NSK EDD Megatorque Motor - Program Positioning Operation

6. Operation
— 6-10 —
6.3.2. Program Positioning Operation
 The program positioning operation means an execution of some preprogrammed positioning commands
and operational conditions in the program channels. The inputs of PRG0 to PRG7 specify a program
channel and the input RUN (Start program) starts the positioning operation.
 The program operation is available via RS-232C communication.
 The commands and parameters unique to program positioning operations are listed in the “ Table 6-6:
Inputs/Outputs and parameters related to program positioning.”, and the commands and parameters related
to positioning operations in the “ Table 6-5: Positioning command and parameter ”
Refer to “9. Details of Commands and Parameters” for more details.
Table 6-6: Inputs/Outputs and parameters related to program positioning.
Category
Name
(code)
Function
Initial
setting
Data range
Unit
Control
Input
RUN
Start program
–
Turning ON from OFF starts positioning. .
–
PRG0 to
7
Internal program
channel selection
–
Specifies the program channel by ON and OFF (binary
combination)
–
STP
Stops positioning
operation.
–
OFF: Positioning permitted
ON: Starts decelerating and inhibits positioning operation.
–
Control
Output
BUSY
In-operation
–
Open: Idle
Closed: Executing positioning.
–
IPOS
In-position
–
Open: Positioning unfinished. Lost target position.
Closed: Positioning completed. Target position secured.
–
Parameter
FW
IPOS output mode
–1.0
– 0.1 to – 10 000.0: CFIN mode
0.0: IPOS mode
0.1 to 10 000.0: FIN mode
ms
–
ms
BW
BUSY signal
stability timer
0.0
0.0 to 10 000.0
ms
MD
Deceleration select
0.0
0.0: Applies the deceleration value specified in the
program being executed. 0.1 to 800.0
–
s
-2
OE
Sequence code
0
0: Completes a positioning after the completion of channel program
that is currently being executed.
1: After completion of channel program that is currently executed,
the input RUN executes the program of the channel with the
next channel number. (Disregards the input PRG.)
2: Automatically executes the program of the channel with the next
channel number after completion of the channel program that is
currently executed.
 Besides the positioning commands, rotational velocity and acceleration, it is possible to program almost
all parameters including servo gains and conditions for completing positioning.
These functions make possible to have optimal tuning that is suited for each positioning operation.
 The contents of program are simple. It consists of the settings of parameter and positioning commands and
they will be sequentially executed from the beginning. Example of a program is shown in the “ Fig 6-5:
Program example”.
Fig 6-5: Program example
:CH0
0?MV2.000
1?MA5.0
2?ID9000
3?
:_
Rotational speed: 2 s
-1
Rotational acceleraton: 5 s
-2
Move incrementally in the plus direction by 90°
Program body
The program processing pauses at this point until completion of the program.
Executes from
the top line.
The System secures settings of parameter
untill completion of the program.(*1)
*1: It is possible to secure the parameter settings in the
program after the operation. Refer to “8.7.1. Change of
Parameter via Program Operation” for more details.