Mitsubishi Electric FR-A820-00046 Instruction Manual page 725

Parameters
Pr.
362
A520
363
A521
364
A522
365
A523
366
A524
369
C140
/
852
C241
393
A525
394
A540
395
A541
396
A542
397
A543
398
A544
399
A545
FR-A800
Name
Orientation position loop
gain
Completion signal output
delay time
Encoder stop check time
Orientation limit
Recheck time
Number of encoder pulses
Orientation selection
Number of machine side
gear teeth
Number of motor side gear
teeth
Orientation speed gain (P
term)
Orientation speed integral
time
Orientation speed gain (D
term)
Orientation deceleration
ratio
Initial Setting
Description
value range
When the servo torque function is selected using Pr. 358,
the output frequency for generating servo torque gradually
increases to the creep speed of Pr. 352 according to the
1 0.1 to 100
slope set in Pr. 362. Although the operation becomes faster
when the value is increased, hunting may occur in the
machine.
The orientation complete signal turns ON after going into
the in-position width and waiting for the set time. Also, the
0.5 s 0 to 5 s
signal turns OFF after going out of the in-position width and
waiting for the set time.
If the orientation complete signal (ORA) has never been
output and the encoder stays stopped for the set time
without completing orientation, the orientation fault signal
0.5 s 0 to 5 s
(ORM) is output. If the ORA signal has been output before
but the orientation cannot be completed within the set
time, the ORM signal is also output.
The time elapses after passing the creep switchover
position is measured. If orientation cannot be completed
0 to 60 s
within the set time, the orientation fault signal (ORM) is
9999
output.
9999 Set to 120 s.
When the start signal is turned OFF with the orientation
command (X22) ON after stopping the motor by orientation
0 to 5 s control, the present position is checked again after the set
9999
time elapses, and the orientation complete signal (ORA) or
orientation fault signal (ORM) is output.
9999 Not checked.
Set the number of encoder pulses.
1024 0 to 4096
Set the number of pulses before it is multiplied by 4.
Orientation is executed from
0
the current rotation direction.
Orientation is executed from
1
the forward rotation direction.
Orientation is executed from
2
the reverse rotation direction.
0
Orientation is executed from
10
the current rotation direction.
Orientation is executed from
11
the forward rotation direction.
Orientation is executed from
12
the reverse rotation direction.
a 0 to 32767 Set the encoder orientation gear ratio.
60 0 to 1000
Response level during position control loop (servo rigidity)
can be adjusted at orientation stop.
0.333 0 to 20 s
1 0 to 100 Lag/advance compensation gain can be adjusted.
Make adjustment when the motor runs back at orientation
20 0 to 1000
stop or the orientation time is long.
(A) Application parameters
Motor end orientation
Machine end orientation
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