Mitsubishi Electric FR-A800 Series Instruction Manual page 596

NOTE
• When the orientation command turns OFF while the start signal is ON, the motor accelerates to the command speed.
• When the motor shaft stops outside of the set setting range of the stop position, the motor shaft is returned to the stop position
by the servo torque function (if enough torque is generated).
a. Servo torque function until output of the Orientation complete signal
Select whether or not servo torque is available using Pr.358 Servo torque selection. Servo torque is not generated if the
current position pulse is in between the orientation stop position and DC injection brake start position. The shaft is fixed
using the DC injection brake, and when the motor exits the width by external force, etc., the servo torque is generated to
move the motor back within the width. Once the Orientation complete (ORA) signal is output, the operation is performed
as described in d.
b. Retry function
Select retry function using Pr.358. Note that the retry function cannot be used together with the servo torque function. If
the motor shaft does not stop within the in-position zone when the motor stop is checked, orientation operation is
performed again by the retry function. This retry function is performed three times including the first orientation. The
maximum retry number is three. (The Orientation fault (ORM) signal is not output during retry operation.)
c. Frequency compensation when the motor stops outside the orientation complete width
When the motor stops before entering the in-position width due to external force, etc., the output frequency is increased
to move the shaft to the orientation stop position. The output frequency is gradually increased to the Pr.352 Creep speed.
This function cannot be used with the retry function.
d. DC injection brake and servo torque selection when the position pulse exits the in-position zone after output of the ORA
signal
If the motor exits the in-position width, select the setting either to fix the shaft with the DC injection brake or by returning
the motor to the orientation stop position with the servo torque.
e. Turning OFF the Orientation complete (ORA) signal when the orientation operation is ended.
When ending the orientation operation, first turn OFF the start (STF or STR) signal, and then turn OFF the Orientation
command X22 signal. At this time, select when to turn OFF the ORA signal from either the time the start signal is turned
OFF or the time the orientation command signal is turned OFF.
f. Complete signal when the motor exits the in-position zone after output of the Orientation complete (ORA) signal
Select to turn OFF the ORA signal or to keep the ORA signal ON (the ORM signal is not output) when the motor exits the
in-position width.
 Position loop gain (Pr.362) (V/F control, Advanced magnetic flux vector
control)
• When the servo torque function is selected using Pr.358 Servo torque selection, the output frequency for generating
servo torque gradually increases to the Pr.352 Creep speed according to the slope set in Pr.362 Orientation position
loop gain.
• Although the operation becomes faster when the value is increased, hunting may occur in the machine.
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5. PARAMETERS
5.14 (A) Application parameters
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