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

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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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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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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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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
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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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
A7NCA.book 2 ページ ２００６年７月３日 月曜日 午前９時４８分