Precautions On Orientation Control - YASKAWA VS-626M5 Instruction Manual

8.8.3 Precautions on Orientation Control

Design the sequence considering the following points when using the orientation function.
The system will not restart unless the ORT signal is turned OFF if an emergency stop is performed
D
during orientation.
Keep the ORT signal OFF when the system is turned ON, or otherwise the system will not operate.
D
Turn ON the ORT signal at least 15 ms after the EMG or RDY signal is turned ON. The ORT signal
D
will not be accepted if it is turned ON before the EMG or RDY signal is turned ON.
[EMG]
[RDY]
[ORT]
In the orientation control, after the Encoder phase−C signal is checked, the shaft stops at the specified
D
position, and an orientation completion signal (ORE) is output. The detected position of the origin
signal is cleared when the motor speed exceeds 50 min
if the motor is rotated by external force.) If the ORT signal is input when the detected position of the
origin signal is cleared, the motor will rotate to detect the origin signal.
If the ORT signal is input when the detected position of the origin signal is being held, the motor does
D
not rotate because the origin signal does not have to be detected. Therefore, if the ORT signal to the
current position is input, an orientation completion signal (ORE) is immediately output without rotat-
ing the motor.
Assume the motor may rotate after the ORT signal is input because it is impossible to check if the origin
D
signal is detected externally. Therefore, design the sequence for checking that an orientation comple-
tion signal (ORE) has turned ON after the ORT signal is input.
The positioning rotation direction is described below.
D
Before the origin signal is detected: the set value in the Positioning rotation direction constant (C2-22,
bit 1 and 0)
When the origin signal is being held: If the ORT signal is input again, the rotation direction is automati-
cally detected, and shortcut control is carried out. The rotation direction cannot be specified.
ON
ON
ON
15 ms min.
8 -13
8.8 Functions
−1
after the shaft has stopped. (it is also cleared
8