9 Internal Position
204 SD780 Series Servo Technical Manual
Stop function diagram
As shown in the figure above, the current running position command value is stopped by PosStop
function during position command operation. After the stop command is triggered, the motor
decelerates from the current speed to 0 according to the 500ms deceleration time. After the motor
stops, the remaining pulse value of the current position will not clear.
Before starting the next Preposition command planning, the current position command pulse needs
to be processed. If you want to clear the remaining amount of the current position command pulse,
you can clear the remaining pulse by sending a relative position command with a relative position
of 0; if you want to change the current position The remaining pulse of the command is completed,
and the remaining pulse can be run by sending an incremental position command with an
incremental position of 0; if the next position command is an absolute position command, the
current remaining pulse has no effect on the operation of the absolute position command.
9.7 Jump Function
In the internal multi-segment position control program, the Pr command section allowed to be set is
a jump command. When a certain section of the Pr command section is set as a jump command,
when the current stage is executed, it will jump to Pr command section, immediately jump to the
specified Pr command section for execution. The value of the Pr command jumped to can be a
single-segment position command, the first value of a multi-segment position command, speed
command, etc. During the jump process, if Jump command jump in its own situation, the jump
error occurs, and the servo drive automatically stops. The schematic diagram of the jump function
is shown below:
Jump functiondiagram
