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YASKAWA GA500 series Programming Download Page 3

YASKAWA

TOEPYAIGA5002A GA500 Programming

3

Table of Contents

1. Parameter List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

1.1

Section Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

1.2

How to Read the Parameter List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11

Icons and Terms that Identify Parameters and Control Modes . . . . . . . . . . . . . . . . . . . . . .11

1.3

Parameter Groups . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

1.4

A: Initialization Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

A1: Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
A2: User Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

1.5

b: Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

b1: Operation Mode Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
b2: DC Injection Braking and Short Circuit Braking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
b3: Speed Search. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
b4: Timer Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
b5: PID control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
b6: Dwell Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
b8: Energy Saving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

1.6

C: Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

C1: Accel & Decel Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
C2: S-Curve Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
C3: Slip Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
C4: Torque Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
C5: Automatic Speed Regulator (ASR: Automatic Speed Regulator) . . . . . . . . . . . . . . . 27
C6: Duty & Carrier Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

1.7

d: Reference Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

d1: Frequency Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
d2: Reference Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
d3: Jump Frequency. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
d4: Frequency Ref Up/Down & Hold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
d6: Field Weakening /Forcing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
d7: Offset Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

1.8

E: Motor Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

E1: V/f Pattern for Motor 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
E2: Motor Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
E3: V/f Pattern for Motor 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
E4: Motor 2 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
E5: PM Motor Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
E9: Motor Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

1.9

F: Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

F1: Fault Detection in PG Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
F6: Communication Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

Summary of Contents for GA500 series

Page 1: ...GA500 Industrial AC Microdrive Programming Catalog Code GA50Uxxxxxxxx 240 V Single Phase Input 1 6 to 5 HP 240 V Three Phase Input 1 6 to 30 HP 480 V Three Phase Input 1 2 to 40 HP PDF...

Page 2: ...This Page Intentionally Blank 2 YASKAWA TOEPYAIGA5002A GA500 Programming...

Page 3: ...n 23 b8 Energy Saving 23 1 6 C Tuning 25 C1 Accel Decel Time 25 C2 S Curve Characteristics 25 C3 Slip Compensation 26 C4 Torque Compensation 27 C5 Automatic Speed Regulator ASR Automatic Speed Regulat...

Page 4: ...EZ Drive 79 n8 PM Motor Control Tuning 79 nA PM Motor Control Tuning 82 1 13 o Keypad Related Settings 83 o1 Keypad Display 83 o2 Keypad Operation 85 o3 Copy Keypad Function 86 o4 Maintenance Monitors...

Page 5: ...158 b2 DC Injection Braking and Short Circuit Braking 168 b3 Speed Search 171 b4 Timer Function 180 b5 PID control 181 b6 Dwell Function 198 b8 Energy Saving 199 2 4 C Tuning 204 C1 Accel Decel Time...

Page 6: ...n5 Feed Forward Control 411 n6 Online Tuning 413 n7 EZ Drive 414 n8 PM Motor Control Tuning 415 nA PM Motor Control Tuning 425 2 11 o Keypad Related Settings 426 o1 Keypad Display Selection 426 o2 Key...

Page 7: ...Tuning during Test Runs Adjust the Control Function 481 V f Control 481 Open Loop Vector Control Method 482 Open Loop Vector Control for PM Motors 483 Advanced Open Loop Vector Control Method for PM...

Page 8: ...for the MFAO Terminal AM 512 Switch ON Termination Resistor for MEMOBUS Modbus Communications 512 5 6 Connect the Drive to a PC 513 6 Preface and General Precautions 515 6 1 Receiving 516 Glossary 51...

Page 9: ...ons 67 1 12 n Special Adjustment 77 1 13 o Keypad Related Settings 83 1 14 q DriveWorksEZ Parameters 89 1 15 r DWEZ Connection 1 20 90 1 16 T Motor Tuning 91 1 17 U Monitors 94 1 18 Parameters that Ch...

Page 10: ...00 Programming 1 1 Section Safety DANGER Do not ignore the safety messages in this manual If you ignore the safety messages in this manual it will cause serious injury or death The manufacturer is not...

Page 11: ...or PM The parameter is available when operating the drive with Advanced Open Loop Vector Control for PM The parameter is available when operating the drive with EZ Open Loop Vector Control Hex Hexadec...

Page 12: ...ing PG Speed Control F6 Communication Options F7 Communication Options H1 Digital Inputs H2 Digital Outputs H3 Analog Inputs H4 Analog Outputs H5 Modbus Communication H6 Pulse Train Input Output Param...

Page 13: ...EZ Vector Control 2 0 2 5 6 8 140 A1 03 0103 Initialize Parameters Sets parameters to default values 0 No Initialization 1110 User Initialization 2220 2 Wire Initialization 3330 3 Wire Initialization...

Page 14: ...Range Ref A2 01 to A2 32 0106 0125 User Parameters 1 to 32 You can select a maximum of 32 parameters for the drive and save the values to parameters A2 01 to A2 32 Use Setup Mode to show the saved pa...

Page 15: ...t malfunction because of electrical interference 0 Single Scan 1 Double Scan 1 0 1 163 b1 07 0186 LOCAL REMOTE Run Selection Sets drive response to an existing Run command when the drive receives a se...

Page 16: ...s how much current the drive injects when DC Injection Braking at Start starts Initial Excitation as a percentage of E2 03 Motor No Load Current 0 0 1000 170 b2 12 01BA Short Circuit Brake Time Start...

Page 17: ...0 176 b3 14 019E Bi directional Speed Search Sets the direction of Speed Search to the direction of the frequency reference or in the motor rotation direction as detected by the drive 0 Disabled 1 Ena...

Page 18: ...pert Initial Pole Detection Response Gain Sets the responsiveness for initial motor magnetic pole calculation when A1 02 6 Control Method Selection AOLV PM Set b3 61 0 0 for an ordinary IPM motor It i...

Page 19: ...is the maximum output frequency A1 02 8 EZOLV E1 04 Maximum Output Frequency A1 02 8 E9 02 Maximum Speed 100 0 0 0 100 0 188 b5 05 01A9 RUN Derivative Time D Sets the derivative time D for PID contro...

Page 20: ...01B3 PID Sleep Function Start Level Sets the output level that triggers the PID Sleep function Determined by A1 02 0 0 590 0 191 b5 16 01B4 PID Sleep Delay Time Sets a delay time to start or stop the...

Page 21: ...xcludes PID Output 0 0 1 194 b5 47 017D PID Trim Mode Output Reverse Sel Sets reverse motor rotation when the PID control output is negative 0 Lower Limit is Zero 1 Negative Output Accepted 1 0 1 194...

Page 22: ...Minimum Speed and b5 92 EZ Sleep Level 0 0 1Hz units 1 rev min 0 0 1 197 b5 91 0B91 RUN EZ Sleep Minimum Speed Sets the minimum speed for the EZ Sleep Wakeup function This parameter uses the largest v...

Page 23: ...by C6 01 E2 11 and o2 04 0 00 655 00 200 b8 05 01D0 Expert Power Detection Filter Time Sets the time constant to measure output power 20 ms 0 2000 ms 200 b8 06 01D1 Expert Search Operation Voltage Lim...

Page 24: ...6 Expert PM E Save Search Start Level Sets the start level for search operations 10 0 0 0 100 0 202 b8 26 0B47 Expert PM E Save Power Setpoint Sets a value to increase torque accuracy 0 0 10 0 10 0 20...

Page 25: ...ents motor coasting and makes sure that the motor stops quickly and safely When L2 29 0 Kinetic Energy Backup Method Single Drive KEB Ride Thru 1 and you do KEB Auto Tuning the drive will automaticall...

Page 26: ...oltage limit operation when C3 05 1 Output Voltage Limit Selection Enabled 90 0 70 0 90 0 212 C3 17 0262 Expert Vout Modulation Limit Max Level Sets the modulation factor used with C3 18 Output Voltag...

Page 27: ...nsation Time Sets the starting torque constant to use with C4 03 and C4 04 Torque Compensation FWD REV Start 10 ms 0 200 ms 216 C4 06 021A Motor 2 Torque Comp Delay Time Sets the value if ov Overvolta...

Page 28: ...the frequency where the drive will switch between these parameters C5 01 and C5 03 ASR Proportional Gain 1 2 C5 02 and C5 04 ASR Integral Time 1 2 Determined by A1 02 Determined by A1 02 220 C5 08 022...

Page 29: ...ecrease the audible noise Determined by A1 02 C6 01 and o2 04 Determined by A1 02 222 C6 03 0225 Carrier Frequency Upper Limit Sets the upper limit of the carrier frequency Set C6 02 F Carrier Frequen...

Page 30: ...Method Selection AOLV PM the default setting is o1 03 1 0 01 100 E1 04 0 00 Hz 0 00 590 00 Hz 229 d1 07 0286 RUN Reference 7 Sets the frequency reference in the units from o1 03 Frequency Display Uni...

Page 31: ...x 6 MFDI Function Select Jog Reference Selection to use the Jog frequency reference Note When A1 02 6 Control Method Selection AOLV PM the default setting is o1 03 1 0 01 100 E1 04 6 00 Hz 0 00 590 00...

Page 32: ...on that saves the bias value to the drive when you open or close the two Up Down 2 Commands H1 xx 75 76 Set d4 03 Up Down 2 Bias Step Frequency 0 00 before you set this parameter 0 Hold when Neither U...

Page 33: ...d7 01 02B2 RUN Offset Frequency 1 Uses H1 xx 44 MFDI Function Select Add Offset Frequency 1 d7 01 as a percentage of the Maximum Output Frequency to add or subtract the set frequency to from the freq...

Page 34: ...urrent from overexcitation F Determined by A1 02 243 E1 04 0303 Maximum Output Frequency Sets the maximum output frequency for the V f pattern Determined by A1 02 and E5 01 Determined by A1 02 and E5...

Page 35: ...Coefficient 1 Sets the motor iron core saturation coefficient at 50 of the magnetic flux 0 50 0 00 0 50 252 E2 08 0315 Motor Saturation Coefficient 2 Sets the motor iron core saturation coefficient at...

Page 36: ...Name Description Default Range Ref E4 01 0321 Motor 2 Rated Current Sets the motor rated current for motor 2 in amps Determined by o2 04 C6 01 10 to 200 of the drive rated current 255 E4 02 0322 Motor...

Page 37: ...nductance 1 00 mH 0 00 600 00 mH 259 E5 09 0331 PM Back EMF Vpeak mV rad s Sets the peak value of PM motor induced voltage 0 0 mV rad sec 0 0 2000 0 mV rad s 259 E5 24 0353 PM Back EMF L L Vrms mV rpm...

Page 38: ...the motor rated output in the units from o1 58 Motor Power Unit Selection Determined by E9 02 and o2 04 0 00 650 00 kW 261 E9 08 11EB Motor Pole Count Sets the number of motor poles 4 2 to 120 262 E9...

Page 39: ...ameter 3 0 3 264 F1 08 0387 Overspeed Detection Level Sets the detection level of oS Overspeed as a percentage when the maximum output frequency is 100 Note Parameter A1 02 Control Method Selection se...

Page 40: ...cted during RUN Only 0 0 1 272 F6 03 03A4 Comm External Fault EF0 Select Sets the method to stop the motor or let the motor continue operating when the drive detects EF0 Option Card External Fault 0 R...

Page 41: ...3 range 20 3F MECHATROLINK III SI ET3 range 03 EF Be sure to set a node address that is different than all other node addresses Incorrect parameter settings will cause AEr Station Address Setting Erro...

Page 42: ...t is different than all other node addresses Do not set this parameter to 0 Incorrect parameter settings will cause AEr Station Address Setting Error errors and the L ERR LED on the option will come o...

Page 43: ...9 F6 61 03DC DeviceNet Time Scaling Sets the time scale of the DeviceNet communication master 0 15 15 279 F6 62 03DD DeviceNet Heartbeat Interval Sets the heartbeat for DeviceNet communication Set thi...

Page 44: ...set the IP Address Be sure to set a different IP address for each drive on the network Also set parameters F7 01 to F7 12 20 0 255 280 F7 05 03E9 Subnet Mask 1 Sets the first octet of the subnet mask...

Page 45: ...he EtherNet IP Class ID 2AH Object 0 15 15 283 F7 20 03F8 EtherNet IP Power Scaling Factor Sets the scaling factor for the power monitor in the EtherNet IP Class ID 2AH Object 0 15 15 283 F7 21 03F9 E...

Page 46: ...6 when you use an Ethernet IP option The drive writes the values from Output Assembly 116 to the MEMOBUS Modbus address register that is stored for each parameter The drive will not write the values f...

Page 47: ...n you use a Profibus option sets the MEMOBUS Modbus address for PZD3 PPO output A value of 0 1 or 2 will disable the PZD3 PPO output write operation to the MEMOBUS Modbus register 0 284 F7 63 0783 PZD...

Page 48: ...286 F7 76 0790 PZD7 Read When you use a Profibus option sets the MEMOBUS Modbus address for PZD7 PPO input A value of 0 will disable the PZD7 PPO input load operation from the MEMOBUS Modbus register...

Page 49: ...nal S1 F 1 19F 289 H1 22 0B71 Terminal S2 Function Select 2 Sets the second function for MFDI terminal S2 F 1 19F 289 H1 23 0B72 Terminal S3 Function Selection 2 Sets the second function for MFDI term...

Page 50: ...stored in the drive at the time of the pause and restarts motor operation 293 B Overheat Alarm oH2 Sets the drive to display an oH2 Drive Overheat Warning alarm when the input terminal is ON The alarm...

Page 51: ...rameter Write Prohibit 299 1E Reference Sample Hold Sets the command to sample the frequency reference at terminal A1 or A2 and hold the frequency reference at that frequency 299 20 to 2F External fau...

Page 52: ...EV Command 2 Wire Seq 2 at the same time ON Run OFF Stop Note This function will not operate at the same time as H1 xx 40 41 Forward Reverse Run Command 2 Wire Seq 303 43 FWD REV 2 Wire Sequence 2 Set...

Page 53: ...6 76 Down 2 Command Sets the function to decrease the frequency reference bias value to decelerate the motor when the terminal is activated Set this function and H1 xx 75 Up 2 Command at the same time...

Page 54: ...9 MFDO Function Selection Watt Hour Pulse Output 0 0 1 kWh units 1 1 kWh units 2 10 kWh units 3 100 kWh units 4 1000 kWh units 0 0 4 312 H2 07 0B3A Modbus Register 1 Address Select Sets the address of...

Page 55: ...igital Output Only 4 0 4 315 H2 34 159C Comparator 2 Filter Time Sets the time constant that is applied to the primary delay filter used for the analog output of the monitor selected with H2 26 Compar...

Page 56: ...FF Drive is stopping 318 1 Zero Speed The terminal turns on when the output frequency drops below the value of E1 09 Minimum Output Frequency or b2 01 DC Injection Zero SpeedThreshold Note Parameter A...

Page 57: ...ence from Keypad Shows the selected frequency reference source ON The keypad is the frequency reference source OFF Parameter b1 01 or b1 15 Frequency Reference Selection 1 or 2 is the frequency refere...

Page 58: ...s more than the torque value set with L6 02 Torque Detection Level 1 or the level is less than the torque value set with L6 02 Torque Detection Level 1 for longer than the time set with L6 03 Torque D...

Page 59: ...uring Short Circuit Braking The terminal activates during Short Circuit Braking Note When A1 02 8 Control Method Selection EZOLV this function is available only when you use a PM motor 329 4C During F...

Page 60: ...Range Ref H3 01 0410 Terminal A1 Signal Level Select Sets the input signal level for MFAI terminal A1 0 0 to 10V Lower Limit at 0 4 10 to 10V Bipolar Reference 0 0 4 334 H3 02 0434 Terminal A1 Functio...

Page 61: ...aximum output frequency A1 02 8 EZOLV E1 04 Maximum Output Frequency A1 02 8 E9 02 Maximum Speed 338 3 Auxiliary Frequency Reference 2 Sets Reference 3 through multi step speed reference to enable the...

Page 62: ...nals in through mode 340 10 Forward Torque Limit Enters the forward torque limit if the motor rated torque is 100 340 11 Reverse Torque Limit Enters the load torque limit if the motor rated torque is...

Page 63: ...No Hex Name Description Default Range Ref H5 01 0425 Drive Node Address Sets the communication slave address for drives Note Re energize the drive or set H5 10 1 Modbus Register 0025H Unit Sel 1 V uni...

Page 64: ...11A2 Motor Speed Filter over Comms Sets the filter time constant used when monitoring motor speed during MEMOBUS Modbus communications or with a communication option 0 ms 0 100 ms 348 H5 20 0B57 Comm...

Page 65: ...imum frequency of the pulse train signal that terminal RP can detect 0 5 Hz 0 1 1000 0 Hz 352 H7 Virtual MFIO selection No Hex Name Description Default Range Ref H7 00 116F Expert Virtual MFIO selecti...

Page 66: ...the virtual analog input function F 0 32 355 H7 31 1178 RUN Expert Virtual Analog Input Gain Sets the virtual analog input gain 100 0 999 9 999 9 355 H7 32 1179 RUN Expert Virtual Analog Input Bias S...

Page 67: ...t Level Sets the reference current for the motor 1 thermal overload detection When the current level 0 0 A you cannot set this value 10 of drive rated current 0 0 A 0 0 A or 10 to 150 of the drive rat...

Page 68: ...Method Single Drive KEB Ride Thru 2 System KEB Ride Thru 1 or System KEB Ride Thru 2 and you do KEB Auto Tuning the drive will automatically set this value 0 0 s 0 0 6000 0 s 371 L2 07 048B Expert Ki...

Page 69: ...e as a percentage of the drive rated output current 50 0 100 376 L3 04 0492 Stall Prevention during Decel Sets the method that the drive will use to prevent overvoltage faults when decelerating Note 1...

Page 70: ...04 C6 01 E2 11 and E5 01 0 001 10 000 s 381 L3 25 046F Expert Load Inertia Ratio Sets the ratio between motor inertia and machine inertia 1 0 0 1 1000 0 382 L3 26 0455 Expert Additional DC Bus Capaci...

Page 71: ...he width to detect speed agree or motor speed when H2 01 to H2 03 13 14 15 16 MFDO Function Selection Speed Agree 2 User set Speed Agree 2 Frequency Detection 3 Frequency Detection 4 Determined by A1...

Page 72: ...oL2 0101 Enabled oL2 oL4 0110 Enabled oL2 oL3 0111 Enabled oL2 oL3 oL4 1000 Enabled oL1 1001 Enabled oL1 oL4 1010 Enabled oL1 oL3 1011 Enabled oL1 oL3 oL4 1100 Enabled oL1 oL2 1101 Enabled oL1 oL2 oL4...

Page 73: ...trol drive rated output current 100 value In vector control motor rated torque 100 value 150 0 300 393 L6 06 04A6 Torque Detection Time 2 Sets the detection time for Overtorque Undertorque Detection 2...

Page 74: ...during Accel Decel Sets the torque limit function during acceleration and deceleration 0 Proportional only 1 Proportional Integral control 0 0 1 396 L7 16 044D Torque Limit Process at Start Assigns a...

Page 75: ...rotection Sets the function to decrease drive overload at low speeds to prevent damage to the main circuit transistor during low speed operation at 6 Hz or slower to prevent oL2 Drive Overloaded Note...

Page 76: ...e protection function for the internal braking transistor 0 Disable 1 Protection Enabled 1 0 1 403 L8 56 047D Expert Stall P Accel Activation Time Sets the length time that the acceleration stall prev...

Page 77: ...of the AFR function as a magnification value Usually it is not necessary to change this setting 1 00 0 00 10 00 406 n2 02 0585 Automatic Freq Regulator Time 1 Sets the time constant that sets the rate...

Page 78: ...No Hex Name Description Default Range Ref n5 01 05B0 Feed Forward Control Selection Sets the feed forward function 0 Disabled 1 Enabled 0 0 1 411 n5 02 05B1 Motor Inertia Acceleration Time Sets the le...

Page 79: ...rcentage where E5 03 motor rated current is 100 Usually it is not necessary to change this setting 80 0 150 416 n8 11 054A Observer Calculation Gain 2 Sets the gain for speed estimation Usually it is...

Page 80: ...ilter shut off frequency for high frequency injection Note Set n8 35 1 Initial Pole Detection Method High Frequency Injection or n8 57 1 HFI Overlap Selection Enabled to enable this parameter The driv...

Page 81: ...200 V Class 200 0 V 400 V 400 0 V 200 V Class 0 0 to 240 0 V 400 V Class 0 0 to 480 0 V 422 n8 63 057E Expert Output Voltage Limit P Gain Sets the proportional gain for output voltage control Usually...

Page 82: ...ction selects which parameter is the motor rated current A1 02 5 6 OLV PM AOLV PM E5 03 PM Motor Rated Current FLA A1 02 8 EZOLV E9 06 PM Motor Rated Current FLA 3 0 400 424 n8 90 02BF Vout Limit Swit...

Page 83: ...quency Determined by o1 03 1 60000 429 o1 11 0521 User Units Decimal Position Sets the number of decimal places for frequency reference and monitor values 0 No Decimal Places XXXXX 1 One Decimal Place...

Page 84: ...d 100 0 0 0 100 0 432 o1 47 11C7 RUN Trend Plot 1 Scale Minimum Value Sets the horizontal axis minimum value used to display the monitor set in o1 24 Custom Monitor 1 as a trend plot This parameter is...

Page 85: ...termined by the drive 435 o2 05 0509 Home Mode Freq Ref Entry Mode Sets the function that makes it necessary to push to use the keypad to change the frequency reference value while in Drive Mode 0 ENT...

Page 86: ...d 0 Disabled 1 Enabled 0 0 1 438 o3 04 0B3E Select Backup Restore Location Sets the storage location for drive parameters when you back up and restore parameters This parameter is only available when...

Page 87: ...r of Runs Low and U4 25 Number of Runs High 0 No Reset 1 Reset 0 0 1 441 o4 22 154F RUN Time Format Sets the time display format This parameter is only available when using an LCD keypad 0 24 Hour Clo...

Page 88: ...the data log monitor This parameter is only available when using an LCD keypad V f OLV PM 000 OLV AOLV PM EZOLV 105 000 101 999 446 o5 09 1559 RUN Log Monitor Data 7 Sets the data log monitor This pa...

Page 89: ...1 14 q DriveWorksEZ Parameters q1 01 to qx xx Reserved for DriveWorksEZ No Hex Name Description Default Range q1 01 to qx xx 1600 xxxx Reserved for DriveWorksEZ These parameters are reserved for use w...

Page 90: ...1 20 r1 01 to r1 40 DriveWorksEZ Connection Parameters 1 to 20 Upper Lower No Hex Name Description Default Range r1 01 to r1 40 1840 1867 DriveWorksEZ Connection Parameters 1 to 20 Upper Lower DriveW...

Page 91: ...of the motor Enter the base speed voltage for constant output motors Determined by o2 04 C6 01 200 V Class 0 0 255 5 V 400 V Class 0 0 511 0 V 449 T1 04 0704 Motor Rated Current Sets the rated current...

Page 92: ...motor the drive will operate 0 IPM motor 1 SPM motor 1 0 1 452 T2 04 0730 PM Motor Rated Power Uses the units set in o1 58 Motor Power Unit Selection to set the PM motor rated output power Determined...

Page 93: ...Magnet PM 2 Synchronous Reluctance SynRM 0 0 1 2 454 T4 04 3133 Motor Rated Revolutions Sets rated rotation speed min 1 of the motor 40 Hz to 120 Hz 60 2 E9 08 454 T4 05 3134 Motor Rated Frequency Se...

Page 94: ...r Control No signal output available U1 05 0044 Motor Speed Shows the detected motor speed Parameter o1 03 Keypad Display Unit Selection sets the display units Unit 0 01 Hz 10 V Maximum frequency 0 V...

Page 95: ...drive status where ON and OFF For example U1 12 shows during run with the Reverse Run command bit0 During Run bit1 During zero speed bit2 During reverse bit3 During fault reset signal input bit4 Duri...

Page 96: ...uency Reference to monitor the frequency reference value Unit 0 01 Hz No signal output available U2 04 0083 Output Freq Fault Shows the output frequency at the fault that occurred most recently Use U1...

Page 97: ...inal status bit0 Terminal S1 bit1 Terminal S2 bit2 Terminal S3 bit3 Terminal S4 bit4 Terminal S5 bit5 Terminal S6 bit6 Terminal S7 bit7 Not used normal value of No signal output available U2 12 008B O...

Page 98: ...OFF For example U2 21 shows when the drive detects excessive current bit0 Excessive current bit1 Induced voltage deviation bit2 d axis current deviation bit3 Motor lock at startup bit4 Acceleration s...

Page 99: ...OBUS Modbus communication data is shown in 10 h units Use register 009BH for data in 1 h units 10 V 99999 h U4 04 007E Cool Fan Maintenance Shows the cumulative operation time of the cooling fans as a...

Page 100: ...e that is in at MEMOBUS Modbus communications using Numerals being displayed 8192 drive rated current A Unit When the drive model changes the display units for this parameter also change 0 01 A units...

Page 101: ...e soft charge bypass contactor does not turn ON after 10 s 04 Restart after run stop is prohibited 05 Fast stop has been executed using the MFDI terminal Or the motor has ramped to stop by pressing th...

Page 102: ...ations as a decimal number Unit 0 1 10 V 100 0 V to 10 V U5 PID Monitors No Hex Name Description MFAO Signal Level U5 01 0057 PID Feedback Shows the PID control feedback value Parameter b5 20 PID Unit...

Page 103: ...trol q Axis Unit 0 1 V 200 V class 10 V 200 Vrms 400 V class 10 V 400 Vrms 0 V to 10 V U6 06 005A OutputVoltageRef Vd Shows the drive internal voltage reference for motor excitation current control d...

Page 104: ...tor rated current No signal output available U6 80 to U6 83 07B0 07B3 Option IP Address 1 to 4 Shows the currently available local IP Address U6 80 1st octet U6 81 2nd octet U6 82 3rd octet U6 83 4th...

Page 105: ...When you click the setting button on the title bar of the PC tool to open the setting screen you can confirm the user ID with the primary user ID display No signal output available U8 13 195C DWEZ Ve...

Page 106: ...is set with Q2 41 10 V 100 U8 53 1984 DWEZ Monitor 53 Shows DWEZ Monitor 53 Unit The number of decimal points shown is set with Q2 42 10 V 100 U8 54 1985 DWEZ Monitor 54 Shows DWEZ Monitor 54 Unit Th...

Page 107: ...e DI13 bit 5 Remote DI14 bit 6 Remote DI15 bit 7 Remote DI16 No signal output available U8 63 198E RemoteDO Monitor 0 7bit Shows the operation status of Remote DO1 to DO8 as 1 ON and 0 OFF If Remote D...

Page 108: ...well Reference at Start 0 0 400 0 0 1 Hz 0 0 0 0 b6 03 Dwell Reference at Stop 0 0 400 0 0 1 Hz 0 0 0 0 b8 02 Energy Saving Gain 0 0 10 0 0 1 0 7 b8 03 Energy Saving Filter Time 0 00 10 00 0 01 s 0 50...

Page 109: ...1 10 0 20 0 L4 01 Speed Agree Detection Level 0 0 400 0 6 0 1 0 0 Hz 0 0 Hz L4 02 Speed Agree Detection Width 0 0 20 0 0 1 2 0 Hz 2 0 Hz L4 03 Speed Agree Detection Level 400 0 400 0 7 0 1 0 0 Hz 0 0...

Page 110: ...t of Accel 0 00 10 00 0 01 s 1 00 0 20 1 00 C3 01 Slip Compensation Gain 0 0 2 5 0 1 0 C3 02 Slip Compensation Delay Time 0 10000 1 ms 200 C4 01 Torque Compensation Gain 0 00 2 50 0 01 0 00 0 00 C4 02...

Page 111: ...ction Level 0 0 400 0 1 0 1 0 0 Hz 0 0 0 0 L4 02 Speed Agree Detection Width 0 0 20 0 2 0 1 2 0 Hz 4 0 4 0 L4 03 Speed Agree Detection Level 400 0 400 0 5 0 1 0 0 Hz 0 0 0 0 L4 04 Speed Agree Detectio...

Page 112: ...Comp Delay Time 0 10000 1 ms 2000 200 E3 04 Motor 2 Maximum Output Frequency 40 0 590 0 0 1 Hz 60 0 60 0 E3 05 Motor 2 Maximum Output Voltage 0 0 255 0 1 0 1 V 200 0 200 0 E3 06 Motor 2 Base Frequenc...

Page 113: ...2 These settings are the same as those for the V f pattern when E1 03 1 Const Trq 60Hz base 60Hz max 2 The default setting varies depending on the setting of E5 01 PM Motor Code Selection 3 This is t...

Page 114: ...5 0 5 b3 26 Direction Determination Level 1000 1000 1000 1000 1000 1000 1000 1000 b8 03 Energy Saving Filter Time s 0 5 0 5 0 5 0 5 0 5 0 5 0 5 0 5 b8 04 Energy Saving Coefficient Value 481 7 356 9 35...

Page 115: ...1 03 Hunting Prevention Time Constant ms 10 10 10 10 10 10 10 10 n3 02 HSB Current Limit Level 150 120 150 120 150 120 150 120 n5 02 Motor Inertia Acceleration Time s 0 178 0 178 0 178 0 142 0 178 0 1...

Page 116: ...PM Motor Code Selection FFFF FFFF FFFF FFFF FFFF FFFF L2 02 Power Loss Ride Through Time s 0 3 0 3 0 5 0 5 1 1 L2 03 Minimum Baseblock Time s 0 4 0 5 0 5 0 5 0 6 0 7 L2 04 Powerloss V f Recovery Ramp...

Page 117: ...cient Value 481 7 356 9 356 9 288 2 288 2 223 7 223 7 196 6 C6 02 Carrier Frequency Selection 4 7 4 7 4 7 4 7 E2 01 E4 01 Motor Rated Current FLA A 0 6 1 1 1 1 1 9 1 9 3 3 3 3 4 9 E2 02 E4 02 Motor Ra...

Page 118: ...20 n5 02 Motor Inertia Acceleration Time s 0 178 0 178 0 178 0 142 0 178 0 142 0 142 0 142 1 Parameters within parentheses are for motor 2 No 1 Name Unit Default Drive Model 2010 2012 2021 2030 C6 01...

Page 119: ...Code Selection FFFF FFFF FFFF FFFF FFFF FFFF FFFF FFFF L2 02 Power Loss Ride Through Time s 0 3 0 3 0 5 0 5 1 1 1 1 L2 03 Minimum Baseblock Time s 0 4 0 5 0 5 0 5 0 6 0 7 0 7 0 8 L2 04 Powerloss V f R...

Page 120: ...57 87 51 79 C6 02 Carrier Frequency Selection 3 7 3 7 3 7 3 7 E2 01 E4 01 Motor Rated Current FLA A 26 6 39 7 39 7 53 53 65 8 65 8 77 2 E2 02 E4 02 Motor Rated Slip Hz 1 3 1 7 1 7 1 6 1 6 1 67 1 67 1...

Page 121: ...me s 0 175 0 265 0 265 0 244 0 244 0 317 0 317 0 355 1 Parameters within parentheses are for motor 2 Three Phase 400 V Class No 1 Name Unit Default Drive Model 4001 4002 4004 4005 C6 01 Normal Heavy D...

Page 122: ...ection FFFF FFFF FFFF FFFF FFFF FFFF FFFF FFFF L2 02 Power Loss Ride Through Time s 0 1 0 1 0 1 0 1 0 2 0 2 0 3 0 3 L2 03 Minimum Baseblock Time s 0 2 0 2 0 2 0 3 0 3 0 4 0 4 0 5 L2 04 Powerloss V f R...

Page 123: ...8 189 5 189 5 145 38 C6 02 Carrier Frequency Selection 3 7 3 7 3 7 3 7 E2 01 E4 01 Motor Rated Current FLA A 4 2 5 7 5 7 7 7 9 8 9 8 13 3 E2 02 E4 02 Motor Rated Slip Hz 3 2 7 2 7 2 7 2 7 1 5 1 5 1 3...

Page 124: ...68 0 168 0 175 1 Parameters within parentheses are for motor 2 No 1 Name Unit Default Drive Model 4023 4031 4038 4044 C6 01 Normal Heavy Duty Selection HD ND HD ND HD ND HD ND 0 1 0 1 0 1 0 1 o2 04 Dr...

Page 125: ...FFFF FFFF FFFF FFFF FFFF FFFF FFFF L2 02 Power Loss Ride Through Time s 1 1 2 2 2 2 2 2 L2 03 Minimum Baseblock Time s 0 8 0 9 0 9 1 1 1 1 1 L2 04 Powerloss V f Recovery Ramp Time s 0 3 0 3 0 3 0 6 0...

Page 126: ...2 Motor Rated Slip Hz 1 7 1 8 E2 03 E4 03 Motor No Load Current A 9 2 10 9 E2 05 E4 05 Motor Line to Line Resistance 0 316 0 269 E2 06 E4 06 Motor Leakage Inductance 23 5 20 7 E2 10 E4 10 Motor Iron L...

Page 127: ...9 3 6 2 5 E5 09 PM Back EMF Vpeak mV rad s mVs rad 0 0 0 0 0 E5 24 PM Back EMF L L Vrms mV rpm mV min 1 62 0 64 1 73 4 69 6 72 2 E1 04 Maximum Output Frequency Hz 120 120 120 120 120 E1 05 Maximum Ou...

Page 128: ...r Rated Power kW 0 1 0 2 0 4 E5 03 PM Motor Rated Current FLA A 0 64 1 1 9 E5 04 PM Motor Pole Count 6 6 6 E5 05 PM Motor Resistance ohms phase 17 200 9 960 3 590 E5 06 PM d axis Inductance mH phase m...

Page 129: ...06 1208 120A Voltage Class V 200 200 200 200 200 200 Capacity kW 0 4 0 75 1 5 2 2 3 7 5 5 Motor Rotation Speed min 1 1750 1750 1750 1750 1750 1750 E5 02 PM Motor Rated Power kW 0 4 0 75 1 5 2 2 3 7 5...

Page 130: ...ue s 0 077 0 084 0 102 0 101 0 098 n5 02 Motor Inertia Acceleration Time s 0 077 0 084 0 102 0 101 0 098 n8 49 Heavy Load Id Current 18 5 10 9 16 5 11 3 12 8 1 The default setting changes when the set...

Page 131: ...2 77 11 22 8 47 7 26 E5 09 PM Back EMF Vpeak mV rad s mVs rad 520 0 481 5 498 8 509 5 503 9 561 7 E5 24 PM Back EMF L L Vrms mV rpm mV min 1 0 0 0 0 0 0 0 0 0 0 0 0 E1 04 Maximum Output Frequency Hz 8...

Page 132: ...nit Motor Code setting value of E5 01 E5 01 PM Motor Code Selection 130B 130D 130E 130F 1310 Voltage Class V 200 200 200 200 200 Capacity kW 7 5 11 15 18 5 22 Motor Rotation Speed min 1 1450 1450 1450...

Page 133: ...72 5 72 5 E1 09 Minimum Output Frequency Hz 3 6 3 6 3 6 3 6 3 6 3 6 L3 24 1 Motor Accel Time Rated Torque s 0 098 0 071 0 066 0 087 0 085 0 072 n5 02 Motor Inertia Acceleration Time s 0 098 0 071 0 0...

Page 134: ...tance mH phase mH 48 68 32 31 19 22 12 15 7 94 11 13 E5 07 PM q axis Inductance mH phase mH 63 21 40 24 24 38 15 35 11 86 14 06 E5 09 PM Back EMF Vpeak mV rad s mVs rad 320 4 327 1 364 4 344 4 357 5 4...

Page 135: ...5 01 PM Motor Code Selection 1432 1433 1435 1436 1438 143A Voltage Class V 400 400 400 400 400 400 Capacity kW 0 4 0 75 1 5 2 2 3 7 5 5 Motor Rotation Speed min 1 1150 1150 1150 1150 1150 1150 E5 02 P...

Page 136: ...4 0 192 0 140 E5 06 PM d axis Inductance mH phase mH 26 36 19 10 15 09 13 32 9 52 8 16 E5 07 PM q axis Inductance mH phase mH 34 20 24 67 18 56 18 00 12 60 11 40 E5 09 PM Back EMF Vpeak mV rad s mVs r...

Page 137: ...Initialization Parameters 139 2 3 b Application 158 2 4 C Tuning 204 2 5 d References 226 2 6 E Motor Parameters 242 2 7 F Options 263 2 8 H Terminal Function Selection 287 2 9 L Protection Functions...

Page 138: ...00 Programming 2 1 Section Safety DANGER Do not ignore the safety messages in this manual If you ignore the safety messages in this manual it will cause serious injury or death The manufacturer is not...

Page 139: ...ameters to initialize the drive the drive will not set this parameter to factory default 0 English 1 Japanese 2 German 3 French 4 Italian 5 Spanish 6 Portuguese 7 Chinese 8 Czech 9 Russian 10 Turkish...

Page 140: ...ations and conditions For general variable speed control applications in which a high level of responsiveness or high precision speed control is not necessary To connect more than one motor to one dri...

Page 141: ...o save User Parameter setting values and to do a User Initialization 1 Set parameters correctly for the application 2 Set o2 03 1 User Parameter Default Value Set defaults This saves parameter setting...

Page 142: ...0000 0000 9999 If the password entered in A1 04 does not agree with the password setting in A1 05 you cannot change these parameters A1 01 Access Level Selection A1 02 Control Method Selection A1 03...

Page 143: ...ite A1 05 A1 06 Application Preset WARNING Sudden Movement Hazard Check the I O signals and the external sequences for the drive before you set the Application Preset function When you set the Applica...

Page 144: ...19 E1 09 Minimum Output Frequency A2 20 E1 13 Base Voltage A2 21 E2 01 Motor Rated Current FLA A2 22 E2 04 Motor Pole Count A2 23 E2 11 Motor Rated Power A2 24 H4 02 Terminal AM Analog Output Gain A2...

Page 145: ...timal Value A1 02 Control Method Selection 0 V f Control C1 01 Acceleration Time 1 3 0 s C1 02 Deceleration Time 1 3 0 s C6 01 Normal Heavy Duty Selection 0 Heavy Duty Rating L3 04 Stall Prevention du...

Page 146: ...1 Number of Auto Restart Attempts 4 HVAC Fan The drive automatically sets the parameters in Table 2 10 for an HVAC fan application Table 2 10 Best Parameter Settings for HVAC Fan Applications No Name...

Page 147: ...01 Normal Heavy Duty Selection 0 Heavy Duty Rating E1 03 V f Pattern Selection F Custom L2 01 Power Loss Ride Through Select 1 Enabled for L2 02 Time L3 04 Stall Prevention during Decel 1 General Purp...

Page 148: ...output frequency increases when you input the Run command although the external baseblock command is input Because of this speed detection operates and will open the brake signal Set Related Parameter...

Page 149: ...nce to close the holding brake in an emergency if the drive detects a fault Set the sequence to open the holding brake when you enter an increase or decrease command Figure 2 2 Sequence Circuit Config...

Page 150: ...or test report is not available and the motor can rotate do PM Rotational Auto Tuning Braking Resistor Overheat Protection When you use a braking resistor that is not the optional Yaskawa braking resi...

Page 151: ...speed response to increase them V f Control When you use V f Control do not use C3 01 Slip Compensation Gain Table 2 17 Adjustment of Drive Control V f Control Adjustment Description Parameter Number...

Page 152: ...sound Prevent hunting and oscillation at low range speeds 10 Hz to or lower C6 02 Carrier Frequency Selection If there is a loud motor excitation sound increase the setting value If there is hunting...

Page 153: ...t b6 02 Dwell Time at Start H2 xx 5 Frequency Detection 2 Figure 2 5 Dwell Function at Start Note If the mechanical operation of the holding brake is slow use the Dwell Function at Start to prevent br...

Page 154: ...ol and Open Loop Vector Control modes use Dwell Function at Stop b6 03 Dwell Reference at Stop Minimum output frequency to 3 0 Hz When Frequency Detection 2 is OFF it is less than L4 01 Speed Agree De...

Page 155: ...ad Time chart Decrease Enter the analog signal as the torque compensation torque bias signal as specified by the load quantity before drive operation until drive operation completes The default settin...

Page 156: ...ion is enabled the regeneration torque reference within the drive is automatically controlled during regeneration Note A1 07 DriveWorksEZ Function Selection No Hex Name Description Default Range A1 07...

Page 157: ...2 The drive saves a maximum of 32 parameters Note Set A1 01 2 Advanced Level or A1 01 3 Expert Level to save the necessary parameters The drive automatically saves changed parameters to A2 17 to A2 32...

Page 158: ...value set in E1 09 Minimum Output Frequency and the drive receives the Run command the RUN LED on the keypad will flash Examine the setting for the frequency reference input and enter a value E1 09 0...

Page 159: ...et DIP switch S1 to I for current input 0 20 mA H3 09 3 Figure 2 8 Example of Setting the Frequency Reference with a Current Signal to Terminal A2 Changing between Master and Auxiliary Frequency Refer...

Page 160: ...Stop Set A1 03 2220 Initialize Parameters 2 Wire Initialization to initialize the drive and set terminals S1 and S2 for a 2 wire sequence 2 wire Sequence 2 This sequence has two input types Run Stop...

Page 161: ...9 Ramp to Stop with V f and OLV Control Methods Note When b2 01 E1 09 Minimum Output Frequency the drive will start DC Injection Braking from the frequency set in E1 09 Ramp to Stop with OLV PM AOLV...

Page 162: ...ive waits for the minimum baseblock time and then injects the amount of DC current into the motor set in b2 02 DC Injection Braking Current to stop the motor with DC current DC Injection Braking stops...

Page 163: ...operation in fan or pump applications where reverse rotation is dangerous 0 0 1 When reverse operation is prohibited the drive will not accept a Reverse operation command 0 Reverse Enabled The drive w...

Page 164: ...ting RUN Command default If you do not correctly set the drive parameters for 3 Wire operation before you energize the drive the motor can suddenly rotate when you energize the drive b1 08 Run Command...

Page 165: ...set the input mode to LOCAL and use the keypad to enter the frequency reference If the frequency reference is 0 Hz or less than or equal to the value set in E1 09 Minimum Output Frequency and the dri...

Page 166: ...r current input 0 20 mA H3 09 3 Figure 2 17 Example of Setting the Frequency Reference with a Current Signal to Terminal A2 Changing between Master and Auxiliary Frequency References Use the multi ste...

Page 167: ...1 xx 0 40 to 43 3 Wire Sequence Run Command 2 Wire Sequence The default setting is 2 wire sequence 1 2 wire Sequence 1 This sequence has two input types FWD Stop and REV Stop Set A1 03 2220 Initialize...

Page 168: ...0 ms 0 0 to 100 0 ms When the on off time for MFDIs is longer than the time set in b1 35 the drive activates the MFDI Set this parameter to prevent malfunctions caused by relay chattering for applica...

Page 169: ...e b2 02 018A DC Injection Braking Current Sets the DC Injection Braking current as a percentage of the drive rated current 50 0 75 When the DC Injection Braking current is more than 50 the drive decre...

Page 170: ...rent level will be the DC Injection current set in b2 02 DC Injection Braking Current If b2 08 is set too high DC Injection Braking at start can cause a large noise Adjust b2 08 to decrease the volume...

Page 171: ...ercial power supply to drive power To restart a coasting fan For example the drive output turns off and the motor coasts when there is a momentary loss of power After you return power the drive does S...

Page 172: ...art the motor Use Short Circuit Braking Current Detection 2 Use this Speed Search function with induction motors Set b3 24 2 Speed Search Method Selection Current Detection 2 Current Detection Speed S...

Page 173: ...ity When there is a long wiring distance between the drive and motor For these conditions use Current Detection Speed Search Speed Estimation Speed Search uses these two steps to estimate the motor sp...

Page 174: ...stimates the motor speed then starts Speed Search from the estimated speed 62 Speed Search from Fref ON Speed Search starts from the frequency reference immediately before you input the Speed Search c...

Page 175: ...arches Determined by o2 04 10 100 Use the this formula to calculate the output voltage during Speed Search Output voltage during Speed Search Configured V f b3 04 When the current detection search ope...

Page 176: ...0 1000 0 ms b3 10 Speed Estimation Detection Gain No Hex Name Description Default Range b3 10 019A Expert Speed Estimation Detection Gain Sets the gain to correct estimated frequencies from Speed Esti...

Page 177: ...te 3 times 0 10 times If the drive does the number of Speed Search restarts set in this parameter it will trigger an SEr Speed Search Retries Exceeded error b3 24 Speed Search Method Selection No Hex...

Page 178: ...Current Reference Lvl No Hex Name Description Default Range b3 31 0BC0 Expert Spd Search Current Reference Lvl Sets the current level that decreases the output current during Current Detection Speed...

Page 179: ...t Range b3 55 3124 Expert Current Increment Time Sets the length of time that the drive will increase the current from zero current to the setting value of b3 06 Speed Estimation Current Level 1 10 ms...

Page 180: ...b4 01 Timer Function ON Delay Time Triggers timer output late for the time set in b4 02 Timer Function OFF Delay Time Figure 2 25 shows an example of how the timer function works Figure 2 25 Example...

Page 181: ...ert Terminal P2 ON Delay Time Sets the delay time until the contact is turned ON after the function set with H2 03 turns ON 0 ms 0 65000 ms b4 08 Terminal P2 OFF Delay Time No Hex Name Description Def...

Page 182: ...ue constant Figure 2 27 PID Control Operation PID Control Applications Table 2 25 shows applications for PID control Table 2 25 PID Control Applications Application Control Content Sensors Used Speed...

Page 183: ...al PID control The other method uses two signals The difference between those signals sets the deviation Use a single feedback signal Use Table 2 27 to select how the feedback signal is input to the d...

Page 184: ...oss detection function The drive detects feedback loss when the feedback value is less than the value in b5 13 for longer than the time in b5 14 b5 12 Feedback Loss Detection Select b5 13 PID Feedback...

Page 185: ...the PID output or the frequency reference is more than the b5 15 value for the time set in b5 16 PID Sleep Delay Time Figure 2 30 shows the PID Sleep function Figure 2 30 PID Sleep Time Chart Note Th...

Page 186: ...lations Set b5 05 Derivative Time D to a smaller value If you set b5 05 0 00 Derivative Time D disabling D control and it does not stop oscillation then set b5 02 Proportional Gain P to a smaller valu...

Page 187: ...set in b5 96 EZ Sleep Wake up Time the drive restarts operation from sleep b5 95 1 EZ Wake up Mode Setpiont Delta When the PID feedback is less than the value set as the PID setpoint value minus b5 9...

Page 188: ...t and feedback Set b5 02 0 00 to disable P control b5 03 Integral Time I No Hex Name Description Default Range b5 03 01A7 RUN Integral Time I Sets the integral time I that is applied to PID input 1 0...

Page 189: ...01AC RUN Expert PID Primary Delay Time Constant Sets the primary delay time constant for the PID control output Usually it is not necessary to change this setting 0 00 s 0 00 10 00 s Prevents resonan...

Page 190: ...ion Time the MFDO terminal set for PID Feedback Low activates When the feedback signal is more than the level set in b5 36 PID High Feedback Detection Lvl for longer than the time set in b5 37 PID Hig...

Page 191: ...Sleep Function Start Level Sets the output level that triggers the PID Sleep function Determined by A1 02 0 0 590 0 The drive goes into Sleep mode when the PID output or frequency reference is less th...

Page 192: ...Setpoint3 b5 60 PID Setpoint4 U5 01 PID Feedback U5 04 PID Setpoint U5 99 PID Setpoint Command 0 0 01Hz units The drive uses 0 01 Hz units 1 0 01 units The drive uses 0 01 units Set the value as a pe...

Page 193: ...cause Excessive PID Feedback FbH 1 0 s 0 0 25 5 s b5 38 PID User Unit Display Scaling No Hex Name Description Default Range b5 38 01FE PID User Unit Display Scaling Sets the value that the drive sets...

Page 194: ...Trim Fref PID Trim D on feedback 0 Lower Limit is Zero When PID output is negative PID output is limited to 0 and drive output is shut off 1 Negative Output Accepted When the PID output is negative th...

Page 195: ...e PID setpoint value Table 2 29 Switching of MFDI and PID Setpoint Value H1 xx 3E H1 xx 3F PID Setpoint Value OFF OFF No switch ON OFF b5 58 PID Setpoint2 OFF ON b5 59 PID Setpoint3 ON ON b5 60 PID Se...

Page 196: ...rential FB Monitor Bias No Hex Name Description Default Range b5 65 119F PID Differential FB Monitor Bias Sets the bias for the monitor specified in b5 63 PID Differential FB Monitor Sel 0 00 10 00 10...

Page 197: ...ter you change b5 90 b5 93 EZ Sleep Time No Hex Name Description Default Range b5 93 0B93 RUN EZ Sleep Time Sets the length of time that the output frequency or motor speed must be less than b5 92 EZ...

Page 198: ...tor speed loss when you start and stop heavy loads The Dwell function is also enabled when backlash on the machine side causes sudden movement at the start of acceleration and deceleration At the star...

Page 199: ...0 0 s b8 Energy Saving Energy saving control improves overall system operating efficiency by operating the motor at its most efficient level Set b8 01 and these parameters according to the control met...

Page 200: ...ght loads When you decrease the setting value it decreases the output voltage and decreases power consumption If the setting value is too low the motor will stall Note When you do Rotational Auto Tuni...

Page 201: ...led 1 Check U5 22 Energy Save Coeff Kt and make sure that it aligns with the Kt value on the motor nameplate 2 If the numbers are different set b8 17 to the Kt value on the motor nameplate b8 18 E Sav...

Page 202: ...No Hex Name Description Default Range b8 23 0B44 Expert PM E Save Search Limit Sets the search operations output limit Usually it is not necessary to change this setting 15 0 degrees 0 0 30 0 degrees...

Page 203: ...ority Selection No Hex Name Description Default Range b8 29 0B8C Energy Saving Priority Selection Sets the priority of drive response between changes to the load or Energy saving control Enable this t...

Page 204: ...1 0 0 to 6000 0 s C1 02 Deceleration Time 1 C1 03 Acceleration Time 2 C1 04 Deceleration Time 2 C1 05 Acceleration Time 3 C1 06 Deceleration Time 3 C1 07 Acceleration Time 4 C1 08 Deceleration Time 4...

Page 205: ...02 C1 05 C1 06 ON C1 03 C1 04 C1 07 C1 08 Use Output Frequency Level to Switch Acceleration and Deceleration Times The drive can use output frequency to automatically switch between different acceler...

Page 206: ...is 0 00 to 600 00 s C1 04 Deceleration Time 2 No Hex Name Description Default Range C1 04 0203 RUN Deceleration Time 2 Sets the length of time to decelerate from maximum output frequency to zero 10 0...

Page 207: ...ommand via the multi function digital input terminal The Fast Stop operation is will be triggered when by the input of the Fast Stop command is input via the multi function digital input terminal Set...

Page 208: ...Selection function Table 2 32 Motor and Acceleration and Deceleration Time Combination C1 11 Motor 1 Motor 2 Acceleration Time Deceleration Time Acceleration Time Deceleration Time Less than the sett...

Page 209: ...ion Rate When C1 14 40 Hz E1 04 60 Hz and the Frequency Reference is 60 Hz Figure 2 39 Example 3 Acceleration Deceleration Rate When C1 14 80 Hz E1 04 60 Hz and the Frequency Reference is 60 Hz Note F...

Page 210: ...urve Time End of Accel No Hex Name Description Default Range C2 02 020C S Curve Time End of Accel Sets the S curve acceleration time at completion 0 20 s 0 00 10 00 s C2 03 S Curve Time Start of Decel...

Page 211: ...A1 02 0 10000 ms Use these settings to adjust this parameter as necessary When the speed is not stable increase the setting When the slip compensation response is too slow decrease the setting C3 03...

Page 212: ...on Default Range C3 05 0213 Output Voltage Limit Selection Sets the automatic reduction of motor magnetic flux when the output voltage is saturated 0 0 1 The drive will decrease flux and increase curr...

Page 213: ...me Description Default Range C3 22 0241 RUN Motor 2 Slip Comp Delay Time Sets the slip compensation delay time for motor 2 when speed is unstable or when the slip compensation response is too slow Usu...

Page 214: ...mpensation function during regeneration Slip compensation is enabled at frequencies as low as 2 Hz C3 29 Slip Compensation Gain Low Spd No Hex Name Description Default Range C3 29 1B5D Expert Slip Com...

Page 215: ...2 Torque Compensation Delay Time No Hex Name Description Default Range C4 02 0216 RUN Torque Compensation Delay Time Sets the torque compensation delay time Usually it is not necessary to change this...

Page 216: ...n when using the Motor Switch function 1 00 0 00 2 50 In V f Control adjust the value in 0 05 unit increments for these conditions When torque is not sufficient during low speed operation of 10 Hz or...

Page 217: ...n the adjustment procedure is complete 5 Set the low speed gain Run the motor at zero speed or low speed and increase C5 03 ASR Proportional Gain 2 until immediately before vibration starts to occur F...

Page 218: ...you monitor in a 0 V to 10 V range Based on this setting MFAO terminal AM outputs the output frequency after SFS in a 0 V to 10 V 0 to 100 range The MFAO common is terminal AC Yaskawa recommends that...

Page 219: ...u set H1 xx 77 MFDI Function Select ASR Gain Switch you can switch between C5 01 and C5 03 ASR Proportional Gain 2 You can also use C5 01 as an alternative to C5 03 and C5 02 as an alternative to C5 0...

Page 220: ...ASR Delay Time Sets the filter time constant of the torque reference output from the speed loop Usually it is not necessary to change this setting Determined by A1 02 0 000 0 500 s If you have a load...

Page 221: ...control responsiveness Usually it is not necessary to change this setting 1 0 1 If a high level of speed control responsiveness is necessary set C5 29 1 then adjust the speed control ASR parameter 0 S...

Page 222: ...seconds Stall Prevent Level during Accel 150 120 Stall Prevent Level during Run 150 120 Carrier Frequency 2 kHz 2 kHz Swing PWM Note Set the stall prevention level during acceleration with L3 02 and...

Page 223: ...carrier frequency Use Swing PWM Note The default carrier frequency in ND is C6 02 7 Swing PWM1 Audible Sound 1 with a 2 kHz base You can increase the carrier frequency in Normal Duty mode but this wi...

Page 224: ...Gain Sets the proportional gain for the carrier frequency Set C6 02 F Carrier Frequency Selection User Defined C6 03 to C6 05 to set this parameter Determined by C6 02 0 99 Set C6 03 Carrier Frequency...

Page 225: ...Parameter Details 2 2 4 C Tuning YASKAWA TOEPYAIGA5002A GA500 Programming 225 Note When A1 02 5 or 6 the carrier frequency is the value set to C6 02...

Page 226: ...h MFDI signals from an external source Activate and deactivate the digital input to select the frequency reference to change the motor speed in steps You can use the 16 step frequency reference and on...

Page 227: ...uration Parameter Task Contents 1 Analog reference 1 Sets H3 02 F Terminal A1 Function Selection Not Used and disables the analog reference 2 Sets H3 10 F Terminal A2 Function Selection Not Used and d...

Page 228: ...r Multi step Speed Reference JOG Reference d1 01 Reference 1 No Hex Name Description Default Range d1 01 0280 RUN Reference 1 Sets the frequency reference in the units from o1 03 Frequency Display Uni...

Page 229: ...1 04 Reference 4 No Hex Name Description Default Range d1 04 0283 RUN Reference 4 Sets the frequency reference in the units from o1 03 Frequency Display Unit Selection 0 00 Hz 0 00 590 00 Hz Note The...

Page 230: ...1 Frequency Reference Upper Limit values change When A1 02 6 Control Method Selection AOLV PM the drive sets o1 03 1 0 01 100 E1 04 This parameter sets the frequency reference of Multi Step Speed 8 d1...

Page 231: ...ault Range d1 13 028E RUN Reference 13 Sets the frequency reference in the units from o1 03 Frequency Display Unit Selection 0 00 Hz 0 00 590 00 Hz Note The upper limit value changes when the E1 04 Ma...

Page 232: ...erence Selection to use the Jog frequency reference 6 00 Hz 0 00 590 00 Hz Note The upper limit value changes when the E1 04 Maximum Output Frequency and d2 01 Frequency Reference Upper Limit values c...

Page 233: ...ases to less than the value set in d2 03 Note When lower limits are set to parameters d2 02 Frequency Reference Lower Limit and d2 03 the drive uses the larger value as the lower limit d3 Jump Frequen...

Page 234: ...he frequency band that the drive will avoid 1 0 Hz Determined by A1 02 d4 Frequency Ref Up Down Hold The d4 parameters set the Frequency Reference Hold function and Up Down and Up Down 2 commands Freq...

Page 235: ...Deceleration Ramp Hold When you clear the Run command or de energize the drive it will save the last hold value The drive will use the saved value as the frequency reference when it restarts Note When...

Page 236: ...ncy reference hold function and the Up Down 2 function configure the Up Down 2 upper limit d4 08 and lower limit d4 09 correctly Remove the Saved Frequency Reference Value The procedure to remove the...

Page 237: ...times for the Up Down 2 function to apply the bias to the frequency reference 0 0 1 0 Use Selected Accel Decel Time Use the active acceleration and deceleration times to increase or decrease the bias...

Page 238: ...ot set The frequency reference source was changed This includes switching LOCAL REMOTE and multi step speed reference A digital input changed the frequency reference value d4 03 Up Down 2 Bias Step Fr...

Page 239: ...eference Lower Limit and an analog input programmed for Frequency Reference H3 02 H3 10 0 sets the lower frequency reference limit Note When you use External Reference 1 2 Selection H1 xx 2 to switch...

Page 240: ...1 0 Disabled 1 Enabled d6 06 Field Forcing Limit No Hex Name Description Default Range d6 06 02A5 Field Forcing Limit Sets the limit value for field forcing to increase the motor excitation current r...

Page 241: ...cription Default Range d7 02 02B3 RUN Offset Frequency 2 Uses H1 xx 45 MFDI Function Select Add Offset Frequency 2 d7 02 as a percentage of the Maximum Output Frequency to add or subtract the set freq...

Page 242: ...ed when the load torque is constant without any rotation speed such as that used for linear conveyor systems 1 VT 60 Hz 2 Const Trq 50Hz base 60Hz max 3 Const Trq 60 Hz base 72 Hz max 4 VT 50 Hz 65 Vm...

Page 243: ...rameter is incorrect the protective functions of the drive will not operate correctly and it can cause damage to the drive Values Related to the Drive Input Voltage The value set in E1 01 is the base...

Page 244: ...constant torque pattern for general applications This pattern is used when the load torque is constant without any rotation speed such as that used for linear conveyor systems Note The voltage values...

Page 245: ...class drives HD B001 B018 2001 2021 4001 4012 ND B001 B012 2001 2012 4001 4009 HD 2030 2082 4018 4060 ND 2021 2082 4012 4060 5 VT 50Hz 50 Vmid reduction Use this derated torque pattern for torque load...

Page 246: ...e torque is necessary during start up Select this pattern only in these conditions The wiring distance between the drive and motor is 150 m 492 1 ft minimum There is an AC reactor connected to the dri...

Page 247: ...2 4001 4009 HD 2030 2082 4018 4060 ND 2021 2082 4012 4060 B High Trq 60 Hz 65 Vmin Boost Use this pattern when high torque is necessary during start up Select this pattern only in these conditions The...

Page 248: ...Use this constant output pattern to rotate motors at more than 60 Hz Output voltage is constant when you operate at more than 60 Hz Note The voltage values in the figures are for 200 V class drives M...

Page 249: ...ass 0 0 510 0 V Note Default setting is determined by A1 02 Control Method Selection C6 01 Normal Heavy Duty Selection and o2 04 Drive Model Selection E1 09 Minimum Output Frequency No Hex Name Descri...

Page 250: ...4031 90 0 2070 2082 4038 4060 E2 Motor Parameters E2 parameters Motor Parameters are used to set induction motor data To switch drive operation from one motor to another motor configure the first moto...

Page 251: ...042 4001 4023 0 1 A 2056 2082 4031 4060 The drive automatically sets this parameter during Auto Tuning When you cannot do Auto Tuning you can also use the motor no load current on the motor test repor...

Page 252: ...with constant output The drive uses this coefficient when it operates the motor in the constant output range E2 08 Motor Saturation Coefficient 2 No Hex Name Description Default Range E2 08 0315 Motor...

Page 253: ...ncy In this application the drive ignores E1 08 Mid Point A Voltage Set the five frequencies as specified by these rules E3 09 E3 07 E3 06 E3 11 E3 04 Motor 2 Minimum Output Frequency Motor 2 Mid Poin...

Page 254: ...attern Determined by E3 01 200 V Class 0 0 255 0 V 400 V Class 0 0 510 0 V E3 09 Motor 2 Minimum Output Frequency No Hex Name Description Default Range E3 09 031F Motor 2 Minimum Output Frequency Sets...

Page 255: ...Auto Tuning automatically sets the E4 parameters to the best values for the application If you cannot do Auto Tuning set the E4 parameters manually Note E3 xx and E4 xx are available when H1 xx 16 MFD...

Page 256: ...ator windings Determined by o2 04 C6 01 0 000 65 000 Note This value is the line to line resistance for motor 2 Do not set this parameter with the per phase resistance The drive automatically calculat...

Page 257: ...alue as a torque compensation value There is a large quantity of torque loss from motor bearing friction There is a large quantity of torque loss in fans and pumps E4 10 Motor 2 Iron Loss No Hex Name...

Page 258: ...1 0 10 30 00 kW These Auto Tuning methods will automatically set this parameter PM Motor Parameter Settings PM Stationary Auto Tuning PM Rotational Auto Tuning E5 03 Motor Rated Current FLA No Hex Nam...

Page 259: ...ctance Note Do not change the setting calculated by Auto Tuning unless it is necessary E5 07 PM q axis Inductance mH phase No Hex Name Description Default Range E5 07 032F PM q axis Inductance mH phas...

Page 260: ...motors set this parameter to 1 0 Disabled 1 Enabled E9 Motor Setting E9 parameters are used to configure induction motors PM motors and SynRM motors Configure these parameters only for derating torqu...

Page 261: ...atically sets this parameter to the value of Base Voltage E9 06 Motor Rated Current FLA No Hex Name Description Default Range E9 06 11E9 Motor Rated Current FLA Sets the motor rated current in amps De...

Page 262: ...Induction IM before you set this parameter E9 10 Motor Line to Line Resistance No Hex Name Description Default Range E9 10 11ED Motor Line to Line Resistance Sets the line to line resistance for the...

Page 263: ...not detect ouput pulses from the encoder for the time set in F1 14 Encoder Open Circuit Detect Time it will trigger PGo Note When A1 02 0 Control Method Selection V f set H6 01 3 Terminal RP Pulse Tr...

Page 264: ...in F1 10 Speed Deviation Detection Level for longer than the time set in F1 11 Speed Deviation Detect DelayTime it will trigger dEv Note When A1 02 0 Control Method Selection V f set H6 01 3 Terminal...

Page 265: ...frequency reference and speed feedback must be more than the level in F1 10 to cause dEv Speed Deviation 0 5 s 0 0 10 0 s When the speed deviation between the frequency reference and the actual motor...

Page 266: ...MECHATROLINK II SI T3 MECHATROLINK III SI ET3 PROFIBUS DP SI P3 CANopen SI S3 EtherCAT SI ES3 F6 01 to F6 03 x x x x x x F6 04 x F6 06 to F6 08 x x x x x x F6 10 F6 11 x F6 14 x x x x x x F6 16 x x x...

Page 267: ...references Control responses Output frequency and drive status during run faults Read and write parameters Read monitors Synchronous control Not supported 1 Gateway Mode is not available with Yaskawa...

Page 268: ...Slave Drives Drives 1 to 4 The controller and card communicate in the format of each field bus communications protocol Drive 0 sends commands and monitors through normal field bus communications The s...

Page 269: ...5C7 Frequency Reference Drive 1 The unit of measure changes when o1 03 changes 15C8 Run Command Drive 2 Refer to 15C6 Run Command Drive 1 for more information 15C9 Frequency Reference Drive 2 The unit...

Page 270: ...uency reference when the error occurs Clears the value when the drive detects a communication error or communication stops 15E9 Drive Status Drive 2 Refer to 15E7 Drive Status Drive 1 for more informa...

Page 271: ...operating when the drive detects bUS Option Communication Error 1 0 5 0 Ramp to Stop The drive ramps the motor to stop in the deceleration time The output terminal set for Fault H2 01 to H2 03 E activ...

Page 272: ...the motor in the deceleration time set in C1 09 Fast Stop Time The output terminal set for Fault H2 01 to H2 03 E activates 3 Alarm Only The keypad shows EF0 and the drive continues operation Note Sep...

Page 273: ...efault Note When you use A1 03 to initialize the drive this setting will not change F6 10 CC Link Node Address No Hex Name Description Default Range F6 10 03B6 CC Link Node Address Sets the node addre...

Page 274: ...Mode Sets the gateway mode operation and the number of connected slave drives 0 0 to 4 0 Disabled 1 Enabled 1 Slave Drives 2 Enabled 2 Slave Drives 3 Enabled 3 Slave Drives 4 Enabled 4 Slave Drives F...

Page 275: ...onse data enable the MEMOBUS register content that was set in F6 23 F6 24 MECHATROLINK Monitor Select F No Hex Name Description Default Range F6 24 036F MECHATROLINK Monitor Select F Sets the MEMOBUS...

Page 276: ...self diagnosis F6 31 PROFIBUS DP Clear Mode Selection No Hex Name Description Default Range F6 31 03CC PROFIBUS DP Clear Mode Selection Sets what the drive will do after it receives the Clear Mode com...

Page 277: ...8 0 Auto detection The drive detects the network communication speed and automatically adjusts the communications speed 1 10 kbps 2 20 kbps 3 50 kbps 4 125 kbps 5 250 kbps 6 500 kbps 7 800 kbps 8 1 Mb...

Page 278: ...etection Sets the function to detect EF0 Option Card External Fault when the drive does not receive data from the DeviceNet master 0 0 4 0 Enabled 1 Disabled No Fault Detection Does not detect EF0 iss...

Page 279: ...for DeviceNet communication Set this parameter to 0 to disable the heartbeat function 0 0 10 F6 63 DeviceNet Network MAC ID No Hex Name Description Default Range F6 63 03DE DeviceNet Network MAC ID S...

Page 280: ...eters F7 01 to F7 12 F7 03 IP Address 3 No Hex Name Description Default Range F7 03 03E7 IP Address 3 Sets the third octet of the IP Address for the device that is connecting to the network Restart th...

Page 281: ...ter when F7 13 0 Address Mode at Startup Static F7 09 Gateway Address 1 No Hex Name Description Default Range F7 09 03ED Gateway Address 1 Sets the first octet of the gateway address of the connected...

Page 282: ...e to set a different IP address for each drive on the network F7 14 Duplex Mode Selection No Hex Name Description Default Range F7 14 03F2 Duplex Mode Selection Sets the duplex mode setting method 1 0...

Page 283: ...F7 19 EtherNet IP Torque Scale Factor No Hex Name Description Default Range F7 19 03F7 EtherNet IP Torque Scale Factor Sets the scaling factor for the torque monitor in the EtherNet IP Class ID 2AH O...

Page 284: ...780 PZD1 Write Control Word When you use a Profibus option sets the MEMOBUS Modbus address for PZD1 PPO output PZD1 PPO output functions as the STW when F7 60 0 to 2 0 F7 61 PZD2 Write Frequency Refer...

Page 285: ...ofibus option sets the MEMOBUS Modbus address for PZD9 PPO output A value of 0 1 or 2 will disable the PZD9 PPO output write operation to the MEMOBUS Modbus register 0 F7 69 PZD10 Write No Hex Name De...

Page 286: ...No Hex Name Description Default Range F7 76 0790 PZD7 Read When you use a Profibus option sets the MEMOBUS Modbus address for PZD7 PPO input A value of 0 will disable the PZD7 PPO input load operation...

Page 287: ...DI Setting Values Setting Value Function Reference 0 1 3 Wire Sequence 291 1 LOCAL REMOTE Selection 292 2 External Reference 1 2 Selection 292 3 Multi Step Speed Reference 1 292 4 Multi Step Speed Ref...

Page 288: ...Selection No Hex Name Description Default Range H1 01 0438 Terminal S1 Function Selection Sets the function for MFDI terminal S1 40 1 1FF Note When you initialize the drive for 3 Wire Initialization...

Page 289: ...Description Default Range H1 22 0B71 Terminal S2 Function Select 2 Sets the second function for MFDI terminal S2 F 1 19F When MFDI terminal S2 activates it will operate the function set to H1 02 Termi...

Page 290: ...l S7 F 1 19F When MFDI terminal S7 activates it will operate the function set to H1 07 Terminal S7 Function Selection and the function set to H1 27 at the same time When the setting value is F the fun...

Page 291: ...ms minimum the drive rotates the motor When terminal S2 Stop command deactivates the drive stops When terminal Sx that is set in 3 wire sequence deactivates the drive operates in the forward directio...

Page 292: ...lue Function Description 2 External Reference 1 2 Selection Sets the drive to use Run command source 1 2 or Reference command source 1 2 when in REMOTE Mode Note When the drive is receiving a Run comm...

Page 293: ...e keypad flashes bb Baseblock If you cancel the baseblock command when the Run command is active the drive will restart the motor and use the speed search function Figure 2 63 Baseblock Command Time C...

Page 294: ...n H3 14 Analog Input Terminal Enable Sel ON Terminal selected with H3 14 is enabled OFF Terminal selected with H3 14 is disabled E ASR Integral Reset Setting Value Function Description E ASR Integral...

Page 295: ...rive the Up Down command resets to 0 When d4 01 1 Enabled the drive saves the frequency reference set during the Up Down command When you cycle the Run command or restart the drive the drive saves the...

Page 296: ...the drive will detect oPE03 Multi Function Input Setting Err If you set two or more of these functions at the same time the drive will detect oPE03 Up Down command Accel Decel Ramp Hold Reference Sam...

Page 297: ...14 Fault Reset Setting Value Function Description 14 Fault Reset Sets the command to reset the current fault when the Run command is inactive If the drive detects a fault the drive will activate the...

Page 298: ...Torque Compensation C4 01 C4 07 C5 xx Automatic Speed Regulator ASR C5 01 to C5 08 C5 12 E1 xx E3 xx V f Patterns E2 xx E4 xx Motor Parameters E1 xx E2 xx E3 xx E4 xx Note When you use 2 motors the d...

Page 299: ...r Acceleration Deceleration Time 4 C1 07 C1 08 Note Refer to C1 Accel Decel Time on page 204 for more information 1B Programming Lockout Setting Value Function Description 1B Programming Lockout Sets...

Page 300: ...n an external device If an external fault is input to the drive the keypad will show EFx External Fault Terminal Sx where x is the number of the terminal terminal Sx to which the external fault signal...

Page 301: ...1 PID Integrator Hold Setting Value Function Description 31 PID Integrator Hold Sets the command to hold the integral value of the PID control while the terminal is activated When you turn off the inp...

Page 302: ...0 PID Setpoints 2 to 4 on page 195 for more information 40 Forward RUN 2 Wire Setting Value Function Description 40 Forward RUN 2 Wire Sets the Forward Run command for 2 wire sequence 1 Set this funct...

Page 303: ...ON Reverse OFF Forward Note You must input the Run command to rotate the motor This function will not operate at the same time as H1 xx 40 41 Forward Reverse Run Command 2 Wire Seq 44 Add Offset Frequ...

Page 304: ...for b3 24 2 Speed Search Method Selection Current Detection 2 the drive starts speed search from the maximum output frequency Note The drive will detect oPE03 Multi Function Input Setting Err when H1...

Page 305: ...e same time the drive will detect oPE03 Multi Function Input Setting Err Refer to KEB Ride Thru Function on page 364 for more information 67 Communications Test Mode Setting Value Function Description...

Page 306: ...ill follow the frequency reference Not stored 2 1 When the bias value and frequency reference are constant for 5 seconds after the frequency reference hold starts the drive will add the bias value to...

Page 307: ...is activated Set this function and H1 xx 75 Up 2 Command at the same time When you activate the terminal set for Up2 Command the bias will increase When you activate the terminal set for Down 2 Comma...

Page 308: ...or more information ON Short Circuit Braking is enabled OFF Normal operation 7D Short Circuit Braking N C Setting Value Function Description 7D Short Circuit Braking N C Sets operation of Short Circui...

Page 309: ...lection The drive has four MFDO terminals Table 2 54 shows the default function settings for the terminals Table 2 54 MFDO Terminals Default Function Settings No Name Default Function H2 01 Term MA MB...

Page 310: ...1 to 3 331 100 to 192 Inverse output of 0 to 92 Sets an inverse output of the function for the MFDO Put a 1 at the front of the function setting to set inverse output For example set 138 for inverse o...

Page 311: ...put Selection Error When you do not use H2 60 H2 63 and H2 66 set them to F The through mode function is not supported H2 MFDO Parameters H2 01 Term MA MB MC Function Selection No Hex Name Description...

Page 312: ...t Watt hours When the control power supply to the drive is operating the drive will keep the Watt hours If a momentary power loss causes the drive to lose control power the Watt hour count will reset...

Page 313: ...hen the control method changes H2 21 Comparator 1 Lower Limit No Hex Name Description Default Range H2 21 1541 Comparator 1 Lower Limit Sets the lower limit detection level for comparator 1 when the f...

Page 314: ...page 330 and 67 Comparator2 on page 331 H2 27 Comparator 2 Lower Limit No Hex Name Description Default Range H2 27 1547 Comparator 2 Lower Limit Sets the lower limit detection level for comparator 2 a...

Page 315: ...33 Comparator1 Protection Selection No Hex Name Description Default Range H2 33 159B Comparator1 Protection Selection Sets drive operation when it detects CP1 Comparator1 Limit Fault 4 0 4 0 Ramp to S...

Page 316: ...ommand and wait for the time set in this parameter the drive will monitor operation and make sure that it is in the Comparator 1 range until you enter the Stop command When CP1 detection is disabled t...

Page 317: ...m ON Time Sets the minimum ON time that the drive uses to output the logical calculation results from terminal MA MB MC 0 1 s 0 0 25 0 s H2 63 Terminal P1 Secondary Function No Hex Name Description De...

Page 318: ...erations H2 68 Terminal P2 Minimum ON Time No Hex Name Description Default Range H2 68 1B4E Expert Terminal P2 Minimum ON Time Sets the minimum ON time used to output the logical calculation results f...

Page 319: ...tection function operates in the two motor rotation directions Figure 2 75 Speed Agree 1 Time Chart ON The output frequency is in the range of frequency reference L4 02 OFF The output frequency does n...

Page 320: ...not exceed the value of L4 01 L4 02 OFF The output frequency is higher than the value of L4 01 L4 02 Figure 2 77 Frequency Detection 1 Time Chart Note Figure 2 77 shows the result of the configuratio...

Page 321: ...tive 7 DC Bus Undervoltage Setting Value Function Description 7 DC Bus Undervoltage The terminal activates when the DC bus voltage or control circuit power supply is less than the voltage set with L2...

Page 322: ...ency reference Note Refer to L4 05 Fref Loss Detection Selection for more information D Braking Resistor Fault Setting Value Function Description D Braking Resistor Fault The terminal activates when t...

Page 323: ...etection function operates in the two motor rotation directions ON The output frequency is in the range of frequency reference L4 04 OFF The output frequency is not in the range of frequency reference...

Page 324: ...4 03 L4 04 Figure 2 81 Example of Frequency Detection 3 value of L4 03 Is Positive Note Figure 2 81 shows the result of the configuration when L4 07 1 Speed Agree Detection Selection Detection Always...

Page 325: ...tection parameters to set torque detection ON The output current torque is more than L6 05 Torque Detection Level 2 or the level is less than L6 05 for longer thanL6 06 Torque Detection Time 2 Note Wh...

Page 326: ...to restart after a fault The terminal deactivates when the Auto Restart function automatically resets a fault The terminal deactivates when the Auto Restart function detects the fault again because th...

Page 327: ...g Detection Function for more information 2F Maintenance Notification Setting Value Function Description 2F Maintenance Notification The terminal activates when drive components are at their estimated...

Page 328: ...3C LOCAL Control Selected Setting Value Function Description 3C LOCAL Control Selected The terminal activates when the Run command source or frequency reference source is LOCAL ON LOCAL The keypad is...

Page 329: ...ing KEB Ride Thru Note Refer to KEB Ride Thru Function on page 364 for more information 4B During Short Circuit Braking Setting Value Function Description 4B During Short Circuit Braking The terminal...

Page 330: ...tus Satisfied The terminal activates when the bit specified by H2 08 Modbus Register 1 Bit Select for the MEMOBUS register address set with H2 07 Modbus Register 1 Address Select activates 63 Modbus R...

Page 331: ...6A Data Logger Error Setting Value Function Description 6A Data Logger Error The terminal activates when the drive detects LoG Com Error Abnormal SD card 90 to 92 DWEZ Digital Output 1 to 3 Setting Va...

Page 332: ...ry Frequency Reference 2 338 4 Output Voltage Bias 338 5 Accel Decel Time Gain 338 6 DC Injection Braking Current 339 7 Torque Detection Level 339 8 Stall Prevent Level during Run 339 9 Output Frequen...

Page 333: ...ignal Level Select 0 V to 10 V Lower Limit at 0 When you input a 0 V to 2 V signal the frequency reference will be 0 When you input a 2 V to 10 V signal the frequency reference will be 0 to 100 When H...

Page 334: ...ositive and negative polarities are enabled When this setting is used as the frequency reference the motor runs reverse when the Forward run command is input or runs forward when the Reverse run signa...

Page 335: ...quency reference the motor runs reverse when the Forward run command is input or runs forward when the Reverse run signal is input while the signal is a negative number due to gain and bias Note When...

Page 336: ...on only the analog input terminal selected with H3 14 When H1 xx C the functions set to terminals A1 and A2 are always enabled H3 16 Terminal A1 Offset No Hex Name Description Default Range H3 16 02F0...

Page 337: ...ue Function Description 0 Frequency Reference The input value from the MFAI terminal set with this function becomes the master frequency reference You can copy the configuration to more than one of th...

Page 338: ...als A1 and A2 is 100 of the voltage class standard which is 200 V for 200 V class drives and 400 V for 400 V class drives The bias for MFAI terminals A1 and A2 is 100 of the voltage configured for E1...

Page 339: ...rated current is 100 Note Use this function with L6 01 Torque Detection Selection 1 This parameter functions as an alternative to L6 02 Torque Detection Level 1 8 Stall Prevent Level during Run Settin...

Page 340: ...Positive Temperature Coefficient PTC thermistor as an auxiliary or alternative detection function for oL1 Motor Overload problems to help prevent heat damage to motors If the PTC input signal is more...

Page 341: ...mits for the same quadrant the lower value is enabled In this example of parameter settings the torque limit for quadrant 1 is 130 and the torque limit for quadrants 2 3 and 4 is 150 Settings L7 01 13...

Page 342: ...torque compensation value if the motor rated torque is 100 15 General Torque Limit Setting Value Function Description 15 General Torque Limit Enters the torque limit that is the same for all quadrant...

Page 343: ...ibrate meters connected to terminal AM H4 02 Terminal AM Analog Output Gain H4 03 Terminal AM Analog Output Bias Set these parameters where the output voltage of 10 Vand output current of 20 mA are 10...

Page 344: ...xx Monitor For example set H4 01 102 to monitor U1 02 Output Frequency Note You cannot use all of the monitors in all of the control methods When you use the terminal in through mode set this paramete...

Page 345: ...ns You can use the MEMOBUS Modbus protocol over the RS 485 port terminals D and D in the drive to use serial communication with programmable controllers PLC H5 01 Drive Node Address No Hex Name Descri...

Page 346: ...Coast to Stop The output turns off and the motor coasts to stop The output terminal set for Fault H2 01 to H2 03 E activates 2 Fast Stop Use C1 09 The drive stops the motor in the deceleration time se...

Page 347: ...C RUN Comm ENTER Command Mode Sets the function to make the Enter command necessary to change parameters through MEMOBUS Modbus communications 1 0 1 0 ENTER Command Required Make all parameter changes...

Page 348: ...ut frequency or motor speed during MEMOBUS Modbus communications or use of the communication option These are the MEMOBUS registers 003EH Output Frequency 003FH Output Frequency 0044H U1 05 Motor Spee...

Page 349: ...ter 4 Selection No Hex Name Description Default Range H5 28 158C RUN Function 5A Register 4 Selection Returns the contents of the specified MEMOBUS Modbus communications register when responding to th...

Page 350: ...tion Identifier When the configured terminal is activated the motor operates in Reverse run When the terminal is deactivated the motor operates in Forward run Use an encoder that outputs 2 tracks phas...

Page 351: ...lter Time No Hex Name Description Default Range H6 05 0430 RUN Terminal RP Filter Time Sets the time constant for the pulse train input primary delay filters 0 10 s 0 00 2 00 s H6 06 Terminal MP Monit...

Page 352: ...signal that terminal RP can detect 0 5 Hz 0 1 1000 0 Hz When you input a pulse train frequency that is less than the value of H6 08 the pulse train input is 0 0 Hz Set H6 01 Terminal RP Pulse Train Fu...

Page 353: ...al MFIO selection No Hex Name Description Default Range H7 00 116F Expert Virtual MFIO selection Sets the function to enable and disable the virtual I O function Set this parameter to 1 to operate the...

Page 354: ...virtual digital output 1 F 0 1A7 H7 11 Virtual Output 1 Delay Time No Hex Name Description Default Range H7 11 11A5 Expert Virtual Output 1 Delay Time Sets the minimum ON time for virtual digital outp...

Page 355: ...H7 30 1177 Expert Virtual Analog Input Selection Sets the virtual analog input function F 0 32 H7 31 Virtual Analog Input Gain No Hex Name Description Default Range H7 31 1178 RUN Expert Virtual Anal...

Page 356: ...from the virtual analog output 102 0 999 Set the x xx part of the Ux xx Monitor For example set H7 41 102 to monitor U1 02 Output Frequency H7 42 Virtual Analog Output FilterTime No Hex Name Descript...

Page 357: ...ave the characteristics shown in Figure 2 103 for each motor phase Figure 2 103 PTC Thermistor Temperature and Resistance If the PTC input signal input to the drive is more than the overload alarm lev...

Page 358: ...eed control range of the motor changes Use an electronic thermal protector that aligns with the permitted load characteristics of the motor to select motor protection The electronic thermal protector...

Page 359: ...hermal protector This provides motor overheat protection from low speed to high speed across the full speed range Load Tolerance Cooling Capability Overload Characteristics at 100 motor load This moto...

Page 360: ...nic thermal protector This provides motor overheat protection from low speed to high speed across the full speed range Load Tolerance Cooling Capability Overload Characteristics at 100 motor load This...

Page 361: ...the operation time for the electronic thermal protector of the drive to prevent damage to the motor Usually it is not necessary to change this setting 1 0 min 0 1 5 0 min Set the overload tolerance ti...

Page 362: ...in the deceleration time The output terminal set for Fault H2 01 to H2 03 E activates 1 Coast to Stop The output turns off and the motor coasts to stop The output terminal set for Fault H2 01 to H2 0...

Page 363: ...power 1 0 1 0 Disabled 1 Enabled Sets if the drive will calculate the motor again when the drive is energized again L1 22 Leakage Current Filter Time1 No Hex Name Description Default Range L1 22 0768...

Page 364: ...s voltage at the level set in parameter L2 11 The drive uses system inertia to calculate the deceleration time You cannot adjust this value If the drive detects Uv1 during the KEB operation increase t...

Page 365: ...on through KEB operation When the time set in L2 10 Minimum KEB Time expires the drive stops the KEB operation and then it accelerates the motor again until it is at the frequency reference value used...

Page 366: ...Ride Thru Time and KEB Ride Thru to Cancel KEB Operation 1 When L2 07 0 00 the drive accelerates again as specified by the applicable Acceleration Time C1 01 C1 03 C1 05 C1 07 and usual operation cont...

Page 367: ...ed the drive uses the KEB Ride Thru function to continue to decelerate When you cancel the KEB Ride Thru the motor accelerates again and usual operation continues Figure 2 111 Use the KEB Ride Thru to...

Page 368: ...the setting value If Uv1 occurs decrease the setting value x 2 x 2 L2 07 Kinetic Energy Backup Accel Time Sets the acceleration time to return to the frequency reference value before a power loss aft...

Page 369: ...detect Uv1 The drive momentarily turns OFF its output after a power loss If the power returns in the time set to L2 02 the drive will do Speed Search and try to continue operation If the DC bus volta...

Page 370: ...When L2 01 3 to 5 if the control power supply voltage is less than the CPU operation level during KEB Ride Thru it will trigger Uv1 L2 02 Power Loss Ride Through Time No Hex Name Description Default...

Page 371: ...ve KEB Ride Thru 2 System KEB Ride Thru 1 System KEB Ride Thru 2 and you do KEB Auto Tuning the drive will automatically set this value Sets the deceleration time necessary to decelerate from the freq...

Page 372: ...omentary power loss 50 ms 0 25500 ms When you return power while KEB is operating the drive continues KEB operation until the time set in L2 10 is expired When the DC bus voltage is less than the leve...

Page 373: ...ration rate to make sure that the main circuit electrical energy and main current voltage from motor regenerative energy is equal to L2 11 DC Bus Vol Setpoint during KEB 2 System KEB Ride Thru 1 The d...

Page 374: ...oltage Suppression Function Decreases the regenerative torque limit and increases the output frequency when the DC bus voltage increases to prevent ov This function can drive loads with cyclic regener...

Page 375: ...n During Acceleration function Operation is different for different control methods V f Control Open Loop Vector Control or EZ Open Loop Vector Control When the output current is more than the value s...

Page 376: ...Hex Name Description Default Range L3 02 0490 Stall Prevent Level during Accel Sets the output current level at which the Stall Prevention function operates during acceleration where the drive rated...

Page 377: ...eration as specified by the DC bus voltage and does not let high inertia or fast deceleration cause ov Overvoltage faults 0 Disable The drive decelerates as specified by the deceleration time If the d...

Page 378: ...me is long and you decelerate frequently the drive can detect oL1 Motor Overload faults If the drive detects oL1 decrease the deceleration time or install a braking resistor to the drive The decelerat...

Page 379: ...ctions the same as Setting 1 Deceleration Time 1 C1 02 When you enable the Stall Prevention function the drive decelerates in the time set in C1 04 Deceleration Time 2 3 Intelligent Ignore Decel Ramp...

Page 380: ...ervoltage suppression function and the Decel Stall Prevention function Intelligent Stall Prevention are active 200 V Class 375 V 400 V 750 V 200 V Class 150 to 400 V 400 V Class 300 to 800 V Note This...

Page 381: ...ime If sudden increases in the regenerative load cause ov faults and L3 11 1 gradually increase this parameter in 0 1 unit increments If there are large speed ripples gradually decrease this parameter...

Page 382: ...age Uv1 DC Bus Undervoltage or oC Overcurrent faults KEB Tuning will automatically set this value L3 26 Additional DC Bus Capacitors No Hex Name Description Default Range L3 26 0455 Expert Additional...

Page 383: ...Usually it is not necessary to change this setting 5 ms 0 100 ms Note Set L3 01 3 Stall Prevention during Accel Current Limit Method to enable this function L3 38 Current Limit I Time Accel No Hex Na...

Page 384: ...1 02 Determined by A1 02 Sets the width to detect speed agree or motor speed when H2 01 to H2 03 2 3 4 5 MFDO Function Selection Speed Agree 1 User set Speed Agree 1 Frequency Detection 1 Frequency De...

Page 385: ...the drive detected the loss 80 0 0 0 100 0 Set L4 05 1 FreqReference Loss Detect Select Run L4 06PrevRef to enable this parameter L4 07 Speed Agree Detection Selection No Hex Name Description Default...

Page 386: ...goes away the drive does speed search and restarts It will not stop and the drive will not record a fault history Use L5 02 Fault Contact at Restart Select to select the operation of fault relay signa...

Page 387: ...tart Time Sets the time interval between each Auto Restart attempt This function is enabled when L5 05 1 Auto Restart Operation Selection Use L5 04 Time 10 0 s 0 5 600 0 s L5 05 Auto Restart Method No...

Page 388: ...e Select Grp2 No Hex Name Description Default Range L5 08 0B2B Fault Reset Enable Select Grp2 Use these 4 digits to set the Auto Restart function for Uv1 ov oH1 and GF From left to right the digits se...

Page 389: ...Activated when detected H2 01 H2 02 and H2 03 18 N O Activated when detected H2 01 H2 02 and H2 03 17 N C Disactivated when detected H2 01 H2 02 and H2 03 19 N C Disactivated when detected Detection c...

Page 390: ...Detection function detects the mechanical weakening of a machine that can cause overtorque or undertorque because of motor speed and total drive operation time The drive activates the function if the...

Page 391: ...ve outputs an oL3 Overtorque Detection 1 and operation continues 2 oL RUN Alarm only When the Run command is enabled the drive constantly detects overtorque The drive outputs an oL3 and operation cont...

Page 392: ...ut torque is less than the level set in L6 05 for the length the time set in L6 06 0 Disabled The drive will not detect overtorque or undertorque 1 oL Speed Agree Alarm only The drive detects overtorq...

Page 393: ...ve operates operation status after detection 0 0 8 The drive detects mechanical weakening through overtorque or undertorque as specified by the conditions set in L6 08 to L6 11 Mechanical Deterioratio...

Page 394: ...ault Range L6 11 046B Mech Fatigue Hold Off Time Sets the time that the drive will start mechanical deterioration detection triggered by the cumulative operation time of the drive 0 h 0 65535 h When t...

Page 395: ...mit 150 The drive output current limits maximum output torque The torque limit is 150 of the rated output current for HD and to 120 of the rated output current for ND The actual output torque is not m...

Page 396: ...regenerative conditions as a percentage of the motor rated torque 200 0 300 Note Use this method to set the torque limit and enable the lower torque limit Set H3 02 or H3 10 10 15 MFAI Function Selec...

Page 397: ...AD 3 ERF DB Resistor Protection Sets the function to enable braking resistor protection with a Yaskawa ERF series braking resistor 3 ED installed on the heatsink 0 0 1 0 No Disables braking resistor p...

Page 398: ...erates 10 times and the alarm continues to be output the output terminal set for oH Pre Alarm Reduction Limit H2 01 to H2 03 4D activates When the alarm is not output during deceleration the drive acc...

Page 399: ...09 Output Ground Fault Detection No Hex Name Description Default Range L8 09 04B5 Output Ground Fault Detection Sets the function to enable and disable ground fault protection Determined by o2 04 0 1...

Page 400: ...e drive overload at low speeds to prevent damage to the main circuit transistor during low speed operation at 6 Hz or slower to prevent oL2 Drive Overloaded 1 0 1 Note Contact Yaskawa or your nearest...

Page 401: ...her than the motor rated current PM motor magnets can demagnetize when current flows at the drive overcurrent detection level When you set a low overcurrent detection level to prevent PM motor demagne...

Page 402: ...control panel L8 40 Carrier Freq Reduction Off Delay No Hex Name Description Default Range L8 40 04F1 Carrier Freq Reduction Off Delay Sets the length of time until the automatically reduced carrier f...

Page 403: ...al braking transistor 1 0 1 0 Disable Disables braking transistor protection Use this setting if enabling the braking transistor can cause an rF Braking Resistor Fault in these conditions With a regen...

Page 404: ...and the motor is locked If fault detection is necessary in these conditions set the control fault detection level to enable detection of desynchronization because of motor locking Increase the settin...

Page 405: ...change this parameter 1 00 0 00 2 50 Adjust this parameter in these conditions When n1 01 1 Hunting Prevention Selection Enabled Normal if oscillation occurs when you operate a motor with a light loa...

Page 406: ...pression function for the DC bus voltage Set n1 13 1 DC Bus Stabilization Control Enabled to enable this parameter 100 0 ms 50 0 500 0 ms Note Adjust this parameter in 100 ms increments n2 Auto Freq R...

Page 407: ...tion Usually it is not necessary to change this setting 750 ms 0 2000 ms Adjust this parameter in these conditions If the drive detects ov Overvoltage when acceleration stops under high inertia loads...

Page 408: ...t oPE03 Multi Function Input Setting Err Overexcitation Deceleration Overexcitation deceleration quickly decelerates motors without braking resistors This lets you stop a motor more quickly than with...

Page 409: ...t ov DC Bus Overvoltage during high slip braking set this parameter to a low value If the motor current increases during high slip braking decrease the setting value to prevent burn damage in the moto...

Page 410: ...ction that injects harmonic signals during overexcitation deceleration 0 0 1 Enable this parameter to set a shorter deceleration time Note If you frequently use overexcitation deceleration on a motor...

Page 411: ...ncrease responsiveness in applications where you apply loads externally during run at constant speed You cannot use feed forward control with motor 2 Figure 2 128 Configure Feed Forward Control Before...

Page 412: ...un Auto Tuning to set motor parameters When you cannot do Auto Tuning manually set motor parameters with the information on the motor nameplate or test reports Set the E2 parameters for induction moto...

Page 413: ...esponse Frequency Sets the response frequency for the speed reference Usually it is not necessary to change this parameter Determined by A1 02 0 00 500 00 Hz If you set n5 03 Feed Forward Control Gain...

Page 414: ...t increments n7 05 Response Gain for Load Changes No Hex Name Description Default Range n7 05 3115 Expert Response Gain for Load Changes Sets the response gain related to changes in the load 50 10 100...

Page 415: ...d Only 1 time 2 Valid Every time Note For settings 1 and 2 the adjustment time can cause a delay before startup For settings 1 and 2 the drive can set the line to line resistance value of E9 10 Motor...

Page 416: ...ert Polarity Compensation Gain 3 Sets the gain for speed estimation Usually it is not necessary to change this setting 1 000 0 000 10 000 n8 15 Polarity Compensation Gain 4 No Hex Name Description Def...

Page 417: ...f the current regulator when the drive estimates the initial pole Usually it is not necessary to change this setting 100 0 150 n8 35 Initial Pole Detection Method No Hex Name Description Default Range...

Page 418: ...filter shut off frequency for high frequency injection 250 Hz 0 1000 Hz Note Set n8 35 1 Initial Pole Detection Method High Frequency Injection or n8 57 1 HFI Overlap Selection Enabled to enable this...

Page 419: ...escription Default Range n8 47 053A Pull in Current Comp Filter Time Sets the time constant the drive uses to align the pull in current reference value with the actual current value Usually it is not...

Page 420: ...he load current level at which heavy load control starts where E5 03 Motor Rated Current FLA is 100 Usually it is not necessary to change this setting 80 50 255 n8 51 Pull in Current Acceleration No H...

Page 421: ...he motor inertia and machine inertia is less than 1 10 There are large current ripples 1 Between 1 10 and 1 30 Use this setting in these conditions The ratio between the motor inertia and machine iner...

Page 422: ...00 n8 65 Speed Fdbk Gain oV Suppression No Hex Name Description Default Range n8 65 065C Expert Speed Fdbk Gain oV Suppression Sets the gain of internal speed feedback detection suppression while the...

Page 423: ...e filter time constant for the d axis current reference Usually it is not necessary to change this setting 200 ms 0 5000 n8 77 Heavy Load Iq Level No Hex Name Description Default Range n8 77 05CE Expe...

Page 424: ...nge this setting 0 0 1 0 Feedback Method 1 Feedforward Method n8 88 Vout Limit Switching Level No Hex Name Description Default Range n8 88 02BD Vout Limit Switching Level Sets the current level at whi...

Page 425: ...ads n8 95 Flux Position Est Filter Time No Hex Name Description Default Range n8 95 012E Expert Flux Position Est Filter Time Sets the time constant of the filter used for the recognition criteria val...

Page 426: ...06 Auto Parameter Backup Selection o3 07 Auto Parameter Backup Interval o4 22 Time Format o4 23 Date Format o4 24 bAT Detection Selection o5 01 Log Start Stop Selection o5 02 Log Sampling Interval o5...

Page 427: ...hown in the fifth position in Drive Mode For example to show U1 05 Motor Speed set o1 01 105 Note The monitors that you can select are different for different control methods o1 02 Monitor Selection a...

Page 428: ...he value when you remove the decimal point from the maximum output frequency Parameter o1 11 is to the number of digits after the decimal point in the maximum output frequency To display a maximum out...

Page 429: ...o1 11 before you set o1 10 and o1 11 o1 11 User Units Decimal Position No Hex Name Description Default Range o1 11 0521 User Units Decimal Position Sets the number of decimal places for frequency refe...

Page 430: ...decreases o1 37 LCD Backlight ON OFF Selection No Hex Name Description Default Range o1 37 11BA RUN LCD Backlight ON OFF Selection Sets the automatic shut off function for the LCD backlight 1 0 1 Note...

Page 431: ...he monitor display mode for the Home screen This parameter is only available when using an LCD keypad 0 0 3 0 Custom Monitor 1 Bar Graph 2 Analog Gauge 3 Trend Plot o1 41 1st Monitor Area Selection No...

Page 432: ...alue used to display the monitor set in o1 24 Custom Monitor 1 as a trend plot This parameter is only available when using an LCD keypad 100 0 300 0 300 0 o1 48 Trend Plot 1 Scale Maximum Value No Hex...

Page 433: ...1 24 Custom Monitor 1 as an analog meter This parameter is only available when using an LCD keypad 100 0 0 0 100 0 o1 58 Motor Power Unit Selection No Hex Name Description Default Range o1 58 3125 Mot...

Page 434: ...Run command is active When you set Run command to active again the drive will start to run The drive cannot operate because the Run command is not enabled b1 07 1 Accept Existing RUN Command When the...

Page 435: ...incorrectly and cause damage to the drive Note When the setting value of o2 04 changes related parameter setting values also change Refer to Defaults by Drive Model and Duty Rating ND HD on page 114 f...

Page 436: ...Selection 2 Keypad In LOCAL Mode 0 Disabled The drive continues operation when it detects a keypad disconnection 1 Enabled The drive stops operation detects oPr Keypad Connection Fault and the motor...

Page 437: ...the main circuit power supply voltage decreases 1 0 1 0 Disable The drive will not detect EP24v External Power 24V Supply if the main circuit power supply voltage decreases The Ready light on the LED...

Page 438: ...ion Default Range o3 04 0B3E Select Backup Restore Location Sets the storage location for drive parameters when you back up and restore parameters This parameter is only available when using an LCD ke...

Page 439: ...e keypad at these times 1 After you energize the drive and the auto backup period passes 2 When you use ROM enter or the keypad to change parameters the drive saves those changes in the drive waits fo...

Page 440: ...Maintenance monitor value 0 0 150 When you replace a drive set o4 05 0 to reset U4 05 When the o4 05 setting changes the count of U4 05 starts again as specified by the setting of o4 05 After you comp...

Page 441: ...s the drive will not reset U4 10 and U4 11 0 No Reset Keeps the monitor values for U4 10 and U4 11 1 Reset Resets the values of U4 10 and U4 11 After the reset the drive automatically resets o4 12 to...

Page 442: ...as a CSV file in the micro SD memory card in the keypad Monitors Ux xx are the source of data log information You can record a maximum of 10 monitors Change the LCD keypad screen from the main menu t...

Page 443: ...ion This example shows the data text strings and data generated for the first row of log data Example of generated data 00 0012 160107111230 GA500 VSVA01010 2 62 1000 000001 No Item Number of Charac t...

Page 444: ...r the monitor selected with o5 12 24 to 27 Reserved 4 28 Row number 6 Row number Hex in the data log file 1 If there is no data log monitor selected the text string of 0000 is generated 2 Refer to Tab...

Page 445: ...nly available when using an LCD keypad 100 ms 100 60000 ms o5 03 Log Monitor Data 1 No Hex Name Description Default Range o5 03 1553 RUN Log Monitor Data 1 Sets the data log monitor This parameter is...

Page 446: ...is parameter to 000 You cannot select U2 monitor Fault Trace or U3 Monitor Fault History o5 08 Log Monitor Data 6 No Hex Name Description Default Setting Range o5 08 1558 RUN Log Monitor Data 6 Sets t...

Page 447: ...ber of the U monitor you will log For example to show U1 01 Frequency Reference set o5 11 101 When it is not necessary to set data log monitors set this parameter to 000 You cannot select U2 monitor F...

Page 448: ...drive dedicated motors and special motors for use with vector control may be lower than the base frequency of general purpose motors which is 50 Hz or 60 Hz In such cases this lower frequency is used...

Page 449: ...precision around rated speed If the motor test report or the motor nameplate is not available enter approximately 90 of the motor rated voltage If the drive input power supply voltage is low enter app...

Page 450: ...0A Motor Rated Slip Frequency Sets motor rated slip 0 000 20 000 Hz Shows 0 000 Hz as the default value Set the rated slip shown on the motor test report If the motor test report is not available do n...

Page 451: ...for different models B001 B006 2001 2008 4001 4004 T1 03 0 85 B010 B018 2010 2082 4005 4060 T1 03 0 90 T2 PM Motor Auto Tuning T2 parameters set the Auto Tuning input data for PM motor tuning Note Th...

Page 452: ...voltage V of the motor 200 V Class 230 0 V 400 V 460 0 V 200 V Class 0 0 255 0 V 400 V Class 0 0 510 0 V T2 06 PM Motor Rated Current No Hex Name Description Default Range T2 06 0733 PM Motor Rated C...

Page 453: ...its Selection Sets the units that the drive uses to set the induced voltage constant 0 0 1 0 mV rev min 1 mV rad s Note When T2 13 0 the drive will use E5 24 PM Back EMF L L Vrms mV rpm and will autom...

Page 454: ...or Rated Current FLA E9 07 Motor Rated Power E9 08 Motor Pole Count E9 09 Motor Rated Slip E9 10 Motor Line to Line Resistance 1 Do only line to line resistance tuning Motor Rated Current E9 10 Motor...

Page 455: ...7 Motor Rated Current No Hex Name Description Default Range T4 07 3136 Motor Rated Current Sets the rated current A of the motor Determined by o2 04 C6 01 10 to 200 of the drive rated current Note The...

Page 456: ...2 12 T Auto Tuning 456 YASKAWA TOEPYAIGA5002A GA500 Programming...

Page 457: ...3 2 Overview of Keypad Components and Functions 459 3 3 Keypad Operation 466 3 4 Automatic Parameter Settings Optimized for Specific Applications Application Presets 471 3 5 Auto Tuning 472 3 6 Test...

Page 458: ...make sure that the drive is safe If you do work on the drive when it is energized it will cause serious injury or death from electrical shock WARNING Electrical Shock Hazard Do not operate the drive...

Page 459: ...luminated The keypad controls the Run command LOCAL Mode OFF The control circuit terminal or serial transmission device controls the Run command REMOTE Mode Note LOCAL Use the keypad to operate the dr...

Page 460: ...and hold to go back to the frequency reference screen the initial screen J LED Display Shows parameters errors and other data K LO RE Selection Key Switches drive control for the Run command and frequ...

Page 461: ...3 2 Overview of Keypad Components and Functions YASKAWA TOEPYAIGA5002A GA500 Programming 461 Figure 3 3 Relation between RUN indicator and Drive Operation Keypad Mode and Menu Displays Figure 3 4 Key...

Page 462: ...me A2 01 A1 02 Control Method Selection A2 02 b1 01 Frequency Reference Selection 1 A2 03 b1 02 Run Command Selection 1 A2 04 b1 03 Stopping Method Selection A2 05 C1 01 Acceleration Time 1 A2 06 C1 0...

Page 463: ...Parameter Setting Mode Use this mode to see and set all parameters Auto Tuning Mode Use this mode to automatically set the motor parameters necessary for each control method Setup Mode In Setup Mode y...

Page 464: ...A1 xx A2 01 to A2 32 User Parameter 1 to User Parameter 32 and E5 01 PM Motor Code Selection Figure 3 8 Verify and Set the Changed Parameters How to Switch between LOCAL and REMOTE LOCAL mode lets you...

Page 465: ...OTE The LED illuminates in LOCAL Mode Figure 3 9 Use the LO RE Selection Key to Switch between LOCAL and REMOTE Use MFDI Terminals S1 to S7 to Switch between LOCAL and REMOTE When you set H1 xx 1 MFDI...

Page 466: ...frequency reference screen Note Push and hold to return to frequency reference screen from any screen Use these steps to monitor parameter settings Figure 3 10 How to Monitor the Parameter Setting Val...

Page 467: ...lets you quickly access and change these parameters Note Setup mode always shows A1 06 Application Preset at the top of the list When you change the setting the settings for A2 01 to A2 32 change Figu...

Page 468: ...ese steps to save a backup of the drive parameters to the keypad Making backups of the parameter settings can save time when setting parameters after replacing a drive If you set up more than one driv...

Page 469: ...estore the backed up parameters The drive does not accept Run commands while it is restoring parameters Figure 3 15 Writing backed up parameters Push and hold to go back to the frequency reference scr...

Page 470: ...ncy reference screen Delete Parameters Backed Up to the Keypad Show the frequency reference screen in advance Note Push and hold to go back to the frequency reference screen from any screen Use these...

Page 471: ...e changed automatically by the application preset function in A1 06 Note Before you set A1 06 make sure that you set A1 03 2220 3330 Initialize Parameters 2 Wire Initialization 3 Wire Initialization t...

Page 472: ...racteristics When it is necessary to use motors that have high precision control When you cannot decouple the motor and load but the motor load is less than 30 x x Stationary Auto Tuning 1 T1 01 1 Whe...

Page 473: ...the necessary motor parameters x x PM Stationary Auto Tuning T2 01 1 When the information from the motor test report or motor nameplate is not available Note With Stationary Auto Tuning the energized...

Page 474: ...2 mH x x x Back EMF Units Selection T2 13 x x x Back EMF Voltage Constant Ke T2 14 3 x x x Pull In Current Level T2 15 x x 1 Set the motor code for a Yaskawa PM motor 2 Set the motor code to FFFF for...

Page 475: ...Motor Rated Voltage T4 06 V x Motor Rated Current FLA T4 07 A x x PM Motor Rated Power kW T4 08 kW x x Number of Motor Poles T4 09 x ASR and Inertia Tuning To increase drive responsiveness and preven...

Page 476: ...oltage that is less than the input supply voltage by 20 V for 200 V class models or by 40 V for 400 V class models This is very important when you operate the motor at more than 90 of base speed where...

Page 477: ...ting you can do Auto Tuning with the motor connected to a load Make sure that the motor magnetic brake is released Make sure that external force from the machine will not cause the motor to rotate Pre...

Page 478: ...uning the drive will automatically rotate the motor forward and accelerate and decelerate the motor again and again On a machine that does not let the motor rotate forward In applications with a small...

Page 479: ...ly Do a No Load Test Run Do these steps for a no load test run 1 Energize the drive or push to show the frequency reference screen 2 Push to illuminate the LOCAL REMOTE LED 3 Use to set d1 01 6 00 Fre...

Page 480: ...used for the no load test run 1 Energize the drive or push to show the frequency reference screen 2 Use to set d1 01 6 00 Frequency Reference 1 6 00 Hz then push 3 Push to illuminate the LOCAL REMOTE...

Page 481: ...ecrease the carrier frequency 1 2 kHz 1 1 to upper limit value Unsatisfactory motor torque and speed response Hunting or oscillation C4 02 Torque Compensation Delay Time If torque or speed response ar...

Page 482: ...e in 50 ms increments and examine the response Note Make sure that this parameter setting is n2 02 n2 03 Automatic Freq Regulator Time 2 When you adjust n2 02 you must also increase the C4 02 Torque C...

Page 483: ...is slow Speed response is slow Large initial vibration at start up E1 08 Mid Point AVoltage E1 10 Minimum Output Voltage If torque or speed response are slow increase the setting value If there is lar...

Page 484: ...Increase the setting value in increments of 0 05 0 80 The drive detects STPo Motor Step Out Detected fault when the load is not too high E5 09 PM Back EMF Vpeak mV rad s E5 24 PM Back EMF L L Vrms mV...

Page 485: ...value in increments of 5 00 If hunting or oscillation occur decrease the setting value 10 00 10 00 to 50 00 1 High speed C5 02 ASR Integral Time 1 Low speed C5 04 ASR Integral Time 2 If torque or spee...

Page 486: ...Hz to T1 05 Number of motor poles to T1 06 Motor base speed min 1 to T1 07 7 Do Rotational Auto Tuning Table 3 21 OLV PM A1 02 5 Checked No Description 8 Set E5 01 to E5 24 PM Motor Settings accordin...

Page 487: ...A2 Signal Level Select 4 to 20 mA 0 to 20 mA Set H3 10 0 Terminal A2 Function Selection Frequency Reference 19 Make sure that the frequency reference gets to the necessary minimum and maximum values...

Page 488: ...3 8 Test Run Checklist 488 YASKAWA TOEPYAIGA5002A GA500 Programming...

Page 489: ...ramming 489 4 Mechanical Installation This chapter gives information about the correct environment and clearances to install the drive 4 1 Section Safety 490 4 2 Removing Reattaching Covers 491 4 3 Re...

Page 490: ...rious injury or death CAUTION Crush Hazard Tighten terminal cover screws and hold the case safely when you move the drive If the drive or covers fall it can cause moderate injury NOTICE Do not let unw...

Page 491: ...ors are OFF measure for dangerous voltages to make sure that the drive is safe If you do work on the drive when it is energized it will cause serious injury or death from electrical shock Remove the F...

Page 492: ...mming Figure 4 3 Reattach the Front Cover 2 Use a slotted screwdriver to lock the front cover of the drive Use a slotted screwdriver with a tip width of 2 5 mm 0 1 in or less and a thickness of 0 4 mm...

Page 493: ...h the Keypad Remove the Keypad Remove the front cover Push on the tab on the right side of the keypad then pull the keypad forward to remove it from the drive Figure 4 5 Remove the Keypad Reattach the...

Page 494: ...4 3 Remove and Reattach the Keypad 494 YASKAWA TOEPYAIGA5002A GA500 Programming...

Page 495: ...l the Charge LED turns off Remove the front cover and terminal cover to do work on wiring circuit boards and other parts Use terminals for their correct function only Incorrect wiring incorrect ground...

Page 496: ...internal EMC filter the leakage current of the drive will be more than 3 5 mA Use these closed loop crimp terminals or equivalent to connect a protective ground wire that has a minimum cross sectional...

Page 497: ...cause ESD damage to the drive circuitry Select a motor that is compatible with the load torque and speed range When 100 continuous torque is necessary at low speed use an inverter duty motor or vector...

Page 498: ...ible motors is higher than the rated input current of standard motors Carefully select the correct drive capacity When the distance between the motor and drive is long use a wire that can connect the...

Page 499: ...motor can suddenly rotate when you energize the drive WARNING Sudden Movement Hazard Check the I O signals and the external sequences for the drive before you set the Application Preset function When...

Page 500: ...5 2 Standard Connection Diagram 500 YASKAWA TOEPYAIGA5002A GA500 Programming Figure 5 1 Standard Drive Connection Diagram...

Page 501: ...drive Sinking Mode Internal power supply Install the jumper to close the circuit between terminals SC SP NOTICE Damage to Equipment Do not close the circuit between terminals SC SN If you close the ci...

Page 502: ...rcuit Connections WARNING Electrical Shock Hazard Do not connect terminals R L1 S L2 T L3 L L1 N L2 U T1 V T2 W T3 1 2 B1 or B2 to the ground terminal If you connect these terminals to earth ground it...

Page 503: ...1 Main circuit power supply input N L2 U T1 Drive output Drive output To connect a motor V T2 W T3 DC power input DC power input 1 and 2 To connect a DC link choke Note Remove the jumper between termi...

Page 504: ...information about how to correctly wire the control circuit Control Circuit Connection Diagram Wire the drive control circuit as shown in Figure 5 3 Figure 5 3 Control Circuit Connection Diagram 1 Con...

Page 505: ...Do not ground the AC control circuit terminals and only connect the AC terminals according to the product instructions If you connect the AC terminals incorrectly it can cause damage to the drive 6 Do...

Page 506: ...um 150 mA NOTICE Damage to Equipment Do not close the circuit between terminals SP SN If you close the circuits between terminals SC SP and terminals SC SN at the same time it will cause damage to the...

Page 507: ...edance 250 Note Use jumper S5 and H4 07 Terminal AM Signal Level Select to set the signal type AC Monitor common 0 V External Power Supply Input Terminals Refer to Table 5 5 for a list of the function...

Page 508: ...put MEMOBUS Modbus communications Use an RS 485 cable to connect the drive Note Set DIP switch S2 to ON to enable the termination resistor in the last drive in a MEMOBUS Modbus network RS 485 MEMOBUS...

Page 509: ...als and Switches Functions Position Switch Terminal Function Default A Jumper switch S5 AM Sets the output method for terminal AM voltage or current V voltage output B DIP switch S1 A2 Sets the input...

Page 510: ...k Output Voltage VMP V 1 5 k or more 5 Vor more 4 0 k or more 8 Vor more 10 k or more 10 Vor more Note Use the formula in Figure 5 6 to calculate the necessary load resistance k to increase output vol...

Page 511: ...ime it will cause damage to the drive Mode Internal Power Supply Terminal SN SP External 24 V power supply Sinking Mode NPN Sourcing Mode PNP Set the Input Signal for the MFAI Terminal A2 Use terminal...

Page 512: ...Types of Output Signals Jumper S5 Parameter No Signal Level AM Voltage output Default H4 07 0 0 V to 10 V Current output 2 4 mA to 20 mA Switch ON Termination Resistor for MEMOBUS Modbus Communication...

Page 513: ...t the drive to a type A USB port on a PC After you connect the drive to the PC you can use Yaskawa DriveWizard Industrial software to monitor drive performance and manage parameter settings A PC B Typ...

Page 514: ...5 6 Connect the Drive to a PC 514 YASKAWA TOEPYAIGA5002A GA500 Programming...

Page 515: ...or the use of this product Failure to obey these precautions can cause serious injury or death or damage to the product or related devices and systems Yaskawa must not be held responsible for any inju...

Page 516: ...onous Motor generic name for IPM motors and SPM motors SIL Safety Integrity Level SPM motor Surface Permanent Magnet Synchronous Motor V f V f Control About Registered Trademarks CANopen is a register...

Page 517: ...ge to equipment or serious injury or death WARNING Sudden Movement Hazard Before you do a test run make sure that the setting values for virtual input and output function parameters are correct Virtua...

Page 518: ...rve correct electrostatic discharge ESD procedures If you do not follow procedures it can cause ESD damage to the drive circuitry NOTICE Damage to Equipment Do not do a withstand voltage test or use a...

Page 519: ...or 2 parameters 255 Parameter 250 Bi Directional function 239 Braking Resistor Protection Functions 397 bUS Detection condition settings 276 Detection conditions 272 Operation Selection after Detectio...

Page 520: ...r 433 I IGBT Maintenance Setting 440 Induction Motor Auto Tuning 472 Motor parameters 250 Input Phase Detection Protection Functions 398 Input voltage Parameter 243 Installation Front cover 491 Keypad...

Page 521: ...on Operation Time 361 Protection Functions 358 Motor parameters 250 Motor 2 255 Motor 2 Iron Core Saturation Coefficient 1 257 Motor 2 Iron Core Saturation Coefficient 2 257 Motor 2 number of motor po...

Page 522: ...ive Overheating 397 GF 399 Ground Fault Detection 399 HCA 402 Input Phase Detection 398 Internal Drive Braking Transistor 403 LF2 401 Motor Overheating 362 Motor Overheating PTC Input 362 Motor Overlo...

Page 523: ...A2 508 511 Terminal AM 508 512 Termination resistor Setting switch 512 Test run Checklist 486 Fine tuning 481 Procedure for no load test run 479 Procedure for test run with actual load 479 Timer func...

Page 524: ...524 YASKAWA TOEPYAIGA5002A GA500 Programming Revision History Date of Publication Revision Number Section Revised Content November 2019 First Edition...

Page 525: ...YASKAWA TOEPYAIGA5002A GA500 Programming 525...

Page 526: ...m http www yaskawa eu com YASKAWA EL TRICO DO BRASIL LTDA 777 Avenida Piraporinha Diadema S o Paulo 09950 000 Brasil Phone 55 11 3585 1100 Fax 55 11 3585 1187 http www yaskawa com br In the event that...

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