Mitsubishi Electric FR-E800 Instruction Manual page 473

2.
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".)
3.
Moreover, as soon as the current position pulse reaches Pr.354 Position loop switchover position, control is
changed to the position loop. (Pr.354 is initially set to "96".)
4.
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".)
5.
When the motor stops in the in-position width set 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 or other factors, 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.)
6.
If the orientation is not completed continuously in Pr.365 Orientation limit after passing the creep switchover
*1
position , the Orientation fault (ORM) signal is output.
7.
After the orientation starts, if the motor is stopped by external force or other factors before reaching the in-position
width and the ORA signal is not output, the ORM signal is output after Pr.364 Encoder stop check time. If the motor
is moved out of the in-position width by external force or other factors after the ORA signal has been output once,
the ORA signal turns OFF after the time period set in Pr.363. If the orientation is not completed within the time period
set in Pr.364, the ORM signal is output.
8.
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 is output again after Pr.366 Recheck time.
9.
The ORA and ORM signals cannot be output while the X22 signal is OFF.
*1 It means that the current position pulse reaches the creep switchover absolute position and moves in the direction to the start command.
Creep switchover absolute position is defined as follows.
Forward rotation: Stop position command - DC injection brake start position (Pr.355) - Creep switchover position (Pr.353)
Reverse rotation: Stop position command + DC injection brake start position (Pr.355) + Creep switchover position (Pr.353)
NOTE
• 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.
Main spindle speed (encoder)
Orientation command (X22)
Orientation complete signal (ORA)
472
15. (A) Application Parameters
15.5 Orientation control
Orientation
speed
Creep switchover position
Pr.351
Pr.352
0
Start signal (STF, STR)
Current position signal
Origin signal
DC injection brake
Position loop
Home position
Orientation stop position command
DC injection brake
Position loop switchover position
Creep
speed
Orientation speed (set with Pr.351)
Creep speed (set with Pr.352)
1)
2)
OFF
ON
DC injection
brake start
position
(set with Pr.355)
OFF
OFF
3) 4)
Time
OFF
ON
OFF
Creep switchover position
(set with Pr.353)
Position loop switchover
(set with Pr.354)
Stop position command
OFF
ON
5)
OFF
ON