Spindle Orientation
Document Name Document Revised Software number Part Number
TM.G5SW.021 07/01/2004 VSG114743 CIMR-G5MXXXXXF-021
A Yaskawa GPD515/G5 AC drive flashed with this software has the ability to control the stopped orientation of the
driven machine. Orientation is achieved by means of feedback from a position encoder directly coupled to the device to
be positioned. The targeted applications are for equipment that must stop in specific positions during the processing
cycle of an operation. Drive enhancements include a definable home position and 15 additional positions relative to
home that can be sequenced automatically or selected through multi-function inputs. A special serial register that does
not require accept or enter commands is provided to enable dynamic control of the stopped position via serial
communications. Drive sequence (start/stop) can come from the terminals (2 or 3 wire control), MODBUS serial
communications, or option board based serial communications (DeviceNet, Profibus, Modbus Plus, etc.). The spindle
orient function will not work in local mode or if the run command source is operator (B1-02 = 0).
Supported Configurations
Open Loop Control
With Position Encoder
Closed Loop Control
Closed Loop Control
With Position Encoder
PG-X2
Machine
Motor
Position
Encoder
PG-X2
Machine
Motor
Encoder
Motor / Position
PG-W2
Machine
Motor
Motor
Encoder
Position
Encoder
Date: 07/01/04, Rev: 04-07 Page 1 of 14 TM.G5SW.021
Spindle Orientation
Open Loop Control with Position Encoder
The open loop control method may be used when the motor and the device to be positioned are connected through a
drivetrain with a constant ratio. Feedback into a PG option card from the position encoder attached to the device being
positioned is required.
Closed Loop Control
The closed loop control method may be used for better speed control and positioning characteristics when the drive
motor directly drives the device being positioned.
When using this method the motor encoder is used for positioning.
Closed Loop Control with Position Encoder
Closed loop control may be used when the motor and the device to be positioned are connected through a drivetrain with
a constant ratio. Feedback from an encoder attached to the device being positioned is required. This method will
provide better performance than the open loop method.
Date: 07/01/04, Rev: 04-07 Page 2 of 14 TM.G5SW.021
Example Applications
Example 1 Example 2 Example 3
Spindle Orientation
Encoder
Yaskawa
Drive with
PG-X2
Option Card
Motor
Tool
Tool
Chuck
Positioned Device Positioned Device Positioned Device
Encoder
Yaskawa
Drive with
PG-X2
Option Card
Motor
Tool
Chuck
Drivetrain
(Gear Ratio)
ToolSpindle Shaft
Encoder
Encoder
Yaskawa
Drive with
PG-W2
Option Card
Motor
Tool
Chuck
Drivetrain
(Gear Ratio)
ToolSpi ndle Shaft
These examples show typical applications. In these examples the encoder Z or marker pulse is used to indicate the zero
or marker position. An external switch may be used as the marker pulse to indicate this position.
Example 1
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 positioning and closed loop vector control of the motor to provide the best performance.
Example 2
This is an indirect drive system where the motor and the spindle shaft are connected through a drive train. The motor
and spindle speeds must have a constant ratio between them. The ratio must be entered into the drive using the provided
ratio parameters. The position encoder is coupled to the spindle shaft. Since there is no motor encoder the drive must be
set to open loop vector control. This configuration will not provide the performance of a closed loop system.
Example 3
This is an indirect drive system where the motor and the spindle shaft are connected through a drive train. The motor
and spindle speeds must have a constant ratio between them. The ratio must be entered into the drive using the provided
ratio parameters. The position encoder is coupled to the spindle shaft. The motor encoder allows for closed loop vector
control. This method will provide the best indirect positioning performance.
Required Components
The application will dictate the required configuration. The configuration will dictate the components needed. The
following table can be used to determine the components needed based on the configurations from the example.
Example Yaskawa Drive Software PG option card Position Encoder Motor Encoder
1 G5 / GPD515 VSG11474X PG-X2 512 to 2048 PPR Not Required
2 G5 / GPD515 VSG11474X PG-X2 512 to 2048 PPR Not Required
3 G5 / GPD515 VSG11474X PG-W2 512 to 2048 PPR 512 to 2048 PPR
All encoders must be quadrature encoders. The position encoder must have a Z pulse or an external switch must be used
to locate the marker position. DO NOT USE PARAMETER F1-05 TO CHANGE ENCODER PHASING WITH
THIS SOFTWARE. PLEASE SWAP ENCODER SIGNALS A+ AND A- INSTEAD.
Date: 07/01/04, Rev: 04-07 Page 3 of 14 TM.G5SW.021
Spindle Orientation
How it Works
The function of this software is to provide the ability to orient the position encoder and any device connected to it to any
position within the PPR (pulses per revolution) resolution. This requires the position encoder to be directly coupled to
the device to be positioned, which is driven by the drive flashed with VSG11474X software. The position encoder must
also be connected to the drive via a PG option card.
This software has no effect on the normal drive functions and a drive flashed with it can be configured to operate as a
standard drive with a standard software flash. The software is only active when the orient input has been energized.
When that occurs the offset value is read and the drive will accelerate or decelerate to the threshold frequency. The
threshold frequency is determined by 4096 x P1-07: Stop Frequency Gain. If the output frequency of the drive is below
the threshold frequency the drive will accelerate at the rate controlled by C1-01: Accel Time 1. If the output frequency
is above the threshold frequency the drive will begin to decelerate at the rate controlled by C1-02: Decel Time 1. The
drive’s output frequency is monitored. When the output frequency is equal to the threshold frequency the PG card’s Z
pulse is monitored. When a Z pulse is detected the marker position is set and this software begins to orient the position
encoder. The output frequency is dynamically reduced as the position encoder nears the orient position. The orient
position is equal to the marker position plus any additional offset. When the position encoder is within the number of
counts set in P1-05: Position Count of the orient position the output frequency will be set to P1-04: Position Speed. The
drive will maintain this output frequency until the position encoder is within the number of counts set in P1-06: Stop
Count of the orient position where it will stop and zero servo until the orient input or the run input is de-energized. The
orient position maintained will be +/- the counts set in P1-06: Stop Count of the set orient position. This provides a
method to prevent oscillation while the position is being maintained. When this position has been acquired the orient
complete output will activate. If the run input is de-energized while the orient input remains energized the drive will
resume operation where it stopped when the run input is re-energized. The orient complete output will de-activate when
the orient input is de-energized.
The drive will orient the position encoder within two revolutions after the marker position has been set. Revolutions
may be added when needed by incrementing the marker offset value by the quadrature pulse count of the position
encoder. The maximum offset count value is 32767. If you are using a 1024 PPR position encoder the quadrature count
will be 1024 PPR x 4 or 4096 counts per revolution. Using this position encoder, for each 4096 counts added to the
offset the drive will require an additional revolution to orient.
All orientation is done relative to the marker position. The Z pulse from the position encoder or an external-switch
device is required to identify the marker position. P1- 03: Marker Offset parameter is provided to adjust the marker
position to the required or home position. All subsequent offset positions are relative to the home position. The stop
position or orient position is equal to the marker-offset or home position plus the current offset.
To set P1- 03: Marker Offset and identify the home position it is necessary to run the drive and perform an orient by
energizing the orient input. After the drive has stopped and holding position de-energize the run and orient inputs. The
device connected to the position encoder may be rotated into the required or the desired home position. This operation
may be done by hand or by reducing the frequency reference to the drive and using the run inputs to jog the device into
position. When the device is in position the value shown at monitor U1-50: Marker Offset must be entered into P1- 03:
Marker Offset. Monitor U1-50: Marker Offset contains the number of counts past the marker position that the position
encoder has rotated. It is a rolling counter and will restart at zero after the count has exceeded P1-02: Spindle PPR x 4.
(Rolling counter range = 0 to quadrature count –1)
There are four orient control selections. Parameter P1-10: Control Select can be used to select from the following.
0 – Marker Offset – The drive will only use P1- 03: Marker Offset as the orient position when the orient input is
energized. This is the home position.
1 – Sequenced Offset – The drive will automatically increment to the next sequence offset when the orient input is
energized. Parameters P2-01: Offset 1 to P3-05: Offset 15 are used to set the sequence offset values. These
parameters provide 15-sequenced steps. Each step can contain an offset value. When the offset value read is 0 the
sequence step will reset to 0, which is the home position. A sequence-reset input is provided and will reset the step
to 0 or the home position when energized. A home position multifunction output will activate when the sequence is
Date: 07/01/04, Rev: 04-07 Page 4 of 14 TM.G5SW.021
Spindle Orientation
at the home position. After the sequence-reset has reset the sequence step to 0 the next orient input will increment it
to 1 pointing to offset value stored at P2-01 as the first step.
2 – Selected Offset – The offset value to be used can be selected via multifunction inputs. The following selection table
will illustrate how steps can be selected.
Selection Table
Number
P1-03: Marker
Step
84: Select MSB 4 85: Select Bit 3 86: Select Bit 2 87: Select LSB 1
0 Off Off Off Off
Offset
P2-01: Offset 1 1 Off Off Off
P2-02: Offset 2 2 Off Off
P2-03: Offset 3 3 Off Off
P2-04: Offset 4 4 Off
P2-05: Offset 5 5 Off
P2-06: Offset 6 6 Off
P2-07: Offset 7 7 Off
P2-08: Offset 8 8
P2-09: Offset 9 9
P2-10: Offset 10 10
P3-01: Offset 11 11
P3-02: Offset 12 12
P3-03: Offset 13 13
P3-04: Offset 14 14
P3-05: Offset 15 15
On
On
On
On
On On
On On
On On On
On On On On
To select step 6 requires multifunction inputs 85: Select 3 and 86: Select 2 to be energized. Multifunction inputs
84:Select MSB 4 and 87: Select LSB 1 must be off or de-energized. The sequence steps are bit mapped to the
multifunction inputs. If the 4 inputs are read as a 4 bit binary number its decimal equivalent is the sequence step.
The selection can be made anytime prior to energizing the orient input. Changing the selection while the orient input
is energized will have no affect until the next orient input.
3 – Serial Offset – The offset value will be read from U1-59: Serial Offset. U1-59: Serial Offset can be written to via
serial communications. The serial offset can be written to anytime prior to energizing the orient input. Changing the
serial offset while the orient input is energized will have no affect until the next orient input. U1-58: Sequence Step
will be set to 99 when this method is used and the serial offset is greater than 0.
The value of the offset entered into an offset parameter is controlled by P3-06: Count or Degree. P1- 03: Marker Offset
is not affected by this parameter and always remains as a count value. P3-06: Count or Degree has the following
selections.
0 – Count – The value entered into the offset parameters are in quadrature encoder counts. (PPR x 4) The number of
counts entered will be used as the offset. This can result in more than one revolution during an orient since 32767
counts can be entered.
1 – Degree – The value entered into the offset parameters are in degrees ranging from 0 to 360 degrees. If the value
entered is greater than 360 it will be reduced to then equivalent position within one revolution. (380 = 20)
All offset counts are measured in the counter-clockwise direction facing the position encoder shaft. All offset degrees
are measured in the clock-wise direction. Because of this increasing the offset count will result in the orient position
moving counter-clockwise and increasing offset degrees will result in the orient position moving clockwise. Either
selection provides for absolute orientation regardless of running direction. If the position encoder’s PPR is 1024, the
marker offset places the home position at 12 o’clock and the offset value is 1024 counts the position encoder will orient
at 1024 counts counter-clockwise past the home position. This is the 9 o’clock position. If the home position is set to
12 o’clock and the offset value is 270 degrees the orient position will be at the 9 o’clock position. Both these statements
are true regardless of running direction.
Multifunction Inputs Parameter
On
On
Off
On On
On
On
On On
Off Off
Off
On
Off
On On On
Off Off Off
Off Off
Off
Off
On
On On
On
Off
Off Off
Off
On
Off
Date: 07/01/04, Rev: 04-07 Page 5 of 14 TM.G5SW.021
Wiring
Speed Ref
Open Loop Control
GPD515/G5
L1
Flashed with
L2
L3
G114741 Software
1 FWD Run
2 REV Run
3 Orient
4 Reset
5 MSBit 4
6 Bit 3
7 Bit 2
8 LSBit 1
11 Common
12 GND
13 Input 0-10V
14 Input 4-20mA
15 Supply +15V@20mA
16 Input 0-10V
17 Supply Common
33 Supply -15V@20mA
9
10
18
19
20
25
26
27
23 Analog Output +/- 10 VDC
24 Analog Output +/- 10 VDC
25 Analog Output Comm on
40: Orientated
41: Home Position
Spindle Orientation
Flux Vector Control
Motor/Position
T1
T2
T3
MGL
Red 5-15VDC
1
Black Common
2
3
Blue +A
4
Gray -A
5
Green +B
6
Yellow -B
7
Orange +Z
8
Violet -Z
9
1
2
3
TA2 TA1 (Channel 1)
4
PG-X2 Option Card
5
6
Shield
TA3
Marker
Switch
IM
Motor
Position
Encoder
T1
T2
T3
MGL
PG-W2 Option Card
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
Red 5-15VDC
Black Common
Blue +A
Gray -A
Green +B
Yellow -B
Orange +Z
Violet -Z
Marker
Switch
IM
Motor
Encoder
Flux Vector Control
with Position Encoder
T1
T2
T3
MGL
Red 5-15VDC
1
Black Common
2
Blue +A
3
Gray -A
4
Green +B
5
Yellow -B
6
7
8
9
Blue +A
10
Gray -A
11
Green +B
12
Yellow -B
13
Orange +Z
14
Violet -Z
15
16
17
PG-W2 Option Card
18
19
20
Position Encoder - Requires an external
21
22
23
24
power supply
IM
Motor
Motor
Encoder
Marker
Switch
Position
Encoder
Using a Switch for the Marker
The PG option card’s Z pulse inputs require a line driver type output. A line driver output will toggle the +Z and –Z
inputs from +5-12 VDC on the +Z input and –5 to 12 VDC on the –Z input to –5-12 VDC on the +Z input and +5-12
VDC on the –Z input. This transition constitutes a pulse. The following diagram shows how conventional sourcing or
sinking switches can be used to trigger the marker pulse. The switch should be powered by an external power supply.
SinkingSourcing
Switch
+Z Input
-Z Input +12 vdc
+Z Input
-Z Input -Z Input
Switch
1K 1/8 W
1K 1/8 W
- Com
+Z Input
-Z Input
+Z Input
Switch
1K 1/8 W
1K 1/8 W
Switch
- Com
+12 vdc
Marker
Pulse
Marker
Pulse
Date: 07/01/04, Rev: 04-07 Page 6 of 14 TM.G5SW.021
Spindle Orientation
Special Programming Notes
This software document is only a supplement to the Magnetek GPD515 instruction manual. All parameters and features
not mentioned in this document are not changed.
New Constant Default Settings
Group C Tuning – Function C2 S-Curve Acc/Dec
C2-01 = 0
C2-02 = 0
C2-03 = 0
Group H Terminal
H1-01 = 80: Orient
H1-02 = 81: Reset to Home
H1-03 = 84: Select MSB 4
H1-04 = 85: Select Bit 3
H1-05 = 86: Select Bit 2
H1-06 = 87: Select LSB 1
Group H Terminal
H2-02 = 40: Orient Complete
H2-03 = 41: Home Position
New Multi-Function Digital Input Settings
For Constants H-01 through H-06
Setting Display Description
80 Orient Causes the drive to orient the position encoder to the current offset
81 Reset to Home Resets the current offset to the home position (P1-03: Marker Offset)
84 Select MSB 4 Most Significant Bit 4 of the Select bit map (decimal value = 8)
85 Select Bit 3 Bit 3 of the Select bit map (decimal value = 4)
86 Select Bit 2 Bit 2 of the Select bit map (decimal value = 2)
87 Select LSB 1 Least Significant Bit 1 of the Select bit map (decimal value = 1)
New Multi-Function Digital Output Settings
For Constants F5-01 & 02 and H2-01 through H2-03
Setting Display Description
40 Orient Complete Activates when the orientation command is complete
41 Home Position Activates when the sequence step is 0 or the home position
– Function H1 Digital Inputs
– Function H2 Digital Outputs
Date: 07/01/04, Rev: 04-07 Page 7 of 14 TM.G5SW.021
New Parameters
New Program Group
Group P
Spindle Orientation
Orient Constants
New Program Group Functions
Function P1
Orient Settings
Function P2
Seq Offset 1-10
Function P3
Seq Offset 11-15
New Program Group Function P1
PG Channel
Channel 1
P1-01 PG Channel
Either channel 1 or 2 may be used for positioning. Set this to the channel that is connected to the positioning encoder.
When a PG-X2 option card is used this setting must be 1. Channel 2 is only available with a PG-W2 option card. DO
NOT USE PARAMETER F1-05 TO CHANGE ENCODER PHASING IN THIS SOFTWARE. PLEASE SWAP
ENCODER SIGNALS A+ AND A- INSTEAD.
Pos. Encoder PPR
P1-02= 1024 PPR
P1-02 Position Encoder Pulses Per Revolution
The position encoder PPR is the actual pulse resolution or single output PPR of the position encoder used. The
quadrature pulse rate will be 4x this rate. 1024 PPR = 1024 x 4 or 4096 quadrature pulses per revolution.
Setting Range: 0 or 1
Factory Default: 0
MODBUS Address: 0x580
Q Q Q Q
Setting Range: 1 to 32767 PPR
Factory Default: 1024 PPR
MODBUS Address: 0x581
Q Q Q Q
Date: 07/01/04, Rev: 04-07 Page 8 of 14 TM.G5SW.021
Spindle Orientation
Marker Offset
P1-03= 0
P1-03 Orient offset distance
The marker offset contains the number of quadrature pulses or counts offset past the marker position that the shaft will
travel before stopping at the orient position. When this value is 0 the shaft will stop at the marker position. The desired
value may be found by running the drive and energizing the orient input. When the drive stops de-energize the run and
orient inputs. Rotate the shaft to the desired position by hand or by jogging the drive using the run inputs. Read the
value of U1-50: Marker Offset and enter it here.
The value of U1-50 is a rolling counter ranging from 0 to the number of quadrature counts per revolution. The direction
of rotation is irrelevant. The value indicates an absolute position to the marker position and is the same in either
direction.
This value may also be used to add counts to the positioning algorithm. Adding the number of positioning encoder
quadrature counts per revolution increases the stopping distance by one revolution.
Position Speed
P1-04= 0.10 HZ
P1-04 Position Speed
The position speed is the minimum speed that may be used during positioning. This speed is also used when the shaft is
within the number of quadrature counts set in P1-05: Position Count of the orient position. If this speed is set to high the
drive will oscillate when trying to hold the orient position. The positioning algorithm will decrease the speed until zero
speed is reached at the orient position or this speed is reached and maintained until the orient position.
Setting Range: 0 to 32767
Factory Default: 0
MODBUS Address: 0x582
Q Q Q Q
Setting Range: 0.00 to 10.00 HZ
Factory Default: 0.10 HZ
MODBUS Address: 0x583
Q Q Q Q
Position Count
P1-05= 0
P1-05 Position Count
The position count is the number of quadrature counts before the orient position that the drive will hold the speed set in
P1-04: Position Speed. This may be used to prevent overshooting the orient position. If this count is set to high the
drive will slow down to soon and cause extended positioning times.
Stop Count
P1-06= 0
P1-06 Stop Count
The stop count is the number of quadrature counts before and after the actual orient position that will not result in a
correction. This creates a stop range that prevents oscillation while the drive is in zero servo. The effect of this is
dependent on the position encoder’s resolution.
Setting Range: 0 to 4096
Factory Default: 0
MODBUS Address: 0x584
Q Q Q Q
Setting Range: 0 to 100
Factory Default: 0
MODBUS Address: 0x585
Q Q Q Q
Date: 07/01/04, Rev: 04-07 Page 9 of 14 TM.G5SW.021
Spindle Orientation
Stop Spd Gain
P1-07= 1
P1-07 Stop Speed Gain
The stop speed gain controls the threshold frequency where the positioning algorithm takes control of stopping the drive.
It is based on a minimum threshold of 4.096 Hz with a 1 setting. The minimum threshold is multiplied by this value to
achieve a maximum threshold of 40.96 Hz. This value also controls the rate of deceleration. The positioning algorithm
will bring the drive to a stop in the orient po sition within 2 revolutions after initiated. The number of revolutions
required to stop may be extended by the marker offset used.
Motor Ratio Num
P1-08= 1
P1-08 Spindle Ratio Numerator
The motor ratio numerator is the numerator for the motor ratio equation P1-08: Spindle Ratio Numerator / P1-09:
Spindle Ratio Div. The proper drivetrain ratio between the driven device connect to the position encoder and the motor
must be set for positioning to function properly.
Motor Ratio Div
P1-09= 1
P1-09 Spindle Ratio Divisor
The motor ratio divisor is the denominator for the motor ratio equation P1-08: Spindle Ratio Numerator / P1-09:
Spindle Ratio Div. The proper drivetrain ratio between the driven device connect to the position encoder and the motor
must be set for positioning to function properly.
Control Select
Marker Offset
P1-10 Control Select
The control select constant sets how the orient control of the drive. The selections are:
0 – Marker Offset – The orient position is maintained as the marker offset or home position.
1 – Sequence Offset – The orient position is incremented to the next sequence step (0 to 15) and new orient position.
2 – Selected Offset – The orient position is selected from the 16 available positions via multifunction inputs.
3 – Serial Offset – The orient position is read from U1-59: Serial Offset.
When using a 1 or 2 selection parameters P2-01 to P3-05 are used to set the orient positions.
Setting Range: 0 to 10
Factory Default: 1
MODBUS Address: 0x586
Q Q Q Q
Setting Range: 0 to 10
Factory Default: 1
MODBUS Address: 0x587
Q Q Q Q
Setting Range: 0 to 10
Factory Default: 1
MODBUS Address: 0x588
Q Q Q Q
Setting Range: 0 to 3
Factory Default: 0
MODBUS Address: 0x589
Q Q Q Q
Date: 07/01/04, Rev: 04-07 Page 10 of 14 TM.G5SW.021
Spindle Orientation
New Program Group Functions P2 - P3
Offset xx
PX-XX = 0
P2-01 to P3-05 Offset 1 to 15
Offset 1 to 15 are provided for use when P1-10 is set to 1: Sequence or 2: Select. When P1-10 is set to 1: Sequence,
energizing the orient input will increment to the next parameter and read the offset value. If the offset value is 0 the
sequence step is reset to 0 or P1-03: Marker Offset or the home position. When P1-10 is set to 2: Select, energizing the
orient input will read the bit mapped multifunction inputs to see if they are energized and use the parameter offset
indicated by the table below. If none of the inputs are energized the drive will orient at the home position. P1-03:
Marker Offset controls this position.
Constant
P2-01
P2-02
P2-03
P2-04
P2-05
P2-06
P2-07
P2-08
P2-09
P2-10
P3-01
P3-02
P3-03
P3-04
P3-05
Description
Offset 1 0x0590 1 Off Off Off
Offset 2 0x0591 2 Off Off
Offset 3 0x0592 3 Off Off
Offset 4 0x0593 4 Off
Offset 5 0x0594 5 Off
Offset 6 0x0595 6 Off
Offset 7 0x0596 7 Off
Offset 8 0x0597 8
Offset 9 0x0598 9
Offset 10 0x0599 10
Offset 11 0x05a0 11
Offset 12 0x05a1 12
Offset 13 0x05a2 13
Offset 14 0x05a3 14
Offset 15 0x05a4 15
MODBUS
Address
Seq.
Step
84: Select
Setting Range: 0 to 32767
Factory Default: 0
MODBUS Address: see chart
Q Q Q Q
Multifunction Inputs
85: Select Bit 3 86: Select Bit 2 87: Select
MSB 4
On
On On
On
On
On On
On On On
On
On
On
On
On On
On On
On On On
On On On On
Off Off Off
Off Off
Off
Off
Off Off
Off
On
On On
Off Off
Off
LSB 1
On
Off
On
Off
On
Off
On
Off
Count or Degree
Offset Degrees
P3-06 Count or Degree
The count or degree parameter is used to determine the value of parameters P2-01 to P3-05.
0 – Offset Counts – Parameters P2-01 to P3-05 are interpreted as counts.
1 – Offset Degrees – Parameters P2-01 to P3-05 are interpreted as degrees. Entering a number greater than 360 results
in only the integer remainder from the equation number entered / 360 being used. If the number entered is 32767 the
remainder from the equation is 7. The offset is 7 degrees. (360 * 91 = 32760, 32767 – 32760 = 7)
Date: 07/01/04, Rev: 04-07 Page 11 of 14 TM.G5SW.021
Setting Range: 0 to 1
Factory Default: 1
MODBUS Address: 0x05a5
Q Q Q Q
Spindle Orientation
Mtr 2 ASR Param
Normal (Fixed)
P3-07 Motor 2 ASR Parameter Mode Selection
This parameter changes the source of the ASR Proportional and Integral adjustments when Motor 2 is selected via multifunction input.
0 – Normal (Fixed) – The factory default values (based on control mode) of C5-01 ~ C5-04 are used to set the
proportional gain and integral time when Motor 2 is selected. The values are fixed and cannot be changed. This is
identical to the function of standard software.
1 – Use P3-08/P3-09 – Parameters P3-08 and P3-09 are used to set the proportional gain and integral time when Motor 2
is selected.
Mtr 2 ASR P Gain
P3-08 = 20.00
P3-08 Motor 2 ASR Proportional Gain
P3-08 adjusts the proportional gain of the ASR when Motor 2 is selected.
NOTE: The default P3-08 setting of 20.00 is optimized for Flux Vector control mode. Unstable operation may
occur with this setting in other control modes.
Mtr 2 ASR I Time
P3-09 = 0.500 Sec
P3-09 Motor 2 ASR Integral Time
P3-09 adjusts the integral time of the ASR when Motor 2 is selected.
NOTE: The default P3-09 setting of 0.500sec is optimized for Flux Vector control mode. Unstable operation may
occur with this setting in other control modes.
Setting Range: 0 to 1
Factory Default: 0
MODBUS Address: 0x05a6
A A A A
Setting Range: 0 to 300.00
Factory Default: 20.00
MODBUS Address: 0x05a7
A A A A
Setting Range: 0 to 10.000sec
Factory Default: 0.500sec
MODBUS Address: 0x05a8
A A A A
Date: 07/01/04, Rev: 04-07 Page 12 of 14 TM.G5SW.021
New Monitors
Spindle Orientation
Marker Offset
U1-50 = 2303 cts
Display Range: 0 to 32767 cts
MODBUS Address: 0x00d0
U1-50 Marker Offset Q Q Q Q
Displays the number of quadrature encoder counts the shaft is past the marker pulse. This is a rolling pulse counter with
a range from 0 to the quadrature PPR rating of the position encoder. (Quad PPR = P1-02: Pos. Encoder PPR x 4) The
drive must be orientated after energizing to identify the marker pulse position. This monitor will display the offset count
from the last marker pulse. A 1024 PPR encoder has a quadrature count of 1024 X 4 or 4096. Using this encoder this
value will increment from 0 to 4095 in the forward direction. It will decrement from 4095 to 0 in the reverse direction.
The 0 indicates the marker position.
Shaft Angle
U1-51 = 0.0
Display Range: -180.0 to 179.9
MODBUS Address: 0x00d1
U1-51 Shaft Angle Q Q Q Q
Displays the angle between the position encoder and the home position. The display will indicate 0 to 179.9 degrees
then change to –180.0 to 0 degrees when rotated in the clockwise direction. Counter clockwise rotation will result in 0
to –180.0 then it will change to 179.9 and count down to 0.
Shaft Angle Deg
U1-52 = 0.0
Display Range: 0.0 to 359.9
MODBUS Address: 0x00d2
U1-52 Shaft Angle Degrees Q Q Q Q
Displays the angle between the position encoder and the home position. The display will indicate 0 to 359.9 degrees
when the position encoder is rotated clockwise.
Seq Offset
U1-57 = 0
Display Range: 0 to 32767
MODBUS Address: 0x00d7
U1-57 Sequence Offset Q Q Q Q
Displays the last read offset value pointed to by the sequence step. The value is read when the orient input is energized.
The sequence offset is used as the offset to the home position. The readable values are set in the P2-01 to P3-05
parameters. When the sequence step is 0 the P1-03: Marker Offset will be read. The actual value of the sequence offset
is controlled by P3-06: Count or Degree. (Quadrature PPR counts or 360 degrees = 1 revolution)
Date: 07/01/04, Rev: 04-07 Page 13 of 14 TM.G5SW.021
Spindle Orientation
Sequence Step
U1-58 = 0
U1-58 Sequence Offset
Displays the last sequence step used. The sequence step will increment upon energizing the orient input when P1-10:
Control Select is set to 1: Sequenced Offset or 2: Selected Offset. The drive is in the home position when the sequence
step is 0. When P1-10 is set for serial offset and its value is greater than 0 the sequence step is set to 99. When the
value of the serial offset is 0 the sequence step will be at the home position o r 0.
Serial Offset
U1-59 = 0
U1-59 Sequence Offset
Displays the last serial offset written to this register. This monitor has been modified to allow writes. It is a volatile
register that will be lost upon shutdown. This register does not require enter or accept commands. P1-10: Control Select
must be set to 3: Serial Offset to use this register as the offset value. The value must be written to this register prior to
energizing the orient input.
Display Range: 0 to 15
MODBUS Address: 0x00d8
Q Q Q Q
Display Range: 0 to 32767
MODBUS Address: 0x00d9
Modified: Write to
Q Q Q Q
Date: 07/01/04, Rev: 04-07 Page 14 of 14 TM.G5SW.021
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