INVERTER

INVERTER
Plug-in option
PRE-OPERATION INSTRUCTIONS
FR-A8TP 1
INSTRUCTION MANUAL INSTALLATION
2
WIRING
3
Vector control terminal block PARAMETER
4
ORIENTATION CONTROL
5
ENCODER FEEDBACK CONTROL
6
VECTOR CONTROL
7
ENCODER PULSE DIVIDING OUTPUT
HEAD OFFICE: TOKYO BUILDING 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN

IB(NA)-0600574ENG-C(2204) MEE Printed in Japan Specifications subject to change without notice.

8
Thank you for choosing this Mitsubishi inverter control terminal option.
This Instruction Manual provides handling information and precautions for use of the equipment. Incorrect handling might cause an unexpected
fault. Before using this product, always read this Instruction Manual carefully to use this product correctly.
Please forward this Instruction Manual to the end user.

Safety instructions
Do not attempt to install, operate, maintain or inspect the product until you have read through this Instruction Manual and supplementary
documents carefully and can use the equipment correctly. Do not use this product until you have a full knowledge of the equipment, safety
information and instructions. In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".
Incorrect handling may cause hazardous conditions, resulting in death or severe injury.
WARNING
Incorrect handling may cause hazardous conditions, resulting in medium or slight injury, or may cause only
CAUTION material damage.

Note that even the CAUTION level may lead to a serious consequence depending on conditions. Be sure to follow the

instructions of both levels as they are critical to personnel safety.

 Electric Shock Prevention

WARNING
 Do not remove the front cover or the wiring cover while the inverter power is ON. Do not operate the inverter with any cover or wiring cover removed, as accidental
contact with exposed high-voltage terminals and internal components may occur, resulting in an electrical shock.
 Even if power is OFF, do not remove the front cover except for wiring or periodic inspection as you may accidentally touch the charged inverter circuits and get an
electric shock.
 Before wiring or inspection, LED indication of the inverter unit operation panel must be switched OFF. Any person who is involved in wiring or inspection shall wait
for 10 minutes or longer after power OFF and check that there are no residual voltage using a tester or the like. The capacitor is charged with high voltage for some
time after power OFF, and it is dangerous.
 Any person who is involved in wiring or inspection of this equipment shall be fully competent to do the work.
 The control terminal option must be installed before wiring. Otherwise you may get an electric shock or be injured.
 Do not touch the control terminal option or handle the cables with wet hands. Doing so may cause an electric shock.
 Do not subject the cables to scratches, excessive stress, heavy loads or pinching. Doing so may cause an electric shock.

 Injury Prevention

CAUTION
 The voltage applied to each terminal must be the ones specified in the Instruction Manual. Otherwise a burst, damage, etc. may occur.
 The cables must be connected to the correct terminals. Otherwise a burst, damage, etc. may occur.
 The polarity (+ and -) must be correct. Otherwise a burst or damage may occur.
 While power is ON or for some time after power OFF, do not touch the inverter as it will be extremely hot. Doing so may cause a burn.

1
 Additional Instructions
The following instructions must be also followed. If the product is handled incorrectly, it may cause unexpected fault, an injury, or an electric
shock.

CAUTION
Transportation and installation
 Do not install or operate the control terminal option if it is damaged or has parts missing.
 Do not stand or rest heavy objects on the product.
 The mounting orientation must be correct.
 Foreign conductive objects must be prevented from entering the inverter. That includes screws and metal fragments or other flammable substance such as oil.
 If halogen-based materials (fluorine, chlorine, bromine, iodine, etc.) infiltrate into a Mitsubishi product, the product will be damaged. Halogen-based materials are
often included in fumigant, which is used to sterilize or disinfest wooden packages. When packaging, prevent residual fumigant components from being infiltrated
into Mitsubishi products, or use an alternative sterilization or disinfection method (heat disinfection, etc.) for packaging. Sterilization of disinfection of wooden
package should also be performed before packing a product.
Test operation
 Before starting operation, each parameter must be confirmed and adjusted. Failure to do so may cause some machines to make unexpected motions.

WARNING
Usage
 Do not modify the equipment.
 Do not perform parts removal which is not instructed in this manual. Doing so may lead to fault or damage of the product.

CAUTION
Usage
 As all parameters return to their initial values after the Parameter clear or All parameter clear is performed, the parameters must be set again as required before the
operation is started.
 Static electricity in your body must be discharged before you touch the product.
Maintenance, inspection and parts replacement
 Do not carry out a megger (insulation resistance) test.
Disposal
 The product must be treated as industrial waste.

General instruction
 For clarity purpose, illustrations in this Instruction Manual may be drawn with covers or safety guards removed. Ensure all covers and safety guards are properly
installed prior to starting operation.

2
 ─ CONTENTS ─
1 PRE-OPERATION INSTRUCTIONS 5
1.1 Unpacking and product confirmation............................................................................................................................5
1.1.1 Product confirmation ............................................................................................................................................................. 5
1.1.2 SERIAL number check.......................................................................................................................................................... 6
1.1.3 Component names................................................................................................................................................................ 7
1.1.4 Terminal layout ..................................................................................................................................................................... 8
1.1.5 Control logic switchover ........................................................................................................................................................ 9
1.1.6 Terminal OH control logic switchover.................................................................................................................................. 10
1.2 Terminal connection diagrams.....................................................................................................................................11
1.3 Control terminal specification ......................................................................................................................................12

2 INSTALLATION 21
2.1 Pre-installation instructions .........................................................................................................................................21
2.2 Installation procedure ...................................................................................................................................................21
2.3 Precautions for removal and reinstallation of the control circuit terminal block....................................................23

3 WIRING 24
3.1 Encoder specification / terminating resistor switch setting......................................................................................24
3.2 Encoder ..........................................................................................................................................................................26
3.3 Wiring of control circuit ................................................................................................................................................28
3.3.1 Wiring method ..................................................................................................................................................................... 28
3.3.2 Wire treatment .................................................................................................................................................................... 30
3.3.3 Wiring of terminals related to the encoder .......................................................................................................................... 32
3.4 Encoder cables dedicated to Mitsubishi Electric motors ..........................................................................................33

4 PARAMETER 36
4.1 Extended parameter list ................................................................................................................................................36
4.2 Thermal protector input ................................................................................................................................................39

3
4.3 Encoder input selection ................................................................................................................................................40
4.4 Function differences between induction motors and PM motors.............................................................................44

5 ORIENTATION CONTROL 46
5.1 Connection diagram ......................................................................................................................................................46
5.2 Terminals........................................................................................................................................................................48
5.3 Specifications ................................................................................................................................................................49
5.4 Parameter related to orientation control .....................................................................................................................50
5.4.1 Encoder orientation gear ratio setting ................................................................................................................................. 50

6 ENCODER FEEDBACK CONTROL 52

6.1 Connection diagram ......................................................................................................................................................52
6.2 Specifications ................................................................................................................................................................53

7 VECTOR CONTROL 54
7.1 Connection diagram ......................................................................................................................................................55
7.2 Setting procedure of Vector control for motor with encoder ....................................................................................59
7.3 Specifications ................................................................................................................................................................60

8 ENCODER PULSE DIVIDING OUTPUT 61

8.1 Connection diagram ......................................................................................................................................................61
8.2 Parameter related to encoder pulse dividing output..................................................................................................63
APPENDIX 64

4
 1 PRE-OPERATION INSTRUCTIONS
1.1 Unpacking and product confirmation
Take the control terminal option out of the package, check the product name, and confirm that the product is as you ordered
and intact.
The product is a control terminal option for the FR-A800 series.

1.1.1 Product confirmation

Check the enclosed items.
1
Control terminal option
.....................................................................1

NOTE
• Connection diagrams in this Instruction Manual appear with the control logic of the input terminals as sink logic, unless
otherwise specified. (For the control logic, refer to the Instruction Manual of the inverter.)

PRE-OPERATION INSTRUCTIONS 5
1.1.2 SERIAL number check
The FR-A8TP can be used for the inverter models listed below with the following SERIAL number or later. Check the SERIAL
number indicated on the inverter rating plate or package. For the location of the rating plate, refer to the Instruction Manual
(Detailed) of the inverter.

Rating plate example

   
SERIAL Symbol Year Month Control number
number SERIAL
Country The SERIAL consists of one symbol, two characters indicating the
of origin production year and month, and six characters indicating the
control number.
The last digit of the production year is indicated as the Year, and
the Month is indicated by 1 to 9, X (October), Y (November), or Z
(December).

• FR-A800 series
Country of
Model SERIAL number
origin indication
FR-A820-00046(0.4K) to 04750(90K) MADE in Japan 51 or later
FR-A840-00023(0.4K) to 06830(280K)
FR-A842-07700(315K) to 12120(500K)
FR-A846-00023(0.4K) to 00470(18.5K) MADE in China 53 or later

6 PRE-OPERATION INSTRUCTIONS
1.1.3 Component names
(c) (e)

SW5A

(f) (a)
(g)
(a)
1
(d)

SW1
1 O
2 N
3
4
SW3

(b)

(b)

Refer
Symbol Name Description
to page
a Mounting screw Fixes the option to the inverter. 21
b Terminal block Connect signal cables. 24
c Connector Connects to the control circuit connection connector of the inverter. 21

d Control logic switchover jumper connector Switches the control logic (sink logic/source logic). 9
e External thermal relay switch (SW5A) Switches the control logic of terminal OH (sink logic/source logic). 39

f Terminating resistor selection switch (SW1) Switches ON or OFF the internal terminating resistor. 24

g Encoder type selection switch (SW3) Switches the encoder type (differential line driver/complementary). 24

PRE-OPERATION INSTRUCTIONS 7
8
1.1.4

5
10E 5
1 2
SE AM
Terminal layout

DO1 PC
DO2 DI1
DO3 DI2
SO DI3
SOC DI4
SD

PRE-OPERATION INSTRUCTIONS
OH
SIC RES
S1 STR
S2 STF
PC SD
PG24 +24
PG FPA4
PG PAR4
SD FPB4
PA3 PBR4
PAR3 FPZ4
PB3 PZR4
PBR3 FPA5
PZ3 FPB5
PZR3 FPZ5

A
1.1.5 Control logic switchover
Switch the control logic of input signals as necessary.
To change the control logic, change the jumper connector position on the control circuit board.
Connect the jumper connector to the connector pin of the desired control logic using a pair of needle-nose pliers etc. The
control logic of input signals is initially set to the sink logic (SINK).
For the details of the control logic, refer to the Instruction Manual of the inverter

Jumper connector

SINK

SOURCE

For sink logic

PRE-OPERATION INSTRUCTIONS 9
1.1.6 Terminal OH control logic switchover
Change the external thermal relay switch (SW5A) position to switch the terminal OH control logic (sink logic or source logic) as
necessary. The control logic of input signals is initially set to the sink logic (SINK).

SINK SOURCE

NOTE
• The terminal OH control logic cannot be switched by “1.1.5 Control logic switchover” on page 9.

10 PRE-OPERATION INSTRUCTIONS
 1.2

Control circuit
Encoder signal
PA3 Control terminal option / A-phase signal input terminal
PAR3 Control terminal option / A-phase inverse signal input terminal
Control input signals PB3 Control terminal option / B-phase signal input terminal
(No voltage input allowed) STF PBR3 Control terminal option / B-phase inverse signal input terminal
Forward rotation start
STR PZ3 Control terminal option / Z-phase signal input terminal
Reverse rotation start
DI1 PZR3 Control terminal option / Z-phase inverse signal input terminal
Digital input terminal 1
DI2 PG Encoder power supply input terminal (positive side)
Digital input terminal 2
PG Encoder power supply input terminal (positive side)
DI3
Digital input terminal 3 PG24 Encoder power supply output terminal (positive side)
DI4
Digital input terminal 4 Encoder pulse dividing output signal
OH
Thermal protector input FPA5 Control terminal option / Encoder A-phase output terminal
RES FPB5 Control terminal option / Encoder B-phase output terminal
Reset FPZ5 Control terminal option / Encoder Z-phase output terminal
FPA4 Control terminal option / Encoder differential
A-phase output terminal
SINK

SOURCE

SD Control terminal option / Encoder differential

Contact input common FPAR4 A-phase inverse signal output terminal
24VDC power supply PC Control terminal option / Encoder differential
FPB4
(Common for external power B-phase output terminal
supply transistor output) FPBR4 Control terminal option / Encoder differential
B-phase inverse signal output terminal
Control terminal option / Encoder differential
Terminal connection diagrams

24V external power +24 FPZ4 Z-phase output terminal

supply input FPZR4 Control terminal option / Encoder differential
Z-phase inverse signal output terminal
SD Common terminal
AM (+)
Analog signal output
5 (0 to ±10VDC)
Voltage/current (-)
input switch
Frequency setting signal (Analog) ON C1 Relay output
OFF
10E(+10V) 2 4 B1
Frequency 3
setting 2 0 to 5VDC Initial value Relay output (fault output)
potentiometer 2 0 to 10VDC selectable A1
0 to 20mADC
1/2W1kΩ 1 5
(Analog common)
DO1 Open collector output
0 to ±10VDC Initial value Open collector output 1
Auxiliary input (+) 1 DO2
(-) 0 to ±5VDC selectable
Open collector output 2
DO3
Safety stop signal Open collector output 3
Shorting wire
PC SE Open collector output common
S1 Sink/Source common
Safety stop input (Channel 1)
S2 So (SO)
Safety stop input (Channel 2) Safety monitor output
SIC
Safety stop input common SOC
SD Safety monitor output common
PRE-OPERATION INSTRUCTIONS
11
1
1.3 Control terminal specification
 Input signal

Function
Terminal Terminal
Common Terminal function description Rated specification
symbol name

Turn ON the STF signal to start forward Input resistance: 4.7 kΩ

rotation and turn it OFF to stop. Voltage when contacts
Forward When the STF
STF The function of terminal can be changed are open: 21 to 27 VDC
rotation start and STR signals
with Pr.178 (Input terminal function Current when contacts
selection). are turned ON
simultaneously, are short-circuited: 4 to
Turn ON the STR signal to start reverse the stop 6 mADC
rotation and turn it OFF to stop. command is When terminal DI4 is
Reverse
STR SD The function of terminal can be changed given. used as a pulse train
rotation start
Contact input

(sink with Pr.179 (Input terminal function input terminal:

(negative common)) selection). Input resistance: 2 kΩ
PC Digital input When contacts are
DI1 to (source Functions can be assigned to terminals by the input terminal short-circuited: 8 to 13
terminal
DI4 (positive common)) function selection (Pr.180 to Pr.182, Pr.185). mADC
1 to 4
Temperature detector input terminal for overheat protection of
Input resistance: 940 Ω
a motor.
Voltage when contacts
When the OH signal turns OFF, the external thermal relay
Thermal are open: 21 to 27 VDC
OH (E.OHT) protective function is activated
protector input Current when contacts
Use Pr.876 to switch valid/invalid status of terminal function.
are short-circuited: 140
Switches the control logic (sink logic or source logic)
to 180 mADC
independently by the external thermal relay switch (SW5A).

12 PRE-OPERATION INSTRUCTIONS
Function
Terminal Terminal
Common Terminal function description Rated specification
symbol name

Use this signal to reset a fault output provided when a

SD protective function is activated. Turn ON the RES signal for 0.1 Input resistance: 4.7 kΩ

Contact input
(sink s or longer, then turn it OFF. Voltage when contacts
(negative common)) In the initial setting, reset is always enabled. By setting Pr.75 , are open: 21 to 27 VDC
RES Reset
PC reset can be enabled only at an inverter fault occurrence. The When contacts are
(source inverter recovers about 1 s after the reset is released. short-circuited: 4 to 6
(positive common)) The function of terminal can be changed with Pr.189 (Input mADC
terminal function selection).

10E
Frequency
setting power
Change the input specification of the terminal 2 using Pr.73
when connecting it to the terminal 10E.
10 VDC 0.4 V
Permissible load
1
supply current: 10 mA
When voltage is input:
Input resistance: 10 to
11 kΩ
Maximum permissible
voltage: 20 VDC
Inputting 0 to 5 VDC (or 0 to 10 V, 0 to 20 mA) provides the When current is input:
Frequency setting

maximum output frequency at 5 V (10 V, 20 mA) and makes Input resistance: 245 Ω
Frequency 5 Ω
input and output proportional. Use Pr.73 to switch among input
2 setting Permissible maximum
5 0 to 5 VDC (initial setting), 0 to 10 VDC, and 0 to 20 mA. Set
(voltage) current: 30 mA
the voltage/current input switch in the ON position to select
current input (0 to 20 mA). Voltage/Current
input switch
switch2
switch1

2 4

Inputting 0 to 5 VDC or 0 to 10 VDC adds this signal to Input resistance: 10 to

Frequency
terminal 2 frequency setting signal. Use Pr.73 to switch 11 kΩ
1 setting
between input 0 to 5 VDC and 0 to 10 VDC (initial setting). Permissible maximum:
auxiliary
Use Pr.868 to switch terminal functions. voltage 20 VDC

PRE-OPERATION INSTRUCTIONS 13
Function
Terminal Terminal
Common Terminal function description Rated specification
symbol name

Control
terminal option
Differential line driver/
PA3 / A-phase
Complementary
signal input
terminal
Control
terminal option
PAR3 / A-phase Differential line driver
inverse signal
input terminal
Control
terminal option
Differential line driver/
PB3 / B-phase
Encoder signal

Differential line Complementary

signal input
driver: ― terminal
A-, B- and Z-phase signals are input from the encoder.
Complementary Control
: SD terminal option
PBR3 / B-phase Differential line driver
inverse signal
input terminal
Control
terminal option
Differential line driver/
PZ3 / Z-phase
Complementary
signal input
terminal
Control
terminal option
PZR3 / Z-phase Differential line driver
inverse signal
input terminal

14 PRE-OPERATION INSTRUCTIONS
Function
Terminal Terminal
Common Terminal function description Rated specification
symbol name

Input power for the encoder power supply.

Connect the external power supply (5 V, 12 V, 15 V) and the

Encoder signal
Encoder encoder power cable. When the encoder output is the
power supply differential line driver type, only 5 V can be input. Make sure
PG ―
terminal the voltage of the external power supply the same as the
(positive side) encoder output voltage. (Check the encoder specification.)
Short terminals PG24 and PG for using the 24 VDC power
supply of the FR-A8TP.

1
External power supply input

SD

For connecting a 24 V external power supply. Input voltage: 23 to 25.5

24 V external
If a 24 V external power supply is connected, power is VDC
+24 power supply
supplied to the control circuit while the main power circuit is Input current: 1.4 A or
input
OFF. less

 Set Pr.73, Pr.267, and the voltage/current input switch correctly, then input an analog signal in accordance with the setting. (Refer to the
Instruction Manual (Detailed) of the inverter.)
Applying a voltage with the voltage/current input switch ON (current input is selected) or a current with the switch OFF (voltage input is
selected) could cause component damage of the inverter or analog circuits of output devices.

PRE-OPERATION INSTRUCTIONS 15
 Output signal
Terminal

Type
Common Terminal name Terminal function description Rated specification
symbol
1 changeover contact output that indicates that an
inverter's protective function has been activated and
Contact capacity: 230
the outputs are stopped.
VAC
Relay
Relay output Fault: discontinuity across B and C (continuity across A
A, B, C ― 0.3 A (power factor =
(fault output) and C), Normal: continuity across Band C (discontinuity
0.4)
across A and C)
30 VDC 0.3 A
The function of terminals can be changed with the
output terminal function selection (Pr.195).
Open collector

The function can be assigned to an output terminal by Open collector output

DO1 to Digital output terminal
SE the output terminal function selection (Pr.190 to Permissible load: 24 to
DO3 1 to 3
Pr.192). 27 VDC, 0.1 A

Outputs a selected monitored item (such as output

Output signal: 0 to 10
frequency) among several monitored items according
VDC
to the Pr.158 setting. The signal is not output during an
Permissible load current:
Analog

inverter reset.
AM 5 Analog voltage output 1 mA
The output signal is proportional to the magnitude of
(load impedance: 10 kΩ
the corresponding monitoring item.
or more)
Use Pr.55, Pr.56, and Pr.866 to set full scales for the
Resolution: 13 bits
monitored output frequency, output current, and torque.
Control terminal option /
FPA5 Encoder A-phase
output terminal Outputs A-, B- and Z-phase (home position and mark
dividing output
Encoder pulse

pulse) signals from the encoder. The A- and B-phase Open collector output
Control terminal option /
signals can be divided by the ratio (1/n) and output. Permissible load: 24 to
FPB5 SD Encoder B-phase
n=1 to 32767 (an integer) 27 VDC,
output terminal
Use Pr.863 Encoder pulse division ratio for division. maximum 50 mA
Control terminal option / Common terminal is terminal SD.
FPZ5 Encoder Z-phase
output terminal

16 PRE-OPERATION INSTRUCTIONS
 Terminal

Type
Common Terminal name Terminal function description Rated specification
symbol
Control terminal option /
FPA4 Encoder differential A-
phase output terminal
Control terminal option /
Encoder differential A-
FPAR4
Encoder pulse dividing output phase inverse signal
output terminal
Control terminal option /
FPB4 Encoder differential B- Outputs A-, B- and Z-phase (home position and mark

1
phase output terminal pulse) signals from the encoder. The A- and B-phase Differential line driver
― Control terminal option / signals can be divided by the ratio (1/n) and output. output
Encoder differential B- n=1 to 32767 (an integer) Permissible load: 40 mA
FPBR4 Use Pr.863 Encoder pulse division ratio for division.
phase inverse signal
output terminal
Control terminal option /
FPZ4 Encoder differential Z-
phase output terminal
Control terminal option /
Encoder differential Z-
FPZR4
phase inverse signal
output terminal
Power supply output
for encoder

Encoder power supply Used for the 24 VDC power supply for an encoder.
24 to 26.4 VDC
PG24 SD terminal If used, connect this terminal to terminal PG, and this
90 mA
(positive side) will supply power from the terminal PG to the encoder.

PRE-OPERATION INSTRUCTIONS 17
 Safety stop signal
Terminal
Common Terminal name Terminal function description Rated specification
symbol
The terminals S1 and S2 are used for the safety stop input
Safety stop input signal for the safety relay module. The terminals S1 and S2
S1 are used at the same time (dual channel).
(Channel 1)
Inverter output is shutoff by shortening/opening between Input resistance: 4.7 kΩ
terminal S1 and SIC, or between S2 and SIC. Input current: 4 to 6
SIC
In the initial status, terminal S1 and S2 are shorted with the mADC
terminal PC by shorting wires. The terminal SIC is shorted (with 24 VDC input)
Safety stop input with the terminal SD.
S2
(Channel 2) Remove the shorting wires and connect the safety relay
module when using the safety stop function.
Indicates the safety stop input signal status.
Switched to LOW when the status is other than the internal
safety circuit failure. Switched to HIGH during the internal Permissible load: 24
safety circuit failure status. VDC
(LOW is when the open collector output transistor is ON (27 VDC at maximum),
Safety monitor output
So (SO) SOC (conducted). HIGH is when the transistor is OFF (not 0.1 A
(open collector output)
conducted).) (The voltage drop is 3.4
Refer to the Safety stop function instruction manual (BCN- V at maximum while the
A23228-001) when the signal is switched to HIGH while both signal is ON.)
terminals S1 and S2 are open. (Please contact your sales
representative for the manual.)

18 PRE-OPERATION INSTRUCTIONS
 Common terminal
Terminal
Terminal name Terminal function description Rated specification
symbol
Contact input common
Common terminal for the contact input terminal (sink logic).
(sink)
Connect this terminal to the power supply common terminal of a
External transistor
transistor output (open collector output) device, such as a programmable
common (source)
controller, in the source logic to avoid malfunction by undesirable current.
Common terminal for the 24 VDC power supply (terminal PC, terminal
SD 24 VDC power supply ―
+24).
common
Isolated from terminals 5 and SE.
Encoder pulse dividing
output common
Common terminal for the encoder pulse dividing output terminal. 1
24 V encoder power Common terminal for the 24 V encoder power supply terminal (terminal
supply common PG24).
Connect this terminal to the power supply common terminal of a
External transistor
transistor output (open collector output) device, such as a programmable Power supply voltage
common (sink)
controller, in the source logic to avoid malfunction by undesirable current. range: 19.2 to 28.8 VDC
PC
Contact input common Permissible load current:
Common terminal for contact input terminal (source logic).
(source) 100 mA
24 VDC power supply Can be used as a 24 VDC 0.1 A power supply.
Frequency setting
common Common terminal for frequency setting signal (terminal 2 or 1) and
5 ―
Analog signal analog output terminal AM. Do not earth (ground).
output common
Open collector output Common terminal for terminals DO1, DO2, DO3. Isolated from terminals
SE ―
common SD and 5.
Safety stop input
SIC Common terminal for terminals S1 and S2. ―
terminal common
Safety monitor output
SOC Common terminal for terminal So (SO). ―
terminal common

PRE-OPERATION INSTRUCTIONS 19
 NOTE
• The parameter names for function assignment to the terminals listed below or the terminal names for I/O terminal
monitor (Pr.52) are the standard control circuit terminal names of the inverter.

FR-A8TP terminal name Pr. I/O terminal monitor

DI1 180 RL terminal function selection RL
DI2 181 RM terminal function selection RM
DI3 182 RH terminal function selection RH
DI4 185 JOG terminal function selection JOG
OH ― ― AU
DO1 190 RUN terminal function selection RUN
DO2 191 SU terminal function selection SU
DO3 192 IPF terminal function selection IPF
ABC 195 ABC1 terminal function selection ABC1

For the details of the parameter setting or the I/O terminal monitor, refer to the Instruction Manual (Detailed) of the
inverter.
• Same terminal has same specification between the terminal or the FR-A8TP and the standard control circuit terminal
of the inverter.
Use Pr.178, Pr.179, Pr.189, or Pr.158 to change the function of terminal STF, STR, RES, or AM respectively, same as
the standard control circuit terminal of the inverter.
• Even when the FR-A8TP is installed in the inverter, the following standard control circuit I/O terminals of the inverter
can be used only via communication (the RS-485 communication or other communication options) as if the standard
control circuit is installed in the inverter.

Input terminal RT, AU, STP, CS

Output terminal OL, FU, ABC2

20 PRE-OPERATION INSTRUCTIONS
 2 INSTALLATION
2.1 Pre-installation instructions
Check that the inverter's input power and the control circuit power are both OFF.

CAUTION
 Do not mount or remove the control terminal option while the input power is ON. Doing so may damage the inverter or the
control terminal option.
 To avoid damage due to static electricity, static electricity in your body must be discharged before you touch the product.

2.2 Installation procedure

(1) Loosen the two mounting screws at the both side of the standard control circuit terminal block. (These screws cannot be
removed.) 2
Slide down the control circuit terminal block to remove it.

Loosen the screws

INSTALLATION 21
(2) Be careful not to bend the pins of the inverter's control circuit connector, install the control terminal option and fix it with the
mounting screws for the control terminal option. (Tightening torque: 0.33 to 0.4 N•m)

Fix with the screws

NOTE
• The inverter will recognize the control terminal option at next power-ON.

22 INSTALLATION
2.3 Precautions for removal and reinstallation of the control circuit
terminal block
The following are the precautions to remove or reinstall the control circuit terminal block.
Observe the following for proper handling to avoid malfunctions or failures of the inverter.
• To remove or reinstall the control circuit terminal block, keep it upright so that it is parallel with the inverter.
• To install the control circuit terminal block, slide it upward so that the groove on the terminal block fits over the tongue on the
inverter. Adjust the terminal block position for alignment with the screw fixing bases.
• Check that the terminal block is parallel with the inverter and the pins of the inverter's control circuit connector are not bent.
After checking the proper connection, fix the terminal block with two screws.

Control circuit terminal block

Fit the groove over the tongue. Fasten the screws. Inverter's control circuit
connector
2
A

Control circuit terminal block

Inverter's control circuit
Insert the terminal connector
block parallel into the
inverter.

View from A side

NOTE
• Do not tilt the terminal block while tightening the screws or removing it from the inverter. (Otherwise, a stress applied
to the control circuit terminal block or the control circuit connector may cause damage to them.)

INSTALLATION 23
 3 WIRING
3.1 Encoder specification / terminating resistor switch setting
 Encoder specification selection switch (SW3)
Selects either differential line driver or complementary.
Complementary
It is initially set to the complementary. Switch its position according to the
(initial status)
output circuit.

Differential line
driver

 Terminating resistor selection switch (SW1) Internal terminating

Selects "ON"/"OFF" of the internal terminating resistor. resistor-OFF
Set the switch to "OFF (initial status)" when an encoder output type is (initial status)
complementary and set to "ON" when differential line driver.
ON: with internal terminating resistor
OFF: without internal terminating resistor (initial status)

NOTE Internal terminating

• Set all switches to the same setting ("ON"/"OFF"). resistor-ON
• Set the switch "OFF" when sharing an encoder with
another unit (NC (computerized numerical controller),
etc.) having a terminating resistor under the differential
line driver setting.

24 WIRING
 Motor used and switch setting

Encoder specification Terminating resistor Power supply

Motor
selection switch (SW3) selection switch (SW1) specification

Mitsubishi Electric standard motor with SF-JR Differential ON 5V

encoder
SF-HR Differential ON 5V
Mitsubishi Electric high-efficiency motor with
encoder Others   

SF-JRCA Differential ON 5V
Mitsubishi Electric constant-torque motor with
SF-HRCA Differential ON 5V
encoder
Others   

Mitsubishi Electric high-performance energy-

SF-PR-SC Complementary OFF 12 to 24 V
saving motor with encoder
SF-V5RU Complementary OFF 12 to 24 V
Vector control dedicated motor
SF-THY Complementary OFF 12 to 24 V
Other manufacturer's motor with encoder   
3
 Set according to the motor (encoder) to be used.
 Prepare an encoder's power supply (5 V/12 V/15 V) according to the encoder to be used. Use terminal PG24 for the 24 V encoder's
power supply.
 When the encoder output is the differential line driver type, only 5 V can be input.

NOTE
• When power is not supplied to the control circuit of the inverter, also turn OFF the power supply to the encoder.
Otherwise, the plug-in option may be damaged.

WIRING 25
3.2 Encoder
 Position detector (pulse encoder)

Output pulse specifications

Differential line driver Complementary
A/A signal 1000 P/R to 4096 P/R A signal 1000 P/R to 4096 P/R
B/B signal 1000 P/R to 4096 P/R B signal 1000 P/R to 4096 P/R Position detector
Z/Z signal 1 P/R Z signal 1 P/R Encoder
P P
a b c d A
a b c d H
A L A
A
When rotation is counterclockwise
B
B as viewed from the shaft end (A)
B of the encoder.
Z a, b, c, d should be 1/4 1/8 pulses.
Z Z

NOTE
• The encoder can be shared under orientation control, encoder feedback control or vector control. Use an encoder
which has a pulse count of 1000 to 4096 ppr (pulse per revolution).
• Couple the encoder with the motor shaft or with the shaft that stops the main shaft at the specified position. Couple it
with the speed ratio of 1:1 and without any mechanical looseness.
• To ensure correct operation, the encoder must be set in the proper rotation direction, and the A and B phases must be
connected correctly.

26 WIRING
 Power supply
Prepare an encoder's power supply (5 V, 12 V, 15 V, etc.) according to the encoder to be used. 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. (Check the encoder specification.) Use terminal PG24 for the 24 V encoder's power supply.
The encoder's power supply is shared under orientation control, encoder feedback control or vector control.

• Specifications of the encoders equipped in the motors with encoders and the vector-control dedicated motors

Item Encoder for SF-PR-SC, SF-V5RU, SF-THY Encoder for SF-JR/HR/JRCA/HRCA

Resolution 2048 pulses/rev 1024 pulses/rev
Power supply voltage 12 VDC 10%, 24 VDC 10% 5 VDC 10%
Current consumption 90 mA or less 60 mA or less
A, B phases (90° phase shift)
Output signal form
Z phase: 1 pulse/rev
Equivalent or the differential line driver
Output circuit Complementary
AM26LS31
3
H level: (Power supply for encoder-3 V) or more H level: 2.4 V or more
Output voltage
L level: 3 V or less L level: 0.5 V or less

NOTE
• When the input power supply voltage to the encoder and its output voltage differ, the protective function (E.ECT) may
be activated.
• When an external power supply is used for the encoder, turn OFF the encoder's power supply while power is not
supplied to the control circuit of the inverter. Otherwise, the plug-in option may be damaged.

WIRING 27
3.3 Wiring of control circuit

3.3.1 Wiring method

(1) Refer to page 30 and treat the wires.
(2) Loosen the terminal screw and insert the cable into the terminal.
(3) Tighten the screw according to the specified tightening torque.
Undertightening may cause cable disconnection or malfunction. Overtightening may cause a short circuit or
malfunction due to damage to the screw or unit.
Tightening torque: 0.5 N•m to 0.6 N•m (terminals A, B, and C)
0.22 N•m to 0.25 N•m (terminals other than described above)
Small flat-blade screwdriver (Tip thickness: 0.4 mm / tip width: 2.5 mm)

28 WIRING
NOTE
• For the connection to the terminal 5, use a screwdriver with a diameter of 1.6 mm or less. Put the screwdriver to avoid
contact with the mounting screw area.

φ1.6 mm or less

Avoid contact with

mounting screw area

• When one position detector is shared between the FR-A8TP and the CNC (computerized numerical controller), its 3
output signal should be connected as shown below. In this case, the wiring length between the FR-A8AP and the CNC
should be as short as possible, within 5 m.

Inverter Position detector

(FR-A8TP) Encoder

NC
Maximum 5 m
(Two parallel cables)

WIRING 29
3.3.2 Wire treatment
• For the control circuit wiring except for terminals related to the encoder, strip off the sheath of a cable and use as it is.
• Untwist the shielded twisted pair cables after stripping its sheath.
Also, treat the shielding wires of the shielded twisted pair cable to ensure that they will not contact conductive areas.

Shield(perform protective treatment)

Sheath

Shielded twisted pair cable

• Strip off the sheath for the below length. If the length of the sheath pealed is too long, a short circuit may occur with
neighboring wires. If the length is too short, wires might come off.
Wire the stripped cable after twisting it to prevent it from becoming loose. In addition, do not solder it.
Use a blade terminal as necessary.
Cable stripping length

L mm

Terminal name L (mm)

A, B, C 6
other than the above 5 Recommended cable gauge: 0.75 mm2

30 WIRING
 NOTE
Crimp terminals commercially available (as of October 2020. The product may be changed without notice.)
• Phoenix Contact Co., Ltd.
Ferrule terminal model
Cable gauge Crimping tool
Terminal screw size With Without
(mm2) name
insulation sleeve insulation sleeve
M3 (Terminals A, B, C) 0.75 AI 0,75-6GY A 0,75-6
0.3 AI 0,34-6TQ A 0,34-7 CRIMPFOX 6
M2 (Terminals other than the above)
0.5 AI 0,5-6WH A 0,5-6

• NICHIFU Co., Ltd.

Cable gauge Blade terminal Insulation Crimping tool
Terminal screw size
(mm2) model product number product number
M3 (Terminals A, B, C)
M2 (Terminals other than the above)
0.3 to 0.75 BT 0.75-7 VC 0.75 NH 69
3
• When using a blade terminal (without insulation
sleeve), take caution that the twisted wires do not come
out.

WIRING 31
3.3.3 Wiring of terminals related to the encoder
Use shielded twisted pair cables (0.2 mm2 or larger) for connection the encoder. Example of parallel connection
For the wiring to the terminals PG and SD, use several cables in parallel or use a with two cables
(with complementary encoder output)
thick cable, according to the wiring length. To protect the cables from noise, run FR-A800
them away from any source of noise (e.g. the main circuit and power voltage). (FR-A8TP) Encoder
PA3 A
Parallel connection PAR3 B
Wiring length Larger-size cable PB3 C
(Cable gauge 0.2 mm2) PBR3 D
PZ3 F
Within 10 m At least two cables in parallel 0.4 mm2 or larger PZR3 G

Within 20 m At least four cables in parallel 0.75 mm2 or larger

Within 100 m  At least six cables in parallel 1.25 mm2 or larger PG

SD
S
R
PG24
 When differential line driver is set and a wiring length is 30 m or more. 2 mm2
The wiring length can be extended to 100 m by increasing the 5 V power supply
(approximately to 5.5 V) while using six or more 0.2 mm2 gauge cables in parallel or
a 1.25 mm2 or larger gauge cable. The voltage applied must be within power supply specifications of encoder.

To reduce noise of the encoder cable, earth (ground) the encoder's shielded cable to Earthing (grounding)
the enclosure (as close as possible to the inverter) with a metal P-clip or U-clip. example using a P-clip

Encoder cable
Shield
P-clip

NOTE
• For details of the optional encoder dedicated cable (FR-JCBL/FR-V7CBL), refer to page 33.
• The FR-V7CBL is provided with a P-clip for earthing (grounding) shielded cables.

32 WIRING
3.4 Encoder cables dedicated to Mitsubishi Electric motors
Use dedicated encoder cables to connect with Mitsubishi Electric encoder-equipped motors.

WIRING 33
 FR-V7CBL FR-JCBL
For SF-JR/HR/JRCA/HRCA (with encoder)
For SF-PR-SC, SF-V5RU and SF-THY
2 F-DPEVSB 12P 0.2 mm2 D/MS3057-12A
F-DPEVSB 12P 0.2 mm D/MS3057-12A
Approx. 140 mm

11 mm
Approx. 140 mm

11 mm
Earth cable
Earth cable

60mm
60mm L D/MS3106B20-29S
L D/MS3106B20-29S
Length
• A P-clip for earthing (grounding) a Type
shielded cable is provided.
Length L (m)
Type
L (m) FR-A800
Encoder FR-JCBL5 5
(FR-A8TP)
FR-A800 FR-V7CBL5 5
(FR-A8TP) Encoder PA3 C FR-JCBL15 15
PAR3 R
FR-V7CBL15 15 PB3 A
PA3 A
PBR3 N FR-JCBL30 30
PAR3 B
PB3 C FR-V7CBL30 30 PZ3 B
PBR3 D PZR3 P Positioning keyway
PZ3 F
PZR3 G Positioning keyway
A B
M
N C
PG H L
M A B SD K T P D
PG S N C PG K S E
L
SD R T P D SD J R
PG24 K E H G F
S R
J
H G F D/MS3106B20-29S
D/MS3106B20-29S (As viewed from wiring side)
2 mm2
(As viewed from wiring side)
(+) (-) 5 VDC power
2 mm2 supply

 As the terminal block of the FR-A8TP is an insertion type, earth (ground) cables need to be modified. (Refer to page 30.)

34 WIRING
 Connection terminal compatibility table
Motor SF-PR-SC, SF-V5RU, SF-THY SF-JR/HR/JRCA/HRCA (with encoder)
Encoder cable FR-V7CBL FR-JCBL
PA3 PA PA
PAR3 Keep this open. PAR
PB3 PB PB
PBR3 Keep this open. PBR
FR-A8TP terminal
PZ3 PZ PZ
PZR3 Keep this open. PZR
PG PG 5E
SD SD AG2

WIRING 35
 4 PARAMETER
4.1 Extended parameter list
When the FR-A8TP is installed in the inverter, the following parameters are extended.

Minimum
Pr. Initial Refer to
Pr. Name Setting range setting
group value page
increments
350 A510 Stop position command selection 0, 1, 9999 1 9999 

351 A526 Orientation speed 0 to 30 Hz 0.01 Hz 2 Hz 

352 A527 Creep speed 0 to 10 Hz 0.01 Hz 0.5 Hz 

353 A528 Creep switchover position 0 to 16383 1 511 

354 A529 Position loop switchover position 0 to 8191 1 96 

355 A530 DC injection brake start position 0 to 255 1 5 

356 A531 Internal stop position command 0 to 16383 1 0 

357 A532 Orientation in-position zone 0 to 255 1 5 

358 A533 Servo torque selection 0 to 13 1 1 

360 A511 16-bit data selection 0 to 127 1 0 

361 A512 Position shift 0 to 16383 1 0 

362 A520 Orientation position loop gain 0.1 to 100 0.1 1.0 

363 A521 Completion signal output delay time 0 to 5 s 0.1 s 0.5 s 

364 A522 Encoder stop check time 0 to 5 s 0.1 s 0.5 s 

365 A523 Orientation limit 0 to 60 s, 9999 1s 9999 

36 PARAMETER
 Minimum
Pr. Initial Refer to
Pr. Name Setting range setting
group value page
increments
366 A524 Recheck time 0 to 5 s, 9999 0.1 s 9999 

367 G240 Speed feedback range 0 to 590 Hz, 9999 0.01 Hz 9999 

368 G241 Feedback gain 0 to 100 0.1 1 

393 A525 Orientation selection 0 to 2, 10 to 12 1 0 

394 A540 Number of machine side gear teeth 0 to 32767 1 1 50

395 A541 Number of motor side gear teeth 0 to 32767 1 1 50
396 A542 Orientation speed gain (P term) 0 to 1000 1 60 

397 A543 Orientation speed integral time 0 to 20 s 0.001 s 0.333 s 

398 A544 Orientation speed gain (D term) 0 to 100 0.1 1 

399 A545 Orientation deceleration ratio 0 to 1000 1 20 

635 M610 Cumulative pulse clear signal selection 0, 1, 2, 3 1 0 

636 M611 Cumulative pulse division scaling factor 1 to 16384 1 1 

637 M612
Control terminal option-Cumulative pulse division
scaling factor
1 to 16384 1 1 
4
638 M613 Cumulative pulse storage 0, 1, 2, 3 1 0 

823 G215 Speed detection filter 1 0 to 0.1 s 0.001 s 0.001 s 

833 G315 Speed detection filter 2 0 to 0.1 s, 9999 0.001 s 9999 

Control terminal option-Number of encoder

851 C240 0 to 4096 1 2048 40
pulses
852 C241 Control terminal option-Encoder rotation direction 0, 1, 100, 101 1 1 40
853 H417 Speed deviation time 0 to 100 s 0.1 s 1s 

PARAMETER 37
 Minimum
Pr. Initial Refer to
Pr. Name Setting range setting
group value page
increments
855 C248 Control terminal option-Signal loss detection 0, 1 1 0 40
862 C242 Encoder option selection 0, 1 1 0 40
Control terminal option-Encoder pulse division
863 M600 1 to 32767 1 1 63
ratio
Control terminal option—Encoder position tuning
871 C243 0, 1 1 0 
setting/status
873 H415 Speed limit 0 to 400 Hz 0.01 Hz 20 Hz 

876 H022 Thermal protector input 0, 1 1 1 39

Control terminal option—Encoder magnetic pole
887 C244 0 to 16383, 65535 1 65535 
position offset
 Refer to the Instruction Manual (Detailed) of the inverter.

38 PARAMETER
4.2 Thermal protector input

Pr. Initial Setting

Pr. Name Description
group value range
0 Terminal OH is invalid.
876 H022 Thermal protector input 1
1 Terminal OH is valid.

• When the motor with a temperature detector for overheat protection is used, use terminal OH to input contact signals of the
thermal relay, etc. for overheat protection of a motor.
• Use Pr.876 to set valid/invalid status of terminal OH function when the FR-A8TP is installed.
• When terminal OH is valid and the OH signal turns OFF, the protective function (E.OHT) is activated.
• Set "7" in any of Pr.180 to Pr.182, or Pr.185 (input terminal function selection) to assign the OH signal to another
terminal.

NOTE
• Change the external thermal relay switch (SW5A) position to switch the terminal
SINK SOURCE
OH control logic (sink logic or source logic) as necessary.
Sink: When the connection between terminals OH and SD is open, E.OHT is
activated. 4
Source: When the connection between terminals OH and PC is open, E.OHT is
activated.
• Terminal OH is always for the OH signal. Any other signals cannot be assigned to terminal OH.

PARAMETER 39
4.3 Encoder input selection
Pr. Initial Setting
Pr. Name Description
group value range
Control terminal
Set the number of pulses output from the encoder connected to the FR-A8TP.
851 C240 option-Number of 2048 0 to 4096
Set the number of pulses before it is multiplied by 4.
encoder pulses
Set when using a motor (encoder) for
which forward rotation is clockwise (CW) Set for the operation at 120 Hz or
0
viewed from the shaft less.

CW
Set for the operation at a frequency
100
higher than 120 Hz.
Control terminal
852 C241 option-Encoder 1
rotation direction Set when using a motor (encoder) for
1 which forward rotation is counterclockwise Set for the operation at 120 Hz or
(CCW) viewed from the shaft less.

CCW
Set for the operation at a frequency
101
higher than 120 Hz.

Control terminal 0 Signal loss detection disabled

855 C248 option-Signal loss 0
detection 1 Signal loss detection enabled

Encoder option 0 First motor: FR-A8AP, Second motor: FR-A8TP

862 C242 0
selection 1 First motor: FR-A8TP, Second motor: FR-A8AP
 Under PM vector control, the operation for the setting of "0" is performed when "100" is set. The operation for the setting of "1" is
performed when "101" is set.

40 PARAMETER
NOTE
• If operating at a frequency higher than 120 Hz with Pr.852 ="0 or 1", the motor rotation will be unstable.

PARAMETER 41
• Using the FR-A8TP together with the Vector control compatible plug-in option enables Vector control or machine end
orientation control by switching between two encoder-equipped motors. Use Pr.862 to set the combination of the motors
(first/second) and the options (FR-A8TP / Vector control compatible plug-in option).
Pr.862 Pr.393 RT=OFF RT=ON Machine end
Encoder option selection Orientation selection (First motor) (Second motor) orientation control
0, 1, 2 Vector control compatible
0 (initial value) FR-A8TP
10, 11, 12 plug-in option
Disabled
Vector control compatible
0, 1, 2 FR-A8TP
plug-in option

1 Motor end: FR-A8TP

Machine end: Vector
10, 11, 12 ― Enabled
control compatible plug-in
option

 When Pr.450 Second applied motor ="9999", the first motor is selected even if the RT signal turns ON.

• Use the following parameters for the encoder input setting. The encoder input setting can be made regardless of the Pr.862
setting and first/second motor setting.
Parameter for control
Parameter for plug-in
Parameter name terminal option
option
(FR-A8TP)
Encoder rotation direction 852 359

Number of encoder pulses 851 369

Encoder signal loss detection
855 376
enable/disable selection

 &&The number of pulses is fixed to 1024 for the FR-A8APR.

• To input the RT signal, set "3" in any of Pr.178 to Pr.182, Pr.185, or Pr.189 (input terminal function selection) to assign
the function to a terminal.

42 PARAMETER
NOTE
• Pr.862 setting is valid even when either the FR-A8TP or Vector control compatible plug-in option is installed. For using
the FR-A8TP alone, the motor does not run when Pr.862 is the initial value as it is. (When the RT signal is OFF)

PARAMETER 43
4.4 Function differences between induction motors and PM motors
• This section describes function differences between induction motors and PM motors.
 Control method
Induction
Control method PM motor
motor
V/F control ○ ̶
Advanced magnetic flux vector control ○ ̶
Vector control ○ ○
Encoder pulse dividing output ○ ○

○: Supported, —: Not supported

 Major functions list
Function Induction motor PM motor
Vector control (speed control) ○ ○
Vector control (torque control) ○ ̶
Vector control (position control) ○ ○
Orientation control ○ ○
Encoder feedback control ○ ̶
Automatic restart after instantaneous power failure ○ ○
Servo lock ○ ○
Online auto tuning (adaptive magnetic flux observer) ○ ̶
Protective function (E.OS, E.OSD, E.ECT) ○ ○
Notch filter ○ ○
Easy gain tuning ○ ○
Model adaptive speed control / Speed feed forward control ○ ○
Torque bias ○ ̶

44 PARAMETER
 Function Induction motor PM motor
Droop control ○ ○
Anti-sway control ○ ○
Brake sequence function ○ ○
Offline auto tuning ○ (Sensorless) ○
Forward rotation signal (Y30) / Reverse rotation signal (Y31) /
○ ○
Regenerative status signal (Y32)
Deceleration check ○ ○
Speed limit ○ ̶
X18 signal switchover ○ ̶
Encoder position tuning ̶ ○
○: Supported, —: Not supported
 Applied when the load inertia ratio manual input is selected (Pr.819 = "2").

PARAMETER 45
 5 ORIENTATION CONTROL
The inverter can adjust the stop position (Orientation control) using a position detector (encoder) attached to a place such as
the main shaft of the machine.
For the details of the parameters used for orientation control, refer to the Instruction Manual (Detailed) of the inverter.
5.1 Connection diagram

MCCB MC SF-JR motor with encoder For 24 V complementary type (SF-V5RU)

Inverter SF-PR-SC,
R/L1 U U MCCB MC OCR SF-V5RU, SF-THY
Three-phase
S/L2 V V 
AC power M Three-phase
T/L3 W W AC power FAN
supply supply
E
Inverter U U
Forward rotation start Earth
STF V V
(Ground) W W
M
Reverse rotation start STR PA3 C  E
Orientation command X22  PAR3 R Earth
(Ground) Thermal
PC
Contact input common SD External relay
PB3 A OH G1 protector
ORA  thermal relay
PBR3 N input  SD G2
ORM
 Encoder
PZ3 B PA3 A 
PAR3 B
SE PZR3 P 
Differential
PB3 C
SD
PG H PBR3 D
FR-A8AX K Encoder
Complementary SD PZ3 F
X15 
Differential
PZR3 G 
PG
X14 Complementary PG S
Terminating SD
resistor ON  SD R
X1  (+) (-) 5 VDC power Terminating
resistor ON
PG24
 supply  
X0  
OFF 
DY OFF

46 ORIENTATION CONTROL
 The power supply of the fan for a 7.5 kW or lower dedicated motor is single phase. (200 V/50 Hz, 200 to 230 V/60 Hz)
 The pin number differs according to the encoder used.
 Use Pr.178 to Pr.182, Pr.185, or Pr.189 (input terminal function selection) to assign the function to a terminal.
For the details, refer to the Instruction Manual (Detailed) of the inverter.
 Use Pr.190 to Pr.192, or Pr.195 (output terminal function selection) to assign the function to a terminal.
For the details, refer to the Instruction Manual (Detailed) of the inverter.
 Connect the encoder so that there is no looseness between the motor and motor shaft. Speed ratio must be 1:1.
 Earth (ground) the shield of the encoder cable to the enclosure using a tool such as a P-clip. (Refer to page 32.)
 For the differential line driver, set the terminating resistor selection switch to the ON position. (Refer to page 24.)
Note that the terminating resistor switch should be set to the OFF position (initial status) when sharing the same encoder with another unit
(NC, etc.) having a terminating resistor under the differential line driver setting.
For the complementary, set the terminating resistor selection switch to the OFF position (initial status).
 For terminal compatibility of the FR-JCBL, FR-V7CBL, and FR-A8TP, refer to page 35.
 A separate power supply of 5 V/12 V/15 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. If using the 24 V power supply of the FR-A8TP, 24 V power can be supplied from
terminal PG24.
Make the voltage of the external power supply the same as the encoder output voltage, and connect the external power supply between
PG and SD.
The encoder and the power supply can be shared under orientation control, encoder feedback control, or vector control.
 When a stop position command is input from outside, a plug-in option FR-A8AX is required. For the details of the external stop position
command, refer to the Instruction Manual (Detailed) of the inverter.
 To enable terminal OH, set Pr.876 Thermal protector input = "1 (initial value)".

ORIENTATION CONTROL 47
5.2 Terminals
 Option FR-A8AX terminal

Terminal symbol Terminal name Description

Input the digital signal at the relay contact or open collector terminal.
X0 to X15 Digital signal input terminal
Using Pr.360, speed or position command is selected as the command signal entered.
Use this terminal when a digital signal read timing signal is necessary. Data is read only
Data read timing during the DY signal is ON.
DY
input signal terminal The X0 to X15 data before the signal is turned OFF is retained by turning OFF the DY
signal.

 Inverter terminal
Terminal (signal) Terminal (signal) name Description
Used to enter an orientation signal for orientation.
Input X22 Orientation command For the X22 signal input, set "22" in any of Pr.178 to Pr.182, Pr.185, or Pr.189 to assign
the function.
Output switches to Low if the orientation has stopped within the orientation complete
width while the start and X22 signals are input.
ORA Orientation complete
For the ORA signal output, set "27 (positive logic)" or "127 (negative logic)" in any of
Pr.190 to Pr.192, or Pr.195.
Output
Output switches to Low if the orientation has not stopped within the orientation complete
width while the start and X22 signals are input.
ORM Orientation fault
For the ORM signal output, set "28 (positive logic)" or "128 (negative logic)" in any of
Pr.190 to Pr.192, or Pr.195.

 Refer to the Instruction Manual (Detailed) of the inverter for the details of Pr.178 to Pr.182, Pr.185, or Pr.189 (input terminal function
selection) and Pr.190 to Pr.192, or Pr.195 (output terminal function selection).

48 ORIENTATION CONTROL
5.3 Specifications

Repeated positioning 1.5°

Depends on the load torque, moment of inertia of the load, orientation, creep speed, or position loop switching
accuracy position, etc.
Encoder-mounted shaft speed (6000 r/min with 1024 pulse encoder)
Permissible speed The drive shaft and encoder-mounted shaft must be coupled directly or via a belt without any slip. Gear changing
shafts cannot be applied.
Orientation, creep speed setting, stop position command selection, DC injection brake start position setting,
Functions creep speed and position loop switch position setting, position shift, orientation in-position, position pulse
monitor, etc.
Holding force after Under V/F control, Advanced magnetic flux vector control ...... without servo lock function
positioning Under vector control ...... with servo lock function

Input signal Orientation command, forward and reverse rotation commands, stop position command (open collector signal
input (complementary) is enabled)
(contact input) Binary signal of maximum 16 bits (when used with the FR-A8AX)
Output signal
Orientation completion signal, orientation fault signal
(open collector output)

ORIENTATION CONTROL 49
5.4 Parameter related to orientation control
5.4.1 Encoder orientation gear ratio setting
Set the encoder orientation gear ratio for machine end orientation control.
To perform machine end orientation control, the FR-A8TP and the plug-in option FR-A8AP must be installed.
Set "1" in Pr.862 Encoder option selection. Connect the motor-end encoder to the FR-A8TP, and connect the machine-end
encoder to the FR-A8AP.

Pr. Initial Setting

Pr. Name Description
group value range
Number of machine side
394 A540
gear teeth
1 0 to 32767 Set the encoder orientation gear ratio.
Number of motor side
395 A541
gear teeth

Set the encoder orientation gear ratio.

• An accurate gear ratio (or pulley ratio) from the motor shaft to the spindle is necessary. Spindle A
Set correct numbers of gear teeth in Pr.394 and Pr.395. B
Pr.394 = A  C  E C
Pr.395 = B  D  F D E
(A to F indicate the
Exercise care so that the A  C  E and B  D  F settings do not exceed 32767. numbers of gear teeth.) F Motor
If either or both of them exceed that value, make approximations.

NOTE
• Pulley ratio ...... Ratio of vector-driven motor side pulley diameter to spindle side
pulley diameter A B A
B

Spindle side Motor side

50 ORIENTATION CONTROL
Setting example (When the numbers of gear teeth are as follows)
A:15, C: 43, E: 60, B: 10, D: 28, F:55
Pr.394 = 15  43  60 = 38700
Pr.395 = 10  28  55 = 15400
Since Pr.394 setting exceeds 32767 at this time, make approximations as follows.
Pr.394 38700 3870
= =
Pr.395 15400 1540

ORIENTATION CONTROL 51
 6 ENCODER FEEDBACK CONTROL
Mount FR-A8TP to an FR-A800 series inverter to perform encoder feedback control under V/F control or Advanced magnetic
flux vector control.
This controls the inverter output frequency so that the motor speed is constant to the load variation by detecting the motor
speed with the speed detector (encoder) to feed back to the inverter.
For the details of the parameters used for encoder feedback control, refer to the Instruction Manual (Detailed) of the inverter.
6.1 Connection diagram
MCCB MC Inverter SF-JR motor with encoder
R/L1 U U
Three-phase S/L2 V V
AC power supply M
T/L3 W W
E
Forward rotation start Earth
STF
(Ground)
Reverse rotation start STR C 
PA3
Contact input common SD R
PAR3
A
PB3
10 Differential N
Frequency setting PBR3
potentiometer 2 PG Encoder
H
5 Complementary SD K 
PG
Terminating
resistor ON SD 
  (+) (-) 5 VDC power
supply 
OFF

52 ENCODER FEEDBACK CONTROL

  The pin number differs according to the encoder used.
 Connect the encoder so that there is no looseness between the motor and motor shaft. Speed ratio must be 1:1.
 Earth (ground) the shield of the encoder cable to the enclosure using a tool such as a P-clip. (Refer to page 32.)
 For the differential line driver, set the terminating resistor selection switch to the ON position. (Refer to page 24.)
Note that the terminating resistor switch should be set to the OFF position (initial status) when sharing the same encoder with another unit
(NC, etc.) having a terminating resistor under the differential line driver setting.
For the complementary, set the terminating resistor selection switch to the OFF position (initial status).
 For terminal compatibility of the FR-JCBL, FR-V7CBL, and FR-A8TP, refer to page 35.
 A separate power supply of 5 V/12 V/15 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. If using the 24 V power supply of the FR-A8TP, 24 V power can be supplied from
terminal PG24.
Make the voltage of the external power supply the same as the encoder output voltage, and connect the external power supply between
PG and SD.
The encoder and the power supply can be shared under encoder feedback control, or orientation control.

6.2 Specifications

Speed variation ratio 0.1% (100% means 3600 r/min)

• Setting of the speed feedback range
Function • Setting of the feedback gain
• Setting of the encoder rotation direction
V/F control: 590 Hz, Advanced magnetic flux vector control: 400 Hz
Maximum speed
(102400 pulses/s or less encoder pulses)

ENCODER FEEDBACK CONTROL 53

 7 VECTOR CONTROL
When the FR-A8TP is mounted on the FR-A800 series, full-scale vector control operation can be performed using a motor with
encoder. (For the details, refer to the Instruction Manual (Detailed) of the inverter.)
Speed control, torque control, and position control are enabled under Vector control for induction motors.
Speed control and position control are enabled under Vector control for PM motors.

54 VECTOR CONTROL
7.1 Connection diagram
 Speed control
Vector control dedicated motor (SF-PR-SC, SF-V5RU, SF-THY), Standard motor with encoder (SF-JR),
24 V complementary 5 V differential line driver

SF-PR-SC, Inverter SF-JR motor with encoder


MCCB MC SF-V5RU, SF-THY U U
OCR V V
A M
Three-phase W W
B
AC power FAN E
supply C Earth

(Ground)
MCCB MC U U PA3 C 
Inverter
R/L1 V V PAR3 R
Three-phase M
S/L2 W W PB3 A
AC power supply T/L3 E PBR3 N
Earth Thermal Differential Encoder
relay PZ3 B
Forward rotation start STF External PC (Ground)
G1 protector  PZR3 P 
Reverse rotation start STR thermal OH Complementary
relay input  SD G2 PG H
Contact input common SD Terminating SD K
resistor ON
PA3 A  PG

SD
PAR3 B (+) (-) 5 VDC power
OFF 
supply 

PB3 C
PBR3 D
10 Encoder
Frequency command 3 PZ3 F
Differential
Frequency setting 2
potentiometer 2 PZR3 G 
1/2 W1 kΩ 1 5 S
Complementary PG
SD R
Terminating
Torque limit
resistor ON PG24
command (+) 1
(-) 
( 10V)
OFF
 
 7

VECTOR CONTROL 55
 Torque control (available with induction motors only)
Vector control dedicated motor (SF-PR-SC, SF-V5RU, SF-THY), Standard motor with encoder (SF-JR),
24 V complementary 5 V differential line driver

SF-PR-SC, Inverter SF-JR motor with encoder


MCCB MC SF-V5RU, SF-THY U U
OCR V V
A M
Three-phase W W
B
AC power FAN E
supply C Earth

(Ground)
MCCB MC U U PA3 C 
Inverter
R/L1 V V PAR3 R
Three-phase M
AC power S/L2 W W PB3 A
supply T/L3 E PBR3 N
Earth Thermal Differential Encoder
relay PZ3 B
Forward rotation start STF External PC (Ground)
G1 protector  PZR3 P 
Reverse rotation start STR thermal OH Complementary
relay input  SD G2 PG H
Contact input common SD Terminating SD K
resistor ON
PA3 A  PG

PAR3 SD
B (+) (-) 5 VDC power
OFF 
supply 

PB3 C
PBR3 D
10 Encoder
Speed limit command 3 Differential PZ3 F
Frequency setting 2 PZR3 G 
potentiometer 2
1/2 W1 kΩ 5 Complementary PG S
1
SD R
Terminating
Torque command (+) 1 resistor ON PG24
( 10 V) (-) 
 
OFF 

56 VECTOR CONTROL
 Position control
Vector control dedicated motor (SF-PR-SC, SF-V5RU, SF-THY), 24 V complementary

SF-PR-SC,
MCCB MC OCR SF-V5RU, SF-THY
 A
Three-phase B
FAN
Positioning unit AC power supply C

MELSEC-Q QD75P[ ]N/QD75P[ ] MCCB MC
MELSEC-L LD75P[ ] Three-phase R/L1 Inverter U U
AC power S/L2 V V
supply M
T/L3 W W
FLS
E
RLS Earth Thermal
DOG External PC (ground) relay
G1 protector 
STOP thermal relay OH
Forward stroke end input  SD G2
STF
Reverse stroke end
STR PA3 A 
Pre-excitation/servo on
LX  PAR3 B
Clear signal
CLEAR CLR  PB3 C
Pulse train
PULSE F DI4  PBR3 D
Sign signal
PULSE R NP  Encoder
24 VDC power supply Differential PZ3 F
CLRCOM PC PZR3 G 
PULSE COM SE
Complementary PG S
RDYCOM
SD R
COM Terminating
Preparation ready signal resistor ON PG24
READY RDY 
 
5
 
OFF
Torque limit command (+) 1
( 10 V) (-)

VECTOR CONTROL 57
  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.
 Connect the encoder so that there is no looseness between the motor and motor shaft. Speed ratio must be 1:1.
 Earth (ground) the shield of the encoder cable to the enclosure using a tool such as a P-clip. (Refer to page 28.)
 For the complementary, set the terminating resistor selection switch to the OFF position (initial status). (Refer to page 28.)
 A separate power supply of 5 V/12 V/15 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 the same as the encoder output voltage, and connect the external power supply between
PG and SD.
For the 24 V encoder, 24 V power can be supplied from terminal PG24 on the FR-A8TP.
 For terminal compatibility of the FR-JCBL, FR-V7CBL, and FR-A8TP, refer to page 35.
 For the fan of the 7.5 kW or lower dedicated motor, the power supply is single phase. (200 V/50 Hz, 200 to 230 V/60 Hz)
 To enable terminal OH, set Pr.876 Thermal protector input = "1 (initial value)".
 Assign the function using Pr.178 to Pr.182, Pr.185, or Pr.189 (input terminal function selection).
 When position control is selected, terminal DI4 function is invalid and simple position pulse train input terminal becomes valid.
 Assign the function using Pr.190 to Pr.192, or Pr.195 (output terminal function selection).
 The SF-PR-SC does not have a cooling fan.
 Some SF-PR-SC models have a thermal protector.

58 VECTOR CONTROL
7.2 Setting procedure of Vector control for motor with encoder
Follow the following procedure to change the setting for the Vector control for the motor with encoder. (For the details, refer to
the Instruction Manual (Detailed) of the inverter.)

Set the applied encoder. (Pr.852, Pr.851)

Set Pr.852 Control terminal option-Encoder rotation direction and Pr.851 Control terminal option-Number
of encoder pulses in accordance with the encoder specification.

Set the applied motor. (Pr.9, Pr.71, Pr.80, Pr.81, Pr.83, Pr.84)
Set Pr.71 Applied motor, Pr.9 Rated motor current, Pr.80 Motor capacity, Pr.81 Number of motor poles,
Pr.83 Rated motor voltage, and Pr.84 Rated motor frequency according to the motor specifications.
(Setting "9999 (initial value)" in Pr.80 or Pr.81 selects V/F control.)
Set Pr.702, Pr.706, Pr.707, Pr.724, and Pr.725 as required for the PM motor.

Select Vector control (other than position control). (Pr.800)

Perform offline auto tuning and encoder position tuning. (Pr.96, Pr.871)
Set Pr.96 and Pr.871 and perform tuning.
Induction PM motor
motor

Configure the initial setting for the PM sensorless vector control using Pr.998.
When the setting for the PM motor is selected in Pr.998 PM parameter initialization, the PM vector control is
selected.
"8009": Parameter (rotations per minute) settings for an IPM motor other than MM-CF
"8109": Parameter (frequency) settings for an IPM motor other than MM-CF
"9009": Parameter (rotations per minute) settings for an SPM motor
"9109": Parameter (frequency) settings for an SPM motor

For position control

7
Test run
• Set Pr.800 again.

VECTOR CONTROL 59
7.3 Specifications

Speed control range 1:1500 (both driving/regeneration)

Speed variation ratio 0.01% (100% means 3000 r/min)
Speed control
Speed response 130 Hz
Maximum speed 400 Hz (102400 pulses/s or less encoder pulses)
Torque control range 1:50
Torque control Absolute torque accuracy 10% 
Repeated torque accuracy 5% 
Repeated positioning accuracy 1.5° (at motor shaft end)
Maximum input pulse frequency 100k pulses/s (terminal DI4)
Positioning feedback pulse Number of encoder pulses per motor rotation (Pr.851)  4
Position control
Electronic gear setting 1/50 to 20
In-position width 0 to 32767 pulses
Error excess 0 to 400k pulses
 Regeneration unit (option) is necessary for regeneration.
 With online auto tuning (adaptive magnetic flux observer), dedicated motor, rated load

60 VECTOR CONTROL
 8 ENCODER PULSE DIVIDING OUTPUT
Pulse input of encoder connected to the inverter is divided and output from the FR-A8TP terminal.
8.1 Connection diagram

Motor end
Encoder

A-, B-, Z-phases

Inverter

FR-A8TP

A-phase Division ratio FPA5 (A-phase)

B-phase FPB5 (B-phase) Encoder pulse output
1
(open collector)
Pr.863 setting FPZ5 (Z-phase)

Z-phase ∗

A-phase FPA4 (A-phase)

Division ratio FPAR4
B-phase Encoder pulse output
1 FPB4 (B-phase)
(differential line driver)
Pr.863 setting FPBR4
FPZ4 (Z-phase)
Z-phase ∗ FPZR4

∗ Z-phase cannot be divided.

8
ENCODER PULSE DIVIDING OUTPUT 61
 NOTE
• For open collector output, the signal may become unstable if the input resistance of the connected device is large and
the device may detect the signal incorrectly. In this case, adding a pull-up resistor as shown below will improve the
phenomenon.
Select a pull-up resistor in consideration of the input current of the connected device so that the open collector output
current will not exceed the output permissible load current.

Power supply
- +

Inverter Pull-up resistor

FR-A8TP
FPA5/FPB5/FPZ5

SD Connected device

62 ENCODER PULSE DIVIDING OUTPUT

8.2 Parameter related to encoder pulse dividing output

Pr. Initial Setting

Pr. Name Description
group value range
The encoder pulse signal at the motor end can be divided in division
Control terminal option-
ratio set in Pr.863 and output.
863 M600 Encoder pulse division 1 1 to 32767
Use this parameter to make the response of the machine to be input
ratio
slower, etc.

• Division waveform by division ratio

Both ON-OFF width is division times. (50% duty)
• Pulse waveform example at 1000 pulse input when Pr.863 = "2"

Division ratio A-phases (1000 pulses)

1/1 B-phases

2 divisions
Division ratio A-phases (500 pulses)
1/2 B-phases

NOTE
• Control of forward rotation/reverse rotation by phase difference between A phase and B phase.
When A phase is 90° advanced as compared to B phase: forward rotation
When A phase is 90° behind as compared to B phase: reverse rotation

8
ENCODER PULSE DIVIDING OUTPUT 63
 APPENDIX
Restricted Use of Hazardous Substances in Electronic and Electrical Products
The mark of restricted use of hazardous substances in electronic and electrical products is applied to the product as follows
based on the “Management Methods for the Restriction of the Use of Hazardous Substances in Electrical and Electronic
Products” of the People's Republic of China.

电器电子产品有害物质限制使用标识要求
环境保护使用期限标识

本产品中所含有的有害物质的名称、含量、含有部件如下表所示。
• 产品中所含有害物质的名称及含量

有害物质
部件名称
铅(Pb) 汞(Hg) 镉(Cd) 六价铬(Cr(VI)) 多溴联苯(PBB) 多溴二苯醚(PBDE)
电路板组件 （包括印刷电路板及其构成的零部件，      
如电阻、电容、集成电路、连接器等）、电子部件

金属壳体、金属部件      

树脂壳体、树脂部件      

螺丝、电线      

上表依据SJ/T11364的规定编制。
○：表示该有害物质在该部件所有均质材料中的含量均在GB/T26572规定的限量要求以下。
×：表示该有害物质在该部件的至少一种均质材料中的含量超出GB/T26572规定的限量要求。
 即使表中记载为 ×，根据产品型号，也可能会有有害物质的含量为限制值以下的情况。
 根据产品型号，一部分部件可能不包含在产品中。

64 APPENDIX
MEMO

65
REVISIONS
*The manual number is given on the bottom left of the back cover.

Revision date *Manual number Revision

Dec. 2014 IB(NA)-0600574ENG-A First edition
Addition
Dec. 2017 IB(NA)-0600574ENG-B • Precautions for removal and reinstallation of the control circuit terminal block
• Restricted Use of Hazardous Substances in Electronic and Electrical Products
Added
Apr. 2022 IB(NA)-0600574ENG-C
• Vector control for the PM motor

66 IB(NA)-0600574ENG-C
INVERTER

INVERTER
Plug-in option
PRE-OPERATION INSTRUCTIONS
FR-A8TP 1
INSTRUCTION MANUAL INSTALLATION
2
WIRING
3
Vector control terminal block PARAMETER
4
ORIENTATION CONTROL
5
ENCODER FEEDBACK CONTROL
6
VECTOR CONTROL
7
ENCODER PULSE DIVIDING OUTPUT
HEAD OFFICE: TOKYO BUILDING 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN

IB(NA)-0600574ENG-C(2204) MEE Printed in Japan Specifications subject to change without notice.

8