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INVERTER
Plug-in option
FR-A7AP
INSTRUCTION MANUAL
Orientation control
Encoder feedback control
Vector control
3
4
1
2
5
Thank you for choosing this Mitsubishi Inverter plug-in option.
This instruction manual gives handling information and precautions for use of this equipment. Incorrect handling might cause an unexpected fault. Before using the equipment, please read this manual carefully to use the equipment to its optimum.
Please forward this manual to the end user.
This section is specifically about safety matters
Do not attempt to install, operate, maintain or inspect this product until you have read through this instruction manual and appended documents carefully and can use the equipment correctly. Do not use this product until you have a full knowledge of the equipment, safety information and instructions.
In this instruction manual, the safety instruction levels are classified into "WARNING" and "CAUTION".
WARNING
CAUTION
Assumes that incorrect handling may cause hazardous conditions, resulting in death or severe injury.
Assumes that incorrect handling may cause hazardous conditions, resulting in medium or slight injury, or may cause physical damage only.
Note that even the CAUTION level may lead to a serious consequence according to conditions. Please follow the instructions of both levels because they are important to personnel safety.
SAFETY INSTRUCTIONS
1. Electric Shock Prevention
WARNING
• While power is on or when the inverter is running, do not open the front cover. You may get an electric shock.
• Do not run the inverter with the front cover or wiring cover removed. Otherwise, you may access the exposed highvoltage terminals and charging part and get an electric shock.
• If power is off, do not remove the front cover except for wiring or periodic inspection. You may access the charged inverter circuits and get an electric shock.
• Before starting wiring or inspection, check to make sure that
Indication of the inverter operation panel is off, wait for at least
10 minutes after the power supply has been switched off, and check that there are no residual voltage using a tester or the like. The capacitor is charged with high voltage for some time after power off and it is dangerous.
• Any person who is involved in the wiring or inspection of this equipment should be fully competent to do the work.
• Always install the plug-in option before wiring. Otherwise, you may get an electric shock or be injured.
• Do not touch the plug-in option with wet hands. Otherwise you may get an electric shock.
• Do not subject the cables to scratches, excessive stress, heavy loads or pinching. Otherwise you may get an electric shock.
A-1
2. Injury Prevention
CAUTION
• Apply only the voltage specified in the instruction manual to each terminal. Otherwise, burst, damage, etc. may occur.
• Ensure that the cables are connected to the correct terminals.
Otherwise, burst, damage, etc. may occur.
• Always make sure that polarity is correct to prevent damage, etc.
Otherwise, burst, damage may occur.
• While power is on or for some time after power-off, do not touch the inverter as it is hot and you may get burnt.
3. Additional Instructions
Also note the following points to prevent an accidental failure, injury, electric shock, etc.
1) Transportation and mounting
CAUTION
• Do not install or operate the plug-in option if it is damaged or has parts missing.
• Do not stand or rest heavy objects on the product.
• Check that the mounting orientation is correct.
• Prevent other conductive bodies such as screws and metal fragments or other flammable substance such as oil from entering the inverter.
2) Trial run
CAUTION
• Before starting operation, confirm and adjust the parameters.
A failure to do so may cause some machines to make unexpected motions.
3) Usage
WARNING
• Do not modify the equipment.
• Do not perform parts removal which is not instructed in this manual. Doing so may lead to fault or damage of the inverter.
CAUTION
• When parameter clear or all parameter clear is performed, reset the required parameters before starting operations.
Each parameter returns to the initial value.
• For prevention of damage due to static electricity, touch nearby metal before touching this product to eliminate static electricity from your body.
4) Maintenance, inspection and parts replacement
CAUTION
• Do not test the equipment with a megger (measure insulation resistance).
5) Disposal
• Treat as industrial waste.
CAUTION
6) General instruction
All illustrations given in this manual may have been drawn with covers or safety guards removed to provide in-depth description. Before starting operation of the product, always return the covers and guards into original positions as specified and operate the equipment in accordance with the manual.
A-2
CONTENTS
PRE-OPERATION INSTRUCTIONS
1
INSTALLATION
4
ORIENTATION CONTROL 18
I
ENCODER FEEDBACK CONTROL 24
VECTOR CONTROL 28
II
1
PRE-OPERATION INSTRUCTIONS
1.1
Unpacking and Product Confirmation
Take the plug-in option out of the package, check the unit name, and confirm that the product is as you ordered and intact.
This product is a plug-in option dedicated for the FR-A
700
series.
1.1.1 Packing confirmation
Check the enclosed items.
Plug-in option
......................................... 1
Mounting screw (M3 × 6mm)
.............. 2
Hex-head screw for option mounting (5.5mm)
............... 1
5.5mm
1
1
PRE-OPERATION INSTRUCTIONS
1.1.2 SERIAL number check
The FR-A7AP can be used with the FR-A
700
series having the following serial number or later. Check the
SERIAL number indicated on the inverter rating plate or package.
Model
FR-A720-0.4K/0.75K
FR-A720-1.5K/2.2K
FR-A720-3.7K
FR-A720-5.5K to 11K
FR-A720-15K to 22K
FR-A720-30K
FR-A720-37K
FR-A720-45K
FR-A720-55K
FR-A720-75K/90K
SERIAL (Serial No.)
P5 {{{{{{{
Q5 {{{{{{{
N5 {{{{{{{
L5 {{{{{{{
M5 {{{{{{{
Q5 {{{{{{{
M5 {{{{{{{
L5 {{{{{{{
K5 {{{{{{{
E5 {{{{{{{
Model
FR-A740-0.4K
FR-A740-0.75K
FR-A740-1.5K/2.2K
FR-A740-3.7K
FR-A740-5.5K/7.5K
FR-A740-11K to 22K
FR-A740-30K to 55K
FR-A740-75K/90K
FR-A740-110K to 160K
FR-A740-185K to 500K
SERIAL (Serial No.)
L5 {{{{{{{
K5 {{{{{{{
J5 {{{{{{{
H5 {{{{{{{
G5 {{{{{{{
F5 {{{{{{{
E5 {{{{{{{
G5 {{{{{{{
E5 {{{{{{{
C5 {{{{{{{
2
Rating plate example
5 { {{{{{{
Symbol Year Month Control number
SERIAL (Serial No.)
The SERIAL is made up of 1 version symbol, 2 numeric characters or 1 alphabet letter and 2 numeric characters indicating year and month, and 6 numeric characters indicating control number.
Month is indicated as 1 to 9, X (October), Y (November), and Z
(December).
1.1.3 Parts
Terminal block
N
O
4
3
2
1
SW2
N
O
Front view
2
1
LED1
LED2
LED3
Mounting hole
PRE-OPERATION INSTRUCTIONS
Rear view
Mounting hole
SW1
Switch for manufacturer setting (SW3)
Do not change from initially-
N
O
2 set status (1, 2:OFF ).
Terminating resistor selection switch (SW2)
Switch ON/OFF of the internal terminating resistor.
CON2 connector
Not used.
Encoder specification selection switch (SW1)
Used to change the specification of encoder
(differential line driver/complementary).
Connector
Connect to the inverter option connector.
Terminal layout
PA2
PB2
PZ2
SD
SD
PO
PA1
PB1
PZ1
PG
PG
PIN
PIN and PO are not used.
Mounting hole
1
3
4
2
INSTALLATION
2.1
Pre-Installation Instructions
Make sure that the input power of the inverter is off.
CAUTION
With input power on, do not install or remove the plug-in option. Otherwise, the inverter and plug-in option may be damaged.
INSTALLATION
2.2
Installation Procedure
1)
1) Remove the inverter front cover.
2) Mount the hex-head screw for option mounting into the inverter screw hole (on earth plate). (size 5.5mm, tightening torque 0.56N
⋅ m to 0.75N
⋅ m)
Screw hole for option mounting
Inverter side option connector
3) Securely fit the connector of the plug-in option to the inverter connector along the guides.
Screw hole for option mounting
(on earth plate)
2)
3)
4) Securely fix the both right and left sides of the plug-in option to the inverter with the accessory mounting screws. If the screw holes do not line-up, the connector may not have been plugged snugly.
Check for loose plugging.
Hex-head screw for option mounting
4)
Mounting
screws
REMARKS
After removing two screws on the right and left places, remove the plug-in option.
(When the plug-in option is mounted in the connector 3, it is easier to remove the plug-in option after removing a control circuit terminal block.)
5
2
INSTALLATION
•
•
CAUTION
When two or more options are mounted, priority is in order of inverter option connectors 1, 2 and 3, the options having lower priority are inoperative.
When the inverter cannot recognize that the option is mounted due to improper
Mounting Error installation, etc., " to " (option alarm) are displayed for the FR-
A700 series.The errors shown differ according to the mounting positions
(connectors 1, 2, 3).
Position
Connector 1
Display
Connector 2
Connector 3
• The FR-F700 series has one connection connector for the plug-in option. When the inverter can not
•
• recognize that the option unit is mounted due to improper installation, etc., " " (option alarm) is displayed.
Note that a hex-head screw for option mounting or mounting screw may drop during mounting and removal.
Pull out the option straight to remove. Otherwise, the connector may be damaged by some applied force.
6
2.3
Switches
(1) Encoder specification selection switch (SW1)
Select either differential line driver or complementary
It is initially set to the differential line driver. Switch its position according to output circuit.
Differential line driver (initial status)
Complementary
SW1
N
O
SW2
N
O
(2) Terminating resistor selection switch (SW2)
Select ON/OFF of the internal terminating resistor. Set the switch to ON (initial status) when an encoder output type is differential line driver and set to OFF when complimentary.
ON : with internal terminating resistor (initial setting status)
OFF : without internal terminating resistor
Internal terminating resistor-ON
(initial status)
SW1
N
O
SW2
REMARKS
· Set all swithces to the same setting (ON/OFF).
· If the encoder output type is differential line driver, set the terminating resistor switch to the "OFF" position when sharing the same encoder with other unit (NC (numerical controller), etc) or a terminating resistor is connected to other unit.
Internal terminating resistor-OFF
CAUTION
SW3 is for manufacturer setting. Do not change from initially-set status (1, 2:OFF).
N
O
2
7
(3) Motor used and switch setting
Motor
Encoder Specification
Selection Switch (SW1)
Terminating Resistor
Selection Switch (SW2)
Mitsubishi standard motor
Mitsubishi high efficiency motor
Mitsubishi constanttorque motor
Dedicated motor
SF-JR
SF-HR
Others
SF-JRCA
SF-HRCA
Others
SF-V5RU
SF-VR
Differential
Differential
Differential
Differential
Complimentary
Differential
ON
ON
ON
ON
OFF
ON
Other manufacturer motor –
*1 Set according to the motor encoder used.
*2 Choose a power supply for encoder according to the encoder used (5V/12V/15V/24V).
Power
Specifications
5V
5V
5V
5V
12V
5V
8
2.4
Wiring
(1) Use twisted pair shield cables (0.2mm
2
or larger) to connect the FR-A7AP and position detector.
To protect the cables from noise, run them away from any source of noise (e.g. the main circuit and power voltage).
Wiring Length
Within 10m
Within 20m
Within 100m *
Paralell Connection
At least 2 cables
At least 4 cables
At least 6 cables
Cable gauge
0.2mm
2
Larger-Size Cable
0.4mm
2 or larger
0.75mm
2 or larger
1.25mm
2 or larger
* When differential driver is set and a wiring length is 30m or more
The wiring length can be extended to 100m by slightly increasing the power by 5V (approx. 5.5V) using six or more cables with gauge size of 0.2mm
2
in parallel or a cable with gauge size of 1.25mm
2
or more. Note that the voltage applied should be within power supply specifications of encoder.
To reduce noise of the encoder cable, earth (ground) the encoder shielded cable to the enclosure (as near as the inverter) with a P clip or U clip made of metal.
Earthing (grounding) example using a P clip
Encoder cable
Shield
P clip
2
REMARKS
· For details of the optional encoder dedicated cable (FR-JCBL/FR-V7CBL), refer to
· The FR-V7CBL is provided with a P clip for earthing (grounding) shielded cable.
9
(2) Connection with the NC (numerical controller)
When one position detector is shared between the FR-A7AP and NC, its output signal should be connected as shown on the right. In this case, the wiring length between the FR-A7AP and NC should be as short as possible, within 5m.
Inverter
(FR-A7AP)
Position detector
Encoder
Maximum 5m
(two parallel cables)
NC
10
(3) Wire the twisted pair shielded cable after stripping its sheath to make its cables loose.
Also, protect the shielded cable of the twisted pair shielded cable to ensure that it will not make contact with the conductive area.
Cable stripping size
Wire the stripped cable after twisting it to prevent it from becoming loose.
In addition, do not solder it.
Use a bar type terminal as required.
5mm
REMARKS
Information on bar terminals
Introduced products (as of August, 2005): Phoenix Contact Co.,Ltd.
Terminal Screw
Size
Bar Terminal Model
(with insulation sleeve)
Bar Terminal Model
(without insulation sleeve)
M2 Al 0.5-6WH A 0.5-6
⋅ Bar terminal crimping tool: CRIMPFOX ZA3 (Phoenix Contact Co., Ltd.)
When using the bar terminal (without insulation sleeve), use care so that the twisted wires do not come out.
Wire Size (mm
2
)
0.3 to 0.5
(4) Loosen the terminal screw and insert the cable into the terminal.
Screw Size Tightening Torque Cable Size
M2 0.22N
⋅ m to 0.25N
⋅ m 0.3mm
2
to 0.75mm
2
Screwdriver
Small flat-blade screwdriver
(Tip thickness: 0.4mm/tip width: 2.5mm )
CAUTION
Undertightening can cause cable disconnection or malfunction. Overtightening can cause a short circuit or malfunction due to damage to the screw or unit.
2
11
(5) For wiring of 22K or less , remove a hook of the front cover and use a space become available.
For wiring of 30K or more , use the space on the left side of the control circuit terminal block.
Cut off with a nipper, etc.
22K or less
Cut off a hook on the inverter front cover side surface.
(Cut off so that no portion is left.)
Control circuit terminal block
30K or more
REMARKS
When the hook of the inverter front cover is cut off for wiring, the protective structure (JEM1030) changes to open type
(IP00).
CAUTION
Do not use empty terminals as junction terminals because they are used in the option unit. If they are used as the junction terminals, the option unit may be damaged.
When performing wiring using the space between the inverter front cover and control circuit terminal block, take care not to subject the cable to stress.
After wiring, wire offcuts must not be left in the inverter. They may cause a fault, failure or malfunction.
12
2.5
Encoder Cable
SF-JR Motor with Encoder
F-DPEVSB 12P 0.2mm
2
Approx. 140
MS3057-12A
SF-V5RU
Inverter side Encoder side connector
MS3057-12A
Earth cable
F-DPEVSB 12P 0.2mm
2
*
Earth cable
60
FR-A700
(FR-A7AP)
PA1
PA2
PB1
PB2
PZ1
PZ2
PG
SD
L
Type
FR-JCBL5
FR-JCBL15
FR-JCBL30
MS3106B20-29S
Length L (m)
5
15
30
Encoder
C
R
A
N
B
P Positioning keyway
H
K
L
M
T
K
S
J
A B
N
H
C
P
D
G
R
F
E
MS3106B20-29S
(As viewed from wiring side)
60mm
L
⋅ A P clip for earthing (grounding) a shielded cable is provided.
MS3106B20-29S
Type
FR-V7CBL5
FR-V7CBL15
FR-V7CBL30
Length L (m)
5
15
30
FR-A700
(FR-A7AP)
PA1
PA2
PB1
PB2
PZ1
PZ2
PG
SD
Encoder
A
B
C
D
F
G Positioning keyway
S
R
L
M
T
K
S
J
A
N
H
B
C
P
D
G
R
F
E
MS3106B20-29S
As viewed from wiring side
2mm 2 2mm 2
* As the terminal block of the FR-A7AP is an insertion type, earth cables need to be modified.
2
13
Connection terminal compatibility table
Motor
Encoder cable
FR-A7AP terminal
PA1
PA2
PB1
PB2
PZ1
PZ2
PG
SD
SF-V5RU
FR-V7CBL/FR-V5CBL
PA
Keep this open.
PB
Keep this open.
PZ
Keep this open.
PG
SD
SF-JR/HR/JRCA/HRCA (with Encoder)
FR-JCBL
PA
PAR
PB
PBR
PZ
PZR
5E
AG2
14
2.6
Encoder
(1) Position detection (pulse encoder)
Output pulse specifications
Differential line driver
A/A signal 1000P/R to 4096P/R
B/B signal 1000P/R to 4096P/R
Z/Z signal 1P/R
P a b c d H
A
L
A
B
B
Z
Z
Complimentary
A signal 1000P/R to 4096P/R
B signal 1000P/R to 4096P/R
Z signal 1P/R
P a b c d
A
B
Z
Position detector
Encoder
A
When rotation is clockwise as viewed from the shaft end (A) of the encoder.
a, b, c, d should be (1/4
1/8)P
CAUTION
⋅ When orientation control, encoder feedback control, vector control are used together, the encoder is shared between these controls.
Use an encoder which has a pulse count of 1000 to 4096ppr (pulse per revolution).
⋅ The encoder should be coupled with the motor shaft or the spindle oriented with a speed ratio of 1 to 1 without any mechanical looseness.
⋅ To ensure correct operation, the encoder must be set in the proper rotation direction and the A and B phases connected correctly.
(2) Power supply
Choose a power supply for encoder according to the encoder used.
When an encoder is used under orientation control, encoder feedback control, and vector control, the power supply is shared between the inverter and encoder.
15
2
2.7
Parameter for Encoder
Parameter
Number
Name
Initial
Value
Setting
Range
Description
0
Encoder
A
CW
Forward rotation is clockwise rotation when viewed from A.
359
Encoder rotation direction
1
369
Number of encoder pulses
1
1024 0 to 4096
CCW
A
Forward rotation is counterclockwise rotation when viewed from A.
Encoder
Set the number of encoder pulses output.
Set the number of pulses before it is multiplied by 4.
Set Pr. 359 Encoder rotation direction and Pr. 369 Number of encoder pulses according to the encoder used.
Motor
Mitsubishi standard motor
Mitsubishi high efficiency motor
Mitsubishi constant torque motor
Vector control dedicated motor
Other manufacturer's standard motor
Other manufacturer's constant torque motor
* Set this parameter according to the motor (encoder) used.
SF-JR
SF-JR 4P 1.5kW or less
SF-HR
Others
SF-JRCA 200V 4P
SF-HRCA 200V 4P
Others (SF-JRC, etc.)
SF-V5RU
SF-VR
–
–
Pr. 359 Setting
1
1
1
1
*
*
1
*
*
1
1
Pr. 369 Setting
1024
1024
1024
*
1024
1024
*
2048
1000
*
*
16
MEMO
17
3
ORIENTATION CONTROL
This function is used with a position detector (encoder) installed to the spindle of a machine tool, etc. to allow a rotary shaft to be stopped at the specified position (oriented).
3.1
Wiring Example
MCCB
Three-phase
AC power supply
Forward rotation start
Reverse rotation start
Orientation command
Contact input common
R/L1
S/L2
T/L3
Inverter
STF
STR
X22
*3
SD
ORA
*4
ORM
*4
FR-A7AP
PA1
PA2
PB1
PB2
SE
SD
Differential
PZ1
PZ2
FR-A7AX
X15
*10
X14
Complimentary
Terminating resistor ON
X1
X0
DY OFF
*7
PG
SD
PG
SD
*8
U
V
W
SF-JR motor with encoder
U
V
W
For complementary type (SF-V5RU)
MCCB
SF-V5RU
*1
Three-phase
AC power supply
A
B
C
FAN
E
IM
Earth (Ground)
C
R
A
N
*2
Inverter
External thermal relay input *11
PC
CS(OH)
U
V
W
U
V
W
E
IM
Earth (Ground)
2W1k
Ω
G1
Thermal relay protector
Encoder
G2
B
SD
P *5
FR-A7AP
PA1
PA2
A
B
*2
H
K
PB1
PB2
C
D
Encoder
Differential
PZ1
PZ2
F
G *5
*6
(+) (-) 5VDC power
supply
*9
Complimentary
Terminating resistor ON
OFF
*7
PG
SD
PG
SD
*8
*6
S
R
(+) (-) 12VDC power
supply *9
18
ORIENTATION CONTROL
*1 For the fan of the 7.5kW or less dedicated motor, the power supply is single phase (200V/50Hz, 200 to 230V/
60Hz).
*2 The pin number differs according to the encoder used.
*3 Use Pr. 178 to Pr. 189 (input terminal function selection) to assign the function to any of terminal.
Refer to the inverter manual for details of Pr. 178 to Pr. 189 (input terminal function selection).
*4 Use Pr. 190 to Pr. 196 (output terminal function selection) to assign the function to any of terminal.
Refer to the inverter manual for details of Pr. 190 to Pr. 196 (output terminal function selection) .
*5 Connect the encoder so that there is no looseness between the motor and motor shaft. Speed ratio should be 1:1.
*6 Earth (Ground) the shielded cable of the encoder cable to the enclosure with a P clip, etc.
*7 For the differential line driver, set the terminating resistor selection switch to on position (initial status) to use.
Note that the terminating resistor switch should be set to off position when sharing the same encoder with other unit (NC, etc) or a terminating resistor is connected to other unit.
For the complementary, set the switch to off position.
*8 For terminal compatibility of the FR-JCBL, FR-V5CBL and FR-A7AP, refer to
*9 A separate power supply of 5V/12V/15V/24V is necessary according to the encoder power specification.
When performing encoder feedback control and vector control together, an encoder and power can be shared.
*10 When a stop position command is input from outside, a plug-in option FR-A7AX is necessary. Refer to the inverter manual for details of external stop position command.
*11 Assign OH (external thermal input) signal to the terminal CS. (Set "7" in
Pr. 186 )
Connect a 2W1k Ω resistor between the terminal PC and CS.
Install the resistor pushing against the bottom part of the terminal block so as to avoid a contact with other cables.
CS(OH)
PC
Control circuit terminal block
3
Resistor (2W1k
Ω
)
19
ORIENTATION CONTROL
3.2
Terminals
(1) Option FR-A7AP terminal
Terminal
PA1
PA2
PB1
PB2
PZ1
PZ2
PG
Terminal Name
Encoder A-phase signal input
Encoder A-phase inverse signal input
Encoder B-phase signal input
Encoder B-phase inverse signal input
Encoder Z-phase signal input
Encoder Z-phase inverse signal input
Power supply (positive side) input
Application Explanation
A-, B- and Z-phase signals are input from the encoder.
(For details of pulse signal, refer to
SD Power supply ground
Input power for the encoder power supply.
Connect the external power supply (5V, 12V, 15V, 24V) and the encoder power cable.
(2) Option FR-A7AX terminal
Terminal Terminal Name
X0 to X15 Digital signal input
DY
SD
(inverter)
PC
(inverter)
Data read timing input signal
Common terminal
(sink)
External transistor common (source)
Application Explanation
Input the digital signal at the relay contact or open collector terminal.
Using Pr. 360 , speed or position command is selected as the command signal entered.
Used when a digital signal read timing signal is necessary. Data is read only during the DY signal is on.
By switching the DY signal off, the X0 to X15 data before signal-off is retained.
Common terminal for digital and data read timing signals.
Use terminal SD of the inverter.
When connecting the transistor output (open collector output), such as a programmable controller (PLC), connect the external power common (+) to this terminal to prevent a fault occurring due to leakage current.
20
ORIENTATION CONTROL
(3) Inverter terminal
Terminal
(Signal)
X22
SD
ORA
ORM
Orientation command input terminal
Contact input common
In-position signal output signal
Orientation fault signal output signal
Used to enter an orientation signal for orientation.
For the terminal used for X22 signal input, set "22" in any of Pr. 178 to Pr. 189 to assign the function.
Common terminal for the orientation signal.
Switched low if the orientation has stopped within the in-position zone while the start and orientation signals are input.
For the terminal used for the ORA signal output, assign the function by setting "27 (positive logic) or 127 (negative logic)" in any of Pr. 190 to Pr. 196 .
Switched low if the orientation has stopped within the in-position zone while the start and orientation signals are input.
For the terminal used for the ORA signal output, assign the function by setting "28 (positive logic) or 128 (negative logic)" in any of Pr. 190 to Pr. 196 .
SE
Terminal (Signal) Name
Open collector output common
Application Explanation
Common terminal for the ORA and ORM open collector output terminals.
3
21
ORIENTATION CONTROL
3.3
Parameter List for Orientation Control
Fitting the FR-A7AP adds the following parameters for orientation control.
Refer to the inverter manual (applied) for details of parameter.
Parameter
Number
358
359
360
361
362
363
364
365
366
369
350
351
352
353
354
355
356
357
376
393
396
397
398
399
Name Setting Range Increments Initial Value
Stop position command selection
Orientation speed
Creep speed
Creep switchover position
Position loop switchover position
DC injection brake start position
Internal stop position command
In-position zone
Servo torque selection
Encoder rotation direction
16 bit data selection
Position shift
Orientation position loop gain
Completion signal output delay time
Encoder stop check time
Orientation end time
Double check time
Number of encoder pulses
Encoder signal loss detection enable/disable selection
Orientation selection
Orientation speed gain (P term)
Orientation speed integral time
Orientation speed gain (D term)
Orientation deceleration ratio
0, 1, 9999
0 to 30Hz
0 to 10Hz
0 to 16383 *
0 to 8191
0 to 255
0 to 16383 *
0 to 255
0 to 13
0, 1
0 to 127
0 to 16383 *
0.1 to 10
0 to 5s
0 to 5s
0 to 60s, 9999
0 to 5s, 9999
0 to 4096
0, 1
0, 1, 2
0 to 1000
0 to 20s
0 to 100
0 to 1000
1
0.01Hz
0.01Hz
1
1
1
1
1
1
1
1
1
0.1
0.1s
0.1s
1s
0.1s
1
1
1
1
0.001
0.1
1
* When an operation panel (FR-DU07) is used, the maximum setting is 9999. When a parameter unit is used, up to the maximum value within the setting range can be set.
0
0
1
1
1
0.5s
0.5s
9999
9999
1024
9999
2Hz
0.5Hz
511
96
5
0
5
0
0
60
0.333
1
20
22
ORIENTATION CONTROL
3.4
Specifications
Repeated positioning accuracy
Permissible speed
Functions
Holding force after positioning
Input signal (contact input)
±1.5°
Depends on the load torque, moment of inertia of the load or orientaion, creep speed, position loop switching position, etc.
Encoder-mounted shaft speed (6000r/min with 2048 pulse encoder)
The drive shaft and encoder-mounted shaft must be coupled directly or via a belt without any slip.
Orientation, creep speed setting, stop position command selection, DC injection brake start position setting, creep speed and position loop switch position setting, position shift, orientation in-position, position pulse monitor, etc.
Under V/F control, advanced magnetic flux vector control...without servo lock function
Under vector control ....with servo lock function
Orientation command, forward and reverse rotation commands, stop position command
(open collector signal input (complementary) is enabled)
binary signal of maximum 16 bit (when used with the FR-A7AX)
Output signal
(open collector output)
Orientation completion signal, orientation fault signal
3
23
4
ENCODER FEEDBACK CONTROL
Encoder feedback control is enabled when the FR-A7AP is mounted on the FR-A700 series. (under V/F control, advanced magnetic flux vector control)
This controls the inverter output frequency so that the motor speed is constant to the load variation by detecting the motor speed with the speed detector (encoder) to feed back to the inverter.
4.1
Wiring Examples
Three-phase
AC power supply
Forward rotation start
Reverse rotation start
Contact input common
Frequency setting potentiometer
MCCB
R/L1
Inverter
S/L2
T/L3
10
2
5
STF
STR
SD
FR-A7AP
PA1
PA2
Differential
PB1
PB2
Complimentary
Terminating resistor ON
*4
PG
SD
PG
SD
*5
OFF
U
V
W
SF-JR motor with encoder
U
V
W
IM
E
Earth
(Ground)
C *1
R
A
N
Encoder
H
K
*2
*3
(+) (-) 5VDC power supply *6
24
ENCODER FEEDBACK CONTROL
*1 The pin number differs according to the encoder used.
*2 Connect the encoder so that there is no looseness between the motor and motor shaft. Speed ratio should be 1:1.
*3 Earth (Ground) the shielded cable of the encoder cable to the enclosure with a P clip, etc.
*4 For the differential line driver, set the terminating resistor selection switch to on position (initial status) to use.
(
Note that the terminating resistor switch should be set to off position when sharing the same encoder with other unit (NC, etc) or a terminating resistor is connected to other unit.
For the complementary, set the switch to off position.
*5 For terminal compatibility of the FR-JCBL, FR-V5CBL and FR-A7AP, refer to page
*6 A separate power supply of 5V is necessary according to the encoder power specification.
To perform orientation control together, an encoder and power supply can be shared.
4.2
Terminals
Terminal
Symbol
PA1
PA2
PB1
PB2
PG
SD
Terminal Name
Encoder A-phase signal input terminal
Encoder A-phase inverse signal input terminal
Encoder B-phase signal input terminal
Encoder B-phase inverse signal input terminal
Power supply (positive side) input terminal
Power ground terminal
Application Explanation
A-, B-phase signals are input from the encoder.
(For details of pulse signal, refer to
Input power for the encoder power supply.
Connect the external power supply (5V, 12V, 15V, 24V) and the encoder power cable.
25
4
ENCODER FEEDBACK CONTROL
4.3
Encoder Feedback Control Parameter List
Fitting the FR-A7AP adds the following parameters for encoder feedback operation.
Refer to the inverter manual (applied) for details of parameter.
Parameter
Number
359
367
368
369
374
376
Name
Encoder rotation direction
Speed feedback time
Feedback gain
Number of encoder pulses
Overspeed detection level
Encoder signal loss detection enable/disable selection
Setting Range
0, 1
0 to 400Hz, 9999
0 to 100
0 to 4096
0 to 400Hz
0, 1
Increments
1
0.01Hz
0.1
1
0.01Hz
1
Initial Value
1
9999
1
1024
140Hz
0
26
MEMO
27
5
VECTOR CONTROL
When the FR-A7AP is mounterd on the FR-A700 series, full-scale vector control operation can be performed using a motor with encoder.
Speed control, torque control and position control by vector control can be performed. (Refer to the inverter manual (applied) for details.)
5.1
Wiring Examples
(1) Standard motor with encoder, 5V differential line driver (speed control)
Three-phase
AC power supply
Forward rotation start
Reverse rotation start
Contact input common
Frequency command
Frequency setting potentiometer
1/2W1k
Ω
1
3
2
Torque limit command
( 10V)
(+)
(-)
MCCB
R/L1
Inverter
S/L2
T/L3
2
5
STF
STR
SD
10
1
FR-A7AP
PA1
PA2
PB1
PB2
Differential
PZ1
PZ2
Complimentary
PG
Terminating resistor ON
SD
PG
SD
*5
OFF
*4
U
V
W
SF-JR motor with encoder
U
V
W
E
Earth
(Ground)
C *1
IM
R
A
N
B
P
Encoder
*2
H
K
*3
(+) (-) 5VDC power supply *6
28
VECTOR CONTROL
*1 The pin number differs according to the encoder used.
*2 Connect the encoder so that there is no looseness between the motor and motor shaft. Speed ratio should be 1:1.
*3 Earth (Ground) the shielded cable of the encoder cable to the enclosure with a P clip, etc.
*4 For the differential line driver, set the terminating resistor selection switch to on position (initial status) to use.
Note that the terminating resistor switch should be set to off position when sharing the same encoder with other unit (NC, etc) or a terminating resistor is connected to other unit.
*5 For terminal compatibility of the FR-JCBL, FR-V5CBL and FR-A7AP, refer to page
*6 A separate power supply of 5V/12V/15V/24V is necessary according to the encoder power specification.
To perform orientation control together, an encoder and power supply can be shared.
29
5
VECTOR CONTROL
(2) Vector control dedicated motor (SF-V5RU), 12V complimentary (torque control)
MCCB
SF-V5RU
*1
Three-phase
AC power supply
A
B
C
FAN
Three-phase
AC power supply
Forward rotation start
Reverse rotation start
Contact input common
Speed limit command
Frequency setting potentiometer
1/2W1k
Ω
1
3
2
Torque command
( 10V)
(+)
(-)
MCCB
2
5
Inverter
R/L1
S/L2
T/L3
STF
STR
SD
External thermal
PC
CS(OH) relay input *2
SD
FR-A7AP
PA1
PA2
U
V
W
U
V
W
E
IM
2W1k
Ω
Earth (Ground)
Thermal relay
G1 protector
G2
A
B
*3
PB1
PB2
C
D
Encoder
10
Differential
PZ1
PZ2
F
G
*4
1
Complimentary
PG
Terminating resistor
ON
SD
PG
SD
*7
OFF *6
*5
S
R
(+) (-)
12VDC power supply *8
30
VECTOR CONTROL
*1 For the fan of the 7.5kW or less dedicated motor, the power supply is single phase. (200V/50Hz, 200 to 230V/
60Hz)
*2 Assign OH (external thermal input) signal to the terminal CS. (Set "7" in
Pr. 186 )
Connect a 2W1k Ω resistor between the terminal PC and CS (OH). Install the resistor pushing against the bottom part of the terminal block so as to avoid a contact with other cables.
CS(OH)
PC
Control circuit terminal block
Resistor (2W1k
Ω
)
*3 The pin number differs according to the encoder used.
*4 Connect the encoder so that there is no looseness between the motor and motor shaft. Speed ratio should be 1:1.
*5 Earth (Ground) the shielded cable of the encoder cable to the enclosure with a P clip, etc.
*6 For the complementary, set the terminating resistor selection switch to off position.
*7 For terminal compatibility of the FR-JCBL, FR-V5CBL and FR-A7AP, refer to page
*8 A separate power supply of 5V/12V/15V/24V is necessary according to the encoder power specification.
When performing orientation control together, an encoder and power supply can be shared.
31
5
VECTOR CONTROL
5.2
Terminals
Terminal
PA1
PA2
PB1
PB2
PZ1
PZ2
PG
SD
Terminal Name
Encoder A-phase signal input
Encoder A-phase inverse signal input
Encoder B-phase signal input
Encoder B-phase inverse signal input
Encoder Z-phase signal input
Encoder Z-phase inversion signal input
Power supply (positive side) input
Power supply ground
Description
A-, B- and Z-phase signals are input from the encoder.
(For details of pulse signal, refer to
Input power for the encoder power supply.
Connect the external power supply (5V, 12V, 15V, 24V) and the encoder power cable.
32
VECTOR CONTROL
5.3
Vector Control Extended Parameter List
Fitting the FR-A7AP adds the following parameters for vector control.
Refer to the inverter manual (applied) for details of parameter.
Parameter
Number
359
369
374
376
419
420
421
422 Position loop gain
Name
Encoder rotation direction
Number of encoder pulses
Overspeed detection level
Encoder signal loss detection enable/disable selection
Position command right selection
Command pulse scaling factor numerator
Command pulse scaling factor denominator
Setting Range
0, 1
0 to 4096
0 to 400Hz
0, 1
0, 2
0 to 32767 *
0 to 32767 *
0 to 150sec
-1
0 to 100%
Increments Initial Value
1
1
0.01Hz
1
1
1
1
1sec
-1
1%
1
1024
140Hz
0
0
1
1
25sec
-1
0 423
424
425
426
427
428
429
430
464
Position feed forward gain
Position command acceleration/deceleration time constant
Position feed forward command filter
In-position width
Excessive level error
Command pulse selection
Clear signal selection
Pulse monitor selection
Digital position control sudden stop deceleration time
0 to 50s
0 to 5s
0 to 32767pulses *
0 to 400, 9999
0 to 5
0, 1
0 to 5, 9999
0 to 360.0s
0.001s
0.001s
1
1
1
1
1
0.1s
0s
0s
100
40
0
1
9999
0
* When an operation panel (FR-DU07) is used, the maximum setting is 9999. When a parameter unit is used, up to the maximum value within the setting range can be set.
33
5
VECTOR CONTROL
Parameter
Number
473
474
475
476
477
478
479
480
465
466
467
468
469
470
471
472
481
482
483
484
485
486
487
Name
First position feed amount lower 4 digits
First position feed amount upper 4 digits
Second position feed amount lower 4 digits
Second position feed amount upper 4 digits
Third position feed amount lower 4 digits
Third position feed amount upper 4 digits
Fourth position feed amount lower 4 digits
Fourth position feed amount upper 4 digits
Fifth position feed amount lower 4 digits
Fifth position feed amount upper 4 digits
Sixth position feed amount lower 4 digits
Sixth position feed amount upper 4 digits
Seventh position feed amount lower 4 digits
Seventh position feed amount upper 4 digits
Eighth position feed amount lower 4 digits
Eighth position feed amount upper 4 digits
Ninth position feed amount lower 4 digits
Ninth position feed amount upper 4 digits
Tenth position feed amount lower 4 digits
Tenth position feed amount upper 4 digits
Eleventh position feed amount lower 4 digits
Eleventh position feed amount upper 4 digits
Twelfth position feed amount lower 4 digits
34
Setting Range Increments Initial Value
0 to 9999
0 to 9999
0 to 9999
0 to 9999
0 to 9999
0 to 9999
0 to 9999
0 to 9999
0 to 9999
0 to 9999
0 to 9999
0 to 9999
0 to 9999
0 to 9999
0 to 9999
0 to 9999
0 to 9999
0 to 9999
0 to 9999
0 to 9999
0 to 9999
0 to 9999
0 to 9999
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
Parameter
Number
823
833
840
841
842
843
844
845
846
847
848
853
873
488
489
490
491
492
493
494
802
Name
Twelfth position feed amount upper 4 digits
Thirteenth position feed amount lower 4 digits
Thirteenth position feed amount upper 4 digits
Fourteenth position feed amount lower 4 digits
Fourteenth position feed amount upper 4 digits
Fifteenth position feed amount lower 4 digits
Fifteenth position feed amount upper 4 digits
Pre-excitation selection
Speed detection filter 1
Speed detection filter 2
Torque bias selection
Torque bias 1
Torque bias 2
Torque bias 3
Torque bias filter
Torque bias operation time
Torque bias balance compensation
Fall-time torque bias terminal 1 bias
Fall-time torque bias terminal 1 gain
Speed deviation time
Speed limit
VECTOR CONTROL
Setting Range Increments Initial Value
0 to 9999
0 to 9999
0 to 9999
0 to 9999
0 to 9999
0 to 9999
0 to 9999
0, 1
0 to 0.1s
0 to 0.1s, 9999
0 to 3, 9999
600 to 1400%, 9999
600 to 1400%, 9999
600 to 1400%, 9999
0 to 5s, 9999
0 to 5s, 9999
0 to 10V, 9999
0 to 400%, 9999
0 to 400%, 9999
0 to 100s
0 to 120Hz
0.001s
0.001s
1
1%
1%
1%
0.001s
0.01s
0.1V
1%
1%
0.1s
0.01Hz
1
1
1
1
1
1
1
1
0.001s
9999
9999
9999
9999
9999
9999
9999
9999
9999
9999
1s
20Hz
0
0
0
0
0
0
0
0
35
5
VECTOR CONTROL
5.4
Specifications
Speed control
Torque control
Function
Speed control range
Speed variation ratio
Speed response
1:1500 (both driving/regeneration
±0.01% (100% means 3000r/min)
300rad/s Note that the internal response is 600rad/s (with model adaptive speed control)
Maximum speed
Torque control range
120Hz
1:50
Absolute torque accuracy ±10%
Repeated torque accuracy ±5%
⋅ Setting of speed feedback range
⋅ Setting of feedback gain
⋅ Setting of encoder rotation direction
*1 Regeneration unit (option) is necessary for regeneration
*2 With online auto tuning (adaptive magnetic flux observer), dedicated motor, rated load
36
REVISIONS
Print Date *Manual Number
Sep., 2005 IB(NA)-0600238ENG-A First edition
*The manual number is given on the bottom left of the back cover.
Revision
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