5 Spindle Axis Operation
5.2.2 Performing Orientation by Changing from Speed Control to Position Control
5-8
(2) Orientation Operation from a Stopped State or Low-speed Rotation
Step 1:
The spindle axis is stopped or in low-speed rotation for speed control. (The above figure shows the axis in
low-speed rotation.)
Command = VELCTRL (3C hex)
VREF = 10AAA hex (1,000 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.
Also, check if SVCMD_IO.V_CMP is 1 to determine if the motor speed has reached the reference speed.
Step 2:
The axis accelerates 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, Latch Signal Selection 2 is set for
Latch Request 2 (LT_REQ2) 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.
M19
M05
VELCTRL
(VREF = 19000 hex)
INTERPOLATE
VELCTRL
(VREF = 10AAA hex)
SV_OFF
SMON
M03 S1000
Change from
speed control to
position control
(e.g., S1500)
Change from speed control to position control after
the motor phase-C latch operation is completed.
MECHATROLINK-
III
command
G-code
program
Orientation
completion
Latch
completion
Motor phase C
(phase Z)
Request for latch
Low-speed rotation
(e.g., S1000)