Rockwell Automation 8720MC Drives Integration Manual - Manual (Page 149)

Publication 8720MC-IN002A-EN-P — December 2002
Programming Parameters C-37
Name: Orient_Angle Data Display: Integer R/W
Parameter No.
153
File:
Procedure
Group:
Orient Description: Spindle angle position. This parameter is the absolute spindle position angle relative to the zero
position reference point as modified by the motor marker offset (parameter 150) or the spindle mounted encoder
marker offset (parameter 151, SERCOS and SCANport configurations only). Parameter 153 can be provided by a
SCANport peripheral port terminal or a SCANport gateway communication module via explicit message or the
SERCOS link. It is enabled only in connection with the spindle orient request command (see parameter 152). For
a motor mounted feedback source a + sign produces a clockwise orient angle when facing the shaft end of the
motor. For a spindle mounted feedback source a + sign produces a clockwise orient angle when viewed from the
face of the spindle. A value greater than 1 revolution in resolution counts produces a multiple turn orient from a
stand still position. Also for orients the sign of “orient_angle” should agree with the orient direction established
by parameter 154, if clockwise or counter- clockwise is selected. For example: with parameter 79 and parameter
103 both set at 3600 counts and parameter 153 “orient angle” set to 0 counts, a stand still cw orient will take 1
revolution. If parameter 153 is changed to 3600 counts a stand still cw orient will take 2 revolutions. If parameter
153 is changed to 7200 counts a stand still cw orient will take 3 revolutions, etc. If ccw orient is desired
parameter 153 should have a negative value.,
Default:
0.00 Length
2 bytes SCANport Minimum/
Maximum
Min.
≥ -32768
Max. ≤ +32767
SCANport Scaling Resolution
1 = 1 count as determined by parameter 79,
with paramter 79 set at 3600 cnts/rev, 1 increment
= .1 degree, Range = -3276.8 to +3276.7 degrees Units
param 79
counts
Default:
0.0 Length
4 bytes SERCOS/DPI Min/Max
Min. ≥ -2 31
Max.
≤ +2 31
- 1
SERCOS/DPI Scaling Resolution
Scaling type: parameter 76
Scaling factor: parameter 77
Scaling exponent: parameter 78
Rotational position resolution: parameter 79 ) Units
parameter
76
Name: Orient_Options Data Display: Bit Pattern R/W
Parameter No.
154
File:
Procedure
Group:
Orient Description: Spindle Orient Configuration Parameter. When the velocity feedback value is equal to zero, as
defined by the zero speed window (parameter 124) and the spindle orient request is active, the direction and
source of feedback device for spindle orient is defined by this parameter.
If the spindle velocity value is not equal to zero and the current turning direction does not match the
configured orient direction (ccw or cw) the spindle will stop and return to target orient position in the selected
orient direction. If shortest path is selected and the spindle is rotating when the orient request is received the
spindle will orient in the direction of rotation.
Enumerated Bit Pattern:
Structure of spindle position parameter:
Bit 0-1: 00 – rotate clockwise
01 – rotate counter-clockwise
10 – take shortest path
Bit 2: 0 - spindle angle position (parameter 153) - SERCOS interface
Bit 3: 0 – motor feedback - SERCOS interface
1 – spindle feedback
For orients greater than 360 degrees the clockwise or counter-clockwise orient direction must be selected. Also
the sign of the orient angle should agree with the orient direction. That is if a clockwise orient greater than 360
degrees is required the orient angle, parameter 153, should be expressed as a positive angle. If a
counter-clockwise orient greater than 360 degrees is required the orient angle should be expressed as a negative
angle.
Default:
0000 Length
2 bytes Minimum/Maximum
N/A Scaling Resolution
N/A Units
N/A