Mitsubishi Electric FR-A7AL Bedienungsanleitung

FR-A7AL INSTRUCTION MANUAL

INVERTER

Plug-in option

INSTRUCTION MANUAL

INVERTER

HEAD OFFICE: TOKYO BUILDING 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN

FR-A7AL

ORIENTATION CONTROL

ENCODER FEEDBACK CONTROL

VECTOR CONTROL

POSITION CONTROL

ENCODER PULSE DIVIDING OUTPUT

PRE-OPERATION INSTRUCTIONS

INSTALLATION

ORIENTATION CONTROL

IB(NA)-0600310ENG-B(1208) MEE Printed in Japan Specifications subject to change without notice.

ENCODER PULSE DIVIDING OUTPUT

VECTOR CONTROL

ENCODER FEEDBACK CONTROL

POSITION CONTROL FUNCTION

A-1

Thank you for choosing this Mitsubishi Inverter plug-in option.

This Instruction Manual gives handling information and

precautions for use of this equipment. Incorrect handling might

cause an unexpected fault. Before using the equipment, please

read this manual carefully to use the equipment to its optimum.

Please forward this manual to the end user.

1. Electric Shock Prevention

This section is specifically about

safety matters

Do not attempt to install, operate, maintain or inspect this

product until you have read through this Instruction Manual and

appended documents carefully and can use the equipment

correctly. Do not use this product until you have a full

knowledge of the equipment, safety information and

instructions.

In this Instruction Manual, the safety instruction levels are

classified into "WARNING" and "CAUTION".

Incorrect handling may cause

hazardous conditions, resulting in

death or severe injury.

Incorrect handling may cause

hazardous conditions, resulting in

medium or slight injury, or may

cause only material damage.

The level may even lead to a serious

consequence according to conditions. Both instruction levels

must be followed because these are important to personal

safety.

WARNING

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

wiring or periodic inspection. You may accidentally touch the

charged inverter circuits and get an electric shock.

•Before wiring or inspection, power must be switched OFF. To

confirm that, LED indication of the operation panel must be

checked. (It must be OFF.) Any person who is involved in

wiring or inspection shall wait for at least 10 minutes after the

power supply has been switched OFF and check that there

are no residual voltage using a tester or the like. The

capacitor is charged with high voltage for some time after

power OFF, and it is dangerous.

•Any person who is involved in wiring or inspection of this

equipment shall be fully competent to do the work.

•The plug-in option must be installed before wiring. Otherwise,

you may get an electric shock or be injured.

•Do not touch the plug-in option or handle the cables with wet

hands. Otherwise you may get an electric shock.

•Do not subject the cables to scratches, excessive stress,

heavy loads or pinching. Otherwise you may get an electric

shock.

A-2

2. Injury Prevention

3. Additional Instructions

Also the following points must be noted to prevent an accidental

failure, injury, electric shock, etc.

1) Transportation and mounting

2) Trial run

3) Usage

4) Maintenance, inspection and parts replacement

5) Disposal

6) General instruction

CAUTION

•The voltage applied to each terminal must be the ones

specified in the Instruction Manual. Otherwise burst, damage,

etc. may occur.

•The cables must be connected to the correct terminals.

Otherwise burst, damage, etc. may occur.

•Polarity must be correct. Otherwise burst, damage, etc. may

occur.

•While power is ON or for some time after power-OFF, do not

touch the inverter as they will be extremely hot. Doing so can

cause burns.

CAUTION

•Do not install or operate the plug-in option if it is damaged or

has parts missing.

•Do not stand or rest heavy objects on the product.

•The mounting orientation must be correct.

•Foreign conductive objects must be prevented from entering

the inverter. That includes 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 parameter clear or all parameter clear is performed, the

required parameters must be set again before starting operations

because all parameters return to the initial value.

•Static electricity in your body must be discharged before you

touch the product. Otherwise the product may be damaged.

CAUTION

•Do not test the equipment with a megger (measure insulation

resistance).

CAUTION

•This inverter plug-in option must be treated as industrial

waste.

Many of the diagrams and drawings in this Instruction Manual

show the inverter without a cover or partially open for

explanation. Never operate the inverter in this manner. The

cover must be reinstalled and the instructions in the inverter

manual must be followed when operating the inverter.

⎯CONTENTS ⎯

1 PRE-OPERATION INSTRUCTIONS 1

1.1 Unpacking and Product Confirmation .............................................................................................1

1.1.1 Product confirmation.......................................................................................................................................1

1.1.2 SERIAL number check ...................................................................................................................................1

1.2 Parts....................................................................................................................................................2

1.3 Terminal Specifications.....................................................................................................................4

2 INSTALLATION 7

2.1 Pre-Installation Instructions .............................................................................................................7

2.2 Installation Procedure .......................................................................................................................8

2.3 Encoder Specifications/Terminating Resistor Switch..................................................................10

2.4 Wiring................................................................................................................................................12

2.5 Encoder Cable..................................................................................................................................16

2.6 Encoder.............................................................................................................................................18

2.7 Parameters for Encoder ..................................................................................................................20

3 ORIENTATION CONTROL 22

3.1 Wiring Example ................................................................................................................................22

3.2 Terminals ..........................................................................................................................................24

3.3 Orientation Control Parameter List ................................................................................................27

3.4 Machine End Orientation Control...................................................................................................28

3.5 Specifications...................................................................................................................................29

4 ENCODER FEEDBACK CONTROL 30

4.1 Wiring Example ................................................................................................................................30

4.2 Terminals ..........................................................................................................................................32

4.3 Encoder Feedback Control Parameter List ...................................................................................32

5 VECTOR CONTROL 33

5.1 Wiring Example ................................................................................................................................34

5.2 Terminals ..........................................................................................................................................38

5.3 Vector Control Extended Parameter List.......................................................................................39

5.4 Pulse Train Torque Command........................................................................................................43

5.4.1 Parameter list ...............................................................................................................................................43

5.4.2 Pulse train torque command.........................................................................................................................43

5.5 Specifications...................................................................................................................................44

6 POSITION CONTROL FUNCTION 45

6.1 Position Control by Vector Control................................................................................................45

6.1.1 Position control ............................................................................................................................................. 45

6.2 Wiring Example ................................................................................................................................48

6.3 Terminals ..........................................................................................................................................50

6.4 Operation ..........................................................................................................................................51

6.4.1 Operation by position command using pulse train........................................................................................53

III

6.4.2 Initial setting.................................................................................................................................................. 54

6.4.3 Setting the electronic gear (Pr. 420, Pr. 421, Pr. 424)..................................................................................54

6.5 Pulse Input Type ..............................................................................................................................60

6.6 Interface of the Positioning Module and Inverter .........................................................................62

6.7 Extended Function Parameter List.................................................................................................63

6.8 Parameter Setting and Details ........................................................................................................64

6.8.1 Block diagram...............................................................................................................................................64

6.8.2 Selection of control method (Pr. 800)...........................................................................................................64

6.8.3 Position control ............................................................................................................................................. 67

6.8.4 Gain adjustment of position control (Pr. 422, Pr. 423, Pr. 425) ....................................................................68

6.8.5 Selection of clear signal (Pr. 429, CR signal) ................................................................................................ 71

6.8.6 Troubleshooting............................................................................................................................................72

6.9 Specifications...................................................................................................................................74

7 ENCODER PULSE DIVIDING OUTPUT 75

7.1 Wiring Example ................................................................................................................................75

7.2 Terminals ..........................................................................................................................................77

7.3 Encoder.............................................................................................................................................78

1PRE-OPERATION INSTRUCTIONS

1.1 Unpacking and Product Confirmation

Take the plug-in option out of the package, check the product name, and confirm that the product is as you

ordered and intact.

This product is a plug-in option unit dedicated for the FR-A700 series.

1.1.1 Product confirmation

Check the enclosed items.

1.1.2 SERIAL number check

The FR-A7AL can be used with the FR-A700 series assembled in and after October 2007. Check the SERIAL number

indicated on the inverter rating plate or package.

The SERIAL consists of one symbol, two characters indicating production year and month, and six characters indicating control number.

The last digit of the production year is indicated as the Year, and the Month is indicated by 1 to 9, X (October), Y (November), or Z (December).

Plug-in option ................... 1 FR-A7NS connection cable

................ 1 (Refer to page 9)

Mounting screws (M3

6mm)

............... 4 (Refer to page 8)

Hex-head screw for option

mounting

(5.5mm) ..............2

(Refer to page

)

Rating plate example

7 X {{{{{{

Symbol Year Month Control number

SERIAL number

5.5mm

PRE-OPERATION INSTRUCTIONS

1.2 Parts

FR-A7AL

Mounting

hole

Mounting

hole

SW3

SW2

SW1

Mounting

hole

Mounting

hole

Mounting

hole

Mounting

hole

TE3 Terminal block

TE2 Terminal

block

TE1 Terminal

block

Connector

Connect to the inverter

option connector.

Connector for the FR-

A7NS (SSCNET III)

connection

Switch for manufacturer

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

Front view Rear view

Encoder specification selection switch (SW1)

Used to change the specification of encoder

(differential line driver/complementary).

(Refer to page 8.)

(Refer to page 10.)

PRE-OPERATION INSTRUCTIONS

FR-A7AL

TST2

TST1

VDD

RDY

FPZR

FPA2

FPB2

FPZ2

FPA

FPAR

FPB

FPBR

FPZ

PGP

PGN

OPC

PZR

PAR

PBR

Terminal layout

* Terminals TST1 and TST2 are not used. Do not connect anything to these. Accidental connection will damage the option.

PRE-OPERATION INSTRUCTIONS

1.3 Terminal Specifications

Function

Terminal

Symbol

Terminal (Signal) Name

Specification

Description

Position control function

PGP

Forward rotation pulse

train Open collector/

differential line

driver

Forward rotation pulse

train input terminal.

Input pulse train from the

pulse generating unit.

For open collector, connect

terminal VDD and OPC, then

input pulses across terminal

PP-SD and NP-SD.

For differential line driver, open

terminal OPC, then input pulse

across terminal PP-PGP and

NP-PGN.

PGN

Reverse rotation pulse

train

Reverse rotation pulse

train input terminal.

Input pulse train from the

pulse generating unit.

CR Clear —Shorting terminal CR-SD clears counter at the falling

edge.

OPC Open collector power

input 24VDC When inputting pulse by open collector method, connect

this terminal to terminal VDD (24V power supply)

SD Contact input common —Contact input common terminal. Do not earth (ground).

VDD Driver power supply 24VDC Driver power supply terminal for interface.

RDY Preparation ready signal —When servo ON and ready to drive, the signal is output.

OP Encoder Z-phase output

Open collector

output

permissible load

24VDC,

max. 50mA

Outputs one pulse per motor revolution.

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