NSK Megatorque PS Series, User Manual

Page: 103 / 370

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6.3.2.3. Programming
Write the program for a program positioning operation via RS-232C communication. When
programming, do not perform any program operation.
There are 256 channels available for programming area and you can program multiple
parameters and positioning commands in one channel.
There are 1 024 lines for the program area in each channel.
◊
There are 256 channels available when four commands are programmed in each
channel.
◊
There are 128 channels available when eight commands are programmed to each
channel.
Fig 6-8: Programming area
Example 1: 4 commands/channe Example 2: 8 commands/channel
Channel 0
CH0
Channel 0
CH0
Channel 1
CH1
•
• • • •
• • • •
• • • •
• • Channel 127
CH127
Channel 255
CH255
Total area:
1 024 lines
Program editing commands for each channel are shown Table 6-3 below.
Table 6-8: Program editing command and exclusive command of channel
Category
Name
(code)
Function Data Unit
CH
Editing channel 0 to 255 channel
CC
Clears program in a channel.
0 to 255
256: Initialize the
demonstration
program
channel
Ì
CC/AL
Clears program of all channel and initializes the
demonstration program.
– –
CD
Deletes a specified channel, thus the number of the
following channels goes up by one.
0 to 255 channel
Editing com
m
and
(
Ì
Requi
re
s the
passwo
rd.)
CI
Inserts a channel with specified channel number thus
deleting the channel with assigned number of 255.
0 to 255 channel
LD
Delete a line being editing thus moving up the following
lines.
– –
Editin
g
command
of
chan
nel
LI Insert a new line on the line being edited. – –
TI Sets a dwell timer to a channel program. 0.1 to10 000.0 ms
Exclusive
command
of chann
el
JP
The program jumps to the top line of a specified channel. 0 to 255 channel
TC Reads out the contents of a specified channel program. 0 to 255 channel
Monitor
TC/AL Reads out the contents of all channel programs. – –