NAME¶

mitsub_vfd - HAL non-realtime component for Mitsubishi A500 F500 E500 A500 D700 E700 F700-series VFDs (others may work) This uses the COMPUTER LINK protocol _not_ MODBUS. The connection is made through the PU connector.

SYNOPSIS¶

loadrt mitsub_vfd [--baud 4800] [--port /dev/ttyUSB0] name1=number1[,name2=numer2...]
name1 is user selectable (usually a description of the controlled device).
number1 is the slave number that was set on the VFD. Must be two digits (Parameter 117).
name=number can be repeated for multiple VFD's connected together.
--baud is optional as it defaults to 9600, all networked vfds must be set to the same baudrate.
--port is optional as it defaults to ttyS0.

DESCRIPTION¶

The mitsub_vfd component interfaces a Mitsubishi VFD to LinuxCNC. The VFD is connected via RS-485 serial to the computer's USB or serial port using a RS-232/RS-485 converter.

HARDWARE SETUP¶

reference manual 'communication option reference manual' and A500 technical manual for 500 series. Fr-A700 F700 E700 D700 technical manual for the 700 series.
The inverter must be set manually for communication (you may have to set PR 77 to 1 to unlock PR modification).
You must power cycle the inverter for some of these, e.g. 79.

VFD INTERNAL PARAMETERS:

PARAMETER 79 - 1 or 0

PARAMETER 117 station number - 1
(can be optionally set 0 - 31) if component is also set

PARAMETER 118 communication speed 96
(can be optionally set 48,96,192 if component is also set)

PARAMETER 119 stop bit/data length - 1
(8 bits, two stop - don't change)

PARAMETER 120 parity - 0
(no parity - don't change)

PARAMETER 121 COM tries - 10
(if maximum 10 COM errors then inverter faults- can change.)

PARAMETER 122 COM check time interval 9999
(never check - if communication is lost inverter will not know (can change))

PARAMETER 123 wait time - 9999
No wait time is added to the serial data frame (don't change).

PARAMETER 124 CR selection - 0
don't change

PARAMETER 549 communication protocol - 0
computer link protocol - don't change - (not all VFDs have this)

This driver assumes certain other VFD settings:¶

-That the motor frequency status is set to show Hertz.
-That the status bit 3 is up to speed
-That the status bit 7 is alarm

some models (eg E500) cannot monitor status.
You must set set the monitor pin to false.
In this case pins such as up-to-speed, amps, alarm and status bits are not useful.

PINS¶

[VFD NAME].fwd (bit, in)::
forward/reverse pin
[VFD NAME].run (bit, in)::
run/stop pin
[VFD NAME].debug (bit, in)::
set debug mode pin
This will print many messages to the terminal
[VFD NAME].monitor (bit, in)::
set monitor mode pin
If false request-status command will not be sent to VFD. Status, amps, power, motor-feedback, and alarm would then not be useful.
[VFD NAME].estop (bit, in)::
set E-stop mode pin
This will stop the VFD. Restarting requires the run pin to cycle.

[VFD NAME].fwd (bit, out)::
up-to-speed status pin
Motor is at requested speed within VFD's settings tolerance.
[VFD NAME].alarm (bit, out)::
alarm status pin

[VFD NAME].motor-cmd (float, in)::
The requested motor speed, is Hertz

[VFD NAME].motor-fb (float, out)::
The motor feedback speed (from VFD) in Hertz (Hz)
[VFD NAME].motor-amps (float, out)::
The motor current, in amps
[VFD NAME].motor-power (float, out)::
The motor power

[VFD NAME].scale-cmd (float, in)::
Motor command's scale setting defaults to 1
[VFD NAME].scale-cmd (float, in)::
Motor command's scale setting defaults to 1
[VFD NAME].scale-cmd (float, in)::
Motor command's scale setting defaults to 1

[VFD NAME].stat-bit-0 (bit, out)::
raw status bit
[VFD NAME].stat-bit-1 (bit, out)::
raw status bit
[VFD NAME].stat-bit-2 (bit, out)::
raw status bit
[VFD NAME].stat-bit-3 (bit, out)::
raw status bit
set the VFD so this is motor-at-speed status
[VFD NAME].stat-bit-4 (bit, out)::
raw status bit
[VFD NAME].stat-bit-5 (bit, out)::
raw status bit
[VFD NAME].stat-bit-6 (bit, out)::
raw status bit
[VFD NAME].stat-bit-7 (bit, out)::
raw status bit
Set the VFD so this in the alarm bit

SAMPLE HAL¶

loadusr -Wn coolant mitsub_vfd --port /dev/ttyUSB0 spindle=02 coolant=01
# **************** Spindle VFD setup slave 2 ****************
net spindle-vel-cmd spindle.motor-cmd
net spindle-cw spindle.fwd
net spindle-on spindle.run
net spindle-at-speed spindle.up-to-speed
net estop-out spindle.estop
# cmd scaled to RPM (belt/gearbox driven)
setp spindle.scale-cmd .135
# feedback is in rpm (recipicale of command)
setp spindle.scale-fb 7.411
# turn on monitoring so feedback works
setp spindle.monitor 1
net spindle-speed-indicator spindle.motor-fb
# *************** Coolant VFD setup slave 1 *****************
net coolant-flood coolant.run
net coolant-is-on coolant.up-to-speed
# cmd and feedback scaled to hertz
setp coolant.scale-cmd 1
setp coolant.scale-fb 1
# command full speed
setp coolant.motor-cmd 60
# allows us to see status
setp coolant.monitor 1
net estop-out coolant.estop

ISSUES¶

Some models, e.g. E500, cannot monitor status, so set the monitor pin to false. In this case, pins such as up-to-speed, amps, alarm and status bits are not useful.