Leadshine ELD2 Series - Trigger Path

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UserManualforELD2Servo
Remark ： Homing also be done by positioning function, only need to set the path to be homing mode.
CMD_OK and MC_OK Both of them can be used to represent action is complete ， after the signal effective,
there will have a delay within 1 ms.
7.3.2 Trigger path
Positioning path can make single segment running, also can make continuous running,
configurable. There are three types of positioning path：Position location type, Speed running type
and homing type, for flexible use.
A total of 16PR path, each path set movement type alone, position method, speed, deceleration
and pause time, etc. relevant parameters：
Parameters Name Specification
P900
The model of the PR pat, to determine the action property according to
motion mode
Motion mode
path 0
Bit0-3：TYPE: 0 No Action /1 position addressing /2 speed running/3
homing
Bit4: INS,0 do not interrupt /1 interrupt （All interrupt now）
Bit5: OVLP，0 do not overlap /1 overlap（Null）
Bit6-7: 0 absolute position /1 relative instruction /2 Relative to the
motor
Bit8-13： 0-15 Jump to the corresponding path
Bit14： JUMP: 0 do not jump /1 jump