7. Optional Specifications and Parts
7
−
5
7.1.3 Orientation operation
(1) Operation
The three types of orientation stop methods are shown in the following drawings. The method is
set in the parameter SPECO.
1. PRE ..................................... (a) Orientation is carried out in the rotation direction.
2. Forward run orientation....... (b) Orientation is always carried out in the forward run direction.
3. Reverse run orientation....... (c) Orientation is always carried out in the reverse run direction.
(2) Operation sequence
1) The motor speed changes from the operation speed to the position loop changeover speed
when the orientation command ORC is ON. The multi-point orientation stop position
command is read simultaneously.
2) The operation changes from speed control to position control (position loop gain parameter
(Note 1)
).
(The position loop change changeover speed is automatically set by the position loop gain.)
3) At changeover, the distance to the orientation stop point is calculated, a deceleration stop is
carried out with the constant deceleration pattern (parameter CSP), and the orientation status
is entered.
4) The orientation completed signal ORCF turns ON when the in-position range (parameter
OINP) is entered.
5) The stop position zero point movement is carried out according to parameter OPST.
6) When the orientation command (ORC) is canceled, the motor returns to the speed of the
speed command issued at that time.
GR1, GR2, GR3
ORCF
Motor speed
12 bit
Stop position command
ORC
(Note 1)
PGM is used for the motor built-in encoder orientation, and PGE is used for encoder
orientation.
ORC
ORCF
Speed
(forward run)
ORC
ORCF
Speed
(reverse run)
