5.3 Description of Function Codes 5.3.9 d codes (Applied functions 2)
d213 Orientation frequency
This is the frequency used when switching from speed control to position control with orientation command “ORT”
from speed control.
If the set frequency is high, the time until in-position is achieved will become longer, and if torque limiting
deceleration is being performed, a position deviation over (oF) alarm may occur. If performing torque limiting
deceleration, set the frequency when switching from speed control to position control as low as possible.
If the set frequency is low under V/f control with speed sensor, it will be difficult to position the motor at the specified
position without adjusting the torque boost or using auto torque boost. Adjust orientation deceleration time d215,
and both position regulator gain 1 (low speed range) (d203) and position regulator gain 2 (high speed range) (d204)
so that the prescribed settling time is obtained to suit the control method.
d215 Orientation deceleration time
Sets the deceleration time from orientation speed d213. Adjust this time if there is any overshoot or swing back
relative to the specified position, allowing the settling time to be adjusted.
時刻
機械軸速度
揺れ戻り
揺れ戻り 揺れ戻りなし
d215
d215 d215
d215
d240, d241: Preset position
The command current position and feedback current position can be set to the desired position with the machine
homing position as the reference.
With orientation, the position offset with the machine homing position and encoder Z-phase are normally handled
as the homing shift, and therefore preset position d240 and d241 should be set to 0.
d242, d243: Homing shift
The homing shift for orientation is equivalent to the position offset with the machine homing position and encoder
Z-phase.
Adjust the homing shift using the following procedure.
機械軸
機械原点
エンコーダZ相
=目標位置
機械原点
エンコーダZ相
移動
=現在位置
機械軸
機械軸
機械原点(0)
エンコーダZ相
=プリセット位置
d240, d241=0
(原点シフト量)
d242, d243
(1) By turning ON the orientation command with the target position as 0, positioning is performed with the encoder
Z-phase as the home position.
(2) After this, by setting d217 = 1, running the motor, moving the machine shaft to the machine home position
and stopping, and turning ON position preset “P-PRESET”, feedback current position d298 and d299 and
homing shift d242 and d243 are automatically set based on position preset d240 and d241.Return d217 to 0
after setting. Be sure to rotate the encoder once or more and perform position preset after the Z-phase is
detected.
(3) For confirmation purposes, perform orientation again to set the target position to 0 (home position), perform
orientation, and ensure that it can be performed to the machine home position.
= preset position
d240, d241 = 0
Machine home
position (0)
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