6 SERVO MOTOR DRIVING
6.3 Indexer mode (idx)
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6
Shortest rotating indexer
This operation mode automatically changes a rotation direction to the shortest distance to execute positioning to a station.
Select a station No. with "Target point table" to execute positioning. The values set in the object are used for the servo motor
speed, acceleration time constant, and deceleration time constant during operation.
Setting
Set objects and parameters as shown below.
*1 The torque limit changes from the setting value of [Pr. PC77] to the setting value of "Positive torque limit value" or "Negative torque limit
value" when "Controlword bit 4 (New set-point)" is input. After the output of S_MEND (Travel completion) and the time set with [Pr.
PT39] has passed, the torque limit will be switched from the setting value of "Positive torque limit value" or "Negative torque limit value"
to the setting value of [Pr. PC77].
Other parameter settings
The setting is the same as in the rotation direction specifying indexer.
Page 143 Rotation direction specifying indexer
Operation
Selecting the next station number with "Target point table" and switching on "Controlword bit 4 (New set-point)" starts
positioning to the selected next station at the set speed, acceleration time constant and deceleration time constant.
Item
Object/parameter to be used
Setting
Indexer mode (idx) selection
Modes of operation
Set "-103".
Next station position
Target point table
Set any next station No.
Shortest rotating indexer selection
Controlword
Switch on "Controlword bit 6 (Operation mode)".
Servo motor speed
Profile velocity
Set the servo motor speed.
Target speed No.
Set the command speed to the next station to be executed.
When "Profile velocity", "Profile Acceleration", and "Profile
deceleration" are all set to values other than 0, the set value of "Target
speed No." is disabled.
Acceleration time constant
Profile Acceleration
Set the acceleration time constant.
Target speed No.
Set the acceleration time constant to the next station to be executed.
When "Profile velocity", "Profile Acceleration", and "Profile
deceleration" are all set to values other than 0, the set value of "Target
speed No." is disabled.
Deceleration time constant
Profile deceleration
Set the deceleration time constant.
Target speed No.
Set the deceleration time constant to the next station to be executed.
When "Profile velocity", "Profile Acceleration", and "Profile
deceleration" are all set to values other than 0, the set value of "Target
speed No." is disabled.
Speed limit
Max profile velocity
Set a limit value of operation speed.
Torque limit
Positive torque limit value
Negative torque limit value
Set a torque limit value in operation.
[Pr. PC77]
Set a torque limit value in stop.
[Pr. PT39]
Set a time period for switching from the torque limit value in operation
to that in stop.
Item
Object to be used
Setting
Station No. selection
Target point table
Set a station No. at which positioning starts.
Start
Controlword
Switch on "Controlword bit 4 (New set-point)".
