Mitsubishi Electric FR-A700 Instruction Manual page 231

• Relationship between stop position command and 16-bit data
Pr. 350
Stop position
16 bit data selection
command selection
0: speed command
0:internal
1, 2 to 127: position
command
0: speed command
1: external
1, 2 to 127: position
command
3) Pr. 361 Position shift (initial value "0")
The stop position is a position obtained by adding the setting value of Pr. 361 to the position command.
<Position shift function>
Shift the origin using a compensation value without changing the origin of the poisition detector (encoder).
REMARKS
• When orientation control is made valid using Pr. 350 Stop position command selection with the FR-A7AP mounted, the rotation
direction of encoder is displayed on the rotation direction display of the PU (FR-DU07/FR-PU04/FR-PU07).
Set the parameter so that turning on the STF signal displays FWD or turning on the STR signal displays REV.
(4) Monitor display change
Monitor
When "19" is set in Pr. 52 , position pulse monitor is displayed instead of output voltage monitor
Position pulse monitor
of the PU. (Displayed only when the FR-A7AP is mounted.)
When "22" is set in Pr. 52 , orientation status is displayed instead of output voltage monitor of
the PU. (Displayed only when the FR-A7AP is mounted.)
0-Other than orientation operation or orientation speed is not reached
1-Orientation speed is reached
2-Creep speed is reached
Orientation status* 3-Position loop is reached
4-Orientation complete
5-Orientatino fault (pulse stop)
6-Orientatino fault (orientation limit)
7-Orientation fault (recheck)
8-Continuous multi-point orientation
* Invalid during vector control. ("0" is always displayed )
(5) Pr. 357 Orientation in-position zone (initial value "5")
• The positioning width for orientation stop can be set.
The initial setting of Pr. 357 is "5". To change the Δθ
value, finely adjust with ±10 increments, and make
fine adjustment.
• If the position detection value from the encoder
enters ±Δθ during orientation stop, the orientation
complete signal (ORA) will be output.
Pr. 360
Stop position command
Internal (Pr. 356)
Internal (Pr. 356)
Internal (Pr. 356)
(Internal when the FR-A7AX is not
mounted (Pr. 356))
Motor brake and stop operation
Operation
16 bit data
(FR-A7AX)
Speed command
Speed command
External
Position command
REMARKS
Example of operation
Set
Number of encoder pulses
Speed command
16 bit data
External command
Invalid
(or PU)
16 bit data
External command
(or PU)
360
Pr.369
four times
4
Pr. 357
221