Page 1 INVERTER FR-A800 FR-A860 (600V CLASS SPECIFICATION INVERTER) INSTRUCTION MANUAL (DETAILED) High functionality and high performance FR-A860-00027 to 00450-N6 FR-A860-00680 to 04420 INTRODUCTION INSTALLATION AND WIRING PRECAUTIONS FOR USE OF THE INVERTER BASIC OPERATION PARAMETERS PROTECTIVE FUNCTIONS PRECAUTIONS FOR MAINTENANCE AND INSPECTION SPECIFICATIONS...
Page 2 • A person who took a proper engineering training. Such training may be available at your local Mitsubishi Electric Otherwise the brake resistor may excessively overheat due to office. Contact your local sales office for schedules and damage of the brake transistor and such, causing a fire.
Page 3  If halogen-based materials (fluorine, chlorine, bromine, iodine, damage the power factor correction capacitor and generator. etc.) infiltrate into a Mitsubishi Electric product, the product will  When driving a 600 V class motor by the inverter, the motor must be damaged.
Page 4 CONTENTS 1 INTRODUCTION Product checking and accessories Component names Operation steps About the related manuals 2 INSTALLATION AND WIRING Peripheral devices 2.1.1 Inverter and peripheral devices ........................18 2.1.2 Peripheral devices ............................20 Removal and reinstallation of the front covers Installation of the inverter and enclosure design 2.3.1 Inverter installation environment........................24 2.3.2...
Page 5 3 PRECAUTIONS FOR USE OF THE INVERTER 67 Electro-magnetic interference (EMI) and leakage currents 3.1.1 Leakage currents and countermeasures......................68 3.1.2 Countermeasures against inverter-generated EMI ..................69 Power supply harmonics Installation of a reactor Power-OFF and magnetic contactor (MC) Countermeasures against deterioration of the 600 V class motor insulation Checklist before starting operation Failsafe system which uses the inverter 4 BASIC OPERATION...
Page 6: Table Of Contents
Speed control under Real sensorless vector control, vector control, PM sensorless vector control 5.3.1 Setting procedure of Real sensorless vector control (speed control) ............150 5.3.2 Setting procedure of vector control (speed control) ..................152 5.3.3 Setting procedure of PM sensorless vector control (speed control) ............153 5.3.4 Setting the torque limit level .........................154 5.3.5...
Page 7 5.7.17 Maintenance timer alarm..........................266 5.7.18 Current average value monitor signal ......................267 (F) Setting of acceleration/deceleration time and acceleration/deceleration pattern 5.8.1 Setting the acceleration and deceleration time .................... 269 5.8.2 Acceleration/deceleration pattern......................... 274 5.8.3 Remote setting function..........................279 5.8.4 Starting frequency and start-time hold function ...................
Page 8 5.12.7 Checking of current input on analog input terminal ..................411 5.12.8 Input terminal function selection ........................415 5.12.9 Inverter output shutoff signal ........................418 5.12.10 External fault input signal..........................419 5.12.11 Selecting operation condition of the second function selection signal (RT) and the third function selection signal (X9)..............................419 5.12.12 Start signal operation selection........................421 5.13 (C) Motor constant parameters...
Page 9 5.16.14 Encoder feedback control ..........................619 5.16.15 Droop control ............................... 621 5.16.16 Speed smoothing control ..........................624 6 PROTECTIVE FUNCTIONS Inverter fault and alarm indications Reset method for the protective functions The list of fault displays Causes and corrective actions Check first when you have a trouble 6.5.1 Motor does not start .............................
Page 10 8 SPECIFICATIONS Inverter rating Common specifications Outline dimension drawings 8.3.1 Inverter outline dimension drawings ......................676 APPENDIX Appendix 1 For customers replacing the conventional model with this inverter......... 682 Appendix 2 International standards......................683 Appendix 3 Specification comparison between PM sensorless vector control and induction motor control .............................
Page 11 MEMO...
Page 12 Operation panel ......Operation panel (FR-LU08) Parameter unit ....... Parameter unit (FR-PU07) PU ..........Operation panel and parameter unit Inverter ........... Mitsubishi Electric inverter FR-A860 series Vector control compatible option..FR-A8AP/FR-A8AL/FR-A8APA/FR-A8APR/FR-A8APS (plug-in option), FR- A8TP (control terminal option) Pr........... Parameter number (Number assigned to function) PU operation ........
Page 13 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 •...
Page 14 Component names Component names Component names are shown below. 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 15 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 method selection Start command via the PU connector and RS-485 terminal of to give a start to give a start to give a start...
Page 16 About the related manuals About the related manuals The manuals related to FR-A860 are shown below. Manual name Manual number FR-A860 Instruction Manual (Startup) IB-0600562ENG FR-A862 (Separated Converter Type) Instruction Manual (Hardware) IB-0600571ENG FR-CC2-C (Converter unit) Instruction Manual IB-0600572ENG PLC function programming manual IB-0600492ENG FR Configurator2 Instruction Manual IB-0600516ENG...
Page 17 MEMO...
Page 18 INSTALLATION AND WIRING This chapter explains the installation and the wiring of this product. Always read the instructions before using the equipment. For the "INSTALLATION AND WIRING" of the separated converter type, refer to the FR-A862 (Separated Converter Type) Instruction Manual (Hardware) [IB-0600571ENG].
Page 19: Peripheral Devices
Peripheral devices Peripheral devices 2.1.1 Inverter and peripheral devices (b) Three-phase AC power supply (h) USB connector USB host (A connector) Communication status indicator (a) Inverter (c) Molded case circuit breaker (LED)(USB host) (MCCB) or earth leakage current breaker (ELB), fuse USB device (Mini B connector) Personal computer...
Page 20 Peripheral devices Refer Symbol Name Overview to 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 Inverter (FR-A860) installed in an enclosure.
Page 21 Peripheral devices 2.1.2 Peripheral devices Check the model of the inverter you purchased. Appropriate peripheral devices must be selected according to the capacity. Refer to the table below to prepare appropriate peripheral devices. Rated current of Molded Case Circuit Breaker or Earth Leakage Circuit Breaker Motor Output ...
Page 22: Removal And Reinstallation Of The Front
Removal and reinstallation of the front covers Removal and reinstallation of the front covers Removal of the front cover (lower side) (FR-A860-00450 or lower) Loosen Loosen Loosen Loosen the screws on the front cover (lower side). (These screws cannot be removed.) While holding the areas around the installation hooks on the sides of the front cover (lower side), pull out the front cover (lower side) using its upper side as a support.
Page 23 Removal and reinstallation of the front covers Reinstallation of the front covers (FR-A860-00450 or lower) Fasten Fasten Fasten Fasten Fasten Fasten 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. Tighten the mounting screw(s) at the lower part of the front cover (upper side).
Page 24 Removal and reinstallation of the front covers Removal of the front cover (upper side) (FR-A860-00680 or higher) Loosen Loosen Loosen With the front cover (lower side) removed, loosen the mounting screws on the front cover (upper side). (These screws cannot be removed.) Holding the areas around the installation hooks on the sides of the front cover (upper side), pull out the cover using its upper side as a support.
Page 25: Installation Of The Inverter And Enclosure Design
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 26 Installation of the inverter and enclosure design (c) Sudden temperature changes • Select an installation place where temperature does not change suddenly. • Avoid installing the inverter near the air outlet of an air conditioner. • If temperature changes are caused by opening/closing of a door, install the inverter away from the door. NOTE page 26 •...
Page 27 Installation of the inverter and enclosure design Vibration, impact The vibration resistance of the inverter is up to 5.9 m/s (2.9 m/s or less for the FR-A860-02890 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 28 Installation of the inverter and enclosure design 2.3.3 Cooling system types for inverter enclosure From the enclosure that contains the inverter, the heat of the inverter and other equipment (transformers, lamps, resistors, etc.) and the incoming heat such as direct sunlight must be dissipated to keep the in-enclosure temperature lower than the permissible temperatures of the in-enclosure equipment including the inverter.
Page 29 Installation of the inverter and enclosure design 2.3.4 Inverter installation Inverter placement Fix six positions for the FR-A860-02890 or higher. • Install the inverter on a strong surface securely with screws. • Leave enough clearances and take cooling measures. • Avoid places where the inverter is subjected to direct sunlight, high temperature and high humidity. •...
Page 30 Installation of the inverter and enclosure design Arrangement of multiple inverters When multiple inverters are placed in the same enclosure, generally arrange them horizontally as shown in the right figure (a). When it is inevitable to arrange Inverter Inverter Inverter Inverter them vertically to minimize space, take such measures as to provide guides since heat from the bottom inverters...
Page 31 Installation of the inverter and enclosure design 2.3.5 Protruding the heat sink through a panel When encasing the inverter of the FR-A860-02890 or higher to an enclosure, the heat generated in the enclosure can be greatly reduced by protruding the heat sink of the inverter. When installing the inverter in a compact enclosure, etc., this installation method is recommended.
Page 32 Installation of the inverter and enclosure design Shift and removal of a rear side installation frame One installation frame is attached to each of the upper and lower parts Shift of the inverter. Change the position of the rear side installation frame Upper on the upper and lower sides of the inverter to the front side as shown installation...
Page 33: Terminal Connection Diagrams
Terminal connection diagrams Terminal connection diagrams FR-A860-00320 Brake resistor ∗7,∗8 DC reactor ∗1 Brake resistor ∗8 DC reactor ∗1 Sink logic Main circuit terminal Control circuit terminal Jumper Earth Jumper (Ground) Earth (Ground) MCCB R/L1 Inrush current Three-phase Motor S/L2 limit circuit AC power T/L3 supply...
Page 34 Terminal connection diagrams  For the FR-A860-01440 or higher, and when a 75 kW or higher motor is used, always connect a DC reactor. (To select a DC reactor, refer to page 672, and select one according to the applicable motor capacity.) When connecting a DC reactor, if a jumper is installed across terminals P1 and P/+, remove the jumper before installing the DC reactor.
Page 35: Main Circuit Terminals
Main circuit terminals Main circuit terminals 2.5.1 Details on the main circuit terminals Terminal Refer to Terminal name Terminal function description symbol page R/L1, S/L2, AC power input Connect these terminals to the commercial power supply. — T/L3 Connect these terminals to a three-phase squirrel cage motor or a PM U, V, W Inverter output —...
Page 36 Main circuit terminals 2.5.2 Terminal layout of the main circuit terminals, wiring of power supply and the motor FR-A860-00170 FR-A860-00027 to 00090 Jumper P/+ PR Jumper Jumper R1/L11 S1/L21 Jumper ∗1 R/L1 S/L2 T/L3 P/+ PR Jumper R/L1 S/L2 T/L3 R1/L11 S1/L21 Charge lamp Power supply...
Page 37 Main circuit terminals FR-A860-04420 FR-A860-02890, 03360  Charge lamp R1/L11 S1/L21 Charge lamp Jumper Jumper R/L1 S/L2 T/L3 N/- R/L1 S/L2 T/L3 Power supply Motor DC reactor (option) (for option connection) Power supply DC reactor (option) Motor  Do not remove the jumper from terminal P3. ...
Page 38 Main circuit terminals Wiring cover and handling (FR-A860-00450 or lower) • Removal of the wiring cover (1) Remove the inverter front cover (lower side). (For the details on how to remove the front cover (lower side), refer to page 21.) (2) Loosen the fixing screws, and remove the front lid of the wiring cover.
Page 39 Main circuit terminals • Punching out the knockout holes (1) Punch out the knockout holes by firmly tapping it with a tool, such as a hammer. Remove any sharp edges and burrs from knockout holes of the wiring cover. For the FR-A860-00090 or lower using a provided brake resistor, punch out the knockout hole on the wiring cover for wir- ing the provided brake resistor.
Page 40 Main circuit terminals Connection of the provided brake resistor (FR-A860-00090 or lower) Connecting the brake resistor provided with the unit to the FR-A860-00090 or lower will improve regeneration capability. • Installation procedure (1) Remove the wiring cover of the inverter, and punch out the knockout hole on the wiring cover for wiring the provided brake resistor.
Page 41 Main circuit terminals 2.5.3 Applicable cables and the wiring length Select a recommended cable size to ensure that the voltage drop will be 2% or less. If the wiring distance is long between the inverter and motor, the voltage drop in the main circuit wires will cause the motor torque to decrease especially at a low speed.
Page 42 Main circuit terminals Total wiring length  With induction motor Connect one or more induction motors within the total wiring length shown in the following table. (The wiring length should be 100 m or shorter under vector control.) Total wiring length (FR-A860-00320 or higher) 300 m 300 m 500 m or less...
Page 43 Main circuit terminals 2.5.4 Earthing (grounding) precautions • Always earth (ground) the motor and inverter. 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 44: Control Circuit
Control circuit Control circuit 2.6.1 Details on the control circuit terminals Input signal function of the terminals in can be selected by setting Pr.178 to Pr.196 (I/O terminal function selection). (Refer to page 415.) Input signal Refer Terminal Rated Terminal name Terminal function description Symbol specification...
Page 45 Control circuit Refer Terminal Rated Terminal name Terminal function description Symbol specification page 10 VDC 0.4 V Permissible load When connecting the frequency setting potentiometer at an initial current 10 mA Frequency setting status, connect it to the terminal 10. power supply Change the input specifications of the terminal 2 using Pr.73 5 VDC 0.5 V...
Page 46 Control circuit Output signal Refer Terminal Rated Terminal name Terminal function description Symbol specification page 1 changeover contact output that indicates that an inverter's protective function has been activated and the outputs are Relay output 1 (fault stopped. Contact capacity 230 output) Fault: discontinuity across B and C (continuity across A and VAC 0.3 A (power...
Page 47 Control circuit Communication Refer Terminal 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 48 Control circuit 2.6.2 Control logic (sink/source) change Change 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).
Page 49 Control circuit Sink logic and source logic • In the sink logic, a signal switches ON when a current flows from the corresponding signal input terminal. Terminal SD is common to the contact input signals. Terminal SE is common to the open collector output signals. •...
Page 50 Control circuit 2.6.3 Wiring of control circuit Control circuit terminal layout • Recommended cable gauge: 0.3 to 0.75 mm ∗1 1 F/C +24 SD So SOC S1 S2 PC 5 10E 10 SE SE IPF OL FU PC RL RM RH RT AU STP MRS RES SD SD STF STR JOG...
Page 51 Control circuit NICHIFU Co., Ltd. Crimping tool Crimp terminal part No. Insulation cap part No. Wire gauge (mm model No. 0.3 to 0.75 BT 0.75-11 VC 0.75 NH 69 (3) Insert the wires into a socket. When using a single wire or stranded wires without a crimp terminal, push the open/close button all the way down with a flathead screwdriver, and insert the wire.
Page 52 Control circuit Signal inputs by contactless switches The contact input terminals of the inverter (STF, STR, STP (STOP), RH, RM, RL, JOG, RT, MRS, RES, AU and CS) can be controlled using a transistor instead of a contact switch as shown below. Inverter +24 V +24 V...
Page 53 Control circuit 2.6.5 When using separate power supplies for the control circuit and the main circuit Cable size for the control circuit power supply (terminals R1/L11 and S1/ L21) • Terminal screw size: M4 • Cable gauge: 0.75 mm to 2 mm •...
Page 54 Control circuit • FR-A860-00450 or higher Remove the upper screws. Remove the lower screws. R1/L11 S1/L21 Pull the jumper toward you Power supply terminal block to remove. for the control circuit Connect the separate Power supply terminal block power supply cable for the for the control circuit R/L1 S/L2 T/L3 control circuit to the upper...
Page 55 Control circuit 2.6.6 When supplying 24 V external power to the control circuit Connect a 24 V external power supply across terminals +24 and SD. Connecting a 24 V external power supply enables I/O terminal ON/OFF operation, operation panel displays, control functions, and communication during communication operation even at power-OFF of inverter's main circuit power supply.
Page 56 Control circuit Operation while the 24 V external power is supplied • Fault records and parameters can be read and parameters can be written (when the parameter write from the operation panel is enabled) using the operation panel keys. • During the 24 V external power supply operation, monitored items and signals related to inputs to main circuit power supply, such as output current, converter output voltage, and IPF signal, are invalid.
Page 57: Communication Connectors And Terminals
Communication connectors and terminals Communication connectors and terminals 2.7.1 PU connector Removal and reinstallation of the accessory cover • Loosen the two screws on the accessory cover. • Press the upper edge of the accessory cover while pulling (These screws cannot be removed.) out the accessory cover.
Page 58 Communication connectors and terminals NOTE • Refer to the following table when fabricating the cable on the user side. Keep the total cable length within 20 m. • Commercially available products (as of November 2013) Name Model Manufacturer SGLPEV-T (Cat5e/300 m) Communication cable Mitsubishi Cable Industries, Ltd.
Page 59 Communication connectors and terminals 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...
Page 60 Communication connectors and terminals USB device communication The inverter can be connected to a personal computer with a USB (Ver. 1.1) cable. Parameter setting and monitoring can be performed by using FR Configurator2. Interface Conforms to USB1.1 Transmission speed 12 Mbps Wiring length Maximum 5 m Connector...
Page 61: Connection Of Motor With Encoder (Vector Control)
Connection of motor with encoder (vector control) Connection of 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 62 Connection of motor with encoder (vector control) Switches of the FR-A8AP Differential line driver (initial status) • Encoder type selection switch (SW3) Selects either the differential line driver or complementary setting. It is initially set to the differential line driver. Switch its position according to the output circuit.
Page 63 Connection of motor with encoder (vector control) Encoder cable • As the terminal block of the FR-A8AP is an insertion type, cables need to be treated when the encoder cables of the inverter are crimping terminals. Cut the crimping terminal of the encoder cable and strip its sheath to make its cable wires loose.
Page 64 Connection of motor with encoder (vector control) Instructions for encoder cable wiring • Use shielded twisted pair cables (0.2 mm or larger) to connect the FR-A8AP. For the wiring to the 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 65: Parameter Settings For A Motor With Encoder
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 for which forward Set for the operation at 120 Hz or rotation (encoder) is clockwise (CW) viewed less.
Page 66: Connection Of Stand-Alone Option Units
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 corresponding option unit manual.
Page 67 Connection of stand-alone option units 2.10.2 Connection of the DC reactor • When using the DC reactor, connect it across terminals P/+ and P1. For the FR-A860-01080 or lower, the jumper connected across terminals P/+ and P1 must be removed. Otherwise, the reactor will not be effective.
Page 68 PRECAUTIONS FOR USE OF THE INVERTER This chapter explains the precautions for use of this product. Always read the instructions before using the equipment. For the "PRECAUTIONS FOR USE OF THE INVERTER" of the separated converter type, refer to the FR-A862 (Separated Converter Type) Instruction Manual (Hardware) [IB-0600571ENG].
Page 69: Electro-Magnetic Interference (Emi) And Leakage Currents
Electro-magnetic interference (EMI) and leakage currents Electro-magnetic interference (EMI) and leakage currents 3.1.1 Leakage currents and countermeasures Capacitances exist between the inverter I/O cables, other cables and earth and in the motor, through which a leakage current flows. Since its value depends on the static capacitances, carrier frequency, etc., low acoustic noise operation at the increased carrier frequency of the inverter will increase the leakage current.
Page 70 Electro-magnetic interference (EMI) and leakage currents Install a molded case circuit breaker (MCCB) on the power receiving side to protect the wiring at the inverter input side. Select an MCCB according to the inverter input side power factor, which depends on the power supply voltage, output frequency and load.
Page 71 Electro-magnetic interference (EMI) and leakage currents Noise Countermeasure propagation path When devices that handle low-level signals and are liable to malfunction due to electromagnetic noises, e.g. instruments, receivers and sensors, are contained in the enclosure that contains the inverter or when their signal cables are run near the inverter, the devices may malfunction due to by air-propagated electromagnetic noises.
Page 72: Power Supply Harmonics
Power supply harmonics 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 73: Power-Off And Magnetic Contactor (Mc)
Power-OFF and magnetic contactor (MC) Power-OFF 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 20 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 74: Countermeasures Against Deterioration Of The 600 V Class Motor Insulation
Countermeasures against deterioration of the 600 V class motor insulation Countermeasures against deterioration of the 600 V class motor insulation In the PWM type inverter, a surge voltage attributable to wiring constants is generated at the motor terminals. Especially for a 600V class motor, the surge voltage may deteriorate the insulation.
Page 75: Checklist Before Starting Operation
Checklist before starting operation Checklist before starting operation The FR-A860 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 Check Checkpoint...
Page 76 Checklist before starting operation Refer Check Checkpoint Countermeasure to page by user When using a switching circuit as shown below, chattering due to mis- configured sequence or arc generated at switching may allow undesirable current to flow in and damage the inverter. Mis-wiring may also damage the inverter.
Page 77: Failsafe System Which Uses The Inverter
Although Mitsubishi Electric 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. Also at the same time consider the system configuration where a failsafe from outside the inverter, without using the inverter, is enabled even if the inverter fails.
Page 78 Failsafe system which uses the inverter (b) Checking the inverter operating status by the inverter operation ready completion signal Power supply Operation ready signal (RY signal) is output when the inverter power is ON and the inverter becomes operative. Check if the RY signal is output after powering ON the inverter.
Page 79 Failsafe system which uses the inverter Backup method outside the inverter Even if the interlock is provided by the inverter status signal, enough failsafe is not ensured depending on the failure status of the inverter itself. For example, if an inverter CPU fails in a system interlocked with the inverter's fault, start, and RUN signals, no fault signal will be output and the RUN signal will be kept ON because the inverter CPU is down.
Page 80 BASIC OPERATION This chapter explains the basic operation of this product. Always read the instructions before using the equipment. 4.1 Frequently-used parameters (simple mode parameters)..80 4.2 Basic operation procedure (PU operation)......82 4.3 Basic operation procedure (External operation) ....86 4.4 Basic operation procedure (JOG operation) ......92 BASIC OPERATION...
Page 81: Frequently-Used Parameters (Simple Mode Parameters)
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. The simple mode can be used when the operation panel (FR-LU08) or the parameter unit (FR-PU07) is used. This section explains about frequently-used parameters.
Page 82 9109 PM motor. 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 Hz/60 Hz.
Page 83: Basic Operation Procedure (Pu Operation)
Basic operation procedure (PU operation) Basic operation procedure (PU operation) POINT POINT • Where is the frequency command source? - The frequency set in the frequency setting mode of the operation panel → Refer to 4.2.1. (Refer to page 82.) - The ON/OFF switches connected to terminals →...
Page 84 Basic operation procedure (PU operation) 4.2.2 Setting the frequency by switches (multi-speed setting) POINT POINT • Use the operation panel ( ) to give a start command. • Turn ON the RH, RM, or RL signal to give a frequency command. (multi-speed setting) •...
Page 85 Basic operation procedure (PU operation) 4.2.3 Setting the frequency with analog signals (voltage input) POINT POINT • Use the operation panel ( to give a start command. • Use the potentiometer (frequency setting potentiometer) to give a frequency command (by connecting it across terminals 2 and 5 (voltage input)).
Page 86 Basic operation procedure (PU operation) 4.2.4 Using an analog signal (current input) to give a frequency command POINT POINT • Use the operation panel ( ) to give a start command. • Use the outputs from the current signal source (4 to 20 mA) to give a frequency command (by connecting it across terminals 4 and 5 (current input)).
Page 87: Basic Operation Procedure (External Operation)
Basic operation procedure (External operation) Basic operation procedure (External operation) POINT POINT • Where is the frequency command source? - The frequency set in the frequency setting mode of the operation panel → Refer to 4.3.1. (Refer to page 86.) - Switches (multi-speed setting) →...
Page 88 Basic operation procedure (External operation) Parameters referred to Pr.4 to Pr.6 (Multi-speed setting) page 314 Pr.7 Acceleration time, Pr.8 Deceleration time page 269 Pr.178 STF terminal function selection page 415 Pr.179 STR terminal function selection page 415 Pr.79 Operation mode selection page 291 4.3.2 Setting the frequency by switches (multi-speed...
Page 89 Basic operation procedure (External operation) 4.3.3 Setting the frequency with analog signals (voltage input) POINT POINT • Switch ON the STF (STR) signal to give a start command. • Use the potentiometer (frequency setting potentiometer) to give a frequency command. (by connecting it across terminals 2 and 5 (voltage input)).
Page 90 Basic operation procedure (External operation) 4.3.4 Changing the frequency (60 Hz, initial value) at the maximum voltage input (5 V, initial value) POINT POINT Change the maximum frequency. Changing example With a 0 to 5 VDC input frequency setting potentiometer, change the frequency at 5 V from 60 Hz (initial value) to 50 Hz.
Page 91 Basic operation procedure (External operation) 4.3.5 Using an analog signal (current input) to give a frequency command POINT POINT • Switch ON the STF (STR) signal to give a start command. • Turn ON the AU signal. • Set Pr.79 Operation mode selection="2" (External operation mode). [Connection diagram] Inverter Forward rotation start...
Page 92 Basic operation procedure (External operation) 4.3.6 Changing the frequency (60 Hz, initial value) at the maximum current input (at 20 mA, initial value) POINT POINT Change the maximum frequency. Changing example With a 4 to 20 mA input frequency setting potentiometer, change the frequency at 20 mA from 60 Hz (initial value) to 50 Hz.
Page 93: Basic Operation Procedure (Jog Operation)
Basic operation procedure (JOG operation) Basic operation procedure (JOG operation) 4.4.1 Performing JOG operation using external signals POINT POINT • Perform JOG operation only while the JOG signal is ON. • Use Pr.15 Jog frequency and Pr.16 Jog acceleration/deceleration time for the operation. •...
Page 94 Basic operation procedure (JOG operation) 4.4.2 JOG operation from the operation panel POINT POINT • Operate only while is pressed. Operation panel Operation example Operate at 5 Hz. Operation Screen at power-ON The monitor display appears. Changing the operation mode Press twice to choose the PUJOG operation mode.
Page 95 MEMO...
Page 96 PARAMETERS This chapter explains the function setting for use of this product. Always read this instructions before use. The following marks are used to indicate the controls as below. (Parameters without any mark are valid for all control.) Mark Control method Applied motor V/F control Advanced magnetic flux...
Page 97 Parameter List Parameter list (by parameter number) Parameter List 5.1.1 Parameter list (by parameter number) For simple variable-speed operation of the inverter, the initial value of the parameters may be used as they are. Set the necessary parameters to meet the load and operational specifications. Parameter setting, change and check can be made from the operation panel. NOTE Simple Simple...
Page 98 Parameter List Parameter list (by parameter number) Minimum Refer Name Setting range setting Initial value group increments page Stall prevention operation level 154, H500 0 to 400% 0.1% 150% (Torque limit level) List Stall prevention operation level H610 compensation factor at double 0 to 200%, 9999 0.1% 9999...
Page 99 Parameter List Parameter list (by parameter number) Minimum Refer Name Setting range setting Initial value group increments page F101 ─ Remote function selection 0 to 3, 11 to 13 G030 ─ Energy saving control selection 0, 4, 9 0 to 500 A, 9999 0.01 A 285, ...
Page 100 Parameter List Parameter list (by parameter number) Minimum Refer Name Setting range setting Initial value group increments page 137, 0.4 to 55 kW, 9999 0.01 kW   C101 List Motor capacity 9999 426, 0 to 3600 kW, 9999 0.1 kW ...
Page 101 Parameter List Parameter list (by parameter number) Minimum Refer Name Setting range setting Initial value group increments page N020 PU communication station number 0 to 31 48, 96, 192, 384, 576, N021 PU communication speed 768, 1152 PU communication stop bit length / 0, 1, 10, 11 data length N022...
Page 102 Parameter List Parameter list (by parameter number) Minimum Refer Name Setting range setting Initial value group increments page H620 Stall prevention level at 0 V input 0 to 400% 0.1% 150% List H621 Stall prevention level at 10 V input 0 to 400% 0.1% 200%...
Page 103 Parameter List Parameter list (by parameter number) Minimum Refer Name Setting range setting Initial value group increments page 0 to 20, 22 to 28, 32, 37, 42 to 48, 50 to 53, T700 STF terminal function selection 57, 58, 60, 62, 64 to 74, 76 to 80, 87, 92 to 96, 9999 0 to 20, 22 to 28, 32,...
Page 104 Parameter List Parameter list (by parameter number) Minimum Refer Name Setting range setting Initial value group increments page Terminal 1 added compensation T041 ─ 0 to 100% 0.1% amount (terminal 4) List H100 ─ Cooling fan operation selection 0, 1, 101 to 105 G203 Rated slip 0 to 50%, 9999...
Page 105 Parameter List Parameter list (by parameter number) Minimum Refer Name Setting range setting Initial value group increments page 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 detection A102 0 to 2 s 0.1 s...
Page 106 Parameter List Parameter list (by parameter number) Minimum Refer Name Setting range setting Initial value group increments page RS-485 communication station N030 0 to 31 (0 to 247) number List 3, 6, 12, 24, 48, 96, N031 RS-485 communication speed 192, 384, 576, 768, 1152 RS-485 communication stop bit...
Page 107 Parameter List Parameter list (by parameter number) Minimum Refer Name Setting range setting Initial value group increments page F300 Acceleration S-pattern 1 0 to 50% F301 Deceleration S-pattern 1 0 to 50% F302 Acceleration S-pattern 2 0 to 50% F303 Deceleration S-pattern 2 0 to 50% D101...
Page 108 Parameter List Parameter list (by parameter number) Minimum Refer Name Setting range setting Initial value group increments page 0, 1, 3 to 6, 13 to 16, 30, 33, 34, 8093, List C200 Second applied motor 9999 8094, 9090, 9093, 9094, 9999 0 to 6, 10 to 14, 20, Second motor control method G300...
Page 109 Parameter List Parameter list (by parameter number) Minimum Refer Name Setting range setting Initial value group increments page B030 Fifth target position upper 4 digits 0 to 9999 B031 Sixth target position lower 4 digits 0 to 9999 B032 Sixth target position upper 4 digits 0 to 9999 Seventh target position lower 4 B033...
Page 110 Parameter List Parameter list (by parameter number) Minimum Refer Name Setting range setting Initial value group increments page USB communication station N040 0 to 31 number List USB communication check time N041 0 to 999.8 s, 9999 0.1 s 9999 interval N000 Protocol selection...
Page 111 Parameter List Parameter list (by parameter number) Minimum Refer Name Setting range setting Initial value group increments page First free thermal reduction H001 0 to 590 Hz, 9999 0.01 Hz 9999 frequency 1 H002 First free thermal reduction ratio 1 1 to 100% 100% First free thermal reduction...
Page 112 Parameter List Parameter list (by parameter number) Minimum Refer Name Setting range setting Initial value group increments page Increased magnetic excitation List G130 0, 1 deceleration operation selection G131 Magnetic excitation increase rate 0 to 40%, 9999 0.1% 9999 Increased magnetic excitation G132 0 to 300% 0.1%...
Page 113 Parameter List Parameter list (by parameter number) Minimum Refer Name Setting range setting Initial value group increments page C106 Maximum motor frequency 0 to 400 Hz, 9999 0.01 Hz 9999 0 to 5000 mV/(rad/s), 0.1 mV/ C130 Induced voltage constant (phi f) 9999 9999 (rad/s)
Page 114 Parameter List Parameter list (by parameter number) Minimum Refer Name Setting range setting Initial value group increments page Deceleration time in low-speed F071 ─ 0 to 3600 s, 9999 0.1 s 9999 range List Pulse increment setting for output 0.1, 1, 10, 100, 1000 ─...
Page 115 Parameter List Parameter list (by parameter number) Minimum Refer Name Setting range setting Initial value group increments page G230 Torque bias selection 0 to 3, 24, 25, 9999 9999 G231 Torque bias 1 600 to 1400%, 9999 9999 G232 Torque bias 2 600 to 1400%, 9999 9999 G233...
Page 116 Parameter List Parameter list (by parameter number) Minimum Refer Name Setting range setting Initial value group increments page Regeneration avoidance operation G120 0 to 2 selection List Regeneration avoidance operation G121 300 to 1200 V 0.1V 940 V DC level Regeneration avoidance at G122 0 to 5...
Page 117 Parameter List Parameter list (by parameter number) Minimum Refer Name Setting range setting Initial value group increments page T110 Terminal 1 bias command (torque) 0 to 400% 0.1% T111 Terminal 1 bias (torque) 0 to 300% 0.1% T112 Terminal 1 gain command (torque) 0 to 400% 0.1% 150%...
Page 118 Parameter List Parameter list (by parameter number) Minimum Refer Name Setting range setting Initial value group increments page 1027 A910 Analog source selection (1ch) 1 to 3, 5 to 14, List 1028 A911 Analog source selection (2ch) 17 to 20, 22 to 24, 32 to 36, 39 to 42, 46, 1029 A912...
Page 119 Parameter List Parameter list (by parameter number) Minimum Refer Name Setting range setting Initial value group increments page Second PID display gain coefficient 1138 A672 0 to 500, 9999 0.01 9999 Simple Simple Simple Second PID display gain analog 1139 A673 0 to 300% 0.1%...
Page 120 Parameter List Parameter list (by parameter number) Minimum Refer Name Setting range setting Initial value group increments page Seventh positioning acceleration 1246 B144 0.01 to 360 s 0.01 s time List Seventh positioning deceleration 1247 B145 0.01 to 360 s 0.01 s time 1248...
Page 121 Parameter List Parameter list (by parameter number) Minimum Refer Name Setting range setting Initial value group increments page Home position shift amount lower 4 1285 B183 0 to 9999 digits Home position shift amount upper 4 1286 B184 0 to 9999 digits Travel distance after proximity dog 1287...
Page 122 Parameter List Parameter list (by parameter number)  Differ according to capacities. 5%: FR-A860-00027 3%: FR-A860-00061 2%: FR-A860-00090, FR-A860-00170 1%: FR-A860-00320 or higher  The setting range or initial value for the FR-A860-01080 or lower.  The setting range or initial value for the FR-A860-01440 or higher. ...
Page 123 Parameter List Parameter list (by function group) 5.1.2 Parameter list (by function group)  E: Environment setting parameters  F: Setting of acceleration/deceleration time and Parameters that set the inverter operation characteristics. acceleration/deceleration pattern Refer Parameters that set the motor acceleration/deceleration Name group to page...
Page 124 Parameter List Parameter list (by function group)  D: Operation command and frequency Refer Name group to page command Second free thermal reduction H013 Parameters that specify the inverter's command source, and frequency 2 parameters that set the motor driving frequency and torque. H014 Second free thermal reduction ratio 2 Second free thermal reduction...
Page 125 Parameter List Parameter list (by function group) Refer Refer Name Name group to page group to page M207 Third stall prevention operation Operation time rate (estimated value) H603 frequency M300 FM terminal function selection Stall prevention operation level H610 M301 AM terminal function selection compensation factor at double speed M310...
Page 126 Parameter List Parameter list (by function group)  T: Multi-function input terminal parameters Refer Name group to page Parameters for the input terminals where inverter commands are T709 MRS terminal function selection received through. T710 STOP terminal function selection Refer T711 Name RES terminal function selection...
Page 127 Parameter List Parameter list (by function group) Refer Refer Name Name group to page group to page Automatic switchover frequency from A004 C141 inverter to bypass operation  473, Encoder rotation direction Automatic switchover frequency range A005 from bypass to inverter operation Encoder signal loss detection enable/ C148 ...
Page 128 Parameter List Parameter list (by function group) Refer Refer Name Name group to page group to page A512 A642 1144  Position shift Second PID lower limit A520 A643 1145  Orientation position loop gain Second PID deviation limit A521 A644 1146 ...
Page 129 Parameter List Parameter list (by function group) Refer Refer Name Name group to page group to page B026 User parameter auto storage function Third target position upper 4 digits A805 selection B027 Fourth target position lower 4 digits A810 1150 B028 Fourth target position upper 4 digits PLC function user parameters 1 to 50...
Page 130 Parameter List Parameter list (by function group) Refer Refer Name Name group to page group to page B153 1255 N021 Ninth positioning deceleration time PU communication speed B154 1256 N022 Ninth positioning dwell time PU communication data length B155 1257 N023 Ninth positioning sub-function PU communication stop bit length...
Page 131 Parameter List Parameter list (by function group) Refer Refer Name Name group to page group to page G108 1299 Second motor excitation current low Second pre-excitation selection G302 speed scaling factor G110 DC injection brake operation voltage G311 Speed control P gain 2 Regeneration avoidance operation G120 G312...
Page 132 Control method Control method V/F control (initial setting), Advanced magnetic flux vector control, Real sensorless vector control, vector control, and PM sensorless vector control are available with this inverter. V/F control • It controls the frequency and voltage so that the ratio of frequency (F) to voltage (V) is constant while changing the frequency.
Page 133 Control method Real sensorless vector control • The motor speed estimation enables the speed control and the torque control to control currents more accurately. When a high-accuracy, fast-response control is needed, select Real sensorless vector control, and perform offline auto tuning. •...
Page 134 Control method PM sensorless vector control • Highly efficient motor control and highly accurate motor speed control can be performed by using the inverter with a PM (permanent magnet embedded) motor, which is more efficient than an induction motor. • The motor speed is calculated based on the output voltage and current from the inverter. It does not require a speed detector such as an encoder.
Page 135 Control method 5.2.1 Vector control and Real sensorless vector control Vector control is one of the control techniques for driving an induction motor. To help explain vector control, the fundamental equivalent circuit of an induction motor is shown below: r1: Primary resistance r2: Secondary resistance 1: Primary leakage inductance 2: Secondary leakage inductance...
Page 136 Control method 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...
Page 137 Control method • Speed control  Speed control operation is performed to zero the difference between the speed command (ω ) and actual rotation value detected by encoder (ω ). At this time, the motor load is found and its result is transferred to the torque current controller ...
Page 138 Control method 5.2.2 Changing the control method Set the control method and control mode. V/F control, Advanced magnetic flux vector control, Real sensorless vector control, Vector control, and PM sensorless vector control are the control methods available for selection. The control modes are speed control, torque control, and position control. These are set when selecting Advanced magnetic flux vector control, Real sensorless vector control, Vector control, and PM sensorless vector control.
Page 139 Control method Setting the motor capacity and the number of motor poles (Pr.80, Pr.81) • Motor specifications (the motor capacity and the number of motor poles) must be set to select Advanced magnetic flux vector control, Real sensorless vector control or vector control. •...
Page 140 Control method Selecting the fast-response operation (Pr.800 (Pr.451) = “100 to 106, 109 to 112”) • Setting Pr.800 (Pr.451) = "any of 100 to 106 or 109 to 112" 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 Control method Fast-response operation...
Page 141 Control method 2) Output terminal function selection (Pr.190 to Pr.196) • Electronic thermal O/L relay pre-alarm (THP) • Brake opening request (BOF) • Second brake opening request (BOF2) • Orientation complete (ORA) • Orientation fault (ORM) • Regenerative status output (Y32) •...
Page 142 Control method Changing the control method with external terminals (RT signal, X18 signal) • Control method (V/F control, Advanced magnetic flux vector control, Real sensorless vector control, Vector control) can be switched among using external terminals. The control method can be either switched using the Second function selection (RT) signal or the V/F switchover (X18) signal.
Page 143 Control method 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 138 and 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 144 Control method 5.2.3 Selecting the Advanced magnetic flux vector control Magnetic flux Magnetic flux Magnetic flux POINT POINT • To use the Advanced magnetic flux vector control, set the motor capacity, the number of motor poles, and the motor type using Pr.80 and Pr.81.
Page 145 Control method Keeping the motor speed constant when the load fluctuates (speed control gain) Initial Setting Name Description value range Makes adjustments to keep the motor speed constant during variable Speed control gain 0 to 200% load operation under Advanced magnetic flux vector control. (Advanced magnetic flux 9999 The reference value is 100%.
Page 146 Control method 5.2.4 Selecting the PM sensorless vector control Initializing the parameters required for the PM sensorless vector control (Pr.998) • The PM parameter initialization and the offline auto tuning enable the operation with a PM motor. Initial Setting Name Description value range...
Page 147 Control method Setting PM motor Setting Induction PM motor (rotations per increments Name motor (frequency) minute) 8009 8109 8009, 0, 8109, Pr.998 (initial value) 9009 9109 9009 9109 Pr.84 10% Pr.84 10% Starting frequency 0.5 Hz 1 r/min 0.01 Hz Pr.84 10% Pr.84 10% Jog frequency...
Page 148: 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 Speed control under Real sensorless vector control, vector control, PM sensorless vector control Refer Purpose Parameter to set to page P.H500, P.H700 to Pr.22, Pr.803, P.H703, P.H710, To limit the torque during speed Pr.810, Pr.812 to Torque limit...
Page 149 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 [Pr. 902] Operation Mode Terminal 2 gain [Pr. 125, Pr. 903] [Pr. 79] Terminal 2 Terminal 4 bias [Pr.
Page 150 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.
Page 151: Setting Procedure Of Real Sensorless Vector Control (Speed Control)
Speed control under Real sensorless vector control, vector control, PM sensorless vector control 5.3.1 Setting procedure of Real sensorless vector control (speed control) Sensorless Sensorless Sensorless Perform secure wiring. (page Set the motor. (Pr.71) (Refer to page 423.) Set Pr.71 Applied motor to "3" (standard motor) or "13" (constant-torque motor).
Page 152 Speed control under Real sensorless vector control, vector control, PM sensorless vector control NOTE • During Real sensorless vector control, offline auto tuning must be performed properly before starting operations. • The speed command setting range under Real sensorless vector control is 0 to 400 Hz. •...
Page 153: Setting Procedure Of Vector Control (Speed Control)
Speed control under Real sensorless vector control, vector control, PM sensorless vector control 5.3.2 Setting procedure of vector control (speed control) Vector Vector Vector Perform secure wiring. 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.
Page 154: Setting Procedure Of Pm Sensorless Vector Control (Speed Control)
Speed control under Real sensorless vector control, vector control, PM sensorless vector control 5.3.3 Setting procedure of PM sensorless vector control (speed control) This inverter is set for a general-purpose motor in the initial setting. Follow the following procedure to change the setting for the PM sensorless vector control.
Page 155: Setting The Torque Limit Level
Speed control under Real sensorless vector control, vector control, PM sensorless vector control 5.3.4 Setting the torque limit level Sensorless Sensorless Sensorless Vector Vector Vector Limit the output torque not to exceed the specified value. The torque limit level can be set in a range of 0 to 400%. The TL signal can be used to switch between two types of torque limit.
Page 156 Speed control under Real sensorless vector control, vector control, PM sensorless vector control Initial Setting Name Description value range Speed setting, running speed monitor increments 1 r/min Torque limit setting increments 0.1% Speed setting, running speed Set resolution monitor increments 0.1 r/min D030 switchover Speed setting, running speed...
Page 157 Speed control under Real sensorless vector control, vector control, PM sensorless vector control Selecting the torque limit input method (Pr.810) • Use Pr.810 Torque limit input method selection to select which method to use to limit the output torque during speed control.
Page 158 Speed control under Real sensorless vector control, vector control, PM sensorless vector control Torque limit level using analog input (terminals 1, 4) (Pr.810 = "1", Pr.858, Pr.868) • The torque is limited with the analog input of terminal 1 or terminal 4. (External torque limit) •...
Page 159 Speed control under Real sensorless vector control, vector control, PM sensorless vector control • Functions of terminals 1 and 4 by control (― : no function) Pr.858 setting Terminal 4 function Pr.868 setting Terminal 1 function  value  Speed setting auxiliary (Initial value) Magnetic flux command ...
Page 160 Speed control under Real sensorless vector control, vector control, PM sensorless vector control Torque limit level by communication options (Pr.810 = "2", Pr.805, Pr.806) • When a communication option (FR-A8NC or FR-A8NCE) is used, the Pr.805 or Pr.806 setting is used as the torque limit value.
Page 161 Speed control under Real sensorless vector control, vector control, PM sensorless vector control Second torque limit level (TL signal, Pr.815) • For Pr.815 Torque limit level 2, when the Torque limit selection (TL) signal is ON, the setting value of Pr.815 is the limit value regardless of the setting of Pr.810 Torque limit input method selection.
Page 162 Speed control under Real sensorless vector control, vector control, PM sensorless vector control Changing the setting increments of the torque limit level (Pr.811) • The setting increments of Pr.22 Torque limit level, Pr.801 Output limit level, and Pr.812 to Pr.817 Torque limit level can be changed to 0.01% by setting Pr.811 Set resolution switchover = "10 or 11".
Page 163 Speed control under Real sensorless vector control, vector control, PM sensorless vector control Pr.803=2 Torque Constant torque Low-speed Constant power range range range Pr.801 Torque reduction when the output is limited When the output limit is not exceeded Constant torque Constant torque limit limit...
Page 164 Speed control under Real sensorless vector control, vector control, PM sensorless vector control Adjusting the stall prevention operation signal and output timing (OL signal, Pr.157) • If the output torque exceeds the torque limit level and the torque limit is activated, the stall prevention operation signal (OL signal) is turned ON for 100 ms or longer.
Page 165: Control And Pm Sensorless Vector Control)
Speed control under Real sensorless vector control, vector control, 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 166 Speed control under Real sensorless vector control, vector control, PM sensorless vector control 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"]...
Page 167 Speed control under Real sensorless vector control, vector control, PM sensorless vector control 3) Press to calculate the continuous load inertia ratio, or calculate the gain. (The operation command during External operation is the STF or STR signal.) Execution procedure for easy gain tuning (Pr.819 = "2" Load inertia ratio manual input) Easy gain tuning (load inertia ratio manual input) is valid in the speed control mode under Real sensorless vector control, the speed control and position control modes under vector control, and the speed control mode under PM sensorless vector...
Page 168 Speed control under Real sensorless vector control, vector control, PM sensorless vector control 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.
Page 169 Speed control under Real sensorless vector control, vector control, PM sensorless vector control NOTE • When adjusting the gain manually, set Pr.819 Easy gain tuning selection to "0" (no easy gain tuning) (initial value). • Pr.830 Speed control P gain 2 and Pr.831 Speed control integral time 2 are valid when terminal RT is ON. In this case, replace them for Pr.820 and Pr.821 in the description above.
Page 170 Speed control under Real sensorless vector control, vector control, PM sensorless vector control Setting the speed control P gain in the per-unit system (Pr.1117, Pr.1118, Pr.1121) • The speed control P gain can be set in the per-unit (pu) system. •...
Page 171 Speed control under Real sensorless vector control, vector control, PM sensorless vector control P/PI control switchover according to the motor speed (Pr.1348) • When the motor speed falls below the Pr.1348 setting during speed control under Real sensorless vector control or Vector control, speed loop integration is stopped and the accumulated integral term is cleared.
Page 172: Troubleshooting In The Speed Control
Speed control under Real sensorless vector control, vector control, PM sensorless vector control 5.3.6 Troubleshooting in the speed control Sensorless Sensorless Sensorless Vector Vector Vector Condition 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.
Page 173 Speed control under Real sensorless vector control, vector control, PM sensorless vector control Condition Cause Countermeasure • Perform easy gain tuning. Speed control gain is too • Set Pr.820 lower and Pr.821 higher. Hunting (vibration or high. • Perform speed feed forward control or model adaptive speed control. acoustic noise) occurs in the motor or the Torque control gain is too...
Page 174: Speed Feed Forward Control And Model Adaptive Speed Control
Speed control under Real sensorless vector control, vector control, PM sensorless vector control 5.3.7 Speed feed forward control and model adaptive speed control Sensorless Sensorless Sensorless Sensorless Sensorless Sensorless 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.
Page 175 Speed control under Real sensorless vector control, vector control, PM sensorless vector control 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". Model adaptive speed control (Pr.877 = "2", Pr.828, Pr.1119) •...
Page 176: Torque Bias
Speed control under Real sensorless vector control, vector control, PM sensorless vector control 5.3.8 Torque bias Sensorless Sensorless Sensorless Sensorless Sensorless Sensorless Sensorless Sensorless Sensorless Vector Vector Vector The torque bias function can be used to make the starting torque start-up faster. At this time, the motor starting torque can be adjusted with a contact signal or analog signal.
Page 177 Speed control under Real sensorless vector control, vector control, PM sensorless vector control Setting the torque bias amount using contact input (Pr.840="0", Pr.841 to Pr.843) • Select the torque bias amount shown in the table below using the corresponding contact signal combination. •...
Page 178 Speed control under Real sensorless vector control, vector control, PM sensorless vector control Setting the torque bias amount automatically using terminal 1 (Pr.840="3", Pr.846) • The settings of Pr.919 Terminal 1 bias command (torque), Pr.919 Terminal 1 bias (torque), Pr.920 Terminal 1 gain command (torque), Pr.920 Terminal 1 gain (torque) and Pr.846 Torque bias balance compensation can be set automatically according to the load.
Page 179 Speed control under Real sensorless vector control, vector control, PM sensorless vector control Torque bias operation (Pr.844, Pr.845) • The torque start-up can be made slower by setting Pr.844 Torque bias filter ≠ "9999". The torque start-up operation at this time is the time constant of the primary delay filter.
Page 180: Avoiding Motor Overrunning
Speed control under Real sensorless vector control, vector control, PM sensorless vector control 5.3.9 Avoiding motor overrunning Vector Vector Vector Motor overrunning due to excessive load torque or an error in the setting of the number of encoder pulses can be avoided.
Page 181 Speed control under Real sensorless vector control, vector control, PM sensorless vector control NOTE • When the automatic restart after instantaneous power failure function is selected (Pr.57 Restart coasting time "9999") and the setting value for the number of encoder pulses is lower than the actual number of pulses, the output speed is limited with the synchronous speed of the value of Pr.1 Maximum frequency + Pr.873.
Page 182: Notch Filter
Speed control under Real sensorless vector control, vector control, PM sensorless vector control 5.3.10 Notch filter Sensorless Sensorless Sensorless Sensorless Sensorless Sensorless Sensorless Sensorless Sensorless Vector Vector Vector The response level of speed control in the resonance frequency band of mechanical systems can be lowered to avoid mechanical resonance.
Page 183: Torque Control Under Real Sensorless Vector Control And Vector Control
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 To selection the torque command source P.D400 to P.D402, Pr.801, Pr.803 to Torque command and to set the torque command value P.G210, P.H704 Pr.806, Pr.1114...
Page 184 Torque control under Real sensorless vector control and vector control 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.
Page 185 Torque control under Real sensorless vector control and vector control Analog input offset Speed limit adjustment [Pr. 849] Terminal 2 bias [Pr. 902] Terminal 2 gain [Pr. 125, Pr. 903] Terminal 2 Analog input Terminal 4 bias [Pr. 904] selection Terminal 4 gain [Pr.
Page 186 Torque control under Real sensorless vector control and vector control 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.
Page 187 Torque control under Real sensorless vector control and vector control Operation example (when Pr.804="0") Torque control is possible when actual rotation speed does not exceed the speed limit value. When the actual speed reaches or exceeds the speed limit value, speed limit is activated, torque control is stopped and speed control (proportional control) is performed.
Page 188: Setting Procedure Of Real Sensorless Vector Control (Torque Control)
Torque control under Real sensorless vector control and vector control 5.4.2 Setting procedure of Real sensorless vector control (torque control) Sensorless Sensorless Sensorless Perform secure wiring. (Refer to page 32.) Make the motor setting. (Pr.71) (Refer to page 423.) Set "0 (standard motor)" or "1 (constant-torque motor)" in Pr.71 Applied motor.
Page 189 Torque control under Real sensorless vector control and vector control NOTE • During Real sensorless vector control, offline auto tuning must be performed properly before starting operations. • The carrier frequency is limited during Real sensorless vector control. (Refer to page 261.) •...
Page 190: Setting Procedure For Vector Control (Torque Control)
Torque control under Real sensorless vector control and vector control 5.4.3 Setting procedure for vector control (torque control) Vector Vector Vector Perform secure wiring. (Refer to page 32.) 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.
Page 191: Torque Command
Torque control under Real sensorless vector control and vector control 5.4.4 Torque command Sensorless Sensorless Sensorless Sensorless Sensorless Sensorless Sensorless Sensorless Sensorless Vector Vector Vector For torque control, the torque command source can be selected. Name Initial value Setting range Description Pulse train torque For 0 pulses/s, set the torque to be used during stall...
Page 192 Torque control under Real sensorless vector control and vector control Torque command by analog input (terminal 1) (Pr.804="0 (initial value)") • Torque commands are given using voltage (current) input to the terminal 1. • Set Pr.868 Terminal 1 function assignment="3, 4" to use the terminal 1 for torque command inputs. •...
Page 193 Torque control under Real sensorless vector control and vector control Torque command using pulse train (Pr.804 = "2") • Torque command given by the pulse train input to the FR-A8AL is available. • Use Pr.428 Command pulse selection to select a type of pulse train input to the FR-A8AL. Pr.428 During forward During reverse...
Page 194 Torque control under Real sensorless vector control and vector control Torque command given through the CC-Link / CC-Link IE Field Network / PROFIBUS-DP (Pr.804 = "3, 5, 6") • Set the torque command value via the CC-Link communication (FR-A8NC/PLC function), CC-Link IE Field Network communication (FR-A8NCE), or PROFIBUS-DP communication (FR-A8NP).
Page 195 Torque control under Real sensorless vector control and vector control Changing the torque characteristic in the constant power output range (Pr.801, Pr.803) • Due to the characteristics of motors, the torque is reduced when the speed exceeds the rated speed. To keep the torque constant at the speed more than the rated speed, set "1 or 11"...
Page 196: Speed Limit
Torque control under Real sensorless vector control and vector control 5.4.5 Speed limit Sensorless Sensorless Sensorless Sensorless Sensorless Sensorless Sensorless Sensorless Sensorless Vector Vector Vector When operating under torque control, motor overspeeding may occur if the load torque drops to a value less than the torque command value, etc.
Page 197 Torque control under Real sensorless vector control and vector control Using the speed command during speed control (Pr.1113="9999", Pr.807="0"). • Speed limit is set by the same method as speed setting during speed control. (Speed setting by PU (operation panel/ parameter unit), multi-speed setting, plug-in option, etc.) •...
Page 198 Torque control under Real sensorless vector control and vector control Forward/reverse rotation speed limit using analog input (Pr.1113="9999", Pr.807="2") • When performing speed limit by analog inputs to terminal 1, speed limit can be switched between forward and reverse rotation by its voltage polarity. •...
Page 199 Torque control under Real sensorless vector control and vector control 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. (When the torque command is 0, the polarity of the speed limit value is positive.) •...
Page 200 Torque control under Real sensorless vector control and vector control Speed limit mode 3 (Pr.1113="1") • Select this mode when the torque command is positive. The forward rotation command is for power driving (such as winding) and the reverse rotation command is for regenerative driving (such as unwinding). (Refer to each inside of the frames in the following figures.) •...
Page 201 Torque control under Real sensorless vector control and vector control Speed limit mode 4 (Pr.1113="2") • Select this mode when the torque command is negative. The forward rotation command is for regenerative driving (such as unwinding) and the reverse rotation command is for power driving (such as winding). (Refer to each inside of the frames in the following figures.) •...
Page 202: Torque Control Gain Adjustment
Torque control under Real sensorless vector control and vector control Speed limit mode switching by external terminals (Pr.1113="10") • The speed limit mode can be switch between 3 and 4 using the torque control selection (X93) signal. • To assign the X93 signal, set "93" in any of Pr.178 to Pr.189 (Input terminal function selection). X93 signal Speed limit mode Mode 3 (torque command=positive, Pr.1113=1 or equivalent)
Page 203: Troubleshooting In Torque Control
Torque control under Real sensorless vector control and vector control Using two types of gain (Pr.834, Pr.835) Torque control P gain 2 Torque control integral time 2 • Use Pr.834 , Pr.835 if the gain setting needs to be switched according to application or if multiple motors are switched by a single inverter.
Page 204: Torque Control By Variable-Current Limiter Control
Torque control under Real sensorless vector control and vector control 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. Name Initial value Setting range Description Vector control Variable-current limiter Vector control...
Page 205: Position Control Under Vector Control
Position control under vector control Position control under vector control Refer to Purpose Parameter to set page P.B000, Pr.419, P.B020 to P.B050, To perform Simple position To give parameter position Pr.464 to Pr.494, P.B101, control by setting parameters command Pr.1221 to Pr.1290, P.B120 to P.B188, Pr.1292, Pr.1293 P.B190 to P.B195...
Page 206 Position control under vector control 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 is 0, and then rotate the motor based on the calculation.
Page 207: Setting Procedure Of Vector Control (Position Control)
Position control under vector control 5.5.2 Setting procedure of vector control (position control) Vector Vector Vector Perform secure wiring. 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.
Page 208: Simple Positioning Function By Parameters
Position control under vector control NOTE • The carrier frequency is limited during vector control. (Refer to page 261.) • Refer to the Instruction Manual of each option for details on Vector control using the FR-A8APR, FR-A8APS, or FR-A8APA. • To perform operation in position control mode, the Pre-excitation/servo ON (LX) signal needs to be turned ON. To assign the LX signal, set "23"...
Page 209 Position control under vector control Initial Setting Name Description value range Tenth target position lower 4 digits 0 to 9999 B039 Set the target position of the point table 10. Tenth target position upper 4 digits 0 to 9999 B040 Eleventh target position lower 4 0 to 9999 B041...
Page 210 Position control under vector control Initial Setting Name Description value range 1234 Fourth positioning acceleration 0.01 to 360 s B132 time 1235 Fourth positioning deceleration 0.01 to 360 s B133 time 1236 Set the characteristics of the point table 4. Fourth positioning dwell time 0 ms 0 to 20000 ms...
Page 211 Position control under vector control Initial Setting Name Description value range 1258 Tenth positioning acceleration time 0.01 to 360 s B156 1259 Tenth positioning deceleration time 0.01 to 360 s B157 1260 Set the characteristics of the point table 10. Tenth positioning dwell time 0 ms 0 to 20000 ms...
Page 212 Position control under vector control Initial Setting Name Description value range Dog type Count type Data set type 1282 Home position return method Stopper type B180 selection Ignoring the home position (servo-ON position as the home position) Dog type back end reference Count type front end reference 1283 Home position return speed...
Page 213 Position control under vector control 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 Point table selection Point Maximum Acceleration...
Page 214 Position control under vector control Acceleration/deceleration time • Set the acceleration/deceleration time for parameters corresponding to each point table. • The frequency that will be the basis of acceleration/deceleration time is Pr.20 Acceleration/deceleration reference frequency. However, 1 Hz/s is the minimum acceleration/deceleration rate (acceleration/deceleration frequency divided by acceleration/deceleration time).
Page 215 Position control under vector control Example 1 of positioning operation by point tables (automatic continuous positioning operation) The figure below shows an operation example when the following settings are made for point tables. Target position Point Maximum Acceleration Deceleration Dwell time Auxiliary function table speed (Hz)
Page 216 Position control under vector control Example 3 of positioning operation by point tables (variable speed operation) • The maximum frequency can be changed during positioning operation. Use as many point tables as the number of maximum speeds to be set. •...
Page 217 Position control under vector control Selecting the home position return method (Pr.1282 to Pr.1288) Pr.1282 Home position Description Setting return 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 218 Position control under vector control Pr.1282 Home position Description Setting return 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 219 Position control under vector control Pr.1282 Home position Description Setting return 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 220 Position control under vector control Sudden stop (Pr.464, Pr.1221 and X87 signal) • The operation performed during STF(STR)-OFF can be selected with Pr.1221 Start command edge detection selection. • 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.
Page 221 Position control under vector control Roll feed mode (Pr.1293) • If the roll feed mode is enabled in an application that needs repeated positioning in the same direction, such as a conveyor, positioning can be performed repeatedly without position command overflow. •...
Page 222 Position control under vector control • Output signal operation during positioning with home position return Home position Speed return speed Home position Creep speed shift amount 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 223: Position Control By The Fr-A8Al Pulse Train Input
Position control under vector control 5.5.4 Position control by the FR-A8AL pulse train input Vector Vector Vector Position control by the command from the positioning module of the programmable controller is available using the FR-A8AL. Initial Setting Name Description value range 0 to 2, 10, 100, Parameters for the position command source, the home...
Page 224 Position control under vector control Connection diagram • Connection with the positioning module of RD75P type MELSEC iQ-R series is also available. Vector-control-dedicated motors Inverter MCCB R/L1 Three-phase S/L2 AC power T/L3 supply Earth Forward stroke end (Ground) Reverse stroke end Pre-excitation (servo on) Torque limit Positioning module...
Page 225 Position control under vector control Interface between the position module and the inverter. • To operate an inverter using a positioning module, the interfaces for the position command pulse train must agree with each other. Output form Hardware Input pulse frequency Connect Inverter (FR-A8AL) Command unit...
Page 226: Position Control By Inverter Pulse Train Input
Position control under vector control 5.5.5 Position control by inverter pulse train input Vector Vector Vector The simple position pulse train command can be input by pulse train input and sign signal (NP) to the JOG terminal. Initial Name Setting range Description value Simple position control by point table (position command...
Page 227: Clear Signal Selection
Position control under vector control 5.5.6 Clear signal selection Initial Setting Name Description value range The values of the position pulse (command pulse, droop pulse, current position, and current position 2) are cleared at the rising edge when the clear (CLR/CLRN) Clear signal selection signal is switched from OFF to ON.
Page 228: Pulse Monitor
Position control under vector control 5.5.7 Pulse monitor Vector Vector Vector Various pulses can be monitored. Initial Name Setting range Description value 0 to 5, 12, 13, 100 to 105, 112, 113, 1000 to 1005, 1012, 1013, 1100 to 1105, 1112, 1113, Shows the various pulse conditions during operation as 2000 to 2005, 2012,...
Page 229 Position control under vector control • Also, setting "26 to 31" in Pr.52, and Pr.774 to Pr.776 (multifunction monitor) changes the electronic gear operation setting in the case of monitoring pulses. (Refer to page 347) Pr.430 Description setting [][][]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 230 Position control under vector control Current position 2 Clearing condition Pr.419 setting 1, 2 1110 1310 Servo-OFF (LX-OFF) × × × × × × × × × × × (output shutoff) Clear signal input  ○ ○  ○ ○ ...
Page 231 Position control under vector control Cumulative pulse monitor • When the Vector control compatible plug-in option or the control terminal option (FR-A8TP) is used, the accumulated value of the encoder pulses can be monitored. • The cumulative pulse monitor is available when "71 to 74" is set in the monitor selection parameters (Pr.52, Pr.774, Pr.775, Pr.776, and Pr.992).
Page 232 Position control under vector control Cumulative pulse monitor value clear (Pr.635) • The cumulative pulse monitor and the cumulative pulse overflow times can be cleared by X52 signal or X53 signal. • To input the X52 or X53 signal, set "52 (X52)" or "53 (X53)" in any of Pr.178 to Pr.184 (Input terminal function selection) to assign the function to a terminal.
Page 233: Electronic Gear Setting
Position control under vector control 5.5.8 Electronic gear setting Vector Vector Vector Set the gear ratio between the machine gear and motor gear. Name Initial value Setting range Description Command pulse scaling factor numerator (electronic gear 1 to 32767 B001 Set the electronic gear.
Page 234 Position control under vector control [Setting example 1] In a driving system whose ball screw pitch is PB=10 (mm) and the reduction ratio is 1/n=1, the electronic gear ratio is s=10 (mm) when  =0.01 (mm) and Pf=4000 (pulses/rev) is set as the number of feedback pulses. Based on this, use the following formula: s Pr.420...
Page 235: Position Adjustment Parameter Settings
Position control under vector control Position command constant value during acceleration/deceleration (Pr.424) • If the electronic gear ratio is large (1:10 or larger) and the rotation speed is slow, the rotation is not smooth and the rotation shape becomes like a pulse. Set this option in such a case to smoothen the rotation. •...
Page 236 Position control under vector control Position detected signal (Pr.1294 to Pr.1297, FP signal) • The position detected signal (FP signal) is turned ON when the current position [before the electronic gear] exceeds the position detection level (Pr.1295 10000 + Pr.1294). To use the FP signal, set "60 (positive logic) or 160 (negative logic)" in any of Pr.190 to Pr.196 (Output terminal function selection) to assign the function.
Page 237: Position Control Gain Adjustment
Position control under vector control 5.5.10 Position control gain adjustment Vector Vector Vector Easy gain tuning is provided as an easy tuning method. For details about easy gain tuning, refer to page 164. If it does not produce any effect, make fine adjustments by using the following parameters. Set "0"...
Page 238: Troubleshooting In Position Control
Position control under vector control 5.5.11 Troubleshooting in position control Vector Vector Vector Condition Cause Countermeasure There is incorrect phase sequence between the motor wiring and Check the wiring. (Refer to page 60.) encoder wiring. Control mode selection setting Pr.800 Control method selection is not Check the Pr.800 setting.
Page 239 Position control under vector control 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...
Page 240: Real Sensorless Vector Control, Vector Control, Pm Sensorless Vector Control Adjustment
Real sensorless vector control, vector control, PM sensorless vector control adjustment Real sensorless vector control, vector control, PM sensorless vector control adjustment Refer Purpose Parameter to set to page To stabilize speed and torque Speed detection filter P.G215, P.G216, Pr.823, Pr.827, feedback signal.
Page 241: Excitation Ratio
Real sensorless vector control, vector control, PM sensorless vector control adjustment 5.6.2 Excitation ratio Sensorless Sensorless Sensorless Sensorless Sensorless Sensorless Sensorless Sensorless Sensorless Vector Vector Vector The excitation ratio can be lowered to enhance efficiency for light loads. (Motor magnetic noise can be reduced.) Initial Setting Name...
Page 242: E) Environment Setting Parameters
(E) Environment setting parameters (E) Environment setting parameters Refer to Purpose Parameter to set page P.E030 to Pr.1006 to To set the time Real time clock function P.E032 Pr.1008 To set a limit for the reset function. Reset selection/ To shut off output if the operation disconnected PU P.E100 to panel disconnects.
Page 243: Real Time Clock Function
(E) Environment setting parameters 5.7.1 Real time clock function The time can be set. The time can only be updated while the inverter power is ON. The real time clock function is enabled using an optional LCD operation panel (FR-LU08). Initial Name Setting range...
Page 244 (E) Environment setting parameters Real time clock function Count-up Count-up Hz Out 1:00 Hz Out 2:00 Hz Out 3:00 0. 00 0. 00 0. 00 −−− STOP −−− STOP −−− STOP 1:00 2:00 3:00 PREV NEXT PREV NEXT PREV NEXT Synchronization Synchronization 1:00...
Page 245: Reset Selection/Disconnected Pu Detection/Pu Stop Selection
(E) Environment setting parameters 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 0 to 3, 14 to 17, 1000 to 1003, 1014 to 1017 ...
Page 246 (E) Environment setting parameters Pr.75 Disconnected PU Reset selection PU stop selection setting detection  14 (initial Reset command input always enabled. value), 114 Reset command input enabled only when the 15, 115 protective function activated. Operation continues even when PU is disconnected.
Page 247 (E) Environment setting parameters Disconnected PU detection (P.E101) • When the inverter detects that the PU (operation panel/parameter unit) is disconnected from the inverter for 1 second or more while P.E101 or Pr.75 is set to shut off the inverter output upon disconnection of the PU, the PU disconnection ("E.PUE") indication is displayed and the inverter output is shut off.
Page 248: Pu Display Language Selection
(E) Environment setting parameters Reset limit function (P.E107) • When P.E107 = "1" or Pr.75 = any of "100 to 103, 114 to 117, 1100 to 1103, or 1114 to 1117", 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 will not accept any reset command (RES signal, etc.) for about 3 minutes from the second activation.
Page 249: Pu Contrast Adjustment
(E) Environment setting parameters 5.7.5 PU contrast adjustment Contrast adjustment of the LCD of the LCD operation panel (FR-LU08) and the parameter unit (FR-PU07) can be performed. Decreasing the setting value lowers the contrast. Name Initial value Setting range Description PU contrast adjustment 0: Low ...
Page 250: Resetting Usb Host Errors
(E) Environment setting parameters 5.7.7 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 1049 Read only USB host reset E110...
Page 251 (E) Environment setting parameters Pr.570 setting Refer Name to page (Initial value) Output current detection level 110% 120% 150% 200% Stall prevention operation level for restart 110% 120% 150% 200% Current average value monitor signal SLD rated LD rated ND rated HD rated output reference current current...
Page 252: Parameter Write Selection
(E) Environment setting parameters 5.7.9 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 253 (E) Environment setting parameters Disabling parameter write (Pr.77="1") • Parameter write, parameter clear and all parameter clear are disabled. (Parameter read is enabled.) • The following parameters can be written even if Pr.77="1". Name Name Stall prevention operation level Password lock/unlock Reset selection/disconnected PU detection/ 345, 346 (DeviceNet communication)
Page 254: Password Function
(E) Environment setting parameters 5.7.10 Password function Registering a 4-digit password can restrict parameter reading/writing. Name Initial value Setting range Description 0 to 6, 99, Select restriction level of parameter reading/ 100 to 106, 199 writing when a password is registered. Password lock level 9999 E410...
Page 255 (E) Environment setting parameters NOTE • After registering a password, the read value of Pr.297 is always one of "0 to 5". • A password restricted parameter cannot be 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 256: Free Parameter
(E) Environment setting parameters Parameters referred to ??????? Pr.77 Parameter write selection page 251 Pr.160 User group read selection page 259 Pr.550 NET mode operation command source selection page 301 Pr.551 PU mode operation command source selection page 301 5.7.11 Free parameter Any number within the setting range of 0 to 9999 can be input.
Page 257 (E) Environment setting parameters Automatic parameter setting (Pr.999) • Select which parameters to automatically set from the table below, and set them in Pr.999. Multiple parameter settings are changed automatically. Refer to page 257 for the list of parameters that are changed automatically. Pr.999 Description Setting...
Page 258 (E) Environment setting parameters • 3-line monitor setting The 3-line monitor is used as the first monitor. • Direct setting Pressing the [FUNC] key of the FR-PU07-01 displays the direct setting screen. The PID action set point can be directly set regardless of the operation mode or Pr.77 Parameter write selection setting.
Page 259 (E) Environment setting parameters GOT initial setting (RS-485 terminals) (Pr.999 = "11, 13") Initial Refer to Name Pr.999="11" Pr.999="13" value page Operation mode selection RS-485 communication speed 1152 RS-485 communication stop bit length RS-485 communication parity check selection RS-485 communication retry count 9999 9999 RS-485 communication check time interval...
Page 260: Extended Parameter Display And User Group Function
(E) Environment setting parameters 5.7.13 Extended parameter display and user group function This function restricts the parameters that are read by the operation panel and parameter unit. Name Initial value Setting range Description Only simple mode parameters can be 9999 displayed.
Page 261: Parameter Copy Alarm Release
(E) Environment setting parameters Registering a parameter in a user group (Pr.173) • To register Pr.3 in a user group Operation Power ON Make sure the motor is stopped. Changing the operation mode Select the PU operation mode. Selecting the parameter number Read Pr.173.
Page 262: Pwm Carrier Frequency And Soft-Pwm Control
(E) Environment setting parameters 5.7.15 PWM carrier frequency and Soft-PWM control The motor sound can be changed. Name Initial value Setting range Description The PWM carrier frequency can be changed. The 0 to 15  setting displayed is in [kHz]. Note that 0 indicates 0.7 PWM frequency selection kHz, 15 indicates 14.5 kHz, and 25 indicates 2.5 E600...
Page 263: Inverter Parts Life Display
(E) Environment setting parameters • When the PWM carrier frequency automatic reduction function is used, the operation with the carrier frequency set to 3 kHz or higher (Pr.72  "3") automatically reduces the carrier frequency for heavy-load operation as shown below. Pr.260 Pr.570 Carrier frequency automatic reduction operation...
Page 264 (E) Environment setting parameters Life alarm display and signal output (Y90 signal, Pr.255) POINT POINT • In the life diagnosis of the main circuit capacitor, the alarm signal (Y90) is not output unless measurement by turning OFF the power supply is performed. •...
Page 265 (E) Environment setting parameters Life display of the control circuit capacitor (Pr.257) • The deterioration degree of the control circuit capacitor is displayed in Pr.257. • In the operating status, the control circuit capacitor life is calculated from the energization time and temperature, and is counted down from 100%.
Page 266 • Changing the terminal assignment using Pr.190 to Pr.196 (Output terminal function selection) may affect the other functions. Set parameters after confirming the function of each terminal. • For replacement of each part, contact the nearest Mitsubishi Electric FA center. GROUP...
Page 267: Maintenance Timer Alarm
(E) Environment setting parameters 5.7.17 Maintenance timer alarm The Maintenance timer (Y95) signal is output when the inverter's cumulative energization time reaches the time period set with the parameter. MT1, MT2 or MT3 is displayed on the operation panel. This can be used as a guideline for the maintenance time of peripheral devices. Name Initial value Setting range...
Page 268: Current Average Value Monitor Signal
(E) Environment setting parameters 5.7.18 Current average value monitor signal The output current average value during constant- Programmable controller speed operation and the maintenance timer value are Output Input unit unit output to the Current average monitor (Y93) signal as Inverter a pulse.
Page 269 (E) Environment setting parameters Pr.557 Current average value monitor signal output reference current setting • Set the reference (100%) for outputting the output current average value signal. The signal output time is calculated with the following formula. Output current average value ...
Page 270: F) Setting Of Acceleration/Deceleration Time And Acceleration/Deceleration Pattern 269 5.8.1 Setting The Acceleration And Deceleration Time
(F) Setting of acceleration/deceleration time and acceleration/deceleration pattern (F) Setting of acceleration/deceleration time and acceleration/deceleration pattern Refer Purpose Parameter to set to page P.F000 to P.F003, Pr.7, Pr.8, Pr.16, P.F010, P.F011, Pr.20, Pr.21, Pr.44, To set the motor acceleration/ Acceleration/ P.F020 to P.F022, Pr.45, Pr.110, Pr.111, deceleration time...
Page 271 (F) Setting of acceleration/deceleration time and acceleration/deceleration pattern Name Initial value Setting range Description 0 to 3600 s Set the deceleration time when X9 signal is ON. Third deceleration time 9999 F031 9999 Acceleration time = deceleration time Set the acceleration time in a low-speed range (less 0 to 3600 s than 10% of the rated motor frequency).
Page 272 (F) Setting of acceleration/deceleration time and acceleration/deceleration pattern Deceleration time setting (Pr.8, Pr.20) • Use Pr.8 Deceleration time to set the deceleration time required to reach a stop status from to Pr.20 Acceleration/ deceleration reference frequency. • Set the deceleration time according to the following formula. Deceleration time setting = Pr.20 ...
Page 273 (F) Setting of acceleration/deceleration time and acceleration/deceleration pattern Setting multiple acceleration/deceleration times (RT signal, X9 signal, Pr.44, Pr.45, Pr.110, Pr.111, Pr.147) • Pr.44 and Pr.45 are valid when the RT signal is ON or when the output frequency is equal to or higher than the frequency set in Pr.147 Acceleration/deceleration time switching frequency.
Page 274 (F) Setting of acceleration/deceleration time and acceleration/deceleration pattern Setting the acceleration/deceleration time in the low-speed range (Pr.791, Pr.792) • If torque is required in the low-speed range (less than 10% of the rated motor frequency) under PM sensorless vector control, set the Pr.791 Acceleration time in low-speed range and Pr.792 Deceleration time in low-speed range settings higher than the Pr.7 Acceleration time and Pr.8 Deceleration time settings so that the mild acceleration/ deceleration is performed in the low-speed range.
Page 275: Acceleration/Deceleration Pattern
(F) Setting of acceleration/deceleration time and acceleration/deceleration pattern Parameters referred to ??????? Pr.3 Base frequency page 591 Pr.10 DC injection brake operation frequency page 599 Pr.29 Acceleration/deceleration pattern selection page 274 Pr.125, Pr.126 (frequency setting gain frequency) page 402 Pr.178 to Pr.182 (Input terminal function selection) page 415 Pr.264 Power-failure deceleration time 1, Pr.265 Power-failure deceleration time 2 page 526...
Page 276 (F) Setting of acceleration/deceleration time and acceleration/deceleration pattern S-pattern acceleration/deceleration A (Pr.29 = "1") • Use this when acceleration/deceleration is required for a short time until a high-speed area equal to or higher than the base frequency, such as for the main shaft of the machine. •...
Page 277 (F) Setting of acceleration/deceleration time and acceleration/deceleration pattern Backlash measures (Pr.29 = "3",Pr.140 to Pr.143) • Reduction gears have an engagement gap and have a dead zone between forward rotation and reverse rotation. This dead zone is called backlash, and this gap disables a mechanical system from following motor rotation. More specifically, a motor shaft develops excessive torque when the direction of rotation changes or when constant-speed operation shifts to deceleration, resulting in a sudden motor current increase or regenerative status.
Page 278 (F) Setting of acceleration/deceleration time and acceleration/deceleration pattern NOTE • At a start, the motor starts at Pr.13 Starting frequency when the start signal turns ON. • If there is a difference between the speed command and speed at a start of deceleration due to torque limit operation etc., the speed command is matched with the speed to make deceleration.
Page 279 (F) Setting of acceleration/deceleration time and acceleration/deceleration pattern • The following table shows the actual deceleration time when stopping the inverter by selecting S-pattern acceleration/ deceleration D from operation to 0 Hz, as shown below, with the initial parameter settings. Acceleration/ Pr.518 deceleration...
Page 280: Remote Setting Function
(F) Setting of acceleration/deceleration time and acceleration/deceleration pattern 5.8.3 Remote setting function Even if the operation panel is located away from the enclosure, contact signals can be used to perform continuous variable-speed operation, without using analog signals. Description Deceleration to Initial Setting Frequency...
Page 281 (F) Setting of acceleration/deceleration time and acceleration/deceleration pattern Main speed • The main speed used in the remote setting corresponds with each of the following operation modes. Operation mode Main speed PU operation mode / NET operation mode Digital setting External operation mode / PU/External combined operation mode 2 (Pr.79 = "4") Analog input ...
Page 282 (F) Setting of acceleration/deceleration time and acceleration/deceleration pattern Frequency setting storage • The remotely set frequency is stored, held, or cleared according to the Pr.59 setting. When the inverter is turned ON again and the operation is resumed, the setting shown in the parentheses will be applied. Pr.59 setting Power OFF STF/STR signal OFF...
Page 283 (F) Setting of acceleration/deceleration time and acceleration/deceleration pattern • When the remotely-set frequency Remotely-set frequency stored last time is cleared by turning ON the RL Within 1 minute (clear) signal after turning OFF (ON) both the RH and RM Remotely-set frequency stored last time signals, the inverter operates at the frequency in the remotely-set Time...
Page 284: Starting Frequency And Start-Time Hold Function
(F) Setting of acceleration/deceleration time and acceleration/deceleration pattern 5.8.4 Starting frequency and start-time hold function Magnetic flux Magnetic flux Magnetic flux Sensorless Sensorless Sensorless Vector Vector Vector It is possible to set the starting frequency and hold the set starting frequency for a certain period of time. Set these functions when a starting torque is needed or the motor drive at start needs smoothing.
Page 285: Minimum Motor Speed Frequency
(F) Setting of acceleration/deceleration time and acceleration/deceleration pattern 5.8.5 Minimum motor speed frequency Set the frequency where the PM motor starts running. Set the deadband in the low-speed range to eliminate noise and offset deviation when setting a frequency with analog input. Name Initial value Setting range...
Page 286: Shortest Acceleration/Deceleration And Optimum Acceleration/Deceleration (Automatic Acceleration/Deceleration)
(F) Setting of acceleration/deceleration time and acceleration/deceleration pattern 5.8.6 Shortest acceleration/deceleration and optimum acceleration/deceleration (automatic acceleration/deceleration) Magnetic flux Magnetic flux Magnetic flux Sensorless Sensorless Sensorless Vector Vector Vector The inverter can be operated with the same conditions as when the appropriate value is set to each parameter even when acceleration/deceleration time and V/F pattern are not set.
Page 287 (F) Setting of acceleration/deceleration time and acceleration/deceleration pattern • When the shortest acceleration/deceleration is selected under V/F control and Advanced magnetic flux vector control, the stall prevention operation level during acceleration/deceleration becomes 150% (adjustable using Pr.61 to Pr.63). The setting of Pr.22 Stall prevention operation level and stall level by analog input are used only during a constant speed operation.
Page 288 (F) Setting of acceleration/deceleration time and acceleration/deceleration pattern NOTE • Even if the optimum acceleration/deceleration has been selected, inputting the JOG signal (Jog operation), RT signal (second function selection) or X9 signal (third function selection) during an inverter stop will switch to the normal operation and give priority to JOG operation, second function selection or third function selection.
Page 289: Lift Operation (Automatic Acceleration/Deceleration)
(F) Setting of acceleration/deceleration time and acceleration/deceleration pattern 5.8.7 Lift operation (automatic acceleration/ deceleration) The inverter can be operated according to the load pattern of the lift with counterweight. Initial Name Setting range Description value Normal operation Shortest acceleration/deceleration (without brakes) (Refer to Shortest acceleration/deceleration page...
Page 290 (F) Setting of acceleration/deceleration time and acceleration/deceleration pattern Lift operation adjustment (Pr.61, Pr.64) • The application range can be expanded by setting the parameters for adjustment of Pr.61 and Pr.64. Name Setting range Description Set the rated motor current value when the motor capacity and inverter 0 to 500 A ...
Page 291: D) Operation Command And Frequency Command
(D) Operation command and frequency command (D) Operation command and frequency command Refer to Purpose Parameter to set page To select the operation mode Operation mode selection P.D000 Pr.79 To start up in Network operation Communication startup P.D000, P.D001 Pr.79, Pr.340 mode at power-ON mode selection Operation and speed...
Page 292: Operation Mode Selection
(D) Operation command and frequency command 5.9.1 Operation mode selection Select the operation mode of the inverter. The mode can be changed among operations using external signals (External operation), operation by the operation panel or the parameter unit (PU operation), combined operation of PU operation and External operation (External/PU combined operation), and Network operation (when RS-485 terminals or a communication option is used).
Page 293 (D) Operation command and frequency command Operation mode basics • The operation mode specifies the source of the start command and the frequency command for the inverter. • Basically, there are following operation modes. External operation mode: For inputting a start command and a frequency command with an external potentiometer and switches which are connected to the control circuit terminal.
Page 294 (D) Operation command and frequency command Operation mode switching method When "0, 1, or 2" is set in Pr. 340 External operation Switching with the PU Switching through the network Press Switch to External operation mode through the PU Press Switch to the Network operation the network.
Page 295 (D) Operation command and frequency command Operation mode selection flow Referring to the following table, select the basic parameter settings or terminal wiring related to the operation mode. Start command Frequency setting Terminal wiring Parameter setting Operation method input method method STF (forward rotation)/STR •...
Page 296 (D) Operation command and frequency command External operation mode (Pr.79 = "0" (initial value), "2") • Select the External operation mode when the start command and the frequency command are applied from a frequency setting potentiometer, start switch, etc. which are provided externally and connected to the control circuit terminals of the inverter.
Page 297 (D) Operation command and frequency command PU/External combined operation mode 1 (Pr.79 = "3") • Select the PU/External combined operation mode 1 when applying a frequency command from the operation panel or the parameter unit and inputting a start command with the external start switches. •...
Page 298 (D) Operation command and frequency command PU operation interlock (Pr.79 = "7") • The operation mode can be forcibly switched to the External operation mode by turning OFF of the PU operation interlock (X12) signal. This function prevents the operation mode from being accidentally unswitched from the PU operation mode. If the operation mode left unswitched from the PU operation mode, the inverter does not reply to the commands sent through external commands.
Page 299 (D) Operation command and frequency command Switching operation mode by external signal (X16 signal) • When External operation and the operation from the operation panel are used together, the PU operation mode and External operation mode can be switched during a stop (during motor stop, start command OFF) by using the PU-External operation switchover signal (X16).
Page 300 (D) Operation command and frequency command • To switch between the Network operation mode and the External operation mode 1) Set Pr.79="0" (initial value) or "2, "6" or "7". (When Pr.79 ="7" and the X12 (MRS) signal is ON, the operation mode can be switched.) 2) Set Pr.340 Communication startup mode selection ="0"...
Page 301: Startup In Network Operation Mode At Power-On
(D) Operation command and frequency command 5.9.2 Startup in Network operation mode at power-ON When power is switched ON or when power comes back ON after an instantaneous power failure, the inverter can be started up in the Network operation mode. After the inverter starts up in the Network operation mode, parameter writing and operation can be commanded from programs.
Page 302: Start Command Source And Frequency Command Source During Communication Operation
(D) Operation command and frequency command 5.9.3 Start command source and frequency command source during communication operation The start and frequency commands from an external device can be made valid when using the RS-485 terminals or the communication option. The command source in the PU operation mode can also be selected. Name Initial value Setting range...
Page 303 (D) Operation command and frequency command Selection of the command source of the PU operation mode (Pr.551) • Any of the PU connector, RS-485 terminals, or USB connector can be specified as the command source in the PU operation mode. •...
Page 304 (D) Operation command and frequency command Controllability through communication Controllability in each operation mode External/PU External/PU NET operation Condition NET operation Command combined combined (when (Pr.551 Item External (when RS-485 source operation operation communication setting) operation operation terminals are mode 1 mode 2 option is used) used)
Page 305 (D) Operation command and frequency command Controllability in each operation mode External/PU External/PU NET operation Condition NET operation Command combined combined (when (Pr.551 Item External (when RS-485 source operation operation communication setting) operation operation terminals are mode 1 mode 2 option is used) used) ...
Page 306 (D) Operation command and frequency command Selection of control source in Network operation mode (Pr.338, Pr.339) • There are two control sources: the start command source, which controls the signals related to the inverter stand command and function selection, and the speed command source, which controls signals related to frequency setting. •...
Page 307 (D) Operation command and frequency command Pr.338 Communication operation Operation 0: NET 1: EXT command source location REMARKS Pr.339 Communication speed selection command source Start-time tuning start external input External fault input Traverse function selection Torque bias selection 1 Torque bias selection 2 P/PI control switchover Second brake sequence open BRI2...
Page 308 (D) Operation command and frequency command [Explanation of terms in table] External (EXT) : Commands from external terminal are only valid. : Commands via communication are only valid. Combined : Command from both external terminal and communication is valid. ― : Command from either of external terminal and communication is invalid.
Page 309: Reverse Rotation Prevention Selection
(D) Operation command and frequency command 5.9.4 Reverse rotation prevention selection This function can prevent reverse rotation fault resulting from the incorrect input of the start signal. Name Initial value Setting range Description Both forward and reverse rotations allowed Reverse rotation prevention D020 selection Reverse rotation disabled...
Page 310 (D) Operation command and frequency command Selection of pulse train input(Pr.291) • Setting Pr.291 Pulse train I/O selection = "1, 11, 21, 100" and Pr.384 Input pulse division scaling factor  "0" changes the function of terminal JOG to a pulse train input so that the frequency can be set to the inverter. In the initial setting, the JOG signal is assigned to terminal JOG.
Page 311 (D) Operation command and frequency command Adjustment of pulse train and frequency (Pr.385, Pr.386) • The frequency during zero input pulse and maximum input pulse can be set with Pr.385 Frequency for zero input pulse and Pr.386 Frequency for maximum input pulse, respectively. Limit value 60Hz Pr.
Page 312 (D) Operation command and frequency command • Setting "100" to Pr.291 enables out of the pulse train input as it is to the pulse train output (terminal FM). Connecting in a daisy chain enables speed synchronized operation of multiple inverters. •...
Page 313: Jog Operation
(D) Operation command and frequency command 5.9.6 JOG operation The frequency and acceleration/deceleration time for JOG operation can be set. JOG operation is possible in both External operation and PU. JOG operation can be used for conveyor positioning, test run, etc. Name Initial value Setting range...
Page 314 (D) Operation command and frequency command JOG operation in PU • When the operation panel or parameter unit is in the JOG operation mode, the motor jogs only while the start button is pressed. (For the operation method, refer to page 93.) NOTE...
Page 315: Operation By Multi-Speed Setting
(D) Operation command and frequency command 5.9.7 Operation by multi-speed setting Use these parameters to change among pre-set operation speeds with the terminals. The speeds are pre-set with parameters. Any speed can be selected by simply turning ON/OFF the contact signals (RH, RM, RL, and REX signals). Name Initial value Setting range Description...
Page 316 (D) Operation command and frequency command Multi-speed setting for 4th speed or more (Pr.24 to Pr.27, Pr.232 to Pr.239) • The frequency from 4th speed to 15th speed can be set by the combination of the RH, RM, RL, and REX signals. Set the running frequencies in Pr.24 to Pr.27, Pr.232 to Pr.239.
Page 317: H) Protective Function Parameter
(H) Protective function parameter 5.10 (H) Protective function parameter Refer to Purpose Parameter to set page Pr.9, Pr.51, P.H000, P.H006, To protect the motor from Electronic thermal O/L Pr.561, Pr.607, P.H010, P.H016, overheating relay Pr.608, Pr.876, P.H020 to P.H022 Pr.1016 To set the overheat protection Free thermal O/L relay P.H001 to P.H005,...
Page 318: Motor Overheat Protection (Electronic Thermal O/L Relay)
(H) Protective function parameter 5.10.1 Motor overheat protection (electronic thermal O/L relay) Set the current of the electronic thermal O/L relay function to protect the motor from overheating. Such settings will provide the optimum protective characteristic considering the low cooling capability of the motor during low-speed operation.
Page 319 (H) Protective function parameter Electronic thermal O/L relay operation characteristic for induction motor (Pr.9, E.THM) • This function detects the overload (overheat) of the motor and trips the inverter by stopping the operation of the transistor at the inverter output side. •...
Page 320 (H) Protective function parameter Set two types of electronic thermal O/L relays (Pr.51) • These settings are used when rotating two motors with different rated current separately by a single inverter. (When rotating two motors together, use an external thermal relay.) •...
Page 321 (H) Protective function parameter Electronic thermal O/L relay pre-alarm (TH) and warning signal (THP signal) • If the accumulated electronic thermal value reaches 85% of the Pr.9 or Pr.51 setting, electronic thermal O/L relay function pre-alarm (TH) is displayed and the electronic thermal O/L relay pre-alarm (THP) signal is output. If the value reaches 100% of the Pr.9 setting, the motor thermal protection (E.THM/E.THT) is activated to shut off the inverter output.
Page 322 (H) Protective function parameter PTC thermistor input (Pr.561, Pr.1016, E.PTC) Thermistor resistance Inverter Motor Thermistor curve Pr.561 PTC thermistor input connection diagram Thermistor temperature Temperature - resistance TN-DT TN+DT existing range TN: Rated operating temperature Example of PTC thermistor characteristics •...
Page 323 (H) Protective function parameter Overheat protection to match the characteristic of the motor (Pr.600 to Pr.604, Pr.692 to Pr.696) • The activation level of the electronic thermal O/L relay can be varied to match the motor temperature characteristic. • The electronic thermal O/L relay's activation level can be set using the combination of three points (Pr.600, Pr.601), (Pr.602, Pr.603), (Pr.604, Pr.9).
Page 324: Fault Definition
(H) Protective function parameter 5.10.2 Fault definition Fault output can be done after deceleration stop when motor thermal protection is activated Initial Setting Name Description value range Normal operation Fault definition Decelerates to stop at activation of motor thermal H030 protection.
Page 325: Cooling Fan Operation Selection
(H) Protective function parameter 5.10.3 Cooling fan operation selection A cooling fan is built into the inverter and its operation can be controlled. Initial Setting Name Description value range Cooling fan ON/OFF control is invalid. (The cooling fan is always ON at power ON) A cooling fan operates at power ON.
Page 326: Earth (Ground) Fault Detection At Start
(H) Protective function parameter 5.10.4 Earth (ground) fault detection at start Magnetic flux Magnetic flux Magnetic flux Select whether to enable/disable earth (ground) fault detection at start. When enabled, earth (ground) fault detection is performed immediately after a start signal input to the inverter. Name Initial value Setting range...
Page 327: I/O Phase Loss Protection Selection
(H) Protective function parameter 5.10.6 I/O phase loss protection selection The output phase loss protection function, which stops the inverter output if one of the three phases (U, V, W) on the inverter's output side (load side) is lost, can be disabled. The input phase loss protective function on the inverter input side (R/L1, S/L2, T/L3) can be enabled.
Page 328: Retry Function
(H) Protective function parameter 5.10.7 Retry function This function allows the inverter to reset itself and restart at activation of the protective function (fault indication). The retry generating protective functions can be also selected. When the automatic restart after instantaneous power failure function is selected (Pr.57 Restart coasting time ≠ 9999), the restart operation is also performed after a retry operation as well as after an instantaneous power failure.
Page 329 (H) Protective function parameter Selecting retry generating faults (Pr.65) • Using Pr.65, you can select the fault that will cause a retry. No retry will be made for the fault not indicated. (For the fault details, refer to page 629.) indicates the faults selected for retry.
Page 330: Limiting The Output Frequency (Maximum/Minimum Frequency)
(H) Protective function parameter 5.10.8 Limiting the output frequency (maximum/ minimum frequency) Motor speed can be limited. Clamp the output frequency at the upper and lower limits. Name Initial value Setting range Description 120 Hz  Maximum frequency 0 to 120 Hz Set the upper limit of the output frequency.
Page 331: Avoiding The Mechanical Resonance Points (Frequency Jump)
(H) Protective function parameter 5.10.9 Avoiding the mechanical resonance points (frequency jump) When it is desired to avoid resonance attributable to the natural frequency of a mechanical system, these parameters allow resonant frequencies to be jumped. Initial Setting Name Description value range Frequency jump 1A...
Page 332 (H) Protective function parameter 6-point frequency jump (Pr.552) • A total of six jump areas can be set by setting the common jump range for the frequencies set in Pr.31 to Pr.36. • When frequency jump ranges overlap, the lower limit of the lower jump range and the upper limit of the upper jump range are used.
Page 333: Stall Prevention Operation
(H) Protective function parameter 5.10.10 Stall prevention operation Magnetic flux Magnetic flux Magnetic flux This function monitors the output current and automatically changes the output frequency to prevent the inverter from tripping due to overcurrent, overvoltage, etc. It can also limit the stall prevention and fast-response current limit operation during acceleration/deceleration and power/regenerative driving.
Page 334 (H) Protective function parameter Setting the stall prevention operation level (Pr.22) • For Pr.22 Stall prevention operation level, set the ratio of the output Output current current to the inverter's rated current at which the stall prevention operation Pr.22 will be activated. Normally, use this parameter in the initial setting. Output frequency •...
Page 335 (H) Protective function parameter Disabling the stall prevention operation and fast-response current limit according to operating conditions (Pr.156) • Referring to the table below, enable/disable the stall prevention operation and the fast-response current limit operation, and also set the operation at OL signal output. Stall prevention Stall prevention operation selection...
Page 336 (H) Protective function parameter Adjusting the stall prevention operation signal output and output timing (OL signal, Pr.157) • If the output current exceeds the stall prevention operation level and stall prevention is activated, Overload warning (OL) signal will turn ON for 100 ms or more. The output signal turns OFF when the output current falls to the stall prevention operation level or less.
Page 337 (H) Protective function parameter Setting multiple stall prevention operation levels (Pr.48, Pr.49, Pr.114, Pr.115) • By setting Pr.49 Second stall prevention operation frequency = "9999" and turning ON the RT signal, Pr.48 Second stall prevention operation level will be enabled. •...
Page 338 (H) Protective function parameter Stall prevention operation level setting (analog variable) from terminal 1 (terminal 4) (Pr.148, Pr.149, Pr.858, Pr.868) • To use the terminal 1 (analog voltage input) to set the stall prevention operation level, set Pr.868 Terminal 1 function assignment = "4".
Page 339 (H) Protective function parameter To further prevent a trip (Pr.154) • When Pr.154 Voltage reduction selection during stall prevention operation = "0, 10", the output voltage is reduced. By making this setting, an overcurrent trip becomes less likely to occur. Use this setting when torque reduction does not pose a problem.
Page 340: Load Characteristics Fault Detection
(H) Protective function parameter 5.10.11 Load characteristics fault detection This function is used to monitor whether the load is operating in normal condition by storing the speed/torque relationship in the inverter to detect mechanical faults or for maintenance. When the load operating condition deviates from the normal range, the protective function is activated or the warning is output to protect the inverter or the motor.
Page 341 (H) Protective function parameter Load characteristics reference setting (Pr.1481 to Pr.1487) • Use Pr.1481 to Pr.1485 to set the reference value of load characteristics. • Use Pr.1486 Load characteristics maximum frequency and Pr.1487 Load characteristics minimum frequency to set the output frequency range for load fault detection. Upper limit warning detection width Load status (Pr.1488)
Page 342 (H) Protective function parameter • Setting "8888" in Pr.1481 to Pr.1485 enables fine adjustment of load characteristics. When setting Pr.1481 to Pr.1485 = "8888" during operation, the load status at that point is set in the parameter. (Only when the set frequency is within ±2 Hz of the frequency of the measurement point, and SU signal is in the ON state.) Example of starting measurement from the stop state Frequency(Hz)
Page 343 (H) Protective function parameter • To prevent the repetitive on/off operation of the signal due to load fluctuation near the detection range, Pr.1492 Load status detection signal delay time / load reference measurement waiting time can be used to set the delay time. Even when a fault is detected out of the detection range once, the warning is not output if the characteristics value returns to the normal range from a fault state within the output delay time.
Page 344: Motor Overspeeding Detection
(H) Protective function parameter 5.10.12 Motor overspeeding detection The Overspeed occurrence (E.OS) is activated when the motor speed exceeds the overspeed detection level. This function prevents the motor from accidentally speeding over the specified value, due to an error in parameter setting, etc.
Page 345: M) Monitor Display And Monitor Output Signal
(M) Monitor display and monitor output signal 5.11 (M) Monitor display and monitor output signal Refer to Purpose Parameter to set page Speed display and To display the motor speed. P.M000 to P.M002, Pr.37, Pr.144, rotations per minute To set to rotations per minute. P.D030 Pr.505, Pr.811 setting...
Page 346: Speed Display And Rotations Per Minute Setting
(M) Monitor display and monitor output signal 5.11.1 Speed display and rotations per minute setting The monitor display unit and the frequency setting on the operation panel can be switched to motor speed and machine speed. Name Initial value Setting range Description Frequency display and setting Speed display...
Page 347 (M) Monitor display and monitor output signal Monitor display (setting) increments • When both settings of Pr.37 and Pr.144 are changed from the initial values, a precedence order for these settings is as follows: Pr.144 = "102 to 112" > Pr.37 = "1 to 9998" > Pr.144 = "2 to 12". •...
Page 348: Monitor Indicator Selection Using Operation Panel Or Via Communication
(M) Monitor display and monitor output signal 5.11.2 Monitor indicator selection using operation panel or via communication The monitored item to be displayed on the operation panel or the parameter unit can be selected. Name Initial value Setting range Description 0, 5 to 14, 17 to 20, Select the monitor to be displayed on the Operation panel main...
Page 349 (M) Monitor display and monitor output signal Monitor description list (Pr.52, Pr.774 to Pr.776) • Set the monitor to be displayed on the operation panel and the parameter unit in Pr.52, Pr.774 to Pr.776. • Refer to the following table to find the setting value for each monitoring. The value in the Pr. setting column is set in each of the parameters for monitoring (Pr.52, Pr.774 to Pr.776) to determine the monitor item.
Page 350 (M) Monitor display and monitor output signal Negative Increment MODBUS Monitor item Pr. setting RS-485 indication Description and unit  Displays values only when orientation control is enabled. (Displays the Orientation 40222 voltage monitor when a vector control status  compatible option is not connected.) (Refer to page...
Page 351 (M) Monitor display and monitor output signal Negative Increment MODBUS Monitor item Pr. setting RS-485 indication Description and unit  PLC function user Displays the arbitrary monitoring item 40240 monitor 1 using the PLC function. Displays the following special register PLC function user According 40241...
Page 352 (M) Monitor display and monitor output signal Negative Increment MODBUS Monitor item Pr. setting RS-485 indication Description and unit  Output terminal ON/OFF state of the Option output digital output option (FR-A8AY) and terminal status 1 — — 40260 relay output option (FR-A8AR) can be ...
Page 353 (M) Monitor display and monitor output signal Negative Increment MODBUS Monitor item Pr. setting RS-485 indication Description and unit  Second PID set 0.1% 40292 point Displays the set point, measured Second PID 0.1% 40293 value, and deviation under second measured value PID control.
Page 354 (M) Monitor display and monitor output signal Monitor display for operation panel (Pr.52, Pr.774 to Pr.776) • When Pr.52 = "0" (initial value), the monitoring of output frequency, output current, output voltage, 3-line monitor, and fault display can be selected in sequence by pressing [NEXT] •...
Page 355 (M) Monitor display and monitor output signal Monitoring cumulative energization time (Pr.563) • When the cumulative energization time is selected as a monitor item (Pr.52 = "20"), the counter of cumulative energization time since the inverter shipment accumulated every hour is displayed. •...
Page 356 (M) Monitor display and monitor output signal Minus sign display for the monitors (Pr.290) • A negative output can be selected for the monitor display of the terminal AM (analog voltage output), the operation panel, and a communication option. For a list of the monitors that can output values with minus signs, refer to the monitor description list (on page 348).
Page 357 (M) Monitor display and monitor output signal NOTE • When indication with negative numbers is enabled for the output via terminal AM (analog voltage output), the output is within the range of -10 to +10 VDC. Connect a meter suitable for the output. •...
Page 358: Monitor Display Selection For Terminals Fm And Am
(M) Monitor display and monitor output signal 5.11.3 Monitor display selection for terminals FM and The monitored statuses can be output as the following items: analog voltage (terminal AM), pulse train (terminal FM). The signal (monitored item) to be output to terminal FM and terminal AM can be selected. Name Initial value Setting range...
Page 359 (M) Monitor display and monitor output signal Monitor description list (Pr.54, Pr.158) • Set Pr.54 FM terminal function selection for the monitor to be output to the terminal FM (pulse train output). • Set Pr.158 AM terminal function selection for the monitor to be output to the terminal AM (analog voltage output).
Page 360 (M) Monitor display and monitor output signal Pr.54 (FM) Increment Terminal FM/AM Negative Monitor item Pr.158 (AM) REMARKS and unit Full-scale value (-) output setting PLC function analog Refer to page 531 for the 0.1% 100%  output PLC function. Remote output value 1 0.1% 100%...
Page 361 (M) Monitor display and monitor output signal Current monitor reference (Pr.56) • Output current, Output current peak value, Motor excitation current and monitor from the terminals FM and AM. • For the calibration of terminal FM, set the full-scale value of the connected meter when the pulse speed of terminal FM is 1440 pulses/s (50k pulses/s).
Page 362 (M) Monitor display and monitor output signal High-speed pulse train output circuit • When Pr.291 Pulse train I/O selection = "10, 11, 20, 21, 100", this (example of connection to pulse counter) is high-speed pulse train output for open collector output. A maximum pulse train of 55k pulses/s is outputted.
Page 363: Adjustment Of Terminal Fm And Terminal Am
(M) Monitor display and monitor output signal 5.11.4 Adjustment of terminal FM and terminal AM By using the operation panel or parameter unit, terminals FM and AM can be adjusted (calibrated) to the full scale. Name Initial value Setting range Description Calibrates the scale of the meter FM terminal calibration...
Page 364 (M) Monitor display and monitor output signal NOTE • When outputting such an item as the output current, which cannot reach a 100% value easily by operation, set Pr.54 to "21" (reference voltage output) and calibrate. 1440 pulses/s are output from the terminal FM. •...
Page 365 (M) Monitor display and monitor output signal Calibration of terminal AM (Pr.901) • Terminal AM is initially set to provide a 10 VDC output in the full-scale state Inverter of the corresponding monitor item. Pr.901 allows the output voltage ratio (gains) to be adjusted according to the meter scale.
Page 366: Energy Saving Monitor
(M) Monitor display and monitor output signal 5.11.5 Energy saving monitor From the estimated consumed power during commercial power supply operation, the energy saving effect by use of the inverter can be monitored and output. Name Initial value Setting range Description Operation panel main (output...
Page 367 (M) Monitor display and monitor output signal Energy saving monitor list • The items that can be monitored on the power saving monitor (Pr.52, Pr.54, Pr.158, Pr.774 to Pr.776 = "50") are indicated below. (Only [1 Power saving] and [3 Average power saving] can be set to Pr.54 (terminal FM) and Pr.158 (terminal AM).) Energy saving Parameter setting Description and formula...
Page 368 (M) Monitor display and monitor output signal Power saving real-time monitor ([1 Power saving] and [2 Power saving rate]) • On the [1 Power saving monitor], an energy saving effect as compared to the consumed power during commercial power supply operation (estimated value) is calculated and displays on the main monitor. •...
Page 369 (M) Monitor display and monitor output signal Cumulative energy saving monitors ([6 Power saving amount], [7 Power cost saving], [8 Annual power saving amount], [9 Annual power saving savings]). • On the cumulative energy saving cumulative monitors, the monitor data digit can be shifted to the right by the number of Pr.891 Cumulative power monitor digit shifted times.
Page 370 (M) Monitor display and monitor output signal • The estimated value of the consumed power during commercial power supply operation (kW) is calculated from the motor capacity set in Pr.893 and Pr.892 Load factor with the following formula. Estimated consumed power during Consumed power (%) Pr.892 (%) ...
Page 371: Output Terminal Function Selection
(M) Monitor display and monitor output signal 5.11.6 Output terminal function selection Use the following parameters to change the functions of the open collector output terminals and relay output terminals. Initial Name Initial set signal Setting range value RUN terminal RUN (Inverter running) M400 function selection...
Page 372 (M) Monitor display and monitor output signal Output signal list • The functions of the output terminals can be set. • Refer to the following table and set each parameter. (0 to 99: Positive logic, 100 to 199, 300 to 399: Negative logic) Setting Refer Signal...
Page 373 (M) Monitor display and monitor output signal Setting Refer Signal Related Positive Negative Function Operation name parameter logic logic page Forward rotation output (for vector control Output during motor forward rotation. compatible option)  Reverse rotation output (for vector control Output during motor reverse rotation.
Page 374 (M) Monitor display and monitor output signal Setting Refer Signal Related Function Operation Positive Negative name parameter page logic logic During position command PBSY Output during position command operation. operation ― Home position return Output after home position return is completed. completed During retry Output during retry processing.
Page 375 (M) Monitor display and monitor output signal Setting Refer Signal Related Positive Negative Function Operation name parameter logic logic page Output when the value is lower than the lower limit FDN2 Second PID lower limit of second PID control. Output when the value is higher than the upper FUP2 Second PID upper limit limit of second PID control.
Page 376 (M) Monitor display and monitor output signal Adjusting the output terminal response level (Pr.289) • The response level of the output terminals can be delayed in a range of 5 to 50 ms. (Operation example for the RUN signal.) Time Pr.289 = 9999 Pr.289 ≠...
Page 377 (M) Monitor display and monitor output signal  Operation under Real sensorless vector control, vector control and PM sensorless vector control • When the inverter is ready for operation, the Inverter operation Power ready (RY) signal turns ON (and stays ON during operation). supply •...
Page 378 (M) Monitor display and monitor output signal • When using the RY, RY2, RUN, RUN2 and RUN3 signals, refer to the following and assign the functions by Pr.190 to Pr.196 (Output terminal function selection). Pr.190 to Pr.196 settings Output signal Positive logic Negative logic RUN2...
Page 379 (M) Monitor display and monitor output signal Fault output signals (ALM, ALM2) • The Fault (ALM, ALM2) signals are output when the inverter Inverter fault occurrence (trip) protective function is activated. • The ALM2 signal stays ON during the reset period after the fault occurs.
Page 380: Output Frequency Detection
(M) Monitor display and monitor output signal 5.11.7 Output frequency detection The inverter output frequency is detected and output as output signals. Name Initial value Setting range Description Up-to-frequency 0 to 100% Set the level where the SU signal turns ON. M441 sensitivity Output frequency...
Page 381 (M) Monitor display and monitor output signal Output frequency detection (FU (FB) signal, FU2 (FB2) signal, FU3 (FB3) signal, Pr.42, Pr.43, Pr.50, Pr.116) • Output frequency detection (FU (FB)) is output when the output frequency reaches the Pr.42 setting or higher. •...
Page 382 (M) Monitor display and monitor output signal Low speed detection (LS signal, Pr.865) • When the output frequency (refer to the table below) drops to the Pr.865 Low speed detection setting or lower, the low speed detection signal (LS) is output. Pr.865 •...
Page 383: Output Current Detection Function
(M) Monitor display and monitor output signal 5.11.8 Output current detection function The output current during inverter running can be detected and output to the output terminal. Name Initial value Setting range Description Output current detection Set the output current detection level. 150% 0 to 220% M460...
Page 384 (M) Monitor display and monitor output signal Zero current detection (Y13 signal, Pr.152, Pr.153) • If the output during inverter running remains lower than the Pr.152 Pr.167 = "0" setting for the time set in Pr.153 or longer, the Zero current detection Output (Y13) signal is output from the inverter's open collector or relay output current...
Page 385: Output Torque Detection
(M) Monitor display and monitor output signal 5.11.9 Output torque detection Magnetic flux Magnetic flux Magnetic flux Sensorless Sensorless Sensorless Vector Vector Vector A signal is output when the motor torque is higher than the setting. This function can be used for electromagnetic brake operation, open signal, etc. Name Initial value Setting range...
Page 386: Remote Output Function
(M) Monitor display and monitor output signal 5.11.10 Remote output function The inverter output signals can be turned ON/OFF like the remote output terminals of a programmable controller. Initial Setting Name Description value range Remote output data is cleared when Remote output data is the power supply is turned OFF cleared during an inverter...
Page 387: Analog Remote Output Function
(M) Monitor display and monitor output signal NOTE • The output terminals that have not been assigned with a REM signal by Pr.190 to Pr.196 do not turn ON/OFF even if "0 or 1" is set in the terminal bits of Pr.496 and Pr.497. (ON/OFF is performed with the assigned functions.) •...
Page 388 (M) Monitor display and monitor output signal • When Pr.158 AM terminal function selection = "87, 88, 89, or 90", an analog voltage can be output from the terminal AM. • Terminal AM output [V] = 10 [V]  (analog remote output value - 1000)/100 The output range is -10 V to +10 V regardless of the Pr.290 Monitor negative output selection setting.
Page 389: Fault Code Output Selection
(M) Monitor display and monitor output signal 5.11.12 Fault code output selection When a fault occurs, the corresponding data can be output as a 4-bit digital signal using via an open collector output terminal. The fault code can be read using an input module of programmable controller, etc. Name Initial value Setting range...
Page 390: Pulse Train Output Of Output Power
(M) Monitor display and monitor output signal 5.11.13 Pulse train output of output power After power ON or inverter reset, output signal (Y79 signal) is output in pulses every time accumulated output power, which is counted after the Pr.799 Pulse increment setting for output power is set, reaches the specified value (or its integral multiples). <

Mitsubishi Electric 800 Series Instruction Manual

5.3 Speed Control under Real Sensorless Vector Control, PM Sensorless Vector Control 147

2 Installation and Wiring

3 Precautions for Use of the Inverter

4 Basic Operation

Speed Control under Real Sensorless Vector Control, Vector Control, PM Sensorless Vector Control

Torque Control under Real Sensorless Vector Control and Vector Control

Position Control under Vector Control

Real Sensorless Vector Control, Vector Control, PM Sensorless Vector Control Adjustment

E) Environment Setting Parameters

F) Setting of Acceleration/Deceleration Time and Acceleration/Deceleration Pattern 269 5.8.1 Setting the Acceleration and Deceleration Time

D) Operation Command and Frequency Command

H) Protective Function Parameter

M) Monitor Display and Monitor Output Signal

T) Multi-Function Input Terminal Parameters

C) Motor Constant Parameters

A) Application Parameters

N) Operation Via Communication and Its Settings

G) Control Parameters

Protective Functions

Reset Method for the Protective Functions

Inverter Fault and Alarm Indications

The List of Fault Displays

Causes and Corrective Actions

Check First When You Have a Trouble

Precautions for Maintenance and Inspection

Inspection Item

Measurement of Main Circuit Voltages, Currents and Powers

Specifications

Inverter Rating

Common Specifications

Outline Dimension Drawings

Appendix

Appendix 1 for Customers Replacing the Conventional Model with this Inverter

Appendix 2 International Standards

Appendix 3 Specification Comparison between PM Sensorless Vector Control and Induction Motor Control

Appendix 4 Parameters (Functions) and Instruction Codes under Different Control Methods

Appendix 5 for Customers Using HMS Network Options

Quick Links

Chapters

Troubleshooting

Related Manuals for Mitsubishi Electric 800 Series

Summary of Contents for Mitsubishi Electric 800 Series