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8.7.2. Automatic Program Execution at Power on
You can automatically execute a program when the power is on.
◊ This function is useful for the application that repeats positioning operation after the
power is on.
The parameter AE (Program auto execution) specifies the channel number whose program is to
be executed.
The following example states how to specify following positioning operation.
Specifications of Operation
Control input
Emergency stop: Activates when the EMST is OFF.
Operation start and hold: Holds the operation when the HLD is OFF.
Control output
Detection of System error: Error is detected when the NOR opens.
In-position: A positioning completes when the I
POS is closed.
Normal operation
1) Automatically turn the servo on and activate the input HLD at the power on.
2) Repeat a 90° step motion in CW direction from the scale home position.
3) Dwell time after completion of a step motion is one second.
bnormal state
Reboot the main power for recovery from abnormal state.
The table below lists the required functions to perform the operation specified above.
Table 8-36: Inputs/Ouputs and parameters required for automatic execution of program after the power on
Category
Name
(code)
Function
Initial
setting
Range Unit
EMST
Emergency stop –
OFF: Emergency stop (Note*)
ON: Normal (Note*)
–
Control
input
HLD
Operation hold –
OFF: Normal
ON: Hold
–
NRM
Reports normal state. –
Open: Alarm or warning
Closed: Normal
–
Control
output
IPOS
Reports completion of
positioning.
–
Open: Positioning incomplete or the
target position data is lost.
Closed: Positioning completed and the
target position is held.
–
ÌAE
Automatically starts a
positioning
-1
–1: Automatic execution is off.
0 to 255
–
channel
Para-
meter
ÌQR
Sets a dividing number to
the circumference of the
scale
360 000 1 to 2 621 440 Number/rev.
IQ
Incremental positioning in
user unit.
– 0 to ± QR × 100
360°/parameter
QR
TI
Sets dwell time. (Pauses
operation for set time.).
– 0.1 to 10 000.0 ms
Command
excusive for
channel
JP
Jump – 0 to 255 channel
Ì: Input of the password is required.
Note*: The signal logic is the normally closed at the
initial setting.
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