NSK MEGATORQUE M-ESB-YSB2020AB300 - Programmable Indexer Positioning

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6.2. Position Control Mode Operation
6.2.2. Programmable Indexer Positioning
6.2.2. Programmable Indexer Positioning
l Programmable Indexer Positioning means executing an indexing motion program that is stored
in program channels of the Driver Unit. The RUN input starts an indexing motion programmed
in a channel specified by the PRG0 to PRG5 inputs.
l Activate the Motor servo. (SVON input is ON.)
l Select a channel to be executed. (Input of PRG0 to PRG5 signals)
l Turning the RUN input ON executes the program of selected channel while the IPOS output is
being closed.
l During positioning of the Motor, another input of RUN command will not be accepted.
l Execution of the SP command may start the built-in program. (The same function as RUN input
ON)
Inputting SPm ENT
(m--- program channel number) will start the program of
Channel m.
Figure 6-9: Command timing of Programmable Indexer (In case of BF0: brake sequence invalid)
CW or CCW
velocity
RUN input invalid
MA or CA
Servo ON
(SVON input)
Channel selection
(PRG0 ~ PRG5 input)
DIR input
RUN input
Motor rotation
IPOS output
（FW > 0）
IPOS output
(FW £ 0)
MV or CV
Invaid.
Detectes the rising edge of the
signal and starts rotation.
FW setting
ON
OFF
ON
OFF
Closed
Open
Closed
Open
RUN input invalid
30 ms
10 ms
10 ms min.
l “Program error” alarm will be given if an empty channel is selected and executed.
(Refer to “10. Alarm.”)
l The number of selectable channels by PRGx differs with the type of Driver Unit and its
parameter setting. See Table 6-5 for the selectable number of channels.