NSK EDD Megatorque Motor - Program Operation and Execution

8. More Advanced Function
— 8-39 —
8.7. Program Operation
8.7.1. Change of Parameter via Program Operation
 Change of parameter in a program (local parameter) can be stored after completion of a program
operation. (The Driver Unit will keep it until the control power is off.)
 The parameter PK (Parameter keep) holds local parameter settings.
 The command RE (Return) cancels the held local parameters and resets to the global parameter
setting again.
 Thus the operating conditions can be changed by the next input of the RUN input (Program start).
Table 8-36: Input/output and command related to change of parameter via program operation
Category
Name (code)
Name/Function
Initial
setting
Data range
Control
input
RUN
Program start
 Starts a program.
–
OFF → ON starts program operation
PRG0 to 7
Internal program channel
selection
 Selects channel number.
–
Selects program channel by ON and OFF (Binary
digit)
Parameter
PK
Parameter keep
 Holds local parameter
0
0: Cancels local parameter at completion of
program operation.
1: Holds local parameter after completion of
program operation and maintains its
effectiveness.
Comman
d
RE
Restore global parameter
 Cancels local parameter
and restore the global
setting
–
Cancels local parameter that has been held
and makes global parameter effective until the
next start of the program.
 The following describe an example for use three different ways in setting of gains and conditions for
positioning completion depending on operation sequence: default, moving mounted load A, and mounted
load B.
Fig 8-20: Example for using three different gain settings
:PK1
:LO0.05
:SG6
:IN400
:CH0
0?LO0.12
1?SG10
2?IN100
3?
:CH1
0?LO0.2
1?SG14
2?IN100
3?
:CH2
0?RE
1?
:_
Change of setting for mounted load A
Keeps the local parameter after execution
of a channel program
Default setting in gains, and conditions for
completion of positioning.
 Set as global parameter.
Setting in gains, and conditions for completion of
positioning for mounted load A.
 Set as local parameter.
Setting in gains, and completing
conditions of operation for mounted load
B
 Set as local parameter.
Reset to global parameter.
Change of setting for mounted load B
Gets back to global parameter.