NSK EDD Megatorque Motor - Positioning Operations

6. Operation
— 6-9 —
6.3. Positioning Operation
6.3.1. Positioning Command
 The Driver Unit Model EDD incorporates the positioning commands. There are two ways for execution of
the positioning commands.
 Input directly the command via RS-232C communication.
 Preprogram the positioning commands and the operational conditions and store them in the
program channels. Specify channel numbers by the PRG0 to PRG7 inputs (Internal channel
selection) and input the RUN input (Start program) to execute these programs.
The positioning command and related parameters are shown in the “ Table 6-5: Positioning command and
parameter.” Refer to “9. Details of Command and Parameter” for more details.
Table 6-5: Positioning command and parameter
Category
Name
(code)
Function
Initial
setting
Data range
Unit
Command
IR
Incremental positioning in units of pulse
–
0 to ± 262 144 000
pulse
AR
Absolute positioning in units of pulse
(Shorter way)
–
0 to 2 621 439
AR/PL
Absolute positioning in units of pulse
([+ direction] [Example:AR100000/PL])
–
0 to 2 621 439
AR/MI
Absolute positioning in units of pulse
([– direction] [Example:AR100000/MI])
–
0 to 2 621 439
ID
Incremental positioning in units of degree
–
0 to ± 3 600 000
0.01°
AD
Absolute positioning in units of degree
(Shorter way)
–
0 to 35 999
AD/PL
Absolute positioning in units of degree
([+ direction] [Example:AD9000/PL])
–
0 to 35 999
AD/MI
Absolute positioning in units of degree
([– direction] [example: AD9000/MI])
–
0 to 35 999
IQ
Incremental positioning with user scale
–
0 to ± QR×100
360°/paramer QR
AQ
Absolute positioning with user scale
(Shorter way)
–
0 to QR-1
AQ/PL
Absolute positioning with user scale
([+ direction] [Example: AQ180000/PL])
–
0 to QR-1
AQ/MI
Absolute positioning with user scale
([– direction] [Example: AQ180000/MI])
–
0 to QR-1
Parameter
IN
Sets threshold to output the IPOS signal
400
0 to 2 621 439
pulse
IS
In-position stability timer
0.0
0.0 to 10 000.0
ms
MV
Rotational velocity
1.000
0.001 to 10.000
s
-1
MA
Rotational acceleration
1.0
0.1 to 800.0
s
-2
MB
Rotational deceleration
0.0
0.0: Set by MA.
0.1 to 800.0
CSA
Acceleration profile
1
0: Set by CSA. (CSB only)
1: Constant acceleration
2: Modified sine
3: Modified trapezoid
4: Cycloid
5: Half sine
CSB
Deceleration profile
0
QR
Circular dividing number for an incremental
positioning with user scale
360 000
1 to 2 621 440
dividing number/
revolution
The password is required.