NSK MEGATORQUE M-ESB-YSB2020AB300 - AR: Absolute Positioning, Resolver; AS: Read out Daisy Chain Status

— 8-5 —
B
B
3
3
t
t
y
y
p
p
e
e
B
B
5
5
t
t
y
y
p
p
e
e
2
2
3
3
t
t
y
y
p
p
e
e
2
2
5
5
t
t
y
y
p
p
e
e
8. Glossary of Command and Parameter
AR: Absolute Positioning, Resolver
Format : AR data1/data2
Data range (data1) : Differs with setting of the parameter PS
Default data1 : 0
Data2 : PL, MI, and EX
Default data2 : Direction in which the move distance is shorter.
l The data1 indicates the position of the destination. The position, which may be read out by the
TP2 command, complies with the user absolute position scale in unit of pulse.
[Refer to “7.2.1. Absolute Position Scale (For Absolute Position Sensor)” or “7.2.2. Incremental
Position Scale (For Incremental Position Sensor).”]
l “data1” range differs with the setting of parameter PS (type of position scale).
Setting
Data range (data1)
PS0
– 99 999 999 to＋ 99 999 999
PSn
0 to (819 200 × n) – 1
* n = 1 to 99; Shipping set: n = 1
l The data 2 indicates the rotational direction. When the PS parameter is set to “0 (zero)”,
the data 2 is invalid.
1) PL: CW direction (When the parameter DI1 is set, the direction is CCW.)
2) MI: CCW direction (When the parameter DI1 is set, the direction is CW.)
3) EX: Follows the DIR input.
OFF: CW direction (When the parameter DI1 is set, the direction is CCW.)
ON : CCW direction (When the parameter DI1 is set, the direction is CW.)
4) Default
• The Motor moves to the direction in which the move distance is shorter to the
destination.
• If the position data of current position and the destination are the same, the move
distance is 0 (zero).
• If the software over travel limit sets the off-limits zone, the Motor rotates in the
direction to avoid the off-limits zone regardless of the move distance.
l This command has two functions, which depend on the usage.
1) If it is entered in the normal standby condition (the prompt is “: __”.), it serves as a
positioning command.
2) If it is entered right after inputting the CH command (channel selection), and the
System waits for a program input (the prompt is “?”), it specifies the rotational amount
of the Programmable Indexer channel.
AS: Read out Daisy Chain Status
Format ：AS
l The command reads out status of axis numbers of connected Driver Units in the daisy chain
communication.
l The AS command will be executed automatically when the power is turned on in the daisy chain
communication mode.
l When the AS command is inputted, the Driver Unit of axis number 0 will be always selected.