FR-E800 - Position control in Vector Mode

INV - FR-E800 - Position control in Vector Mode

The article provides information on how to prepare the FR-E800 frequency converter and FR-A8AP -E-kit encoder card for positional vector operation.
For details, refer to the manual:  FR-E800 Instruction Manual (Function), Chapter 7
FR-A8AP E-kit card is required!
Components used:
  1.       FR-E820S-00046-EBP
  2.       Encoder card FR-A8AP E-kit 
  3.       Encoder ABZ  (4096 pulse/rev)
  4.       Induction motor, 4 poles, 400W

1. Connection

We use the Position Vector mode to control the angular position of the motor shaft, similar to a servo drive. Necessary for this is the feedback from the ABZ 3-phase Encoder, whose signal terminals are connected to the FR-A8AP E-kit card. Below is the wiring diagram:

2. Parameterization

Pr. 359 - direction of encoder rotation, clockwise (parameter value 100) or counterclockwise (101).
Pr. 369 - encoder resolution, range 1024 to 4096.

From the nameplate of the drive, we specify respectively:
Pr. 09 - Motor rated current,
Pr. 71 - Type of connected motor,
Pr. 80 - Motor power,
Pr. 81 - Number of poles of the motor,
Pr. 83 - Motor voltage,
Pr. 84 - Rated frequency of the drive,

We specify in Pr. 800 the value 3, selection of operation as position vector. 

It is recommended to perform the autotuning procedure if there is any doubt about the parameterization of the machine. Pr. 96, value 1 or 101 is responsible for this process. For a detailed description, refer to the  FR-E800 Instruction Manual (Function), chapter 14.3.

  1. Offline autotuning without engine speed: Set Pr.96 = 1, press FWD, press STOP when finished. 
  2. Offline autotuning with engine rpm: Set Pr.96 = 101, press FWD, press STOP when finished.

3. Signals

There are several ways to control positioning in the E800 series drive. The most popular of these is the use of signal inputs or post-network control.

Below is a list of seven positions that can be changed using the drive panel or function blocks to override parameters after the CCLIEF Basic network (later in this article). In order to run the sequence, it is necessary to turn Servo ON, select the truth table (RH, RM, RL, by turning the signals on or off) and allow movement in a given direction STF or STR.

If you have FR Configurator 2 software, you have access to a simplified interface, where you set the above parameters:

For network configuration for IQ-F and IQ-R controllers for the E800, see the article: FR-E800 CC-Link IE Field Basic Function Blocks (iQ-F/iQ-R).

Correct configuration ensures communication between the PLC and the E800. The next step is to use the free NET signals. These can be freely assigned to the required signals. In our case, these are sequentially: RH, RM, RL, Servo ON (LX) and error cleaning. We use STF and STR from the function blocks in the article above.

The following is an example application in GX Works 3:

3.2. Terminal

The input terminals of the E800 drive are marked below:

The only parameter to be edited in this case is shown below:

We assign the Servo ON (LX) function to the MRS input by changing the value of Pr. 183 from 24 to 23. This follows directly from section 13.6 Input Signal List, where it is described how we can allocate the functionality of a physical terminal.

This can also be done with application9 FR Configurator 2:

The appendix contains a batch of parameters for the project in FR Configurator 2.