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Toshiba VF-A7 instruction manual PID control, Speed feedback/positioning control

Models: VF-A7

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6.17 PID control

 ：Signal selection of PID control

 ：Delay filter

 ：Proportional (P) gain

 ：Integral (I) gain

 ：PID deviation upper limit

 ：PID deviation lower limit

 ：Differential (D) gain

6.18 Speed feedback/positioning control

 ：Number of PG input pulses

 ：Number of PG input phases

 ：PG disconnection detection

 ：Electronic gear

 ：Position loop gain

 ：Positioning completion range

 ：Frequency limit at position control

 ：Current control proportional gain

 ：Current control integral gain

 ：Speed loop proportional gain

 ：Speed loop integral gain

 ：Motor counter data selection

 ：Speed loop parameter ratio

6.19 Preset speed operation mode

 ～  ：Preset speed operation modes

Refer to 5.14 for details.

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Toshiba VF-A7 instruction manual PID control, Speed feedback/positioning control,  ～  ：Preset speed operation modes

Contents

Peripheral Units ConnectionBasic Parameters Extended Symbols Meaning PrecautionsLimited applications MarkingHandling in general Transportation・Installation Wiring About operation About inspection and maintenance When selecting the retry mode Applicable to invertersAbout disposal of inverters Sticking warning labelsⅡ． Preface Features200V-3.7kW Type Form Specification codePackage Name plate SpecialPanel description Indication alphabet Panel indicationIndication number Page VFA7-2300P, 4300P VFA7-4370P1～4550P1 VFA7-2185P, 2220P VFA7-4185P, 4220PGrounding terminal Page Page P24 Detaching the terminal board front coverAdjustment of overload protection level Comparison with commercial power operationOperation in low speed ranges High-speed operation at a frequency of 60 Hz or overMotor with a braking system Braking of a motor after power shutoffLoad producing negative torque Over-current protective function Power factor improving capacitorInverter capacity Use of an inverter at a voltage other than the rated oneMeasures to be taken Power supply InverterInfluences of leakage currents and measures against it Power supply Installation environment Resistor Installation place InstallationFor closed-type Applicable Calorific valueHeat radiation area Required Motor Inverter Page Normal attachment Heat-sink going out attachment Simple type Heat-sink going out attachmentsimple typeInverter, or the inverter could cause a shock or a fire ConnectionPrevention of radio noise Standard connection Standard connection diagram for sink logicminus commonMotor Main circuit Control panelControl Circuit ＊１ R20 ControlR20 R46 R46 R41Main circuit terminals Explanation of terminalsInverter internal circuit Terminal symbolR0, S0 R46, R41, R20, S20 R20 S20 P0, PA, PB, PC, PA1,PB1,PR1Control circuit terminals sink logicminus common Output Default setting Output current. Connect a 1mAdc Output Default setting Operation frequency commandInput Function Electrical Inverter internal Connect a 1mAdc full-scale ammeter or aInput Common P24 Output Common CC Switching logicCommon Input Common Programmable Inverter ControllerSerial RS485 communication connector Could get a shock Motor is at a standstill, or you could get a shockSensor vector control Optional Control modes of the VF-A7 inverterExample of typical connection Simple operation of the VF-A7 1 Speed control mode1Operation from the terminalexternal signals Speed setting mode selection parameter  at  Frequency setting）Setting the frequency by voltage signals 0 to 10 ）Setting the frequency by a current signal 4 to 20 mASpeed setting mode selection parameter  at  ）Setting the frequency by voltage signals 0 to 10 Vdc）Setting the frequency by voltage signals 0 to +/-10Vdc ：Start the motor Operation from the control panel ［Control panel operation］Example of control panel operation Selecting a stop mode with the control panelSetting a control mode Simple operation of the VF-A7 2 Torque control modeS4 Control mode Switching RR switching When the motor is out of operation. If the monitor displayMode setting parameter  is set at Running Polarity of torque command Torque command Operation from the terminalexternal signalTorque control mode Start/stopTorque setting by means of voltage signals 0~10 Vdc Torque setting by means of current signals 4 to 20 mAdc）Torque setting by means of voltage signals 0~10 Vdc ）Torque setting by means of a volume control Others Selecting a torque command mode Setting the start and stop modesTorque command Operation from the control panelExample of control panel operation Set the torque commandＲＵＮ：Starts the motor Ｓｔｏｐ：Stops the motorSpeed control mode Setting parameters Setting monitor modeTorque control mode Status monitor mode Setting monitor modeProcedure for setting a basic parameter How to set basic parameters Basic parameterBasic parameter list Procedure for setting an extended parameter How to set extended parametersWhen the motor is out of operation.If the monitor Example of parameter settingDisplay mode setting parameter  is set at Running frequencySearching for a parameter and changing its setting Basic parameters Parameters that cannot be changed during operationAM terminal meter adjustment FM terminal meter selection FM terminal meter adjustmentOptional analog terminal #1 meter adjustment Optional analog terminal #2 meter adjustmentAutomatic acceleration/deceleration Setting the acceleration and deceleration times ＝ ･ FunctionChange the parameter setting to  automatic Manually setting the acceleration and deceleration timesAcceleration/deceleration enabled by pressing key Time s ：Automatic V/f mode setting Increasing starting torque/ energy-saving operation modeIf you fail to make the setting for vector control VF-A7 inverter has been set to this control mode by default Selecting an operation mode Preset speed operation Mode selection Operation commandSpeed setting mode Title Function Set value Panel stop pattern Speed setting Title Function Adjustment range Setting and calibrating meters・Function Terminal FM-related parametersCalibrating a meter when the inverter is out of operation ResolutionReturn the parameter setting to  output current display By setup, before the needle of meter begins to swayFrequency display mode.If the monitor display mode setting Set the parameter at  fixed output for meter ：Standard setting mode selection Factory default settingHz standard setting  =  Hz standard setting  = Reset of user-defined parameters  =  Factory default setting  = Trip clear  =  Clearing accumulating operation time  = Maximum frequency Parameter setting：Forward/reverse selection ：Maximum frequencyBase frequency Upper and lower limit frequencies：Upper limit frequency ：Lower limit frequency  ：Base frequency #1：Motor control mode selection Control mode selectionConstant torque characteristic Normal way of use Motor control：The torque Boost rate is adjusted Setting suitable for fans and pumpsTo increase the starting torque AutomaticallyControl by pressing the key Value. Default setting Constant torqueChange the parameter setting to Sensorless vector 5-point setting To set the V/F characteristic arbitrarily※100% adjustment value 200V class 200V,400V class       This control mode involves the setting of the motor constant ： Motor control mode selection Switching between speed control and torque controlSpeed setting  ～ Common serial communication option Torque reference Communication add-on cassette option  Binary/BCD inputoptionalParameter Title Function Adjustment range Setting the electronic thermal protective functionManual boost  ～ % Setting the motor overload protection level #1  Setting the electronic thermal protective function Explanation of terms Overload stallSoft stall ×1.0 ×0.6 Setting of motor overload start level Overload reduction start-up  ～ Hz Motor 150%-overload time limit  Inverter overload characteristicInverters overload protective characteristic Start/stop Preset-speed operation 15 speedsSetting preset-speed frequencies Reverse run command Forward run commandPreset-speed #1 Preset-speed #2Setting the operation mode Low-speed signal Frequency signals・Output terminal setting ・FunctionP24-OUT2 Putting out signals of arbitrary frequencies・Function Changing standby signal function Selection of input signalsStandard Always-ONForward ［ Disabled Terminal board has no priority ］Reverse =StopSetting value Jog run Priority command from terminal board Operation command terminal board has priority Enabled  ：Binary/BCD signal selectionExpansion TB option unit Binary/BCD signal selectionExpansion TB option unitForced JOG forward rotation  Input terminal selection #8S4Selection of terminal functions Signal on completion of acceleration/deceleration OUTKeeping an input terminal function always active on Changing input terminal functionsResponse times of input/output terminals Changing output terminal functionsRefer to 7.2.2 for details Refer to 7.2.3 for detailsBasic parameters #2 Setting of switching terminalsS1：V/f switching #1 S2：V/f switching #2 OFF S1V/f switching #1 S2V/f switching #2 Parameters selectedUsing two types of frequency speed commands Speed/torque command gain and bias has priority  has priorityFrequency reference Command selected with Setting torque reference characteristics Setting frequency command characteristics Operation frequency Operating by means of reference signalsStart-up frequency and End frequency 3 0Hz dead band frequencyDC injection braking DC injection braking ：Motor shaft fixing control Motor shaft fixing controlBraking under normal conditions Forward/reverse DC braking priority control =OFF ：Zero-speed stop mode selection Zero-speed stop mode selectionLED display  lights  lights  ～ Hz ：Jog run frequency  ：Jog stop control Jog run ～ Hz Example of jog run ～  ：Preset-speed #8～#15 Preset-speed #8～15Jump frequency Jumping resonant frequencies Refer to 5.14 for detailsTrip-less enhancement PWM carrier frequency ：PWM carrier frequency Restart after a momentary power failure Set the mode of Auto-restartSet the control method of Auto-restart Restart of coasting motor Motor speed search functionAdaptation for elevator applications 1Case ＝Set the property of Auto-restart Regenerative power ride-through control / Deceleration stopCase = Case =～ ：Retry selection Retry functionAn internal braking resistor for 3.7kW model and smaller Dynamic regenerative braking To urgently stop the motor Dynamic braking resistor capacity  ～ ΩAny value An external braking resistor optionalClass Capacity kW 120W 70Ω 200 120W 40Ω 400 120W 150Ω 100 PBR resistor capacity When using a braking resistor without thermal fuseSupply  ～ Ω Any valueType Selection of braking resistor option and braking unitConnectable braking resistors and their minimum resistances Avoiding over-voltage trip Adjusting the output voltage and voltage compensation ：Reverse-run prohibition Prohibiting the reverse operationDrooping Gain Drooping controlDead band Frequency  Speed at the drooping gain   ～ HzFunction for crane/hoist Commercial power/inverter switching Timing chart Speed feedback/positioning control  ～  ：Preset speed operation modesPID control Selection 1 Setting by the automatic V/f mode Setting motor constantsSet the auto-tuning ＝ Automatic tuning execution Refer to 5.2 for details of this settingChange the parameter setting to  Automatic tuning Setting parameter  is set at Running frequencyMotor is out of operation. If the monitor display momde  Press the Enter key to activate the parameter Setting the rating of the motor ①Slip frequency gain  Setting motor constantsInverter VFA7 2037PL Motor 7kW, 4P, 60Hz Selection Examples of setting auto-tuningTorque reference Torque control～20mAdc ⇒ II terminal ～10Vdc ⇒ RR terminalTorque reference filter Voltage signal 0 ～± 10Vdc ：Torque reference filter ⇒ RX terminalSetting with the control panel Speed limits in torque control modeSetting of forward speed limit level Setting of reverse speed limit levelSelection of external signals Setting by means of external signalsTorque bias and load sharing gain ―― 40 ～20mA× ＋  Voltage signals Current signalsPower running /regenerative torque limit SettingSetting of power running torque Setting of regenerative torqueLimiting the torque with external signals Power running Regenerative Regenerative Power runningPositive/negative torque limits  Torque Limit #1Negative torque limit  RRvolume/ voltagePositive torque limit Selection Regenerative  Torque LimitSecondary acceleration/deceleration Slowly in weak-field areas where itMotor needs to be speeded up to Suitable for the operationSelection with parameters Switching of acceleration/deceleration #1, 2, 3Acc/dec switching #1 Acc/dec switching #2 Output freq. Hz Setting freqMinimum acceleration/deceleration times Parameter settingAcceleration/deceleration patterns  ：Acceleration/deceleration lower limitPattern run   ～ ＜Basic operating＞Monitor displayed during pattern run ④ ：select pattern group #4 Parameter setting Output frequency Hz Setting frequency Step trigger signalSetting of current stall Motor over road protection－level adjust / motor typesProtection functions Inverter trip holdingOverload reduction start-up frequency Emergency stopMotors 150%-overload time limit Emergency stop by terminal operationOver-torque trip Detection of output phase failureAction at low currents Cumulative operation time alarm Cooling fan control mode selection ：Cooling fan control mode  ：Cumulative operation time alarm settingOver-voltage stall protection level System-supporting sequence B-timerUnder-voltage trip UV stall levelSpecial analog input Additive over-ride Over-rideOutput frequency = Reference + Over-rideVI input Hz Output frequency = Reference + Over-ride VI input HzOutput frequency = Reference × 1 + Over-rideVI input % Output frequency = Reference × 1 + Over-ride %Setting of optional meter outputs Setting of meter outputsMeter output Pulse output to meters ：Prohibition of parameter setting Prohibiting the change of parameter settings ：Current / voltage display mode Control panel parameters ：Frequency free unit magnification Display the motor speed and the load speedDisplay of the rotating speed of the motor Display of the speed of the loadSwitching basic parameters Changing items displayed in status monitor mode ：Selection of panel V/f1, 2, 3 or Time  0.01 s Panel reset function Resetting the inverter from the control panelSelecting a control panel stop pattern  ：Panel stop patternSetting a torque command in panel operation mode Canceling PID control in panel operation modeDrooping control in panel operation mode Override in panel operation modeCanceling methods SettingRestricting or prohibiting key operation  ：Panel operation prohibitionCommon serial optional device Communication function RS485/common serial＜Computer link＞＜Inter-drive communication＞ Operation command ～ Mode selection Setting of operation command common serialTerminal block enabled Using the RS485 port fitted as standard Inter-drive communications ：Wiring ：Data （Host→Inverter）：Wiring ：Data （Master→slave） Setting of speed reference RS485 Setting of operation command RS485 External Operation Operation with External SignalFunctions of input terminals in case of sink logic Setting of contact input terminal functionControl terminal board Connection methodExample of use Push-type operation stop InverterAcc/dec, V/f, torque limit #3 Table of contact input terminal function settingsAcc/dec, V/f, torque limit #2 Symbol Title Function Adjustment Default setting Setting of output terminal functionsLow speed signal Functions of output terminals in case of sink logicParameter setting Or detected OFF All the alarms above are cancelledOver travel On Over running Output of the designated data in 7 bitsCompletion of positioning On Positioning has been completed OFF in positive logicSetup of response time Setup of input/output terminal operation timeResponse time setting Analog input filterControl terminal board Setup of external speed command analog signalSetting of analog input terminal functions ～ Setup by analog input signals RR terminalTitle Function Adjustment range  10V VI terminal Setup by analog input signals VI/II terminalSetup by analog input signals RX terminal Status monitor Status monitor modeInformation on input terminals Type of connected option Information on output terminalsTotal accumulated operation hours  Changing status monitor function Changing indication of status with power onChanging contents of status monitor indication 1kW FE30 Output power 01kW Details of indications of trip status Indication in trip statusExamples of reading out trip data Indication of alarm, pre-alarm, etc Failure, short-circuit or electric leak Selection of wiring equipmentInverter model Selection of wiring equipmentElectromagnetic contactor in the primary circuit Installation of electromagnetic contactorElectromagnetic contactor in the secondary circuit Installation of overload relayVF-A7 Application and functions of optionsSorts of separate-type options Motor end surge RS-232C ⑬ communication converter unit Model RS2001Z RS-232C Communication Converter cable Selection table of separate-type options Table of optional add-on cassettes Optional add-on cassettesFunctions of optional add-on cassettes Table of optional add-on cassettes＊ In a set with SBP002Z ②Expansion TB option unit＊ In a set with SBP001Z Board options Installation of board optionTable of board options Functions of board optionsMandatory Before installing optional add-on cassette or board optionCase Prepare for installing according to 9.7.1, 1 to Case 2-A. When PG feedback function is usedCase 2-B. When PG feedback function is mot used Preparation is not neededBasic parameters 1/2 Basic parameters 2/2 Input signal selection Frequency signalExtended parameters Terminal function selection 1/2Terminal function selection 2/2 Terminal response time setupBasic parameters #2 Point SettingSpeed/torque reference gain/bias setup 1/2 Operation frequency Speed/torque reference gain/bias setup 2/2Braking OperationTripless intensification setup 1/2 Preset speed operation frequency 8- to 15-stage speedJumper frequency PWM carrier frequencyFor lift 1/2 Tripless intensification setup 2/2Control Functions for lift 2/2 Commercial/inverter switching functionPID control Speed feedback/positioning controlVector control Preset-speed operation modeTorque control Motor constantTorque limit Speed/torque reference gain/bias setup #21/2Secondary acceleration/deceleration Speed/torque reference gain/bias setup #22/2Pattern run mode Patterned operation canceled during stop Pattern run selection Disabled, 1 Enabled Continuation mode Preset-speed #1 operationPreset-speed #1 operation time ～8000 s / min Preset-speed #2 operation time DittoProtection functions Meter output 1/2 Special analog inputOver-ride Control Panel parameters Meter output 2/2Communication function1/2 Reservation area Communication function2/2［Contents of monitor indications］ Monitor FM/AM/pulse output function selection Input terminal function setting 1/2 = = =～ = ［Input terminal function setting 2/2］104 105 106 107 VI/II terminal priority 108 109［Output terminal function setting 1/2］［Output terminal function setting 2/2］ PWM Default settingsStandard specifications by types Standard specifications by types large capacity types Common specifications Process, upper/lower limits FaultCauses DigitExternal dimensions and mass External dimensions and massDrawing a Drawing B Outline drawingsDrawing C Drawing D Drawing E Drawing FDimensions for heat-sink going out attachmentsimple type ･ Decrease setting value Indication Contents Expected causes CountermeasuresAlso reset the  ･ Extend acceleration time #1  Initial read-error ･ Reset the inverter Main RAM fault  Main ROM fault･ If undervoltage is detected, set Presence or absence of parameter trip can be selectedSetting signal apart from each ～ Caution! ～ Method of resetting causes of tripMake a service call Is input power Input power Correct?Is LED on RUN/STOP keyMeasures against trouble with parameter setting How to check other troublesCheck points Regular inspectionInspection method By feel touchPeriodical inspection Dealer for replacement of partPoints of inspection ･Dont replace any component partStandard period of years to replace main component parts Replacement of expendable partsWhen retaining the inverter out of operation When making a service callWarranty Disposing manner Blasting during incinerationPlastics