Mitsubishi Electric FR-A820-00046 Instruction Manual page 373

Parameters
Home position return
Pr. 1282 Setting
method
Stopper type
Vector Vector Vector
3
PM PM PM
Ignoring the home
position
(Servo ON position is the
4
home position)
(initial value)
Vector Vector Vector
PM PM PM
Dog type back end
reference
5
Vector Vector Vector
PM PM PM
Tab. 5-59: Home position return methods (2)
FR-A800
Position control under vector control and PM sensorless vector control
Description
A workpiece is pressed to a mechanical stopper, and the position where it is stopped is set as the
home position.
Pressing is confirmed when the estimated speed value has fallen blow Pr. 865 "Low speed
detection" for 0.5 s during activation of the torque limit operation. (While the stopper-type home
position is performed, Pr. 1289 "Home position return stopper torque" is applied.) After Pr. 1290
"Home position return stopper waiting time" has passed after pressing is confirmed, the home
position is shifted by the home position shift amount (Pr. 1285 and Pr. 1286). After a position
command is created and the absolute value of the droop pulse (after electronic gear) falls below
the in-position width, the home position return is completed.
Normal
Torque limit level
(Pr. 22)
Point table 1
Position command
acceleration time
speed
0
Torque limit
Point table
selection signal
Servo-ON (LX)
Start signal
The serve ON position is used as the home position.
Position command speed
0
Point table selection signal
LX
STF
RDY
Deceleration starts at the front end of the proximity dog. After the back end is passed, the position
is shifted by the post-dog travel distance and home position shift amount. The position after the
shifts is set as the home position.
Set pulses required for deceleration from the creep speed or more as the total of the post-dog
travel distance and home position shift amount.
Point table 1
acceleration time
Position command
speed
0
Proximity dog
signal (X78)
Point table
selection signal
Servo-ON (LX)
Start signal
Pressing confirmation level (Pr. 1289)
Home position
return speed
Point table 1acceleration time
0.5 s Pr. 1290
Pressing confirmed
Point table 1
deceleration time
Home position
return speed
Creep speed
Proximity dog
Normal
(Pr. 22)
Home position
shift amount
Homeposition
Time
Creep speed
Point table 1
deceleration time
I002824E
Home position
Time
I002541E
Post dog travel
distance
Home position
shift amount
Home
position
Time
I002825E
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