Setting Example Of Positioning Control; Carrying Goods To Specified Three Points By Carrier Machine According To Command - Toshiba TOSVERT VF-AS3 Manual

4. Setting example of positioning control

4.1 Carrying goods to specified three points by carrier machine according to
command
<System example>
Motor:
PG pulses number:
PG feedback detector:
Point 1:
Point 2:
Point 3:
<Parameter setting>
• Set necessary parameters before performing positioning control.
- PT=11
- F240=0.0
- F375=2000
- F376=1, or 11 (depending on the encoder polarity)
- Set F460 (the gain of speed control). (Generally, set a value approx. between 3 Hz and 5 Hz)
- In addition, set ACC, DEC, motor constant, etc.
• Set parameters necessary to enable positioning control by multi-step point.
• A510=1 (Positioning control by multi-step point enabled)
• Set the positioning point in the first step.
A544=1, A545=2000, A546=0, A547, A548=1.0, Sr1=50.0
• Set the positioning point in the second step.
A552=0, A553=6000, A554=1, A555, A556=0.5, Sr2=30.0
• Set the positioning point in the third step.
A560=0, A561=1000, A562=2, A563, A564=0.1, Sr3=10.0
• Set the limits of the target position.
A512=1, A513=8000, A514=1, A515=0
• F111=2 (assign the F signal to the F terminal)
• F114=10 (assign the SS1 signal to the S1 terminal)
• F115=12 (assign the SS2 signal to the S2 terminal)
• F118=178 (assign the POS signal to the S5 terminal)
• F133=118 (assign the positioning completion signal to the R1 terminal)
• Set the gain of positioning control.
• F362=Positioning control P gain:
Set approximately "500 x number of pole pairs of motor/F375 (number of encoder pulses)."
If it takes time for the position to be settled during positioning control, increase F 362 by 0.1.
If vibration occurs after the position is settled, decrease the F362 by 0.1.
• F363=0.0 (I gain=0)
• F366=0 (D gain=0)
The induction machine and the PG are directly connected to the motor axis.
2000 pulses
VEC008Z
50 Hz operation with 12000 pulses and acceleration/deceleration time of 1 s
30 Hz operation with -6000 pulses and acceleration/deceleration time of 0.5 s
10 Hz operation with 1000 pulses from the current position and acceleration/deceleration
time of 0.1s
20
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