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Related Manuals for Mitsubishi Electric FR-A8APR
Summary of Contents for Mitsubishi Electric FR-A8APR
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Page 1: Instruction Manual
INVERTER Plug-in option FR-A8APR INSTRUCTION MANUAL PRE-OPERATION INSTRUCTIONS Resolver interface INSTALLATION AND WIRING Orientation control PARAMETER ORIENTATION CONTROL Resolver (encoder) feedback control RESOLVER (ENCODER) FEEDBACK Vector control CONTROL VECTOR CONTROL... -
Page 2: Safety Instructions
Thank you for choosing this Mitsubishi inverter plug-in option. This Instruction Manual provides handling information and precautions for use of this product. Incorrect handling might cause an unexpected fault. Before using this product, always read this Instruction Manual carefully to use this product correctly. Please forward this Instruction Manual to the end user. -
Page 3: Parameter
Additional Instructions The following instructions must be also followed. If the product is handled incorrectly, it may cause unexpected fault, an injury, or an electric shock. Caution Transportation and mounting Do not install or operate the plug-in option if it is damaged or has parts missing. ... -
Page 4: Table Of Contents
─ CONTENTS ─ 1 PRE-OPERATION INSTRUCTIONS Unpacking and product confirmation.......................6 1.1.1 Product confirmation............................6 1.1.2 SERIAL number check ...........................7 Component names .............................8 2 INSTALLATION AND WIRING Pre-installation instructions ........................9 Installation procedure ..........................9 Wiring ................................12 Terminals..............................15 3 PARAMETER Extended parameter list ...........................16 Function differences from the FR-A8AP ....................18 Protective function ...........................20 4 ORIENTATION CONTROL... - Page 5 6 VECTOR CONTROL Wiring examples ............................26 Setting procedure of vector control for motor with resolver ...............29 Vector control for PM motor with resolver.....................30 Offline auto tuning............................31 Resolver position tuning..........................33 Specifications ............................36 <Notes on descriptions in this Instruction Manual> Connection diagrams in this Instruction Manual appear with the control logic of the input terminals as sink logic, unless otherwise specified.
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Page 6: Pre-Operation Instructions
PRE-OPERATION INSTRUCTIONS Unpacking and product confirmation Take the plug-in option out of the package, check the product name, and confirm that the product is as you ordered and intact. This product is a plug-in option dedicated for the FR-A800 series. 1.1.1 Product confirmation Check the enclosed items. -
Page 7: Serial Number Check
1.1.2 SERIAL number check The FR-A8APR can be used for the inverter models listed below with the following SERIAL number or later. Check the SERIAL number indicated on the inverter rating plate or package. Rating plate example ... -
Page 8: Component Names
Component names Front view Rear view Terminal layout Symbol Name Description Refer to page Mounting hole Fixes the option to the inverter with screws, or installs spacers. Terminal block Connected with a resolver. Switch for manufacturer setting (SW1) ― Do not change the initially-set status. (OFF Connector Connects to the option connector of the inverter. -
Page 9: Installation And Wiring
INSTALLATION AND WIRING Pre-installation instructions Check that the inverter's input power and the control circuit power are both 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 Spacer Mounting screw Connector 3 Spacer Mounting screw Spacer Spacer Connector 2 Connector 1 Spacer Spacer Mounting screw Mounting screw Insertion positions for screws and spacers INSTALLATION AND WIRING...
- Page 11 • Caution must be applied to mounting screws falling off when removing and mounting the plug-in option. • If the FR-A8APR and the FR-A8AP are installed together, the FR-A8AP is disabled. • Only one option can be used. When multiple options are mounted, priority is given to option connectors 1, 2 and 3 on the inverter in this order, and options having a lower priority do not function.
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Page 12: Wiring
Wire the stripped signal cable after twisting it to prevent it from becoming loose. In addition, do not solder it. Cable stripping length 5 mm For connecting the FR-A8APR, use a blade terminal as necessary. When using the blade terminal, use care so that the twisted wires do not come out. Unstranded... - Page 13 (2) Loosen the terminal screw and insert the cable into the terminal. Screw size Tightening torque Cable size Screwdriver Small flat-blade screwdriver 0.22 Nm to 0.25 Nm 0.3 mm to 0.75 mm (Tip thickness: 0.4 mm/tip width: 2.5 mm) NOTE •...
- Page 14 • Extension of the signal cable Use shielded twisted pair cables to extend the signal cable from the resolver. For connection with the signal cables, solder them or fix them with screws on the terminal block. Insulate and disconnect the shielded cable of the resolver. Connect by soldering or using the terminal block.
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Page 15: Terminals
Terminals Terminal Terminal name Description symbol Excitation output (R1) Output 9.5 mArms (typ) of sine wave excitation current with which excitation can be performed directly to the resolver across terminals R1 and R2. Excitation output (R2) Cos(+) Input terminal for resolver Cos(+) signal. Cos(-) Input terminal for resolver Cos(-) signal. -
Page 16: Parameter
PARAMETER Extended parameter list When the FR-A8APR is installed in the inverter, the following parameters are extended. Minimum Initial Refer to Name Setting range setting group value page increments A510 Stop position command selection 0, 1, 9999 9999 A526... - Page 17 The setting method and the function are same as those of the FR-A8AP. Refer to the description for the FR-A8AP in the Instruction Manual (Detailed) of the inverter. Set when the machine end orientation control is performed with the FR-A8APR and the FR-A8TP together. For the details, refer to the instruction manual of the FR-A8TP. ...
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Page 18: Function Differences From The Fr-A8Ap
• The following tables show the function differences from the FR-A8AP (option compatible with encoder). • Both the FR-A8APR and the FR-A8AP cannot be used together. If the FR-A8APR and the FR-A8AP are installed together in the inverter, the FR-A8AP is disabled. - Page 19 FR-A8APR FR-A8AP Function Induction motor PM motor Induction motor Automatic restart after instantaneous power failure Servo lock Online auto tuning (Adaptive magnetic flux observer) ― Protective function (E.OS, E.OSD, E.ECT) ...
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Page 20: Protective Function
Protective function • When a protective function activates, the inverter trips and a fault signal is output. Operation panel E.MP FR-PU07 Fault indication Name Magnetic pole position unknown (Data code: 222 (HDE)) When the offset value between the motor home magnetic pole position and the resolver home position is unknown, the Description protective circuit is activated to stop the inverter output. -
Page 21: Orientation Control
Three-phase S/L2 AC power T/L3 supply Earth Forward rotation start (Ground) FR-A8APR Use Pr.178 to Pr.189 (input terminal function Reverse rotation start selection) to assign the function to any of Orientation command ∗1 terminal. Refer to the Instruction Manual (Detailed) for Contact input common details of Pr.178 to Pr.189 (input terminal... -
Page 22: Terminals
Terminals Option FR-A8AX terminal Terminal Terminal name Description symbol Input the digital signal at the relay contact or open collector terminal. X0 to X15 Digital signal input 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. -
Page 23: Specifications
Specifications 1.5° Repeated positioning Depends on the load torque, moment of inertia of the load or orientaion, creep speed, position loop switching accuracy position, etc. Resolver-mounted shaft speed (6000 r/min). Permissible speed The drive shaft and resolver-mounted shaft must be coupled directly or via a belt without any slip. Gear changing shafts cannot be applied. -
Page 24: Resolver (Encoder) Feedback Control
Magnetic flux Magnetic flux Mount FR-A8APR to an FR-A800 series inverter to perform resolver (encoder) feedback control under V/F control or Advanced magnetic flux vector control. This controls the inverter output frequency so that the motor speed is constant to the load variation by detecting the motor speed with the resolver to feed back to the inverter. -
Page 25: Specifications
Specifications 0.1% (100% means 3600 r/min) Speed variation ratio • Setting of speed feedback range Function • Setting of feedback gain • Setting of resolver rotation direction Maximum speed V/F control: 590 Hz, Advanced magnetic flux vector control: 400 Hz RESOLVER (ENCODER) FEEDBACK CONTROL... -
Page 26: Vector Control
VECTOR CONTROL When the FR-A8APR is installed on the FR-A800 series, full-scale vector control operation can be performed using a motor with resolver. (For the details of vector control, refer to the Instruction Manual (Detailed) of the inverter.) Speed control, torque control, and position control are enabled under vector control for the induction motor. - Page 27 Torque control (With induction motor only) MCCB Inverter R/L1 Three-phase S/L2 AC power supply T/L3 Earth Forward rotation start (Ground) FR-A8APR Reverse rotation start Contact input common Resolver Speed limit command Frequency setting ∗1 potentiometer 1/2 W1 kΩ Torque command ( 10 V)
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Page 28: Position Control
MCCB MELSEC-L LD75P[ ] Three-phase R/L1 Inverter AC power S/L2 supply T/L3 Earth (ground) STOP Forward stroke end FR-A8APR Reverse stroke end Pre-excitation/servo on ∗2 Clear signal ∗2 CLEAR Pulse train ∗3 PULSE F Sign signal ∗2 Resolver PULSE R... -
Page 29: Setting Procedure Of Vector Control For Motor With Resolver
Setting procedure of vector control for motor with resolver Follow the following procedure to change the setting for the vector control for the motor with a resolver. Set the applied resolver. (Pr.359) Set Pr.359 Encoder rotation direction in accordance with the resolver specification. Set the motor. -
Page 30: Vector Control For Pm Motor With Resolver
Vector control for PM motor with resolver • With the FR-A8APR, PM motors with a resolver can be driven under vector control. (For the setting of vector control for an induction motor, refer to the Instruction Manual (Detailed) of the inverter.) Pr.80... -
Page 31: Offline Auto Tuning
Offline auto tuning Vector Vector Vector • The offline auto tuning enables the optimal operation of a motor with resolver. Description Initial Setting Name value range PM motor Induction motor No offline auto tuning Performs offline auto tuning (without motor rotation) Performs offline auto tuning only for motor constant R1 (without Auto tuning setting/status motor rotation) - Page 32 Parameters in which the tuning results are set to after tuning (PM motor) Tuning items by Pr.96 (Pr.463) settings Name Description 90 (458) Motor constant (R1) Resistance per phase 92 (460) Motor constant (L1)/d-axis inductance (Ld) ...
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Page 33: Resolver Position Tuning
Before performing resolver position tuning • Check that the FR-A8APR, a motor, and a resolver are properly connected. • Check that a motor (single, stop status) is connected. (Check that the motor is not rotated by an external force during tuning.) - Page 34 Performing tuning POINT POINT • Before performing tuning, check the monitor display of the operation panel or parameter unit if the inverter is in the state ready for tuning. Turning ON the start command while tuning is unavailable starts the motor. •...
- Page 35 • When resolver position tuning ends, press on the operation panel during PU operation. For External operation, turn OFF the start signal (STF signal or STR signal). This operation resets the resolver position tuning, and the PU's monitor display returns to the normal indication. (Without this operation, next operation cannot be started.) NOTE •...
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Page 36: Specifications
Specifications Speed control range 1:1500 (both driving/regeneration 0.01% (100% means 3000 r/min) Speed variation ratio Speed control Speed response 20 Hz (40 Hz during fast-response operation) Maximum speed 400 Hz Torque control range 1:50 10% Torque control Absolute torque accuracy ... - Page 37 MEMO...
- Page 38 MEMO...
- Page 39 REVISIONS *The manual number is given on the bottom left of the back cover. Print Date *Manual Number Revision Feb. 2015 IB(NA)-0600568ENG-A First edition...
- Page 40 INVERTER HEAD OFFICE: TOKYO BUILDING 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN IB(NA)-0600568ENG-A(1502) MEE Printed in Japan Specifications subject to change without notice.