Mitsubishi Electric 800 Series Instruction Manual page 475

(A) Application parameters
Pr.
364
Encoder stop check time
A522

365
Orientation limit
A523

366
Recheck time
A524

369 851
Number of encoder
C140 C240
pulses
 
393
Orientation selection
A525

394 Number of machine side
A540 gear teeth

395 Number of motor side
A541 gear teeth

396 Orientation speed gain (P
A542 term)

397 Orientation speed
A543 integral time

398 Orientation speed gain
A544 (D term)

399 Orientation deceleration
A545 ratio

829 Number of machine end
A546 encoder pulses

862
Encoder option selection
C242

474
PARAMETERS
Initial
Name
value
0.5 s
9999
9999
1024
0
1
60
0.333
1
20
9999
0
Setting
range
If the orientation complete signal (ORA) has never been output
and the encoder stays stopped for the set time without completing
0 to 5 s orientation, the orientation fault signal (ORM) is output. If the ORA
signal has been output before but the orientation cannot be
completed within the set time, the ORM signal is also output.
The time elapses after passing the creep switchover position is
0 to 60 s measured. If orientation cannot be completed within the set time,
the orientation fault signal (ORM) is output.
9999 Set to 120 s.
When the start signal is turned OFF with the orientation command
(X22) ON after stopping the motor by orientation control, the
0 to 5 s present position is checked again after the set time elapses, and
the orientation complete signal (ORA) or orientation fault signal
(ORM) is output.
9999 Not checked.
Set the number of encoder pulses.
0 to 4096
Set the number of pulses before it is multiplied by 4.
Orientation is executed from the
0
current rotation direction.
Orientation is executed from the
1
forward rotation direction.
Orientation is executed from the
2
reverse rotation direction.
Orientation is executed from the
10
current rotation direction.
Orientation is executed from the
11
forward rotation direction.
Orientation is executed from the
12
reverse rotation direction.
0 to 32767 Set the encoder orientation gear ratio.
0 to 1000
Response level during position control loop (servo rigidity) can be
adjusted at orientation stop.
0 to 20 s
0 to 100 Lag/advance compensation gain can be adjusted.
Make adjustment when the motor runs back at orientation stop or
0 to 1000
the orientation time is long.
Set the number of pulses output from the encoder connected to
0 to 4096 the end of the machine.
Set the number of pulses before it is multiplied by 4.
9999 Machine end orientation invalid.
First motor: plug-in option that
supports the vector control
0 Second motor: control terminal
option that supports the vector
control

First motor: control terminal
option that supports the vector
control
Second motor: plug-in option
that supports the vector control
1 
Motor end: control terminal
option that supports the vector
control
Machine end: plug-in option that
supports the vector control
Description
Motor end orientation
Machine end orientation
Machine end orientation invalid
Machine end orientation invalid
(when Pr.393 = "0, 1, or 2")
Machine end orientation valid
(when Pr.393 = "10, 11, or 12")
