Orientation Control (Pr. 350 To Pr. 366, Pr. 369, Pr. 393, Pr. 396 To Pr. 399) - Mitsubishi Electric FR-A720-0.4K Instruction Manual

Motor brake and stop operation

4.14.6 Orientation control (Pr. 350 to Pr. 366, Pr. 369, Pr. 393, Pr. 396 to Pr. 399)

Magnetic flux Magnetic flux Magnetic flux
V/F V/F V/F
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).
Option FR-A7AP/FR-A7AL is necessary.
Pr. 350 Stop position command selection is initially set to "9999", orientation control function is invalid.
Parameter
Name
Number
Stop position command
350
selection
351
Orientation speed
352
Creep speed
Creep switchover
353
position
Position loop switchover
354
position
DC injection brake start
355
position
Internal stop position
356
command
Orientation in-position
357
zone
358 Servo torque selection
Encoder rotation
359
direction
360 16-bit data selection
361
Position shift
Orientation position loop
362
gain
Completion signal output
363
delay time
220
Vector Vector Vector
Initial Setting
Value Range
0
9999 1
9999
2Hz 0 to 30Hz
0.5Hz 0 to 10Hz
511 0 to 16383*
96 0 to 8191
5 0 to 255
0 0 to 16383*
5 0 to 255
1 0 to 13
0
1
1
0
1
0
2 to 127
0 0 to 16383*
1 0.1 to 100
0.5s 0 to 5.0s
Description
Internal stop position command (Pr. 356)
External stop position command (FR-A7AX 16-bit digital
input)
Orientation control invalid
Decrease the motor speed to the set value when the
orientation command (X22) is given.
After the speed reaches the orientation speed, the speed
decreases to the creep speed set in Pr. 352 as soon as the
current position pulse reaches the creep switchover
position set in Pr. 353.
As soon as the current position pulse reaches the set
position loop switchover position, control is changed to
position loop.
After changed to position loop, DC injection brake is
applied and the motor stops as soon as the current
position pulse reaches the set DC injection brake start
position.
When "0" is set in Pr. 350, the internal position command is
activated and the setting value of Pr. 356 becomes a stop
position.
Set the in-position zone at a stop of the orientation.
Functions at orientation complete can be selected.
A
Encoder
Clockwise direction as viewed
from A is forward rotation
CCW
A
Encoder
Counter clockwise direction as
viewed from A is forward rotation
Speed command
16 bit data is used as external
position command as is.
Set the stop position dividing up to
128 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 obtained by adding the setting value of Pr. 361 to
the position command.
When servo torque function is selected using Pr. 358,
output frequency for generating servo torque increases to
the creep speed of Pr. 352 gradually according to the slope
set in Pr. 362. Although the operation becomes faster
when the value is increased, a machine may hunt, etc.
The orientation complete signal is output delaying the set
time after in-position zone is entered. Also, the signal
turns OFF delaying the set time after in-position zone is
out.
CW
Set the rotation
direction according
to the motor
specification.
When 1 is set in Pr.
350 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.