Mitsubishi Electric FR-A7NCA User manual

FR-A7NCA INSTRUCTION MANUAL
A
INVERTER
INVERTER
Plug-in option
INSTRUCTION MANUAL
INVERTER
2
3
4
5
6
7
8
9
1
FR-A7NCA
communication function
INSTALLATION
WIRING
INVERTER SETTING
IB(NA)-0600259ENG-A(0606) MEE Printed in Japan Specifications subject to change without notice.
SERVICE
CANopen DEFINITIONS
FUNCTIONS
TROUBLESHOOTING
PRE-OPERATION INSTRUCTIONS
OBJECT DICTIONARY
A7NCA.book 1 ページ ２００６年７月３日 月曜日 午前９時４８分

A-1
Thank you for choosing this Mitsubishi Inverter plug-in option.
This instruction manual gives handling information and
precautions for use of this equipment. Incorrect handling might
cause an unexpected fault. Before using the equipment, please
read this manual carefully to use the equipment to its optimum.
Please forward this manual to the end user.
1. Electric Shock Prevention
This section is specifically about
safety matters
Do not attempt to install, operate, maintain or inspect this
product until you have read through this instruction manual and
appended documents carefully and can use the equipment
correctly. Do not use this product until you have a full
knowledge of the equipment, safety information and
instructions.
In this instruction manual, the safety instruction levels are
classified into "WARNING" and "CAUTION".
Assumes that incorrect handling may
cause hazardous conditions, resulting
in death or severe injury.
Assumes that incorrect handling may
cause hazardous conditions, resulting
in medium or slight injury, or may
cause physical damage only.
Note that even the level may lead to a serious
consequence according to conditions. Please follow the
instructions of both levels because they are important to
personnel safety.
WARNING
CAUTION
CAUTION
SAFETY INSTRUCTIONS
WARNING
•While power is on or when the inverter is running, do not
open the front cover. You may get an electric shock.
•Do not run the inverter with the front cover or wiring cover
removed. Otherwise, you may access the exposed high-
voltage terminals and charging part and get an electric shock.
•If power is off, do not remove the front cover except for wiring
or periodic inspection. You may access the charged inverter
circuits and get an electric shock.
•Before starting wiring or inspection, check to make sure that
the indication of the inverter operation panel is off, wait for at
least 10 minutes after the power supply has been switched off,
and check that there are no residual voltage using a tester or
the like. The capacitor is charged with high voltage for some
time after power off and it is dangerous.
•Any person who is involved in the wiring or inspection of this
equipment should be fully competent to do the work.
•Always install the plug-in option before wiring. Otherwise,
you may get an electric shock or be injured.
•Do not touch the plug-in option with wet hands. Otherwise
you may get an electric shock.
•Do not subject the cables to scratches, excessive stress,
heavy loads or pinching. Otherwise you may get an electric
shock.
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A-2
2. Injury Prevention
3. Additional Instructions
Also note the following points to prevent an accidental failure,
injury, electric shock, etc.
1) Transportation and mounting
2) Trial run
3) Usage
4) Maintenance, inspection and parts replacement
5) Disposal
6) General instruction
CAUTION
•Apply only the voltage specified in the instruction manual to
each terminal. Otherwise, burst, damage, etc. may occur.
•Ensure that the cables are connected to the correct terminals.
Otherwise, burst, damage, etc. may occur.
•Always make sure that polarity is correct to prevent damage, etc.
Otherwise, burst, damage may occur.
•While power is on or for some time after power-off, do not touch
the inverter as it is hot and you may get burnt.
CAUTION
•Do not install or operate the plug-in option if it is damaged or
has parts missing.
•Do not stand or rest heavy objects on the product.
•Check that the mounting orientation is correct.
•Prevent other conductive bodies such as screws and metal
fragments or other flammable substance such as oil from
entering the inverter.
CAUTION
•Before starting operation, confirm and adjust the parameters.
A failure to do so may cause some machines to make
unexpected motions.
WARNING
•Do not modify the equipment.
•Do not perform parts removal which is not instructed in this
manual. Doing so may lead to fault or damage of the inverter.
CAUTION
•When parameter clear or all parameter clear is performed,
reset the required parameters before starting operations.
Each parameter returns to the initial value.
•For prevention of damage due to static electricity, touch
nearby metal before touching this product to eliminate static
electricity from your body.
CAUTION
•Do not test the equipment with a megger (measure insulation
resistance).
CAUTION
•Treat as industrial waste.
All illustrations given in this manual may have been drawn with
covers or safety guards removed to provide in-depth
description. Before starting operation of the product, always
return the covers and guards into original positions as specified
and operate the equipment in accordance with the manual.
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I
CONTENTS 
1PRE-OPERATION INSTRUCTIONS 1
1.1 Unpacking and Product Confirmation .............................................................................................1
1.1.1 Packing confirmation ......................................................................................................................................3
1.1.2 Parts ...............................................................................................................................................................4
1.2 STATUS LED (operation status indication) .....................................................................................5
1.3 Specifications.....................................................................................................................................6
2INSTALLATION 7
2.1 Pre-Installation Instructions .............................................................................................................7
2.2 Installation of the Communication Option LED Display Cover .....................................................7
2.3 Installation Procedure .......................................................................................................................8
2.4 Node Address Setting .....................................................................................................................10
3WIRING 11
3.1 Connection to Network....................................................................................................................11
3.2 Wiring................................................................................................................................................12
4INVERTER SETTING 14
4.1 Parameter List ..................................................................................................................................14
4.2 Parameter for CANopen communication.......................................................................................15
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II
4.2.1 CANopen address (Pr. 347) .........................................................................................................................15
4.2.2 CANopen baud rate (Pr. 348).......................................................................................................................16
4.3 Operation Mode Setting ..................................................................................................................17
4.3.1 Operation mode indication............................................................................................................................17
4.3.2 Operation mode switching and communication startup mode (Pr. 79, Pr. 340) ...........................................18
4.4 Operation and Speed Command Source (Pr. 338, Pr. 339, Pr. 550) ............................................21
4.4.1 Communication EEPROM write selection (Pr. 342) .....................................................................................25
4.5 Operation at Communication Error Occurrence...........................................................................26
4.5.1 Operation selection at communication error occurrence (Pr. 500 to Pr. 502) ..............................................26
4.5.2 Alarm and measures ....................................................................................................................................30
4.6 Inverter Reset ...................................................................................................................................32
4.7 Frequency and Speed Conversion Specifications .......................................................................34
5FUNCTIONS 35
5.1 Output from the Inverter to the Network........................................................................................35
5.2 Input to the Inverter from the Network...........................................................................................35
6CANopen DEFINITIONS 36
6.1 Communicationmethod..................................................................................................................36
6.2 Message format................................................................................................................................37
6.3 Response Level................................................................................................................................38
6.3.1 Response level of PDO ................................................................................................................................38
6.3.2 Response level of SDO ................................................................................................................................39
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III
7SERVICE 40
7.1 Process Data Object (PDO).............................................................................................................40
7.1.1 Receive PDO................................................................................................................................................40
7.1.2 Transmit PDO...............................................................................................................................................44
7.2 Service Data Object (SDO) ..............................................................................................................48
7.2.1 SDO Upload (SDO read) ..............................................................................................................................48
7.2.2 SDO Download (SDO write) .........................................................................................................................50
7.2.3 SDO Abort Code (SDO error code)..............................................................................................................52
7.3 SYNC Object.....................................................................................................................................54
7.3.1 Bus Synchronization and Sampling..............................................................................................................54
7.3.2 Bus Synchronization and Actual...................................................................................................................56
7.4 Emergency object ............................................................................................................................58
7.5 Network Management object (NMT) ...............................................................................................60
7.5.1 Status transition of NMT state ......................................................................................................................60
7.5.2 Status transition matrix of NMT state ...........................................................................................................61
7.5.3 Module Control Service ................................................................................................................................62
7.5.4 Error Control Service ....................................................................................................................................63
8OBJECT DICTIONARY 67
8.1 Object List ........................................................................................................................................67
8.2 Object Detail of Communication Profile Area ...............................................................................71
8.2.1 (Index 1000h) Device Type ..........................................................................................................................71
8.2.2 (Index 1001h) Error Register........................................................................................................................72
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IV
8.2.3 (Index 1002h) Manufacturer Status Register................................................................................................73
8.2.4 (Index 1005h) COB-ID SYNC.......................................................................................................................74
8.2.5 (Index 1008h) Manufacturer Device Name...................................................................................................75
8.2.6 (Index 100Ch) Guard Time...........................................................................................................................75
8.2.7 (Index 100Dh) Life Time Factor....................................................................................................................76
8.2.8 (Index 1010h) store parameters ...................................................................................................................77
8.2.9 (Index 1011h) restore default parameters ....................................................................................................79
8.2.10 (Index 1014h) COB-ID EMCY ......................................................................................................................80
8.2.11 (Index 1015h) Inhibit Time EMCY ................................................................................................................81
8.2.12 (Index 1017h) Producer Heartbeat Time ......................................................................................................81
8.2.13 (Index 1018h) Identity...................................................................................................................................82
8.2.14 (Index 1400h to 15FFh) Recive PDO Parameters........................................................................................84
8.2.15 (Index 1600h to 17FFh) Recive PDO Mapping ............................................................................................86
8.2.16 (Index 1800h to 19FFh) Transmit PDO Parameters.....................................................................................87
8.2.17 (Index 1A00 to 1BFFh)Transmit PDO Parameters.......................................................................................90
8.3 Object Detail of Manufacturer Specific Area .................................................................................91
8.3.1 (Index 2000h to 2063h) Monitor of the inverter ............................................................................................91
8.3.2 (Index 2106h) Alarm clear ............................................................................................................................94
8.3.3 (Index 2107h) Inverter reset .........................................................................................................................94
8.3.4 (Index 2108h) Parameter Clear....................................................................................................................95
8.3.5 (Index 2109h) Operation Mode.....................................................................................................................96
8.3.6 (Index 3000h to 3385h, 33ACh to 33E7h) Normal Parameter Area.............................................................97
8.3.7 (Index 3386h to 33ABh) Calibration Parameter Area...................................................................................98
8.3.8 (Index 3400h to 3403h) Alarm history 1 to 8 ................................................................................................99
8.3.9 (Index 4000h) Control input command (w) / Inverter status (r)...................................................................101
8.3.10 (Index 4001h) Set frequency (Set Speed) (w) /
Output frequency (Running speed) (r)........................................................................................................103
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V
8.3.11 (Index 4002h) Set Frequency .....................................................................................................................105
8.3.12 (Index 4003h) Set Speed............................................................................................................................106
8.3.13 (Index 4010h) Control Input Command (w) ................................................................................................107
8.3.14 (Index 4011h) Inverter Status (r) ................................................................................................................108
8.3.15 (Index 4012h) Set Frequency (w) / Set Speed (w) .....................................................................................109
8.3.16 (Index 4013h) Output Frequency (r) / Running Speed (r)...........................................................................110
8.4 Object detail of Device Profile Area .............................................................................................111
8.4.1 (Index 6040h) controlword..........................................................................................................................111
8.4.2 (Index 6041h) Statusword ..........................................................................................................................114
8.4.3 (Index 6042h) vl_target_velocity.................................................................................................................116
8.4.4 (Index 6043h) vl_velocity_demand.............................................................................................................116
8.4.5 (Index 6044h) vl_control_effort...................................................................................................................117
8.4.6 (Index 6046h) vl_velocity_min_max_amount .............................................................................................118
8.4.7 (Index 6048h) vl_velocity_acceleration ......................................................................................................120
8.4.8 (Index 6049h) vl_velocity_deceleration ......................................................................................................123
8.4.9 (Index 604Ah) vl_velocity_quick_stop ........................................................................................................125
8.4.10 (Index 605Ah) Quick_stop_option_code ....................................................................................................127
8.4.11 (Index 6060h) modes_of_operation............................................................................................................128
8.4.12 (Index 6061h) modes_of_operation_display ..............................................................................................129
8.4.13 (Index 67FFh) Single_Device_Type ...........................................................................................................130
9TROUBLESHOOTING 131
APPENDIX 132
EDS file ...........................................................................................................................................132
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1
1
1PRE-OPERATION INSTRUCTIONS
1.1 Unpacking and Product Confirmation
Take the plug-in option out of the package, check the unit name, and confirm that the product is as you
ordered and intact.
This product is a plug-in option for the FR-A700 series inverter assembled in and after July 2006.
Check the SERIAL number printed on the rating plate or the Serial number sticker of the inverter or
package and check that the first three digits of the SERIAL number is the number in the table next page.
zSERIAL number check
(1) For the FR-A740-00023 to 00620-EC
Refer to the inverter manual for the position of the rating plate.
Rating plate example
6 7 {{{{{{
Symbol Year Month Control number
SERIAL (Serial No.)
The SERIAL consists of 1 version symbol, 2 numeric
characters or 1 numeric character and 1 alphabet letter
indicating year and month, and 6 numeric characters
indicating control number.
Month is indicated as 1 to 9, X (October), Y (November),
and Z (December).
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2
PRE-OPERATION INSTRUCTIONS
(2) For the FR-A740-00770 to 12120-EC
Check the SERIAL indicated on the Serial number sticker shown below.
• To check the SERIAL, the front cover must be removed.
For the removal of the front cover, refer to the inverter manual.
zCompatible SERIAL number list
Type SERIAL (the first three digits)
FR-A740-00023 to 00620-EC E67 or later
FR-A740-00770 to 12120-EC D67 or later
VUW
FR-CA70-EC 67
SERIAL
Control unit type
SERIAL (Serial No.)
Month
Serial number sticker example
The SERIAL consists of 1 version symbol, 2 numeric
characters or 1 numeric character and 1 alphabet letter
indicating year and month, and 3 numeric characters
indicating control number.
Month is indicated as 1 to 9, X (October), Y (November),
and Z (December).
Year
Symbol
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3
PRE-OPERATION INSTRUCTIONS
1
1.1.1 Packing confirmation
Check the enclosed items.
Plug-in option
......................................... 1
Mounting screw (M3 ×6mm)
.............. 2 (Refer to page 8.)
Hex-head screw for option
mounting (5.5mm)
............... 1 (Refer to page 8.)
Communication option LED
display cover
.............. 1 (Refer to page 7.)
Terminal block
............. 1 (Refer to page 12.)
CANopen is a registered trademark of CiA (CAN in
Automation).
X16 X1
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
5.5mm
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4
PRE-OPERATION INSTRUCTIONS
1.1.2 Parts
Front view Rear view
LED1
2
1
X16 X1
1
O
F
F2
1
O
F
F2
SW3
SW1 SW2
SW4
CAN_GND
CAN_L
CAN_SHLD
CAN_H
CAN_V+
SW4
O
N
5
B
Mounting
hole
STATUS LED (operation status indication)
Lit/flicker/off of the LED indicate inverter
operation status.
Connector
Connect to the inverter
option connector.
Switch for manufacturer setting
Do not change from initially-set
status (1, 2:OFF).
Node address switch
Set the node address.
Mounting hole
Connector for communication
Mount the accessory terminal
block to connect to the network.
FR-A7NCA
STATUS LED
Mounting
hole
Switch for manufacturer setting
Do not change from initially-set
status (OFF).
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
(Refer to page 5.)
(Refer to page 10.)
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5
PRE-OPERATION INSTRUCTIONS
1
1.2 STATUS LED (operation status indication)
STATUS LED indicates the operating status of the option unit according to the indication status of LED
(RUN, ERR).
Indicates network status and error status of the device.
* When checked through a lens for the LED display cover, Red and Green alternately displayed (Double flash of Red during
Green is lit) is observed depending on the operating status. Red indicates error status and Green indicates operating status.
LED indication status Status Description
Off Power OFF/Reset Hold
Without error
Power of the device is OFF. Or reset held status.
The inverter functions properly.
Green
(RUN)
Single flash "STOPPED" The network status of the device is "Stopped"
Blinking "PRE-OPERATIONAL" The network status of the device is "Pre-Operational"
On "OPERATIONAL" The network status of the device is "Operational"
Red
(ERR)
Single flash Warning
A network error such as a communication frame error has
occured and a warning was given from a CAN chip.
(error passive status)
Double flash Error control event
occurrence
Error control event has occurred.
· Guard message send
· Heartbeat message receive
On Bus off Bus off state occured to the CAN chip.
REMARKS
Refer to page 60 for network status.
STATUS LED
Green: Indicates operating status
Red: Indicates error status
LED1
2
1
X16 X1
1
O
F
F2
SW3
SW1 SW2
CAN_GND
CAN_L
CAN_SHLD
CAN_H
CAN_V+
FR-A7NCA
STATUS LED
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
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6
PRE-OPERATION INSTRUCTIONS
1.3 Specifications
(1) Communication specifications
* A bridge or repeater is necessary when the transmission distance is 1000m or more.
(2) List of communication service (function)
Item Description
Topology Bus
Communication speed 10Kbps to 1Mbps
Transmission distance 25m(1M) to 2500m(10k) *
Number of node 127
Communication method PeerToPeer, broad cast
EDS file With
Item Description
NMT Slave
Error Control Node Guarding, Heartbeat (either can be selected at configuration)
Node ID setting Switch, parameter
Number of PDO RPDO × 3, TPDO × 3
PDO mode
Event Driven
Timer Driven
Sync
Remote Request
PDO Linking Possible
PDO Mapping Impossible (Static)
Emergency message With
Application layer CiA DS301 V4.01
Profile CiA DSP402 V2.0
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7
2
2INSTALLATION
2.1 Pre-Installation Instructions
Make sure that the input power of the inverter is off.
2.2 Installation of the Communication Option LED Display Cover
Mount the cover for displaying the operation status indication LED for the communication option on the
inverter front cover.
CAUTION
With input power on, do not install or remove the plug-in option. Otherwise, the inverter and
plug-in option may be damaged.
CAUTION
Take care not to hurt your hand and such with portions left by cutting hooks of the rear of the
front cover.
1)Cut off hooks on the rear of the inverter front
cover with nipper, etc. and open a window for
fitting the LED display cover.
2)Fit the communication option LED display
cover to the front of the inverter front cover
and push it into until fixed with hooks.
Fitting drawing
Fit it so that the position of
lenses is in the upper-right
of the LED display cover.
Cut off with a nipper, etc.
Cut off with a nipper, etc.
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8
INSTALLATION
2.3 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 0.56N⋅m to 0.75N⋅m)
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. If the
screw holes do not line-up, the
connector may not have been plugged
snugly. Check for loose plugging.
REMARKS
After removing two screws on the right and left places, remove the plug-in option.
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)
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9
INSTALLATION
2
CAUTION
•When using this option unit, mount it in the "option connector 3 (lowermost
connector)" of the inverter.
If it is fitted in option connector 1 or 2, " " or " " (option alarm)
is displayed and the inverter will not function. In addition, when the inverter can
not recognize that the option is mounted due to improper installation, etc.,
" " (option alarm) is displayed even if the option is fitted in the option
connector 3.
•Take care not to drop a hex-head screw for option mounting or mounting screw
during mounting and removal.
•Pull out the option straight to remove. Otherwise, the connector may be damaged by some applied force.
Mounting
Position
Error
Display
Connector 1
Connector 2
Connector 3
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10
INSTALLATION
2.4 Node Address Setting
(1) Setting with node address switch
Set the node address between "1 to 127(7Fh)" using node address switches on the FR-A7NCA (refer to
page 4).
The setting is reflected when power turns on next or the inverter is reset.
Set the node address switch to node address (SW1 setting ×16 + SW2 setting).
Set Pr.347 CANopen address to "0 (initial value)".
Set the arrow (×) of the corresponding switches to the number to set a desired address.
zSetting example
(2) Set with parameter (Pr. 347)
Use parameter (Pr. 347) of the inverter to set. Setting node address with parameter makes the node
address switch setting invalid. The setting is reflected at the next power-on or inverter reset. (Refer to
page 15)
Node address 1:
Set the "×" of SW1 to "0" and the "×" of
SW2 to "1".
Node address 127:
Set the "×" of SW1 to "7" and the "×" of
SW2 to "F".
CAUTION
1. Set the node address switch to the switch number position correctly. If the switch
is set between numbers, normal data communication can not be made.
2. When the node address switch is set to values other than "1 to 127", they are
regarded as "127".
X16 X1
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
X16 X1
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
Good
example Bad example
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
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11
3
3WIRING
3.1 Connection to Network
(1) Be sure to check the following before connecting the inverter to the network.
· Check that the FR-A7NCA is snugly inserted into the inverter. (Refer to page 7.)
· Check that the correct node address is set. (Refer to page 10.)
· Check that a drop cable is firmly connected to the FR-A7NCA. (Refer to page 12.)
(2) Make sure that the terminating resistor is installed at each end (between CAN_H and CAN_L) of the
trunk cable. These resistors must meet the following requirements.
(3) Connect drop cables to the trank
cable.
· If the trunk connector is a
CANopen sanctioned pluggable or
sealed connector, the connection
to the active network can be made
at any time whether the inverter is
on or off. The option unit
automatically detects when the
connection is completed.
· If connecting to the network with
free wires, power to the network
and inverter should be shut off as a safety precaution in case two or more signal wires are
accidentally shorted together.
Requirements of Terminating Resistors
R (resistance value) = 124Ω1% metal film 0.25 W
InverterInverter
Trunk cable Trunk connector
Drop cable
Terminating
resistor
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12
WIRING
3.2 Wiring
(1) Strip the insulation back about 40mm on the free wire end of the drop cable to expose the four colored
signal wires and the silver shield wire.
(2) Strip the insulation back of each signal cable to use. If the length of the sheath pealed is too long, a
short circuit may occur among neighboring wires. If the length is too short, wires might come off.
(3) Loosen the terminal screw and insert the cable into the terminal
according to the terminal arrignment.
Tighten each cable with fixing screws to the recommended tightening torque.
(4) Connect the terminal block to the connector for communication of
the communication option mounted on the inverter.
Screw Size Tightening Torque Cable Size Screwdriver
M3 0.5N•m to
0.6N•m
0.3mm2to
0.75mm2
Small 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.
Cable stripping size
7mm
Wire the stripped cable after twisting it to prevent it from becoming loose.
In addition, do not solder it.
Use a bar type terminal as required.
CAN_GND (black)
CAN_L (blue)
Shielded cable
CAN_H (white)
CAN_V+ (red)
Terminal layout
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