=
Moving amount per user value
Moving amount per 1 PG pulse
Electronic gear
numerator
Electronic gear
denominator
=
1
[rev/user value]
4 × 1024
1
[pulse/user value]
4
1
[rev/pulse]
1024
=
Example) When the moving amount per user value is 0.01 [°/user value], the moving amount per single
motor rotation is 360.00 [°/rev], and the number of PG pulses per single motor rotation is 4096
(1024 × 4x) [pulse/rev]
0.01 [°/user value]
=
360.00 [°/rev]
4096
[pulse/user value]
36000
4096[pulse/rev]
=
Electronic gear
numerator
Electronic gear
denominator
=
Moving amount per user value
Moving amount per 1 PG pulse
Orientation Selection (3037Hex-09Hex)
When Orientation Selection (3037Hex-09Hex) is set to “0: Nearest direction (Valid for reverse rota-
tion),” the moving amount to the positioning data instructed from the current position rotates in the
smaller direction (nearest direction) regardless of the direction instructed in the RUN command.
Note, however
, that when operation has not been performed even once after the power is turned
ON, operation starts in the direction instructed in the RUN command and orientation is performed
as the near direction is unknown. Then, positioning is performed by the nearest direction. When
Orientation Selection (3037Hex-09Hex) is set to “1: Command direction (Direction of operation
command source),” operation starts in the direction instructed in the RUN command at all times
and orientation is performed.
Homing Operation Selection (3037Hex-0AHex)
In a pulse encoder
, variance sometimes occurs between the output timing of the A, B phase pulses
and Z phase pulse. If a position error of one pulse occurs on the machine side when positioning is
performed to the same position during forward rotation and reverse rotation, set 1 to “bit 7: Z phase
correction” in Homing Operation Selection (3037Hex-0AHex). Occurrence of position error caused
by the rotational direction can be suppressed by enabling this correction.
Homing Frequency/Orientation Frequency (3037Hex-0EHex)
This is the frequency when speed control is switched to position control by the orientation com-
mand “ORT” during speed control. If the preset frequency is high, the time up to completion of posi-
tioning increases, and when torque limit deceleration is performed, the position deviation over
alarm (alarm code: 38) sometimes occurs. To perform torque limit deceleration, set the frequency
when switching from speed control to position control to as low a frequency as possible.
In V/f control with speed sensor, when the preset frequency is low, it becomes difficult to position to
the instructed positioning position unless torque boost is adjusted or automatic torque boost is
used. Adjust all of Deceleration Time for Homing/Orientation(3037Hex-10Hex), Position Loop Gain
1 (low speed side) (3037Hex-04Hex) and Position Loop Gain 2 (high speed side) (3037Hex-05Hex)
so that the desired settling time is reached in keeping with the control method.
Deceleration Time for Homing/Orientation (3037Hex-10Hex)
Set the deceleration time from Homing Frequency/Orientation Frequency (3037Hex-0EHex). This
deceleration time can be adjusted to adjust the set time when overtravel or overshooting occurs on
the instructed position.
7 Vector Control and Applied Functions
7-55
M1 Series EtherCAT Type User’s Manual (I670)
7-7 Position Control
7
7-7-11 Orientation
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