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B.3  Parameter Table

YASKAWA ELECTRIC

 

SIEP C710616 30B YASKAWA AC Drive T1000A Technical Manual

 375

Pa

ra

met

e

r Li

st

B

n

C4: Torque Compensation

n

C5: Automatic Speed Regulator (ASR)

C3-24

(243H)

Motor 2 Slip Compensation 
Selection During Regeneration

0: Disabled.
1: Enabled above 6 Hz.
2: Enabled whenever slip compensation is possible.

Default: 0
Min: 0
Max: 2

145

<25> Default setting is determined by the control mode for motor 2 (E3-01).
<34> Default setting is determined by the control mode (A1-02).

No.(Addr.)

<27> Default setting is determined by the control mode (A1-02) and the drive model (o2-04).
<34> Default setting is determined by the control mode (A1-02).

Name

Description

Setting

Page

C4-01

(215H)

Torque Compensation Gain

 

Sets the gain for the automatic torque (voltage) boost function and helps to produce better 
starting torque. Used for motor 1.

Default:

<34>

Min: 0.00
Max: 2.50

145

C4-02

(216H)

Torque Compensation Primary 
Delay Time

Sets the torque compensation filter time.

Default: 

<27>

Min: 0 ms
Max: 60000 ms

145

C4-03

(217H)

Torque Compensation at Forward 
Start

Sets torque compensation at forward start as a percentage of motor torque.

Default: 0.0%
Min: 0.0%
Max: 200.0%

146

C4-04

(218H)

Torque Compensation at Reverse 
Start

Sets torque compensation at reverse start as a percentage of motor torque.

Default: 0.0%
Min: -200.0%
Max: 0.0%

146

C4-05

(219H)

Torque Compensation Time 
Constant

Sets the time constant for torque compensation at forward start and reverse start (C4-03 and C4-
04).

Default: 10 ms
Min: 0 ms
Max: 200 ms

146

C4-06

(21AH)

Torque Compensation Primary 
Delay Time 2

Sets the torque compensation time 2. 

Default: 150 ms
Min: 0 ms
Max: 10000 ms

146

C4-07

(341H)

Motor 2 Torque Compensation 
Gain

Sets the torque compensation gain used for motor 2.

Default: 1.00
Min: 0.00
Max: 2.50

146

No.(Addr.)

Name

Description

Setting

Page

C5-01

(21BH)

ASR Proportional Gain 1

Sets the proportional gain of the speed control loop (ASR).

Default: 

<34>

Min: 0.00
Max: 300.00

<29>

148

C5-02

(21CH)

ASR Integral Time 1

Sets the integral time of the speed control loop (ASR).

Default: 

<34>

Min: 0.000 s
Max: 10.000 s

148

C5-03

(21DH)

ASR Proportional Gain 2

Sets the speed control gain 2 of the speed control loop (ASR).

Default: 

<34>

Min: 0.00
Max: 300.00

<29>

148

C5-04

(21EH)

ASR Integral Time 2

Sets the integral time 2 of the speed control loop (ASR).

Default: 

<34>

Min: 0.000 s
Max: 10.000 s

148

C5-05

(21FH)

ASR Limit

Sets the upper limit for the speed control loop (ASR) as a percentage of the maximum output 
frequency (E1-04).

Default: 5.0%
Min: 0.0%
Max: 20.0%

149

C5-06

(220H)

ASR Primary Delay Time Constant

Sets the filter time constant for the time from the speed loop to the torque command output.

Default: 

<34>

Min: 0.000 s
Max: 0.500 s

149

No.(Addr.)

Name

Description

Setting

Page

OLV/PM

AOLV/PM

CLV

V/f w/PG

CLV/PM

V/f

OLV

OLV/PM

AOLV/PM

CLV

V/f w/PG

CLV/PM

V/f

OLV

OLV/PM

AOLV/PM

CLV

V/f w/PG

CLV/PM

V/f

OLV

OLV/PM

AOLV/PM

CLV

V/f w/PG

CLV/PM

V/f

OLV

OLV/PM

AOLV/PM

CLV

V/f w/PG

CLV/PM

V/f

OLV

OLV/PM

AOLV/PM

CLV

V/f w/PG

CLV/PM

V/f

OLV

OLV/PM

AOLV/PM

CLV

V/f w/PG

CLV/PM

V/f

OLV

OLV/PM

AOLV/PM

CLV

V/f w/PG

CLV/PM

V/f

OLV

OLV/PM

AOLV/PM

CLV

V/f w/PG

CLV/PM

V/f

OLV

OLV/PM

AOLV/PM

CLV

V/f w/PG

CLV/PM

V/f

OLV

OLV/PM

AOLV/PM

CLV

V/f w/PG

CLV/PM

V/f

OLV

OLV/PM

AOLV/PM

CLV

V/f w/PG

CLV/PM

V/f

OLV

OLV/PM

AOLV/PM

CLV

V/f w/PG

CLV/PM

V/f

OLV

OLV/PM

AOLV/PM

CLV

V/f w/PG

CLV/PM

V/f

OLV

Summary of Contents for T1000A

Page 1: ...easy reference inspection and maintenance Ensure the end user receives this manual Type CIMR T A 1 2 3 4 5 6 7 8 A B C D E 1 2 3 4 5 6 7 8 A B C D E Receiving Mechanical Installation Electrical Instal...

Page 2: ...rwise without the prior written permission of Yaskawa No patent liability is assumed with respect to the use of the information contained herein Moreover because Yaskawa is constantly striving to impr...

Page 3: ...rmanent Magnet Motors on page 85 Perform Auto Tuning Automatic tuning sets motor parameters Refer to Auto Tuning on page 87 Maintenance Check Using Drive Monitors Use drive monitors to check the if fa...

Page 4: ...4 YASKAWA ELECTRIC SIEP C710616 30B YASKAWA AC Drive T1000A Technical Manual...

Page 5: ...3 Model Number and Nameplate Check 27 Nameplate 27 1 4 Drive Models 29 1 5 Component Names 30 Heatsink Cooled Drives 30 Front Views 31 2 MECHANICAL INSTALLATION 33 2 1 Section Safety 34 2 2 Mechanica...

Page 6: ...ay 74 LED Screen Displays 74 LO RE LED and RUN LED Indications 75 Menu Structure for Digital Operator 76 4 3 The Drive and Programming Modes 77 Navigating the Drive and Programming Modes 77 Changing P...

Page 7: ...5 Automatic Speed Regulator ASR 146 C6 Carrier Frequency 152 5 4 d Reference Settings 155 d1 Frequency Reference 155 d2 Frequency Upper Lower Limits 157 d5 Torque Control 158 d6 Field Weakening and Fi...

Page 8: ...or and Output Voltage Gain 252 S4 KEB Mode Selection 252 S5 KEB Accel Decel Settings 258 S6 Power KEB Function 260 S9 Synchronous Operation 262 T Motor Tuning 262 5 12 U Monitor Parameters 263 U1 Oper...

Page 9: ...Command 308 Excessive Motor Oscillation and Erratic Rotation 308 Deceleration Takes Longer Than Expected with Dynamic Braking Enabled 308 Load Falls When Brake is Applied 308 Noise From Drive or Outpu...

Page 10: ...3 A 3 Three Phase 400 V Class Drives 354 A 4 Drive Specifications 355 A 5 Drive Watt Loss Data 357 A 6 Drive Derating Data 358 Rated Current Depending on Carrier Frequency 358 Carrier Frequency Derati...

Page 11: ...dbus 451 Observing the Drive Operation 451 Controlling the Drive 451 C 6 Communications Timing 452 Command Messages from Master to Drive 452 Response Messages from Drive to Master 452 C 7 Message Form...

Page 12: ...External Heatsink IP00 Enclosure 487 D 4 Safe Disable Input Function 488 Specifications 488 Precautions 488 Using the Safe Disable Function 488 E QUICK REFERENCE SHEET 491 E 1 Drive and Motor Specifi...

Page 13: ...Preface General Safety This section provides safety messages pertinent to this product that if not heeded may result in fatality personal injury or equipment damage Yaskawa is not responsible for the...

Page 14: ...roduct Covers safety precautions model numbers and wiring for the drive It is meant to get the drive ready for a trial run with the application and for basic operation T1000A Series AC Drive Technical...

Page 15: ...ntent and presentation of the manual may be changed without notice to improve the product and or the manual When ordering a new copy of the manual due to damage or loss contact your Yaskawa representa...

Page 16: ...cure covers couplings shaft keys and machine loads before applying power to the drive Electrical Shock Hazard Do not attempt to modify or alter the drive in any way not explained in this manual Failur...

Page 17: ...d wait briefly before switching the power back on or operating the peripheral devices Check the wiring and the selection of peripheral devices to identify the cause Contact your supplier before restar...

Page 18: ...the motor immediately Some type of mechanical brake may be needed if it is necessary to halt the motor faster than the Fast Stop function is able to Options The B1 B2 1 2 and 3 terminals are used to c...

Page 19: ...wired so that it opens when a fault output terminal is triggered Avoid switching a magnetic contactor on the power supply side more frequently than once every 30 minutes Frequent switching can cause d...

Page 20: ...nous Motor Contact Yaskawa or your Yaskawa agent if you plan to use any other synchronous motor not endorsed by Yaskawa A single drive is not capable of running multiple synchronous motors at the same...

Page 21: ...coder is explosion proof too Use an insulating signal converter for connecting the encoder signal lines to the drives speed feedback option card Geared Motor To avoid gear damage when operating at low...

Page 22: ...er disconnecting power supply To conform to requirements make sure to ground the supply neutral for 400V class After opening the manual switch between the drive and motor please wait 5 minutes before...

Page 23: ...23 Receiving This chapter explains how to inspect the drive upon receipt and gives and overview of the different enclosure types and components 1 1 SECTION SAFETY 24 1 2 GENERAL DESCRIPTION 25 1 3 MO...

Page 24: ...CE Observe proper electrostatic discharge procedures ESD when handling the drive and circuit boards Failure to comply may result in ESD damage to the drive circuitry A motor connected to a PWM drive m...

Page 25: ...not set higher than 8 kHz 2 These values assume the carrier frequency is not set higher than 5 kHz 3 These values assume the carrier frequency is set to 2 kHz 2A0004 3 2 1 4A0002 1 8 1 0 75 2A0004 3...

Page 26: ...acity Application Specific Auto Tuning Energy Saving Tuning Termination resistor Energy Saving Tuning Termination resistor Rotational Stationary Termination resistor Rotational Stationary Termination...

Page 27: ...3 2 0006 1 1 6 0 0006 1 1 5 0010 2 2 9 6 0010 1 5 8 0012 3 0 12 0012 2 2 11 0021 5 5 21 0021 4 0 17 5 0030 7 5 30 0030 5 5 25 0040 11 40 0040 7 5 33 0056 15 56 0056 11 47 0069 18 5 69 0069 15 60 0081...

Page 28: ...1800 5 3 IP20 code C is available for the following drive models CIMR T 2A0169 through 0415 CIMR T 4A0139 through 0362 4 These units fulfill IP20 requirements but the wire bending space provided is lo...

Page 29: ...ltage Class Heatsink Cooled Drives Finless Drives Three Phase 200 V Class 2A0004B Not Available 2A0006B 2A0010B 2A0012B 2A0021B 2A0030B 2A0040B 2A0056B 2A0069B 2A0081B 2A0110B 2A0138B 2A0169C 2A0211C...

Page 30: ...Table 1 5 Exploded View of Drive Components CIMR T 2A0110C 1 The following drive models have a single cooling fan CIMR T 2A0021 CIMR T 4A0007 to 0011 Drives CIMR T 2A0004 to 0012 and CIMR T 4A0002 to...

Page 31: ...Terminal board connector H Protective cover to prevent miswiring B DIP switch S1 Refer to Terminal A2 Input Signal Selection on page 66 I Option card connector CN5 C C DIP switch S2 Refer to MEMOBUS...

Page 32: ...1 5 Component Names 32 YASKAWA ELECTRIC SIEP C710616 30B YASKAWA AC Drive T1000A Technical Manual...

Page 33: ...LECTRIC SIEP C710616 30B YASKAWA AC Drive T1000A Technical Manual 33 Mechanical Installation This chapter explains how to properly mount and install the drive 2 1 SECTION SAFETY 34 2 2 MECHANICAL INST...

Page 34: ...ure does not exceed 50 C Crush Hazard If using a crane or a lifter to transport the drive make sure that only qualified personnel are allowed operating Incorrect operation may cause the drive to sudde...

Page 35: ...ater than 100 meters pay special attention to the motor insulation voltage or use a drive rated motor with reinforced insulation Failure to comply could lead to motor winding failure Motor vibration m...

Page 36: ...Orientation and Spacing Install the drive upright as illustrated in Figure 2 1 to maintain proper cooling Figure 2 1 Figure 2 1 Correct Installation Orientation Environment Conditions Installation Are...

Page 37: ...to Figure 2 2 When mounting drives with the minimum clearance of 2 mm according to Figure 2 3 derating must be considered and parameter L8 35 must be set to 1 Refer to Temperature Derating on page 36...

Page 38: ...and Required Materials There are two ways the digital operator can be mounted to an enclosure 1 External face mount installs the operator outside the enclosure panel 2 Internal flush mount installs th...

Page 39: ...on Remove the temporary cover before startup as the cover will reduce ventilation and cause the drive to overheat External Face Mount 1 Cut an opening in the enclosure panel for the digital operator a...

Page 40: ...wn in Figure 2 9 2 Mount the digital operator to the installation support 3 Mount the installation support set and digital operator to the enclosure panel Figure 2 8 Figure 2 8 Internal Flush Mount In...

Page 41: ...ASKAWA AC Drive T1000A Technical Manual 41 Mechanical Installation 2 u Exterior and Mounting Dimensions n Heatsink Cooled Drives W1 H H1 H2 W D D1 t1 4 d Figure 1 H2 W1 H H0 H1 W D1 D t1 H3 4 d Figure...

Page 42: ...86 0360 504 1038 350 370 800 773 13 238 130 4 5 4 5 M12 105 0415 504 1038 350 370 800 773 13 238 130 4 5 4 5 M12 105 Drive Model CIMR T 4A Dimensions mm Figure W H D W1 H0 H1 H2 H3 D1 t1 t2 d Weight k...

Page 43: ...als motor and power supply 3 1 SECTION SAFETY 44 3 2 STANDARD CONNECTION DIAGRAM 46 3 3 MAIN CIRCUIT CONFIGURATIONS 48 3 4 TERMINAL BLOCK CONFIGURATION 49 3 5 TERMINAL COVER 50 3 6 DIGITAL OPERATOR AN...

Page 44: ...e to comply could result in death or serious injury Installation maintenance inspection and servicing must be performed only by authorized personnel familiar with installation adjustment and maintenan...

Page 45: ...ed cable for control wiring Failure to comply may cause electrical interference resulting in poor system performance Use shielded twisted pair wires and ground the shield to the ground terminal of the...

Page 46: ...set Multi speed step 1 Multi speed step 2 Baseblock Jog speed Multi function digtial inputs default setting Sink Source mode selection wire link default Sink CN5 C CN5 B CN5 A Option board connectors...

Page 47: ...bled L3 04 0 whenever using a regenerative converter a regenerative unit a braking resistor or the Braking Resistor Unit If left enabled the drive may not stop within the specified deceleration time 4...

Page 48: ...Table 3 1 Drive main circuit configurations CIMR T 2A0004 to 2A0081 CIMR T 4A0002 to 4A0044 CIMR T 2A0110 2A0138 CIMR T 4A0058 4A0072 Figure 3 2 Figure 3 4 CIMR T 2A0169 2A0211 CIMR T 4A0088 to 4A013...

Page 49: ...inal board design differs slightly for models CIMR T 2A0250 through 2A0415 and 4A0208 through 4A0362 R L1 S L2 T L3 B1 B2 U T1 V T2 W T3 1 2 U T1 V T2 W T3 1 2 R L1 S L2 T L3 B1 B2 S L2 T L3 U T1 V T2...

Page 50: ...minal cover and gently pull forward This should remove the terminal cover Figure 3 8 Figure 3 4 Removing the Terminal Cover n Reattaching the Terminal Cover Power lines and signal wiring should pass t...

Page 51: ...r larger drives Figure 3 10 Figure 3 6 Removing the Terminal Cover 2 Pull forward on the terminal cover to free it from the drive Figure 3 11 Figure 3 7 Removing the Terminal Cover n Reattaching the T...

Page 52: ...3 13 Figure 3 9 Removing the Digital Operator n Reattaching the Digital Operator Insert the digital operator into the opening in the top cover while aligning it with the notches on the left side of t...

Page 53: ...to 2A0081 and 4A0002 to 4A0044 Reverse the instructions given in Remove the Front Cover 2A0004 to 2A0081 and 4A0002 to 4A0044 on page 52 to reattach the front cover Pinch inwards on the hooks found o...

Page 54: ...other nonspecific devices to these terminals Consider the amount of voltage drop when selecting wire gauges Increase the wire gauge when the voltage drop is greater than 2 of motor rated voltage Ensu...

Page 55: ...T1 V T2 W T3 6 4 to 16 1 2 6 to 16 B1 B2 4 to 6 6 1 6 to 10 M5 2 to 2 5 17 7 to 22 1 2A0040 R L1 S L2 T L3 10 6 to 16 M4 1 2 to 1 5 10 6 to 13 3 U T1 V T2 W T3 10 6 to 16 1 2 16 B1 B2 4 to 6 10 6 to...

Page 56: ...70 to 150 M10 18 to 23 159 to 204 95 95 to 150 M12 32 to 40 283 to 354 2A0360 R L1 S L2 T L3 240 95 to 300 M12 32 to 40 283 to 354 U T1 V T2 W T3 240 95 to 300 1 125 to 300 3 70 to 300 M10 18 to 23 15...

Page 57: ...L2 T L3 16 16 to 25 M6 4 to 6 35 4 to 53 1 U T1 V T2 W T3 16 16 to 25 1 2 16 to 25 B1 B2 6 to 10 M5 2 to 2 5 17 7 to 22 1 16 10 to 16 M6 4 to 6 35 4 to 53 1 4A0058 R L1 S L2 T L3 16 10 to 16 M8 9 to...

Page 58: ...arallel with a fairly long motor cable Drive output current will increase as the leakage current from the cable increases An increase in leakage current may trigger an overcurrent situation and weaken...

Page 59: ...ould result in abnormal operation of drive or equipment Refer to Figure 3 15 when using multiple drives Do not loop the ground wire Figure 3 19 Figure 3 15 Multiple Drive Wiring n Wiring the Main Circ...

Page 60: ...nce S8 Multi function input 8 Baseblock SC Multi function input common Multi function input common SP Digital input power supply 24 Vdc 24 Vdc power supply for digital inputs 150 mA max if no digital...

Page 61: ...tput Zero Speed M4 M5 Multi function digital output Speed Agree 1 M6 Monitor Output MP Pulse train output Output frequency 32 kHz max 208 FM Analog monitor output 1 Output frequency 10 to 10 Vdc 0 to...

Page 62: ...ower supply UL standard when connecting to the control terminals Improper application of peripheral devices could result in drive performance degradation due to improper power supply NOTICE Insulate s...

Page 63: ...rd When setting the frequency by analog reference from an external potentiometer use shielded twisted pair wires treating wire ends as shown in Figure 3 21 and connect the shield to the ground termina...

Page 64: ...to Control I O Connections on page 65 for setting instructions Figure 3 27 Figure 3 22 Locations of Jumpers and Switches on the Terminal Board MA MB MC M1 M2 M5 M3 M6 M4 E G HC H1 H2 DM DM IG R R S S...

Page 65: ...ourcing Mode Selection for Safe Disable Inputs Use jumper S3 on the terminal board to select between Sink mode Source mode or external power supply for the Safe Disable inputs H1 and H2 as shown in Ta...

Page 66: ...voltage applied The voltage must be between 12 and 15 Vdc The load resistance must be adjusted so that the current is lower than 16 mA Figure 3 29 Figure 3 24 Pulse Output Connection Using External V...

Page 67: ...DIP switch S2 enables or disabled the termination resistor as shown in Table 3 18 The OFF position is the default The termination resistor should be placed to the ON position when the drive is the las...

Page 68: ...ing a USB 2 0 AB type cable sold separately DriveWizard Plus can then be used to monitor drive performance and manage parameter settings Contact Yaskawa for more information on DriveWizard Plus It is...

Page 69: ...when a fault such as overvoltage or undervoltage is triggered as soon as the Run command is entered when the drive is in the Programming mode and will not accept a Run command even when entered n Inte...

Page 70: ...C6 02 accordingly 58 13 Properly ground the drive Review page 59 59 14 Tightly fasten all terminal screws control circuit terminals grounding terminals Refer to Wire Gauges and Tightening Torque on p...

Page 71: ...how to program the drive for initial operation 4 1 SECTION SAFETY 72 4 2 USING THE DIGITAL OPERATOR 73 4 3 THE DRIVE AND PROGRAMMING MODES 77 4 4 START UP FLOWCHARTS 82 4 5 POWERING UP THE DRIVE 86 4...

Page 72: ...ction may include drives without covers or safety shields to illustrate details Be sure to reinstall covers or shields before operating the drives and run the drives according to the instructions desc...

Page 73: ...ating the motor flashes during deceleration to stop or when the frequency reference is 0 flashes quickly the drive is disabled by a DI the drive was stopped using a fast stop DI or a run command was a...

Page 74: ...6 F O X none 7 G P Y 8 H Q Z none Display Lit Flashing Off The drive has detected an alarm or error When an alarm occurs oPE detected When a fault or error occurs during Auto Tuning Normal state no f...

Page 75: ...l operator REMOTE During run During deceleration to stop When a Run command is input and frequency reference is 0 Hz While the drive is set for LOCAL a Run command was entered to the input terminals a...

Page 76: ...odes on page 77 XX XX XX XX XX XX XX XX XX XX XX XX 1 XX XX ALM DIGITAL OPERATOR JVOP 182 REV DRV FOUT DRV XX X XX XX XX X XX X XX XX Note XX characters are shown in this manual The drive will display...

Page 77: ...tor Display Description Power Up Frequency Reference default This display screen allows the user to monitor and change the frequency reference while the drive is running Refer to The Drive and Program...

Page 78: ...t requiring the ENTER key set o2 05 to 1 Programming Mode Verify Menu Lists all parameters that have been edited or changed from default settings Refer to Verifying Parameter Changes Verify Menu on pa...

Page 79: ...ich settings have been changed and is particularly useful when replacing a drive If no settings have been changed the Verify Menu will read The Verify Menu also allows users to quickly access and re e...

Page 80: ...mple Step Display Result 1 Turn on the power to the drive The initial display appears 2 Press or until the display shows the top of the Verify Menu 3 Press to enter the list of parameters that have be...

Page 81: ...un n Using the LO RE Key on the Digital Operator n Using Input Terminals S1 through S8 to Switch between LO RE The user can also switch between LOCAL and REMOTE modes using one of the digital input te...

Page 82: ...g an AC reactor or other such components to the output side of the drive Flowchart Subchart Objective Page A Basic startup procedure and motor tuning 82 A 1 Simple motor setup using V f mode 83 A 2 Hi...

Page 83: ...Search Perform Stationary Auto Tuning for Stator Resistance T1 01 2 NO YES Energy Savings b8 01 1 or Speed Estimation Speed Search b3 24 1 enabled when b3 01 1 or L2 01 1 2 Is the motor cable longer...

Page 84: ...will probably yield better control performance 3 Make sure the motor and load can run freely i e if a brake is mounted make sure it is released 4 ASR Gain Tuning automatically performs Inertia Tuning...

Page 85: ...If using a motor from another manufacturer enter FFFF 2 Make sure the motor and load can run freely i e if a brake is mounted make sure it is released 3 ASR Gain Tuning automatically performs Inertia...

Page 86: ...inals R L1 S L2 T L3 Check for proper grounding of drive and motor Drive output terminals and motor terminals Properly wire drive output terminals U T1 V T2 and W T3 with motor terminals U V and W Con...

Page 87: ...formed Motor and load can not be decoupled but the motor load is below 30 Rotational Auto Tuning gives the most accurate results and is therefore highly recommended if possible N A N A YES YES Station...

Page 88: ...m Should also be performed if the cable has changed after earlier tuning YES YES YES Z Pulse Offset Tuning T2 01 3 PG encoder has been replaced Calculates the Z pulse offset Requires the motor to rot...

Page 89: ...if installed Connected machinery should be allowed to rotate the motor n Notes on Stationary Auto Tuning Stationary Auto Tuning modes analyze motor characteristics by injecting current into the motor...

Page 90: ...motor and connected machinery are clear The drive will let the system rotate at a certain speed while superimposing a sine wave test signal Make sure this tuning process does not cause any problem or...

Page 91: ...on the load Failure to comply could result in improper operation of the drive Ensure the motor can freely spin before beginning Auto Tuning Enter the required information from the motor nameplate Pre...

Page 92: ...ng 4 Stationary Auto Tuning 2 Setting 8 Inertia Tuning Setting 9 ASR Gain Auto Tuning n T1 02 Motor Rated Power Sets the motor rated power according to the motor nameplate value Note The maximum appli...

Page 93: ...only be displayed in CLV n T1 09 Motor No Load Current Sets the no load current for the motor The default setting displayed is no load current that was automatically calculated from the output power...

Page 94: ...ing 8 Inertia Tuning 9 ASR Gain Auto Tuning 11 Back EMF Constant Tuning n T2 02 PM Motor Code Selection If the drive is operating a Yaskawa PM motor from the SMRA SSR1 or SST4 series enter the motor c...

Page 95: ...Inductance Enter the q axis inductance per motor phase No Name Setting Range Default T2 04 PM Motor Rated Power 0 00 to 650 00 kW Depending on o2 04 and C6 01 No Name Setting Range Default 1 The setti...

Page 96: ...motor rated current n T2 16 PG Number of Pulses Per Revolution for PM Motor Tuning Enter the number of pulses from the PG encoder per motor rotation Set the actual number of pulses for one full motor...

Page 97: ...e Note This value s number of decimal places depends on the drive model and the Heavy Normal duty selection in parameter C6 01 The value will have four decimal places 0 0001 kgm2 if the drive is set f...

Page 98: ...6 Hz Step Display Result 1 Turn on the power to the drive The initial display appears 2 Press the key to select LOCAL The LO RE light will turn on 3 Press to give the drive a Run command RUN will lig...

Page 99: ...ce Confirm that the Fast Stop circuit or mechanical safety measures operate correctly Be ready to press the STOP button in case of emergency n Checklist Before Operation The motor should rotate in the...

Page 100: ...ange Default Setting o2 03 User Parameter Default Value Lets the user create a set of default settings for a User Initialization 0 Saved Not set 1 Set Defaults Saves current parameter settings as the...

Page 101: ...tings Refer to the manual supplied with the LCD operator for instructions USB Copy Unit and CopyUnitManager The copy unit is an external option connected to the drive to copy parameter settings from o...

Page 102: ...ntegral time to C5 02 Perform ASR Tuning if possible 148 Open Loop Vector Control for PM A1 02 5 11 Perform Auto Tuning as described 94 Advanced Open Loop Vector Control for PM A1 02 6 12 Perform Auto...

Page 103: ...ents if the drive does not operate as expected Gain adjustment Set the maximum voltage current signal and adjust the analog input gain H3 03 for input A1 H3 11 for input A2 H3 07 for analog input A3 u...

Page 104: ...4 10 Test Run Checklist 104 YASKAWA ELECTRIC SIEP C710616 30B YASKAWA AC Drive T1000A Technical Manual...

Page 105: ...5 2 B APPLICATION 111 5 3 C TUNING 140 5 4 D REFERENCE SETTINGS 155 5 5 E MOTOR PARAMETERS 164 5 6 F OPTION SETTINGS 173 5 7 H TERMINAL FUNCTIONS 181 5 8 L PROTECTION FUNCTIONS 211 5 9 N SPECIAL ADJUS...

Page 106: ...tting 2 Advanced Access Level A and Setup Access Level S All parameters can be viewed and edited Notes on Parameter Access If the drive parameters are password protected by A1 04 and A1 05 parameters...

Page 107: ...nt torque applications Using High Frequency Injection a speed control range as high as 1 100 is possible Refer to Control Mode Selection on page 26 for details Setting 7 Closed Loop Vector Control for...

Page 108: ...set is 1234 An explanation follows on how to enter the password to unlock the parameters Table 5 2 Setting the Password for Parameter Lock No Parameter Name A1 00 Language Selection A1 02 Control Meth...

Page 109: ...to the User Parameters list by entering it into one of the A2 parameters If A1 01 is then set to 1 the access level can be restricted so that users can only set and refer to the specific parameters s...

Page 110: ...ally select the parameters listed in the User Parameter group set A2 33 to 0 Setting 1 Save history of recently viewed parameters By setting A2 33 to 1 all parameters that were recently edited will be...

Page 111: ...mple shown in Figure 5 1 for any other analog input terminals When using input A2 make sure DIP switch S1 is set for voltage input Current Input Input terminal A2 can accept a current input signal Ref...

Page 112: ...ce must be provided by a pulse train signal to terminal RP Follow the directions below to make sure the pulse signal is working properly Verifying Pulse Train is Working Properly Make sure that b1 01...

Page 113: ...he Run command is removed or when a Stop command is entered Setting 0 Ramp to stop When the Run command is removed the drive will decelerate the motor to stop The deceleration rate is determined by th...

Page 114: ...can be calculated by Figure 5 5 Figure 5 5 DC Injection Braking Time Depending on Output Frequency Note If an overcurrent oC fault occurs during DC Injection Braking to stop lengthen the minimum baseb...

Page 115: ...ce is lower than the minimum output frequency set in parameter E1 09 Setting 0 Follow the Frequency Reference The drive adjusts the motor speed following the speed reference even if the frequency refe...

Page 116: ...er E1 09 When the Run command is removed Zero Speed Control is activated for the time set in b2 04 even if it was already active before Figure 5 11 Figure 5 11 Zero Speed Control n b1 06 Digital Input...

Page 117: ...drive will not start or will stop operation if it was running before The Run command has to be cycled at the new source in order to start the drive again Setting 1 Accept Run command at the new sourc...

Page 118: ...gets ready for operation i e once the internal start up process is complete WARNING Sudden Movement Hazard If b1 17 is set to 1 and an external Run command is active during power up the motor will be...

Page 119: ...set to E1 09 n b2 02 DC Injection Braking Current Sets the DC Injection Braking current as a percentage of the drive rated current If set larger than 50 the carrier frequency is automatically reduced...

Page 120: ...a fair amount of noise b2 08 may need to be adjusted to keep noise levels acceptable n b2 10 DC Injection Braking Current 2 Set as a percentage of the drive rated current If b2 10 is greater than 50 t...

Page 121: ...elected by parameter b3 24 Speed Estimation and Current Detection Both methods are explained below then followed by a description of all relevant parameters n Current Detection Speed Search b3 24 0 Cu...

Page 122: ...ne motor Speed Estimation is executed in two steps as described below Step 1 Back EMF Voltage Estimation This method is used by Speed Search after short baseblock e g a power loss where the drive s CP...

Page 123: ...should be used in such situations Use Current Detection instead of Speed Estimation when operating motors smaller than 1 5 kW Speed Estimation can end up stopping smaller motors as it might not be abl...

Page 124: ...ge of the drive rated current Normally there is no need to change this setting If the drive has trouble restarting try lowering this value Note When parameter A1 02 0 V f Control the factory default s...

Page 125: ...1 Enabled The drive detects the motor rotation direction in order to restart the motor n b3 17 Speed Search Restart Current Level A large current can flow into the drive if there is a fairly large dif...

Page 126: ...arch restarts Increase the wait time if problems occur with overcurrent overvoltage or if the SEr fault occurs n b3 27 Start Speed Search Select Selects a condition to activate Speed Search Selection...

Page 127: ...control only an offset between the target and feedback remains n I Control The output of I control is the integral of the deviation It minimizes the offset between target and feedback value that typic...

Page 128: ...elow The differential feedback function is automatically enabled when a differential feedback input is assigned Table 5 10 PID Differential Feedback Sources Note A duplicate allocation of the PID diff...

Page 129: ...s Negative b5 18 1 Frequency Reference PID Target Reg 0Fh bit 1 PID Feedback 0 1 0 1 0 1 0 PID Soft Starter b5 17 PID SFS Cancel DI H1 34 PID Input U5 02 PID Feedback U5 01 b5 07 b5 10 PID Output Gain...

Page 130: ...ack n b5 03 Integral Time Setting I Sets the time constant that is used to calculate the integral of the PID input The smaller the integral time set to b5 03 the faster the offset will be eliminated I...

Page 131: ...irect acting Setting 1 Reverse Output A positive PID input causes a decrease in the PID output reverse acting n b5 10 PID Output Gain Setting Applies a gain to the PID output and can be helpful when t...

Page 132: ...ill be triggered if the PID feedback value is beyond the detection level set to b5 36 for longer than the times set to b5 37 Neither a fault nor an alarm is displayed on the digital operator The drive...

Page 133: ...tected n b5 37 PID Feedback High Detection Time Sets the time for that the PID feedback has to exceed b5 36 before feedback loss is detected n PID Sleep The PID Sleep function stops the drive when the...

Page 134: ...Using the PID acceleration deceleration time instead helps to avoid such problems The PID acceleration deceleration time can be canceled using a digital input programmed for PID SFS cancel H1 34 n b5...

Page 135: ...cy E1 04 Parameter b5 35 acts as a bipolar limit n b5 38 b5 39 PID Setpoint User Display PID Setpoint Display Digits When parameter b5 20 is set to 3 the parameters b5 38 and b5 39 can be used to set...

Page 136: ...ue for a set time then continue accelerating or decelerating Goal Tuning Procedure Result Overshoot must be suppressed Reduce the derivative time b5 05 increase the integral time b5 03 Quickly achieve...

Page 137: ...ons 2 As the performance of the Energy Saving function strongly depends on the accuracy of the motor data always perform Auto Tuning and make sure the motor data has been entered correctly before usin...

Page 138: ...6 Search Operation Voltage Limit V f V f w PG Sets the voltage limit for the optimal output voltage detection of Speed Search as a percentage of the motor rated voltage During the search operation the...

Page 139: ...lock 100 load for long periods as this can trigger a fault If such loads need to be held in place for long periods either make sure the current is less than 50 of the drive rated current during Zero S...

Page 140: ...7 shows an operation example for changing accel decel times The example below requires that the stopping method be set for Ramp to stop b1 03 0 Figure 5 27 Figure 5 27 Timing Diagram of Accel Decel Ti...

Page 141: ...n accel decel time settings See Refer to Switching Accel Decel Times by a Frequency Level on page 141 Note Setting C1 11 to 0 0 Hz disables this function n C1 09 Fast Stop Time Parameter C1 09 will se...

Page 142: ...or each section of the acceleration or deceleration Figure 5 29 explains how S curves are applied Figure 5 29 Figure 5 29 S Curve Timing Diagram FWD REV Operation Setting the S curve will increase the...

Page 143: ...0 Figure 5 30 Slip Compensation Limit n C3 04 Slip Compensation Selection during Regeneration Enables or disables slip compensation during regenerative operation When slip compensation during regenera...

Page 144: ...or Control slip compensation gain acts as an adaptable gain n C3 22 Motor 2 Slip Compensation Primary Delay Time Functions for motor 2 in the same way that C3 02 functions for motor 1 Refer to C3 02 S...

Page 145: ...is current and torque producing current q axis current separately Torque compensation affects the torque producing current only C4 01 works as a factor of the torque reference value that builds the to...

Page 146: ...anges in the load or at the end of acceleration with high inertia load Note If C4 06 is set to a relatively large value be sure to also increase the setting in n2 03 AFR Time Constant 2 proportionally...

Page 147: ...gher speed precision and faster response during acceleration or deceleration is required enable integral control during accel decel by setting parameter C5 12 to 1 Change the speed and make sure no ov...

Page 148: ...o F1 01 and the gear ratio in F1 12 and F1 13 Make sure the pulse signal from the encoder is set up properly Check monitor U6 04 and check if the ASR is working at its output limit setting of C5 05 If...

Page 149: ...order to minimize the speed deviation ASR Integral Time Tuning C5 02 C5 04 Determines how fast a continuous speed deviation problem is eliminated Too long of an integral time makes the speed control...

Page 150: ...on page 148 to solve such problems Setting 0 Disabled Integral operation occurs only during constant speed and not during acceleration or deceleration Setting 1 Enabled Integral operation is always en...

Page 151: ...entage of the rated load n C5 32 Integral Operation during Accel Decel for Motor 2 Functions for motor 2 in the same way that C5 12 functions for motor 1 Enables integral operation during acceleration...

Page 152: ...above the default value automatically lowers the drive s current rating Refer to Rated Current Depending on Carrier Frequency on page 358 Note The default setting for the carrier frequency differs ba...

Page 153: ...C6 05 is set lower than 7 C6 04 is disabled and the carrier frequency will be fixed to the value set in C6 03 n C6 06 PWM Method Determines how the drive should perform pulse width modulation Enabled...

Page 154: ...Rotational Auto Tuning is performed This parameter rarely requires adjustment but can be helpful solving problems with overcurrent when Auto Tuning a high frequency motor or a low impedance motor In...

Page 155: ...ep Speed 1 set b1 01 to 1 and when setting d1 01 Frequency Reference 1 to Multi Step Speed 1 set b1 01 to 0 No 1 The upper limit is determined by the maximum output frequency E1 04 and upper limit for...

Page 156: ...e multi step speed selection Table 5 16 Multi Step Speed Reference and Terminal Switch Combinations Figure 5 39 Figure 5 39 Preset Reference Timing Diagram Reference 1 The Jog frequency overrides what...

Page 157: ...nce multi step speed frequency reference or auxiliary frequency The drive will use the frequency reference set to d2 03 if a frequency reference below the main frequency reference is entered Set as a...

Page 158: ...Torque Reference Speed Limit and Torque Compensation Values Torque Control Reference Sources Input values for Torque Control can be set like explained in Table 5 17 Table 5 17 Torque Control Input Val...

Page 159: ...t terminal selected match the signal used Refer to H3 Multi Function Analog Inputs on page 201 for details on adjusting analog input signals Analog Option Card F2 01 0 H3 02 H3 10 or H3 06 14 1 The H3...

Page 160: ...An oPE15 alarm will be triggered if parameter d5 01 is set to 1 while H1 is set to 71 at the same time Figure 5 42 Figure 5 42 Speed Torque Control Switching Time n d5 01 Torque Control Selection Sett...

Page 161: ...set to 2 Refer to Speed Limitation and Speed Limit Bias on page 159 n d5 05 Speed Limit Bias Using d5 05 a bias can be applied to the speed limit value The bias is set as a percentage of the maximum...

Page 162: ...ening Level Sets the level to what the output voltage is reduced when Field Weakening is activated Set as percentage of the drive maximum output voltage n d6 02 Field Weakening Frequency Limit Sets th...

Page 163: ...r if multiple inputs are closed at the same time Note This function can be used to replace the Trim Control function H1 1C 1D of earlier Yaskawa drives Figure 5 43 illustrates the Offset frequency fun...

Page 164: ...ttern Selection This parameter can only be set to F n V f Pattern Settings E1 04 to E1 13 Using parameters E1 04 through E1 13 the user can either monitor the V f pattern values if set up a custom V f...

Page 165: ...selection in parameter C6 01 The value will have two decimal places 0 01 A if the drive is set for a Maximum Applicable Motor Capacity up to 11 kW refer to Table A 2 and Table A 3 and one decimal plac...

Page 166: ...s below E type insulation Multiply 0 92 times the resistance value listed on the test report at 75 C B type insulation Multiply 0 92 times the resistance value listed on the test report at 75 C F type...

Page 167: ...isted on the motor nameplate to calculate the rated slip Refer to the formula below then enter that value to E2 02 Motor rated slip rated frequency Hz base speed r min no of motor poles 120 Setting th...

Page 168: ...l Mode Selection Selects the control mode for motor 2 A control mode for PM motors cannot be selected for motor 2 Note 1 E3 01 dependant parameters are reset to the default settings when E3 01 is chan...

Page 169: ...nd one decimal place 0 1 A if the set Maximum Applicable Motor Capacity is higher than 11 kW 2 If the motor rated current in E4 01 is set lower than the motor no load current in E4 03 then a parameter...

Page 170: ...Rotational Auto Tuning and Stationary Auto Tuning 1 2 n E4 10 Motor 2 Iron Loss Sets the motor 2 iron loss in watts n E4 11 Motor 2 Rated Power Sets the motor 2 rated power If Auto Tuning completes su...

Page 171: ...ending on the motor code that has been selected n E5 02 Motor Rated Power Sets the rated power of the motor Determined by the value set to T2 04 during Stationary Auto Tuning for PM motors or by enter...

Page 172: ...tic axis and the Z pulse of the encoder connected This parameter is set during Parameter Auto Tuning for PM motors and during Z Pulse Tuning n E5 24 Motor Induction Voltage Constant 2 Ke Set the induc...

Page 173: ...etting should be used only under special circumstances n F1 03 F1 08 F1 09 Overspeed oS Operation Selection Detection Level Delay Time An overspeed error oS is triggered when the speed feedback exceed...

Page 174: ...denominator as shown below Example To have a ratio of 1 32 between the PG card pulse input and output set F1 06 032 n F1 12 F1 13 F1 33 F1 34 PG 1 PG 2 Gear Teeth 1 2 V f w PG only Sets the gear ratio...

Page 175: ...X3 card is disconnected Setting 0 Disabled Setting 1 Enabled n F1 21 F1 37 PG 1 PG 2 Signal Selection V f w PG only Determines whether the signal to the PG option card is single track or two track Set...

Page 176: ...from AI A3 can be set using parameters F2 02 and F2 03 n F2 02 F2 03 Analog Input Option Card Gain Bias Parameter F2 02 sets the gain and parameter F2 03 sets the bias for the AI A3 input signal when...

Page 177: ...to display the monitor gain for terminal V1 F4 02 Make sure that the voltage output is 100 of the monitor level selection for terminal V1 F4 01 2 Adjust the setting to parameter F4 02 accordingly whi...

Page 178: ...assigned by F5 01 through F5 08 u F6 Communication Option Card These parameters are to configure communication option cards and communication fault detection methods Some parameters apply to all commu...

Page 179: ...lti step speed inputs are treated when the NetRef command is set Setting 0 Multi step speed operation disabled If the NetRef command is selected multi step speed input frequency references are disable...

Page 180: ...rive T1000A Technical Manual u MECHATROLINK Parameters Parameters F6 20 through F6 26 set up the drive to operate on a MECHATROLINK network For details on parameter settings refer to the YASKAWA AC Dr...

Page 181: ...tting Function Page 0 3 wire sequence 182 31 PID integral hold 187 1 Local remote selection 182 34 PID soft starter cancel 187 2 External reference 1 2 selection 183 35 PID input level selection 187 3...

Page 182: ...NING The drive may start unexpectedly in reverse direction after power up if it is wired for 3 wire sequence but set up for 2 wire sequence default Make sure b1 17 is set to 0 drive does not accept a...

Page 183: ...witching and the motor coasts to stop During this time the alarm bb will flash on the digital operator to indicate baseblock When baseblock ends and a Run command is active the drive performs Speed Se...

Page 184: ...oPE03 alarm will occur when only one of the functions Up Down is programmed for a digital input 2 An oPE03 alarm will occur if the Up Down function is assigned to the terminals while another input is...

Page 185: ...ontact will close and the drive s output will shut off The motor then coasts to stop specific stopping methods can be selected for some faults such as L1 04 for motor overheat Once the Run command is...

Page 186: ...ck 4 It is not possible to switch between motors when using a PM motor If a digital output is programmed for Motor 2 selection H1 01 H1 02 or H1 03 1C motor will be selected when the output is closed...

Page 187: ...input for Integral Hold H1 0 31 the value of the integral component of the PID control is locked as long as the input is active The PID controller resumes integral operation from the hold value as soo...

Page 188: ...this input is enabled the drive uses the accel decel time setting as the time to accel decel to the set frequency reference not maximum frequency In this way motors in a line system can be accelerated...

Page 189: ...s function can be used to activate the KEB 1 function and detect power supply return If KEB is activated the drive uses the method selected in parameter S4 01 to perform KEB Note These inputs have no...

Page 190: ...Braking Setting 7E Forward reverse detection for V f Control with Simple PG Feedback When a digital input is programmed for this function the input determines the motor rotation direction for V f Cont...

Page 191: ...t Stop 199 14 User set speed agree 2 195 4E 1 Braking transistor fault rr 199 15 Frequency detection 3 196 4F 1 Braking resistor overheat rH 199 16 Frequency detection 4 196 50 Disturb Function Up 199...

Page 192: ...ency or motor speed CLV CLV PM rises above the detection level set in L4 01 plus the detection width set in L4 02 The terminal remains open until the output frequency or motor speed falls below the le...

Page 193: ...l be disregarded When the power is shut off During a fault When the drive s internal power supply has malfunctioned When a parameter setting error makes it impossible to run Although stopped an overvo...

Page 194: ...lt Output closes when a minor fault condition is present Setting 11 Fault reset command active Output closes whenever there is an attempt to reset a fault situation from the control circuit terminals...

Page 195: ...ection level L4 03 is a signed value detection works in the specified direction only Figure 5 61 Figure 5 61 User Set Speed Agree 2 Example with a Positive L3 04 Value Refer to L4 03 L4 04 Speed Agree...

Page 196: ...or speed CLV CLV PM is above the detection level set in L4 03 The terminal remains closed until the output frequency or motor speed falls below L4 03 minus the setting of L4 04 As the detection level...

Page 197: ...annot successfully restart within the number of attempts permitted by L5 01 then a fault will be triggered and the terminal set to 1E will open Refer to L5 Fault Restart on page 225 for details on aut...

Page 198: ...ect the status of a digital input configured as a Drive enable input H1 6A If that digital input closes then the digital output set for Drive enable will also close Setting 39 Watt hour pulse output O...

Page 199: ...ast Stop N O N C on page 185 Setting 4E Braking transistor fault rr Output closes if the drive s internal braking transistor reaches the overheat level Setting 4F Braking resistor overheat rH The brak...

Page 200: ...the frequency that pulses are issued to keep track of the kWh for the drive Note 1 A negative power output i e regeneration does not subtract from the total watt hours 2 The drive keeps track of the...

Page 201: ...ameter H3 04 sets the level of the selected input value that is equal to 0 V input at terminal A1 bias Both can be used to adjust the characteristics of the analog input signal to terminal A1 Setting...

Page 202: ...of the selected input value that is equal to 10 Vdc input at terminal A3 gain Parameter H3 08 sets the level of the selected input value that is equal to 0 V input at terminal A3 bias n H3 09 Terminal...

Page 203: ...table the longer the time programmed but it becomes less responsive to rapidly changing analog signals n H3 14 Analog Input Terminal Enable Selection When one of the multi function digital input param...

Page 204: ...Auxiliary reference 1 Sets the auxiliary frequency reference 1 when multi step speed operation is selected Refer to Multi Step Speed Selection on page 155 for details Setting 3 Auxiliary reference 2...

Page 205: ...nalog Input Terminal Setting 9 Output frequency lower limit level The user can adjust the lower limit of the output frequency using an analog input signal Setting B PID feedback An input set for this...

Page 206: ...Differential PID Feedback If an analog value is set for this function the PID controller is set for differential feedback The subtraction of the PID feedback input value and the differential feedback...

Page 207: ...when the drive is stopped Follow the procedure below Terminal FM 1 Use the digital operator to display the monitor gain for terminal FM H4 02 Make sure that the voltage output is 100 of the monitor l...

Page 208: ...rt terminals R R S S serial communication is possible using programmable logic controllers PLCs or similar devices running the MEMOBUS Modbus protocol The H5 parameters are used to set up the drive fo...

Page 209: ...ol to increase the speed control precision by using a motor speed feedback signal The drive reads the speed feedback from terminal RP compares it to the frequency reference and compensates the motor s...

Page 210: ...rs that can be selected by H6 06 appear in the table below n H6 07 Pulse Train Monitor Scaling Pulse train monitor scaling sets the output frequency at terminal MP when the specified monitor item is a...

Page 211: ...e 5 77 Figure 5 77 Example of Protection Circuit Design for Multiple Motors NOTICE Thermal protection cannot be provided when running multi motors simultaneously with the same drive or when using moto...

Page 212: ...load characteristics providing overheat protection across the entire speed range Overload Tolerance Cooling Ability Overload Characteristics Motor is designed to effectively cool itself even at low sp...

Page 213: ...ire speed range Overload Tolerance Cooling Ability Overload Characteristics Motor is designed to effectively cool itself at ultra low speeds about 0 2 of base speed Continuous operation with 100 load...

Page 214: ...using a general purpose motor operating at 50 Hz with L1 02 set to one minute During normal operation motor overload protection operates in the area between a cold start and a hot start Cold start Mot...

Page 215: ...nal will be output and the drive will stop the motor using the stop method determined in L1 04 Connect the PTC between terminals AC and A3 and set jumper S4 on the terminal board to PTC like shown in...

Page 216: ...ps the motor using the deceleration time 1 set in parameter C1 02 Setting 1 Coast to Stop The drive output is switched off and the motor coasts to stop Setting 2 Fast Stop The drive stops the motor us...

Page 217: ...t to accelerate back to frequency reference This parameter is valid when L2 01 1 or S4 01 2 Note 1 The amount of time the drive is capable of recovering after a power loss is determined by the capacit...

Page 218: ...n when accelerating with heavy loads Setting 0 Disabled No Stall Prevention is provided If the acceleration time is too short the drive may not be able to get the motor up to speed fast enough thus tr...

Page 219: ...L3 03 sets the lower limit for this reduction as a percentage of the drive rated current Figure 5 83 Figure 5 83 Stall Prevention Level and Limit During Acceleration n L3 22 Deceleration Time at Stal...

Page 220: ...the application consider using a braking option Figure 5 84 illustrates the function of Stall Prevention during deceleration Figure 5 84 Figure 5 84 Stall Prevention During Deceleration Setting 2 Int...

Page 221: ...runs at the set frequency reference A heavy load may cause the motor to stall and trip the drive with an oC or oL fault Setting 1 Decelerate using C1 02 If the current exceeds the Stall Prevention le...

Page 222: ...d The regenerative torque limit and the output frequency are not adjusted A regenerative load may trip the drive with an overvoltage fault Use this setting if braking options are installed Setting 1 E...

Page 223: ...the frequency reference drops below 10 of the reference before or below 5 of the maximum output frequency within 400 ms Figure 5 85 Figure 5 85 Loss of Reference Function To have a digital output tri...

Page 224: ...determine frequency agree Setting 1 Use the motor speed to determine frequency agree The setting of L4 08 affects the other drive functions listed below Conditions for overtorque undertorque detection...

Page 225: ...t in L5 01 the operation stops and the fault has to be reset manually after correcting the cause The restart counter is incremented at each restart attempt regardless of whether the attempt was succes...

Page 226: ...nnected machinery Use the torque detection for this purpose Use undertorque detection to discover application problems Figure 5 86 and Figure 5 87 show the function of overtorque and undertorque detec...

Page 227: ...works as long as the Run command is active The operation continues after detection and a UL3 or UL4 alarm is triggered Setting 7 UL3 UL4 at Speed Agree Fault Undertorque detection is active only when...

Page 228: ...l other quadrants Figure 5 88 Figure 5 88 Torque Limit Parameters and Analog Input Settings n L7 01 to L7 04 Torque Limits These parameters set the torque limits in each operation mode The value is se...

Page 229: ...Resistor Protection Selection ERF type This parameter selects the dynamic braking resistor protection when using an optional heatsink mounted braking resistor ERF type 3 ED Setting 0 Disabled Disable...

Page 230: ...pacitor deterioration Detection is disabled if The drive is decelerating No Run command is active Output current is less than or equal to 30 of the drive rated current n L8 07 Output Phase Loss Protec...

Page 231: ...cs Selection at Low Speeds Selects whether the drive overload capability oL fault detection level is reduced at low speeds in order to prevent premature output transistor failures Note Contact Yaskawa...

Page 232: ...t unbalance protection is provided to the motor Setting 1 Enabled The LF2 fault is triggered if an output current imbalance is detected Drive output shuts off and the motor coasts to stop n L8 32 Main...

Page 233: ...Hz when the current exceeds 100 of the drive rated current The drive returns to its normal carrier frequency when the current falls below 88 or the output frequency exceeds 7 Hz Setting 2 Enabled for...

Page 234: ...bled The following models come with a built in braking transistor CIMR T 2A0004 to 2A0138 CIMR T 4A0002 to 4A0072 Enable L8 55 when connecting a braking resistor or a braking resistor unit to the driv...

Page 235: ...01 1 decrease the gain by 0 1 until the stalling ceases n n1 03 Hunting Prevention Time Constant Determines how responsive the Hunting Prevention function is affects the primary delay time for Hunting...

Page 236: ...ses make sure the motor temperature does not exceed the maximum allowable value or consider using a braking resistor option instead During Overexcitation Deceleration 2 Hunting Prevention in V f Contr...

Page 237: ...overexcitation gain Parameter n3 21 is set as a percentage of the drive rated current This parameter should be set to a relatively low value to optimize deceleration If overcurrent oL1 or oL2 occur du...

Page 238: ...by Inertia Auto Tuning If Inertia Auto Tuning cannot be performed use one of the methods below to determine the setting value for this parameter Calculation The motor acceleration time can be calculat...

Page 239: ...t takes to reach the set speed taccel 7 Reverse the parameter settings above and calculate the set value for parameter n5 03 using the formula below u n6 Online Tuning Online Tuning prevents loss from...

Page 240: ...r internal speed feedback detection control Although this setting rarely needs to be changed adjustment may be necessary under the following conditions Increase this setting if motor oscillation or hu...

Page 241: ...s at low speed Increase the value in steps of 0 1 when hunting occurs with sudden load changes Try to disable the compensation by setting n8 51 0 if increasing n8 54 does not help Increase the value w...

Page 242: ...parameter is available in OLV PM AOLV PM and CLV PM n n8 65 Speed Feedback Detection Control Gain during ov Suppression Sets the gain for internal speed feedback detection control when overvoltage su...

Page 243: ...g these parameters the drive output voltage can be adjusted n n9 10 AVR Time Constant Sets the delay time constant that is used to adjust the output voltage when the DC bus voltage changes n n9 12 On...

Page 244: ...ing 5 User selected monitor set by o1 01 n o1 03 Digital Operator Display Selection Sets the units used to display the frequency reference and output frequency Set o1 03 to 3 for user set units then s...

Page 245: ...g between LOCAL and REMOTE Setting 0 Disabled The LO RE key is disabled Setting 1 Enabled The LO RE switches between LOCAL and REMOTE operation Switching is possible during stop only When LOCAL is sel...

Page 246: ...Values All user set defaults for User Initialize are cleared Once o2 03 is set to 2 and the ENTER key is pressed the values are erased and the display returns to 0 n o2 04 Drive Model Selection This p...

Page 247: ...f the digital operator and easily transfer those settings to other drives requires that the other drives be the same model capacity and have the same control mode setting See Copy Function Related Dis...

Page 248: ...intenance which is displayed in U4 04 Be sure to reset this parameter back to 0 if the cooling fan is replaced Note 1 The value in o4 03 increases after every 10 hours of use A setting of 30 will set...

Page 249: ...11 are not initialized when power is shut off or the drive is initialized Use o4 12 to manually reset them Setting 0 No Action The kWh data are kept as they are Setting 1 Reset kWh Data Resets the kW...

Page 250: ...ed A multi function input terminal set for the Disturb command H1 50 must be open The drive must use V f Control to run the motor A1 02 0 Conditions that Stop the Disturb Function Any one of the condi...

Page 251: ...Gain Settings Independent of the frequency reference source selected this function applies a gain to the frequency reference value A gain change ramp can be used in order to avoid speed steps when th...

Page 252: ...ps the drive running through a momentary loss in power Once power is restored the drive will reaccelerate to the frequency reference or continue to decelerate to a complete stop depending on the S4 14...

Page 253: ...on might end before the supply power has been restored Set S4 11 S4 03 1 35 E1 01 DC Bus Voltage Control KEB 1 Power KEB KEB 3 Below Figure 5 93 demonstrates how KEB 1 and KEB 3 operate The KEB functi...

Page 254: ...to activate the synchronous accel decel provided by KEB 2 KEB 2 decelerates the drive using the deceleration time set in S5 01 and S5 02 This deceleration time is referred as the time needed to decel...

Page 255: ...0 n S4 01 KEB Mode Selection Determines which of the three types of KEB to use To have the drive perform KEB itself i e using its own independent deceleration rate then use KEB 1 or KEB 3 by setting S...

Page 256: ...centage of E1 01 1 414 Setting 1 Set as a Percentage of the DC Bus Voltage Before KEB was Triggered n S4 03 KEB Start Voltage Determines the voltage level in the DC bus that will trigger KEB Sets the...

Page 257: ...cted the drive attempts to keep the DC bus voltage at the target voltage defined in S4 11 multiplied by E1 01 Note 1 This parameter is disabled when KEB 2 is enabled 2 S4 06 must be set to higher valu...

Page 258: ...the KEB function starts the drive decelerates the motor according to KEB Decel Time 1 S5 01 When the output frequency reaches the switching level set to S5 03 it changes the deceleration time over to...

Page 259: ...f Uv is detected right after power loss deceleration n S5 08 Frequency Gain at KEB Start during Acceleration Sets the output frequency reduction step applied when power loss is detected during acceler...

Page 260: ...ion time can be calculated using the formula below Use the following formula to find the rated torque n S6 03 Load Inertia Ratio Enter the ratio between the inertia of the load and the inertia of the...

Page 261: ...then gradually reduce S6 05 in steps of 0 05 For problems with overvoltage or overcurrent reduce the value set to S6 05 If the calculation gain set to S6 05 is too low the drive may be sluggish in su...

Page 262: ...as soon as the motor is done coasting Once the motor is done coasting the drive will apply the motor speed detection value if the value detected is less than S9 06 plus the previous value u T Motor Tu...

Page 263: ...these monitor values Note Fault trace i e the fault history is not kept when CPF00 CPF01 Uv1 Uv2 occur u U3 Fault History These parameters display faults that have occurred during operation as well a...

Page 264: ...efer to Figure 5 32 on page 146 and Figure 5 33 on page 147 for details and an illustration showing where monitors are located in the ASR block The offset value added to the frequency reference by the...

Page 265: ...ter can also serve as a reference guide for tuning the drive during a trial run 6 1 SECTION SAFETY 266 6 2 MOTOR PERFORMANCE FINE TUNING 268 6 3 DRIVE ALARMS FAULTS AND ERRORS 272 6 4 FAULT DETECTION...

Page 266: ...turned off After shutting off the power wait for at least the amount of time specified on the drive before touching any components Do not allow unqualified personnel to perform work on the drive Fail...

Page 267: ...e unshielded cable for control wiring Failure to comply may cause electrical interference resulting in poor system performance Use shielded twisted pair wires and ground the shield to the ground termi...

Page 268: ...otor hunting and oscillation with a relatively light load decrease the setting 1 00 0 50 to 1 50 Poor motor torque at low speeds Motor instability at motor start Mid Output Voltage A E1 08 Minimum Out...

Page 269: ...1 08 11 0 V 2 E1 10 2 0 V 2 Default setting 2 V 1 Default setting value is dependent on parameter A1 02 Control Method Selection and o2 04 Drive Model Selection 2 Default settings change when the Cont...

Page 270: ...ements of 0 2 s Pull In Current n8 48 Increase the pull in current in n8 48 30 Increase in increments of 5 Load Inertia Ratio n8 55 Increase the load inertia ratio 0 Close to the actual load inertia r...

Page 271: ...or stall makes normal operation impossible Motor parameters E1 E5 Check the motor parameter settings Overshoot or undershoot at speed changes with high inertia load Feed Forward Control n5 01 Inertia...

Page 272: ...lashes The drive generally continues running the motor although some alarms allow the user to select a stopping method when the alarm occurs One of the multi function contact outputs closes if set to...

Page 273: ...Conversion Error 277 oFb02 Option Card Fault CN5 B 283 CPF03 Control Board Connection Error 278 oFb03 oFb11 Option Card Error CN5 B 283 CPF06 EEPROM Memory Data Error 278 CPF07 CPF08 Terminal Board Co...

Page 274: ...vercurrent 282 UL3 Undertorque Detection 1 288 oFA00 Option Card Connection Error CN5 A 282 UL4 Undertorque Detection 2 288 oFA01 Option Card Fault CN5 A 282 Uv1 Undervoltage 288 oFA02 Option Card Fau...

Page 275: ...Mode Fault YES 294 TrPC IGBT Maintenance Time 90 YES 294 UL3 Undertorque 1 YES 294 UL4 Undertorque 2 YES 294 Uv Undervoltage YES 2 294 voF Output Voltage Detection Fault YES 294 1 Output when H2 2F 2...

Page 276: ...que Saturation Error 300 Er 01 Motor Data Error 298 Er 16 Inertia ID Error 300 Er 02 Alarm 299 Er 17 Reverse Prohibited Error 300 Er 03 STOP button Input 299 Er 18 Induction Voltage Error 300 Er 04 Li...

Page 277: ...Display Fault Name CE MEMOBUS Modbus Communication Error Control data was not received for the CE detection time set to H5 09 Cause Possible Solution Faulty communications wiring or a short circuit ex...

Page 278: ...oard contact Yaskawa or your nearest sales representative Digital Operator Display Fault Name or 1 CPF20 and CPF21 Control Circuit Error Cause Possible Solution Hardware is damaged Cycle power to the...

Page 279: ...the Z pulse offset An external force on the load side has caused the motor to move Make sure the motor is rotating in the right direction Look for any problems on the load side that might be causing...

Page 280: ...ns on replacing the control board contact Yaskawa or your nearest sales representative Digital Operator Display Fault Name FAn Internal Fan Fault Fan or magnetic contactor failed Cause Possible Soluti...

Page 281: ...nd motor capacities An output transistor is damaged Replace either the control board or the entire drive For instructions on replacing the control board contact Yaskawa or your nearest sales represent...

Page 282: ...and reduce the value of n3 13 Overexcitation Deceleration Gain Run command applied while motor was coasting Enable Speed Search at start b3 01 1 Program the Speed Search command input through one of...

Page 283: ...tions on replacing the control board contact Yaskawa or your nearest sales representative Digital Operator Display Fault Name oFC00 Option Card Connection Error at Option Port CN5 C Option compatibili...

Page 284: ...ce at low speeds Check the motor rated current Enter the motor rated current as indicated on the motor nameplate E2 01 Ensure the motor cooling system is operating normally Repair or replace the motor...

Page 285: ...of parameters L6 02 and L6 03 Fault on the machine side e g machine is locked up Check the status of the load Remove the cause of the fault Digital Operator Display Fault Name oL4 Overtorque Detectio...

Page 286: ...gain for PM motors n8 45 and the time constant for pull in current n8 47 Digital Operator Display Fault Name PF Input Phase Loss Drive input power has an open phase or has a large imbalance of voltage...

Page 287: ...esistance and replace the motor if continuity is detected The cable is damaged and is coming into contact with something causing a short circuit Check the motor power cable and repair any short circui...

Page 288: ...rol board contact Yaskawa or your nearest sales representative Check monitor U4 06 for the performance life of the soft charge bypass Replace either the control board or the entire drive if U4 06 exce...

Page 289: ...roller side Use surge absorbers on magnetic contactors or other equipment causing the disturbance Use recommended cables or some other type of shielded line Ground the shield to the controller side or...

Page 290: ...or Display Minor Fault Name EF Forward Reverse Run Command Input Error Both forward run and reverse run closed simultaneously for over 0 5 s Cause Possible Solutions Sequence error Check the forward a...

Page 291: ...channels are open Cause Possible Solutions Both Safe Disable Inputs H1 and H2 are open Check signal status at the input terminals H1 and H2 Check the Sink Source Selection for the digital inputs If t...

Page 292: ...as indicated in the manual Refer to Installation Orientation and Spacing on page 36 Allow for the specified space and ensure that there is sufficient circulation around the control panel Check for dus...

Page 293: ...ASS MEMOBUS Modbus Comm Test Mode Complete Cause Possible Solutions MEMOBUS Modbus test has finished normally This verifies that the test was successful Digital Operator Display Minor Fault Name PF In...

Page 294: ...C bus voltage is under L2 05 Note The alarm output H2 10 will not be triggered when the drive is in KEB deceleration Cause Possible Solutions Phase loss in the drive input power Check for wiring error...

Page 295: ...ctions Two of the following functions are set at the same time Up Down Command 10 vs 11 Hold Accel Decel Stop A Offset Frequency 1 2 3 Calculations 44 45 46 Check if contradictory settings have been a...

Page 296: ...play Error Name oPE08 Parameter Selection Error A function has been set that cannot be used in the motor control method selected Cause Possible Solutions Attempted to use a function available only in...

Page 297: ...ssion Function Selection 1 Enabled S1 01 Disturb Function Selection 0 Disabled Correct the parameter settings The following functions are set at the same time b3 24 Speed Search Method Selection 3 Syn...

Page 298: ...g range assigning the iron core saturation coefficient E2 07 E2 08 a temporary value Check and correct faulty motor wiring Disconnect the motor from machine and perform Rotational Auto Tuning Digital...

Page 299: ...is lower than 30 If a mechanical brake is installed make sure it is fully lifted during tuning Digital Operator Display Error Name Er 08 Rated Slip Error Cause Possible Solutions Motor data entered d...

Page 300: ...Er 16 Inertia Detection Error Cause Possible Solutions The inertia identified by the drive was abnormally small or abnormally large during Inertia Tuning First try reducing the test signal amplitude...

Page 301: ...sk CPyE Error Writing Data Cause Possible Solutions Failed writing parameters Try writing parameters again Digital Operator Display Task CSEr Copy Unit Error Cause Possible Solutions Hardware fault Re...

Page 302: ...ed from and the drive you performing the Verify mode on have different electrical specifications or are a different capacity Make sure electrical specifications and capacities are the same for both dr...

Page 303: ...fault occurred such as the frequency current and voltage can be found in U2 03 through U2 20 Refer to Viewing Fault Trace Data After Fault on page 303 for information on how to view fault data 2 When...

Page 304: ...be cleared After the Fault Occurs Procedure Fix the cause of the fault restart the drive and reset the fault With the fault displayed on the digital operator screen press on the digital operator Rese...

Page 305: ...ected Machinery Vibrates When Motor Rotates Unexpected Noise from Connected Machinery 309 Oscillation or Hunting 309 PID Output Fault 309 Insufficient Starting Torque 309 Motor Rotates After the Drive...

Page 306: ...A2 is used check DIP switch S1 parameter H3 08 If terminal A3 is used check parameter H3 08 Refer to Terminal A2 Input Signal Selection on page 66 Selection for the sink source mode and the internal e...

Page 307: ...urges can reach up to three times the drive input power supply voltage 600 V for 200 V class and 1200 V for 400 V class Use a motor with a voltage tolerance higher than the max voltage surge Use a mot...

Page 308: ...or input A3 Set these parameters to the appropriate values A frequency bias signal is being entered via analog input terminals A1 to A3 If more than one of multi function analog inputs A1 to A3 is set...

Page 309: ...too low when using PID control Refer to b5 PID Control on page 127 for details The frequency reference is assigned to an external source and the signal is noisy Ensure that noise is not affecting the...

Page 310: ...es too high at low speeds the carrier frequency is automatically reduced and causes a whining or buzzing sound If the sound is coming from the motor disable carrier frequency derating L8 38 0 Disablin...

Page 311: ...Maintenance This chapter describes the periodic inspection and maintenance of the drive to ensure that it receives the proper care to maintain overall performance 7 1 SECTION SAFETY 312 7 2 INSPECTIO...

Page 312: ...ds to show details Be sure to reinstall covers or shields before operating the drives and run the drives according to the instructions described in this manual Always ground the motor side grounding t...

Page 313: ...maximum useful product life replace both cooling fans when performing maintenance Never connect or disconnect the motor from the drive while the drive is outputting voltage Improper equipment sequenci...

Page 314: ...mance life out of the electrolytic capacitors and circuit relays refrain from switching the drive power supply off and on more than once every 30 minutes Frequent use can damage the drive Use the driv...

Page 315: ...commended daily inspection for Yaskawa drives Check the following items on a daily basis to avoid premature deterioration in performance or product failure Copy this checklist and mark the Checked col...

Page 316: ...contactors or circuit board Braking Resistors Inspect for discoloration of heat stress on or around resistors Minor discoloration may be acceptable If discoloration exists check for loose connections...

Page 317: ...enance Monitors The drive calculates the maintenance period for components that may require replacement during the life of the drive A percentage of the maintenance period is displayed on the digital...

Page 318: ...have been replaced the Maintenance Monitor function will continue to count down the performance life from the value that was reached with the old part If the Maintenance Monitor is not reset the driv...

Page 319: ...eplacement cooling fans or circulation fans as required For drives with multiple cooling fans replace all the fans when performing maintenance to ensure maximum product performance life u Number of Fa...

Page 320: ...e power supply is turned off After shutting off the power wait for at least the amount of time specified on the drive before touching any components CAUTION Burn Hazard Do not touch a hot drive heatsi...

Page 321: ...result in minor or moderate injury Shut off the power to the drive when replacing the cooling fan To prevent burns wait at least 15 minutes and ensure the heatsink has cooled down NOTICE Prevent Equip...

Page 322: ...e properly connected then place the cable back into the recess of the drive Figure 7 6 Figure 7 5 Cooling Fan Power Supply Connectors 2A0021 to 2A0081 4A0007 to 4A0044 3 While pressing in on the hooks...

Page 323: ...lacing the cooling fan To prevent burns wait at least 15 minutes and ensure the heatsink has cooled down NOTICE Prevent Equipment Damage Follow cooling fan and circulation fan replacement instructions...

Page 324: ...e drive Figure 7 11 Figure 7 10 Installing the Cooling Fan 2A0110 and 2A0138 4A0058 and 4A0072 4 Angle the fan cover so the back end tilts up Slide the cover into the small opening towards the front o...

Page 325: ...d on the drive before touching any components CAUTION Burn Hazard Do not touch a hot drive heatsink Failure to comply could result in minor or moderate injury Shut off the power to the drive when repl...

Page 326: ...Cooling Fan 4A0088 and 4A0103 2 Make sure the power lines for the fan are properly connected then place the power supply connectors and cable back into the recess of the drive Figure 7 17 Figure 7 16...

Page 327: ...ny components CAUTION Burn Hazard Do not touch a hot drive heatsink Failure to comply could result in minor or moderate injury Shut off the power to the drive when replacing the cooling fan To prevent...

Page 328: ...an Unit 2A0169 and 2A0211 4A0139 and 4A0165 4 Remove the fan guard and replace the cooling fans Note Make sure the fan cable does not get pinched between parts when reassembling the fan unit Figure 7...

Page 329: ...tive tube does not stick out beyond the fan guard n Cooling Fan Wiring 2A0250 2A0312 and 4A0208 1 Position the protective tube so that the fan connector sits in the center of the protective tube 2 Pla...

Page 330: ...to ensure that it is properly connected 5 Reattach the cable cover to its original position and tighten the screws so that the fan guard holds the cable cover in place Note Make sure the fan cable do...

Page 331: ...drive are have different capacities the data stored in the terminal board cannot be transferred to the new drive and an oPE01 error will appear on the display The terminal board can still be used but...

Page 332: ...roken options to prevent immediate break down of the replacement drive 1 Remove the terminal cover Figure 7 28 Figure 7 27 Drive Replacement Removing the Terminal Cover 2 Loosen the screws holding the...

Page 333: ...nt Installing the Terminal Board 2 Reconnect all options to the new drive in the same way they were installed in the old drive Connect option boards to the same option ports in the new drive that were...

Page 334: ...7 5 Drive Replacement 334 YASKAWA ELECTRIC SIEP C710616 30B YASKAWA AC Drive T1000A Technical Manual...

Page 335: ...Devices Options This chapter explains the installation of peripheral devices and options available for the drive 8 1 SECTION SAFETY 336 8 2 DRIVE OPTIONS AND PERIPHERAL DEVICES 338 8 3 CONNECTING PER...

Page 336: ...not remove covers or touch circuit boards while the power is on Failure to comply could result in death or serious injury Do not allow unqualified personnel to perform work on the drive Failure to com...

Page 337: ...itry Never connect or disconnect the motor from the drive while the drive is outputting voltage Improper equipment sequencing could result in damage to the drive When a fuse blows or if drive power ha...

Page 338: ...ion digital outputs Photocoupler relays 6 48 V up to 50 mA Contact relays 2 250 Vac up to 1 A 30 Vdc up to 1 A Motor Speed Feedback Option Cards Complementary PG PG B3 For speed feedback input by conn...

Page 339: ...y in units CIMR T 2A0004 to 0138 and CIMR T 4A0002 to 0072 3 When using an external braking chopper in drives from CIMR T 2A0004 to 0138 and CIMR T 4A0002 to 0072 connect the chopper to drive terminal...

Page 340: ...use the application to operate incorrectly or damage the drive Use the procedure described below when installing option cards to the drive 1 Shut off power to the drive wait the appropriate amount of...

Page 341: ...to the manual delivered with the option card When installing option cards to drive models CIMR T 2A0004 through 0040 and to models CIMR T 4A0002 through 0023 the cables connected to the option might...

Page 342: ...to decelerate the load in the desired time Ensure that the braking circuit can dissipate the energy for the set deceleration time prior to running the drive 2 Disable the drive s internal braking tra...

Page 343: ...o switch off the drive in case of braking resistor overheat n Braking Resistor Overload Protection If using a braking resistor option a sequence such as the one shown in Figure 8 7 should be set up to...

Page 344: ...rload protection Consider the following when selecting and installing a MCCB The capacity of the MCCB should be 1 5 to 2 times the rated output current of the drive Use a MCCB with an operation charac...

Page 345: ...ontactors to the output motor circuits without proper sequencing Improper sequencing of output motor circuits could result in damage to the drive NOTICE Install a MC on the input side of the drive whe...

Page 346: ...must be installed if no DC reactor is used Refer to Figure 8 12 for an example of DC reactor wiring Figure 8 12 Figure 8 12 Connecting a DC Reactor u Connecting a Noise Filter n Reducing Radiated Con...

Page 347: ...back into the power supply This also prevents noise from entering the drive from the power supply Use a noise filter specifically designed for AC drives Install the noise filter as close as possible...

Page 348: ...iated noise Figure 8 15 illustrates an example of output side noise filter wiring NOTICE Do not connect phase advancing capacitors or LC RC noise filters to the output circuits Improper application of...

Page 349: ...3 Input Fuses Model CIMR T Fuse Type Manufacturer Bussmann Model Fuse Ampere Rating Three Phase 200 V Class 2A0004 FWH 70B 70 2A0006 FWH 70B 70 2A0010 FWH 70B 70 2A0012 FWH 70B 70 2A0021 FWH 90B 90 2A...

Page 350: ...tion and Motor Thermal oL Relays Generally thermal relays are applied on general purpose motors When general purpose motors are driven by AC drives the motor current is approximately 5 to 10 greater t...

Page 351: ...Drive T1000A Technical Manual 351 Specifications A 1 HEAVY DUTY AND NORMAL DUTY RATINGS 352 A 2 THREE PHASE 200 V CLASS DRIVES 353 A 3 THREE PHASE 400 V CLASS DRIVES 354 A 4 DRIVE SPECIFICATIONS 355 A...

Page 352: ...and output current overload capacity carrier frequency and current limit The default setting is for HD C6 01 0 Setting Parameter C6 01 1 Refer to Three Phase 200 V Class Drives on page 353 and Three...

Page 353: ...1 HD Rating 0 55 1 1 1 5 2 2 4 0 5 5 7 5 11 15 18 5 22 30 37 45 55 75 90 110 ND Rating 0 75 1 1 2 2 3 5 5 7 5 11 15 18 5 22 30 37 45 55 75 90 110 110 Input Input Current A 2 HD Rating 2 9 5 8 7 5 11...

Page 354: ...D Rating 0 75 1 5 2 2 3 3 7 5 5 7 5 11 15 18 5 22 30 37 45 55 75 90 110 132 160 185 Input Input Current A 2 HD Rating 1 8 3 2 4 4 6 8 2 10 4 15 20 29 39 44 43 58 71 86 105 142 170 207 248 300 ND Ratin...

Page 355: ...ics User selected programs and V f preset patterns possible Main Control Functions Torque Control Speed torque Control Switching Feed Forward Control Zero Servo Function Momentary Power Loss Ride Thru...

Page 356: ...ue refers to the torque required to decelerate the motor uncoupled from the load from the rated motor speed down to zero in the shortest time 5 Actual specifications may vary according to motor charac...

Page 357: ...1514 466 1980 250 1764 594 2358 2A0312 283 2 1936 588 2524 312 2020 665 2686 2A0360 346 2 2564 783 3347 360 2698 894 3591 2A0415 415 3 2672 954 3626 415 2672 954 3626 Model Number CIMR T 1 These value...

Page 358: ...Hz 2 kHz 8 kHZ 15 kHz 2 kHz 8 kHZ 15 kHz 2A0004 3 2 3 2 2 56 3 5 3 2 2 56 4A0002 1 8 1 8 1 1 2 1 1 8 1 1 2A0006 5 5 4 6 5 4 4A0004 3 4 3 4 2 4 1 3 4 2 2A0010 8 8 6 4 9 6 8 6 4 4A0005 4 8 4 8 2 9 5 4 4...

Page 359: ...y Derating CIMR T 2A0004 to 2A0138 Figure A 2 Figure A 2 Carrier Frequency Derating CIMR T 2A0169 to 2A0415 Figure A 3 Figure A 3 Carrier Frequency Derating CIMR T 4A0002 to 4A0103 Figure A 4 Figure A...

Page 360: ...A 5 Ambient Temperature and Installation Method Derating L8 35 0 Side by Side mounting Drive operation between 10 C and 30 C allows 100 continuous current without derating Operation between 30 C and 5...

Page 361: ...C and 40 C allows 100 continuous current without derating Operation between 40 C and 45 C requires output current derating Figure A 8 Figure A 8 Ambient Temperature and Installation Method Derating L8...

Page 362: ...A 6 Drive Derating Data 362 YASKAWA ELECTRIC SIEP C710616 30B YASKAWA AC Drive T1000A Technical Manual...

Page 363: ...of all parameters and settings available in the drive B 1 UNDERSTANDING THE PARAMETER TABLE 364 B 2 PARAMETER GROUPS 365 B 3 PARAMETER TABLE 367 B 4 PARAMETER DEFAULTS DETERMINED BY CONTROL MODE A1 02...

Page 364: ...s accessible in all control modes Parameter is available when operating the drive with V f Control Parameter is available when operating the drive with V f with PG Control Parameter is available when...

Page 365: ...Automatic Speed Regulator ASR 375 C6 Carrier Frequency 377 d1 Frequency Reference 378 d2 Frequency Upper Lower Limits 378 d5 Torque Control 378 d6 Field Weakening and Field Forcing 379 d7 Offset Freq...

Page 366: ...uning 405 n8 PM Motor Control Tuning 405 n9 Hardware Settings 405 o1 Digital Operator Display Selection 407 o2 Digital Operator Keypad Functions 407 o3 Copy Function 408 o4 Maintenance Monitor Setting...

Page 367: ...d Loop Vector Control 5 Open Loop Vector Control for PM 6 Advanced Open Loop Vector Control for PM 7 Closed Loop Vector Control for PM Default 0 Min 0 Max 7 106 A1 03 103H Initialize Parameters 0 No i...

Page 368: ...mmediately for quick response 1 Input is read twice and processed only if the status is the same in both readings robust against noisy signals Default 1 Min 0 Max 1 116 b1 07 186H LOCAL REMOTE Run Sel...

Page 369: ...23 Default 0 50 s 34 Min 0 00 s Max 25 50 s 121 b2 18 177H Short Circuit Braking Current Determines the current level for Short Circuit Braking Set as a percentage of the motor rated current Default 1...

Page 370: ...0 Triggered when a Run command is issued normal 1 Triggered when an external baseblock is released Default 0 Min 0 Max 1 126 9 Default setting value varies by the drive model o2 04 24 Default setting...

Page 371: ...output only No fault detection when PID control is disabled 4 Fault detection Alarm is triggered and drive continues to run Fault detection even when PID is disabled 5 Fault detection Drive output shu...

Page 372: ...ode A1 02 No Addr Name Description Setting Page b6 01 1B6H 34 Default setting is determined by the control mode A1 02 Dwell Reference at Start Parameters b6 01 and b6 02 set the frequency to hold and...

Page 373: ...setting is determined by the control mode A1 02 No Addr Name Description Setting Page b9 01 1DAH Zero Servo Gain Sets the position loop gain for the Zero Servo function Default 5 Min 0 Max 100 139 b9...

Page 374: ...lip Compensation Primary Delay Time Adjusts the slip compensation function delay time used for motor 1 Default 34 Min 0 ms Max 10000 ms 143 C3 03 211H Slip Compensation Limit Sets an upper limit for t...

Page 375: ...ts the torque compensation time 2 Default 150 ms Min 0 ms Max 10000 ms 146 C4 07 341H Motor 2 Torque Compensation Gain Sets the torque compensation gain used for motor 2 Default 1 00 Min 0 00 Max 2 50...

Page 376: ...10 000 s 150 C5 25 35AH Motor 2 ASR Limit Sets the upper limit for the speed control loop ASR for motor 2 as a percentage of the maximum output frequency E3 04 Default 5 0 Min 0 0 Max 20 0 151 C5 26...

Page 377: ...ncy 2 kHz Swing PWM default Default 0 Min 0 Max 1 152 C6 02 224H Carrier Frequency Selection 1 2 0 kHz 2 5 0 kHz 4 0 Hz 3 8 0 kHz 6 0 Hz 4 10 0 kHz 8 0 Hz 5 12 5 kHz 10 0 Hz 6 15 0 kHz 12 0 Hz F User...

Page 378: ...eference Sets the Jog frequency reference Setting units are determined by parameter o1 03 Default 6 00 Hz Min 0 00 Hz Max 400 00 Hz 11 40 155 No Addr Name Description Setting Page d2 01 289H Frequency...

Page 379: ...0 162 d6 02 2A1H Field Weakening Frequency Limit Sets the lower limit of the frequency range where Field Weakening control is valid The Field Weakening command is valid only at frequencies above this...

Page 380: ...le only in the following control modes V f Control V f with PG Open Loop Vector E1 11 E1 12 and E 13 are available only in the following control modes V f Control V f with PG Open Loop Vector Closed L...

Page 381: ...167 E2 10 317H Motor Iron Loss for Torque Compensation Sets the motor iron loss Default 24 Min 0 W Max 65535 W 167 E2 11 318H Motor Rated Power Sets the motor rated power in kilowatts 1 HP 0 746 kW A...

Page 382: ...12 Motor 2 Mid Output Frequency Voltage 2 are set to 0 25 Default setting is determined by the control mode for motor 2 E3 01 No Addr Name Description Setting Page E4 01 321H Motor 2 Rated Current Se...

Page 383: ...ere changed manually will be overwritten by the defaults of the selected motor code Note Set to FFFF when using a non Yaskawa PM motor or a special motor Default 19 24 34 Min 0000 Max FFFF 37 171 E5 0...

Page 384: ...ion ratio becomes 1 x yz If only using the A pulse for one track input then the input ratio will be 1 1 regardless of what F1 06 is set to Default 1 Min 1 Max 132 174 F1 08 387H Overspeed Detection Le...

Page 385: ...d of the PG option card 2 installed to port CN5 B By setting xyz the division ratio becomes 1 x yz Default 1 Min 1 Max 132 174 F1 36 3B5H PG Option Card Disconnect Detection 2 0 Disabled 1 Enabled Def...

Page 386: ...inal V1 Set this parameter to the last three digits of the desired U monitor Some U parameters are available only in certain control modes Default 102 Min 000 Max 999 177 F4 02 392H Terminal V1 Monito...

Page 387: ...op Decelerate to stop using the deceleration time in C1 02 1 Coast to stop 2 Fast Stop Decelerate to stop using the deceleration time in C1 09 3 Alarm only Default 1 Min 0 Max 3 178 F6 02 3A3H Externa...

Page 388: ...minal S3 Function Selection Default 24 Min 0 Max 7E 181 H1 04 401H Multi Function Digital Input Terminal S4 Function Selection Default 14 Min 0 Max 7E 181 H1 05 402H Multi Function Digital Input Termi...

Page 389: ...al closes and decelerates when the Down command closes When both terminals are closed or both are open the drive holds the frequency reference The Up and Down commands must always be used in conjuncti...

Page 390: ...election Closed Inverts the PID input signal 187 40 Forward run command 2 wire sequence Open Stop Closed Forward run Note Cannot be set together with settings 42 or 43 187 41 Reverse run command 2 wir...

Page 391: ...189 71 Speed Torque Control Switch Open Speed Control Closed Torque Control 190 72 Zero Servo Closed Zero Servo enabled 190 77 ASR gain switch Open ASR proportional gain 1 C5 01 Closed ASR proportiona...

Page 392: ...sed Output frequency is less than or equal to the value in L4 01 with hysteresis determined by L4 02 192 5 Frequency detection 2 Closed Output frequency is greater than or equal to the value in L4 01...

Page 393: ...restart is performed 197 1F Motor overload alarm oL1 Closed oL1 is at 10 of its trip point or greater An oH3 situation also triggers this alarm 197 20 Drive overheat pre alarm oH Closed Heatsink tempe...

Page 394: ...d Disturb waveform is active Open Disturb waveform is not being output 199 52 Uv during KEB Closed DC bus voltage has fallen below L2 05 during KEB 199 60 Internal cooling fan alarm Closed Internal co...

Page 395: ...oise filtering Default 0 03 s Min 0 00 s Max 2 00 s 203 H3 14 41CH Analog Input Terminal Enable Selection Determines which of the analog input terminals will be enabled when a digital input programmed...

Page 396: ...ated torque 206 15 General torque limit 10 V Motor rated torque 206 16 Differential PID feedback 10 V 100 206 1F Through mode Set this value when using the terminal in the pass through mode 206 41 Out...

Page 397: ...Addr Name Description Setting Page H5 01 425H 20 Drive Node Address Selects drive station node number address for MEMOBUS Modbus terminals R R S S Cycle power for the setting to take effect Default 1...

Page 398: ...10 s Min 0 00 s Max 2 00 s 210 H6 06 431H Pulse Train Monitor Selection Select the pulse train monitor output function value of the part of U Example To select U5 01 set 501 Note Set this value as 000...

Page 399: ...arch or during DC Injection Braking Default 24 Min 0 1 s Max 5 0 s 217 L2 04 488H Momentary Power Loss Voltage Recovery Ramp Time Sets the time for the output voltage to return to the preset V f patte...

Page 400: ...ion level to activate Stall Prevention Default 50 ms Min 0 ms Max 5000 ms 222 4 The upper limit of the setting range is determined by the values set to C6 01 and L8 38 15 Values shown here are for 200...

Page 401: ...y active during speed agree operation continues after detection 2 oL3 detection always active during run operation continues after detection 3 oL3 detection only active during speed agree output shuts...

Page 402: ...lection 0 Ramp to stop A fault is triggered 1 Coast to stop A fault is triggered 2 Fast Stop Decelerate to stop using the deceleration time in C1 09 A fault is triggered 3 Continue operation An alarm...

Page 403: ...233 L8 41 4F2H High Current Alarm Selection 0 Disabled 1 Enabled An alarm is triggered at output currents above 150 of the drives rated current Default 0 Min 0 Max 1 233 L8 46 4FAH AVR Function Selec...

Page 404: ...w decrease the set value Default 1 00 Min 0 00 Max 10 00 235 n2 02 585H Speed Feedback Detection Control AFR Time Constant 1 Sets the time constant used for speed feedback detection control AFR Defaul...

Page 405: ...35 562H Initial Rotor Position Detection Selection 0 Pull in 1 High frequency injection 2 Pulse injection Default 1 Min 0 Max 2 240 n8 45 538H Speed Feedback Detection Control Gain Increase this sett...

Page 406: ...lt value Default 1 00 Min 0 00 Max 20 00 242 n8 84 2D3H Polarity Judge Current Sets the current to determine polarity for the initial polarity calculation as a percentage of the motor rated current De...

Page 407: ...y o1 11 sets the position of the decimal position Default 8 Min 1 Max 60000 245 o1 11 521H User Set Display Units Decimal Display Default 8 Min 0 Max 3 245 No Addr Name Description Setting Page o2 01...

Page 408: ...0 Max 150 248 o4 07 523H DC Bus Pre charge Relay Maintenance Setting Sets the value of the Maintenance Monitor for the soft charge bypass relay See U4 06 to check when the bypass relay may need to be...

Page 409: ...s the drive uses to change the output voltage gain set in parameter H3 41 Output Voltage Gain or in MEMOBUS register 03H Default 0 5 s Min 0 0 s Max 10 0 s 252 No Addr Name Description Setting Page S4...

Page 410: ...tion circuit detects that the AC supply voltage has been lost 0 Disabled 1 Enabled Default 1 Min 0 Max 1 258 15 Values shown here are for 200 V class drives Double the value when using a 400 V class d...

Page 411: ...hen S6 02 will automatically be set to the value of a Yaskawa 4 pole motor Default 7 21 24 Min 0 001 s Max 10 000 s 260 S6 03 6D2H Load Inertia Ratio Enter the ratio between the inertia of the load an...

Page 412: ...lt 50 0 Hz Min 0 0 Hz Max 400 0 Hz 93 T1 06 706H Number of Motor Poles Sets the number of motor poles as specified on the motor nameplate Default 4 Min 2 Max 48 93 T1 07 707H Rated Speed Sets the rate...

Page 413: ...in 0 00 kW Max 650 00 kW 95 T2 05 732H PM Motor Rated Voltage Enter the motor rated voltage as indicated on the motor nameplate Default 200 0 V 15 Min 0 0 V Max 255 0 V 15 95 T2 06 733H PM Motor Rated...

Page 414: ...ng value is dependent on the drive model set to o2 04 and the Drive Duty set to C6 01 33 Displayed only when performing Inertia Tuning or ASR Gain Auto Tuning T1 01 9 or T2 01 9 Name Description Setti...

Page 415: ...ty kW 41 36 U1 09 48H Torque Reference Monitors the internal torque reference 10 V Motor rated torque 0 1 U1 10 49H Input Terminal Status Displays the input terminal status No signal output available...

Page 416: ...nalog input card AI A3 10 V 100 0 1 U1 24 7DH Input Pulse Monitor Displays the frequency to pulse train input terminal RP Determined by H6 02 1 Hz U1 25 4DH Software Number Flash FLASH ID No signal ou...

Page 417: ...1 Vdc U2 09 88H Output Power at Previous Fault Displays the output power at the previous fault No signal output available 0 1 kW U2 10 89H Torque Reference at Previous Fault Displays the torque refer...

Page 418: ...ing 65535 No signal output available 1 Time U4 03 67H Cooling Fan Operation Time Displays the cumulative operation time of the cooling fan The default value for the fan operation time is reset in para...

Page 419: ...ft on when switching from LOCAL to REMOTE operation 03 Waiting for soft charge bypass contactor after power up Uv or Uv1 flashes after 10 s 04 Waiting for Run command prohibited time period to end 05...

Page 420: ...ase Compensation Displays the degree of forward phase correction after calculating the deviation of cmp 10 V 180 deg 10 V 180 deg 0 1 deg U6 10 7C1H Control Axis Deviation Displays the amount of devia...

Page 421: ...e the value when using a 400 V class drive Name Description Analog Output Level Unit Page U9 01 820H KEB Start Voltage DC bus voltage value used as KEB trigger level No signal output available 1 Vdc U...

Page 422: ...p Compensation Gain 0 0 to 2 5 0 1 0 0 1 0 1 0 C3 02 Slip Compensation Primary Delay Time 0 to 10000 1 ms 2000 200 C4 01 Torque Compensation Gain 0 00 to 2 50 0 01 1 00 1 00 1 00 C4 02 Torque Compensa...

Page 423: ...lection 0 to 1 1 1 b8 02 Energy Saving Gain 0 0 to 10 0 0 1 b8 03 Energy Saving Control Filter Time Constant 0 00 to 10 00 0 01 s C1 11 Accel Decel Time Switching Frequency 0 0 to 400 0 2 0 1 0 0 Hz 0...

Page 424: ...oportional Gain 2 0 00 to 300 00 0 01 0 02 20 00 C5 24 Motor 2 ASR Integral Time 2 0 000 to 10 000 0 001 s 0 050 0 500 E3 04 Motor 2 Maximum Output Frequency 40 0 to 400 0 0 1 Hz 50 0 50 0 50 0 50 0 E...

Page 425: ...gm2 0 0015 0 0028 0 0028 0 0068 0 0068 0 0088 C6 02 Carrier Frequency Selection 1 1 1 1 1 1 E2 01 E4 01 Motor Rated Current A 1 9 3 3 3 3 4 9 6 2 8 5 E2 02 E4 02 Motor Rated Slip Hz 2 9 2 5 2 5 2 6 2...

Page 426: ...S6 02 Motor Acceleration Time s 0 145 0 145 0 154 0 168 0 168 0 175 No Name Unit Default Settings Model CIMR T 2A0040 2A0056 2A0069 2A0081 C6 01 Drive Duty Selection HD ND HD ND HD ND HD ND 0 1 0 1 0...

Page 427: ...n9 12 On Delay Compensation Time s 2 2 2 2 2 2 2 2 S6 01 DC Bus Capacity F 5800 5800 9400 9400 8000 8000 9600 9600 S6 02 Motor Acceleration Time s 0 355 0 323 0 323 0 32 0 32 0 387 0 387 0 317 No Nam...

Page 428: ...145 0 145 0 145 n9 12 On Delay Compensation Time s 1 5 1 5 1 5 1 5 1 7 1 7 1 7 1 7 S6 01 DC Bus Capacity F 250 250 250 250 250 250 375 375 S6 02 Motor Acceleration Time s 0 178 0 142 0 142 0 166 0 16...

Page 429: ...1300 1300 1700 1700 S6 02 Motor Acceleration Time s 0 265 0 244 0 244 0 317 0 317 0 355 0 355 0 323 No Name Unit Default Settings Model CIMR T 4A0072 4A0088 4A0103 4A0139 4A0165 C6 01 Drive Duty Sele...

Page 430: ...1 4 1 4 1 38 1 38 1 35 1 35 1 3 E2 03 E4 03 Motor No Load Current A 40 49 49 58 58 70 70 81 E2 05 E4 05 Motor Line to Line Resistance 0 056 0 046 0 046 0 035 0 035 0 029 0 029 0 025 E2 06 E4 06 Motor...

Page 431: ...20 120 120 120 E1 05 Maximum Voltage V 200 0 200 0 200 0 200 0 200 0 E1 06 Base Frequency Hz 120 120 120 120 120 E1 09 Minimum Output Frequency Hz 6 6 6 6 6 C5 17 Motor Inertia kgm2 0 0007 0 0014 0 00...

Page 432: ...3 40 2 45 2 18 1 71 1 35 0 99 0 83 0 79 0 44 E5 07 Motor q Axis Inductance mH 64 10 29 89 20 41 13 50 10 02 7 43 5 91 3 91 3 11 2 55 2 05 1 82 1 28 1 01 0 97 0 56 E5 09 Motor Induction Voltage Constan...

Page 433: ...083 0 077 0 084 0 102 0 103 n8 49 d Axis Current for High Efficiency Control 8 6 11 5 10 3 19 8 8 5 11 0 18 6 12 5 15 5 17 9 S6 02 1 Motor Acceleration Time s 0 092 0 076 0 051 0 066 0 075 0 083 0 07...

Page 434: ...2 53 1 98 1 75 1 48 1 04 0 87 E5 07 Motor q Axis Inductance mH 41 74 34 30 20 15 14 77 9 81 7 74 7 66 4 65 3 84 3 01 2 60 2 17 1 70 1 31 1 10 E5 09 Motor Induction Voltage Constant 1 mVs rad 264 3 269...

Page 435: ...ion Time s 0 098 0 071 0 066 0 087 0 085 0 072 0 084 0 096 0 085 0 082 n8 49 d Axis Current for High Efficiency Control 6 6 9 2 13 5 12 1 13 7 10 1 12 2 15 5 15 1 16 0 S6 02 1 Motor Acceleration Time...

Page 436: ...96 3 83 3 33 2 38 2 04 1 53 1 16 E5 07 Motor q Axis Inductance mH 63 21 40 24 24 38 15 35 11 86 14 06 8 55 6 12 4 65 4 50 3 15 2 86 2 27 1 54 E5 09 Motor Induction Voltage Constant 1 mVs rad 320 4 32...

Page 437: ...90 0 067 0 072 0 088 0 073 0 062 n8 49 d Axis Current for High Efficiency Control 8 8 9 9 9 3 10 0 12 8 12 3 15 3 16 7 14 9 S6 02 1 Motor Acceleration Time s 0 062 0 044 0 080 0 090 0 067 0 072 0 088...

Page 438: ...3 59 2 67 1 98 1 69 1 31 0 88 0 77 0 55 0 40 E5 07 Motor q Axis Inductance mH 32 50 15 72 11 96 9 63 6 42 6 74 4 66 4 32 3 10 2 41 2 12 1 61 1 14 1 04 0 69 0 50 E5 09 Motor Induction Voltage Constant...

Page 439: ...121 0 081 0 075 0 082 0 099 0 101 0 096 0 126 n8 49 d Axis Current for High Efficiency Control 7 5 8 5 9 8 8 2 9 1 13 1 9 2 12 4 15 1 14 3 15 3 11 3 S6 02 1 Motor Acceleration Time s 0 134 0 099 0 094...

Page 440: ...0 139 0 083 0 070 0 082 0 092 n8 49 d Axis Current for High Efficiency Control 7 5 9 4 13 9 10 0 15 0 17 9 22 7 20 5 S6 02 1 Motor Acceleration Time s 0 092 0 068 0 125 0 139 0 083 0 070 0 082 0 092 N...

Page 441: ...81 0 118 n8 49 d Axis Current for High Efficiency Control 9 5 9 4 13 7 10 0 12 9 19 9 22 8 19 8 14 5 16 1 11 8 S6 02 1 Motor Acceleration Time s 0 092 0 068 0 125 0 139 0 083 0 070 0 082 0 092 0 083 0...

Page 442: ...78 0 088 0 066 0 070 0 085 0 071 n8 49 d Axis Current for High Efficiency Control 8 4 11 0 10 7 10 7 9 4 22 5 22 2 16 7 S6 02 1 Motor Acceleration Time s 0 080 0 081 0 078 0 088 0 066 0 070 0 085 0 07...

Page 443: ...0 081 0 078 0 088 0 066 0 070 0 085 0 071 0 061 0 091 0 090 n8 49 d Axis Current for High Efficiency Control 8 4 11 0 9 9 9 0 11 4 23 2 22 1 16 7 20 2 15 2 27 7 S6 02 1 Motor Acceleration Time s 0 080...

Page 444: ...B 6 Parameter Defaults Determined by Motor Code E5 01 444 YASKAWA ELECTRIC SIEP C710616 30B YASKAWA AC Drive T1000A Technical Manual...

Page 445: ...ON 446 C 2 COMMUNICATION SPECIFICATIONS 447 C 3 CONNECTING TO A NETWORK 448 C 4 MEMOBUS MODBUS SETUP PARAMETERS 450 C 5 DRIVE OPERATIONS BY MEMOBUS MODBUS 453 C 6 COMMUNICATIONS TIMING 454 C 7 MESSAGE...

Page 446: ...s The drive has slave functionality only meaning that serial communication is normally initiated from the master and responded to by the slaves The master performs serial communications with only one...

Page 447: ...ications appear in the following table Item Specifications Interface RS 422 RS 485 Communications Cycle Asynchronous Start stop synchronization Communication Parameters Communication Speeds Available...

Page 448: ...ram below 2 Check or set the termination resistor selection at all slaves Use the description in Network Termination on page 449 for slaves that are T1000A drives 3 Switch the power on 4 Set the param...

Page 449: ...e RS 485 interface u Network Termination The two ends of the MEMOBUS Modbus network line have to be terminated The drive has a built in termination resistor that can be enabled or disabled using DIP s...

Page 450: ...enable the new setting n H5 03 Communication Parity Selection Sets the parity used for MEMOBUS Modbus communications Note After changing this parameter the power must be cycled to enable the new sett...

Page 451: ...his setting with point to point RS 422 communications Setting 1 Enabled RTS switches while sending Use this setting when using the RS 485 signals for communications or when using the RS 422 signals fo...

Page 452: ...meter value changes become effective immediately without the need to send an Enter command n H5 12 Run Command Method Selection Selects the type of sequence used when the Run command source is set to...

Page 453: ...he input terminals S1 to S8 and from MEMOBUS Modbus communications are both linked by an OR operation u Controlling the Drive To start and stop the drive or set the frequency reference using MEMOBUS M...

Page 454: ...a certain amount of time the master should try resending the message u Response Messages from Drive to Master If the drive receives a command from the master it will process the data received and wai...

Page 455: ...ses a CRC 16 cyclic redundancy check checksum method for checking data validity Use the procedure described below when calculating the CRC 16 checksum for command data or when verifying response data...

Page 456: ...10 0000 0000 0001 XOR result 1110 0000 1001 1111 XOR result 1101 1111 1111 1111 Shift 2 0111 0000 0100 1111 1 Shift 2 0110 1111 1111 1111 1 XOR w A001H 1010 0000 0000 0001 XOR w A001H 1010 0000 0000 0...

Page 457: ...owing table shows a message example when performing a loopback test with the slave 1 drive Command Message Response Message normal Response Message fault Slave Address 02H Slave Address 02H Slave Addr...

Page 458: ...ce of 60 0 Hz for the slave 1 drive If parameter values are changed using the Write command depending on the setting of H5 11 an Enter command will be necessary to activate the data or save them Refer...

Page 459: ...unsigned 0003H Output Voltage Gain 0 1 units Setting Range 20 2 0 to 2000 200 0 default at power up 1000 100 0 0004H Torque Reference Torque Limit 0 1 units signed 0005H Torque Compensation 0 1 units...

Page 460: ...oL1 Overtorque Detection 1 2 oL3 oL4 Undertorque Detection 1 2 UL3 UL4 bit A PG Disconnected PGo PG Hardware Fault PGoH Overspeed oS Excessive Speed Deviation dEv bit B Main Circuit Undervoltage Uv bi...

Page 461: ...bit 1 Zero Speed bit 2 Speed Agree bit 3 User Speed Agree bit 4 Frequency Detection 1 bit 5 Frequency Detection 2 bit 6 Drive Ready bit 7 During Undervoltage bit 8 During Baseblock bit 9 Frequency Re...

Page 462: ...97H Used for monitors U2 U3 Refer to U Monitors on page 414 for parameter details and Refer to Fault Trace Contents on page 468 for register value descriptions 0098H High Word of Accumulated Operation...

Page 463: ...Phase Loss LF bit C Motor Overheat PTC input oH3 bit D Digital Operator Connection Fault oPr bit E EEPROM Write Error Err bit F Motor Overheat Fault PTC input oH4 00C2H Fault Contents 5 bit 0 MEMOBUS...

Page 464: ...ult oPr bit 3 MEMOBUS Modbus Communication Error CE bit 4 Option Communication Error bUS bit 5 Serial Communication Transmission Error CALL bit 6 Motor Overload oL1 bit 7 Drive Overload oL2 bit 8 Rese...

Page 465: ...PF18 bit 3 Control Circuit Fault CPF19 bit 4 Hardware fault at power up CPF20 bit 5 Hardware fault at communication start up CPF21 bit 6 A D Conversion Fault CPF22 bit 7 PWM Feedback Fault CPF23 bit 8...

Page 466: ...eserved 00DCH oFb0x Contents CN5 B bit 0 Option compatibility error oFb00 bit 1 Option not properly connected oFb01 bit 2 Same type of option card already connected oFb02 bit 3 4 Reserved bit 5 A D Co...

Page 467: ...or response oFC37 bit 8 Control Command Selection Error oFC38 bit 9 Drive timeout waiting for response oFC39 bit A Control Response Selection 1 Error oFC40 bit B Drive timeout waiting for response oFC...

Page 468: ...0114H Drive Receive Frame Error oFA13 001DH Motor Overheat PTC input oH3 0115H Drive Receive Abort Error oFA14 001EH Digital Operator Connection oPr 0116H Option Receive CRC Error oFA15 001FH EEPROM W...

Page 469: ...m Code Fault Name 0001H Undervoltage Uv 0020H MEMOBUS Modbus Test Mode Fault SE 0002H Overvoltage ov 0022H Motor Overheat oH3 0003H Heatsink Overheat oH 0027H PID Feedback Loss FbL 0004H Drive Overhea...

Page 470: ...he Enter command was set up in the older drive H5 11 determines if an Enter command is needed or not in order to activate parameter changes in the drive If upgrading from a G7 or F7 series drive to an...

Page 471: ...ction Code Error Attempted to set a function code from a PLC other than 03H 08H and 10H 02H Register Number Error A register number specified in the command message does not exist Attempted to send a...

Page 472: ...rm safe level 1 Turn on the power to the drive 2 Note the present terminal S6 function selection setting H1 06 and set it for the communications test mode H1 06 67 3 Turn off the power to the drive Fi...

Page 473: ...AC Drive T1000A Technical Manual 473 Standards Compliance This appendix explains the guidelines and criteria for maintaining CE and UL standards D 1 SECTION SAFETY 474 D 2 EUROPEAN STANDARDS 476 D 3...

Page 474: ...ully discharged Failure to comply could result in death or serious injury Before wiring terminals disconnect all power to the equipment The internal capacitor remains charged even after the power supp...

Page 475: ...d result in damage to the drive Do not use unshielded wire for control wiring Failure to comply may cause electrical interference resulting in poor system performance Use shielded twisted pair wires a...

Page 476: ...of the user to ensure compliance with CE standards After setting up the device verify that conditions meet European standards u CE Low Voltage Directive Compliance This drive has been tested accordin...

Page 477: ...ut side specified by Yaskawa for compliance with European standards 2 Place the drive and EMC noise filter in the same enclosure 3 Use braided shield cable for the drive and motor wiring or run the wi...

Page 478: ...Compliance Three Phase 200 V 400 V Class A Ground the cable shield G Motor B Enclosure panel H Cable clamp C Metal plate I Ground plate scrape off any visible paint D Grounding surface remove any pai...

Page 479: ...3 141 330 46 115 313 1 2A0012 2A0021 FS5972 35 07 35 2 1 206 355 50 175 336 1 2A0030 2A0040 FS5972 60 07 60 4 0 236 408 65 205 390 1 2A0056 2A0069 FS5972 100 35 100 3 4 90 330 150 65 255 2 2A0081 2A01...

Page 480: ...ZSN 1234567 01 0840R ZSN first connect to earth ZSN High leakage current L3 L2 L1 LOAD LOAD PE Recommended torque 26 30Nm PE 15 17Nm L1 L2 L3 ZSN FS5972 250 37 250A 45 C 25 100 21 ZSN 3x480 275V 50 60...

Page 481: ...rimp terminals when wiring the drive main circuit terminals on models CIMR T 2A0110 to 2A0415 and 4A0058 to 4A0362 Use only the tools recommended by the terminal manufacturer for crimping The wire gau...

Page 482: ...L2 T L3 35 25 to 50 M8 9 to 11 79 7 to 97 4 U T1 V T2 W T3 35 25 to 50 1 35 to 50 B1 B2 16 to 50 16 16 to 25 2A0138 1 R L1 S L2 T L3 50 35 to 70 M10 18 to 23 159 to 204 U T1 V T2 W T3 50 35 to 70 1 50...

Page 483: ...mm2 Applicable Gauge mm2 Screw Size Tightening Torque Nxm lb in 4A0002 4A0004 R L1 S L2 T L3 2 5 2 5 to 6 M4 1 2 to 1 5 10 6 to 13 3 U T1 V T2 W T3 2 5 2 5 to 6 1 2 2 5 to 6 B1 B2 2 5 to 6 2 5 2 5 to...

Page 484: ...50 1 25 to 50 3 25 to 50 16 16 to 25 4A0139 1 R L1 S L2 T L3 50 35 to 95 M10 18 to 23 159 to 204 U T1 V T2 W T3 50 35 to 95 1 50 to 95 3 25 to 95 25 25 4A0165 1 R L1 S L2 T L3 70 50 to 95 M10 18 to 23...

Page 485: ...4 AD 900 TP 005 100 054 030 8 mm2 8 AWG M4 8 4 YA 4 AD 901 TP 008 100 054 031 M5 R8 5 YA 4 AD 901 TP 008 100 054 032 14 mm2 6 AWG M4 14 NK4 YA 4 AD 902 TP 014 100 054 033 M5 R14 5 YA 4 AD 902 TP 014...

Page 486: ...100 2A0040 FWH 200B 200 2A0056 FWH 200B 200 2A0069 FWH 200B 200 2A0081 FWH 300A 300 2A0110 FWH 300A 300 2A0138 FWH 350A 350 2A0169 FWH 400A 400 2A0211 FWH 400A 400 2A0250 FWH 600A 600 2A0312 FWH 700A...

Page 487: ...used according to the type of motor applied Table D 8 Overload Protection Settings When connecting the drive to more than one motor for simultaneous operation disable the electronic overload protectio...

Page 488: ...ture is continually calculated as long as the drive is powered up n L1 02 Motor Overload Protection Time Setting Range 0 1 to 5 0 min Factory Default 1 0 min Parameter L1 02 determines how long the mo...

Page 489: ...cover Capacitor covers can be ordered from a Yaskawa representative or directly from the Yaskawa sales department The table below lists available capacitor covers Table D 9 Capacitor Cover Figure D 8...

Page 490: ...the Safe Disable input NOTICE From the moment terminal inputs H1 and H2 have opened it takes up to 1 ms for drive output to shut off completely The sequence set up to trigger terminals H1 and H2 shoul...

Page 491: ...Note To avoid an uncontrolled stop during normal operation make sure that the Safe Disable inputs are opened first when the motor has completely stopped Returning to Normal Operation after Safe Disabl...

Page 492: ...truction manual of the safety device for details on this function Digital Operator Display When both Safe Disable inputs are open Hbb will flash in the digital operator display Should only one of the...

Page 493: ...ion provides tables to keep record of the drive specification motor specification and drive settings Fill in the data after commissioning the application and have them ready when contacting Yaskawa fo...

Page 494: ...ms Value Items Value Manufacturer Induction Voltage Constant mVs rad Model Induction Voltage Constant mV r min PM Motor Rated Power kW PM Motor Rated Current A PM Motor Rated Voltage V PM Motor Base F...

Page 495: ...se Frequency E1 06 Min Output Freq Voltage E1 10 Item Setting Value Memo Item Setting Value Memo Induction Motor Motor Rated Current E2 01 Number of Motor Poles E2 04 Motor Rated Slip E2 02 Line to Li...

Page 496: ...Time b3 06 Output Current 1 during Speed Search b3 10 Speed Search Detection Compensation Gain b3 14 Bi Directional Speed Search Selection b3 17 Speed Search Restart Current Level b3 18 Speed Search R...

Page 497: ...egral Limit C5 11 Regenerative ASR Limit C5 12 Integral Operation during Accel Decel C5 17 Motor Inertia C5 18 Load Inertia Ratio C5 21 Motor 2 ASR Proportional Gain 1 No Name User Setting C5 22 Motor...

Page 498: ...ction F1 30 PG Option Card Port for Motor 2 Selection F1 31 PG 2 Pulses Per Revolution No Name User Setting F1 32 PG 2 Rotation Selection F1 33 PG 2 Gear Teeth 1 F1 34 PG 2 Gear Teeth 2 F1 35 PG 2 Div...

Page 499: ...emperature Input Filter Time PTC input L1 13 Continuous Electrothermal Operation Selection No Name User Setting L2 01 Momentary Power Loss Operation Selection L2 02 Momentary Power Loss Ride Thru Time...

Page 500: ...culation Gain n8 84 Polarity Judge Current n9 10 AVR Time Constant n9 12 On Delay Compensation Time n9 62 On Delay Compensation Derating Start Frequency n9 63 On Delay Compensation Disable Frequency o...

Page 501: ...tor 1 Motor 2 Selection T1 01 Auto Tuning Mode Selection T1 02 Motor Rated Power T1 03 Motor Rated Voltage T1 04 Motor Rated Current T1 05 Rated Frequency T1 06 Number of Motor Poles T1 07 Rated Speed...

Page 502: ...on Error 298 Adjusting the ASR Parameters 147 AFR 235 AFR Gain 268 AFR Time Constant 1 268 AFR Time Constant 2 268 AI A3 338 AI A3 Settings 176 Alarm 276 Alarm Outputs for Maintenance Monitors 318 Ala...

Page 503: ...Carrier Frequency 152 353 354 Carrier Frequency and Current Derating 358 Carrier Frequency Derating 359 Carrier Frequency during Rotational Auto Tuning 154 Carrier Frequency Lower Limit 153 Carrier F...

Page 504: ...414 DC Bus Voltage at Previous Fault 416 DC Injection Braking 308 DC Injection Braking 1 188 DC Injection Braking 2 188 DC Injection Braking at Stop 310 DC Injection Braking Current 119 310 DC Inject...

Page 505: ...through E1 10 282 284 285 292 E1 06 284 E1 07 297 E1 08 268 269 284 285 E1 08 and E1 10 292 E1 09 297 306 E1 10 268 269 284 285 E2 01 268 284 285 E2 02 268 E2 03 268 299 E2 07 298 E2 08 298 E3 01 Mot...

Page 506: ...or PM Motors 270 Fine Tuning V f Control and V f Control with PG 268 FJOG RJOG Operation 185 FM 61 Formula to calculate the amount of voltage drop 54 Forward Regenerative Torque Limit 228 401 Forward...

Page 507: ...288 Inrush Prevention Relay Maintenance Setting 407 Inspection 315 316 Installation Environment 36 Installation Method Selection 232 Installation Orientation 36 Installation Orientation and Spacing 3...

Page 508: ...nce Lower Limit 157 Max Motor Capacity 27 Maximum Applicable Motor Capacity 353 354 Maximum Output Frequency 164 353 354 Maximum Output Voltage 353 354 Maximum Voltage 164 MB 61 MC 61 Mechanical Insta...

Page 509: ...Motor Overload 273 284 Motor Overload Estimate oL1 418 Motor Overload Protection Selection 211 397 485 Motor Overload Protection Time 214 397 486 Motor Parameters 164 Motor Performance Fine Tuning 268...

Page 510: ...Parameter 295 415 oPE01 275 295 oPE02 275 295 oPE03 275 295 oPE04 275 295 oPE05 275 296 oPE06 296 oPE07 275 296 oPE08 275 296 oPE09 275 296 oPE10 275 297 oPE11 275 297 oPE13 275 297 oPE14 297 oPE15 2...

Page 511: ...h the Motor Code Selection 430 Parameters to Minimize Motor Hunting and Oscillation 271 PASS 275 293 Password 100 108 Password Setting 108 Password Settings 100 Peak Hold Current 417 Peak Hold Output...

Page 512: ...put Bias 210 Pulse Train Input Filter Time 210 Pulse Train Input Gain 210 Pulse Train Input Minimum Frequency 210 Pulse Train Input Scaling 210 Pulse Train Input Terminal RP Function Selection 209 Pul...

Page 513: ...mit Selection 231 Software No Flash 415 Software No ROM 415 Software version 27 Sourcing Mode PNP 65 SP 60 Space Between Drives Side by Side Mounting 37 Speed Agree 1 Time Chart 192 Speed Agree 2 Time...

Page 514: ...on 178 Terminal P6 PC Output Selection 178 Terminal V1 Monitor Bias 177 Terminal V1 Monitor Gain 177 Terminal V1 Monitor Selection 177 Terminal V1 Signal Level 178 Terminal V2 Monitor Bias 177 Termina...

Page 515: ...n Output 66 Using the Safe Disable Function 488 Uv 275 294 Uv during KEB 199 Uv1 274 288 Uv2 274 288 Uv3 274 288 V V 60 V f Characteristics 355 V f Control 26 V f Control Mode Tuning 268 V f Control M...

Page 516: ...cover Revision Format All Addition Larger drive capacities added along with corresponding data xThree phase 200 V CIMR T 2A0169 to 2A0415 xThree phase 400 V CIMR T 4A0139 to 4A0362 Revision xReviewed...

Page 517: ...pan Phone 81 0 3 5402 4502 Fax 81 0 3 5402 4580 Internet http www yaskawa co jp DRIVE CENTER INVERTER PLANT 2 13 1 Nishimiyaichi Yukuhashi Fukuoka 824 8511 Japan Phone 81 930 25 3844 Fax 81 930 25 436...

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