Mitsubishi Electric FR-A8APR User manual

INVERTER
Plug-in option
INSTRUCTION MANUAL PRE-OPERATION INSTRUCTIONS 1
INSTALLATION AND WIRING 2
PARAMETER 3
ORIENTATION CONTROL 4
RESOLVER (ENCODER) FEEDBACK
CONTROL 5
VECTOR CONTROL 6
FR-A8APR
Resolver interface
Orientation control
Resolver (encoder) feedback control
Vector control

2
Thank you for choosing this Mitsubishi inverter plug-in option.
This Instruction Manual provides handling information and precautions for use of this product. Incorrect handling might cause an unexpected
fault. Before using this product, always read this Instruction Manual carefully to use this product correctly.
Please forward this Instruction Manual to the end user.
Electric Shock Prevention
Injury Prevention
Safety instructions
Do not attempt to install, operate, maintain or inspect the 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
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.
Do not remove the inverter front cover even if the power supply is disconnected. The only exception for this would be when performing wiring and periodic
inspection. You may accidentally touch the charged inverter circuits and get an electric shock.
Before wiring or inspection, LED indication of the inverter unit operation panel must be switched 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 is no residual voltage using a tester or the like. For some time after the
power-OFF, a high voltage remains in the smoothing capacitor, 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.
Caution
The voltage applied to each terminal must be the ones specified in the Instruction Manual. Otherwise a burst, damage, etc. may occur.
The cables must be connected to the correct terminals. Otherwise a burst, damage, etc. may occur.
The polarity (+ and -) must be correct. Otherwise a burst or damage may occur.
While power is ON or for some time after power OFF, do not touch the inverter as it will be extremely hot. Touching these devices may cause a burn.
Warning
Caution
Caution

3
Additional Instructions
The following instructions must be also followed. If the product is handled incorrectly, it may cause unexpected fault, an injury, or an electric
shock.
Caution
Transportation and mounting
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 substance such as oil.
If halogen-based materials (fluorine, chlorine, bromine, iodine, etc.) infiltrate into a Mitsubishi product, the product will be damaged. Halogen-based materials are
often included in fumigant, which is used to sterilize or disinfest wooden packages. When packaging, prevent residual fumigant components from being infiltrated
into Mitsubishi products, or use an alternative sterilization or disinfection method (heat disinfection, etc.) for packaging. Sterilization of disinfection of wooden
package should also be performed before packaging the product.
Trial run
Before starting operation, each parameter must be confirmed and adjusted. A failure to do so may cause some machines to make unexpected motions.
Warning
Usage
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 product.
Caution
Usage
When parameter clear or all parameter clear is performed, the required parameters must be set again before starting operations. Because all parameters return to
their initial values.
Static electricity in your body must be discharged before you touch the product.
Maintenance, inspection and parts replacement
Do not carry out a megger (insulation resistance) test.
Disposal
The product must be treated as industrial waste.
General instruction
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 Instruction Manual must be followed when operating the inverter.

4
─CONTENTS ─
1 PRE-OPERATION INSTRUCTIONS 6
1.1 Unpacking and product confirmation.......................................................................................................6
1.1.1 Product confirmation....................................................................................................................................... 6
1.1.2 SERIAL number check ...................................................................................................................................7
1.2 Component names .....................................................................................................................................8
2 INSTALLATION AND WIRING 9
2.1 Pre-installation instructions ......................................................................................................................9
2.2 Installation procedure ................................................................................................................................9
2.3 Wiring ........................................................................................................................................................12
2.4 Terminals...................................................................................................................................................15
3 PARAMETER 16
3.1 Extended parameter list...........................................................................................................................16
3.2 Function differences from the FR-A8AP ................................................................................................18
3.3 Protective function ...................................................................................................................................20
4 ORIENTATION CONTROL 21
4.1 Wiring example .........................................................................................................................................21
4.2 Terminals...................................................................................................................................................22
4.3 Specifications ...........................................................................................................................................23
5 RESOLVER (ENCODER) FEEDBACK CONTROL 24
5.1 Wiring examples .......................................................................................................................................24
5.2 Specifications ...........................................................................................................................................25

5
6 VECTOR CONTROL 26
6.1 Wiring examples .......................................................................................................................................26
6.2 Setting procedure of vector control for motor with resolver ...............................................................29
6.3 Vector control for PM motor with resolver.............................................................................................30
6.4 Offline auto tuning....................................................................................................................................31
6.5 Resolver position tuning..........................................................................................................................33
6.6 Specifications ...........................................................................................................................................36
<Notes on descriptions in this Instruction Manual>
Connection diagrams in this Instruction Manual appear with the control logic of the input terminals as sink logic, unless
otherwise specified.

6PRE-OPERATION INSTRUCTIONS
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-A800 series.
1.1.1 Product confirmation
Check the enclosed items.
Plug-in option
.................................................. 1
Mounting screw (M3  8 mm)
...................... 2 (Refer to
page 9 )
Spacer
......................2 (Refer to page 9 )
SW1

PRE-OPERATION INSTRUCTIONS 7
1
1.1.2 SERIAL number check
The FR-A8APR can be used for the inverter models listed below with the following SERIAL number or later. Check the SERIAL
number indicated on the inverter rating plate or package.
Rating plate example
FR-A800 series
   
Symbol Year Month Control number
SERIAL
The SERIAL consists of one symbol, two characters indicating the
production year and month, and six characters indicating the
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).
Model Country of
origin indication SERIAL number
FR-A820-00046(0.4K) to 04750(90K)
FR-A840-00023(0.4K) to 06830(280K)
FR-A842-07700(315K) to 12120(500K)
FR-A846-00023(0.4K) to 03610(132K)
MADE in Japan 52 or later
MADE in China 53 or later
SERIAL
number
Country
of origin

8PRE-OPERATION INSTRUCTIONS
1.2 Component names
Symbol Name Description Refer to page
a Mounting hole Fixes the option to the inverter with screws, or installs spacers. 9
b Terminal block Connected with a resolver. 15
c Switch for manufacturer setting (SW1) Do not change the initially-set status. (OFF ) ―
d Connector Connects to the option connector of the inverter. 9
Front view Rear view
Terminal layout
(a) (d)
(a)
(b) (a)
(a)
(a)
(a)
(c)
SW1
R1 R2
S2 S4 S1 S3
CM

INSTALLATION AND WIRING 9
2
2INSTALLATION AND WIRING
2.1 Pre-installation instructions
Check that the inverter's input power and the control circuit power are both OFF.
2.2 Installation procedure
Caution
With input power ON, do not install or remove the plug-in option. Otherwise, the inverter and plug-in option may be damaged.
To avoid damage due to static electricity, static electricity in your body must be discharged before you touch the product.
(1) Remove the inverter front cover. (Refer to Chapter 2 of
the Instruction Manual (Detailed) of the inverter for details
on how to remove the front cover.)
(2) For the two mounting holes (as shown in the next page)
that will not be tightened with mounting screws, insert
spacers.
(3) Fit the connector of the plug-in option to the guide of the
connector on the inverter unit side, and insert the plug-in
option as far as it goes.
(4) Fit the two locations, the left and right, of the plug-in
option securely to the inverter unit by screwing in the
supplied mounting screws. (tightening torque 0.33 N·m to
0.40 N·m) If the screw holes do not line up, the connector
may not be inserted deep enough. Check the connector.
Spacer
Spacer
Inverter side
option connector
Example of installation to connector 1

10 INSTALLATION AND WIRING
Spacer
Spacer
Spacer
Mounting screw
Mounting screw
Mounting screw
Spacer
Spacer
Spacer
Mounting screw
Connector 1Connector 2
Connector 3
Insertion positions for screws and spacers

INSTALLATION AND WIRING 11
2
NOTE
• When mounting/removing the plug-in 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.
• Caution must be applied to mounting screws falling off when removing and mounting the plug-in option.
• If the FR-A8APR and the FR-A8AP are installed together, the FR-A8AP is disabled.
• Only one option can be used. When multiple options are mounted, priority is given to option connectors 1, 2 and 3 on
the inverter in this order, and options having a lower priority do not function.
• When the inverter cannot recognize that the option unit is mounted due to improper installation, etc., or when an
option unit fault occurs, the protective function (E.1 to E.3 or E.OP1 to E.OP3) is activated and the inverter cannot be
operated. A different indication will appear according to the mounted position (option connector 1 to 3).
• When removing the plug-in option, remove the two screws on the left and right, then pull it straight out. Pressure
applied to the connector and to the option board may break the option.
Mounted position Fault indication
Option connector 1
Option connector 2
Option connector 3

12 INSTALLATION AND WIRING
2.3 Wiring
(1) Strip off the sheath of the signal cable from the resolver 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 signal cable after twisting it to prevent it from becoming loose. In addition, do not solder it.
For connecting the FR-A8APR, use a blade terminal as necessary.
When using the blade terminal, use care so that the twisted wires do not come out.
NOTE
• Blade terminals commercially available (as of January 2015. The product may be changed without notice.)
Cable stripping length
Terminal
screw size Wire size (mm2)Ferrule terminal model Manufacturer Crimping tool nameWith insulation sleeve Without insulation sleeve
M2 0.3 to 0.5 Al 0,5-6WH A 0,5-6 Phoenix Contact
Co.,Ltd. CRIMPFOX 6
5 mm
Crumpled tip
Wires are not inserted
into the sleeve
Unstranded
wires
Damaged
Wire
Wire
Sleeve
Sleeve
0 to 0.5 mm
0 to 0.5 mm

INSTALLATION AND WIRING 13
2
(2) Loosen the terminal screw and insert the cable into the terminal.
NOTE
• Undertightening can cause cable disconnection or malfunction. Overtightening can cause a short circuit or malfunction
due to damage to the screw or unit.
• When wiring cables to the inverter's RS-485 terminals while a plug-in option is mounted, take caution not to let the
cables touch the circuit board of the option or of the inverter. Otherwise, electromagnetic noises may cause
malfunctions.
Screw size Tightening torque Cable size Screwdriver
M2 0.22 Nm to 0.25 Nm0.3 mm2to 0.75 mm2Small flat-blade screwdriver
(Tip thickness: 0.4 mm/tip width: 2.5 mm)
CAUTION
After wiring, wire offcuts must not be left in the inverter. They may cause a fault, failure or malfunction.

14 INSTALLATION AND WIRING
• Extension of the signal cable
Use shielded twisted pair cables to extend the signal cable from the resolver. For connection with the signal cables, solder
them or fix them with screws on the terminal block. Insulate and disconnect the shielded cable of the resolver.
NOTE
• The wiring length should be 100 m at the maximum.
R1 R2 S2 S4 S1 S3 CM
A8APR circuit board
Terminals
R1 R2 S2 S4 S1 S3 CM
R2: Yellow/White
S2: Yellow
S4: Blue
S3: Black
Resolver
Loose
wires
Shielded twisted pair cable
Example of TS2640N321E64 manufactured by Tamagawa Seiki Co., Ltd.
For the extension of the signal cable used for the resolver above, the following wire is recommended.
V-3PB-02S manufactured by Totoku Electric Co., Ltd.
Connect by soldering or using
the terminal block.
Shielded cable
R1: Red/White
S1: Red
∗1
∗1

INSTALLATION AND WIRING 15
2
2.4 Terminals
Terminal
symbol Terminal name Description
R1 Excitation output (R1) Output 9.5 mArms (typ) of sine wave excitation current with which excitation can be performed
directly to the resolver across terminals R1 and R2.
R2 Excitation output (R2)
S1 Cos(+) Input terminal for resolver Cos(+) signal.
S3 Cos(-) Input terminal for resolver Cos(-) signal.
S2 Sin(+) Input terminal for resolver Sin(+) signal.
S4 Sin(-) Input terminal for resolver Sin(-) signal.
CM Shield Connect the shielded wire of the twisted pair cable.

16 PARAMETER
3PARAMETER
3.1 Extended parameter list
When the FR-A8APR is installed in the inverter, the following parameters are extended.
Pr. Pr.
group Name Setting range
Minimum
setting
increments
Initial
value
Refer to
page
350 A510 Stop position command selection 0, 1, 9999 1 9999 
351 A526 Orientation speed 0 to 30 Hz 0.01 Hz 2 Hz 
352 A527 Creep speed 0 to 10 Hz 0.01 Hz 0.5 Hz 
353 A528 Creep switchover position 0 to 16383 1 511 
354 A529 Position loop switchover position 0 to 8191 1 96 
355 A530 DC injection brake start position 0 to 255 1 5 
356 A531 Internal stop position command 0 to 16383 1 0 
357 A532 Orientation in-position zone 0 to 255 1 5 
358 A533 Servo torque selection 0 to 13 1 1 
359 C141 Encoder rotation direction 0, 1, 100, 101  11
360 A511 16-bit data selection 0 to 127 1 0 
361 A512 Position shift 0 to 16383 1 0 
362 A520 Orientation position loop gain 0.1 to 100 0.1 1.0 
363 A521 Completion signal output delay time 0 to 5 s 0.1 s 0.5 s 
364 A522 Encoder stop check time 0 to 5 s 0.1 s 0.5 s 
365 A523 Orientation limit 0 to 60 s, 9999 1 s 9999 
366 A524 Recheck time 0 to 5 s, 9999 0.1 s 9999 
367 G240 Speed feedback range 0 to 590 Hz, 9999 0.01 Hz 9999 
368 G241 Feedback gain 0 to 100 0.1 1 

PARAMETER 17
3
 The setting method and the function are same as those of the FR-A8AP. Refer to the description for the FR-A8AP in the Instruction
Manual (Detailed) of the inverter.
 Set when the machine end orientation control is performed with the FR-A8APR and the FR-A8TP together. For the details, refer to the
instruction manual of the FR-A8TP.
 Set when using the FR-A8APR with the FR-A8TP. For the details, refer to the instruction manual of the FR-A8TP.
 Under vector control for the PM motor with a resolver, the operation for the setting of "0" is performed when "100" is set. The operation for
the setting of "1" is performed when "101" is set.
373 C142 Resolver position tuning setting/status 0, 1 1 0 33
376 C148 Encoder signal loss detection enable/disable selection 0, 1 1 0 
393 A525 Orientation selection 0 to 2, 10 to 12 1 0 
394 A540 Number of machine side gear teeth 0 to 32767 1 1 
395 A541 Number of motor side gear teeth 0 to 32767 1 1 
396 A542 Orientation speed gain (P term) 0 to 1000 1 60 
397 A543 Orientation speed integral time 0 to 20 s 0.001 s 0.333 s 
398 A544 Orientation speed gain (D term) 0 to 100 0.1 1 
399 A545 Orientation deceleration ratio 0 to 1000 1 20 
635 M610 Cumulative pulse clear signal selection 0, 1, 2, 3 1 0 
636 M611 Cumulative pulse division scaling factor 1 to 16384 1 1 
637 M612 Control terminal option-Cumulative pulse division scaling factor 1 to 16384 1 1 
638 M613 Cumulative pulse storage 0, 1, 2, 3 1 0 
823 G215 Speed detection filter 1 0 to 0.1 s 0.001 s 0.001 s 
833 G315 Speed detection filter 2 0 to 0.1 s, 9999 0.001 s 9999 
853 H417 Speed deviation time 0 to 100 s 0.1 s 1 s 
862 C242 Encoder option selection 0, 1 1 0 
873 H415 Speed limit 0 to 400 Hz 0.01 Hz 20 Hz 
1105 C143 Resolver magnetic pole position offset 0 to 4095, 9999 1 9999 33
Pr. Pr.
group Name Setting range
Minimum
setting
increments
Initial
value
Refer to
page

18 PARAMETER
3.2 Function differences from the FR-A8AP
• The following tables show the function differences from the FR-A8AP (option compatible with encoder).
• Both the FR-A8APR and the FR-A8AP cannot be used together. If the FR-A8APR and the FR-A8AP are installed together in
the inverter, the FR-A8AP is disabled.
Parameter for detector
Control method
: Supported, ―: Not supported
Major functions list
Item FR-A8APR parameter FR-A8AP parameter
Resolver/Encoder rotation direction Pr.359
Number of detector pulses ―(fixed 1024 pulses) Pr.369
Encoder signal loss detection enable/disable selection Pr.376
Control method Motor FR-A8APR FR-A8AP
V/F control (orientation control, encoder feedback control) Induction motor 
Advanced magnetic flux vector control (orientation control,
encoder feedback control) Induction motor 
Vector control Induction motor 
PM motor ―
Function FR-A8APR FR-A8AP
Induction motor PM motor Induction motor
Vector control (speed control) 
Vector control (torque control) ―
Vector control (position control) 
Orientation control 
Encoder feedback control ―

PARAMETER 19
3
: Supported, ―: Not supported
 Applied when the load inertia ratio manual input is selected (Pr.819="2").
Automatic restart after instantaneous power failure 
Servo lock 
Online auto tuning (Adaptive magnetic flux observer) ―
Protective function (E.OS, E.OSD, E.ECT) 
Notch filter 
Easy gain tuning 
 
Model adaptive speed control / Speed feed forward control 
Torque bias ―
Droop control 
Swinging suppression control 
Brake sequence function 
Offline auto tuning (Sensorless) 
Forward rotation signal (Y30) / Reverse rotation signal (Y31) /
Regenerative status signal (Y32) 
Deceleration check 
Speed limit ―
X18 signal switchover ―
Resolver position tuning ――
Function FR-A8APR FR-A8AP
Induction motor PM motor Induction motor

20 PARAMETER
3.3 Protective function
• When a protective function activates, the inverter trips and a fault signal is output.
 The data code is used for checking the fault detail via communication or for setting Pr.997 Fault initiation. (Refer to the Instruction
Manual (Detailed) of the inverter.)
 With a break in excitation output cable, the protective function of E.OC[], E.OSD, E.OS and so on may be activated due to the resolver
input signal fault. If these protective functions are activated, check the wiring of the excitation output cable of a resolver and the details of
the corresponding protective function in the Instruction Manual (Detailed) of the inverter.
Operation panel
indication E.MP FR-PU07 Fault
Name Magnetic pole position unknown (Data code: 222 (HDE))
Description When the offset value between the motor home magnetic pole position and the resolver home position is unknown, the
protective circuit is activated to stop the inverter output.
Check point
• Check that the resolver position tuning was performed.
• Check that the resolver position tuning ended properly. When Pr.1105 Resolver magnetic pole position offset =
"9999", the resolver position tuning does not end properly.
Corrective action • Perform resolver position tuning with Pr.373. (Refer to page 33.)
• Remove the cause of the tuning error, and perform tuning again. (Refer to page 33.)
Operation panel
indication E.ECT FR-PU07 E.ECT
Name Signal loss detection (Data code: 210 (HD2))
Description
The inverter trips when the resolver input signal is shut off under orientation control, resolver (encoder) feedback
control, or vector control. This protective function is not available in the initial status. A break in excitation output cable
of a resolver cannot be detected. 
Check point
• Check for the resolver input signal loss.
• Check that the resolver specifications are correct.
• Check for loose wirings of terminal block.
Corrective action
• Remedy the signal loss.
• Use a resolver that meets the specifications.
• Make connection securely.