Mitsubishi Electric FR-A7ND E kit User manual

FR-A7ND INSTRUCTION MANUAL
A
INVERTER
INVERTER
Plug-in option
INSTRUCTION MANUAL
INVERTER
1
2
3
4
5
6
7
8
FR-A7ND
communication function
PRE-OPERATION INSTRUCTIONS
INSTALLATION
WIRING
IB(NA)-0600201ENG-A(0412) MEE Printed in Japan Specifications subject to change without notice.
OBJECT MAP DEFINITIONS
OBJECT MAP
FUNCTIONS
INVERTER SETTING
TROUBLESHOOTING

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 inverter power indicator lamp 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.

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.

I
CONTENTS 
1PRE-OPERATION INSTRUCTIONS 1
1.1 Unpacking and Product Confirmation .............................................................................................1
1.1.1 Packing confirmation ......................................................................................................................................1
1.1.2 Parts ...............................................................................................................................................................2
1.2 MNS LED (operation status indication) ...........................................................................................3
1.3 Specifications.....................................................................................................................................4
2INSTALLATION 5
2.1 Pre-Installation Instructions .............................................................................................................5
2.2 Installation of the Communication Option LED Display Cover .....................................................5
2.3 Installation Procedure .......................................................................................................................6
2.4 Node Address Setting .......................................................................................................................7
3WIRING 9
3.1 Connection to Network......................................................................................................................9
3.2 Wiring................................................................................................................................................10
4INVERTER SETTING 13
4.1 Parameter List ..................................................................................................................................13
4.2 DeviceNet Data.................................................................................................................................14

II
4.2.1 DeviceNet address (Pr. 345) ........................................................................................................................15
4.2.2 DeviceNet baud rate (Pr. 346)......................................................................................................................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) .....................................................................................24
4.5 Operation at Communication Error Occurrence...........................................................................25
4.5.1 Operation selection at communication error occurrence (Pr. 500 to Pr. 502) ..............................................25
4.5.2 Alarm and measures ....................................................................................................................................29
4.6 Inverter Reset ...................................................................................................................................30
5FUNCTIONS 31
5.1 Output from the Inverter to the Network........................................................................................31
5.2 Input to the Inverter from the Network...........................................................................................31
6OBJECT MAP DEFINITIONS 33
6.1 Obejct Model of DeviceNet..............................................................................................................33
6.2 Response Level................................................................................................................................34
6.2.1 Response level of Polling I/O .......................................................................................................................34
6.2.2 Response level of explicit message .............................................................................................................35
6.3 Recommendation for Software Developers ..................................................................................36

III
7OBJECT MAP 37
7.1 Class 0x01 (Identity-Object)............................................................................................................37
7.1.1 Class 0x01 Instance 0 ..................................................................................................................................37
7.1.2 Class 0x01 Instance 1 ..................................................................................................................................38
7.2 Class 0x03 (DeviceNet Object) .......................................................................................................39
7.2.1 Class 0x03 Instance 1 ..................................................................................................................................39
7.3 Class 0x04 (Assembly Object)........................................................................................................41
7.3.1 Class 0x04 Output Instance 20, 21, 126 ......................................................................................................41
7.3.2 Class 0x04 Input Instance 70, 71, 176 .........................................................................................................45
7.4 Class 0x05 (DeviceNet Connection Object)...................................................................................49
7.4.1 Class 0x05 Instance 1 Attribute (Explicit messaging connection) ...............................................................49
7.4.2 Class 0x05 Instance 2 Attribute (Polled I/O connection) ..............................................................................51
7.4.3 Class 0x05 Instance 4, 5, 6 Attribute (Explicit messaging connection) .......................................................54
7.4.4 Class 0x05 Instance 1, 2, 4, 5, 6 service......................................................................................................55
7.5 Class 0x28 (Motor Data Object) ......................................................................................................56
7.5.1 Class 0x28 Instance 1 ..................................................................................................................................56
7.6 Class 0x29 (Control Supervisor Object) ........................................................................................57
7.6.1 Class 0x29 Instance 1 ..................................................................................................................................57
7.7 Class 0x2A (AC Drive Object) .........................................................................................................59
7.7.1 Class 0x2A Instance 1..................................................................................................................................59
7.8 Class 0x66 (Extended Object I).......................................................................................................65
7.8.1 Class 0x66 Instance 1 ..................................................................................................................................65
7.9 Class 0x67 (Extended Object II)......................................................................................................71

IV
7.9.1 Class 0x67 Instance 1 ..................................................................................................................................71
7.10 Class 0x70 to 0x79 (Extended Object III) .......................................................................................73
7.10.1 Class 0x70 to 0x79 Instance 1, 2 .................................................................................................................73
7.11 Class 0x80 (Extended Object IV) ....................................................................................................74
7.11.1 Class 0x80 Instance 1 ..................................................................................................................................74
8TROUBLESHOOTING 75
APPENDIX 76
EDS file .............................................................................................................................................76
DeviceNet Error Code List ..............................................................................................................77

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 dedicated for the FR-F700 series.
1.1.1 Packing confirmation
Check the enclosed items.
Plug-in option
......................................... 1
Mounting screw (M3 ×6mm)
.............. 2 (Refer to page 6.)
Hex-head screw for option
mounting (5.5mm)
............... 1 (Refer to page 6.)
Communication option LED
display cover
.............. 1 (Refer to page 5.)
Terminal block
...............1 (Refer to page 9.)
DeviceNet is a registered trademark of ODVA (Open
DeviceNet Vender Association, INC).
0
9
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1
0
9
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1
X10 X1
5.5mm

2
PRE-OPERATION INSTRUCTIONS
1.1.2 Parts
Front view Rear view
LED1
2
1
0
9
8
7
6
5
4
3
2
1
0
9
8
7
6
5
4
3
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1
X10 X1
1
O
F
F2
1
O
F
F2
SW3
SW1 SW2
SW4
V-
CAN-
SHIELD
CAN+
V+
SW4
O
N
2 L
Mounting
hole
MNS LED (operation status indication)
Lit/flicker/off of the LED indicate inverter
operation status.
Connector
Connect to the inverter
option connector.
Use the factory setting value.
(1-OFF, 2-OFF)
Use the factory setting value.
(OFF)
Node address switch
Set the node address.
Mounting hole
Connector for communication
Mount the accessory terminal
block to connect to the network.
FR-A7ND
MNS
Mounting
hole
(Refer to page 3.)
(Refer to page 7.)

3
PRE-OPERATION INSTRUCTIONS
1
1.2 MNS LED (operation status indication)
MNS LED indicates the operating status of the option unit according to the indication status.
Check the position of LED on page 2.
* Time limit = 4 × EPR (EPR = Expected Pack Rate Class 0x05 Instance 1 Attribute 9 (refer to page 50))
LED
Indication Operating Status Note
Off
Inverter power off
Network power off
Own node only on the network
· Turn inverter power on. Option unit will then complete duplicate
station number test.
· Check the voltage of the network power.
· Add other nodes to the network.
Green
(flickering)
Network and inverter power on
Connection not yet
established by host
The inverter power turns on and duplicate of node address is being
checked. However, a host has not yet established a communication
link.
Green (lit)
Network and inverter power on
Connection established by
host
A master device on the network has designated the option unit for
communications.
LED holds the state also during communication.
Red (flickering) Connection time-out
Master designated the option unit for communication on the
network, but then sent no messages within the time limit * set in the
expected packet rate.
Red (lit) Critical link failure
Check for the followings.
· Duplicate node address on the network
· Cable from option unit to network not connected or severed.
· Network damaged
Take the appropriate corrective action, then reset the inverter to
recover from the fault.

4
PRE-OPERATION INSTRUCTIONS
1.3 Specifications
Item Specifications
Power
supply
Control power
supply Supplied from the inverter
External power
input
Input voltage: 11 to 28V
Consumption current: 90mA maximum
Standard Conforms to ODVA DeviceNet Specification Release 2.0
(support UCMM)
Network topology DeviceNet (linear bus with frop lines)
Communication cable DeviceNet standard thick or thin cable (For a drop cable, use a thin cable.)
Maximum cable length
500m (125kbps)
250m (250kbps)
100m (500kbps)
Communication speed 125kbps, 250kbps, 500kbps
Number of inverters
connected
64 (including master)
The number of inverters connectable is 64 - 1 = 63 when a minimum of one node as a
master is connected.
Response time Refer to page 34.

5
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.

6
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.
(The plug-in option is easily removed if the
control circuit terminal block is removed before.)
CAUTION
1. When the inverter can not recognize that the option unit is mounted due to improper installation, etc.,
" " (option alarm) is displayed.
2. Note that a hex-head screw for option mounting or mounting screw may drop during mounting and removal.
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)
0
9
8
7
6
5
4
3
2
1
0
9
8
7
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1

7
INSTALLATION
2
2.4 Node Address Setting
(1) Setting with node address switch
Set the node address between "0 to 63" using node address switches on the FR-A7ND (refer to page 2).
The setting is reflected when power turns on next or the inverter is reset.
Set Pr. 345 or Class 0x03 Instance 1 Attribute 1 to "63 (initial value)".
Set the arrow () of the corresponding switches to the number to set a desired address.
Setting example
(2) Set with parameter (Pr. 345)
Use parameter (Pr. 345) 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)
(3) Setting with master
Use Class 0x03 Instance 1 Attribute 1 to set from the master. The setting change is reflected to Pr. 345.
Setting node address from the master makes the node address switch setting invalid. (Refer to page 39)
All connections are released and a set value is immediately reflected.
Node address 1:
Set the "" of ×10(SW1) to "0" and the
"" of ×1(SW2) to "1".
Node address 26:
Set the "" of ×10(SW1) to "2" and the
"" of ×1(SW2) to "6".
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 "0 to 63", they are
regarded as "63".
0
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X10 X1
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1
Good
example Bad example

8
MEMO

9
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-A7ND is sugly inserted into the inverter. (Refer to page 5.)
· Check that the correct node address is set. (Refer to page 7.)
· Check that a drop cable is firmly connected to the FR-A7ND. (Refer to page 10.)
(2) Make sure that the terminating resistor is installed at each end (between CAN+ and CAN-) 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
DeviceNet 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) = 121Ω1% metal film 0.25 W
InverterInverter
Trunk cable Trunk connector
Drop cable
Terminating
resistor

10
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
V- (black)
CAN- (blue)
Shielded cable
CAN+ (white)
V+ (red)
Terminal layout
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1

11
WIRING
3
(5) For wiring of the FR-F700 series 30K (FR-F720-01250, FR-F740-00620) or less, route wires between the
control circuit terminal block and front cover. If cables can not be routed between the control circuit terminal
block and front cover (about 7mm), remove a hook of the front cover and use a space become available.
For wiring of the FR-F700 series 37K (FR-F720-01540, FR-F740-00770) or more, 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 (The structure of the NA version is no longer NEMA 1.)).
When installing the inverter front cover, the cables to the inverter's control circuit terminals and
option terminals should be routed properly in the wiring space to prevent them from being
caught between the inverter and its cover.
After wiring, wire offcuts must not be left in the inverter. They may cause an error, failure or
malfunction.
0
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0
9
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5
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2
1
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
30K or less 37K or more
C
AUTI
O
N

12
MEMO

13
4
4INVERTER SETTING
4.1 Parameter List
The following parameters are used for the communication option (FR-A7ND)
Set the values according to need.
* Parameters which can be displayed when the plug-in option (FR-A7ND) is mounted.
Parameter
Number Name Setting Range
Minimum
Setting
Increments
Initial
Value
Refer to
Page
79 Operation mode selection 0 to 4, 6, 7 1 0 18
338 Communication operation
command source 0, 1 1 0 21
339 Communication speed command
source 0, 1, 2 1 0 21
340 Communication startup mode
selection 0, 1, 2, 10, 12 1 0 18
342 Communication EEPROM write
selection 0, 1 1 0 24
345 * DeviceNet address 0 to 4095 1 63 15
346 * DeviceNet baud rate 0 to 4095 1 132 16
500 * Communication error recognition
waiting time 0 to 999.8s 0.1s 0 25
501 * Communication error occurrence
count display 01026
502 * Stop mode selection at
communication error 0, 1, 2, 3 1 0 27
550 NET mode control source selection 0, 1, 9999 1 9999 21