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.
loadrt mitsub_vfd [--baud baudrate] [--port devicename] name1=number1[,name2=number2...]
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).
nameN=numberN
can be repeated for multiple VFD’s connected together.
--baud baudrate
is optional as it defaults to 9600, all networked vfds must be set to the same baudrate.
--port devicename
is optional as it defaults to ttyS0‘, a common alternative is /dev/ttyUSB0.
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.
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.
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, in Hertz (Hz)
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 amperes (A)
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. Configure the VFD so that the function Up to frequency or motor-at-speed is assigned to status bit 3 (parameter 191 for 700 series).
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. Configure the VFD so that the function alarm is assigned to status bit 7 (parameter 195 for 700 series)
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
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.