Mitsubishi Electric FR-A802-P Instruction Manual page 64

• Position control
Vector control dedicated motor, 12 V complementary
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
(±10V)
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
(+)
(-)

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

For the complementary, set the terminating resistor selection switch to OFF position. (Refer to

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 the same as the encoder output voltage, and connect the external
power supply between PG and SD.

For terminal compatibility of the FR-JCBL, FR-V7CBL, and FR-A8AP, refer to

Assign the function using Pr.178 to Pr.184, Pr.187 to Pr.189 (Input terminal function selection).

When position control is selected, terminal JOG function is invalid and simple position pulse train input terminal
becomes valid.

Assign the function using Pr.190 to Pr.194 (Output terminal function selection).
Connection of motor with encoder (Vector control)
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
INSTALLATION AND WIRING
Vector control
dedicated motor
U
V
IM
W
E
∗1
A
B
C
D
PLG
F
G
∗2
S
R
12VDC
(-)
∗5
power supply
page 64.)
page 60.)
page 62.
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