Orientation Operation - Mitsubishi Electric MDS-B-SPJ2 Series Specification Manual

7.1.3 Orientation operation

(1) Operation
The three types of orientation stop methods are shown in the following drawings. The method is
set in the parameter SPECO.
1. PRE ..................................... (a) Orientation is carried out in the rotation direction.
2. Forward run orientation....... (b) Orientation is always carried out in the forward run direction.
3. Reverse run orientation....... (c) Orientation is always carried out in the reverse run direction.
Speed
(forward run)
ORC
ORCF
Speed
(reverse run)
ORC
ORCF
(2) Operation sequence
1) The motor speed changes from the operation speed to the position loop changeover speed
when the orientation command ORC is ON. The multi-point orientation stop position
command is read simultaneously.
2) The operation changes from speed control to position control (position loop gain parameter
(Note 1)).
(The position loop change changeover speed is automatically set by the position loop gain.)
3) At changeover, the distance to the orientation stop point is calculated, a deceleration stop is
carried out with the constant deceleration pattern (parameter CSP), and the orientation status
is entered.
4) The orientation completed signal ORCF turns ON when the in-position range (parameter
OINP) is entered.
5) The stop position zero point movement is carried out according to parameter OPST.
6) When the orientation command (ORC) is canceled, the motor returns to the speed of the
speed command issued at that time.
(Note 1) PGM is used for the motor built-in encoder orientation, and PGE is used for encoder
orientation.
7. Optional Specifications and Parts
Motor speed
ORC
Stop position command
12 bit
GR1, GR2, GR3
ORCF
7 − 5