NSK EDD Megatorque Motor, User Manual, Page: 285 / 398

9. Details of Command and Parameter
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P IQ : Incremental Positioning, User

The command executes an incremental positioning.

Refer to “6.3.1. Positioning Command” and “8.6.4. User Scale Positioning” for details.

The position is performed in the position scale based on the dividing number of total circumference
specified by the parameter QR (Dividing number, user scale).
Category Command
Format
IQ data
Data range
0 to ± Parameter QR × 100
[360°/Prameter QR] : + sign to rotate in the plus direction
: – sign to rotate in the minus direction
Conditions to be
met

The Motor servo must be on.

Positioning operation caused by an internal command (Positioning command, Jogging and
Home Return) is not executed.

The Motor is not stopping by an alarm or warning.

The input STP (Stop) is not activated.

The monitor TQ (Tell position, QR unit) reads out the current position in units of QR.
P IR : Incremental Positioning, Resolver

Performs an incremental positioning

Refer to “6.3.1. Positioning Command” for details.
Category Command
Format
IR data
Data range 0 to ± 262 144 000[pulse]
: + sign to rotate in the plus direction.
: – sign to rotate in the minus direction
Conditions to be
met

The Motor servo must be on.

Positioning operation caused by an internal command (Positioning command, Jogging and
Home Return) is not executed.

The Motor is not stopping by an alarm or warning.

The input STP (Stop) is not activated.

The monitor TP (Tell position, pulse unit) reads out the current position in units of pulse.
P IS : In-position Stability Timer

Sets the time length to confirm that the position error is stabilized at the completion of positioning.

Refer to “7.2.6. In-position: IPOS” for details.

The output IPOS (In-position) activates when the absolute values of the position error counter is stable
within the setting range of the parameter IN (In-position limit) for the time specified in the parameter IS
(In-position stability timer).
Category Parameter
Format
IS data
Data range 0.0 to 10 000.0 [ms]
Shipping set 0.0
IU : (Factory use only)

This is the monitor dedicated to the factory use.
IUC : (Factory use only)

This is the monitor dedicated to the factory use.