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Mitsubishi Electric FR-A7AP Instruction Manual

Plug-in option, orientation control, encoder feedback control, vector control
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Download this manual See also: Instruction Manual
INVERTER
Plug-in option
FR-A7AP
INSTRUCTION MANUAL
Orientation control
Encoder feedback control
Vector control
PRE-OPERATION INSTRUCTIONS
INSTALLATION
ORIENTATION CONTROL
ENCODER FEEDBACK CONTROL
VECTOR CONTROL
1
2
3
4
5

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Summary of Contents for Mitsubishi Electric FR-A7AP

  • Page 1 INVERTER Plug-in option FR-A7AP INSTRUCTION MANUAL Orientation control PRE-OPERATION INSTRUCTIONS Encoder feedback control INSTALLATION Vector control ORIENTATION CONTROL ENCODER FEEDBACK CONTROL VECTOR CONTROL...
  • Page 2 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 • Do not modify the equipment. • Apply only the voltage specified in the instruction manual to • Do not perform parts removal which is not instructed in this each terminal. Otherwise, burst, damage, etc. may occur. •...

  • Page 4: Table Of Contents

     CONTENTS  PRE-OPERATION INSTRUCTIONS Unpacking and Product Confirmation .....................1 1.1.1 Packing confirmation ............................1 1.1.2 SERIAL number check ...........................2 1.1.3 Parts ................................3 INSTALLATION Pre-Installation Instructions ......................4 Installation Procedure ........................5 Switches .............................7 Wiring..............................9 Encoder Cable..........................13 Encoder.............................15 Parameter for Encoder ........................16 ORIENTATION CONTROL Wiring Example ..........................18 Terminals ............................20...
  • Page 5 ENCODER FEEDBACK CONTROL Wiring Examples ..........................24 Terminals ............................25 Encoder Feedback Control Parameter List ...................26 VECTOR CONTROL Wiring Examples ..........................28 Terminals ............................32 Vector Control Extended Parameter List..................33 Specifications...........................36...

  • Page 6: Pre-Operation Instructions

    PRE-OPERATION INSTRUCTIONS Unpacking and Product Confirmation Take the plug-in option out of the package, check the unit name, and confirm that the product is as you ordered and intact. This product is a plug-in option dedicated for the FR-A series. 1.1.1 Packing confirmation Check the enclosed items.

  • Page 7: Serial Number Check

    PRE-OPERATION INSTRUCTIONS 1.1.2 SERIAL number check The FR-A7AP can be used with the FR-A series having the following serial number or later. Check the SERIAL number indicated on the inverter rating plate or package. Model SERIAL (Serial No.) Model SERIAL (Serial No.) FR-A720-0.4K/0.75K...

  • Page 8: Parts

    PRE-OPERATION INSTRUCTIONS 1.1.3 Parts Mounting Terminal Front view Rear view hole block LED1 LED2 LED3 Mounting Switch for manufacturer Connector hole Mounting setting (SW3) Connect to the inverter hole Do not change from initially- option connector. (Refer to page 5.) set status (1, 2:OFF Terminating resistor selection Terminal layout...

  • Page 9: Installation

    INSTALLATION 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.

  • Page 10: Installation Procedure

    INSTALLATION Installation Procedure 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) 3) Securely fit the connector of the plug-in Screw hole for option mounting option to the inverter connector along the...
  • Page 11 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 •...

  • Page 12: Switches

    INSTALLATION Switches (1) Encoder specification selection switch (SW1) Differential line Select either differential line driver or complementary driver (initial status) It is initially set to the differential line driver. Switch its position according to output circuit. Complementary (2) Terminating resistor selection switch (SW2) Internal terminating Select ON/OFF of the internal terminating resistor.
  • Page 13 INSTALLATION (3) Motor used and switch setting Encoder Specification Terminating Resistor Power Motor Selection Switch (SW1) Selection Switch (SW2) Specifications SF-JR Differential Mitsubishi standard motor Mitsubishi high efficiency SF-HR Differential motor Others SF-JRCA Differential Mitsubishi constant- SF-HRCA Differential torque motor Others SF-V5RU Complimentary...

  • Page 14: Wiring

    INSTALLATION Wiring (1) Use twisted pair shield cables (0.2mm 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...
  • Page 15 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.
  • Page 16 INSTALLATION (3) Wire the twisted pair shielded cable after stripping its sheath to make its cables loose. Also, protect the shielded cable of the twisted pair shielded cable to ensure that it will not make contact with the conductive area. Wire the stripped cable after twisting it to prevent it from becoming loose.
  • Page 17 INSTALLATION (5) For wiring of 22K or less, remove a hook of the front cover and use a space become available. For wiring of 30K or more, use the space on the left side of the control circuit terminal block. Cut off with a nipper,...

  • Page 18: Encoder Cable

    (FR-A7AP) Encoder Positioning keyway Positioning keyway MS3106B20-29S MS3106B20-29S As viewed from wiring side (As viewed from wiring side) * As the terminal block of the FR-A7AP is an insertion type, earth cables need to be modified. (Refer to page 11.)
  • Page 19 INSTALLATION Connection terminal compatibility table Motor SF-V5RU SF-JR/HR/JRCA/HRCA (with Encoder) Encoder cable FR-V7CBL/FR-V5CBL FR-JCBL Keep this open. Keep this open. FR-A7AP terminal Keep this open.

  • Page 20: Encoder

    INSTALLATION Encoder (1) Position detection (pulse encoder) Output pulse specifications Differential line driver Complimentary 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 21: Parameter For Encoder

    INSTALLATION Parameter for Encoder Parameter Initial Setting Name Description Number Value Range Forward rotation is clockwise rotation when viewed from A. Encoder rotation Encoder direction Forward rotation is counterclockwise rotation when viewed from A. Encoder Number of encoder Set the number of encoder pulses output. 1024 0 to 4096 pulses...
  • Page 22 MEMO...

  • Page 23: Orientation Control

    R/L1 MCCB SF-V5RU Three-phase S/L2 AC power Three-phase T/L3 AC power supply supply Inverter Forward rotation start Earth (Ground) FR-A7AP Reverse rotation start Orientation command Earth (Ground) External Contact input common Thermal thermal relay 2W1kΩ relay input CS(OH) protector Encoder...
  • Page 24 (NC, etc) or a terminating resistor is connected to other unit. For the complementary, set the switch to off position. For terminal compatibility of the FR-JCBL, FR-V5CBL and FR-A7AP, refer to page 14. A separate power supply of 5V/12V/15V/24V is necessary according to the encoder power specification.

  • Page 25: Terminals

    ORIENTATION CONTROL Terminals (1) Option FR-A7AP terminal Terminal Terminal Name Application Explanation Encoder A-phase signal input Encoder A-phase inverse signal input Encoder B-phase signal input A-, B- and Z-phase signals are input from the encoder. (For details of pulse signal, refer to page 15.)
  • Page 26 ORIENTATION CONTROL (3) Inverter terminal Terminal Terminal (Signal) Name Application Explanation (Signal) Used to enter an orientation signal for orientation. Orientation command input For the terminal used for X22 signal input, set "22" in any of Pr. 178 to Pr. 189 terminal to assign the function.

  • Page 27: Parameter List For Orientation Control

    ORIENTATION CONTROL 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 Name Setting Range Increments Initial Value Number Stop position command selection 0, 1, 9999...

  • Page 28: Specifications

    ORIENTATION CONTROL Specifications ±1.5° Repeated positioning Depends on the load torque, moment of inertia of the load or orientaion, creep speed, accuracy position loop switching position, etc. Encoder-mounted shaft speed (6000r/min with 2048 pulse encoder) Permissible speed 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 Functions position setting, creep speed and position loop switch position setting, position shift,...

  • Page 29: Encoder Feedback Control

    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.

  • Page 30: Terminals

    (NC, etc) or a terminating resistor is connected to other unit. For the complementary, set the switch to off position. For terminal compatibility of the FR-JCBL, FR-V5CBL and FR-A7AP, refer to page 14. A separate power supply of 5V is necessary according to the encoder power specification.

  • Page 31: Encoder Feedback Control Parameter List

    ENCODER FEEDBACK CONTROL 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 Name Setting Range Increments Initial Value Number Encoder rotation direction...
  • Page 32 MEMO...

  • Page 33: Vector Control

    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.)
  • Page 34 Note that the terminating resistor switch should be set to off position when sharing the same encoder with other unit (NC, etc) or a terminating resistor is connected to other unit. For terminal compatibility of the FR-JCBL, FR-V5CBL and FR-A7AP, refer to page 14. A separate power supply of 5V/12V/15V/24V is necessary according to the encoder power specification.
  • Page 35 S/L2 Earth (Ground) AC power supply Thermal relay T/L3 External 2W1k Ω protector CS(OH) thermal relay input Forward rotation start FR-A7AP Reverse rotation start Contact input common Encoder Differential Speed limit command Frequency setting potentiometer Complimentary 1/2W1k Ω Terminating resistor...
  • Page 36 For the complementary, set the terminating resistor selection switch to off position. (Refer to page 7.) For terminal compatibility of the FR-JCBL, FR-V5CBL and FR-A7AP, refer to page 14. A separate power supply of 5V/12V/15V/24V is necessary according to the encoder power specification.

  • Page 37: Terminals

    VECTOR CONTROL Terminals Terminal Terminal Name Description 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 15.) Encoder B-phase inverse signal input Encoder Z-phase signal input Encoder Z-phase inversion signal input Input power for the encoder power supply.

  • Page 38: Vector Control Extended Parameter List

    VECTOR CONTROL 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 Name Setting Range Increments Initial Value Number Encoder rotation direction 0, 1...
  • Page 39 VECTOR CONTROL Parameter Name Setting Range Increments Initial Value Number First position feed amount lower 4 digits 0 to 9999 First position feed amount upper 4 digits 0 to 9999 Second position feed amount lower 4 digits 0 to 9999 Second position feed amount upper 4 digits 0 to 9999 Third position feed amount lower 4 digits...
  • Page 40 VECTOR CONTROL Parameter Name Setting Range Increments Initial Value Number Twelfth position feed amount upper 4 digits 0 to 9999 Thirteenth position feed amount lower 4 digits 0 to 9999 Thirteenth position feed amount upper 4 digits 0 to 9999 Fourteenth position feed amount lower 4 digits 0 to 9999 Fourteenth position feed amount upper 4 digits...

  • Page 41: Specifications

    VECTOR CONTROL Specifications Speed control range 1:1500 (both driving/regeneration Speed variation ratio ±0.01% (100% means 3000r/min) Speed control 300rad/s Note that the internal response is 600rad/s (with model Speed response adaptive speed control) Maximum speed 120Hz Torque control range 1:50 Torque control Absolute torque accuracy ±10%...
  • Page 42 REVISIONS *The manual number is given on the bottom left of the back cover. Print Date *Manual Number Revision Sep., 2005 IB(NA)-0600238ENG-A First edition...

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