Position Control By Vector Control; Position Control - Mitsubishi Electric FR-A720-00030-NA Instruction Manual

4.6 Position control by vector control

Purpose
Simple position control by
parameter setting
Position control by pulse train input
of the inverter
Adjust the gear ratio of motor and
machine
Setting of positioning adjustment
parameter
Improve position control accuracy
4.6.1

Position control

 In the position control, the speed command is calculated so that the difference between command pulse (or
parameter setting) and the number of feedback pulses from the encoder is zero in order to run the motor.
 This inverter can perform simple position feed by contact input, position control by inverter simple pulse input,
and position control by FR-A7AL pulse train input.
(1) Setting procedure
Perform secure wiring. (Refer to page 38.)
Set the motor and encoder. (Pr. 71, Pr. 359, Pr. 369)
Set the motor capacity and the number of motor poles.
(Pr. 80, Pr. 81) (Refer to page
Select a control method. (Refer to page
Selection of position command source. (Pr. 419)
Position command by contact
input
Set "0" (initial value) in Pr. 419.
Setting of parameter for position feed
(Pr. 465 to Pr. 494).
(Refer to page 133.)
As required
· Set the electronic gear. (Refer to page 138)
· Setting of positioning adjustment parameter (refer to page 139)
· Gain adjustment of position control (refer to page 140)
CAUTION
 The carrier frequencies are selectable from among 2k, 6k, 10k, 14kHz for vector control.
(2k and 6kHz for the FR-A720-02880 (FR-A740-01440) or higher)
Parameter that must be Set
Position command by
parameter
Position command by
simple pulse train
Setting the electronic
gear
In-position width
Excessive level error
Gain adjustment of

position control

Vector Vector Vector
Mount the FR-A7AP/FR-A7AL (option).
Set Pr. 71 Applied motor, Pr. 359 Encoder rotation direction and Pr. 369
Number of encoder pulses according to the motor and encoder used.
(Refer to page 39.)
.)
91
Set the motor capacity (kW) in Pr. 80 Motor capacity and set the number
of motor poles (number of poles) in Pr. 81 Number of motor poles. (V/F
control is performed when the setting is "9999" (initial value).)
91
Make speed control valid by selecting "3" (position control) "4" (speed-
position switchover) or "5" (position-torque switchover) for Pr. 800.
Position command by
inverter pulse train input
Set "2" in Pr. 419.
Selection of command pulse form
(Pr. 428).
(Refer to page 136.)
Test run

Position control by vector control

Pr. 419, Pr. 464 to Pr. 494
Pr. 419, Pr. 428 to Pr. 430
Pr. 420, Pr. 421, Pr. 424
Pr. 426, Pr. 427
Pr. 422, Pr. 423, Pr. 425
.)
Position command from the
positioning module of the
programmable
system (through FR-A7AL)
Set Pr. 419 = "1"
Refer to the Instruction Manual of
FR-A7AL.
Refer to Page
133
136
138
139
140
controller
4
131