Hitachi NB616X User Manual

FOR HITACHI INVERTER

SJ-FB (Feed-Back Board)

INSTRUCTION MANUAL

Thank you for purchasing the SJ-FB (HITACHI FEED-BACK BOARD). This manual explains the operat ion of the feed-back board f or use with Hitachi SJ300 ser ies inverters. Please read this m anual thoroughly, along with t he SJ300 Inverter Instruct ion Manual, for proper installation, setup, and maintenance. Keep this manual for future reference.

HITACH

NB616X

SAFETY

To get best performance with SJ-FB (Feedback Board), read this manual and all of the warning sign attached to the inverter carefully before installation and operation, and follow the instructions exactly. Keep this manual handy for your quick reference.

Definitions and Symbols

A safet y instruction (message) is given w ith a hazard alert symbol and a signa l word;

WARNING or CAUTION. Each signal word has the followi ng meaning throughout this manual.

This symbol means hazardous high voltage. It used to call your attention to items or operations that could be dangerous to your and/or other persons operating this equipment. Read these messages and fol low t hese instructions carefully.

This is the "Safety Alert Symbol. " This symbol is used to call your attention to items or operations that could be dangerous to your and/or other persons operating this equipment. Read the messages and follow these instructions carefully.

WARNING

CAUTION

NOTE

HAZARDOUS HIGH VOLTAGE

Motor control equipment and electronic controllers are connected to hazardous line voltages. When

servicing drives and electronic controllers, there might be exposed components with cases or protrusions at or above line potential. Extreme care should be taken to product against shoc k. Stand on an insulating pad and make it a habit to use only one hand when checking components. Always work with another person in case an emergency occurs. Disconnect power before checking controllers or performing maintenance. Be sure equipment is properly grounded. Wear safety glasses whenever working on electronic controllers or rotating ele ctrical equipment.

WARNING

Indicates a potentially hazardous situation which, if not avoided, can result in serious injury or death.

CAUTION

Indicates a potentially hazardous situation which, if not avoided, can result in minor to moderate injury, or serious damage of product. The matters described under may, if not avoid ed, lead to serious results depending on t he sit uation. Important matters are described in CAUTION ( as well as WARNING ), so be sure to observe them.

CAUTION

NOTE

Notes indicate an area or subject of special merit, emphasizing either the product's capabilities or co mmon errors in operation or maintenanc e.

Revision History Table

No. Revision Contents

The Date

of Issue

1 Initial Release of Manual NB616X Feb.2000 NB616X

Operation

Manual No.

WARNING

Only qualified personnel shall carry out wiring work. Otherwise, there is a danger of electric shock and/or fire.

Implement wiring after checking that the power supply is off. Otherwise, there is a danger of electric shock and/or injury.

Be sure not to touch the inside and terminal of the option board while the inverter is energized. Otherwise, there is a danger of electric shock and/or i nj ury.

Be sure not to remove the encoder line and feedback board during the operation. Otherwise, there is a danger of electric shock and/or fire.

After a lapse of more than 10 minutes after turning off the input power supply, perform the maintenance and

inspection.

Otherwise, there is a danger of electric shock

Make sure that only qualified persons will perform maintenance, inspection and part replacement.

(Before starting the work, remove metallic objects from your person. Be sure to use tools protected

with insulation)

Otherwise, there is a danger of electric shock and/or injury.

Never modify the unit. Otherwise, there is a danger of electric shock and/or injury.

Be sure to implement wiring after installing the body. Otherwise, there is a danger of electric shock and/or injury.

CAUTION

Do not allow substance such as cutting waste, sputtering of welding, waste of iron, wire and dust etc. to come

into contact with the unit.

There is a fire risk.

Inverter main body and option board must be fixed tightly with the screw of the belonging. There is a fear of contact defectiveness.

Tighten the screws of the encoder line on the option board so that there is no loose connection. There is the fear of contact defectiveness.

Confirm that the power supply of the encoder is the same as the one in the option card (DC5V). Otherwise, there is the danger of injury and/or fire.

Make sure that the direction of the motor is correct. There is a danger of injury or machine damage.

Make sure there is no abnormal noise and vibration. There is a danger of injury or machine damage

CONTENTS

Contents PAGE Chapter 1 GENERAL DESCRIPTIONS 7

1.1 Inspection upon unpacki ng 7

1.2 Inquiry and Warranty of the Unit 7

1.2.1 Request upon inquiry 7

1.2.2 Warranty of the unit 7

Chapter 2 OUTLINE OF SJ-FB 8

Chapter 3 INSTALLATION 9

Chapter 4 WIRING AND CONNECTION 10

4.1 Terminal assignment o f the O pt ion Board 10

4.2 Function Explanation of the Terminal 11

4.3 Terminal connection diagram 12

Chapter 5 SETTING 14

5.1 Position of the setting switch 14

5.2 Feed-back board init ial setting 14

5.3 Items regarding the feed back board of the inverter main body 15

5.4 Setting flowchart of the switch on the board 18

Chapter 6 OPERATION 19

Chapter 7 FUNCTIONS 21

7.1 Orientation function 21

7.1.1 Function outline 21

7.1.2 Data setting 23

7.2 Speed control (ASR) 24

7.3 Position control (APR) (Ele ct ronic gear function) 24

7.3.1 Function outline 24

7.3.2 Control mode setting 24

7.3.3 Data setting 25

7.3.4 Pulse train mode selection 28

7.4 Speed control (P/PI) switching function 29

7.5 Compensation of secondary resistor function 30

Chapter 8 PROTECTION FUNCTION 31

8.1 Action selection in case of o pt io n error 31

8.2 Cause and countermea sure of the option error 31

8.3 Warning display 31

Chapter 9 SPECIFICATION 32

Chapter 1 GENERAL DESCRIPTIONS

1.1 Inspection upon packing

Handle with care, not to give impact and vibration in case of unpacking. Pleas e check the contents of the package for quantity and damage occurred during transportation. (Packing contents)

1. SJ-FB (Feed back board) : 1

2. Instruction manual  : 1

3. Board bind screws (M3×8mm) : 2 Please contact where you bought the unit as soon as possible when there is any problem.

1.2 Inquiry and Warranty of the Unit

1.2.1 Request upon inquiry

If you have any questions regarding damage of the unit, unknown parts or for general

inquiries please contact your supplier or the local Hitachi Distributor with the following information.

(1) Inverter Model (2) Production Number (MFG, NO) (3) Date of Purchase (4) Reason for Calling

Damaged part and its condition etc. Unknown parts and their contents etc.

1.2.2 Warranty of the unit

The warranty period of the unit is shown below.

1 year after normal installation.

However within the warranty period, the warranty will be void if the fault is due to;

(1) Incorrect use as directed in this manual, or attempted repair by unauthorized personnel. (2) Any damage sustained, other than from transportation (which should be reported

immediately). (3) Using the unit beyond the limits of the specification. (4) Act of God (Natural Disasters: Earthquakes, Lightning, etc)

The warranty is for the inverter only, any damage caused to third party equipment by malfunction of the inverter is not covered by the warranty. Any examination or repair after the warranty period (one year) is not covered. And within the warranty period any repair and examination which results in information showing the fault was caused by any of the items mentioned above,. the repair and examination cost are not covered. If you have any questions regarding the warranty please contact either your supplier or the local Hitachi Distributor. Please refer to the back cover for a list of the local Hitachi Distributors.

Chapter 2 OUTLINE OF SJ-FB

This manual describes the application board SJ-FB for a SJ300 series inverter. This SJ-FB board, assembled in a SJ300 inverter, detected the rotation speed of a motor with the encoder and feedback the motor speed to suppress speed fluctuations for highly accurate operation. This SJ-FB board can also be used for controlling motor stop positions by entering 90 phase difference pulses, as well as for synchronized operation, orientation fun ction, and external torque limit input function.

Figure 2-1 Function Block Diagram

Inverter main body

LAC

Inside

setting

PCLR

POK ORT

STAT

Position

control

Orientation

control

LAD

Speed deviation excessive signal

DSE ZS

Zero speed

detection

NOTE: Not vector control (ACR control)

Speed control

Torque

limiter

Turn

several

detection

Current

control

Position

detection

PWM M

SJ-FB

EAP,EAN EBP,EBN EZP,EZN

EP5,EG5

AP,AN BP,BN

SAP,SAN SBP,SBN

Chapter 3 INSTALLATION

How to Mount the option Board

Please combine the hole at four corners of the option board to each guide post for option positioning, and screw hole for the fixation of this side of the body. Then connect the option board, in option port 1 or 2 of side of the body as shown below. Please fix 2 pl aces of the board wi th the fixation screw of the belonging, to avoid loose connection.

Option board

Guide post for the

option board positioning

Option port 1

Screw hole for the option board fixation

(The M3 screw)

Figure 3-1 Option attachment figure

Option port 2

Chapter 4 WIRING AND CONNECTION

4.1 Terminal assignment of the Option Board

Outlook of SJ-FB

Dip switch SWENC

TM1 TM2

TM1 terminal assignment

EP5 EG5 EAP EAN EBP EBN EZP EZN

Figure 4-1 Terminal assignment

Dip switch SWR

Connector for Main body

connection

TM2 terminal assignment

SAP SAN SBP SBN AP AN BP BN

Chapter 4 WIRING AND CONNECTION

4.2 Function Explanation of the Terminal

Terminal Code Function

Pulse line position

command input

Encoder signal input

Input terminals

Pulse train position

command input

permission signal

(Note 1)

Orientation signal:

(Note 1)

LAD cancel signal:

(Note 1)

Position deviation

clear signal:

(Note 1)

Encoder signal

output

Power supply for

encoder

Positioning

completion signal

(Note 2)

Speed deviation

Output terminals

excessive signal

(Note 2)

Zero speed signal

(note 2)

SAP

SAN

SBP

SBN

EAP EAN

EBP

EBN

EZP

EZN

STAT

ORT

LAC

PCLR

EP5

EG5

POK

DSE

Common

terminal

Pulse train input (see page 16)

•Mode 0 : 90 degree phase difference pulse

•Mode 2 : Forward pulse/Reverse pulse

•Mode 1 : Forward/Reverse signal, pulse train ON/OFF of the terminal resistance on the option board can be done by the dip switch. (Built in terminal resistance 150 ohm) Mode setting is done at the pulse mode selection (P013)

A, B, Z: rotary encoder signal input

Position control with pulse train input is valid when STAT is Turned ON. (Note 3)

Turning ON for orientation operation. (Note 3) Turning ON for canceling LAD. (Note 3)

Turning ON for clearing position deviation counter. (Note 3)

Outputting the Inputted encoder signal (ratio 1:1).

DC +5V power supply EG5 150mA max Used for position control or orientation.

Output when the subject comes within the specified range (P017). (Note 3) Output when the real rotation speed deviates over from command speed (P027). (Note 3) Output when the real rotation speed becomes zero speed detection level (C063). (Note 3)

CM1

CM2

DC5V receiver input (based on RS-422 standard)

Photo coupler input (Correspondence to the DC5V line driver type rotary encoder)

Photo coupler input (Refer to a main body intelligent input terminal.)

DC5V line driver output (based on RS422 standard)

Open collector outputs (Refer to a main body intelligent input terminal)

electric

specification

(Note 1): Valid when LAC is assigned to an intelligent input terminal of the main body (SJ300). (Note 2): Valid when POK is assigned to an intelligent output terminal of the main body (SJ300). (Note 3): Refer to the code setting method of SJ300

Chapter 4 WIRING AND CONNECTION

Programmable to the

intelligent input terminal 1-8

Input

terminal

Output

terminal

Inverter main body control terminal

FW RV

LAC (LAD cancellation signal)

PCLR (Position deviation Clear signal)

ORT (Orientation signal)

STAT(Pulse train input permission signal)

CM1

POK (Positioning completion signal)

ZS (Zero speed signal)

DSE (Speed deviation excessive signal)

H O

Programmable to the

intelligent output terminal 1-5

4.3 Terminal connection diagram

SJ-FB

(Feed-back board)

EP5 EG5 EAP EAN EBP

TM1

EBN EZP EZN

SAP SAN SBP

TM2

SBN

AP AN BP BN

Encoder signal

Motor with

the encoder

Pulse line position

command

Encoder

signal output

Figure 4-2 Terminal wiring

(Note 1) : Please refer to the instruction manual of the inverter main bod y about the wiring of the

logic board.

(Note 2) : Use a twisted and shielded wire for the signal cables, and cut the shielded covering as

shown in the diagram below. Make sure that the length of the signal cable is 20 meters

or less. If the length exceeds 20 meters, please use a VX application control device

RCD-E (remote control device) or CVD-E (insulation signal) to avoid malfunction

caused by EMC noise or voltage drop. Also, electric wire for the encoder uses twist

shield line of 0.75mm

or more (the example: Hitachi Cable, Ltd. KPEV-S), and make the distance less than 20m. In case of more than 20m, please use the relay amplifier of the 5V line driver specification output.

Insulate

Unnecessary ground

connection

Connect to each common terminal of the o

tion board

Chapter 4 WIRING AND CONNECTION

(Note 3) : Please separate the main circuit wiring from the relay control circuit wiring. If they

Power cables

Right angle

Control signal of STAT, ORT, LAC, PCLR, SAP, SAN, SBP, SBN, EAP, EAN, EBP, EBN, POK, DSE, ZS, AP, AN, BP, BN, L, EP5, EG5, CM1, CM2, P24, PLC etc.

Separate it 10cm or more.

R, S, T, U, V, W, P, PD,

RB, N, R0, T0 etc.

Input/Output signal lines

have to be crossed, be sure that they must be crossed at right angle.

(Note 4) : Don’t make a short circuit between the EP5 and EG5 terminals. There is a danger of

malfunctions.

(Note 5) : Isolate common signal for analog signal of the main body (L terminal of the logic card of

SJ300) from common terminal of the SJ-FB.

(Note 6) : Please connect the encoder signal line properly so that the relationship among their phases

become as shown below during rotation of the motor(Standard EG5).

EAP

EAN

EBP EBN

EZP

EZN

5.1 Position of the setting switch

Chapter 5 SETTING

Layout of SJ-FB

SWENC

SWR

TM1 TM2

Figure 5-1 Switch arrangement figure

5.2 Feed-back board initial setting

Setting

item

SWENC

SWR

(Note) : All the switches are set to OFF as an initial setting.

Switch

No.

OFF

Detection of disconnected A or B signal (EAP-EAN or EBPEBN) is valid. Detection of disconnected A or B signal (EAP-EAN or EBPEBN) is invalid.

ON Detection of disconnected Z signal (EZP-EZN) is valid.

OFF Detection of disconnected Z signal (EZP-EZN) is invalid.

Terminal resistance is provided between SAP and SAN (150 ohm).

OFF No terminal resistance is provided between SAP and SAN.

Terminal resistance is provided between SBP and SBN (150 ohm).

OFF No terminal resistance is provided between SBP and SBN.

How to Set Switches

SWENC and SWR

[ON/OFF]

F F

Slide to the (OFF) marked side of the switch to turn it off and the opposite side to turn it on.

Contents

1 2

Chapter 5 SETTING

5.3 Items regarding the feed back board of the inverter main body

Code Function name Setting range Initial data

A044 1st control method

H001

H002

H003

H004

H005

Auto-tuning mode selection

motor constant

1 selection

motor capacity

1 selection

motor pole

1 selection

motor speed

1 response setting

00(VC) / 01(VP1.7power) / 02(Free V/f Setting)

/ 03(SLV) / 04(0Hz area SLV) / 05(V2)

00(NOR : Invalid) / 01(NRT : not rotate)/ 02(AUT :

rotate) 00(Hitachi standard motor constant)/ 01(Auto-tuning data)/ 02(Auto tuning data with online auto-tuning)

0.20 - 75.0(kW)

2/4/6/8 (Poles) 4 - -

0.001 - 9.999 / 10.00 - 65.53 1.590

00 - -

Setting on

forwarding

H006 1st stabilized factor 0. - 255. 100.

depends on

H020 1st motor R1 setting

0.000 - 9.999 / 10.00 - 65.53(Ω)

the motor

capacity

depends on

H021 1st motor R2 setting

0.000 - 9.999 / 10.00 - 65.53(Ω)

the motor

capacity

depends on

H022 1st motor L setting 0.00 - 99.99 / 100.0 - 655.35(mH)

the motor

capacity

depends on

H023 1st moto r I0 setting 0.00 - 99.99 / 100.0 - 655.35(A)

the motor

capacity

depends on

the motor

capacity

depends on

the motor

capacity

depends on

the motor

capacity

depends on

the motor

capacity

depends on

the motor

capacity

H024 1st motor J setting

H030

H031

H032

H033

motor R1 setting

(Auto-tuning data)

motor R2 setting

1 (Auto-tuning data)

motor L setting

1 (Auto-tuning data)

moto r I0setting

1 (Auto-tuning data)

0.000 - 9.999 / 10.00 - 99.99 /

100.0 - 9999.(kgm

)

0.000 - 9.999 / 10.00 - 65.53(Ω)

0.00 - 99.99 / 100.0 - 655.35(mH)

0.00 - 99.99 / 100.0 - 655.35(A)

Setting

on run

Change

mode on

run

Chapter 5 SETTING

Change

mode on

Code Function name Setting range Initial data

depends on

the motor

capacity

H034

H050

H051

H052

H070

The 1

motor J setting

(Auto-tuning data)

PI control proportional

gain setting

PI control integral gain

setting

P control proportional gain setting PI control proportional gain switching

0.000 - 9.999 / 10.00 - 99.99 / 100.0 - 9999.(

kgm

)

0.00 - 99.99 / 100.0 - 999.9 / 1000.(%) 100.0

0.00 - 99.99 / 100.0 - 999.9 / 1000. (%) 100.0

0.00 - 10.00 1.00

0.00 - 99.99 / 100.0 - 999.9 / 1000.(%) 100.0

Setting

on run

H071 PI control integral gain setting 0.00 - 99.99 / 100.0 - 999.9 / 1000.(%) 100.0 H072

P001

P002

P control proportional gain setting Option 1 operation selection on error Option 2 operation selection on error

0.00 - 10.00 1.00

00(TRP) / 01(RUN) 00 -

P011 Encoder pulse setting 128. - 9999. / 1000 - 6500 (10000 - 65000)(Pulse) 1024. - P012 Control mode selection 00(ASR Mode) / 01(APR Mode) 00 - -

P013

P014

P015

P016

P017

P018

P019

P020

P021

P022

P023

P025

P026

P027

Pulse line input mode selection Stop position setting for orientation Frequency setting for orientation Direction setting for orientation Completion range setting for orientation Completion delay time setting for orientation Position selection for electronic gear Numerator of ratio setting for electronic gear Denominator of ratio setting for electronic gear Feed forward gain setting for position control Loop gain setting for position control The 2 next resistance revisi on presence selection Over speed abnormal detection level Speed error over detection level

00(Mode 0) / 01(Mode 1) / 02(Mode 2) 00 - -

0. - 4095. 0. -

0.00 - 99.99 / 100.0 - 120.0(Hz) 5.00 -

00(Forward) / 01(Reverse) 00 - -

0. – 9999. / 10 00(Pulse) 5 -

0.00 - 9.99(s)(Note3) 0.00 -

00(Position feed back side)/ 01(Position command

side)

00 -

0. - 9999. 1. -

0.00 - 99.99 / 100.0 - 655.3 0.00 -

0.00 - 99.99 / 100.0 0.50 -

00(Disable) / 01(Enable) 00 -

0.00 - 99.99 / 100.0 - 150.0(%) (Note 2) (Note 3)

135.0 -

0.00 - 99.99 / 100.0 - 120.0(Hz) (Note 2) 7.50 -

run

Chapter 5 SETTING

(Note 1) : Please refer to the instruction manual of the inverter main body as to the setting

procedure.

(Note 2): When the over speed abnormal detection level (P026), the speed e rror ov er detection level

(P027) are set 0, the Abnormal detection data processing will be invalid.

(Note 3): Regarding the SJ-FB setting, there are some warning about what type of main body

combines with the SJ-FB which is written following list.

Main body of SJ300 Production No (MFG No) (Note 4)

9 8 XXXXXXXXXXXX

others

No. Item

1 Completion

delay time setting for orientation (P018)

2 Over speed

abnormal detection level

9 9 XXXXXXXXXXXX

9 O XXXXXXXXXXXX

9 J XXXXXXXXXXXX

9 K XXXXXXXXXXXX

0 1 XXXXXXXXXXXX Range of setting: 0.00 - 9.99 (X10(sec)) (Example) In order to operate the completion delay time setting for orientation for 1(sec). Set P018 setting which is written below. P018=1(sec)/10(sec) =0.10 Range of setting: 0.0 - 150.0 (X100) (Example) In order to operate the over speed detection level at 66Hz while maximum frequency i s 60Hz. Set P026 setting which is written below. P026=66Hz / 60Hz=1.1

Range of setting: 0.00 - 9.99 (X1(sec)) ( Example) In order to operate the completion delay time setting for orientation for 1(sec). Set P018 setting which is written below. P018=1(sec) / 1(sec)=1.00 Range of setting: 0.0 - 150.0 (X1%) (Example) In order to operate the over speed detection level at 66Hz, while maximum frequency i s 60Hz. Set P026 setting which is written below. P026=66Hz / 60HzX100=110.0

(Note 4) Main body of SJ300 Production number (MFG No) is written main body of SJ300 specifications label. Refer to figure 5-2(1), figure 5-2(2) please.

Figure 5-2(1) position of specification

Inverter model

Maximum applicable motor

Input ratings

Output ratings

Production number

Figure 5-2 (2) Contents of specification label

Specifications label

5.4 Setting flowchart of the switch on the board

START

Chapter 5 SETTING

Detect a wire break of

A, B phase signal?

YES

Set SWENC1

switch ON.

Detect a wire break of the

Z phase signal?

YES

Set SWENC2

switch ON.

Use the pulse train position

command input?

Set SWENC1

switch OFF.

Set SWENC2

switch OFF.

YES

Connect parallel motors to the pulse

train position command input?

YES

Turn SWR1, 2 on only 1 unit that is the most distant from a master inverter in a plural motor.

END

Figure 5-3 Switch setting flowchart

Set SWR1,2

switch ON.

Chapter 6 OPERATION

Refer to [Chapter 3 OPERATION] in the instruction manual for the SJ300 inverter before operating with this board. When the operation command is given from the terminal side of the inverter main body, operate with the following procedure. <Procedure>

1. Turn ON the POWER switch of the inverter.

2. Set the control method (A044) in [05].

3. Set the necessary items according to the instruction manual "Chapter 4 FUNCTION

EXPLANATION" of the inverter main body.

4. For speed control, operation is started when op eration command of the invert er main bod y

is turned on.

5. For position control, turn on the STAT terminal of SJ-FB and operation command of the

inverter main body first of all. Next input the pulse train position command to SAP-SAN and SBP-SBN. Then the motor turns only the pulse that you input.

Confirm the following while trial operation.

The motor accelerates normally. The motor rotates in the correct direction. Neither abnormal vibration nor noise is recognized in the motor.

If the motor doesn’t accelerate normally or the inverter trips with overload, check the encoder for phase order.

Phase order : T he normal phase order is that the waveform of phase A advances by 90°

than that of phase B when the motor rotates forward.

(Note 1) : The monitor signal may not be output from FM terminal of inverter main body under

vector control with sensor (A044=05). Please confirm the monitor output in this case.

(Note 2) : Please do not do the free run action by "RS terminal" of inverter main body. When you do

this action, over current trip, or power element destruction may occur. Please use "FRS" the terminal when performing free run action.

(Note 3) : If the torque limit setting (b041-b044) is enlarged, over current trip would occur at the

time of the motor added burden. In this case, please adjust the torque limit setting value.

(Note 4) : The motor constant data of the SJ300 series is the data at the time of base frequency 50Hz

in the J1 motor made in Hitachi. . Please put in the value that did it to motor constant I0 (H023) 0.7 times, in the case that you use it with base frequency 60Hz in the J1 motor.

(Note 5) : Please do the auto tuning, in the case that you do not understand the motor constant.

Chapter 6 OPERATION

(Note 6) : If satisfactory performance can not be obtained, please adjust the motor constant for the

phenomena according to following table.

Status of running

At starting

At deceleration

During torque limit

At low frequency operation

Phenomena Contents of adjustment

The shock is occurred at starting

Unstable of motor rotation

Insufficient torque during torque limit at low speed

Irregular of rotation

Set “Motor constant J” bigger and bigger slowly until 1.2 times for preset constant. Set speed response smaller. H005 Set “Motor constant J” smaller for preset Constant.

Set overload restriction level lower than torque limit level

Set “Motor constant J” bigger for preset constant.

Adjusting parameter

H024/H034

b021 b041-b044

H024/H034

Chapter 7 FUNCTIONS

Relation

7.1 Orientation function

This board is provided with the orientation function used to position the motor at a certain point during operation. This function can be used for replacing a component of the main axis of the subject machine tool for example.

7.1.1 Function outline

The orientation function maintains position which has decided with

A044: 1st Control Method

P014: Orientation Stop Position P015: Orientation Speed setting P016: Orientation Direction setting P017: Completion range setting P018: Completion delay time P023: Position loop gain C001-C008: Intelligent input terminal C021-C025: Intelligent output

terminal

the position control after speed control operation. The action is shown in Figure 7-1.

1. In the speed control operation period, inverter drives at constant speed with the orientation

speed setting (P015). (Orientation mode becomes valid when turning RUN command ON under ORT is being ON.)

2. After arriving to the orientation speed setting(P015), the first coming the Z pulse is detected

after that the control mode moves to the position control.

3. Inverter controls the motor to stop at a certain stop position which is set to (P014) during

position control operation period.

Operation command

(FW/RV)

ORT terminal

Acceleration rate follow acceleration time setting F002

Rotation Speed

of Motor

Z pulse

POK signal output

(Positioning completion)

Output motor

Speed control Position control

(Note 1) Rotation speed of the motor is zero but inverter is outputting to the motor. Don't touch the motor power line. Otherwise, there is a danger of electric shock and/or injury.

(Note 2) In case of reoperating when the operation command is set terminal. Set the command operation(FW,REV)again.

(1)

Completion delay time setting (P018)

(2)

Deceleration time doesn't follow deceleration time setting F003.

(3)

If the loop back gain (P023) is big, deceleration time is short

In the case of exceeding the required stop position

(4)

(5)

Output zero

servo

(Note 1)

Figure 7 - 1(1) Orientation and timing

(Action timing of when the ORT input signal is OFF during the orientation.)

Chapter 7 FUNCTIONS

4. Inverter maintains the position after the completion, and outputs the ‘position control

completion (POK) signal’ after the set value of ‘delay time setting (P018). (Inverter drives the motor reverse and return to the required st op position in the case it exceeds the required stop position.)

5. When the ORT terminal is turned off, the inverter stops operation and the orientation mode is

cleared.

(Note3) In case of using Z pulse, use 5V line driver type output for EZP-EZN input.

(Note 4): Action timing of when only the operation command is OFF during the orientation.

If only the operation command is OFF, the motor will stop (1). After that if the ORT terminal is OFF(2), POK signal output will be OFF (3). (While ORT terminal is ON. Due to the orientation mode is running , even though only the operation command is OFF , the POK signal output (4) keep ON within the completion range.

Operationcomman

(FW/RV)

ORT terminal

Rotation Speed of Moto

Z pulse

POK signal output (Positioning completion)

Output motor

(1)

(2)

(4)

(3)

Completion delay time settin

Output Zero servo

Position control

(note5)

Figure 7 - 1(2) Orientation and timing

(Action timing of when only the operation command is OFF during the orientation.)

(Note 5) Rotation speed of motor is zero but inverter is outputting to the motor. Don't touch the motor power line. Otherwise there is a danger of electric shock /Injury

Chapter 7 FUNCTIONS

7.1.2 Data sett ing

Data setting related to speed control

Setting item Function code Setting Range, Setting Content s

Orientation speed setting (Note 1) P015

Orientation direction setting (Note 2) P016 0:Forward / 1:Reverse

(Note 1) : In order to stop the motor for setting position. (Motor takes 2 rotation to stop setting

position)Don’t set high frequency to the orientation speed setting. Otherwise it will be

over-voltage protection trip. (Note 2) : Turn direction of the motor while orientation is done based on the setting of P016. Data setting related to position control

Setting item

Function

code

0.00∼99.99 / 100.0∼120.0 (Hz)

Setting range, setting contents

Orientation stop position(Note 3) P 014

Completion range setting P017

Completion delay time (Note 4) P018

Position loop gain(Note 5) P023

0∼9999. / 1000 (10,000) (pulses)

(Setting four times fairly of the encoder pulses)

0.00∼99.99 / 100.0 (rad/s)

0. ∼4095.

0.00∼9.99

(Note 3) : The orientation stop position is to be set as 4096 of division (0∼4095) per 1 turn toward

forward from the original point. (It is 4096 division irrespective of the pulse number of

the encoder.) The original point is where the pulse has input to EZP-EZN. Stoppage

goal position is like shown in Figure 7-2 irrespective of the turn direction. (Note 4) : It depends on what type of main body combines with the SJ-FB, the setting value

conversion is different. Please refer to the (Note 3) of the “5.3 Items regarding the feed

back board of the inverter main body“. (Note 5) : To improve the positioning accuracy.à Increase position loop gain (G).

When the motor is unstable. à Decrease position loop gain.

Z pulse Position

(Reference point)

Motor Shaft viewed fro the load side

1024

2048

3072

Figure 7-2 Concept of Orientation setting Position

Chapter 7 FUNCTIONS

Data setting of the input-output terminal

Input-output terminal Terminal assignment Contents

Input

ORT terminal (ORT)

Set up 45 to one of

them of C001∼C008

ON : Orientation mode

Output

Positioning completion

signal (POK)

Set up 23 to one of

them of C021∼C025

Output when it comes to the positioning completion range.

7.2 Speed control (ASR)

When the control mode selection (P012) is set to 00, operation mode becomes a speed control operation mode (ASR mode). Please drive after setting up the frequency, operation command and each motor constant .

7.3 Position control (APR) (Electronic gear function)

When the control mode selection (P012) is set to 01, operation mode becomes a speed control operation mode (APR mode).

7.3.1 Function outline

This function generates the frequency based on the position command pulse which comes from the pulse train input from the terminal and position feed back pulse which is detected by the motor encoder, and performs the position control operation. It can be used as synchronous operation of main and sub motor. Also the turn ratio of main and sub motor can be changed by setting up the electronic gear ratio (N/D). (Electronic gear function)

7.3.2 Control mode setting

Inverter at the main motor (master inverter) can be set both as a speed control and position control. Please set up the inverter at the sub motor side (slave inverter) to a position control mode.

A044: 1st Control met hod

P012: Control mode selection A002: Operation command selection P017: Completion range setting P018: Completion delay time P019: Electronic gear position selection P020: Electronic gear ratio numerator P021: Electronic gear ratio denominator P022: Feed forward gain P023: Position loop gain C001-C008: Intelligent input terminal C021-C025: Intelligent output terminal H002/H202-H052/H252: Motor constant relation data

Relation

A044: 1st Control met hod

P012: Control mode selection A001: Frequency command selection A002: Operation command selection F001: Frequency setting F002: Acceleration time F003: Deceleration time F004: Operation direction selection H002/H202-H052/H252: Motor constant relation data

Relation

Chapter 7 FUNCTIONS

Master Inverter Slave Inverter

AP,BP AN,BN

EG5

EAP,EBP EAN,EBN

Main Motor

SAP,SBP SAN,SBN

EG5 EAP,EBP

EAN,EBN

Sub Motor

Figure 7-3 Wiring for Synchronized Operation

(Note) : Please connect EG5 of the main and sub inverter together to avoid malfunction caused by EMC noise.

7.3.3 Data sett ing

Data setting related to position control

Setting item Function code Setting range, setting contents

Feed-forward gain

(Note 1)

Position loop gain (Note 2) P023

Electronic gear position

selection(Note 3)

Numerator of the electronic gear

ratio (Note 3)

Denominator of the electronic

gear ratio (Note 3)

Completion range setting P017

Completion delay time P018

(Note 1) : We promote the adjustment from P022=2.00 at the time of the feed forward gain

adjustment .To make the position deviation of the main and sub motor small, then increase feed forward gain. When the motor is unstable, then decrease feed forward gain

(Note 2) :We promote the adjustment from P023=2.00 at the time of the position loop gain

adjustment. To get good accuracy of the position control then increase posotion loop gain, then to get much power to maintain the positioning then increase posotion loop gain. Motor is unstable due to too big position loop gain, then decrease position loop gain.

P022

P019

P020

P021

0.00∼99.99 / 100.0∼655.3

0.00∼9.99 / 100.0 (rad/s)

00: to the feed back side (FB) 01: to the position command side (REF)

1∼9999 1∼9999

0∼9999. / 1000 (10,000) (pulse)

0.00∼9.99 (s)

Chapter 7 FUNCTIONS

(Note 3) : N/D must be given as the ranges of 1/50 ≤ (N/D) ≤ 20. (N: Electronic gear ratio numerator, D: Electronic gear ratio denominator) (Note 4) : It depends on what type of main body combines with the SJ-FB, the setting value conversion is different. Please refer to the (Note 3) of the “5.3 Items regarding the feed back board of the inverter main body“. Data setting of input-output terminals

Input-output terminal With terminal assignment Contents

The pulse train position

command input permission

Input

signal. (STAT)

Set ‘48’ to one of

C001∼C008

Pulse train position command input

is valid while ON.

Positioning completion

Output

signal.(POK)

Set ‘23’ to one of

C021∼C025

Output when it entered into the

positioning completion range

Set ‘48’ (the pulse train position command input permission signal (STAT)) to one of C001∼C008. Pulse train position command input is valid only in the case that the STAT terminal is turned ON. In the case that the STAT terminal is OFF or unestablished, pulse train position command input is invalid.

Below the example of the proportion of the slave side turn number to the m aster side turn number by the setting of P019P021 is shown. (Yet, the encoder pulse number of the master side and slave side are same and be in the case of 1024 pulses. )

Position selection for electronic gear (P019) 01 (REF) 01 (REF) 00 (FB) 00 (FB) Numerator of ration setting for electronic gear (P020) 1024 2048 1024 2048 Denominator of ratio setting for electronic gear (P021) 2048 1024 2048 1024 Slave side turn number to the master side turn number 1/2 2 2 1/2

[Setting example]

Main Motor : Encoder pulse 1024 pulses Sub Motor : Encoder pulse 3000 pulses (Main motor rotation speed) : (sub motor rotation speed) = 2 : 1

Set the following for slave inverter in this case.

Electronic gear setting position (P019) : RET (command pulse side) Electronic gear numerator (P020) : 3000

Electronic gear ratio denominator (P021): 1024*2=2048

FFWG

Feed forward gain

Chapter 7 FUNCTIONS

ASR

REF

Position loop gain

N D

Electron gear establishment position selection = FB

Figure 7-4 Control block diagram of the electron gear function (1)

FFWG

Feed forward gain

ASR

REF

N D

Position loop gain

Electron gear establishment position selection = REF

Figure 7-5 Control block diagram of the electron gear function (2)

Chapter 7 FUNCTIONS

7.3.4 Pulse train mode selection

The following 3 ways of pulse line input can be selected by the setting of P013.

1) 90° phase difference pulse train (Mode 0)

SAP SAN

(Pulse train input)

SBP SBN

(Pulse train input)

Detected

pulse number

Forward

2) Forward/Reverse command + pulse train (mode 1)

SAP

SAN

(Pulse train input)

SBP

SBN

(Forward/reverse command)

Detected

pulse number

Forward

3) Forward pulse train + Reversion pulse train (mode 2)

Reverse

Time

Reverse

Time

SAP SAN

(Forward pulse train input)

SBP SBN

(Reverse pulse train input)

Detected

pulse number

Forward Reverse

Time

Chapter 7 FUNCTIONS

7.4 Speed control (P/PI) switching function

Speed control mode is normally controlled by proportionalintegration compensation (Pi), which keeps the deviation between the actual speed and speed command becomes 0. Further, you can also achieve a propotional control function, which can be used as drooping operation (i.e. one load with several inverters) with this option card. Set P/PI switching function to one of the intelligent input terminal 1∼8 by the operator to achieve this function. (Input ‘43’ in one of C001∼C008.) When this is turned on, control mode becomes proportion control (P). Please set proportional gain(Kpp ; a value used to decide the speed change rate) to H052 by a digital operator. The relationship between the Kpp value and the speed change rate is shown below.

=)RateChangeSpeed(

Relationship between Kpp Value and Speed Change Rate

A044: 1st Control Method

Proportional gain

P052: 1 C001-C008: Intelligent input terminal

(%)

)ValueSetKpp(

Torque

100 %

0 Rotation Speed

PI controlP control

(A)

Figure 7-6 Torque characteristic (P/PI)

()

ATorqueRatedatErrorSpeed

=)RateChangeSpeed(

frequencybasespeedsSynchronou

Relationship between Speed Change Rate and Rated Rotation Speed

Chapter 7 FUNCTIONS

7.5 Compensation of secondary resistor function (Temperature revision)

Please use this function, if you want to do the temperature revision to restrain the speed fluctuation by the temperature change of the motor. (Please use the thermistor of the characteristic like type B that shows it below. (This thermistor is the characteristic of PE-41E

Relation

P025: Compensation of secondary resistor

selection b098: Thermistor selection b099: Thermistor error level

C085: Thermistor adjustment

made of a Shibaura electronics co.,Ltd.))

1. Please wire the thermistor that is built to the motor to the inverter.

(Wiring between TH and CM1 of the terminal unit board of the main body)

2. Please set up it as follows. P025………01(valid) b098……… 02(NTC) b099……….(This code is thermistor error level setting. Set the resistance value of temperature for trip according to thermistor methods.) C085……….(Use this as gain adjustment.)

Figure 7-7 Resistor vs. Temperature Curves

(Note):Please wire it once again after the thermistor error occurrence level is changed, after you

remove the wiring of the thermistor once, if the thermistor error occurred.

Chapter 8 PROTECTION FUNCTION

8.1 Action selection in case of option error

To ignore or make inverter trip can be selected in case of option error.

Item Function code Data Contents

Action selection in

case of option error

P001 / P002

00 TRP: Inverter trips and outputs alarm signal. 01

RUN: Inverter ignores the option error and continues

the operation.

(Note) : Inverter trips anyway in case of encoder line break error (E60, E70), SJ-FB abnormal

connection (E69,E79) occurs, although action selection is set to 01 (RUN). Please refer to "Chapter 5.2 FEED-BACK BOARD INITIAL SETTINGS".

8.2 Cause and countermeasure of the option error

When any of the following alarms occurs, the inverter displays the alarm cause and stops.

Display Item Contents Processing

Detect the line break or disconnection of the encoder line.

E60

(E70)

(Note 1)

E61

(E71)

(Note 1)

E62

(E72)

(Note 1)

E69

(E79)

(Note 1)

Encoder line

break

Over speed

Positioning

error

connection

error

Detect when there is an encoder failure. Detect when the specification of the encoder is not line driver output type.

Detect when there is no Z pulse. Detect when the motor rotation speed exceeds

(maximum frequency (note 2))×(over speed error detection level (P026). (Note 3),(Note 4) Detect when the deviation of the current position and command value becomes more than 1,000,000 pulses during position controlling.

Detect abnormal connection between the inverter main body and SJ-FB.

(Note 1): ( ) shows when the option card is connected to option slot 2. (Note 2): Frequency upper limit value (A061/A261) is reflected when it is set. (Note 3): It depends on what type of main body combines with the SJ-FB, the setting value conversion is different. Please refer to the (Note 3) of the “5.3 Items regarding the feed back board of the inverter main body“. (Note 4): When the over speed error occurred . There is a possibility the over speed error occur

again. Even though the trip is cleared during the motor free run. In this case stop the motor, then clear the trip please.

Check the encoder signal line and connection.

Replace it to a suitable one.

Turn SWENC-2 OFF on the option board.

Adjust the Kp and J constants related to the speed control system to reduce overshoot.

Increase the position loop gain. Decrease the numbers of the pulse train input per second.

Check the connection between the inverter main body and SJ-FB.

8.3 Warning display (Feed back option relation)

(Refer to the operation manual of the main body about the warning other than the following,)

The 009 is displayed in the case that it became orientation speed setting (P015) > the highest frequency setting (A004). Please confirm the case, orientation speed setting (P015) and highest frequency setting (A004).

Chapter 9 SPECIFICATION

Product specification

Item Specification

Speed

control

Position control

Orientation

Protection function

Encoder feed-back:

Speed control system:

Position command:

Electronic gear:

Stop position:

Speed:

(Note 1): The main body setting or external input is selectable.

SJ-DG (digital input option board) is required in case of external input.

(Note 2): It depends on what type of main body combines with the SJ-FB, the setting value

conversion is different.

Please refer to the (Note 3) of the “5.3 Items regarding the feed back board of the inverter

main body“.

• Standard encoder pulse number 1024 pulse/r

• Max. input pulse 100k pulse/s

• Proportional-Integral (PI) / Proportional (P) control

• Three kinds of pulse train input selectable by main bod y setting.

Mode 0 : 90° phase difference pulse Mode 1 : Forward/Reverse signal pulse Mode 2 : Forward pulse/Reverse pulse

• Max. input pulse 100k pulse/s

• Pulse ratio A/B (A, B: 1~9999 selectable)

• Setting range 1/50 ≤ A/B ≤ 20

• 4096 division against 1 rotation of the motor shaft (Note 1)

• Orientation speed and turn direction selectable

• Encoder cable line break protection

• Over speed protection (over speed error detection level (P026))

(Note 2)

• Positioning error

• Connection abnormal of SJ-FB

HITACH

HAL-PC041100

Hitachi NB616X User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

SAFETY

Definitions and Symbols

Revision History Table

Figure 2-1 Function Block Diagram

How to Mount the option Board

Figure 4-2 Terminal wiring

Figure 5-1 Switch arrangement figure