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B
B
3
3
t
t
y
y
p
p
e
e
B
B
5
5
t
t
y
y
p
p
e
e
2
3
t
y
p
e
2
5
t
y
p
e
2
3
t
y
p
e
2
5
t
y
p
e
6.2.2. Programmable Indexer Positioning
l Programmable Indexer Positioning means executing an indexing motion program that is stored
in program channels of the Driver Unit. The RUN input starts an indexing motion programmed
in a channel specified by the PRG0 to PRG5 inputs.
l Activate the Motor servo. (SVON input is ON.)
l Select a channel to be executed. (Input of PRG0 to PRG5 signals)
l Turning the RUN input ON executes the program of selected channel while the IPOS output is
being closed.
l During positioning of the Motor, another input of RUN command will not be accepted.
l Execution of the SP command may start the built-in program. (The same function as RUN input
ON)
Figure 6-9: Command timing of Programmable Indexer (In case of BF0: brake sequence invalid)
Servo ON
(SVON input)
Channel selection
(PRG0 ~ PRG5 input)
DIR input
RUN input
Motor rotation
IPOS output
（FW > 0）
IPOS output
(FW £ 0)
l "Program error" alarm will be given if an empty channel is selected and executed.
(Refer to "10. Alarm.")
l The number of selectable channels by PRGx differs with the type of Driver Unit and its
parameter setting. See Table 6-5 for the selectable number of channels.
Inputting SPm ENT (m--- program channel number) will start the program of
Channel m.
ON
OFF
30 ms
10 ms min.
ON
OFF
CW or CCW
velocity
Closed
Open
Closed
Open
— 6-13 —
6.2.2. Programmable Indexer Positioning
10 ms
Detectes the rising edge of the
signal and starts rotation.
MA or CA
RUN input invalid
RUN input invalid
6.2. Position Control Mode Operation
Invaid.
MV or CV
FW setting
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Troubleshooting
