5.3 Description of Function Codes 5.3.9 d codes (Applied functions 2)
Performing orientation the motor is stopped
When positioning with orientation is complete, if under vector control with speed sensor, the servo lock is applied,
and digital output “PSET” is output if the position deviation is within in-position range d239. If the positioning position
is changed, “POS-SET” is turned ON, and orientation is performed again from this condition, position control is
applied, and positioning is performed within a single motor rotation. At this time, the “shortcut”operation which
performs positioning in the shortest distance regardless of the direction in which the motor is running, and the “no
shortcut” operation performed in the run command direction can be selected with d208.
If under V/f control with speed sensor, DC braking is applied, and the inverter maintains output.
If performing orientation while the motor is stopped, the motor will not rotate any more than once, even if a value of
more than one rotation is set in the positioning data.
By turning the run command ON after turning ON orientation command “ORT” while inverter output is stopped,
orientation is performed immediately without running to the set frequency under speed control. However, if
orientation command “ORT”is turned ON and the motor is run while stopped immediately after turning the power,
orientation must be performed after running for one rotation or more under speed control in order to detect the Z-
phase.
[FWD]
OFF ON
[ORT]
OFF
[PSET]
OFF
d213()
F07,E10,E12,E14
OFF ON
[P-SEL]
ON
ON
OFF ON
OFF
ON
ON
d215
d213()
ON
ON
ON
[REV]
現在位置停止目標位置
近回り方向
(CCW)
指令方向
=CW
Fig. 5.3-56 Orientation operation when the motor is stopped
If performing orientation, mount an encoder on the machine shaft. However, if the machine shaft is
directly connected to the motor shaft, mount the encoder on the motor shaft. Orientation can be
performed only if able to detect the Z-phase only once with the same positional relationship while the
machine shaft rotates once.
If using the orientation function, and the motor/machine shaft transmission ratio (reduction ratio) is approximately 5
times (guide) or less, vector control with speed sensor used to perform speed feedback control with the machine
shaft encoder can be selected for the control method.
Under vector control with speed sensor, the servo lock is applied after positioning stops, resistance torque is
produced and the stop position is held, even if an external force is applied after stopping.
On the other hand, if the machine shaft and motor shaft transmission ratio (reduction ratio) is large, it will be difficult
to detect the motor speed when the motor is rotating at low speed without the use of an encoder with high pulse
count, and it may no longer be possible to demonstrate sufficient motor performance. On machines on which it is
not possible to use an encoder with high pulse count, and with large transmission ratio, use V/f control with speed
sensor instead of vector control with speed sensor which performs speed feedback control from the machine shaft
encoder. Under v/f control with speed sensor, it is not possible to apply the servo lock. If an external force is applied
after the motor stops, use the machine brake. Furthermore, under V/f control with speed sensor, torque is generated
at ultra low speed immediately before stopping, and therefore it may be necessary to adjust the torque boost or set
auto torque boost.
Orientation frequency [d213] (high)
Orientation frequency [d213] (low)
Orientation deceleration time [d215]
To Next Page
Loading...
