Mitsubishi Electric FR-A800 Series Instruction Manual page 587

Pr.
354
Position loop
*1
switchover position
A529
355
DC injection brake
*1
start position
A530
356
Internal stop position
*1
command
A531
357
Orientation in-
*1
position zone
A532
358
Servo torque
*1
selection
A533
359 852
Encoder rotation
C141 C241
direction
*2 *3
360
16-bit data selection
*1
A511
361
Position shift
*1
A512
362
Orientation position
*1
loop gain
A520
363
Completion signal
*1
output delay time
A521
364
Encoder stop check
*1
time
A522
365
Orientation limit
*1
A523
366
Recheck time
*1
A524
369 851
Number of encoder
C140 C240
pulses
*4 *3
586
5. PARAMETERS
5.14 (A) Application parameters
Downloaded from ManualsNet.com
Initial Setting
Name
value range
96 0 to 8191
5 0 to 255
0 0 to 16383
5 0 to 255
1 0 to 13
0
100
1
1
101
0
1
0
2 to 127
0 0 to 16383
1 0.1 to 100
0.5 s 0 to 5 s
0.5 s 0 to 5 s
0 to 60 s
9999
9999
0 to 5 s
9999
9999
1024 0 to 4096
search engine
Description
As soon as the current position pulses reach the set position loop switchover
position, control is changed to the position loop.
After the motor moves into the position loop, the motor stops by the DC
injection brake when the current position pulses reach the specified start
position of the DC injection brake.
When "0" is set in Pr.350, the internal position command is activated and the
setting value of Pr.356 becomes the stop position.
Set the in-position width at a stop of the orientation.
Operation at orientation completion can be selected.
Set when using a motor for which
forward rotation (encoder) is
clockwise (CW) viewed from the shaft
CW
Set when using a motor for which
forward rotation (encoder) is
counterclockwise (CCW) viewed from
the shaft.
CCW
Speed command
16-bit data is used as the external
position command as is.
Set the stop position by dividing up to
128 stop positions.
Shift the home position using a compensation value without changing the
home position of the encoder. The stop position is a position obtained by
adding the setting of Pr.361 to the position command.
When the servo torque function is selected using Pr.358, the output
frequency for generating servo torque gradually increases to the Pr.352
according to the slope set in Pr.362. Although the operation becomes faster
when the value is increased, hunting may occur in the machine.
The Orientation complete (ORA) signal turns ON after going into the in-
position width and waiting for the set time. Also, the signal turns OFF after
going out of the in-position width and waiting for the set time.
If the Orientation complete (ORA) signal has never been output and the
encoder stays stopped for the set time without completing orientation, the
Orientation fault (ORM) signal is output. If the ORA signal has been output
before but the orientation cannot be completed within the set time, the ORM
signal is also output.
The time elapses after passing the creep switchover position is measured. If
orientation cannot be completed within the set time, the Orientation fault
(ORM) signal is output.
Set to 120 s.
When the start signal is turned OFF with the Orientation command (X22) ON
after stopping the motor by orientation control, the present position is
checked again after the set time elapses, and the Orientation complete
(ORA) signal or Orientation fault (ORM) signal is output.
Not checked.
Set the number of encoder pulses.
Set the number of pulses before it is multiplied by 4.
Set for the operation at 120 Hz or
less.
Set for the operation at a frequency
higher than 120 Hz.
Set for the operation at 120 Hz or
less.
Set for the operation at a frequency
higher than 120 Hz.
When Pr.350 = "1" is set and the FR-
A8AX is installed together, set the
stop position using 16-bit data.
The stop position command is input
as binary regardless of the Pr.304
setting.