Position Control Under Vector Control And Pm Sensorless Vector Control; About Position Control - Mitsubishi Electric FR-A800 Series Instruction Manual

5.5
Position control under vector control and PM
sensorless vector control
Purpose
To perform Simple position control
by setting parameters
To perform position control by pulse
input to the inverter
To adjust the gear ratio of the motor
and machine
To improve the precision of the
position control
To monitor pulses
5.5.1

About position control

Vector Vector Vector PM PM PM
• In position control, speed commands, which are calculated to eliminate the difference between the command pulse
(parameter setting) and the feedback pulse number, are output to rotate the motor.
• This inverter can perform simple positioning by contact input or position control by simple pulse input to the inverter.
 Control block diagram
RH
RM
RL
REX
STF
STR
Command pulse
Command pulse selection
(FR-A8AL)
PGP, PP
Command pulse
(FR-A8AL)
PGN, NP
Command pulse selection
Command pulse
JOG
Pulse train sign
NP
298
5. PARAMETERS

5.5 Position control under vector control and PM sensorless vector control

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Parameter position
command
Simple pulse train position
command
Electronic gear settings
Position adjustment
parameter settings
Position control gain
adjustment
Pulse monitor selection
Cumulative pulse monitoring P.M610 to P.M613
Point table
Position Speed Acceleration/deceleration time Dwell time Auxiliary function
Pr.4 to 6, Pr.24 to Pr.27,
Position command
Pr.232 to Pr.239
source selection
Pr.465 to Pr.494
Pr.419
Pr.1222 to Pr.1281
0, 10, 100, 110
Multi-speed,
Travel
communication
distance
1
Pr.428
2
Pr.428
search engine
Parameter to set
P.B000, P.B020 to P.B050,
P.B101, P.B120 to P.B188,
P.B190 to P.B195
P.B000, P.B009, P.B010
P.B001, P.B002, P.B005
P.B007 to P.B008, P.B192
to P.B195
P.B003, P.B004, P.B006,
P.B012, P.B013, P.G220,
P.G224, P.C114
P.B011
Position feed
forward
command filter Position feed
Pr.425
Electronic
Pr.424
gear
+
Pr.420
Pr.421
-
Position command
acceleration/deceleration
time constant
Pr.877
0,1 2
+
-
Pr.419, Pr.464 to
Pr.494, Pr.1221 to
Pr.1290, Pr.1292,
Pr.1293
Pr.419, Pr.428, Pr.429
Pr.420, Pr.421, Pr.424
Pr.426 to Pr.427,
Pr.1294 to Pr.1297
Pr.422, Pr.423, Pr.425,
Pr.446, Pr.828, Pr.877,
Pr.880, Pr.1298
Pr.430
Pr.635 to Pr.638
forward gain
Pr.423
Model position
Model speed
control gain
control gain
Pr.446
Pr.828
+
-
integral integral
Speed feed
forward gain
0,1 2
Position
loop gain
Pr.422
+
Deviation
+
counter
-
Speed control
Pr.429
Differentiation
Clear signal
selection
Position feedback
Refer to
page
303
319
325
327
328
321
321
J
Torque coefficient
0
1 2 0
+
M
+
Torque
control
Encoder