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FR-V560
Mitsubishi Electric FR-V560 User Manual
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VECT
OR INVERTER
FR-V
560
INSTRUCTION MANUAL (Det
ailed)
IB
(NA)
-0600135E
-A(0
306)ME
E
P
rint
ed
in Jap
a
n
S
pecifi
c
ations subjec
t to change w
i
thout
not
ice.
2
VECTOR CONTROL
WITH ENCO
DER
P
ARAMETERS
4
SPEC
IFICA
TIONS
6
HE
AD O
F
F
I
C
E
:
M
I
T
S
UBI
SHI
D
ENK
I BLDG
MAR
UNO
UCHI TOK
Y
O
100-8310
3
VECT
OR CONTROL
WITH
OU
T ENC
OD
ER
1
WIRING
PROTECTI
VE
FUNCTI
ONS
5
FR
-V
5
60-NA
V
E
C
T
O
R I
N
V
E
R
T
E
R
INS
TRU
C
TIO
N
MANU
AL (Det
ailed
)
FR-V560-2.2K to 55K-NA
HIGH PREC
ISION & HI
GH
RESPONSE VECTOR INVER
TER
2
Table of Contents
Default Chapter
4
Table of Contents
4
1 Wiring
11
Basic Configuration and Connection of Peripheral Devices
11
Basic Configuration
11
Vector Control
11
Selection of Peripheral Devices
12
Connection Diagram
13
Internal Block Diagram
14
Protective
14
Main Circuit Terminal Specifications
15
Specification of Main Circuit Terminal
15
Cables and Wiring Length
16
Motor
17
Encoder Cable and Encoder Setting
17
Inverter-Driven 575V Class Motor
19
Connection of Stand-Alone Option Units
20
Connection of the External Brake Resistor
20
Connection of the Brake Unit (FR-BU-C)
21
Connection of the Power Factor Improving DC Reactor
21
Control Circuit Terminal Specifications
22
Specification of Control Circuit Terminal
22
Control Circuit Terminal Layout
24
Wiring Instructions
24
Connecting the Control Circuit to a Power Supply Separately from the Main Circuit
24
Changing the Control Logic
25
Precautions for Use of the Vector Inverter
27
Others
28
Leakage Currents and Countermeasures
28
Power off and Magnetic Contactor (MC)
30
Installation of Power Factor Improving Reactor
30
Notes on Grounding
31
Inverter-Generated Noises and Their Reduction Techniques
32
Power Supply Harmonics
34
Using the PU Connector for Computer Link
35
Input Terminals
38
Run (Start) and Stop (STF, STR, STOP)
38
External Thermal Relay Input (OH)
39
Speed Setting Potentiometer Connection (10E, 2 (1), 5)
39
Torque Setting Input Signal and Motor-Generated Torque (Terminals 3, 5)
40
Meter Connection Method and Adjustment (DA1, DA2)
40
Common Terminals (SD, 5, SE)
41
Signal Inputs by Contact-Less Switches
41
How to Use the Input Signals (Assigned Terminals DI1 to DI4, STR) (Pr. 180 to Pr. 183, Pr. 187)
42
Multi-Speed Setting (RL, RM, RH, REX Signals): Pr. 180 to Pr. 183, Pr. 187 Setting
42
Remote Setting (RL, RM, RH Signals): Pr. 180 to Pr. 183, Pr. 187 Setting "0, 1, 2
42
Second Function Selection/Second Motor Switchover (RT Signal)
42
Pr. 180 to Pr. 183, Pr. 187 Setting "3
42
Jog Operation (Jog Signal): Pr. 180 to Pr. 183, Pr. 187 Setting "5
42
Third Function Selection (X9 Signal): Pr. 180 to Pr. 183, Pr. 187 Setting "9
43
Brake Sequence Opening Signal (BRI Signal): Pr. 180 to Pr. 183, Pr. 187 Setting "15
43
PID Control Enable Terminal: Pr. 180 to Pr. 183, Pr. 187 Setting "14
43
PU Operation External Interlock Signal (X12 Signal): Pr. 180 to Pr. 183, Pr. 187 Setting "12
43
PU Operation/External Operation Switchover: Pr. 180 to Pr. 183, Pr. 187 Setting "16
43
S-Pattern Acceleration/Deceleration C Switchover Terminal (X20 Signal) : Pr. 180 to Pr. 183, Pr. 187 Setting "20
43
Orientation Command (X22 Signal): Pr. 180 to Pr. 183, Pr. 187 Setting "22
44
Output Stop (MRS Signal): Pr. 180 to Pr. 183, Pr. 187 Setting "24
44
Pre-Excitation/Servo on (LX Signal): Pr. 180 to Pr. 183, Pr. 187 Setting "23
44
Start Self-Holding Selection (STOP Signal): Pr. 180 to Pr. 183, Pr. 187 Setting "25
44
Control Mode Changing (MC Signal): Pr. 180 to Pr. 183, Pr. 187 Setting "26
45
Start Time Tuning (X28 Signal): Pr. 180 to Pr. 183, Pr. 187 Setting "28
45
Torque Bias Selection 1 (X42 Signal): Pr. 180 to Pr. 183, Pr. 187 Setting "42
45
Torque Bias Selection 2 (X43 Signal): Pr. 180 to Pr. 183, Pr. 187 Setting "43
45
Torque Restriction Selection (TL Signal): Pr. 180 to Pr. 183, Pr. 187 Setting "27
45
P Control Selection (P/PI Control Switchover) (X44 Signal)
46
Pr. 180 to Pr. 183, Pr. 187 Setting "44
46
How to Use the Output Signals (Assigned Terminals DO1 to DO3, ABC) (Pr. 190 to Pr. 192, Pr. 195)
47
Design Information to be Checked
49
Using the Second Motor
50
Second Motor Setting Parameters
50
Wiring Diagram (Second Motor)
50
2 Vector Control with Encoder
52
What Is Vector Control
53
Speed Control
55
Outline of Speed Control
55
Easy Gain Tuning Function Block Diagram
55
Fine Adjustment of Gains for Speed Control
56
Control Block Diagram
56
Concept of Adjustment of Manual Input Speed Control Gains
57
Speed Control Gain Adjustment Procedure (Pr. 820, Pr. 821)
57
Troubleshooting
58
Speed Feed Forward Control, Model Adaptive Speed Control (Pr. 877 to Pr. 881)
60
Torque Control
62
Outline of Torque Control
62
Fine Adjustment for Torque Control
63
Control Block Diagram
63
Gain Adjustment for Torque Control
64
Concept of Torque Control Gains
64
Gain Adjustment Procedure
64
Troubleshooting
65
Position Control (Pr. 419 to Pr. 430, Pr. 464 to Pr. 494)
66
Position Control Step
66
Position Control
66
Control Block Diagram
67
Parameter
67
Conditional Position Feed Function by Contact Input (Pr. 419=0)
69
Setting the Electronic Gear
70
In-Position Width (Pr. 426)
72
Excessive Level Error (Pr. 427)
72
Pulse Monitor Selection (Pr. 430)
72
Concept of Position Control Gains
72
Troubleshooting
73
Position Control Is Not Exercised Normally
74
3 Vector Control Without Encoder
76
Speed Control (Without Encoder)
77
Outline of Speed Control
77
Fine Adjustment of Gains for Speed Control (Without Encoder)
78
Control Block Diagram
78
Speed Control (Without Encoder)
78
Fine Adjustment of Gains for Speed Control
78
Concept of Adjustment of Manual Input Speed Control Gains
79
Speed Control Gain Adjustment Procedure (Pr. 820, Pr. 821)
79
Troubleshooting
80
Speed Feed Forward Control (Pr. 877 to Pr. 881)
81
Torque Control (Without Encoder)
82
Outline of Torque Control
82
Fine Adjustment for Torque Control (Without Encoder)
83
Control Block Diagram
83
Gain Adjustment for Torque Control (Without Encoder)
84
Concept of Torque Control Gains
84
Gain Adjustment Procedure
84
Troubleshooting
85
4 Parameters
86
Parameter Lists
87
At-A-Glance Guide to Functions
95
Basic Functions (Pr. 0 to Pr. 9)
98
Torque Boost (Pr. 0)
98
Maximum and Minimum Speed Settings (Pr. 1, Pr. 2)
98
Base Frequency, Base Frequency Voltage (Pr. 3, Pr. 19)
99
Multi-Speed Operation (Pr. 4 to Pr. 6, Pr. 24 to Pr. 27, Pr. 232 to Pr. 239)
99
Acceleration and Deceleration Times (Pr. 7, Pr. 8, Pr. 20, Pr. 21, Pr. 44, Pr. 45, Pr. 110, Pr. 111)
100
Motor Overheat Protection (Pr. 9, Pr. 452, Pr. 876 )
102
Standard Operation Functions (Pr. 10 to Pr. 16)
104
DC Injection Brake Operation (Pr. 10, Pr.11, Pr. 12, Pr.802, Pr. 850)
104
Starting Speed (Pr. 13)
106
Jog Operation (Pr. 15, Pr. 16)
107
Operation Selection Functions 1 (Pr. 17 to Pr. 37)
107
Inverter Output Stop (MRS) (Pr. 17)
107
Torque Restriction (Pr. 22, Pr. 803, Pr. 810, Pr. 812 to Pr. 817)
109
RH, RM, RL Signal Input Compensation (Pr. 28)
110
S-Pattern Acceleration/Deceleration Curve (Pr. 29, Pr. 140 to Pr. 143, Pr. 380 to Pr. 383)
111
Regenerative Brake Duty (Pr. 30, Pr. 70)
114
Speed Jump (Pr. 31 to Pr. 36)
115
Speed Display (Pr. 37, Pr. 144)
115
Output Terminal Functions (Pr. 41 to Pr. 50)
117
Up-To-Speed Sensitivity (Pr. 41)
117
Speed Detection (Pr. 42, Pr. 43, Pr. 50, Pr. 116)
117
Display Functions 1 (Pr. 52 to Pr. 56)
119
Monitor Display/Da1, DA2 Terminal Function Selection (Pr. 52 to Pr. 54, Pr. 158)
119
Monitoring Reference (Pr. 55, Pr. 56, Pr. 866)
122
Automatic Restart (Pr. 57, Pr. 58)
123
Automatic Restart after Instantaneous Power Failure (Pr. 57, Pr. 58, Pr. 162 to Pr. 165)
123
Additional Functions (Pr. 59)
125
Remote Setting Function Selection (Pr. 59 )
125
Brake Sequence (Pr. 60, Pr. 278 to Pr. 285)
127
Brake Sequence Function (Pr. 60, Pr. 278 to Pr. 285)
127
Operation Selection Function 2 (Pr. 65 to Pr. 79)
130
Retry Function (Pr. 65, Pr. 67 to Pr. 69)
130
Applied Motor (Pr. 71, Pr. 450)
132
PWM Carrier Frequency Selection (Pr. 72, Pr. 240)
133
Speed Setting Signal On/Off Selection (Pr. 73)
134
Reset Selection/Disconnected PU Detection/Pu Stop Selection (Pr. 75)
136
Parameter Write Disable Selection (Pr. 77)
137
Reverse Rotation Prevention Selection (Pr. 78 )
138
Operation Mode Selection (Pr. 79)
138
Offline Auto Tuning (Pr. 80 to Pr. 96)
141
Offline Auto Tuning Function (Pr. 9, Pr. 80, Pr. 81, Pr. 83, Pr. 84, Pr. 71, Pr. 96, Pr. 450, Pr. 452)
141
Parameters
141
Execution of Offline Auto Tuning
142
Utilizing or Changing Offline Auto Tuning Data for Use
145
Setting the Motor Constants Directly
146
Direct Input + Offline Auto Tuning
147
Online Auto Tuning (Pr. 95)
148
Online Auto Tuning Selection (Pr. 95, Pr. 9, Pr. 71, Pr. 80, Pr. 81 )
148
Communication Functions (Pr. 117 to Pr. 124)
150
Computer Link Operation (RS-485 Communication) (Pr. 117 to Pr. 124)
150
Setting Items and Set Data
157
E2PROM Write Selection (Pr. 342)
161
PID Control (Pr. 128 to Pr. 134)
161
Current Detection (Pr. 150 to Pr. 153)
168
Output Current Detection Function (Pr. 150, Pr. 151)
168
Zero Current Detection (Pr. 152, Pr. 153)
169
Auxiliary Functions (Pr. 156, Pr. 157)
170
Stall Prevention Operation Selection (Pr. 156)
170
OL Signal Output Timer (Pr. 157)
171
Display Function 3 (Pr. 160)
172
Extended Function Display Selection (Pr. 160)
172
Initial Monitor (Pr. 171)
172
Actual Operation Hour Meter Clear (Pr. 171)
172
Terminal Assignment Functions (Pr. 180 to Pr. 195)
172
Input Terminal Function Selection (Pr. 180 to Pr. 183, Pr. 187)
172
Output Terminal Function Selection (Pr. 190 to Pr. 192, Pr. 195)
174
Auxiliary Function (Pr. 244)
176
Cooling Fan Operation Selection (Pr. 244)
176
Stop Selection Function (Pr. 250)
176
Stop Selection (Pr. 250)
176
Operation Selection Function (Pr. 251)
177
Output Phase Failure Protection Selection (Pr. 251)
177
Additional Function 2 (Pr. 252, Pr. 253)
178
Override Bias, Gain (Pr. 252, Pr. 253)
178
Power Failure Stop Functions (Pr. 261 to Pr. 266)
178
Power-Failure Deceleration Stop Function (Pr. 261 to Pr. 266)
178
Droop (Pr. 286 to Pr. 288)
180
Droop Control (Pr. 286, Pr. 287, Pr. 288)
180
Orientation (Pr. 350 to Pr. 362, Pr. 393 to Pr. 399)
181
Orientation Control (Pr. 350, Pr. 351, Pr. 356, Pr. 357, Pr. 360 to Pr. 362, Pr. 393, Pr. 396 to Pr. 399)
181
Control System Function (Pr. 374)
188
Overspeed Detection (Pr. 374)
188
Position Control (Pr. 419 to Pr. 430, Pr. 464 to Pr. 494)
189
Remote Output (Pr. 495 to Pr.497)
190
Remote Output Function (Pr. 495 to Pr.497)
190
Operation Selection Functions 4 (Pr. 800 to Pr. 809)
191
Control Selection (Pr. 800, Pr. 451)
191
Torque Characteristic Selection (Pr. 801)
191
Torque Command Right Selection (Pr. 804 to Pr. 806)
193
Speed Restriction (Pr. 807 to Pr. 809)
194
Control System Functions (Pr. 818 to Pr. 837)
196
Easy Gain Tuning Selection (Pr. 818, Pr. 819)
196
Speed Loop Proportional Gain Setting (Pr. 820, Pr. 830)
196
Speed Control Integral Time Setting (Pr. 821, Pr. 831)
196
Speed Setting Circuit Filter Function (Pr. 822, Pr. 832)
196
Speed Detection Filter Function (Pr. 823, Pr. 833)
197
Current Loop Proportional Gain Setting for Vector Control (Pr. 824, Pr. 834)
197
Current Control Integral Time Setting for Vector Control (Pr. 825, Pr. 835)
197
Torque Setting Filter Function (Pr. 826, Pr. 836)
197
Torque Detection Filter Function (Pr. 827, Pr. 837)
198
Model Speed Control Gain (Pr. 828)
198
Torque Biases (Pr. 840 to Pr. 848)
198
Torque Bias Function (Pr. 840 to Pr. 848)
198
Additional Functions (Pr. 851 to Pr. 865)
201
Selection of Number of Encoder Pulses (Pr. 851)
201
Selection of Encoder Rotation Direction (Pr. 852)
201
Excitation Ratio (Pr. 854)
202
Notch Filter (Pr. 862, Pr. 863)
202
Torque Detection (Pr. 864)
203
Low Speed Detection (Pr. 865)
203
Display Function (Pr. 867)
204
DA1 Output Response Level Adjustment (Pr. 867)
204
Terminal Function Assignment (Pr. 868)
204
No. 1 Terminal Function Assignment (Pr. 868)
204
Protective Functions (Pr. 870 to Pr. 874)
205
Speed Deviation Excessive (Pr. 870, Pr. 871)
205
Speed Restriction (Pr. 873)
206
Stop by OLT Level Prevention (Pr. 874)
206
Operation Selection Functions 5 (Pr. 875)
207
Fault Definition (Pr. 875)
207
Control System Function 2 (Pr. 877 to Pr. 881)
207
Speed Feed Forward Control, Model Adaptive Speed Control (Pr. 877 to Pr. 881)
207
Maintenance Function (Pr. 890 to Pr. 892)
208
Maintenance Output Function (Pr. 890 to Pr. 892)
208
Calibration Functions (Pr. 900 to Pr. 920)
209
DA1/DA2 Terminal Calibration (Pr. 900, Pr. 901)
209
Biases and Gains of Speed Setting Terminals (Speed Setting No. 2, Torque Command No. 3, Multi Function No. 1 Terminal) (Pr. 902 to Pr. 905, Pr. 917 to Pr. 920)
211
Additional Function (Pr. 990)
214
PU Buzzer Control (Pr. 990)
214
5 Protective Functions
216
Errors (Alarms)
217
Major Faults
217
Minor Fault
224
Warnings
224
How to Recover from PU Stop Error (PS)
226
Correspondences between Digital and Actual Characters
227
Resetting the Inverter
227
6 Specifications
228
Model Specifications
229
Common Specifications
230
Outline Dimension Drawings
231
Inverter Outline Dimension Drawings
231
Operation Panel (FR-DU04-1) Outline Dimension Drawings
233
Parameter Unit (FR-PU04V) Outline Dimension Drawings
233
Appendix
234
Appendix Parameter Data Code Lists
235
5
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Mitsubishi Electric FR-V560 Specifications
General
Brand
Mitsubishi Electric
Model
FR-V560
Category
Inverter
Language
English
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