Mitsubishi Electronics FR-V520-1.5K, FR-V540-1.5K User Manual

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VECTOR INVERTER

FR-V500

INSTRUCTION MANUAL (Detailed)

HIGH PRECISION & FAST

RESPONSE VECTOR INVERTER

FR-V520-1.5K to 55K FR-V540-1.5K to 55K

WIRING

VECTOR

CONTROL

PARAMETERS

SPECIFICATIONS

Thank you for choosing this Mitsubishi vector inverter. This Instruction Manual (detailed) provides instructions for advanced use of the FR-V500 series inverters. Incorrect handling might cause an unexpected fault. Before using the inverter, always read this Instruction Manual and the Instruction Manual (basic) [IB-0600064] packed with the product carefully to use the equipment to its optimum performance.

This section is specifically about safety matters

Do not attempt to install, operate, maintain or inspect the inverter until you have read through the Instruction Manual (basic) and appended documents carefully and can use the equipment correctly. Do not use the inverter 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".

WARNING

CAUTION

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.

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.

1. Electric Shock Prevention

WARNING

z While power is on or when the inverter is running, do not open the front cover. You may get an electric shock. z Do not run the inverter with the front cover or wiring cover removed. Otherwise, you may access the exposed high-voltage terminals

or the charging part of the circuitry and get an electric shock.

z Even 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.

z 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.

z This inverter must be earthed (grounded). Earthing (Grounding) must conform to the requirements of national and local safety

regulations and electrical codes. (NEC section 250, IEC 536 class 1 and other applicable standards).

z Any person who is involved in wiring or inspection of this equipment should be fully competent to do the work. z Always install the inverter before wiring. Otherwise, you may get an electric shock or be injured. z Perform setting dial and key operations with dry hands to prevent an electric shock. z Do not subject the cables to scratches, excessive stress, heavy loads or pinching. Otherwise, you may get an electric shock. z Do not change the cooling fan while power is on. It is dangerous to change the cooling fan while power is on.

2. Fire Prevention

CAUTION

z Install the inverter on an incombustible wall without holes, etc. Mounting it to or near combustible material can cause a fire. z If the inverter has become faulty, switch off the inverter power. A continuous flow of large current could cause a fire. z When a brake resistor is used, use an alarm signal to switch power off. Otherwise, the brake resistor will overheat abnormally due to

a brake transistor or other fault, resulting in a fire.

z Do not connect a resistor directly to the DC terminals P, N. This could cause a fire.

3.Injury Prevention

CAUTION

z Apply only the voltage specified in the instruction manual to each terminal to prevent damage etc. z Ensure that the cables are connected to the correct terminals. Otherwise damage etc. may occur. z Always make sure that polarity is correct to prevent damage etc. z While power is on and for some time after power-off, do not touch the inverter or brake resistor as they are hot and you may get burnt.

4. Additional Instructions

Also note the following points to prevent an accidental failure, injury, electric shock, etc.

1) Transportation and installation

CAUTION

z When carrying products, use correct lifting gear to prevent injury. z Do not stack the inverter boxes higher than the number recommended. z Ensure that installation position and material can withstand the weight of the inverter. Install according to the information i

instru

ction manual.

z Do not operate if the inverter is damaged or has parts missing. z When carrying the inverter, do not hold it by the front cover; it may fall off or fail. z Do not stand or rest heavy objects on the inverter. z Check the inverter mounting orientation is correct. z Prevent screws, wire fragments, other conductive bodies, oil or other flammable substances from entering the inverter. z Do not drop the inverter, or subject it to impact z Use the inverter under the following environmental conditions:

Ambient temperature -10°C to +50°C (non-freezing) Ambient humidity 90%RH or less (non-condensing) Storage temperature -20°C to +65°C* Ambience Indoors (free from corrosive gas, flammable gas, oil mist, dust and dirt)

Environment

Altitude, vibration

*Temperature applicable for a short time, e.g. in transit.

Maximum 1000m above sea level for standard operation. After that derate by 3% for every extra 500m up to 2500m (91%). 5.9m/s

or less

n the

A-1

2) Wiring

CAUTION

z Do not fit capacitive equipment such as power factor correction capacitor, surge suppressor or radio noise filter (option FR-BIF) to

the inverter output side.

z The connection orientation of the output cables (terminals U, V, W) to the motor will affect the direction of rotation of the motor.

3) Trial run

CAUTION

z Check all parameters, and ensure that the machine will not be damaged by a sudden start-up.

4) Operation

WARNING

z When you have chosen the retry function, stay away from the equipment as it will restart suddenly after an alarm stop. z Since the [STOP] key is valid only when functions are set (refer to page 115) provide a circuit and switch separately to make an

emergency stop (power off, mechanical brake operation for emergency stop, etc).

z Make sure that the start signal is off before resetting the inverter alarm. A failure to do so may restart the motor suddenly. z The load used should be a three-phase induction motor only. Connection of any other electrical equipment to the inverter output may

damage the equipment.

z Do not modify the equipment. z Do not perform parts removal which is not instructed in this manual. Doing so may lead to fault or damage of the inverter.

CAUTION

z The electronic thermal relay function does not guarantee protection of the motor from overheating.

z Do not use a magnetic contactor on the inverter input for frequent starting/stopping of the inverter. z Use a noise filter to reduce the effect of electromagnetic interference. Otherwise nearby electronic equipment may be affected. z Take measures to suppress harmonics. Otherwise power supply harmonics from the inverter may heat/damage the power capacitor

and generator.

z When a 400V class motor is inverter-driven, please use an insulation-enhanced motor or measures taken to suppress surge

voltages. Surge voltages attributable to the wiring constants may occur at the motor terminals, deteriorating the insulation of the motor.

z When parameter clear or all clear is performed, each parameter returns to the factory setting. Each parameter returns to the factory

setting.

z The inverter can be easily set for high-speed operation. Before changing its setting, fully examine the performances of the motor and machine. z In addition to the inverter's holding function, install a holding device to ensure safety. z Before running an inverter which had been stored for a long period, always perform inspection and test operation. In addition to the

inverter's holding function, install a holding device to ensure safety.

5) Emergency stop

CAUTION

z Provide a safety backup such as an emergency brake which will prevent the machine and equipment from hazardous conditions if

the inverter fails.

z When the breaker on the inverter input side trips, check for the wiring fault (short circuit), damage to internal parts of the inverter, etc.

Identify the cause of the trip, then remove the cause and power on the breaker.

z When the protective function is activated, take the appropriate corrective action, then reset the inverter, and resume operation.

6) Maintenance, inspection and parts replacement

CAUTION

z Do not carry out a megger (insulation resistance) test on the control circuit of the inverter.

7) Disposing of the inverter

CAUTION

z Treat as industrial waste.

8) General instructions

Many of the diagrams and drawings in this Instruction Manual (basic) show the inverter without a cover, or partially open. Never operate the inverter in this manner. Always replace the cover and follow this Instruction Manual (basic) when operating the inverter.

A-2

1 WIRING 1

1.1 Internal block diagram......................................................................................... 2

1.2 Main circuit terminal specifications ...................................................................3

1.3 Connection of stand-alone option units ............................................................4

1.3.1 Connection of the dedicated external brake resistor (FR-ABR) .........................................................4

1.3.2 Connection of the brake unit (FR-BU)................................................................................................5

1.3.3 Connection of the brake unit (BU type) ..............................................................................................6

1.3.4 Connection of the high power factor converter (FR-HC)....................................................................6

1.3.5 Connection of the power regeneration common converter (FR-CV)..................................................7

1.3.6 Connection of the DC reactor (FR-HEL/BEL).....................................................................................7

1.4 Control circuit terminal specifications ..............................................................8

1.4.1 Connecting the control circuit to a power supply separately from the main circuit...........................10

1.5 Precautions for use of the vector inverter....................................................... 11

1.6 Others ................................................................................................................. 12

1.6.1 Leakage currents and countermeasures..........................................................................................12

1.6.2 Power off and magnetic contactor (MC)...........................................................................................14

1.6.3 Installation of reactor........................................................................................................................15

1.6.4 Notes on earthing (grounding)..........................................................................................................16

1.6.5 Inverter-generated noises and their reduction techniques ...............................................................17

1.6.6 Power supply harmonics ..................................................................................................................19

1.6.7 Harmonic suppression guidelines ....................................................................................................20

1.6.8 Inverter-driven 400V class motor .....................................................................................................22

1.6.9 Using the PU connector for computer link........................................................................................23

CONTENTS

1.7 Input terminals ................................................................................................... 26

1.7.1 Run (start) and stop (STF, STR, STOP) ..........................................................................................26

1.7.2 External thermal relay input (OH).....................................................................................................27

1.7.3 Speed setting potentiometer connection (10E, 2 (1), 5)...................................................................27

1.7.4 Torque setting input signal and motor-generated torque (terminals 3, 5) ........................................28

1.7.5 Meter connection method and adjustment (DA1, DA2)....................................................................28

1.7.6 Common terminals (SD, 5, SE)........................................................................................................29

1.7.7 Signal inputs by contact-less switches.............................................................................................29

1.8 How to use the input signals (assigned terminals DI1 to DI4, STR)

(Pr. 180 to Pr. 183, Pr. 187)................................................................................ 30

1.8.1 Multi-speed setting (RL, RM, RH, REX signals): Pr. 180 to Pr. 183, Pr. 187 setting "0, 1, 2, 8"

Remote setting (RL, RM, RH signals): Pr. 180 to Pr. 183, Pr. 187 setting "0, 1, 2" .........................30

1.8.2 Second function selection/second motor switchover (RT signal)

: Pr. 180 to Pr. 183, Pr. 187 setting "3" ............................................................................................30

1.8.3 Jog operation (jog signal): Pr. 180 to Pr. 183, Pr. 187 setting "5" ....................................................30

1.8.4 Third function selection (X9 signal): Pr. 180 to Pr. 183, Pr. 187 setting "9" .....................................31

1.8.5 FR-HC, FR-CV connection (X10 signal): Pr. 180 to Pr. 183, Pr. 187 setting "10"............................31

1.8.6 PU operation external interlock signal (X12 signal): Pr. 180 to Pr. 183, Pr. 187 setting "12"...........31

1.8.7 PID control enable terminal: Pr. 180 to Pr. 183, Pr. 187 setting "14" ...............................................31

1.8.8 Brake sequence opening signal (BRI signal): Pr. 180 to Pr. 183, Pr. 187 setting "15" ....................31

1.8.9 PU operation/external operation switchover: Pr. 180 to Pr. 183, Pr. 187 setting "16"......................31

1.8.10 S-pattern acceleration/deceleration C switchover terminal (X20 signal)

: Pr. 180 to Pr. 183, Pr. 187 setting "20" ..........................................................................................31

1.8.11 Orientation command (X22 signal): Pr. 180 to Pr. 183, Pr. 187 setting "22"....................................32

1.8.12 Pre-excitation/servo on (LX signal): Pr. 180 to Pr. 183, Pr. 187 setting "23" ...................................32

1.8.13 Output stop (MRS signal): Pr. 180 to Pr. 183, Pr. 187 setting "24" ..................................................32

1.8.14 Start self-holding selection (STOP signal): Pr. 180 to Pr. 183, Pr. 187 setting "25".........................32

1.8.15 Control mode changing (MC signal): Pr. 180 to Pr. 183, Pr. 187 setting "26"..................................33

1.8.16 Torque limit selection (TL signal): Pr. 180 to Pr. 183, Pr. 187 setting "27" ......................................33

1.8.17 Start time tuning (X28 signal): Pr. 180 to Pr. 183, Pr. 187 setting "28" ............................................33

1.8.18 Torque bias selection 1 (X42 signal): Pr. 180 to Pr. 183, Pr. 187 setting "42"

Torque bias selection 2 (X43 signal): Pr. 180 to Pr. 183, Pr. 187 setting "43".................................33

1.8.19 P control selection (P/PI control switchover) (X44 signal):

Pr. 180 to Pr. 183, Pr. 187 setting "44" ............................................................................................34

1.9 How to use the output signals (assigned terminals DO1 to DO3, ABC)

(Pr. 190 to Pr. 192, Pr. 195)................................................................................ 35

1.10 Design information to be checked ...................................................................37

1.11 Using the second motor ....................................................................................38

1.11.1 Wiring diagram (second motor)........................................................................................................38

1.11.2 Second motor setting parameters ...................................................................................................38

1.12 Using the conventional motor and other motors............................................ 39

1.12.1 Conventional motor (SF-VR, SF-JR with encoder) ..........................................................................39

1.12.2 Precautions for and wiring of the motor with encoder (SF-JR with encoder) ...................................40

2 VECTOR CONTROL 41

2.1 What is vector control? .....................................................................................42

2.2 Speed control ..................................................................................................... 44

2.2.1 Outline of speed control ...................................................................................................................44

2.2.2 Easy gain tuning function block diagram..........................................................................................44

2.3 Fine adjustment of gains for speed control .................................................... 45

2.3.1 Control block diagram ......................................................................................................................45

2.3.2 Concept of adjustment of manual input speed control gains............................................................46

2.3.3 Speed control gain adjustment procedure (Pr. 820, Pr. 821)...........................................................46

2.3.4 Troubleshooting................................................................................................................................47

2.3.5 Speed feed forward control, model adaptive speed control (Pr. 828, Pr. 877 to Pr. 881)................49

2.4 Torque control.................................................................................................... 51

2.4.1 Outline of torque control...................................................................................................................51

2.5 Fine adjustment for torque control .................................................................. 52

2.5.1 Control block diagram ......................................................................................................................52

2.6 Gain adjustment for torque control.................................................................. 53

2.6.1 Concept of torque control gains .......................................................................................................53

2.6.2 Gain adjustment procedure..............................................................................................................53

2.6.3 Troubleshooting................................................................................................................................54

2.7 Position control (Pr. 419 to Pr. 430, Pr. 464 to Pr. 494) .................................. 55

2.7.1 Connection diagram .........................................................................................................................55

2.7.2 Position control step.........................................................................................................................56

2.7.3 Control block diagram ......................................................................................................................57

2.7.4 Parameter.........................................................................................................................................57

2.7.5 Conditional position feed function by contact input (Pr. 419 = 0).....................................................59

2.7.6 Setting the electronic gear................................................................................................................60

2.7.7 In-position width (Pr. 426) ................................................................................................................62

2.7.8 Excessive level error (Pr. 427) .........................................................................................................62

2.7.9 Pulse monitor selection (Pr. 430) .....................................................................................................62

2.7.10 Concept of position control gains .....................................................................................................62

2.7.11 Troubleshooting................................................................................................................................63

2.7.12 Position control is not exercised normally ........................................................................................64

3 PARAMETERS 65

3.1 Parameter list ..................................................................................................... 66

3.2 At-a-glance guide to functions ......................................................................... 73

3.3 Basic functions (Pr. 0 to Pr. 9).......................................................................... 76

3.3.1 Torque boost (Pr. 0) .........................................................................................................................76

3.3.2 Maximum and minimum speed settings (Pr. 1 , Pr. 2) ....................................................................76

3.3.3 Base frequency, base frequency voltage (Pr. 3, Pr. 19)...................................................................77

3.3.4 Multi-speed operation (Pr. 4 to Pr. 6, Pr. 24 to Pr. 27, Pr. 232 to Pr. 239)......................................77

3.3.5 Acceleration and deceleration time (Pr. 7, Pr. 8, Pr. 20, Pr. 21, Pr. 44, Pr. 45, Pr. 110, Pr. 111)...78

3.3.6 Motor overheat protection (Pr. 9, Pr. 452, Pr. 876 ) .........................................................................80

3.4 Standard operation functions (Pr. 10 to Pr. 16) .............................................. 82

3.4.1 DC injection brake operation (Pr. 10, Pr.11, Pr. 12, Pr.802) ...........................................................82

3.4.2 Starting speed (Pr. 13) .....................................................................................................................84

3.4.3 Jog operation (Pr. 15, Pr. 16)...........................................................................................................85

3.5 Operation selection functions 1 (Pr. 17 to Pr. 37) ...........................................86

3.5.1 Inverter output stop (MRS) (Pr. 17)..................................................................................................86

3.5.2 Torque limit (Pr. 22, Pr. 803, Pr. 810 to Pr. 817)............................................................................87

3.5.3 RH, RM, RL signal input compensation (Pr. 28) ..............................................................................88

3.5.4 S-pattern acceleration/deceleration curve (Pr. 29, Pr. 140 to Pr. 143, Pr. 380 to Pr. 383) ..............89

3.5.5 Regenerative brake duty (Pr. 30, Pr. 70)..........................................................................................92

3.5.6 Speed jump (Pr. 31 to Pr. 36)...........................................................................................................93

3.5.7 Speed display (Pr. 37, Pr. 144, Pr. 505 )..........................................................................................93

CONTENTS

3.6 Output terminal functions (Pr. 41 to Pr. 50)..................................................... 95

3.6.1 Up-to-speed sensitivity (Pr. 41)........................................................................................................95

3.6.2 Speed detection (Pr. 42, Pr. 43, Pr. 50, Pr. 116)..............................................................................95

3.7 Display functions 1 (Pr. 52 to Pr. 56)................................................................ 97

3.7.1 Monitor display/DA1, DA2 terminal function selection (Pr. 52 to Pr. 54, Pr. 158) ...........................97

3.7.2 Monitoring reference (Pr. 55, Pr. 56, Pr. 866) ................................................................................100

3.8 Automatic restart (Pr. 57, Pr. 58) .................................................................... 101

3.8.1 Automatic restart after instantaneous power failure (Pr. 57, Pr. 58, Pr. 162 to Pr. 165) ................101

3.9 Additional functions (Pr. 59) ...........................................................................103

3.9.1 Remote setting function selection (Pr. 59 ) ....................................................................................103

3.10 Brake sequence (Pr. 60, Pr. 278 to Pr. 285) ................................................... 106

3.10.1 Brake sequence function (Pr. 60, Pr. 278 to Pr. 285).....................................................................106

3.11 Operation selection function 2 (Pr. 65 to Pr. 79) ........................................... 109

3.11.1 Retry function (Pr. 65, Pr. 67 to Pr. 69)..........................................................................................109

3.11.2 Applied motor (Pr. 71, Pr. 450).......................................................................................................111

3.11.3 PWM carrier frequency selection (Pr. 72, Pr. 240).........................................................................112

3.11.4 Speed setting signal on/off selection (Pr. 73).................................................................................113

3.11.5 Reset selection/disconnected PU detection/PU stop selection (Pr. 75) .........................................115

3.11.6 Parameter write disable selection (Pr. 77) .....................................................................................116

III

3.11.7 Reverse rotation prevention selection (Pr. 78 ) ..............................................................................117

3.11.8 Operation mode selection (Pr. 79) .................................................................................................117

3.12 Offline auto tuning (Pr. 80 to Pr. 96)............................................................... 120

3.12.1 Offline auto tuning function

(Pr. 9, Pr. 80, Pr. 81, Pr. 83, Pr. 84, Pr. 71, Pr. 96, Pr. 450, Pr. 452).............................................120

3.12.2 Parameters.....................................................................................................................................120

3.12.3 Execution of offline auto tuning ......................................................................................................121

3.12.4 Utilizing or changing offline auto tuning data for use......................................................................123

3.12.5 Setting the motor constants directly ...............................................................................................124

3.12.6 Direct input + offline auto tuning.....................................................................................................125

3.13 Online auto tuning (Pr. 95) .............................................................................. 126

3.13.1 Online auto tuning selection (Pr. 95, Pr. 9, Pr. 71, Pr. 80, Pr. 81 ).................................................126

3.14 Communication functions (Pr. 117 to Pr. 124, Pr. 342) ................................ 128

3.14.1 Computer link operation (RS-485 communication) (Pr. 117 to Pr. 124)........................................128

3.14.2 E2PROM write selection (Pr. 342) .................................................................................................139

3.15 PID control (Pr. 128 to Pr. 134) ....................................................................... 139

3.15.1 PID control (Pr. 128 to Pr. 134)......................................................................................................139

3.16 Current detection (Pr. 150 to Pr. 153)............................................................. 146

3.16.1 Output current detection function (Pr. 150, Pr. 151).......................................................................146

3.16.2 Zero current detection (Pr. 152, Pr. 153)........................................................................................147

3.17 Auxiliary functions (Pr. 156, Pr. 157).............................................................. 148

3.17.1 Stall prevention operation selection (Pr. 156) ................................................................................148

3.17.2 OL signal output timer (Pr. 157) .....................................................................................................149

3.18 Display function 3 (Pr. 160) .............................................................................150

3.18.1 Extended function display selection (Pr. 160) ................................................................................150

3.19 Initial monitor (Pr. 171) ....................................................................................150

3.19.1 Actual operation hour meter clear (Pr. 171) ...................................................................................150

3.20 Terminal assignment functions (Pr. 180 to Pr. 195) ..................................... 150

3.20.1 Input terminal function selection (Pr. 180 to Pr. 183, Pr. 187).......................................................150

3.20.2 Output terminal function selection (Pr. 190 to Pr. 192, Pr. 195).....................................................152

3.21 Auxiliary function (Pr. 244) ............................................................................. 154

3.21.1 Cooling fan operation selection (Pr. 244).......................................................................................154

3.22 Stop selection function (Pr. 250) .................................................................... 154

3.22.1 Stop selection (Pr. 250)..................................................................................................................154

3.23 Operation selection function (Pr. 251) ........................................................... 155

3.23.1 Output phase failure protection selection (Pr. 251)........................................................................155

3.24 Additional function 2 (Pr. 252, Pr. 253) .......................................................... 156

3.24.1 Override bias, gain (Pr. 252, Pr. 253).............................................................................................156

3.25 Power failure stop functions (Pr. 261 to Pr. 266) ..........................................156

3.25.1 Power-failure deceleration stop function (Pr. 261 to Pr. 266).........................................................156

3.26 Droop (Pr. 286 to Pr. 288) ................................................................................158

3.26.1 Droop control (Pr. 286 to Pr. 288) ..................................................................................................158

3.27 Orientation (Pr. 350 to Pr. 362, Pr. 393 to Pr. 399) ........................................ 159

3.27.1 Orientation control (Pr. 350, Pr. 351, Pr. 356, Pr. 357, Pr. 360 to Pr. 362, Pr. 393,

Pr. 396 to Pr. 399).........................................................................................................................159

3.28 Control system function (Pr. 374) .................................................................. 166

3.28.1 Overspeed detection (Pr. 374) .......................................................................................................166

3.29 Position control (Pr. 419 to Pr. 430, Pr. 464 to Pr. 494) ................................167

3.29.1 Position control (Pr. 419 to Pr. 430, Pr. 464 to Pr. 494).................................................................167

3.30 Remote output (Pr. 495 to Pr.497) .................................................................. 168

3.30.1 Remote output function (Pr. 495 to Pr.497)....................................................................................168

3.31 Operation selection functions 4 (Pr. 800 to Pr. 809) .....................................169

3.31.1 Control selection (Pr. 800, Pr. 451)................................................................................................169

3.31.2 Torque characteristic selection (Pr. 801)........................................................................................169

3.31.3 Torque command source selection (Pr. 804 to Pr. 806).................................................................171

3.31.4 Speed limit (Pr. 807 to Pr. 809)......................................................................................................173

3.32 Control system functions (Pr. 818 to Pr. 837) ............................................... 175

3.32.1 Easy gain tuning selection (Pr. 818, Pr. 819).................................................................................175

3.32.2 Speed loop proportional gain setting (Pr. 820, Pr. 830) .................................................................175

3.32.3 Speed control integral time setting (Pr. 821, Pr. 831) ....................................................................175

3.32.4 Speed setting circuit filter function (Pr. 822, Pr. 832).....................................................................175

3.32.5 Speed detection filter function (Pr. 823, Pr. 833) ...........................................................................176

3.32.6 Current loop proportional gain setting for vector control (Pr. 824, Pr. 834)...................................176

3.32.7 Current control integral time setting for vector control (Pr. 825, Pr. 835)......................................176

3.32.8 Torque setting filter function (Pr. 826, Pr. 836) ..............................................................................176

3.32.9 Torque detection filter function (Pr. 827, Pr. 837) ..........................................................................177

3.32.10 Model speed control gain (Pr. 828) ................................................................................................177

CONTENTS

3.33 Torque biases (Pr. 840 to Pr. 848) .................................................................. 177

3.33.1 Torque bias function (Pr. 840 to Pr. 848) .......................................................................................177

3.34 Additional functions (Pr. 851 to Pr. 865) ........................................................ 180

3.34.1 Selection of number of encoder pulses (Pr. 851)...........................................................................180

3.34.2 Selection of encoder rotation direction (Pr. 852)............................................................................180

3.34.3 Excitation ratio (Pr. 854).................................................................................................................181

3.34.4 Notch filter (Pr. 862, Pr. 863)..........................................................................................................181

3.34.5 Torque detection (Pr. 864) .............................................................................................................182

3.34.6 Low speed detection (Pr. 865) .......................................................................................................182

3.35 Display function (Pr. 867) ................................................................................183

3.35.1 DA1 output response level adjustment (Pr. 867)............................................................................183

3.36 Terminal function assignment (Pr. 868)......................................................... 183

3.36.1 Terminal 1 function assignment (Pr. 868) ......................................................................................183

3.37 Protective functions (Pr. 870 to Pr. 874) ........................................................ 184

3.37.1 Speed deviation excessive (Pr. 870, Pr. 871) ................................................................................184

3.37.2 Speed limit (Pr. 873).......................................................................................................................185

3.37.3 Stop by OLT level prevention (Pr. 874)..........................................................................................185

3.38 Operation selection functions 5 (Pr. 875) ...................................................... 186

3.38.1 Fault definition (Pr. 875).................................................................................................................186

3.39 Control system function 2 (Pr. 877 to Pr. 881) .............................................. 186

3.39.1 Speed feed forward control, model adaptive speed control (Pr. 877 to Pr. 881)...........................186

3.40 Maintenance function (Pr. 890 to Pr. 892)...................................................... 187

3.40.1 Maintenance output function (Pr. 890 to Pr. 892)...........................................................................187

3.41 Calibration functions (Pr. 900 to Pr. 920)....................................................... 188

3.41.1 DA1/DA2 terminal calibration (Pr. 900, Pr. 901).............................................................................188

3.41.2 Biases and gains of speed setting terminals (speed setting terminal 2, torque command terminal 3, multi function terminal 1)

(Pr. 902 to Pr. 905, Pr. 917 to Pr. 920)...........................................................................................190

3.42 Additional function (Pr. 990) ........................................................................... 193

3.42.1 PU buzzer control (Pr. 990)............................................................................................................193

4 SPECIFICATIONS 195

4.1 Model specifications........................................................................................ 196

4.2 Common specifications .................................................................................. 199

4.3 Outline dimension drawings........................................................................... 200

4.3.1 Inverter outline dimension drawings...............................................................................................200

4.3.2 Control panel (FR-DU04-1) outline dimension drawings................................................................203

4.3.3 Parameter unit (FR-PU04V) outline dimension drawings...............................................................203

4.3.4 Dedicated encoder cable outline dimension drawings ...................................................................204

4.3.5 Dedicated motor outline dimension drawings.................................................................................206

APPENDICES 211

Appendix1 Setting a thermistor of a dedicated motor (SF-V5RU*****T)

(when used with the FR-V5AX).......................................................................... 212

Appendix2 Parameter Instruction Code List .............................................................213

Appendix3 SERIAL number check............................................................................ 220

WIRING

This chapter describes the basic "wiring" for use of this product. Always read the instructions and other information before using the equipment.

1.1 Internal block diagram ..........................................2

1.2 Main circuit terminal specifications ....................3

1.3 Connection of stand-alone option units..............4

1.4 Control circuit terminal specifications................8

1.5 Precautions for use of the vector inverter ..........11

1.6 Others.....................................................................12

1.7 Input terminals ......................................................26

1.8 How to use the input signals (assigned terminals

DI1 to DI4, STR) (Pr. 180 to Pr. 183, Pr. 187)...........

1.9 How to use the output signals (assigned terminals

DO1 to DO3, ABC) (Pr. 190 to Pr. 192, Pr. 195)........

1.10 Design information to be checked ......................37

1.11 Using the second motor .......................................38

1.12 Using the conventional motor and other motors .. 39

DU : Control panel (FR-DU04- PU : Control panel (FR-DU04- Inverter : Mitsubishi vector inverter FR-V500 series Pr. : Parameter number PU operation : Operation using the PU (FR-DU04- External operation : Operation using the control circuit signals Combined operation : Operation using both the PU (FR-DU04-

Mitsubishi dedicated motor : SF-V5R Mitsubishi standard motor with encoder : SF-JR Mitsubishi constant-torque motor : SF-HRCA

CC-Link is a registered trademark of CC-Link Partner Association. Ethernet is a registered trademark of XEROX corporation. DeviceNet is a registered trademark of ODVA (Open DeviceNet Vender Association, Inc.) Profibus is a registered trademark of PROFIBUS User Organization. Other company and product names herein are the trademarks or registerd trademarks of

their respective owners.

1) and parameter unit (FR-PU04V)

1/FR-PU04V)

1/FR-PU04V) and external

operation

111

Internal block diagram

1.1 Internal block diagram

Verify the power specification of the motor cooling fan when performing wiring.

Refer to page 196.

Avoid frequent ON-OFF. Repeated inrush current at power on will shorten the converter life. (switching life is about 100,000 times)

MCCB

FR-V500

R S T

Jumper

Control power supply

MCCB MC

Mitsubishi dedicated motor (SF-V5RU)

Jumper: Remove this jumper when connecting the FR-HEL/BEL.

Jumper: Remove this jumper when connecting the FR-ABR. (5.5K or less only)

* R

CHARGE

ASIC

OCR

U V W

FAN

CAUTION

Match the phase sequence. (The fan should have intake rotation.)

U V

Change the jumper connector and parameter according to the encoder specifications.

RS485

-1

DU04

Output speed setting potentiometer

Analog common

0 to 10VDC

10E

External transistor common

Forward rotation

Reverse rotation

Reset Multi-function input 4 Four different signals can be selected using the parameters.

STF

STR

RES

DI1

DI2

DI3

DI4

SINK

SOURCE

10V

CPU

Protective

circuit

ASIC

OPTION

24V5.5V12V EXT

OPTION

CMP

LDV

OPTION

PAR

PBR

PZR

DA1

DA2

Alarm output

Three different

DO1

signals can be selected using the

DO2

parameters.

DO3

(Open collector output)

Encoder

Analog signal output

Thermal protector

* *

CAUTION

1. The 18.5K or more is not equipped with the built-in brake resistor and brake transistor marked *. The brake transistor is provided for the 15K or less and the built-in brake resistor for the 5.5K or less.

2. Always earth (ground) the inverter and motor.

3. **: When using an external thermal relay protection, set "1" (external thermal relay valid) in Pr. 876. (factory setting) (Refer to page 80.)

Main circuit terminal specifications

1.2 Main circuit terminal specifications

Terminal Symbol Terminal Name Description

Connect to the commercial power supply.

R, S, T AC power input

U, V, W Inverter output Connect a three-phase squirrel-cage motor or Mitsubishi dedicated motor.

R1, S1

P, P R

P, N

P, P 1

PR, PX

Power supply for control circuit

Brake resistor connection

Brake unit connection

DC reactor connection

Built-in brake circuit connection

Keep these terminals open when using the high power factor converter (FRHC) or power regeneration common converter (FR-CV).

Connected to the AC power supply terminals R and S. To retain the alarm display and alarm output or when using the high power factor converter (FRHC) or power regeneration common converter (FR-CV), remove the jumpers from terminals R-R1 and S-S1 and apply external power to these terminals. Do not turn off the power supply for control circuit (R1, S1) with the main circuit power (R, S, T) on. Doing so may damage the inverter. The circuit should be configured so that the main circuit power (R, S, T) is also turned off when the power supply for control circuit (R1, S1) is off. 15K or less: 60VA, 18.5K to 55K: 80VA

Disconnect the jumper from terminals PR-PX (5.5K or less) and connect the optional brake resistor (FR-ABR) across terminals P-PR. For the 15K or less, connecting the resistor further provides regenerative braking power.

Connect the optional FR-BU type brake unit, BU type brake unit, power regeneration common converter (FR-CV) or high power factor converter (FR-HC).

Disconnect the jumper from terminals P-P1 and connect the optional DC reactor (FR-HEL/BEL).

When the jumper is connected across terminals PX-PR (factory setting), the built-in brake circuit is valid. (Provided for the 5.5K or less.)

Earth (Ground) For earthing (grounding) the inverter chassis. Must be earthed (grounded).

CAUTION

• The inverter will be damaged if power is applied to the inverter output terminals (U, V, W). Never

perform such wiring.

• When connecting the dedicated external brake resistor (FR-ABR), remove jumpers across terminals

PR-PX (5.5K or less).

• When connecting the brake unit (FR-BU, BU type), remove jumpers across terminals PR-PX (5.5K or

less). Refer to page 5, 6.

WIRING

Connection of stand-alone option units

1.3 Connection of stand-alone option units

The inverter accepts a variety of stand-alone option units as required. Incorrect connection will cause inverter damage or accident. Connect and operate the option unit carefully in

accordance with the corresponding option unit manual.

1.3.1 Connection of the dedicated external brake resistor (FR-ABR)

The built-in brake resistor is connected across terminals P and PR. Fit the external dedicated brake resistor (FRABR) when the built-in brake resistor does not have enough thermal capability for high-duty operation. At this time, remove the jumper from across terminals PR-PX and connect the dedicated brake resistor (FR-ABR) across terminals P-PR. Set "1" in Pr. 30 "regenerative function selection". Set Pr.70 "special regenerative brake duty" as follows: (Refer to page 92.)

7.5K or less. . . . . . .10%

11K or more . . . . . .6%

CAUTION

1. The brake resistor connected should only be the dedicated brake resistor.

2. The jumper across terminals PR-PX (5.5K or less) must be disconnected before connecting the dedicated brake resistor. A failure to do so may damage the inverter.

3. Do not remove a jumper across terminal P and P1 except when connecting a DC reactor.

z Model ..... FR-V520-1.5K, 2.2K, FR-V540-1.5K, 2.2K

1)Remove the screws in terminals PR and PX and remove the jumper.

2)Connect the brake resistor across terminals P and PR. (The jumper should remain disconnected.)

1) Removal of jumper 2) Connection of brake resistor

Terminal P

Terminal PR

Jumpe

Terminal PX

Terminal PR

z Model ..... FR-V520-3.7K to 7.5K, FR-V540-3.7K, 5.5K

1)Remove the screws in terminals PR and PX and remove the jumper.

2)Connect the brake resistor across terminals P and PR. (The jumper should remain disconnected.)

1) Removal of jumper 2) Connection of brake resistor

Terminal P

Terminal PR

Terminal PX

Jumper

Terminal PX

CAUTION

The FR-V520-7.5K does not have the PX terminal. Since it is a free terminal, keep it open.

Connection of stand-alone option units

z Model ..... FR-V520-11K to 15K, FR-V540-7.5K to 15K

1) Connect the brake resistor across terminals P and PR.

Power supply terminal block for control circuit

Dedicated brake resistor

(FR-ABR)

NPRST

1.3.2 Connection of the brake unit (FR-BU)

Connect the optional FR-BU brake unit as shown below to improve the braking capability during deceleration.

T *2

PPR

THS TH2

Resistor unit FR-BR

OFF

TH1

Power supply

Remove jumper.

Inverter

Motor

Brake unit FR-BU

HA HB

*1 Connect the inverter terminals (P, N) and brake unit (FR-BU (H)) terminals so that their terminal signals match with each other.

(Incorrect connection will damage the inverter.) *2 When the power supply is 400V class, install a step-down transformer. *3 Be sure to remove a jumper across terminal PR-PX when using the FR-BU with the inverter of 5.5K or less. *4 The wiring distance between the inverter, brake unit (FR-BU) and resistor unit (FR-BR) should be within 5m. If twisted wires

are used, the distance should be within 10m.

CAUTION

• If the transistors in the brake unit should become faulty, the resistor can be unusually hot, causing a fire. Therefore, install a magnetic contactor on the inverter's input side to configure a circuit so that a current is shut off in case of fault.

• Do not remove a jumper across terminal P and P1 except when connecting a DC reactor.

WIRING

Connection of stand-alone option units

1.3.3 Connection of the brake unit (BU type)

Connect the BU type brake unit correctly as shown on the right. Incorrect connection will

Power supply

MCCB

Inverter

Motor

damage the inverter. Remove the jumpers from terminals HB-PC and TB-HC and fit a jumper across terminals PC-TB of the brake unit.

Fit a jumper.

*1 Connect the inverter terminals (P, N) and brake unit (BU type) terminals so that their terminal signals match with each

other. (Incorrect connection will damage the inverter.) *2 When the power supply is 400V class, install a step-down transformer. *3 For capacity 5.5K or less, remove the jumper across terminals PR-PX.

T*2

OFF

Remove jumpers.

OCR

Remove jumpers.

BU type brake unit

HCHBHA TB P

Discharging resistor

OCR

CAUTION

• The wiring distance between the inverter, brake unit and resistor unit should be within 2m . If twisted wires are used, the distance should be within 5m.

• If the transistors in the brake unit should become faulty, the resistor can be unusually hot, causing a fire. Therefore, install a magnetic contactor on the inverter's power supply side to configure a circuit so that a current is shut off in case of fault.

• Do not remove a jumper across terminal P and P1 except when connecting a DC reactor.

1.3.4 Connection of the high power factor converter (FR-HC)

When connecting the high power factor converter (FR-HC) to suppress power supply harmonics, perform wiring securely as shown below. Incorrect connection will damage the high power factor converter and inverter. After making sure that the wiring is correct, set "2" in Pr. 30 "regenerative function selection".

High power factor converter (FR-HC)

Power supply

RST R4S4T4 N

MCCB

*1 Remove the jumpers across the inverter terminals R-R1, S-S1, and connect the control circuit power supply to the R1

and S1 terminals. Always keep the power input terminals R, S, T open. Incorrect connection will damage the inverter. (E.OPT (option alarm) will occur. (Refer to the Instruction Manual (basic).))

*2 Do not insert the MCCB between terminals P-N (P-P, N-N). Connect the inverter terminals (P, N) and high power factor converter

(FR-HC) terminals so that their terminal signals match with each other. (Incorrect connection will damage the inverter.)

*3 Use Pr. 180 to Pr. 183, Pr. 187 (input terminal function selection) to assign the terminals used for the X10 (X11) signal. (Refer to

page 150.) For communication where the start command is sent only once, e.g. when used with the computer link plug-in option (A5NR), use the X11 signal when making setting to hold the mode at occurrence of an instantaneous power failure. (Refer to page 92.)

MC1MC2

From FR-HCL02

R3 S3 T3

MC2

Outside box

MC1

FR-HCL01

Y1 or Y2 RDY RSO SE

CAUTION

• The voltage phases of terminals R, S, T and terminals R4, S4, T4 must be matched.

• Use sink logic (factory setting) when the FR-HC is connected. The FR-HC cannot be connected when source logic is selected.

• Do not remove a jumper across terminal P and P1 except when connecting a DC reactor.

Inverter

RES

X10 *3

X11 *3

Connection of stand-alone option units

1.3.5 Connection of the power regeneration common converter (FR-CV)

When connecting the FR-CV type power regeneration common converter, connect the inverter terminals (P, N) and FR-CV type power regeneration common converter terminals as shown below so that their symbols match with each other. After making sure that the wiring is correct, set "2" in Pr. 30 "regenerative function selection". Use the FR-CV with capacity one rank greater than the inverter.

Three-phase

C power

supply

R S

Dedicated stand-alone

MCCB

*1 Remove the jumpers across terminals R-R1 and S-S1 of the inverter, and connect the control circuit power supply across

terminals R1-S1. Always keep the power input terminals R, S, T open. Incorrect connection will damage the inverter. (E.OPT (option alarm) will occur. (Refer to the Instruction Manual (basic).))

*2 Do not insert an MCCB between the terminals P − N (between P/L+ − P, between N/L- − N). Connect the inverter terminals

(P, N) and power regeneration common converter (FR-CV) terminals so that their terminal signals match with each other. (Incorrect connection will damage the inverter.).

*3 Assign the terminal for X10 signal using any of Pr. 180 to Pr. 183. Pr.187 (input terminal function selection).

(Refer to page 150)

*4 Be sure to connect the power supply and terminals R/L11, S/L21, T/MC1.

Operating the inverter without connecting them will damage the power regeneration common converter.

reactor (FR-CVL)

R/L S/L T/L

R2/L

S2/L

T2/L

FR-CV power regeneration common converter

R2/L S2/L T2/L

R/L

S/L T/MC1

P/L+

N/L-

P24

RDYA

RDYB

RSO

X10 *3

RES

Inverter

CAUTION

1. The voltage phases of terminals R/L11, S/L21, T/MC1 and terminals R2/L1, S2/L2, T2/L3 must be

matched.

2. Use sink logic (factory setting) when the FR-CV is connected. The FR-CV cannot be connected when

source logic is selected.

3. Do not remove a jumper across terminal P and P1 except when connecting a DC reactor.

1.3.6 Connection of the DC reactor (FR-HEL/BEL)

When using the FR-HEL/BEL DC reactor, connect it between terminals P1-P. In this case, the jumper connected across terminals P1-P must be removed. Otherwise, the reactor will not exhibit its function.

FR-HEL/BEL

Remove the jumper.

CAUTION

1. The wiring distance should be within 5m.

2. The size of the cables used should be equal to or larger than that of the power supply cables (R, S, T).

WIRING

Control circuit terminal specifications

1.4 Control circuit terminal specifications

Type

Input signals

Terminal

Symbol

STF

STR

DI1 to DI4

Contact input

RES Reset

10E

Speed setting

Terminal Name Description Rated Specifications

Forward rotation start

Reverse rotation start

Digital input terminals 1 to 4

Thermal relay protector input

Contact input common (sink)

24VDC power supply and external transistor common, contact input common (source)

Speed setting power supply

Speed setting (voltage)

Torque setting terminal

Multi-function setting terminal

Speed setting common, Analog signal output common

Turn on the STF signal to start forward rotation and turn it off to stop.

Turn on the STR signal to start reverse rotation and turn it off to stop. The function of the terminals changes according to the output terminal function selection (Pr. 187). Refer to page 150 for details.

The function of the terminals changes according to the output terminal function selection (Pr. 180 to Pr. 183). Refer to page 150 for details.

Temperature sensor terminal input for motor overheat protection. OHT error occurs when terminals OH and SD are open.

Used to reset alarm output provided when protective circuit is activated. Turn on the RES signal for more than

0.1s, then turn it off. Recover about 1s after reset is cancelled.

Contact input common terminal. Common output terminal for 24VDC 0.1A power supply (PC terminal). Isolated from terminals 5 and SE.

When connecting a transistor output (open collector output) such as a programmable controller, connect the external power supply common for transistor output to this terminal to prevent a malfunction caused by a sneak current. PC-SD can be used as a 24VDC and 0.1A power supply. Note that a sneak current may not be prevented in this case. When source logic has been selected, this terminal serves as a contact input common.

Used as power supply when connecting volume for speed setting (torque setting) from outside of the inverter. (terminal 5 is a common terminal)

By entering 0 to 10VDC, the maximum output speed is reached at 10V and I/O are proportional.

Acts as a torque setting signal for torque control or as a torque limit signal for speed control or position control. Acts as an input terminal for the external analog-based torque bias function. 0 to ±10VDC input

Since this is a multi-function selection terminal, its function varies with the Pr.868 "terminal 1 function assignment" setting. Refer to page 183 for details. 0 to ±10VDC input

Common terminal for speed setting signal (terminal 2, 1 or 3) or DA1 and DA2. Isolated from terminals SD and SE. Do not earth (ground).

When the STF and STR signals are turned on simultaneously, the stop command is given.

Input resistance 4.7kΩ Voltage at opening 21 to 27VDC Current at short-circuited 4 to 6mADC Control by open collector output or 0V contact signal

Input resistance 150kΩ Voltage at opening 21 to 27VDC Current at short-circuited 140 to 180mADC Isolate by photocoupler

Input resistance 4.7kΩ Voltage at opening 21 to 27VDC Current at short-circuited 4 to 6mADC Control by open collector output or 0V contact signal.

—

Voltage range 18 to 26 VDC Permissible load current

0.1A

10VDC±0.4V Permissible load current 10mA

Input resistance 10kΩ±1kΩ Permissible maximum voltage 20VDC

—

Control circuit terminal specifications

Type

Input signals

Output signals

Communication

Terminal

Symbol

PAR

PBR

Encoder signal

PZR

A, B, C Alarm output

Contact

DO1 to DO3

Open

collector

DA1, DA2

Analog

— PU connector

RS-485

Terminal Name Description Rated Specifications

A-phase signal input terminal

A-phase inverted signal input terminal

B-phase signal input terminal

B-phase inverted signal input terminal

Z-phase signal input terminal

Z-phase inverted signal input terminal

Encoder power supply terminal (Positive side)

Contact input common (sink), Power supply earth (ground) terminal

Digital output terminals 1 to 3

Open collector output common

Analog signal output

Analog signal output common

* Not output during inverter reset.

Differential line receiver input (AM26LS32 equivalent) or complimentary input

Differential line receiver input (AM26LS32 equivalent)

A-, B- and Z-phase signals are input from the encoder. The jumper connector is factory-set to complimentary. Thus, the encoder need not be connected to PAR, PBR and PZR.

Power supply for encoder. You can switch the power supply between 5 (5.5), 12 and 24VDC. Can be switched to the external power supply.

( Refer to the instruction manual (basic) for the switchover method.)

Common terminal for contact input or encoder power supply. Isolated from terminals 5 and SE. Do not earth (ground).

1 changeover contact output indicating that the output has been stopped by the inverter protective function. 230VAC 0.3A, 30VDC 0.3A. Alarm: discontinuity across B-C (continuity across A-C), normal: continuity across B-C (discontinuity across A-C). The terminal function varies with the output terminal function selection (Pr. 195) setting. Refer to page 152 for details.

The terminal functions vary with the output terminal function selection (Pr. 190 to Pr. 192) settings. Refer to page 152 for details.

Common terminal for terminals DO1, DO2 and DO3. Isolated from terminals SD and 5.

One selected from monitoring items, such as the speed, is output.

The output signal is proportional to the magnitude of the corresponding monitoring item.

Common terminal for DA1 and DA2. Isolated from terminals SD and SE. Do not earth (ground).

With the PU connector, communication can be made through RS-485.

• Conforming standard : EIA-485 (RS-485)

• Transmission format : Multidrop link

• Communication speed : Maximum. 19200bps

• Overall length : 500m

Differential line receiver input (AM26LS32 equivalent) or complimentary input

Differential line receiver input (AM26LS32 equivalent)

Differential line receiver input (AM26LS32 equivalent) or complimentary input

Differential line receiver input (AM26LS32 equivalent)

5.5VDC 350mA 12VDC 150mA 24VDC 80mA

Power supply common

Contact output Permissible contact 230VAC 0.3A 30VDC 0.3A

Open collector output Permissible load 24VDC

0.1A

—

0 to ±10VDC (DA1), 0 to 10VDC (DA2), Permissible load current 1mA Resolution 12 bit load impedance 10kΩ or more

WIRING

Control circuit terminal specifications

1.4.1 Connecting the control circuit to a power supply separately from the main circuit

If the magnetic contactor (MC) in the inverter power supply is opened when the protective circuit is operated, the inverter control circuit power is lost and the alarm output signal cannot be kept on. To keep the alarm signal on terminals R1 and S1 are available. In this case, connect the power supply terminals R1 and S1 of the control circuit to the primary side of the MC.

• Model FR-V520-1.5K, 2.2K, FR-V540-1.5K, 2.2K <Connection procedure>

Terminal block for main circuit

1) Loosen the upper screws

2) Remove the lower screws.

3) Remove the jumpers.

4) Connect the separate power supply cables for control circuit to the lower terminals (R1, S1). (Note 4)

• Model FR-V520-3.7K to 55K, FR-V540-3.7K to 55K <Connection procedure>

Power supply terminal block for control circuit

RST

Main power supply

CAUTION

1. When the main circuit power (R, S, T) is on, do not switch off the control power (terminals R1, S1).

Otherwise the inverter may be damaged.

2. When using a separate power supply, the jumpers across R-R1 and S-S1 must be removed. Otherwise

the inverter may be damaged.

3. For a different power supply system, which takes the power of the control circuit from other than the

primary side of the MC, the voltage should be equal to the main circuit voltage.

4. For the FR-V520-3.7K to 55K, FR-V540-3.7K to 55K, the power supply cables must not be connected

to the lower terminals. If connected, the inverter may be damaged.

5. Supplying power to only the R1 and S1 terminals and entering the start signal will result in an error

indication (E.OC1).

Power supply terminal block for control circuit

1) Loosen the upper screws.

2) Remove the lower screws.

3) Pull out and remove the jumper.

4) Connect the separate power supply cables for control circuit to the upper terminals (R1, S1). (Note 4)

Precautions for use of the vector inverter

1.5 Precautions for use of the vector inverter

The FR-V500 series is a highly reliable product, but incorrect peripheral circuit making or operation/handling method may shorten the product life or damage the product. Before starting operation, always recheck the following items. (1) Use insulation-sleeved crimping terminals for the power supply and motor cables. (2) The inverter will be damaged if power is applied to the inverter output terminals (U, V, W). (3) After wiring, wire offcuts must not be left in the inverter.

Wire offcuts can cause an alarm, fault or malfunction. Always keep the inverter clean. When drilling mounting holes in an enclosure etc., take care not to allow chips and other foreign matter to enter the inverter.

(4) Wire the cables of the recommended size to make a voltage drop 2% or less.

If the wiring distance is long between the inverter and motor, a main circuit cable voltage drop will cause the motor torque to decrease especially at the output of a high frequency.

Refer to Instruction Manual (basic) for the recommended wire sizes.

(5) The overall wiring length should be 100m maximum.

Especially for long distance wiring, the fast response current limit function may be reduced or the equipment connected to the secondary side may malfunction or become faulty under the influence of a charging current due to the stray capacity of the wiring. Therefore, note the overall wiring length.

(6) Electromagnetic wave interference

The input/output (main circuit) of the inverter includes high frequency components, which may interfere with the communication devices (such as AM radios) used near the inverter. In this case, install the optional FR-BIF radio noise filter (for use on the input side only) or FR-BSF01 or FR-BLF line noise filter to minimize interference.

(7) Do not install a power factor correction capacitor, surge suppressor or radio noise filter (FR-BIF option) on the

output side of the inverter. This will cause the inverter to trip or the capacitor and surge suppressor to be damaged. If any of the above devices is installed, immediately remove it. (When the FR-BIF radio noise filter is connected, switching power off during motor operation may result in E. UVT. In this case, connect the radio noise filter in the primary side of the magnetic contactor.)

(8) Before starting wiring or other work after the inverter is operated, 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.

(9) A short circuit or earth (ground) fault in the inverter output side may damage the inverter modules.

• Fully check the insulation resistance of the circuit prior to inverter operation since repeated short circuits caused by peripheral circuit inadequacy or an earth (ground) fault caused by wiring inadequacy or reduced motor insulation resistance may damage the inverter modules.

• Fully check the to-earth (ground) insulation and inter-phase insulation of the inverter secondary side before power on. Especially for an old motor or use in hostile atmosphere, securely check the motor insulation resistance etc.

(10) Do not use the inverter power supply side magnetic contactor to start/stop the inverter.

Always use the start signal (turn on/off terminals STF, STR-SD) to start/stop the inverter. (Refer to page 14.)

(11) Across the P and PR terminals, connect only an external regenerative brake discharge resistor.

Do not connect a mechanical brake.

(12) Do not apply a voltage higher than the permissible voltage to the inverter I/O signal circuits.

Application of a voltage higher than the permissible voltage to the inverter I/O signal circuits or opposite polarity may damage the I/O devices. Especially check the wiring to prevent the speed setting potentiometer from being connected incorrectly to short terminals 10E-5.

(13) Use of single-phase power supply

Do not use single-phase power input.

(14) Precautions for use of any motor other than the vector control dedicated motor (SF-V5RU, SF-VR) and

standard motor with encoder (SF-JR) a)Vector control cannot be exercised without encoder. b)Connect the encoder to the backlash-free motor shaft.

(15) Since the rated voltage differs from the commercial power supply voltage, the Mitsubishi dedicated motor

cannot perform bypass operation.

SF-V5RU

SF-V5RUH

z Capacity (VA) of separate power supply

The capacity is 60VA or more for 15kW or less and 80VA for 18.5kW to 55kW when separate power is supplied from R1, S1.

3.7kW or less 170V

5.5kW or more 160V

3.7kW or less 340V

5.5kW or more 320V

WIRING

Others

1.6 Others

1.6.1 Leakage currents and countermeasures

Leakage currents flow through static capacitances existing in the inverter I/O wiring and motor. Since their values depend on the static capacitances, carrier frequency, etc., take the following measures.

(1) To-earth (ground) leakage currents

Leakage currents may flow not only into the inverter's own line but also into the other lines through the earth (ground) cable, etc. These leakage currents may operate earth (ground) leakage breakers and earth (ground) leakage relays unnecessarily.

z Countermeasures

• When the carrier frequency setting is high, decrease the carrier frequency (Pr. 72) of the inverter. Note that motor noise increases. Selection of Soft-PWM (Pr. 240) will make it unoffending.

• By using earth (ground) leakage circuit breakers designed for harmonic and surge suppression in the inverter's own line and other line, operation can be performed with the carrier frequency kept high (with low noise).

(2) Line-to-line leakage currents

Harmonics of leakage currents flowing in static capacitances between the inverter output cables may operate the external thermal relay unnecessarily. When the wiring length is long (50m or more) for the 400V class smallcapacity model (7.5kW or less), the external thermal relay is likely to operate unnecessarily because the ratio of the leakage current to the rated motor current increases.

z Line-to-line leakage current data example (200V class)

Motor Capacity

(kW)

1.5 9.0 370 560

2.2 13.0 400 590

Rated Motor

Current(A)

Wiring length 50m Wiring length100m

Leakage Current (mA)

• Motor SF-V5RU 4P

• Carrier frequency: 13.5KHz

• Cable :2mm

• Cab tyre cable

4-core

*The leakage currents of the 400V class are about twice larger.

Power supply

MCCB

Inverter

Line-to-Line Leakage Current Path

Thermal relay

Line static capacitances

Motor

z Measures

• Use the electronic thermal relay function (Pr. 9) of the inverter.

• Decrease the carrier frequency. Note that motor noise increases. Selection of Soft-PWM (Pr. 240) will make it

unoffending. For other than the dedicated motor (SF-V5RU), using a temperature sensor to directly detect the motor temperature is recommended to ensure that the motor is protected against line-to-line leakage currents.

z Installation and selection of moulded case circuit breaker

Install a moulded case circuit breaker (MCCB) on the power receiving side to protect the wiring of the inverter primary side. Select the MCCB according to the power supply side power factor (which depends on the power supply voltage, output frequency and load). Especially for a completely electromagnetic MCCB, one of a slightly large capacity must be selected since its operation characteristic varies with harmonic currents. (Check it in the data of the corresponding breaker.) As an earth (ground) leakage breaker, use the Mitsubishi earth (ground) leakage breaker designed for harmonics and surges.

Others

(3) Selection of rated sensitivity current of earth (ground) leakage breaker

When using the earth (ground) leakage breaker with the inverter circuit, select its rated sensitivity current as follows, independently of the PWM carrier frequency.

• Breaker designed for harmonic and surge Rated sensitivity current IΔn ≥10

× (Ig1 + lgn + Ig2 + Igm)

• Standard breaker Rated sensitivity current IΔn ≥10 × {Ig1 + Ign + 3 × (Ig2 + Igm)} Ig1, Ig2: Leakage currents of cable path during commercial power supply operation Ign *: Leakage current of noise filter on

inverter input side

Igm: Leakage current of motor during

commercial power supply operation

Leakage Current Example of Cable Path per 1km during Commercial Power Supply Operation When CV Cable Is Routed in Metal Conduit (200V 60Hz)

120

100

Leakage current (mA)

23.5

8142230386080

5.5

Cable size (mm

150

100

) Motor capacity (kW)

Leakage Current Example of three-Phase Induction Motor during Commercial Power Supply Operation (200V 60Hz)

2.0

1.0

0.7

0.5

0.3

0.2

Leakage current (mA)

0.1

1.5 3.7

7.5 152211373055

2.2

5.5 18.5

2mm

Noise filter

Inverter

Ig1 Ign Ig2 Igm

2mm

70m

200V1.5kW

CAUTION

• Install the NV on the primary (power supply) side of the inverter.

• In the connection neutral point earthing (grounding) system, the sensitivity current is purified against an earth (ground) fault in the inverter secondary side. Earthing (Grounding) must conform to the requirements of national and local safety regulations and electrical codes. (NEC section 250, IEC 536 class 1 and other applicable standards)

• When the breaker is installed on the secondary side of the inverter, it may be unnecessarily operated by harmonics even if the effective value is less than the rating. In this case, do not install the breaker since the eddy current and hysteresis loss will increase, leading to temperature rise.

• The following models are standard breakers:

BV-C1, BC-V, NVB, NV-L, NV-G2N, NV-G3NA, and NV-2F type leakage current relays (except for NVZHA), NV with AA neutral wire open phase protection

The following models are breakers for harmonic and surge suppression:

NV-C/NV-S/MN series, NV30-FA, NV50-FA, BV-C2, leakage current alarm breaker (NF-Z), NV-ZHA, NV-H

* Note the leakage current value of the noise filter installed on the inverter input side.

Breaker Designed for Harmonic and

Surge

Leakage current Ig1 (mA) 20 ×

1000m

Leakage current Ign (mA) 0 (without noise filter)

Leakage current Ig2 (mA) 20 ×

Motor leakage current Igm

(mA)

70m

1000m

0.14

Total leakage current (mA) 1.66 4.78

Rated sensitivity current

(mA)

( ≥Ig × 10)

30 100

Standard Breaker

= 0.10

= 1.40

WIRING

Others

1.6.2 Power off and magnetic contactor (MC)

(1) Inverter primary side magnetic contactor (MC)

On the inverter primary side, it is recommended to provide an MC for the following purposes.

( Refer to the Instruction Manual (basic) for selection.)

1) To release the inverter from the power supply when the inverter protective function is activated or the drive becomes faulty (e.g. emergency stop operation) When cycle operation or heavy-duty operation is performed with an optional brake resistor connected, overheat and burnout of the discharging resistor can be prevented if a regenerative brake transistor is damaged due to insufficient heat capacity of the discharging resistor and excess regenerative brake duty.

2) To prevent any accident due to an automatic restart at restoration of power after an inverter stop made by a power failure

3) To rest the inverter for an extended period of time The control power supply for inverter is always running and consumes a little power. When stopping the inverter for an extended period of time, powering off the inverter will save power slightly.

4) To separate the inverter from the power supply to ensure safe maintenance and inspection work Since the MC on the inverter input side is used for the above purposes, they correspond to the standard duties. Therefore, when making an emergency stop during running, select a JEM1038 class AC3 MC for the inverter input side currents.

REMARKS

The MC may be switched on/off to start/stop the inverter. However, since repeated inrush currents at power on will shorten the life of the converter circuit (switching life is about 100,000 times), frequent starts and stops must be avoided. Turn on/off the inverter start controlling terminals (STF, STR) to run/stop the inverter.

z Inverter start/stop circuit example

As shown on the right, always use the start signal (turn on/off terminals STF, STR-SD) to start/stop the inverter. (Refer to page 26.)

Power supply

Operation ready

OFF

Start/Stop

Operation

OFF

MCCB

Inverter

To moto

STF(STR) SD

REMARKS

*1. When the power supply is 400V class, install a step-down transformer. *2. Connect the power supply terminals R1, S1 to the primary side of the MC to hold an alarm signal when the inverter's

protective circuit is activated. At this time, remove jumpers across terminals R-R1 and S-S1. (Refer to page 10 for removal of jumpers)

(2) Handling of secondary side magnetic contactor

In principle, do not provide a magnetic contactor between the inverter and motor and switch it from off to on during operation. If it is switched on during inverter operation, a large inrush current may flow, stopping the inverter due to overcurrent shut-off. When an MC is provided for switching to the commercial power supply, for example, switch it on/off after the inverter and motor have stopped.

Others

1.6.3 Installation of reactor

When the inverter is connected near a large-capacity power transformer (1000kVA or more and wiring length 10m max.) or when a power capacitor is to be switched over, an excessive peak current may flow in the power input circuit, damaging the converter circuit. To prevent this, always install the DC reactor or AC reactor (FR-HEL/BEL or FR-HAL/BAL).

Power supply

MCCB

AC reactor

(FR-HAL/BAL)

Inverter

(FR-HEL/BEL) *

DC reactor

1500

1000

Power supply

equipment capacity

(kVA)

Reactor

installation

range

Wiring length (m)

REMARKS

* When connecting the FR-HEL/BEL, remove the jumper across terminals P-P1.

The wiring length between the FR-HEL/BEL and inverter should be 5m maximum and minimized. Use the same wire size as that of the power supply wire (R, S, T). ( Refer to the Instruction Manual (basic).)

WIRING

Others

1.6.4 Notes on earthing (grounding)

z Use the dedicated earth (ground) terminal to earth (ground) the inverter. (Do not use the screw in the case,

chassis, etc.) Use a tinned crimping terminal which does not contain zinc to connect the earth (ground) cable. Tighten the screw, taking care not to break its threads.

z Use the largest possible gauge for the earth (ground) cable. The gauge should be equal to or larger than those

indicated in the following table. The earthing (grounding) point should be as near as possible to the inverter to minimize the earth (ground) cable length.

(Unit: mm

Motor Capacity

2.2kW or less 2 (2.5) 2 (2.5)

3.7kW 3.5 (4) 2 (2.5)

5.5kW, 7.5kW 5.5 (6) 3.5 (4) 11kW, 15kW 14 (16) 8 (10)

18.5kW to 37kW 22 (25) 14 (16) 45kW, 55kW 38 (35) 22 (25)

Earth (Ground) Cable Gauge

200V 400V

For use as a Low Voltage Directive-compliant product, use the PVC cables indicated in the parentheses for earthing (grounding).

z Earth (Ground) the motor on the inverter side using one wire of the 4-core cable. z Always earth (ground) the motor and inverter.

(1)Purpose of earthing (grounding)

Generally, an electrical apparatus has an earth (ground) terminal, which must be connected to the ground before use. An electrical circuit is usually insulated by an insulating material and encased. However, it is impossible to manufacture an insulating material that can shut off a leakage current completely, and actually, a slight current flow into the case. The purpose of earthing (grounding) the case of an electrical apparatus is to prevent operator from getting an electric shock from this leakage current when touching it. To avoid the influence of external noises, this earthing (grounding) is important to audio equipment, sensors, computers and other apparatuses that handle low-level signals or operate very fast.

(2)Earthing (Grounding) methods and earthing (grounding) work

As described previously, earthing (grounding) is roughly classified into an electrical shock prevention type and a noise-affected malfunction prevention type. Therefore, these two types should be discriminated clearly, and the following work must be done to prevent the leakage current having the inverter's high frequency components from entering the malfunction prevention type earthing (grounding): (a) Where possible, use independent earthing (grounding) for the inverter.

If independent earthing (grounding) (I) is impossible, use joint earthing (grounding) (II) where the inverter is connected with the other equipment at an earthing (grounding) point. Joint earthing (grounding) as in (III) must be avoided as the inverter is connected with the other equipment by a common earth (ground) cable. Also a leakage current including many high frequency components flows in the earth (ground) cables of the inverter and inverter-driven motor. Therefore, they must use the independent earthing (grounding) method and be separated from the earthing (grounding) of equipment sensitive to the aforementioned noises. In a tall building, it will be a good policy to use the noise malfunction prevention type earthing (grounding) with steel frames and carry out electric shock prevention type earthing (grounding) in the independent earthing (grounding) method.

(b) Earthing (Grounding) must conform to the requirements of national and local safety regulations and

electrical codes. (NEC section 250, IEC 536 class 1 and other applicable standards).

indicated in the above table.

(d) The earthing (grounding) point should be as near as possible to the inverter to minimize the earth (ground)

cable length.

(e) Run the earth (ground) cable as far away as possible from the I/O wiring of equipment sensitive to noises

and run them in parallel in the minimum distance.

(f) Use one wire in a 4-core cable with the earth (ground) terminal of the motor and earth (ground) it on the

inverter side.

)

Inverter

(I) Independent earthing (grounding) ... Best

Other equipment

200V class class D earthing (grounding)

400V class class C earthing (grounding)

Inverter

(II) Joint

Other equipment

200V class class D earthing (grounding)

400V class class C earthing (grounding)

earthing (grounding)

... Good

Inverter

(III) Joint earthing (grounding) ... Not allowed

Other equipment

200V class class D earthing (grounding)

400V class class C earthing (grounding)

Others

1.6.5 Inverter-generated noises and their reduction techniques

Some noises enter the inverter to malfunction it and others are radiated by the inverter to malfunction peripheral devices. Though the inverter is designed to be insusceptible to noises, it handles low-level signals, so it requires the following basic techniques. Also, since the inverter chops outputs at high carrier frequency, that could generate noises. If these noises cause peripheral devices to malfunction, measures should be taken to suppress noises. These techniques differ slightly depending on noise propagation paths.

1) Basic techniques

• Do not run the power cables (I/O cables) and signal cables of the inverter in parallel with each other and do not bundle them.

• Use twisted pair shielded cables for the detector connection and control signal cables, and connect the sheathes of the shield cables to terminal SD.

• Earth (Ground) the inverter, motor, etc. at one point.

2) Techniques to reduce noises that enter and malfunction the inverter When devices that generate many noises (which use magnetic contactors, magnetic brakes, many relays, for example) are installed near the inverter and the inverter may be malfunctioned by noises, the following measures must be taken:

•Provide surge suppressors for devices that generate many noises to suppress noises.

•Fit data line filters (page 18) to signal cables.

•Earth (Ground) the shields of the detector connection and control signal cables with cable clamp metal.

3) Techniques to reduce noises that are radiated by the inverter to malfunction peripheral devices Inverter-generated noises are largely classified into those radiated by the cables connected to the inverter and inverter main circuits (I/O), those electromagnetically and electrostatically induced to the signal cables of the peripheral devices close to the main circuit power supply, and those transmitted through the power supply cables.

Invertergenerated noise

Air-propagated

noises

Magnetic

induction noises

Static induction

noises

Cable-propagated noises

Noises directly radiated by inverter

Noises radiated by power cables

Noises radiated by motor cables

Path 4, 5

Path 6

Noises propagated through power cables

Noise from earth (Ground) cable due to leakage current

Path 1

Path 2

Path 3

Path 7

Path 8

Instrument

Receiver

Motor

Inverter

Telephone

Sensor power supply

Sensor

• By decreasing the carrier frequency, the mains terminal interface voltage* can be reduced. When motor noise does not pose a problem, set the carrier frequency to a low value using Pr. 72. (*Mains terminal interface voltage represents the magnitude of noise propagated from the inverter to the power supply side.)

• Using shield cables as signal cables, induction noise can be reduced greatly (to 1/10 - 1/100). Induction noise can also be reduced by separating the signal cables from the inverter output cables. (Separation of 30cm reduces noise to 1/2-1/3.) By fitting the FR-BSF01 or BLF on the inverter output side, induction noise to the signal cables can be reduced.

WIRING

Others

Noise Propagation

Path

1), 2), 3)

4), 5), 6)

z Data line filters

Measures

When devices that handle low-level signals and are liable to malfunction due to noises, e.g. instruments, receivers and sensors, are contained in the enclosure that contains the inverter or when their signal cables are run near the inverter, the devices may be malfunctioned by air-propagated noises. The following measures must be taken: (1) Install easily affected devices as far away as possible from the inverter. (2) Run easily affected signal cables as far away as possible from the inverter and its I/O cables. (3) Do not run the signal cables and power cables (inverter I/O cables) in parallel with each other and

do not bundle them. (4) Insert line noise filters into I/O and radio noise filters into input to suppress cable-radiated noises. (5) Use shielded cables as signal cables and power cables and run them in individual metal conduits

to produce further effects. When the signal cables are run in parallel with or bundled with the power cables, magnetic and static

induction noises may be propagated to the signal cables to malfunction the devices and the following measures must be taken: (1) Install easily affected devices as far away as possible from the inverter. (2) Run easily affected signal cables as far away as possible from the I/O cables of the inverter. (3) Do not run the signal cables and power cables (inverter I/O cables) in parallel with each other and

do not bundle them. (4) Use shielded cables as signal cables and power cables and run them in individual metal conduits

to produce further effects. When the power supplies of the peripheral devices are connected to the power supply of the inverter in

the same line, inverter-generated noises may flow back through the power supply cables to malfunction the devices and the following measures must be taken: (1) Install the radio noise filter (FR-BIF) to the power cables (input cables) of the inverter. (2) Install the line noise filter (FR-BLF, FR-BSF01) to the power cables (I/O cables) of the inverter.

When a closed loop circuit is formed by connecting the peripheral device wiring to the inverter, leakage currents may flow through the earth (ground) cable of the inverter to malfunction the device. In such a case, disconnection of the earth (ground) cable of the device may cause the device to operate properly.

Noise entry can be prevented by providing a data line filter for the detector cable etc.

z Example of noise reduction techniques

Install filter (FR-BLF, FR-BSF01) on inverter input side.

Inverter power supply

Install FR-BIF filter on inverter input side.

Separate inverter and power line by more than 30cm (at least 10cm) from sensor circuit.

Control power supply

Do not earth (ground) control box directly.

Do not earth (ground) control cable.

Control box

FR-

BLF

FRBIF

Power supply for sensor

Reduce carrier frequency.

FR-

Inverter

BLF

Do not earth (ground) shield but connect it to common cable of signal.

Use twisted pair shield cable.

Install filter (FR-BLF, FR-BSF01) on inverter output side.

Use 4-core cable as motor power cable and use one wire as earth (ground) wire.

Sensor

Motor

Others

1.6.6 Power supply harmonics

Power supply harmonics may be generated from the converter section of the inverter, affecting the power supply equipment, power capacitors, etc. Power supply harmonics are different in generation source, frequency and transmission path from radio frequency (RF) noise and leakage currents. Take the following measures.

z The differences between harmonics and RF noises are indicated below:

Item Harmonics RF Noise

Frequency Normally 40 to 50th degrees (3kHz or less) High frequency (several 10kHz to 1GHz order)

Environment To wire paths, power impedance Across spaces, distance, laying paths

Quantitative understanding Logical computation is possible

Generated amount

Immunity of affected device Specified in standards for each device. Differs according to maker's device specifications.

Examples of safeguard Install a reactor. Increase the distance.

Approximately proportional to load capacity

z Safeguard

The harmonic current generated from the inverter to the power supply differs according to various conditions such as the wiring impedance, whether a reactor is used or not, and output frequency and output current on the load side.

MCCB

For the output frequency and output current, the adequate method is to obtain them under rated load at the maximum operating frequency.

Occurs randomly, quantitative understanding is difficult.

According to current fluctuation rate (larger with faster switching)

DC reactor

Inverter

Motor

AC reactor

Do not insert power factor improving capacitor.

CAUTION The power factor improving capacitor and surge suppressor on the inverter output side may be overheated or damaged by the high frequency components of the inverter output. Also, since an excessive current flows in the inverter to activate overcurrent protection, do not provide a capacitor and surge suppressor on the inverter output side when the motor is driven by the inverter. To improve the power factor, insert a reactor on the inverter's primary side or in the DC circuit.

WIRING

Others

1.6.7 Harmonic suppression guidelines

Harmonic currents flow from the inverter to a power receiving point via a power transformer. The harmonic suppression guidelines were established to protect other consumers from these outgoing harmonic currents. The three-phase 200V input specifications 3.7kW or less are previously covered by "Harmonic suppression guideline for household appliances and general-purpose products" and other models are covered by "Harmonic suppression guideline for consumers who receive high voltage or special high voltage". However, the generalpurpose inverter has been excluded from the target products covered by "Harmonic suppression guideline for household appliances and general-purpose products" in January 2004. Later, this guideline was repealed on September 6, 2004. All capacities of all models are now target products of "Harmonic suppression guideline for consumers who receive high voltage or special high voltage" (hereinafter referred to as "guideline for specific consumers").

"Guideline for specific consumers"

This guideline sets forth the maximum values of harmonic currents outgoing from a high-voltage or especially high-voltage consumer who will install, add or renew harmonic generating equipment. If any of the maximum values is exceeded, this guideline requires that consumer to take certain suppression measures.

Table 1 Maximum Values of Outgoing Harmonic Currents per 1kW Contract Power

Received

Power Voltage

5th 7th 11th 13th 17th 19th 23rd Over 23rd

6.6kV 3.5 2.5 1.6 1.3 1.0 0.9 0.76 0.70 22kV 1.8 1.3 0.82 0.69 0.53 0.47 0.39 0.36 33kV 1.2 0.86 0.55 0.46 0.35 0.32 0.26 0.24

(1) Application of the guideline for specific consumers

New installation/addition/ renewal of equipment

Calculation of equivalent capacity sum

Not more than reference capacity

Over reference capacity

Sum of equivalent capacities

Calculation of outgoing harmonic current

Is outgoing harmonic current equal to or lower than maximum value?

Not more than maximum value

Harmonic suppression technique is not required.

Over maximum value

Harmonic suppression technique is not required.

Table 2 Conversion Factors for FR-V500 Series

Class Circuit Type Conversion Factor Ki

Without reactor K31 = 3.4

Three-phase bridge (Capacitor-smoothed)

With reactor (AC side) K32 = 1.8 With reactor (DC side) K33 = 1.8 With reactors (AC, DC sides) K34 = 1.4

Self-excitation three-phase bridge

When high power factor converter is used K5 = 0

Table 3 Equivalent Capacity Limits

Received Power Voltage Reference Capacity

6.6kV 50kVA

22/33kV 300kVA

66kV or more 2000kVA

Others

Table 4 Harmonic Content (Values of the fundamental current is 100%.)

Reactor 5th 7th 11th 13th 17th 19th 23rd 25th

Not used 65 41 8.5 7.7 4.3 3.1 2.6 1.8 Used (AC side) 38 14.5 7.4 3.4 3.2 1.9 1.7 1.3 Used (DC side) 30 13 8.4 5.0 4.7 3.2 3.0 2.2 Used (AC, DC sides) 28 9.1 7.2 4.1 3.2 2.4 1.6 1.4

1) Calculation of equivalent capacity P0 of harmonic generating equipment The "equivalent capacity" is the capacity of a 6-pulse converter converted from the capacity of consumer's harmonic generating equipment and is calculated with the following equation. If the sum of equivalent capacities is higher than the limit in Table 3, harmonics must be calculated with the following procedure:

P0 = Σ Ki × Pi [kVA] Ki : Conversion factor (refer to Table 2) Pi : Rated capacity of harmonic generating

equipment* [kVA]

i : Number indicating the conversion circuit type

* Rated capacity: Determined by the capacity of the applied

motor and found in Table 5. It should be noted that the rated capacity used here is used to calculate generated harmonic amount and is different from the power supply capacity required for actual inverter drive.

2) Calculation of outgoing harmonic current Outgoing harmonic current = fundamental wave current (value converted from received power voltage)

× operation ratio × harmonic content

• Operation ratio: Operation ratio = actual load factor × operation time ratio during 30 minutes

• Harmonic contents: Found in Table 4

Table 5 Rated Capacities and Outgoing Harmonic Currents for Inverter Drive

Rated Current

Applied

Motor

1.5 5.50 2.75 167 1.95 108.6 68.47 14.20 12.86 7.181 5.177 4.342 3.006

2.2 7.93 3.96 240 2.81 156.0 98.40 20.40 18.48 10.32 7.440 6.240 4.320

3.7 13.0 6.50 394 4.61 257.1 161.5 33.49 30.34 16.94 12.21 10.24 7.092

5.5 19.1 9.55 579 6.77 376.1 237.4 49.22 44.58 24.90 17.95 15.05 10.42

7.5 25.6 12.8 776 9.07 504.4 318.2 65.96 59.75 33.37 24.06 20.18 13.97 11 36.9 18.5 1121 13.1 728.7 459.6 95.29 86.32 48.20 34.75 29.15 20.18 15 49.8 24.9 1509 17.6 980.9 618.7 128.3 116.2 64.89 46.78 39.24 27.16

18.5 61.4 30.7 1860 21.8 1209 762.6 158.1 143.2 79.98 57.66 48.36 33.48 22 73.1 36.6 2220 25.9 1443 910.2 188.7 170.9 95.46 68.82 57.72 39.96 30 98.0 49.0 2970 34.7 1931 1218 252.5 228.7 127.7 92.07 77.22 53.46 37 121 60.4 3660 42.8 2379 1501 311.1 281.8 157.4 113.5 95.16 65.88 45 147 73.5 4450 52.1 2893 1825 378.3 342.7 191.4 138.0 115.7 80.10 55 180 89.9 5450 63.7 3543 2235 463.3 419.7 234.4 169.0 141.7 98.10

[A]

200V 400V 5th 7th 11th 13th 17th 19th 23rd 25th

Fundamen

tal Wave

Current

Converted

from 6.6kV

(mA)

Rated

Capacity

(kVA)

Outgoing Harmonic Current Converted from 6.6kV (mA)

(No reactor, 100% operation ratio)

3) Harmonic suppression technique requirement If the outgoing harmonic current is higher than the maximum value per 1kW contract power × contract power, a harmonic suppression technique is required.

WIRING

Others

4) Harmonic suppression techniques

No. Item Description

Reactor installation

(ACL, DCL) High power factor

converter (FR-HC)

Installation of power

factor improving capacitor

Transformer multi-phase

operation

Passive filter

(AC filter)

6Active filter

Install a reactor (ACL) on the AC side of the inverter or a reactor (DCL) on its DC side or both to suppress outgoing harmonic currents.

The converter circuit is switched on-off to convert an input current waveform into a sine wave, suppressing harmonic currents substantially. The high power factor converter (FRHC) is used with the standard accessory.

When used with a series reactor, the power factor improving capacitor has an effect of absorbing harmonic currents.

Use two transformers with a phase angle difference of 30° as in -delta, delta-delta combination to provide an effect corresponding to 12 pulses, reducing low-degree harmonic currents.

A capacitor and a reactor are used together to reduce impedance at specific frequencies, producing a great effect of absorbing harmonic currents.

This filter detects the current of a circuit generating a harmonic current and generates a harmonic current equivalent to a difference between that current and a fundamental wave current to suppress a harmonic current at a detection point, providing a great effect of absorbing harmonic currents.

1.6.8 Inverter-driven 400V class motor

In the PWM type inverter, a surge voltage attributable to wiring constants is generated at the motor terminals. Especially for a 400V class motor, the surge voltage may deteriorate the insulation. When the 400V class motor is driven by the inverter, consider the following measures:

z Measures

It is recommended to take either of the following measures.

(1) Rectifying the motor insulation

For the 400V class motor, use an insulation-enhanced motor. Specifically,

1) Specify the "400V class inverter-driven, insulation-enhanced motor".

2) For the dedicated motor such as the constant-torque motor or low-vibration motor, use the "inverter-driven,

dedicated motor".

CAUTION

• If the wiring length between the motor and inverter is 40m or longer, set Pr. 240 to long wiring mode in

addition to the above countermeasures to operate the inverter. (Refer to page 112 for Pr. 240 "Soft- PWM selection".)

Others

1.6.9 Using the PU connector for computer link

(1) When connecting the control panel or parameter unit using a connection cable

Refer to the Instruction Manual (basic).

(2) For RS-485 communication

The PU connector can be used to perform communication operation from a personal computer etc. When the PU connector is connected with a personal, FA or other computer by a communication cable, a user program can run and monitor the inverter or read and write to parameters.

Viewed from the inverter (receptacle side) front

1) SG

2) P5S

3) RDA

4) SDB

5) SDA

6) RDB

7) SG

8) P5S

CAUTION

1. Do not connect the PU connector to the computer's LAN board, FAX modem socket or telephone modular connector. Otherwise, the product may be damaged due to electrical specification differences.

2. Pins No. 2 and 8 (P5S) provide power to the control panel or parameter unit. Do not use these pins for RS-485 communication.

(1) Connection of a computer to the inverter (1:1 connection)

Station 0

Inverter

RS-485

connector

RJ-45 connector 2)

RS-485 Interfase terminal

Computer

Station 0

Inverter

RS-485

connector

10BASE-T cable 1)

RJ-45 connector 2)

RS-232C cable

Computer

RS-232C

connector

Maximum 15m

RS-232C RS-485

converter

10BASE-T cable 1)

zComputer - inverter connection cable

For a connection cable between the computer having RS-232C and the inverter (RS-232C⇔RS-485 converter), refer to the table below. Examples of commercially available products (as of September, '06)

Typ e Ma ker

FA-T-RS40 type* Mitsubishi Electric Engineering Co., Ltd

* The converter cable cannot connect two or more inverters (the computer and inverter are connected on a 1:1

basis). Since the product is packed with the RS-232C cable and RS-485 cable (10BASE-T + RJ-45 connector), the cable and connector need not be prepared separately. Contact a maker for details of the product.

REMARKS

When fabricating the cable on the user side, see below. Examples of commercially available products (as of September, '06)

Product Type Maker

1) 10BASE-T cable

2) RJ-45 connector 5-554720-3 Tyco Electronics Corporation

SGLPEV-T 0.5mm

* Do not use No. 2 and No. 8 pin (P5S).

× 4P

Mitsubishi Cable Industries, Ltd.

WIRING

Others

(2) Connection of a computer to multiple inverters (1:n connection)

RS-485

Computer

Station 1

Inverter

RS-485

connector

Station 2

Inverter

RS-485

connector

Station n (up to 32)

Inverter

RS-485

connector

interface terminal

RS-232C cable

Computer

RS-232C connector

Converter

Distributor

10BASE-T cable 1)

Maximum

15m

Station 1

Inverter

RS-485

connector

Distributor

RJ-45 connector

Station 2

Inverter

RS-485

connector

Terminating resistor

Station n

Inverter

RS-485

connector

Terminating resistor

10BASE-T cable

RJ-45 connector 2)

REMARKS

When fabricating the cable on the user side, see below. Examples of commercially available products (as of September, '06)

Product Type Maker

1) 10BASE-T cable SGLPEV-T 0.5mm × 4P * Mitsubishi Cable Industries, Ltd.

2) RJ-45 connector 5-554720-3 Tyco Electronics Corporation

* Do not use No. 2 and No. 8 pin (P5S) of the 10 BASE-T cable.

1) Wiring of one RS-485 computer and one inverter

Others

Computer Side Terminals

Signal name

RDA

RDB

SDA

SDB

RSA

RSB

CSA

CSB

Request to send

Clear to send

Signal ground

Frame ground

Description

Receive data

Send data

Cable connection and signal direction

10 BASE-T cable

(Caution 1)

0.2mm or more

Inverter

PU connector

SDA

SDB

RDA

RDB

2) Wiring of one RS-485 computer and "n" (multiple) inverters

Computer

RDA

RDB

SDA

SDB

RSA

RSB

CSA

CSB

(Caution 1)

Cable connection and signal direction

10 BASE-T cable

RDB

RDA

SDB

SDA

Station 1

Inverter

RDB

Station 2

Inverter

RDA

SDB

SDA

RDB

RDA

Station n

Inverter

SDB

Terminating resistor (Caution 2)

SDA

CAUTION

1. Make connections in accordance with the manual of the computer used. Fully check the terminal numbers of the computer since they vary with the model.

2. There may be the influence of reflection depending on the transmission speed and/or transmission distance. If this reflection hinders communication, provide a terminating resistor. If the PU connector is used to make a connection, use a distributor since a terminating resistor cannot be fitted. Connect the terminating resistor to only the inverter remotest from the computer. (terminating resistor: 100Ω)

WIRING

Input terminals

1.7 Input terminals

1.7.1 Run (start) and stop (STF, STR, STOP)

To start and stop the motor, first switch on the input power of the inverter (when there is a magnetic contactor on the input side, use the operation-ready switch to turn on the magnetic contactor), then start the motor with the forward or reverse rotation start signal.

(1) Two-wire type (STF, STR)

A two-wire type connection is shown on the right.

1) The forward/reverse rotation signal is used as both the start and stop signals. Turn on either of the forward and reverse rotation signals to start the motor in the corresponding direction. Turn on both or turn off the start signal during operation to decelerate the inverter to a stop.

2) The speed setting signal may either be given by entering 0 to 10VDC across the speed setting input terminal 2-5 or by setting the required values in Pr. 4 to Pr. 6 "three-speed setting" (high, middle, low speeds). (Refer to page 77 for three-speed operation.)

(2) Three-wire type (STF, STR, STOP)

A three-wire type connection is shown on the right. Assign the start self-holding signal (STOP) to any of the input terminals.

1) Short signals STOP-SD to enable the start self-holding function. In this case, the forward/reverse rotation signal functions only as a start signal.

REMARKS

Assign the STOP signal to any of Pr. 180 to Pr. 183 and Pr. 187 (input terminal function selection).

2) If the start signal terminals STF (STR)-SD are once shorted, then opened, the start signal is kept on and starts the inverter. To change the rotation direction, short the start signal STR (STF)-SD once, then open it.

3) The inverter is decelerated to a stop by opening terminals STOP-SD once. The three-wire connection is shown on the right.

4) When terminals JOG-SD are shorted, the STOP signal is invalid and jog signal has precedence.

5) If the output stop terminals MRS-SD are shorted, the self-holding function is not deactivated.

Power supply

MCCB

Forward rotation start

Reverse rotation start

Output speed

Across STF-SD (STR)

R, S, T

Inverter

STF

STR (Pr.187 = "9999")

Two-Wire Type Connection Example

Power supply

MCCB

Stop

Output speed

Start

Stop

Forward rotation start

Reverse rotation start

R, S, T

Inverter

STF

STR (Pr.187 = "9999")

STOP

Three-Wire Type Connection Example

Time

(Set "25" in any of Pr. 180 to Pr. 183)

Time

Input terminals

1.7.2 External thermal relay input (OH)

When the external thermal relay or the built-in thermal relay of the motor (thermal

U V

Thermal relay

Motor

relay protector) is actuated to protect the motor from overheat, the inverter output can be shut off and the corresponding alarm signal can be provided to hold a stop status. Even if the thermal relay contact resets, the motor cannot be restarted unless the reset terminal RES-SD are shorted for more than 0.1s and then opened or a power-on reset is made.

Inverter

OH SD

Therefore, this function can be used as an externals emergency stop signal input.

1.7.3 Speed setting potentiometer connection (10E, 2 (1), 5)

As an analog speed setting input signal, a voltage signal can be input. The relationships between the speed setting input voltages and output speeds are as shown below. The speed setting input signals are proportional to the output speeds. Note that when the input signal is less than the starting speed, the output speed of the inverter is 0r/min. If the input signal of 10VDC or higher is entered, it cannot exceed Pr. 1 "maximum speed".

Speed setting terminal 2 gain speed

(Terminal 1 gain)

(30r/min to 3600r/min)

Maximum speed

(0 to 3600r/min)

Minimum speed (0 to 3600r/min)

Starting speed

(0 to 1500r/min)

Output speeds (r/min)

Input voltage is proportional to output speed.

1 0

Speed setting signals

10V

Pr.13

Pr.73

Pr.2

Pr.1

Pr.903 Pr.918

Relationships between Speed Setting Inputs and Output Speeds

Related parameters

Maximum speed setting Pr. 1 "maximum speed" (Refer to page 76.)

(1) Voltage input (10E, 2, 5)

Enter the speed setting input signal of 0 to 10VDC across the speed setting input terminals 2-5. The maximum output speed is reached when 10V is input across terminals 2-5. The power supply used may either be the inverter's built-in power supply or an external power supply. For the builtin power supply, terminals 10E-5 provide 10VDC output.

• Use terminal 10E for the built-in power supply.

+10V

0 to 10VDC

10E

(2) Multi-function input (1, 5)

The analog input function can be multi-functioned, e.g. compensation signal may be entered across the main speed setting terminals 2-5 for synchronous operation. Across auxiliary input terminals 1-5 ... 0 to ±10VDC The function of terminal 1 depends on the setting of Pr. 868 "terminal 1 function assignment". Refer to page 183 for details of Pr. 868.

WIRING

Input terminals

1.7.4 Torque setting input signal and motor-generated torque (terminals 3, 5)

Refer to the diagrams shown at below right for the relationship between the torque setting input signal and output voltage. The torque setting input signal is in proportion to the output torque. However, motor-generated torque varies with the motor temperature. The guideline of the output torque accuracy relative to the torque setting input is torque accuracy ±3% (under condition of 75°C) when the SF-V5RU vector control inverter motor is used.

0 to ±10VDC

Common(-)

Analog Input Block Diagram

Gain Pr. 905

Bias

Pr.904

-10V

Output torque

(Torque command)

150%

Bias

Pr.904

-150%

Torque Setting Input vs. Output Torque

Gain

Pr.905

10V

Terminal 3

1.7.5 Meter connection method and adjustment (DA1, DA2)

The output speed etc. of the inverter can be displayed by connecting a meter (speed meter) across terminals DA1 (DA2)-5. The meter can be calibrated from the control panel or parameter unit. However, if the meter is away from the inverter, the display value will vary with the wiring distance. The terminals DA1, DA2 are non-isolated from the control circuit of the inverter. Using a shield cable of within 30m for wiring.

Load impedance

or more

10k

(+)

Meter (Speed meter)

(-)

Inverter

DA1

0 to ±10VDC

Zero-center

Load impedance 10k

(+)

Meter (Speed meter)

(-)

or more

Inverter

DA2

0 to 10VDC

Types of Connected Meters

REMARKS

Using Pr. 867 "DA1 output filter", you can function the primary delay filter. (Refer to page 183.)

CAUTION

Refer to page 188 for the meter adjustment procedure.

[Example] To provide a 10V DA1-5 (DA2-5) output of 10V at the inverter output speed of 3000r/min, set "3000" (r/

min) in Pr. 55. (factory setting : 1500r/min)

CAUTION Note that when wiring is long, a voltage type meter is susceptible to a voltage drop, induction noise, etc. and may not read correctly.

Input terminals

1.7.6 Common terminals (SD, 5, SE)

Terminals 5, SD and SE are common to the I/O signals and isolated from each other. Do not earth (ground) these terminals. Avoid connecting the terminal SD and 5 and the terminal SE and 5. Terminal SD is a common terminal for the contact input terminals (STF, STR, OH, RES, DI1, DI2, DI3 and DI4) and the encoder output signals. When using the terminal SD as a common terminal for the encoder output signals, use a shielded or twisted cable to protect it from external noise. Terminal 5 is a common terminal for the speed setting analog input signals and analog output signals. Use a shielded or twisted cable to protect it from external noise. Terminal SE is a common terminal for the open collector output terminals (DO1, DO2, DO3).

1.7.7 Signal inputs by contact-less switches

The contacted input terminals of the inverter (STF, STR, RH, RM, AU) can be controlled using a transistor instead of a contacted switch as shown on the right. Input resistance : 4.7kΩ Voltage when contacts are open : 21 to 27VDC When contacts are short-circuited : 4 to 6mADC

External Signal Input by Transistor

REMARKS

• When using an external transistor connected to the external power supply, use terminal PC to prevent a

malfunction due to a sneak current.

( Refer to the Instruction Manual (basic) for details.)

• Note that when off, an SSR (solid-state relay) has a relatively large leakage current and it may be accidentally

input to the inverter.

STF etc.

Inverter

+24V

WIRING

How to use the input signals

(assigned terminals DI1 to DI4, STR)

1.8 How to use the input signals (assigned terminals DI1 to DI4, STR) (Pr. 180 to Pr. 183, Pr. 187)

These terminals vary in functions with the settings of Pr. 180 to Pr. 183 and Pr. 187.

Parameter

Pr. 180 "DI1 terminal function selection" 0 RL Pr. 181 "DI2 terminal function selection" 1 RM Pr. 182 "DI3 terminal function selection" 2 RH Pr. 183 "DI4 terminal function selection" 3 RT Pr. 187 "STR terminal function selection" 9999 STR

Factory-Set

Value

Factory-Set

Signal

Setting Range

0 to 3, 5, 8 to 16, 20, 22 to 28, 42 to 44, 9999 (9999 is valid for Pr. 187 only)

Page 150

The priorities of the speed commands are in order of jog, multi-speed setting (RH, RM, RL, REX) and PID (X14).

1.8.1 Multi-speed setting (RL, RM, RH, REX signals): Pr. 180 to Pr. 183, Pr. 187 setting

"0, 1, 2, 8" Remote setting (RL, RM, RH signals): Pr. 180 to Pr. 183, Pr. 187 setting "0, 1, 2"

• When Pr. 59 = 0, turning on/off the RL, RM, RH and REX signals input as the speed commands enables multi-

speed operation (15 speeds). (Refer to page 77 for details. Pr. 59 = 0)

• When Pr. 59 "0", you can use contact signals to perform continuous variable-speed operation without using

analog signals even if the control panel is away from the control box. (Refer to page 103 for details.)

1.8.2 Second function selection/second motor switchover (RT signal)

: Pr. 180 to Pr. 183, Pr. 187 setting "3"

Pr. 44 "second acceleration/deceleration

time" Pr. 45 "second deceleration time" Pr. 450 "second applied motor" Pr. 451 "second motor control method

selection" Pr. 452 "second electronic thermal O/L relay" Pr. 453 "second motor capacity" Pr. 454 "number of second motor poles"

Pr. 830 "speed control P gain 2" Pr. 831 "speed control integral time 2" Pr. 832 "speed setting filter 2 Pr. 833 "speed detection filter 2" Pr. 834 "torque control P gain 2" Pr. 835 "torque control integral time 2" Pr. 836 "torque setting filter 2" Pr. 837 "torque detection filter 2"

Start

Second acc/dec

Inverter

STF(STR)

Entering the RT signal enables the second functions (above parameters). However, when Pr. 450 = 9999, it is judged that the second motor functions are not selected, and parameters Pr. 451 and Pr. 453, Pr. 454 are invalid. The second functions other than the above are enabled with the first motor.

1.8.3 Jog operation (jog signal):

Pr. 180 to Pr. 183, Pr. 187 setting "5"

(1) Jog operation using external signals

Jog operation can be started/stopped by shorting the jog mode select terminal JOG-SD and shorting/opening the start signal terminal STF or STR-SD. The jog speed and jog acceleration/deceleration time are set in Pr. 15 (factory setting 150r/min, variable between 0 and 1500r/min) and Pr. 16 (factory setting 0.5s, variable between 0 and 3600s (when Pr. 21 = 0)/0 to 360s (when Pr. 21 = 1)), respectively, and their settings can be changed from the control panel or parameter unit. The jog signal has higher priority than the multi-speed signals. (external)

Jog speed Pr. 15

Across JOG-SD Forward rotation

cross STF-SD

Reverse rotation

cross STR-SD

15r/min

Output speed

Forward rotation

90r/min

DC injection brake

Reverse rotation

Time

How to use the input signals

(assigned terminals DI1 to DI4, STR)

1.8.4 Third function selection (X9 signal): Pr. 180 to Pr. 183, Pr. 187 setting "9"

Turn on this "X9 signal" to set: Pr. 110 "third acceleration/deceleration time" Pr. 111 "third deceleration time" Select either the first motor or the second motor according to the RT signal input.

X9 signal RT signal Applied Motor Other Function

OFF OFF First motor First function OFF ON Second motor Second function

ON OFF First motor Third function ON ON Second motor Third function

Start

Third acc/dec

Inverter

STF(STR)

1.8.5 FR-HC, FR-CV connection (X10 signal): Pr. 180 to Pr. 183, Pr. 187 setting "10"

• FR-HC, FR-CV connection (inverter operation enable signal)

To provide protective coordination with the high power factor converter (FR-HC) or power regeneration common converter (FR-CV), use the inverter operation enable signal to shut off the inverter output. Enter the RDY signal of the high power factor converter or power regeneration common converter.

1.8.6

This function prevents the inverter from being inoperative during operation using an external command if the mode is accidentally left unswitched from PU operation mode. (Refer to page 115.)

X12 signal on ..... Shift to PU operation mode enabled (output stop during external operation)

X12 signal off ..... Shift to PU operation mode disabled (output stop during external operation)

PU operation external interlock signal (X12 signal):

r. 180 to Pr. 183, Pr. 187 setting "12"

1.8.7 PID control enable terminal: Pr. 180 to Pr. 183, Pr. 187 setting "14"

Turn the X14 signal on to exercise PID control. When this signal is off, normal inverter operation is performed. Refer to page 139 for details.

Related parameters

Pr. 128 "PID action selection", Pr. 129 "PID proportional band", Pr. 130 "PID integral time", Pr. 131 "upper limit", Pr. 132 "lower limit", Pr. 133 "PID action set point for PU operation", Pr. 134 "PID differential time" (Refer to page 139.)

1.8.8 Brake sequence opening signal (BRI signal): Pr. 180 to Pr. 183, Pr. 187 setting "15"

Used when the method of inputting the mechanical brake opening completion signal to the inverter is used for the brake sequence functions. (Refer to page 106.)

Related parameters

Pr. 60 "intelligent mode selection", Pr. 278 "brake opening speed", Pr. 279 "brake opening current", Pr. 280 "brake opening current detection time", Pr. 281 "brake operation time at start", Pr. 282 "brake operation speed", Pr. 283 "brake operation time at stop", Pr. 284 "deceleration detection function selection", Pr. 285 "overspeed detection speed" (Refer to page 106.)

1.8.9 PU operation/external operation switchover: Pr. 180 to Pr. 183, Pr. 187 setting "16"

You can change the operation mode. When Pr. 79 "operation mode selection" = "8", turning the X16 signal on shifts the current operation mode to the external operation mode and turning that signal off shifts to the PU operation mode. Refer to page 117 for details.

Related parameters

Pr. 79 "operation mode selection" (Refer to page 117)

1.8.10 S-pattern acceleration/deceleration C switchover terminal (X20 signal)

: Pr. 180 to Pr. 183, Pr. 187 setting "20"

When Pr. 29 = "4", you can use the S-pattern acceleration/deceleration C switchover terminal to set the acceleration of S-pattern acceleration/deceleration in the parameter. (Refer to page 89.)

Related parameters

Pr. 29 "acceleration/deceleration pattern", Pr. 380 "acceleration S pattern 1", Pr. 381 "deceleration S pattern 1", Pr. 382 "acceleration S pattern 2", Pr. 383 "deceleration S pattern 2" (Refer to page 89.)

WIRING

How to use the input signals

(assigned terminals DI1 to DI4, STR)

1.8.11 Orientation command (X22 signal): Pr. 180 to Pr. 183, Pr. 187 setting "22"

With the position detector (encoder) fitted to the motor end, you can perform position stop (orientation) control of the rotation shaft. Refer to page 159 for details.

Related parameters

Pr. 350 "stop position command selection", Pr. 351 "orientation switchover speed", Pr. 356 "internal stop position command", Pr. 357 "orientation in-position zone", Pr. 360 "external position command selection", Pr. 361 "position shift", Pr. 362 "orientation position loop gain", Pr. 393 "orientation selection", Pr. 396 "orientation speed gain (P term)", Pr. 397 "orientation speed integral time", Pr. 398 "orientation speed gain (D term)", Pr. 399 "orientation deceleration ratio" (Refer to page 159.)

1.8.12 Pre-excitation/servo on (LX signal): Pr. 180 to Pr. 183, Pr. 187 setting "23"

z Pre-excitation

When the start signal (STF, STR) is not input to the inverter (during a stop), turning on the pre-excitation terminal LX enables 0 speed control or servo lock. (Refer to page 82 for details.)

z Servo on

Use the LX signal to exercise position control. Turning on the LX signal switches the servo on and cancels the base circuit shut-off, resulting in a servo lock status. (Refer to page 55 for details.)

Related parameters

Pre-excitation ⇒ Pr. 802 "pre-excitation selection" (Refer to page 82.) Servo-on

⇒ Pr. 419 "position command source selection", Pr. 420 "command pulse scaling factor numerator", Pr. 421 "command

pulse scaling factor denominator", Pr. 422 "position loop gain", Pr. 423 "position feed forward gain", Pr. 424 "position command acceleration/deceleration time constant", Pr. 425 "position feed forward command filter", Pr. 426 "in-position width", Pr. 427 "excessive level error", Pr. 430 "pulse monitor selection", Pr. 464 "digital position control sudden stop deceleration time", Pr. 465 to Pr. 494 (position feed amount) (Refer to page 55.)

1.8.13 Output stop (MRS signal): Pr. 180 to Pr. 183, Pr. 187 setting "24"

Short the output stop terminals MRS-SD during inverter output to cause the inverter to stop the output immediately. This function is valid in any mode independently of the control mode.

Motor coasts to stop

Open terminals MRS-SD to resume operation in about 20ms. Terminal MRS may be used as described below.

(1) To stop the motor by mechanical brake (e.g. electromagnetic brake)

Terminals MRS-SD must be shorted when the mechanical brake is operated and be opened before the motor that has stopped restarts.

(2) To provide interlock to disable operation by the inverter

After terminals MRS-SD have been shorted, the inverter cannot be operated if the start signal is given to the inverter.

(3) To coast the motor to stop

The motor is decelerated according to the preset deceleration time

cross MRS-SD

cross STF

(STR)-SD

0.5r/min

Approx. 20ms

and is stopped by operating the DC injection brake at the DC injection brake operation speed or less. Using terminal MRS, the motor is coasted to a stop.

1.8.14 Start self-holding selection (STOP signal): Pr. 180 to Pr. 183, Pr. 187 setting "25"

The connection example given here is used to self-hold the start signal (forward rotation, reverse rotation). * Connected to the STOP signal to disable forward or

reverse rotation if forward or reverse rotation and stop are turned on at the same time.

Forward rotation

Reverse rotation

Stop

STOP

STF

STR

(Wiring example for sink logic)

How to use the input signals

(assigned terminals DI1 to DI4, STR)

1.8.15 Control mode changing (MC signal): Pr. 180 to Pr. 183, Pr. 187 setting "26"

By setting Pr. 800 "control system selection", change the control mode between speed, torque and position. Refer to page 169 for details.

1.8.16 Torque limit selection (TL signal): Pr. 180 to Pr. 183, Pr. 187 setting "27"

By setting Pr. 815 "torque limit level 2", you can change the torque limit value. Refer to the Instruction Manual (basic) for details.

1.8.17 Start time tuning (X28 signal): Pr. 180 to Pr. 183, Pr. 187 setting "28"

You can perform online tuning before turning on (during stop) the start signals (STF, STR) to prevent a start time delay due to tuning.

POINT

• Perform offline auto tuning (page 120) and set "1" in Pr. 95 (start time tuning).

• You can perform start time tuning by X28 signal when the Y39 signal is off.

• It takes 500ms maximum for start time tuning to complete.

Speed (r/min)

Time(h)

X28 signal

Start time tunig

Y39 signal

Start signal

In execution

Completion

REMARKS

• Start time tuning is also performed with the LX signal on and a start signal by the speed command less than the starting speed (e.g. zero speed command) on.

• The Y39 signal is kept on while the second magnetic flux remains after a motor stop.

• The X28 signal is not made valid while the Y39 signal is on.

• The STF, STR and LX signals are made valid after completion of start time tuning.

• During tuning, only the output signals below are valid IPF, THP, PU, Y12, RY, ER, LF, MT, DA1, DA2, ABC.

• Invalid during V/F control.

1.8.18 Torque bias selection 1 (X42 signal): Pr. 180 to Pr. 183, Pr. 187 setting "42" Torque bias selection 2 (X43 signal): Pr. 180 to Pr. 183, Pr. 187 setting "43"

When using the torque bias function, you can combine the on/off of the X42 and X43 signals to select the torque bias amount. Refer to page 177 for details.

Related parameters

Pr. 840 "torque bias selection", Pr. 841 "torque bias 1", Pr. 842 "torque bias 2", Pr. 843 "torque bias 3", Pr. 844 "torque bias filter", Pr. 845 "torque bias operation time", Pr. 846 "torque bias balance compensation", Pr. 847 "fall-time torque bias terminal 3 bias", Pr. 848 "fall-time torque bias terminal 3 gain" (Refer to page 177.)

WIRING

How to use the input signals

(assigned terminals DI1 to DI4, STR)

1.8.19 P control selection (P/PI control switchover) (X44 signal):

Pr. 180 to Pr. 183, Pr. 187 setting "44"

By turning the X44 signal on/off during speed control operation under vector control, you can select whether to add the integral time (I) or not when performing gain adjustment with P gain and integral time.

When the X44 signal is off: PI control When the X44 signal is on: P control

Related parameters

Pr. 820 "speed control P(proportional) gain 1" Pr. 821 "speed control integral time 1" Pr. 830 "speed control P(proportional) gain 2" Pr. 831 "speed control integral time 2" Refer to page 46 for details.

Speed command Speed command

Speed proportional operation

X44 OFF

X44 ON

Integration cleared to 0

Speed integral operation

Torque control

Motor

Encoder

How to use the output signals (assigned terminals

DO1 to DO3, ABC) (Pr. 190 to Pr. 192, Pr. 195)

1.9 How to use the output signals (assigned terminals DO1 to DO3, ABC) (Pr. 190 to Pr. 192, Pr. 195)

The output terminals DO1, DO2, DO3, ABC vary in functions with the Pr. 190 to Pr. 192 and Pr. 195 settings.

Parameter Name

Ter min al

Symbol

Factory

Setting

DO1 terminal

190

function

RUN 0 Inverter running

selection DO2 terminal

191

function

SU 1 Up to speed

selection DO3 terminal

192

function

IPF 2

selection ABC terminal

195

function

A, B, C 99 Alarm output

selection

Refer to the following table for the settings of Pr. 190 to Pr. 192 and Pr. 195.

Setting

Positive

logic

Negative

logic

0 100 RUN Inverter running

1 101 SU Up to speed Refer to Pr. 41 "up-to-speed sensitivity" (page 95).

2102IPF

3 103 OL Overload alarm

4104FU

5105FU2

6106FU3

7107RBP

8108THP

10 110 PU PU operation mode Output when the PU operation mode is selected.

11 111 RY

12 112 Y12

13 113 Y13

14 114 FDN PID lower limit 15 115 FUP PID upper limit

16 116 RL

20 120 BOF

25 125 FAN Fan fault output Output at the time of a fan fault.

26 126 FIN

27 127 ORA

30 130 Y30

31 131 Y31

Signal

Name

Instantaneous power failure or undervoltage

Output speed detection

Second output speed detection

Third output speed detection

Regenerative brake prealarm

Electronic thermal relay function prealarm

Inverter operation ready

Output current detection

Zero current detection

PID forward-reverse rotation output

Brake opening request

Fin overheat prealarm

Orientation in-position

Forward rotation output

Reverse rotation output

Function Operation

Output when the start command is input. For V/F control, this signal is output during operation when the inverter output speed rises to or above the starting speed. During DC injection brake, 0 speed control or servo lock, this signal is not output.

Output at occurrence of an instantaneous power failure or undervoltage.

Output when torque or speed limit is activated. For V/F control, this signal is output while the stall prevention function is activated.

Refer to Pr. 42, Pr. 43 (speed detection) (page 95).

Refer to Pr. 50 "second speed detection" (page 95).

Refer to Pr. 116 "third speed detection" (page 95).

Output when 85% of the regenerative brake duty set in Pr. 70 is reached.

Output when the electronic thermal relay function cumulative value reaches 85% of the preset level.

Output when the inverter can be started by switching the start signal on or while it is running.

Refer to Pr. 150 and 151 (output current detection) (page 146).

Refer to Pr. 152 and 153 (zero current detection) (page 147).

Refer to Pr. 128 to 134 (PID control) (page 139).

Refer to Pr. 278 to Pr. 285 (brake sequence function) (page 106).

Output when the heatsink temperature reaches about 85% of the heatsink overheat protection activating temperature.

When orientation is valid

For vector control

Factory-Set

Terminal Function

Instantaneous power failure, undervoltage

Setting Range Remarks

0 to 8, 10 to 16, 20, 25 to 27,

30 to 37, 39, 40 to 44, 96 to 99,

100 to 108, 110 to 116, 120,

125 to 127, 130 to 137, 139,

140 to 144, 196 to 199, 9999

Extended mode

WIRING

How to use the output signals (assigned terminals

DO1 to DO3, ABC) (Pr. 190 to Pr. 192, Pr. 195)

Setting

Positive

logic

Negative

logic

32 132 Y32

33 133 RY2 Operation ready 2

34 134 LS Low speed output Output when the speed falls to or below any preset low speed.

35 135 TU Torque detection

36 136 Y36 In-position

37 137 MT

39 139 Y39

40 140 Y40 Trace status Acts as a trace completion signal. 41 141 FB Speed detection

42 142 FB2

43 143 FB3

Signal

Name

Regenerative status output

Maintenance timer output

Start time tuning completion

Second speed detection

Third speed detection

Function Operation

For vector control

Output on completion of pre-excitation. Turned on at an output start when preexcitation is not made.

Output when the motor torque rises above the predetermined value (Pr.864). (Refer to page 182.)

Acts as an in-position signal.

Refer to Pr. 890 to Pr. 892 (maintenance output function) (page 187).

Output on completion of start time tuning

Output when the motor output speed (feed back value) exceeds the preset speed. Perform in the same way as FU, FU2 and FU3 under V/F control.

• Output during forward rotation or the reverse rotation signal is on.

• Output at deceleration even during forward rotation or the reverse rotation

44 144 RUN2

Inverter running 2

signal is off. (Does not output during pre-excitation LX is on.)

• Output during the orientation command signal (X22) is on.

• Switched on when the servo is on (LX-on) under position cotrol. (Switched off when the servo is off. (LX-off)

96 196 REM Remote output Refer to Pr. 495 to Pr.497 (page 168).

At occurrence of a major fault, the base circuit is shut off immediately. At

97 197 ER Minor fault output 2

occurrence of a minor fault, the base circuit is shut off after deceleration to a stop.

98 198 LF Minor fault output Output when a minor fault (fan fault or communication error alarm) occurs.

99 199 ABC Alarm output

9999 —— No function —

Output when the inverter's protective function is activated to stop the output (major fault).

0 to 99: Positive logic, 100 to 199: Negative logic

Design information to be checked

1.10 Design information to be checked

1) When performing bypass operation for the motor other than the vector control dedicated motor, securely provide electrical and mechanical interlocks for the MC1 and MC2 used for bypass. When the wiring is wrong or there is a bypass circuit as shown below, the inverter will be damaged by a sneak current from the power supply due to arcs generated at the time of switchover or chattering caused by a sequence error.

2) If the machine must not be restarted when power is restored after a power failure, provide a magnetic contactor in the inverter's primary side and also make up a sequence that will not turn on the start signal. If the start signal (start switch) remains on after a power failure, the inverter will automatically restart as soon as the power is restored.

3) When the power supply used with the control circuit is different from the one used with the main circuit, make up a circuit which will switch off the main circuit power supply terminals R, S, T when the control circuit power supply terminals R1, S1 are switched off.

4) Since the input signals to the control circuit are on a low level, use two parallel low-level signal contacts or a twin contact for contact inputs to prevent poor contact.

5) Do not apply a voltage to the contact input terminals (e.g. STF) of the control circuit.

6) Do not apply a voltage directly to the alarm output terminals (A, B, C). Always apply a voltage to these terminals via a relay coil, lamp, etc.

7) Fully make sure that the specifications and rating match the system requirements.

Bypass

Low-level signal contacts

(other than the vector control dedicated motor)

MC1

Interlock

Inverter

MC2

Sneak current

Low-level signal contacts Twin contact

Power supply

WIRING

Using the second motor

1.11 Using the second motor

1.11.1 Wiring diagram (second motor)

CAUTION

1. Provide interlocks to prevent the MC1 and MC2 from being turned on simultaneously.

2. For the second motor (motor without encoder), use Pr. 452 "second electronic thermal O/L relay" or provide an external thermal relay.

3. *: Give one external thermal relay signal to across OH-SD.

Related parameters

Second electronic thermal relay function setting ⇒ (Pr. 452 "second electronic thermal O/L relay" (Refer to page 80.))

1.11.2 Second motor setting parameters

Param

eter

Name

Factory

Setting

Inverter

PAR

PBR

PZR

Setting Range

Motor without encode

MC2

MC1

(Second motor)

Mitsubihi dedicated motor

(SF-V5RU) (First motor)

Thermal protector

Encoder

Inverter internal constant

Inverter internal constant Refer to

Inverter internal

page 111.

constant

450 Second applied motor 9999

0 Mitsubishi standard motor (SF-JR)

Mitsubishi constant torque motor

(SF-HRCA)

9999

SF-V5RU dedicated motor (includes SF-VR type motor)

Function invalid Pr. 71 "applied motor" is made valid.

20 V/F control Speed control

Second motor control

451

method selection

9999

Function invalid The setting is the same as that of control system of Pr. 800 "control system selection". (*)

Second electronic

452

thermal O/L relay

Second motor

453

capacity

Number of second

454

motor poles

9999

Inverter

capacity

Set the rated motor current. 0 to 500A (Refer to page 80.)

9999 Function invalid

Set the motor capacity.

0.4 to 55kW

Set the number of motor poles.

2, 4, 6P

Setting can be made when Pr. 450 "9999"

z Turn on/off the RT signal to switch between the first and second motors using contacts information of the

magnetic contactor (MC). (Use the RT signal after setting it to any of the DI1 to DI4 signals using Pr. 180 to Pr. 183, Pr. 187 (input terminal function selection).

z Select V/F control for the Pr. 451 setting. Vector control with encoder can not be selected. z By setting values other than "9999" in Pr. 451 when Pr. 450 = "9999" (factory setting), the control system of the first

motor can be changed by switching the RT terminal on and off. (In this case, turning the RT signal on makes the second function of Pr. 44, Pr. 45, Pr. 452, and Pr. 830 to Pr. 837 valid.)

CAUTION

* Even when the first motor is under vector control, the second motor is V/F controlled while the RT

signal is on independently of the Pr. 451 setting when Pr. 450 "9999".

Using the conventional motor and

other motors

1.12 Using the conventional motor and other motors

1.12.1 Conventional motor (SF-VR, SF-JR with encoder)

CAUTION

• When using the dedicated encoder cable (FR-VCBL/FR-JCBL) of the conventional motor for the FRV500 series, change the size of crimping terminals of the dedicated encoder cable from M3 to M3.5.

• For the FR-V500 series inverters, the encoder jumper connector is factory set to "12V, complimentary." When using the conventional Mitsubishi motor (SF-VR-5.5 to 45kW, SF-JR with encoder), whose PLG is "5V, differential line driver" type, be sure to fit the encoder jumper connector to "5V, differential line driver" before powering on.

(1) Dedicated encoder cable

z SF-VR motor

Type Length L

FR-VCBL5 5m FR-VCBL15 15m FR-VCBL30 30m

FR-V500 Encoder

PAR

PBR

PZR

A B C D F G

z SF-JR motor with encoder

Type Length L

FR-JCBL5 5m FR-JCBL15 15m FR-JCBL30 30m

FR-V500 Encoder

PAR

PBR

PZR

C R A N B P

Positioning

keyway

PG SD

Inverter earth (ground) terminal

2mm

S R

(As viewed from wiring side)

MS3106B20-29S

PG SD

Inverter earth (ground) terminal

2mm

H K

(2) Encoder jumper connector setting

Make encoder setting according to the encoder.( Refer to the Instruction Manual (basic).)

Item

Resolution 1000 pulse/rev 1024 pulse/rev 2048 Pulse/Rev Power supply

voltage Current

consumption Output signal

form

Output circuit

Output voltage

Encoder for SF-VR-5.5 to

45 kW

Encoder for SF-JR

5VDC±10% 5VDC±10%

150mA 150mA

A, B phases (90° phase shift) Z phase: 1 pulse/rev

Differential line driver AM26LS31 equivalent

"H" level 2.4V or more "L" level 0.4V or less

A, B phases (90° phase shift) Z phase: 1 pulse/rev

Differential line driver 74LS113 equivalent

"H" level 2.4V or more "L" level 0.5V or less

12VDC±10%

150mA

A, B phases (90° phase shift) Z phase: 1 pulse/rev

Complimentary (Constant voltage output matched by emitter follow)

"H" level -3V or more "L" level 3V or less

Positioning

keyway

MS3106B20-29S

(As viewed from wiring side)

Encoder for SF-V5RU

(for reference)

WIRING

CAUTION

Encoder with resolution of 1000 to 4096 pulse/rev is recommended.

Using the conventional motor and

other motors

(3) Parameter setting

Parameters below are extended parameters. Set "1" in Pr. 160 "extended function selection" to read and make setting.

Parameter Name Factory Setting Setting Range Refer to

9 Electronic thermal O/L relay 0A 0 to 500A 80 71 Applied motor 30 0, 3 to 8, 10, 13 to 18, 20, 23, 24, 30, 33, 34 111 80 Motor capacity Inverter capacity 0.4 to 55kW 81 Number of motor poles 4 2, 4, 6

851 Number of encoder pulses 2048

0 to 4096 (Number of pulses before multiplied by 4)

CAUTION

• Pr. 71 setting

· SF-VR: "30"

· SF-JR (2, 4, 6P)- 2.2 to 55kW: "0" SF-JR (4P)- 1.5kW or less: "20"

· SF-HRCA (4P): "10"

• When using motors other than the dedicated motor (SF-V5RU) or above motors, perform offline auto tuning. (Refer to page 120.)

120

Refer to the Instruction Manual (basic)852 Encoder rotation direction 1 0, 1

1.12.2 Precautions for and wiring of the motor with encoder (SF-JR with encoder)

• When the motor used is other than the dedicated motor, use the offline auto tuning function. (Refer to page 120 for details of offline auto tuning.)

• Set Pr. 800 to select the control method. (Refer to page 169.)

• To protect the motor from overheat, set electronic thermal relay function or provide an external thermal relay. (Refer to page 27.)

Motor with encoder

Inverter

PAR

PBR

PZR

Motor with encode

Encoder

CAUTION

• *Leave the unused terminals open.

• When not using an external thermal relay, set "0" in Pr. 876 "thermal relay protector input". Set Pr. 9 "electronic thermal O/L relay".

• Check the power supply specification of encoder and change a jumper connector. (Refer to the Instruction Manual (basic).)

VECTOR CONTROL

This chapter explains the basic "adjustment for vector control" for use of this product. Always read the instructions and other information before using the equipment.

2.1 What is vector control? ........................................42

2.2 Speed control ........................................................44

2.3 Fine adjustment of gains for speed control........45

2.4 Torque control .......................................................51

2.5 Fine adjustment for torque control...................... 52

2.6 Gain adjustment for torque control .....................53

2.7 Position control (Pr. 419 to Pr. 430, Pr. 464 to Pr. 494).55

112

What is vector control?

2.1 What is vector control?

Vector control is one of the control techniques for driving an induction motor. To help explain vector control, the fundamental equivalent circuit of an induction motor is shown below:

r1 : Primary resistance

Mid iq

In the above diagram, currents flowing in the induction motor can be classified into a current id (excitation current) for making a magnetic flux in the motor and a current iq (torque current) for causing the motor to develop a torque. .

iq motor current im

r2 : Secondary resistance

: Primary leakage inductance

: Secondary leakage inductance

M : Mutual inductance S: Slip id : Excitation current iq : Torque current im : Motor current

In vector control, the voltage and output frequency are calculated to control the motor so that the excitation current and torque current (as shown in the left figure) flow to the optimum as described below:

(1) The excitation current is controlled to place the

internal magnetic flux of the motor in the optimum status.

torque current

excitation current

(2) Derive the torque command value so that the

difference between the motor speed command and the actual speed obtained from the encoder connected to the motor shaft is zero. Torque current is controlled so that torque as set in the torque command is developed.

Motor-generated torque (TM), slip angular velocity (ωs) and the motor's secondary magnetic flux (φ2) can be found by the following calculation:

∝ φ2 ⋅ iq

= M ⋅ id

ωs =

L2r2id

where, L2 = secondary inductance

2 + M

L2 =

Vector control provides the following advantages:

(1) Excellent control characteristics when compared to

V/F control and other control techniques, achieving the control characteristics equal to those of DC machines.

(2) Applicable to fast response applications with which

induction motors were previously regarded as difficult to use. Applications requiring a wide variable-speed range from extremely low speed to high speed, frequent acceleration/deceleration operations, continuous four-quadrant operations etc.

(3) Allows torque control.

(4) Allows servo-lock torque control which generates a

torque at zero speed (i.e. status of motor shaft = stopped).

What is vector control?

Encoder

PWM

modulation

magnetic

flux

control

speed

control

slip

calculation

magnetic

calculation

pre-excitation

current control

torque current control

flux

output

voltage

conversion

current

conversion

(1) Speed control

Speed control operation is performed to zero the difference between the speed command ( rotation detection value ( current controller as a torque current command (i

ωFB). At this time, the motor load is found and its result is transferred to the torque

q*).

(2) Torque current control

A voltage (Vq) is calculated to start a current (i

q*) which is identical to the torque current command (iq) found by

the speed controller.

ω*) and actual

(3) Magnetic flux control

The magnetic flux ( (id*) is calculated to use that motor magnetic flux (

φ 2) of the motor is derived from the excitation current (id). The excitation current command

φ 2) as a predetermined magnetic flux.

(4) Excitation current control

A voltage (Vd) is calculated to start a current (id) which is identical to the excitation current command (id*) found by magnetic flux control.

(5) Output frequency calculation

Motor slip ( frequency (w

ωs) is calculated on the basis of the torque current value (iq) and magnetic flux (φ 2). The output

0) is found by adding that slip (ωs) to the feedback (ωFB) found by a feedback from the encoder.

The above results are used to make PWM modulation and run the motor.

VECTOR CONTROL

Speed control

This inverter can control a motor under speed, torque or position control. (As required, set "1" (extended function parameters valid) in Pr. 160 "extended function selection".) Refer to page 150 for details of Pr. 160 "extended function selection". (Since the factory setting of Pr. 77 is "0", perform parameter write in the PU mode or during a stop.)

2.2 Speed control

2.2.1 Outline of speed control

The basics of speed control are explained in the Instruction Manual (basic).

Set any of "0 (speed control), 2 (speed-torque switchover), 4 (speed-position switchover)" in Pr. 800 "control system selection" to make speed control valid. Pr. 800 is factory-set to 0 (speed control) (Refer to page 169.)

Set the motor. (Refer to the Instruction Manual (basic).)

Set the run command. (Refer to page 117.)

Test ru n

As required

1) Gain adjustment Perform easy gain tuning. (Refer to the Instruction Manual (basic).)

To achieve faster responsiveness to the speed command change (when faster responsiveness is desired)

Perform model adaptive control/speed feed forward control. (Refer to page 49.)

For further fine adjustment of gains

Perform manual input gain adjustment. (Refer to page 46.)

2) Set the torque limit value.

Refer to the Instruction Manual (basic) for the connection diagram, test run and easy gain tuning.

2.2.2 Easy gain tuning function block diagram

Automatic setting

Speed control/position loop gain Model speed control gain

Command

Pr.820, Pr.821,

Pr.828, Pr.422

Gain table

Turn on with the Pr. 819 setting "1 or 2"

Load inertia ratio Pr.880

Turn on with the Pr. 819 setting "1"

Current control

Torque command

Load inertia ratio estimation section

Load

inertia

moment

Motor

Actual speed

Detector

Encoder

Easy gain tuning response level setting (Pr.818)

Speed/position feedback

Easy gain tuning selection (Pr.819)

Fine adjustment of gains for speed control

2.3 Fine adjustment of gains for speed control

If easy gain tuning does not provide high accuracy, refer to the next page and make adjustment. Make adjustment when vibration, noise or any other unfavorable phenomenon occurs due to large load inertia or gear backlash, for example, or when you want to exhibit the best performance that matches the machine.

2.3.1 Control block diagram

Speed

Terminal 1 at setting Pr.868="0"

Terminal

Speed setting filter

REX

Option

PU04V

--1

DU04

OFF

Terminal

Torque

setting filter

Pr.902 "speed setting terminal 2 bias" Pr.903 "speed setting terminal 2 gain

Pr.902 "speed setting terminal 2 bias" Pr.903 "speed setting terminal 2 gain"

OFF

Speed feed

Load inertia

Pr.877 1

2 Model speed

Pr.822

Pr.832

forward/model

adaptive speed

control selection

Speed feed forward control

Model adaptive

speed control

Pr.826

Pr.836

Speed setting signal

Pr.73

4,14

0,10

Override

ratio

Pr.880

Speed feed

forward gain

Pr.881

control gain

Pr.828

Pr.904 Torque command terminal 3 bias

Pr.905 Torque command terminal 3 gain

Operation mode

Pr.79

Speed feed

torque control

J (Pr.880)

Torque factor

OFF

Maximum, minimum speeds

Pr.1

Pr.2

Pre-excitation

Pr.802

0 : 0 speed control

1 : Servo lock

forward

Pr.879

Model speed calculation

Speed feed

forward filter

Pr.878

J·s

Speed control P gain 1

Pr.820

X44 OFF

X44 ON

Speed control P gain 2

Pr.830

Integration cleared to 0

X44 OFF

X44 ON

FWD

REV

STF

Speed

jump

Pr.31 to

Pr.36

Pr.7, Pr.8 Pr.44, Pr.45 RT ON Pr.110, Pr.111 X9 ON Pr.16 Jog acceleration/

STR

Starting speed

Pr.13

Pr.29, Pr.20, Pr.21 Pr.140 to Pr.143 Pr.380 to Pr.383

deceleration

Torque bias

Pr.840 to Pr.848

Torque

input

method

Pr.877

Speed control integral time 1

Pr.821

Speed control integral time 2

Pr.831

Integration cleared to 0

Parameters automatically tuned when tuning is selected in Pr.819 "easy gain tuning". Refer to the Instruction Manual (basic) for details.

selection

Pr.810

detection filter

limit

Speed

Torque

limit Pr. 22, Pr.812

to Pr.817

Pr.823

Pr.833

Acc/dec

processing

(Torque control) Current control of iq

Encoder

OFF

VECTOR CONTROL

Fine adjustment of gains for speed control

2.3.2 Concept of adjustment of manual input speed control gains

1) Speed control P gain 1

 Pr. 820 = 60% is equivalent to 120rad/s (speed responce of

the motor alone). (factory setting)

 Increasing the proportional gain increases the response level.

However, a too high gain will produce vibration and/or unusual noise.

2) Speed control integral time

 Pr. 821 = 0.333s (factory setting)  Decreasing the integral time shortens the return time taken at

a speed change. However, a too short time will generate an overshoot.

When there is load inertia, the actual speed gain decreases as given below.

Proportional gain

200rad/s

120rad/s

60%

(Factory setting)

100%

Pr.820 setting

Actual speed gain = speed gain of motor without load ×

Load variation

Speed

Decreasing the integral time shortens this return time.

JM+JL

Since increasing the proportional gain increases the response level, this speed variation decreases.

M : Inertia of motor

J J

L : Motor shaft-equivalent load inertia

2.3.3 Speed control gain adjustment procedure (Pr. 820, Pr. 821)

• Set "0" in Pr. 819 "easy gain tuning". (Easy gain tuning is not performed.)

Refer to the Instruction Manual (basic) for easy gain tuning.

• Refer to the following for manually input gain adjustment.

z Manual input gain adjustment

• Pr. 820 "speed control P (proportional) gain 1", Pr. 830 "speed control P (proportional) gain 2"

• Pr. 821 "speed control integral time 1", Pr. 831 "speed control integral time 2" Make adjustment when any of such phenomena as unusual machine vibration/noise, low response level and overshoot has occurred.

1) First check the conditions and simultaneously change Pr. 820 "speed control P gain 1" value.

2) If you cannot make proper adjustment, change Pr. 821 "speed control integral time 1" value and repeat step (1).

CAUTION

Pr. 830 "speed control P(proportional) gain 2" and Pr. 831 "speed control integral time 2" are made valid when the RT terminal is switched on. Make adjustments in the same way as Pr. 820 and Pr. 821.

No.

Phenomenon/Condition

1 Large load inertia

Vibration/noise generated

from mechanical system

3 Slow response

Adjustment Method

Set the Pr. 820 and Pr. 821 values a little higher.

Pr. 820

Pr. 821

Set the Pr. 820 value a little lower and the Pr. 821 value a little higher.

Pr. 820

Pr. 821

Set the Pr. 820 value a little higher.

Pr. 820

When a speed rise is slow, increase the value 10% by 10% until just before vibration/noise is produced, and set about 0.8 to 0.9 of that value.

If an overshoot occurs, double the value until an overshoot does not occur, and set about 0.8 to 0.9 of that value.

Decrease the value 10% by 10% until just before vibration/noise is not produced, and set about 0.8 to 0.9 of that value.

If an overshoot occurs, double the value until an overshoot does not occur, and set about 0.8 to 0.9 of that value.

When a speed rise is slow, increase the value 5% by 5% until just before vibration/noise is produced, and set about 0.8 to 0.9 of that value.

Fine adjustment of gains for speed control

No.

Phenomenon/Condition

Long return time

(response time)

Overshoot or unstable

phenomenon occurs.

Set the Pr. 821 value a little lower. Decrease the value by half until just before an overshoot or the unstable phenomenon does

not occur, and set about 0.8 to 0.9 of that value. Set the Pr. 821 value a little higher. Double the value until just before an overshoot or the unstable phenomenon does not occur,

and set about 0.8 to 0.9 of that value.

Adjustment Method

REMARKS

You can switch between PI control and P control under speed control using the X44 signal. (Refer to page 34.)

2.3.4 Troubleshooting

Phenomenon Cause Corrective Action

Motor does not rotate. (1) The motor or encoder wiring is

wrong.

(2) The encoder specifications

(jumper connector setting) are wrong.

(3) The encoder wiring is wrong. (3) Check that FWD is displayed when running the

(1) Check the wiring. * Choose V/F control (Pr. 800 = 20) and check the

rotation direction of the motor and the speed monitor output from the DA1 output terminal. For the FRV5RU, set "170V" for 3.7kW or less and " 160V " for more in Pr. 19 "base frequency voltage", and set "50Hz" in Pr. 3 "base frequency".

When the forward rotation signal is input, the motor running in the counterclockwise direction as viewed from the motor shaft is normal. (If it runs in the clockwise direction, the phase sequence of the inverter secondary side wiring is incorrect.)

(2) Check the encoder specifications.

Check the positions of the 5V/12V/24V/External and differential/complimentary jumper connectors.

motor in the counter-clockwise direction from outside during a stop of the inverter. If REV is displayed, the encoder phase sequence is wrong. Perform the correct wiring or match the Pr. 852 "encoder rotation direction" setting.

Motor does not run at correct speed. (Speed command does not match actual speed)

(4) The Pr. 851 "number of encoder

pulses" setting and the number of encoder used are different.

(1) The speed command from the

command device is incorrect. The speed command is compounded with noise.

(2) The speed command value does

not match the inverter-recognized value.

(3) The number of encoder pulses

setting is incorrect.

Pr. 852

Setting

(factory setting)

Relationship between the motor and

encoder

Encoder

Forward rotation is clockwise rotation when viewed from A.

Encoder

Forward rotation is counterclockwise rotation when viewed from A.

CCW

(4) The motor will not run if the parameter setting is

smaller than the number of encoder pulses used. Set Pr. 851 "number of encoder pulses" correctly.

(1) Check that a correct speed command comes from

the command device. Decrease the PWM carrier frequency in Pr. 72.

(2) Readjust the speed command bias and gain in Pr.

902, Pr. 903, Pr. 917, and Pr. 918.

(3)

Check the setting of the number of encoder pulses in Pr. 851.

VECTOR CONTROL

Fine adjustment of gains for speed control

Phenomenon Cause Corrective Action

Speed does not rise to the speed command.

Motor speed is unstable.

Motor or machine hunts (vibration/noise is produced).

Acceleration/ deceleration time does not match the setting.

Machine operation is unstable

Speed fluctuates at low speed.

(1) Insufficient torque.

Torque limit is actuated.

(2) Only P (proportional) control is

selected.

(1) The speed command varies. (1)-1 Check that a correct speed command comes

(2) Insufficient torque. (2)-1 Increase the torque limit value.

(3) The speed control gains do not

match the machine. (mechanical resonance)

(1)The speed control gain is high. (1)-1 Perform easy gain tuning.

(2) High torque control gain. (2) Decrease Pr. 824. (Refer to page 53.) (3) Motor wiring and encoder wiring

are not correct.

(1) Insufficient torque. (1)-1 Increase the torque limit value.

(2) Large load inertia. (2) Set the acceleration/deceleration time that

(1) The speed control gains do not

match the machine.

(2) Slow response because of

improper acceleration/ deceleration time of the inverter.

(1) Adverse effect of high carrier

frequency.

(2) Adverse effect of weak excitation. (2) Return the excitation ratio in Pr. 854 to the factory

(3) Low speed control gain. (3) Increase Pr. 820 "speed control P gain".

(1)-1 Increase the torque limit value.

( Refer to the torque limit of speed control in the Instruction Manual (basic).)

(1)-2 Insufficient capacity (2) When the load is heavy, speed deviation will

occur under P (proportional) control. Select PI control.

from the command device. (Take measures against noises.)

(1)-2 Decrease the PWM carrier frequency in Pr.

(1)-3 Increase the speed setting filter in Pr. 822.

(2)-2 Return the excitation ratio in Pr. 854 to the

(3)-1 Perform easy gain tuning. (3)-2 Adjust Pr. 820 and Pr. 821. (Refer to gain

(3)-3 Perform speed feed forward control and

(1)-2 Decrease Pr. 820 and increase Pr. 821. (1)-3 Perform speed feed forward control and

(3) Check wiring.

(1)-2 Return the excitation ratio in Pr. 854 to the

(1)-3 Perform speed feed forward control.

(1)-1 Perform easy gain tuning. (1)-2 Adjust Pr. 820 and Pr. 821. (Refer to page 46.) (1)-3 Perform speed feed forward control and

(2) Change the acceleration/deceleration time to

(1) Decrease the PWM carrier frequency in Pr. 72.

72.

( Refer to the torque limit of speed control in the Instruction Manual (basic).)

factory setting (100%).

adjustment.)

model adaptive speed control.

Check Pr. 852 setting for the encoder rotation direction.

( Refer to the torque limit of speed control in the Instruction Manual (basic).)

factory setting.

meets the load.

model adaptive speed control.

an optimum value.

setting

Related parameter reference pages

• Pr. 71 "applied motor" (Refer to page 111.)

• Pr. 72 "PWM frequency selection" (Refer to page 112.)

• Pr. 800 "control system selection" (Refer to page 169.)

• Pr. 820 "speed control P gain 1" (Refer to page 175.)

• Pr. 821 "speed control integral time 1" (Refer to page 175.)

• Pr. 822 "speed setting filter 1" (Refer to page 175.)

• Pr. 851 "number of encoder pulses" (Refer to the Instruction Manual (basic).)

• Pr. 854 "excitation ratio" (Refer to page 181.)

• Pr. 902 "speed setting terminal 2 bias" (Refer to page 190.)

• Pr. 903 "speed setting terminal 2 gain" (Refer to page 190.)

• Pr. 917 "terminal 1 bias (speed)" (Refer to page 190.)

• Pr. 918 "terminal 1 gain (speed)" (Refer to page 190.)

Fine adjustment of gains for speed control

2.3.5 Speed feed forward control, model adaptive speed control (Pr. 828, Pr. 877 to Pr. 881)

By making parameter setting, select the speed feed forward control or model adaptive speed control. The speed feed forward control enhances the trackability of the motor in response to a speed command change. The model adaptive speed control enables individual adjustment of speed trackability and motor disturbance torque response.

Parameter Name Factory Setting Setting Range

828 Model speed control gain 60% 0 to 1000%

877

878 Speed feed forward filter 0s 0 to 1s 879 Speed feed forward torque limit 150% 0 to 400% 880 Load inertia ratio 7 0,1 to 200 times 881 Speed feed forward gain 0% 0 to 1000%

POINT

When model adaptive speed gain is selected, the data obtained from easy gain tuning is used for Pr. 828 "model speed control proportional gain". Perform easy gain tuning also (simultaneously). (Refer to the Instruction Manual (basic).)

Speed feed forward control/model adaptive speed control selection

0 0,1,2

Speed command

Pr.877

Load inertia

ratio

Pr.880

Model adaptive speed control

Model speed

control gain

Speed feed

forward gain

Pr.828

Speed control

Actual speed controller

Pr.881

P gain 1

Pr.820

Pr.879

Speed feed

forward torque

limit

Torque factor

(J : Pr.880)

Pr.878

Speed feed

forward filter

Speed control

integral time 1

Pr.821

Pr.877

iq current

control

J·s

Model speed

operation

Encoder

VECTOR CONTROL

Fine adjustment of gains for speed control

Pr. 877 Setting

0 Normal speed control is exercised.

Speed feed forward control is exercised.

c Calculate required torque in responce to the acceleration/deceleration command for the inertia ratio set in

Pr. 880 and generate torque immediately.

d When inertia ratio estimation has been made by easy gain tuning, the inertia ratio estimation result is used

as the Pr. 880 setting, from which the speed feed forward is calculated.

e When the speed feed forward gain is 100%, the calculation result of the speed feed forward in 1) is

reflected as-is.

f If the speed command changes suddenly, large torque is generated due to the speed feed forward

calculation. The maximum value of the speed feed forward is restricted using Pr. 879.

g Using Pr. 878, the speed feed forward result can be dulled by the primary delay filter.

Model adaptive speed control is enabled.

 At this time, the motor's model speed is calculated to feed back the model side speed controller. This model

speed is also used as the actual speed controller command.

 The inertia ratio in Pr. 880 is used for calculation of the torque current command value given by the model

side speed controller. When inertia ratio estimation has been made by easy gain tuning, Pr. 880 is overwritten by the inertia ratio estimation result, and that value is used to calculate the torque current command value.

 The torque current command value of the model side speed controller is added to the output of the actual

speed controller, and the result is used as the iq current control input. Pr. 828 is used for model side speed control (P control), and the first gain in Pr. 820 is used for the actual speed controller. The model adaptive speed control is valid for the first motor only.

 When Pr. 877 = 2, switching to the second motor handles the second motor as Pr. 877 = 0.

Description

CAUTION The adequate gain value for the model and actual loop parts are set according to the responce setting of easy gain tuning under model adaptive speed control. To increase the responce level, Pr. 818 "responce setting"needs to be changed (increased).

The following table indicates the relationships between the speed feed forward control and easy gain tuning function.

Easy Gain Tuning Selection (Pr. 819) Setting

012

Inertia ratio estimation value

Load inertia ratio (Pr. 880)

Model speed control gain (Pr. 828)

Speed feed forward gain (Pr. 881)

Manual input

Manual input Manual input Manual input

found by easy gain tuning is displayed. Manual input enabled only during a stop.

Tuning results are displayed. Write disabled.

Manual input

Tuning results are displayed. Write disabled.

REMARKS

Calculate the inertia reference of the SF-V5RU (H) using the moment of inertia J on page 196.

For details of easy gain tuning, refer to the Instruction Manual (basic) for details.

Related parameters

• Pr. 820 "speed control P gain 1" (Refer to page 175.)

• Pr. 821 "speed control integral time 1" (Refer to page 175.)

• Pr. 830 "speed control P gain 2" (Refer to page 175.)

• Pr. 831 "speed control integral time 2" (Refer to page 175.)

Torque control

2.4 Torque control

2.4.1 Outline of torque control

The basics of torque control are explained in the Instruction Manual (basic).

Set any of "1 (torque control), 2 (speed-torque switchover), 5 (position-torque switchover)" in Pr. 800 "control system selection" to make torque control valid. (The parameter is factory-set to enable speed control.) (Refer to page 169.)

Set the motor. (Refer to the Instruction Manual (basic).)

Set the torque command. (terminal 3) When using the parameter or communication to input the torque command, refer to Pr. 804 "torque command source selection" (page 171). When giving the torque command from the option (FR-A5NC, FR-V5AH, FR-A5AX, FR-V5AP), refer to the instruction manual of the corresponding option.

Set the speed limit value. (Refer to the Instruction Manual (basic))

Test run

Set online auto tuning (adaptive magnetic flux observer) as required.

Refer to the Instruction Manual (basic) for the details of connection diagram, test run, and online auto tuning.

VECTOR CONTROL

Fine adjustment for torque control

2.5 Fine adjustment for torque control

Current loop gain parameter for adjusting torque control operation state is available with the FR-V500 series. Stable operation is possible with the factory-set parameter. Refer to the next page and adjust the parameters when torque pulsation or any other unfavorable phenomenon occurs depending on the machine and operating conditions or when you want to exhibit the best performance that matches the machine.

2.5.1 Control block diagram

Speed feedback < speed limit value

detection filter

OFF

Torque

Pr.827 Pr.837

Torque

control

p gain 1

Pr. 824

Torque

control

p gain 2

Pr. 834

Torque control

integral time 1

Pr. 825

Torque control

integral time 2

Pr. 835

OFF

Encoder

Terminal

Parameter

FR-V5AP

Pulse train option

Torque setting filter

Pr.826

Pr.836

OFF

Pr.805 torque command source/RAM

Pr.806 torque command source /E PROM

Torque command source selection

Pr.804

Pr. 904, torque command terminal 3 bias

Pr. 905, torque command terminal 3 gain

Constant power

range torque characteristic

selection

Pr.803

FR-A5NC option

FR-A5AX FR-V5AH digital input option

Terminal

REX

Pr.902 speed setting terminal 2 bias Pr.903 speed setting terminal 2 gain

OFF ON

Pr.432 pulse train torque command bias

Pr.433 pulse train torque command gain

Pr.805 torque

Pr.806 torque

command source command source

Pr.447 digital torque command bias

Pr.448 digital torque command gain

speed limit selection

Pr. 807

Pr. 917 terminal 1 bias

Pr. 918 terminal 1 gain

Speed

setting filter

Pr.822 Pr.832

Pr. 808 forward rotation speed limit

Pr. 809 reverse rotation speed limit

Speed limit direct setting

External

Pr.79

PU/external

/RAM

/E PROM

Max./min. speed

Pr.1

Pr.2

processing

Pr.7, Pr.8 Pr.44, Pr.45 RT ON Pr.110, Pr.111 X9 ON Pr.16 Jog acceleration/ deceleration

Acc/dec

Speed control

Speed feedback speed limit value

Pr.29, Pr.20, Pr.21 Pr.140 to Pr.143 Pr.380 to Pr.383

Gain adjustment for torque control

2.6 Gain adjustment for torque control

When exercising torque control, do not perform easy gain tuning. Easy gain tuning produces no effects. If torque accuracy is necessary, perform online auto tuning. (Refer to the Instruction Manual (basic).)

2.6.1 Concept of torque control gains

(1) Torque control P gain 1

2000rad/s when Pr. 824 = 100% (factory setting).

(2) Torque control integral time 1

Pr. 825 = 5ms (factory setting)

2.6.2 Gain adjustment procedure

Refer to the following table for manual input gain adjustment.

CAUTION

Normally, the current loop gains in Pr. 824 and Pr. 825 need not be changed. Fully note that unnecessarily changing the settings of the current loop gains will result in unstable phenomena and/or reduced response level.

z Manual input gain adjustment

Pr. 824 "torque control P gain 1", Pr. 834 "torque control P gain 2" Pr. 825 "torque control integral time 1", Pr. 835 "torque control integral time 2"

Make adjustment when any of such phenomena as unusual machine vibration/noise and overcurrent has occurred. (1) First check the conditions and simultaneously change Pr. 824 "torque control P gain 1" value. (2) If you cannot make proper adjustment, change Pr. 825 "torque control integral time 1" value and repeat step (1).

CAUTION

Pr. 834 "torque control P gain 2" and Pr. 835 "torque control integral time 2" are made valid when the RT terminal is switched on. Make adjustments in the same way as Pr. 824 and Pr. 825.

No.

Phenomenon/Condition

• Unusual noise

generated from motor

• Unusual current flows

2 Overcurrent occurs.

Set Pr. 824 a little lower and Pr. 825 a little higher. First lower Pr. 824 and check the motor for unusual vibration/noise and overcurrent. If the problem still persists, increase Pr. 825.

Decrease the value 10% by 10% until just before the phenomenon on the left is

Pr. 824

Pr. 825

Set Pr. 824 a little lower and Pr. 825 a little higher. First lower Pr. 824 and check the motor for unusual vibration/noise and overcurrent. If the problem still persists, increase Pr. 825.

Pr. 824

Pr. 825

improved, and set about 0.8 to 0.9 of that value. Note that a too low value will produce current ripples, causing the motor to generate sound synchronizing the cycle of current ripples.

Double the value until just before the phenomenon on the left is improved, and set about 0.8 to 0.9 of that value. Note that a too high value will produce current ripples, causing the motor to generate sound synchronizing the cycle of current ripples.

Decrease the value 10% by 10% until just before an overcurrent does not occur, and set about 0.8 to 0.9 of that value.

Double the value until just before the phenomenon on the left is improved, and set about 0.8 to 0.9 of that value.

Adjustment Method

VECTOR CONTROL

Gain adjustment for torque control

2.6.3 Troubleshooting

Phenomenon Cause Corrective Action

Torque control is not exercised normally.

When the torque command is small, the

motor rotates in the direction opposite to the start signal.

Normal torque control cannot be exercised during acceleration/

deceleration. The motor vibrates.

Output torque is not linear

in response to the torque command.

(1) The phase sequence of the

motor or encoder wiring is wrong.

(2) The control mode selection, Pr.

800, setting is improper.

(3) The speed limit value is not

input.

(4) The torque command varies. (4) Check that the command device gives a correct

(5) Torque variation due to the

change in the motor temperature.

(6) The torque command does not

match the inverter-recognized value.

The offset calibration of the torque command does not match.

Since the speed limit value changes with the setting of the acceleration/deceleration time in Pr. 7, Pr. 8, the speed limit may be activated. (When the speed limit is activated, torque control cannot be exercised.)

Insufficient torque. Return the excitation ratio to the factory setting.

(1) Check the wiring. (Refer to the Instruction Manual

(basic).)

(2) Check the Pr. 800 setting. (The factory setting is

speed control)

(3) Set the speed limit value. (If the speed limit value

is not input, the motor will not rotate since the speed limit value is regarded as 0r/min.)

torque command.

 Decrease the PWM carrier frequency in Pr. 72.  Increase the torque setting filter in Pr. 826.

(5) Set the adaptive magnetic flux observer in Pr. 95.

(6) Recalibrate the torque command bias and gain in

Pr. 904 and Pr. 905.

Recalibrate the torque command bias in Pr. 904.

Reduce the acceleration/deceleration time. Alternatively, set the acceleration/deceleration time to

0. (Speed limit during acceleration/deceleration is speed limit during constant speed)

Related parameter reference pages

• Pr. 7 "acceleration time" (Refer to page 78.)

• Pr. 8 "deceleration time" (Refer to page 78.)

• Pr. 800 "control system selection" (Refer to page 169.)

• Pr. 802 "pre-excitation selection"

• Pr. 810 "torque limit input method selection" (Refer to page 87.)

• Pr. 826 "torque setting filter 1" (Refer to page 176.)

• Pr. 904 "torque command terminal 3 bias" (Refer to page 190.)

• Pr. 905 "torque command terminal 3 gain" (Refer to page 190.)

(Refer to page 82.)

For online auto tuning, refer to the Instruction Manual (basic)

Position control (Pr. 419 to Pr. 430,

2.7 Position control (Pr. 419 to Pr. 430, Pr. 464 to Pr. 494)

2.7.1 Connection diagram

(Dedicated Motor: SF-V5RU)

Verify the power specification of the motor cooling fan when performing wiring.

(Refer to page 196)(Refer to page 196)

Avoid frequent ON-OFF. Repeated inrush currents at power-on will shorten the converter life. (Switching life is 100,000)

Terminals DI1 to DI4 and STR vary in function with the input terminal function selection (Pr. 180 to Pr. 183, Pr. 187) settings.

Conditional position feed by contact input

Three-phase AC power supply

Take care not to short terminals PC-SD.

Control input signals (no voltage input allowed)

MCCB MC

External transistor common 24VDC power supply

Contact input common (source)

Forward rotation start Reverse rotation start Reset

Digital input signal 4

Torque limit command

Position command by pulse train input

STOP

RDY COM

(Positioning module)

QD75

MELSEC-Q

PGO 24

PGO COM

CLEAR

CLEAR COM

PULSE F

PULSE R

FLS RLS

DOG

COM

RDY

MCCB

OCR

Vector inverter

(FR-V500)

Earth (Ground)

(Refer to page 16)

PAR

STF STR

RES DI1(RL)

DI2(RM)

PBR

PZR

PG SD

DI3(RH)

DI4(RT)

Contact

input

common

SINK

SOURCE

10E(+10V)

1( 10V)

3( 10V)

(0 to +10V)

5(Common)

PGP DGN SD

VDD

RDY VDD OP CR SD OPC

DO1

DO2

DO3

12V

24V EXT

Differential

Jumper (When using the FR-HEL/BEL, remove this jumper.)

(RUN)

Any of three different

(SU)

signals can be selected using the parameter.

(IPF)

(Open collector output)

DA1

DA2

Jumper (Remove this jumper when using the FR-ABR.)

Terminal PX is provided for the 5.5K or less.

Open collector output common

Alarm output (Contact output)

PP PGP NP

Complimentary

PGN

(FR-V5AP)

(Analog output common)

Match phase sequence. (Fan should have intake rotation.)

Match phase sequence.

Thermal protector

REMARKS

When the motor used is not the Mitsubishi standard motor, the pin numbers are different.

The N pin of the encoder designed for Mitsubishi standard motor is case-earthed.

FR-HEL/BEL DC reactor (option)

FR-ABR high-duty brake resistor (option)

load impedance of 10k Ω or more

(+)

10V 12 bits 1ch

(+)

0 to 10V 12 bits 1ch

(-)

Pr. 464 to Pr. 494)

FAN

When using the motor not equipped with a thermal protector, set Pr. 9 and set "0" in Pr. 876

Encoder

Across terminals P and PR, connect only the optional, recommended brake resistor. In addition, never short these terminals. Terminal PR is provided for the 15K or less.

Terminals DO1 to DO3 and ABC vary in function with the output terminal function selection (Pr. 190 to Pr. 192, Pr. 195) settings.

Analog signal output

Main circuit terminal

Control circuit terminal

REMARKS

Refer to the Instruction Manual (basic) for the terminal function change when the mode has been changed to the position control mode.

VECTOR CONTROL

Position control (Pr. 419 to Pr. 430,

Pr. 464 to Pr. 494)

This inverter is allowed to perform position control by setting conditional position feed by contact input or the position control option (FR-V5AP, FR-V5NS). And the position loop gain that adjusts this position control status is provided for the inverter. It is not used independently but is used with the speed loop parameter to determine the value. Therefore, first adjust the speed loop gain and then adjust the position loop gain parameter.

2.7.2 Position control step

• Conditional position command by parameter setting

• Position command from the PLC

• Position command from the motion controller (SSCNET)

Set Pr. 419 "position command source selection" (Refer to page 58.)

Set parameters for position feed data setting (Pr. 465 to Pr. 494). (Refer to page 59.)

Test ru n

As required

1. Set the electronic gear. (Refer to page 60.)

2. Set Pr. 426 "in-position width". (Refer to page 62.)

3. Pr. 427 "excessive level error" (Refer to page 62.)

4. Pr. 430 "pulse monitor selection" (Refer to page 62.)

5. Perform gain adjustment. (Refer to page 62.)

Fit the FR-V5AP (option) and refer to the instruction manual of the FR-V5AP.

Fit the FR-V5NS (option) and refer to the instruction manual of the FR-V5NS.

2.7.3 Control block diagram

Position control (Pr. 419 to Pr. 430,

Pr. 464 to Pr. 494)

REX

STF

STR

Command pulse

Pr.4 to 6

Pr.24 to 27

Pr.232 to 239

Command pulse selection

Positioning option

Pr.465 to Pr.494 Travel

Pr.7 Pr.8

(Pr.44, Pr.110)(Pr.45, Pr.111)

Pr.428

Position command

source selection

Multispeed communication

Pr.419

Position command

Electronic

gear

Pr.420 Pr.421

acceleration/ deceleration

time constant

Pr.424

Position feed

forward

command filter

Pr.425

Deviation

counter

Pr.429

Clear signal

selection

Position feed

forward gain

Pr.423

Position

loop gain

Pr.422

Differentiation

Speed

control

2.7.4 Parameter

Set the following parameters when exercising position control with the inverter.

Parameter Name

419

420

421

Position command source selection

Command pulse scaling factor numerator

Command pulse scaling factor denominator

Factory

Setting

0 0, 1 Set position command input. 58

1 0 to 32767

422 Position loop gain 25

423 Position feed forward gain 0% 0 to 100%

424

425

Position command acceleration/ deceleration time constant

Position feed forward command filter

0s 0 to 50s 61

0s 0 to 5s

426 In-position width 100 pulses

427 Excessive level error 40K

430 Pulse monitor selection 9999 0 to 5, 9999 Display the number of pulses. 62

464

Digital position control sudden stop deceleration time

0 0 to 360.0s 60

Setting

Range

0 to 150s

-1

0 to 32767

pulses

0 to 400K,

9999

Description

Set the electronic gear. 60

Set the gain of the position loop. 62

Function to cancel a delay caused by the droop pulses of the deviation counter.

Enter the primary delay filter in response to the feed forward command.

The in-position signal turns on when the droop pulses become less than the setting.

An error becomes excessive when the droop pulses exceed the setting.

Encoder

Refer

VECTOR CONTROL

Position control (Pr. 419 to Pr. 430,

Pr. 464 to Pr. 494)

(1) Position command source selection (Pr. 419)

Pr. 419 Setting Description

(factory setting)

(2) Operation

The speed command given to rotate the motor is calculated to zero the difference between the number of internal command pulse train pulses (when Pr. 419 = 0, the number of pulses set by parameter (Pr. 465 to Pr.

494) is changed to the command pulses in the inverter) and the number of pulses fed back from the motor end encoder.

1) When a pulse train is input, pulses are accumulated in the deviation counter and these droop pulses act as position control pulses to give the speed command.

2) As soon as the motor starts running under the speed command of the inverter, the encoder generates feed back pulses and the droop of the deviation counter is counted down. The deviation counter maintains a given droop pulse value to keep the motor running.

3) When the command pulse input stops, the droop pulses of the deviation counter decrease, reducing the speed. The motor stops when there are no droop pulses.

4) When the number of droop pulses has fallen below the value set in Pr.426 (in-position width), it is regarded as completion of positioning and the in-position signal (Y36) turns on.

Position control function by contact input. (using parameters)

Position command by pulse train input (when the FR-V5AP is fitted). (Refer to the instruction manual of the option for details.)

Droop pulse value

Motor speed

[r/min]

Pulse train Rough Fine Rough

LX signal Servo on

STF (STR) Forward (reverse)

Y36 signal in-position signal

frequency

Command pulse

[PPS]

Acceleration

Pulse distribution

Time Deceleration

Motor speed

Stop settling time

• For position control function by contact input, the STF and STR terminals provide the forward (reverse) command signal. The motor can run only in the direction where the forward (reverse) signal is on.

• Opening STF-SD disables the forward rotation, and opening STR-SD disables the reverse rotation.

• The pulse train is rough during acceleration and fine at the maximum speed. During deceleration the pulse train is rough and at last there are no pulses. The motor stops shortly after the command pulses stop. This time lag is necessary for maintaining the stop accuracy and called stop setting time.

Related parameters

• Servo on signal (LX) ⇒ Set "23" in any of Pr. 180 to Pr. 183 and Pr. 187 (input terminal function selection). (Refer to page 150.)

• In-position signal (Y36)

⇒

Set "36" in any of Pr.190 to Pr.192 and Pr.195 (output terminal function selection). (Refer to page 152.)

Position control (Pr. 419 to Pr. 430,

Pr. 464 to Pr. 494)

2.7.5 Conditional position feed function by contact input (Pr. 419 = 0)

Inputting the number of pulses (positions) in the parameters and setting multi-speed and forward (reverse) commands enable position control during servo operation. This position feed function does not return to the home position.

(1) Setting position command using parameters

Set position command using any two of Pr. 465 to Pr. 494 (position feed amount). Resolution of encoder × speed × 4

(When stopping the motor after 100 rotations using the SF-V5RU) 2048 (pulse/rev) × 100 (speed) × 4 = 819200 (feed amount)

Setting the first amount 819200

Pr. 466 (upper digits)=

0081

• Factory setting : 0

• Setting range : 0 to 9999

• Minimum setting range : 1

Parameter

465 466 (upper digits) 467 468 (upper digits) 469 470 (upper digits) 471 472 (upper digits) 473 474 (upper digits) 475 476 (upper digits) 477 478 (upper digits) 479 480 (upper digits) 481 482 (upper digits) 483 484 (upper digits) 485 486 (upper digits) 487 488 (upper digits) 489 490 (upper digits) 491 492 (upper digits) 493 494 (upper digits)

First position feed amount

Second position feed amount

Third position feed amount

Fourth position feed amount

Fifth position feed amount

Sixth position feed amount

Seventh position feed amount

Eighth position feed amount

Ninth position feed amount

Tenth position feed amount

Eleventh position feed amount

Twelfth position feed amount

Thirteenth position feed amount

Fourteenth position feed amount

Fifteenth position feed amount

Name

(lower digits)

Pr. 465 (lower digits)=

Selection Method

REX

OFF ON OFF OFF High speed, Pr. 4

OFF OFF ON OFF Middle speed, Pr. 5

OFF OFF OFF ON Low speed, Pr. 6

OFF OFF ON ON Speed 4, Pr. 24

OFF ON OFF ON Speed 5, Pr. 25

OFF ON ON OFF Speed 6, Pr. 26

OFF ON ON ON Speed 7, Pr. 27

ON OFF OFF OFF Speed 8, Pr. 232

ON OFF OFF ON Speed 9, Pr. 233

ON OFF ON OFF Speed 10, Pr. 234

ON OFF ON ON Speed 11, Pr. 235

ON ON OFF OFF Speed 12, Pr. 236

ON ON OFF ON Speed 13, Pr. 237

ON ON ON OFF Speed 14, Pr. 238

ON ON ON ON Speed 15, Pr. 239

92 00

RH RM RL

(decimal numeration)

Position Feed

Speed

VECTOR CONTROL

Position control (Pr. 419 to Pr. 430,

Pr. 464 to Pr. 494)

(2) Operation by position command using parameters

Speed

Servo on (LX)

Pr.7

(Pr. 44, Pr. 110)

Feed speed Pr.4

Pr.8

(Pr. 45, Pr. 111)

Shaded part is the travel Feed amount pulses

Pr.466 10000 Pr.465

Pr.5

Sudden stop when STF turns off

Pr. 464

STF

STR

In-position

Position feed is effected by sending run command by contact input.

• Acceleration/deceleration time is 0.1s minimum and 360s maximum.

• Acceleration/deceleration reference speed (Pr. 20) is clamped at a minimum of 500r/min.

• Deceleration time can be set in Pr. 464 "digital position control sudden stop deceleration time".

• At this time, the acceleration/deceleration patterns are all linear acceleration and the setting of Pr. 29 "acceleration/deceleration pattern" is invalid. (Refer to page 89 for Pr. 29.)

CAUTION Information on multi-speed command (position command) is determined at rising of the forward (reverse) command to perform position control. Therefore, set forward (reverse) command after multi-speed command (position command). Position feed is invalid if the multi-speed command is given after forward (reverse) command.

2.7.6 Setting the electronic gear

Adjust the ratio of the machine side gear and the motor side gear.

The position resolution (travel per pulse feedback pulses Pf [pulse/rev] of the detector, and is represented by the following expression.

Δ [mm]) is determined by the travel per motor revolution Δ s [mm] and the

:Travel per pulse [mm]

:Travel per motor revolution [mm] :Number of feedback pulses [pulse/rev]

(the number of pulses after multiplying the number of encoder pulses by 4)

Using the parameters, the travel per command pulse can be set separately to set the travel per command pulse without a fraction.

Pr. 420

Pr. 421

The relationship between the motor speed and internal command pulse frequency is as follows.

Pr. 420

Pr. 421

= Pf

No 60

fo: Internal command pulse frequency [pps] No:Motor speed [r/min]

CAUTION Set the electronic gear in the range of 1/50 to 20. For products manufactured in July 2003 and thereafter, the electronic gear will function within the range of 1/900 to 900. However, it is recommended to use the electronic gear within the range of 1/50 to 20. Note that too small a value will decrease the speed command and too large a value will increase the speed ripples. Check the rating plate for the month when the inverter was manufactured. (Refer to page

220.)

Position control (Pr. 419 to Pr. 430,

Pr. 464 to Pr. 494)

"Setting example 1" The travel per pulse is

reduction ratio 1/n = 1 and the electronic gear ratio is 4000 (pulse/rev). According to the following expression,

Pr. 420 Pr. 421

Therefore, set "4" in Pr. 420 and "1" in Pr. 421.

"Setting example 2" Find the internal command pulse frequency of the dedicated motor rated speed. Note that the command pulse scaling factor Pr. 420/Pr. 421 = 1.

Assuming that the number of encoder pulses is 2048 (pulses/rev) (feedback pulse Pf = 2048 × 4),

2048

204800

Therefore, the internal command pulse frequency is 204800 (pps).

0.01

Δ = 0.01 (mm) in a drive system where the ballscrew pitch PB = 10 (mm) and the

Δs = 10 (mm) when the number of feedback pulses Pf =

Pr. 420 Pr. 421

4000

Pr. 421 Pr. 420

4 1

<Relationship between position resolution Δ and overall accuracy> Since overall accuracy (positioning accuracy of machine) is the sum of electrical error and mechanical error, normally take measures to prevent the electrical system error from affecting the overall error. As a guideline, refer to the following relationship.

<Stopping characteristic of motor> When parameters are used to run the motor, the command pulse frequency and motor speed have the relationship as shown in the chart on page 58, and as the motor speed decreases, pulses are accumulated in the deviation counter of the inverter. These pulses are called droop pulses ( (fo) and position loop gain (Kp: Pr. 422) is as represented by the following expression.

[pulse]

When the factory setting of Kp is 25s

Since the inverter has droop pulses during running, a stop settling time (ts) is needed from when the command has zeroed until the motor stops. Set the operation pattern in consideration of the stop settling time.

[s]

When the factory setting of Kp is 25s

204800

: Positioning accurac

ε) and the relationship between command frequency

[pulse] (motor rated speed)

-1

, the droop pulses (ε) are 8192 pulses.

-1

, the stop settling time (ts) is 0.12s.

The positioning accuracy

Δ ε is (5 to 10) × Δ = Δ ε [mm]

z Position command acceleration/deceleration time constant (Pr. 424)

1) When the electronic gear ratio is large (about 10 or more times) and the speed is low, rotation will not be smooth, resulting in pulse-wise rotation. At such a time, set this parameter to smooth the rotation.

2) When acceleration/deceleration time cannot be provided for the command pulses, a sudden change in command pulse frequency may cause an overshoot or error excess alarm. At such a time, set this parameter to provide acceleration/deceleration time. Normally set 0.

VECTOR CONTROL

Position control (Pr. 419 to Pr. 430,

Pr. 464 to Pr. 494)

2.7.7 In-position width (Pr. 426)

The Y36 terminal signal acts as an in-position signal. The in-position signal turns on when the number of droop pulses becomes less than the setting.

2.7.8 Excessive level error (Pr. 427)

A position error becomes excessive when the droop pulses exceed the Pr. 427 setting. Error (E.OD) is displayed and the motor stops. When you decreased the position loop gain (Pr. 422) setting, increase the error excessive level setting. Also decrease the setting when you want to detect an error slightly earlier under large load. When Pr. 472="9999", an excessive position error (E.OD) is not output regardless of the droop pulses.

Parameter Name Factory Setting Setting Range Remarks

427 Excessive level error 40 0 to 400, 9999 9999: function invalid

2.7.9 Pulse monitor selection (Pr. 430)

The states of various pulses during operation are displayed in terms of the number of pulses. Set "6" in Pr. 52 "DU/PU main display data selection" to display output frequency monitor.

Pr. 430 Description

0 1 Upper 4 digits Upper 5 digits 2 3 Upper 4 digits Upper 5 digits 4 5 Upper 4 digits Upper 5 digits

9999 The frequency monitor is displayed. (factory setting)

The cumulative command pulse value is displayed.

The cumulative feedback pulse value is displayed.

The droop pulses are monitored.

Display Range

(FR-DU04

Lower 4 digits Lower 5 digits

-1)

Display Range

(FR-PU04V)

REMARKS

• Count the number of pulses when the servo is on.

• The cumulative pulse value is cleared when the base is shut off or the clear signal is turned on.

Related parameters

Pr. 52 "DU/PU main display data selection" (Refer to page 97.)

2.7.10 Concept of position control gains

Easy gain tuning is available as an easy tuning method. For easy gain tuning, refer to the Instruction Manual (basic). If it does not produce any effect, make fine adjustment by using the following parameters. Set "0" in Pr. 819 "easy gain tuning" before setting the parameters below.

(1) Pr. 422 "position loop gain" (factory setting 25s-1)

Make adjustment when any of such phenomena as unusual vibration, noise and overcurrent of the motor/ machine occurs. Increasing the setting improves trackability for the position command and also improves servo rigidity at a stop, but oppositely makes an overshoot and vibration more liable to occur. Normally set this parameter within the range about 5 to 50.

No.

Phenomenon/Condition

1 Slow response

Overshoot, stop-time vibration or other

instable phenomenon occurs.

(2) Pr. 423 "position feed forward gain" (factory setting 0)

This function is designed to cancel a delay caused by the droop pulses of the deviation counter. When a tracking delay for command pulses poses a problem, increase the setting gradually and use this parameter within the range where an overshoot or vibration will not occur. This function has no effects on servo rigidity at a stop. Normally set this parameter to 0.

Adjustment Method

Increase the Pr. 422 value.

-1

Pr. 422

Decrease the Pr. 422 value.

Pr. 824

Increase the value 3s or other instable phenomenon occurs, and set about 0.8 to 0.9 of that value.

Decrease the value 3s or other instable phenomenon occurs, and set about 0.8 to 0.9 of that value.

by 3s-1 until just before an overshoot, stop-time vibration

-1

by 3s-1 until just before an overshoot, stop-time vibration

2.7.11 Troubleshooting

Phenomenon Cause Corrective Action

1 Motor does not rotate. (1) The phase sequence of the

motor or encoder wiring is wrong.

(2) The control mode selection, Pr.

800, setting is improper.

(3) The servo on signal or start

signal (STF, STR) is not input.

(4) The command pulses are not

input correctly. (FR-V5AP)

(5) The position command source

selection, Pr. 419, setting is not correct.

(6) When the position command

source selection, Pr. 419, setting is 0, the position feed amount, Pr. 465 to Pr. 494, settings are not correct.

2 Position shift occurs. (1) The command pulses are not

input correctly.

(2) The command is affected by

noise or the encoder feedback is compounded with noise.

3 Motor or machine

hunts.

4 Machine operation is

unstable.

(1) The position loop gain is high. (1) Decrease Pr. 422. (2) The speed loop gain is high. (2)-1 Perform easy gain tuning.

(1) The acceleration/deceleration

time setting has adverse effect.

Position control (Pr. 419 to Pr. 430,

Pr. 464 to Pr. 494)

(1) Check the wiring. (Refer to page 55)

(2) Check the Pr. 800 setting. (Factory setting is speed

control)

(3) Check that the signals are input normally.

(4)-1 Check that the command pulses are input

normally. (Check the cumulative command pulse value in Pr. 430.)

(4)-2 Check the command pulse form and command

pulse selection, Pr. 428, setting.

(5) Check the position command source selection in

Pr. 419.

(6) Check the position feed amounts in Pr. 465 to Pr. 494.

(1)-1 Check the command pulse form and command

pulse selection, Pr. 428, setting.

(1)-2 Check that the command pulses are input

normally. (Check the cumulative command pulse value in Pr. 430.)

(2)-1 Decrease the PWM carrier frequency in Pr. 72. (2)-2 Change the shielded cable earthing (grounding)

place or raise the cable.

(2)-2 Decrease Pr. 820 and increase Pr. 821. (1) Decrease Pr. 7 and Pr. 8.

Related parameter reference pages

• Pr. 800 "control system selection" (Refer to page 169.)

• Pr. 802 "pre-excitation selection" (Refer to page 82.)

• Pr. 820 "speed control P gain 1" (Refer to page 175.)

• Pr. 7 "acceleration time" (Refer to page 78.)

• Pr. 8 "deceleration time" (Refer to page 78.)

• Pr. 72 "PWM frequency selection" (Refer to page 112.)

• Pr. 821 "speed control integral time 1" (Refer to page 175.)

VECTOR CONTROL

Position control (Pr. 419 to Pr. 430,

Pr. 464 to Pr. 494)

2.7.12 Position control is not exercised normally

(1) Position control

Position control is not exercised normally.

Have you checked the speed control items?

Does a position shift occur?

Is the motor or machine hunting?

Check the speed control techniques.

Have you made the electronic gear setting?

Has the forward (reverse) rotation stroke end signal turned off before completion of positioning?

Is the position loop gain (Pr. 422) high?

Set the electronic gear (Pr. 420, Pr. 421).

Do not turn off the forward (reverse) rotation stroke end signal before completion of positioning.

Perform easy gain tuning. The speed control gain is high. Decrease the speed control P gain (Pr. 820). Increase the speed control integral time (Pr. 821).

Is machine operation unstable?

Please contact your sales representative.

Decrease the position loop gain (Pr. 422).

Torque is insufficient. Increase the excitation ratio (Pr. 854).

REMARKS

The speed command of position control relates to speed control. Refer to the Instruction Manual (basic) for details.

PARAMETERS

This chapter explains the "parameters" for use of this product. Always read the instructions and other information before using the equipment.

The following marks indicate availability of parameters under each control.

speed

torque

position

: Available under speed control

: Available under torque control

: Available under position control

: Available under position control by parameter settings

Parameter list

3.1 Parameter list

The inverter is factory-set to display only the simple mode parameters. Set Pr. 160 "extended function selection" as required.

Parameter Name

160

Extended function selection

Factory

Setting

Range

Remarks

0 Accessible to only the simple mode parameters. 1 Accessible to all parameters.

CAUTION

• The blacked out parameters in the table below indicate simple mode parameters.

• The shaded parameters in the table allow its setting to be changed during operation even if "0" (factory setting) is set in Pr. 77 (parameter write disable selection).

• *: Accessible when Pr. 77 = 801.

Function

Basic functions

Standard operation functions

Operation selection functions

Parameter

No.

Name Setting Range

0 Torque boost (manual)

1 Maximum speed 2 Minimum speed

3 Base frequency

4 Multi-speed setting (high speed) 5 Multi-speed setting (middle speed) 6 Multi-speed setting (low speed)

7 Acceleration time

8 Deceleration time

9 Electronic thermal O/L relay

10 DC injection brake operation speed

11 DC injection brake operation time

12 DC injection brake voltage

13 Starting speed 15 Jog speed setting

16 Jog acceleration/deceleration time

17 MRS input selection

19 Base frequency voltage

Acceleration/deceleration reference

speed 21 Acceleration/deceleration time increments 22 Torque limit level

24 Multi-speed setting (speed 4)

25 Multi-speed setting (speed 5)

26 Multi-speed setting (speed 6)

27 Multi-speed setting (speed 7)

28 Multi-speed input compensation 29 Acceleration/deceleration pattern 30 Regenerative function selection

31 Speed jump 1A

32 Speed jump 1B

Minimum

Setting

Increments

0 to 30% 0.1%

0 to 3600r/min 1r/min 1500r/min 76

0 to 3600r/min 1r/min 0r/min 76

10 to 200Hz 0.01Hz 60Hz 77

0 to 3600r/min 1r/min 1500r/min 77

0 to 3600r/min 1r/min 750r/min 77

0 to 3600r/min 1r/min 150r/min 77

0 to 3600s/0 to 360s

0 to 500A 0.01A 0A 80 0 to 1500r/min,

9999 0 to 0.5s 0.1s 0.5s 82

0 to 30% 0.1%

0 to 1500r/min 0.1r/min 15r/min 84

0 to 1500r/min 0.1r/min 150r/min 85 0 to 3600s/0 to

360s 0, 2 1 0 86 0 to 1000V, 8888,

9999

1 to 3600r/min 1r/min 1500r/min 78

0, 1 1 0 78

0 to 400% 0.1% 150% 87 0 to 3600r/min,

9999 0 to 3600r/min,

9999 0, 1 1 0 88

0, 1, 2, 3, 4 1 0 89

0, 1, 2 1 0 92 0 to 3600r/min,

9999 0 to 3600r/min,

9999

0.1s/0.01s

0.1r/min 15r/min 82

0.1s/0.01s 0.5s 85

0.1V 9999 77

1r/min 9999 77

1r/min 9999 93

Factory Setting

4%/3%/2%

(3.7K or less/

5.5K, 7.5K/

11K or m o re)

5s/15s (1.5K to 5.5K /7.5K to 55K)

4%/2% (7.5K or less/ 11K or m o re)

Refer

Custo

Setting

mer

Parameter list

Function

Operation selection functions

Display function

Output terminal functions

Second functions

Output terminal function

Display functions

Automatic restart

Additional function

Operation selection functions

Motor constants

Third functions

Parameter

No.

Name Setting Range

33 Speed jump 2A

34 Speed jump 2B

35 Speed jump 3A

36 Speed jump 3B

37 Speed display

41 Up-to-speed sensitivity 42 Speed detection

43 Speed detection for reverse rotation

44 Second acceleration/deceleration time

45 Second deceleration time

50 Second speed detection

52 DU/PU main display data selection

53 PU level display data selection

54 DA1 terminal function selection

55 Speed monitoring reference

56 Current monitoring reference

57 Restart coasting time 58 Restart cushion time

59 Remote setting function selection

60 Intelligent mode selection 65 Retry selection

67 Number of retries at alarm occurrence

68 Retry waiting time 69 Retry count display erasure

70 Special regenerative brake duty

71 Applied motor

72 PWM frequency selection

73 Speed setting signal

Reset selection/disconnected PU

detection/PU stop selection

77 Parameter write disable selection

78 Reverse rotation prevention selection

79 Operation mode selection

80 Motor capacity 81 Number of motor poles 82 Motor excitation current (no load current) *

83 Rated motor voltage

84 Rated motor frequency 90 Motor constant R1 * 91 Motor constant R2 * 92 Motor constant L1 * 93 Motor constant L2 * 94 Motor constant X *

95 Online auto tuning selection

96 Auto tuning setting/status

110 Third acceleration/deceleration time

111 Third deceleration time

Minimum

Setting

Increments

0 to 3600r/min, 9999

0, 1 to 9998 1 0 93

0 to 100% 0.1% 10% 95

0 to 3600r/min 1r/min 300r/min 95 0 to 3600r/min,

9999 0 to 3600s/0 to

360s 0 to 3600s/0 to

360s, 9999

0 to 3600r/min 1r/min 750r/min 95

0, 5 to 12, 17 to 20, 23, 24, 32 to 35, 38, 100

0 to 3, 5 to 12, 17, 18

1 to 3, 5 to 12, 17, 18, 21, 32 to 34, 36

0 to 3600r/min 1r/min 1500r/min 100

0 to 500A 0.01A

0, 0.1 to 5s, 9999 0.1s 9999 101

0 to 60s 0.1s 1.0s 101

0, 1, 2, 3 1 0 103

0, 7, 8 1 0 106

0 to 5 1 0 109 0 to 10, 101 to

110 0 to 10s 0.1s 1s 109

0 1 0 109 0 to 15%/0 to

30% 0, 3 to 8, 10, 13

to 18,20,23,24, 30, 33, 34

1 to 6 1 1 112

0, 4, 10, 14 1 0 113

0 to 3, 14 to 17 1 14 115

0, 1, 2 1 0 116

0, 1, 2 1 0 117

0 to 4, 6 to 8 1 0 117

0.4 to 55kW 0.01kW Inverter capacity 120

2, 4, 6 1 4 120

0 to , 9999 9999 123

0 to 1000V 0.1V

10 to 200Hz 0.01Hz 60Hz 120

0 to, 9999 9999 123

0 to , 9999 9999 123

0, 1, 2 1 0 126

0, 1, 101 1 0 120 0 to 3600/0 to

360s 0 to 3600/0 to

360s, 9999

1r/min 9999 93

1r/min 9999 95

0.1s/0.01s 5s 78

0.1s/0.01s 9999 78

1097

1197

1 0 109

0.1% 0% 92

130111

0.1s/0.01s 5s 78

0.1s/0.01s 9999 78

Factory Setting

Inverter rated

current

200V (200V class) /

400V (400V class)

Refer

100

120

Custo

mer

Setting

PARAMETERS

Parameter list

Function

Output terminal function

Communication

functions

PID control

Backlash

Display functions

Current detection

Sub functions

Display functions

Automatic restart after instantaneous power failure

Maintenance functions

Initial monitor

Te rm i na l assignment functions

Multi-speed operation

Parameter

No.

Name Setting Range

116 Third speed detection

117 Commucication station number 118 Communication speed 119 Stop bit length/data length 120 Parity check presence/absence 121 Number of communication retries 122 Communication check time interval 123 Waiting time setting 124 CR, LF selection 128 PID action selection

129 PID proportional band

130 PID integral time

131 Upper limit 132 Lower limit 133 PID action set point for PU operation 134 PID differential time 140 Backlash acceleration stopping speed 141 Backlash acceleration stopping time 142 Backlash deceleration stopping speed 143 Backlash deceleration stopping time 144 Speed setting switchover 145 Parameter for the option (FR-PU04V) 150 Output current detection level 151 Output current detection period 152 Zero current detection level 153 Zero current detection period 156 Stall prevention operation selection 157 OL signal output timer

158 DA2 terminal function selection

160 Extended function selection

Automatic restart after instantaneous

162

power failure selection

163 First cushion time for restart 164 First cushion voltage for restart 165 Restart current limit level 168

Maker setting parameters. Do not set.

169 171 Actual operation hour meter clear 180 DI1 terminal function selection 181 DI2 terminal function selection 182 DI3 terminal function selection 183 DI4 terminal function selection 187 STR terminal function selection

190 DO1 terminal function selection

191 DO2 terminal function selection

192 DO3 terminal function selection

195 A,B,C terminal function selection

232 Multi-speed setting (speed 8)

233 Multi-speed setting (speed 9)

234 Multi-speed setting (speed 10)

235 Multi-speed setting (speed 11)

236 Multi-speed setting (speed 12)

Minimum

Setting

Increments

0 to 3600r/min 1r/min 1500r/min 95

0 to 31 1 0 128

48, 96, 192 1 192 128

0, 1, 10, 11 1 1 128

0, 1, 2 1 2 128

0 to 10, 9999 1 1 128

0 to 999.8s, 9999 0.1s 0 128

0 to 150ms, 9999 1ms 9999 128

0, 1, 2 1 1 128

10, 11, 30, 31 1 10 139

0.1 to 1000%, 9999

0.1 to 3600s, 9999

0 to 100%, 9999 0.1% 9999 139

0 to 100% 0.01% 0% 139

0.01 to 10s, 9999 0.01s 9999 139

0 to 3600r/min 1r/min 30r/min 89

0 to 360s 0.1s 0.5s 89

0 to 3600r/min 1r/min 30r/min 89

0 to 360s 0.1s 0.5s 89

0, 2, 4, 6, 8, 10 1 0 93

0 to 200% 0.1% 150% 146

0 to 10s 0.1s 0 146

0 to 200.0% 0.1% 5.0% 147

0 to 1s 0.01s 0.5s 147

0 to 31, 100, 101 1 1 148

0 to 25s, 9999 0.1s 0 149 1 to 3, 5 to 12,

17, 18, 21, 32 to 34, 36

0, 1 1 0 150

0, 1, 10 1 0 101

0 to 20s 0.1s 0s 101

0 to 100% 0.1% 0% 101

0 to 200% 0.1% 150% 101

0 1 0 150

0 to 3, 5, 8 to 12,14 to 16, 20, 22 to 28, 42 to 44, 9999

0 to 8, 10 to 16, 20, 25 to 27, 30 to 37, 39, 40 to 44, 96 to 99, 100 to 108, 110 to 116, 120,125 to 127, 130 to 137, ,139, 140 to 144, 196 to 199, 9999

0 to 3600r/min, 9999

0.1% 100% 139

0.1s 1s 139

1197

1 9999

199

1r/min 9999 77

Factory Setting

Refer

150

152

Custo

mer

Setting

Parameter list

Function

Multi-speed operation

Sub functions

Stop selection function

Operation selection function

Additional functions

Power failure stop functions

Brake sequence

Droop

Additional function

Orientation

Control system function

S-pattern C

Orientation

Additional function

Parameter

No.

Name Setting Range

237 Multi-speed setting (speed 13)

238 Multi-speed setting (speed 14)

239 Multi-speed setting (speed 15)

240 Soft-PWM setting 244 Cooling fan operation selection

250 Stop selection

251 Output phase failure protection selection

252 Override bias 253 Override gain 261 Power failure stop selection 262 Subtracted speed at deceleration start

263 Subtraction starting speed

264 Power-failure deceleration time 1

265 Power-failure deceleration time 2

Power-failure deceleration time

266

switchover speed

278 Brake opening speed 279 Brake opening current 280 Brake opening current detection time 281 Brake operation time at start 282 Brake operation speed 283 Brake operation time at stop 284 Deceleration detection function selection

285 Overspeed detection speed

286 Droop gain 287 Droop filter time constant 288 Droop function activation selection

342

PROM write selection

350 Stop position command selection 351 Orientation switchover speed 356 Internal stop position command 357 In-position zone 360 External position command selection 361 Position shift 362 Orientation position loop gain

374 Overspeed detection level

380 Acceleration S pattern 1 381 Deceleration S pattern 1 382 Acceleration S pattern 2 383 Deceleration S pattern 2 393 Orientation selection 396 Orientation speed gain (P term) 397 Orientation speed integral time 398 Orientation speed gain (D term) 399 Orientation deceleration ratio

408 Motor thermistor selection

Minimum

Setting

Increments

0 to 3600r/min, 9999

0, 1, 10, 11 1 10 112

0, 1 1 0 154

0 to 100s, 9999 0.1s 9999 154

0, 1 1 1 155

0 to 200% 0.1% 50% 156

0 to 200% 0.1% 150% 156

0, 1 1 0 156

0 to 600r/min 1r/min 90r/min 156 0 to 3600r/min,

9999 0 to 3600/0 to

360s 0 to 3600/0 to

360s, 9999

0 to 3600r/min 1r/min 1500r/min 156

0 to 900r/min 1r/min 20r/min 106

0 to 200% 0.1% 130% 106

0 to 2s 0.1s 0.3s 106

0 to 5s 0.1s 0.3s 106

0 to 900r/min 1r/min 25r/min 106

0 to 5s 0.1s 0.3s 106

0, 1 1 0 106 0 to 900r/min,

9999 0 to 100.0% 0.01% 0% 158

0.00 to 1.00s 0.01s 0.3s 158

0, 1, 2 1 0 158

0, 1 1 0 128

0, 1, 2, 3, 9999 1 9999 159

0 to 1000r/min 1r/min 200r/min 159

0 to 16383 1 0 159

0 to 8192 1 11 159

0, 1, 2 to 127 1 0 159

0 to 16383 1 0 159

0.1 to 100 0.1 10 159

0 to 4200r/min 1r/min 3450r/min 166

0 to 50% 1% 0% 89

1, 2, 10, 11, 12 1 0 159

0 to 1000% 1 60% 159

0 to 20.0s 0.001 0.333 159

0 to 100.0% 0.1 1 159

0 to 1000 1 20 159

0, 1 1 0 212

1r/min 9999 77

1r/min 1500r/min 156

0.1s/0.01s 5s 156

0.1s/0.01s 9999 156

1r/min 9999 106

Factory Setting

Refer

Custo

mer

Setting

PARAMETERS

Parameter list

Function

Position control

Motor constants

Position control

Parameter

No.

Name Setting Range

419 Position command source selection 420 Command pulse scaling factor numerator

Command pulse scaling factor

421

denominator

422 Position loop gain 423 Position feed forward gain

Position command acceleration/

424

deceleration time constant

425 Position feed forward command filter 426 In-position width 427 Excessive level error 430 Pulse monitor selection 450 Second applied motor 451 Second motor control method selection 452 Second electronic thermal O/L relay 453 Second motor capacity 454 Number of second motor poles

Digital position control sudden stop

464

deceleration time

465 First position feed amount lower 4 digits 466 First position feed amount upper 4 digits

Second position feed amount lower 4

467

digits

Second position feed amount upper 4

468

digits

469 Third position feed amount lower 4 digits 470 Third position feed amount upper 4 digits 471 Fourth position feed amount lower 4 digits

Fourth position feed amount upper 4

472

digits

473 Fifth position feed amount lower 4 digits 474 Fifth position feed amount upper 4 digits 475 Sixth position feed amount lower 4 digits 476 Sixth position feed amount upper 4 digits

Seventh position feed amount lower 4

477

digits

Seventh position feed amount upper 4

478

digits

479 Eighth position feed amount lower 4 digits 480 Eighth position feed amount upper 4 digits 481 Ninth position feed amount lower 4 digits 482 Ninth position feed amount upper 4 digits 483 Tenth position feed amount lower 4 digits 484 Tenth position feed amount upper 4 digits

Eleventh position feed amount lower 4

485

digits

Eleventh position feed amount upper 4

486

digits

487

Twelfth position feed amount lower 4 digits

488

Twelfth position feed amount upper 4 digits

Thirteenth position feed amount lower 4

489

digits

Thirteenth position feed amount upper 4

490

digits

Fourteenth position feed amount lower 4

491

digits

Fourteenth position feed amount upper 4

492

digits

Fifteenth position feed amount lower 4

493

digits

Fifteenth position feed amount upper 4

494

digits

Minimum

Setting

Increments

0, 1 1 0 57

0 to 32767 1 1 57

-1

0 to 150s 0 to 100% 1% 0% 57

0 to 50s 0.001s 0s 57

0 to 5s 0.001s 0s 57

0 to 32767 pulses 1 pulse 100 pulses 57

0 to 400K, 9999 1K 40K 57

0 to 5, 9999 1 9999 57

0, 10, 30, 9999 1 9999 111

20, 9999 1 9999 169

0 to 500A, 9999 0.01A 9999 80

0.4 to 55kW 0.01kW Inverter capacity 38

2, 4, 6 1 4 38

0 to 360.0s 0.1s 0 57

0 to 9999 1 0 59

-1

Factory Setting

-1

25s

Refer

Custo

mer

Setting

Parameter list

Function

Remote output

Operation selection functions

Control system functions

Torque biases

Parameter

No.

Name Setting Range

495 Remote output selection 496 Remote output data 1 497 Remote output data 2 505 Speed setting reference

800 Control system selection

801 Torque characteristic selection 802 Pre-excitation selection

Constant power range torque

803

characteristic selection

804 Torque command source selection 805 Torque command source (RAM)

806

Torque command source (RAM, E2PROM)

807 Speed limit selection 808 Forward rotation speed limit

809 Reverse rotation speed limit

810 Torque restriction input method selection 811 Set resolution switchover 812 Torque limit level (regeneration) 813 Torque limit level (3 quadrant) 814 Torque limit level (4 quadrant) 815 Torque limit level 2 816 Acceleration torque limit level 817 Deceleration torque limit level

818 Easy gain tuning response level setting 819 Easy gain tuning selection

820 Speed control P gain 1 821 Speed control integral time 1 822 Speed setting filter 1 823 Speed detection filter 1 824 Torque control P gain 1 825 Torque control integral time 1 826 Torque setting filter 1 827 Torque detection filter 1 828 Model speed control gain 830 Speed control P gain 2 831 Speed control integral time 2 832 Speed setting filter 2 833 Speed detection filter 2 834 Torque control P gain 2 835 Torque control integral time 2 836 Torque setting filter 2 837 Torque detection filter 2 840 Torque bias selection

841 Torque bias 1

842 Torque bias 2

843 Torque bias 3

844 Torque bias filter 845 Torque bias operation time 846 Torque bias balance compensation 847 Fall-time torque bias terminal 3 bias 848 Fall-time torque bias terminal 3 gain

Minimum

Setting

Increments

0, 1 1 0 168

0 to 4095 1 0 168

1 to 3600r/min 1 1500r/min 93

0 to 5, 9, 20 1 0 169

0, 1 1 1 169

0, 1 1 0 82

0, 1 1 0 87

0 to 6 1 0 171

600 to 1400% 1% 1000% 171

0, 1, 2 1 0 173

0 to 3600r/min 1r/min 1500r/min 173 0 to 3600r/min,

9999 0, 1 1 0 87

0, 1, 10, 11 1 0 87

0 to 400%, 9999 0.1% 9999 87

1 to 15 1 2 175

0, 1, 2 1 0 175

0 to 1000% 1% 60% 175

0 to 20s 0.001s 0.333s 175

0 to 5s 0.001s 0s 175

0 to 0.1s 0.001s 0.001s 176

0 to 200% 1% 100% 176

0 to 500ms 0.1ms 5ms 176

0 to 5s 0.001s 0s 176

0 to 0.1s 0.001s 0s 177

0 to 1000% 1% 60% 49

0 to 1000%, 9999 1% 9999 175

0 to 20s, 9999 0.001s 9999 175

0 to 5s, 9999 0.001s 9999 175

0 to 0.1s, 9999 0.001s 9999 176

0 to 200%, 9999 1% 9999 176

0 to 500ms, 9999 0.1ms 9999 176

0 to 5s, 9999 0.001s 9999 176

0 to 0.1s, 9999 0.001s 9999 177

0 to 3, 9999 1 9999 177 600 to 1400%,

9999 600 to 1400%,

9999 0 to 5s, 9999 0.001s 9999 177

0 to 5s, 9999 0.01s 9999 177

0 to 10V, 9999 0.1V 9999 177

0 to 400%, 9999 1% 9999 177

1r/min 9999 173

1% 9999 177

Factory Setting

Refer

Custo

mer

Setting

PARAMETERS

Parameter list

Function

Additional functions

Display functions

Te rm i na l assignment function

Protective functions

Operation selection functions

Control system functions

Maintenance functions

Calibration functions

Additional functions

Parameter

No.

Name Setting Range

849 Analog input offset adjustment * 851 Number of encoder pulses 852 Encoder rotation direction 854 Excitation ratio 859 Torque current * 862 Notch filter frequency 863 Notch filter depth 864 Torque detection 865 Low speed detection 866 Torque monitoring reference 867 DA1 output filter

868 Terminal 1 function assignment

870 Speed deviation level

871 Speed deviation time 873 Speed limit 874 OLT level setting 875 Fault definition

876 Thermal relay protector input

Speed feed forward control/model

877

adaptive speed control selection

878 Speed feed forward filter 879 Speed feed forward torque limit 880 Load inertia ratio 881 Speed feed forward gain 890 Maintenance output setting time 891 Maintenance output timer 892 Maintenance output signal clear 900 DA1 terminal calibration 901 DA2 terminal calibration

902 Speed setting terminal 2 bias

903 Speed setting terminal 2 gain

904 Torque command terminal 3 bias

905 Torque command terminal 3 gain

917 Terminal 1 terminal bias (speed)

918 Terminal 1 terminal gain (speed)

Terminal 1 terminal bias (torque/magnetic

919

flux)

Terminal 1 terminal gain (torque/magnetic

920

flux)

990 PU buzzer control 991 Parameter for the option (FR-PU04V)

Minimum

Setting

Increments

0 to 200% 0.1% 100% 193

0 to 4096 1 2048 180

0, 1 1 1 180

0 to 100% 1% 100% 181

0 to , 9999 1 9999 123

0 to 31 1 0 181

0 to 3 1 0 181

0 to 400% 0.1% 150% 182

0 to 3600r/min 1r/min 45r/min 182

0 to 400% 0.1% 150% 100

0 to 5s 0.001s 0.05s 183

0, 1, 2, 5, 9999 1 0 183

0 to 1500r/min, 9999

0 to 100s 0.1s 12s 184

0 to 3600r/min 1r/min 600r/min 185

0 to 200% 0.1% 150% 185

0, 1 1 0 186

0, 1 1 1 80

0, 1, 2 1 0 49

0 to 1s 0.01s 0s 49

0 to 400% 0.1% 150% 49

0, 1 to 200 times 0.1 7 49

0 to 1000% 1% 0% 49

0 to 9998, 9999 10hr 9999 187

0 to 9998 10hr 0 187

0 1 0 187

0 to 10V, 0 to 3600r/min

0 to 10V, 0 to 400%

0 to 10V, 0 to 3600r/min

0 to 10V, 0 to 400%

0, 1 1 1 193

1r/min 9999 184

0.1r/min 0V, 0r/min 190

1r/min 10V, 1500r/min 190

0.1% 0V, 0% 190

0.1% 10V, 150% 190

0.1r/min 0V, 0r/min 190

1r/min 10V, 1500r/min 190

0.1% 0V, 0% 190

0.1% 10V, 150% 190

Factory Setting

Refer

188

Custo

mer

Setting

At-a-glance guide to functions

3.2 At-a-glance guide to functions

{....Usable function, × ..... Unusable function

Control

Applicable

Function

3.3 Basic functions (Pr. 0 to Pr. 9)

3.3.1 Torque boost (Pr. 0)

Use this parameter for V/F control only.

z Motor torque in the low speed region can be adjusted according to the load to increase the starting motor

torque.

Parameter Name Factory Setting

0 Torque boost (manual)

(3.7K or less/5.5K, 7.5K/11K or more)

4%/3%/2%

Setting

Range

0 to 30% Extended mode

Remarks

• Increase the setting value when the distance between the inverter and motor is long or when the motor torque in the low speed range is insufficient (when the stall prevention protective function is activated), etc.

• Assuming that the base frequency voltage is 100%, set the 0Hz voltage in %.

CAUTION If the setting is too large, the motor may result in overheat or overcurrent trip. The guideline for maximum value is about 10%.

3.3.2 Maximum and minimum speed settings

(Pr. 1 , Pr. 2 )

You can limit the maximum (minimum) speed.

z Speed control

The maximum setting is placed on the running speed. The minimum setting is placed on the preset speed.

z Torque control

The maximum and minimum settings are made on the speed limit commands. (Limit is not placed on the running speed.)

z Position control

The maximum setting is valid for the speed command obtained from the droop pulses. The minimum setting is invalid.

speed torque position speed torque

Output speed (r/min)

Pr.1

Pr.2

Set speed

10V

Parameter Name Factory Setting Setting Range Remarks

1 Maximum speed 1500r/min 0 to 3600r/min Simple mode 2 Minimum speed 0r/min 0 to 3600r/min Simple mode

z Speed control

• When the upper limit of the output speed is set in Pr. 1, the output speed is clamped at the maximum speed even if the speed command entered is higher than the speed set in Pr.1. (This also applies to the minimum speed setting.)

CAUTION

When the Pr. 2 setting is higher than Pr. 13 "starting speed" value, note that the motor will run at the preset speed by merely turning the start signal on, even if the command speed has not been entered.

Related parameters

• Starting speed setting ⇒ Pr. 13 "starting speed" (Refer to page 84.)

• Speed limit command selection for torque control

• External (example: terminal 2-5 connection) speed setting potentiometer adjustment (Refer to page 190.), Pr. 903 "speed setting terminal 2 gain" (Refer to page 190.)

⇒ Pr. 807 "speed limit selection" (Refer to page 173.)

⇒ Pr. 902 "speed setting terminal 2 bias"

Basic functions (Pr. 0 to Pr. 9)

3.3.3 Base frequency, base frequency voltage (Pr. 3, Pr. 19)

Use this parameter for V/F control only. This parameter matches the inverter outputs (voltage, frequency) to the motor rating.

Parameter Name Factory Setting

Setting

Range

Remarks

3 Base frequency 60Hz 10 to 200Hz Extended mode

Extended mode 8888: 95% of power supply voltage 9999: Same as power supply voltage

19 Base frequency voltage 9999

0 to 1000V, 8888, 9999

• Use Pr. 3 to set the base frequency (rated motor frequency).

• If only "50Hz" is given on the motor rating plate as the frequency, always set the "base frequency" to "50Hz". If it remains at "60Hz", the voltage may become too low and torque shortage occurs, resulting in an overload trip.

• Use Pr. 19 to set the base voltage (e.g. rated motor voltage). The motor whose rated voltage is lower than the power supply voltage of the inverter can be used optimally. This function is useful when a motor rated at 200V is used with a 230V power supply.

• Set Pr. 19 "base frequency voltage" according to the motor as shown below.

SF-V5RU-3.7kW or less . . . . . . . . . . . "170V"

SF-V5RU-5.5kW or more . . . . . . . . . . "160V"

SF-V5RUH-3.7kW or less . . . . . . . . . "340V"

SF-V5RUH-5.5kW or more. . . . . . . . . "320V"

SF-VR. . . . . . . . . . . . . . . . . . . . . . . . . "160V"

SF-VRH . . . . . . . . . . . . . . . . . . . . . . . "320V"

Set "50Hz" in Pr. 3 "base frequency".

REMARKS

If vector control is disabled due to an encoder fault, setting "20" in Pr. 800 "control system selection" enables operation under V/F control. (Refer to page 169.)

Related parameters

Motor setting ⇒ Pr. 71 "applied motor", Pr. 450 "second applied motor" (Refer to page 111.)

3.3.4 Multi-speed operation

(Pr. 4 to Pr. 6, Pr. 24 to Pr. 27, Pr. 232 to Pr. 239 )

speed torque

Can be used to change between the predetermined running speeds by switching from one terminal to another.

z Any speed can be selected by merely turning on-off the contact signals (RH, RM, RL, REX signals). z Using these parameters with Pr. 1 "maximum speed" and Pr. 2 "minimum speed" allows the setting of up to

17 speeds.

POINT

z Valid in the external operation mode or in the combined operation mode that is made available by setting "3 or

4" in Pr. 79.

z Valid when "0" is set in Pr. 59.

Speed 1

(high speed)

Output speed (r/min)

Priority: RL > RM > RH

Speed 2

(middle speed)

Speed 4

Speed 3

(low speed)

ON ON ON ON

Speed 5

Speed 6

Speed 7

ONONON

Time

Output speed (r/min)

REX

*1 If "9999" is set in Pr. 232 "multi-speed setting (speed 8)",

the output speed is 0r/min when RH, RM and RL are turned off and REX is turned on.

Speed 10

Speed 11

Speed 9

Speed 8

ONONON ONON ON ON ON

Speed 12

ON ON ON ON

Speed 13

Speed 14

Speed 15

ON ONON

position

Time

PARAMETERS

Basic functions (Pr. 0 to Pr. 9)

Parameter Name Factory Setting Setting Range Remarks

4 Multi-speed setting (high speed) 1500r/min 0 to 3600r/min Simple mode

6 Multi-speed setting (low speed) 150r/min 0 to 3600r/min Simple mode

24 to 27

232 to 239

Multi-speed setting (middle speed)

Multi-speed setting (speeds 4 to 7)

Multi-speed setting (speeds 8 to 15)

• Set the running speeds in the corresponding parameters. Each speed can be set as desired in the range 0 to 3600r/min during inverter operation.

With any multi-speed setting parameter being read, press to change the setting.

In this case, press to store the preset speed. (This is also enabled in the external mode.)

Pressing reflects the preset speed.

SET

REMARKS

SET

750r/min 0 to 3600r/min Simple mode

9999

0 to 3600r/min,

9999

0 to 3600r/min,

9999

"9999" No setting

• Press when the FR-PU04V (option) is used.

• Use Pr. 180 to Pr. 183 and Pr. 187 to assign the terminals used for signals RH, RM, RL, and REX. (*)

• The priorities of the external terminals for speed commands are as follows.

WRITE

*Changing the terminal assignment using Pr. 180 to Pr. 183, Pr. 187 (input terminal function selection) may affect the other

functions. Please make setting after confirming the function of each terminal.

Jog > pulse train input (option FR-A5AP) > digital setting (option FR-A5AX) > multi-speed operation > PID > terminal 2

CAUTION

1. The multi-speed settings override the main speed (across terminals 2-5).

2. The multi-speeds can also be set in the PU or external operation mode.

3. For 3-speed setting, if two or more speeds are simultaneously selected, priority is given to the preset speed of the lower signal. (RL > RM > RH)

4. Pr. 24 to Pr. 27 and Pr. 232 to Pr. 239 settings have no priority between them.

5. The settings can also be changed during operation.

6. When the jog signal is used with multi-speed signals, the jog signal has priority.

Related parameters

• Maximum, minimum speed setting⇒ Pr. 1 "maximum speed", Pr. 2 "minimum speed" (Refer to page 76.)

• Signal RH, RM, RL, REX terminal assignment

• External operation mode setting

• Extended mode/simple mode setting

⇒ Pr. 79 "operation mode selection" (Refer to page 117.)

⇒ Pr. 160 "extended function selection" (Refer to page 150.)

⇒ Pr. 180 to Pr. 183, Pr. 187 (input terminal function selection) (Refer to page 150.)

3.3.5 Acceleration and deceleration time

(Pr. 7, Pr. 8, Pr. 20, Pr. 21, Pr. 44, Pr. 45, Pr. 110, Pr. 111 )

speed torque

position

Set the acceleration/deceleration time of the motor during speed control and position control by parameter setting. Set a larger value for a slower speed increase/ decrease or a smaller value for a faster speed increase/decrease. Under torque control, the speed limit value varies with the acceleration/deceleration time.

Output speed

Pr.7 Pr.44 Pr.110

Pr.20

(r/min)

Acceleration

Acceleration time

Constant

speed Deceleration

Deceleration time

Running speed (speed limit value)

Time

Pr.8 Pr.45 Pr.111

Basic functions (Pr. 0 to Pr. 9)

Parameter Name Factory Setting

5s/15s

7 Acceleration time

8 Deceleration time

Acceleration/

110

111

deceleration reference speed

Acceleration/ deceleration time increments

Second acceleration/ deceleration time

Second deceleration time

Third acceleration/ deceleration time

Third deceleration time

(5.5K or less/7.5K or

more)

5s/15s

(5.5K or less/7.5K or

more)

1500r/min

00, 1

9999

Setting

Range

0 to 3600s

0 to 360s

0 to 3600s

0 to 360s

1 to 3600

r/min

0 to 3600s Pr. 21 = 0

0 to 360s Pr. 21 = 1

0 to 3600s Pr. 21 = 0

0 to 360s Pr. 21 = 1

9999

0 to 3600s Pr. 21 = 0

0 to 360s Pr. 21 = 1

0 to 3600s Pr. 21 = 0

0 to 360s Pr. 21 = 1

9999

Simple mode

Extended mode

0: 0 to 3600s 1: 0 to 360s

Acceleration time = deceleration time

Remarks

Extended mode

• Use Pr. 21 to set the acceleration/deceleration time and minimum setting range. Value "0" (factory setting) 0 to 3600s (minimum setting increments: 0.1s) Value "1" 0 to 360s (minimum setting increments: 0.01s) Changing the Pr. 21 value changes the setting of Pr. 7, Pr. 8, Pr. 44, Pr. 45, Pr. 110 and Pr. 111.

CAUTION Changing the Pr. 21 setting changes the acceleration/deceleration time setting (Pr. 7, Pr. 8, Pr. 16, Pr. 44, Pr. 45, Pr. 110, Pr. 111) <Example> When Pr.21="0" and the setting of Pr.7="5.0"s, and if the setting of Pr.21 is changed to "1", the setting value of Pr.7 will change to "0.5"s.

• Use Pr. 7, Pr. 44 and Pr. 110 to set the acceleration time taken to reach the speed set in Pr. 20 from 0r/min.

• Use Pr. 8, Pr. 45 and Pr. 111 to set the deceleration time taken to reach 0r/min from the speed set in Pr. 20.

• Use Pr. 180 to Pr. 183 and Pr. 187 to assign the terminals used to input the RT and X9 signals.

CAUTION

• Pr. 44 and Pr. 45 are valid when the RT signal is on.

When the RT signal is on, the other second functions (Pr. 450 to Pr. 454, Pr. 815, Pr. 830 to Pr. 837) are also valid.

• Pr. 110 and Pr. 111 are valid when the X9 signal is on.

When the X9 signal is on, Pr. 820 to Pr. 827 are also valid.

• When both RT and X9 are on, Pr. 110 and Pr. 111 are valid.

• Switching the RT and X9 signals during operation does not change the acceleration/deceleration time

imediately when position control is exercised with the conditional position control function (Pr. 419 = "0") by the contact input.

REMARKS

• Changing the Pr. 20 "acceleration/deceleration reference speed" setting does not adjust the speed gain setting signal. To

adjust the gain, adjust the calibration function (Pr. 903).

• When the setting of Pr. 7, Pr. 8, Pr. 44, Pr. 45, Pr. 110 or Pr. 111 is 0.03 or less under V/F control, the acceleration/

deceleration time is 0.04s.

• However short the acceleration/deceleration time setting is, the actual motor acceleration/deceleration time cannot be made

shorter than the shortest acceleration/deceleration time that is determined by the mechanical system J (moment of inertia) and the motor torque.

Related parameters

• Jog acceleration/deceleration time ⇒ Pr. 16 "jog acceleration/deceleration time" (Refer to page 85.)

• RT signal, X9 signal setting

⇒ Pr. 180 to Pr. 183, Pr. 187 (input terminal function selection) (Refer to page 150.)

PARAMETERS

Basic functions (Pr. 0 to Pr. 9)

3.3.6 Motor overheat protection (Pr. 9, Pr. 452, Pr. 876 )

speed torque position

When an external thermal relay is not used, protect the motor from overheat by integration processing of the inverter output current. This feature provides the optimum protective characteristics, including reduced motor cooling capability, at low speed.

Parameter Name Factory Setting Setting Range Remarks

9 Electronic thermal O/L relay 0 0 to 500A Extended mode

Extended mode

452

876 Thermal relay protector input 1 0, 1 Extended mode

Second electronic thermal O/L relay

9999 0 to 500A, 9999

9999: Without second

electronic thermal relay function

• When not using an external thermal relay, set the rated current value [A] of the motor in Pr. 9 (Pr. 452) to make the electronic thermal relay function valid. (Normally set the rated current value at 50Hz. When the rated current value of 50Hz is not indicated on the name plate, set the value obtained from multiplying the rated current value of 60Hz by 1.1.)

• Setting "0" in Pr. 9 (Pr. 452) deactivates the electronic thermal relay function (motor protective function). (The inverter's output transistor protective function is activated.) When using the dedicated motor, set "0" since the thermal relay protector is onboard (outside).

• When using a Mitsubishi constant-torque motor, first set "10" in Pr.71 "applied motor". (This provides a 100% continuous torque characteristic in the low-speed region.) Then, set the rated current of the motor in Pr. 9 "electronic thermal O/L relay".

• The electronic thermal relay function of the second motor (Pr. 452 "second electronic thermal O/L relay" is made valid by: Turning on the RT signal; and Setting other than 9999 in Pr. 450. (The value set in Pr. 9 is valid when Pr. 452 = 9999.)

z Selection for whether to use an external thermal relay or not (Pr. 876 "thermal relay

protector input")

Pr. 876 Setting Motor with encoder (e.g. SF-JR)

0 When thermal relay etc. is not used (thermal relay protector input invalid) 1

(factory setting)

CAUTION

• When two or more motors are connected to the inverter under V/F control, they cannot be protected by the electronic thermal relay function. Install an external thermal relay to each motor.

• When a difference between the inverter and motor capacities is large and the setting is small, the protective characteristics of the electronic thermal relay function will be deteriorated. In this case, use an external thermal relay.

• A special motor cannot be protected by the electronic thermal relay function. Use an external thermal relay.

When thermal relay etc. is used (thermal relay protector input valid)

Set value 1Set value 0

Not used

OHT error occurs when terminals OH-SD are open.

Basic functions (Pr. 0 to Pr. 9)

REMARKS

• When running two motors with one inverter, you can set the electronic thermal relay function of each inverter.

Pr. 450

"second applied

motor"

9999 0

9999 Other than 0

Other than 9999 0

Other than 9999 Other than 0

Pr. 9

"electronic

thermal O/L

relay"

Pr. 452

"second

First Motor Electronic

Thermal Relay Function

Second Motor Electronic

Thermal Relay Function

electronic

thermal

RT = OFF RT = ON RT = OFF RT = ON

O/L relay"

9999

0.01 to 500

9999

0.01 to 500

9999

0.01 to 500

9999

0.01 to 500

... Output current value is used to perform integration processing. ... Output current is assumed as 0A to perform integration processing. (cooling processing) ... Electronic thermal relay function is not activated.

• It is valid for controlling one motor with one inverter in two different control systems.

• It is valid for controlling the first motor with an external thermal relay and the second motor with an electronic thermal relay

function.

Related parameters

• When constant-torque motor is used ⇒ Pr. 71 "applied motor", Pr. 450 "second applied motor" (Refer to page 111.)

• Use of second motor

• RT signal setting

⇒ Pr. 450 "second applied motor" (Refer to page 111.)

⇒ Set "3" in any of Pr. 180 to Pr. 183 and Pr. 187 (input terminal function selection). (Refer to page 150.)

PARAMETERS

Standard operation functions (Pr. 10 to Pr. 16)

3.4 Standard operation functions (Pr. 10 to Pr. 16)

3.4.1 DC injection brake operation (Pr. 10, Pr.11 , Pr. 12,

Pr.802 )

speed position

speed torque

By setting the DC injection brake voltage (torque) at a stop, operation time and operation starting speed, the stopping accuracy of positioning operation, etc. or the timing of applying the DC injection brake to stop the braking torque and the motor is adjusted.

Parameter Name Factory Setting

802

DC injection brake operation speed

DC injection brake operation time

DC injection brake voltage

Pre-excitation selection

15r/min

0.5s 0 to 0.5s

4%/2%

(7.5K or less/11K or more)

0 0, 1 Use during speed control.

Setting

Range

0 to 1500

r/min, 9999

0 to 30% Use during V/F control.

9999: Operated at or below Pr. 13 value.

Remarks

Extended mode

• Use Pr. 10 to set the speed at which the DC injection brake application is started. By setting "9999", the brake is operated at or below the speed set in Pr. 13.

• When stopping the motor by using a STOP key or turning the STF/STR off, the DC injection brake application is started at the speed set in Pr.10. When stopping the motor by setting speed to 0r/min (with PU or Volume), the DC injection brake application is started at the speed set in Pr.13.

• Use Pr. 11 to set the duration period the brake is applied. During this period, DC injection brake operation is exercised. When this period has elapsed, the motor is coasted to a stop.

• Use Pr. 12 to set the percentage to the power supply voltage. (Use this parameter only during V/F control.) When using the inverter dedicated motor (Mitsubishi constant-torque motor SF-JRCA and Mitsubishi energy saving motor SF-HR, SF-HRCA), change the Pr. 12 setting as follows:

•SF-JRCA: 3.7K or less ... 4%, 5.5K or more ... 2%

•SF-HR, SF-HRCA: 3.7K or less ... 4%, 5.5K, 7.5K ... 3%, 11K or more ... 2%

REMARKS

• For the 5.5K and 7.5K, the Pr. 12 setting is automatically changed to 2% if Pr. 71 "applied motor" value is set to the Mitsubishi constant torque motor. To the contrary, the Pr. 12 setting is changed to 4% if the Pr. 71 value is set to the general purpose motor.

Select either 0 speed control or servo lock control for brake operation when pre-excitation is performed with the LX signal using Pr.802. Turning on the LX signal enables the pre-excitation operation. (valid only during speed control)

Parameter Name Description

0: 0 speed control (factory setting) Even under load, an attempt is made to maintain 0r/min to keep the motor shaft stopped. Note that if the shaft is overcome and turned by external force, it does not return to the original position. Position control is not exercised and only speed control is carried out to perform operation.

1: Servo lock Even under load, an attempt is made to maintain the motor shaft position. Note that if the shaft is turned by external force, it returns to the original position after the external force has gone away. Since position control is exercised, you can adjust this position loop gain using Pr. 422 "position loop gain".

802

Pre-excitation

selection

Standard operation functions (Pr. 10 to Pr. 16)

z Relationship between DC injection brake operation and pre-excitation operation in each

control mode

Operation

LX terminal OFF

Control Mode

V/F control DC injection brake DC injection brake No operation No operation Speed control (vector control) 0 speed control Servo lock 0 speed control Servo lock Position control (vector control) No operation No operation Servo lock Servo lock

(Deceleration to stop)

Pre-excitation

selection

Pr. 802 = 0

Pre-excitation

selection

Pr. 802 = 1

Pre-excitation

selection

Pr. 802 = 0

z The control block diagram during pre-excitation

LX terminal ON

Pre-excitation

selection

Pr. 802 = 1

0r/min speed command

0rad position command

Position control Speed control Motor

Pr.802 = 0

Pr.802 = 1

z Timing chart

Speed

LX pre-excitation

STF

Pre-excitation operation 0 speed control or servo lock DC injection brake time (Pr.11) is made invalid.

Normal operation

DC injection brake operation speed (Pr. 10)

Pre-excitation operation 0 speed control or servo lock DC injection brake time (Pr.11) is made invalid.

* When the LX (pre-excitation) terminal is off, the pre-excitation operation functions for the time set in the DC

injection brake operation time (Pr. 11).

CAUTION The DC injection brake functions during speed limit under speed control or torque control. (It does not function under position control.)

CAUTION

Install a mechanical brake. After the machine stops fully and the mechanical brake is applied, switch the LX signal (preexcitation) off.

Related parameters

• DC injection brake operation speed when Pr. 10 = 9999 ⇒ Pr. 13 "starting speed" (Refer to page 84.)

• Motor setting when using constant-torque motor

page 111.)

• Setting control mode ⇒ Pr. 800 "control system selection" (Refer to page 169.)

• LX signal terminal assignment ⇒ Set "23" in any of Pr. 180 to Pr. 183 and Pr. 187 (input terminal function selection).

(Refer to page 150.)

⇒ Pr. 71 "applied motor", Pr. 450 "second applied motor" (Refer to

PARAMETERS

Standard operation functions (Pr. 10 to Pr. 16)

3.4.2 Starting speed (Pr. 13 )

speed torque

You can set the starting speed at which the start signal is turned on.

Operation pattern after input of speed setting signal depends on Pr. 29 "acceleration/deceleration pattern".

Output speed

Setting

range

Pr.13

Forward

(reverse)

rotation

Speed setting is 1500r/min

(r/min)

1500

Time

Parameter Name Factory Setting Setting Range Remarks

13 Starting speed 15r/min 0 to 1500r/min Extended mode

CAUTION

• If the speed setting signal is less than the value set in Pr. 13 "starting speed", the operation is either 0

speed or servo lock. For example, when 150r/min is set in Pr. 13, the motor will start running when the speed setting signal reaches 150r/min.

• When the analog voltage command (example: across 2-5) is used as speed for operation, too low of a

setting of the rotation speed at a start may start the motor running by merely entering the start signal although the voltage command is zero. In this case, adjustment can be made using the calibration function, Pr. 902.

CAUTION

When the Pr. 13 setting is equal to or less than the Pr. 2 "minimum speed" value, note that merely switching on the start signal will start the motor at the preset speed if the command speed is not input.

Related parameters

• Minimum speed setting ⇒ Pr. 2 "minimum speed" (Refer to page 76.)

• Acceleration/deceleration pattern setting

• Adjustment for analog voltage command

⇒ Pr. 29 "acceleration/deceleration pattern" (Refer to page 89.) ⇒ Pr. 902 "speed setting terminal 2 bias" (Refer to page 190.)

Standard operation functions (Pr. 10 to Pr. 16)

3.4.3 Jog operation (Pr. 15, Pr. 16 )

To start/stop jog operation in the external operation mode, choose the jog operation function in input terminal function selection, turn on the jog signal, and turn on/off the start signal (STF, STR). When using the parameter unit (FR-PU04V), choose

the jog operation mode and use or to

FWD REV

speed torque

Output speed (r/min)

Pr.15

Pr.20 Jog speed setting range

Forward

rotation

Pr.16

Reverse

rotation

Time

perform jog operation. (When the FR-PU04V is connected, these parameters

Jog signal

can be read as the basic parameters.) Perform PU jog operation using PU (FR-DU04 PU04V) in the PU jog operation mode.

-1, FR-

Forward rotation, STF

Reverse rotation, STR

z Set the speed and acceleration/deceleration time for jog operation.

Parameter Name Factory Setting Setting Range Remarks

15 Jog speed setting 150r/min 0 to 1500r/min ————

Jog acceleration/ deceleration time

0.5s

0 to 3600s When Pr. 21 = 0

0 to 360s When Pr. 21 = 1

Extended mode

REMARKS

For the operation method from the control panel (FR-DU04-1), refer to the Instruction Manual (basic).

CAUTION

• The acceleration time and deceleration time cannot be set separately for jog operation.

• The Pr. 15 "jog speed setting" value should be equal to or higher than the Pr. 13 "starting speed" setting.

• Assign the jog signal to any of Pr. 180 to Pr. 183 and Pr. 187 (input terminal function selection).

• The priorities of the external terminals for speed commands are: Jog > multi-speed operation > terminal 2

• During jog operation, the RT and X9 signals cannot be used to switch to the second and third acceleration/deceleration time.

• Under torque control, the jog speed acts as the speed limit value by turning on the jog signal.

• Jog operation is invalid under position control.

• When Pr. 79 "operation mode selection" = "4", push / of the PU (FR-DU04

a start or push to make a stop.

STOP

RESET

FWD REV

-1/FR-PU04V) to make

Related parameters

• Jog signal terminal assignment ⇒ Set "5" in any of Pr. 180 to Pr. 183, Pr. 187 (input terminal function selection) (Refer to page 150.)

• S-shaped acceleration/deceleration pattern A

• Pr. 16 setting range, minimum setting increments condition setting

⇒ Pr. 29 "acceleration/deceleration pattern" (Refer to page 89.)

⇒ Pr. 21 "acceleration/deceleration time increments" (Refer to page 78.)

PARAMETERS

Operation selection functions 1 (Pr. 17 to Pr. 37)

3.5 Operation selection functions 1 (Pr. 17 to Pr. 37)

3.5.1 Inverter output stop (MRS) (Pr. 17 )

speed torque position

The setting of this parameter needs to be changed to:

z Stop the motor with a mechanical brake (e.g.

electromagnetic brake);

z Provide interlocks to prevent the inverter from

running if the start signal is input to the inverter; or

Output speed

z Coast the motor to a stop.

About 20ms

When Pr. 17 = 0 Across MRS-SD

Parameter Name Factory Setting

17 MRS input selection 0

When Pr. 17 = 2

cross MRS-SD

Across STF-SD

Setting

Range

0 Output stops when MRS signal turns on.

(STR)

MRS Signal Specifications Remarks

Output stops when MRS signal turns off. (NC contact input specifications)

ON ON

<Wiring example> For sink logic

Motor is coasted to stop.

Start at starting speed

About 20ms

OFF

Extended mode

Setting 0 Setting 2

Output

stop

(factory setting)

Inverter

MRS

Output

stop

Inverter

MRS

REMARKS

• Set the MRS signal using the input terminal function selection (Pr. 180 to Pr. 183, Pr. 187).

• The setting cannot be changed during operation.

• Refer to the Instruction Manual (basic) for inverter reset.

CAUTION

• When Pr. 30 = 2 (FR-HC connection), use the X10 signal.

• When the operation mode is the NET mode and Pr. 338 = 0, the MRS signal is used as both the external terminal and communication-based signals, and the output stops when either signal turns on. At the Pr. 17 setting of 2, the output stops when either signal turns off. (Oppositely, at the Pr. 17 setting of 2, both the external terminal and communication-based signals should turn on to make a start.)

Related parameters

• Starting speed setting ⇒ Pr. 13 "starting speed" (Refer to page 84.)

• MRS signal terminal assignment

⇒ Pr. 180 to Pr. 183, Pr. 187 (input terminal function selection) (Refer to page 150.)

Pr. 19 Refer to Pr. 3 (page 77)

Pr. 20, Pr. 21 Refer to Pr. 7, Pr. 8 (page 78)

Operation selection functions 1 (Pr. 17 to Pr. 37)

3.5.2 Torque limit (Pr. 22 , Pr. 803 , Pr. 810 to

Pr. 817 )

speed position

speed position speed torque position

Used to restrict the output torque to the predetermined value during speed control. For details of the setting method, refer to tlimithe torque limit of the Instruction Manual (basic).

Parameter Name Factory Setting

22 Torque limit level (*1) 150% 0 to 400%

Constant power range

803

810

811

812

813

814

815 Torque limit level 2 9999

816

817

torque characteristic selection

Torque limit input method selection

Set resolution switchover

Torque limit level (regeneration)

Torque limit level (3rd quadrant)

Torque limit level (4th quadrant)

Acceleration torque limit level (*2) Deceleration torque limit level (*2)

9999

Setting

Range

When Pr. 810 = 0, 1st quadrant Pr. 22

Constant power limit

(torque current limit and control) Constant torque limit

(torque limit and control(*3)) Internal torque limit

Parameter-set torque limit operation is performed. External torque limit

Torque limit based on the analog voltage from terminal 3 Speed setting and running speed monitor increments from the RS485 communication or communication option.

01r/min

10.1r/min 10 1r/min 11 0.1r/min

0 to 400%,

9999

0 to 400%,

9999

0 to 400%,

9999

0 to 400%,

9999

0 to 400%,

9999

0 to 400%,

9999

Valid in the regeneration mode when Pr. 810 = 0. 9999: Pr. 22 value is used for limit. Valid in the reverse rotation driving mode when Pr. 810 = 0. 9999: Pr. 22 value is used for limit. Valid in the regeneration mode when Pr. 810 = 0. 9999: Pr. 22 value is used for limit. When the torque limit selection (TL) signal is on, Pr. 815 is used as the torque limit value regardless of Pr. 810. Valid when torque limit selection (TL) terminal input is provided. 9999: Depending on Pr. 22 setting Set the torque limit value during acceleration. 9999: Same torque limit as at constant speed Set the torque limit value during deceleration. 9999: Same torque limit as at constant speed

Remarks

2nd quadrant Pr. 812 3rd quadrant Pr. 813 4th quadrant Pr. 814

Torque limit setting increments Pr. 22, Pr. 812 to Pr. 817

0.1%

0.01%

CAUTION

*1.Output current level (stall prevention function) is activated to prevent the inverter from alarm stop due

to overcurrent etc. during V/F control. When "0" is set in Pr. 22, stall prevention function is invalid.

*2.Pr. 816 "acceleration torque limit level" and Pr. 817 "deceleration torque limit level" are invalid during

position control.

*3.For torque limit and torque control, torque is restricted and controled not by magnetic flux.

Extended mode

Torque limit is activated so that the output torque does not exceed the predetermined value during speed control. The block diagram is shown below. The output of speed control is suppressed within the torque limit value.

Speed control

Speed command

Torque limit

Iq current control

Encoder

At this time, set Pr. 810 to select the way to make torque limit.

PARAMETERS

Operation selection functions 1 (Pr. 17 to Pr. 37)

Pr. 810 Setting Torque Limit Input Method Operation

Parameter-set torque limit operation is performed.

0 Internal torque limit

1 External torque limit Torque limit using the analog voltage from terminal 3 is made valid.

REMARKS

Refer to the Instruction Manual (basic) for details of the other parameters.

CAUTION Whether the torque limit in the constant power range is set to constant torque limit or constant power limit in the torque limit setting depends on the setting of Pr. 803 "constant power range torque characteristic selection".

Related parameters

• Torque command bias adjustment ⇒ Pr. 904 "torque command terminal 3 bias" (Refer to page 190.)

• Torque command gain adjustment

⇒ Pr. 905 "torque command terminal 3 gain" (Refer to page 190.)

Pr. 24 to Pr. 27 Refer to Pr. 4 to Pr. 6 (page 77)

Changing the torque limit parameter value by communication enables torque limit to be adjusted by communication.

3.5.3 RH, RM, RL signal input compensation (Pr. 28 )

speed torque

By entering 0 to ±10V into terminal 1 (speed setting auxiliary terminal), the speeds of the RH, RM and RL signals (command speeds for multi-speed operation) can be compensated for.

Middle

speed

Setting

Range

0 Without compensation 1 With compensation

Low

speed

Description Remarks

Time

Extended mode

Parameter Name Factory Setting

Multi-speed input compensation

High

speed

Output

speed

(r/min)

CAUTION

• When "4 or 14" is set in Pr. 73, the compensation signal is input from terminal 2, not from terminal 1.

(Override function)

• Since terminal 1 is a multi-function selection terminal, its function varies with the Pr. 868 setting. Set

"0" in Pr. 868. Refer to Pr. 902 and Pr. 903 for calibration of the terminal 1.

Related parameters

• Multi-speed setting ⇒ Pr. 4 to Pr. 6, Pr. 24 to Pr. 27, Pr. 232 to Pr. 239 (multi-speed setting) (Refer to page 77.)

• RH, RM, RL signals

• Speed compensation using terminal 2

• Function assignment to terminal 1

• Pr. 59 "remote setting function selection"

• Calibration of terminal 1

⇒ Pr. 180 to Pr. 183, Pr. 187 (input terminal function selection) (Refer to page 150.)

⇒ Pr. 73 "speed setting signal" (Refer to page 113.)

⇒ Set "0" in Pr. 868 "terminal 1 function assignment" (Refer to page 183.)

⇒ Refer to page 103.

⇒ Pr. 902 "speed setting terminal 2 bias", Pr. 903 "speed setting terminal 2 gain" (Refer to page 190)

Operation selection functions 1 (Pr. 17 to Pr. 37)

3.5.4 S-pattern acceleration/deceleration curve (Pr. 29, Pr. 140 to Pr. 143, Pr. 380 to

Pr. 383 )

speed torque

When you have changed the preset speed during start, acceleration, deceleration, stop, or operation, you can change the running speed by acceleration/deceleration to make adjustment to reach the preset speed. Set the acceleration/deceleration pattern in Pr. 29 "acceleration/deceleration pattern".

Parameter Name

140

141

142

143

380 Acceleration S pattern 1 0% 0 to 50% 381 Deceleration S pattern 1 0% 0 to 50% 382 Acceleration S pattern 2 0% 0 to 50% 383 Deceleration S pattern 2 0% 0 to 50%

Acceleration/ deceleration pattern

Backlash acceleration stopping speed

Backlash acceleration stopping time

Backlash deceleration stopping speed

Backlash deceleration stopping time

Factory

Setting

30r/min 0 to 3600r/min

0.5s 0 to 360s

30r/min 0 to 3600r/min

0.5s 0 to 360s

Setting Range Remarks

0 Linear acceleration/deceleration 1 S-pattern acceleration/deceleration A 2 S-pattern acceleration/deceleration B

4 S-pattern acceleration/deceleration C

Backlash measures acceleration/ deceleration

Accessible when Pr. 29 = 3

Accessible when Pr. 29 = 4

Extended mode

PARAMETERS

Operation selection functions 1 (Pr. 17 to Pr. 37)

Pr. 29

Setting

Function Description Operation

[Linear acceleration

Linear acceleration/ deceleration (factory setting)

Acceleration/deceleration is made linearly up/down to the preset speed .

Output

speed (r/min)

The motor torque is utilized effectively to make fast acceleration/deceleration in a large motor-generated torque area and smooth acceleration/deceleration in a small motor-generated torque area. In this acceleration/deceleration pattern, the base

S-pattern acceleration/ deceleration A (torque variation technique)

frequency is the inflection point of an S shape, and you can set the acceleration/deceleration time according to the reduction in motor torque in the constant-power operation range at higher than the rated speed. This function is valid for V/F control only. For other than V/F control, linear acceleration/deceleration is made.

[S-pattern acceleration

Output

speed

(r/min)

CAUTION

As the acceleration/deceleration time, set the time taken to reach Pr. 3 "base frequency", not Pr. 20 "acceleration/deceleration reference speed".

/deceleration]

Time

/deceleration A]

Base frequency

Time

S-pattern acceleration/

deceleration B (shock absorption)

Backlash measures

acceleration/ deceleration

S-pattern

acceleration/ deceleration C

For prevention of load shifting in conveyor and other applications This setting always provides S-pattern acceleration/ deceleration from s2 (current speed) to s1 (preset speed), easing an acceleration/deceleration shock and

Output

speed

(r/min)

producing an effect on the prevention of load shifting in conveyor and other applications.

Backlash measures for reduction gear, etc. This function stops a speed change temporarily during acceleration/deceleration, reducing a shock generated when a reduction gear backlash is eliminated suddenly. Use Pr. 140 to Pr. 143 to set the stopping times and stopping speed in accordance with the chart on the right.

Output

(r/min)

[Backlash measures function]

speed

The acceleration/deceleration time is increased by the stopping time.

REMARKS

Output speed is retained for the time for the starting speed (Pr. 13) and s1 (Pr. 140) time at a start and accelerate again after t1 time has elapsed. Speed reaches or below s2 (Pr. 142) is retained for t2 (Pr. 143) time at a start of deceleration and decelerate again after t2 time has elapsed.

See next page. See next page.

[S-pattern acceleration

/deceleration B]

Time

Pr.140

Pr.141

Pr.143

Pr.142

Time

REMARKS

For the acceleration/deceleration time, turning on the RT signal makes Pr. 44 "second acceleration/deceleration time" and Pr. 45 "second deceleration time" valid (turning on the X9 signal makes Pr. 110 and Pr. 111 valid). Refer to page 78.

Operation selection functions 1 (Pr. 17 to Pr. 37)

Pr. 29 = 4 (S-pattern acceleration/deceleration C)

With the S-pattern acceleration/deceleration C switch signal (X20), an acceleration/deceleration curve S-pattern 1 or S-pattern 2 can be selected.

Pr.382

Pr.381

CAUTION Change the S pattern acceleration/ deceleration C switch (X20) after the speed becomes constant. S pattern operation before switching continues even if the X20 is changed during acceleration or

Pr.380

Pr.382

Pr.381

Pr.383

deceleration.

Set speed

During Acceleration During Deceleration

S-pattern C switch

(X20)

X20 Signal

OFF

Operation

OFF Pr. 380 "acceleration S pattern 1" Pr. 381 "deceleration S pattern 1"

ON Pr. 382 "acceleration S pattern 2" Pr. 383 "deceleration S pattern 2"

As the acceleration/deceleration time during acceleration/deceleration, set the percentage to the acceleration/ deceleration time T in Pr. 380 to Pr. 383.

Parameter setting (%) = Ts / T ×100%

S-pattern acceleration

Linear acceleration

REMARKS

• At a start, the motor starts at Pr. 13 "starting speed" when the start signal turns on.

• If there is a difference between the speed command and speed at a start of deceleration due to torque limit operation etc., the speed command is matched with the speed to make deceleration.

Related parameters

• Base frequency setting (acceleration/deceleration time setting) ⇒ Pr. 3 "base frequency" (Refer to page 77.)

• Pr. 20 "acceleration/deceleration reference speed"

• X20 signal setting when Pr. 29 = 4 (S-pattern acceleration/deceleration switch) selection) (Refer to page 150.)

• Starting speed setting

⇒ Pr. 13 "starting speed" (Refer to page 84.)

⇒ Refer to page 78.

⇒ Pr. 180 to Pr. 187 (input terminal function

PARAMETERS

Mitsubishi Electronics FR-V520-1.5K, FR-V540-1.5K User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

This section is specifically about safety matters

CONTENTS

WIRING

1.1 Internal block diagram

1.2 Main circuit terminal specifications

1.3 Connection of stand-alone option units

1.3.1 Connection of the dedicated external brake resistor (FR-ABR)

1.3.2 Connection of the brake unit (FR-BU)

1.3.3 Connection of the brake unit (BU type)

1.3.4 Connection of the high power factor converter (FR-HC)

1.3.5 Connection of the power regeneration common converter (FR-CV)

1.3.6 Connection of the DC reactor (FR-HEL/BEL)

1.4 Control circuit terminal specifications

1.4.1 Connecting the control circuit to a power supply separately from the main circuit

1.5 Precautions for use of the vector inverter

1.6 Others

1.6.1 Leakage currents and countermeasures

1.6.2 Power off and magnetic contactor (MC)

1.6.3 Installation of reactor

1.6.4 Notes on earthing (grounding)

1.6.5 Inverter-generated noises and their reduction techniques

1.6.6 Power supply harmonics

1.6.7 Harmonic suppression guidelines

1.6.8 Inverter-driven 400V class motor

1.6.9 Using the PU connector for computer link

1.7 Input terminals

1.7.1 Run (start) and stop (STF, STR, STOP)

1.7.2 External thermal relay input (OH)

1.7.3 Speed setting potentiometer connection (10E, 2 (1), 5)

1.7.4 Torque setting input signal and motor-generated torque (terminals 3, 5)

1.7.5 Meter connection method and adjustment (DA1, DA2)

1.7.6 Common terminals (SD, 5, SE)

1.7.7 Signal inputs by contact-less switches

1.8 How to use the input signals (assigned terminals DI1 to DI4, STR) (Pr. 180 to Pr. 183, Pr. 187)

1.8.4 Third function selection (X9 signal): Pr. 180 to Pr. 183, Pr. 187 setting "9"

1.8.5 FR-HC, FR-CV connection (X10 signal): Pr. 180 to Pr. 183, Pr. 187 setting "10"

1.8.7 PID control enable terminal: Pr. 180 to Pr. 183, Pr. 187 setting "14"

1.8.8 Brake sequence opening signal (BRI signal): Pr. 180 to Pr. 183, Pr. 187 setting "15"

1.8.9 PU operation/external operation switchover: Pr. 180 to Pr. 183, Pr. 187 setting "16"

1.8.11 Orientation command (X22 signal): Pr. 180 to Pr. 183, Pr. 187 setting "22"

1.8.12 Pre-excitation/servo on (LX signal): Pr. 180 to Pr. 183, Pr. 187 setting "23"

1.8.13 Output stop (MRS signal): Pr. 180 to Pr. 183, Pr. 187 setting "24"

1.8.14 Start self-holding selection (STOP signal): Pr. 180 to Pr. 183, Pr. 187 setting "25"

1.8.15 Control mode changing (MC signal): Pr. 180 to Pr. 183, Pr. 187 setting "26"

1.8.16 Torque limit selection (TL signal): Pr. 180 to Pr. 183, Pr. 187 setting "27"

1.8.17 Start time tuning (X28 signal): Pr. 180 to Pr. 183, Pr. 187 setting "28"

1.8.18 Torque bias selection 1 (X42 signal): Pr. 180 to Pr. 183, Pr. 187 setting "42" Torque bias selection 2 (X43 signal): Pr. 180 to Pr. 183, Pr. 187 setting "43"

1.9 How to use the output signals (assigned terminals DO1 to DO3, ABC) (Pr. 190 to Pr. 192, Pr. 195)

1.10 Design information to be checked

1.11 Using the second motor

1.11.1 Wiring diagram (second motor)

1.11.2 Second motor setting parameters

1.12 Using the conventional motor and other motors

1.12.1 Conventional motor (SF-VR, SF-JR with encoder)

1.12.2 Precautions for and wiring of the motor with encoder (SF-JR with encoder)

VECTOR CONTROL

2.1 What is vector control?

2.2 Speed control

2.2.1 Outline of speed control

2.2.2 Easy gain tuning function block diagram

2.3 Fine adjustment of gains for speed control

2.3.1 Control block diagram

2.3.2 Concept of adjustment of manual input speed control gains

2.3.3 Speed control gain adjustment procedure (Pr. 820, Pr. 821)

2.3.4 Troubleshooting

2.3.5 Speed feed forward control, model adaptive speed control (Pr. 828, Pr. 877 to Pr. 881)

2.4 Torque control

2.4.1 Outline of torque control

2.5 Fine adjustment for torque control

2.5.1 Control block diagram

2.6 Gain adjustment for torque control

2.6.1 Concept of torque control gains

2.6.2 Gain adjustment procedure

2.6.3 Troubleshooting

2.7 Position control (Pr. 419 to Pr. 430, Pr. 464 to Pr. 494)

2.7.1 Connection diagram