Toshiba TOSVERT VF-AS3 User manual

E6582187
Positioning Control Function Manual
Attention
1. Read this manual carefully before using the product. Keep this manual in a safe place
for future maintenance and inspection.
2. The information in this manual is subject to change without prior notice. For the latest
contents, refer to the Toshiba inverter website "http://www.inverter.co.jp/."

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E6582187
The items described in the instruction manual and on the inverter itself are very important so that you can use safely and correctly
the inverter, prevent injury to yourself and other people around you as well as to prevent damage to property in the area.
Thoroughly familiarize yourself with the following (display/symbols) and then continue to read the manual. Make sure that you
observe all warnings given.
Description of display
(*1) Serious injury means loss of sight, burn (high temperature/low temperature), electric shock, fracture, poisoning, etc. that cause aftereffects and require
hospitalization or long-term hospital visits for treatment.
(*2) Injury means injury, burn, electric shock, etc. that do not require hospitalization or long-term hospital visits for treatment.
(*3) Property damage means extended damage concerning the house, household goods, livestock and pets.
Description of symbols
■About application limitation
Safety precautions
Display Meaning
Warning Indicates that "mishandling may cause death or serious injury (*1) of the user."
Caution Indicates that "mishandling may cause injury (*2) of the user or property damage (*3)."
Display Meaning
Indicates prohibition (matters prohibited).
The concrete contents are indicated inside or near the symbol with a picture or text.
Indicates matters to be observed without fail.
The concrete contents are indicated inside or near the symbol with a picture or text.
Indicates a caution.
The concrete contents are indicated inside or near the symbol with a picture or text.
Safety precautions
• Use this function for applications that do not lead to serious accidents even if a failure or trouble occurs in this inverter
or by installing a backup circuit/device as a system outside of this inverter or under conditions where a safety device
works.
• When using this function, install a stop mechanism with a limit switch or mechanical stopper separately so that the
movable range of the machine device should not be exceeded even if a failure or trouble occurs in this inverter.

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- Table of contents -
1. Introduction................................................................................................................................................................................3
2. Operation method of positioning control....................................................................................................................................4
2.1 Parameters to be set before positioning control .................................................................................................................4
2.2 Positioning control by multi-step point setting ....................................................................................................................5
2.3 Positioning control by pulse train input ............................................................................................................................... 9
2.4 Current position clearing...................................................................................................................................................11
2.5 Other functions .................................................................................................................................................................14
3. List of positioning control parameters......................................................................................................................................15
4. Setting example of positioning control.....................................................................................................................................20
4.1 Carrying goods to specified three points by carrier machine according to command ......................................................20
4.2 Moving motor for specified amount by carrier machine according to command ..............................................................21
5. Orientation control ...................................................................................................................................................................23
5.1 Initialization method for phase..........................................................................................................................................23
5.2 Orientation control ............................................................................................................................................................ 24
5.3 How to set gains of orientation control .............................................................................................................................24
6. Orientation control ...................................................................................................................................................................25

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Positioning control is control to calculate the speed command to make the motor stop at the command position.
During positioning control, the motor is rotated by calculating the speed command to keep the difference between the number of
command pulses and the number of feedback pulses zero.
With this inverter, multi-step point positioning control by logic input or positioning control by unit pulse train input can be performed.
Main axis orientation control to stop a rotating machine at the specified phase can be also performed by applying positioning
control.
The structure of this document is as follows.
Chapter 2: Describes multi-step point positioning and a method with pulse train input as operation methods of positioning
control.
Chapter 3: Describes parameters used for positioning control.
Chapter 4: Describes actual setting examples of positioning control.
Chapter 5: Describes the operation method of orientation control.
Chapter 6: Describes parameters used for orientation control.
1. Introduction

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This chapter describes the parameter setting necessary for positioning control and the operation procedure of the inverter.
2.1 Parameters to be set before positioning control
Set necessary parameters for positioning control. For how to set, see the following table.
For the parameter settings to use
- PG feedback option (VEC008Z), refer to E6582148.
- resolver option (VEC010Z), refer to E6582171.
- input terminal S4, and S5, refer to E6582183.
After making these settings, check that operation is possible with speed control.
2. Operation method of positioning control
Parameter Function Setting Remarks
Pt V/f Pattern
10: PG feedback control
11: PG feedback vector control
(speed/torque)
12: PG feedback vector control (for
PM)
Set to any of the above.
Set to 10 when the detection accuracy
of the speed is low with a small
number of PG pulses or the PG not
connected directly to the motor when
an induction machine is driven.
F240 Start frequency 0.0
F375 PG pulses number Set the number of pulses for one
rotation of the motor.
Set the PG pulse number when the
PG is connected to the motor and the
PG pulse number multiplied by the
reciprocal of the reduction gear ratio
when the PG is connected to the load
machine.
F376 PG select
Set the type of the PG and the
polarity.
0: PTI (Command) - PTI (FB)
1: PTI (Command) - Digital option
(FB)
2: -
3: PTI (Command) - Resolver option
(FB)
4, 5: -
6: Digital option (Command) - Non
FB
7 - 9: -
10: PTI (Command) - PTI
(FB inversion)
11: PTI (Command) - Digital option
(FB inversion)
12: -
13: PTI (Command) - Resolver
option (FB inversion)
14, 15: -
16: Digital option (Command
inversion) - Non FB
Select the PG and polarity to be used.
• Set 0 or 10 to input the speed
feedback signal to the S4 and S5
terminals.
• Set 1 or 11 to use the PG feedback
option (VEC008Z).
• Set 3 or 13 to use the resolver
option (VEC010Z).

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2.2 Positioning control by multi-step point setting
2.2.1 Settings of main parameters
When A510=1, input of the target position by multi-step point setting is enabled.
To switch points, use preset speed commands 1 to 3 (digital input terminal functions 10/11, 12/13, 14, 15).
The following are parameters necessary for positioning control by multi-step point setting.
•SetA510=1.
• Set A544 to A596 according to the number of steps of the positioning point.
For each multi-step point, the target position (example: A544, A545), frequency at the time of position control
(example: Sr1), acceleration/deceleration time until the frequency with a position command is reached
(example: A547, A548), function (example: A546) can be set with parameters. For the parameter corresponding
to each point, see the table below. For how to set, refer to 2.2.1.1 and 2.2.1.2.
F146 Terminal S4 input
select
0: Digital input
1: Pulse train input
2: PG input
• Set F146 and F147=2 to input the
speed feedback signal to the S4 and
S5 terminals.
• Set the relevant parameter to 1 to
input the position command signal
to S4 or S5 terminal.
F147 Terminal S5 input
select
0: Digital input
1: Pulse train input
2: PG input
F460 Speed control
response 1 Set the gain of speed control. Generally, set a value approx.
between 3 Hz to 5 Hz.
ACC, DEC Acc/Dec time 1 Set the acceleration/deceleration
time at the time of normal operation.
VL Base frequency 1
Set the motor constant by referring to
the motor nameplate.
VLV Base frequency
voltage 1
F405 Motor rated
capacity
F415 Motor rated
current
F417 Motor rated speed
F400 Offline auto-tuning 2 Auto-tuning is performed immediately
after operation start.
Multi-step
point
Target position
Function
setting
Speed at
the time of
position
control
Acceler-
ation
time
Decel-
eration
time
Preset speed input signal
Higher 4
digits
Lower 4
digits 1 (SS1) 2 (SS2) 3 (SS3)
1 A544 A545 A546 Sr1 A547 A548 x - -
2 A552 A553 A554 Sr2 A555 A556 - x -
3 A560 A561 A562 Sr3 A563 A564 x x -
4 A568 A569 A570 Sr4 A571 A572 - - x
5 A576 A577 A578 Sr5 A579 A580 x - x
6 A584 A585 A586 Sr6 A587 A588 - x x
Parameter Function Setting Remarks

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x: ON -: OFF
• Set the limits of the target position to A512 and A513 (on the positive side), and A514 and A515 (on the negative
side).
• Assign the positioning preparation signal (input terminal function 178/179) to the input terminal.
• Assign the run signal (input terminal function 2/3 or 4/5) to the input terminal.
• Assign the multi-step point signal (input terminal function 10/11, 12/13, or 14/15) to the input terminal.
2.2.1.1 About speed and acceleration/deceleration time
Here, description is given by using the parameter for multi-step point 1. The same applies also to multi-step
points 2 to 7.
The frequency at the time of positioning control is as shown in the diagram below.
• Set the steady rate at the time of positioning control to ±Sr1(Hz).
• Set the acceleration/deceleration time until the maximum frequency (FH) is reached to A547 (A548).
The times Tacc and Tdec for acceleration/deceleration are as shown in the formulas below.
Tacc=Sr1 x A547/FH, Tdec=Sr1 x A548/FH
If the position command is Pcmd, it is equivalent to the area of the trapezoid within the straight lines in the
figure above.
Therefore, the time t of the steady rate is obtained as shown in the formulas below.
The time T required for positioning control is obtained as shown in the formula below.
7 A592 A593 A594 Sr7 A595 A596 x x x
Multi-step
point
Target position
Function
setting
Speed at
the time of
position
control
Acceler-
ation
time
Decel-
eration
time
Preset speed input signal
Higher 4
digits
Lower 4
digits 1 (SS1) 2 (SS2) 3 (SS3)
Speed (Hz)
Sr1
0
TdecTacc
Time
t
1
2
548547
1
2
1548
2
1547
1
Sr
FH
AA
Sr
P
t
FH
SrA
t
FH
SrA
SrP
cmd
cmd
·
+
−=
·
×
++
·
×
×=
1
2
548547
1
1548
1547
Sr
FH
AA
Sr
P
FH
SrA
t
FH
SrA
Tcmd
·
+
+=
×
++
×
=

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2.2.1.2 About functions
Here, description is given by using the parameter for multi-step point 1. The same applies also to multi-step
points 2 to 7.
The function parameter (A546) is a parameter that allows you to select the method to specify the target
position as shown in the table below.
• When A546=0
- The target position (A544, A545) has a positive value.
- The target position (A544, A545) is an absolute position.
For example, if a target position 100000 (A544=10, A545=0) is set, the target position is the point
moved for100000 pulses from the origin in the positive direction.
• When A546=1
- The target position (A544, A545) has a negative value.
- The target position (A544, A545) is an absolute position.
For example, if a target position 100000 (A544=10, A545=0) is set, the target position is the point
moved for100000 pulses from the origin in the negative direction.
• When A546=2
- The target position (A544, A545) has a positive value.
- The target position (A544, A545) is a relative position.
For example, if a target position 100000 (A544=10, A545=0) is set, the target position is the point
moved for100000 pulses from the position of the previous settlement in the positive direction.
•When A546=3
- The target position (A544, A545) has a negative value.
- The target position (A544, A545) is a relative position.
For example, if a target position 100000 (A544=10, A545=0) is set, the target position is the point
moved for 100000 pulses from the position of the previous settlement in the negative direction.
(Caution)
• When a relative position command is used, change the point number after positioning control settles.
(Switch the preset speed command terminal).
• When the same point number is used for the relative position command, turn OFF all the preset speed
signals once, then turn ON the signal corresponding to the specified point number again.
2.2.2 Operation style
Perform positioning control by multi-step point setting in the following procedure.
(1) Turn ON the positioning preparation signal (digital input terminal function 178/179).
(2) Turn ON the run signal (digital input terminal function 2/3 or 4/5).
Then, the motor is in the servo lock status.
(3) Turn ON the multi-step point signal (digital input terminal function 10/11, 12/13, or 14/15).
The motor rotates so that the load machine should move to the target position specified by the multi-step point
signal.
(4) When the positioning control settles and the deviation between the target position and the current position
becomes ±F381 or less, the positioning completion signal (digital output terminal function 118/119) is turned
ON.
Setting Command method Sign
0 Absolute position command Positive
1 Absolute position command Negative
2 Relative position command Positive
3 Relative position command Negative

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2.2.3 Caution
• Change the setting of A510 after turning OFF the positioning preparation signal (input terminal function 178/179)
and run signal (input terminal functions 2/3, 4/5).
• Positioning control and the PID function cannot be used at the same time.
When A510=1, the normal PID function is disabled.
• When the run signal is turned OFF during positioning control, positioning control is stopped, and the motor is
decelerated and stopped in the deceleration time set in A511.
• When the positioning preparation signal is turned OFF during positioning control, E-46 trip occurs.
• To switch from positioning control to speed control, turn OFF the run signal during positioning control and turn
OFF the positioning preparation signal after the inverter stops.
• When all the multi-step point signals (input terminal functions 10/11, 12/13, 14/15)are turned OFF during
positioning control, rewrite the target position to the detection position at that time. Do not turn OFF all the multi-
step point signals when positioning is not completed. When it is completed, servo lock is continued in the current
position.
• If the current position becomes out of the range of - (A520, A521) to (A518, A519) during positioning control, the
position limit excess signal (output terminal function 214/215) is turned ON.
When A522=0, positioning control can be continued as it is, however, E-47 trip occurs when A522=1. Use this
function to prevent the machine from exceeding the range of movement.
• When movement in the same direction is repeated with the relative position command, clear the current position
as necessary so that the current position should not be out of the range of -(A520, A521) to (A518, A519).
For how to clear the current position, refer to 2.4.
• This function is available with the following speed feedback detection.
- PG feedback option (VEC008Z)
- resolver option (VEC010Z)
- S4, and S5 terminal (V114 or later)*
* Stop position control shortly after positioning is completed.
Do not use servo lock operation (continue to run at 0Hz).
Time
Frequency command value (Hz)
Sr1
Sr2
POS signal (digital input: 178/179)
Run signal (digital input: 2/3 or 4/5)
Preset speed 1 (digital input: 10/11)
Preset speed 2 (digital input: 12/13)
Positioning completion signal
(digital output: 118/119)