NSK MEGATORQUE M-ESB-YSB2020AB300 - DI: Direction Inversion; DP: Debugger for Program; DT: Direct Teaching

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2
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8. Glossary of Command and Parameter
« DI: Direction Inversion
Format : DI data
Data : 0 or 1
Shipping set : 0
Default : 0
l Switches the counting direction of position scale.
l For the details, refer to “7.2.1. Absolute Position Scale (For Absolute Position Sensor),” or 7.2.2.
Incremental Position Scale (For Incremental Position Sensor).”
DP: Debugger for Program
Format : DP
l The DP command monitors the changing state of control Input/Output, and histories of Start/End,
and interruption of positioning in the Programmable Indexer positioning operation.
l Up to 64 latest histories can be monitored.
l The history will be revised along changes in control Input/Output and changes in the
Programmable Indexer positioning operation.
l Refer to “7.1.18.12. Monitoring Histories of Program Execution and Changes on Control I/O.”
DT: Direct Teaching
Format : DT data
Data range : For direct input to a channel
B3 and 23 type Driver Units: 0 to 15
B5 and 25 type Driver Units: 0 to 63
When editing program: no data
Default : 0
l The DT programs the current position as the AR command to a specified channel.
l This function is available for direct input when the prompt is “:” , and for editing program when
the prompt is “?”.