9 Internal Position
203 SD780 Series Servo Technical Manual
Overlapping function diagram
As shown in the figure above, when multiple positions overlap is operating, when it reaches the
deceleration point of the previous position, the operating parameters of the next position command
are directly read, and the running trajectory of the next position command is planned on the basis
of the current speed to realize the smoothing of the two positions transition. In the process of
overlapping operation, the remaining pulse value that is not completed in the previous position
command will be compensated to run on the next position command, and there will be no pulse
loss problem.
9.6 Stop Function
During the operation of internal multi-segment position control, PosStop can be used to trigger the
current running position command to stop. PosStop can be triggered by the rising edge of DI
terminal by configuring external DI terminal 0x20; it can also be triggered by means of
communication, setting Pn898=1000, PosStop function is realized. After stopping the currently
running position command through the stop function, the remaining pulse value of the current
position that is not running will be temporarily stored in the program. Before starting to run the next
Pr command program, you need to consider the remaining pulse The stop function is shown in the
figure below:
