7.4.3 Fixed trigger mode
Fixed trigger mode is to config no more than 16 segments homing and path. Then, replace CTRG and
HOME with Pr8.02(trigger register) to start the operation path. This mode apply to fixed motion and
simple operation system.
As below procedure：
1. Firstly, config homing and path 0~ path 15 which need to run, can transmit parameter configuration
temporarily after power on, also can configured to save with upper computer.
2. Enable drive.
3. Implement choice and start of actions by write corresponding instructions into 0x6002 (P8.02) .
Write 0x01P, P segment positioning (write 0x010 to run path 0, write 0x013 to run path 3)
Write 0x020,homing
Write 0x021, current position manual set to zero.
Write 0x040, E-stop.
Read 0x000p, means positioning accomplished, can receive new data
Read 0x01P, 0x020, 0x040 means still does not response to instructions.
Read 0x10P, means path is running.
Read 0x200, means instruction accomplished and wait for positioning.
Set path 0 parameters as the table showing, path 1~path15 parameters are the same as path 0
PR path mode, determine the action according to type property
Bit0-3：Motion Type ,
0 No Action
1 Position Mode
2 Speed running
3 Homing
4 Stop,
use P/V/H to express
Bit4：INS,
0 do no interrupt /
1 interrupt,
Use ！to express not interrupt ,
Bit5：OVLP，
0 do not overlap
1 overlap,
Use SJ to express no overlap jump, CJ to express overlap
jump, （right now no）
Bit6-7：0 absolute
1 relative instruction
2 relative to the motor
ABS/INC/REL/
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