Sinee EA100-2R8-2A - Page 60

60
Parameters
Pulse form
Logic state
Direction of rotation
Forward
Reverse
P1-02=2
Two phase
orthogonal pulse
(4 times
frequency)
Positive
logic
PULS
SIGN
P1-02=3
Two phase
orthogonal pulse
(4 times
frequency)
Negative
logic
PULS
SIGN
P1-02=4
CCW/CW pulse
Positive
logic
PULS
SIGN
P1-02=5
CCW/CW pulse
Negative
logic
PULS
SIGN
P1-03
Internal position command multiple
execution options
Initial value
Unit
Communication
Address
0
-
2103H
0
-
2102H
Control mode：P
Range：0～2
Data size：16bit
Display mode：Decimal system
Parameter function：When the P2 group is given a position command, the multi section position switch mode is chosen.
P1-03=0：Press the 16 section position from the start of the PR1 cycle.
Pr1
Pr2 Pr3 Pr4 Pr5 Pr6
Pr8
Pr9
Pr10
Pr11
Pr12
Pr13
Pr14
Pr15
Pr16
Pr7
origin
P1-03=1：According to the 16 section position from the PR1 to the Pr16, running only one cycle .
Pr1
Pr2 Pr3 Pr4 Pr5 Pr6
Pr8
Pr9
Pr10
Pr11
Pr12
Pr13Pr14Pr15
Pr16
Pr7
origin
finish
P1-03=2：By external DI input switching operation as stipulated in the table 7-2. DI terminals must be set to 5(CMD0), 6(CMD1),
7(CMD2), 8(CMD3) and 9(CTRG)function.
DI default is low level effectively, if 4 road（5/6/7/8）DI input information in the following way to form a number D of bit 4:
CMD0CMD1CMD2CMD3
0
3
，and D for 0000-1111 respectively corresponding to pr1-pr16，according to the value of D run under different position
pr instructions.
CTRG
CMD3
CMD2
CMD1
CMD0
Pr1 Pr2 Pr3 Pr4 Pr5 Pr6 Pr7 Pr8 Pr9 Pr10 Pr11Pr12Pr13Pr14 Pr15 Pr16 Pr1
NOTE：
1 ： I t w i l l n o t t a k e e f f e c t t h a t i f c h a n g e s t h e c u r r e n t p e r i o d o f p a r a m e n t s i n t h e o p e r a t i o n
when P1-03=0 or 1，these paraments will only be effective in the next run.
2 ： T h e s e g m e n t h a s i m p l e m e n t e d w i l l b e c l e a r e d t h a t i f c a n m a k e O F F o r p o w e r d o w n i n
t h e o p e r a t i o n w h e n P 1 - 0 3 = 0 o r 1 . A t t h e m o m e n t , i f d i r e c t l y t o r u n a g a i n , t h e c u r r e n t
position as a starting point ,since Pr1starts execution.
3 ： T h e m u l t i s t a g e p o s i t i o n c o m m a n d e x e c u t i o n t r i g g e r e d b y f a l l i n g e d g e C T R G w h e n
P1-03=2，please set corresponding DI input terminal low level effectively.
4 ： O n l y t h e e x e c u t i o n o f a p o s i t i o n c o m m a n d h a s f i n i s h e d , t h e r e s p o n s e t o a n o t h e r
command whenP1-03=2.
 In the process of a position command execution, servo drive will not terminate the current position command execution by DI
terminal state change.
 When the current position commad execution has finished, the servo drive in a wait state, according to the current DI terminal state
executes the corresponding segment of position instruction after receives the CTRG falling edge.
Table7-2internal position instruction multistage (DI)function
Pr
instruction
CMD3
CMD2
CMD1
CMD0
CTRG
Corresponding
paramter
explaination
Speed
setting
Pr1
0
0
0
0
↓
P2-00
Pr1pulses total
P2-02