Yaskawa CIMR-UU4A0216F [4/644] This page intentionally blank

Содержание

• Low harmonic regenerative drive for industrial applications p.1
• Front cover p.1
• U1000 industrial matrix drive p.1
• Technical manual p.1
• Quick reference p.3
• This page intentionally blank p.4
• Section safety 30 1 general description 31 p.5
• Receiving 29 p.5
• Quick reference 3 p.5
• Model number and nameplate check 34 p.5
• Mechanical installation 47 p.5
• I preface general safety 17 p.5
• I preface 18 p.5
• I general safety 20 p.5
• Drive models and enclosure types 37 1 component names 38 p.5
• Table of contents p.5
• Section safety 48 2 mechanical installation 50 p.5
• Electrical installation 3 p.6
• Wiring checklist 04 p.6
• Top protective cover 9 p.6
• Start up programming operation 107 p.6
• Section safety 4 3 standard connection diagram 6 3 main circuit connection diagram 9 3 terminal block configuration 0 3 terminal cover 3 p.6
• Section safety 08 4 using the digital operator 09 p.6
• Main circuit wiring 0 p.6
• External interlock 03 p.6
• Digital operator and front cover 6 p.6
• Control i o connections 4 p.6
• Control circuit wiring 8 p.6
• Connect to a pc 8 3 2 emc filter 9 p.6
• Application selection 27 p.7
• No load operation test run 44 p.7
• A initialization 52 p.7
• Verifying parameter settings and backing up changes 47 p.7
• The drive and programming modes 13 p.7
• Test run with load connected 46 p.7
• Test run checklist 49 p.7
• Start up flowcharts 19 p.7
• Powering up the drive 26 p.7
• Parameter details 51 p.7
• B application 58 p.7
• Auto tuning 30 p.7
• L protection functions 78 p.8
• H terminal functions 46 p.8
• F option settings 33 p.8
• E motor parameters 20 p.8
• D reference settings 05 p.8
• C tuning 91 p.8
• U monitor parameters 19 p.9
• Troubleshooting 21 p.9
• Section safety 22 6 motor performance fine tuning 24 p.9
• O operator related settings 12 p.9
• N special adjustments 03 p.9
• Fault detection 35 p.9
• Drive alarms faults and errors 30 p.9
• Alarm detection 51 p.9
• Periodic maintenance 89 p.10
• Periodic inspection maintenance 383 p.10
• Operator programming errors 60 p.10
• Drive replacement 05 p.10
• Drive cooling fans 91 p.10
• Diagnosing and resetting faults 71 p.10
• Copy function related displays 69 p.10
• Auto tuning fault detection 64 p.10
• Troubleshooting without fault display 74 p.10
• Section safety 84 7 inspection 86 p.10
• Section safety 10 8 drive options and peripheral devices 12 8 connecting peripheral devices 14 8 option installation 15 p.11
• Peripheral devices options 09 p.11
• Installing peripheral devices 25 p.11
• B understanding parameter descriptions 42 p.11
• B parameter list 41 p.11
• B parameter groups 43 b a initialization parameters 44 p.11
• B b application 46 p.11
• A specifications 29 p.11
• A heavy duty and normal duty ratings 30 a power ratings 31 p.11
• A drive specifications 35 a drive watt loss data 37 a drive derating data 38 p.11
• B d reference settings 61 p.12
• B c tuning 55 p.12
• B 1 n special adjustments 07 p.12
• B 0 l protection function 98 p.12
• B h parameters multi function terminals 83 p.12
• B f option settings 73 p.12
• B e motor parameters 67 p.12
• C memobus modbus setup parameters 65 p.13
• C memobus modbus configuration 60 c communication specifications 61 c connecting to a network 62 p.13
• C memobus modbus communications 559 p.13
• C drive operations by memobus modbus 68 p.13
• B 7 v f pattern default values 34 b 8 defaults by drive model and duty rating nd hd 36 b 9 parameters changed by motor code selection for pm motors 42 p.13
• B 6 control mode dependent parameter default values 30 p.13
• B 5 u monitors 19 p.13
• B 4 t motor tuning 15 p.13
• B 3 driveworksez parameters 14 p.13
• B 2 o operator related settings 11 p.13
• C 2 self diagnostics 92 p.14
• C 1 communication errors 91 p.14
• C 0 enter command 90 p.14
• E quick reference sheet 15 p.14
• E drive and motor specifications 16 p.14
• E basic parameter settings 18 p.14
• D ul and csa standards 99 p.14
• D standards compliance 93 p.14
• D section safety 94 d european standards 96 p.14
• D safe disable input 10 p.14
• C message format 70 p.14
• C message examples 72 p.14
• C memobus modbus data table 74 p.14
• C communications timing 69 p.14
• Index 29 p.15
• E user setting table 20 p.15
• This page intentionally blank p.16
• Table of contents p.16
• I preface general safety p.17
• Preface general safety p.17
• Terms and abbreviations p.18
• Symbols p.18
• I preface p.18
• Applicable documentation p.18
• Trademarks p.19
• Supplemental safety information p.20
• Read and understand this manual before installing operating or servicing this drive the drive must be installed according to this manual and local codes the following conventions are used to indicate safety messages in this manual failure to heed these messages could result in serious or fatal injury or damage to the products or to related equipment and systems p.20
• Notice p.20
• Indicates a property damage message p.20
• Indicates a hazardous situation which if not avoided will result in death or serious injury p.20
• Indicates a hazardous situation which if not avoided could result in minor or moderate injury p.20
• Indicates a hazardous situation which if not avoided could result in death or serious injury p.20
• I general safety p.20
• Danger p.20
• Caution p.20
• Warning p.20
• Warning p.21
• Sudden movement hazard p.21
• Safety messages p.21
• Fire hazard p.21
• Electrical shock hazard p.21
• Danger p.21
• Warning p.22
• Notice p.22
• Crush hazard p.22
• Caution p.22
• Selection p.23
• General application precautions p.23
• Installation p.24
• General handling p.24
• Carrier frequency derating p.24
• Settings p.24
• The cooling fan of a standard motor should sufficiently cool the motor at the rated speed as the self cooling capability of such a motor decreases with the speed applying full torque at low speed will possibly damage the motor reduce the load torque as the motor slows to prevent motor damage from overheat figure i shows the allowable load characteristics for a yaskawa standard motor use a motor designed specifically for operation with a drive when 100 continuous torque is needed at low speeds p.25
• Standard induction motors p.25
• Motor application precautions p.25
• I general safety p.25
• All wire ends should use ring terminals for ul cul compliance use only the tools recommended by the terminal manufacturer for crimping p.25
• Specialized motors p.26
• Warranty information p.28
• Warning p.28
• Risk of electric shock p.28
• Hot surfaces p.28
• Drive label warning example p.28
• Receiving p.29
• Section safety p.30
• Notice p.30
• Caution p.30
• U1000 model selection p.31
• General description p.31
• Control mode selection p.31
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual p.32
• General description p.32
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual 33 p.33
• General description p.33
• Application specific p.33
• Please perform the following tasks after receiving the drive inspect the drive for damage if the drive appears damaged upon receipt contact the shipper immediately verify receipt of the correct model by checking the information on the nameplate if you have received the wrong model or the drive does not function properly contact your supplier p.34
• Nameplate p.34
• Model number and nameplate check p.34
• Three phase 200 v class p.35
• Cimr u u 4 a a 0096 u a p.35
• Three phase 400 v class p.36
• Model number and nameplate check p.36
• Drive models and enclosure types p.37
• Two types of enclosures are offered for u1000 drives ip00 open type enclosure models are designed for installation in an enclosure panel that serves to protect personnel from injury caused by accidentally touching live parts ip20 nema type 1 enclosure models mount to an indoor wall or in an enclosure panel table 1 describes drive enclosures and models p.37
• Ip00 open type enclosure p.38
• Component names p.38
• Three phase ac 200 v class models 2 o 0104a to 2 o 0130a three phase ac 400 v class models 4 o 0096a to 4 o 0124a p.39
• Three phase ac 200 v class models 2 o 0154a and 2 o 0192a three phase ac 400 v class models 4 o 0156a and 4 o 0180a p.40
• Three phase ac 200 v class models 2 o 0248a three phase ac 400 v class models 4 o 0216a to 4 o 0414a p.41
• Three phase ac 200 v class models 2 o 0028f to 2 o 0081f three phase ac 400 v class models 4 o 0011f to 4 o 0077f p.42
• Ip20 nema type 1 enclosure p.42
• Three phase ac 200 v class models 2 o 0104f and 2 o 0130f three phase ac 400 v class models 4 o 0096f and 4 o 0124f p.43
• Three phase ac 200 v class models 2 o 0154f and 2 o 0192f three phase ac 400 v class models 4 o 0156f and 4 o 0180f p.44
• Component names p.44
• Front views p.46
• Component names p.46
• Mechanical installation p.47
• Crush hazard p.48
• Caution p.48
• Warning p.48
• Section safety p.48
• Notice p.48
• Fire hazard p.48
• Equipment hazard p.48
• Notice p.49
• This section outlines specifications procedures and the environment for proper mechanical installation of the drive p.50
• Mechanical installation p.50
• Installation orientation and spacing p.50
• Installation environment p.50
• Install the drive in an environment matching the specifications in table 2 to help prolong the optimum performance life of the drive p.50
• Single drive installation p.51
• Instructions on installation using the eye bolts and hanging brackets p.51
• Horizontal suspension of drive models 2 o 0154 to 2 o 0248 and 4 o 0156 to 4 o 0414 p.52
• Gradually take up the slack in the wires and hoist the drive after the wires are stretched tight p.52
• Follow the procedure described below when suspending the drive with eye bolts or hanging brackets models 2 o 0028 to 2 o 0130 and 4 o 0011 to 4 o 0124 p.52
• Vertical suspension of the drive p.52
• To make a wire hanger or frame for use when lifting the drive with a crane lay the drive in a horizontal position and pass a wire through the hanging brackets p.52
• Pass wire through the holes of the two eye bolts p.52
• Mechanical installation p.52
• Remote operation p.53
• Digital operator remote usage p.53
• The digital operator mounts to an enclosure two different ways external face mount installs the operator outside the enclosure panel internal flush mount installs the operator inside the enclosure panel p.54
• Mechanical installation p.54
• Digital operator remote installation p.54
• Position the digital operator so the display faces outwards and mount it to the enclosure panel as shown in figure 2 0 p.55
• Mechanical installation p.55
• External face mount p.55
• Cut an opening in the enclosure panel for the digital operator as shown in figure 2 1 p.55
• Figure 2 2 internal flush mount installation p.56
• Cut an opening in the enclosure panel for the digital operator as shown in figure 2 3 p.56
• An internal flush mount requires an installation support set that must be purchased separately contact a yaskawa representative to order an installation support set and mounting hardware figure 2 2 illustrates how to attach the installation support set a p.56
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual p.56
• Note use a gasket between the enclosure panel and the digital operator in environments with a significant amount of dust or other airborne debris p.56
• Mount the installation support set and digital operator to the enclosure panel p.56
• Mount the digital operator to the installation support p.56
• Mechanical installation p.56
• Internal flush mount p.56
• Figure 2 3 panel cut out dimensions internal flush mount installation p.56
• Mechanical installation p.57
• Exterior and mounting dimensions p.57
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual p.58
• Table 2 dimensions for ip00 enclosure 200 v class p.58
• Mechanical installation p.58
• Ip00 enclosure drives p.58
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual 59 p.59
• Table 2 dimensions for ip00 enclosure 400 v class p.59
• Mechanical installation p.59
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual p.60
• Table 2 dimensions for ip20 nema type 1 enclosure 200 v class p.60
• Mechanical installation p.60
• Ip20 nema type 1 enclosure drives p.60
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual 61 p.61
• Table 2 dimensions for ip20 nema type 1 enclosure 400 v class p.61
• Mechanical installation p.61
• This page intentionally blank p.62
• Mechanical installation p.62
• Electrical installation p.63
• Warning p.64
• Section safety p.64
• Fire hazard p.64
• Electrical shock hazard p.64
• Danger p.64
• Caution p.65
• Warning p.65
• Notice p.65
• Standard connection diagram p.66
• Connect the drive and peripheral devices as shown in figure 3 it is possible to set and run the drive via the digital operator without connecting digital i o wiring this section does not discuss drive operation refer to start up programming operation on page 107 for instructions on operating the drive p.66
• Three phase power supply 240 to 500 v 50 60 hz depending on model capacity p.67
• Standard connection diagram p.67
• Shielded line twisted pair shielded line main circuit terminal control circuit terminal p.67
• Option p.67
• Main circuit p.67
• Jumper s5 am fm volt curr selection p.67
• Jumper s3 h1 h2 sink source sel p.67
• Gfci mccb r p.67
• Figure 3 drive standard connection diagram example model 2 o 0028 p.67
• Dip switch s1 a2 volt curr sel p.67
• Control circuit p.67
• A a b b z z p.67
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual 67 p.67
• Standard connection diagram p.68
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual 69 p.69
• Refer to figure 3 when wiring the main circuit of the drive connections may vary based on drive capacity the dc power supply for the main circuit also provides power to the control circuit p.69
• Main circuit connection diagram p.69
• Figure 3 connecting main circuit terminals p.69
• Terminal block configuration p.70
• Figure 3 to figure 3 show the different main circuit terminal arrangements for the drive capacities use table 3 to determine the correct figure based on drive model p.70
• Terminal block configuration p.71
• Terminal block configuration p.72
• Terminal cover p.73
• Models 2 o 0028 to 2 o 0130 and 4 o 0011 to 4 o 0124 p.73
• Models 2 0028 to 2 0130 and 4 0011 to 4 0124 p.73
• Models 2 0154 to 2 0248 and 4 0156 to 4 0414 p.74
• Terminal cover p.75
• Connect the ground wiring first then the main circuit wiring and finally the control circuit wiring p.75
• Removing the front cover p.76
• Removing the digital operator p.76
• Removing reattaching the front cover p.76
• Removing reattaching the digital operator p.76
• Reattaching the digital operator p.76
• Digital operator and front cover p.76
• Use a straight edge screwdriver to loosen the hooks on each side of the cover that hold it in place p.77
• Unhook the left side of the front cover then swing the left side towards you as shown in figure 3 9 until the cover comes off p.77
• Remove the terminal cover and the digital operator p.77
• Models 2 o 0154 to 2 o 0248 and 4 o 0156 to 4 o 0414 p.77
• Loosen the installation screw on the front cover p.77
• Digital operator and front cover p.77
• Reattaching the front cover p.78
• Top protective cover p.79
• Removing the top protective cover p.79
• Attaching the top protective cover p.79
• Protecting main circuit terminals p.80
• Main circuit wiring p.80
• Main circuit terminal functions p.80
• Main circuit protective cover p.80
• Insulation caps or sleeves p.80
• Three phase 200 v class p.81
• Main circuit wire gauges and tightening torque p.81
• Main circuit wiring p.82
• Three phase 400 v class p.83
• Main circuit wiring p.83
• Main circuit wiring p.84
• This section outlines the various steps precautions and checkpoints for wiring the main circuit terminals and motor terminals p.85
• Main circuit wiring p.85
• Main circuit terminal and motor wiring p.85
• Follow the precautions below when wiring the ground for one drive or a series of drives p.86
• Cable length between drive and motor p.86
• Wiring the main circuit terminal p.86
• Wire the main circuit terminals after the terminal board has been properly grounded models 2 o 0028 to 2 o 0081 and 4 o 0011 to 4 o 0077 have a cover placed over terminals p1 and n1 prior to shipment to help prevent miswiring use wire cutters to cut away covers as needed for terminals p.86
• Voltage drop along the motor cable may cause reduced motor torque when the wiring between the drive and the motor is too long especially at low frequency output this can also be a problem when motors are connected in parallel 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 the accuracy of the current detection adjust the drive carrier frequency according to table 3 if the motor wiring distance exceeds 100 m because of the system configuration reduce the ground currents refer to c6 02 carrier frequency selection on page 203 p.86
• Refer to figure 3 5 when using multiple drives do not loop the ground wire p.86
• Main circuit wiring p.86
• Ground wiring p.86
• Refer to main circuit connection diagram on page 69 when wiring terminals on the main power circuit of the drive p.87
• Main circuit wiring p.87
• Main circuit connection diagram p.87
• Input terminals p.88
• Control circuit wiring p.88
• Control circuit terminal block functions p.88
• Control circuit connection diagram p.88
• Serial communication terminals p.89
• Output terminals p.89
• Control circuit wiring p.89
• Table 3 lists the output terminals on the drive text in parenthesis indicates the default setting for each multi function output p.89
• Yaskawa recommends using crimpfox 6 a crimping tool manufactured by phoenix contact to prepare wire ends with insulated sleeves before connecting to the drive see table 3 0 for dimensions p.90
• Wire size and torque specifications p.90
• The control circuit terminals are arranged as shown in figure 3 7 p.90
• Terminal configuration p.90
• Select appropriate wire type and gauges from table 3 for simpler and more reliable wiring use crimp ferrules on the wire ends refer to table 3 0 for ferrule terminal types and sizes p.90
• Ferrule type wire terminals p.90
• Control circuit wiring p.90
• Wiring the control circuit terminal p.91
• Wire the control circuit only after terminals have been properly grounded and main circuit wiring is complete refer to terminal board wiring guide on page 91 for details prepare the ends of the control circuit wiring as shown in figure 3 1 refer to wire gauges on page 90 connect control wires as shown in figure 3 9 and figure 3 0 p.91
• This section describes the proper procedures and preparations for wiring the control terminals p.91
• Control circuit wiring p.91
• When setting the frequency by analog reference from an external potentiometer use shielded twisted pair wires preparing wire ends as shown in figure 3 1 and connect the shield to the ground terminal of the drive p.92
• The terminal board is equipped with several switches used to adapt the drive i os to the external control signals figure 3 2 shows the location of these switches refer to control i o connections on page 94 for setting instructions p.92
• Switches and jumpers on the terminal board p.92
• Control circuit wiring p.92
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual 93 p.93
• Jumper s5 terminal am fm signal selection p.93
• Figure 3 2 locations of jumpers and switches on the terminal board p.93
• Control circuit wiring p.93
• Use the wire jumper between terminals sc and sp or sc and sn to select between sink mode source mode or external power supply for the digital inputs s1 to s8 as shown in table 3 1 default sink mode internal power supply p.94
• Sinking sourcing mode for digital inputs p.94
• Control i o connections p.94
• Using the pulse train output p.95
• Using power from the pulse output terminal source mode p.95
• Sinking sourcing mode selection for safe disable inputs p.95
• The high voltage level of the pulse output signal depends on the external 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 p.96
• Terminal a3 can be configured either as multi function analog input or as ptc input for motor thermal overload protection use switch s4 to select the input function as described in table 3 5 refer to switches and jumpers on the terminal board on page 92 for locating switch s4 p.96
• Terminal a3 analog ptc input selection p.96
• Terminal a2 input signal selection p.96
• Terminal a2 can be used to input either a voltage or a current signal select the signal type using switch s1 as explained in table 3 3 set parameter h3 09 accordingly as shown in table 3 4 refer to switches and jumpers on the terminal board on page 92 for locating switch s1 p.96
• Control i o connections p.96
• Using external power supply sink mode p.96
• This drive is equipped with a built in termination resistor for the rs 422 rs 485 communication port dip switch s2 enables or disabled the termination resistor as shown in table 3 8 the off position is the default the termination resistor should be placed to the on position when the drive is the last in a series of slave drives refer to switches and jumpers on the terminal board on page 92 to locate switch s2 p.97
• The signal type for terminals am and fm can be set to either voltage or current output using jumper s5 on the terminal board as explained in table 3 6 when changing the setting of jumper s5 parameters h4 07 and h4 08 must be set accordingly the default selection is voltage output for both terminals refer to switches and jumpers on the terminal board on page 92 for locating jumper s5 p.97
• Terminal dm and dm output signal selection p.97
• Terminal am fm signal selection p.97
• Slide switch s6 selects n c or n o as the state of the dm and dm terminals for edm output p.97
• Memobus modbus termination p.97
• Control i o connections p.97
• Connect to a pc p.98
• Enable the internal emc filter p.99
• Emc filter p.99
• Emc filter p.100
• Emc filter p.101
• Emc filter p.102
• Drive 1 p.103
• Controller p.103
• Ready1 ready2 fault1 p.103
• Ready 2 p.103
• Ready 1 p.103
• Operation ready p.103
• Operation circuit p.103
• Fault2 p.103
• Fault output p.103
• Fault 2 p.103
• Fault 1 p.103
• External interlock p.103
• Drive ready stop p.103
• Drive ready p.103
• Drive 2 p.103
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual p.104
• Wiring checklist p.104
• Note close mc1 mcn before operating the drive mc1 mcn cannot be switched off during run p.104
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual 105 p.105
• Wiring checklist p.105
• Wiring checklist p.106
• This page intentionally blank p.106
• Start up programming operation p.107
• Warning p.108
• Section safety p.108
• Electrical shock hazard p.108
• Danger p.108
• Using the digital operator p.109
• Digital operator keys and displays p.109
• Using the digital operator p.110
• Lcd display p.110
• Using the digital operator p.111
• Lo re led and run led indications p.111
• Alarm alm led displays p.111
• Using the digital operator p.112
• Programming mode p.112
• Menu structure for digital operator p.112
• Fwd jog fwd jog p.112
• Fwd jog p.112
• Drive mod p.112
• The drive and programming modes p.113
• Navigating the drive and programming modes p.113
• Programming p.114
• Press until the frequency reference changes to 006 0 hz p.114
• Press to select local p.114
• Mode prg p.114
• Left right p.114
• Fwd jog p.114
• Drive mode details p.114
• Changing parameter settings or values p.114
• This example explains changing c1 02 deceleration time 1 from 10 seconds to 20 seconds p.114
• The following actions are possible in the programming mode parameter setting mode access and edit all parameter settings verify menu view a list of parameters that have been changed from the default values setup group access a list of commonly used parameters to simplify setup refer to simplified setup using the setup group on page 117 auto tuning mode automatically calculate and set motor parameters to optimize drive performance p.114
• The following actions are possible in the drive mode run and stop the drive monitor the operation status of the drive frequency reference output frequency output current output voltage etc view information on an alarm view a history of alarms that have occurred figure 4 illustrates how to change the frequency reference from f 0 0 0 hz to f 6 0 6 hz while in the drive mode this example assumes the drive is set to local p.114
• The drive and programming modes p.114
• Programming mode details p.114
• The drive and programming modes p.115
• Verifying parameter changes verify menu p.116
• The verify menu lists edited parameters from the programming mode or as a result of auto tuning the verify menu helps determine which settings have been changed and is particularly useful when replacing a drive if no settings have been changed the verify menu will read none the verify menu also allows users to quickly access and re edit any parameter settings that have been changed p.116
• The following example is a continuation of the steps above here parameter c1 02 is accessed using the verify menu and is changed again from 10 s to 20 s to check the list of edited parameters p.116
• The drive and programming modes p.116
• Quick setting p.117
• Mode prg p.117
• Fwd jog p.117
• Fref ai p.117
• Entry accepted p.117
• Data fwd p.117
• Using the setup group p.117
• U1 02 0 0hz u1 03 0 0a p.117
• U1 01 0 0hz p.117
• Simplified setup using the setup group p.117
• Using the lo re key on the digital operator p.118
• Using input terminals s1 through s8 to switch between local and remote p.118
• The drive and programming modes p.118
• Table 4 lists the parameters available by default in the setup group selecting an application preset in parameter a1 06 or from the application selection menu of the setup group automatically changes the parameters selected for the setup group refer to application selection on page 127 for more information use the programming mode to access parameters not displayed in the setup group p.118
• Switching between local and remote p.118
• Switch the operation between local and remote using the lo re key on the digital operator or via a digital input p.118
• Setup group parameters p.118
• Local mode is when the drive is set to accept the run command from the digital operator run key remote mode is when the drive is set to accept the run command from an external device i e input terminals or serial communications p.118
• It is possible to switch between local and remote modes using one of the digital input terminals s1 through s8 set the corresponding parameter h1 oo to 1 setting h1 oo to 1 disables the lo re key on the digital operator refer to h1 multi function digital inputs on page 246 for details p.118
• These flowcharts summarize steps required to start the drive use the flowcharts to determine the most appropriate start up method for a given application the charts are quick references to help familiarize the user with start up procedures p.119
• Start up flowcharts p.119
• Figure 4 basic start up p.120
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual p.120
• Start up flowcharts p.120
• Note 1 execute stationary auto tuning for line to line resistance if the drive has been auto tuned and then moved to a different location where the motor cable length exceeds 50 m 2 perform auto tuning again after installing an ac reactor or other such components to the output side of the drive p.120
• Flowchart a in figure 4 describes a basic start up sequence that varies slightly depending on the application use the drive default parameter settings in simple applications that do not require high precision p.120
• Flowchart a basic start up and motor tuning p.120
• Subchart a 1 simple motor setup using v f control p.121
• Start up flowcharts p.121
• Flowchart a1 in figure 4 describes simple motor setup for v f control with or without pg feedback v f control is suited for more basic applications such as fans and pumps this procedure illustrates energy savings and speed estimation speed search p.121
• Subchart a 2 high performance operation using olv or clv p.122
• Start up flowcharts p.122
• Flowchart a2 in figure 4 0 describes the setup procedure for high performance with open loop vector control or closed loop vector control which is appropriate for applications requiring high starting torque and torque limits p.122
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual 123 p.123
• Start up programming operation p.123
• Start up flowcharts p.123
• Figure 4 0 flowchart a2 high performance operation using olv or clv p.123
• Asr gain tuning automatically performs inertia tuning and sets parameters related to the feed forward function p.123
• Subchart a 3 operation with permanent magnet motors p.124
• Start up flowcharts p.124
• Flowchart a3 in figure 4 1 describes the setup procedure for running a pm motor in open loop vector control pm motors can be used for more energy efficient operation in reduced or variable torque applications p.124
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual 125 p.125
• Start up programming operation p.125
• Start up flowcharts p.125
• Figure 4 1 operation with permanent magnet motors p.125
• Asr gain tuning automatically performs inertia tuning and sets parameters related to the feed forward function p.125
• Status display p.126
• Powering up the drive and operation status display p.126
• Powering up the drive p.126
• Setting 1 water supply pump application p.127
• Application selection p.127
• Setting 3 exhaust fan application p.128
• Setting 2 conveyor application p.128
• Application selection p.128
• Setting 5 air compressor application p.129
• Setting 4 hvac fan application p.129
• Application selection p.129
• Types of auto tuning p.130
• Auto tuning for induction motors p.130
• Auto tuning p.130
• Automatically sets the v f pattern and motor parameters e1 oo and e5 oo when a pm motor is used additionally the feature also sets some f1 oo parameters for speed feedback detection in closed loop vector p.131
• Auto tuning for permanent magnet motors p.131
• Auto tuning p.131
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual p.132
• Table 4 8 lists the data that must be entered for auto tuning make sure the data is available before starting auto tuning the necessary information is usually listed on the motor nameplate or in the motor test report provided by the motor manufacturer refer to subchart a 3 operation with permanent magnet motors on page 124 for details on the auto tuning process and selection p.132
• Table 4 8 auto tuning input data p.132
• Figure 4 2 motor nameplate example p.132
• Dependent upon t2 13 setting p.132
• Auto tuning p.132
• Basic auto tuning preparations p.133
• Inertia tuning and speed control loop auto tuning p.133
• Before auto tuning the drive p.133
• Stationary auto tuning modes analyze motor characteristics by injecting current into the motor for approximately one minute p.134
• Stationary auto tuning 3 can be used in either olv or clv control by setting t1 01 to 5 and entering the input data from the motor nameplate pressing the run key stops the motor for approximately one minute to automatically calculate the necessary motor parameters motor parameters e2 02 and e2 03 are set automatically when using the motor for the first time in drive mode after auto tuning has been performed after performing stationary auto tuning 3 make sure the following conditions are met and use the following procedures to perform the operation in test mode p.134
• Stationary auto tuning 3 p.134
• Stationary auto tuning 2 p.134
• Perform when using a vector control mode and rotational auto tuning cannot be performed check the area around the motor to ensure that nothing will accidentally cause the motor to rotate during the auto tuning process use stationary auto tuning 3 when the motor test report is not available use stationary auto tuning 2 when the motor test report is available p.134
• Notes on stationary auto tuning p.134
• Notes on rotational auto tuning p.134
• Decouple the load from the motor to achieve optimal performance from rotational auto tuning rotational auto tuning is best suited for applications requiring high performance over a wide speed range if it is not possible to decouple the motor and load reduce the load so it is less than 30 of the rated load performing rotational auto tuning with a higher load will set motor parameters incorrectly and can cause irregular motor rotation ensure the motor mounted brake is fully released if installed connected machinery should be allowed to rotate the motor p.134
• Auto tuning p.134
• Notes on inertia tuning and asr gain auto tuning p.135
• Auto tuning interruption and fault codes p.135
• Auto tuning operation example p.136
• Auto tuning p.136
• After selecting the type of auto tuning enter the data required from the motor nameplate p.136
• The following example demonstrates rotational auto tuning when using olv a1 02 2 and clv a1 02 3 p.136
• Selecting the type of auto tuning p.136
• Enter data from the motor nameplate p.136
• T1 parameter settings during induction motor auto tuning p.137
• T1 00 motor 1 motor 2 selection p.137
• Starting auto tuning p.137
• T1 03 motor rated voltage p.138
• T1 02 motor rated power p.138
• T1 01 auto tuning mode selection p.138
• Sets the type of auto tuning to be used refer to auto tuning for induction motors on page 130 for details on the different types of auto tuning p.138
• Sets the motor rated voltage according to the motor nameplate value enter the voltage base speed here if the motor is operating above base speed enter the voltage needed to operate the motor under no load conditions at rated speed to t1 03 for better control precision around rated speed when using a vector control mode the no load voltage can usually be found in the motor test report available from the manufacturer if the motor test report is not available enter approximately 85 of the rated voltage printed on the motor nameplate this may increase the output current and reduce the overload margin p.138
• Sets the motor rated power according to the motor nameplate value p.138
• Sets the motor rated frequency according to the motor nameplate value if a motor with an extended speed range is used or the motor is used in the field weakening area enter the maximum frequency to e1 04 e3 04 for motor 2 after auto tuning is complete p.138
• Sets the motor rated current according to the motor nameplate value set the motor rated current between 50 and 100 of the drive rated current for optimal performance in olv or clv enter the current at the motor base speed p.138
• Auto tuning automatically sets parameters e3 oo and e4 oo for motor 2 make sure that motor 2 is connected to the drive for auto tuning p.138
• Auto tuning p.138
• T1 05 motor base frequency p.138
• T1 04 motor rated current p.138
• T2 01 pm motor auto tuning mode selection p.139
• T1 11 motor iron loss p.139
• T1 10 motor rated slip p.139
• T1 09 motor no load current p.139
• T1 08 pg number of pulses per revolution p.139
• T1 07 motor base speed p.139
• T1 06 number of motor poles p.139
• Parameter settings during pm motor auto tuning t2 p.139
• T2 02 pm motor code selection p.140
• Specifies the motor rated power in kilowatts p.140
• Sets the motor rated voltage p.140
• Selects the type of pm motor the drive will operate p.140
• If the drive is operating a yaskawa pm motor from the smra ssr1 or sst4 series enter the motor code in t2 02 to automatically set parameters t2 03 through t2 14 if the drive is operating a specialized motor or a motor designed by a manufacturer other than yaskawa set t2 02 to ffff and enter the data from the motor nameplate or the motor test report as prompted only the designated pm motor codes may be entered the pm motor codes accepted by the drive will differ depending on the selected control mode refer to e5 pm motor settings on page 230 for motor codes p.140
• Auto tuning p.140
• T2 05 pm motor rated voltage p.140
• T2 04 pm motor rated power p.140
• T2 03 pm motor type p.140
• T2 09 pm motor base speed p.141
• T2 08 number of pm motor poles p.141
• T2 07 pm motor base frequency p.141
• T2 06 pm motor rated current p.141
• Selects the units used for setting the induced voltage coefficient p.141
• Enter the q axis inductance per motor phase p.141
• Enter the number of motor poles p.141
• Enter the motor stator resistance per motor phase p.141
• Enter the motor rated speed in r min p.141
• Enter the motor rated current in amps p.141
• Enter the motor base frequency in hz p.141
• Enter the d axis inductance per motor phase p.141
• T2 13 induced voltage constant unit selection p.141
• Auto tuning p.141
• T2 12 pm motor q axis inductance p.141
• T2 11 pm motor d axis inductance p.141
• T2 10 pm motor stator resistance p.141
• T2 17 encoder z pulse offset δθ p.142
• T2 16 pg number of pulses per revolution for pm motor tuning p.142
• T2 15 pull in current level for pm motor tuning p.142
• T2 14 pm motor induced voltage constant ke p.142
• Sets the frequency of the test signal applied to the motor during inertia tuning although this setting rarely needs to be changed increasing the value may be beneficial when working with high inertia loads p.142
• Sets the amount of pull in current used to tune the d axis and q axis inductance set as a percentage of the motor rated current p.142
• Sets the amount of compensation or offset in 0 degree units to fine tune the home position perform z pulse tuning when the amount of offset needed for the z pulse is unknown or if the pg encoder is replaced p.142
• Parameter settings during inertia and speed control loop auto tuning t3 p.142
• Enter the number of pulses from the pg encoder per motor rotation set the actual number of pulses for one full motor rotation p.142
• Enter the motor induced voltage constant ke p.142
• Enter the amplitude of the test signal applied to the motor during inertia tuning although this setting rarely needs to be changed decrease the setting if a large load inertia causes problems during inertia tuning adjust t3 02 if a fault occurs when t3 01 is set to a low value p.142
• Auto tuning p.142
• These tuning methods apply a sine wave test signal to the system the drive estimates the system inertia by the measuring the response and automatically sets the parameters listed in table 4 2 p.142
• T3 02 inertia tuning reference amplitude p.142
• T3 01 inertia tuning frequency reference p.142
• T3 04 asr response frequency p.143
• T3 03 motor inertia p.143
• Sets the response frequency reciprocal of the step response time constant of the system or the connected machine the drive uses this value and the load inertia to fine tune the speed control loop gain c5 01 asr gain 1 oscillation may result if the value input here is higher than the actual response frequency of the system p.143
• Enter the inertia of the motor this value is used to determine the load inertia using the test signal response the default setting is for a yaskawa standard motor as listed in the motor inertia table p.143
• Auto tuning p.143
• No load operation test run p.144
• No load operation instructions p.144
• During operation p.144
• Before starting the motor p.144
• The drive should operate normally press p.145
• Step display result p.145
• Start up programming operation p.145
• No load operation test run p.145
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual 145 p.145
• To stop the motor run flashes during deceleration to stop until the motor comes to a complete stop p.145
• Test run with the load connected p.146
• Test run with load connected p.146
• Precautions for connected machinery p.146
• Operating the motor under loaded conditions p.146
• Checklist before operation p.146
• Verifying parameter settings and backing up changes p.147
• Password settings a1 04 a1 05 p.147
• Parameter access level a1 01 p.147
• Backing up parameter values o2 03 p.147
• Copy function p.148
• Test run checklist p.149
• Review the checklist before performing a test run check each item that applies p.149
• Check the items that correspond to the control mode being used p.149
• Test run checklist p.150
• Parameter details p.151
• A1 initialization p.152
• A1 02 control method selection p.152
• A1 01 access level selection p.152
• A1 00 language selection p.152
• A initialization p.152
• A1 03 initialize parameters p.153
• The user can set a password in parameter a1 05 to restrict access to the drive the password must be entered to a1 04 to unlock parameter access i e parameter setting a1 04 must match the value programmed into a1 05 the following parameters cannot be viewed or edited until the value entered to a1 04 correctly matches the value set to a1 05 a1 01 a1 02 a1 03 a1 06 and a2 01 through a2 33 the instructions below demonstrate how to set password 1234 an explanation follows on how to enter that password to unlock the parameters p.154
• The parameters shown in table 5 will not be reset when the drive is initialized by setting a1 03 2220 or 3330 although the control mode in a1 02 is not reset when a1 03 is set to 2220 or 3330 it may change when an application preset is selected p.154
• Parameter a1 04 enters the password when the drive is locked parameter a1 05 is a hidden parameter that sets the password p.154
• A1 04 a1 05 password and password setting p.154
• A initialization p.154
• A initialization p.155
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual p.156
• A1 07 driveworksez function selection p.156
• To scroll to a1 04 p.156
• A1 06 application preset p.156
• To save the setting or press p.156
• A initialization p.156
• To save the new password p.156
• To return to the previous display without saving changes p.156
• To enter the password p.156
• To display the value set to a1 02 p.156
• To change the value if desired though changing the control mode at this point is not typically done p.156
• The display automatically returns to the parameter display p.156
• Step display result p.156
• Several application presets are available to facilitate drive setup for commonly used applications selecting one of these application presets automatically assigns functions to the input and output terminals and sets a predefined group of parameters to values appropriate for the selected application in addition the parameters most likely to be changed are assigned to the group of user parameters a2 01 through a2 16 user parameters are part of the setup group which provides quicker access by eliminating the need to scroll through multiple menus refer to application selection on page 127 for details on parameter a1 06 p.156
• Note 1 parameter settings can be edited after entering the correct password 2 performing a 2 wire or 3 wire initialization resets the password to 0000 p.156
• Key use p.156
• Enables and disables the driveworksez program inside the drive p.156
• Drive returns to the parameter display p.156
• And scroll to a1 02 p.156
• A2 user parameters p.157
• A2 33 user parameter automatic selection p.157
• A2 01 to a2 32 user parameters 1 to 32 p.157
• B1 operation mode selection p.158
• B1 01 frequency reference selection 1 p.158
• B application p.158
• This setting requires entering the run command via the digital operator run key and also illuminates the lo re indicator on the digital operator p.159
• This setting requires entering the run command via the digital input terminals using one of following sequences 2 wire sequence 1 p.159
• This setting requires entering the frequency reference via the rs 485 rs 422 serial communications port control terminals r r s s refer to memobus modbus configuration on page 560 for instructions p.159
• This setting requires entering the frequency reference via an option board plugged into connector cn5 a on the drive control board consult the option board manual for instructions on integrating the drive with the communication system p.159
• This setting requires a pulse train signal to terminal rp to provide the frequency reference follow the directions below to verify that the pulse signal is working properly p.159
• The frequency reference input can be switched between the analog terminals a1 a2 and a3 using multi speed inputs refer to multi step speed selection on page 205 for details on using this function p.159
• Set b1 01 to 4 and set h6 01 to 0 set the h6 02 to the pulse train frequency value that equals 100 of the frequency reference enter a pulse train signal to terminal rp and check for the correct frequency reference on the display p.159
• Determines the run command source 1 in the remote mode p.159
• B1 02 run command selection 1 p.159
• B application p.159
• B1 03 stopping method selection p.160
• When the run command is removed the drive will shut off its output and the motor will coast uncontrolled deceleration to stop the stopping time is determined by the inertia and the friction in the driven system p.161
• When the run command is removed the drive will enter baseblock turn off its output for the momentary power loss minimum baseblock time l2 03 when the minimum baseblock time has expired the drive will inject the amount dc injection braking is set in parameter b2 02 into the motor windings to brake the motor the stopping time in dc injection braking to stop is significantly faster compared to coast to stop p.161
• Setting 2 dc injection braking to stop p.161
• Setting 1 coast to stop p.161
• For these control modes parameter b2 01 sets the starting frequency for zero speed control not position lock at stop when the output frequency falls below the setting of b2 01 zero speed control is enabled for the time set in parameter b2 04 p.161
• Clv and clv pm a1 02 3 7 p.161
• B application p.161
• The wait time t is determined by the output frequency when the run command is removed and by the active deceleration time p.162
• Setting 3 coast to stop with timer p.162
• Note if an overcurrent oc fault occurs during dc injection braking to stop lengthen the momentary power loss minimum baseblock time l2 03 until the fault no longer occurs p.162
• Figure 5 dc injection braking to stop p.162
• Figure 5 dc injection braking time depending on output frequency p.162
• Figure 5 coast to stop with timer p.162
• Dc injection braking time is determined by the value set to b2 04 and the output frequency at the time the run command is removed it can be calculated by p.162
• B application p.162
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual p.162
• When the run command is removed the drive will turn off its output and the motor will coast to stop the drive will not start if a run command is input before the time t c1 02 has expired cycle the run command that was activated during time t after t has expired to start the drive p.162
• The motor starts when the frequency reference exceeds the parameter e1 09 setting when the motor is running and the frequency reference falls below e1 09 the drive output shuts off and the motor coasts when the motor speed falls below the zero speed level set in b2 01 zero speed control is activated for the time set in b2 04 p.163
• The drive adjusts the motor speed following the speed reference even if the frequency reference is below the setting of parameter e1 09 when the run command is removed and the motor speed is smaller than the setting of b2 01 zero speed control not position lock is performed for the time set in parameter b2 04 before the drive output shuts off p.163
• Sets the operation when the frequency reference is lower than the minimum output frequency set in parameter e1 09 p.163
• Possible to operate the motor in both forward and reverse directions p.163
• Enables and disables reverse operation for some applications reverse motor rotation is not appropriate and may cause problems e g air handling units pumps etc p.163
• Drive disregards a reverse run command or a negative frequency reference p.163
• B1 05 action selection below minimum output frequency clv and clv pm p.163
• B1 04 reverse operation selection p.163
• B application p.163
• No name setting range default p.164
• Defines how the digital inputs are read the inputs are acted upon every 1 ms or 2 ms depending upon the setting p.164
• B1 06 digital input reading 0 1 1 p.164
• B1 06 digital input reading p.164
• B application p.164
• When a run command is active and the frequency reference is smaller than the parameter e1 09 setting the drive runs the motor at the speed set in e1 09 when the run command is removed the drive decelerates the motor as soon as the motor speed reaches the zero speed level set in b2 01 zero speed control is activated for the time set in b2 04 p.164
• The state of a digital input is read twice the input command is processed only if the state does not change during the double reading this reading process is slower than the read once process but it is more resistant to noisy signals p.164
• The state of a digital input is read once if the state has changed the input command is immediately processed with this setting the drive responds more quickly to digital inputs but a noisy signal could cause erroneous operation p.164
• The drive applies zero speed control whenever the frequency reference setting is below the value of parameter 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 p.164
• Setting 3 zero speed control p.164
• Setting 2 run at the minimum frequency p.164
• Setting 1 read twice 2 ms scan p.164
• Setting 0 read once 1 ms scan p.164
• B1 15 frequency reference selection 2 p.165
• B1 14 phase order selection p.165
• B1 08 run command selection while in programming mode p.165
• B1 07 local remote run selection p.165
• B1 17 run command at power up p.166
• B1 16 run command selection 2 p.166
• B application p.166
• A voltage will be output with pwm switching operation regardless of the output frequency p.166
• When the output frequency matches the power supply frequency 60 hz the pwm switching operation stops and switches to operation with a direct commercial power supply connection p.166
• When the deviation between the output frequency and the power supply frequency is less than or equal to the commercial power switching output frequency coincidence level b1 26 the pwm switching operation stops and switches to operation with a direct commercial power supply connection operation with a direct commercial power supply continues until the deviation between the output frequency and the power supply frequency is greater than or equal to the commercial power switching output frequency coincidence non coincidence level b1 25 b1 26 p.166
• These parameters set the value in 0 hz increments at which commercial power supply switching selection is enabled and disabled p.166
• Selects a condition to start closed loop vector control there is normally no need to change this parameter from the default value p.166
• If an external run command is active when the drive is powered up the drive will begin operating the motor after the internal start up process is complete p.166
• Enabled when h1 oo 2 and the terminal is closed refer to setting 2 external reference 1 2 selection on page 248 and refer to b1 01 frequency reference selection 1 on page 158 for details p.166
• Determines whether an external run command that is active during power up will start the drive p.166
• Cycle the run command to start the drive p.166
• B1 25 b1 26 commercial power switching output frequency coincidence level non coincidence level p.166
• B1 24 commercial power operation switching selection p.166
• B1 21 start condition selection at closed loop vector control p.166
• B2 dc injection braking p.167
• B2 02 dc injection braking current p.167
• B2 01 dc injection braking start frequency p.167
• B2 04 dc injection braking time at stop p.168
• B2 03 dc injection braking time at start p.168
• B3 speed search p.168
• B2 08 magnetic flux compensation value p.168
• Speed estimation speed search b3 24 1 p.169
• Current detection speed search 2 b3 24 2 p.169
• Speed search activation p.170
• Rotation direction detection conditions for backspin p.170
• B3 01 speed search selection at start p.170
• Sets the current injected to the motor at the beginning of speed estimation speed search as a factor of the motor rated current set in e2 01 e4 01 for motor 2 if the motor speed is relatively slow when the drive starts to perform speed search after a long period of baseblock it may be helpful to increase the setting value the output current during speed search is automatically limited by the drive rated current p.171
• In cases where an output contactor is used between the drive and the motor the contactor must be closed before speed search can be performed this parameter can be used to delay the speed search operation giving the contactor enough time to close completely p.171
• During speed search the output voltage calculated from the v f pattern is multiplied with this value changing this value can help reduce the output current during speed search p.171
• B3 08 current control gain during speed search speed estimation type p.171
• B3 06 output current 1 during speed search p.171
• B3 05 speed search delay time p.171
• B3 04 v f gain during speed search p.171
• B3 03 speed search deceleration time p.171
• B application p.171
• This setting starts operating the drive at the minimum output frequency when the run command is entered if external speed search 1 or 2 is already enabled by a digital input the drive will start operating with speed search p.171
• This setting performs speed search when the run command is entered the drive begins running the motor after speed search is complete p.171
• Sets the proportional gain for the current controller during speed search there is normally no need to change this parameter from the default value p.171
• Sets the output frequency reduction ramp the time entered into b3 03 will be the time to decelerate from maximum frequency e1 04 to minimum frequency e1 09 in current detection type 2 speed search the time set in this parameter is used as the acceleration or deceleration time for the output frequency while searching p.171
• Sets the speed search method in v f v f w pg or olv control modes set this parameter to 2 current detection type speed search 2 when b3 50 is 0 or longer p.172
• Sets the number of times the drive should attempt to find the speed and restart the motor if the number of restart attempts exceeds the value set to b3 19 the ser fault will occur and the drive will stop p.172
• Sets the gain for the detected motor speed of the speed estimation speed search increase the setting only if an overvoltage fault occurs when the drive restarts the motor p.172
• Sets the current level at which speed estimation is restarted as a percentage of drive rated current to avoid overcurrent and overvoltage problems since a large current can flow into the drive if the difference between the estimated frequency and the actual motor speed is too big when performing speed estimation p.172
• Sets how the drive determines the motor rotation direction when performing speed estimation speed search disable this parameter when b3 50 backspin search direction judgment time 1 is set to 0 or longer p.172
• B3 24 speed search method selection p.172
• B3 19 number of speed search restarts p.172
• B3 18 speed search restart detection time p.172
• B3 17 speed search restart current level p.172
• B3 14 bi directional speed search selection p.172
• B3 10 speed search detection compensation gain p.172
• B application p.172
• The drive uses the frequency reference to determine the direction of motor rotation to restart the motor p.172
• The drive detects the motor rotation direction to restart the motor p.172
• Sets the time for which the current must be above the level set in b3 17 before restarting speed search p.172
• Sets the wait time between speed search restarts increase the wait time if problems occur with overcurrent or if an ser fault occurs p.173
• Sets the current level used to limit the output current during current detection type speed search 2 as a ratio to e2 03 motor no load current the current level is determined for a no load current that is 30 of the rated motor current when the setting value of e2 03 is less than or equal to 30 of the rated motor current p.173
• Sets the current level at which to end the speed search for current detection type speed search 2 as a ratio to e2 03 motor no load current the current level is determined for a no load current that is 30 of the rated motor current when the setting value of e2 03 is less than or equal to 30 of the rated motor current p.173
• Selects a condition to activate speed search selection at start b3 01 set this parameter to 1 when using a sequence in which operation starts when the frequency reference exceeds the minimum output frequency while the run command is active p.173
• Lower this value in small increments if changes are necessary setting this value too low will prevent the drive from performing speed search there is normally no need to change this parameter from the default value p.173
• B3 33 speed search selection when run command is given during uv p.173
• B3 32 speed search operation current level 2 current detection 2 p.173
• B3 31 speed search operation current level 1 current detection type 2 p.173
• B3 29 speed search induced voltage level p.173
• B3 27 start speed search select p.173
• B3 25 speed search wait time p.173
• B application p.173
• Activates and deactivates speed search at start in accordance with whether a run command was issued during an undervoltage uv condition function is active when a momentary power loss l2 01 1 or 2 speed search at start b3 01 1 and coasting to a stop b1 03 1 are enabled p.173
• When time t from the momentary power loss to recovery is shorter than the setting value of b3 50 speed search is performed in the direction specified by the direction command the deceleration time set in b3 52 is used for the search frequency and the setting value of the maximum frequency is used as the starting search frequency p.174
• When time t from the momentary power loss to recovery is between the times set for b3 50 and b3 51 operation will not be restarted and the baseblock will continue the drive will stay in baseblock for the time set in b3 51 even after restoring power after the time set in b3 51 passes speed search starts in the opposite direction of the direction command the deceleration time in b3 53 is used for the search frequency and the setting value of the maximum frequency is used as the starting search frequency p.174
• The direction of the speed search is adjusted to allow for backspin when momentary power loss time t is shorter than the time set in b3 50 the search operates according to the direction command when momentary power loss time t is equal to or longer than the time set in b3 51 the search operates from the opposite direction of the direction command when momentary power loss time t is equal to or longer than the time set in b3 50 and shorter than b3 15 baseblock continues until momentary power loss time t exceeds the time set in b3 51 the search then operates from the opposite direction of the direction command p.174
• B3 50 b3 51 backspin search direction judgment time 1 2 p.174
• B application p.174
• When time t from the momentary power loss to recovery exceeds the setting value of b3 51 speed search is performed in the opposite direction of the direction command the deceleration time in b3 53 is used for the search frequency and the setting value of the maximum frequency is used as the starting search frequency p.175
• Sets the search frequency deceleration rate when searching from the direction command when momentary power loss time t is shorter than the time set in b3 50 set the value lower than the motor deceleration rate during coasting p.175
• Sets the search frequency deceleration rate for a speed search from the opposite direction of the direction command when momentary power loss time t is equal to or longer than the time set in b3 51 p.175
• Motor speed p.175
• B3 53 backspin search deceleration time 2 p.175
• B3 52 backspin search deceleration time 1 p.175
• B application p.175
• B4 03 to b4 08 h2 oo on delay and off delay time p.176
• B4 01 sets the on delay time for switching the timer output b4 02 sets the off delay time for switching the timer output p.176
• B4 01 b4 02 timer function on delay off delay time p.176
• B application p.176
• Timer function operation p.176
• The timer function switches on when the timer function input closes for longer than the value set to b4 01 the timer function switches off when the timer function input is open for longer than the value set to b4 02 figure 5 2 illustrates the timer function operation p.176
• The timer function is independent of drive operation and can delay the switching of a digital output triggered by a digital input signal and help eliminate chattering switch noise from sensors an on delay and off delay can be set separately to enable the timer function set a multi function input to timer function input h1 oo 18 and set a multi function output to timer output h2 oo 12 only one timer can be used p.176
• Sets the length of the delay time for contact outputs to open or close for the related functions set in h2 oo p.176
• B4 timer function p.176
• Using pid control p.177
• Pid setpoint input methods p.177
• Pid operation p.177
• P control p.177
• I control p.177
• D control p.177
• B5 pid control p.177
• Pid feedback input methods p.178
• Input the pid feedback signal from one of the sources listed in table 5 0 p.178
• Input one feedback signal for normal pid control or input two feedback signals can for controlling a differential process value p.178
• B application p.178
• The second pid feedback signal for differential feedback can come from the sources listed in table 5 1 the differential feedback function is automatically enabled when a differential feedback input is assigned p.178
• Proportional gain b5 02 p.179
• Pid block diagram p.179
• Enable disable reverse operation when pid output is negative p.179
• B application p.179
• Always 1 when b5 01 3 4 p.179
• Sets the maximum output possible from the integral block as a percentage of the maximum frequency e1 04 p.180
• Sets the maximum output possible from the entire pid controller as a percentage of the maximum frequency e1 04 p.180
• Enables or disables the pid operation and selects the pid operation mode p.180
• B5 06 pid output limit p.180
• B5 05 derivative time d p.180
• B5 04 integral limit setting p.180
• B5 03 integral time setting i p.180
• B5 02 proportional gain setting p p.180
• B5 01 pid function setting p.180
• The pid controller is enabled and the pid output is added to the frequency reference the pid input is d controlled p.180
• B application p.180
• The pid controller is enabled and the pid output is added to the frequency reference the pid feedback is d controlled p.180
• The pid controller is enabled and the pid output builds the frequency reference the pid input is d controlled p.180
• The pid controller is enabled and the pid output builds the frequency reference the pid feedback is d controlled p.180
• Sets the time the drive predicts the pid input pid feedback signal based on the derivative of the pid input pid feedback longer time settings improve the response but can cause vibrations while shorter time settings reduce the overshoot but reduce controller responsiveness d control is disabled by setting b5 05 to zero seconds p.180
• Sets the time constant used to calculate the integral of the pid input the shorter the integral time set to b5 03 the faster the offset will be eliminated if the integral time is set too short however overshoot or oscillation may occur to turn off the integral time set b5 03 to 0 0 p.180
• Sets the p gain applied to the pid input larger values will tend to reduce the error but may cause oscillations if set too high while lower values may allow too much offset between the setpoint and feedback p.180
• B5 11 pid output reverse selection p.181
• B5 10 pid output gain setting p.181
• B5 09 pid output level selection p.181
• B5 08 pid primary delay time constant p.181
• B5 07 pid offset adjustment p.181
• B application p.181
• Applies a gain to the pid output and can be helpful when the pid function is used to trim the frequency reference b5 01 3 or 4 p.181
• A positive pid input causes an increase in the pid output direct acting p.181
• The pid feedback loss detection function detects broken sensors or broken sensor wiring it should be used when pid control is enabled to prevent critical machine conditions e g acceleration to max frequency caused by a feedback loss feedback loss can be detected in two ways feedback low detection detected when the feedback falls below a certain level for longer than the specified time this function is set up using parameters b5 12 to b5 14 feedback high detection p.181
• A positive pid input causes a decrease in the pid output reverse acting p.181
• Sets the time constant for the filter applied to the output of the pid controller normally change is not required p.181
• Sets the offset added to the pid controller output as a percentage of the maximum frequency e1 04 p.181
• Reverses the sign of the pid controller output signal normally a positive pid input feedback smaller than setpoint leads to positive pid output p.181
• Pid feedback loss detection p.181
• Negative pid output will cause the drive to run in the opposite direction p.181
• Negative pid output will be limited to 0 and the drive output will be stopped p.181
• Determines whether a negative pid output reverses the direction of drive operation this parameter has no effect when the pid function trims the frequency reference b5 01 3 or 4 and the pid output will not be limited same as b5 11 1 p.181
• B5 13 pid feedback low detection level p.182
• B5 12 pid feedback loss detection selection p.182
• B5 37 pid feedback high detection time p.183
• B5 36 pid feedback high detection level p.183
• B5 16 pid sleep delay time p.183
• B5 15 pid sleep function start level p.183
• B5 14 pid feedback low detection time p.183
• B application p.183
• The pid sleep function stops the drive when the pid output or the frequency reference falls below the pid sleep operation level for a certain time the drive will resume operating when the pid output or frequency reference rise above the pid sleep operation level for the specified time an example of pid sleep operation appears in the figure below p.183
• The pid sleep function is active even when pid control is disabled the pid sleep function stops the motor according to the stopping method set to b1 03 the parameters necessary to control the pid sleep function are explained below p.183
• Sets the time that the pid feedback must exceed the value set to b5 36 before feedback loss is detected p.183
• Sets the time that the pid feedback has to fall below b5 13 before feedback loss is detected p.183
• Sets the level that triggers pid sleep the drive goes into sleep mode if the pid output or frequency reference is smaller than b5 15 for longer than the time set to b5 16 the drive resumes operation when the pid output or frequency reference is above b5 15 for longer than the time set to b5 16 p.183
• Sets the feedback level used for pid feedback high detection the pid feedback must exceed this level for longer than the time set to b5 37 before feedback loss is detected p.183
• Sets the delay time to activate or deactivate the pid sleep function p.183
• Pid sleep p.183
• Determines the units for the pid setpoint value b5 19 and monitors u5 01 and u5 04 the units for setting and display can be changed with b5 20 p.184
• B5 35 pid input limit p.184
• B5 34 pid output lower limit p.184
• B5 20 pid setpoint scaling p.184
• B5 19 pid setpoint value p.184
• Used as the pid setpoint if parameter b5 18 1 p.184
• B5 18 pid setpoint selection p.184
• The setpoint and pid monitors are displayed in r min with a resolution of 1 r min p.184
• B5 17 pid accel decel time p.184
• The setpoint and pid monitors are displayed in hz with a resolution of 0 1 hz p.184
• B application p.184
• The setpoint and pid monitors are displayed as a percentage with a resolution of 0 1 p.184
• The pid acceleration deceleration time is applied on the pid setpoint value when the setpoint changes quickly the normal c1 oo acceleration times reduce the responsiveness of the system as they are applied after the pid output the pid accel decel time helps avoid the hunting and overshoot and undershoot that can result from the reduced responsiveness the pid acceleration deceleration time can be canceled using a digital input programmed for pid sfs cancel h1 oo 34 p.184
• Sets the minimum possible pid controller output as a percentage of the maximum output frequency e1 04 the lower limit is disabled when set to 0 0 p.184
• Sets the maximum allowed pid input as a percentage of the maximum output frequency e1 04 parameter b5 35 acts as a bipolar limit p.184
• Parameters b5 38 and b5 39 determine the units and resolution used to display the values the setpoint in b5 19 and pid monitors u1 01 and u1 04 p.184
• Parameter b5 19 is used as pid setpoint p.184
• Parameter b5 19 is not used as the pid setpoint p.184
• Enables or disables parameter b5 19 for pid setpoint p.184
• Determines whether a negative pid output reverses the direction of drive operation when the pid function is used to trim the frequency reference b5 01 3 or 4 this parameter has no effect and the pid output will not be limited same as b5 11 1 p.185
• B5 47 pid output reverse selection 2 p.185
• B5 40 frequency reference monitor content during pid p.185
• B5 38 b5 39 pid setpoint user display pid setpoint display digits p.185
• B application p.185
• When parameter b5 20 is set to 3 parameters b5 38 and b5 39 set a user defined display for the pid setpoint b5 19 and pid feedback monitors u5 01 u5 04 parameter b5 38 determines the display value when the maximum frequency is output and parameter b5 39 determines the number of digits the setting value is equal to the number of decimal places p.185
• Sets the content of the frequency reference monitor display u1 01 when pid control is active p.185
• Negative pid output will cause the drive to run in the opposite direction p.185
• Negative pid output will be limited to 0 and the drive output will be stopped p.185
• Monitor u1 01 displays the frequency reference value p.185
• Monitor u1 01 displays the frequency reference increased or reduced for the pid output p.185
• The dwell function temporarily holds the frequency reference at a predefined value for a set time then continues accelerating or decelerating the dwell function helps prevent speed loss when starting and stopping a heavy load with induction motors when running a pm motor in v f control the pause in acceleration allows the pm motor rotor to align with the stator field of the motor and reduce the starting current figure 5 7 illustrates how the dwell function works p.186
• Follow the directions below to fine tune pid control parameters p.186
• Fine tuning pid p.186
• B6 dwell function p.186
• B application p.186
• Parameter details p.187
• B7 droop control clv clv pm p.187
• B7 01 droop control gain p.187
• B6 03 b6 04 dwell reference dwell time at stop p.187
• B6 01 b6 02 dwell reference dwell time at start p.187
• The energy saving feature improves overall system operating efficiency by operating the motor at its most efficient level p.188
• Sets the gain level for energy saving a higher value results in lower magnetization of the motor and less energy consumption if the value is set too high the motor may stall p.188
• Enables or disables the energy saving function p.188
• Enables or disables the droop control limit p.188
• B8 energy saving p.188
• B8 02 energy saving gain olv clv p.188
• B8 01 energy saving control selection p.188
• B7 03 droop control limit selection p.188
• B7 02 droop control delay time p.188
• B application p.188
• Adjusts the responsiveness of droop control reduce the setting if the reaction time is too long and increase the setting if hunting occurs p.188
• B8 06 search operation voltage limit v f v f w pg p.189
• B8 05 power detection filter time v f v f w pg p.189
• B8 04 energy saving coefficient value v f v f w pg p.189
• B8 03 energy saving control filter time constant olv clv p.189
• B application p.189
• There is normally no need to change this parameter from the default value coefficient to adjust torque linearity set to the kt value specified on the motor nameplate setting e5 01 motor code selection for pm motors to 1 ooo or 2 ooo automatically sets the calculated value this set value cannot be changed if oscillation occurs when energy saving is enabled b8 01 1 check the value displayed in monitor u5 22 if the value displayed differs from the kt value written on the motor nameplate set b8 17 accordingly p.189
• There is normally no need to change this parameter from the default value coefficient to adjust torque linearity set to the ki value specified on the motor nameplate setting e5 01 motor code selection for pm motors to 1 ooo or 2 ooo automatically sets the calculated value this set value cannot be changed if oscillation occurs when energy saving is enabled b8 01 1 check the value displayed in monitor u5 21 if the value displayed differs from the ki value written on the motor nameplate set b8 16 accordingly p.189
• Sets the voltage limit for the speed search optimal output voltage detection as a percentage of the maximum output voltage the drive will keep the output voltage above this level during the search operation to prevent motor stalling p.189
• Sets the response time for energy saving a lower value allows for a quicker response however a value that is too low may cause instability p.189
• Fine tunes energy saving control the default setting is for a standard yaskawa motor when using a different motor adjust this parameter in 5 increments until output power monitor u1 08 is at the minimum value while running the drive with a light load a low setting results in less output voltage and less energy consumption if the value is set too low the motor may stall the default setting depends on the capacity of the drive p.189
• Determines how often in milliseconds the output power is measured the energy saving function continuously searches out the lowest output voltage to achieve minimum output power reducing this setting increases the response time if the filter time is too short the motor may become unstable with a lighter load p.189
• B8 17 energy saving parameter kt for pm motors p.189
• B8 16 energy saving parameter ki for pm motors p.189
• When zero servo mode is active the deviation between the rotor position and the zero position is displayed in monitor u6 22 monitor value must be divided by 4 to get the deviation in actual encoder pulses a digital output programmed for zero servo complete h2 oo 33 is turned on when the rotor position is within the zero position plus or minus the zero servo completion width set to parameter b9 02 p.190
• The zero servo function is a position loop that can be used in clv and clv pm control modes to lock the motor at a certain position to activate zero servo mode use a digital input set for h1 oo 72 and the drive will decelerate when this input is closed the drive goes into zero servo mode and holds the current position when the motor speed falls below the level set to parameter b2 01 the drive accelerates when the input assigned to trigger the zero servo function is released and the run command is still present p.190
• Sets the output range of the zero servo completion signal enter the amount of deviation allowable from the desired position to trigger zero servo an output terminal set for zero servo h2 oo 33 will be triggered when the motor reaches the position zero servo plus or minus b9 02 p.190
• B9 zero servo p.190
• B9 02 zero servo completion width p.190
• B9 01 zero servo gain p.190
• B application p.190
• Adjusts the responsiveness of the zero servo position loop increase the value if the response is too slow and the deviation from the zero position rises too high when load is applied decrease the value if vibrations occur during zero servo operation p.190
• C1 acceleration and deceleration times p.191
• C tuning p.191
• When switching between motor 1 and 2 using a digital input h1 oo 16 parameters c1 01 to c1 04 become accel decel times 1 and 2 for motor 1 while c1 05 to c1 08 become accel decel times 1 and 2 for motor 2 accel decel times 1 and 2 can be switched for each motor using a digital inputs set to h1 oo 7 like shown in table 5 4 p.192
• The drive can switch between different acceleration and deceleration times automatically the drive will switch from accel decel time 4 in c1 07 and c1 08 to the default accel decel time in c1 01 and c1 02 c1 05 and c1 06 for motor 2 when the output frequency exceeds the frequency level set to parameter c1 11 when the frequency falls below this level the accel decel times are switched back figure 5 2 shows an operation example p.192
• The accel decel times are set in 0 1 s units the setting range is 0 0 to 600 0 s c1 10 cannot be set to 0 if any of the parameters c1 01 to c1 09 is set to 600 s or longer p.192
• Switching acceleration and deceleration times by motor selection p.192
• Switching accel decel times by a frequency level p.192
• Setting 0 0 1 s units p.192
• Sets a special deceleration used when a select group of faults occur e g l8 03 overheat pre alarm operation selection or when closing a digital input configured as h1 oo 15 n o input or 17 n c input a momentary closure of the digital input will trigger the fast stop operation it does not have to be closed continuously the drive cannot be restarted after initiating a fast stop operation until after completing deceleration clearing the fast stop input and cycling the run command a digital output programmed for during fast stop h2 oo 4c will be closed as long as fast stop is active p.192
• No parameter name setting range default p.192
• Determines the units for the acceleration and deceleration times set to c1 01 through c1 09 using parameter c1 10 p.192
• C1 10 accel decel time setting units 0 1 1 p.192
• C1 10 accel decel time setting units p.192
• C1 09 fast stop time 0 to 6000 s p.192
• C1 09 fast stop time p.192
• C tuning p.192
• C3 slip compensation p.193
• C3 01 slip compensation gain p.193
• C2 s curve characteristics p.193
• C2 01 to c2 04 s curve characteristics p.193
• C1 11 accel decel time switching frequency p.193
• Slip compensation is enabled during regenerative operation it will not be active at output frequencies below 6 hz p.194
• Slip compensation is enabled during regenerative operation and at frequencies as low as 2 hz the drive uses the motor rated slip set to e2 02 to automatically calculate the frequency range where compensation will be disabled p.194
• Sets the upper limit for the slip compensation function as a percentage of the motor rated slip e2 02 p.194
• Enables or disables slip compensation during regenerative operation this function does not operate when the output frequency is too low regardless of whether it has been enabled p.194
• Determines if the motor flux reference is automatically reduced when output voltage reaches the saturation range p.194
• C3 05 output voltage limit operation selection p.194
• C3 04 slip compensation selection during regeneration p.194
• C3 03 slip compensation limit p.194
• C3 02 slip compensation primary delay time p.194
• C tuning p.194
• Adjusts the filter on the output side of the slip compensation function although this parameter rarely needs to be changed adjustments may be necessary in the following situations decrease the setting when the slip compensation response is too slow increase this setting when speed is unstable p.194
• The slip compensation limit is constant throughout the constant torque range frequency reference e1 06 in the constant power range frequency reference e1 06 it is increased based on c3 03 and the output frequency as shown in the following diagram p.194
• Slip compensation is not provided depending on the load and mode of operation the actual motor speed will be lower or higher than the frequency reference p.194
• The slip compensation limit is constant throughout the constant torque range frequency reference e3 06 in the constant power range frequency reference e3 06 it is increased based on c3 23 and the output frequency as illustrated in figure 5 5 p.195
• Sets the upper limit for the slip compensation function as a percentage of the motor rated slip e4 02 p.195
• Improves the speed accuracy for motor 2 and functions in the same way that c3 01 functions for motor 1 adjust this parameter only after setting the motor rated current e4 01 motor rated slip e4 02 and the motor no load current e4 03 refer to c3 01 slip compensation gain on page 193 for details on adjusting this parameter p.195
• If the input power supply voltage is low or the motor has a high voltage rating this function improves the speed precision when moving heavy loads at high speeds when selecting the drive remember that the reduction in flux causes a slightly higher current at high speed when this function is enabled p.195
• Functions for motor 2 the same way that c3 04 functions for motor 1 refer to c3 04 slip compensation selection during regeneration on page 194 for details on adjusting this parameter p.195
• Functions for motor 2 the same way that c3 02 functions for motor 1 refer to c3 02 slip compensation primary delay time on page 194 for details on adjusting this parameter p.195
• C3 24 motor 2 slip compensation selection during regeneration p.195
• C3 23 motor 2 slip compensation limit p.195
• C3 22 motor 2 slip compensation primary delay time p.195
• C3 21 motor 2 slip compensation gain p.195
• C tuning p.195
• C tuning p.196
• Although this parameter rarely needs to be changed it may be necessary to adjust the torque compensation gain in small steps of 0 5 in the following situations increase this setting when using a long motor cable decrease this setting when motor oscillation occurs adjust c4 01 so the output current does not exceed the drive rated current p.196
• Although c4 02 rarely needs to be changed adjustments may be necessary in the following situations increase this setting if the motor vibrates decrease this setting if the motor responds too slowly to changes in the load p.196
• The torque compensation function compensates for insufficient torque production at start up or when a load is applied p.196
• The drive controls the motor excitation current d axis 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 torque producing current reference p.196
• The drive calculates the motor primary voltage loss using the output current and the termination resistor value e2 05 for im motors e5 05 for pm motors and adjusts the output voltage to compensate for insufficient torque at start or when load is applied the effects of this voltage compensation can be increased or decreased using parameter c4 01 p.196
• Sets the gain for the torque compensation function p.196
• Sets the delay time used for applying torque compensation p.196
• Sets the amount of torque reference at start in the reverse direction to improve motor performance during start with heavy load compensation is applied using the torque compensation time set in parameter c4 05 enable this function if the load pulls the motor in the forward direction when starting with a reverse run command setting 0 disables this feature p.196
• Sets the amount of torque at start in the forward direction to improve motor performance during start with a heavy load compensation is applied using the time constant set in parameter c4 05 enable this function when the load pulls the motor in reverse when starting with a forward run command setting 0 disables this feature p.196
• C4 torque compensation p.196
• C4 04 torque compensation at reverse start olv p.196
• C4 03 torque compensation at forward start olv p.196
• C4 02 torque compensation primary delay time p.196
• C4 01 torque compensation gain p.196
• C5 automatic speed regulator asr p.197
• C4 07 motor 2 torque compensation gain p.197
• C4 05 torque compensation time constant olv p.197
• Adjusting the asr parameters p.197
• Use table 5 5 when making adjustments to asr though the parameters listed below are for motor 1 the same changes can be made to the corresponding motor 2 parameters when running a second motor p.198
• The drive is preset to use asr settings c5 01 02 over the entire speed range in clv aolv pm and clv pm if required by the application a second set of asr parameters c5 03 04 can be automatically activated depending on the motor speed or by using a digital input refer to c5 01 c5 03 c5 02 c5 04 asr proportional gain 1 2 asr integral time 1 2 on page 199 perform the following steps for adjusting asr parameters p.198
• Perform the following steps for adjusting asr parameters p.198
• C tuning p.198
• These parameters adjust the responsiveness of the asr p.199
• These parameter settings will function differently depending on the control mode p.199
• The gain set in c5 03 can also be activated with a digital input programmed to asr gain switch h1 oo 77 when the terminal is open the drive uses the asr gain level set by the pattern in the figure above when the terminal closes c5 03 is used the integral time set to c5 02 is used to change linearly between these settings the asr gain switch command from a multi function input terminal overrides the switching frequency set to c5 07 p.199
• Parameters c5 01 and c5 02 determine the asr characteristics at maximum speed parameters c5 03 and c5 04 determine the characteristics at minimum speed p.199
• In these control modes parameters c5 03 and c5 04 define the asr gain an integral time at zero speed the settings in c5 01 and c5 02 are used at speeds above the setting in c5 07 c5 07 is set to 0 as the default so that c5 01 and c5 02 are used over the entire speed range refer to c5 07 asr gain switching frequency on page 200 p.199
• C5 01 c5 03 c5 02 c5 04 asr proportional gain 1 2 asr integral time 1 2 p.199
• C tuning p.199
• C5 08 asr integral limit p.200
• C5 07 asr gain switching frequency p.200
• C5 06 asr primary delay time constant p.200
• C5 05 asr limit p.200
• C tuning p.200
• The higher this setting the faster the speed response although a setting that is too high can lead to oscillation increase this setting with larger loads to minimize the speed deviation p.200
• Switching the proportional gain and integral time in the low or high speed range can help stabilize operation and avoid resonance problems a good switching point is 80 of the frequency where oscillation occurs or at 80 of the target speed refer to c5 01 c5 03 c5 02 c5 04 asr proportional gain 1 2 asr integral time 1 2 on page 199 p.200
• Sets the upper limit for asr as a percentage of the rated load p.200
• Sets the frequency where the drive should switch between asr proportional gain 1 and 2 c5 01 c5 03 as well as between integral time 1 and 2 c5 02 c5 04 p.200
• Sets the filter time constant for the time from the speed loop to the torque command output increase this setting gradually in increments of 0 1 for loads with low rigidity or when oscillation is a problem this parameter rarely needs to be changed p.200
• Sets the asr output limit as a percentage of the maximum output frequency e1 04 if the motor rated slip is high the setting might need to be increased to provide proper motor speed control use the asr output monitor u6 04 to determine if asr is working at the limit set in c5 05 if asr is working at the limit make sure the pg pulses f1 01 pg gear teeth f1 12 f1 13 and the pg signal are set correctly before making further changes to c5 05 p.200
• Enables integral operation during acceleration and deceleration use integral operation when driving a heavy load or a high inertia load default set c5 12 to 1 to use integral operation for low inertia high performance loads enabling integral operation may cause problems with overshoot at the end of acceleration and deceleration refer to asr setup problems and corrective actions on page 198 to solve such problems p.200
• Determines how fast a continuous speed deviation problem is eliminated a setting that is too long reduces the responsiveness of the speed control a setting that is too short can cause oscillation p.200
• C5 12 integral operation during accel decel v f w pg p.200
• C5 27 motor 2 asr gain switching frequency p.201
• C5 26 motor 2 asr primary delay time constant p.201
• C5 25 motor 2 asr limit p.201
• C5 21 c5 23 c5 22 c5 24 motor 2 asr proportional gain 1 2 integral time 1 2 p.201
• C5 17 c5 18 motor inertia load inertia ratio p.201
• C5 17 and c5 18 determine the ratio of the machine inertia to the inertia of the motor being used example setting c5 18 to 2 reflects a load inertia that is twice the motor inertia these parameters are set automatically when inertia tuning and asr tuning are performed in clv and clv pm control modes refer to auto tuning on page 130 for details on auto tuning or enter the data manually p.201
• C tuning p.201
• These parameters function for motor 2 the same way that c5 01 through c5 04 function for motor 1 refer to c5 01 c5 03 c5 02 c5 04 asr proportional gain 1 2 asr integral time 1 2 on page 199 for details p.201
• Integral operation occurs only during constant speed and not during acceleration or deceleration p.201
• Integral operation is always enabled p.201
• Functions for motor 2 the same way that c5 08 functions for motor 1 sets the upper limit for asr as a percentage of the rated load refer to c5 08 asr integral limit on page 200 for details p.201
• Functions for motor 2 the same way that c5 07 functions for motor 1 sets the frequency for motor 2 to change asr proportional gain 1 and 2 c5 21 c5 23 as well as the integral time 1 and 2 c5 22 c5 24 refer to c5 01 c5 03 c5 02 c5 04 asr proportional gain 1 2 asr integral time 1 2 on page 199 for details p.201
• Functions for motor 2 the same way that c5 06 functions for motor 1 sets the filter time constant for the time from the speed loop to the torque command output refer to c5 06 asr primary delay time constant on page 200 for details this parameter rarely needs to be changed p.201
• Functions for motor 2 the same way that c5 05 functions for motor 1 sets the asr output limit for motor 2 as a percentage of the maximum output frequency e4 04 refer to c5 05 asr limit on page 200 for details p.201
• C5 28 motor 2 asr integral limit p.201
• Integral operation occurs only during constant speed and not during acceleration or deceleration p.202
• Integral operation is always enabled p.202
• Functions for motor 2 the same way that c5 12 functions for motor 1 enables integral operation during acceleration and deceleration refer to c5 12 integral operation during accel decel v f w pg on page 200 for details p.202
• C6 carrier frequency p.202
• C6 01 drive duty mode selection p.202
• C5 37 c5 38 motor 2 inertia motor 2 load inertia ratio p.202
• C5 32 integral operation during accel decel for motor 2 p.202
• C tuning p.202
• These parameters function for motor 2 the same way that c5 17 and c5 18 function for motor 1 these parameters are set automatically when inertia tuning and asr tuning are performed for motor 2 in clv and clv pm control modes refer to auto tuning on page 130 for details on auto tuning or enter the data manually p.202
• The drive has two different duty modes from which to select based on the load characteristics the drive rated current overload capacity and maximum output frequency will change depending upon the duty mode selection use parameter c6 01 to select heavy duty hd or normal duty nd for the application refer to heavy duty and normal duty ratings on page 430 for details about the rated current p.202
• These parameters set a user defined or a variable carrier frequency set c6 02 to f to set the upper and lower limits and the carrier frequency proportional gain p.203
• Sets the switching frequency of the drive output transistors changes to the switching frequency lower audible noise and reduce leakage current p.203
• Guidelines for carrier frequency parameter setup p.203
• C6 03 c6 04 c6 05 carrier frequency upper limit lower limit proportional gain p.203
• C6 02 carrier frequency selection p.203
• C tuning p.203
• A carrier frequency between the fixed selectable values can be entered in parameter c6 03 when c6 02 is set to f in v f control adjust parameter c6 04 to the same value as c6 03 p.203
• Determines the carrier frequency while performing rotational auto tuning although this parameter rarely needs to be changed when overcurrent problems occur when auto tuning a high frequency motor or low impedance motor it may be helpful to set c6 03 to a high value before setting c6 09 to 1 p.204
• C7 voltage adjustment p.204
• C7 60 output voltage limit mode selection p.204
• C7 56 power factor control selection p.204
• C7 43 input voltage offset adjustment p.204
• C6 09 carrier frequency during rotational auto tuning p.204
• C tuning p.204
• Sets the mode to limit the output voltage set this parameter to 0 harmonic suppression priority mode to give priority to harmonic suppression the maximum output voltage is automatically limited to suppress harmonics set this parameter to 1 high output voltage mode to give priority to the output voltage over harmonic suppression the effectiveness of harmonic suppression will be reduced because the maximum output voltage will be used p.204
• Power factor control improves the input power supply power factor according to the operating conditions this parameter rarely requires adjustment but may be enabled to improve the power factor in the low output region power factor control is not suitable for applications with frequent load fluctuations this function is disabled in high output voltage mode c7 60 1 p.204
• In v f control the carrier frequency can be set up to change linearly with the output frequency by setting the upper and lower limits for the carrier frequency and the carrier frequency proportional gain c6 03 c6 04 c6 05 p.204
• Enables adjustment of the offset for the input voltage circuit when the control board is replaced changing the value of o2 04 will trigger an ope30 error the input voltage offset must be adjusted when the error occurs if the combination of the control board and drive does not change set this parameter to 0002 offset adjustment not required contact yaskawa or a yaskawa representative if it becomes necessary to replace the control board p.204
• Parameter details p.205
• D1 frequency reference p.205
• D reference settings p.205
• Set h3 06 terminal a3 function selection to 2 auxiliary frequency reference 1 when setting terminal a3 analog input to multi step speed 2 set h3 06 to f through mode when setting d1 02 frequency reference 2 to multi step speed 2 multi step speed 3 set h3 10 terminal a2 function selection to 3 auxiliary frequency reference 2 when setting terminal a2 analog input to multi step speed 3 set h3 10 to f through mode when setting d1 03 frequency reference 3 to multi step speed 3 set h3 09 to 0 and set dip switch s1 on the control circuit terminal board to v voltage when inputting 0 to 10 v to terminal a2 analog input select the different speed references as shown in table 5 8 figure 5 2 illustrates the multi step speed selection p.206
• D reference settings p.206
• D2 frequency upper lower limits p.207
• D2 02 frequency reference lower limit p.207
• D2 01 frequency reference upper limit p.207
• D3 jump frequency p.208
• D3 01 to d3 04 jump frequencies 1 2 3 and jump frequency width p.208
• D2 03 master speed reference lower limit p.208
• D reference settings p.208
• The jump frequencies are frequency ranges at which the drive will not operate the drive can be programmed with three separate jump frequencies to avoid operating at speeds that cause resonance in driven machinery if the speed reference falls within a jump frequency dead band the drive will clamp the frequency reference just below the dead band and only accelerate past it when the frequency reference rises above the upper end of the dead band setting parameters d3 01 through d3 03 to 0 hz disables the jump frequency function p.208
• Sets a lower limit as a percentage of the maximum output frequency that will only affect a frequency reference entered from the analog input terminals a1 a2 or a3 as the master speed reference this is unlike parameter d2 02 which affects all frequency references regardless of their source p.208
• Figure 5 4 shows the relationship between the jump frequency and the output frequency p.208
• D4 frequency reference hold and up down 2 function p.209
• D4 01 frequency reference hold function selection p.209
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual p.210
• Up down the frequency reference value will be saved when the run command or the drive power is switched off the drive will use the frequency reference that was saved when it restarts up down 2 with frequency reference from digital operator when a run command is active and the up down 2 command is released for longer than 5 s the up down 2 bias value is added to the frequency reference and then reset to 0 this new frequency reference is saved and will also be used to restart the drive after the power is cycled p.210
• Up down 2 with frequency reference from input sources other than the digital operator when a run command is active and the up down 2 command is released for longer than 5 s the bias value will be saved in parameter d4 06 when restarting after the power is switched off the drive will add the value saved in d4 06 as a bias to the frequency reference p.210
• Up 2 command p.210
• Output frequency p.210
• Frequency reference p.210
• Figure 5 6 up down 2 example with reference from digital operator and d4 01 1 p.210
• Figure 5 5 frequency reference hold with accel decel hold function p.210
• D reference settings p.210
• D4 03 frequency reference bias step up down 2 p.211
• D reference settings p.211
• While the up 2 or down 2 command is enabled the bias value is increased or decreased using the accel decel times determined by parameter d4 04 p.211
• When an up 2 or down 2 command is enabled the bias is increased or decreased in steps for the value set in d4 03 the frequency reference changes with the accel decel times determined by parameter d4 04 p.211
• The operation depends on the set value p.211
• Sets the bias added to or subtracted from the frequency reference by the up down 2 function p.211
• Depending on which function is used it is possible to clear the saved frequency reference value by releasing the input programmed for acceleration hold setting an up or down command while no run command is active resetting parameter d4 06 to zero refer to d4 06 frequency reference bias up down 2 on page 212 for details p.211
• The drive uses the currently active accel decel time p.212
• The drive uses accel decel time 4 set to parameters c1 07 and c1 08 p.212
• The bias value will be held if no input up 2 or down 2 is active p.212
• The bias is reset to 0 when inputs up 2 and down 2 are both on or both off the drive will use the accel decel time as selected in d4 04 to accelerate or decelerate to the frequency reference value p.212
• Saves the frequency reference bias value set by the up down 2 function as a percentage of the maximum output frequency the function of this parameter depends on the up down 2 function configuration this parameter is not normally used when the digital operator sets the frequency reference the value set to d4 06 will be applied during run however the value is reset when the frequency reference changes including multi step references and is disabled when d4 01 0 and the run command is removed when d4 01 0 and the frequency reference is set by a source other than the digital operator the value set in d4 06 is added to or subtracted from the frequency reference when d4 01 1 and the frequency reference is set by a source other than the digital operator the bias value adjusted with the up down 2 inputs is stored in d4 06 when 5 s have passed after releasing the up 2 or down 2 command the frequency reference will return to the value without the up down 2 command p.212
• Determines the accel decel times used to increase or decrease the frequency reference or bias when using the up down 2 function p.212
• Determines if the bias value is held when the up down 2 inputs are both released or both enabled the parameter is effective only when parameter d4 03 is set to 0 0 p.212
• D4 06 frequency reference bias up down 2 p.212
• D4 05 frequency reference bias operation mode selection up down 2 p.212
• D4 04 frequency reference bias accel decel up down 2 p.212
• D reference settings p.212
• The up down 2 function has not been assigned to the multi function terminals the frequency reference source has been changed including local remote or external reference 1 2 switch over by digital inputs p.212
• The higher value between d2 02 and an analog input programmed for frequency bias a1 a2 a3 determines the lower frequency reference limit p.213
• Sets the upper limit of the up down 2 bias monitor u6 20 and the value that can be saved in parameter d4 06 set this parameter to an appropriate value before using the up down 2 function p.213
• Sets the lower limit of the up down 2 bias monitor u6 20 and the value that can be saved in parameter d4 06 set this parameter to an appropriate value before using the up down 2 function p.213
• Selects how the lower frequency limit is set when using the up down function refer to setting 10 11 up down function on page 249 for details on the up down function in combination with frequency reference limits p.213
• Only parameter d2 02 sets the lower frequency reference limit p.213
• Handles frequency reference changes while the up 2 or down 2 terminal is enabled if the frequency reference changes for more than the level set to d4 07 then the bias value will be held and the drive will accelerate or decelerate following the frequency reference when the frequency reference is reached the bias hold is released and the bias follows the up down 2 input commands this parameter is applicable only if the frequency reference is set by an analog or pulse input p.213
• D4 10 up down frequency reference limit selection p.213
• D4 09 frequency reference bias lower limit up down 2 p.213
• D4 08 frequency reference bias upper limit up down 2 p.213
• D4 07 analog frequency reference fluctuation limit up down 2 p.213
• D4 03 0 hz d4 05 1 and the up down 2 commands are both open or both closed any changes to the maximum frequency set to e1 04 p.213
• D reference settings p.213
• Set input values for torque control as explained in table 5 9 p.214
• D5 torque control p.214
• D reference settings p.214
• Torque control operation p.214
• Torque control defines a setpoint for the motor torque and is available for clv and clv pm a1 02 3 7 p.214
• Torque control can be enabled either by setting parameter d5 01 to 1 or by setting digital input h1 oo 71 figure 5 0 illustrates the working principle p.214
• The externally input torque reference is the target value for the motor output torque if the motor torque reference and the load torque are not in balance when in torque control the motor accelerates or decelerates to prevent operation beyond the speed limit compensate the external torque reference value if the motor speed reaches the limit the compensation value is calculated using the speed limit speed feedback and the speed limit bias if an external torque compensation value is input it is added to the speed limit compensated torque reference value the value calculated is limited by the l7 oo settings and is then used as the internal torque reference which can be monitored in u1 09 the l7 oo settings have highest priority the motor cannot be operated with a higher torque than the l7 oo settings even if the external torque reference value is increased p.214
• Setting the torque reference speed limit and torque compensation values p.214
• The speed limit setting is read from the input selected in parameter d5 03 a bias can be added to this speed limit using parameter d5 05 while parameter d5 08 determines how the speed limit bias is applied table 5 1 explains the relation between these settings p.215
• The direction of the input values described above depends on the polarity of the run command and the input value p.215
• Speed limitation and speed limit bias p.215
• Example with a forward run command and a positive torque reference signal the internal torque reference will be positive i e in the forward direction however if a reverse run command is input the torque command will be for reverse rotation with a forward run command and a negative torque reference signal the internal torque reference will be negative i e in the reverse direction however if a reverse run command is input the torque command will be for forward rotation when using analog inputs negative input values can be generated by applying negative voltage input signals using positive analog input signals while setting the analog input bias to negative values so the input value can be negative applying positive voltage input signals and using a digital input that is programmed for h1 oo 78 when using memobus modbus communication or a communication option card only positive input values can be set independent of its input source the polarity of the torque reference signal can be inver p.215
• D reference settings p.215
• Program a digital output to close when the drive operates at or beyond the speed limit h2 oo 32 use this output to notify a control device such as a plc of abnormal operating conditions p.216
• Operating conditions p.216
• Indicating operation at the speed limit p.216
• D reference settings p.216
• Bidirectiona l speed limit bias d5 08 0 p.216
• Application example p.216
• Winder p.216
• Use a digital input to switch torque control and speed control h1 oo 71 when switching from speed control to torque control the torque limit becomes the torque reference and the speed reference becomes the speed limit this change is reversed when switching back to speed control if required by the application set up a delay time using parameter d5 06 the reference values torque reference speed limit in torque control or speed reference torque limit in speed control are held during this switch delay time change the reference values from the controller within this delay time p.216
• Unwinder p.216
• Unidirection al speed limit bias d5 08 1 p.216
• Torque reference direction positive forward negative reverse negative reverse positive forward positive forward negative reverse negative reverse positive forward p.216
• Switching between torque and speed control p.216
• Speed limit direction positive forward negative reverse negative reverse positive forward positive forward negative reverse negative reverse positive forward p.216
• Run command forward reverse forward reverse forward reverse forward reverse p.216
• Rotation direction forward reverse forward reverse p.216
• Speed control will be active also use this setting when h1 oo 71 speed torque control switch p.217
• Determines how the speed limit is set p.217
• D5 03 speed limit selection p.217
• D5 02 torque reference delay time p.217
• D5 01 torque control selection p.217
• D reference settings p.217
• Apply a filter with the time constant set to parameter d5 02 to the torque reference signal to eliminate oscillation resulting from an unstable torque reference signal a higher filter time stabilizes control while reducing the responsiveness p.217
• Torque control is always enabled p.217
• The speed limit is set by parameter d5 04 p.217
• The frequency reference value at the active reference source digital operator external reference 1 or external reference 2 will be used as speed limit note that in this case all settings for accel decel times c1 01 to c1 08 and s curves c2 01 to c2 04 will apply for the speed limit p.217
• Sets the level to which the output voltage is reduced when field weakening is activated set as percentage of the maximum output voltage p.218
• Sets the delay time for switching between speed control and torque control p.218
• Selects how the speed limit bias is applied p.218
• Field weakening the field weakening function reduces the output voltage to a predefined level to reduce the energy consumption of the motor to activate the field weakening function use a digital input programmed for h1 oo 63 only use field weakening with a known and unchanging light load condition use the energy saving function b8 oo parameters when energy saving for various different load conditions is required field forcing the field forcing function compensates the delaying influence of the motor time constant when changing the excitation current reference and improves motor responsiveness field forcing is ineffective during dc injection braking p.218
• D6 field weakening and field forcing p.218
• D6 02 field weakening frequency limit p.218
• D6 01 field weakening level p.218
• D5 08 unidirectional speed limit bias p.218
• D5 06 speed torque control switchover time p.218
• D5 05 speed limit bias p.218
• D5 04 speed limit p.218
• D reference settings p.218
• Applies a bias set as a percentage of the maximum output frequency to the speed limit value refer to speed limitation and speed limit bias on page 215 p.218
• The speed limit bias is applied in the speed limit direction and the opposite direction p.218
• The speed limit bias is applied in the opposite direction of the speed limit only p.218
• Sets the speed limit during torque control if parameter d5 03 is set to 2 refer to speed limitation and speed limit bias on page 215 p.218
• Sets the minimum output frequency at which field weakening can be activated field weakening cannot be activated for frequencies below d6 02 p.218
• D7 offset frequency p.219
• D7 01 to d7 03 offset frequency 1 to 3 p.219
• D6 06 field forcing limit p.219
• D6 03 field forcing selection p.219
• V f pattern settings e1 03 p.220
• E1 v f pattern for motor 1 p.220
• E1 03 v f pattern selection p.220
• E motor parameters p.220
• Setting 0 50 hz setting 1 60 hz setting 2 60 hz setting 3 72 hz p.221
• Predefined v f patterns for models 4 o 0011 and 4 o 0014 p.221
• Predefined v f patterns for models 2 o 0028 to 2 o 0192 and 4 o 0021 to 4 o 0124 p.221
• E motor parameters p.221
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual 221 p.221
• The values in the following graphs are specific to 200 v class drives double the values for 400 v class drives p.221
• Table 5 7 rated torque characteristics settings 0 to 3 p.221
• Table 5 6 rated output operation settings c to f p.221
• Table 5 5 high starting torque settings 8 to b p.221
• Table 5 4 derated torque characteristics settings 4 to 7 p.221
• Table 5 3 constant torque characteristics settings 0 to 3 p.221
• Setting c 90 hz setting d 120 hz setting e 180 hz setting f 60 hz p.221
• Setting 8 50 hz setting 9 50 hz setting a 60 hz setting b 60 hz p.221
• Setting 4 50 hz setting 5 50 hz setting 6 60 hz setting 7 60 hz p.221
• Setting c 90 hz setting d 120 hz setting e 180 hz setting f 60 hz p.222
• Setting 8 50 hz setting 9 50 hz setting a 60 hz setting b 60 hz p.222
• Setting 4 50 hz setting 5 50 hz setting 6 60 hz setting 7 60 hz p.222
• Setting 0 50 hz setting 1 60 hz setting 2 60 hz setting 3 72 hz p.222
• Predefined v f patterns for models 2 o 0216 and 4 o 0156 to 4 o 0414 p.222
• E motor parameters p.222
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual p.222
• The values in the following graphs are specific to 200 v class drives double the values for 400 v class drives p.222
• Table 5 9 high starting torque settings 8 to b p.222
• Table 5 8 derated torque characteristics settings 4 to 7 p.222
• Table 5 2 derated torque characteristics settings 4 to 7 p.222
• Table 5 1 rated torque characteristics settings 0 to 3 p.222
• Table 5 0 constant output settings c to f p.222
• V f pattern settings e1 04 to e1 13 p.223
• Setting parameter e1 03 to f allows the user to set up a custom v f pattern by changing parameters e1 04 to e1 13 when initialized the default values for parameters e1 04 to e1 13 will be equal to predefined v f pattern 1 p.223
• If e1 03 is set to a preset v f pattern i e a value other than f the user can monitor the v f pattern in parameters e1 04 through e1 13 to create a new v f pattern set e1 03 to f refer to v f pattern on page 224 for an example custom v f pattern p.223
• E motor parameters p.223
• E2 motor 1 parameters p.224
• E2 03 motor no load current p.224
• E2 02 motor rated slip p.224
• E2 01 motor rated current p.224
• E motor parameters p.224
• These parameters contain the motor data needed for motor 1 performing auto tuning including rotational auto tuning and stationary auto tuning 2 and 3 and rotational auto tuning for v f control automatically sets these parameters refer to auto tuning fault detection on page 364 for details if auto tuning cannot be performed p.224
• Sets the motor rated slip in hz to provide motor control protect the motor and calculate torque limits this value is automatically set during auto tuning rotational auto tuning stationary auto tuning 2 3 p.224
• Set the no load current for the motor in amperes when operating at the rated frequency and the no load voltage the drive sets e2 03 during the auto tuning process rotational auto tuning and stationary auto tuning 2 3 the motor no load current listed in the motor test report can also be entered to e2 03 manually contact the motor manufacturer to receive a copy of the motor test report p.224
• Provides motor control protects the motor and calculates torque limits set e2 01 to the full load amps fla stamped on the motor nameplate if auto tuning completes successfully the value entered to t1 04 will automatically be saved to e2 01 p.224
• If auto tuning cannot be performed calculate the motor rated slip using the information written on the motor nameplate and the formula below e2 02 f n p 120 f rated frequency hz n rated motor speed r min p number of motor poles p.224
• Sets the motor iron saturation coefficient at 75 of the magnetic flux if rotational auto tuning completes successfully then this value is automatically calculated and set to e2 08 this coefficient is used when operating with constant output p.225
• Sets the motor iron saturation coefficient at 50 of the magnetic flux if rotational auto tuning completes successfully then this value is automatically calculated and set to e2 07 this coefficient is used when operating with constant output p.225
• Sets the line to line resistance of the motor stator winding if auto tuning completes successfully this value is automatically calculated enter this value as line to line and not for each motor phase if auto tuning is not possible contact the motor manufacturer to find out the line to line resistance or measure it manually when using the manufacturer motor test report calculate e2 05 by one of the formulas below e type insulation multiply 0 2 times the resistance value ω listed on the test report at 75 c b type insulation multiply 0 2 times the resistance value ω listed on the test report at 75 c f type insulation multiply 0 7 times the resistance value ω listed on the test report at 115 c p.225
• Set the number of motor poles to e2 04 if auto tuning completes successfully the value entered to t1 06 will automatically be saved to e2 04 p.225
• E2 09 motor mechanical loss p.225
• E2 08 motor iron core saturation coefficient 2 p.225
• E2 07 motor iron core saturation coefficient 1 p.225
• E2 06 motor leakage inductance p.225
• E2 05 motor line to line resistance p.225
• E2 04 number of motor poles p.225
• E motor parameters p.225
• Sets the voltage drop due to motor leakage inductance as a percentage of motor rated voltage this value is automatically set during auto tuning rotational auto tuning stationary auto tuning 2 3 p.225
• Sets the motor mechanical loss as a percentage of motor rated power kw capacity adjust this setting in the following circumstances when there is a large amount of torque loss due to motor bearing friction when there is a large amount of torque loss in a fan or pump application the setting for the mechanical loss is added to the torque p.225
• Setting motor parameters manually p.226
• Sets the motor rated power in kw if auto tuning completes successfully the value entered to t1 02 will automatically be saved to e2 11 p.226
• Sets the motor iron loss in watts p.226
• Only required when a1 02 is set to 0 1 2 3 control modes for induction motors enter the number of motor poles as indicated on motor nameplate p.226
• Only required in closed loop vector control the drive compensates for the degree of mechanical loss with torque compensation although e2 09 rarely needs to be changed adjustment may be necessary in the following circumstances when there is a large amount of torque loss due to motor bearing friction p.226
• Follow the instructions below when setting motor related parameters manually instead of auto tuning refer to the motor test report included with the motor to ensure the correct data is entered into the drive p.226
• Enter the no load current at rated frequency and rated voltage to e2 03 this information is not usually listed on the nameplate contact the motor manufacturer if the data cannot be found the default setting of the no load current is for performance with a 4 pole yaskawa motor p.226
• Enter the motor rated current listed on the nameplate of the motor to e2 01 p.226
• E2 11 motor rated power p.226
• E2 10 motor iron loss for torque compensation p.226
• E2 07 and e2 08 are set when auto tuning is performed p.226
• E2 05 is normally set during auto tuning if auto tuning cannot be performed contact the motor manufacturer to determine the correct resistance between motor lines the motor test report can also be used to calculate this value using the formulas below e type insulation multiply 0 2 times the resistance value ω listed on the test report at 75 c b type insulation multiply 0 2 times the resistance value ω listed on the test report at 75 c f type insulation multiply 0 7 times the resistance value ω listed on the test report at 115 c p.226
• E motor parameters p.226
• Calculate the motor rated slip using the base speed listed on the motor nameplate 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 p.226
• The motor leakage inductance set to e2 06 determines the amount of voltage drop relative to the motor rated voltage enter this value for motors with a low degree of inductance such as high speed motors this information is usually not listed on the motor nameplate contact the motor manufacturer if the data cannot be found p.226
• E3 v f pattern for motor 2 p.227
• E3 04 to e3 13 p.227
• E3 01 motor 2 control mode selection p.227
• Sets the no load current for motor 2 in amperes when operating at the rated frequency and the no load voltage the drive sets e2 03 during the auto tuning process rotational auto tuning and stationary auto tuning 2 3 the motor no load current listed in the motor test report can also be entered to e2 03 manually contact the motor manufacturer for a copy of the motor test report p.228
• Sets the motor 2 rated slip frequency and is the basis for slip compensation value the drive calculates this value automatically during auto tuning rotational auto tuning and stationary auto tuning 2 3 refer to e2 02 motor rated slip on page 224 for information on calculating the motor rated slip p.228
• Protects the motor and calculates torque limits set e4 01 to the full load amps fla stamped on the nameplate of motor 2 if auto tuning completes successfully the value entered to t1 04 will automatically be saved to e4 01 p.228
• E4 parameters contain the motor data for motor 2 these parameters are usually set automatically during the auto tuning process for vector control modes rotational auto tuning stationary auto tuning 2 3 refer to auto tuning fault detection on page 364 for details if auto tuning cannot be performed p.228
• E4 motor 2 parameters p.228
• E4 03 motor 2 rated no load current p.228
• E4 02 motor 2 rated slip p.228
• E4 01 motor 2 rated current p.228
• E motor parameters p.228
• E4 05 motor 2 line to line resistance p.229
• E4 04 motor 2 motor poles p.229
• E motor parameters p.229
• Sets the voltage drop due to motor leakage inductance as a percentage of rated voltage of motor 2 this value is automatically set during auto tuning rotational auto tuning and stationary auto tuning 2 3 p.229
• Sets the number of poles for motor 2 if auto tuning completes successfully the value entered to t1 06 will be automatically saved to e4 04 p.229
• Sets the motor mechanical loss as a percentage of motor rated power kw although e4 09 rarely needs to be changed adjustment may be necessary in the following circumstances when there is a large amount of torque loss due to motor bearing friction when there is a large amount of torque loss in a fan or pump application the setting for the mechanical loss is added to the torque p.229
• Sets the motor iron saturation coefficient at 75 of magnetic flux this value is automatically set during rotational auto tuning adjust this parameter when operating in the constant output range p.229
• Sets the motor 2 iron saturation coefficient at 50 of magnetic flux this value is automatically set during rotational auto tuning adjust this parameter when operating in the constant output range p.229
• Sets the motor 2 iron loss in watts p.229
• Sets the line to line resistance for the motor 2 stator winding if auto tuning completes successfully this value is automatically calculated enter this value as line to line and not for each motor phase refer to e2 05 motor line to line resistance on page 225 to manually enter this parameter setting p.229
• E4 10 motor 2 iron loss p.229
• E4 09 motor 2 mechanical loss p.229
• E4 08 motor 2 motor iron core saturation coefficient 2 p.229
• E4 07 motor 2 motor iron core saturation coefficient 1 p.229
• E4 06 motor 2 leakage inductance p.229
• E5 02 motor rated power for pm motors p.230
• E5 01 motor code selection for pm motors p.230
• E4 11 motor 2 rated power p.230
• E motor parameters p.230
• When using yaskawa motors set the motor code for the pm motor being used the drive automatically sets several parameters to appropriate values depending on the motor code setting parameter e5 01 to ffff allows the motor data to be manually set using the e5 oo parameters p.230
• These parameters set the motor data of a pm motor when using yaskawa motors set up the e5 oo parameters by entering the motor code written on the motor nameplate perform auto tuning for all other pm motors the motor data can also be entered manually if known p.230
• Sets the rated power of the motor determined by the value set to t2 04 during stationary auto tuning for pm motors or by entering the motor code to e5 01 p.230
• Sets the motor 2 rated power if auto tuning completes successfully the value entered to t1 02 will automatically be saved to e4 11 p.230
• Figure 5 5 explains the motor code setting p.230
• E5 pm motor settings p.230
• Sets the d axis inductance in 0 1 mh units this parameter is set during the auto tuning process p.231
• Set the resistance for one motor phase do not enter the line to line resistance into e5 05 when measuring the resistance manually p.231
• E5 11 encoder z pulse offset δθ for pm motors p.231
• E5 09 motor induction voltage constant 1 ke for pm motors p.231
• E5 07 motor q axis inductance lq for pm motors p.231
• E5 06 motor d axis inductance ld for pm motors p.231
• E5 05 motor stator resistance r1 for pm motors p.231
• E5 04 number of motor poles for pm motors p.231
• E5 03 motor rated current for pm motors p.231
• E motor parameters p.231
• Sets the q axis inductance in 0 1 mh units this parameter is set during the auto tuning process p.231
• Sets the offset between the rotor magnetic axis and the z pulse of the connected encoder this parameter is set during auto tuning for pm motors and during z pulse tuning p.231
• Sets the number of motor poles automatically set when the value is entered to t2 08 during auto tuning p.231
• Sets the motor rated current in amps automatically set when the value is entered to t2 06 during auto tuning p.231
• Sets the induced peak voltage per phase in units of 0 mv rad s electrical angle set this parameter when using an ipm motor with derated torque ssr1 series or equivalent or an ipm motor with constant torque sst4 series or equivalent set the voltage constant with e5 09 or e5 24 when e5 01 is set to ffff this parameter is set during auto tuning for pm motors p.231
• Switches polarity for initial polarity estimation there is normally no need to change this parameter from the default value if sd 1 is listed on the nameplate or in a test report for a yaskawa motor this parameter should be set to 1 p.232
• Set the induced phase to phase rms voltage in units of 0 mv r min mechanical angle set this parameter when using an spm motor smra series or equivalent when e5 01 is set to ffff use either e5 09 or e5 24 for setting the voltage constant this parameter is set during parameter auto tuning for pm motors p.232
• E5 25 polarity switch for initial polarity estimation timeout for pm motors p.232
• E5 24 motor induction voltage constant 2 ke for pm motors p.232
• E motor parameters p.232
• F1 pg speed control card settings p.233
• F option settings p.233
• F option settings p.234
• Example set f1 06 to 032 for a ratio of 1 32 between the pg card pulse input and output p.234
• Determines the direction indicated by the pulses from the pg feedback encoder for motor 1 and motor 2 see pg option card instruction manual for details on setting the direction for the pg encoder and the motor p.234
• A speed deviation error dev is triggered when the difference between the frequency reference and the speed feedback exceeds the value set in f1 10 for longer than the time set in f1 1 the stopping method when a speed deviation fault occurs can be selected in parameter f1 04 p.234
• Settings for parameter f1 04 p.234
• Sets the ratio between the pulse input and the pulse output of a pg option card as a three digit number where the first digit n sets the numerator and the second and third digit m set the denominator as shown below p.234
• Sets the gear ratio between the motor shaft and the pg encoder f1 12 and f1 33 set the number of gear teeth on the motor side while f1 13 and f 34 set the number of gear teeth on the load side the drive uses the formula below to calculate the motor speed p.234
• F1 12 f1 13 f1 33 f1 34 pg 1 pg 2 gear teeth 1 2 v f w pg only p.234
• F1 06 f1 35 pg 1 pg 2 division rate for pg pulse monitor p.234
• F1 05 f1 32 pg 1 pg 2 rotation selection p.234
• F1 04 f1 10 f1 11 operation at speed deviation dev detection level delay time p.234
• Sets the number of times the drive will detect a dv3 situation before triggering a dv3 fault the drive detects a dv3 condition when the torque reference and speed reference are in opposite directions while the difference between the actual motor speed and the speed reference is greater than 30 setting f1 18 to 0 disables dv3 detection p.235
• Sets the number of pulses necessary to trigger a dv4 fault when there is a motor speed deviation opposite to the frequency reference setting f1 19 to 0 disables dv4 detection p.235
• F1 30 pg option card port for motor 2 selection p.235
• F1 21 f1 37 pg 1 pg 2 signal selection v f w pg only p.235
• F1 20 f1 36 pg option card disconnect detection p.235
• F1 19 dv4 detection selection clv pm p.235
• F1 18 dv3 detection selection clv pm p.235
• F option settings p.235
• Determines whether the signal to the pg option card is single channel or two channel p.235
• Specifies the drive port for the pg option card used for motor 2 set this parameter when switching between motor 1 and motor 2 where both motors supply a speed feedback signal to the drive set f1 30 to 0 when using the same pg card for feedback signals from both motors set f1 30 to 1 when each motor has its own pg card connected to the drive p.235
• Sets whether the drive detects a pg hardware fault pgoh p.235
• Use the h3 oo parameters described in h3 03 h3 04 terminal a1 gain and bias settings on page 267 to set the functions and gain and bias levels for an analog reference supplied by ai a3 p.236
• These parameters set the drive for operation with the analog input option card ai a3 if no ai a3 card is connected drive terminals a1 to a3 are enabled regardless of the f2 01 setting this section describes parameters that govern operation with an input option card refer to the option card instruction manual for specific details on installation wiring input signal level selection and parameter setup p.236
• The use of endat2 22 encoders requires a pg f3 option with software version 0102 or later p.236
• Sets up the type of encoder connected to a pg f3 option card p.236
• Sets the level for detecting pg hardware fault pgoh available when f1 20 1 usually the relation between the sin and cos track is a speed feedback hardware fault is triggered when the value of the square root falls below the level set in f1 51 p.236
• Selects the speed for serial communication between a pg f3 option card and serial encoder p.236
• F2 analog input card settings p.236
• F2 01 analog input option card operation selection p.236
• F1 52 communication speed of serial encoder selection p.236
• F1 51 pgoh detection level p.236
• F1 50 encoder selection p.236
• F option settings p.236
• Determines how the input terminals on the ai a3 option card are used p.236
• F2 02 f2 03 analog input option card gain bias p.237
• F3 digital input card settings p.237
• F3 03 digital input option di a3 data length selection p.237
• F3 01 digital input option card input selection p.237
• These parameters set the drive for operation with the digital output option card do a3 refer to the instruction manual packaged with the option card for specific details on installation wiring input signal level selection and parameter setup p.238
• These parameters set the drive for operation with the analog output option card ao a3 refer to the instruction manual packaged with the option card for specific details on installation wiring input signal level selection and parameter setup p.238
• The output signal is adjustable while the drive is stopped p.238
• Sets the output signal level for terminals v1 and v2 p.238
• Selects the data to output from analog terminal v1 enter the final three digits of u o oo to determine which monitor data is output from the option card some monitors are only available in certain control modes p.238
• Parameters f4 02 and f4 04 determine the gain while parameters f4 05 and f4 06 set the bias these parameters are set as a percentage of the output signal from v1 and v2 where 100 equals 10 v output the terminal output voltage is limited to 10 v p.238
• F5 digital output card settings p.238
• F4 analog monitor card settings p.238
• F4 07 f4 08 terminal v1 v2 signal level p.238
• F4 02 f4 04 f4 05 f4 06 terminal v1 v2 monitor gain and bias p.238
• F4 01 f4 03 terminal v1 v2 monitor selection p.238
• F option settings p.238
• F5 01 through f5 08 digital output option card terminal function selection p.239
• F6 and f7 communication option card p.239
• F6 01 communications error operation selection p.239
• F5 09 do a3 output mode selection p.239
• Selects whether torque reference and torque limit values are assigned to the drive from the network p.240
• Selects the treatment of multi step speed inputs when the netref command is set p.240
• Multi step speed inputs are still active and can override the frequency reference from the communications option even when the netref command is selected p.240
• Multi step speed input frequency references are disabled when the netref command is selected p.240
• F6 08 reset communication parameters p.240
• F6 07 netref comref function selection p.240
• F6 06 torque reference torque limit selection from comm option p.240
• F6 03 external fault from comm option operation selection p.240
• F6 02 external fault from comm option detection selection p.240
• F option settings p.240
• Determines whether f6 oo f7 oo communication related parameters are reset after initialization p.240
• Determines the detection method of an external fault initiated by a communication option ef0 p.240
• Determines drive operation when an external fault is initiated by a communication option ef0 p.240
• Mechatrolink parameters p.241
• F6 21 mechatrolink frame size p.241
• F6 20 mechatrolink station address p.241
• F6 14 cc link bus error auto reset p.241
• F6 11 cc link communication speed p.241
• F6 10 cc link node address p.241
• F6 04 bus error detection time p.241
• Cc link parameters p.241
• Parameters f6 30 through f6 32 set the drive to run on a profibus dp network p.242
• F6 30 profibus dp node address p.242
• F6 26 mechatrolink bus errors detected p.242
• F6 25 operation selection at watchdog error e5 p.242
• F6 24 mechatrolink monitor selection code 0fh p.242
• F6 23 mechatrolink monitor selection code 0eh p.242
• F6 22 mechatrolink link speed p.242
• F option settings p.242
• Value for mechatrolink iii option is 64 byte p.242
• Value for mechatrolink iii option is 32 byte p.242
• Sets the node address of a profibus dp option card p.242
• Sets the communication speed for a mechatrolink ii option card p.242
• Sets memobus modbus register to monitor sel_mon of inv_ctl and inv_ctl setting byte 10 of inv_ctl to 0fh enables the register set by f6 24 bytes 11 and 12 of the response data enable the register content set by f6 24 p.242
• Sets memobus modbus register to monitor sel_mon of inv_ctl and inv_ctl setting byte 10 of inv_ctl to 0eh enables the register set by f6 23 bytes 11 and 12 of the response data enable the register content set by f6 23 p.242
• Profibus dp parameters p.242
• F6 50 devicenet mac address p.243
• F6 36 canopen communication speed p.243
• F6 35 canopen node id selection p.243
• F6 32 profibus dp data format selection p.243
• F6 31 profibus dp clear mode selection p.243
• Devicenet parameters p.243
• Canopen parameters p.243
• Defines the format for data the drive receives from the devicenet master p.244
• Defines the format for data sent from the drive to the devicenet master p.244
• These parameters define scaling factors for drive monitors in the devicenet class id 2ah ac dc drive object p.244
• Sets the communication speed for a devicenet option card to assign the baud rate for the drive from the upper controller set f6 51 3 to make the drive detect the network speed set f6 51 4 the drive will automatically adjust itself after detecting the network speed p.244
• F6 56 to f6 61 devicenet scaling factors p.244
• F6 55 devicenet baud rate monitor p.244
• F6 54 devicenet idle mode fault detection p.244
• F6 53 devicenet ppa setting p.244
• F6 52 devicenet pca setting p.244
• F6 51 devicenet communication speed p.244
• F option settings p.244
• Displays the baud rate currently being used for network communications f6 55 is used only as a monitor p.244
• Determines whether the drive triggers an ef0 fault when no data is received from the master e g when the master is idling p.244
• F7 01 to f7 04 ip address 1 to 4 p.245
• F6 64 to f6 71 dynamic assembly parameters reserved p.245
• F6 63 devicenet network mac id p.245
• F6 62 devicenet heartbeat interval p.245
• Ethernet ip parameters p.245
• Profinet parameters p.245
• Modbus tcp ip parameters p.245
• F7 09 to f7 12 gateway address 1 to 4 p.245
• F7 05 to f7 08 subnet mask 1 to 4 p.245
• H1 multi function digital inputs p.246
• H1 01 to h1 08 functions for terminals s1 to s8 p.246
• H terminal functions p.246
• This setting allows the input terminal to determine if the drive will run in local mode or remote mode p.247
• The digital input programmed for 3 wire control becomes the forward reverse directional input s1 becomes the run command input and s2 becomes the stop command input the drive starts the motor when the input s1 set for the run command closes for longer than 2 ms the drive stops the operation when the stop input s2 is released when the digital input programmed for a forward reverse operation is open the drive is set for forward operation when the digital input is closed the drive is set for reverse operation p.247
• Setting 1 local remote selection p.247
• Setting 0 3 wire sequence p.247
• H terminal functions p.247
• Setting 6 jog reference selection p.248
• Setting 3 to 5 multi step speed reference 1 to 3 p.248
• Setting 2 external reference 1 2 selection p.248
• H terminal functions p.248
• When the drive receives a baseblock command the output transistors stop switching the motor coasts to stop and a bb alarm flashes on the digital operator to indicate baseblock when baseblock ends while a run command is active the drive performs speed search to restart the motor p.248
• When the digital input programmed for the accel decel ramp hold function closes the drive locks holds the output frequency acceleration or deceleration resumes when the input is reopened if the accel decel ramp hold function is enabled d4 01 1 the drive saves the output frequency to memory when the ramp hold input is closed when the drive is restarted after stop or after power supply interruption the saved output frequency becomes the frequency reference provided that the accel decel ramp hold input is still closed refer to d4 01 frequency reference hold function selection on page 209 for details p.248
• This function switches the run command and frequency reference source between external reference 1 and 2 if the drive is in the remote mode p.248
• The jog frequency set in parameter d1 17 becomes the frequency reference when the input terminal closes refer to d1 frequency reference on page 205 for details p.248
• Switches multi step speed frequency references d1 01 to d1 08 by digital inputs refer to d1 frequency reference on page 205 for details p.248
• Switches between accel decel times 1 c1 01 and c1 02 and 2 c1 03 and c1 04 refer to c1 01 to c1 08 accel decel times 1 to 4 on page 191 for details p.248
• Setting a accel decel ramp hold p.248
• Setting 8 9 baseblock command n o n c p.248
• Setting 7 accel decel time selection 1 p.248
• When switching between motor 1 and motor 2 the parameters used to control those motors also change below table 5 8 lists the parameters that correspond to each motor p.251
• This setting configures a digital input terminal as the input for the timer function use this setting combination with the timer function output h2 oo 12 refer to b4 timer function on page 176 for details p.251
• The drive has the capability to control two induction motors independently a second motor may be selected using a multi function digital input as shown in figure 5 2 p.251
• If a digital output is programmed for motor 2 selection h2 01 h2 02 or h2 03 1c the output is closed when motor 2 is selected p.251
• H terminal functions p.251
• Allows an input terminal to switch the sign of the pid input refer to pid block diagram on page 179 for details p.253
• A digital input configured as a pid soft starter cancel input h1 0 o 34 enables or disables the pid soft starter and cancels the pid accel decel time b5 17 refer to pid block diagram on page 179 p.253
• Setting 40 41 forward run reverse run command for 2 wire sequence p.253
• Setting 35 pid input level selection p.253
• Setting 34 pid soft starter cancel p.253
• Setting 32 multi step speed reference 4 p.253
• Setting 31 pid integral hold p.253
• Setting 30 pid integral reset p.253
• Selects the multi step speeds d1 09 to d1 16 in combination with the input terminal set for multi step speed 1 2 and 3 refer to d1 01 to d1 17 frequency reference 1 to 16 and jog frequency reference on page 205 p.253
• H terminal functions p.253
• Configuring one of the digital inputs for pid integral reset h1 oo 30 resets the value of the integral component in pid control to 0 when the terminal is closed refer to pid block diagram on page 179 for more details p.253
• Configuring a digital input for integral hold h1 0 o 31 locks the value of the integral component of the pid control as long as the input is active the pid controller resumes integral operation from the hold value as soon as the integral hold input is released refer to pid block diagram on page 179 for more information on this function p.253
• Configures the drive for a 2 wire sequence when an input terminal set to 40 closes the drive operates in the forward direction when an input set for 41 closes the drive operates in reverse closing both inputs simultaneously will result in an external fault p.253
• Setting 71 speed torque control switch p.255
• Setting 6a drive enable p.255
• H terminal functions p.255
• Activates the zero servo function to lock the rotor at a certain position refer to b9 zero servo on page 190 for details p.255
• A digital input configured as a drive enable h1 oo 6a will prevent the drive from executing a run command until the input is closed when the input is open the digital operator will display dne to indicate that the drive is disabled if a run command is enabled before the terminal set for drive enable closes then the drive will not run until the run command is cycled i e a new run command is required if the input is opened while the drive is running the drive will stop according to the stop method set to b1 03 refer to b1 03 stopping method selection on page 160 p.255
• The up down 2 function adds a bias to the frequency reference the input programmed for 75 will increase the bias and the input programmed for 76 will decrease the bias table 5 0 explains how the up down 2 function works depending on the frequency reference source and parameters d4 01 d4 03 and d4 05 refer to d4 frequency reference hold and up down 2 function on page 209 for detailed explanations of these and other up down 2 related parameters p.255
• Switches the drive between torque control and speed control torque control is enabled when the terminal is closed and speed control is enabled when the terminal is open set parameter d5 01 to 0 when using this function refer to d5 torque control on page 214 and switching between torque and speed control on page 216 p.255
• Setting 75 76 up 2 down 2 function p.255
• Setting 72 zero servo p.255
• This function is used to enable or disable a driveworksez program in the drive an input programmed for this function is effective only if a1 07 2 p.256
• These settings are for digital input functions used in driveworksez changing these settings is not typically required p.256
• The drive has three multi function output terminals table 5 1 lists the functions available for theses terminals using h2 01 h2 02 and h2 03 p.256
• Switches the asr gain between the values set to c5 01 and c5 03 the gain set to c5 03 is enabled when the terminal is closed and c5 01 is enabled when the terminal reopens refer to c5 01 c5 03 c5 02 c5 04 asr proportional gain 1 2 asr integral time 1 2 on page 199 for a more detailed description p.256
• Setting 7f is reserved p.256
• Reverses the direction of the torque reference when the terminal closes refer to d5 torque control on page 214 and setting the torque reference speed limit and torque compensation values on page 214 for details p.256
• H2 multi function digital outputs p.256
• H2 01 to h2 03 terminal m1 m2 m3 m4 and m5 m6 function selection p.256
• H terminal functions p.256
• Determines the motor rotation direction for v f control with simple pg feedback a1 02 0 and h6 01 3 if the input is open the speed feedback signal is considered to be forward if the input is closed it is considered to be reverse refer to h6 pulse train input output on page 274 p.256
• Output closes when the drive is outputting a voltage p.257
• H terminal functions p.257
• Terminal closes when the output frequency or motor speed clv clv pm becomes less than or equal to the minimum output frequency set to e1 09 or b2 01 p.257
• Setting 1 zero speed p.257
• Setting 0 during run p.257
• Setting 3 user set speed agree 1 p.258
• Setting 2 speed agree 1 p.258
• Refer to l4 01 l4 02 speed agree detection level and detection width on page 289 for more details p.258
• H terminal functions p.258
• Closes when the actual output frequency or motor speed clv clv pm is within the speed agree width l4 02 of the current frequency reference regardless of the direction p.258
• Closes when the actual output frequency or motor speed clv clv pm and the frequency reference are within the speed agree width l4 02 of the programmed speed agree level l4 01 p.258
• Agree 1 p.258
• Note frequency detection works in forward and reverse the value of l4 01 is used as the detection level for both directions p.259
• H terminal functions p.259
• Figure 5 9 user set speed agree 1 time chart p.259
• Figure 5 0 frequency detection 1 time chart p.259
• Closed output frequency or motor speed is below l4 01 or has not exceeded l4 01 l4 02 p.259
• Closed output frequency or motor speed exceeded l4 01 p.259
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual 259 p.259
• This is the time chart when l4 07 speed agree detection selection is set to 1 detection always enabled the default setting for l4 07 is 0 no detection during baseblock when l4 07 is set to 0 the terminal opens during baseblock refer to l4 01 l4 02 speed agree detection level and detection width on page 289 for more details p.259
• The output opens when the output frequency 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 fall below the level set in l4 01 p.259
• The output closes when the output frequency or motor speed clv clv pm is above the detection level set in l4 01 the terminal remains closed until the output frequency or motor speed fall below l4 01 minus the setting of l4 02 p.259
• Status description p.259
• Setting 5 frequency detection 2 p.259
• Setting 4 frequency detection 1 p.259
• Refer to l4 01 l4 02 speed agree detection level and detection width on page 289 for more instructions p.259
• Open output frequency or motor speed is below l4 01 minus l4 02 or has not exceeded l4 01 p.259
• Open output frequency or motor speed exceeded l4 01 l4 02 p.259
• Setting 6 drive ready p.260
• Refer to l4 01 l4 02 speed agree detection level and detection width on page 289 for more details p.260
• Output closes when the power supply voltage or the control circuit voltage falls below the drive operating voltage or when the power supply frequency is incorrect p.260
• H terminal functions p.260
• Displays the currently selected run command source p.260
• Displays the currently selected frequency reference source p.260
• The output closes when the drive is ready to operate the motor the terminal will not close under the conditions listed below and any run commands will be disregarded when the power is shut off during a fault when the internal power supply of the drive has malfunctioned when a parameter setting error makes it impossible to run although stopped an undervoltage situation occurs while editing a parameter in the programming mode when b1 08 0 p.260
• The output closes to indicate that the drive is in a baseblock state while in baseblock output transistors do not switch and no main circuit voltage is output p.260
• Setting a run command source p.260
• Setting 9 frequency reference source p.260
• Setting 8 during baseblock n o p.260
• Setting 7 during power supply voltage fault p.260
• Setting c frequency reference loss p.261
• Setting b 17 18 19 torque detection 1 n o n c torque detection 2 n o n c p.261
• Setting 13 speed agree 2 p.261
• Setting 12 timer output p.261
• Setting 11 fault reset command active p.261
• Setting 10 minor fault p.261
• Select this setting when using the terminal in a pass through mode when set to f an output does not trigger any function in the drive setting f however still allows the output status to be read by a plc via a communication option or memobus modbus communications p.261
• H terminal functions p.261
• This setting configures a digital output terminal as the output for the timer function refer to b4 timer function on page 176 for details p.261
• An output set for this function closes when frequency reference loss is detected refer to l4 05 frequency reference loss detection selection on page 290 for details p.261
• These digital output functions signal an overtorque or undertorque situation to an external device set up the torque detection levels and select the output function from the table below refer to l6 torque detection on page 292 for details p.261
• Agree 2 p.261
• The output closes when there is an attempt to reset a fault situation from the control circuit terminals via serial communications or using a communications option card p.261
• The output closes when the drive faults excluding cpf00 and cpf01 faults p.261
• The output closes when the actual output frequency or motor speed clv clv pm is within the speed agree width l4 04 of the current frequency reference regardless of the direction p.261
• The output closes when a minor fault condition is present p.261
• Setting f through mode p.261
• Setting e fault p.261
• Note the detection level l4 03 is a signed value detection works in the specified direction only p.262
• H terminal functions p.262
• Frequency reference p.262
• Figure 5 3 user set speed agree 2 example with a positive l3 04 value p.262
• Figure 5 2 speed agree 2 time chart p.262
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual p.262
• Closed output frequency or motor speed is below l4 03 or has not exceeded l4 03 plus l4 04 p.262
• The output opens when the output frequency or motor speed clv clv pm rises above the detection level set in l4 03 plus the detection with set in l4 04 the terminal remains open until the output frequency or motor speed falls below the level set in l4 03 the detection level l4 03 is a signed value detection works in the specified direction only p.262
• Closed output frequency or motor speed and the frequency reference are both within the range of l4 03 l4 04 p.262
• The output closes when the actual output frequency or motor speed clv clv pm and the frequency reference are within the speed agree width l4 04 of the programmed speed agree level l4 03 p.262
• Agree 2 p.262
• Status description p.262
• Speed agree 2 on off p.262
• Setting 15 frequency detection 3 p.262
• Setting 14 user set speed agree 2 p.262
• Refer to l4 03 l4 04 speed agree detection level and detection width on page 290 for more details p.262
• Output frequency or motor speed p.262
• Open output frequency or motor speed exceeded l4 03 plus l4 04 p.262
• Open output frequency or motor speed and frequency reference are both outside the range of l4 03 l4 04 p.262
• The output closes when the output frequency or motor 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 p.263
• Setting 1a during reverse p.263
• Setting 16 frequency detection 4 p.263
• H terminal functions p.263
• A digital output set for during reverse closes when the drive is running the motor in the reverse direction p.263
• This is the time chart when l4 07 speed agree detection selection is set to 1 detection always enabled the default setting for l4 07 is 0 no detection during baseblock when l4 07 is set to 0 the terminal opens during baseblock refer to l4 03 l4 04 speed agree detection level and detection width on page 290 for more details p.263
• H2 06 power consumption output unit selection p.266
• H3 multi function analog inputs p.267
• H3 03 h3 04 terminal a1 gain and bias settings p.267
• H3 02 terminal a1 function selection p.267
• H3 01 terminal a1 signal level selection p.267
• H2 07 to h2 10 memobus registers p.267
• H3 06 terminal a3 function selection p.268
• H3 05 terminal a3 signal level selection 0 1 0 p.268
• H3 05 terminal a3 signal level selection p.268
• H3 04 terminal a1 bias setting 999 to 999 0 p.268
• H3 03 terminal a1 gain setting 999 to 999 100 p.268
• H terminal functions p.268
• Gain h3 03 200 bias h3 04 0 terminal a1 as frequency reference input h3 02 0 a 10 vdc input is equivalent to a 200 frequency reference and 5 vdc is equivalent to a 100 frequency reference since the drive output is limited by the maximum frequency parameter e1 04 the frequency reference will be equal to e1 04 above 5 vdc p.268
• Gain h3 03 100 bias h3 04 25 terminal a1 as frequency reference input an input of 0 vdc will be equivalent to a 25 frequency reference when parameter h3 01 0 the frequency reference is 0 between 0 and 2 vdc input when parameter h3 01 1 the motor will rotate in reverse between 10 and 2 vdc input p.268
• Determines the function assigned to analog input terminal a3 refer to multi function analog input terminal settings on page 270 for a list of functions and descriptions p.268
• The input level is 10 to 10 vdc see the explanation provided for h3 01 refer to setting 1 10 to 10 vdc on page 267 p.268
• The input level is 0 to 10 vdc see the explanation provided for h3 01 refer to setting 0 0 to 10 vdc on page 267 p.268
• Setting examples p.268
• Setting 1 10 to 10 vdc p.268
• Setting 0 0 to 10 vdc p.268
• Selects the input signal level for analog input a3 refer to multi function analog input terminal settings on page 270 for a list of functions and descriptions p.268
• No name setting range default p.268
• Parameter h3 11 sets the level of the input value selected that is equal to 10 vdc input or 20 ma input to terminal a2 parameter h3 12 sets the level of the input value selected that is equal to 0 v 4 ma or 0 ma input at terminal a2 use both parameters to adjust the characteristics of the analog input signal to terminal a2 the setting works in the same way as parameters h3 03 and h3 04 for analog input a1 p.269
• Parameter h3 07 sets the level 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 p.269
• H3 13 analog input filter time constant p.269
• H3 11 h3 12 terminal a2 gain and bias setting p.269
• H3 10 terminal a2 function selection p.269
• H3 09 terminal a2 signal level selection p.269
• H3 07 h3 08 terminal a3 gain and bias setting p.269
• H terminal functions p.269
• Determines the function assigned to analog input terminal a2 refer to multi function analog input terminal settings on page 270 for a list of functions and descriptions p.269
• The input level is 4 to 20 ma negative input values by negative bias or gain settings will be limited to 0 p.269
• The input level is 10 to 10 vdc refer to setting 1 10 to 10 vdc on page 267 p.269
• The input level is 0 to 20 ma negative input values by negative bias or gain settings will be limited to 0 p.269
• The input level is 0 to 10 vdc refer to setting 0 0 to 10 vdc on page 267 p.269
• Selects the input signal level for analog input a2 set dip switch s1 on the terminal board accordingly for a voltage input or current input p.269
• Parameter h3 13 sets the time constant for a first order filter that will be applied to the analog inputs an analog input filter prevents erratic drive control when using a noisy analog reference drive operation becomes more stable as the programmed time becomes longer but it also becomes less responsive to rapidly changing analog signals p.269
• See table 5 2 for information on how h3 02 h3 10 and h3 06 determine functions for terminals a1 a2 and a3 p.270
• No name setting range default p.270
• Multi function analog input terminal settings p.270
• H3 18 terminal a3 offset 500 to 500 0 p.270
• H3 17 terminal a2 offset 500 to 500 0 p.270
• When one of the multi function digital input parameters is set for analog input enable h1 oo c the value set to h3 14 determines which analog input terminals are enabled when the input is closed all of the analog input terminals will be enabled all of the time when h1 oo c the terminals not set as the target are not influenced by input signals p.270
• H3 16 to h3 18 terminal a1 a2 a3 offset p.270
• The input value of an analog input set to this function will be added to the analog frequency reference value when the frequency reference is supplied by a different source other than the analog inputs this function will have no effect use this setting also when only one of the analog inputs is used to supply the frequency reference by default analog inputs a1 and a2 are set for this function simultaneously using a1 and a2 increases the frequency reference by the total of all inputs p.270
• H3 16 terminal a1 offset 500 to 500 0 p.270
• Setting 7 all analog input terminals enabled p.270
• H3 14 analog input terminal enable selection 1 to 7 7 p.270
• Setting 6 a2 and a3 only enabled p.270
• H3 14 analog input terminal enable selection p.270
• H terminal functions p.270
• Setting 5 a1 and a3 only enabled p.270
• Setting 4 a3 only enabled p.270
• Setting 3 a1 and a2 only enabled p.270
• Setting 2 a2 only enabled p.270
• Setting 1 a1 only enabled p.270
• Setting 0 frequency bias p.270
• Set the offset level of the selected input value to terminals a1 a2 or a3 that is equal to 0 vdc input these parameters rarely require adjustment p.270
• H4 multi function analog outputs p.272
• H4 02 h4 03 multi function analog output terminal fm gain and bias h4 05 h4 06 multi function analog output terminal am gain and bias p.273
• H4 01 h4 04 multi function analog output terminal fm am monitor selection p.273
• H terminal functions p.274
• A one track pulse train signal with a maximum frequency of 32 khz can be input to the drive at terminal rp this pulse train signal can be used as the frequency reference for pid functions or as the speed feedback signal in v f control p.274
• Sets the voltage output level of u parameter monitor parameter data to terminal fm and terminal am using parameters h4 07 and h4 08 set jumper s5 on the terminal board accordingly when changing these parameters refer to terminal am fm signal selection on page 97 for details on setting s5 p.274
• Set h4 03 to 30 for an output signal of 3 v at terminal fm when the monitored value is at 0 p.274
• Serial communication is possible in the drive using the built in rs 422 485 port terminals r r s s and programmable logic controllers plcs or similar devices running the memobus modbus protocol the h5 oo parameters set the drive for memobus modbus communications refer to memobus modbus serial communication on page 565 for detailed descriptions of the h5 oo parameters p.274
• H6 pulse train input output p.274
• H5 memobus modbus serial communication p.274
• H4 07 h4 08 multi function analog output terminal fm am signal level selection p.274
• H6 01 pulse train input terminal rp function selection p.275
• Selects the monitor to output as a pulse train signal via terminal mp enter the three digits in u o oo to indicate which monitor to output refer to u monitor parameters on page 319 for a complete list of monitors monitors that can be selected by h6 06 appear in the table below p.276
• H6 08 pulse train input minimum frequency p.276
• H6 07 pulse train monitor scaling p.276
• H6 06 pulse train monitor selection p.276
• H6 05 pulse train input filter time p.276
• H6 04 pulse train input bias p.276
• H6 03 pulse train input gain p.276
• H6 02 pulse train input scaling p.276
• H terminal functions p.276
• Sets the pulse train input filter time constant in seconds p.276
• Sets the pulse signal frequency that is equal to 100 of the input value selected in parameter h6 01 p.276
• Sets the output frequency at terminal mp when the specified monitor item is at 100 set h6 06 to 102 and h6 07 to 0 to make the pulse train monitor output synchronous to the output frequency p.276
• Sets the minimum output frequency detected by the pulse train input increasing this setting reduces the time the drive needs to react to changes in the input signal the pulse input value becomes 0 when the pulse input frequency falls below this level enabled when h6 01 0 1 or 2 when simple speed feedback in v f control is set as the function for terminal rp h6 01 3 the minimum frequency becomes the detection time for pg disconnect f1 14 p.276
• Sets the level of the input value selected in h6 01 when no signal 0 hz is input to terminal rp p.276
• Sets the level of the input value selected in h6 01 when a pulse train signal with the frequency set in h6 02 is input to terminal rp p.276
• H terminal functions p.277
• L1 motor protection p.278
• L1 01 motor overload protection selection p.278
• L protection functions p.278
• Overload tolerance cooling ability overload characteristics p.279
• Motor is designed to produce 100 torque at base speed built with effective cooling capabilities p.279
• Motor is designed to effectively cool itself even at low speeds continuous operation with 100 load from 6 hz to e1 06 motor base frequency p.279
• Motor is designed to effectively cool itself at speeds near 0 hz p.279
• L protection functions p.279
• Continuous operation with 100 load from 0 hz to e1 06 motor base frequency continuous operation below 0 hz may cause an ol1 or ol2 fault p.279
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual 279 p.279
• Use this setting when operating a pm motor pm motors for derated torque have a self cooling design and the overload tolerance drops as the motor slows electronic thermal overload is triggered in accordance with the motor overload characteristics providing overheat protection across the entire speed range p.279
• Use this setting when operating a drive duty motor that allows constant torque in a speed range of 1 10 the drive will allow the motor to run with 100 load from 10 up to 100 speed running at slower speeds with full load can trigger an overload fault p.279
• Use this setting when operating a drive dedicated motor that allows constant torque in a speed range of 1 100 this motor type is allowed to run with 100 load from 1 up to 100 speed running slower speeds with full load can trigger an overload fault p.279
• Setting 5 constant torque pm motors constant torque range of 1 500 p.279
• Setting 4 pm derated torque motor p.279
• Setting 3 vector motor speed range for constant torque 1 100 p.279
• Setting 2 drive dedicated motor speed range for constant torque 1 10 p.279
• Sets necessary protection characteristics when driving a pm with constant torque these motors allow for a speed control from 0 to 100 when operating with 100 load slower speeds with 100 load will trigger overload p.279
• Reaching 100 when operating at below the base frequency causes a motor overload fault ol1 the drive fault output closes and the motor coasts to stop p.279
• Sets the time for the drive to shut down on motor overload ol1 when the motor is running with excessive current enter the time the motor can withstand operating at 150 current after previously running at 100 current hot motor overload condition there is normally no need to change this parameter from the default value p.280
• L1 02 motor overload protection time p.280
• L protection functions p.280
• Defaulted to operate with an allowance of 150 overload operation for one minute in a hot start after continuous operation at 100 figure 5 8 illustrates an example of the electrothermal protection operation time using a general purpose motor operating at the value of e1 06 motor base speed with l1 02 set to one minute motor overload protection operates in the area between a cold start and a hot start cold start characteristics of motor protection operation time in response to an overload situation that was suddenly reached when starting a stationary motor hot start characteristics of motor protection operation time in response to an overload situation that occurred while the motor was operating continuously at or below its rated current p.280
• Because the motor is self cooled the overload tolerance drops when the motor speed is lowered the drive appropriately adjusts the electrothermal trigger point according to the motor overload characteristics and protects the motor from overheat throughout the entire speed range p.280
• Connect a motor ptc can to an analog input of the drive for motor overheat protection the motor overheat alarm level triggers an oh3 alarm and the drive continues the operation selected in l1 03 the overheat fault level triggers an oh4 fault outputs a fault signal and the drive stops the motor using the stop method selected in l1 04 connect the ptc between terminals ac and a3 and set jumper s4 on the terminal board to ptc as shown in figure 5 9 set h3 05 to 0 and h3 06 to e p.281
• The ptc must exhibit the characteristics shown in figure 5 0 in one motor phase the motor overload protection of the drive expects 3 of these ptcs to be connected in a series p.281
• Motor protection using a positive temperature coefficient ptc thermistor p.281
• L protection functions p.281
• The drive stops the motor using the fast stop time set in parameter c1 09 p.282
• The drive stops the motor using the deceleration time 1 set in parameter c1 02 p.282
• The drive output is switched off and the motor coasts to stop p.282
• Sets the reference current for motor thermal overload detection for motor 1 in amperes when l1 08 is set to 0 a default parameter e2 01 e5 03 in pm control modes is used as the reference for motor overload protection when l1 08 0 a the set value is used as the reference for motor overload protection p.282
• Sets the drive operation when the ptc input signal reaches the motor overheat fault level oh4 p.282
• Sets the drive operation when the ptc input signal reaches the motor overheat alarm level oh3 p.282
• Sets a filter on the ptc input signal to prevent erroneous detection of a motor overheat fault p.282
• Set up overheat detection using a ptc using parameters l1 03 l1 04 and l1 05 as explained in the following sections p.282
• L1 08 ol1 current level p.282
• L1 05 motor temperature input filter time ptc input p.282
• L1 04 motor overheat fault operation selection ptc input p.282
• L1 03 motor overheat alarm operation selection ptc input p.282
• L protection functions p.282
• The operation is continued and an oh3 alarm is displayed on the digital operator p.282
• L2 momentary power loss ride thru p.283
• L2 01 momentary power loss operation selection p.283
• L1 13 continuous electrothermal operation selection p.283
• L1 09 ol1 current level for motor 2 p.283
• Sets the low input voltage detection level p.284
• Sets the gain used to detect a power supply frequency fault fdv if an fdv fault occurs with no momentary power loss reduce the setting value in 0 increments p.284
• Sets the frequency width used to detect a power supply frequency fault fdv in hz there is normally no need to change this parameter from the default value p.284
• L2 27 power supply frequency fault detection width p.284
• L2 21 low input voltage detection level p.284
• L2 13 input power frequency fault detection gain p.284
• L2 07 momentary power loss voltage recovery acceleration time p.284
• L2 04 momentary power loss voltage recovery ramp time p.284
• L2 03 momentary power loss minimum baseblock time p.284
• L2 02 momentary power loss ride thru time p.284
• L protection functions p.284
• Sets the time to reaccelerate from the deceleration frequency to the frequency set in frequency reference frequency before before power loss after momentary power loss when set to 0 s the drive will accelerate to speed according to the active acceleration time set by c1 01 c1 03 c1 05 or c1 07 p.284
• Sets the time for the drive to restore the output voltage to the level specified by the v f pattern after speed search the setting value determines the time for the voltage to go from 0 v to the maximum voltage p.284
• Sets the minimum baseblock time when power is restored following a momentary power loss this determines the time the drive waits for the residual voltage in the motor to dissipate increase this setting if overcurrent occurs at the beginning of speed search after a power loss or during dc injection braking p.284
• Sets the maximum time allowed to ride through a power loss if power loss operation exceeds this time the drive will attempt to accelerate back to the frequency reference this parameter is valid when l2 01 1 p.284
• L3 stall prevention p.285
• L3 01 stall prevention selection during acceleration p.285
• The stall prevention level is automatically reduced when the motor is operated in the constant power range l3 03 sets the lower limit for this reduction as a percentage of the drive rated current p.286
• The drive disregards the selected acceleration time and attempts to accelerate in the minimum time the acceleration rate is adjusted so the current does not exceed the value set to parameter l3 02 p.286
• The acceleration rate is automatically adjusted while limiting the output current at the value set to l3 02 stall prevention level during acceleration p.286
• Stalling may occur when the motor is rated at a smaller current than the drive rated output current and the stall prevention default settings are used set l3 02 l3 14 appropriately if stalling occurs also set parameter l3 03 when operating the motor in the constant power range p.286
• Set the output voltage level at which to enable stall prevention during acceleration as a percentage of drive rated current these parameters are valid when stall prevention during deceleration is selected l3 04 1 decrease the setting values if stalling occurs when parameters are set to default there is normally no need to change these parameters from their default values p.286
• L3 03 stall prevention limit during acceleration deceleration p.286
• L3 02 l3 14 stall prevention level during acceleration deceleration p.286
• L protection functions p.286
• L3 04 stall prevention selection during deceleration p.287
• Determines how stall prevention works during run stall prevention during run prevents the motor from stalling by automatically reducing the speed when a transient overload occurs while the motor is running at constant speed p.288
• Sets the current level to trigger stall prevention during run depending on the setting of parameter l3 23 the level is automatically reduced in the constant power range speed beyond base speed a setting of 100 is equal to the drive rated current the stall prevention level can be adjusted using an analog input refer to multi function analog input terminal settings on page 270 for details p.288
• Sets the brief deceleration time used when stalling occurs while accelerating a pm motor when set to 0 this function is disabled and the drive decelerates at the selected deceleration time when stalling occurs the function is effective only in olv pm control and when parameter l3 01 is set to 1 p.288
• Same as setting 1 except the drive decelerates at decel time 2 c1 04 p.288
• Reduces the stall prevention during run level in the constant power range p.288
• L3 23 automatic reduction selection for stall prevention during run p.288
• L3 22 deceleration time at stall prevention during acceleration p.288
• L3 06 stall prevention level during run p.288
• L3 05 stall prevention selection during run p.288
• L protection functions p.288
• If the current exceeds the stall prevention level set in parameter l3 06 the drive will decelerate at decel time 1 c1 02 when the current level drops below the value of l3 06 minus 2 for 100 ms the drive accelerates back to the frequency reference at the active acceleration time p.288
• Drive 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 p.288
• L4 01 l4 02 speed agree detection level and detection width p.289
• L3 40 l3 45 current limited maximum s curve selection during acceleration deceleration p.289
• L3 39 l3 44 current limited integral time constant during acceleration deceleration p.289
• L3 36 l3 41 vibration suppression gain during acceleration deceleration with current limit p.289
• L3 27 stall prevention detection time p.289
• L4 speed detection p.289
• The drive will continue operation at the frequency reference value set to parameter l4 06 when the external frequency reference value is restored the operation is continued with the frequency reference p.290
• The drive can detect a loss of an analog frequency reference from input a1 a2 or a3 frequency reference loss is detected when the frequency reference drops below 10 of the reference or below 5 of the maximum output frequency within 400 ms p.290
• Sets the frequency reference level at which the drive runs when l4 05 1 and when detecting a reference loss the value is set as a percentage of the frequency reference before the loss was detected p.290
• Set h2 01 h2 02 or h2 03 to c for a digital output to trigger when frequency reference loss occurs refer to setting c frequency reference loss on page 261 for details on setting the output function parameter l4 05 selects the operation when a frequency reference loss is detected p.290
• Refer to h2 01 to h2 03 terminal m1 m2 m3 m4 and m5 m6 function selection on page 256 settings 2 3 4 and 5 p.290
• Refer to h2 01 to h2 03 terminal m1 m2 m3 m4 and m5 m6 function selection on page 256 settings 13 14 15 and 16 p.290
• Parameter l4 03 sets the detection level for the digital output functions speed agree 2 user set speed agree 2 frequency detection 3 and frequency detection 4 parameter l4 04 sets the hysteresis level for these functions p.290
• L4 07 speed agree detection selection p.290
• L4 06 frequency reference at reference loss p.290
• L4 05 frequency reference loss detection selection p.290
• L4 03 l4 04 speed agree detection level and detection width p.290
• L protection functions p.290
• Drive follows the frequency reference which is no longer present and stops the motor p.290
• Determines when frequency detection is active using parameters l4 01 through l4 04 p.290
• L5 01 number of auto restart attempts p.291
• L5 fault restart p.291
• L5 02 auto restart fault output operation selection p.291
• L6 torque detection p.292
• L5 05 fault reset operation selection p.292
• L5 04 fault reset interval time p.292
• Auto restart cancel early fault output disabled l5 02 0 p.292
• Undertorque detection works as long as the run command is active the operation continues after detecting overtorque and triggering a ul3 ul4 alarm p.293
• Undertorque detection is active only when the output speed is equal to the frequency reference i e no detection during acceleration and deceleration the operation continues after detecting overtorque and triggering a ul3 ul4 alarm p.293
• The torque detection function is triggered when the current or torque exceed the levels set to l6 02 and l6 05 for longer than the times set to l6 03 and l6 06 l6 01 and l6 04 select the conditions for detection and the operation that follows p.293
• Overtorque detection works as long as the run command is active the operation continues after detecting overtorque and triggering an ol3 ol4 alarm p.293
• Overtorque detection works as long as a run command is active the operation stops and triggers an ol3 ol4 fault p.293
• Overtorque detection is active only when the output speed is equal to the frequency reference i e no detection during acceleration and deceleration the operation stops and triggers an ol3 ol4 fault p.293
• Overtorque detection is active only when the output speed is equal to the frequency reference i e no detection during acceleration and deceleration the operation continues after detecting overtorque and triggering an ol3 ol4 alarm p.293
• L6 01 l6 04 torque detection selection 1 2 p.293
• L protection functions p.293
• Detection when the speed is above l6 09 signed operation continues and triggers an ol5 alarm after detection p.294
• Undertorque detection works as long as a run command is active the operation stops and triggers a ul3 ul4 fault p.294
• Undertorque detection is active only when the output speed is equal to the frequency reference i e no detection during acceleration and deceleration the operation stops and triggers a ul3 ul4 fault p.294
• This function detects the mechanical weakening of a machine that leads to overtorque or undertorque situations after a set machine operation time has elapsed the function is activated in the drive when the cumulative operation counter u4 01 exceeds the time set to parameter l6 11 mechanical weakening detection uses the torque detection 1 settings l6 01 l6 02 l6 03 and triggers an ol5 or ul5 fault when overtorque or undertorque occurs in the speed range determined by parameter l6 08 and l6 09 the ol5 or ul5 operation is set by parameter l6 08 set h2 oo to 22 to output a signal for mechanical weakening detection p.294
• These parameters set the detection levels for torque detection functions 1 and 2 in v f and olv pm control modes these levels are set as a percentage of the drive rated output current in vector control modes these levels are set as a percentage of the motor rated torque when mechanical weakening detection is enabled l6 08 0 the level for l6 02 is set as a percentage of the drive rated output current in all control modes p.294
• These parameters determine the time required to trigger an alarm or fault after exceeding the levels in l6 02 and l6 05 p.294
• Sets the speed range to detect mechanical weakening and the action to take when mechanical weakening is detected p.294
• Mechanical weakening detection p.294
• L6 08 mechanical weakening detection operation p.294
• L6 03 l6 06 torque detection time 1 2 p.294
• L6 02 l6 05 torque detection level 1 2 p.294
• L protection functions p.294
• Detection when the speed is below l6 09 signed operation continues and triggers a ul5 alarm after detection p.294
• Detection when the speed is above l6 09 unsigned operation stops and triggers an ol5 fault after detection p.294
• Detection when the speed is above l6 09 unsigned operation continues and triggers an ol5 alarm after detection p.294
• Detection when the speed is above l6 09 signed operation stops and triggers an ol5 fault after detection p.294
• L6 09 mechanical weakening detection speed level p.295
• Setting torque limits p.295
• L7 torque limit p.295
• L6 11 mechanical weakening detection start time p.295
• L6 10 mechanical weakening detection time p.295
• Torque limit is created at start without a delay time disable l7 16 to maximize the response time when the application requires sudden acceleration or deceleration at start p.296
• These parameters set the torque limits in each quadrant p.296
• The torque limit function works with p control during accel and decel and switches to i control at constant speed use this setting when accelerating or decelerating to the desired speed has priority over the torque limit during speed changes p.296
• The torque limit function always uses i control use this setting when a highly accurate torque limit is required even during speed changes using this function may increase the acceleration time or prevent the motor speed from reaching the frequency reference if the torque limit is reached first p.296
• Sets the integral time constant for the torque limit function decrease the setting for faster torque limit response increase the setting if oscillation occurs when operating at the torque limit p.296
• Selects the function of torque limit during acceleration and deceleration p.296
• L7 16 torque limit process at start p.296
• L7 07 torque limit control method selection during accel decel p.296
• L7 06 torque limit integral time constant p.296
• L7 01 to l7 04 torque limits p.296
• L protection functions p.296
• Assigns a time filter to allow the torque limit to build at start p.296
• L8 drive protection p.297
• L8 03 overheat pre alarm operation selection p.297
• L8 02 overheat alarm level p.297
• Selects the heatsink cooling fan operation p.298
• L8 10 heatsink cooling fan operation selection p.298
• L8 09 output ground fault detection selection p.298
• L8 07 output phase loss protection selection p.298
• L protection functions p.298
• Ground faults are not detected p.298
• Enables or disables the output phase loss detection triggered when the output current falls below 5 of the drive rated current p.298
• Enables or disables the output ground fault detection p.298
• An output phase loss fault lf is triggered when two or more output phases are lost the output shuts off and the motor coasts to stop p.298
• An output phase loss fault lf is triggered when one output phase is lost the output shuts off and the motor coasts to stop p.298
• A ground fault gf is triggered when high leakage current or a ground short circuit occurs in one or two output phases p.298
• Enables and disables the software current limit cla protection function to prevent main circuit transistor failures caused by high current p.299
• When the software cla current level is reached the drive reduces the output voltage to reduce the current normal operation continues when the current level drops below the software cla level p.299
• Automatically adapts the drive rated current to safe values when used with parameter l8 35 this eliminates the need to reduce the drive rated current when the temperature where the drive is mounted is above the specified values refer to temperature derating on page 439 for details p.299
• The overload protection level ol2 fault detection level is automatically reduced at speeds below 6 hz at zero speed the overload is derated by 50 p.299
• The overload protection level is not reduced frequently operating the drive with high output current at low speed can lead to premature drive faults p.299
• The fan runs when power is supplied to the drive p.299
• The fan is switched on when a run command is active and switched off with the delay set to parameter l8 11 after releasing the run command this setting extends the fan lifetime p.299
• The drive may trip on an oc fault if the load is too heavy or the acceleration is too short p.299
• Specifies the output frequency reduction when l8 03 is set to 4 and an oh alarm is present set as a factor of the maximum output frequency p.299
• Sets the cooling fan switch off delay time if parameter l8 10 is set to 0 p.299
• Selects whether the drive overload capability ol fault detection level is reduced at low speeds to prevent premature output transistor failures set this parameter to 0 protection disabled at low speed when protection is activated for an ol2 fault for a light load at low speed p.299
• L8 19 frequency reduction rate during overheat pre alarm p.299
• L8 18 software current limit selection p.299
• L8 15 ol2 characteristics selection at low speeds p.299
• L8 12 ambient temperature setting p.299
• L8 11 heatsink cooling fan off delay time p.299
• L protection functions p.299
• Adjusts the overcurrent detection level in olv pm aolv pm or clv pm a setting of 100 is equal to the motor rated current when the drive rated current is considerably higher than the motor rated current use this parameter to decrease the overcurrent level and prevent motor demagnetization from high current overcurrent detection uses the lower value between the overcurrent level for the drive and the motor rated current multiplied by l8 27 p.300
• The drive stops the motor using the fast stop time set in parameter c1 09 p.300
• The drive stops the motor using the deceleration time 1 set in parameter c1 02 p.300
• The drive output is switched off and the motor coasts to a stop p.300
• Selects the type of installation for the drive and changes the drive overload ol2 limits accordingly p.300
• Motor protection with lf2 is disabled p.300
• Lf2 fault is triggered when an output current imbalance is detected drive output shuts off and the motor coasts to stop p.300
• L8 35 installation method selection p.300
• L8 32 cooling fan failure selection p.300
• L8 29 current unbalance detection lf2 p.300
• L8 27 overcurrent detection gain p.300
• L protection functions p.300
• For drives compliant with ip20 nema type 1 enclosure specifications p.300
• For an open type enclosure drive installed with at a minimum of 30 mm space to the next drive or a cabinet wall p.300
• Enables and disables output current unbalance detection in olv pm aolv pm or clv pm current unbalance can heat a pm motor and demagnetize the magnets the current unbalance detection function monitors output current and triggers the lf2 fault to prevent such motor damage p.300
• Determines drive operation when a fan fault occurs p.300
• An alarm is triggered when the output current exceeds 150 of the drive rated current a digital output set for an alarm h2 oo 10 will close p.301
• Triggers a high current alarm hca when the output current exceeds 150 of the drive rated current p.301
• The following settings are used when the carrier frequency is to be reduced at start time taken for the reduced carrier frequency to return to the carrier frequency set at c6 02 time taken to return to the set carrier frequency after reducing it by setting l8 38 to 1 or 2 the carrier frequency reduction function at start is disabled if this value is 0 0 s p.301
• The carrier frequency is reduced at the following speeds below 6 hz when the current exceeds 100 of the drive rated current above 7 hz when the current exceeds 112 of the drive rated current the drive uses the delay time set in parameter l8 40 and a hysteresis of 12 when switching the carrier frequency back to the set value p.301
• The carrier frequency is reduced at speeds below 6 hz when the current exceeds 100 of the drive rated current the drive returns to the normal carrier frequency when the current falls below 88 or the output frequency exceeds 7 hz p.301
• Sets the amount of time until baseblock is executed after lso has been detected at low speed a setting of 0 s disables this parameter p.301
• Selects the operation of the carrier frequency reduction function reduces the carrier frequency when the output current exceeds a certain level this temporarily increases the overload capability ol2 detection allowing the drive to run through transient load peaks without tripping p.301
• No carrier frequency reduction at high current p.301
• No alarm is detected p.301
• L8 93 lso detection time at low speed p.301
• L8 41 high current alarm selection p.301
• L8 40 carrier frequency reduction off delay time p.301
• L8 38 carrier frequency reduction selection p.301
• L protection functions p.301
• For finless drives or a standard drive mounted with the heatsink outside the cabinet or enclosure panel p.301
• L protection functions p.302
• Determines the detection level of sto at low speed set as a percentage of the maximum frequency e1 04 p.302
• Sets the average number of times lso can occur at low speed p.302
• Selects start or clear current level for automatic carrier frequency reduction there is normally no need to change this parameter from the default value p.302
• L9 drive protection 2 p.302
• L9 03 carrier frequency reduction level selection p.302
• L8 95 average lso frequency at low speed p.302
• L8 94 lso detection level at low speed p.302
• N1 hunting prevention p.303
• N special adjustments p.303
• Overexcitation deceleration induction motors p.304
• N3 overexcitation braking p.304
• N3 13 overexcitation deceleration gain p.304
• N2 speed feedback detection control afr tuning p.304
• N2 02 afr time constant 1 p.304
• N2 01 afr gain p.304
• N5 02 motor acceleration time p.305
• N5 01 feed forward control selection p.305
• N5 feed forward control p.305
• The motor acceleration time can be calculated by one of the following formulas p.306
• Take the following steps when measuring the motor acceleration time p.306
• Sets the inertia ratio of the load connected to the motor this value can be set automatically by inertia auto tuning p.306
• Set this value automatically with inertia auto tuning if inertia auto tuning cannot be performed use one of the following methods to determine the setting value for this parameter p.306
• Set this value automatically with inertia auto tuning if inertia auto tuning cannot be performed determine the value for parameter n5 03 using the following steps p.306
• N5 03 feed forward control gain p.306
• N special adjustments p.306
• N8 pm motor control tuning p.307
• N8 11 induction voltage estimation gain 2 p.307
• N8 02 pole attraction current p.307
• N8 01 initial rotor position estimation current p.307
• N6 online tuning p.307
• N6 05 online tuning gain p.307
• N6 01 online tuning selection p.307
• A pulse signal is injected into the motor to detect the rotor position p.308
• Starts the rotor using pull in current p.308
• Sets the gain for speed estimation there is normally no need to change this parameter from the default value p.308
• Sets the frequency level used for high frequency injection enabled when n8 57 1 there is normally no need to change this parameter from the default value p.308
• Sets the amplitude of high frequency injection as a percentage of the voltage class standard 200 v class 200 v 400 v class 400 v enabled when n8 57 1 p.308
• Sets a cutoff frequency of a low pass filter for high frequency injection enabled when n8 57 1 there is normally no need to change this parameter from the default value p.308
• Selects how the rotor position is detected at start p.308
• N8 39 low pass filter cutoff frequency for high frequency injection p.308
• N8 37 high frequency injection amplitude p.308
• N8 36 high frequency injection level p.308
• N8 35 initial rotor position detection selection p.308
• N8 21 motor ke gain p.308
• N8 15 polarity compensation gain 4 p.308
• N8 14 polarity compensation gain 3 p.308
• N special adjustments p.308
• High frequency is injected to detect the rotor position some noise may be generated from the motor at start p.308
• N special adjustments p.309
• Sets the time constant for voltage error compensation adjustment may be necessary under the following conditions p.309
• Sets the time constant for pull in current to match the actual current although this setting rarely needs to be changed adjustment may be necessary under the following conditions increase this setting when it takes too long for the reference value of the pull in current to match the target value decrease this setting if motor oscillation occurs p.309
• Sets the pull in current during acceleration and deceleration as a percentage of the motor rated current e5 03 adjustment may be necessary under the following conditions increase this setting when a large amount of starting torque is required lower this setting if there is excessive current during acceleration p.309
• Sets the gain for internal speed feedback detection control although this parameter rarely needs to be changed adjustment may be necessary under the following conditions increase this setting if motor oscillation or hunting occurs decrease this setting in increments of 0 5 to decrease drive responsiveness p.309
• Sets the d axis current reference when running with high load at constant speed when using an ipm motor this parameter uses the reluctance torque to increase the efficiency and reduce energy consumption set this parameter to 0 when using an spm motor although this setting rarely needs to be changed adjustment may be necessary under the following conditions lower the setting if motor operation is unstable when driving heavy loads if motor parameters e5 oo have been changed this value will be reset to 0 and will require readjustment p.309
• Sets the d axis current during no load operation at a constant speed set as a percentage of the motor rated current e5 03 increase this setting when hunting occurs or the motor speed is unstable while running at a constant speed slightly reduce this value if there is too much current when driving a light load at a constant speed p.309
• N8 54 voltage error compensation time constant p.309
• N8 51 acceleration deceleration pull in current for pm motors p.309
• N8 49 d axis current for high efficiency control for pm motors p.309
• N8 48 pull in current for pm motors p.309
• N8 47 pull in current compensation time constant for pm motors p.309
• N8 45 speed feedback detection control gain for pm motors p.309
• Injects a high frequency into the motor to detect motor speed p.310
• Enable n8 57 with ipm motors this allows precise speed detection in a speed control range of approximately 1 100 p.310
• Disable n8 57 with spm motors the speed control range will be limited to approximately 1 20 p.310
• Adjust the value when hunting occurs at low speed increase the value in steps of 0 when hunting occurs with sudden load changes set n8 51 to 0 to disable the compensation if increasing n8 54 does not help increase the value when oscillations occur at start p.310
• The inertia ratio between the motor and the load is lower than 1 10 p.310
• The inertia ratio between the motor and the load is higher than 1 50 set n8 55 to 3 if an sto fault occurs as a result of impact load or sudden acceleration deceleration when n8 55 2 p.310
• The inertia ratio between the motor and the load is between 1 30 and 1 50 set n8 55 to 2 if an sto fault occurs as a result of impact load or sudden acceleration deceleration when n8 55 1 p.310
• The inertia ratio between the motor and the load is between 1 10 and 1 30 set n8 55 to 1 if an sto fault occurs as a result of impact load or sudden acceleration deceleration when n8 55 0 p.310
• Sets the ratio between motor inertia and the inertia of the connected machinery if this value is set too low the motor may not start very smoothly and trigger an sto pull out detection fault increase this setting for large inertia loads or to improve speed control response a high setting with low inertia load may cause oscillation p.310
• Sets the proportional gain for phase locked loop pll control of an extended observer p.310
• Sets the output voltage limit to prevent voltage saturation do not set this value higher than the actual input voltage p.310
• N8 69 speed calculation gain p.310
• N8 62 output voltage limit for pm motors p.310
• N8 57 high frequency injection p.310
• N8 55 load inertia p.310
• N special adjustments p.310
• N8 84 initial polarity estimation timeout current p.311
• N8 72 speed estimation method selection p.311
• N special adjustments p.311
• If operating in aolv pm a1 02 6 or clv pm a1 02 7 the drive determines motor polarity by performing initial polarity estimation when it starts the motor this is done only the first time the motor is started when using clv pm the drive may begin operating in the wrong direction if it determines motor polarity incorrectly as the opposite direction of the run command monitor u6 57 displays the deviation from the integrated current making it possible to see if initial polarity estimation has successfully determined the motor polarity p.311
• There is normally no need to change this parameter from the default value p.311
• Sets the method of the speed estimation there is normally no need to change this parameter from the default value p.311
• Sets the current to determine polarity for the initial polarity calculation as a percentage of the motor rated current set the value in unit e5 03 100 p.311
• O1 digital operator display selection p.312
• O1 03 digital operator display selection p.312
• O1 02 user monitor selection after power up p.312
• O1 01 drive mode unit monitor selection p.312
• O operator related settings p.312
• O2 digital operator keypad functions p.313
• O2 01 lo re local remote key function selection p.313
• O1 11 user set display units decimal display p.313
• O1 10 user set display units maximum value p.313
• O1 05 lcd contrast control p.313
• O1 04 v f pattern display unit p.313
• All user set defaults for user initialize are cleared setting o2 03 to 2 and pressing the enter key erases the values and returns the display to 0 p.314
• After completely setting up drive parameters save the values as user set defaults with parameter o2 03 after saving the values parameter a1 03 initialize parameters will offer the choice of 1110 user initialize selecting 1110 resets all parameters to the user set default values refer to a1 03 initialize parameters on page 153 for details on drive initialization p.314
• The stop key will terminate drive operation even if the run command source is not assigned to the digital operator cycle the run command to restart the drive if the drive has been stopped by pressing the stop key p.314
• The current parameter settings are saved as user set default for a later user initialization setting o2 03 to 1 and pressing the enter key saves the values and returns the display to 0 p.314
• Set this parameter when replacing the control board or the terminal board refer to defaults by drive model and duty rating nd hd on page 536 for information on drive model selection p.314
• O2 05 frequency reference setting method selection p.314
• O2 04 drive model selection p.314
• O2 03 user parameter default value p.314
• O2 02 stop key function selection p.314
• O operator related settings p.314
• Determines if the stop key on the digital operator will stop drive operation when the drive is controlled from a remote source i e not from digital operator p.314
• Determines if the enter key must be pressed after changing the frequency reference using the digital operator while in the drive mode p.314
• O3 copy function p.315
• O3 01 copy function selection p.315
• O2 07 motor direction at power up when using operator p.315
• O2 06 operation selection when digital operator is disconnected p.315
• O operator related settings p.316
• Allows and restricts the use of the copy function p.316
• The drive logs the time that the output is active including when the run command is active even if the motor is not rotating and when there is voltage output p.316
• The drive logs the time it is connected to a power supply regardless of whether the motor is running p.316
• Sets value of the maintenance monitor for the dc bus capacitors displayed in u4 05 as a percentage of the total expected performance life reset this value to 0 after replacing the dc bus capacitors p.316
• Sets the value of the softcharge bypass relay maintenance time displayed in u4 06 as a percentage of the total expected performance life reset this value to 0 after replacing the bypass relay p.316
• Sets the value for how long the cooling fan has been operating this value can be viewed in monitor u4 03 parameter o4 03 also sets the base value used for the cooling fan maintenance which is displayed in u4 04 reset this parameter to 0 after replacing the cooling fan p.316
• Sets the cumulative operation time of the drive the user can also manually set this parameter to begin keeping track of operation time from some desired value total operation time can be viewed in monitor u4 01 p.316
• Selects the conditions for how the drive keeps track of its total operation time this time log can be viewed in monitor u4 01 p.316
• O4 maintenance monitor settings p.316
• O4 07 dc bus pre charge relay maintenance setting p.316
• O4 05 capacitor maintenance setting p.316
• O4 03 cooling fan operation time setting p.316
• O4 02 cumulative operation time selection p.316
• O4 01 cumulative operation time setting p.316
• O3 02 copy allowed selection p.316
• O4 12 kwh monitor initialization p.317
• O4 11 u2 u3 initialization p.317
• T motor tuning p.317
• R1 01 to r1 40 driveworksez connection parameters p.317
• R driveworksez connection parameters p.317
• Q1 01 to q6 07 reserved for use by driveworksez p.317
• Q driveworksez parameters p.317
• O4 19 power unit price p.317
• O4 13 number of run commands counter initialization p.317
• U6 operation status monitors p.319
• U5 pid monitors p.319
• U4 maintenance monitors p.319
• U3 fault history p.319
• U2 fault trace p.319
• U1 operation status monitors p.319
• U monitor parameters p.319
• U9 power monitors p.320
• U8 driveworksez monitors p.320
• Troubleshooting p.321
• Warning p.322
• Section safety p.322
• Electrical shock hazard p.322
• Danger p.322
• Warning fire hazard p.323
• Notice p.323
• This section offers helpful information for counteracting oscillation hunting and other problems that occur while performing a trial run refer to the section below that corresponds to the motor control method used p.324
• Motor performance fine tuning p.324
• Fine tuning v f control and v f control with pg p.324
• When using olv leave the torque compensation gain c4 01 at its default setting of 1 0 p.325
• Motor performance fine tuning p.325
• Fine tuning open loop vector control p.325
• Motor performance fine tuning p.326
• Fine tuning closed loop vector control p.326
• Fine tuning open loop vector control for pm motors p.327
• Motor performance fine tuning p.327
• Motor performance fine tuning p.328
• Fine tuning closed loop vector control for pm motors p.328
• Fine tuning advanced open loop vector control for pm motors p.328
• Parameters to minimize motor hunting and oscillation p.329
• Motor performance fine tuning p.329
• In addition to the parameters discussed on pages 324 through 328 parameters in table 6 indirectly affect motor hunting and oscillation p.329
• Types of alarms faults and errors p.330
• Drive alarms faults and errors p.330
• Check the digital operator for information about possible faults if the drive or motor fails to operate refer to using the digital operator on page 109 if problems occur that are not covered in this manual contact the nearest yaskawa representative with the following information drive model software version date of purchase description of the problem table 6 contains descriptions of the various types of alarms faults and errors that may occur while operating the drive p.330
• Faults p.331
• Alarm and error displays p.331
• Drive alarms faults and errors p.332
• Refer to table 6 0 for an overview of possible alarm codes conditions such as overvoltages can trip faults and alarms it is important to distinguish between faults and alarms to determine the proper corrective actions when the drive detects an alarm the alm indicator led blinks and the alarm code display flashes most alarms trigger a digital output programmed for alarm output h2 oo 10 a fault not an alarm is present if the alm led lights without blinking refer to faults on page 331 for information on fault codes p.333
• Minor faults and alarms p.333
• Drive alarms faults and errors p.333
• Operation errors p.334
• Errors and displays when using the copy function p.334
• Drive alarms faults and errors p.334
• Auto tuning errors p.334
• Fault displays causes and possible solutions p.335
• Fault detection p.335
• Fault detection p.336
• Fault detection p.337
• Fault detection p.338
• Fault detection p.339
• Fault detection p.340
• Fault detection p.341
• Fault detection p.342
• Fault detection p.343
• Fault detection p.344
• Fault detection p.345
• Fault detection p.346
• Fault detection p.347
• Fault detection p.348
• Fault detection p.349
• Fault detection p.350
• Alarm detection p.351
• Alarm codes causes and possible solutions p.351
• Alarm detection p.352
• Alarm detection p.353
• Alarm detection p.354
• Alarm detection p.355
• Alarm detection p.356
• Alarm detection p.357
• Alarm detection p.358
• Alarm detection p.359
• An operator programming error ope occurs when a contradictory parameter is set or an individual parameter is set to an inappropriate value the drive will not operate until the parameter or parameters causing the problem are set correctly an ope however does not trigger an alarm or fault output if an ope occurs investigate the cause and refer to table 6 6 for the appropriate action when an ope appears on the operator display press the enter button to view u1 18 and see which parameter is causing the ope p.360
• Operator programming errors p.360
• Operator programming error codes causes and possible solutions p.360
• Operator programming errors p.361
• Operator programming errors p.362
• Operator programming errors p.363
• Auto tuning faults in this section are displayed on the digital operator and will cause the motor to coast to a stop auto tuning faults do not trigger a multi function digital output set for fault or alarm output an end o error on the digital operator display indicates auto tuning has successfully completed with discrepancies in the calculations restart auto tuning after fixing the cause of the end o error the drive may be used in the application if no cause can be identified despite the existence of an end o error an er o error indicates that auto tuning has not completed successfully check for the cause of the error using the tables in this section and perform auto tuning again after fixing the cause p.364
• Auto tuning fault detection p.364
• Auto tuning codes causes and possible solutions p.364
• Auto tuning fault detection p.365
• Auto tuning fault detection p.366
• Auto tuning fault detection p.367
• Auto tuning fault detection p.368
• Tasks errors and troubleshooting p.369
• Copy function related displays p.369
• Copy function related displays p.370
• Diagnosing and resetting faults p.371
• Viewing fault trace data after fault p.371
• If the drive still has power after a fault occurs 1 p.371
• If the drive still has power after a fault occurs p.371
• Fault occurs simultaneously with power loss p.371
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual p.372
• To view drive status information when fault occurred parameter u2 58 helps determine the cause of a fault parameters to be monitored differ depending on the control mode p.372
• Step display result p.372
• Diagnosing and resetting faults p.372
• When a fault occurs the cause of the fault must be removed and the drive must be restarted the table below lists the different ways to restart the drive p.373
• Fault reset methods p.373
• Diagnosing and resetting faults p.373
• Troubleshooting without fault display p.374
• This section describes troubleshooting problems that do not trip an alarm or fault the following symptoms indicate that the drive is not set correctly for proper performance with the motor refer to motor performance fine tuning on page 324 for guidance on troubleshooting motor hunting and oscillation poor motor torque poor speed precision poor motor torque and speed response motor noise p.374
• Common problems p.374
• Cannot change parameter settings p.374
• Motor does not rotate p.375
• Motor does not rotate properly after pressing run button or after entering external run command p.375
• Troubleshooting without fault display p.376
• Motor rotates in the opposite direction from the run command p.376
• Motor rotates in one direction only p.376
• Motor is too hot p.376
• Troubleshooting without fault display p.377
• Ope02 error occurs when lowering the motor rated current setting p.377
• Motor stalls during acceleration or acceleration time is too long p.377
• Drive does not allow selection of the desired auto tuning mode p.377
• Troubleshooting without fault display p.378
• Noise from drive or motor cables when the drive is powered on p.378
• Excessive motor oscillation and erratic rotation p.378
• Drive frequency reference differs from the controller frequency reference command p.378
• Oscillation or hunting p.379
• Ground fault circuit interrupter gfci trips during run p.379
• Connected machinery vibrates when motor rotates p.379
• Unexpected noise from connected machinery p.379
• Pid output fault p.379
• Unstable motor speed when using pm p.380
• Troubleshooting without fault display p.380
• Sound from motor p.380
• Output frequency is not as high as frequency reference p.380
• Motor rotates after the drive output is shut off motor rotates during dc injection braking p.380
• Insufficient starting torque p.380
• Troubleshooting without fault display p.381
• The safety controller does not recognize safe disable monitor output signals terminals dm and dm p.381
• Motor does not restart after power loss p.381
• Troubleshooting without fault display p.382
• This page intentionally blank p.382
• Periodic inspection maintenance p.383
• Fire hazard p.384
• Electrical shock hazard p.384
• Warning p.384
• Section safety p.384
• Notice p.385
• Table 7 outlines the recommended 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 column after each inspection p.386
• Recommended daily inspection p.386
• Power electronics have limited life and may exhibit changes in characteristics or performance deterioration after years of use under normal conditions to help avoid such problems it is important to perform preventive maintenance and periodic inspection on the drive drives contain a variety of power electronics such as power transistors semiconductors capacitors resistors fans and relays the electronics in the drive serve a critical role in maintaining proper motor control follow the inspection lists provided in this chapter as a part of a regular maintenance program note the drive will require more frequent inspection if it is placed in harsh environments such as high ambient temperatures frequent starting and stopping fluctuations in the ac supply or load excessive vibrations or shock loading dust metal dust salt sulfuric acid chlorine atmospheres poor storage conditions perform the first equipment inspection one to two years after installation p.386
• Inspection p.386
• Recommended periodic inspection p.387
• Periodic inspection p.387
• Inspection p.388
• Replacement parts p.389
• Periodic maintenance p.389
• Related drive parameters p.390
• Periodic maintenance p.390
• An output can be set up to inform the user when a specific components has neared its expected performance life when one of multi function digital output terminals has been assigned the maintenance monitor function h2 oo 2f the terminal will close when the cooling fan dc bus capacitors or dc bus pre charge relay reach 90 of expected performance life additionally the digital operator will display an alarm like shown in table 7 to indicate the specific components that may need maintenance p.390
• Alarm outputs for maintenance monitors p.390
• Use parameters o4 03 o4 05 and o4 07 to reset a maintenance monitor to zero after replacing a specific component refer to parameter list on page 441 for details on parameter settings p.390
• Number of cooling fans p.391
• Drive cooling fans p.391
• Drive cooling fans p.392
• Cooling fan component names p.392
• Removing the cooling fan guard and cooling fan p.393
• Cooling fan replacement 2 o 0028 to 2 o 0130 and 4 o 0011 to 4 o 0124 p.393
• Cooling fan replacement 2 0028 to 2 0130 and 4 0011 to 4 0124 p.393
• Reverse the procedure described above to reinstall the cooling fan p.394
• Installing the cooling fan p.394
• Drive cooling fans p.394
• Removing the fan guard and cooling fan p.395
• Cooling fan replacement 2 o 0154 2 o 0192 4 o 0156 and 4 o 0180 p.395
• Cooling fan replacement 2 0154 2 0192 4 0156 and 4 0180 p.395
• Installing the cooling fan unit p.396
• Drive cooling fans p.396
• Install the cooling fan unit while pulling the cables upward p.397
• Guide the fan cables through the provided hooks to hold the cables in place p.397
• Drive cooling fans p.397
• Thread the four fan unit screws into the proper holes approximately 2 3 of the way leave enough space to reinsert the fan guard p.398
• Insert the fan guard and firmly tighten the screws so they do not come loose p.398
• Guide the cables through the second set of provided hooks to hold the cables in place p.398
• Drive cooling fans p.398
• Removing the fan guard and cooling fan p.399
• Cooling fan replacement 2 o 0248 and 4 o 0216 to 4 o 0414 p.399
• Cooling fan replacement 2 0248 and 4 0216 to 4 0414 p.399
• Unplug the relay connector and release the fan from the drive p.400
• Release the cable from the hooks p.400
• Loosen the two screws affixing the cooling fan unit p.400
• Drive cooling fans p.400
• Installing the cooling fan p.401
• Drive cooling fans p.401
• Installing the cooling fan 1 p.401
• Removing the circulation fan p.402
• Drive cooling fans p.402
• Installing the circulation fan p.403
• Turn on the power supply and set o4 03 to 0 to reset the maintenance monitor cooling fan operation time p.404
• Drive cooling fans p.404
• Terminal board p.405
• Serviceable parts p.405
• Replacing the drive p.405
• Drive replacement p.405
• The following procedure explains how to replace a drive this section provides instructions for drive replacement only to install option boards or other types of options refer to the specific manuals for those options p.406
• Slide the terminal board as illustrated by the arrows in figure 7 9 to remove it from the drive along with the bottom cover p.406
• Remove the terminal cover p.406
• Loosen the screws holding the terminal board in place remove the screw securing the bottom cover and remove the bottom cover from the drive p.406
• Drive replacement p.406
• Installing the drive p.407
• This page intentionally blank p.408
• Drive replacement p.408
• Peripheral devices options p.409
• Warning p.410
• Section safety p.410
• Fire hazard p.410
• Electrical shock hazard p.410
• Danger p.410
• Notice p.411
• Table 8 lists the names of the various peripheral devices accessories and options available for yaskawa drives contact yaskawa or your yaskawa agent to order these peripheral devices peripheral device selection refer to the yaskawa catalog for selection and part numbers peripheral device installation refer to the corresponding option manual for installation instructions p.412
• Drive options and peripheral devices p.412
• Drive options and peripheral devices p.413
• Note if the drive is set to trigger a fault output when the fault restart function is activated l5 02 1 then a sequence to interrupt power when a fault occurs will turn off the power to the drive while the drive attempts to restart the default setting for l5 02 is 0 fault output active during restart p.414
• Figure 8 illustrates how to configure the drive and motor to operate with various peripheral devices refer to the specific manual for the devices shown below for more detailed installation instructions p.414
• Figure 8 connecting peripheral devices p.414
• Connecting peripheral devices p.414
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual p.414
• Prior to installing the option p.415
• Pg option installation example p.415
• Option installation p.415
• Option installation p.416
• Prepare and connect the wire ends as shown in figure 8 and figure 8 refer to wire gauges and tightening torques of pg x3 option on page 423 or refer to wire gauges and tightening torques of pg x3 option on page 423 to confirm that the proper tightening torque is applied to each terminal take particular precaution to ensure that each wire is properly connected and that wire insulation is not accidentally pinched into electrical terminals p.417
• Option installation p.417
• Pg b3 parameter settings p.418
• Pg b3 connection diagram p.418
• Option installation p.418
• Note the pg b3 option reads a maximum input frequency of 50 khz from the pg encoder select a pg encoder with an output pulse frequency of maximum 50 khz when operating at maximum speed p.418
• No of encoders 1 cn5 c 2 cn5 b 1 cn5 c 2 cn5 b p.418
• Ground the shield on the pg side and the drive side if electrical signal interference problems arise in the pg signal remove the shield ground from one end of the signal line or remove the shield ground connection on both ends p.418
• Figure 8 pg b3 option and encoder connection diagram p.418
• Control method v f with pg closed loop vector p.418
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual p.418
• Connecting a single pulse encoder in v f with pg control mode connect the pulse output from the pg to the option and set f1 21 to 0 connecting a two pulse encoder connect the a and b pulse outputs on the pg to the option and set f1 21 to 1 when using a two pulse encoder in clv control mode connect pulse outputs a and b from the encoder to the corresponding terminals on the option connecting a two pulse encoder with z marker pulse connect the a b and z pulse outputs to the corresponding terminals on the option p.418
• Wire the motor pg encoder to the terminal block on the option refer to figure 8 and figure 8 2 for wiring instructions p.418
• Two pulse with marker abz f1 21 1 f1 37 1 no setting required no setting required p.418
• Two pulse ab quadrature f1 21 1 f1 37 1 no setting required no setting required p.418
• Take the following steps to prevent erroneous operation caused by noise interference use shielded wire for the pg encoder signal lines limit the length of all motor output power cables to less than 100 m limit the length of open collector output lines to less than 50 m p.418
• Single pulse a f1 21 0 f1 37 0 n a n a p.418
• Refer to pg b3 option terminal functions on page 419 for a detailed description of the option terminal functions p.418
• Refer to pg b3 option terminal functions on page 419 for a detailed description of the option board terminal functions refer to wire gauges and tightening torques of pg b3 option on page 420 for information on making cables p.418
• Wire gauge and torque specifications are listed in table 8 for simpler and more reliable wiring use crimp ferrules on the wire ends refer to the option manuals for the wire size and torque specifications of other options p.419
• Use separate conduit or cable tray dividers to separate option control wiring main circuit input power wiring and motor output power cables p.419
• Pg b3 wire gauges and tightening torques p.419
• Pg b3 terminal functions p.419
• Pg b3 interface circuit p.419
• Option installation p.419
• Open collector outputs p.419
• Complementary output p.419
• Yaskawa recommends using crimpfox 6 by phoenix contact or equivalent crimp terminals with the specifications listed in table 8 for wiring to ensure proper connections p.420
• Yaskawa recommends using a lma oo b s185y complementary output for cables running between the option and the pg as shown in figure 8 1 refer to pg b3 option terminal functions on page 419 for instructions on wiring the terminal block p.420
• Pg encoder cables for pg b3 option p.420
• Pg b3 crimp terminals p.420
• Option installation p.420
• Refer to pg x3 option terminal functions on page 422 for a detailed description of the option board terminal functions p.421
• Pg x3 parameter settings p.421
• Pg x3 connection diagram p.421
• Option installation p.421
• Note the pg x3 option reads a maximum input frequency of 300 khz from the pg encoder select a pg encoder with an output pulse frequency of maximum 300 khz when operating at maximum speed p.421
• No of encoders 1 cn5 c 2 cn5 b 1 cn5 c 2 cn5 b p.421
• Length type length type 10 m 32 ft w5010 50 m 164 ft w5050 30 m 98 ft w5030 100 m 328 ft w5100 p.421
• Ground the shield on the pg side and the drive side if electrical signal interference problems arise in the pg signal remove the shield ground from one end of the signal line or remove the shield ground connection on both ends p.421
• Figure 8 2 pg x3 option and encoder connection diagram p.421
• Control method v f with pg closed loop vector p.421
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual 421 p.421
• Connecting a single pulse encoder in v f with pg control mode connect the pulse output from the pg to the option and set f1 21 to 0 connecting a two pulse encoder connect the a and b pulse outputs on the pg to the option and set f1 21 to 1 when using a two pulse encoder in clv control mode connect pulse outputs a and b from the encoder to the corresponding terminals on the option connecting a two pulse encoder with z marker pulse connect the a b and z pulse outputs to the corresponding terminals on the option p.421
• Two pulse with marker abz f1 21 1 f1 37 1 no setting required no setting required p.421
• Two pulse ab quadrature f1 21 1 f1 37 1 no setting required no setting required p.421
• Take the following steps to prevent erroneous operation caused by noise interference p.421
• Table 8 pg encoder cable types p.421
• Single pulse a f1 21 0 f1 37 0 n a n a p.421
• Wire gauge and torque specifications are listed in table 8 0 for simpler and more reliable wiring use crimp ferrules on the wire ends refer to the option manuals for the wire size and torque specifications of other options p.422
• Use shielded wire for the pg encoder signal lines use separate conduit or cable tray dividers to separate option control wiring main circuit input power wiring and motor output power cables p.422
• Pg x3 wire gauges and tightening torques p.422
• Pg x3 terminal functions p.422
• Pg x3 interface circuit p.422
• Pg encoder power supply voltage p.422
• Option installation p.422
• For the pg x3 option set the voltage for the pg encoder power supply using jumper cn3 located on the option position the jumper as shown in table 8 to select the voltage level p.422
• Pg x3 crimp terminals p.423
• Option installation p.423
• Yaskawa recommends using crimpfox 6 by phoenix contact or equivalent crimp terminals with the specifications listed in table 8 1 for wiring to ensure proper connections p.423
• Route the communication wiring inside the enclosure as shown in figure 8 4 p.423
• Replacing the drive covers and digital operator and checking for proper motor rotation p.423
• Replace and secure the front covers of the drive d f and replace the digital operator e p.423
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual p.424
• Set drive parameters for proper motor rotation refer to a1 initialization on page 444 and refer to f1 pg speed control card settings pg b3 pg x3 pg rt3 pg f3 on page 473 for details on parameter settings with a two pulse or three pulse pg encoder the leading pulse determines the motor rotation direction when a yaskawa induction motor rotates forward counter clockwise when viewing rotation from motor load side the pg signal will have a leading a pulse followed by a b pulse displaced at 90 degrees p.424
• Reverse motor rotation is indicated by a negative value for u1 05 forward motor rotation is indicated by a positive value p.424
• Please note that when the drive is initialized using a1 03 1110 2220 3330 the value for f1 05 f1 32 will reset to factory default and the parameter will need to be readjusted to switch the direction when f1 05 f1 32 are saved as user parameters o2 03 1 and the user parameter settings are initialized by setting a1 03 1110 the values for f1 05 f1 32 will not be reset p.424
• Option installation p.424
• Note take proper precautions when wiring the option so that the front covers will easily fit back onto the drive make sure no cables are pinched between the front covers and the drive when replacing the covers p.424
• If monitor u1 05 indicates that the forward direction is opposite of what is intended set f1 05 or f1 32 to 1 or reverse the two a pulse wires with the two b pulse wires on option terminal tb1 as shown in figure 8 7 p.424
• Figure 8 7 a channel and b channel wire switching p.424
• Figure 8 6 displacement of a and b pulses p.424
• Figure 8 5 replace the front covers and digital operator p.424
• After connecting the pg encoder outputs to the option apply power to the drive and manually rotate the motor and check the rotation direction by viewing monitor u1 05 on the digital operator p.424
• Installing a magnetic contactor at the power supply side p.425
• Installing peripheral devices p.425
• Installing a molded case circuit breaker mccb or ground fault circuit interrupter gfci p.425
• Reducing noise using internal emc filter models p.426
• Reducing noise p.426
• Preventing induced noise p.426
• Internal emc filter model installation p.426
• Installing a motor thermal overload ol relay on the drive output p.426
• Connecting a surge absorber p.426
• Attachment for external heatsink mounting p.426
• General precautions when using thermal overload relays p.427
• This page intentionally blank p.428
• Installing peripheral devices p.428
• Specifications p.429
• Appendix a specifications p.429
• Appendix a p.429
• A heavy duty and normal duty ratings p.430
• The capacity of the drive is based on two types of load characteristics heavy duty hd and normal duty nd the user can select hd or nd torque depending on the application fans pumps and blowers should use nd while other applications generally use hd refer to table a for the differences between hd and nd p.430
• Three phase 200 v class drive models 2 o 0028 to 2 o 0081 p.431
• Three phase 200 v class drive models 2 0028 to 2 0081 p.431
• A power ratings p.431
• Three phase 200 v class drive models 2 o 0104 to 2 o 0248 p.432
• Three phase 200 v class drive models 2 0104 to 2 0248 p.432
• A power ratings p.432
• Three phase 400 v class drive models 4 o 0011 to 4 o 0077 p.433
• Three phase 400 v class drive models 4 0011 to 4 0077 p.433
• A power ratings p.433
• Three phase 400 v class drive models 4 o 0096 to 4 o 0414 p.434
• Three phase 400 v class drive models 4 0096 to 4 0414 p.434
• A power ratings p.434
• A drive specifications p.435
• A drive specifications p.436
• A drive watt loss data p.437
• The table below shows the drive output current depending on the carrier frequency settings use the data in the following tables to linearly calculate output current values for carrier frequencies not listed p.438
• The drive can be operated at above the rated temperature altitude and default carrier frequency by derating the drive capacity p.438
• Rated current depending on carrier frequency p.438
• Derate the drive according to figure a as the carrier frequency increases above the factory default setting p.438
• Carrier frequency derating p.438
• A drive derating data p.438
• Temperature derating p.439
• Parameter settings p.439
• Altitude derating p.439
• This page intentionally blank p.440
• A drive derating data p.440
• Parameter list p.441
• Appendix b parameter list p.441
• Appendix b p.441
• Control modes symbols and terms p.442
• B understanding parameter descriptions p.442
• The table below lists terms and symbols used in this section to indicate which parameters are available in which control modes p.442
• B parameter groups p.443
• The a parameter group creates the operating environment for the drive this includes the parameter access level motor control method password user parameters and more p.444
• B a initialization parameters p.444
• A1 initialization p.444
• B a initialization parameters p.445
• A2 user parameters p.445
• B1 operation mode selection p.446
• B b application p.446
• Application parameters configure the source of the run command dc injection braking speed search timer functions pid control the dwell function energy savings and a variety of other application related settings p.446
• B2 dc injection braking p.447
• B b application p.447
• B3 speed search p.448
• B b application p.448
• B b application p.449
• B b application p.450
• B4 timer function p.450
• B5 pid control p.451
• B b application p.451
• B b application p.452
• B7 droop control p.453
• B6 dwell function p.453
• B b application p.453
• B9 zero servo p.454
• B8 energy saving p.454
• B b application p.454
• C1 acceleration and deceleration times p.455
• B c tuning p.455
• C3 slip compensation p.456
• C2 s curve characteristics p.456
• B c tuning p.456
• B c tuning p.457
• C5 automatic speed regulator asr p.457
• C4 torque compensation p.457
• C5 24 0359 p.458
• Sets the upper limit for the speed control loop asr for motor 2 as a percentage of the maximum output frequency e3 04 p.458
• Motor 2 asr integral time 2 asr i time2 mtr2 p.458
• C5 23 0358 p.458
• Sets the upper limit for the speed control loop asr as a percentage of the maximum output frequency e1 04 p.458
• Motor 2 asr integral time 1 asr i time1 mtr2 p.458
• C5 22 0357 p.458
• Sets the speed control gain 2 of the speed control loop asr for motor 2 p.458
• Min 0 001 kg p.458
• C5 21 0356 p.458
• Sets the ratio between the motor and load inertia this value is automatically set during asr or inertia auto tuning p.458
• Min 0 00 s max 10 00 s p.458
• C5 18 0277 load inertia ratio load inertia p.458
• Sets the proportional gain of the speed control loop asr for motor 2 p.458
• Min 0 00 s max 0 00 s p.458
• Sets the motor inertia this value is automatically set during asr or inertia auto tuning p.458
• Min 0 0 max 300 0 p.458
• C5 17 0276 motor inertia motor inertia p.458
• Sets the integral time of the speed control loop asr for motor 2 p.458
• Min 0 0 max 300 p.458
• C5 12 0386 integral operation during accel decel acc dec i sel p.458
• Sets the integral time 2 of the speed control loop asr for motor 2 p.458
• Max 600 0 kg p.458
• C5 08 0222 asr integral limit asr i limit p.458
• Sets the integral time 2 of the speed control loop asr p.458
• Disabled integral functions are enabled only during constant speed 1 enabled integral functions are always enabled during accel decel and during constant speed p.458
• C5 07 0221 asr gain switching frequency asr gain switch p.458
• Sets the frequency for switching between proportional gain 1 2 and integral time 1 2 p.458
• Default 5 min 0 max 20 p.458
• C5 06 0220 asr primary delay time constant asr delay time p.458
• Sets the filter time constant for the time from the speed loop to the torque command output p.458
• Default 400 min 0 max 400 p.458
• C5 05 021f asr limit asr limit p.458
• Sets the asr integral upper limit as a percentage of rated load torque p.458
• Default 1 min 0 max 6000 p.458
• C5 04 021e p.458
• No addr hex p.458
• Default 0 range 0 1 200 p.458
• B c tuning p.458
• Name lcd display description values page p.458
• Default 0 hz min 0 max 400 p.458
• Asr integral time 2 asr i time 2 p.458
• Motor 2 asr proportional gain 2 asr p gain2 mtr2 p.458
• Default p.458
• C5 25 035a motor 2 asr limit asr limit mtr2 p.458
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual p.458
• Motor 2 asr proportional gain 1 asr p gain1 mtr2 p.458
• C6 carrier frequency p.459
• B c tuning p.459
• C7 voltage adjustment p.460
• B c tuning p.460
• D1 frequency reference p.461
• B d reference settings p.461
• B d reference settings p.462
• D4 frequency reference hold and up down 2 function p.463
• D3 jump frequency p.463
• D2 frequency upper lower limits p.463
• B d reference settings p.463
• D5 torque control p.464
• B d reference settings p.464
• D6 field weakening and field forcing p.465
• B d reference settings p.465
• D7 offset frequency p.465
• B d reference settings p.466
• E1 v f pattern for motor 1 p.467
• B e motor parameters p.467
• E2 06 0313 motor leakage inductance leak inductance p.468
• Sets the motor iron saturation coefficient at 50 of magnetic flux automatically set during auto tuning p.468
• E2 05 0312 motor line to line resistance term resistance p.468
• Sets the motor iron loss p.468
• E2 04 0311 number of motor poles number of poles p.468
• Parameter ignored when e1 11 motor 1 mid output frequency 2 and e1 12 motor 1 mid output frequency voltage 2 are set to 0 p.468
• E2 03 0310 motor no load current no load current p.468
• No addr hex p.468
• E2 02 030f motor rated slip motor rated slip p.468
• Name lcd display description values page p.468
• Min 10 of drive rated current max 150 of drive rated current p.468
• E2 01 030e motor rated current motor rated fla p.468
• Min 0 w max 65535 w p.468
• Default 4 min 2 max 48 p.468
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual p.468
• Min 0 max 40 p.468
• Default 0 min 0 max 10 p.468
• Sets the voltage drop due to motor leakage inductance as a percentage of motor rated voltage automatically set during auto tuning p.468
• Min 0 00 ω max 65 00 ω p.468
• Default 0 5 min e2 07 max 0 5 p.468
• Sets the phase to phase motor resistance automatically set during auto tuning p.468
• Min 0 0 hz max 20 0 hz p.468
• Default 0 0 min 0 0 max 0 0 p.468
• Sets the number of motor poles automatically set during auto tuning p.468
• Min 0 0 a max e2 0 p.468
• Default p.468
• Sets the no load current for the motor automatically set during auto tuning p.468
• E2 motor 1 parameters p.468
• B e motor parameters p.468
• Sets the motor rated slip automatically set during auto tuning p.468
• E2 10 0317 motor iron loss for torque compensation motor iron loss p.468
• Sets the motor nameplate full load current in amps automatically set during auto tuning p.468
• E2 09 0316 motor mechanical loss mechanical loss p.468
• Sets the motor mechanical loss as a percentage of motor rated power kw p.468
• E2 08 0315 motor iron core saturation coefficient 2 saturation comp2 p.468
• E2 07 0314 motor iron core saturation coefficient 1 saturation comp1 p.468
• Sets the motor iron saturation coefficient at 75 of magnetic flux automatically set during auto tuning p.468
• These parameters are hidden when a pm motor control mode has been selected for motor 1 a1 02 5 6 7 p.469
• E3 v f pattern for motor 2 p.469
• B e motor parameters p.469
• Sets the number of poles of motor 2 automatically set during auto tuning p.470
• Min 0 0 hz max 20 0 hz p.470
• Default 0 5 min e4 07 max 0 5 p.470
• Sets the no load current for motor 2 automatically set during auto tuning p.470
• E4 motor 2 parameters p.470
• Default 0 0 min 0 0 max 0 0 p.470
• Sets the motor rated capacity in kw automatically set during auto tuning p.470
• E4 11 0327 motor 2 rated power mtr rated power p.470
• Default p.470
• Sets the motor mechanical loss for motor 2 as a percentage of motor rated power kw there is normally no need to change this parameter from the default value p.470
• E4 10 0340 motor 2 iron loss motor iron loss p.470
• B e motor parameters p.470
• E4 09 033f motor 2 mechanical loss mechanical loss p.470
• Sets the motor iron loss p.470
• E4 08 0344 motor 2 motor iron core saturation coefficient 2 saturation comp2 p.470
• Sets the full load current for motor 2 automatically set during auto tuning p.470
• E4 07 0343 motor 2 motor iron core saturation coefficient 1 saturation comp1 p.470
• Set to the motor iron saturation coefficient at 75 of magnetic flux for motor 2 this value is automatically set during auto tuning p.470
• E4 06 0326 motor 2 leakage inductance leak inductance p.470
• Set to the motor iron saturation coefficient at 50 of magnetic flux for motor 2 automatically set during auto tuning p.470
• E4 05 0325 motor 2 line to line resistance term resistance p.470
• No addr hex p.470
• E4 04 0324 motor 2 motor poles number of poles p.470
• Name lcd display description values page p.470
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual p.470
• Min 10 of drive rated current max 150 of drive rated curren p.470
• E4 03 0323 motor 2 rated no load current no load current p.470
• When e3 13 motor 2 base voltage is set to 0 output voltage is controlled with e3 05 motor 2 maximum voltage e3 13 when auto tuning is performed e3 05 and e3 13 are automatically set to the same value p.470
• Min 0 w max 65535 w p.470
• E4 02 0322 motor 2 rated slip motor rated slip p.470
• These parameters are hidden when a pm motor control mode has been selected for motor 1 a1 02 5 6 7 p.470
• Min 0 max 40 p.470
• E4 01 0321 motor 2 rated current motor rated fla p.470
• Sets the voltage drop for motor 2 due to motor leakage inductance as a percentage of rated voltage automatically set during auto tuning p.470
• Min 0 a max e4 0 p.470
• Default setting is determined by parameters c6 01 drive duty selection and o2 04 drive model selection p.470
• Sets the rated slip for motor 2 automatically set during auto tuning p.470
• Min 0 00 ω max 65 00 ω p.470
• Default 4 min 2 max 48 p.470
• Sets the phase to phase resistance for motor 2 automatically set during auto tuning p.470
• Min 0 0 kw max 650 0 kw p.470
• Default 0 min 0 max 10 p.470
• E5 pm motor settings p.471
• B e motor parameters p.471
• B e motor parameters p.472
• F1 pg speed control card settings pg b3 pg x3 pg rt3 pg f3 p.473
• B f option settings p.473
• Sets the speed deviation detection level as a percentage of the maximum output frequency p.474
• F1 11 038a excessive speed deviation detection delay time pg deviate time p.474
• Default 0 min 0 max 1000 p.474
• Sets the overspeed detection level as a percentage of the maximum output frequency p.474
• F1 10 0389 excessive speed deviation detection level pg deviate level p.474
• Default p.474
• Sets the number of pulses for a pg option card connected to port cn5 b p.474
• F1 09 0388 overspeed detection delay time pg overspd time p.474
• Cn5 c 1 cn5 b p.474
• Sets the gear ratio between the motor shaft and the encoder pg a gear ratio of 1 will be used if f1 12 or f1 13 are set to 0 p.474
• F1 08 0387 overspeed detection level pg overspd level p.474
• B f option settings p.474
• No addr hex p.474
• Disabled n number of pulses that the a and b pulse are reversed that triggers dv4 detection p.474
• A pulse detection 1 ab pulse detection p.474
• Name lcd display description values page p.474
• Disabled n number of dv3 occurrences that must be detected to trigger a dv3 fault p.474
• Min 0 s max 2 s p.474
• Disabled 1 enabled p.474
• F1 31 03b0 pg 2 pulses per revolution pg2 pulses rev p.474
• Default 2 s min 0 max 10 p.474
• F1 30 03aa pg card option port for motor 2 selection mtr2 pg port sel 0 port cn5 c 1 port cn5 b p.474
• Default 128 min 0 max 5000 p.474
• Default 115 min 0 max 120 p.474
• F1 21 03bc pg 1 signal selection pg1 signal sel 1 0 a phase det 1 a b phase det p.474
• Default 1024 ppr min 1 max 60000 p.474
• F1 20 03b4 pg option card disconnect detection 1 pgcarddiscondet1 0 disabled 1 enabled p.474
• Default 10 min 0 max 50 p.474
• F1 19 03ae dv4 detection selection dv4 det sel p.474
• Default 10 min 0 max 10 p.474
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual p.474
• F1 18 03ad dv3 detection selection dv3 det sel p.474
• Default 1 range 0 1 235 p.474
• Sets the time required to trigger a pg open fault pgo p.474
• F1 14 038d pg open circuit detection time pgo detect time p.474
• Default 0 s min 0 max 10 p.474
• Sets the time in seconds for an overspeed situation to trigger a fault os p.474
• F1 13 038c pg 1 gear teeth 2 pg1 gear teeth2 p.474
• Sets the time in seconds for a speed deviation situation to trigger a fault dev p.474
• F1 12 038b pg 1 gear teeth 1 pg1 gear teeth1 p.474
• Default 0 range 0 1 235 p.474
• B f option settings p.475
• F4 analog monitor card settings ao a3 p.476
• F3 digital input card settings di a3 p.476
• F2 analog input card settings ai a3 p.476
• B f option settings p.476
• F5 digital output card settings do a3 p.477
• B f option settings p.477
• Parameters f6 01 through f6 03 and f6 06 through f6 08 are used for cc link canopen devicenet profinet lonworks profibus dp mechatrolink ii and mechatrolink iii options other parameters in the f6 group are used for communication protocol specific settings for more details on a specific option card refer to the instruction manual for the option p.478
• F6 communication option card settings si c3 si et3 si n3 si p3 si s3 si t3 si w3 p.478
• B f option settings p.478
• B f option settings p.479
• B f option settings p.480
• F7 parameters are used for ethernet ip modbus tcp ip and profinet options other parameters in the f7 group are used for communication protocol specific settings for more details on a specific option card refer to the instruction manual for the option p.480
• F7 communication option card settings si em3 si en3 si ep3 p.480
• B f option settings p.481
• B f option settings p.482
• H1 multi function digital inputs p.483
• B h parameters multi function terminals p.483
• B h parameters multi function terminals p.484
• B h parameters multi function terminals p.485
• B h parameters multi function terminals p.486
• B h parameters multi function terminals p.487
• H2 multi function digital outputs p.488
• B h parameters multi function terminals p.488
• B h parameters multi function terminals p.489
• B h parameters multi function terminals p.490
• B h parameters multi function terminals p.491
• B h parameters multi function terminals p.492
• H3 multi function analog inputs p.492
• B h parameters multi function terminals p.493
• H4 analog outputs p.494
• B h parameters multi function terminals p.494
• H5 memobus modbus serial communication p.495
• B h parameters multi function terminals p.495
• H6 pulse train input output p.496
• B h parameters multi function terminals p.496
• B h parameters multi function terminals p.497
• L1 motor protection p.498
• L parameters provide protection to the drive and motor including control during momentary power loss stall prevention frequency detection fault restarts overtorque detection and other types of hardware protection p.498
• B 0 l protection function p.498
• L2 momentary power loss ride thru p.499
• B 0 l protection function p.499
• L3 stall prevention p.500
• B 0 l protection function p.500
• L4 speed detection p.501
• B 0 l protection function p.501
• L6 torque detection p.502
• L5 fault restart p.502
• B 0 l protection function p.502
• B 0 l protection function p.503
• L8 drive protection p.504
• L7 torque limit p.504
• B 0 l protection function p.504
• B 0 l protection function p.505
• L9 drive protection 2 p.506
• B 0 l protection function p.506
• N3 overexcitation braking p.507
• N2 speed feedback detection control afr tuning p.507
• N1 hunting prevention p.507
• B 1 n special adjustments p.507
• N8 pm motor control tuning p.508
• N6 online tuning p.508
• N5 feed forward control p.508
• B 1 n special adjustments p.508
• Default 500 hz min 200 max 1000 p.509
• Name lcd display description values page p.509
• Default 50 hz min 0 max 1000 p.509
• N8 49 053c d axis current for high efficiency control for pm motors energysav id lvl p.509
• Default 5 s min 0 max 100 p.509
• N8 48 053b pull in current for pm motors pm no load curr p.509
• Default 30 min 20 max 200 p.509
• N8 47 053a p.509
• N8 45 0538 speed feedback detection control gain for pm motors pm spd fdbk gain p.509
• Default 20 min 0 max 50 p.509
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual 509 p.509
• N8 39 0566 low pass filter cutoff frequency for high frequency injection pm harm lpf freq p.509
• Default 1 range 0 to 2 308 p.509
• Sets the time constant to make the pull in current reference and actual current value agree decrease the value if the motor begins to oscillate and increase the value if it takes too long for the current reference to equal the output current p.509
• N8 37 0564 high frequency injection amplitude pm harm inj amp p.509
• Default 1 00 min 0 00 max 10 00 p.509
• Sets the gain for estimating the speed there is normally no need to change this parameter from the default value p.509
• N8 36 0563 high frequency injection level pm harm inj freq p.509
• Default 0 00 min 0 00 max 10 00 p.509
• Sets the frequency in hz for the superimposed signal used for superimposed harmonics enabled when n8 57 1 there is normally no need to change this parameter from the default value p.509
• N8 35 562 initial rotor position detection selection p.509
• Default 0 0 min 0 0 max 10 0 p.509
• Sets the d axis current reference when running a high load at constant speed set as a percentage of the motor rated current p.509
• N8 21 0554 motor ke gain back emf gain p.509
• Default 0 0 min 0 0 max 1 0 p.509
• Sets the cutoff frequency of a low pass filter for high frequency injection enabled when n8 57 1 there is normally no need to change this parameter from the default value p.509
• N8 15 054e polarity compensation gain 4 polecomp gain 4 p.509
• Default p.509
• Sets the amplitude of high frequency injection as a percentage of the voltage class standard 200 v class 200 v 400 v class 400 v there is normally no need to change this parameter from the default value p.509
• N8 14 054d polarity compensation gain 3 polecomp gain 3 p.509
• B 1 n special adjustments p.509
• Pull in current compensation time constant for pm motors pm pull in i tc p.509
• Min 200 max 0 p.509
• Pull in 1 high frequency injection 2 pulse injection p.509
• Init pole estsel 0 pull in method 1 harm inj method 2 pulse method p.509
• Increase this setting if hunting occurs decrease to lower the response p.509
• Parameter list p.509
• Defines the d axis current reference during no load operation at a constant speed set as a percentage of the motor rated current increase this setting if hunting occurs while running at constant speed p.509
• No addr hex p.509
• N8 84 02d3 initial polarity estimation timeout current polarity det curr p.510
• Default 0 range 0 1 310 p.510
• N8 72 0655 speed estimation method selection spd est method 0 conventional 1 a1000 method p.510
• Default 0 min 0 max 3 p.510
• N8 69 065d speed estimation gain spdsrch gain p.510
• B 1 n special adjustments p.510
• N8 62 057d output voltage limit for pm motors pm vout limit p.510
• Adjusts the value when hunting occurs at low speed if hunting occurs with sudden load changes increase n8 54 in increments of 0 reduce this setting if oscillation occurs at start p.510
• N8 57 0574 high frequency injection pm harm inj sel 0 disabled 1 enabled p.510
• Acceleration deceleration pull in current for pm motors pm pull in i acc p.510
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual p.510
• N8 55 056e load inertia p.510
• Values shown are specific to 200 v class drives double the value for 400 v class drives p.510
• N8 54 056d voltage error compensation time constant pm v error compt p.510
• Sets the ratio between motor and machine inertia 0 below 1 10 1 between 1 10 and 1 30 2 between 1 30 and 1 50 3 beyond 1 50 p.510
• N8 51 053e p.510
• Sets the proportional gain for pll control of an extended observer there is normally no need to change this parameter from the default value p.510
• Min 0 max 250 p.510
• Sets the method to be used for estimating the speed 0 conventional method 1 1000 series method there is normally no need to change this parameter from the default value p.510
• Sets the d axis current reference during acceleration deceleration as a percentage of the motor rated current set to a high value when more starting torque is needed p.510
• Disabled disable when using an spm motor 1 enabled use this setting to enhance the speed control range when using an ipm motor p.510
• Sets the current to determine polarity for the initial polarity calculation as a percentage of the motor rated current 100 motor rated current p.510
• Default 50 min 0 max 200 p.510
• Prevents output voltage saturation should be set just below the voltage provided by the input power supply p.510
• Default 200 p.510
• Pmload wk2 ratio 0 less than 1 10 1 1 10 to 1 30 2 1 30 to 1 50 3 more than 1 50 p.510
• Default 100 min 0 max 150 p.510
• Note if an si value is listed on a yaskawa motor nameplate set n8 84 to si value x 2 p.510
• Default 1 range 0 1 311 p.510
• No addr hex p.510
• Default 1 0 s min 0 0 max 10 0 p.510
• Name lcd display description values page p.510
• Default 1 0 min 0 0 max 20 0 p.510
• O2 digital operator keypad functions p.511
• O1 digital operator display selection p.511
• B 2 o operator related settings p.511
• B 2 o operator related settings p.512
• O4 maintenance monitor settings p.512
• O3 copy function p.512
• B 2 o operator related settings p.513
• R driveworksez connection parameters p.514
• Q driveworksez parameters p.514
• B 3 driveworksez parameters p.514
• T1 induction motor auto tuning p.515
• B 4 t motor tuning p.515
• T2 pm motor auto tuning p.516
• B 4 t motor tuning p.516
• T2 10 0754 pm motor stator resistance arm resistance p.517
• Min 0 max 2000 p.517
• Default 200 p.517
• T2 09 0731 pm motor base speed rated speed p.517
• Min 0 00 ω max 65 00 ω p.517
• Default 1750 r min min 0 max 24000 p.517
• T2 08 0734 number of pm motor poles number of poles p.517
• Min 0 0 mh max 600 0 mh p.517
• Default 1 range 0 1 141 p.517
• T2 07 0753 pm motor base frequency base frequency p.517
• Min 0 0 kw max 650 0 kw p.517
• Default 1 range 0 1 140 p.517
• T2 06 0733 pm motor rated current rated current p.517
• Ipm motor 1 spm motor p.517
• Default p.517
• T2 05 0732 pm motor rated voltage rated voltage p.517
• Enter the rotor resistance for the pm motor as indicated on the motor nameplate p.517
• B 4 t motor tuning p.517
• T2 04 0730 pm motor rated power mtr rated power p.517
• Enter the q axis inductance for the pm motor as indicated on the motor nameplate p.517
• T2 03 0752 pm motor type pm motor type 0 ipm motor 1 spm motor p.517
• Enter the number of motor poles for the pm motor as indicated on the motor nameplate p.517
• Enter the motor rated voltage as indicated on the motor nameplate p.517
• Sets the motor rated power p.517
• Enter the motor rated current as indicated on the motor nameplate p.517
• Parameter list p.517
• Enter the motor base frequency as indicated on the motor nameplate p.517
• Note use the following formula to convert horsepower into kilowatts 1hp 0 46 kw p.517
• Enter the induced voltage coefficient for the pm motor as indicated on the motor nameplate p.517
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual 517 p.517
• No addr hex p.517
• Enter the d axis inductance for the pm motor as indicated on the motor nameplate p.517
• T2 14 0737 pm motor induced voltage constant ke induct volt coef p.517
• Name lcd display description values page p.517
• Enter the base speed for the pm motor as indicated on the motor nameplate p.517
• T2 13 0755 induced voltage constant unit selection iduct volt unit 0 mv rpm 1 mv rad sec p.517
• Mv r min e5 09 will automatically be set to 0 and e5 24 will be used 1 mv rad sec e5 24 will automatically be set to 0 and e5 09 will be used p.517
• T2 12 0736 pm motor q axis inductance q axis induct p.517
• Min 10 of drive rated current max 150 of drive rated current p.517
• Default 87 hz min 0 max 400 p.517
• T2 11 0735 pm motor d axis inductance d axis induct p.517
• Min 0 max 255 p.517
• Default 6 min 2 max 48 p.517
• T3 asr and inertia tuning p.518
• B 4 t motor tuning p.518
• U1 operation status monitors p.519
• B 5 u monitors p.519
• U2 fault trace p.521
• B 5 u monitors p.521
• B 5 u monitors p.522
• U4 maintenance monitors p.523
• U3 fault history p.523
• B 5 u monitors p.523
• B 5 u monitors p.524
• U5 pid monitors p.525
• B 5 u monitors p.525
• U6 08 0060 d axis acr output acr d output p.526
• Displays the value of the motor secondary current iq motor rated secondary current is 100 p.526
• U6 07 005f q axis acr output acr q output p.526
• Displays the value calculated for the motor excitation current id motor rated secondary current is 100 p.526
• U6 06 005a output voltage reference vd voltage ref vd p.526
• Displays the output value for current control relative to motor secondary current q axis p.526
• U6 05 0059 output voltage reference vq voltage ref vq p.526
• Displays the output value for current control relative to motor secondary current d axis p.526
• U6 03 0054 asr input asr input p.526
• Displays the input and output values when using asr control p.526
• U6 02 0052 motor excitation current id mot exc current p.526
• Displays the energy saving coefficient kt value p.526
• U6 01 0051 motor secondary current iq mot sec current p.526
• Displays the energy saving coefficient ki value p.526
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual p.526
• U5 22 0873 p.526
• Displays the difference of both feedback values if differential feedback is used u5 01 u5 05 if differential feedback is not used then u5 01 and u5 06 will be the same p.526
• U5 21 0872 p.526
• Displays the degree of forward phase correction after calculating the deviation of δθcmp p.526
• V motor secondary rated current 10 to 10 v 0 p.526
• U5 06 07d3 pid adjusted feedback pid diff fdbk p.526
• Displays the amount of deviation between the actual d axis q axis and the γ axis δ axis used for motor control p.526
• V max frequency 10 to 10 v 0 1 u6 04 0055 asr output asr output 10 v motor secondary rated current 10 to 10 v p.526
• U5 05 07d2 pid differential feedback pid feedback 2 p.526
• Displays the 2nd pid feedback value if differential feedback is used h3 oo 16 p.526
• V 200 vrms 10 to 10 v p.526
• Output voltage reference vq for the q axis p.526
• B 5 u monitors p.526
• V 180 deg 10 v 180 deg 10 to 10 v 0 deg p.526
• Output voltage reference vd for the d axis p.526
• Automatically calculated energy saving coefficient kt value kt auto cal val p.526
• V 100 10 to 10 v 0 1 p.526
• Automatically calculated energy saving coefficient ki value ki auto cal val p.526
• U6 operation status monitors p.526
• No signal output available 0 1 p.526
• U6 10 07c1 control axis deviation δθ d q axis devt p.526
• No addr hex p.526
• U6 09 07c0 advance phase compensation δθ d q axis comp p.526
• Name lcd display description analog output level unit p.526
• B 5 u monitors p.527
• U9 power monitors p.528
• U8 driveworksez monitors p.528
• B 5 u monitors p.528
• 000 000 kw p.528
• 000 000 000 p.528
• 000 000 000 p.529
• B 5 u monitors p.529
• The tables below list parameters that depend on the control mode selection a1 02 for motor 1 e3 01 for motor 2 changing the control mode initializes these parameters to the values shown here p.530
• B 6 control mode dependent parameter default values p.530
• A1 02 motor 1 control mode dependent parameters p.530
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual 531 p.531
• This setting value depends on rated output current and v f pattern selection in parameter e1 03 p.531
• Table b a1 02 motor 1 control mode dependent parameters and default values p.531
• B 6 control mode dependent parameter default values p.531
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual p.532
• In aolv pm and clv pm control modes the setting units and range are expressed as a percentage 100 to 100 instead of in hz p.532
• B 6 control mode dependent parameter default values p.532
• E3 01 motor 2 control mode dependent parameters p.533
• B 6 control mode dependent parameter default values p.533
• Table b e1 03 v f pattern settings for drive capacity models 2 o 0248 and 4 o 0156 to 4 o 0414 p.534
• Table b e1 03 v f pattern settings for drive capacity models 2 o 0028 to 2 o 0192 and 4 o 0021 to 4 o 0124 p.534
• B 7 v f pattern default values p.534
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual p.534
• Values shown here are specific to 200 v class drives double the value for 400 v class drives p.534
• This value determines the default values for e1 04 through e1 10 e3 04 through e3 10 for motor 2 p.534
• The following tables show the v f pattern setting default values depending on the control mode a1 02 and the v f pattern selection e1 03 in v f control p.534
• Table b e1 03 v f pattern settings for drive capacity models 4 o 0011 and 4 o 0014 p.534
• B 7 v f pattern default values p.535
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual p.536
• The following tables show parameters and default settings that change with the drive model selection o2 04 and drive duty selection c6 01 parameter numbers shown in parenthesis are valid for motor 2 p.536
• Table b 200 v class drives default settings by drive model selection and nd hd settings p.536
• Table b 0 200 v class drives default settings by drive model selection and nd hd settings p.536
• B 8 defaults by drive model and duty rating nd hd p.536
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual 537 p.537
• Table b 1 200 v class drives default settings by drive model selection and nd hd settings p.537
• B 8 defaults by drive model and duty rating nd hd p.537
• Table b 2 400 v class drives default settings by drive model selection and nd hd settings p.538
• B 8 defaults by drive model and duty rating nd hd p.538
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual p.538
• Table b 3 400 v class drives default settings by drive model selection and nd hd settings p.538
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual 539 p.539
• Table b 4 400 v class drives default settings by drive model selection and nd hd settings p.539
• B 8 defaults by drive model and duty rating nd hd p.539
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual p.540
• Table b 6 400 v class drives default settings by drive model selection and nd hd settings p.540
• Table b 5 400 v class drives default settings by drive model selection and nd hd settings p.540
• B 8 defaults by drive model and duty rating nd hd p.540
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual 541 p.541
• B 8 defaults by drive model and duty rating nd hd p.541
• Yaskawa smra series spm motor p.542
• The following tables show parameters and default settings that change with the motor code selection e5 01 when open loop vector for pm motors is used p.542
• B 9 parameters changed by motor code selection for pm motors p.542
• Yaskawa ssr1 series ipm motor for derated torque p.543
• B 9 parameters changed by motor code selection for pm motors p.543
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual p.544
• Table b 2 400 v 1750 r min type yaskawa ssr1 series ipm motor p.544
• Table b 1 400 v 1750 r min type yaskawa ssr1 series ipm motor p.544
• B 9 parameters changed by motor code selection for pm motors p.544
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual 545 p.545
• Table b 4 200 v 1450 r min type yaskawa ssr1 series ipm motor p.545
• Table b 3 400 v 1750 r min type yaskawa ssr1 series ipm motor p.545
• B 9 parameters changed by motor code selection for pm motors p.545
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual p.546
• Table b 6 400 v 1450 r min type yaskawa ssr1 series ipm motor p.546
• Table b 5 200 v 1450 r min type yaskawa ssr1 series ipm motor p.546
• B 9 parameters changed by motor code selection for pm motors p.546
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual 547 p.547
• Table b 7 400 v 1450 r min type yaskawa ssr1 series ipm motor p.547
• B 9 parameters changed by motor code selection for pm motors p.547
• B 9 parameters changed by motor code selection for pm motors p.548
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual p.548
• Table b 9 200 v 1150 r min type yaskawa ssr1 series ipm motor p.548
• Table b 8 200 v 1150 r min type yaskawa ssr1 series ipm motor p.548
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual 549 p.549
• Table b 1 400 v 1150 r min type yaskawa ssr1 series ipm motor p.549
• Table b 0 400 v 1150 r min type yaskawa ssr1 series ipm motor p.549
• B 9 parameters changed by motor code selection for pm motors p.549
• Yaskawa sst4 series ipm motor for constant torque p.550
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual p.550
• Table b 3 200 v 1750 r min type yaskawa sst4 series ipm motor p.550
• Table b 2 200 v 1750 r min type yaskawa sst4 series ipm motor p.550
• B 9 parameters changed by motor code selection for pm motors p.550
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual 551 p.551
• Table b 5 400 v 1750 r min type yaskawa sst4 series ipm motor p.551
• Table b 4 400 v 1750 r min type yaskawa sst4 series ipm motor p.551
• B 9 parameters changed by motor code selection for pm motors p.551
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual p.552
• Table b 6 400 v 1750 r min type yaskawa sst4 series ipm motor p.552
• B 9 parameters changed by motor code selection for pm motors p.552
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual 553 p.553
• Table b 8 200 v 1450 r min type yaskawa sst4 series ipm motor p.553
• Table b 7 200 v 1450 r min type yaskawa sst4 series ipm motor p.553
• B 9 parameters changed by motor code selection for pm motors p.553
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual p.554
• Table b 9 400 v 1450 r min type yaskawa sst4 series ipm motor p.554
• Table b 0 400 v 1450 r min type yaskawa sst4 series ipm motor p.554
• B 9 parameters changed by motor code selection for pm motors p.554
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual 555 p.555
• Table b 2 200 v 1150 r min type yaskawa sst4 series ipm motor p.555
• Table b 1 400 v 1450 r min type yaskawa sst4 series ipm motor p.555
• B 9 parameters changed by motor code selection for pm motors p.555
• B 9 parameters changed by motor code selection for pm motors p.556
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual p.556
• Table b 4 400 v 1150 r min type yaskawa sst4 series ipm motor p.556
• Table b 3 200 v 1150 r min type yaskawa sst4 series ipm motor p.556
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual 557 p.557
• Table b 5 400 v 1150 r min type yaskawa sst4 series ipm motor p.557
• B 9 parameters changed by motor code selection for pm motors p.557
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual p.558
• Table b 6 400 v 1150 r min type yaskawa sst4 series ipm motor p.558
• B 9 parameters changed by motor code selection for pm motors p.558
• Memobus modbus communications p.559
• Appendix c memobus modbus communications p.559
• Appendix c p.559
• C memobus modbus configuration p.560
• Memobus modbus specifications appear in table c p.561
• C communication specifications p.561
• C connecting to a network p.562
• This section explains how to connect the drive to a memobus modbus network and the network termination required for a connection p.562
• Network cable connection p.562
• Follow the instructions below to connect the drive to a memobus modbus network p.562
• Wiring diagram for multiple connections p.563
• Rs 485 interface p.563
• 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 switch s2 if a drive is located at the end of a network line enable the termination resistor by setting dip switch s2 to the on position disable the termination resistor on all slaves that are not located at the network line end p.564
• Rs 422 interface p.564
• Network termination p.564
• C connecting to a network p.564
• Memobus modbus serial communication p.565
• C memobus modbus setup parameters p.565
• H5 06 drive transmit wait time p.566
• H5 05 communication fault detection selection p.566
• Enables or disables the ce detection for communications p.566
• Enables or disables rts control p.566
• C memobus modbus setup parameters p.566
• Use this setting with rs 485 communications or when using multi drop rs 422 communications p.566
• Use this setting with point to point rs 422 communications p.566
• Sets the unit for the output voltage monitor value in memobus modbus register 0025h p.566
• Sets the time the drive waits after receiving data from a master until responding data p.566
• Sets the time the communications must be lost before the drive triggers a ce fault p.566
• No communication error detection the drive continues operation p.566
• If the drive does not receive data from the master for longer than the time set to h5 09 then a ce fault will be triggered and the drive will operate as determined by parameter h5 04 p.566
• H5 10 unit selection for memobus modbus register 0025h p.566
• H5 09 communications fault detection time p.566
• H5 07 rts control selection p.566
• Parameter changes become effective after an enter command an enter command must only be sent after the last parameter change not for each single parameter p.567
• H5 18 filter time constant for motor speed monitoring p.567
• H5 17 operation selection when unable to write into eeprom p.567
• H5 12 run command method selection p.567
• H5 11 communications enter function selection p.567
• C memobus modbus setup parameters p.567
• Setting bit 0 of memobus modbus register 0001h will start and stop the drive setting bit 1 changes the direction p.567
• Setting bit 0 of memobus modbus register 0001h will start and stop the drive in the forward direction setting bit 1 will start and stop the drive in reverse p.567
• Sets the filter time constant for monitoring the motor speed from memobus modbus communications and communication options applicable memobus modbus registers are 3eh 3fh 44h ach and adh p.567
• Selects whether an enter command is necessary to change parameter values via memobus modbus communications refer to enter command on page 590 p.567
• Selects the type of sequence used when the run command source is set to memobus modbus communications b1 02 b1 16 2 p.567
• Selects the operation to be carried out when attempting to write data into eeprom by memobus modbus communications but writing into eeprom is not enabled there is normally no need to change this parameter from the default value p.567
• Parameter value changes become effective immediately without the need to send an enter command p.567
• The drive operations that can be performed by memobus modbus communication depend on drive parameter settings this section explains the functions that can be used and related parameter settings p.568
• Select an external reference and adjust the parameters in table c accordingly to start and stop the drive or set the frequency reference using memobus modbus communications p.568
• Refer to b1 01 frequency reference selection 1 on page 158 and refer to b1 02 run command selection 1 on page 159 for details on external reference parameter selections refer to setting 2 external reference 1 2 selection on page 248 for instructions on selecting external references 1 and 2 p.568
• Observing the drive operation p.568
• Controlling the drive p.568
• C drive operations by memobus modbus p.568
• A plc can perform the following actions with memobus modbus communications at any time regardless of parameter settings except for h5 oo parameters observe drive status and drive control terminal status from a plc read and write parameters set and reset faults set multi function inputs p.568
• Command messages from master to drive p.569
• C communications timing p.569
• Response messages from drive to master p.569
• Slave address p.570
• Message content p.570
• Function code p.570
• Error check p.570
• Command data p.570
• C message format p.570
• The example in table c shows the crc 16 calculation of the slave address 02h and the function code 03h yielding the result d140h p.571
• Response data p.571
• 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 received within the response message p.571
• C message format p.571
• Reading drive memobus modbus register contents p.572
• Loopback test p.572
• Function code 08h performs a loopback test that returns a response message with exactly the same content as the command message the response message can be used to check communications between the 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 drive p.572
• C message examples p.572
• Below are some examples of command and response messages p.572
• Using the function code 03h read a maximum of 16 memobus modbus registers can be read out at a time the following table shows message examples when reading status signals error details data link status and frequency references from the slave 2 drive p.572
• Writing to multiple registers p.573
• Function code 10h allows the user to write multiple drive memobus modbus registers with one message this process works similar to reading registers in that the address of the first register to be written and the data quantity are set in the command message the data to be written must be consecutive so that the register addresses are in order starting from the specified address in the command message the data order must be high byte then lower byte the following table shows an example of a message where a forward operation has been set with a frequency reference of 60 0 hz for the slave 1 drive if parameter values are changed using the write command an enter command may be necessary to activate or save the data depending on the setting of h5 11 refer to h5 11 communications enter function selection on page 567 and refer to enter command on page 590 for detailed descriptions p.573
• C message examples p.573
• The tables below list all memobus modbus data p.574
• It is possible to both read and write command data p.574
• Command data p.574
• C memobus modbus data table p.574
• Monitor data can be read only p.575
• Monitor data p.575
• C memobus modbus data table p.575
• C memobus modbus data table p.576
• C memobus modbus data table p.577
• C memobus modbus data table p.578
• C memobus modbus data table p.579
• C memobus modbus data table p.580
• C memobus modbus data table p.581
• C memobus modbus data table p.582
• C memobus modbus data table p.583
• C memobus modbus data table p.584
• C memobus modbus data table p.585
• C memobus modbus data table p.586
• The table below shows the fault codes that can be read out by memobus modbus commands from the u2 oo monitor parameters p.587
• Fault trace contents p.587
• Data can be written from the master to all slave devices at the same time the slave address in a broadcast command message must be set to 00h all slaves will receive the message but will not respond p.587
• C memobus modbus data table p.587
• Broadcast messages p.587
• C memobus modbus data table p.588
• The table below shows the alarm codes that can be read out from memobus modbus register 007fh p.589
• C memobus modbus data table p.589
• Alarm register contents p.589
• C 0 enter command p.590
• When writing parameters to the drive from the plc using memobus modbus communication parameter h5 11 determines whether an enter command must be issued to enable these parameters this section describes the types and functions of the enter commands p.590
• The drive supports two types of enter commands as shown in table c an enter command is enabled by writing 0 to register numbers 0900h or 0910h it is only possible to write to these registers attempting to read from these registers will cause an error p.590
• Enter command types p.590
• Slave not responding p.591
• Memobus modbus error codes p.591
• C 1 communication errors p.591
• The drive has a built in self diagnosing function of the serial communication interface circuits to perform the self diagnosis function use the following procedure p.592
• C 2 self diagnostics p.592
• Standards compliance p.593
• Appendix d standards compliance p.593
• Appendix d p.593
• Warning p.594
• Fire hazard p.594
• Electrical shock hazard p.594
• Danger p.594
• D section safety p.594
• Notice p.595
• Guarding against harmful materials p.596
• Grounding p.596
• Emc guidelines compliance p.596
• Emc filter installation p.596
• D european standards p.596
• Ce low voltage directive compliance p.596
• Area of use p.596
• Make sure the protective earthing conductor complies with technical standards and local safety regulations p.597
• D european standards p.597
• Three phase 200 v 400 v class p.598
• D european standards p.598
• Ul standards compliance p.599
• D ul and csa standards p.599
• D ul and csa standards p.600
• D ul and csa standards p.601
• Three phase 400 v class p.601
• D ul and csa standards p.602
• D ul and csa standards p.603
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual p.604
• To maintain ul cul approval ul listed closed loop crimp terminals are specifically required when wiring the drive main circuit terminals on models 2 o 0068 to 2 o 0248 and 4 o 0052 to 4 o 0414 use only the tools recommended by the terminal manufacturer for crimping yaskawa recommends ul listed crimp terminals made by jst and tokyo dip or equivalent for the insulation cap table d matches the wire gauges and terminal screw sizes with yaskawa recommended crimp terminals tools and insulation caps refer to the appropriate wire gauge and torque specifications table for the wire gauge and screw size for your drive model place orders with a yaskawa representative or the yaskawa sales department wire gauge values shown in bold italic are the recommended values refer to local codes for proper selections p.604
• Table d closed loop crimp terminal size p.604
• D ul and csa standards p.604
• Closed loop crimp terminal recommendations p.604
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual 605 p.605
• D ul and csa standards p.605
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual p.606
• D ul and csa standards p.606
• L1 01 motor overload protection selection p.607
• E2 01 motor rated current p.607
• Drive short circuit rating p.607
• Drive motor overload protection p.607
• Low voltage wiring for control circuit terminals p.607
• When connecting the drive to more than one motor for simultaneous operation disable the electronic overload protection l1 01 0 and wire each motor with its own motor thermal overload relay enable motor overload protection l1 01 1 to 6 when connecting the drive to a single motor unless another motor overload preventing device is installed the drive electronic thermal overload function causes an ol1 fault which shuts off the output of the drive and prevents additional overheating of the motor the motor temperature is continually calculated while the drive is powered up p.608
• The drive stops the motor using the deceleration time 1 set in parameter c1 02 p.608
• Setting range 0 to 5 min factory default 1 min parameter l1 02 determines how long the motor is allowed to operate before the ol1 fault occurs when the drive is running a hot motor at 60 hz and at 150 of the full load amp rating e2 01 of the motor adjusting the value of l1 02 can shift the set of ol1 curves up the y axis of the diagram below but will not change the shape of the curves p.608
• Setting 0 ramp to stop p.608
• Sets the drive operation when the ptc input signal reaches the motor overheat alarm level oh3 p.608
• No name setting range default p.608
• L1 03 motor overheat alarm operation selection ptc input 0 to 3 3 p.608
• L1 03 motor overheat alarm operation selection ptc input p.608
• L1 02 motor overload protection time p.608
• D ul and csa standards p.608
• The drive stops the motor using the deceleration time 1 set in parameter c1 02 p.609
• The drive output is switched off and the motor coasts to stop p.609
• Sets the drive operation when the ptc input signal reaches the motor overheat fault level oh4 p.609
• L1 04 motor overheat fault operation selection ptc input p.609
• D ul and csa standards p.609
• The operation is continued and an oh3 alarm is displayed on the digital operator p.609
• The drive stops the motor using the fast stop time set in parameter c1 09 p.609
• Specifications p.610
• Safety standards p.610
• Safe disable input function p.610
• Precautions p.610
• D safe disable input p.610
• Using the safe disable function p.611
• Safe disable circuit p.611
• Table d explains the drive output and safe disable monitor state depending on the safe disable inputs p.612
• Safe disable monitor output function and digital operator display p.612
• Returning to normal operation after safe disable p.612
• Figure d illustrates the safe disable input operation p.612
• Entering the safe torque off state p.612
• Disabling and enabling the drive output safe torque off p.612
• D safe disable input p.612
• When one or both safe disable inputs are open the motor torque is shut off by switching off the drive output if the motor was running before the safe disable inputs opened then the motor will coast to stop regardless of the stopping method set in parameter b1 03 the safe torque off state can only be achieved using the safe disable function removing the run command stops the drive and shuts the output off baseblock but does not create a safe torque off status p.612
• The safe disable function can only be deactivated when a run command is not active if safe disable was activated during stop turn on both safe disable inputs by deactivating safe torque off to resume normal operation if safe disable was activated during run remove the run command then turn on the safe disable inputs before restarting the drive p.612
• When both safe disable inputs are open hbb will flash in the digital operator display if one safe disable channel is on while the other is off hbbf will flash in the display to indicate that there is a problem in the safety circuit or in the drive this display should not appear under normal conditions if the safe disable circuit is utilized properly refer to alarm codes causes and possible solutions on page 351 for details if a fault in the safety circuit of the drive is detected scf will be displayed in the lcd operator this indicates damage to the drive refer to fault displays causes and possible solutions on page 335 for details p.613
• Validating safe disable function p.613
• Slide switch s6 controls the polarity of this signal refer to table d for functionality with the safe disable monitor output terminals dm and dm the drive provides a safety status feedback signal this signal should be read by the device that controls the safe disable inputs plc or a safety relay in order to prohibit leaving the safe torque off status in case the safety circuit malfunctions refer to the instruction manual of the safety device for details on this function p.613
• D safe disable input p.613
• Always perform the following validation test on the safe disable inputs after completing the wiring after start up when replacing parts or when conducting maintenance maintain check results as a record of tests performed when the h1 and h2 signals turn off confirm that hbb is displayed on the lcd operator and that the motor is not in operation monitor the on off status of the h1 and h2 signals and confirm the edm signal according to table d if the on off status of the signals do not match the display it is possible that there is an error in the external device the external wiring is disconnected there is a short circuit in the external wiring or a failure in the drive find the cause and correct the problem in normal operation confirm the edm signal according to table d p.613
• This page intentionally blank p.614
• D safe disable input p.614
• Quick reference sheet p.615
• Appendix e quick reference sheet p.615
• Appendix e p.615
• Motor specifications p.616
• Induction motor p.616
• E drive and motor specifications p.616
• Drive specifications p.616
• Permanent magnet motor p.616
• Motor speed encoder if used p.617
• E drive and motor specifications p.617
• V f pattern setup p.618
• Use the following tables to keep records of important parameters have this data available when contacting yaskawa technical support p.618
• Motor setup p.618
• E basic parameter settings p.618
• Basic setup p.618
• Pulse train input analog inputs p.619
• Multi function digital outputs p.619
• Multi function digital inputs p.619
• Monitor outputs p.619
• E basic parameter settings p.619
• Use the verify menu to determine which parameters have been changed from their original default settings p.620
• E user setting table p.620
• Below the parameter number indicates that the parameter setting can be changed during run parameter names in bold face type are included in the setup group of parameters which can be set by a1 06 0 p.620
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual p.620
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual 621 p.621
• E user setting table p.621
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual p.622
• E user setting table p.622
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual 623 p.623
• E user setting table p.623
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual p.624
• E user setting table p.624
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual 625 p.625
• E user setting table p.625
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual p.626
• E user setting table p.626
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual 627 p.627
• E user setting table p.627
• E user setting table p.628
• Yaskawa electric siep c710636 04c u1000 industrial matrix drive technical manual p.628
• Numerics p.629
• The revision dates and the numbers of the revised manuals appear on the bottom of the back cover p.642
• Revision history p.642
• Yaskawa electric corporation p.644
• U1000 industrial matrix drive p.644
• Technical manual p.644
• Low harmonic regenerative drive for industrial applications p.644
• Back cover p.644