Mitsubishi Electric M800VW Series Programming Manual page 520

M800V/M80V Series PLC Programming Manual (2/2)
13 Spindle Control
13.6 Spindle-Mode Servo Motor Control
Orientation, C axis zero return and sync tap orientation of spindle-mode servo
If orientation of spindle-mode servo is in the same direction as its rotation, the operation is different from that of normal
spindle. As illustrated in the figure below, the spindle-mode servo decelerates multi-step-wise. After reaching the speed
"#3107 ori_spd (Orientation command speed)", it decelerates at a constant inclination, and then stops in the orientation
position.
It operates in the same manner for zero return (zero return type) of spindle C axis control or of synchronous tap control.
Orientation that starts during rotation
PLC→NC
S1 Spindle orientation command (ORC:Y189E)
(1)
NC→PLC
S1 Spindle in-position (ORAO:X188E)
NC→PLC
S1 Index positioning completion (X189F)
(2) Multi-step deceleration
(3) Constant-gradient deceleration
(1) Turn ON spindle orientation command signal (ORC: Y189E).
(2) Apply multi-step deceleration in the rotation direction to decelerate the motor to the "(#3107 ori_spd" (Orientation com-
mand speed).
(When "#3106 zrn_type/bitB (Direction of zero point return initiated during spindle rotation)" is "1" (Spindle rotation direc-
tion).)
(3) The motor decelerates at a constant inclination during orientation.
Inclination = Limit rotation speed "#3001 slimt1(r/min)" / Time constant "#3115 sp2_t1(ms)"
(4) The motor decelerates to a stop in the servo motor phase-Z position (or in a shifted position if "#3108 ori_sft (Position shift
amount for orientation)" is set).
(5) Turn ON Spindle in-position (ORAO: X188E) and Index positioning completion (X189F).
(Turn ON Index positioning completion signal only for forward or reverse indexing.)
(5)
(5)
Command rotation speed
(r/min)
(4) Positioning in phase Z position
#3115 sp2_t1 (Orientation time constant) (ms)
499
#3107 ori_spd (Orientation command speed) (r/min)
IB-1501668-B