Yaskawa E7 Drive Technical Manual - Manual (Page 26)

Date: 02/25/2010, Rev: 10-02 Page 26 of 34 TM.F7SW.064
5.4.4 Alignment Fault Select
When the Alignment Fault Selection parameter is set to “disabled” (P4-06 = 0), there is no settable limit to
the number of follower motor revolutions that can elapse between master and follower trigger inputs.
Note: To prevent internal overflow, the maximum number of encoder counts allowed between the two
trigger inputs is 268,435,456. (65,536 motor revolutions with a 1024 PPR encoder)
When the Alignment Fault Select parameter is set to “Ignore 1 st Pulse” (P4-06 = 1), it will disregard the
first trigger input (regardless of master or follower) once the P4-07 distance (either direction) has elapsed.
As shown in the timing diagrams below in Section 6, if the align command is asserted between the time
that the master and follower trigger inputs are read, and then the P4-07 distance elapses, the drive will
then disregard the first input and wait for two valid trigger inputs. When using this mode, it is useful to
program the P4-07 distance to 50% to 90% the total trigger-to-trigger distance.
When the Alignment Fault Select parameter is set to “Fault” (P4-06 = 2), the drive will fault out on an “AF
– Alignment Fault” and coast to stop after the P4-07 distance (follower motor revolutions) has elapsed
after the first trigger input (regardless of master or follower). When this mode is used, it is useful to set the
P4-07 parameter greater than the normal trigger-to-trigger distance. This fault is only active while the
alignment function is being commanded.
5.4.5 Align Complete / In Alignment Multi-function Digital Outputs
The Align Complete” digital output (H2-0X = 41) will close whenever a successful align procedure has
been completed. The Align Complete digital output will de-energize whenever the rising edge of an Align
Follower Command is detected. If the drive is set to reset position error at stop (P1-09 = 0), the Align
Complete digital output will also de-energize when the run command is removed or if electronic line shaft
is disabled (H1-0X = 80). If the drive is set to accumulate position error at all times (P1-09 = 1), the Align
Complete will de-energize only if electronic line shaft is disabled, or another align command is received.
The “In Alignment” digital output (H2-0X = 42) is provided to indicate whether the trigger inputs are
activated within a settable quadrature encoder count range. An Alignment Check output will energize
when the triggers are within the P4-07 setting and will de-energize when the P4-07 setting is exceeded.
This output will only change state after the trailing trigger has activated.
5.4.6 Alignment Function Diagrams
The following several pages detail the alignment function using detailed diagrams.