5.2 Spindle Axis Orientation
5-7
Spindle Axis
Operation
Step 1:
The spindle axis is in high-speed rotation for speed control.
Command = VELCTRL (3C hex)
VREF = 85555 hex (8,000 min
-1
)
TFF = 0 hex
ACCR/DECR = FFFFFFFF hex
Distribution of the speed reference has been completed when RCMD = VELCTRL (= 1C hex) and
CMD_STAT.CMDRDY is 1. Check if SVCMD_IO.V_CMP is 1 to determine if the motor speed has reached
the reference speed.
Step 2:
The axis decelerates to the speed required to change from speed control to position control. A speed that is less
than the base motor speed (e.g., 1,500 min
-1
) is recommended when changing the control mode.
Command = VELCTRL (3C hex)
VREF = 19000 hex (1,500 min
-1
)
TFF = 0 hex
ACCR/DECR = FFFFFFFF hex
Distribution of the speed reference has been completed when RCMD = VELCTRL (= 1C hex) and
CMD_STAT.CMDRDY is 1. Check if SVCMD_IO.V_CMP is 1 to determine if the motor speed has reached
the reference speed.
Step 3:
To change to position control, the position coordinates for the spindle axis are created. A spindle motor phase-
C (phase-Z) latch request is performed for this purpose.
The following example uses Latch Request 1 (LT_REQ1). In this case, set Latch Signal Selection 2
(LT_REQ2) for Latch Request 2 to a setting other than phase C (phase Z).
Command = VELCTRL (3C hex)
VREF = 19000 hex (1,500 min
-1
)
TFF = 0 hex
ACCR/DECR = FFFFFFFF hex
SVCMD_CTRL.LT_SEL1 = 0
SVCMD_CTRL.LT_REQ1 = 1
SVCMD_CTRL.SEL_MON3 = 3 (Selects LPOS1.)
SVCMD_CTRL.LT_SEL2 = 1, 2, or 3 (Set to a different value from LT_SEL1.)
Execution of the latch has been completed when SVCMD_STAT.L_CMP changes to 1.
Step 4:
After execution of the latch has been completed, the latch position (LPOS1) is immediately read from the host
controller and the latch request is cancelled.
Command = VELCTRL (3C hex)
VREF = 19000 hex (1,500 min
-1
)
TFF = 0 hex
ACCR/DECR = FFFFFFFF hex
SVCMD_CTRL.LT_SEL1 = 0
SVCMD_CTRL.LT_REQ11 = 0
SVCMD_CTRL.SEL_MON3 = 3 (Selects LPOS1.)
Step 5:
The travel distance from the spindle motor’s phase-C (phase-Z) latch position to the orientation position (stop
position within one revolution of the spindle motor) is calculated and then the position reference is calculated
so that the spindle motor can stop at the designated deceleration rate.
Command = INTERPOLATE (34 hex)
TPOS = xxxxxxxx hex (target position until the motor decelerates to a stop)
VFF = 0
TFF = 0 hex
Step 6:
After the spindle motor stops at the target position (i.e., the orientation position), the orientation operation has
been completed and the spindle motor stays in that state (TPOS = 0 hex for the INTERPOLATE (34 hex) com-
mand). To execute any operation other than the orientation operation from the host controller (e.g., M05 (spin-
dle axis servo OFF), execute the command for that operation.