5 Spindle Axis Operation
5.2.3 Orientation Using the QUICK_ORT Command
5-10
5.2.3
Orientation Using the QUICK_ORT Command
The
Σ
-V-SD Drive supports quick orientation.
(1) QUICK_ORT Command Format
Usable Phase
2 or 3
Command Type
Vendor-specified
command
Non-synchronized
command
Processing Time
Within the
communications
cycle
Subcommand
Extension
Possible
Byte
Command
Response
Description
0
QUICK_ORT
(CA hex)
QUICK_ORT
(CA hex)
• The axis accelerates or decelerates to the specified target speed
(TSPD) in the direction of the specified target position (TPOS),
then decelerates to the target position.
• Confirm that RCMD is QUICK_ORT (CA hex) and
CMD_STAT.CMDRDY is 1 to confirm that execution of the com-
mand has been completed.
• Output of the movement reference data has been completed when
SVCMD_IO.DEN changes to 1. Positioning has been completed
when SVCMD_IO.PSET changes to 1.
However, the motor will perform positioning to the specified posi-
tion even if execution of the latch operation is not completed for
some reason. In this case, SVCMD_IO.DEN and
SVCMD_IO.PSET will both change to 1, but
SVCMD_IO.L_CMP will be 0. Therefore, be sure to also check
the Latch Completed signal when positioning has been completed.
• The monitor data that is set in common parameter 87 or 88 is set
in the response for CPRM_SEL_MON1 or CPRM_SEL_MON2.
• Execution of the position latch operation for a latch signal has
been completed when SVCMD_STAT.L_CMP1 changes to 1.
Application Precautions
• When this command is executed, you must select a latch signal in
LT_SEL1 of SVCMD_CTRL and request the latch by setting
LT_REQ1 to 1.
• TPOS (Target Position): Sets the target position from the latch
position. This data is unsigned 4-byte data. The position reference
range is as follows:
0
≤
TPOS < Travel distance per machine rotation [reference units]
Always check the setting of Pn830.
• TSPD (Target Speed): Sets the target speed. This data is unsigned
4-byte data. This value is corrected internally based on the rota-
tion direction. This affects latch requests and control mode
changes. The upper limit of TSPD must be less than the base
speed.
• POS_TREF (Torque Reference for Positioning): This value is
used for the generation of acceleration/deceleration rates and
torque feedforward during positioning.
• T_LIM (Torque Limit): Sets the torque limit value. This data is
unsigned 4-byte data. However, this setting is not effective for
spindle axes.
• Do not execute the POS_SET command during execution of this
command.
• Set SVCMD_IO.SV_MOD (bit 30) to 1 when you use this com-
mand.
• Do not change winding selection during execution of the
QUICK_ORT command. Doing so may affect control changes
and moment of inertia identification, and operation may become
unstable.
• After the QUICK_ORT command is executed and any changes
are made to the target position, target speed, positioning torque
reference, and torque limit, perform the latch operation again and
finally perform positioning. The command is ignored if it is exe-
cuted with the same target position, target speed, positioning
torque reference, and torque limit.
• When in Servo Mode, set POS_TREF to a value that is higher
than T_LIM. Limiting torque with T_LIM may cause saturation.
1
WDT
RWDT
2
CMD_CTRL
CMD_STAT
3
4
SVCMD_CTRL
SVCMD_STAT
5
6
7
8
SVCMD_IO
SVCMD_IO
9
10
11
12
TPOS
CPRM_SEL_MON1
13
14
15
16
TSPD
CPRM_SEL_MON2
17
18
19
20
POS_TREF
MONITOR1
21
22
23
24
-
MONITOR2
25
26
27
28
T_LIM
MONITOR3
29
30
31