APPLICATION NOTE AN-LM2A-0005v120EN

Vector control with peripheral PG (Synchronous motor)

Inverter type FRENIC-Lift (LM2A)
Software version Any
Required options OPC-PG3
OPC-PMPG
OPC-G1-PG
OPC-G1-PG2
Related documentation INR-SI47-1909-E
Author Jaume Alonso
Use Public, web
Date 20/05/2016
Version 1.2.0
Languages English

1. Introduction

In case of Permanent Magnet Synchronous Motors (PMSM) encoder normally

is placed in the middle of motor shaft. This allows in a simple way the following:

- Easy detection of magnet position.

- Easy detection of motor speed.

However, other motor manufacturers have chosen another strategy. This

strategy is to install an incremental encoder on the rotor diameter (pulley). The
disadvantages of this method are:

- Slip between motor pulley and encoder sheave.

- Loss of magnet position.
- None fixed relationship between motor speed and encoder speed.

Due to disadvantages mentioned above, a specific control method is needed for

this motor configuration. In case of FRENIC-Lift (LM2A), this control method is
called “Vector control with peripheral PG”.

2. Related parameters

FRENIC-Lift has macros which preset the inverter depending on the motor type.
Macros can be set by means of parameter H03. As in this case a PMSM is
used, H03 recommended setting is 2.

Application Note AN-LM2A-0005v120EN 1

The parameters and functions related to “Vector control with peripheral PG”
control are listed in table 1:

Table 1. Function codes related to “Vector control with peripheral PG” control.

Function
Name Setting range Units Recommended Setting
codes

C21 Speed units selection 0 to 3 - 2: Hz

P01 Motor (nº of poles) 2 to 100 poles Depending on the motor

Motor (Rated
P02 0.01 to 220.0 kW Depending on the motor
capacity)

P03 Motor (Rated current) 0.00 to 500.0 A Depending on the motor

P07 Motor (%R1) 0.00 to 50.00 % 20

Motor (Armature
P60 0.000 to 50.00 ohm Depending on the motor
resistance – Rs)
*1 Motor (Armature q-
P62 0.000 to 50.00 ohm Depending on the motor
axis reactance – Xs)
*1 Motor (Interphase
P63 0 to 500 V Depending on the motor
inductive voltage – E)
Motor (q-axis
*1
P65 inductance magnetic 0 to 100 % 65 %
saturation correction
F03 Motor rated speed 30.00 to 6000.0 rpm Depending on the motor

F04 Motor rated frequency 30.00 to 6000.0 Hz Depending on the motor

F05 Motor rated voltage 160 to 500 V Depending on the motor

Motor control mode

F42 0 to 2 - 1: Vector control with PG (Sync)
selection
Pulse encoder
L01 0 to 8 - 1: AB+Z
(selection)
Pulse encoder
L02 360 to 60000 P/R Depending on the encoder
resolution
Automatic pole tuning
L07 0 to 4 - 4
selection

L130 Sheave diameter (Ds) 0.0 to 6553.5 mm Depending on the motor

Encoder diameter
L131 0.0 to 6553.5 mm 37.2
(De)
Theta compensation
L132 1 to 90 deg 45
band
Theta compensation
L133 0.0 to 1.0 - 0.2
gain lower limit
Operation setting 0000 0000 to
L198 - 0010 0000
switch 1 1111 1111

*1
Please check the description of this parameter. The setting on this function code depends on
ROM version.

Application Note AN-LM2A-0005v120EN 2

The function codes related to “Vector control with peripheral PG” are explained
in more detail below:

• Speed units selection

(Function code C21)

Speed units can be selected between m/min, rpm, Hz and mm/s. It is

recommended to work with Hz.
For additional information refer to chapter 3. Motor function codes.

• Motor (nº of poles)

(Function code P01)

On this function code, total number of motor poles has to be set. Number
of poles depends on motor type. Normally this value has to be calculated
as it doesn’t appear on motor’s name plate.
For additional information refer to chapter 3. Motor function codes.

• Motor (Rated capacity)

(Function code P02)

On this function code, motor’s rated power has to be set.

For additional information refer to chapter 3. Motor function codes.

• Motor (Rated current)

(Function code P03)

On this function code, motor’s rated power has to be set.

For additional information refer to chapter 3. Motor function codes.

• Motor (%R1)
(Function code P07)

Set this function code to 20 %. Please do not use any other setting than
the recommended.

• Motor (Armature resistance - Rs)

(Function code P60)

On this function code rotor’s resistance value is set.

For additional information refer to chapter 3. Motor function codes.

• Motor (Armature q-axis reactance - Xs)

(Function code P62)

On this function code rotor’s reactance value is set.

Application Note AN-LM2A-0005v120EN 3

 If inverter’s ROM version (Main) is 0600 or below, please uses the
formula below:

P63= Rotor’s reactance value*0.6

For additional information refer to chapter 3. Motor function codes.

• Motor (Interphase inductive voltage-E)

(Function code P63)

On this function code inductive voltage value is set.

If inverter’s ROM version (Main) is 0600 or below, please uses the

formula below:

P63= Interphase inductive voltage*0.58

For additional information refer to chapter 3. Motor function codes.

• Motor (q-axis inductance magnetic saturation correction)

(Function code P65)

Set this function code to 65 %. Please do not use any other setting than
the recommended.

If inverter’s ROM version (Main) is 0600 or below, this parameter doesn’t

exist.

• Motor rated speed

(Function code F03)

On this function code motor’s rated speed (in rpm) is set.

For additional information refer to chapter 3. Motor function codes.

• Motor rated frequency

(Function code F04)

On this function code motor’s rated frequency (in Hz) is set. This function
code unit depends on C21 setting; therefore, if C21 is set to a different
value than recommended, F04 has to be adapted to the new unit
selected.
For additional information refer to chapter 3. Motor function codes.

• Motor rated voltage

(Function code F05)

On this function code motor’s rated voltage (in V) is set.

For additional information refer to chapter 3. Motor function codes.

Application Note AN-LM2A-0005v120EN 4

 • Motor control mode selection
(Function code F42)

This control mode is based in PMSM as explained above; therefore F42

has to be set to 1: Vector control with PG (synchronous). Please do not
use any other setting than the recommended.

• Pulse encoder (selection)

(Function code L01)

On this function code type of encoder is selected. For this control mode
type 1 is used, therefore please set L01 to 1: With ABS signal (12 /15 V
Complementary / Open collector / 5 V line driver / Z phase). Please do
not use any other setting than the recommended.

On the other hand, Z phase of the encoder (PZ, or PZ+ and PZ-) doesn’t
need to be connected.

• Pulse encoder resolution

(Function code L02)

On this function code number of encoder pulses per revolution is set. It is

recommended to use encoder with 1024 p/r or higher resolution. As
higher is the resolution, easier will be to control the rollback.

• Automatic pole tuning selection

(Function code L07)

This parameter is used to select if pole tuning will be performed

automatically or not. Please do not use any other setting than the
recommended.

• Sheave diameter (Ds)

(Function code L130)
• Encoder diameter (De)
(Function code L131)

These function codes are used to set the motor’s sheave diameter and
encoder’s diameter respectively. Figure 1 shows which diameter has to
be taken in consideration.

Application Note AN-LM2A-0005v120EN 5

 De (L131)

Encoder Ds (L130)

Pulley

Figure 1. L130 and L131 diameters on the application

Figure 1 shows a basic diagram of a motor and an encoder. As it can be

observed, the diameter that has to be measured on the motor side
(L130) is the external one, please do not confuse with pulley (the one
which holds the ropes). Sheave diameter depends on the motor type.
Diameter that has to be measured on the encoder is the one
corresponding to the rubber wheel (L131). This diameter is normally 37.2
mm; therefore do not modify the recommended setting.

Rubber wheel tends to wear out over time. Make sure that rubber wheel
diameter is kept at 37.2 mm; otherwise inverter may loss motor’s control.
For additional information refer to chapter 3. Motor function codes.

• Theta compensation band

(Function code L132)
• Theta compensation gain lower limit
(Function code L133)

Please do not use any other setting than the recommended.

• Operation setting switch 1

(Function code L198)

Bit 5 of L198 function code defines whether pole tuning is performed only
at first RUN command after Power ON or after every RUN command.

L198(Bit 5)= 0: Automatic pole tuning under certain conditions.

L198(Bit 5)= 1: Automatic pole tuning every RUN command.

In case of selecting automatic pole tuning under certain conditions (Bit5=

0), inverter will perform an automatic pole tuning in following cases:

ROM version 600 and below:

o During first RUN command after Power ON

Application Note AN-LM2A-0005v120EN 6

 ROM version 800 and above:

o During first RUN command after Power ON

o Inverter alarm (Only: OCx, OS, PG)
o Motor moves (pulses are detected) if inverter is in STOP mode

3. Motor function codes

Some motors have been already tested with success. Table 2 shows the right
parameters that have to be set in each motor type case.

Table 2. Recommended setting depending on motor type.

Motor type MX05 MX05/10 MX05/10 MX06 MX06/10

Manufacturer KONE KONE KONE KONE KONE
P01 20 14 14 24 16
P02 2,8 kW 2,8 kW 2,8 kW 3,7 kW 3,7 kW
P03 8A 9A 9A 11 A 11 A
P07 20 % 20 % 20 % 20 % 20 %
P60 3,5 Ω 3,5 Ω 3,5 Ω 2,2 Ω 2,2 Ω
*1
P62 6,3 / 10,5 Ω 6 / 10 Ω 5,3 / 8,8 Ω 4,8 / 8,0 Ω 4,8 / 8,0 Ω
*1
P63 69 / 120 V 69 / 120 V 120 / 208 V 69 / 120 V 69 / 120 V
F03 112 rpm 112 rpm 112 rpm 95 rpm 95 rpm
F04 19 Hz 13 Hz 13,1 Hz 19 Hz 12,7 Hz
F05 280 V 280 V 305 V 280 V 280 V
L130 530 mm 530 mm 530 mm 630 mm 630 mm
*1
This value depends on ROM version. First number corresponds to ROM version 0600 or
below and second to 0800 and above. Second number corresponds to the value that can be
found in motor’s name plate.

Figure 2 shows where information is placed in motor’s name plate.

F05
F03
P02 P03

P63

P60

P62

Figure 2. MX05/10 name plate

Application Note AN-LM2A-0005v120EN 7

If the motor that has to be controlled is not on the list, and some setting is not
clear, please contact your Fuji Electric representative.

4. Encoder option board

Four option cards are available depending on the encoder type (open collector
or line driver). These option boards are called OPC-G1-PG or OPC-PG3 and
OPC-G1-PG2 or OPC-PMPG respectively. Encoder board can be only
connected to port C as is shown in figure 3.

Figure 3. Available port and option board installation

4.1 Option board OPC-PG3/OPC-G1-PG

Option board OPC-PG3 (or OPC-G1-PG) is the specific board for

connecting a HTL standard encoder (standard power supply voltage range
between 10~30 VDC). The encoder connected must fulfil the technical
requirements specified in table 3.
Table 3. HTL encoder technical requirements

Property Specification
Encoder’s required supply +12 VDC ±10 %, 120 mA (SW1=12 V)
+15 VDC ±10 %, 120 mA (SW1=15 V)
Option board input pulses High level ≥ 8 VDC, Low level ≤ 3 VDC (SW1=12 V)
threshold High level ≥ 10 VDC, Low level ≤ 3 VDC (SW1=15 V)
Output signal Open Collector Push pull (complementary)
Maximum input frequency 30 kHz 100 kHz
Maximum cable length 20 m 100 m

For wiring this encoder type to OPC-PG3, see figure 4 and table 4 below.

Application Note AN-LM2A-0005v120EN 8

 Table 4. Option terminals and encoder
signals

Option
Signal Meaning
terminal
+ VDC PO Power supply
A phase PA Pulses phase A
Pulses phase B 90º
B phase PB
shifted
0 VDC CM Common 0 V

Figure 4. Encoder’s connection

Note 1: OPC-G1-PG doesn’t include Fxx terminals (encoder repetition for
controller)
Note 2: OPC-G1-PG terminals for A phase and B phase are called YA
and YB respectively.
Note 3: In case of using OPC-PG3 inverter’s ROM version must be 0600
or above.

4.2 Option board OPC-PMPG/OPC-G1-PG2

Option board OPC-PMPG (or OPC-G1-PG2) is the specific board for

connecting a Line Driver standard encoder (differential signal +5 VDC). The
encoder connected must fulfil the technical requirements specified in table 5.

Table 5. Line Driver encoder technical requirements

Property Specification
Encoder’s required supply +5 VDC ±10 %, 200 mA
Output signal Line Driver
Maximum input frequency 100 kHz
Maximum cable length 100 m

For wiring this encoder type to OPC-PMPG, see figure 5 and table 6 below.

Table 6. Option terminals and encoder signals

Option
Signal Meaning
terminal
+ VDC PO Power supply
A phase PA+ Pulses phase A
/A phase PA- Pulses phase A inverted
B phase PB+ Pulses phase B 90º shifted
Pulses phase B inverted
/B phase PB-
90º shifted
0 VDC CM Common 0 V
Figure 5. Encoder’s connection

Application Note AN-LM2A-0005v120EN 9

 Note 1: OPC-G1-PG2 doesn’t include Fxx terminals (encoder repetition
for controller)
Note 2: OPC-G1-PG2 terminals for A phase and B phase are called YA
and YB respectively (Same for inverter phases).
Note 3: In case of using OPC-PMPG inverter’s ROM version must be
0600 or above.

5. Pole tuning procedure

Before RUN the motor a pole tuning has to be performed in order to detect the
magnets position inside motor’s rotor, to do so please follow below procedure.

Pole tuning procedure in 6 steps:

1. Check that the motor and the encoder are properly wired to the inverter.
2. Power ON the lift power supply.
3. Make sure that the setting described on chapters 2 and 3 is properly set.
4. Check that the inverter receives the encoder pulses as following: in the
keypad go to Menu 3. INV Info / 2. I/O Check and press the down arrow key
until you reach the page [6/6] that shows P1, Z1, P2 and Z2. If the motor is
not moving, the display shows 0 kP/s after P2. Open (release) the brake and
turn a little bit the motor. In this moment the display should show a number
different than 0 (positive or negative depending on the rotation direction). If
the display shows ----p/s (or +0 p/s meanwhile the motor is turning) means
that no signal is coming from the encoder. In this case please check the
encoder cable, the connection of the signals or option card installation.
5. Give RUN command to the inverter from the lift controller (normally in
INSPECTION mode). The main contactors will be closed and current will flow
through the motor producing some acoustic noise. This procedure will take
some seconds. After the procedure is finished, the lift should move normally
in inspection speed in up or down direction (depending on RUN command
given).
6. RUN the inverter in INSPECTION mode from top to bottom of the shaft and
other way around. During constant speed check that output current has a
constant and logic value. Logic value normally means an output current
below rated current. Output current can be monitored on Menu 3. INV
Information / 1. Op Monitor at page [2/8] as Iout.

If during step 5 or 6 the inverter is directly tripping OCx, OLU or Ere or OS just
after giving RUN command set H190= 0 and repeat the procedure starting from
step 1.

If pole tuning is not performed automatically in step 5, switch OFF inverter

power supply, and make sure keypad is completely OFF before turning power
supply ON.

Application Note AN-LM2A-0005v120EN 10

6. Troubleshooting

Alarm
message Description Possible causes
Displayed
a. If OLU alarm appears during constant speed
at full torque (car empty going down) please
repeat Pole tuning process starting from Step
1.
b. If pole tuning is correct check the setting of
OLU Inverter overloaded
L133 to 0.8
c. If OLU appears randomly independently of
the load make sure encoder is correctly
fixed, rubber wheel is touching motors
sheave and rubber wheel diameter is correct.
If OS appears during creep speed, increase it.
Recommended value of creep speed is 1 Hz. If
OS Overspeed
inverter is tripping with recommended creep
speed, increase it to 2 Hz.

7. Rescue operation

Some elevators have a rescue operation system which consist in opening

manually the brake and move car by gravity. If this rescue operation is
performed make sure to switch completely power OFF and switch it ON again
before doing any standard travel. Otherwise inverter may loss motor’s control.

If automatic pole tuning is set as recommended on this application note

(L198(Bit 5)= 1: Automatic pole tuning every RUN command) power supply
doesn’t need to be removed before doing any travel after rescue operation.

If the setting of L198(Bit 5) is 0, but ROM version is 0800 or above, inverter will
perform automatic pole tuning as well, in other words, no need to remove power
supply of the inverter.

8. Conclusions

This application note explains how to control a PMSM with the encoder installed
in the periphery of the rotor.

Application Note AN-LM2A-0005v120EN 11

9. Document history

Version Changes applied Date Written Checked Approved

1.0.0 First version (Draft) 29/07/2015 J. Alonso
Recommended setting and
explanation of P62, P63 and L133
1.1.0 16/12/2015 J. Alonso S. Ureña J. Català
is modified on chapter 2 and 3.
Note 1 is added in table 2.
Explanation of L198, P62 and
P63 modified/updated.
P65 is included.
Information about different
software versions is included.
1.2.0 20/05/2016 J. Alonso S. Ureña J. Català
Table 1, 2, 4 and 6 updated.
Figure 2, 4 and 5 updated.
Chapter 6 updated.
Information about OPC-PG3 and
OPC-PMPG is included.

Application Note AN-LM2A-0005v120EN 12