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Mitsubishi Electric FR-A8APR, Instruction Manual

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Mitsubishi Electric FR-A8APR Instruction Manual Download Page 28

28

VECTOR CONTROL

Position control



Connect the encoder so that there is no looseness between the motor and motor shaft. Speed ratio must be 1:1.



Assign the function using 

Pr.178 to Pr.184, Pr.187 to Pr.189 (input terminal function selection)

.



When position control is selected, terminal JOG function is invalid and simple position pulse train input terminal becomes valid.



Assign the function using 

Pr.190 to Pr.194 (output terminal function selection)

.

1

5

(+)
(-)

Three-phase

AC power

supply

MCCB

R/L1
S/L2
T/L3

FR-A8APR

Forward stroke end

Reverse stroke end

Pre-excitation/servo on

Clear signal

Pulse train

Sign signal

Preparation ready signal

STF

STR

LX 

∗2

CLR 

∗2

CLEAR

JOG 

∗3

NP 

∗2

U
V

W

U
V

W

E

Earth
(ground)

∗1

M

Inverter

Positioning unit

MELSEC-Q QD75P[ ]N/QD75P[ ]

MELSEC-L LD75P[ ]

PULSE F

PULSE R

PULSE COM

CLRCOM

RDYCOM

READY

PC

RDY 

∗4

SE

FLS

RLS

DOG

STOP

COM

24 VDC power supply

MC

R1

R2

S2

S4

S1
S3

CM

Resolver

R1

R2

S2

S4

S1

S3

Torque limit command

(   10 V)

Summary of Contents for FR-A8APR

Page 1: ...AL PRE OPERATION INSTRUCTIONS 1 INSTALLATION AND WIRING 2 PARAMETER 3 ORIENTATION CONTROL 4 RESOLVER ENCODER FEEDBACK CONTROL 5 VECTOR CONTROL 6 FR A8APR Resolver interface Orientation control Resolver encoder feedback control Vector control ...

Page 2: ...harging part 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 ...

Page 3: ...ackaging Sterilization 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 ...

Page 4: ...G 9 2 1 Pre installation instructions 9 2 2 Installation procedure 9 2 3 Wiring 12 2 4 Terminals 15 3 PARAMETER 16 3 1 Extended parameter list 16 3 2 Function differences from the FR A8AP 18 3 3 Protective function 20 4 ORIENTATION CONTROL 21 4 1 Wiring example 21 4 2 Terminals 22 4 3 Specifications 23 5 RESOLVER ENCODER FEEDBACK CONTROL 24 5 1 Wiring examples 24 5 2 Specifications 25 ...

Page 5: ... Vector control for PM motor with resolver 30 6 4 Offline auto tuning 31 6 5 Resolver position tuning 33 6 6 Specifications 36 Notes on descriptions in this Instruction Manual Connection diagrams in this Instruction Manual appear with the control logic of the input terminals as sink logic unless otherwise specified ...

Page 6: ...n option out of the package check 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 1 1 1 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 SW1 ...

Page 7: ...onsists of one symbol two characters indicating the production year and month and six characters indicating the control number The last digit of the production year is indicated as the Year and the Month is indicated by 1 to 9 X October Y November or Z December Model Country of origin indication SERIAL number FR A820 00046 0 4K to 04750 90K FR A840 00023 0 4K to 06830 280K FR A842 07700 315K to 12...

Page 8: ... to the inverter with screws or installs spacers 9 b Terminal block Connected with a resolver 15 c Switch for manufacturer setting SW1 Do not change the initially set status OFF d Connector Connects to the option connector of the inverter 9 Front view Rear view Terminal layout a d a b a a a a c SW1 R1 R2 S2 S4 S1 S3 CM ...

Page 9: ...truction Manual Detailed of the inverter for details on how to remove the front cover 2 For the two mounting holes as shown in the next page that will not be tightened with mounting screws insert spacers 3 Fit the connector of the plug in option to the guide of the connector on the inverter unit side and insert the plug in option as far as it goes 4 Fit the two locations the left and right of the ...

Page 10: ...INSTALLATION AND WIRING Spacer Spacer Spacer Mounting screw Mounting screw Mounting screw Spacer Spacer Spacer Mounting screw Connector 1 Connector 2 Connector 3 Insertion positions for screws and spacers ...

Page 11: ...tors 1 2 and 3 on the inverter in this order and options having a lower priority do not function When the inverter cannot recognize that the option unit is mounted due to improper installation etc or when an option unit fault occurs the protective function E 1 to E 3 or E OP1 to E OP3 is activated and the inverter cannot be operated A different indication will appear according to the mounted posit...

Page 12: ...the FR A8APR use a blade terminal as necessary When using the blade terminal use care so that the twisted wires do not come out NOTE Blade terminals commercially available as of January 2015 The product may be changed without notice Cable stripping length Terminal screw size Wire size mm2 Ferrule terminal model Manufacturer Crimping tool name With insulation sleeve Without insulation sleeve M2 0 3...

Page 13: ...verter s RS 485 terminals while a plug in option is mounted take caution not to let the cables touch the circuit board of the option or of the inverter Otherwise electromagnetic noises may cause malfunctions 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 After wiring wire off...

Page 14: ...length should be 100 m at the maximum R 1 R 2 S 2 S 4 S 1 S 3 C M A8APR circuit board Terminals R1 R2 S2 S4 S1 S3 CM R2 Yellow White S2 Yellow S4 Blue S3 Black Resolver Loose wires Shielded twisted pair cable Example of TS2640N321E64 manufactured by Tamagawa Seiki Co Ltd For the extension of the signal cable used for the resolver above the following wire is recommended V 3PB 02S manufactured by To...

Page 15: ...t with which excitation can be performed directly to the resolver across terminals R1 and R2 R2 Excitation output R2 S1 Cos Input terminal for resolver Cos signal S3 Cos Input terminal for resolver Cos signal S2 Sin Input terminal for resolver Sin signal S4 Sin Input terminal for resolver Sin signal CM Shield Connect the shielded wire of the twisted pair cable ...

Page 16: ...injection brake start position 0 to 255 1 5 356 A531 Internal stop position command 0 to 16383 1 0 357 A532 Orientation in position zone 0 to 255 1 5 358 A533 Servo torque selection 0 to 13 1 1 359 C141 Encoder rotation direction 0 1 100 101 1 1 360 A511 16 bit data selection 0 to 127 1 0 361 A512 Position shift 0 to 16383 1 0 362 A520 Orientation position loop gain 0 1 to 100 0 1 1 0 363 A521 Com...

Page 17: ...0 Number of machine side gear teeth 0 to 32767 1 1 395 A541 Number of motor side gear teeth 0 to 32767 1 1 396 A542 Orientation speed gain P term 0 to 1000 1 60 397 A543 Orientation speed integral time 0 to 20 s 0 001 s 0 333 s 398 A544 Orientation speed gain D term 0 to 100 0 1 1 399 A545 Orientation deceleration ratio 0 to 1000 1 20 635 M610 Cumulative pulse clear signal selection 0 1 2 3 1 0 63...

Page 18: ...AP parameter Resolver Encoder rotation direction Pr 359 Number of detector pulses fixed 1024 pulses Pr 369 Encoder signal loss detection enable disable selection Pr 376 Control method Motor FR A8APR FR A8AP V F control orientation control encoder feedback control Induction motor Advanced magnetic flux vector control orientation control encoder feedback control Induction motor Vector control Induct...

Page 19: ...E OS E OSD E ECT Notch filter Easy gain tuning Model adaptive speed control Speed feed forward control Torque bias Droop control Swinging suppression control Brake sequence function Offline auto tuning Sensorless Forward rotation signal Y30 Reverse rotation signal Y31 Regenerative status signal Y32 Deceleration check Speed limit X18 signal switchover Resolver position tuning Function FR A8APR FR A...

Page 20: ...rotective circuit is activated to stop the inverter output Check point Check that the resolver position tuning was performed Check that the resolver position tuning ended properly When Pr 1105 Resolver magnetic pole position offset 9999 the resolver position tuning does not end properly Corrective action Perform resolver position tuning with Pr 373 Refer to page 33 Remove the cause of the tuning e...

Page 21: ...n command Contact input common STF STR SD SD X22 1 Resolver Earth Ground Inverter ORM ORA 2 SE 2 FR A8AX MC CM Use Pr 178 to Pr 189 input terminal function selection to assign the function to any of terminal Refer to the Instruction Manual Detailed for details of Pr 178 to Pr 189 input terminal function selection Use Pr 190 to Pr 196 output terminal function selection to assign the function to any...

Page 22: ...to X15 data before 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 s...

Page 23: ...command selection 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...

Page 24: ... inverter For the details of the parameters used for resolver encoder feedback control refer to the Instruction Manual Detailed of the inverter 5 1 Wiring examples Connect the encoder so that there is no looseness between the motor and motor shaft Speed ratio should be 1 1 V F V F V F Magnetic flux Magnetic flux Magnetic flux R L1 S L2 T L3 U V W U V W E R1 1 R2 R1 FR A8APR R2 S2 S4 S1 S3 S2 S4 S1...

Page 25: ...Specifications Speed variation ratio 0 1 100 means 3600 r min Function Setting of speed feedback range Setting of feedback gain Setting of resolver rotation direction Maximum speed V F control 590 Hz Advanced magnetic flux vector control 400 Hz ...

Page 26: ...trol are enabled under vector control for the induction motor Speed control and position control are enabled under vector control for the PM motor 6 1 Wiring examples Speed control Three phase AC power supply MCCB MC R L1 S L2 T L3 U V W U V W E 1 R1 FR A8APR R2 S2 S4 S1 S3 R1 R2 S2 S4 S1 S3 M Forward rotation start Reverse rotation start Contact input common STF STR SD Resolver Earth Ground Inver...

Page 27: ... FR A8APR M Forward rotation start Reverse rotation start Contact input common STF STR SD Resolver Earth Ground Inverter 10 2 2 3 1 1 Speed limit command Frequency setting potentiometer 1 2 W1 kΩ 5 Three phase AC power supply MCCB MC R1 R2 S2 S4 S1 S3 R1 R2 S2 S4 S1 S3 CM Torque command 10 V ...

Page 28: ...ssign the function using Pr 190 to Pr 194 output terminal function selection 1 5 Three phase AC power supply MCCB R L1 S L2 T L3 FR A8APR Forward stroke end Reverse stroke end Pre excitation servo on Clear signal Pulse train Sign signal Preparation ready signal STF STR LX 2 CLR 2 CLEAR JOG 3 NP 2 U V W U V W E Earth ground 1 M Inverter Positioning unit MELSEC Q QD75P N QD75P MELSEC L LD75P PULSE F...

Page 29: ...or an IPM motor other than MM CF 9009 Parameter rotations per minute settings for an SPM motor 9109 Parameter frequency settings for an SPM motor Set Pr 96 and perform tuning Set the applied resolver Pr 359 Set Pr 359 Encoder rotation direction in accordance with the resolver specification Under position control Set Pr 800 again Refer to page 30 Set the motor Pr 9 Pr 71 Pr 80 Pr 81 Pr 83 Pr 84 Set...

Page 30: ...on for the setting of 4 or 104 is performed when 5 or 105 is set Speed control under PM sensorless vector control when the FR A8APR is not installed The operation for the setting of 20 or 110 is performed when 10 to 14 or 111 to 114 is set When a PM motor is used set Pr 80 and Pr 81 according to the motor Setting 9999 disrupts proper operation Pr 80 Pr 453 Pr 81 Pr 454 Pr 71 Pr 450 Pr 800 setting ...

Page 31: ...e Description PM motor Induction motor 96 C110 Auto tuning setting status 0 0 No offline auto tuning 1 Performs offline auto tuning without motor rotation 11 Performs offline auto tuning only for motor constant R1 without motor rotation 101 Performs resolver position tuning and offline auto tuning with motor slight rotation Performs offline auto tuning with motor rotation 463 C210 Second motor aut...

Page 32: ...1 90 458 Motor constant R1 Resistance per phase 92 460 Motor constant L1 d axis inductance Ld d axis inductance 93 461 Motor constant L2 q axis inductance Lq q axis inductance 711 739 Motor Ld decay ratio d axis inductance decay ratio 712 740 Motor Lq decay ratio q axis inductance decay ratio 859 860 Torque current Rated PM motor current 96 463 Auto tuning setting status 373 Resolver position tuni...

Page 33: ...ted by an external force during tuning Check that the mechanical brake is released Check that the vector control speed control for the PM motor with a resolver is selected refer to page 30 NOTE The resolver position tuning is required when a PM motor is used It is disabled when an induction motor is used When auto tuning is performed at the setting of Pr 96 101 offline auto tuning and the resolver...

Page 34: ...de press on the operation panel For External operation turn ON the start command STF signal or STR signal Tuning will start NOTE The motor shaft is rotated about 180 degrees during tuning Monitor is displayed as below on the operation panel FR DU08 and the parameter unit FR PU07 during tuning Status Parameter unit FR PU07 display Operation panel FR DU08 display Setting During tuning Normal complet...

Page 35: ... tuning When tuning is ended forcibly by pressing or turning OFF the start signal STF or STR during tuning the tuning does not end properly The tuning data have not been set Perform an inverter reset and restart tuning When the protective function E EP is activated during tuning check the wiring of the motor and the resolver Pr 359 setting and then perform tuning again When the tuning ends properl...

Page 36: ...d 400 Hz 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 4096 pulses rev Electronic gear setting 1 50 to 20 In position width 0 to 32767 pulses Error excess 0 to 400k pulses Function Setting of speed fee...

Page 37: ...37 MEMO ...

Page 38: ...38 MEMO ...

Page 39: ...39 REVISIONS The manual number is given on the bottom left of the back cover Print Date Manual Number Revision Feb 2015 IB NA 0600568ENG A First edition ...

Page 40: ...INVERTER 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 0600568ENG A 1502 MEE ...

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