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Motor brake and stop operation
4.14.6 Orientation control (Pr. 350 to Pr. 366, Pr. 369, Pr. 393, Pr. 396 to Pr. 399)
This function is used with a position detector (encoder) installed to the spindle of a machine tool, etc. to allow a
rotation shaft to be stopped at the specified position (oriented).
Option FR-A7AP/FR-A7AL is necessary.
Pr. 350 Stop position command selection is initially set to "9999", orientation control function is invalid.
Parameter
Number
Name
Initial
Value
Setting
Range
Description
350
Stop position command
selection
9999
0 Internal stop position command (Pr. 356)
1
External stop position command (FR-A7AX 16-bit digital
input)
9999 Orientation control invalid
351 Orientation speed
2Hz 0 to 30Hz
Decrease the motor speed to the set value when the
orientation command (X22) is given.
352 Creep speed
0.5Hz 0 to 10Hz
After the speed reaches the orientation speed, the speed
decreases to the creep speed set in Pr. 352 as soon as the
current position pulse reaches the creep switchover
position set in Pr. 353.
353
Creep switchover
position
511 0 to 16383*
354
Position loop switchover
position
96 0 to 8191
As soon as the current position pulse reaches the set
position loop switchover position, control is changed to
position loop.
355
DC injection brake start
position
5 0 to 255
After changed to position loop, DC injection brake is
applied and the motor stops as soon as the current
position pulse reaches the set DC injection brake start
position.
356
Internal stop position
command
0 0 to 16383*
When "0" is set in Pr. 350, the internal position command is
activated and the setting value of Pr. 356 becomes a stop
position.
357
Orientation in-position
zone
5 0 to 255 Set the in-position zone at a stop of the orientation.
358
Servo torque selection 1 0 to 13 Functions at orientation complete can be selected.
359
Encoder rotation
direction
1
0
Set the rotation
direction according
to the motor
specification.
1
360
16-bit data selection
0
0 Speed command
When 1 is set in Pr.
350 and the FR-
A7AX is mounted,
set a stop position
using 16-bit data.
Stop position
command is input as
binary regardless of
the Pr. 304 setting.
1
16 bit data is used as external
position command as is.
2 to 127
Set the stop position dividing up to
128 stop positions at regular
intervals.
361 Position shift
0 0 to 16383*
Shift the origin using a compensation value without
changing the origin of the encoder. The stop position is a
position obtained by adding the setting value of Pr. 361 to
the position command.
362
Orientation position loop
gain
1 0.1 to 100
When servo torque function is selected using Pr. 358,
output frequency for generating servo torque increases to
the creep speed of Pr. 352 gradually according to the slope
set in Pr. 362. Although the operation becomes faster
when the value is increased, a machine may hunt, etc.
363
Completion signal output
delay time
0.5s 0 to 5.0s
The orientation complete signal is output delaying the set
time after in-position zone is entered. Also, the signal
turns OFF delaying the set time after in-position zone is
out.
V/F
V/F
V/F
Magnetic flux
Magnetic flux
Magnetic flux
Vector
Vector
Vector
A
Encoder
CW
Clockwise direction as viewed
from A is forward rotation
CCW
A
Encoder
Counter clockwise direction as
viewed from A is forward rotation