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YASKAWA GA800 Series, Programming Manual

The YASKAWA GA800 Series user manual provides detailed instructions for maintenance and troubleshooting of this high-performance product. Download the manual for free from manualshive.com to ensure optimal functionality and longevity of your equipment. Gain access to essential information and guidance for effective operation of the GA800 Series.

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Parameter

List

1

1.20 Parameters Changed by E1-03 [V/f Pattern Selection]

YASKAWA

TOEPYAIGA8002B GA800 Drive Programming

131

1.20

Parameters Changed by E1-03 [V/f Pattern Selection]

The values for parameters

A1-02 [Control Method Selection]

and

E1-03 [V/f Pattern Selection]

changes the default

settings for the parameters in these tables:

Table 1.1 Parameters Changed by E1-03 (2004 to 2021 and 4002 to 4012)

No.

Unit

Setting Value

Control Method (A1-02 Setting)

E1-

03

0

1

2

3

4

5

6

7

8

9

A

B

C

D

E

F

OLV

(2)

CLV

(3)

OLV/

PM

(5)

AOL-
V/PM

(6)

CLV/

PM

(7)

E1-04

Hz

50.0

60.0

60.0

72.0

50.0

50.0

60.0

60.0

50.0

50.0

60.0

60.0

90.0

120.0

180.0

60.0

*1

60.0

60.0

*2

*2

*2

E1-05

*3

V

230.0

230.0

230.0

230.0

230.0

230.0

230.0

230.0

230.0

230.0

230.0

230.0

230.0

230.0

230.0

230.0

*1

230.0

230.0

*2

*2

*2

E1-06

Hz

50.0

60.0

50.0

60.0

50.0

50.0

60.0

60.0

50.0

50.0

60.0

60.0

60.0

60.0

60.0

60.0

*1

60.0

60.0

*2

*2

*2

E1-07

Hz

2.5

3.0

3.0

3.0

25.0

25.0

30.0

30.0

2.5

2.5

3.0

3.0

3.0

3.0

3.0

3.0

*1

3.0

0.0

-

-

-

E1-08

*3

V

17.3

17.3

17.3

17.3

40.3

57.5

40.3

57.5

21.9

27.6

21.9

27.6

17.3

17.3

17.3

17.3

*1

13.8

0.0

-

-

-

E1-09

Hz

1.3

1.5

1.5

1.5

1.3

1.3

1.5

1.5

1.3

1.3

1.5

1.5

1.5

1.5

1.5

1.5

*1

0.5

0.0

*2

*2

0.0

E1-10

*3

V

10.4

10.4

10.4

10.4

9.2

10.4

9.2

10.4

12.7

15.0

12.7

17.3

10.4

10.4

10.4

10.2

*1

2.9

0.0

-

-

-

*1

These values are the default settings for

E1-04 to E1-10

and

E3-04 to E3-10 [V/f Pattern for Motor 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 the value for 200 V class drives. Double the value for 400 V class drives.

Table 1.2 Parameters Changed by E1-03 (2030 to 2211 and 4018 to 4103)

No.

Unit

Setting Value

Control Method (A1-02 Setting)

E1-

03

0

1

2

3

4

5

6

7

8

9

A

B

C

D

E

F

OLV

(2)

CLV

(3)

OLV/

PM

(5)

AOL-
V/PM

(6)

CLV/

PM

(7)

E1-04

Hz

50.0

60.0

60.0

72.0

50.0

50.0

60.0

60.0

50.0

50.0

60.0

60.0

90.0

120.0

180.0

60.0

*1

60.0

60.0

*2

*2

*2

E1-05

*3

V

230.0

230.0

230.0

230.0

230.0

230.0

230.0

230.0

230.0

230.0

230.0

230.0

230.0

230.0

230.0

230.0

*1

230.0

230.0

*2

*2

*2

E1-06

Hz

50.0

60.0

50.0

60.0

50.0

50.0

60.0

60.0

50.0

50.0

60.0

60.0

60.0

60.0

60.0

60.0

*1

60.0

60.0

*2

*2

*2

E1-07

Hz

2.5

3.0

3.0

3.0

25.0

25.0

30.0

30.0

2.5

2.5

3.0

3.0

3.0

3.0

3.0

3.0

*1

3.0

0.0

-

-

-

E1-08

*3

V

16.1

16.1

16.1

16.1

40.3

57.5

40.3

57.5

20.7

26.5

20.7

26.5

16.1

16.1

16.1

16.1

*1

12.7

0.0

-

-

-

E1-09

Hz

1.3

1.5

1.5

1.5

1.3

1.3

1.5

1.5

1.3

1.3

1.5

1.5

1.5

1.5

1.5

1.5

*1

0.5

0.0

*2

*2

0.0

E1-10

*3

V

8.1

8.1

8.1

8.1

6.9

8.1

6.9

8.1

10.4

12.7

10.4

15.0

8.1

8.1

8.1

8.1

*1

2.3

0.0

-

-

-

*1

These values are the default settings for

E1-04 to E1-10

and

E3-04 to E3-10 [V/f Pattern for Motor 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 the value for 200 V class drives. Double the value for 400 V class drives.

Summary of Contents for GA800 Series

Page 1: ...GA800 Drive AC Drive for Industrial Applications Programming Catalog Code GA80Uxxxxxxxx 240 V 1 to 150 HP 480 V 1 to 600 HP PDF Get the DriveWizard Mobile Commissioning App https www yaskawa com dwm...

Page 2: ...This Page Intentionally Blank 2 YASKAWA TOEPYAIGA8002B GA800 Drive Programming...

Page 3: ...ation 20 A2 User Parameters 21 1 5 b Application 22 b1 Operation Mode Selection 22 b2 DC Injection Braking and Short Circuit Braking 23 b3 Speed Search 24 b4 Timer Function 26 b5 PID Control 27 b6 Dwe...

Page 4: ...otection Functions 81 L1 Motor Protection 81 L2 Power Loss Ride Through 82 L3 Stall Prevention 83 L4 Speed Detection 85 L5 Fault Restart 85 L6 Torque Detection 87 L7 Torque Limit 88 L8 Drive Protectio...

Page 5: ...D HD 133 200 V class 133 400 V Class 140 1 22 Parameters Changed by PM Motor Code Selection 151 Yaskawa SMRA Series SPM Motors 151 Yaskawa SSR1 Series IPM Motors Derated Torque 152 Yaskawa SST4 Series...

Page 6: ...O Parameters 383 MFDO Setting Value 390 H3 Analog Inputs 405 H3 MFAI Parameters 408 Multi Function Analog Input Terminal Settings 413 H4 Analog Outputs 419 H5 Memobus Modbus Communication 422 H6 Pulse...

Page 7: ...Plot 558 Show Monitor Items as a Trend Plot 562 Change Parameter Settings 563 Examine User Custom Parameters 564 Save a Backup of Parameters 566 Write Backed up Parameters to the Drive 567 Verify Key...

Page 8: ...Removing Reattaching the Cover Using Procedure A 612 Removing Reattaching the Cover Using Procedure B 613 4 3 Electrical Installation 617 Standard Connection Diagram 617 4 4 Main Circuit Wiring 621 Mo...

Page 9: ...for 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 inj...

Page 10: ...to support of Yaskawa GA800 drives For more information about the GA800 drive refer to the GA800 Technical Manual SIEPC Yaskawa Technical Support repair yaskawa com Toll Free 1 800 927 5292 Direct 1...

Page 11: ...eration Use options and drives only as specified by the instructions The figures in this manual are examples only All figures do not apply to all products included in this manual Yaskawa can change th...

Page 12: ...ible for modifications of the product made by the user Only let approved personnel install wire maintain examine replace parts and repair the drive If personnel are not approved it can cause serious i...

Page 13: ...or use a Megger insulation tester on the drive These tests can cause damage to the drive Do not operate a drive or connected equipment that has damaged or missing parts You can cause damage to the dri...

Page 14: ...i 2 Using the Product Safely 14 YASKAWA TOEPYAIGA8002B GA800 Drive Programming...

Page 15: ...ions 81 1 12 n Special Adjustment 92 1 13 o Keypad Related Settings 100 1 14 q DriveWorksEZ Parameters 106 1 15 r DWEZ Connection 1 20 107 1 16 T Motor Tuning 108 1 17 U Monitors 112 1 18 Parameters t...

Page 16: ...Drive 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...

Page 17: ...meter is available when operating the drive with Open Loop Vector Control for PM The parameter is available when operating the drive with Advanced Open Loop Vector Control for PM The parameter is avai...

Page 18: ...alog Input Option F3 Digital Input Option F4 Analog Output Option F5 Digital Output Option F6 Communication Options F7 Ethernet Options H1 Digital Inputs H2 Digital Outputs Parameters Name H3 Analog I...

Page 19: ...Parameter List 1 1 3 Parameter Groups YASKAWA TOEPYAIGA8002B GA800 Drive Programming 19 Parameters Name U6 Operation Status Monitors Parameters Name U8 DriveWorksEZ Monitors...

Page 20: ...6 A1 03 0103 Initialize Parameters Sets parameters to default values 0 No Initialization 1110 User Initialization 2220 2 Wire Initialization 3330 3 Wire Initialization 0 0 3330 177 A1 04 0104 Password...

Page 21: ...32 You can select a maximum of 32 parameters for the drive and set them to parameters A2 01 to A2 32 The User Parameters section of the keypad main menu shows the set parameters You can immediately a...

Page 22: ...otor Coasts 2 Operate at Minimum Frequency 3 Operate at Zero Speed 0 0 3 200 b1 06 0185 Digital Input Reading Sets the number of times that the drive reads the sequence input command to prevent malfun...

Page 23: ...Threshold Sets the frequency to start DC Injection Braking Short Circuit Braking and Zero Servo Note This parameter is available when b1 03 0 Stopping Method Selection Ramp to Stop Determined by A1 02...

Page 24: ...ation Current Level 1 Sets the level of current that flows to the motor during Speed Estimation Speed Search as a coefficient of the motor rated current Usually it is not necessary to change this sett...

Page 25: ...ype Selection Induction IM 2 A1 02 8 and E9 01 0 1 Set b3 24 1 If b3 24 2 the drive will detect oPE08 Parameter Selection Error 2 1 2 217 b3 25 01C8 Expert Speed Search Wait Time Sets the length of ti...

Page 26: ...er Function OFF Delay Time Sets the OFF delay time for the timer input 0 0 s 0 0 3000 0 s 221 b4 03 0B30 Expert Terminal M1 M2 ON Delay Time Sets the delay time until the contact is turned ON after th...

Page 27: ...meter A1 02 Control Method Selection selects which parameter 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 0 229 b5 07 01AB RUN...

Page 28: ...int 0 0 s 0 0 6000 0 s 231 b5 18 01DC b5 19 PID Setpoint Selection Sets the function that enables and disables b5 19 PID Setpoint Value 0 Disabled 1 Enabled 0 0 1 232 b5 19 01DD RUN PID Setpoint Value...

Page 29: ...ified in b5 55 PID Feedback Monitor Selection 0 00 10 00 10 00 235 b5 58 to b5 60 1182 1184 RUN PID Setpoints 2 to 4 Sets the PID setpoint when H1 xx 3E or 3F MFDI Function Selection PID Setpoint Sele...

Page 30: ...drive resumes operation when exiting Sleep Mode 0 00 0 00 600 00 237 b5 95 0B95 EZ Sleep Wake up Mode Sets the wake up mode to use when exiting Sleep Mode 0 Absolute 1 Setpoint Delta 0 0 1 238 b5 96 0...

Page 31: ...oltage Limit Sets the voltage limit for Search Operation as a percentage of the motor rated voltage 0 0 100 241 b8 16 01F8 Expert PM E Save Coefficient Ki Sets torque linearity This parameter uses the...

Page 32: ...sable this to prioritize tracking related to fast load changes and prevent motor stall 0 Priority Drive Response 1 Priority Energy Savings 0 0 1 244 b8 50 0B0D Standby Mode Selection Sets the Standby...

Page 33: ...EB Auto Tuning the drive will automatically set C1 09 If you must not change the Fast Stop time do not do KEB Tuning 10 0 s 0 0 6000 0 s 250 C1 10 0209 Accel Decel Time Setting Units Sets the setting...

Page 34: ...s the modulation factor used with C3 18 Output Voltage Limit Level for the output voltage limit operation when C3 05 1 Output Voltage Limit Selection Enabled 100 0 85 0 100 0 256 C3 18 0263 Expert Out...

Page 35: ...at the end of acceleration or at the start of deceleration 150 ms 0 10000 ms 259 C4 07 0341 RUN Motor 2 Torque Compensation Gain Sets the gain for motor 2 torque compensation function when using the...

Page 36: ...04 C6 01 and E5 01 0 0001 600 00 kgm2 266 C5 18 0277 Expert Load Inertia Ratio Sets the load inertia ratio for the motor inertia 1 0 0 0 6000 0 266 C5 21 0356 RUN Motor 2 ASR Proportional Gain 1 Sets...

Page 37: ...00 kgm2 2030 to 2211 4018 to 4103 0 01 kgm2 units setting range 0 01 kgm2 to 600 00 kgm2 2257 to 2415 4140 to 4720 Determined by o2 04 C6 01 0 0001 600 00 kgm2 268 C5 38 0279 Expert Motor 2 Load Inert...

Page 38: ...02 F Carrier Frequency Selection User Defined C6 03 to C6 05 to set this parameter Determined by C6 02 1 0 15 0 kHz 271 C6 04 0226 Carrier Frequency Lower Limit Sets the lower limit of the carrier fr...

Page 39: ...Reference 7 Sets the frequency reference in the units from o1 03 Frequency Display Unit Selection Note When A1 02 6 7 Control Method Selection AOLV PM CLV PM the drive changes o1 03 1 0 01 100 E1 04...

Page 40: ...6 7 Control Method Selection AOLV PM CLV PM the drive sets o1 03 1 0 01 100 E1 04 6 00 Hz 0 00 590 00 Hz 280 d2 Reference Limits No Hex Name Description Default Range Ref d2 01 0289 Frequency Referen...

Page 41: ...p Down 2 Bias Step Frequency 0 00 before you set this parameter 0 Hold when Neither Up Down Closed 1 Reset when Neither Both Closed 0 0 1 285 d4 06 02AD Frequency Ref Bias Up Down 2 Saves the bias val...

Page 42: ...I Function Selection Torque Control before you set this parameter 0 ms 0 1000 ms 292 d5 08 02B5 Uni directional Speed Limit Bias Sets the direction of the speed limit reference to which Speed Limit Bi...

Page 43: ...the Maximum Output Frequency to add or subtract the set frequency to from the frequency reference Note Parameter A1 02 Control Method Selection selects which parameter is the maximum output frequency...

Page 44: ...r the V f pattern Determined by A1 02 and E5 01 Determined by A1 02 and E5 01 301 E1 05 0304 Maximum Output Voltage Sets the maximum output voltage for the V f pattern 200 V Class 230 0 V 400 V 460 0...

Page 45: ...rated current This value is a percentage of Motor Rated Voltage Determined by o2 04 C6 01 0 0 60 0 305 E2 07 0314 Motor Saturation Coefficient 1 Sets the motor iron core saturation coefficient at 50...

Page 46: ...dle output voltage for the motor 2 V f pattern Set this parameter to adjust the V f pattern for the constant output range Usually it is not necessary to change this parameter 0 0 V 200 V Class 0 0 to...

Page 47: ...rol Method Selection CLV PM the maximum value is 120 When A1 02 5 6 or 8 OLV PM AOLV PM or EZOLV the maximum value is 48 4 2 120 311 E5 05 032D PM Motor Resistance ohms phase Sets the resistance per p...

Page 48: ...rrent 314 E9 07 11EA Motor Rated Power Sets the motor rated power in the units from o1 58 Motor Power Unit Selection Determined by E9 02 and o2 04 0 00 650 00 HP 315 E9 08 11EB Motor Pole Count Sets t...

Page 49: ...of oS Overspeed as a percentage when the maximum output frequency is 100 Note Parameter A1 02 Control Method Selection selects which parameter is the maximum output frequency A1 02 8 EZOLV E1 04 Maxi...

Page 50: ...tor 2 This parameter and F1 34 Encoder 2 Gear Teeth 2 set the gear ratio between the motor and encoder 0 0 1000 322 F1 34 03B3 Encoder 2 Gear Teeth 2 Sets the number of gear teeth on the load side for...

Page 51: ...entage when the maximum output frequency is 100 Note Set F2 01 1 Analog Input Function Selection 3 Channels Added Together to enable this function Parameter A1 02 Control Method Selection selects whic...

Page 52: ...Function Selection Multi Function Digital Input F 1 19F 329 F3 20 0BED Expert Terminal DA Function Selection Sets the function for terminal DA of the DI A3 option when F3 01 8 Digital Input Function...

Page 53: ...election Programmable F5 01 to F5 08 to enable this function 0 0 1A7 333 F5 02 039A Terminal P2 PC Function Select Sets the function of terminal P2 PC on the DO A3 option Set F5 09 2 DO A3 Output Mode...

Page 54: ...e Limit by Comm Sets the function that enables and disables the torque reference and torque limit received from the communication option 0 Disabled 1 Enabled 0 0 1 341 F6 07 03A8 Multi Step Ref NetRef...

Page 55: ...64byte M 3 1 17byte M 2 32byte M 3 0 0 1 344 F6 22 036D MECHATROLINK Link Speed Sets the communications speed for MECHATROLINK II Restart the drive after you change the parameter setting Note This pa...

Page 56: ...er you change the parameter setting 0 Detect Automatically 1 10 kbps 2 20 kbps 3 50 kbps 4 125 kbps 5 250 kbps 6 500 kbps 7 800 kbps 8 1 Mbps 6 0 8 346 F6 45 02FB BACnet Node Address Sets the node add...

Page 57: ...0 15 15 349 F6 60 03DB DeviceNet Voltage Scaling Sets the voltage scale of the DeviceNet communication master 0 15 15 349 F6 61 03DC DeviceNet Time Scaling Sets the time scale of the DeviceNet communi...

Page 58: ...255 350 F7 05 03E9 Subnet Mask 1 Sets the first octet of the subnet mask of the connected network Note Set this parameter when F7 13 0 Address Mode at Startup Static 255 0 255 350 F7 06 03EA Subnet M...

Page 59: ...15 15 353 F7 21 03F9 EtherNet IP Voltage Scale Factor Sets the scaling factor for the voltage monitor in the EtherNet IP Class ID 2AH Object 0 15 15 353 F7 22 03FA EtherNet IP Time Scaling Sets the sc...

Page 60: ...S Modbus register 0 355 F7 73 078D PZD4 Read Sets the MEMOBUS Modbus address for PZD4 PPO Read A value of 0 will disable the PZD4 PPO Read load operation from the MEMOBUS Modbus register 0 356 F7 74 0...

Page 61: ...the second function for MFDI terminal S4 F 1 19F 360 H1 25 0B74 Terminal S5 Function Selection 2 Sets the second function for MFDI terminal S5 F 1 19F 360 H1 26 0B75 Terminal S6 Function Selection 2...

Page 62: ...oH2 Drive Overheat Warning alarm when the input terminal is ON The alarm does not have an effect on drive operation 364 C Analog Terminal Enable Selection Sets the command that enables or disables the...

Page 63: ...ckout Sets the command to prevent parameter changes when the terminal is OFF ON Programming Lockout OFF Parameter Write Prohibit 370 1E Reference Sample Hold Sets the command to sample the frequency r...

Page 64: ...ate at the same time as H1 xx 42 43 Run Command FWD REV Command 2 Wire Seq 2 373 42 Run Command 2 Wire Sequence 2 Sets the Run command for 2 wire sequence 2 Set this function and H1 xx 43 FWD REV Comm...

Page 65: ...ed motor 377 75 Up 2 Command Sets the function to increase the frequency reference bias value to accelerate the motor when the terminal is activated Set this function and H1 xx 76 Down 2 Command toget...

Page 66: ...lect the function enter 1xx where the xx is the function setting value Note You cannot use inverse input for all functions Refer to Table 2 55 for more information 381 H2 Digital Outputs No Hex Name D...

Page 67: ...selected in H2 26 Comparator 2 Monitor Selection 0 0 0 0 300 0 386 H2 29 1549 Comparator 2 Hysteresis Sets the hysteresis level for comparator 2 as a percentage of the full scale analog output for the...

Page 68: ...inal M3 M4 Logical Operation Sets the logical operation for the functions set in H2 02 Term M3 M4 Function Selection and H2 63 Term M3 M4 Secondary Function 0 0 8 389 H2 65 1B4B Expert Terminal M3 M4...

Page 69: ...1 02 3 7 CLV CLV PM It also outputs the motor speed status when A1 02 4 and n4 72 1 ON The output frequency is in the range of L4 01 L4 02 and the range of frequency reference L4 02 OFF The output fre...

Page 70: ...d 395 10 Alarm The terminal turns on when the drive detects a minor fault 395 11 Fault Reset Command Active The terminal turns on when the drive receives the Reset command from the control circuit ter...

Page 71: ...the level is less than the torque value set with L6 05 Torque Detection Level 2 for longer than the time set with L6 06 Torque Detection Time 2 398 1A During reverse The terminal activates when the m...

Page 72: ...ng Short Circuit Braking Note When A1 02 8 Control Method Selection EZOLV this function is available when you use a PM motor 402 4C During Fast Stop The terminal activates when the fast stop is in ope...

Page 73: ...DWEZ Extended Digital Outputs 1 to 8 Sets the digital output for the DriveWorksEZ DO A3 option card Refer to the DriveWorksEZ online manual for more information 405 100 to 1A7 Inverse Outputs of 0 to...

Page 74: ...set Sets the offset level for analog signals input to terminal A3 Usually it is not necessary to change this setting 0 500 500 412 H3 40 0B5C Mbus Reg 15C1h Input Function Sets the MEMOBUS AI1 functio...

Page 75: ...s the maximum output frequency A1 02 8 EZOLV E1 04 Maximum Output Frequency A1 02 8 E9 02 Maximum Speed 415 B PID Feedback Enter the PID feedback value as a percentage of the maximum output frequency...

Page 76: ...nal sent from terminal FM at 10 Vor 20 mA as 100 when an output for monitoring items is 0 0 0 999 9 999 9 421 H4 04 0420 Terminal AM Analog Output Select Sets the monitoring number to be output from t...

Page 77: ...tions Note Restart the drive after changing the parameter setting 0 No parity 1 Even parity 2 Odd parity 0 0 2 423 H5 04 0428 Communication Error Stop Method Sets the motor Stopping Method when the dr...

Page 78: ...s register when responding to the master device 0044H U1 05 0000H FFFFH 426 H5 26 158A RUN Function 5A Register 2 Selection Returns the contents of the specified MEMOBUS Modbus communications register...

Page 79: ...unction Set this parameter to 1 to operate the virtual I O function 0 No 1 Yes 0 0 1 431 H7 01 1185 Expert Virtual Multi Function Input 1 Sets the function that enters the virtual input set in H7 10 V...

Page 80: ...alog Input Bias Sets the virtual analog input bias 0 0 999 9 999 9 433 H7 40 1163 Virtual Analog Out Signal Select Sets the signal level of the virtual analog output 0 0 to 100 Absolute Value 1 100 to...

Page 81: ...C Input detection level 0 Ramp to Stop 1 Coast to Stop 2 Fast Stop Use C1 09 1 0 2 440 L1 05 0484 Motor Thermistor Filter Time Sets the primary delay time constant for the PTC input signal entered to...

Page 82: ...set this value 0 0 s 0 0 6000 0 s 449 L2 07 048B Expert Kinetic Energy Backup Accel Time Sets the acceleration time to return the frequency to the frequency reference before a power loss after canceli...

Page 83: ...454 L3 04 0492 Stall Prevention during Decel Sets the method that the drive will use to prevent overvoltage faults when decelerating Note 1 To connect a dynamic braking option braking resistor or brak...

Page 84: ...60 L3 26 0455 Expert Additional DC Bus Capacitors Sets the capacity for external main circuit capacitors Usually it is not necessary to change this setting Sets this parameter when you use the KEB Rid...

Page 85: ...n 3 Frequency Detection 4 Determined by A1 02 Determined by A1 02 462 L4 05 049D Fref Loss Detection Selection Sets the operation when the drive detects a loss of frequency reference 0 Stop 1 Run at L...

Page 86: ...L3 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 1110 Enabled oL1 oL2 oL3 1111 Enabled oL1...

Page 87: ...6 06 04A6 Torque Detection Time 2 Sets the detection time for Overtorque Undertorque Detection 2 0 1 s 0 0 10 0 s 470 L6 07 04E5 Torque Detection Filter Time Sets the time constant for a primary filte...

Page 88: ...1 0 1 474 L7 35 1B57 Expert Low Freq Regen Torque Limit Lvl Sets the torque limit used during low speed regeneration Usually it is not necessary to change this setting 50 0 0 0 200 0 474 L7 36 1B58 E...

Page 89: ...disabling this function at low speeds If you frequently operate drives with high output current in low speed ranges it can cause heat stress and decrease the life span of drive IGBTs 0 Disabled No Ad...

Page 90: ...81 L8 54 0474 Expert STPo Id Diff Detection Sets the Id deviation detection function for STPo Motor Step Out Detected 0 Disabled 1 Enabled 1 0 1 482 L8 55 045F Internal DB TransistorProtection Sets th...

Page 91: ...ow Speed Pull out Amount Sets the average count of LSo Low Speed Motor Step Out detections 10 1 50 times 483 L9 Drive Protection 2 No Hex Name Description Default Range Ref L9 16 11DC Expert FAn1 Dete...

Page 92: ...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 485 n1 15 0BF8 Expert PWM Voltage Offset Calibration Sets the calibration method...

Page 93: ...s ending and during which the motor speed decreases and runs at a stable speed For a set length of time the drive will hold the actual output frequency at the minimum output frequency set in E1 09 1 0...

Page 94: ...imate Response High Freq n4 66 Flux Estimate Response Low Freq Usually it is not necessary to change this setting 6 00 Hz 0 00 E1 04 setting 492 n4 68 1B88 Speed Estimation Filter Time Sets the primar...

Page 95: ...Damping Gain for Low Frequency Sets the oscillation suppression gain for the low speed range 1 0 0 1 10 0 498 n7 05 3115 Expert Response Gain for Load Changes Sets the response gain related to changes...

Page 96: ...ts the gain for speed estimation Usually it is not necessary to change this setting Determined by n8 72 0 0 1000 0 500 n8 14 054D Expert Polarity Compensation Gain 3 Sets the gain for speed estimation...

Page 97: ...the high frequency injection speed estimation 2 5 10 0 10 0 503 n8 42 0569 Expert HFI I Time Sets the integral time constant for the high frequency injection speed estimation Usually it is not necess...

Page 98: ...necessary to change this setting 1 00 0 00 100 00 506 n8 64 057F Expert Output Voltage Limit I Time Sets the integral time for output voltage control Usually it is not necessary to change this setting...

Page 99: ...mid range loads 0 200 200 508 n8 79 05FE Pull in Current Deceleration Sets the pull in current that can flow during deceleration as a percentage of the E5 03 PM Motor Rated Current FLA Note When n8 79...

Page 100: ...values 0 No Decimal Places XXXXX 1 One Decimal Places XXXX X 2 Two Decimal Places XXX XX 3 Three Decimal Places XX XXX Determined by o1 03 0 3 513 o1 24 to o1 35 11AD 11B8 RUN Custom Monitor 1 to 12 S...

Page 101: ...et 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 0 516 o1 48 11C8 RUN Trend Plot 1 Scale Maximum Value Sets the horizontal axis ma...

Page 102: ...iate MOP style 0 0 1 520 o2 06 050A Keypad Disconnect Detection Sets the function that stops the drive if you disconnect the keypad connection cable from the drive or if you damage the cable while the...

Page 103: ...the storage location for drive parameters when you back up and restore parameters This parameter is only available when using an LCD keypad 0 Memory Location 1 1 Memory Location 2 2 Memory Location 3...

Page 104: ...parameter is only available when using an LCD keypad 0 24 Hour Clock 1 12 Hour Clock 2 12 Hour JP Clock 1 0 2 525 o4 23 1550 RUN Date Format Sets the date display format This parameter is only availab...

Page 105: ...OLV PM CLV PM EZOLV 105 000 101 999 530 o5 09 1559 RUN Log Monitor Data 7 Sets the data log monitor This parameter is only available when using an LCD keypad 110 000 101 999 530 o5 10 155A RUN Log Mon...

Page 106: ...sEZ Parameters q1 01 to q8 40 Reserved for DriveWorksEZ No Hex Name Description Default Range q1 01 to q8 40 1600 17E7 Reserved for DriveWorksEZ Refer to DriveWorksEZ Operation Manual These parameters...

Page 107: ...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 108: ...Determined by o2 04 10 to 200 of the drive rated current 533 T1 05 0705 Motor Base Frequency Sets the base frequency Hz of the motor 60 0 Hz 0 0 590 0 Hz 533 T1 06 0706 Number of Motor Poles Sets the...

Page 109: ...PM motor 1 0 1 536 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 by o2 04 C6 01 0 00 650 00 HP 536 T2 05 0732...

Page 110: ...sary to change this setting 3 0 Hz 0 1 20 0 Hz 538 T3 02 0761 Test Signal Amplitude Sets the amplitude of the test signal applied to the motor during Inertia Tuning Usually it is not necessary to chan...

Page 111: ...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 540 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...

Page 112: ...s the actual detected motor speed Parameter o1 03 Keypad Display Unit Selection sets the display units Unit 0 01 Hz 10 V Maximum frequency 10 V to 10 V U1 06 0045 Output Voltage Ref Shows the output v...

Page 113: ...fault detection No signal output available U1 13 004E Terminal A1 Level Shows the signal level of terminal A1 Unit 0 1 10 V 100 10 V to 10 V U1 14 004F Terminal A2 Level Shows the signal level of ter...

Page 114: ...t voltage reference Unit 0 1 V 200 V class 10 V 200 Vrms 400 V class 10 V 400 Vrms U2 Fault Trace No Hex Name Description MFAO Signal Level U2 01 0080 Current Fault Shows the fault that the drive has...

Page 115: ...signal output available U2 10 0089 Torque Ref Fault Shows the torque reference at the fault that occurred most recently as a percentage of the motor rated torque Use U1 09 Torque Reference to monitor...

Page 116: ...monitor the actual amount of control axis deviation Unit 0 1 No signal output available U2 20 008E Heatsink Temp Fault Shows the heatsink temperature at the fault that occurred most recently Use U4 08...

Page 117: ...ount from 0 again Unit 1 10 V 65535 times U4 03 0067 Cooling Fan Ope Time Shows the cumulative operation time of the cooling fans Use parameter o4 03 Fan Operation Time Setting to reset this monitor T...

Page 118: ...vailable U4 13 07CF Peak Hold Current Shows the hold value of the peak value rms for the drive output current Use U4 14 PeakHold Output Freq to show the drive output frequency at the time that the dri...

Page 119: ...cified by these rules X External Reference 1 2 Selection H1 xx 2 selection status 1 b1 02 Run Command Selection 1 2 b1 16 Run Command Selection 2 Y Run command source 0 Keypad 1 Control circuit termin...

Page 120: ...Multi function input 2 bit 6 Multi function input 3 bit 7 Multi function input 4 bit 8 Multi function input 5 bit 9 Multi function input 6 bit A Multi function input 7 bit B Multi function input 8 bit...

Page 121: ...0 PID Unit Selection sets the display units Unit 0 01 10 V Maximum frequency 10 V to 10 V U6 Operation Status Monitors No Hex Name Description MFAO Signal Level U6 01 0051 Iq Secondary Current Shows t...

Page 122: ...0 V 65536 U6 20 07D4 UP DOWN 2 Bias Value Shows the bias value used to adjust the frequency reference Unit 0 1 10 V Maximum Frequency U6 21 07D5 Offset Frequency Shows the total value of d7 01 to d7 0...

Page 123: ...the currently available subnet mask U6 84 1st octet U6 85 2nd octet U6 86 3rd octet U6 87 4th octet No signal output available U6 88 to U6 91 07B8 07B9 07F0 07F1 Online Gateways 1 to 4 Shows the curre...

Page 124: ...3 195C DWEZ Version 3 Displays the software ID No signal output available U8 18 1961 DWEZ Platform Ver Shows the DriveWorksEZ platform version No signal output available U8 21 to U8 25 1964 1968 DWEZ...

Page 125: ...0 0 1 ms 2 0 2 0 2 0 2 0 2 0 b3 14 Bi directional Speed Search 0 1 1 0 0 0 1 b5 15 PID Sleep Function Start Level 0 0 400 0 0 1 Hz 0 0 0 0 0 0 0 0 0 0 b6 01 Dwell Reference at Start 0 0 400 0 0 1 Hz 0...

Page 126: ...requency 0 0 400 0 4 0 1 Hz 3 0 5 3 0 5 3 0 0 0 E1 08 Mid Point A Voltage 0 0 255 0 6 0 1 V 15 0 5 15 0 5 11 0 0 0 E1 09 Minimum Output Frequency 0 0 400 0 4 0 1 Hz 1 5 5 1 5 5 0 5 0 0 0 0 E1 10 Minim...

Page 127: ...vy Duty Selection changes 4 The setting range varies depending on the setting of E5 01 PM Motor Code Selection when A1 02 5 Control Method Selection PM Open Loop Vector 5 The default setting changes w...

Page 128: ...500 0 500 C5 06 ASR Delay Time 0 000 0 500 0 001 s 0 016 0 004 0 004 C5 07 ASR Gain Switchover Frequency 0 0 400 0 3 0 1 0 0 0 0 0 0 Hz C6 02 Carrier Frequency Selection 1 F 1 2 2 2 2 d3 01 Jump Freq...

Page 129: ...90 STPo Detection Level Low Speed 0 5000 1 0 80 0 n1 15 PWM Voltage Offset Calibration 0 2 1 1 1 1 1 n5 04 Speed Response Frequency 0 00 500 00 0 01 Hz 20 00 50 00 n8 35 Initial Pole Detection Method...

Page 130: ...SR Proportional Gain 2 P 0 00 300 00 0 01 0 02 20 00 C5 24 Motor 2 ASR Integral Time 2 I 0 000 10 000 0 001 s 0 050 0 500 C5 26 Motor 2 ASR Delay Time 0 000 0 500 0 001 s 0 004 E3 04 Motor 2 Maximum O...

Page 131: ...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 th...

Page 132: ...0 50 0 60 0 60 0 60 0 60 0 60 0 60 0 1 60 0 60 0 2 2 2 E1 07 Hz 2 5 3 0 3 0 3 0 25 0 25 0 30 0 30 0 2 5 2 5 3 0 3 0 3 0 3 0 3 0 3 0 1 3 0 0 0 E1 08 3 V 13 8 13 8 13 8 13 8 40 3 57 5 40 3 57 5 17 3 23...

Page 133: ...5 0 5 0 5 0 5 0 5 b3 26 Direction Determination Level 1000 1000 1000 1000 1000 1000 1000 1000 b8 03 Energy Saving Filter Time s 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 b8 04 Energy Saving Coefficient...

Page 134: ...2 2 n1 01 Hunting Prevention Selection 1 1 1 1 1 1 1 1 n1 03 Hunting Prevention Time Constant ms 10 10 10 10 10 10 10 10 n5 02 Motor Inertia Acceleration Time s 0 178 0 142 0 142 0 142 0 142 0 166 0 1...

Page 135: ...0 771 0 399 0 399 0 288 E2 06 E4 06 Motor Leakage Inductance 18 4 19 19 19 6 19 6 18 2 18 2 15 5 E2 10 E4 10 Motor Iron Loss W 77 91 91 112 112 172 172 262 E5 01 PM Motor Code Selection FFFF FFFF FFF...

Page 136: ...Motor Inertia kgm2 0 037 0 053 0 053 0 076 0 076 0 138 0 138 0 165 C6 02 Carrier Frequency Selection 1 7 1 7 1 7 1 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...

Page 137: ...nit Default Drive Model 2110 2138 2169 2211 C6 01 Normal Heavy Duty Selection HD ND HD ND HD ND HD ND 0 1 0 1 0 1 0 1 o2 04 Drive Model KVA Selection Hex 70 72 73 74 E2 11 E4 11 E5 02 Motor Rated Powe...

Page 138: ...699 823 823 852 852 960 E5 01 PM Motor Code Selection FFFF FFFF FFFF FFFF FFFF FFFF FFFF FFFF L2 02 Power Loss Ride Through Time s 2 2 2 2 2 2 2 2 L2 03 Minimum Baseblock Time s 1 1 1 1 1 1 1 1 1 1 2...

Page 139: ...2 18 12 C5 17 C5 37 Motor Inertia kgm2 0 49 0 90 0 90 1 10 1 10 1 90 1 90 1 90 C6 02 Carrier Frequency Selection 1 7 1 7 1 7 1 7 E2 01 E4 01 Motor Rated Current FLA A 190 260 260 260 260 260 260 260 E...

Page 140: ...r 2 400 V Class No Name Unit Default Drive Model 4002 4004 4005 4007 C6 01 Normal Heavy Duty Selection HD ND HD ND HD ND HD ND 0 1 0 1 0 1 0 1 o2 04 Drive Model KVA Selection Hex 92 93 94 95 E2 11 E4...

Page 141: ...0 Motor Iron Loss W 14 26 26 53 53 77 77 105 E5 01 PM Motor Code Selection FFFF FFFF FFFF FFFF FFFF FFFF FFFF FFFF L2 02 Power Loss Ride Through Time s 0 1 0 1 0 2 0 2 0 3 0 3 0 5 0 5 L2 03 Minimum Ba...

Page 142: ...or Inertia kgm2 0 0158 0 0158 0 0158 0 0255 0 026 0 037 0 037 0 053 C6 02 Carrier Frequency Selection 1 7 1 7 1 7 1 7 E2 01 E4 01 Motor Rated Current FLA A 5 7 7 7 9 8 9 8 13 3 13 3 19 9 E2 02 E4 02 M...

Page 143: ...Drive Model 4031 4038 4044 4060 C6 01 Normal Heavy Duty Selection HD ND HD ND HD ND HD ND 0 1 0 1 0 1 0 1 o2 04 Drive Model KVA Selection Hex 9C 9D 9E E2 11 E4 11 E5 02 Motor Rated Power HP kW 15 11...

Page 144: ...0 508 508 586 586 750 E5 01 PM Motor Code Selection FFFF FFFF FFFF FFFF FFFF FFFF FFFF FFFF L2 02 Power Loss Ride Through Time s 2 2 2 2 2 2 2 2 L2 03 Minimum Baseblock Time s 0 9 1 1 1 1 1 1 1 1 L2 0...

Page 145: ...5 37 Motor Inertia kgm2 0 220 0 273 0 273 0 333 0 333 0 490 0 49 0 90 C6 02 Carrier Frequency Selection 1 7 1 7 1 7 1 7 E2 01 E4 01 Motor Rated Current FLA A 52 3 65 6 65 6 79 7 79 7 95 95 130 E2 02 E...

Page 146: ...ive Model 4168 4208 4250 4302 C6 01 Normal Heavy Duty Selection HD ND HD ND HD ND HD ND 0 1 0 1 0 1 0 1 o2 04 Drive Model KVA Selection Hex A5 A6 A7 A8 E2 11 E4 11 E5 02 Motor Rated Power HP kW 100 75...

Page 147: ...1760 2150 2150 2350 2350 2850 E5 01 PM Motor Code Selection FFFF FFFF FFFF FFFF FFFF FFFF FFFF FFFF L2 02 Power Loss Ride Through Time s 2 2 2 2 2 2 2 2 L2 03 Minimum Baseblock Time s 1 3 1 5 1 5 1 7...

Page 148: ...21 76 C5 17 C5 37 Motor Inertia kgm2 3 30 3 60 3 60 4 10 4 10 6 50 6 50 11 00 C6 02 Carrier Frequency Selection 1 7 1 7 1 7 1 7 E2 01 E4 01 Motor Rated Current FLA A 270 310 310 370 370 500 500 500 E2...

Page 149: ...1 392 1 Parameters within parentheses are for motor 2 No Name Unit Default Drive Model 4605 4720 C6 01 Normal Heavy Duty Selection HD ND HD ND 0 1 0 1 o2 04 Drive Model KVA Selection Hex AE AF E2 11 E...

Page 150: ...election FFFF FFFF FFFF FFFF L2 02 Power Loss Ride Through Time s 2 2 2 2 L2 03 Minimum Baseblock Time s 2 1 2 3 2 1 2 3 L2 04 Powerloss V f Recovery Ramp Time s 2 2 2 2 2 2 L2 05 Undervoltage Detecti...

Page 151: ...F 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 Output Voltage V 200 0 200 0...

Page 152: ...PM Motor Rated Power kW 0 4 0 75 1 5 2 2 3 7 5 5 7 5 11 0 E5 03 PM Motor Rated Current FLA A 1 77 3 13 5 73 8 44 13 96 20 63 28 13 41 4 E5 04 PM Motor Pole Count 6 6 6 6 6 6 6 6 E5 05 PM Motor Resista...

Page 153: ...0 E1 06 Base Frequency Hz 87 5 87 5 87 5 87 5 87 5 87 5 87 5 87 5 E1 09 Minimum Output Frequency Hz 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 C5 17 Motor Inertia kgm2 0 046 0 055 0 064 0 116 0 140 0 259 0 31 0...

Page 154: ...W 15 18 22 30 37 45 55 75 Motor Rotation Speed min 1 1750 1750 1750 1750 1750 1750 1750 1750 E5 02 PM Motor Rated Power kW 15 18 50 22 00 30 00 37 00 45 00 55 00 75 00 E5 03 PM Motor Rated Current FLA...

Page 155: ...02 Motor Inertia Acceleration Time s 0 208 0 254 0 243 0 338 n8 49 Heavy Load Id Current 17 0 21 7 10 9 13 2 1 The default setting changes when the setting for o2 04 Drive Model Selection changes Tab...

Page 156: ...1 0 034 0 023 0 015 0 012 E5 06 PM d axis Inductance mH phase mH 3 29 2 53 1 98 1 75 1 48 1 04 0 87 E5 07 PM q axis Inductance mH phase mH 3 84 3 01 2 60 2 17 1 70 1 31 1 10 E5 09 PM Back EMF Vpeak mV...

Page 157: ...6 0 087 0 085 0 072 0 084 0 096 n8 49 Heavy Load Id Current 6 6 9 2 13 5 12 1 13 7 10 1 12 2 15 5 1 The default setting changes when the setting for o2 04 Drive Model Selection changes Table 1 14 SSR1...

Page 158: ...EMF L L Vrms mV rpm mV min 1 0 0 0 0 0 0 0 0 E1 04 Maximum Output Frequency Hz 72 5 72 5 72 5 72 5 E1 05 Maximum Output Voltage V 380 0 380 0 380 0 380 0 E1 06 Base Frequency Hz 72 5 72 5 72 5 72 5 E...

Page 159: ...etting value of E5 01 E5 01 PM Motor Code Selection 140E 140F 1410 1412 1413 1414 Voltage Class V 200 200 200 200 200 200 Capacity kW 15 18 22 30 37 45 Motor Rotation Speed min 1 1150 1150 1150 1150 1...

Page 160: ...80 0 380 0 380 0 380 0 E1 06 Base Frequency Hz 57 5 57 5 57 5 57 5 57 5 57 5 57 5 57 5 E1 09 Minimum Output Frequency Hz 2 9 2 9 2 9 2 9 2 9 2 9 2 9 2 9 C5 17 Motor Inertia kgm2 0 0017 0 0023 0 0083 0...

Page 161: ...PM Motor Code Selection 1445 1446 1447 1448 Voltage Class V 400 400 400 400 Capacity kW 55 75 90 110 Motor Rotation Speed min 1 1150 1150 1150 1150 E5 02 PM Motor Rated Power kW 55 00 75 00 90 00 110...

Page 162: ...aximum Output Voltage V 190 0 190 0 190 0 190 0 190 0 190 0 190 0 190 0 E1 06 Base Frequency Hz 87 5 87 5 87 5 87 5 87 5 87 5 87 5 87 5 E1 09 Minimum Output Frequency Hz 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4...

Page 163: ...400 400 400 400 400 400 400 400 Capacity kW 0 4 0 75 1 5 2 2 3 7 5 5 7 5 11 Motor Rotation Speed min 1 1750 1750 1750 1750 1750 1750 1750 1750 E5 02 PM Motor Rated Power kW 0 4 0 75 1 5 2 2 3 7 5 5 7...

Page 164: ...Hz 87 5 87 5 87 5 87 5 87 5 87 5 87 5 87 5 E1 09 Minimum Output Frequency Hz 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 C5 17 Motor Inertia kgm2 0 044 0 054 0 063 0 113 0 137 0 252 0 30 0 41 L3 24 1 Motor Accel...

Page 165: ...450 1450 1450 1450 1450 1450 1450 1450 E5 02 PM Motor Rated Power kW 0 4 0 75 1 5 2 2 3 7 5 5 7 5 11 0 E5 03 PM Motor Rated Current FLA A 1 77 3 33 5 94 9 48 14 17 20 42 27 92 39 6 E5 04 PM Motor Pole...

Page 166: ...ase Frequency Hz 72 5 72 5 72 5 72 5 72 5 72 5 72 5 72 5 E1 09 Minimum Output Frequency Hz 3 6 3 6 3 6 3 6 3 6 3 6 3 6 3 6 C5 17 Motor Inertia kgm2 0 054 0 063 0 113 0 137 0 252 0 304 0 41 0 55 L3 24...

Page 167: ...acity kW 15 18 22 30 37 45 55 75 Motor Rotation Speed min 1 1450 1450 1450 1450 1450 1450 1450 1450 E5 02 PM Motor Rated Power kW 15 18 50 22 00 30 00 37 00 45 00 55 00 75 00 E5 03 PM Motor Rated Curr...

Page 168: ...2 5 72 5 72 5 72 5 72 5 E1 09 Minimum Output Frequency Hz 3 6 3 6 3 6 3 6 3 6 3 6 C5 17 Motor Inertia kgm2 0 82 0 96 1 60 1 95 2 82 3 70 L3 24 1 Motor Accel Time Rated Torque s 0 210 0 201 0 279 0 281...

Page 169: ...pacity kW 15 18 22 30 37 45 55 75 Motor Rotation Speed min 1 1150 1150 1150 1150 1150 1150 1150 1150 E5 02 PM Motor Rated Power kW 15 18 50 22 00 30 00 37 00 45 00 55 00 75 00 E5 03 PM Motor Rated Cur...

Page 170: ...80 0 380 0 E1 06 Base Frequency Hz 57 5 57 5 57 5 57 5 57 5 57 5 57 5 E1 09 Minimum Output Frequency Hz 2 9 2 9 2 9 2 9 2 9 2 9 2 9 C5 17 Motor Inertia kgm2 0 0022 0 0042 0 0081 0 0133 0 0168 0 027 0...

Page 171: ...400 400 Capacity kW 55 75 90 110 132 160 200 Motor Rotation Speed min 1 1150 1150 1150 1150 1150 1150 1150 E5 02 PM Motor Rated Power kW 55 00 75 00 90 00 110 00 132 00 160 00 200 00 E5 03 PM Motor Ra...

Page 172: ...1 22 Parameters Changed by PM Motor Code Selection 172 YASKAWA TOEPYAIGA8002B GA800 Drive Programming...

Page 173: ...74 2 2 A Initialization Parameters 175 2 3 b Application 194 2 4 C Tuning 247 2 5 d References 274 2 6 E Motor Parameters 295 2 7 F Options 316 2 8 H Terminal Functions 357 2 9 L Protection Functions...

Page 174: ...Drive 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...

Page 175: ...reset this parameter 0 English 1 Japanese 2 German 3 French 4 Italian 5 Spanish 6 Portuguese 7 Chinese 8 Czech 9 Russian 10 Turkish 11 Polish 12 Greek A1 01 Access Level Selection No Hex Name Descript...

Page 176: ...ged to their default values Sets the control method for the drive application and the motor 0 V f Control Use this control method in these applications and conditions For general variable speed contro...

Page 177: ...ethod This control method uses an easier procedure to operate motors with more efficiency Use this control method for derating torque applications For example fans and pumps A1 03 Initialize Parameter...

Page 178: ...tialize Reset Back to Factory Default to initialize communication option card parameters L8 35 Installation Method Selection o2 04 Drive Model KVA Selection o2 24 LED Light Function Selection q1 xx q8...

Page 179: ...This parameter can lock these parameter settings A1 01 Access Level Selection A1 02 Control Method Selection A1 03 Initialize Parameters A1 06 Application Preset A1 07 DriveWorksEZ Function Selection...

Page 180: ...settings If you set A2 33 1 User Parameter Auto Selection Enabled Auto Save Recent Parms to set parameters to A2 17 to A2 32 User Parameters 17 to 32 automatically the drive will reset these parameter...

Page 181: ...h Select 1 Enabled L3 04 Stall Prevention during Decel 1 Enabled The drive saves the parameters in Table 2 5 as user parameters Table 2 5 Parameters Saved as User Parameters with the Water Supply Pump...

Page 182: ...d Selection 0 V f Control b1 04 Reverse Operation Selection 1 Reverse Disabled C6 01 Normal Heavy Duty Selection 1 Normal Duty Rating E1 03 V f Pattern Selection F Custom E1 07 Mid Point A Frequency 3...

Page 183: ...HVAC Preset User Parameter No Parameter No Saved Name A2 01 b1 01 Frequency Reference Selection 1 A2 02 b1 02 Run Command Selection 1 A2 03 b1 03 Stopping Method Selection A2 04 b1 04 Reverse Operati...

Page 184: ...examples of parameter settings to use the MFDO terminal M1 M2 as the holding brake open and close signal Table 2 14 Holding Brake Open and Close Signal Setting Example Brake Open and Close Signal Brak...

Page 185: ...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 Configuration Diag...

Page 186: ...ve to run a PM motor When you use a PM motor recommended by Yaskawa Input the motor code in E5 01 E5 and other related motor parameters will be automatically set to the optimal values When you use a n...

Page 187: ...the same time unless there is an emergency The holding brake is fully closed The drive terminals for H2 xx 8 or 1B MFDO Function Selection During Baseblock are activated If you open and close the ele...

Page 188: ...onse Increase speed stability C3 02 Slip Compensation Delay Time When speed response is slow decrease the setting value If speed is not stable increase the setting value 200 ms 100 ms to 500 ms Improv...

Page 189: ...Decel Time Note When decreased operation times are necessary for the application for example with cranes and hoists do not use S curve characteristic times The default setting for C2 04 S Curve Time...

Page 190: ...o disconnect the motor and drive when you stop the elevator fully close the holding brake and disconnect the drive during baseblock that is while the baseblock signal is ON This does not apply for eme...

Page 191: ...al as specified by the load quantity before drive operation until drive operation completes The default setting is 10 V 100 torque Enter a positive polarity during a motoring load and enter a negative...

Page 192: ...ble noise is not necessary Overvoltage Suppression Function The overvoltage suppression function is designed to prevent an overvoltage trip in a situation in which a braking resistor is not used with...

Page 193: ...e drive saves these parameters to A2 01 to A2 32 The drive saves a maximum of 32 parameters Note Set A1 01 2 Advanced Level or A1 01 3 Expert Level to register the necessary parameters The drive autom...

Page 194: ...ue on the keypad will flash Examine the setting for the frequency reference input and enter a value E1 09 0 Keypad Use the keypad to enter the frequency reference Use and on the keypad to change the f...

Page 195: ...ncy Bias H3 03 H3 04 Set DIP switch S1 1 to I for current input 0 20 mA H3 01 3 A2 4 mA to 20 mA H3 09 2 H3 10 0 Frequency Bias H3 11 H3 12 Set DIP switch S1 2 to I for current input 0 20 mA H3 09 3 A...

Page 196: ...mand You can use the JOG operation or the FWD REV commands from the keypad Note The on the keypad is on while keypad is the Run command source 1 Digital Input Use the control circuit terminals to ente...

Page 197: ...p to Stop with V f AOLV CL V f and OLV Control Methods Parameter b2 01 sets the frequency to start DC Injection Braking at stop If the output frequency is less than or equal to the value set in b2 01...

Page 198: ...tor coasts to stop for example mechanical loss and inertia Figure 2 13 Coast to Stop Note The drive ignores the Run command for the time set in L2 03 Minimum Baseblock Time when the Stop command is en...

Page 199: ...rive detects oC Overcurrent when it uses DC Injection Braking to stop the motor set L2 03 to a high value that will not trigger oC 3 Coast to Stop with Timer When you enter the Stop command or turn OF...

Page 200: ...than the value set in E1 09 Minimum Output Frequency 0 0 3 0 Operate at Frequency Reference When the frequency reference is less than the value set in E1 09 the drive will continue to operate the moto...

Page 201: ...3 Operate at Zero Speed The drive performs Zero Speed Control when the frequency reference falls below the value set in E1 09 When you enter the Stop command or when you turn OFF the Run command the...

Page 202: ...ze Parameters 3 Wire Initialization and make sure that b1 17 0 Run Command at Power Up Disregard Existing RUN Command default If you do not correctly set the drive parameters for 3 Wire operation befo...

Page 203: ...12 13 32 Multi Step Speed Reference 1 to 4 Jog Reference Selection Forward Jog Reverse Jog b1 14 Phase Order Selection No Hex Name Description Default Range b1 14 01C3 Phase Order Selection Sets the...

Page 204: ...e H3 07 H3 08 Set DIP switch S1 3 to V for voltage input Set DIP switch S4 to AI for analog input 10 10 V H3 05 1 Figure 2 22 Example of Setting the Frequency Reference with a Voltage Signal to Termin...

Page 205: ...inal RP to enter the frequency reference Do this procedure to make sure that the pulse train signal is operating correctly 1 Set b1 15 4 H6 01 0 Terminal RP Pulse Train Function Frequency Reference 2...

Page 206: ...his parameter in applications where energizing or de energizing the drive enables the Run command 0 0 1 0 Disregard Existing RUN Command The drive does not start to operate the application when the po...

Page 207: ...raking functions DC Injection Braking A braking method that injects DC current into the motor windings This function should not be used too frequently because it generates a fair amount of heat in the...

Page 208: ...y is less than or equal to the value set in b2 01 the drive will do Zero Speed Control for the time set in b2 04 Figure 2 26 Zero Speed Control at Stop Note When b2 01 E1 09 the drive will start Zero...

Page 209: ...n4 72 1 Speed Feedback Mode With Encoder b2 08 Magnetic Flux Compensation Value No Hex Name Description Default Range b2 08 0190 Magnetic Flux Compensation Value Sets how much current the drive injec...

Page 210: ...tor rated current 100 0 0 0 200 0 The Short Circuit Braking current cannot be higher than the drive rated current although a higher current level can be set using b2 18 The maximum rated current is 12...

Page 211: ...h Back EMF Detection Level x x b3 54 Search Time b3 55 Current Increment Time b3 56 InverseRotationSearch WaitTime x Note To use Speed Estimation Speed Search with V f Control do Rotational Auto Tunin...

Page 212: ...motors If the motor is rotating in reverse you cannot do Speed Search If the drive detects oL1 Motor Overload during Current Detection Speed Search decrease the value set in b3 03 If the drive detects...

Page 213: ...rent Injection If there is not sufficient residual voltage in the motor the drive does Current Injection The drive injects the quantity of DC current set in b3 06 Speed Estimation Current Level 1 into...

Page 214: ...ommand Determined by A1 02 0 1 0 Disabled Enter a Run command to start to operate the drive at the minimum output frequency When the Run command is enabled and the Speed Search from Fmax or Fref H1 xx...

Page 215: ...u can do this when the motor coasts at a high speed while the drive estimates the speed during Speed Estimation Speed Search The limit of the output current during speed search is automatically the dr...

Page 216: ...n V f OLV EZOLV E9 01 0 Motor Type Selection Induction IM b3 24 1 Speed Search Method Selection Speed Estimation Speed Search The initial value of b3 14 is 0 when you set these parameters A1 02 0 2 8...

Page 217: ...ds A1 02 0 2 Control Method Selection V f OLV 2 A1 02 1 CL V f 1 A1 02 8 EZOLV and E9 01 0 Motor Type Selection Induction IM 2 A1 02 8 and E9 01 0 1 Set b3 24 1 If b3 24 2 the drive will detect oPE08...

Page 218: ...ange b3 31 0BC0 Expert Spd Search Current Reference Lvl Sets the current level that decreases the output current during Current Detection Speed Search 1 50 1 50 3 50 Set this parameter as a ratio of E...

Page 219: ...voltage supply voltage b3 36 after a Run command is entered The drive will restart the motor when induced voltage supply voltage b3 36 For example if the setting value is 0 83 and the voltage does not...

Page 220: ...timers to delay activating and deactivating MFDO terminals Timers prevent sensors and switches from making chattering noise There are two types of timers Timers that set a delay for timer inputs and...

Page 221: ...turns ON 0 ms 0 65000 ms b4 04 Terminal M1 M2 OFF Delay Time No Hex Name Description Default Range b4 04 0B31 Expert Terminal M1 M2 OFF Delay Time Sets the delay time to deactivate the contact after t...

Page 222: ...from P control to get to zero deviation I control I control is the integral of the deviation It uses an integral value of the deviation to output the product the controlled output I control helps ali...

Page 223: ...etpoint Input Methods for the PID Setpoint Setting Value Multi function analog input terminal A1 Set H3 02 C Terminal A1 Function Selection PID Setpoint Multi function analog input terminal A2 Set H3...

Page 224: ...n one of H3 02 H3 06 and H3 10 to 16 the drive will detect oPE07 Analog Input Selection Error PID Control Block Diagram Figure 2 35 PID Block Diagram PID Feedback Loss Detection The PID feedback loss...

Page 225: ...leep PID sleep stops drive operation when the PID output or the frequency reference is less than b5 15 PID Sleep Function Start Level This function shuts off drive output after the motor decelerates t...

Page 226: ...cillations 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 v...

Page 227: ...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 94 for th...

Page 228: ...o 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 s 0 0 360 0 s Set a short integ...

Page 229: ...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 resonance if there is a large quantity of mechanical friction or if rigid...

Page 230: ...rminal set for a 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 High Feedback Detecti...

Page 231: ...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 than b5 15 for longer than the ti...

Page 232: ...edback 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 percentage of E1 04 Maximum Output Frequency...

Page 233: ...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 or shows as the PID setpoint when at the maximum output...

Page 234: ...mit 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 the motor will rotate in reverse b5 53 PID In...

Page 235: ...f 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 Setpoint4 b5 61 PID Trim Mode Lower Limit Sel...

Page 236: ...Differential FB Monitor Bias Sets the bias for the monitor specified in b5 63 PID Differential FB Monitor Sel 0 00 10 00 10 00 b5 66 PID Feedback Monitor Level No Hex Name Description Default Range b5...

Page 237: ...scription 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 Sleep Level to enter Sleep Mode 5 0 s 0 0 1000 0 s b5 9...

Page 238: ...d 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 start of acceleration the drive uses...

Page 239: ...lt Range b6 04 01B9 Dwell Time at Stop Sets the length of time for the drive to hold the output frequency when ramping to stop the motor 0 0 s 0 0 10 0 s b7 Droop Control Droop control automatically b...

Page 240: ...rating the motor at its most efficient level Set b8 01 and the following parameters according to the control mode and the motor Set parameters b8 04 b8 05 and b8 06 when using V f Control or Closed Lo...

Page 241: ...by C6 01 E2 11 and o2 04 0 00 655 00 When you use a motor from a different manufacturer increase the setting value in 5 increments to find the minimum value for U1 08 Output Power at light loads When...

Page 242: ...setting 1 00 0 00 3 00 When E5 01 1xxx 2xxx PM Motor Code Selection Yaskawa SSR1 or SST4 series IPM motor the drive automatically calculates the energy saving coefficient Kt and uses that value to con...

Page 243: ...43 Expert PM E Save Search LPF Cutoff Freq Sets the frequency of the filter used to extract the high efficiency phase from search operations Usually it is not necessary to change this setting 10 0 Hz...

Page 244: ...that the motor cannot respond correctly to changes in the load 0 Priority Drive Response 1 Priority Energy Savings b8 50 Standby Mode Selection No Hex Name Description Default Range b8 50 0B0D Standb...

Page 245: ...is enabled the drive will hold the motor in position when the frequency reference increases to more than the value set in b2 01 When Zero Servo is enabled the drive will hold the motor in position wh...

Page 246: ...ve is not responsive or if there is too much deviation from the Zero Servo start point when you increase the load increase this setting If oscillation or hunting occurs decrease this setting Note Set...

Page 247: ...leration Time 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 Decele...

Page 248: ...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 acceleration a...

Page 249: ...me 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 s 0 0 6000 0 s Note When C1 10 0 Accel Decel Time Setti...

Page 250: ...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 H1 xx 15 17 MFDI Function Select Fast Stop N O Fast S...

Page 251: ...nction Table 2 31 Motor and Acceleration and Deceleration Time Combination C1 11 Motor 1 Motor 2 Acceleration Time Deceleration Time Acceleration Time Deceleration Time Less than the setting value C1...

Page 252: ...Figure 2 49 Example 3 Acceleration Deceleration Rate When C1 14 80 Hz E1 04 60 Hz and the Frequency Reference is 60 Hz Note Figure 2 47 to Figure 2 49 show the accel decel times when C2 01 to C2 04 S...

Page 253: ...s the S curve acceleration time at completion 0 20 s 0 00 10 00 s C2 03 S Curve Time Start of Decel No Hex Name Description Default Range C2 03 020D S Curve Time Start of Decel Sets the S curve decele...

Page 254: ...ange C3 02 0210 RUN Slip Compensation Delay Time Sets the slip compensation delay time when speed is unstable or when the slip compensation response is too slow Usually it is not necessary to change t...

Page 255: ...ion function during regenerative operation Slip compensation is enabled at frequencies as low as 2 Hz C3 05 Output Voltage Limit Selection No Hex Name Description Default Range C3 05 0213 Output Volta...

Page 256: ...ed Current E4 02 Motor 2 Rated Slip E4 03 Motor 2 Rated No Load Current Use these settings to adjust this parameter as necessary If the motor speed is slower than the frequency reference increase C3 0...

Page 257: ...of regeneration can increase immediately In this condition it is necessary to use a dynamic braking option braking resistor or braking resistor unit 0 Disabled The drive will not do Slip compensation...

Page 258: ...e drive rated current during low speed operation When A1 02 2 Open Loop Vector usually it is not necessary to change this setting If you change this parameter in that control method it can decrease th...

Page 259: ...ion Gain No Hex Name Description Default Range C4 07 0341 RUN Motor 2 Torque Compensation Gain Sets the gain for motor 2 torque compensation function when using the Motor Switch function 1 00 0 00 2 5...

Page 260: ...Expert Current Control Gain Current control gain Usually it is not necessary to change this parameter 1 00 0 50 2 50 C5 Auto Speed Regulator ASR The ASR adjusts the output frequency or torque referen...

Page 261: ...tput current is less than 50 of the drive rated current If the setting value is higher than 50 decrease C5 03 and increase C5 04 4 Run the motor at maximum speed and increase C5 01 ASR Proportional Ga...

Page 262: ...07 Note If overshooting occurs when acceleration ends decrease the value set in C5 01 and increase the value set in C5 02 If there is undershoot at stop decrease C5 03 and increase C5 04 Use MFDI Swi...

Page 263: ...s in response and differences in reference values Adjust ASR Parameters Use Table 2 33 to adjust ASR The table shows the parameters for motor 1 To operate motor 2 set the motor 2 parameters in the sam...

Page 264: ...1 and C5 03 ASR Proportional Gain 2 by setting H1 xx 77 MFDI Function Selection ASR Gain C5 03 Select You can also use C5 01 and C5 02 as alternatives to C5 03 and C5 04 respectively when the speed is...

Page 265: ...ain 1 2 C5 02 and C5 04 ASR Integral Time 1 2 Determined by A1 02 Determined by A1 02 Switching the proportional gain and integral time in the low or high speed range can help operation become stable...

Page 266: ...Description Default Range C5 21 0356 RUN Motor 2 ASR Proportional Gain 1 Sets the gain to adjust ASR response for motor 2 Determined by E3 01 0 00 300 00 A higher gain provides a higher speed response...

Page 267: ...t to make sure that ASR is operating at the limit set in this parameter When ASR is operating at the limit correctly set the PG signal and these parameters before you make changes to C5 25 F1 31 Encod...

Page 268: ...leration set this parameter to 1 Note If you enable integral control overshoot or undershoot can occur when acceleration or deceleration complete If there are problems with overshooting and undershoot...

Page 269: ...cific vibrational frequency components caused by machine resonance Note Correctly set the value for the notch filter frequency If the frequency value is too low for the speed loop response frequency t...

Page 270: ...olerance is not necessary Fan Pump Blower Overload Tolerance 150 60 seconds 110 60 seconds Stall Prevent Level during Accel 150 110 Stall Prevent Level during Run 150 110 Carrier Frequency 2 kHz 2 kHz...

Page 271: ...e the carrier frequency Use Swing PWM Note The default carrier frequency in ND is Swing PWM 1 C6 02 7 with a 2 kHz base You can increase the carrier frequency in Normal Duty mode but this will also de...

Page 272: ...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 Upper Limit C6 04 Carrier Frequency Lower Limit and C6 05 to...

Page 273: ...Parameter Details 2 2 4 C Tuning YASKAWA TOEPYAIGA8002B GA800 Drive Programming 273 Note When A1 02 5 6 7 Control Method Selection OLV PM AOLV PM CLV PM the carrier frequency is as specified in C6 02...

Page 274: ...tivate 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 one Jog Frequency Reference JOG command to...

Page 275: ...1 2 Reference 2 1 Set H3 06 F Terminal A3 Function Selection Not Used and disables the analog reference 2 Set the value of d1 02 Reference 2 3 Reference 3 1 Set H3 10 F Terminal A2 Function Selection...

Page 276: ...ency references Figure 2 60 Time Chart for 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 t...

Page 277: ...4 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 upp...

Page 278: ...hen A1 02 6 7 Control Method Selection AOLV PM CLV PM the drive changes o1 03 1 0 01 100 E1 04 This parameter sets the frequency reference of Multi Step Speed 8 d1 09 Reference 9 No Hex Name Descripti...

Page 279: ...ncy 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 Maximum Output Frequency and d2 01 Frequency Reference U...

Page 280: ...e 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 change When A1 02 6 7 Contr...

Page 281: ...e 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 Frequency The Jump frequenc...

Page 282: ...ermined 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 Frequency Reference Hold Function Command This acceleratio...

Page 283: ...on 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 W...

Page 284: ...ence 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 saved fre...

Page 285: ...increase or decrease the bias 1 Use Accel Decel Time 4 Use C1 07 Acceleration Time 4 and C1 08 Deceleration Time 4 to increase or decrease the bias d4 05 Up Down 2 Bias Mode Selection No Hex Name Des...

Page 286: ...re activated or deactivated The value of E1 04 Maximum Output Frequency was changed d4 07 Analog Freq Ref Fluctuate Limit No Hex Name Description Default Range d4 07 02AE RUN Analog Freq Ref Fluctuate...

Page 287: ...r frequency reference limit Note When you use External Reference 1 2 Selection H1 xx 2 to switch between the Up Down function and an analog input as the reference source the analog value becomes the l...

Page 288: ...l input signals Table 2 38 The Method for Torque Control Input Signals Configuration Parameter Signal Input Method Parameter Settings Notes Torque Reference Drive analog input terminals A1 A2 A3 H3 02...

Page 289: ...tor Rotation Polarity of the Internal Torque Reference U1 09 Forward run Positive Forward direction Positive Negative Reverse direction Negative Reverse run Positive Reverse direction Negative Negativ...

Page 290: ...ol to enable this function When you switch from Speed Control to Torque Control the torque limit becomes the torque reference and the speed reference becomes the speed limit When you switch from Torqu...

Page 291: ...ference signal to stop oscillation caused by a torque reference signal that is not stable This also helps remove electrical interference from the torque reference signal and helps adjust the responsiv...

Page 292: ...nce to which Speed Limit Bias d5 05 applies 1 0 1 0 Disabled The drive applies the speed limit bias in the speed limit direction and the opposite direction 1 Enabled The drive applies the speed limit...

Page 293: ...ld 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 reference as a percentage of E2 03...

Page 294: ...et 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 frequency to from the frequency reference 0 0...

Page 295: ...This pattern is used 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 m...

Page 296: ...ctive 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 value that the drive uses for...

Page 297: ...012 4089 HD 2257 2415 4140 4720 ND 2211 2415 4103 4720 1 Const Trq 60Hz base 60Hz max Use this constant torque pattern for general applications This pattern is used when the load torque is constant wi...

Page 298: ...he figures are for 200 V class drives Multiply the values by 2 for 400 V class drives HD 2004 2021 4002 4012 ND 2004 2018 4002 4009 HD 2030 2211 4018 4103 ND 2021 2169 4012 4089 HD 2257 2415 4140 4720...

Page 299: ...this pattern when moderate 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 re...

Page 300: ...ND 2021 2169 4012 4089 HD 2257 2415 4140 4720 ND 2211 2415 4103 4720 B High Trq 60Hz 65 Vmin boost Use this pattern when high torque is necessary during start up Select this pattern only in these con...

Page 301: ...60 Hz base 180 Hz max 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 fo...

Page 302: ...01 Normal Heavy Duty Selection and o2 04 Drive Model Selection E1 09 Minimum Output Frequency No Hex Name Description Default Range E1 09 0308 Minimum Output Frequency Sets the minimum output frequenc...

Page 303: ...wing control modes the keypad does not display E2 xx 5 PM Open Loop Vector 6 PM Advanced Open Loop Vector 7 PM Closed Loop Vector 8 EZ Vector Control E2 01 Motor Rated Current FLA No Hex Name Descript...

Page 304: ...otor recommended by Yaskawa E2 04 Motor Pole Count No Hex Name Description Default Range E2 04 0311 Motor Pole Count Sets the number of motor poles 4 2 120 Note When A1 02 0 1 3 Control Method Selecti...

Page 305: ...t when it operates with constant output The drive uses this coefficient when it operates the motor in the constant output range E2 09 Motor Mechanical Loss No Hex Name Description Default Range E2 09...

Page 306: ...trigger oPE10 V f Data Setting Error If E3 11 0 0 Hz the drive will ignore the V f pattern settings When you use A1 03 Initialize Parameters to initialize the drive the drive will reset the manually s...

Page 307: ...031F Motor 2 Minimum Output Frequency Sets the minimum output frequency for the motor 2 V f pattern Determined by E3 01 0 0 E3 04 E3 10 Motor 2 Minimum Output Voltage No Hex Name Description Default R...

Page 308: ...he 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 MFDI Function Select Motor 2 Selection E4 01 Motor 2 Rat...

Page 309: ...d by o2 04 C6 01 0 000 65 000 Note This value is the line to line resistance for motor 2 Do not use the single phase resistance to set this parameter The drive automatically calculates this value when...

Page 310: ...e 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 Description Default Range E4 10 0340 Motor 2 Iron Loss Sets the motor...

Page 311: ...et this parameter the next time you do Auto Tuning PM Motor Parameter Settings PM Stationary Auto Tuning PM Rotational Auto Tuning E5 03 PM Motor Rated Current FLA No Hex Name Description Default Rang...

Page 312: ...y 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 phase Sets the PM motor q axis inductance 1 00 mH 0 00...

Page 313: ...e conditions E5 09 0 0 and E5 24 0 0 E5 09 0 0 and E5 24 0 0 E5 25 Polarity Estimation Timeout No Hex Name Description Default Range E5 25 035E Expert Polarity Estimation Timeout Sets the function tha...

Page 314: ...the value of Base Frequency E9 05 Base Voltage No Hex Name Description Default Range E9 05 11E8 Base Voltage Sets the rated voltage of the motor 200 V Class 230 0 V 400 V 460 0 V 200 V Class 0 0 255...

Page 315: ...cally sets this parameter to the value of Motor Rated Slip Note Set E9 01 0 Motor Type Selection Induction IM before you set this parameter E9 10 Motor Line to Line Resistance No Hex Name Description...

Page 316: ...hat the command references are correct If you set the command reference incorrectly it can cause damage to the drive or serious injury or death WARNING Sudden Movement Hazard Make sure that the host c...

Page 317: ...output terminal MA MC turns ON and MB MC turns OFF 1 Coast to Stop The output turns off and the motor coasts to stop Fault relay output terminal MA MC turns ON and MB MC turns OFF 2 Fast Stop Use C1...

Page 318: ...10 Speed Deviation Detection Level for longer than the time set in F1 11 Speed Deviation Detect DelayTime the drive will detect dEv 0 Ramp to Stop The drive ramps the motor to stop in the deceleration...

Page 319: ...detect oS F1 10 Speed Deviation Detection Level No Hex Name Description Default Range F1 10 0389 Speed Deviation Detection Level Sets the detection level of dEv Speed Deviation as a percentage when th...

Page 320: ...tection Selection Sets the number of rotations necessary to detect conditions that invert the torque reference and rate of acceleration and cause dv3 Inversion Detection 10 0 10 When the drive detects...

Page 321: ...Sets the drive port to install the motor 2 encoder option card 1 0 1 0 CN5 C One option card receives the speed feedback signals from motor 1 and motor 2 1 CN5 B Two option cards receive the speed fee...

Page 322: ...e pulse input and the pulse output of the encoder as a 3 digit number for motor 2 The first digit is the numerator and the second and third digits set the denominator 001 001 032 102 132 1 1 32 When t...

Page 323: ...y or HIPERFACE 0 1M 9600bps 1 500k 19200bps 2 1M 38400bps F2 Analog Input Option F2 parameters set the operation of the drive when you use analog input option card AI A3 The AI A3 card has 3 input ter...

Page 324: ...ference Individual Input Block Diagram 1 3 Channels Added Together Set b1 01 3 Option PCB to set addition input You can input the frequency reference directly The sum value when you add the input from...

Page 325: ...ether to enable this function F2 03 Analog Input Option Card Bias No Hex Name Description Default Range F2 03 0369 RUN Analog Input Option Card Bias Sets the analog reference bias as a percentage when...

Page 326: ...s the data format of digital input signals This parameter is enabled when o1 03 0 or 1 Frequency Display Unit Selection 0 01 Hz or 0 01 100 E1 04 8 0 8 Note The input signal type is BCD when o1 03 2 o...

Page 327: ...Cable sheath connection terminal grounded 1 Setting F3 03 2 Digital Input Data Length Select 16 bit enables F3 01 6 Digital Input Function Selection BCD 5 digit 0 01 Hz and a frequency between 0 00 Hz...

Page 328: ...Function Selection Multi Function Digital Input F 1 19F F3 16 Terminal D6 Function Selection No Hex Name Description Default Range F3 16 0BE9 Expert Terminal D6 Function Selection Sets the function f...

Page 329: ...tion Default Range F3 23 0BF0 Expert Terminal DD Function Selection Sets the function for terminal DD of the DI A3 option when F3 01 8 Digital Input Function Selection Multi Function Digital Input F 1...

Page 330: ...the keypad The analog signal equal to 0 of the parameter being set in F4 03 will be output from terminal V2 4 View the monitor connected to terminal V2 and adjust F4 06 F4 01 Terminal V1 Function Sel...

Page 331: ...drive rated current the output voltage of terminal V2 is 5 V 50 of 10 V The output current is 200 of the drive rated current when terminal V2 outputs a maximum voltage of 10 V F4 03 Terminal V2 Funct...

Page 332: ...nary Output F5 09 2 Programmable F5 01 to F5 08 TB1 M1 M2 Zero speed detection in progress During run Depending on the setting of F5 07 Terminal M1 M2 Function Select M3 M4 During speed agreement Mino...

Page 333: ...ame Setting Range Default F5 01 Terminal P1 PC Function Select 0 192 0 During Run F5 02 Terminal P2 PC Function Select 0 192 1 Zero Speed F5 03 Terminal P3 PC Function Select 0 192 2 Speed Agree 1 F5...

Page 334: ...mmable F5 01 to F5 08 to enable this function 37 0 1A7 F5 07 Terminal M1 M2 Function Select No Hex Name Description Default Range F5 07 039F Terminal M1 M2 Function Select Sets the function of termina...

Page 335: ...set the command reference incorrectly it can cause damage to the drive or serious injury or death Table 2 47 Correspondence Between Communication Protocols and Parameters SI C3 SI T3 SI ET3 SI P3 SI S...

Page 336: ...tions that support the MEMOBUS access function for example PROFIBUS DP PROFINET EtherNet IP EtherCAT etc Number of connected drives Maximum 5 units Communication Specifications MEMOBUS Modbus RTUmode...

Page 337: ...rive respond to MEMOBUS Modbus communications 4 Set a slave address that is different from other slave devices 5 Enter the same value that you use for the master drive 6 To correctly detect the respon...

Page 338: ...e in these conditions Reset the fault to restart communication The slave drive detects CE after H5 09 CE Detection Time is expired Then it operates in as specified with H5 04 Communication Error Stop...

Page 339: ...om slave 1 Response timed out bit 6 Communication Error 1 The drive detected a fault from a slave bit 7 No response from slave 10 consecutive attempts 1 Timeout occurred 10 consecutive times bit 8 Com...

Page 340: ...drive detects a bUS Option Communication Error 1 0 5 0 Ramp to Stop The drive ramps the motor to stop in the deceleration time Fault relay output terminal MA MC turns ON and MB MC turns OFF 1 Coast to...

Page 341: ...n time set in C1 09 Fast Stop Time Fault relay output terminal MA MC turns ON and MB MC turns OFF 3 Alarm Only The keypad shows EF0 and the drive continues operation Note Separately prepare safety pro...

Page 342: ...e 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 address for CC Link communication Restart the drive after...

Page 343: ...n 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 F6 20 MECHATROLINK Station Address No...

Page 344: ...F6 24 MECHATROLINK Monitor Select F No Hex Name Description Default Range F6 24 036F MECHATROLINK Monitor Select F Sets the MEMOBUS register used for the monitor functions of INV_CTL drive operation c...

Page 345: ...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 command 0 0 1 0 Reset Resets drive...

Page 346: ...F6 36 03D1 CANopen Communication Speed Sets the CANopen communications speed Restart the drive after you change the parameter setting 6 0 8 0 Auto detection The drive detects the network communicatio...

Page 347: ...ngs will cause AEr Station Address Setting Error errors and the MS LED on the option will flash F6 51 DeviceNet Baud Rate No Hex Name Description Default Range F6 51 03C2 DeviceNet Baud Rate Sets the...

Page 348: ...itor Sets the function to see the actual DeviceNet communications speed using the keypad This parameter functions as a monitor only 0 0 2 0 125 kbps 1 250 kbps 2 500 kbps F6 56 DeviceNet Speed Scaling...

Page 349: ...ess using the keypad This parameter functions as a monitor only 63 0 63 F6 64 to F6 67 Dynamic Out Assembly 109 Param1 to 4 No Hex Name Description Default Range F6 64 to F6 67 03DF 03E2 Dynamic Out A...

Page 350: ...e device that is connecting to the network Restart the drive after you change this parameter 1 0 255 Note When F7 13 0 Address Mode at Startup Static Use parameters F7 01 to F7 04 IPAddress 4 to set t...

Page 351: ...ult Range F7 09 03ED Gateway Address 1 Sets the first octet of the gateway address of the connected network 192 0 255 Note Set this parameter when F7 13 0 Address Mode at Startup Static F7 10 Gateway...

Page 352: ...ive 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 8 0 Half Half 1 Auto Auto 2 Full Full 3 Ha...

Page 353: ...7 19 03F7 EtherNet IP Torque Scale Factor Sets the scaling factor for the torque monitor in the EtherNet IP Class ID 2AH Object 0 15 15 F7 20 EtherNet IP Power Scaling Factor No Hex Name Description D...

Page 354: ...en F7 60 0 1 or 2 0 F7 61 PZD2 Write Frequency Reference No Hex Name Description Default Range F7 61 0781 PZD2 Write Frequency Reference Sets the MEMOBUS Modbus address for PZD2 PPO output PZD2 PPO ou...

Page 355: ...789 PZD10 Write Sets the MEMOBUS Modbus address for PZD10 PPO output A value of 0 1 or 2 will disable the PZD10 PPO output write operation to the MEMOBUS Modbus register 0 F7 70 PZD1 Read Status Word...

Page 356: ...rom the MEMOBUS Modbus register 0 F7 77 PZD8 Read No Hex Name Description Default Range F7 77 0791 PZD8 Read Sets the MEMOBUS Modbus address for PZD8 PPO Read A value of 0 will disable the PZD8 PPO Re...

Page 357: ...H1 xx MFDI Function Select to set the function Table 2 55 MFDI Setting Values Setting Value Function Reference 0 1 3 Wire Sequence 361 1 LOCAL REMOTE Selection 362 2 External Reference 1 2 Selection...

Page 358: ...ot available H1 01 Terminal S1 Function 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 The default setti...

Page 359: ...es it will operate the function set to H1 01 Terminal S1 Function Selection and the function set to H1 21 at the same time When the setting value is F the function is disabled H1 22 Terminal S2 Functi...

Page 360: ...t to H1 26 at the same time When the setting value is F the function is disabled H1 27 Terminal S7 Function Select 2 No Hex Name Description Default Range H1 27 0B76 Terminal S7 Function Selection 2 S...

Page 361: ...uence If the 3 wire sequence is set to a terminal that is not MFDI terminals S1 and S2 these terminals will be the input terminals for Forward run Reverse run command The drive will automatically set...

Page 362: ...EMOTE Mode ON LOCAL The keypad is the Frequency reference source and Run command source OFF REMOTE The frequency reference and Run command settings are set in b1 01 b1 02 Frequency Reference Selection...

Page 363: ...mand set in d1 17 The JOG Frequency Reference JOG command overrides Frequency References 1 to 16 d1 01 to d1 16 7 Accel Decel Time Selection 1 Setting Value Function Description 7 Accel Decel Time Sel...

Page 364: ...n B Overheat Alarm oH2 Setting Value Function Description B Overheat Alarm oH2 Sets the drive to display an oH2 Drive Overheat Warning alarm when the input terminal is ON The alarm does not have an ef...

Page 365: ...xx 2 MFDI Function Select External Reference 1 2 Selection When you enter the UP command the frequency reference increases When you enter the Down command the frequency reference decreases The Up and...

Page 366: ...d for the drive is enabled When only the Run command is enabled the motor does not start When these conditions occur the drive accelerates the motor to the d2 02 setting value when the Run command is...

Page 367: ...n command the drive will ignore these frequency references Frequency reference from Keypad b1 01 0 Frequency reference from Analog Input b1 01 1 Frequency reference from Pulse Train Input b1 01 4 12 F...

Page 368: ...top the motor Cancel the Run command Cancel the fast stop command Note To use the N C switch to input the fast stop command set 17 Fast Stop N C For details refer to C1 09 Fast Stop Time Set C1 09 Fas...

Page 369: ...upper limit of d1 xx will be 400 when you set these parameters to these values A1 02 2 Control Method Selection OLV E1 04 590 Maximum Output Frequency 590 Hz E3 01 3 Motor 2 Control Mode Selection CLV...

Page 370: ...ut OFF Parameter Write Prohibit 1E Reference Sample Hold Setting Value Function Description 1E Reference Sample Hold Sets the command to sample the frequency reference at terminals A1 A2 or A3 and hol...

Page 371: ...ault detection Table 2 58 shows the relation between the conditions and the value set to H1 xx Table 2 58 Stopping Methods for External Fault Setting Signal Input Method from Peripheral Devices 1 Exte...

Page 372: ...ting Value Function Description 35 PID Input Error Invert Sets the command to turn the terminal ON and OFF to switch the PID input level polarity Note Refer to PID control block diagram for more infor...

Page 373: ...ward Run command for 2 wire sequence 1 Set this function and H1 xx 40 Forward Run Command 2 Wire Seq at the same time ON Reverse Run OFF Run Stop Note Turning ON the Forward Run command terminal and t...

Page 374: ...7 Offset Frequency for more information 46 Add Offset Frequency 3 d7 03 Setting Value Function Description 46 Offset Frequency 3 Sets the function to add the offset frequency set in d7 03 Offset Frequ...

Page 375: ...t Start Disabled When the terminal is turned ON for b3 24 2 Speed Search Method Selection Current Detection 2 the drive starts speed search from the frequency reference Note The drive will detect oPE0...

Page 376: ...cations Self Diagnostics for the self diagnostics procedure 68 High Slip Braking HSB Activate Setting Value Function Description 68 High Slip Braking Sets the command to use high slip braking to stop...

Page 377: ...e Refer to b9 Zero Servo for more information When you use the Zero Servo function keep the Run command ON Zero servo stops the motor and if you turn OFF the Run command it will not have power 75 Up 2...

Page 378: ...mission 0 0 0 When the Up 2 Command is active the drive accelerates the motor increases the bias value When the Down 2 Command is active the drive decelerates the motor decreases the bias value When t...

Page 379: ...e Thru 2 Activate N C Setting Value Function Description 7A KEB Ride Thru 2 Activate N C Sets operation of the KEB2 function through the KEB Ride Thru 2 N C ON Normal operation OFF Deceleration during...

Page 380: ...abled 7E Reverse Rotation Identifier Setting Value Function Description 7E Reverse Rotation Identifier Sets the rotation direction of the motor when in Simple Closed Loop V f Control method and F1 21...

Page 381: ...erence 0 During Run 390 1 Zero Speed 390 2 Speed Agree 1 391 3 User Set Speed Agree 1 392 4 Frequency Detection 1 392 5 Frequency Detection 2 393 6 Drive ready 393 7 DC Bus Undervoltage 393 8 During B...

Page 382: ...se output is not available 2 You cannot set this parameter on models 2169 to 2415 and 4089 to 4720 Extend MFDO1 to MFDO3 Function Selection You can set MFDO functions to bit 0 to bit 2 MEMOBUS MFDO1 t...

Page 383: ...nge H2 01 040B Term M1 M2 Function Selection Sets the function for MFDO terminal M1 M2 0 0 1FF Note Set this parameter to F when the terminal is not being used or to use the terminal in through mode H...

Page 384: ...s of the MEMOBUS Modbus register output to the MFDO terminal 0001 0001 1FFF Sets the address of the register that is output to Modbus Reg 1 Status Satisfied H2 01 to H2 03 62 and uses the bit in H2 08...

Page 385: ...Comparator2 on page 404 H2 22 Comparator 1 Upper Limit No Hex Name Description Default Range H2 22 1542 Comparator 1 Upper Limit Sets the upper limit detection level for comparator 1 when the full sca...

Page 386: ...e comparator function refer to 66 Comparator1 on page 404 and 67 Comparator2 on page 404 H2 28 Comparator 2 Upper Limit No Hex Name Description Default Range H2 28 1548 Comparator 2 Upper Limit Sets t...

Page 387: ...nd MB MC turns OFF 1 Coast to Stop The output turns off and the motor coasts to stop Fault relay output terminal MA MC turns ON and MB MC turns OFF 2 Fast Stop Use C1 09 The drive stops the motor in t...

Page 388: ...r Comparator 1 H2 xx 66 H2 37 Comparator 2 Ineffective Time No Hex Name Description Default Range H2 37 159F Comparator 2 Ineffective Time Sets the length of time that CP2 Comparator2 Limit Fault is d...

Page 389: ...s of the terminals assigned to functions by H2 02 Term M3 M4 Function Selection F 0 FF H2 64 Terminal M3 M4 Logical Operation No Hex Name Description Default Range H2 64 1B4A Expert Terminal M3 M4 Log...

Page 390: ...logical calculation results from terminal M5 M6 0 1 s 0 0 25 0 s MFDO Setting Value Selects the function configured to a MFDO 0 During Run Setting Value Function Description 0 During Run The terminal...

Page 391: ...Time Chart ON Output frequency value of E1 09 or b2 01 OFF Output frequency value of E1 09 or b2 01 2 Speed Agree 1 Setting Value Function Description 2 Speed Agree 1 The terminal turns on when the o...

Page 392: ...range of frequency reference L4 02 Figure 2 92 User Defined Speed Agree 1 Time Chart 4 Frequency Detection 1 Setting Value Function Description 4 Frequency Detection 1 The terminal deactivates when th...

Page 393: ...1 L4 02 or L4 01 Figure 2 94 Frequency Detection 2 Time Chart 6 Drive ready Setting Value Function Description 6 Drive ready The terminal activates when the drive is ready and running The terminal dea...

Page 394: ...ertorque ON The output current torque is 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 for longer than the time set with...

Page 395: ...ommunications or the communication option 12 Timer Output Setting Value Function Description 12 Timer Output Use this setting when the drive uses the timer function as an output terminal Note Refer to...

Page 396: ...ency is not in the range of L4 03 L4 04 or the range of frequency reference L4 04 Figure 2 96 Example of User set Speed Agree 2 L4 03 Is Positive 15 Frequency Detection 3 Setting Value Function Descri...

Page 397: ...y detect in one direction The drive outputs the motor speed status if A1 02 3 7 Control Method Selection CLV CLV PM ON The output frequency is higher than the value of L4 03 OFF The output frequency i...

Page 398: ...orque value set with L6 05 Torque Detection Level 2 or the level is less than the torque value set with L6 05 for longer than the time set with L6 06 Torque Detection Time 2 Note When L6 04 5 the driv...

Page 399: ...lue Function Description 1F Motor Overload Alarm oL1 The terminal activates when the electronic thermal protection value of the motor overload protective function is a minimum of 90 of the detection l...

Page 400: ...Speed Limit The terminal activates when the speed limit is active The speed limit activates and the terminal activates in these conditions The frequency reference d2 01 Frequency Reference Upper Limit...

Page 401: ...100 Active Frequency Output Time Chart 38 Drive Enabled Setting Value Function Description 38 Drive Enabled This terminal activates when the H1 xx 6A Drive Enable terminal activates 39 Watt Hour Puls...

Page 402: ...ve detects FbH Excessive PID Feedback when the PID feedback value b5 36 PID High Feedback Detection Lvl for longer than the time set in b5 37 PID High Feedback Detection Time Note Refer to PID Feedbac...

Page 403: ...ion Complete Setting Value Function Description 61 Pole Position Detection Complete The terminal activates when drive receives a Run command and the drive detects the motor magnetic pole position of t...

Page 404: ...omparator 1 Lower Limit and H2 22 Comparator 1 Upper Limit for the time set in H2 24 Comparator 1 On Delay Time A H2 24 Comparator 1 On Delay Time B H2 25 Comparator 1 Off Delay Time Figure 2 101 Comp...

Page 405: ...more information A0 to A7 DWEZ Extended Digital Output 1 to 8 Setting Value Function Description A0 to A7 DWEZ Extended Digital Outputs 1 to 8 Sets the digital output for the DriveWorksEZ DO A3 option...

Page 406: ...nce 2 414 4 Output Voltage Bias 414 5 Accel Decel Time Gain 414 6 DC Injection Braking Current 414 7 Torque Detection Level 415 8 Stall Prevent Level During Run 415 9 Output Frequency Lower Limit 415...

Page 407: ...el Select 0 to 10V 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 H3 01 1 10 to...

Page 408: ...this setting as the frequency reference a Forward Run command will run the motor in reverse and a Reverse Run command will run the motor forward The gain and bias settings will cause the signal to be...

Page 409: ...r Reference The voltage signal is 10 Vdc to 10 Vdc This setting enables positive and negative polarity signals When the drive uses this setting as the frequency reference a Forward Run command will ru...

Page 410: ...minimum input level is limited to 0 so that a negative input signal due to gain and bias settings will be read as 0 1 10 to 10V Bipolar Reference The voltage signal is 10 Vdc to 10 Vdc Signals of bot...

Page 411: ...mary delay filters on MFAI terminals 0 03 s 0 00 2 00 s Apply the primary delay filter to the analog input to enable an analog input signal without the use of high frequency noise components An analog...

Page 412: ...lly it is not necessary to change this setting 0 500 500 Adds the offset value for the analog input value For voltage input this parameter will set the offset when a signal of 0 V is input For current...

Page 413: ...1 01 1 Frequency Reference Selection 1 Analog Input This setting value is the default value for terminals A1 and A2 The frequency reference is the sum of the input values for terminals A1 and A2 when...

Page 414: ...3 07 Terminal A3 Gain Setting The bias for each terminal A1 A2 and A3 is configured independently with H3 04 Terminal A1 Bias Setting H3 12 Terminal A2 Bias Setting and H3 08 Terminal A3 Bias Setting...

Page 415: ...ing Value Function Description 8 Stall Prevent Level During Run Enters a signal to adjust the stall prevention level during run if the drive rated current is 100 Note The Stall Prevent Level During Ru...

Page 416: ...ps with the method set in L1 03 If the drive detects oH4 the motor stops with the method set in L1 04 If the drive incorrectly detects motor overheating problems set L1 05 F Not Used Setting Value Fun...

Page 417: ...the rated output current for ND The actual output torque is not more than the limits of the drive rated output current when you set the torque limit to a high value If you use drives in applications w...

Page 418: ...lue if the full scale analog signal 10 Vor 20 mA is 100 The drive uses the deviation between the PID feedback and the differential feedback value signals to calculate the PID input 1F Not Used Setting...

Page 419: ...of 10 Vand output current of 20 mA are 100 of the signal level Use jumper switch S5 and H4 07 Terminal FM Signal Level Select or H4 08 Terminal AM Signal Level Select to select the voltage output and...

Page 420: ...3 Show H4 06 Terminal AM Analog Output Bias on the keypad Terminal AM outputs the analog signal when the monitor item that you set in H4 04 is 0 4 Adjust H4 06 while referencing the meter scale conne...

Page 421: ...9 9 999 9 The analog signal output from the AM terminal is a maximum of 10 V or 20 mA Select the signal level with H4 08 Terminal AM Signal Level Select Examples of possible settings When the output c...

Page 422: ...otor Rated Power A1 02 2 3 4 OLV CLV AOLV E2 11 Motor Rated Power A1 02 5 6 7 OLV PM AOLV PM CLV PM E5 02 PM Motor Rated Power A1 02 8 EZOLV E9 07 Motor Rated Power H5 Memobus Modbus Communication H5...

Page 423: ...Communication Error Stop Method No Hex Name Description Default Range H5 04 0428 Communication Error Stop Method Sets the motor Stopping Method when the drive detects CE Modbus Communication Error is...

Page 424: ...ure 2 112 Drive Transmit Wait Time H5 09 CE Detection Time No Hex Name Description Default Range H5 09 0435 CE Detection Time Sets the detection time for CE Modbus Communication Error issues when comm...

Page 425: ...SY No Hex Name Description Default Range H5 17 11A1 Expert ENTER command response CPU BUSY Sets operation when the EEPROM write command is sent without EEPROM write available Usually it is not necessa...

Page 426: ...MEMOBUS Modbus communications register when responding to the master device 0045H U1 06 0000H FFFFH H5 27 Function 5A Register 3 Selection No Hex Name Description Default Range H5 27 158B RUN Functio...

Page 427: ...RP 3 Speed Feedback V F Control Select V f Control method to enable simple encoder feedback Use motor speed feedback for better speed control precision The drive compares the frequency reference to t...

Page 428: ...de with the Motor Switch function H6 02 Terminal RP Frequency Scaling No Hex Name Description Default Range H6 02 042D RUN Terminal RP Frequency Scaling Sets the frequency of the pulse train input sig...

Page 429: ...r when terminal MP is not used set this parameter to 000 or 031 When you use the pulse train monitor make sure that you connect peripheral devices as specified by these load conditions Incorrect conne...

Page 430: ...o the minimum frequency H6 09 Voltage Phase Sync MP Selection No Hex Name Description Default Range H6 09 156E Voltage Phase Sync MP Selection Set whether to output the pulse synchronized with drive o...

Page 431: ...function 0 0 1 0 Disabled 1 Enabled H7 01 Virtual Multi Function Input 1 No Hex Name Description Default Range H7 01 1185 Expert Virtual Multi Function Input 1 Sets the function that enters the virtua...

Page 432: ...al Multi Function Output 2 Sets the function for virtual digital output 2 F 0 1A7 H7 13 Virtual Output 2 Delay Time No Hex Name Description Default Range H7 13 11A7 Expert Virtual Output 2 Delay Time...

Page 433: ...on Default Range H7 32 1179 RUN Expert Virtual Analog Input Bias Sets the virtual analog input bias 0 0 999 9 999 9 H7 40 Virtual Analog Out Signal Select No Hex Name Description Default Range H7 40 1...

Page 434: ...g H7 42 Virtual Analog Output FilterTime No Hex Name Description Default Range H7 42 1165 Virtual Analog Output FilterTime Sets the time constant for a primary filter of the virtual analog output 0 00...

Page 435: ...characteristics shown in Figure 2 119 for each motor phase Figure 2 119 PTC Thermistor Temperature and Resistance When the PTC input signal input to the drive is more than the overload alarm level th...

Page 436: ...n the speed 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 pr...

Page 437: ...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 motor is de...

Page 438: ...tronic 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 T...

Page 439: ...tion 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 time to the...

Page 440: ...minal MA MC turns ON and MB MC turns OFF 1 Coast to Stop The output turns OFF and the motor coasts to stop Fault relay output terminal MA MC turns ON and MB MC turns OFF 2 Fast Stop Use C1 09 The driv...

Page 441: ...e drive will calculate the motor again when the drive is energized again L2 Power Loss Ride Through L2 parameters set the drive operation during momentary power loss and the KEB Ride Thru function met...

Page 442: ...namic braking option with System KEB Ride Thru 1 3 System KEB Ride Thru 2 The drive uses the KEB deceleration time set in L2 06 to decelerate and it also monitors the DC bus voltage If the voltage lev...

Page 443: ...ired without KEB Ride Thru 1 When L2 07 0 00 Kinetic Energy Backup Accel Time 0 00 s the drive accelerates again as specified by the applicable Acceleration Time C1 01 C1 03 C1 05 C1 07 and usual oper...

Page 444: ...el When the DC bus voltage is lower than the level set in L2 11 the drive uses the KEB Ride Thru function to continue deceleration When the DC bus voltage is more than the level set in L2 11 usual ope...

Page 445: ...cel KEB Operation when Restoration of Power Occurs while the Control Power Power Supply to the Control Board is Maintained 1 When L2 07 0 00 s the drive accelerates again as specified by the applicabl...

Page 446: ...ase 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...

Page 447: ...drive will 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...

Page 448: ...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 Range L2 02 0486 Power Lo...

Page 449: ...ide 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 frequency reference to 0 Hz when th...

Page 450: ...ts a momentary 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 10is expired When the DC bus voltage is less than the...

Page 451: ...e 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 drive does not monitor the DC bus...

Page 452: ...ction 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 regenerative operation for ex...

Page 453: ...n 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 set in L3 02 Stall Pr...

Page 454: ...tion Default Range L3 02 0490 Stall Prevent Level during Accel Sets the output current level to activate the Stall Prevention function during acceleration as a percentage of the drive rated output cur...

Page 455: ...s specified by the DC bus voltage and does not let high inertia or fast deceleration cause ov Overvoltage faults 0 No The drive decelerates as specified by the deceleration time If the deceleration ti...

Page 456: ...3 04 0 Note If the overexcitation time 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...

Page 457: ...he drive operates with the largest possible output and prevents motor stalling L3 06 Stall Prevent Level during Run No Hex Name Description Default Range L3 06 0494 Stall Prevent Level during Run Sets...

Page 458: ...ment Gain Sets the proportional gain used to control the DC bus voltage Determined by A1 02 0 00 5 00 Set one of these parameters to enable L3 20 L2 29 1 KEB Method Selection Single Drive KEB Ride Thr...

Page 459: ...Constant HP Sets the function to automatically decrease the Stall Prevention Level during Run for constant output ranges 0 0 1 0 Use L3 06 for Entire Speed Range The drive uses the level set in L3 06...

Page 460: ...Method Selection CLV CLV PM do Inertia Tuning Parameters are automatically adjusted Manually Adjust Parameters Use this formula to find the load inertia ratio L3 26 Additional DC Bus Capacitors No Hex...

Page 461: ...l Prevention during Accel Current Limit Method to enable this function L3 37 Current Limit P Gain Accel No Hex Name Description Default Range L3 37 11D1 Expert Current Limit P Gain Accel Suppresses cu...

Page 462: ...2 L4 02 Speed Agree Detection Width No Hex Name Description Default Range L4 02 049A Speed Agree Detection Width Sets the width to detect speed agree or motor speed Determined by A1 02 Determined by A...

Page 463: ...e 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 Defaul...

Page 464: ...s to 0 in these conditions The drive operates correctly for 10 minutes after a fault restart When you manually clear a fault after the drive triggers protective functions When you re energize the driv...

Page 465: ...Name Description Default Range L5 07 0B2A Fault Reset Enable Select Grp1 Use these 4 digits to set the Auto Restart function for oL1 to oL4 From left to right the digits set oL1 oL2 oL3 and oL4 in ord...

Page 466: ...o detect these conditions for example Machine belt cuts Unusual operation of the electromagnetic contactor on the drive output side Clogged output side air filters in fans and blowers Damage to blade...

Page 467: ...detects overtorque if the motor current or motor torque is at the detection level set in L6 02 Torque Detection Level 1 for the time set in L6 03 Torque Detection Time 1 Parameter L6 01 Torque Detect...

Page 468: ...ion Start Time L6 11 Speed Range Detection Criteria L6 08 Detection Level L6 09 Detection Time L6 10 Overtorque Detection Criteria L6 01 Detection Level L6 02 Detection Time L6 03 L6 01 Torque Detecti...

Page 469: ...nal to supply the torque detection level To enable this function set H3 xx 7 MFAI Function Select Overtorque Undertorque DetectLvl If you set L6 02 and H3 x 7 the analog input is most important and th...

Page 470: ...rive rated output current 100 value In vector control motor rated torque 100 value 150 0 300 Note Overtorque Undertorque Detection 2 cannot set the detection level for the analog input terminal L6 06...

Page 471: ...drive detects mechanical weakening The drive will detect UL5 and stop operation L6 09 Mech Fatigue Detect Speed Level No Hex Name Description Default Range L6 09 0469 Mech Fatigue Detect Speed Level...

Page 472: ...lls and rollbacks can occur because of sudden acceleration stops and stalls of the motor Configuring Settings Use one of these methods to set torque limits Individually set the four torque limit quadr...

Page 473: ...ercentage of the motor rated torque 200 0 300 Note When you use this method to set the torque limit it enables the lower torque limit Set H3 02 H3 06 or H3 10 10 15 MFAI Function Select Forward Revers...

Page 474: ...0 Disabled There is torque limit at start without a delay time Use this setting to maximize the response time when sudden acceleration or deceleration at start is necessary 1 Enabled There is a delay...

Page 475: ...esistor 3 ED installed on the heatsink 0 0 1 0 Disabled Disables braking resistor protection Use this setting for dynamic braking options that are not Yaskawa ERF series braking resistors 1 Enabled En...

Page 476: ...activates When the alarm is not output during deceleration the drive accelerates until it is at the frequency reference that was applicable before the alarm was turned off Figure 2 142 shows the outpu...

Page 477: ...e L8 09 04B5 Output Ground Fault Detection Sets the function to enable and disable ground fault protection Determined by o2 04 0 1 0 Disabled The drive will not detect ground faults 1 Enabled If there...

Page 478: ...IGBT due to heat stress 0 Disabled No Additional Derate The drive does not decrease the overload protection level 1 Enabled Reduced oL2 Level When the drive detects oL2 during low speed operation it a...

Page 479: ...pression Select Enabled Decreased L7 01 to L7 04 Torque Limit L8 27 Overcurrent Detection Gain No Hex Name Description Default Range L8 27 04DD Overcurrent Detection Gain Sets the PM motor overcurrent...

Page 480: ...ive and side of the enclosure panel 1 Side by Side Mounting Use this setting to install more than one drive Side by Side Make sure that there is 2 mm 0 08 in minimum of space between drives 2 IP20 NEM...

Page 481: ...t Alarm Selection No Hex Name Description Default Range L8 41 04F2 High Current Alarm Selection Sets the function to cause an HCA Current Alarm when the output current is more than 150 of the drive ra...

Page 482: ...47D Expert Stall P Accel Activation Time Sets the length time that the acceleration stall prevention function can continue to operate before the drive detects an STPo Motor Step Out Detected 5000 ms 1...

Page 483: ...ed Pull out Detect Level No Hex Name Description Default Range L8 94 073D Expert Low Speed Pull out Detect Level Sets the detection level for LSo Low Speed Motor Step Out as a percentage of E1 04 Maxi...

Page 484: ...ge n1 02 0581 Expert Hunting Prevention Gain Setting Sets the performance of the hunting prevention function Usually it is not necessary to change this parameter 1 00 0 00 2 50 Adjust this parameter i...

Page 485: ...Note Set this parameter to 1 to suppress motor vibrations caused by leakage current when the wiring distance is long n1 13 DC Bus Stabilization Control No Hex Name Description Default Range n1 13 1B59...

Page 486: ...01 2 and you cannot suppress hunting increase the value set in this parameter in 100 ms increments n1 20 Voltage Calibration Duration No Hex Name Description Default Range n1 20 1588 Expert Voltage Ca...

Page 487: ...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 increase the setting value in 50 ms increme...

Page 488: ...detect 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...

Page 489: ...detect 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 th...

Page 490: ...ring overexcitation deceleration 0 0 1 Enable this parameter to set a shorter deceleration time Note If you frequently use overexcitation deceleration on a motor the motor loss will increase the risk...

Page 491: ...0 n4 61 Low Speed Comp Frequency Level No Hex Name Description Default Range n4 61 1B81 Low Speed Comp Frequency Level Sets a frequency at which the settings n4 60 Motoring Low Speed Comp Gain and n4...

Page 492: ...cription Default Range n4 66 1B86 Flux Estimate Response Low Freq Sets the responsiveness of the magnetic flux estimation in low speed ranges where 0 the output frequency which is n4 67 Estimate Gain...

Page 493: ...e n4 71 1B8B Expert Flux Estimation Method Sets the flux estimation method Usually it is not necessary to change this setting 0 0 1 0 Method 1 1 Method 2 n4 72 Speed Feedback Mode No Hex Name Descript...

Page 494: ...could occur and overheat the motor n5 Feed Forward Control Feed forward control increases the responsiveness of acceleration and deceleration as specified by the speed reference Increase C5 01 and C5...

Page 495: ...01 Feed Forward Control Selection No Hex Name Description Default Range n5 01 05B0 Feed Forward Control Selection Sets the feed forward function 0 0 1 0 Disabled 1 Enabled n5 02 Motor Inertia Acceler...

Page 496: ...Forward Control Gain No Hex Name Description Default Range n5 03 05B2 Feed Forward Control Gain Sets the ratio between load inertia and motor inertia Inertia Tuning automatically sets the Feedforward...

Page 497: ...ive adjusts the motor line to line resistance during run This procedure is applicable for speed values 6 Hz and less It also adjusts the motor resistance value to increase the overload capacity in the...

Page 498: ...8 Speed Calculation Gain2 No Hex Name Description Default Range n7 08 3118 Expert Speed Calculation Gain2 Sets the speed calculation gain during a speed search 25 0 Hz 1 0 50 0 Hz Note When you increa...

Page 499: ...s in the motor resistance value caused by changes in the temperature 1 0 to 2 0 Invalid 1 Valid Only 1 time 2 Valid Every time Note For settings 1 and 2 the adjustment time can cause a delay before st...

Page 500: ...the motor oscillates at the time of the polar attraction increase the value in 0 5 s increments If the value is too high the drive can detect oL2 Drive Overloaded n8 04 Pole Alignment Time No Hex Name...

Page 501: ...this setting 0 0 ms 0 0 100 0 ms n8 25 ACR q Limit PoleEst No Hex Name Description Default Range n8 25 0558 Expert ACR q Limit PoleEst Sets the q axis limit of the current regulator when the drive est...

Page 502: ...Frequency Injection Injects high frequency to detect the rotor position This setting can cause a loud excitation sound when the motor starts Note When you set this to 1 do High Frequency Injection Aut...

Page 503: ...d estimation Usually it is not necessary to change this setting 0 10 s 0 00 9 99 s Note Set n8 35 1 Initial Pole Detection Method High Frequency Injection or n8 57 1 HFI Overlap Selection Enabled to e...

Page 504: ...53C Heavy Load Id Current Sets the d axis current to that the drive will supply to the motor to run it at a constant speed with a heavy load Considers E5 03 PM Motor Rated Current FLA to be 100 Usuall...

Page 505: ...o Load Inertia Ratio Sets the ratio between motor inertia and machine inertia 0 0 3 Adjust in the following situations If torque and speed response is unsatisfactory gradually increase the setting fro...

Page 506: ...cannot set E1 09 Minimum Output Frequency 1 20 of the value of E1 06 Base Frequency 1 Enabled The speed control range changes to 1 100 to give sufficient speed detection at low speeds Note It is not...

Page 507: ...x Name Description Default Range n8 69 065D Expert Speed Observer Control P Gain Sets the gain that the drive uses for speed estimation Usually it is not necessary to change this setting 1 00 0 00 20...

Page 508: ...75 the drive will detect oPE08 Parameter Selection Error The change is linear between n8 74 and n8 75 and the level of the pull in current from n8 48 to n8 78 Medium Load Id Current n8 76 Id Switchin...

Page 509: ...poles and finds the polarity of the magnetic poles When A1 02 7 Control Method Selection CLV PM the drive finds the polarity of the magnetic poles only at the first startup Check monitor U6 57 PolePo...

Page 510: ...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 03...

Page 511: ...on 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 at Power up No Hex Name D...

Page 512: ...lue 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 output f...

Page 513: ...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 reference and monitor values Determined by o1 0...

Page 514: ...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 Use o1 36 LCD backlight adjustment to adjust the intensit...

Page 515: ...41 1st Monitor Area Selection No Hex Name Description Default Range o1 41 11C1 RUN 1st Monitor Area Selection Sets the horizontal range used to display the monitor set in o1 24 Custom Monitor 1 as a...

Page 516: ...arameter is only available when using an LCD keypad 100 0 300 0 300 0 o1 48 Trend Plot 1 Scale Maximum Value No Hex Name Description Default Range o1 48 11C8 RUN Trend Plot 1 Scale Maximum Value Sets...

Page 517: ...nitor 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 Motor Power Unit...

Page 518: ...e drive cannot operate because the Run command is not enabled b1 07 1 Accept Existing RUN Command When the Run command is active the drive will start to run immediately when the mode switches from LOC...

Page 519: ...incorrectly it will decrease drive performance cause the protection function to operate incorrectly and cause damage to the drive Note When the setting value of o2 04 changes related parameter setting...

Page 520: ...keypad is the Run command source 1 0 1 This parameter continues to operate if the keypad installed to the drive becomes disconnected This parameter is enabled in these conditions When b1 02 0 Run Com...

Page 521: ...0 Enable Status Ring Keypad LED 1 LED Status Ring Disable 2 Keypad LED Light Disable o2 26 Alarm display at ext 24V power No Hex Name Description Default Range o2 26 1563 Alarm display at ext 24V powe...

Page 522: ...ion Sets the copy function when o3 01 1 Copy Keypad Function Selection Backup drive keypad 0 0 1 Note When you select Parameter Backup on the keypad menu screen to do the backup function the drive aut...

Page 523: ...ult Range o3 07 0BDF Auto Parameter Backup Interval Sets the interval at which the automatic parameter backup function saves parameters from the drive to the keypad 1 0 3 The drive saves parameter set...

Page 524: ...g Sets the U4 05 CapacitorMaintenance 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 setti...

Page 525: ...rive 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 0 o4 13...

Page 526: ...oasts to stop Fault relay output terminal MA MC activates and MB MC deactivates o5 Log Function The data log function saves drive status information as a CSV file in the micro SD memory card in the ke...

Page 527: ...number of rows changes when the number of selected monitors change First row Drive information Second row Log data information Third row Log data 1 Log data 2 Log data 3 Last row Log data n First Row...

Page 528: ...lected by o5 12 Log Monitor Data 1 23 Monitor number 10 4 Unit code and number of decimal places used for the monitor selected with o5 12 24 to 27 Reserved 4 28 File number 6 Row number Hex in the dat...

Page 529: ...o5 02 1552 RUN Log Sampling Interval Sets the data log sampling cycle This parameter is only available when using an LCD keypad 100 ms 100 60000 ms o5 03 Log Monitor Data 1 No Hex Name Description De...

Page 530: ...he U monitor you will log For example to show U1 08 Output Power set o5 07 108 When it is not necessary to set data log monitors set this parameter to 000 You cannot select U2 monitor Fault Trace or U...

Page 531: ...g an LCD keypad 000 000 101 999 Note Sets the number 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 thi...

Page 532: ...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 as the value for E1 06 Base Frequency and E1 04 Maximum Output Freque...

Page 533: ...r the motor nameplate is not available enter approximately 90 of the motor rated voltage If the drive input power supply voltage is low enter approximately 90 of the input voltage When the input power...

Page 534: ...he no load current shown on the motor test report If the motor test report is not available do not change this parameter T1 10 Motor Rated Slip Frequency No Hex Name Description Default Range T1 10 07...

Page 535: ...voltage value If you do not know the no load voltage do not change from the initial value T1 03 0 85 200 V Class 0 0 255 0 V 400 V Class 0 0 510 0 V Note To get the same qualities as a Yaskawa 1000 se...

Page 536: ...er No Hex Name Description Default Range 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 by o2 04 C6 01 0 00 65...

Page 537: ...M Motor q Axis Inductance Sets the q Axis inductance of the motor on a per phase basis Determined by T2 02 0 00 600 00 mH T2 13 Back EMF Units Selection No Hex Name Description Default Range T2 13 075...

Page 538: ...ction No Hex Name Description Default Range T3 00 1198 Control Loop Tuning Selection Sets the type of Control Auto Tuning 0 0 3 0 Inertia Tuning 1 ASR Speed Regulator 2 Deceleration Rate Tuning 3 KEB...

Page 539: ...h it can cause oscillation T4 EZ Tuning Use T4 parameters to input the data necessary for motor parameter Auto Tuning when A1 02 8 Control Method Selection EZ Vector Control These two modes are availa...

Page 540: ...V 460 0 V 200 V Class 0 0 255 0 V 400 V Class 0 0 510 0 V T4 07 Motor Rated Current No Hex Name Description Default Range T4 07 3136 Motor Rated Current Sets the rated current A of the motor Determine...

Page 541: ...pad Use and Test Run 3 1 Section Safety 542 3 2 Keypad Names and Functions 543 3 3 LED Status Ring 549 3 4 Keypad Operation 551 3 5 Auto Tuning 589 3 6 Test Run 598 3 7 Fine Tuning during Test Runs Ad...

Page 542: ...is safe If you do work on the drive when it is energized it will cause serious injury or death from electrical shock The drive has internal capacitors that stay charged after you de energize the driv...

Page 543: ...n REMOTE Mode The drive is energized with an active Run command and b1 17 0 Run Command at Power Up Disregard Existing RUN Command B ALM LED Illuminates when the drive detects a fault Flashes when the...

Page 544: ...ng Mode Note Push on the keypad to set the drive to LOCAL Mode before using the keypad to operate the motor J USB Terminal Insertion point for a mini USB cable Uses a USB cable USB standard 2 0 type A...

Page 545: ...REV flash C Ready The screen will show Rdy when the drive is ready for operation or when the drive is running D Mode display area Shows the name of the current mode or screen E Frequency reference so...

Page 546: ...ed with an active Run command and b1 17 0 Run Command at Power Up Disregard Existing RUN Command When b1 03 3 Stopping Method Selection Coast to Stop with Timer the Run command is disabled then enable...

Page 547: ...Keypad Use and Test Run 3 3 2 Keypad Names and Functions YASKAWA TOEPYAIGA8002B GA800 Drive Programming 547 Keypad Mode and Menu Displays Figure 3 5 Keypad Functions and Display Levels...

Page 548: ...an external source while in Programming Mode Set b1 08 0 Disregard RUN while Programming to reject the Run command from an external source while in Programming Mode default Set b1 08 1 Accept RUN whil...

Page 549: ...te For example in Programming Mode or when is flashing C RUN Illuminated The drive is in regular operation Flashing 1 The drive is decelerating to stop The drive received a Run command with a frequenc...

Page 550: ...3 3 LED Status Ring 550 YASKAWA TOEPYAIGA8002B GA800 Drive Programming Figure 3 6 LED Flashing Statuses Figure 3 7 Relation between RUN LED and Drive Operation...

Page 551: ...Home display selection When o1 40 Home display selection is set to Custom Monitor and there is more than one screen use or to switch between screens JOG Operation Push to illuminate Push JOG to run th...

Page 552: ...s function Show the Main Menu Push to show the main menu Push HOME to go back to the HOME screen Displaying the Monitor This section shows how to show the standard monitor Ux xx 1 Push Home to show th...

Page 553: ...om Monitors You can select and register a maximum of 12 monitoring items to regularly show on the keypad This procedure shows how to set the motor speed to Custom Monitor 1 1 Push Home to show the HOM...

Page 554: ...s figure The configuration procedure is complete Show Custom Monitors The procedure in this section shows how to show the registered custom monitors 1 Push Home to show the HOME screen Note The keypad...

Page 555: ...1 and Custom Monitor 2 the screen will show only two monitors Set the Monitors to Show as a Bar Graph The procedure in this section shows how to show the frequency reference monitor as a bar graph 1 P...

Page 556: ...to 101 as shown in this figure The configuration procedure is complete Show Monitors as Bar Graphs The procedure in this section shows how to show a specific monitor as a bar graph You can show a max...

Page 557: ...to show the HOME screen Note The keypad will show Home in the top right corner when the HOME screen is active If Home is not shown on push Back to show Home on 2 Push Menu 3 Push or to select Monitors...

Page 558: ...s an analog gauge 1 Push Home to show the HOME screen Note The keypad will show Home in the top right corner when the HOME screen is active If Home is not on push Back to show Home on 2 Push Menu 3 Pu...

Page 559: ...Maximum Minimum Value Select Monitor Items to Show as a Trend Plot The procedure in this section shows how to show the frequency reference monitor as a trend plot 1 Push Home to show the HOME screen...

Page 560: ...r example to show monitor U1 01 Frequency Reference set it to 101 as shown in this figure 8 Push or to select Trend Plot 1 Scale Minimum Value then push 9 Push or to select the specified digit then pu...

Page 561: ...3 Push to keep the changes 14 Push Back If necessary use the same procedure to set Custom Monitor 2 Set the Time Scale for the Trend Plot Monitor The procedure in this section shows how to set the tim...

Page 562: ...Min Max to move between the minimum value and maximum value 7 Push to keep the changes The configuration procedure is complete Show Monitor Items as a Trend Plot The procedure in this section shows h...

Page 563: ...ssage flashes while monitoring is paused Change Parameter Settings This example shows how to change the setting value for C1 01 Acceleration Time 1 Do the steps in this procedure to set parameters for...

Page 564: ...creen after you change all the applicable parameters Examine User Custom Parameters The User Custom Parameters show the parameters set in A2 01 to A2 32 User Parameter 1 to User Parameter 32 This lets...

Page 565: ...nu 3 Push or to select User Custom Parameters then push 4 Push or to show the parameter to examine 5 To change the parameter settings push or to select the parameter then push 6 Push or to select the...

Page 566: ...ure to stop the monitor before backing up parameters While making a backup the drive will not accept Run commands The DriveWorksEZ PC software password is required to back up qx xx DriveWorksEZ Parame...

Page 567: ...ives Note Always stop the drive before you start to restore the parameter backups The drive rejects Run commands while it is restoring parameters 1 Push Home to show the HOME screen Note When the driv...

Page 568: ...p data does not contain the date Information F Backup date Verify Keypad Parameters and Drive Parameters This procedure verifies that the parameter setting values that were backed up in the keypad agr...

Page 569: ...e drive Note The keypad shows vFyE Parameters do not Match when the parameter settings backed up in the keypad do not agree with the parameter settings copied to the drive Push one of the keys to retu...

Page 570: ...ified Parameters This procedure will show all parameters that were changed from their defaults as the result of Auto Tuning or setting changes This helps find which settings have been changed and is v...

Page 571: ...571 3 Push or to select Modified Param Fault Log then prush 4 Push or to select Modified Parameters then push 5 Push 6 Push or to show the parameter to check 7 To re edit a parameter push or select t...

Page 572: ...Defaults This procedure will set all parameters with changed values to their default settings 1 Push Home to show the HOME screen Note The keypad will show Home in the top right corner when the HOME...

Page 573: ...and dates and times that the faults occurred Note Make sure that you first set the date and time on the keypad if you will monitor the date and time of the faults If the keypad does not have a clock b...

Page 574: ...ve and motor can start suddenly during Auto Tuning and cause serious injury or death WARNING Electrical Shock Hazard During Auto Tuning the motor will receive high voltage when the motor is stopped Do...

Page 575: ...necessary Auto Tuning data Example Push or to select the specified digit then push or to change the number Push to save the change and move to the next entry field 7 Follow the messages shown on the k...

Page 576: ...or or you push before Auto Tuning is complete Auto Tuning will stop and the keypad will show an error code Endx identifies that Auto Tuning was successful with calculation errors Find and repair the c...

Page 577: ...re in this section shows how to set the date and time Note To set the drive to detect an alarm when the battery is dead or when the clock is not set install the battery then set o4 24 1 bAT Detection...

Page 578: ...Setup then push 4 Push or to select Set Date Time and push 5 Push or to select the format of date display then push 6 Push or to select the format of time display then push 7 Push or to select a numb...

Page 579: ...follow simple messages on the keypad to set these basic parameters Frequency reference source Input signal level Run command source Duty Rating Motor type Control method Maximum frequency Input output...

Page 580: ...item to set then push 7 For the next steps follow the instructions shown on the keypad until the Parameter Change Confirmation Screen is shown 8 In the parameter change confirmation screen push or to...

Page 581: ...Push Home to show the HOME screen Note When the drive is in HOME Mode the screen shows Home in the upper right hand corner of the screen If the screen does not show Home for push Back and then push to...

Page 582: ...rd is inserted in the keypad 2 Push Home to show the HOME screen Note When the drive is in HOME Mode the screen shows Home in the upper right hand corner of the screen If the screen does not show Home...

Page 583: ...1 Push Home to show the HOME screen Note When the drive is in HOME Mode the screen shows Home in the upper right hand corner of the screen If the screen does not show Home for push Back and then push...

Page 584: ...shows how to set the sampling time for data logging 1 Push Home to show the HOME screen Note When the drive is in HOME Mode the screen shows Home in the upper right hand corner of the screen If the s...

Page 585: ...F You can set the backlight of the keypad screen to automatically turn OFF after a set length of time since the last key operation on the keypad The procedure in this section shows how to turn ON and...

Page 586: ...ne changing the value push The procedure to set the backlight to turn OFF automatically is complete Show Information about the Drive The procedure in this section shows how to show the drive model max...

Page 587: ...er Write Automatically Backed up Parameters to the Drive You can automatically back up parameters to the keypad connected to the drive and write those parameters to a different drive as specified by t...

Page 588: ...Operation 588 YASKAWA TOEPYAIGA8002B GA800 Drive Programming 2 Push or to select Yes and then push 3 Push or to select Yes and then push The keypad will show the End message when the write process is...

Page 589: ...3 AOLV 4 Rotational Auto Tuning T1 01 0 When you can decouple the motor and load the motor can rotate freely while Auto Tuning When operating motors that have fixed output characteristics When it is n...

Page 590: ...e when T1 10 Motor Rated Slip Frequency 0 Hz 6 Set the same value to No Load Voltage as T1 03 Motor Rated Voltage to get the same characteristics using Yaskawa 1000 Series drives or other legacy model...

Page 591: ...uency Injection Auto Tuning Configure the drive with the data from the motor nameplate before performing High Frequency Injection Auto Tuning High Frequency Injection Auto Tuning automatically makes a...

Page 592: ...Unit Auto Tuning Mode T2 01 Setting Z Pulse Offset Pole Position 3 PM Rotational Auto Tuning 4 High Frequency Injection Auto Tuning 5 Control method selection A1 02 7 5 6 7 5 6 7 PM Motor Code Select...

Page 593: ...0 Line to Line Resistance 1 Motor Type Selection T4 02 x Motor Max Revolutions T4 03 min 1 x Motor Rated Revolutions T4 04 min 1 x Motor Rated Frequency T4 05 Hz x Motor Rated Voltage T4 06 V x PM Mot...

Page 594: ...timizes the speed loop gain and feed forward gain to get a high level of control capability You can set the speed response without thinking about the load which increases the precision when synchroniz...

Page 595: ...rated voltage Note Better performance is possible when you use a motor with a rated voltage 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...

Page 596: ...that is more than 30 of the motor duty rating the drive will not correctly calculate the motor parameters and the motor can operate incorrectly When the load is 30 or less of the motor duty rating you...

Page 597: ...ard During Auto Tuning the motor will receive high voltage when the motor is stopped Do not touch the motor until Auto Tuning is complete If you touch a motor that is energized it can cause serious in...

Page 598: ...Load Test Run Do these steps for a no load test run 1 Energize the drive or push to show the HOME screen If Home is not shown on push Back to show Home on 2 Push to illuminate the LOCAL REMOTE indicat...

Page 599: ...not too high 1 Energize the drive or push Home to show the HOME screen If Home is not shown on push Back to show Home on 2 Set d1 01 Reference 1 to 6 00 Hz 3 Push to illuminate the LOCAL REMOTE indic...

Page 600: ...If the volume of the motor excitation sound is too high increase the carrier frequency If hunting or oscillation occur at low or mid range speeds decrease the carrier frequency 1 2 kHz 1 1 to upper l...

Page 601: ...nd examine the response If hunting or oscillation occur or if the load inertia is too much increase the setting value in increments of 50 ms and examine the response Note Make sure that this parameter...

Page 602: ...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 large initial vibration at start up dec...

Page 603: ...or Rated Slip Decouple the motor and machine and do Rotational Auto Tuning If the motor speed is slow increase the value of E2 02 in small increments approximately 0 1 of the default setting value If...

Page 604: ...of a turn at start b2 02 50 b2 03 0 00 s b2 02 Adjust as necessary b2 03 0 5 s n8 55 Motor to Load Inertia Ratio Increase the setting value Note When operating a single motor or with a minimum amount...

Page 605: ...e or test report and set E1 xx or E5 xx correctly 1 The best values for a no load operation are different than the best values for actual loading operation Closed Loop Vector Control Method for PM Tab...

Page 606: ...oscillation occur increase the setting value 0 500 s 0 300 s to 1 000 s 1 The drive cannot find ASR proportional gain or integral time for low speed or high speed C5 07 ASR Gain Switchover Frequency...

Page 607: ...01 Encoder 1 Pulse Count PPR correctly and make sure that encoder pulse counting direction is correct 6 Set C5 01 ASR Proportional Gain 1 and C5 02 ASR Integral Time 1 Table 3 25 Open Loop Vector Con...

Page 608: ...ency reference Voltage input Set DIP Switch S1 2 on the drive to V Set H3 09 0 1 Terminal A2 Signal Level Select 0 to 10V Lower Limit at 0 10 to 10 V Bipolar Reference Set H3 10 0 Terminal A2 Function...

Page 609: ...properly mount and install the drive and to wire the control circuit terminals motor and power supply 4 1 Section Safety 610 4 2 Removing Reattaching Covers 612 4 3 Electrical Installation 617 4 4 Mai...

Page 610: ...cause serious injury or death The leakage current of the drive will be more than 3 5 mA in drive models 4414 to 4720 The drive can cause a residual current with a DC component in the protective earth...

Page 611: ...its specifications contact the motor manufacturer If you continuously operate oil lubricated motors outside of the manufacturer specifications it can cause damage to the motor bearings When the input...

Page 612: ...to the equipment and wait for the time specified on the warning label at a minimum The internal capacitor stays charged after the drive is de energized The charge indicator LED extinguishes when the D...

Page 613: ...to 1 33 N m 8 67 lb in to 11 77 lb in Figure 4 4 Reattach the Front Cover 3 Reattach the keypad to the original position Removing Reattaching the Cover Using Procedure B DANGER Electrical Shock Hazard...

Page 614: ...C Connector holder Figure 4 5 Remove the Terminal Cover Keypad and Keypad Connector 2 Loosen the front cover screws Figure 4 6 Loosen the Front Cover Screws 3 Push on the four tabs found on each side...

Page 615: ...r 2 Move the front cover until it clicks into position while pushing on the hooks on the left and right sides of the front cover Note Make sure that you do not pinch wires or signal lines between the...

Page 616: ...ther peripheral devices then reattach the terminal cover Note Wire the grounding terminals first main circuit terminals next and control circuit terminals last Make sure that you do not pinch wires or...

Page 617: ...ircuit sequence settings can cause serious injury or death from moving equipment WARNING Sudden Movement Hazard Correctly wire the start stop and safety circuits before you energize the drive If you m...

Page 618: ...4 3 Electrical Installation 618 YASKAWA TOEPYAIGA8002B GA800 Drive Programming Figure 4 14 Standard Drive Connection Diagram...

Page 619: ...al on models 4477 4720 2 Models 2004 2082 and 4002 4044 only 1 There are 2 screws for each terminal on models 2169 2211 4140 4168 and 4477 4720 B1 B2 Models 2004 2138 and 4002 4168 only 10 Connect per...

Page 620: ...r the 24 V power supply If you connect the wires to the incorrect terminals it will cause damage to the drive 19 Use multi function analog monitor outputs with analog frequency meters ammeters voltmet...

Page 621: ...the drive it can cause drive failure Note Soldered wire connections can become loose over time and cause unsatisfactory drive performance Motor and Main Circuit Connections WARNING Electrical Shock H...

Page 622: ...istor or braking resistor unit B2 2 DC power supply input 1 and DC reactor connection 1 and 2 To connect peripheral devices for example DC power input Braking unit DC link choke Note Remove the jumper...

Page 623: ...Wiring This section gives information about wiring the control circuit Control Circuit Connection Diagram Wire the drive control circuit as shown in Figure 4 16 Figure 4 16 Control Circuit Connection...

Page 624: ...amage to the drive 6 Do not connect terminals PS and AC inversely Failure to obey will cause damage to the drive 7 Set DIP switch S2 to the ON position to enable the termination resistor in the last d...

Page 625: ...nd H2 HC to use the Safe Disable input 24 V 6 mA ON Normal operation OFF Coasting motor Internal impedance 4 7 k OFF Minimum OFF time of 2 ms H2 Safe Disable input 2 HC Safe Disable function common Sa...

Page 626: ...receiver recommended impedance 250 Note Select with jumper switch S5 and H4 07 Terminal FM Signal Level Select or H4 08 Terminal AM Signal Level Select AM Analog monitor output 2 Output current AC Mo...

Page 627: ...tening torque for the terminal screws is shown on the reverse side or the lower front side of the front cover Figure 4 18 Tightening Torque Display Location Reverse side of Front Cover Figure 4 19 Tig...

Page 628: ...ate the wire shields with electrical tape or shrink tubing If you do not insulate the wire shields it can cause a short circuit and damage the drive Note Isolate control circuit wiring from main circu...

Page 629: ...ure 4 21 Remove the LED Status Ring Board A Drive front B LED status ring board C Temporary placement holes Figure 4 22 Remove the LED Status Ring Board A Drive front B LED status ring board C Tempora...

Page 630: ...use crimp ferrules E Blade width of 2 5 mm 0 1 in or less F Blade thickness of 0 4 mm 0 01 in or less Figure 4 24 Wiring Procedure for the Control Circuit Note Do not solder the core wire Soldered wi...

Page 631: ...ions of Switches Table 4 10 I O Terminals and Switches Functions Posi tion Switch Terminal Function Default Setting A DIP switch S2 Enables and disables the MEMOBUS Modbus communications termination r...

Page 632: ...Load Impedance RL 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 4 28 to calculate the necessary load resistance k to...

Page 633: ...The default setting for the drive is internal power supply sinking mode NOTICE Do not close the circuit between terminals SP and SN A closed circuit between these terminals will cause damage to the d...

Page 634: ...0 Terminal A1 Function Selection Terminal A2 Function Selection Frequency Reference to set A1 and A2 to frequency reference The drive will add the analog input values together to make the frequency r...

Page 635: ...efault H4 08 0 0 V to 10 V 1 10 V to 10 V Current output 2 4 mA to 20 mA Switch ON Termination Resistor for MEMOBUS Modbus Communications When the drive is the last slave in a MEMOBUS Modbus communica...

Page 636: ...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 USB 2 0 type A mini B...

Page 637: ...to Tuning for Line to Line Resistance precautions 597 Stationary Auto Tuning Precautions 596 Stator resistance Auto Tuning precautions 597 B Backlight Timing of shut off 585 Backup Parameters drive to...

Page 638: ...480 F Fan Operation Time Setting 524 Fast Stop Time Parameter 250 Fault history Display procedure 573 Fault Restart Parameter 463 Feed Forward Control Parameter 494 Field Forcing Parameter 292 Field w...

Page 639: ...r termination resistor 635 MEMOBUS Modbus Communications Parameter 422 Serial communication terminals 626 microSD card Insertion slot 543 Mid point B frequency Motor 2 parameters 307 Parameter 302 Mid...

Page 640: ...s PTC Input 440 oL2 Protective function 478 On Delay Timer 220 Ope Select Keypad is Disconnect 520 Operation During Momentary Power Loss KEB ride thru function 441 Operation method selection 447 Param...

Page 641: ...ction 482 RUN LED status 549 Run command LOCAL REMOTE Run selection 196 Switching between LOCAL REMOTE 196 Run Command at Power Up 206 Run Command Selection 2 Switching between LOCAL REMOTE 205 RUN in...

Page 642: ...Trend Plot Monitors 558 Tuning 247 U U2 U3 Initialization 525 Undertorque detection Parameter 466 Unit of measurement setting Acceleration and deceleration times 250 Unit selector 517 Up 2 command Pa...

Page 643: ...YASKAWA TOEPYAIGA8002B GA800 Drive Programming 643 Revision History Date of Publication Revision Number Section Revised Content November 2018 1 All Power ratings August 2018 First Edition...

Page 644: ...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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