Mitsubishi Electric FR-A820-00046 (0.4K) Instruction Manual page 557
Fr-a800 series
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Pr.
393
Orientation selection 0
*1
A525
394
Number of machine
*5
side gear teeth
A540
395
Number of motor
*5
side gear teeth
A841
396
Orientation speed
*1
gain (P term)
A542
397
Orientation speed
*1
integral time
A543
398
Orientation speed
*1
gain (D term)
A544
399
Orientation
*1
deceleration ratio
A545
829
Number of machine
*7
end encoder pulses
A546
862
Encoder option
*1
selection
C242
*1
The setting is available when a Vector control compatible option is installed.
*2
These parameters are available when a built-in option (FR-A8AP/FR-A8AL/FR-A8APR/FR-A8APS) is installed.
*3
These parameters are available when the option (FR-A8TP) is installed.
*4
The setting is available when the FR-A8AP/FR-A8AL is installed.
*5
The setting is available when the FR-A8AP/FR-A8AL/FR-A8APR/FR-A8TP is installed.
*6
To perform machine end orientation, the plug-in option (FR-A8AP/FR-A8AL/FR-A8APR/FR-A8APS) and control terminal option (FR-A8TP) are
required.
*7
The setting is available when the FR-A8AL is installed.
*8
When the second motor is selected, the orientation control is disabled.
556
5. PARAMETERS
5.14 (A) Application parameters
Initial
Setting
Name
value
range
0
1
2
10
11
12
1
0 to 32767
60
0 to 1000
0.333
0 to 20 s
1
0 to 100
20
0 to 1000
0 to 4096
9999
9999
0
0
1
Orientation is executed from the
current rotation direction.
Orientation is executed from the
forward rotation direction.
Orientation is executed from the
reverse rotation direction.
Orientation is executed from the
current rotation direction.
Orientation is executed from the
forward rotation direction.
Orientation is executed from the
reverse rotation direction.
Set the encoder orientation gear ratio.
Response level during position control loop (servo rigidity) can be adjusted
at orientation stop.
Lag/advance compensation gain can be adjusted.
Make adjustment when the motor runs back at orientation stop or the
orientation time is long.
Set the number of pulses output from the encoder connected to the end of
the machine.
Set the number of pulses before it is multiplied by 4.
Machine end orientation invalid.
First motor: plug-in option that
supports the Vector control
Second motor: control terminal
option that supports the Vector
*8
control
First motor: control terminal option
that supports the Vector control
Second motor: plug-in option that
*8
supports the Vector control
Motor end: control terminal option
that supports the Vector control
Machine end: plug-in option that
supports the Vector control
Description
Motor end orientation
Machine end orientation
Machine end orientation invalid
Machine end orientation invalid
(when Pr.393 = "0, 1, or 2")
Machine end orientation valid (when
Pr.393 = "10, 11, or 12")
*6
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