Yaskawa A1000 User Manual

YASKAWA AC Drive - A1000

Spindle Orientation

Custom Software Supplement

Software Number: VSA91009
Drive Models: 200 V Class, CIMR-AU2A0004□A□-063 to CIMR-AU2A0415□A□-063

400 V Class, CIMR-AU4A0002□A□-063 to CIMR-AU4A0250□A□-063

To properly use the product, read this manual thoroughly and retain
for easy reference, inspection, and maintenance. Ensure the end user
receives this manual.

□

MANUAL NO. TM.A1000SW.063

2 YASK AWA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement

Table of Contents

1 PREFACE AND SAFETY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

2 SPINDLE ORIENTATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

3 REVISION HISTORY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Refer to the A1000 Technical Manual for content not described in this document.

Copyright © 2011 YASKAWA AMERICA, INC.

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form or
by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of
Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because
Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is subject to
change without notice. Every precaution has been taken in the preparation of this manual. Yaskawa assumes no
responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information
contained in this publication.

YASK AWA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement 3

This Page Intentionally Blank

4 YASK AWA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement

1 Preface and Safety

1 Preface and Safety

Yaskawa manufactures products used as components in a wide variety of industrial systems and equipment. The selection
and application of Yaskawa products remain the responsibility of the equipment manufacturer or end user. Yaskawa
accepts no responsibility for the way its products are incorporated into the final system design. Under no circumstances
should any Yaskawa product be incorporated into any product or design as the exclusive or sole safety control. Without
exception, all controls should be designed to detect faults dynamically and fail safely under all circumstances. All systems
or equipment designed to incorporate a product manufactured by Yaskawa must be supplied to the end user with
appropriate warnings and instructions as to the safe use and operation of that part. Any warnings provided by Yaskawa
must be promptly provided to the end user. Yaskawa offers an express warranty only as to the quality of its products in
conforming to standards and specifications published in the Yaskawa manual. NO OTHER WARRANTY, EXPRESS OR
IMPLIED, IS OFFERED. Yaskawa assumes no liability for any personal injury, property damage, losses, or claims
arising from misapplication of its products.

 Applicable Documentation

The following manuals are available for the A1000 Drive:

Custom Software Supplement

Yaskawa AC Drive - Spindle Orientation A1000 Custom Software Supplement

SUPPLEMENT

Manual No: TM.A1000SW.063

Read this manual first. This supplement is an addendum to the A1000 Quick Start Guide and Technical Manual. It lists the effects of this custom software on
the parameters in the drive and function descriptions in the manual.
To obtain the supplement access this site: U.S: http://www.yaskawa.com

Yaskawa Drive

Yaskawa AC Drive ­A1000 Quick Start Guide

Yaskawa AC Drive ­A1000 Technical Manual

To obtain instruction manuals for Yaskawa products access these sites:
U.S.: http://www.yaskawa.com
Europe: http://www.yaskawa.eu.com
Japan: http://www.e-mechatronics.com
Other areas: contact a Yaskawa representative.
For questions, contact the local Yaskawa sales office or the nearest Yaskawa representative.

 Supplemental Safety Information

Read and understand this manual and the A1000 Quick Start Guide before installing, operating, or servicing this option
unit. Install the drive according to the A1000 Quick Start Guide and local codes. Observe all cautions and warnings in this
document and the standard drive technical manuals.

Refer to the A1000 Quick Start Guide and Technical Manual for safety information and to install and start-up the drive.

This document is a supplement to the standard drive technical manual. It describes the effects on the drive parameters and
functions with the software installed.

• Custom software is provided to add functionality to a standard drive to enhance or enable use in a specific application.

• The software is loaded to the flash ROM area of the control board, and replaces the standard drive software.

 Obtaining Support

When seeking support for a drive with custom software, it is imperative to provide the unique part number shown on the
drive nameplate. The software is flashed to the control board memory and the operation of parameters, functions, and
monitors are different than the standard drive software, as described herein.

Refer to Yaskawa office locations listed on the back cover of this manual.

YAS KA WA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement 5

2 Spindle Orientation

Motor

Encoder

Machine

Motor

Configuration2:IndirectDrivewith

OrientationEncoder

Configuration1:DirectDrive

PG-X3

PG-X3

PG-X3

Orientated

MachinePart

Orientation

Encoder

Orientated

MachinePart

Drivetrain

(GearRatio)

CN5-B

CN5-C

CN5-C

Motor

Encoder

ChA/B/Z

ChA/B/Z

ChA/B

Machine

Motor

Motor

Encoder

Machine

Motor

Configuration3:IndirectDrivewith

ProximitySensor

PG-X3

Proximity

Sensor

Orientated

MachinePart

Drivetrain

(GearRatio)

CN5-C

ChZ

ChA/B

2 Spindle Orientation

 Overview

The target applications for this function are on equipment that must stop in specific positions including tool changing for
machine tool spindles and die changing for punch/stamping presses. This software also provides for high frequency
operation with automatic switchover to closed-loop operation at low speed.

 Applicable Models

This Spindle Orient software is available for the drive models listed in Tab le 1.

Table 1 Applicable Models

Voltage Class Model Software Version

200 V CIMR-AU2A0004A-063 to CIMR-AU2A0415A-063
400 V CIMR-AU4A0002A-063 to CIMR-AU4A0250A-063

 Basic Concepts and Principles

This orientation software allows an A1000 drive to repeatedly stop a machine at a certain point in its rotational cycle. This
is accomplished by means of an orientation encoder directly coupled to the machine part to be positioned. A simple
example is to think of the hands on a clock. If the orientation encoder is mounted to the motor shaft, this software can stop
the motor so that the spindle stops at the 3 o'clock position every time. Application configurations are outlined in

Figure 1. For configurations other than those outlined, contact Yaskawa Application Engineering before applying this

software.

Figure 1

VSA910090

Figure 1 Spindle Orientation Hardware Configurations

6YASKAWA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement

2 Spindle Orientation

 Direct Drive

In the first configuration, the drive motor directly drives the machine part being oriented (positioned). When using this
method, the motor encoder is used for both closed loop vector motor control and for orientation. This encoder must have
a C or Z channel which provides a “marker” or “index” pulse with every rotation. If the encoder does not have a C/Z
channel, an external marker pulse can be implemented as outlined in Encoder (PG) Option Card Configuration and

Wiring on page 29. Additionally, a PG-X3 or PG-B3 encoder (PG) feedback option card is required to connect the

encoder to the drive.

 Indirect Drive with Orientation Encoder

When the motor and the machine part to be oriented (positioned) are connected through a drive train with a constant ratio,
two encoders are required. The first encoder is mounted on the driven motor, and the second, an orientation encoder, is
mounted on the machine part to be oriented. The orientation encoder must have a C or Z channel which provides a
“marker” or “index” pulse with every rotation. If the encoder does not have a C/Z channel, an external marker pulse can
be implemented as outlined in Encoder (PG) Option Card Configuration and Wiring on page 29. The motor encoder
does not need to have a C/Z channel. Two encoder (PG) feedback option cards are required for this setup.

 Indirect Drive with Proximity Sensor

When the motor and the spindle are connected through a drive train and the spindle does not have its own encoder, a
proximity sensor may be used. The proximity sensor is connected as an external marker pulse; therefore this
configuration requires only one PG-X3 encoder (PG) feedback option card. In this configuration, the gear ratio of the
drive train must be expressed as the number of revolutions of the motor per revolution of the spindle.

 Online Control Mode Switch Function

This software can switch between Closed Loop Vector Control and V/f Control during run. The 1000 Hz software is
limited to V/f control mode above 400 Hz, it is possible to change tools without stopping the machine if the inverter
switches to Closed Loop Vector Control for Position Control at Low-Speed. At Low-Speed the inverter can be set to
operate in Closed Loop Vector Control and automatically switch to V/f Control when the output is above the frequency
which is set.

 Changes from the Standard Product

• Second PG Channel Parameters F1-30 through F1-37 are always visible whether or not digital selection H1-0 =16

(Motor 2 Select) is programmed.

• Only two Control Modes can be set in A1-02 and E3-01, 0:V/f and 3:Closed-Loop Vector.

• Only two Auto-Tuning Mode Selections are available, 0:Rotational Auto-Tuning and 2:Stationary Auto-Tuning for
Line-to-Line Resistance.

 Deleted Functions

Certain functions in the standard software of A1000 are deleted in this Orientation software. Deleted functions are listed
in Tab le 2 .

Table 2 Deleted Functions

Speed Search (all methods) KEB Function Fault Restart
High Slip Braking (HSB) Overexcitation Braking Field Weakening Function
Energy Savings Droop Control Field Forcing Function
Frequency Reference Lower Limit Feed Forward Control DC Injection Braking Current Setting in V/f
Torque Detection Stall Prevention Selection during Acceleration Stall Prevention Selection during Run

Function Name

YAS KA WA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement 7

2 Spindle Orientation

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2/930

$2/930

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2/9

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 Limitations

• The multi-function digital input function Motor 2 Select (H1- = 16) and Encoder Option Card Setting F1-30 have

restrictions when used in Closed Loop Vector control mode with an additional orientation encoder. Refer to Tab le 1 5 on
page 16 and Tab le 1 7 on page 31.

• Applications using Configuration 2 and Motor 1/Motor 2 switchover must use a motor encoder and an orientation
encoder of the same PPR.

• DriveWorks EZ functionality is not fully supported when using this software. If DriveWorks EZ support is required,
please contact Yaskawa Application Engineering.

• PG Encoder PPR parameters F1-01 and F1-31 are limited to PPR of 8 to 16384 PPR
(32 to 65536 counts per revolution).

• Orient functionality is disabled when the run command comes from the Local Operator (b1-02 = 0).

• Since all forms of speed search are disabled, the stopping method Coast to Stop (b1-03 = 1) causes inconsistent
operation of the spindle orient routine if an orient digital input is closed while the drive is coasting. This may include
but is not limited to overvoltage trips and faster than expected deceleration.

• Disabling reverse operation by setting Reverse Operation Selection parameter b1-04=1 prohibits the orient function
from maintaining position.

• Frequency Upper Limit parameter d2-01 prevents the spindle orient function from operating if the frequency limit is set
at or below the P1-02 Creep Speed.

• Orient digital inputs are disabled when Forward or Reverse Jog commands (H1-0 = 12 or 13) are active.

• Orient digital inputs are disabled when Control Mode Switchover Prevention digital input H1-0 = 50 is closed while
the drive is not running.

 Related Parameters and Functions

The legend below is used in this section to indicate which parameters are available in which control modes.

The parameter tables in this section are used to set up the drive for operation with the software.

Note: Chinese language support is added to certain parameters and functions. Refer to References on page 31 for the parameters and

functions with Chinese language support.

Table 3 Modified Parameters

MEMOBUS/

No.

F1-01 0380h

F1-30 03AAh

Modbus
Address

Digital Operator Display

PG 1 Pulses Per Revolution

PG1 Pulses/Rev

PG Option Card Port for Motor 2
Selection

Mtr2 PG Port Sel

Name

Description Range

Sets the number of encoder pulses per revolution
for the encoder on channel 1.

Specifies the drive port for the PG option card used
for Motor 2.

0: CN5-C
1: CN5-B

Note: This parameter is available without a digital
input H1-0 programmed to 16h (Motor 2 Select).

Default

Value

8 to 16384 PPR 1024 PPR No – – – Y– – N

0 to 1 0 No – – – Y– – N

Change

During

Run

Control Method/

Access Level

8 YASK AWA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement

2 Spindle Orientation

MEMOBUS/

No.

F1-31 03B0h

F1-32 03B1h

F1-35 03BEh

F1-36 03B5h

L3-04 0492h

S1-01 680h

S1-03 682h

S2-01 691h

Modbus
Address

Digital Operator Display

PG 2 Pulses Per Revolution

PG2 Pulses/Rev

PG2 Rotation Selection

PG2 Rotation Sel

PG2 Division Rate for Pulse
Monitor

PG2 Output Ratio

PG Option Card Disconnect
Detection 2

PGCardDisconDet1

Stall Prevention Selection during
Deceleration

StallP Decel Sel

On-Delay Compensation Selection

OnDelay Comp Sel

Extended Current Sampling Mode

Extend I Sample

Control Mode Switchover
Frequency

HF SwOver Freq

Name

Description Range

Sets the number of encoder pulses per revolution
for the encoder on channel 2.

Note: This parameter is available without a digital
input H1-0 programmed to 16h
(Motor 2 Select).

Determines the direction indicated by the pulses
from the PG feedback encoder for motor 2.

0: Pulse A Leads
1: Pulse B Leads

This parameter is available without a digital input
H1-0 programmed to 16h (Motor 2 Select).

Sets the ratio between the pulse input and the pulse
output of a PG option card.
This parameter is available without a digital input
H1-0 programmed to 16h (Motor 2 Select).

Sets whether the drive detects a fault when a
PG-X3 card is disconnected.

0: Disabled
1: Enabled

This parameter is available without a digital

input H1-0x programmed to 16h
(Motor 2 Select).

Determines how Stall Prevention works during
Run.

The parameter default is changed to 0: Disabled.

0: Disabled
1: General Purpose
2: Intelligent
3: Stall Prevention w/Braking Resistor
4: Overexcitation Deceleration
5: Overexcitation Deceleration 2

Note: Enabling stall prevention extends the decel
time. Other modes such as Intelligent may cause
unintended operation during orient, including
oscillation and inability to maintain position.

Parameter S1-01 is used to enable and disable On
Delay Compensation.

0: Disabled
1: Enabled

Normally there is no need to change S1-03 from its
default setting. If there is a problem with output
voltage weakening when attempting to compensate
for output current distortion as the motor reaches
1000 Hz while decoupled from the load during a
test run, then try setting S1-03 = 1.

0: Disabled
1: Enabled

Sets the frequency of switching from Closed Loop
Vector Control to V/f Control.

This function is disabled when 0 or 400 Hz is set,
the inverter runs as V/f Control when 0 is set and
Closed Loop Vector Control when 400 Hz is set.
However, OPE21 occurs when the relations among
Control Mode Switch Frequency (S2-01) and PG
Pulse per Revolution (F1-01) and Numbers of
Motor Poles (E2-04) are set higher than the
permissible input frequency of PG option.

Default

Value

8 to

16384 PPR

0 to 1 0 No – – – Y– – N

1 to 132 1 No – – – Y– – N

0 to 1 1 No – – – Y– – N

0 to 5 0 No – – – Y– – Y

0 to 1 1 No – – – Y– – Y

0 to 1 1 No – – – Y– – Y

0 to 400 Hz 400 No – – – Y– – N

1024 PPR No – – – Y– – N

Change

During

Run

Control Method/

Access Level

S2-02 692h

Control Mode Switchover
Bandwidth

HF CtrlMode SwBW

Sets the hysteresis width of Control Mode Switch.
Increase if shock occurs during Control Mode
switching.

2 to 100 Hz 20 No – – – Y– – N

YAS KA WA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement 9

2 Spindle Orientation

MEMOBUS/

No.

S2-05 695h

S2-06 696h

S2-07 697h

S2-08 698h

S2-11 699h

Modbus
Address

Digital Operator Display

High Frequency Slip
Compensation Gain

HF SlipComp Gain

High Frequency Slip
Compensation Primary Delay Time

HF SlipComp Time

High Frequency Slip
Compensation Limit

HF SlipComp Lim

High Frequency Slip
Compensation Selection During
Regeneration

HF SlipCompRegen

Motor 2 Control Mode Switchover
Frequency

HF SwOver Freq 2

Name

Description Range

Sets the gain for the Motor Slip Compensation at
Hi-Speed Function. Although this parameter rarely
needs to be changed, adjustments might be needed
under the following circumstances:
If the motor at constant speed is slower than the
frequency reference, increase S2-05.
If the motor at constant speed is faster than the
frequency reference, decrease S2-05.

Sets the filter on the output side of the Slip
Compensation at Hi-Speed Function. Although this
parameter rarely needs to be changed, adjustments
might be needed under the following
circumstances:

-Decrease the setting when the slip compensation
response is too slow.

-Increase this setting when speed is unstable.

Sets the upper limit for the Slip Compensation at
Hi-Speed Function as a percentage of the motor
rated slip (E2-02).

When Slip Compensation during Regeneration at
Hi-Speed is activated and a regenerative load is
applied, it might be necessary to use a dynamic
braking option (braking resistor, braking resistor
unit, or braking unit).

0: Disabled
1: Enabled (6 Hz and Above)
2: Enabled
(Compensation provided wherever possible)

Sets the frequency of switching from Closed Loop
Vector Control to V/f Control for Motor 2

This function is disabled when 0 or 400Hz is set,
the inverter runs as V/f Control when 0 is set, and
Closed Loop Vector Control when 400Hz is set.
However, OPE21 occurs when the relations among
Control Mode Switch Frequency (S2-11) and PG
Pulse per Revolution (F1-31) and Numbers of
Motor Poles (E4-04) are set higher than the
permissible input frequency of PG option.

Default

Value

0.0 to 2.5 0.0 Yes – – – Y– – N

0 to 10000 ms 2000 Yes – – – Y– – N

0 to 250% 200 No – – – Y– – N

0 to 2 0 No – – – Y– – N

0 to 400 Hz 400 No – – – Y– – N

Change

During

Run

Control Method/

Access Level

S2-12 69Ah

S2-15 69Dh

S2-16 69Eh

S2-17 69Fh

Motor 2 Control Mode Switchover
Bandwidth

HF CtrlModeSwBW2

Motor 2 High Frequency Slip
Compensation Gain

HF SlipCompGain2

Motor 2 High Frequency Slip
Compensation Primary Delay Time
HF SlipCompTime2

Motor 2 High Frequency Slip
Compensation Limit

HF SlipComp Lim2

Sets the hysteresis width of Control Mode Switch
for Motor 2.
Increase if shock occurs during Control Mode
switching.

Sets the gain for the Motor Slip Compensation at
Hi-Speed Function for Motor 2. Although this
parameter rarely needs to be changed, adjustments
might be needed under the following
circumstances:

-If the motor at constant speed is slower than the
frequency reference, increase S2-15.

-If the motor at constant speed is faster than the
frequency reference, decrease S2-15.

Sets the filter on the output side of the Slip
Compensation at Hi-Speed Function for Motor 2.
Although this parameter rarely needs to be
changed, adjustments might be needed under the
following circumstances:

-Decrease the setting when the slip compensation
response is too slow.

-Increase this setting when speed is unstable.

Sets the upper limit for the Slip Compensation at
Hi-Speed Function for Motor 2 as a percentage of
the motor rated slip (E4-02).

2 to 100 Hz 20 No – – – Y– – N

0.0 to 2.5 0.0 Yes – – – Y– – N

0 to 10000 ms 2000 Yes – – – Y– – N

0 to 250% 200 No – – – Y– – N

10 YASK AWA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement

2 Spindle Orientation

MEMOBUS/

No.

S2-18 6A0h

No.

P1-01 0600h

P1-02 0601h

P1-03 0602h

Modbus
Address

MEMOBUS/

Modbus
Address

Digital Operator Display

Motor 2 High Frequency Slip
Compensation During
Regeneration Selection

HF SlipCompRgn 2

Digital Operator Display

Orient Speed

Orient Speed

Creep Speed

Creep Speed

Creep Distance

Creep Distance

Name

Name

Description Range

When Slip Compensation during Regeneration at
Hi-Speed is activated and a regenerative load is
applied, it might be necessary to use a dynamic
braking option (braking resistor, braking resistor
unit, or braking unit).

0: Disabled
1: Enabled (6 Hz and Above)
2: Enabled
(Compensation provided wherever possible)

Table 4 Additional Parameters

Description Range

This parameter sets the frequency at which the
drive switches to the Orient Deceleration Time
(P1-12) and Orient ASR settings (P2-10 and P2-

11) when these parameters are enabled.

Note: P1-01 must be set such that it is not greater
than the control modes switchover frequency:
((S2-01 – S2-02) > P1-01). P1-01 must also be set
lower than the Maximum Output Frequency E1-04.

This parameter sets the speed at which the drive
locates the marker pulse. This is also the speed at
which s-curves are disabled.

This parameter sets the number of quadrature
encoder counts around the orientation position
where the frequency reference is allowed to drop
below the P1-02 Creep Speed. Within the Creep
Distance, the drive accel/decel times are set to 0.

Default

Value

0 to 2 0 No – – – Y– – N

Default

Value

0.00 to 200.00 Hz 20.00 No – – – Y– – N

0.10 to 10.00 Hz 2.00 No – – – Y– – N

0 to 2000 Cnts 200 No – – – Y– – N

Change

During

Run

Change

During

Run

Control Method/

Access Level

Control Method/

Access Level

P1-04 0603h

P1-05 0604h

P1-06 0605h

P1-07 0606h

P1-08 0607h

P1-09 0608h

Approach Speed

Approach Speed

Orientation Complete Detection Set
Window

ORT Set Window

Orientation Complete Detection
Reset Window

ORT Rst Window

Orientation Set Time

ORT Set Time

Positioning Proportional Gain

Pos P Gain

Orientation Compensation Distance

Orient Comp Dist

This parameter sets the minimum speed that the
drive operates at until it reaches the P1-05 ORT Set
Window.

This parameter sets the initial window around the
orientation position that activates the Orient
Complete digital output. The Orient Complete

digital output (H2- = 40) closes when the
encoder quadrature count is within the P1-05

window of the orientation offset and after the P1-07
delay time has expired.

Note: Counts = Encoder PPR x 4.

This parameterr sets, in quadrature encoder counts,
the window around the orient position that keeps the

Orient Complete digital output (H2- = 40)
closed.

Note: Counts = Encoder PPR x 4.

This parameter sets the delay time from when the
P1-05 Orient Set window is satisfied and the

Orientation Complete digital output (H2- = 40)
closes.

This parameter sets the proportional gain used for
the position controller.

This parameter sets the minimum orientation
distance between the orientation encoder marker
pulse at or below P1-02 and the desired orientation
offset. This distance is expressed as a percentage of
the active encoder PPR (e.g. F1-01 x P1-09).

0.00 to 1.00 Hz 0.10 No – – – Y– – N

0 to 100 Cnts 25 No – – – Y– – N

0 to 100 Cnts 0 No – – – Y– – N

0 to 1000 ms 10 No – – – Y– – N

0.10 to 20.00 1.00 No – – – Y– – N

0 to 100% 50% No – – – Y– – N

YAS KA WA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement 11

2 Spindle Orientation

MEMOBUS/

No.

P1-10 0609h

P1-11 061Eh

P1-12 061Fh

P1-13 0620h

P1-14 0621h

Modbus
Address

Digital Operator Display

Orientation Encoder Card Selection

ORT Enc Select

Orientation Deceleration Selection

ORT Dec Sel

Orientation Deceleration Time

ORT Dec Time

Spindle Proximity Sensor
Orientation Enable

Prox Sens Enable

Proximity Sensor Pulse Width

Prox Pulse Width

Name

Description Range

This parameter selects which PG option card is used
for orientation.

0: CN5-C
1: CN5-B

Note: When using only one PG option card, P1-10
must be set to 0.

This parameter selects whether the drive’s C1-0
Deceleration Time is overridden by the P1-12
Orientation Deceleration Time once the drive
reaches the P1-01 Orient Speed.

0: Disabled
1: Enabled

The Orientation Deceleration Time parameter sets
the time to decelerate from the maximum output
frequency (E1-04) to 0 Hz. Refer to Area A:

Deceleration on page 19

This parameter selects whether or not the drive is
configured with a proximity sensor as described in
Configuration 3. Setting parameter P1-13 = 1 causes
the drive to recognize the values set in proximity
sensor parameters P1-14 and P1-15.

0: Disabled
1: Enabled

This parameter defines the pulse width of the
proximity sensor at the P1-02 Creep Speed,
measured in elapsed encoder counts.

Default

Value

0 to 1 0 No – – – Y– – N

0 to 1 0 No – – – Y– – N

0.00 to 600.00 sec 10.00 Yes – – – Y– – N

0 to 1 0 No – – – Y– – N

0 to 60000 Cnts 0 No – – – Y– – N

Change

During

Run

Control Method/

Access Level

P1-15 0622h

P2-01 060Ah

P2-02 060Bh

P2-03 060Ch

P2-04 060Dh

P2-05 060Eh

Proximity Sensor Pulse State

Prox Pulse State

Marker Offset Selection

MarkerOffset Sel

Marker Offset 1

Marker Offset 1

Marker Offset 2

Marker Offset 2

Marker Offset 3

Marker Offset 3

Marker Offset 4

Marker Offset 4

This parameter defines whether or not the proximity
sensor is a Normally Open (rising edge) or
Normally Closed (falling edge).

0: Normally Open
1: Normally Closed

This parameter determines how the orientation
position offset from the marker pulse is determined.

0: Digital Input
1: Sequential
2: Memobus COM

Refer to Orient Position Offset Selection on
page 25.

This parameter, along with parameters P2-03, P2­04, and P2-05, sets the orientation (or stopped)
position of the machine. P2-01 governs when P2-02
is active. Refer to Orient Position Offset Selection

on page 25.

Note: Counts = Encoder PPR x 4.

This parameter is used in conjunction with
parameters P2-02, P2-04, and P2-05 to determine
the orientation position offset from the marker
pulse. Refer to Orient Position Offset Selection on

page 25.

Note: Counts = Encoder PPR x 4.

This parameter is used in conjunction with
parameters P2-02, P2-03, and P2-05 to determine
the orientation position offset from the marker
pulse. Refer to Orient Position Offset Selection on

page 25.

Note: Counts = Encoder PPR x 4.

This parameter is used in conjunction with
parameters P2-02, P2-03, and P2-04 to determine
the orientation position offset from the marker
pulse. Refer to Orient Position Offset Selection on

page 25.

Note: Counts = Encoder PPR x 4.

0 to 1 0 No – – – Y– – N

0 to 2 0 No – – – Y– – N

0 to 65535 Cnts 0 No – – – Y– – N

0 to 65535 Cnts 0 No – – – Y– – N

0 to 65535 Cnts 0 No – – – Y– – N

0 to 65535 Cnts 0 No – – – Y– – N

12 YASK AWA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement

2 Spindle Orientation

MEMOBUS/

No.

P2-06 060Fh

P2-07 0610h

P2-08 0611h

P2-09 0612h

P2-10 0613h

P2-11 0623h

P2-12 0624h

P2-13 0625h

Modbus
Address

Digital Operator Display

Motor Gear Ratio 1

Motor Ratio 1

Motor Gear Ratio 2
Motor Ratio 2

Motor Gear Ratio 3

Motor Ratio 3

Orientation ASR Enable

ORT ASR Enable

ASR P Gain 3

ASR P Gain 3

ASR I Time 3

ASR I Time 3

ASR P Gain 4

ASR P Gain 4

ASR I Time 4

ASR I Time 4

Name

Description Range

This parameter sets gear ratio 1 between the driven
motor shaft and the spindle when the drive is set for
an indirect drive configuration. A setting of 2.0000
means that there are two motor shaft revolutions for
every revolution of the spindle. Refer to

Configuration 2: Indirect Drive with Orientation
Encoder on page 23.

This parameter sets gear ratio 2 between the driven
motor shaft and the spindle.

This parameter sets gear ratio 3 between the driven
motor shaft and the spindle.

This parameter enables the ASR Proportional Gain
override used during orientation.

0: Disabled
1: Enabled

This parameter sets the ASR Proportional Gain used
for orientation and becomes active whenever an
Orient Digital Input (H1-0 = 80 ~ 82) is present.
This parameter overrides C5-01 and C5-03 when
P2-09 = 1. The active proportional gain
(C5-01 or C5-03) is ramped to the P2-10 value
using the P2-11 time setting.

This parameter sets the ASR Integral Time used for
orientation and becomes active whenever an Orient
Digital Input (H1-0 = 80 ~ 82) is present.
This parameter automatically overrides C5-02 and
C5-04.

This parameter sets the ASR Proportional Gain used
for orientation and becomes active whenever the
Orientation Compete Digital Output (H2-0 = 40)
is active. This parameter overrides C5-01, C5-03,
and P2-10 ASR gain settings when P2-09 = 1. The
active P2-10 proportional gain is ramped to the P2­12 value using the P2-13 time setting.

This parameter sets the ASR Integral Time used for
orientation and becomes active whenever the
Orientation Compete Digital Output (H2-0 = 40)
is active. This parameter automatically overrides
C5-02, C5-04, and P2-11.

Default

Value

0.0400 to 2.5000 1.0000 No – – – Y– – N

0.0400 to 2.5000 1.0000 No – – – Y– – N

0.0400 to 2.5000 1.0000 No – – – Y– – N

0 to 1 0 No – – – Y– – N

0.00 to 300.00 20.00 Yes – – – Y– – N

0.000 to

10.000 sec

0.00 to 300.00 20.00 Yes – – – Y– – N

0.000 to

10.000 sec

0.500 Yes – – – Y– – N

0.500 Yes – – – Y– – N

Change

During

Run

Control Method/

Access Level

Table 5 Modified Group Text

Function Group

S

Function Group Name

Digital Operator Display

High Frequency

High Frequency

Table 6 Additional Group Text

Function Group

P

Function Group Name

Digital Operator Display

Spindle Orient Group

Spindle Orient

Table 7 Modified Function Text

Function No.

S1

S2

YAS KA WA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement 13

Function Name

Digital Operator Display

High Frequency Control

HighFreq Control

Control Mode Switchover

Ctrl Mode Switch

2 Spindle Orientation

Function No.

P1

P2

Monitor No.

U7

MEMOBUS/

Monitor No.

U7-02 0661h

Modbus

Address

Digital Operator Display

Distance From Marker

Dist From Marker

Monitor Name

Table 8 Additional Function Text

Function Name

Digital Operator Display

Orient Settings

Orient Settings

Offset and Gear Ratio

Offset & Gear

Table 9 Monitor Function Text

Monitor Name

Digital Operator Display

Spindle Orient Group

Spindle Orient

Table 10 Monitors

Description

Displays the current number of orientation encoder counts the
machine is past the marker pulse. The display range is 0 - 65535
counts and is limited by the PPR setting in parameters F1-01 and
F1-31.

Note: Counts = Encoder PPR x 4.

Analog output

scaling

Full scale: 65535

Counts

Unit

Cnts – – – Y– – Y

Control Method/

Access Level

U7-03 0662h

U7-04 0663h

U7-05 0664h

U7-06 0665h

Address Description

0012h

Distance From Offset

Dist From Offset

Commanded Offset

Commanded Offset

Sequence Step

Sequence Step

Serial Offset

Serial Offset

Orientation Offset

When P2-01 = 2, this Memobus register defines the orientation offset from the marker pulse. The setting range is 0 - 65535. The data is
not saved upon power loss. Register 0012h does not require the use of an Enter or Accept command.
The written data is immediately active.

Displays the number of orientation encoder counts the machine is
away from the active orientation position offset. The display
range is 0 - 65535 counts.

Displays the active value of the orientation offset from the
marker pulse. See parameter P2-01 Orient Position Offset

Selection on page 25. The display range is 0 - 65535 counts.

Note: Counts = Encoder PPR x 4.

Displays the active orientation offset parameter. See parameter
P2-01 and Orient Position Offset Selection on page 25 for more
information.
The display range is 0 - 4.

0: P2-02
1: P2-03
2: P2-04
3: P2-05
4: Memobus

This monitor reflects the data in Memobus register 0012h. Refer

to Orient Position Offset Selection on page 25. The display

range is 0 - 65535 counts.

Table 11 MEMOBUS/Modbus Registers

Full scale: 65535

Counts

No Signal Output

Available

No Signal Output

Available

No Signal Output

Available

Cnts – – – Y– – Y

Cnts – – – Y– – Y

- – – – Y– – Y

Cnts – – – Y– – Y

Table 12 Multi-Function Input Settings (H1-)

Setting Description

Mode Sw Disable

50

80

81

Closed: All frequencies are V/f control. When open, the control mode switches from Closed Loop Vector control to V/f control according to the
Control Mode Switchover Frequency S2-01. This multi-function input is only accepted while the inverter is stopped. The status of this multi­function input is dismissed during run.

Orient CMD

Closed: Causes the drive to orient the motor to the current orientation position offset from the marker pulse. The motor orients in the direction of the
run command. Refer to Function Description on page 17.

Orient CMD FWD

Closed: Causes the drive to run in the forward direction and orient the motor to the current orientation position offset from the marker pulse. Refer to

Function Description on page 17.

14 YASK AWA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement

Control Method/

Access Level

– – – Y– – N

– – – Y– – N

– – – Y– – N

2 Spindle Orientation

Setting Description

82

83

84

85

86

87

Orient CMD REV

Closed: Causes the drive to run in the reverse direction and orient the motor to the current orientation position offset from the marker pulse. Refer to

Function Description on page 17.

Sequential Reset

Closed: Sets the active orientation offset parameter to P2-02 (sequence 0). This function is only active if P2-01 = 1.

Offset Sel 1

Orientation Position Offset Selection 1. See Section Refer to Orient Position Offset Selection on page 25 and parameters P2-02, P2-03, P2-04 and
P2-05.

Offset Sel 2

Orientation Position Offset Selection 2. Refer to Orient Position Offset Selection on page 25 and parameters P2-02, P2-03, P2-04 and P2-05.

Gear Ratio Sel 1

Motor Gear Ratio Selection 1. Refer to Configuration 2: Indirect Drive with Orientation Encoder on page 23 and parameters P2-06, P2-07, and
P2-08.

Gear Ratio Sel 2

Motor Gear Ratio Selection 2. Refer to Configuration 2: Indirect Drive with Orientation Encoder on page 23 and parameters P2-06, P2-07, and
P2-08.

Table 13 Multi-Function Output Settings (H2-)

Setting Description

40

41

Orient Complete

Closed: The machine is within the orient position window established by P1-05 and the P1-07 ORT Set Time has expired. Once this condition is
met, the output remains closed as long as the machine is within the P1-06 window.

Home Position

Closed: The active orientation position offset is P2-02 (sequence 0). This output is only active when P2-01 = 1 (Sequential Marker Offset
Selection).

 Troubleshooting

Table 14 Faults

Fault Indication

Digital Operator Display

<Memobus>

Marker Pulse Detection
Error

CDEV
Marker Det Error

<3Ch>

The drive monitors the number of A and B channel
encoder pulses between each marker pulse
(Z or C channel). There should be F1-01
(Encoder PPR) A and B channel pulses between
each marker pulse. If the pulse count exceeds F1-01
x 8, the drive displays a CDEV fault and coasts to a
stop.

Note: If Orientation encoder parameter P1-10 = 1,
parameter F1-31 sets Encoder PPR. If an Indirect
Drive configuration is used, Orientation encoder
PPR is multiplied by the active gear ratio.

Description Cause Countermeasures

This fault is displayed when the motor has gone two
rotations without receiving a marker pulse from the
motor encoder (Z or C channel).
This could be caused by disconnected or
malfunctioning hardware, or inappropriate
parameter settings.

This fault is only triggered while an orient digital
input is activated and the frequency reference is less
than the P1-01 Orient Speed.

Control Method/

Access Level

– – – Y– – N

– – – Y– – N

– – – Y– – N

– – – Y– – N

– – – Y– – N

– – – Y– – N

Control Method/

Access Level

– – – Y– – N

– – – Y– – N

- Remove all run commands from the drive. Check
the wiring of the encoder, especially the Z pulse.

- Check for noise on the encoder feedback signals.

- Check the F1-01/F1-31 parameter setting matches
the encoder being used.

YAS KA WA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement 15

2 Spindle Orientation

Alarm Indication

Digital Operator Display

<Memobus>

This Operator Programming Error occurs when
spindle orient parameters are set in a way that may
cause unintended operation.

This error covers the following parameter settings:

Orient Parameter Selection
Error

OPE12

Orient Param Err

<0Ch>

1. The CN5-B encoder is set as both the position
and motor encoder.

2. The Orient Speed parameter P1-01 is set too
close to Control Mode Switch Frequency S2-01
(S2-11 if Motor 2 is programmed).

3. Reverse Operation (b1-04) is disabled for orient
applications.

4. Minimum Frequency (E1-09) is set too high.

5. Orient Encoder set for CN5-B but the PG option
card is missing.

Table 15 Errors

Description Cause Countermeasures

1. Remove CN5-B Encoder Conflict. Refer to

References on page 31.

1. The drive is in Closed Loop Vector Control Mode
(A1-02 = 3), digital input H1-0 = 16h is
programmed, Motor 2 Option Card Port Selection
Parameter F1-30 = 1 (CN5-B), and Orientation
Encoder Channel Selection Parameter P1-10 = 1
(CN5-B).

2. P1-01 + S2-02 is greater than S2-01.
(Or P1-01 + S2-12 is greater than S2-1
1 if Motor 2 is selected.)

3. Parameter b1-04 = 1 and digital input H1-0 =
80/81/82h.

4. Parameter E1-09 is greater than the P1-02 Creep
Speed while the drive is configured for orient.

5. Orientation Encoder Card Selection Parameter
P1-10 = 1 (CN5-B) and a PG-X3 or PG-B3 option
card is not installed in CN5-B while digital input
H1-0 = 80/81/82h .

a. Program the drive for V/f Control Mode
(A1-02 = 0).

b. De-program the digital input H1-0 = 16h.

c. Change Motor 2 Option Card Port Selection
Parameter F1-30 = 0 (CN5-C).

d. Change Orientation Encoder Channel
Selection Parameter P1-10= 0 (CN5-C).

2. Set P1-01 to at least S2-02 Hz less than S2-01, or
set S2-01 = 0Hz.

3. Enable reverse operation (b1-04 = 0) or
de-program orient digital inputs H1-0 = 80/81/
82h.

4. Set E1-09 less than the P1-02 value or de­program orient digital inputs H1-0 = 80/81/82h.

5. Power down the drive and install a PG-X3 or
PG-B3 option card into CN5-B, change the
orientation encoder to be CN5-C (P1-10 = 0), or
change digital input H1-0 != 80/81/82h.

Alarm Indication

Digital Operator Display

<Memobus>

Control Mode Switchover
Frequency Error

OPE21

Switch Freq Err

<0Ch>

Table 16 Modified Errors

Description Cause Countermeasures

The permissible hardware frequency limit of PG
option card is exceeded.

The S2-01 Control Mode Switchover frequency is
too high for the encoder with PPR set in parameter
F1-01 (F1-31 for encoders hooked up to option
cards in port CN5-B).

Set the value of Control Mode Switchover
Frequency S2-01 within the conditions below:

PG-B3: F1-01 × S2-01 x 2/E2-04 > 50 kHz
PG-X3: F1-01 × S2-01 x 2/E2-04 >300 kHz

16 YASK AWA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement

2 Spindle Orientation

MachineSpeed

(Hz)

RunCommand

DecelTime

(C1-0X)

OrientSpeed
(P1-01)

CreepSpeed
(P1-02)

ORTDecTime

(P1-12)

FrequencyReference
(determinedbyb1-01)

OrientDigitalInput

(H1-0X=80/81/82h)

AccelTime

(C1-0X)

ControlModeSwitchover
Frequency(S2-01)

ControlModeSwitchover
Bandwidth(S2-02)

OrientComplete

(H2-0X=40h)

Frequency[(S2-01)‒ (S2-02)]
mustbegreaterthanP1-01or

OPE12errorwilloccur.

 Function Description

The spindle orientation function begins when one of the orient digital inputs (80h, 81h, or 82h) outlined in Tabl e 12 is
closed. These orient digital inputs can be broken into two modes: Orient from Run, and Orient from Stop. These two
modes are discussed later in this section.

Orient only occurs when the drive is in Closed Loop Vector (CLV) control mode. This can be achieved by setting the P1­02 Creep Speed below the window established by the S2-01 Control Mode Switchover Frequency and the S2-02 Control
mode Switchover Bandwidth. Figure 2 shows how the drive returns to Closed Loop Vector operation once an orient is
commanded.

Figure 2

Figure 2 Orient Operation with High Frequency Switchover

YAS KA WA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement 17

2 Spindle Orientation

DriveSFS

FWD

80/81/82hOrient

Command

80/81/82hOrient

Command

OrientFWD

OrientREV

80hOrient

CMD

81hOrient

CMDFWD

82hOrient

CMDREV

FWDRun

REVRun

OrientREV

OrientFWD

OrientFWD

OrientREV

DriveSFS

REV

DriveSFS

Zero

FWDorREV

FWDorREV

FWDorREV

FWDorREV

OrientDirection:OrientFromRun

RunDirection

(RunCommand+

FrequencyReference)

OrientDirectionOrientCommand

DriveSoftstarter

Polarity/Speed

(U1-02)

 Orient from Run

An Orient from Run is initiated by closing one of the orient digital inputs (80h, 81h, or 82h) while the drive is running.
These digital inputs command the drive to orient the spindle to the requested offset. In an orient from run, the drive soft
starter status is used to determine the orient direction. If the soft starter output is zero (the drive is holding position), the
orient direction is determined by the commanded run direction when an 80h Orient CMD is given, and by the orient
digital inputs themselves when an 81h Orient FWD or 82h Orient REV is commanded. The run direction logic is outlined
in Figure 3.

Figure 3

Both the run command and an orient digital input must be present for the drive to regulate and hold the desired position.

Figure 3 Orient Direction Determination

The 80h Orient Command digital input is special such that if the run command is removed during orientation, the drive
stops according to the b1-03 Stopping Method and orientation is not completed. Note, however, that the 81h Orient
Command Forward and 82h Orient Command Reverse digital inputs provide their own run command to the drive, so
removing the run command to the drive does not cancel the orient when using these orient digital inputs.

If the run command is present during orientation and all orientation digital inputs (80h, 81h, and 82h) are removed, the
drive resumes normal operation at the current speed reference.

When multiple orient digital inputs are issued simultaneously, the function of the subsequent orient digital inputs are
ignored. The orient command is cleared once all orientation digital inputs are opened.

Figure 4 covers the Orient from Run deceleration profile after an orient digital input is activated. The figure is broken up

into three areas. Area A includes deceleration to the P1-02 Creep Speed. Area B represents locating the marker.
Area C represents the final approach of the spindle once it has reached the desired offset. Each area is described in more
detail in the following sections.

18 YASK AWA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement

Figure 4

OrientDigitalInput

(H1-0X=80/81/82h)

MachineSpeed

(Hz)

ZMarkerPulse

A/BPulseCount

(Equivalentto

ShaftAngle)

FrequencyReference
(determinedbyb1-01)

OrientSpeed
(P1-01)

DecelTime

(C1-0X)

CreepSpeed
(P1-02)

ORTDecTime

(P1-12)

2 Spindle Orientation

Position-Error×P1-08Gain
BasedSpeed

ApproachSpeed
(P1-04)

OrientCompDist

(P1-09)

CreepDistance

(P1-03)

ORTSetWindow
(P1-05)

Rotationdueto
ExternalInfluence

ORTRstWindow
(P1-06)

OrientComplete

(H2-0X=40h)

ORTSetTime(P1-07)

Figure 4 Orientation Deceleration Profile from Run

Area A: Deceleration

The drive decelerates using the C1-0 deceleration time until it reaches the Orient Speed defined in parameter P1-01.
At the P1-01 Orient Speed, the software checks the status of Orientation Deceleration Selection parameter P1-11 and
Orientation Deceleration Time parameter P1-12 to determine the deceleration time used at frequencies below P1-01.
If parameter P1-11 is enabled, deceleration time switches from C1-0 to P1-12 as shown in Figure 4 above. The drive
ramps its current ASR P Gain to ASR P Gain 3 (P2-10) if Orientation ASR Enable parameter P2-09 is enabled.

Area B: Marker Location

The P1-02 Creep Speed is the speed that the drive will cruise at while determining the location of the marker pulse on the
C/Z channel of the orientation encoder. The purpose of the Creep Speed is to provide a steady speed for reading the
marker pulse which gives consistent and repeatable marker pulse location. Once the marker pulse has been found, the
drive will disable s-curves and calculate the position error. The position error is calculated to be the distance between the
current spindle orientation and the selected P2-02/03/04/05 marker offset. If the position error is less than the number of
counts specified in Orientation Compensation Distance P1-09, the drive will add an additional rotation to allow the drive
to come to a controlled stop once the drive enters position error-based control.

Area C: Position Error-Based Control

The drive enters position error-based control once the calculated position error is less than the P1-03 Creep Distance.
Within the Creep Distance, the frequency reference is calculated using the product of the position error (in encoder
counts) and the Positioning Proportional Gain as determined by Positioning Proportional Gain parameter P1-08.
The frequency reference is upper limited to the P1-02 Creep Speed and lower limited to the P1-04 Approach Speed.
The purpose of the Approach Speed is to decrease the time it takes to complete an orient by ignoring low frequency
references until the drive reaches the P1-05 Orientation Complete Detection Set Window. If the P1-04 is programmed to
be greater than the P1-02, the drive runs at the P1-04 speed while within the creep distance. Within the creep distance, the
drive acceleration and deceleration times are also set to zero. This allows the drive to respond appropriately to the
position error without being influenced by the C1-0 accel/decel times.

YAS KA WA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement 19

2 Spindle Orientation

Once the position is maintained within the Complete Detection Set window P1-05 for the length of time defined by the
ORT Set Time P1-07, the H2-0 digital output programmed to Orient Complete (40h) is set and Zero Servo control is
enabled. With Zero Servo control enabled, any remaining position error is resolved by the Zero Servo algorithm.
Also, if Orientation ASR Enable parameter P2-09 is enabled, the P2-10 ASR Gain setting is ramped to the P2-12
(ASR P Gain 4) setting over the time specified by parameter P2-13 (ASR I Time 4).

Zero Servo Gain parameter b9-01 controls the responsiveness of the drive when external loads are applied. If an external
influence forces the position of the spindle outside of the P1-06 Orientation Detection Complete Reset Window, the
Orient Complete digital output is reset but the drive remains in Zero Servo Control. A detailed description of Orientation
Complete Detection Set and Reset windows can be found in Orientation Set/Reset Window on page 28.

Note: The position control algorithm requires control of the drive at frequencies well below 1 Hz. Therefore, drive parameters b1-05

and E1-09 should remain programmed to their default values.

 Orient from Run: Frequency Reference below P1-02

If the drive is running at a frequency reference below P1-02 and an orient digital input is closed, the drive accelerates
towards the P1-02 Creep Speed using the drive Acceleration Time C1-0 until it finds the marker pulse. The drive ramps
its current ASR P Gain to ASR P Gain 3 (P2-10) if Orientation ASR Enable parameter P2-09 is enabled. Once the marker
pulse is found, s-curves are disabled and the position-error is calculated in the same fashion as the Orient from Run
example discussed in the above section.

Note: If the drive has an active run command and a frequency reference of 0 Hz, the drive accelerates in the commanded run direction

when an 80h Orient CMD is given. If an 81h Orient CMD FWD or 82h Orient CMD REV is given, the drive ignores the

Figure 5

commanded run direction.

OrientDigitalInput

(H1-0X=80/81/82h)

MachineSpeed

(Hz)

ZMarkerPulse

A/BPulseCount

(Equivalentto

ShaftAngle)

OrientComplete

(H2-0X=40h)

OrientSpeed
(P1-01)

FrequencyReference
(determinedbyb1-01)

AccelTime

(C1-0X)

ORTSetTime(P1-07)

CreepSpeed
(P1-02)

Position-Error×P1-08Gain
BasedSpeed

ApproachSpeed
(P1-04)

OrientCompDist

(P1-09)

CreepDistance

(P1-03)

ORTSetWindow
(P1-05)

Rotationdueto
ExternalInfluence

ORTRstWindow
(P1-06)

Figure 5 Orientation Profile from Below P1-02

 Orient from Stop

An orient from stop is performed when the spindle is at rest, no RUN command is present, and one of the 81h Orient
CMD FWD or 82h Orient CMD REV digital inputs is closed. Separate run commands are not required to perform an
orient from stop, as the 81h and 82h digital inputs provide their own run command to the drive.

20 YASK AWA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement

2 Spindle Orientation

ORTSetTime(P1-07)

OrientComplete

A/BPulseCount

(Equivalentto

ShaftAngle)

ZMarkerPulse

MachineSpeed

(Hz)

OrientCMDFWD

AccelTime

(C1-0X)

CreepSpeed

(P1-02)

ORTSetWindow
(P1-05)

(H1-0X=81h)

(H2-0X=40h)

CreepDistance

(P1-03)

ApproachSpeed
(P1-04)

PositionError

HighP1-08Gain

OrientationProfile

Position-Error×

P1-08Gain

BasedSpeed

An Orient from Stop can also be performed when the 80h Orient Command is applied while the drive is at rest and the
drive is then issued a run command.

Area A: Acceleration

If the spindle is stopped at a position outside of the Orient Complete Detection Set Window and the Orient CMD FWD
(81h) is issued, the drive begins to run in the forward direction and accelerate to a speed determined by the product of the
real-time position error and the Positioning Proportional Gain P1-08. This speed is limited to a maximum of the P1-02
Creep Speed as demonstrated in Area A of Figure 6. If the spindle is to be oriented in the reverse direction, orient digital
input 82h (Orient CMD REV) should be used.

If the spindle position is within the Orient Complete Detection Set Window, the drive orients as described in Orientation

Set/Reset Window on page 28.

Area B: Deceleration and Control

Area B shows how the position regulator determines the frequency reference during orient. The Positioning Proportional
Gain parameter P1-08 adjusts the responsiveness of the position regulator. Unlike an Orient from run, the drive does not
look for the marker pulse when performing an Orient from Stop because the marker position has already been determined
(except during a power-up condition as described in Orient from Stop - Find Marker on page 22).

Note: Increasing Positioning Proportional Gain parameter P1-08 decreases the orient time when an orient from stop is performed (as

represented by the dashed line machine speed curve as represented in Figure 6 ). Increasing this gain may also cause overshoot, if
this happens, decrease P1-08 until the overshoot disappears. Raising the P1-02 Creep Speed decreases the orient time of an orient

Figure 6

from stop.

Note: If an 81h Orient CMD FWD or 82h Orient CMD REV digital input is removed and reapplied while the Orient Complete output

Figure 6 Orient Profile from Stop

YAS KA WA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement 21

2 Spindle Orientation

ORTSetTime(P1-07)OrientComplete

A/BPulseCount

(Equivalentto

ShaftAngle)

ZMarkerPulse

MachineSpeed

(Hz)

OrientCMDFWD

AccelTime

(C1-0X)

OrientSpeed
(P1-01)

CreepSpeed
(P1-02)

Rotationdueto
ExternalInfluence

ORTSetWindow
(P1-05)

ORTRstWindow
(P1-06)

(H1-0X=81h)

(H2-0X=40h)

OrientCompDist

(P1-09)

CreepDistance

(P1-03)

ApproachSpeed
(P1-04)

Position-Error×

P1-08Gain

BasedSpeed

0

HighP1-08Gain

OrientationProfile

(40h) is active (the spindle remains within the P1-06 window) and the spindle is being commanded to its current offset, the drive
immediately proceeds into final positioning regardless of the error direction.

 Orient from Stop - Find Marker

When the drive is first powered up, the location of the marker pulse is not known. If the drive is commanded to perform
an Orient from Stop immediately after power up, the drive will first look for the marker as shown in Area A of Figure 7.
Once the marker pulse is found, operation is identical to the Orient from Run example discussed in Orient from Run on

page 18.

Figure 7

Figure 7 Orient from Stop Including Marker Pulse at P1-02

22 YASK AWA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement

 Application Configurations

Motor

Encoder

Machine

Motor

Configuration 2: Indirect Drive with

Orientation Encoder

Configuration 1: Direct Drive

PG-X3

PG-X3

PG-X3

Orientated

Machine Part

Orientation

Encoder

Orientated

Machine Part

Drivetrain

(Gear Ratio)

CN5-B

CN5-C

CN5-C

Motor

Encoder

Ch A/B/Z

Ch A/B/Z

Ch A/B

Machine

Motor

Motor

Encoder

Machine

Motor

Configuration 3: Indirect Drive with

Proximity Sensor

PG-X3

Proximity

Sensor

Orientated

Machine Part

Drivetrain

(Gear Ratio)

CN5-C

Ch Z

Ch A/B

Typical applications are as follows:

Figure 8

2 Spindle Orientation

Configuration 1: Direct Drive

This is a direct drive system where the encoder, motor and spindle shafts are directly coupled. This system can use the
motor's encoder for orientation and closed loop vector control (A1-02 = 3) of the motor to provide the best performance.
The orientation encoder must have a marker pulse (referred to as the Z or C pulse).

Configuration 2: Indirect Drive with Orientation Encoder

This is an indirect drive system where the motor and the spindle shaft are connected through a drive train. The orientation
encoder is coupled to the spindle shaft which is used for spindle positioning, while the motor encoder is used for closed
loop vector control.

Both encoders must have quadrature feedback (A and B channels with compliments). The orientation encoder must also
have a marker pulse (referred to as the Z or C pulse).

Note: If the Orient encoder phasing is incorrect (A and B phases are swapped), the drive fails to orient. The symptom of incorrect

orientation encoder phasing would be a drive that ramps down to the P1-02 creep speed but does not orient. If the orientation
encoder is CN5-B, then changing PG 2 Rotation Selection Parameter F1-32 or swapping A/B encoder wires on the CN5-B option
card should resolve the issue.

In this configuration, the gear ratio of the drive train must be expressed as an exact number of motor revolutions per
revolution of the spindle. By default, the software is programmed with a gear ratio of 1.0000. If the motor and the
proximity sensor are connected by a gear train, their ratio can be expressed within the range of 0.0400 to 2.5000. A ratio
of 2.0000 means that there are two motor shaft revolutions for every revolution of the spindle (and every proximity sensor
pulse). This gear ratio may be changed by modifying parameters P2-06, P2-07, and P2-08, and then selecting the gear
ratio using Gear Ratio Select digital inputs 86h and 87h. If neither of the digital inputs 86h or 87h is programmed, P2-06
is the active gear ratio.

YAS KA WA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement 23

Figure 8 Application Configurations for Applicable Control Methods

2 Spindle Orientation

A

Channel

B

Channel

Z

Channel

Typical

Encoder

P1-13 = 0

+V

0V

+V

0V

+V

0V

PNP N.C.

Prox

P1-16 = 1

PNP N.O.

Prox

P1-16 = 0

Proximity

Sensor

P1-13 = 1

Presence
of Object

Yes

No

+V

0V

+V

0V

PNP N.O.

Proximity Sensor

Rising Edge

Rising Edge

Forward Rotation

Multi-Function Digital Input (H1-) Selection

87: Motor Ratio Selection 2 86: Motor Ratio Selection 1

Effective Parameter

Open Open P2-06: Motor Gear Ratio 1

Open Closed P2-07: Motor Gear Ratio 2
Closed Open P2-08: Motor Gear Ratio 3
Closed Closed P2-06: Motor Gear Ratio 1

To prevent unintended operation, the motor ratio that is selected when an orient digital input is applied latches until the
orient digital input is removed. If the state of the digital inputs 86h and 87h change during orientation, the new motor ratio
is effective after all orient digital inputs are removed.

Note: This software does not fully support multiple motor selection using the multi-function digital input function Motor 2 Select (H1-

 = 16). However, the software can be utilized for winding change applications by setting PG Option Card Port for Motor 2
Selection parameter F1-30 = 0 and Orientation Encoder Card Selection parameter P1-10 = 0. When using two PG-X3 cards, it is
possible to run 2 different motors, provided that they share the same orientation encoder (the orientation encoder is always
defined by P1-10 regardless of Motor 1/2 selection).

Configuration 3: Indirect Drive with Proximity Sensor

When the motor and the spindle are connected through a drive train and the spindle does not have its own encoder, a
proximity sensor may be used. The proximity sensor configuration is enabled by setting Proximity Sensor Enable
parameter P1-13 = 1. The proximity sensor is connected as an external marker pulse as described in Encoder (PG) Option

Card Configuration and Wiring on page 29. Parameter P1-15 (Proximity Sensor Pulse State) allows for configuration of

both normally open and normally closed external marker pulses.

In this configuration (P1-13 = 1), the gear ratio of the drive train must be expressed as an exact number of motor
revolutions per revolution of the spindle. This gear ratio may be changed by modifying parameters P2-06, P2-07, and P2­08, and then selecting the gear ratio using Gear Ratio Select digital inputs 86h and 87h as discussed in Configuration 2:

Indirect Drive with Orientation Encoder on page 23.

Proximity sensors measure the presence or absence of a target, and therefore the pulse width is often much larger than an
encoder Z channel, as indicated in Figure 9. Since the PG-X3 option card interprets the marker pulse as the rising edge of
the signal on the Z channel, the width of the marker pulse has a significant effect on the positioning accuracy in
applications which require orientation from forward and reverse operation.

Figure 9

24 YASK AWA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement

Figure 9 Comparison of Encoder and Proximity Sensor Marker Pulses

2 Spindle Orientation

Proximity Sensor Pulse Width parameter P1-14 applies an offset to the proximity sensor pulse when the spindle is
commanded to orient in the reverse direction. With parameter P1-14 set to 0 counts and a Marker Offset P2-02 = 0, the
proximity sensor orients to opposite sides of the target when orienting from the forward and reverse directions. When P1­14 is set to the width of the target in encoder counts, the pulse width is applied in a way such that the spindle always
orients to the side of the target which provides a rising edge when the spindle is turned in the forward direction.

Proximity sensor pulse width can be measured in counts by slowly turning the spindle and observing the elapsed counts
on the U7-02 (Distance from Marker) monitor between the rising and falling edges of the sensor over the target. Some
proximity sensors have an LED indicator to indicate the presence or absence of a target. If this is not present; the output of
the proximity sensor can be viewed on an oscilloscope or measured using a multimeter. On applications requiring higher
precision of orientation, the elapsed counts can be measured by simultaneously monitoring the A/B/Z channels of the
encoder and proximity sensor and observing the elapsed counts during the period in which the marker pulse is sensed.

 Orient Position Offset Selection

By default, the software is programmed with an offset of 0 counts from the marker pulse. This means that the spindle
aligns itself to the marker pulse every time an orient is commanded. The drive may be oriented to another position by
setting Marker Offset Selection parameter P2-01 to one of three selections outlined below.

The desired offsets must be programmed into marker offset parameters P2-02 through P2-05 or set using the Memobus
register 0012h. Offsets which are specified as greater than one revolution are normalized to the encoder PPR x 4. If the
offset values are not known, they can be found by rotating the spindle by hand. To find an offset value after powering up
the drive, rotate the motor shaft until the orientation encoder axis turns for 1 rotation (360 deg), or until the drive
recognizes the marker pulse. The drive indicates that the marker pulse is found once monitors U7-02 (Distance from
Marker) and U7-03 (Distance from Offset) stop flashing “Looking for C/Z”. Rotate the machine to the desired position by
hand or by the using the run inputs. Read the marker offset value of U7-02 and enter the value in one of the parameters
P2-02 through P2-05 or the Memobus register.

P2-01 = 0, Digital Input Selection

This method uses the Offset Selection digital inputs 84h and 85h to determine the orient offset based on parameters
P2-02, P2-03, P2-04, and P2-05. When no digital input is programmed or selected, P2-02 is used as the offset.

Multi-Function Digital Input (H1-) Selection

85: Offset Selection 2 84: Offset Selection 1

Open Open P2-02: Marker Offset 1 0

Open Closed P2-03: Marker Offset 2 1
Closed Open P2-04: Marker Offset 3 2
Closed Closed P2-05: Marker Offset 4 3

Note: Offset Selection digital inputs 84h and 85h are only effective while Marker Offset Selection parameter P2-01 = 0.

P2-01 = 1, Sequential Selection

Effective Parameter

U7-05

Seq Step

This method rotates through the offset values specified in parameters P2-02, P2-03, P2-04, and P2-05 each time an orient
is commanded. If the drive power is reset, the offset is re-initialized to P2-02.

Figure 10 demonstrates operation of the sequential offset mode and the Home Position digital output 41h. The Home

Position digital output is functional only when parameter P2-01 is programmed to sequential selection. When the drive
powers up and the first orient digital input is closed, the drive sets the 41h Home Position digital output and orient to the
P2-02 offset. When the orient digital input is removed, the Home Position digital output is opened. The drive orients to
the P2-03, P2-04 and P2-05 offsets when subsequent orient are commanded. When the orient digital input is removed
after the P2-05 offset, the offset returns to P2-02.

When an orient digital input is activated, the drive chooses the orient offset position. This position remains in effect until
all orient digital inputs are removed. If the state of the orient position offset digital inputs changes during orientation, the
selection is not active until the orient digital inputs are removed. One additional digital input is available only during
sequential selection:

YAS KA WA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement 25

2 Spindle Orientation

OrientCMDFWD

(H1-0X=81h)

DistanceFrom

Marker

(U7-02)

P2-02

P2-03

P2-04

P2-05

P2-02

P2-03

P2-04

HomePosition

(H2-0X=41h)

SequentialStep

Offset

P2-03

P2-04

P2-05

P2-02

P2-03

P2-04

P2-05

P2-02

Starting

Offset

• Sequential Reset (83h)
When closed, this parameter sets the active orientation offset to the value specified in Marker Offset 1 parameter P2-02.

Figure 10

Figure 10 Operation of Sequential Orientation Feature

P2-01 = 2, Memobus COM Selection

This method uses the network communication offset (Memobus Register 0012h) as the offset from the marker pulse.
When this setting is selected, parameters P2-02, P2-03, P2-04, and P2-05 are ignored. If the drive power is cycled, this
register is reset to 0 counts.

An orient offset written to this register is displayed in monitor U7-06. If a write is performed to the Memobus register
while an orient digital input is active, the value (and the U7-06 monitor) is not effective until the Orient Digital Input
(80h, 81h, or 82h) is released.

 Drive Monitors

This software has five monitors to aid in the setup and operation of the spindle orient system.

U7-02: Distance From Marker

This monitor displays the number of counts the orientation encoder is past the marker pulse (relative to the direction of
travel). The monitor counts from 0 up to the number of (F1-01 x 4) encoder counts if CN5-C is the orientation encoder
card, or the number of (F1-31 x 4) encoder counts if the orientation encoder card is CN5-B. Offsets which are specified as
greater than one revolution are normalized to the encoder PPR.

When power to the drive is reset, this monitor is reset to 0. Since the orientation of the spindle is unknown while the drive
is without power, upon power up the monitor alternates “Dist from Marker” / “Looking for C/Z” until the drive finds the
first marker pulse. Once the marker pulse is found, the monitor resets to 0 once again, and the “Looking for C/Z” message
clears.

When the drive exceeds the S2-01 Control Mode Switch Frequency (S2-11 if Motor 2 is selected), the encoder PPR may
exceed the input frequency limit of the PG-X3/PG-B3 Encoder (PG) Feedback Card. Therefore, this monitor ceases to
update when the frequency reference is above S2-01. The monitor alternates the text “Dist from Marker” / “PG Freq
Limit” until the drive frequency is less than S2-01 and the marker pulse is located.

U7-03: Distance from Offset

This monitor displays the number of counts the orientation encoder is past the current offset (relative to forward rotation).
The current offset value is latched at the rising edge of an orient digital input (as displayed in monitor U7-04). The
monitor counts from 0 up to the number of (F1-01 x 4) encoder counts if CN5-C is the orientation encoder card, or the
number of (F1-31 x 4) encoder counts if the orientation encoder card is CN5-B. Offsets which are specified as greater
than one revolution are normalized to the encoder PPR.

26 YASK AWA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement

2 Spindle Orientation

When power to the drive is reset, this monitor is reset to 0. Since the orientation of the spindle is unknown while the drive
is without power, upon power up the monitor alternates “Dist from Offset” / “Looking for C/Z” until the drive finds the
first marker pulse. Once the marker pulse is found, the monitor is reset to 0 once again, and the “Looking for C/Z”
message clears.

When the drive exceeds the S2-01 Control Mode Switch Frequency (S2-11 if Motor 2 is selected), the encoder PPR may
exceed the input frequency limit of the PG-X3/PG-B3 Encoder (PG) Feedback Card. Therefore, this monitor ceases to
update when the frequency reference is above S2-01. The monitor alternates the text “Dist from Offset” / “PG Freq Limit”
until the drive frequency is less than S2-01 and the marker pulse is located.

U7-04: Commanded Offset

This monitor displays the current marker offset position. Each time an orient is commanded, this monitor is updated with
the value of the current marker offset.

If Marker Offset Selection parameter P2-01=0, the drive is in Digital Input Select mode, and monitor U7-04 is updated
with the offset count corresponding to the current state of the digital input(s) at the time when a valid orient digital input
is activated. Refer to Orient Position Offset Selection on page 25 for the digital input states.

If Marker Offset Selection parameter P2-01=1, the drive is in Sequential Select mode, and the monitor displays the next
orient offset.

If Marker Offset Selection parameter P2-01=2, the drive is in Memobus Communication Selection mode, and the monitor
displays the count value currently in Memobus register 0012h.

U7-05: Sequence Step

This monitor displays the range 0 to 4 which corresponds to the parameters P2-02, P2-03, P2-04, and P2-05 and the
Memobus register 0012h. The value corresponds to the offset to which the drive orients when the orient digital input is
activated.

If Marker Offset Selection parameter P2-01=0, the drive is in digital input Select mode, and monitor U7-05 is updated
with the value corresponding to the current state of the digital input(s) at the time when a valid orient digital input is
activated. Orient Position Offset Selection on page 25 for the digital input states.

If Marker Offset Selection parameter P2-01=1, the drive is in Sequential Select mode, and the monitor displays the next
orient offset. This value is reset every time an orient digital input is activated.

If Marker Offset Selection parameter P2-01=2, the drive is in Memobus Communication Selection mode, and the monitor
displays the value 4. The U7-04 monitor displays the count value currently in Memobus register 0012h.

U7-06: Serial Offset

This monitor displays the orientation position offset specified by the Memobus register 0012h. Since the Memobus
register is not saved upon power loss, this monitor is re-initialized to 0 counts upon power up.

Note: This monitor reflects the value last written to the Memobus register. Since the Memobus register offset value is latched when an

orient digital input is activated, the value displayed on the monitor may not match the orient position if the Memobus register is
rewritten during orient.

 Orient ASR P Gain and I Time

The Spindle Orient function has the ability to change the ASR parameters during orient. This feature is enabled by the
Orientation ASR Enable Parameter P2-09. When P2-09 is set to enabled, the drive switches from the active C5-0 ASR
P Gain and ASR I Time to the values programmed in P2-10 (ASR P Gain 3) and P2-11 (ASR I Time 3).

To prevent any sudden change in operation at P1-01, the ASR P Gain is ramped from the current C5-0 level to the P2­10 level over the time period specified by the P2-11 ASR I Time. The P2-11 ASR I Time is switched immediately upon
reaching the P1-01 Orient Speed. Once the drive enters Zero Servo Control, the P2-11 ASR gain setting is ramped to the
P2-12 (ASR P Gain 4) setting over the time specified by parameter P2-13 (ASR I Time 4).

YAS KA WA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement 27

2 Spindle Orientation

*P=C5-01
*I=C5-02

0

ASR

PGain,

ITime

P=P2-10

I=P2-11

Time[s]P2-11

P

I

DuringOrient

P2-13

P

I

P=P2-12

I=P2-13

Orient

Complete

Acceleration,

OrientCMDRemoved

Deceleration,

80hOrientCMD

Event

*AssumesC5-07=0.0Hz,speed-dependentASRvaluesdisabled.

FreqRef=

P1-01

Zero

Servo

P

Motor

Speed

[Hz]

(U1-05)

Time[s]

0

P1-01

P1-02

I

C5-02

MotorShaft

OrientPosition

OrientSet

Window

Orient

Reset

Window

S

e

t



i

f



<



P

1

-

0

5



c

o

u

n

t

s

R

e

s

e

t







i

f



>



P

1

-

0

6



c

o

u

n

t

s

Figure11

Figure 11 ASR Gain/Time Change During Orient

 Orientation Set/Reset Window

Figure 12 visualizes the Orientation windows P1-05 and P1-06. The motor enters the dark grey Orient Set Window once

the difference between the current position and the desired Marker Offset is less than P1-05 counts. If the current position
is maintained within the dark grey window for longer than the Orientation Set Time P1-07, the multi-function digital
output H2- set to 40h will go high. This output remains high as long as the shaft maintains its position within
+/- P1-06 counts of the Marker Offset, which is the light grey Orientation Reset Window in Figure 12.

Figure 12

Figure 12 Orientation Set and Reset Windows

28 YASK AWA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement

2 Spindle Orientation

PG-X3Encoder

FeedbackCard

12VDC+/- 5%

PowerSupply

+12VDC

Common

R3

R1

R2

NPNExternal

Marker

Allresistors560 Ω,

tolerance10%,½Watt

Shielded

TwistedPair

-

+

OC

Important Notes Regarding the Orient Window Functionality:

• If the P1-05 orient detection set window is set greater than the P1-06 reset window, the software limits P1-05 to the P1­06 setting. This is required for the Orient Complete digital output function to work properly.

• The Orient Complete digital output is only active during orient when the commanded frequency reference is below the
P1-02 Creep Speed.

• The P1-07 ORT Set Time does not apply to the Orient Reset Window. If the actual position deviates from the
orientation position by more than P1-06 counts, the Orient Complete digital output opens. The P1-07 timer is reset and
the same ORT Set Time applies every time the spindle re-enters the Orient Set Window.

• If the drive is not running when an orient digital input is removed and reapplied while the drive is within the P1-06
window, the drive resumes position control within the orientation reset window so long as the commanded position
offset is not changed.

 Encoder (PG) Option Card Configuration and Wiring

The PG-X3 or PG-B3 Installation Manual should be used to determine the Encoder (PG) Feedback card(s) needed. All
encoders must have quadrature feedback (A and B channels with compliments). The orientation encoder must also have a
marker pulse (referred to as the Z or C pulse). If not, an external sensor must be used to locate the marker position.

The PG-X3 Encoder Feedback card requires a line driver type circuit for the marker (Z/C pulse) input. Figure 13 shows
an example of how a +12 Vdc current sinking (open collector NPN) switch can be used to trigger the marker pulse input
of the encoder feedback card in situations where the application encoder does not have a Z/C channel. An external power
supply may be required. For best noise immunity, locate the resistor network at the sensor, not at the encoder feedback
card. Please note that the sensor must be able to handle at least 22 mA of current draw. For exact application wiring,
consult Yaskawa Application Engineering with the exact sensor specifications.

Figure 13

Figure 13 External Marker Pulse Wiring Diagram: NPN

YAS KA WA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement 29

2 Spindle Orientation

PG-X3Encoder

FeedbackCard

12VDC+/- 5%
PowerSupply

+12VDC

Common

R3

R1

R2

PNPExternalMarker

Allresistors560 Ω,

tolerance10%,½Watt

Shielded

TwistedPair

OC

-

+

Figure 14 is an example of how a +12 Vdc current sourcing (open collector PNP) switch can be used to trigger the

marker pulse input.

Figure 14

Figure 14 External Marker Pulse Wiring Diagram: PNP

 Drive Wiring Examples

The examples in Figure 15 are typical wiring diagrams for the direct and indirect positioning methods discussed in

Application Configurations on page 23.

Figure 15

2kΩ

ForwardRun
ReverseRun
OrientCMD
OffsetSel1

SpeedReference

Example1:ClosedLoopVector

Control‒DirectDrive

CN5-C

PG-X3OptionCard

U/T1
V/T2
W/T3

GND

IM

Motor

A+
A-

B+
B-

1BT2BT

Z+
Z-

PGPower

SD

PGGND

FE

IP

IG

a+
a­b+
b­z+
z-

Note:Anexternalpowersupplymaybe

powersupply.Checktheratedcurrentof

PG

ShieldedTwisted

Pair

required.ThePG-X3hasa200mA

bothencoders.

R/L1
S/L2
T/L3

S1
S2
S3
S4
S5
S6
S7
S8
SN

E(G)

+VSupply(+10.5VDC)
A1Input(0to+/- 10VDC)
A2Input
A3Input
ACCommon

-VSupply(-10.5VDC)

MA
MB
MC

(H1-01=40h)
(H1-02=41h)
(H1-03=80h)
(H1-04=84h)

Fault

M1

H2-0X=40h:

M2

OrientComplete

M3

H2-0X=41h:

M4

HomePosition

M5
M6

A1000

Figure 15 Wiring of Drive for Application Examples

Example2:ClosedLoopVector

ControlwithPositionEncoder

CN5-C

CN5-B

U/T1
V/T2
W/T3

GND

PG-X3OptionCard1

PG-X3OptionCard2

A+

A­B+
B­Z+

Z-

PGPower

SD

PGGND

FE

IP

TB2 TB1

IG

A+
A-

B+

B-

Z+
Z-

PGPower

SD

PGGND

FE

IP

TB2 TB1

IG

IM

Motor

PG

Motor

Encoder

Position

Encoder

PG

30 YASK AWA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement

 References

2 Spindle Orientation

Table 17 Valid Configurations of Motor and Orientation Encoders

Encoder Channel

Parameter Setting

P1-10 F1-30

CN5-C CN5-C Motor 1 CN5-C CN5-C Yes -

CN5-B CN5-B Motor 1 CN5-B CN5-C Yes*

CN5-C CN5-B Motor 1 CN5-C CN5-C Yes ­CN5-B CN5-C Motor 1 CN5-C CN5-B Yes Motor and Orientation Encoder PPR must match.
CN5-C CN5-C Motor 2 CN5-C CN5-C Yes ­CN5-B CN5-B Motor 2 - - No OPE12: Motor and Orientation Encoder conflict.

CN5-C CN5-B Motor 2 CN5-B CN5-C Yes Motor and Orientation Encoder PPR must match.

CN5-B CN5-C Motor 2 CN5-C CN5-B Yes Motor and Orientation Encoder PPR must match.

Motor 1/2

(H1-0 =16h)

Encoder Used For:

Closed

Loop

Control

Orientation

Valid

Config.

Comment

*OPE12 occurs if H1-0 programmed to 16h

(Motor 2 Select)

Chinese language support is added to certain parameters and functions:

Table 18 Parameter Chinese Display Text

Parameter No. English Display Text Chinese Display Text

P Spindle Orient

P1 Orient Settings

P1-01 Orient Speed

P1-02 Creep Speed

P1-03 Creep Distance

P1-04 Approach Speed

P1-05 ORT Set Window

P1-06 ORT Rst Window

P1-07 ORT Set Time

P1-08 Pos P Gain

P1-09 Orient Comp Dist

ORT Enc Select

P1-10

P1-11

P1-12 ORT Dec Time

P1-13 Prox Sens Enable

P1-14 Prox Pulse Width

P1-15

P2 Offset & Gear

P2-01

P2-02 Marker Offset 1

P2-03 Marker Offset 2

0: CN5-C
1: CN5-B

ORT Dec Sel
0: Disabled
1: Enabled

Prox Pulse State
0: Normally Open
1: Normally Closed

MarkerOffset Sel
0: Digital Input
1: Sequential
2: Modbus COM

主轴定位
定位设置
定位速度
爬行速度
爬行距离
临近速度
定位完了设置视窗
定位完了复位视窗
定位完了设定时间
位置控制比例增益
定位补偿距离
定位 PG 卡选择

0: CN5-C
1: CN5-B

定位减速选择

定位减速时间
距离传感器选择
传感器脉冲幅度
距离传感器状态

0: 常开
1: 常闭

偏置和齿轮比
零位脉冲偏置选择

0: 数字输入
1: 顺控选择
2:modbus 通信

零位脉冲偏置 1
零位脉冲偏置 2

YAS KA WA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement 31

2 Spindle Orientation

Parameter No. English Display Text Chinese Display Text

P2-04 Marker Offset 3

P2-05 Marker Offset 4

P2-06 Motor Ratio 1

P2-07 Motor Ratio 2

P2-08 Motor Ratio 3

ORT ASR Enable

P2-09

P2-10 ASR P Gain 3

P2-11 ASR I Time 3

P2-12 ASR P Gain 4

P2-13 ASR I Time 4

S High Frequency

S1 HighFreq Control

S1-01

S1-03

S2 Ctrl Mode Switch

S2-01 HF SwOver Freq

S2-02 HF CtrlMode SwBW

S2-05 HF SlipComp Gain

S2-06 HF SlipComp Time

S2-07 HF SlipComp Lim

S2-08

S2-11 HF SwOver Freq 2

S2-12 HF CtrlModeSwBW2

S2-15 HF SlipCompGain2

S2-16 HF SlipCompTime2

S2-17 HF SlipComp Lim2

S2-18

0: Disabled
1: Enabled

OnDelay Comp Sel
0: Disabled
1: Enabled

Extend I Sample
0: Disabled
1: Enabled

HF SlipCompRegen
0: Disabled
1: Above 6 Hz
2: Lowst possbl spd

HF SlipCompRgn 2
0: Disabled
1: Above 6 Hz
2: Lowst possbl spd

零位脉冲偏置 3
零位脉冲偏置 4
电机齿轮比 1
电机齿轮比 2
电机齿轮比 3

定位 ASR 选择

ASR 比例增益 3
ASR 积分时间 3
ASR 比例增益 4
ASR 积分时间 4
高频
高频控制
延迟补偿选择

0: 无效
1: 有效

扩展电流采样模式
0: 无效
1: 有效

控制模式切换
控制模式切换频率
控制模式切换频幅
滑差补偿增益
滑差补偿延迟时间
滑差补偿极限
再生滑差补偿

0: 再生滑差补偿无效
1: 有效 6Hz 以上
2: 有效 全范围

模式切换频率 2
模式切换频幅 2
滑差补偿增益 2
滑差补偿延迟 2
滑差补偿极限 2
再生滑差补偿 2

0: 再生滑差补偿无效
1: 有效 6Hz 以上
2: 有效 全范围

Table 19 Monitor Chinese Display Text

Monitor No. English Display Text Chinese Display Text

U7 Spindle Orient

U7-02 Dist From Marker

U7-03 Dist From Offset

U7-02/03
Alternate

U7-02/03
Alternate

U7-04 Commanded Offset

32 YASK AWA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement

Looking for C/Z

PG Freq Limit

主轴定位监视
零位脉冲偏移距离
零位脉冲偏置距离

搜索零位脉冲

编码器频率限制

指令偏置

2 Spindle Orientation

Monitor No. English Display Text Chinese Display Text

U7-05 Sequence Step

U7-06 Serial Offset

Table 20 Multi-Function Input Chinese Text

Setting English Display Text Chinese Display

50h Mode Switch Prev

80h Orient CMD

81h Orient CMD FWD

82h Orient CMD REV

83h Sequential Reset

84h Offset Sel 1

85h Offset Sel 2

86h Gear Ratio Sel 1

87h Gear Ratio Sel 2

Table 21 Multi-Function Output Chinese Text

Setting English Display Text Chinese Display Text

40h Orient Complete

41h Home Position

顺控步骤
串行偏置

控制模式切换选择
定位指令
正转定位指令
反转定位指令
顺控复位
零位偏置选择 1
零位偏置选择 2
电机齿轮比选择 1
电机齿轮比选择 2

定位完了
原点位置

Table 22 Fault and Alarm Chinese Text

Fault or Alarm English Display Text Chinese Display Text

CDEV Marker Det Error

OPE12 Orient Param Err

OPE21 Switch Freq Err

零位脉冲检测错误
定位参数错误
切换频率错误

YAS KA WA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement 33

3 Revision History

MANUAL NO.ޓTM.A1000SW.063

Published in U.S.A. September 2011 11-6

Date of
publication

Date of original
publication

Revision number

1

3 Revision History

The revision dates and the numbers of the revised manuals appear on the bottom of the back cover.

Date of Publication Revision Number Software Number Revised Content

November 2011 1 Revised pg. 19, Area B: Marker Location contents.
September 2011 - VSA910090 First release

34 YASKAWA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement

3 Revision History

YAS KA WA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement 35

YASKAWA AC Drive - A1000

Spindle Orientation

Custom Software Supplement

YASKAWA AMERICA, INC.

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Phone: (800) YASKAWA (927-5292) or 1-847-887-7000 Fax: [phone]
http://www.yaskawa.com

DRIVE CENTER (INVERTER PLANT)

2-13-1, Nishimiyaichi, Yukuhashi, Fukuoka, 824-8511, Japan
Phone: [phone] Fax: [phone]
http://www.yaskawa.co.jp

YASKAWA ELECTRIC CORPORATION

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Phone: [phone] Fax: [phone]
http://www.yaskawa.co.jp

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Phone: [phone]
http://www.yaskawa.com.br

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Hauptstrasse 185, 65760 Eschborn, Germany
Phone: [phone] Fax: [phone]
http://www.yaskawa.eu.com

YASKAWA ELECTRIC UK LTD.

1 Hunt Hill Orchardton Woods, Cumbernauld, G68 9LF, United Kingdom
Phone: [phone]
http://www.yaskawa.co.uk

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Phone: [phone]
http://www.yaskawa.co.kr

YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.

151 Lorong Chuan, #04-01, New Tech Park, 556741, Singapore
Phone: [phone]
http://www.yaskawa.com.sg

YASKAWA ELECTRIC (SHANGHAI) CO., LTD.

No. 18 Xizang Zhong Road, 17F, Harbour Ring Plaza, Shanghai, 200001, China
Phone: [phone]
http://www.yaskawa.com.cn

YASKAWA ELECTRIC (SHANGHAI) CO., LTD. BEIJING OFFICE

Room 1011, Tower W3 Oriental Plaza, No. 1 East Chang An Ave.,
Dong Cheng District, Beijing, 100738, China
Phone: [phone]

YASKAWA ELECTRIC TAIWAN CORPORATION

9F, 16, Nanking E. Rd., Sec. 3, Taipei, 104, Taiwan
Phone: [phone]

Fax: [phone]

Fax: [phone]

Fax: [phone]

Fax: [phone]

Fax: [phone]

Fax: [phone]

Fax: [phone]

YASKAWA AMERICA, INC.

In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture
thereof, the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations. Therefore, be sure
to follow all procedures and submit all relevant documentation according to any and all rules, regulations and laws that may apply.

Specifications are subject to change without notice for ongoing product modifications and improvements.

© 2011 YASKAWA AMERICA, INC. All rights reserved.

MANUAL NO. TM.A1000SW.063

Published in U.S.A. November 2011 11-11

1