Mitsubishi Electric FR-A820-00046 Instruction Manual page 691

Parameters
Orientation from the running status
(under V/F control, Advanced magnetic flux vector control)
When the orientation command (X22) turns on, the motor speed decreases to the Pr. 351
"Orientation speed". (Pr. 351 initial value: 2Hz)
After the speed reaches the orientation speed, the speed further decreases to the Pr. 352 "Creep
speed" as soon as the current position pulse reaches the Pr. 353 "Creep switchover position".
(Pr. 352 is initially set to "0.5 Hz", Pr. 353 is initially set to "511")
Moreover, as soon as the current position pulse reaches the Pr. 354 "Position loop switchover
position", control is changed to the position loop. (Pr. 354 is initially set to "96")
After the motor moves into the position loop, the motor decelerates and stops by the DC injection
brake as soon as the current position pulse reaches the Pr. 355 "DC injection brake start position".
(Pr. 355 is initially set to "5")
When the motor stops in Pr. 357 "Orientation in-position zone", the orientation complete (ORA)
signal is output after Pr. 363 "Completion signal output delay time". If the motor does not stop
within the in-position width because of external force, etc., the ORA signal turns OFF after the
time set in Pr. 363. (Pr. 357 is initially set to "5", Pr. 363 is initially set to "0.5 s")
If the orientation is not completed continuously in Pr. 365 "Orientation limit" after passing the
creep switchover position, the orientation fault signal (ORM) is output.
After the orientation start, if the motor is stopped by external force, etc. before reaching the in-
position width and therefore the ORA signal has not been output, the ORM signal is output after
the Pr. 364 "Encoder stop check time". If the motor is moved out of the in-position width by
external force, etc. after the ORA signal has been output once, the ORA signal turns OFF after the
set time in Pr. 363. If the orientation is not completed within the time set in Pr. 364, the ORM signal
is output.
If the ORA and ORM signals have been output once, but the start signal (STF or STR) is turned OFF
while the X22 signal is ON, the ORA or ORM signal will be output again after Pr. 366 "Recheck time".
The ORA and ORM signals cannot be output while the X22 signal is OFF.
NOTES When the orientation command turns OFF while the start signal is ON, the speed accelerates to
the command speed.
If hunting of the motor shaft occurs during orientation stop, set a larger value in Pr. 354 or a
smaller value in Pr. 352 to prevent it.
FR-A800
Orientation
speed
Creep switchover position
Position loop
Home position
Orientation stop position command
DC injection brake
Position loop switchover position
Creep
speed
(A) Application parameters
5 - 511