NSK MEGATORQUE M-ESB-YSB2020AB300 - EC: End of Command Message; EP: Excessive Position Error, Alarm Type; FC: Friction Compensation

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8. Glossary of Command and Parameter
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« EC: End of Command Message
Format : EC data
Data : 0 ··· Deactivate (No output)
: 1 ··· Activate (output)
Shipping set : 0
Default : 0
l The EC command activates the function to output the notify signal that the Driver Unit is in
standby state for another operation command in the positioning mode with Programmable
Indexer or the RS-232C communication command.
l Message “!” will be outputted when the function is activated.
l When other commands or parameters are inputted during positioning, the message will be
outputted after execution of these commands.
l The TS or ?EC command reports the current setting.
« EP: Excessive Position Error, Alarm Type
Format : EP data
Data : 1, 2, 3
Shipping set : 2
Default : Not available
l The EP command sets a type of alarm output if “Excessive position error “ occurs.
Setting DRDY output OVER output
EP1
Open Does not change.
EP2
Does not change. Closed
EP3
Open Closed
l Regardless of the setting of this command, 7 segments LED and TA command will report the
alarm state.
l The TS of ?EP command reports the current setting.
« FC : Friction Compensation
Format : FC data
Data range : 0 to 2 047
Shipping set : 0
Default : 0
l The FC parameter is used to specify a compensation value to cancel rotational static friction of
the Motor.
l If 0 is specified in “data,” the function is deactivated.
l Parameter FC can be obtained with the formula shown below.
Static friction torque
FC “data” = 2 047 ×
Motor maximum torque
l The TS or ?FC command reports the current setting.