Mitsubishi Electric FR-A7AP User manual

INVERTER
Plug-in option
INSTRUCTION MANUAL
1
2
3
4
5
FR-A7AP
Orientation control
Encoder feedback control
Vector control
INSTALLATION
ORIENTATION CONTROL
ENCODER FEEDBACK CONTROL
PRE-OPERATION INSTRUCTIONS
VECTOR CONTROL

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.
•For prevention of damage due to static electricity, nearby
metal must be touched before touching this product to
eliminate static electricity from your body.
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.

A-3
MEMO

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 ...................................................................................................................................2
1.2 Parts....................................................................................................................................................3
2 INSTALLATION 4
2.1 Pre-installation instructions .............................................................................................................4
2.2 Installation procedure .......................................................................................................................5
2.3 Encoder Specifications/Terminating Resistor Switch....................................................................7
2.4 Wiring..................................................................................................................................................9
2.5 Encoder Cable..................................................................................................................................13
2.6 Encoder.............................................................................................................................................15
2.7 Parameter for Encoder ....................................................................................................................17
3 ORIENTATION CONTROL 19
3.1 Wiring Example ................................................................................................................................19
3.2 Terminals ..........................................................................................................................................21
3.3 Parameter List for Orientation Control ..........................................................................................24
3.4 Specifications...................................................................................................................................25

II
4 ENCODER FEEDBACK CONTROL 27
4.1 Wiring Examples ..............................................................................................................................27
4.2 Terminals ..........................................................................................................................................29
4.3 Encoder Feedback Control Parameter List ...................................................................................30
4.4 Specifications...................................................................................................................................30
5 VECTOR CONTROL 31
5.1 Wiring Examples ..............................................................................................................................31
5.2 Terminals ..........................................................................................................................................35
5.3 Vector Control Extended Parameter List.......................................................................................36
5.4 Specifications...................................................................................................................................39

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 dedicated for the FR-A700/A701 series.
1.1.1 Product confirmation
Check the enclosed items.
Plug-in option
......................................... 1
Mounting screw (M3 ×6mm)
.............. 2 (Refer to page 5.)
Hex-head screw for option
mounting (5.5mm)
............... 1 (Refer to page 5.)
5.5mm

2
PRE-OPERATION INSTRUCTIONS
1
1.1.2 SERIAL number check
When you are using FR-A7AP with an FR-A700 series inverter, check the SERIAL number on the FR-
A700. The FR-A700 series inverters having the following SERIAL or later are compatible with FR-A7AP.
The SERIAL number is specified on the inverter rating plate or package.
Model SERIAL (Serial No.) Model SERIAL (Serial No.)
FR-A720-0.4K/0.75K P5{{{{{{{ FR-A740-0.4K L5{{{{{{{
FR-A720-1.5K/2.2K Q5{{{{{{{ FR-A740-0.75K K5{{{{{{{
FR-A720-3.7K N5{{{{{{{ FR-A740-1.5K/2.2K J5{{{{{{{
FR-A720-5.5K to 11K L5{{{{{{{ FR-A740-3.7K H5{{{{{{{
FR-A720-15K to 22K M5{{{{{{{ FR-A740-5.5K/7.5K G5{{{{{{{
FR-A720-30K Q5{{{{{{{ FR-A740-11K to 22K F5{{{{{{{
FR-A720-37K M5{{{{{{{ FR-A740-30K to 55K E5{{{{{{{
FR-A720-45K L5{{{{{{{ FR-A740-75K/90K G5{{{{{{{
FR-A720-55K K5{{{{{{{ FR-A740-110K to 160K E5{{{{{{{
FR-A720-75K/90K E5{{{{{{{ FR-A740-185K to 500K C5{{{{{{{
Rating plate example
5{{{{{{{
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.
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.)

3
PRE-OPERATION INSTRUCTIONS
1.2 Parts
Front view Rear view
Mounting
hole
Mounting
hole
Mounting
hole
Encoder specification selection switch (SW1)
Used to change the specification of encoder
(differential line driver/complementary).
Switch for manufacturer
setting (SW3)
Do not change from initially-
set status (1, 2:OFF ).
Terminating resistor selection
switch (SW2)
Switch ON/OFF of the internal
terminating resistor.
CON2 connector
Not used.
Terminal
block
Connector
Connect to the inverter
option connector.
Terminal layout
PA2
PB2
PZ2
SD
SD
PO
PA1
PB1
PZ1
PG
PG
PIN
1
2
3
4
O
N
1
2
O
N
1
2
O
N
SW2
SW1
LED1
LED2
LED3
SW3
FR-A7AP
PIN and PO are
not used.
(Refer to page 5.)
(Refer to page 7.)
(Refer to page 7.)

4
2
2INSTALLATION
2.1 Pre-installation instructions
Make sure that the input power of the inverter is OFF.
CAUTION
With input power ON, do not install or remove the plug-in option. Otherwise, the inverter and
plug-in option may be damaged.
Static electricity in your body must be discharged before you touch the product. Otherwise the
product may be damaged.

5
INSTALLATION
2.2 Installation procedure
1) Remove the inverter front cover.
2) Mount the hex-head screw for option
mounting into the inverter screw hole
(on earth plate) (size 5.5mm, tightening
torque 0.56Nxm to 0.75Nxm).
3) Securely fit the connector of the plug-in
option to the inverter connector along
the guides.
4) Securely fix the both right and left sides
of the plug-in option to the inverter with
the accessory mounting screws.
(Tightening torque 0.33Nxm to
0.40Nxm)
If the screw holes do not line up, the
connector may not have been plugged
securely. Check for loose plugging.
REMARKS
• Remove a plug-in option after removing two screws on both left and right sides.
(When the plug-in option is mounted in the connector 3), it is easier to remove the plug-in option after removing a
control circuit terminal block.)
4) Mounting
screws
Inverter side
option
connector
Screw hole for
option mounting
Screw hole for
option mounting
(on earth plate)
Hex-head screw
for option mounting
1)
2)
3)

6
INSTALLATION
2
CAUTION
•Only one type of option per inverter may be used. When two or more options are mounted, priority is in the
order of inverter option connectors 1, 2 and 3. The options having lower priority are inoperative.
•When the inverter cannot recognize that the option is mounted due to improper
installation, etc., " to " (option fault) are displayed. The errors
shown differ according to the mounting positions (connectors 1, 2, 3).
•When mounting/removing an option, hold the sides of the option. Do not press
on the parts on the option circuit board. Stress applied to the parts by pressing, etc. may cause a failure.
•Take caution not to drop a hex-head screw for option mounting or mounting screw during mounting and
removal.
•Pull the option straight out when removing. Pressure applied to the connector and to the option circuit
board may break the option.
Mounting
Position
Error
Display
Connector 1
Connector 2
Connector 3

7
INSTALLATION
2.3 Encoder Specifications/Terminating Resistor Switch
(1) Encoder specification selection switch (SW1)
Select either differential line driver or complementary
It is initially set to the differential line driver. Switch its position
according to output circuit.
(2) Terminating resistor selection switch (SW2)
Select ON/OFF of the internal terminating resistor. Set the
switch to ON (initial status) when an encoder output type is
differential line driver and set to OFF when complementary.
ON : with internal terminating resistor (initial setting status)
OFF : without internal terminating resistor
REMARKS
· Set all switches to the same setting (ON/OFF).
· If the encoder output type is differential line driver, set the
terminating resistor switch to the "OFF" position when sharing the
same encoder with other unit (CNC (computerized numerical
controller), etc) or a terminating resistor is connected to other unit.
Complementary
Differential line
driver (initial status)
1
2
3
4
O
N
1
2
O
N
SW2
SW1
SW3
FR-A7AP
Internal terminating
resistor-ON
(initial status)
Internal terminating resistor-OFF
1
2
3
4
O
N
1
2
O
N
SW2
SW1
SW3
FR-A7AP

8
INSTALLATION
2
(3) Motor used and switch setting
Motor
Encoder Specification
Selection Switch (SW1)
Terminating Resistor
Selection Switch (SW2)
Power
Specifications *2
Mitsubishi standard motor
with encoder
Mitsubishi high-efficiency
motor with encoder
SF-JR Differential ON 5V
SF-HR Differential ON 5V
Others *1 *1 *1
Mitsubishi constant-torque
motor with encoder
SF-JRCA Differential ON 5V
SF-HRCA Differential ON 5V
Others *1 *1 *1
Vector control dedicated
motor SF-V5RU Complementary OFF 12V
Other manufacturer's
motor with encoder –*1 *1 *1
*1 Set according to the motor encoder used.
*2 Choose a power supply for encoder according to the encoder used (5V/12V/15V/24V).When the encoder output
is the differential line driver type, only 5V can be input.
CAUTION
Switch "SW3" is for manufacturer setting. Do not change the setting.

9
INSTALLATION
2.4 Wiring
(1) Use twisted pair shield cables (0.2mm2or larger) to connect the FR-
A7AP and position detector.
To protect the cables from noise, run them away from any
source of noise (e.g. the main circuit and power voltage).
* When differential driver is set and a wiring length is 30m or more
The wiring length can be extended to 100m by slightly increasing the power by
5V (approx. 5.5V) using six or more cables with gauge size of 0.2mm2in
parallel or a cable with gauge size of 1.25mm2or more. Note that the voltage
applied should be within power supply specifications of encoder.
To reduce noise of the encoder cable, earth (ground) the
encoder shielded cable to the enclosure (as close as the
inverter) with a P clip or U clip made of metal.
Wiring Length Parallel Connection
(Cable gauge 0.2mm2)Larger-Size Cable
Within 10m At least 2 cables 0.4mm2 or larger
Within 20m At least 4 cables 0.75mm2 or larger
Within 100m * At least 6 cables 1.25mm2 or larger
REMARKS
· For details of the optional encoder dedicated cable (FR-JCBL/FR-V7CBL), refer to page 13.
· FR-V7CBL is provided with a P clip for earthing (grounding) shielded cable.
Example of parallel connection
with two cables
(with complementary encoder output)
PZ2
PZ1
PA1
PA2
PB1
PB2
SD
PG
G
F
D
C
B
A
R
S
Encode
r
2mm
2
FR-A700
(FR-A7AP)
Encoder cable
Shield
P clip
Earthing (grounding) example using a P clip

10
INSTALLATION
2
(2) Connection with the CNC (computerized numerical controller)
When one position detector is shared between FR-A7AP and
NC, its output signal should be connected as shown on the right.
In this case, the wiring length between FR-A7AP and NC should
be as short as possible, within 5m.
(3) Wire the shielded twisted pair cable after stripping its sheath to make
its cables loose.
Also, protect the shielded cable of the shielded twisted pair cable to
ensure that it will not make contact with the conductive area.
Strip off the sheath for the below length. If the length of the sheath peeled is too long, a short circuit
may occur with neighboring wires. If the length is too short, wires might come off.
Wire the stripped cable after twisting it to prevent it from becoming loose. In addition, do not solder it
Use a blade terminal as necessary.
Maximum 5m
(two parallel cables)
CNC
Inverter
(FR-A7AP)
Position detecto
r
Encoder
Sheath
Shield
(perform protective treatment)
Twisted pair
shielded cable
(0.2 inches)5mm
Cable stripping length

11
INSTALLATION
(4) Loosen the terminal screw and insert the cable into the terminal.
REMARKS
Information on blade terminals
Introduced products (as of Feb. 2012)
zPhoenix Contact Co.,Ltd.
Screw Size Tightening Torque Cable Size Screwdriver
M2 0.22N⋅m to 0.25N⋅m0.3mm2to 0.75mm2Small flat-blade screwdriver
(Tip thickness: 0.4mm/tip width: 2.5mm )
CAUTION
Undertightening can cause cable disconnection or malfunction. Overtightening can cause a short circuit or
malfunction due to damage to the screw or unit.
Terminal Screw
Size
Wire Size
(mm2)
Blade Terminal Model Blade terminal
crimping tool
with insulation sleeve without insulation sleeve
M2 0.3, 0.5 AI 0,5-6WH A 0,5-6 CRIMPFOX 6
When using the blade terminal (without insulation
sleeve), use care so that the twisted wires do not come

12
INSTALLATION
2
(5) For wiring of the inverter which has one front cover, remove a hook of the front cover and use a space
become available.
For wiring of the inverter which has front covers 1 and 2, use the space on the left side of the control
circuit terminal block.
REMARKS
When the hook of the inverter front cover is cut off for wiring, the protective structure (JEM1030) changes to open type
(IP00).
Do not use empty terminals as junction terminals because they are used in the option unit. If
they are used as the junction terminals, the option unit may be damaged.
When performing wiring using the space between the inverter front cover and control circuit
terminal block, take care not to subject the cable to stress.
After wiring, wire offcuts must not be left in the inverter. They may cause a fault, failure or
malfunction.
Cut off a hook on the inverter
front cover side surface.
(Cut off so that no portion is left.)
Cut off
with a
nipper,
etc.
Control circuit
terminal block
Front cover
Front cover 2
Front cover 1
Inverter which has one front cover Inverter which has front covers 1 and 2
C
AUTI
O
N

13
INSTALLATION
2.5 Encoder Cable
* As the terminal block of the FR-A7AP is an insertion type, earth (ground) cables need to be modified. (Refer to page 11.)
SF-JR/HR/JRCA/HRCA Motor with Encoder SF-V5RU, SF-THY
PZ2
PZ1
PB2
PB1
PA2
PA1
PG
SD
P
B
N
A
R
C
H
K
Encoder
2mm
2
ABCD
E
K
F
G
H
J
L
M
S
N
R
P
T
D/MS3106B20-29S
(As viewed from wiring side)
Positioning keyway
FR-A700
(FR-A7AP)
60mm
L
F-DPEVSB 12P 0.2mm
2
D/MS3057-12A
Earth cable
D/MS3106B20-29S
Approx. 140mm
Type Length L (m)
FR-JCBL5 5
FR-JCBL15 15
FR-JCBL30 30
*
PZ2
PZ1
PB2
PB1
PA2
PA1
SD
PG
G
F
D
C
B
A
R
S
Encoder
2mm2
FR-A700
(FR-A7AP)
ABCD
E
K
F
G
H
J
L
M
S
N
R
P
T
D/MS3106B20-29S
As viewed from wiring side
Positioning keyway
LD/MS3106B20-29S
Earth cable F-DPEVSB 12P 0.2mm
2
D/MS3057-12A
Encoder side
connector
Inverter side
11mm
60mm
Type Length L (m)
FR-V7CBL5 5
FR-V7CBL15 15
FR-V7CBL30 30
⋅A P clip for earthing (grounding)
a shielded cable is provided.

14
INSTALLATION
2
Connection terminal compatibility table
Motor SF-V5RU, SF-THY SF-JR/HR/JRCA/HRCA (with Encoder)
Encoder cable FR-V7CBL/FR-V5CBL FR-JCBL
FR-A7AP terminal
PA1 PA PA
PA2 Keep this open. PAR
PB1 PB PB
PB2 Keep this open. PBR
PZ1 PZ PZ
PZ2 Keep this open. PZR
PG PG 5E
SD SD AG2