Mitsubishi Electric FR-A820-00046 (0.4K) Instruction Manual page 566

 Description of orientation operation (Vector control)
• Setting the rotation direction (Pr.393 Orientation selection)
Rotation
Pr.393 setting
direction
0 (initial value) Pre-orientation
Forward rotation
1
orientation
Reverse rotation
2
orientation
10 Pre-orientation
11 Forward rotation
orientation
12 Reverse rotation
orientation
 Orientation from the current rotation direction (Pr.393 = "0 (initial value)")
(Vector control)
• When the Orientation command (X22) signal is input, the motor speed decelerates from the running speed to Pr.351
Orientation speed. At the same time, the orientation stop position command is read in. (The stop position command is
determined by the setting of Pr.350 Stop position command selection, Pr.360 16-bit data selection)
Speed
(forward
rotation)
OFF
X22
ORA
• When the orientation switchover speed is reached, the encoder Z phase pulse is confirmed, and the control changes 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 to a stop
with a set deceleration pattern (Pr.399 Orientation deceleration ratio) and enters the orientation (servo lock) state.
• Once in the Pr.357 Orientation in-position zone, the Orientation complete (ORA) signal is output.
• The home position can be moved using Pr.361 Position shift.
CAUTION
• If the X22 is turned OFF while the start signal is input, the motor accelerates toward the speed of the current speed
command. Therefore, to stop, turn the Forward rotation (Reverse rotation) signal OFF.
 Orientation to the forward rotation direction (Pr.393 = "1, 11") (Vector
control)
• This method is used to improve the stopping precision and maintain the mechanical precision when the backlash is large.
• If the motor is running in the forward rotation direction, it makes an orientation stop with the same method as "orientation
from the current rotation direction".
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 forward
rotation direction after deceleration.)
Orientation is executed from the forward rotation direction.
(If the motor is running forward, orientation is executed from the reverse
rotation direction after deceleration.)
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 forward rotation
direction after deceleration.)
Orientation is executed from the forward rotation direction. (If the motor is
running forward, orientation is executed from the reverse rotation direction
after deceleration.)
[t]
ON
OFF ON
Remarks
Speed
(reverse
rotation)
OFF
ON
X22
OFF ON
ORA
5.14 (A) Application parameters
1
2
Motor end orientation
3
4
Machine end orientation
5
6
7
8
[t]
9
10
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5. PARAMETERS