130
O
rient
at
ion c
o
nt
rol
350
Stop position command
selection
1
9999
0
Internal stop position command
(Pr.356)
1
External stop position command (FR-A7AX 16-bit
data)
9999
Orientation control invalid
351
Orientation speed
0.01Hz
2Hz
0 to 30Hz
Decrease the motor speed to the set value when the
orientation command (X22) is given.
352
Creep speed
0.01Hz
0.5Hz 0 to 10Hz
As soon as the current position pulse reaches the
creep switchover position set in
Pr.353
after the
speed has reached the orientation speed, the speed
decelerates down to the creep speed set in
Pr.352
.
353
Creep switchover position
1
511
0 to 16383
354
Position loop switchover
position
1
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
1
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
1
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
1
5
0 to 255
Set the in-position zone at a stop of the
orientation.
358
Servo torque selection
1
1
0 to 13
Functions at orientation completion can be selected.
359
Encoder rotation direction
1
1
0
1
360
16 bit data selection
1
0
0
Speed command
When 1 is set in
Pr.350
and the option 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
Position command
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
1
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
0.1
1
0.1 to 10
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.
Func
tio
n
Parameter
Name
Incre
ments
Initial
Value
Range
Description
Re
la
te
d
p
ara
m
e
te
rs
V/FV
/
F
V/F
Magnetic fluxM
a
g
n
e
ti
c
f
lu
x
Magnetic flux
VectorV
e
c
to
r
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
