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3.7. Operation
(1) Orientation starting during rotation.
1) The orientation command (X22) causes the motor to decelerate to the orientation speed set in Pr. 351.
2) After the orientation speed is reached, the motor decelerates to the creep speed set in Pr. 352 as soon as the
current position signal reaches the creep select position set in Pr. 353.
3) Furthermore, the position loop begins to work as soon as the current position signal reaches the position loop
select position set in Pr. 354.
4) After the position loop is selected, the motor keeps decelerating until the current position signal reaches the
DC dynamic braking start position set in Pr. 355, at which time DC dynamic braking is started to stop the
motor.
5) When the motor has stopped within the in-position zone set in Pr. 357, the in-position signal (ORA) is output
with a delay of the in-position signal output delay time set in Pr. 363. If the current position signal comes out of
the in-position zone due to external force etc., the in-position signal is switched off with a delay of the in-
position signal output delay time set in Pr. 363.
6) The orientation fault signal (ORM) is output if the orientation cannot be completed within the time set in Pr. 365
after the current position signal has passed the creep select position.
7) If the orientation (once started) has been stopped by an external force etc. before the in-position zone is
reached and the in-position signal (ORA) is not yet output, the orientation fault signal (ORM) is output after the
PLG stop check time set in Pr. 364 has elapsed. If the current position signal comes out of the in-position zone
due to an external force etc. after the output of the in-position signal (ORA), the in-position signal (ORA) is
switched off after a delay of the in-position signal output delay time set in Pr. 363. If the orientation cannot be
completed within the PLG stop check time set in
Pr. 364, the orientation fault signal (ORM) is output.
8) When the start signal (STF or STR) is switched off with the orientation command on after the in-position signal
(ORA) or orientation fault signal (ORM) has been output once, the in-position signal (ORA) or orientation fault
signal (ORM) is output again after the recheck time set in Pr. 366 has elapsed.