YASKAWA L1000A CIMR-LC F Series Technical Manual Addendum Download Page 65

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YASKAWA

TOEPC710616134G AC Drive L1000A Technical Manual Addendum

CANopen Lift

Yaskawa CANopen Lift implementation refers to CiA-417: Profile for Lift Control Systems. Supported operation
modes are Profile Velocity mode and Profile Position mode. The Yaskawa CANopen Lift fieldbus option card SI-
L3 is required.

To enable CANopen Lift functionality, set parameter

H5-13 = 5

b1-01

and

b1-02 = 6

, and perform a power-

cycle. Some parameters will be changed automatically. Refer to

Added Standard Parameter Dependencies

(Defaults) on page 62

Parameter groups are commonly used in CANopen Lift and in DCP mode. Therefore the following descriptions
refer to DCP parameter and monitor tables.

◆

Characteristics of CANopen Lift Interface

Figure 7.1 Connection Using CANopen Lift

Summary of Contents for L1000A CIMR-LC F Series

Page 1: ...AC Drive L1000A For Lift Applications Technical Manual Addendum Type CIMR LCxFxxxxxxx 913x Web...

Page 2: ...This Page Intentionally Blank 2 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum...

Page 3: ...Added Faults and Alarms for DI A3 Multi Functional Support 15 4 Advanced Light Load Search 15 Added and Modified Parameters for Advanced Light Load Search 16 5 Output Phase Loss Protection 16 Modifie...

Page 4: ...r with Absolute Sensor System 43 Time Optimized Direct Leveling Dependent on Remaining Distance 44 Crawl Travel in DCP4 47 DCP Fast Start Function 47 Start Sequence 47 Premature Termination of the Fas...

Page 5: ...ction 79 dv dt Method Input Phase Loss Detection 79 Power On dv dt Threshold Tuning 80 Input Phase Loss Detection Method Selection 80 Further Modifications 80 Related Parameters and Monitors 81 Added...

Page 6: ...llation 89 Safety Precautions 89 Preconditions for Installing the Option Card 90 Installing the Option on an L1000A 90 Related Parameters and Functions 94 Modified Standard Parameters 94 Troubleshooti...

Page 7: ...ation for Brake Response Monitor BRM Function The brake monitor status function supports Checking the status of the brakes at every run command Checking the correct switching of the brake within a def...

Page 8: ...0 000 ms S6 18 SE4 Fault Reset 0 No reset Default 1 Reset SE4 Fault The Brake Response Error Detection Time is adjustable in parameter S6 05 Default detection time is 500 ms The Brake Response Error D...

Page 9: ...e Response Monitor function enabled S6 17 1 an SE4 fault cannot be reset by Using the Reset button Power cycling the drive or installation Using the Automatic Fault Reset function L5 xx The SE4 fault...

Page 10: ...Normal Operation with MFDOs set to 79h N O Figure 2 3 Normal Operation with MFDOs set to 5Bh N C Fault During Start or Stop If both Brake Feedback Inputs do not change their logic state within the tim...

Page 11: ...ue of parameter S6 06 will be initiated If the timer expires without change of Brake Feedback status to its expected state an SE4 Fault will be triggered and the fault message Brake Response Error SE4...

Page 12: ...2 Brake Monitoring Unintended Car Movement 12 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum Figure 2 5 Short Disruption of Brake Feedback 1 Input during Run...

Page 13: ...H1 08 5Bh If the Brake Response Monitor function is enabled S6 17 1 and the SE4 fault appears verify the Brake Monitor Function before you can reset the SE4 fault Function Test NPN Logic The followin...

Page 14: ...med to ensure correct operation of the Brake Feedback switches and function Brake Monitor 1 Check if Motor Brake 1 operates correctly Check status of Motor Switch in Brake 1 Check if the logic changes...

Page 15: ...D7 Function Selection Added Faults and Alarms for DI A3 Multi Functional Support Table 3 2 Added Faults Fault Display Hex Alarm Display Alarm Name Description OEF0 OEF3 3C 3F DI A3 Ext Fault0 3 DI A3...

Page 16: ...5 13 Serial Communication Mode 0 1 1 5 Output Phase Loss Protection Enables or disables the output phase loss detection which is triggered when the output current falls below 5 of the motor rated curr...

Page 17: ...he H5 07 change Introduction The DCP protocol distinguishes two modes DCP3 for lift controllers without absolute encoder system in the shaft Drive control via serial DCP link instead of digital inputs...

Page 18: ...of 6 bytes Process Data Communication Data Checksum 1 2 3 4 5 6 Status Byte Data Byte 1 Data Byte 2 Communication Byte 1 Communication Byte 2 Checksum DCP Master Messages from Lift Controller to Driv...

Page 19: ...ion Bit B6 Desired distance Actual distance DCP4 This bit chooses the type of transmitted distance 0 Actual Distance 1 Desired Distance not supported Bit B7 Error in last reply message DCP3 and DCP4 T...

Page 20: ...e 5 Byte 6 Idle Mode x 0 x x 0 0 0 0 any any 0 255 0 255 0 255 Stop Mode x 0 x x 0 0 0 1 any any 0 255 0 255 0 255 Re leveling Mode x 0 x x 0 0 1 1 any any 0 255 0 255 0 255 Remaining Distance Mode 1...

Page 21: ...l Drive controller ready at the lift controller 0 Drive controller is not ready to travel 1 Drive controller is ready to travel Bit S1 Travel active DCP3 and DCP4 The drive controller is currently car...

Page 22: ...xtended status of the drive controller 15 bit deceleration distance 16 bit deceleration distance Extended status of the drive controller Bit 0 VUnlock Speed for Unlocking Zone The actual speed is slow...

Page 23: ...L1 03 to L1 05 PTC input Bit 12 Information Temperature Limit Drive The drive controller is signaling temperature limit drive if a certain threshold of the drive temperature is reached The information...

Page 24: ...ach type of transmitted information is updated every 30 ms only For DCP3 the braking distance always reads 0 Data Byte 1 Data Byte 2 Bit 15 Bit 8 14 Bit 0 7 0 15 bit braking distance 1 Extended status...

Page 25: ...SCII characters The transmitted characters are limited to the ASCII character set from 20 to FF Hex The remaining 32 characters are available for control purposes 0 to 1F Hex This offers advantages es...

Page 26: ...tions 1D Hex Reserved 1E Hex Displaying and saving error messages from the drive controller in lift controller s event memory 1F Hex Remote control used for both communication devices Characters for R...

Page 27: ...Reset in the fault display The button Run Stop issues a RUN command when not during RUN and issues a STOP command when during RUN To use the functions or RUN STOP press the buttons Down and Up at the...

Page 28: ...troller error messages on the lift controller display and to save it to the lift controller s event log If a message transmission is already in progress the drive controller first completes this messa...

Page 29: ...er Manufacturers Name ID ABB Asea Brown Boveri Ltd AB Brunner Fecher Regelungstechnik GmbH BF Bucher Hydraulics AG BH Control Techniques GmbH CT Danfoss GmbH DA Emotron Lift Center GmbH DE Fuji Electr...

Page 30: ...ng Function I 2 This message is used to realize advanced functions Switching Function Message from Lift Controller To activate the designated function the data byte switching function is used STX 1C I...

Page 31: ...mal mains operation without energy saving mode is set up Power Supply N Normal mains operation U Emergency supply The U request is taken by the drive controller to reduce the regular undervoltage leve...

Page 32: ...l is performed Sg1 104 digit Sg2 103 digit Sg3 102 digit Sg4 101 digit Sg5 100 digit Sv1 Sv5 Deceleration distance in cm ASCII coded decimal format The remaining distance can be extended if it is lon...

Page 33: ...P4 P5 P6 ETX The function should not be used in combination with the Fast Start function SIGN Sign Result E invalid value positive value negative value P1 P6 Position value in mm from lowest floor le...

Page 34: ...ignored by the receiving device In DCP4 mode the drive controller s use of remaining distance message simplifies the behavior The lift controller always sends the current command byte and the remaini...

Page 35: ...DCP link is interrupted while the drive is stationary Note To further improve safety it is recommended that the lift controller also checks if the messages are received correctly In case of errors it...

Page 36: ...The lift controller only starts a new travel if the alarm active bit S2 is reset If S2 is activated during the travel the lift controller should no longer extend the remaining distance Status Bit S6...

Page 37: ...rds the end may not start with inspection speed VI In this case it must start with crawl speed V0 This is realized by activating only stop switch bit B2 without activating travel command bit B1 Note J...

Page 38: ...ivated the drive continues to travel at crawl speed V0 4 Releasing the inspection button generally opens the safety circuit That is why an electrical stop is not possible When the inspection function...

Page 39: ...on remaining distance is also applied Re leveling Travel not Dependent on Remaining Distance without Electric Stop Many lift controllers treat re leveling as a special case The mechanical brake and t...

Page 40: ...vantage Re leveling Travel not Dependent on Remaining Distance with Electric Stop The following method allows smooth stopping 1 Before the travel starts the speed mode Releveling bit G1 VN is transmit...

Page 41: ...Fast bit G7 V4 is transmitted 2 The travel starts with activation of travel command bit B1 3 After the travel command has been switched off the drive decelerates to crawl speed within the fixed distan...

Page 42: ...the travel starts the speed mode Fast bit G7 V4 is transmitted 2 The travel starts with activation of travel command bit B1 3 In contrast to above sequence travel command bit B1 is switched off befor...

Page 43: ...be transmitted Crawl Travel in DCP3 1 Before the travel starts the speed mode Crawl bit G0 V0 is transmitted 2 The travel starts with activating the travel command bit B1 and the stop switch bit B2 3...

Page 44: ...peed To clearly distinguish them from DCP3 travels the DCP4 mode travels are therefore identified with an apostrophe The travels described below have the following common features Before the travel st...

Page 45: ...ore the beginning of the travel Special case Advantage of DCP4 with time optimized travel depending on remaining distance If at the start of the travel a remaining distance is set too short so that th...

Page 46: ...imum travel distance in cm ASCII coded in BCD format Sv1 Sv5 Deceleration distance in cm ASCII coded in BCD format A travel can be extended if actual remaining distance Sverz deceleration distance V3...

Page 47: ...CP3 and DCP4 modes In this case the speed is limited to crawl speed when the lift levels at the end stop DCP Fast Start Function The Fast Start Function allows magnetizing the motor already when the d...

Page 48: ...6 DCP Interface 48 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum Figure 6 16 Fast Start Sequence DCP3...

Page 49: ...Function When the Fast Start Function is active the drive applies DC Injection Zero Servo to hold the car in position while the brakes are opened by the drive controller The time during which the Fast...

Page 50: ...termination regardless of the state of the drive controller s status bit S6 mechanical brake Premature termination considering the state of the drive controller s status bit S6 mechanical brake Immed...

Page 51: ...6 DCP Interface YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 51 Figure 6 18 Immediate Termination of Fast Start Sequence DCP3 EN...

Page 52: ...the Fast Start Function is initiated by a stop message B2 0 B1 0 B0 1 This will cause the drive controller to immediately close the brakes After completing the brake sequence and demagnetizing the mo...

Page 53: ...6 DCP Interface YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 53 Figure 6 20 Premature Termination DCP3 EN...

Page 54: ...reaction after an identified malfunction The electrical braking method is often faster than stopping with mechanical brake The functionality is independent of operation mode DCP3 or DCP4 Activation of...

Page 55: ...p function no other travel command will be accepted and the motor stops with the Fast Stop ramp C1 09 When Zero Speed is reached the mechanical brake will be applied Note The Fast Stop function is no...

Page 56: ...he In Position Time the drive sets the In Position bit The S6 bit for DCP controller is reset after S1 07 In Position check ends with S1 07 The controller closes the brake if S6 bit is reset 0 10 mm 0...

Page 57: ...ote This parameter is not used in CAN Lift 0 1 0 S7 40 DCPInt I F Enabl Selects the controller distance change method 0 Prolongation for MPK400c bp30x 1 Shortening for LiSA20 SLC4 20 If S7 40 0 also s...

Page 58: ...he leveling speed setting H5 13 4 not available 2 3 C3 01 Slip Comp Gain Slip Compensation Gain H5 13 4 not available 2 3 C3 05 Output V Lim Sel Output Voltage Limit Operation Selection H5 13 4 not av...

Page 59: ...data 00 No limit status 01 Up Down command was left on when stopped in PRG mode 02 Up Down command was left on when switching from LOCAL to REMOTE operation 03 Waiting for soft charge bypass contactor...

Page 60: ...deceleration distance occurring when decelerating from d1 01 speed Note Monitor is not available for CANopen Lift 0 001 m 0 1 in 1 U4 77 DecelDist V5 Shows the deceleration distance occurring when dec...

Page 61: ...Sv Shows the deceleration distance according to the transferred distance command 0 001 m 0 01 in 1 U4 94 I9 Cmd Rcv Ctr I9 Command Reception Counter Counts the valid I9 commands received by the drive...

Page 62: ...3 0 1 H5 13 3 DCP3 H5 13 4 5 DCP4 CANopen Lift 3 5 Multi Step Speed Reference 1 3 Available Not available Not available 6 JOG Reference Selection 7 Accel Decel time selection Available 16 Motor 2 Sele...

Page 63: ...d by S2 DCE2 62 DCP Init Error Drive Control Position Initialization Error A Run command was given although no valid initialization command I 1 was received EMC bad serial link Check if lift controlle...

Page 64: ...is performed with setting 4 4 When you use a lift controller from B hnke Partner or from Kollmorgen set S7 40 0 If you use a lift controller from any other manufacturer set S7 40 1 5 Tune complete ASR...

Page 65: ...fieldbus option card SI L3 is required To enable CANopen Lift functionality set parameter H5 13 5 b1 01 and b1 02 6 and perform a power cycle Some parameters will be changed automatically Refer to Ad...

Page 66: ...ocity Mode is used The objects for the velocity profile are stored in the drive unit and may be configured by the lift controller Due to safety reasons configuration is not possible in Operation Enabl...

Page 67: ...s Defaults on page 62 Changes of Standard Input and Output Multi Functions Refer to Changes of Standard Digital Input Multi Functions DIMF on page 62 Changes of Standard Digital Output Multi Functions...

Page 68: ...of the device If any errors occurs in the device bit 0 generic error is set to one Bit 0 Generic error Bit 1 Current Bit 2 Voltage Bit 3 Temperature Bit 4 Communication error overrun error state Bit...

Page 69: ...Consumer Heartbeat Times 1 RW UNS32 0001 0BB8 1016 2 Consumer Heartbeat Times 2 RW UNS32 0004 0BB8 Consumes the heartbeat from all CANopen devices in multiples of 1 ms Note The value 0004 0BB8 means a...

Page 70: ...W UNS16 0 This object indicates the received command controlling the drive Bit 0 Switch on Bit 1 Enable voltage Bit 2 Quick stop Bit 3 Enable operation Bit 4 New set point only in profile Position Mod...

Page 71: ...rofile Velocity Mode Profile Position Mode Set point acknowledge Profile Velocity Mode Zero Speed Bit 13 Following error profile Position Mode Max slippage error profile Velocity Mode Profile Position...

Page 72: ...0 6421 2 Max Position Range Limit RW SINT32 0 This object indicates the configured maximum and minimum position range limits This object limits the numerical range of the input value A position comma...

Page 73: ...18C 1506 Sub index 01 6383 sub1 1706 Transmit PDOs PDO Number Transmit PDO Parameter Transmit PDO Mappings COB ID Hex Index Hex Mapped Object Hex Index Hex 260 183 1903 Sub index 01 6401 Sub index 02...

Page 74: ...m A Unit of Kt is Nominal Torque Nm Nominal Current A 0 00 200 00 1 00 S8 03 622 Tripple gain Set the Tripple gain 0 00 20 00 0 30 S8 04 623 Set mtr inertia Jm motor inertia Set the motor inertia in k...

Page 75: ...l relay to control the brake YASKAWA recommends a relay from the 46 52 series made by Finder When other relays are used it should be selected so that the excitation current of the coil does not exceed...

Page 76: ...ling 10 16 S7 Landing Zone 11 17 SC SN M3 A2 Relay Coil Connection for Brake Relay 1 22 M5 Safety Circuit 3 23 M6 Start Up After wiring power on the drive and follow these steps 1 Enter the programmin...

Page 77: ...Current 13 5 A 1 E2 02 Motor Rated Slip 1 30 Hz 1 E2 03 Motor No Load Current 6 A 1 E2 11 Motor Rated Power 6 7 kW 1 S1 07 Brake Close Delay Time 0 3 s S1 10 Run Command Delay Time 0 4 s S6 02 Startin...

Page 78: ...splayed Figure 9 6 Auto Tuning Proceeding The drive begins by injecting current into the motor for about 1 minute The tuning process is completed as soon as the drive displays the message End Tuning S...

Page 79: ...Loss Lvl Input Phase Loss Detection Level Defines the difference between the maximum and minimum values of the DC Bus ripple for detecting input phase loss Default value for L8 06 depends on drive mod...

Page 80: ...not be modified Input Phase Loss Detection Method Selection Use L8 05 Inp Ph Loss Det to activate the Input Phase Loss Detection function Parameter Hex Operator Display Description Value Range Defaul...

Page 81: ...opens 0 50 0 5 Added Monitors Monitor Hex Operator Display Description Analog Output Scaling H4 xx selection Unit U4 62 085B PF dVdt ErrCount PF detection error counter Shows a percentage value less...

Page 82: ...g ASR set C5 13 C5 14 becomes active motor speed C5 07 Profile Selection for Direct Landing Depending on the remaining S5 15 Positioning Distance at the time when digital input 5Fh Start Positioning i...

Page 83: ...F 5Fh activation to account for intermediate calls 0 5000 mm 0 00 196 85 in 1 100 mm 3 94 in 1 S5 16 06E2 DL2 In Pos Width Direct Landing 2 In Position Width If U4 45 S5 16 Remaining Distance DL2 In P...

Page 84: ...the commanded target position within S5 16 bandwidth for a minimum continuous time of S5 17 The output becomes inactive when 5Fh is activated again 170 In Position Inverted value of setting 70 12 Tra...

Page 85: ...d a TDCC setup alarm occurs Note When you set o4 40 0 you deactivate TDCC alarm and TDCC setup alarm When the TDCC setup alarm is active the drive will not show a TDCC alarm Monitors Total Dir Chg U4...

Page 86: ...et to the input value and the parameter is changed back to 0 0k 65535k 0k o4 43 TDCC Pswd Set Travel Direction Change Counter Password Setting Sets the Travel Direction Change Counter password The pas...

Page 87: ...ed to TDCC while powering on EEPROM might be broken Power off and wait for the drive s DC bus to discharge Power on if the charge LED is off If the problem occurs again replace the control board or th...

Page 88: ...ncoder commands such as Reset Preset or similar are used BiSS clock frequency for SCD frame transmission between 100 kHz and 300 kHz Set the drive motor control mode to operate in the Closed Loop Vect...

Page 89: ...nstructions Failure to obey can cause death or serious injury WARNING Electrical Shock Hazard Do not work on the drive or around the drive while wearing loose clothing or jewelry Tighten loose clothin...

Page 90: ...installed Tools Required A Phillips screwdriver PH1 1 or PH2 2 is required to install the Communication Option card Note Tools required to prepare communication network cables for wiring are not list...

Page 91: ...ft side G of the front cover Make sure no sharp edges remain The drive will not meet NEMA Type 1 requirements if wiring is exposed outside the enclosure For drives CIMR Ax2A0056 to 2A0211 and 4A0031 t...

Page 92: ...ductor cable The signal Sensor Up must be connected to terminal IP on the PG F3 option for cables longer than 10 m Additionally the Sensor 0 V must be connected to terminal IG 1 Ground the shield on t...

Page 93: ...auge mm2 Applicable Gauge mm2 a a b b FE M2 0 22 to 0 25 1 95 to 2 21 0 75 AWG 18 Stranded wire 0 25 to 1 0 AWG 24 to 17 Solid wire 0 25 to 1 5 AWG 24 to 16 0 5 AWG 20 0 25 to 0 5 AWG 24 to 20 Shielde...

Page 94: ...rror Codes This section shows the various fault codes related to the option and pulse generator Refer to the drive Technical Manual for further details on fault codes When an error code occurs on the...

Page 95: ...n Not Compatible with Port The option card connected to connector CN5 B is not compatible Connect the option card to the correct connector Note DO A3 AO A3 PG B3 and PG X3 options can connect to conne...

Page 96: ...e the ground connection on both ends Specifications Item Specification Model PG F3 Compatible PG Encoder Types Fritz K bler GmbH 8 5873 HK3E C323 Hohner Automaticos S L SMRS64 12104511 13 Note When yo...

Page 97: ...15 Appendix YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 97 15 Appendix EN...

Page 98: ...15 Appendix 98 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum...

Page 99: ...15 Appendix YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 99 EN...

Page 100: ...15 Appendix 100 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum...

Page 101: ...15 Appendix YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 101 EN...

Page 102: ...15 Appendix 102 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum...

Page 103: ...28 Crawl Travel 43 47 D Data Byte DCP Master Message 19 DCP Slave Message 22 24 Data Transmission 25 Time out Control 25 Data Information Type 29 Date 30 DCP Interface 17 Messages 18 DCP Master Messag...

Page 104: ...et Counter Travel Direction Change Counter 86 Ripple Compensation 73 Added Monitors 74 Added Parameters 74 S Scroll Items Standard Parameters 67 SE4 9 Serial Communication Parameters 34 Smart Controll...

Page 105: ...ndix Revised Certificate and Norm August 2017 E All Revised document structure Added DI A3 Option Multi functional Support 6F Ripple Compensation Advanced Light Load Search Output Phase Loss Protectio...

Page 106: ...Fukuoka 824 8511 Japan Phone 81 930 25 2548 www yaskawa co jp In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manu...

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