Mitsubishi Electric FR-A800, Instruction Manual

Page: 344 / 1042

Position control under vector control and PM sensorless vector control Parameters
5 - 164
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.
I002824E
4
(initial value)
Ignoring the home
position
(Servo ON position is the
home position)
The serve ON position is used as the home position.
I002541E
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.
I002825E
Pr. 1282 Setting
Home position return
method
Description
Tab. 5-57: Home position return methods (2)
Vector Vector Vector
PM PM PM
0
Home position
return speed
Point table 1
deceleration time
Creep speed
Time
Home position
shift amount
Homeposition
Position command
speed
Point table
selection signal
Point table 1
acceleration time
Torque limit level Pressing confirmation level (Pr. 1289)
Normal
(Pr. 22)
Normal
(Pr. 22)
Point table 1acceleration time
Pressing confirmed
0.5 s Pr. 1290
Torque limit
Servo-ON (LX)
Start signal
Vector Vector Vector
PM PM PM
LX
0
STF
RDY
Point table selection signal
Position command speed
Home position
Time
Vector Vector Vector
PM PM PM
0
Home position
return speed
Point table 1
deceleration time
Creep speed
Time
Home position
shift amount
Home
position
Position command
speed
Point table
selection signal
Point table 1
acceleration time
Proximity dog
Proximity dog
signal (X78)
Servo-ON (LX)
Start signal
Post dog travel
distance