Hitachi Vector Control with the SJ300 Inverter Installation and operating instructions

.
Application Note for Vector Control with the SJ300 Inverter
Contents
[1] Overview
[2] How to Tune Each Parameter
(2-1) Tuning target of each parameter
(2-2) SLV Control block diagram
(2-3) V2 Control block diagram
(2-4) Standard motor parameter settings for SJ300 (400V class EU version) series inverter
(2-5) Example of tuning effects (SLV mode)
[3] Positioning Under ASR mode (Orientation Function)
(3-1) Orientation Function
(3-2) Example of positioning under speed control mode (ASR) on SJ300 with SJ-FB
(3-2-1) Example of wiring
(3-2-2) Example of parameter settings
(3-2-3) Timing chart
[4] APR Control
(4-1)Example of parameter settings
(4-2)How to adjust control parameters for APR control
[5] Master Slave Control
(5-1)Example of parameter settings for Master-Slave control
(5-2)How many slaves can be connected?
(5-2-1) Parallel connection
(5-2-2) Series connection
(5-3)Explanation of each P parameter
(5-4)Explanation of each output related to V2 control
Appendix A Calculation of total inertia (reflected to themotor shaft)
(A-1) Ventilation Fan
(A-2) Truck
(A-3) Conveyer
Appendix B Calculation of load inertia
(B-1) A column
(B-2) A cylinder
(B-3) A rectangular solid
(B-4) A Cone
(B-5) Wind up (vertical linear motion)
(B-6) Horizontal linear motion
This document is a guideline for optimizing motor/inverter performance in vector mode through
parameter adjustments. Please note that actual performance of the motor depends on a combination
of many parameters, and is difficult to describe concisely. Trial & error is the customary means to
achieve good motor performance. Therefore please regard this information as just a guide only.
This document only shows technical issues related to vector control. Please refer to the SJ300
Inverter and SJ-FB manuals for detailed information for installation and operation.

[1] Overview
This engineering note applies when using SLV, 0-SLV and V2 (closed loop) control. It is often difficult to
get optimized motor performance because many parameters interact. Please refer to this document for
getting a rough idea how to achieve good motor performance with above control modes. Please also note that
the performance WILL NOT BE like a servo drive even in the case of V2 mode.
There are 3 basic modes with which you can get high torque performance with the SJ300 inverter:
(1) SLV control (No SJ-FB is used)
High motor torque performance with open loop can be obtained in the low frequency range (~0.5Hz).
Please refer to a standard SLV block diagram in Fig 1 (section 2-2).
[H***] parameters are mainly adjusted for the control.
(2) 0-SLV control (No SJ-FB is used)
High torque performance can be obtained at around 0Hz. This does NOT mean the motor shaft will be at a
standstill. The motor rotates slightly to generate motor torque, since this is not a servo drive. Depending on the
application and tuning,you may be able to get full torque with the motor at standstill. This control algorithm is
different from SLV control.
[H***] parameters are mainly adjusted for the control.
ŒFrequency control block portion
•Voltage control block portion
(3) V2 control (SJ-FB is used)
High torque and stable,accurate motor performance can be achieved with the SJ300 in vector mode.
A motor encoder and a feedback option card for SJ300 (SJ-FB) are needed to use this control mode.
There are two regulation modes within the V2 control mode:ASR mode and APR mode.
ŒASR mode : Inverter is controlled by speed command input (digitally set, analog input, or RS485)
•APR mode : Inverter is controlled by pulse train input signal
[H***] and [P***] parameters are adjusted for achieving good motor control.
A suitable mode should be selected depending on the application.
ASR
(PI)
Slip reference
Frequency
reference
ωr*+
-
q axis current
reference
+
+
Slip reference
at 0Hz
Iq*ωs
+
+
ωs*
Speed
estimation
Change over
of control
ωr^
+
+
Stability
control
1/s
ω1
Output frequency
Output phase
d-axis current
reference
Magnetizing current
id*
+-
id**
d-axis
ACR
q-axis
ACR
+
-
Torque current
iq*
iqid
Feedback current
∆Ed ∆Vd
Estimation of
q-axis flux
Estimation of
Motor torque
+
+
calculation of
Voltage Vector
id
ω1
iq
+
+
∆Vq
Vd*
Vq*
Vd
Vq
Output
voltage
Estimation of
Flux

[Difference between each control]
ØControl performance
Item SLV mode V2 mode
Speed linearity <1% <0.01 %
Speed fluctuation <1 % <0.01 %
Control range 1 : 50 1 : 100
Speed response 15 rad/s 60 rad/s
Torque control range 1 : 50 1 : 100
Torque response 50 rad/s 500 rad/s
ØTorque performance at low speed
Item SLV control 0-SLV control V2 control
Down sized motor 150% or more 150% or more 150% or more
Same kW motor 100% or more 100% or more 100% or more
sThese are guaranteed minimum values with a Hitachi standard induction motor. Actual capability is greater.
ØTorque performance at 0Hz
Item 0-SLV control V2 control
Down-sized motor 150% or more
with a small slip 150% or more with standstill
Same kW motor 100% or more
with a small slip 100% or more with standstill
sThis has been confirmed using Hitachi standard induction motor and J2 motor (for V2 control).
sNote: These are representative values only.
s Percentages are relative to base speed

[2] How to tune each parameter
(2-1) Tuning target of each parameter
There are many parameters, which influence the motor performance in SLV, 0-SLV & V2 control modes.
In some cases auto tuning is not fully sufficient to get the best motor performance because there are
various kinds of motors in the world. It is sometimes necessary to adjust by hand after the auto tuning.
Generally the performance of the motor can be determined from two criteria:
ØTorque performance at low speed
ØSpeed response against target speed
Table 1 shows main parameters that influence the motor performance inSLV mode. The concept is the same
in 0-SLV and V2 modes as well.
Table 1. Explanation of parameters related to motor performance in SLV mode
Code Function Remarks
H001 Auto tuning mode This determines the method of auto tuning.
00 (NOR) : Auto tuning invalid
01 (NRT) : Auto tuning with motor at standstill
02 (AUT) : Auto tuning with motor rotation
Auto tuning determines the following motor constants
automatically. (See left figure as well.)
ŸR1 (primary resistance)
ŸR2 (secondary resistance)
ŸL (leakage inductance)
ŸIo(magnetizing current at base frequency)
ŸJ (total load inertia)
Normally better motor performance can be obtained by auto tuning
with motor rotation with an actual load on the motor. But if the
system does not allow rotating the motor, like a lift application for
example, auto tuning with motor at standstill can be used.
H002 Motor constant selection This determines which set of motor parameters is used by the drive.
00 : Motor parameters for a Hitachi standard motor
(Uses[H020] ~ [H024] )
01 : Use auto tuning data
(Uses[H030] ~ [H034] )
02 : Use auto tuning data with On-line auto tuning
On-line auto tuning occurs every time the inverter stops. It
measures R1 and R2,the main values that may change
due to amotor temperature change. The tuning period is roughly
5 seconds maximum, and if the RUN command is given during
the tuning routine, the inverter will start and tuning is aborted.
H003 Motor kW This sets the motor kW, not a kW of an inverter.
H004 Motor poles
H005
Speed response factor K
Controlsthe speed response
Ÿ Large K àQuick response (Too high a value can cause instability.)
ŸSmall K àSlow but stable response
Value is also dependent on Proportional gain (P-gain : [H050])
and Integration gain (I-gain : [H051]). ( K = f(Kp, Ki) ).
H006 Motor stability control factor This should be adjusted in case of motor instability.
Increase / decrease depends on the situation.
H020 / H030 Primary resistance of the
motor R1 [Ω]Influences mainly the torque at low speed.
ŸLarge R1 àHigher torque (Too high R1 àOver magnetizing)
ŸSmall R1 àSmaller torque
H021 / H031 Secondary resistance of the
motor R2 [Ω]Influence mainly on the speed change ratio (= slip compensation)
ŸLarge R2 àIncrease speed change ratio
(= Actual speed becomes faster than a target speed.)
ŸSmall R2 àDecrease speed change ratio
(= Actual speed becomes slower than a target speed.)
R1 L
LM
R2
Equivalent circuit of one leg of
the motor winding
Torque
Speed
ideal Big R2
Small
R2

Code Function Remarks
H022 / H032 Leakage inductance of the
motor L [mH] Ldoes not influence control much compared to other parameters, however a suitable value is recommended to be set.
H023 / H033 Magnetizing current of the
motor Io[A] Influences mainly the torque at low speed. ŸLarge IoàBigger torque (Too big IoàOver magnetizing)
ŸSmall IoàSmaller torque
H024 / H034 Total inertia J[kgm2]Influences mainly speed and torque response performance
This should be the total inertia (ΣJ) on the motor shaft,
including the inertia of the rotor of the motor and the load. See
table 2 for information on how to tune in each case.
à See appendix A for calculation of the total inertia.
H050 Proportional gain under
PI control mode (Kp)
(% based on [H005])
Fine tuning of proportional portion of speed response factor.
ŸLarge KpàQuick response (Too high Kpcan cause instability.)
ŸSmall KpàSlow but stable response
H051 Integration gain under
PI control mode (Ki)
(% based on [H005])
Fine tuning of Ki portion of speed response factor.
ŸLarge KiàQuick response (Too high Kican cause instability.)
ŸSmall KiàSlow but stable response
H052 Proportional gain under
P control mode (Kp)
(% based on [H005])
F002 Acceleration time
F003 Deceleration time Acc and Dec time influence the response. Even if optimized tuning parameter values are set, actual motor speed will
change according to the set ramp time.
If a quick response is required, the ramps should be set as fast as
possible. Or, use LAC (LAD cancellation) to make the ramp invalid.
A044 Control mode Control mode should be set to 03 (SLV), 04 (0-SLV) or 05 (V2).
A045 Output gain (Vgain)Output gain scales the duty cycle of PWM output, regardless of
the input voltage of the inverter.
Decreasing output gain can solve the problem of motor instability,
however the output torque will also decrease in this case.
A081 AVR function AVR function attempts to maintain a stable output voltage by
changing the duty cycle of the PWM output in real-time. If the input
voltage changes or bus voltage changes due to regeneration, motor
sees constant voltage. That means the motor efficiency will be better.
In some cases, disabling the AVR function can resolve motor
instability problems.
AVR function attempts to always mainain constant output voltage.
During operation, DC bus voltage is always changing, which
means AVR function is always acting to change the duty cycle of
PWM output voltage. Since it is an active control function it may
lead sometimes motor instability (unstable energy transmission).
In such cases, setting AVR OFF can solve the problem.
b022OL restriction level Set OL level [b022] as high as possible, or else disable it
(set [b021] to “00 ”), because a rather high motor current is
required in low frequency area in the case of vector control.
High torque cannot be achieved if OL restriction is preformed.
b041~b044 Torque limit level Set torque limit level as high as possible, or else disable it
( = assign TL to an intelligent input terminal and leave it OFF),
because high motor current is required in the low frequency area
in the case of vector control.
Maximum torque cannot be achieved if torque limit is triggered.
b083 Carrier frequency Decreasing carrier frequency can solve the problem of motor
instability.
This is because the effect of dead time will be reduced.
* Second and 3rd functions([H2**] & [H3**]) have the same meaning for 2nd and 3rd motors.
Refer to Table 3 for standard (default) motor parameter settings for SJ300 series inverter.

Table 2 shows suggestions for adjusting the SLV and other related parameters to correct various phenomena.
Table 2. Suggestions for tuning
#Phenomena Parameter How to adjust
1Actual speed is faster than the target speed.
(Speed deviation is +) H021 Decrease R2 value (Minimum target is 80% of the preset value)
2Actual speed is slower than the target speed.
(Speed deviation is - ) H021 Increase R2 value (Maximum target is 120% of the preset value)
Insufficient torque at low speed (~ few Hz) H020 Increase R1 value
(Maximum target is 120% of the preset value)
3H023 Increase Io value
(Maximum target is 120% of the preset value)
4Shock at start H024 Decrease J
5Unstable motor rotation H005 Decrease speed response factor
H024 Decrease J
H006 Increase / decreasestability control factor
(Increase or decrease depends on the situation.)
A045 Decrease output gain
A081 Set AVR function to OFF
b083 Decrease carrier frequency
6Insufficient torque at low speed due to torque
limit action
b021,
b041
~b044
Set;
Torque limit level> Overload restriction level
H005 Increase speed response factor
H050 Increase P-gain of speed response factor
7Responseisslow
H051 Decrease I-gain of speed response factor
H005 Decrease speed response factor
H050 Decrease P-gain of speed response factor
8Speed
overshoot due to too quick
response
H051 Increase I-gain of speed response factor
*Refer to Table 3 for a standard (default) motor parameter settings for SJ300 series inverter.

Vector control technical information
SLV Control block diagram (Fig 1)
Speed
control Voltage calculation
(Interference control)
Torque current
control
(q-ACR)
Magnetizing
current control
(d-ACR)
d-axis secondary
flux control
Compensation
voltage
calculation
Voltage conversion
(2φà3φ)
Frequency
calculation Integrator
Current converter
(3 φ à 2 φ )
Speed
estimator
Speed reference
Magnetizing
current reference
∆ Vd ∆ Vq
ωr*
IwIu
ωr^
ωr^
iq*
id*
iq*
id*
iq*
∆vq0
∆vd0
id
iq
id
iq
id*
iq*
id*φd*ω1*θ
θ
Iu
Iw
ω1*
iq
vq*
vd*
vU*vV*vW*
ω1*
φd*
φd*
θ
Speed response [H005]
P gain for PI [H050]
I gain for PI [H051]
P gain for P [H052]
[H070], [H071], [H072]
Motor Constant (R1,L,Io,J)
Magnetizing
current Io
Stabilization
factor [H006]
Motor Constant
(R1, R2, L, Io)
Motor Constant
(R1, R2, L, Io)
Motor Constant
(R1, R2, L, Io)
Motor Constant
(R1, R2, L, Io)
Motor Constant
(R1, R2, L, Io)
Motor Constant
(R1, R2, L, Io)
Motor

PWM M
EC
ACR
Torque
limiter
ASR
Internal
setting
LAD
Speed
detection
Position
detection
Zero speed
detection
Speed deviation
excessive signal
APR
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

0.4kW
0.75kW
1.5kW
2.2kW
4kW
5.5kW
7.5kW
11kW
15kW
18.5kW
22kW
30kW
37kW
45kW
55kW
75kW
90kW
110kW
132kW
R1
24.584
9.404
3.588
2.368
1.124
0.820
0.512
0.368
0.240
0.192
0.156
0.148
0.088
0.072
0.052
0.032
0.024
0.016
0.012
R2
6.880
6.048
2.520
1.776
1.032
0.400
0.272
0.236
0.184
0.140
0.112
0.104
0.112
0.084
0.072
0.036
0.040
0.028
0.024
L
83.28
47.56
24.84
13.64
7.88
6.44 5.28
7.36
5.16
4.12
2.88
2.40
2.28
1.88
1.48 1.00 0.80 0.72 0.60
Io
0.75 1.17 2.61 2.43
5.10
9.21
11.25
7.97
10.53
12.91
16.18
18.51
21.25
27.00
31.50
35.00
36.17
44.00
47.00
2p
J
0.003
0.005
0.011
0.012
0.039
0.049
0.059
0.095
0.116
0.126
0.276
0.313
0.551
0.613
0.713
3.001
3.438
4.625
5.625
R1
22.800
11.936
4.496
3.604
1.600
0.960
0.608
0.520
0.320
0.204
0.160
0.132
0.104
0.080
0.060
0.036
0.028
0.024
0.016
R2
11.092
6.392
3.152
1.808
0.996
0.684
0.416
0.300
0.228
0.180
0.148
0.108
0.104
0.080
0.068
0.044
0.032
0.032
0.024
L
130.56
51.88
25.12
18.64
12.60
11.28
10.40
7.44
5.16
4.12
3.64
2.40
2.32
1.92
1.48 1.00 0.96 0.76 0.68
Io
0.90 1.26 2.19 4.37
7.64
6.57 8.25
9.91
12.70
16.66
18.51
24.08
28.33
33.33
45.16
50.00
54.33
50.00
57.33
4p
J
0.005
0.009
0.017
0.027
0.072
0.088
0.111
0.176
0.213
0.413
0.476
0.601
1.038
1.138
1.376
3.001
3.438
6.000
7.000
R1
15.332
10.156
5.028
2.804
1.268
1.000
0.872
0.552
0.300
0.268
0.212
0.148
0.112
0.104
0.060
0.044
0.036
0.024
0.020
R2
7.200
5.496
3.252
2.100
0.880
0.640
0.500
0.308
0.240
0.188
0.156
0.108
0.096
0.076
0.056
0.048
0.048
0.024
0.020
L
109.16
57.36
37.60
33.04
26.56
24.36
22.88
5.96
5.72
4.76
4.00
2.76
2.32
1.88
1.52 1.16 1.04 0.72 0.68
Io
1.26 1.78 3.01 4.64
6.30
7.20 8.37
11.16
14.33
16.73
20.25
28.96
33.33
38.90
43.17
58.33
58.00
81.00
68.00
6p
J
0.009
0.017
0.031
0.062
0.151
0.176
0.276
0.363
0.688
0.813
0.938
1.626
1.876
2.126
4.376
5.251
7.875
9.750
25.625
R1
26.668
10.244
3.532
1.708
1.000
0.900
0.804
0.536
0.412
0.320
0.232
0.168
0.092
0.060
0.052
0.040
0.024
0.020
0.016
R2
15.200
6.632
2.656
1.900
1.260
1.120
1.020
0.392
0.300
0.244
0.188
0.160
0.132
0.080
0.068
0.064
0.040
0.036
0.032
L
142.84
78.04
59.44
36.36
27.44
25.36
23.44
9.84
6.68
6.00
4.32
3.44
3.00
2.08
1.76 1.44 1.08 0.88 0.72
Io
1.44 2.34 4.25 6.75
8.40
8.52 8.63
11.97
17.66
19.91
26.73
34.83
33.80
47.50
51.33
59.33
67.00
91.47
109.17
8p
J
0.017
0.031
0.062
0.126
0.226
0.276
0.363
0.801
0.938
1.626
1.876
2.126
6.376
9.251
12.001
15.001
25.625
25.625
25.625
These parameters are based on EU motors, which have slightly different motor constants than Japanese & US motors.
Therefore the Japanese versionsand US versionsof SJ300 have slightly different motor parameters as default settings.

Vector control technical information
(2-5) Example of tuning effects (SLV mode)
This section shows examples of actual effects when changing each parameter by showing motor current
waveforms. Please note that these are just examples. Actual motor performance will depend on the application.
This data is reference only! It is only intended as a guide for obtaining optimal performance.
<Summary of examples>
Common condition
ØINV : SJ300-007HFE (rated output current = 2.5A)
ØMotor : Hitachi standard induction motor (380V 50Hz 0.75kW 1.9A 4p 1420rpm) No load (shaft free)
sSet frequency [F001] = 3.00Hz
sAcceleration time [F002] = 0.01s, Deceleration time [F003] = 0.01s
sControl mode [A044] = 03 ; SLV mode (open loop)
sAll others are default settings
Parameter Default parameter
Data00 comparison Data number Remarks
b083 : Carrier frequency 5.0 kHz 0.5 kHz
15 kHz Data01
H003 : Motor kW 0.75 kW 75kW Data02
H004 : Motor poles 48Data03 OC trip
H005 : Speed response factor K1.590 0.100
10.00 Data04
H020 : Motor R1 11.93
Ω
3.000
30.00 Data05
H021 : Motor R2 6.392
Ω
3.000
30.00 Data06
H022 : Motor L51.88 mH 10.00
200.0 Data07 Shock at start
H023 : Motor Io 1.26 A 0.3
3.0 Data08 OC trip
H024 : Total J0.009 kgm20.001
0.100 Data09 OC trip
H050 : P-gain of K100 % 1
500 Data10 Shock at start
H051 : I-gain of K100% 1
200 Data11
Note -thegraphs show steady state operation for comparison purposes only. Response characteristics cannot
be determined from this data.
T
1 >
1) Ref A: 1 A 200 ms
Data00. Default parameter
Actual frequency (average)f(ave) = 2.88Hz
IM= 1.38Arms
T
T
T
T
T
1 >
2 >
3 >
1) Ref A: 2 A 200 ms
2) Ref A: 2 A 200 ms
3) Ref A: 2 A 200 ms
Data01. Carrier frequency 5kHz
à
0.5kHz / 15kHz
f (ave) =2.92 Hz /2.88Hz
IM=1.42 Arms /1.38
Default parameter
fc = 0.5kHz
fc = 15kHz

T
T
T
1 >
2 >
1) Ref A: 2 A 200 ms
2) Ref A: 2 A 200 ms
Data02. Motor kW [H003] = 0.75kW à75kW
f (ave) = 0.87 Hz
IM= 1.57 Arms
Default parameter
[H003] = 75
T
T
T
1 >
2 >
1) Ref A: 2 A 200 ms
2) Ref A: 2 A 200 ms
Data03. Motor poles [H004] = 4pà8p
OC trip after few seconds.
Default parameter
[H004] = 8
Data05. R1 [H020] = 11.93
à
3.000 / 30.00
R1=3.00 à Bad motor performance
R1=30.0 à OC trip at start
T
T
T
T
T
1 >
2 >
3 >
1) Ref A: 2 A 200 ms
2) Ref A: 2 A 200 ms
3) Ref A: 2 A 200 ms
Default parameter
R1 = 3.00
R1 = 30.0
T
T
T
T
T
1 >
2 >
3 >
1) Ref A: 2 A 200 ms
2) Ref A: 2 A 200 ms
3) Ref A: 2 A 200 ms
Data04. K [H005] = 1.590 à0.1 / 10
f (ave) =3.08 Hz /2.97 Hz
IM=1.38 Arms /1.38 Arms
K effects on the response so there is almost no
difference in steady state current waveform.
[H005] = 10
[H005] = 0.1
Data06. R2 [H021] = 6.392
à
3.000 / 30.00
f (ave) =2.94 Hz /4.25 Hz
IM=1.37 Arms /1.34 Arms
T
T
T
T
T
1 >
2 >
3 >
1) Ref A: 2 A 200 ms
2) Ref A: 2 A 200 ms
3) Ref A: 2 A 200 ms
R2 = 30
R2=3.0
Default parameter
Data07. L [H022] = 51.88 à10.00 / 200.0
f (ave) =2.96 Hz /2.79 Hz
IM=1.37 Arms /1.40 Arms
T
T
T
T
T
1 >
2 >
3 >
1) Ref A: 2 A 200 ms
2) Ref A: 2 A 200 ms
3) Ref A: 2 A 200 ms Default parameter
L=10.0 mH
L=200.0 mH

ØNote that these plots were made under steady state conditions, i.e. not transient data.
Transient response cannot be determined from these plots.
ØThere is no set procedure or specific order for these tuning steps, because optimal tuning depends on
the conditions and situation of the system.Refer to Table 2in previous section for suggestions for tuning.
Data08. Io [H023] = 1.26 à0.30 /3.00
f (ave) =2.98 Hz /-
IM=0.40 Arms /- (OC trip)
T
T
T
T
T
1 >
2 >
3 >
1) Ref A: 2 A 200 ms
2) Ref A: 2 A 200 ms
3) Ref A: 2 A 200 ms Default parameter
Io = 0.3 A
Io = 3.0 A
Data09. J [H024] = 0.009
à
0.001 / 0.100
f (ave) =2.61 Hz /-
IM=2.29 Arms /- (OC trip)
T
T
T
T
T
1 >
2 >
3 >
1) Ref A: 2 A 200 ms
2) Ref A: 2 A 200 ms
3) Ref A: 2 A 200 ms
Default parameter
J = 0.001
J = 0.1
T
T
T
1 >
2 >
1) Ref A: 2 A 200 ms
2) Ref A: 2 A 200 ms
Data11. Ki [H051] = 100à10 /200
Shock at start and then OC trip
Ki = 10
Ki = 200
Data10. Kp [H050] = 100à10 / 200
Shock at start and then OC trip
T
T
T
1 >
2 >
1) Ref A: 2 A 200 ms
2) Ref A: 2 A 200 ms
Kp = 10
Kp = 200

[3] Positioning under ASR mode (Orientation function) (V2 mode)
This can be implemented using SJ-FB (feed back option card).
(3-1) Orientation Function
The SJ300 series incorporates a function where the inverter counts the pulses from the motor encoder
and stops after a certain number of pulses. It is called the orientation function.
The Orientation function is used when an accurate stop position is required.
The SJ300 does not count encoder pulses every time, which means it is different from servo drives. The SJ300
starts counting the encoder pulses only after the Z pulse is given during orientation mode. Therefore the
SJ300 can stop the motor at a certain position.
sFirst, it is necessary to go into the orientation mode. (Turn the “ORT”terminal ON onthe logic
card.) During orientation period, INV stops the motor after certain pulses from Z pulse is given.
<Example of stopping 7pulses after Z pulse is given>
sOrientation mode starts
when the actual output
frequency reaches
the orientation speed.
sDeceleration to the
orientation speed is based on
the set deceleration time.
Parameter set for this example under following condition is in table below.
-1024 ppr encoder
-2.0 Hz of orientation speed
-acceptable positioning range is 7±3 pulses
-give frequency command from the analog input (O-L)
-give RUN command from the digital panel
No. Code Contents Set value Remarks
1A044 Control method 05 V2 (closed loop control)
2P011 ppr of the encoder 1024 Depends on the encoder
3P012 Control mode 00 ASR (Speed command base on speed)
4P013 Mode of the pulse train input -No need to care because this is ASR mode
5P014 Stop position while orientation 28 [P014] = 4096 * 7 / 1024 = 28
6P015 Speed while orientation 2.0 In case of 2.0Hz for orientation speed.
7P016 Direction of orientation 00 In case of FW rotation
8P017 Orientation completion range 12 Allowable deviation of positioning.
[P017] = 3* 4
(Multiplying 4 is fixed as MCU calculation)
9A001 Frequency command from; 01 Terminal (O-L input)
10 A002 RUN command from; 02 “RUN”key of the operator
F002 Acceleration time 3.011 F003 Deceleration time 3.0 As short as the system allows.
Z pulse
A pulse
fout
Orientation speed [P015]
•‚ƒ„…† ‡
0
(1 pulse / rotation)
ORT input
Orientation mode Positioning mode
Stop!
The ramp is based on the position loop
gain [P023], and does not follow the set
ramp time [F003].
Big [P023] results in a quick stop.
Fig 3. Example of positioning

(3-2) Example of positioning under speed control mode (ASR) on SJ300 with SJ-FB
(3-2-1) Example of wiring
(3-2-2) Example of parameter settings
No. Code Contents Set value Remarks
1A044 Control method 05 V2 (closed loop control)
2P011 ppr of the encoder 1024 Depends on the encoder
3P012 Control mode 00 ASR (Speed command base on speed)
4P013 Mode of the pulse train input -No need to care because this is ASR mode
5P014 Stop position while orientation *When you want to stop at npulses after
catching zero-pulse (after AZP/N is given);
[P014] = 4096 * n/ [P011]
<Regardless the ppr of an encoder>
Stop at 300 pulses after Z pulse is given
for example;
[P014] = 4096 * 300 / 1024 = 1200
6P015 Speed while orientation 2.0 In case of 2.0Hz for orientation speed.
7P016 Direction of orientation 00 In case of FW rotation
8P017 Orientation completion range *Allowable deviation of positioning.
[P017] = no* 4
9A001 Frequency command from; 01 Terminal (O-L input)
10 A002 RUN command from; 02 “RUN”key of the operator
11 F002 Acceleration time 3.0
F003 Deceleration time 3.0 As short as the system allows.
Above are the main parameters to get position control. You have to adjust other parameters ([H***] parameters)
to get good performance.
Belt is stopped at a certain position after passing a switch“SWZ”.
ŒMaterial M passes“SWO”point.
(“SWO”turns ON which means an inverter is going into an
orientationmode.)
• Belt speed will be an orientation speed (set in
[P015]), which means it is ready for positioning
and wait for a Z pulse.
ŽAfter passingSWZpoint, inverter starts counting the pulses
and stops at a certain position (set in [P017]).
•Inverter gives out a“positioning completion signal ; POK”from
an intelligent output terminal.
EAP
EAN
EBP
EBN
EZP
EZN
Encoder
M
SJ300
O
L
f*
ORT
P24
Requiredstop
position
n(Pulses)
EP5
EG5
A
EZN
EZP
Allowable
deviation
n0(pulses)
In case of using external Z pulse
Example of 1024ppr line driver type encoder.
Material M
SW
SW
Œ•Ž•
Fig 4. Example of wiring

(3-2-3) Timing chart
Motor shaft rotates a bit to reverse in case it exceeds the stop position (1 ~ 2 pulses).
Refer to section [2] for adjusting each parameters to get good motor performance.
ORT
input
Motor
rotation
N
Z
A
B
Positioning start signal (Min. ON period = 50ms)
n
MCU recognition
2Hz Orientation
Positioning
completion output
signal (POK)
ON
1 2 n-2 n-1
Start counting the pulses from the falling edge
Œ
•
Ž
•
Fig 5. Timing chart of example 3-2

[4] APR Control
You can control the motor by a pulse
train input on SJ300 with SJ-FB.
Make STAT terminal ON to get
started. (Inverter starts to accept pulse
train input after STAT is turned ON.)
SJ300 controls the motor based on the pulse train input to SAP, SAN, SBP, SBN which are 90 degrees phase
difference of A, B signals. Please see below for the simplified block diagram of the control.
<Explanation of the performance>
If the control system is in a stable state, it
performs like figures shown right. Feedback will
be 1st order lag against the reference because of
PI control. (Ignoring the Overshoot.)
Making STAT signal ON while there is a
continuous pulse train input result in a constant
increasing of θ*. (θ*will not be a step change
because it is a number of pulses.) In this case
feedback θwill be fixed according to the APR
response during t1 period.
In t2 period, feedback θwill be stabilized by
APR and therefore it will be in a constant
increasing mode together with the reference (θ*).
Therefore, ω(=G1⋅(θ*-θ)), which is the output or APR block will be in a increasing (not a constant increasing)
mode during t1 period and will be stable in t2 period.
ASR block receives the ω*and controls the system to make ε(= ω* - ω) to be 0. (see above figure.) and output
of this block will be forwarded to next block.
EAP
EAN
EBP
EBN
EZP
EZN
Encoder
M
SJ300
EP5
EG5
SAP
SAN
SBP
SBN
0
0
0
0
A, B phase pulse train input
(90 degrees of phase difference)
P24
STAT
Fig 6. Idea of APR control
D/N +G1
G1F
-
+
++
-
+
-G3
Position FB Speed FB Current FB
Voltage
control
Encoder
Motor
Pulse train
input
APR
ASR
ACR
ε
θ *
ω *
i*
G2
ω
θ
G1r G2r
i
G3r
Fig 7. Simplified control block diagram for V2 control
t
Position θ*
θ
ω*
t1 t2
t
Speed
ω
ω*
t1 t2
ε
t3
Fig 8. Image of position and speed deviation

(4-1)Example of the parameter settings
Main parameters to be set for APR control.
No. Code Contents Set value Remarks
1A044 Control method 05 Closed loop control mode
2P011 ppr of the encoder *Depends on an encoder
3P012 Control mode 01 APR mode
4P013 Mode of the pulse train input *Depends on an encoder. See manual
of SJ-FB the mode.
5P014 Stop position while orientation -
6P015 Speed while orientation -
7P016 Direction of orientation -
8P017 Orientation completion range -
9P018 Delay time for orientation completion -
No need to set since this is not
positioning.
10 P019 Position of an electronic gear *Depends
11 P020 Numerator of an electronic gear *Depends
12 P021 Denominator of an electronic gear *Depends
13 P022 Feed forward gain (FFWG) *Depends
14 P023 Position loop gain (G) *Depends
(4-2)How to adjust control parameters for APR control
There are only two parameters to be adjusted to get good performance under APR control mode, which are feed
forward gain (P022) and position loop gain (P023).
Other parameters shown in section [2] should also be adjusted to get overall good performance.
[5] Master Slave Control
With combination of ASR and APR
control, we can achieve master-
slave control, which means the slave
motor follows the master motor.
SJ-FB has pulse train signal output terminals (AP,
AN, BP, BN) so that he can give them to pulse train
input terminals of another SJ-FB. The output signal
is the same as motor encoder feedback signal of the
motor belonging to him.
Master inverter can be either ASR or APR mode,
however the slave inverter should be in APR mode
because the slave inverter is controlled by pulse
train input from the master.
N/D
REF ( θ *)
N/D
FB ( θ )
G (P023)
(Position loop gain)
Gf (P022)
(Feed forward gain)
+
-++To APR control block
[P019]=01
[P019]=00
Gf (P022) : Simply forwarding the REF value with multiplying a gain (Gf).
(Nothing to do with the actual system situation (FB).)
G(P023) : Multiplies a gain Gwith the deviation ε and forward.
(Deeply related to actual system situation (FB).)
Fig 9. Block diagram of position control loop
SJ300
SJ-FB
EAP, EAN
EBP, EBN
MM
AP, AN
BP, BN
EG5
SJ300
SJ-FB
Ms
SAP,
SAN
SBP,
SBN
EG5
Master
Termination resistor
Rt = OFF Rt = ON
Speed command
ØDigital setting
ØAnalog input
slave
Encoder
(Line driver type)
EAP, EAN
EBP, EBN
Fig 10. Idea of Master-Slave control

(5-1)Example of parameter settings for Master-Slave control
<How to achieve speed 5: 1 between master and slave>
Set value
Code Function Master Slave Remarks
[A044] Main Control mode 05 (V2) 05 (V2)
[P011] Encoder pulse (ppr) 1,024 1,024
[P012] Vector control mode 00 (ASR) 01 (APR)
[P013] Mode of the pulse train
input * * Depends on the encoder
[P014] Stop position while
orientation 60 -15 pulses * 4 = 60
[P015] Speed while orientation 3.00 Hz -
[P016] Direction of orientation 00 (FW) -
[P017] Orientation completion
range 20 -5 pulses * 4 = 20
[P019] Position of an electronic
gear -01 (REF side) (Note 1)
[P020] Numerator of an
electronic gear -1,024 (Note 1)
[P021] Denominator of an
electronic gear -5,120 1,024 * 5 (Note 1)
[P022] Feed forward gain
(FFWG) -Depends
[P023] Position loop gain (G) -Depends
(Note 1)
Common condition :
sEncoder = 1,024 ppr for both master and
slave motor
sMaster is driven by ASR
sMaster is stopped by positioning (3Hz of
orientation speed)
sMaster stops 15 pulses after a Z pulse is
given during orientation (3 pulses for the
slave)
sBoth master and slave motors stop at the
same time.
sOrientation completion range is 5 pulses
STAT
ORT
ON
ON
Motor
speed
Master
slave
Orientation
mode
Based on the
set ramp time
N/D
REF
FB
G (P023)
Gf (P022)
+
-++APR
[P019]=01
(REF side)
51
N [P020] = 1024
D [P021] = 1024 x 5 = 5120
Fig 11. Electronic gear of APR control
Motor
P24
Master SJ300
ORT
SAP
SAN
SBP
SBN
AP
AN
BP
BN
EAP
EAN
EBP
EBN
EZP
EZN
EP5
EG5
Motor
P24
STAT
SAP
SAN
SBP
SBN
AP
AN
BP
BN
EAP
EAN
EBP
EBN
EZP
EZN
EP5
EG5
SJ-FB SJ-FB
Slave SJ300
Fig 12. Wiring and timing chart example of Master-Slave control

(5-2)How many slaves can be connected?
There are two ways of connecting slave SJ300 to one master SJ300.
(5-2-1) Parallel connection
Maximum 10 slaves can be connected to a masterbased on RS422B EIAJ US. Actual capability is 32 units.
In this case, every slave follows the master with a minimum delay.
sRS422 standard
Load impedance of the driver RL> 100 Ω
Input impedance of the receiver Rin > 4 k Ω
sActual spec of SJ-FB
Load impedance of the driver RL> 100 Ω
Input impedance of the receiver Rin = 12 k Ω
(5-2-2) Series connection
Any numbers of slaves can be connected to a master theoretically.
Delay in response will be bigger at far end.
In case of 32 slaves with SJ300;
RL = (12 k Ω / 32) // RT
= 107 Ω > 100 Ω
∴ Capability is 32 units
Driver
(Master)
Receiver (Slave)
RL
Ri2 Ri1 Ri32
1 2 32
Termination resistor RT(Internal)
Make it ON only at the furthest place.
150 Ω
Fig 13-1. Parallel connection of Master-Slave control
Driver
(Master)
Receiver (Slave)
RL
1
Termination resistor RT(Internal)
Make it ON for every unit
2 n
Delay δ 1Delay δ 2Delay δ 3Delay δ n
Total delay
= δ 1Total delay = δ 1+ δ 2Total delay = δ 1+ δ 2+ δ 3Total delay = Σδ n
Fig 13-2. Series connection of Master-Slave control