Yaskawa Varispeed 626M5 - Manual (Page 145)

8.8 Functions
8 -11
8.8 Functions
This section explains in detail the Encoder orientation control code functions.
Orientation Control Application Precautions
In the following cases, be sure to adjust the tuneup and parameters before using the orientation function.
S When using the orientation function for the first time after mounting the M5 to the machine
S When replacing the Motor or Encoder
S When changing the wiring between devices
For details on the tuneup, refer to the adjustment procedure.
There are two types of user-set positioning operations. This section explains them both.
D
Absolute positioning
D
Incremental positioning
8.8.1 Absolute Positioning
Absolute positioning is used when performing positioning to the specified stop position based on the load
shaft origin. Consequently, if the specified stop position is 0_, the shaft will stop at the load shaft origin,
and if the specified stop position is 90_, the shaft will advance 90_ clockwise before stopping.
When the orientation signal is input while the motor is rotating (or while the motor is stopped), the load
shaft immediately decelerates (or accelerates) to the orientation speed that has been set. After attaining the
set speed, the Encoder phase-C signal is checked, and then the shaft stops at the position specified by the
servo loop, and an orientation completion signal (ORE) is output at the same time.
After orientation has been completed, the servo loop will still continue to operate unless the orientation
completion signal is turned OFF, so even if external force is applied to the load shaft, the shaft will not slip
easily from the positioning point.
The timing chart for the absolute positioning operation is shown in the following diagram.
Operation signal (FWD or REV)
Orientation signal (ORT)
Orientation completion signal
(ORE)
Speed
( Reference)
( Actual speed)
Orientation speed
Operation time
(a) Stopping at Specified Position when Motor is Rotating
Operation signal (FWD or REV)
Orientation signal (ORT)
Orientation completion signal
(ORE)
(b) Stopping at Specified Position when Motor is Stopped
0
ON
ON
ON
0
ON
ON
Speed
( Reference)
( Actual speed)
Operation time
Fig 8.10 Absolute Positioning Operation
8
IMPORTANT