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43

ENCODER FEEDBACK CONTROL—A500(L)

4.8 Vector control (Zero speed control and servo lock)

Vector control can be performed when a standard motor with encoder is used.
Make sure that Pr. 80 "motor capacity", Pr. 81 "number of motor poles", Pr. 144 "number of motor poles",
Pr. 359 "encoder rotation direction", Pr. 369 "number of encoder pulses" and Pr. 370 "control mode" values
are set properly. (Refer to page 39, 40.)
Set "100%" in Pr. 89 "speed control gain" to perform vector control. For details of Pr. 89, refer to the
inverter manual.
Servo lock will resist and attempts to move it from the stop position, the limitation is the amount of torque
that can be provided.
Servo lock is only available in vector control mode (when using an encoder).

4.8.1

Zero speed control

When the Pr. 370 value is "1" and Pr. 80 and Pr. 81 values are not "9999", zero speed control is made valid
so that torque may be generated at zero speed.
Use Pr. 22 to set the torque limit level in the zero speed control mode. (150% torque (short duration) is
possible.)

4.8.2

Servo lock

When the Pr. 370 value is "2" and Pr. 80 and Pr. 81 values are not "9999", servo lock is made valid.
Use Pr. 22 to set the torque limit level in the servo lock mode. (150% torque (short duration) is possible.)
Also, use Pr. 375 "servo lock gain" to set the servo lock gain. (Pr. 375 factory setting: 20)
A high setting will make response faster but increase the probability of instability.
When inertia moment is large, a high servo lock gain setting will increase the probability of instability.

Содержание FR-A5AP

Страница 1: ...pecifications subject to change without notice TRANSISTORIZED INVERTER INSTRUCTION MANUAL TRANSISTORIZED INVERTER INSTRUCTION MANUAL HEAD OFFICE MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100 8310 FR A5AP ORIENTATION CONTROL ENCODER FEEDBACK CONTROL PULSE TRAIN INPUT ...

Страница 2: ...ION Assumes that incorrect handling may cause hazardous conditions resulting in death or severe injury Assumes that incorrect handling may cause hazardous conditions resulting in medium or slight injury or may cause physical damage only Note that the level may lead to a serious consequence according to conditions Please follow the instructions of both levels because they are important to personnel...

Страница 3: ...ge specified in the instruction manual to each terminal to prevent burst damage etc Ensure that the cables are connected to the correct terminals Otherwise burst damage etc may occur Always make sure that polarity is correct to prevent burst damage etc While power is on or for some time after power off do not touch the inverter as it is hot and you may get burnt Do not install or operate the optio...

Страница 4: ...icity touch nearby metal before touching this product to eliminate static electricity from your body Do not test the equipment with a megger measure insulation resistance Treat as industrial waste All illustrations given in this manual may have been drawn with covers or safety guards removed to provide in depth description Before starting operation of the product always return the covers and guard...

Страница 5: ...3 2 Terminals 9 3 3 Wiring Instructions 12 3 4 Parameter List 14 3 5 Parameter Settings 16 3 5 1 Setting of stop position command 16 3 5 2 Internal stop position command 17 3 5 3 External stop position command 18 3 5 4 Time setting 20 3 5 5 Servo torque selection 21 3 5 6 Changing the monitor display 24 3 5 7 Break in the cable detection enable disable selection 24 3 6 Operation 25 3 6 1 Orientati...

Страница 6: ...and servo lock 43 4 8 1 Zero speed control 43 4 8 2 Servo lock 43 4 8 3 Pr 22 torque restriction level factory setting 150 45 4 8 4 Pr 371 torque characteristic selection factory setting 1 45 4 8 5 Pr 372 speed control P gain factory setting 100 47 4 8 6 Pr 373 speed control I gain factory setting 20 47 4 8 7 Driving regenerative status signal output Y32 47 4 8 8 Operation ready 2 signal RY2 47 4 ...

Страница 7: ...d 65 6 5 2 Setting the rotation direction 72 6 5 3 Fine adjustment of the orientation stop position 76 6 5 4 Encoder orientation gear ratio setting 77 6 5 5 Adjustment of the servo rigidity 78 6 5 6 Orientation Deceleration Ratio 79 6 5 7 Orientation Switchover Speed 80 6 6 Instructions 81 6 7 Specifications 82 7 PULSE TRAIN INPUT V500 83 7 1 Wiring Example 83 7 2 Terminals 84 7 3 Adjustment 84 7 ...

Страница 8: ... FR A500 series manufactured in and after February 1998 Any of the models may be used with this unit if its SERIAL number indicated on the rating plate and package has the following version or later SERIAL is made up of 1 version symbol 1 alphabet letter or numeric character indicating month and 7 numeric characters indicating the year and control number as shown below Only the first three digits ...

Страница 9: ... following version or later SERIAL is made up of 1 version symbol 1 alphabet letter or numeric character indicating month and 7 numeric characters indicating the year and control number as shown below Only the first three digits of the control number are printed on the package SERIAL number F 2 2 Symbol Year Month Control number Model SERIAL Number Date Manufactured FR V520 1 5K to 7 5K F22 in and...

Страница 10: ...l 1 Mounting screws M3 10 2 Terminal resistor jumpers Jumpers fitted to the terminal block 3 1 3 Structure Terminal resistor jumpers Connector Mounting hole Terminal block screw size M3 Terminal symbol Front view Mounting holes Option fixing holes Rear view Mounting hole FR A5AP PIN PO 5V PA2PARPB1 PB2PBRPC1 PC2PCR SG PA1 ...

Страница 11: ...unction is made invalid 2 2 Installation Procedure 1 Securely insert the connector of the option unit far into the connector of the inverter At this time fit the option fixing holes snugly For the position of slot refer to the next page Also be sure to fit the unit into the option fixing hook For the FR A500 L series it is available in Aug 2000 2 Securely fix the two right and left places of the o...

Страница 12: ...nverter cannot recognize that the option is mounted it displays the option error The errors shown differ according to the mounting slots 1 2 3 Option unit ccessory screw 2 pcs Option side connector Inverter without cover Slot 1 Inverter side connector Slot 2 Slot 3 Option fixing hook The slots 1 2 and 3 are provided with an option fixing hook Mounting Position Error Display Slot 1 E OP1 Slot 2 E O...

Страница 13: ... They may cause a fault failure or malfunction REMARKS The wires with large gaze may not be connected to the terminal block When connected in parallel all wires may not fit in the wiring space due to the increased number of wires In such cases perform wiring by using a junction terminal block When installing the inverter front cover the cables to the inverter s control circuit terminals and option...

Страница 14: ...0 series 3 1 Wiring Example Standard motor with encoder SF JR IM encoder 5V 0 NFB R S T STF STR SD U V W FR A5AP PA1 PA2 PAR PB1 PB2 PBR PC1 PC2 PCR 5V SG C R A N B P H K E SE SD X11 X10 ORA X22 X1 X0 DY Power supply Forward rotation Reverse rotation rientation command In position Orientation fault Output common External stop command Inverter 7 1 1 5VDC power supply 2 FR A5AX ORM 4 4 4 6 5 a separ...

Страница 15: ... 1 to 1 without any mechanical looseness 4 Keep the accessory jumpers connected However when the same encoder is shared between the FR A5AP and another unit e g NC which is connected with a terminal resistor the built in terminal resistors are not required and should be removed Terminal resistors 100Ω Ω Ω Ω 5 Assign this function to any of the input terminals using Pr 180 to Pr 186 input terminal ...

Страница 16: ...inal resistor terminal Factory connected with PA2 by the jumper Remove the jumper when the terminal resistor is not needed PBR B phase terminal resistor terminal Factory connected with PB2 by the jumper Remove the jumper when the terminal resistor is not needed PCR Z phase terminal resistor terminal Factory connected with PC2 by the jumper Remove the jumper when the terminal resistor is not needed...

Страница 17: ...nd input terminal Used to enter an orientation signal SD Common terminal Common terminal for the orientation signal ORA 2 In position signal output terminal Switched low if the orientation has stopped within the in position zone while the start and orientation signals are input Open collector output Permissible load 24VDC 0 1A ORM 2 Orientation fault signal output terminal Switched low if the orie...

Страница 18: ...As the command signals are entered speed or position commands are selected using Pr 360 DY Data read timing input signal Used when a digital signal read timing signal is necessary Data is only read while terminals DY SD are shorted By opening terminals DY SD the data before opening is retained Inverter input terminals SD Common terminal sink Common terminal for digital signal input terminals and d...

Страница 19: ...pproximately 5 5V in addition to 6 or more parallel cables of 0 2mm2 or cables of 1 25mm2 or more This allows the cable length to be increased up to 100m Note that the voltage applied across terminals 5V SG must not exceed 6V Cable Length Number of Parallel Cables of 0 2mm2 Required Larger Size Cable Within 10m At least 2 cables 0 4mm2 or larger Within 20m At least 4 cables 0 75mm2 or larger Withi...

Страница 20: ...m the shaft end of the encoder Example of encoder available on the market Use an encoder which has an output circuit equivalent to AM26LS31 or 74LS113 Pin Numbers of encoder Output Signals Pin Number Output Signal Pin Number Output Signal Pin Number Output Signal C A phase signal N B phase inverse signal H 5V power supply R A phase inverse signal B Z phase signal K Power supply common A B phase si...

Страница 21: ...tion 0 to 255 1 5 Set using with respect to the stop position 356 Internal stop position command 0 to 16383 1 1 0 357 In position zone 0 to 255 1 5 Set using with respect to the stop position 358 Servo torque selection 0 to 13 1 1 359 Encoder rotation direction 0 1 1 1 360 12 bit data selection 0 1 2 to 127 1 0 0 Speed command 1 Position command 2 to 127 Number of stop positions 1 361 Position shi...

Страница 22: ... 0 to 60 s 9999 1 s 9999 9999 120 s setting 366 Recheck time 0 to 5 s 9999 0 1 s 9999 9999 No check 369 Encoder pulse count 0 to 4096 1 1024 Number of pulses before it is multiplied by 4 376 2 Open cable detection enable disable selection 0 1 1 0 0 Function disabled 1 Function enabled Parameter Number Name Setting Range Minimum Setting Increments Factory Setting Remarks ...

Страница 23: ...oder pulses factory setting 1024 Set the number of encoder pulses Set the number of pulses before it is multiplied by 4 Example Set 1024 for 1024 pulses per revolution ppr 3 Pr 359 encoder rotation direction factory setting 1 Indicates the direction in which the encoder rotates Pr 350 Setting Description 0 Internal stop position command 1 External stop position command 9999 Orientation control inv...

Страница 24: ...osition command mode the value set in Pr 356 is the stop position When the encoder pulse count is 1024prr one revolution of the encoder 360 degrees is divided into 4096 positions i e 360 degrees 4096 pulses 0 0879 degrees pulses per address as shown below The stop positions addresses are indicated in parentheses REMARKS When the FR A5AP is fitted and Pr 350 stop position command selection is set t...

Страница 25: ...hen the number of stop positions is 20 divided at intervals of 18 20 1 19 Hence set 19 The stop position command is entered in binary when using the FR A5AX 1 When the value set in Pr 369 encoder pulse count is 1024 or more the 12 bit command is not a position command but the number of positions divided into 4096 Pr 360 Setting Description 0 Speed command 1 Position command 1 2 to 127 The external...

Страница 26: ...0 to 4095 pulses Pr 350 stop position command selection Pr 360 12 bit data selection Operating Status Stop position command 12 bit data FR A5AX Speed command 0 Internal 0 Speed command Internal Pr 356 Speed command 12 bit data 1 2 to 127 Position comm and Internal Pr 356 Invalid External command or PU 1 External 0 Speed command External Pr 356 Speed command 12 bit data 1 External 1 2 to 127 Positi...

Страница 27: ... is stopped for the period of time set in Pr 364 When the in position signal has been output once the orientation fault signal is output if the orientation cannot be completed again within the time set in Pr 364 3 Pr 365 orientation time limit factory setting 9999 If orientation cannot be completed within the time set in Pr 365 which is measured from when the current position signal has passed the...

Страница 28: ... compensation invalid 4 DC injection brake or servo torque is selected when the motor shaft comes out of the in position zone after the in position signal is output DC injection brake selected Servo torque selected 5 Selection of DC injection brake or orientation termination timing Start signal STF STR or orientation command is switched off Orientation command is switched off 6 Selection of in pos...

Страница 29: ...n the in position zone the retry function causes the shaft to be oriented again This retry is made three times including the first orientation but no more than three times The orientation fault signal is not output during retry operation 3 Frequency compensation function for use when the motor shaft has stopped outside the in position zone When the motor shaft has been stopped by external force et...

Страница 30: ...position signal between when the start signal is switched off or when the orientation command is switched off 6 In position signal OFF selection for use when the motor shaft comes out of the in position zone after the in position signal is output once You can select either the mode in which the in position signal is switched off when the motor shaft comes out of the in position zone or the mode in...

Страница 31: ... display the position signal on the PU instead of the output voltage Displayed only when the FR A5AP is fitted Orientation status Set 22 in Pr 52 to display the orientation status on the PU instead of the output voltage Displayed only when the FR A5AP is fitted 0 Orientation not selected i e orientation mode has not been activated or orientation speed has not been reached 1 Orientation speed reach...

Страница 32: ...h a delay of the in position signal output delay time set in Pr 363 in position signal output delay time If the current position signal comes out of the in position zone due to external force etc the in position signal is switched off with a delay of the in position signal output delay time set in Pr 363 in position signal output delay time Pr 357 factory setting 5 6 The orientation fault signal O...

Страница 33: ...KS If the orientation command is switched off with the start signal on the motor accelerates to the command speed Orientation speed Creep selection Creep speed Origin Orientation DC injection brake start position Position loop selection Position loop 0 Spindle speed encoder Start signal across STF STR SD Current position signal Origin signal DC injection brake Orientation speed set in Pr 351 Creep...

Страница 34: ...rocedure as in orientation starting during rotation Note that if the current position signal is within the DC injection brake start position the spindle speed will not rise to the orientation speed and the DC injection brake is applied Operation Timing Chart OFF ON ON ON ON OFF OFF OFF OFF OFF OFF OFF Spindle speed encoder DC injection brake Orientation speed Creep speed Start signal across STF ST...

Страница 35: ... position the spindle speed rises not to the orientation speed but to the creep speed If the current position signal is outside the creep select position the spindle speed rises to the orientation speed If the current position signal is within the DC injection brake start position the DC injection brake is applied DY Spindle speed encoder Start signal Orientation command Position signal Orientatio...

Страница 36: ...er during orientation due to an open cable etc 6 When orientation control is exercised orientation cannot be completed if no DC injection brake operation is set in the DC injection brake adjusting voltage frequency speed time parameters These parameters must be set to operate the DC injection brake 7 To terminate orientation the start signal STF or STR must be first switched off and the orientatio...

Страница 37: ... are incorrect proper orientation control will not be performed 10 If 8888 DC dynamic injection external selection is set in Pr 11 DC injection brake operation time the DC injection brake is not operated unless the X13 terminal signal is switched on For orientation control the DC injection brake is operated independently of the X13 signal 11 When orientation control is exercised PID control is inv...

Страница 38: ...ring etc Note Set the above functions from the parameter unit Holding force after positioning Without servo lock function However the servo lock function is valid when 2 is set in Pr 370 to choose vector control Input signals contact input Orientation command Forward and reverse rotation commands Stop position command open collector signal may also be entered Maximum 12 bit binary signal Output si...

Страница 39: ...k control is not exercised with the FR A5AP This function is used with a speed detector encoder to allow the motor speed to be detected by the speed detector and fed back to the inverter so that the output frequency of the inverter is controlled to keep the motor speed constant to load variations Pr 367 speed feedback range is factory set to 9999 and Pr 370 control mode selection to 0 making this ...

Страница 40: ... to 1 without any mechanical looseness 4 Keep the accessory jumpers connected However when the same encoder is shared between the FR A5AP and the other unit e g NC which is connected with a terminal resistor the built in terminal resistors are not required and should be removed Terminal resistors 100Ω 4 IM encoder 5V 0 NFB R L1 S L2 T L3 STF STR SD U V W FR A5AP PA1 PA2 PAR PB1 PB2 PBR 5V SG C R A...

Страница 41: ...put terminal PAR A phase terminal resistor terminal Factory connected with PA2 by the jumper Remove the jumper when the terminal resistor is not needed PBR B phase terminal resistor terminal Factory connected with PB2 by the jumper Remove the jumper when the terminal resistor is not needed 5V DC power positive input terminal Encoder power supply common terminals Input encoder power Connect the pos...

Страница 42: ... higher than 5V approximately 5 5V in addition to 6 or more parallel cables of 0 2mm2 or cables of 1 25mm2 or more This allows the cable length to be increased up to 100m Note that the voltage applied across terminals 5V SG must not exceed 6V 3 Connection of terminal resistors Use the jumpers across PA2 PAR and PB2 PBR to connect terminal resistors to the A and B phases of the encoder Normally kee...

Страница 43: ... on the market AM26L31 74LS113 equivalent Pin Numbers of Encoder Output Signals Pin Number Output Signal Pin Number Output Signal C A phase signal H 5V power supply R A phase inverse signal K Power supply common A B phase signal E Case earth ground N B phase inverse signal REMARKS When encoder feedback control and orientation control are used together the encoder is shared between these controls U...

Страница 44: ...n deceleration pattern 0 1 2 3 4 1 0 4 4 144 Number of motor poles Speed setting switchover 1 0 2 4 6 8 10 102 104 106 108 110 1 4 162 Automatic restart after instantaneous power failure selection 0 1 2 1 0 285 Overspeed detection frequency excessive speed deviation detection frequency 5 0 to 30Hz 9999 0 01Hz 9999 5 5 359 Encoder rotation direction 0 1 1 1 367 Speed feedback range 0 to 400Hz 9999 ...

Страница 45: ...n frequency is a parameter available with an upgraded inverter The parameter acts only as an overspeed detection frequency for a standard inverter Refer to the inverter manual for the availability of the excessive speed deviation detection frequency 373 Speed control I gain 0 to 200 0 1 20 374 Overspeed detection level 0 to 400Hz 0 01Hz 120Hz 375 Servo lock gain 0 to 150 1 20 376 Open cable detect...

Страница 46: ...on in which the encoder rotates REMARKS 1 For vector control this parameter value is made invalid and the setting of Pr 81 number of motor poles is made valid 2 If you set this parameter value to 0 10 or 110 and operate the inverter any of E OP1 to E OP3 occurs 3 If you set 102 104 106 or 108 that value minus 100 is set as the number of poles Pr 359 0 Pr 359 1 factory setting Forward rotation is c...

Страница 47: ...formed The frequency response of vector control is 10 to 20rad s 2 When Pr 80 and Pr 81 9999 encoder feedback control V F control is valid if 1 or 2 is set in Pr 370 Control Mode Motor Pr 80 Pr 81 Setting Pr 370 Setting Pr 367 Setting Zero Speed Control Servo Lock Torque Limit Encoder feedback control V F control Standard motor with encoder same capacity 9999 0 1 2 2 Other than 9999 Advanced magne...

Страница 48: ...at which the motor is to be rotated at constant speed Normally set the frequency converted from the rated motor speed rated load and slip r min Too large setting will result in slow response Example Rated speed of a 4 pole motor is 1740r min 60Hz Slip Nsp synchronous speed rated speed 1800 1740 60 r min Frequency equivalent to slip fsp 2 Pr 368 feedback gain factory setting 1 This parameter is val...

Страница 49: ... feedback control operation the inverter is run at the output frequency of set speed speed feedback range without coming to an alarm stop and does not follow up the motor speed The pulse signal from the encoder is switched off due to an open cable etc An accurate pulse signal cannot be detected due to induction noise etc The motor is forced to accelerate regenerative operation or decelerate e g mo...

Страница 50: ...rvo lock is only available in vector control mode when using an encoder 4 8 1 Zero speed control When the Pr 370 value is 1 and Pr 80 and Pr 81 values are not 9999 zero speed control is made valid so that torque may be generated at zero speed Use Pr 22 to set the torque limit level in the zero speed control mode 150 torque short duration is possible 4 8 2 Servo lock When the Pr 370 value is 2 and ...

Страница 51: ...ck is made valid when the frequency command is not more than the DC injection brake frequency during deceleration of the inverter The position at the DC injection brake operation frequency is held OFF ON LX STF STR OFF Output frequency Zero speed control or servo lock DC injection brake operation frequency Output frequency Zero speed control or servo lock DC injection brake operation time Pr 11 OF...

Страница 52: ...triction level may be set by entering a signal into the No 1 terminal At this time the auxiliary input override function of the No 1 terminal is not activated The variable torque restriction level analog signal can be restricted 4 8 4 Pr 371 torque characteristic selection factory setting 1 Used to change the torque characteristic according to the machine characteristics Pr 371 Setting Standard Mo...

Страница 53: ... capacity one rank higher than that of the motor and the rated voltage is input Continuous operation mode setting When the inverter used has the same capacity as that of the motor and the rated voltage is input CAUTION 1 To provide 150 torque from 0Hz to the rated speed of the motor the inverter should be one rank higher than the motor 2 Cyclic operation when the inverter and motor have the same c...

Страница 54: ...l RY2 Output during operation on completion of pre excitation operation under vector control switched on also during DC injection brake 0 speed control or servo lock When opening the brake of a motor with brake use the RY2 operation ready 2 signal The brake may not be opened if the FU output frequency detection signal is used 4 8 9 Instructions for vector control 1 When using vector control perfor...

Страница 55: ...3 3kHz Approximately 3kHz 4 4kHz 5 5kHz 6 6kHz 1 Approximately 6kHz 7 7kHz 8 8kHz 9 9kHz 10 10kHz 11 11kHz 12 12kHz 13 13kHz 14 14kHz 15 14 5kHz CAUTION In the vector control mode set the Pr 72 PWM frequency selection value during a stop Carrier Frequency Pr 72 Setting V F control advanced magnetic flux vector control Vector control 0 7kHz 1 2 5kHz 2 0 2 1kHz Approximately 1kHz For FR A500L series...

Страница 56: ...detection function If detection frequency speed output frequency speed Pr 285 setting E MB1 occurs and the output is shut off When Pr 285 9999 overspeed detection is not performed When 1 or 2 is set in Pr 370 Pr 285 acts as a excessive speed deviation detection frequency Speed deviation excess detection function Excessive speed deviation detection frequency is a parameter available with an upgrade...

Страница 57: ...in Pr 374 is judged as overspeed and the corresponding signal is output If overspeed is detected the inverter will not come to an alarm stop 1 Assign overspeed detection Y29 to any of Pr 190 to Pr 195 output terminal function selection 5 Forward reverse running signal output Whether forward or reverse rotation is being made is output as a signal according to the actual speed Assign the function of...

Страница 58: ...ion deceleration C switching terminal X20 to any of the terminals using Pr 180 to Pr 186 input terminal function selection Also Pr 380 to Pr 383 are used to set the ratio of the S shaped acceleration deceleration time Ts to the acceleration deceleration time T in Operation S Pattern Switching Terminal During Acceleration During Deceleration OFF Pr 380 S shaped acceleration 1 factory setting 0 Pr 3...

Страница 59: ...il either the acceleration or deceleration has stopped i e a stable speed has been reached Speed variation ratio 0 02 of the maximum speed 3600r min in vector control mode load variation 0 to 100 at 6Hz or more 1 Speed control range 1 1000 in vector control mode Functions Speed feedback range setting Feedback gain setting Encoder rotation direction setting DC power supply A 5VDC power supply is re...

Страница 60: ...ing of the inverter becomes invalid Refer to page 53 for pulse train input with the FR V500 series 5 1 Wiring Example CAUTION This option unit must be wired using the open collector system to operate it properly NFB IM PC PIN PO SD FR A5AP R L1 S L2 T L3 U V W NFB IM PC PIN PO SD FR A5AP R L1 S L2 T L3 U V W ower upply Input pulses Open collector input Inverter Motor or Power supply Input pulses O...

Страница 61: ... input terminal 2 Terminal used to enter a pulse train of 0 to 100kpps REMARKS Whether an input pulse is entered into PIN or PO depends on the wiring Refer to page 53 Note Maximum number of input pulses 100kpps Note Number of input pulses are multiplied by 2 internally 0 Pr 386 Pr 385 Output frequency Bias Factory setting Maximum number of pulses Input pulses PPS Gain 60Hz ...

Страница 62: ...ing 384 1 Input pulse frequency division ratio 0 to 250 1 0 385 Zero input pulse frequency 0 to 400Hz 0 01Hz 0 386 Maximum input pulse frequency 0 to 400Hz 0 01Hz 60 CAUTION When the Pr 384 value is 0 factory setting Pr 385 and Pr 386 do not function even if their values have been set Note that if you set any value other than 0Hz in Pr 385 merely turning on the start signal will start the motor at...

Страница 63: ... ratio in Pr 384 Maximum number of input pulses pps Pr 384 400 The detectable frequency changes with the maximum number of input pulses 5 6 Specifications Detectable frequency Pr 386 2 16 6ms Pr 384 400 Circuit system Open collector system Input current 10mA Max permissible number of pulses 100kpps Input pulse specifications 0f to 250f f variable frequency Response delay 16 6ms ...

Страница 64: ... B C A B C D F G S R SD OH N B K PAR PBR PCR 1 N Power supply Forward rotation Reverse rotation NFB R S T STF STR X22 5 Orientation command SD DI16 DI15 SD FR V5AX DI11 DI12 ORA SE External stop command 3 5VDC power supply 4 Thermal protector Vector inverter motor SF V5R Main circuit terminal Control circuit terminal In position signal a separate power supply 2 encoder 1 The motor fan power supply...

Страница 65: ...ase terminal resistor terminal Factory connected with PA2 by the jumper Remove the jumper when the terminal resistor is not needed PBR B phase terminal resistor terminal Factory connected with PB2 by the jumper Remove the jumper when the terminal resistor is not needed PCR Z phase terminal resistor terminal Factory connected with PC2 by the jumper Remove the jumper when the terminal resistor is no...

Страница 66: ...er to the inverter manual for details of output terminal function selection Symbol Terminal Description X22 1 Orientation command input terminal Used to enter an orientation signal SD Common terminal Common terminal for the orientation signal ORA 2 In position signal output terminal Switched low if the orientation has stopped within the in position zone while the start and orientation signals are ...

Страница 67: ...speed torque or position commands are selected using Pr 360 DY Data read timing input signal Not used for orientation control SD Common terminal sink Common terminal for digital signal input terminals and data read timing signals Common terminal for the SD terminal on the inverter side FR A5AX input terminals X0 to X11 Digital signal input terminals Used to input digital signals through either rel...

Страница 68: ...1 Cable length within 30m REMARKS Pr 300 to Pr 305 settings for the FR A5AX FR V5AH Pr 400 to Pr 405 settings for the FR V5AX are made invalid when the stop position is set to be specified from outside the inverter externally with the FR A5AP orientation control option fitted to the inverter and when orientation control is used Pr 300 to Pr 305 of the FR A5AX FR V5AH Pr 400 to Pr 405 of the FR V5A...

Страница 69: ...PB2 PBR and PC2 PCR to connect terminal resistors to the A B and C phases of the encoder Normally keep the jumpers fitted However remove the jumpers when the same encoder is shared between the FR A5AP and the other unit e g NC which is connected with a terminal resistor 3 Connection with NC Or similar device When one position detector is shared between the FR A5AP and NC or another device its outp...

Страница 70: ...der available on the market Use an encoder which has an output circuit equivalent to AM26LS31 or 74LS113 Pin Numbers of Encoder Output Signals Pin Number Output Signal Pin Number Output Signal C A phase signal H 5V power supply R A phase inverse signal K Power supply common A B phase signal E Case earth ground N B phase inverse signal B Z phase signal P Z phase inverse signal A B Z P a b c d 2 4 t...

Страница 71: ...n the FR A5AP is fitted Parameter No Name Setting Range Minimum Setting Increments Factory Setting 350 Stop position command selection 0 1 2 9999 1 9999 351 Orientation switchover speed 0 to 1000r min 1r min 200r min 356 Internal stop position command 0 to 16383 1 1 0 357 Orientation in position zone 0 to 8192 1 11 359 2 Encoder rotation direction for orientation 0 1 1 1 360 External position comm...

Страница 72: ...mmand Pr 356 or the external stop position command 6 12 16 bit data Pr 350 Setting Type of Command 0 Internal stop position command Pr 356 0 to 16383 1 External stop position command FR V5AX 6 bit data 2 External stop position command FR A5AX 12 bit data 3 External stop position command FR V5AH 16 bit data 9999 factory setting Orientation control invalid 1 Internal stop position command Pr 350 0 T...

Страница 73: ...ividing up to 128 stop positions at regular intervals If the external stop command entered is greater than the setting the stop positions are the same as those in the maximum external stop command value Note that the stop command greater than the 64 stop positions can not be entered if the number of stop positions are 65 to 128 Example When the number of stop positions is 20 divided at intervals o...

Страница 74: ...127 Set the stop position command dividing up to 128 stop positions at regular intervals If the external stop command entered is greater than the setting the stop positions are the same as those in the maximum external stop command value Example When the number of stop positions is 90 divided at intervals of 4 degrees 90 1 89 Hence set 89 Example 1 4 stop positions Example 2 8 stop positions Examp...

Страница 75: ...is not the number of stop positions but is 0 to 4095 pulses When any of 1 to 127 is set in Pr 360 parameters Pr 300 to Pr 305 of the FR A5AX are made invalid Parameters are valid when Pr 360 0 Terminal DY Data read timing input signal is made invalid The position data import is performed at the start of orientation When the option is not fitted or Pr 360 0 the stop position is 0 even if the extern...

Страница 76: ...vals 2 to 127 Set the stop position command dividing up to 128 stop positions at regular intervals If the external stop command entered is greater than the setting the stop positions are the same as those in the maximum external stop command value Example When the number of stop positions is 90 divided at intervals of 4 degrees 90 1 89 Hence set 89 Example 1 4 stop positions Example 2 8 stop posit...

Страница 77: ...top positions but is 0 to 65535 pulses For the FR DU04 1 0 to 9999 are displayed When any of 1 to 127 is set in Pr 360 parameters Pr 300 to Pr 305 of the FR V5AH are made invalid Parameters are valid when Pr 360 0 Terminal DY Data read timing input signal is made invalid The position data import is performed at the start of orientation When the option is not fitted or Pr 360 0 the stop position is...

Страница 78: ...n factory setting 1 Indicates the direction in which the encoder rotates Pr 359 0 Pr 359 1 Forward rotation is clockwise rotation when viewed from A Forward rotation is counterclockwise rotation when viewed from A REMARKS When Pr 350 stop position command selection is set to make orientation control valid the PU FR DU04 1 FR PU04V shows the rotation direction of the encoder Make setting so that FW...

Страница 79: ...tion orientation 10 Pre orientation Machine end orientation Orientation is executed from the current rotation direction 11 Forward rotation orientation Orientation is executed from the forward rotation direction If the motor is running in reverse orientation is executed from the forward rotation direction after deceleration 12 Reverse rotation orientation Orientation is executed from the reverse r...

Страница 80: ...position loop gain parameter Pr 362 When the control is changed the distance to the orientation stop position will be calculated The motor will decelerate and stop with a set deceleration pattern Pr 399 and the orientation servo lock state will be entered When entered in the Pr 357 in position zone is entered the orientation complete signal terminal ORA will be output The zero point position origi...

Страница 81: ...ntation from the current rotation direction If the motor is running in reverse it will decelerate the rotation direction will be changed to forward run and then orientation stop will be executed If the motor is running in the reverse rotation direction it will orientation stop with the same method as orientation from the current rotation direction If the motor is running in forward it will deceler...

Страница 82: ...rientation stop can be set The factory setting of Pr 357 is 11 To change the θ value finely adjust with 10 increments and make fine adjustment If the position detection value from the encoder enters θ during orientation stop the orientation complete signal ORA will be output Example of operation CAUTION This setting is used to judge the ON OFF of the orientation complete signal and does not determ...

Страница 83: ...count for orientation 4 Finely adjust the position by changing this setting value in increments of 10 The orientation stop position will differ according to the direction that the encoder is installed in Refer to the drawings below Case 1 Case 2 Installation direction Normal orientation Motor Belt Encoder A Motor Belt Encoder A View from A Foward Reverse 3072 270 1024 90 2048 180 View from A Forwa...

Страница 84: ...n Pr 394 and Pr 395 are correct Pr 394 A x C x E Pr 395 B x D x F Exercise care so that the A x C x E and B x D x F settings do not exceed 32767 If either or both of them exceed that value make approximations Setting example When the numbers of gear teeth are as follows A 15 C 43 E 60 B 10 D 28 F 55 Pr 394 15 x 43 x 60 38700 Pr 395 10 x 28 x 55 15400 Since the Pr 394 setting exceeds 32767 at this ...

Страница 85: ...6 in the range from 10 to 100 and Pr 397 from 0 1 to 1 0s Note that these do not need to be set to the same rate Example When the Pr 396 value is multiplied by 1 2 divide the Pr 397 value by 1 2 If vibration occurs during orientation stop the scale cannot be raised any higher 3 Pr 398 is the lag advance compensation gain 2 The limit cycle can be provided by increasing the value and the running can...

Страница 86: ...se 2 Limit cycle This is a phenomenon that generates continuous vibration centering on the target position Phenomenon Adjustment Procedure Pr 396 Pr 397 Pr 362 Pr 399 Rocking occurs during stopping 3 3 2 1 The orientation time is long 2 1 Hunting occurs when stopping 2 2 1 The servo rigidity during stopping is low 1 1 2 CAUTION If orientation stop is not possible and the excessive position error a...

Страница 87: ...on Decreasing the set speed enables stable orientation stop Note that the orientation time will increase REMARKS When 19 is set in Pr 52 DU PU main display data selection position pulse monitor is displayed instead of PU output voltage monitor Speed r min OFF ON Encoder Z phase pulse Pr 351 Orientation switchover speed Orientation command completion Decelerates according to the deceleration ratio ...

Страница 88: ...ration is set in the DC injection brake adjusting voltage frequency speed time parameters These parameters must be set to operate the DC injection brake 6 To terminate orientation the start signal STF or STR must be first switched off and the orientation signal X22 must be switched off As soon as this orientation signal is switched off orientation control ends 7 For orientation control set correct...

Страница 89: ...shift In position zone Position signal monitoring etc Note Set the above functions from the parameter unit Holding force after positioning Without servo lock function However the servo lock function is valid when 1 is set in Pr 802 Input signals contact input Orientation command Forward and reverse rotation commands Stop position command open collector signal may also be entered Maximum 12 bit bin...

Страница 90: ...g of the inverter becomes invalid Refer to page 53 for pulse train input with the FR A500 L series 7 1 Wiring Example CAUTION This option unit must be wired using the open collector system to operate it properly NFB IM PC PIN PO SD FR A5AP R L1 S L2 T L3 U V W NFB IM PC PIN PO SD FR A5AP R L1 S L2 T L3 U V W ower upply Input pulses Open collector input Inverter Motor or Power supply Input pulses O...

Страница 91: ...nput terminal 2 Terminal used to enter a pulse train of 0 to 100kpps REMARKS Whether an input pulse is entered into PIN or PO depends on the wiring Refer to page 83 Note Maximum number of input pulses 100kpps Note Number of input pulses are multiplied by 2 internally 0 Pr 386 Pr 385 Bias Factory setting Maximum number of pulses Input pulses PPS Gain 1500r min Output speed ...

Страница 92: ...e frequency division ratio 0 to 250 1 0 385 Zero input pulse frequency 0 to 3600r min 0 1r min 0 386 Maximum input puler frequency 0 to 3600r min 1r min 1500 NA version 1800r min CAUTION When the Pr 384 value is 0 factory setting Pr 385 and Pr 386 do not function even if their values have been set Note that if you set any value other than 0r min in Pr 385 merely turning on the start signal will st...

Страница 93: ...ratio in Pr 384 Maximum number of input pulses pps Pr 384 400 The detectable frequency changes with the maximum number of input pulses 7 6 Specifications Detectable frequency Pr 386 2 16 6ms Pr 384 400 Circuit system Open collector system Input current 10mA Max permissible number of pulses 100kpps Input pulse specifications 0f to 250f f variable frequency Response delay 16 6ms ...

Страница 94: ... Applicable inverters Pr 285 excessive speed deviation detection frequency FR A500 series only Pr 376 break in the cable detection enable disable selection FR A500 series only Wiring handling method Feb 2003 IB NA 66848 C Factory setting values for the NA version of the FR V500 series Orientation with external input by the FR V5AH Additions Partial changes Additions ...

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