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Motor brake and stop operation
• Relationship between stop position command and 16-bit data
3)Pr. 361 Position shift (initial value "0")
The stop position is a position obtained by adding the setting value of Pr. 361 to the position command.
<Position shift function>
Shift the origin using a compensation value without changing the origin of the position detector (encoder).
(4) Monitor display change
(5) Pr. 357 Orientation in-position zone (initial value "5")
Pr. 350
Stop position
command selection
Pr. 360
16-bit data selection
Operation
Stop position command
16-bit data
(FR-A7AX)
Speed command
0: internal
0: speed command Internal (Pr. 356) Speed command 16 bit data
1, 2 to 127: position
command
Internal (Pr. 356) Invalid
External command
(or PU)
1: external
0: speed command Internal (Pr. 356) Speed command 16 bit data
1, 2 to 127: position
command
External
(Internal when the FR-A7AX is not
mounted (Pr. 356))
Position command
External command
(or PU)
REMARKS
• When orientation control is valid using Pr. 350 Stop position command selection with the FR-A7AP/FR-A7AL (option) mounted, the
rotation direction of encoder is displayed on the rotation direction display of the PU (FR-DU07/FR-PU04/FR-PU07).
Set the parameter so that turning ON the STF signal displays FWD or turning ON the STR signal displays REV.
Monitor REMARKS
Position pulse monitor
When "19" is set in Pr. 52 , position pulse monitor is displayed instead of output voltage monitor
of the PU. (Displayed only when the FR-A7AP/FR-A7AL (option) is mounted.)
Orientation status*
When "22" is set in Pr. 52 , orientation status is displayed instead of output voltage monitor of
the PU. (Displayed only when the FR-A7AP/FR-A7AL (option) is mounted.)
0: Other than orientation operation or orientation speed is not reached
1: Orientation speed is reached
2: Creep speed is reached
3: Position loop is reached
4: Orientation complete
5: Orientation fault (pulse stop)
6: Orientation fault (orientation limit)
7: Orientation fault (recheck)
8: Continuous multi-point orientation
* Invalid during vector control. ("0" is always displayed )
• The positioning width for orientation stop can be set.
The initial value of Pr. 357 is "5". To change the Δθ
value, finely adjust with ±10 increments, and make
fine adjustment.
• If the position detection value from the encoder
enters ±Δθ during orientation stop, the orientation
complete signal (ORA) will be output.
Example of operation
Set
Pr.369
Number of encoder pulses
360
Pr. 35
7
four times