Mitsubishi Electric FR-A800 Series Instruction Manual page 598

• If the motor is running in reverse, it decelerates, change to the forward rotation direction, and then orientation stop is
executed.
Speed
(forward
rotation)
 Orientation to the reverse rotation direction (Pr.393 = "2, 12") (Vector
control)
• If the motor is running in the reverse rotation direction, it executes an orientation stop with the same method as "orientation
to the current rotation direction".
• If the motor is running in forward, it decelerates, change to the reverse rotation direction, and then orientation stop is
executed.
Speed
(forward
rotation)
X22
ORA
NOTE
• Couple the encoder with the motor shaft that stops the shaft at the specified position. Couple it with the speed ratio of 1:1 and
without any mechanical looseness.
• To ensure correct positioning, the encoder must be set in the proper rotation direction, and the A and B phases must be
connected correctly.
• If the pulse signal from the encoder stops due to encoder signal loss, etc. during orientation, orientation may not be completed.
• To terminate orientation, the start (STF or STR) signal must be first switched OFF, and then the Orientation (X22) signal must
be switched OFF. As soon as this X22 signal is switched OFF, orientation control ends.
• When performing orientation control, properly set Pr.350 Stop position command selection and Pr.360 16-bit data
selection.
If the values set are incorrect, proper orientation control will not be performed.
• When orientation control is performed, PID control is disabled.
• If Signal loss detection (E.ECT) is displayed when the X22 signal is ON, causing the inverter to trip, check for a break in the
cable of the Z phase of the encoder.
 Servo rigidity adjustment (Pr.362, Pr.396 to Pr.398) (Vector control)
• To increase the servo rigidity
Orientation speed integral time, make adjustments with the following procedures.
1.
Increase the Pr.362 Orientation position loop gain value to the extent that rocking
orientation stop.
2.
Increase Pr.396 and Pr.397 at the same rate.
Normally, adjust Pr.396 in the range from 10 to 100, and Pr.397 from 0.1 to 1.0 s.
(Note that these do not need to be set to the same rate.)
<Example>
When the Pr.396 value is multiplied by 1.2, divide the Pr.397 value by 1.2.
If vibration occurs during orientation stop, the scale cannot be raised any higher.
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X22
ORA
[t]
*1
during orientation stop using Pr.396 Orientation speed gain (P term) or Pr.397
search engine
[t]
Speed
(reverse
rotation)
X22
ORA
Speed
(reverse
rotation)
X22
ORA
[t]
*2
does not occur during
5.14 (A) Application parameters
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[t]
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5. PARAMETERS