Mitsubishi Electric FR-A720-0.4K Instruction Manual page 510

1.5 Position control under PM sensorless vector control (Pr.800)
 In position control, speed commands, which are calculated to eliminate the difference between the
command pulse (parameter setting) and the estimated feedback pulse, are output to rotate the motor.
 This inverter can perform simple position feed by contact input, position control by inverter simple pulse
input, and position control by FR-A7AL pulse train input.
(1) Setting procedure
Set by IPM parameter initialization (Refer to page 4.)
Selection of position command source. (Pr. 419)
Position command by contact
input
Set "0" (initial value) in Pr. 419.
Setting of parameter for position feed
(Pr. 465 to Pr. 494).
(Refer to Chapter 4 of the Instruction
Manual (Applied).)
As required
· Set the electronic gear. (Refer to Chapter 4 of the Instruction Manual (Applied))
· Setting of positioning adjustment parameter (Refer to Chapter 4 of the Instruction Manual (Applied))
· Gain adjustment of position control (Refer to Chapter 4 of the Instruction Manual (Applied))
CAUTION
 The carrier frequency is limited during PM sensorless vector control. (Refer to page 16.)
 Position deviation may occur due to motor temperature changes. In such case, shut off the inverter outputs, and restart.
 The Z-phase outputs cannot be made under PM sensorless vector control. When Pr.419 = "1" is set to send positioning
commands in pulses via a programmable controller positioning module and FR-A7AL, use the home position return
operation that does not require Z-phase signals.
(2) Select the control method
Pr.998 Setting
Pr.998
Other than 9, 13, 14
3003, 3103
13
(MM-CF)
14
REMARKS
 Perform position control under PM sensorless vector control only when using an MM-CF IPM motor. Moreover, perform it only
when the high frequency superposition control is selected. (Pr.788 = "9999 (initial value)")
 Position control is performed on the assumption of 4096 pulses/motor rotation.
The positioning accuracy is 200 pulses/rev for 1.5K or lower, and 100 pulses/rev for 2K or higher (under no load).
Refer to Chapter 4 of the Instruction Manual (Applied) for the detail of the position control.
Set Pr.998 IPM parameter initialization = "3003 or 3103" or
parameter initialization) to "3003"
"3003": Parameter (rotations per minute) settings for MM-CF IPM motor
"3103": Parameter (frequency) settings for MM-CF IPM motor
Select the control mode. (Pr.800)
Set Pr.800 = "13" (position control) or "14" (speed/position switchover) to
enable position control.
Test run
Control Method
9
PM sensorless vector
control
Position command by inverter
pulse train input
Set "2" in Pr. 419.
Selection of command pulse
form (Pr. 428).
Chapter 4 of the
(Refer to
Instruction Manual (Applied).
Control Type
Speed control
Test operation
Position control
Speed control/position
control switchover
13/24
P M P M P M
Position command from the
positioning module of the
programmable controller
system (through FR-A7AL)
Set Pr. 419 = "1"
Refer to the Instruction
Manual of FR-A7AL.
)
Remarks



MC signal ON: position control
MC signal OFF: speed control
BCN-C22005-634
(IPM