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30

ENCODER FEEDBACK CONTROL

4

4.3

Encoder Feedback Control Parameter List

Fitting the FR-A7AP adds the following parameters for encoder feedback operation.
Refer to 

the Inverter Manual (Applied)

 for details of parameter.

4.4

Specifications

Parameter 

Number

Name

Setting Range

Increments

Initial Value

359

Encoder rotation direction

0, 1

1

1

367

Speed feedback range

0 to 400Hz, 9999

0.01Hz

9999

368

Feedback gain

0 to 100

0.1

1

369

Number of encoder pulses

0 to 4096

1

1024

374

Overspeed detection level

0 to 400Hz

0.01Hz

140Hz

376

Encoder signal loss detection 
enable/disable selection

0, 1

1

0

Speed variation ratio

±

0.1% (100% means 3600r/min)

Function

⋅

Setting of speed feedback range

⋅

Setting of feedback gain

⋅

Setting of encoder rotation direction

Maximum speed

120Hz (102400 pulse/s or less encoder pulses)

Содержание FR-A7AP

Страница 1: ...Plug in option INSTRUCTION MANUAL 1 2 3 4 5 FR A7AP Orientation control Encoder feedback control Vector control INSTALLATION ORIENTATION CONTROL ENCODER FEEDBACK CONTROL PRE OPERATION INSTRUCTIONS VECTOR CONTROL ...

Страница 2: ...afety WARNING CAUTION CAUTION SAFETY INSTRUCTIONS WARNING While the inverter power is ON do not open the front cover or the wiring cover Do not run the inverter with the front cover or the wiring cover removed Otherwise you may access the exposed high voltage terminals or the charging part of the circuitry and get an electric shock Even if power is OFF do not remove the front cover except for wiri...

Страница 3: ...ludes screws and metal fragments or other flammable substances such as oil CAUTION Before starting operation each parameter must be confirmed and adjusted A failure to do so may cause some machines to make unexpected motions WARNING Do not modify the equipment Do not perform parts removal which is not instructed in this manual Doing so may lead to fault or damage of the inverter CAUTION When param...

Страница 4: ...A 3 MEMO ...

Страница 5: ... 3 2 INSTALLATION 4 2 1 Pre installation instructions 4 2 2 Installation procedure 5 2 3 Encoder Specifications Terminating Resistor Switch 7 2 4 Wiring 9 2 5 Encoder Cable 13 2 6 Encoder 15 2 7 Parameter for Encoder 17 3 ORIENTATION CONTROL 19 3 1 Wiring Example 19 3 2 Terminals 21 3 3 Parameter List for Orientation Control 24 3 4 Specifications 25 ...

Страница 6: ... 1 Wiring Examples 27 4 2 Terminals 29 4 3 Encoder Feedback Control Parameter List 30 4 4 Specifications 30 5 VECTOR CONTROL 31 5 1 Wiring Examples 31 5 2 Terminals 35 5 3 Vector Control Extended Parameter List 36 5 4 Specifications 39 ...

Страница 7: ... 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 A700 A701 series 1 1 1 Product confirmation Check the enclosed items Plug in option 1 Mounting screw M3 6mm 2 Refer to page 5 Hex head screw for option mounting 5 5mm 1 Refer to page 5 5 5mm ...

Страница 8: ... 2 2K J5 FR A720 5 5K to 11K L5 FR A740 3 7K H5 FR A720 15K to 22K M5 FR A740 5 5K 7 5K G5 FR A720 30K Q5 FR A740 11K to 22K F5 FR A720 37K M5 FR A740 30K to 55K E5 FR A720 45K L5 FR A740 75K 90K G5 FR A720 55K K5 FR A740 110K to 160K E5 FR A720 75K 90K E5 FR A740 185K to 500K C5 Rating plate example 5 Symbol Year Month Control number SERIAL Serial No The SERIAL consists of 1 version symbol 2 nume...

Страница 9: ...facturer setting SW3 Do not change from initially set status 1 2 OFF Terminating resistor selection switch SW2 Switch ON OFF of the internal terminating resistor CON2 connector Not used Terminal block Connector Connect to the inverter option connector Terminal layout PA2 PB2 PZ2 SD SD PO PA1 PB1 PZ1 PG PG PIN 1 2 3 4 O N 1 2 O N 1 2 O N SW2 SW1 LED1 LED2 LED3 SW3 FR A7AP PIN and PO are not used Re...

Страница 10: ...ut power of the inverter is OFF CAUTION With input power ON do not install or remove the plug in option Otherwise the inverter and plug in option may be damaged Static electricity in your body must be discharged before you touch the product Otherwise the product may be damaged ...

Страница 11: ...nverter with the accessory mounting screws Tightening torque 0 33Nxm to 0 40Nxm If the screw holes do not line up the connector may not have been plugged securely Check for loose plugging REMARKS Remove a plug in option after removing two screws on both left and right sides When the plug in option is mounted in the connector 3 it is easier to remove the plug in option after removing a control circ...

Страница 12: ...rrors shown differ according to the mounting positions connectors 1 2 3 When mounting removing an option hold the sides of the option Do not press on the parts on the option circuit board Stress applied to the parts by pressing etc may cause a failure Take caution not to drop a hex head screw for option mounting or mounting screw during mounting and removal Pull the option straight out when removi...

Страница 13: ...r and set to OFF when complementary ON with internal terminating resistor initial setting status OFF without internal terminating resistor REMARKS Set all switches to the same setting ON OFF If the encoder output type is differential line driver set the terminating resistor switch to the OFF position when sharing the same encoder with other unit CNC computerized numerical controller etc or a termi...

Страница 14: ...s 1 1 1 Mitsubishi constant torque motor with encoder SF JRCA Differential ON 5V SF HRCA Differential ON 5V Others 1 1 1 Vector control dedicated motor SF V5RU Complementary OFF 12V Other manufacturer s motor with encoder 1 1 1 1 Set according to the motor encoder used 2 Choose a power supply for encoder according to the encoder used 5V 12V 15V 24V When the encoder output is the differential line ...

Страница 15: ...ns of encoder To reduce noise of the encoder cable earth ground the encoder shielded cable to the enclosure as close as the inverter with a P clip or U clip made of metal Wiring Length Parallel Connection Cable gauge 0 2mm2 Larger Size Cable Within 10m At least 2 cables 0 4mm2 or larger Within 20m At least 4 cables 0 75mm2 or larger Within 100m At least 6 cables 1 25mm2 or larger REMARKS For detai...

Страница 16: ...le of the shielded twisted pair cable to ensure that it will not make contact with the conductive area Strip off the sheath for the below length If the length of the sheath peeled is too long a short circuit may occur with neighboring wires If the length is too short wires might come off Wire the stripped cable after twisting it to prevent it from becoming loose In addition do not solder it Use a ...

Страница 17: ...ade screwdriver Tip thickness 0 4mm tip width 2 5mm CAUTION Undertightening can cause cable disconnection or malfunction Overtightening can cause a short circuit or malfunction due to damage to the screw or unit Terminal Screw Size Wire Size mm2 Blade Terminal Model Blade terminal crimping tool with insulation sleeve without insulation sleeve M2 0 3 0 5 AI 0 5 6WH A 0 5 6 CRIMPFOX 6 When using the...

Страница 18: ...ls because they are used in the option unit If they are used as the junction terminals the option unit may be damaged When performing wiring using the space between the inverter front cover and control circuit terminal block take care not to subject the cable to stress After wiring wire offcuts must not be left in the inverter They may cause a fault failure or malfunction Cut off a hook on the inv...

Страница 19: ...eyway FR A700 FR A7AP 60mm L F DPEVSB 12P 0 2mm2 D MS3057 12A Earth cable D MS3106B20 29S Approx 140mm Type Length L m FR JCBL5 5 FR JCBL15 15 FR JCBL30 30 PZ2 PZ1 PB2 PB1 PA2 PA1 SD PG G F D C B A R S Encoder 2mm2 FR A700 FR A7AP A B C D E K F G H J L M S N R P T D MS3106B20 29S As viewed from wiring side Positioning keyway L D MS3106B20 29S Earth cable F DPEVSB 12P 0 2mm2 D MS3057 12A Encoder si...

Страница 20: ...atibility table Motor SF V5RU SF THY SF JR HR JRCA HRCA with Encoder Encoder cable FR V7CBL FR V5CBL FR JCBL FR A7AP terminal PA1 PA PA PA2 Keep this open PAR PB1 PB PB PB2 Keep this open PBR PZ1 PZ PZ PZ2 Keep this open PZR PG PG 5E SD SD AG2 ...

Страница 21: ...eed ratio of 1 to 1 without any mechanical looseness To ensure correct operation the encoder must be set in the proper rotation direction and the A and B phases connected correctly P a b c d H A A B B Z Z L A A signal 1000P R to 4096P R B B signal 1000P R to 4096P R Z Z signal 1P R A signal 1000P R to 4096P R B signal 1000P R to 4096P R Z signal 1P R Differential line driver Complementary Output p...

Страница 22: ...ncoders equipped in the motors with encoders and the vector control dedicated motors Item Encoder for SF JR HR JRCA HRCA Encoder for SF V5RU SF THY Resolution 1024 pulses rev 2048 pulses rev Power supply voltage 5VDC 10 12VDC 10 Current consumption 150mA 150mA Output signal form A B phases 90 phase shift Z phase 1 pulse rev A B phases 90 phase shift Z phase 1 pulse rev Output circuit Differential ...

Страница 23: ...er rotation direction 1 0 1 369 Number of encoder pulses 1024 0 to 4096 Set the number of encoder pulses output Set the number of pulses before it is multiplied by 4 Forward rotation is clockwise rotation when viewed from A A Encoder CW A Encoder CCW Forward rotation is counterclockwise rotation when viewed from A ...

Страница 24: ...SF JR 4P 1 5kW or less 1 1024 SF HR 1 1024 Others Mitsubishi constant torque motor SF JRCA 4P 1 1024 SF HRCA 1 1024 Others Mitsubishi vector control dedicated motor SF V5RU 1500r min series 1 2048 SF THY 1 2048 Other manufacturer s standard motor Other manufacturer s constant torque motor Values in the bolded frame are initial values Set this parameter according to the motor encoder used ...

Страница 25: ...erential Terminating resistor ON OFF Complementary A N B P H K IM Differential Terminating resistor ON OFF Complementary Forward rotation start Reverse rotation start Orientation command Contact input common STF STR SD SD X22 3 Encoder Earth Ground Inverter ORM ORA 4 SE 4 FR A7AX SF V5RU U V W U V W E G1 G2 A Earth Ground 2W1kΩ 6 Three phase AC power supply MCCB B PA1 FR A7AP PA2 PB1 PB2 PZ1 PZ2 P...

Страница 26: ...h should be set to off position when sharing the same encoder with other unit NC etc or a terminating resistor is connected to other unit For the complementary set the switch to off position 8 For terminal compatibility of the FR JCBL FR V7CBL and FR A7AP refer to page 14 9 A separate power supply of 5V 12V 15V 24V is necessary according to the encoder power specification When the encoder output i...

Страница 27: ...2 Encoder B phase inverse signal input terminal PZ1 Encoder Z phase signal input terminal PZ2 Encoder Z phase inverse signal input terminal PG Power supply positive side input terminal Input power for the encoder power supply Connect the external power supply 5V 12V 15V 24V and the encoder power cable When the encoder output is the differential line driver type only 5V can be input Make sure the v...

Страница 28: ...signal read timing signal is necessary Data is read only during the DY signal is on By switching the DY signal off the X0 to X15 data before signal off is retained SD inverter Common terminal sink terminal Common terminal for digital and data read timing signals Use terminal SD of the inverter PC inverter External transistor common terminal source When connecting the transistor output open collect...

Страница 29: ... Output ORA In position signal output signal Switched low if the orientation has stopped within the in position zone while the start and orientation signals are input For the terminal used for the ORA signal output assign the function by setting 27 positive logic or 127 negative logic in any of Pr 190 to Pr 196 ORM Orientation fault signal output signal Switched low if the orientation has stopped ...

Страница 30: ... brake start position 0 to 255 1 5 356 Internal stop position command 0 to 16383 1 0 357 Orientation in position zone 0 to 255 1 5 358 Servo torque selection 0 to 13 1 1 359 Encoder rotation direction 0 1 1 1 360 16 bit data selection 0 to 127 1 0 361 Position shift 0 to 16383 1 0 362 Orientation position loop gain 0 1 to 100 0 1 1 363 Completion signal output delay time 0 to 5s 0 1s 0 5s 364 Enco...

Страница 31: ...lection DC injection brake start position setting creep speed and position loop switch position setting position shift orientation in position position pulse monitor etc Holding force after positioning Under V F control Advanced magnetic flux vector control without servo lock function Under vector control with servo lock function Input signal contact input Orientation command forward and reverse r...

Страница 32: ...26 MEMO ...

Страница 33: ...tecting the motor speed with the speed detector encoder to feed back to the inverter 4 1 Wiring Examples Three phase AC power supply MCCB R L1 S L2 T L3 SF JR motor with encoder U V W U V W E C 3 1 2 4 5 R PA1 FR A7AP PA2 PB1 PB2 PG PG SD SD Differential Terminating resistor ON OFF Complementary A N H K IM Forward rotation start Reverse rotation start Contact input common Frequency setting potenti...

Страница 34: ...h should be set to off position when sharing the same encoder with other unit NC etc or a terminating resistor is connected to other unit For the complementary set the switch to off position 5 For terminal compatibility of the FR JCBL FR V7CBL and FR A7AP refer to page 14 6 A separate power supply of 5V 12V 15V 24V is necessary according to the encoder power specification When the encoder output i...

Страница 35: ...der B phase signal input terminal PB2 Encoder B phase inverse signal input terminal PG Power supply positive side input terminal Input power for the encoder power supply Connect the external power supply 5V 12V 15V 24V and the encoder power cable When the encoder output is the differential line driver type only 5V can be input Make sure the voltage of the external power supply the same as the enco...

Страница 36: ...359 Encoder rotation direction 0 1 1 1 367 Speed feedback range 0 to 400Hz 9999 0 01Hz 9999 368 Feedback gain 0 to 100 0 1 1 369 Number of encoder pulses 0 to 4096 1 1024 374 Overspeed detection level 0 to 400Hz 0 01Hz 140Hz 376 Encoder signal loss detection enable disable selection 0 1 1 0 Speed variation ratio 0 1 100 means 3600r min Function Setting of speed feedback range Setting of feedback g...

Страница 37: ...dard motor with encoder 5V differential line driver speed control Three phase AC power supply MCCB R L1 S L2 T L3 SF JR motor with encoder U V W U V W E C 3 1 2 4 6 R PA1 FR A7AP PA2 PB1 PB2 PZ1 PZ2 PG PG SD SD Differential Terminating resistor ON OFF Complementary A N B P H K IM Forward rotation start Reverse rotation start Contact input common STF STR SD Encoder Earth Ground Inverter 10 2 2 3 1 ...

Страница 38: ...to use Refer to page 7 Note that the terminating resistor switch should be set to off position when sharing the same encoder with other unit NC etc or a terminating resistor is connected to other unit 5 A separate power supply of 5V 12V 15V 24V is necessary according to the encoder power specification When the encoder output is the differential line driver type only 5V can be input Make the voltag...

Страница 39: ...PA1 FR A7AP PA2 PB1 PB2 PZ1 PZ2 PG PG SD SD Forward rotation start Reverse rotation start Contact input common STF STR SD 1 Differential Terminating resistor ON OFF Complementary SF V5RU U V W U A B C V W E G1 G2 A 2 Three phase AC power supply MCCB B C D F G S R IM FAN Encoder External thermal relay input 8 Thermal relay protector CS OH SD Inverter PC 2W1kΩ 12VDC power supply 5 Torque command 10V...

Страница 40: ...er output is the differential line driver type only 5V can be input Make the voltage of the external power supply the same as the encoder output voltage and connect the external power supply between PG and SD When performing orientation control together an encoder and power supply can be shared 6 For terminal compatibility of the FR JCBL FR V7CBL and FR A7AP refer to page 14 7 For the fan of the 7...

Страница 41: ...e signal input terminal PZ1 Encoder Z phase signal input terminal PZ2 Encoder Z phase inversion signal input terminal PG Encoder power supply positive side input terminal Input power for the encoder power supply Connect the external power supply 5V 12V 15V 24V and the encoder power cable When the encoder output is the differential line driver type only 5V can be input Make sure the voltage of the ...

Страница 42: ...21 Command pulse scaling factor denominator 0 to 32767 1 1 422 Position loop gain 0 to 150sec 1 1sec 1 25sec 1 423 Position feed forward gain 0 to 100 1 0 424 Position command acceleration deceleration time constant 0 to 50s 0 001s 0s 425 Position feed forward command filter 0 to 5s 0 001s 0s 426 In position width 0 to 32767pulses 1 100 427 Excessive level error 0 to 400K 9999 1K 40K 428 Command p...

Страница 43: ...ion feed amount lower 4 digits 0 to 9999 1 0 476 Sixth position feed amount upper 4 digits 0 to 9999 1 0 477 Seventh position feed amount lower 4 digits 0 to 9999 1 0 478 Seventh position feed amount upper 4 digits 0 to 9999 1 0 479 Eighth position feed amount lower 4 digits 0 to 9999 1 0 480 Eighth position feed amount upper 4 digits 0 to 9999 1 0 481 Ninth position feed amount lower 4 digits 0 t...

Страница 44: ...3 Speed detection filter 1 0 to 0 1s 0 001s 0 001s 833 Speed detection filter 2 0 to 0 1s 9999 0 001s 9999 840 Torque bias selection 0 to 3 9999 1 9999 841 Torque bias 1 600 to 1400 9999 1 9999 842 Torque bias 2 600 to 1400 9999 1 9999 843 Torque bias 3 600 to 1400 9999 1 9999 844 Torque bias filter 0 to 5s 9999 0 001s 9999 845 Torque bias operation time 0 to 5s 9999 0 01s 9999 846 Torque bias bal...

Страница 45: ...eration 1 Speed variation ratio 0 01 100 means 3000r min Speed response 300rad s Note that the internal response is 600rad s with model adaptive speed control Maximum speed 120Hz 102400 pulse s or less encoder pulses Torque control Torque control range 1 50 Absolute torque accuracy 10 2 Repeated torque accuracy 5 2 Function Setting of speed feedback range Setting of feedback gain Setting of encode...

Страница 46: ...11 IB NA 0600238ENG B Radio Waves Act South Korea Screw tightening torque of the built in option Encoder feedback control specification Permissible speed under orientation control Maximum speed under vector control Sep 2012 IB NA 0600238ENG C Note on the differential line driver type encoder Radio Waves Act South Korea Addition Modification Addition Deletion ...

Страница 47: ...HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN INVERTER Printed in Japan Specifications subject to change without notice IB NA 0600238ENG C 1209 MEE ...

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