INVERTER
Plug-in option
FR-A7AP
INSTRUCTION MANUAL
Orientation control
Encoder feedback control
Vector control
PRE-OPERATION INSTRUCTIONS
1
INSTALLATION
2
ORIENTATION CONTROL
3
ENCODER FEEDBACK CONTROL
4
VECTOR CONTROL
5
Thank you for choosing this Mitsubishi Inverter plug-in option.
This instruction manual gives handling information and
precautions for use of this equipment. Incorrect handling might
cause an unexpected fault. Before using the equipment, please
read this manual carefully to use the equipment to its optimum.
Please forward this manual to the end user.
This section is specifically about
safety matters
Do not attempt to install, operate, maintain or inspect this
product until you have read through this instruction manual and
appended documents carefully and can use the equipment
correctly. Do not use this product until you have a full
knowledge of the equipment, safety information and
instructions.
In this instruction manual, the safety instruction levels are
classified into "WARNING" and "CAUTION".
WARNING
CAUTION
Assumes that incorrect handling may
cause hazardous conditions, resulting
in death or severe injury.
Assumes that incorrect handling may
cause hazardous conditions, resulting
in medium or slight injury, or may
cause physical damage only.
CAUTION level may lead to a serious
Note that even the
consequence according to conditions. Please follow the
instructions of both levels because they are important to
personnel safety.
SAFETY INSTRUCTIONS
1. Electric Shock Prevention
WARNING
• While power is on or when the inverter is running, do not
open the front cover. You may get an electric shock.
• Do not run the inverter with the front cover or wiring cover
removed. Otherwise, you may access the exposed highvoltage terminals and charging part and get an electric shock.
• If power is off, do not remove the front cover except for wiring
or periodic inspection. You may access the charged inverter
circuits and get an electric shock.
• Before starting wiring or inspection, check to make sure that
Indication of the inverter operation panel is off, wait for at least
10 minutes after the power supply has been switched off, and
check that there are no residual voltage using a tester or the
like. The capacitor is charged with high voltage for some time
after power off and it is dangerous.
• Any person who is involved in the wiring or inspection of this
equipment should be fully competent to do the work.
• Always install the plug-in option before wiring. Otherwise,
you may get an electric shock or be injured.
• Do not touch the plug-in option with wet hands. Otherwise
you may get an electric shock.
• Do not subject the cables to scratches, excessive stress,
heavy loads or pinching. Otherwise you may get an electric
shock.
A-1
2. Injury Prevention
3) Usage
WARNING
CAUTION
• Apply only the voltage specified in the instruction manual to
each terminal. Otherwise, burst, damage, etc. may occur.
• Ensure that the cables are connected to the correct terminals.
Otherwise, burst, damage, etc. may occur.
• Always make sure that polarity is correct to prevent damage, etc.
Otherwise, burst, damage may occur.
• While power is on or for some time after power-off, do not touch
the inverter as it is hot and you may get burnt.
3. Additional Instructions
Also note the following points to prevent an accidental failure,
injury, electric shock, etc.
1) Transportation and mounting
CAUTION
• Do not install or operate the plug-in option if it is damaged or
has parts missing.
• Do not stand or rest heavy objects on the product.
• Check that the mounting orientation is correct.
• Prevent other conductive bodies such as screws and metal
fragments or other flammable substance such as oil from
entering the inverter.
2) Trial run
CAUTION
• When parameter clear or all parameter clear is performed,
reset the required parameters before starting operations.
Each parameter returns to the initial value.
• For prevention of damage due to static electricity, touch
nearby metal before touching this product to eliminate static
electricity from your body.
4) Maintenance, inspection and parts replacement
CAUTION
• Do not test the equipment with a megger (measure insulation
resistance).
5) Disposal
CAUTION
• Treat as industrial waste.
CAUTION
• Before starting operation, confirm and adjust the parameters.
A failure to do so may cause some machines to make
unexpected motions.
A-2
• Do not modify the equipment.
• Do not perform parts removal which is not instructed in this
manual. Doing so may lead to fault or damage of the inverter.
6) General instruction
All illustrations given in this manual may have been drawn with
covers or safety guards removed to provide in-depth
description. Before starting operation of the product, always
return the covers and guards into original positions as specified
and operate the equipment in accordance with the manual.
 CONTENTS 
1
PRE-OPERATION INSTRUCTIONS
1.1
Unpacking and Product Confirmation .............................................................................................1
1.1.1
1.1.2
1.1.3
2
2.1
2.2
2.3
2.4
2.5
2.6
2.7
3
3.1
3.2
3.3
3.4
1
Packing confirmation ...................................................................................................................................... 1
SERIAL number check ...................................................................................................................................2
Parts ............................................................................................................................................................... 3
INSTALLATION
4
Pre-Installation Instructions .............................................................................................................4
Installation Procedure .......................................................................................................................5
Switches .............................................................................................................................................7
Wiring..................................................................................................................................................9
Encoder Cable..................................................................................................................................13
Encoder.............................................................................................................................................15
Parameter for Encoder ....................................................................................................................16
ORIENTATION CONTROL
18
Wiring Example ................................................................................................................................18
Terminals ..........................................................................................................................................20
Parameter List for Orientation Control ..........................................................................................22
Specifications...................................................................................................................................23
I
4
4.1
4.2
4.3
5
5.1
5.2
5.3
5.4
II
ENCODER FEEDBACK CONTROL
24
Wiring Examples ..............................................................................................................................24
Terminals ..........................................................................................................................................25
Encoder Feedback Control Parameter List ...................................................................................26
VECTOR CONTROL
28
Wiring Examples ..............................................................................................................................28
Terminals ..........................................................................................................................................32
Vector Control Extended Parameter List.......................................................................................33
Specifications...................................................................................................................................36
1
1.1
PRE-OPERATION INSTRUCTIONS
Unpacking and Product Confirmation
Take the plug-in option out of the package, check the unit name, and confirm that the product is as you
ordered and intact.
This product is a plug-in option dedicated for the FR-A700 series.
1.1.1
Packing confirmation
Check the enclosed items.
Plug-in option
Mounting screw (M3 × 6mm) Hex-head screw for option
......................................... 1 .............. 2 (Refer to page 5.) mounting (5.5mm)
............... 1 (Refer to page 5.)
5.5mm
1
1
PRE-OPERATION INSTRUCTIONS
1.1.2
SERIAL number check
The FR-A7AP can be used with the FR-A700 series having the following serial number or later. Check the
SERIAL number indicated on the inverter rating plate or package.
Model
FR-A720-0.4K/0.75K
FR-A720-1.5K/2.2K
FR-A720-3.7K
FR-A720-5.5K to 11K
FR-A720-15K to 22K
FR-A720-30K
FR-A720-37K
FR-A720-45K
FR-A720-55K
FR-A720-75K/90K
SERIAL (Serial No.)
P5{{{{{{{
Q5{{{{{{{
N5{{{{{{{
L5{{{{{{{
M5{{{{{{{
Q5{{{{{{{
M5{{{{{{{
L5{{{{{{{
K5{{{{{{{
E5{{{{{{{
Rating plate example
†
Symbol
5
{
{{{{{{
Year Month Control number
SERIAL (Serial No.)
The SERIAL is made up of 1 version symbol, 2 numeric characters
or 1 alphabet letter and 2 numeric characters indicating year and
month, and 6 numeric characters indicating control number.
Month is indicated as 1 to 9, X (October), Y (November), and Z
(December).
2
Model
FR-A740-0.4K
FR-A740-0.75K
FR-A740-1.5K/2.2K
FR-A740-3.7K
FR-A740-5.5K/7.5K
FR-A740-11K to 22K
FR-A740-30K to 55K
FR-A740-75K/90K
FR-A740-110K to 160K
FR-A740-185K to 500K
SERIAL (Serial No.)
L5{{{{{{{
K5{{{{{{{
J5{{{{{{{
H5{{{{{{{
G5{{{{{{{
F5{{{{{{{
E5{{{{{{{
G5{{{{{{{
E5{{{{{{{
C5{{{{{{{
PRE-OPERATION INSTRUCTIONS
Parts
SW3
O
N
SW2
Rear view
LED1
LED2
LED3
1
2
3
4
O
N
FR-A7AP
SW1
Switch for manufacturer
setting (SW3)
Do not change from initiallyset status (1, 2:OFF
).
Connector
Connect to the inverter
option connector.
(Refer to page 5.)
Terminating resistor selection
switch (SW2)
Switch ON/OFF of the internal
terminating resistor. (Refer to page 7.)
Terminal layout
1
2
O
N
Mounting
hole
Mounting
hole
Front view
Terminal
block
1
2
1.1.3
CON2 connector
Not used.
Encoder specification selection switch (SW1)
Used to change the specification of encoder
(differential line driver/complementary).
(Refer to page 7.)
PA2
PB2
PZ2
SD
SD
PO
Mounting
hole
1
PA1
PB1
PZ1
PG
PG
PIN
PIN and PO are
not used.
3
2
INSTALLATION
2.1
Pre-Installation Instructions
Make sure that the input power of the inverter is off.
CAUTION
With input power on, do not install or remove the plug-in option. Otherwise, the inverter and
plug-in option may be damaged.
4
INSTALLATION
2.2
Installation Procedure
1) Remove the inverter front cover.
1)
2) Mount the hex-head screw for option
mounting into the inverter screw hole (on
earth plate). (size 5.5mm, tightening
torque 0.56N⋅m to 0.75N⋅m)
Screw hole for
option mounting
Inverter side
option
connector
3)
Screw hole for
option mounting
(on earth plate)
Hex-head screw
for option mounting
2)
3) Securely fit the connector of the plug-in
option to the inverter connector along the
guides.
4) Securely fix the both right and left sides
of the plug-in option to the inverter with
the accessory mounting screws. If the
screw holes do not line-up, the connector
may not have been plugged snugly.
Check for loose plugging.
4) Mounting
screws
REMARKS
After removing two screws on the right and left places, remove the plug-in option.
(When the plug-in option is mounted in the connector 3, it is easier to remove the plug-in option after removing a
control circuit terminal block.)
5
2
INSTALLATION
CAUTION
•
•
When two or more options are mounted, priority is in order of inverter option connectors 1, 2 and 3, the
options having lower priority are inoperative.
When the inverter cannot recognize that the option is mounted due to improper
Mounting
Error
installation, etc., "
to
" (option alarm) are displayed for the FRPosition
Display
A700 series.The errors shown differ according to the mounting positions
Connector 1
(connectors 1, 2, 3).
Connector 2
Connector 3
•
The FR-F700 series has one connection connector for the plug-in option. When the inverter can not
recognize that the option unit is mounted due to improper installation, etc., "
•
•
6
" (option alarm) is
displayed.
Note that a hex-head screw for option mounting or mounting screw may drop during mounting and removal.
Pull out the option straight to remove. Otherwise, the connector may be damaged by some applied force.
INSTALLATION
SW2
O
N
1
2
3
4
Differential line
driver (initial status)
O
N
FR-A7AP
(1) Encoder specification selection switch (SW1)
Select either differential line driver or complementary
It is initially set to the differential line driver. Switch its position
according to output circuit.
SW3
Switches
1
2
2.3
SW1
1
2
3
4
O
N
SW1
O
N
SW2
1
2
REMARKS
Internal terminating
resistor-ON
(initial status)
FR-A7AP
(2) Terminating resistor selection switch (SW2)
Select ON/OFF of the internal terminating resistor. Set the
switch to ON (initial status) when an encoder output type is
differential line driver and set to OFF when complimentary.
ON : with internal terminating resistor (initial setting status)
OFF : without internal terminating resistor
SW3
Complementary
Internal terminating resistor-OFF
· Set all swithces to the same setting (ON/OFF).
· If the encoder output type is differential line driver, set the
terminating resistor switch to the "OFF" position when sharing the
same encoder with other unit (NC (numerical controller), etc) or a
terminating resistor is connected to other unit.
2
CAUTION
SW3 is for manufacturer setting. Do not change from initially-set status (1, 2:OFF).
7
INSTALLATION
(3) Motor used and switch setting
Motor
Encoder Specification
Terminating Resistor
Power
Selection Switch (SW1) Selection Switch (SW2) Specifications *2
SF-JR
Differential
ON
SF-HR
Differential
ON
*1
*1
Others
SF-JRCA
Differential
ON
Mitsubishi constantSF-HRCA
Differential
ON
torque motor
*1
*1
Others
SF-V5RU
Complimentary
OFF
Dedicated motor
SF-VR
Differential
ON
*1
*1
Other manufacturer motor
–
*1 Set according to the motor encoder used.
*2 Choose a power supply for encoder according to the encoder used (5V/12V/15V/24V).
Mitsubishi standard motor
Mitsubishi high efficiency
motor
8
5V
5V
*1
5V
5V
*1
12V
5V
*1
INSTALLATION
2.4
(1)
Wiring
Use twisted pair shield cables (0.2mm2 or larger) to connect the FR-A7AP and position detector.
To protect the cables from noise, run them away from any source of noise (e.g. the main circuit
and power voltage).
Wiring Length
Paralell Connection
Within 10m
At least 2 cables
Within 20m
At least 4 cables
Within 100m *
At least 6 cables
Larger-Size Cable
Cable gauge
0.2mm2
0.4mm2 or larger
0.75mm2 or larger
1.25mm2 or larger
* When differential driver is set and a wiring length is 30m or more
The wiring length can be extended to 100m by slightly increasing the power by 5V (approx. 5.5V) using six or more cables with
gauge size of 0.2mm2 in parallel or a cable with gauge size of 1.25mm2 or more. Note that the voltage applied should be within
power supply specifications of encoder.
To reduce noise of the encoder cable, earth (ground) the encoder shielded cable to the enclosure (as near
as the inverter) with a P clip or U clip made of metal.
Earthing (grounding) example using a P clip
Encoder cable
2
Shield
P clip
REMARKS
· For details of the optional encoder dedicated cable (FR-JCBL/FR-V7CBL), refer to page 13.
· The FR-V7CBL is provided with a P clip for earthing (grounding) shielded cable.
9
INSTALLATION
(2) Connection with the NC (numerical controller)
When one position detector is shared between the FR-A7AP and NC, its output signal should be
connected as shown on the right. In this case, the wiring length between the FR-A7AP and NC should
be as short as possible, within 5m.
Inverter
(FR-A7AP)
Position detector
Encoder
Maximum 5m
(two parallel cables)
10
NC
INSTALLATION
(3) Wire the twisted pair shielded cable after stripping its sheath to make its cables loose.
Also, protect the shielded cable of the twisted pair shielded cable to ensure that it will not make contact
with the conductive area.
Wire the stripped cable after twisting it to prevent it from becoming loose.
Cable stripping size
In addition, do not solder it.
Use a bar type terminal as required.
5mm
REMARKS
Information on bar terminals
Introduced products (as of August, 2005): Phoenix Contact Co.,Ltd.
Terminal Screw
Bar Terminal Model
Bar Terminal Model
Size
(with insulation sleeve) (without insulation sleeve)
M2
Al 0.5-6WH
A 0.5-6
⋅ Bar terminal crimping tool: CRIMPFOX ZA3 (Phoenix Contact Co., Ltd.)
Wire Size (mm2)
0.3 to 0.5
When using the bar terminal (without insulation sleeve),
use care so that the twisted wires do not come out.
(4) Loosen the terminal screw and insert the cable into the terminal.
Screw Size
M2
Tightening Torque
0.22N⋅m to 0.25N⋅m
Cable Size
2
0.3mm to 0.75mm
Screwdriver
2
Small
flat-blade screwdriver
(Tip thickness: 0.4mm/tip width: 2.5mm )
CAUTION
Undertightening can cause cable disconnection or malfunction. Overtightening can cause a short circuit or
malfunction due to damage to the screw or unit.
11
2
INSTALLATION
(5) For wiring of 22K or less, remove a hook of the front cover and use a space become available.
For wiring of 30K or more, use the space on the left side of the control circuit terminal block.
Cut off
with a
nipper,
etc.
Cut off a hook on the inverter
front cover side surface.
(Cut off so that no portion is left.)
22K or less
Control circuit
terminal block
30K or more
REMARKS
When the hook of the inverter front cover is cut off for wiring, the protective structure (JEM1030) changes to open type
(IP00).
CAUTION
Do not use empty terminals as junction terminals because they are used in the option unit. If
they are used as the junction terminals, the option unit may be damaged.
When performing wiring using the space between the inverter front cover and control circuit
terminal block, take care not to subject the cable to stress.
After wiring, wire offcuts must not be left in the inverter. They may cause a fault, failure or
malfunction.
12
INSTALLATION
2.5
Encoder Cable
SF-JR Motor with Encoder
Inverter side
MS3057-12A
Approx. 140
*
Earth cable
Earth cable
60
60mm
L
MS3106B20-29S
Type
Length L (m)
FR-JCBL5
FR-JCBL15
FR-JCBL30
FR-A700
(FR-A7AP)
5
15
30
C
R
A
N
B
P
PG
SD
H
K
Positioning keyway
A B
C
N
P D
K
E
S
R
J
H G F
M
L
T
MS3106B20-29S
(As viewed from wiring side)
2mm2
F-DPEVSB 12P 0.2mm2
MS3106B20-29S
L
⋅ A P clip for earthing (grounding)
a shielded cable is provided.
FR-A700
(FR-A7AP)
Encoder
PA1
PA2
PB1
PB2
PZ1
PZ2
Encoder side
MS3057-12A
connector
11mm
F-DPEVSB 12P 0.2mm2
SF-V5RU
Type
Length L (m)
FR-V7CBL5
FR-V7CBL15
FR-V7CBL30
5
15
30
Encoder
PA1
PA2
PB1
PB2
PZ1
PZ2
A
B
C
D
F
G
PG
SD
S
R
Positioning keyway
M A B
N
C
P D
T
K
E
S
R
J
H G F
MS3106B20-29S
As viewed from wiring side
2
L
2mm2
* As the terminal block of the FR-A7AP is an insertion type, earth cables need to be modified. (Refer to page 11.)
13
INSTALLATION
Connection terminal compatibility table
Motor
Encoder cable
FR-A7AP terminal
14
SF-V5RU
FR-V7CBL/FR-V5CBL
SF-JR/HR/JRCA/HRCA (with Encoder)
FR-JCBL
PA1
PA
PA
PA2
Keep this open.
PAR
PB1
PB
PB
PB2
Keep this open.
PBR
PZ1
PZ
PZ
PZ2
Keep this open.
PZR
PG
PG
5E
SD
SD
AG2
INSTALLATION
2.6
(1)
Encoder
Position detection (pulse encoder)
Output pulse specifications
Differential line driver
Complimentary
A/A signal 1000P/R to 4096P/R
B/B signal 1000P/R to 4096P/R
Z/Z signal 1P/R
P
a b c d
H
A
L
A
B
B
Z
Z
A signal 1000P/R to 4096P/R
B signal 1000P/R to 4096P/R
Z signal 1P/R
P
a b c d
Position detector
Encoder
A
A
B
Z
When rotation is clockwise
as viewed from the shaft
end (A) of the encoder.
a, b, c, d should be (1/4
1/8)P
CAUTION
⋅ When orientation control, encoder feedback control, vector control are used together, the encoder is shared
between these controls.
Use an encoder which has a pulse count of 1000 to 4096ppr (pulse per revolution).
⋅ The encoder should be coupled with the motor shaft or the spindle oriented with a speed ratio of 1 to 1 without any
mechanical looseness.
⋅ To ensure correct operation, the encoder must be set in the proper rotation direction and the A and B phases
connected correctly.
(2)
2
Power supply
Choose a power supply for encoder according to the encoder used.
When an encoder is used under orientation control, encoder feedback control, and vector control, the power
supply is shared between the inverter and encoder.
15
INSTALLATION
2.7
Parameter for Encoder
Parameter
Number
Initial
Value
Name
Setting
Range
Description
0
359
Encoder rotation
direction
A
Encoder
1
CCW
1
A
Encoder
369
Number of encoder
pulses
1024
0 to 4096
CW
Forward rotation is clockwise
rotation when viewed from A.
Forward rotation is counterclockwise
rotation when viewed from A.
Set the number of encoder pulses output.
Set the number of pulses before it is multiplied by 4.
Set Pr. 359 Encoder rotation direction and Pr. 369 Number of encoder pulses according to the encoder used.
Motor
Mitsubishi standard motor
Mitsubishi high efficiency motor
Mitsubishi constant torque motor
Vector control dedicated motor
Other manufacturer's standard motor
Other manufacturer's constant torque motor
SF-JR
SF-JR 4P 1.5kW or less
SF-HR
Others
SF-JRCA 200V 4P
SF-HRCA 200V 4P
Others (SF-JRC, etc.)
SF-V5RU
SF-VR
–
–
* Set this parameter according to the motor (encoder) used.
16
Pr. 359 Setting
1
1
1
*
1
1
*
1
1
*
*
Pr. 369 Setting
1024
1024
1024
*
1024
1024
*
2048
1000
*
*
MEMO
17
3
ORIENTATION CONTROL
This function is used with a position detector (encoder) installed to the spindle of a machine tool, etc. to
allow a rotary shaft to be stopped at the specified position (oriented).
3.1
Wiring Example
MCCB
Three-phase
AC power
supply
Forward rotation start
Reverse rotation start
Orientation command
Contact input common
Inverter
R/L1
S/L2
T/L3
STF
STR
X22*3
SD
ORA*4
ORM
U
V
W
FR-A7AP
PA1
SF-JR motor with encoder
For complementary type (SF-V5RU)
U
MCCB
SF-V5RU
*1
A
V
Three-phase
IM
B
AC
power
W
FAN
C
supply
E
U
Inverter U
V
V
Earth (Ground)
IM
W
W
C *2
E
PA2
R
PB1
A
PB2
N
PZ1
PZ2
Differential
B
PG
FR-A7AX
*10 Complimentary SD
X15
PG
X14
Terminating
SD
resistor ON
X1
*8
X0
*7
OFF
DY
*4
SE
SD
2W1kΩ
G1
SD
G2
Encoder
FR-A7AP PA1
A
PA2
B
H
PB1
C
K
PB2
D
PZ1
PZ2
F
Complimentary
PG
S
Terminating
resistor ON
SD
R
PG
P
*5
Differential
*6
(+)
(-) 5VDC power
supply*9
SD
OFF
18
Earth (Ground)
External
PC
thermal relay
input *11 CS(OH)
*7
*8
G
*6
(+)
Thermal
relay
protector
*2
Encoder
*5
(-) 12VDC power
supply *9
ORIENTATION CONTROL
*1
For the fan of the 7.5kW or less dedicated motor, the power supply is single phase (200V/50Hz, 200 to 230V/
60Hz).
*2 The pin number differs according to the encoder used.
*3 Use Pr. 178 to Pr. 189 (input terminal function selection) to assign the function to any of terminal.
Refer to the inverter manual for details of Pr. 178 to Pr. 189 (input terminal function selection).
*4 Use Pr. 190 to Pr. 196 (output terminal function selection) to assign the function to any of terminal.
Refer to the inverter manual for details of Pr. 190 to Pr. 196 (output terminal function selection).
*5 Connect the encoder so that there is no looseness between the motor and motor shaft. Speed ratio should be 1:1.
*6 Earth (Ground) the shielded cable of the encoder cable to the enclosure with a P clip, etc. (Refer to page 9.)
*7 For the differential line driver, set the terminating resistor selection switch to on position (initial status) to use.
(Refer to page 7.)
Note that the terminating resistor switch should be set to off position when sharing the same encoder with other
unit (NC, etc) or a terminating resistor is connected to other unit.
For the complementary, set the switch to off position.
*8 For terminal compatibility of the FR-JCBL, FR-V5CBL and FR-A7AP, refer to page 14.
*9 A separate power supply of 5V/12V/15V/24V is necessary according to the encoder power specification.
When performing encoder feedback control and vector control together, an encoder and power can be shared.
*10 When a stop position command is input from outside, a plug-in option FR-A7AX is necessary. Refer to the inverter
manual for details of external stop position command.
*11 Assign OH (external thermal input) signal to the terminal CS. (Set "7" in
CS(OH)
Pr. 186 )
PC
Connect a 2W1kΩ resistor between the terminal PC and CS.
Install the resistor pushing against the bottom part of the terminal block so
Control circuit
terminal block
as to avoid a contact with other cables.
Resistor (2W1kΩ)
19
3
ORIENTATION CONTROL
3.2
Terminals
(1) Option FR-A7AP terminal
Terminal
PA1
PA2
PB1
PB2
PZ1
PZ2
PG
SD
Terminal Name
Application Explanation
Encoder A-phase signal input
Encoder A-phase inverse signal input
Encoder B-phase signal input
A-, B- and Z-phase signals are input from the encoder.
Encoder B-phase inverse signal input (For details of pulse signal, refer to page 15.)
Encoder Z-phase signal input
Encoder Z-phase inverse signal input
Power supply (positive side) input
Power supply ground
Input power for the encoder power supply.
Connect the external power supply (5V, 12V, 15V, 24V) and the
encoder power cable.
(2) Option FR-A7AX terminal
Terminal
Terminal Name
X0 to X15 Digital signal input
DY
SD
(inverter)
PC
(inverter)
20
Data read timing
input signal
Common terminal
(sink)
External transistor
common (source)
Application Explanation
Input the digital signal at the relay contact or open collector terminal.
Using Pr. 360, speed or position command is selected as the command signal entered.
Used when a digital signal read timing signal is necessary. Data is read only
during the DY signal is on.
By switching the DY signal off, the X0 to X15 data before signal-off is retained.
Common terminal for digital and data read timing signals.
Use terminal SD of the inverter.
When connecting the transistor output (open collector output), such as a
programmable controller (PLC), connect the external power common (+) to this
terminal to prevent a fault occurring due to leakage current.
ORIENTATION CONTROL
(3) Inverter terminal
Output
Input
Terminal
(Signal)
Terminal (Signal) Name
Application Explanation
X22
Used to enter an orientation signal for orientation.
Orientation command input
For the terminal used for X22 signal input, set "22" in any of Pr. 178 to Pr. 189
terminal
to assign the function.
SD
Contact input common
ORA
In-position signal output
signal
ORM
Orientation fault signal
output signal
SE
Open collector output
common
Common terminal for the orientation signal.
Switched low if the orientation has stopped within the in-position zone while
the start and orientation signals are input.
For the terminal used for the ORA signal output, assign the function by
setting "27 (positive logic) or 127 (negative logic)" in any of Pr. 190 to Pr. 196.
Switched low if the orientation has stopped within the in-position zone while
the start and orientation signals are input.
For the terminal used for the ORA signal output, assign the function by
setting "28 (positive logic) or 128 (negative logic)" in any of Pr. 190 to Pr. 196.
Common terminal for the ORA and ORM open collector output terminals.
3
21
ORIENTATION CONTROL
3.3
Parameter List for Orientation Control
Fitting the FR-A7AP adds the following parameters for orientation control.
Refer to the inverter manual (applied) for details of parameter.
Parameter
Number
Name
Setting Range
Increments
Initial Value
350
Stop position command selection
0, 1, 9999
1
9999
351
Orientation speed
0 to 30Hz
0.01Hz
2Hz
352
Creep speed
0 to 10Hz
0.01Hz
0.5Hz
353
Creep switchover position
0 to 16383 *
1
511
354
Position loop switchover position
0 to 8191
1
96
355
DC injection brake start position
0 to 255
1
5
1
0
356
Internal stop position command
0 to 16383 *
357
In-position zone
0 to 255
1
5
358
Servo torque selection
0 to 13
1
1
359
Encoder rotation direction
0, 1
1
1
360
16 bit data selection
0 to 127
1
0
361
Position shift
0 to 16383 *
1
0
362
Orientation position loop gain
0.1 to 10
0.1
1
363
Completion signal output delay time
0 to 5s
0.1s
0.5s
364
Encoder stop check time
0 to 5s
0.1s
0.5s
365
Orientation end time
0 to 60s, 9999
1s
9999
366
Double check time
0 to 5s, 9999
0.1s
9999
369
Number of encoder pulses
0 to 4096
1
1024
376
Encoder signal loss detection enable/disable selection
0, 1
1
0
393
Orientation selection
0, 1, 2
1
0
396
Orientation speed gain (P term)
0 to 1000
1
60
397
Orientation speed integral time
0 to 20s
0.001
0.333
398
Orientation speed gain (D term)
0 to 100
0.1
1
399
Orientation deceleration ratio
0 to 1000
1
20
* When an operation panel (FR-DU07) is used, the maximum setting is 9999. When a parameter unit is used, up to the maximum value
within the setting range can be set.
22
ORIENTATION CONTROL
3.4
Specifications
Repeated positioning
accuracy
Permissible speed
Functions
Holding force after
positioning
Input signal (contact
input)
±1.5°
Depends on the load torque, moment of inertia of the load or orientaion, creep speed,
position loop switching position, etc.
Encoder-mounted shaft speed (6000r/min with 2048 pulse encoder)
The drive shaft and encoder-mounted shaft must be coupled directly or via a belt without any slip.
Orientation, creep speed setting, stop position command selection, DC injection brake start
position setting, creep speed and position loop switch position setting, position shift,
orientation in-position, position pulse monitor, etc.
Under V/F control, advanced magnetic flux vector control...without servo lock function
Under vector control ....with servo lock function
Orientation command, forward and reverse rotation commands, stop position command
(open collector signal input (complementary) is enabled)
binary signal of maximum 16 bit (when used with the FR-A7AX)
Output signal
Orientation completion signal, orientation fault signal
(open collector output)
3
23
4
ENCODER FEEDBACK CONTROL
Encoder feedback control is enabled when the FR-A7AP is mounted on the FR-A700 series. (under V/F
control, advanced magnetic flux vector control)
This controls the inverter output frequency so that the motor speed is constant to the load variation by
detecting the motor speed with the speed detector (encoder) to feed back to the inverter.
4.1
Wiring Examples
MCCB
Three-phase
AC power supply
Forward rotation start
Reverse rotation start
Contact input common
Frequency setting
potentiometer
Inverter
R/L1
S/L2
T/L3
U
V
W
STF
STR
FR-A7AP
PA1
PA2
SD
10
Differential
2
5
Complimentary
Terminating
resistor ON
*4
OFF
24
SF-JR motor with encoder
U
V
IM
W
E
Earth
(Ground)
C *1
R
PB1
A
PB2
N
PG
H
SD
K
Encoder
*2
PG
SD
*5
*3
(+)
(-) 5VDC power supply *6
ENCODER FEEDBACK CONTROL
*1
*2
*3
*4
The pin number differs according to the encoder used.
Connect the encoder so that there is no looseness between the motor and motor shaft. Speed ratio should be 1:1.
Earth (Ground) the shielded cable of the encoder cable to the enclosure with a P clip, etc. (Refer to page 9.)
For the differential line driver, set the terminating resistor selection switch to on position (initial status) to use.
(Refer to page 7)
Note that the terminating resistor switch should be set to off position when sharing the same encoder with other
unit (NC, etc) or a terminating resistor is connected to other unit.
For the complementary, set the switch to off position.
For terminal compatibility of the FR-JCBL, FR-V5CBL and FR-A7AP, refer to page 14.
A separate power supply of 5V is necessary according to the encoder power specification.
To perform orientation control together, an encoder and power supply can be shared.
*5
*6
4.2
Terminals
Terminal
Symbol
PA1
PA2
PB1
PB2
PG
SD
Terminal Name
Encoder A-phase signal
input terminal
Encoder A-phase inverse
signal input terminal
Encoder B-phase signal
input terminal
Encoder B-phase inverse
signal input terminal
Power supply (positive
side) input terminal
Power ground terminal
Application Explanation
A-, B-phase signals are input from the encoder.
(For details of pulse signal, refer to page 15.)
4
Input power for the encoder power supply.
Connect the external power supply (5V, 12V, 15V, 24V) and the encoder
power cable.
25
ENCODER FEEDBACK CONTROL
4.3
Encoder Feedback Control Parameter List
Fitting the FR-A7AP adds the following parameters for encoder feedback operation.
Refer to the inverter manual (applied) for details of parameter.
Parameter
Number
359
367
368
369
374
376
26
Name
Encoder rotation direction
Speed feedback time
Feedback gain
Number of encoder pulses
Overspeed detection level
Encoder signal loss detection
enable/disable selection
Setting Range
Increments
Initial Value
0, 1
0 to 400Hz, 9999
0 to 100
0 to 4096
0 to 400Hz
1
0.01Hz
0.1
1
0.01Hz
1
9999
1
1024
140Hz
0, 1
1
0
MEMO
27
5
VECTOR CONTROL
When the FR-A7AP is mounterd on the FR-A700 series, full-scale vector control operation can be
performed using a motor with encoder.
Speed control, torque control and position control by vector control can be performed. (Refer to the inverter
manual (applied) for details.)
5.1
Wiring Examples
(1) Standard motor with encoder, 5V differential line driver (speed control)
MCCB
Three-phase
AC power supply
Forward rotation start
Reverse rotation start
Contact input common
Frequency command 3
2
Frequency setting
potentiometer
1/2W1kΩ 1
Torque limit
(+)
command (-)
( 10V)
Inverter
R/L1
S/L2
T/L3
U
V
W
STF
STR
FR-A7AP
PA1
PA2
SD
10
Differential
2
5
Complimentary
Terminating
resistor ON
1
R
PB1
A
PB2
N
PZ1
PZ2
B
PG
H
SD
K
P
Encoder
*2
PG
SD
OFF
*4
28
SF-JR motor with encoder
U
V
IM
W
E
Earth
(Ground)
C *1
*5
*3
(+)
(-) 5VDC power supply *6
VECTOR CONTROL
*1
*2
*3
*4
*5
*6
The pin number differs according to the encoder used.
Connect the encoder so that there is no looseness between the motor and motor shaft. Speed ratio should be 1:1.
Earth (Ground) the shielded cable of the encoder cable to the enclosure with a P clip, etc. (Refer to page 9.)
For the differential line driver, set the terminating resistor selection switch to on position (initial status) to use.
(Refer to page 7)
Note that the terminating resistor switch should be set to off position when sharing the same encoder with other
unit (NC, etc) or a terminating resistor is connected to other unit.
For terminal compatibility of the FR-JCBL, FR-V5CBL and FR-A7AP, refer to page 14.
A separate power supply of 5V/12V/15V/24V is necessary according to the encoder power specification.
To perform orientation control together, an encoder and power supply can be shared.
29
5
VECTOR CONTROL
(2) Vector control dedicated motor (SF-V5RU), 12V complimentary (torque control)
MCCB
SF-V5RU
A
B
C
*1
Three-phase
AC power supply
Inverter
MCCB
Three-phase
AC power supply
Forward rotation start
Reverse rotation start
Contact input common
Speed limit command 3
2
Frequency setting
potentiometer
1/2W1kΩ 1
Torque command (+)
( 10V) (-)
R/L1
S/L2
PC
T/L3 External
thermal CS(OH)
relay input *2 SD
STF
FR-A7AP
STR
PA1
10
U
V
W
E
2W1kΩ
G1
G2
A
B
PB1
C
PB2
D
Differential
PZ1
PZ2
F
G
Complimentary
PG
S
Terminating
resistor
ON
SD
R
PG
2
5
1
IM
Earth (Ground)
PA2
SD
OFF *6
30
U
V
W
FAN
SD
*5
*7
(+)
Thermal relay
protector
*3
Encoder
*4
12VDC
(-) power supply *8
VECTOR CONTROL
*1
*2
For the fan of the 7.5kW or less dedicated motor, the power supply is single phase. (200V/50Hz, 200 to 230V/
60Hz)
Assign OH (external thermal input) signal to the terminal CS. (Set "7" in
CS(OH)
Pr. 186 )
PC
Connect a 2W1kΩ resistor between the terminal PC and CS (OH). Install
the resistor pushing against the bottom part of the terminal block so as to
avoid a contact with other cables.
Control circuit
terminal block
Resistor (2W1kΩ)
*3
*4
*5
*6
*7
*8
The pin number differs according to the encoder used.
Connect the encoder so that there is no looseness between the motor and motor shaft. Speed ratio should be 1:1.
Earth (Ground) the shielded cable of the encoder cable to the enclosure with a P clip, etc. (Refer to page 9.)
For the complementary, set the terminating resistor selection switch to off position. (Refer to page 7.)
For terminal compatibility of the FR-JCBL, FR-V5CBL and FR-A7AP, refer to page 14.
A separate power supply of 5V/12V/15V/24V is necessary according to the encoder power specification.
When performing orientation control together, an encoder and power supply can be shared.
31
5
VECTOR CONTROL
5.2
Terminals
Terminal
PA1
PA2
PB1
PB2
PZ1
PZ2
PG
SD
32
Terminal Name
Description
Encoder A-phase signal input
Encoder A-phase inverse signal input
Encoder B-phase signal input
Encoder B-phase inverse signal input
A-, B- and Z-phase signals are input from the encoder.
(For details of pulse signal, refer to page 15.)
Encoder Z-phase signal input
Encoder Z-phase inversion signal input
Power supply (positive side) input
Power supply ground
Input power for the encoder power supply.
Connect the external power supply (5V, 12V, 15V, 24V) and the
encoder power cable.
VECTOR CONTROL
5.3
Vector Control Extended Parameter List
Fitting the FR-A7AP adds the following parameters for vector control.
Refer to the inverter manual (applied) for details of parameter.
Parameter
Number
Name
Setting Range
359
369
374
376
419
420
421
Encoder rotation direction
Number of encoder pulses
Overspeed detection level
Encoder signal loss detection enable/disable selection
Position command right selection
Command pulse scaling factor numerator
Command pulse scaling factor denominator
0, 1
0 to 4096
0 to 400Hz
0, 1
0, 2
0 to 32767 *
0 to 32767 *
1
1
0.01Hz
1
1
1
1
1
1024
140Hz
0
0
1
1
422
Position loop gain
423
Position feed forward gain
Position command acceleration/deceleration time
constant
Position feed forward command filter
In-position width
Excessive level error
Command pulse selection
Clear signal selection
Pulse monitor selection
Digital position control sudden stop deceleration time
0 to 150sec-1
0 to 100%
1sec-1
1%
25sec-1
0
0 to 50s
0.001s
0s
0 to 5s
0 to 32767pulses *
0 to 400, 9999
0 to 5
0, 1
0 to 5, 9999
0 to 360.0s
0.001s
1
1
1
1
1
0.1s
0s
100
40
0
1
9999
0
424
425
426
427
428
429
430
464
Increments Initial Value
* When an operation panel (FR-DU07) is used, the maximum setting is 9999. When a parameter unit is used, up to the maximum value
within the setting range can be set.
33
5
VECTOR CONTROL
Parameter
Number
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
34
Name
First position feed amount lower 4 digits
First position feed amount upper 4 digits
Second position feed amount lower 4 digits
Second position feed amount upper 4 digits
Third position feed amount lower 4 digits
Third position feed amount upper 4 digits
Fourth position feed amount lower 4 digits
Fourth position feed amount upper 4 digits
Fifth position feed amount lower 4 digits
Fifth position feed amount upper 4 digits
Sixth position feed amount lower 4 digits
Sixth position feed amount upper 4 digits
Seventh position feed amount lower 4 digits
Seventh position feed amount upper 4 digits
Eighth position feed amount lower 4 digits
Eighth position feed amount upper 4 digits
Ninth position feed amount lower 4 digits
Ninth position feed amount upper 4 digits
Tenth position feed amount lower 4 digits
Tenth position feed amount upper 4 digits
Eleventh position feed amount lower 4 digits
Eleventh position feed amount upper 4 digits
Twelfth position feed amount lower 4 digits
Setting Range
0 to 9999
0 to 9999
0 to 9999
0 to 9999
0 to 9999
0 to 9999
0 to 9999
0 to 9999
0 to 9999
0 to 9999
0 to 9999
0 to 9999
0 to 9999
0 to 9999
0 to 9999
0 to 9999
0 to 9999
0 to 9999
0 to 9999
0 to 9999
0 to 9999
0 to 9999
0 to 9999
Increments Initial Value
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
VECTOR CONTROL
Parameter
Number
488
489
490
491
492
493
494
802
823
833
840
841
842
843
844
845
846
847
848
853
873
Name
Twelfth position feed amount upper 4 digits
Thirteenth position feed amount lower 4 digits
Thirteenth position feed amount upper 4 digits
Fourteenth position feed amount lower 4 digits
Fourteenth position feed amount upper 4 digits
Fifteenth position feed amount lower 4 digits
Fifteenth position feed amount upper 4 digits
Pre-excitation selection
Speed detection filter 1
Speed detection filter 2
Torque bias selection
Torque bias 1
Torque bias 2
Torque bias 3
Torque bias filter
Torque bias operation time
Torque bias balance compensation
Fall-time torque bias terminal 1 bias
Fall-time torque bias terminal 1 gain
Speed deviation time
Speed limit
Setting Range
0 to 9999
0 to 9999
0 to 9999
0 to 9999
0 to 9999
0 to 9999
0 to 9999
0, 1
0 to 0.1s
0 to 0.1s, 9999
0 to 3, 9999
600 to 1400%, 9999
600 to 1400%, 9999
600 to 1400%, 9999
0 to 5s, 9999
0 to 5s, 9999
0 to 10V, 9999
0 to 400%, 9999
0 to 400%, 9999
0 to 100s
0 to 120Hz
Increments Initial Value
1
1
1
1
1
1
1
1
0.001s
0.001s
1
1%
1%
1%
0.001s
0.01s
0.1V
1%
1%
0.1s
0.01Hz
0
0
0
0
0
0
0
0
0.001s
9999
9999
9999
9999
9999
9999
9999
9999
9999
9999
1s
20Hz
35
5
VECTOR CONTROL
5.4
Specifications
Speed control range
Speed variation ratio
Speed control
Torque control
Function
*1
*2
36
1:1500 (both driving/regeneration *1)
±0.01% (100% means 3000r/min)
300rad/s Note that the internal response is 600rad/s (with model
Speed response
adaptive speed control)
Maximum speed
120Hz
Torque control range
1:50
Absolute torque accuracy ±10% *2
Repeated torque accuracy ±5% *2
⋅ Setting of speed feedback range
⋅ Setting of feedback gain
⋅ Setting of encoder rotation direction
Regeneration unit (option) is necessary for regeneration
With online auto tuning (adaptive magnetic flux observer), dedicated motor, rated load
REVISIONS
*The manual number is given on the bottom left of the back cover.
Print Date
Sep., 2005
*Manual Number
IB(NA)-0600238ENG-A First edition
Revision