Mitsubishi Electric FR-A700 Technical Manual page 387

2.20.7 Orientation control [Pr. 350 to 366, 369, 393, 396 to 399]
This function is used with a position detector (encoder)
installed to the spindle of a machine tool, etc. to allow a
rotation shaft to be stopped at the specified position
(oriented). It requires a plug-in option FR-A7AP or FR-
A7AL and valid under V/F control, Advanced magnetic flux
vector control, and vector control. Orientation control is
invalid when a Real sensorless vector control is selected,.
If the orientation command signal (X22) is turned on during
operation after the various parameters have been set, the
speed will decelerate to the "orientation switchover speed".
Initial
[Pr.] Name
Value
Stop position command
350
selection
Orientation speed
351
0.5Hz 0 to 10Hz After the speed reaches the orientation speed, the speed
352 Creep speed
Creep switchover
353
position
Position loop
switchover position
354
DC injection brake start
355
position
Internal stop position
356
command
Orientation in-position
357
zone
Servo torque selection
358
Encoder rotation
359
direction
16 bit data selection
360
361 Position shift
Setting
Range
0 Internal stop position command ([Pr.356])
9999 1 External stop position command (FR-A7AX 16-bit data)
9999 Orientation control invalid
Decrease the motor speed to the set value when the orientation
2Hz 0 to 30Hz
command (X22) is given.
decreases to the creep speed set in [Pr.352] as soon as the
511 0 to 16383 current position pulse reaches the creep switchover position set
*
in [Pr.353].
As soon as the current position pulse reaches the set position
96 0 to 8191
loop switchover position, control is changed to position loop.
After changed to position loop, DC injection brake is applied
5 0 to 255 and the motor stops as soon as the current position pulse
reaches the set DC injection brake start position.
When [Pr.350 = 0], the internal position command is activated
0
0 to 16383 *
and the setting value of [Pr.356] becomes a stop position.
5 0 to 255 Set the in-position zone at a stop of the orientation.
1 0 to 13 Functions at orientation completion can be selected.
0
1
1
Counter clockwise direction as
viewed from A is forward rotation
Speed command
0
16 bit data is used as
1 external position
command as is.
0
Set the stop position
dividing up to 128
2 to 127
stop positions at
regular intervals.
Shift the origin using a compensation value without changing
the origin of the encoder. The stop position is a position
0 0 to 16383
*
obtained by adding the setting value of [Pr.361] to the position
command.
After the "orientation stop distance" is calculated, the
speed will further decelerate, and the "orientation state"
(servo lock) will be entered. The "orientation complete
signal" (ORA) will be output when the "orientation complete
width" is entered.
[Pr. 350 Stop position command selection = 9999] at initial
setting, orientation control function is invalid.
When orientation control is performed, PID control is
invalid.
Description
CW
A
Encoder
Clockwise direction as viewed
from A is forward rotation
CCW
A
Encoder
When 1 is set in [Pr.350 = 1] and the FR-
A7AX is mounted, set a stop position
using 16-bit data.
Stop position command is input as
binary regardless of the [Pr.304] setting.
421
PARAMETER
A700
(A700)
V/F Control
Vector
Advanced
Control
Magnetic Flux
Vector Control
×
×
2
×
×
×