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Mitsubishi Electric FR-A5AP Instruction Manual

Transistorized inverter.
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TRANSISTORIZED INVERTER
-INSTRUCTION MANUAL-
ORIENTATION CONTROL / ENCODER FEEDBACK
CONTROL / PULSE TRAIN INPUT
FR-A5AP

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Table of Contents

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   Summary of Contents for Mitsubishi Electric FR-A5AP

  • Page 1 TRANSISTORIZED INVERTER -INSTRUCTION MANUAL- ORIENTATION CONTROL / ENCODER FEEDBACK CONTROL / PULSE TRAIN INPUT FR-A5AP...
  • Page 2: Safety Instructions

    Thank you for choosing the Mitsubishi transistorized inverter option unit. This instruction manual gives handling information and precautions for use of this equipment. Incorrect handling might cause an unexpected fault. Before using the equipment, please read this manual carefully to use the equipment to its optimum.
  • Page 3 WARNING Any person who is involved in the wiring or inspection of this equipment should be fully competent to do the work. Always install the option unit before wiring. Otherwise, you may get an electric shock or be injured. Handle this option unit with dry hands to prevent an electric shock. Do not subject the cables to scratches, excessive stress, heavy loads or pinching.
  • Page 4 (3) Usage WARNING Do not modify the equipment. CAUTION When parameter clear or all parameter clear is performed, each parameter returns to the factory setting. Re-set the required parameters before starting operation. For prevention of damage due to static electricity, touch nearby metal before touching this product to eliminate static electricity from your body.
  • Page 5: Table Of Contents

    CONTENTS 1.PRE-OPERATION INSTRUCTIONS Unpacking and Product Confirmation ....................1 Packing Confirmation...........................3 Structure ..............................3 2.INSTALLATION Pre-Installation Instructions........................4 Installation Procedure .........................4 Wiring..............................6 3. ORIENTATION CONTROL—A500(L) Wiring Example............................7 Terminals .............................9 Wiring Instructions ..........................12 Parameter List............................14 Parameter Settings ..........................16 3.5.1 Setting of stop position command....................16 3.5.2 Internal stop position command ....................17 3.5.3...
  • Page 6 3.6.3 Multi-position orientation......................28 Instructions............................29 Specifications.............................31 4. ENCODER FEEDBACK CONTROL—A500(L) Wiring Example..........................33 Terminals ............................34 Wiring Instructions ..........................35 Encoder Feedback Control and Vector Control Parameter List............37 Pre-Operation Settings ........................39 Control Mode Setting .........................40 Encoder Feedback Control ........................41 Vector control (Zero speed control and servo lock) ................43 4.8.1 Zero speed control ........................43 4.8.2...
  • Page 7 Pulse Train Input Parameter List .......................55 Setting Example..........................56 Specifications.............................56 6. ORIENTATION CONTROL AT A MACHINE END—V500 Wiring Example..........................57 Terminals ............................58 Wiring Instructions ..........................61 Parameter List............................64 Parameter Setting ..........................65 6.5.1 Selecting stop position command ....................65 6.5.2 Setting the rotation direction .......................72 6.5.3 Fine adjustment of the orientation stop position .................76 6.5.4...
  • Page 8: Pre-operation Instructions

    1.PRE-OPERATION INSTRUCTIONS 1.1 Unpacking and Product Confirmation Take the option unit out of the package, check the unit name, and confirm that the product is as you ordered and intact. A500(L)/ This product is an plug-in option unit designed for exclusive use in the Mitsubishi FR- V500 series transistorized Functions available differ between FR-A500(L)/F500(L) series and FR-V500 series,...
  • Page 9 PRE-OPERATION INSTRUCTIONS • This product may be used with the FR-V520-1.5K to 7.5K, 30K and 37K manufactured in and after February 2002. Any of the models may be used with this unit if its SERIAL number indicated on the rating plate and package has the following version or later. SERIAL is made up of 1 version symbol, 1 alphabet letter or numeric character indicating month, and 7 numeric characters indicating the year and control number as shown below.
  • Page 10: Packing Confirmation

    • Terminal resistor jumpers (Jumpers fitted to the terminal block) ..3 1.3 Structure Front view Mounting holes Rear view Mounting Mounting hole hole Terminal block screw PIN PO 5V SG PA1 PA2 PAR PB1 PB2 PBR PC1 PC2PCR size M3 Terminal FR-A5AP symbol Terminal resistor jumpers Connector Option fixing holes...
  • Page 11: Installation

    2.1 Pre-Installation Instructions (1) Make sure that the input power of the inverter is off. (2) When the FR-A5AP unit is used for encoder feedback control or orientation control, an encoder (motor with encoder) and external power supply are required.
  • Page 12 INSTALLATION Inverter (without cover) Option unit ccessory screw (2 pcs.) Slot 1 Inverter side connector Slot 2 Option fixing hook Option side Slot 3 connector The slots 1, 2, and 3 are provided with an option fixing hook. CAUTION 1. Only one type of option per inverter may be used. When two or more options are mounted, priority is in order of slots 1, 2 and 3, the options having lower priority are inoperative.
  • Page 13: Wiring

    INSTALLATION 2.3 Wiring Route the wires so that they do not take up a lot of space in the control circuit terminal block of the option unit. Wire the twisted pair shielded cable after stripping its sheath to make its cables loose. Also, protect the shielded cable of the twisted pair shielded cable to ensure that it will not make contact with the conductive area.
  • Page 14: Orientation Control-a500(l)

    1kΩ with encoder (SF-JR) 1000pF (*1) 100Ω Inverter 1kΩ 100Ω Power supply 1000pF 100Ω 1000pF 1kΩ 100Ω Jumpers 1kΩ 100Ω FR-A5AP 1000pF 100Ω Forward rotation 1000pF 1kΩ Reverse rotation 100Ω rientation command (*5) (*4) 100Ω 1000pF 100Ω encoder 1kΩ (*4)
  • Page 15 *4 Keep the accessory jumpers connected. However, when the same encoder is shared between the FR-A5AP and another unit (e.g. NC) which is connected with a terminal resistor, the built-in terminal resistors are not required and should be removed. (Terminal resistors: 100Ω...
  • Page 16: Terminals

    ORIENTATION CONTROL—A500(L) 3.2 Terminals Symbol Terminal Description Encoder A-phase signal input terminal Encoder A-phase inverse signal input terminal Encoder B-phase signal input terminal A-, B- and Z-phase signals are input from the encoder. Encoder B-phase inverse signal input For information on the pulse signals, refer to page 13. terminal Encoder Z-phase signal input terminal Encoder Z-phase inverse signal input...
  • Page 17 ORIENTATION CONTROL—A500(L) <Inverter I/O terminals> Symbol Terminal Description Orientation command input Used to enter an orientation signal. (*1) terminal Common terminal Common terminal for the orientation signal. Switched low if the orientation has stopped within the in-position In-position signal output terminal zone while the start and orientation signals are input.
  • Page 18 Pr.300 to Pr.305 settings for the FR-A5AX are made invalid when the stop position is set to be specified from outside the inverter (externally), with the FR-A5AP (orientation control option) fitted to the inverter and when orientation control is used.
  • Page 19: Wiring Instructions

    (1) Connection with the position detector (encoder). Use twisted pair shielded cables (0.2mm or larger) to connect the FR-A5AP and position detector (encoder). Cables to terminals 5V and SG should be connected in parallel or be larger in size according to the cable length as indicated in the table below.
  • Page 20 Use the jumpers across PA2-PAR, PB2-PBR and PC2-PCR to connect terminal resistors to the A, B and C-phases of the encoder. Normally, keep the jumpers fitted. However, remove the jumpers when the same encoder is shared between the FR-A5AP and the other unit (e.g. NC) which is connected with a terminal resistor.
  • Page 21: Parameter List

    ORIENTATION CONTROL—A500(L) 3.4 Parameter List Minimum Parameter Factory Name Setting Range Setting Remarks Number Setting Increments Stop position command selection 0, 1, 9999 9999 9999: No orientation Orientation speed 0 to 30Hz 0.01Hz Creep speed 0 to 10Hz 0.01Hz 0.5Hz Creep select position 0 to 16383(*) Set using ±...
  • Page 22 ORIENTATION CONTROL—A500(L) Minimum Parameter Factory Name Setting Range Setting Remarks Number Setting Increments 0 to 60 s, Orientation time limit 9999 9999: 120 s setting 9999 Recheck time 0 to 5 s 9999 0.1 s 9999 9999: No check Number of pulses before it is Encoder pulse count 0 to 4096 1024...
  • Page 23: Parameter Settings

    ORIENTATION CONTROL—A500(L) 3.5 Parameter Settings 3.5.1 Setting of stop position command (1) Pr. 350 "stop position command selection". (factory setting: 9999) • For the stop position command, either the internal stop position command or the external stop position command using external signals (12-bit data) may be selected. •...
  • Page 24: Internal Stop Position Command

    (encoder). REMARKS When the FR-A5AP is fitted and Pr. 350 "stop position command selection" is set to make orientation control valid, the PU (FR-DU04/FR-PU04) shows the rotation direction of the encoder. Make setting so that FWD is displayed when the STF signal turns on or REV is displayed when the STR signal turns on.
  • Page 25: External Stop Position Command

    When "1" is set in Pr. 350 "stop position command selection" and the FR-A5AX option is used with the FR-A5AP, set stop positions using 12-bit data. The stop position command is a binary input regardless of the Pr. 304 setting.
  • Page 26 ORIENTATION CONTROL—A500(L) [Example 1] [Example 2] [Example 3] 4 stop positions 8 stop positions 120 stop positions Origin (0) Origin (0) Origin (0) 7 or more) 45°(1) 315° At intervals At intervals 270° 90° 90° 70° (6)270° 90°(2) of 3° of 3°...
  • Page 27: Time Setting

    ORIENTATION CONTROL—A500(L) 3.5.4 Time setting (1) Pr. 363 "in-position signal output delay time". (factory setting: 0.5 s) When the motor shaft enters the in-position zone, the in-position signal is output after a delay of the time set in Pr. 363. Also, when the motor shaft comes out of the in-position zone, the in-position signal is switched off after a delay of the time set in Pr.
  • Page 28: Servo Torque Selection

    ORIENTATION CONTROL—A500(L) 3.5.5 Servo torque selection (1) Pr. 358 "servo torque selection" (factory setting: 1) Pr. 358 Setting Remarks Function 0 1 2 3 4 5 6 7 8 9 10 11 12 13 " : Servo torque function valid 1) Selection of servo torque function ×...
  • Page 29 ORIENTATION CONTROL—A500(L) REMARKS • If the orientation command is switched off with the start signal remaining on, the motor accelerates toward the command speed. • If the motor shaft shifts to outside the stop position setting range, the servo torque function returns the motor shaft to the stop position (when sufficient torque can be developed).
  • Page 30 ORIENTATION CONTROL—A500(L) 4) Selection of whether DC injection brake or servo torque is started when the motor shaft comes out of the in-position zone after the in-position signal has been output once. You can select whether to start DC injection brake to lock the shaft or to start servo torque to return the shaft to the orientation stop position if the motor shaft comes out of the in-position zone due to external force, etc.
  • Page 31: Changing The Monitor Display

    Set "19" in Pr. 52 to display the position signal on the PU instead of the output voltage. Position signal monitoring (Displayed only when the FR-A5AP is fitted.) Set "22" in Pr. 52 to display the orientation status on the PU instead of the output voltage.
  • Page 32: Operation

    ORIENTATION CONTROL—A500(L) 3.6 Operation 3.6.1 Orientation starting during rotation. 1) The orientation command (X22) causes the motor to decelerate to the orientation speed set in Pr. 351 "orientation speed". (Pr. 351 factory setting: 2Hz) 2) After the orientation speed is reached, the motor decelerates to the creep speed set in Pr. 352 "creep speed"...
  • Page 33 ORIENTATION CONTROL—A500(L) 8) When the start signal (STF or STR) is switched off with the orientation command on after the in- position signal (ORA) or orientation fault signal (ORM) has been output once, the in-position signal (ORA) or orientation fault signal (ORM) is output again after the recheck time set in Pr. 366 "recheck time"...
  • Page 34: Orientation Starting During Stop

    ORIENTATION CONTROL—A500(L) 3.6.2 Orientation starting during stop. Switch on the orientation command (X22), then switch on the start signal to start and accelerate the motor to the orientation speed set in Pr. 351 "orientation speed" and perform orientation using the same procedure as in "orientation starting during rotation".
  • Page 35: Multi-position Orientation

    ORIENTATION CONTROL—A500(L) 3.6.3 Multi-position orientation. Orientation starting with orientation command and STF/STR kept on (Orientation starting in the servo-in state) Orientation speed Creep speed Spindle speed (encoder) Start signal Orientation command In-position signal Servo Servo 200ms or longer Position signal Position command latch Position command latch •...
  • Page 36: Instructions

    ORIENTATION CONTROL—A500(L) Instructions (1) The encoder should be coupled with the motor shaft or the spindle oriented with a speed ratio of 1 to 1 without any mechanical looseness. (2) The DC injection brake operated for positioning must be released in the shortest time (within several seconds).
  • Page 37 ORIENTATION CONTROL—A500(L) (9) For orientation control, set correct values in Pr. 350 "stop position command selection" and Pr. 360 "12- bit data selection" (external position command selection). If the values set are incorrect, proper orientation control will not be performed. (10) If "8888"...
  • Page 38: Specifications

    ORIENTATION CONTROL—A500(L) 3.8 Specifications ±1.5 degrees Stop position accuracy D epends on the load torque, load inertia m om ent, orientation speed, creep speed, position loop select position, etc. Encoder-mounted shaft speed (6000r/min) Permissible rotation The motor and encoder-mounted shaft must be coupled directly or via a belt without any slip. A speed gear change type cannot be used.
  • Page 39: Encoder Feedback Control-a500(l)

    4. ENCODER FEEDBACK CONTROL—A500(L) The FR-A500(L) series fitted with the FR-A5AP can exercise encoder feedback control. For the FR-V500 series, vector control can be exercised without the FR-A5AP and encoder feedback control is not exercised with the FR-A5AP. This function is used with a speed detector (encoder) to allow the motor speed to be detected by the speed detector and fed back to the inverter so that the output frequency of the inverter is controlled to keep the motor speed constant to load variations.
  • Page 40: Wiring Example

    *4 Keep the accessory jumpers connected. However, when the same encoder is shared between the FR-A5AP and the other unit (e.g. NC) which is connected with a terminal resistor, the built-in terminal resistors are not required and should be removed. (Terminal resistors;...
  • Page 41: Terminals

    ENCODER FEEDBACK CONTROL—A500(L) 4.2 Terminals Symbol Symbol Terminal Description Encoder A-phase signal input terminal Encoder A-phase inverse signal input terminal A and B-phase signals are input from the encoder. For information on the pulse signals, refer to page 36. Encoder B-phase signal input terminal Encoder B-phase inverse signal input terminal Factory-connected with "PA2"...
  • Page 42: Wiring Instructions

    Use the jumpers across PA2-PAR and PB2-PBR to connect terminal resistors to the A and B-phases of the encoder. Normally, keep the jumpers fitted. However, remove the jumpers when the same encoder is shared between the FR-A5AP and the other unit (e.g. NC) which is connected with a terminal resistor.
  • Page 43 ENCODER FEEDBACK CONTROL—A500(L) (4) Speed detector (encoder) Output pulse specifications Line driver LED type encoder signal 1000ppr to 4096ppr 2.4 to 5.25V (High) signal 1000ppr to 4096ppr 0 to 0.4V (Low) a, b, c and d should be (1/4 ± 1/8)P when rotation is clockwise as viewed from the shaft end of the encoder.
  • Page 44: Encoder Feedback Control And Vector Control Parameter List

    ENCODER FEEDBACK CONTROL—A500(L) 4.4 Encoder Feedback Control and Vector Control Parameter List Fitting this option unit adds the following parameters. Make setting as necessary. Control Mode Minimum Setting Factory Parameter Encoder Name Setting Vector Number Range Setting feedback Increments control control Torque restriction level 0 to 300%,...
  • Page 45 *3 Functions as the stall prevention operation level. *4 The acceleration/deceleration pattern C setting (Pr. 29 = 4) is made valid when the FR-A5AP is fitted. *5 Functions as an overspeed detection frequency under encoder feedback control and as an excessive speed deviation detection frequency under vector control.
  • Page 46: Pre-operation Settings

    A. REMARKS When the FR-A5AP is fitted and encoder feedback control or vector control is selected, the PU (FR-DU04/FR-PU04) shows the rotation direction of the encoder. Make the setting so that FWD is displayed when the STF signal switches on or REV displayed when the STR signal...
  • Page 47: Control Mode Setting

    ENCODER FEEDBACK CONTROL—A500(L) 4.6 Control Mode Setting By setting the Pr. 370 "control mode selection" value, you can choose any of encoder feedback control (V/ F control, advanced magnetic flux vector control) and vector control. Torque control and position control are not performed. (However, torque limit can be done in the vector control mode.) When holding torque is required during a stop, choose vector control (zero speed control or servo lock).
  • Page 48: Encoder Feedback Control

    ENCODER FEEDBACK CONTROL—A500(L) 4.7 Encoder Feedback Control Make sure that Pr. 80 "motor capacity", Pr. 81 "number of motor poles", Pr. 144 "speed setting change", Pr. 359 "encoder rotation direction", Pr. 369 "number of encoder pulses" and Pr. 370 "control mode" values are set properly.
  • Page 49 ENCODER FEEDBACK CONTROL—A500(L) (3) Instructions for encoder feedback control. 1) The number of motor poles used must be checked before starting operation. The number of poles set must be correct to ensure proper control of the motor. 2) The encoder should be coupled in line with the motor shaft without any mechanical looseness with a speed ratio of 1 to 1.
  • Page 50: Vector Control (zero Speed Control And Servo Lock)

    ENCODER FEEDBACK CONTROL—A500(L) 4.8 Vector control (Zero speed control and servo lock) Vector control can be performed when a standard motor with encoder is used. Make sure that Pr. 80 "motor capacity", Pr. 81 "number of motor poles", Pr. 144 "number of motor poles", Pr.
  • Page 51 ENCODER FEEDBACK CONTROL—A500(L) <Zero speed control and servo lock timing charts> 1) Zero speed control or servo lock is made valid when the pre-excitation terminal (LX) is ON without the start signal (STF, STR) being entered into the inverter (during a stop). Assign the function of the pre- excitation terminal (LX) to any of the terminals using Pr.
  • Page 52: Pr. 22 "torque Restriction Level" (factory Setting: 150%)

    ENCODER FEEDBACK CONTROL—A500(L) 4.8.3 Pr. 22 "torque restriction level" (factory setting: 150%) Torque restriction may be activated only when vector control is selected. The second and third functions are Pr. 48 "second torque restriction level" and Pr. 144 "third torque restriction level". When vector control is not selected, the stall prevention functions are activated.
  • Page 53 ENCODER FEEDBACK CONTROL—A500(L) ! Torque Characteristic of the Standard Motor with encoder (Example: SF-JR Standard Motor with encoder (4 poles)) With Reference to 1800r/min (60Hz) Torque Cyclic operation mode setting Continuous operation mode setting When the inverter used has a capacity one rank higher When the inverter used has the same capacity as than that of the motor and the rated voltage is input that of the motor and the rated voltage is input...
  • Page 54: Pr. 372 "speed Control P Gain" (factory Setting: 100%)

    ENCODER FEEDBACK CONTROL—A500(L) 4.8.5 Pr. 372 "speed control P gain" (factory setting: 100%) Used to set the proportional gain of the speed loop. A high setting will make the speed response faster but if the setting is too high this will cause vibrations and noise. 4.8.6 Pr.
  • Page 55 ENCODER FEEDBACK CONTROL—A500(L) 5) In the vector control mode, vector control is also exercised during acceleration/deceleration. 6) Do not switch off the 5V power of the encoder during vector control. Proper vector control cannot be performed if that power is switched off. 7) Proper vector control cannot be performed if the pulse signal from the encoder is lost due to an open cable, etc.
  • Page 56: Additional Functions

    ENCODER FEEDBACK CONTROL—A500(L) 4.9 Additional Functions (1) Pr. 162 "selection of automatic restart after instantaneous power failure selection". (factory setting: 0) By setting "2" in Pr. 162, automatic restart after instantaneous power failure can be made at the frequency detected from the encoder. In the vector control mode, automatic restart is made with the encoder detection frequency searched for, independently of the Pr.
  • Page 57 ENCODER FEEDBACK CONTROL—A500(L) (3) Pr. 376 "break in the cable detection enable/disable selection" (factory setting: 0) Parameter available with an upgraded inverter. Refer to the inverter manual for the availability of the parameter. (Refer to page 24) (4) Pr. 374 "overspeed detection level". (factory setting: 120Hz) Used to limit the maximum speed.
  • Page 58 ENCODER FEEDBACK CONTROL—A500(L) (6) S-shaped acceleration/deceleration C When the FR-A5AP is fitted, S-shaped acceleration/deceleration C can be selected by setting "4" in Pr. 29 "acceleration/deceleration pattern". The S-shaped acceleration/deceleration C function allows the speeds of S-shaped acceleration/deceleration to be set in the corresponding parameters and the required parameter to be selected by the S-shaped acceleration/deceleration C switching terminal (X20).
  • Page 59: Specifications

    ENCODER FEEDBACK CONTROL—A500(L) CAUTION During acceleration/deceleration, switching cannot be made using the S-shaped acceleration/ deceleration C switching terminal (X20). When X20 is switched either ON or OFF during either acceleration or deceleration, the effect of the switch (to select a different acceleration or deceleration shape) does not take effect until either the acceleration or deceleration has stopped (i.e.
  • Page 60: Pulse Train Input-a500(l)

    Power S (L2) S (L2) upply supply T (L3) T (L3) Open FR-A5AP collector FR-A5AP input Input pulses Input pulses Open collector input CAUTION This option unit must be wired using the open collector system to operate it properly.
  • Page 61: Terminals

    PULSE TRAIN INPUT—A500(L) 5.2 Terminals Symbol Terminal Description Pulse input terminal 1 Terminal used to enter a pulse train of 0 to 100kpps (*) Pulse input terminal 2 Terminal used to enter a pulse train of 0 to 100kpps (*) REMARKS *: Whether an input pulse is entered into PIN or PO depends on the wiring.
  • Page 62: Pulse Train Input Parameter List

    PULSE TRAIN INPUT—A500(L) 5.4 Pulse Train Input Parameter List Minimum Parameter Number Name Setting Range Factory Setting Increments 384 (*1) Input pulse frequency division ratio 0 to 250 Zero-input pulse frequency 0 to 400Hz 0.01Hz Maximum-input pulse frequency 0 to 400Hz 0.01Hz *1 Indicates the frequency division ratio for the input pulses.
  • Page 63: Setting Example

    PULSE TRAIN INPUT—A500(L) 5.5 Setting Example How to calculate the input pulse frequency division ratio Use the following formula to calculate the input pulse frequency division ratio in Pr. 384: Maximum number of input pulses (pps) = Pr. 384 × 400 Pr.
  • Page 64: Orientation Control At A Machine End-v500

    V5AH or FR-A5AX plug-in encoder option is required. *3 For the terminal specifications, (*3) refer to the inverter manual. FR-V5AX FR-A5AP *4 For the terminal specifications, Machine end PLG (*2) DI16 refer to page 63 DI15 *5 Assign any of terminals...
  • Page 65: Terminals

    ORIENTATION CONTROL AT A MACHINE END—V500 6.2 Terminals Symbol Terminal Description Encoder A-phase signal input terminal Encoder A-phase inverse signal input terminal Encoder B-phase signal input terminal A-, B- and Z-phase signals are input from the encoder. Encoder B-phase inverse signal input For information on the pulse signals, refer to page 63.
  • Page 66 ORIENTATION CONTROL AT A MACHINE END—V500 <Inverter I/O terminals> Symbol Terminal Description Orientation command input Used to enter an orientation signal. (*1) terminal Common terminal Common terminal for the orientation signal. Switched low if the orientation has stopped within the in-position In-position signal output terminal zone while the start and orientation signals are input.
  • Page 67 ORIENTATION CONTROL AT A MACHINE END—V500 <FR-V5AX, FR-V5AH, FR-A5AX, inverter input terminals> Symbol Terminal Remarks Description DI11 Extra contact Used to input digital signals through either relays. input terminals The command signal entered is position command. DI16 Used to input digital signals through either relays or open Digital signal collector transistors.
  • Page 68: Wiring Instructions

    Pr.300 to Pr.305 settings for the FR-A5AX/FR-V5AH, Pr.400 to Pr.405 settings for the FR-V5AX are made invalid when the stop position is set to be specified from outside the inverter (externally), with the FR-A5AP (orientation control option) fitted to the inverter and when orientation control is used.
  • Page 69 Use the jumpers across PA2-PAR, PB2-PBR and PC2-PCR to connect terminal resistors to the A, B and C-phases of the encoder. Normally, keep the jumpers fitted. However, remove the jumpers when the same encoder is shared between the FR-A5AP and the other unit (e.g. NC) which is connected with a terminal resistor.
  • Page 70 ORIENTATION CONTROL AT A MACHINE END—V500 (4) Position detector (encoder). Output pulse specifications Line driver LED type encoder 2.4 to 5.25V a b c d signal 1000ppr to 4096ppr 1000ppr to 4096ppr 0 to 0.4V 1000ppr to 4096ppr signal 1000ppr to 4096ppr 1000ppr to 4096ppr signal 1ppr 1000ppr to 4096ppr...
  • Page 71: Parameter List

    Orientation deceleration ratio 0 to 1000 *1 When the FR-DU04 is used, up to 9999 may be set. When the FR-PU04V is used, up to the maximum value may be set. *2 Setting is enabled when the FR-A5AP is fitted...
  • Page 72: Parameter Setting

    ORIENTATION CONTROL AT A MACHINE END— V500 6.5 Parameter Setting If the orientation command signal (X22) is turned on during operation after the various parameters have been set, the speed will decelerate to the "orientation switchover speed". After the "orientation stop distance"...
  • Page 73 ORIENTATION CONTROL AT A MACHINE END— V500 2) External stop position command (Pr. 350="1") (Pr. 360 "external position command selection" (factory setting: 0)) Mount the option FR-V5AX and set a stop position using 6-bit data (binary input). •The value set in Pr. 360 "external position command selection" should be the number of stop positions less 1.
  • Page 74 ORIENTATION CONTROL AT A MACHINE END— V500 3) External stop position command (Pr. 350="2") Mount the option FR-A5AX and set a stop position using 12-bit data (binary input). •The value set in Pr. 360 "external position command selection" should be the number of stop positions less 1.
  • Page 75 ORIENTATION CONTROL AT A MACHINE END— V500 CAUTION • Values in parentheses indicate binary data entered from the input terminals of the FR-A5AX. If the position pulse monitoring (Pr. 52 "DU/PU main display screen data selection" = 19) is selected, the data monitored is not the number of stop positions but is 0 to 4095 pulses. •...
  • Page 76 ORIENTATION CONTROL AT A MACHINE END— V500 4) External stop position command (Pr. 350="3") Mount the option FR-V5AH and set a stop position using 16-bit data (binary input). •The value set in Pr. 360 "external position command selection" should be the number of stop positions less 1.
  • Page 77 ORIENTATION CONTROL AT A MACHINE END— V500 CAUTION • Values in parentheses indicate binary data entered from the input terminals of the FR-A5AX. If the position pulse monitoring (Pr. 52 "DU/PU main display screen data selection" = 19) is selected, the data monitored is not the number of stop positions but is 0 to 65535 pulses. (For the FR-DU04 , 0 to 9999 are displayed.) •...
  • Page 78 ORIENTATION CONTROL AT A MACHINE END— V500 (2) Pr. 369 "encoder pulse count for orientation" (factory setting: 1024) Set the number of encoder pulses output. (Set the number of pulses before it is multiplied by 4.) Example: Set "1024" for 1024 pulses per revolution (ppr). (3) Pr.
  • Page 79: Setting The Rotation Direction

    ORIENTATION CONTROL AT A MACHINE END— V500 6.5.2 Setting the rotation direction (1) Pr. 393 "orientation selection" Rotation Pr. 393 setting Type Remarks Direction Pre-orientation (factory setting) Forward rotation Motor end Refer to the instruction manual (detailed) of the inverter for details. orientation orientation Reverse rotation...
  • Page 80 ORIENTATION CONTROL AT A MACHINE END— V500 1) Orientation from the current rotation direction (Pr.393="10") • When the orientation command (terminal X22) is input, the motor speed will decelerate from the runnig speed to Pr. 351 "orientation switchover speed". At the same time, the orientation stop position command will be read Speed (forward)
  • Page 81 ORIENTATION CONTROL AT A MACHINE END— V500 2) Orientation from the forward rotation direction (Pr.393=11) • This method is used to improve the stopping precision and maintain the mechanical precision when the Speed (forward) backlash is large. • If the motor is running in the forward rotation direction, it will orientation stop with the same method as "orientation from the current rotation direction".
  • Page 82 ORIENTATION CONTROL AT A MACHINE END— V500 REMARKS If "E.ECT" (no encoder signal) is displayed causing the inverter to trip when the orient signal (X22) is ON, check for an open cable of the Z phase of the encoder. (2) Pr. 357 "orientation in-position zone"(factory Example of operation setting:11) Set point...
  • Page 83: Fine Adjustment Of The Orientation Stop Position

    ORIENTATION CONTROL AT A MACHINE END— V500 6.5.3 Fine adjustment of the orientation stop position (1) Pr. 361 "position shift" (factory setting: 0) The orientation stop position will deviate by the value set × 360 degrees / Pr.369 "encoder pulse count for orientation"...
  • Page 84: Encoder Orientation Gear Ratio Setting

    ORIENTATION CONTROL AT A MACHINE END— V500 6.5.4 Encoder orientation gear ratio setting Use the following parameters to set the encoder orientation gear ratio. • Pr. 394 "number of machine side gear teeth" (factory setting: 1) • Pr. 395 "number of motor side gear teeth" (factory setting: 1) Make sure that the above parameter values are factory settings.
  • Page 85: Adjustment Of The Servo Rigidity

    ORIENTATION CONTROL AT A MACHINE END— V500 6.5.5 Adjustment of the servo rigidity Pr. 396 "orientation speed gain (P term)" (factory setting: 60) Pr. 397 "orientation speed integral time" (factory setting: 0.333) Pr. 398 "orientation speed gain (D term)" (factory setting: 1) Pr.
  • Page 86: Orientation Deceleration Ratio

    ORIENTATION CONTROL AT A MACHINE END— V500 REMARKS *1. Servo rigidity: This is the response when a position control loop is configured. When the servo rigidity is raised, the holding force will increase, the running will stabilize, but vibration will occur easily. When the servo rigidity is lowered, the holding force will drop, and the setting time will increase.
  • Page 87: Orientation Switchover Speed

    ORIENTATION CONTROL AT A MACHINE END— V500 6.5.7 Orientation Switchover Speed (1) Pr. 351 "orientation switchover speed" (factory setting: 200) •Set the speed when switching beween the speed control mode and the position control mode is performed under orientation operation. Decreasing the set speed enables stable orientation stop. Note that the orientation time will increase.
  • Page 88: Instructions

    ORIENTATION CONTROL AT A MACHINE END— V500 Instructions (1) The encoder should be coupled with the spindle oriented without any mechanical looseness. (2) The DC injection brake operated for positioning must be released in the shortest time (within several seconds). Operating the brake continuously can cause the motor to generate heat and burn out. (3) To ensure correct positioning, the encoder must be set in the proper rotation direction and the A and B phases connected correctly.
  • Page 89: Specifications

    ORIENTATION CONTROL AT A MACHINE END— V500 6.7 Specifications ±1.5 degrees (When used with the SF-VR) Stop position accuracy Depends on the load torque, load inertia moment, orientation speed, creep speed, position loop select position, etc. Encoder-mounted shaft speed (6000r/min) Permissible rotation The motor and encoder-mounted shaft must be coupled directly or via a belt without any slip.
  • Page 90: Pulse Train Input-v500

    Power S (L2) S (L2) upply supply T (L3) T (L3) Open FR-A5AP collector FR-A5AP input Input pulses Input pulses Open collector input CAUTION This option unit must be wired using the open collector system to operate it properly.
  • Page 91: Terminals

    PULSE TRAIN INPUT—V500 7.2 Terminals Symbol Terminal Description Pulse input terminal 1 Terminal used to enter a pulse train of 0 to 100kpps (*) Pulse input terminal 2 Terminal used to enter a pulse train of 0 to 100kpps (*) REMARKS *: Whether an input pulse is entered into PIN or PO depends on the wiring.
  • Page 92: Pulse Train Input Parameter List

    PULSE TRAIN INPUT—V500 7.4 Pulse Train Input Parameter List Minimum Parameter No. Name Setting Range Factory Setting Increments 384 (*1) Input pulse frequency division ratio 0 to 250 Zero-input pulse frequency 0 to 3600r/min 0.1r/min 1500 Maximum-input puler frequency 0 to 3600r/min 1r/min (NA version: 1800r/min)
  • Page 93: Setting Example

    PULSE TRAIN INPUT—V500 7.5 Setting Example How to calculate the input pulse frequency division ratio Use the following formula to calculate the input pulse frequency division ratio in Pr. 384: Maximum number of input pulses (pps) = Pr. 384 × 400 Pr.
  • Page 94 REVISIONS * The manual number is given on the bottom left of the back cover. Print Date *Manual Number Revision Mar., 1998 IB(NA)-66848-A First edition Jan., 2002 IB(NA)-66848-B Additions Applicable inverters Pr. 285 "excessive speed deviation detection frequency" (FR-A500 series only) Pr.

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