Encoder wiring – The hardware overview about pulse train input is shown bas below. Pulse input types Max. Freq. (5 to 24VDC) EA terminal EB terminal (24VDC) 90° ph. difference 2-ph. pulse 2kHz Phase-A (PNP open collector or
Voltage output type)
Phase-B
(PNP open collector or Voltage output type) Single phase pulse + direction 32kHz Single phase pulse (PNP open collector or
Voltage output type)
Direction
(sink/source transistor or contactor)
Single phase pulse 32kHz Single phase pulse (PNP open collector or Voltage output type)
-
2-phase pulse input
Wire phase-A to EA terminal and phase-B to EB terminal. Since common terminal of EB is same as other inputs, use all the input terminals as source logic (PNP open collector or voltage output type). Voltage of EB should be 18 to 24VDC. Assign EB in input terminal 7.
P24 EA
7/EB
PLC
L
PNP open collector type or voltage output type encoder
Encoder Vcc GND A B WJ200
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Single phase pulse input
Wire phase-A to EA terminal and direction signal to EB terminal. Both sink or source logic are available for EB terminal by changing position of the short bar. Assign EB in input terminal 7. ON input is forward and OFF input is reverse direction.
P24 EA 7/EB PLC L Vcc GND Out WJ200 Dir.
Sink type transistor
Encoder
PNP open collector type or voltage output type encoder
P24 EA 7/EB PLC L Vcc GND Out WJ200
Souce type transistor
Encoder
Dir.
PNP open collector type or voltage output type encoder
P24 EA 7/EB PLC L Vcc GND Out WJ200 Encoder
PNP open collector type or voltage output type encoder
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Simple positioning setting
- Set “03” in [EA] selection (P003), then pulse train input is used as feedback signal from encoder. - Set "02" in simple positioning selection (P012), then simple positioning is enabled. (If "00" is set, "V/f
control with FB" is enabled. Please refer to xx for further information.
- Up to 8 position data are commanded by combination of 3 input terminals configured as CP1 to CP3.
- Besides positioning input, RUN command (FW,RV) is necessary. Since rotation direction does not matter for positioning, both FW and RV work as RUN command.
- Positioning speed depends on frequency source (A001).
- More than four digits are required for positioning data, but only four higher digits are displayed.
Code Item Data or data range Description
P003 [EA] terminal selection 01 Encoder feedback
P004 Feedback pulse train mode 00 Single phase pulse train
01 90° ph. difference 2-ph. pulse train 1
02 90° ph. difference 2-ph. pulse train 2
03 Single phase pulse train + direction
P011 Encoder PPR setting 32. to 1024.
P012 Simple positioning selection 02 Simple positioning enabled
P015 Creep speed Start freq. to .10.00Hz
P026 Over-speed error detection level 0.0 to 150. % P027 Speed deviation error level 0.00 to 120.0 Hz
p072 Position range (Forward) 0 to +268435455 Higher 4-digits displayed p073 Position range (Reverse) –268435455 to 0 Higher 4-digits displayed
p075 Positioning mode selection 00 With limitation
01 No limitation (shorter route)
p004 is to be set 00 or 01
P077 Encoder disconnection timeout 0.0 to 10.0 s
H050 Slip comp. P gain for FB V/f 0.0 to 10.00
H051 Slip comp. I gain for FB V/f 0.0 to 1000. s
d029 Position setting monitor
8435455 to +268435455 d030 Position feedback monitor
C102 Reset selection 03 Internal data is not cleared by reset
C001
-C007 Input [1]~[7] function
47 PCLR: Pulse counter clear
85 EB: Rotation direction detection
C021-C022 C026
Output [11][12] function Alarm relay function
22 DSE: Speed deviation excessive
23 POK: Positioning competion
(Note 1) If 7/EB terminal is used (P004=00~03), set 85 (EB) in input 7 (C007). ON is forward and OFF is reverse direction.
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(Note 2) When 2-phase pulse is used, maximum frequency of phase-A and B are different (32kHz for A-phase, 2kHz for B-phase). In order to detect rotation direction over 2kHz, choose detection methods in P004.
P004 Item Description
01 90° ph. difference 2-ph. pulse train 1 Keep the last direction
02 90° ph. difference 2-ph. pulse train 2 Depend on RUN command (FW or RV) (Note 3) For rotating coordinate system, if "01" is set in P075, the rotation direction of shorter
routing is selected. In this case, set the number of pulse for one rotation in position-0 (P060). This value must be positive number. When "01" is set in P075, p004 is to be set 00
or 01.
(Note 4) d030 is cleared by inputting PCLR, SPD, ORG, RS signal or turning on the power supply.
When "00" is set in p004, PCLR is effective only during the RUN command (FW, RV) is given.
(Note 5) P075 is to be set higher when speed detection is not accurate in low speed. 6000 4000 2000 Current position 0 / 8000 P075=01 P075=00 Command = 6000 P060=8000
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In the simple positioning mode, the inverter runs the motor until the machine reaches the target position according to the following settings, and then stops the motor with DC braking.
<1> Position setting
<2> Speed setting (frequency setting) <3> Acceleration and deceleration time
(DC braking state is held until RUN command is turned off.)
- I
n simple positioning mode, the frequency and acceleration/deceleration are according to current settings as same as normal operation.
- Depending on DC braking and creep speed setting, positioning may go off the point.
- If the position value specified by the position setting is small, the inverter may decelerate the motor for positioning before its speed reaches the speed setting.
- In simple positioning mode, the rotation direction setting (FW or RV) of the operation command is ignored. The operation command simply functions as the signal to run or stop the motor. The motor runs in the forward direction when the value of “target position” –(minus) “current position” is positive, or in the reverse position when the value is negative.
- The position at power up is home position (Position data = 0). If power is removed, current position data is lost.
- When the operation command is turned on with 0 specified as the position setting, positioning is completed (with DC braking) without running the motor.
- Specify “03 (only to reset a trip)” for reset mode selection (C102). If a value other than “03” is specified to C102, the current position counter will be cleared when the inverter reset terminal (or reset key) is turned on. Be sure to specify “03” for reset mode selection (C102) if you intend to use the value of the current position counter for operation after recovering the inverter from tripping by turning on the reset terminal (or reset key).
- If the PCLR function is assigned to a input terminal, turning it on to clear the current position counter.
- In simple positioning mode, ATR terminal is invalid. (Torque control does not work.) - If current position is out of the set range, inverter will be tripped (E83) and coasting status.
ON Output freq. Position Set speed RUN command ON
POK output signal
If the position value specified by the position setting is small, the inverter decelerates the motor for positioning before the speed reaches.
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Multistage position switching function (CP1/CP2/CP3)
When functions “66 (CP1)” to “68 (CP3)” are assigned to input terminal [1] to [7] (C001 to
C008), you can select multistage positions 0 to 7. Preset position data 0 to 7 in P060 to
P067. If no assignment is set in terminals, position command will be position-0 (P060).
Code Item Data or data range Description
P060 Multistage position 0 P073 to P072 (Displayed higher 4-digits only) (Note 1) P061 Multistage position 1 P062 Multistage position 2 P063 Multistage position 3 P064 Multistage position 4 P065 Multistage position 5 P066 Multistage position 6 P067 Multistage position 7
(Note 1) If P075=01, set the number of pulse for one rotation in P060. Position setting CP3 CP2 CP1 Multistage position 0 (P060) 0 0 0 Multistage position 1 (P061) 0 0 1 Multistage position 2 (P062) 0 1 0 Multistage position 3 (P063) 0 1 1 Multistage position 4 (P064) 1 0 0 Multistage position 5 (P065) 1 0 1 Multistage position 6 (P066) 1 1 0 Multistage position 7 (P067) 1 1 1
To avoid misinput due to time lag of each input, you can adjust the determination time in (C169). The input status is taken the preset time (C169) after the last change of input status. (Note that a long determination time deteriorates the input response.)
Position command ON ON ON CP1 CP2 CP3 1 3 7 5 4 Determination time (C169)=0 Determination time (C169) specified Determination time (C169)