9 Internal Position
202 SD780 Series Servo Technical Manual
position command is directly read, and the execution process of the temporarily stored position
command is planned in an overlapping manner.
9.4.6 Interrupt Storage Function
The position command storage function of internal multi-segment position control allows storing up
to 3 position command values. If there is currently a stored position command being executed, and
there is still a stored position command that has not been executed, use an external trigger to
insert a new one position command. The new position command sets the interrupt function, it will
immediately interrupt the executing position command segment, and execute the newly inserted
position command value. After the newly inserted position command is executed, read the stored
ones that have not been executed. Position command value, continue to execute. Interrupt storage
function as shown below:
Interrupt storage diagram
As shown in the figure above, during the execution of the first position command, there is a stored
position waiting to be executed. When the first position is executed, a new position command is
inserted through an external trigger, and the newly inserted position command enables the
interrupt function and executes .the newly inserted position command immediately. After the newly
inserted position command is executed,, execute the stored position command value.
9.5 Overlapping Function
When the multi-segment position is continuously running, the transition of the multi-segment
position command speed can be realized by setting the multi-segment position overlapping
function. The function of the overlapping function is to directly read the operating parameters
(running position, speed, acceleration/deceleration time, etc.) of the next section when the first
position is moved to the position of the deceleration point, and directly plan the next section of the
running trajectory from the deceleration point, thereby achieving a smooth transition of the two-
segment position trajectory. The overlay function is shown below:
