Orientation Control - Mitsubishi Electric 800 Series Instruction Manual

5.14.9

Orientation control

The inverter can adjust the stop position (Orientation control) using a position detector (encoder) attached to a place
such as the main shaft of the machine.
A vector control compatible option is required.
Because Pr.350 Stop position command selection is initially set to "9999", the orientation control function is invalid.
Pr. Name
350 Stop position command
A510 selection

351
Orientation speed
A526

352
Creep speed
A527

353 Creep switchover
A528 position

354 Position loop switchover
A529 position

355 DC injection brake start
A530 position

356 Internal stop position
A531 command

357 Orientation in-position
A532 zone

358
Servo torque selection
A533

359 852
Encoder rotation
C141 C241
direction
 
360
16-bit data selection
A511

361
Position shift
A512

362 Orientation position loop
A520 gain

363 Completion signal output
A521 delay time

V/F V/F V/F Magnetic flux Magnetic flux Magnetic flux Vector
Initial Setting
value range
0 Internal stop position command (Pr.356)
9999 1 External stop position command (FR-A8AX 16-bit data)
9999 Orientation control invalid
Turning ON the X22 signal decelerates the motor speed to the set
2 Hz 0 to 30 Hz
value.
0.5 Hz 0 to 10 Hz
After the speed reaches the orientation speed, the speed
decreases to the creep speed set in Pr.352 as soon as the current
position pulse reaches the creep switchover position set in Pr.353.
511 0 to 16383
As soon as the current position pulses reach the set position loop
96 0 to 8191
switchover position, control is changed to the position loop.
After the motor moves into the position loop, the motor stops by
5 0 to 255 the DC injection brake when the current position pulses reach the
specified start position of the DC injection brake.
When "0" is set in Pr.350, the internal position command is
0 0 to 16383 activated and the setting value of Pr.356 becomes the stop
position.
5 0 to 255 Set the in-position width at a stop of the orientation.
1 0 to 13 Operation at orientation completion can be selected.
Set when using a motor for
0
which forward rotation (encoder)
is clockwise (CW) viewed from
the shaft
100
1
Set when using a motor for
1
which forward rotation (encoder)
is counterclockwise (CCW)
viewed from the shaft
101
0 Speed command
16-bit data is used as the
1 external position command as
0
is.
Set the stop position by dividing
2 to 127
up to 128 stop positions.
Shift the home position using a compensation value without
changing the home position of the encoder. The stop position is a
0 0 to 16383
position obtained by adding the setting of Pr.361 to the position
command.
When the servo torque function is selected using Pr.358, the
output frequency for generating servo torque gradually increases
1 0.1 to 100 to the creep speed of Pr.352 according to the 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 signal turns
0.5 s 0 to 5 s
OFF after going out of the in-position width and waiting for the set
time.
(A) Application parameters
Vector Vector
Description
Set for the operation at 120 Hz
or less.
Set for the operation at a
CW
frequency higher than 120 Hz.
Set for the operation at 120 Hz
or less.
Set for the operation at a
CCW frequency higher than 120 Hz.
When Pr.350 = "1" is set and
the FR-A8AX is mounted
together, set the stop position
using 16-bit data.
Stop position command is
input as binary regardless of
the Pr.304 setting.
PARAMETERS
5
GROUP
A
473