NSK EDD Megatorque Motor, Руководство пользователя

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9. Details of Command and Parameter
— 9-19 —
P DC : RS-232C Direct Command

This is used to input direct operation command through RS-232C in velocity control mode and torque
control mode.

Since it has poor response performance, use this only for the operations in constant speed or
constant torque or for such purposes as operation test of Motor.

For details, see “6.3.6.2. RS-232C Communication Operation.”
category Command
Format 1
DC data
Data range 1 -32767
～
32767
Shipping set 0

When this command is entered while analog command is valid (see AC command), “DC INHIBITED”
will be displayed and the command will not be executed.

The command value by this command will be cleared to “0” by following operations:
1) Servo Off
2) Emergency stop
3) Over travel limit
4) Control mode switching
5) Analog command valid
6) when MS command is executed, or STP input ON

P DI : Direction Inversion

This parameter switches the counting direction of position scale.

Refer to “6.2.2. Direction of Position Scale” for details.
Category Parameter
Format
DI data
Data range
0 : Counting up to the CW direction seen from the Motor output axis.
1 : Counting up to the CCW direction seen from the Motor output axis
Shipping set 0

Direction setting of hardware travel limit and the phase of position feed back output signal do not reverse
even the counting direction of the position scale data is reversed.

P EC : End Code

This parameter notifies to the communication terminal via RS-232C communication that an execution of
positioning command or Home Return operation is completed and the System is ready for the next
operation.

Refer to “6.3.5. RS-232C Communication Positioning Operation” for details.
 Outputs “
!
” (0x21) when the System is ready for the next operation.

When the System becomes ready for the next operation in the middle of editing characters, the
notice will be sent to the communication terminal after completion of the current editing.
Category Parameter
format
EC data
Data range
0 : Does not notify.
1 . Notifies to the communication terminal
Shipping set 0