Mitsubishi Electric FR-A800 Series Instruction Manual page 597

 Description of orientation operation (Vector control)
• Setting the rotation direction (Pr.393 Orientation selection)
Pr.393 setting
0 (initial value)
1
2
10
11
12
 Orientation to the current rotation direction (Pr.393 = "0 (initial value),
10") (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)
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
to the current rotation direction".
596
5. PARAMETERS
5.14 (A) Application parameters
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Rotation
direction
Pre-orientation Orientation is executed to the current rotation direction.
Orientation is executed to the forward rotation direction.
Forward rotation
(If the motor is running in reverse, orientation is executed to the forward
orientation
rotation direction after deceleration.)
Orientation is executed to the reverse rotation direction.
Reverse rotation
(If the motor is running forward, orientation is executed to the reverse
orientation
rotation direction after deceleration.)
Pre-orientation Orientation is executed to the current rotation direction.
Forward rotation Orientation is executed to the forward rotation direction. (If the motor is
orientation running in reverse, orientation is executed to the forward rotation direction
after deceleration.)
Reverse rotation Orientation is executed to the reverse rotation direction. (If the motor is
orientation running forward, orientation is executed to the reverse rotation direction
after deceleration.)
[t]
OFF
ON
OFF ON
search engine
Remarks
Speed
(reverse
rotation)
OFF
ON
X22
OFF ON
ORA
Motor end orientation
Machine end orientation
[t]