9 Internal Position
180 SD780 Series Servo Technical Manual
Parameter description: electronic gear ratio denominator. They are given together with the
electronic gears.
Note: If the point position control mode is the internal mode, the electronic gear ratio can not be set
arbitrarily set the electronic gear ratio, which will cause data overflow, so that the operation error
line. When the internal position mode is selected, it is necessary to set the internal position mode.
After the electronic gear ratio setting is completed, it is necessary to ensure that the maximum
number of command pulses per revolution is less than 2^ K ( K -bit encoder ).
9.2 Position Control Related Function Code
Position control function, according to the position command, positioning speed, acceleration time,
deceleration time, delay time, Pr command type, absolute/incremental/relative position, interrupt
function, overlap function, storage function to plan the position trajectory. In addition, the position
command trigger can be set through the function code and DI terminal.
9.2.1 Position command trigger, select, stop
Position command trigger, select and stop can be realized in two ways. The first method is to use
the external input terminal (DI terminal) to realize the selection, trigger, and stop the position
command segment number. The second method uses specific function codes to trigger, select,
and stop position commands.
Position command trigger, selection and stop can be realized through DI terminal. The position
command trigger is realized by configuring the POS0-POS4 function of the DI terminal. SD780
allows planning 31 internal position commands. Select the position segment to be operated
according to the combination of POS0-POS3. Set the selected position segment number to NUM,
then the corresponding relationship between POS0-POS4 and the segment number of the position
command is:
The position command trigger is realized through the PosTrig function of the DI terminal. First
select the internal position command segment number through DI terminals POS0-POS3, and then
POS4
POS3
POS2
POS1
POS0
Position segment
number NUM
0
0
0
0
0
0
0
0
0
0
1
1
0
0
0
1
0
2
0
0
0
1
1
3
0
0
1
0
0
4
0
0
1
0
1
5
0
0
1
1
0
6
0
0
1
1
1
7
0
1
0
0
0
8
0
1
0
0
1
9
0
1
0
1
0
10
0
1
0
1
1
11
0
1
1
0
0
12
