# Mitsubishi Electric FR-A820-00046 (0.4K) Instruction Manual Page 293

Fr-a800 series.

 Positioning by a point table (Pr.4 to Pr.6, Pr.24 to Pr.27, Pr.232 to Pr.239,
Pr.465 to Pr.494, and Pr.1222 to Pr.1281)
• Create a the point table by setting the following parameters.
Position data
[command
Point table
side]
Upper
1
Pr.466
2
Pr.468
3
Pr.470
4
Pr.472
5
Pr.474
6
Pr.476
7
Pr.478
8
Pr.480
9
Pr.482
10
Pr.484
11
Pr.486
12
Pr.488
13
Pr.490
14
Pr.492
15
Pr.494
 Position data settings
• Set the position feed length to Pr.465 to Pr.494.
• The feed length set to each point table is selected by multi-speed terminals (RH, RM, RL and REX).
• Under Vector control with encoder, set the value calculated with the following formula as the position feed length: (encoder
resolution × number of rotations × 4).
• For example, to stop the motor after 100 times of rotations using the SF-V5RU,
The value is calculated with 2048 (pulse/r) ×100 (rotations per minute) × 4 (multiplier) = 819200 (feed length)
To set 819200 as the first feed length, separate the number into the upper and lower 4 digits as follows:
Pr.466 (upper digits) = 81 (decimal), Pr.465 (lower digits) = 9200 (decimal)
• The position feed length of PM sensorless vector control is fixed at 4096 for each motor rotation.
 Acceleration/deceleration time setting
• Set the acceleration/deceleration time for parameters corresponding to each point table.
• The frequency which is the basis of acceleration/deceleration time is Pr.20 Acceleration/deceleration reference
frequency. However, 1 Hz/s is the minimum acceleration/deceleration rate (acceleration/deceleration frequency divided
by acceleration/deceleration time). If the acceleration/deceleration rate is smaller than 1, the motor runs at 1 Hz/s or in the
deceleration time.
• The maximum acceleration/deceleration time is limited at 360 s.
• During position control, acceleration/deceleration pattern is always the liner acceleration/deceleration, and the Pr.29
Acceleration/deceleration pattern selection setting is ignored.
 Setting the waiting (dwell) time
• Set the waiting (dwell) time which is the interval from the completion of the position command of a selected point table to
the start of the position command of the next point table.
• Set the dwell time from 0 to 20000 ms for parameters corresponding to each point table.
 Auxiliary function setting
• Set the handling and operation methods of the position data in each point table.
292
5. PARAMETERS
5.5 Position control under vector control and PM sensorless vector control
Maximum
Acceleration
speed
time
Lower
Pr.465
Pr.4
Pr.1222
Pr.467
Pr.5
Pr.1226
Pr.469
Pr.6
Pr.1230
Pr.471
Pr.24
Pr.1234
Pr.473
Pr.25
Pr.1238
Pr.475
Pr.26
Pr.1242
Pr.477
Pr.27
Pr.1246
Pr.479
Pr.232
Pr.1250
Pr.481
Pr.233
Pr.1254
Pr.483
Pr.234
Pr.1258
Pr.485
Pr.235
Pr.1262
Pr.487
Pr.236
Pr.1266
Pr.489
Pr.237
Pr.1270
Pr.491
Pr.238
Pr.1274
Pr.493
Pr.239
Pr.1278
Deceleration
Auxiliary
Dwell time
time
function
Pr.1223
Pr.1224
Pr.1225
Pr.1227
Pr.1228
Pr.1229
Pr.1231
Pr.1232
Pr.1233
Pr.1235
Pr.1236
Pr.1237
Pr.1239
Pr.1240
Pr.1241
Pr.1243
Pr.1244
Pr.1245
Pr.1247
Pr.1248
Pr.1249
Pr.1251
Pr.1252
Pr.1253
Pr.1255
Pr.1256
Pr.1257
Pr.1259
Pr.1260
Pr.1261
Pr.1263
Pr.1264
Pr.1265
Pr.1267
Pr.1268
Pr.1269
Pr.1271
Pr.1272
Pr.1273
Pr.1275
Pr.1276
Pr.1277
Pr.1279
Pr.1280
Pr.1281
Point table selection signal
REX
RH
RM
RL
OFF
ON
OFF
OFF
OFF
OFF
ON
OFF
OFF
OFF
OFF
ON
OFF
OFF
ON
ON
OFF
ON
OFF
ON
OFF
ON
ON
OFF
OFF
ON
ON
ON
ON
OFF
OFF
OFF
ON
OFF
OFF
ON
ON
OFF
ON
OFF
ON
OFF
ON
ON
ON
ON
OFF
OFF
ON
ON
OFF
ON
ON
ON
ON
OFF
ON
ON
ON
ON