Leadshine ELD2-RS70 Series - Page 70

User Manual for ELD2 Servo
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70
Pr9.06
Pause time
Pause time after Instruction stop
Pr9.07
Special Parameters
Path 0 mapped to Pr8.02 directly
And so on
Each path occupy eight parameters and so on
There are several types of path motion：
1、Single path motion
CTRG rising edge /double edge trigger the motion(Pr8.00)，take CTRG rising edge signal to trigger path5 as
example:
Path 5
Speed
CTRG
CMD_OK
Start Path5
Path5 finished
ADD0~3
Path5
Path X
Single path motion
2、Multi path interrupt motion
Interrupt function means a higher path's priority. Interrupt the current valid path, give up the current path and
run the new path directly. Similar to the interrupt priority level of functions.
P9.00 bit4 = 0, interrupt
Path 5
unfinished
Speed
CTRG
rising
edge
ADD0~3
Path5
Path 9
Path 9
interrupt valid
rising
edge
INS, give up current path,
switch to the new path
Multi path interrupt motion
3、Continuous path motion without overlap
After the first path motion finished and pause time delay, start another path motion automatically without
trigger signal.