Mitsubishi Electric FR-A7NCA Bedienungsanleitung

FR-A7NCA INSTRUCTION MANUAL

INVERTER

Plug-in option

INSTRUCTION MANUAL

INVERTER

FR-A7NCA

communication function

INSTALLATION

WIRING

INVERTER SETTING

IB(NA)-0600259ENG-A(0606) MEE Printed in Japan Specifications subject to change without notice.

SERVICE

CANopen DEFINITIONS

FUNCTIONS

TROUBLESHOOTING

PRE-OPERATION INSTRUCTIONS

OBJECT DICTIONARY

A7NCA.book 1 ページ２００６年７月３日　月曜日　午前９時４８分

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".

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 even the level may lead to a serious

consequence according to conditions. Please follow the

instructions of both levels because they are important to

personnel safety.

WARNING

CAUTION

SAFETY INSTRUCTIONS

WARNING

•While power is on or when the inverter is running, do not

open the front cover. You may get an electric shock.

•Do not run the inverter with the front cover or wiring cover

removed. Otherwise, you may access the exposed high-

voltage terminals and charging part and get an electric shock.

•If power is off, do not remove the front cover except for wiring

or periodic inspection. You may access the charged inverter

circuits and get an electric shock.

•Before starting wiring or inspection, check to make sure that

the indication of the inverter operation panel is off, 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 the wiring or inspection of this

equipment should be fully competent to do the work.

•Always install the plug-in option before wiring. Otherwise,

you may get an electric shock or be injured.

•Do not touch the plug-in option 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.

A7NCA.book 1 ページ２００６年７月３日　月曜日　午前９時４８分

A-2

2. Injury Prevention

3. Additional Instructions

Also note the following points 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

•Apply only the voltage specified in the instruction manual to

each terminal. Otherwise, burst, damage, etc. may occur.

•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 damage, etc.

Otherwise, burst, damage may occur.

•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.

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.

•Check that the mounting orientation is correct.

•Prevent other conductive bodies such as screws and metal

fragments or other flammable substance such as oil from

entering the inverter.

CAUTION

•Before starting operation, confirm and adjust the parameters.

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,

reset the required parameters before starting operations.

Each parameter returns to the initial value.

•For prevention of damage due to static electricity, touch

nearby metal before touching this product to eliminate static

electricity from your body.

CAUTION

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

resistance).

CAUTION

•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 guards into original positions as specified

and operate the equipment in accordance with the manual.

A7NCA.book 2 ページ２００６年７月３日　月曜日　午前９時４８分

CONTENTS 

1PRE-OPERATION INSTRUCTIONS 1

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

1.1.1 Packing confirmation ......................................................................................................................................3

1.1.2 Parts ...............................................................................................................................................................4

1.2 STATUS LED (operation status indication) .....................................................................................5

1.3 Specifications.....................................................................................................................................6

2INSTALLATION 7

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

2.2 Installation of the Communication Option LED Display Cover .....................................................7

2.3 Installation Procedure .......................................................................................................................8

2.4 Node Address Setting .....................................................................................................................10

3WIRING 11

3.1 Connection to Network....................................................................................................................11

3.2 Wiring................................................................................................................................................12

4INVERTER SETTING 14

4.1 Parameter List ..................................................................................................................................14

4.2 Parameter for CANopen communication.......................................................................................15

A7NCA.book I ページ２００６年７月３日　月曜日　午前９時４８分

4.2.1 CANopen address (Pr. 347) .........................................................................................................................15

4.2.2 CANopen baud rate (Pr. 348).......................................................................................................................16

4.3 Operation Mode Setting ..................................................................................................................17

4.3.1 Operation mode indication............................................................................................................................17

4.3.2 Operation mode switching and communication startup mode (Pr. 79, Pr. 340) ...........................................18

4.4 Operation and Speed Command Source (Pr. 338, Pr. 339, Pr. 550) ............................................21

4.4.1 Communication EEPROM write selection (Pr. 342) .....................................................................................25

4.5 Operation at Communication Error Occurrence...........................................................................26

4.5.1 Operation selection at communication error occurrence (Pr. 500 to Pr. 502) ..............................................26

4.5.2 Alarm and measures ....................................................................................................................................30

4.6 Inverter Reset ...................................................................................................................................32

4.7 Frequency and Speed Conversion Specifications .......................................................................34

5FUNCTIONS 35

5.1 Output from the Inverter to the Network........................................................................................35

5.2 Input to the Inverter from the Network...........................................................................................35

6CANopen DEFINITIONS 36

6.1 Communicationmethod..................................................................................................................36

6.2 Message format................................................................................................................................37

6.3 Response Level................................................................................................................................38

6.3.1 Response level of PDO ................................................................................................................................38

6.3.2 Response level of SDO ................................................................................................................................39

A7NCA.book II ページ２００６年７月３日　月曜日　午前９時４８分

III

7SERVICE 40

7.1 Process Data Object (PDO).............................................................................................................40

7.1.1 Receive PDO................................................................................................................................................40

7.1.2 Transmit PDO...............................................................................................................................................44

7.2 Service Data Object (SDO) ..............................................................................................................48

7.2.1 SDO Upload (SDO read) ..............................................................................................................................48

7.2.2 SDO Download (SDO write) .........................................................................................................................50

7.2.3 SDO Abort Code (SDO error code)..............................................................................................................52

7.3 SYNC Object.....................................................................................................................................54

7.3.1 Bus Synchronization and Sampling..............................................................................................................54

7.3.2 Bus Synchronization and Actual...................................................................................................................56

7.4 Emergency object ............................................................................................................................58

7.5 Network Management object (NMT) ...............................................................................................60

7.5.1 Status transition of NMT state ......................................................................................................................60

7.5.2 Status transition matrix of NMT state ...........................................................................................................61

7.5.3 Module Control Service ................................................................................................................................62

7.5.4 Error Control Service ....................................................................................................................................63

8OBJECT DICTIONARY 67

8.1 Object List ........................................................................................................................................67

8.2 Object Detail of Communication Profile Area ...............................................................................71

8.2.1 (Index 1000h) Device Type ..........................................................................................................................71

8.2.2 (Index 1001h) Error Register........................................................................................................................72

A7NCA.book III ページ２００６年７月３日　月曜日　午前９時４８分

8.2.3 (Index 1002h) Manufacturer Status Register................................................................................................73

8.2.4 (Index 1005h) COB-ID SYNC.......................................................................................................................74

8.2.5 (Index 1008h) Manufacturer Device Name...................................................................................................75

8.2.6 (Index 100Ch) Guard Time...........................................................................................................................75

8.2.7 (Index 100Dh) Life Time Factor....................................................................................................................76

8.2.8 (Index 1010h) store parameters ...................................................................................................................77

8.2.9 (Index 1011h) restore default parameters ....................................................................................................79

8.2.10 (Index 1014h) COB-ID EMCY ......................................................................................................................80

8.2.11 (Index 1015h) Inhibit Time EMCY ................................................................................................................81

8.2.12 (Index 1017h) Producer Heartbeat Time ......................................................................................................81

8.2.13 (Index 1018h) Identity...................................................................................................................................82

8.2.14 (Index 1400h to 15FFh) Recive PDO Parameters........................................................................................84

8.2.15 (Index 1600h to 17FFh) Recive PDO Mapping ............................................................................................86

8.2.16 (Index 1800h to 19FFh) Transmit PDO Parameters.....................................................................................87

8.2.17 (Index 1A00 to 1BFFh)Transmit PDO Parameters.......................................................................................90

8.3 Object Detail of Manufacturer Specific Area .................................................................................91

8.3.1 (Index 2000h to 2063h) Monitor of the inverter ............................................................................................91

8.3.2 (Index 2106h) Alarm clear ............................................................................................................................94

8.3.3 (Index 2107h) Inverter reset .........................................................................................................................94

8.3.4 (Index 2108h) Parameter Clear....................................................................................................................95

8.3.5 (Index 2109h) Operation Mode.....................................................................................................................96

8.3.6 (Index 3000h to 3385h, 33ACh to 33E7h) Normal Parameter Area.............................................................97

8.3.7 (Index 3386h to 33ABh) Calibration Parameter Area...................................................................................98

8.3.8 (Index 3400h to 3403h) Alarm history 1 to 8 ................................................................................................99

8.3.9 (Index 4000h) Control input command (w) / Inverter status (r)...................................................................101

8.3.10 (Index 4001h) Set frequency (Set Speed) (w) /

Output frequency (Running speed) (r)........................................................................................................103

A7NCA.book IV ページ２００６年７月３日　月曜日　午前９時４８分

8.3.11 (Index 4002h) Set Frequency .....................................................................................................................105

8.3.12 (Index 4003h) Set Speed............................................................................................................................106

8.3.13 (Index 4010h) Control Input Command (w) ................................................................................................107

8.3.14 (Index 4011h) Inverter Status (r) ................................................................................................................108

8.3.15 (Index 4012h) Set Frequency (w) / Set Speed (w) .....................................................................................109

8.3.16 (Index 4013h) Output Frequency (r) / Running Speed (r)...........................................................................110

8.4 Object detail of Device Profile Area .............................................................................................111

8.4.1 (Index 6040h) controlword..........................................................................................................................111

8.4.2 (Index 6041h) Statusword ..........................................................................................................................114

8.4.3 (Index 6042h) vl_target_velocity.................................................................................................................116

8.4.4 (Index 6043h) vl_velocity_demand.............................................................................................................116

8.4.5 (Index 6044h) vl_control_effort...................................................................................................................117

8.4.6 (Index 6046h) vl_velocity_min_max_amount .............................................................................................118

8.4.7 (Index 6048h) vl_velocity_acceleration ......................................................................................................120

8.4.8 (Index 6049h) vl_velocity_deceleration ......................................................................................................123

8.4.9 (Index 604Ah) vl_velocity_quick_stop ........................................................................................................125

8.4.10 (Index 605Ah) Quick_stop_option_code ....................................................................................................127

8.4.11 (Index 6060h) modes_of_operation............................................................................................................128

8.4.12 (Index 6061h) modes_of_operation_display ..............................................................................................129

8.4.13 (Index 67FFh) Single_Device_Type ...........................................................................................................130

9TROUBLESHOOTING 131

APPENDIX 132

EDS file ...........................................................................................................................................132

A7NCA.book V ページ２００６年７月３日　月曜日　午前９時４８分

1PRE-OPERATION INSTRUCTIONS

1.1 Unpacking and Product Confirmation

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

ordered and intact.

This product is a plug-in option for the FR-A700 series inverter assembled in and after July 2006.

Check the SERIAL number printed on the rating plate or the Serial number sticker of the inverter or

package and check that the first three digits of the SERIAL number is the number in the table next page.

zSERIAL number check

(1) For the FR-A740-00023 to 00620-EC

Refer to the inverter manual for the position of the rating plate.

Rating plate example

6 7 {{{{{{

Symbol Year Month Control number

SERIAL (Serial No.)

The SERIAL consists of 1 version symbol, 2 numeric

characters or 1 numeric character and 1 alphabet letter

indicating year and month, and 6 numeric characters

indicating control number.

Month is indicated as 1 to 9, X (October), Y (November),

and Z (December).

A7NCA.book 1 ページ２００６年７月３日　月曜日　午前９時４８分

PRE-OPERATION INSTRUCTIONS

(2) For the FR-A740-00770 to 12120-EC

Check the SERIAL indicated on the Serial number sticker shown below.

• To check the SERIAL, the front cover must be removed.

For the removal of the front cover, refer to the inverter manual.

zCompatible SERIAL number list

Type SERIAL (the first three digits)

FR-A740-00023 to 00620-EC E67 or later

FR-A740-00770 to 12120-EC D67 or later

VUW

FR-CA70-EC 67

SERIAL

Control unit type

SERIAL (Serial No.)

Month

Serial number sticker example

The SERIAL consists of 1 version symbol, 2 numeric

characters or 1 numeric character and 1 alphabet letter

indicating year and month, and 3 numeric characters

indicating control number.

Month is indicated as 1 to 9, X (October), Y (November),

and Z (December).

Year

Symbol

A7NCA.book 2 ページ２００６年７月３日　月曜日　午前９時４８分

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