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Mitsubishi Electric FR-A8AP, Instruction Manual

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Mitsubishi Electric FR-A8AP Instruction Manual Download Page 26

ENCODER FEEDBACK CONTROL

27

5

5

ENCODER FEEDBACK CONTROL

Mount FR-A8AP to an FR-A800 series inverter to perform encoder feedback control under V/F control or Advanced magnetic 
flux vector control.
This controls the inverter output frequency so that the motor speed is constant to the load variation by detecting the motor 
speed with the speed detector (encoder) to feed back to the inverter.
For the details of the parameters used for encoder feedback control, refer to the Instruction Manual (Detailed) of the inverter.

5.1 Wiring examples

R/L1
S/L2
T/L3

SF-JR motor with encoder

U

V

W

U

V

W

E

C

∗3

∗1

∗2

∗4

∗5

R

PA1

FR-A8AP

PA2

PB1

PB2

PG

PG

SD

SD

Differential

Terminating

resistor ON

OFF

Complementary

A

N

H

K

IM

Forward rotation start

Reverse rotation start

Contact input common

Frequency setting

potentiometer

STF

STR

SD

10

2

5

Encoder

Earth
(Ground)

Inverter

5 VDC power 

supply 

∗6

(+)

(-)

Three-phase

AC power supply

MCCB

MC

A8AP.book  27 ページ  ２０１３年９月１２日　木曜日　午後７時４８分

Summary of Contents for FR-A8AP

Page 1: ...NSTRUCTIONS 1 INSTALLATION AND WIRING 2 ENCODER SPECIFICATIONS AND PARAMETER SETTINGS 3 ORIENTATION CONTROL 4 ENCODER FEEDBACK CONTROL 5 VECTOR CONTROL 6 FR A8AP Orientation control Encoder feedback control Vector control A8AP book 1 ページ ２０１３年９月１２日 木曜日 午後７時４８分 ...

Page 2: ...t of the circuitry and get an electric shock Do not remove the inverter front cover even if the power supply is disconnected The only exception for this would be when performing wiring and periodic inspection You may accidentally touch the charged inverter circuits and get an electric shock Before wiring or inspection LED indication of the inverter unit operation panel must be switched OFF Any per...

Page 3: ...on of disinfection of wooden package should also be performed before packaging the product Trial run Before starting operation each parameter must be confirmed and adjusted A failure to do so may cause some machines to make unexpected motions Warning Usage Do not modify the equipment Do not perform parts removal which is not instructed in this manual Doing so may lead to fault or damage of the pro...

Page 4: ...minating resistor switch setting 12 2 4 Wiring 14 2 5 Encoder cables dedicated to Mitsubishi motors 17 2 6 Terminals 18 3 ENCODER SPECIFICATIONS AND PARAMETER SETTINGS 19 3 1 Encoder 19 3 2 Parameter setting 21 3 2 1 Parameter for encoder 21 3 2 2 Parameter settings for the motor under vector control 22 4 ORIENTATION CONTROL 23 4 1 Wiring example 23 4 2 Terminals 25 4 3 Specifications 26 A8AP book...

Page 5: ...6 5 ENCODER FEEDBACK CONTROL 27 5 1 Wiring examples 27 5 2 Specifications 28 6 VECTOR CONTROL 29 6 1 Wiring examples 29 6 2 Specifications 33 A8AP book 6 ページ ２０１３年９月１２日 木曜日 午後７時４８分 ...

Page 6: ...heck the product name and confirm that the product is as you ordered and intact This product is a plug in option dedicated for the FR A800 series Product confirmation Check the enclosed items Plug in option 1 Mounting screw M3 8 mm 2 Refer to page 9 Spacer 2 Refer to page 9 1 2 3 4 O N 1 2 O N SW2 SW3 SW1 A8AP book 7 ページ ２０１３年９月１２日 木曜日 午後７時４８分 ...

Page 7: ...mentary 12 d CON2 connector Not used e Terminating resistor selection switch SW1 Switches ON or OFF the internal terminating resistor 12 f Switch for manufacturer setting SW2 Do not change the initially set status Switches 1 and 2 are OFF g Connector Connects to the option connector of the inverter 9 Front view Rear view Terminal layout PA2 PB2 PZ2 SD SD PO PA1 PB1 PZ1 PG PG PIN PIN and PO are not...

Page 8: ...nector on the inverter and insert the plug in option as far as it goes Insert it to the inverter option connector 1 or 2 4 Fit the two locations the left and right of the plug in option securely to the inverter unit by screwing in the supplied mounting screws tightening torque 0 33 N m to 0 40 N m If the screw holes do not line up the connector may not be inserted deep enough Check the connector C...

Page 9: ...Spacer Mounting screw Do not insert the plug in option to the connector 3 Mounting screw Spacer Spacer Mounting screw Connector 1 Connector 2 Connector 3 Insertion positions for screws and spacers A8AP book 10 ページ ２０１３年９月１２日 木曜日 午後７時４８分 ...

Page 10: ...ectors 1 to 3 refer to page 10 When the inverter cannot recognize that the option unit is mounted due to improper installation etc the protective function E 1 to E 3 is displayed A different indication will appear according to the mounted position option connector 1 to 3 When removing the plug in option remove the two screws on the left and right then pull it straight out Pressure applied to the c...

Page 11: ...nd set to OFF when complementary ON with internal terminating resistor initial setting status OFF without internal terminating resistor NOTE Set all switches to the same setting ON OFF If the encoder output type is differential line driver set the terminating resistor switch to the OFF position when sharing the same encoder with other unit CNC computerized numerical controller etc or a terminating...

Page 12: ...ge the setting Motor Encoder specification selection switch SW3 Terminating resistor selection switch SW1 Power specifications Mitsubishi standard motor with encoder Mitsubishi high efficiency motor with encoder SF JR Differential ON 5 V SF HR Differential ON 5 V Others Mitsubishi constant torque motor with encoder SF JRCA Differential ON 5 V SF HRCA Differential ON 5 V Others Vector control dedic...

Page 13: ...within power supply specifications of encoder To reduce noise of the encoder cable earth ground the encoder shielded cable to the enclosure as close as the inverter with a P clip or U clip made of metal NOTE For details of the optional encoder dedicated cable FR JCBL FR V7CBL refer to page 17 FR V7CBL is provided with a P clip for earthing grounding shielded cable Wiring length Parallel connection...

Page 14: ...er it Use a blade terminal as necessary When using the blade terminal use care so that the twisted wires do not come NOTE Blade terminals commercially available as of February 2012 The product may be changed without notice Cable stripping length Terminal Screw Size Wire Size mm2 Blade Terminal Model Manufacturer Blade terminal crimping tool with insulation sleeve without insulation sleeve M2 0 3 t...

Page 15: ...CNC computerized numerical controller its output signal should be connected as shown below In this case the wiring length between FR A8AP and CNC should be as short as possible within 5 m Screw Size Tightening Torque Cable Size Screwdriver M2 0 22 N m to 0 25 N m 0 3 mm2 to 0 75 mm2 Small flat blade screwdriver Tip thickness 0 4 mm tip width 2 5 mm CAUTION Do not use empty terminals as junction te...

Page 16: ... K F G H J L M S N R P T D MS3106B20 29S As viewed from wiring side FR A800 FR A8AP F DPEVSB 12P 0 2mm2 Earth cable Approx 140 mm 60mm L D MS3057 12A D MS3106B20 29S 11mm Type Length L m FR JCBL5 5 FR JCBL15 15 FR JCBL30 30 Encoder Positioning keyway PZ2 PZ1 PB2 PB1 PA2 PA1 SD PG G F D C B A R S 2mm2 FR A800 FR A8AP A B C D E K F G H J L M S N R P T D MS3106B20 29S As viewed from wiring side Earth...

Page 17: ...nal input terminal B phase signal is input from the encoder PB2 Encoder B phase inverse signal input terminal PZ1 Encoder Z phase signal input terminal Z phase signal is input from the encoder Not used for the encoder feedback control PZ2 Encoder Z phase inverse signal input terminal PG Encoder power supply positive side input terminal Input power for the encoder power supply Connect the external ...

Page 18: ...nted with a speed ratio of 1 to 1 without any mechanical looseness To ensure correct operation the encoder must be set in the proper rotation direction and the A and B phases connected correctly P a b c d H A A B B Z Z L A A signal 1000 P R to 4096 P R B B signal 1000 P R to 4096 P R Z Z signal 1 P R A signal 1000 P R to 4096 P R B signal 1000 P R to 4096 P R Z signal 1 P R When rotation is clockw...

Page 19: ...fications of the encoders equipped in the motors with encoders and the vector control dedicated motors NOTE When the input power supply voltage to the encoder and its output voltage differ the protective function E ECT may be activated Item Encoder for SF JR HR JRCA HRCA Encoder for SF V5RU SF THY Resolution 1024 pulses rev 2048 pulses rev Power supply voltage 5 VDC 10 12 VDC 10 Current consumptio...

Page 20: ...h forward rotation is clockwise viewed from the motor load shaft Set for the operation at 120 Hz or less 100 Set for the operation at a frequency higher than 120 Hz 1 Set when using a motor for which forward rotation is counterclockwise viewed from the motor load shaft Set for the operation at 120 Hz or less 101 Set for the operation at a frequency higher than 120 Hz 369 C140 Number of encoder pul...

Page 21: ...l value 1024 Initial value SF JR 4P 1 5 kW or less 1 Initial value 1024 Initial value SF HR 1 Initial value 1024 Initial value Others Mitsubishi constant torque motor SF JRCA 4P 1 Initial value 1024 Initial value SF HRCA 4P 1 Initial value 1024 Initial value Others Mitsubishi vector control dedicated motor SF V5RU 1 Initial value 2048 SF THY 1 Initial value 2048 Other manufacturer s standard motor...

Page 22: ... PA1 FR A8AP PA2 PB1 PB2 PZ1 PZ2 PG PG SD SD Differential Terminating resistor ON OFF Complementary A N B P H K IM Differential Terminating resistor ON OFF Complementary Forward rotation start Reverse rotation start Orientation command Contact input common STF STR SD SD X22 3 Encoder Earth Ground Inverter ORM ORA 4 SE 4 FR A8AX SF V5RU U V W U V W E G1 G2 A Earth Ground 2 W1 kΩ 6 B PA1 FR A8AP PA2...

Page 23: ... specification When the encoder output is the differential line driver type only 5 V can be input Make the voltage of the external power supply the same as the encoder output voltage and connect the external power supply between PG and SD When performing encoder feedback control and vector control together an encoder and power can be shared When a stop position command is input from outside a plug...

Page 24: ...signal off is retained Terminal Signal Terminal Signal Name Application Explanation Input X22 Orientation command Used to enter an orientation signal for orientation For the terminal used for X22 signal input set 22 in any of Pr 178 to Pr 189 to assign the function Output ORA Orientation complete Switched LOW if the orientation has stopped within the in position zone while the start and X22 signal...

Page 25: ...lection DC injection brake start position setting creep speed and position loop switch position setting position shift orientation in position position pulse monitor etc Holding force after positioning Under V F control Advanced magnetic flux vector control without servo lock function Under vector control with servo lock function Input signal contact input Orientation command forward and reverse r...

Page 26: ...to the inverter For the details of the parameters used for encoder feedback control refer to the Instruction Manual Detailed of the inverter 5 1 Wiring examples R L1 S L2 T L3 SF JR motor with encoder U V W U V W E C 3 1 2 4 5 R PA1 FR A8AP PA2 PB1 PB2 PG PG SD SD Differential Terminating resistor ON OFF Complementary A N H K IM Forward rotation start Reverse rotation start Contact input common Fr...

Page 27: ... switch to off position For terminal compatibility of the FR JCBL FR V7CBL and FR A8AP refer to page 18 A separate power supply of 5 V 12 V 15 V 24 V is necessary according to the encoder power specification When the encoder output is the differential line driver type only 5 V can be input Make the voltage of the external power supply the same as the encoder output voltage and connect the external...

Page 28: ...2 PG PG SD SD Differential Terminating resistor ON OFF Complementary A N B P H K IM Forward rotation start Reverse rotation start Contact input common STF STR SD Encoder Earth Ground Inverter 10 2 2 3 1 Torque limit command 10 V 1 Frequency command Frequency setting potentiometer 1 2 W1 kΩ 5 5 VDC power supply 5 Three phase AC power supply MCCB MC 4 6 3 PA1 FR A8AP PA2 PB1 PB2 PZ1 PZ2 PG PG SD SD ...

Page 29: ...on STF STR SD Earth Ground Inverter 5VDC power supply 5 10 2 2 3 1 Torque command 10V 1 Speed limit command Frequency setting potentiometer 1 2W1kΩ 5 Three phase AC power supply MCCB MC Encoder 4 6 3 PA1 FR A8AP PA2 PB1 PB2 PZ1 PZ2 PG PG SD SD 1 Differential Terminating resistor ON OFF Complementary SF V5RU SF THY U V W U A B C V W E G1 G2 A Earth Ground 2 Three phase AC power supply MCCB MC OCR B...

Page 30: ...ion ready signal STF STR LX 9 CLR 9 CLEAR JOG 10 NP 9 1 Differential line driver Terminating resistor ON OFF SF V5RU SF THY U V W U A B C V W E G1 G2 A Earth ground 2 Three phase AC power supply MCCB MC OCR B C D F G S R IM FAN External thermal protector relay input 8 Thermal protector 7 CS OH SD Inverter Positioning unit MELSEQ Q QD75P1 PC 2W1kΩ 12VDC power supply 5 PULSE F PULSE R PULSE COM CLEA...

Page 31: ...nnect the recommended 2W1k resistor between the terminal PC and OH Recommended product MOS2C102J 2W1k by KOA Corporation Insert the input line and the resistor to a 2 wire blade terminal and connect the blade terminal to the terminal OH For the recommended 2 wire blade terminals refer to page 15 Insulate the lead wire of the resistor for example by applying a contraction tube and shape the wires s...

Page 32: ... encoder pulses Torque control Torque control range 1 50 Absolute torque accuracy 10 Repeated torque accuracy 5 Position control Repeated positioning accuracy 1 5 at motor shaft end Maximum input pulse frequency 100 kpps Terminal JOG Positioning feedback pulse Number of encoder pulses per motor rotation Pr 369 4 Electronic gear setting 1 50 to 20 In position width 0 to 32767 pulses Error excess 0 ...

Page 33: ...VISIONS The manual number is given on the bottom left of the back cover Print Date Manual Number Revision Aug 2013 IB NA 0600505ENG A First edition IB NA 0600505ENG A A8AP book 34 ページ ２０１３年９月１２日 木曜日 午後７時４８分 ...

Page 34: ... HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN Printed in Japan Specifications subject to change without notice IB NA 0600505ENG A 1308 MEE A8AP book 36 ページ ２０１３年９月１２日 木曜日 午後７時４８分 ...

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