FR-A7AP INSTRUCTION MANUAL

FR-A7AP INSTRUCTION MANUAL
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
Incorrect
handling
may
cause
hazardous conditions, resulting in
death or severe injury.
Incorrect
handling
may
cause
hazardous conditions, resulting in
medium or slight injury, or may cause
only material damage.
CAUTION level may even lead to a serious
The
consequence according to conditions. Both instruction levels
must be followed because these are important to personal
safety.
SAFETY INSTRUCTIONS
1. Electric Shock Prevention
WARNING
• While the inverter power is ON, do not open the front cover or
the wiring cover. Do not run the inverter with the front cover
or the wiring cover removed. Otherwise you may access the
exposed high voltage terminals or the charging part of the
circuitry and get an electric shock.
• Even if power is OFF, do not remove the front cover except for
wiring or periodic inspection. You may accidentally touch the
charged inverter circuits and get an electric shock.
• Before wiring or inspection, power must be switched OFF. To
confirm that, LED indication of the operation panel must be
checked. (It must be OFF.) Any person who is involved in
wiring or inspection shall 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 wiring or inspection of this
equipment shall be fully competent to do the work.
• The plug-in option must be installed before wiring. Otherwise,
you may get an electric shock or be injured.
• Do not touch the plug-in option or handle the cables 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
• The voltage applied to each terminal must be the ones
specified in the Instruction Manual. Otherwise burst, damage,
etc. may occur.
• The cables must be connected to the correct terminals.
Otherwise burst, damage, etc. may occur.
• Polarity must be correct. Otherwise burst, damage, etc. may
occur.
• While power is ON or for some time after power-OFF, do not
touch the inverter as they will be extremely hot. Doing so can
cause burns.
3. Additional Instructions
Also the following points must be noted to prevent an accidental
failure, injury, electric shock, etc.
1) Transportation and mounting
• 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.
CAUTION
• When parameter clear or all parameter clear is performed, the
required parameters must be set again before starting operations
because all parameters return to the initial value.
• For prevention of damage due to static electricity, nearby
metal must be touched before touching this product to
eliminate static electricity from your body.
4) Maintenance, inspection and parts replacement
CAUTION
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.
• The mounting orientation must be correct.
• Foreign conductive objects must be prevented from entering
the inverter. That includes screws and metal fragments or
other flammable substances such as oil.
2) Trial run
CAUTION
• Before starting operation, each parameter must be confirmed
and adjusted. A failure to do so may cause some machines to
make unexpected motions.
A-2
• Do not test the equipment with a megger (measure insulation
resistance).
5) Disposal
CAUTION
• This inverter plug-in option must be treated as industrial
waste.
6) General instruction
Many of the diagrams and drawings in this Instruction Manual
show the inverter without a cover or partially open for
explanation. Never operate the inverter in this manner. The
cover must be reinstalled and the instructions in the inverter
manual must be followed when operating the inverter.
MEMO
A-3
⎯ CONTENTS ⎯
1
PRE-OPERATION INSTRUCTIONS
1.1
Unpacking and Product Confirmation .............................................................................................1
1.1.1
1.1.2
1.2
2
2.1
2.2
2.3
2.4
2.5
2.6
2.7
3
3.1
3.2
3.3
3.4
I
1
Product confirmation....................................................................................................................................... 1
SERIAL number check ...................................................................................................................................2
Parts ....................................................................................................................................................3
INSTALLATION
4
Pre-installation instructions .............................................................................................................4
Installation procedure .......................................................................................................................5
Encoder Specifications/Terminating Resistor Switch....................................................................7
Wiring..................................................................................................................................................9
Encoder Cable..................................................................................................................................13
Encoder.............................................................................................................................................15
Parameter for Encoder ....................................................................................................................17
ORIENTATION CONTROL
19
Wiring Example ................................................................................................................................19
Terminals ..........................................................................................................................................21
Parameter List for Orientation Control ..........................................................................................24
Specifications...................................................................................................................................25
4
4.1
4.2
4.3
4.4
5
5.1
5.2
5.3
5.4
ENCODER FEEDBACK CONTROL
27
Wiring Examples ..............................................................................................................................27
Terminals ..........................................................................................................................................29
Encoder Feedback Control Parameter List ...................................................................................30
Specifications...................................................................................................................................30
VECTOR CONTROL
31
Wiring Examples ..............................................................................................................................31
Terminals ..........................................................................................................................................35
Vector Control Extended Parameter List.......................................................................................36
Specifications...................................................................................................................................39
II
1
1.1
PRE-OPERATION INSTRUCTIONS
Unpacking and Product Confirmation
Take the plug-in option out of the package, check the product name, and confirm that the product is as you
ordered and intact.
This product is a plug-in option dedicated for the FR-A700/A701 series.
1.1.1
Product 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
PRE-OPERATION INSTRUCTIONS
1.1.2
SERIAL number check
When you are using FR-A7AP with an FR-A700 series inverter, check the SERIAL number on the FRA700. The FR-A700 series inverters having the following SERIAL or later are compatible with FR-A7AP.
The SERIAL number is specified 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{{{{{{{
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{{{{{{{
1
Rating plate example
†
Symbol
5
{
{{{{{{
Year Month Control number
SERIAL (Serial No.)
The SERIAL consists of 1 version symbol, 2 numeric characters or
1 numeric character and 1 alphabet letter indicating year and
month, and 6 numeric characters indicating control number.
The last digit of the production year is indicated as the Year, and
the Month is indicated by 1 to 9, X (October), Y (November), or Z
(December.)
2
PRE-OPERATION INSTRUCTIONS
Parts
SW3
O
N
SW2
LED2
LED3
1
2
3
4
O
N
FR-A7AP
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
CON2 connector
Not used.
Encoder specification selection switch (SW1)
Used to change the specification of encoder
(differential line driver/complementary).
(Refer to page 7.)
3
Rear view
LED1
SW1
Mounting
hole
Mounting
hole
Front view
Terminal
block
1
2
1.2
PA2
PB2
PZ2
SD
SD
PO
PA1
PB1
PZ1
PG
PG
PIN
PIN and PO are
not used.
Mounting
hole
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.
Static electricity in your body must be discharged before you touch the product. Otherwise the
product may be damaged.
2
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 0.56Nxm to 0.75Nxm).
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)
4) Mounting
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.
(Tightening torque 0.33Nxm to
0.40Nxm)
If the screw holes do not line up, the
connector may not have been plugged
securely. Check for loose plugging.
screws
REMARKS
• Remove a plug-in option after removing two screws on both left and right sides.
(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
INSTALLATION
CAUTION
•
•
Only one type of option per inverter may be used. When two or more options are mounted, priority is in the
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 fault) are displayed. The errors
Position
Display
shown differ according to the mounting positions (connectors 1, 2, 3).
Connector 1
Connector 2
Connector 3
•
•
•
When mounting/removing an option, hold the sides of the option. Do not press
on the parts on the option circuit board. Stress applied to the parts by pressing, etc. may cause a failure.
Take caution not to drop a hex-head screw for option mounting or mounting screw during mounting and
removal.
Pull the option straight out when removing. Pressure applied to the connector and to the option circuit
board may break the option.
2
6
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
Encoder Specifications/Terminating Resistor Switch
1
2
2.3
SW1
1
2
3
4
O
N
SW1
Internal terminating resistor-OFF
O
N
7
SW2
1
2
REMARKS
· Set all switches 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 (CNC (computerized numerical
controller), etc) or a terminating resistor is connected to other unit.
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 complementary.
ON : with internal terminating resistor (initial setting status)
OFF : without internal terminating resistor
SW3
Complementary
INSTALLATION
(3) Motor used and switch setting
Encoder Specification
Terminating Resistor
Power
Selection Switch (SW1) Selection Switch (SW2) Specifications *2
Motor
Mitsubishi standard motor
with encoder
Mitsubishi high-efficiency
motor with encoder
Mitsubishi constant-torque
motor with encoder
SF-JR
Differential
ON
5V
SF-HR
Differential
ON
5V
*1
*1
*1
Differential
Differential
ON
ON
5V
5V
*1
*1
*1
Others
SF-JRCA
SF-HRCA
Others
Vector control dedicated
SF-V5RU
Complementary
OFF
12V
motor
Other manufacturer's
*1
*1
*1
–
motor with encoder
*1 Set according to the motor encoder used.
*2 Choose a power supply for encoder according to the encoder used (5V/12V/15V/24V).When the encoder output
is the differential line driver type, only 5V can be input.
2
CAUTION
Switch "SW3" is for manufacturer setting. Do not change the setting.
8
INSTALLATION
2.4
(1)
Wiring
Use twisted pair shield cables (0.2mm2 or larger) to connect the FRA7AP 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).
Example of parallel connection
with two cables
(with complementary encoder output)
FR-A700
(FR-A7AP)
Wiring Length
Parallel Connection
(Cable gauge 0.2mm2)
Larger-Size Cable
Within 10m
At least 2 cables
0.4mm2 or larger
Within 20m
At least 4 cables
0.75mm2 or larger
Within 100m *
At least 6 cables
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
Encoder
PA1
PA2
PB1
PB2
PZ1
PZ2
A
B
C
D
F
G
PG
SD
S
R
2mm2
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 close as the
inverter) with a P clip or U clip made of metal.
Earthing (grounding) example using a P clip
Encoder cable
Shield
P clip
REMARKS
· For details of the optional encoder dedicated cable (FR-JCBL/FR-V7CBL), refer to page 13.
· FR-V7CBL is provided with a P clip for earthing (grounding) shielded cable.
9
INSTALLATION
(2) Connection with the CNC (computerized numerical controller)
When one position detector is shared between FR-A7AP and
NC, its output signal should be connected as shown on the right.
In this case, the wiring length between FR-A7AP and NC should
be as short as possible, within 5m.
Inverter
(FR-A7AP)
Position detector
Encoder
Maximum 5m
(two parallel cables)
(3) Wire the shielded twisted pair cable after stripping its sheath to make
its cables loose.
Also, protect the shielded cable of the shielded twisted pair cable to
ensure that it will not make contact with the conductive area.
CNC
Shield
(perform protective treatment)
Sheath
Twisted pair
shielded cable
Strip off the sheath for the below length. If the length of the sheath peeled is too long, a short circuit
may occur with neighboring wires. If the length is too short, wires might come off.
Wire the stripped cable after twisting it to prevent it from becoming loose. In addition, do not solder it
Cable stripping length
2
5mm (0.2 inches)
Use a blade terminal as necessary.
10
INSTALLATION
REMARKS
Information on blade terminals
Introduced products (as of Feb. 2012)
zPhoenix Contact Co.,Ltd.
Terminal Screw
Size
Wire Size
(mm2)
with insulation sleeve
Blade Terminal Model
without insulation sleeve
Blade terminal
crimping tool
M2
0.3, 0.5
AI 0,5-6WH
A 0,5-6
CRIMPFOX 6
When using the blade terminal (without insulation
sleeve), use care so that the twisted wires do not come
(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
Screwdriver
0.3mm2 to 0.75mm2
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
INSTALLATION
(5) For wiring of the inverter which has one front cover, remove a hook of the front cover and use a space
become available.
For wiring of the inverter which has front covers 1 and 2, use the space on the left side of the control
circuit terminal block.
Cut off
with a
nipper,
etc.
Front cover
Cut off a hook on the inverter
front cover side surface.
(Cut off so that no portion is left.)
Inverter which has one front cover
Front cover 1
Front cover 2
Control circuit
terminal block
Inverter which has front covers 1 and 2
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
2
INSTALLATION
2.5
Encoder Cable
SF-JR/HR/JRCA/HRCA Motor with Encoder
F-DPEVSB 12P 0.2mm2
SF-V5RU, SF-THY
Inverter side
D/MS3057-12A
Encoder side
D/MS3057-12A
connector
Approx. 140mm
Earth cable
60mm
60mm
L
D/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
T
K
E
S
R
J
H G F
M
L
D/MS3106B20-29S
(As viewed from wiring side)
2mm2
D/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
F-DPEVSB 12P 0.2mm2
11mm
*
Earth cable
Type
Length L (m)
FR-V7CBL5
FR-V7CBL15
FR-V7CBL30
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
L
D/MS3106B20-29S
As viewed from wiring side
2
2mm
* As the terminal block of the FR-A7AP is an insertion type, earth (ground) cables need to be modified. (Refer to page 11.)
13
5
15
30
INSTALLATION
Connection terminal compatibility table
Motor
Encoder cable
FR-A7AP terminal
SF-V5RU, SF-THY
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
2
14
INSTALLATION
2.6
(1)
Encoder
Position detection (pulse encoder)
Output pulse specifications
Differential line driver
Complementary
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.
15
INSTALLATION
(2)
Power supply
Choose a power supply for encoder according to the encoder used (5V/12V/15V/24V). When the encoder
output is the differential line driver type, only 5V can be input. Make sure the voltage of the external power
supply the same as the encoder output voltage. (Check the encoder specification.)
When an encoder is used under orientation control, encoder feedback control, and vector control, the power
supply is shared between the inverter and encoder.
⋅ Specifications of the encoders equipped in the motors with encoders and the vector-control dedicated
motors
Item
Resolution
Power supply
voltage
Current
consumption
Output signal form
Output circuit
Output voltage
Encoder for SF-JR/HR/JRCA/HRCA
Encoder for SF-V5RU, SF-THY
1024 pulses/rev
2048 pulses/rev
5VDC±10%
12VDC±10%
150mA
150mA
A, B phases (90° phase shift)
Z phase: 1 pulse/rev
Differential line driver 74LS113 equivalent
H level: 2.4V or more
L level: 0.5V or less
A, B phases (90° phase shift)
Z phase: 1 pulse/rev
Complementary
H level: "Power supply for encoder-3V" or more
L level: 3V or less
CAUTION
When the input power supply voltage to the encoder and its output voltage differ, the signal loss detection
(E.ECT) may occur.
16
2
INSTALLATION
2.7
Parameter for Encoder
Parameter
Number
Name
Initial
Value
Setting
Range
Description
0
359
Encoder rotation
direction
A
Encoder
1
CCW
1
A
Encoder
369
17
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.
INSTALLATION
Parameter settings for the motor under vector control
Pr. 359
Pr. 369
Encoder rotation direction Number of encoder pulses
Motor Name
Mitsubishi standard motor
Mitsubishi constant-torque motor
Mitsubishi 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 4P
SF-HRCA
Others
SF-V5RU (1500r/min
series)
SF-THY
1
1024
1
1024
1
1024
*
*
1
1
1024
1024
*
*
1
2048
1
2048
—
*
*
—
*
*
Values in the bolded frame are initial values.
* Set this parameter according to the motor (encoder) used.
2
18
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
MC
Inverter
R/L1
S/L2
T/L3
STF
STR
X22*3
U
V
W
FR-A7AP
PA1
SF-JR motor with encoder
For complementary type (SF-V5RU)
U
MCCB
MC
OCR
SF-V5RU
*1
V
Three-phase
IM
AC power
W
FAN
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
Complementary SD
X15 *10
PG
X14
Terminating
SD
resistor ON
X1
*8
X0
*7
OFF
DY
SD
ORA*4
ORM
*4
SE
SD
2W1kΩ
G1
SD
G2
Encoder
FR-A7AP PA1
A
PA2
B
H
PB1
C
K
PB2
D
PZ1
PZ2
F
Complementary
PG
S
Terminating
resistor ON
SD
R
PG
P
*5
Differential
*6
(+)
(-) 5VDC power
supply*9
SD
OFF
19
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-V7CBL 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 the
encoder output is the differential line driver type, only 5V can be input.
Make the voltage of the external power supply the same as the encoder output voltage, and connect the external
power supply between PG and SD.
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 FRCS(OH)
A7AX is necessary. Refer to the inverter manual for details of external
PC
stop position command.
*11 Assign OH (external thermal input) signal to the terminal CS. (Set "7" in
Control circuit
terminal block
Pr. 186 )
Connect a 2W1kΩ resistor between the terminal PC and CS.
Install the resistor pushing against the bottom part of the terminal block so
as to avoid a contact with other cables.
Resistor (2W1kΩ)
20
3
ORIENTATION CONTROL
3.2
Terminals
(1) Option FR-A7AP terminal
Terminal
Terminal Name
Symbol
Encoder A-phase signal input terminal
PA1
PA2
Encoder A-phase inverse signal input
terminal
PB1
Encoder B-phase signal input terminal
PB2
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.)
terminal
PZ1
Encoder Z-phase signal input terminal
PZ2
PG
SD
21
Description
Encoder Z-phase inverse signal input
terminal
Power supply (positive side) input
terminal
Power supply ground terminal
Input power for the encoder power supply.
Connect the external power supply (5V, 12V, 15V, 24V) and the
encoder power cable. When the encoder output is the differential
line driver type, only 5V can be input. Make sure the voltage of
the external power supply the same as the encoder output
voltage. (Check the encoder specification.)
ORIENTATION CONTROL
(2) Option FR-A7AX terminal
Terminal
Symbol
X0 to X15
DY
SD
(inverter)
PC
(inverter)
Terminal Name
Digital signal input
terminal
Data read timing
input signal terminal
Common terminal
(sink) terminal
External transistor
common terminal
(source)
Description
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.
3
22
ORIENTATION CONTROL
(3) Inverter terminal
Output
Input
Terminal
Terminal (Signal) Name
(Signal)
Application Explanation
X22
Orientation command
input terminal
Used to enter an orientation signal for orientation.
For the terminal used for X22 signal input, set "22" in any of Pr. 178 to Pr. 189
to assign the function. *
SD
Contact input common
Common terminal for the orientation signal.
ORA
In-position signal output
signal
ORM
Orientation fault signal
output signal
SE
Open collector output
common
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.
* Refer to the inverter manual for the details of Pr.178 to Pr.189 (input terminal function selection) and Pr.190 to Pr.196
(output terminal function selection).
23
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
Orientation 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 100
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 limit
0 to 60s, 9999
1s
9999
366
Recheck 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.
24
3
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 1024 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)
25
MEMO
26
4
ENCODER FEEDBACK CONTROL
Mount FR-A7AP to an FR-A700 series inverter to perform encoder feedback control under V/F control or
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
MC
Inverter
R/L1
S/L2
T/L3
U
V
W
STF
STR
FR-A7AP
PA1
PA2
SD
10
Differential
2
5
Complementary
Terminating
resistor ON
*4
OFF
27
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
*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 the complementary, set the switch to off position.
For terminal compatibility of the FR-JCBL, FR-V7CBL 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 the
encoder output is the differential line driver type, only 5V can be input.
Make the voltage of the external power supply the same as the encoder output voltage, and connect the external
power supply between PG and SD.
To perform orientation control together, an encoder and power supply can be shared.
4
28
ENCODER FEEDBACK CONTROL
4.2
Terminals
Terminal
Symbol
PA1
PA2
PB1
PB2
PG
SD
29
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
Description
A-, B-phase signals are input from the encoder.
(For details of pulse signal, refer to page 15.)
Input power for the encoder power supply.
Connect the external power supply (5V, 12V, 15V, 24V) and the encoder
power cable. When the encoder output is the differential line driver type,
only 5V can be input. Make sure the voltage of the external power supply
the same as the encoder output voltage. (Check the encoder specification.)
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
4.4
Name
Encoder rotation direction
Speed feedback range
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
Specifications
Speed variation ratio
±0.1% (100% means 3600r/min)
Function
⋅ Setting of speed feedback range
⋅ Setting of feedback gain
⋅ Setting of encoder rotation direction
Maximum speed
120Hz (102400 pulse/s or less encoder pulses)
4
30
5
VECTOR CONTROL
When 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)
MC
Inverter
R/L1
S/L2
T/L3
U
V
W
STF
STR
FR-A7AP
PA1
PA2
SD
10
N
PZ1
PZ2
B
PG
H
SD
K
Complementary
1
P
Encoder
*2
PG
SD
OFF
*4
31
A
PB2
Differential
Terminating
resistor ON
R
PB1
2
5
SF-JR motor with encoder
U
V
IM
W
E
Earth
(Ground)
C *1
*6
*3
(+)
(-) 5VDC power supply *5
VECTOR CONTROL
*1
*2
*3
*4
*5
*6
The pin number differs according to the encoder used.
Speed and torque controls are available with or without the Z-phase being connected.
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.
A separate power supply of 5V/12V/15V/24V is necessary according to the encoder power specification. When
the encoder output is the differential line driver type, only 5V can be input.
Make the voltage of the external power supply the same as the encoder output voltage, and connect the external
power supply between PG and SD.
To perform orientation control together, an encoder and power supply can be shared.
For terminal compatibility of the FR-JCBL, FR-V7CBL and FR-A7AP, refer to page 14.
32
5
VECTOR CONTROL
(2) Vector control dedicated motor (SF-V5RU), 12V complementary (torque control)
MC
MCCB
OCR
A
B
C
*7
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 *8 SD
STF
FR-A7AP
STR
PA1
10
2W1kΩ
G1
G2
A
PB1
C
PB2
D
PZ1
PZ2
F
G
Complementary
PG
S
Terminating
resistor
ON
SD
R
PG
2
5
1
IM
Earth (Ground)
B
Differential
FAN
U
V
W
E
PA2
SD
OFF *4
33
U
V
W
SF-V5RU
SD
*3
*6
(+)
Thermal relay
protector
*1
Encoder
*2
12VDC
(-) power supply *5
VECTOR CONTROL
*1
*2
*3
*4
*5
*6
*7
*8
The pin number differs according to the encoder used.
Speed and torque controls are available with or without the Z-phase being connected.
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.)
A separate power supply of 5V/12V/15V/24V is necessary according to the encoder power specification. When
the encoder output is the differential line driver type, only 5V can be input.
Make the voltage of the external power supply the same as the encoder output voltage, and connect the external
power supply between PG and SD.
When performing orientation control together, an encoder and power supply can be shared.
For terminal compatibility of the FR-JCBL, FR-V7CBL and FR-A7AP, refer to page 14.
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)
34
5
VECTOR CONTROL
5.2
Terminals
Terminal
Terminal Name
Symbol
Encoder A-phase signal input terminal
PA1
PA2
Encoder A-phase inverse signal input
terminal
PB1
Encoder B-phase signal input terminal
PB2
Encoder B-phase inverse signal input
terminal
PZ1
Encoder Z-phase signal input terminal
PZ2
PG
SD
35
Description
A-, B- and Z-phase signals are input from the encoder.
(For details of pulse signal, refer to page 15.)
Encoder Z-phase inversion signal input
terminal
Encoder power supply (positive side)
Input power for the encoder power supply.
input terminal
Connect the external power supply (5V, 12V, 15V, 24V) and the
encoder power cable. When the encoder output is the
differential line driver type, only 5V can be input. Make sure the
Encoder power supply ground terminal
voltage of the external power supply the same as the encoder
output voltage. (Check the encoder specification.
VECTOR CONTROL
5.3
Vector Control Extended Parameter List
Mounting 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 source 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 selectionClear 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 400K, 9999
0 to 5
0, 1
0 to 5, 9999
0 to 360.0s
0.001s
1
1K
1
1
1
0.1s
0s
100
40K
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.
36
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
37
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
38
5
VECTOR CONTROL
5.4
Specifications
Speed control range
Speed variation ratio
Speed control
Speed response
Maximum speed
Torque control range
Torque control
Function
*1
*2
39
1:1500 (both driving/regeneration *1)
±0.01% (100% means 3000r/min)
300rad/s Note that the internal response is 600rad/s (with model
adaptive speed control)
120Hz (102400 pulse/s or less encoder pulses)
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
IB(NA)-0600238ENG-C
REVISIONS
*The manual number is given on the bottom left of the back cover.
Print Date
*Manual Number
Revision
Sep. 2005
IB(NA)-0600238ENG-A First edition
Aug. 2011
⋅ Radio Waves Act (South Korea)
⋅ Screw tightening torque of the built-in option
IB(NA)-0600238ENG-B ⋅ Encoder feedback control specification
Addition
Modification
⋅ Permissible speed under orientation control
⋅ Maximum speed under vector control
Addition
Sep. 2012
IB(NA)-0600238ENG-C
⋅ Note on the differential line driver type encoder
Deletion
⋅ Radio Waves Act (South Korea)
40
INVERTER
HEAD OFFICE: TOKYO BUILDING 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN
IB(NA)-0600238ENG-C (1209) MEE
Printed in Japan
Specifications subject to change without notice.
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