YASKAWA A1000 Series User manual

Custom Software Supplement
MANUAL NO. TM.A1000SW.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.
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
Spindle Orientation
YASKAWA AC Drive - A1000

2YASKAWA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement

YASKAWA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement 3
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.

4YASKAWA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement
This Page Intentionally Blank

1 Preface and Safety
YASKAWA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement 5
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:
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.
Custom Software Supplement
Yaskawa AC Drive - Spindle Orientation A1000 Custom Software 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 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.
Yaskawa AC Drive -
A1000 Technical Manual
SUPPLEMENT

6 YASKAWA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement
2 Spindle Orientation
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 automatic switchover to
closed-loop operation at low speed.
Applicable Models
This Spindle Orient software is available for the drive models listed in Table 1.
Table 1 Applicable Models
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
Figure 1 Spindle Orientation Hardware Configurations
Voltage Class Model Software Version
200 V CIMR-AU2A0004A-063 to CIMR-AU2A0415A-063 VSA91009x
400 V CIMR-AU4A0002A-063 to CIMR-AU4A0250A-063
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
YASKAWA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement 7
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 590 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 Table 2.
Table 2 Deleted Functions
Function Name
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

2 Spindle Orientation
8YASKAWA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement
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 Table 15 on
page 16 and Table 17 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
No.
MEMOBUS/
Modbus
Address
Name
Digital Operator Display Description Range Default Value
Change
During
Run
Control Method/
Access Level
F1-01 0380h PG 1 Pulses Per Revolution
PG1 Pulses/Rev
Sets the number of encoder pulses per revolution
for the encoder on channel 1. 8 to 16384 PPR 1024 PPR No – – – Y– – N
F1-30 03AAh
PG Option Card Port for Motor 2
Selection
Mtr2 PG Port Sel
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).
0 to 1 0 No – – – Y– – N
–––Y ––Y
CLV/PM
OLV/PM
AOLV/PM
CLV
OLV
V/F w PG
V/f
N = Not Viewable
Y = Viewable/Available
– = Not Available
Control Method / Access Level Decoding

2 Spindle Orientation
YASKAWA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement 9
F1-31 03B0h PG 2 Pulses Per Revolution
PG2 Pulses/Rev
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).
8 to
16384 PPR 1024 PPR No – – – Y– – N
F1-32 03B1h PG2 Rotation Selection
PG2 Rotation Sel
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).
0 to 1 0 No – – – Y– – N
F1-35 03BEh
PG2 Division Rate for Pulse
Monitor
PG2 Output Ratio
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).
1 to 132 1 No – – – Y– – N
F1-36 03B5h
PG Option Card Disconnect
Detection 2
PGCardDisconDet1
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).
0 to 1 1 No – – – Y– – N
L3-04 0492h
Stall Prevention Selection during
Deceleration
StallP Decel Sel
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.
0 to 5 0 No – – – Y– – Y
S1-01 680h On-Delay Compensation Selection
OnDelay Comp Sel
Parameter S1-01 is used to enable and disable On
Delay Compensation.
0: Disabled
1: Enabled
0 to 1 1 No – – – Y– – Y
S1-03 682h Extended Current Sampling Mode
Extend I Sample
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
590 Hz while decoupled from the load during a test
run, then try setting S1-03 = 1.
0: Disabled
1: Enabled
0 to 1 1 No – – – Y– – Y
S2-01 691h
Control Mode Switchover
Frequency
HF SwOver Freq
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.
0 to 400 Hz 400 No – – – Y– – N
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
No.
MEMOBUS/
Modbus
Address
Name
Digital Operator Display Description Range Default Value
Change
During
Run
Control Method/
Access Level

2 Spindle Orientation
10 YASKAWA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement
S2-05 695h
High Frequency Slip
Compensation Gain
HF SlipComp Gain
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.
0.0 to 2.5 0.0 Yes – – – Y– – N
S2-06 696h
High Frequency Slip
Compensation Primary Delay Time
HF SlipComp Time
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.
0 to 10000 ms 2000 Yes – – – Y– – N
S2-07 697h
High Frequency Slip
Compensation Limit
HF SlipComp Lim
Sets the upper limit for the Slip Compensation at
Hi-Speed Function as a percentage of the motor
rated slip (E2-02).
0 to 250% 200 No – – – Y– – N
S2-08 698h
High Frequency Slip
Compensation Selection During
Regeneration
HF SlipCompRegen
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)
0 to 2 0 No – – – Y– – N
S2-11 699h
Motor 2 Control Mode Switchover
Frequency
HF SwOver Freq 2
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.
0 to 400 Hz 400 No – – – Y– – N
S2-12 69Ah Motor 2 Control Mode Switchover
Bandwidth
HF CtrlModeSwBW2
Sets the hysteresis width of Control Mode Switch
for Motor 2.
Increase if shock occurs during Control Mode
switching.
2 to 100 Hz 20 No – – – Y– – N
S2-15 69Dh
Motor 2 High Frequency Slip
Compensation Gain
HF SlipCompGain2
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.
0.0 to 2.5 0.0 Yes – – – Y– – N
S2-16 69Eh
Motor 2 High Frequency Slip
Compensation Primary Delay Time
HF SlipCompTime2
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.
0 to 10000 ms 2000 Yes – – – Y– – N
S2-17 69Fh
Motor 2 High Frequency Slip
Compensation Limit
HF SlipComp Lim2
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).
0 to 250% 200 No – – – Y– – N
No.
MEMOBUS/
Modbus
Address
Name
Digital Operator Display Description Range Default Value
Change
During
Run
Control Method/
Access Level

2 Spindle Orientation
YASKAWA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement 11
Table 4 Additional Parameters
S2-18 6A0h
Motor 2 High Frequency Slip
Compensation During
Regeneration Selection
HF SlipCompRgn 2
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)
0 to 2 0 No – – – Y– – N
No.
MEMOBUS/
Modbus
Address
Name
Digital Operator Display Description Range Default Value
Change
During
Run
Control Method/
Access Level
P1-01 0600h Orient Speed
Orient Speed
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.
0.00 to 200.00 Hz 20.00 No – – – Y– – N
P1-02 0601h Creep Speed
Creep Speed
This parameter sets the speed at which the drive
locates the marker pulse. This is also the speed at
which s-curves are disabled.
0.10 to 10.00 Hz 2.00 No – – – Y– – N
P1-03 0602h Creep Distance
Creep Distance
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.
0 to 2000 Cnts 200 No – – – Y– – N
P1-04 0603h Approach Speed
Approach Speed
This parameter sets the minimum speed that the
drive operates at until it reaches the P1-05 ORT Set
Window.
0.00 to 1.00 Hz 0.10 No – – – Y– – N
P1-05 0604h
Orientation Complete Detection Set
Window
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.
0 to 100 Cnts 25 No – – – Y– – N
P1-06 0605h
Orientation Complete Detection
Reset Window
ORT Rst Window
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.
0 to 100 Cnts 0 No – – – Y– – N
P1-07 0606h Orientation Set Time
ORT Set Time
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.
0 to 1000 ms 10 No – – – Y– – N
P1-08 0607h Positioning Proportional Gain
Pos P Gain
This parameter sets the proportional gain used for
the position controller. 0.10 to 20.00 1.00 No – – – Y– – N
P1-09 0608h Orientation Compensation Distance
Orient Comp Dist
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 to 100% 50% No – – – Y– – N
No.
MEMOBUS/
Modbus
Address
Name
Digital Operator Display Description Range Default Value
Change
During
Run
Control Method/
Access Level

2 Spindle Orientation
12 YASKAWA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement
P1-10 0609h Orientation Encoder Card Selection
ORT Enc Select
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.
0 to 1 0 No – – – Y– – N
P1-11 061Eh Orientation Deceleration Selection
ORT Dec Sel
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
0 to 1 0 No – – – Y– – N
P1-12 061Fh Orientation Deceleration Time
ORT Dec Time
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
0.00 to 600.00 sec 10.00 Yes – – – Y– – N
P1-13 0620h
Spindle Proximity Sensor
Orientation Enable
Prox Sens Enable
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
0 to 1 0 No – – – Y– – N
P1-14 0621h Proximity Sensor Pulse Width
Prox Pulse Width
This parameter defines the pulse width of the
proximity sensor at the P1-02 Creep Speed,
measured in elapsed encoder counts.
0 to 60000 Cnts 0 No – – – Y– – N
P1-15 0622h Proximity Sensor Pulse State
Prox Pulse State
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
0 to 1 0 No – – – Y– – N
P2-01 060Ah Marker Offset Selection
MarkerOffset Sel
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.
0 to 2 0 No – – – Y– – N
P2-02 060Bh Marker Offset 1
Marker Offset 1
This parameter, along with parameters P2-03, P2-
04, 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.
0 to 65535 Cnts 0 No – – – Y– – N
P2-03 060Ch Marker Offset 2
Marker Offset 2
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.
0 to 65535 Cnts 0 No – – – Y– – N
P2-04 060Dh Marker Offset 3
Marker Offset 3
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.
0 to 65535 Cnts 0 No – – – Y– – N
P2-05 060Eh Marker Offset 4
Marker Offset 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 65535 Cnts 0 No – – – Y– – N
No.
MEMOBUS/
Modbus
Address
Name
Digital Operator Display Description Range Default Value
Change
During
Run
Control Method/
Access Level

2 Spindle Orientation
YASKAWA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement 13
Table 5 Modified Group Text
Table 6 Additional Group Text
Table 7 Modified Function Text
P2-06 060Fh Motor Gear Ratio 1
Motor Ratio 1
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.
0.0400 to 2.5000 1.0000 No – – – Y– – N
P2-07 0610h Motor Gear Ratio 2
Motor Ratio 2
This parameter sets gear ratio 2 between the driven
motor shaft and the spindle. 0.0400 to 2.5000 1.0000 No – – – Y– – N
P2-08 0611h Motor Gear Ratio 3
Motor Ratio 3
This parameter sets gear ratio 3 between the driven
motor shaft and the spindle. 0.0400 to 2.5000 1.0000 No – – – Y– – N
P2-09 0612h Orientation ASR Enable
ORT ASR Enable
This parameter enables the ASR Proportional Gain
override used during orientation.
0: Disabled
1: Enabled
0 to 1 0 No – – – Y– – N
P2-10 0613h ASR P Gain 3
ASR P Gain 3
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.
0.00 to 300.00 20.00 Yes – – – Y– – N
P2-11 0623h ASR I Time 3
ASR I Time 3
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.
0.000 to
10.000 sec 0.500 Yes – – – Y– – N
P2-12 0624h ASR P Gain 4
ASR P Gain 4
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 P2-
12 value using the P2-13 time setting.
0.00 to 300.00 20.00 Yes – – – Y– – N
P2-13 0625h ASR I Time 4
ASR I Time 4
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.
0.000 to
10.000 sec 0.500 Yes – – – Y– – N
Function Group Function Group Name
Digital Operator Display
SHigh Frequency
High Frequency
Function Group Function Group Name
Digital Operator Display
PSpindle Orient Group
Spindle Orient
Function No. Function Name
Digital Operator Display
S1 High Frequency Control
HighFreq Control
S2 Control Mode Switchover
Ctrl Mode Switch
No.
MEMOBUS/
Modbus
Address
Name
Digital Operator Display Description Range Default Value
Change
During
Run
Control Method/
Access Level

2 Spindle Orientation
14 YASKAWA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement
Table 8 Additional Function Text
Table 9 Monitor Function Text
Table 10 Monitors
Table 11 MEMOBUS/Modbus Registers
Table 12 Multi-Function Input Settings (H1-)
Function No. Function Name
Digital Operator Display
P1 Orient Settings
Orient Settings
P2 Offset and Gear Ratio
Offset & Gear
Monitor No. Monitor Name
Digital Operator Display
U7 Spindle Orient Group
Spindle Orient
Monitor No.
MEMOBUS/
Modbus
Address
Monitor Name
Digital Operator Display Description Analog output scaling Unit Control Method/ Access Level
U7-02 0661h Distance From Marker
Dist From Marker
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.
Full scale: 65535
Counts Cnts – – – Y– – Y
U7-03 0662h Distance From Offset
Dist From Offset
Displays the number of orientation encoder counts the machine is
away from the active orientation position offset. The display
range is 0 - 65535 counts.
Full scale: 65535
Counts Cnts – – – Y– – Y
U7-04 0663h Commanded Offset
Commanded Offset
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.
No Signal Output
Available Cnts – – – Y– – Y
U7-05 0664h Sequence Step
Sequence Step
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
No Signal Output
Available - – – – Y– – Y
U7-06 0665h Serial Offset
Serial Offset
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. No Signal Output
Available Cnts – – – Y– – Y
Address Description
0012h
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.
Setting Description Control Method/
Access Level
50
Mode Sw Disable
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 multi-
function input is dismissed during run.
– – – Y– – N
80
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.
– – – Y– – N
81
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.
– – – Y– – N

2 Spindle Orientation
YASKAWA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement 15
Table 13 Multi-Function Output Settings (H2-)
Troubleshooting
Table 14 Faults
82
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.
– – – Y– – N
83 Sequential Reset
Closed: Sets the active orientation offset parameter to P2-02 (sequence 0). This function is only active if P2-01 = 1. – – – Y– – N
84
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.
– – – Y– – N
85 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. – – – Y– – N
86
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.
– – – Y– – N
87
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.
– – – Y– – N
Setting Description Control Method/
Access Level
40
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.
– – – Y– – N
41
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).
– – – Y– – N
Fault Indication
Digital Operator Display
<Memobus>
Description Cause Countermeasures
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.
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.
- 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.
Setting Description Control Method/
Access Level

2 Spindle Orientation
16 YASKAWA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement
Table 15 Errors
Table 16 Modified Errors
Alarm Indication
Digital Operator Display
<Memobus>
Description Cause Countermeasures
Orient Parameter Selection
Error
OPE12
Orient Param Err
<0Ch>
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:
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.
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 .
1. Remove CN5-B Encoder Conflict. Refer to
References on page 31.
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 de-
program 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>
Description Cause Countermeasures
Control Mode Switchover
Frequency Error
OPE21
Switch Freq Err
<0Ch>
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

2 Spindle Orientation
YASKAWA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement 17
Function Description
The spindle orientation function begins when one of the orient digital inputs (80h, 81h, or 82h) outlined in Table 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 P1-
02 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
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.

2 Spindle Orientation
18 YASKAWA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement
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
Figure 3 Orient Direction Determination
Both the run command and an orient digital input must be present for the drive to regulate and hold the desired position.
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.
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)

2 Spindle Orientation
YASKAWA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement 19
Figure 4
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.
ORTSetTime(P1-07)
OrientComplete
A/BPulseCount
(Equivalentto
ShaftAngle)
ZMarkerPulse
MachineSpeed
(Hz)
Decel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)
(H2-0X=40h)
ORTDecTime
(P1-12)
FrequencyReference
(determinedbyb1-01)
OrientCompDist
(P1-09)
CreepDistance
(P1-03)
ApproachSpeed
(P1-04)
Position-Error×P1-08Gain
BasedSpeed
OrientDigitalInput
(H1-0X=80/81/82h)

2 Spindle Orientation
20 YASKAWA TM.A1000SW.063 Spindle Orientation A1000 Custom Software Supplement
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
commanded run direction.
Figure 5
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.
ORTSetTime(P1-07)
OrientComplete
A/BPulseCount
(Equivalentto
ShaftAngle)
ZMarkerPulse
MachineSpeed
(Hz)
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)
(H2-0X=40h)
OrientCompDist
(P1-09)
CreepDistance
(P1-03)
ApproachSpeed
(P1-04)
FrequencyReference
(determinedbyb1-01)
Position-Error× P1-08Gain
BasedSpeed
OrientDigitalInput
(H1-0X=80/81/82h)