“encoder Z phase - machine origin position” to Homing Offset (MSB) (d242) and Homing Offset
(LSB) (d243).
OFF
OFF
OFF
OFF
OFF
OFF
ON
ON
ON ON
ON
ON
ON ON
Position control
Stop required pulse
Time
Speed control
Set frequency
[FW]
[ORT]
[POK]
[P-SEL]
Inverter
output status
Brake status
Servo lock status
(2)
(1)
Frequency
Creep Frequency [d214]
Deceleration Time
[F08,E11, E13, E15]
Deceleration Time for
Homing/Orientation [d215]
Acceleration Time
[F07, E10,
E12, E14]
(3)
Orientation from a stopped state
When the control mode is vector control with speed sensor, servo lock operation is performed when
positioning by orientation is completed, and digital output “POK” is output if positional deviation is
within Positioning Completed Range (d239). When the positioning position is changed from this
state and orientation is performed again with “POS-SET” set to ON, control changes to position
control and positioning is performed within one rotation. At this time, either of “Nearest direction”
operation which performs positioning by the shortest distance or “Command direction” operation
which follows the direction instructed in the RUN command can be selected at Orientation Selec-
tion (d208) regardless of the operation direction. In V/f control with speed sensor, the control mode
changes to DC braking and the inverter maintains output. In orientation from a stopped state, rota-
tion is never performed beyond one rotation even if a value exceeding one rotation is programmed
in the positioning data.
If the RUN command turns ON after the orientation command “ORT” is turned ON during an inver-
ter output stop, orientation operation is performed immediately without operating up to the set fre-
quency by speed control. Note, however
, that when operation is performed after the orientation
command “ORT” is turned ON from a stopped state immediately after the power is turned ON, op-
eration by speed control is always performed for one rotation or more to detect the Z phase and the
orientation operation is performed.
6 Vector Control and Applied Functions
6-50
M1 Series Standard Type User's Manual (I669)
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