Mitsubishi FR-A721-11K Instruction Manual page 137

Parameter List
Parameter
Stop position command
350
selection
351
Orientation speed
352
Creep speed
353
Creep switchover position
Position loop switchover
354
position
DC injection brake start
355
position
Internal stop position
356
command
357
Orientation in-position zone
358
Servo torque selection
359
Encoder rotation direction
360
16 bit data selection
361
Position shift
Orientation position loop
362
gain
130
Incre
Name
ments
1
0.01Hz
0.01Hz
1
1
1
1
1
1
1
1
1
0.1
Initial
Range
Value
0 Internal stop position command (Pr.356)
External stop position command (FR-A7AX 16-bit
9999 1
data)
9999 Orientation control invalid
Decrease the motor speed to the set value when the
2Hz 0 to 30Hz
orientation command (X22) is given.
As soon as the current position pulse reaches the
0.5Hz 0 to 10Hz
creep switchover position set in Pr.353 after the
speed has reached the orientation speed, the speed
511 0 to 16383
decelerates down to the creep speed set in Pr.352.
As soon as the current position pulse reaches the set
96 0 to 8191 position loop switchover position, control is changed to
position loop.
After changed to position loop, DC injection brake is
applied and the motor stops as soon as the current
5 0 to 255
position pulse reaches the set DC injection brake start
position.
When "0" is set in Pr. 350, the internal position
0 0 to 16383 command is activated and the setting value of Pr. 356
becomes a stop position.
Set the in-position zone at a stop of the
5 0 to 255
orientation.
1 0 to 13 Functions at orientation completion can be selected.
0
1
1
0 Speed command
Position command
16 bit data is used as
1
external position
0 command as is.
Set the stop position
dividing up to 128 stop
2 to 127
positions at regular
intervals.
Shift the origin using a compensation value without
changing the origin of the encoder.
0 0 to 16383
The stop position is a position obtained by adding the
setting value of Pr. 361 to the position command.
When servo torque function is selected using Pr.358,
output frequency for
generating servo torque increases to the creep
1 0.1 to 10 speed of Pr.352 gradually according to the slope set
in Pr.362. Although the operation becomes faster
when the value is increased, a machine may hunt,
etc.
Description
A
Encoder
Clockwise direction as viewed
from A is forward rotation
CCW
A
Encoder
Counter clockwise direction as
viewed from A is forward rotation
When 1 is set in Pr.350
and the option FR-A7AX
is mounted, set a stop
position using 16-bit data.
Stop position command is
input as binary
regardless of the Pr.304
setting.
CW