Mitsubishi Electric FR-V560 Instruction Manual page 71

Position control (Pr. 419 to Pr. 430,
Pr. 464 to Pr. 494)
"Setting example 1"
The travel per pulse is ∆
reduction ratio 1/n = 1 and the electronic gear ratio is ∆s = 10 (mm) when the number of feedback pulses Pf =
4000 (pulse/rev). According to the following expression,
Pr. 420
Pf Pr. 421
Pr. 420
Pf
Pr. 421
4000
0.01
10
Therefore, set "4" in Pr. 420 and "1" in Pr. 421.
"Setting example 2"
Find the internal command pulse frequency of the SF-V5R rated speed.
Note that the command pulse scaling factor Pr. 420/Pr. 421 = 1.
Assuming that the number of encoder pulses is 2048 (pulses/rev) (feedback pulse Pf = 2048 × 4),
Pr. 421
No
fo 2048
60
Pr. 420
204800
Therefore, the internal command pulse frequency is 204800 (pps).
<Relationship between position resolution ∆ and overall accuracy>
Since overall accuracy (positioning accuracy of machine) is the sum of electrical error and mechanical error,
normally take measures to prevent the electrical system error from affecting the overall error. As a guideline, refer to
the following relationship.
1 1
to
5 10
<Stopping characteristic of motor>
When parameters are used to run the motor, the command pulse frequency and motor speed have the relationship
as shown in the chart on page 59, and as the motor speed decreases, pulses are accumulated in the deviation
counter of the inverter. These pulses are called droop pulses (ε) and the relationship between command frequency
(fo) and position loop gain (Kp: Pr. 422) is as represented by the following expression.
fo
[pulse]
Kp
When the factory setting of Kp is 25s
Since the inverter has droop pulses during running, a stop settling time (ts) is needed from when the command has
zeroed until the motor stops. Set the operation pattern in consideration of the stop settling time.
1
3 [s]
ts
Kp
When the factory setting of Kp is 25s
The positioning accuracy ∆ ε is (5 to 10) × ∆
Position command acceleration/deceleration time constant (Pr. 424)
1) When the electronic gear ratio is large (about 10 or more times) and the speed is low, rotation will not be
smooth, resulting in pulse-wise rotation. At such a time, set this parameter to smooth the rotation.
2) When acceleration/deceleration time cannot be provided for the command pulses, a sudden change in
command pulse frequency may cause an overshoot or error excess alarm. At such a time, set this parameter
to provide acceleration/deceleration time.
Normally set 0.
= 0.01 (mm) in a drive system where the ballscrew pitch PB = 10 (mm) and the
4
1
4
: Positioning accuracy
204800
[pulse] (motor rated speed)
25
-1
, the droop pulses (ε) are 8192 pulses.
-1
, the stop settling time (ts) is 0.12s.
= ∆ ε [mm]
62