Kinco FD5 Series - Page 72

Kinco FD5 AC series servo driver user manual
Chatper 6 Operation mode introduction
72
The DIN Start PosTable signal (rising edge) triggers the entry index (specified via the DIN function) task, but whether or not the
task is executed depends on the start condition (CTL reg bit14-15). After one task is finished, it goes to the next index (CTL reg
bit0-4) or stops, depending on Next / Stop (CTL reg bit 8), Condition (CTL reg bit 9-11) and Loops. The current index box shows
the index of the task which is being executed.
Up to 32 position control tasks can be set, and each task contains the following items:
Idx: Index of task, range: 0-31
Pos inc: Position command
Speed rpm: Speed command during positioning
Delay ms: Delay time before going next index(unit: ms).
Acc idx, Dec idx: Range: 0-7, index of profile acceleration, deceleration during positioning, related acc / dec value is set in
following area fields:
Figure 6-4 Acceleration and deceleration table
CTL Reg: Contains following bits:

Bits 0-4: Next index, defines the index of the next position control task

Bits 5-7: reserved
 Bit 8: Next / stop,
1: Next; go to next task if condition (see bit9-11) = 1 and loops checking is OK (see Loops) after current positioning task is
finished.
0: Stop; stop after current positioning task is finished

Bit9: Cond0 ON,
1: Cond0 ON; condition0 means Logic status of DIN function PosTable Cond0.
0: Cond0 OFF

Bit 10: Cond1 ON,
1: Cond1 ON; condition1 = Rising edge of DIN function PosTable Cond1.
0: Cond1 OFF
 Bit 11: and / or; only on case of both Cond0 and Cond1 is ON,
1: AND; Condition = (Condition0&&Condition1).
0: OR; Condition = (Condition0||Condition1).
Note
Condition = 1 if neither Cond0 nor Cond1 is ON
Condition = Condition0 if only Cond0 is ON
Condition = Condition1 if only Cond1 is ON
 Bits 12-13: MODE, mode of the position command,
0 (A): Pos inc is the absolute position.
1 (RN): Pos inc is the position relative to current target position.
2 (RA): Pos inc is the position relative to the actual position.

Bits 14-15: StartCond, start condition. If this task is triggered by the Start PosTable signal, normally the controller will
execute it immediately, but if there’s a positioning task still running:
0 (ignore): ignore.
1 (wait): execute this command after current task is finished (without delay).
2 (interrupt): interrupt the current task, execute this command immediately.
For convenience, all CTL_Reg bits can be set in the following fields:
Figure 6-5 CTL Reg edit