Mitsubishi Electric FR-A5AP Instruction Manual page 80

1) Orientation from the current rotation direction (Pr.393="10")
• When the orientation command (terminal X22) is input,
the motor speed will decelerate from the runnig speed to
Pr. 351 "orientation switchover speed". At the same
time, the orientation stop position command will be read
in. (The stop position command is determined by Pr.350
and Pr.360.)
• When the orientation switchover speed is reached, the
encoder Z phase pulse will be confirmed, and the mode
will change from speed control to position control
(orientation position loop gain parameter (Pr. 362)).
• When the control is changed, the distance to the
orientation stop position will be calculated. The motor will
decelerate and stop with a set deceleration pattern (Pr.
399), and the orientation (servo lock) state will be entered.
• When entered in the Pr. 357 in-position zone is entered, the
orientation complete signal (terminal ORA) will be output.
• The zero point position (origin) can be moved using
position shift (Pr. 361).
If the orientation command (terminal X22) is turned off while the start signal is input, the
motor will accelerate toward the speed of the current speed command. Thus, to stop, turn the
forward rotation (reverse rotation) signal off.
ORIENTATION CONTROL AT A MACHINE END— V500
WARNING
73
Speed
(forward)
OFF ON
X22
OFF ON
ORA
Speed
(reverse)
OFF
ON
X22
OFF ON
ORA
[t]
[t]