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Mitsubishi Electric FR-A820-00046 (0.4K) Instruction Manual

Fr-a800 series
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INVERTER
FR-A800
INSTRUCTION MANUAL (DETAILED)
High functionality and high performance
FR-A820-00046(0.4K) to 04750(90K)(-GF)
FR-A840-00023(0.4K) to 06830(280K)(-GF)
FR-A842-07700(315K) to 12120(500K)(-GF)
FR-A846-00023(0.4K) to 03610(132K)

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Table of Contents
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  Summary of Contents for Mitsubishi Electric FR-A820-00046 (0.4K)

  • Page 1 INVERTER FR-A800 INSTRUCTION MANUAL (DETAILED) High functionality and high performance FR-A820-00046(0.4K) to 04750(90K)(-GF) FR-A840-00023(0.4K) to 06830(280K)(-GF) FR-A842-07700(315K) to 12120(500K)(-GF) FR-A846-00023(0.4K) to 03610(132K)
  • Page 2: Table Of Contents

    Safety instructions..............9 Chapter 1 INTRODUCTION .
  • Page 3 Parameter settings for a motor with encoder ........93 2.10 Connection of stand-alone option units .
  • Page 4 4.2.3 Displaying the set frequency ............... 141 Easy setting of the inverter operation mode .
  • Page 5 5.4.3 Setting procedure for Vector control (torque control) ........... . 268 5.4.4 Torque command .
  • Page 6 5.9.4 Reverse rotation prevention selection..............386 5.9.5 Frequency setting via pulse train input .
  • Page 7 5.14.7 Traverse function ................552 5.14.8 Anti-sway control.
  • Page 8 5.21.7 Troubleshooting ................735 Chapter 6 PROTECTIVE FUNCTIONS .
  • Page 9 Inverter rating ............. 790 Motor rating .
  • Page 10: Safety Instructions

    • A person who possesses a certification in regard with electric appliance handling, or person took a proper engineering training. Such training may be available at your local Mitsubishi Electric office. Contact your local sales office for schedules and locations.
  • Page 11: Fire Prevention

    Electric shock prevention WARNING  Do not remove the front cover or the wiring cover while the inverter power is ON, and do not run the inverter with the front cover or the wiring cover removed as the exposed high voltage terminals or the charging part of the circuitry can be touched.
  • Page 12 Injury prevention CAUTION  The voltage applied to each terminal must be as specified in the Instruction Manual. Otherwise burst, damage, etc. may occur.  The cables must be connected to the correct terminals. Otherwise burst, damage, etc. may occur. ...
  • Page 13 CAUTION Transportation and installing  Any person who is opening a package using a sharp object, such as a knife or cutter, must wear gloves to prevent injuries caused by the edge of the sharp object.  The product must be transported in correct method that corresponds to the weight. Failure to do so may lead to injuries. ...
  • Page 14 WARNING Usage  Any person must stay away from the inverter after using the retry function as the inverter will restart suddenly after inverter output shutoff.  It may happen depending on the inverter's function settings that the inverter does not stop its output even when the STOP/RESET key on the operation panel is pressed.
  • Page 15 CAUTION Usage  The electronic thermal O/L relay function may not be enough for protection of a motor from overheating. It is recommended to install an external thermal relay or a PTC thermistor for overheat protection.  Do not use a magnetic contactor on the inverter input side for frequent starting/stopping of the inverter. Otherwise the life of the inverter decreases.
  • Page 16 CHAPTER 1 INTRODUCTION Product checking and accessories .........................17 Component names ..............................19 Operation steps ..............................21 About the related manuals............................23...
  • Page 17: Chapter 1 Introduction

    Parameter unit Parameter unit (FR-PU07) Operation panel and parameter unit Inverter Mitsubishi Electric inverter FR-A800 series FR-A800-GF FR-A800 series inverter with built-in CC-Link IE Field Network communication function Vector control compatible option FR-A8AP/FR-A8AL/FR-A8APR/FR-A8APS (plug-in option), FR-A8TP (control terminal option) Parameter number (Number assigned to function)
  • Page 18: Product Checking And Accessories

    Product checking and accessories Unpack the product and check the rating plate and the capacity plate of the inverter to ensure that the model agrees with the order and the product is intact.  Inverter model ∗1 Symbol Voltage class Symbol Structure, functionality Symbol Description...
  • Page 19  Accessory • Fan cover fixing screws These screws are necessary for compliance with the EU Directives. (Refer to the Instruction Manual (Startup).) Capacity Screw size (mm) Quantity FR-A820-00105(1.5K) to FR-A820-00250(3.7K) M3×35 FR-A840-00083(2.2K), FR-A840-00126(3.7K) FR-A820-00340(5.5K), FR-A820-00490(7.5K) M3×35 FR-A840-00170(5.5K), FR-A840-00250(7.5K) FR-A820-00630(11K) to FR-A820-01250(22K) M4×40 FR-A840-00310(11K) to FR-A840-00620(22K) •...
  • Page 20: Component Names

    Component names Component names are as follows. 1. INTRODUCTION 1.2 Component names...
  • Page 21 Refer to Symbol Name Description page Connects the operation panel or the parameter unit. This connector also PU connector enables the RS-485 communication. USB A connector Connects a USB memory device. Connects a personal computer and enables communication with FR USB mini B connector Configurator2.
  • Page 22: Operation Steps

    Operation steps : Initial setting Step of operation Frequency command Installation/mounting Inverter output Wiring of the power frequency supply and motor Time (Hz) Start command Control mode selection Start command via the PU connector to give a start to give a start to give a start and RS-485 terminal of the inverter command?
  • Page 23 Symbol Overview Refer to page Install the inverter. Perform wiring for the power supply and the motor. Select the control method (V/F control, Advanced magnetic flux vector control, Vector control, or PM sensorless vector control). Give the start command via communication. Give both the start and frequency commands from the PU.
  • Page 24: About The Related Manuals

    About the related manuals The manuals related to FR-A800 are as follows. Manual name Manual number FR-A800 Instruction Manual (Startup) IB-0600493 FR-A800-GF Instruction Manual (Startup) IB-0600600 FR-A802 (Separated Converter Type) Instruction Manual (Hardware) IB-0600533 FR-A802-GF (Separated Converter Type) Instruction Manual (Hardware) IB-0600601 FR-CC2 (Converter unit) Instruction Manual IB-0600542 FR-A806 (IP55/UL Type 12 specification) Instruction Manual (Hardware) IB-0600531ENG...
  • Page 25 MEMO 1. INTRODUCTION 1.4 About the related manuals...
  • Page 26: Chapter 2 Installation And Wiring

    CHAPTER 2 INSTALLATION AND WIRING Peripheral devices ..............................27 Removal and reinstallation of the operation panel or the front covers..............33 Installation of the inverter and enclosure design ....................37 Terminal connection diagrams..........................46 Main circuit terminals ..............................54 Control circuit................................68 Communication connectors and terminals......................83 Connection to a motor with encoder (Vector control) .....................86 Parameter settings for a motor with encoder......................93 2.10...
  • Page 27 INSTALLATION AND WIRING This chapter explains the installation and the wiring of this product. Always read the instructions before use. For the separated converter type, refer to the "INSTALLATION AND WIRING" in the FR-A802 (Separated Converter Type) Instruction Manual (Hardware). For the IP55 compatible model, refer to the "INSTALLATION AND WIRING"...
  • Page 28: Peripheral Devices

    Peripheral devices 2.1.1 Inverter and peripheral devices (b) Three-phase AC power supply (m) USB connector (a) Inverter USB host (A connector) Communication status indicator (LED)(USB host) (c) Molded case circuit breaker (MCCB) or earth leakage current USB device breaker (ELB), fuse (Mini B connector) Personal computer (FR Configurator 2)
  • Page 29 Symb Refer to Name Overview page The life of the inverter is influenced by the surrounding air temperature. The surrounding air temperature should be as low as possible within the permissible range. This must be noted especially when the inverter is installed in an enclosure.
  • Page 30: Peripheral Devices

    NOTE • To prevent an electric shock, always earth (ground) the motor and inverter. • Do not install a power factor correction capacitor or surge suppressor or capacitor type filter on the inverter's output side. Doing so will cause the inverter to be shut off or the capacitor and surge suppressor to be damaged. If any of the above devices is connected, immediately remove it.
  • Page 31  Molded case circuit breaker / earth leakage circuit breaker • This is a matrix showing the rated current of the molded case circuit breaker (MCCB) or earth leakage circuit breaker (ELB) (NF or NV type) according to the selected inverter and rating. Without AC/DC power factor improving reactor With AC/DC power factor improving reactor Voltage...
  • Page 32 • When the inverter capacity is larger than the motor capacity, select an MCCB and a magnetic contactor according to the inverter model, and select cables and reactors according to the motor output. • When the breaker installed at the inverter's input line is shut off, check for the wiring fault (short circuit), damage to internal parts of the inverter etc.
  • Page 33 NOTE • The matrix shows the magnetic contactor selected according to the standards of Japan Electrical Manufacturers' Association (JEM standards) for AC-1 class. The electrical durability of magnetic contactor is 500,000 times. When the magnetic contactor is used for emergency stops during motor driving, the electrical durability is 25 times. If using an MC for emergency stop during motor driving, select an MC for the inverter input current according to the rated current against JEM 1038 standards for AC-3 class.
  • Page 34: Removal And Reinstallation Of The Operation Panel Or The Front Covers

    Removal and reinstallation of the operation panel or the front covers  Removal and reinstallation of the operation panel • Loosen the two screws on the operation panel. • Press the upper edge of the operation panel while pulling (These screws cannot be removed.) out the operation panel.
  • Page 35  Removal of the front cover (upper side) (FR-A820-01540(30K) or lower, FR-A840-00770(30K) or lower) Loosen Loosen Loosen (a) With the front cover (lower side) removed, loosen the mounting screws on the front cover (upper side). (These screws cannot be removed.) (FR-A820-00340(5.5K) to FR-A820-01540(30K) and FR-A840-00170(5.5K) to FR-A840-00770(30K) have two mounting screws.) (b) While holding the areas around the installation hooks on the sides of the front cover (upper side), pull out the cover using...
  • Page 36 NOTE • When installing the front cover (upper side), fit the connector of the operation panel securely along the guides of the PU connector.  Removal of the front cover (lower side) (FR-A820-01870(37K) or higher, FR-A840-00930(37K) or higher) (a) When the mounting screws are removed, the front cover (lower side) can be removed. (b) With the front cover (lower side) removed, wiring of the main circuit terminals can be performed.
  • Page 37  Reinstallation of the front covers (FR-A820-01870(37K) or higher, FR- A840-00930(37K) or higher) Fasten Fasten Fasten Fasten Fasten Fasten (a) Insert the upper hooks of the front cover (upper side) into the sockets of the inverter. Securely install the front cover (upper side) to the inverter by fixing the hooks on the sides of the cover into place. (b) Tighten the mounting screw(s) at the lower part of the front cover (upper side).
  • Page 38: Installation Of The Inverter And Enclosure Design

    Installation of the inverter and enclosure design When designing or manufacturing an inverter enclosure, determine the structure, size, and device layout of the enclosure by fully considering the conditions such as heat generation of the contained devices and the operating environment. An inverter unit uses many semiconductor devices.
  • Page 39 NOTE • For the amount of heat generated by the inverter unit, refer to page  Humidity Operate the inverter within the ambient air humidity of usually 45 to 90% (up to 95% with circuit board coating). Too high humidity will pose problems of reduced insulation and metal corrosion. On the other hand, too low humidity may cause a spatial electrical breakdown.
  • Page 40  Vibration, impact The vibration resistance of the inverter is up to 5.9 m/s (2.9 m/s or less for the FR-A840-04320(160K) or higher) at 10 to 55 Hz frequency and 1 mm amplitude for the directions of X, Y, Z axes. Applying vibration and impacts for a long time may loosen the structures and cause poor contacts of connectors, even if those vibration and impacts are within the specified values.
  • Page 41: Amount Of Heat Generated By The Inverter

    2.3.2 Amount of heat generated by the inverter  Installing the heatsink inside the enclosure When the heatsink is installed inside the enclosure, the amount of heat generated by the inverter unit is shown in the following tables. Amount of heat generated (W) Voltage Inverter model FR-A820-00046(0.4K)
  • Page 42: Cooling System Types For Inverter Enclosure

     Installing the heatsink outside the enclosure When the heatsink is installed outside the enclosure, the amount of heat generated by the inverter unit is shown in the following tables. (For the details on protruding the heatsink through a panel, refer to page 44.) Amount of heat generated (W)
  • Page 43: Inverter Installation

    • Cooling by ventilation (forced ventilation type, pipe ventilation type) • Cooling by heat exchanger or cooler (heat pipe, cooler, etc.) Cooling system Enclosure structure Comment This system is low in cost and generally used, but the Natural ventilation (enclosed enclosure size increases as the inverter capacity ventilated type) increases.
  • Page 44 Clearances (front) Clearances (side) FR-A820-03160(55K) or lower, FR-A820-03800(75K) or higher, FR-A840-01800(55K) or lower FR-A840-02160(75K) or higher 20 cm 10 cm or more or more 5 cm 5 cm 5 cm 10 cm 10 cm or more *1,*2 *1,*2 *1,*3 or more or more or more or more...
  • Page 45: Protruding The Heat Sink Through A Panel

     Arrangement of the ventilation fan and inverter Heat generated in the inverter is blown up from the bottom of the unit as warm air by the cooling fan. When installing a ventilation fan for that heat, determine the place of ventilation fan installation after fully considering an air flow. (Air passes through areas of low resistance.
  • Page 46  Mount point change of installation frame from the rear to the front The upper and lower installation frames are attached on the inverter (one for each position). Change the mount point of the upper and lower installation frames from the rear to the front as shown in the figure. When reattaching the installation frames, make sure that the installation orientation is correct.
  • Page 47: Terminal Connection Diagrams

    Terminal connection diagrams  Type FM FR-A820-00770(15K) to 01250(22K), FR-A840-00470(18.5K) to 01800(55K) DC reactor Brake resistor∗8 (FR-HEL)∗1 Brake resistor Brake unit DC reactor (FR-ABR)∗7∗8 (Option) (FR-HEL)∗1 Sink logic Brake unit Jumper (Option) Earth Main circuit terminal ∗9 (Ground) Control circuit terminal Jumper Jumper Earth...
  • Page 48 For the FR-A820-03800(75K) or higher, the FR-A840-02160(75K) or higher, or whenever a 75 kW or higher motor is used, always connect a DC reactor (FR-HEL), which is available as an option. (To select a DC reactor, refer to page 790, and select one according to the applicable motor capacity.) When a DC reactor is connected to the FR-A820-03160(55K) or lower or the FR-A840-01800(55K) or lower, if a jumper is installed across terminals P1 and P/+, remove the jumper before installing the DC reactor.
  • Page 49  Type CA FR-A820-00770(15K) to 01250(22K), FR-A840-00470(18.5K) to 01800(55K) DC reactor Brake resistor∗8 (FR-HEL)∗1 Brake resistor Brake unit DC reactor (FR-ABR)∗7∗8 (Option) (FR-HEL)∗1 Source logic Brake unit Jumper (Option) Main circuit terminal Earth ∗9 (Ground) Control circuit terminal Jumper Jumper Earth (Ground) Inrush...
  • Page 50 For the FR-A820-03800(75K) or higher, the FR-A840-02160(75K) or higher, or whenever a 75 kW or higher motor is used, always connect a DC reactor (FR-HEL), which is available as an option. (To select a DC reactor, refer to page 790, and select one according to the applicable motor capacity.) When a DC reactor is connected to the FR-A820-03160(55K) or lower or the FR-A840-01800(55K) or lower, if a jumper is installed across terminals P1 and P/+, remove the jumper before installing the DC reactor.
  • Page 51  Type FM (FR-A800-GF) FR-A820-00770(15K) to 01250(22K), FR-A840-00470(18.5K) to 01800(55K) DC reactor Brake resistor∗8 (FR-HEL)∗1 Brake resistor Brake unit DC reactor (FR-ABR)∗7∗8 (Option) (FR-HEL)∗1 Sink logic Brake unit Jumper (Option) Main circuit terminal Earth ∗9 (Ground) Control circuit terminal Jumper Jumper Earth (Ground)
  • Page 52 When using separate power supply for the control circuit, remove the jumper between R1/L11 and S1/L21. The function of these terminals can be changed with the input terminal assignment (Pr.178 to Pr.189). (Refer to page 496.) Terminal JOG is also used as a pulse train input terminal. Use Pr.291 to choose JOG or pulse. Terminal input specifications can be changed by analog input specification switchover (Pr.73, Pr.267).
  • Page 53  Type CA (FR-A800-GF) FR-A820-00770(15K) to 01250(22K), FR-A840-00470(18.5K) to 01800(55K) DC reactor Brake resistor∗8 (FR-HEL)∗1 Brake resistor Brake unit DC reactor (FR-ABR)∗7∗8 (Option) (FR-HEL)∗1 Source logic Brake unit Jumper (Option) Main circuit terminal Earth ∗9 (Ground) Control circuit terminal Jumper Jumper Earth (Ground)
  • Page 54 For the FR-A820-03800(75K) or higher, the FR-A840-02160(75K) or higher, or whenever a 75 kW or higher motor is used, always connect a DC reactor (FR-HEL), which is available as an option. (To select a DC reactor, refer to page 790, and select one according to the applicable motor capacity.) When a DC reactor is connected to the FR-A820-03160(55K) or lower or the FR-A840-01800(55K) or lower, if a jumper is installed across terminals P1 and P/+, remove the jumper before installing the DC reactor.
  • Page 55: Main Circuit Terminals

    Main circuit terminals 2.5.1 Details on the main circuit terminals Refer to Terminal symbol Terminal name Terminal function description page Connect these terminals to the commercial power supply. Do not connect anything to these terminals when using the high power R/L1, S/L2, T/L3 AC power input —...
  • Page 56: Terminal Layout Of The Main Circuit Terminals, Wiring Of Power Supply And The Motor

    2.5.2 Terminal layout of the main circuit terminals, wiring of power supply and the motor FR-A820-00046(0.4K), FR-A820-00077(0.75K) FR-A820-00105(1.5K) to FR-A820-00250(3.7K) FR-A840-00023(0.4K) to FR-A840-00126(3.7K) Jumper Jumper R/L1 S/L2 T/L3 Jumper R/L1 S/L2 T/L3 P/+ PR Jumper R1/L11 S1/L21 R1/L11 S1/L21 Charge lamp Power supply Motor Charge lamp...
  • Page 57 FR-A820-01870(37K), FR-A820-02330(45K) FR-A820-03160(55K) R1/L11 S1/L21 R1/L11 S1/L21 Charge lamp Charge lamp Jumper Jumper R/L1 S/L2 T/L3 R/L1 S/L2 T/L3 N/- Jumper Power supply Motor Jumper Power supply Motor FR-A820-03800(75K), FR-A820-04750(90K) FR-A840-00930(37K) to FR-A840-01800(55K) FR-A840-03250(110K) to FR-A840-04810(185K) R1/L11 S1/L21 R1/L11 S1/L21 Charge lamp Charge lamp Jumper...
  • Page 58: Applicable Cables And Wiring Length

    NOTE • Make sure the power cables are connected to the R/L1, S/L2, and T/L3. (Phase need not be matched.) Never connect the power cable to the U, V, and W of the inverter. Doing so will damage the inverter. •...
  • Page 59  For the ND rating • 200 V class (220 V input power supply, without a power factor improving AC or DC reactor) Cable gauge Crimp terminal Applicable Terminal Tightening HIV cables, etc. (mm AWG/MCM PVC cables, etc. (mm inverter model screw torque R/L1,...
  • Page 60 • 400 V class (440 V input power supply, with a power factor improving AC or DC reactor) Cable gauge Crimp terminal Applicable Terminal Tightening HIV cables, etc. (mm AWG/MCM PVC cables, etc. (mm inverter model screw torque R/L1, R/L1, Earthing R/L1, R/L1,...
  • Page 61 Cable gauge Crimp terminal Applicable Terminal Tightening HIV cables, etc. (mm AWG/MCM PVC cables, etc. (mm inverter model screw torque R/L1, R/L1, Earthing R/L1, R/L1, Earthing FR-A820-[] size N·m U, V, P/+, U, V, U, V, S/L2, U, V, W S/L2, (grounding) S/L2,...
  • Page 62 • 400 V class (440 V input power supply, with a power factor improving AC or DC reactor) Cable gauge Crimp terminal Applicable Terminal Tightening HIV cables, etc. (mm AWG/MCM PVC cables, etc. (mm inverter model screw torque R/L1, R/L1, Earthing R/L1, R/L1,...
  • Page 63 Cable gauge Crimp terminal Applicable Terminal Tightening HIV cables, etc. (mm AWG/MCM PVC cables, etc. (mm inverter model screw torque R/L1, R/L1, Earthing R/L1, R/L1, Earthing FR-A820-[] size N·m U, V, P/+, U, V, U, V, S/L2, U, V, W S/L2, (grounding) S/L2,...
  • Page 64 • 400 V class (440 V input power supply, with a power factor improving AC or DC reactor) Cable gauge Crimp terminal Applicable Terminal Tightening HIV cables, etc. (mm AWG/MCM PVC cables, etc. (mm inverter model screw torque R/L1, R/L1, Earthing R/L1, R/L1,...
  • Page 65 Cable gauge Crimp terminal Applicable Terminal Tightening HIV cables, etc. (mm AWG/MCM PVC cables, etc. (mm inverter model screw torque R/L1, R/L1, Earthing R/L1, R/L1, Earthing FR-A820-[] size N·m U, V, P/+, U, V, U, V, S/L2, U, V, W S/L2, (grounding) S/L2,...
  • Page 66 • 400 V class (440 V input power supply, with a power factor improving AC or DC reactor) Cable gauge Crimp terminal Applicable Terminal Tightening HIV cables, etc. (mm AWG/MCM PVC cables, etc. (mm inverter model screw torque R/L1, R/L1, Earthing R/L1, R/L1,...
  • Page 67: Earthing (Grounding) Precautions

    • Use crimp terminals with insulation sleeves to wire the power supply and motor.  Total wiring length  With induction motor Connect one or more general-purpose motors within the total wiring length shown in the following table. (The wiring length should be 100 m or shorter under Vector control.) Pr.72 setting FR-A820-00046(0.4K)
  • Page 68  Purpose of earthing (grounding) Generally, an electrical apparatus has an earth (ground) terminal, which must be connected to the ground before use. An electrical circuit is usually insulated by an insulating material and encased. However, it is impossible to manufacture an insulating material that can shut off a leakage current completely, and actually, a slight current flows into the case.
  • Page 69: Control Circuit

    Control circuit 2.6.1 Details on the control circuit terminals  Input signal Refer Terminal Type Terminal name Terminal function description Rated specification symbol page Turn ON the STF signal to start When the STF and Forward rotation start forward rotation and turn it OFF to STR signals are turned stop.
  • Page 70 Refer Terminal Type Terminal name Terminal function description Rated specification symbol page 10 ± 0.4 VDC, permissible load current: When connecting the frequency setting potentiometer at an 10 mA Frequency setting initial status, connect it to terminal 10. power supply Change the input specifications of terminal 2 using Pr.73 5 ±...
  • Page 71  Output signal Refer Terminal Type Terminal name Terminal function description Rated specification symbol page 1 changeover contact output that indicates that an inverter's protective function has been activated and the outputs are Relay output 1 stopped. Contact capacity: 230 (fault output) Fault: discontinuity across B and C (continuity across A and VAC 0.3 A...
  • Page 72  Communication Refer Terminal Type Terminal name Terminal function description symbol page With the PU connector, communication can be made through RS-485. (For connection on a 1:1 basis only) Conforming standard: EIA-485 (RS-485) — PU connector Transmission format: Multidrop link Communication speed: 4800 to 115200 bps Wiring length: 500 m TXD+...
  • Page 73: Control Logic (Sink/Source) Change

    2.6.2 Control logic (sink/source) change Switch the control logic of input signals as necessary. To change the control logic, change the jumper connector position on the control circuit board. Connect the jumper connector to the connector pin of the desired control logic. The control logic of input signals is initially set to the sink logic (SINK) for the type FM inverter.
  • Page 74: Wiring Of Control Circuit

    • When using an external power supply for transistor output Sink logic Source logic Use terminal PC as a common terminal, and perform wiring as Use terminal SD as a common terminal, and perform wiring as follows. (Do not connect terminal SD on the inverter with the follows.
  • Page 75 Crimp the blade terminal. Insert wires to a blade terminal, and check that the wires come out for about 0 to 0.5 mm from a sleeve. Check the condition of the blade terminal after crimping. Do not use a blade terminal of which the crimping is inappropriate, or the face is damaged.
  • Page 76  Wire removal Pull the wire while pushing the open/close button all the way down firmly with a flathead screwdriver. Open/close button Flathead screwdriver NOTE • Pulling out the wire forcefully without pushing the open/close button all the way down may damage the terminal block. •...
  • Page 77: Wiring Precautions

    2.6.4 Wiring precautions • It is recommended to use a cable of 0.3 to 0.75 mm for the connection to the control circuit terminals. • The wiring length should be 30 m (200 m for terminal FM) at the maximum. •...
  • Page 78  Connection method Connection diagram If a fault occurs and the electromagnetic contactor (MC) installed at the inverter's input line is opened, power supply to the control circuit is also stopped and the fault Inverter signals cannot be output anymore. Terminals R1/L11 and S1/L21 of the control R/L1 circuit are provided to keep outputting the fault signals in such a case.
  • Page 79: When Supplying 24 V External Power To The Control Circuit

    • FR-A820-00770(15K) or higher, FR-A840-00470(18.5K) or higher R1/L11 S1/L21 Power supply terminal block for the control circuit Power supply terminal block for the control circuit R/L1 S/L2 T/L3 R1/L11 S1/L21 Main power supply FR-A820-00770(15K) to 01250(22K) FR-A840-00470(18.5K), FR-A820-01540(30K) FR-A820-01870(37K) or higher 00620(22K) FR-A840-00770(30K) FR-A840-00930(37K) or higher...
  • Page 80  Specification of the applied 24 V external power supply Item Rated specification Input voltage 23 to 25.5 VDC Input current 1.4 A or less Commercially available products (as of February 15) Model Manufacturer S8JX-N05024C Specifications: Capacity 50 W, output voltage 24 VDC, output current 2.1 A Installation method: Front installation with cover OMRON Corporation S8VS-06024...
  • Page 81: Safety Stop Function

    NOTE • Inrush current equal to or higher than the 24 V external power supply specification may flow at power-ON. Confirm that the power supply and other devices are not affected by the inrush current and the voltage drop caused by it. Depending on the power supply, the inrush current protection may be activated to disable the power supply.
  • Page 82  Connection diagram To prevent restart at fault occurrence, connect terminals So (SO) and SOC to the reset button, which are the feedback input terminals of the safety relay module. Inverter R/L1 S/L2 T/L3 So (SO) Logic IGBTs +24V Gate Gate Fuse ASIC...
  • Page 83 If the internal safety circuit is operated normally, terminal So (SO) remains ON until "E.SAF" is displayed, and terminal So (SO) turns OFF when "E.SAF" is displayed. "SA" is displayed when terminals S1 and S2 are identified as OFF due to the internal safety circuit failure. If another fault occurs when the fault E.SAF occurs, the other fault indication may be displayed.
  • Page 84: Communication Connectors And Terminals

    Communication connectors and terminals 2.7.1 PU connector  Mounting the operation panel or the parameter unit on the enclosure surface • Having an operation panel or a parameter unit on the enclosure surface is convenient. With a connection cable, the operation panel or the parameter unit can be mounted to the enclosure surface and connected to the inverter.
  • Page 85: Usb Connector

    2.7.2 USB connector USB host (A connector) USB memory device Communication status Place a flathead screwdriver, indicator (LED) etc. in a slot and push up the USB device cover to open. (Mini B connector) Personal computer (FR Configurator2)  USB host communication Interface Conforms to USB 1.1 Transmission speed...
  • Page 86: Terminal Block

    NOTE • Do not connect devices other than a USB memory device to the inverter. • If a USB device is connected to the inverter via a USB hub, the inverter cannot recognize the USB memory device properly.  USB device communication The inverter can be connected to a personal computer with a USB (ver.
  • Page 87: Connection To A Motor With Encoder (Vector Control)

    Connection to a motor with encoder (Vector control) Using encoder-equipped motors together with a Vector control compatible option enables speed, torque, and positioning control operations under orientation control, encoder feedback control, and full-scale Vector control. This section explains wiring for use of the FR-A8AP. ...
  • Page 88 • Motor and switch setting Encoder type selection Terminating resistor Power supply Motor switch (SW3) selection switches (SW1) specification Mitsubishi Electric standard motor SF-JR Differential with encoder SF-HR Differential Mitsubishi Electric high-efficiency *1*3 Others...
  • Page 89 • Encoder specifications Item Encoder for SF-JR Encoder for SF-V5RU Resolution 1024 pulses/rev 2048 pulse/rev Power supply voltage 5 VDC ± 10% 12 VDC ±10%, 24 VDC ±10% Current consumption 150 mA 150 mA A, B phases (90° phase shift), A, B phases (90°...
  • Page 90 • When using an encoder cable (FR-JCBL, FR-V5CBL, etc.) dedicated to the conventional motor, the cables need to be treated as the terminal block of the FR-A8AP is an insertion type. Cut the crimp terminal of the encoder cable and strip its sheath to make its cable wires loose.
  • Page 91: Wiring Example

     Wiring example • Speed control Vector control dedicated motor (SF-V5RU, Standard motor with encoder (SF-JR), 5 V differential line driver SF-THY), 12 V complementary SF-JR motor MCCB SF-V5RU, SF-THY MCCB with encoder Three-phase Inverter AC power R/L1 supply Three-phase S/L2 AC power Inverter...
  • Page 92 • Position control Vector control dedicated motor (SF-V5RU, SF-THY), 12 V complementary MCCB SF-V5RU, SF-THY ∗7 Positioning unit Three-phase MELSEC-iQ-R RD75P[] AC power supply MELSEC-Q QD75P[ ]N/QD75P[ ] MCCB MELSEC-L LD75P[ ] Three-phase R/L1 Inverter AC power S/L2 supply T/L3 Earth (ground) Thermal...
  • Page 93  Instructions for encoder cable wiring • Use shielded twisted pair cables (0.2 mm or larger) to connect the FR-A8AP. For the wiring to terminals PG and SD, use several cables in parallel or use a thick cable, according to the wiring length. To protect the cables from noise, run them away from any source of noise (such as the main circuit and power supply voltage).
  • Page 94: Parameter Settings For A Motor With Encoder

    Parameter settings for a motor with encoder  Parameter for the encoder (Pr.359, Pr.369, Pr.851, Pr.852) • Set the encoder specifications. Initial Setting Name Description value range Set when using a motor (encoder) for Set for the operation which forward rotation is clockwise at 120 Hz or less.
  • Page 95: Parameter Settings For The Motor Under Vector Control

     Parameter settings for the motor under Vector control Pr.9 Pr.359/Pr.852 Pr.369/Pr.851 Pr.71 Pr.81 Electronic Pr.80 Encoder Number of Motor model Applied Number of thermal O/L Motor capacity rotation encoder motor motor poles relay direction pulses Rated motor Number of 1024 (initial SF-JR 0 (initial value) Motor capacity...
  • Page 96  Combination with the Vector control dedicated motor When using the inverter with a Vector control dedicated motor, refer to the following table. • Combination with the SF-V5RU and SF-THY (ND rating) Voltage 200 V class 400 V class Rated speed 1500 r/min Base frequency 50 Hz...
  • Page 97: Connection Of Stand-Alone Option Units

    2.10 Connection of stand-alone option units The inverter accepts a variety of stand-alone option units as required. Incorrect connection will cause inverter damage or accident. Connect and operate the option unit carefully in accordance with the Instruction Manual of the corresponding option unit. 2.10.1 Connection of the brake resistor •...
  • Page 98 FR-A820-00340(5.5K), FR-A820-00490(7.5K), FR-A840-00170(5.5K), FR-A840-00250(7.5K) 2) Connect the brake resistor across 1) Remove the screws in terminals PR terminals P/+ and PR. (The jumper and PX and remove the jumper. should remain disconnected.) Jumper Terminal P/+ Terminal PR Terminal PR Terminal PX Brake resistor FR-A820-00630(11K), FR-A820-00770(15K) to FR-A820-01250(22K),...
  • Page 99 • Pr.70 Special regenerative brake duty = 10% (for 7.5K or lower) or 6% (for 11K or higher) (Refer to page 689.) • When the regenerative brake transistor is damaged, the following sequence is recommended to prevent overheat and burnout of the brake resistor. Thermal Thermal <Example 2>...
  • Page 100 Use a brake resistor that has resistance and power consumption values higher than the following. Also, the brake resistor must have a sufficient capacity to consume the regenerative power. Voltage class Inverter Minimum resistance (Ω) Power consumption (kW) FR-A820-00046(0.4K) 1.44 FR-A820-00077(0.75K) 1.81 FR-A820-00105(1.5K)
  • Page 101: Connection Of The Brake Unit (Fr-Bu2)

    2.10.2 Connection of the brake unit (FR-BU2) Connect the brake unit (FR-BU2(H)) as follows to improve the braking capability during deceleration.  Connection example with the GRZG type discharging resistor contact ∗2 GRZG type ∗6 discharging resistor MCCB Motor R/L1 External thermal Three-phase AC ∗5...
  • Page 102: Connection Of The Brake Unit (Fr-Bu)

     Connection example with the FR-BR-(H) resistor unit ∗2 FR-BR MCCB Motor R/L1 ∗5 Three phase AC S/L2 power supply T/L3 ∗4 FR-BU2 Inverter ∗3 ∗1 ∗4 10 m or less When wiring, make sure to match the terminal symbols (P/+, N/-) on the inverter and on the brake unit (FR-BU2). (Incorrect connection will damage the inverter and brake unit.) When the power supply is 400 V class, install a stepdown transformer.
  • Page 103: Connection Of The Brake Unit (Bu Type)

    The FR-BU is compatible with the FR-A820-03160(55K) or lower and the FR-A840-01800(55K) or lower. ∗2 FR-BR MCCB Motor R/L1 Three-phase AC S/L2 power supply T/L3 Inverter FR-BU ∗3 ∗1 ∗4 10 m or less When wiring, make sure to match the terminal symbols (P/+, N/-) on the inverter and on the brake unit (FR-BU(H)). (Incorrect connection will damage the inverter.) When the power supply is 400 V class, install a stepdown transformer.
  • Page 104: Connection Of The High Power Factor Converter (Fr-Hc2)

    2.10.5 Connection of the high power factor converter (FR- HC2) When connecting the high power factor converter (FR-HC2) to suppress power harmonics, perform wiring securely as follows. Incorrect connection will damage the high power factor converter and the inverter. After making sure that the wiring is correct and secure, set the rated motor voltage in Pr.19 Base frequency voltage (under V/F control) or Pr.83 Rated motor voltage (under other than V/F control) and "2"...
  • Page 105 After making sure that the wiring is correct and secure, set "2" in Pr.30 Regenerative function selection. (Refer to page 689.) R/L1 S/L2 ∗1 T/L3 R1/L11 S1/L21 FR-CV type Dedicated stand-alone Power regeneration Inverter reactor (FR-CVL) common converter MCCB R/L11 R2/L12 R2/L1 Three-phase...
  • Page 106: Connection Of The Power Regeneration Converter (Mt-Rc)

    2.10.7 Connection of the power regeneration converter (MT-RC) When connecting the power regeneration converter (MT-RC), perform wiring securely as follows. Incorrect connection will damage the power regeneration converter and the inverter. The MT-RC is compatible with FR-A840-02160(75K) or higher. After making sure that the wiring is correct and secure, set "1" in Pr.30 Regenerative function selection and "0" in Pr.70 Special regenerative brake duty.
  • Page 107 • When using the DC reactor (FR-HEL), connect it to terminals P/+ and P1. For the FR-A820-03160(55K) or lower and the FR-A840-01800(55K) or lower, the jumper connected across terminals P/ + and P1 must be removed. Otherwise, the reactor will not be effective. FR-HEL Remove the jumper...
  • Page 108: Wiring For Use Of The Cc-Link Ie Field Network (Fr-A800-Gf)

    2.11 Wiring for use of the CC-Link IE Field Network (FR- A800-GF) 2.11.1 System configuration example • Mount the "RJ71EN71", "RJ71GF11-T2", "QJ71GF11-T2", or "LJ71GF11-T2" type CC-Link IE Field Network master/local module on the main or extension base unit having the programmable controller CPU used as the master station. •...
  • Page 109: Component Names Of The Cc-Link Ie Field Network Communication Circuit Board

    • ANSI/TIA/EIA-568-B (Category 5e) • Recommended products (as of February 2015 ) Model Manufacturer Mitsubishi Electric System & Service SC-E5EW series Co., Ltd. SC-E5EW cable is for in-enclosure and indoor uses. SC-E5EW-L cable is for outdoor use. NOTE • For CC-Link IE Field Network wiring, use the recommended wiring components by CC-Link Partner Association.
  • Page 110: Wiring Method

    2.11.5 Wiring method  Ethernet cable connection • Connect or remove an Ethernet cable after switching the power of the inverter OFF. • When wiring the Ethernet cable to the communication connector, check the connecting direction of the Ethernet cable connector.
  • Page 111: Operation Status Leds

    • Check the following: - Is any Ethernet cable disconnected? - Is any of the Ethernet cables shorted? - Are the connectors securely connected? • Do not use Ethernet cables with broken latches. Doing so may cause the cable to unplug or malfunction. •...
  • Page 112 LED name Description Normal operation (normal 5 V internal Operating status Hardware failure voltage) Transmission status Data transmitting No data transmitting Reception status Data receiving No data receiving D.LINK Cyclic communication status Cyclic transmitting No cyclic transmitting or disconnected Node failure Normal operation Node failure status L.ERR...
  • Page 113 MEMO 2. INSTALLATION AND WIRING 2.11 Wiring for use of the CC-Link IE Field Network (FR-A800-GF)
  • Page 114: Chapter 3 Precautions For Use Of The Inverter

    CHAPTER 3 PRECAUTIONS FOR USE OF THE INVERTER Electro-magnetic interference (EMI) and leakage currents ..................114 Power supply harmonics............................121 Installation of a reactor ............................125 Power shutdown and magnetic contactor (MC)....................126 Countermeasures against deterioration of the 400 V class motor insulation............128 Checklist before starting operation ........................129 Failsafe system which uses the inverter .......................132...
  • Page 115: Electro-Magnetic Interference (Emi) And Leakage Currents

    PRECAUTIONS FOR USE OF THE INVERTER This chapter explains the precautions for use of this product. Always read the instructions before use. For the separated converter type, refer to the "PRECAUTIONS FOR USE OF THE INVERTER" in the FR-A802 (Separated Converter Type) Instruction Manual (Hardware).
  • Page 116 MCCB Thermal relay Motor Power Inverter supply Line-to-line static capacitances Line-to-line leakage currents path  Countermeasures • Use Pr.9 Electronic thermal O/L relay. • If the carrier frequency setting is high, decrease the Pr.72 PWM frequency selection setting. Note that motor noise increases. Selecting Pr.240 Soft-PWM operation selection makes the sound inoffensive. To ensure that the motor is protected against line-to-line leakage currents, it is recommended to use a temperature sensor to directly detect motor temperature.
  • Page 117: Countermeasures Against Inverter-Generated Emi

    Breaker designed Item for harmonic and Standard breaker Example surge suppression 5.5 mm 5.5 mm 50 m Leakage current Ig1 (mA) 33 × = 0.17 1000m Noise Leakage current Ign (mA) 0 (without noise filter) filter 3φ Inverter 200 V 1 (without EMC filter) 2.2 kW Leakage current Igi (mA)
  • Page 118  Techniques to reduce electromagnetic noises that enter and cause a malfunction of the inverter (EMI countermeasures) When devices that generate many electromagnetic noises (which use magnetic contactors, electromagnetic brakes, many relays, for example) are installed near the inverter and the inverter may malfunction due to electromagnetic noises, the following countermeasures must be taken: •...
  • Page 119: Built-In Emc Filter

    Noise propagation Countermeasure path When a closed loop circuit is formed by connecting the peripheral device wiring to the inverter, leakage currents may flow through the earthing (grounding) cable of the inverter to cause the device to malfunction. In that case, disconnecting the earthing (grounding) cable from the device may stop the malfunction of the device.
  • Page 120 The input side common mode choke, which is built in the FR-A820-03160(55K) or lower and the FR-A840-01800(55K) or lower inverter, is always enabled regardless of the EMC filter ON/OFF connector setting. FR-A820-00046(0.4K), FR-A820-00105(1.5K) to 00250(3.7K) FR-A820-00340(5.5K) to 00630(11K) FR-A820-00770(15K) or higher 00077(0.75K) FR-A840-00126(3.7K) or lower FR-A840-00170(5.5K) to 00380(15K)
  • Page 121 WARNING • While power is ON or when the inverter is running, do not open the front cover. Otherwise you may get an electric shock. 3. PRECAUTIONS FOR USE OF THE INVERTER 3.1 Electro-magnetic interference (EMI) and leakage currents...
  • Page 122: Power Supply Harmonics

    Power supply harmonics 3.2.1 Power supply harmonics The inverter may generate power supply harmonics from its converter circuit to affect the power generator, power factor correction capacitor etc. Power supply harmonics are different from noise and leakage currents in source, frequency band and transmission path.
  • Page 123 The three-phase 200 V input specifications 3.7 kW or lower were previously covered by "the Harmonic Suppression Guidelines for Household Appliances and General-purpose Products" and other models were covered by "the Harmonic Suppression Guidelines for Consumers Who Receive High Voltage or Special High Voltage". However, the transistorized inverter has been excluded from the target products covered by "the Harmonic Suppression Guidelines for Household Appliances and General- purpose Products"...
  • Page 124  Equivalent capacity limit Received power voltage Reference capacity 6.6 kV 50 kVA 22/33 kV 300 kVA 66 kV or more 2000 kVA  Harmonic content (when the fundamental current is considered as 100%) Reactor 11th 13th 17th 19th 23rd 25th Not used Used (AC side)
  • Page 125 Fundamental Fundamental Outgoing harmonic current converted from 6.6 kV (mA) (with a DC reactor, Rated Applicable wave current wave current (A) 100% operation ratio) capacity motor (kW) converted from (kVA) 200 V 400 V 11th 13th 17th 19th 23rd 25th 6.6 kV (mA) 7455 87.2...
  • Page 126: Installation Of A Reactor

    Installation of a reactor When the inverter is connected near a large-capacity power transformer (1000 kVA or more) or when a power factor correction capacitor is to be switched over, an excessive peak current may flow in the power input circuit, damaging the converter circuit. To prevent this, always install an AC reactor (FR-HAL), which is available as an option.
  • Page 127: Power Shutdown And Magnetic Contactor (Mc)

    Power shutdown and magnetic contactor (MC)  Inverter input side magnetic contactor (MC) On the inverter input side, it is recommended to provide an MC for the following purposes. (Refer to page 29 for selection.) • To disconnect the inverter from the power supply at activation of a protective function or at malfunctioning of the driving system (emergency stop, etc.).
  • Page 128  Handling of the manual contactor on the inverter's output side A PM motor is a synchronous motor with high-performance magnets embedded inside. High-voltage is generated at the motor terminals while the motor is running even after the inverter power is turned OFF. In an application where the PM motor is driven by the load even after the inverter is powered OFF, a low-voltage manual contactor must be connected at the inverter's output side.
  • Page 129: Countermeasures Against Deterioration Of The 400 V Class Motor Insulation

    Countermeasures against deterioration of the 400 V class motor insulation In the PWM type inverter, a surge voltage attributable to wiring constants is generated at the motor terminals. Especially in a 400 V class motor, the surge voltage may deteriorate the insulation. When the 400 V class motor is driven by the inverter, consider the following countermeasures: ...
  • Page 130: Checklist Before Starting Operation

    Checklist before starting operation The FR-A800 series inverter 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 points. Refer to Check by Checkpoint Countermeasure...
  • Page 131 Refer to Check by Checkpoint Countermeasure page user When using a switching circuit as shown below, chattering due to misconfigured sequence or arc generated at switching may allow undesirable current to flow in and damage the inverter. Miswiring may also damage the inverter. (The commercial power supply operation is not available with Vector control dedicated motors (SF-V5RU, SF-THY) nor with PM motors.) When using the electronic bypass...
  • Page 132 Refer to Check by Checkpoint Countermeasure page user When a motor is driven by the inverter, axial voltage is generated on the motor shaft, which may cause electrical corrosion of the bearing in rare cases depending on the wiring, load, operating conditions of the motor or specific inverter settings (high carrier frequency and EMC filter ON).
  • Page 133: Failsafe System Which Uses The Inverter

    Failsafe system which uses the inverter When a fault is detected by the protective function, the protective function activates and outputs the Fault signal. However, the Fault signal may not be output at an inverter's fault occurrence when the detection circuit or output circuit fails, etc. Although Mitsubishi assures the best quality products, provide an interlock which uses inverter status output signals to prevent accidents such as damage to the machine when the inverter fails for some reason.
  • Page 134  Checking the inverter operating status by the start signal input to the inverter and by the Inverter running signal output from the inverter ... (c) The Inverter running (RUN) signal is output when the inverter is running. (The RUN signal is assigned to terminal RUN in the initial setting.) Check if the RUN signal is output while a start signal (the STF/STR signal for forward/reverse rotation command) is input to the inverter.
  • Page 135  Command speed and actual operation check Check for a gap between the actual speed and commanded speed by comparing the inverter's speed command and the speed detected by the speed detector. Controller System failure Sensor Inverter (speed, temperature, air volume, etc.) To the alarm detection sensor 3.
  • Page 136: Chapter 4 Basic Operation

    CHAPTER 4 BASIC OPERATION Operation panel (FR-DU08)..........................136 Monitoring the inverter ............................141 Easy setting of the inverter operation mode ......................142 Frequently-used parameters (simple mode parameters)..................144 Basic operation procedure (PU operation) ......................147 Basic operation procedure (External operation) ....................153 Basic operation procedure (JOG operation) ......................159...
  • Page 137: Operation Panel (Fr-Du08)

    BASIC OPERATION This chapter explains the basic operation of this product. Always read the instructions before use. Operation panel (FR-DU08) 4.1.1 Components of the operation panel (FR-DU08) To mount the operation panel (FR-DU08) on the enclosure surface, refer to page 4.
  • Page 138 STOP/RESET key Used to reset the inverter when the protective function is activated. The setting dial of the Mitsubishi Electric inverters. Turn the setting dial to change the setting of frequency or parameter, etc. Press the setting dial to perform the following operations: Setting dial •...
  • Page 139: Basic Operation Of The Operation Panel

    4.1.2 Basic operation of the operation panel  Basic operation Operation mode switchover/Frequency setting ∗1( ∗1 External operation mode displayed at power-ON) PU Jog operation mode PU operation mode ∗1 Alternate display (Example) Change the setting. Frequency setting has been changed. Output current monitor ∗2 Output voltage monitor...
  • Page 140: Correspondences Between Digital And Actual Characters

    Changes parameter settings as a batch. The target parameters include Automatic parameter communication parameters for the Mitsubishi Electric human machine setting interface (GOT) connection and the parameters for the rated frequency settings of 50 Hz/60 Hz.
  • Page 141 Selecting the parameter Turn until " " (Pr.1) appears. Press to read the present set value. " " (initial value) appears. Changing the setting value Turn to change the set value to " ". Press to confirm the selection. " "...
  • Page 142: Monitoring The Inverter

    Monitoring the inverter 4.2.1 Monitoring of output current and output voltage • Press on the operation panel in the monitor mode to switch the monitor item between output frequency, output current, and output voltage. Operating procedure Press during inverter operation to monitor the output frequency. [Hz] indicator turns ON. Press to monitor the output current.
  • Page 143: Easy Setting Of The Inverter Operation Mode

    Easy setting of the inverter operation mode The operation mode suitable for start and speed command combinations can be set easily using Pr.79 Operation mode selection. The following shows the procedure to operate with the external start command (STF/STR) and the frequency command by using Operating procedure Press...
  • Page 144 NOTE • " " appears if the Pr.79 setting is tried to be changed while the inverter is set that only the parameters registered in the user group are read (Pr.160 = "1") but Pr.79 is not included in the user group. •...
  • Page 145: Frequently-Used Parameters (Simple Mode Parameters)

    Frequently-used parameters (simple mode parameters) Parameters that are frequently used for the FR-A800 series are grouped as simple mode parameters. When Pr.160 User group read selection = "9999", only the simple mode parameters are displayed on the operation panel. This section explains the simple mode parameters. 4.4.1 Simple mode parameter list For simple variable-speed operation of the inverter, the initial values of the parameters may be used as they are.
  • Page 146 PM motor. 9109 Changes parameter settings as a batch. The target parameters include communication 1, 2, 10, 11, Automatic parameters for the Mitsubishi Electric human E431 9999 12, 13, 20, parameter setting machine interface (GOT) connection and the 21, 9999 parameters for the rated frequency settings of 50/60 Hz.
  • Page 147  Parameters for the CC-Link IE Field Network communication (FR-A800- Refer Initial Name Unit Range Application group value page 0 to 8, 10 to 20, 22, DO0 output 25 to 28, 30 to 36, M410 9999 selection 38 to 57, 60, 61, 63, 64, 68, 70, 79, 80, 84 to 99, 100 to 108, 110 to 116,...
  • Page 148: Basic Operation Procedure (Pu Operation)

    Basic operation procedure (PU operation) Select a method to give the frequency command from the list below, and refer to the specified page for its procedure. Method to give the frequency command Refer to page Setting the frequency on the operation panel in the frequency setting mode Give commands by turning the setting dial like a potentiometer Give commands by turning ON/OFF switches wired to inverter's terminals (multi- speed setting)
  • Page 149: Perform Pu Operation Using The Setting Dial Like A Potentiometer

    Deceleration → stop Press to stop. The frequency value on the monitor decreases according to the setting of Pr.8 Deceleration time, the monitor displays " " (0.00 Hz), and the motor stops rotating. NOTE • To display the set frequency under PU operation mode or External/PU combined operation mode 1 (Pr.79 = "3"), press (Refer to page 424.)
  • Page 150: Setting The Frequency With Switches (Multi-Speed Setting)

    4.5.3 Setting the frequency with switches (multi-speed setting) • Use on the operation panel (FR-DU08) to give a start command. • Turn ON the RH, RM, or RL signal to give a frequency command (multi-speed setting). • Set Pr.79 Operation mode selection = "4" (External/PU combination operation mode 2). [Connection diagram] Speed 1 Inverter...
  • Page 151: Setting The Frequency Using An Analog Signal (Voltage Input)

    4.5.4 Setting the frequency using an analog signal (voltage input) • Use on the operation panel (FR-DU08) to give a start command. • Use the frequency setting potentiometer to give a frequency command (by connecting it to terminals 2 and 5 (voltage input)). •...
  • Page 152: Setting The Frequency Using An Analog Signal (Current Input)

    4.5.5 Setting the frequency using an analog signal (current input) • Use on the operation panel (FR-DU08) to give a start command. • Use the current regulator which outputs 4 to 20 mA to give a frequency command (by connecting it across terminals 4 and 5 (current input)).
  • Page 153 Pr.184 AU terminal function selectionpage 496 C5 (Pr.904) Terminal 4 frequency setting bias frequencypage 482 4. BASIC OPERATION 4.5 Basic operation procedure (PU operation)
  • Page 154: Basic Operation Procedure (External Operation)

    Basic operation procedure (External operation) Select a method to give the frequency command from the list below, and refer to the specified page for its procedure. Method to give the frequency command Refer to page Setting the frequency on the operation panel in the frequency setting mode Turning ON/OFF switches wired to inverter's terminals (multi-speed setting) Setting the frequency by inputting voltage signals Setting the frequency by inputting current signals...
  • Page 155: Setting The Frequency And Giving A Start Command With Switches (Multi-Speed Setting) (Pr.4 To Pr.6)

    NOTE • When both the forward rotation start switch (STF signal) and the reverse rotation start switch (STR signal) are turned ON, the motor cannot be started. If both are turned ON while the inverter is running, the inverter decelerates to a stop. •...
  • Page 156: Setting The Frequency Using An Analog Signal (Voltage Input)

    NOTE • When both the forward rotation start switch (STF signal) and the reverse rotation start switch (STR signal) are turned ON, the motor cannot be started. If both are turned ON while the inverter is running, the inverter decelerates to a stop. •...
  • Page 157: Changing The Frequency (60 Hz, Initial Value) At The Maximum Voltage Input (5 V, Initial Value)

    NOTE • When both the forward rotation start switch (STF signal) and the reverse rotation start switch (STR signal) are turned ON, the motor cannot be started. If both are turned ON while the inverter is running, the inverter decelerates to a stop. •...
  • Page 158: Setting The Frequency Using An Analog Signal (Current Input)

    • Other adjustment methods for the frequency setting voltage gain are the following: adjustment by applying a voltage directly across terminals 2 and 5, and adjustment using a specified point without applying a voltage across terminals 2 and 5. (Refer page 482.) Parameters referred to...
  • Page 159: Changing The Frequency (60 Hz, Initial Value) At The Maximum Current Input (At 20 Ma, Initial Value)

    Parameters referred to Pr.7 Acceleration time, Pr.8 Deceleration timepage 349 Pr.184 AU terminal function selectionpage 496 4.6.6 Changing the frequency (60 Hz, initial value) at the maximum current input (at 20 mA, initial value) • Change the maximum frequency. The following shows the procedure to change the frequency at 20 mA from 60 Hz (initial value) to 50 Hz using a frequency setting potentiometer for 4 to 20 mA input.
  • Page 160: Basic Operation Procedure (Jog Operation)

    Basic operation procedure (JOG operation) 4.7.1 Giving a start command by using external signals for JOG operation • JOG operation is performed while the JOG signal is ON. • Use Pr.15 Jog frequency to set a frequency, and set Pr.16 Jog acceleration/deceleration time to set the acceleration/ deceleration time for JOG operation.
  • Page 161: Giving A Start Command From The Operation Panel For Jog Operation

    4.7.2 Giving a start command from the operation panel for JOG operation • JOG operation is performed while on the operation panel is pressed. Operation panel (FR-DU08) The following shows the procedure to operate at 5 Hz. Operating procedure Turning ON the power of the inverter The operation panel is in the monitor mode.
  • Page 162: Chapter 5 Parameters

    CHAPTER 5 PARAMETERS Parameter list................................162 Control method ..............................210 Speed control under Real sensorless vector control, vector control, PM sensorless vector control ....229 Torque control under Real sensorless vector control and Vector control .............263 Position control under vector control and PM sensorless vector control ..............284 Adjustment during Real sensorless vector control, Vector control, PM sensorless vector control .......316 (E) Environment setting parameters ........................318 (F) Setting of acceleration/deceleration time and acceleration/deceleration pattern ..........349...
  • Page 163: Parameter List

    PARAMETERS This chapter explains the function setting for use of this product. Always read the instructions before use. The following marks are used to indicate the controls. (Parameters without any mark are valid for all the controls.) Mark Control method Applied motor V/F control Advanced magnetic flux vector control...
  • Page 164 Minimum Initial value Refer to Customer Name Setting range setting group page setting increments G000 0 to 30% 0.1% Torque boost Simple Simple Simple Maximum 120 Hz H400 0 to 120 Hz 0.01 Hz frequency Simple Simple Simple 60 Hz Minimum H401 0 to 120 Hz...
  • Page 165 Minimum Initial value Refer to Customer Name Setting range setting group page setting increments Stall prevention operation H500 0 to 400% 0.1% 150% 235, level (Torque limit level) Stall prevention operation H610 level compensation factor 0 to 200%, 9999 0.1% 9999 at double speed D304...
  • Page 166 Minimum Initial value Refer to Customer Name Setting range setting group page setting increments 0, 5 to 14, 17 to 20, 22 Operation panel main to 36, 38 to 46, 50 to 57, M100 monitor selection 61, 62, 64, 67, 71 to 75, 87 to 98, 100 1 to 3, 5 to 14, 17, 18, 21, 24, 32 to 34, 36, 46,...
  • Page 167 Minimum Initial value Refer to Customer Name Setting range setting group page setting increments Fault code output — M510 0 to 2 selection — E400 Parameter write selection 0 to 2 Reverse rotation — D020 0 to 2 prevention selection Operation mode —...
  • Page 168 Minimum Initial value Refer to Customer Name Setting range setting group page setting increments Third acceleration/ F030 0 to 3600 s, 9999 0.1 s 9999 deceleration time F031 Third deceleration time 0 to 3600 s, 9999 0.1 s 9999 G020 Third torque boost 0 to 30%, 9999 0.1%...
  • Page 169 Minimum Initial value Refer to Customer Name Setting range setting group page setting increments Backlash acceleration F200 0 to 590 Hz 0.01 Hz 1 Hz stopping frequency Backlash acceleration F201 0 to 360 s 0.1 s 0.5 s stopping time Backlash deceleration F202 0 to 590 Hz...
  • Page 170 Minimum Initial value Refer to Customer Name Setting range setting group page setting increments E000 — E080 Parameter for manufacturer setting. Do not set. E001 — E081 M020 Watt-hour meter clear 0, 10, 9999 9999 M030 Operation hour meter clear 0, 9999 9999 User group registered E441...
  • Page 171 Minimum Initial value Refer to Customer Name Setting range setting group page setting increments RUN terminal function M400 0 to 8, 10 to 20, 22, 25 selection to 28, 30 to 36, 38 to 57, 60, 61, 63, 64, 67, 68, SU terminal function M401 70, 79, 80, 84, 85, 90 to...
  • Page 172 Minimum Initial value Refer to Customer Name Setting range setting group page setting increments T050 Override bias 0 to 200% 0.1% T051 Override gain 0 to 200% 0.1% 150% Main circuit power OFF — A007 0 to 3600 s, 9999 600 s waiting time E700...
  • Page 173 Minimum Initial value Refer to Customer Name Setting range setting group page setting increments A100 Brake opening frequency 0 to 30 Hz 0.01 Hz 3 Hz A101 Brake opening current 0 to 400% 0.1% 130% Brake opening current A102 0 to 2 s 0.1 s 0.3 s detection time...
  • Page 174 Minimum Initial value Refer to Customer Name Setting range setting group page setting increments M410 DO0 output selection 9999 0 to 8, 10 to 20, 22, 25 to 28, 30 to 36, 38 to 57, M411 DO1 output selection 9999 60, 61, 63, 64, 68, 70, 79, 80, 84 to 99, 100 to M412...
  • Page 175 Minimum Initial value Refer to Customer Name Setting range setting group page setting increments Stop position command A510 0, 1, 9999 9999 selection A526 Orientation speed 0 to 30 Hz 0.01 Hz 2 Hz A527 Creep speed 0 to 10 Hz 0.01 Hz 0.5 Hz A528...
  • Page 176 Minimum Initial value Refer to Customer Name Setting range setting group page setting increments A525 Orientation selection 0 to 2, 10 to 12 Number of machine side A540 0 to 32767 gear teeth Number of motor side gear A541 0 to 32767 teeth Orientation speed gain (P A542...
  • Page 177 Minimum Initial value Refer to Customer Name Setting range setting group page setting increments 0, 1, 3 to 6, 13 to 16, 20, 23, 24, 30, 33, 34, 40, 43, 44, 50, 53, 54, 70, C200 Second applied motor 73, 74, 330, 333, 334, 9999 8090, 8093, 8094, 9090, 9093, 9094,...
  • Page 178 Minimum Initial value Refer to Customer Name Setting range setting group page setting increments Digital position control B020 sudden stop deceleration 0 to 360 s 0.1 s time First target position lower B021 0 to 9999 4 digits First target position upper B022 0 to 9999 4 digits...
  • Page 179 Minimum Initial value Refer to Customer Name Setting range setting group page setting increments M500 Remote output selection 0, 1, 10, 11 M501 Remote output data 1 0 to 4095 M502 Remote output data 2 0 to 4095 PLC function flash —...
  • Page 180 Minimum Initial value Refer to Customer Name Setting range setting group page setting increments Operating time carrying- — M031 (0 to 65535) over times Second motor excitation — G301 0 to 400 Hz, 9999 0.01 Hz 9999 current break point Second motor excitation —...
  • Page 181 Minimum Initial value Refer to Customer Name Setting range setting group page setting increments Second motor permissible — H016 110 to 250%, 9999 9999 load level PID set point/deviation A624 1 to 5 570, input selection PID measured value input A625 1 to 5 570,...
  • Page 182 Minimum Initial value Refer to Customer Name Setting range setting group page setting increments Increased magnetic G130 excitation deceleration 0, 1 operation selection Magnetic excitation G131 0 to 40%, 9999 0.1% 9999 increase rate Increased magnetic G132 0 to 300% 0.1% 100% excitation current level...
  • Page 183 Minimum Initial value Refer to Customer Name Setting range setting group page setting increments C106 Maximum motor frequency 0 to 400 Hz, 9999 0.01 Hz 9999 Induced voltage constant 0 to 5000 mV (rad/s), 0.1 mV C130 9999 (phi f) 9999 (rad/s) C107...
  • Page 184 Minimum Initial value Refer to Customer Name Setting range setting group page setting increments A616 Pre-charge fault selection 0, 1 A617 Pre-charge ending level 0 to 100%, 9999 0.1% 9999 A618 Pre-charge ending time 0 to 3600 s, 9999 0.1 s 9999 Pre-charge upper A619...
  • Page 185 Minimum Initial value Refer to Customer Name Setting range setting group page setting increments Torque limit input method H700 0 to 2 selection D030 Set resolution switchover 0, 1, 10, 11 235, Torque limit level H701 0 to 400%, 9999 0.1% 9999 (regeneration)
  • Page 186 Minimum Initial value Refer to Customer Name Setting range setting group page setting increments Analog input offset T007 0 to 200% 0.1% 100% adjustment G103 Brake operation selection 0 to 2 Control terminal option- C240 0 to 4096 2048 Number of encoder pulses Control terminal option- C241 0, 1, 100, 101...
  • Page 187 Minimum Initial value Refer to Customer Name Setting range setting group page setting increments Regeneration avoidance G120 0 to 2 operation selection 380 VDC Regeneration avoidance G121 300 to 1200 V 0.1 V operation level 760 VDC Regeneration avoidance at G122 deceleration detection 0 to 5...
  • Page 188 Minimum Initial value Refer to Customer Name Setting range setting group page setting increments M310 FM/CA terminal calibration — — — (900) M320 AM terminal calibration — — — (901) Terminal 2 frequency T200 0 to 590 Hz 0.01 Hz 0 Hz setting bias frequency (902)
  • Page 189 Minimum Initial value Refer to Customer Name Setting range setting group page setting increments A630 PID display bias coefficient 0 to 500, 9999 0.01 9999 (934) PID display bias analog A631 0 to 300% 0.1% value (934) PID display gain A632 0 to 500, 9999 0.01...
  • Page 190 Minimum Initial value Refer to Customer Name Setting range setting group page setting increments 1020 A900 Trace operation selection 0 to 4 1021 A901 Trace mode selection 0 to 2 1022 A902 Sampling cycle 0 to 9 Number of analog 1023 A903 1 to 8...
  • Page 191 Minimum Initial value Refer to Customer Name Setting range setting group page setting increments Deceleration time at — 1103 F040 0 to 3600 s 0.1 s emergency stop 1106 M050 Torque monitor filter 0 to 5 s, 9999 0.01 s 9999 Running speed monitor 1107...
  • Page 192 Minimum Initial value Refer to Customer Name Setting range setting group page setting increments Start command edge 1221 B101 0, 1 detection selection First positioning 1222 B120 0.01 to 360 s 0.01 s acceleration time First positioning 1223 B121 0.01 to 360 s 0.01 s deceleration time 1224...
  • Page 193 Minimum Initial value Refer to Customer Name Setting range setting group page setting increments Eighth positioning sub- 0 to 2, 10 to 12, 100 to 1253 B151 function 102, 110 to 112 Ninth positioning 1254 B152 0.01 to 360 s 0.01 s acceleration time Ninth positioning...
  • Page 194 Minimum Initial value Refer to Customer Name Setting range setting group page setting increments Home position return 1284 B182 0 to 10 Hz 0.01 Hz 0.5 Hz creep speed Home position shift 1285 B183 0 to 9999 amount lower 4 digits Home position shift 1286 B184...
  • Page 195 Minimum Initial value Refer to Customer Name Setting range setting group page setting increments Load characteristics 1480 H520 0, 1 (2 to 5, 81 to 85) measurement mode Load characteristics load 1481 H521 0 to 400%, 8888, 9999 0.1% 9999 reference 1 Load characteristics load 1482...
  • Page 196: Use Of A Function Group Number For The Identification Of Parameters

    5.1.2 Use of a function group number for the identification of parameters A parameter identification number shown on the PU can be switched from a parameter number to a function group number. As parameters are grouped by function and displayed by the group, the related parameters can be set continually at a time. ...
  • Page 197 Enabling the function group selection Turn until " " (Protective function parameter 4) appears. Press to confirm the selection. " " will appear, which shows that the operation panel is ready for selection of a number in the group of Protective function parameter 4. Selecting a parameter Turn until "...
  • Page 198: Parameter List (By Function Group Number)

    5.1.3 Parameter list (by function group number)  E: Environment setting Refer Name parameters group page E700 Life alarm status display Parameters for the inverter operating environment. Inrush current limit circuit life E701 Refer display Name group Control circuit capacitor life page E702 display...
  • Page 199: Frequency Command

    Refer Refer Name Name group to page group page PU mode operation command D013 Deceleration time in low-speed source selection F071 range Reverse rotation prevention D020 Acceleration/deceleration selection F100 pattern selection 235, D030 Set resolution switchover F101 Remote function selection 363, 386, F102...
  • Page 200 Refer Refer Name Name group to page group to page Second free thermal reduction Load characteristics load H012 H522 1482 ratio 1 reference 2 Second free thermal reduction Load characteristics load H013 H523 1483 frequency 2 reference 3 Second free thermal reduction Load characteristics load H014 H524...
  • Page 201  M: Monitoring and its output Refer Name signal group page M301 AM terminal function selection Parameters for the settings regarding the monitoring to check the inverter's operating status and the output signals for the M310 FM/CA terminal calibration (900) monitoring.
  • Page 202 Refer Refer Name Name group to page group page T052 4 mA input check selection M470 Torque detection 4 mA input fault operation T053 M500 Remote output selection frequency M501 Remote output data 1 T054 4 mA input check filter M502 Remote output data 2 Terminal 1 bias frequency...
  • Page 203 Refer Refer Name group to page Name group page STOP terminal function T710 selection C131 Motor Ld decay ratio RES terminal function C132 Motor Lq decay ratio T711 selection C133 Motor protection current level T720 MRS input selection Motor induced voltage C135 1412 T721...
  • Page 204 Refer Refer Name Name group group page page Control terminal option- Second deceleration detection C241 A126 Encoder rotation direction function selection Second brake opening current C242 Encoder option selection A128 selection Control terminal option-Signal Second brake operation C248 loss detection enable/disable A129 frequency selection selection...
  • Page 205 Refer Refer Name Name group group page page DC injection brake start A530 A631 PID display bias analog value position (934) Internal stop position A531 A632 PID display gain coefficient command (935) A532 Orientation in-position zone A633 PID display gain analog value A533 Servo torque selection (935)
  • Page 206  B: Position control parameters Refer Name group Parameters for the position control setting. page Stall prevention operation Refer A710 level for restart Name group A711 Frequency search gain page A712 Second frequency search gain Position command source 288, B000 selection A730 Power failure stop selection...
  • Page 207 Refer Refer Name Name group group page page Ninth target position upper 4 Sixth positioning acceleration B038 B140 1242 digits time Tenth target position lower 4 Sixth positioning deceleration B039 B141 1243 digits time Tenth target position upper 4 B142 1244 Sixth positioning dwell time B040...
  • Page 208 Refer Refer Name Name group group page page Fourteenth positioning sub- Operation frequency during B175 1277 N014 function communication error Fifteenth positioning PU communication station B176 1278 N020 acceleration time number Fifteenth positioning N021 PU communication speed B177 1279 deceleration time N022 PU communication data length Fifteenth positioning dwell...
  • Page 209 Refer Refer Name Name group group page page G021 Third V/F (base frequency) Slip compensation time G204 constant Energy saving control G030 selection Constant output range slip G205 compensation selection G040 V/F1 (first frequency) Constant output range speed G041 V/F1 (first frequency voltage) G206 1116 control P gain compensation...
  • Page 210 Refer Refer Name Name group group page page G311 Speed control P gain 2 Second droop function G422 activation selection G312 Speed control integral time 2 G423 Second droop break point gain G313 Torque control P gain 2 Second droop break point G314 Torque control integral time 2 G424...
  • Page 211: Control Method

    Set the rated motor current to about 40% or higher of the inverter rated current. • The motor described in the following table is used. Motor Condition Mitsubishi Electric standard motor (SF-JR) Mitsubishi Electric high-efficiency motor (SF- The offline auto tuning is not required. Mitsubishi Electric constant-torque motor (SF- JRCA 4P, SF-HRCA)
  • Page 212 • Offline auto tuning is performed. Offline auto tuning is necessary under Real sensorless vector control even when the Mitsubishi Electric motor is used. • Single-motor operation (one motor to one inverter) is performed. • A surge voltage suppression filter (FR-ASF/FR-BMF) or sine wave filter (MT-BSL/BSC) is not used.
  • Page 213: Vector Control And Real Sensorless Vector Control

    • The PM sensorless vector control requires the following conditions. • The motor described in the following table is used. Motor Condition Mitsubishi Electric IPM motor (MM-CF) The offline auto tuning is not required. IPM motor (other than MM-CF), SPM motor The offline auto tuning is required.
  • Page 214 In Vector control, the voltage and output frequency are calculated to control the motor so that the excitation current and torque current flow to the optimum as described below: motor current im torque current excitation current • The excitation current is controlled to place the internal magnetic flux of the motor in the optimum status. •...
  • Page 215 Block diagram of Real sensorless vector control modulation Magnetic Pre-excitation φ 2 flux current Output control control voltage conversion Torque ω Speed ω 0 current control control ω FB ω 0 ω FB ω s Current conversion Slip calculation φ 2 Magnetic flux calculation...
  • Page 216: Changing The Control Method And Mode

    Speed control operation is performed to zero the difference between the speed command (ω*) and actual rotation value Speed control detected by encoder (ωFB). At this time, the motor load is found and its result is transferred to the torque current controller as a torque current command (iq*).
  • Page 217 Name Initial value Setting range Description 0 to 6, 13 to 16, 20, 23, 24, 30, 33, 34, 40, By selecting a standard motor or constant-torque motor, 43, 44, 50, 53, 54, 70, Applied motor the thermal characteristic and motor constant of each C100 73, 74, 330, 333, 334, motor are set.
  • Page 218  Selection of the control method and the control mode • Select a control method (and a control mode) from V/F control (speed control), Advanced magnetic flux vector control (speed control), Real sensorless vector control (speed control or torque control), Vector control (speed control, torque control, or position control), or PM sensorless vector control (speed control or position control).
  • Page 219  Selecting the fast-response operation (Pr.800 (Pr.451) = “100 to 106, or 109 to 114") • Setting Pr.800 (Pr.451) = "any of 100 to 106 or 109 to 114" selects the fast-response operation. The fast-response operation is available during Vector control, Real sensorless vector control, and PM sensorless vector control. Speed response Fast-response operation Control method...
  • Page 220 —: Not available Monitoring on Output via FM/ Monitoring on Output via FM/ Monitor item Monitor item DU/PU CA/AM DU/PU CA/AM Output frequency ○ ○ PID deviation ○ ○ Fault indication ○ — Input terminal status ○ — Frequency setting value ○...
  • Page 221 • When using the X18 signal, turning ON the X18 signal switches the presently-selected control method (Advanced magnetic flux vector control, Real sensorless vector control, Vector control) to the V/F control. Use this method to switch the control method for one motor. At this time, the second functions including the electronic thermal O/L relay characteristic are not changed.
  • Page 222  Changing the control mode with external terminals (MC signal) • To use ON/OFF of the MC signal to switch the control mode, set Pr.800 or Pr.451. Refer to page 217and set Pr.800 or Pr.451. To input the MC signal, set "26" in any of Pr.178 to Pr.189 (Input terminal function selection) to assign the function. •...
  • Page 223: Selecting The Advanced Magnetic Flux Vector Control

    46.) Make the motor setting (Pr.71). Motor Pr.71 setting Remarks SF-JR 0 (initial value) (3, 4) Mitsubishi Electric standard SF-JR 4P 1.5 kW or lower motor Mitsubishi Electric high- SF-HR efficiency motor Others 0 (3) Offline auto tuning is required.
  • Page 224 NOTE • To perform driving in a better accuracy, perform offline auto tuning, then set the online auto tuning, and select Real sensorless vector control. • Under this control, rotations are more likely to be uneven than under V/F control. (This control method is not suitable for grinder, wrapping machine, etc., which require even rotation at a low speed.) •...
  • Page 225: Selecting The Pm Sensorless Vector Control

    5.2.4 Selecting the PM sensorless vector control  Setting for the PM sensorless vector control by selecting parameter initialization (" ") on the operation panel • The parameters required to drive an MM-CF IPM motor are automatically changed as a batch. (Refer to page 225.) •...
  • Page 226  Initializing the parameters required for the PM sensorless vector control (Pr.998) • PM parameter initialization sets parameters required for driving an IPM motor MM-CF. • The offline auto tuning enables the operation with an IPM motor other than MM-CF and with SPM motors. •...
  • Page 227 • Performing the Parameter clear or the All parameter clear resets these parameter settings to the settings required to drive an induction motor. Setting Setting increments Induction PM motor (rotations PM motor (frequency) motor per minute) 0 (initial value) 8009, 8109, Name 9009...
  • Page 228: Low-Speed Range Torque Characteristics

    Setting Setting increments Induction PM motor (rotations PM motor (frequency) motor per minute) 0 (initial value) 8009, 8109, Name 9009 9109 3003, 0, 3103, 3003 3103 (other (other 8009, 8109, (MM-CF) (MM-CF) than MM- than MM- 9009 9109 Rated Rated Current average value 0.01 A Inverter...
  • Page 229 The low-speed range high-torque characteristic (current synchronization operation) is disabled for PM motors other than MM-CF, even if "9999" is set.  When the low-speed range torque characteristic is enabled (Pr.788 = "9999 (initial value)") • The high frequency superposition control provides enough torque in the low-speed range operation. •...
  • Page 230: Speed Control Under Real Sensorless Vector Control, Vector Control, Pm Sensorless Vector Control

    Speed control under Real sensorless vector control, vector control, PM sensorless vector control Refer Purpose Parameter to set to page P.H500, P.H700 Pr.22, Pr.801, to P.H704, Pr.803, Pr.810, To limit the torque during speed P.H710, P.H720, Torque limit Pr.812 to control P.H721, P.H730, Pr.817, Pr.858,...
  • Page 231: 5.3 Speed Control Under Real Sensorless Vector Control, Vector Control, Pm Sensorless Vector Control

     Control block diagram Analog input offset adjustment [Pr. 849] Terminal 2 bias [C2, C3 (Pr. 902)] Operation Mode Terminal 2 gain [Pr. 125, C4 (Pr. 903)] [Pr. 79] Terminal 2 Terminal 4 bias [C5, C6 (Pr. 904)] Analog Terminal 4 gain [Pr. 126, C7 (Pr. 905)] input Terminal 4 selection...
  • Page 232: 5.3 Speed Control Under Real Sensorless Vector Control, Vector Control, Pm Sensorless Vector Control

    Speed feed forward control Speed feed forward Speed feed torque limit forward [Pr. 879] filter [Pr. 878] Load inertia ratio Speed feed forward gain [Pr. 880] [Pr. 881] Model adaptive speed control J [Pr. 880] Torque coefficient Model speed calculation [Pr.
  • Page 233: Setting Procedure Of Real Sensorless Vector Control (Speed Control)

    5.3.1 Setting procedure of Real sensorless vector control (speed control) Sensorless Sensorless Sensorless Operating procedure Perform secure wiring. (Refer to page 46.) Set the motor (Pr.71). (Refer to page 505.) Set Pr.71 Applied motor to "0" (standard motor) or "1" (constant-torque motor). Set the overheat protection of the motor (Pr.9).
  • Page 234: Setting Procedure Of Vector Control (Speed Control)

    5.3.2 Setting procedure of Vector control (speed control) Vector Vector Vector Operating procedure Perform secure wiring. (Refer to page 90.) Install a Vector control compatible option. Set the option to be used (Pr.862). Set Pr.862 Encoder option selection according to the option to be used. (Refer to page 220.) Set the applied motor and encoder (Pr.71, Pr.359 (Pr.852), and Pr.369 (Pr.851)).
  • Page 235  Driving an MM-CF IPM motor Operating procedure Perform IPM parameter initialization. (Refer to page 224.) Set "3003 or 3103" in Pr.998 PM parameter initialization, or select "3003" in “ " (IPM initialization). Setting Description Parameter settings for MM-CF IPM motor (rotations 3003 per minute) Parameter settings for MM-CF IPM motor...
  • Page 236: Setting The Torque Limit Level

    Configure the initial setting for the PM sensorless vector control using Pr.998. (Refer to page 225.) When the setting for the PM motor is selected in Pr.998 PM parameter initialization, the PM sensorless vector control is selected. [PM] on the operation panel (FR-DU08) is lit when the PM sensorless vector control is set. Setting Description Parameter settings for an IPM motor other than MM-CF...
  • Page 237 Setting Name Initial value Description range 0 to 400% Set the torque current limit level. Output limit level 9999 The torque limit setting value is used for limiting the torque current H704 9999 level. The motor power output is The torque rises in the low- limited to be constant in the speed range.
  • Page 238 Setting Name Initial value Description range The inverter can be set to be shut off at activation of torque limit OLT level setting 150% 0 to 400% H730 and stalling of the motor. Set the output to be shut off. When changing from V/F control or Advanced magnetic flux vector control to Real sensorless vector control or Vector control in FR-A820- 00250(3.7K) or lower or FR-A840-00126(3.7K) or lower, 150% changes to 200%.
  • Page 239 • Torque limit using analog input is valid with a limit value lower than the internal torque limit (Pr.22, Pr.812 to Pr.814). (If the torque limit using analog input exceeds the internal torque limit, the internal torque limit is valid.) •...
  • Page 240 • Functions of terminals 1 and 4 by control (— : no function) Pr.858 setting Terminal 4 function Pr.868 setting Terminal 1 function 0 (initial value) Speed setting assistance Magnetic flux command — — Speed command (AU signal-ON) (initial value) Torque limit (Pr.810 = 1) —...
  • Page 241 Torque limit Reverse regeneration Forward driving Pr.805(Pr.806) Pr.805(Pr.806) quad4 quad1 RWwC, RWw2 RWwC, RWw2 Speed quad3 quad2 Pr.805(Pr.806) Pr.805(Pr.806) RWwC, RWw2 RWwC, RWw2 Reverse driving Forward regeneration Reverse rotation Forward rotation − Rated speed • When the CC-Link communication (Ver. 2) is used in the quadruple or octuple setting (Pr.544 = "24, 28, or 128"), the torque limit value can be input using a remote register (RWwC to RWwF) for each of the four quadrants.
  • Page 242  Setting the torque limit values during acceleration/deceleration individually (Pr.816, Pr.817) • The torque limit during acceleration and deceleration can be set individually. Torque limit using the setting values of Pr.816 Torque limit level during acceleration and Pr.817 Torque limit level during deceleration is as follows. •...
  • Page 243 • Use Pr.85 Excitation current break point to change the low-speed range, and use Pr.86 Excitation current low speed scaling factor to change the torque in the low-speed range. When Pr.85 = "9999 (initial value)", a predetermined frequency is used. When Pr.86 = "9999 (initial value)", a predetermined scaling factor is used (refer to page 677).
  • Page 244 • When a high load is applied and the torque limit is activated under speed control or position control, the motor stalls. At this time, if a state where the rotation speed is lower than the value set in Pr.865 Low speed detection and the output torque exceeds the level set in Pr.874 OLT level setting continues for 3 seconds, Stall prevention stop (E.OLT) is activated and the inverter output is shut off.
  • Page 245: Performing High-Accuracy, Fast-Response Control (Gain Adjustment For Real Sensorless Vector Control, Vector Control, And Pm Sensorless Vector Control)

    5.3.5 Performing high-accuracy, fast-response control (gain adjustment for Real sensorless vector control, Vector control, and PM sensorless vector control) Sensorless Sensorless Sensorless Vector Vector Vector The load inertia ratio (load moment of inertia) for the motor is calculated in real time from the torque command and rotation speed during motor driving by the Vector control.
  • Page 246  Block diagram of easy gain tuning function <Vector control> Automatic setting Load inertia moment Detector Speed control/position loop gain Current Model speed control gain Command Motor Encoder control [Pr.820, Pr.821, Pr.828, Pr.422] ON when [Pr.819 = "1, 2"] Torque command ON when [Pr.819 = "1"] Load inertia...
  • Page 247 • The time in acceleration/deceleration driving until 1500 r/min is reached in 5 s or less. • The rotation speed in driving is 150 r/min or higher. • The acceleration/deceleration torque is 10% or higher. • No sudden external disturbances during acceleration/deceleration. •...
  • Page 248  Adjusting the speed control gain manually (Pr.819 = "0" No easy gain tuning) • The speed control gain can be adjusted for the conditions such as abnormal machine vibration, acoustic noise, slow response, and overshoot. • Setting 60% (initial value) in Pr.820 Speed control P gain 1 is equivalent to 120 rad/s (speed response of a single motor). (Equivalent to the half the rad/s value during Real sensorless vector control or with the FR-A820-03800(75K) or higher and the FR-A840-02160(75K) or higher during Vector control.) Setting this parameter higher speeds up the response, but setting this too high causes vibration and acoustic noise.
  • Page 249 Movement / condition Adjustment method Set Pr.820 and Pr.821 higher. If acceleration is slow, raise the setting by 10% and then set the value to 80 to 90% of the Pr.820 Load inertia is too high. setting immediately before vibration/noise starts occurring. If overshoots occur, set about 80 to 90% of the maximum value without overshooting while Pr.821 increasing the setting value by twice.
  • Page 250  Compensating the speed control P gain in the constant output range (Pr.1116) • In the constant output range (rated speed or higher), the response of speed control is reduced due to weak field. Thus, the speed control P gain is needed to be compensated using Pr.1116 Constant output range speed control P gain compensation.
  • Page 251 • To input the X44 signal, set "44" in any of Pr.178 to Pr.189 (input terminal function selection) to assign the function to a terminal. • The shock of P/PI control switchover is absorbed by setting Pr.1115 Speed control integral term clear time. When the X44 signal is turned ON, integration is stopped and the accumulated integral term is reduced and cleared according to the setting of Pr.1115 Speed control integral term clear time (initial value is 0 ms).
  • Page 252: Troubleshooting In The Speed Control

    5.3.6 Troubleshooting in the speed control Sensorless Vector Vector Vector Sensorless Sensorless Condition Possible cause Countermeasure • Check the wiring. Set V/F control (set Pr.80 Motor capacity or Pr.81 Number of motor poles to "9999") and check the motor rotation direction. For SF-V5RU (1500 r/min series), set Pr.19 Base frequency voltage to 170 V (340 V) when the value is 3.7 kW or lower, and set it to 160 V (320 V) when the value is higher, and set Pr.3 Base frequency to 50 Hz.
  • Page 253 Condition Possible cause Countermeasure • Check that the speed command sent from the controller is correct. (Take EMC measures.) Speed command varies. • Set Pr.72 lower. • Set Pr.822 Speed setting filter 1 higher. (Refer to page 480.) Motor speed •...
  • Page 254: Speed Feed Forward Control, Model Adaptive Speed Control

    5.3.7 Speed feed forward control, model adaptive speed control Sensorless Sensorless Sensorless Vector Vector Vector • Speed feed forward control or model adaptive speed control can be selected using parameter settings. Under speed feed forward control, the motor trackability for speed command changes can be improved. Under model adaptive speed control, the speed trackability and the response level to motor external disturbance torque can be adjusted individually.
  • Page 255 NOTE • The speed feed forward control is enabled for the first motor. • Even if the driven motor is switched to the second motor while Pr.877 = "1", the second motor is operated as Pr.877 = "0". • Under PM sensorless vector control, the notch filter is available when low-speed range high-torque characteristic is enabled by Pr.788 Low speed range torque characteristic selection ="9999 (initial value)".
  • Page 256: Torque Bias

     Combining with easy gain tuning • The following table shows the relationship between speed feed forward and model adaptive speed control, and the easy gain tuning function. Easy gain tuning selection (Pr.819) setting The inertia ratio value calculated by easy gain Pr.880 Load inertia ratio .
  • Page 257  Block diagram Speed Speed command Speed command Torque control control P gain Speed control integral time Cage Integration cleared to 0 [Pr. 845] Internal parameters [Pr. 840 = 0] [Pr. 840 = 1, 2, 3] [Pr. 841] Torque bias selection 1 [Pr.
  • Page 258 • The torque bias amount (Pr.847) and gain amount (Pr.848) when descending (reverse motor rotation when the Pr.840 setting is "1", forward motor rotation when the setting is "2") can be set in a range of 0 to 400%. When Pr.847 or Pr.848 ="9999", the setting is the same for both descending and ascending (C16 to C19).
  • Page 259 • Set the terminal 1 to accept inputs of load detection voltage, set "3" in Pr.840 Torque bias selection, and adjust the parameter settings according to the following procedures. Setting C16, C17 (Pr.919) The load input at no load Press When the speed is set as the terminal 1 stabilizes, read C16,...
  • Page 260: Avoiding Motor Overrunning

    • Set the time for continuing the output torque simply by using the command value for the torque bias in Pr.845 Torque bias operation time. Speed Torque bias Torque bias filter Pr. 844 primary delay time constant Output torque Time when torque is Pr.
  • Page 261 • When the difference (absolute value) between the speed command value and actual rotation speed in speed control under Vector control is equal to higher than the setting value in Pr.285 Speed deviation excess detection frequency for a continuous time equal to or longer than the setting value in Pr.853 Speed deviation time, the speed deviation excess detection (E.OSD) activates to shut off the inverter output.
  • Page 262: Notch Filter

    NOTE • The deceleration check is enabled in the speed control of the Vector control. • If the protective function (E.OSD) operates due to deceleration check, check whether the Pr.369 Number of encoder pulses setting is correct. Parameters referred to Pr.285 Overspeed detection frequencypage 700 Pr.369 Number of encoder pulses, Pr.851 Control terminal option-Number of encoder...
  • Page 263 Parameters referred to Pr.800 Control method selectionpage 215 5. PARAMETERS 5.3 Speed control under Real sensorless vector control, vector control, PM sensorless vector control...
  • Page 264: Torque Control Under Real Sensorless Vector Control And Vector Control

    Torque control under Real sensorless vector control and Vector control Refer Purpose Parameter to set to page Torque command source selection or P.D400 to P.D403, P.G210, Pr.801, Pr.803 to Pr.806, Torque command torque command value setting P.H704 Pr.1114 To prevent the motor from Speed limit P.H410 to P.H412, P.H414 Pr.807 to Pr.809, Pr.1113...
  • Page 265  Block diagram Constant power range Torque command torque characteristic selection source selection Terminal 1 bias [C16,C17 (Pr. 919)] [Pr. 803] [Pr. 804] Terminal 1 gain [C18,C19 (Pr. 920)] Terminal 1 [Pr. 868 = 3, 4] [Pr. 826 = 9999] Torque [Pr.
  • Page 266 Analog input offset Speed limit adjustment [Pr. 849] Terminal 2 bias [C2, C3 (Pr. 902)] Terminal 2 gain [Pr. 125, C4 (Pr. 903)] Terminal 2 Analog input Terminal 4 bias [C5, C6 (Pr. 904)] selection Terminal 4 gain [Pr. 126, C7(Pr. 905)] Terminal 4 [Pr.
  • Page 267  Operation transition Speed limit value is increased up to preset value according to the Pr.7 Speed limit value is decreased Speed limit value Acceleration time setting. down to zero according to the Pr.8 Deceleration time setting. Speed Torque control Speed limit Speed limit Start signal...
  • Page 268: Setting Procedure Of Real Sensorless Vector Control (Torque Control)

    The following diagram indicates operation relative to commands given by analog input via terminal 1. Speed Speed limit value Pr.7 Pr.8 ∗ ∗ ∗ Speed Speed Speed Time (Forward rotation command) Speed limit Speed limit Torque Speed limit Torque control operation operation operation control...
  • Page 269: Setting Procedure For Vector Control (Torque Control)

    Set the motor overheat protection (Pr.9). (Refer to page 394.) Set the motor capacity and the number of motor poles (Pr.80 and Pr.81). (Refer to page 215.) V/F control is performed when the setting is "9999" (initial value). Set the rated motor voltage and frequency (Pr.83 and Pr.84). (Refer to page 509.) Select the control method (Pr.800).
  • Page 270 Set the overheat protection of the motor (Pr.9). (Refer to page 394.) When using the SF-V5RU or a motor equipped with a thermal sensor, set Pr.9 = 0 A. Set the motor capacity and the number of motor poles (Pr.80 and Pr.81). (Refer to page 215.) V/F control is performed when the setting is "9999"...
  • Page 271: Torque Command

    5.4.4 Torque command Sensorless Sensorless Sensorless Vector Vector Vector For torque control selection, the torque command source can be selected. Initial Name Setting range Description value Pulse train torque For 0 pulses/s, set the torque to be used during stall prevention 0 to 400% command bias operation.
  • Page 272  Torque command given by analog input (terminal 1) (Pr.804 = "0 (initial value)") • Torque commands are given by voltage (current) input via terminal 1. • Set Pr.868 Terminal 1 function assignment = "3 or 4" to give the torque command via terminal 1. •...
  • Page 273 • Use Pr.428 Command pulse selection to select a type of pulse train input to the FR-A8AL. Pr.428 setting Command pulse train type During forward rotation During reverse rotation Forward pulse train 0 (initial value) Reverse pulse train Negative Pulse train + sign logic A phase pulse train B phase pulse train...
  • Page 274 The torque command can also be given by setting a value in Pr.805 or Pr.806. Setting range if set by operation panel or parameter unit is "673 to 1327 (-327% to 327%)"; setting increment is 1%. NOTE • For the details of the FR-A8NC, FR-A8NCE, and FR-A8NP setting, refer to the Instruction Manual for the respective communication options.
  • Page 275: Speed Limit

     Reverse selection of the torque command (Pr.1114) • The Pr.1114 Torque command reverse selection setting determines whether or not the torque command polarity is reversed when the reverse rotation command (STR) is turned ON. Torque command polarity at STR signal ON Pr.1114 setting (sign) Not reversed...
  • Page 276  Control block diagram (speed limit mode 1) Speed estimated value < speed limit value Torque command Motor Torque control Pr. 807 Speed limit selection Same method as speed command input Speed control Parameter(Pr. 808, Pr. 809) Encoder (proportional control) Forward/reverse rotation Speed estimated value speed limit value...
  • Page 277 • When Pr.809 = "9999" (initial value), speed limit is determined by the setting value of Pr.808 for both forward and reverse rotations. Speed Torque controllable range Forward rotation Forward rotation Pr.808 Speed limit Pr.7 Pr.8 Speed limit Pr.808 Time Time Time Output torque...
  • Page 278 NOTE • To perform speed limit by using terminal 1, calibrate terminal 1. (Refer to page 482.)  Speed limit mode 2 (Pr.1113 = "0" initial value) • Following the polarity change in the torque command, the polarity of the speed limit value changes. This prevents the speed from increasing in the torque polarity direction.
  • Page 279 • When the torque command becomes negative, the setting of Pr.809 Reverse rotation speed limit/reverse-side speed limit is applied to prevent the speed from increasing in the reverse rotation direction. (The speed limit value and reverse- side speed limit value are limited at Pr.1 Maximum frequency (maximum 400 Hz under Vector control).) Unwinding Winding (regenerative driving)
  • Page 280 • When the torque command becomes negative, the setting of Pr.809 Reverse rotation speed limit/reverse-side speed limit is applied to prevent the speed from increasing in the reverse rotation direction. (The speed limit value and reverse- side speed limit value are limited at Pr.1 Maximum frequency (maximum 400 Hz under Vector control).) Unwinding Winding (regenerative driving)
  • Page 281: Torque Control Gain Adjustment

    NOTE • During the speed limit operation, " " (SL) is displayed on the operation panel and the OL signal is output. • OL signal is assigned to terminal OL in the initial status. Set "3" in one of Pr.190 to Pr.196 (Output terminal function selection) to assign the RT signal to another terminal.
  • Page 282: Troubleshooting In Torque Control

    NOTE • The RT signal is a second function selection signal which also enables other second functions. (Refer to page 500.) • The RT signal is assigned to terminal RT in the initial status. Set "3" in one of Pr.178 to Pr.189 (Input terminal function selection) to assign the RT signal to another terminal.
  • Page 283: Torque Control By Variable-Current Limiter Control

    C16 to C19 (torque setting voltage (current) bias/gain)page 487 5.4.8 Torque control by variable-current limiter control Vector Vector Vector By changing the torque limit value for speed control, torque control can be performed. Initial Name Setting range Description value Vector control Variable-current limiter Torque control under Vector control torque control)
  • Page 284 NOTE • When Pr.800 = "6 or 106" (torque control by a variable-current limiter), Pr.690 Deceleration check time and Pr.873 Speed limit are ignored. Parameters referred to Pr.690 Deceleration check timepage 259 Pr.873 Speed limitpage 259 Pr.800 Control method selection, Pr.451 Second motor control method selectionpage 215 5.
  • Page 285: Position Control Under Vector Control And Pm Sensorless Vector Control

    Position control under vector control and PM sensorless vector control Refer to Purpose Parameter to set page Pr.419, Pr.464 to P.B000, P.B020 to P.B050, To perform Simple position control Parameter position Pr.494, Pr.1221 to P.B101, P.B120 to P.B188, by setting parameters command Pr.1290, Pr.1292, P.B190 to P.B195...
  • Page 286: Operation Example

     Operation example • Calculate the speed command so that the difference between the number of pulses of the internal pulse train (if Pr.419 = "0", command pulses are used in the inverter from the number of pulses defined by parameters (Pr.465 to Pr.494)) and the number of pulses in the feedback from the motor terminal encoder (estimated value when PM sensorless vector control is used) is 0, and then rotate the motor based on the calculation.
  • Page 287: Setting Procedure Of Vector Control (Position Control)

    5.5.2 Setting procedure of Vector control (position control) Vector Vector Vector Operating procedure Perform secure wiring. (Refer to page 86.) Install a Vector control compatible option. Set the option to be used (Pr.862). Set Pr.862 Encoder option selection according to the option to be used. (Refer to page 215.) Set the motor and the encoder (Pr.71, Pr.359 (Pr.852), Pr.369 (Pr.851)).
  • Page 288: Setting Procedure Of Pm Sensorless Vector Control (Position Control)

    5.5.3 Setting procedure of PM sensorless vector control (position control) Operating procedure Perform IPM parameter initialization. (Refer to page 224.) Set "3003 or 3103" in Pr.998 PM parameter initialization or select "3003" in “ " (IPM parameter initial settings). Setting Description 3003 Parameter settings for MM-CF IPM motor (rotations per minute)
  • Page 289: Simple Positioning Function By Parameters

    5.5.4 Simple positioning function by parameters Vector Vector Vector Set positioning parameters such as the number of pulses (position) and acceleration/deceleration time in advance to create a point table (point table method). Positioning operation is performed by selecting the point table. Name Initial value Setting range...
  • Page 290 Name Initial value Setting range Description Ninth target position 0 to 9999 B037 lower 4 digits Set the target position of the point table 9. Ninth target position 0 to 9999 B038 upper 4 digits Tenth target position 0 to 9999 B039 lower 4 digits Set the target position of the point table 10.
  • Page 291 Name Initial value Setting range Description 1238 Fifth positioning 0.01 to 360 s B136 acceleration time 1239 Fifth positioning 0.01 to 360 s B137 deceleration time Set the characteristics of the point table 5. 1240 Fifth positioning dwell 0 ms 0 to 20000 ms B138 time...
  • Page 292 Name Initial value Setting range Description 1270 Thirteenth positioning 0.01 to 360 s B168 acceleration time 1271 Thirteenth positioning 0.01 to 360 s B169 deceleration time Set the characteristics of the point table 13. 1272 Thirteenth positioning 0 ms 0 to 20000 ms B170 dwell time 1273...
  • Page 293  Positioning by a point table (Pr.4 to Pr.6, Pr.24 to Pr.27, Pr.232 to Pr.239, Pr.465 to Pr.494, and Pr.1222 to Pr.1281) • Create a the point table by setting the following parameters. Position data [command Point table selection signal Maximum Acceleration Deceleration...
  • Page 294 • Set the auxiliary function for parameters corresponding to each point table. Auxiliary function Command method Operation method Sign (100 s digit) parameter setting (10 s digit) (1 s digit) Individual (0) Absolute position Continuous (1) command (0) Loop operation using the point table selected at the start of the operation (2) Plus (0) Individual (0)
  • Page 295 NOTE • During continuous operation, the position command speed drops to 0 in each point table operation before starting the next point table operation. • During continuous operation, no point table selection signal is received. Select the position feed length using point table before turning ON the start command.
  • Page 296 • The following figure shows an operation example using the following point table. Target position Maximum Acceleration Deceleration Dwell time Point table Auxiliary function speed (Hz) time (s) time (s) (ms) Upper Lower 1 (absolute position, continuous) 11 (incremental Invalid Invalid position, individual) 1 (absolute position,...
  • Page 297  Selecting the home position return method (Pr.1282 to Pr.1288) Pr.1282 Home position return Description setting method Deceleration starts when the Proximity dog signal is turned ON. For the home position after turn OFF of the Proximity dog signal, the position specified by the first Z-phase signal or the position of the first Z-phase signal shifted by the home position shift amount (Pr.1285, Pr.1286) is used.
  • Page 298 Pr.1282 Home position return Description setting method A workpiece is pressed to a mechanical stopper, and the position where it is stopped is set as the home position. Pressing is confirmed when the estimated speed value has fallen blow Pr.865 Low speed detection for 0.5 s during activation of the torque limit operation.
  • Page 299 Pr.1282 Home position return Description setting method Deceleration starts at the front end of the proximity dog, and the position is shifted by the post-dog travel distance and home position shift distance. The position after the shifts is set as the home position.
  • Page 300 • If STF(STR) is turned OFF during positioning or home position returning when Pr.1221 = "0 (initial value)" is set, it stops in the time set as Pr.464 Digital position control sudden stop deceleration time. When Pr.1221="0 (initial value)" is set When Pr.1221="1"...
  • Page 301 • Basic operation example Position command speed Indication of position command or 1000 1000 current position Point table selection signal Servo-ON (LX) Start signal (STF)  Input/output signals for point table positioning Pr.190 to Pr.196 setting Input/ Pr.178 to Signal name Function Output Pr.189 setting...
  • Page 302: Position Control By The Fr-A8Al Pulse Train Input

    • Output signal operation during positioning with home position return Home position Speed return speed Home position shift amount Creep speed Home position Time Z-phase Proximity dog Point table selection signal PBSY MEND NOTE • When the LX signal is turned OFF, the home position return completed (ZP) signal is turned OFF. When the LX signal is turned ON again while Pr.419 = "10", the ZP signal is also turned ON.
  • Page 303 During position control under Vector control, if "1110" is set in Pr.419 while the FR-A8APS is not installed (or is disabled), a protective function (E.OPT) is activated.  Connection diagram • Connection with the positioning module of RD75P type MELSEC iQ-R series is also available. Vector-control-dedicated motors Inverter MCCB...
  • Page 304  Operation outline • If the pre-excitation/servo ON (LX) signal is turned ON, output shutoff is canceled and the position control preparation ready (RDY) signal is turned ON after 0.1 seconds. When the STF signal (forward stroke end) or the STR signal (reverse stroke end) is turned ON, the motor rotates according to the command pulse.
  • Page 305: To Perform Position Control By Pulse Input To The Inverter

    • The command pulse is switchable according to the position module as shown in the following table. During forward During reverse Setting of Command pulse train type Remarks rotation rotation Pr.428 RD75 (CW/CWW mode) Forward pulse train (Note)When (CW/CWW mode) and (PULSE/ 0 (initial value) Reverse pulse train SIGN mode) are connected incorrectly, the...
  • Page 306: Clear Signal Selection

     Operation outline • If the Pre-excitation/servo ON (LX) signal is turned ON, output shutoff is canceled and the Position control preparation ready (RDY) signal is turned ON after 0.1 s. When STF (forward stroke end signal) or STR (reverse stroke end signal) is turned ON, the motor rotates according to the command pulse.
  • Page 307: Pulse Monitor

    • For a terminal used for the CLR signal, set "59" in any of Pr.178 to Pr.189 (Input terminal function selection) to assign the function. When Pr. 429 = "0" When Pr. 429 = "1 (initial value)" Deviation counter Deviation counter image image CLR/CLRN...
  • Page 308 • Also, setting "26 to 31" in Pr.52, Pr.774 to Pr.776, Pr.992 (multifunction monitor) changes the electronic gear operation setting in the case of monitoring pulses. (Refer to page 424.) Pr.430 setting Description [][][]0 Displays the lower of the position command (accumulated value of command pulses). [][][]1 Displays the upper of the position command (accumulated value of command pulses).
  • Page 309 • If -99999999 or 99999999 is exceeded on the pulse monitor, the monitor value is reset to 0. Display data Monitor display without signs Monitor display with signs Lower monitor -10000 Upper monitor Lower monitor -100 Upper monitor NOTE • The pulse count starts at servo on. ...
  • Page 310: Electronic Gear Settings

    Cumulative pulse Cumulative pulse Cumulative pulse Cumulative pulse overflow times overflow times Clear signal Clear signal (X52, X53) (X52, X53) Cleared at the ON edge Cleared while the signal is ON  Cumulative pulse storage • The cumulative pulse monitor value and cumulative pulse overflow times can be retained when the power is turned OFF or the inverter is reset.
  • Page 311 The following formula shows the relationship between the motor speed and internal command pulse frequency. Pr.420 fo: internal command pulse frequency [pps] fo × = Pf × No: motor rotation speed [r/min] Pr.421 NOTE • Set the electronic gear ratio in the range of 1/50 to 20. Note that, if the setting value is too small, the speed command will also be too small;...
  • Page 312: Position Adjustment Parameter Settings

    • If the command pulse frequency varies rapidly when no acceleration time can be assigned to the command pulse, overshoot or excessive error alarms may occur. Set this option in such a case to set the acceleration/deceleration time. Normally it is set to 0. Parameters referred to Pr.422 Position control gainpage 312...
  • Page 313: Position Control Gain Adjustment

    • When a current position varies, the Position detection level (FP) signal may repeat ON/OFF (chatter). Setting hysteresis to the detected position prevents chattering of the signal. Use Pr.1297 Position detection hysteresis width to set a hysteresis width. Current position Position [before electronic gear] Pr.1297...
  • Page 314: Troubleshooting In Position Control

    • This function has no effects on servo rigidity at a stop. • Normally set this parameter to 0. • When setting Pr.423, set Pr.877 = "0 or 1" to enable position feed forward control.  Model adaptive position control (Pr.446) •...
  • Page 315  Flowchart Position control is not exercised normally Have you checked the speed control items? Check the speed control measures. Position shift occurs. Have you made the electronic gear setting? Set the electronic gear. (Pr. 420, Pr. 421) The forward (reverse) rotation stroke end signal has turned off before completion of positioning.
  • Page 316 Parameters referred to Pr.7 Acceleration timepage 349 Pr.8 Deceleration timepage 349 Pr.72 PWM frequency selectionpage 339 Pr.800 Control method selectionpage 215 Pr.802 Pre-excitation selectionpage 681 Pr.819 Easy gain tuning selectionpage 244 Pr.820 Speed control P gain 1page 244 Pr.821 Speed control integral time 1page 244 5.
  • Page 317: Adjustment During Real Sensorless Vector Control, Vector Control, Pm Sensorless Vector Control

    Adjustment during Real sensorless vector control, Vector control, PM sensorless vector control Refer to Purpose Parameter to set page To stabilize speed and torque feedback Speed detection filter P.G215, P.G216, Pr.823, Pr.827, signal Torque detection filter P.G315, P.G316 Pr.833, Pr.837 To change excitation ratio Excitation ratio P.G217...
  • Page 318: Gain Adjustment Of Current Controllers For The D Axis And The Q Axis

    Setting Name Initial value Description range Excitation ratio 100% 0 to 100% Set an excitation ratio when there is no load. G217 Excitation ratio (Initial value) Pr.854 setting Load[%] NOTE • When excitation ratio is reduced, output torque startup is less responsive. •...
  • Page 319: E) Environment Setting Parameters

    (E) Environment setting parameters Refer to Purpose Parameter to set page To set the time Real time clock function P.E020 to P.E022 Pr.1006 to Pr.1008 To set a limit for the reset function. Reset selection/ To shut off output if the operation panel Disconnected PU P.E100 to disconnects.
  • Page 320: Real Time Clock Function

    The real time clock function is enabled using an optional LCD operation panel (FR-LU08). Name Initial value Setting range Description 1006 Clock (year) 2000 years 2000 to 2099 Set the year. E020 101 to 131, 201 to 228, (229), Set the month and day. 301 to 331, 401 to 430, 501 to 531, 1000's and 100's digits: January to December, 1007...
  • Page 321: Reset Selection/Disconnected Pu Detection/Pu Stop Selection

    5.7.2 Reset selection/disconnected PU detection/PU stop selection The reset input acceptance, disconnected PU (operation panel/parameter unit) connector detection function and PU stop function (PU stop) can be selected. Initial Name Setting range Description value Reset selection/ 0 to 3, 14 to 17 Disconnected PU For the initial setting, reset is always enabled, without 0 to 3, 14 to 17, 100 to...
  • Page 322 NOTE • When the PU has been disconnected since before power-ON, the output is not shut off. • To restart, confirm that the PU is connected and then reset. • When P.E101 = "0" or Pr.75 = "0, 1, 14, 15, 100, 101, 114, or 115" (operation continues even when PU disconnected), decelerates to a stop when PU is disconnected during PU JOG operation.
  • Page 323: Pu Display Language Selection

     Reset limit function (P.E107) • When P.E107 = "1" or Pr.75 = any of "100 to 103 and 114 to 117", if an electronic thermal O/L relay or an overcurrent protective function (E.THM, E.THT, E.OC[]) is activated while one of them has been already activated within 3 minutes, the inverter does not accept any reset command (RES signal, etc.) for about 3 minutes from the second activation.
  • Page 324: Display-Off Mode

    5.7.6 Display-off mode The LED of the operation panel (FR-DU08) can be turned OFF when it has not been operated for a certain period of time. Name Initial value Setting range Description Display-off mode is disabled. 1048 Display-off waiting time Set time until the LED of the operation panel is turned E106 1 to 60 min...
  • Page 325: Resetting Usb Host Errors

    5.7.8 Resetting USB host errors When a USB device is connected to the USB connector (connector A), the USB host error can be canceled without performing an inverter reset. Name Initial value Setting range Description Read only 1049 USB host reset E110 Resets the USB host.
  • Page 326: Frequency Change Increment Amount Setting

    NOTE • Even if setting dial and key operations are disabled, the monitor indicator and are enabled. • The PU stop cannot be released with key operations unless the operation lock is released first. Parameters referred to Pr.1 Maximum frequencypage 407 5.7.10 Frequency change increment amount setting When setting the set frequency with the setting dial of the operation panel (FR-DU08), the frequency changes in 0.01 Hz increments in the initial status.
  • Page 327: Multiple Rating Setting

    5.7.11 Multiple rating setting Four rating types of different rated current and permissible load can be selected. The optimal inverter rating can be chosen in accordance with the application, enabling equipment size to be reduced. Setting Description (overload current rating, Name Initial value range...
  • Page 328: Using The Power Supply Exceeding 480 V

    200 V class FR-A820-[] 00046 00077 00105 00167 00250 00340 00490 00630 00770 00930 01250 01540 01870 02330 03160 03800 04750 (0.4K) (0.75K) (1.5K) (2.2K) (3.7K) (5.5K) (7.5K) (11K) (15K) (18.5K) (22K) (30K) (37K) (45K) (55K) (75K) (90K) Pr.570 400 V class: FR-A840-[] setting 02600 00023...
  • Page 329: Parameter Write Selection

    5.7.13 Parameter write selection Whether to enable the writing to various parameters or not can be selected. Use this function to prevent parameter values from being rewritten by misoperation. Name Initial value Setting range Description Writing is enabled only during stop. Parameter writing is disabled.
  • Page 330  Writing parameters only during Name 434, 435 (CC-Link communication) stop (Pr.77 = "0" initial value) 496, 497 (Remote output) • Parameters can be written only during a stop in the PU PLC function flash memory clear operation mode. NET mode operation command source selection •...
  • Page 331 Name 656 to 659 (Analog remote output) Torque command value (RAM) Torque command value (RAM, EEPROM) Fault initiation Writing during operation is disabled. To change the parameter setting value, stop the operation.  Writing parameters during Name Second motor auto tuning setting/status operation(Pr.77 = "2") Frequency command sign selection •...
  • Page 332: Password

    5.7.14 Password Registering a 4-digit password can restrict parameter reading/writing. Name Initial value Setting range Description 0 to 6, 99, 100 Select restriction level of parameter reading/writing to 106, 199 when a password is registered. Password lock level 9999 E410 9999 No password lock 1000 to 9998...
  • Page 333 NOTE • After registering a password, the read value of Pr.297 is always one of "0 to 5". • " " appears when a password restricted parameter is read/written. • Even if a password is registered, the parameters, which the inverter itself writes, such as inverter parts life are overwritten as needed.
  • Page 334: Free Parameter

    5.7.16 Setting multiple parameters as a batch Parameter settings are changed as a batch. Those include communication parameter settings for the Mitsubishi Electric human machine interface (GOT) connection, the parameter setting for the rated frequency settings of 50/60 Hz, and the parameter setting for acceleration/deceleration time increment.
  • Page 335  Automatic parameter setting (Pr.999