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C.9 MEMOBUS/Modbus Data Table

180

YASKAWA ELECTRIC

TOEP C710656 10B YASKAWA Power Regenerative Unit - R1000 Instruction Manual

00C9H

Alarm Contents 3
bit 0 - bit 1

Reserved

bit 2

Digital Operator Connection Fault (oPr)

bit 3

MEMOBUS/Modbus Communication Error (CE)

bit 4

Option Communication Error (bUS)

bit 5

Serial Communication Transmission Error (CALL)

bit 6

Reserved

bit 7

Overload (oL2)

bit 8

Reserved

bit 9

Option Card External fault (EF0)

bit A - bit B

Reserved

bit C

Serial Communication Transmission Error (CALL)

bit D - bit E

Reserved

bit F

MEMOBUS/Modbus Test Mode Fault (SE)

00CAH

Reserved

00CBH

Alarm Contents 5
bit 0

MECHATROLINK Watchdog Timer Error (E5)

bit 1

MECHATROLINK Station Address Setting Error (AEr)

bit 2

MECHATROLINK Communication Cycle Setting Error (CyC)

bit 3

High Current Alarm (HCA)

bit 4

Cooling Fan Maintenance Time (LT-1)

bit 5

Soft Charge Bypass Relay Maintenance Time (LT-2)

bit 6

Reserved

bit 7

SI-S EEPROM Error (EEP)

bit 8

External Fault 1 (input terminal S1) (EF1)

bit 9

External Fault 2 (input terminal S2) (EF2)

bit A - bit F

Reserved

00CCH

Alarm Contents 6
bit 0 - bit 1

Reserved

bit 2

Capacitor Maintenance Time (LT-3)

bit 3 - bit E

Reserved

bit F

Power Supply Undervoltage (AUv)

00CDH - 00CFH

Reserved

00D0H

CPF Contents 1
bit 0, 1

Reserved

bit 2

A/D Conversion Error (CPF02)

bit 3

PWM Data Fault (CPF03)

bit 4, 5

Reserved

bit 6

EEPROM Memory Data Error (CPF06)

bit 7

Terminal Board Connection Error (CPF07)

bit 8

EEPROM Serial Communications Fault (CPF08)

bit 9, A

Reserved

bit B

RAM Fault (CPF11)

bit C

FLASH Memory Fault (CPF12)

bit D

Watchdog Circuit Exception (CPF13)

bit E

Control Circuit Fault (CPF14)

bit F

Reserved

Register No.

Contents

TOEP_C710656_10B_1_0.book 180 ページ２０１５年１月８日　木曜日　午後８時５５分

Содержание CIMR-RB Series

Страница 1: ...n for easy reference inspection and maintenance Ensure the end user receives this manual Type CIMR RA CIMR RB CIMR RD CIMR RT Standards Compliance E A B C D A B C D 1 2 3 4 5 6 7 1 2 3 4 5 6 7 Receivi...

Страница 2: ...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 improve its high quality pro...

Страница 3: ...lates 19 Nameplate 19 Model Numbers 19 1 3 Regenerative Unit Models and Enclosure Types 20 2 MECHANICAL INSTALLATION 21 2 1 Section Safety 22 2 2 Mechanical Installation 23 Installation Environment 23...

Страница 4: ...2 Using the Digital Operator 63 Keys and Displays 63 Digital Text Display 64 LED Displays 64 LO RE LED and RUN LED Indications 64 Menu Structure for Digital Operator 65 4 3 The Drive and Programming...

Страница 5: ...Cooling Fan Replacement 114 6 5 Regenerative Unit Replacement 122 Serviceable Parts 122 Terminal Board 122 Replacing the Regenerative Unit 123 7 STANDARD CONFIGURATION DEVICES PERIPHERAL DEVICES AND...

Страница 6: ...g the Regenerative Unit Operation 169 Controlling the Regenerative Unit 169 C 6 Communications Timing 170 Command Messages from Master to Regenerative Unit 170 Response Messages from Regenerative Unit...

Страница 7: ...andards 195 UL Standards Compliance 195 Power Coordinating Reactor Current Suppression Reactor 204 Installing Standard Configuration Devises 204 Precautionary Notes on External Heatsink IP00 Open Type...

Страница 8: ...8 YASKAWA ELECTRIC TOEP C710656 10B YASKAWA Power Regenerative Unit R1000 Instruction Manual TOEP_C710656_10B_1_0 book 8...

Страница 9: ...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 consequ...

Страница 10: ...ations Regenerative Unit YASKAWA R1000 Series Power Regenerative Unit Drive Yaskawa 1000 Series Drive BCD Binary Coded Decimal H Hexadecimal Number Format IGBT Insulated Gate Bipolar Transistor Tradem...

Страница 11: ...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...

Страница 12: ...enerative unit in any way not explained in this manual Failure to comply could result in death or serious injury Yaskawa is not responsible for any modification of the product made by the user This pr...

Страница 13: ...egenerative unit Connect a power supply with a capacity kVA that is larger than the rated input capacity kW of the regenerative unit Failure to comply could result in damage to the regenerative unit O...

Страница 14: ...devices Never lift the regenerative unit up while the cover is removed This can damage the terminal board and other components Do not perform signal checks during operation Failure to comply could re...

Страница 15: ...mediately discharge after shutting off the power Wait for at least the amount of time specified on the regenerative unit before touching any components after shutting off the power Failure to comply m...

Страница 16: ...applications must first contact their Yaskawa representatives or the nearest Yaskawa sales office WARNING Injury to Personnel This product has been manufactured under strict quality control guidelines...

Страница 17: ...17 Receiving This chapter explains how to inspect the regenerative unit upon receipt and gives an overview of the different enclosure types and components 1 1 SECTION SAFETY 18 1 2 MODEL NUMBERS AND N...

Страница 18: ...nit by the front cover or the terminal cover Failure to comply may cause the main body of the regenerative unit to fall resulting in minor or moderate injury NOTICE Observe proper electrostatic discha...

Страница 19: ...07 7 0010 10 0010 10 0014 14 0014 14 0017 17 0017 17 0020 20 0020 20 0028 28 0028 28 0035 35 0035 35 0053 53 0043 43 0073 73 0053 53 0105 105 0073 73 0105 105 0150 150 0210 210 0300 300 1 Regenerative...

Страница 20: ...Type 1 enclosure models mount to an indoor wall or in an enclosure panel Removing the top protective cover from a IP20 NEMA Type 1 enclosure drive voids NEMA Type 1 protection while retaining IP20 con...

Страница 21: ...AWA Power Regenerative Unit R1000 Instruction Manual 21 Mechanical Installation This chapter explains how to properly mount and install the regenerative unit 2 1 SECTION SAFETY 22 2 2 MECHANICAL INSTA...

Страница 22: ...rarily lift the unit during installation to an enclosure panel Do not use vertical suspension to transport the unit Failure to comply may result in serious injury or death from falling equipment Use s...

Страница 23: ...ive unit during installation Remove the temporary cover before regenerative unit start up as the cover will reduce ventilation and cause the regenerative unit to overheat Installation Orientation and...

Страница 24: ...e by Side Installation with Drive Models 2A03P5 to 2A0028 4A03P5 to 4A0028 can take advantage of Side by Side installation When installing the regenerative unit beside a drive mount the devices accord...

Страница 25: ...Use screws to securely affix the regenerative unit front cover terminal blocks and other regenerative unit components prior to vertical suspension Do not subject the regenerative unit to vibration or...

Страница 26: ...in the enclosure panel Stop lowering the regenerative unit when it is near the floor then begin lowering the regenerative unit again very slowly until the regenerative unit is placed correctly Digital...

Страница 27: ...drive and regenerative unit start up as the cover will reduce ventilation and cause the drive or regenerative unit to overheat 1 If you install the digital operator in a control panel or other enclos...

Страница 28: ...20 2A0028 4A03P5 4A0005 4A0007 4A0010 4A0014 4A0017 4A0020 4A0028 28 IP00 Open Type Enclosure 2A0035 2A0053 2A0073 2A0105 4A0035 4A0043 4A0053 4A0073 4A0105 4A0150 4A0210 4A0300 29 Model Figure Dimens...

Страница 29: ...65 197 192 350 335 8 15 78 5 M6 8 4A0028 2 220 365 197 192 350 335 8 15 78 5 M6 8 Model Figure Dimensions mm Weight kg W H D W1 H1 H2 D1 t1 d 2A0035 1 275 450 258 220 435 7 5 100 2 3 M6 21 2A0053 1 32...

Страница 30: ...2 2 Mechanical Installation 30 YASKAWA ELECTRIC TOEP C710656 10B YASKAWA Power Regenerative Unit R1000 Instruction Manual TOEP_C710656_10B_1_0 book 30...

Страница 31: ...minals motor and power supply 3 1 SECTION SAFETY 32 3 2 STANDARD CONNECTION DIAGRAM 34 3 3 MAIN CIRCUIT CONNECTION DIAGRAM 36 3 4 TERMINAL BLOCK CONFIGURATION 37 3 5 TERMINAL COVER 40 3 6 DIGITAL OPER...

Страница 32: ...t in death or serious injury Do not allow unqualified personnel to perform work on the unit Failure to comply could result in death or serious injury Installation maintenance inspection and servicing...

Страница 33: ...erference resulting in poor system performance Use shielded twisted pair wires and ground the shield to the shield ground terminal E G of the unit Do not modify the unit circuitry Failure to comply co...

Страница 34: ...ds NOTICE Do not connect AC control circuit ground to regenerative unit enclosure Improper grounding can cause control circuit malfunction NOTICE The minimum load for the relay outputs M1 M2 and MA MB...

Страница 35: ...R L1 S L2 T L3 Drive Regenerative Unit U T1 V T2 W T3 Motor R1000 E G Shield ground terminal Forced operation command Automatic operation command External fault Fault reset Reserved Reserved Reserved...

Страница 36: ...ovides power to the control circuit NOTICE Do not use the negative DC bus terminal as a ground terminal This terminal is at high DC voltage potential Improper wiring connections could damage the regen...

Страница 37: ...to 2A0007 4A03P5 to 4A0007 Model Figure 200 V Class Models 2A03P5 Figure 3 2 2A0005 Figure 3 2 2A0007 Figure 3 2 2A0010 Figure 3 3 2A0014 Figure 3 3 2A0017 Figure 3 4 2A0020 Figure 3 4 2A0028 Figure...

Страница 38: ...0010 2A0014 4A0010 4A0014 Figure 3 4 Figure 3 4 Main Circuit Terminal Block Configuration Models 2A0017 to 2A0028 4A0017 to 4A0028 Figure 3 5 Figure 3 5 Main Circuit Terminal Block Configuration Model...

Страница 39: ...ock Configuration Models 4A0053 4A0073 Figure 3 8 Figure 3 8 Main Circuit Terminal Block Configuration Models 2A0073 4A0105 4A0150 Figure 3 9 Figure 3 9 Main Circuit Terminal Block Configuration Model...

Страница 40: ...forward to remove the terminal cover Figure 3 10 Figure 3 10 Removing the Terminal Cover on an IP20 NEMA Type 1 Enclosure Model Reattaching the Terminal Cover Power lines and signal wiring should pass...

Страница 41: ...r may fall off causing an injury Larger capacity regenerative units have large and heavy terminal covers Remove and attach these covers with care Figure 3 11 Figure 3 12 Removing the Terminal Cover on...

Страница 42: ...right side of the digital operator pull the digital operator forward to remove it from the regenerative unit Insert the digital operator into the opening in the top cover while aligning it with the n...

Страница 43: ...3 17 Remove the Front Cover 2A0035 to 2A0105 and 4A0035 to 4A0300 Reattaching the Front Cover Models 2A03P5 to 2A0028 4A03P5 to 4A0028 Reverse the instructions given in Models 2A03P5 to 2A0028 4A03P5...

Страница 44: ...into the small opening located on the front edge of the top protective cover Gently apply pressure as shown in the figure below to free the cover from the regenerative unit Insert the two small protru...

Страница 45: ...nd Tightening Torque Use the tables in this section to select the appropriate wires and crimp terminals Note 1 Wire gauge recommendations based on continuous current ratings using 75 C 600 Vac vinyl s...

Страница 46: ...6 16 16 M4 2 1 to 2 3 r1 11 1 21 t1 31 2 2 14 14 2 5 2 5 M3 5 0 8 to 1 0 5 5 5 5 to 14 8 8 to 6 6 6 to 16 M6 2 0 to 2 5 2A0017 R L1 S L2 T L3 14 14 to 38 8 8 to 1 10 10 to 25 M6 3 6 to 4 0 14 14 to 38...

Страница 47: ...M3 5 0 8 to 1 0 2 2 to 8 10 10 4 4 to 6 M5 2 0 to 2 5 4A0010 R L1 S L2 T L3 3 5 3 5 to 14 12 12 to 6 4 4 to 16 M4 2 1 to 2 3 5 5 5 5 to 14 10 10 to 6 6 6 to 16 M4 2 1 to 2 3 r1 11 1 21 t1 31 2 2 14 1...

Страница 48: ...5 to 150 M10 18 0 to 23 0 4A0150 R L1 S L2 T L3 100 100 to 150 250 250 to 300 95 95 to 240 M12 32 0 to 40 0 150 150 to 325 3 0 2P 3 0 to 600 150 150 to 240 M12 32 0 to 40 0 r1 11 1 21 t1 31 2 2 to 5 5...

Страница 49: ...regenerative units according to instructions Improper equipment grounding could result in abnormal operation of regenerative unit or equipment NOTICE If devices such as office equipment that is sensit...

Страница 50: ...as analog frequency meters ammeters voltmeters and wattmeters They are not intended for use as a feedback type signal S1 S2 S3 S4 S5 S6 S7 S8 SC E G MA MB MC Forced operation command External fault Fa...

Страница 51: ...lt Setting Page Multi Function Digital Inputs S1 Multi function input 1 Forced operation command Photocoupler 24 Vdc 8 mA Set the S3 jumper to select between sinking sourcing mode and the power supply...

Страница 52: ...o 1 A Minimum load 5 Vdc 10 mA 150 MB N C output Fault MC Fault output common Multi Function Relay Output 1 M1 Multi function relay output During MC on 30 Vdc 10 mA to 1 A 250 Vac 10 mA to 1 A Minimum...

Страница 53: ...s given in one of the locations that are shown in the following figures The location depends on the model Figure 3 21 Figure 3 23 Location of Terminal Block Arrangement Diagram A Terminal Block TB5 C...

Страница 54: ...ensions Figure 3 22 Figure 3 24 Ferrule Dimensions Table 3 10 Ferrule Terminal Types and Sizes Terminal Screw Size Tightening Torque N m lb in Bare Wire Terminal Ferrule Type Terminal Wire Type Recomm...

Страница 55: ...t only after terminals have been properly grounded and main circuit wiring is complete Prepare the ends of the control circuit wiring as shown in Figure 3 25 Refer to Figure 3 27 for the treatment of...

Страница 56: ...r supply for the digital inputs S1 to S8 as shown in Table 3 11 Default Sink mode internal power supply Note Never short terminals SP and SN as doing so will damage the regenerative unit Table 3 11 Di...

Страница 57: ...e use of multi function relay outputs and the fault relay outputs Figure 3 2 Figure 3 30 Photocoupler and Contact Outputs Setting Description V left position Voltage input 10 to 10 V or 0 to 10 V I ri...

Страница 58: ...nit can connect to a USB port on a PC using a USB 2 0 AB type cable sold separately After connecting the regenerative unit to a PC Yaskawa DriveWizard Plus software can be used to monitor regenerative...

Страница 59: ...it protection as specified by national and local codes 10 Properly wire the regenerative unit 37 11 Suitable wires must be used to wire the power supply and regenerative unit 45 12 Properly ground the...

Страница 60: ...3 11 Wiring Checklist 60 YASKAWA ELECTRIC TOEP C710656 10B YASKAWA Power Regenerative Unit R1000 Instruction Manual TOEP_C710656_10B_1_0 book 60...

Страница 61: ...igital operator and how to program the regenerative unit for initial operation 4 1 SECTION SAFETY 62 4 2 USING THE DIGITAL OPERATOR 63 4 3 THE DRIVE AND PROGRAMMING MODES 66 4 4 POWERING UP THE REGENE...

Страница 62: ...hock Hazard Do not operate equipment with covers removed Failure to comply could result in death or serious injury The diagrams in this section may show units without covers or safety shields to show...

Страница 63: ...to the DC bus voltage feedback reference display 2 RESET Key Moves the cursor to the right Resets the regenerative unit to clear a fault situation 3 RUN Key Starts the regenerative unit in LOCAL mode...

Страница 64: ...en an oPE is detected Normal operation no fault or alarm When the regenerative unit is in Drive mode When the regenerative unit is in Programing mode Display LED Lit Flashing Off 1 The indicator flash...

Страница 65: ...Screen Structure XX XX XX X XX XX XX XX XX XX XX XX XX XX XX X ALM DIGITAL OPERATOR JVOP 182 REV DRV FOUT DRV XX XX Monitor Display DC Bus Voltage Feedback Reference Turn the power on RUN LED lit Pow...

Страница 66: ...enerative unit is set to operate in Drive Mode when it is first powered up Switch between display screens by using the and keys Drive Mode Details The following actions are possible in the Drive Mode...

Страница 67: ...lay appears 2 Press or until the Parameter Setting Mode screen appears 3 Press The b1 02 parameter is displayed 4 Press The current set value 01 is displayed 5 Press and move the flashing digit to the...

Страница 68: ...switch between LOCAL and REMOTE during run Using the LO RE Key on the Digital Operator Using Input Terminals S1 through S8 to Switch between LOCAL and REMOTE It is possible to switch between LOCAL an...

Страница 69: ...s Check for proper grounding of regenerative unit Regenerative unit output terminals and drive terminals Properly connect the DC voltage output terminals on the regenerative unit to the DC power suppl...

Страница 70: ...f the Run Command to the drive confirm that the motor has stopped and then input the Stop Command Wait for the regenerative unit to stop and the During Run 1 multi function contact output to turn off...

Страница 71: ...terminal S1 to S8 function selection to one of the values from Table 4 5 When an external fault is input EF is displayed on the digital operator The in EF is the number of the terminal where the exte...

Страница 72: ...N O Contact N C Contact Always Detect Detect Only during Operation Stop Unit Fault Continue Operation Minor Fault 24 1 When using an input contact set whether to detect a fault when the signal opens...

Страница 73: ...ettings as the default values for a User Initialization 2 Clear All Clears the currently saved user settings After saving the user parameter set value the items of 1110 User Initialization are display...

Страница 74: ...ve unit and save those settings to another regenerative unit Refer to the manual supplied with the USB Copy Unit for instructions Note Connect the USB Copy Unit to the RS 422 RS 485 communication port...

Страница 75: ...orming a test run 2 Check the Wiring Checklist on page 59 59 3 Set the correct power supply voltage 69 4 Turn on the power supply to the regenerative unit and drive 69 5 Correctly sequence the Run com...

Страница 76: ...4 7 Test Run Checklist 76 YASKAWA ELECTRIC TOEP C710656 10B YASKAWA Power Regenerative Unit R1000 Instruction Manual TOEP_C710656_10B_1_0 book 76...

Страница 77: ...elated displays and guidance for troubleshooting This chapter can also serve as a reference guide for tuning the regenerative unit during a trial run 5 1 SECTION SAFETY 78 5 2 ALARMS FAULTS AND ERRORS...

Страница 78: ...oved Failure to comply could result in death or serious injury The diagrams in this section may illustrate units without covers or safety shields to display details Be sure to reinstall covers or shie...

Страница 79: ...erative unit will remain inoperable until the fault is cleared Refer to Fault Reset Methods on page 103 Minor Faults and Alarms When the regenerative unit detects an alarm or a minor fault The digital...

Страница 80: ...e 83 Fan Internal Circulation Fan Fault 86 AUv Power Supply Undervoltage 83 Fdv Power Supply Frequency Fault 86 bUS Option Communication Error 83 FUA AC Fuse Blowout 86 CE MEMOBUS Modbus Communication...

Страница 81: ...ower Supply Overvoltage YES 93 AUv Power Supply Undervoltage YES 93 bb Baseblock No output 93 bUS Option Card Communications Error YES 94 CALL Serial Communication Transmission Error YES 94 CE MEMOBUS...

Страница 82: ...rminal Board Mismatch Error 100 oPE05 Run Command Selection Error 101 oPE07 Multi Function Analog Input Selection Error 101 oPE30 Incorrect Input Voltage Adjustment 101 Digital Opera Name Page LED LCD...

Страница 83: ...nce of the input power supply wiring A phase loss occurred in the input power supply Check the input power supply for phase loss or an imbalance in the interphase voltages Investigate and correct the...

Страница 84: ...PF35 Cause Possible Solution There is a self diagnostic error in the control circuit Cycle power to the regenerative unit If the problem continues replace the control board or the entire regenerative...

Страница 85: ...Contact Yaskawa or a Yaskawa representative for instructions on replacing the control board Digital Operator Display Fault Name Details CPF24 Unit Capacity Detect Fault The regenerative unit capacity...

Страница 86: ...fan with monitor U4 03 and verify the cumulative operation time of the fan maintenance timer with U4 04 If the cooling fan has exceeded its expected performance life or is damaged in any other way fo...

Страница 87: ...unit Replace the regenerative unit with a larger capacity regenerative unit if the current value exceeds the rated current Determine if there is sudden fluctuation in the current level Reduce the load...

Страница 88: ...ardware is damaged Cycle power to the regenerative unit If the problem continues replace the control board or the entire regenerative unit Contact Yaskawa or a Yaskawa representative for instructions...

Страница 89: ...ot properly connected Cause Possible Solution The option card connection to port CN5 C is faulty Turn the power off and reconnect the option card Digital Operator Display Fault Name Details oFC02 Opti...

Страница 90: ...the unit overload protection Cause Possible Solution Load is too heavy Reduce the load Regenerative unit capacity is too small Replace the regenerative unit with a larger model The regenerative unit d...

Страница 91: ...ed Cause Possible Solution IGBT fault Check the wiring to the drive Turn the power supply off and then on again to check operation If the problem continues contact your Yaskawa representative or neare...

Страница 92: ...nearest Yaskawa sales office A fault occurred in the power supply device Check the wiring of the power supply device Correct the wiring A fault occurred in the power supply A fault occurred in the po...

Страница 93: ...ion card correctly Digital Operator Display Minor Fault Name Detail Alarm Output H2 10 Aov Power Supply Overvoltage The input power supply voltage became equal to or higher than the Input Power Supply...

Страница 94: ...g error on the master side Check communications at start up and correct programming errors Communications circuitry is damaged Perform a self diagnostics check If the problem continues replace either...

Страница 95: ...Watchdog Timer Error A Watchdog Timer Error was detected YES Cause Possible Solutions There is no continuity in the watchdog timer in the data that is sent by the host controller Execute the DISCONNEC...

Страница 96: ...board or the regenerative unit For information on board replacement consult with your Yaskawa representative or the nearest Yaskawa sales office Digital Operator Display Minor Fault Name Detail Alarm...

Страница 97: ...o2 04 Unit Model Selection YES Cause Possible Solutions Surrounding temperature is too high Check the surrounding temperature Improve the air circulation within the enclosure panel Install a fan or ai...

Страница 98: ...he baseblock state during pre alarm When the input supply voltage is restored during the pre alarm the regenerative unit will release the base block and continue to operate YES Cause Possible Solution...

Страница 99: ...Check for wiring errors in the main circuit input power Correct the wiring Loose wiring in the regenerative unit input power terminals Ensure the terminals have been properly tightened Apply the tight...

Страница 100: ...ty Setting Error Unit capacity and the value set to o2 04 do not match Cause Possible Solutions The Unit Model Selection o2 04 and the actual capacity of the regenerative unit are not the same Correct...

Страница 101: ...n Error A contradictory setting is assigned to multi function analog inputs H3 02 H3 10 or H3 06 Cause Possible Solutions At least two of these parameters have the same setting H3 02 H3 10 or H3 06 Ch...

Страница 102: ...ts the corrective action that can be taken when an error occurs Note 1 Whenever using the copy function the regenerative unit should be fully stopped 2 The regenerative unit will not accept a Run comm...

Страница 103: ...is present the regenerative unit will disregard any attempts to reset the fault Remove the Run command before attempting to clear a fault situation After the Fault Occurs Procedure Fix the cause of th...

Страница 104: ...5 7 Diagnosing and Resetting Faults 104 YASKAWA ELECTRIC TOEP C710656 10B YASKAWA Power Regenerative Unit R1000 Instruction Manual TOEP_C710656_10B_1_0 book 104...

Страница 105: ...ce This chapter describes the periodic inspection and maintenance of the regenerative unit to ensure that it receives the proper care to maintain overall performance 6 1 SECTION SAFETY 106 6 2 INSPECT...

Страница 106: ...formed only by authorized personnel familiar with installation adjustment and maintenance of this equipment Do not perform work on the unit while wearing loose clothing jewelry or without eye protecti...

Страница 107: ...rference resulting in poor system performance Use shielded twisted pair wires and ground the shield to the shield ground terminal E G of the unit Do not modify the unit circuitry Failure to comply cou...

Страница 108: ...tion NOTICE Check the operation of the cooling fan only during inspections Table 6 1 General Recommended Daily Inspection Checklist Recommended Periodic Inspection Table 6 2 outlines the recommended p...

Страница 109: ...rvoltage conditions Replace damaged removable relays contactors or circuit board Electrolytic Capacitor Inspect for leaking discoloration or cracks Check if the cap has come off for any swelling or if...

Страница 110: ...time 24 hours a day Performance Life Monitors Maintenance Monitors The regenerative unit calculates the maintenance period for components that may require replacement during the life of the regenerati...

Страница 111: ...mance life from the value that was reached with the old part Table 6 6 Maintenance Setting Parameters Digital Operator Alarm Display Function Corrective Action LT 1 The cooling fans the DC bus capacit...

Страница 112: ...g off the power wait for at least the amount of time specified on the regenerative unit before touching any components CAUTION Burn Hazard Do not touch a hot regenerative unit heatsink Failure to comp...

Страница 113: ...least the amount of time specified on the regenerative unit before touching any components CAUTION Burn Hazard Do not touch a hot regenerative unit heatsink Failure to comply could result in minor or...

Страница 114: ...prevent burns wait at least 15 minutes and ensure the heatsink has cooled down NOTICE Follow cooling fan replacement instructions Improper fan replacement could cause damage to equipment Make sure the...

Страница 115: ...nes then place the cable back into the recess of the regenerative unit Figure 6 5 Figure 6 5 Connect the Cooling Fan Power Supply Connectors 2A03P5 to 2A0028 4A03P5 to 4A0028 3 While pressing in on th...

Страница 116: ...the back end of the fan finger guard first Unplug the replay connector and free the fan finger guard from the regenerative unit Figure 6 8 Figure 6 8 Remove the Cooling Fan 2A0035 4A0035 4A0043 Instal...

Страница 117: ...5 4A0043 5 Press in on the hooks of the left and right sides of the fan cover and guide the fan finger guard until it clicks into place Figure 6 12 Figure 6 12 Reattach the Fan Finger Guard 2A0035 4A0...

Страница 118: ...n connector CN6 Remove the fan connectors CN6 CN7 in models 2A0105 4A0210 and 4A0300 Figure 6 13 Figure 6 13 Cooling Fan Replacement Fan Unit and Connectors 3 Remove the screws holding the fan unit in...

Страница 119: ...isassembly Cooling Fan Wiring 2A0053 4A0053 4A0073 1 Position the protective tube so the fan connector sits in the center of the protective tube 2 Place the fan connector covered by the tube Figure 6...

Страница 120: ...he center of the protective tube 2 In the space between fans 1 and 2 place the fan connector for fan B2 in front of the fan connector for fan B1 3 Place the connector for fan B3 between fans B2 and B3...

Страница 121: ...e Cooling Fan Unit 1 Reverse the procedure described above to reinstall the cooling fan unit Figure 6 19 Figure 6 19 Install the Cooling Fan Unit 2A0053 to 2A0105 4A0053 to 4A0300 2 Reattach the cover...

Страница 122: ...rative unit disconnect all power to the equipment The internal capacitor remains charged even after the power supply is turned off After shutting off the power wait for at least the amount of time spe...

Страница 123: ...res ESD when handling the regenerative unit and circuit boards Failure to comply may result in ESD damage to the regenerative unit circuitry The following procedure explains how to replace a regenerat...

Страница 124: ...Board 2 Replace the terminal cover 3 Put the terminal cover back into its original place 4 When the power to the regenerative unit is first switched on all parameter settings are transferred from the...

Страница 125: ...pter explains the installation of peripheral devices and options available for the regenerative unit 7 1 SECTION SAFETY 126 7 2 REGENERATIVE UNIT OPTIONS AND PERIPHERAL DEVICES 128 7 3 CONNECTING STAN...

Страница 126: ...election of the peripheral devices Contact your supplier if the cause cannot be identified Failure to comply may result in electrical shock by indirect or direct contact The regenerative unit can caus...

Страница 127: ...rol wiring Failure to comply may cause electrical interference resulting in poor system performance Use shielded twisted pair wires and ground the shield to the shield ground terminal E G of the unit...

Страница 128: ...r External Heatsink Communications Option Cards MECHATROLINK II Interface SI T3 Used for running or stopping the regenerative unit setting or referencing parameters and monitoring input current output...

Страница 129: ...tive unit attempts to restart The default setting for L5 02 is 0 fault output active during restart 1 Select these peripheral devices for the drive Refer to the drive manual for more detailed instruct...

Страница 130: ...table for the terminal block Use the following formula to calculate the amount of voltage drop Line drop voltage V wire resistance km wire length m current A 10 3 Table 7 2 Wire Gauge and Torque Speci...

Страница 131: ...3 5 to 14 10 10 to 6 4 4 to 16 M4 2 1 to 2 3 X Y Z R S T 4A0017 U V W 8 8 to 38 10 10 to 1 10 10 to 25 M6 3 6 to 4 0 X Y Z R S T 4A0020 U V W 8 8 to 38 8 8 to 1 10 10 to 25 M6 3 6 to 4 0 X Y Z R S T...

Страница 132: ...t fuses Y Z Terminal Function X Current Suppression Reactor Inputs These terminals are connected to the input fuses Y Z R Current Suppression Reactor Outputs These terminals are connected to the regen...

Страница 133: ...0 40 Inductance mH 1 2 1 2 0 6 0 4 0 3 0 3 0 2 0 15 Heat Loss W 21 21 19 23 36 36 33 40 Fuse Rated Current A 16 16 16 25 40 40 50 63 Heat Loss W 0 8 1 2 1 7 3 1 4 5 5 9 7 0 10 3 Voltage Class 400 V Cl...

Страница 134: ...at is shared with other equipment use a sequence that shuts the power OFF when errors are output by using magnetic contactor MC as shown in Figure 7 2 Figure 7 2 Figure 7 2 Power Supply Interrupt Wiri...

Страница 135: ...from switching the drive power supply off and on more than once every 30 minutes Frequent use can damage the drive Use the drive to stop and start the motor NOTICE Use a magnetic contactor MC to ensur...

Страница 136: ...7 5 Installing Peripheral Devices 136 YASKAWA ELECTRIC TOEP C710656 10B YASKAWA Power Regenerative Unit R1000 Instruction Manual TOEP_C710656_10B_1_0 book 136...

Страница 137: ...00 Instruction Manual 137 Specifications This chapter provides the specifications of the regenerative unit and describes the derating methods A 1 POWER RATINGS 138 A 2 REGENERATIVE UNIT SPECIFICATIONS...

Страница 138: ...C A 10 15 20 30 41 50 60 83 102 153 209 306 Item 1 Rated output capacity is calculated with a rated input voltage of 400 V Specification Model 4A03P5 4A0005 4A0007 4A0010 4A0014 4A0017 4A0020 4A0028 M...

Страница 139: ...Overvoltage Protection Input 200 V class Stops when input voltage exceeds approximately 227 Vac 400 V class Stops when input voltage exceeds approximately 554 Vac Undervoltage Protection Output 200 V...

Страница 140: ...78 2A0007 76 33 109 2A0010 99 39 138 2A0014 149 49 198 2A0017 155 53 208 2A0020 201 67 268 2A0028 270 98 368 2A0035 295 127 422 2A0053 494 164 658 2A0073 609 236 845 2A0105 910 365 1275 400 V Class 4A...

Страница 141: ...30 C and 50 C requires output current derating Setting 2 IP20 NEMA Type 1 Enclosure Regenerative unit operation between 10 C and 40 C allows 100 continuous current without derating Operation between 4...

Страница 142: ...A 4 Derating Data 142 YASKAWA ELECTRIC TOEP C710656 10B YASKAWA Power Regenerative Unit R1000 Instruction Manual TOEP_C710656_10B_1_0 book 142...

Страница 143: ...ive Unit R1000 Instruction Manual 143 Parameter List This appendix contains a full listing of all parameters and settings available in the regenerative unit B 1 PARAMETER GROUPS 144 B 2 PARAMETER TABL...

Страница 144: ...Operator Keypad Functions 156 C7 DC Bus Voltage Control 146 o3 Copy Function 156 F4 Analog Monitor Card AO A3 147 o4 Maintenance Monitor Settings 156 F5 Digital Monitor Card DO A3 148 U1 Operation Sta...

Страница 145: ...0 No Initialize 1110 User Initialize 2220 2 Wire Initial 3330 3 Wire Initial 5550 oPE04 error reset 0 No initialization 1110 User Initialize parameter values must be stored using parameter o2 03 2220...

Страница 146: ...ange 0 to 2 b1 17 1C6H Run Command at Power Up Run Cmd Pwr On 0 Cycle Ext Run 1 Accept Ext Run Determines whether an external Run command that is active during power up will start the regenerative uni...

Страница 147: ...e delay time to turn on the Operation Ready signal H2 6 Default 0 ms Min 0 Max 500 C7 53 111FH Automatic Operation Stop Power Autorun Power Sets the power to stop the automatic operation When in autom...

Страница 148: ...x 160 F5 02 39AH Terminal P2 PC Output Selection DO Ch2 Select Default F Min 0 Max 160 F5 03 39BH Terminal P3 PC Output Selection DO Ch3 Select Default F Min 0 Max 160 F5 04 39CH Terminal P4 PC Output...

Страница 149: ...rminal S7 Function Selection Term S7 Func Sel Default F Min 0 Max 67 H1 08 405H Multi Function Digital Input Terminal S8 Function Selection Term S8 Func Sel Default 8H Min 0 Max 67 H1 Multi Function D...

Страница 150: ...2 Multi Function Relay Output Settings on page 150 for a description of setting values Note Set unused terminals to F Default 26 Min 0 Max 160 H2 02 40CH Terminal P1 PC Function Selection Photocoupler...

Страница 151: ...ing fan alarm Fan Alrm Det Closed Internal cooling fan alarm 100 to 160 Function 0 to 60 with inverse output Inverts the output switching of the multi function output functions Set the last two digits...

Страница 152: ...rogrammed for Analog input enable H1 C is activated 1 Terminal A1 only 2 Terminal A2 only 3 Terminals A1 and A2 only 4 Terminal A3 only 5 Terminals A1 and A3 6 Terminals A2 and A3 7 All terminals enab...

Страница 153: ...3 Range 0 to 8 H5 03 0427 Communication Parity Selection Serial Com Sel 0 No Parity 1 Even Parity 2 Odd Parity 0 No parity 1 Even parity 2 Odd parity Cycle power for the setting to take effect Defaul...

Страница 154: ...pply Frequency Excessive Deviation Pre alarm pFDV DetectCount Sets the number of times the regenerative unit detecting PFDv Power Supply Frequency Excessive Deviation Pre alarm Disabled when set to 0...

Страница 155: ...and detects Input Power Supply Fault PF2 when the ripple is too bad 0 No detection 1 Stop operation fault 2 Continue operation minor fault Default 0 Min 0 Max 2 L8 66 670H Power Supply Fault Detectio...

Страница 156: ...l Operator is Disconnected Oper Discon Det 0 Disabled 1 Enabled Determines the operation when the digital operator is disconnected 0 The regenerative unit continues operating if the digital operator i...

Страница 157: ...kWh Monitor Init 0 No Reset 1 Reset 0 U4 10 and U4 11 monitor data is not reset when the regenerative unit is initialized A1 03 1 U4 10 and U4 11 monitor data is reset when the regenerative unit is in...

Страница 158: ...ftware Number Flash CPU 1 SW Number FLASH ID No signal output available U1 26 5BH Software No ROM CPU 2 SW Number ROM ID No signal output available U1 27 7A8H Message ID OPR MessageID OPR Shows the me...

Страница 159: ...12 8BH Output Terminal Status at Previous Fault Output Term Sts Displays the output status at the previous fault Displays the same status displayed in U1 11 No signal output available U2 13 8CH Drive...

Страница 160: ...5 to U3 10 804H to 809H 5th to 10th Most Recent Fault Fault Message Displays the fifth to the tenth most recent faults After ten faults data for the oldest fault is deleted The most recent fault appea...

Страница 161: ...Peak Hold Current Current PeakHold Displays the highest current value that occurred during run No signal output available 1 A U6 Operation Status Monitors U6 80 to U6 99 7B0H to 7F9H Option Monitors 1...

Страница 162: ...2 2 2 2 2 2 0 0 0 0 No Name Unit Default Settings Model 4A03P5 4A0005 4A0007 4A0010 4A0014 4A0017 4A0020 4A0028 o2 04 Unit Model Selection Hex 97 99 9A 9C 9D 9E 9F A1 C7 14 Bias Voltage at Operation...

Страница 163: ...MMUNICATION SPECIFICATIONS 165 C 3 CONNECTING TO A NETWORK 166 C 4 MEMOBUS MODBUS SETUP PARAMETERS 167 C 5 REGENERATIVE UNIT OPERATIONS BY MEMOBUS MODBUS 169 C 6 COMMUNICATIONS TIMING 170 C 7 MESSAGE...

Страница 164: ...nerative unit has slave functionality only and serial communication is normally initiated from the master and responded to by the slaves The master communicates with the specified slave regenerative u...

Страница 165: ...MEMOBUS Modbus Communications Specifications Item Specifications Interface RS 422 RS 485 Communications Cycle Asynchronous Start stop synchronization Communication Parameters Communication Speeds Avai...

Страница 166: ...aves Use the description in Network Termination on page 166 for slaves that are regenerative units 3 Switch the power on 4 Set the parameters needed for serial communications H5 01 through H5 12 using...

Страница 167: ...ications speed Note Cycle the power after changing this parameter to enable the new setting Setting 0 1200 bps Setting 1 2400 bps Setting 2 4800 bps Setting 3 9600 bps Setting 4 19200 bps Setting 5 38...

Страница 168: ...nt communications H5 09 Communications Fault Detection Time Sets the time the communications must be lost before the regenerative unit triggers a CE fault H5 11 Communications Enter Function Selection...

Страница 169: ...time regardless of parameter settings except for H5 parameters observe regenerative unit status and regenerative unit control terminal status from a PLC read and write parameters set and reset faults...

Страница 170: ...hould try resending the message Response Messages from Regenerative Unit to Master If the slave regenerative unit receives a command from the master it will process the data received and wait for the...

Страница 171: ...sponse to a broadcast type message Function Code The three types of function codes are shown in the table below Data Configure consecutive data by combining the MEMOBUS Modbus register address test co...

Страница 172: ...ble C 4 CRC 16 Checksum Calculation Example Response Data Perform a CRC 16 calculation on the response message data as described above as a validation check The result should match the CRC 16 checksum...

Страница 173: ...master and slave User defined test code and data values can also be set The following table shows a message example when performing a loopback test with the slave 1 regenerative unit Command Message R...

Страница 174: ...ion Analog Output 1 and 4000H has been set with a Multi Function Analog Output 2 for the slave 1 regenerative unit If parameter values are changed using the Write command an Enter command may be neces...

Страница 175: ...nction Input 4 bit 8 Multi Function Input 5 bit 9 Multi Function Input 6 bit A Multi Function Input 7 bit B Multi Function Input 8 bit C bit F Reserved 0002H 0003H Reserved 0004H Active Current Limit...

Страница 176: ...Reserved bit B Main Circuit Undervoltage Uv bit C Undervoltage Uv1 Control Power Supply Undervoltage Uv2 Soft Charge Circuit Fault Uv3 bit D Output Phase Loss LF Input Phase Loss PF bit E MEMOBUS Mod...

Страница 177: ...bit 2 Multi Function Photocoupler Output 2 terminal P2 PC bit 3 bit 6 Reserved bit 7 Fault Contact Output terminal MA MB MC bit 8 bit F Reserved 002EH Unit Status bit 0 1 During Run 0 During Stop bit...

Страница 178: ...d to CN5 A Register contains ASCII code of the option card DO A3 0002H AI A3 0003H AO A3 0004H Communication Option Register contains ASCII code of first and third digit of the option card type number...

Страница 179: ...bit 0 Reserved bit 1 Node Setup Fault nSE bit 2 bit F Reserved 00C6H Fault Contents 9 bit 0 bit 4 Reserved bit 5 Power Supply Undervoltage AUv bit 6 Power Supply Overvoltage Aov bit 7 Power Supply Fr...

Страница 180: ...unication Cycle Setting Error CyC bit 3 High Current Alarm HCA bit 4 Cooling Fan Maintenance Time LT 1 bit 5 Soft Charge Bypass Relay Maintenance Time LT 2 bit 6 Reserved bit 7 SI S EEPROM Error EEP b...

Страница 181: ...3 bit 2 ASIC Power Clock Error CPF34 bit 3 External A D Unit Error CPF35 bit 4 7 Reserved bit 8 Control Circuit Error CPF40 bit 9 Control Circuit Error CPF41 bit A Control Circuit Error CPF42 bit B Co...

Страница 182: ...Unit timeout waiting for response oFA35 bit 6 CI Check Error oFA36 bit 7 Unit timeout waiting for response oFA37 bit 8 Control Command Selection Error oFA38 bit 9 Unit timeout waiting for response oF...

Страница 183: ...Properly Connected oFA01 0027H Option External Fault EF0 0103H Same Type of Option Card Already Connected oFA02 0030H Hardware Fault including oF 0106H A D Conversion Error oFA05 0042H External Fault...

Страница 184: ...m HCA 000AH External Fault 4 input terminal S4 EF4 0035H Cooling Fan Maintenance Time LT 1 000BH External Fault 5 input terminal S5 EF5 0036H Capacitor Maintenance Time LT 2 000CH External Fault 6 inp...

Страница 185: ...s only possible to write to these registers attempting to read from these registers will cause an error Table C 7 Enter Command Types Note The EEPROM can only be written to 100 000 times so it is reco...

Страница 186: ...pted to set a function code from a PLC other than 03H 08H and 10H 02H Register Number Error A register number specified in the command message does not exist Attempted to send a broadcast message usin...

Страница 187: ...nit 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 regenerative unit 4 With the power off wire the reg...

Страница 188: ...C 12 Self Diagnostics 188 YASKAWA ELECTRIC TOEP C710656 10B YASKAWA Power Regenerative Unit R1000 Instruction Manual TOEP_C710656_10B_1_0 book 188...

Страница 189: ...struction Manual 189 Standards Compliance This appendix explains the guidelines and criteria for maintaining CE and UL standards D 1 SECTION SAFETY 190 D 2 EUROPEAN STANDARDS 192 D 3 UL STANDARDS 195...

Страница 190: ...y components Do not allow unqualified personnel to perform work on the regenerative unit Failure to comply could result in death or serious injury Installation maintenance inspection and servicing mus...

Страница 191: ...n damage to the regenerative unit Do not modify the regenerative unit circuitry Failure to comply could result in damage to the regenerative unit and will void warranty Yaskawa is not responsible for...

Страница 192: ...overvoltage category 3 in accordance with IEC 664 Standard Configuration Devices Install appropriate standard configuration devices to the input side to protect regenerative unit wiring and prevent o...

Страница 193: ...E ACL 0020 EISC 9353ABH 528 V 20 A 1 06 mH 300 057 279 528 V 10 A 0 6 mH 4 0010 660GH 25ULTC 660 V 25 A HT6017 700 V 75 A HINODE ACL 0030 EISC 9353ABH 528 V 30 A 0 7 mH 300 057 280 528 V 15 A 0 4 mH 4...

Страница 194: ...nstallation method to ensure compliance with EMC guidelines Refer to the Quick Start Guide or Technical Manual of the drive which the regenerative unit is connected Refer to Figure D 2 for the wiring...

Страница 195: ...b The solid state short circuit protection circuitry is used in accordance with 45 1 3 of UL508C 3rd edition 4 Optional Power Coordinating Reactor may be specified in the end use application An equiv...

Страница 196: ...L2 T L3 12 12 to 6 M4 2 1 to 2 3 18 6 to 20 4 10 10 to 6 M4 2 1 to 2 3 18 6 to 20 4 r1 11 1 21 t1 31 14 14 M3 5 0 8 to 1 0 7 1 to 8 9 10 10 to 8 M5 2 0 to 2 5 17 7 to 22 1 2A0010 R L1 S L2 T L3 10 10...

Страница 197: ...1 1 to 1 2 9 7 to 10 6 3 3 to 2 M10 18 0 to 23 0 159 to 204 2A0073 R L1 S L2 T L3 1 0 2P 1 0 to 300 M12 32 0 to 40 0 283 to 354 3 0 2P 3 0 to 300 M12 32 0 to 40 0 283 to 354 r1 11 1 21 t1 31 14 14 to...

Страница 198: ...4A0014 R L1 S L2 T L3 10 10 to 6 M4 2 1 to 2 3 18 6 to 20 4 10 10 to 6 M4 2 1 to 2 3 18 6 to 20 4 r1 11 1 21 t1 31 14 14 M3 5 0 8 to 1 0 7 1 to 8 9 10 10 to 6 M6 2 0 to 2 5 17 7 to 22 1 4A0017 R L1 S...

Страница 199: ...2 0 M8 5 4 to 6 0 47 8 to 53 1 1 0 1 0 to 2 0 M8 5 4 to 6 0 47 8 to 53 1 r1 11 1 21 t1 31 14 14 to 10 M4 1 1 to 1 2 9 7 to 10 6 4 4 M10 18 0 to 23 0 159 to 204 4A0105 R L1 S L2 T L3 2 0 2 0 to 300 M1...

Страница 200: ...4 AD 900 TP 005 100 054 029 10 R5 5 4 YA 4 AD 900 TP 005 100 054 029 8 8 4 YA 4 AD 901 TP 008 100 054 031 6 14 NK4 YA 4 AD 902 TP 014 100 054 033 2A0005 12 M4 R5 5 4 YA 4 AD 900 TP 005 100 054 029 10...

Страница 201: ...100 100 051 560 250 2P 150 L12 YF 1 YET 300 1 TD 325 TD 313 TP 150 100 051 562 300 2P 150 L12 YF 1 YET 300 1 TD 325 TD 313 TP 150 100 051 562 350 350 2P 200 L12 YF 1 YET 300 1 TD 327 TD 314 TP 200 100...

Страница 202: ...092 578 4A0035 6 M8 R14 8 YA 4 AD 902 TP 014 100 051 035 4 R22 8 YA 5 AD 953 TP 022 100 051 263 3 R38 8 YA 5 AD 954 TP 038 100 051 264 2 R38 8 YA 5 AD 954 TP 038 100 051 264 1 R60 8 YA 5 AD 955 TP 06...

Страница 203: ...TP 100 100 051 560 250 2P 150 L12 YF 1 YET 300 1 TD 325 TD 313 TP 150 100 051 562 300 2P 150 L12 YF 1 YET 300 1 TD 325 TD 313 TP 150 100 051 562 350 2P 200 L12 YF 1 YET 300 1 TD 327 TD 314 TP 200 100...

Страница 204: ...er to national state or local codes for wiring The external power supply shall be a CSA certified or cUL Listed Class 2 power source only or equivalent Table D 5 Control Circuit Terminal Power Supply...

Страница 205: ...tion is complete Use the table below to match regenerative unit models and capacitor cover Capacitor covers can be ordered from a Yaskawa representative or directly from the Yaskawa sales department T...

Страница 206: ...onform to the Korean Radio Waves Act Be careful if using the regenerative unit in Korea under the following conditions Figure D 5 Figure D 5 KC mark Classification Precautions Class A equipment Broadc...

Страница 207: ...D 5 YASKAWA ELECTRIC TOEP C710656 10B YASKAWA Power Regenerative Unit R1000 Instruction Manual 207 Standards Compliance D D 5 KC Figure D 6 Figure D 6 KC A A YEC TOEP_C710656_10B_1_0 book 207...

Страница 208: ...All Revision Reviewed and corrected the entire documentation 5 2 Revision Cause and possible solutions for oC and ov D 2 Revision Standard Configuration Devices D 3 Addition Conditions of Acceptabilit...

Страница 209: ...6 2693 4200 http www yaskawa co th YASKAWA ELECTRIC CHINA CO LTD 22F One Corporate Avenue No 222 Hubin Road Shanghai 200021 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 http www yaskawa com cn YASK...

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