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• Torque control
Standard motor with encoder, 5 V differential line driver
To converter unit
Forward rotation start
Reverse rotation start
Contact input common
3
Speed limit command
2
Frequency setting
potentiometer
1
1/2W1kΩ
Torque
(+)
command
(-)
(±10V)
• Position control
Positioning unit
MELSEC-Q QD75P[]N/QD75P[]
MELSEC-L LD75P[]
FLS
RLS
DOG
STOP
CLEAR
PULSE F
PULSE R
CLRCOM
PULSE COM
RDYCOM
COM
READY
Torque limit command
*1
The pin number differs according to the encoder used.
Speed, control, torque control, and position control by pulse train input are available with or without the Z-phase being connected.
*2
Connect the encoder so that there is no looseness between the motor and motor shaft. Speed ratio must be 1:1.
*3
Earth (ground) the shield of the encoder cable to the enclosure using a tool such as a P-clip. (Refer to
*4
For the complementary, set the terminating resistor selection switches in the OFF position. (Refer to
*5
A separate power supply of 5 V/12 V/15 V/24 V is necessary according to the encoder power specification.
When the encoder output is the differential line driver type, only 5 V can be input.
Make the voltage of the external power supply same as the encoder output voltage, and connect the external power supply between PG and SD.
*6
For terminal compatibility of the FR-JCBL, FR-V7CBL, and FR-A8AP, refer to
*7
Assign the function using Pr.178 to Pr.184, Pr.187 to Pr.189 (Input terminal function selection).
*8
When position control is selected, terminal JOG function is invalid and simple position pulse train input terminal becomes valid.
*9
Assign the function using Pr.190 to Pr.194 (Output terminal function selection).
Inverter
U
P/+
V
N/-
W
Earth
STF
FR-A8AP
(Ground)
STR
PA1
PA2
SD
PB1
PB2
10
Differential
PZ1
2
PZ2
Complementary
5
PG
SD
Terminating
resistor ON
PG
1
∗3
SD
(+)
∗6
OFF
∗4
Vector control dedicated motor, 12 V complementary
To converter unit
Forward stroke end
Reverse stroke end
Pre-excitation/servo on
Clear signal
Pulse train
Sign signal
24VDC power supply
Preparation ready signal
(+)
(±10V)
(-)
Vector control dedicated motor, 12 V
Motor with
encoder
U
V
IM
Inverter
W
E
∗1
FR-A8AP
C
R
A
N
Differential
PLG
B
Complementary
P
∗2
Terminating
resistor
H
ON
K
OFF
5VDC power supply
(-)
∗5
U
Inverter
P/+
V
N/-
W
Earth
(ground)
STF
FR-A8AP
STR
PA1
LX
∗7
PA2
CLR
∗7
PB1
JOG
∗8
PB2
NP
∗7
Differential
PZ1
line driver
PC
PZ2
SE
PG
Complementary
SD
Terminating
resistor
PG
ON
RDY
∗9
SD
∗3
5
∗4
∗6
(+)
OFF
1
page
page
page
66.
2.8 Connection to a motor with encoder (Vector control)
complementary
Vector control
dedicated motor
U
U
V
V
IM
W
W
E
Earth
(Ground)
∗1
PA1
A
PA2
B
PB1
C
PB2
D
PLG
PZ1
F
∗2
PZ2
G
PG
S
SD
R
PG
SD
∗3
12VDC power
∗4
∗6
(-)
supply
∗5
(+)
Vector control
dedicated motor
U
V
IM
W
E
∗1
A
B
C
D
PLG
F
G
∗2
S
R
12VDC
(-)
∗5
power supply
68.)
64.)
2. INSTALLATION AND WIRING
1
2
3
4
5
6
7
8
9
10
67
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