Mitsubishi Electric FR-A700 Technical Manual page 391

3) Position shift [Pr.361]
Shift the origin using a compensation value
without changing the origin of the position
detector (encoder). The stop position is a position
obtained by adding the setting value of [Pr.361] to
the position command.
(4) Monitor display change
Monitor
When [Pr.52 = 19], position pulse monitor is
Position displayed instead of output voltage monitor of the
pulse PU.
monitor (Displayed only when the FR-A7AP or FR-A7AL is
mounted.)
When [Pr.52 = 22], orientation status is displayed
instead of output voltage monitor of the PU.
(Displayed only when the FR-A7AP or FR-A7AL is
mounted.)
0-Other than orientation operation or orientation
speed is not reached
Orientation 1-Orientation speed is reached
Status 2-Creep speed is reached
*
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) Orientation in-position zone [Pr.357]
The positioning width for orientation stop can be set.
The initial setting of [Pr.357] is 5. To change the
value, finely adjust with
fine adjustment.
If the position detection value from the encoder
enters ± during orientation stop, the orientation
complete signal (ORA) will be output.
Set
Number of encoder pulses]
(6) Orientation operation (under V/F control,
Advanced magnetic flux vector control)
Orientation during running
1) 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)
2) 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].
Remarks
10 increments, and make
360
[Pr. 357]
[Pr.369
four times
([Pr.352] initial value : 0.5Hz, [Pr.353] initial value :
511)
3) 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)
4) After switching to position loop, the inverter
decelerates and stops with DC injection brake as
soon as the current position pulse has reached
the DC injection brake start position set in [Pr.355
DC injection brake start position]. ([Pr.355] initial
value : 5)
5) When the current position pulse has stopped
within the
Orientation in-position
complete signal (ORA) is output after the
complete signal output delay time set in [Pr.363
Completion signal output delay time] has elapsed. If
the current position pulse 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)
6) If the orientation is not completed continuously for
the time set in [Pr.365 Orientation limit] after
passing the creep switchover position, the
orientation fault signal (ORM) is output.
7) When the current position pulse stops before
reaching the in-position zone due to external force
after orientation start and orientation complete
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 current 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].
8) When the start signal (STF or STR) is turned OFF
with the orientation command on after outputting
the orientation complete 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.
9) The orientation complete signal (ORA) and
orientation fault signal (ORM) are not output when
the orientation command is OFF.
10)To terminate orientation, the start signal (STF or
STR) must be first switched OFF and then the
orientation signal (X22) must be switched OFF. As
soon as this orientation signal is switched OFF,
orientation control ends. (Depending on the [Pr.
358 Servo torque selection] setting, orientation
status continues if the orientation signal remains
ON even if DC injection brake is released at
turning OFF of the start signal. Therefore, the
orientation status of the monitor function is not 0.)
425
PARAMETER
in-position zone set in
the orientation
zone],
[Pr.357
2