YASKAWA CR700 - Page 852

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Alignment will not operate in the following cases:
• Fault occurred on drive.
• Drive is not running.
• Forward Run command and Reverse Run command for the slave are switched at high speed.
• Position Synchronization mode is disabled by multi-function digital input (H1-□□ = 54).
• Position Synchronization mode is disabled by parameter setting (SA-31 = 1).
• Drive is set to LOCAL mode.
• Slave drive has received JOG command.
• Drive speed has drastically changed due to gear ratio change or re-engagement of drive axis.
• Position deviation was cleared by multi-function digital input terminal (H1-□□ = 5B).
(Caution)
• Alignment assumes low speed operation. However, the drive recognizes that a trigger signal
has been input when the trigger signal continues for 15 ms.
• When the slave accelerates to follow the master, the maximum Alignment speed of the slave
is 95% of maximum output frequency. Alignment will not function if the master is already
running at a speed of 95% of maximum output frequency or higher.
• When the slave decelerates to follow the master, the slave may run in reverse. However, when
reverse run is disabled (b1-04 = 1) for the slave, the slave drive is limited at zero speed and it
does not run in reverse.
• The acceleration and deceleration rates are fixed during Alignment operation. The creep
speed for a 1024 PPR encoder is approximately 20 Hz/second. However, the acceleration
and deceleration range can be adjusted with SA-62.
Figure 3.7 Simple Automatic Alignment Diagram
PG-X3
CR700
PG-X3
PG-X3
CR700
Master Trigger switch
Slave Trigger switch
Gea
r
box
Slave
motor
Slave motor
Slave encoder
Maste
r
moto
r
Master motor
Master encoder