--- name: "mitsub_vfd" section: "1" platform: "linux" package: "linuxcnc-uspace" version: "1:2.9.4-2+deb13u1" release: "Debian 13 (Trixie)" platforms: ["linux"] url: "https://new.carta.tech/mitsub_vfd" --- # mitsub\_vfd(1) 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. ## 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.