Mitsubishi Electric FR-A7AL User manual

FR-A7AL INSTRUCTION MANUAL
B
INVERTER
INVERTER
Plug-in option
INSTRUCTION MANUAL
INVERTER
1
2
3
4
5
6
7
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
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.

I
⎯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

II
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

1
1
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 8 )
Rating plate example
7 X {{{{{{
Symbol Year Month Control number
SERIAL number
5.5mm
5.5mm

2
PRE-OPERATION INSTRUCTIONS
1.2 Parts
FR-A7AL
FR-A7AL
1
2
O
N
1
2
3
4
O
N
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 ).
1
2
O
N
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.)
(Refer to page 10.)

3
PRE-OPERATION INSTRUCTIONS
1
FR-A7AL
SD
SD
SD
SD
TST2
TST1
SD
VDD
VDD
RDY
OP
CR
FPZR
FPA2
FPB2
FPZ2
SD
FPA
FPAR
FPB
FPBR
FPZ
PGP
PP
PGN
NP
OPC
SD
PZR
PG
PG
SD
SD
PA
PAR
PB
PBR
PZ
*
Terminal layout
* Terminals TST1 and TST2 are not used. Do not connect anything to these. Accidental connection will damage the option.

4
PRE-OPERATION INSTRUCTIONS
1.3 Terminal Specifications
Function
Terminal
Symbol
Terminal (Signal) Name Specification Description
Position control function
PGP
PP
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
NP
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.