Mitsubishi Electric FR-A700 Instruction Manual page 454

Motor brake and stop operation
Orientation operation (under V/f control, advanced magnetic flux vector control)
● Orientation during running
When the orientation command (X22) is input, the motor speed decreases to the orientation
speed set in Pr. 351 "Orientation speed". (Pr. 351 initial value: 2Hz)
After the speed reaches the orientation speed, the speed decreases to the creep speed set
in Pr. 352 "Creep speed" as soon as the current position pulse reaches the creep switchover
position set in Pr. 353 "Creep switchover position" (Pr. 352 initial value: 0.5Hz, Pr. 353 initial
value: 511)
Moreover, as soon as the current position pulse reaches the set position loop switchover
position in Pr. 354 "Position loop switchover position", control is changed to position loop.
(Pr. 354 initial value: 96)
After switching to position loop, the inverter decelerates and stops with DC injection brake
as soon as the current position pulse has rached the DC injection brake start position set
in Pr. 355 "DC injection brake start position". (Pr. 355 initial value: 5)
When the position pulse has stopped within the in-position zone set in Pr. 357 "Orientation
in-position zone" , the orientation completion signal (ORA) is output after the comletion signal
output delay time set in Pr. 363 "Completion signal output delay time" has elapsed. If the
motor does not stop within the in-position zone due to external force, etc., the orientation
completion signal is turned off after the time set in Pr. 363 "Completion signal output delay
time" has elapsed. (Pr. 357 initial value: 5)
If the orientation is not completed continusouly for the time set in Pr. 365 "Orientation limit"
after passing the creep switchover position, the orientation fault signal (ORM) is output.
When the motor stops before the position pulse reaching the in-position zone due to external
force after orientation start and orientation completion signal (ORA) is not output, orientation
fault signal (ORM) is output after the time set in encoder stop check time set in Pr. 364
Encoder stop check time has elapsed. Moreover, the orientation complete signal (ORA) is
turned off after the time set in Pr. 363 "Completion signal output delay time" has elapsed if
the position pulse is outside the in-position zone due to external force, etc. after outputting
the orientation complete signal (ORA), and the orientation fault signal (ORM) is output if the
orientation has not completed within the time set in Pr. 364 "Encoder stop check time".
When the start signal (STF or STR) is turned off with the orientation command on after
outputting the orientation completion signal (ORA) and orientation fault signal (ORM), the
orientation complete signal (ORM) or orientation fault signal (ORM) is output again after
recheck time set in Pr. 366 "Recheck time" has elapsed.
The orientation completion signal (ORA) and orientation fault signal (ORM) are not output
when the orientation command is off.
NOTES When the orientation command is off with the start signal on, the speed accelerates to the
command speed.
If the motor shaft hants, set a larger value in Pr. 354 "Position loop switchover position" or a
smaller value in Pr. 352 "Creep speed" to prevent it.
6 - 274
Orientation
speed
Creep switchover position
Position loop
Origin
Orientation stop position command
DC injection brake
Position loop switchover position
Creep speed
Parameter