YASKAWA A1000 Series Technical Manual Download

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B.7 Parameters that Change with the Motor Code Selection

YASKAWA ELECTRIC

SIEP C710616 27C YASKAWA AC Drive A1000 Technical Manual

475

met

Table B.23 400 V, 1150 r/min Type YASKAWA SST4 Series IPM Motor

No.

Name

Unit

Default Settings

E5-01

Motor Code Selection

−

240E

240F

2410

2412

2413

2414

2415

2416

Voltage Class

200

Rated Power

Rated Speed

r/min

1150

E5-02

Motor

Rated

Power

18.50 22.00 30.00 37.00 45.00 55.00 75.00

E5-03

Motor

Rated

Current

55.9

65.4 77.0 103.5 126.0 153.1 188.5 260.4

E5-04

Number of Motor Poles

–

E5-05

Motor Stator Resistance (r1)

0.083 0.065

0.052

0.035 0.026 0.019

0.013

0.009

E5-06

Motor

d-Axis

Inductance

(Ld)

3.50 2.92 2.55 2.03 1.59 1.24 0.98 0.70

E5-07

Motor

q-Axis

Inductance

(Lq)

4.23

3.79 3.22 2.46 1.92 1.64 1.37 0.97

E5-09

Motor

Induction

Voltage

Constant

(Ke)

mVs/rad

364.5 404.5 445.1 444.4 447.3 470.8 422.4 418.3

E5-24

Motor Induction Voltage Constant 2 (Ke) mV/(r/min)

0.0

E1-04

Maximum Output Frequency

57.5

E1-05

Maximum

Voltage

190.0 190.0 190.0 190.0 190.0 190.0 190.0 190.0

E1-06

Base Frequency

57.5

E1-09

Minimum Output Frequency

2.9

C5-17

Motor Inertia

kgm

0.063 0.113 0.137 0.252 0.304 0.410 0.55 0.82

L3-24

Motor Acceleration Time for Inertia
Calculations

0.061 0.089 0.090 0.122 0.119 0.132 0.145 0.159

n5-02

Motor

Acceleration

Time

0.061 0.089 0.090 0.122 0.119 0.132 0.145 0.159

n8-49

d-Axis Current for High Efficiency
Control (OLV/PM)

-13.7

-15.2

-10.9

-9.8

-9.3

-11.5

-17.7

-17.1

No.

Name

Unit

Default Settings

E5-01

Motor Code Selection

−

2432

2433

2435

2436

2438

243A

243B

243D

243E

243F

2440

Voltage Class

400

Rated Power

0.4

0.75

1.5

2.2

3.7

5.5

7.5

Rated Speed

r/min

1150

E5-02

Motor Rated Power

0.4

0.75

1.5

2.2

3.7

5.5

7.5

11.0

18.50

22.00

E5-03

Motor Rated Current

0.89

1.72

3.02

4.58

7.40

10.21

13.75

19.5

27.7

32.7

39.2

E5-04

Number of Motor Poles

–

E5-05

Motor Stator Resistance (r1)

10.720 6.080 4.336 2.143 1.428 1.199 0.648 0.460 0.325 0.260

0.209

E5-06

Motor

d-Axis

Inductance

(Ld)

122.20 61.16 70.24 46.20 33.87 41.67 21.24 17.76 12.83 11.68 10.09

E5-07

Motor

q-Axis

Inductance

(Lq)

170.80 97.12 90.04 60.28 42.98 69.15 33.04 22.72 17.19 15.16 16.25

E5-09

Motor

Induction

Voltage

Constant

(Ke)

mVs/rad

626.1 626.1 703.1 727.6 699.0 861.5 759.7 740.4 716.6 809.1 786.2

E5-24

Motor Induction Voltage Constant 2 (Ke) mV/(r/min)

0.0

E1-04

Maximum Output Frequency

57.5

E1-05

Maximum

Voltage

380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0

E1-06

Base Frequency

57.5

E1-09

Minimum Output Frequency

2.9

C5-17

Motor Inertia

kgm

0.0022 0.0042 0.0081 0.0133 0.0168 0.027 0.044 0.054 0.063 0.113 0.137

L3-24

Motor Acceleration Time for Inertia
Calculations

0.080 0.081 0.078 0.088 0.066 0.070 0.085 0.071 0.061 0.089 0.090

n5-02

Motor Acceleration Time

0.080

0.081

0.078 0.088 0.066 0.070 0.085 0.071 0.061 0.089 0.090

n8-49

d-Axis Current for High Efficiency
Control (OLV/PM)

-8.4

-11.0

-9.9

-9.0

-11.4

-23.2

-22.1

-16.7

-20.2

-15.2

-27.7

Summary of Contents for A1000 Series

Page 1: ...Vector Control Drive Technical Manual Type CIMR AC Models 200 V Class 0 4 to 110 kW 400 V Class 0 4 to 355 kW Receiving Mechanical Installation Electrical Installation Start Up Programming Operation P...

Page 2: ...ritten permission of Yaskawa No patent liability is assumed with respect to the use of the information contained herein Moreover because Yaskawa is constantly striving to improve its high quality prod...

Page 3: ...chronous PM Motor A1000 can operate synchronous PM motors Refer to Subchart A 3 Operation with Permanent Magnet Motors on page 101 Perform Auto Tuning Automatic tuning sets motor parameters Refer to A...

Page 4: ...4 YASKAWA ELECTRIC SIEP C710616 27C YASKAWA AC Drive A1000 Technical Manual...

Page 5: ...ed Motors 22 Drive Label Warnings 24 Warranty Information 24 1 RECEIVING 25 1 1 Section Safety 26 1 2 General Description 27 A1000 Model Selection 27 Control Mode Selection 28 1 3 Model Number and Nam...

Page 6: ...Top Protective Cover 64 3 8 Main Circuit Wiring 65 Main Circuit Terminal Functions 65 Protecting Main Circuit Terminals 65 Wire Gauges and Tightening Torque 66 Main Circuit Terminal and Motor Wiring...

Page 7: ...when Using the Hoist Application Preset 106 Setting 7 Traveling Application 108 4 7 Auto Tuning 109 Types of Auto Tuning 109 Before Auto Tuning the Drive 111 Auto Tuning Interruption and Fault Codes...

Page 8: ...202 E5 PM Motor Settings 204 5 6 F Option Settings 206 F1 PG Speed Control Card Settings 206 F2 Analog Input Card Settings 209 F3 Digital Input Card Settings 209 F4 Analog Monitor Card Settings 210 F5...

Page 9: ...ng 296 Fine Tuning V f Control and V f Control with PG 296 Fine Tuning Open Loop Vector Control 296 Fine Tuning Closed Loop Vector Control 297 Fine Tuning Open Loop Vector Control for PM Motors 297 Fi...

Page 10: ...0 Motor Rotates After the Drive Output is Shut Off Motor Rotates During DC Injection Braking 341 Output Frequency is not as High as Frequency Reference 341 Buzzing Sound from Motor at 2 kHz 341 Unstab...

Page 11: ...LIST 397 B 1 Understanding the Parameter Table 398 Control Modes Symbols and Terms 398 B 2 Parameter Groups 399 B 3 Parameter Table 400 A Initialization Parameters 400 b Application 401 C Tuning 406...

Page 12: ...487 Function Code 487 Data 487 Error Check 487 C 8 Message Examples 489 Reading Drive MEMOBUS Modbus Register Contents 489 Loopback Test 489 Writing to Multiple Registers 489 C 9 MEMOBUS Modbus Data...

Page 13: ...cations 522 Drive Specifications 522 Motor Specifications 522 E 2 Basic Parameter Settings 523 Basic Setup 523 V f Pattern Setup 523 Motor Setup 523 Multi Function Digital Inputs 523 Pulse Train Input...

Page 14: ...14 YASKAWA ELECTRIC SIEP C710616 27C YASKAWA AC Drive A1000 Technical Manual...

Page 15: ...reface General Safety This section provides safety messages pertinent to this product that if not heeded may result in fatality personal injury or equipment damage Yaskawa is not responsible for the c...

Page 16: ...er settings It is meant to get the drive ready for a trial run with the application and for basic operation A1000 Series AC Drive Technical Manual this book This manual is included on the CD ROM packa...

Page 17: ...ent and presentation of the manual may be changed without notice to improve the product and or the manual When ordering a new copy of the manual due to damage or loss contact your Yaskawa representati...

Page 18: ...may result in death or serious injury Take special note of custom I O programming in the drive before attempting to operate equipment Electrical Shock Hazard Do not attempt to modify or alter the dri...

Page 19: ...to the drive circuitry Do not perform a withstand voltage test on any part of the drive Failure to comply could result in damage to the sensitive devices within the drive Do not operate damaged equipm...

Page 20: ...ions using an inching function in which the motor is quickly started and stopped Yaskawa recommends the following to ensure motor torque levels Select a large enough drive so that peak current levels...

Page 21: ...per precautions should be taken to prevent burns When replacing the cooling fan shut off the power and wait at least 15 minutes to be sure that the heatsink has cooled down Even when the power has bee...

Page 22: ...Run command depending on parameter settings and rotor position The amount of starting torque that can be generated differs by each control mode and by the type of motor being used Set up the motor wi...

Page 23: ...Motor Variable speed drives are not designed for operation with single phase motors Using capacitors to start the motor causes excessive current to flow and can damage drive components A split phase s...

Page 24: ...r disconnecting power supply To conform to requirements make sure to ground the supply neutral for 400V class After opening the manual switch between the drive and motor please wait 5 minutes before i...

Page 25: ...ng This chapter explains how to inspect the drive upon receipt and gives and overview of the different enclosure types and components 1 1 SECTION SAFETY 26 1 2 GENERAL DESCRIPTION 27 1 3 MODEL NUMBER...

Page 26: ...E Observe proper electrostatic discharge procedures ESD when handling the drive and circuit boards Failure to comply may result in ESD damage to the drive circuitry A motor connected to a PWM drive ma...

Page 27: ...t A Model CIMR A Rated Output Current A 3 Model CIMR A Rated Output Current A Model CIMR A Rated Output Current A 3 0 55 2A0004 3 2 1 4A0002 1 8 0 75 2A0006 5 1 2A0004 3 5 4A0004 3 4 4A0002 2 1 1 1 2A...

Page 28: ...ecific Auto Tuning Energy Saving Tuning Line to line resistance Energy Saving Tuning Line to line resistance Rotational Stationary Line to line resistance Rotational Stationary Line to line resistance...

Page 29: ...1 Nameplate Information PRG 1010 IND CONT EQ 7J48 B CIMR AC2A0021FAA YASKAWAELECTRIC CORPORATION MADE IN JAPAN AC3PH 200 240V 50 60Hz 24A 18 9A AC3PH 0 240V 0 400Hz 21A 17 5A 3 5 kg E131457 IP20 PASS...

Page 30: ...0211 45 180 0250 75 250 0250 55 215 0312 90 312 0312 75 283 0360 110 360 0360 90 346 0415 110 415 0415 110 415 Normal Duty Heavy Duty No Max Motor Capacity kW Rated Output Current A No Max Motor Capac...

Page 31: ...drive enclosures and models Table 1 3 Drive Models and Enclosure Types Voltage Class 1 Removing the top protective cover from a IP20 NEMA Type 1 enclosure drive voids NEMA Type 1 protection but still...

Page 32: ...R A 4A0058A to 0103A Table 1 5 Exploded View of IP00 Enclosure Components CIMR A 2A0110A 1 The following drive models have a single cooling fan CIMR A 2A0021F CIMR A 4A0007F through 0011F Drives CIMR...

Page 33: ...nting hole B Heatsink C Optional 24 V DC power supply connector cover D Terminal board E Fan guard F Cooling fan G Fan unit H Front cover I USB port type B J Digital operator K Front cover screw L Dri...

Page 34: ...power supply connector cover D Terminal board E Fan guard F Cooling fan G Fan unit H Circulation fan I Front cover J USB port type B K Digital operator L Front cover screw M Drive cover 1 N Drive cov...

Page 35: ...OBUS Modbus Termination on page 80 J Option card connector CN5 B D Jumper S3 Refer to Sinking Sourcing Mode Selection for Safe Disable Inputs on page 77 K Option card connector CN5 A E Ground terminal...

Page 36: ...1 5 Component Names 36 YASKAWA ELECTRIC SIEP C710616 27C YASKAWA AC Drive A1000 Technical Manual...

Page 37: ...LECTRIC SIEP C710616 27C YASKAWA AC Drive A1000 Technical Manual 37 Mechanical Installation This chapter explains how to properly mount and install the drive 2 1 SECTION SAFETY 38 2 2 MECHANICAL INSTA...

Page 38: ...dard blower cooled motor If 100 torque is required continuously at low speed consider using a special drive or vector control motor Select a motor that is compatible with the required load torque and...

Page 39: ...ching between motor during run will trigger overcurrent protection circuitry or result in overvoltage from regeneration and the motor will simply coast to stop When using an explosion proof motor it m...

Page 40: ...ing Install the drive upright as illustrated in Figure 2 1 to maintain proper cooling Figure 2 1 Figure 2 1 Correct Installation Orientation Environment Conditions Installation Area Indoors Ambient Te...

Page 41: ...le drives into the same enclosure panel mount the drives according to Figure 2 2 When mounting drives with the minimum clearance of 2 mm according to Figure 2 3 derating must be considered and paramet...

Page 42: ...mounted on the drive can be removed and connected to the drive using an extension cable up to 3 m long This makes it easier to operate the drive when it is installed in a location where it can not be...

Page 43: ...ould result in damage to the drive Place a temporary cover over the top of the drive during installation Remove the temporary cover before startup as the cover will reduce ventilation and cause the dr...

Page 44: ...mounting hardware Figure 2 9 illustrates how to attach the Installation Support Set A 1 Cut an opening in the enclosure panel for the digital operator as shown in Figure 2 10 2 Mount the digital oper...

Page 45: ...SKAWA ELECTRIC SIEP C710616 27C YASKAWA AC Drive A1000 Technical Manual 45 Mechanical Installation 2 Figure 2 9 Figure 2 10 Panel Cut Out Dimensions Internal Flush Mount Installation 120 45 59 0 5 0 8...

Page 46: ...se 200 V Class Three Phase 400 V Class IP20 NEMA Type 1 Enclosure 2A0004F 2A0006F 2A0010F 2A0012F 2A0021F 2A0030F 2A0040F 2A0056F 2A0069F 2A0081F 4A0002F 4A0004F 4A0005F 4A0007F 4A0009F 4A0011F 4A0018...

Page 47: ...22 248 6 38 5 M5 3 2 0021 140 260 164 122 248 6 55 5 M5 3 5 0030 140 260 167 122 248 6 55 5 M5 4 0 0040 140 260 167 122 248 6 55 5 M5 4 0 0056 180 300 187 160 284 8 75 5 M5 5 6 0069 220 350 197 192 33...

Page 48: ...C SIEP C710616 27C YASKAWA AC Drive A1000 Technical Manual IP00 Enclosure Drives W1 4 d H1 H H2 Max 10 W t2 t1 D1 D Figure 1 Max 10 YEG D1 D t2 H1 H2 H 4 d W1 W Max 7 7 Max 7 7 t1 Figure 2 YEG D1 D W...

Page 49: ...0360 500 800 350 370 773 13 130 4 5 4 5 M12 98 0415 500 800 350 370 773 13 130 4 5 4 5 M12 99 Drive Model CIMR A 4A Dimensions mm Figure W H D W1 H1 H2 D1 t1 t2 d Weight kg 0058 1 250 400 258 195 385...

Page 50: ...2 2 Mechanical Installation 50 YASKAWA ELECTRIC SIEP C710616 27C YASKAWA AC Drive A1000 Technical Manual...

Page 51: ...er supply 3 1 SECTION SAFETY 52 3 2 STANDARD CONNECTION DIAGRAM 54 3 3 MAIN CIRCUIT CONNECTION DIAGRAM 56 3 4 TERMINAL BLOCK CONFIGURATION 57 3 5 TERMINAL COVER 59 3 6 DIGITAL OPERATOR AND FRONT COVER...

Page 52: ...n the drive Failure to comply could result in death or serious injury Installation maintenance inspection and servicing must be performed only by authorized personnel familiar with installation adjust...

Page 53: ...ed cable for control wiring Failure to comply may cause electrical interference resulting in poor system performance Use shielded twisted pair wires and ground the shield to the ground terminal of the...

Page 54: ...ion Forward Run Stop Reverse Run Stop External fault Fault reset Multi speed step 1 Multi speed step 2 External Baseblock Jog speed Multi function digtial inputs default setting Sink Source mode selec...

Page 55: ...o shut off power to the drive in case overheat occurs 3 The drive s protection function for the internal braking transistor needs to be disabled L8 55 0 if using a regen unit such as a regen converter...

Page 56: ...200 V Class CIMR A 2A0110 0138 Three Phase 400 V Class CIMR A 4A0058 0072 Figure 3 6 Figure 3 3 Connecting Main Circuit Terminals Three Phase 200 V Class CIMR A 2A0169 to 0415 Three Phase 400 V Class...

Page 57: ...T3 1 R L1 S L2 T L3 U T1 V T2 W T3 3 1 R L1 S L2 T L3 U T1 V T2 W T3 3 1 R L1 S L2 T L3 B1 B2 U T1 V T2 W T3 1 2 B1 B2 1 2 U T1 V T2 W T3 1 2 R L1 S L2 T L3 B1 B2 S L2 T L3 U T1 V T2 W 1 2 B1 B2 CIMR...

Page 58: ...Technical Manual Figure 3 9 Figure 3 5 Main Circuit Terminal Block Configuration 1 Terminal board design differs slightly for models CIMR A 2A0250 through 2A0415 and 4A0208 through 4A0362 R L1 S L2 T...

Page 59: ...inal cover and gently pull forward This should remove the terminal cover Figure 3 11 Figure 3 7 Removing the Terminal Cover on an IP20 NEMA Type 1 Enclosure Drive Reattaching the Terminal Cover Power...

Page 60: ...rminal cover to free it from the drive Figure 3 14 Figure 3 10 Removing the Terminal Cover on an IP00 Enclosure Drive Reattaching the Terminal Cover Once wiring to the terminal board and other devices...

Page 61: ...s on the hook located on the right side of the digital operator pull forward and remove the operator from the drive Figure 3 16 Figure 3 12 Removing the Digital Operator Reattaching the Digital Operat...

Page 62: ...screwdriver to loosen the hooks on each side of the cover that hold it in place Figure 3 19 Figure 3 15 Remove the Front Cover 2A0110 to 2A0415 and 4A0058 to 4A0675 4 First unhook the left side of th...

Page 63: ...to reattach the front cover Pinch inwards on the hooks found on each side of the front cover while guiding it back into the drive Make sure it clicks firmly into place 2A0110 to 2A0415 and 4A0058 to...

Page 64: ...front edge of the top protective cover Gently apply pressure as shown in the figure below to free the cover from the drive Note Removing the top protective cover from a IP20 NEMA Type 1 enclosure driv...

Page 65: ...nctions Table 3 1 Main Circuit Terminal Functions Protecting Main Circuit Terminals Insulation Cap Use insulation caps when wiring the drive with crimp terminals Take particular care to ensure that wi...

Page 66: ...g ambient temperature within 40 C and wiring distance less than 100 m 2 Terminals 1 2 3 B1 and B2 are for connecting optional devices such as a DC reactor or braking resistor Do not connect other nons...

Page 67: ...V T2 W T3 6 4 to 16 1 2 6 to 16 B1 B2 4 to 6 6 6 to 10 M5 2 to 2 5 17 7 to 22 1 2A0040 R L1 S L2 T L3 10 6 to 16 M4 1 2 to 1 5 10 6 to 13 3 U T1 V T2 W T3 10 6 to 16 1 2 16 B1 B2 4 to 6 10 6 to 10 M5...

Page 68: ...o 150 M12 32 to 40 283 to 354 2A0360 R L1 S L2 T L3 240 95 to 300 M12 32 to 40 283 to 354 U T1 V T2 W T3 240 95 to 300 1 125 to 300 3 70 to 300 M10 18 to 23 159 to 204 120 120 to 240 M12 32 to 40 283...

Page 69: ...L2 T L3 16 16 to 25 M6 4 to 6 35 4 to 53 1 U T1 V T2 W T3 16 16 to 25 1 2 16 to 25 B1 B2 6 to 10 M5 2 to 2 5 17 7 to 22 1 16 10 to 16 M6 4 to 6 35 4 to 53 1 4A0058 R L1 S L2 T L3 16 10 to 50 M8 9 to...

Page 70: ...r torque when the wiring between the drive and the motor is too long especially at low frequency output This can also be a problem when motors are connected in parallel with a 4A0208 R L1 S L2 T L3 95...

Page 71: ...or large current electrical equipment Improper equipment grounding could result in drive or equipment malfunction due to electrical interference NOTICE When using more than one drive ground multiple...

Page 72: ...lti step speed reference 1 S6 Multi function input 6 Multi step speed reference 2 S7 Multi function input 7 Jog reference S8 Multi function input 8 External baseblock SC Multi function input common Mu...

Page 73: ...Zero Speed M4 M5 Multi function digital output Speed Agree 1 M6 Monitor Output MP Pulse train output Output frequency 32 kHz max 241 FM Analog monitor output 1 Output frequency 10 to 10 Vdc 0 to 10 V...

Page 74: ...r supply UL standard when connecting to the control terminals Improper application of peripheral devices could result in drive performance degradation due to improper power supply NOTICE Insulate shie...

Page 75: ...ard When setting the frequency by analog reference from an external potentiometer use shielded twisted pair wires treating wire ends as shown in Figure 3 27 and connect the shield to the ground termin...

Page 76: ...o Control I O Connections on page 77 for setting instructions Figure 3 32 Figure 3 28 Locations of Jumpers and Switches on the Terminal Board MA MB MC M1 M2 M5 M3 M6 M4 E G HC H1 H2 DM DM IG R R S S S...

Page 77: ...urcing Mode Selection for Safe Disable Inputs Use jumper S3 on the terminal board to select between Sink mode Source mode or external power supply for the Safe Disable inputs H1 and H2 as shown in Tab...

Page 78: ...level voltage VMP can be calculated by Figure 3 33 Figure 3 29 Pulse Output Connection Using Internal Voltage Supply Using External Power Supply Sink Mode The high voltage level of the pulse output si...

Page 79: ...type for terminals AM and FM can be set to either voltage or current output using jumper S5 on the terminal board as explained in Table 3 15 When changing the setting of jumper S5 parameters H4 07 and...

Page 80: ...hown in Table 3 17 The OFF position is the default The termination resistor should be placed to the ON position when the drive is the last in a series of slave drives Refer to Switches and Jumpers on...

Page 81: ...equipped with a USB port type B The drive can connect to the USB port of a PC using a USB 2 0 AB type cable sold separately DriveWizard Plus can then be used to monitor drive performance and manage pa...

Page 82: ...tage or undervoltage is triggered as soon as the Run command is entered when the drive is in the Programming mode and will not accept a Run command even when entered Interlock Circuit Example Two driv...

Page 83: ...the carrier frequency set to C6 02 accordingly 71 13 Properly ground the drive Review page 71 71 14 Tightly fasten all terminal screws control circuit terminals grounding terminals Refer to Wire Gauge...

Page 84: ...3 13 Wiring Checklist 84 YASKAWA ELECTRIC SIEP C710616 27C YASKAWA AC Drive A1000 Technical Manual...

Page 85: ...drive for initial operation 4 1 SECTION SAFETY 86 4 2 USING THE DIGITAL OPERATOR 87 4 3 THE DRIVE AND PROGRAMMING MODES 91 4 4 START UP FLOWCHARTS 98 4 5 POWERING UP THE DRIVE 102 4 6 APPLICATION SEL...

Page 86: ...all covers or shields before operating the drives and run the drives according to the instructions described in this manual Do not remove covers or touch circuit boards while the power is on Failure t...

Page 87: ...ncy Reference display 3 RESET Key Moves the cursor to the right Resets the drive to clear a fault situation 4 RUN Key Starts the drive in the LOCAL mode The Run LED is on when the drive is operating t...

Page 88: ...the frequency reference is assigned to the drives MEMOBUS Modbus Communication Inputs OP Displayed when the frequency reference is assigned to a drive Option Unit RP Displayed when the frequency refer...

Page 89: ...the Run command is assigned to the digital operator LOCAL Run command to be given from a device other than the digital operator REMOTE During run During deceleration to stop When a Run command is inp...

Page 90: ...MONITR FREF d1 01 U1 01 000 00Hz 3 4 0 00 50 00 0 00Hz DRV FWD Rdy MODE U1 01 0 00Hz U1 02 0 00Hz U1 03 0 00A DRV Monitor Menu Rdy MODE PRG Modified Consts HELP HELP DATA MODE PRG Quick Setting DATA...

Page 91: ...play screen allows the user to monitor and change the frequency reference while the drive is running Refer to The Drive and Programming Modes on page 91 Note The user can select the data displayed whe...

Page 92: ...heir original default values Setup Group Access a list of commonly used parameters to simplify setup see Simplified Setup Using the Setup Group on page 95 Auto Tuning Mode Automatically calculates and...

Page 93: ...screen shown in Step 4 12 Press the key until back at the initial display Step Display Result PRMSET Initialization Select Language PRG FWD A1 00 0 PRMSET Basic Setup Accel Time 1 PRG FWD C1 01 10 0...

Page 94: ...llowing example is a continuation of the steps above Here parameter C1 02 is accessed using the Verify Menu and is changed again from 10 0 s to 20 0 s To check the list of edited parameters Step Displ...

Page 95: ...tion selected Refer to Application Selection on page 103 In this example the Setup Group is accessed to change b1 01 from 1 to 0 This changes the source of the frequency reference from the control cir...

Page 96: ...remain lit 2 The drive will not allow the user to switch between LOCAL and REMOTE during run Using the LO RE Key on the Digital Operator Parameter Name Parameter Name A1 02 Control Method Selection E...

Page 97: ...gh S8 to Switch between LO RE The user can also switch between LOCAL and REMOTE modes using one of the digital input terminals S1 through S8 set the corresponding parameter H1 to 1 When setting the mu...

Page 98: ...uld be performed again after installing an AC reactor or other such components to the output side of the drive Flowchart Subchart Objective Page A Basic startup procedure and motor tuning 98 A 1 Simpl...

Page 99: ...o Tuning for Stator Resistance T1 01 2 NO YES Energy Savings b8 01 1 or Speed Estimation Speed Search b3 24 1 enabled when b3 01 1 or L2 01 1 2 Is the motor cable longer than 50 meters Return to Flowc...

Page 100: ...nary Auto Tuning will probably yield better control performance 3 Make sure the motor and load can run freely i e if a brake is mounted make sure it is released 4 ASR Gain Tuning automatically perform...

Page 101: ...Yaskawa PM motor SMRA Series SSR1 Series and SST4 Series If using a motor from another manufacturer enter FFFF 2 Make sure the motor and load can run freely i e if a brake is mounted make sure it is r...

Page 102: ...drive and motor Drive output terminals and motor terminals Properly wire drive output terminals U T1 V T2 and W T3 with motor terminals U V and W Control circuit terminals Check control circuit termin...

Page 103: ...ury Setting 1 Water Supply Pump Application Table 4 5 Water Supply Pump Parameter Settings Table 4 6 Water Supply Pump User Parameters A2 01 to A2 16 Setting 2 Conveyor Application Table 4 7 Conveyor...

Page 104: ...t Start H1 05 Multi Function Digital Input Terminal S5 Function Selection C1 01 Acceleration Time 1 H1 06 Multi Function Digital Input Terminal S6 Function Selection C1 02 Deceleration Time 1 H1 07 Mu...

Page 105: ...ell Reference at Start 3 0 Hz b6 02 Dwell Time at Start 0 3 s C1 01 Acceleration Time 1 3 0 s C1 02 Deceleration Time 1 3 0 s C6 01 Duty Rating 0 Heavy Duty C6 02 Carrier Frequency Selection 2 5 kHz d...

Page 106: ...before the drive can restart Related Parameter Settings The table below shows the parameter settings needed when using output terminals M1 M2 as brake control output Figure 4 11 Figure 4 12 Frequency...

Page 107: ...ignal controls the brake initial excitation should be enabled Set the initial excitation time to parameter b2 03 The time chart below gives a an example sequence Figure 4 13 Figure 4 14 Holding Brake...

Page 108: ...i Function Digital Input Terminal S6 Function 4 Multi Step Speed 2 H2 02 Terminals M3 M4 Function Selection 37 During frequency output L3 04 Stall Prevention Selection during Decel 0 Disabled L8 05 In...

Page 109: ...but the motor load is below 30 Rotational Auto Tuning gives the most accurate results and is therefore highly recommended if possible N A N A YES YES Stationary Auto Tuning 1 T1 01 1 Motor and load ca...

Page 110: ...anually or by motor code and the cable is longer than 50 m Should also be performed if the cable has changed after earlier tuning YES YES YES Z Pulse Offset Tuning T2 01 3 PG encoder has been replaced...

Page 111: ...ery should be allowed to rotate the motor Notes on Stationary Auto Tuning Stationary Auto Tuning modes analyze motor characteristics by injecting current into the motor for about one minute WARNING El...

Page 112: ...peed while superimposing a sine wave test signal Make sure this tuning process does not cause any problem or malfunction in the machine before using it Ensure the motor mounted brake is fully released...

Page 113: ...1 02 2 Press to view the default setting 3 Press and to enter the motor power nameplate data in kW 4 Press to save the setting 5 The display automatically returns to the display in Step 1 6 Repeat Ste...

Page 114: ...complete change the maximum frequency E1 04 to the desired value T1 00 Motor 1 Motor 2 Selection Selects the motor to be tuned when motor 1 2 switching is enabled i e a digital input is set for funct...

Page 115: ...the motor rated current according to the motor nameplate value For optimal performance in OLV or CLV the motor rated current should be between 50 and 100 of the drive rated current Enter the current a...

Page 116: ...en motor capacity was entered to T1 02 If the motor test report is available enter the motor iron loss value listed there Parameter Settings during PM Motor Auto Tuning T2 The T2 parameters are used t...

Page 117: ...on page 204 for motor codes T2 03 PM Motor Type Selects the type of PM motor the drive will operate 0 IPM motor 1 SPM motor T2 04 PM Motor Rated Power Specifies the motor rated power in kilowatts T2 0...

Page 118: ...ve will use E5 09 and will automatically set E5 25 to 0 0 T2 14 PM Motor Induced Voltage Constant Ke Enter the motor induced voltage constant Ke T2 15 Pull In Current Level for PM Motor Tuning Sets th...

Page 119: ...is too large and causes problems during Inertia Tuning If a fault occurs when T3 01 is set to low value the situation may be remedied by adjusting T3 02 T3 03 Motor Inertia Enter the inertia of the mo...

Page 120: ...the step response time constant of the system or the connected machine The drive uses this value and the load inertia to fine tune the speed control loop gain C5 01 ASR Gain 1 Oscillation may result...

Page 121: ...eference d1 01 to 6 Hz Step Display Result 1 Turn on the power to the drive The initial display appears 2 Press the key to select LOCAL The LO RE light will turn on 3 Press to give the drive a Run com...

Page 122: ...6 The drive should operate normally Press to stop the motor RUN flashes until the motor comes to a complete stop Step Display Result STOP LO RE F2 F1 ESC RUN STOP ENTER RESET ALARM DIGITAL OPERATOR JV...

Page 123: ...ce Confirm that the Fast Stop circuit or mechanical safety measures operate correctly Be ready to press the STOP button in case of emergency Checklist Before Operation The motor should rotate in the p...

Page 124: ...Lets the user create a set of default settings for a User Initialization 0 Saved Not set 1 Set Defaults Saves current parameter settings as the default values for a User Initialization 2 Clear All Cl...

Page 125: ...and CopyUnitManager The copy unit is an external option connected to the drive to copy parameter settings from one drive and save those settings to another drive Refer to the manual supplied with the...

Page 126: ...C5 01 and the integral time to C5 02 Perform ASR Tuning if possible 173 Open Loop Vector Control for PM A1 02 5 11 Perform Auto Tuning as described 116 Advanced Open Loop Vector Control for PM A1 02...

Page 127: ...ents if the drive does not operate as expected Gain adjustment Set the maximum voltage current signal and adjust the analog input gain H3 03 for input A1 H3 11 for input A2 H3 07 for analog input A3 u...

Page 128: ...4 11 Test Run Checklist 128 YASKAWA ELECTRIC SIEP C710616 27C YASKAWA AC Drive A1000 Technical Manual...

Page 129: ...1 A INITIALIZATION 130 5 2 B APPLICATION 136 5 3 C TUNING 165 5 4 D REFERENCE SETTINGS 180 5 5 E MOTOR PARAMETERS 194 5 6 F OPTION SETTINGS 206 5 7 H TERMINAL FUNCTIONS 214 5 8 L PROTECTION FUNCTIONS...

Page 130: ...accessed using the Setup Mode of the digital operator Setting 2 Advanced Access Level A and Setup Access Level S All parameters can be viewed and edited Notes on Parameter Access If the drive paramete...

Page 131: ...torque applications Using High Frequency Injection a speed control range as high as 1 100 is possible Refer to Control Mode Selection on page 28 for details Setting 7 Closed Loop Vector Control for P...

Page 132: ...on how to enter the password to unlock the parameters Table 5 2 Setting the Password for Parameter Lock No Parameter Name A1 00 Language Selection A1 02 Control Method Selection C6 01 Duty Selection...

Page 133: ...he first display Step Display Result 1 Press to enter the parameter setup display 2 Press or to select the flashing digits as shown 00 flashes 3 Press to scroll to A1 04 and 4 Enter the password 1234...

Page 134: ...ms created by the user in 1 ms cycles Parameter A1 07 can be used to enable or disable the DriveWorksEZ program inside the drive Note 1 If DriveWorksEZ has assigned functions to any multi function out...

Page 135: ...tion A2 33 determines whether or not parameters that have been edited are saved to the User Parameters A2 17 to A2 32 for quick easy access Setting 0 Do not save list of recently viewed parameters To...

Page 136: ...as described in Table 5 5 for the input used Table 5 5 Analog Input Settings for Frequency Reference Using Voltage Signals Figure 5 1 Figure 5 1 Setting the Frequency Reference as a Voltage Signal at...

Page 137: ...ency reference source is set for an option PCB b1 01 3 but an option board is not installed an OPE05 Operator Programming Error will be displayed on the digital operator and the drive will not run Set...

Page 138: ...ommunication system Note If b1 02 is set to 3 but an option board is not installed in CN5 A an oPE05 operator programming error will be displayed on the digital operator and the drive will not run b1...

Page 139: ...t can be calculated by Figure 5 5 Figure 5 5 DC Injection Braking Time Depending on Output Frequency Note If an overcurrent oC fault occurs during DC Injection Braking to stop lengthen the minimum bas...

Page 140: ...r rotation is not appropriate and may cause problems e g air handling units pumps etc Setting parameter b1 04 to 1 instructs the drive to ignore any Reverse run commands Setting 0 Reverse operation en...

Page 141: ...Run at the minimum frequency Whenever a Run command is active and the frequency reference is smaller than the value of parameter E1 09 the drive runs the motor at the speed set in E1 09 When the Run...

Page 142: ...REMOTE External reference 1 The frequency reference and Run command source are set by b1 01 and b1 02 REMOTE External reference 2 The frequency reference and Run command source are set by b1 15 and b1...

Page 143: ...g motor phases will reverse the direction of the motor Setting 0 Standard phase order Setting 1 Switched phase order b1 15 Frequency Reference Selection 2 Refer to b1 01 Frequency Reference Selection...

Page 144: ...1 09 minimum frequency then DC Injection Braking will begin as soon as the frequency falls to the value set to E1 09 OLV PM and AOLV PM A1 02 5 6 For these control modes parameter b2 01 sets the start...

Page 145: ...crease the value if the motor still coasts by inertia after it should have stopped Disabled when set to 0 00 s b2 08 Magnetic Flux Compensation Value Sets the magnetic flux compensation at start as a...

Page 146: ...irectly started from the speed detected without needing to stop the machine before Example When a momentary loss of power occurs the drive output shuts off This results in a coasting motor When power...

Page 147: ...ed for a single induction motor connected to a drive It should not be used if the motor is one or more frame sizes smaller than the drive at motor speeds above 200 Hz or when using a single drive to o...

Page 148: ...to Tuning for V f Control T1 01 3 needs to be first performed if you plan to use Speed Estimation in V f Control Perform Stationary Auto Tuning for Line to Line Resistance T1 01 2 again if the there i...

Page 149: ...art Determines if Speed Search is automatically performed when a Run command is issued or not Setting 0 Disabled When the Run command is entered the drive starts operating at the minimum output freque...

Page 150: ...the detected motor speed of the Speed Estimation Speed Search The setting should be increased only if an overvoltage fault occurs when the drive restarts the motor b3 14 Bi Directional Speed Search S...

Page 151: ...ing of a digital output triggered by a digital input signal An on delay and off delay can be separately set The delay timer can help to get rid of chattering switch noise from sensors To enable the ti...

Page 152: ...PID input This way the D portion of a PID controller provides a braking action to the controller response and can reduce the tendency to oscillate and overshoot Be aware that D control tends to ampli...

Page 153: ...9 PID Feedback Sources Note A duplicate allocation of the PID feedback input will result in an oPE alarm Differential Feedback The second PID feedback signal for differential feedback can come from th...

Page 154: ...1 0 PID Soft Starter b5 17 PID SFS Cancel DI H1 34 PID Input U5 02 PID Feedback U5 01 b5 07 b5 10 PID Output Gain PID Offset b5 15 Sleep Level RUN On Off b5 16 Delay Timer Sleep Function SFS C1 4 d1 0...

Page 155: ...t to b5 03 the faster the offset will be eliminated If set too short it can cause overshoot or oscillation To turn off the integral time set b5 03 0 00 b5 04 Integral Limit Setting Sets the maximum ou...

Page 156: ...everse Selection Determines whether a negative PID output reverses the direction of drive operation or not When the PID function is used to trim the frequency reference b5 01 3 or 4 this parameter has...

Page 157: ...tal output set for PID feedback low H2 3E will be triggered If the PID feedback value exceeds the level set to b5 36 for longer than the time set to b5 37 a FBH Feedback High alarm will be displayed a...

Page 158: ...ppears in the figure below Figure 5 25 Figure 5 25 PID Sleep Operation Notes on using the PID Sleep function The PID Sleep function is always active even if PID control is disabled The PID Sleep funct...

Page 159: ...9 is used as PID setpoint b5 19 PID Setpoint Value Used as the PID setpoint if parameter b5 18 1 b5 20 PID Setpoint Scaling Determines the units that the PID setpoint b5 19 is set in and displayed Als...

Page 160: ...monitor display U1 01 when PID control is active Setting 0 Frequency Reference after PID Monitor U1 01 displays the frequency reference increased or reduced for the PID output Setting 1 Frequency Refe...

Page 161: ...t in b6 02 during acceleration b6 03 b6 04 Dwell Reference Dwell Time at Stop Parameter b6 03 determines the frequency that is held for the time set in b6 04 during deceleration Suppress long cycle os...

Page 162: ...tion Figure 5 28 Figure 5 28 Droop Control Gain b7 02 Droop Control Delay Time The setting in b7 02 adjusts the responsiveness of Droop control Reduce the setting if the reaction time is too long and...

Page 163: ...8 04 is used to fine tune Energy Saving control The default setting depends on the capacity of the drive Adjust this setting while viewing the output power monitor U1 08 and running the drive with a l...

Page 164: ...If the Run command is switched off then Zero Servo will no longer be able to hold the load in place 2 When the Zero Servo command has shut off the Zero Servo Completion digital output width also shut...

Page 165: ...gure 5 30 shows an operation example for changing accel decel times The example below requires that the stopping method be set for Ramp to stop b1 03 0 Figure 5 30 Figure 5 30 Timing Diagram of Accel...

Page 166: ...itches between accel decel time settings Refer to Switching Accel Decel Times by a Frequency Level on page 166 Note Setting C1 11 to 0 0 Hz disables this function C1 09 Fast Stop Time Parameter C1 09...

Page 167: ...32 Figure 5 32 S Curve Timing Diagram FWD REV Operation Setting the S curve will increase the acceleration and deceleration times Actual accel time accel time setting C2 01 C2 02 2 Actual decel time...

Page 168: ...ection during Regeneration Enables or disables slip compensation during regenerative operation When slip compensation during regeneration has been activated and a regenerative load is applied it might...

Page 169: ...Control slip compensation gain acts as an adaptable gain C3 22 Motor 2 Slip Compensation Primary Delay Time Functions for motor 2 in the same way that C3 02 functions for motor 1 Refer to C3 02 Slip...

Page 170: ...nd torque producing current q axis current separately Torque compensation affects the torque producing current only C4 01 works as a factor of the torque reference value that builds the torque produci...

Page 171: ...ges in the load or at the end of acceleration with high inertia load Note If C4 06 is set to a relatively large value be sure to also increase the setting in n2 03 AFR Time Constant 2 proportionally C...

Page 172: ...and faster response during acceleration or deceleration is required enable integral control during accel decel by setting parameter C5 12 to 1 Change the speed and make sure no over undershoot occurs...

Page 173: ...ith PG Check the pulse number set to F1 01 and the gear ratio in F1 12 and F1 13 Make sure the pulse signal from the encoder is set up properly Check monitor U6 04 and check if the ASR is working at i...

Page 174: ...speed deviation ASR Integral Time Tuning C5 02 C5 04 Determines how fast a continuous speed deviation problem is eliminated Too long of an integral time makes the speed control less responsive while...

Page 175: ...not during acceleration or deceleration Setting 1 Enabled Integral operation is always enabled C5 17 C5 18 Motor Inertia Load Inertia Ratio C5 17 and C5 18 determine the ratio of the machine inertia a...

Page 176: ...r the ASR gain switch H1 77 takes priority over the ASR gain switching frequency C5 28 Motor 2 ASR Integral Limit Functions for motor 2 in the same way that C5 08 functions for motor 1 Sets the upper...

Page 177: ...lower audible noise and also reduces leakage current Note Increasing the carrier frequency above the default value automatically lowers the drive s current rating Refer to Rated Current Depending on...

Page 178: ...04 is disabled and the carrier frequency will be fixed to the value set in C6 03 C6 02 Carrier Frequency C6 02 Carrier Frequency C6 02 Carrier Frequency 1 2 0 kHz 5 12 5 kHz 10 0 kHz 9 Swing PWM 3 2 5...

Page 179: ...nt A Model CIMR A Rated Current A Heavy Duty Rating HD Normal Duty Rating ND Heavy Duty Rating HD Normal Duty Rating ND 2 kHz 8 kHz 15 kHz 2 kHz 8 kHz 15 kHz 2 kHz 8 kHz 15 kHz 2 kHz 8 kHz 15 kHz 2A00...

Page 180: ...iary frequency 1 H3 02 H2 06 or H2 10 2 then the value set to this input will be used as the Multi Step Speed 2 instead of the value set to parameter d1 02 If no analog inputs are set for Auxiliary fr...

Page 181: ...1 set in b1 01 OFF OFF OFF OFF OFF Frequency Reference 2 d1 02 or input terminal A1 A2 A3 ON OFF OFF OFF OFF Frequency Reference 3 d1 03 or input terminal A1 A2 A3 OFF ON OFF OFF OFF Frequency Referen...

Page 182: ...rence entered from the analog input terminals A1 A2 or A3 Set as a percentage of the maximum output frequency Note When lower limits are set to both parameters d2 02 and d2 03 the drive uses the great...

Page 183: ...ve power is switched off The active frequency reference will be the value the drive uses when it restarts Up Down The frequency reference value will be reset to 0 Hz when the Stop command is entered o...

Page 184: ...6 Up Down 2 Example with Reference from Digital Operator and d4 01 1 Up Down 2 with frequency reference from input sources other than the digital operator When a Run command is active and the Up Down...

Page 185: ...cel decel time determined by parameter d4 04 Figure 5 48 Figure 5 48 Up Down 2 Bias when d4 03 0 0 Hz Setting d4 03 0 0 Hz When an Up 2 or Down 2 command is enabled the bias is increased or decreased...

Page 186: ...ally added to or subtracted from the frequency reference When d4 01 1 and the frequency reference is set by a source other than the digital operator the bias value adjusted with the Up Down 2 inputs i...

Page 187: ...mined by d2 02 or Analog Input The lower frequency reference limit is determined by the higher value of either parameter d2 02 or an analog input A1 A2 A3 that is programmed for Frequency bias Note Fo...

Page 188: ...the internal torque reference which can be monitored in U1 09 The L7 settings have highest priority i e the motor cannot be operated with a higher torque than the L7 settings even if the external tor...

Page 189: ...gnal selected as frequency reference source d5 03 1 The speed limit is taken from the input selected as frequency reference source in parameter b1 01 or b1 15 1 The settings in C1 for accel decel time...

Page 190: ...ntered Here the operation switches immediately to speed control and the drive decelerates to stop at the torque limit 1 The value of delta n in the drawings depends on the ASR setting in parameters C5...

Page 191: ...rence value at the active reference source digital operator External reference 1 or External reference 2 will be used as speed limit Note that in this case all settings for accel decel times C1 01 to...

Page 192: ...Energy Saving function b8 parameters when Energy Saving for various different load conditions is required Field Forcing The Field Forcing function compensates the delaying influence of the motor time...

Page 193: ...45 46 The selected offset values are added together if multiple inputs are closed at the same time Note This function can be used to replace the Trim Control function H1 1C 1D of earlier Yaskawa driv...

Page 194: ...rn requires the user to create the pattern using parameters E1 04 through E1 10 E1 03 V f Pattern Selection The user can select the V f pattern for the drive and motor from 15 predefined patterns or c...

Page 195: ...torque B 60 Hz high starting torque C 90 Hz with 60 Hz base Constant output Output voltage is constant when operating at greater than 60 Hz D 120 Hz with 60 Hz base E 180 Hz with 60 Hz base Setting 0...

Page 196: ...9 50 Hz Setting A 60 Hz Setting B 60 Hz Setting C 90 Hz Setting D 120 Hz Setting E 180 Hz Setting F 60 Hz Setting 0 50 Hz Setting 1 60 Hz Setting 2 60 Hz Setting 3 72 Hz 0 7 200 1 3 2 5 50 14 Voltage...

Page 197: ...sing PM motors the default setting is determined by the motor code set to E5 01 3 Values shown here are for 200 V class drives Double values when using a 400 V class unit 4 The drive changes these set...

Page 198: ...ate This value is used for motor protection and to calculate torque limits If Auto Tuning completes successfully the value entered to T1 04 will automatically be saved to E2 01 Note This value s numbe...

Page 199: ...e formulas below E type insulation Multiply 0 92 times the resistance value listed on the test report at 75 C B type insulation Multiply 0 92 times the resistance value listed on the test report at 75...

Page 200: ...Enter the no load current at rated frequency and rated voltage to E2 03 The no load current is not usually listed on the nameplate Contact the motor manufacturer if the data cannot be found The defau...

Page 201: ...rol Mode Selection Selects the control mode for motor 2 A control mode for PM motors cannot be selected for motor 2 Setting 0 V f Control Setting 1 V f Control with PG Setting 2 Open Loop Vector Contr...

Page 202: ...imal place 0 1 A if the set Maximum Applicable Motor Capacity is higher than 11 kW 2 If the motor rated current in E4 01 is set lower than the motor no load current in E4 03 then a parameter setting e...

Page 203: ...the motor iron saturation coefficient at 75 of magnetic flux This value is automatically set during Rotational Auto Tuning Adjust this parameter when operating in the constant output range E4 09 Moto...

Page 204: ...r SST4 series then E5 01 should be set to FFFF 3 The default setting is below OLV PM AOLV PM Yaskawa SSR1 Series 1750 r min CLV PM Yaskawa SSR4 Series 1750 r min E5 02 Motor Rated Power Sets the rated...

Page 205: ...Sets the offset between the rotor magnetic axis and the Z pulse of the encoder connected This parameter is set during Parameter Auto Tuning for PM motors and during Z Pulse Tuning E5 24 Motor Inducti...

Page 206: ...y the Alarm only and No alarm display setting should be used only under special circumstances F1 03 F1 08 F1 09 Overspeed oS Operation Selection Detection Level Delay Time An overspeed error oS is tri...

Page 207: ...ator as shown below Example To have a ratio of 1 32 between the PG card pulse input and output set F1 06 032 F1 12 F1 13 F1 33 F1 34 PG 1 PG 2 Gear Teeth 1 2 V f w PG only Sets the gear ratio between...

Page 208: ...isconnected Setting 0 Disabled Setting 1 Enabled F1 21 F1 37 PG 1 PG 2 Signal Selection V f w PG only Determines whether the signal to the PG option card is single track or two track Setting 0 Single...

Page 209: ...parameter b1 01 must be set to 3 Gain and bias settings for the frequency reference supplied from AI A3 can be set using parameters F2 02 and F2 03 F2 02 F2 03 Analog Input Option Card Gain Bias Param...

Page 210: ...l When viewing the values set to F4 02 or F4 05 on the digital operator a voltage equal to 100 of the parameter being viewed including current gain and bias settings will be output from terminal V1 or...

Page 211: ...l communication option cards while some parameters are used only for certain network options F6 01 Communications Error Operation Selection Determines drive operation if a communication error occurs S...

Page 212: ...multi step speed input frequency references are disabled Setting 1 Multi step speed operation enabled Even if the NetRef command is selected multi step speed inputs are still active and can override...

Page 213: ...HATROLINK II Installation Manual and Technical Manual PROFIBUS DP Parameters Parameters F6 30 through F6 32 set up the drive to operate on a PROFIBUS DP network For details on parameter settings refer...

Page 214: ...selection 221 2 External reference 1 2 selection 216 40 Forward run command 2 wire sequence 221 3 Multi Step Speed Reference 1 216 41 Reverse run command 2 wire sequence 4 Multi Step Speed Reference 2...

Page 215: ...ipment WARNING The drive may start unexpectedly in reverse direction after power up if it is wired for 3 wire sequence but set up for 2 wire sequence default Make sure b1 17 is set to 0 drive does not...

Page 216: ...ed Search to get the motor running again NOTICE If using baseblock in hoist applications make sure the brake closes when the drive output is cut off by a Baseblock command triggered via one of the inp...

Page 217: ...en only one of the functions Up Down is programmed for a digital input 2 An oPE03 alarm will occur if the Up Down function is assigned to the terminals while another input is programmed for the Accel...

Page 218: ...input simultaneously for 500 ms or more an alarm will occur and the drive will ramp to stop Figure 5 59 Figure 5 59 FJOG RJOG Operation Setting 14 Fault reset Whenever the drive detects a fault condit...

Page 219: ...ll trigger the rUn alarm 3 There is a 500 ms delay when switching between motors equipped with a PG encoder for feedback 4 The motor 2 selection function cannot be used when PM motor is used If a digi...

Page 220: ...ons is used simultaneously with the Analog frequency reference sample hold command Hold accel decel stop setting A Up command Down command setting 10 11 Offset frequency setting 44 to 46 Up or Down fu...

Page 221: ...drive for a 2 wire sequence When an input terminal set to 40 closes the drive operates in the forward direction When an input set for 41 closes the drive will operate in reverse Closing both inputs at...

Page 222: ...not be assigned to the input terminals at the same time This will trigger setting error oPE03 Setting 67 Communication test mode The drive has a built in function for self diagnosing serial communicat...

Page 223: ...ency holds the bias when no Up 2 or Down 2 input or both active Resets the bias when the reference changes Operates with the frequency reference in all other situations Not saved 2 1 If the bias and f...

Page 224: ...ctional output conversion is enabled in parameter d4 11 a digital input programmed for 7F can be used to switch between normal output or bi directional output If the digital input is open the PID outp...

Page 225: ...ency output 232 B Torque detection 1 N O 228 38 Drive enabled 232 C Frequency reference loss 228 39 Watt hour pulse output 232 D Braking resistor fault 228 3C LOCAL REMOTE Status 233 E Fault 228 3D Du...

Page 226: ...ard and reverse The value of L4 01 is used as the detection level for both directions Figure 5 68 Figure 5 68 User Set Speed Agree 1 Time Chart Refer to L4 01 L4 02 Speed Agreement Detection Level and...

Page 227: ...e of L4 01 is used as the detection level for both directions Figure 5 70 Figure 5 70 Frequency Detection 2 Time Chart Refer to L4 01 L4 02 Speed Agreement Detection Level and Detection Width on page...

Page 228: ...braking resistor DB overheats or the braking transistor is in a fault condition Setting E Fault The digital output will close whenever the drive experiences a fault this excludes faults CPF00 and CPF0...

Page 229: ...within the speed agree width L4 04 of the current frequency reference regardless of the direction Note Detection works in both forward and reverse Figure 5 71 Figure 5 71 Speed Agree 2 Time Chart Refe...

Page 230: ...peed CLV CLV PM is above the detection level set in L4 03 The terminal remains closed until the output frequency or motor speed falls below L4 03 minus the setting of L4 04 As the detection level L4 0...

Page 231: ...ault is cleared and the drive has begun attempting to restart If the drive cannot successfully restart within the number of attempts permitted by L5 01 then a fault will be triggered and the terminal...

Page 232: ...g 33 Zero Servo complete Output closes when Zero Servo is enabled and the load is locked into position within the allowable deviation b9 02 For how Zero Servo operates see b9 Zero Servo on page 164 Se...

Page 233: ...o a drive overheat alarm L8 03 4 and the overheat alarm has not disappeared after ten frequency reduction operation cycles Refer to L8 03 Overheat Pre Alarm Operation Selection on page 269 for a more...

Page 234: ...c The minimum input level is limited to 0 so that a negative input signal due to gain and bias settings will be simply read as 0 Setting 1 10 to 10 Vdc The input level is 10 to 10 Vdc If the resulting...

Page 235: ...ignal Level Selection Selects the input signal level for analog input A3 Refer to Multi Function Analog Input Terminal Settings on page 237 for a list of functions and descriptions Setting 0 0 to 10 V...

Page 236: ...assigned to analog input terminal A2 Refer to Multi Function Analog Input Terminal Settings on page 237 for a list of functions and descriptions H3 11 H3 12 Terminal A2 Gain and Bias Setting Paramete...

Page 237: ...eference by the total of all inputs Example If the analog frequency reference from analog input terminal A1 is 50 and a bias of 20 is applied by analog input terminal A2 the resulting frequency refere...

Page 238: ...urrent Using an Analog Input Terminal Setting 7 Torque Detection level Using this setting the overtorque undertorque detection level for torque detection 1 L6 01 can be set by an analog input The anal...

Page 239: ...ing 10 11 12 15 Forward Reverse Regenerative General torque limit OLV CLV AOLV PM CLV PM These functions can be used to set a torque limit using analog inputs for different operating conditions Refer...

Page 240: ...02 or H4 05 on the digital operator the analog output will supply a voltage signal equal to 100 of the monitor value including changes made from bias and gain settings When viewing a bias setting para...

Page 241: ...Train Input Output A one track pulse train signal with a maximum frequency of 32 kHz can be input to the drive at terminal RP This pulse train signal can be used as the frequency reference for PID fu...

Page 242: ...forwards 2 Using the Frequency Reference Direction If no digital input is set to Forward reverse detection H1 7E the drive uses the direction of the frequency reference as the direction for the speed...

Page 243: ...the pulse train monitor output synchronous to the output frequency H6 08 Pulse Train Input Minimum Frequency Sets the minimum output frequency that can be detected by the pulse train input Decreasing...

Page 244: ...Motors NOTICE Thermal protection cannot be provided when running multi motors simultaneously with the same drive or when using motors with a current rating that is relatively high when compared with o...

Page 245: ...motor overload characteristics providing overheat protection across the entire speed range Overload Tolerance Cooling Ability Overload Characteristics Motor is designed to effectively cool itself even...

Page 246: ...to one minute During normal operation motor overload protection operates in the area between a cold start and a hot start Cold start Motor protection operation time in response to an overload situatio...

Page 247: ...ill stop the motor using the stop method determined in L1 04 Connect the PTC between terminals AC and A3 and set jumper S4 on the terminal board to PTC like shown in Figure 5 88 Set parameter H3 05 to...

Page 248: ...ult level oH4 Setting 0 Ramp to stop The drive stops the motor using the deceleration time 1 set in parameter C1 02 Setting 1 Coast to Stop The drive output is switched off and the motor coasts to sto...

Page 249: ...will shut off A Uv1 fault is not triggered The type of KEB operation is determined by the setting of L2 29 Setting 5 Ramp to stop with KEB deceleration The drive ramps to stop using the regenerative...

Page 250: ...iefly holds the frequency before continuing to decelerate again KEB Ride Thru Start KEB operation is always triggered in the same way independent of the selected KEB operation mode When the KEB functi...

Page 251: ...L2 11 then normal operation is resumed Note The time set in L2 02 has priority over L2 10 Even if L2 10 is set to a longer time than L2 02 once the time in L2 02 passes the drive will check the DC bu...

Page 252: ...the terminal that initiated KEB Rid Thru is released then operation resumes Figure 5 94 Figure 5 94 KEB Operation Using L2 10 and KEB Input L2 01 5 KEB operation ends when the motor has come to a stop...

Page 253: ...ring KEB deceleration NO NO YES YES L2 07 KEB Acceleration Time Adjust to the desired acceleration time If set to 0 standard acceleration times are used C1 01 C1 03 C1 05 C1 07 YES YES YES YES L2 08 F...

Page 254: ...ge to drive circuitry 2 If using KEB Ride Thru and L2 05 is set too low then undervoltage in the DC bus uv1 will be triggered before KEB Ride Thru can be executed Take caution not to set this value to...

Page 255: ...Setting 2 System KEB Ride Thru 1 Setting 3 System KEB Ride Thru 2 Refer to KEB Ride Thru Function on page 249 for detailed explanations L3 Stall Prevention When the load is too high or acceleration a...

Page 256: ...02 then the drive stops accelerating Acceleration will not resume until the output current falls 15 below the setting in L3 02 The Stall Prevention level is automatically reduced in the constant power...

Page 257: ...stant power range L3 03 sets the lower limit for this reduction as a percentage of the drive rated current Figure 5 98 Figure 5 98 Stall Prevention Level and Limit During Acceleration L3 22 Decelerati...

Page 258: ...Prevention during deceleration Figure 5 99 Figure 5 99 Stall Prevention During Deceleration Setting 2 Intelligent Stall Prevention With this setting the drive adjusts the deceleration rate so that th...

Page 259: ...ault Setting 1 Decelerate using C1 02 If the current exceeds the Stall Prevention level set in parameter L3 06 then the drive will decelerate at decel time 1 C1 02 Once the current level drops below t...

Page 260: ...ion Setting 0 Disabled The regenerative torque limit and the output frequency are not adjusted A regenerative load may trip the drive with an overvoltage fault Use this setting if dynamic braking opti...

Page 261: ...the overvoltage suppression function L3 11 1 Automatic Parameter Setup In Closed Loop Vector Control for induction motors or PM motors the Inertia Auto Tuning function can be used to let the drive aut...

Page 262: ...ion 2 Parameter L4 02 sets the hysteresis level for these functions Refer to H2 01 to H2 03 Terminal M1 M2 M3 M4 and M5 M6 Function Selection on page 224 Settings 2 3 4 and 5 L4 03 L4 04 Speed Agreeme...

Page 263: ...ing 0 No detection during baseblock Setting 1 Detection always enabled L5 Fault Restart After a fault has occurred this function attempts to automatically restart the motor and continue operation inst...

Page 264: ...ssful restarts The drive will continuously attempt to restart If it restarts successfully the restart counter is increased This operation is repeated each time a fault occurs until the counter reaches...

Page 265: ...tection and an oL3 oL4 alarm is triggered Setting 2 oL3 oL4 at run alarm Overtorque detection works as long as the Run command is active The operation continues after detection and an oL3 or oL4 alarm...

Page 266: ...log input L6 03 L6 06 Torque Detection Time 1 2 These parameters determine the time required to trigger an alarm or fault after exceeding the levels in L6 02 and L6 05 Mechanical Weakening Detection T...

Page 267: ...tuation selected in parameter L6 08 to arise before mechanical weakening is detected L6 11 Mechanical Weakening Detection Start Time Sets the drives cumulative operation time at which Mechanical Weake...

Page 268: ...desired speed has priority over the torque limit during speed changes Setting 1 Integral control The torque limit function always uses I control Use this setting when a highly accurate torque limit is...

Page 269: ...eaches the overheat fault level the drive will trigger an oH1 fault and stop operation When an output terminal is set for the oH pre alarm H2 20 the switch will close when the heatsink temperature ris...

Page 270: ...nput phase loss detection Setting 0 Disabled Setting 1 Enabled Enables input phase loss detection As detection is performed by measuring the DC bus ripple a phase loss fault PF can also be triggered b...

Page 271: ...mand is active It is switched off with the delay set in parameter L8 11 after the Run command has been released Using this setting extends the fan lifetime Setting 1 Run always The fan runs whenever p...

Page 272: ...r to reduce the current If the current level drops below the Software CLA level then normal operation will continue L8 27 Overcurrent Detection Gain Adjusts the overcurrent detection level when runnin...

Page 273: ...ction function Note This function cannot be used in Advanced Open Loop Vector for PM motors Setting 0 Disabled No carrier frequency reduction at high current Setting 1 Enabled for output frequencies b...

Page 274: ...king transistor is not used This includes when using a regen converter such as DC5 when using a regen unit such as RC5 when using external braking transistor options like CDBR units when the drive is...

Page 275: ...adjustment may help under the following conditions If the motor vibrates while lightly loaded and n1 01 1 increase the gain by 0 1 until vibration ceases If the motor stalls while n1 01 1 decrease th...

Page 276: ...n3 High Slip Braking HSB and Overexcitation Braking High Slip Braking V f HSB works in V f Control only and is used to decrease the stopping time compared to normal deceleration without using dynamic...

Page 277: ...rature will rise if Overexcitation Deceleration is applied frequently In such cases make sure the motor temperature does not exceed the maximum allowable value or consider using a braking resistor opt...

Page 278: ...irable in environments where motor noise is a concern Setting 0 Disabled Setting 1 Enabled n3 21 High Slip Suppression Current Level If the motor current exceeds the value set to n3 21 during Overexci...

Page 279: ...ricted by the application use Inertia Auto Tuning T1 01 8 to have the drive automatically optimize Feed Forward parameters If Inertia Auto Tuning cannot be performed parameters related to Feed Forward...

Page 280: ...l easily be reached during the test TLim_Test 5 Set the frequency reference equal to a value in the upper speed range of the machine fref_Test 6 While monitoring the motor speed in U1 05 start the mot...

Page 281: ...rent AOLV PM Sets the current applied to pull the rotor into position after the initial rotor position estimations are complete The value is set as a percentage of the motor rated current Increase thi...

Page 282: ...sing the motors reluctance torque and thereby reduce the energy consumption This parameter should be set to 0 when using an SPM motor Although this setting seldom needs to be changed please note the f...

Page 283: ...0 when using zero speed control n8 62 Output Voltage Limit Sets the output voltage limit to prevent voltage saturation Never set this value higher than the actual input voltage n8 65 Speed Feedback D...

Page 284: ...Sets the units used to display the frequency reference and output frequency Set o1 03 to 3 for user set units then set parameters o1 10 and o1 11 Setting 0 0 01 Hz units Setting 1 0 01 units 100 max o...

Page 285: ...een LOCAL and REMOTE Setting 0 Disabled The LO RE key is disabled Setting 1 Enabled The LO RE switches between LOCAL and REMOTE operation Switching is possible during stop only When LOCAL is selected...

Page 286: ...ing 2 Clear User Initialize Values All user set defaults for User Initialize are cleared Once o2 03 is set to 2 and the ENTER key is pressed the values are erased and the display returns to 0 o2 04 Dr...

Page 287: ...tings into the memory of the digital operator and easily transfer those settings to other drives requires that the other drives be the same model capacity and have the same control mode setting See Co...

Page 288: ...nce which is displayed in U4 04 Be sure to reset this parameter back to 0 if the cooling fan is replaced Note 1 The value in o4 03 increases after every 10 hours of use A setting of 30 will set the co...

Page 289: ...kept as they are Setting 1 Reset kWh Data Resets the kWh counter The monitors U4 10 and U4 11 will display 0 after they are initialized Once o4 12 is set to 1 and the ENTER key is pressed kWh data is...

Page 290: ...ELECTRIC SIEP C710616 27C YASKAWA AC Drive A1000 Technical Manual T Motor Tuning Auto Tuning automatically sets and tunes parameters required for optimal motor performance Refer to Auto Tuning on pag...

Page 291: ...when those faults occurred Refer to U3 Fault History on page 450 for a complete list of U3 monitors and descriptions U3 monitors are not reset when the drive is initialized Refer to o4 11 U2 U3 Initi...

Page 292: ...quency 1 2 3 on page 221 The bias value added to the frequency reference by the Up Down 2 function see Setting 75 76 Up 2 Down 2 command on page 223 Refer to U6 Operation Status Monitors on page 452 f...

Page 293: ...er can also serve as a reference guide for tuning the drive during a trial run 6 1 SECTION SAFETY 294 6 2 MOTOR PERFORMANCE FINE TUNING 296 6 3 DRIVE ALARMS FAULTS AND ERRORS 300 6 4 FAULT DETECTION 3...

Page 294: ...turned off After shutting off the power wait for at least the amount of time specified on the drive before touching any components Do not allow unqualified personnel to perform work on the drive Fail...

Page 295: ...se unshielded cable for control wiring Failure to comply may cause electrical interference resulting in poor system performance Use shielded twisted pair wires and ground the shield to the ground term...

Page 296: ...fficient at speeds below 10 Hz increase the setting If motor hunting and oscillation with a relatively light load decrease the setting 1 00 0 50 to 1 50 Poor motor torque at low speeds Motor instabili...

Page 297: ...lator ASR on page 171 for details on Automatic Speed Regulator ASR Parameter No Corrective Action Default Suggested Setting Poor torque or speed response Motor hunting and oscillation ASR Proportional...

Page 298: ...etween no load and loaded operation Poor torque or speed response Motor hunting and oscillation ASR Integral Time 1 C5 02 ASR Integral Time 2 C5 04 If motor torque and speed response are too slow decr...

Page 299: ...ing and end of acceleration and deceleration Jump Frequency d3 01 through d3 04 Skips over the resonant frequencies of connected machinery Analog Filter Time Constant H3 13 Prevents fluctuation in the...

Page 300: ...ashes The drive generally continues running the motor although some alarms allow the user to select a stopping method when the alarm occurs One of the multi function contact outputs closes if set to b...

Page 301: ...Conversion Error 306 nSE Node Setup Error 310 CPF03 Control Board Connection Error 307 oC Overcurrent 311 CPF06 EEPROM Memory Data Error 307 oFA00 Option Card Connection Error CN5 A 311 CPF07 CPF08 T...

Page 302: ...dware Fault when using PG X3 316 to oFC30 to oFC43 Option Card Fault CN5 C 313 rF Braking Resistor Fault 316 rH Dynamic Braking Resistor 316 oH Heatsink Overheat 313 rr Dynamic Braking Transistor 316...

Page 303: ...BT Maintenance Time 50 No output 1 322 oH Heatsink Overheat YES 322 oH2 Drive Overheat YES 322 oH3 Motor Overheat YES 322 oL3 Overtorque 1 YES 322 oL4 Overtorque 2 YES 322 oL5 Mechanical Weakening Det...

Page 304: ...tor LCD Operator End1 Excessive V f Setting 328 Er 09 Acceleration Error 329 End2 Motor Iron Core Saturation Coefficient Error 328 Er 10 Motor Direction Error 329 End3 Rated Current Setting Alarm 328...

Page 305: ...ical Manual 305 Troubleshooting 6 vAEr Voltage class and or drive capacity does not match 333 vFyE Parameter settings in the drive and those saved to the copy function are not the same 333 vrFy Compar...

Page 306: ...lt Name CE MEMOBUS Modbus Communication Error Control data was not received for the CE detection time set to H5 09 Cause Possible Solution Faulty communications wiring or a short circuit exists Check...

Page 307: ...ol circuit terminal board If the problem continues replace either the control board or the entire drive For instructions on replacing the control board contact Yaskawa or your nearest sales representa...

Page 308: ...set properly to E5 11 Set the value for to E5 11 as specified on the motor nameplate Replacing the PG encoder or changing the application so that the motor rotates in reverse instead requires readjus...

Page 309: ...ata cannot be written to the EEPROM Cause Possible Solution Noise has corrupted data while writing to the EEPROM Press the button Correct the parameter setting Cycle power to the drive Refer to Diagno...

Page 310: ...our nearest sales representative Digital Operator Display Fault Name LF Output Phase Loss Phase loss on the output side of the drive Phase Loss Detection is enabled when L8 07 is set to 1 or 2 Cause P...

Page 311: ...rference Review the section on handling noise interference and check the control circuit lines main circuit lines and ground wiring Overexcitation gain is set too high Check if fault occurs simultaneo...

Page 312: ...oFb43 Cause Possible Solution Option card or hardware is damaged Cycle power to the drive If the problem continues replace either the control board or the entire drive For instructions on replacing th...

Page 313: ...an or air conditioner to cool the surrounding area Remove anything near the drive that might be producing excessive heat Load is too heavy Measure the output current Lower the carrier frequency C6 02...

Page 314: ...and b3 03 respectively After Auto Tuning enable Speed Estimation Speed Search b3 24 1 Output current fluctuation due to input phase loss Check the power supply for phase loss Digital Operator Display...

Page 315: ...tion time C1 02 C1 04 C1 06 C1 08 Install a dynamic braking option Enable stall prevention during deceleration L3 04 1 Stall Prevention is enabled as the default setting Fast acceleration time causes...

Page 316: ...ing resistor option so that fits to the drives braking transistor specification Regenerative converter regenerative unit or braking unit is being used Disable the braking transistor protection selecti...

Page 317: ...machine side Check the load for any problems Digital Operator Display Fault Name UL5 Mechanical Weakening Detection 2 The operation conditions matched the conditions set to L6 08 Cause Possible Soluti...

Page 318: ...erator Display Fault Name Uv3 Undervoltage 3 Soft Charge Bypass Circuit Fault The soft charge bypass circuit has failed Cause Possible Solution The relay or contactor on the soft charge bypass circuit...

Page 319: ...lished the connection was lost Assign a Run command frequency reference to the option card Cause Possible Solutions Connection is broken or master controller stopped communicating Check for faulty wir...

Page 320: ...load Acceleration and deceleration times are set too short Increase the acceleration and deceleration times C1 01 through C1 08 The load is locked up Check the machine Parameter settings are inapprop...

Page 321: ...nals H1 and H2 Check the Sink Source Selection for the digital inputs If the Safe Disable function is not utilized check if the terminals H1 HC and H2 HC are linked Internally both Safe Disable channe...

Page 322: ...as indicated in the manual Refer to Installation Orientation and Spacing on page 40 Allow for the specified space and ensure that there is sufficient circulation around the control panel Check for dus...

Page 323: ...oise interference Review section on handling noise interference and check control circuit lines main circuit lines and ground wiring If the magnetic contactor is identified as a source of noise instal...

Page 324: ...drive input power Correct the wiring Loose wiring in the drive input power terminals Ensure the terminals have been properly tightened Apply the tightening torque to the terminals as specified Refer...

Page 325: ...t H1 42 but Forward Reverse command H1 43 was not Drive Enable is set to multi function input S1 or S2 H1 01 6A or H1 02 6A Correctly set functions that need to be enabled in combination with other fu...

Page 326: ...Value while b5 18 1 enables b5 19 as the target PID value H6 01 2 PID target while b5 18 1 enables b5 19 as the target PID value Disable one of the PID selections Digital Operator Display Error Name...

Page 327: ...he pulse train monitor is set to 0 H6 07 0 while H6 06 is not set to 101 102 105 or 116 Change scaling for the pulse train monitor or set H6 06 to 101 102 105 or 116 Digital Operator Display Error Nam...

Page 328: ...Possible Solutions Motor data entered during Auto Tuning was incorrect Make sure the data entered to the T1 parameters match the information written on the motor nameplate Restart Auto Tuning and ente...

Page 329: ...n Results from Auto Tuning are outside the parameter setting range or the tuning process took too long Check and correct faulty motor wiring Perform Rotational Auto Tuning The load during Rotational A...

Page 330: ...uration Error Cause Possible Solutions The output torque reached the torque limit set in L7 01 through L7 04 during Inertia Tuning Increase the torque limits in L7 01 through L7 04 but keep them withi...

Page 331: ...r has stopped completely Repeat Auto Tuning Either the motor or the PG encoder on the motor is not properly wired Check the wiring for the motor and the PG encoder Repeat Auto Tuning The direction for...

Page 332: ...or Writing Data Cause Possible Solutions Failed writing parameters Try writing parameters again Digital Operator Display Task CSEr Copy Unit Error Cause Possible Solutions Hardware fault Replace the o...

Page 333: ...were copied from and the drive you performing the Verify mode on have different electrical specifications or are a different capacity Make sure electrical specifications and capacities are the same fo...

Page 334: ...be displayed after cycling power remove the cause of the fault and reset If the Drive Still has Power After a Fault Occurs 1 Look at the digital operator for information on the fault that occurred 2...

Page 335: ...lt situation can be cleared After the Fault Occurs Procedure Fix the cause of the fault restart the drive and reset the fault Press on the digital operator Resetting via Fault Reset Digital Input S4 C...

Page 336: ...ry Vibrates When Motor Rotates Unexpected Noise from Connected Machinery 340 Oscillation or Hunting 340 PID Output Fault 340 Insufficient Starting Torque 340 Motor Rotates After the Drive Output is Sh...

Page 337: ...rminal A2 is used check DIP switch S1 parameter H3 08 If terminal A3 is used check parameter H3 08 Refer to Terminal A2 Input Signal Selection on page 79 Selection for the sink source mode and the int...

Page 338: ...voltage 600 V for 200 V class and 1200 V for 400 V class Use a motor with a voltage tolerance higher than the max voltage surge Use a motor designed to work specifically with a drive when using a 400...

Page 339: ...opriate values A frequency bias signal is being entered via analog input terminals A1 to A3 If more than one of multi function analog inputs A1 to A3 is set for frequency reference bias H3 02 H3 10 or...

Page 340: ...ions Insufficient tuning Perform Auto Tuning Refer to Motor Performance Fine Tuning on page 296 Gain is too low when using PID control Refer to b5 PID Control on page 152 for details The frequency ref...

Page 341: ...Possible Solutions Exceeded 110 of the rated output current of the drive while operating at low speeds If the output current rises too high at low speeds the carrier frequency is automatically reduced...

Page 342: ...6 10 Troubleshooting without Fault Display 342 YASKAWA ELECTRIC SIEP C710616 27C YASKAWA AC Drive A1000 Technical Manual...

Page 343: ...Maintenance This chapter describes the periodic inspection and maintenance of the drive to ensure that it receives the proper care to maintain overall performance 7 1 SECTION SAFETY 344 7 2 INSPECTION...

Page 344: ...s to show details Be sure to reinstall covers or shields before operating the drives and run the drives according to the instructions described in this manual Always ground the motor side grounding te...

Page 345: ...maximum useful product life replace both cooling fans when performing maintenance Never connect or disconnect the motor from the drive while the drive is outputting voltage Improper equipment sequenci...

Page 346: ...mance life out of the electrolytic capacitors and circuit relays refrain from switching the drive power supply off and on more than once every 30 minutes Frequent use can damage the drive Use the driv...

Page 347: ...he recommended daily inspection for Yaskawa drives Check the following items on a daily basis to avoid premature deterioration in performance or product failure Copy this checklist and mark the Checke...

Page 348: ...or circuit board Braking Resistors Inspect for discoloration of heat stress on or around resistors Minor discoloration may be acceptable If discoloration exists check for loose connections Electrolyti...

Page 349: ...tenance period regularly to ensure maximum performance life Refer to Recommended Periodic Inspection on page 348 for more details Table 7 4 Performance Life Monitors Used for Component Replacement Ala...

Page 350: ...the performance life for the new component 1 LT 3 The DC bus charge circuit has reached 90 of its designated life time Replace the drive 1 LT 4 The IGBT s have reached 50 of their designated life time...

Page 351: ...s required For drives with multiple cooling fans replace all the fans when performing maintenance to ensure maximum product performance life Number of Fan Three Phase 200 V Class Three Phase 400 V Cla...

Page 352: ...pecified on the drive before touching any components CAUTION Burn Hazard Do not touch a hot drive heatsink Failure to comply could result in minor or moderate injury Shut off the power to the drive wh...

Page 353: ...t in minor or moderate injury Shut off the power to the drive when replacing the cooling fan To prevent burns wait at least 15 minutes and ensure the heatsink has cooled down NOTICE Prevent Equipment...

Page 354: ...onnected then place the cable back into the recess of the drive Figure 7 5 Figure 7 5 Cooling Fan Power Supply Connectors 2A0021 to 2A0081 4A0007 to 4A0044 3 While pressing in on the hooks on the left...

Page 355: ...hen replacing the cooling fan To prevent burns wait at least 15 minutes and ensure the heatsink has cooled down NOTICE Prevent Equipment Damage Follow cooling fan and circulation fan replacement instr...

Page 356: ...an into the drive Figure 7 10 Figure 7 10 Installing the Cooling Fan 2A0110 and 2A0138 4A0058 and 4A0072 4 Angle the fan cover so the back end tilts up Slide the cover into the small opening towards t...

Page 357: ...e specified on the drive before touching any components CAUTION Burn Hazard Do not touch a hot drive heatsink Failure to comply could result in minor or moderate injury Shut off the power to the drive...

Page 358: ...lling the Cooling Fan 4A0088 and 4A0103 2 Make sure the power lines for the fan are properly connected then place the power supply connectors and cable back into the recess of the drive Figure 7 16 Fi...

Page 359: ...drive before touching any components CAUTION Burn Hazard Do not touch a hot drive heatsink Failure to comply could result in minor or moderate injury Shut off the power to the drive when replacing th...

Page 360: ...ooling fans Note Make sure the fan cable does not get pinched between parts when reassembling the fan unit Figure 7 21 Figure 7 21 Fan Unit Disassembly 2A0169 to 2A0415 4A0139 to 4A0362 Cooling Fan Wi...

Page 361: ...ring 2A0250 2A0312 and 4A0208 1 Position the protective tube so that the fan connector sits in the center of the protective tube 2 Place the connector for fan B2 before the B1 connector and guide the...

Page 362: ...o ensure that it is properly connected 5 Reattach the cable cover to its original position and tighten the screws so that the fan guard holds the cable cover in place Note Make sure the fan cable does...

Page 363: ...burns wait at least 15 minutes and ensure the heatsink has cooled down NOTICE Prevent Equipment Damage Follow cooling fan and circulation fan replacement instructions Improper fan replacement could r...

Page 364: ...hat the fan connector sits in the center of the protective tube 2 Place the fan connector covered by the tube as shown in the drawings below Figure 7 29 Figure 7 29 Cooling Fan Wiring 4A0414 3 Double...

Page 365: ...time specified on the drive before touching any components CAUTION Burn Hazard Do not touch a hot drive heatsink Failure to comply could result in minor or moderate injury Shut off the power to the d...

Page 366: ...5 and 4A0675 4 Remove the slide panel and fan unit along with the cooling fan unit for the circuit boards from the drive Note Both the fan unit and slide panel should be removed at the same time Figur...

Page 367: ...ooling fans Figure 7 36 Figure 7 36 Fan Unit Disassembly 4A0515 and 4A0675 Cooling Fan Wiring 1 Place the cooling fan connectors and guide the lead wires so that they are held in place by the cable ho...

Page 368: ...d in place Figure 7 39 Figure 7 39 Cooling Fan Wiring 4A0515 and 4A0675 5 Double check the relay connector to ensure that it is properly connected Installing the Cooling Fan Unit 1 Reverse the procedu...

Page 369: ...nal board contains on board memory that stores all drive parameter settings and allows the parameters to be saved and transferred to the replacement drive To transfer the terminal board disconnect the...

Page 370: ...rds Failure to comply may result in ESD damage to the drive circuitry The following procedure explains how to replace a drive This section provides instructions for drive replacement only To install o...

Page 371: ...lace Figure 7 46 Figure 7 46 Drive Replacement Installing the Terminal Board 2 Reconnect all options to the new drive in the same way they were installed in the old drive Connect option boards to the...

Page 372: ...7 5 Drive Replacement 372 YASKAWA ELECTRIC SIEP C710616 27C YASKAWA AC Drive A1000 Technical Manual...

Page 373: ...Devices Options This chapter explains the installation of peripheral devices and options available for the drive 8 1 SECTION SAFETY 374 8 2 DRIVE OPTIONS AND PERIPHERAL DEVICES 375 8 3 CONNECTING PER...

Page 374: ...orm work on the drive Failure to comply could result in death or serious injury Installation maintenance inspection and servicing must be performed only by authorized personnel familiar with installat...

Page 375: ...up to 1 A 30 Vdc up to 1 A Motor Speed Feedback Option Cards Complementary PG PG B3 For speed feedback input by connecting a motor encoder Input 3 track can be used with one or two tracks for HTL enc...

Page 376: ...004 to 0138 and CIMR A 40002 to 0072 3 When using an external braking chopper in drives from CIMR A 2A0004 to 0138 and CIMR A 40002 to 0072 connect the chopper to drive terminals B1 and When using lar...

Page 377: ...application to operate incorrectly or damage the drive Use the procedure described below when installing option cards to the drive 1 Shut off power to the drive wait the appropriate amount of time fo...

Page 378: ...ling option cards to drive models CIMR A 2A0004 through 0040 and to models CIMR A 4A0002 through 0023 the cables connected to the option might need to be routed through the front cover to the outside...

Page 379: ...t deceleration time prior to running the drive 2 Disable the drive s internal braking transistor protection by setting L8 55 0 when using braking resistor options WARNING Fire Hazard The braking resis...

Page 380: ...gure 8 7 Figure 8 7 Power Supply Interrupt for Overheat Protection Example Installing a Braking Unit CDBR Type To install a CDBR type braking unit connect the drive s B1 terminal units CIMR 2A0004 thr...

Page 381: ...g overload protection Consider the following when selecting and installing a MCCB The capacity of the MCCB should be 1 5 to 2 times the rated output current of the drive Use a MCCB with an operation c...

Page 382: ...otor circuits without proper sequencing Improper sequencing of output motor circuits could result in damage to the drive NOTICE Install a MC on the input side of the drive when the drive should not au...

Page 383: ...be installed if no DC reactor is used Refer to Figure 8 12 for an example of DC reactor wiring Figure 8 12 Figure 8 12 Connecting a DC Reactor Connecting a Noise Filter Reducing Radiated Conducted and...

Page 384: ...sible to the drive Figure 8 14 Figure 8 14 Input Side Noise Filter Three Phase 200 400 V This drive is tested according to European standards IEC61800 5 1 and complies with the EMC guidelines Refer to...

Page 385: ...acturer Bussmann Model Fuse Ampere Rating Model Fuse Ampere Rating Three Phase 200 V Class Three Phase 400 V Class 2A0004 FWH 70B 70 4A0002 FWH 40B 40 2A0006 FWH 70B 70 4A0004 FWH 50B 50 2A0010 FWH 70...

Page 386: ...cial power supply In addition the cooling capacity of a motor with a shaft driven fan decreases when operating at low speeds Even if the load current is within the motor rated value motor overheating...

Page 387: ...Drive A1000 Technical Manual 387 Specifications A 1 HEAVY DUTY AND NORMAL DUTY RATINGS 388 A 2 THREE PHASE 200 V CLASS DRIVES 389 A 3 THREE PHASE 400 V CLASS DRIVES 390 A 4 DRIVE SPECIFICATIONS 391 A...

Page 388: ...ase 200 V Class Drives on page 389 and Three Phase 400 V Class Drives on page 390 for information on rating changes based on drive model Rated Output Current Overload Tolerance Default Carrier Frequen...

Page 389: ...7 5 11 15 18 5 22 30 37 45 55 75 90 110 ND Rating 0 75 1 1 2 2 3 5 5 7 5 11 15 18 5 22 30 37 45 55 75 90 110 110 Input Input Current A 2 HD Rating 2 9 5 8 7 5 11 18 9 28 37 52 68 80 82 111 136 164 20...

Page 390: ...current of the drive output amps should be equal to or greater than the motor rated current 2 Assumes operation at the rated output current Input current rating varies depending on the power supply tr...

Page 391: ...entary Power Loss Ride Thru Speed Search Overtorque Undertorque Detection Torque Limit 17 Step Speed max Accel decel Switch S curve Accel decel 3 wire Sequence Auto tuning rotational stationary tuning...

Page 392: ...d from the rated motor speed down to zero in the shortest time 4 Actual specifications may vary according to motor characteristics 5 Overload protection may be triggered when operating with 150 of the...

Page 393: ...2686 2A0360 346 2 2564 783 3347 360 2698 894 3591 2A0415 415 3 2672 954 3626 415 2672 954 3626 Model Number CIMR A 1 These values assume the carrier frequency is set to 8 kHz 2 These values assume th...

Page 394: ...tting the drive s rated output current must be derated according to Figure A 1 to Figure A 6 Figure A 1 Figure A 1 Carrier Frequency Derating CIMR A 2A0004 to 2A0138 Figure A 2 Figure A 2 Carrier Freq...

Page 395: ...ide mounted in a cabinet In order to ensure reliable drive overload protection the parameters L8 12 and L8 35 must also be set according to the installation conditions Parameter Settings No Name Descr...

Page 396: ...xternal Heatsink Installation Finless Drive Drive operation between 10 C and 40 C allows 100 continuous current without derating Operation between 40 C and 50 C requires output current derating Figure...

Page 397: ...rameters and settings available in the drive B 1 UNDERSTANDING THE PARAMETER TABLE 398 B 2 PARAMETER GROUPS 399 B 3 PARAMETER TABLE 400 B 4 CONTROL MODE DEPENDENT PARAMETER DEFAULT VALUES 454 B 5 V F...

Page 398: ...accessible in all control modes Parameter is available when operating the drive with V f Control Parameter is available when operating the drive with V f with PG Control Parameter is available when op...

Page 399: ...eed Regulator ASR 408 n3 High Slip Braking HSB and Overexcitation Braking 440 C6 Carrier Frequency 409 n5 Feed Forward Control 441 d1 Frequency Reference 411 n6 Online Tuning 441 d2 Frequency Upper Lo...

Page 400: ...zation 3330 3 wire initialization 5550 oPE04 error reset Default 0 Min 0 Max 5550 131 A1 04 104H Password When the value set into A1 04 does not match the value set into A1 05 parameters A1 01 through...

Page 401: ...only if the status is the same in both readings robust against noisy signals Default 1 Min 0 Max 1 142 b1 07 186H LOCAL REMOTE Run Selection 0 An external Run command has to be cycled at the new sourc...

Page 402: ...eed Search Deactivation Current Sets the current level at which the speed is assumed to be detected and Speed Search is ended Set as a percentage of the drive rated current Default 10 Min 0 Max 200 14...

Page 403: ...abled PID output becomes output frequency reference feedback D controlled 3 Enabled PID output added to frequency reference deviation D controlled 4 Enabled PID output added to frequency reference fee...

Page 404: ...ID target value when b5 18 1 Set as a percentage of the maximum output frequency Default 0 00 Min 0 00 Max 100 00 159 b5 20 1E2H PID Setpoint Scaling 0 0 01Hz units 1 0 01 units 100 max output frequen...

Page 405: ...Saving Control Selection 0 Disabled 1 Enabled Default 10 Min 0 Max 1 163 b8 02 1CDH Energy Saving Gain Sets the gain used for Energy Saving Default 10 Min 0 0 Max 10 0 163 b8 03 1CEH Energy Saving Co...

Page 406: ...6H Acceleration Time 4 Motor 2 Accel Time 2 Sets the time to accelerate from 0 to maximum frequency 165 C1 08 207H Deceleration Time 4 Motor 2 Decel Time 2 Sets the time to decelerate from maximum fre...

Page 407: ...Compensation Selection During Regeneration 0 Disabled 1 Enabled above 6 Hz 2 Enabled whenever slip compensation is possible Default 0 Min 0 Max 2 170 No Addr Name Description Setting Page C4 01 215H...

Page 408: ...ccel Decel 0 Disabled Integral functions are enabled only during constant speed 1 Enabled Integral functions are always enabled during accel decel and during constant speed Default 0 Min 0 Max 1 175 C...

Page 409: ...0 0001 kgm2 Max 600 00 kgm2 177 C5 38 279H Motor 2 Load Inertia Ratio Sets the ratio between the motor 2 and machine inertia This value is automatically set during ASR or Inertia Auto Tuning Default 1...

Page 410: ...0 kHz Max 15 0 kHz 178 C6 05 227H Carrier Frequency Proportional Gain Default 13 Min 0 Max 99 178 C6 09 22BH Carrier Frequency during Rotational Auto Tuning 0 Carrier Frequency 5 kHz 1 Setting value...

Page 411: ...z Max 400 00 Hz 20 26 180 d1 02 281H Frequency Reference 2 180 d1 03 282H Frequency Reference 3 180 d1 04 283H Frequency Reference 4 180 d1 05 284H Frequency Reference 5 180 d1 06 285H Frequency Refer...

Page 412: ...own 2 0 Bias value is held if no input Up 2 or Down 2 is active 1 When the Up 2 reference and Down 2 reference are both on or both off the applied bias becomes 0 The specified accel decel times are us...

Page 413: ...ult 0 ms Min 0 ms Max 1000 ms 192 d5 08 2B5H Unidirectional Speed Limit Bias 0 Disabled 1 Enabled Default 1 Min 0 Max 1 192 No Addr Name Description Setting Page d6 01 2A0H Field Weakening Level Sets...

Page 414: ...orque 4 C 90 Hz 60 Hz base D 120 Hz 60 Hz base E 180 Hz 60 Hz base F Custom V f E1 04 through E1 13 settings define the V f pattern Default F 3 Min 0 Max F 30 194 E1 04 303H Maximum Output Frequency T...

Page 415: ...ets the number of motor poles Automatically set during Auto Tuning Default 4 Min 2 Max 48 199 E2 05 312H Motor Line to Line Resistance Sets the phase to phase motor resistance Automatically set during...

Page 416: ...quency Default 25 Min 0 0 Max E3 04 201 E3 08 31EH Motor 2 Mid Output Frequency Voltage Default 18 25 Min 0 0 V Max 255 0 V 18 201 E3 09 31FH Motor 2 Minimum Output Frequency Default 25 Min 0 0 Max E3...

Page 417: ...will be overwritten by the defaults of the selected motor code Note Set to FFFF when using a non Yaskawa PM motor Default 4 23 Min 0000 Max FFFF 28 204 E5 02 32AH 3 Motor Rated Power Sets the rated ca...

Page 418: ...min 28 Selection may vary depending on the motor code entered to E5 01 No Addr Name Description Setting Page F1 01 380H PG 1 Pulses Per Revolution Sets the number of PG pulse generator or encoder puls...

Page 419: ...08 F1 30 3AAH PG Card Option Port for Motor 2 Selection Sets the port for the PG option card used by motor 2 0 CN5 C 1 CN5 B Default 1 Min 0 Max 1 208 F1 31 3B0H PG 2 Pulses Per Revolution Sets the nu...

Page 420: ...ax 7 209 F3 03 3B9H Digital Input Option DI A3 Data Length Selection 0 8 bit 1 12 bit 2 16 bit Default 2 Min 0 Max 2 210 No Addr Name Description Setting Page F4 01 391H Terminal V1 Monitor Selection...

Page 421: ...tput functions 1 Binary code output 2 Use output terminal functions selected by parameters F5 01 through F5 08 Default 0 Min 0 Max 2 211 No Addr Name Description Setting Page F6 01 3A2H Communications...

Page 422: ...Max 3 F6 26 3CAH MECHATROLINK bUS Errors Detected Sets the number of option communication errors bUS Default 2 Min 2 Max 10 F6 30 3CBH PROFIBUS DP Node Address Sets the node address Default 0 Min 0 M...

Page 423: ...verify the MAC ID the drive has been assigned Default 0 Min 0 Max 63 F6 64 to F6 71 3DFH to 3C8H Reserved Reserved for Dynamic I O Assembly Parameters 3 Parameter setting value is not reset to the def...

Page 424: ...ins the output frequency 216 B Drive Overheat Alarm oH2 Closed Closes when an oH2 alarm occurs 217 C Analog Terminal Input Selection Open Function assigned by H3 14 is disabled Closed Function assigne...

Page 425: ...etected alarm only continue running 2D N C Always detected alarm only continue running 2E N O During run alarm only continue running 2F N C During run alarm only continue running 220 30 PID Integral R...

Page 426: ...ve disabled If this input is opened during run then the drive will stop as specified by b1 03 Closed Ready for operation 222 71 Speed Torque Control Switch Open Speed Control Closed Torque Control 223...

Page 427: ...selected 0 0 1 kWh units 1 1 kWh units 2 10 kWh units 3 100 kWh units 4 1000 kWh units Default 0 Min 0 Max 4 234 H2 Multi Function Digital Output Settings H2 Setting Function Description Page 0 Durin...

Page 428: ...s equal to the value in L4 03 L4 04 229 15 Frequency Detection 3 Closed When the drive output frequency is less than or equal to the value in L4 03 L4 04 230 16 Frequency Detection 4 Closed When the o...

Page 429: ...earch Closed Speed Search is being executed 233 3E PID Feedback Low Closed PID feedback level is too low 233 3F PID Feedback High Closed The PID feedback level is too high 233 4A During KEB Ride Thru...

Page 430: ...al A3 Default 0 0 Min 999 9 Max 999 9 236 H3 09 417H Terminal A2 Signal Level Selection 0 0 to 10 V 1 10 to 10 V 2 4 to 20 mA 3 0 to 20 mA Note Use DIP switch S1 to set input terminal A2 for a current...

Page 431: ...frequency 239 E Motor Temperature PTC input 10 V 100 239 F Through Mode Set this value when using the terminal in the pass through mode 239 10 Forward Torque Limit 10 V Motor rated torque 239 11 Rever...

Page 432: ...Gain Sets the signal level at terminal AM that is equal to 100 of the selected monitor value Default 50 0 Min 999 9 Max 999 9 240 H4 06 422H Multi Function Analog Output Terminal AM Bias Sets the sig...

Page 433: ...etpoint value 3 V f Control with Simple PG feedback possible only when using motor 1 in V f Control Default 0 Min 0 Max 3 241 H6 02 42DH Pulse Train Input Scaling Sets the terminal RP input signal fre...

Page 434: ...s Max 10 00 s 248 L1 13 46DH Continuous Electrothermal Operation Selection 0 Disabled 1 Enabled Default 1 Min 0 Max 1 248 No Addr Name Description Setting Page L2 01 485H Momentary Power Loss Operati...

Page 435: ...eceleration at the active deceleration rate An ov fault may occur 1 General purpose Deceleration is paused when the DC bus voltage exceeds the Stall Prevention level 2 Intelligent Decelerate as fast a...

Page 436: ...using a 400 V class drive 33 Default setting value is dependent on the setting for the input voltage E1 01 34 Setting range is dependent on the control mode A1 02 When using CLV OLV PM or AOLV PM the...

Page 437: ...an oL4 fault 5 UL4 detection only active during speed agree operation continues after detection 6 UL4 detection always active during run operation continues after detection 7 UL4 detection only active...

Page 438: ...red 4 Continue operation at reduced speed as set in L8 19 Default 3 Min 0 Max 4 269 L8 05 4B1H Input Phase Loss Protection Selection Selects the detection of input current phase loss power supply volt...

Page 439: ...73 L8 41 4F2H High Current Alarm Selection 0 Disabled 1 Enabled An alarm is triggered at output currents above 150 of the drives rated current Default 0 Min 0 Max 1 273 L8 55 45FH Internal Braking Tra...

Page 440: ...at Stop Sets the time the drive will run with minimum frequency E1 09 at the end of deceleration If this time is set too low the machine inertia can cause the motor to rotate slightly after HSB Defaul...

Page 441: ...Enter a high value when attempting to increase starting torque Default 80 Min 0 Max 150 281 n8 35 562H Initial Rotor Position Detection Selection 0 Pull in 1 High frequency injection 2 Pulse injectio...

Page 442: ...dr Name Description Setting Page o1 01 500H 10 Default setting is determined by the control mode A1 02 36 Default setting value is determined by the digital operator display selection o1 03 Drive Mode...

Page 443: ...the digital operator writing them to the drive 3 Verify parameter settings on the drive to check if they match the data saved on the operator Default 0 Min 0 Max 3 287 o3 02 516H Copy Allowed Selecti...

Page 444: ...ng 2 8 Inertia Tuning perform Rotational Auto Tuning prior to Inertia Tuning 9 ASR Gain Tuning perform Rotational Auto Tuning prior to ASR Gain Auto Tuning Default 0 Min 0 Max 4 8 9 10 114 T1 02 702H...

Page 445: ...Tuning Prior to executing Inertia Tuning or ASR Gain Auto Tuning be sure to take the following steps perform Auto Tuning for motor data T2 01 0 1 or 2 or set the motor code to E5 01 verify all motor d...

Page 446: ...ting is determined by the control mode A1 02 and the drive model o2 04 18 Values shown here are for 200 V class drives Double the value when using a 400 V class drive 39 Default setting is determined...

Page 447: ...isplay units are determined by o1 03 10 V Max Frequency 0 01 Hz U1 06 45H Output Voltage Reference Displays the output voltage 10 V 200 Vrms 18 0 1 Vac U1 07 46H DC Bus Voltage Displays the DC bus vol...

Page 448: ...contents of a MEMOBUS Modbus error No signal output available U1 21 77H AI A3 Terminal V1 Input Voltage Monitor Displays the input voltage to terminal V1 on analog input card AI A3 10 V 100 0 1 U1 22...

Page 449: ...6H Output Voltage at Previous Fault Displays the output voltage at the previous fault No signal output available 0 1 Vac U2 08 87H DC Bus Voltage at Previous Fault Displays the DC bus voltage at the p...

Page 450: ...ve The value for the cumulative operation time counter can be reset in parameter o4 01 Use parameter o4 02 to determine if the operation time should start as soon as the power is switched on or only w...

Page 451: ...for the Run command as XY nn X Indicates which Run source is used 1 Reference 1 b1 02 2 Reference 2 b1 16 Y Input power supply data 0 Digital operator 1 External terminals 3 MEMOBUS Modbus communicati...

Page 452: ...sation Displays the degree of forward phase correction after calculating the deviation of cmp 10 V 180 deg 10 V 180 deg 0 1 deg U6 10 7C1H Control Axis Deviation Displays the amount of deviation betwe...

Page 453: ...rated current 0 01 18 Values shown here are for 200 V class drives Double the value when using a 400 V class drive No Addr Name Description Analog Output Level Unit Page U8 01 to U8 10 1950H to 1959H...

Page 454: ...0 20 0 20 C3 01 Slip Compensation Gain 0 0 to 2 5 0 1 0 0 1 0 1 0 C3 02 Slip Compensation Primary Delay Time 0 to 10000 1 ms 2000 200 C4 01 Torque Compensation Gain 0 00 to 2 50 0 01 1 00 1 00 1 00 C4...

Page 455: ...Time 0 to 10000 1 ms 100 100 100 C5 01 ASR Proportional Gain 1 0 00 to 300 00 0 01 C5 02 ASR Integral Time 1 0 000 to 10 000 0 001 s C5 03 ASR Proportional Gain 2 0 00 to 300 00 0 01 C5 04 ASR Integra...

Page 456: ...1 04 14 Default setting value is dependent on the motor code set to parameter E5 01 18 Values shown here are for 200 V class drives Double the value when using a 400 V class drive 42 Default settings...

Page 457: ...166 0 145 0 145 0 145 L8 02 Overheat Alarm Level C 115 115 115 115 115 115 125 125 L8 35 Installation Method Selection 2 2 2 2 2 2 2 2 L8 38 Carrier Frequency Reduction Selection 2 2 2 2 2 2 2 2 n1 0...

Page 458: ...120 125 125 130 130 130 130 L8 35 Installation Method Selection 2 2 2 2 0 0 0 0 L8 38 Carrier Frequency Reduction Selection 2 2 2 2 2 2 2 2 n1 03 Hunting Prevention Time Constant ms 10 10 10 10 10 10...

Page 459: ...s 10 10 100 100 100 100 n5 02 Motor Acceleration Time s 0 533 0 592 0 592 0 646 0 646 0 646 No Name Unit Default Settings Model CIMR A 4A0002 4A0004 4A0005 4A0007 C6 01 Drive Duty Selection HD ND HD N...

Page 460: ...on Selection 2 2 2 2 2 2 2 2 n1 03 Hunting Prevention Time Constant ms 10 10 10 10 10 10 10 10 n5 02 Motor Acceleration Time s 0 145 0 154 0 154 0 168 0 168 0 175 0 175 0 265 No Name Unit Default Sett...

Page 461: ...Frequency Reduction Selection 2 2 2 2 2 2 2 2 n1 03 Hunting Prevention Time Constant ms 10 10 10 10 10 10 30 30 n5 02 Motor Acceleration Time s 0 323 0 32 0 32 0 387 0 387 0 317 0 317 0 533 No Name U...

Page 462: ...0 650 E2 02 E4 02 Motor Rated Slip Hz 1 35 1 3 1 3 1 3 1 3 1 25 1 25 1 E2 03 E4 03 Motor No Load Current A 70 81 81 96 96 130 130 130 E2 05 E4 05 Motor Line to Line Resistance 0 029 0 025 0 025 0 02 0...

Page 463: ...tage V 200 0 200 0 200 0 200 0 200 0 E1 06 Base Frequency Hz 120 120 120 120 120 E1 09 Minimum Output Frequency Hz 6 6 6 6 6 C5 17 Motor Inertia kgm2 0 0007 0 0014 0 0021 0 0032 0 0046 L3 24 Motor Acc...

Page 464: ...ns s 0 092 0 076 0 052 0 066 0 075 0 083 0 077 0 084 n5 02 Motor Acceleration Time s 0 092 0 076 0 052 0 066 0 075 0 083 0 077 0 084 n8 49 d Axis Current for High Efficiency Control OLV PM 7 6 11 5 9...

Page 465: ...83 0 077 0 084 0 102 0 101 n5 02 Motor Acceleration Time s 0 092 0 076 0 052 0 066 0 075 0 083 0 077 0 084 0 102 0 101 n8 49 d Axis Current for High Efficiency Control OLV PM 8 6 11 5 10 3 19 8 8 5 11...

Page 466: ...ime for Inertia Calculations s 0 098 0 071 0 066 0 087 0 085 0 072 0 084 0 096 n5 02 Motor Acceleration Time s 0 098 0 071 0 066 0 087 0 085 0 072 0 084 0 096 n8 49 d Axis Current for High Efficiency...

Page 467: ...ations s 0 098 0 071 0 066 0 087 0 085 0 072 0 084 0 096 0 085 0 080 n5 02 Motor Acceleration Time s 0 098 0 071 0 066 0 087 0 085 0 072 0 084 0 096 0 085 0 080 n8 49 d Axis Current for High Efficienc...

Page 468: ...0 062 0 044 0 080 0 090 0 067 0 072 0 088 n5 02 Motor Acceleration Time s 0 062 0 044 0 080 0 090 0 067 0 072 0 088 n8 49 d Axis Current for High Efficiency Control OLV PM 8 8 9 9 9 3 10 0 17 7 12 3...

Page 469: ...0 067 0 072 0 088 0 073 0 062 n5 02 Motor Acceleration Time s 0 062 0 044 0 080 0 090 0 067 0 072 0 088 0 073 0 062 n8 49 d Axis Current for High Efficiency Control OLV PM 8 8 9 9 9 3 10 0 12 8 12 3...

Page 470: ...ons s 0 134 0 099 0 094 0 124 0 121 0 081 0 075 0 082 n5 02 Motor Acceleration Time s 0 134 0 099 0 094 0 124 0 121 0 081 0 075 0 082 n8 49 d Axis Current for High Efficiency Control OLV PM 9 3 6 4 10...

Page 471: ...34 0 099 0 094 0 124 0 121 0 081 0 075 0 082 n5 02 Motor Acceleration Time s 0 134 0 099 0 094 0 124 0 121 0 081 0 075 0 082 n8 49 d Axis Current for High Efficiency Control OLV PM 7 5 8 5 9 8 8 2 9 1...

Page 472: ...Acceleration Time s 0 205 0 250 0 244 0 336 0 327 0 379 0 414 n8 49 d Axis Current for High Efficiency Control OLV PM 8 6 14 8 17 5 12 5 14 7 5 1 16 3 No Name Unit Default Settings E5 01 Motor Code Se...

Page 473: ...ol OLV PM 14 6 16 4 11 8 10 5 14 5 17 4 13 9 17 5 No Name Unit Default Settings E5 01 Motor Code Selection 2332 2333 2335 2336 2338 233A 233B 233D 233E 233F 2340 Voltage Class V 400 400 400 400 400 40...

Page 474: ...95 2 82 3 70 L3 24 Motor Acceleration Time for Inertia Calculations s 0 105 0 157 0 156 0 172 0 169 0 210 0 201 0 279 0 281 0 325 0 341 n5 02 Motor Acceleration Time s 0 105 0 157 0 156 0 172 0 169 0...

Page 475: ...ol OLV PM 13 7 15 2 10 9 9 8 9 3 11 5 17 7 17 1 No Name Unit Default Settings E5 01 Motor Code Selection 2432 2433 2435 2436 2438 243A 243B 243D 243E 243F 2440 Voltage Class V 400 400 400 400 400 400...

Page 476: ...1 41 1 22 E5 07 Motor q Axis Inductance Lq mH 9 84 7 71 6 56 5 39 3 90 3 23 2 46 2 08 1 88 1 51 E5 09 Motor Induction Voltage Constant 1 Ke mVs rad 888 8 857 7 941 6 853 8 829 6 835 6 833 4 848 6 889...

Page 477: ...ON 478 C 2 COMMUNICATION SPECIFICATIONS 479 C 3 CONNECTING TO A NETWORK 480 C 4 MEMOBUS MODBUS SETUP PARAMETERS 482 C 5 DRIVE OPERATIONS BY MEMOBUS MODBUS 485 C 6 COMMUNICATIONS TIMING 486 C 7 MESSAGE...

Page 478: ...ive has slave functionality only meaning that serial communication is normally initiated from the master and responded to by the slaves The master performs serial communications with only one slave at...

Page 479: ...cations appear in the following table Item Specifications Interface RS 422 RS 485 Communications Cycle Asynchronous Start stop synchronization Communication Parameters Communication Speeds Available 1...

Page 480: ...low 2 Check or set the termination resistor selection at all slaves Use the description in Network Termination on page 481 for slaves that are A1000 drives 3 Switch the power on 4 Set the parameters n...

Page 481: ...interface Network Termination The two ends of the MEMOBUS Modbus network line have to be terminated The drive has a built in termination resistor that can be enabled or disabled using DIP switch S2 I...

Page 482: ...parity used for MEMOBUS Modbus communications Note After changing this parameter the power must be cycled to enable the new setting Setting 0 No parity Setting 1 Even parity Setting 2 Odd parity H5 04...

Page 483: ...CE Detection Time Sets the time the communications must be lost before the drive triggers a CE fault H5 10 Unit Selection for MEMOBUS Modbus Register 0025H Sets the unit for the output voltage monito...

Page 484: ...iately without the need to send an Enter command H5 12 Run Command Method Selection Selects the type of sequence used when the Run command source is set to MEMOBUS Modbus communications b1 02 b1 16 2...

Page 485: ...ut terminals S and from MEMOBUS Modbus communications are both linked by an OR operation Controlling the Drive To start and stop the drive or set the frequency reference using MEMOBUS Modbus communica...

Page 486: ...unt of time the master should try resending the message Response Messages from Drive to Master If the drive receives a command from the master it will process the data received and wait for the time s...

Page 487: ...a CRC 16 cyclic redundancy check checksum method for checking data validity Use the procedure described below when calculating the CRC 16 checksum for command data or when verifying response data Comm...

Page 488: ...1H 1010 0000 0000 0001 XOR result 1110 0000 1001 1111 XOR result 1101 1111 1111 1111 Shift 2 0111 0000 0100 1111 1 Shift 2 0110 1111 1111 1111 1 XOR w A001H 1010 0000 0000 0001 XOR w A001H 1010 0000 0...

Page 489: ...e high byte then lower byte The following table shows an example of a message where a forward operation has been set with a frequency reference of 60 0 Hz for the slave 1 drive If parameter values are...

Page 490: ...quantity Starting No Upper 00H Starting No Upper 00H Error Code 02H Lower 01H Lower 01H CRC 16 Upper CDH Data Quantity Upper 00H Data Quantity Upper 00H Lower C1H Lower 02H Lower 02H Number of Bytes...

Page 491: ...to F Reserved 0002H Frequency Reference Units are determined by parameter o1 03 0003H V f Gain 0004H Torque Reference Torque Limit 0 1 units signed 0005H Torque Compensation 0 1 units signed 0006H PI...

Page 492: ...L1 Overtorque Detection 1 2 oL3 oL4 Undertorque Detection 1 2 UL3 UL4 bit A PG Disconnected PGo PG Hardware Fault PGoH Overspeed oS Excessive Speed Deviation dEv bit B Main Circuit Undervoltage Uv bit...

Page 493: ...3 User Speed Agree bit 4 Frequency Detection 1 bit 5 Frequency Detection 2 bit 6 Drive Ready bit 7 During Undervoltage bit 8 During Baseblock bit 9 Frequency Reference from Operator Keypad bit A Run C...

Page 494: ...097H Used for monitors U2 U3 Refer to U Monitors on page 447 for parameter details and Refer to Fault Trace Contents on page 500 for register value descriptions 0098H High Word of Accumulated Operatio...

Page 495: ...it 6 Cooling Fan Error FAn bit 7 Overspeed os bit 8 Excessive Speed Deviation dEv bit 9 PG Disconnected PGo bit A Input Phase Loss PF bit B Output Phase Loss LF bit C Motor Overheat PTC input oH3 bit...

Page 496: ...nal S3 EF3 bit 9 External Fault 4 input terminal S4 EF4 bit A External Fault 5 input terminal S5 EF5 bit B External Fault 6 input terminal S6 EF6 bit C External Fault 7 input terminal S7 EF7 bit D Ext...

Page 497: ...ed 00D0H CPF Contents 1 bit 0 1 Reserved bit 2 A D Conversion Error CPF02 bit 3 PWM Data Fault CPF03 bit 4 5 Reserved bit 6 EEPROM Memory Data Error CPF06 bit 7 Terminal Board Connection Error CPF07 b...

Page 498: ...33 bit 4 MEMOBUS Timeout oFA34 bit 5 Drive timeout waiting for response oFA35 bit 6 CI Check Error oFA36 bit 7 Drive timeout waiting for response oFA37 bit 8 Control Command Selection Error oFA38 bit...

Page 499: ...rt Error oFC14 bit 5 Option Receive CRC Error oFC15 bit 6 Option Receive Frame Error oFC16 bit 7 Option Receive Abort Error oFC17 bit 8 to F Reserved 00E3H 00E4H Reserved 00E5H oFC3x Contents CN5 C bi...

Page 500: ...torque Detection 2 oL4 00A1H ASIC Start p Error CPF32 000FH Dynamic Braking Transistor rr 00A2H Watch dog Error CPF33 0010H Braking Resistor Overheat rH 00A3H ASIC Power Clock Error CPF34 0011H Extern...

Page 501: ...Memory Data Error CPF06 0239H Control Command Selection Error oFb38 0088H Terminal Board Connection Error CPF07 023AH Drive timeout waiting for response oFb39 0089H EEPROM Serial Communication Fault C...

Page 502: ...e Time 90 TrPC 001AH Option Card External Fault EF0 0043H Soft Charge Bypass Relay Maintenance Time LT 3 001BH Motor Switch command input during run rUn 0044H IGBT Maintenance Time 50 LT 4 001DH Seria...

Page 503: ...ance with how the Enter command was set up in the older drive H5 11 determines if an Enter command is needed or not in order to activate parameter changes in the drive If upgrading from a G7 or F7 ser...

Page 504: ...mpted to set a function code from a PLC other than 03H 08H and 10H 02H Register Number Error A register number specified in the command message does not exist Attempted to send a broadcast message usi...

Page 505: ...e level to confirm safe level 1 Turn on the power to the drive 2 Note the present terminal S6 function selection setting H1 06 and set it for the communications test mode H1 06 67 3 Turn off the power...

Page 506: ...C 12 Self Diagnostics 506 YASKAWA ELECTRIC SIEP C710616 27C YASKAWA AC Drive A1000 Technical Manual...

Page 507: ...AC Drive A1000 Technical Manual 507 Standards Compliance This appendix explains the guidelines and criteria for maintaining CE and UL standards D 1 SECTION SAFETY 508 D 2 EUROPEAN STANDARDS 510 D 3 U...

Page 508: ...ully discharged Failure to comply could result in death or serious injury Before wiring terminals disconnect all power to the equipment The internal capacitor remains charged even after the power supp...

Page 509: ...lt in ESD damage to the drive circuitry Never connect or disconnect the motor from the drive while the drive is outputting voltage Improper equipment sequencing could result in damage to the drive Do...

Page 510: ...ing this drive with other devices Area of Use Do not use drives in areas with pollution higher than severity 2 and overvoltage category 3 in accordance with IEC664 Installing Fuses on the Input Side A...

Page 511: ...largest possible surface area of the shield to the metal conduit when using braided shield cable Yaskawa recommends using a cable clamp Figure D 3 Figure D 3 Ground Area 6 Connect a DC reactor to min...

Page 512: ...e off any visible paint D Grounding surface remove any paint or sealant J EMC noise filter E Drive K Make sure the ground wire is grounded F Motor cable braided shield cable max 10 m L3 L3 L2 L2 L1 L1...

Page 513: ...07 35 2 1 206 50 355 175 336 2A0030 2A0040 FS5972 60 07 60 4 0 236 65 408 205 390 2A0056 2A0069 FS5972 100 35 100 3 4 90 150 330 65 255 2 2A0081 2A0110 FS5972 170 40 170 6 0 120 170 451 102 365 2A0138...

Page 514: ...EN 61000 3 2 Compliance Table D 2 DC Reactors for Harmonics Reduction Note Contact Yaskawa for information about DC reactors for other models Drive Model CIMR A DC Reactor Model Rating 200V Three Pha...

Page 515: ...tured by JST Corporation Table D 3 Closed Loop Crimp Terminal Size JIS C 2805 same for 200 V and 400 V Wire Gauge mm2 AWG Terminal Screws Crimp Terminal Model Numbers Tightening Torque Nxm lbxin 0 75...

Page 516: ...rmed successfully the motor data entered to T1 04 is automatically written into parameter E2 01 If Auto Tuning has not been performed manually enter the correct motor rated current to parameter E2 01...

Page 517: ...occurs when the drive is running at 60 Hz and at 150 of the full load amp rating E2 01 of the motor Adjusting the value of L1 02 can shift the set of oL1 curves up the y axis of the diagram below but...

Page 518: ...uts H1 and H2 have opened it takes up to 1 ms for drive output to shut off completely The sequence set up to trigger terminals H1 and H2 should make sure that both terminals remain open for at least 1...

Page 519: ...Note To avoid an uncontrolled stop during normal operation make sure that the Safe Disable inputs are opened first when the motor has completely stopped Returning to Normal Operation after Safe Disab...

Page 520: ...al of the safety device for details on this function Digital Operator Display When both Safe Disable inputs are open Hbb will flash in the digital operator display Should only one of the Safe Disable...

Page 521: ...on provides tables to keep record of the drive specification motor specification and drive settings Fill in the data after commissioning the application and have them ready when contacting Yaskawa for...

Page 522: ...Value Manufacturer Induction Voltage Constant mVs rad Model Induction Voltage Constant mV r min PM Motor Rated Power kW PM Motor Rated Current A PM Motor Rated Voltage V PM Motor Base Frequency Hz d...

Page 523: ...uency E1 06 Min Output Freq Voltage E1 10 Item Setting Value Memo Item Setting Value Memo Induction Motor Motor Rated Current E2 01 Number of Motor Poles E2 04 Motor Rated Slip E2 02 Line to Line Resi...

Page 524: ...in Setting P b5 03 Integral Time Setting I b5 04 Integral Limit Setting b5 05 Derivative Time D b5 06 PID Output Limit b5 07 PID Offset Adjustment b5 08 PID Primary Delay Time Constant b5 09 PID Outpu...

Page 525: ...d4 05 Frequency Reference Bias Operation Mode Selection Up Down 2 d4 06 Frequency Reference Bias Up Down 2 d4 07 Analog Frequency Reference Fluctuation Limit Up Down 2 No Name User Setting d4 08 Frequ...

Page 526: ...Multi Step Speed Enable Disable Selection when NetRef ComRef is Selected F6 08 Reset Communication Parameters F6 10 CC Link Node Address No Name User Setting F6 11 CC Link Communications Speed F6 14 C...

Page 527: ...ement Detection Width L4 03 Speed Agreement Detection Level L4 04 Speed Agreement Detection Width L4 05 Frequency Reference Loss Detection Selection L4 06 Frequency Reference at Reference Loss No Name...

Page 528: ...5 Capacitor Maintenance Setting o4 07 DC Bus Pre charge Relay Maintenance Setting o4 09 IGBT Maintenance Setting o4 11 U2 U3 Initialize Selection o4 12 kWh Monitor Initialization o4 13 Number of Run C...

Page 529: ...ncy Reference Sample Hold 220 Analog Input Card Settings 209 Analog Input Filter Time Constant 236 Analog Input Option Card Bias 209 Analog Input Option Card Gain 209 Analog Input Option Card Operatio...

Page 530: ...t Names 32 Compressor Application 105 Conducted Noise 383 Connected Machinery Vibrates When Motor Rotates 340 Connecting a DC Reactor 383 Connecting an AC Reactor 383 Connecting Braking Units in Paral...

Page 531: ...e 42 Digital Output Card Settings 211 Digital Output Option Card Terminal Function Selection 211 Dimensions for IP00 Enclosure 200 V Class 49 400 V Class 49 Dimensions for IP20 NEMA Type 1 Enclosure 2...

Page 532: ...Rotation 339 Excessive PID Feedback 301 303 309 321 Excessive Speed Deviation for Simple V f with PG 301 302 Excessive Speed Deviation Detection Delay Time 207 Excessive Speed Deviation Detection Lev...

Page 533: ...GF 301 310 Ground Fault 301 310 Ground Terminal 35 Ground Wiring 71 H H1 72 H1 Multi Function Digital Input Selections 424 H1 H2 Sink Source Selection 76 H2 72 H3 Multi Function Analog Input Settings...

Page 534: ...and KEB Input 252 KEB Operation Using L2 10 Without KEB Input 252 KEB Operation Wiring Example 253 KEB Ride Thru End Detection 251 KEB Ride Thru Function 249 KEB Ride Thru Start 250 KEB Start Output F...

Page 535: ...ctance 203 Motor 2 Line to Line Resistance 203 Motor 2 Load Inertia Ratio 177 Motor 2 Max Output Frequency 201 Motor 2 Max Voltage 201 Motor 2 Mechanical Loss 203 Motor 2 Mid Output Frequency 201 Moto...

Page 536: ...73 Multi Function Digital Output Terminal Settings 225 Multi Function Digital Outputs 224 Multi Function Input Selection Error 325 Multi Function Input Setting Error 304 Multiple Drive Installation 41...

Page 537: ...ut Frequency Reduction During Overheat Alarm 270 Output Frequency Resolution 391 Output Ground Fault Detection Selection 271 438 Output of speed control ASR for Simple V f PG 452 Output Phase Loss 301...

Page 538: ...ductance Error 330 PM Motor Auto Tuning Mode Selection 116 PM Motor Base Frequency 117 PM Motor Base Speed 118 PM Motor Code Selection 117 PM Motor Control Tuning 281 PM Motor d Axis Inductance 118 PM...

Page 539: ...2 65 S1 72 S2 72 S3 72 S4 72 S5 72 S6 72 S7 72 S8 72 Safe Disable Circuit 518 Safe Disable Function Wiring Example Source Mode 519 Safe Disable Input Function 518 Safe Disable Input Sink Source Extern...

Page 540: ...uto Tuning 2 109 Stationary Auto Tuning for Line to Line Resistance 109 Stator Resistance Error 330 Status Display 102 STo 302 317 STOP button Input 304 329 STOP Key Function Selection 286 443 Stop Po...

Page 541: ...302 303 317 324 UL4 302 303 317 324 UL5 303 317 Undertorque 1 303 Undertorque 2 303 Undertorque Detection 1 302 317 324 Undertorque Detection 2 302 317 324 Undertorque Detection Operation 265 Undervo...

Page 542: ...Wiring Checklist 83 Wiring Diagram for 2 Wire Sequence 221 Wiring Distance 178 Wiring the Control Circuit Terminal 74 WRITE 287 Writing Parameter Settings 332 Writing to Multiple Registers 489 Z Z Pu...

Page 543: ...th corresponding data Three phase 400V CIMR A 4A0414 to 0675 Revision Review and corrected entire documentation February 2009 All Addition x Larger drive capacities added along with corresponding data...

Page 544: ...800 YASKAWA 800 927 5292 or 1 847 887 7000 Fax 1 847 887 7370 Internet http www yaskawa com JAPAN YASKAWA ELECTRIC CORPORATION New Pier Takeshiba South Tower 1 16 1 Kaigan Minatoku Tokyo 105 0022 Japa...

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