5-23
MHT260a (Engl.)
(2) Indexing end judgment time
The output timing of [WPSET] signal is shown below.
1) The current command position reaches the target position.
2) The motor’s current feedback position follows the current command position to reach the target position.
3) When the difference (deviation) between the current feedback position and the current command position is less than the deviation zero
width (basic para. 53), the deviation zero signal is turned on.
4) When the deviation zero signal is continuously held on during the indexing end judgment time (basic para. 57), the [WPSET] signal is
turned on.
Basic parameter 57
Para. Name Setting range Initial value Change
57 Indexing end judgment time 0.000 to 1.000 [s] (in 0.001 step) 0.050 Always
・Output form of [WPSET] signal is as follows:
Cause Deceleration method (*) Indexing end [WPSET] signal Remark
Forward command [FWD]
Auto start [START]
Origin return [ORG]
“Preset deceleration time”
to “servo lock”
On at stopping Not turned on when manual
indexing is invalid.
Pulse train ratio 1
Pulse train ratio 2
Pulse train input Always off -
Position preset end - On at preset end -
Deviation clear - Always off -
Free-run [BX] Load torque Retained at preceded status -
Temporary stop “Preset deceleration time”
to “servo lock”
Off At temporary stop off,
executes indexing action
again.
Positioning cancel “Preset deceleration time”
to “servo lock”
On at stopping Not turned on when manual
indexing is invalid.
Run command [RUN] off “Forced zero speed” to
“base off”
Off Ready [RDY] off
Forced stop [EMG] off Forced zero speed Off -
Alarm detection [ALM]
(minor fault) (*)
“Forced zero speed” to
“base off”
Off -
Alarm detection [ALM]
(major fault) (*)
Base off Retained at preceded status -
(*) : Minor fault … Deviation excessive [OF], braking resistor overheat [rH], amplifier overheat [AH], encoder overheat [EH] and bus
communication error [tE]
Major fault … Alarm detection other than minor fault
Forced zero speed … Decelerates to a stop rapidly.
Base off … Motor has no driving force (free-run).
Time
OFF
OFF
ON
ON
Deviation zero (width) (basic para. 53)
Speed
Deviation zero
Indexing end [WPSET]
Indexing end judgment time (basic para. 57)
To Next Page
Loading...
