Page 1 INVERTER ROLL TO ROLL FUNCTION MANUAL FR-A820-00046(0.4K)-04750(90K)-R2R FR-A840-00023(0.4K)-06830(280K)-R2R FR-A842-07700(315K)-12120(500K)-R2R Roll to Roll Function The FR-A800-R2R inverter has dedicated functions for roll to roll applications, in addition to the functions of the standard type FR-A800 inverter. This Roll to Roll Function Manual explains the functions dedicated to the FR-A800-R2R inverter. For the functions not found in this Function Manual, refer to the Instruction Manual of the FR-A800 inverter.
Page 2: Table Of Contents
CONTENTS 1 INTRODUCTION FR-A800-R2R overview SND rating 1.2.1 Multiple rating setting............................7 2 PARAMETER LIST Parameter list (by parameter number) Parameter list (by function group) 3 DANCER FEEDBACK SPEED CONTROL Dedicated function list System configuration example Control block diagram 3.3.1 Analog input signals and pulse train input signals ..................43 Parameter setting procedure for dancer feedback speed control 3.4.1 Parameter setting procedure ..........................44...
Page 3 System configuration example Control block diagram Parameter setting procedure for tension sensor feedback speed control 4.4.1 Parameter setting procedure.......................... 99 4.4.2 PID gain adjustment ............................. 104 Tension sensor feedback speed control details 4.5.1 Tension feedback setting ..........................106 4.5.2 Tension feedback detection ......................... 107 4.5.3 PID offset displacement ..........................
Page 4 6.5.5 Tension feedback detection..........................151 6.5.6 PID control gain setting..........................151 6.5.7 Integral control action setting........................151 6.5.8 Differential control action setting........................151 6.5.9 PID control gain selection ..........................152 7 SPEED CONTROL OF INTERMEDIATE SHAFTS System configuration example Parameter setting procedure for speed control of intermediate shafts 7.2.1 Parameter setting procedure ........................154 7.2.2...
Page 5 Operation command source and speed command source (Pr.338, Pr.339) Encoder input option selection 10 APPENDIX 10.1 Differences in the functions from the standard inverter 10.2 Compatible options 10.3 Common specifications 10.4 Application examples 10.4.1 Dancer feedback speed control with roll diameter compensation for printers..........199 10.4.2 Dancer feedback speed control with roll diameter compensation for wire drawing machines .....
Page 6: Introduction
FR-A800-R2R overview INTRODUCTION FR-A800-R2R overview • The FR-A800-R2R inverter with dedicated functions is useful for winding machines with dancer rolls when a difference between the minimum diameter and the maximum diameter is large, a fast feeding speed is required, etc. •...
Page 7 Operation panel (FR-DU08) and LCD operation panel (FR-LU08) Parameter unit Parameter unit (FR-PU07) Operation panel and parameter unit Inverter Mitsubishi Electric FR-A800 series inverter FR-A800-R2R FR-A800-R2R roll to roll dedicated inverter FR-A8AP/FR-A8AL/FR-A8APR/FR-A8APS (plug-in option), FR-A8TP (control terminal Vector control compatible option...
Page 8: Snd Rating
SND rating SND rating 1.2.1 Multiple rating setting Five rating types of different rated current and permissible load are available. The optimal inverter rating can be chosen in accordance with the application, enabling equipment size to be reduced. As well as the ratings of the FR-A800 standard type inverters, the SND rating is available for the FR-A800-R2R series. Setting Description (overload current rating, Name...
Page 9 SND rating ∗1 Initial values differ depending on the rating as follows. The value in the parentheses is the initial value for the 400 V class. 200 V class: FR-A820-[]-R2R 00046 00077 00105 00167 00250 00340 00490 00630 00770 00930 01250 01540 01870...
Page 10 SND rating Average current load detection • For the SND rating, the Y239 signal is output when the output current average value reaches or exceeds 50% of the inverter rated current. • For the SND rating, when the instantaneous load factor reaches or exceeds 155% of the inverter rated current while the output current average value is 50% or more of the inverter rated current, the protective function (E.THS) is activated, shutting off the inverter output.
Page 11: Parameter List
Parameter list (by parameter number) PARAMETER LIST Parameter list (by parameter number) For simple variable-speed operation of the inverter, the initial values of the parameters may be used as they are. Set the necessary parameters to meet the load and operational specifications. Parameter's setting, change and check can be made on the operation panel (FR-DU08).
Page 12 Parameter list (by parameter number) Minimum Initial value Refer Customer Name Setting range setting group setting increments page Stall prevention operation level H610 compensation factor at double 0 to 200%, 9999 0.1% 9999 ─ ∗17 speed D304 Multi-speed setting (4 speed to 7 0 to 590 Hz, 9999 0.01 Hz 9999...
Page 13 Parameter list (by parameter number) Minimum Initial value Refer Customer Name Setting range setting group setting increments page T000 Analog input selection 0 to 7, 10 to 17 ─ ∗17 T002 Input filter time constant 0 to 8 ─ ∗17 0 to 3, 14 to 17, 1000 to 1003, 1014 to 1017 ∗2...
Page 14 Parameter list (by parameter number) Minimum Initial value Refer Customer Name Setting range setting group setting increments page 48, 96, 192, 384, 576, N021 PU communication speed ─ ∗17 768, 1152 PU communication stop bit ─ 0, 1, 10, 11 length / data length N022 PU communication data length...
Page 15 Parameter list (by parameter number) Minimum Initial value Refer Customer Name Setting range setting group setting increments page M463 Zero current detection time 0 to 10 s 0.01 s 0.5 s ─ ∗17 Voltage reduction selection H631 during stall prevention 0, 1, 10, 11 ─...
Page 16 Parameter list (by parameter number) Minimum Initial value Refer Customer Name Setting range setting group setting increments page 0 to 8, 10 to 16, 25, 26, 30 M400 RUN terminal function selection to 35, 39 to 48, 55, 64, 67, 68, 79, 80, 85, 90 to 99, M401 SU terminal function selection...
Page 17 Parameter list (by parameter number) Minimum Initial value Refer Customer Name Setting range setting group setting increments page E023 Parameter for manufacturer setting. Do not set. Acceleration/deceleration time R342 0 to 3600 s 0.1 s 15 s during stall condition Second acceleration time for R537 0 to 3600 s...
Page 18 Parameter list (by parameter number) Minimum Initial value Refer Customer Name Setting range setting group setting increments page Communication speed D011 0 to 2 command source Communication startup mode D001 0 to 2, 10, 12 ─ ∗17 selection RS-485 communication CR/LF N038 0 to 2 ─...
Page 19 Parameter list (by parameter number) Minimum Initial value Refer Customer Name Setting range setting group setting increments page PLC function operation A800 0 to 2, 11, 12 ─ ∗17 selection Inverter operation lock mode A801 0, 1 ─ ∗17 setting A802 Pre-scale function selection 0 to 5...
Page 20 Parameter list (by parameter number) Minimum Initial value Refer Customer Name Setting range setting group setting increments page R124 Third PID differential time 0.01 to 10 s, 9999 0.01 s 9999 Third PID proportional band for R125 0.1 to 1000%, 9999 0.1% 9999 values below set point...
Page 21 Parameter list (by parameter number) Minimum Initial value Refer Customer Name Setting range setting group setting increments page Energization time carrying-over M021 (0 to 65535) ─ ∗17 times Operating time carrying-over M031 (0 to 65535) ─ ∗17 times Second motor excitation current G301 0 to 400 Hz, 9999 0.01 Hz...
Page 22 Parameter list (by parameter number) Minimum Initial value Refer Customer Name Setting range setting group setting increments page G410 Speed smoothing control 0 to 200% 0.1% ─ ∗17 Speed smoothing cutoff G411 0 to 120 Hz 0.01 20 Hz ─ ∗17 frequency M530...
Page 23 Parameter list (by parameter number) Minimum Initial value Refer Customer Name Setting range setting group setting increments page Operation panel monitor M101 9999 1 to 3, 5 to 14, 17 to 20, 22 selection 1 to 36, 38, 40 to 46, 50 to Operation panel monitor M102 57, 61 to 64, 67, 71 to 74,...
Page 24 Parameter list (by parameter number) Minimum Initial value Refer Customer Name Setting range setting group setting increments page G232 Torque bias 2 600 to 1400%, 9999 9999 ─ ∗17 G233 Torque bias 3 600 to 1400%, 9999 9999 ─ ∗17 G234 Torque bias filter 0 to 5 s, 9999...
Page 25 Parameter list (by parameter number) Minimum Initial value Refer Customer Name Setting range setting group setting increments page Regeneration avoidance voltage G124 0 to 200% 0.1% 100% ─ ∗17 gain E420 Free parameter 1 0 to 9999 9999 ─ ∗17 E421 Free parameter 2 0 to 9999...
Page 26 Parameter list (by parameter number) Minimum Initial value Refer Customer Name Setting range setting group setting increments page (918) T103 Terminal 1 gain (speed) 0 to 300% 0.1% 100% ─ ∗17 ∗10 Terminal 1 bias command (919) T110 0 to 400% 0.1% ─...
Page 27 Parameter list (by parameter number) Minimum Initial value Refer Customer Name Setting range setting group setting increments page 101 to 131, 201 to 229, 301 to 331, 401 to 430, 501 to 531, 601 to 630, 1007 E021 Clock (month, day) ─...
Page 28 Parameter list (by parameter number) Minimum Initial value Refer Customer Name Setting range setting group setting increments page Speed control integral term 1115 G218 0 to 9998 ms 1 ms ─ ∗17 clear time Constant output range speed 1116 G206 0 to 100% 0.1% ─...
Page 29 Parameter list (by parameter number) Minimum Initial value Refer Customer Name Setting range setting group setting increments page Winding diameter compensation 1251 R261 0 to 100 s 0.01 s speed filter time constant 1252 R070 Dancer lower limit position 400 to 600% 0.01% 400% Initial winding diameter...
Page 30 Parameter list (by parameter number) Minimum Initial value Refer Customer Name Setting range setting group setting increments page 1293 R515 Data table taper ratio 3 0 to 100% 0.1% 1294 R516 Data table winding diameter 4 0 to 6553 mm, 9999 1 mm 9999 1295...
Page 31 Parameter list (by parameter number) Minimum Initial value Refer Customer Name Setting range setting group setting increments page Mechanical loss setting 1428 R559 0 to 400 Hz, 9999 0.01 Hz 9999 frequency 5 1429 R560 Mechanical loss 5 900 to 1100% 0.1% 1000% Load characteristics...
Page 32: Parameter List (By Function Group)
Parameter list (by function group) Parameter list (by function group) R: Roll to roll function setting Refer Name group page Parameters that set the roll to roll functions. Initial winding diameter Refer R071 1253 calculation deadband Name group Initial winding diameter page R072 1254...
Page 33 Parameter list (by function group) Refer Refer Name Name group group page page R144 PID gain A Line multi-speed setting (speed R236 1271 R145 PID gain B Line multi-speed setting (speed R146 PID gain C1 R237 1272 R147 PID gain C2 Line multi-speed setting (speed R238 1273...
Page 34 Parameter list (by function group) Refer Refer Name Name group group page page Acceleration/deceleration time Mechanical loss setting R342 R553 1422 during stall condition frequency 2 R554 1423 Tension command cushion time Mechanical loss 2 R343 1409 during stall condition Mechanical loss setting R555 1424...
Page 35 Parameter list (by function group) Refer Refer Name Name group group page page E431 Automatic parameter setting ─ Acceleration/deceleration pattern ∗6 F100 ─ ∗6 selection E440 User group read selection ─ ∗6 F102 Starting frequency ─ ∗6 User group registered display/ E441 ─...
Page 36 Parameter list (by function group) Refer Refer Name Name group group page page D304 H303 Retry count display erase ─ ∗6 Multi-speed setting (4 speed to 7 ─ H400 ∗6 Maximum frequency ─ ∗6 speed) D307 H401 Minimum frequency ─ ∗6 D308 H402...
Page 37 Parameter list (by function group) Refer Refer Name Name group group page page H620 Stall prevention level at 0 V input ─ Energy saving monitor reference ∗6 M201 ─ ∗6 (motor capacity) H621 Stall prevention level at 10 V input ─ ∗6 Control selection during Voltage reduction selection...
Page 38 Parameter list (by function group) Refer Refer Name Name group group page page Output current detection M464 ─ ∗6 operation selection T102 (918) Terminal 1 gain frequency (speed) ─ ∗6 M470 Torque detection ─ ∗6 ∗2 M500 Remote output selection ─...
Page 39 Parameter list (by function group) Refer Refer Name Name group group page page T707 JOG terminal function selection Second motor torque current/ C226 ─ ∗6 Rated PM motor current T708 CS terminal function selection Control terminal option-Number T709 MRS terminal function selection C240 ─...
Page 40 Parameter list (by function group) Refer Refer Name Name group group page page A802 Stop mode selection at Pre-scale function selection ─ ∗6 N013 ─ ∗6 communication error A803 Pre-scale setting value ─ ∗6 PU communication station A804 PLC function flash memory clear ─...
Page 41 Parameter list (by function group) Refer Refer Name Name group group page page SF-PR slip amount adjustment Torque bias balance G061 G236 ─ ─ ∗6 ∗6 gain compensation Reverse rotation excitation Fall-time torque bias terminal 1 G080 G237 ─ ─ ∗6 ∗6 current low-speed scaling factor...
Page 42: Dancer Feedback Speed Control
Dedicated function list DANCER FEEDBACK SPEED CONTROL Dancer feedback speed control is a control function to keep the line speed and the dancer roll position constant. To perform dancer feedback speed control on the winding/unwinding shaft of the system, the line speed and the dancer roll position can be kept constant in combination with the winding diameter calculation function.
Page 43: System Configuration Example
System configuration example System configuration example Potentiometer Maximum diameter Minimum diameter Dancer roll Encoder FR-A800-R2R Encoder FR-A8AP Line speed command FR-A800-R2R Dancer/tension control selection X114 FR-A8AP Start signal STF/STR Dancer/tension control selection X114 (Pr.180 = 114) Stored winding diameter clear X109 (Pr.181 = 109) Winding length clear ...
Page 44: Analog Input Signals And Pulse Train Input Signals
Control block diagram 3.3.1 Analog input signals and pulse train input signals • Refer to the following table and set the parameters to input the signals. • For analog input terminals, calibration is available with maximum and minimum input values. Either voltage or current signals are input through terminal 2 and terminal 4.
Page 45: Parameter Setting Procedure For Dancer Feedback Speed Control
∗1 For the control method, vector control is recommended. ∗2 Setting is required for a motor other than a Mitsubishi Electric motor (the SF-PR, SF-JR, SF-HR, SF-JRCA, SF-HRCA, or SF-V5RU (1500 r/min series) motor). NOTE • Select Vector control method for regenerative driving in low-speed range (about 10 Hz or lower).
Page 46 Parameter setting procedure for dancer feedback speed control Mechanical specifications setting Set the following parameters according to the specifications of the machine used. Refer to 10.4 (Application examples) on page 199. Winding/ Intermediate Name Setting unwinding Remarks shaft shaft For the intermediate shaft, set the 1235 Maximum winding diameter 1 ...
Page 47 Parameter setting procedure for dancer feedback speed control The following table shows a setting example. Item Setting example Setting by analog voltage (-10 to 10 V) input through terminal 1 (Pr.363 = "5") Dancer signal 100% Dancer signal input method -10 V Analog input value 10 V...
Page 48 Parameter setting procedure for dancer feedback speed control Actual line speed input setting Set Pr.362 according to the line speed command value input method for calculating the winding diameter (actual line speed method). (Setting is not required for the intermediate shaft.) Name Setting Input method...
Page 49 Parameter setting procedure for dancer feedback speed control The following table shows setting examples. Item Setting example 1 Setting example 2 Target position setting Setting the target position in the middle between the upper and Setting the target position directly method lower limits Set Pr.52 = "86"...
Page 50: Offline Auto Tuning
Parameter setting procedure for dancer feedback speed control 3.4.2 Offline auto tuning Before performing offline auto tuning Check the following points before performing offline auto tuning: • A value other than "9999" is set in Pr.80 and Pr.81, and Advanced magnetic flux vector control, Real sensorless vector control or vector control is selected (with Pr.800).
Page 51 Ω, mΩ, and A unit setting data setting and A unit setting SF-JR, SF-TH 0 (initial value) 3 (4) — Mitsubishi Electric standard SF-JR 4P 1.5 kW or lower 23 (24) — motor Mitsubishi Electric high- SF-HR 43 (44) —...
Page 52 Parameter setting procedure for dancer feedback speed control Performing tuning POINT POINT • Before performing tuning, check the monitor display of the operation panel or parameter unit if the inverter is in the state ready for tuning. Turning ON the start command while tuning is unavailable starts the motor. •...
Page 53 Parameter setting procedure for dancer feedback speed control • Note: Offline auto tuning time (with the initial setting) Offline auto tuning setting Time Approx. 25 to 120 s No motor rotation (Pr.96 = "1") (The time depends on the inverter capacity and motor type.) Approx.
Page 54: Speed Control Gain Adjustment
Parameter setting procedure for dancer feedback speed control • If using a motor falling under the following conditions, set the value of Pr.9 Electronic thermal O/L relay as shown below after tuning is complete. a) If the rated power supply of the motor is 200/220 V (400/440 V) 60 Hz, set the rated motor current multiplied by 1.1 in Pr.9.
Page 55 Parameter setting procedure for dancer feedback speed control Easy gain tuning (tuning with the minimum diameter-roll) Real sensorless vector control Vector control Vector control with the load inertia ratio manual input When Pr.819 Easy gain tuning selection = "1", the load inertia ratio is estimated during acceleration/deceleration, and the gain for each control is set automatically from this value and the value Set the load inertia ratio for the motor in Pr.880 Load inertia...
Page 56 Parameter setting procedure for dancer feedback speed control Calculation of the medium diameter gain With medium-diameter roll No medium-diameter roll Set the result of the following calculation in Pr.642 Speed control Tuning with the medium-diameter roll 1 proportional gain 2. Perform easy gain tuning in the same way used for the tuning with the minimum-diameter roll.
Page 57 Parameter setting procedure for dancer feedback speed control Manual adjustment Installation of the minimum-diameter roll Install the minimum-diameter roll. Speed control integral time setting Set "0" in Pr.821 Speed control integral time 1. (The initial value is 0.333 s.) Adjustment with the minimum-diameter roll Increase Pr.820 Speed control P gain 1 by 10%, and adjust the gain to a 80 to 90 % value of the setting immediately before vibration/noise starts in the range from the minimum number of rotations to the maximum number of rotations.
Page 58: Pid Gain Adjustment
Parameter setting procedure for dancer feedback speed control 3.4.4 PID gain adjustment Adjust the PID gain of dancer feedback speed control. Adjustment by tension PI gain tuning (recommended) The PID gain is adjusted by tension PI gain tuning (refer to page 76).
Page 59: Dancer Feedback Speed Control Details
Dancer feedback speed control details Dancer feedback speed control details Refer to Purpose Parameter to set page To select forward/reverse action for PID action selection P.R100 Pr.128 PID control To select winding or unwinding for a Winding/unwinding P.R002 Pr.1230 shaft selection To select the line speed command Line speed command...
Page 60: Winding/Unwinding Shaft Selection
Dancer feedback speed control details PID action selection (Pr.128) • Set forward or reverse action according to the control target. • The following table shows the input method for the set point, dancer signal, and line speed command for the dancer feedback speed control function (Pr.128 = "40 or 41").
Page 61: Line Speed Command Input
Dancer feedback speed control details 3.5.3 Line speed command input Set the line speed command input method. The selectable input methods include the following: parameter setting, analog input, multi-speed setting input, and pulse input. Name Initial value Setting range Description Line speed command Set the converted % of the bias voltage (current) for 0 to 100%...
Page 62 Dancer feedback speed control details Name Initial value Setting range Description 1268 Line multi-speed setting 0 m/min 0 to 6553.4 m/min ∗1 ∗1 R233 (speed 4) 1269 Line multi-speed setting 0 m/min 0 to 6553.4 m/min ∗1 ∗1 R234 (speed 5) 1270 Line multi-speed setting 0 m/min...
Page 63 Dancer feedback speed control details Block diagram Multi-speed operation (Pr.1265 to Pr.1279) JOG single-phase pulse train input digital command using the FR-A8AX, Primary analog input (terminal 1, 2, 4, 6), etc. delay filter Pr.291 = 1, 11, 21, 100 Pulse train Input pulse Terminal JOG single-phase calibration...
Page 64 Dancer feedback speed control details Line speed command input according to the priority of the speed command sources (Pr.361 = "0") • The line speed is determined according to the frequency command. • The priorities of the line speed commands are defined as follows: Multi-speed setting signal (RL/RM/RH/REX signal) >...
Page 65 Dancer feedback speed control details • The line speed commanded by pulse train input is calibrated with Pr.351 Line speed command bias, Pr.353 Line speed command gain, Pr.354 Line speed command pulse input bias, and Pr.355 Line speed command pulse input gain. The calculation result is applied as the line speed command value (lower limit: 0 m/min, upper limit: 6553.4 m/min).
Page 66 Dancer feedback speed control details Line speed command input by parameter setting (Pr.361 = "8") • The value set in Pr.360 Line speed command value is used for the line speed command. (Setting range: 0 to 6553.4 m/ min) Line speed command input through RS-485/Ethernet or using a communication option (except for the FR-A8ND) •...
Page 67: Compensation For Line Speed Command Input
Dancer feedback speed control details Line speed command input signal (X125 signal) • During speed control, turning ON the Line speed / tension command input (X125) signal enables write and read of the line speed command value through communication regardless of whether the dancer feedback speed control is valid or invalid. •...
Page 68 Dancer feedback speed control details Name Initial value Setting range Description Line speed command added 0 to 6553.4 m/min Set the gain line speed compensation value for ∗1 9999 R217 compensation value gain 9999 analog input. The compensation input through terminal 4 is Terminal 4 input disabled.
Page 69 Dancer feedback speed control details Override compensation through terminal 2, 4, or 6 (Pr.73, Pr.406, Pr.252, Pr.253, Pr.650) • Use terminal 2, 4, or 6 (FR-A8AZ) for override compensation of the line speed command value. • The terminal used for compensation is determined by the settings of Pr.73 Analog input selection, Pr.406 High resolution analog input selection, and Pr.650 Terminal 4 input compensation selection.
Page 70 Dancer feedback speed control details 3.5.5 Acceleration/deceleration time setting for line speed command Set the acceleration/deceleration time for the line speed command. Name Initial value Setting range Description First acceleration time for Set the acceleration time (from a stop to Pr.393) for 15 s 0 to 3600 s R251...
Page 71 Dancer feedback speed control details Line speed command (m/min) Acceleration/deceleration Line speed command value reference line speed command in consideration of (Pr.393) acceleration/deceleration Line speed command value Time Acceleration time Deceleration time for line speed command for line speed command Pr.394 (Pr.100, Pr.102) Pr.395 (Pr.101, Pr.103) •...
Page 72: Dancer Roll Setting
Dancer feedback speed control details 3.5.6 Dancer roll setting Set the target position for the dancer roll control. Select the input method to the inverter (analog input terminal) for dancer signal input. Setting Name Initial value Description range R101 PID action set point 500% 400 to 600% Set the set point for the dancer roll control.
Page 73 Dancer feedback speed control details Dancer signal input selection (Pr.363) • Use Pr.363 Dancer / tension sensor feedback input selection to select the input terminal for the dancer signal (measured value). Pr.363 setting Input terminal Terminal 2 (0 to 100%) (0 to 5 V) Terminal 4 (20 to 100%) (4 to 20 mA) 5 (initial value) Terminal 1 (-100 to 100%) (-10 to 10 V)
Page 74: Dancer Roll Position Detection
Dancer feedback speed control details NOTE • The dancer signal is clamped at ±100%. • For the details of C3 (Pr.902), C4 (Pr.903), C6 (Pr.904), C7 (Pr.905), C13 (Pr.917), and C15 (Pr.918), refer to the FR-A800 Instruction Manual (Detailed). Dancer signal input filter (Pr.1227) •...
Page 75 Dancer feedback speed control details 3.5.9 Dancer roll malposition detection When a break occurs and the dancer roll falls, dancer feedback speed control is used to prevent the motor speed from increasing. Setting Name Initial value Description range 400 to 600% Set the value for outputting the PID upper limit (FUP) signal.
Page 76 Dancer feedback speed control details PID upper/lower limit hysteresis width (Pr.137) When the dancer roll position fluctuates, the FUP/FDN signal may chatter (turn ON and OFF repeatedly), depending on the position. To prevent the signal chattering, configure Pr.137 PID upper/lower limit hysteresis width to set a hysteresis for the FUP and FDN signals.
Page 77 Dancer feedback speed control details 3.5.10 Tension PI gain tuning During dancer/tension feedback speed control, the PI gain is automatically set by changing the PID manipulated amount and measuring the PID response. PI gain automatic tuning facilitates setting of PID gain. The tension PI gain tuning can be performed either while the system is stopped or in operation.
Page 78 Dancer feedback speed control details Tension PI gain tuning • The limit cycle method is used to perform tension PI gain tuning. • In the limit cycle method, the manipulated amount is output ten times in square waves using the actual system. Gain is calculated from the commanded amplitude (M), vibration amplitude (Xc), and vibration cycle (Tc).
Page 79 Dancer feedback speed control details Finishing tuning Stop the start command to finish tuning. When the polarity reversible operation is not required, set Pr.73 back to the previous value. NOTE • To finish tuning forcibly, perform any of the following: Set "8"...
Page 80 Dancer feedback speed control details Tension PI gain tuning adjustment parameter • Before performing tension PI gain tuning, adjust the following parameters as required. Necessity of parameter setting Tension PI Tension PI gain Name Description gain tuning at tuning during a stop operation Tension PI gain tuning...
Page 81 Dancer feedback speed control details Tension PI gain tuning during stopping Measured value Pr.1222 Vibration amplitude Pr.1217 Pr.133 Pr.1217 Pr.1222 Output shutoff Pr.1217 Manipulated amount Pr.1215 Pr.1223 Pr.1223 - Pr.1215 During stop Tension PI gain tuning in progress During stop Start command (Completed)
Page 82 Dancer feedback speed control details Tension PI gain tuning during operation Measured value Vibration amplitude Pr.1217 Pr.133 Pr.1217 Manipulated amount Pr.1215 Pr.1215 During PID control During PID control Tension PI gain tuning in progress activated activated Start command (Completed) (Tuning in progress) Pr.1219 Status Tuning operation...
Page 83 Dancer feedback speed control details Tension PI gain tuning status indicator • The tension PI tuning status can be checked by reading the Pr.1219 setting. Alternatively, check the tension PI gain tuning monitor, which is displayed instead of the output voltage monitor. •...
Page 84 Dancer feedback speed control details Fine adjustment after tension PI gain tuning • If fine adjustment is required after completion of tension PI gain tuning, adjust the proportional band (Pr.129), integral time (Pr.130), and differential time (Pr.134). Status of measurement values Adjustment method The response is fast, but vibrations are observed.
Page 85: Pid Control Gain Setting
Dancer feedback speed control details 3.5.11 PID control gain setting Set the proportional band, integral time, and differential time for PID control. Setting Name Initial value Description range If a narrow proportional band is set (small parameter setting value), the manipulated amount changes considerably by slight changes in 0.1 to 1000% the measured value.
Page 86: Integral Control Action Setting
Dancer feedback speed control details 3.5.12 Integral control action setting The manipulated amount for PID integral action can be limited by setting parameters. The integral control action can be enabled or disabled (the integral term is held) according to the PID control deviation. Integral control can be disabled by the signal input.
Page 87: Differential Control Action Setting
Dancer feedback speed control details Integral stop selection at limited manipulated amount (Pr.1015) • The operation for the integral term can be selected when the manipulated amount is limited during PID control. Operation at limited Pr.1015 setting manipulated amount 0 (initial value) Integral stops.
Page 88 Dancer feedback speed control details Setting Name Initial value Description range Set the second PID differential time for values below set Second PID differential time 0.01 to 10 s point. 9999 R121 for values below set point 9999 As set in Pr.469. 0.1 to 1000% Set the third PID proportional band.
Page 89 Dancer feedback speed control details Block diagram Tension PI gain tuning Deviation X120-OFF X121-OFF not performed First PID control gain PID control gain Pr.129, Pr.130, Pr.134 Second PID control gain Pr.467 to Pr.469 X120-ON X120-OFF Third PID control gain Pr.473 to Pr.475 X121-ON Fourth PID control gain Pr.479 to Pr.481...
Page 90 Dancer feedback speed control details Gain switchover according to the PID deviation (Pr.486 to Pr.494) • The gain can be switched according to the amount of the deviation from the set point included in the measured value (dancer feedback signal). •...
Page 91: Reel Change Function
Dancer feedback speed control details 3.5.15 Reel change function Before starting control with a standby shaft, the line speed command can be fit to the target line speed. Also, a speed bias can be set. Name Initial value Setting range Description Line speed bias for reel Reel change line speed bias can be set for the target...
Page 92 Dancer feedback speed control details Overview of the reel change operation X104 Start command Y236 Fit to the originally set Line speed target line speed Pr.620 Target line speed command setting Line speed command (after cushioning) Time Invalid Valid PID control Valid Invalid (winding diameter is held) Winding diameter calculation...
Page 93: Analog Output Signal Function For Dancer Tension Setting
Dancer feedback speed control details 3.5.16 Analog output signal function for dancer tension setting The dancer tension command can be used for controlling the dancer roll using an air cylinder. The dancer tension command can be output through terminal FM/CA or terminal AM. The dancer tension setting can be input by setting parameters or through an analog input terminal.
Page 94 Dancer feedback speed control details Setting Name Initial value Description range 1288 0 to 6553 mm, Data table winding diameter 1 9999 R510 9999 1289 Data table taper ratio 1 0 to 100% R511 1290 0 to 6553 mm, Data table winding diameter 2 9999 R512 9999...
Page 95 Dancer feedback speed control details Tension command output setting • For outputting the tension command, assign the dancer tension command to terminal FM/CA or terminal AM. Minimum Pr.54 (FM/CA) Terminal FM/CA/AM Signal type Remarks increment Pr.158 (AM) setting full-scale value Output even while dancer Dancer tension command 100%...
Page 96 Dancer feedback speed control details • When the dancer tension setting is input using analog input, the input value can be filtered using Pr.74 Input filter time constant, Pr.826 Torque setting filter 1, and Pr.836 Torque setting filter 2. NOTE •...
Page 97 Dancer feedback speed control details Dancer tension setting example This example assumes an air cylinder for which the dancer tension is 0 N when the input voltage is 0 V, and the dancer tension is 20 N when the input voltage is 10 V. In the example, the setting method is described to input the analog output signal for dancer tension control to the air cylinder so that the dancer tension becomes 10 N when the winding diameter has the minimum value.
Page 98: Tension Sensor Feedback Speed Control
Dedicated function list TENSION SENSOR FEEDBACK SPEED CONTROL Tension sensor feedback speed control is a control function to keep the tension constant using feedback from the tension sensor, instead of the dancer roll position. Dedicated function list Item Description PID control, PI control, P control, and PD control can be selected. Control method Gain switchover by tension feedback is available.
Page 99: System Configuration Example
System configuration example System configuration example Tension sensor Maximum Minimum diameter diameter Encoder FR-A800-R2R Encoder FR-A8AP Line speed command FR-A800-R2R Dancer/tension control selection X114 FR-A8AP Start signal STF/STR Dancer/tension control selection X114 (Pr.180 = 114) Stored winding diameter clear X109 (Pr.181 = 109) Line speed command Winding length clear X117 (Pr.182 = 117)
Page 100: Parameter Setting Procedure For Tension Sensor Feedback Speed Control
∗1 For the control method, vector control is recommended. ∗2 Setting is required for a motor other than a Mitsubishi Electric motor (the SF-PR, SF-JR, SF-HR, SF-JRCA, SF-HRCA, or SF-V5RU (1500 r/min series) motor). NOTE • Select Vector control method for regenerative driving in low-speed range (about 10 Hz or lower).
Page 101 Parameter setting procedure for tension sensor feedback speed control Mechanical specifications setting Set the following parameters according to the specifications of the machine used. Refer to 10.4 (Application examples) on page 199. Winding/ Intermediate Name Setting unwinding Remarks shaft shaft Maximum winding diameter 1235 ...
Page 102 Parameter setting procedure for tension sensor feedback speed control The following table shows a setting example. Item Setting example Setting by analog voltage (0 to 10 V) input through terminal 1 (Pr.363 = "5") Tension feedback 100% Tension feedback input method Analog input value 10 V C13(Pr.917)
Page 103 Parameter setting procedure for tension sensor feedback speed control Actual line speed input setting Set Pr.362 according to the line speed command value input method for calculating the winding diameter (actual line speed method). (Setting is not required for the intermediate shaft.) Name Setting Input method...
Page 104 Parameter setting procedure for tension sensor feedback speed control PID control action setting Set the following parameters for PID control. Name Setting Remarks 40: Tension sensor feedback speed control (reverse action) PID action selection 40 or 41 41: Tension sensor feedback speed control (forward action) Set the value (0.1% increment) for outputting the PID upper limit PID upper limit ∗1...
Page 105: Pid Gain Adjustment
Parameter setting procedure for tension sensor feedback speed control 4.4.2 PID gain adjustment Adjust the PID gain for tension sensor feedback speed control. Adjustment by tension PI gain tuning (recommended) The PID gain is adjusted by tension PI gain tuning (refer to page 76).
Page 106: Tension Sensor Feedback Speed Control Details
Tension sensor feedback speed control details Tension sensor feedback speed control details Refer to Purpose Parameter to set page To select forward/reverse action for PID action selection P.R100 Pr.128 PID control To select winding or unwinding for a Winding/unwinding P.R002 Pr.1230 shaft selection...
Page 107: Tension Feedback Setting
Tension sensor feedback speed control details 4.5.1 Tension feedback setting Set the target position for tension feedback. Select the input method to the inverter (analog input terminal) for tension feedback input. Name Initial value Setting range Description R101 PID action set point 500% 400 to 600% Set the set point for tension feedback.
Page 108: Tension Feedback Detection
Tension sensor feedback speed control details Tension feedback calibration example • The following parameters are used for calibrating the terminals which the tension feedback is input via. The tension feedback analog input values at both 0% and 100% can be calibrated. Input terminal Calibration parameter Terminal 2 (0 to 100%)
Page 109: Pid Offset Displacement
Tension sensor feedback speed control details 4.5.3 PID offset displacement Calibrate the zero point of tension feedback. Setting Name Initial value Description range Dancer / tension sensor 500% 400 to 600% The offset displacement input value is written. R104 feedback input offset PID offset displacement (Pr.424, X102 signal) •...
Page 110 Tension sensor feedback speed control details • When using each signal, assign the function to Pr.190 and Pr.196 (output terminal function selection) referring to the following table. Pr.190 to Pr.196 setting Output signal Positive logic Negative logic Y231 Tension feedback is ON. Normal operation Tension command Lower limit (Pr.132)
Page 111: Tension Sensorless Torque Control
Dedicated function list TENSION SENSORLESS TORQUE CONTROL Dedicated function list Item Description Taper function Set a taper ratio. Tension Set the compensation for acceleration and deceleration individually using external Inertia compensation function sensorless signals. torque control Mechanical loss compensation Straight movement (with five break points) against the speed can be performed. function Dancer/tension control selection, Inertia compensation acceleration, Inertia compensation deceleration, Inertia compensation second acceleration/...
Page 112: Control Block Diagram
Control block diagram Control block diagram 5.3.1 Block diagram of tension sensorless torque control function Tension reverse Winding diameter selection Winding diameter Inertia compensation calculation Pr.1072 Actual Pr.1235, Pr.1236 Pr.393, Pr.1410 to Pr.1418 line speed Pr.1243, Pr.1244 Mechanical loss compensation Pr.1419 to Pr.1429 Tension command Taper function...
Page 113: Parameter Setting Procedure For Tension Sensorless Torque Control
∗1 For the control method, vector control is recommended. ∗2 Setting is required for a motor other than a Mitsubishi Electric motor (the SF-PR, SF-JR, SF-HR, SF-JRCA, SF-HRCA, or SF-V5RU (1500 r/min series) motor). NOTE • Torque control is not available for regenerative driving in a low-speed range (about 10 Hz or lower) or light-load operation in a low-speed range (about 5 Hz or lower and about 20% or lower of the rated torque) under Real sensorless vector control.
Page 114 Parameter setting procedure for tension sensorless torque control Mechanical specifications setting Set the following parameters according to the specifications of the machine used. Refer to 10.4 (Application examples) on page 199. Name Setting Remarks 1235 Maximum winding diameter 1 ∗1 Set the maximum/minimum value in millimeter relative to the winding diameter calculation result.
Page 115 Parameter setting procedure for tension sensorless torque control The following table shows a setting example. Item Setting example Setting by analog voltage (0 to 10 V) input through terminal 1 (Pr.804 = "0") Tension command value Pr.1405 (Maximum tension) Tension command input method Pr.1403 (Minimum tension)
Page 116 Parameter setting procedure for tension sensorless torque control Taper ratio setting Set the taper ratio input method for using the taper ratio. Name 1285 Taper setting analog input selection 1287 Taper ratio setting Pr.1287 setting Pr.1285 setting Taper ratio setting 0 to 100% —...
Page 117 Parameter setting procedure for tension sensorless torque control Mechanical loss compensation function setting Set the following parameters for using the mechanical loss compensation function. Name Setting Remarks The setting "1000" represents 0%. An offset 1419 Mechanical loss setting frequency bias 1000 can be set in 0.1% increment from the setting "1000".
Page 118: Tension Sensorless Torque Control Details
Tension sensorless torque control details Tension sensorless torque control details The tension sensorless torque control is performed to control the output torque of a motor according to the winding diameter of a roll so that the tension applied to a material is constant. Winding and unwinding of the material is enabled without using dancer rolls or tension controllers.
Page 119: Input Method Of Tension Command
Tension sensorless torque control details 5.5.2 Input method of tension command The selectable tension command input methods include the following: parameter setting, analog input, multi-speed setting input, pulse input, and input via communication. Setting Name Initial value Description range Tension command value 0 to 100 N Writes the tension command value in RAM.
Page 120 Tension sensorless torque control details Tension command source selection (Pr.804) • Selects the tension command input method in Pr.804 Tension / Torque command source selection. • The priorities of the input signals are defined as follows. If the input method for a signal is the same as that for the input signal with higher priority, the tension command value is regarded as "0".
Page 121 Tension sensorless torque control details Tension command through the CC-Link / CC-Link IE Field Network / PROFIBUS-DP (Pr.804 = "1, 3, 5, 6") • Set the tension command via the CC-Link communication (FR-A8NC), CC-Link IE Field Network communication (FR- A8NCE), or PROFIBUS-DP communication (FR-A8NP). •...
Page 122: Torque Generation Direction Setting
Tension sensorless torque control details The setting range and setting increment of the tension command (Pr.1401) • The setting increment of the tension command can be changed by the Pr.1401 Tension command increment setting. The setting range is also changed according to the increment. Pr.1401 setting Setting increments Setting range...
Page 123 Tension sensorless torque control details • Set parameters according to the requirement because the torque direction for winding/unwinding differs for each device. The setting examples are shown in the following table. When switching between the upper winding and lower winding, set Pr.1114 = "1" to switch between the STF and STR signals.
Page 124 Tension sensorless torque control details System setting Parameter setting Winding/unwinding movement when the start Motor Installation command is input Material position Pr.1114 Pr.1072 orientation STF signal ON STR signal ON Upper winding/unwinding Lower winding/unwinding Right side Upper winding/unwinding Lower winding/unwinding Motor Lower winding/unwinding Upper winding/unwinding...
Page 125: Taper Function
Tension sensorless torque control details 5.5.4 Taper function The taper function reduces the tension when the winding diameter increases in order to prevent the roll from getting too tight. From a tension value commanded for taper control and the roll diameter determined by the winding diameter calculation, a torque command value required for the tension control is calculated.
Page 126 Tension sensorless torque control details Block diagram Winding diameter Cushioning Taper mode Gear ratio Tension command Torque command selection Rated motor torque Pr.1284 X123-OFF Pr.1282 Pr.1409 X123-ON Analog calibration Terminal 2 C2 to C4 Analog calibration Terminal 4 C5 to C7 Pr.1287 = 9999 Analog calibration Terminal 1...
Page 127 Tension sensorless torque control details Taper ratio setting input adjustment (Pr.829, Pr.902 to Pr.905, Pr.917, Pr.918, Pr.926, Pr.927) • When the taper ratio setting is input using analog input, use the following parameters to calibrate the input value of each terminal.
Page 128 Tension sensorless torque control details Pr.1284 setting Taper mode Winding diameter ≤ Pr.1286 = F* Pr.1286 < Winding diameter ≤ Maximum winding diameter F∗ × Taper ratio setting D − Pr.1286 = F∗ − × Maximum winding diameter − Pr.1286 : Taper control tension command, F*: Tension command, D: winding diameter Taper control tension command Taper ratio setting...
Page 129 Tension sensorless torque control details Pr.1284 setting Taper mode Winding diameter ≤ Pr.1286 = F* Pr.1286 < Winding diameter F∗ × Taper ratio setting Pr.1286 = F∗ − × 1 − : Taper control tension command, F*: Tension command, D: winding diameter Taper control tension command Tension command value Taper ratio setting...
Page 130 Tension sensorless torque control details Data table profile setting example (Pr.1288 to Pr.1297) • When the data table winding diameter is 0 mm, the taper ratio when the winding diameter is 0 mm is calculated as the corresponding data table taper ratio. •...
Page 131 Tension sensorless torque control details 5.5.5 Inertia compensation function The acceleration/deceleration torque is given to the motor by increasing/decreasing the torque command value to keep the material tension constant even during acceleration/deceleration. Initial Name Setting range Description value Second acceleration time for Set the acceleration time for inertia compensation when 15 s 0 to 3600 s...
Page 132 Tension sensorless torque control details Formula for calculating the torque for inertia compensation Minimum winding diameter (D Empty reel inertia (JB) Reduction gear (gear ratio: Z) Roll width (L) Motor inertia (J Present winding diameter (D Material inertia (J Inertia compensation 100 (%) torque T (%) Rated motor torque T...
Page 133 Tension sensorless torque control details Motor inertia setting and empty reel inertia setting • Motor inertia setting are determined as follows. Pr.1410 Description Setting range setting signal Other than — Pr.1410 setting. 0 to 500 kg·m 9999 Pr.707 × 10^(-Pr.724) (When "9999"...
Page 134 Tension sensorless torque control details Inertia compensation function operation selection (X111 to X113 signals) • When the X111 signal is turned ON, an inertia compensation for the acceleration torque is started. For winding (power driving), the torque command value is increased. For unwinding (regenerative driving), the torque command value is decreased.
Page 135 Tension sensorless torque control details NOTE • The function is not activated when the winding diameter is 9 mm or less. • The inertia compensation function is invalid while the X122 signal is ON. • If both X111 and X112 signals are ON, the inertia compensation function is not activated. Inertia compensation cushion time (Pr.1418) •...
Page 136: Mechanical Loss Compensation Function
Tension sensorless torque control details 5.5.6 Mechanical loss compensation function By increasing the torque command value to compensate loss caused by factors such as mechanical friction (mechanical loss), tension change due to mechanical loss can be prevented. Setting Name Initial value Description range 1230...
Page 137 Tension sensorless torque control details Mechanical loss compensation function selection (Pr.1230, Pr.1419 to Pr.1429) • The maximum of five approximate break points can be set as mechanical loss points. Set mechanical loss parameters (mechanical loss setting frequency, mechanical loss) and linearly interpolate the values between the set points. •...
Page 138: Stall Mode Function
Tension sensorless torque control details 5.5.7 Stall mode function By turning ON the Stall mode trigger (X123) signal before starting winding, tension is applied to the material and the stall mode is activated. This function is useful for sagging prevention of the material before it is winded. Initial Setting Name...
Page 139 Tension sensorless torque control details Cushion time during stall mode (Pr.1409) • Use Pr.1409 Tension command cushion time during stall condition to set the cushion time during stall mode. X123 Pr.1282 Pr.1409 setting setting ON (stall mode) OFF (normal operation) No cushioning No cushioning 0 (initial value)
Page 140: Tension Sensor Feedback Torque Control
Dedicated function list TENSION SENSOR FEEDBACK TORQUE CONTROL Dedicated function list Item Description PID control, PI control, P control, and PD control can be selected. Control method Gain switchover by tension feedback is available. Gain switchover by external terminal input is available. Tension command Parameter setting / analog terminal input / pulse train input / communication Tension...
Page 141: Control Block Diagram
Control block diagram Control block diagram 6.3.1 Block diagram of tension sensor feedback torque control function Tension reverse Winding diameter selection Winding diameter calculation Inertia compensation Pr.1072 Actual Pr.1235, Pr.1236 Pr.393, Pr.1410 to Pr.1418 line speed Pr.1243, Pr.1244 Mechanical loss compensation Pr.1419 to Pr.1429 Tension command...
Page 142: Parameter Setting Procedure For Tension Sensorless Torque Control
∗1 For the control method, vector control is recommended. ∗2 Setting is required for a motor other than a Mitsubishi Electric motor (the SF-PR, SF-JR, SF-HR, SF-JRCA, SF-HRCA, or SF-V5RU (1500 r/min series) motor). NOTE • Torque control is not available in a low-speed (about 10 Hz or lower) regenerative range, or with a low speed and light load (about 5 Hz or lower and rated torque about 20% or lower).
Page 143 Parameter setting procedure for tension sensorless torque control Mechanical specifications setting Set the following parameters according to the specifications of the machine used. Refer to 10.4 (Application examples) on page 199. Name Setting Remarks 1235 Maximum winding diameter 1 Set the maximum/minimum value in millimeter relative to the ∗1 winding diameter calculation result.
Page 144 Parameter setting procedure for tension sensorless torque control The following table shows a setting example. Item Setting example Setting by analog voltage (0 to 10 V) input through terminal 1 (Pr.363 = "5") Tension feedback 100 N Pr.1139 Tension feedback input method Pr.1137 Analog input value...
Page 145 Parameter setting procedure for tension sensorless torque control Actual line speed input Use Pr.362 to select the input terminal for actual line speed. Name Setting Input terminal 0 (initial value) V* (line speed command) Terminal JOG single-phase pulse train input (Refer to page 164) FR-A8AP/FR-A8AL/FR-A8TP encoder pulse train input...
Page 146 Parameter setting procedure for tension sensorless torque control Taper ratio setting Set the taper ratio input method for using the taper ratio. Name 1285 Taper setting analog input selection 1287 Taper ratio setting Pr.1287 setting Pr.1285 setting Taper ratio setting 0 to 100% —...
Page 147 Parameter setting procedure for tension sensorless torque control Mechanical loss compensation function setting Set the following parameters for using the mechanical loss compensation function. Name Setting Remarks The setting "1000" represents 0%. An offset 1419 Mechanical loss setting frequency bias 1000 can be set in 0.1% increment from the setting "1000".
Page 148: Tension Sensor Feedback Torque Control Details
Tension sensor feedback torque control details Tension sensor feedback torque control details The tension sensorless torque control is performed to control the output torque of a motor according to the roll diameter so that the tension applied to a material is constant. Using the feedback from tension sensors allows winding/unwinding for a high-quality finish.
Page 149: Tension Sensor Feedback Torque Control Function Selection
Tension sensor feedback torque control details 6.5.1 Tension sensor feedback torque control function selection Select forward/reverse action for tension sensor feedback torque control. Setting Name Initial value Description range Tension sensor feedback torque control disabled. R100 PID action selection Tension sensor feedback torque Reverse action (A610) control enabled.
Page 150: Winding/Unwinding Shaft Selection
Tension sensor feedback torque control details 6.5.2 Winding/unwinding shaft selection Select whether the target roll is a winding shaft or unwinding shaft. Setting Name Initial value Description range 1230 Winding Winding/unwinding selection R002 Unwinding Winding/unwinding selection (Pr.1230) • Use Pr.1230 Winding/unwinding selection to select whether the target roll is a winding shaft or unwinding shaft. •...
Page 151: Tension Feedback Malposition Detection
Tension sensor feedback torque control details Tension feedback calibration (Pr.1136 to Pr.1139) • Set Pr.1136 to Pr.1139 to calibrate the tension feedback input value. Tension feedback (N) Pr.1139 Pr.1137 Analog input value (%) Pr.1136 Pr.1138 Tension feedback input filter (Pr.1227) •...
Page 152: Tension Feedback Detection
Tension sensor feedback torque control details • When using each signal, assign the function to Pr.190 and Pr.196 (output terminal function selection) referring to the following table. Pr.190 to Pr.196 setting Output signal Positive logic Negative logic Y231 PID upper/lower limit hysteresis width (Pr.137) When the tension feedback value fluctuates, the FUP/FDN signal may chatter (turn ON and OFF repeatedly), depending on the position.
Page 153: Pid Control Gain Selection
Tension sensor feedback torque control details 6.5.9 PID control gain selection The proportional band, integral time, and differential time required for PID gain setting can be set individually according to the polarity of the deviation. The PID gain setting to use can be selected from the first to fourth setting according to the status of two specific input signals. NOTE •...
Page 154: Speed Control Of Intermediate Shafts
System configuration example SPEED CONTROL OF INTERMEDIATE SHAFTS To control intermediate driving shafts (rollers between an unwinding roll and a winding roll), perform speed control by inputting line speed commands. System configuration example Potentiometer Maximum diameter Minimum diameter Dancer roll Encoder FR-A800-R2R Encoder...
Page 155: Parameter Setting Procedure For Speed Control Of Intermediate Shafts
∗1 For the control method, Vector control is recommended. ∗2 Setting is required for a motor other than a Mitsubishi Electric motor (the SF-PR, SF-JR, SF-HR, SF-JRCA, SF-HRCA, or SF-V5RU (1500 r/min series) motor). NOTE • Select Vector control method for regenerative driving in low-speed range (about 10 Hz or lower), .
Page 156 Parameter setting procedure for speed control of intermediate shafts Mechanical specifications setting Set the following parameters according to the specifications of the machine used. Name Description 1235 Maximum winding diameter 1 Set the roller (reel) diameter of the intermediate shaft in millimeters in both Pr.1235 and Pr.1236.
Page 157 Parameter setting procedure for speed control of intermediate shafts Line speed command input setting Set Pr.361 to select an interface for the line speed command value input. Name Setting Input method According to the priority of the speed command sources. (Refer to page 63.)
Page 158: Offline Auto Tuning
Parameter setting procedure for speed control of intermediate shafts 7.2.2 Offline auto tuning The offline auto tuning enables the optimal operation of a motor. NOTE • For the details, refer to page 7.2.3 Speed control gain adjustment • The load inertia ratio (load moment of inertia) for the motor is calculated from the torque command and rotation speed during motor driving under Vector control.
Page 159: Winding Diameter Compensation Function
Winding diameter calculation and winding diameter compensation function WINDING DIAMETER COMPENSATION FUNCTION The winding diameter calculation is used to estimate the present winding diameter from the actual line speed or the actual motor speed for the winding/unwinding shaft. The estimated winding diameter is used to convert the line speed command to the frequency command, or convert the tension command to the torque command.
Page 160 Winding diameter calculation and winding diameter compensation function Winding diameter compensation speed (dancer) • Calculate the winding diameter compensation speed from the current diameter "D" obtained from winding diameter calculation (or stored winding diameter) and the line speed command "V ".
Page 161: Winding Diameter Calculation Setting
Winding diameter calculation setting Winding diameter calculation setting Refer to Purpose Parameter to set page To perform setting for winding Basic setting for winding P.R000, P.R001, Pr.1243, Pr.1244, diameter calculation diameter calculation P.R600, P.R601 Pr.1247, Pr.1248 Winding diameter P.R041, P.R050 to Pr.278 to Pr.284, To calculate the winding diameter calculation using actual...
Page 162: Basic Setting For Winding Diameter Calculation
Winding diameter calculation setting 8.2.2 Basic setting for winding diameter calculation Setting Name Initial value Description range 1243 Gear ratio numerator 1 to 65534 R600 (follower side) Set a gear ratio for a reduction-gear-equipped motor. 1244 Gear ratio denominator 1 to 65534 R601 (driver side) Set the maximum amount of change in each winding...
Page 163 Winding diameter calculation setting Winding diameter calculation function (Pr.1247, Pr.1248, X115 signal) • Dancer feedback speed control, tension sensor feedback speed control, tension sensorless torque control, or tension sensor feedback torque control is performed. - Dancer feedback speed control or tension sensorless torque control is valid. - Pr.1247 Winding diameter change increment amount limit ≠...
Page 164: Winding Diameter Calculation Using Actual Line Speed (Actual Line Speed Method)
Winding diameter calculation setting 8.2.3 Winding diameter calculation using actual line speed (actual line speed method) The winding diameter is calculated from the actual line speed and the actual motor speed. Initial Name Setting range Description value Set the converted % of the gain voltage (current) for Actual line speed voltage/ 0 to 100% analog input.
Page 165 Winding diameter calculation setting Actual line speed input selection (Pr.362) • Use Pr.362 Actual line speed input selection to select the input method for actual line speed to perform winding diameter calculation. • When material thickness is set to Pr.1231 Material thickness d1 (Pr.1231 ≠ "9999"), calculate winding diameter not from line speed but from the product of material thickness and number of rotations of a roll.
Page 166 Winding diameter calculation setting Pr.281 < Pr.279, and Pr.282 < Pr.283 Pr.281 > Pr.279, and Pr.282 < Pr.283 Actual line speed (m/min) Actual line speed (m/min) 6553.4 6553.4 Pr.279 Pr.281 Pr.279 Pr.281 Input pulse Input pulse Pr.282 Pr.283 Pr.282 Pr.283 (kpps) (kpps) Pr.281 <...
Page 167: Winding Diameter Calculation Using Material Thickness (Thickness Method)
Winding diameter calculation setting 8.2.4 Winding diameter calculation using material thickness (thickness method) The material thickness is added up for winding diameter calculation. First to fourth material thickness can be selected by the signal input. Setting Name Initial value Description range Set the material thickness for winding diameter 1231...
Page 168: Line Speed At Winding Diameter Calculated Value Activation
Winding diameter calculation setting 8.2.5 Line speed at winding diameter calculated value activation Set the line speed command value or actual line speed to start winding diameter calculation. When the line speed command value or actual line speed is lower than the speed to start winding diameter calculation, winding diameter calculation is not performed and the last winding diameter value is kept.
Page 169 Winding diameter calculation setting Line speed at winding diameter calculated value activation during tension sensorless / tension sensor feedback torque control • During tension sensorless / tension sensor feedback torque control, when the actual line speed is equal to or higher than Pr.1246 Line speed at winding diameter calculated value activation, winding diameter calculation is performed, and the winding diameter calculation result is updated.
Page 170: Minimum/Maximum Winding Diameter
Winding diameter calculation setting 8.2.7 Minimum/maximum winding diameter Use the following parameters to store a pair of the maximum and minimum roll diameters. Select from the pair 1 to 4 by changing the status of the two input signals. Setting Name Initial value Description...
Page 171 Winding diameter calculation setting NOTE • By turning ON/OFF the X107/X108 signal, the material thickness is also selected. (For the details, refer to page 166.) • If the minimum winding diameter setting is equal to or larger than the maximum winding diameter setting, the winding diameter is fixed at the maximum diameter (minimum diameter) and therefore, the winding diameter does not change from the maximum diameter (minimum diameter).
Page 172: Target Winding Diameter Achieved
Winding diameter calculation setting 8.2.9 Target winding diameter achieved When the winding diameter calculated in the inverter is equal to or more than the parameter setting, the Target winding diameter achieved (Y233) signal is output. Setting Name Initial value Description range Set the winding diameter to output the Target winding Target winding diameter...
Page 173 Winding diameter calculation setting Initial winding diameter calculation at a start (enabled under Vector control only) • Calculate the initial winding diameter "D" from the dancer travel distance "L" when the dancer roll moves from the lower limit position to the neutral position at a start. 2 ...
Page 174 Winding diameter calculation setting Initial winding diameter calculation deadband setting (Pr.1253, Pr.1254) • When performing initial winding diameter calculation, winding diameter calculation deadband can be set for the target position and the lower limit position of the dancer roll. • Setting a deadband suppresses hunting of dancer control at a start, and reduces the influence of overshooting on the target position.
Page 175 Winding diameter calculation setting Integral action and PID manipulated amount during initial winding diameter calculation at a start (Pr.1258, Pr.1259) • The limit for manipulated amount of PID control for dancer roll can be set to prevent a motor from over-speeding during initial winding diameter calculation at a start.
Page 176: Initial Winding Diameter Calculation At A Start (Tension Sensor Feedback Speed Control / Tension Sensorless Torque Control / Tension Sensor Feedback Torque Control)
Winding diameter calculation setting 8.2.11 Initial winding diameter calculation at a start (Tension sensor feedback speed control / tension sensorless torque control / tension sensor feedback torque control) Turn ON the Winding diameter measurement (X122) signal to select the initial winding measurement mode and calculate the present winding diameter.
Page 177: Winding Diameter / Winding Length Storage
Winding diameter calculation setting 8.2.12 Winding diameter / winding length storage The winding diameter/length calculated in the inverter can be stored. The stored diameter and length are kept even if the inverter power is turned OFF. Setting Name Initial value Description range Winding diameter storage...
Page 178 Winding diameter calculation setting Winding/unwinding length detection (Pr.1264, Pr.1346, Y234 signal) • When the material winding (unwinding) length is equal to or more than the length determined by the settings of Pr.1264 Winding length detection (lower 4 digits) and Pr.1346 Winding length detection (upper 4 digits), the Winding/ unwinding completion (Y234) signal turns ON.
Page 179 Winding diameter calculation setting Stored winding length (Pr.1262, Pr.1263, Pr.1298, Pr.1299) • While winding diameter calculation is valid, the winding length can be calculated from the integration of the actual line speed value. • For winding length calculation, the actual line speed is used whichever direction the line goes. When the material is unwound after winding operation, the winding length is not subtracted but added.
Page 180: Speed Control Proportional Gain Selection According To The Winding Diameter Calculation Result
Winding diameter calculation setting 8.2.13 Speed control proportional gain selection according to the winding diameter calculation result Speed control proportional gain at vector control and Real sensorless vector control can be changed based on the value determined by winding diameter calculation. First to fourth speed control proportional gain can be selected by the signal input.
Page 181 Winding diameter calculation setting Speed control proportional gain selection (Pr.639 to Pr.644) • Speed control proportional gain at vector control and Real sensorless vector control can be changed based on a winding diameter calculation result. Speed control proportional (P) gain (%) Pr.644 (Proportional gain 4) Pr.643...
Page 182: Roll To Roll Function Related Parameters
Monitoring of dedicated functions ROLL TO ROLL FUNCTION RELATED PARAMETERS Monitoring of dedicated functions Refer to Purpose Parameter to set page Monitoring of roll to roll Pr.52, Pr.774 to dedicated functions P.M100 to P.M104 Pr.776, Pr.992 (operation panel) To monitor roll to roll dedicated functions Monitoring of roll to roll dedicated functions...
Page 183 Monitoring of dedicated functions Pr.52, RS-485 Negative Pr.774 communication MODBUS Refer indication Monitor item Unit dedicated RTU real time Description Pr.776, monitor monitor page ∗1 Pr.992 (hexadecimal) Analog output signal 2 for dancer 0.1% 40230 Dancer tension command value tension control Pulse train input value (when the Line speed pulse 0.01...
Page 184 Monitoring of dedicated functions Monitoring using analog output (terminals FM/CA and AM) Negative Pr.54 (FM/CA) Pr.158 (AM) Refer to Monitor item Unit Full-scale value indication setting setting page ∗1 Frequency setting value 0.01 Hz Pr.55 — Load meter 0.1% Pr.866 —...
Page 185 Monitoring of dedicated functions Monitoring using the PLC function / FR Configurator2 FR Configurator2 graph function PLC function Monitor item Device number Monitor mode High speed mode / trace Trigger level reference Frequency setting value SD1152   ∗3 Load meter SD1164 ...
Page 186 Monitoring of dedicated functions Schematic diagram of monitoring • The following diagram shows a monitoring example in a system for dancer/tension feedback speed control. Monitor 91 Monitor 52 PID action Frequency Monitor 28 PID operation set point conversion Dancer signal/ Monitor 54 Tension feedback signal...
Page 187: Monitor Reference
Monitoring of dedicated functions Negative output selection for monitoring (Pr.290) • A negative output can be selected for the monitor display of terminal AM (analog voltage output), the operation panel, and a communication option. For the monitor items for which negative output is possible, refer to the monitor list. Negative output through Negative indication on Negative indication on...
Page 188 Monitoring of dedicated functions Setting monitoring reference (Pr.55, Pr.276, Pr.866, Pr.1280, Pr.1281) Set the full-scale value for outputting the monitor items of output frequency, frequency setting value, and line speed to terminals FM, CA and AM. Full-scale value Full-scale value Output current 2400 (55k)
Page 189: Roll To Roll Dedicated I/O Signal
Roll to roll dedicated I/O signal Roll to roll dedicated I/O signal 9.2.1 Input signal • To use contact input signals, assign them to Pr.178 to Pr.189 (input terminal function selection). Input signal list Pr.178 to Pr.189 Refer to Type Signal name Description setting...
Page 190 Roll to roll dedicated I/O signal Pr.178 to Pr.189 Refer to Type Signal name Description setting page Turn ON the X114 signal to enable the dancer feedback speed control, tension feedback speed control, tension sensorless torque control, tension sensor feedback torque control, and winding diameter compensation functions.
Page 191 Roll to roll dedicated I/O signal List of input signals with validity status by control mode (function) Tension Tension Dancer Tension Pr.178 to sensor sensor Winding feedback sensorless Pr.189 Signal name feedback feedback diameter speed torque setting speed torque calculation control control control...
Page 192: Output Signal
Roll to roll dedicated I/O signal 9.2.2 Output signal • To use output signals, assign them to Pr.190 to Pr.196 (output terminal function selection). Output signal list Pr.190 to Pr.196 Refer setting Signal name Description Positive Negative page logic logic Output when the dancer roll position or the roll tension value goes lower PID lower limit than the limit determined by the setting of Pr.132 PID lower limit.
Page 193: Two-Way Operation Function
Two-way operation function Two-way operation function Description • In order to switch the operation between winding and unwinding during dancer feedback speed control or tension sensor feedback speed control, it is necessary to change the PID action (forward/reverse), winding/unwinding selection, and start command (STF/STR).
Page 194: Operation Command Source And Speed Command Source (Pr.338, Pr.339)
Operation command source and speed command source (Pr.338, Pr.339) Operation command source and speed command source (Pr.338, Pr.339) • In the Network operation mode, the commands for the roll to roll function are sent through the external terminals or communication as follows. (The signal assigned to the inverter differs depending on the input terminal function selection setting.) Name Setting range Increment...
Page 195: Encoder Input Option Selection
Encoder input option selection Encoder input option selection Select the option (plug-in option / control terminal option) used for the motor (encoder) signal input and the option used for the line speed command / actual line speed input. Setting Name Initial value Description range...
Page 196: Appendix
Differences in the functions from the standard inverter APPENDIX 10.1 Differences in the functions from the standard inverter • The following functions of the FR-A800 standard inverter are deleted in the FR-A800-R2R inverter. Parameters, I/O signals, and monitors relative to the deleted functions are also deleted or used differently in the FR-A800-R2R inverter. Input Output Function...
Page 197 Differences in the functions from the standard inverter Input Output Function Parameter Monitor ∗3 signal signal ∗1 ∗2 Pr.278 to Pr.284, Pr.639 to Pr.648, BRI (15) BOF (20) Brake sequence control — Pr.650, Pr.651 BRI2 (45) BOF2 (22) MC1 (17) X95 (95) Electronic bypass sequence Pr.135 to Pr.139, Pr.159...
Page 198: Compatible Options
Compatible options 10.2 Compatible options Plug-in option • The FR-A800-R2R-compatible plug-in options are as follows. Name Model Vector control FR-A8AP Vector control / encoder pulse dividing output FR-A8AL Vector control / resolver interface FR-A8APR Vector control / EnDat interface FR-A8APS 16-bit digital input FR-A8AX Digital output / additional analog output...
Page 199: Common Specifications
Common specifications 10.3 Common specifications Soft-PWM control, high carrier frequency PWM control (selectable among V/F control, Advanced magnetic flux vector control, Real Control method sensorless vector control), Optimum excitation control, and vector control ∗1 0.2 to 590 Hz (The upper-limit frequency is 400 Hz (200 Hz for the SND rating) under Advanced magnetic flux vector control, Real Output frequency range sensorless vector control, and vector control ∗1...
Page 200: Application Examples
Application examples 10.4 Application examples This section shows examples of major applications of the FR-A800-R2R inverters which have the dedicated functions for Roll to Roll applications. Each example provides the overview and the example setting of relevant parameters. 10.4.1 Dancer feedback speed control with roll diameter compensation for printers This is useful for winding paper rolls for printers.
Page 201 Application examples Printing unit Actual line speed Actual line speed Actual line speed (single phase) (single phase) (single phase) ∗1 Displacement Encoder Encoder gauge V5RU V5RU cylinder (Non-contact potentiometer) ∗2 FR-A800-R2R FR-A800-R2R Electro-pneumatic converter FR-A8AP FR-A8AP Line speed Actual line setting speed Encoder...
Page 202 26 (Line speed command), 27 (Actual line speed), 28 (Dancer compensation speed), 29 (Winding length), 52 (PID set point), 53 (PID measured value), and 54 (PID deviation). 30: Setting for the Mitsubishi Electric Vector control dedicated Applied motor motor SF-V5RU.
Page 203 Application examples Initial Setting Parameter name Remarks value value Number of encoder pulses 1024 2048 Line speed command acceleration/deceleration 1000 m/min 100 m/min reference First acceleration time for line Setting must be lower than the acceleration/deceleration rate of 15 s speed command the line speed command (input via terminals 2 and 5).
Page 204 Application examples Initial Setting Parameter name Remarks value value Line speed at winding diameter 1246 1 m/min 1 m/min ∗1 calculated value activation Setting Pr.1247 = "9999 (initial value)" disables the roll diameter Winding diameter change calculation. 1247 9999 0.2 mm ∗1 increment amount limit Be sure to change the setting from the initial value for the roll...
Page 205 Application examples 10.4.2 Dancer feedback speed control with roll diameter compensation for wire drawing machines This is useful for winding wire using a wire drawing machine. The dancer feedback speed control with roll diameter compensation function in the inverter enable high-speed winding for high-inertia loads.
Page 206 26 (Line speed command), 27 (Actual line speed), 28 (Dancer compensation speed), 29 (Winding length), 52 (PID set point), 53 (PID measured value), and 54 (PID deviation). 30: Setting for the Mitsubishi Electric Vector control dedicated Applied motor motor SF-V5RU.
Page 207 Application examples Initial Setting Parameter name Remarks value value 7: External thermal relay input (OH) signal (Setting "7" is CS terminal function selection required for signals input from the SF-V5RU thermal protector.) Setting 0% is required to disable additional input to the Terminal 1 added compensation dancer signal (compensation for addition via terminal 1) while 100%...
Page 208 Application examples Initial Setting Parameter name Remarks value value Tension PI gain tuning start/ 1219 1: Tension PI gain tuning starts. status Set the target amplitude for the limit cycle. Start tuning with a 1222 Target amplitude 9999 small value and gradually increase the value while making ∗1 sure that tuning causes no problem.
Page 209 Application examples 10.4.3 Tension sensorless torque control with roll diameter compensation for printers This is useful for winding paper rolls for printers. Torque control by the inverter with tension control, inertia compensation, and mechanical loss compensation enables the winding of paper rolls without dancer rolls and tension controllers. Requirements for this application This control method is suitable for a winding application where a reasonable finish is required in about half the dancer-roll- winding machine speed.
Page 210 82 (Winding diameter compensation torque command), 83 (Inertia compensation), and 84 (Mechanical loss compensation). 30: Setting for the Mitsubishi Electric Vector Applied motor control dedicated motor SF-V5RU. 10: Terminal 2 input between 0 to 10 V for the line Analog input selection speed with reversible polarity.
Page 211 Application examples Setting value Initial Parameter name Remarks Intermediate Winding value roller roller Acceleration/deceleration time Set the acceleration/deceleration time during stall 15 s 15 s ∗1 during stall condition mode. Line speed command voltage/ current bias Line speed command bias 0 m/min 0 m/min Use Pr.358 to set the increment.
Page 212 Application examples Setting value Initial Parameter name Remarks Intermediate Winding value roller roller Line speed at winding diameter Set the line speed command value to start the roll 1246 1 m/min 1 m/min ∗1 calculated value activation diameter calculation. Setting Pr.1247 = "9999 (initial value)" disables Winding diameter change the roll diameter calculation.
Page 213: Tension Sensor Feedback Torque Control With Roll Diameter Compensation For Fabric Inspection Machines
Application examples 10.4.4 Tension sensor feedback torque control with roll diameter compensation for fabric inspection machines This is useful for a small winding system formed by the small number of shafts (rollers) and no controllers, for example, a fabric inspection machine. As tension of material rolls can be controlled by the R2R inverters only, winding/unwinding of materials is possible without programmable controllers.
Page 214 Application examples Nip roll Tension sensor Tension sensor Encoder Encoder Encoder V5RU V5RU V5RU Tension Tension FR-A800-R2R FR-A800-R2R FR-A800-R2R feedback feedback FR-A8AP FR-A8AP FR-A8AP Line speed Line speed Start command Start command Start command STF/STR STF/STR STF/STR Two-way operation Tension control selection Two-way operation X126 X114...
Page 215 (When the SF-V5RU motor is used, the inverter of the next larger capacity is supposed to be used.) 30: Setting for the Mitsubishi Electric Vector Applied motor control dedicated motor SF-V5RU. 0: Terminal 2 input between 0 to 10 V and Analog input selection terminal 1 input between 0 to ±10 V...
Page 216 Application examples Setting value Initial Parameter name Remarks Unwinding Intermediate Winding value roller roller roller Use Pr.358 to set the increment. Maximum Line speed command gain 1000 m/min 300 m/min line speed (300 m/min) is set. 0: m/min (increment of the maximum line Line speed unit speed) If setting Pr.361 to "8", set a line speed...
Page 217 Application examples Setting value Initial Parameter name Remarks Unwinding Intermediate Winding value roller roller roller Setting Pr.1247 = "9999 (initial value)" Winding diameter change disables the roll diameter calculation. 1247 9999 2 mm 9999 2 mm ∗1 increment amount limit Be sure to change the setting from the initial value for the roll diameter calculation.
Page 218: Parameters (Functions) And Instruction Codes Under Different Control Methods
Parameters (functions) and instruction codes under different control methods 10.5 Parameters (functions) and instruction codes under different control methods The following parameters and instruction codes are changed or added in the FR-A800-R2R inverter as compared to the FR- A800 series standard inverter. The availability of the parameters and instruction codes is shown by control method. For information on the availability of other parameters by control method and instruction codes, refer to the Instruction Manual (Detailed) of the FR-A800 inverter.
Page 219 Parameters (functions) and instruction codes under different control methods Instruction Control method Parameter ∗2 code ∗1 Sensorless Sensorless Sensorless Vector Vector Vector Name Multi-speed setting (speed 5)          Multi-speed setting (speed 6) ...
Page 220 Parameters (functions) and instruction codes under different control methods Instruction Control method Parameter ∗2 code ∗1 Sensorless Sensorless Sensorless Vector Vector Vector Name × Motor capacity         × Number of motor poles  ...
Page 221 Parameters (functions) and instruction codes under different control methods Instruction Control method Parameter ∗2 code ∗1 Sensorless Sensorless Sensorless Vector Vector Vector Name PID differential time    ×  ×    ∗8 ∗8 × × Integral clamp (positive polarity) ...
Page 222 Parameters (functions) and instruction codes under different control methods Instruction Control method Parameter ∗2 code ∗1 Sensorless Sensorless Sensorless Vector Vector Vector Name × RT terminal function selection         × AU terminal function selection ...
Page 223 Parameters (functions) and instruction codes under different control methods Instruction Control method Parameter ∗2 code ∗1 Sensorless Sensorless Sensorless Vector Vector Vector Name Monitor decimal digits selection          Parameter for manufacturer setting. Do not set. Acceleration/deceleration time during ×...
Page 224 Parameters (functions) and instruction codes under different control methods Instruction Control method Parameter ∗2 code ∗1 Sensorless Sensorless Sensorless Vector Vector Vector Name Setting for maximum analog meter          voltage output  ...
Page 225 Parameters (functions) and instruction codes under different control methods Instruction Control method Parameter ∗2 code ∗1 Sensorless Sensorless Sensorless Vector Vector Vector Name Line speed command pulse input          gain Line speed command digital input ...
Page 226 Parameters (functions) and instruction codes under different control methods Instruction Control method Parameter ∗2 code ∗1 Sensorless Sensorless Sensorless Vector Vector Vector Name Dancer / tension sensor feedback × ×        input offset × ×...
Page 227 Parameters (functions) and instruction codes under different control methods Instruction Control method Parameter ∗2 code ∗1 Sensorless Sensorless Sensorless Vector Vector Vector Name Fourth PID proportional band for × ×        ∗8 ∗8 values below set point Fourth PID integral time for values ...
Page 228 Parameters (functions) and instruction codes under different control methods Instruction Control method Parameter ∗2 code ∗1 Sensorless Sensorless Sensorless Vector Vector Vector Name × × PID deviation limit        × × PID signal operation selection ...
Page 229 Parameters (functions) and instruction codes under different control methods Instruction Control method Parameter ∗2 code ∗1 Sensorless Sensorless Sensorless Vector Vector Vector Name Speed control proportional gain 4    ×  ×    Winding diameter storage selection ...
Page 230 Parameters (functions) and instruction codes under different control methods Instruction Control method Parameter ∗2 code ∗1 Sensorless Sensorless Sensorless Vector Vector Vector Name × × × × Empty reel inertia (exponent)      Cumulative pulse clear signal ...
Page 231 Parameters (functions) and instruction codes under different control methods Instruction Control method Parameter ∗2 code ∗1 Sensorless Sensorless Sensorless Vector Vector Vector Name Speed control P gain 2 × ×  ×  ×    × × × ×...
Page 232 Parameters (functions) and instruction codes under different control methods Instruction Control method Parameter ∗2 code ∗1 Sensorless Sensorless Sensorless Vector Vector Vector Name          Thermal protector input Speed feed forward control/model × ×...
Page 233 Parameters (functions) and instruction codes under different control methods Instruction Control method Parameter ∗2 code ∗1 Sensorless Sensorless Sensorless Vector Vector Vector Name × × × Terminal 1 gain frequency (speed)       (918) Terminal 1 gain (speed) ×...
Page 234 Parameters (functions) and instruction codes under different control methods Instruction Control method Parameter ∗2 code ∗1 Sensorless Sensorless Sensorless Vector Vector Vector Name × Fault initiation         × × Automatic parameter setting  ...
Page 235 Parameters (functions) and instruction codes under different control methods Instruction Control method Parameter ∗2 code ∗1 Sensorless Sensorless Sensorless Vector Vector Vector Name 1113 Speed limit method selection × × ×  ×     × × × ×...
Page 236 Parameters (functions) and instruction codes under different control methods Instruction Control method Parameter ∗2 code ∗1 Sensorless Sensorless Sensorless Vector Vector Vector Name 1186 User parameters 37          1187 User parameters 38 ...
Page 237 Parameters (functions) and instruction codes under different control methods Instruction Control method Parameter ∗2 code ∗1 Sensorless Sensorless Sensorless Vector Vector Vector Name Initial winding diameter calculation × × 1254        deadband 2 1255 Accumulated amount ×...
Page 238 Parameters (functions) and instruction codes under different control methods Instruction Control method Parameter ∗2 code ∗1 Sensorless Sensorless Sensorless Vector Vector Vector Name × × × × 1403 Tension command bias      × × × × 1404 Tension command input voltage gain ...
Page 239: Index
Index 10.6 Index Operation command source and speed command source (Pr.338, 339) ................193 Acceleration/deceleration time selection for line speed command (X105 signal, X106 signal) ..........69, 188 Output signal list................191 Acceleration/deceleration time setting for line speed command .69 Actual line speed (monitoring)...........181 PID action selection (Pr.128)..........58, 148 Actual line speed detection signal ........163, 188 PID compensation disabled (X116 signal) ....58, 148, 188...
Page 240 MEMO...
Page 241 REVISIONS *The manual number is given on the bottom left of the back cover. Revision date *Manual number Revision Jan. 2016 IB(NA)-0600622ENG-A First edition Jun. 2016 IB(NA)-0600622ENG-B Addition • Calibration parameters for the compensation value added to the line speed command (Pr.635 to Pr.638) Oct.
Page 242 HEAD OFFICE: TOKYO BUILDING 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN IB(NA)-0600622ENG-D(1808) MEE Printed in Japan Specifications subject to change without notice.

Mitsubishi Electric A800 Plus Series Function Manual

1 Introduction

2 Parameter List

3 Dancer Feedback Speed Control

4 Tension Sensor Feedback Speed Control

5 Tension Sensorless Torque Control

6 Tension Sensor Feedback Torque Control

7 Speed Control of Intermediate Shafts

8 Winding Diameter Compensation Function

9 Roll to Roll Function Related Parameters

10 Appendix

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