NSK Megatorque PS Series, User Manual

Page: 113 / 370

— 6-25 —
The following show a typical example of the pulse train command positioning.
Fig 6-16: Signal timing of pulse train command positioning
Residual pulses of
error counter Setting of IN
Motor motion
< 100 ms
100 ms
Stability timer
Example: IS100 (100 ms)
Max. 170 ms. (Max. 3.2 s)
¹ 1
ON
OFF
closed
open
SVON input
SVST output
FW data
Max. 1 ms.
Pulse train input
closed
open
closed
open
IPOS output
(FW >
0: FIN)
Total pulses in given multiplication
Closed: when the target positon data is secured.
Open: when the taget position data is lost.
(1)
(2)
(3)
(4)
(5)
IPOS output
(FW <
0: CFIN
(FW = 0: IPOS)
¹
1)
It takes 3.2 seconds to activate the Motor servo for
the first time after turning on the main power.
(1) Activates the input SVON (Servo on) to turn the Motor servo on.
(2) The output SVST (Servo state) closes when the Motor servo is turned on.
◊
Inputted pulses before closing the output SVST won’t be counted.
(3) Input the pulse train. The Motor rotates the amount of value set by the parameters PC
(Pulse command) and CR (Circular resolution).
(4) The input IPOS is forcibly opened when the pulse train command is detected.
◊
When the pulse train input is detected, the state of IPOS is forced to become open.
If the pulse train pauses more than 0.1ms, in-position will be occurred at the timing of
(5) in the diagram above. In this case, increase the parameter IS (In-position stability
timer).
(5) A positioning completes when the pulse train input stops and the position error counter
clears the conditions set by parameters IN (In-position threshold) and IS (In-position
stability timer).
When the pulse train input is detected, the state of IPOS is forced to become open. If you wish to
output to see if there is the position error or not, use TEU output.
Refer to “8.3.2.1. Position Error: TEU (Position Error, Under) and TEO (Position Error, Over)”
for the output TEU.