NSK EDD Megatorque Motor, User Manual, Page: 225 / 398

8. More Advanced Function
— 8-41 —
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.
Abnormal state
Reboot the main power for recovery from abnormal state.

The table below lists the required functions to perform the operation specified above.
Table 8-37: Inputs/Outputs and parameters required for automatic execution of program after the power on
Category
Name
(code)
Function
Initial
setting
Range Unit
Con
tro
l
input
EMST Emergency stop
–
OFF: Emergency stop (Note*)
ON: Normal (Note*)
–
HLD Operation hold
–
OFF: Normal
ON: Hold
–
Con
tro
l
o
u
tp
u
t
NRM Reports normal state.
–
Open: Alarm or warning
Closed: Normal
–
IPOS
Reports completion of
positioning.
–
Open: Positioning incomplete or the target
position data is lost.
Closed: Positioning completed and the
target position is held.
–
Pa
ra
-
m
e
te
r

AE
Automatically starts a
positioning
-1
–1: Automatic execution is off.
0 to 255
–
channel

QR
Sets a dividing number to the
circumference of the scale
360 000 1 to 2 621 440 Number/rev.
Com
m
a
n
d
e
x
c
u
s
iv
e
fo
r
c
h
a
n
n
e
l
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
JP Jump
–
0 to 255 channel

: Input of the password is required.
Note*: The signal logic is the normally closed at the initial setting.