NSK Megatorque PS Series User Manual

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6.3. Positioning Operation
6.3.1. Positioning Command
 The EDC Driver Unit incorporates the positioning commands. There are two ways for execution
of the positioning commands.
◊ Input directly the command via RS-232C communication.
◊ Preprogram the positioning commands and the operational conditions and store them in
the program channels. Specify channel numbers by the PRG0 to PRG7 inputs (Internal
channel selection) and input the RUN input (Start program) to execute these programs.
 The table below shows the positioning command and related parameters. Refer to “9. Details of
Commands and Parameters” for more details.
Table 6-5: Positioning command and parameter
Category
Name
(code)
Function
Initial
setting
Data range Unit
IR
Incremental positioning in units of pulse – 0 to ± 262 144 000
AR
Absolute positioning in units of pulse
(Shorter way)
– 0 to 2 621 439
AR/PL
Absolute positioning in units of pulse
([+ direction] [Example:AR100000/PL])
– 0 to 2 621 439
AR/MI
Absolute positioning in units of pulse
([– direction] [Example:AR100000/MI])
– 0 to 2 621 439
pulse
ID
Incremental positioning in units of degree – 0 to ± 3 600 000
AD
Absolute positioning in units of degree
(Shorter way)
– 0 to 35 999
AD/PL
Absolute positioning in units of degree
([+ direction] [Example:AD9000/PL])
– 0 to 35 999
AD/MI
Absolute positioning in units of degree
([– direction] [example: AD9000/MI])
– 0 to 35 999
0.01°
IQ
Incremental positioning with user scale – 0 to ± QR×100
AQ
Absolute positioning with user scale
(Shorter way)
– 0 to QR-1
AQ/PL
Absolute positioning with user scale
([+ direction] [Example: AQ180000/PL])
– 0 to QR-1
Command
AQ/MI
Absolute positioning with user scale
([– direction] [Example: AQ180000/MI])
– 0 to QR-1
360°/paramer
QR
IN
Sets threshold to output the IPOS signal 400 0 to 2 621 439 pulse
IS
In-position stability timer 0.0 0.0 to 10 000.0 ms
MV
Rotational velocity 1.000 0.001 to 10.000 s
-1
MA
Rotational acceleration 1.0 0.1 to 800.0
MB
Rotational deceleration 0.0
0.0: Set by MA.
0.1 to 800.0
s
-2
CSA
Acceleration profile 1
CSB
Deceleration profile 0
0: Set by CSA. (CSB only)
1: Constant acceleration
2: Modified sine
3: Modified trapezoid
4: Cycloid
5: Half sine
Parameter
ÌQR
Circular dividing number for an incremental
positioning with user scale
360 000 1 to 2 621 440
dividing number/
revolution
ÌThe password is required.

NSK Megatorque PS Series Specifications

General

Brand	NSK
Model	Megatorque PS Series
Category	Engine
Language	English