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Mitsubishi Electric FR-A7AL Instruction Manual

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INVERTER
Plug-in option
FR-A7AL

INSTRUCTION MANUAL

ORIENTATION CONTROL

ENCODER FEEDBACK CONTROL

VECTOR CONTROL
POSITION CONTROL
ENCODER PULSE DIVIDING OUTPUT
PRE-OPERATION INSTRUCTIONS
INSTALLATION
ORIENTATION CONTROL
ENCODER FEEDBACK CONTROL
VECTOR CONTROL
POSITION CONTROL FUNCTION
ENCODER PULSE DIVIDING OUTPUT
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3
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Summary of Contents for Mitsubishi Electric FR-A7AL

  • Page 1: Instruction Manual

    INVERTER Plug-in option FR-A7AL INSTRUCTION MANUAL PRE-OPERATION INSTRUCTIONS ORIENTATION CONTROL INSTALLATION ENCODER FEEDBACK CONTROL ORIENTATION CONTROL VECTOR CONTROL ENCODER FEEDBACK CONTROL POSITION CONTROL VECTOR CONTROL POSITION CONTROL FUNCTION ENCODER PULSE DIVIDING OUTPUT ENCODER PULSE DIVIDING OUTPUT...

  • Page 2: Safety Instructions

    Thank you for choosing this Mitsubishi Inverter plug-in option. SAFETY INSTRUCTIONS 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 1. Electric Shock Prevention read this manual carefully to use the equipment to its optimum.
  • Page 3 2. Injury Prevention 3) Usage WARNING CAUTION • The voltage applied to each terminal must be the ones • Do not modify the equipment. • Do not perform parts removal which is not instructed in this specified in the Instruction Manual. Otherwise burst, damage, etc.

  • Page 4: Table Of Contents

    ⎯ CONTENTS ⎯ 1 PRE-OPERATION INSTRUCTIONS Unpacking and Product Confirmation .....................1 1.1.1 Product confirmation............................1 1.1.2 SERIAL number check ...........................1 Parts ..............................2 Terminal Specifications........................4 2 INSTALLATION Pre-Installation Instructions ......................7 Installation Procedure ........................8 Encoder Specifications/Terminating Resistor Switch..............10 Wiring..............................12 Encoder Cable..........................16 Encoder.............................18 Parameters for Encoder ........................20 3 ORIENTATION CONTROL Wiring Example ..........................22...
  • Page 5 Specifications...........................29 4 ENCODER FEEDBACK CONTROL Wiring Example ..........................30 Terminals ............................32 Encoder Feedback Control Parameter List ...................32 5 VECTOR CONTROL Wiring Example ..........................34 Terminals ............................38 Vector Control Extended Parameter List..................39 Pulse Train Torque Command......................43 5.4.1 Parameter list ............................... 43 5.4.2 Pulse train torque command......................... 43 Specifications...........................44 6 POSITION CONTROL FUNCTION Position Control by Vector Control....................45...
  • Page 6 6.4.2 Initial setting..............................54 6.4.3 Setting the electronic gear (Pr. 420, Pr. 421, Pr. 424).................. 54 Pulse Input Type ..........................60 Interface of the Positioning Module and Inverter .................62 Extended Function Parameter List....................63 Parameter Setting and Details ......................64 6.8.1 Block diagram............................... 64 6.8.2 Selection of control method (Pr.

  • Page 7: Pre-Operation Instructions

    (Refer to page 8) 5.5mm 5.5mm 1.1.2 SERIAL number check The FR-A7AL can be used with the FR-A series assembled in and after October 2007. Check the SERIAL number indicated on the inverter rating plate or package. Rating plate example Symbol...

  • Page 8: Parts

    PRE-OPERATION INSTRUCTIONS Parts Mounting Front view Rear view TE3 Terminal block hole FR-A7AL TE2 Terminal block Mounting Mounting hole hole Mounting FR-A7AL hole TE1 Terminal Mounting block hole Mounting Connector hole Switch for manufacturer Connect to the inverter setting (SW3) (Refer to page 8.)

  • Page 9: Terminal Layout

    PRE-OPERATION INSTRUCTIONS Terminal layout FR-A7AL FPAR FPBR FPZR FPA2 FPB2 FPZ2 TST1 TST2 * Terminals TST1 and TST2 are not used. Do not connect anything to these. Accidental connection will damage the option.

  • Page 10: Terminal Specifications

    PRE-OPERATION INSTRUCTIONS Terminal Specifications Terminal Terminal (Signal) Name Specification Description Symbol Forward rotation pulse For open collector, connect Forward rotation pulse train input terminal. terminal VDD and OPC, then train Input pulse train from the input pulses across terminal Open collector/ pulse generating unit.
  • Page 11 PRE-OPERATION INSTRUCTIONS Terminal Terminal (Signal) Name Specification Description Symbol Encoder A-phase signal input Encoder A-phase inverse signal input Encoder B-phase signal Differential line input driver/ A-, B- and Z-phase signals are input from the encoder. Encoder B-phase inverse complementary signal input Encoder Z-phase signal input Encoder Z-phase inverse...
  • Page 12 PRE-OPERATION INSTRUCTIONS Terminal Terminal (Signal) Name Specification Description Symbol Outputs the A-phase, B-phase and Z-phase (origin Encoder A-phase signal output Open collector FPA2 and mark pulse) signals from the encoder. The A- output phase and B-phase signals can be divided by the FPB2 Encoder B-phase signal output ratio (1/n) and output.

  • Page 13: Installation

    INSTALLATION Pre-Installation Instructions Make sure that the input power of the inverter is off. CAUTION Do not mount or remove the plug-in option while the power is being input. Otherwise, the inverter and plug-in option may be damaged. Static electricity in your body must be discharged before you touch the product. Otherwise the product may be damaged.

  • Page 14: Installation Procedure

    INSTALLATION Installation Procedure 1) Remove the inverter front cover. 2) This option can be fitted to either option connector 2 or 3. (The left diagram shows that the option is fitted to connector 3.) Screw hole for Mount the hex-head screw for option option mounting mounting into the inverter screw hole (on Inverter side...
  • Page 15 CAUTION The FR-A7AL requires space equivalent to two option units. Only one option can be used at the time. For other option units, mount it to the option CON. 1 or CON. 3. It cannot be connected to the option CON. 2.

  • Page 16: Encoder Specifications/Terminating Resistor Switch

    INSTALLATION Encoder Specifications/Terminating Resistor Switch (1) Encoder specification selection switch (SW1) Complementary FR-A7AL Select either the differential line driver or complementary. (initial setting) The switch is set to the complementary in the initial setting. Switch its position according to the output circuit.
  • Page 17 INSTALLATION (3) Motor used and switch setting Power Encoder Specification Terminating Resistor Motor Specifications Switch (SW1) Switch (SW2) Mitsubishi standard motor SF-JR Differential with encoder SF-HR Differential Mitsubishi high-efficiency Others motor with encoder SF-JRCA Differential Mitsubishi constant-torque SF-HRCA Differential motor with encoder Others Vector dedicated motor SF-V5RU...

  • Page 18: Wiring

    (1) Use shielded twisted pair cables (0.2mm or larger) to connect the with two cables FR-A7AL. Cables to terminals PG and SD should be connected in (with complementary encoder output) parallel or be larger in size according to the cable length.
  • Page 19 When one position detector is shared between the FR-A7AL and encoder (FR-A7AL) CNC, its output signal should be connected as shown at the right figure. In this case, the wiring length between the FR-A7AL and CNC should be as short as possible (within 5m). Maximum 5m (two parallel cables)
  • Page 20 INSTALLATION REMARKS • Information on blade terminals Commercially available product examples (as of February 2012) Blade Terminal Model Wire Size Terminal Crimping Tool With insulation Without Maker Screw Size Name sleeve insulation sleeve 0.3, 0.5 AI 0,5-6WH A 0,5-6 Phoenix Contact Co.,Ltd. CRIMPFOX 6 Insert wires to a blade terminal, and check that the wires come out for about 0 to 0.5 mm from a sleeve.
  • Page 21 INSTALLATION (5) For wiring of the inverter which has one front cover, remove a hook of the front cover and use the space become available. For wiring of the inverter which has front covers 1 and 2, use the space on the left side of the control circuit terminal block.

  • Page 22: Encoder Cable

    Encoder (FR-A7AL) Encoder Positioning keyway Positioning keyway D/MS3106B20-29S D/MS3106B20-29S (As viewed from wiring side) (As viewed from wiring side) * As the terminal block of the FR-A7AL is an insertion type, cables need to be modified. (Refer to page 13)
  • Page 23 INSTALLATION Connection terminal compatibility table Motor SF-V5RU, SF-THY SF-JR/HR/JRCA/HRCA (with encoder) Encoder cable FR-V7CBL FR-JCBL Do not connect anything. Do not connect anything. FR-A7AL terminal Do not connect anything.

  • Page 24: Encoder

    INSTALLATION Encoder (1) Position detection (pulse encoder) Output pulse specifications Complementary Differential line driver A/A signal 1000P/R to 4096P/R A signal 1000P/R to 4096P/R Position detector B/B signal 1000P/R to 4096P/R B signal 1000P/R to 4096P/R encoder Z/Z signal 1P/R Z signal 1P/R a b c d a b c d...
  • Page 25 INSTALLATION (2) Power supply Choose a power supply for encoder (5V/12V/15V/24V) according to the encoder specifications. When the encoder output is the differential line driver type, only 5V can be input. Make sure the voltage of the external power supply is the same as the encoder output voltage. Use the same power supply for the encoder during orientation control, encoder feedback control, and vector control.

  • Page 26: Parameters For Encoder

    INSTALLATION Parameters for Encoder Parameter setting for encoder used with motor Parameter Initial Setting Name Description Number Value Range Set the rotation Forward rotation is clockwise direction Encoder rotation rotation when viewed from A. Encoder according to the direction motor Forward rotation is specification.
  • Page 27 INSTALLATION Pr. 359 Encoder rotation Pr. 369 Number of encoder Motor Name direction pulses SF-JR 1024 SF-JR 4P 1.5kW or less 1024 Mitsubishi standard motor SF-HR 1024 Others SF-JRCA 4P 1024 Mitsubishi constant-torque SF-HRCA 1024 motor Others SF-V5RU (1500r/min series) 2048 Vector dedicated motor SF-V5RU (other than 1500r/min series)

  • Page 28: Orientation Control

    MCCB SF-V5RU phase S/L2 Three- phase AC power T/L3 AC power supply supply Inverter Forward rotation start Earth (Ground) FR-A7AL Reverse rotation start Orientation command Earth (Ground) Contact input common Thermal External 2W1kΩ relay thermal relay protector CS(OH) input Encoder...
  • Page 29 For the complementary, set the terminating resistor switch to off position (initial status). Refer to page 17 for terminal compatibility of the FR-JCBL, FR-V7CBL and FR-A7AL. A separate power supply of 5V/12V/15V/24V is necessary according to the encoder power specification. When the encoder output is the differential line driver type, only 5V can be input.

  • Page 30: Terminals

    ORIENTATION CONTROL Terminals (1) Option FR-A7AL terminal Terminal Terminal Name Description Symbol Encoder A-phase signal input Encoder A-phase inverse signal input Encoder B-phase signal input A-, B- and Z-phase signals are input from the encoder. (For details of pulse signal, refer to page 18.)
  • Page 31 ORIENTATION CONTROL (2) Option FR-A7AX terminal Terminal Terminal Name Description Symbol Input the digital signal at the relay contact or open collector terminal. Digital signal X0 to X15 Using Pr. 360 , speed or position command is selected as the command signal input entered.
  • Page 32 ORIENTATION CONTROL (3) Inverter terminal Terminal Terminal Description (Signal) (Signal) Name Orientation Used to enter an orientation signal for orientation. command For the terminal used for X22 signal input, set "22" in any of Pr. 178 to Pr. 189 to input signal assign the function.

  • Page 33: Orientation Control Parameter List

    ORIENTATION CONTROL Orientation Control Parameter List The following parameters for orientation control are available when used with the FR-A7AL. Refer to the inverter manual for details of parameter. Parameter Number Name Setting Range Increments Initial Value Stop position command selection...

  • Page 34: Machine End Orientation Control

    ORIENTATION CONTROL Machine End Orientation Control Parameter Initial Setting Name Description Number Value Range Set the number of pulses of the encoder connected 0 to 4096 to the machine end. Number of machine 9999 Set the number of pulses before multiplied by four. end encoder pulses 9999 Machine end orientation cannot be performed.

  • Page 35: Specifications

    ORIENTATION CONTROL Specifications ± ° Repeated positioning Depends on the load torque, moment of inertia of the load or orientation, creep speed, accuracy position loop switching position, etc. Encoder-mounted shaft speed (6000r/min with 2048-pulse encoder) Permissible speed The motor and encoder-mounted shaft must be coupled directly or via a belt without any slip. It can not be applied to a gear change type.

  • Page 36: Encoder Feedback Control

    ENCODER FEEDBACK CONTROL When the FR-A7AL is mounted in the FR-A series, encoder feedback control is enabled during V/F control and Advanced magnetic flux vector control. This function 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 it back to the inverter.
  • Page 37 For the complementary, set the terminating resistor selection switch to OFF position (initial status). Refer to page 17 for terminal compatibility of the FR-JCBL, FR-V7CBL and FR-A7AL. A separate power supply of 5V/12V/15V/24V is necessary according to the encoder power specification. When the encoder output is the differential line driver type, only 5V can be input.

  • Page 38: Terminals

    Make sure the voltage of the external power supply is the same as the encoder output voltage. Encoder Feedback Control Parameter List Fitting the FR-A7AL adds the following parameters for encoder control. Refer to the Instruction Manual of the Inverter for details of parameter. Parameter...

  • Page 39: Vector Control

    Speed control, torque control, position control (simple position control with the inverter and FR-A7AL, FR- A7AL and positioning module of the programmable controller (MELSEC-QD75D, etc.)) by vector control can be performed.

  • Page 40: Wiring Example

    SF-JR motor with encoder Inverter MCCB R/L1 Three-phase S/L2 AC power T/L3 supply Earth Forward rotation start (Ground) FR-A7AL Reverse rotation start Contact input common Encoder Complementary Frequency command Frequency setting potentiometer Differential 1/2W1k Ω Torque limit command 5VDC power supply...
  • Page 41 Make the voltage of the external power supply the same as the encoder output voltage, and connect the external power supply between PG and SD. When performing orientation control together, an encoder and power supply can be shared. Refer to page 17 for terminal compatibility of the FR-JCBL, FR-V7CBL and FR-A7AL.
  • Page 42 S/L2 AC power Thermal relay T/L3 supply External 2W1k Ω protector CS(OH) thermal relay input Forward rotation start FR-A7AL Reverse rotation start Contact input common Encoder Complementary Speed limit command Frequency setting potentiometer Differential 1/2W1k Ω Torque command ( 10V)
  • Page 43 When performing orientation control together, an encoder and power supply can be shared. Refer to page 17 for terminal compatibility of the FR-JCBL, FR-V7CBL and FR-A7AL. For the fan of the 7.5kW or lower dedicated motor, the power supply is single phase (200V/50Hz, 200 to 230V/60Hz).

  • Page 44: Terminals

    VECTOR CONTROL Terminals Terminal Terminal Name Description Symbol Encoder A-phase signal input Encoder A-phase inverse signal input Encoder B-phase signal input A-, B- and Z-phase signals are input from the encoder. (For details of pulse signal, refer to page 18.) Encoder B-phase inverse signal input Encoder Z-phase signal...

  • Page 45: Vector Control Extended Parameter List

    In-position width 0 to 32767 pulses When the FR-A7AL is mounted, Pr. 419 = "1" (pulse position command by the FR-A7AL) can be set. When the FR-A7AL is not mounted, E.OPT is displayed. When the operation panel (FR-DU07) is used, the maximum setting is 9999. When a parameter unit is used, up to the...
  • Page 46 VECTOR CONTROL Parameter Name Setting Range Increments Initial Value Number Excessive level error 0 to 400K, 9999 Command pulse selection 0 to 5 Clear signal selection 0, 1 Pulse monitor selection 0 to 5, 9999 9999 Pulse train torque command bias 0 to 400% Pulse train torque command gain 0 to 400%...
  • Page 47 VECTOR CONTROL Parameter Name Setting Range Increments Initial Value Number Seventh position feed amount lower 4 0 to 9999 digits Seventh position feed amount upper 4 0 to 9999 digits Eighth position feed amount lower 4 digits 0 to 9999 Eighth position feed amount upper 4 digits 0 to 9999 Ninth position feed amount lower 4 digits...
  • Page 48 VECTOR CONTROL Parameter Name Setting Range Increments Initial Value Number Fourteenth position feed amount upper 4 0 to 9999 digits Fifteenth position feed amount lower 4 0 to 9999 digits Fifteenth position feed amount upper 4 0 to 9999 digits Pre-excitation selection 0, 1 Speed detection filter 1...

  • Page 49: Pulse Train Torque Command

    VECTOR CONTROL Pulse Train Torque Command 5.4.1 Parameter list Set the following parameters to give torque command by pulse train. Parameter Name Setting Range Initial Value Number Pulse train torque command bias 0 to 400% Pulse train torque command gain 0 to 400% 150% Control method selection...

  • Page 50: Specifications

    VECTOR CONTROL (3) Pulse train input type Use Pr. 428 Command pulse selection to select a pulse train type for commands. Refer to page 60 for the details of Pr. 428 Command pulse selection. Specifications Speed control range 1 : 1500 (both driving/regeneration ±...

  • Page 51: Position Control Function

    POSITION CONTROL FUNCTION Position Control by Vector Control Refer to Purpose Parameter That Should Be Set Page Position control by the programmable Pulse train position Pr. 419, Pr. 428 to Pr. 430 controller positioning module command Setting the electronic Adjust the gear ratio of motor and machine Pr.
  • Page 52 POSITION CONTROL FUNCTION Setting procedure Perform secure wiring. (Refer to page 48.) Mount the FR-A7AL. Set the motor and encoder. (Pr. 71, Pr. 359, Pr. 369) Set Pr. 71 Applied motor, Pr. 359 Encoder rotation direction and Pr. 369 Number of encoder pulses according to the motor and encoder used.

  • Page 53: Test Run

    POSITION CONTROL FUNCTION Selection of position command source (Pr. 419.) Set "1" in Pr.419 for position control by the programmable controller positioning unit. Setting of parameter for position feed (Pr. 465 to Pr. 494) (Refer to page 39.) Test run As required Setting of the electronic gear (refer to page 54) Setting of positioning adjustment parameter (refer to page 67)

  • Page 54: Wiring Example

    (Ground) thermal relay protector Reverse stroke end 2W1kΩ input CS(OH) Pre-excitation (servo on) Torque limit Positioning module command MELSEQ-Q QD75D ( ± 10V) FR-A7AL Complementary STOP CLEAR Differential PULSE F Terminating Encoder resistor PULSE R CLEAR COM PGO24 PGO COM...
  • Page 55 POSITION CONTROL FUNCTION The pin number differs according to the encoder used. Position control by pulse train input is properly performed even without connecting Z phase. The encoder should be coupled on the same axis with the motor shaft without any mechanical looseness. Speed ratio should be 1:1.

  • Page 56: Terminals

    POSITION CONTROL FUNCTION Terminals Terminal Terminal Name Specification Description Symbol Forward rotation pulse For open collector, connect Forward rotation pulse train input terminal. terminal VDD and OPC, then train Input pulse train from the Open collector input pulses across terminal PP- pulse generating unit.

  • Page 57: Operation

    POSITION CONTROL FUNCTION Operation The speed command given to rotate the motor is calculated to eliminate the difference between the number of pulse train pulses and the number of pulses feed back from the motor end encoder. 1) When a pulse train (MELSEC-Q series positioning module QD75D, etc.) is input, pulses are accumulated in the deviation counter and these droop pulses act as position control pulses to give the speed command.
  • Page 58 POSITION CONTROL FUNCTION Droop pulse value Motor speed Pulse distribution Acceleration Deceleration Time Stop settling time Pulse train Rough Fine Rough LX signal Servo on STF (STR) Forward (reverse) Y36 signal In-position signal...

  • Page 59: Operation By Position Command Using Pulse Train

    POSITION CONTROL FUNCTION The pulse train is rough during acceleration and fine at the maximum speed. During deceleration the pulse train is rough and at last there are no pulses. The motor stops shortly after the command pulses stop. This time lag is necessary for maintaining the stop accuracy and called stop settling time.

  • Page 60: Initial Setting

    The above parameters can be set when the FR-A7AL (option) is mounted. * When the operation panel (FR-DU07) is used, the maximum setting is 9999. When a parameter unit is used, up to the maximum value...
  • Page 61 POSITION CONTROL FUNCTION (1) Calculation of the gear ratio (Pr. 420, Pr. 421) The position resolution (travel per pulse Δ [mm]) is determined by the travel per motor revolution Δs [mm] and the feedback pulses Pf [pulse/rev] of the encoder, and is represented by the following expression.
  • Page 62 POSITION CONTROL FUNCTION "Setting example 1" Example of setting the command pulse scale factor (Pr. 420, Pr. 421) when the QD75D is used Find the command pulse scale factor for running the motor at 1500 (r/min) at the input pulse train frequency 100 (kpps).
  • Page 63 POSITION CONTROL FUNCTION "Setting example 2" Find the command pulse frequency which sets the motor speed No = 3000 (r/min). Note that the command pulse scaling factor Pr. 420/Pr. 421 = "1". When the SF-V5RU motor is used Number of feed back pulses is Pf = 8192 (pulse/rev) Pr.
  • Page 64 POSITION CONTROL FUNCTION (2) Relationship between position resolution Δ and overall accuracy Since overall accuracy (positioning accuracy of machine) is the sum of electrical error and mechanical error, normally take measures to prevent the electrical system error from affecting the overall error. As a guideline, refer to the following relationship.
  • Page 65 POSITION CONTROL FUNCTION CAUTION The stop settling time (ts) indicates the time for the motor to enter within the positioning accuracy range. It does not indicate the time required for the motor to stop completely. When high positioning accuracy is required for the Δ...

  • Page 66: Pulse Input Type

    POSITION CONTROL FUNCTION Pulse Input Type Command pulse can be changed according to the positioning module as in the table below. (1) Pulse train form (Pr. 428) Command Pulse At Forward At Reverse Setting Remarks Train Form Rotation Rotation Pr. 428 Forward rotation pulse QD75D(CW/CWW mode)
  • Page 67 POSITION CONTROL FUNCTION Command Pulse At Forward At Reverse Setting Remarks Train Form Rotation Rotation Pr. 428 Forward rotation pulse train — Reverse rotation pulse train Pulse train + — sign A phase pulse Counted after being multiplied by four. Set the pulse train frequency multiplied train by four to 500kpps or less with the...

  • Page 68: Interface Of The Positioning Module And Inverter

    When running the inverter by each positioning module, interface of the positioning command pulse train need to be matched. Output Type Hardware Configuration Input Pulse Frequency Connect Inverter (FR-A7AL) Command unit externally Open collector Max. 200kpps PP(NP) *: Wiring length : max. 2m...

  • Page 69: Extended Function Parameter List

    0 to 5, 9999 9999 Control method selection 0 to 5, 9 to 12, 20 * When the FR-A7AL is fitted, Pr. 419 = "1" (pulse position command by the FR-A7AL) is valid. When the FR-A7AL is not fitted, E.OPT is displayed.

  • Page 70: Parameter Setting And Details

    POSITION CONTROL FUNCTION Parameter Setting and Details When performing position control with the FR-A7AL, set the following parameters. 6.8.1 Block diagram Inverter Position feed Position command Position command forward source selection command filter Position feed Pr. 425 Pr. 419 forward gain Pr.
  • Page 71 POSITION CONTROL FUNCTION Refer to the Instruction Manual of the Inverter for details. Pr. 800 Control Method Control Mode Remarks Setting Speed control — Torque control — Speed control-torque control MC signal: ON Torque control switchover MC signal: OFF Speed control Vector control Position control —...
  • Page 72 POSITION CONTROL FUNCTION Terminal function changes by control mode switchover as below. Description Pr. 800 = "3" Pr. 800 = "4" Pr. 800 = "5" Terminal Speed Position Position Torque Classification Name Position control control control control control MC signal: MC signal: MC signal: MC signal:...

  • Page 73: Position Control

    Description Conditional position feed function by contact input (by parameter). 0 (initial value) Position command by pulse train input (when the FR-A7AL is mounted). Conditional pulse train position command by inverter pulse train input. (2) In-position width (Pr. 426) The Y36 terminal signal acts as an in-position signal.

  • Page 74: Gain Adjustment Of Position Control (Pr. 422, Pr. 423, Pr. 425)

    POSITION CONTROL FUNCTION (4) Pulse monitor selection (Pr. 430) The status of various pulses during running are displayed. Set "6" in Pr. 52 DU/PU main display data selection to display the output frequency monitor. Display Range Display Range Pr. 430 Setting Description (FR-DU07) (FR-PU04, FR-PU07)
  • Page 75 POSITION CONTROL FUNCTION Parameter Initial Setting Name Description Number Value Range Position loop gain Set the gain of the position loop. 0 to 150s Function to cancel a delay caused by the Position feed forward gain 0 to 100% droop pulses of the deviation counter. Position feed forward command Enters the primary delay filter in 0 to 5s...
  • Page 76 POSITION CONTROL FUNCTION (1) Position loop gain(Pr. 422) Make adjustment when any of such phenomena as unusual vibration, noise and overcurrent of the motor/machine occurs. Increasing the setting improves trackability for the position command and also improves servo rigidity at a stop, but oppositely makes an overshoot and vibration more liable to occur. Normally set this parameter within the range about 5 to 50.

  • Page 77: Selection Of Clear Signal (Pr. 429, Cr Signal)

    POSITION CONTROL FUNCTION 6.8.5 Selection of clear signal (Pr. 429, CR signal) Use this function to make a drooping pulse 0 for home position operation, etc. When "0" is set in Pr. 429 , the deviation counter is cleared at the edge of turning on of the clear signal (CR). The CR signal turns on in synchronization with the zero pulse signal of encoder for home position operation, etc.

  • Page 78: Troubleshooting

    POSITION CONTROL FUNCTION 6.8.6 Troubleshooting Cause Countermeasures Phenomenon (1) The phase sequence of the (1) Check the wiring (Refer to page 48) motor or encoder wiring is wrong. (2) The control mode selection, Pr. (2) Check the Pr. 800 setting. (Refer to page 800, setting is improper.
  • Page 79 POSITION CONTROL FUNCTION Phenomenon Cause Countermeasures (1) The command pulses are not (1)-1 Check the command pulse form and input correctly. command pulse selection, Pr. 428, setting. (1)-2 Check that the command pulses are input normally. (Check the cumulative command Position shift occurs.

  • Page 80: Specifications

    POSITION CONTROL FUNCTION Specifications ± ° Repeated positioning (motor shaft end) accuracy (changes according to load torque, moment of inertia J or backlash condition of the load) Holding force after With servo lock positioning Power supply 24V power supply output for interface driver is provided Maximum input pulse Differential line receiver: 500kpps, open collector: 200kpps frequency...

  • Page 81: Encoder Pulse Dividing Output

    ENCODER PULSE DIVIDING OUTPUT Pulse input of encoder connected to the inverter is divided and output from the FR-A7AL terminal. Wiring Example Motor end encoder A, B, Z phases Inverter FR-A7AL A phase FPA2 (A phase) Division ratio Encoder pulse output...
  • Page 82 Select a pull-up resistance in consideration of the input current of the connected device so that the open collector output current will not exceed the output permissible load current. Power supply Pull-up resistance Inverter FR-A7AL FPA2/FPB2/FPZ2 Connected device...

  • Page 83: Terminals

    ENCODER PULSE DIVIDING OUTPUT Terminals Open collector Terminal Terminal Name Specification Description Symbol A-, B- and Z-phase (origin and mark pulse) signals are FPA2 A-phase output Open collector output from the encoder. A-phase and B-phase signal Output permissible is divided and can be output as division ratio (1/n) FPB2 B-phase output load...

  • Page 84: Encoder

    ENCODER PULSE DIVIDING OUTPUT Encoder Parameter Initial Setting Name Description Number Value Range The encoder pulse signal at the motor end can Encoder pulse division be divided in division ratio set in Pr. 413 and 1 to 32767 ratio output. Use this parameter to make the response of the machine to be input slower, etc.
  • Page 85 MEMO...
  • Page 86 REVISIONS *The manual number is given on the bottom left of the back cover. Print Date *Manual Number Revision Oct. 2007 IB(NA)-0600310ENG-A First edition Addition Aug. 2012 IB(NA)-0600310ENG-B Pr. 829 Number of machine end encoder pulses Note on the differential line driver type encoder IB(NA)-0600310ENG-B...
  • Page 87 INVERTER HEAD OFFICE: TOKYO BUILDING 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN IB(NA)-0600310ENG-B(1208) MEE Printed in Japan Specifications subject to change without notice.

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