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Dancer control with winding diameter

compensation for wiredrawing machine

5.2 Dancer control with winding diameter compensation for wiredrawing

machine

Dancer control is useful for winding movement in wiredrawing machine.
High speed winding under high load inertia is enabled by embedded dancer control with winding diameter compensation.

(1) Feature

For a system like this, it is important to wind fast under high load inertia by keeping the position of dancer roll constant.

(2) Outline

In a wiredrawing section, a wire is pulled at constant speed to be thinner. The wire is then winded with constant tension, which
is regulated by dancer roll. For the winding shaft, dancer control of FR-A700-A1 series is used to keep the position of dancer
roll and the tension constant. Rim speed of winding bobbin is also kept constant by winding diameter compensation function.
The following functions are added to FR-A700-A1 series, compared to FR-A700 series.

Purpose

Feature

Steadiness of dancer roll

Low percentage of speed fluctuation

Winding under high load inertia

Speed response level (internal response is 300rad/s) when vector control with encoder is
used.

Cost reduction

Dancer roll controller is embedded.

Additional Function

Description

Dancer control function

Controls the speed of wind-up shaft to keep the position of dancer roll steady.

Winding diameter compensation
function

Controls the rotation speed of the motor to keep the rim speed constant by calculating the
diameter of the wind-up shaft. By using winding diameter compensation, hunting of dancer
control can be suppressed. Winding diameter compensation and PID calculator are not
necessary.

FR-A700-A1

Main speed (0 to 10V)

2

DA1

1

JOG

Dancer/tension control selection (X83)

RL

Dancer position

(0 to 10V)

Line speed

(single-phase

pulse)

Main

speed

setting

(0 to 10V)

Encoder

FR-A700-A1

FR-A700-A1

FR-A700

2

2

2

Encoder

Reference shaft

Winding
shaft

FR-A7AP

FR-A7AP

FR-A7AP

FR-A7AZ

FR-A7AP

1

1

SF-V5RU

Encoder

Dancer

signal

Dancer

signal

Brake unit

Brake

resistor

Brake unit

Deviation

sensor

No-contact

potentiometer

Brake

resistor

Brake

resistor

Brake

resistor

Brake unit

Brake unit

SF-V5RU

Encoder

SF-V5RU

Encoder

SF-V5RU

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72
73
74
75
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Содержание FR-A700-A1

Страница 1: ... source Pr 338 Pr 339 53 TENSION CONTROL 55 4 1 Dedicated function list 55 4 2 System configuration example 55 4 3 Block diagram of the control 56 4 4 Dedicated I O signal 56 4 5 Tension control parameter setting procedure 57 4 6 Details of the tension control 59 APPLICATION EXAMPLE 67 5 1 Dancer control with winding diameter compensation for printers 67 5 2 Dancer control with winding diameter co...

Страница 2: ... Setting at driving shaft Pr 762 Pr 773 Pr 774 X56 signal 34 3 8 4 Material thickness maximum minimum winding diameter setting Pr 720 to Pr 727 Pr 752 to Pr 755 X53 signal X54 signal 35 3 8 5 Rotation speed at winding diameter calculated value activation Pr 797 36 3 8 6 Storage and clear of winding diameter calculation result Pr 781 to Pr 783 X55 signal 37 3 8 7 Sampling time and restricted increa...

Страница 3: ...ension control Pr 797 X91 signal Y51 signal 59 4 6 2 Winding taper function Pr 717 Pr 787 Pr 788 61 4 6 3 Inertia compensation function Pr 713 to Pr 716 X57 signal X58 signal X59 signal 62 4 6 4 Mechanical loss compensation Pr 739 to Pr 749 Pr 762 64 4 6 5 Stall operation signal Pr 737 Pr 738 Pr 760 X92 signal 65 4 6 6 Tension control monitor output Pr 52 66 5 APPLICATION EXAMPLE 67 5 1 Dancer con...

Страница 4: ... paper when using this product This product is also useful for wiredrawing machine and to roll up paper in a printer Dancer control function Winding diameter compensation function Tension control function The following table shows valid control methods for each function available unavailable Inverters with dancer control function winding diameter compensation function and tension control function ...

Страница 5: ...brake operation frequency 0 to 120Hz 9999 0 01Hz 3Hz 11 DC injection brake operation time 0 to 10s 8888 0 1s 0 5s 12 DC injection brake operation voltage 0 to 30 0 1 4 2 1 4 13 Starting frequency 0 to 60Hz 0 01Hz 0 5Hz 14 Load pattern selection 0 to 5 1 0 15 Jog frequency 0 to 400Hz 0 01Hz 5Hz 16 Jog acceleration deceleration time 0 to 3600 360s 0 1 0 01s 0 5s 17 MRS input selection 0 2 4 1 0 18 H...

Страница 6: ... 0 to 3600A 9999 2 0 01 0 1A 2 9999 62 Reference value at acceleration 0 to 220 9999 0 1 9999 63 Reference value at deceleration 0 to 220 9999 0 1 9999 64 Starting frequency for elevator mode 0 to 10Hz 9999 0 01Hz 9999 65 Retry selection 0 to 5 1 0 66 Stall prevention operation reduction starting frequency 0 to 400Hz 0 01Hz 60Hz 67 Number of retries at fault occurrence 0 to 10 101 to 110 1 0 68 Re...

Страница 7: ...mmunication retries 0 to 10 9999 1 1 122 PU communication check time interval 0 0 1 to 999 8s 9999 0 1s 9999 123 PU communication waiting time setting 0 to 150ms 9999 1 9999 124 PU communication CR LF selection 0 1 2 1 1 125 Terminal 2 frequency setting gain frequency 0 to 400Hz 0 01Hz 60Hz 126 Terminal 4 frequency setting gain frequency 0 to 400Hz 0 01Hz 60Hz 127 PID control automatic switchover ...

Страница 8: ...on level for restart 0 to 220 0 1 150 166 Output current detection signal retention time 0 to 10s 9999 0 1s 0 1s 167 Output current detection operation selection 0 1 1 0 168 Parameter for manufacturer setting Do not set 169 170 Watt hour meter clear 0 10 9999 1 9999 171 Operation hour meter clear 0 9999 1 9999 172 User group registered display batch clear 9999 0 to 16 1 0 173 User group registrati...

Страница 9: ...1 245 Rated slip 0 to 50 9999 0 01 9999 246 Slip compensation time constant 0 01 to 10s 0 01s 0 5s 247 Constant power range slip compensation selection 0 9999 1 9999 251 Output phase loss protection selection 0 1 1 1 252 Override bias 0 to 1000 0 1 50 44 253 Override gain 0 to 1000 0 1 150 44 255 Life alarm status display 0 to 15 1 0 256 Inrush current limit circuit life display 0 to 100 1 100 257...

Страница 10: ...n check time interval 0 to 999 8s 9999 0 1s 0s 337 RS 485 communication waiting time setting 0 to 150ms 9999 1 9999 338 Communication operation command source 0 1 1 0 339 Communication speed command source 0 1 2 1 0 340 Communication startup mode selection 0 1 2 10 12 1 0 341 RS 485 communication CR LF selection 0 1 2 1 1 342 Communication EEPROM write selection 0 1 1 0 343 Communication error cou...

Страница 11: ...0 1s 9999 29 472 Third PID differential time 0 01 to 10s 9999 0 01s 9999 29 473 Third PID proportional band for under set point value 0 1 to 1000 9999 0 1 9999 29 474 Third PID integral time for under set point value 0 1 to 3600s 9999 0 1s 9999 29 475 Third PID differential time for under set point value 0 01 to 10s 9999 0 01s 9999 29 476 Fourth PID proportional band 0 1 to 1000 9999 0 1 9999 29 4...

Страница 12: ...99 0 01s 9999 38 708 Filter time constant for dancer control input 0 to 5s 0 001s 0s 27 709 Integral clamp positive polarity 0 to 100 9999 0 1 9999 26 710 Integral clamp negative polarity 0 to 100 9999 0 1 9999 26 711 Signal loss detection stationary time 0 to 100s 9999 0 01s 9999 28 712 Initial winding diameter calculation dead zone 2 0 to 50 9999 0 1 9999 40 713 Initial inertia moment 0 to 500kg...

Страница 13: ...15s 46 65 761 Third deceleration time for main speed 0 to 3600s 360s 0 1s 0 01s 15s 46 762 Winding unwinding selection 0 1 1 0 34 64 763 Line speed input selection 0 to 7 1 0 33 764 Pulse reference for line speed input 0 01 to 200 0 01kpps 30kpps 33 765 Voltage reference for line speed input 0 1 to 100 0 1 50 33 766 Line speed reference 1 to 6553 4 0 1 1000 33 49 767 Line speed unit 0 1 2 3 1 0 33...

Страница 14: ...999 0 1 9999 817 Torque limit level during deceleration 0 to 400 9999 0 1 9999 818 Easy gain tuning response level setting 1 to 15 1 2 819 Easy gain tuning selection 0 to 2 1 0 820 Speed control P gain 1 0 to 1000 1 60 821 Speed control integral time 1 0 to 20s 0 001s 0 333s 822 Speed setting filter 1 0 to 5s 9999 0 001s 9999 823 6 Speed detection filter 1 0 to 0 1s 0 001s 0 001s 824 Torque contro...

Страница 15: ... Speed feed forward gain 0 to 1000 1 0 882 Regeneration avoidance operation selection 0 to 3 1 0 53 883 Regeneration avoidance operation level 300 to 800V 0 1V 380 760V 2 884 Regeneration avoidance at deceleration detection sensitivity 0 to 5 1 0 885 Regeneration avoidance compensation frequency limit value 0 to 10Hz 9999 0 01Hz 6Hz 886 Regeneration avoidance voltage gain 0 to 200 0 1 100 888 Free...

Страница 16: ...c flux 0 to 300 0 1 100 989 Parameter copy alarm release 10 100 1 10 100 2 990 PU buzzer control 0 1 1 1 991 PU contrast adjustment 0 to 63 1 58 Pr CL Parameter clear 0 1 1 0 ALLC All parameter clear 0 1 1 0 Er CL Faults history clear 0 1 1 0 PCPY Parameter copy 0 to 3 1 0 1 Differ according to capacities 6 0 4K 0 75K 4 1 5K to 3 7K 3 5 5K 7 5K 2 11K to 55K 1 75K or higher 2 Differ according to ca...

Страница 17: ...tection Pulse train input A B phase single phase and analog input are selectable Gear ratio setting Available Maximum winding diameter minimum winding diameter setting Available Four patterns are selectable with external signal Speed control proportional gain compensation Available Straight movement with three turns against the roll diameter can be performed Winding diameter storage Available Comm...

Страница 18: ...eed detector Pr 180 83 Pr 762 0 Pr 763 4 Pr 267 1 or 2 Voltage current input selection switch 1 OFF Winding diameter calculation X83 ON X35 X83 OFF Pr 771 9999 Main speed acceleration deceleration Target line speed calculation Pr 756 Pr 757 PID calculation Pr 129 Pr 130 Pr 134 Winding diameter Speed limit X IM Line speed Speed setting Dancer roll position detection Dancer roll set point Pr 133 Acc...

Страница 19: ...Pr 751 as offset 34 Integral term activation signal X34 Turn X34 signal ON OFF to enable disable the control by integral term OFF Disables integral term ON Enables integral term Integral term is enabled when X34 signal is not assigned 35 Speed compensation gain selection X35 Turn ON to select compensation by main rotation speed command OFF Speed compensation gain does not change regardless of main...

Страница 20: ...7 to Pr 780 Speed control proportional gain 47 Pr 190 to Pr 196 setting Signal Description Refer to page Positive logic Negative logic 14 114 PID lower limit FDN Output when dancer roll position goes lower than the setting in Pr 132 PID lower limit 29 15 115 PID upper limit FUP Output when dancer roll position goes higher than the setting in Pr 131 PID upper limit 29 50 150 Signal loss detection Y...

Страница 21: ...nsion setting input selection Pr 734 5 3 4 6 51 1 Can be set when Pr 291 1 11 21 or 100 2 Setting Pr 785 2 sets the taper ratio setting as the terminal 4 input regardless the Pr 733 setting Setting not available REMARKS While the dancer tension control selection X83 signal is ON the setting values of Pr 731 to Pr 734 and Pr 763 have higher precedence over the other assigned terminal settings such ...

Страница 22: ...ctor 0 Pr 385 Frequency for zero input pulse 0r min Pr 386 Frequency for maximum input pulse Maximum speed Pr 703 Minimum number of input pulse 0 Pr 704 Maximum number of input pulse Maximum number of pulses Setting with digital input FR A7AX Set parameters below according to BCD and binary code signals Pr 304 Digital input and analog input compensation enable disable selection Pr 300 BCD input bi...

Страница 23: ...termediate shafts Winding Unwinding shafts Perform winding diameter compensation Do not perform winding diameter compensation Winding diameter calculator setting Set Pr 763 Line speed input selection Refer to page 33 Set Pr 771 r r limit value diameter 9999 to inactivate winding diameter calculator Refer to page 38 Test run Gear ratio setting Set gear ratio with Pr 773 Gear ratio numerator driver ...

Страница 24: ...66 Line speed reference Refer to page 33 Enter the same setting unit as Pr 766 in Pr 767 Line speed unit Refer to page 33 Winding diameter compensation setting Set winding diameters Pr 720 Maximum winding diameter 1 Maximum diameter Pr 721 Minimum winding diameter 1 Minimum diameter Refer to page 35 Set a sampling time for the winding diameter calculation Pr 707 Sampling time for winding diameter ...

Страница 25: ...nimum diameter roll Speed control P I gain adjustment flowchart Start Set 0 in Pr 821 Speed control integral time 1 Initial value is 0 333s Adjustment with the minimum diameter roll Increase Pr 820 Speed control P gain 1 by 10 increments and adjust the gain to the value of setting right before vibration noise is produced 0 8 to 0 9 throughout minimum speed to maximum speed Make a memo of the setti...

Страница 26: ...m speed Make a memo of the setting D in Pr 820 Speed control P gain 1 at this time Obtain the setting D for Pr 779 from the formula below Set medium diameters Medium diameter roll 1 Pr 775 Speed control proportion term applied diameter 1 Medium diameter roll 1 minimum diameter Maximum diameter minimum diameter 100 Medium diameter roll 2 Pr 776 Speed control proportion term applied diameter 2 Mediu...

Страница 27: ...l to move like diagram 2 at each situation of acceleration constant speed deceleration and sudden deceleration through minimum diameter to maximum diameter 2 Adjustment when response is high hunting occurs too frequently Increase Pr 129 PID proportional band by 10 increments Increase Pr 130 PID integral time by 0 1s increments Make several adjustments for the dancer control to move like the diagra...

Страница 28: ...ime becomes less set point can be reached faster POINT Turn X83 signal ON to perform dancer control and winding diameter compensation When X83 signal is OFF dancer control and winding diameter compensation are not performed It may be necessary to perform dancer control with winding diameter compensation disabled winding diameter is retained for intermediate shafts In such case turn ON X83 signal a...

Страница 29: ...e Pr 135 to Pr 137 PID gain can be set individually with Pr 135 to Pr 137 when deviation of dancer roll position signal terminal 1 is negative against the desired set point When the setting is 9999 settings in Pr 129 Pr 130 Pr 134 are active independently of negative or positive deviation Pr 709 Pr 710 Integral clamp positive polarity Integral clamp negative polarity 9999 9999 100 100 9999 0 to 10...

Страница 30: ...e logic in any of Pr 190 to Pr 196 Output terminal function selection to assign Y54 signal to an output terminal Setting in Pr 731 Input terminal 3 Terminal 2 0 to 100 4 Terminal 4 0 to 100 5 Initial value Terminal 1 100 to 100 6 Terminal 6 100 to 100 FR A7AZ Setting in Pr 133 Set point 600 100 500 0 400 100 REMARKS Dancer position can be monitored in by setting Pr 52 27 The automatic restart afte...

Страница 31: ...utput terminal Parameter Number Name Setting Range Increments Initial Value Remarks 131 PID upper limit 400 to 600 9999 0 1 9999 400 100 500 0 600 100 132 PID lower limit 400 to 600 9999 0 1 9999 711 Signal loss detection stationary time 0 to 100s 9999 0 01s 9999 9999 No signal loss detection Pr 190 to Pr 196 Setting Signal Function Functions Positive logic Negative logic 50 150 Y50 Dancer roll si...

Страница 32: ... to 300 0 1 0 Calibration of terminal 1 C15 918 Terminal 1 gain speed 0 to 300 0 1 100 C31 926 Terminal 6 bias speed 0 to 300 0 1 0 Calibration of terminal 6 for plug in option FR A7AZ C33 927 Terminal 6 gain speed 0 to 300 0 1 100 Pr 131 Pr 132 setting Limit value 600 100 500 0 400 100 X89 X90 PID gain switchover Parameters selected Remarks OFF OFF First PID gain Pr 129 Pr 130 Pr 134 to Pr 137 Wh...

Страница 33: ... Parameter Number Name Setting Range Increments Initial Value Remarks 138 Integral control presence absence 0 to 3 1 0 270 Dancer position A 400 1 to 600 0 1 600 400 100 500 0 600 100 271 Dancer position B 400 to 599 9 0 1 400 272 Dancer position C1 400 1 to 599 9 9999 0 1 9999 273 Dancer position C2 400 1 to 599 9 9999 0 1 9999 274 PID position gain A 0 1 to 1000 9999 0 1 9999 275 PID position ga...

Страница 34: ...esult speed compensation gain main speed PID calculation result main speed Speed command value PID calculation result speed compensation gain main speed PID calculation result Pr 706 Pr 798 main speed Pr 798 main speed Speed command value PID calculation result speed compensation gain main speed PID calculation result Pr 706 main speed Main speed winding diameter compensated Pr 706 Speed compensat...

Страница 35: ...ameter D which is obtained from winding diameter calculation or from stored winding diameter and target line speed V which is desired to be constant POINT Turn X83 signal ON to perform dancer control tension control and winding diameter compensation When X83 signal is OFF dancer control tension control and winding diameter compensation are not performed To disable dancer control and perform windin...

Страница 36: ...arge time constant when you want to delay the tracking of the speed command and when the analog input voltage fluctuates etc Filters can be applied to pulse train input when Pr 763 1 2 or 7 by using Pr 768 Line speed input filter time constant Filters can be applied to analog input with input filter time constant of Pr 74 when Pr 763 3 4 5 or 6 Pr 763 Line speed input selection Unit Line speed inp...

Страница 37: ... setting in Pr 762 becomes disabled and winding unwinding shaft is selected by the ON OFF of input terminal 3 Gear ratio calculation Pr 773 Pr 774 Set a gear ratio when a reduction gear is installed between the driving shaft and motor shaft Gear ratio calculation Pr 762 Winding unwinding selection Winding unwinding 0 Winding 1 Unwinding X56 signal Winding unwinding ON Winding OFF Unwinding Paramet...

Страница 38: ...tion values are clamped at minimum diameter Pr 721 and at maximum diameter Pr 720 Parameter Number Name Setting Range Increments Initial Value 752 Material thickness d1 0 to 20mm 9999 0 001mm 9999 753 to 755 Material thickness d2 to Material thickness d4 0 to 20mm 0 001mm 1mm Parameter Number Name Setting Range Increments Initial Value 720 Maximum winding diameter 1 1 to 6553mm 1mm 2mm 721 Minimum...

Страница 39: ... kept Change of winding diameter which is caused by calculation error at low speed operation can be reduced Winding diameter calculation is performed when main rotation speed reaches or becomes faster than Pr 797 Result obtained from winding diameter calculation is kept when main rotation speed does not reach Pr 797 External input signal Maximum winding diameter minimum winding diameter Material t...

Страница 40: ... diameter is decided by setting of Pr 762 Winding unwinding selection and ON OFF of X53 to X56 signals Refer to page 35 For the X55 signal set 55 in any of Pr 178 to Pr 189 input terminal function selection to assign the function When exchanging a spool in a winding unwinding shaft always perform stored winding diameter clear turn ON X55 and set to the initial value Parameter Number Name Setting R...

Страница 41: ...ng diameter calculation Pr 769 Pr 770 Compensated main rotation speed by winding diameter calculation can be filtered Set a waiting time before applying first order lag filter to main speed which is compensated by winding diameter calculation in Pr 769 after a start In Pr 770 set a filter time constant which will be applied to compensated main rotation speed by winding diameter calculation When 0 ...

Страница 42: ...rol for normal operation instead of gain for winding diameter calculation 2 Initial winding diameter calculation start point Pr 790 Accumulated amount Pr 792 Set Pr 790 Initial winding diameter calculation start point and Pr 792 Accumulated amount for the initial winding diameter calculation Accumulated amount 2 L Parameter Number Name Setting Range Increments Initial Value 133 Target dancer posit...

Страница 43: ...ameter Number Name Setting Range Increments Initial Value 793 Speed control P gain at a start 0 to 1000 1 60 794 Speed control integral time at start 0 to 20s 0 001s 2s Target position Lower limit position Dead zone 2 Dead zone band Target position Start position Pr 712 100 Using Pr 791 setting when Pr 712 9999 Dead zone Dead zone band Target position Start position Pr 791 100 Performing winding d...

Страница 44: ...chanical interlocks for operation of devices and Y51 signal If the dancer roll falls below the initial winding diameter calculation start point during STF OFF the signal output becomes OFF Set 51 positive logic or 151 negative logic in any of Pr 190 to Pr 196 Output terminal function selection to assign Y51 signal to an output terminal PID calculated value kp 1 1 Td S Ti S Pr 190 to Pr 196 Setting...

Страница 45: ... 178 to Pr 189 input terminal function selection to assign X86 signal Stored winding unwinding length is not cleared by stored winding diameter clear X55 signal input 4 Winding unwinding length detection Y53 signal Winding unwinding completion signal Y53 turns ON when winding unwinding length of material exceeds the set length in Pr 279 Winding unwinding length detection Set 53 positive logic or 1...

Страница 46: ...input 3 Terminal 2 0 to 100 Calibrated with Pr 125 and C2 to C4 4 Terminal 4 0 to 100 Calibrated with Pr 126 and C5 to C7 5 Terminal 1 100 to 100 Calibrated with Pr 125 and C2 to C4 6 FR A7AZ Terminal 6 100 to 100 Calibrated with C30 to C33 7 FR A7AL Single phase pulse train input Operation mode Rotation speed selection External operation Pulse train input Terminal JOG single phase pulse train inp...

Страница 47: ...Analog input gain X87 X88 OFF OFF Gain frequency of the selected analog input terminal ON OFF Main speed analog gain 2 Pr 728 OFF ON Main speed analog gain 3 Pr 729 ON ON Main speed analog gain 4 Pr 730 Parameter Number Name Setting Range Increments Initial Value Remarks 785 Terminal 4 function setting 1 2 9999 1 9999 1 Compensation input 2 Analog input signal for taper setting 9999 Terminal 4 is ...

Страница 48: ...ulse 0 to 100kpps 0 01kpps 0kpps 704 Maximum number of input pulse 0 to 100kpps 0 01kpps 100kpps Frequency Hz Input pulse kpps 400 Frequency Hz Input pulse kpps 0 0 Frequency Hz Input pulse kpps 0 Frequency Hz Input pulse kpps 0 1 Pr 385 Pr 386 Pr 703 Pr 704 2 Pr 385 Pr 386 Pr 703 Pr 704 3 Pr 385 Pr 386 Pr 703 Pr 704 4 Pr 385 Pr 386 Pr 703 Pr 704 400 400 400 Pr 386 Frequency for maximum input puls...

Страница 49: ...minal function selection to assign X51 signal Set 52 in any of Pr 178 to Pr 189 input terminal function selection to assign X52 signal Pr 21 Setting Acceleration Deceleration Time Minimum Setting Increments Setting Range 0 Pr 756 Pr 757 Pr 758 Pr 759 Pr 760 Pr 761 0 1s 0 to 3600s 1 0 01s 0 to 360s External Terminal Input Acceleration Deceleration Time X51 X52 OFF OFF First acceleration deceleratio...

Страница 50: ...ame Setting Range Increments Initial Value 775 Speed control proportion term applied diameter 1 0 to 100 9999 1 9999 776 Speed control proportion term applied diameter 2 0 to 100 9999 1 9999 777 Speed control proportional gain 1 0 to 1000 9999 1 9999 778 Speed control proportional gain 2 0 to 1000 9999 1 9999 779 Speed control proportional gain 3 0 to 1000 9999 1 9999 780 Speed control proportiona...

Страница 51: ...er are compared When the winding diameter exceeds its target target winding diameter achieved signal Y52 turns ON Set 52 positive logic or 152 negative logic in any of Pr 190 to Pr 196 Output terminal function selection to assign Y52 signal to an output terminal Parameter Number Name Setting Range Increments Initial Value 750 Target winding diameter 1 to 6553mm 1mm 1mm ...

Страница 52: ...oll set point 0 1 52 40252 34 11 Measured dancer roll value 0 1 53 40253 35 12 Dancer roll position deviation 0 1 54 40254 36 13 Line speed pulse monitor kpps 62 40262 3E 14 Tension command 0 1 63 40263 3F 15 Mechanical loss compensation 0 1 64 40264 40 16 Inertia compensation 0 1 65 40265 41 Parameter Number Name Setting Range Increments Initial Value Remarks 766 Line speed reference 1 0 to 6553 ...

Страница 53: ...ors for adjustment simultaneously set 3939 or greater number in Pr 52 Selected two monitors can be displayed using 4 digits The monitor corresponding with the first two digits is displayed instead of current monitor and the monitor of the last two digits is displayed instead of voltage monitor Example When Pr 52 4042 First 2 digits are 40 Winding diameter monitor Winding diameter monitor is displa...

Страница 54: ...ection 785 Terminal 4 function setting 1 2 9999 1 9999 1 compensation input 2 analog input signal for taper setting 9999 terminal 4 is disabled 787 Taper ratio setting 0 to 100 9999 0 1 0 9999 input from the analog terminal assigned by Pr 733 788 Winding diameter at taper start 1 to 6553mm 9999 1mm 9999 9999 taper start at minimum winding diameter 789 Dancer tension setting 1 to 100 9999 0 1 100 9...

Страница 55: ...log input terminal is assigned Pr 787 9999 the taper setting becomes 0 When Pr 789 9999 an input value to the analog terminal is set to the tension setting T The analog terminal is assigned by Pr 734 Analog values are clamped between 0 and 100 0 If no analog input terminal is assigned because of a prioritized function or Pr 734 9999 setting etc the tension setting T is set to 0 Monitoring Number X...

Страница 56: ...n Pr 338 Communication operation command source 0 NET 1 External Remarks Pr 339 Communication speed command source 0 NET 1 External 2 External 0 NET 1 External 2 External Fixed function terminal equivalent function Running frequency from communication NET NET NET NET Terminal 2 External External Terminal 4 External External Terminal 1 dancer roll position detection External Selective function Pr 1...

Страница 57: ...g diameter selection NET External 55 X55 Winding diameter storage clear NET External 56 X56 Winding unwinding selection NET External 57 X57 Inertia compensation acceleration NET External 58 X58 Inertia compensation deceleration NET External 59 X59 Inertia compensation second acceleration deceleration time selection NET External 60 STF Forward rotation command NET External 61 STR Reverse rotation c...

Страница 58: ...ation acceleration inertia compensation deceleration inertia compensation second acceleration deceleration time selection winding diameter measurement stall operaion Dedicated output signal Winding diameter calculation completion Dedicated monitored item Tension command mechanical loss compensation inertia compensation IM FR A700 A1 STF STR X58 X57 IM FR A700 2 STF STR Middle shaft speed control L...

Страница 59: ...d When the X83 signal is not assigned normal operation is performed To use the tension control and the winding diameter compensation function make sure to assign this signal Turn ON OFF the X83 in a stop status to switch between the tension control and normal operation After turning ON the X83 signal wait 20ms or longer to input a start command STF STR 32 59 91 Winding diameter measurement X91 Tur...

Страница 60: ...763 3 4 5 or 6 Pulse train input Pr 763 1 2 or 7 Without line speed input signal Pr 763 0 For Pr 765 Voltage reference for line speed input set an analog voltage which is input to the inverter when the line speed reaches the set speed in Pr 766 Refer to page 33 For Pr 764 Pulse reference for line speed input set a pulse frequency which is input when the line speed reaches the set speed in Pr 766 R...

Страница 61: ...input terminal with Pr 733 Refer to page 18 Calibrate a terminal in the same calibration procedure as for the set point input Refer to page 29 Using the inertia compensation function Without the inertia compensation function Inertia compensation setting Assign the X57 and X58 signals to input terminals Set Pr 20 Pr 713 and Pr 714 to Pr 716 Refer to page 62 Set 57 or 58 in any of Pr 178 to Pr 189 i...

Страница 62: ... the winding diameter calculation starts in a winding operation started with a bare roll POINT To use the tension control set Pr 800 6 vector control or 16 Real sensorless vector control Turn ON the X83 signal to activate the tension control Tension control is unavailable while the X83 signal is OFF To assign the X83 signal set 83 in any of Pr 178 to Pr 189 input terminal function selection Parame...

Страница 63: ...ompletion signal Y51 The winding diameter calculation completion signal turns ON when the winding measurement started by the ON of the measured winding diameter input signal is completed After the winding diameter calculation completion signal turns ON turn OFF the measured winding diameter input signal To use the measured winding diameter calculation completion signal set 51 in any of Pr 190 to P...

Страница 64: ...diameter calculation result The initial winding diameter is the minimum diameter in a winding operation and the maximum diameter in an unwinding operation Parameter Number Name Setting Range Setting Increments Initial Value Remarks 717 Tension command cushion time 0 to 360s 0 01s 0s 787 Taper ratio setting 0 to 100 9999 0 1 0 9999 Analog terminal input 788 Tapering start diameter 0 to 9998mm 9999 ...

Страница 65: ...n Parameter Number Name Setting Range Setting Increments Initial Value Remarks 713 Initial inertia moment 0 to 500kg m2 0 01kg m2 0kg m2 714 Roll width 0 to 5000mm 1mm 0mm 715 Material specific gravity 0 to 20g cm3 0 001g cm3 0g cm3 716 Inertia compensation cushion time 0 to 360s 0 01s 0s Load moment of inertia X59 Pr 757 Pr 759 X59 Pr 756 Pr 758 X57 Acceleration signal X58 Deceleration signal Tor...

Страница 66: ... D diameter obtained by the winding diameter calculation m Pr 715 material specific gravity g cm3 Pr 714 roll width m Pr 721 roll diameter m Inertia compensation cushion time Inertia compensation cushion time is the time to reach the 100 torque command X57 signal X58 signal Inertia compensation OFF OFF Not performed ON OFF Acceleration OFF ON Deceleration ON ON Not performed X59 signal Acceleratio...

Страница 67: ...tically sorted by their set frequencies in the inverter When the same frequency is set in Pr 740 to Pr 749 the setting in the smallest Pr number takes precedence When 0Hz is set in the mechanical loss setting frequencies 1 to 5 the Pr 739 setting is ignored Parameter Number Name Setting Range Setting Increments Initial Value Remarks 739 Mechanical loss setting frequency bias 400 to 600 1 500 740 M...

Страница 68: ...gnal while the X92 signal is ON decelerates the motor to a stop in Pr 760 Parameter Number Name Setting Range Setting Increments Initial Value Remarks 737 Stall torque setting 0 to 200 0 1 20 738 Speed limit for stall operation 0 to 60Hz 0 01Hz 1Hz 760 Third acceleration time for the main speed 0 to 3600s 0 to 360 0 1s 0 01s 15s The setting increment is determined by the Pr 21 Acceleration deceler...

Страница 69: ...m is displayed on PU DU instead of the voltage monitor When the tension control is disabled 0 is displayed The value displayed on the monitor is a signal value plus 500 Signal Name Minimum Increment Pr 52 Setting Modbus RTU Register Mitsubishi Inverter Protocol Monitoring Number Tension command 0 1 63 40263 3F Mechanical loss compensation 0 1 64 40264 40 Inertia compensation 0 1 65 40265 41 Signal...

Страница 70: ...tion of dancer roll controller is embedded Additional Function Description Dancer control function Controls the speed of wind up shaft to keep the position of dancer roll steady Analog signal output for dancer control Tension command for dancer roll is output by analog signal Winding diameter compensation function Controls rotation speed of motor to keep the rim speed constant by calculating the d...

Страница 71: ...ted motor SF V5RU 72 PWM frequency selection 1 15 73 Analog input selection 1 10 Main speed 0 to 10V Dancer 0 to 10V polarity reversible 80 Motor capacity 9999 15kW 81 Number of motor poles 9999 4P 125 Terminal 2 frequency setting gain frequency 60Hz 79 58Hz 128 PID action selection 40 40 Dancer control reverse action 129 PID proportional band 100 100 130 PID integral time 1s 10s 133 Target dancer...

Страница 72: ...rter alarm or fault occurs When RES input is necessary for an inverter alarm or in such case turn X83 signal OFF before RES input then input X83 again so that stored winding diameter can be used 783 Operation time with stored winding diameter 0 0 01s Setting is always necessary to activate winding diameter storage If not set stored data is not updated 785 Terminal 4 function setting 9999 2 2 Analo...

Страница 73: ...ll Low percentage of speed fluctuation Winding under high load inertia Speed response level internal response is 300rad s when vector control with encoder is used Cost reduction Dancer roll controller is embedded Additional Function Description Dancer control function Controls the speed of wind up shaft to keep the position of dancer roll steady Winding diameter compensation function Controls the ...

Страница 74: ...ion mode selection 0 2 Fixed to External operation mode 80 Motor capacity 9999 7 5kW 81 Number of motor poles 9999 4P 125 Terminal 2 frequency setting gain frequency 60Hz 90 95Hz Setting is made according to the rotation speed at Vmax Dmin and the speed command at the time maximum voltage command for terminal 2 to 5 Vmax Dmin gear ratio 128 PID action selection 10 41 Dancer control forward action ...

Страница 75: ...peed control proportional gain 4 9999 300 781 Winding diameter storage selection 0 1 Input of diameter clear signal X55 is necessary to assign to a terminal when winding diameter storage is enabled Winding diameter EEPROM write is stored when power is shut off or X83 is OFF It is not stored to EEPROM when RES signal is ON Should not input RES unless inverter alarm or fault occurs When RES input is...

Страница 76: ...on constant the torque is controlled based on the winding diameter Tension T Torque Radius r Purpose Feature Cost reduction Eliminate the dancer roll and the tension controller by tension control Stable tension Keep the tension steady during operation including acceleration deceleration by inertia compensation mechanical loss compensation Added Function Description Winding diameter calculation fun...

Страница 77: ... 429 Pr 430 are deleted Orientation control Pr 350 to Pr 358 Pr 360 to Pr 366 Pr 393 Pr 396 to Pr 399 are deleted Encoder feedback control Pr 367 Pr 368 are deleted Energy saving monitor function Pr 891 to Pr 899 are deleted Stop selection Pr 250 is deleted First cushion voltage time for restart Pr 163 Pr 164 are deleted Monitor Pr 52 setting range 26 27 40 to 45 62 to 65 are added 50 51 are delet...

Страница 78: ... 500 to the present setting value PID differential time 134 134 Integral clamp positive polarity 501 709 Parameter number is changed Integral clamp negative polarity 502 710 Parameter number is changed Integral I gain 503 Deleted Deleted as the function is the same as PID integral time Pr 130 Speed compensation gain 506 706 Parameter number is changed Input Terminal Function Changed Setting Value ...

Страница 79: ...rol Speed control Torque control Position control Speed control Torque control 135 PID proportional band for under set point value 23 A3 1 136 PID integral time for under set point value 24 A4 1 137 PID differential time for under set point value 25 A5 1 138 Integral control presence absence 26 A6 1 270 Dancer position A 4E CE 2 271 Dancer position B 4F CF 2 272 Dancer position C1 50 D0 2 273 Danc...

Страница 80: ... 718 Dancer tension setting bias 12 92 7 719 Dancer tension setting gain 13 93 7 720 Maximum winding diameter 1 14 94 7 721 Minimum winding diameter 1 15 95 7 722 Maximum winding diameter 2 16 96 7 723 Minimum winding diameter 2 17 97 7 724 Maximum winding diameter 3 18 98 7 725 Minimum winding diameter 3 19 99 7 726 Maximum winding diameter 4 1A 9A 7 727 Minimum winding diameter 4 1B 9B 7 728 Mai...

Страница 81: ...ion 3E BE 7 763 Line speed input selection 3F BF 7 764 Pulse reference for line speed input 40 C0 7 765 Voltage reference for line speed input 41 C1 7 766 Line speed reference 42 C2 7 767 Line speed unit 43 C3 7 768 Line speed input filter time constant 44 C4 7 769 Filter treatment waiting time 45 C5 7 770 Filter time constant 46 C6 7 771 r r limit value diameter 47 C7 7 772 r r limit disable time...

Страница 82: ... diameter calculation dead zone 5B DB 7 792 Accumulated amount 5C DC 7 793 Speed control P gain at a start 5D DD 7 794 Speed control integral time at start 5E DE 7 795 Integral term limit at a start 5F DF 7 796 PID term limit at a start 60 E0 7 797 Rotation speed at winding diameter calculated value activation 61 E1 7 798 Speed compensation bias 62 E2 7 799 Winding diameter monitor reference 63 E3...

Страница 83: ...speed pulse monitor 49 Line speed pulse monitor function 50 M Main speed command by analog input 44 Main speed command by terminal JOG single phase pulse train input Pr 384 to Pr 386 Pr 703 Pr 704 45 Main speed monitor 49 Main speed setting signal 16 43 56 Material thickness maximum minimum winding diameter setting Pr 720 to Pr 727 Pr 752 to Pr 755 X53 signal X54 signal 35 Measured dancer roll val...

Страница 84: ...ion 32 Winding diameter calculation during tension control Pr 797 X91 signal Y51 signal 59 Winding diameter compensation selection X84 signal 16 25 56 Winding diameter compensation speed monitor 49 Winding diameter measurement X91 signal 16 56 Winding diameter monitor 49 50 Winding diameter storage clear X55 signal 37 Winding taper function Pr 717 Pr 787 Pr 788 61 Winding unwinding completion Y53 ...

Страница 85: ...on the bottom left of the back cover Print Date Manual Number Revision Nov 2008 IB NA 0600372ENG A First edition Jan 2009 IB NA 0600372ENG B Partial modification Oct 2012 IB NA 0600372ENG C Tension control function Addition IB NA 0600372ENG C ...

Страница 86: ... source Pr 338 Pr 339 53 TENSION CONTROL 55 4 1 Dedicated function list 55 4 2 System configuration example 55 4 3 Block diagram of the control 56 4 4 Dedicated I O signal 56 4 5 Tension control parameter setting procedure 57 4 6 Details of the tension control 59 APPLICATION EXAMPLE 67 5 1 Dancer control with winding diameter compensation for printers 67 5 2 Dancer control with winding diameter co...

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