Mitsubishi Electric FR-A700 Instruction Manual page 460

Motor brake and stop operation
Orientation operation explanation (during vector control)
● Setting the rotation direction (Pr. 393 "Orientation selection")
Pr. 393
(Initial value)
Tab. 6-78: Setting of parameter 393
● Orientation from the current rotation direction
When the orientation command (X22) is input, the motor speed will decelerate from the runnig
speed to Pr. 351 "Orientation speed". At the same time, the orientation stop position command
will be read in. (The stop position command is determined by the setting of Pr. 350 and Pr.360.
Refer to the figure below.)
(forward rotation)
(reverse rotation)
When the orientation switchover speed is reached, the encoder Z phase pulse will be confirmed,
and the mode will change from speed control to position control (Pr. 362 "Orientation position
loop gain").
The distance to the orientation stop position is calculated at switching of the control, and the
motor decelerates and stops with a set deceleration pattern (Pr. 399) and the orientation (servo
lock) state will be entered.
When entered in the Pr. 357 "Orientation in-position zone", the orientation completion signal
(ORA) will be output.
The zero point position (origin) can be moved using Pr. 361 "Position shift".
b
CAUTION:
If the orientation command (X22) is turned off while the start signal is input, the motor
will accelerate toward the speed of the current speed command. Thus, to stop, turn
the forward rotation (reverse rotation) signal off.
6 - 280
Rotation Direction
0
Pre-orientation
1 Forward rotation
2 Reverse rotation
Speed
X22
OFF ON
ORA
OFF
Speed
X22
OFF ON
ORA
OFF
Remarks
Orientation is executed from the current rotation direction.
Orientation is executed from the forward rotation direction.
(If the motor is running in reverse, orientation is executed from the for-
ward rotation direction after deceleration.)
Orientation is executed from the reverse rotation direction.
(If the motor is running in forward, orientation is executed from the
reverse rotation direction after deceleration.)
Fig. 6-119:
Orientation from the current rotation direction
Time
ON
Time
ON
Parameter
I001583E