4-3 Functions When Multi-function Feedback Option Board (3G3AX-PG01) Is Used RUN commands (FW/RV) ON ORT terminal ON Output frequency (2) (1) Position ready range setting (P017) Z pulse 4 POK signal (4) Position ready delay time (P018) Speed control Position control Functions (1) When the RUN command is turned on with the ORT terminal turned on, the Inverter accelerates to the orientation speed (P015), and then performs constant speed operation.
(If the RUN command is turned on during operation, the operation speed changes to the orientation speed when the ORT terminal is turned on.) (2) After the orientation speed is reached, the Inverter shifts to the position control mode when the first Z-pulse is detected. (3) During forward run, position control is performed with a target value of "Orientation stop position (P014) + one rotation"; During reverse run, with a target value of "Orientation stop position (P014) + two rotations". In this step, the higher the position loop gain (P023), the shorter the deceleration time (regardless of the deceleration time setting).
(4) After the remaining number of pulses reaches the position ready range setting (P017), the Inverter outputs the POK signal after the position ready delay time (P018) elapses. (The POK output remains until the ORT signal is turned off.) After positioning is completed, the servo lock status remains until the RUN command is turned off. Note 1: Do not set a high frequency for the orientation speed, because positioning must be completed within two rotations during deceleration. Otherwise, overvoltage protection may cause a trip. Note 2: Orientation stop position is defined as 4096 (0 to 4095) divisions of one forward rotation from the reference point.
(The number of divisions is fixed to 4096, regardless of the encoder's number of pulses.) The reference point is defined as the point where the pulse is input between EZP and EZN. Below is the layout of the stop target position. (Positive-phase connection) Position of Z pulse Reference point 0 Motor shaft viewed from motor shaft load side 1024 3072 Orientation stop position conceptual drawing 2048 4-126 ON