Mitsubishi Electric FR-A800-AWH LOGISTICS/TRANSPORT Owner's Manual

HEAD OFFICE: TOKYO BUILDING 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN

IB(NA)-0600893ENG-B (2010) MEE Printed in Japan Specifications subject to change without notice.

B

INVERTER

LOGISTICS/TRANSPORT FUNCTION MANUAL

FR-A820-00046(0.4K)-04750(90K)-AWH

FR-A840-00023(0.4K)-02600(90K)-AWH

Logistics/Transport Function

The FR-A800-AWH inverter has dedicated functions for logistics/transport applications, in addition to the functions of the standard FR-A800 inverter.

This Logistics/Transport Function Manual explains the functions dedicated to the FR-A800-AWH inverter. For the functions not found in this Function Manual, refer to the FR-A800 Instruction Manual and the Ethernet Function

Manual.

In addition to this Logistics/Transport Function Manual, please read the FR-A800 Instruction Manual and the

Ethernet Function Manual carefully. Do not use this product until you have a full knowledge of this product mechanism, safety information and instructions.

Please forward this Function Manual to the end user.

800-AWH

Chapter 1 INTRODUCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

1.1

FR-A800-AWH overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

1.2

System configuration example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

1.3

Related manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Chapter 2 Parameter List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

2.1

Parameter list (by parameter number). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

2.2

Parameter list (by function group) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Chapter 3 A800-AWH mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

3.1

Switching operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

3.2

Selecting A800-AWH mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

3.2.1

3.2.2

3.2.3

A800-AWH mode selection (Pr.60) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Reference travel speed (Pr.100) and Acceleration/deceleration reference frequency (Pr.20) . . . . . . . . . . . . . . . . . . . . . . 42

A800-AWH mode selection (X113) signal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

3.3

Full-closed control / fork control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

3.3.1

3.3.2

3.3.3

3.3.4

Second applied motor (Pr.450) and Fork selecting (X108) signal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Selecting fork control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Acceleration/deceleration pattern selection for selecting fork control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

Restrictions for selecting fork control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

3.4

Position feed / speed feed switching (X109) signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

Chapter 4 Full-closed control . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

4.2.1

4.2.2

4.2.3

4.2.4

4.2.5

4.2.6

4.2.7

4.2.8

4.1

Full-closed control related parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

4.1.1

4.1.2

4.1.3

4.1.4

Acceleration/deceleration pattern selection under full-closed control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

Distance measurement direction setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Brake sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Shortest-time torque startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

4.2

Position feed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

Creep function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

Crane position loop compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

Dual feedback control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

Crane position detection filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

Crane position data compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

Parameters to detect the crane in-position state. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

Anti-sway control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

Model adaptive speed control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

1

2

4.3

Communication with distance meter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

4.3.1

4.3.2

4.3.3

4.3.4

4.3.5

Distance meter selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

Connection of distance meter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

Communication parameters for distance meters (RS-485 model inverter) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

Communication parameters for distance meter (Ethernet model inverter) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

Troubleshooting when using distance meter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

4.4

Speed feed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

4.4.1

Limit dog operation selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

4.5

Full-closed control test operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .80

4.6

Restrictions during full-closed control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

4.6.1

4.6.2

Disabled functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

Restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

4.7

Troubleshooting in full-closed control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

Chapter 5 System failure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

5.1

List of system failure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .84

5.2

Parameters related to system failure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .85

5.2.1

5.2.2

Resetting system failure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

System failure code monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

5.3

Details of system failure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

5.3.1

5.3.2

5.3.3

5.3.4

5.3.5

5.3.6

Crane overspeed detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

Speed range excess fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

Speed deviation detection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

Position deviation detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

Distance meter fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

Stop position command out of motion range. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

5.3.7

5.3.8

Limit dog detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

Brake sequence fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

5.3.9

Emergency stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

5.3.10

Distance meter alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

Chapter 6 Communication with host controller . . . . . . . . . . . . 96

6.1

Communication parameter settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .96

6.1.1

6.1.2

6.1.3

CC-Link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

CC-Link IE Field Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

CC-Link IE Field Network Basic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

6.2

Remote I/O and remote register devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .98

6.2.1

6.2.2

CC-Link, CC-Link IE Field Network Basic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98

CC-Link IE Field Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

6.3

Communication setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

6.3.1

6.3.2

Position feed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

Speed feed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

Chapter 7 Parameters for logistics/transport functions . . . . . 109

7.1

Monitoring of logistics/transport dedicated functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

7.1.1

7.1.2

7.1.3

7.1.4

Monitoring on the operation panel or via communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

Monitoring using analog output (terminals FM/CA and AM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110

Monitoring using the PLC function / FR Configurator2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110

Schematic diagram of monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

7.2

I/O signals for logistics/transport functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114

7.2.1

7.2.2

Input signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114

Output signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114

7.3

Operation command source and speed command source (Pr.338, Pr.339) . . . . . . . . . . . . . 116

Chapter 8 APPENDIX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

8.1

Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

8.1.1

8.1.2

Parameter setting procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

Adjustment parameter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121

8.2

Differences in the functions from the standard inverter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123

8.3

Compatible options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126

8.4

Common specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127

8.5

Parameters (functions) and instruction codes under different control methods. . . . . . . . . . . 129

8.6

How to check specification changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146

8.6.1

Details of specification changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146

3

1

INTRODUCTION

This chapter explains the outline of this product.

1.1

FR-A800-AWH overview



FR-A800-AWH dedicated functions

The FR-A800-AWH inverter has the following dedicated functions for logistics/transport applications, in addition to the functions of the standard FR-A800 inverter.

• Full-closed control by directly inputting distance meter data

• Anti-sway control dedicated to logistics/transport application

• System failure function

For information on the other functional differences, refer to

page 123 .

Use either communication of CC-Link, CC-Link IE Field Network, and CC-Link IE Field Network Basic to specify the position/ speed and input the start command by the host controller.



Inverter model

Unpack the product and check the rating plate and the capacity plate of the inverter to ensure that the model agrees with the order and the product is intact.

Symbol Voltage class

2 200 V class

4 400 V class

Symbol

00023 to 04750

0.4K to 90K

Description

Inverter SLD rated current (A)

Inverter ND rated capacity (kW)

Symbol Type

Communication type

1

2

E1

E2

FM

CA

FM

CA

RS-485

Ethernet

F R - A 8 2 0 - 00046 - 1 - AWH

Symbol

Without

60

06 ∗1

Circuit board coating

(IEC 60721-3-3 3C2/3S2 compatible)

Without

Plated conductor

Without

With

With

Without

With

Symbol

AWH

Application

Logistics/transport model

*1 Applicable for the FR-A820-00340(5.5K) or higher, and the FR-A840-00170(5.5K) or higher.



Abbreviations

Abbreviation / generic name

DU

Operation panel

Parameter unit

PU

Inverter

Operation panel (FR-DU08)

Description

Operation panel (FR-DU08) and LCD operation panel (FR-LU08)

Parameter unit (FR-PU07)

Operation panel and parameter unit

Mitsubishi Electric FR-A800-AWH logistics/transport dedicated inverter

Vector control compatible option FR-A8AP/FR-A8AL/FR-A8APR/FR-A8APS (plug-in option), FR-A8TP (control terminal option)

Pr.

Parameter number (Number assigned to function)



Trademarks

• Ethernet is a registered trademark of Fuji Xerox Corporation in Japan.

• Other company and product names herein are the trademarks and registered trademarks of their respective owners.

4 1. INTRODUCTION

1.1 FR-A800-AWH overview

1.2

System configuration example



Configuration example of a stacker crane

• Communication with the host controller: CC-Link, communication with the distance meter: RS-422

Reflector

(Distance: 0 mm)

Host controller

Target stop position

CC-Link communication

FR-A800-AWH for the lift axis

FR-A8NC

X111 signal

X113 signal

FR-A8AP

X107/X112 signal

∗1

RS-485 terminals

BOF signal

For lift control

PLG

Mechanical brake

B

IM

Distance meter

(RS-422 compatible)

FR-A800-AWH for the travel axis (fork axis)

FR-A8NC

X111 signal

X113 signal

FR-A8AP

X107/X112 signal ∗1

RS-485 terminals

BOF signal

Mechanical brake

B

PLG

IM

For travel control

IM

For fork control

Distance meter

(RS-422 compatible)

Reflector

(Distance: 0 mm)

Limit dog Limit dog

Limit dog (X107) signal ON

Limit dog 2 (X112) signal ON

*1 To use the inverter safely, it is recommended to use the Limit dog (X107) signal and the Limit dog 2 (X112) signal.

NOTE

• The inverter uses data from the distance meter and other connected devices to perform control. Check the following points periodically to ensure safe operation (externally without using the inverter).

Distance meters accurately recognize positions.

Limit dogs are correctly recognized.

Limit dogs and distance meters are connected correctly.

Mechanical brakes operate correctly.

3

4

1

2

5

6

7

8

9

10

1. INTRODUCTION

1.2 System configuration example

5

• Communication with the host controller: CC-Link IE Field Network Basic, communication with the distance meter: Ethernet

Reflector

(Distance: 0 mm)

Host controller

Hub


FR-A800-E-AWH for the lift axis

CC-Link IE Field

Network Basic

X111 signal

X113 signal

FR-A8AP

X107/X112 signal

∗1

BOF signal

PLG

For lift control

IM

Mechanical brake

B

Distance meter

(Ethernet compatible)

FR-A800-E-AWH for the travel axis (fork axis)

CC-Link IE Field

Network Basic

X111 signal

X113 signal

FR-A8AP

∗1

BOF signal

Mechanical brake

B

PLG

IM

For travel control

IM

For fork control

Distance meter

(Ethernet compatible)

Reflector

(Distance: 0 mm)

Limit dog Limit dog

Limit dog (X107) signal

Limit dog 2 (X112) signal

ON

ON

Communication (CC-Link IE Field Network Basic) between the host controller and each inverter

Communication between the inverter and the distance meter

*1 To use the inverter safely, it is recommended to use the Limit dog (X107) signal and the Limit dog 2 (X112) signal.

NOTE

• The inverter uses data from the distance meter and other connected devices to perform control. Check the following points periodically to ensure safe operation (externally without using the inverter).

Distance meters accurately recognize positions.

Limit dogs are correctly recognized.

Limit dogs and distance meters are connected correctly.

Mechanical brakes operate correctly.

6 1. INTRODUCTION




Wiring example of a lift axis inverter

FR-A800-AWH for the lift axis

Host controller

Limit dog

Output stop

X107/X112

MRS

CC-Link communication FR-A8NC option

U

V

W

FR-A8AP option

PLG

∗1

BOF

Brake opening request

IM For lift control

B

Mechanical brake

Crane out-of-position (Y235)

Crane in-position (Y236)

Pre-excitation (LX)

Reset (RES)

Position feed / speed feed switching (X109)

Crane emergency stop (X111)

A800-AWH mode selection (X113)

Remote I/O

RXD+

RXD-

TXD+

TXD-

Lift axis distance meter

*1 A separate power supply of 5 V /12 V /15 V /24 V is necessary according to the encoder power specification.



Wiring example of a travel/fork axis inverter

MC

IM

FR-A800-AWH for the travel/fork axis

MC

Limit dog

Output stop

X107/X112

U

V

W

IM

MRS

FR-A8AP option

PLG

∗1

Host controller

For fork control

For drive control

B

Mechanical brake

CC-Link communication FR-A8NC option

BOF


Pre-excitation (LX)

Reset (RES)

Fork selecting (X108)




Remote I/O

RXD+

RXD-

TXD+

TXD-



Lift axis distance meter

*1 A separate power supply of 5 V /12 V /15 V /24 V is necessary according to the encoder power specification.

3

4

1

2

5

6

7

8

9

10

1. INTRODUCTION


7

1.3

Related manuals

Manuals related to this product are shown in the following table.

Name

FR-A800-AWH Instruction Manual (Startup)

FR-A800 Instruction Manual (Detailed)

Ethernet Function Manual

FR-A8NC Instruction Manual

FR-A8NCE Instruction Manual

FR-A8APS-02 Instruction Manual

Manual number

IB-0600891

IB-0600503ENG

IB-0600628ENG

IB-0600501ENG

IB-0600509ENG

IB-0600898ENG

8 1. INTRODUCTION

1.3 Related manuals

2

Parameter List

The following marks are used to indicate the controls. (Parameters without any mark are valid for all the controls.)

Mark Control method

V/F control

Advanced magnetic flux vector control

Real sensorless vector control

Vector control

2.1

Parameter list (by parameter number)

2

3

4

2

3

4

For simple variable-speed operation of the inverter, the initial values of the parameters may be used as they are. Set the necessary parameters to meet the load and operational specifications. Parameter's setting, change and check can be made on the operation panel (FR-DU08).

NOTE

• indicates simple mode parameters. Use Pr.160 User group read selection to indicate the simple mode parameters only (initial setting is to indicate the extended mode parameters).

• The changing of the parameter settings may be restricted in some operating statuses. Use Pr.77 Parameter write selection to change the setting of the restriction.

• Refer to page 129

for instruction codes for communication and availability of Parameter clear, All parameter clear, and

Parameter copy.

• The specification differs for some parameters depending on the date of manufacture of the inverter. For details, refer to

page

146

.

0

1

5

6

7

8

9

Pr.

Pr. group

G000

H400

H401

G001

D301

D302

D303

F010

F011

H000

C103

Name

Torque boost

Setting range

0% to 30%

Maximum frequency 0 to 120 Hz

Minimum frequency

Base frequency

Multi-speed setting (high speed)

Multi-speed setting (middle speed)

Multi-speed setting (low speed)

0 to 120 Hz

0 to 590 Hz

0 to 590 Hz

0 to 590 Hz

0 to 590 Hz

Acceleration time 0 to 3600 s

Deceleration time

Electronic thermal O/L relay

Rated motor current

0 to 3600 s

0 to 500 A *2

0 to 3600 A *3

0.01 Hz

0.01 Hz

0.1 s

0.1 s

0.01 A

*2

0.1 A *3

30 Hz

—

*19

10 Hz

5 s

*4

15 s

*5

5 s

*4

15 s

*5

—

48

48

*19

Inverter rated current

—

*19

5

6

7

8

9

Minimum setting increments

0.1%

0.01 Hz

0.01 Hz

0.01 Hz

Initial value

FM CA

Refer to page

6%

*1

4%

*1

3%

*1

2%

*1

1%

*1

120 Hz

*2

60 Hz

*3

—

—

*19

*19

0 Hz

— *19

60 Hz 50 Hz

—

*19

Customer setting

0.01 Hz 60 Hz 50 Hz

— *19

10

1

2. Parameter List

2.1 Parameter list (by parameter number)

9

10

11

12

13

14

15

16

17

18

19

20

21

22

23

31

32

44

45

46

47

48

34

37

41

42

43

Pr.

24 to 27

28

30

33

49

50

51

Pr. group

G100

G101

G110 frequency time voltage

Name

DC injection brake operation



Setting range

0 to 120 Hz, 9999

0 to 10 s, 8888

0% to 30%

W033

M000

M441

M442

M443

F102

G003

D200

F002

T720

H402

G002

F000

F001

H500

H610

D304 to

D307

D300

E300

W030

W031

W032

F020

F021

G010

G011

H600

H601

M444

H010

C203

Starting frequency

Load pattern selection

Jog frequency

Jog acceleration/ deceleration time

MRS input selection

High speed maximum frequency

0 to 60 Hz

0 to 5, 12 to 15

0 to 590 Hz

0 to 3600 s

0, 2, 4

0 to 590 Hz

0.01 Hz

1

0.01 Hz

0.1 s

1

0.01 Hz

Base frequency voltage

Acceleration/deceleration reference frequency

Acceleration/deceleration time increments

Stall prevention operation level (Torque limit level)

Stall prevention operation level compensation factor at double speed

Multi-speed setting (speed 4 to speed 7)

Multi-speed input compensation selection

0 to 1000 V, 8888, 9999

1 to 590 Hz

0, 1

0% to 400%

0% to 200%, 9999

0 to 590 Hz, 9999

0, 1

Regenerative function selection

Crane creep speed

Travel distance at creep speed

Position loop compensation selection after crane decelerate to creep speed

Stop position compensation width

Speed display

0 to 2, 10, 11, 20, 21, 100 to 102, 110, 111, 120,

121

0 to 60 Hz

0 to 6553.4 mm

0, 1

0 to 200 mm

0, 1 to 9998

0.1 V

0.01 Hz

1

0.1%

0.1%

0.01 Hz

1

1

0.01 Hz

0.1 mm

1

0.1 mm

1

0.1%

0.01 Hz

Up-to-frequency sensitivity 0% to 100%

Output frequency detection 0 to 590 Hz

Output frequency detection for reverse rotation

Second acceleration/ deceleration time

Second deceleration time

0 to 590 Hz, 9999

0 to 3600 s

0 to 3600 s, 9999

Second torque boost 0% to 30%, 9999

Second V/F (base frequency) 0 to 590 Hz, 9999

Second stall prevention operation level

Second stall prevention operation frequency

Second output frequency detection

Second electronic thermal

O/L relay

Rated second motor current

0% to 400%

0 to 590 Hz, 9999

0 to 590 Hz

0 to 500 A, 9999

*2

0 to 3600 A, 9999

*3

0.01 Hz

0.1 s

0.1 s

0.1%

0.01 Hz

0.1%

0.01 Hz

0.01 Hz

0.01 A

0.1 A

*3

*2


0.01 Hz

Initial value

FM

3 Hz

CA

0.1 s

0.1%

Refer to page

—

*19

0.5 s —

*19

4%

*6

2%

*6

1%

*6

0.5 Hz

0

5 Hz

—

*19

0.5 s

—

*19

—

*19

—

*19

—

*19

0 —

*19

120 Hz *2

—

*19

60 Hz

*3

9999 8888 —

*19

60 Hz 50 Hz

42


0

150%

9999

9999

0

0

0 Hz

0 mm

1

100 mm

0

10%

6 Hz

9999

5 s

9999

9999

9999

150%

0 Hz

30 Hz

9999

—

—

—

—

—

—

61

61

61

61

*19

*19

—

*19

—

*19

—

*19

—

*19

44

44

—

*19

—

*19

—

*19

—

—

—

*19

*19

*19

*19

*19

*19

*19

10 2. Parameter List


52

54

72

73

74

55

56

57

58

60

65

66

67

68

69

70

71

75

76

77

78

79

80

81

82

Pr.

Pr. group

M100

M300

M040

M041

A702

A703

W000

W100

H300

H611

H301

H302

H303

G107

C100

E600

T000

T002

—

E100

E101

E102

E107

M510

E400

D020

D000

C101

C102

C125

Name

Operation panel main monitor selection

FM/CA terminal function selection

Frequency monitoring reference

Current monitoring reference

Restart coasting time

Restart cushion time

Setting range

0, 5 to 14, 17, 18, 20, 23 to 25, 32 to 36, 38 to 46,

50 to 52, 55 to 57, 61, 62,

64, 67, 71 to 74, 81, 87 to

98, 100

1 to 3, 5 to 14, 17, 18, 21,

24, 32 to 34, 36, 46, 50,

52, 61, 62, 67, 70, 81, 87 to 92, 98

1

1


0 to 590 Hz 0.01 Hz

0 to 500 A

*2

0 to 3600 A *3

0, 0.1 to 30 s, 9999

0 to 60 s

0.01 A

*2

0.1 A *3

0.1 s

0.1 s

0

1

Initial value

FM


9999

1 s

CA

Refer to

—

—

—

page

109

110

60 Hz 50 Hz

—

*19

*19

*19

*19


A800-AWH mode selection 0 to 2 1 0

41

0

—

*19

60 Hz 50 Hz

—

*19

Retry selection

Stall prevention operation reduction starting frequency

Number of retries at fault occurrence

Retry waiting time

0 to 5

0 to 590 Hz

0 to 10, 101 to 110

0.1 to 600 s

1

0.01 Hz

1

Retry count display erase

Special regenerative brake duty

0

0% to 100%

Applied motor

PWM frequency selection

Analog input selection

0, 1, 3 to 6, 13 to 16, 20,

23, 24, 30, 33, 34, 40, 43,

44, 50, 53, 54, 70, 73, 74

2, 6, 10, 14

*2

2, 6

*3

0 to 7, 10 to 17

Input filter time constant 0 to 8

Reset selection/ disconnected PU detection/

PU stop selection

Reset selection

Disconnected PU detection


0, 1

Reset limit

0

*2

0, 1

*3

Fault code output selection 0 to 2

0 to 3, 14 to 17, 1000 to

1003, 1014 to 1017

*2

0 to 3, 14 to 17, 100 to

103, 114 to 117, 1000 to

1003, 1014 to 1017,

1100 to 1103, 1114 to

1117 *3

0 to 3

0.1 s

1

0.1%

1

1

1

1

1

1

1

1 Parameter write selection

Reverse rotation prevention selection

Operation mode selection

0 to 2

0 to 2

0 to 4, 6, 7

Motor capacity

Number of motor poles

Motor excitation current

0.4 to 55 kW, 9999

*2

0 to 3600 kW, 9999

*3

2, 4, 6, 8, 10, 12, 9999

0 to 500 A, 9999

*2

0 to 3600 A, 9999 *3

1

1

0.01 kW

0.1 kW

1

0.01 A

0.1 A *3

*3

*2

*2

0

1 s

0

0%

0

2

1

1

14

0

1

0

0

0

0

0

9999

9999

9999

—

—

—

—

—

—

—

—

—

—

—

—

—

*19

—

*19

— *19

— *19

*19

*19

*19

*19

*19

*19

*19

*19

*19

*19

*19

*19

1

2

3

4

5

6

7

8

9

10

2. Parameter List


11

Pr.

Pr. group

Name Setting range

83

84

85

86

89

90

91

92

93

C104

C105

G201

G202

G932

C120

C121

C122

C123

Rated motor voltage 0 to 1000 V

Rated motor frequency

Excitation current break point

Excitation current low-speed scaling factor

Speed control gain

(Advanced magnetic flux vector)

10 to 400 Hz, 9999

0 to 400 Hz, 9999

0% to 300%, 9999

0% to 200%, 9999

Motor constant (R1)


Motor constant (L1)/d-axis inductance (Ld)

Motor constant (L2)/q-axis inductance (Lq)

0 to 50 Ω , 9999

*2

0 to 400 m Ω

, 9999

*3

0 to 50 Ω , 9999

*2

0 to 400 m Ω

, 9999 *3

0 to 6000 mH, 9999

*2

0 to 400 mH, 9999

*3

0 to 6000 mH, 9999

*2

0 to 400 mH, 9999

*3

Motor constant (X) 0% to 100%, 9999 94 C124

95

96

100

104

105

106

107

108

109

110

111

112

113

114

115

117

118

119

120

121

C111

C110

W001

W040

W220

W011

W012

W013

W014

W015

W070

W071

W080

W016

W017

W018

N020

N021

—

N022

N023

N024

N025

Online auto tuning selection 0 to 2

Auto tuning setting/status

Reference travel speed

0, 1, 11, 101

1 to 600 m/min, 9999

Crane in-position width 0 to 1000 mm

Crane position loop P gain 1 0 to 150 s

-1

Crane position loop P gain 2 0 to 150 s -1 , 9999

Crane position loop P gain corner frequency 1

0 to 200 Hz


Crane position loop filter

0 to 200 Hz

0 to 5 s

Third acceleration/ deceleration time

Third deceleration time

Distance measurement direction setting

Crane position loop integral time

Compensation rate of crane position loop upper limit

Compensation frequency of low-speed range crane position loop upper limit

PU communication station number

0 to 3600 s

0 to 3600 s, 9999

0, 1

0 to 10 s

0% to 100%, 9999

0 to 200 Hz

0 to 31

PU communication speed

48, 96, 192, 384, 576,

768, 1152

PU communication stop bit length / data length

PU communication data length

PU communication stop bit length

PU communication parity check

PU communication retry count

0, 1, 10, 11

0, 1

0, 1

0 to 2

0 to 10, 9999




0.1 V

0.01 Hz

Initial value

FM CA

200 V

*7

400 V

*8

9999

0.01 Hz 9999

0.1% 9999

Refer to page

—

*19

—

*19

—

*19

—

*19


0.1%

0.001

Ω

*2

0.01 m

Ω

*3

0.001

Ω

*2

0.01 m

Ω *3

0.1 mH

*2

0.01 mH

*3

0.1 mH

*2

0.01 mH

*3

0.1% *2

0.01%

*3

1

1

0.01 m/min

0.1 mm

0.1 s

-1

0.1 s -1

0.01 Hz

0.01 Hz

0.001 s

0.1 s

0.1 s

1

0.1 s

0.1%

9999

9999

9999

9999

9999

60 Hz

0 s

5 s

9999

0

9999

0

0

9999

10 mm

1 s

-1

9999

0 Hz

0 s

9999

0.01 Hz

1

1

1

1

1

5 Hz

1

2

1

1

0

0

192

—

*19

—

*19

—

*19

—

*19

—

*19

63

63

—

*19

63

63

63

—

*19

—

*19

42

68

63

63

48

48

50

63

—

*19

—

*19

—

*19

—

*19

—

*19

160

161

162

163

164

165

166

167

129

148

149

150

151

152

153

130

144

145

147

154

126

127

128

122

123

124

125

155

156

157

Pr.

158

N026

N027

T042

W041

W002

W320

W003

W321

W042

Pr. group

N028

T022


PU communication check time interval

PU communication waiting time setting

PU communication CR/LF selection

Terminal 2 frequency setting gain frequency


Crane in-position time

0, 0.1 to 999.8 s, 9999

0 to 150 ms, 9999

0 to 2

0 to 590 Hz

0 to 590 Hz

0 to 5 s

Motion range 1 0.01 to 300 m

M002

E103

F022

H620

H621

M460

M461

M462

M463

H631

T730

H501

M430

M301

E440

E200

A700

A704

A705

A710

M433

M464


0.1 s

Initial value

FM

9999

CA

1 ms

1

9999

1

Refer to page

—

*19

—

*19

—

*19


0.01 Hz 60 Hz 50 Hz

—

*19

0.01 Hz

0.01 s

0.01 m

Motion range 2 0.01 to 300 m 0.01 m

Crane position detection range

0 to 1000 mm

Speed setting switchover

0, 2, 4, 6, 8, 10, 12, 102,

104, 106, 108, 110, 112

PU display language selection

Acceleration/deceleration time switching frequency

Stall prevention level at 0 V input


Output current detection level

Output current detection signal delay time

0 to 7

0 to 590 Hz, 9999

0% to 400%

0% to 400%

0% to 400%

0 to 10 s

Zero current detection level 0% to 400%

Zero current detection time 0 to 10 s

Voltage reduction selection during stall prevention operation

RT signal function validity condition selection

Stall prevention operation selection

OL signal output timer

0, 1, 10, 11

0, 10

0 to 31, 100, 101

AM terminal function selection

0 to 25 s, 9999

1 to 3, 5 to 14, 17, 18, 21,

24, 32 to 34, 36, 46, 50,

52, 61, 62, 67, 70, 81, 87 to 92, 98

User group read selection

Frequency setting/key lock operation selection

Automatic restart after instantaneous power failure selection

0, 1, 9999

0, 1, 10, 11

0 to 3, 10 to 13

First cushion time for restart 0 to 20 s

First cushion voltage for restart

Stall prevention operation level for restart

Output current detection signal retention time

Output current detection operation selection

0% to 100%

0% to 400%

0 to 10 s, 9999

0, 1, 10, 11

0.1 mm

1

1

0.01 Hz

0.1%

0.1%

0.1%

0.1 s

0.1%

0.01 s

1

1

1

0.1 s

1

1

1

1

0.1 s

0.1%

0.1%

0.1 s

1

60 Hz 50 Hz

—

0 s

0.01 m

300 m

10 mm

4

—

9999

150%

200%

150%

0 s

5%

0.5 s

1

0

0

0 s

1

0

0

0

0 s

0%

150%

0.1 s

0

68

85

85

68

*19

—

*19

— *19

— *19

—

*19

— *19

— *19

—

*19

—

*19

—

*19

—

—

*19

—

*19

—

*19

110

—

—

—

*19

*19

*19

*19

—

*19

—

*19

—

*19

—

*19

—

*19

1

2

3

4

5

6

7

8

9

10

2. Parameter List


13

168

169

170

171

172

173

174

178

179

184

185

186

187

180

181

182

183

188

189

190

191

192

193

194

Pr.

Pr. group

E000

E080

E001

E081

M020

M030

E441

E442

E443

T700

T701

T702

T703

T704

T705

T706

T707

T708

T709

T710

T711

M400

M401

M402

M403

M404


Parameter for manufacturer setting. Do not set.

Watt-hour meter clear

RUN terminal function selection

SU terminal function selection

IPF terminal function selection

OL terminal function selection

FU terminal function selection

0, 10, 9999

Operation hour meter clear 0, 9999

User group registered display/batch clear

9999, (0 to 16)

User group registration 0 to 1999, 9999

User group clear

STF terminal function selection

STR terminal function selection

0 to 1999, 9999

0 to 8, 10 to 13, 15 to 20,

23 to 25, 27, 28, 32, 42 to

44, 46 to 48, 50 to 53, 57,

58, 60, 62, 65 to 67, 70,

71, 74, 82, 85, 88, 89, 92,

93, 107 to 113, 9999

0 to 8, 10 to 13, 15 to 20,

23 to 25, 27, 28, 32, 42 to

44, 46 to 48, 50 to 53, 57,

58, 61, 62, 65 to 67, 70,

71, 74, 82, 85, 88, 89, 92,

93, 107 to 113, 9999

RL terminal function selection

RM terminal function selection

RH terminal function selection

RT terminal function selection

AU terminal function selection

JOG terminal function selection

CS terminal function selection

MRS terminal function selection

STOP terminal function selection

RES terminal function selection

0 to 8, 10 to 13, 15 to 20,

23 to 25, 27, 28, 32, 42 to

44, 46 to 48, 50 to 53, 57,

58, 62, 65 to 67, 70, 71,

74, 82, 85, 88, 89, 92, 93,

107 to 113, 9999

0 to 5, 7, 8, 10 to 13, 17,

20, 25, 26, 30 to 35, 39 to

42, 44, 45, 55, 64, 67, 68,

79, 80, 85, 90 to 99, 100 to 105, 107, 108, 110 to

113, 120, 125, 126, 130 to 135, 139 to 142, 144,

145, 155, 164, 167, 168,

179, 180, 185, 190 to

199, 206 to 208, 211 to

213, 231, 233 to 236,

242, 306 to 308, 311 to

313, 331, 333 to 336,

342, 9999

*13

1

1

1

1

1

1

1

1

1

1

1

1

1

1

1

1

1

1

1

1

1

1


0

1

2

3

4

5

6

0

1

2

3

4

Initial value

60

61

24

25

62

FM

9999

9999

0

9999

9999

CA

Refer to page

—

*19

—

*19

—

*19

—

*19

—

*19

114

114

114

114

114

114

114

114

114

114

114

114

114

114

114

114

114




195

196

Pr.

Pr. group

M405

M406

ABC1 terminal function selection



0 to 5, 7, 8, 10 to 13, 17,

20, 25, 26, 30 to 35, 39 to

42, 44, 45, 55, 64, 67, 68,

79, 80, 85, 90, 91, 94 to

99, 100 to 105, 107, 108,

110 to 113, 120, 125,

126, 130 to 135, 139 to

142, 144, 145, 155, 164,

167, 168, 179, 180, 185,

190, 191, 194 to 199,

206 to 208, 211 to 213,

231, 233 to 236, 242,

306 to 308, 311 to 313,

331, 333 to 336, 342,

9999

*13

1

1


Initial value

99

FM

9999

CA

232 to 239

D308 to

D315

240 E601

241

242

243

244

245

246

247

249

250

257

258

259

260

267

268

269

251

252

253

255

256

270

M043

T021

T041

H100

G203

G204

G205

H101

G106

H200

T050

T051

E700

E701

E702

E703

E704

E602

T001

M022

E023

A200


Soft-PWM operation selection

Analog input display unit switchover

Terminal 1 added compensation amount

(terminal 2)


(terminal 4)

Cooling fan operation selection

Rated slip

Slip compensation time constant

Constant output range slip compensation selection

Earth (ground) fault detection at start

0 to 590 Hz, 9999

0, 1

0, 1

0% to 100%

0% to 100%

0, 1, 101 to 105

0% to 50%, 9999

0.01 to 10 s

0, 9999

0, 1

Stop selection

0 to 100 s, 1000 to 1100 s, 8888, 9999

Output phase loss protection selection

Override bias

Override gain

0, 1

0% to 200%

0% to 200%

Life alarm status display (0 to 31)

Inrush current limit circuit life display

Control circuit capacitor life display

Main circuit capacitor life display

Main circuit capacitor life measuring

PWM frequency automatic switchover

Terminal 4 input selection

(0% to 100%)

(0% to 100%)

(0% to 100%)

0, 1

0, 1

0 to 2

Monitor decimal digits selection

0, 1, 9999


Stop-on contact/load torque high-speed frequency control selection

0 to 3, 11, 13

0.01 Hz

1

1

0.1%

0.1%

1

0.01%

0.01 s

1

1

0.1 s

1

0.1%

0.1%

1

1%

1%

1%

1

1

1

1

1

9999

1

0

100%

75%

1

9999

0.5 s

9999

0

9999

1

50%

150%

0

100%

100%

100%

0

1

0

9999

0

Refer to

114

114

—

*19

—

*19

—

*19

—

*19

— *19

—

*19

—

*19

— *19

—

—

*19

*19

— *19

—

—

—

—

page

*19

— *19

—

*19

—

*19

—

*19

*19

*19

*19

—

*19

—

*19

—

*19

— *19


1

2

3

4

5

6

7

8

9

10

2. Parameter List


15

271

272

273

274

275

Pr.

285

286

287

288

289

290

291

295

296

297

298

299

313

*12

314

*12

315

*12

316

*12

317

*12

318

*12

276

278

279

280

281

282

283

319

*12

320

*12

321

*12

322

*12

E411

A711

A701

M410

M411

M412

M413

M414

M415

H416

G400

G401

G402

M431

M044

A206

W221

W222

W223

W200

W201

W224

A107

Pr. group

A201

A202

A203

A204

A205

D100

E201

E410

M416

M420

M421

M422



High-speed setting maximum current

Middle-speed setting minimum current

Current averaging range

0% to 400%

0% to 400%

0 to 590 Hz, 9999

Current averaging filter time constant

Stop-on contact excitation current low-speed scaling factor

1 to 4000

0% to 300%, 9999

PWM carrier frequency at stop-on contact

Brake opening frequency

Brake opening current

Brake opening current detection time

0 to 9, 9999

*2

0 to 4, 9999

*3

0 to 30 Hz

0% to 400%

0 to 2 s

Brake operation time at start 0 to 5 s

Brake operation frequency 0 to 30 Hz

Brake operation time at stop 0 to 5 s

Overspeed detection frequency

0 to 30 Hz, 9999

Speed deviation excess detection frequency

Droop gain 0% to 100%

Droop filter time constant

Monitor negative output selection

0 to 1 s

Droop function activation selection

0 to 2, 10, 11, 20 to 22

Inverter output terminal filter 5 to 50 ms, 9999

0 to 7

Pulse train I/O selection

[FM type] 0, 1, 10, 11, 20,

21, 100

[CA type] 0, 1

Frequency change increment amount setting

0, 0.01, 0.1, 1, 10

Password lock level

Password lock/unlock

0 to 6, 99, 100 to 106,

199, 9999

(0 to 5), 1000 to 9998,

9999

0 to 32767, 9999 Frequency search gain

Rotation direction detection selection at restarting

0, 1, 9999

DO0 output selection







RA1 output selection



0 to 5, 7, 8, 10 to 13, 20,

25, 26, 30 to 35, 39 to 42,

44, 45, 55, 64, 68, 79, 80,

85 to 99, 100 to 105, 107,

108, 110 to 113, 120,

125, 126, 130 to 135,

139 to 142, 144, 145,

155, 164, 168, 179, 180,

185 to 199, 206 to 208,

211 to 213, 231, 233 to

236, 242, 306 to 308,

311 to 313, 331, 333 to

336, 342, 9999 *13

0 to 5, 7, 8, 10 to 13, 20,

25, 26, 30 to 35, 39 to 42,

44, 45, 55, 64, 68, 79, 80,

85 to 91, 94 to 99, 206 to

208, 211 to 213, 231,

233 to 236, 242, 9999

*13

0.1%

0.1%

0.01 Hz

1

0.1%

1

1

1

1

1

1

1

1

1

0.01 Hz

0.1%

0.01 s

0.01 s

0.01 Hz

0.01 s

0.01 Hz

0.1%

0.01 s

1

1 ms

1

1

0.01

1

1

1

1

1

1

0.3 s

0.3 s

6 Hz

0.3 s

9999

0

9999

0

0

0

9999

9999

9999

0

9999

0

1

2

Initial value

16

FM

50%

100%

9999

9999

9999

3 Hz

130%

0%

0.3 s

9999

9999

9999

9999

9999

9999

CA

—

*19

—

*19

50

50

50

50

50

50

—

*19

—

*19

—

*19

—

*19

—

*19

—

*19

—

*19

114

114

114

114

—

*19

—

*19

114

114

114

114

114

114

—

*19

—

*19

—

*19

Refer to page


—

*19

—

*19

—

*19

—

*19



338

339

340

341

342

343

334

335

336

337

355

356

357

359

*9

362

363

350

351

352

353

364

365

367

*9

368

*9

369

*9

331

332

Pr.

333

349

*18

—

—

Pr. group

N030

N031

N032

N033

N034

N035

N036

N037

D010

D011

D001

N038

N001

N080

N010

N240

W210

W225

W226

W227

W050

W051

W052

C141

W060

W061

W062

W063

G240

G241

C140



RS-485 communication station number

RS-485 communication speed

RS-485 communication stop bit length / data length

RS-485 communication data length

RS-485 communication stop bit length

RS-485 communication parity check selection

RS-485 communication retry count

RS-485 communication check time interval

RS-485 communication waiting time setting

Communication operation command source

Communication speed command source

Communication startup mode selection

RS-485 communication CR/

LF selection

Communication EEPROM write selection

0 to 31 (0 to 247)

3, 6, 12, 24, 48, 96, 192,

384, 576, 768, 1152

0, 1, 10, 11

0, 1

0, 1

0 to 2

0 to 10, 9999

0 to 999.8 s, 9999

0 to 150 ms, 9999

0, 1

0 to 2

0 to 2, 10, 12

0 to 2

0, 1

Communication error count —

Communication reset selection/Ready bit status selection

Communication reset selection

Ready bit status selection

Brake operation time at deceleration

Brake operation time at start

2

Brake operation position range

Brake release request signal output selection

Crane vibration suppression frequency

Crane vibration suppression gain

Crane model adaptive position loop gain

Encoder rotation direction

Dual feedback filter

Crane position detection filter

Crane position data compensation judgment level

Upper limit of crane position data compensation

Speed feedback range

0, 1, 100, 101

0, 1

0, 1

0 to 30 s

0 to 2 s, 9999

0 to 1000 mm, 9999

1, 9999

0.1 to 10 Hz, 9999

0% to 500%

0 to 150 s

0, 1, 100, 101

0 to 1 s

0 to 0.5 s

-1

0 to 1000 mm, 9999

1 to 5

0 to 590 Hz, 9999

Feedback gain

Number of encoder pulses

0 to 100

0 to 4096

1

1

1

1

1

1

1

0.1 s

1 ms

1

1

1

1

1

1

1

1

1

0.01 s

0.01 s

0.1 mm

1

0.01 Hz

1%

0.1 s -1

1

0.01 s

0.01 s

0.1 mm

1

0.01 Hz

0.1

1

0

96

1

0

1

2

1

0 s

9999

0

0

0

1

0

0

0

0

0

Initial value

FM

3 s

9999

9999

9999

9999

100%

1 s

1

0 s

0 s

1

-1

9999

9999

1

1024

CA

Refer to

—

73

73

73

73

73

73

73

—

—

—

—

—

*19

*19

*19

*19

*19

*19

—

*19

—

*19

—

*20

—

—

50

50

50

50

69

69

67

page

*20

*20

69

— *19

66

67

67

—

*19

—

*19

—

*19


1

2

3

4

5

6

7

8

9

10

2. Parameter List


17

374

384

385

386

393

394

395

396

397

398

Pr.

376

*9

399

413

*9

414

415

416

417

422

432

*9

433

*9

450

451

453

454

455

456

457

458

459

460

461

Pr. group

H800

C148

D101

D110

D111

W300

W301

W302

W303

W304

W322

W323

M601

A800

A801

A802

A803

B003

D120

D121

C200

G300

C201

C202

C225

C204

C205

C220

C221

C222

C223



0.01 Hz Overspeed detection level

Encoder signal loss detection enable/disable selection

0 to 590 Hz, 9999

0, 1

Input pulse division scaling factor

Frequency for zero input pulse

Frequency for maximum input pulse

System failure detection

0 to 250

0 to 590 Hz

0 to 590 Hz

0 to 65535

Operation selection after system failure detection

Deceleration time after system failure detection

0 to 65535

0 to 650 s, 9999

Crane speed detection filter 0 to 1 s

Limit dog operation selection

Speed range excess fault detection frequency

Speed range excess fault detection time

0, 1

0% to 100%, 9999

0 to 10 s

Encoder pulse division ratio 1 to 32767

PLC function operation selection

Inverter operation lock mode setting

0 to 2, 11, 12

0, 1

Pre-scale function selection 0 to 5

1

1

0.01 Hz

0.01 Hz

1

1

0.1 s

0.01 s

1

1%

0.1 s

1

1

1

Pre-scale setting value

Position control gain

Pulse train torque command bias

Pulse train torque command gain

0 to 32767

0 to 150 s

-1

0 to 400%

0 to 400%

Second applied motor

0, 1, 3 to 6, 13 to 16, 20,

23, 24, 30, 33, 34, 40, 43,

44, 50, 53, 54, 70, 73, 74,

9999

Second motor control method selection

0, 1, 6, 10, 11, 20, 9999

1%

1%

1

1

1

1

1 s

-1

Second motor capacity

0.4 to 55 kW, 9999

*2

0 to 3600 kW, 9999

*3

0.01 kW

*2

0.1 kW

*3

Number of second motor poles

2, 4, 6, 8, 10, 12, 9999 1

Second motor excitation current

0 to 500 A, 9999 *2

0 to 3600 A, 9999 *3

0.01 A *2

0.1 A

*3

9999

0

0

0 Hz

60 Hz

65535

0

9999

0.3 s

1

9999

0 s

1

0

0

0

1

Initial value

FM

25 s

-1

0%

150%

9999

9999

9999

9999

9999

CA

50 Hz

Refer to

85

—

—

—

—

85

85

85

85

79

85

85

—

—

—

—

—

—

—

—

—

—

— page

*19

*19

*19

*19

,

85

*19

*19

*19

—

*19

—

*19

*19

*19

*19

*19

*19

*19

*19

*19


Rated second motor voltage 0 to 1000 V 0.1 V

0.01 Hz

200 V

*7

400 V

*8

9999

—

—

*19

*19

Rated second motor frequency

10 to 400 Hz, 9999

Second motor constant (R1)


Second motor constant (L1)


0 to 50 Ω , 9999

*2

0 to 400 m Ω

, 9999 *3

0 to 50 Ω , 9999

*2

0 to 400 m Ω

, 9999

*3

0 to 6000 mH, 9999

*2

0 to 400 mH, 9999

*3

0 to 6000 mH, 9999

*2

0 to 400 mH, 9999 *3

0.001

Ω

0.01 m

Ω

0.001

Ω

*2

*3

*2

0.01 m

Ω

*3

0.1 mH

*2

0.01 mH

*3

0.1 mH

*2

0.01 mH *3

9999

9999

9999

9999

—

—

—

—

*19

*19

*19

*19



566

569

570

573

539

550

551

555

556

541

*18

544

*18

547

548

549

557

560

561

563

564

565

462

502

503

504

505

516

517

518

463

495

496

497

498

519

Pr.

C210

M500

M501

M502

A804

N013

E710

E711

M001

W072

W073

W110

Pr. group

C224

W111

N002

N100

N103

N040

N041

N000

D012

D013

E720

E721

E722

A712

H020

M021

M031

G301

G302

G942

E301

T052

Name

Second motor constant (X)

Setting range

0% to 100%, 9999


0.1%

*2

0.01% *3

Second motor auto tuning setting/status

Remote output selection

Remote output data 1

0, 1, 11, 101

0, 1, 10, 11

0 to 4095

0 to 4095 Remote output data 2

PLC function flash memory clear

Stop mode selection at communication error

Maintenance timer 1

Maintenance timer 1 warning output set time

Speed setting reference

S-curve acceleration time

S-curve deceleration time

Second S-curve acceleration time

Second S-curve deceleration time

MODBUS RTU communication check time interval

Frequency command sign selection

0, 9696 (0 to 9999)

0 to 4

0 (1 to 9998)

0 to 9998, 9999

1 to 590 Hz

0.1 to 2.5 s

0.1 to 2.5 s

0.1 to 2.5 s

0.1 to 2.5 s

0 to 999.8 s, 9999

0, 1

CC-Link extended setting

0 to 2, 12, 14, 18, 24, 28,

100, 112, 114, 118, 128

USB communication station number

USB communication check time interval

0 to 31

0 to 999.8 s, 9999

Protocol selection

0, 1, 1000, 1001, 1010,

1020, 1021, 1030, 1040

NET mode operation command source selection

PU mode operation command source selection

Current average time

0, 1, 5, 9999 *14

1 to 3, 5, 9999

0.1 to 1 s

*14

Data output mask time

Current average value monitor signal output reference current

Second frequency search gain

PTC thermistor protection level

Energization time carryingover times

Operating time carryingover times

Second motor excitation current break point

Second motor excitation current low-speed scaling factor

Second motor speed control gain

Multiple rating setting

0 to 20 s

0 to 500 A

*2

0 to 3600 A

*3

0 to 32767, 9999

0.5 to 30 k

(0 to 65535)

(0 to 65535)

0 to 400 Hz, 9999

0% to 300%, 9999

0% to 200%, 9999

0 to 3

Ω

4 mA input check selection 1 to 4, 9999

, 9999

1

1

1

1

1

1

1

1

0.01 Hz

0.1 s

0.1 s

0.1 s

0.1 s

0.1 s

1

1

1

0.1 s

1

1

1

1

0.01 k Ω

1

1

0.01 Hz

0.1%

0.1%

1

1

0.1 s

0.1 s

0.01 A

*2

0.1 A

*3

0

0

0

0

0

0

0

Initial value

FM

9999

9999

CA

Refer to

—

— *19

— *19

—

*19

—

*19

—

*19

—

*19

—

*19

—

*19

60 Hz 50 Hz

— *19

0.1 s

0.1 s

48

48

0.1 s

0.1 s

9999

0

0

0

9999

0

9999

9999

1 s

0 s


9999

9999

0

0

9999

9999

9999

2

9999

44

44

—

—

96

—

—

73

—

— *19*20

— *19

—

*19

—

—

—

—

—

—

—

—

page

*19

*19

*19

*19

*19

*19*20

*19

*19

*19

*19

*19

*19

*19

*19

—

*19

—

*19


1

2

3

4

5

6

7

8

9

10

2. Parameter List


19

603

604

606

607

608

611

598

599

600

601

602

617

595

596

597

574

592

593

594

635

*9

636

*9

637

*9

638

*9

653

654

655

656

657

658

659

660

661

662

Pr.

T722

H006

H016

F003

M613

G410

G411

M530

M531

M532

M533

M534

Pr. group

C211

W324

W325

W326

W327

W328

W329

H102

T721

H001

H002

H003

H004

H005

G080

M610

M611

M612

G130

G131

G132



Second motor online auto tuning

Crane overspeed detection time

Speed deviation detection frequency

Speed deviation detection time

Brake sequence fault detection time

Position deviation detection distance

Position deviation detection time

0 to 2

0 to 10 s

0 to 50 Hz, 9999

0 to 10 s

0 to 10 s

0 to 50 m, 9999

0 to 10 s

Undervoltage level

175 to 215 VDC

*7

/350 to

430 VDC *8

, 9999

X10 terminal input selection 0, 1

First free thermal reduction frequency 1

First free thermal reduction ratio 1




Power failure stop external signal input selection

0 to 590 Hz, 9999

1% to 100%

0 to 590 Hz, 9999

1% to 100%

0 to 590 Hz, 9999

0, 1

Motor permissible load level 110% to 250%

Second motor permissible load level

110% to 250%, 9999

Acceleration time at a restart 0 to 3600 s, 9999

Reverse rotation excitation current low-speed scaling factor

Cumulative pulse clear signal selection

Cumulative pulse division scaling factor

Control terminal option-


Cumulative pulse storage

0% to 300%, 9999

0 to 3

1 to 16384

1 to 16384

0 to 3

1

0.1 s

0.01 Hz

0.1 s

0.1 s

0.01 m

0.1 s

0.1 V

1

0.01 Hz

1%

0.01 Hz

1%

0.01 Hz

1

1%

1%

0.1 s

0.1%

1

1

1

1

0.1% Speed smoothing control

Speed smoothing cutoff frequency

Analog remote output selection

Analog remote output 1

0% to 200%

0 to 120 Hz

0, 1, 10, 11




Increased magnetic excitation deceleration operation selection

Magnetic excitation increase rate

Increased magnetic excitation current level

800% to 1200%

800% to 1200%

800% to 1200%

800% to 1200%

0, 1

0% to 40%, 9999

0% to 300%

0.01 Hz

1

0.1%

0.1%

0.1%

0.1%

1

0.1%

0.1%

0

0

1

0

1

1

0

0

Initial value

FM

0 s

9999

0 s

2 s

9999

0 s

9999

9999

100%

9999

100%

9999

150%

9999

9999

9999

0

0%

20 Hz

1000%

1000%

1000%

1000%

9999

100%

CA

85

85

85

85

85

—

*19

—

*19

—

*19

—

*19

—

*19

—

*19

—

*19

—

*19

—

*19

—

*19

—

*19

—

*19

—

*19

—

*19

—

*19

—

*19

—

*19

—

*19

—

*19

—

*19

—

*19

—

*19

—

*19

—

*19

—

*19

—

*19

Refer to page


—

*19

85



673

757

758

760

761

683

684

686

687

688

689

690

692

693

694

695

696

699

707

724

744

745

753

754

674

675

679

680

681

682

663

665

Pr.

Pr. group

M060

G125

G060

G061

A805

G420

G421

G422

G423

H012

H013

H014

H015

T740

C107

C108

C207

G424

C000

E712

E713

E714

E715

H881

H011

C208

W074

W075

W081

W082

W084

W085


Control circuit temperature signal output level

Regeneration avoidance frequency gain

SF-PR slip amount adjustment operation selection

SF-PR slip amount adjustment gain

User parameter auto storage function selection

Second droop gain

0 to 100°C

0% to 200%

2, 4, 6, 9999

0% to 500%

1, 9999

0% to 100%, 9999

Second droop filter time constant

Second droop function activation selection

Second droop break point gain

Second droop break point torque

0 to 1 s, 9999

0 to 2, 10, 11, 20 to 22,

9999

0.1% to 100%, 9999

0.1% to 100%, 9999

Tuning data unit switchover 0, 1

0 (1 to 9998) Maintenance timer 2




Deceleration check time

Second free thermal reduction frequency 1

Second free thermal reduction ratio 1




Input terminal filter

0 to 9998, 9999

0 (1 to 9998)

0 to 9998, 9999

0 to 3600 s, 9999

0 to 590 Hz, 9999

1% to 100%

0 to 590 Hz, 9999

1% to 100%

0 to 590 Hz, 9999

5 to 50 ms, 9999

Motor inertia (integer)

Motor inertia (exponent)

Second motor inertia

(integer)


(exponent)

Third S-curve acceleration time

Third S-curve deceleration time

10 to 999, 9999

0 to 7, 9999

10 to 999, 9999

0 to 7, 9999

0.1 to 2.5 s

0.1 to 2.5 s

Distance meter selection 0 to 2

*15

Unit of measurement of distance meter

Travel distance of absolute encoder

Distance measurement fault detection interval

0, 1

0 to 655.35 mm

0, 0.1 to 999.8 s, 9999

0.1%

1

0.1%

1

0.1%

0.01 s

1

0.1%

0.1%

1

1

1

1

1

1


1°C 0°C

Initial value

FM CA

1

0.1 s

0.01 Hz

1%

0.01 Hz

1%

0.01 Hz

1 ms

1

1

0.1 s

0.1 s

1

1

0.01 mm

0.1 s

100%

9999

100%

9999

9999

9999

9999

9999

9999

0

0

9999

0

9999

1 s

9999

100%

9999

100%

9999

9999

9999

9999

9999

9999

0.1 s

0.1 s

0

*16

1

*17

1

100 mm

0 s

Refer to

—

—

48

48

73

page

*19

*19

— *19

73

, 77

73

, 77

73

, 77


—

*19

—

*19

—

*19

— *19

— *19

— *19

—

*19

—

*19

—

*19

—

*19

—

*19

—

*19

—

*19

—

*19

—

*19

—

*19

—

*19

—

*19

—

*19

— *19

— *19

—

*19

—

*19

1

2

3

4

5

6

7

8

9

10

2. Parameter List


21

774

775

776

814

815

816

799

800

801

802

810

811

812

806

807

808

777

778

779

803

804

805

809

813

817

825

826

827

828

818

819

820

821

822

823

*9

824

Pr.

T053

T054

N014

M520

G200

H704

G102

D402

H410

H411

H700

D030

H701

H703

H710

H720

C112

C113

G211

G212

T003

G215

Pr. group

M101

M102

M103

G210

D400

D401

H412

H702

H721

G213

G214

T004

G216

G224



Operation panel monitor selection 1



4 mA input fault operation frequency

4 mA input check filter

Operation frequency during communication error

Pulse increment setting for output power

Control method selection

Output limit level

1 to 3, 5 to 14, 17, 18, 20,

23 to 25, 32 to 36, 38 to

46, 50 to 52, 55 to 57, 61,

62, 64, 67, 71 to 74, 81,

87 to 98, 100, 9999

0 to 590 Hz, 9999

0 to 10 s

0 to 590 Hz, 9999

0.1, 1, 10, 100, 1000 kWh

0, 1, 6, 9 to 11, 20

0% to 400%, 9999

Pre-excitation selection

Constant output range torque characteristic selection

Torque command source selection

Torque command value

(RAM)

Torque command value

(RAM, EEPROM)

Speed limit selection

Forward rotation speed limit/ speed limit

Reverse rotation speed limit/ reverse-side speed limit

Torque limit input method selection

Set resolution switchover

Torque limit level

(regeneration)

Torque limit level (3rd quadrant)

Torque limit level (4th quadrant)

0, 1

0 to 2, 10, 11

0 to 6

600% to 1400%

600% to 1400%

0 to 2

0 to 400 Hz

0 to 400 Hz, 9999

0 to 2

0, 1, 10, 11

0% to 400%, 9999

0% to 400%, 9999

0% to 400%, 9999

Torque limit level 2

Torque limit level during acceleration

Torque limit level during deceleration

Easy gain tuning response level setting

0% to 400%, 9999

0% to 400%, 9999

0% to 400%, 9999

1 to 15

Easy gain tuning selection 0 to 2

Speed control P gain 1 0% to 1000%

Speed control integral time 1 0 to 20 s

Speed setting filter 1 0 to 5 s, 9999

Speed detection filter 1

Torque control P gain 1

(current loop proportional gain)

Torque control integral time

1 (current loop integral time)

Torque setting filter 1

Torque detection filter 1

Model speed control gain

0 to 0.1 s

0% to 500%

0 to 500 ms

0 to 5 s, 9999

0 to 0.1 s

0% to 1000%

1

1

1

0.01 Hz

0.01 s

0.01 Hz

0.1 kWh

1

0.1%

1

1

1

1%

1%

1

0.01 Hz

0.01 Hz

1

1

0.1%

0.1%

0.1%

0.1%

0.1%

0.1%

1

1

1%

0.001 s

0.001 s

0.001 s

1%

0.1 ms

0.001 s

0.001 s

1%

9999

9999

9999

9999

0 s

9999

1 kWh

20

9999

0

0

0

1000%

1000%

0

0

0

2

Initial value

FM CA

Refer to

109

109

109

—

—

—

—

*19

—

*19

—

*19

—

*19

—

—

—

—

*19

—

*19

60 Hz 50 Hz —

*19

9999

9999

9999

9999

9999

9999

9999

0

60%

0.333 s

9999

0.001 s

100%

5 ms

9999

0 s

60%

—

—

—

—

—

—

—

—

—

—

*19

—

*19

—

*19

—

*19

—

*19

—

*19

—

— page

*19

*19

*19

*19

*19

*19

*19

*19

*19

*19

*19

*19

*19

*19

*19

*19

*19

—

*19

—

*19

—

*19




835

836

837

840

841

842

843

844

845

846

847

848

849

850

851

*9

852

*9

853

*9

854

855

*9

858

859

Pr.

829

*9

830

831

832

833

*9

834

860

862

*9

863

*9

864

865

866

867

868

869

870

872

G237

G238

C226

C242

M600

M470

M446

M042

M321

T010

M334

M440

H201

Pr. group

A546

G311

G312

T005

G315

G313

G314

T006

G316

G230

G231

G232

G233

G234

G235

G236

T007

G103

C240

C241

H417

G217

C248

T040

C126


Number of machine end encoder pulses

Speed control P gain 2

0 to 4096, 9999

0% to 1000%, 9999

Speed control integral time 2 0 to 20 s, 9999

Speed setting filter 2 0 to 5 s, 9999

0 to 0.1 s, 9999 Speed detection filter 2



Torque control integral time

2 (current loop integral time)



0% to 500%, 9999

0 to 500 ms, 9999

0 to 5 s, 9999

0 to 0.1 s, 9999

Torque bias selection

Torque bias 1

Torque bias 2

Torque bias 3

Torque bias filter

0 to 3, 24, 25, 9999

600% to 1400%, 9999

600% to 1400%, 9999

600% to 1400%, 9999

0 to 5 s, 9999

Torque bias operation time 0 to 5 s, 9999

Torque bias balance compensation

Fall-time torque bias terminal 1 bias

Fall-time torque bias terminal 1 gain

Analog input offset adjustment

0 to 10 V, 9999

0% to 400%, 9999

0% to 400%, 9999

0% to 200%

0 to 2 Brake operation selection





Speed deviation time

0 to 4096

0, 1, 100, 101

0 to 100 s

Excitation ratio


Signal loss detection enable/ disable selection

Terminal 4 function assignment

0% to 100%

0, 1

0, 1, 4, 9999

Torque current

Second motor torque current

0 to 500 A, 9999

*2

0 to 3600 A, 9999 *3

0 to 500 A, 9999

*2

0 to 3600 A, 9999

*3

0, 1 Encoder option selection


Encoder pulse division ratio

Torque detection

1 to 32767

0% to 400%

Low speed detection 0 to 590 Hz

Torque monitoring reference 0% to 400%

AM output filter


Current output filter

0 to 5 s

0 to 6, 9999

0 to 5 s

Speed detection hysteresis 0 to 5 Hz

Input phase loss protection selection

0, 1

1%

1%

0.1%

1

1

1

0.1 s

1%

1

1

0.01 A

*2

0.1 A *3

0.01 A

*2

0.1 A

*3

1

1

0.1%

0.01 Hz

0.1%

0.01 s

1

0.01 s

0.01 Hz

1

0.1 ms

0.001 s

0.001 s

1

1%

1%

1%

0.001 s

0.01 s

0.1 V

1


Initial value

FM

9999

CA

1%

0.001 s

0.001 s

0.001 s

9999

9999

9999

9999

Refer to page

—

*19

—

*19

— *19

— *19

—

*19


1% 9999

— *19

9999

9999

9999

9999

9999

9999

9999

9999

9999

9999

9999

9999

100%

0

2048

1

1 s

100%

0

0

9999

—

*19

—

*19

—

*19

— *19

— *19

—

*19

—

*19

—

*19

— *19

— *19

— *19

— *19

— *19

— *19

—

*19

— *19

—

*19

—

*19

— *19

—

*19

—

*19

9999

—

*19

0

1

150%

1.5 Hz

150%

0.01 s

0

—

0 Hz

0

—

*19

0.02 s

—

*19

—

*19

—

*19

—

*19

—

*19

—

*19

— *19

— *19

—

*19

2. Parameter List


23

1

2

3

4

5

6

7

8

9

10

886

888

889

891

892

893

878

879

*11

880

881

882

873

*9

874

875

876

*9

877

Pr.

883

884

885

894

895

896

897

898

899

C0

(900)

*10

C1

(901)

*10

C2

(902)

*10

C3

(902)

*10

125

(903)

*10

C4

(903)

*10

C5

(904)

*10

G221

G222

C114

G223

G120

G124

E420

E421

M023

M200

M201

Pr. group

H415

H730

H030

H022

G220

G121

G122

G123

M202

M203

M204

M205

M206

M207

M310


Speed limit

OLT level setting

Fault definition

Thermal protector input

Speed feed forward control/ model adaptive speed control selection

Speed feed forward filter

Speed feed forward torque limit

Load inertia ratio

Speed feed forward gain

Regeneration avoidance operation selection

0 to 400 Hz

0% to 400%

0, 1

0, 1

0 to 2

0 to 1 s

0% to 400%

0 to 200 times

0% to 1000%

0 to 2

Regeneration avoidance operation level

300 to 1200 V

Regeneration avoidance at deceleration detection sensitivity

Regeneration avoidance compensation frequency limit value

Regeneration avoidance voltage gain

Free parameter 1


Cumulative power monitor digit shifted times

Load factor

0 to 5

0 to 590 Hz, 9999

0% to 200%

0 to 9999

0 to 9999

0 to 4, 9999

Energy saving monitor reference (motor capacity)

30% to 150%

0.1 to 55 kW

*2

0 to 3600 kW

*3

Control selection during commercial power-supply operation

Power saving rate reference value

Power unit cost

Power saving monitor average time

Power saving cumulative monitor clear

Operation time rate

(estimated value)

0 to 3

0, 1, 9999

0 to 500, 9999

0 to 1000 h, 9999

0, 1, 10, 9999

0% to 100%, 9999

FM/CA terminal calibration —

M320

T200

T201

T202

T203

T400

AM terminal calibration —

Terminal 2 frequency setting bias frequency

0 to 590 Hz

Terminal 2 frequency setting bias

0% to 300%


0 to 590 Hz

Terminal 2 frequency setting gain

0% to 300%


0 to 590 Hz




0.01 Hz

0.1%

1

1

Initial value

FM

20 Hz

150%

0

1

CA

Refer to page


—

*19

—

*19

—

*19

—

*19

1

0.01 s

0.1%

0.1 time

1%

1

0.1 V

0

0 s

150%

7 times

0%

0

380 VDC

*7

760 VDC

*8

—

*19

—

*19

—

*19

—

*19

—

*19

—

*19

—

*19

1 0 —

*19

0.01 Hz

0.1%

1

1

1

0.1%

0.01 kW

*2

0.1 kW

*3

1

1

0.01

1 h

1

0.1%

—

—

0.01 Hz

0.1%

0.01 Hz

0.1%

0.01 Hz

6 Hz —

*19

100%

9999

9999

9999

100%

Inverter rated capacity

—

*19

—

*19

—

*19

—

*19

—

*19

—

*19

0 —

*19

9999

9999

9999

9999

9999

—

—

0 Hz

0%

0 Hz

—

*19

—

*19

—

*19

—

*19

—

*19

—

*19

—

*19

—

*19

—

*19

60 Hz 50 Hz —

*19

100% —

*19

—

*19

Pr.

Pr. group

C15

(918)

*10

C16

(919)

*10

C17

(919)

*10

C18

(920)

*10

C19

(920)

*10

C8

(930)

*10*11

C9

(930)

*10*11

C6

(904)

*10

126

(905)

*10

C7

(905)

*10

C12

(917)

*10

C13

(917)

*10

C14

(918)

*10

C10

(931)

*10*11

C11

(931)

*10*11

C38

(932)

*10

C39

(932)

*10

C40

(933)

*10

C41

(933)

*10

977

T401

T402

T403

T100

T101

T102

T103

T110

T111

T112

T113

M330

M331

M332

M333

T410

T411

T412

T413

E302

989

990

991

992

994

995

997

999

1000

1006

1007

E490

E104

E105

M104

G403

G404

H103

E431

E108

E020

E021



0% to 300%



Terminal 1 bias frequency

(speed)

0 to 590 Hz

0% to 300%

0 to 590 Hz

0% to 300% Terminal 1 bias (speed)

Terminal 1 gain frequency

(speed)

Terminal 1 gain (speed)

Terminal 1 bias command

(torque/magnetic flux)

Terminal 1 bias (torque/ magnetic flux)

Terminal 1 gain command


Terminal 1 gain (torque/ magnetic flux)

Current output bias signal

Current output gain signal

Current output gain current

0 to 590 Hz

0% to 300%

0% to 400%

0% to 300%

0% to 400%

0% to 300%

0% to 100%

Current output bias current 0% to 100%

0% to 100%

0% to 100%


0.1%

0.01 Hz

0.1%

0.01 Hz

0.1%

0.01 Hz

0.1%

0.1%

0.1%

0.1%

0.1%

0.1%

0.1%

0.1%

0.1%



0% to 400%




0% to 300%

0% to 400%


0% to 300%

Input voltage mode selection 0, 1

Parameter copy alarm release

PU buzzer control

10

*2

100

*3

0, 1

PU contrast adjustment

Operation panel setting dial push monitor selection

Droop break point gain

Droop break point torque

0 to 63

0 to 3, 5 to 14, 17, 18, 20,

23 to 25, 32 to 36, 38 to

46, 50 to 52, 55 to 57, 61,

62, 64, 67, 71 to 74, 81,

87 to 98, 100

0.1% to 100%, 9999

0.1% to 100%

0 to 255, 9999

0.1%

0.1%

0.1%

0.1%

1

1

1

1

1

0.1%

0.1%

1 Fault initiation

Automatic parameter setting

Direct setting selection

Clock (year)

Clock (month, day)

10 to 13, 20, 21, 9999

0 to 2

2000 to 2099

Jan. 1 to Dec. 31

1

1

1

1

—

—

—

—

0

Initial value

FM

20%

60 Hz

100%

0 Hz

0%

60 Hz

100%

0%

0%

150%

100%

0%

20%

150%

100%

0

10

*2

100

*3

1

58

9999

100%

9999

9999

0

2000

101

CA

50 Hz

50 Hz

0%

0%

100%

100%

Refer to

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

*19

—

*19

— *19

— *19

—

*19

109

—

—

—

—

page

*19

*19

*19

*19

*19

*19

*19

*19

*19

*19

*19

*19

*19

*19

*19

*19

*19

*19

*19

*19

*19

*19

*19

—

*19

—

*19

—

*19


1

2

3

4

5

6

7

8

9

10

2. Parameter List


25

Pr.

1027

1028

1029

1030

1031

1032

1033

1039

1040

1041

1042

1043

1044

1045

1046

1047

1048

1049

1103

1106

1107

1108

1008

1016

1018

1020

1021

1022

1023

1024

1025

1026

1034

1035

1036

1037

1038

A937

A938

A939

E106

E110

F040

M050

M051

M052

Pr. group

E022

H021

M045

A900

A901

A902

A903

A904

A905

A906

A910

A911

A912

A913

A914

A915

A916

A917

A918

A919

A920

A930

A931

A932

A933

A934

A935

A936


Clock (hour, minute)

PTC thermistor protection detection time

0:00 to 23:59

0 to 60 s

Monitor with sign selection 0, 9999

Trace operation selection

Trace mode selection

0 to 4

0 to 2

Sampling cycle 0 to 9

Number of analog channels 1 to 8

Sampling auto start

Trigger mode selection

Number of sampling before trigger

Analog source selection

(1ch)


(2ch)


(3ch)


(4ch)


(5ch)


(6ch)


(7ch)


(8ch)

Analog trigger channel

Analog trigger operation selection

Analog trigger level

Digital source selection

(1ch)


(2ch)


(3ch)


(4ch)


(5ch)


(6ch)


(7ch)


(8ch)

Digital trigger channel

Digital trigger operation selection

Display-off waiting time

0, 1

0 to 4

0% to 100%

1 to 3, 5 to 14, 17, 18, 20,

23, 24, 32 to 36, 39 to 42,

46, 52, 61, 62, 64, 67, 71 to 74, 81, 87 to 98, 201 to

213, 222 to 227, 230 to

232, 235 to 238

1 to 8

0, 1

600 to 1400

1 to 255

1 to 8

0, 1

USB host reset

Deceleration time at emergency stop

Torque monitor filter

0 to 60 min

0, 1

0 to 3600 s

0 to 5 s, 9999

Running speed monitor filter 0 to 5 s, 9999

Excitation current monitor filter

0 to 5 s, 9999

1

1

1

1

1

1

1

1


1 s

1%

1

1

1

1

1

1

1

1 min

1

0.1 s

0.01 s

0.01 s

0.01 s

0

1

0

1

2

3

4

5

6

7

8

1

0

Initial value

FM

0 s

0

0

0

2

9999

0

4

90%

201

202

203

204

205

206

207

208

1000

0 min

0

5 s

9999

9999

9999

CA



110

110

110

110

110

110

—

*21

—

*21

—

*21

—

*21

—

*21

—

*21

—

*21

—

*19

—

*19

—

*19

—

*19

—

*19

—

*19

110

—

*21

—

*21

—

*21

—

*21

—

*21

—

*21

Refer to page


—

*19

—

*19

—

*19

—

*21

—

*21

—

*21

—

*21

—

*21

—

*21

—

*21

110

1113

1114

1115

1117

1118

1119

1431

*18

1432

*18

1434

*18

1435

*18

1436 *18

1437 *18

1438

*18

Pr.

1116

1121

1124 *18

1125

*18

1150 to

1199

1299

1300 to

1343

1348

1349

1350 to

1359

1404

1410

1411

1424

*18

1425

*18

1426

*18

1427

*18

1428

*18

1429

*18

G264

N550 to

N559

A164

A170

A171

N650

N641

N630

N631

N644

N600

N601

N602

N603

N610

Pr. group

H414

D403

G218

G206

G261

G361

G262

G260

N681

N682

A810 to

A859

G108

N500 to

N543

G263

N651

N632

N643



Speed limit method selection

Torque command reverse selection

Speed control integral term clear time

Constant output range speed control P gain compensation

Speed control P gain 1 (perunit system)



(per-unit system)

Per-unit speed control reference frequency

0 to 2, 10, 9999

0, 1

0 to 9998 ms

0% to 100%

0 to 300, 9999

0 to 300, 9999

0 to 300, 9999

0 to 400 Hz

1

1

1 ms

0.1%

0.01

0.01

0.01

0.01 Hz

Station number in inverterto-inverter link

Number of inverters in inverter-to-inverter link system

0 to 5, 9999

2 to 6

PLC function user parameters 1 to 50

Second pre-excitation selection

0 to 65535

0, 1

Communication option parameters.

For details, refer to the Instruction Manual of the option.

P/PI control switchover frequency

0 to 400 Hz

Emergency stop operation selection

0, 1, 10, 11



Shortest-time torque startup selection

0, 1

Starting times lower 4 digits 0 to 9999

Starting times upper 4 digits 0 to 9999

Ethernet communication network number

Ethernet communication station number

Ethernet function selection 3

1 to 239

1 to 120

Link speed and duplex mode selection

0 to 4

Ethernet function selection 1 502, 5000 to 5002, 5006 to 5008, 5010 to 5013,


9999, 45237, 61450

502, 5000 to 5002, 5006 to 5008, 5010 to 5013,

9999, 10001, 45237,

61450

Ethernet signal loss detection function selection

Ethernet communication check time interval

0 to 3

0, 0.1 to 999.8 s, 9999

IP address 1 (Ethernet) 0 to 255

IP address 2 (Ethernet) 0 to 255

1

1

1

1

0.01 Hz

1

1

1

1

1

1

1

1

1

1

1

0.1 s

1

1

IP address 3 (Ethernet)


Subnet mask 1

0 to 255

0 to 255

0 to 255

1

1

1

0

1

9999

120 Hz

*2

60 Hz

*3

9999

2

0

0

0

0

0

0

1

1

0

0

Initial value

FM

0 ms

0%

9999

9999

0 Hz

5001

45237

9999

9999

192

168

50

1

255

CA

Refer to

—

—

—

*19

*19

*19

— *19

—

—

—

—

*19

— *20

—

*20

—

—

—

—

59

*19

*19

*19

*19

*19

*19

*19

— *19

—

*19

—

*20

—

*20

—

*20

—

*20

—

*20

77

—

page

*20

—

*20

77

77

77

77

—

*20


1

2

3

4

5

6

7

8

9

10

2. Parameter List


27

Pr.

1439

*18

1440 *18

1441 *18

1442

*18

1443

*18

1444

*18

1445 *18

1446 *18

1447 *18

1448 *18

1449 *18

1450 *18

1451 *18

1452 *18

1453

*18

1454

*18

1455 *18

1480

1481

1482

1483

1484

1485

1486

1487

1488

1489

1490

1491

1492

1499

Pr.CLR

ALL.CL

Err.CL

Pr.CPY

Pr. group

N611

N612

N613

N660

N661

N662

N663

N664

N665

N666

N670

N671

N672

N673

N674

N675

N642

H520

H521

H522

H523

H524

H525

H526

H527

H531

H532

H533

H534

H535

E415


Subnet mask 2 0 to 255

Subnet mask 3

Subnet mask 4

0 to 255

0 to 255

IP filter address 1 (Ethernet) 0 to 255




IP filter address 2 range specification (Ethernet)



Ethernet command source selection IP address 1




Ethernet command source selection IP address 3 range specification


0 to 255, 9999

0 to 255, 9999

0 to 255, 9999

0 to 255

0 to 255

0 to 255

0 to 255

0 to 255, 9999

0 to 255, 9999

1

1

1

1

1

1

1

1

1

1

Keepalive time 1 to 7200 s 1 s

Load characteristics measurement mode

Load characteristics load reference 1





Load characteristics maximum frequency

Load characteristics minimum frequency

0, 1 (2 to 5, 81 to 85)

0% to 400%, 8888, 9999 0.1%

0% to 400%, 8888, 9999 0.1%

0% to 400%, 8888, 9999 0.1%

0% to 400%, 8888, 9999 0.1%

0% to 400%, 8888, 9999 0.1%

0 to 590 Hz

0 to 590 Hz

Upper limit warning detection width

Lower limit warning detection width

Upper limit fault detection width

Lower limit fault detection width

0% to 400%, 9999

0% to 400%, 9999

0% to 400%, 9999

0% to 400%, 9999

Load status detection signal delay time / load reference measurement waiting time

0 to 60 s


1

0.01 Hz

0.01 Hz

0.1%

0.1%

0.1%

0.1%

0.1 s

Parameter clear (0), 1 1

All parameter clear

Fault history clear

(0), 1

(0), 1

1

1

Parameter copy (0), 1 to 3 1

1

1

1

1

1

1


0

0

0

0

0

Initial value

FM

255

0

0

255

0

0

0

9999

9999

9999

9999

9999

3600 s

9999

9999

9999

9999

9999

—

*20

—

*20

—

*20

—

*20

—

*20

—

*20

—

*20

—

*20

60 Hz 50 Hz —

*19

6 Hz

20%

20%

9999

9999

1 s

0

0

0

0

CA

Refer to

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

— page

*20

*20

*20

*20

*20

*20

*20

*20

*20

*19

*19

*19

*19

*19

*19

*19

*19

*19

*19

*19

*19

—

*19

—

*19

*19

*19




Pr.

Pr.CHG

AUTO

Pr.MD

Pr. group

Name

Initial value change list

Automatic parameter setting —

Group parameter setting

—

Setting range

(0), 1, 2

1


—

1

0

—

0

Initial value

FM CA

Refer to page

—

*19

— *19

— *19


*1 Differs depending on the capacity.

6%: FR-A820-00077(0.75K) or lower and FR-A840-00038(0.75K) or lower

4%: FR-A820-00105(1.5K) to FR-A820-00250(3.7K), FR-A840-00052(1.5K) to FR-A840-00126(3.7K)

3%: FR-A820-00340(5.5K), FR-A820-00490(7.5K), FR-A840-00170(5.5K), FR-A840-00250(7.5K)

2%: FR-A820-00630(11K) to FR-A820-03160(55K), FR-A840-00310(11K) to FR-A840-01800(55K)

1%: FR-A820-03800(75K) or higher and FR-A840-02160(75K) or higher

*2 The setting range or initial value for the FR-A820-03160(55K) or lower and FR-A840-01800(55K) or lower.

*3 The setting range or initial value for the FR-A820-03800(75K) or higher and FR-A840-02160(75K) or higher.

*4 The initial value for the FR-A820-00490(7.5K) or lower and FR-A840-00250(7.5K) or lower.

*5 The initial value for the FR-A820-00630(11K) or higher and FR-A840-00310(11K) or higher.

*6 Differs depending on the capacity.

4%: FR-A820-00490(7.5K) or lower and FR-A840-00250(7.5K) or lower

2%: FR-A820-00630(11K) to FR-A820-03160(55K), FR-A840-00310(11K) to FR-A840-01800(55K)

1%: FR-A820-03800(75K) or higher and FR-A840-02160(75K) or higher

*7 The value for the 200 V class.

*8 The value for the 400 V class.

*9 The setting is available only when a plug-in option that supports Vector control is installed. For details of the Vector control compatible options supporting the parameter, refer to the detail page.

*10 The parameter number in parentheses is that used (displayed) on the LCD operation panel and the parameter unit.

*11 The setting is available for the CA type only.

*12 The setting is available when the PLC function is enabled. ( Pr.313 to Pr.315

are always available for settings in the Ethernet models.)

*13 The setting values "242 and 342" are available for the Ethernet models only.

*14 The setting value "5" is available for the Ethernet models only.

*15 The setting value "1" is available for the Ethernet models only.

*16 The initial value for the RS-485 models.

*17 The initial value for the Ethernet models.

*18 The setting is available for the Ethernet models only.

*19 For the details, refer to the FR-A800 Instruction Manual (Detailed) in the enclosed CD-ROM.

*20 For the details, refer to the Ethernet Function Manual in the enclosed CD-ROM.

*21 The trace function is available in FR Configurator2 supporting the inverter used. For details on inverters supported by FR Configurator2, refer to the FR Configurator2 Instruction Manual.

1

2

3

4

5

6

7

8

9

10

2. Parameter List


29

2.2

Parameter list (by function group)



W: Parameters for logistics/ transport functions

Parameters for the logistics/transport functions.

Pr. group

W000

W001

W002

W003

W011

W012

60

100

128

129

105

106

Pr.

W013

W014

W015

W016

W017

W018

W030

W031

W032

W033

W040

W041

W042

W050

W051

W052

W060

W061

W062

W063

W070

W071

W072

W073

W074

W075

W080

W081

W082

107

108

109

113

114

115

31

32

33

110

111

516

517

34

104

127

130

355

356

357

362

363

364

365

753

754

112

757

758

Name

A800-AWH mode selection


Motion range 1

Motion range 2

Crane position loop P gain 1





63

63

63




63


61


61



63

63

61

61

85

85

63

63

Refer to page

41

42

Crane in-position width


68

68


68


69



69

69

Dual feedback filter

66


67










Distance meter selection


67

67

48

48

48

48

48

48

50

73

73

,

,

77

77


2.2 Parameter list (by function group)

W111

W200

W201

W210

W220

W221

W222

W223

W224

W225

W226

W227

W300

W301

283

351

352

353

104

278

279

280

393

394

519

281

282

350

Pr. group

W084

W085

W100

W110

W302

W303

W304

W320

W321

W322

W323

W324

W325

W326

W327

W328

W329

760

761

60

518

395

396

397

128

129

398

399

592

593

594

595

596

597

Pr.

Name

Refer to page






Brake operation time at start

Brake operation frequency


73

73

41

44

44

50

50

50

,

77





50

Brake operation time at stop

50

Brake operation time at start 2

50

68

50

50


50



50

85



85

85

Crane speed detection filter

85


79 ,

85

Motion range 1

Motion range 2

85

85



85

85



85

85


85




85

85

85



E: Environment setting parameters

Parameters for the inverter operating environment.

Pr. group

E000

E001

168

169

Pr.

Name

Refer to page



E440

E441

E442

E443

E490

E600

E601

E602

E700

E701

E702

E703

E704

E081

E100

E101

E102

E103

E104

E105

E106

E107

E108

E110

E200

E201

E300

E301

E302

E400

E410

E411

E415

E420

E421

E431

Pr. group

E020

E021

E022

E023

Pr.

1006

1007

1008

269

E080 168

30

570

977

77

296

297

1499

888

889

999

169

75

75

75

145

990

991

1048

75

1000

1049

161

295

160

260

255

256

172

173

174

989

72

240

257

258

259

Clock (year)

Name

Clock (month, day)

Refer to page

—

*6

— *6

Clock (hour, minute)

— *6




Reset selection

Disconnected PU detection


—

*6

—

*6

—

*6

PU display language selection

— *6

PU buzzer control

— *6

PU contrast adjustment

Display-off waiting time

Reset limit

—

*6

—

*6

—

*6

Direct setting selection

USB host reset

Frequency setting/key lock operation selection

Frequency change increment amount setting


— *6

—

—

—

—

*6

*6

*6

*6

Multiple rating setting

—

*6

Input voltage mode selection

—

*6

Parameter write selection

—

*6

Password lock level



— *6

Password lock/unlock

— *6


—

*6

—

*6

Automatic parameter setting

User group read

—

*6

— *6

selection

User group registered display/ batch clear

— *6

User group registration

User group clear

—

*6

—

*6

Parameter copy alarm release

—

*6

PWM frequency selection

Life alarm status display

— *6

Soft-PWM operation selection

— *6

PWM frequency automatic switchover

—

*6

—

*6

Inrush current limit circuit life display

Control circuit capacitor life display

Main circuit capacitor life display

Main circuit capacitor life measuring

—

—

—

—

*6

*6

*6

*6

Pr. group

E710

E711

503

504

Pr.

E712

E713

E714

E715

E720

E721

E722

686

687

688

689

555

556

557

Name







Current average time

Data output mask time

Current average value monitor signal output reference current

Refer to page

—

*6

—

*6

—

*6

—

*6

—

*6

—

*6

—

*6

—

*6

—

*6

1

2

3

4



F: Parameters for the settings of the acceleration/deceleration time and the acceleration/deceleration pattern

Parameters for the motor acceleration/deceleration characteristics.

Pr. group

F000

F001

F002

F003

F010

F011

F020

F021

F022

F040

F102

20

21

16

611

7

8

44

45

147

13

Pr.

1103

Name

Refer to page


Acceleration/deceleration time increments

42

—

*6

Jog acceleration/deceleration time

—

*6

Acceleration time at a restart —

*6

Acceleration time

48

48




Acceleration/deceleration time switching frequency

Deceleration time at emergency stop

Starting frequency

44

44

—

—

—

*6

*6

*6

5

6

7

8

9

10



D: Parameters for the setting of operation command and frequency command

Parameters for setting the command source to the inverter, and the motor driving frequency and torque.

Pr. group

D000

D001

D010

79

340

338

Pr.

Name

Refer to page




—

*6

—

*6

—

*6

2. Parameter List


31

Pr. group

D011

D012

D013

D020

D030

D100

D101

D110

D111

D120

D121

D200

D300

D301

D302

78

811

291

384

385

386

432

Pr.

433

*1

15

28

*1

D303

D304 to

D307

D308 to

D315

D400

D401

D402

6

24 to 27

232 to

239

804

805

806

D403

339

550

551

4

5

1114

Name

Refer to page


NET mode operation command source selection

PU mode operation command source selection

Reverse rotation prevention selection

Set resolution switchover

—

—

—

—

*6

*6*7

*6*7

*6

Pulse train I/O selection

Input pulse division scaling factor

—

*6

—

—

*6

*6

Frequency for zero input pulse —

*6

Frequency for maximum input pulse

—

*6

Pulse train torque command bias

Pulse train torque command gain

—

—

*6

*6

Jog frequency —

*6

Multi-speed input compensation selection

Multi-speed setting (high speed)

—

—

*6

*6

Multi-speed setting (middle speed)

Multi-speed setting (low speed)

—

—

*6

*6



Torque command source selection

—

—

—

*6

*6

*6

Torque command value (RAM) —

*6

Torque command value (RAM,

EEPROM)

—

*6

Torque command reverse selection

—

*6



H: Protective function parameter

Parameters to protect the motor and the inverter.

Pr. group

H000

H001

H002

H003

H004

H005

H006

H010

9

600

601

602

603

604

607

51

Pr.

Name

Refer to page







Motor permissible load level

Second electronic thermal O/L relay

—

*6

—

*6

—

*6

—

*6

—

*6

—

*6

—

*6

—

*6

H412

H414

H415

H416

H417

H500

H501

H520

H521

H522

H523

H020

H021

H022

H030

H100

H101

H102

H103

H200

H201

H300

H301

H302

H303

H400

H401

H402

H410

H411

Pr. group

H011

H012

692

693

Pr.

H013

H014

H015

H016

694

695

696

608

561

249

598

997

251

1016

876

*1

875

244

872

65

67

68

69

1

2

18

807

808

809

1113

873

*1

285

853

*1

22

156

1480

1481

1482

1483

Name

Refer to page






Second motor permissible load level

PTC thermistor protection level

PTC thermistor protection detection time

Thermal protector input

—

—

—

—

—

—

—

—

*6

*6

*6

*6

*6

*6

*6

*6

Fault definition

Cooling fan operation selection

Earth (ground) fault detection at start

Undervoltage level

—

*6

—

—

—

*6

*6

*6

Fault initiation

Output phase loss protection selection

Input phase loss protection selection

Retry selection

Number of retries at fault occurrence

Retry waiting time

—

*6

—

—

—

—

—

*6

*6

*6

*6

*6

Retry count display erase

Maximum frequency

—

*6

—

*6

—

*6

Minimum frequency

High speed maximum frequency

Speed limit selection

—

—

*6

*6

—

*6

Forward rotation speed limit/ speed limit

Reverse rotation speed limit/ reverse-side speed limit

—

—

*6

*6

Speed limit method selection —

*6

Speed limit —

*6

Speed deviation excess detection frequency

—

*6

Speed deviation time —

*6

Stall prevention operation level (Torque limit level)

Stall prevention operation selection

Load characteristics measurement mode




—

—

—

—

—

—

*6

*6

*6

*6

*6

*6



H631

H700

H701

H702

H703

H704

H710

H720

H721

H730

H800

H881

H610

H611

H620

H621

Pr. group

H524

H525

Pr.

1484

1485

H526

H527

H531

H532

H533

H534

1486

1487

1488

1489

1490

1491

H535

H600

H601

1492

48

49

154

810

812

813

814

801

815

816

817

874

374

690

23

66

148

149

Name

Refer to page



Load characteristics maximum frequency

Load characteristics minimum frequency

Upper limit warning detection width

Lower limit warning detection width

Upper limit fault detection width

Lower limit fault detection width

Load status detection signal delay time / load reference measurement waiting time

Second stall prevention operation level

Second stall prevention operation frequency

Stall prevention operation level compensation factor at double speed

Stall prevention operation reduction starting frequency



Voltage reduction selection during stall prevention operation

Torque limit input method selection


(regeneration)

Torque limit level (3rd quadrant)

Torque limit level (4th quadrant)

Output limit level

—

*6

—

*6

—

*6

—

*6

—

*6

—

*6

—

*6

—

*6

— *6

—

*6

—

*6

— *6

—

*6

—

*6

—

*6

— *6

—

*6

—

*6

—

*6

—

*6

—

*6

— *6

Torque limit level 2

Torque limit level during acceleration

Torque limit level during deceleration

OLT level setting

Overspeed detection level

Deceleration check time

—

—

—

85

—

*6

*6

*6

*6



M: Item and output signal for monitoring

Parameters for the settings regarding the monitoring to check the inverter's operating status and the output signals for the monitoring.

Pr. group

M000

M001

M002

M020

M021

M022

M023

M030

M031

M040

M041

M042

M043

M044

M045

M050

M051

M052

M060

M100

M101

M102

M103

M104

M200

M201

M202

M203

M204

M205

M206

M207

37

505

144

170

563

268

891

171

564

55

56

866

241

290

1018

1106

1107

663

52

774

775

776

992

892

893

894

895

896

897

898

899

Pr.

1108

Name

Speed display

Speed setting reference

Speed setting switchover

Watt-hour meter clear

Energization time carryingover times

Monitor decimal digits selection

Cumulative power monitor digit shifted times

—

—

—

*6

*6

*6

Operation hour meter clear

Operating time carrying-over times

Frequency monitoring reference

—

—

—

*6

*6

*6

Current monitoring reference —

*6

Refer to page

—

*6

—

*6

—

*6

—

*6

Torque monitoring reference —

*6

Analog input display unit switchover

—

*6

Monitor negative output selection

—

*6

Monitor with sign selection

Torque monitor filter

—

*6

—

*6

Running speed monitor filter —

*6

Excitation current monitor filter

—

*6

Control circuit temperature signal output level


—

*6

109




Operation panel setting dial push monitor selection

109

109

109

109

—

*6

Load factor

Energy saving monitor reference (motor capacity)

Control selection during commercial power-supply operation

Power saving rate reference value

—

—

—

*6

*6

*6

Power unit cost —

*6

Power saving monitor average time

Power saving cumulative monitor clear

Operation time rate (estimated value)

—

—

—

*6

*6

*6

1

2

3

4

5

6

7

8

9

10

2. Parameter List


33

M320

M321

M330

M444

M446

M460

M461

M462

M463

M464

M406

M410

M411

M412

M413

M414

M415

M416

M420

M421

M422

M430

M431

M433

M440

M441

M442

M443

M333

M334

M400

M401

M402

M403

M404

M405

Pr. group

M300

M301

M310

M331

M332

50

865

150

151

152

153

167

Pr.

166

870

41

42

43

196

313

*5

314

*5

315

*5

316 *5

317 *5

318

*5

319

*5

320

*5

321 *5

322 *5

157

289

190

191

192

193

194

195

54

158

C0

(900)

*2

C1

(901) *2

867

C8

(930)

*2*4

C9

(930)

*2*4

C10

(931)

*2*4

C11

(931) *2*4

869

Name

Refer to page

FM/CA terminal function selection

110

AM terminal function selection

110

FM/CA terminal calibration —

*6

AM terminal calibration

AM output filter

Current output bias signal

Current output bias current

Current output gain signal

—

—

—

—

—

*6

*6

*6

*6

*6

Current output gain current —

*6

Current output filter —

*6


114

SU terminal function selection

114

IPF terminal function selection

114

OL terminal function selection

114

FU terminal function selection

114



114

114


114



114

114







114


114

OL signal output timer —

*6

Inverter output terminal filter —

*6

Output current detection signal retention time

—

*6

Speed detection hysteresis —

*6

Up-to-frequency sensitivity —

*6

—

*6

Output frequency detection

Output frequency detection for reverse rotation

Second output frequency detection

—

—

*6

*6

Low speed detection —

*6

Output current detection level —

*6

Output current detection signal delay time

—

*6

Zero current detection level —

*6

—

*6

Zero current detection time

Output current detection operation selection

—

*6

114

114

114

114

114

M530

M531

M532

M533

M534

M600

M601

M610

Pr. group

M470

M500

M501

M502

M510

M520

864

495

496

497

76

799

Pr.

M611

M612

655

656

657

658

659

863

*1

413

*1

635

*1

636

*1

637

*1

Name

Torque detection

Remote output selection



Fault code output selection

Pulse increment setting for output power

Analog remote output selection








Cumulative pulse clear signal selection




Cumulative pulse storage

—

*6

—

*6

—

*6

Refer to page

—

*6

—

*6

—

*6

—

*6

—

*6

—

*6

—

*6

—

*6

—

*6

—

*6

—

*6

—

*6

—

*6

—

*6

M613 638

*1



T: Multi-function input terminal parameters

Parameters for the setting of the input terminals via which commands are given to the inverter.

Pr. group

T000

T001

T002

T003

T004

T005

T006

T007

T010

T021

T022

T040

T041

T042

T050

T051

73

267

74

822

826

832

836

849

868

242

125

858

243

126

252

253

Pr.

Name

Analog input selection

Terminal 4 input selection

Input filter time constant

Speed setting filter 1


Speed setting filter 2


—

*6

—

*6

Analog input offset adjustment —

*6


—

*6


(terminal 2)


—

—

*6

*6



(terminal 4)


Refer to page

—

*6

—

*6

—

*6

—

*6

—

*6

—

—

—

*6

*6

*6

Override bias

Override gain

—

*6

—

*6



T701

T702

T703

T704

T705

T706

T707

T708

T709

Pr. group

T052

T053

573

777

Pr.

T054

T100

T101

T102

T103

T110

T111

T112

T113

T200

T201

T202

T203

T400

T401

T402

T403

T410

T411

T412

T413

T700

778

C4

(903)

*2

C5

(904)

*2

C6

(904)

*2

126

(905) *2

C7

(905) *2

C38

(932)

*2

C39

(932)

*2

C40

(933)

*2

C41

(933) *2

C16

(919) *2

C17

(919) *2

C18

(920)

*2

C19

(920)

*2

C2

(902)

*2

C3

(902) *2

125

(903) *2

C12

(917) *2

C13

(917)

*2

C14

(918)

*2

C15

(918)

*2

178

179

180

181

182

183

184

185

186

187

Name

4 mA input check selection

4 mA input fault operation frequency

4 mA input check filter

Terminal 1 bias frequency

(speed)

Terminal 1 bias (speed)

— *6

Terminal 1 gain frequency

(speed)

— *6

Terminal 1 gain (speed)

— *6













—

—

—

—

—

—

—

—

—

—

*6

*6

*6

*6

*6

*6

*6

*6

*6

*6








—

—

—

—

—

*6

*6

*6

*6

*6


—

*6

STF terminal function selection

STR terminal function selection

114

114

RL terminal function selection

114

RM terminal function selection

114

RH terminal function selection

114

RT terminal function selection

114

AU terminal function selection

114


114

CS terminal function selection

114


114

Refer to page

—

*6

—

*6

— *6

—

*6

Pr. group

T710

T711

T720

T721

T722

T730

T740

188

189

17

599

606

155

699

Pr.

Name



MRS input selection

X10 terminal input selection

Power failure stop external signal input selection

RT signal function validity condition selection

Input terminal filter

Refer to page

114

114

—

*6

—

*6

—

*6

1

2

3

—

*6

—

*6

4



C: Motor constant parameters

Parameters for the motor acceleration/deceleration characteristics.

Pr. group

C104

C105

C107

C108

C110

C111

C000

C100

C101

C102

C103

C112

C113

C114

C120

C121

C122

C123

C124

C125

C126

C140

C141

C148

C200

C201

C202

C203

C204

C205

C207

C208

94

82

859

369

*1

359

*1

376

*1

450

453

454

51

456

457

744

83

84

707

724

96

95

684

71

80

81

9

818

819

880

90

91

92

93

745

Pr.

Name

Tuning data unit switchover

Applied motor

Motor capacity


Rated motor current

Rated motor voltage




Auto tuning setting/status

Online auto tuning selection

Easy gain tuning response level setting

—

*6

Easy gain tuning selection




Motor constant (L1)/d-axis inductance (Ld)

Motor constant (L2)/q-axis inductance (Lq)

—

—

*6

*6

Motor constant (X)

Motor excitation current

Torque current



Encoder signal loss detection enable/disable selection

—

*6


Second motor capacity

—

*6

—

*6

Number of second motor poles —

*6

Rated second motor current —

*6

Rated second motor voltage —

*6

Rated second motor frequency —

*6

Second motor inertia (integer) —

*6


(exponent)

—

*6

—

*6

—

*6

—

*6

—

*6

—

*6

—

*6

—

*6

—

*6

—

*6

—

*6

—

*6

—

*6

—

*6

—

*6

—

*6

Refer to page

—

*6

—

*6

—

*6

—

*6

—

*6

2. Parameter List


35

5

6

7

8

9

10

Pr. group

C210

C211

C220

C221

C222

C223

C224

C225

C226

C240

C241

C242

C248

463

Pr.

574

458

459

460

461

462

455

860

851

*1

852

*1

862 *1

855

*1

Name

Refer to page

Second motor auto tuning setting/status

Second motor online auto tuning


—

—

*6

*6


—

*6

—

*6

Second motor constant (L1) —

*6


Second motor constant (X)

—

*6

—

*6

Second motor excitation current

—

*6

Second motor torque current —

*6





—

—

*6

*6

—

*6

Encoder option selection

Control terminal option-Signal loss detection enable/disable selection

—

*6



A: Application parameters

Parameters for the setting of a specific application.

Pr. group

A107

A164

A170

A171

A200

A201

A202

A203

A204

A205

A206

A546

A700

A701

A702

A703

A704

A705

285

1410

1411

270

271

272

273

274

275

276

829 *1

162

299

57

58

163

164

Pr.

1404

Name

Refer to page

Overspeed detection frequency


Starting times lower 4 digits

Starting times upper 4 digits

Stop-on contact/load torque high-speed frequency control selection

High-speed setting maximum current

Middle-speed setting minimum current

Current averaging range

Current averaging filter time constant

Stop-on contact excitation current low-speed scaling factor

PWM carrier frequency at stopon contact

Number of machine end encoder pulses

Automatic restart after instantaneous power failure selection

Rotation direction detection selection at restarting

Restart coasting time

Restart cushion time

First cushion time for restart

First cushion voltage for restart

—

*6

59

—

*6

—

*6

—

*6

—

*6

—

*6

—

*6

—

*6

—

*6

—

*6

—

*6

—

*6

—

*6

—

*6

—

*6

—

*6

—

*6

Pr. group

A710

A711

A712

A800

A801

A802

A803

A804

165

298

560

414

415

416

417

498

Pr.

1042

1043

1044

1045

1046

1037

1038

1039

1040

1041

1047

1026

1027

1028

1029

1030

1031

1032

1033

1034

1035

1036

675

1150 to

1199

1020

1021

1022

1023

1024

1025

A934

A935

A936

A937

A938

A920

A930

A931

A932

A933

A939

A906

A910

A911

A912

A913

A914

A915

A916

A917

A918

A919

A805

A810 to

A859

A900

A901

A902

A903

A904

A905

Name

Refer to page

Stall prevention operation level for restart

Frequency search gain

—

*6

—

*6

Second frequency search gain —

*6

PLC function operation selection

—

*6

Inverter operation lock mode setting

—

*6

Pre-scale function selection

Pre-scale setting value

—

*6

—

*6

PLC function flash memory clear

User parameter auto storage function selection

PLC function user parameters

1 to 50

Trace operation selection

—

—

—

*6

*6

*6

Trace mode selection

Sampling cycle

Number of analog channels

—

*6

—

*6

—

*6

—

*6

Sampling auto start

Trigger mode selection

—

*6

—

*6

Number of sampling before trigger

—

*6

Analog source selection (1ch)

110


110


110


110


110


110


110


110

Analog trigger channel —

*6

Analog trigger operation selection

—

*6

Analog trigger level —

*6

Digital source selection (1ch) —

*6


*6


*6


*6


*6


*6


*6


*6

Digital trigger channel —

*6

Digital trigger operation selection

—

*6



B: Position control parameters

Parameters for the position control setting.

Pr. group

B003 422

Pr.

Name

Position control gain

Refer to page

—

*6





N: Communication operation parameters

Parameters for the setting of communication operation such as the communication specifications or operating characteristics.

Pr. group

N000 549

Pr.

N001

N002

N010

N013

N014

N020

N021

N022

N023

N024

N025

N026

N027

N028

N030

N031

N032

N033

N034

N035

N036

N037

N038

N040

N041

N080

N100

N103

N240

N500 to

N543

342

539

349 *3

502

779

117

118

119

119

120

121

122

123

124

331

332

333

333

334

335

336

337

341

547

548

343

541 *3

544 *3

349 *3

1300 to

1343

Name

Refer to page

73


Communication EEPROM write selection

MODBUS RTU communication check time interval

Communication reset selection

Stop mode selection at communication error

Operation frequency during communication error

PU communication station number

—

—

—

—

—

—

*6

*6

*7

*6

*6

*6

PU communication speed

PU communication data length

—

*6

PU communication stop bit length

—

*6

PU communication parity check

—

*6

PU communication retry count

—

*6

PU communication check time interval

PU communication waiting time setting

—

—

*6

*6

PU communication CR/LF selection

RS-485 communication station number

—

—


73

*6

*6






RS-485 communication waiting time setting

RS-485 communication CR/LF selection

USB communication station number

USB communication check time interval

73

73

73

73

73

—

—

—

—

*6

*6

*6

*6

Communication error count

— *6

— *6

Frequency command sign selection

— *7


96

Ready bit status selection

— *7



Pr. group

N644

N650

N651

N660

N661

N662

N663

N664

N665

N666

N670

N671

N672

N673

N674

N675

N681

N682

Pr.

N550 to

N559

N600

N601

N602

N603

N610

N611

N612

N613

N630

N631

N632

N641

N642

N643

1350 to

1359

1434

*3

1435

*3

1436

*3

1437

*3

1438

*3

1439

*3

1440

*3

1441

*3

1427

*3

1428

*3

1429

*3

1426

*3

1455

*3

1431

*3

1432

1424

1425

*3

1442

*3

1443

*3

1444

*3

1445

*3

1446

1447

1448

1449

1450

1451

1452

1453

1454

1124

1125

*3

*3

*3

*3

*3

*3

*3

*3

*3

*3

*3

*3

*3

Name

Refer to page




77



77

77


77

Subnet mask 1

Subnet mask 2

Subnet mask 3

Subnet mask 4

—

*7

—

*7

—

*7

—

*7

Ethernet function selection 1 —

*7

Ethernet function selection 2 —

*7


77

Link speed and duplex mode selection

Keepalive time

Ethernet signal loss detection function selection

Ethernet communication check time interval

Ethernet communication network number

Ethernet communication station number

IP filter address 1 (Ethernet)

—

—

—

—

—

—

*7

*7

*7

*7

*7

*7



—

*7

—

*7

—

*7

—

*7











Station number in inverter-toinverter link

Number of inverters in inverter-to-inverter link system

—

—

—

—

—

—

—

—

—

—

—

*7

*7

*7

*7

*7

*7

*7

*7

*7

*7

*7

1

2

3

4

5

6

7

8

9

10

2. Parameter List


37



(G) Control parameters

Parameters for motor control.

Pr. group

G000

G001

G002

G003

G010

G011

G060

G061

G080

G100

G101

G102

G103

G106

G107

G108

G110

G120

G121

G122

G123

G124

G125

G130

G131

G132

G200

G201

G202

G203

G204

G205

0

3

19

14

46

47

673

674

617

10

11

802

850

250

70

12

882

883

884

885

886

665

660

661

662

800

85

86

245

246

247

Pr.

1299

Name

Refer to page

—

*6

Torque boost

Base frequency

Base frequency voltage

Load pattern selection

Second torque boost

Second V/F (base frequency) —

*6

SF-PR slip amount adjustment operation selection

—

*6

SF-PR slip amount adjustment gain

Reverse rotation excitation current low-speed scaling factor

DC injection brake operation frequency

DC injection brake operation time

—

—

—

—

*6

*6

*6

*6

Pre-excitation selection

Brake operation selection

Stop selection

—

*6

—

*6

—

*6


Second pre-excitation selection

DC injection brake operation voltage

Regeneration avoidance operation selection

Regeneration avoidance operation level

Regeneration avoidance at deceleration detection sensitivity

Regeneration avoidance compensation frequency limit value

Regeneration avoidance voltage gain

Regeneration avoidance frequency gain

Increased magnetic excitation deceleration operation selection

Magnetic excitation increase rate

Increased magnetic excitation current level

*6

*6

*6

*6

*6

*6

*6

*6

*6

*6

*6

*6


Rated slip

—

*6

Excitation current break point —

*6

Excitation current low-speed scaling factor

—

*6

—

*6

Slip compensation time constant

Constant output range slip compensation selection

—

—

—

—

—

—

—

—

—

—

—

—

—

—

*6

*6

—

*6

—

*6

—

*6

—

*6

G302

G311

G312

566

830

831

877

847

848

367

*1

368

*1

1121

1117

878

879

*4

881

828

840

841

842

843

844

845

846

1119

1348

1349

451

565

G220

G237

G238

G240

G241

G260

G261

G221

G222

G223

G224

G230

G231

G232

G233

G234

G235

G236

G262

G263

G264

G300

G301

G214

G215

G216

G217

G218

Pr. group

G206

Pr.

1116

G210

G211

G212

803

820

821

G213 824

825

823

*1

827

854

1115

Name

Refer to page

Constant output range speed control P gain compensation

Constant output range torque characteristic selection


—

—

*6

*6

—

*6

Speed control integral time 1 —

*6



Torque control integral time 1

(current loop integral time)

—

—

*6

*6



Excitation ratio

—

*6

—

*6

—

*6

Speed control integral term clear time


Speed feed forward filter

—

—

—

*6

*6

*6

Speed feed forward torque limit

—

*6

Speed feed forward gain


Torque bias selection

Torque bias 1

Torque bias 2

Torque bias 3

Torque bias filter

Torque bias operation time

—

*6

—

*6

—

*6

Torque bias balance compensation

Fall-time torque bias terminal 1 bias

Fall-time torque bias terminal 1 gain

Speed feedback range

—

—

—

*6

*6

*6

Feedback gain

—

*6

—

*6

Per-unit speed control reference frequency


Model speed control gain (perunit system)

P/PI control switchover frequency

Emergency stop operation selection

Second motor control method selection

Second motor excitation current break point

Second motor excitation current low-speed scaling factor

—

—

—

—

—

—

—

—

*6

*6

*6

*6

*6

*6

*6

*6

Speed control P gain 2 —

*6

Speed control integral time 2 —

*6

—

*6

—

*6

—

*6

—

*6

—

*6



Pr. group

G313

G314

G315

G316

G361

G400

G401

G402

G403

G404

G410

G411

G420

G421

G422

G423

G424

G932

G942

834

835

833

*1

837

286

287

994

995

653

654

679

681

682

Pr.

1118

288

680

683

89

569

Name

Refer to page



Torque control integral time 2

(current loop integral time)


—

—

*6

*6



—

*6

—

—

*6

*6

Droop gain

Droop filter time constant

— *6

—

*6

Droop function activation selection

Droop break point gain

—

*6

Droop break point torque

—

*6

—

*6

— *6

Speed smoothing control

Speed smoothing cutoff frequency

— *6

Second droop gain

Second droop filter time constant

Second droop function activation selection

—

—

—

*6

*6

*6

Second droop break point gain

—

*6

Second droop break point torque

—

*6

Speed control gain (Advanced magnetic flux vector)

Second motor speed control gain

—

—

*6

*6

*1 The setting is available only when a plug-in option that supports Vector control is installed.

*2 The parameter number in parentheses is that used

(displayed) on the LCD operation panel and the parameter unit.

*3 The setting is available for the Ethernet models only.

*4 The setting is available for the CA type only.

*5 The setting is available when the PLC function is enabled.

( Pr.313 to Pr.315

are always available for settings in the

Ethernet models.)

*6 For the details, refer to the FR-A800 Instruction Manual

(Detailed) in the enclosed CD-ROM.

*7 For the details, refer to the Ethernet Function Manual in the enclosed CD-ROM.

3

4

1

2

5

6

7

8

9

10

2. Parameter List


39

3

A800-AWH mode

This chapter explains how to change the operation mode from the standard mode to the A800-AWH mode, and how to switch between each of operation modes.

3.1

Switching operation mode

The operation modes are as follows.

Operation mode

Position feed

Speed feed

Fork control

Standard mode

Description

Move the crane toward the target position using the distance meter.

Refer to page

61

Move the crane in speed control according to the start command.

Move the fork in speed control using the second motor. (Used only when one inverter is used to switch operation between two motors.)

79

43

Operation is the same as that of the FR-A800 standard inverter (some functions are unavailable).

123

Refer to the following for switching the operation mode. (Switch the operation mode when the inverter is stopped. When the operation mode is switched during inverter operation, the mode is changed after the inverter is stopped.)

A800-AWH mode / full-closed control test operation / standard mode

Full-closed control

Position feed / speed feed

X109 signal OFF

Position feed A800-AWH mode

A800-AWH mode enabled

(Vector control test operation)

X109 signal ON

Speed feed

A800-AWH mode


A800-AWH mode disabled

Full-closed control / fork control

Full-closed control

X108 signal = OFF or Pr.450

= "9999"

X108 signal = ON and Pr.450

≠ "9999"

Position feed / speed feed

X109 signal OFF

Position feed

X109 signal ON

Speed feed

Fork control

Standard mode

40 3. A800-AWH mode

3.1 Switching operation mode

3.2

Selecting A800-AWH mode

1

The following conditions must be satisfied to enable the A800-AWH mode. (When the A800-AWH mode is disabled, the standard mode is selected.)

• Pr.60 A800-AWH mode selection = "1"

• Pr.100 Reference travel speed ≠ "9999"

• The X113 signal is ON.

• Vector control ("0" is set in Pr.800 Control method selection or Pr.451 Second motor control method selection ), Real sensorless vector control ("10" is set in Pr.800

or Pr.451

), Advanced magnetic flux vector control, or V/F control is selected.

• Network operation mode

• Pr.338 Communication operation command source = "0 (initial value)"

• Pr.339 Communication speed command source = "0 (initial value)"

2

3

4

5

NOTE

• In switchover mode ( Pr.79

= "6"), the operation mode can be changed from NET operation to PU operation during operation, and the setting frequency can be changed using the operation panel or parameter unit.

6

3.2.1

A800-AWH mode selection (Pr.60)

Set the availability of the A800-AWH mode (initial setting: A800-AWH mode disabled (standard mode)).

Pr.

60

W000,

W100

Name

A800-AWH mode selection 0

Initial value

0

1

2

Setting range Description



Full-closed control test operation



Full-closed control test operation (Pr.60 = "2")

A test operation for full-closed control is available without connecting a motor or distance meter to the inverter.

The speed calculation changes to track the speed command, and such speed changes can be checked on the operation panel or by outputting it as analog signals to terminal FM/CA or AM.

All the following conditions must be satisfied to enable the full-closed control test operation.

• Pr.60

= "2"

• The X108 and RT signals are OFF (full-closed control is enabled and the first motor is selected).

• Vector control test operation is selected ("9999" is not set in Pr.80 Motor capacity and Pr.81 Number of motor poles , and "9" is set in Pr.800 Control method selection ).

7

8

9

10

NOTE

• Since current is not detected and voltage is not output, the monitor items related to current and voltage, such as output current and output voltage, and output signals, are invalid.

• For speed calculation, speed is calculated in consideration of Pr.880 Load inertia ratio .

• During the full-closed control test operation, dual feedback control is disabled, and the distance meter fault and the distance meter alarm (system failures) are not detected.



I/O signal status during the test operation

For details on the signals disabled during the test operation, refer to the FR-A800 Instruction Manual (Detailed).



Status of the monitoring during the test operation

○ : Enabled

—: Disabled

Monitor item

Crane position data compensation total count

Speed command (Frequency command after position loop compensation)

○

Monitoring on DU/

PU

○

Output via FM/CA/

AM

—

○

3. A800-AWH mode

3.2 Selecting A800-AWH mode

41

Monitor item

○

○


PU

○

○


AM

Crane speed

Model speed

Speed command (Speed command created to output)

Speed command (Frequency command after droop compensation)

Position command (lower digits)

Position command (upper digits)

Current position (lower digits)

Current position (upper digits)

System failure code

○

○

○

○

○

○

○

○

○

—

—

—

—

—

*1 The monitoring-enabled items differ depending on the output interface (operation panel, parameter unit, terminal FM/CA, or terminal AM). For the

details, refer to page 110 .

NOTE

• For other monitor items, refer to the FR-A800 Instruction Manual (Detailed).

3.2.2

Reference travel speed (Pr.100) and Acceleration/ deceleration reference frequency (Pr.20)

Set the frequency that is the basis of acceleration/deceleration time and the crane travel speed.

Pr.

Name

Initial value

FM CA


20

F000

100

W001



60 Hz

9999

50 Hz 1 to 590 Hz

1 to 600 m/min

9999

Set the reference frequency for the acceleration/deceleration time and the crane travel speed. As acceleration/deceleration time, set the time required to change the frequency from stop status (0 Hz) to the frequency set in Pr.20

and vice versa.

Set the crane travel speed when the operation is at the frequency set in Pr.20

. (The setting is enabled regardless of the Pr.760

setting.)




Reference travel speed (Pr.100) and Acceleration/deceleration reference frequency (Pr.20)

Use Pr.100 Reference travel speed to set the crane travel speed when the operation is at the frequency set in Pr.20

Acceleration/deceleration reference frequency . (In the initial setting ( Pr.100

= "9999"), the A800-AWH mode is disabled.)

3.2.3

A800-AWH mode selection (X113) signal

• Turning ON/OFF the X113 signal can switch the operation mode between the A800-AWH mode and standard mode. (The operation mode is changed to the A800-AWH mode by turning ON the X113 signal, and to the standard mode by turning

OFF the X113 signal.)

42 3. A800-AWH mode

3.2 Selecting A800-AWH mode

3.3

Full-closed control / fork control

1

3.3.1

Second applied motor (Pr.450) and Fork selecting

(X108) signal

• When the A800-AWH mode is enabled, the operation mode can be switched between full-closed control and fork control according to the combination of the Pr.450 Second applied motor setting and the X108 signal status as follows.

Pr.450 setting

Other than 9999

Other than 9999

9999 (initial value)


OFF

ON

OFF

ON

X108 signal Control method

Full-closed control

Fork selecting

Full-closed control

Full-closed control

2

3

4

5

• The parameters for the following functions differ depending on selected control.

Torque boost

Base frequency

Acceleration time

Function

Deceleration time

S-curve acceleration time

S-curve deceleration time

Electronic thermal O/L relay

Free thermal O/L relay

Motor permissible load level

Stall prevention

Applied motor

Motor constant

Full-closed control

Pr.0

Pr.3

Pr.7, Pr.110

*1

Pr.8, Pr.110, Pr.111

*1

Pr.516, Pr.753

*1

Pr.517, Pr.754

*1

Pr.9

Pr.600 to Pr.604

Pr.607

Pr.22

Pr.71

Pr.80 to Pr.84, Pr.90 to Pr.94, Pr.298,

Pr.707, Pr.724, Pr.859

Pr.85, Pr.86

Fork control

Pr.46

Pr.47

Pr.44

Pr.44, Pr.45

*2

Pr.518

Pr.519

Pr.51

Pr.692 to Pr.696

Pr.608

Pr.48, Pr.49

Pr.450

Pr.453 to Pr.457, Pr.560, Pr.458 to Pr.462,

Pr.744, Pr.745, Pr.860

Pr.565, Pr.566

Excitation current low-speed scaling factor

Speed control gain (Advanced magnetic flux vector)

Offline auto tuning

Online auto tuning

Droop control

Motor control method

Speed control gain

Analog input filter

Speed detection filter

Torque control gain

Torque detection filter

Pr.89

Pr.96

Pr.95

Pr.286 to Pr.288, Pr.994, Pr.995

Pr.800

Pr.820, Pr.821

Pr.822, Pr.826

Pr.823

Pr.824, Pr.825

Pr.827

Pr.569

Pr.463

Pr.574

Pr.679 to Pr.683

Pr.451

Pr.830, Pr.831

Pr.832, Pr.836

Pr.833

Pr.834, Pr.835

Pr.837

*1 Switch ON/OFF the X110 signal to select the acceleration/deceleration time setting. (Refer to

page 48

.)

*2 When Pr.45

= "9999", the Pr.44

setting value is used.

NOTE

• The second functions are enabled when the X108 or RT signal turns ON.

• To input the X108 signal, set "108" in any parameter from Pr.178 to Pr.189 (Input terminal function selection) to assign the function. (If the X108 signal is not assigned to any input terminal in A800-AWH mode, the operation is performed in the fullclosed control.)

6

7

8

9

10

3.3.2

Selecting fork control

The fork control is an operation mode to move the fork of the logistics/transport equipment according to the set frequency while the start command is input via communication. (Used only when one inverter is used to drive two motors.)

(For selecting fork control, refer to page 40

.)

3. A800-AWH mode

3.3 Full-closed control / fork control

43



Fork selecting operation

Selecting fork control is enabled during speed control operation. The speed command pattern is set in the parameters for selecting fork control (setting frequency, acceleration/deceleration time, and S-curve acceleration/deceleration time).

The fork decelerates to stop when the start command is turned OFF during operation.

Pr.518

Pr.518

Pr.519

Pr.519

Pr.518

/2 Pr.518

/2 Pr.519

/2 Pr.519

/2

Set frequency

Speed command

Time

T1acc

T2acc

Start command

Calculate the actual acceleration/deceleration time by the following formula.

• T1acc = (Set frequency - Pr.13

) × Pr.44

/ Pr.20

• T2acc = T1acc + Pr.518

• T1dec = (Set frequency - Pr.10

) × Pr.45

/ Pr.20

• T2dec = T1dec + Pr.519

T1dec

T2dec

3.3.3

Acceleration/deceleration pattern selection for selecting fork control

Set the acceleration/deceleration pattern for selecting fork control.

Pr.

44

F020

45

F021

518

W110

519

W111

Name



5 s

Initial value

9999



0.1 s

0.1 s

Setting range

0 to 3600 s

0 to 3600 s

9999

0.1 to 2.5 s

0.1 to 2.5 s

Description

Set the acceleration/deceleration time for the second motor (time required to change the frequency from stop status (0 Hz) to the frequency set in Pr.20

) for selecting fork control.

Set the deceleration time for the second motor (time required to change the frequency from the frequency set in Pr.20

to stop status (0 Hz)) for selecting fork control.

The acceleration time applies to the deceleration time.

Set the time required for acceleration (S-pattern) of Spattern acceleration/deceleration for the second motor for selecting fork control.

NOTE

• For the functions other than the acceleration/deceleration pattern for selecting fork control (the X108 signal is ON), refer to

page 43

.

• The specifications of the acceleration/deceleration time or S-curve acceleration/deceleration time set in Pr.44, Pr.45, Pr.518, and Pr.519

are the same as those set in Pr.7, Pr.8, Pr.516, and Pr.517

. Refer to the description on

page 48

.

3.3.4

Restrictions for selecting fork control

When fork selecting is enabled, some functions have restrictions as shown in the following table.

Function name

Stop mode selection at communication error ( Pr.502

)

Description

The Pr.502 Stop mode selection at communication error setting is disabled. (The operation is the same as the one when Pr.502

= "0".)

44 3. A800-AWH mode

3.3 Full-closed control / fork control

3.4

Position feed / speed feed switching (X109) signal

• Turning ON/OFF the X109 signal can switch the operation mode between the position feed and speed feed. (The operation mode is changed to the position feed by turning OFF the X109 signal, and to the speed feed by turning ON the X109 signal.)

NOTE

• To input the X109 signal, set "109" in any parameter from Pr.178 to Pr.189 (Input terminal function selection) to assign the function. (If the X109 signal is not assigned to any input terminal under full-closed control, the operation is performed in the position feed.)

2

3

4

1

8

9

10

5

6

7

3. A800-AWH mode

3.4 Position feed / speed feed switching (X109) signal

45

4


This chapter explains the full-closed control, a control function to operate the logistics/transport equipment using a distance meter and a host controller.

The inverter receives the current position data detected by the distance meter, and the position loop compensation is performed so that the logistics/transport equipment travels accurately.

(For switching the control mode to the full-closed control, refer to

page 40 .) When the full-closed control is enabled, the

operation mode can be switched between the position feed and the speed feed using the X109 signal.



Control block diagram

• V/F control, Advanced magnetic flux vector control

Notch filter disabled

Pr.355

=“9999”

Notch filter enabled

Pr.355

“9999”

Notch filter

Pr.355, Pr.356

+

+

-

Anti-sway control (notch filter and model adaptive control)

Model adaptive control

Crane model adaptive position loop gain

Pr.357

+

-

Model speed control gain

Pr.828

Model adaptive control enabled

Pr.877

=“2”

Integral Integral

Stop position command

Set frequency

Acceleration/ deceleration time

S-curve acceleration/ deceleration time

Speed command created

Integral

Model adaptive control disabled

Pr.877

“2”


Pr.877

=“2”

+


Pr.877

“2”

Position loop

Pr.105 to Pr.109,

Pr.113 to Pr.115

+

-


Pr.877

=“2”

+

Frequency command after position loop

Distance detection filter

Pr.363

Current position

Distance meter

46 4. Full-closed control

• Real sensorless vector control


Pr.355

=“9999”


Pr.877

=“2”


Pr.355

“9999”

Notch filter

Pr.355, Pr.356

+

-

+


-


Crane model adaptive position Model speed loop gain

Pr.357

+ control gain

Pr.828

J

Torque coefficient

Integral Integral

0


Set frequency




Integral


Pr.877

“2”


Pr.877

=“2”


Pr.877

=“2”


Pr.877

“2”

-

+

Position loop

Pr.105 to Pr.109,

Pr.113 to Pr.115

+

+


Pr.877

=“2”

Speed control

+

+

Torque control

IM

1

2

3

4


Pr.877

“2”

5

6

7


Pr.363

Current position Distance meter

• Vector control


Pr.877

=“2”


Pr.355

=“9999”


Pr.355

“9999”


Notch filter

Pr.355, Pr.356

+

-

+

-



Pr.357

+


Pr.828

J

Torque coefficient

Integral Integral

0

8

9

10


Set frequency




Integral


Pr.877

“2”


Pr.877

=“2”


Pr.877

=“2”


Pr.877

“2”

-

+

Position loop

Pr.105 to Pr.109,

Pr.113 to Pr.115

+


Pr.877

=“2”

+

Speed control

+

+

Torque control


Pr.877

“2”

IM

Dual feedback control

Pr.362

PLG


Pr.363

Current position

Distance meter

4. Full-closed control 47

4.1

Full-closed control related parameter

The following parameters are related to the full-closed control.

4.1.1

Acceleration/deceleration pattern selection under full-closed control

During full-closed control, acceleration/deceleration patterns can be set according to the application.

7

F010

8

F011

Pr.

Name



Initial value

5 s

*1

15 s

*2

5 s

*1

15 s

*2

Setting range

0 to 3600 s

0 to 3600 s

Description

Set the crane acceleration time (time required to change the frequency from stop status (0 Hz) to the frequency set in Pr.100

).

Set the crane deceleration time (time required to change the frequency from the frequency set in

Pr.100

to stop status (0 Hz)).

516

W072

517

W073

S-curve acceleration time 0.1 s

S-curve deceleration time 0.1 s

0.1 to 2.5 s

0.1 to 2.5 s

Set the time required for acceleration (S-pattern) of

S-pattern acceleration/deceleration.

110

W070

111

W071

753

W074

754

W075



5 s

9999



0.1 s

0.1 s

0 to 3600 s

9999

0 to 3600 s

9999

0.1 to 2.5 s

0.1 to 2.5 s

Set the acceleration/deceleration time when the

X110 signal is ON.

Third acceleration/deceleration is disabled.

Set the deceleration time when the X110 signal is

ON.

The acceleration time applies to the deceleration time.

Set the third S-curve acceleration time when the

X110 signal is ON.

Set the third S-curve deceleration time when the

X110 signal is ON.

*1 Initial value for the FR-A820-00490(7.5K) or lower and FR-A840-00250(7.5K) or lower.

*2 The initial value for the FR-A820-00630(11K) or higher and FR-A840-00310(11K) or higher.



Acceleration time setting (Pr.7, Pr.20)

• Use Pr.7 Acceleration time to set the acceleration time required to change the frequency from stop status (0 Hz) to the frequency set in Pr.20 Acceleration/deceleration reference frequency .

• Set the acceleration time according to the following formula.

Acceleration time setting = Pr.20

× Acceleration time from stop status to maximum frequency / Maximum frequency

• For example, when the output frequency is increased to the maximum frequency of 50 Hz in 10 seconds with Pr.20

= 60

Hz (initial value), the Pr.7

setting value is calculated as follows.

Pr.7

= 60 Hz × 10 s / 50 Hz = 12 s

Pr.20

(60Hz/50Hz)

Set frequency

Output frequency

(Hz)

Time

Acceleration time

Pr.7

Pr.44

Pr.110

Deceleration time

Pr.8

Pr.45

Pr.111



Deceleration time setting (Pr.8, Pr.20)

• Use Pr.8 Deceleration time to set the deceleration time required to change the frequency from the frequency set in Pr.20

Acceleration/deceleration reference frequency to stop status.


4.1 Full-closed control related parameter

• Set the deceleration time according to the following formula.

Deceleration time setting = Pr.20

× Deceleration time from maximum frequency to stop / Maximum frequency

• For example, when the output frequency is decreased from the maximum frequency of 50 Hz in 10 seconds with Pr.20

=

120 Hz, the Pr.8

setting value is calculated as follows.

Pr.8

= 120 Hz × 10 s / 50 Hz = 24 s

1

2

NOTE

• If the acceleration/deceleration time is set, the actual motor acceleration/deceleration time cannot be made shorter than the shortest acceleration/deceleration time determined by the mechanical system J (moment of inertia) and motor torque.

• If the Pr.20

setting is changed, the Pr.125 and Pr.126 (frequency setting signal gain frequency) settings do not change.

Set Pr.125 and Pr.126

to adjust the gains.

3

4



Setting multiple acceleration/deceleration times (X110 signal, Pr.110,

Pr.111, Pr.753, Pr.754)

• Switch ON/OFF the X110 (Acceleration/deceleration pattern selection under full-closed control) signal to select the acceleration/deceleration time setting. (Select the time setting when the inverter is stopped. When the time setting is selected during inverter operation, the setting is changed after the inverter is stopped.)

OFF

X110 signal

ON


Pr.7

*1

Pr.110

*1


Pr.8

*1

Pr.111

*1


Pr.516

Pr.753


Pr.517

Pr.754

5

6

7

*1 When the acceleration/deceleration time is set by the master, the setting in the master is valid regardless of the ON/OFF state of the X110 signal.

• To input the X110 signal, set "110" in any parameter from Pr.178 to Pr.189 (Input terminal function selection) to assign the function to a terminal.

• When "9999" is set in Pr.111

, the deceleration time becomes equal to the acceleration time (time set in Pr.110

).

8

NOTE

• The X110 signals can be assigned to an input terminal by setting Pr.178 to Pr.189 (Input terminal function selection).

Changing the terminal assignment may affect other functions. Set parameters after confirming the function of each terminal.

9



Setting S-curve acceleration/deceleration time (Pr.516, Pr.517, Pr.753,

Pr.754)

• Set the time required for S-pattern operation part of S-pattern acceleration/deceleration with Pr.516, Pr.517, Pr.753, and

Pr.754

.

Set the time for acceleration (Pr.516 or Pr.753) and the time for deceleration (Pr.517 or Pr.754) .

• When S-pattern acceleration/deceleration is set, the acceleration/deceleration time becomes longer, as shown below. The set acceleration/deceleration time indicates the actual time taken for linear acceleration/deceleration as calculated based on Pr.7, Pr.8, Pr.110, and Pr.111

.

10

Actual acceleration time = set acceleration time + S-curve acceleration time / 2

Actual deceleration time = set deceleration time + S-curve deceleration time / 2

• An example of S-pattern acceleration/deceleration operation is shown on page 61

.

NOTE

• Even if the start signal is turned OFF during acceleration, the inverter does not decelerate immediately to avoid sudden frequency change. (Likewise, the inverter does not immediately accelerate when deceleration is changed to re-acceleration by turning the start signal ON during deceleration, etc.)

4. Full-closed control


49

4.1.2


Set Pr.112 Distance measurement direction setting according to whether the distance data sent from the distance meter increases or decreases when the forward rotation command is given. (In the initial setting, the distance data increases when the forward rotation command is given, and decreases when the reverse rotation command is given.)

Pr.

112

W080

Name


0

Initial value

0

1


Forward rotation command: The distance data is increased.

Reverse rotation command: The distance data is decreased.

Forward rotation command: The distance data is decreased.

Reverse rotation command: The distance data is increased.

4.1.3

Brake sequence

This function outputs operation timing signals of the mechanical brake from the inverter.

This function is useful in preventing load slippage at a start due to poor mechanical brake timing and overcurrent alarm in stop status and enable secure operation.

Pr.

278

W221

279

W222

Name


V/F Magnetic flux


V/F Magnetic flux

Initial value

3 Hz

130%

Setting range

0 to 30 Hz

0 to 400%

Description

Set the rated slip frequency of the motor + approx. 1.0

Hz.

Set between 50% and 90% because load slippage is more likely to occur when a start setting is too low. The inverter rated current is regarded as 100%.

280

W223


0.3 s 0 to 2 s Generally set between 0.1 and 0.3 second.

281

W200

282

W201

283

W224

Brake operation time at start 0.3 s


Brake operation time at stop

6 Hz

0.3 s

0 to 5 s

0 to 30 Hz

0 to 5 s

350

W210

351

W225

352

W226

353

W227


Brake operation time at start 2

3 s

9999


9999


9999

0 to 30 s

0 to 2 s

9999

0 to 1000 mm

9999

1

9999

Set the mechanical delay time until braking eases.

Turn OFF the Brake opening request (BOF) signal and set the frequency for operating the electromagnetic brake.

Set the time required to shut off the inverter output after the BOF signal is turned OFF.

Set the time required to turn OFF the BOF signal after the motor speed reaches the Pr.282

setting during deceleration.

Set the brake operation time at start.

Brake operation time at start 2 disabled.

The BOF signal is turned OFF when the current position is within the distance set in Pr.352

away from the stop position.

Pr.104

setting value is effective. (Refer to page 68 .)

The BOF signal is turned OFF according to the Pr.104

or Pr.352

setting. The BOF signal is also turned OFF when the frequency command is 0 Hz during the position feed.

The BOF signal is turned OFF according to Pr.104

or

Pr.352

setting.





Connection example

Sink logic

Pr.184

=15

Pr.190

=20

MCCB

MC

Mechanical brake

1

2

Power supply

Start signal

Brake opening completion signal (BRI)

R/L1

S/L2

T/L3

STF

AU(BRI) ∗1

∗2

RUN(BOF)

U

V

W

Motor

∗3 MC

DC24V

Brake opening request signal (BOF)

3

4

SD SE

*1 The input signal terminals differ by the settings of Pr.178 to Pr.189

.

*2 The output signal terminals differ by the settings of Pr.190 to Pr.196

.

*3 Be careful of the permissible current of the built-in transistors on the inverter. (24 VDC 0.1 A)

NOTE

• To use this function, set the acceleration/deceleration time to 1 second or longer.

5

6



Brake opening completion (BRI) signal and Brake opening request (BOF) signal

• Set "15" in any parameter from Pr.178 to Pr.189 (Input terminal function selection) to assign the Brake opening completion (BRI) signal to the input terminal.

• Set "20 (positive logic) or 120 (negative logic)" in any parameter from Pr.190 to Pr.196 (Output terminal function selection) , and assign the Brake opening request (BOF) signal to the output terminal.

• The brake sequence fault is detected when the status of the BRI signal remains the same after the status of the BOF signal is changed (refer to

page 94

).

7

8

9

NOTE

• Changing the terminal assignment using Pr.178 to Pr.189 (Input terminal function selection) and Pr.190 to Pr.196 (Output terminal function selection) may affect the other functions. Set parameters after confirming the function of each terminal.

10



Operation under Vector control

• The brake is released or activated by turning ON or OFF the Brake opening request (BOF) signal. The following table shows the conditions to turn ON or OFF the BOF signal.

ON

ON/OFF

OFF

Condition

Position feed Speed feed

When the estimated magnetic flux value reaches the specified value after the Pre-excitation (LX) signal or the start signal is turned ON.

When the inverter output is shut off.

When the time set in Pr.350 Brake operation time at deceleration elapses after the speed is reduced to the level set in Pr.282 Brake operation frequency in the BOF-OFF condition monitoring zone (time period from when deceleration starts at the target position or by turning OFF the start signal until the BOF signal is turned OFF or the next position feed operation starts).

When the time set in Pr.350 Brake operation time at deceleration elapses after the speed is reduced to the level set in Pr.282 Brake operation frequency in the BOF-OFF condition monitoring zone (time period from when deceleration starts by turning OFF the start signal until the

BOF signal is turned OFF or the next speed feed operation starts).

• When the LX signal is used, the LX signal is turned ON first, then the BOF signal is turned ON, and after the time period set in Pr.281 Brake operation time at start , the output frequency is increased to the set speed. (The output frequency is also increased when the start signal is turned ON within the time period set in Pr.281

.)

• When the LX signal is not used, the start signal is turned ON first, then the BOF signal is turned ON, and after the time period set in Pr.281 Brake operation time at start , the output frequency is increased to the set speed.



51

• When any of the following occurs while the time period is counted for Pr.350 Brake operation time at deceleration , the counting stops and the counted time is reset.

When the time period set in Pr.350

expires, when the output is shut off, and when the next position feed / speed feed operation starts.

 Basic operation example (position feed)

• When the LX signal is used

Motor speed

BOF-OFF condition monitoring zone

Pr.281

Brake operation time at start

Actual speed

Pr.350

Brake operation time at deceleration

Pr.282

Brake operation frequency

Pre-excitation (LX) signal

Start signal


(BOF) signal

The signal turns ON when the value of magnetic flux in the inverter reaches the specified value.

Operation ready 2

(RY2) signal

• When the LX signal is not used

Motor speed

Pr.281

Actual speed



Time

Pr.350


Pr.282


Start signal


(BOF) signal

Operation ready 2

(RY2) signal


Time



 Basic operation example (when the start signal is turned OFF during speed feed / position feed)

• When the LX signal is used

Motor speed


Pr.281


Actual speed

Pr.350


1

2

3

Pr.282


Time


Start signal


(BOF) signal


Operation ready 2

(RY2) signal

• When the LX signal is not used (in the case where the Pr.350

setting is rather long and the BOF signal turns OFF due to output shutoff)

Motor speed


Pr.281


Actual speed

Pr.350


4

5

6

7

8

9

Pr.282


Time

Start signal


(BOF) signal

Operation ready 2

(RY2) signal

Turned OFF due to output shutoff

• When the LX signal is not used (in the case where the Pr.350

setting is rather short and the BOF signal turns OFF when the time set in Pr.350

expires)

Motor speed BOF-OFF condition monitoring zone

Actual speed

Pr.281


Pr.350


10

Pr.282


Start signal


(BOF) signal

Operation ready 2

(RY2) signal

Time


Turned OFF after the time set in Pr.350

elapses



53

 Restart operation example (position feed)

• When the operation is restarted while the BOF signal is OFF


Actual speed

Motor speed

Pr.281


Pr.281


Pr.282



Start signal


(BOF) signal


Operation ready 2

(RY2) signal

• When the operation is restarted while the BOF signal is ON


Motor speed

Actual speed

Pr.281


Time

Pr.282



Start signal


(BOF) signal

Operation ready 2

(RY2) signal


Time



 Restart operation example (when the start signal is turned OFF during speed feed / position feed)

• When the operation is restarted while the BOF signal is OFF

To restart the operation after the inverter has stopped and the BOF signal has turned OFF, turn OFF the LX signal once.

The operation can be restarted by turning ON the LX signal again after turning OFF the RY2 signal.


Actual speed

Motor speed

Pr.281


Pr.281


1

2

3

4

Time 5


Start signal


(BOF) signal


Operation ready 2

(RY2) signal

• When the operation is restarted while the BOF signal is ON

It is possible to restart the operation while the BOF signal is ON without making any change.


Motor speed

Actual speed

Pr.281


8

6

7

9

10

Time


Start signal


(BOF) signal

Operation ready 2

(RY2) signal




55

 Operation example when the set frequency is decreased to the Pr.282 setting or lower during operation (position feed)

• When the set frequency is changed during operation, the BOF signal remains ON even when the actual speed decreases to the Pr.282

setting or lower, and the position feed operation continues.

Motor speed

When the set frequency is changed during operation, the BOF signal remains ON even when the actual speed decreases to the

Pr.282

setting or lower.

BOF-OFF condition

Position feed operation with the set frequency of 0 Hz monitoring zone

Actual speed

Pr.281


Pr.350


Time

Set frequency 0 Set frequency b


Start signal


(BOF) signal


Operation ready 2

(RY2) signal

 Operation example when the set frequency is decreased to the Pr.282 setting or lower during operation (speed feed)

• When the set frequency is changed during operation, the BOF signal remains ON even when the actual speed decreases to the Pr.282

setting or lower, and the speed feed operation continues.

When the set frequency is changed during operation, the BOF signal remains ON even when the actual speed decreases to the

Pr.282

setting or lower.


Motor speed

Actual speed

Pr.281


Speed feed operation with the set frequency of 0 Hz

Pr.350


Time

Set frequency 0


Start signal


(BOF) signal


Operation ready 2

(RY2) signal

 DC injection brake operation time (Pr.11)

• When a deceleration stop is started by turning OFF the start signal or due to a system failure, cage slippage on the lift axis can be prevented by DC injection braking (zero speed control / servo lock) during the time period from when the BOF signal is turned OFF until the brake is activated.



• Under full-closed control, DC injection braking (zero speed control / servo lock) is enabled when all of the following conditions are satisfied:

Vector control

During a deceleration stop due to a system failure or the start signal turning OFF.

• The DC injection brake operation frequency ( Pr.10

) is fixed at 0 Hz.

• Operation example of a deceleration stop due to the start signal turning OFF

Motor speed

Pr.281


Pr.350


1

2

3

Zero speed control / servo lock

Start signal


(BOF) signal


Operation ready 2

(RY2) signal

• Operation example of a deceleration stop due to a system failure

Motor speed

Pr.281


Pr.350


Time

4

5

6

7

8

9

Time

Zero speed control / servo lock

System failure (Y231) signal

System failure occurrence

Start signal


(BOF) signal


Operation ready 2

(RY2) signal



Operation under Real sensorless vector control, Advanced magnetic flux vector control, and V/F control

 During position feed

• Pr.351 Brake operation time at start 2 = "9999" (initial value):

When the start signal is input to the inverter, the inverter starts running. When the output frequency reaches the frequency set in Pr.278 Brake opening frequency and the output current is equal to or higher than the current set in Pr.279 Brake opening current , the BOF signal is output after the time period set in Pr.280 Brake opening current detection time .

After the BOF signal is output and the time period set in Pr.281

has elapsed, the speed command before position loop compensation is increased to the total frequency of the setting frequency and the Pr.278

setting.

10



57

• Pr.351

≠ "9999":

When the start signal is input to the inverter, the BOF signal is turned ON. After the time period set in Pr.351

, the inverter accelerates to the set frequency.

• When the time period set in Pr.283 Brake operation time at stop has elapsed after the BOF signal is turned OFF, the inverter output is shutoff.

• The start signal and BOF signal turn OFF when any value of the output frequency, speed command (speed command created to output), and model speed is equal to or less than Pr.282

setting value, regardless of the Pr.351

setting value.

Example when Pr.351

= "9999" and Pr.353

= "9999"

Stop position

Pr.104

or Pr.352

Pr.104

or Pr.352

Current position

Start position

Speed command before position loop compensation

Time

Pr.283

Brake operation time at stop

Set frequency

Pr.278

Brake opening frequency

Speed command

(speed command created to output) or model speed

Pr.281


Position feed Tacc

Start signal

Pr.280

Brake opening current detection time

Pr.279

Brake opening current

Output current



≠ "9999" and Pr.353

= "1"

Speed command before position loop compensation

Time

Set frequency

Speed command

(speed command created to output) or model speed

Time

Position feed

Pr.351

Brake operation time at start 2

Start signal


Calculate the actual acceleration/deceleration time by the following formula. Note that the third acceleration/deceleration time has higher priority when the X110 signal is ON. (Refer to

page 49 .)

Tacc = Pr.278

× ( Pr.7

or Pr.110

) / Pr.20



NOTE

• The position command of the position loop is calculated from the setting frequency to which the frequency set in Pr.278

has not been added yet. Therefore, when the position loop is enabled, the frequency as the speed command after position loop compensation becomes the setting frequency.

1

 During speed feed

• Pr.351

= "9999" (initial value):

When the start signal is input to the inverter, the inverter starts running. When the output frequency reaches the frequency set in Pr.278

and the output current is equal to or higher than the current set in Pr.279

, the BOF signal is output after the time period set in Pr.280

.

After the BOF signal is output and the time period set in Pr.281

has elapsed, the output frequency is increased to the sum of the set speed and Pr.278

setting.

• Pr.351

≠ "9999":

When the start signal is input to the inverter, the BOF signal is turned ON. After the time period set in Pr.351

, the inverter accelerates to the set frequency.

• The position command of the position loop is calculated from the setting frequency to which the frequency set in Pr.278

has not been added yet. Therefore, when the position loop is enabled, the frequency as the speed command after position loop compensation becomes the setting frequency.

• When Pr.351

= "9999", the start signal and BOF signal turn OFF after the output frequency value is equal to or less than the sum of the setting values of Pr.282

and Pr.278

, or after the frequency as the speed command (speed command created to output) is equal to or less than the frequency set in Pr.282

. When Pr.351

≠ "9999", the start signal and BOF signal turn OFF after the output frequency or the frequency as the speed command (speed command created to output) is equal to or less than the frequency set in Pr.282

.

2

3

4

5

6

7

8


= "9999"

Speed command

9

Set frequency

Pr.278

Brake opening frequency

Speed command

(speed command created to output)

Pr.281


Speed feed

Pr.283

Brake operation time at stop 10

Pr.282


Time

Tacc

Start signal

Pr.280

Brake opening current detection time

Pr.279

Brake opening current

Output current


Calculate the actual acceleration/deceleration time by the following formula. Note that the third acceleration/deceleration time

has higher priority when the X110 signal is ON. (Refer to page 49

.)

Tacc = Pr.278

× ( Pr.7

or Pr.110

) / Pr.20

4.1.4

Shortest-time torque startup

The torque is started up in the shortest time.

When an inverter is connected to a lift, the inverter has a load immediately after the lift brake is released. For lift applications, slow torque startup may cause a delay in the brake opening. Using the shortest-time torque startup function shortens the time from startup to brake opening. This will contribute to tact time reduction.



59

This function is available only under Real sensorless vector control or vector control (or fork selecting).

Pr.

1404

A164

Name


0

Initial value

0

1


Shortest-time torque startup disabled

Shortest-time torque startup enabled

When Pr.1404 Shortest-time torque startup selection = "1" and the inverter is not in stop status, the torque is generated by the shortest-time torque startup function.

Torque Shortest-time torque startup function enabled

STF(STR) ON

Shortest-time torque startup function disabled

Time



4.2

Position feed

Using this mode, a transfer crane can travel to the target stop position.

Set the stop position command, the running speed command, and the start command via communication to perform the position loop compensation so that the crane travels to the stop position.

The crane decelerates to stop when the start command is turned OFF during operation.

For switching the operation mode to the position feed, refer to page 40 .



Example of position feed

Stop position

2

3

4

Current position

5

Position command

Start position

Time

6

Pr.517

or Pr.754

Pr.517

or Pr.754

Pr.516

or Pr.753

Half of

Pr.516

or half of Pr.753

Half of

Pr.517


Half of

Pr.517


7

1

Frequency commanded by master

Speed command

Speed command after position loop compensation

Travel distance at creep speed

Pr.32

Crane creep speed

Pr.31

T1dec

T2dec

Time

T1acc

T2acc

T3dec

T4dec

X109 signal

Start command


has higher priority when the X110 signal is ON (refer to page 49

).

• T1acc = set frequency × ( Pr.7

or Pr.110

) / Pr.20

• T2acc = T1acc + ( Pr.516

or Pr.753

)

• T1dec = (set frequency - Pr.31

) × ( Pr.8

or Pr.111

) / Pr.20

• T2dec = T1dec + ( Pr.517

or Pr.754

)

• T3dec = Pr.31

× ( Pr.8

or Pr.111

) / Pr.20

• T4dec = T3dec + ( Pr.517

or Pr.754

)

8

9

10

4.2.1

Creep function

Using this function, a crane sufficiently decelerates near the target position so that the crane does not pass the target position.

Pr.

31

W030

32

W031

33

W032

Name


Initial value

0 Hz



0 mm

1

Setting range

0 to 60 Hz

0 to 6553.4 mm

0

1

Description

Set the crane creep speed. When Pr.31

= "0" (initial value), the crane creep function is disabled. (The travel distance at creep speed is regarded as 0 mm.)

Set the travel distance at creep speed.

Position loop compensation disabled

Position loop compensation enabled


4.2 Position feed

61

Pr.

34

W033

Name Initial value


100 mm

Setting range

0 to 200 mm

Description

Set the compensation value for the deceleration start position when Pr.33

= "0" (position loop compensation disabled).



Crane creep speed (Pr.31) and Travel distance at creep speed (Pr.32)

After the crane decelerates to the speed set in Pr.31

near the target position, the crane travels the distance set in Pr.32

and decelerates to stop at the target position.

Set frequency

Pr.32

Pr.31

Time

NOTE

• When the Pr.32

setting value is too large for the travel distance to the target position, the frequency is not increased to the setting frequency, or the travel distance at creep speed is regarded as 0 mm. In this case, set a smaller value in Pr.32

.



Position loop compensation selection after crane decelerate to creep speed (Pr.33 and Pr.34)

Use Pr.33 Position loop compensation selection after crane decelerate to creep speed to select whether the position loop compensation is performed after the crane decelerates to creep speed to prevent the crane from passing the target position due to the position loop. In the initial setting, Pr.33

= "1" (position loop compensation enabled).

Pr.33 setting

Position loop compensation after crane decelerate to creep speed

Position loop compensation disabled

How to determine the deceleration start position

0

1 (initial value) Position loop compensation enabled

Determined from the position measured by the distance meter

Determined from the travel distance calculated by adding up the speed command (before position loop compensation)

• When Pr.33

= "1"

The position loop compensation is always enabled. The crane starts to decelerate when the travel distance calculated by adding up the speed command (before position loop compensation) reaches the deceleration start position.

Frequency


Speed command (before position loop compensation)

Set frequency

Pr.32

Pr.31

Time

• When Pr.33

= "0"

The position loop is available until the speed command (after the position loop compensation) reaches the creep speed. The position loop compensation is disabled after the speed command reaches the creep speed. The crane starts to decelerate when the deceleration start position is detected by the distance meter.

By setting Pr.34 Stop position compensation width to compensate the deceleration start position, the stop position can be compensated when an overrun or underrun occurs. Pr.34

can be set only when Pr.33

= "0".

Calculate the deceleration start position after the compensation by the following formula ( Pr.34

= "100.0" (initial value) is the reference value (0 mm)).


4.2 Position feed

(Deceleration start position after compensation) = (Deceleration start position) + ( Pr.34

- 100.0)

Pr.34 setting

100.0 (initial value) Without deceleration start position compensation

0.0 to 99.9

100.1 to 200.0

Operation

The deceleration starts at the point the distance calculated by subtracting the Pr.34

setting value from 100 mm before the original deceleration start position.

(When the compensation amount ( Pr.34

setting value) exceeds the travel distance at creep speed, the crane decelerates to stop without deceleration to creep speed.)

The deceleration starts at the point the distance calculated by subtracting 100 mm from the Pr.34

setting value after the original deceleration start position.

(When the deceleration start position after compensation exceeds the target stop position, the crane decelerates to stop after the crane reaches the target stop position.)

1

2

3

Frequency

Speed command (after position loop compensation)

Speed command (before position loop compensation)

4

Deceleration start is determined by distance meter position value.

Set frequency

Crane starts operation at creep speed.

Position loop is disabled from that point.

Pr.32

+ Pr.34

-100

Pr.31

Time

0

NOTE

• Although the set frequency and the stop position can be changed during operation, the acceleration/deceleration time, the Scurve acceleration/deceleration time, and the crane creep speed cannot be changed.

• Switching the operation mode to the speed feed is disabled during operation.

• Pr.78 Reverse rotation prevention selection is enabled or disabled according to the start signal regardless of the rotation direction of the motor as follows.

Pr.78 setting

Both forward and reverse rotations allowed

1 Reverse rotation disabled

2 Forward rotation disabled

Start signal

STF

STR

STF

STR

STF

STR

Availability

Enabled

Enabled

Enabled

Disabled

Disabled

Enabled

5

6

7

8

9

10

4.2.2

Crane position loop compensation

The speed command is compensated so that the crane travels according to the position command, by using the position command (calculated by adding up the inverter speed command) and the travel distance (calculated by the start position and the current position measured by the distance meter).

Pr.

105

W011

106

W012

107

W013

108

W014

109

W015

113

W016


Crane position loop P gain 1 1 s

-1

Crane position loop P gain 2 9999




0 Hz

60 Hz

0 s


0 s

Setting range

0 to 150 s

-1

0 to 150 s

-1

9999

0 to 200 Hz

0 to 200 Hz

0 to 5 s

0 to 10 s

Description

Set the P gain 1 for the crane position loop.

Set the P gain 2 for the crane position loop.

As set in Pr.105

.

Set the speed command value for the P gain 2 for the crane position loop ( Pr.106

setting).

Set the speed command value for the P gain 1 for the crane position loop ( Pr.105

setting).

Input the first delay filter for the position loop compensation amount.

Set the integral time for the crane position loop (In initial setting, the integrating is enabled).


4.2 Position feed

63

Pr.

114

W017



9999

Setting range

0% to 100%

9999

0 to 200 Hz

Description

Used to change the limit of the position loop compensation amount when the speed range changes from the low-speed range to high-speed range.

Without changing the limit of the position loop compensation amount

Set the compensation frequency of the upper limit of the low-speed range crane position loop.

115

W018





5 Hz

Speed command

Integral

+

‒

Position loop

Pr.105 to Pr.108

Proportional operation

Pr.114

Pr.115

Vector control

+

Pr.113

Integral operation

+

Pr.114

Pr.115

+

Pr.114

Pr.115

Pr.109

Filter

+

Pr.278


Advanced magnetic flux vector control, V/F control, Real sensorless vector control

Current position



Example of crane position loop compensation


Current position

Position command

Start position

Time

Frequency commanded by master

Speed command


Pr.31

Time

Start signal (STF)



Crane position loop P gain (Pr.105 to Pr.108)

• Set the P gain for the crane position loop in Pr.105 Crane position loop P gain 1 . When the trackability of the crane is poor, set a larger value in Pr.105

. When the vibration is strong, set a smaller value in Pr.105

.

• Set Pr.106 to Pr.108

to switch the P gain for the crane position loop in the low-speed range. The P gain 2 for the crane position loop is available when Pr.106 Crane position loop P gain 2 ≠ "9999". (When Pr.106

= "9999", the Pr.105

setting is used as the gain for the crane position loop in the low-speed range. When the setting values of Pr.107

and Pr.108

are the same, the Pr.106

setting is used.)


setting value is equal to or smaller than the Pr.108

setting value, refer to the following:

Pr.105

Pr.106

Position loop gain

Pr.105

Pr.106

Position loop gain

Pr.105

Pr.106

Pr.107

Pr.108

Speed command

Pr.106

Pr.105

Pr.107

Pr.108

Speed command


4.2 Position feed


setting value is larger than Pr.108

setting value, refer to the following:

Pr.105

Pr.106

Position loop gain

Pr.105

Pr.106

Position loop gain

1

Pr.105

Pr.106

Pr.106

Pr.105

Speed command

Speed command

Pr.108

Pr.107

Pr.108

Pr.107



Limit of crane position loop compensation amount (Pr.114 and Pr.115)

The maximum value of the crane position loop compensation amount is determined by the Pr.115 Compensation frequency of low-speed range crane position loop upper limit .

Set Pr.114 Compensation rate of crane position loop upper limit ≠ "9999" to change the limit of the position loop compensation amount when the speed range changes from the low-speed range to high-speed range. Compare the Pr.115

setting value and the speed command value multiplied by the Pr.114

setting value. The larger of the two is used as the limit value of the crane position loop compensation amount.

Limit of position loop compensation amount

2

3

4

5

6

Pr.115

- Pr.115

Speed command Pr.114

Speed command

Negative speed command Pr.114

7

8

92

93

94

95

96



Crane position loop filter (Pr.109)

The primary delay filter for the position loop compensation amount is available when Pr.109 Crane position loop filter ≠ "0"

(initial value). A larger setting results in a stable operation with poorer response.



Brake opening frequency (Pr.278)

The lower limit is clamped at the Pr.278 Brake opening frequency setting value when the speed command after the position loop compensation is lower than the Pr.278

setting value under Real sensorless vector control, Advanced magnetic flux vector control, and V/F control. (For the details on Pr.278

, refer to

page 50 .)



Monitoring dedicated to position feed

The monitor items related to the position feed can be displayed on the operation panel or the parameter unit by setting the following values in the parameters for monitoring ( Pr.52, Pr.774 to Pr.776, Pr.992

).

Parameter setting for monitoring

52

Monitor indicator name









Troubleshooting for crane position loop compensation

Condition

The motor speed is unstable.

Pr.113

≠ "0".

Possible cause Countermeasure

Set "0" in Pr.113

.

9

10


4.2 Position feed

65



Adjustment of parameters for crane position loop compensation

Refer to the following to set the adjustment parameters for crane position loop compensation.

Pr.

Name

105

109

820

821

824

115




Speed control integral time 1

Torque control P gain 1 (current loop proportional gain)

Compensation frequency of lowspeed range crane position loop upper limit

Reference setting value

Vector control: 1 to 5 s

-1

(unit: 0.5 s

-1

)

Real sensorless vector control: 1 to 5 s -1 (unit: 0.5 s -1 )

V/F control and Advanced magnetic flux vector control: 5 to 8 s -1 (unit: 1 s -1 )

Set a value lower than the Pr.105

setting value.

50 to 100% (unit: 5%)

0.01 to 0.1 s (unit: 0.01 s)

10 to 100% (unit: 10%)

3 to 5 Hz (unit: 0.5 Hz)

4.2.3

Dual feedback control

Use this control function to reduce the fluctuation of the feedback from the distance meter used for the position loop. Set a larger value in Pr.362

when the value measured by the distance meter is unstable and the equipment travels unstably, or when the vibration occurs.

This function is available when the position loop is enabled under Vector control in the full-closed control mode. (This function is not available during the full-closed control test operation.)

Pr.

362

W060

Name

Dual feedback filter 0 s

Initial value Setting range

0 to 1 s

Description

Compensate the position calculated by the cumulative encoder feedback pulses to make it closer to the current position measured by the distance meter.





Pr.362

≠0

PLG

Current position calculation

+

+

‒

+

Position loop

Pr.362

Distance meter +

‒

Filter

Integral

Pr.362

=0

+


Speed command

+



Dual feedback filter (Pr.362)

Compensate the position calculated by the cumulative encoder feedback pulses to make it closer to the current position measured by the distance meter. (When Pr.362

= "0" (initial value), the function is disabled.)

When the vibration is strong, setting a larger value in Pr.362

increases the effect.

Travel distance

Current position calculated by encoder feedback pulses

Current position after dual feedback control

Value measured by distance meter

Time


4.2 Position feed

4.2.4


Set the primary delay filter for the position data detected by the distance meter (crane position). (When Pr.363


Pr.

363

W061

Name


0 s


0 to 0.5 s

Description

Set the primary delay filter for the position data detected by the distance meter (crane position).

4.2.5

Crane position data compensation

When the value measured by the distance meter is impermissible due to noises or other causes, the impermissible value can be excluded by using this function. The excluded value are compensated with the previous and the second previous values.

Pr.

364

W062

365

W063

Name



9999

1


0 to 1000 mm

9999

1 to 5

Description

Set the permissible range of the crane position when compared with the previous measurement.

Disabled

Set the number of the sampling times for the continuous crane position data compensation.



Crane position data compensation judgment level (Pr.364) and Upper limit of crane position data compensation (Pr.365)

• When the difference between the value measured by the distance meter and the previous value is larger than the value set in Pr.364 Crane position data compensation judgment level , the latest value will be excluded. Instead, the value linearly interpolated from the previous and the second previous values will be used. (When Pr.364


The measured value is the data before the distance detection filter is used.

• When the number of times that the consecutive samplings of an impermissible measured value (distance meter reference) exceeds the number of times set in Pr.365 Upper limit of crane position data compensation , the crane position data compensation is stopped and the latest measured value is used as the current position.

Before compensation

As a sudden change occurred in each of four consecutive sampling cycles, compensation is time is used as the current position.

Before compensation

1

2

3

4

5

6

7

8

9

10

Current position

Current position

After compensation

Judgment level

After compensation

Judgment level

Time

A sudden change occurred in one sampling cycle

Time

A sudden change occurred in four sampling cycles

∗

Upper limit of distance data compensation total count ( Pr.365

) = "3"



Crane position data compensation total count monitor

• The total number of crane position data compensation times from when the start command is ON until when the start command is ON next time. When Pr.52

= "39", the crane position data compensation total count monitor is displayed on the operation panel.

• The crane position data compensation total count monitor is reset to 0 when the start command is ON next time. When the crane position data compensation is disabled ( Pr.364

= "9999"), the crane position data compensation total count monitor value is "0".


4.2 Position feed

67

4.2.6

Parameters to detect the crane in-position state

The width of the zone and the time used to determine the crane in-position state can be set.

Pr.

104

W040,

W220

127

W041

130

W042

Name




0 s

Initial value

10 mm

10 mm

Setting range

0 to 1000 mm

0 to 5 s

0 to 1000 mm

Description

Set the width of the zone used to determine turning

ON of the Crane out-of-position (Y235) signal or the

Crane in-position (Y236) signal.

Set the time used to determine turning ON of the

Crane out-of-position (Y235) signal or the Crane inposition (Y236) signal.

Set the width of the zone used to determine turning

ON of the Crane position detection level notification

(Y233) signal for the target stop position.



Crane in-position time (Pr.127), Crane position detection range (Pr.130), and the related output signals (Y233 to Y236)

Pr.127

Pr.127

Pr.127

Pr.127


Pr.130

Pr.104

Pr.104

Pr.130

Current position

Position command

Y233, Y234, Y235, and Y236 are turned

OFF by turning OFF the start command.

Start command

Position detection level notification (Y233)

In-position notification (Y234)

Y233 turns ON when the current position falls within the position detection zone.

Out-of-position (Y235)

Y234 turns ON when the current position falls within the in-position zone.

Y235 turns ON after the time set in Pr.127

has elapsed.

In-position (Y236)


has elapsed.

Y236 turns OFF after the time set in Pr.127

has elapsed.


has elapsed.

• The crane position can be checked with the output signals (Y233 to Y236). The following table shows the condition to turn

ON each signal.

Output signal

Crane position detection level notification

(Y233) signal

Crane in-position notification (Y234) signal

Crane out-of-position (Y235) signal

Crane in-position (Y236) signal

Required condition

Turns ON when the current position falls within the zone limited by the Pr.130

setting value in both directions from the target position under Vector control.

Turns ON when the current position falls within the zone limited by the Pr.104

setting value in both directions from the target position, and the speed command (speed command created to output) value decreases to 0 Hz.

Turns ON when the current position after the Y234 signal turns ON is out of the crane in-position width after the time period set in Pr.127

has elapsed.

Turns ON when the current position after the Y234 signal turns ON is within the crane in-position width until the time period set in Pr.127

has elapsed.

• Set parameters from Pr.190 to Pr.196 Output terminal function selection to assign the Y233, Y234, Y235, and Y236 signals to the output terminals. Set "233" (positive logic) or "333" (negative logic) for the Y233 signal, "234" (positive logic) or "334" (negative logic) for the Y234 signal, "235" (positive logic) or "335" (negative logic) for the Y235 signal, and "236"

(positive logic) or "336" (negative logic) for the Y236 signal.

NOTE

• The Y233 to Y236 signals are turned OFF when the position feed is not selected.

• Changing the terminal assignment using Pr.190 to Pr.196 (Output terminal function selection) may affect the other functions. Set parameters after confirming the function of each terminal.


4.2 Position feed

4.2.7

Anti-sway control

The notch filter is used for the position command to suppress the crane vibration.

This function is available when the model adaptive speed control (refer to

page 69 ) is enabled.

Pr.

355

W050



9999

Setting range

0.1 to 10 Hz

9999

Description

The notch filter is activated according to the setting value.

Disabled

356

W051





100% 0% to 500% Set the crane vibration suppression gain.

Notch filter

Position command

Position command after notch filter

Gain

Pr.355

0 dB

Frequency

Pr.356



Crane vibration suppression frequency (Pr.355) and Crane vibration suppression gain (Pr.356)

• Set a value other than "9999" (initial value) in Pr.355 Crane vibration suppression frequency . The notch filter is activated according to the Pr.355

setting value.

Calculate the Pr.355

setting value by the following formula.

Pr.355

= 1 / Vibration cycle

*1

*1 The vibration cycle is obtained using the swing of the crane when it stops which is measured by the variation cycle of the torque current.

• Set the crane vibration suppression gain in Pr.356 Crane vibration suppression gain . When the Pr.356

setting value is too large, sensibility of the notch filter becomes higher. (When Pr.356

= "0", the function is disabled.)



Troubleshooting in Anti-sway control

Condition

The operation is the same as before setting the anti-sway control.

The vibration is not suppressed after setting the anti-sway control.

Possible cause

The setting of the notch filter is incorrect.

The effect of the notch filter is insufficient.

Set Pr.355

≠

The crane vibration suppression frequency is incorrect. Change the

Countermeasure

"9999" and

Pr.355

Set a larger value in

Pr.356

setting.

Pr.356

.

≠ "0".

4.2.8

Model adaptive speed control

Set each response for position commands and for load and external disturbances individually.

The following conditions must be satisfied to use this function.

• Position loop is enabled.

• Pr.877 Speed feed forward control/model adaptive speed control selection = "2" (Model adaptive speed control)

Pr.

357

W052

Name


Initial value

1 s

-1

Setting range

0 to 150 s

-1

Description

Set the crane model adaptive position loop gain.

8

9

10

3

4

1

2

5

6

7


4.2 Position feed

69




• Vector control and Real sensorless vector control


Position command

+

-


Pr.357

+


Pr.828

-

J

Torque coefficient

Integral Integral

Model position command

Model speed command

• Advanced magnetic flux vector control, V/F control


Position command

+

‒


Pr.357

+

‒


Pr.828

Model torque current command

Integral Integral

Model position command

Model speed command



Crane model adaptive position loop gain (Pr.357)

• When setting Pr.357 Crane model adaptive position loop gain , set Pr.877

= "2" to enable the model adaptive position control, Pr.828 Model speed control gain ≠ "0", a load inertia ratio in Pr.880 Load inertia ratio , and the motor inertia in

Pr.707 Motor inertia (integer) and Pr.724 Motor inertia (exponent) . ( Pr.880

is automatically set when easy gain tuning is performed. For details of easy gain tuning, refer to the FR-A800 Instruction Manual (Detailed).)

• Set a small value in Pr.357

first, and then increase the setting gradually and use this parameter within the range where an overshoot or vibration will not occur.

• When Pr.52

= "81", the model speed monitor is displayed on the operation panel.



Troubleshooting in model adaptive control

Condition

The motor does not rotate.

Motor speed fluctuates.

Machine movement is unstable.

Pr.357

= "0".

Possible cause

Speed control gain is not suitable for the machine.

(Resonance occurs.)

Speed control gain is not suitable for the machine.

Countermeasure

Set a value other than "0" in Pr.357

.

• Adjust Pr.820 Speed control P gain 1 and

Pr.821 Speed control integral time 1 .

*1

• Perform speed feed forward control or model adaptive speed control.

• Adjust Pr.820 Speed control P gain 1 and

Pr.821 Speed control integral time 1 .

*1

• Perform speed feed forward control or model adaptive speed control.

*1 Pr.820 and Pr.821

are automatically set when easy gain tuning is performed. For details of easy gain tuning, refer to the FR-A800 Instruction

Manual (Detailed).


4.2 Position feed

4.3

Communication with distance meter

1

The inverter learns the crane current position accurately by using with a distance meter.

A distance meter can be used during the full-closed control.

2

4.3.1


The following distance meters can be used with this product. Select the inverter and the distance meter according to the distance measurement method and communication method.

Inverter

RS-485 model

Ethernet model

Model

DME5000

AMS308i

*1

OLM100-1003

DL100pro

AMS300i

*2

*3

CEV58M-00884

*4

RS-485 model /

Ethernet model (only when FR-A8APS-02 installed)

BPS307i

AMS304i

CMV58M-00002

Distance meter

Manufacturer

Measurement method

SICK

SICK

Laser

Laser (reading bar codes)

SICK Laser

Leuze

TR-Electronic

Laser

Absolute encoder

Leuze

Leuze

Leuze

TR-Electronic

Communication method

RS-422 communication

Laser

Ethernet communication

Laser (reading bar codes)

Laser

Absolute encoder

SSI communication

71

73

Refer to page

Wiring example

73

77

Related parameter

Refer to the FR-A8APS-02

Instruction Manual.

*1 DME5000-113 and DME5000-213 support the inverter.

*2 DL100-21AA2103, DL100-21HA2103, DL100-22AA2103, DL100-22HA2103, DL100-23AA2103, and DL100-23HA2103 support the inverter.

*3 AMS300i-40H, AMS300i-120H, AMS300i-200H, and AMS300i-300H support the inverter.

*4 AMS308i-40H, AMS308i-120H, AMS308i-200H, and AMS308i-300H support the inverter.

NOTE

• For details on the specification of the distance meter and the protocol for communication between the distance meter and the inverter, refer to the Instruction Manual of the distance meter.

3

4

5

6

7

8

9

10

4.3.2

Connection of distance meter

Refer to the following to connect the distance meter to this product.



RS-485 model inverter

• Example of connection with DME5000

DME5000 Inverter

TX+

TX‒

RS-485 terminals

RXD+

RXD‒

L+

M

Power supply

18 to 30 VDC


4.3 Communication with distance meter

71

• Example of OLM100-1003

OLM100-1003

L+

M

Power supply

10 to 30 VDC

• Example of DL100Pro

DL100Pro

TX+

TX-

Inverter

RS-485 terminals

RXD+

RXD-

L+

M

Power supply

18 to 30 VDC

• Example of AMS300i

AMS300i

TX+

TX ‒

TX (Send data)

TX‒ (Send data)

RX (Receive data)

RX‒ (Receive data)

Inverter

RS-485 terminals

RXD+

RXD ‒

Inverter

RS-485 terminals

RXD+

RXD‒

TXD+

TXD‒

Vin (+)

GND (‒)

Power supply

18 to 30 VDC

• Example of CEV58M-00884

CEV58M-00884

RXD+

RXD‒

Inverter

RS-485 terminals

+ ‒

Power supply

11 to 27 VDC

DATA+_OUT

DATA‒_OUT

Supply Voltage IN (+)

Ground IN (‒)

Direction IN

*1

Preset1_IN *2

*1 The increase/decrease of the position data is reversed while terminals Direction IN and Supply Voltage IN are shorted.

*2 When terminals Preset1_IN and Supply Voltage IN are shorted, the position data is reset to 0.





Ethernet model inverter

• Example of AMS308i

AMS308i Hub Inverter

1

BUS IN

2

Ethernet connector

Vin (+)

GND (-) 3

+ -

Power supply

18 to 30 VDC

4

TD+ 1

RD+

2

3 TD-

TD+ (Send data)

TD- (Send data)

RD+ (Receive data)

RD- (Receive data)

5

4

RD-

6

4.3.3

Communication parameters for distance meters

(RS-485 model inverter)

Inverter parameters must be set to establish RS-422 communication with distance meters.

333

Pr.

332

N031

N032

N033

334

N034

335

N035

336

N036

Name








0

0

1

2

1

0

Initial value

96

Setting range

3, 6, 12, 24,

48, 96, 192,

384, 576, 768,

1152

0

1

0

1

0

1

10

11

0

1

2

0 to 10

9999

0 to 999.8 s

9999

Description

Select the communication speed of the inverter according to the speed of the distance meter.

Select a value which equals one-hundredth of the number of the communication speed.

For example, select "192" to set the communication speed of

19200 bps.

Data length 8 bits

Data length 7 bits

Stop bit length 1 bit

Stop bit length 2 bits





Data length 8 bits

Data length 7 bits

Parity check disabled.

Parity check (odd parity) enabled.

Parity check (even parity) enabled.

When the consecutive number of times that an impermissible data is sent from the distance meter exceeds the number of times set in Pr.335

, the distance measurement is regarded as faulty.

The distance measurement is regarded as normal even when impermissible data is received.

Set the interval of the communication check (signal loss detection) time.

No communication check (signal loss detection)

7

8

9

10



73

549

N000

757

W081

758

W082

760

W084

761

Pr.

W085


Name





0


0

1

1000

1001

1010

1020

0 *1

2

0

1021

1030

1040

0

1

1

100 mm

0 s

0 to 655.35 mm

0 to 999.8 s

9999

Description

Mitsubishi inverter protocol (computer link)

MODBUS RTU protocol

DME5000 protocol: Standard Binary code (Std.Bin code)

DME5000 protocol: CRLF BCD code

OLM100 protocol: CRLF BCD code

DL100Pro protocol: DstSta (Distance + status) CRLF

DL100Pro protocol: DstSta (Distance + status) Std

AMS300i protocol

CEV58M-00884 protocol

Use the data input via RS-485 terminals.

Use the data input via the FR-A8APS-02.

Unit: 1 mm

Unit: 0.1 mm

Set the unit of the distance data sent from the laser distance meter.

Set the travel distance per rotation of the absolute encoder distance meter. (The setting is enabled regardless of the

Pr.100

setting.)

Set the communication check time (Distance measurement fault) interval.

No communication check (Distance measurement fault)

*1 The initial value for the RS-485 models.

NOTE

• The settings are applied after an inverter reset or at the next power-ON. After changing the parameters, communication cannot be made until the inverter is reset.



Protocol selection (Pr.549)

Set Pr.549 Protocol selection according to the protocol of the distance meter.



Speed of RS-485 communication (Pr.332), RS-485 communication stop bit length / data length (Pr.333), and RS-485 communication parity check

(Pr.334)

Set Pr.332 RS-485 communication speed, Pr.333 RS-485 communication stop bit length / data length, and Pr.334 RS-

485 communication parity check selection according to the communication specification.

(Example) When the communication speed is 19200 bps, the stop bit length is 2 bits, the data length is 7 bits, and the parity check is disabled, set Pr.332

= "192", Pr.333

= "11", and Pr.334

= "0".



Retry count setting (Pr.335)

• Use Pr.335 RS-485 communication retry count to set the permissible number of retries when an impermissible data is consecutively received during communication with the distance meter.

• The number of times that an impermissible data is received exceeds the permissible number of the times set in Pr.335

, the distance meter fault is detected.

• When Pr.335

= "9999", the distance meter fault is not detected.



RS-485 communication check time interval (Pr.336)

• If a signal loss detection is performed between the inverter and the distance meter and the normal head data is not received from the distance meter within the time period set in Pr.336 RS-485 communication check time interval , the distance meter fault is detected.

• When Pr.336

= "9999", the distance meter fault is not detected.



Distance meter selection (Pr.757)

Use Pr.757 Distance meter selection to select connection method from among RS-485 terminals, Ethernet connector, and the FR-A8APS-02 (option for SSI communication), according to the distance meter from which the current position data is received.

When using the RS-485 model inverter, the initial value of Pr.757

is "0".





Distance measurement unit (Pr.758, Pr.760)

• Convert the data sent from the distance meter to the current position. The result is limited between 0 and 300 m.

• When using a laser distance meter, set Pr.758 Unit of measurement of distance meter according to the unit of measurement of the distance meter.

Pr.758 setting

0

1 (initial value)

1 mm

0.1 mm

Unit

• When using the an absolute encoder, set the travel distance per encoder rotation in Pr.760 Travel distance of absolute encoder .

Calculate the current position by the following formula.

Current position = Received data × Pr.760

/ 4096

NOTE

• The setting is available only for the absolute encoder whose number of steps per rotation is 4096 and the number of rotations is maximum 4096. Ensure that the upper limit of the crane motion range ( Pr.129

× 1000) is smaller than the practical range of the absolute encoder (2

22

× Pr.760

/ 4096).

1

2

3

4

5



Distance measurement fault detection interval (Pr.761)

• If a signal loss detection is performed between the inverter and the distance meter and the normal data is not received from the distance meter within the time period set in Pr.761 Distance measurement fault detection interval , the Distance

meter fault is detected. (Refer to page 92 .)

• When Pr.761

= "9999", the Distance meter fault is not detected.

6

7

8



Setting example of communication parameters for distance meter

Adjust the communication settings for the distance meter and the inverter as follows.

• When using DME5000

DME5000

Inverter

Item

Baud Rate

Data

Protocol

Mode

Resolution

Pr.332

Pr.333

Pr.334

Pr.549

Pr.758

Pr.335

Pr.336

Pr.757

Setting value

19.2 kbps

8, e, 1

Standard

Continuous BIN

0

2

0.1 mm

192

1000

1

1

0.1

0 *1

9

10



75

• When using OLM100

OLM100

Inverter

Item

Baud Rate

Data

Protocol

Mode

Resolution

Pr.332

Pr.333

Pr.334

Pr.549

Pr.758

Pr.335

Pr.336

Pr.757

• When using DL100Pro

DL100Pro

Inverter

Item

Baud Rate

Date format

Protocol

CntMode

ResDst

Pr.332

Pr.333

Pr.334

Pr.549

Pr.758

Pr.335

Pr.336

Pr.757

• When using AMS300i

AMS300i

Inverter

Item

Baud Rate

Format

Selection

Position resolution

Pr.332

Pr.333

Pr.334

Pr.549

Pr.758

Pr.335

Pr.336

Pr.757

38.4 kbps

8, e, 1

0

2

RS422 *1

0.1 mm

384

1030

*1

1

1

0.1

0

*1

115.2 kbps

8, e, 1

CRLF

Continuous *1

0.1 mm

1152

0

2

1010

1

1

0.1

0

*1

Setting value

Setting value

115.2 kbps

8, e, 1

Standard

DstSta (Distance + status, continuous)

*1

0

2

0.1 mm

1152

1021

1

1

0.1

0 *1

Setting value



• When using CEV58M-00884

CEV58M-00884

Inverter

Item

Communication speed

Data format

Pr.332

Pr.333

Pr.334

Pr.549

Pr.758

Pr.335

Pr.336

Pr.757

9.6 kbps

0

0

8, n, 1

96

1040

*1

1

1

0.1

0

*1

Setting value

1

2

3

4

*1 Ensure that the value specified is set.

1434

N600

1435

N601

1436

N602

1437

N603

4.3.4

Communication parameters for distance meter

(Ethernet model inverter)

Inverter parameters must be set to establish Ethernet communication with the distance meter.

Pr.

757

W081

758

W082

761

W085

1429

N632

Name





1

1


*1

0 s

9999

1

2

0

1

0 to 999.8 s

9999

502, 5000 to

5002, 5006 to

5008, 5010 to

5013, 10001,

45237, 61450

Description

Use the data sent from the distance meter which is connected to the port set in Pr.1429

.

Use the data input via the FR-A8APS-02. For details, refer to the FR-A8APS-02 Instruction Manual.

Unit: 1 mm

Unit: 0.1 mm

Set the unit of the distance data sent from

the distance meter. (Refer to page 75

.)

Set the communication check time (Distance measurement

fault) interval. (Refer to page 75 .)

No communication check (Distance measurement fault)

10001: For communication with AMS308i (UDP/IP)





192

168

50

1

0 to 255

0 to 255

0 to 255

0 to 255

Enter the IP address of the inverter.

*1 The initial value for the Ethernet models.

NOTE

• The settings are applied after an inverter reset or at the next power-ON. After changing the parameters, communication cannot be made until the inverter is reset.

5

6

7

8

9

10



Ethernet function selection 3 (Pr.1429)

Set Pr.1429 Ethernet function selection 3 = "10001".

Pr.1429 setting

10001

Applications

Communication with AMS308i

Protocol

UDP/IP

NOTE

• For Pr.1429

setting values other than "10001", refer to the Ethernet Function Manual.



77



IP address (Pr.1434 to Pr.1437)

Enter the IP address of the inverter in Pr.1434 to Pr.1437

.

Set the value in the first octet in Pr.1434

.

Set the value in the second octet in Pr.1435

.

Set the value in the third octet in Pr.1436

.

Set the value in the fourth octet in Pr.1437

.

∗ ∗ ∗

.

∗ ∗ ∗

.

∗ ∗ ∗

.

∗ ∗ ∗



Distance meter selection (Pr.757)

Use Pr.757 Distance meter selection to select connection method from among RS-485 terminals, Ethernet connector, and the FR-A8APS-02 (option for SSI communication), according to the distance meter from which the current position data is received.

When using the Ethernet model inverter, the initial value of Pr.757

is "1".



Setting example of communication parameters for distance meter

Adjust the communication settings for the distance meter and the inverter as follows.

• When using AMS308i

AMS308i

Inverter

Item

Address

Ethernet interface Gateway

HOST communication

Pr.1434 to Pr.1437

Pr.1438 to Pr.1441

Pr.761

Pr.1429

Net mask

Activation

IP address

Port number

Mode

Setting value

Enter the IP address of the inverter ( Pr.1434 to Pr.1437

).

Enter an optional address of the IP address of the inverter ( Pr.1434 to

Pr.1437

).

Set the subnet mask of the inverter ( Pr.1438 to Pr.1441

).

UDP/IP: ON, TCP/IP: OFF

Enter the IP address of the inverter ( Pr.1434 to Pr.1437

).

10001

—


Set the subnet mask of the inverter.

0.1

10001

4.3.5

Troubleshooting when using distance meter

Condition

The distance data of the crane cannot be received from the distance meter.

Possible cause

The power of the distance meter is OFF.

The point lighted by the distance meter is out of the detection range of the reflector.

Light from the distance meter is blocked.

The continuous data sending mode is disabled in the distance meter.

The settings of communication parameters for distance meter ( Pr.332 to Pr.336, Pr.549, Pr.757 to Pr.761,

Pr.1429, Pr.1434 to Pr.1437

) are not changed according to the specification and setting of the distance meter.

The inverter has not been reset after setting communication parameters for the distance meter.

Countermeasure

Turn ON the power of the distance meter.

Move the distance meter or the reflector.

Remove objects that block light.

Enable the continuous data sending mode.

Change the setting of inverter parameters according to the specifications and settings of the distance meter.

Reset the inverter.



4.4

Speed feed

1

A transfer crane can travel according to the frequency set in the master while the start command is input via communication.

For switching the operation mode to the speed feed, refer to page 40

.



Example of speed feed

The crane operates under speed control. The parameter settings for the full-closed control are used as the speed command pattern (setting frequency, acceleration/deceleration time, and S-curve acceleration/deceleration time).

The crane is decelerated to a stop when the start command is turned OFF during operation.

When the speed feed is selected, the creep function, position loop compensation, anti-sway control, and model adaptive control are disabled.

Pr.516 or Pr.753

Pr.516 or Pr.753

Pr.517 or Pr.754

Pr.517 or Pr.754

2

3

4

5

Half of Pr.516


Half of Pr.516


Half of Pr.517


6

Set frequency

Speed command

Half of Pr.517


7

Time

T1acc

T2acc

T1dec

T2dec

8

X109 signal

Start command


has higher priority when the X110 signal is ON. (Refer to page 49

.)

• T1acc = set frequency × ( Pr.7

or Pr.110

) / Pr.20

• T2acc = T1acc + ( Pr.516

or Pr.753

)

• T1dec = set frequency × ( Pr.8

or Pr.111

) / Pr.20

• T2dec = T1dec + ( Pr.517

or Pr.754

)

9

10

4.4.1


The availability of the limit dog detection during the speed feed can be selected. (For the limit dog detection as system failure, refer to

page 93 .)

Pr.

397

W304

Name


1

Initial value

0

1


Limit dog detection disabled

Limit dog detection enabled


4.4 Speed feed

79

4.5

Full-closed control test operation

To check the operation of the programmable controller programs, a test operation for full-closed control is available without connecting a motor or distance meter to the inverter.

A virtual speed or a virtual current position is created in the inverter to perform position feed or speed feed operation, and position/speed changes can be checked on the operation panel or by outputting it as analog signals to terminal FM/CA or AM.

All the following conditions must be satisfied to enable the full-closed control test operation.

• Pr.60 A800-AWH mode selection = "2"

• The X108 and RT signals are OFF (full-closed control is enabled and the first motor is selected).

• Vector control test operation is selected ("9999" is not set in Pr.80 Motor capacity and Pr.81 Number of motor poles , and "9" is set in Pr.800 Control method selection ).

• Pr.100 Reference travel speed ≠ "9999"

• The X113 signal is ON.

• Network operation mode

• Pr.338 Communication operation command source = "0 (initial value)"

• Pr.339 Communication speed command source = "0 (initial value)"

NOTE

• Since current is not detected and voltage is not output, the monitor items related to current and voltage, such as output current and output voltage, cannot be monitored, and the relevant output signals do not work.

• For speed calculation, speed is calculated in consideration of Pr.880 Load inertia ratio .

• During the full-closed control test operation, dual feedback control is disabled, and the distance meter fault and the distance meter alarm (system failures) are not detected.



I/O signal status during the test operation

• Input signal

○ : Valid

Input terminal function selection (Pr.178 to Pr.189)

Limit dog (X107)

Fork selecting (X108)


Acceleration/deceleration pattern selection under fullclosed control (X110)


Limit dog 2 (X112)


○

○

○

○

○

○

○

Valid/invalid

• Output signal

○ : Valid, ×: Invalid

Output terminal function selection (Pr.190 to

Pr.196)

Brake opening request (BOF)

System failure (Y231)

Crane position detection level notification (Y233)

Crane in-position notification (Y234)



○

○

×

○

○

○

Valid/invalid

NOTE

• For other signals, refer to the description of the Vector control test operation in the FR-A800 Instruction Manual (Detailed).


4.5 Full-closed control test operation



Status of the monitoring during the test operation

○ : Enabled, —: Disabled

Monitor item



Crane speed

Model speed







System failure code

○

○

○

○

○

○

○

○

○

○


PU

○

○

—

—

—

—

—

○

○

○


AM

—

○

*1 The monitoring-enabled items differ depending on the output interface (operation panel, parameter unit, terminal FM/CA, or terminal AM). For the

details, refer to page 110

.

NOTE

• For other monitor items, refer to the description of the Vector control test operation in the FR-A800 Instruction Manual

(Detailed).

1

2

3

4

5

6

7

8

9

10


4.5 Full-closed control test operation

81

4.6

Restrictions during full-closed control

4.6.1

Disabled functions

When full-closed control is enabled, the following functions are unavailable.

• Minimum frequency

• Start-time hold

• JOG operation

• Stop-on-contact control

• Automatic restart after instantaneous power failure

• Load torque high-speed frequency control

• Encoder feedback control

• Start self-holding selection (STP (STOP) signal)

• Multi-speed operation

• Analog input

• Analog input compensation

• Pulse train input

• Overspeed detection (E.OS)

4.6.2

Restrictions

When full-closed control is enabled, some functions have restrictions as shown in the following table.

Function name

Maximum frequency ( Pr.1,

Pr.18

)

Minimum frequency ( Pr.2

)

Stop mode selection at communication error ( Pr.502

)

DC injection brake ( Pr.10

)

Starting frequency ( Pr.13

)

Emergency stop function

( Pr.1103

)


Frequency command sign selection ( Pr.541

)

External DC injection brake operation start (X13) signal

Description

When the setting values of Pr.1 Maximum frequency, Pr.18 High speed maximum frequency exceeds

200 Hz, the frequency is limited at 200 Hz.

When the Pr.2

setting value is 0 Hz, the frequency is limited at 0.01 Hz.

The setting of Pr.502 Stop mode selection at communication error is invalid. (The operation is the same as the one when Pr.502

= "0".)

The setting of Pr.10 DC injection brake operation frequency is invalid. (Fixed to 0 Hz.)

The setting of Pr.13 Starting frequency is invalid. (Fixed to 0 Hz.)

The setting of Pr.1103 Deceleration time at emergency stop is invalid. (When the Emergency stop input

(X92) signal is turned ON, the crane decelerates to stop in the deceleration time for the full-closed control.)

Available only under Vector control ( Pr.800

= "0").

The setting of Pr.541 Frequency command sign selection is invalid (Unsigned command).

Available only under Vector control ( Pr.800

= "0"). (The X13 signal is disabled during inverter running.)


4.6 Restrictions during full-closed control

4.7

Troubleshooting in full-closed control

1

Condition

The response is slow.

Hunting occurs during starting or stopping.

The motor generates abnormal noise or the motor sound is noisy.

A lift crane slippage occurs during staring.

Possible cause

A small gain makes the trackability of the crane poor.

The trackability of the crane is poor since the setting value for the filter or the integral time is large.

A large gain causes excessive compensation.

The trackability of the crane is poor since the setting value for the filter or the integral time is large.

A gain or the setting value for the filter is large.

The torque is insufficient when the brake is released.

Countermeasure

Set larger values in Pr.820 and Pr.821

.

Set a larger value in Pr.105

. (When the motor sound becomes noisy after setting a larger value in

Pr.105

, set a larger value in Pr.109

.)


.

Set a smaller value in Pr.109

.


.


.


.

Set smaller values in Pr.820 and Pr.821

.


.


.

Set smaller values in Pr.105, Pr.820 and Pr.115

.

Set smaller values in Pr.109

and Pr.113

.


.

Enable the torque bias function (only under Vector control).


(only under V/F control,

Advanced magnetic flux vector control, Real sensorless vector control)

Check the parameter settings.

Check the Pr.20 and Pr.100

settings.

The motor does not run at the set frequency.

The parameter setting is incorrect.

The setting for the crane travel speed is incorrect.

An impermissible position data is received from the distance meter.

The setting value of the S-curve acceleration/ deceleration time is small.

Shock occurs or stacks collapse at start or stop.

The operation is the same as before setting the anti-sway control.

The vibration is not suppressed after setting the anti-sway control.

The setting of the notch filter is incorrect.

The crane vibration suppression frequency is incorrect. Change the

The effect of the notch filter is insufficient.

Check that the distance meter has no failure.

Set larger values in

Set Pr.355

≠

Pr.355

Pr.516 and Pr.517

"9999" and

setting.

Set a larger value in

Pr.356

Pr.356

≠ "0".

.

2

3

4

5

6

7

8

9

10


4.7 Troubleshooting in full-closed control

83

5

System failure

This chapter explains system failure.

This function enables detection of system failure to stop logistics/transport equipments. Detection is available only under fullclosed control (position feed / speed feed) or fork control.

5.1

List of system failure

The following table shows system failure names and their detectability in the full-closed control (position feed / speed feed) and fork control.

Name

Crane overspeed detection

Speed range excess fault

Speed deviation detection

Position deviation detection

Distance meter fault

Stop position command out of motion range

Limit dog detection

Brake sequence fault

Emergency stop

Distance meter alarm

○

○

○

○

○

*1

○

○

○

○

○

*1



○

×

○

×

×

*2

×

○

*3

○

○

×

*2

×

×

×

×

×

×

×

×

○

×

Fork control

89

89

90

91

92

93

93

94

95

95

Refer to page

( ○ : Available, ×: Unavailable)

*1 Detection is unavailable during the full-closed control test operation.

*2 System failure detection is unavailable when the speed feed is selected, since the crane position measured by the distance meter is not used.

*3 Use Pr.397

to select the availability of system failure detection. (Refer to

page 79 .)

84 5. System failure

5.1 List of system failure

5.2

Parameters related to system failure

The following parameters are related to system failure.

Pr.

393

W300

394

W301

Name



Initial value

65535

0

395

W302

396

W303

374

H800

592

W324

398

W322

399

W323

593

W325

594

W326

596

W328

597

W329

128

W002 ,

W320

129

W003 ,

W321

397

W304

595

W327


Overspeed detection level 9999



0 s

9999






0 s

9999

0 s

9999

0 s

Motion range 1 0.01 m

Motion range 2



9999

Crane speed detection filter 0.3 s

300 m

1

2 s

1

0.01 to 300 m

0.01 to 300 m

0

1

0 to 65535

0 to 650 s

9999

0 to 1 s

0 to 590 Hz

9999

0 to 10 s

0% to 100%

9999

0 to 10 s

0 to 50 Hz

9999

0 to 10 s

0 to 50 m

9999

0 to 10 s

2

Setting range

0 to 65535

Description

Set the availability of system failure detection.

Set the stop action when system failure is detected.

Set the deceleration time when system failure is detected under the full-closed control.

Pr.8

or Pr.111

setting value is used for the full-closed control, and Pr.45

setting value is used for the fork control.

Input the primary delay filter for the crane speed.

Set the frequency to detect the crane overspeed.

• Vector control or Real sensorless vector control:

( Pr.1

setting value + 20Hz) is used.

• Advanced magnetic flux vector control or V/F control: ( Pr.18

setting value + 20Hz) is used.

Set the time period to detect the crane overspeed.

Set the frequency to detect the speed range excess fault.

Disabled

Set the time period to detect the speed range excess fault.

Set the frequency to detect the speed deviation.

Disabled

Set the time period to detect the speed deviation.

Set the distance to detect the position deviation.

Disabled

Set the time period to detect the position deviation.

3

4

5

6

7

8

9

10

0 to 10 s

Set the lower limit of the motion range that can be specified by the stop position command.

Set the upper limit of the motion range that can be specified by the stop position command.

The limit dog detection is disabled under the speed control.

The limit dog detection is enabled under the speed control. (Detection is unavailable when the limit dog detection is disabled according to the Pr.393

setting.)

Set the time period while the status of the BRI signal remains the same after the status of the BOF signal is changed.

5. System failure

5.2 Parameters related to system failure

85



System failure detection (Pr.393) and Operation selection after system failure detection (Pr.394)

• The following table shows the system failure corresponding to the bit when the Pr.393 System failure detection or Pr.394

Operation selection after system failure detection value is converted to a binary value.

bit 5 bit 6 bit 7 bit 8 bit 9 bit 10 bit 11 bit 12 bit 13 bit 14 bit 15 bit 0 bit 1 bit 2 bit 3 bit 4

Bit System failure







Limit dog detection

—

—

—

—

Brake sequence fault *1

Emergency stop


—

—

93

93

94

—

—

—

—

95

95

—

—

Refer to page

89

89

90

91

92

0

1

*1 The crane is stopped with the brake regardless of the Pr.394

setting.

• Use Pr.393

to select the availability of system failure detection. In the initial setting ( Pr.393

= "65535"), all system failures can be detected.

Bit setting value when Pr.393 setting value converted to binary value


Unavailable

Available

0

1

(Example) When using the crane overspeed detection, position deviation detection, and distance meter alarm, set Pr.393

= "521".

• Use Pr.394 Operation selection after system failure detection to select the stop action when system failure is detected.

The deceleration stop or brake stop can be selected for each system failure.

Bit setting value when Pr.394 setting value converted to binary value

Operation

Deceleration stop

Brake stop

(Example) When using the brake stop only for the speed range excess fault detection, set Pr.394

= "2".

• The System failure (Y231) signal turns ON when system failure is detected. Set "231" (positive logic) or "331" (negative logic) in any parameter from Pr.190 to Pr.196 (Output terminal function selection) to assign the Y231 signal to the output terminal.

• The system failure codes can be displayed on the operation panel or the parameter unit by setting "97" in the parameters for monitoring ( Pr.52, Pr.774 to Pr.776, Pr.992

).

NOTE

• The priorities of the system failure detection are as follows:

Brake sequence fault > Limit dog detection (when Bit 6 of Pr.394

is "1") > Emergency stop (when Bit 8 of Pr.394

is "1") > others

• If multiple system failures are detected, the displayed system failure code and selected operation are those of the one having higher priority.



Deceleration stop, Brake stop, and Deceleration time after system failure detection (Pr.395)

The following description shows the difference between the deceleration stop and brake stop when system failure is detected.



• Deceleration stop

The crane decelerates to stop according to the deceleration time in the following table. Use Pr.395 Deceleration time after system failure detection to set the deceleration time when system failure is detected under the full-closed control.

Control

Full-closed control

*2

Fork control

Pr.395 ≠ "9999"

Pr.395

setting

Pr.45

setting


Pr.395 = "9999"

Pr.8

or Pr.111

setting

*1

Pr.45

setting

*1 Switch ON/OFF the X110 signal to select the acceleration/deceleration time setting between the acceleration/deceleration time or the third acceleration/deceleration time.

*2 The crane decelerates to stop without operation at creep speed.

Deceleration stop

Motor speed

1

2

3

4

5

System failure

Brake opening request signal

(BOF)

Mechanical brake

• Brake stop

The BOF signal turns OFF when the brake starts to operate.

Motor speed

Output shutoff

6

7

8

9

10

System failure


(BOF)

Mechanical brake

NOTE

• Set the mechanical brake operation after the BOF signal turns OFF according to the system.



Crane speed detection filter (Pr.396)

• Use Pr.396 Crane speed detection filter to set the primary delay filter for the speed data (crane speed) obtained by differentiating the position data detected by the distance meter (crane position). The crane speed after using the crane speed detection filter is used as the judgment value for system failure.

• When Pr.52

= "67", the crane speed monitor after using the crane speed detection filter is displayed on the operation panel.

5.2.1

Resetting system failure

The procedure to reset system failure is as follows.

Operating procedure

1.

Turn OFF the inverter start signal.

5. System failure


87

2.

Set Pr.52

= "97" to check the system failure code displayed on the operation panel. (For details of the system failure code monitor, refer to

page 88

.)

3.

Remove the cause of system failure.

4.

Reset the inverter.

5.2.2

System failure code monitor

When the monitoring the system failure code is performed during the system failure detection, the system failure code is displayed as follows.

Lower 8 bits: The system failure code of the failure detected first is stored.

b15 b8 b7

System failure with the highest priority b0

System failure detected first

Upper 8 bits: The system failure code of the failure which has the highest priority in the failures detected past is stored.

System failure code

000

001

002

003

004

005

006

007

008

009

010

011 to 255

Description

No failure







Limit dog detection

Brake sequence fault

Emergency stop


(Free)

Example of system failure detection (Brake sequence fault detected after speed deviation detected) b15

008: Brake sequence fault b8 b7 b0

0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 1

003: Speed deviation detection



5.3

Details of system failure

1

This chapter explains the details of system failure.

5.3.1

Crane overspeed detection

This system failure is detected when any of the motor speed, output frequency, or crane speed reaches the specified value.

Detection is available when "1" is set in Bit 0 when the Pr.393

setting value is converted to a binary value.

Set the frequency to detect the crane overspeed in Pr.374 Overspeed detection level and the detection time period to regard operation as faulty in Pr.592 Crane overspeed detection time .

Pr.592 (Crane overspeed detection time)

2

3

4

Motor speed, output frequency, or crane speed

Pr.374

(Overspeed detection level)

Time

System failure

(Crane overspeed detection)

The conditions to detect and reset the failure are as follows.

Item

Detection condition

Reset condition

Description

Detection occurs when one of the following conditions is satisfied.

• Vector control: The time period set in Pr.592

has elapsed after the motor speed becomes higher than the frequency set in Pr.374

.

• Real sensorless vector control: The time period set in Pr.592

has elapsed after the output frequency becomes higher than the frequency set in Pr.374

.

• Advanced magnetic flux vector control and V/F control: The time period set in Pr.592

has elapsed after the crane speed becomes higher than the frequency set in Pr.374

.

None (Detection is not reset unless the inverter is reset.)

The required conditions to use the detection is as follows. (All conditions must be satisfied.)

Operation mode

Position feed

Speed feed

Description

Detection is available when the inverter is running and one of the following condition is satisfied.

• Vector control is selected.

• Real sensorless vector control is selected.

• Advanced magnetic flux vector control is selected, and the distance meter fault and distance meter alarm are not detected.

• V/F control is selected, and the distance meter fault and distance meter alarm are not detected.

Detection is available when the inverter is running and one of the following condition is satisfied.



5.3.2

Speed range excess fault

This system failure is detected when the amount of the deviation between the motor speed or estimated speed and the crane speed is larger than the specified speed range. Detection is available when "1" is set in Bit 1 when the Pr.393


Set the frequency to detect the speed range excess in Pr.398 Speed range excess fault detection frequency and the detection time period to regard operation as faulty in Pr.399 Speed range excess fault detection time .

Calculate the speed range excess fault detection frequency by the following formula.

5

6

7

8

9

10

5. System failure

5.3 Details of system failure

89

Speed range excess fault detection frequency = Pr.20

× Pr.398

/ 100

Pr.398

(Motor speed or estimated speed)

- (Crane speed)

Pr.398

Speed range excess fault detection frequency


System failure

(Speed range excess fault)

Pr.399

(Speed range excess fault detection time)


Item

Detection condition

Reset condition

Description



has elapsed after the amount of the deviation between the motor speed and the crane speed becomes larger than the frequency set in Pr.398

.


has elapsed after the amount of the deviation between the estimated speed and the crane speed becomes larger than the frequency set in Pr.398

.



• Inverter is running

• Position feed is selected.

• The distance meter fault and distance meter alarm are not detected.

• Pr.398

≠ "9999"

• Vector control or Real sensorless vector control is selected.

5.3.3

Speed deviation detection

This system failure is detected when the amount of the deviation between the frequency command and any of the motor speed, estimated speed, or the crane speed is higher than the speed deviation. Detection is available when "1" is set in Bit 2 when the

Pr.393




Set the frequency to detect the speed deviation in Pr.593 Speed deviation detection frequency and the detection time period to regard operation as faulty in Pr.594 Speed deviation detection time .

Frequency command

1

2

Motor speed, estimated speed, or crane speed

Pr.593

(Speed deviation detection frequency)

3

Time

Pr.594

(Speed deviation detection time) 4

System failure

(Speed deviation detection)

5

Pr.593

(Speed deviation detection frequency)

Motor speed, estimated speed, or crane speed

6

Frequency command

Time

7

Pr.594

(Speed deviation detection time)

System failure

(Speed deviation detection)


Item

Detection condition

Reset condition

Description



has elapsed after the amount of the deviation between the frequency command and the motor speed becomes higher than the frequency set in Pr.593

.


has elapsed after the amount of the deviation between the frequency command and the estimated speed becomes higher than the frequency set in Pr.593

.

• Advanced magnetic flux vector control and V/F control: The time period set in Pr.594

has elapsed after the amount of the deviation between the frequency command and the crane speed becomes higher than the frequency set in Pr.593

.


The required conditions to use the detection is as follows. (The conditions must be satisfied.)

Operation mode

Position feed

Speed feed

Description

Detection is available when the inverter is running and Pr.593

≠ "9999", and when one of the following condition is satisfied.



• Advanced magnetic flux vector control is selected, and the distance meter fault and distance meter alarm are not detected.

• V/F control is selected, and the distance meter fault and distance meter alarm are not detected.

Detection is available when the inverter is running and Pr.593

≠ "9999", and when one of the following condition is satisfied.



5.3.4

Position deviation detection

This system failure is detected when the amount of the deviation between the position command and the current position is larger than the position deviation. Detection is available when "1" is set in Bit 3 when the Pr.393


8

9

10

5. System failure


91

Set the frequency to detect the position deviation in Pr.596 Position deviation detection distance and the detection time period to regard operation as faulty in Pr.597 Position deviation detection time .

Pr.596 (Position deviation detection distance)

(Position command) - (Crane position)

Pr.596 (Position deviation detection distance)

System failure

(Position deviation detection)

Pr.597

(Position deviation detection time)


Item

Detection condition

Reset condition

Description

The time period set in Pr.597

has elapsed after the amount of the deviation between the position command and the current position becomes larger than the distance set in Pr.596

.



• Position loop is enabled.

• Pr.596

≠ "9999"

5.3.5

Distance meter fault

This system failure is detected when a communication error occurs between the inverter and the distance meter, or when the data sent from the distance meter is unreliable. (Detection is available only when the position feed is selected. During the fullclosed control test operation, detection is unavailable.)



Set the number of retries at communication error or the detection time period to regard operation as faulty in Pr.335 RS-485 communication retry count , Pr.336 RS-485 communication check time interval , or Pr.761 Distance measurement fault detection interval . (For the details of Pr.335, Pr.336, and Pr.761

, refer to

73

and

page 77 .)

The conditions to detect the distance meter fault differ depending on the used distance meter as follows. The distance meter fault is detected when one of the required conditions is satisfied.

Distance meter

DME5000

OLM100-1003

CEV58M-00884

AMS300i

DL100pro

AMS308i

BPS307i

AMS304i

CMV58M-00002

○

○

○

—

—

—

—

A-1

—

—

○

—

—

—

—

Detection condition (Refer to the next table for the details.)

A-2 B-1 B-2 B-3 C

○ — — ○

—

—

—

—

—

—

—

○

○

—

—

—

—

—

—

○

○

○

○

○

—

—

—

—

○

○

○

○

○

○

○

D



( ○ : Required, —: Not required)

A-1

A-2

Detection condition

B-1

B-2

B-3

C

D

Description

The normal head data is not sent from the distance meter within the time period set in Pr.336

.

The normal data is not sent from the distance meter within the time period set in Pr.761

.

The distance data sent from the distance meter is "0" consecutively for 30 ms.

An error signal (a data validity error, laser light attenuation, or measured value overflow due to shading or other causes) is sent from the distance meter consecutively for 30 ms.

An unreliable data (signal loss detection, polarity fault, or measured value overflow) is sent from the distance meter consecutively for 30 ms.

The consecutive number of times that an impermissible data is received exceeds the number of the times set in Pr.335

.

The start command turns ON when the normal data has never been sent from the distance meter.

5.3.6

Stop position command out of motion range

This system failure is detected when the stop position command data set via communication is out of the crane motion range.



Set the lower limit of the crane motion range in Pr.128 Motion range 1 and the upper limit in Pr.129 Motion range 2 .

Startup of the inverter

Stop position command within motion range



(Register for communication)

1

2

3

4

5

6

7

Stop position command writing requested

Stop position command (Inside the inverter)

Initial value = "0"

Stop position command within motion range



(Inside the inverter)

8

9

Stop position command initial writing judgment

Start command

System failure

(Stop position command out of motion range)

Reset

Out-of-range fault detected

Out-of-range fault detected

10

Stop position command writing complete


Item

Detection condition

Reset condition

Description


• The stop position command is out of the crane motion range.

• Pr.128

setting > Pr.129

setting

• Pr.760

× 1024 < Pr.129

× 1000 (When using the absolute encoder type distance meter)



• Position feed is selected.

• The start command is ON or the first stop position command is written.

5.3.7

Limit dog detection

This system failure is detected according to the status of the Limit dog (X107) signal or Limit dog 2 (X112) signal and the input status of the forward rotation command or reverse rotation command. (Detection is not reset unless the inverter is reset.)



5. System failure


93

The limit dog detection is selected between the limit dog detection 1 and 2. When using the limit dog detection 1, assign the

X107 signal to an input terminal. When using the limit dog detection 2, assign the X107 and X112 signals to input terminals.

Only commands given via the external terminals are valid for the X107 and X112 signals (refer to

page 116

).

Use Pr.397 Limit dog operation selection to set the availability of the limit dog detection when the speed feed is selected

(Initial setting: Pr.397

= "1" (Limit dog detection enabled)).

The detection conditions are as follows.

Terminal assignment

X107 signal

X112 signal

Not assigned

Not assigned

—



Not detected.

Detected when the X107 signal is OFF.

Reverse rotation Forward rotation

Assigned

Not assigned

Limit dog detection 1

Operation disabled

Operation disabled

Operation enabled

Operation enabled

Operation disabled

Operation disabled

Assigned Assigned


X107 OFF ON


• The X107 signal is OFF and the forward rotation command is input.

• The X112 signal is OFF and the reverse rotation command is input.

Reverse rotation Forward rotation

Operation disabled

Operation enabled

Operation enabled

Operation enabled

Operation enabled

OFF

Operation disabled

X107

OFF ON

X112 OFF ON





Description

Detection is available when one of the following conditions is satisfied.

• Pr.397

= "1" when the position feed or speed feed is selected.

• The X107 signal is assigned to an input terminal and the X112 signal is not assigned.

Detection is available when one of the following conditions is satisfied.

• Pr.397

= "1" when the position feed or speed feed is selected.

• The X107 and X112 signals are assigned to input terminals.

5.3.8

Brake sequence fault

This system failure is detected when the status of the Brake opening completion (BRI) signal remains the same after the status of the Brake opening request (BOF) signal is changed. Detection is available when "1" is set in Bit 7 when the Pr.393


Set the detection time period to regard operation as faulty in Pr.595 Brake sequence fault detection time .

Pr.595

(Brake sequence fault detection time)

Pr.595

(Brake sequence fault detection time)


(BOF)

Brake opening completion signal

(BRI)

System failure

(Brake sequence fault)




Item

Detection condition

Reset condition

Description


• The BRI signal remains OFF when the time period set in Pr.595

has elapsed after the BOF signal turns ON.

• The BRI signal remains ON when the time period set in Pr.595

has elapsed after the BOF signal turns OFF.



• Full-closed control is enabled

• The BRI signal is assigned to an input terminal.

• The BOF signal is assigned to an output terminal.

5.3.9

Emergency stop

This system failure is detected when the Crane emergency stop (X111) signal is turned ON via communication. Detection is available when "1" is set in Bit 8 when the Pr.393



Item

Detection condition

Reset condition

Description

The X111 signal is turned ON via communication.


Set "111" in any parameter from Pr.178 to Pr.189 (Input terminal function selection) to assign the X111 signal to an input terminal. Only commands given via communication are valid for the X111 signal (refer to

page 116

).

5.3.10 Distance meter alarm

This system failure is detected when the distance meter has any structural failure or the abnormal internal temperature occurs.

(Detection is available only when the position feed is selected. During the full-closed control test operation, detection is unavailable.)



This detection is available when using the DL100Pro, AMS300i, and AMS308i.

1

2

3

4

5

6

7

8

9

10

5. System failure


95

6

Communication with host controller

This chapter explains the communication between the inverter and the host controller.

The inverter operation is controlled by inputting the start command, speed command, and stop position command from the master to the inverter via communication.

The following communications are available for this product.

• CC-Link (FR-A8NC required)

• CC-Link IE Field Network (FR-A8NCE manufactured in November 2019 or later required)

• CC-Link IE Field Network Basic (Only for Ethernet model.)

NOTE

• Check the board of the FR-A8NCE for its SERIAL number.

FR-A8NCE SERIAL example

□ 9 Y ○○○

Symbol Year Month Control number

SERIAL

The SERIAL consists of one symbol, two characters indicating the production year and month, and three characters indicating the 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).

• The FR-A8NCE manufactured in October 2019 or earlier is installed to any plug-in option connector from 1 to 3, the protective function (E.1 to E.3) is activated and the inverter output is shutoff.

• This product supports the remote I/O and remote register devices for logistics/transport functions. For the functions not found in this Manual, refer to the FR-A8NC Instruction Manual, the FR-A8NCE Instruction Manual, and the Ethernet Function Manual according to the communication type.

6.1

Communication parameter settings

Set communication parameters according to the communication used as follows.

The settings are applied after an inverter reset or at the next power-ON. After changing the parameters, communication cannot be made until the inverter is reset.

6.1.1

CC-Link

For the parameter details, refer to the FR-A8NC Instruction Manual.

Pr.

542

N101

543

N102

544

N103

Name

Communication station number (CC-Link)

Baud rate selection (CC-

Link)

1

0


1 to 64

0 to 4

Description

Enter the station number of the inverter.

Set the data transmission speed.

CC-Link extended setting 0

0 to 2, 12, 14, 18,

24, 28, 100, 112,

114, 118, 128

*1

Set to "2" (CC-Link Ver.1 (functions dedicated to the logistics/transport compatible (two stations occupied))). (When Pr.544

≠ "2", the inverter specification is not satisfied.)

*1 For the setting values other than "2", refer to the Ethernet Function Manual.

6.1.2

CC-Link IE Field Network

For the parameter details, refer to the FR-A8NCE Instruction Manual.

Pr.

434

N110

435

N401

Name

Network number (CC-Link

IE)

0

Station number (CC-Link IE) 0


0 to 255

0 to 255

*1

Description

Enter the network number of the inverter.

Enter the station number of the inverter.

*1 The setting range of Pr.435

is "0 to 255", but its active range is "1 to 120".

The values out of the active range are invalid because such values cannot be transmitted to the host controller.

96 6. Communication with host controller

6.1 Communication parameter settings

6.1.3

CC-Link IE Field Network Basic

For the parameter details, refer to the Ethernet Function Manual.

1437

N603

1438

N610

1439

N611

1440

N612

Pr.

1434

N600

1435

N601

1436

N602

1441

N613

1427

N630

Name





Subnet mask 1

Subnet mask 2

Subnet mask 3

Initial value

192

168

50

1

255

255

255

Setting range

0 to 255

0 to 255

Description


Enter the subnet mask of the network to which the inverter belongs.

1428

N631

1429

N632

544

N103

Subnet mask 4 0





5001

45237

9999

0

502, 5000 to

5002, 5006 to

5008, 5010 to

5013, 9999,

45237, 61450

*2

502, 5000 to

5002, 5006 to

5008, 5010 to

5013, 9999,

10001, 45237,

61450

*2

Set "61450" (CC-Link IE Field Network Basic) in one of the parameters.

0 to 2, 12, 14, 18,

24, 28, 100, 112,

114, 118, 128

*1

Set to "2" (CC-Link Ver.1 (functions dedicated to the logistics/transport compatible (two stations occupied))). (When Pr.544

≠ "2", the inverter specification is not satisfied.)



1

2

3

4

5

6

7

8

9

10

6. Communication with host controller

6.1 Communication parameter settings

97

6.2

Remote I/O and remote register devices

6.2.1

CC-Link, CC-Link IE Field Network Basic

The following describes the remote I/O and remote register devices when CC-Link Ver.1 (functions dedicated to the logistics/ transport compatible (two stations occupied)) is used ( Pr.544

= "2").



Remote I/O (64 points (fixed))

Device No.

*5

RYn0

RYn1

RYn2

RYn3

RYn4

RYn5

RYn6

RYn7

RYn8

RYn9

RYnA

RYnB

RYnC

RYnD

RYnE

RYnF

RY(n+1)0 to

RY(n+1)9

RY(n+1)A

Signal

Forward rotation command

*4

Reverse rotation command *4

High-speed operation command

(terminal RH function) *1

Middle-speed operation command

(terminal RM function)

*1

Low-speed operation command

(terminal RL function)

*1

Jog operation selection (terminal JOG

function)

*1

Second function selection (terminal RT

function) *1

Current input selection (terminal AU

function) *1

Selection of automatic restart after instantaneous power failure (terminal

CS function)

*1

Output stop

*1

Start self-holding selection (terminal

STOP function)

*1

Reset (terminal RES function) *1

Monitor command

Frequency setting command (RAM)

Frequency setting command (RAM,

EEPROM)

Instruction code execution request

*6

*6

*6

*6

*6

*6

*6

*6

*6

*6

*6

*6

*6

*6

Refer to page

*6

*6

Reserved

Error reset request flag

—

*6

RY(n+1)B to

RY(n+1)F

RY(n+2)0

RY(n+2)1

RY(n+2)2

RY(n+2)3

RY(n+2)4

RY(n+2)5

RY(n+2)6

RY(n+2)7

RY(n+2)8

RY(n+2)9

RY(n+2)A

RY(n+2)B

RY(n+2)C

Reserved


H00 (Free)

H00 (Free)

H00 (Free)

H00 (Free)

H00 (Free)

H00 (Free)

H00 (Free)

H00 (Free)

H00 (Free)

H00 (Free)

H00 (Free)

H00 (Free)

—

99

—

—

—

—

—

—

—

—

—

—

—

—

Device No.

*5

RXn0

RXn1

Forward running

Reverse running

Signal

RXn2 Running (terminal RUN function)

*2

RXn3

RXn4

RXn5

RXn6

RXn7

RXn8

RXn9

RXnA

RXnB

RXnC

RXnD

RXnE

RXnF

RX(n+1)0 to

RX(n+1)9

RX(n+1)A

RX(n+1)B

RX(n+1)C to

RX(n+1)F

RX(n+2)0

RX(n+2)1

RX(n+2)2

RX(n+2)3

RX(n+2)4

RX(n+2)5

RX(n+2)6

RX(n+2)7

RX(n+2)8

RX(n+2)9

RX(n+2)A

RX(n+2)B

RX(n+2)C

Up to frequency (terminal SU function)

*2 *6

Overload alarm (terminal OL function) *2 *6

Instantaneous power failure (terminal

IPF function)

*2

Frequency detection (terminal FU

function) *2

Error (terminal ABC1 function)

*2

*6

*6

*6

— (terminal ABC2 function)

*2

Pr.313

assignment function (DO0)

*3

Pr.314

assignment function (DO1) *3

Pr.315

assignment function (DO2) *3

Monitoring

Frequency setting completion (RAM)

Frequency setting completion (RAM,

EEPROM)

Instruction code execution completed

Reserved

Error status flag

Remote station ready

Reserved

Stop position command receipt complete

Stop position command not applied

Position feed

Speed feed

Fork selecting

H00 (Free)

H00 (Free)

H00 (Free)

H00 (Free)

H00 (Free)

H00 (Free)

H00 (Free)

H00 (Free)

*6

*6

*6

*6

*6

*6

99

—

—

—

—

99

99

99

99

—

—

—

—

—

*6

*6

*6

*6

*6

Refer to page

*6

*6

—


6.2 Remote I/O and remote register devices

Device No.

*5

RY(n+2)D

RY(n+2)E

RY(n+2)F

RY(n+3)0 to

RY(n+3)F

H00 (Free)

H00 (Free)

H00 (Free)

H00 (Free)

Signal

Refer to page

—

—

—

—

Device No.

*5

RX(n+2)D

RX(n+2)E

RX(n+2)F

RX(n+3)0 to

RX(n+3)F

H00 (Free)

H00 (Free)

System failure

H00 (Free)

Signal

Refer to page

—

—

99

—

*1 These signals are set in the initial setting. Use Pr.180 to Pr.186, Pr.188, and Pr.189

to assign a different input signal to the terminal. For details of Pr.180 to Pr.186, Pr.188, and Pr.189

, refer to the FR-A800 Instruction Manual (Detailed).

*2 These signals are set in the initial setting. Using Pr.190 to Pr.196

, output signals assigned to the device numbers can be changed. For details of

Pr.190 to Pr.196


*3 Output signals can be assigned using Pr.313 to Pr.315

. The settings of Pr.313 to Pr.315

are the same as those of Pr.190 to Pr.196 Output terminal function selection . For details of Pr.190 to Pr.196


*4 The signals are fixed. They cannot be changed using parameters.

*5 "n" indicates a value determined by the station number setting.

*6 For the details, refer to the FR-A8NC Instruction Manual or Ethernet Function Manual.



Output signals (from the master module to the inverter)

Input signals from the master module to the inverter are as follows.

Device No.

RY20

Signal


Description

When the RY20 signal is turned ON after the stop position command value is written to RWw4 and RWw5, the stop position command value in RWw4 and RWw5 is written to the inverter RAM. Use the RX20 and RX21 signals to check that the written stop position command value is applied.



Input signals (from the inverter to the master module)

Output signals from the inverter to the master module are as follows.

Device No.

RX20

RX21

RX22


Signal


Description

Used to judge whether the written stop position command value is applied when the

RY20 signal is ON. The RX20 signal turns ON when the judgment is complete regardless of the result. (For details of the judgment, refer to the RX21 signal.)

After the RY20 signal turns OFF, the RX20 signal turns OFF.

Used to check that the written stop position command value is applied when the RX20 signal is ON. The RX21 signal turns OFF when the value is applied, and turns ON when the value is not applied. The stop position command value cannot be applied

(the last command value is used) in the following cases:

• An invalid value (a value less than 0 mm or more than 300000.0 mm) is written.

• The stop position command value is written during deceleration.

• A value specifying the point where the crane cannot stop (the point the crane has already passed or cannot decelerate to stop) is written during inverter operation.


Position feed The RX22 signal turns ON when the position feed is selected.

1

2

3

4

5

6

7

8

9

10

RX23 Speed feed The RX23 signal turns ON when the speed feed is selected.

RX24 Fork selecting The RX24 signal turns ON when the fork control is selected.

RX2F System failure

The RX2F signal turns ON when system failure is detected. The RX2F turns OFF when the inverter is reset after the system failure is reset.



Remote register (two stations occupied)

Device No.

*1

RWwn

RWwn+1

RWwn+2

RWwn+3

Upper 8 bits

Signal

Lower 8 bits

Monitor code 2 Monitor code 1

Set frequency (0.01 Hz)

Link parameter extended setting

Write data

Instruction code

RWwn+4

RWwn+5

RWwn+6

RWwn+7

Lower stop position command data

Upper stop position command data

H00 (Free)

H00 (Free)

Refer to page

*2

*2

*2

*2

100

100

—

—

Device No.

*1

RWrn

RWrn+1

Upper 8 bits

Signal

Lower 8 bits

First monitor value

Second monitor value

RWrn+2

RWrn+3

RWrn+4

RWrn+5

RWrn+6

RWrn+7

Reply code 2 Reply code 1

*2

Read data

Lower stop position command monitor data

Upper stop position command monitor data

Lower current position monitor data

Upper current position monitor data

*2

100

100

100

100

Refer to page

*2

*2



99


*2 For the details, refer to the FR-A8NC Instruction Manual or Ethernet Function Manual.



Remote register (from the master module to the inverter)

Device No.

RWw4

RWw5

Signal Description

Lower stop position command data Set the stop position command value. Setting range: 0 to 3000000, increment: 0.1 mm, 32-bit hexadecimal signed value. (Lower 16 bits of the value are written in RWw4 and upper 16 bits in RWw5.) Ensure that the setting value is within the range specified in Pr.128 Motion range 1 and Pr.129 Motion range 2 .


(When a value out of the setting range is written, the stop position command value cannot applied and the RX21 signal turns ON.)

When the RY20 signal is turned ON after setting the stop position command value, the value is written to the inverter RAM. Use the RX20 and RX21 signals to check that the written stop position command value is correctly applied.



Remote register (from the inverter to the master module)

Device No.

RWr4

RWr5

RWr6

RWr7

Signal


Description


The monitored value of the stop position command is written to RWr4 and RWr5.

Increment: 0.1 mm, 32-bit hexadecimal signed value.

Lower 16 bits of the value are written in RWr4 and upper 16 bits in RWr5.

Lower current position monitor data The current position is written to RWr6 and RWr7. (The current position compensated using the dual feedback control (under Vector control) or the distance detection filter


(under the other control) is written.)



NOTE

• The remote resister of the first station is the same as that of the FR-A800 series inverter. For the details of the remote resister of the first station, refer to the FR-A8NC Instruction Manual or Ethernet Function Manual.

6.2.2

CC-Link IE Field Network

The following shows the remote I/O and remote register devices for the CC-Link IE Field Network.



Remote I/O (64 points (fixed))

Device No.

*5

RYn0

RYn1

RYn2

RYn3

RYn4

RYn5

RYn6

RYn7

RYn8

Signal

Forward rotation command

*4

Reverse rotation command

*4

High-speed operation command

(terminal RH function)

*1

Middle-speed operation command

(terminal RM function)

*1

Low-speed operation command

(terminal RL function)

*1

Jog operation selection (terminal JOG function)

*1

Second function selection (terminal RT function)

*1

Current input selection (terminal AU function)

*1

Selection of automatic restart after instantaneous power failure (terminal

CS function)

*1

*6

*6

*6

*6

*6

*6

*6

Refer to page

*6

*6

Device No.

*5

RXn0

RXn1

RXn2

RXn3

RXn4

RXn5

RXn6

RXn7

RXn8

Forward running

Reverse running

Signal

Running (terminal RUN function) *2

Overload alarm (terminal OL function)

*2 *6

Instantaneous power failure (terminal

IPF function)

*2

Frequency detection (terminal FU function)

*2

*6

*6

Refer to page

*6

*6

Up to frequency (terminal SU function) *2 *6

Error (terminal ABC1 function) *2

— (terminal ABC2 function)

*2

*6

*6

*6



Device No.

*5 Signal

Refer to page

*6

Device No.

*5 Signal

Refer to page

RYn9

RYnA

RYnB

RYnC to RYnF

Output stop (terminal MRS function)

*1

Start self-holding selection (terminal

STOP function) *1

Reset (terminal RES function)

*1

*6

*6

RXn9 to RXnF Reserved —

RY(n+1)0 to

RY(n+1)F

RY(n+2)0

RY(n+2)1

RY(n+2)2

RY(n+2)3

RY(n+2)4

Reserved

Monitor command

Frequency setting command (RAM)

Frequency setting command (RAM,

EEPROM)

Torque command / torque limit (RAM,

EEPROM)

Instruction code execution request

—

*6

*6

*6

Torque command / torque limit (RAM)

*6

*6

RX(n+1)0

RX(n+1)1

RX(n+1)2

RX(n+1)3 to

RX(n+1)F

RX(n+2)0

RX(n+2)1

RX(n+2)2

RX(n+2)3

RX(n+2)4

Pr.313


*3

Pr.314


*3

Pr.315


*3

Reserved

Monitoring

Frequency setting completion (RAM)

Frequency setting completion (RAM,

EEPROM)

Torque command / torque limit setting completion (RAM)

Torque command / torque limit setting completion (RAM, EEPROM)

Instruction code execution completed

*6

*6

*6

—

*6

*6

*6

*6

*6

RY(n+2)5

RY(n+2)6 to

RY(n+2)F

Reserved

*6

—

RX(n+2)5

RX(n+2)6 to

RX(n+2)F

Reserved

*6

—

RY(n+3)0

RY(n+3)1 to

RY(n+3)4

RY(n+3)5

RY(n+3)6

RY(n+3)7

RY(n+3)8 to

RY(n+3)9

RY(n+3)A

RY(n+3)B to

RY(n+3)F


Reserved

Acceleration time writing requested

Reserved

Deceleration time writing requested

Reserved

Error reset request flag

Reserved

101

—

101

—

101

—

*6

—

RX(n+3)0

RX(n+3)1

RX(n+3)2

RX(n+3)3

RX(n+3)4

RX(n+3)5

RX(n+3)6

RX(n+3)7

RX(n+3)8

RX(n+3)9

RX(n+3)A

RX(n+3)B

RX(n+3)C to

RX(n+3)F



Position feed

Speed feed

Fork selecting

Acceleration time receipt complete

Acceleration time not applied

Deceleration time receipt complete

Deceleration time not applied

System failure

Error status flag

Remote station ready

Reserved

102

—


, input signals assigned to the device numbers can be changed. For details of

Pr.180 to Pr.189



, output signals assigned to the device numbers can be changed. For details of

Pr.190 to Pr.196


*3 Output signals can be assigned using Pr.313 to Pr.315

. The settings of Pr.313 to Pr.315

are the same as those of Pr.190 to Pr.196 Output terminal function selection . For details of Pr.190 to Pr.196


*4 The signals are fixed. They cannot be changed using parameters.


*6 For details, refer to the FR-A8NCE Instruction Manual.



Output signals (from the master module to the inverter)

Input signals from the master module to the inverter are as follows.

102

102

102

102

102

102

102

102

102

*6

*6

Device No.

RY30

RY35

RY37


Deceleration time writing requested

Signal

Acceleration time writing requested

Description

When the RY30 signal is turned ON after the stop position command value is written to RWw60 and RWw61, the stop position command value in RWw60 and RWw61 is written to the inverter RAM.

When the RY35 signal is turned ON after the acceleration time is written to RWw62, the acceleration time in RWw62 is written to the inverter RAM.

When the RY37 signal is turned ON after the deceleration time is written to RWw63, the deceleration time in RWw63 is written to the inverter RAM.

1

2

3

4

5

6

7

8

9

10



101



Input signals (from the inverter to the master module)

Output signals from the inverter to the master module are as follows.

Device No.

RX30

RX31

RX32

RX33

RX34

RX35

RX36

RX37

RX38

RX39


Position feed

Speed feed

Fork selecting

System failure

Signal


Acceleration time receipt complete

Acceleration time not applied

Deceleration time receipt complete

Deceleration time not applied

Description

Used to judge whether the written stop position command value is applied when the

RY30 signal is ON. The RX30 signal turns ON when the judgment is complete regardless of the result. (For details of the judgment, refer to the RX31 signal.)


Used to check that the written stop position command value is applied when the RX30 signal is ON. The RX31 signal turns OFF when the value is applied, and turns ON when the value is not applied. The stop position command value cannot be applied

(the last command value is used) in the following cases:

• An invalid value (a value less than 0 mm or more than 300000.0 mm) is written.

• The stop position command value is written during deceleration.

• A value specifying the point where the crane cannot stop (the point the crane has already passed or cannot decelerate to stop) is written during inverter operation.


The RX32 signal turns ON when the position feed is selected.

The RX33 signal turns ON when the speed feed is selected.

The RX34 signal turns ON when the fork control is selected.

The RX35 signal turns ON when the RY35 signal is ON regardless of whether the written acceleration time is applied. (For details of the judgment, refer to the RX36 signal.)


The RX36 signal turns ON when the RY35 signal is ON and the written acceleration time is not applied. The acceleration time cannot be applied (the last acceleration time is used) in the following cases:

• An invalid value (a value less than 0 s or more than 650.00 s) is written.

• The acceleration time is written during inverter operation.


The RX37 signal turns ON when the RY37 signal is ON regardless of whether the written deceleration time is applied. (For details of the judgment, refer to the RX38 signal.)


The RX38 signal turns ON when the RY37 signal is ON and the written deceleration time cannot be applied. The deceleration time cannot be applied (the last deceleration time is used) in the following cases:

• An invalid value (a value less than 0 s or more than 650.00 s) is written.

• The deceleration time is written during inverter operation.


The RX39 signal turns ON when system failure is detected. The RX39 turns OFF when the inverter is reset after the system failure is reset.



Remote register (128 words (fixed))

Device No.

*2

RWwn

RWwn+1

RWwn+2

Upper 8 bits

Signal

Lower 8 bits

Set frequency (0.01 Hz)

Reserved

Torque command / torque limit

RWwn+3 to

RWwn+F

RWwn+10

Reserved


Instruction code *1

Refer to page

*3

—

*3

—

*3

RWrn

RWrn+1

RWrn+2

RWrn+3

RWrn+4

RWrn+5

RWrn+6

RWrn+7

RWrn+8

Device No.

*2

RWrn+9

RWrn+A

RWrn+B

RWrn+C to

RWrn+F

Upper 8 bits

Signal

Lower 8 bits

Reply code

Reserved

Reply code

Reserved

Reply code

Reply code

Reply code

Reserved



Lower current position monitor data


Reserved

*3

*3

—

Refer to page

*3

—

*3

—

*3

105

105

105

105

—

RWrn+10 Reply code

*3



RWwn+22 to

RWwn+25

Reserved

RWwn+26

RWwn+27

RWwn+28

RWwn+29

RWwn+2A

RWwn+2B

RWwn+2C

RWwn+2D

RWwn+2E

RWwn+2F

Device No.

RWwn+11

RWwn+12

RWwn+13

RWwn+14

RWwn+15

RWwn+16

RWwn+17

RWwn+18

RWwn+19

RWwn+1A

*2

Signal

Upper 8 bits

Data to be written

Lower 8 bits


Data to be written


Data to be written


Data to be written

Instruction code

Instruction code

Instruction code

*1

*1

*1


Data to be written


Write data

Instruction code

Instruction code

*1

*1

RWwn+1B

RWwn+1C to

RWwn+1F

RWwn+20

Reserved

Reserved

RWwn+21 Fault history No.

—

—

*3

*3

*3

*3

*3

*3

*3

*3

*3

*3

Refer to page

*3

*3

Monitor code 1

Monitor code 2

Monitor code 3

Monitor code 4

Monitor code 5

Monitor code 6

Monitor code 7

Monitor code 8

Monitor code 9

Monitor code 10

—

*3

*3

*3

*3

*3

*3

*3

*3

*3

*3

RWrn+21

RWrn+22

RWrn+23

RWrn+24

RWrn+25

RWrn+26

RWrn+27

RWrn+28

RWrn+29

RWrn+2A

RWrn+2B

RWrn+2C

RWrn+2D

RWrn+2E

RWrn+2F

Device No.

*2

RWrn+11

RWrn+12

Upper 8 bits

Read data

*1

Signal

Lower 8 bits

Reply code

RWrn+13

RWrn+14

RWrn+15

RWrn+16

RWrn+17

RWrn+18

RWrn+19

RWrn+1A

RWrn+1B

RWrn+1C to

RWrn+1F

RWrn+20

Refer to page

*3

*3

Read data

*1

Reply code

Read data

*1

Reply code

*3

*3

*3

*3

Read data

*1

Reply code

Read data

*1

Reply code

*3

*3

*3

*3

Read data

*1

Reserved

*3

—

Error status

Fault history No.

Fault record (fault data)

Fault record (output frequency)

Fault record (output current)

Fault record (output voltage)

Fault record (energization time)

First monitor value

Second monitor value

Third monitor value

Fourth monitor value

Fifth monitor value

Sixth monitor value

Seventh monitor value

Eighth monitor value

Ninth monitor value

Tenth monitor value

*3

*3

*3

*3

*3

*3

*3

*3

*3

*3

*3

*3

*3

*3

*3

*3

1

2

3

4

5

6

7

8

9

10



103

Device No.

*2

RWwn+30 to

RWwn+48

RWwn+49 to

RWwn+5D

RWwn+5E

RWwn+60

RWwn+61

RWwn+62

RWwn+63

Upper 8 bits

Signal

Lower 8 bits

Reserved

Reserved

Reserved

Lower stop position command data


Acceleration time

Deceleration time

—

105

105

105

105

Refer to page

—

—

RWrn+48

RWrn+49

RWrn+4A to

RWrn+4F

RWrn+50

RWrn+51

RWrn+52

RWrn+53

RWrn+54

RWrn+55

RWrn+56

RWrn+57

RWrn+58

RWrn+59

RWrn+5A

RWrn+5B

RWrn+5C

RWrn+5D

RWrn+30

RWrn+31

RWrn+32

RWrn+33

RWrn+34

RWrn+35

RWrn+36

RWrn+37

RWrn+38

RWrn+39

RWrn+3A

RWrn+3B

RWrn+3C

RWrn+3D

RWrn+3E

RWrn+3F

RWrn+40

RWrn+41

RWrn+42

RWrn+43

RWrn+44

RWrn+45,

RWrn+46

RWrn+47

Device No.

*2

Signal

Upper 8 bits

Output frequency

Lower 8 bits

Reserved

Output current

Output voltage

Reserved

Frequency setting value

Motor speed

Motor torque

Converter output voltage

Regenerative brake duty

*3

*3

*3

*3

Electronic thermal O/L relay load factor

*3

*3

Output current peak value

Converter output voltage peak value

Input power

Output power

Input terminal status

*3

*3

*3

*3

Output terminal status

Load meter

Motor excitation current

Reserved

Cumulative energization time

*3

*3

Refer to page

*3

—

*3

*3

—

*3

*3

—

*3

Reserved

Actual operation time

Motor load factor

Cumulative power

Reserved

Torque command

Torque current command

Motor output

Feedback pulse monitor

Reserved

Reserved

Trace status

Reserved

PLC function user monitor 1



Station number (RS-485 terminals)

Station number (PU)

Station number (CC-Link)

—

—

—

*3

—

*3

*3

*3

*3

*3

*3

*3

*3

*3

*3

*3

*3

*3

—

RWrn+5E to

RWrn+61

RWrn+62

RWrn+63

Reserved

Power saving effect

Cumulative energy saving

—

*3

*3



Device No.

*2

Upper 8 bits

Signal

Lower 8 bits

Refer to page

Device No.

*2

Upper 8 bits

Signal

Lower 8 bits

Refer to page

RWwn+64 to

RWrn+7F

Reserved —

RWrn+64 to

RWrn+69

RWrn+6A

RWrn+6B

RWrn+6C

RWrn+6D

RWrn+6E

RWrn+6F

RWrn+70

RWrn+71 to

RWrn+76

RWrn+77

RWrn+78

RWrn+79

RWrn+7A

Reserved

Option input terminal status 1

Option input terminal status 2

Option output terminal status

Motor thermal load factor

Inverter thermal load factor

Reserved

PTC thermistor value

Reserved

Cumulative pulse

Cumulative pulse overflow times

Cumulative pulse (control terminal option)

Cumulative pulse overflow times

(control terminal option)

—

*3

*3

*3

*3

*3

—

*3

—

*3

*3

*3

*3

RWrn+7B to

RWrn+7F

Reserved —

*1 Instructions will be processed in the order they are received. Thus, the read value of an instruction may differ at different timings if other writing requests are being made.


*3 For details, refer to the FR-A8NCE Instruction Manual.



Remote register (from the master module to the inverter)

Device No.

RWw60

RWw61

RWw62

RWw63


Lower stop position command data Set the stop position command value. Setting range: 0 to 3000000, increment: 0.1 mm, 32-bit hexadecimal signed value. (Lower 16 bits of the value are written in

RWw60 and upper 16 bits in RWw61.) Ensure that the setting value is within the range specified in Pr.128 Motion range 1 and Pr.129 Motion range 2 .


Setting range: 0 to 3000000, increment: 0.1 mm, 32-bit hexadecimal signed value.

(Lower 16 bits of the value are written in RWw60 and upper 16 bits in RWw61). (When a value out of the setting range is written, the stop position command value cannot applied and the RX31 signal turns ON.)

When the RY30 signal is turned ON after setting the stop position command value, the value is written to the inverter RAM. Use the RX30 and RX31 signals to check that the written stop position command value is applied.

Acceleration time

Deceleration time

Set the acceleration time for full-closed control (position feed / speed feed).

Setting range: 0 to 65000, Unit: 0.01 s (the Pr.21

setting is disabled.)

(When the acceleration time is not set via communication after inverter reset, the acceleration time set in Pr.7

or Pr.110

is used.)

Set the deceleration time for full-closed control (position feed / speed feed).

Setting range: 0 to 65000, Unit: 0.01 s (the Pr.21

setting is disabled.)

(When the deceleration time is not set via communication after inverter reset, the deceleration time set in Pr.8

or Pr.111

is used.)



Remote register (from the inverter to the master module)

Device No.

RWr8

RWr9

RWrA

RWrB

Signal


Description


The monitored value of the stop position command is written to RWr8 and RWr9.



Lower current position monitor data The current position is written to RWrA and RWrB. (The current position compensated using the dual feedback control (under Vector control) or the distance detection filter


(under the other controls) is written.)


Lower 16 bits of the value are written in RWrA and upper 16 bits in RWrB.

1

2

3

4

5

6

7

8

9

10



105

6.3

Communication setting

The following shows the procedure to input the start command and speed command to the inverter via communication when using the position feed and the speed feed.

6.3.1

Position feed


1.

Checking position feed

Check that the remote I/O device for the position feed is ON.

Communication

CC-Link, CC-Link IE Field Network Basic

CC-Link IE Field Network

Device number

RX22

RX32

2.

Setting speed command

Set the speed command in the remote register device. When the setting frequency is 60 Hz, set "6000" in the following remote register devices.

Communication



Device number

RWwn+1

RWwn+0

3.

Inputting frequency setting command (RAM)

Turn ON the remote I/O device for the frequency setting command (RAM) to write the command to the inverter RAM.

Communication



Device number

RYD

RY21

4.

Checking frequency writing complete

Check that the remote I/O device for the frequency setting complete (RAM) is ON and the remote register device of the reply code is "0".

• Frequency setting completion (RAM)

Communication



Device number

RXD

RX21

• Reply code

Communication



Device number

RWrn+2

RWrn+0

5.

Setting stop position command

Set the stop position command (unit: 0.1 mm) in the following remote register devices, and turn ON the remote I/O device for the stop position command writing requested. When the stop position command is 100 m, set "100000" in the following remote register devices.

• Stop position command

Communication



Device number

Lower: RWwn+4, Upper: RWwn+5

Lower: RWwn+60, Upper: RWwn+61

• Stop position command writing requested

Communication



Device number

RY20

RY30


6.3 Communication setting

6.

Checking stop position command writing complete

Check that the remote I/O device for the stop position command receipt complete is ON and the remote I/O device for the stop position command not applied is OFF.

• Stop position command receipt complete

Communication



Device number

RX20

RX30

• Stop position command not applied

Communication



Device number

RX21

RX31

1

2

3

4

NOTE

• The following remote register devices can be used for monitoring the written stop position command.

Communication



Device number

Lower: RWrn+4, Upper: RWrn+5

Lower: RWrn+8, Upper: RWrn+9

5

6

7.

Inputting start command

Turn ON the remote I/O device for the start command (forward rotation / reverse rotation).

When the start command is input, Brake opening request (BOF) signal turns ON and the movement starts toward the target stop position. The settings of the parameters for the acceleration/deceleration pattern selection in the fullclosed control ( Pr.7, Pr.8, Pr.516, Pr.517, Pr.110, Pr.111, Pr.753, and Pr.754

) are used as the acceleration time and S-curve time during acceleration/deceleration.

Start command

Forward rotation command (STF signal)

Reverse rotation command (STR signal)

Device number

RY0

RY1

7

8

9

8.

Turning OFF start command

When the remote I/O device for the start command (forward rotation / reverse rotation) is turned OFF, the crane decelerates to stop and the BOF signal turns OFF.

10

6.3.2

Speed feed


1.

Checking speed feed

Check that the remote I/O device for the speed feed is ON.

Communication



Device number

RX23

RX33

2.

Setting speed command

Set the speed command in the remote register device. When the setting frequency is 60 Hz, set "6000" in the following remote register devices.

Communication



Device number

RWwn+1

RWwn+0



107

3.

Inputting frequency setting command (RAM)

Turn ON the remote I/O device for the frequency setting command (RAM) to write the command to the inverter RAM.

Communication



Device number

RYD

RY21

4.

Checking frequency writing complete

Check that the remote I/O device for the frequency setting complete (RAM) is ON and the remote register device of the reply code is "0".

• Frequency setting completion (RAM)

Communication



Device number

RXD

RX21

• Reply code

Communication



Device number

RWrn+2

RWrn+0

5.

Inputting start command

Turn ON the remote I/O device for the start command (forward rotation / reverse rotation).

When the start command is input, Brake opening request (BOF) signal turns ON and the motor starts to accelerate to the set frequency. The settings of the parameters for the acceleration/deceleration pattern selection in the fullclosed control ( Pr.7, Pr.8, Pr.516, Pr.517, Pr.110, Pr.111, Pr.753, and Pr.754

) are used as the acceleration time and S-curve time during acceleration/deceleration.

Start command

Forward rotation command (STF signal)

Reverse rotation command (STR signal)

Device number

RY0

RY1

6.

Turning OFF start command

When the remote I/O device for the start command (forward rotation / reverse rotation) is turned OFF, the crane decelerates to stop and the BOF signal turns OFF.



7

Parameters for logistics/transport functions

This chapter explains the monitoring and I/O signals for logistics/transport dedicated functions.

7.1

Monitoring of logistics/transport dedicated functions

2

3

The monitor item can be changed to the crane speed and the system failure codes.

4

7.1.1

Monitoring on the operation panel or via communication

• Use Pr.52, Pr.774 to Pr.776, or Pr.992

to select the item to monitor on the operation panel or the parameter unit.

• Refer to the following table and select the item to be monitored. The value in the Pr. setting column is set in each of the parameters for monitoring ( Pr.52, Pr.774 to Pr.776, and Pr.992

) to determine the monitor item. The value in the RS-485 column is used for the RS-485 communication special monitor selection. The value in the MODBUS RTU column is used for the MODBUS RTU real time monitor. The circle in the Minus sign column denotes the minus sign can be displayed.

5

6

7

Monitor item


1

Unit

39

Pr. setting

RS-485

H27

MODBUS

RTU

40239

Minus

sign

*1

Description

Display the total number of the crane position data compensations from when the start command is ON until when the start command is

ON next time.

67

Refer to page

Speed command

(Frequency command after position loop compensation)

0.01 Hz 52 H34 40252

○

*2

Display the total frequency of the speed compensation amount of the position loop and the model speed command.

*3

63

Crane speed

Model speed

Speed command

(Speed command created to output)

0.1 m/min 67

0.01 Hz

0.01 Hz

81

91

H43

H51

H5B

40267

40281

40291

○

○

○

*2

*2

*2

Display the crane speed compensated using

Pr.396 Crane speed detection filter under full-

closed control.

*3

Display the model speed command value calculated from the travel distance, set frequency, acceleration/deceleration time, and

S-curve time.

*3

Display the speed command value calculated from the travel distance, set frequency, acceleration/deceleration time, and S-curve time.

*3

85

69

—

Speed command

(Frequency command after droop compensation)

Position command

(lower)

Position command

(upper)

0.01 Hz

0.1 mm

1 m

Current position

(lower)

Current position

(upper)

0.1 mm

1 m

System failure code 1

92

93

94

95

96

H5C

H5D

H5E

H5F

H60

40292

40293

40294

40295

40296

○ *2

Display the total frequency of the frequency command after position loop compensation and

the droop compensation amount.

*3

Display the position command (lower).

Display the position command (upper).

Display the current position (lower).

Display the current position (upper).

*4

*4

—

63

63

63

63

*5

97 H61 40297 Display the system failure code.

85

*1 Indication with a minus sign is not possible via RS-485 or MODBUS RTU communication.

*2 To enable display with a minus sign, set Pr.290 Monitor negative output selection . (For the details of Pr.290

, refer to the FR-A800 Instruction

Manual (Detailed).)

8

9

10

7. Parameters for logistics/transport functions

7.1 Monitoring of logistics/transport dedicated functions

109

1

*3 "0" is displayed when the full-closed control is disabled.

*4 "0" is displayed when the position feed is disabled or the inverter is stopped.

*5 For the details of the droop control, refer to the FR-A800 Instruction Manual (Detailed).

7.1.2

Monitoring using analog output (terminals FM/CA and AM)

• Set Pr.54 FM/CA terminal function selection for monitoring via terminal FM (pulse train output) or terminal CA (analog current output).

• Set the type of monitor to be output through terminal AM (analog voltage output) in Pr.158 AM terminal function selection . Negative signals can be output via terminal AM (in the range of -10 to +10 VDC).

• The circle in the Negative output column indicates that the output of negative signals is available via terminal AM.

• Refer to the following table and select the item to be monitored.

Monitor item

Increment and unit


Crane speed

Model speed



0.01 Hz

0.1 m/min

0.01 Hz

0.01 Hz

0.01 Hz

52

67

81

91

92

Pr.54 (FM/CA),

Pr.158 (AM) setting AM full-scale value

Pr.55

*2

Terminal FM, CA,

Pr.55

Pr.55

Pr.55

○

○

○

○

○

Negative

output *1

Refer to page

63

85

69

—

—

*3

*1 To enable display with a minus sign, set Pr.290 Monitor negative output selection . (For the details of Pr.290

, refer to the FR-A800 Instruction

Manual (Detailed).)

*2 The full-scale value is calculated by the following formula.

Full scale value = Pr.55 Frequency monitoring reference × Pr.100 Reference travel speed / Pr.20 Acceleration/deceleration reference frequency

*3 For the details of the droop control, refer to the FR-A800 Instruction Manual (Detailed).

7.1.3

Monitoring using the PLC function / FR

Configurator2

Monitor item

PLC function device No.



Crane speed

SD1183

SD1199

Model speed



Position command (lower)

Position command (upper)

Current position (lower)

Current position (upper)

System failure code

SD1213

SD1228

SD1212

SD1202

SD1203

SD1204

SD1222

SD1223

SD1211

○

○

*1

○

*1

○

*1

○

*1

○

*1

—

—

—

—

○

Monitor mode

FR Configurator2 graph function

—

High speed mode / trace

—

Trigger level reference

○

○

○

○

○

○

○

○

○

—

*2

*2

*2

*2

*2

10000 (0.1 mm)

100 (m)

10000 (0.1 mm)

100 (m)

—

○ : Monitoring is available.

*1 Minus signed values can be output. To enable display with a minus sign, set Pr.290 Monitor negative output selection . (For the details of

Pr.290

, refer to the FR-A800 Instruction Manual (Detailed).)

*2 The terminal CA/FM or AM full-scale value is used as the trigger level reference.

NOTE

• For details on using FR Configurator2 for FR-A800-AWH inverters, refer to the FR Configurator2 Instruction Manual.

110 7. Parameters for logistics/transport functions


7.1.4

Schematic diagram of monitoring

The following diagram shows the operation timing to display each monitor item.

• Vector control


Pr.355

=“9999”



Set frequency



1

2


Pr.355

≠“9999”

Notch filter

+

-

+

-



Pr.357

+


Pr.828

J

Torque coefficient

3

4


Pr.877

=“2”

Integral Integral

0

5

Integral


Pr.877

≠“2”


Pr.877

=“2”


Pr.877

=“2”


Pr.877

≠“2” Speed command created

Speed command (speed command created to output)

Position command

(upper) (lower)

Current position

(upper) (lower)

System failure detection

Crane speed

Crane speed

Crane speed detection filter


Pr.877

≠“2”


Pr.877

=“2”

Model speed

Droop compensation frequency

+

-

Position loop

+

+

+

Speed command


+

Speed control

+

+

Torque control

Speed command



Crane speed created

Current position

IM

PLG

Crane position detection filter

Current position

Distance meter

6

7

8

9

10



111

• Real sensorless vector control


Pr.355

=“9999”


Pr.877

=“2”


Pr.355

≠“9999”

Notch filter

+

-

+




Pr.357

+


Pr.828

-

J

Torque coefficient

Integral Integral

0


Set frequency



Integral


Pr.877

≠“2”


Pr.877

=“2”


Pr.877

=“2”


Pr.877

≠“2”



Position command

(upper) (lower)

Current position

(upper) (lower)


Crane speed

Crane speed



Pr.877

≠“2”


Pr.877

=“2”

Model speed

Droop compensation frequency

+

Position loop

+

+

+

-

Speed command


+

Speed control

+

+

Torque control

Speed command



Current position

Crane speed created Current position

IM

Distance meter



• V/F control, Advanced magnetic flux vector control


Pr.355

=“9999”


Pr.355

≠“9999”

Notch filter

+

-

+




Pr.357

+


Pr.828

-


Pr.877

=“2”

Integral Integral

1

2

3

4


Set frequency




Integral


Pr.877

≠“2”


Pr.877

=“2”



Pr.877

≠“2”


Crane speed

Crane speed

*1 Droop control is disabled under V/F control. The droop compensation frequency is 0 Hz.


Pr.877

=“2”

Model speed


Position command

(upper) (lower)

Current position

(upper) (lower)

+

-

Crane speed created

Droop compensation frequency *1

Frequency command after position loop

+ compensation

+

+

Frequency command after droop compensation

Position loop

+

Speed command


Speed command


Current position


Distance meter

Current position

5

6

7

8

9

10



113

7.2

I/O signals for logistics/transport functions

7.2.1

Input signal

The input signals can be assigned to input terminals by setting Pr.178 to Pr.189 (Input terminal function selection) .



Input signal list

Pr.178 to Pr.189 setting

107

108

Limit dog

Fork selecting

Signal

X107

X108

Description

Used to select the availability of the limit dog detection (limit dog detection 1).

Used to select the operation mode between the full-closed control and the fork control.

Used to select the operation mode between the position feed and the speed feed.

93

43

45

Refer to page

109

110

Position feed / speed feed switching

Acceleration/deceleration pattern selection under fullclosed control

X109

X110

Used to select the acceleration/deceleration time setting under fullclosed control.

111

112

113

Crane emergency stop

Limit dog 2

X111

X112

A800-AWH mode selection X113

The emergency stop (system failure) is detected when the X111 signal turns ON.

Used to select the availability of the limit dog detection (limit dog detection 2).

Used to select the operation mode between the A800-AWH mode and the standard mode.



List of input signals with validity status by operation mode

49

95

93

42

Pr.178 to Pr.189 setting

107

108

109

110

111

112

113

Signal

Limit dog

Fork selecting

Position feed / speed feed switching

Acceleration/deceleration pattern selection under fullclosed control

Crane emergency stop

Limit dog 2

X107 ○

X108

X109

X110

○

○

○

X111 ○

X112 ○

A800-AWH mode selection X113 ○


○

*1

○

○

○

○

○

*1

○

○ : Valid, —: Invalid

*1 Use Pr.397

to select the availability of the failure detection. (Refer to page 79

.)

—

○

—

—

○

—

○

Fork control Standard mode

—

—

—

—

—

—

○

NOTE

• Ensure safe operation before assigning the input signals to the input terminals. Refer to the configuration example of a stacker crane (on

page 5 ) and wiring examples (on

page 7

) as required.

7.2.2

Output signal

The output signals can be assigned to output terminals by setting Pr.190 to Pr.196 (Output terminal function selection) . The output signals are written in the special relay on the sequence program by assigning the signals to Pr.313 to Pr.319 DO0 output selection to DO6 output selection, Pr.320 to Pr.322 RA1 output selection to RA3 output selection .


7.2 I/O signals for logistics/transport functions



Output signal list

Pr.190 to Pr.196 and

Pr.313 to Pr.322 settings

Positive logic

Negative logic


20

231

233

234

235

236

120

331

333

334

335

336


System failure


Crane in-position notification

Crane out-of-position

Crane in-position

BOF

Turns ON when the estimated magnetic flux value reaches the specified value in the inverter after the LX signal or the start signal is turned ON.

Y231 Turns ON when system failure is detected.

Y233

Y234

Turns ON when the current position reaches a point in the range between the point calculated by adding the distance set in Pr.130

to the target stop position value and the point calculated by subtracting the distance set in Pr.130

from the target stop position.

Turns ON when the current position reaches a point in the range between the point calculated by adding the distance set in Pr.104

to the target stop position value and the point calculated by subtracting the distance set in Pr.104

from the target stop position.

Y235

Y236

Turns ON when the current position after the Y234 signal turns ON is out of the range specified for the Y234 signal after the time period set in Pr.127 Crane in-position time has elapsed.

Turns ON when the current position after the Y234 signal turns ON is within the range specified for the Y234 signal until the time period set in Pr.127

has elapsed.



List of input signals with validity status by operation mode

50

86

67

67

67

67

Refer to page

Pr.190 to Pr.196 and

Pr.313 to Pr.322 settings

Positive logic

Negative logic

20

231

120

331

233

234

235

236

333

334

335

336

Signal


System failure


Crane in-position notification

Crane out-of-position

Crane in-position

○ : Valid, —: Invalid

*1 Invalid during the full-closed control test operation.

Position feed

BOF

○ *1

Y231 ○

Y233 ○

Y234 ○

Y235 ○

Y236 ○

○ *1

○

—

—

—

—

Speed feed

—

○

—

—

—

—

Fork control Standard mode

—

—

—

—

—

—

NOTE

• Ensure safe operation before assigning the output signals to the output terminals. Refer to the configuration example of a stacker crane (on

page 5

) and wiring examples (on

page 7

) as required.

• The Inverter operation ready (RY) signal and the Operation ready 2 (RY2) signal can be turned ON in A800-AWH mode when all the following conditions are satisfied. (For the other conditions, refer to the FR-A800 Instruction Manual (Detailed).

Operation mode

Position feed

Speed feed

Fork control

Condition

• The stop position command has been written at least once after an inverter reset.

• No system failure occurred.

No system failure was detected.

No system failure was detected.

1

2

3

4

5

6

7

8

9

10


7.2 I/O signals for logistics/transport functions

115

7.3

Operation command source and speed command source (Pr.338, Pr.339)

following shows the command sources of the logistics/transport dedicated input signals in the Network operation mode.

Pr.

338

D010

339

D011

Name



0

0


0

1

0

1, 2

Description

Start command source is communication.

For manufacturer setting. Do not use.

Frequency command source is communication.

For manufacturer setting. Do not use.

Command interface selection

Fixed function

(terminalequivalent function)

15

Pr.338 setting

Pr.339 setting

Frequency setting through communication

Terminal 2

Terminal 4

Terminal 1

BRI Brake opening completion

Output stop

MRS

PU operation interlock

0: NET

0: NET

NET

—

—

Compensation

EXT

Combined

Remarks

24

EXT

Pr.79

≠ "7"

Pr.79

= "7".

When X12 signal is not assigned.

92 X92 Emergency stop

107 X107 Limit dog

108 X108 Fork selecting

109 X109 Position feed / speed feed switching

110 X110

Acceleration/deceleration pattern selection under full-closed control

111 X111 Crane emergency stop

112 X112 Limit dog 2

113 X113 A800-AWH mode selection

EXT

EXT

NET

NET

NET

NET

EXT

NET

EXT: Only commands given via the external terminals are valid.

NET: Only commands given via communication are valid.

Combined: Any command given via the external terminal or communication is valid.

—: Any command given via the external terminal or communication is invalid.

Compensation: Only commands given via the external terminal are valid when Pr.28 Multi-speed input compensation selection = "1".

NOTE

• For other signals, refer to the FR-A800 Instruction Manual (Detailed).


7.3 Operation command source and speed command source (Pr.338, Pr.339)

8

APPENDIX

APPENDIX provides the reference information for use of this product.

Refer to APPENDIX as required.

8.1

Parameter setting

3

Refer to the following to set parameters for the inverter for traveling to drive the SF-V5RU motor (400 V class 7.5 kW) under

Vector control.

4

2

1

8.1.1

Parameter setting procedure

3

9

71

80

81

83

84


1.

Wiring

Perform wiring properly.

2.

Control method selection

Select the control method according to the application and the motor.

800

359

369

Pr.

Name

Base frequency


Applied motor

Motor capacity


Rated motor voltage





Setting example

50 Hz

16.3 A

3

Remarks

60/50 Hz

Check the rating plate of the motor.

3: Standard motor

13: Constant-torque motor

7.5 kW

4

Set according to the motor specification.

Set according to the motor specification.

380 V Set according to the motor specification.

9999 (initial value) 9999: 50 Hz

0

1 (initial value)

0: Vector control (speed control)

20: Advanced magnetic flux vector control

1: Set when using a motor (encoder) for which forward rotation is counterclockwise (CCW) viewed from the shaft, and when the operation is at 120 Hz or less.

1024 (initial value) Set the number of pulses before it is multiplied by 4.

5

6

7

8

9

10

NOTE

• For the parameter details, refer to the FR-A800 Instruction Manual (Detailed).

96

3.

Offline auto tuning

Perform offline auto tuning as required.

Pr.

Name Setting example

Auto tuning setting/status 1 or 101

Remarks

1: Offline auto tuning (without motor rotation)

101: Offline auto tuning (with motor rotation)

NOTE

• For the necessity or details of the offline auto tuning, refer to the FR-A800 Instruction Manual (Detailed).

• After the offline auto tuning, perform the test run of the motor alone to make sure that no fault is found in the motor's behavior.

8. APPENDIX

8.1 Parameter setting

117

52

4.

Checking motor rotation direction and cumulative pulse

Select the PU operation mode and input the forward rotation command and the low-speed operation command, and then check that the motor rotation is stable and the distance feedback value increases by using the cumulative pulse monitor.

If the distance feedback value decreases, check the wiring to the motor and Pr.359

setting value.

Pr.

Remarks Name


Setting example

71 71: Cumulative pulse monitor

5.

Assignment of I/O signals

Assign the I/O signals to I/O terminals as required.

Pr.

180

181

182

183

184

185

186

187

188

189

190

Name Device number

RL terminal function selection RYn4

RM terminal function selection RYn3

RH terminal function selection RYn2

RT terminal function selection RYn6

AU terminal function selection RYn7


RYn5

CS terminal function selection RYn8



RYn9

RYnA



RYnB

RXn2

108

109

Setting example

113

107

15

23

111

24

112

62

231

Remarks

108: Fork selecting (X108) signal

109: Position feed / speed feed switching (X109) signal

113: A800-AWH mode selection (X113) signal

107: Limit dog (X107) signal

15: Brake opening completion (BRI) signal

23: Pre-excitation/servo ON (LX) signal

111: Crane emergency stop (X111) signal

24: Output stop (MRS) signal

112: Limit dog 2 (X112) signal

RES: Inverter reset (RES) signal

231: System failure (Y231) signal

191

192

193

194

195

196

SU terminal function selection RXn3

IPF terminal function selection RXn5

OL terminal function selection RXn4

FU terminal function selection RXn6


RXn7


RXn8

233

234

235

236

99

20

233: Crane position detection level notification (Y233) signal

234: Crane in-position notification (Y234) signal

235: Crane out-of-position (Y235) signal

236: Crane in-position (Y236) signal

99: Fault (ALM) signal

20: Brake opening request (BOF) signal

6.

Setting communication parameters for distance meter

Adjust the communication settings for the distance meter and the inverter. When using the DL100Pro, the settings are as follows.

• DL100Pro settings

Baud Rate

Date format

Item

Protocol

CntMode

ResDst

Setting

115.2 kbps

8, e, 1

Standard

DstSta (Distance + status, continuous)

0.1 mm

118 8. APPENDIX


• Inverter setting

332

Pr.

333

334

549

758

335

336

757


RS-485 communication speed 1152




0

2 (initial value)

1021





1 (initial value)

1 (initial value)

0.1 s

0

1152: 115200 bps

Remarks

0: Stop bit length is 1 bit and data length is 8 bits.

2: Parity check (even parity) is enabled.

1021: DL100Pro protocol DstSta (Distance + status) Std

1: The unit of the distance data sent from the distance meter is 0.1 mm.

1: The distance measurement is regarded as faulty when the impermissible data is sent from the distance meter twice consecutively.

0.1 s: Communication check (signal loss detection) time interval

0: Use the data input via RS-485 terminals.

7.

Setting of parameters for communication with host controller

Set the parameters for communication with host controller. The parameter settings differ depending on the communication method.

• CC-Link

79

Pr.

Name Setting example Remarks

0: The operation mode can be switched between the NET operation mode and the PU operation mode.

338

339

340

542

Operation mode selection 0 (initial value)




Communication station number (CC-Link)

0 (initial value)

0 (initial value)

10

1 (initial value)

0: Start command source is communication.

0: Frequency command source is communication.

10: The inverter starts up in the NET operation mode at power-ON.

543

544

Baud rate selection (CC-Link) 0 (initial value)


Enter the station number of the inverter. (Setting range: 1 to 64)

0: 156 kbps

1: 625 kbps

2: 2.5 Mbps

3: 5 Mbps

4: 10 Mbps

2: CC-Link Ver.1 (functions dedicated to the logistics/transport compatible (two stations occupied)).

• CC-Link IE Field Network

Remarks



79

Pr.

338

339

340

434

435



0 (initial value)

0 (initial value)


10

Network number (CC-Link IE) 0 (initial value)

Station number (CC-Link IE) 0 (initial value)

• CC-Link IE Field Network Basic

Pr.


79

Name


Setting example

0 (initial value)

338

339

340

544

Operation mode selection 0 (initial value)




0 (initial value)

0 (initial value)

10




Enter the network number. (Setting range: 0 to 255)

Enter the station number of the inverter. (Setting range: 0 to 255)

Remarks





2: CC-Link Ver.1 (functions dedicated to the logistics/transport compatible (two stations occupied)).

1

2

3

4

5

6

7

8

9

10

8. APPENDIX


119

Pr.

1427

1428


Ethernet function selection 1 61450

Ethernet function selection 2 45237 (initial value)

Remarks

61450: CC-Link IE Field Network Basic

Set "61450" in any parameter from Pr.1427 to Pr.1429

. (When Pr.1429

= "61450", an Ethernet communication type distance meter cannot be used.)

10001: For communication with AMS308i (UDP/IP) 1429

1434

1435

1436

1437

1438

1439

1440

1441

1449

1450

1451

1452

1453

1454

Ethernet function selection 3 10001

IP address 1 (Ethernet) 192 (initial value)



168 (initial value)

50 (initial value)


Subnet mask 1

Subnet mask 2

Subnet mask 3

1 (initial value)

255 (initial value)

255 (initial value)

255 (initial value)

0 (initial value) Subnet mask 4




0 (initial value)

0 (initial value)

0 (initial value)




0 (initial value)



8.

Brake sequence settings

Set the parameters for the brake sequence.

Enter the IP address of the inverter to be connected to Ethernet.

Enter the subnet mask of the network to which the inverter belongs.

To limit the network devices that send the operation or speed command through the Ethernet network (CC-Link IE Field Network Basic), set the range of IP addresses of the devices.

NOTE

• Pr.278 to Pr.280, Pr.283, Pr.351 to Pr.353

can be set under Real sensorless vector control, Advanced magnetic flux vector control, and V/F control. (Refer to

page 50

.)

Pr.

282

350

Name



Setting example

0.1 Hz

1 s

Remarks

The Brake opening request (BOF) signal turns OFF when the time period set in Pr.350

has elapsed after the inverter decelerates to the frequency set in Pr.282

.

9.

Operation mode settings

Set the operation mode, the distance measurement direction, and other related settings.

Pr.

Name

20

100

60

450

128

129

112





Motion range 1

Motion range 2


1

Setting example

60 Hz

100 m/min

9999

0.01 m (initial value)

300 m (initial value)

0 (initial value)

Remarks

Set the reference frequency for the acceleration/deceleration time and the crane travel speed. As acceleration/deceleration time, set the time required to change the frequency from stop status (0 Hz) to the frequency set in Pr.20

and vice versa.

Set the crane travel speed when the operation is at the frequency set in

Pr.20

.

1: A800-AWH mode enabled

9999: Full-closed control

Other than 9999: Fork control

Set the lower limit of the motion range that can be specified by the stop position command.

Set the upper limit of the motion range that can be specified by the stop position command.

0:

Forward rotation command: The distance data is increased.

Reverse rotation command: The distance data is decreased.

1:

Forward rotation command: The distance data is decreased.

Reverse rotation command: The distance data is increased.

120 8. APPENDIX


30

70

Pr.

Name



1

Setting example

50

Remarks

1: Use an external brake resistor.

Set the %ED of the built-in brake transistor operation.

10.

Limit dog setting

Set the availability of the limit dog detection during the speed feed.

397

Pr.


Limit dog operation selection 1 (initial value)

0: Limit dog detection disabled

1: Limit dog detection enabled

Remarks

11.

Setting of parameters for acceleration/deceleration

Set the parameters for the acceleration/deceleration. The speed command is determined by the stop position and the running frequency set in the host controller, and the acceleration/deceleration time and the creep speed described in the following table.

7

8

516

517

110

111

753

754

31

32

Pr.

Name



Setting example

5 s/15 s

5 s/15 s

Remarks

Set the motor acceleration time (time required to change the frequency from stop status (0 Hz) to the frequency set in Pr.20

).

Set the motor deceleration time (time required to change the frequency from the frequency set in Pr.20

to stop status (0 Hz)).





1 s

1 s

5 s (initial value)

Set the time required for acceleration (S-pattern) of S-pattern acceleration/deceleration.

Set the acceleration/deceleration time when the X110 signal is ON.

9999 (initial value) 0 to 3600 s: Set the deceleration time when the X110 signal is ON.



0.1 s

0.1 s

Set the third S-curve acceleration time when the X110 signal is ON.

Set the third S-curve deceleration time when the X110 signal is ON.

Crane creep speed 9999 (initial value) Set the crane creep speed.

Travel distance at creep speed 0 mm (initial value) Set the travel distance at creep speed.

12.

Checking mechanical specifications

Check the following points to ensure that the inverter settings are consistent with the mechanical specifications.

• The crane travels according to the Pr.100

setting. (This can be checked by the monitoring of the crane speed.)

• The distance data increases/decreases correctly when the forward rotation command is input.

• The crane is stopped correctly by the right and left dogs when the low-speed operation command is input.

1

2

3

4

5

6

7

8

9

10

8.1.2

Adjustment parameter

The following explains the adjustment parameters for the full-closed control. Change the following parameter settings according to the system as required.



Speed feed

• Adjustment of speed loop gain

820

821

Pr.

Name


Setting example

60% (initial value)

Speed control integral time 1 0.333 s (initial value)

Remarks

Set a larger value when the trackability of the crane is poor. Set a smaller value when the machine vibration is strong.

Set a smaller value when the trackability of the crane is poor. Set a larger value when the overshoot is large.

• Adjustment of parameters for S-curve acceleration/deceleration

516

Pr.

517

Name



Setting example Remarks

0.1 s (initial value) Set a smaller value when the crane traveling time is long.

0.1 s (initial value) Set a smaller value when the crane traveling time is long.

8. APPENDIX


121

• Adjustment of parameters for model adaptive control and anti-sway control

Pr.

877

880

707

724

355

Name







2

*1

*1

*1

*2

Setting example

100%

Remarks

Set a larger value when the value measured by the distance meter is unstable and the crane travels unstably, or when the machine vibration is strong.

Set the load inertia ratio.

Set the motor inertia.

0.1 to 10 Hz: The notch filter is activated according to the setting value.

356

When setting a larger value, the sensibility of the notch filter becomes higher.

*1 Differs depending on the applied motor.

*2 Differs depending on the vibration cycle. The vibration cycle is obtained using the swing of the crane when it stops which is measured by the variation cycle of the torque current.



Position feed

• Adjustment of maximum amount of crane position loop compensation

Pr.

114

Name


Setting example


115


3 Hz

• Adjustment of crane position loop gain

Pr.


Remarks

Used to change the limit of the position loop compensation amount to use different speed ranges for the low-speed range and the high-speed range. Compare the Pr.115

setting value and the speed command value multiplied by the Pr.114

setting value, and the larger of the two is used as the limit value of the crane position loop compensation amount.

Set a small value in Pr.115

first, and then increase the setting value gradually. Set a larger value in Pr.820

when the trackability of the crane is poor.

105 Crane position loop P gain 1 0.1 s

-1

Remarks

Set a larger value when the trackability of the crane is poor. Set a smaller value when the motor sound is noisy.

Recommended setting value: 0.1 to 0.5 s

-1

106

107

108

Crane position loop P gain 2 9999


6 Hz


12 Hz

Set the Pr.106 to Pr.108

to switch the P gain for the crane position loop in the low-speed range.

The P gain 2 for the crane position loop is available when Pr.106

≠

"9999".

113


0.3 s

-1

Set a smaller value when the trackability of the crane is poor. Set a larger value when the overshoot is large or the speed is unstable.

These adjustments are effective under V/F control, Advanced magnetic flux vector control, Real sensorless vector control.

122 8. APPENDIX


8.2

Differences in the functions from the standard inverter

1

• The following functions of the FR-A800 standard inverter are deleted in the FR-A800-AWH inverter. Parameters, I/O signals, and monitors relative to the deleted functions are also deleted or used differently in the FR-A800-AWH inverter.

Function

PM motor control

Parameter

Pr.373, Pr.702, Pr.706, Pr.711, Pr.712, Pr.717,

Pr.721, Pr.725, Pr.738 to Pr.743, Pr.746,

Pr.747, Pr.788, Pr.791, Pr.792, Pr.998, Pr.1002,

Pr.1105, Pr.1412, Pr.1413

Pr.71

setting range change ("330, 333, 334,

8090, 8093, 8094, 9090, 9093, and 9094" are deleted.)

Pr.450

setting range change ("330, 333, 334,

8090, 8093, 8094, 9090, 9093, and 9094" are deleted.)

—

Input signal

*1

Output

signal

*2

IPM (57) —

Monitor

*3

PID control

PID control

Second PID control

Pr.127 to Pr.134, Pr.553, Pr.554, Pr.575 to

Pr.577, Pr.609, Pr.610, Pr.1015, Pr.1134,

Pr.1135

Pr.753 to Pr.758, Pr.1136 to Pr.1149

PID Pre-charge function

Pr.760 to Pr.764

Second PID

Pre-charge function

Pr.765 to Pr.769

PID display unit

Pr.759, C42 (Pr.934), C43 (Pr.934), C44

(Pr.935), C45 (Pr.935)

Dancer control —

X14 (14)

X64 (64)

X72 (72)

X73 (73)

X79 (79)

X80 (80)

X77 (77)

X78 (78)

—

—

FDN (14)

FUP (15)

RL (16)

PID (47)

Y48 (48)

SLEEP (70)

FDN2 (200)

FUP2 (201)

RL2 (202)

PID2 (203)

SLEEP2

(204)

Y205 (205)

Y49 (49)

Y51 (51)

Y53 (53)

Y50 (50)

Y52 (52)

Y54 (54)

—

—

PID set point (52)

PID measured value (53)

PID deviation (54)

PID measured value 2 (67)

PID manipulated amount

(91)

Second PID set point (92)

Second PID measured value (93)

Second PID deviation (94)

Second PID measured value 2 (95)

Second PID manipulated amount (96)

—

—

Position control

Orientation function

Pulse monitor selection

Acceleration/deceleration pattern selection

Frequency jump

Remote function

Energy saving control

PWM frequency selection

Automatic acceleration/ deceleration

Pr.419 to Pr.421, Pr.423 to Pr.427, Pr.429,

Pr.446, Pr.464 to Pr.494, Pr.1220 to Pr.1290,

Pr.1292 to Pr.1298

Pr.451

setting range change ("3 to 5, 13, and 14" are deleted.)

Pr.800

setting range change ("3 to 5, 13, 14" are deleted.)

CLRN (59)

NP (68)

CLR (69)

X76 (76)

X87 (87)

Pr.350 to Pr.358, Pr.360 to Pr.366, Pr.393 to

Pr.399

Pr.430

Pr.29, Pr.140 to Pr.143, Pr.380 to Pr.383

Pr.31 to Pr.36, Pr.552

Pr.59

Pr.60

Pr.72

setting range change ("0, 1, 3 to 5, 7 to 9,

11 to 13, 15, and 25" are deleted.)

—

—

—

—

Pr.61 to Pr.64, Pr.292, Pr.293

—

X22 (22)

—

—

Y36 (36)

MEND (38)

ZA (56)

FP (60)

PBSY (61)

ZP (63)

RDY (84)

—

—

—

—

ORA (27)

ORM (28)

—

—

—

—

—

—

—

—

Dancer main set speed (97)

Position pulse (19)

Position command (lower)

(26)

Position command (upper)

(27)

Current position (lower) (28)

Current position (upper) (29)

Droop pulse (lower) (30)

Droop pulse (upper) (31)

Multi-revolution counter (75)

Orientation status (22)

—

—

—

2

3

4

5

6

7

8

9

10

8. APPENDIX

8.2 Differences in the functions from the standard inverter

123

Function Parameter

Input signal

*1

Output signal

*2

Monitor *3

Adjustable 5 points V/F

Pr.100 to Pr.109

Pr.71

setting range change ("2" is deleted.)

— — —

Third function selection Pr.110 to Pr.116

Electronic bypass sequence Pr.135, Pr.136, Pr.138, Pr.139, Pr.159

X9 (9)

—

FU3 (6)

FB3 (43)

MC2 (18)

MC3 (19)

—

—

Self power management Pr.137, Pr.248, Pr.254

94 (X94)

95 (X95)

96 (X96)

Power failure time deceleration-to-stop function

Brake sequence control

Pr.261 to Pr.266, Pr.294 to Pr.668

—

Control method selection

(fast-response operation)

Control mode switchover

Stop mode selection at communication error

Stop frequency function

Start-time hold function

Traverse function

Automatic parameter setting

Pr.284, Pr.639 to Pr.648, Pr.650, Pr.651

Pr.451

setting range change ("100 to 106, and

110 to 114" are deleted.)

Pr.800

setting range change ("100 to 106, and

110 to 114" are deleted.)

Pr.451

setting range change ("2 and 12" are deleted.)

Pr.800


Pr.502


Pr.522

Pr.571

Pr.592 to Pr.597

Pr.999


BRI2 (45)

—

MC (26)

—

—

—

X37 (37)

—

Notch filter Pr.1003 to Pr.1005

Anti-sway control function Pr.1072 to Pr.1079

Writing parameter settings while inverter running (when

Pr.77

= "2")

Pr.7, Pr.8, Pr.44, and Pr.45

cannot be written.

—

—

—

SSCNET III communication

(with FR-A8NS)

Pr.379, Pr.449, Pr.499

X85 (85)

X88 (88)

X89 (89)

Changeover between inverter and high power factor converter (with FR-

A8AVP)

Parameter information (with

FR-LU08 installed)

Pr.328

—

—

—

17 (MC1)

Y46 (46)

BOF2 (22)

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

SSCNET III communication status (39)

—

—

*1 The Pr.178 to Pr.189 (Input terminal function selection) setting is shown in the parentheses.

*2 The Pr.190 to Pr.196 (Output terminal function selection) setting is shown in the parentheses.

*3 The monitor selection parameter setting is shown in the parentheses.

• When the FR-A800-AWH inverter is operated under full-closed control, the parameters for the acceleration/deceleration time are the same regardless of the status of the Second function selection (RT) signal as follows. (In the fork control mode, the second functions are unavailable even when the RT signal is turned ON.)

Acceleration time

Deceleration time

Function

S-curve acceleration time

S-curve deceleration time

RT signal-ON

Pr.7, Pr.110

*1

Pr.8, Pr.110, Pr.111

*1

Pr.516, Pr.753

*1

Pr.517, Pr.754

*1

*1

Switch ON/OFF the X110 signal to select the acceleration/deceleration time setting (refer to page 48

).

RT signal-OFF

124 8. APPENDIX


NOTE

• Functions not mentioned above are the same as those of the FR-A800 standard inverter. (The functions added in and after

December 2017 are not supported.)

• For the details of general specifications, refer to the catalog or Instruction Manual of the FR-A800 inverter.

• The RT signal is assigned to terminal RT in the initial status. Set "3" in any parameter from Pr.178 to Pr.189 (Input terminal function selection) to assign the RT signal to another terminal.

• Changing the terminal assignment using Pr.178 to Pr.189 (Input terminal function selection) may affect the other functions.

Set parameters after confirming the function of each terminal.

1

2

3

4

5

6

7

8

9

10

8. APPENDIX


125

8.3

Compatible options



Plug-in option

The following plug-in options are available in this product.

Name

Vector control

Vector control / encoder pulse dividing output

Vector control / resolver interface

Vector control / EnDat interface

SSI communication

16-bit digital input

Digital output / additional analog output

Relay output

Bipolar analog output / high-resolution analog input / motor thermistor interface

CC-Link communication

CC-Link IE Field Network communication

DeviceNet communication

FL remote communication

PROFIBUS-DP communication

EtherCAT communication

EtherNet/IP communication

PROFINET communication

PROFIBUS-DP communication (DP-V1)

Model

FR-A8AP

FR-A8AL

FR-A8APR

FR-A8APS

FR-A8APS-02

FR-A8AX

FR-A8AY

FR-A8AR

FR-A8AZ

FR-A8NC

FR-A8NCE

FR-A8ND

*2

FR-A8NF

*2

FR-A8NP

*2

A8NECT_2P

*1*2

A8NEIP_2P

*1*2

A8NPRT_2P

*1*2

A8NDPV1

*1*2

*1 Manufactured by HMS Industrial Networks AB

*2 Available only when the standard mode is selected.



Control terminal option

The following control terminal options are available in this product.

Vector control

Screw terminal block

Name Model

FR-A8TP

FR-A8TR

126 8. APPENDIX

8.3 Compatible options

8.4

Common specifications

1

Control method

Output frequency range

Soft-PWM control, high carrier frequency PWM control (selectable among V/F control, Advanced magnetic flux vector control, Real sensorless vector control), Optimum excitation control, and Vector

control *1

0.2 to 590 Hz (The upper-limit frequency is 400 Hz under Advanced magnetic flux vector control, Real

sensorless vector control, and Vector control

*1

. The upper-limit frequency is 200 Hz when the full-closed control is enabled.)

Frequency setting and resolution

Analog input

0.015 Hz/60 Hz at 0 to 10 V/12 bits (terminals 2 and 4).

0.03 Hz/60 Hz at 0 to 5 V/11 bits or 0 to 20 mA/approx. 11 bits (terminals 2 and 4), at 0 to ±10 V/12 bits

(terminal 1).

0.06 Hz/60 Hz at 0 to ±5 V/11 bits (terminal 1).

Frequency accuracy

Digital input 0.01 Hz

Analog input Within ±0.2% of the maximum output frequency (25 ±10°C)

Digital input Within 0.01% of the set output frequency

Voltage/frequency characteristics

Base frequency can be set from 0 to 590 Hz. Constant-torque/variable-torque pattern can be selected.

Starting torque

SLD rating: 120% 0.3 Hz, LD rating: 150% 0.3 Hz, ND rating: 200%

*2

(under Real sensorless vector control or Vector control

*1

)

0.3 Hz, HD rating: 250%

*2

0.3 Hz

Manual torque boost Torque boost

Acceleration/deceleration time setting

DC injection braking

0 to 3600 s (acceleration and deceleration can be set individually.)

Stall prevention operation level

Operation frequency (0 to 120 Hz), operation time (0 to 10 s), operation voltage (0 to 30%) variable

Activation range of stall prevention operation (SLD rating: 0% to 120%, LD rating: 0% to 150%, ND rating: 0% to 220%, HD rating: 0% to 280%). Whether to use the stall prevention or not can be selected

(V/F control, Advanced magnetic flux vector control)


Frequency setting signal

Start signal

Analog input

Digital input

Input signal (12)

Pulse train input

Operational function al Open collector output

(5)

Relay output (2)

Torque limit value can be set (0 to 400% variable). (Real sensorless vector control, Vector control *1

)

Terminals 2 and 4: 0 to 10 V / 0 to 5 V / 4 to 20 mA (0 to 20 mA).

Terminal 1: -10 to +10 V / -5 to +5 V.

Input using the setting dial of the operation panel or parameter unit.

Input of four-digit BCD (binary-coded decimal) or 16-bit binary (when the option FR-A8AX is installed).

Forward and reverse rotation or start signal automatic self-holding input (3-wire input) can be selected.

Low-speed operation command, middle-speed operation command, high-speed operation command, second function selection, terminal 4 input selection, JOG operation selection, automatic restart after instantaneous power failure / flying start, output stop, start self-holding selection, forward rotation command, reverse rotation command, inverter reset

The input signal can be changed using Pr.178 to Pr.189 (Input terminal function selection) .

100k pulses/s

Acceleration/deceleration pattern selection under full-closed control, brake sequence, creep function, crane position loop compensation, dual feedback control, cane position detection filter, crane position data compensation, anti-sway control, model adaptive control, limit dog operation selection, acceleration/deceleration pattern selection for selecting fork control, maximum and minimum frequency settings, multi-speed operation, acceleration/deceleration pattern, thermal protection, DC injection brake, starting frequency, JOG operation, output stop (MRS), stall prevention, regeneration avoidance, increased magnetic excitation deceleration, DC feeding, rotation indication, automatic restart after instantaneous power failure, retry function, carrier frequency selection, fast-response current limit, forward/reverse rotation prevention, operation mode selection, slip compensation, droop control, load torque high-speed frequency control, speed smoothing control, auto tuning, applied motor selection, gain tuning, RS-485 communication, cooling fan operation selection, stop selection (deceleration stop/ coasting), stop-on-contact control, PLC function, life diagnosis, maintenance timer, current average monitor, multiple ratings, speed control, torque control, pre-excitation, torque limit, test run, 24 V power supply input for control circuit, safety stop function

Inverter running, up to frequency, instantaneous power failure/undervoltage, overload alarm, output frequency detection, fault

The output signal can be changed using Pr.190 to Pr.196 (Output terminal function selection) .

Fault codes (4 bits) of the inverter can be output from the open collector.

Pulse train output (FM type inverter)

50k pulses/s

2

3

4

5

6

7

8

9

10

8. APPENDIX

8.4 Common specifications

127

For indication on external meters

Operation panel (FR-

DU08)

Protective function

Pulse train output (FM type inverter)

Current output (CA type inverter)

Voltage output

Status monitoring

Fault record

Protective

Function

Warning function

System failure

Surrounding air temperature

Ambient humidity

Storage temperature

Ambience

Altitude/vibration

*6

Max. 2.4 kHz via one terminal (for the indication of inverter output frequency).

The monitor item can be changed using Pr.54 FM/CA terminal function selection

Max. 20 mADC via one terminal (for the indication of inverter output frequency).

The monitor item can be changed using Pr.54 FM/CA terminal function selection .

.

Max. 10 VDC via one terminal (for the indication of inverter output frequency).

The monitor item can be changed using Pr.158 AM terminal function selection .

Output frequency, output current, output voltage, and frequency setting value

The monitor item can be changed using Pr.52 Operation panel main monitor selection .

When a protective function is activated, a fault indication is displayed and the output voltage, output current, output frequency, cumulative energization time, date (year, month, day) and time at the occurrence of the fault are stored. Each fault is recorded and the last 8 records can be displayed.

Overcurrent trip during acceleration, overcurrent trip during constant speed, overcurrent trip during deceleration or stop, regenerative overvoltage trip during acceleration, regenerative overvoltage trip during constant speed, regenerative overvoltage trip during deceleration or stop, inverter overload trip

(electronic thermal relay function), motor overload trip (electronic thermal relay function), heat sink

overheat, instantaneous power failure, undervoltage, input phase loss

*3

, stall prevention stop, brake

transistor alarm detection, upper limit fault detection, lower limit fault detection, output side earth

(ground) fault overcurrent, output short circuit, output phase loss, external thermal relay operation

*3

,

PTC thermistor operation *3 , option fault, communication option fault, parameter storage device fault, PU disconnection, retry count excess

*3

, CPU fault, operation panel power supply short circuit / RS-485

terminals power supply short circuit, 24 VDC power fault, abnormal output current detection

*3

, inrush

current limit circuit fault, communication fault (inverter)

*4

, analog input fault, USB communication fault,

safety circuit fault, overspeed occurrence *3 , speed deviation excess detection *1*3 , signal loss

detection

*1*3 , excessive position fault *1*3

, brake sequence fault

*3 , encoder phase fault *1*3

, 4 mA input fault

*3

, option fault, opposite rotation deceleration fault

*3

, internal circuit fault, external fault during output

operation

*3

, Ethernet communication fault

*5

Fan alarm, stall prevention (overcurrent), stall prevention (overvoltage), regenerative brake pre-alarm

*3

,

electronic thermal O/L relay pre-alarm, PU stop, speed limit indication (output during speed limit)

*3 ,

parameter copy, safety stop, maintenance timer 1 to 3

*3 , USB host error, operation panel lock *3 , password locked

*3

, parameter write error, copy operation error, 24 V external power supply operation,

continuous operation during communication fault

*3

, load failure warning, Ethernet communication fault

*5

Crane overspeed detection, speed range excess fault, speed deviation detection, position deviation detection, distance meter fault, stop position command out of motion range, limit dog detection, brake sequence fault, emergency stop, distance meter alarm

-10 to +50°C (non-freezing) (LD, ND, HD ratings)

-10 to +40°C (non-freezing) (SLD rating)

95% RH or less (non-condensing) (With circuit board coating (conforming to IEC 60721-3-3 3C2/3S2))

90% RH or less (non-condensing) (Without circuit board coating)

-20 to +65°C

Indoors (free from corrosive gas, flammable gas, oil mist, dust and dirt)

Maximum 2500 m *7

, 5.9 m/s 2 or less at 10 to 55 Hz in X, Y, and Z directions

*1 Available when a Vector control compatible option is installed.

*2 In the initial setting for the FR-A820-00340(5.5K) or higher and the FR-A840-00170(5.5K) or higher, the starting torque is limited to 150% by the torque limit level.

*3 Not activated in the inverter unit in the initial state.

*4 Available only for the RS-485 model.

*5 Available only for the Ethernet model.

*6 Applicable to conditions for a short time, for example, in transit.

*7 For installation at an altitude above 1000?m, consider a 3% reduction in the rated current per 500?m increase in altitude.

128 8. APPENDIX

8.4 Common specifications

8.5

Parameters (functions) and instruction codes under different control methods

2

*1 Instruction codes are used to read and write parameters in accordance with the Mitsubishi inverter protocol of RS-485 communication. (For the details of the RS-485 communication, refer to the FR-A800 Instruction Manual (Detailed).)

*2 Function availability under each control method is shown as follows:

○ : Available

×: Not available

Δ : Available with some restrictions

*3 For Parameter copy, Parameter clear, and All parameter clear, ○ indicates the function is available, and × indicates the function is not available.

*4 Communication parameters that are not cleared by parameter clear or all clear (H5A5A or H55AA) via communication. (For the details of the RS-

485 communication, refer to the FR-A800 Instruction Manual (Detailed).)

*5 When a communication option is installed, parameter clear (lock release) during password lock ( Pr.297 Password lock/unlock ≠ "9999") can be performed only from the communication option.

*6 Reading and writing via the PU connector are available.

Symbols in the table indicate parameters that operate when the options are connected.

FR-A8AP, FR-A8AL, FR-A8TP, FR-A8APR, FR-A8APS, FR-A8APA, FR-A8AR, FR-A8AX, FR-

A8AY, FR-A8AZ, FR-A8NC, FR-A8NCE, FR-A8ND, FR-A8NP, FR-A8NF

Instruction code

*1

Control method

*2

Parameter

3

4

5

6

7

1

Pr.

Name

8

12

13

14

15

8

9

10

11

16

17

18

19

6

7

4

5

0

1

2

3

20

21

22

23

24

25

26

27

28

Torque boost

Maximum frequency

Minimum frequency

Base frequency

Multi-speed setting (high speed)

Multi-speed setting (middle speed)

Multi-speed setting (low speed)

Acceleration time

Deceleration time

Electronic thermal O/L relay

DC injection brake operation frequency

DC injection brake operation time

DC injection brake operation voltage

Starting frequency

Load pattern selection

Jog frequency

Jog acceleration/deceleration time

MRS input selection

High speed maximum frequency

Base frequency voltage

Acceleration/deceleration reference frequency

Acceleration/deceleration time increments

Stall prevention operation level (Torque limit level)

Stall prevention operation level compensation factor at double speed

Multi-speed setting (speed 4)




Multi-speed input compensation selection

15

16

17

95

96

97

0

0

0

18 98 0

19 99 0

1A 9A 0

1B 9B 0

1C 9C 0

00 80 0

01 81 0

02 82 0

03 83 0

04 84 0

05 85 0

06 86 0

07 87 0

08 88 0

09 89 0

0A 8A 0

0B 8B 0

0C 8C 0

0D 8D 0

0E 8E 0

0F 8F 0

10 90 0

11 91 0

12 92 0

13 93 0

14 94 0

×

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×

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Δ

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×

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Δ

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×

×

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×

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×

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×

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×

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Δ

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×

×

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×

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×

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×

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×

×

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×

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9

10

8. APPENDIX

8.5 Parameters (functions) and instruction codes under different control methods

129

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*1

Control method *2 Parameter

Pr.

Name

43

57

58

60

65

52

54

55

56

48

49

50

51

44

45

46

47

66

71

72

73

74

67

68

69

70

33

34

37

41

42

30

31

32

75

76

77

*6

78

79

*6

80

81

82

83

84

85

86

89

90

Regenerative function selection

Crane creep speed

Travel distance at creep speed

Position loop compensation selection after crane decelerate to creep speed

1E

1F

20

21

9E

9F

A0

A1

0

0

0

0

Stop position compensation width

Speed display

Up-to-frequency sensitivity

Output frequency detection

Output frequency detection for reverse rotation

Second acceleration/deceleration time

Second deceleration time

Second torque boost

Second V/F (base frequency)

22

25

29

2A

2B

A2

A5

A9

AA

AB

0

0

0

0

0

2C AC 0

2D AD 0

2E AE 0

2F AF 0

Second stall prevention operation level 30 B0 0

Second stall prevention operation frequency 31 B1 0

Second output frequency detection

Second electronic thermal O/L relay

32

33

B2

B3

0

0

Operation panel main monitor selection

FM/CA terminal function selection

Frequency monitoring reference

Current monitoring reference

Restart coasting time

Restart cushion time

A800-AWH mode selection

Retry selection

Stall prevention operation reduction starting frequency

Number of retries at fault occurrence

Retry waiting time

Retry count display erase

Special regenerative brake duty

Applied motor

PWM frequency selection

Analog input selection

Input filter time constant

Reset selection/disconnected PU detection/

PU stop selection

Fault code output selection

34 B4 0

36 B6 0

37 B7 0

38 B8 0

39 B9 0

3A BA 0

3C BC 0

41 C1 0

42

43

44

45

46

47

48

49

4A

4B

4C

C2

C3

C4

C5

C6

C7

C8

C9

CA

CB

CC

0

0

0

0

0

0

0

0

0

0

0

Parameter write selection 4D CD 0

Reverse rotation prevention selection

Operation mode selection

Motor capacity

Number of motor poles

Motor excitation current

Rated motor voltage

Rated motor frequency

Excitation current break point

Excitation current low-speed scaling factor

Speed control gain (Advanced magnetic flux vector)

Motor constant (R1)

4E

4F

CE

CF

0

0

50 D0 0

51 D1 0

52 D2 0

53 D3 0

54 D4 0

55 D5 0

56 D6 0

59

5A

D9

DA

0

0

130 8. APPENDIX


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×

×

×

×

×

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×

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×

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×

×

×

×

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×

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×

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×

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×

×

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Δ

Δ

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×

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Δ

Δ

Δ

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×

×

×

×

Δ

Δ

×

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Δ

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×

×

Δ

×

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×

×

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×

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×

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Δ

Δ

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×

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Δ

Δ

Δ

○

×

×

×

×

Δ

Δ

×

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Δ

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×

×

Δ

×

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×

×

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×

×

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×

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×

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×

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×

×

×

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×

×


*1


Pr.

Name

91

92

93

94

Motor constant (R2)

Motor constant (L1)/d-axis inductance (Ld)

Motor constant (L2)/q-axis inductance (Lq)

Motor constant (X)

95

96

Online auto tuning selection

Auto tuning setting/status

100 Reference travel speed

104 Crane in-position width

105 Crane position loop P gain 1

106 Crane position loop P gain 2

107

108

Crane position loop P gain corner frequency

1

Crane position loop P gain corner frequency

2

109 Crane position loop filter

110 Third acceleration/deceleration time

111 Third deceleration time

112 Distance measurement direction setting

113 Crane position loop integral time

114

Compensation rate of crane position loop upper limit

115

Compensation frequency of low-speed range crane position loop upper limit

117 PU communication station number

118 PU communication speed

119

PU communication stop bit length / data length

120 PU communication parity check

121 PU communication retry count

5B

5C

5D

5E

5F

60

00

04

05

06

07

08

09

0A

0B

0C

0D

0E

0F

11

12

13

DB

DC

DD

DE

DF

E0

80

84

85

86

87

88

89

8A

8B

8C

8D

8E

8F

91

92

93

0

0

0

0

0

0

1

1

1

1

1

1

1

1

1

1

1

1

1

1

1

1

14 94 1

15 95 1

122 PU communication check time interval

123 PU communication waiting time setting

16

17

96

97

1

1

124 PU communication CR/LF selection 18 98 1

125 Terminal 2 frequency setting gain frequency 19 99 1

126 Terminal 4 frequency setting gain frequency 1A 9A 1

127 Crane in-position time

128 Motion range 1

1B

1C

9B

9C

1

1

129 Motion range 2

130 Crane position detection range

144 Speed setting switchover

145 PU display language selection

147

Acceleration/deceleration time switching frequency

1D

1E

2C

2D

2F

9D

9E

AC

AD

AF

1

1

1

1

1

148 Stall prevention level at 0 V input

149 Stall prevention level at 10 V input

150 Output current detection level

151 Output current detection signal delay time

152 Zero current detection level

153 Zero current detection time

154

Voltage reduction selection during stall prevention operation

30

31

32

33

34

35

36

B0

B1

B2

B3

B4

B5

B6

1

1

1

1

1

1

1

155 RT signal function validity condition selection 37 B7 1

156 Stall prevention operation selection 38 B8 1

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3

4

5

6

7

8

9

10

8. APPENDIX


131

×

×

×

×

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×

×

×

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×

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×

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1

2


*1


Pr.

Name

157 OL signal output timer

158 AM terminal function selection

160 User group read selection

161

Frequency setting/key lock operation selection

39

3A

00

01

B9

BA

80

81

1

1

2

2

162

163

164

Automatic restart after instantaneous power failure selection

First cushion time for restart

First cushion voltage for restart

02 82 2

03 83 2

04 84 2

165 Stall prevention operation level for restart 05 85 2

166 Output current detection signal retention time 06 86 2

167 Output current detection operation selection 07 87 2

168

169


170 Watt-hour meter clear

171 Operation hour meter clear

0A

0B

8A

8B

2

2

172 User group registered display/batch clear

173 User group registration

174 User group clear

178 STF terminal function selection

179 STR terminal function selection

180 RL terminal function selection

181 RM terminal function selection

182 RH terminal function selection

183 RT terminal function selection

184 AU terminal function selection

185 JOG terminal function selection

186 CS terminal function selection

187 MRS terminal function selection

188 STOP terminal function selection

189 RES terminal function selection

190 RUN terminal function selection

0C 8C 2

0D 8D 2

0E 8E 2

12 92 2

13 93 2

14 94 2

15 95 2

16 96 2

17 97 2

18 98 2

19 99 2

1A 9A 2

1B 9B 2

1C 9C 2

1D 9D 2

1E 9E 2

191 SU terminal function selection

192 IPF terminal function selection

193 OL terminal function selection

194 FU terminal function selection

195 ABC1 terminal function selection

196 ABC2 terminal function selection

232 Multi-speed setting (speed 8)








240 Soft-PWM operation selection

241 Analog input display unit switchover

242

243

Terminal 1 added compensation amount

(terminal 2)

Terminal 1 added compensation amount

(terminal 4)

244 Cooling fan operation selection

1F 9F 2

20 A0 2

21 A1 2

22 A2 2

23 A3 2

24 A4 2

28 A8 2

29 A9 2

2A AA 2

2B AB 2

2C AC 2

2D AD 2

2E AE 2

2F AF 2

30 B0 2

31 B1 2

32

33

34

B2

B3

B4

2

2

2

132 8. APPENDIX


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Δ

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×

×

×

×

×

×

×

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×

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×

×

×

×

×

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×

×

×

×

×

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*1


Pr.

Name

245 Rated slip

246 Slip compensation time constant

247

Constant output range slip compensation selection

249

250

251

252

253 Override gain

255 Life alarm status display

256 Inrush current limit circuit life display

257 Control circuit capacitor life display

258

259

260

267

Earth (ground) fault detection at start

Stop selection

Output phase loss protection selection

Override bias

Main circuit capacitor life display

Main circuit capacitor life measuring

PWM frequency automatic switchover

Terminal 4 input selection

35

36

37

B5

B6

B7

2

2

2

39 B9 2

3A BA 2

3B BB 2

3C BC 2

3D

3F

40

41

BD

BF

C0

C1

2

2

2

2

42 C2 2

43 C3 2

44 C4 2

4B CB 2

268 Monitor decimal digits selection

269 Parameter for manufacturer setting. Do not set.

4C CC 2

270

Stop-on contact/load torque high-speed frequency control selection

4E CE 2

271

272

273

274

275

High-speed setting maximum current

Middle-speed setting minimum current

Current averaging range

Current averaging filter time constant

Stop-on contact excitation current low-speed scaling factor

276 PWM carrier frequency at stop-on contact

278 Brake opening frequency

279 Brake opening current

280 Brake opening current detection time

281

282



283 Brake operation time at stop

285

Overspeed detection frequency (Speed deviation excess detection frequency)

4F CF 2

50 D0 2

51 D1 2

52 D2 2

53

54

56

57

58

59 D9 2

5A DA 2

5B DB 2

5D

D3

D4

D6

D7

D8

DD

2

2

2

2

2

2

286 Droop gain

287 Droop filter time constant

288 Droop function activation selection

289 Inverter output terminal filter

5E DE 2

5F DF 2

60 E0 2

61 E1 2

290 Monitor negative output selection

291 Pulse train I/O selection

62 E2 2

63 E3 2

295 Frequency change increment amount setting 67 E7 2

296 Password lock level 68 E8 2

297 Password lock/unlock 69 E9 2

6A EA 2 298 Frequency search gain

299

Rotation direction detection selection at restarting

300 BCD input bias

301 BCD input gain

302 BIN input bias

303 BIN input gain

304

Digital input and analog input compensation enable/disable selection

6B

00

01

02

03

04

EB

80

81

82

83

84

2

3

3

3

3

3

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×

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×

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×

×

×

×

×

×

×

×

×

×

×

×

×

×

×

×

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3

4

5

6

7

8

9

10

8. APPENDIX


133

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*5

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1

2


*1


Pr.

Name

305 Read timing operation selection

306 Analog output signal selection

307 Setting for zero analog output

308 Setting for maximum analog output

309

Analog output signal voltage/current switchover

310 Analog meter voltage output selection

311

312

Setting for zero analog meter voltage output

Setting for maximum analog meter voltage output

313 DO0 output selection







320 RA1 output selection



323 AM0 0V adjustment

324 AM1 0mA adjustment

326 Motor temperature feedback reference

329 Digital input unit selection

331 RS-485 communication station number

332 RS-485 communication speed

333

334

RS-485 communication stop bit length / data length

RS-485 communication parity check selection

335 RS-485 communication retry count

336 RS-485 communication check time interval

337 RS-485 communication waiting time setting

05

06

07

08

09

0A

0B

0C

21

22

85

86

87

88

89

8A

8B

8C

A1

A2

3

3

3

3

3

3

3

3

3

3

23 A3 3

24 A4 3

25 A5 3

338 Communication operation command source 26 A6 3

339 Communication speed command source 27 A7 3

340 Communication startup mode selection

341 RS-485 communication CR/LF selection

342 Communication EEPROM write selection

343 Communication error count

345 DeviceNet address

28

29

A8

A9

3

3

2A AA 3

2B AB 3

2D AD 3

346 DeviceNet baud rate 2E AE 3

349

350

351

Communication reset selection/Ready bit status selection


Brake operation time at start 2

31 B1 3

32 B2 3

33 B3 3

352 Brake operation position range 34 B4 3

353 Brake release request signal output selection 35 B5 3

355 Crane vibration suppression frequency

356 Crane vibration suppression gain

37 B7 3

38 B8 3

0D 8D 3

0E 8E 3

0F 8F 3

10 90 3

11 91 3

12 92 3

13 93 3

14 94 3

15 95 3

16 96 3

17 97 3

18 98 3

1A 9A 3

1D 9D 3

1F 9F 3

20 A0 3

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134 8. APPENDIX


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*4

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*4

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×

×

×

×

×

×

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×

×

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*4

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*4

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*4

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*4

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Δ

Δ

Δ

Δ

Δ

Δ

Δ

Δ

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Δ

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Δ

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Δ

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*1


Pr.

Name

357 Crane model adaptive position loop gain

359 Encoder rotation direction

362 Dual feedback filter

363 Crane position detection filter

364

Crane position data compensation judgment level

365

367

Upper limit of crane position data compensation

Speed feedback range

368 Feedback gain

369 Number of encoder pulses

374 Overspeed detection level

376

Encoder signal loss detection enable/disable selection

384 Input pulse division scaling factor

385 Frequency for zero input pulse

386 Frequency for maximum input pulse

393 System failure detection

394

395

Operation selection after system failure detection

Deceleration time after system failure detection

396 Crane speed detection filter

397 Limit dog operation selection

398


399 Speed range excess fault detection time

406 High resolution analog input selection

407 Motor temperature detection filter

408 Motor thermistor selection

413 Encoder pulse division ratio

414 PLC function operation selection

415 Inverter operation lock mode setting

416 Pre-scale function selection

417 Pre-scale setting value

418 Extension output terminal filter

422 Position control gain

432 Pulse train torque command bias

433 Pulse train torque command gain

434 Network number (CC-Link IE)

435 Station number (CC-Link IE)

447 Digital torque command bias

448 Digital torque command gain

450 Second applied motor

451 Second motor control method selection

453 Second motor capacity

454 Number of second motor poles

455 Second motor excitation current

456 Rated second motor voltage

457 Rated second motor frequency

458 Second motor constant (R1)

459 Second motor constant (R2)

39 B9 3

3B BB 3

3E BE 3

3F BF 3

40

41

43

44 C4 3

45 C5 3

4A CA 3

4C CC 3

54 D4 3

55 D5 3

56 D6 3

5D DD 3

5E DE 3

5F

60

61

62

C0

C1

C3

DF

E0

E1

E2

3

3

3

3

3

3

3

63 E3 3

06 86 ○

07 87 ○

08 88 ○

0D 8D 4

0E 8E 4

0F 8F 4

10 90 4

11 91 4

12 92 4

16 96 4

20 A0 4

21 A1 4

22 A2 4

23 A3 4

2F AF 4

30 B0 4

32 B2 4

33 B3 4

35 B5 4

36 B6 4

37 B7 4

38 B8 4

39 B9 4

3A BA 4

3B BB 4

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×

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×

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×

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×

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×

×

×

×

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×

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×

×

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×

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*4

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×

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×

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×

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*4

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×

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○ *4

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*4

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×

×

×

×

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×

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×

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Δ

Δ

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×

×

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×

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×

×

×

×

×

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×

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×

×

×

×

×

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×

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×

×

×

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3

4

5

6

7

8

9

10

8. APPENDIX


135

1

2


*1


Pr.

Name

460 Second motor constant (L1)

461 Second motor constant (L2)

462 Second motor constant (X)

463 Second motor auto tuning setting/status

495 Remote output selection

496 Remote output data 1

497 Remote output data 2

498 PLC function flash memory clear

500

501

Communication error execution waiting time

Communication error occurrence count display

3C

3D

3E

3F

5F

60

61

62

00

01

BC

BD

BE

BF

DF

E0

E1

E2

80

81

4

4

4

4

4

4

4

4

5

5

502 Stop mode selection at communication error 02 82 5

503 Maintenance timer 1 03 83 5

504 Maintenance timer 1 warning output set time 04 84 5

505 Speed setting reference 05 85 5

516 S-curve acceleration time

517 S-curve deceleration time

518 Second S-curve acceleration time

519 Second S-curve deceleration time

539

541

542

MODBUS RTU communication check time interval

Frequency command sign selection

Communication station number (CC-

Link)

10

11

12

13

27

29

2A

90

91

92

93

A7

A9

AA

5

5

5

5

5

5

5

543 Baud rate selection (CC-Link) 2B AB 5

544 CC-Link extended setting

547 USB communication station number

2C

2F

AC

AF

5

5

548 USB communication check time interval 30 B0 5

549 Protocol selection 31 B1 5

550

551

NET mode operation command source selection

PU mode operation command source selection

555 Current average time

556 Data output mask time

557

Current average value monitor signal output reference current

32

33

37

38

39

B2

B3

B7

B8

B9

5

5

5

5

5

560 Second frequency search gain

561 PTC thermistor protection level

563 Energization time carrying-over times

564 Operating time carrying-over times

3C

3D

3F

40

BC

BD

BF

C0

5

5

5

5

565 Second motor excitation current break point 41 C1 5

566

Second motor excitation current low-speed scaling factor

42 C2 5

569 Second motor speed control gain

570 Multiple rating setting

573 4 mA input check selection

574 Second motor online auto tuning

592 Crane overspeed detection time

593 Speed deviation detection frequency

594 Speed deviation detection time

45 C5 5

46 C6 5

49 C9 5

4A CA 5

5C DC 5

5D DD 5

5E DE 5

○

136 8. APPENDIX


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×

×

×

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×

○ *4

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×

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×

○ *4

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*4

○ *4

○ *4

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×

×

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×

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×

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×

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×

×

×

×

×

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×

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*4

×

×

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×

×

×

×

×

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×

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×

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×

×

×

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×

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Δ

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Δ

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×

×

×

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×

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×

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×

×

×

×

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×

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Δ

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×

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×

×

×

×

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×

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*1


Pr.

Name

595 Brake sequence fault detection time

596 Position deviation detection distance

597 Position deviation detection time

598 Undervoltage level

599 X10 terminal input selection

600 First free thermal reduction frequency 1

601 First free thermal reduction ratio 1


603 First free thermal reduction ratio 2


606

Power failure stop external signal input selection

607 Motor permissible load level

608 Second motor permissible load level

611 Acceleration time at a restart

617

Reverse rotation excitation current low-speed scaling factor

635

636

637

638

Cumulative pulse clear signal selection

Cumulative pulse division scaling factor

Control terminal option-Cumulative pulse division scaling factor

Cumulative pulse storage

5F

60

61

62

63

00

01

02

03

04

06

07

08

0B

11

23

24

25

26

DF

E0

E1

E2

E3

80

81

82

83

84

86

87

88

8B

91

A3

A4

A5

A6

5

5

5

5

5

6

6

6

6

6

6

6

6

6

6

6

6

6

6

653 Speed smoothing control

654 Speed smoothing cutoff frequency

655 Analog remote output selection

656 Analog remote output 1




660

Increased magnetic excitation deceleration operation selection

35

36

37

38

39

3B

3C

B5

B6

B7

B8

B9

3A BA

BB

BC

6

6

6

6

6

6

6

6

661 Magnetic excitation increase rate

662 Increased magnetic excitation current level

3D BD 6

3E BE 6

663 Control circuit temperature signal output level 3F BF 6

665 Regeneration avoidance frequency gain 41 C1 6

673

SF-PR slip amount adjustment operation selection

674 SF-PR slip amount adjustment gain

49

4A

C9

CA

6

6

675

679

680

683

684

User parameter auto storage function selection

Second droop gain

Second droop filter time constant

681 Second droop function activation selection

682 Second droop break point gain

Second droop break point torque

Tuning data unit switchover

4B CB 6

4F CF 6

50 D0 6

51

52

D1

D2

6

6

53 D3 6

54 D4 6

686 Maintenance timer 2 56 D6 6

687 Maintenance timer 2 warning output set time 57 D7 6

688 Maintenance timer 3 58 D8 6

689 Maintenance timer 3 warning output set time 59 D9 6

690 Deceleration check time 5A DA 6

×

○

×

×

×

×

×

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×

×

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×

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×

×

×

×

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×

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×

×

×

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×

×

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×

×

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×

×

×

×

×

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×

×

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×

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×

×

×

×

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×

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×

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×

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×

×

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×

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×

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×

×

×

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×

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×

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3

4

5

6

7

8

9

10

8. APPENDIX


137

○

○

○

○

○

○

○

○

×

×

×

○

×

○

○

○

×

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○

○

○

○

○

○

×

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×

×

×

○

×

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×

×

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○

×

×

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×

×

×

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×

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×

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×

○

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1

2


*1


Pr.

Name

692 Second free thermal reduction frequency 1

693 Second free thermal reduction ratio 1


695 Second free thermal reduction ratio 2


699 Input terminal filter

707 Motor inertia (integer)

724 Motor inertia (exponent)

744 Second motor inertia (integer)

745 Second motor inertia (exponent)

750 Motor temperature detection level

751 Reference motor temperature

753 Third S-curve acceleration time

754 Third S-curve deceleration time

757 Distance meter selection

758 Unit of measurement of distance meter

760 Travel distance of absolute encoder

761

Distance measurement fault detection interval

774 Operation panel monitor selection 1



777 4 mA input fault operation frequency

778 4 mA input check filter

779

Operation frequency during communication error

799 Pulse increment setting for output power

800 Control method selection

802 Pre-excitation selection

803

Constant output range torque characteristic selection

804 Torque command source selection

805 Torque command value (RAM)

806 Torque command value (RAM, EEPROM)

807 Speed limit selection

808 Forward rotation speed limit/speed limit

809

Reverse rotation speed limit/reverse-side speed limit

810 Torque limit input method selection

811 Set resolution switchover

812 Torque limit level (regeneration)

813 Torque limit level (3rd quadrant)

814 Torque limit level (4th quadrant)

815 Torque limit level 2

816 Torque limit level during acceleration

817 Torque limit level during deceleration

818 Easy gain tuning response level setting

819 Easy gain tuning selection

820 Speed control P gain 1

821 Speed control integral time 1

822 Speed setting filter 1

823


1

5C DC 6

5D DD 6

5E DE 6

5F DF 6

60 E0 6

63 E3 6

07 87 7

18 98 7

2C AC 7

2D AD 7

32 B2 7

33 B3 7

35 B5 7

36 B6 7

39 B9 7

3A BA 7

3C BC 7

3D BD 7

4A CA 7

4B CB 7

4C CC 7

4D CD 7

4E CE 7

4F CF 7

63 E3 7

00 80 8

02 82 8

03 83 8

04 84 8

05 85 8

06 86 8

07 87 8

08 88 8

09 89 8

0A 8A 8

0B 8B 8

0C 8C 8

0D 8D 8

0E 8E 8

0F 8F 8

10 90

11 91

8

8

12 92 8

13 93 8

14 94 8

15 95 8

16 96 8

17 97 8

138 8. APPENDIX


×

×

×

×

×

×

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×

×

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×

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×

×

×

×

×

×

×

×

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×

×

×

×

×

×

×

×

×

×

×

×

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×

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×

×

×

×

×

×

×

×

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×

×

×

×

×

×

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×

×

×

×

×

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×

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×

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×

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×

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×

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×

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×

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×

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×

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*1


Pr.

Name

824

825

Torque control P gain 1 (current loop proportional gain)

Torque control integral time 1 (current loop integral time)

826 Torque setting filter 1

827 Torque detection filter 1

828 Model speed control gain

829 Number of machine end encoder pulses

830 Speed control P gain 2

831 Speed control integral time 2

832 Speed setting filter 2

833


2

834

835

Torque control P gain 2 (current loop proportional gain)

Torque control integral time 2 (current loop integral time)

836 Torque setting filter 2



839 DA1 output filter

840 Torque bias selection

841 Torque bias 1

842 Torque bias 2

843 Torque bias 3

844 Torque bias filter

845 Torque bias operation time

846 Torque bias balance compensation

847 Fall-time torque bias terminal 1 bias

848 Fall-time torque bias terminal 1 gain

849 Analog input offset adjustment

850 Brake operation selection

851

852

Control terminal option-Number of encoder pulses

Control terminal option-Encoder rotation direction

853 Speed deviation time

854 Excitation ratio

855

Control terminal option-Signal loss detection enable/disable selection

857 DA1-0V adjustment

858 Terminal 4 function assignment

859 Torque current

860 Second motor torque current

862

863

Encoder option selection

Control terminal option-Encoder pulse division ratio

864 Torque detection

865 Low speed detection

866 Torque monitoring reference

867 AM output filter

868 Terminal 1 function assignment

18

19

1A 9A 8

1B 9B 8

1C 9C 8

1D 9D 8

1E 9E 8

1F 9F 8

20 A0 8

21

22

23

24 A4 8

25 A5 8

26 A6 8

27 A7 8

28 A8 8

29 A9 8

2A AA 8

2B AB 8

2C AC 8

2D AD 8

2E AE 8

2F AF 8

30 B0 8

31 B1 8

32 B2 8

33

34

35

36

37

98

99

B3

B4

B5

B6

B7

8

8

8

8

8

8

8

39 B9 8

3A BA 8

3B BB 8

3C BC 8

3E BE 8

3F

40

41

42

43

44

A1

A2

A3

BF

C0

C1

C2

C3

C4

8

8

8

8

8

8

8

8

8

×

×

×

×

×

×

×

×

○

×

○

×

×

×

×

×

○

○

○

×

×

×

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×

×

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×

×

×

×

×

×

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×

×

×

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×

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×

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×

×

×

×

×

×

×

×

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×

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×

×

×

×

×

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×

×

×

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×

×

×

×

×

×

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×

×

×

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×

×

×

×

×

×

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×

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×

×

×

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Δ

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×

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×

×

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×

×

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×

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3

4

5

6

7

8

9

10

8. APPENDIX


139

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×

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×

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×

×

×

×

×

×

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×

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×

×

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Δ

×

×

×

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×

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×

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×

×

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×

×

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×

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×

×

×

×

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×

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1

2


*1


Pr.

Name

869 Current output filter

870 Speed detection hysteresis

872 Input phase loss protection selection

45 C5 8

46 C6 8

48 C8 8

C4

(903)

C5

(904)

C6

(904)

126

(905)

C1

(901)

C2

(902)

C3

(902)

125

(903)

C7

(905)

C12

(917)

873 Speed limit

874 OLT level setting

875 Fault definition

876 Thermal protector input

877

Speed feed forward control/model adaptive speed control selection

878

879

880

881

Speed feed forward filter

Speed feed forward torque limit

Load inertia ratio

Speed feed forward gain

49

4A

4B

4C

4D

C9

CA

CB

CC

CD

8

8

8

8

8

4E CE 8

4F CF 8

50 D0 8

51 D1 8

882 Regeneration avoidance operation selection 52 D2 8

883 Regeneration avoidance operation level 53 D3 8

884

885

Regeneration avoidance at deceleration detection sensitivity

Regeneration avoidance compensation frequency limit value

54

55

D4

D5

8

8

886 Regeneration avoidance voltage gain

888 Free parameter 1

56 D6 8

58 D8 8

889 Free parameter 2 59 D9 8

891 Cumulative power monitor digit shifted times 5B DB 8

5C DC 8 892 Load factor

893

Energy saving monitor reference (motor capacity)

5D DD 8

894

Control selection during commercial powersupply operation

895 Power saving rate reference value

896 Power unit cost

897

898

Power saving monitor average time

Free parameter 2

899 Operation time rate (estimated value)

C0

(900)

FM/CA terminal calibration

5E

5F

60

61 E1 8

62 E2 8

63 E3 8

5C

DE

DF

E0

DC

8

8

8

1

AM terminal calibration

Terminal 2 frequency setting bias frequency

Terminal 2 frequency setting bias

Terminal 2 frequency setting gain frequency

Terminal 2 frequency setting gain

Terminal 4 frequency setting bias frequency

Terminal 4 frequency setting bias

Terminal 4 frequency setting gain frequency

Terminal 4 frequency setting gain

Terminal 1 bias frequency (speed)

5D

5E

5E

5F

5F

60

60

61

61

11

DD

DE

DE

DF

DF

E0

E0

E1

E1

91

1

1

1

1

1

1

1

1

1

9

○

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×

140 8. APPENDIX


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×

×

×

×

×

×

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×

×

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×

×

×

×

×

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×

×

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×

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×

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×

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×

×

×

×

×

×

×

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×

×

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×

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×

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×

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×

×

×

×

×

×

×

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×

×

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×

×

×

×

×

×

×

×

×

×

×

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×

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×

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×

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×

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×

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×

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×

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*1


Pr.

Name

C17

(919)

C18

(920)

C19

(920)

C13

(917)

C14

(918)

C15

(918)

C16

(919)

Terminal 1 bias (speed)

Terminal 1 gain frequency (speed)

Terminal 1 gain (speed)

Terminal 1 bias command (torque/magnetic flux)

Terminal 1 bias (torque/magnetic flux)

Terminal 1 gain command (torque/magnetic flux)

Terminal 1 gain (torque/magnetic flux)

C29

(925)

Motor temperature detection calibration

(analog input)

C38

(932)

C39

(932)

C40

(933)

C41

(933)

C8

(930)

C9

(930)

C10

(931)

C11

(931)

C34

(928)

C35

(928)

C36

(929)

C37

(929)

C30

(926)

C31

(926)

C32

(927)

C33

(927)

Terminal 6 bias frequency (speed)

Terminal 6 bias (speed)

Terminal 6 gain frequency (speed)

Terminal 6 gain (speed)

Terminal 6 bias command (torque)

Terminal 6 bias (torque)

Terminal 6 gain command (torque)

Terminal 6 gain (torque)

Current output bias signal

Current output bias current

Current output gain signal

Current output gain current

Terminal 4 bias command (torque/magnetic flux)

Terminal 4 bias (torque/magnetic flux)

Terminal 4 gain command (torque/magnetic flux)

Terminal 4 gain (torque/magnetic flux)

977 Input voltage mode selection

989 Parameter copy alarm release

990 PU buzzer control

991 PU contrast adjustment

992

Operation panel setting dial push monitor selection

994 Droop break point gain

995 Droop break point torque

11

12

12

13

13

14

14

19

91

92

92

93

93

94

94

99

9

9

9

9

9

9

9

9

1A 9A 9

1A 9A 9

1B 9B 9

1B 9B 9

1C 9C 9

1C 9C 9

1D 9D 9

1D 9D 9

1E 9E 9

1E 9E 9

1F

1F

20

20

21

21

9F

9F

A0

A0

A1

A1

9

9

9

9

9

9

4D CD 9

59 D9 9

5A DA 9

5B DB 9

5C DC 9

5E DE 9

5F DF 9

×

×

×

×

○

○

○

○

×

○

×

×

×

×

×

×

×

×

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○

○

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×

×

×

×

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×

×

×

×

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○

×

○

×

×

×

×

×

×

×

×

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×

×

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3

4

5

6

7

8

9

10

8. APPENDIX


141

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Δ

×

×

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Δ

×

×

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○

○

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○

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○

○

○

○

×

×

×

×

×

×

×

×

×

×

×

×

×

×

×

×

×

×

○

×

×

×

○

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○

×

×

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×

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1

2


*1


Pr.

Name

997 Fault initiation

999 Automatic parameter setting

1000 Direct setting selection

1006 Clock (year)

1007 Clock (month, day)

1008 Clock (hour, minute)

1016 PTC thermistor protection detection time

1018 Monitor with sign selection

1019

Analog meter voltage negative output selection

1020 Trace operation selection

1021 Trace mode selection

1022 Sampling cycle

1023 Number of analog channels

1024 Sampling auto start

1025 Trigger mode selection

1026 Number of sampling before trigger

1027 Analog source selection (1ch)








1035 Analog trigger channel

1036 Analog trigger operation selection

1037 Analog trigger level

1038 Digital source selection (1ch)








1046 Digital trigger channel

1047 Digital trigger operation selection

1048 Display-off waiting time

1049 USB host reset

1103 Deceleration time at emergency stop

1106 Torque monitor filter

1107 Running speed monitor filter

1108 Excitation current monitor filter

1109

PROFIBUS communication command source selection

1110 PROFIBUS format selection

1113 Speed limit method selection

1114 Torque command reverse selection

1115 Speed control integral term clear time

1116

Constant output range speed control P gain compensation

0A 8A B

0D 8D B

0E 8E B

0F 8F B

10 90 B

61 E1 9

63 E3 9

00 80 A

06 86 A

07 87 A

08 88 A

10 90 A

12 92 A

13 93 A

24 A4 A

25 A5 A

26 A6 A

27 A7 A

28 A8 A

29 A9 A

2A AA A

2B AB A

2C AC A

2D AD A

2E AE A

2F AF A

30 B0 A

31 B1 A

03 83 B

06 86 B

07 87 B

08 88 B

14 94 A

15 95 A

16 96 A

17 97 A

18 98 A

19 99 A

1A 9A A

1B 9B A

1C 9C A

1D 9D A

1E 9E A

1F 9F A

20 A0 A

21 A1 A

22 A2 A

23 A3 A

09 89 B

○

○

○

○

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○

○

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○

○

○

○

○

○

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○

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○

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○

○

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○

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○

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○

×

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○

○

○

○

○

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○

○

○

×

×

×

×

142 8. APPENDIX


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○

×

×

×

×

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×

×

○

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×

×

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×

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○

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*4

○

*4

○

○

○

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×

○

×

×

○

×

○

×

○

○

*4

○

*4

○

○

○

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×

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Δ

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Δ

Δ

Δ

Δ

Δ

Δ

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Δ

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×

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×

×

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Δ

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Δ

Δ

Δ

Δ

Δ

Δ

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Δ

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×

×


*1


Pr.

Name

1117 Speed control P gain 1 (per-unit system)

1118 Speed control P gain 2 (per-unit system)

1119 Model speed control gain (per-unit system)

1121 Per-unit speed control reference frequency

1124 Station number in inverter-to-inverter link

1125

Number of inverters in inverter-to-inverter link system

1150 PLC function user parameters 1













































11 91 B

12 92 B

13 93 B

15 95 B

18

19

98

99

B

B

32 B2 B

33 B3 B

34 B4 B

35 B5 B

36 B6 B

37 B7 B

38 B8 B

39 B9 B

3A BA B

3B BB B

3C BC B

3D BD B

3E BE B

3F BF B

40 C0 B

41 C1 B

42 C2 B

43 C3 B

44 C4 B

45 C5 B

46 C6 B

47 C7 B

48 C8 B

49 C9 B

4A CA B

4B CB B

4C CC B

4D CD B

4E CE B

4F CF B

50 D0 B

51 D1 B

52 D2 B

53 D3 B

54 D4 B

55 D5 B

56 D6 B

57 D7 B

58 D8 B

59 D9 B

5A DA B

5B DB B

5C DC B

5D DD B

5E DE B

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×

×

×

×

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×

×

×

×

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3

4

5

6

7

8

9

10

8. APPENDIX


143

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*4

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*4

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*4

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*4

1

2


*1


Pr.

Name






1299 Second pre-excitation selection

1348 P/PI control switchover frequency

1349 Emergency stop operation selection

1404 Shortest-time torque startup selection

1410 Starting times lower 4 digits

1411 Starting times upper 4 digits

1424 Ethernet communication network number

1425 Ethernet communication station number

1426 Link speed and duplex mode selection

5F DF B

60 E0 B

61 E1 B

62 E2 B

63 E3 B

63 E3 C

30 B0 D

31 B1 D

04 84 E

0A 8A E

0B 8B E

18 98 E

19 99 E

1A 9A E

1427 Ethernet function selection 1


1B

1C

9B

9C

E

E


1431

Ethernet signal loss detection function selection

1D

1F

9D

9F

E

E

1432 Ethernet communication check time interval 20 A0 E

1434 IP address 1 (Ethernet)


22 A2 E

23 A3 E



1438 Subnet mask 1

1439 Subnet mask 2

1440 Subnet mask 3

1441 Subnet mask 4

1442 IP filter address 1 (Ethernet)




1446

1447

1448

1449

1450

1451

1452

1453

1454

IP filter address 2 range specification

(Ethernet)


(Ethernet)


(Ethernet)

Ethernet command source selection IP address 1




Ethernet command source selection IP address 3 range specification

Ethernet command source selection IP address 4 range specification

24 A4 E

25 A5 E

26 A6 E

27 A7 E

28 A8 E

29 A9 E

2A AA E

2B AB E

2C AC E

2D AD E

2E

2F

30

31

32

33

34

35

36

AE

AF

B0

B1

B2

B3

B4

B5

B6

E

E

E

E

E

E

E

E

E

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×

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×

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×

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×

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×

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×

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144 8. APPENDIX


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*4

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*4

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*4

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*4

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*4

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*4

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*4

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*4

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*4

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*4

○

*4

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*4

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*4

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*4

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*4

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*4

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*4

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*4

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×

×

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*4

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*4

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*4

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*4

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*4

○

*4

○

*4

○

*4

○

*4

○

*4

○ *4

○ *4

○ *4

○ *4

○

*4

○ *4

○

*4

○

*4

○

*4

○ *4

○

*4

○

*4

○

*4

○

*4

○

*4

○

*4

○ *4

○ *4

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×

×

○

*4

○

*4

○

*4

○

*4

○ *4

○ *4

○ *4

○ *4

○ *4

○ *4

○ *4

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×

×

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×

×

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×

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Δ

Δ

Δ

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×

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×

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×

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×

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Δ

Δ

Δ

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×

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×

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×

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○


*1


Pr.

Name

1455 Keepalive time 37 B7 E

1480 Load characteristics measurement mode

1481 Load characteristics load reference 1





1486 Load characteristics maximum frequency

1487 Load characteristics minimum frequency

50 D0 E

51 D1 E

52 D2 E

53 D3 E

54 D4 E

55 D5 E

56 D6 E

57 D7 E

1488 Upper limit warning detection width

1489 Lower limit warning detection width

1490 Upper limit fault detection width

1491 Lower limit fault detection width

58

59

5A

5B

D8

D9

DA

DB

E

E

E

E

1492

Load status detection signal delay time / load reference measurement waiting time

1499 Parameter for manufacturer setting. Do not set.

5C DC E

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×

×

×

×

×

×

×

×

×

×

×

×

×

○

×

×

×

×

×

×

×

×

×

×

×

×

×

○

×

×

×

×

×

×

×

×

×

×

×

×

×

○

×

×

×

×

×

×

×

×

×

×

×

×

×

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*4

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*4

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3

4

5

6

7

8

1

2

9

10

8. APPENDIX


145

8.6

How to check specification changes

Check the SERIAL number indicated on the inverter rating plate or packaging. For how to read the SERIAL number, refer to the following.

Rating plate example

The SERIAL consists of one symbol, two characters indicating the production year and month, and six characters indicating the control number.

Symbol Year Month Control number

SERIAL

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).

8.6.1

Details of specification changes



Functions available for the inverters manufactured in November 2020 or later

Item

Changed parameter setting range

Change

• Setting value "52" added for Pr.52, Pr.54, Pr.158, Pr.774 to Pr.776, Pr.992, Pr.1027 to

Pr.1034

• Setting value "2" added for Pr.60

146 8. APPENDIX

8.6 How to check specification changes

MEMO

3

4

1

2

5

6

7

8

9

10

8. APPENDIX

8.6 How to check specification changes

147

REVISIONS

*The manual number is given on the bottom left of the back cover.

Revision date

Sep. 2019

Oct. 2020

* Manual number

IB(NA)-0600893ENG-A

IB(NA)-0600893ENG-B

First edition

Added

• Full-closed control test operation

• Droop control during full-closed control

Revision

148

IB-0600893ENG-B

HEAD OFFICE: TOKYO BUILDING 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN

IB(NA)-0600893ENG-B (2010) MEE Printed in Japan Specifications subject to change without notice.

B

INVERTER

LOGISTICS/TRANSPORT FUNCTION MANUAL

FR-A820-00046(0.4K)-04750(90K)-AWH

FR-A840-00023(0.4K)-02600(90K)-AWH

Logistics/Transport Function

The FR-A800-AWH inverter has dedicated functions for logistics/transport applications, in addition to the functions of the standard FR-A800 inverter.

This Logistics/Transport Function Manual explains the functions dedicated to the FR-A800-AWH inverter. For the functions not found in this Function Manual, refer to the FR-A800 Instruction Manual and the Ethernet Function

Manual.

In addition to this Logistics/Transport Function Manual, please read the FR-A800 Instruction Manual and the

Ethernet Function Manual carefully. Do not use this product until you have a full knowledge of this product mechanism, safety information and instructions.

Please forward this Function Manual to the end user.

800-AWH