Mitsubishi Electric FR-A700 Technical Manual page 275

(3) Concept of position control gains
1) The [Pr. 422 Position loop gain] setting is rad/s
increments.
Increasing the setting improves response for the
position command and also improves servo
rigidity at a stop, but oppositely makes an
overshoot and vibration more liable to occur.
Normally set this parameter within the range
about 5 to 50.
2) To cancel all droop pulse, set 100% in [Pr. 423
Position feed forward gain].
Feed forward gain is a function designed to cancel
a delay caused by the droop pulses of the
deviation counter. When a tracking delay for
command pulses poses a problem, increase the
setting gradually and use this parameter within
the range where an overshoot or vibration will not
occur.
This function has no effects on servo rigidity at a
stop. Normally set 0.
2.11.2 Conditional position feed function by contact input [Pr. 419, 464 to 494]
Inputting the number of pulses (positions) in the
parameters and setting multi-speed and forward (reverse)
commands enable position control.
[Pr. ]
419
Position command source selection
Digital position control sudden stop deceleration
464
time
465
First position feed amount lower 4 digits
466
First position feed amount upper 4 digits
467
Second position feed amount lower 4 digits
468
Second position feed amount upper 4 digits
469
Third position feed amount lower 4 digits
470
Third position feed amount upper 4 digits
471
Fourth position feed amount lower 4 digits
472
Fourth position feed amount upper 4 digits
473
Fifth position feed amount lower 4 digits
474
Fifth position feed amount upper 4 digits
475
Sixth position feed amount lower 4 digits
476
Sixth position feed amount upper 4 digits
477
Seventh position feed amount lower 4 digits
478
Seventh position feed amount upper 4 digits
Name
(4) Adjustment procedures
1) Select the speed control using [Pr. 800 Control
method selection] and perform gain adjustment of
speed control.
2) Then, change the control to position control using
[Pr. 800 Control method selection] and adjust
position loop gain.
3) Adjust position loop gain by checking response to
the command pulses.
The motor does not return to the home position with this
conditional position feed function .
Initial Setting
Value Range
Conditional position control function by contact
0
input. (position command by parameter settings)
Pulse train position command by programmable
0 1
controller positioning unit (when FR-A7AL installed)
Conditional pulse train position command by
2
inverter pulse train input
Set the time until the inverter stops when the
0 to
0s forward rotation (reverse rotation) command is
360.0s
turned OFF with the position feed forward function.
Selection Method
OFF
REX RH
0 0 to 9999
×
0 0 to 9999
0 0 to 9999
× ×
0 0 to 9999
0 0 to 9999
× ×
0 0 to 9999
0 0 to 9999
× ×
0 0 to 9999
0 0 to 9999
×
0 0 to 9999
0 0 to 9999
×
0 0 to 9999
0 0 to 9999
×
0 0 to 9999
309
PARAMETER
(A700)
Description
Position Feed
×
, ON
Frequency Setting
RM RL
× ×
High speed [Pr. 4]
×
Middle speed [Pr. 5]
×
Low speed [Pr. 6]
4 speed [Pr. 24]
×
5 speed [Pr. 25]
×
6 speed [Pr. 26]
Pr. 27
7 speed [
A700
2
]