NSK MEGATORQUE M-ESB-YSB2020AB300 - CO: Position Error Counter over Limit; CR: Circular Resolution; CS: Acceleration Pattern Select

— 8-11 —
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
CO : Position Error Counter Over Limit
Format : CO data
Data : 1 to 99 999 999 [pulse]
Shipping set : 50 000
Default : Not available
l The CO sets the threshold for “Excess position error” alarm.
l When the position error exceeds the set value, the Driver Unit outputs the excess position error
alarm and opens the DRDY output circuit.
l The TS or ?CO command reports the current setting.
« CR : Circular Resolution
Format : CR data
Data : X1, X2, X4, 360 000, 36 000, and 3 600
Shipping set : X1
Default : Not available
l Use the CR to specify the resolution of pulse train input.
l For the details, refer to “6.2.3. Pulse Train Command Positioning Operation.”
l The resolution changes immediately after the CR data command is entered.
l The TS or ?CR command reports the current setting.
CS : Acceleration Pattern Select (common setting)
Format : CS data1, data2
Data range : 1 to 5
Shipping set : 1,1
Default : Not available
l The CS command selects a pattern of the acceleration profiling.
1: Constant acceleration
2: Modified sine
3: Modified trapezoid
4: Cycloid
5: Half sine
l data1 sets an accelerating pattern while data2 sets a deceleration pattern.
l When data2 is default, the pattern of data1 shall be applied to data2.
l The TS or ?CS command reports the current setting.