Mitsubishi Electric FR-A700 Technical Manual page 394

(7) Orientation operation explanation (during
vector control)
Setting the rotation direction [Pr. 393 Orientation
selection]
[Pr. 393]
Setting
0
Orientation is executed from the current
(initial
rotation direction.
value)
Orientation is executed from the forward
rotation direction.
1 (If the motor is running in reverse,
orientation is executed from the forward
rotation direction after deceleration.)
Orientation is executed from the reverse
rotation direction.
2 (If the motor is running in forward,
orientation is executed from the reverse
rotation direction after deceleration.)
1) Orientation from the current rotation direction
When the orientation command (X22) is input, the
motor speed will decelerate from the running
speed to [Pr. 351 Orientation speed]. At the same
time, the orientation stop position command will
be read in. (The stop position command is
determined by the setting of [Pr. 350 and Pr. 360].
When the orientation switchover speed is
reached, the encoder Z phase pulse will be
confirmed, and the mode will change 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
deceleration pattern ([Pr. 399]) the orientation
(servo lock) state will be entered.
When entered in the [Pr. 357] Orientation in-
position zone, the orientation completion signal
(ORA) will be output.
The zero point position (origin) can be rotated
using position shift [Pr. 361 Position shift].
If the orientation command (X22) is turned OFF
while the start signal is input, the motor will
accelerate toward the speed of the current speed
command. Thus, to stop, turn the forward rotation
(reverse rotation) signal OFF.
If E.ECT (no encoder signal) is displayed causing
the inverter to trip when the orient signal (X22) is
ON, check for a break in the cable of the Z phase
of the encoder.
Speed
(forward
rotation)
X22
ORA
Speed
(reverse
rotation)
X22
ORA
Rotation direction
and stops with
Time
OFF ON
OFF ON
OFF ON
OFF ON
2) Orientation from the forward rotation direction
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 will orientation stop with the same method as
"orientation from the current rotation direction".
If the motor is running in reverse, it will decelerate, the
rotation direction will be changed to forward run, and
then orientation stop will be executed.
3) Orientation from the reverse rotation direction
If the motor is running in the reverse rotation direction,
it will orientation stop with the same method as
"orientation from the current rotation direction".
If the motor is running in forward, it will decelerate, the
rotation direction will be changed to reverse run, and
then orientation stop will be executed.
a set
Time
428
Speed
(forward
rotation)
X22
ORA
Speed
(reverse
rotation)
X22
ORA
Speed
(forward
rotation)
X22
ORA
Speed
(reverse
rotation)
X22
ORA
PARAMETER
Time
Time
Time
Time