 jump
use END to express no jump
use SJ or CJ to express jump
Pr9.01-Pr9.02
Position
Pr9.01 for high 16bit
，
Pr9.02 for low 16bit.
Pr9.03
Speed
running speed, rpm
Pr9.04
Acceleration time
Unit: ms/1000rpm
Pr9.05
Deceleration time
Unit: ms/1000rpm
