Mitsubishi FR-A800

Position control under vector control and PM sensorless vector control
240
PARAMETERS
2
Data set type
The position at which the start signal is input is used as the home position.
3
Stopper type
A workpiece is pressed to a mechanical stopper, and the position where it is stopped is set as
the home position.
Pressing is confirmed when the estimated speed value has fallen blow Pr.865 Low speed
detection for 0.5 s during activation of the torque limit operation. (While the stopper-type home
position is performed, Pr.1289 Home position return stopper torque is applied.) After
Pr.1290 Home position return stopper waiting time has passed after pressing is confirmed,
the home position is shifted by the home position shift amount (Pr.1285 and Pr.1286). After a
position command is created and the absolute value of the droop pulse (after electronic gear)
falls below the in-position width, the home position return is completed.
4
(initial value)
Ignoring the home
position
(Servo ON position as
the home position)
The serve ON position is used as the home position.
5
Dog type back end
reference
Deceleration starts at the front end of the proximity dog. After the back end is passed, the
position is shifted by the post-dog travel distance and home position shift amount. The position
after the shifts is set as the home position.
Set pulses required for deceleration from the creep speed or more as the total of the post-dog
travel distance and home position shift amount.
Pr.1282
Setting
Home position
return method
Description
Vector
Vector
Vector
PM
PM
PM
Home position
LX
0
Position command speed
Time
STF
Point table selection signal
Vector
Vector
Vector
PM
PM
PM
Home position
Point table 1
acceleration time
Home position
return speed
Creep speed
Servo-ON (LX)
0
Position command
speed
Time
Home position
shift amount
Start signal
Point table selection
signal
Pressing confirmation level (Pr.1289)
Normal
(Pr.22)
Normal
(Pr.22)
Torque limit level
Torque limit
Pressing confirmed
0.5s
Pr.1290
Point table 1
deceleration time
Point table 1 acceleration time
Vector
Vector
Vector
PM
PM
PM
Home position
LX
0
Time
STF
Point table selection signal
RDY
Position command speed
Vector
Vector
Vector
PM
PM
PM
Proximity dog
signal (X76)
Home
position
Point table 1
acceleration time
Home position
return speed
Creep speed
Point table 1
deceleration time
Servo-ON (LX)
Proximity dog
0
Position command
speed
Time
Post-dog
travel distance
+
Home position
shift amount
Start signal (STF)
Point table selection
signal