NSK EDD Megatorque Motor, User Manual

Page: 315 / 398

9. Details of Command and Parameter
— 9-69 —
TQ : Tell Position, QR Unit

This monitor reads out the current position.

Refer to “8.6.4. User Scale Positing” and “7.3. RS-232C/USB Monitor” for details.

The readout is in units of the data by the parameter QR (Dividing number, user scale).

This is to monitor the position when a positioning is caused by the commands AQ or IQ(User
scale positioning).
Category Monitor
Format
TQ
Data range 0 to Parameter QR
–1 [360°]/Parameter QR]
TQC : Tell Command Position, QR Unit

This monitor reads out the current commanded position.

Refer to “8.6.4. User Scale Positioning” and “7.3. RS-232C/USB Monitor” for details.

Commanded positioning is a sum of the current position and the position error; it is the current
target position, that is.

The readout is in units the resolution specified by the parameter QR (Dividing number, user
scale).

This is used to monitor the position data in a positioning caused by the commands AQ or IQ
(User scale positioning).
Category Monitor
Format
TQC
Data range 0 to Parameter QR
– 1 [360°/Parmeter]
TR : Tell RDC Position Data

This monitor reads out the error in error counter.

The monitor TR is used when adjusting the position of a limit sensor for Home Return operation.

Refer to “8.8.4. Position Adjustment of Home Limit Sensor” for details.
Category Monitor
Format
TR
Data range 0 to 65535 [0.5 pulses]
TRC : Tell Rotation Command

This monitor reads out the transient velocity command.

Refer to “7.3. RS-232C/USB Monitor” for details.

The transient position command is a differentiation (sampling) of the velocity command; it can
be the velocity compensation command.
Category Monitor
Format
TRC
Data range 0.000 to ± 10.000 [s
-1
]