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ORIENTATION CONTROL—A500(L)
3.6 Operation
3.6.1
Orientation starting during rotation.
1) The orientation command (X22) causes the motor to decelerate to the orientation speed set in Pr.
351 "orientation speed". (Pr. 351 factory setting: 2Hz)
2) After the orientation speed is reached, the motor decelerates to the creep speed set in Pr. 352 "creep
speed" as soon as the current position signal reaches the creep select position set in Pr. 353 "creep
select position". (Pr. 352 factory setting: 0.5Hz, Pr. 353 factory setting: 511)
3) Furthermore, the position loop begins to work as soon as the current position signal reaches the
position loop select position set in Pr. 354 "position loop select position". (Pr. 354 factory setting: 96)
4) After the position loop is selected, the motor keeps decelerating until the current position signal
reaches the DC injection brake start position set in Pr. 355 "DC injection brake start position", at
which time DC injection brake is started to stop the motor. (Pr. 355 factory setting: 5)
5) When the motor has stopped within the in-position zone set in Pr. 357 "in-position zone", the in-
position signal (ORA) is output with a delay of the in-position signal output delay time set in Pr. 363
"in-position signal output delay time". If the current position signal comes out of the in-position zone
due to external force etc., the in-position signal is switched off with a delay of the in-position signal
output delay time set in Pr. 363 "in-position signal output delay time". (Pr. 357 factory setting: 5)
6) The orientation fault signal (ORM) is output if the orientation cannot be completed within the time set
in Pr. 365 "orientation time limit" after the current position signal has passed the creep select
position.
7) If the orientation (once started) has been stopped by an external force etc. before the in-position
zone is reached and the in-position signal (ORA) is not yet output, the orientation fault signal (ORM)
is output after the encoder stop check time set in Pr. 364 "encoder stop check time" has elapsed. If
the current position signal comes out of the in-position zone due to an external force etc. after the
output of the in-position signal (ORA), the in-position signal (ORA) is switched off after a delay of the
in-position signal output delay time set in Pr. 363 "in-position signal output delay time". If the
orientation cannot be completed within the encoder stop check time set in Pr. 364 "encoder stop
check time", the orientation fault signal (ORM) is output.