Hitachi SJ-FB User manual

1
Chapter 1 GENERAL DESCRIPTIONS
1.1 Inspection upon packing
Handle with care, not to give impact and vibration in case of unpacking. Please check
the contents of the package for quantity and damage occurred during transportation.
(Packing contents)
1. SJ-FB (Feed back board) : 1
2. Instruction manual  : 1
3. Board bind screws (M3×8mm) :2
Please contact where you bought the unit as soon as possible when there is any prob-
lem.
1.2 Inquiry and Warranty of the Unit
1.2.1 Request upon inquiry
If you have any questions regarding damage of the unit, unknown parts or for general
inquiries please contact your supplier or the local Hitachi Distributor with the following
information.
(1) Inverter Model
(2) Production Number (MFG, NO)
(3) Date of Purchase
(4) Reason for Calling
Damaged part and its condition etc.
Unknown parts and their contents etc.
1.2.2 Warranty of the unit
The warranty period of the unit is shown below.
ü1 year after normal installation.
However within the warranty period, the warranty will be void if the fault is due to;
(1) Incorrect use as directed in this manual, or attempted repair by unauthorized
personnel.
(2) Any damage sustained, other than from transportation (which should be re-
ported immediately).
(3) Using the unit beyond the limits of the specification.
(4) Act of God (Natural Disasters: Earthquakes, Lightning, etc)
The warranty is for the inverter only, any damage caused to third party equipment by
malfunction of the inverter is not covered by the warranty.
Any examination or repair after the warranty period (one year) is not covered. And
within the warranty period any repair and examination which results in information
showing the fault was caused by any of the items mentioned above,. the repair and ex-
amination cost are not covered. If you have any questions regarding the warranty
please contact either your supplier or the local Hitachi Distributor. Please refer to the
back cover for a list of the local Hitachi Distributors.

2
Chapter 2 OUTLINE OF SJ-FB
This manual describes the application board SJ-FB for a SJ300 series inverter.
This SJ-FB board, assembled in a SJ300 inverter, detected the rotation speed of a mo-
tor with the encoder and feedback the motor speed to suppress speed fluctuations for
highly accurate operation.
This SJ-FB board can also be used for controlling motor stop positions by entering 90
phase difference pulses, as well as for synchronized operation, orientation function, and
external torque limit input function.
Figure 2-1 Function Block Diagram
NOTE: Not vector control (ACR control)
PWM M
EC
Current
control
Torque
limiter
Speed
control
Inside
setting
LAD
Turn
several
detection Position
detection
Zero speed
detection
Speed deviation
excessive signal
Position
control
Orientation
control
SJ-FB
Inverter main body
EAP,EAN
EBP,EBN
EZP,EZN
EP5,EG5
AP,AN
BP,BN
DSE ZS
POK
LAC
PCLR
ORT
SAP,SAN
SBP,SBN
TH
STAT

3
Chapter 3 INSTALLATION
How to Mount the option Board
Please combine the hole at four corners of the option board to each guide post for op-
tion positioning,and screw hole for the fixation of this side of the body. Then connect
the option board, in option port 1 or 2 of side of the body as shown below. Please fix 2
places of the board with the fixation screw of the belonging, to avoid loose connection.
Figure 3-1 Option attachment figure
Option port 1
Option port 2
Guide post for the
option board positioning
Screw hole for the option board fixation
(The M3 screw)
Option board

4
Chapter 4 WIRING AND CONNECTION
4.1 Terminal assignment of the Option Board
Figure 4-1 Terminal assignment
Outlook of SJ-FB
TM1 TM2
Dip switch SWENC Dip switch SWR
Connector for Main body
connection
EP5 EG5 EAP EAN EBP EBN EZP EZN
TM1 terminal assignment
SAP SAN SBP SBN AP AN BP BN
TM2 terminal assignment

5
Chapter 4 WIRING AND CONNECTION
4.2 Function Explanation of the Terminal
Terminal Code Function Common
terminal electric specification
Pulse line position
command input
SAP
SAN
SBP
SBN
Pulse train input (see page 16)
•Mode 0 : 90 degree phase difference pulse
•Mode 2 : Forward pulse/Reverse pulse
•Mode 1 : Forward/Reverse signal, pulse train
ON/OFF of the terminal resistance on the option
board can be done by the dip switch.
(Built in terminal resistance 150 ohm)
Mode setting is done at the pulse mode selection
(P013)
DC5V receiver input
(based on RS-422
standard)
Encoder signal in-
put
EAP
EAN
EBP
EBN
EZP
EZN
A, B, Z: rotary encoder signal input
Photo coupler input
(Correspondence to
the DC5V line driver
type rotary encoder)
Pulse train position
command input
permission signal
(Note 1)
STAT Position control with pulse train in- put is valid when STAT is Turned
ON. (Note 3)
Orientation signal:
(Note 1) ORT Turning ON for orientation opera- tion. (Note 3)
LAD cancel signal:
(Note 1) LAC Turning ON for canceling LAD. (Note 3)
Input terminals
Position deviation
clear signal:
(Note 1) PCLR Turning ON for clearing position
deviation counter. (Note 3)
CM1
Photo coupler input
(Refer to a main
body intelligent input
terminal.)
Encoder signal
output
AP
AN
BP
BN
Outputting the Inputted encoder signal (ratio
1:1).
DC5V line driver
output (based on
RS-422 standard)
Power supply for
encoder EP5 EG5 DC +5V power supply EG5 150mA max
Positioning com-
pletion signal
(Note 2) POK
Used for position control or orienta-
tion.
Output when the subject comes
within the specified range (P017).
(Note 3)
Speed deviation
excessive signal
(Note 2) DSE Output when the real rotation speed
deviates over from command speed
(P027). (Note 3)
Output terminals
Zero speed signal
(note 2) ZS Output when the real rotation speed
becomes zero speed detection level
(C063). (Note 3)
CM2
Open collector out-
puts
(Refer to a main
body intelligent input
terminal)
(Note 1): Valid when LAC is assigned to an intelligent input terminal of the main body (SJ300).
(Note 2): Valid when POK is assigned to an intelligent output terminal of the main body (SJ300).
(Note 3): Refer to the code setting method of SJ300

6
Chapter 4 WIRING AND CONNECTION
4.3 Terminal connection diagram
Figure 4-2 Terminal wiring
(Note 1) : Please refer to the instruction manual of the inverter main body about the
wiring of the logic board.
(Note 2) : Use a twisted and shielded wire for the signal cables, and cut the shielded
covering as shown in the diagram below. Make sure that the length of the
signal cable is 20 meters or less. If the length exceeds 20 meters, please use
a VX application control device RCD-E (remote control device) or CVD-E (in-
sulation signal) to avoid malfunction caused by EMC noise or voltage drop.
Also, electric wire for the encoder uses twist shield line of 0.75mm2or more
(the example: Hitachi Cable, Ltd. KPEV-S), and make the distance less than
20m. In case of more than 20m, please use the relay amplifier of the 5V line
driver specification output. Insulate
Unnecessary ground
connection
Connect to each common terminal
of the option board.
H
O
L
SJ-FB
(Feed-back board)
Inverter main body control terminal
Programmable to the
intelligent input terminal 1-8
EP5
EG5
EAP
EAN
EBP
EBN
EZP
EZN
M
EC
Motor with
the encoder
SAP
SAN
SBP
SBN
Pulse line position
command
POK (Positioning completion signal)
ZS (Zero speed signal)
DSE (Speed deviation excessive signal)
Output
terminal
FW
RV
LAC (LAD cancellation signal)
PCLR (Position deviation Clear signal)
ORT (Orientation signal)
CM1
Input
terminal
Programmable to the
intelligent output terminal 1-5 AP
AN
BP
BN
Encoder
signal output
STAT(Pulse train input permission signal)
Encoder signal
TM1
TM2

7
Chapter 4 WIRING AND CONNECTION
(Note 3) : Please separate the main circuit wiring from the relay control circuit wiring.
If they have to be crossed, be sure that they must be crossed at right angle.
(Note 4) : Don’t make a short circuit between the EP5 and EG5 terminals. There is a
danger of malfunctions.
(Note 5) : Isolate common signal for analog signal of the main body (L terminal of the
logic card of SJ300) from common terminal of the SJ-FB.
(Note 6) : Please connect the encoder signal line properly so that the relationship
among their phases become as shown below during rotation of the mo-
tor(Standard EG5).
EAP
EAN
EBP
EBN
EZP
EZN
Power cables R, S, T, U, V, W, P, PD,
RB, N, R0, T0 etc.
Right angle
Input/Output signal lines
Control signal of STAT, ORT, LAC, PCLR, SAP, SAN, SBP, SBN,
EAP, EAN, EBP, EBN, POK, DSE, ZS, AP, AN, BP, BN, L, EP5,
EG5, CM1, CM2, P24, PLC etc.
Separate it 10cm or more.

8
Chapter 5 SETTING
5.1 Position of the setting switch
Figure 5-1 Switch arrangement figure
5.2 Feed-back board initial setting
Setting
item Switch No. Contents
ON Detection of disconnected A or B signal (EAP-EAN or
EBP-EBN) is valid.
1OFF Detection of disconnected A or B signal (EAP-EAN or
EBP-EBN) is invalid.
ON Detection of disconnected Z signal (EZP-EZN) is valid.
SWENC
2OFF Detection of disconnected Z signal (EZP-EZN) is
invalid.
ON Terminal resistance is provided between SAP and SAN
(150 ohm).
1OFF No terminal resistance is provided between SAP and
SAN.
ON Terminal resistance is provided between SBP and SBN
(150 ohm).
SWR
2OFF No terminal resistance is provided between SBP and
SBN.
(Note) : All the switches are set to OFF as an initial setting.
SWENC SWR
Outlook of SJ-FB
1
2
O
F
F
Slide to the (OFF) marked side
of the switch to turn it off and the
opposite side to turn it on.
How to Set Switches
SWENC and SWR
[ON/OFF]
TM1 TM2

9
Chapter 5 SETTING
5.3 Itemsregarding the feed back board of the inverter main
body
Code Function name Setting range Initial data Setting
on run
Change
mode
on run
A044 1st control method 00(VC) /01(VP1.7power) /02(Free V/f Setting)
/03(SLV) /04(0Hz area SLV) /05(V2) 00 - -
H001 Auto-tuning mode
selection 00(NOR :Invalid)/01(NRT : not rotate)/ 02(AUT : rotate)00 - -
H002 1st motor constant
selection
00(Hitachi standard motor constant)/
01(Auto-tuning data)/
02(Auto tuning data with online auto-tuning) 00 - -
H003 1
st
motor capacity
selection 0.20 - 75.0(kW) Setting on forwarding - -
H004 1st motor pole se-
lection 2/4/6/8 (Poles) 4- -
H005 1
st
motor speed
response setting 0.001 - 9.999 /10.00 - 65.53 1.590 ü ü
H006 1
st
stabilized
factor 0. - 255. 100. ü ü
H020 1st motor R1 set-
ting 0.000 - 9.999 /10.00 - 65.53(Ω)depends on
the motor
capacity - -
H021 1st motor R2 set-
ting 0.000 - 9.999 /10.00 - 65.53(Ω)depends on
the motor
capacity - -
H022 1st motor L setting 0.00 - 99.99 /100.0 - 655.35(mH) depends on the motor
capacity - -
H023 1st motor I0 setting 0.00 - 99.99 /100.0 - 655.35(A) depends on the motor
capacity - -
H024 1st motor J setting 0.000 - 9.999 /10.00 - 99.99 /
100.0 - 9999.(kgm2)
depends on
the motor
capacity - -
H030 1st motor R1 set- ting
(Auto-tuning data) 0.000 - 9.999 /10.00 - 65.53(Ω)depends on
the motor
capacity - -
H031 1st motor R2 set- ting
(Auto-tuning data) 0.000 - 9.999 /10.00 - 65.53(Ω)depends on
the motor
capacity - -
H032 1st motor L setting
(Auto-tuning data) 0.00 - 99.99 /100.0 - 655.35(mH) depends on
the motor
capacity - -
H033 1st motor I0setting
(Auto-tuning data) 0.00 - 99.99 /100.0 - 655.35(A) depends on
the motor
capacity - -

10
Chapter 5 SETTING
Code Function name Setting range Initial data Setting
on run
Change
mode
on run
H034 The 1st motor J setting
(Auto-tuning data) 0.000 - 9.999 /10.00 - 99.99 /100.0 - 9999.( kgm2)
depends
on the
motor ca-
pacity
- -
H050 1st PI control propor-
tional gain setting 0.00 - 99.99 /100.0 - 999.9 /1000.(%) 100.0 ü ü
H051 1
st
PI control integral
gain setting 0.00 - 99.99 /100.0 - 999.9 /1000. (%) 100.0 ü ü
H052 1st P control proportional
gain setting 0.00 - 10.00 1.00 ü ü
H070 PI control proportional
gain switching 0.00 - 99.99 /100.0 - 999.9 /1000.(%) 100.0 ü ü
H071 PI control integral gain
setting 0.00 - 99.99 /100.0 - 999.9 /1000.(%) 100.0 ü ü
H072 P control proportional
gain setting 0.00 - 10.00 1.00 ü ü
P001 Option 1 operation se-
lection on error 00(TRP) /01(RUN) 00 -ü
P002 Option 2 operation se-
lection on error 00(TRP) /01(RUN) 00 -ü
P011 Encoder pulse setting 128. - 9999. /1000 - 6500 (10000 -
65000)(Pulse) 1024. - -
P012 Control mode selection 00(ASR Mode) /01(APR Mode) 00 - -
P013 Pulse line input mode
selection 00(Mode 0) /01(Mode 1) /02(Mode 2) 00 - -
P014 Stop position setting for
orientation 0. - 4095. 0. -ü
P015 Frequency setting for
orientation 0.00 - 99.99 /100.0 - 120.0(Hz) 5.00 -ü
P016 Direction setting for ori-
entation 00(Forward) /01(Reverse) 00 - -
P017 Completion range set-
ting for orientation 0. –9999. / 1000(Pulse) 5-ü
P018 Completion delay time
setting for orientation 0.00 - 9.99(s) (Note3) 0.00 -ü
P019 Position selection for
electronic gear 00(Position feed back side)/ 01(Position command side) 00 -ü
P020 Numerator of ratio set-
ting for electronic gear 0. - 9999. 1. -ü
P021 Denominator of ratio setting for electronic
gear 0. - 9999. 1. -ü
P022 Feed forward gain set-
ting for position control 0.00 - 99.99 /100.0 - 655.3 0.00 -ü
P023 Loop gain setting for
position control 0.00 - 99.99 /100.0 0.50 -ü
P025 The 2 next resistance revision presence selec-
tion 00(Disable) /01(Enable) 00 -ü
P026 Over speed abnormal
detection level 0.00 - 99.99 /100.0 - 150.0(%) (Note 2) (Note 3) 135.0 -ü

11
Chapter 5 SETTING
P027 Speed error over detec-
tion level 0.00 - 99.99 /100.0 - 120.0(Hz) (Note 2) 7.50 -ü
(Note 1) : Please refer to the instruction manual of the inverter main body as to the
setting procedure.
(Note 2): When the over speed abnormal detection level (P026), the speed error over
detection level (P027) are set 0, the Abnormal detection data processing will
be invalid.
(Note 3): Regarding the SJ-FB setting, there are some warning about what type of main
body combines with the SJ-FB which is written following list.
Main body of SJ300 Production No (MFG No) (Note 4)
No. Item
9 8 XXXXXXXXXXXX
9 9 XXXXXXXXXXXX
9 O XXXXXXXXXXXX
9 J XXXXXXXXXXXX
9 K XXXXXXXXXXXX
0 1 XXXXXXXXXXXX
others
1Completion
delay time
setting for
orientation
(P018)
Range of setting: 0.00 - 9.99 (X10(sec))
(Example) In order to operate the
completion delay time setting for
orientation for 1(sec). Set P018 setting
which is written below.
P018=1(sec)/10(sec) =0.10
Range of setting: 0.00 - 9.99 (X1(sec))
( Example) In order to operate the
completion delay time setting for
orientation for 1(sec). Set P018 setting
which is written below.
P018=1(sec) / 1(sec)=1.00
2Over speed
abnormal
detection
level
Range of setting: 0.0 - 150.0 (X100)
(Example) In order to operate the over
speed detection level at 66Hz while
maximum frequency is 60Hz. Set P026
setting which is written below.
P026=66Hz / 60Hz=1.1
Range of setting: 0.0 - 150.0 (X1%)
(Example) In order to operate the over
speed detection level at 66Hz, while
maximum frequency is 60Hz. Set P026
setting which is written below.
P026=66Hz / 60HzX100=110.0
(Note 4) Main body of SJ300 Production number (MFG No) is written main body of
SJ300
specifications label. Refer to figure 5-2(1), figure 5-2(2) please.
Figure 5-2(1) position of specification
Figure 5-2 (2) Contents of specification label
Specifications label
Inverter model
Maximum applicable motor
Input ratings
Output ratings
Production number

12
Chapter 5 SETTING
5.4 Setting flowchart of the switch on the board
Figure 5-3 Switch setting flowchart
START
Detect a wire break of
A, B phase signal?
Use the pulse train position
command input?
Set SWENC1
switch OFF.
Set SWR1,2
switch ON.
Detect a wire break of the
Z phase signal?
Set SWENC2
switch ON.
Set SWENC1
switch ON.
Set SWENC2
switch OFF.
Turn SWR1, 2 on only 1 unit that is
the most distant from a master
inverter in a plural motor.
END
Connect parallel motors to the pulse
train position command input?
YES
NO
NO
NO
NO
YES
YES
YES

13
Chapter 6 OPERATION
Refer to [Chapter 3 OPERATION] in the instruction manual for the SJ300 inverter be-
fore operating with this board. When the operation command is given from the terminal
side of the inverter main body, operate with the following procedure.
<Procedure>
1. Turn ON the POWER switch of the inverter.
2. Set the control method (A044) in [05].
3. Set the necessary items according to the instruction manual "Chapter 4
FUNCTION EXPLANATION" of the inverter main body.
4. For speed control, operation is started when operation command of the inverter
main body is turned on.
5. For position control, turn on the STAT terminal of SJ-FB and operation com-
mand of the inverter main body first of all. Next input the pulse train position
command to SAP-SAN and SBP-SBN. Then the motor turns only the pulse that
you input.
Confirm the following while trial operation.
üThe motor accelerates normally.
üThe motor rotates in the correct direction.
üNeither abnormal vibration nor noise is recognized in the motor.
If the motor doesn’t accelerate normally or the inverter trips with overload, check the
encoder for phase order.
Phase order : The normal phase order is that the waveform of phase A advances by 90°
than that of phase B when the motor rotates forward.
(Note 1) : The monitor signal may not be output from FM terminal of inverter main body
under vector control with sensor (A044=05). Please confirm the monitor out-
put in this case.
(Note 2) : Please do not do the free run action by "RS terminal" of inverter main body.
When you do this action,over current trip, or power element destruction may
occur. Please use "FRS" the terminal when performing free run action.
(Note 3) : If the torque limit setting (b041-b044) is enlarged, over current trip would oc-
cur at the time of the motor added burden. In this case, please adjust the
torque limit setting value.
(Note 4) : The motor constant data of the SJ300 series is the data at the time of base
frequency 50Hz in the J1 motor made in Hitachi. . Please put in the value
that did it to motor constant I0 (H023) 0.7 times, in the case that you use it
with base frequency 60Hz in the J1 motor.
(Note 5) : Please do the auto tuning, in the case that you do not understand the motor
constant.

14
Chapter 6 OPERATION
(Note 6) : If satisfactory performance can not be obtained, please adjust the motor con-
stant for the phenomena according to following table.
Status of
running Phenomena Contents of adjustment Adjusting parameter
At starting The shock is oc-
curred at starting Set “Motor constant J” bigger and bigger slowly until 1.2 times for preset constant. H024/H034
Set speed response smaller. H005
At decel-
eration Unstable of motor rotation Set “Motor constant J” smaller for preset
Constant. H024/H034
During
torque limit
Insufficient torque
during torque limit
at low speed
Set overload restriction level lower than
torque limit levelb021
b041-b044
At low
frequency
operation Irregular of rotation Set “Motor constant J” bigger for preset
constant. H024/H034

15
Chapter 7 FUNCTIONS
A044: 1st Control Method
P014: Orientation Stop Position
P015: Orientation Speed setting
P016: Orientation Direction setting
P017: Completion range setting
P018: Completion delay time
P023: Position loop gain
C001-C008: Intelligent input terminal
C021-C025: Intelligent output terminal
Relation code
7.1 Orientation function
This board is provided with the orientation function used to
position the motor at a certain point during operation. This
function can be used for replacing a component of the main
axis of the subject machine tool for example.
7.1.1 Function outline
The orientation function maintains position which has decided
with the position control after speed control operation. The
action is shown in Figure 7-1.
1. In the speed control operation period, inverter drives at constant speed with the
orientation speed setting (P015). (Orientation mode becomes valid when turning
RUN command ON under ORT is being ON.)
2. After arriving to the orientation speed setting(P015), the first coming the Z pulse is
detected after that the control mode moves to the position control.
3. Inverter controls the motor to stop at a certain stop position which is set to (P014)
during position control operation period.
(Note 1) Rotation speed of the motor is zero but inverter is outputting to the motor.
Don't touch the motor power line. Otherwise, there is a danger of electric shock and/or injury.
Figure 7 - 1(1) Orientation and timing
(Action timing of when the ORT input signal is OFF during the orientation.)
(Note 2) In case of reoperating when the operation command is set terminal.
Set the command operation(FW,REV)again.
(1) (2)
(3)
(4)
(5)
Speed control Position control
Operation command
(FW/RV)
ORT terminal
Rotation Speed
of Motor
Z pulse
POK signal output
(Positioning completion)
Output motor
Acceleration rate
follow acceleration
time setting F002
Deceleration time doesn't follow
deceleration time setting F003.
If the loop back gain (P023) is
big, deceleration time is short
In the case of exceeding
the required stop position
Output zero
servo
(Note 1)
Completion delay time setting (P018)

16
Chapter 7 FUNCTIONS
4. Inverter maintains the position after the completion, and outputs the ‘position control
completion (POK) signal’ after the set value of ‘delay time setting (P018). (Inverter
drives the motor reverse and return to the required stop position in the case it ex-
ceeds the required stop position.)
5. When the ORT terminal is turned off, the inverter stops operation and the orienta-
tion mode is cleared.
(Note3) In case of using Z pulse, use 5V line driver type output for EZP-EZN input.
(Note 4): Action timing of when only the operation command is OFF during the orientation.
If only the operation command is OFF, the motor will stop (1). After that if the
ORT terminal is OFF(2), POK signal output will be OFF (3).
(While ORT terminal is ON. Due to the orientation mode is running , even
though only the operation command is OFF , the POK signal output (4) keep
ON within the completion range.
(Note 5) Rotation speed of motor is zero but inverter is outputting to the motor.
Don't touch the motor power line. Otherwise there is a danger of electric
shock /Injury.
Figure 7 - 1(2) Orientation and timing
(Action timing of when only the operation command is OFF during the orientation.)
Speed control
Position control
Completion delay time setting
(P018)
Output Zero servo
(note5)
Operationcommand
(FW/RV)
ORT terminal
Rotation Speed
of Motor
Z pulse
POK signal output
(Positioning completion)
Output motor
(1)
(2)
(3)
(4)

17
Chapter 7 FUNCTIONS
7.1.2 Data setting
Data setting related to speed control
Setting item Function code Setting Range, Setting Contents
Orientation speed setting (Note 1) P015 0.00∼99.99 / 100.0∼120.0 (Hz)
Orientation direction setting (Note 2) P016 0:Forward / 1:Reverse
(Note 1) : In order to stop the motor for setting position. (Motor takes 2 rotation to stop
setting position)Don’t set high frequency to the orientation speed setting.
Otherwise it will be over-voltage protection trip.
(Note 2) : Turn direction of the motor while orientation is done based on the setting of
P016.
Data setting related to position control
Setting item Function
code Setting range, setting contents
Orientation stop position(Note 3) P014 0. ∼4095.
Completion range setting P017 0∼9999. /1000 (10,000) (pulses)
(Setting four times fairly of the encoder pulses)
Completion delay time (Note 4) P018 0.00∼9.99
Position loop gain(Note 5) P023 0.00∼99.99 /100.0 (rad/s)
(Note 3) : The orientation stop position is to be set as 4096 of division (0∼4095) per 1
turn toward forward from the original point. (It is 4096 division irrespective of
the pulse number of the encoder.) The original point is where the pulse has
input to EZP-EZN. Stoppage goal position is like shown in Figure 7-2
irrespective of the turn direction.
(Note 4) : It depends on what type of main body combines with the SJ-FB, the setting
value conversion is different. Please refer to the (Note 3) of the “5.3 Items re-
garding the feed back board of the inverter main body“.
(Note 5) : To improve the positioning accuracy.àIncrease position loop gain (G).
When the motor is unstable.àDecrease position loop gain.
Figure 7-2 Concept of Orientation setting Position
Z pulse Position
0
1024
2048
3072
(Reference point)
Motor Shaft viewed from
the load side

18
Chapter 7 FUNCTIONS
A044: 1st Control method
P012: Control mode selection
A001: Frequency command selection
A002: Operation command selection
F001: Frequency setting
F002: Acceleration time
F003: Deceleration time
F004: Operation direction selection
H002/H202-H052/H252:
Motor constant relation data
Relation code
A044: 1st Control method
P012: Control mode selection
A002: Operation command selection
P017: Completion range setting
P018: Completion delay time
P019: Electronic gear position selection
P020: Electronic gear ratio numerator
P021: Electronic gear ratio denominator
P022: Feed forward gain
P023: Position loop gain
C001-C008: Intelligent input terminal
C021-C025: Intelligent output terminal
H002/H202-H052/H252:
Motor constant relation data
Relation code
Data setting of the input-output terminal
Input-output terminal Terminal assignment Contents
Inpu
t
ORT terminal (ORT) Set up 45 to one of
them of C001∼C008 ON : Orientation mode
Out-
put
Positioning comple-
tion signal (POK) Set up 23 to one of them of C021∼C025 Output when it comes to the positioning completion range.
7.2 Speed control (ASR)
When the control mode selection (P012) is set to 00, operation
mode becomes a speed control operation mode (ASR mode).
Please drive after setting up the frequency, operation
command and each motor constant .
7.3 Position control (APR)
(Electronic gear function)
When the control mode selection (P012) is set to 01, operation
mode becomes a speed control operation mode (APR mode).
7.3.1 Function outline
This function generates the frequency based on the position
command pulse which comes from the pulse train input from
the terminal and position feed back pulse which is detected by the
motor encoder,and performs the position control operation. It
can be used as synchronous operation of main and sub motor.
Also the turn ratio of main and sub motor can be changed by
setting up the electronic gear ratio (N/D). (Electronic gear
function)
7.3.2 Control mode setting
Inverter at the main motor (master inverter) can be set both as
a speed control and position control. Please set up the
inverter at the sub motor side (slave inverter) to aposition
control mode.

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Chapter 7 FUNCTIONS
Figure 7-3 Wiring for Synchronized Operation
(Note) : Please connect EG5 of the main and sub inverter together to avoid
malfunction caused by EMC noise.
7.3.3 Data setting
Data setting related to position control
Setting item Function code Setting range, setting contents
Feed-forward gain
(Note 1) P022 0.00∼99.99 / 100.0∼655.3
Position loop gain (Note 2) P023 0.00∼9.99 /100.0 (rad/s)
Electronic gear position
selection(Note 3) P019 00: to the feed back side (FB)
01: to the position command side (REF)
Numerator of the electronic
gear ratio (Note 3) P020 1∼9999
Denominator of the electronic
gear ratio (Note 3) P021 1∼9999
Completion range setting P017 0∼9999. /1000 (10,000) (pulse)
Completion delay time P018 0.00∼9.99 (s)
(Note 1) :We promote the adjustment from P022=2.00 at the time of the feed forward
gain adjustment .To make the position deviation of the main and sub motor
small, then increase feed forward gain.When the motor is unstable, then
decrease feed forward gain
(Note 2) :We promote the adjustment from P023=2.00 at the time of the position loop
gain adjustment. To get good accuracy of the position control then increase
posotion loop gain, then to get much power to maintain the positioning then
increase posotion loop gain. Motoris unstable due to too big position loop
gain, then decrease position loop gain.
Master Inverter Slave Inverter
AP,BP
AN,BN SAP,SBP SAN,SBN
EG5
EAP,EBP
EAN,EBN
EG5
EAP,EBP
EAN,EBN
M
EC
M
EC
Main Motor Sub Motor

20
Chapter 7 FUNCTIONS
(Note 3) : N/D must be given as the ranges of 1/50 ≤(N/D) ≤20.
(N: Electronic gear ratio numerator, D: Electronic gear ratio denominator)
(Note 4) : It depends on what type of main body combines with the SJ-FB, the setting
value conversion is different. Please refer to the (Note 3) of the “5.3 Items
regarding the feed back board of the inverter main body“.
Data setting of input-output terminals
Input-output terminal With terminal assignment Contents
Input
The pulse train position
command input
permission signal.
(STAT)
Set ‘48’to one of
C001∼C008 Pulse train position command input is valid while ON.
Output
Positioning completion
signal.(POK) Set ‘23’to one of C021∼C025 Output when it entered into the positioning completion range
Set ‘48’(the pulse train position command input permission signal (STAT)) to one of
C001∼C008. Pulse train position command input is valid only in the case that the STAT
terminal is turned ON. In the case that the STAT terminal is OFF or unestablished,
pulse train position command input is invalid.
Below the example of the proportion of the slave side turn number to the master side
turn number by the setting of P019P021 is shown. (Yet, the encoder pulse number of
the master side and slave side are same and be in the case of 1024 pulses. )
Position selection for electronic gear (P019) 01
(REF) 01 (REF) 00 (FB) 00 (FB)
Numerator of ration setting for electronic gear
(P020) 1024 2048 1024 2048
Denominator of ratio setting for electronic gear
(P021) 2048 1024 2048 1024
Slave side turn number to the master side turn
number 1/2 2 2 1/2