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Mitsubishi Electric FR-V560 Instruction Manual

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VECTOR INVERTER
FR-V
560
INSTRUCTION MANUAL (Detailed)
HIGH PRECISION & HIGH
RESPONSE VECTOR INVERTER
FR-V560-2.2K to 55K-NA
WIRING
VECTOR CONTROL
WITH ENCODER
VECTOR CONTROL
WITHOUT ENCODER
PARAMETERS
PROTECTIVE
FUNCTIONS
SPECIFICATIONS
1
2
3
4
5
6

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Table of Contents

   Related Manuals for Mitsubishi Electric FR-V560

   Summary of Contents for Mitsubishi Electric FR-V560

  • Page 1 VECTOR INVERTER FR-V INSTRUCTION MANUAL (Detailed) HIGH PRECISION & HIGH RESPONSE VECTOR INVERTER FR-V560-2.2K to 55K-NA WIRING VECTOR CONTROL WITH ENCODER VECTOR CONTROL WITHOUT ENCODER PARAMETERS PROTECTIVE FUNCTIONS SPECIFICATIONS...
  • Page 2 Thank you for choosing this Mitsubishi vector inverter. This Instruction Manual (detailed) provides instructions for advanced use of the FR-V500 series inverters. Incorrect handling might cause an unexpected fault. Before using the inverter, always read this Instruction Manual and the Instruction Manual (basic) [IB-0600134E] packed with the product carefully to use the equipment to its optimum performance.
  • Page 3 2) Wiring CAUTION Do not fit capacitive equipment such as power factor correction capacitor, surge suppressor or radio noise filter to the inverter output side. The connection orientation of the output cables (terminals U, V, W) to the motor will affect the direction of rotation of the motor. 3) Trial run CAUTION Check all parameters, and ensure that the machine will not be damaged by a sudden start-up.
  • Page 4: Table Of Contents

    CONTENTS WIRING Basic configuration and connection of peripheral devices ......2 1.1.1 Basic configuration ..........................2 1.1.2 Selection of peripheral devices ......................3 Connection diagram .................... 4 Internal block diagram..................5 Main circuit terminal specifications ..............6 1.4.1 Specification of main circuit terminal ....................6 1.4.2 Cables and wiring length ........................7 Motor ........................
  • Page 5 1.11.5 PU operation external interlock signal (X12 signal): Pr. 180 to Pr. 183, Pr. 187 setting "12"...34 1.11.6 PID control enable terminal: Pr. 180 to Pr. 183, Pr. 187 setting "14" ..........34 1.11.7 Brake sequence opening signal (BRI signal): Pr. 180 to Pr. 183, Pr. 187 setting "15" ....34 1.11.8 PU operation/external operation switchover: Pr.
  • Page 6 2.7.6 In-position width (Pr. 426) ........................63 2.7.7 Excessive level error (Pr. 427) ......................63 2.7.8 Pulse monitor selection (Pr. 430) .....................63 2.7.9 Concept of position control gains .....................63 2.7.10 Troubleshooting..........................64 2.7.11 Position control is not exercised normally ..................65 VECTOR CONTROL WITHOUT ENCODER Speed control (without encoder) ..............
  • Page 7 Output terminal functions (Pr. 41 to Pr. 50)........... 108 4.6.1 Up-to-speed sensitivity (Pr. 41) ......................108 4.6.2 Speed detection (Pr. 42, Pr. 43, Pr. 50, Pr. 116)................108 Display functions 1 (Pr. 52 to Pr. 56).............. 110 4.7.1 Monitor display/DA1, DA2 terminal function selection (Pr. 52 to Pr. 54, Pr. 158) ......110 4.7.2 Monitoring reference (Pr.
  • Page 8 4.20.1 Input terminal function selection (Pr. 180 to Pr. 183, Pr. 187)............163 4.20.2 Output terminal function selection (Pr. 190 to Pr. 192, Pr. 195).............165 4.21 Auxiliary function (Pr. 244) ................167 4.21.1 Cooling fan operation selection (Pr. 244) ..................167 4.22 Stop selection function (Pr. 250) ..............167 4.22.1 Stop selection (Pr.
  • Page 9 4.34.6 Low speed detection (Pr. 865) .......................194 4.35 Display function (Pr. 867) ................195 4.35.1 DA1 output response level adjustment (Pr. 867)................195 4.36 Terminal function assignment (Pr. 868)............195 4.36.1 No. 1 terminal function assignment (Pr. 868) .................195 4.37 Protective functions (Pr. 870 to Pr. 874) ............196 4.37.1 Speed deviation excessive (Pr.
  • Page 10 WIRING This chapter describes the basic "wiring" for use of this product. Always read the instructions and other information before using the equipment. 1.1 Basic configuration and connection of peripheral devices..........2 1.2 Connection diagram ..........4 1.3 Internal block diagram ..........5 1.4 Main circuit terminal specifications ....6 1.5 Motor ..............8 1.6 Connection of stand-alone option units....11...
  • Page 11: Basic Configuration And Connection Of Peripheral Devices

    Basic configuration and connection of peripheral devices 1.1 Basic configuration and connection of peripheral devices 1.1.1 Basic configuration Power supply Use within the permissible power supply specifications of the inverter. (Refer to page 220.) (NFB) No-fuse breaker (NFB) or earth leakage circuit breaker (ELB) The breaker must be selected carefully since an in-rush current flows in the inverter at power-on.
  • Page 12: Selection Of Peripheral Devices

    Motor Output Applicable Earth Leakage Circuit Breaker (ELB) Fuse Contactor (kW (HP)) Inverter Type With power factor (AC3) Standard improving reactor 2.2 (3) FR-V560-2.2K-NA K5-15A 3.7 (5) FR-V560-3.7K-NA K5-20A 7.5 (10) FR-V560-7.5K-NA K5-40A 15 (20) FR-V560-15K-NA K5-80A 22 (30) FR-V560-22K-NA...
  • Page 13: Connection Diagram

    Connection diagram 1.2 Connection diagram Motor Vector inverter Avoid frequent ON-OFF. (FR-V500) Repeated inrush currents at NFB MC power-on will shorten the Match phase sequence. converter life. (Switching life is 100,000) 3-phase AC power supply Grounding Leave the unused terminals open A-phase signal output A-phase inverted signal output Take care not to...
  • Page 14: Internal Block Diagram

    Internal block diagram 1.3 Internal block diagram Avoid frequent ON-OFF. Jumper: Remove this jumper when connecting Repeated inrush current at power-on the FR-BEL. power factor improving DC reactor. will shorten the converter life. Jumper: Remove this jumper when Remove this jumper when connecting (switching life is about 100,000 times) Motor the external brake resistor.
  • Page 15: Main Circuit Terminal Specifications

    Main circuit terminal specifications 1.4 Main circuit terminal specifications 1.4.1 Specification of main circuit terminal Terminal Symbol Terminal Name Description R, S, T AC power input Connect to the commercial power supply. U, V, W Inverter output Connect a three-phase squirrel-cage motor. Connected to the AC power supply terminals R and S.
  • Page 16: Cables And Wiring Length

    Crimping Tightening Applicable Inverter Terminal Terminals Torque Type Screw Size N·m R, S, T U, V, W R, S, T U, V, W R, S, T U, V, W FR-V560-2.2K, 3.7K-NA FR-V560-7.5K-NA 5.5-4 FR-V560-15K-NA 5.5-6 5.5-6 FR-V560-22K-NA 14-6 14-6 FR-V560-37K-NA...
  • Page 17: Motor

    Motor 1.5 Motor POINT Perform offline auto tuning (rotation mode) with the motor alone before connecting a load. If higher torque accuracy is required, perform online auto tuning next. Offline auto tuning The inverter measures necessary motor circuit constant and stores it to improve low speed torque.
  • Page 18 Motor (3) Encoder cable gauge (Cable fabrication specification) Using larger gauge cable Wiring 0.2mm Wiring Distance Cables 0 to 10m (0 to 32.81feet) 2 parallels or more 26 or more 0.4mm 10 to 20m (32.81 to 65.62feet) 4 parallels or more 21 or more 0.75mm 20 to 100m (65.62 to 328.08feet)
  • Page 19: Inverter-driven 575v Class Motor

    Motor (6) Setting the number of encoder pulses and encoder rotation direction Set the following parameters according to the encoder specification. Parameter Name Factory Setting Setting Range Remarks Number of encoder 1024 0 to 4096 pulses These are extended mode parameters. Set "1"...
  • Page 20: Connection Of Stand-alone Option Units

    2. The jumper across terminals PR-PX (7.5K or less) must be disconnected before connecting the external brake resistor. A failure to do so may damage the inverter. Model ..FR-V560-2.2K, 3.7K, 7.5K-NA 1)Remove the screws in terminals PR and PX and remove the jumper 2)Connect the brake resistor across terminals P and PR.
  • Page 21: Connection Of The Brake Unit (fr-bu-c)

    Connection of stand-alone option units 1.6.2 Connection of the brake unit (FR-BU-C) Connect the optional FR-BU-C brake unit as shown below to improve the braking capability during deceleration. T (Caution 4) Motor Power supply Inverter Remove jumper. THS TH2 Resistor unit FR-BR-C Brake unit FR-BU-C...
  • Page 22: Control Circuit Terminal Specifications

    Control circuit terminal specifications 1.7 Control circuit terminal specifications 1.7.1 Specification of control circuit terminal Terminal Type Terminal Name Description Rated Specifications Symbol Turn on the STF signal to start Forward rotation forward rotation and turn it off to start stop.
  • Page 23 Control circuit terminal specifications Terminal Type Terminal Name Description Rated Specifications Symbol Differential line receiver A-phase signal input (AM26LS32 input terminal equivalent) or complimentary input A-phase inverted Differential line receiver signal input input (AM26LS32 terminal equivalent) Differential line receiver B-phase signal input (AM26LS32 input terminal equivalent) or...
  • Page 24: Control Circuit Terminal Layout

    Control circuit terminal specifications 1.7.2 Control circuit terminal layout Terminal screw size : M3.5 Tightening torque : 1.2N·m DO1 DO2 DI4 When connecting three or more control cables to the terminal 5, connect the accessory PZ PZR PG RES terminal 5 dedicated L-shaped jumper to the terminal 5.
  • Page 25: Changing The Control Logic

    Control circuit terminal specifications 1.7.5 Changing the control logic The input signals are factory set to sink logic (SINK). To change the control logic, the jumper connector on the back of the control circuit terminal block must be moved to the other position.
  • Page 26 Control circuit terminal specifications Sink logic type and source logic type • The sink logic type is a logic where a signal turns on when a current flows out of the corresponding signal input terminal. Terminal SD is common to the contact input signals. Terminal SE is common to the open collector output sig- nals.
  • Page 27: Precautions For Use Of The Vector Inverter

    Precautions for use of the vector inverter 1.8 Precautions for use of the vector inverter The FR-V500 series is a highly reliable product, but incorrect peripheral circuit making or operation/handling method may shorten the product life or damage the product. Before starting operation, always recheck the following items.
  • Page 28: Others

    Others 1.9 Others 1.9.1 Leakage currents and countermeasures Leakage currents flow through static capacitances existing in the inverter I/O wiring and motor. Since their values depend on the static capacitances, carrier frequency, etc., take the following measures. To-ground leakage currents Leakage currents may flow not only into the inverter's own line but also into the other lines through the ground cable, etc.
  • Page 29 Others (3) Selection of rated sensitivity current of ground leakage breaker When using the ground leakage breaker with the inverter circuit, select its rated sensitivity current as follows, independently of the PWM carrier frequency. • Breaker for harmonic and surge Leakage Current Example of Cable Leakage Current Example of Rated sensitivity current...
  • Page 30: Power Off And Magnetic Contactor (mc)

    Others 1.9.2 Power off and magnetic contactor (MC) (1) Inverter primary side magnetic contactor (MC) On the inverter primary side, it is recommended to provide an MC for the following purposes. (Refer to page 3 for selection.) To release the inverter from the power supply when the inverter protective function is activated or the drive becomes faulty (e.g.
  • Page 31: Notes On Grounding

    Others 1.9.4 Notes on grounding Leakage currents flow in the inverter. To prevent an electric shock, the inverter and motor must be grounded. Grounding must conform to the requirements of national and local safety regulations and electrical codes. ) (JIS, NEC section 250, IEC 536 class 1 and other applicable standards) Use the dedicated ground terminal to ground the inverter.
  • Page 32: Inverter-generated Noises And Their Reduction Techniques

    Others 1.9.5 Inverter-generated noises and their reduction techniques Some noises enter the inverter to malfunction it and others are radiated by the inverter to malfunction peripheral devices. Though the inverter is designed to be insusceptible to noises, it handles low-level signals, so it requires the following basic techniques.
  • Page 33 Others Noise Propagation Measures Path When devices that handle low-level signals and are liable to malfunction due to noises, e.g. instruments, receivers and sensors, are contained in the enclosure that contains the inverter or when their signal cables are run near the inverter, the devices may be malfunctioned by air-propagated noises.
  • Page 34: Power Supply Harmonics

    Others 1.9.6 Power supply harmonics Power supply harmonics may be generated from the converter section of the inverter, affecting the power supply equipment, power capacitors, etc. Power supply harmonics are different in generation source, frequency and transmission path from radio frequency (RF) noise and leakage currents. Take the following measures. The differences between harmonics and RF noises are indicated below: Item Harmonics...
  • Page 35: Using The Pu Connector For Computer Link

    Examples of commercially available products (as of July, '02) Type Maker Mitsubishi Electric Engineering Co., Ltd FA-T-RS40 * You can not connect multiple inverters with a converter cable (a computer and an inverter are one-to-one connection). As the RS-232C cable and the RS-485 cable (10BASE-T+RJ-45 connector) are provided with a product, no need to prepare a cable and a connector separately.
  • Page 36 Others (2) Connection of a computer to multiple inverters (one-to-n connection) Station No. 1 Station No. 2 Station No. n (up to 32) Computer Inverter Inverter Inverter RS-485 RS-485 RS-485 connector connector connector RS-485 interface terminal Distributor Terminating resistor RJ-45 connector 2) 10BASE-T cable 1) Computer Station No.
  • Page 37 Others <Wiring method> Wiring of one RS-485 computer and one inverter Cable connection and signal direction Inverter Computer Side Terminals Signal name PU connector Description 10 BASE-T cable Receive data Receive data Send data Send data Request to send Request to send (Caution 1) Clear to send Clear to send...
  • Page 38: Input Terminals

    Input terminals 1.10 Input terminals 1.10.1 Run (start) and stop (STF, STR, STOP) To start and stop the motor, first switch on the input power of the inverter (when there is a magnetic contactor on the input side, use the operation-ready switch to turn on the magnetic contactor), then start the motor with the forward or reverse rotation start signal.
  • Page 39: External Thermal Relay Input (oh)

    Input terminals 1.10.2 External thermal relay input (OH) When the external thermal relay or the built-in thermal relay of the motor (thermal Thermal relay protector) is actuated to protect the motor from overheat, the inverter output can be Inverter Motor shut off and the corresponding alarm signal can be provided to hold a stop status.
  • Page 40: Torque Setting Input Signal And Motor-generated Torque (terminals 3, 5)

    Input terminals 1.10.4 Torque setting input signal and motor-generated torque (terminals 3, 5) Refer to the diagrams shown at below right for the relationship between the torque setting input signal and output voltage. The torque setting input signal is in proportion to the output torque. However, motor-generated torque varies with the motor temperature.
  • Page 41: Common Terminals (sd, 5, Se)

    Input terminals 1.10.6 Common terminals (SD, 5, SE) Terminals SD, 5 and SE are all common terminals (0V) for I/O terminals and the other common terminals are isolated from each other. Terminal SD is a common terminal for the contact input terminals (STF, STR, OH, RES, DI1, DI2, DI3 and DI4) and the encoder output signals.
  • Page 42: How To Use The Input Signals (assigned Terminals Di1 To Di4, Str) (pr. 180 To Pr. 183, Pr. 187)

    How to use the input signals (assigned terminals DI1 to DI4, STR) 1.11 How to use the input signals (assigned terminals DI1 to DI4, STR) (Pr. 180 to Pr. 183, Pr. 187) These terminals vary in functions with the settings of Pr. 180 to Pr. 183 and Pr. 187. Factory-Set Factory-Set Parameter...
  • Page 43: Third Function Selection (x9 Signal): Pr. 180 To Pr. 183, Pr. 187 Setting "9

    How to use the input signals (assigned terminals DI1 to DI4, STR) 1.11.4 Third function selection (X9 signal): Pr. 180 to Pr. 183, Pr. 187 setting "9" Turn on this "X9 signal" to set: Pr. 110 "third acceleration/deceleration time" Pr. 111 "third deceleration time" Inverter Select either the first motor or the second motor according to the RT signal input.
  • Page 44: Orientation Command (x22 Signal): Pr. 180 To Pr. 183, Pr. 187 Setting "22

    How to use the input signals (assigned terminals DI1 to DI4, STR) 1.11.10 Orientation command (X22 signal): Pr. 180 to Pr. 183, Pr. 187 setting "22" With the position detector (encoder) fitted to the motor end, you can perform position stop (orientation) control of the rotation shaft.
  • Page 45: Control Mode Changing (mc Signal): Pr. 180 To Pr. 183, Pr. 187 Setting "26

    How to use the input signals (assigned terminals DI1 to DI4, STR) 1.11.14 Control mode changing (MC signal): Pr. 180 to Pr. 183, Pr. 187 setting "26" By setting Pr. 800 "control system selection", change the control mode between speed, torque and position. Refer to page 182 for details.
  • Page 46: P Control Selection (p/pi Control Switchover) (x44 Signal)

    How to use the input signals (assigned terminals DI1 to DI4, STR) 1.11.18 P control selection (P/PI control switchover) (X44 signal): Pr. 180 to Pr. 183, Pr. 187 setting "44" By turning the X44 signal on/off during speed control operation under vector control, you can select whether to add integral time (I) or not when performing gain adjustment with P gain and integral time using the X44 signal.
  • Page 47: How To Use The Output Signals (assigned Terminals Do1 To Do3, Abc) (pr. 190 To Pr. 192, Pr. 195)

    How to use the output signals (assigned terminals DO1 to DO3, ABC) (Pr. 190 to Pr. 192, Pr. 195) 1.12 How to use the output signals (assigned terminals DO1 to DO3, ABC) (Pr. 190 to Pr. 192, Pr. 195) The output terminals DO1, DO2, DO3, ABC vary in functions with the Pr. 190 to Pr. 192 and Pr. 195 settings. Terminal Factory Factory-Set...
  • Page 48 How to use the output signals (assigned terminals DO1 to DO3, ABC) (Pr. 190 to Pr. 192, Pr. 195) Setting Signal Function Operation Positive Negative Name logic logic Regenerative status For vector control output Output on completion of pre-excitation. Turned on at an output start when pre- Operation ready 2 excitation is not made.
  • Page 49: Design Information To Be Checked

    Design information to be checked 1.13 Design information to be checked When performing commercial power supply-inverter switchover operation for the motor other than the vector control dedicated motor, securely provide electrical and mechanical interlocks for the MC1 and MC2 used for commercial power supply-inverter switchover.
  • Page 50: Using The Second Motor

    Using the second motor 1.14 Using the second motor 1.14.1 Wiring diagram (second motor) Vector control with encoder is not enabled with the second motor. Motor without encoder CAUTION (Second motor) 1. Provide interlocks to prevent the MC1 and MC2 from being turned on simultaneously.
  • Page 51 Using the second motor Param Factory Name Setting Range eter Setting Second motor Inverter Set the motor capacity. capacity capacity 0.4 to 55kW (0.5 to 75HP) Number of second Set the number of motor poles. motor poles 2, 4, 6P Setting can Rated second motor Set the rated voltage...
  • Page 52: Vector Control With Encoder

    VECTOR CONTROL WITH ENCODER This chapter explains the basic "adjustment for vector control with encoder" for use of this product. Always read the instructions and other information before using the equipment. 2.1 What is vector control? ........44 2.2 Speed control ............46 2.3 Fine adjustment of gains for speed control..47 2.4 Torque control ............53 2.5 Fine adjustment for torque control......54...
  • Page 53: What Is Vector Control

    What is vector control? 2.1 What is vector control? Vector control is one of the control techniques for driving an induction motor. To help explain vector control, the fundamental equivalent circuit of an induction motor is shown below: r1 : Primary resistance r2 : Secondary resistance : Primary leakage inductance : Secondary leakage inductance...
  • Page 54 What is vector control? Encoder modulation magnetic pre-excitation φ2 flux current output control control voltage conversion torque ω speed ω0 current control control ωFB ω0 ωFB ωs current conversion slip calculation φ2 magnetic flux conversion (1) Speed control Speed control operation is performed to zero the difference between the speed command (ω*) and actual rota- tion detection value (ω...
  • Page 55: Speed Control

    Speed control This inverter can control a motor under speed, torque or position control. (As required, set "1" (extended function parameters valid) in Pr. 160 "extended function selection".) Refer to page 163 for details of Pr. 160 "extended function selection". (Since the factory setting of Pr. 77 is "0", perform parameter write in the PU mode or during a stop.) 2.2 Speed control 2.2.1...
  • Page 56: Fine Adjustment Of Gains For Speed Control

    Fine adjustment of gains for speed control 2.3 Fine adjustment of gains for speed control If easy gain tuning does not provide high accuracy, refer to the next page and make adjustment. Make adjustment when vibration, noise or any other unfavorable phenomenon occurs due to large load inertia or gear backlash, for example, or when you want to exhibit the best performance that matches the machine.
  • Page 57: Concept Of Adjustment Of Manual Input Speed Control Gains

    Fine adjustment of gains for speed control 2.3.2 Concept of adjustment of manual input speed control gains Speed control P gain 1 Pr. 820 = 60% is equivalent to 120rad/s (speed responce of Proportional gain the motor alone). (factory setting) Increasing the proportional gain increases the response level.
  • Page 58: Troubleshooting

    Fine adjustment of gains for speed control Phenomenon/Condition Adjustment Method Set the Pr. 821 value a little lower. Long return time Decrease the value by half until just before an overshoot or the unstable phenomenon does (response time) not occur, and set about 0.8 to 0.9 of that value. Set the Pr.
  • Page 59 Fine adjustment of gains for speed control Phenomenon Cause Corrective Action Speed does not rise to (1) Insufficient torque. (1)-1 Increase the torque restriction value. the speed command. Torque restriction is actuated. Refer to the torque restriction of speed control in the Instruction Manual (basic).) (1)-2 Insufficient capacity (2) Only P (proportional) control is...
  • Page 60: Speed Feed Forward Control, Model Adaptive Speed Control (pr. 877 To Pr. 881)

    Fine adjustment of gains for speed control 2.3.5 Speed feed forward control, model adaptive speed control (Pr. 877 to Pr. 881) By making parameter setting, select the speed feed forward control or model adaptive speed control. The speed feed forward control enhances the trackability of the motor in response to a speed command change.
  • Page 61 Fine adjustment of gains for speed control Pr. 877 Setting Description Normal speed control is exercised. Speed feed forward control is exercised. Calculate required torque in responce to the acceleration/deceleration command for the inertia ratio set in Pr. 880 and generate torque immediately. When inertia ratio estimation has been made by easy gain tuning, the inertia ratio estimation result is used as the Pr.
  • Page 62: Torque Control

    Torque control 2.4 Torque control 2.4.1 Outline of torque control The basics of torque control are explained in the Instruction Manual (basic). Set any of "1 (torque control), 2 (speed-torque switchover), 5 (position-torque switchover)" in Pr. 800 "control system selection" to make torque control valid. (The parameter is factory-set to enable speed control.
  • Page 63: Fine Adjustment For Torque Control

    Fine adjustment for torque control 2.5 Fine adjustment for torque control Current loop gain parameter for adjusting torque control operation state is available with the FR-V500 series. Stable operation is possible with the factory-set parameter. Refer to the next page and adjust the parameters when torque pulsation or any other unfavorable phenomenon occurs depending on the machine and operating conditions or when you want to exhibit the best performance that matches the machine.
  • Page 64: Gain Adjustment For Torque Control

    Gain adjustment for torque control 2.6 Gain adjustment for torque control When exercising torque control, do not perform easy gain tuning. Easy gain tuning produces no effects. If torque accuracy is necessary, perform online auto tuning. (Refer to the Instruction Manual (basic).) 2.6.1 Concept of torque control gains (1) Torque control P gain 1...
  • Page 65: Troubleshooting

    Gain adjustment for torque control 2.6.3 Troubleshooting Phenomenon Cause Corrective Action Torque control is not (1) The phase sequence of the (1) Check the wiring. (Refer to page 4.) exercised normally. motor or encoder wiring is wrong. (2) The control mode selection, Pr. (2) Check the Pr.
  • Page 66: Position Control (pr. 419 To Pr. 430, Pr. 464 To Pr. 494)

    Position control (Pr. 419 to Pr. 430, Pr. 464 to Pr. 494) 2.7 Position control (Pr. 419 to Pr. 430, Pr. 464 to Pr. 494) This inverter is allowed to perform position control by setting conditional position feed by contact input or the position control option (FR-V5AP, FR-V5NS).
  • Page 67: Control Block Diagram

    Position control (Pr. 419 to Pr. 430, Pr. 464 to Pr. 494) 2.7.2 Control block diagram Position command Position feed right selection Pr.4 to 6 Multi- forward Pr.465 to Pr.494 Pr.24 to 27 Pr.419 speed Position feed command filter Travel Pr.232 to 239 communication forward gain...
  • Page 68 Position control (Pr. 419 to Pr. 430, Pr. 464 to Pr. 494) (1) Position command right selection (Pr. 419) Pr. 419 Setting Description Conditional position control function by contact input. (using parameters) (factory setting) Position command by pulse train input (when the FR-V5AP is fitted). (Refer to the instruction manual of the option for details.) (2) Operation The speed command given to rotate the motor is calculated to zero the difference between the number of...
  • Page 69: Conditional Position Feed Function By Contact Input (pr. 419=0)

    Position control (Pr. 419 to Pr. 430, Pr. 464 to Pr. 494) 2.7.4 Conditional position feed function by contact input (Pr. 419=0) Inputting the number of pulses (positions) in the parameters and setting multi-speed and forward (reverse) commands enable position control during servo operation. This position feed function does not return to the home position.
  • Page 70: Setting The Electronic Gear

    Position control (Pr. 419 to Pr. 430, Pr. 464 to Pr. 494) (2) Operation by position command using parameters Sudden stop when STF turns off Shaded part is the travel Feed amount pulses Feed speed Pr.466 10000 Pr.465 Pr.4 Speed Pr.
  • Page 71 Position control (Pr. 419 to Pr. 430, Pr. 464 to Pr. 494) "Setting example 1" The travel per pulse is ∆ = 0.01 (mm) in a drive system where the ballscrew pitch PB = 10 (mm) and the reduction ratio 1/n = 1 and the electronic gear ratio is ∆s = 10 (mm) when the number of feedback pulses Pf = 4000 (pulse/rev).
  • Page 72: In-position Width (pr. 426)

    Position control (Pr. 419 to Pr. 430, Pr. 464 to Pr. 494) 2.7.6 In-position width (Pr. 426) The Y36 terminal signal acts as an in-position signal. The in-position signal turns on when the number of droop pulses becomes less than the setting. 2.7.7 Excessive level error (Pr.
  • Page 73: Troubleshooting

    Position control (Pr. 419 to Pr. 430, Pr. 464 to Pr. 494) 2.7.10 Troubleshooting Phenomenon Cause Corrective Action Motor does not rotate. (1) The phase sequence of the (1) Check the wiring. (Refer to page 4) motor or encoder wiring is wrong.
  • Page 74: Position Control Is Not Exercised Normally

    Position control (Pr. 419 to Pr. 430, Pr. 464 to Pr. 494) 2.7.11 Position control is not exercised normally (1) Position control Position control is not exercised normally. Have you checked the speed control items? Check the speed control techniques. Does a position shift occur? Have you made the...
  • Page 75 MEMO...
  • Page 76: Vector Control Without Encoder

    VECTOR CONTROL WITHOUT ENCODER This chapter explains the basic "adjustment for vector control" for use of this product. Always read the instructions and other information before using the equipment. 3.1 Speed control (without encoder) ......68 3.2 Fine adjustment of gains for speed control (without encoder) ..........69 3.3 Torque control (without encoder) ......73 3.4 Fine adjustment for torque control (without...
  • Page 77: Speed Control (without Encoder)

    Speed control (without encoder) This inverter can control a motor under speed or torque control. (As required, set "1" (extended function parameters valid) in Pr. 160 "extended function selection".) Refer to page 163 for details of Pr. 160 "extended function selection". (Since the factory setting of Pr. 77 is "0", perform parameter write in the PU mode or during a stop.) 3.1 Speed control (without encoder) 3.1.1...
  • Page 78: Fine Adjustment Of Gains For Speed Control (without Encoder)

    Fine adjustment of gains for speed control (without encoder) 3.2 Fine adjustment of gains for speed control (without encoder) Make adjustment when vibration, noise or any other unfavorable phenomenon occurs due to large load inertia or gear backlash, for example, or when you want to exhibit the best performance that matches the machine. 3.2.1 Control block diagram Speed...
  • Page 79: Concept Of Adjustment Of Manual Input Speed Control Gains

    Fine adjustment of gains for speed control (without encoder) 3.2.2 Concept of adjustment of manual input speed control gains Speed control P gain 1 Pr. 820 = 60% is equivalent to 120rad/s (speed responce of the Proportional gain motor alone). (factory setting) Increasing the proportional gain increases the response level.
  • Page 80: Troubleshooting

    Fine adjustment of gains for speed control (without encoder) 3.2.4 Troubleshooting Phenomenon Cause Corrective Action Motor does not run at (1) The speed command from the (1) Check that a correct speed command comes from correct speed. command device is incorrect. the command device.
  • Page 81: Speed Feed Forward Control (pr. 877 To Pr. 881)

    Fine adjustment of gains for speed control (without encoder) 3.2.5 Speed feed forward control (Pr. 877 to Pr. 881) By making parameter setting, select the speed feed forward control. The speed feed forward control enhances the trackability of the motor in response to a speed command change.
  • Page 82: Torque Control (without Encoder)

    Torque control (without encoder) 3.3 Torque control (without encoder) 3.3.1 Outline of torque control The basics of torque control are explained in the Instruction Manual (basic). Set any of "11 (torque control) and 12 (speed-torque switchover)" in Pr. 800 "control system selection" to make torque control valid.
  • Page 83: Fine Adjustment For Torque Control (without Encoder)

    Fine adjustment for torque control (without encoder) 3.4 Fine adjustment for torque control (without encoder) Current loop gain parameter for adjusting torque control operation state is available with the FR-V500 series. Stable operation is possible with the factory-set parameter. Refer to the next page and adjust the parameters when torque pulsation or any other unfavorable phenomenon occurs depending on the machine and operating conditions or when you want to exhibit the best performance that matches the machine.
  • Page 84: Gain Adjustment For Torque Control (without Encoder)

    Gain adjustment for torque control (without encoder) 3.5 Gain adjustment for torque control (without encoder) When exercising torque control, perform online auto tuning (start time tuning "Pr. 95 = 1"). (Refer to the Instruction Manual (basic).) 3.5.1 Concept of torque control gains (1) Torque control P gain 1 2000rad/s when Pr.
  • Page 85: Troubleshooting

    Gain adjustment for torque control (without encoder) 3.5.3 Troubleshooting Phenomenon Cause Corrective Action Torque control is not (1) The phase sequence of the (1) Check the wiring. (Refer to page 4.) exercised normally. motor or encoder wiring is wrong. (2) The control mode selection, Pr. (2) Check the Pr.
  • Page 86: Parameters

    PARAMETERS This chapter explains the "parameters" for use of this product. Always read the instructions and other information before using the equipment. The following marks indicate availability of parameters under each control. with without Encoder Encoder : Available under speed control in the vector control with encoder Speed system and vector control without encoder system with...
  • Page 87: Parameter Lists

    Parameter lists 4.1 Parameter lists The inverter is factory-set to display only the simple mode parameters. Set Pr. 160 "extended function selection" as required. Factory Setting Parameter Name Remarks Setting Range Accessible to only the simple mode parameters. Extended function selection Accessible to all parameters.
  • Page 88 Parameter lists Minimum Custo Parameter Refer Function Name Setting Range Setting Factory Setting Increments Setting Acceleration/deceleration pattern 0, 1, 2, 3, 4 Regenerative function selection 0, 1, 2 0 to 3600r/min, Speed jump 1A 1r/min 9999 9999 0 to 3600r/min, Speed jump 1B 1r/min 9999...
  • Page 89 Parameter lists Minimum Custo Parameter Refer Function Name Setting Range Setting Factory Setting Increments Setting 0 to 3600/0 to Third acceleration/deceleration time 0.1s/0.01s 360s Third functions 0 to 3600/0 to Third deceleration time 0.1s/0.01s 9999 360s, 9999 Output terminal Third speed detection 0 to 3600r/min 1r/min 1800r/min...
  • Page 90 Parameter lists Minimum Custo Parameter Refer Function Name Setting Range Setting Factory Setting Increments Setting 0 to 3600r/min, Multi-speed setting (speed 10) 1r/min 9999 9999 0 to 3600r/min, Multi-speed setting (speed 11) 1r/min 9999 9999 0 to 3600r/min, Multi-speed setting (speed 12) 1r/min 9999 9999...
  • Page 91 Parameter lists Minimum Custo Parameter Refer Function Name Setting Range Setting Factory Setting Increments Setting Command pulse scaling factor 0 to 32767 denominator Position loop gain 0 to 150s Position feed forward gain 0 to 100% Position command acceleration/ Position control 0 to 50s 0.001s deceleration time constant...
  • Page 92 Parameter lists Minimum Custo Parameter Refer Function Name Setting Range Setting Factory Setting Increments Setting Digital position control sudden stop 0 to 360.0s 0.1s deceleration time 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 0 to 9999...
  • Page 93 Parameter lists Minimum Custo Parameter Refer Function Name Setting Range Setting Factory Setting Increments Setting Torque restriction input method selection 0, 1 Torque restriction level (regeneration) 0 to 400%, 9999 0.1% 9999 Torque restriction level (3rd quadrant) 0 to 400%, 9999 0.1% 9999 Torque restriction level (4th quadrant)
  • Page 94 Parameter lists Minimum Custo Parameter Refer Function Name Setting Range Setting Factory Setting Increments Setting Speed feed forward control/model 0, 1, 2 adaptive speed control selection Speed feed forward filter 0 to 1s 0.01s Control system functions Speed feed forward torque restriction 0 to 400% 0.1% 150%...
  • Page 95: At-a-glance Guide To Functions

    At-a-glance guide to functions 4.2 At-a-glance guide to functions ..Usable function, × ..Unusable function Vector with Vector without Control encoder encoder Function "Motor with Applicable encoder (standard, Vector Motor constant torque)" control *: This function can dedicated be usable under motor position control by parameter setting.
  • Page 96 At-a-glance guide to functions Vector with Vector without Control encoder encoder Function "Motor with Applicable encoder (standard, Vector Motor constant torque)" control *: This function can dedicated be usable under motor position control by parameter setting. Pr. number Terminal × ×...
  • Page 97 At-a-glance guide to functions Vector with Vector without Control encoder encoder Function "Motor with Applicable encoder (standard, Vector Motor constant torque)" control *: This function can dedicated be usable under motor position control by parameter setting. Pr. number Terminal Input terminal monitor, output terminal monitor —...
  • Page 98: Basic Functions (pr. 0 To Pr. 9)

    Basic functions (Pr. 0 to Pr. 9) 4.3 Basic functions (Pr. 0 to Pr. 9) 4.3.1 Torque boost (Pr. 0) Use this parameter for V/F control only. Motor torque in the low speed region can be adjusted according to the load to increase the starting motor torque.
  • Page 99: Base Frequency, Base Frequency Voltage (pr. 3, Pr. 19)

    Basic functions (Pr. 0 to Pr. 9) 4.3.3 Base frequency, base frequency voltage (Pr. 3, Pr. 19) Use this parameter for V/F control only. This parameter matches the inverter outputs (voltage, frequency) to the motor rating. Setting Parameter Name Factory Setting Remarks Range Base frequency...
  • Page 100: Acceleration And Deceleration Times (pr. 7, Pr. 8, Pr. 20, Pr. 21, Pr. 44, Pr. 45, Pr. 110, Pr. 111)

    Basic functions (Pr. 0 to Pr. 9) Parameter Name Factory Setting Setting Range Remarks Multi-speed setting (high speed) 1800r/min 0 to 3600r/min Simple mode Multi-speed setting 750r/min 0 to 3600r/min Simple mode (middle speed) Multi-speed setting (low speed) 150r/min 0 to 3600r/min Simple mode Multi-speed setting 0 to 3600r/min,...
  • Page 101 Basic functions (Pr. 0 to Pr. 9) Setting Parameter Name Factory Setting Remarks Range 5s/15s 0 to 3600s Acceleration time (3.7K or less/7.5K or Simple mode 0 to 360s more) 5s/15s 0 to 3600s Deceleration time (3.7K or less/7.5K or Simple mode 0 to 360s more)
  • Page 102: Motor Overheat Protection (pr. 9, Pr. 452, Pr. 876 )

    Basic functions (Pr. 0 to Pr. 9) with without with without Condi- tional PLC Encoder Encoder Encoder Encoder 4.3.6 Motor overheat protection (Pr. 9, Pr. 452, Pr. 876 Torque Position Speed When an external thermal relay is not used, protect the motor from overheat by integration processing of the inverter output current.
  • Page 103 Basic functions (Pr. 0 to Pr. 9) REMARKS • When running two motors with one inverter, you can set the electronic thermal relay function of each inverter. Pr. 452 First Motor Electronic Second Motor Electronic Pr. 9 Pr. 450 "second Thermal Relay Function Thermal Relay Function "electronic...
  • Page 104: Standard Operation Functions (pr. 10 To Pr. 16)

    Standard operation functions (Pr. 10 to Pr. 16) 4.4 Standard operation functions (Pr. 10 to Pr. 16) with without with without Encoder Encoder Encoder Encoder 4.4.1 DC injection brake operation (Pr. 10, Pr.11 Torque Speed with without with without with without Condi- with...
  • Page 105 Standard operation functions (Pr. 10 to Pr. 16) The control block diagram during pre-excitation Pr.802 = 0 0r/min speed command 0rad position command Position control Speed control Motor Pr.802 = 1 Timing chart Speed DC injection brake operation speed (Pr. 10) LX pre-excitation Pre-excitation operation Normal operation...
  • Page 106: Starting Speed (pr. 13)

    Standard operation functions (Pr. 10 to Pr. 16) CAUTION Install a mechanical brake. After the machine stops fully and the mechanical brake is applied, switch the LX signal (pre- excitation) off. Related parameters ⇒ • DC injection brake operation speed when Pr. 10 = 9999 Pr.
  • Page 107: Jog Operation (pr. 15, Pr. 16)

    Operation selection functions 1 (Pr. 17 to Pr. 37) with without with without Encoder Encoder Encoder Encoder 4.4.3 Jog operation (Pr. 15, Pr. 16 Torque Speed To start/stop jog operation in the external operation Output speed (r/min) mode, choose the jog operation function in input Pr.20 terminal function selection, turn on the jog signal, and Jog speed...
  • Page 108 Operation selection functions 1 (Pr. 17 to Pr. 37) <Wiring example> For sink logic Setting 0 (factory setting) Setting 2 Inverter Inverter Output Output stop stop REMARKS • Set the MRS signal using the input terminal function selection (Pr. 180 to Pr. 183, Pr. 187). •...
  • Page 109: Torque Restriction (pr. 22, Pr. 803, Pr. 810, Pr. 812 To Pr. 817)

    Operation selection functions 1 (Pr. 17 to Pr. 37) with without Condi- tional PLC Encoder Encoder 4.5.2 Torque restriction (Pr. 22 Position Speed with without with without Condi- with without Condi- tional PLC tional PLC Encoder Encoder Encoder Encoder Encoder Encoder Pr.
  • Page 110: Rh, Rm, Rl Signal Input Compensation (pr. 28)

    Operation selection functions 1 (Pr. 17 to Pr. 37) <Setting> Pr. 810 Setting Torque Restriction Input Method Operation Parameter-set torque restriction operation is performed. Internal torque restriction Changing the torque restriction parameter value by communication enables torque restriction to be adjusted by communication. Torque restriction using the analog voltage from the terminal 3 is External torque restriction made valid.
  • Page 111: S-pattern Acceleration/deceleration Curve (pr. 29, Pr. 140 To Pr. 143, Pr. 380 To Pr. 383)

    Operation selection functions 1 (Pr. 17 to Pr. 37) 4.5.4 S-pattern acceleration/deceleration curve (Pr. 29, Pr. 140 to Pr. 143, Pr. 380 to with without with without Encoder Encoder Encoder Encoder Pr. 383 Torque Speed When you have changed the preset speed during start, acceleration, deceleration, stop, or operation, you can change the running speed by acceleration/deceleration to make adjustment to reach the preset speed.
  • Page 112 Operation selection functions 1 (Pr. 17 to Pr. 37) <Setting> Pr. 29 Function Description Operation Setting [Linear acceleration /deceleration] Linear acceleration/ Acceleration/deceleration is made linearly up/down to Output speed deceleration the preset speed . (r/min) (factory setting) Time The motor torque is utilized effectively to make fast acceleration/deceleration in a large motor-generated torque area and smooth acceleration/deceleration in a small motor-generated torque area.
  • Page 113 Operation selection functions 1 (Pr. 17 to Pr. 37) Pr. 29 = 4 (S-pattern acceleration/deceleration C) The S-pattern acceleration/deceleration C switch signal (X20) changes an acceleration/deceleration curve. Pr.381 Pr.382 CAUTION Change the S pattern acceleration/ deceleration C switch (X20) after the speed Pr.382 becomes constant.
  • Page 114: Regenerative Brake Duty (pr. 30, Pr. 70)

    When using the built-in brake resistor, brake unit or power regeneration converter Set "0" in Pr. 30. The Pr. 70 setting is made invalid. At this time, the regenerative brake duty is as follows. •FR-V560-7.5K or less ....2% •FR-V560-15K or more....0% When using the high-duty brake resistor •...
  • Page 115: Speed Jump (pr. 31 To Pr. 36)

    Operation selection functions 1 (Pr. 17 to Pr. 37) with without with without Encoder Encoder Encoder Encoder 4.5.6 Speed jump (Pr. 31 to Pr. 36 Torque Speed When it is desired to avoid resonance attributable Speed jump to the natural frequency of a mechanical system, Pr.36 these parameters allow resonance occurrence Pr.35...
  • Page 116 Operation selection functions 1 (Pr. 17 to Pr. 37) <Setting> • To display the machine speed, set in Pr. 37 the machine speed for 1800r/min operation. • To display the motor frequency, set the number of motor poles (2, 4, 6, 8, 10) in Pr. 144. •...
  • Page 117: Output Terminal Functions (pr. 41 To Pr. 50)

    Output terminal functions (Pr. 41 to Pr. 50) 4.6 Output terminal functions (Pr. 41 to Pr. 50) with without Encoder Encoder 4.6.1 Up-to-speed sensitivity (Pr. 41 Speed You can adjust the ON range of the up-to-speed signal (SU) Running speed Adjustable range output when the output speed reaches the running speed.
  • Page 118 Output terminal functions (Pr. 41 to Pr. 50) Forward rotation Pr.116 Pr.50 Pr.42 Time Motor Pr.43 speed (r/min) Pr.50 Pr.116 Reverse rotation Output signal FU/FB FU2/FB2 FU3/FB3 REMARKS The speed command value indicates the last speed command value given after acceleration/deceleration processing. CAUTION •...
  • Page 119: Display Functions 1 (pr. 52 To Pr. 56)

    Display functions 1 (Pr. 52 to Pr. 56) 4.7 Display functions 1 (Pr. 52 to Pr. 56) 4.7.1 Monitor display/DA1, DA2 terminal function selection with without with without Condi- tional PLC Encoder Encoder Encoder Encoder (Pr. 52 to Pr. 54, Pr. 158 Torque Position Speed...
  • Page 120 Display functions 1 (Pr. 52 to Pr. 56) Parameter Settings Full-Scale Value Pr. 52 Pr. 53 Pr. 54 Pr. 158 Signal of the Level Display ± Output Description Unit Type Meter Connected PU main PU level terminal terminal DU LED monitor meter 12 bits...
  • Page 121 Display functions 1 (Pr. 52 to Pr. 56) Parameter Settings Full-Scale Value Pr. 52 Pr. 53 Pr. 54 Pr. 158 Signal of the Level Display ± Output Description Unit Type Meter Connected PU main PU level terminal terminal DU LED monitor meter 12 bits...
  • Page 122: Monitoring Reference (pr. 55, Pr. 56, Pr. 866)

    Display functions 1 (Pr. 52 to Pr. 56) REMARKS Where to monitor the data set in Pr. 52 varies with the setting. Factory setting * The monitor displayed at powering on is the first monitor. To set the first monitor, press for more than 1.5s.
  • Page 123: Automatic Restart (pr. 57, Pr. 58)

    Automatic restart (Pr. 57, Pr. 58) 4.8 Automatic restart (Pr. 57, Pr. 58) 4.8.1 Automatic restart after instantaneous power failure with without with without with without with without Encoder Encoder Encoder Encoder Encoder Encoder Encoder Encoder (Pr. 57 , Pr. 58, Pr. 162 to Pr. 165 Speed Torque Speed...
  • Page 124 Automatic restart (Pr. 57, Pr. 58) <Setting> Refer to the above figures and following table to set the corresponding parameters. Parameter Setting Description Number 0.1s coasting time This setting may be used without problem during vector control. Waiting time for inverter-triggered restart after power is restored from an instantaneous power failure. (Set this time between 0.1s and 5s according to the inertia moment (J) and torque magnitude.) REMARKS 0.1 to 5s...
  • Page 125: Additional Functions (pr. 59)

    Additional functions (Pr. 59) 4.9 Additional functions (Pr. 59) with without with without Encoder Encoder Encoder Encoder 4.9.1 Remote setting function selection (Pr. 59 Torque Speed Even if the operation panel is located away from the control box, you can use contact signals to perform continuous variable-speed operation, without using analog signals.
  • Page 126 Additional functions (Pr. 59) <Speed setting storage conditions> • Speed at which the start signal (STF or STR) turns off • The remotely-set speed is stored every one minute after one minute has elapsed since turn off (on) of both the RH (acceleration) and RM (deceleration) signals.
  • Page 127: Brake Sequence (pr. 60, Pr. 278 To Pr. 285)

    Brake sequence (Pr. 60, Pr. 278 to Pr. 285) 4.10 Brake sequence (Pr. 60, Pr. 278 to Pr. 285) with with without without Encoder Encoder Encoder Encoder 4.10.1 Brake sequence function (Pr. 60, Pr. 278 to Pr. 285 Speed Speed The inverter automatically sets appropriate parameters for operation.
  • Page 128 Brake sequence (Pr. 60, Pr. 278 to Pr. 285) (2) Operation example • At start: When the start signal is input to the inverter, the inverter starts running. When the internal speed command reaches the value set in Pr. 278 and the output current is not less than the value set in Pr. 279, the inverter outputs the brake opening request signal (BOF) after the time set in Pr.
  • Page 129 Brake sequence (Pr. 60, Pr. 278 to Pr. 285) (3) Parameter setting 1. Set speed control in Pr.800 "control system selection". (Refer to page 182.) 2. Set "7 or 8" (brake sequence mode) in Pr. 60. To ensure more complete sequence control, it is recommended to set "7" (brake opening completion signal input) in Pr.
  • Page 130: Operation Selection Function 2 (pr. 65 To Pr. 79)

    Operation selection function 2 (Pr. 65 to Pr. 79) (5) Protective functions If any of the following errors occurs in the brake sequence mode, the inverter results in an alarm, shuts off the output, and turns off the brake opening request signal (BOF terminal). On the operation panel (FR-DU04 ) LED or parameter unit (FR-PU04V) screen, the following errors are displayed: Error Display...
  • Page 131 Operation selection function 2 (Pr. 65 to Pr. 79) Errors Reset for Retry Pr. 65 Remarks Error definition Abbreviation Option 2 alarm E.OP2 Option 3 alarm E.OP3 Storage device alarm E.PE PU disconnection E.PUE Retry count excess E.RET CPU error E.CPU Fan stop E.FAN...
  • Page 132: Applied Motor (pr. 71, Pr. 450)

    Operation selection function 2 (Pr. 65 to Pr. 79) with without with without Condi- tional PLC Encoder Encoder Encoder Encoder 4.11.2 Applied motor (Pr. 71, Pr. 450 Torque Position Speed Set the motor used. Refer to page 8 for the motor setting, etc. Parameter Name Factory Setting...
  • Page 133: Pwm Carrier Frequency Selection (pr. 72, Pr. 240)

    Operation selection function 2 (Pr. 65 to Pr. 79) with without with without Condi- tional PLC Encoder Encoder Encoder Encoder 4.11.3 PWM carrier frequency selection (Pr. 72, Pr. 240 Torque Position Speed By parameter setting, you can set to exercise the Soft-PWM control that changes the motor tone . •...
  • Page 134: Speed Setting Signal On/off Selection (pr. 73)

    Operation selection function 2 (Pr. 65 to Pr. 79) with without with without Encoder Encoder Encoder Encoder 4.11.4 Speed setting signal on/off selection (Pr. 73 Torque Speed You can select the override function to make main speed setting with the speed setting auxiliary terminal 1. Using Pr.
  • Page 135 Operation selection function 2 (Pr. 65 to Pr. 79) (a) When Pr. 73 "speed setting signal" value is "0" The voltage across terminals 1-5 is added to the voltage signal (positive) across terminals 2-5. If the result of addition is negative, it is regarded as 0 and the motor comes to a stop. (b) When Pr.
  • Page 136: Reset Selection/disconnected Pu Detection/pu Stop Selection (pr. 75)

    Operation selection function 2 (Pr. 65 to Pr. 79) 4.11.5 Reset selection/disconnected PU detection/PU stop selection with without with without Condi- tional PLC Encoder Encoder Encoder Encoder (Pr. 75 Torque Position Speed You can select the reset input acceptance, PU (FR-DU04- /FR-PU04V) connector disconnection detection function and PU stop function.
  • Page 137: Parameter Write Disable Selection (pr. 77)

    Operation selection function 2 (Pr. 65 to Pr. 79) STOP (2) Restarting method when stop was made by inputting from PU RESET 1) After the motor has decelerated to Speed a stop, turn off the STF or STR signal. Time 2) Press Operation panel ..
  • Page 138: Reverse Rotation Prevention Selection (pr. 78 )

    Operation selection function 2 (Pr. 65 to Pr. 79) with without with without Condi- tional PLC Encoder Encoder Encoder Encoder 4.11.7 Reverse rotation prevention selection (Pr. 78 Torque Position Speed This function can prevent any reverse rotation fault resulting from the mis-input of the start signal. POINT Used for a machine that runs only in one direction, e.g.
  • Page 139 Operation selection function 2 (Pr. 65 to Pr. 79) <Setting> In the following table, operation from the operation panel or parameter unit is abbreviated to PU operation. Pr. 79 Function Setting At power-on, the external operation mode is selected. You can change between the PU operation mode and external operation mode from the operation panel ( ) or parameter unit ( ).
  • Page 140 Operation selection function 2 (Pr. 65 to Pr. 79) (2) PU operation interlock The PU operation interlock function is designed to forcibly change the operation mode to the external operation mode when the X12 signal input turns off. This function prevents the inverter from being inoperative by the external command if the mode is accidentally left unswitched from the PU operation mode.
  • Page 141: Offline Auto Tuning (pr. 80 To Pr. 96)

    Offline auto tuning (Pr. 80 to Pr. 96) 4.12 Offline auto tuning (Pr. 80 to Pr. 96) 4.12.1 Offline auto tuning function with without with without Encoder Encoder Encoder Encoder (Pr. 9, Pr. 80, Pr. 81, Pr. 83, Pr. 84, Pr. 71, Pr. 96, Pr. 450, Pr. 452 Torque Speed If any other manufacturer’s motor is used, using the offline auto tuning function runs the motor with the...
  • Page 142: Execution Of Offline Auto Tuning

    Offline auto tuning (Pr. 80 to Pr. 96) (2) Parameters related to tuning of the second motor POINT Refer to page 41 when using the second motor. Parameter Name Setting Range Factory Setting Remarks Second applied motor Refer to page 123. Second electronic thermal O/L relay 0 to 500A, 9999 9999...
  • Page 143 Offline auto tuning (Pr. 80 to Pr. 96) (1) Parameter setting • Select Pr. 851 "number of encoder pulses" and Pr. 852 "encoder rotation direction" (Refer to page 10.) (It is not necessary to select when using the motor without encoder.) •...
  • Page 144 Offline auto tuning (Pr. 80 to Pr. 96) (4) Ending the offline auto tuning Confirm the Pr. 96 (Pr. 463) value. • Normal end: "3" or "103" is displayed. • Error end: "9", "91", "92" or "93" is displayed. • Forced end: "8"...
  • Page 145: Utilizing Or Changing Offline Auto Tuning Data For Use

    Offline auto tuning (Pr. 80 to Pr. 96) 4.12.4 Utilizing or changing offline auto tuning data for use <Setting the motor constants as desired> Pr. 90 to Pr. 94 (Pr. 458 to Pr. 462) (motor constants) may be set as desired in either of two ways; the data measured in the offline auto tuning are read and utilized or changed, or the motor constants are set without the offline auto tuning data being used.
  • Page 146: Setting The Motor Constants Directly

    Offline auto tuning (Pr. 80 to Pr. 96) 4.12.5 Setting the motor constants directly Offline auto tuning is not used. The Pr. 92 and Pr. 93 (Pr. 460, Pr. 461) motor constants may either be entered in [Ω] or in [mH]. Before starting operation, confirm which motor constant unit is used.
  • Page 147: Direct Input + Offline Auto Tuning

    Offline auto tuning (Pr. 80 to Pr. 96) 3. In the parameter setting mode, read the following parameters and set desired values. Parameter Number Name Setting Range Setting Increments Factory Setting Motor excitation current 82 (455) 0 to 500A 0.01A 9999 (no load current) 90 (458)
  • Page 148: Online Auto Tuning (pr. 95)

    Online auto tuning (Pr. 95) 4.13 Online auto tuning (Pr. 95) Excellent torque accuracy is provided by temperature compensation even if the secondary resistance value of the motor varies with the rise in the motor temperature. This function is effective or when stable, higher-torque operation is needed at low speed in vector control without encoder.
  • Page 149 Online auto tuning (Pr. 95) (2) Pr. 95 = "2" (normal tuning)/adaptive magnetic flux observer This function is effective for torque accuracy improvement when using the motor with encoder. The current flowing in the motor and the inverter output voltage are used to estimate/observe the magnetic flux in the motor.
  • Page 150: Communication Functions (pr. 117 To Pr. 124)

    Communication functions (Pr. 117 to Pr. 124) 4.14 Communication functions (Pr. 117 to Pr. 124) 4.14.1 Computer link operation (RS-485 communication) with without with without Condi- tional PLC Encoder Encoder Encoder Encoder (Pr. 117 to Pr. 124 Torque Position Speed Used to perform required settings for communication between the inverter and personal computer.
  • Page 151 Communication functions (Pr. 117 to Pr. 124) <Setting> To make communication between the personal computer and inverter, the initial settings of the communication specifications must be made to the inverter. Data communication cannot be made if the initial settings are not made or there is any setting error.
  • Page 152 Communication functions (Pr. 117 to Pr. 124) <Computer programming> (1) Communication procedure Data communication between the computer and inverter is made in the following procedure. When data are read Computer (Data flow) Inverter Time Inverter (Data flow) When data are written Computer If a retry must be made at occurrence of a data error, execute retry operation with the user program.
  • Page 153 Communication functions (Pr. 117 to Pr. 124) Reply data from the inverter to the computer during data write [No data error detected] [Data error detected] Error Inverter Inverter Format C Format D station station code number number Number of characters Number of characters Reply data from the inverter to the computer during data read [No data error detected]...
  • Page 154 Communication functions (Pr. 117 to Pr. 124) Waiting time Specify the waiting time between the receipt of data by the inverter from the computer and the transmission of reply data from the inverter. Set the waiting time in accordance with the response time of the computer between 0 and 150ms in 10ms increments.
  • Page 155 Communication functions (Pr. 117 to Pr. 124) Sum check code The sum check code is 2-digit ASCII (hexadecimal) representing the lower 1 byte (8 bits) of the sum (binary) derived from the checked ASCII data. (Example 1) Station Instruction Waiting Sum check Data time...
  • Page 156 Communication functions (Pr. 117 to Pr. 124) Instructions for the program When data from the computer has any error, the inverter does not accept that error. Hence, in the user program, always insert a retry program for data error. Since any data communication, such as operation command or monitoring, is always requested by the computer, the inverter will not return data without the computer's request.
  • Page 157: Setting Items And Set Data

    Communication functions (Pr. 117 to Pr. 124) <Setting items and set data> After completion of parameter setting, set the instruction codes and data and start communication from the computer to allow various types of operation control and monitoring. Number Instruction of Data Item Description...
  • Page 158 Communication functions (Pr. 117 to Pr. 124) Number Instruction of Data Item Description Code Digits Alarm definition H9696: Clears the error history. 4 digits all clear b1: Forward rotation (STF) (For example 1) b2: Reverse rotation (STR) Run command 2 digits [Example 1] H02 Forward rotation [Example 2] H00...
  • Page 159 Communication functions (Pr. 117 to Pr. 124) Number Instruction of Data Item Description Code Digits When reading/setting the bias/gain (data code H5E to H61, HDE to HE1) Second parameters parameter H00: Speed/torque changing 2 digits H01: Analog (Code H02: Analog value of terminal (When written, the data value is any 4-digit FF=1) value.) REMARKS...
  • Page 160 Communication functions (Pr. 117 to Pr. 124) (6) Communication specifications for RS-485 communication Operation Mode Communication Computer link operation Operation Location Item operation from External operation (When plug-in PU connector option is used) Run command (start) Enable Disable Disable Enable Running speed setting Enable (Combined...
  • Page 161: E2prom Write Selection (pr. 342)

    PID control (Pr. 128 to Pr. 134) 4.14.2 E PROM write selection (Pr. 342) You can select either E PROM or RAM to which parameters to be written during computer link communication operation (RS-485 communication by PU connector) and operation with a communication option. When changing the parameter values frequently, write them to the RAM (Pr.
  • Page 162 PID control (Pr. 128 to Pr. 134) (2) PID action overview PI action A combination of proportional control action (P) and integral control action (I) for providing a manipulated variable in response to deviation and changes with time. [Operation example for stepped changes of process value] Deviation Set point CAUTION Process value...
  • Page 163 PID control (Pr. 128 to Pr. 134) Forward action Increases the manipulated variable (output speed) if deviation X (set point - process value) is negative, and decreases the manipulated variable if deviation is positive. Process value [Cooling] Set point X > 0 Too cold fi down Set point...
  • Page 164 PID control (Pr. 128 to Pr. 134) (4) I/O signals Terminal Signal Function Description Remarks Used Depending on PID control Turn on X14 to select PID Pr. 180 to 183, Set any of 10, 11, 30 and 31 in Pr. 128. selection control.
  • Page 165 PID control (Pr. 128 to Pr. 134) (5) Parameter setting Parameter Setting Name Description Number For heating, pressure control, Deviation value PID reverse action etc. signal input (terminal 1) For cooling, etc. PID forward action PID action selection For heating, pressure control, PID reverse action Process value input etc.
  • Page 166 PID control (Pr. 128 to Pr. 134) (7) Adjustment example (A detector of 0V at 0°C (32°F) and 10V at 50°C (122°F) is used to adjust the room temperature to 25°C (77°F) under PID control. The set point is given to across inverter terminals 2-5 (0 to 10V).) START Convert the set Detector specifications...
  • Page 167 PID control (Pr. 128 to Pr. 134) (8) Calibration example <Set point input calibration> 1. Apply the input voltage of 0% set point setting (e.g. 0V) to across terminals 2-5. 2. Make calibration using Pr. 902. At this time, enter the speed output by the inverter at the deviation of 0% (e.g. 0r/ min).
  • Page 168: Current Detection (pr. 150 To Pr. 153)

    Current detection (Pr. 150 to Pr. 153) 4.16 Current detection (Pr. 150 to Pr. 153) with without with without Condi- tional PLC Encoder Encoder Encoder Encoder 4.16.1 Output current detection function (Pr. 150, Pr. 151 Torque Position Speed If the output current remains higher than the Pr. 150 setting during inverter operation for longer than the period set in Pr.
  • Page 169: Zero Current Detection (pr. 152, Pr. 153)

    Current detection (Pr. 150 to Pr. 153) with without with without Condi- tional PLC Encoder Encoder Encoder Encoder 4.16.2 Zero current detection (Pr. 152, Pr. 153 Torque Position Speed When the inverter's output current falls to "0", torque will not be generated. This may cause a gravity drop to occur when the inverter is used in vertical lift application.
  • Page 170: Auxiliary Functions (pr. 156, Pr. 157)

    Auxiliary functions (Pr. 156, Pr. 157) 4.17 Auxiliary functions (Pr. 156, Pr. 157) with without with without Condi- tional PLC Encoder Encoder Encoder Encoder 4.17.1 Stall prevention operation selection (Pr. 156 Torque Position Speed Make setting to disable stall prevention activated by overcurrent and/or to prevent the inverter from resulting in an overcurrent trip if an excessive current flows due to sudden load fluctuation or running inverter output side ON-OFF (to disable high-response current restriction that limits the current).
  • Page 171: Ol Signal Output Timer (pr. 157)

    Auxiliary functions (Pr. 156, Pr. 157) CAUTION 1. When "Operation not continued for OL signal output" is selected, the "E. OLT" alarm code (stopped by stall prevention) is displayed and operation stopped. (Alarm stop display "E. OLT") 2. For the lift application, make setting to disable high-response current restriction. Otherwise the torque may not be generated, resulting in the lift drop with gravity.
  • Page 172: Display Function 3 (pr. 160)

    Display function 3 (Pr. 160) 4.18 Display function 3 (Pr. 160) with without with without Condi- tional PLC Encoder Encoder Encoder Encoder 4.18.1 Extended function display selection (Pr. 160 Torque Position Speed Used to display the extended function parameters. Refer to page 78 for the extended function parameter list. Factory Setting Parameter...
  • Page 173 Terminal assignment functions (Pr. 180 to Pr. 195) <Setting> Refer to the following table and set the parameters. Signal Response Setting Functions Related Parameters Name Time Pr. 4 to Pr. 6, Pr. 24 to Pr. Pr. 59 = 0 Low speed operation command 27, Pr.
  • Page 174: Output Terminal Function Selection (pr. 190 To Pr. 192, Pr. 195)

    Terminal assignment functions (Pr. 180 to Pr. 195) 4.20.2 Output terminal function selection with without with without Condi- tional PLC Encoder Encoder Encoder Encoder (Pr. 190 to Pr. 192, Pr. 195 Torque Position Speed You can change the functions of the open collector output terminal and contact output terminal. Factory- Parameter Name...
  • Page 175 Terminal assignment functions (Pr. 180 to Pr. 195) Setting Signal Related Response Function Operation Positive Negative Name Parameters Time logic logic FAN Fan fault output Output at the time of a fan fault. Pr. 244 Output when the heatsink temperature reaches Fin overheat about 85% of the fin overheat protection activating ...
  • Page 176: Auxiliary Function (pr. 244)

    Auxiliary function (Pr. 244) 4.21 Auxiliary function (Pr. 244) with without with without Condi- tional PLC Encoder Encoder Encoder Encoder 4.21.1 Cooling fan operation selection (Pr. 244 Position Speed Torque You can control the operation of the cooling fan built in the inverter. Setting Parameter Name...
  • Page 177: Operation Selection Function (pr. 251)

    Operation selection function (Pr. 251) (1) Pr. 250 = "9999" When the start signal turns off, the motor is decelerated to a stop. Start signal Decelerated when start signal turns off. Deceleration time (time set in Pr. 8, etc.) Output speed (r/min) DC brake...
  • Page 178: Additional Function 2 (pr. 252, Pr. 253)

    Additional function 2 (Pr. 252, Pr. 253) 4.24 Additional function 2 (Pr. 252, Pr. 253) with without with without Encoder Encoder Encoder Encoder 4.24.1 Override bias, gain (Pr. 252, Pr. 253 Speed Torque When override is selected in Pr. 73 "speed setting signal", the override range of 50% to 150% can be increased (to between 0% and 200%) as desired.
  • Page 179 Power failure stop functions (Pr. 261 to Pr. 266) <Setting> Parameter Setting Description Coasting to stop When undervoltage or power failure occurs, the inverter output is shut off. When undervoltage or power failure occurs, the inverter is decelerated to a stop. Normally, operation can be performed with the factory setting unchanged, but the speed 0 to 600r/min can be adjusted within the range 0 to 600r/min according to the load specifications...
  • Page 180: Droop (pr. 286 To Pr. 288)

    Droop (Pr. 286 to Pr. 288) 4.26 Droop (Pr. 286 to Pr. 288) with without with without Encoder Encoder Encoder Encoder 4.26.1 Droop control (Pr. 286, Pr. 287 , Pr. 288 Speed Speed This function is designed to balance the load in proportion to the load torque to provide the speed drooping characteristic.
  • Page 181: Orientation (pr. 350 To Pr. 362, Pr. 393 To Pr. 399)

    Orientation (Pr. 350 to Pr. 362, Pr. 393 to Pr. 399) 4.27 Orientation (Pr. 350 to Pr. 362, Pr. 393 to Pr. 399) 4.27.1 Orientation control (Pr. 350, Pr. 351, Pr. 356, Pr. 357, Pr. 360 to Pr. 362, Pr. 393, with without Encoder...
  • Page 182 Orientation (Pr. 350 to Pr. 362, Pr. 393 to Pr. 399) Selecting stop position command (Pr. 350 "stop position command selection") Select either the internal stop position command (Pr. 356) or the external stop position command (6/12/16-bit data). Pr. 350 Setting Type of Command Internal stop position command (Pr.
  • Page 183 Orientation (Pr. 350 to Pr. 362, Pr. 393 to Pr. 399) [Example 1] [Example 2] [Example 3] 4 stop positions 8 stop positions 120 stop positions Origin (0) Origin (0) Origin (0) (7 or more) 45°(1) 315° At intervals At intervals 270°...
  • Page 184 Orientation (Pr. 350 to Pr. 362, Pr. 393 to Pr. 399) (3) Setting the rotation direction (Pr. 393 "orientation selection") Pr. 393 setting Rotation Direction Type Remarks Orientation is executed from the current Pre-orientation (factory setting) rotation direction. Orientation is executed from the forward rotation direction.
  • Page 185 Orientation (Pr. 350 to Pr. 362, Pr. 393 to Pr. 399) (3) Orientation from the reverse rotation direction If the motor is running in the reverse rotation direction, it will orientation stop with the same method as orientation from the current rotation direction "...
  • Page 186 Orientation (Pr. 350 to Pr. 362, Pr. 393 to Pr. 399) (4) Fine adjustment of the orientation stop position (Pr. 361 "position shift" (factory setting: 0)) The orientation stop position will deviate by the value set x 360 / Pr. 851 number of encoder pulses °...
  • Page 187 Orientation (Pr. 350 to Pr. 362, Pr. 393 to Pr. 399) Pr. 399 "orientation deceleration ratio" (factory setting: 20) • Make adjustments as shown below according to the orientation status. (Refer to the Pr. 396 and Pr. 397 details also.) Generally adjust Pr.
  • Page 188: Control System Function (pr. 374)

    Control system function (Pr. 374) 4.28 Control system function (Pr. 374) with without with Condi- without tional PLC Encoder Encoder Encoder Encoder 4.28.1 Overspeed detection (Pr. 374 Position Speed Torque Excess of the motor speed over the overspeed detection level results in E.OS, stopping the output. This function is enabled only during speed control, torque control or position control under vector control with encoder.
  • Page 189: Position Control (pr. 419 To Pr. 430, Pr. 464 To Pr. 494)

    Position control (Pr. 419 to Pr. 430, Pr. 464 to Pr. 494) 4.29 Position control (Pr. 419 to Pr. 430, Pr. 464 to Pr. 494) Condi- tional PLC 4.29.1 Position control (Pr. 419 to Pr. 430, Pr. 464 to Pr. 494 Position Parameter Name...
  • Page 190: Remote Output (pr. 495 To Pr.497)

    Remote output (Pr. 495 to Pr.497) 4.30 Remote output (Pr. 495 to Pr.497) with without with without Condi- tional PLC Encoder Encoder Encoder Encoder 4.30.1 Remote output function (Pr. 495 to Pr.497 Torque Position Speed You can utilize the on/off of the inverter's output signals instead of the remote output function of the programmable controller.(Use Pr.
  • Page 191: Operation Selection Functions 4 (pr. 800 To Pr. 809)

    Operation selection functions 4 (Pr. 800 to Pr. 809) 4.31 Operation selection functions 4 (Pr. 800 to Pr. 809) with without with without Condi- tional PLC Encoder Encoder Encoder Encoder 4.31.1 Control selection (Pr. 800, Pr. 451 Torque Position Speed Used to select the control method.
  • Page 192 Operation selection functions 4 (Pr. 800 to Pr. 809) 1800r/min (60Hz) torque reference Cyclic operation mode setting Continuous operation mode setting 50%ED torque Continuous operation torque <2.2 to 55 (3 to 75) [kW (HP)]> <2.2 to 55 (3 to 75) [kW (HP)]> Torque(%) Torque(%) 2.2kW to 55kW (3HP to 75HP)
  • Page 193: Torque Command Right Selection (pr. 804 To Pr. 806)

    Operation selection functions 4 (Pr. 800 to Pr. 809) with without Encoder Encoder 4.31.3 Torque command right selection (Pr. 804 to Pr. 806 Torque When you selected torque control, you can choose the torque command. Parameter Name Factory Setting Setting Range Terminal 3 analog input Digital input from parameter Pr.
  • Page 194: Speed Restriction (pr. 807 To Pr. 809)

    Operation selection functions 4 (Pr. 800 to Pr. 809) with without Encoder Encoder 4.31.4 Speed restriction (Pr. 807 to Pr. 809 Torque When you selected torque control, set the speed restriction value to prevent the load torque from becoming less than the torque command value, resulting in motor overspeed. Parameter Name Factory Setting...
  • Page 195 Operation selection functions 4 (Pr. 800 to Pr. 809) (3) When Pr. 807 = 2 Using the analog input of the terminal 1, set the forward rotation and reverse rotation speed restriction levels. At this time, the speed restriction made on the analog input is as shown below. 1) When terminal 1 input is -10 to 0V 2) When terminal 1 input is 0V to 10V Reverse rotation speed restriction...
  • Page 196: Control System Functions (pr. 818 To Pr. 837)

    Control system functions (Pr. 818 to Pr. 837) 4.32 Control system functions (Pr. 818 to Pr. 837) with without Condi- tional PLC Encoder Encoder 4.32.1 Easy gain tuning selection (Pr. 818, Pr. 819 Position Speed The ratio of load inertia to motor inertia (load inertia moment ratio) is estimated in real time from the torque command and speed during motor operation under vector control with encoder, and this value is used to automatically set the optimum gain for speed/position control, reducing the time and effort of making gain adjustment.
  • Page 197: Speed Detection Filter Function (pr. 823, Pr. 833)

    Control system functions (Pr. 818 to Pr. 837) with without with Condi- without tional PLC Encoder Encoder Encoder Encoder 4.32.5 Speed detection filter function (Pr. 823, Pr. 833 Position Speed Torque Set the time constant of the primary delay filter relative to the speed feedback signal. Since this function reduces the speed loop response, use it with the factory setting.
  • Page 198: Torque Detection Filter Function (pr. 827, Pr. 837)

    Torque biases (Pr. 840 to Pr. 848) with without with without Condi- tional PLC Encoder Encoder Encoder Encoder 4.32.9 Torque detection filter function (Pr. 827, Pr. 837 Position Speed Torque Set the time constant of the primary delay filter relative to the torque feedback signal. Since the current loop response reduces, use it with the factory setting.
  • Page 199 Torque biases (Pr. 840 to Pr. 848) (1) Parameter details 1) Pr. 840 "torque bias selection" Select the setting method of the torque bias amount. Pr. 840 Setting Description Set the torque bias amount based on the contact signals (DI1 to DI4) in Pr. 841 to Pr. 843. To raise the cage when the motor runs in forward rotation direction.
  • Page 200 Torque biases (Pr. 840 to Pr. 848) • When Pr. 840 = 3 Pr. 904 "torque command No. 3 bias", Pr. 905 "torque command No. 3 gain" and Pr. 846 "torque bias balance compensation" can be set automatically according to the load. Pr.
  • Page 201: Additional Functions (pr. 851 To Pr. 865)

    Additional functions (Pr. 851 to Pr. 865) (2) Torque bias operation Speed Torque bias Pr.844 Torque bias filter Primary delay timeconstant Output torque Time when torque is Pr.845 generated by torque bias setting Pre-excitation LX Start signal *When pre-excitation is not made, the torque bias functions simultaneously with the start signal. Pr.
  • Page 202: Excitation Ratio (pr. 854)

    Additional functions (Pr. 851 to Pr. 865) with without with without Condi- tional PLC Encoder Encoder Encoder Encoder 4.34.3 Excitation ratio (Pr. 854 Torque Position Speed Decrease the excitation ratio when you want Excitation to improve efficiency under light load. (motor ratio magnetic noise decreases) Note that the rise of output torque becomes slow if excitation...
  • Page 203: Torque Detection (pr. 864)

    Additional functions (Pr. 851 to Pr. 865) with without with without Condi- tional PLC Encoder Encoder Encoder Encoder 4.34.5 Torque detection (Pr. 864 Torque Position Speed This function outputs a signal if the motor torque rises to or above the Pr. 864 setting. The signal is used as operation and open signal for an electromagnetic brake.
  • Page 204: Display Function (pr. 867)

    Display function (Pr. 867) 4.35 Display function (Pr. 867) with without with without Condi- tional PLC Encoder Encoder Encoder Encoder 4.35.1 DA1 output response level adjustment (Pr. 867 Position Speed Torque You can adjust the response level of the output voltage of the output signal DA1. Parameter Name Factory Setting...
  • Page 205: Protective Functions (pr. 870 To Pr. 874)

    Protective functions (Pr. 870 to Pr. 874) <Detailed operation> The following table indicates the functional combinations of the terminals 1, 2 and 3. Basically, the analog multiple functions are assigned to the terminal 1 alone and only one function may be selected for the multi-function analog input.
  • Page 206: Speed Restriction (pr. 873)

    Protective functions (Pr. 870 to Pr. 874) with without Encoder Encoder 4.37.2 Speed restriction (Pr. 873 Speed This function prevents the motor from Set speed Pr.873 setting overrunning when the setting of number of encoder pulses and the Pr.873 setting actual number differ.
  • Page 207: Operation Selection Functions 5 (pr. 875)

    Operation selection functions 5 (Pr. 875) 4.38 Operation selection functions 5 (Pr. 875) with without with without Encoder Encoder Encoder Encoder 4.38.1 Fault definition (Pr. 875 Torque Speed With the alarm definitions classified into major and minor faults, the base circuit is shut off immediately at occurrence of a major fault, or after deceleration to a stop at occurrence of a minor fault.
  • Page 208: Maintenance Function (pr. 890 To Pr. 892)

    Maintenance function (Pr. 890 to Pr. 892) 4.40 Maintenance function (Pr. 890 to Pr. 892) with without with without Condi- tional PLC Encoder Encoder Encoder Encoder 4.40.1 Maintenance output function (Pr. 890 to Pr. 892 Torque Position Speed When the cumulative operation time (Pr. 891 "maintenance output timer") of the inverter has elapsed the time set in Pr.
  • Page 209: Calibration Functions (pr. 900 To Pr. 920)

    Calibration functions (Pr. 900 to Pr. 920) 4.41 Calibration functions (Pr. 900 to Pr. 920) with without with without Condi- tional PLC Encoder Encoder Encoder Encoder 4.41.1 DA1/DA2 terminal calibration (Pr. 900, Pr. 901 Torque Position Speed Pr. 900 "DA1 terminal calibration" Pr.
  • Page 210 Calibration functions (Pr. 900 to Pr. 920) <Operation procedure> • When operation panel (FR-DU04 ) is used 1) Select the PU operation mode. 2) Set the speed. 3) Press 4) Read Pr. 900 "DA1 terminal calibration" or Pr. 901 "DA2 terminal calibration". 5) Press to run the inverter.
  • Page 211: Biases And Gains Of Speed Setting Terminals (speed Setting No. 2, Torque Command No. 3, Multi Function No. 1 Terminal) (pr. 902 To Pr. 905, Pr. 917 To Pr. 920)

    Calibration functions (Pr. 900 to Pr. 920) 4.41.2 Biases and gains of speed setting terminals (speed setting terminal 2, torque command terminal 3, multi function terminal 1) with without with without Condi- tional PLC Encoder Encoder Encoder Encoder (Pr. 902 to Pr. 905, Pr. 917 to Pr. 920 Torque Position Speed...
  • Page 212 Calibration functions (Pr. 900 to Pr. 920) <Setting> There are three methods to adjust the speed setting voltage bias and gain. 1) Method to adjust any point by application of voltage to across terminals 2-5 2) Method to adjust any point without application of voltage to across terminals 2-5 3) Method that does not adjust the bias voltage Pr.
  • Page 213 Calibration functions (Pr. 900 to Pr. 920) (4) Set the gain speed in Pr. 903 and display the analog voltage A/D value across terminals 2-5 in %. (To change to 1000r/min) Currently set gain speed Gain speed changing Analog voltage A/D value (%) across terminals 2-5 Press for FR-DU04 FR-DU04...
  • Page 214: Additional Function (pr. 990)

    Additional function (Pr. 990) CAUTION Take care when setting any value other than "0" as the bias speed at 0V. If a speed command is not given, merely turning on the start signal will start the motor at the preset speed. Related parameters •...
  • Page 215 MEMO...
  • Page 216: Protective Functions

    PROTECTIVE FUNCTIONS This chapter explains the "protective functions" for use of this product. Always read this instructions before using the equipment. 5.1 Errors (Alarms) ............208 5.2 Correspondences between digital and actual characters ..............218 5.3 Resetting the inverter ...........218...
  • Page 217: Errors (alarms)

    Errors (Alarms) 5.1 Errors (Alarms) If any fault has occurred in the inverter, the corresponding protective function is activated to bring the inverter to an alarm stop and automatically give the corresponding error (alarm) indication on the PU display. If the fault does not correspond to any of the following errors or if you have any other problem, please contact your sales representative or distributor.
  • Page 218 Errors (Alarms) Operation Panel E.OC3 FR-PU04V OC During Dec Indication Name Overcurrent shut-off during deceleration • When the inverter output current reaches or exceeds approximately 200% of the rated inverter current during deceleration (other than acceleration or constant speed), the protective circuit is Description activated to stop the inverter output.
  • Page 219 Errors (Alarms) Operation Panel E.THT FR-PU04V Inv. Overload Indication Name Inverter overload shut-off (electronic thermal relay function) (*3) If a current not less than 150% of the rated output current flows and overcurrent shut-off does not occur (200% or less), inverse-time characteristics cause the electronic thermal relay function to be Description activated to stop the inverter output in order to protect the output transistors.
  • Page 220 Errors (Alarms) Operation Panel E.GF FR-PU04V Ground Fault Indication Name Output side ground fault overcurrent protection This function stops the inverter output if an ground fault overcurrent flows due to an ground fault Description that occurred in the inverter's output (load) side. Check point Check for a ground fault in the motor and connection cable.
  • Page 221 Errors (Alarms) Operation Panel E. 1 to FR-PU04V Fault 1 to Fault 3 Indication E. 3 Name Option alarm Stops the inverter output if a contact fault or the like of the connector between the inverter and Description communication option occurs. Check that the communication option is plugged into the connector securely.
  • Page 222 Errors (Alarms) Operation Panel E.LF FR-PU04V Indication Name Output phase failure protection This function stops the inverter output if one of the three phases (U, V, W) on the inverter's output Description side (load side) opens. • Check the wiring (Check the motor for a fault.) Check point •...
  • Page 223 Errors (Alarms) Operation Panel E.CTE FR-PU04V — Indication • Check the PU and cable. Corrective action • Connect the cable securely. Change the cable. Operation Panel E.MB1 to 7 FR-PU04V — Indication Name Brake sequence error • The inverter output is stopped when a sequence error occurs during use of the brake sequence function (Pr.
  • Page 224: Minor Fault

    Errors (Alarms) Operation Panel E.ECA FR-PU04V No encoder A signal Indication Name Orientation encoder no-signal Description The encoder pulse for the FR-V5AM or FR-A5AP is not input. • Check that the FR-V5AM or FR-A5AP is connected correctly. • Check for a loose connector. Check point •...
  • Page 225 Errors (Alarms) Operation Panel FR-PU04V Indication Name PU stop STOP Appears when a stop was made by pressing of the operation panel or parameter unit (FR- RESET Description PU04V) during operation in the external operation mode with the Pr. 75 "reset selection/PU stop selection"...
  • Page 226: How To Recover From Pu Stop Error (ps)

    Errors (Alarms) 5.1.4 How to recover from PU stop error (PS) STOP (1) Restarting method when stop was made by pressing from operation panel RESET (Method of restarting from indication) After the motor has decelerated to a stop, turn off the STF or STR signal. Press MODE twice* to display...
  • Page 227: Correspondences Between Digital And Actual Characters

    Correspondences between digital and actual characters 5.2 Correspondences between digital and actual characters There are the following correspondences between the actual alphanumeric characters and the digital characters displayed on the operation panel. Actual Digital Actual Digital Actual Digital 5.3 Resetting the inverter The inverter can be reset by performing any of the following operations.
  • Page 228: Specifications

    SPECIFICATIONS This chapter explains the "specifications" for use of this product. Always read this instructions before use. 6.1 Model specifications ..........220 6.2 Common specifications........221 6.3 Outline dimension drawings ........222...
  • Page 229: Model Specifications

    Model specifications 6.1 Model specifications 575V class Type FR-V560-[][]K-NA Applied motor capacity (kW (HP)) (10) (20) (30) (50) (75) Rated capacity (kVA) (Caution 1) Rated current (A) Overload current rating (Caution 2) 150% 60s, 200% 0.5s (inverse-time characteristics) Voltage (Caution 3)
  • Page 230: Common Specifications

    ) or the parameter unit (FR- PU04V). 2. Not provided for the FR-V560-22K to 55K that do not have a built-in brake circuit. 3. Temperature applicable for a short period in transit, etc. 4. Not provided for the operation panel (FR-DU04...
  • Page 231: Outline Dimension Drawings

    Outline dimension drawings 6.3 Outline dimension drawings 6.3.1 Inverter outline dimension drawings FR-V560-2.2K, 3.7K, 7.5K-NA (6.69) (8.66) 2- 6 hole 10.5 (0.41) (0.24) (7.68) (7.60) (8.31) (Unit: mm (inches)) FR-V560-15K, 22K-NA (9.84) (7.48) 2- 10 hole 10.5 (0.41) (0.39) (9.06) (8.58)
  • Page 232 Outline dimension drawings FR-V560-37K, 55K-NA with the attachment for conduit connection 6- 12 hole 380 (14.96) 5.5 (0.22) 450 (17.72) 236 (9.29) 250 (9.84) (4.45) (4.45) (Unit: mm (inches)) FR-V560-37K, 55K-NA without the attachment for conduit connection 2- 12 hole 250 (9.84)
  • Page 233: Operation Panel (fr-du04-1) Outline Dimension Drawings

    Outline dimension drawings 6.3.2 Operation panel (FR-DU04 ) outline dimension drawings <Outline drawing> <Panel cut dimension drawing> 10.5 23.75 16.5 (0.65) (0.59) (0.94) (0.41) 72 (2.83) (0.94) 2-φ4 hole 2-M3 screw Effective depth 4.5 3.25 (0.13) 54 (2.13) 54 (2.13) Select the mounting screw whose length will not exceed the effective depth of the mounting screw hole.
  • Page 234: Appendix

    APPENDIX This chapter provides the "appendix" for use of this product. Always read this instructions before use. AppendixParameter Data Code Lists ......226...
  • Page 235: Appendix Parameter Data Code Lists

    Parameter Data Code Lists Appendix Parameter Data Code Lists Data Codes Parameter Link Parameter Expansion Setting Function Name (Instruction code 7F/FF) Read Write Torque boost (manual) Maximum speed (simple mode) Minimum speed (simple mode) Base frequency Multi-speed setting (high speed) (simple mode) Basic functions Multi-speed setting (middle speed) (simple mode) Multi-speed setting (low speed) (simple mode)
  • Page 236 Parameter Data Code Lists Data Codes Parameter Link Parameter Expansion Setting Function Name (Instruction code 7F/FF) Read Write Motor capacity (simple mode) Number of motor poles (simple mode) Motor excitation current (no load current) Rated motor voltage(simple mode) Rated motor frequency (simple mode) Motor constant R1 Motor constants Motor constant R2...
  • Page 237 Parameter Data Code Lists Data Codes Parameter Link Parameter Expansion Setting Function Name (Instruction code 7F/FF) Read Write Stop selection Stop selection function Operation selection Output phase failure protection selection function Override bias Additional functions Override gain Power failure stop selection Subtracted speed at deceleration start Subtraction starting speed Power failure stop...
  • Page 238 Parameter Data Code Lists Data Codes Parameter Link Parameter Expansion Setting Function Name (Instruction code 7F/FF) Read Write Stop position command selection Orientation switchover speed Internal stop position command In-position zone Orientation Orientation encoder rotation direction External position command selection Position shift Orientation position loop gain Number of orientation encoder pulses...
  • Page 239 Parameter Data Code Lists Data Codes Parameter Link Parameter Expansion Setting Function Name (Instruction code 7F/FF) Read Write Second applied motor Second motor control method selection Second electronic thermal O/L relay Second motor capacity Number of second motor poles Second exciting current Rated second motor voltage Motor constants Rated second motor frequency...
  • Page 240 Parameter Data Code Lists Data Codes Parameter Link Parameter Expansion Setting Function Name (Instruction code 7F/FF) Read Write Torque restriction input method selection Torque restriction level (regeneration) Torque restriction level (3 quadrant) Torque restriction level (4 quadrant) Torque restriction level 2 Acceleration torque restriction level Deceleration torque restriction level Easy gain tuning response level setting (simple...
  • Page 241 Parameter Data Code Lists Data Codes Parameter Link Parameter Expansion Setting Function Name (Instruction code 7F/FF) Read Write DA1 terminal calibration DA2 terminal calibration Speed setting No. 2 bias Speed setting No. 2 gain Torque command No. 3 bias Torque command No. 3 gain No.
  • Page 242 MEMO...
  • Page 243 REVISIONS *The manual number is given on the bottom left of the back cover. Print Date *Manual Number Revision Jun., 2003 IB(NA)-0600135E-A First edition...

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