YASKAWA 200 V Class: 0.4 to 110 kW Quick Start Manual

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YASKAWA AC Drive A1000

High Performance Vector Control Drive

Quick Start Guide

Type: CIMR-AAA , CIMR-AB A , CIMR-ADA , CIMR-ATA

Models:

To properly use the product, read this manual thoroughly and retain for easy reference, inspection, and maintenance. Ensure the end user receives this manual.

200 V Class: 0.4 to 110 kW 400 V Class: 0.4 to 355 kW

MANUAL NO. TOEP C710616 21C

Receiving

Mechanical Installation

Electrical Installation

Start-Up Programming &

Operation

Troubleshooting

Periodic Inspection &

Maintenance

Specifications

Parameter List

Standards Compliance

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All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, Yaskawa assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.

2 YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide

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■ Quick Reference

Easily Set Parameters for Specific Applications

Preset parameter defaults are available for setting up applications. Refer to Application Selection

on page 63.

Run a Motor One-Frame Larger

This drive can operate a motor one frame size larger when running variable torque loads such as fans and pumps. Refer to C6-01: Drive Duty

Mode Selection on page 72.

Drive a Synchronous PM Motor

A1000 can operate synchronous PM motors. Refer to Subchart A-3: Operation with Permanent

Magnet Motors on page 62.

Perform Auto-Tuning

Automatic tuning sets motor parameters. Refer to Auto-Tuning on page 91.

Maintenance Check Using Drive Monitors

Use drive monitors to check the if fans, capacitors, and other components may require maintenance. Refer to Performance Life Monitors

Maintenance Monitors on page 120.

Fault Display and Troubleshooting

Refer to Drive Alarms, Faults, and Errors on page 99.

Standards Compliance

Refer to European Standards on page 181 and Refer to UL Standards on page 187.

YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide 3

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4 YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide

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Quick Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

i. Preface & General Safety ................................................................................................. 7

Preface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

General Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

1. Receiving......................................................................................................................... 17

Model Number and Nameplate Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

2. Mechanical Installation .................................................................................................. 19

Mechanical Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

3. Electrical Installation...................................................................................................... 26

Standard Connection Diagram. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Main Circuit Connection Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Terminal Cover. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Digital Operator and Front Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Top Protective Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Main Circuit Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Control I/O Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

Terminal A2 Analog Input Signal Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Connect to a PC. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

Wiring Checklist . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

4. Start-Up Programming & Operation ............................................................................. 53

Using the Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

The Drive and Programming Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

Start-Up Flowcharts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

Powering Up the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

Application Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

Basic Drive Setup Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

Auto-Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

No-Load Operation Test Run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

Test Run with Load Connected . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

Test Run Checklist . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

5. Troubleshooting ............................................................................................................. 99

Drive Alarms, Faults, and Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

Fault Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

Alarm Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110

Operator Programming Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112

Auto-Tuning Fault Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113

Copy Function Related Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

6. Periodic Inspection & Maintenance ........................................................................... 118

Inspection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118

Periodic Maintenance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120

A. Specifications ............................................................................................................... 124

Heavy Duty and Normal Duty Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124

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Table of Contents

Three-Phase 200 V Class Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .125

Three-Phase 400 V Class Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .126

Drive Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .128

Drive Watt Loss Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .129

B. Parameter List ............................................................................................................... 131

A: Initialization Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .131

b: Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .132

C: Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .137

d: References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .141

E: Motor Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .144

F: Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .148

H: Multi-Function Terminals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .154

L: Protection Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .162

n: Special Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .168

o: Operator Related Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .170

q: DriveWorksEZ Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .172

r: DriveWorksEZ Connection Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .172

T: Motor Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .172

U: Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .175

C. Standards Compliance ................................................................................................. 181

European Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .181

UL Standards. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .187

Safe Disable Input Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .191

Revision History .........................................................................................................................194

6 YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide

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i Preface & General Safety

LO RE

ESC

RUN STOP

ENTERRESET

ALM

DIGITAL OPERATOR JVOP-182

CIMR-AA2A0021FAA

200V 3Phase 5.5kW/3.7kW

REV DRV FOUT

S/N:

危険

据え付け、運転の前には必ず取扱説明書を読むこと。通電中および電源遮断後5分以内はフロントカバーを外さない事。 400V級インバータの場合は、電源の中性点が接地されていることを確認すること。(対応）保守・点検、配線を行う場合は、出力側開閉器を遮断後5分待って実施してください。

けが．感電のおそれがあります。

高温注意

インバータ上部、両側面は高温になります。触らないでください。

●

AVERTISSMENT

NPJT31470-1

Lire le manuel avant l'installation. Attendre 5 minutes après la coupure de l'alimentation, pour permettre la décharge des condensateurs. Pour répondre aux exigences , s assurer que le neutre soit relié à la terre, pour la série 400V. Après avoir déconnécte la protection entre le driver et le moteur, veuillez patienter 5 minutes avain d’effectuer une opération de montage ou de câblage du variateur.

Risque de décharge électrique.

Surfaces Chaudes

Dessus et cotés du boitier Peuvent devenir chaud. Ne Pas toucher.

WARNING

Read manual before installing. Wait 5 minutes for capacitor discharge after disconnecting power supply. To conform to requirements, make sure to ground the supply neutral for 400V class. After opening the manual switch between the drive and motor, please wait 5 minutes before inspecting, performing maintenance or wiring the drive.

Risk of electric shock.

Hot surfaces

Top and Side surfaces may become hot. Do not touch.

●

YEC_com mon

i Preface & General Safety

◆ Preface

Yaskawa manufactures products used as components in a wide variety of industrial systems and equipment. The selection and application of Yaskawa products remain the responsibility of the equipment manufacturer or end user. Yaskawa accepts no responsibility for the way its products are incorporated into the final system design. Under no circumstances should any Yaskawa product be incorporated into any product or design as the exclusive or sole safety control. Without exception, all controls should be designed to detect faults dynamically and fail safely under all circumstances. All systems or equipment designed to incorporate a product manufactured by Yaskawa must be supplied to the end user with appropriate warnings and instructions as to the safe use and operation of that part. Any warnings provided by Yaskawa must be promptly provided to the end user. Yaskawa offers an express warranty only as to the quality of its products in conforming to standards and specifications published in the Yaskawa manual. NO OTHER WARRANTY, EXPRESSED OR IMPLIED, IS OFFERED. Yaskawa assumes no liability for any personal injury, property damage, losses, or claims arising from misapplication of its products.

This manual is designed to ensure correct and suitable application of Variable A1000-Series Drives. Read this manual before attempting to install, operate, maintain, or inspect a drive and keep it in a safe, convenient location for future reference. Be sure you understand all precautions and safety information before attempting application.

Applicable Documentation

■

The following manuals are available for A1000 series drives:

A1000 Series AC Drive Quick Start Guide (this book)

This guide is packaged together with the product. It contains basic information required to install and wire the drive, in addition to an overview of fault diagnostics, maintenance, and parameter settings. It is meant to get the drive ready for a trial run with the application and for basic operation.

A1000 Series AC Drive Technical Manual

This manual is included on the CD-ROM packaged with the product (Yaskawa AC Drive Manuals, TOBCC71061621), and is also available for download on our documentation website, emechatronics.com. This manual provides detailed information on parameter settings, drive functions, and MEMOBUS/Modbus specifications. Use this manual to expand drive functionality and to take advantage of higher performance features.

◆ General Safety

■ Supplemental Safety Information

General Precautions

• The diagrams in this manual may be indicated without covers or safety shields to show details. Restore covers or shields before operating the drive and run the drive according to the instructions described in this manual.

• Any illustrations, photographs, or examples used in this manual are provided as examples only and may not apply to all products to which this manual is applicable.

• The products and specifications described in this manual or the content and presentation of the manual may be changed without notice to improve the product and/or the manual.

• When ordering a new copy of the manual due to damage or loss, contact your Yaskawa representative or the nearest Yaskawa sales office and provide the manual number shown on the front cover.

• If nameplate becomes worn or damaged, order a replacement from your Yaskawa representative or the nearest Yaskawa sales office.

YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide 7

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i Preface & General Safety

W ARNING

DANGER

W ARNING

CAUTION

NOTICE

DANGER

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 possibly even fatal injury or damage to the products or to related equipment and systems.

Indicates a hazardous situation, which, if not avoided, will result in death or serious injury.

Indicates a hazardous situation, which, if not avoided, could result in death or serious injury.

WARNING! will also be indicated by a bold key word embedded in the text followed by an italicized safety message.

Indicates a hazardous situation, which, if not avoided, could result in minor or moderate injury.

CAUTION! will also be indicated by a bold key word embedded in the text followed by an italicized safety message.

Indicates a property damage message.

NOTICE: will also be indicated by a bold key word embedded in the text followed by an italicized safety message.

■ Safety Messages

Heed the safety messages in this manual.

Failure to comply will result in death or serious injury.

The operating company is responsible for any injuries or equipment damage resulting from failure to heed the warnings in this manual.

Electrical Shock Hazard

Do not connect or disconnect wiring while the power is on.

Failure to comply will result in death or serious injury.

Before servicing, disconnect all power to the equipment. The internal capacitor remains charged even after the power supply is turned off. After shutting off the power, wait for at least the amount of time specified on the drive before touching any components.

8 YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide

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i Preface & General Safety

W ARNING

CAUTION

Sudden Movement Hazard

System may start unexpectedly upon application of power, resulting in death or serious injury.

Clear all personnel from the drive, motor and machine area before applying power. Secure covers, couplings, shaft keys and machine loads before applying power to the drive.

When using DriveWorksEZ to create custom programming, the drive I/O terminal functions change from factory settings and the drive will not perform as outlined in this manual.

Unpredictable equipment operation may result in death or serious injury.

Take special note of custom I/O programming in the drive before attempting to operate equipment.

Electrical Shock Hazard

Do not attempt to modify or alter the drive in any way not explained in this manual.

Failure to comply could result in death or serious injury.

Yaskawa is not responsible for any modification of the product made by the user. This product must not be modified.

Do not allow unqualified personnel to use equipment.

Failure to comply could result in death or serious injury.

Maintenance, inspection, and replacement of parts must be performed only by authorized personnel familiar with installation, adjustment and maintenance of AC drives.

Do not remove covers or touch circuit boards while the power is on.

Failure to comply could result in death or serious injury.

Fire Hazard

Do not use an improper voltage source.

Failure to comply could result in death or serious injury by fire.

Verify that the rated voltage of the drive matches the voltage of the incoming power supply before applying power.

Crush Hazard

Do not use this drive in lifting applications without installing external safety circuitry to prevent accidental dropping of the load.

The drive does not possess built-in load drop protection for lifting applications.

Failure to comply could result in death or serious injury from falling loads.

Install electrical and/or mechanical safety circuit mechanisms independent of drive circuitry.

Crush Hazard

Do not carry the drive by the front cover.

Failure to comply may result in minor or moderate injury from the main body of the drive falling.

YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide 9

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i Preface & General Safety

NOTICE

Observe proper electrostatic discharge procedures (ESD) when handling the drive and circuit boards.

Failure to comply may result in ESD damage to the drive circuitry.

Do not perform a withstand voltage test on any part of the drive.

Failure to comply could result in damage to the sensitive devices within the drive.

Do not operate damaged equipment.

Failure to comply could result in further damage to the equipment.

Do not connect or operate any equipment with visible damage or missing parts.

Install adequate branch circuit short circuit protection per applicable codes.

Failure to comply could result in damage to the drive.

The drive is suitable for circuits capable of delivering not more than 100,000 RMS symmetrical Amperes, 240 Vac maximum (200 V Class) and 480 Vac maximum (400 V Class).

Do not expose the drive to halogen group disinfectants.

Failure to comply may cause damage to the electrical components in the drive.

Do not pack the drive in wooden materials that have been fumigated or sterilized.

Do not sterilize the entire package after the product is packed.

■ Application Notes

Selection Installing a Reactor

An AC or DC reactor can be used for the following:

• to suppress harmonic current.

• to smooth peak current that results from capacitor switching.

• when the power supply is above 600 kVA.

• when the drive is running from a power supply system with thyristor converters.

Note: A DC reactor is built in to the drive models 2A0110 to 2A0415 and 4A0058 to 4A0675.

Figure 1

4000

Power supply harmonics reactor required

Power Supply

Capacity (kVA)

600

Drive Capacity (kVA)

Figure 1 Installing a Reactor

Reactor unnecessary

60 400

Drive Capacity

For specialized motors, make sure that the motor rated current is less than rated output current for the drive. When running more than one motor in parallel from a single drive, the capacity of the drive should be larger than 1.1 times of the total motor rated current.

Starting Torque

The overload rating for the drive determines the starting and accelerating characteristics of the motor. Expect lower torque than when running from line power. To get more starting torque, use a larger drive or increase both the motor and drive capacity.

Emergency Stop

When the drive faults out, the output is shut off. This, however, does not stop the motor immediately. Some type of mechanical brake may be needed if it is necessary to halt the motor faster than the Fast Stop function is able to.

Options

The B1, B2, +1, +2, and +3 terminals are used to connect optional devices. Connect only A1000-compatible devices.

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i Preface & General Safety

Repetitive Starting/Stopping

Cranes (hoists), elevators, punching presses, and other such applications with frequent starts and stops often exceed 150% of their rated current values. Heat stress generated from repetitive high current can shorten the life span of the IGBTs. The expected lifesaving for the IGBTs is about 8 million start and stop cycles with a 4 kHz carrier frequency and a 150% peak current.

Yaskawa recommends lowering the carrier frequency, particularly when audible noise is not a concern. The user can also choose to reduce the load, increase the acceleration and deceleration times, or switch to a larger drive. This will help keep peak current levels under 150%. Be sure to check the peak current levels when starting and stopping repeatedly during the initial test run, and make adjustments accordingly.

For crane-type applications using an inching function in which the motor is quickly started and stopped, Yaskawa recommends the following to ensure motor torque levels:

• Select a large enough drive so that peak current levels remain below 150% of the drive rated current.

• The drive should be one frame size larger than the motor.

Installation Enclosure Panels

Keep the drive in a clean environment by either selecting an area free of airborne dust, lint, and oil mist, or install the drive in an enclosure panel. Be sure to leave the required space between drives to provide for cooling, and that proper measures are taken so that the ambient temperature remains within allowable limits. Keep flammable materials away from the drive. If the drive must be used in an area where it is subjected to oil mist and excessive vibration, protective designs are available. Contact Yaskawa or your Yaskawa agent for details.

Installation Direction

The drive should be installed upright as specified in the manual. For more information on installation, Refer to

Mechanical Installation on page 19.

Settings Motor Code

If using OLV/PM designed for permanent magnet motors, make sure that the proper motor code has been set to parameter E5-01 before performing a trial run.

Upper Limits

The drive is capable of running the motor up to 400 Hz. Due to the danger of accidentally of operating at high speed, be sure to set the upper limit for the frequency. The default setting for the maximum output frequency is 60 Hz.

DC Injection Braking

Motor overheat can result if there is too much current used during DC Injection Braking, or if the time for DC Injection Braking is too long.

Acceleration/Deceleration Times

Acceleration and deceleration times are affected by how much torque the motor generates, the load torque, and the inertia moment. Set a longer accel/decel time when Stall Prevention is enabled. The accel/decel times are lengthened for as long as the Stall Prevention function is operating. For faster acceleration and deceleration, install one of the braking options

available or increase the capacity of the drive.

Compliance with Harmonic Suppression Guidelines

A1000 conforms to strict guidelines in Japan covering harmonic suppression for power conversion devices. Defined in JEM-TR201 and JEM-TR226 and published by the Japan Electrical Manufacturers’ Association, these guidelines define the amount of harmonic current output acceptable for new installation. Instructions on calculation harmonic output are available at www.e-mechatronics.com.

General Handling Wiring Check

Never connect the power supply lines to output terminals U/T1, V/T2, or W/T3. Doing so will destroy the drive. Be sure to perform a final check of all sequence wiring and other connections before turning the power on. Make sure there are no short circuits on the control terminals (+V, AC, etc.), as this could damage the drive.

YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide 11

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i Preface & General Safety

Selecting a Circuit Breaker or Leakage Circuit Breaker

Yaskawa recommends installing Earth Leakage Circuit Breaker (ELCB) to the power supply side. The ELCB should be designed for use with an AC drive (e.g. Type B according to IEC 60755).

Select a MCCB (Molded Case Circuit Breaker) or ELCB with a rated current that is 1.5 to 2 times higher than the rated current of the drive in order to avoid nuisance trips caused by harmonics in the drive input current.

Magnetic Contactor Installation

Use a magnetic contactor (MC) to ensure that power to the drive can be completely shut off when necessary. The MC should be wired so that it opens when a fault output terminal is triggered.

Avoid switching a magnetic contactor on the power supply side more frequently than once every 30 minutes. Frequent switching can cause damage to the drive.

Inspection and Maintenance

Capacitors in the drive take time to discharge even after the power has been shut off. After shutting off the power, wait for at least the amount of time specified on the drive before touching any components.

The heatsink can become quite hot during operation, and proper precautions should be taken to prevent burns. When replacing the cooling fan, shut off the power and wait at least 15 minutes to be sure that the heatsink has cooled down.

Even when the power has been shut off for a drive running a PM motor, voltage continues to be generated at the motor terminals while the motor coasts to stop. Take the precautions described below to prevent shock and injury:

• Applications where the machine can still rotate even though the drive has fully stopped should have a load switch installed to the output side of the drive. Yaskawa recommends manual load switches from the AICUT LB Series by AICHI Electric Works Co., Ltd.

• Do not allow an external force to rotate the motor beyond the maximum allowable speed, also when the drive has been shut off.

• Wait for at least the time specified on the warning label after opening the load switch on the output side before inspecting the drive or performing any maintenance.

• Do not open and close the load switch while the motor is running, as this can damage the drive.

• If the motor is coasting, make sure the power to the drive is turned on and the drive output has completely stopped before closing the load switch.

Wiring

All wire ends should use ring terminals for UL/cUL compliance. Use only the tools recommended by the terminal manufacturer for crimping.

Transporting the Drive

Never steam clean the drive.

During transport, keep the drive from coming into contact with salts, fluorine, bromine, phthalate ester, and other such harmful chemicals.

Notes on Motor Operation

■

Using a Standard Motor Low Speed Range

The cooling fan of a standard motor is usually designed to sufficiently cool the motor at the rated speed. As the selfcooling capability of such a motor reduces with the speed, applying full torque at low speed will possibly damage the motor. To prevent motor damage from overheat, reduce the load torque as the motor slows.

Figure 2 shows the allowable load characteristics for a Yaskawa standard motor. A motor designed specifically for

operation with a drive should be used when 100% continuous torque is needed at low speeds.

12 YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide

Page 13

i Preface & General Safety

100

25% ED (or 15 min)

40% ED (or 20 min)

60% ED (or 40 min)

Frequency (Hz)

Continuous operation

Torque

(%)

YEC_common

Figure 2

Figure 2 Allowable Load Characteristics for a Yaskawa Motor

Insulation Tolerance

Consider voltage tolerance levels and insulation in applications with an input voltage of over 440 V or particularly long wiring distances. Contact Yaskawa or your Yaskawa agent for consultation.

High Speed Operation

Problems may occur with the motor bearings and dynamic balance of the machine when operating a motor beyond its rated speed. Contact the motor or machine manufacturer.

Torque Characteristics

Torque characteristics differ compared to operating the motor directly from line power. The user should have a full understanding of the load torque characteristics for the application.

Vibration and Shock

A1000 lets the user choose between high carrier PWM control and low carrier PWM. Selecting high carrier PWM can help reduce motor oscillation.

Take particular caution when using a variable speed drive for an application that is conventionally run from line power at a constant speed. If resonance occurs shock-absorbing rubber should be installed around the base of the motor and the Jump frequency selection should be enabled to prevent continuous operation in the resonant frequency range.

Audible Noise

Noise created during run varies by the carrier frequency setting. When using a high carrier frequency, audible noise from the motor is comparable to the motor noise generated when running from line power. Operating above the rated r/min, however, can create unpleasant motor noise.

Using a Synchronous Motor

• Contact Yaskawa or your Yaskawa agent if you plan to use any other synchronous motor not endorsed by Yaskawa.

• A single drive is not capable of running multiple synchronous motors at the same time. Use a standard induction motor for such setups.

• At start, a synchronous motor may rotate slightly in the opposite direction of the Run command depending on parameter settings and rotor position.

• The amount of starting torque that can be generated differs by each control mode and by the type of motor being used. Set up the motor with the drive after verifying the starting torque, allowable load characteristics, impact load tolerance, and speed control range.

Contact Yaskawa or your Yaskawa agent if you plan to use a motor that does not fall within these specifications.

• In Open Loop Vector Control for PM motors, braking torque is less than 125% when running between 20% to 100%

• In Open Loop Vector Control for PM motors, the allowable load inertia moment is approximately 50 times higher than

• When using a holding brake in Open Loop Vector Control for PM motors, release the brake prior to starting the motor.

speed, even with a braking resistor. Braking torque drops to less than half when running at less than 20% speed.

the motor inertia moment or less. Contact Yaskawa or your Yaskawa agent concerning applications with a larger inertia moment.

Failure to set the proper timing can result in speed loss. Not for use with conveyor, transport, or hoist type applications.

YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide 13

Page 14

i Preface & General Safety

• To restart a coasting motor rotating at over 200 Hz while in the V/f control mode, use the Short Circuit Braking function to first bring the motor to a stop. Short Circuit Braking requires a special braking resistor. Contact Yaskawa or your Yaskawa agent for details. Speed Search can be used to restart a coasting motor rotating slower than 200 Hz. If the motor cable is relatively long, however, the motor should instead be stopped using Short Circuit Braking, which forces the motor to stop by creating a short-circuit in the motor windings.

Applications with Specialized Motors

■

Applications with Specialized Motors Multi-Pole Motor

Because the rated current will differ from a standard motor, be sure to check the maximum current when selecting a drive. Always stop the motor before switching between the number of motor poles. If a regen overvoltage fault occurs or if overcurrent protection is triggered, the motor will coast to stop.

Submersible Motor

Because motor rated current is greater than a standard motor, select the drive capacity accordingly. Be sure to use a large enough motor cable to avoid decreasing the maximum torque level on account of voltage drop caused by a long motor cable.

Explosion-Proof Motor

Both the motor and drive need to be tested together to be certified as explosion-proof. The drive is not designed for explosion proof areas.

Furthermore, if an encoder is attached to an explosion-proof motor make sure the encoder is explosion-proof too. Use an insulating signal converter for connecting the encoder signal lines to the drives speed feedback option card.

Geared Motor

To avoid gear damage when operating at low speeds or very high speeds, make sure that both the gear and lubricant are rated for the desired speed range. Consult with the manufacturer for applications that require operation outside the rated speed range of the motor or gear box.

Single-Phase Motor

Variable speed drives are not designed for operation with single phase motors. Using capacitors to start the motor causes excessive current to flow and can damage drive components. A split-phase start or a repulsion start can end up burning out the starter coils because the internal centrifugal switch is not activated. A1000 is for use with three-phase motors only.

Uras Vibrator

Uras vibrator is a vibration motor that gets power from centrifugal force by rotating unbalanced weights on both ends of the shaft. After considering the points below, consult with a your Yaskawa representative to determine the best solution for the application.

• Uras vibrator should be used within the drive rated frequency.

• Use V/f Control.

• Increase the acceleration time five to fifteen times longer than would normally be used due to the high amount of load inertia of an Uras vibrator. Increase drive capacity for applications that require an acceleration time of less than 5 s.

• Drive may have trouble starting due to undertorque that results from erratic torque (static friction torque at start).

Motor with Brake

Caution should be taken when using a drive to operate a motor with a built-in holding brake. If the brake is connected to the output side of the drive, it may not release at start due to low voltage levels. A separate power supply should be installed for the motor brake. Motors with a built-in brake tend to generate a fair amount of noise when running at low speeds.

Notes on Power Transmission Parts (belts, chains, gear boxes, ...)

Installing a drive in a machine that was directly connected to the power supply allows to adjust the machine speed. Continuous operation above or below the rated speed can wear on lubrication material in gear boxes and other power transmission parts. In order to avoid machine damage make sure lubrication is sufficient within the whole speed range. Note that operation above the rated speed can increase the noise generated by the machine.

14 YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide

Page 15

i Preface & General Safety

WARNING

Risk of electric shock.

Hot surfaces

Top and Side surfaces may become hot. Do not touch.

●

YEC_com mon

LO RE

ESC

RUN STOP

ENTERRESET

ALM

DIGITAL OPERATOR JVOP-182

CIMR-AA2A0021FAA

200V 3Phase 5.5kW/3.7kW

REV DRV FOUT

S/N:

危険

けが．感電のおそれがあります。

高温注意

インバータ上部、両側面は高温になります。触らないでください。

●

AVERTISSMENT

NPJT31470-1

Risque de décharge électrique.

Surfaces Chaudes

Dessus et cotés du boitier Peuvent devenir chaud. Ne Pas toucher.

WARNING

Risk of electric shock.

Hot surfaces

Top and Side surfaces may become hot. Do not touch.

●

Warning Label

YEC_common

■ Drive Label Warnings

Always heed the warning information listed in Figure 3 in the position shown in Figure 4.

Figure 3

Figure 3 Warning Information

Figure 4

Figure 4 Warning Information Position

■ Warranty Information

Warranty Period

This drive is warranted for 12 months from the date of delivery to the customer or 18 months from the date of shipment from the Yaskawa factory, whichever comes first.

Scope of Warranty Inspections

Customers are responsible for periodic inspections of the drive. Upon request, a Yaskawa representative will inspect the drive for a fee. If the Yaskawa representative finds the drive to be defective due to Yaskawa workmanship or materials and the defect occurs during the warranty period, this inspection fee will be waived and the problem remedied free of charge.

Repairs

If a Yaskawa product is found to be defective due to Yaskawa workmanship or materials and the defect occurs during the warranty period, Yaskawa will provide a replacement, repair the defective product, and provide shipping to and from the site free of charge.

However, if the Yaskawa Authorized Service Center determines that the problem with the drive is not due to defective workmanship or materials, the customer will be responsible for the cost of any necessary repairs. Some problems that are outside the scope of this warranty are:

Problems due to improper maintenance or handling, carelessness, or other reasons where the customer is determined to be responsible.

YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide 15

Page 16

i Preface & General Safety

Problems due to additions or modifications made to a Yaskawa product without Yaskawa’s understanding.

Problems due to the use of a Yaskawa product under conditions that do not meet the recommended specifications.

Problems caused by natural disaster or fire.

After the free warranty period elapses.

Replenishment or replacement of consumables or expendables.

Defective products due to packaging or fumigation.

Malfunction or problems caused by program that has been made by customers using DriveWorksEZ.

Other problems not due to defects in Yaskawa workmanship or materials.

Warranty service is only applicable within Japan. However, after-sales service is available for customers outside of Japan for a reasonable fee.

Contact your local Yaskawa representative for more information.

Exceptions

Any inconvenience to the customer or damage to non-Yaskawa products due to Yaskawa’s defective products whether within or outside of the warranty period are NOT covered by warranty.

Restrictions

A1000 was not designed or manufactured for use in devices or systems that may directly affect or threaten human lives or health.

Customers who intend to use the product described in this manual for devices or systems relating to transportation, health care, space aviation, atomic power, electric power, or in underwater applications must first contact their Yaskawa representatives or the nearest Yaskawa sales office.

This product has been manufactured under strict quality-control guidelines. However, if this product is to be installed in any location where failure of this product could involve or result in a life-and-death situation or loss of human life or in a facility where failure may cause a serious accident or physical injury, safety devices must be installed to minimize the likelihood of any accident.

16 YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide

Page 17

Receiving

1 Receiving

PRG : 1010

IND.CONT.EQ.

7J48 B

CIMR-AA2A0021FAA

YASKAWA ELECTRIC CORPORATION

MADE IN JAPAN

: AC3PH 200-240V 50/60Hz 24A/18.9A : AC3PH 0-240V 0-400Hz 21A/17.5A : 3.5 kg : :

: E131457 IP20

PASS

MODEL MAX APPLI. MOTOR : 5.5kW / 3.7kW REV : A INPUT OUTPUT MASS O / N S / N

FILE NO TYPE 1 ENCLOSURE

AC drive model

Input specifications Output specifications

Lot number Serial number

Software version

Enclosure type

Normal Duty Amps / Heavy Duty Amps

YEC_common

CIMR- A A 2 A 0004 F A A

Drive

A1000 Series

No.

Enclosure

Type

Design Revision Order

No.

Customized Specifications

A Standard model

No.

Region Code

UUSA

IP00

NEMA Type 1

A Japan

T Asia

C Europe

B China

No. Voltage Class

No.

Environmental

Refer to the following page.

Specification

K Gas-resistant

N S

Standard

Humidity- and dust-resistant Oil-resistant

Vibration-resistant

3-phase, 380-480 Vac

3-phase, 200-240 Vac

<1>

YEC_common

◆ Model Number and Nameplate Check

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.

Nameplate

■

Figure 5

1 Receiving

Figure 5 Nameplate Information

YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide 17

Page 18

1 Receiving

Three-Phase 200 V

No.

0004 0.75 3.5 0004 0.4 3.2

0006 1.1 6.0 0006 0.75 5

0008 1.5 8.0 0008 1.1 6.9

0010 2.2 9.6 0010 1.5 8

0012 3.0 12 0012 2.2 11

0018 3.7 17.5 0018 3.0 14.0

0021 5.5 21 0021 3.7 17.5

0030 7.5 30 0030 5.5 25

0040 11 40 0040 7.5 33

0056 15 56 0056 11 47

0069 18.5 69 0069 15 60

0081 22 81 0081 18.5 75

0110 30 110 0110 22 85

0138 37 138 0138 30 115

0169 45 169 0169 37 145

0211 55 211 0211 45 180

0250 75 250 0250 55 215

0312 90 312 0312 75 283

0360 110 360 0360 90 346

0415 110 415 0415 110 415

Normal Duty Heavy Duty

Max. Motor

Capacity kW

Rated Output

Current A

No.

Max. Motor

Capacity kW

Rated Output

Current A

Three-Phase 400 V

Normal Duty Heavy Duty

No.

0002

0004 1.5 4.1 0004 0.75 3.4

0005 2.2 5.4 0005 1.5 4.8

0007 3.0 6.9 0007 2.2 5.5

0009 3.7 8.8 0009 3.0 7.2

0011 5.5 11.1 0011 3.7 9.2

0018 7.5 17.5 0018 5.5 14.8

0023 11 23 0023 7.5 18

0031 15 31 0031 11 24

0038 18.5 38 0038 15 31

0044 22 44 0044 18.5 39

0058 30 58 0058 22 45

0072 37 72 0072 30 60

0088 45 88 0088 37 75

0103 55 103 0103 45 91

0139 75 139 0139 55 112

0165 90 165 0165 75 150

0208 110 208 0208 90 180

0250 132 250 0250 110 216

0296 160 296 0296 132 260

0362 185 362 0362 160 304

0414 220 414 0414 185 370

0515 250 515 0515 220 450

0675 355 675 0675 315 605

<1> Drives with these specifications do not guarantee complete protection for the environmental conditions indicated.

Max. Motor

Capacity kW

0.75 2.1 0002 0.4 1.8

Rated Output

Current A

No.

Max. Motor

Capacity kW

Rated Output

Current A

18 YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide

Page 19

2 Mechanical Installation

Mechanical

Installation

2 Mechanical Installation

◆ Mechanical Installation

This section outlines specifications, procedures, and the environment for proper mechanical installation of the drive.

Installation Environment

■

To help prolong the optimum performance life of the drive, install the drive in an environmental matching the specifications below.

Table 1 Installation Environment

Environment Conditions

Installation Area Indoors

-10°C to +40°C (IP20/NEMA Type 1 enclosure)

-10°C to +50°C (IP00 enclosure)

Ambient Temperature

Humidity

Storage Temperature

Surrounding Area

Altitude

Vibration

Orientation Install the drive vertically to maintain maximum cooling effects.

Drive reliability improves in environments without wide temperature fluctuations. When using the drive in an enclosure panel, install a cooling fan or air conditioner in the area to ensure that the air temperature inside the enclosure does not exceed the specified levels. Do not allow ice to develop on the drive.

95% RH or less and free of condensation

-20 to +60°C

Install the drive in an area free from:

• oil mist and dust

• metal shavings, oil, water or other foreign materials

• radioactive materials

• combustible materials (e.g., wood)

• harmful gases and liquids

• excessive vibration

• chlorides

• direct sunlight

1000 m, up to 3000 m with derating

10 to 20 Hz at 9.8 m/s 20 to 55 Hz at 5.9 m/s2 (Models CIMR-A2A0004 to 2A0211 and 4A0002 to 4A0165) or,

2.0 m/s

(Models CIMR-A2A0250 to 2A0415 and 4A0208 to 4A0675)

NOTICE: Avoid placing drive peripheral devices, transformers, or other electronics near the drive as the noise created can lead to erroneous operation. If such devices must be used in close proximity to the drive, take proper steps to shield the drive from noise.

NOTICE: Prevent foreign matter such as metal shavings and wire clippings from falling into the drive during installation. Failure to comply could result in damage to the drive. Place a temporary cover over the top of the drive during installation. Remove the temporary cover before startup, as the cover will reduce ventilation and cause the drive to overheat.

YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide 19

Page 20

2 Mechanical Installation

OK Not Good Not Good

YEC_common

■ Installation Orientation and Spacing

Install the drive upright as illustrated in Figure 6 to maintain proper cooling.

Figure 6

Figure 6 Correct Installation Orientation

Single Drive Installation

Figure 7 shows the installation distance required to maintain sufficient space for airflow and wiring.

Figure 7

Side Clearance Top/Bottom Clearance

A – 50 mm minimum C – 120 mm minimum B – 30 mm minimum D – Airflow direction

Figure 7 Correct Installation Spacing

Note: IP20/NEMA Type 1 enclosure and IP00 enclosure models require the same amount of space above and below the drive for

installation.

20 YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide

Page 21

2 Mechanical Installation

Mechanical

Installation

YEC_common

Multiple Drive Installation (Side-by-Side Installation)

Models CIMR-A2A0004 through 0081 and 4A0002 through 0044 can take advantage of Side-by-Side installation.

When installing multiple drives into the same enclosure panel, mount the drives according to Figure 7.

When mounting drives with the minimum clearance of 2 mm according to Figure 8, derating must be considered and parameter L8-35 must be set to 1. Refer to Parameter List on page 131.

Figure 8

Line up the tops of the drives.

Side Clearance

Top/Bottom Clearance

A – 50 mm minimum C – 2 mm minimum B – 30 mm minimum

D – 120 mm minimum

Figure 8 Space Between Drives (Side-by-Side Mounting)

Note: When installing drives of different heights in the same enclosure panel, the tops of the drives should line up. Leave space

between the top and bottom of stacked drives for easy cooling fan replacement if required.

When drives with IP20/NEMA Type 1 enclosures are mounted side by side, the top protective covers of all drives must be removed as shown in Figure 9. Refer to Top Protective Cover on page 33 to remove and reattach the top protective cover.

Figure 9

YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide 21

Figure 9 IP20/NEMA Type 1 Side-by-Side Mounting in Enclosure

Page 22

2 Mechanical Installation

4-d

Max.8 Max.8

Figure 3

1.5

Figure 2

4-d

1.5

Figure 1

4-d

YEC_common

IP20/NEMA Type 1 Enclosure Drives

Note: IP20/NEMA Type 1 enclosure drives are equipped with a top cover. Removing this cover voids NEMA Type 1 protection but

still keeps IP20 conformity.

22 YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide

Page 23

2 Mechanical Installation

Mechanical

Installation

Table 2 Dimensions for IP20/NEMA Type 1 Enclosure: 200 V Class

Drive Model

CIMR-A2A

0004

Figure W H D W1 H0 H1 H2 H3 D1 t1 t2 d

140 260 147 122 – 248 6 – 38 5 – M5 3.1

Dimensions (mm)

0006 140 260 147 122 – 248 6 – 38 5 – M5 3.1 0008 140 260 147 122 – 248 6 – 38 5 – M5 3.2 0010 140 260 147 122 – 248 6 – 38 5 – M5 3.2 0012 140 260 147 122 – 248 6 – 38 5 – M5 3.2 0018 140 260 164 122 – 248 6 – 55 5 – M5 3.5 0021 140 260 164 122 – 248 6 – 55 5 – M5 3.5

<1>

0030 140 260 167 122 – 248 6 – 55 5 – M5 4.0 0040 140 260 167 122 – 248 6 – 55 5 – M5 4.0 0056 180 300 187 160 – 284 8 – 75 5 – M5 5.6 0069 220 350 197 192 – 335 8 – 78 5 – M6 8.7

0081

0110

<1>

220 365 197 192 350 335 8 15 78 5 – M6 9.7

254 534 258 195 400 385 7.5 134 100 2.3 2.3 M6 23

0138 279 614 258 220 450 435 7.5 164 100 2.3 2.3 M6 28 0169 329 730 283 260 550 535 7.5 180 110 2.3 2.3 M6 41 0211 329 730 283 260 550 535 7.5 180 110 2.3 2.3 M6 42 0250 456 960 330 325 705 680 12.5 255 130 3.2 3.2 M10 83

<2>

0312 456 960 330 325 705 680 12.5 255 130 3.2 3.2 M10 88 0360 504 1168 350 370 800 773 13 368 130 4.5 4.5 M12 108

Weight

(kg)

<1> Removing the top protective cover from a IP20/NEMA Type 1 drive voids NEMA Type 1 protection but still keeps IP20 conformity. <2> Special order required. Contact your Yaskawa sales representative.

Table 3 Dimensions for IP20/NEMA Type 1 Enclosure: 400 V Class

Drive Model

CIMR-A4A

0002

Figure W H D W1 H0 H1 H2 H3 D1 t1 t2 d

140 260 147 122 – 248 6 – 38 5 – M5 3.2

0004 140 260 147 122 – 248 6 – 38 5 – M5 3.2 0005 140 260 147 122 – 248 6 – 38 5 – M5 3.2 0007 140 260 164 122 – 248 6 – 55 5 – M5 3.4 0009 140 260 164 122 – 248 6 – 55 5 – M5 3.5 0011 140 260 164 122 – 248 6 – 55 5 – M5 3.5 0018 140 260 167 122 – 248 6 – 55 5 – M5 3.9

<1>

0023 140 260 167 122 – 248 6 – 55 5 – M5 3.9 0031 180 300 167 160 – 284 8 – 55 5 – M5 5.4 0038 180 300 187 160 – 284 8 – 75 5 – M5 5.7 0044 220 350 197 192 – 335 8 – 78 5 – M6 8.3 0058

254 465 258 195 400 385 7.5 65 100 2.3 2.3 M6 23

0072 279 515 258 220 450 435 7.5 65 100 2.3 2.3 M6 27 0088 329 630 258 260 510 495 7.5 120 105 2.3 3.2 M6 39 0103 329 630 258 260 510 495 7.5 120 105 2.3 3.2 M6 39 0139 329 730 283 260 550 535 7.5 180 110 2.3 2.3 M6 45 0165 329 730 283 260 550 535 7.5 180 110 2.3 2.3 M6 46

<2>

0208 456 960 330 325 705 680 12.5 255 130 3.2 3.2 M10 87 0250 504 1168 350 370 800 773 13 368 130 4.5 4.5 M12 106 0296 504 1168 350 370 800 773 13 368 130 4.5 4.5 M12 112 0362 504 1168 350 370 800 773 13 368 130 4.5 4.5 M12 117

Dimensions (mm)

Weight

(kg)

YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide 23

Page 24

2 Mechanical Installation

Figure 1

4-d

Max 10Max 10

YEC_common

4-d

Max 7.7Max 7.7

Figure 2

YEC_common

IP00 Enclosure Drives

4-d

Max 6Max 6

Figure 3

24 YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide

Page 25

Mechanical

Installation

Table 4 Dimensions for IP00 Enclosure: 200 V Class

2 Mechanical Installation

Drive Model CIMR-A2A

0110 0138 275 450 258 220 435 7.5 100 2.3 2.3 M6 25 0169 325 550 283 260 535 7.5 110 2.3 2.3 M6 37

0211 325 550 283 260 535 7.5 110 2.3 2.3 M6 38 0250 450 705 330 325 680 12.5 130 3.2 3.2 M10 76 0312 450 705 330 325 680 12.5 130 3.2 3.2 M10 80 0360 500 800 350 370 773 13 130 4.5 4.5 M12 98 0415 500 800 350 370 773 13 130 4.5 4.5 M12 99

Figure W H D W1 H1 H2 D1 t1 t2 d

250 400 258 195 385 7.5 100 2.3 2.3 M6 21

Dimensions (mm)

Table 5 Dimensions for IP00 Enclosure: 400 V Class

Drive Model CIMR-A4A

0058 0072 275 450 258 220 435 7.5 100 2.3 2.3 M6 25 0088 325 510 258 260 495 7.5 105 2.3 3.2 M6 36 0103 325 510 258 260 495 7.5 105 2.3 3.2 M6 36 0139 325 550 283 260 535 7.5 110 2.3 2.3 M6 41 0165 325 550 283 260 535 7.5 110 2.3 2.3 M6 42 0208 450 705 330 325 680 12.5 130 3.2 3.2 M10 79 0250 500 800 350 370 773 13 130 4.5 4.5 M12 96 0296 500 800 350 370 773 13 130 4.5 4.5 M12 102 0362 500 800 350 370 773 13 130 4.5 4.5 M12 107 0414 2 500 950 370 370 923 13 135 4.5 4.5 M12 125 0515 0675 670 1140 370 440 1110 15 150 4.5 4.5 M12 221

Figure W H D W1 H1 H2 D1 t1 t2 d

250 400 258 195 385 7.5 100 2.3 2.3 M6 21

670 1140 370 440 1110 15 150 4.5 4.5 M12 216

Dimensions (mm)

Weight

(kg)

Weight

(kg)

YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide 25

Page 26

3 Electrical Installation

◆ Standard Connection Diagram

Connect the drive and peripheral devices as shown in Figure 10. 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 53 for instructions on operating the drive.

NOTICE: Inadequate wiring could result in damage to the drive. Install adequate branch circuit short circuit protection per applicable codes. The drive is suitable for circuits capable of delivering not more than 100,000 RMS symmetrical amperes, 240 Vac maximum (200 V Class) and 480 Vac maximum (400 V Class).

NOTICE: When the input voltage is 440 V or higher or the wiring distance is greater than 100 meters, pay special attention to the motor insulation voltage or use a drive duty motor. Failure to comply could lead to motor insulation breakdown.

NOTICE: Do not connect AC control circuit ground to drive enclosure. Improper drive grounding can cause control circuit malfunction.

NOTICE: The minimum load for the multi-function relay output MA-MB-MC is 10 mA. If a circuit requires less than 10 mA (reference

value), connect it to a photocoupler output (P1, P2, PC). Improper application of peripheral devices could result in damage to the photocoupler output of the drive.

26 YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide

Page 27

Electrical Installation

Figure 10

−



−

<4>

<6>

A+ A

B

Z

B+

Z+

AO IG BO IG ZO IG

TB1

TB2

B track monitor

A track monitor

U/T

V/T2

W/T

Ground

Cooling fan

Terminals -, +1, +2, B1, B2 are for connection options. Never connect power supply lines to these terminals

DC reactor

(option)

Thermal relay

(option)

−



−



Drive

B112

kΩ

0 V

E (G)

<1>

<2>

<3>

<11>

<8>

<12>

<13>

<9>

<10>

<8>

<7>

<5>

−

+24 V

CN5-C

CN5-B

CN5-A

Jumper

Braking resistor (option)

Forward Run / Stop

Reverse Run / Stop

External fault

Fault reset

Multi-speed step 1

Multi-speed step 2

External Baseblock

Jog speed

Multi-function

digtial inputs

(default setting)

Sink / Source mode selection jumper S3 (default: Sink)

Option board

connectors

Pulse Train Input (max 32 kHz)

Shield ground terminal

Multi-function analog/ pulse

train inputs

Power supply +10.5 Vdc, max. 20 mA

Analog Input 1 (Frequency Reference Bias) 0 to +10 Vdc (20 kΩ) Analog Input 2 (Frequency Reference Bias) 0 to +10 Vdc (20 kΩ) 4 to 20 mA / 0 to 20 mA (250 Ω)

Analog Input 3 (Aux. frequency reference) 0 to +10 Vdc (20 kΩ)

−V

Power supply, -10.5 Vdc, max. 20 mA

Safety switch

MEMOBUS/Modbus

comm. RS485/422

max. 115.2 kBps

Safe Disable inputs

Wire

jumper

Open

Safety relay /

controller

Termination resistor

(120 Ω, 1/2 W)

DIP Switch S2

DIP Switch S1

Fault relay output 250 Vac, max. 1 A 30 Vdc, max 1 A (min. 5 Vdc, 10 mA)

Multi-function relay output (During Run) 250 Vac, max. 1 A 30 Vdc, max 1 A (min. 5 Vdc, 10 mA)

Multi-function photo coupler output 1 (Zero Speed) 48 Vdc, max 50 mA

Multi-function photo coupler output 2 (Speed Agree 1) 48 Vdc, max 50 mA

Multi-function pulse train output (Output frequency) 0 to 32 kHz (2.2 kΩ)

Multi-function analog output 1 (Output frequency)

-10 to +10 Vdc (2mA)

Multi-function analog output 2 (Output current)

-10 to +10 Vdc (2mA)

EDM (Safety Electronic Device Monitor)

Main Circuit

Control Circuit

shielded line

twisted-pair shielded line

main circuit terminal

control circuit terminal

PGB3

R/L1

S/L2

T/L3

Fuse

2MCCB

OFF

THRX

TRX

Fault relay contact

Braking resistor unit Thermal relay trip contact

THRX

ELCB (MCCB)

Three-phase power supply

200 to 240 V 50/60 Hz

<14>

2MCCB

r1 s1 t1

Wiring sequence should shut off power to the drive when a fault output is triggered.

If running from a 400 V power supply, a step-down transformer is needed to reduce the voltage to 200 V.

YEC_common

3 Electrical Installation

Figure 10 Drive Standard Connection Diagram (example: CIMR-A2A0040)

<1> Remove the jumper when installing a DC reactor. Models CIMR-A2A0110 through 2A0415 and 4A0058 through 4A0675 come with a

built-in DC reactor.

<2> When installing a dynamic braking option, a thermal relay sequence should also be set up to shut off power to the drive in case overheat

occurs.

<3> The drive’s protection function for the internal braking transistor needs to be disabled (L8-55 = 0) if using a regen unit such as a regen

converter or some type of dynamic braking options (and therefore not the internal braking transistor). If left enabled, a braking resistor fault (rF) may result. Make sure Stall Prevention is disabled (L3-04 = 0) whenever using a regenerative converter, a regenerative unit or a dynamic

braking option. If left enabled, the drive may not stop within the specified deceleration time. <4> Self-cooling motors do not require wiring that would be necessary with motors using a cooling fan. <5> Supplying power to the control circuit separately from the main circuit requires a 24 V power supply (option). <6> For control modes that do not use a motor speed feedback signal, PG option card wiring is not necessary. <7> This figure shows an example of a sequence input to S1 through S8 using a non-powered relay or an NPN transistor. Use jumper S3 to select

sink or source, and an internal or external power supply. <8> The maximum output current capacity for the +V and -V terminals on the control circuit is 20 mA. Never short terminals +V, -V, and AC, as

this can cause erroneous operation or damage the drive. <9> Set DIP switch S1 to select between a voltage or current input signal to terminal A2. The default setting is for current input. <10> Enable the termination resistor in the last drive in a MEMOBUS network by setting DIP switch S2 to the ON position.

YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide 27

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3 Electrical Installation

Braking Resistor Unit

(option)

Drive

Motor

Jumper

DC reactor

(option)

R/L1

S/L2

T/L3

U/T1

V/T2

W/T3

−

3 Phase power supply 200 to 240 V

ac, 50 to 60 Hz

380 to 480 Vac, 50 to 60 Hz

YEC_common

<11> The sink/source setting for the Safe Disable input is the same as with the sequence input. Jumper S3 has the drive set for an external power

supply. When not using the Safe Disable input feature, remove the jumper shorting the input and connect an external power supply. Refer to

Figure 42 for instructions.

<12> Disconnect the wire jumper between H1 - HC and H2 - HC when utilizing the Safe Disable input. <13> Monitor outputs work with devices such as analog frequency meters, ammeters, voltmeters, and wattmeters. They are not intended for use as

a feedback-type of signal.

<14> Note that if the drive is set to trigger a fault output whenever the fault restart function is activated (L5-02 = 1), then a sequence to interrupt

power when a fault occurs will result in shutting off the power to the drive as the drive attempts to restart itself. The default setting for L5-02 is 0 (fault output not active during restart attempt).

WARNING! Sudden Movement Hazard. Do not close the wiring for the control circuit unless the multifunction input terminal parameters are properly set. Improper sequencing of run/stop circuitry could result in death or serious injury from moving equipment.

WARNING! Sudden Movement Hazard. Ensure start/stop and safety circuits are wired properly and in the correct state before energizing the drive. Failure to comply could result in death or serious injury from moving equipment. When programmed for 3-Wire control, a momentary closure on terminal S1 may cause the drive to start.

WARNING! When 3-Wire sequence is used, set the drive to 3-Wire sequence before wiring the control terminals and ensure parameter b1-17 is set to 0 (drive does not accept a run command at power up (default). If the drive is wired for 3-Wire sequence but set up for 2-Wire sequence (default) and if parameter b1-17 is set to 1 (drive accepts a Run command at power up), the motor will rotate in reverse direction at power up of the drive and may cause injury.

WARNING! When the application preset function is executed (or A1-06 is set to any value other than 0) the drive I/O terminal functions change. This may cause unexpected operation and potential damage to equipment or injury.

WARNING! When using the automatic fault restart function while the wiring is made to shut off the power supply when a drive fault occurs, make sure the drive is set not to trigger a fault output during fault restart (L5-02=0, default). Otherwise the fault restart function can not work properly.

◆ Main Circuit Connection Diagram

Refer to diagrams in this section when wiring the drive’s main circuit. Connections may vary based on drive capacity. The DC power supply for the main circuit also provides power to the control circuit.

NOTICE: Do not use the negative DC bus terminal “-” as a ground terminal. This terminal is at high DC voltage potential. Improper wiring connections could damage the drive.

■ Three-Phase 200 V Class (CIMR-A2A0004 to 0081)

Three-Phase 400 V Class (CIMR-A4A0002 to 0044)

Figure11

Figure 11 Connecting Main Circuit Terminals

■ Three-Phase 200 V Class (CIMR-A2A0110, 0138)

Three-Phase 400 V Class (CIMR-A4A0058, 0072)

Figure 12

Braking Resistor Unit (option)

Use terminals and

3 Phase power supply 200 to 240 V 380 to 480 Vac, 50 to 60 Hz

ac, 50 to 60 Hz

for DC power supply

−

Drive

R/L1

S/L2

T/L3

U/T1

V/T2

W/T3

Motor

Figure 12 Connecting Main Circuit Terminals

28 YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide

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3 Electrical Installation

Electrical Installation

R/L1

S/L2

T/L3

U/T1

V/T2

W/T3

Braking Unit (option)

Braking Resistor Unit (option)

Drive

Motor

−

Use terminals and for DC power supply

−

3 Phase power supply 200 to 240 Vac, 50 to 60 Hz 380 to 480 Vac, 50 to 60 Hz

YEC_common

■ Three-Phase 200 V Class (CIMR-A2A0169 to 0415)

Three-Phase 400 V Class (CIMR-A4A0088 to 0675)

Figure 13

Figure 13 Connecting Main Circuit Terminals

◆ Terminal Cover

Follow the procedure below to remove the terminal cover for wiring and to reattach the terminal cover after wiring is complete.

■

CIMR-A2A0004 to 0081, 4A0002 to 0044 (IP20/NEMA Type 1 Enclosure)

Removing the Terminal Cover

1. Loosen the terminal cover screw.

Figure 14

2. Push in on the hook located on the bottom of the terminal cover, and gently pull forward. This should remove the

Figure 15

YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide 29

Figure 14 Removing the Terminal Cover on an IP20/NEMA Type 1 Enclosure Drive

terminal cover.

Figure 15 Removing the Terminal Cover on an IP20/NEMA Type 1 Enclosure Drive

Page 30

3 Electrical Installation

YEC_common

Reattaching the Terminal Cover

Power lines and signal wiring should pass through the opening provided. Refer to Wiring the Main Circuit Terminal on

page 42 and Wiring the Control Circuit Terminal on page 46 for details on wiring.

After all wiring to the drive and other devices is complete, reattach the terminal cover.

Figure 16

Connect ground wiring first, followed by the main circuit, and then wire the control circuit. Power lines and signal wiring exit through the opening provided.

Figure 16 Reattaching the Terminal Cover on an IP20/NEMA Type 1 Enclosure Drive

■ CIMR-A2A0110 to 0415, 4A0058 to 0675 (IP00 Enclosure)

Removing the Terminal Cover

1. Loosen the screws <1> on the terminal cover, then pull down on the cover.

CAUTION! Do not completely remove the cover screws, just loosen them. If the cover screws are removed completely, the terminal

cover may fall off causing an injury.

<1> The following drives have three screws on the top of terminal cover.

-CIMR-A2A0250 to 2A0415

-CIMR-A4A0208 to 4A0675

Figure 17

Figure 17 Removing the Terminal Cover on an IP00 Enclosure Drive

2. Pull forward on the terminal cover to free it from the drive.

Figure 18

Figure 18 Removing the Terminal Cover on an IP00 Enclosure Drive

30 YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide

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3 Electrical Installation

Electrical Installation

Connect ground wiring first, followed by the main circuit, and then wire the control circuit.

YEC_common

Reattaching the Terminal Cover

Once wiring to the terminal board and other devices is complete, double check all connections and finally reattach the terminal cover. Refer to Wiring the Main Circuit Terminal on page 42 and Wiring the Control Circuit Terminal on

page 46 for details on wiring.

Figure 19

Figure 19 Reattaching the Terminal Cover on an IP00 Enclosure Drive

◆ Digital Operator and Front Cover

The digital operator can be detached from the drive for remote operation, or when the front cover has to be opened to install an option card.

NOTICE: Be sure the digital operator has been removed prior to opening the front cover or reattaching it. Leaving the digital operator plugged into the drive when removing the front cover can result in erroneous operation caused by a poor connection. Before reattaching the operator make sure the front cover has been firmly fastened back into place.

■ Removing/Reattaching the Digital Operator

Removing the Digital Operator

While pinching inwards on the hook located on the right side of the digital operator, pull forward and remove the operator from the drive.

Figure 20

Figure 20 Removing the Digital Operator

Reattaching the Digital Operator

Insert the digital operator into the opening in the front cover while aligning it with the notches on the left side of the opening. Next press gently on the right side of the operator until it clicks into place.

Figure 21

YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide 31

Figure 21 Reattaching the Digital Operator

Page 32

3 Electrical Installation

YEC_common

■ Removing/Reattaching the Front Cover

Removing the Front Cover 2A0004 to 2A0081 and 4A0002 to 4A0044

After removing the terminal cover and the digital operator, loosen the screw that affixes the front cover (model CIMRA2A0056, 4A0031, 4A0038 do not use a screw to affix the front cover). Pinch inwards on hooks found on each side of the front cover, then pull forward to remove it from the drive.

Figure 22

Figure 22 Remove the Front Cover (2A0004 to 2A0081 and 4A0002 to 4A0044)

2A0110 to 2A0415 and 4A0058 to 4A0675

1. Remove the terminal cover and the digital operator.

2. Loosen the installation screw on the front cover.

3. Use a straight-edge screwdriver to loosen the hooks on each side of the cover that hold it in place.

Figure 23

HookHook

Front cover installation screw

Free hooks on both sides of the cover

Figure 23 Remove the Front Cover (2A0110 to 2A0415 and 4A0058 to 4A0675)

4. First unhook the left side of the front cover, then swing the left side towards you as shown in the figure below

Figure 24

until the cover comes off.

Figure 24 Remove the Front Cover (2A0110 to 2A0415 and 4A0058 to 4A0675)

32 YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide

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3 Electrical Installation

Electrical Installation

YEC_c ommon

YEC_common

Reattaching the Front Cover

2A0004 to 2A0081 and 4A0002 to 4A0044

Reverse the instructions given in Remove the Front Cover (2A0004 to 2A0081 and 4A0002 to 4A0044) on page 32 to reattach the front cover. Pinch inwards on the hooks found on each side of the front cover while guiding it back into the drive. Make sure it clicks firmly into place.

2A0110 to 2A0415 and 4A0058 to 4A0675

1. Slide the front cover so that the hooks on the top connect to the drive.

Figure 25

Figure 25 Reattach the Front Cover (2A0110 to 2A0415 and 4A0058 to 4A0675)

2. Once the hooks have connected to the drive, press firmly on the cover to make sure it locks into place.

◆ Top Protective Cover

Drive models CIMR-A2A0004 to 0081 and 4A0002 to 0058 are designed with NEMA Type 1 specifications, and have a top protective cover on the top. Removing this top protective cover voids the NEMA Type 1 conformance but still keeps a protection degree in accordance with IP20 enclosure.

■

Removing the Top Protective Cover

Insert the tip of a straight-edge screwdriver into the small openings located on the front edge of the top protective cover. Gently apply pressure as shown in the figure below to free the cover from the drive.

Note: Removing the top protective cover from a IP20/NEMA Type 1 enclosure drive voids the NEMA Type 1 protection but still keeps

Figure 26

IP20 conformity.

Figure 26 Removing the Top Protective Cover

YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide 33

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3 Electrical Installation

Top Protective Cover Mounting Holes

YEC_common

■ Reattaching the Top Protective Cover

Align the small protruding hooks on the sides of the top protective cover with the corresponding mounting holes on the top of the drive. Pinch the hooks inward so that the they connect with the mounting holes and fasten the top protective cover back into place.

Figure 27

Figure 27 Reattaching the Top Protective Cover

◆ Main Circuit Wiring

This section describes the functions, specifications, and procedures required to safely and properly wire the main circuit in the drive.

NOTICE: Do not solder the ends of wire connections to the drive. Soldered wiring connections can loosen over time. Improper wiring practices could result in drive malfunction due to loose terminal connections.

NOTICE: Do not switch the drive input to start or stop the motor. Frequently switching the drive on and off shortens the lifetime of the DC bus charge circuit and the DC bus capacitors, and can cause premature drive failures. For the full performance life, refrain from switching the drive on and off more than once every 30 minutes.

■ Main Circuit Terminal Functions

Table 6 Main Circuit Terminal Functions

Terminal Type

200 V Class

400 V Class

Model CIMR-

A

R/L1

T/L3

U/T1

W/T3

+2 • DC reactor connection

–

+3 not available

2A0004 to 2A0081 2A0110, 2A0138 2A0169 to 2A0415

4A0002 to 4A0044 4A0058 to 4A0072 4A0088 to 4A0675

Main circuit power supply input Connects line power to the drive 27S/L2

Drive output Connects to the motor

Braking resistor not available

not available (+1, +2) (remove the shorting bar between +1 and +2)

• DC power supply input (+1, –)

For 200 V class: 100 Ω or less For 400 V class: 10 Ω or less

• DC power supply input (+1, –)

• Braking unit connection (+3, –)

Function Page

Available for connecting a braking resistor or a braking resistor unit option

For connection

• of the drive to a DC power supply (terminals +1 and – are not EU or UL approved)

• of dynamic braking options

• of a DC reactor

Grounding terminal

27V/T2

–

34 YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide

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3 Electrical Installation

Electrical Installation

■ Protecting Main Circuit Terminals

Insulation Cap

Use insulation caps when wiring the drive with crimp terminals. Take particular care to ensure that wiring does not touch neighboring terminals or the surrounding case.

Insulation Barrier

Insulation barriers are packaged with drive models CIMR-A4A0414 through 0675 to provide added protection between terminals. Yaskawa recommends using the insulation barriers provided to ensure proper wiring. See Figure 28 for instructions on where the insulation barriers should be placed.

Figure 28

Insulation Barrier

Figure 28 Installing insulation barriers

■ Wire Gauges and Tightening Torque

Select the appropriate wires and crimp terminals from Ta bl e 7 through Table 8 .

Note: 1. Wire gauge recommendations based on drive continuous current ratings (ND) using 75°C 600 Vac vinyl-sheathed wire assuming

ambient temperature within 40°C and wiring distance less than 100 m.

2. Terminals +1, +2, +3, –, B1 and B2 are for connecting optional devices such as a DC reactor or braking resistor. Do not connect other nonspecific devices to these terminals.

• Consider the amount of voltage drop when selecting wire gauges. Increase the wire gauge when the voltage drop is greater than 2% of motor rated voltage. Ensure the wire gauge is suitable for the terminal block. Use the following formula to calculate the amount of voltage drop:

Line drop voltage (V) = × wire resistance (Ω/km) × wire length (m) × current (A) × 10

-3

• Refer to instruction manual TOBPC72060000 for braking unit or braking resistor unit wire gauges.

• Use terminal +1 and the negative terminal when connecting a braking resistor, regenerative converter, or a regen unit.

• Refer to UL Standards Compliance on page 187 for information on UL compliance.

YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide 35

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3 Electrical Installation

Three-Phase 200 V Class

Table 7 Wire Gauge and Torque Specifications (Three-Phase 200 V Class)

Model

CIMR-A

2A0004 2A0006 2A0008 2A0010

2A0012

2A0018

2A0021

2A0030

2A0040

2A0056

For Asia <1> For U.S.A <2> For Europe and China <3>

Term ina l

Recommended

Gauge

Applicable

Gauge

Recommended

Gauge

AWG, kcmi l

Applicable

Gauge

AWG, kcmil

Recommended

Gauge

Applicable

Gauge

Screw

Size

R/L1, S/L2, T/L3 2 2 to 5.5 14 14 to 10 2.5 2.5 to 6

U/T1, V/T2, W/ T3

–, +1, +2 2 2 to 5.5 – 14 to 10 – 2.5 to 6

2 2 to 5.5 14 14 to 10 2.5 2.5 to 6

B1, B2 2 2 to 5.5 – 14 to 10 – 2.5 to 6

2 2 to 5.5 10 14 to 10 2.5 2.5 to 6

R/L1, S/L2, T/L3 2 2 to 5.5 12 14 to 10 2.5 2.5 to 6

U/T1, V/T2, W/ T3

–, +1, +2 2 2 to 5.5 – 14 to 10 – 2.5 to 6

2 2 to 5.5 14 14 to 10 2.5 2.5 to 6

B1, B2 2 2 to 5.5 – 14 to 10 – 2.5 to 6

3.5 2 to 5.5 10 14 to 10 2.5 2.5 to 6

R/L1, S/L2, T/L3 3.5 2 to 5.5 10 12 to 10 2.5 2.5 to 6

U/T1, V/T2, W/ T3

–, +1, +2 3.5 2 to 5.5 – 14 to 10 – 2.5 to 6

3.5 2 to 5.5 10 14 to 10 2.5 2.5 to 6

B1, B2 2 2 to 5.5 – 14 to 10 – 2.5 to 6

3.5 2 to 5.5 10 14 to 10 2.5 2.5 to 6

R/L1, S/L2, T/L3 5.5 3.5 to 5.5 10 12 to 10 4 2.5 to 6

U/T1, V/T2, W/ T3

–, +1, +2 5.5 3.5 to 5.5 – 12 to 10 – 4 to 6

3.5 3.5 to 5.5 10 12 to 10 2.5 2.5 to 6

B1, B2 2 2 to 5.5 – 14 to 10 – 2.5 to 6

3.5 3.5 to 5.5 10 12 to 10 4 4 to 6

R/L1, S/L2, T/L3 14 5.5 to 14 8 10 to 6 6 4 to 16

U/T1, V/T2, W/ T3

8 5.5 to 14 8 10 to 6 6 4 to 16

–, +1, +2 14 5.5 to 14 – 10 to 6 – 6 to 16

B1, B2 3.5 2 to 5.5 – 14 to 10 – 4 to 6

5.5 5.5 to 8 8 10 to 8 6 6 to 10 M5

R/L1, S/L2, T/L3 14 14 6 8 to 6 10 6 to 16

U/T1, V/T2, W/ T3

14 8 to 14 8 8 to 6 10 6 to 16

–, +1, +2 14 14 – 6 – 16

B1, B2 5.5 3.5 to 5.5 – 12 to 10 – 4 to 6

5.5 5.5 to 8 8 10 to 8 10 6 to 10 M5

R/L1, S/L2, T/L3 22 14 to 22 4 6 to 4 16 16 to 25

U/T1, V/T2, W/ T3

14 14 to 22 4 6 to 4 16 16 to 25

–, +1, +2 22 14 to 22 – 6 to 4 – 16 to 25

B1, B2 14 5.5 to 14 – 10 to 6 – 6 to 10 M5

8 8 to 14 6 8 to 6 16 10 to 16 M6

Tightening

Tor que

Nxm (lb.in.)

1.2 to 1.5

(10.6 to 13.3)

1.2 to 1.5

(10.6 to 13.3)

1.2 to 1.5

(10.6 to 13.3)

1.2 to 1.5

(10.6 to 13.3)

1.2 to 1.5

(10.6 to 13.3)

2 to 2.5

(17.7 to 22.1)

1.2 to 1.5

(10.6 to 13.3)

2 to 2.5

(17.7 to 22.1)

4 to 6

(35.4 to 53.1)

2 to 2.5

(17.7 to 22.1)

4 to 6

(35.4 to 53.1)

36 YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide

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3 Electrical Installation

Electrical Installation

Model

CIMR-A

2A0069

2A0081

2A0110

2A0138

2A0169

2A0211

2A0250

For Asia <1> For U.S.A <2> For Europe and China <3>

Ter min al

Recommended

Gauge

Applicable

Gauge

Recommended

Gauge

AWG, kcmil

Applicable

Gauge

AWG, kcmil

Recommended

Gauge

Applicable

Gauge

Screw

Size

R/L1, S/L2, T/L3 30 22 to 30 3 4 to 3 25 16 to 25

U/T1, V/T2, W/ T3

22 14 to 30 3 4 to 3 16 16 to 25

–, +1, +2 30 22 to 30 – 4 to 3 – 25

B1, B2 14 8 to 14 – 8 to 6 – 10 to 16 M5

8 8 to 22 6 6 to 4 16 16 to 25 M6

R/L1, S/L2, T/L3 38 30 to 38 2 3 to 2 35 25 to 35

U/T1, V/T2, W/ T3

30 22 to 38 2 3 to 2 25 25 to 35

–, +1, +2 38 30 to 38 – 3 to 2 – 25 to 35

B1, B2 14 14 – 6 – 16 M5

14 14 to 22 6 6 to 4 16 16 to 25 M6

R/L1, S/L2, T/L3 38 30 to 50 1/0 3 to 1/0 35 25 to 50

U/T1, V/T2, W/ T3

–, +1 60 38 to 60 – 2 to 1/0 – 35 to 50

38 30 to 50 1/0 3 to 1/0 35 25 to 50

B1, B2 22 14 to 50 – 6 to 1/0 – 16 to 50

14 14 to 38 6 6 to 4 16 16 to 25

R/L1, S/L2, T/L3 60 50 to 60 2/0 1 to 2/0 50 35 to 70

U/T1, V/T2, W/ T3

60 50 to 60 2/0 1 to 2/0 50 35 to 70

M10

–, +1 80 60 to 80 – 1/0 to 3/0 – 50 to 70

B1, B2 30 22 to 60 – 4 to 2/0 – 25 to 70

22 22 to 38 4 4 25 25 M8

R/L1, S/L2, T/L3 80 60 to 100 4/0 2/0 to 4/0 70 50 to 95

U/T1, V/T2, W/ T3

80 60 to 100 4/0 3/0 to 4/0 70 50 to 95

M10

–, +1 50 × 2P 50 to 100 – 1 to 4/0 – 35 to 95

+3 60 50 to 100 – 1/0 to 4/0 – 50 to 95

22 22 to 60 4 4 to 2 35 25 to 35 M8

R/L1, S/L2, T/L3 100 80 to 100 1/0 × 2P 1/0 to 2/0 95 70 to 95

U/T1, V/T2, W/ T3

50 × 2P 50 to 60 1/0 × 2P 1/0 to 2/0 95 70 to 95

M10

–, +1 50 × 2P 50 to 100 – 1 to 4/0 – 35 to 95

+3 80 60 to 100 – 1/0 to 4/0 – 50 to 95

22 22 to 60 4 4 to 1/0 50 25 to 50 M8

R/L1, S/L2, T/L3 80 × 2P 38 to 150 3/0 × 2P 3/0 to 300 95 × 2P 95 to 150

U/T1, V/T2, W/ T3

80 × 2P 38 to 150 3/0 × 2P 3/0 to 300 95 × 2P 95 to 150

M12

–, +1 80 × 2P 80 to 150 – 3/0 to 300 – 70 to 150

+3 80 × 2P 30 to 150 – 2 to 300 – 35 to 150 M10

22 22 to 150 3 3 to 300 95 95 to 150 M12

Tightening

Torq ue

Nxm (lb.in.)

9 to11

(79.7 to 97.4)

2 to 2.5

(17.7 to 22.1)

4 to 6

(35.4 to 53.1)

9 to11

(79.7 to 97.4)

2 to 2.5

(17.7 to 22.1)

4 to 6

(35.4 to 53.1)

9 to 11

(79.7 to 97.4)

18 to 23

(159 to 204)

9 to 11

(79.7 to 97.4)

18 to 23

(159 to 204)

9 to 11

(79.7 to 97.4)

18 to 23

(159 to 204)

9 to 11

(79.7 to 97.4)

32 to 40

(283 to 354)

18 to 23

(159 to 204)

32 to 40

(283 to 354)

YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide 37

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3 Electrical Installation

For Asia <1> For U.S.A <2> For Europe and China <3>

Model

CIMR-A

Term ina l

Recommended

Gauge

Applicable

Gauge

R/L1, S/L2, T/L3 80 × 2P 70 to 150 4/0 × 2P 3/0 to 300 95 × 2P 95 to 150

2A0312

U/T1, V/T2, W/ T3

–, +1 150 × 2P 80 to 150 – 3/0 to 300 – 70 to 150

80 × 2P 70 to 200 3/0 × 2P 3/0 to 300 95 × 2P 95 to 150

+3 80 × 2P 80 to 150 – 3/0 to 300 – 70 to 150 M10

38 38 to 150 2 2 to 300 95 95 to 150 M12

R/L1, S/L2, T/L3 100 × 2P 80 to 325 250 × 2P 4/0 to 600 240 95 to 300

2A0360

U/T1, V/T2, W/ T3

–, +1 150 × 2P 125 to 325 – 250 to 600 – 125 to 300

100 × 2P 80 to 325 4/0 × 2P 4/0 to 600 240 95 to 300

+3 80 × 2P 80 to 325 – 3/0 to 600 – 70 to 300 M10

38 38 to 200 1 1 to 350 120 120 to 240 M12

R/L1, S/L2, T/L3 125 × 2P 100 to 325 350 × 2P 250 to 600 120 × 2P 95 to 300

2A0415

U/T1, V/T2, W/ T3

–, +1 200 × 2P 150 to 325 – 300 to 600 – 150 to 300

125 × 2P 125 to 325 300 × 2P 300 to 600 300 95 to 300

+3 100 × 2P 80 to 325 – 3/0 to 600 – 70 to 300 M10

60 60 to 200 1 1 to 350 120 120 to 240 M12

<1> Gauges listed here are for use in Japan. <2> Gauges listed here are for use in the United States. <3> Gauges listed here are for use in Europe and China.

Recommended

Gauge

AWG, kcmi l

Applicable

Gauge

AWG, kcmil

Recommended

Gauge

Applicable

Gauge

Screw

Size

M12

Tightening

Tor que

Nxm (lb.in.)

32 to 40

(283 to 354)

18 to 23

(159 to 204)

32 to 40

(283 to 354)

32 to 40

(283 to 354)

18 to 23

(159 to 204)

32 to 40

(283 to 354)

32 to 40

(283 to 354)

18 to 23

(159 to 204)

32 to 40

(283 to 354)

Three-Phase 400 V Class

Table 8 Wire Gauge and Torque Specifications (Three-Phase 400 V Class)

Model

CIMR-A

4A0002 4A0004

4A0005 4A0007 4A0009

4A0011

Term ina l

R/L1, S/L2, T/L3 2 2 to 5.5 14 14 to 10 2.5 2.5 to 6

U/T1, V/T2, W/ T3

–, +1, +2 2 2 to 5.5 – 14 to 10 – 2.5 to 6

B1, B2 2 2 to 5.5 – 14 to 10 – 2.5 to 6

R/L1, S/L2, T/L3 2 2 to 5.5 14 14 to 10 2.5 2.5 to 6

U/T1, V/T2, W/ T3

–, +1, +2 2 2 to 5.5 – 14 to 10 – 2.5 to 6

B1, B2 2 2 to 5.5 – 14 to 10 – 2.5 to 6

R/L1, S/L2, T/L3 2 2 to 5.5 12 14 to 10 2.5 2.5 to 6

U/T1, V/T2, W/ T3

–, +1, +2 2 2 to 5.5 – 14 to 10 – 2.5 to 6

B1, B2 2 2 to 5.5 – 14 to 10 – 2.5 to 6

For Asia <1> For U.S.A <2> For Europe and China <3>

Recommended

Gauge

Applicable

Gauge

Recommended

Gauge

AWG, kcmi l

Applicable

Gauge

AWG, kcmil

Recommended

Gauge

2 2 to 5.5 14 14 to 10 2.5 2.5 to 6

2 2 to 5.5 12 14 to 12 2.5 2.5 to 4

2 2 to 5.5 14 14 to 10 2.5 2.5 to 6

3.5 2 to 5.5 10 14 to 10 2.5 2.5 to 6

2 2 to 5.5 14 14 to 10 2.5 2.5 to 6

3.5 2 to 5.5 10 14 to 10 2.5 2.5 to 6

Applicable

Gauge

Screw

Size

Tightening

Tor que

Nxm (lb.in.)

1.2 to 1.5

(10.6 to 13.3)

1.2 to 1.5

(10.6 to 13.3)

1.2 to 1.5

(10.6 to 13.3)

38 YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide

Page 39

3 Electrical Installation

Electrical Installation

Model

CIMR-A

4A0018

4A0023

4A0031

4A0038

4A0044

4A0058

4A0072

For Asia <1> For U.S.A <2> For Europe and China <3>

Ter min al

Recommended

Gauge

Applicable

Gauge

Recommended

Gauge

AWG, kcmil

Applicable

Gauge

AWG, kcmil

Recommended

Gauge

Applicable

Gauge

Screw

Size

R/L1, S/L2, T/L3 3.5 2 to 14 10 12 to 6 2.5 2.5 to 16

U/T1, V/T2, W/ T3

3.5 2 to 14 10 12 to 6 2.5 2.5 to 16 M4

–, +1, +2 3.5 2 to 14 – 12 to 6 – 4 to 16

B1, B2 2 2 to 5.5 – 12 to 10 – 4 to 6

3.5 2 to 5.5 10 14 to 10 2.5 2.5 to 6 M5

R/L1, S/L2, T/L3 5.5 3.5 to 14 10 10 to 6 4 2.5 to 16

U/T1, V/T2, W/ T3

5.5 3.5 to 14 10 10 to 6 4 2.5 to 16 M4

–, +1, +2 5.5 3.5 to 14 – 12 to 6 – 4 to 16

B1, B2 2 2 to 5.5 – 12 to 10 – 4 to 6

3.5 3.5 to 5.5 10 12 to 10 4 4 to 6 M5

R/L1, S/L2, T/L3 14 5.5 to 14 8 8 to 6 6 6 to 16

U/T1, V/T2, W/ T3

8 5.5 to 8 8 10 to 6 6 6 to 16

–, +1, +2 14 5.5 to 14 – 10 to 6 – 6 to 16

B1, B2 3.5 2 to 8 – 10 to 8 – 6 to 10 M5

5.5 5.5 to 8 8 10 to 8 6 6 to 10 M6

R/L1, S/L2, T/L3 14 14 6 8 to 6 10 10 to 16

U/T1, V/T2, W/ T3

14 8 to 14 8 8 to 6 6 6 to 16

–, +1, +2 14 14 – 6 – 6 to 16

B1, B2 5.5 3.5 to 8 – 10 to 8 – 6 to 10 M5

8 5.5 to 14 6 10 to 6 10 6 to 16 M6

R/L1, S/L2, T/L3 14 14 to 22 6 6 to 4 16 16 to 25

U/T1, V/T2, W/ T3

14 14 to 22 6 6 to 4 16 16 to 25

–, +1, +2 14 14 to 22 – 6 to 4 – 16 to 25

B1, B2 8 5.5 to 8 – 10 to 8 – 6 to 10 M5

8 8 to 14 6 8 to 6 16 10 to 16 M6

R/L1, S/L2, T/L3 14 14 4 6 to 4 16 10 to 16

U/T1, V/T2, W/ T3

–, +1 22 14 to 38 – 6 to 1 – 16 to 35

14 14 4 6 to 4 16 10 to 16

B1, B2 14 8 to 14 – 8 to 4 – 10 to 16

8 8 to 14 6 8 to 6 16 10 to 16

R/L1, S/L2, T/L3 22 14 to 22 3 4 to 3 16 16 to 25

U/T1, V/T2, W/ T3

–, +1 30 22 to 38 – 4 to 1 – 25 to 35

22 14 to 22 3 4 to 3 25 16 to 25

B1, B2 14 14 to 22 – 6 to 3 – 16 to 25

14 14 to 22 6 6 16 16 to 25

Tightening

Torq ue

Nxm (lb.in.)

1.2 to 1.5

(10.6 to 13.3)

2 to 2.5

(17.7 to 22.1)

1.2 to 1.5

(10.6 to 13.3)

2 to 2.5

(17.7 to 22.1)

2 to 2.5

(17.7 to 22.1)

2 to 2.5

(17.7 to 22.1)

4 to 6

(35.4 to 53.1)

2 to 2.5

(17.7 to 22.1)

2 to 2.5

(17.7 to 22.1)

4 to 6

(35.4 to 53.1)

4 to 6

(35.4 to 53.1)

2 to 2.5

(17.7 to 22.1)

4 to 6

(35.4 to 53.1)

9 to 11

(79.7 to 97.4)

9 to 11

(79.7 to 97.4)

YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide 39

Page 40

3 Electrical Installation

Model

CIMR-A

4A0088

4A0103

4A0139

4A0165

4A0208

4A0250

4A0296

4A0362

For Asia <1> For U.S.A <2> For Europe and China <3>

Term ina l

Recommended

Gauge

Applicable

Gauge

Recommended

Gauge

AWG, kcmi l

Applicable

Gauge

AWG, kcmil

Recommended

Gauge

Applicable

Gauge

Screw

Size

R/L1, S/L2, T/L3 30 22 to 50 2 3 to 1/0 25 16 to 50

U/T1, V/T2, W/ T3

–, +1 38 30 to 50 – 3 to 1/0 – 25 to 50

30 22 to 50 2 3 to 1/0 25 25 to 50

+3 22 14 to 50 – 6 to 1/0 – 16 to 50

22 14 to 22 4 6 to 4 16 16 to 25

R/L1, S/L2, T/L3 38 30 to 50 1/0 2 to 1/0 35 25 to 50

U/T1, V/T2, W/ T3

–, +1 60 30 to 50 – 3 to 1/0 – 25 to 50

38 30 to 50 1 2 to 1/0 35 25 to 50

+3 30 22 to 50 – 4 to 1/0 – 25 to 50

22 14 to 22 4 6 to 4 16 16 to 25

R/L1, S/L2, T/L3 60 38 to 100 3/0 1/0 to 4/0 50 35 to 95

U/T1, V/T2, W/ T3

–, +1 100 60 to 100 – 1/0 to 4/0 – 50 to 95

60 50 to 100 2/0 1/0 to 4/0 50 35 to 95

M10

+3 50 30 to 100 – 3 to 4/0 – 25 to 95

22 22 4 4 25 25

R/L1, S/L2, T/L3 80 60 to 100 4/0 3/0 to 4/0 70 50 to 95

U/T1, V/T2, W/ T3

–, +1 50 × 2P 50 to 100 – 1 to 4/0 – 35 to 95

80 80 to 100 4/0 3/0 to 4/0 70 70 to 95

M10

+3 60 50 to 100 – 1/0 to 4/0 – 50 to 95

22 22 to 30 4 4 to 2 35 25 to 35

R/L1, S/L2, T/L3 150 30 to 150 300 2 to 300 95 35 to 95

U/T1, V/T2, W/ T3

–, +1 80 × 2P 38 to 150 – 1 to 250 – 35 to 150

150 30 to 150 300 2 to 300 95 35 to 95

M10

+3 80 22 to 80 – 3 to 3/0 – 25 to 70

22 22 to 150 4 4 to 300 50 50 to 150

R/L1, S/L2, T/L3 150 38 to 325 400 1 to 600 120 95 to 300

U/T1, V/T2, W/ T3

–, +1 200 80 to 325 – 3/0 to 600 – 70 to 300

150 38 to 325 400 1/0 to 600 120 95 to 300

M10

+3 125 38 to 325 – 1 to 325 – 35 to 300

22 22 to 200 2 2 to 350 70 70 to 240

R/L1, S/L2, T/L3 200 80 to 325 500 2/0 to 600 185 95 to 300

U/T1, V/T2, W/ T3

200 80 to 325 500 2/0 to 600 185 95 to 300

M12

–, +1 325 80 to 325 – 3/0 to 600 – 70 to 300

+3 150 38 to 325 – 1 to 325 – 35 to 300 M10

30 30 to 200 2 2 to 350 95 95 to 240 M12

R/L1, S/L2, T/L3 250 80 to 325 4/0 × 2P 3/0 to 600 240 95 to 300

U/T1, V/T2, W/ T3

250 80 to 325 4/0 × 2P 3/0 to 600 240 95 to 300

M12

–, +1 325 100 to 325 – 4/0 to 600 – 95 to 300

+3 200 80 to 325 – 3/0 to 600 – 70 to 300 M10

30 30 to 200 1 1 to 350 120 120 to 240 M12

Tightening

Tor que

Nxm (lb.in.)

9 to 11

(79.7 to 97.4)

9 to 11

(79.7 to 97.4)

18 to 23

(159 to 204)

18 to 23

(159 to 204)

18 to 23

(159 to 204)

18 to 23

(159 to 204)

32 to 40

(283 to 354)

18 to 23

(159 to 204)

32 to 40

(283 to 354)

32 to 40

(283 to 354)

18 to 23

(159 to 204)

32 to 40

(283 to 354)

40 YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide

Page 41

3 Electrical Installation

Electrical Installation

For Asia <1> For U.S.A <2> For Europe and China <3>

Model

CIMR-A

4A0414

4A0515

4A0675

<1> Gauges listed here are for use in Japan. <2> Gauges listed here are for use in the United States. <3> Gauges listed here are for use in Europe and China.

Ter min al

R/L1, S/L2, T/L3 100 × 2P 80 to 150 300 × 2P 4/0 to 300 95 × 2P 95 to 150

U/T1, V/T2, W/ T3

–, +1 150 × 2P 80 to 150 – 3/0 to 300 – 70 to 150

+3 80 × 2P 80 to 150 – 3/0 to 300 – 70 to 150

R/L1, S/L2, T/L3 125 × 2P 80 to 150 3/0 × 4P 3/0 to 300 120 × 2P 95 to 150

U/T1, V/T2, W/ T3

–, +1 60 × 4P 60 to 150 – 1/0 to 300 – 70 to 150

+3 100 × 2P 60 to 150 – 1/0 to 300 – 70 to 150

R/L1, S/L2, T/L3 80 × 4P 80 to 150 300 × 4P 4/0 to 300 95 × 4P 95 to 150

U/T1, V/T2, W/ T3

–, +1 125 × 4P 60 to 150 – 1/0 to 300 – 70 to 150

+3 60 × 4P 60 to 150 – 1/0 to 300 – 70 to 150

Recommended

Gauge

125 × 2P 80 to 150 300 × 2P 4/0 to 300 95 × 2P 95 to 150

38 38 to 100 1 1 to 3/0 95 35 to 95

150 × 2P 80 to 150 4/0 × 4P 3/0 to 300 150 × 2P 95 to 150

60 50 to 150 1/0 1/0 to 300 150 50 to 150

80 × 4P 80 to 150 300 × 4P 4/0 to 300 95 × 4P 95 to 150

60 70 to 150 2/0 2/0 to 300 95 × 2P 60 to 150

Applicable

Gauge

Recommended

Gauge

AWG, kcmil

Applicable

Gauge

AWG, kcmil

Recommended

Gauge

Applicable

Gauge

Screw

Size

M12

Tightening

Torq ue

Nxm (lb.in.)

32 to 40

(283 to 354)

32 to 40

(283 to 354)

32 to 40

(283 to 354)

■ Main Circuit Terminal and Motor Wiring

This section outlines the various steps, precautions, and checkpoints for wiring the main circuit terminals and motor terminals.

NOTICE: When connecting the motor to the drive output terminals U/T1, V/T2, and W/T3, the phase order for the drive and motor should match. Failure to comply with proper wiring practices may cause the motor to run in reverse if the phase order is backward.

NOTICE: Do not connect phase-advancing capacitors or LC/RC noise filters to the output circuits. Failure to comply could result in damage to the drive, phase-advancing capacitors, LC/RC noise filters or ground fault circuit interrupters.

NOTICE: Do not connect the AC power line to the output motor terminals of the drive. Failure to comply could result in death or serious injury by fire as a result of drive damage from line voltage application to output terminals.

Cable Length Between Drive and Motor

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 Ta bl e 9 . 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 73.

Table 9 Cable Length Between Drive and Motor

Cable Length 50 m or less 100 m or less Greater than 100 m

Carrier Frequency 15 kHz or less 5 kHz or less 2 kHz or less

Note: When setting carrier frequency in a drive running multiple motors, calculate the cable length as the total distance of wiring to all

motors that are connected.

YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide 41

Page 42

3 Electrical Installation

OK OK Not Good

Ground Wiring

Follow the precautions to wire the ground for one drive or a series of drives.

WARNING! Electrical Shock Hazard. Always use a ground wire that complies with technical standards on electrical equipment and minimize the length of the ground wire. Improper equipment grounding may cause dangerous electrical potentials on equipment chassis, which could result in death or serious injury.

WARNING! Electrical Shock Hazard. Be sure to ground the drive ground terminal (200 V class: Ground to 100 Ω or less, 400 V class: Ground to 10 Ω or less). Improper equipment grounding could result in death or serious injury by contacting ungrounded electrical equipment.

NOTICE: Do not share the ground wire with other devices such as welding machines or large-current electrical equipment. Improper equipment grounding could result in drive or equipment malfunction due to electrical interference.

NOTICE: When using more than one drive, ground multiple drives according to instructions. Improper equipment grounding could result in abnormal operation of drive or equipment.

Refer to Figure 29 when using multiple drives. Do not loop the ground wire.

Figure 29

Figure 29 Multiple Drive Wiring

Wiring the Main Circuit Terminal

WARNING! Electrical Shock Hazard. Shut off the power supply to the drive before wiring the main circuit terminals. Failure to comply

may result in death or serious injury.

Wire the main circuit terminals after the terminal board has been properly grounded.

Models CIMR-A2A0004 through 0081 and 4A0002 through 0044 have a cover placed over the DC bus and braking circuit terminals prior to shipment to help prevent miswiring. Cut away covers as needed for terminals using wire cutters.

Figure 30

A – Protecting Cover

Figure 30 Protecting Cover to Prevent Miswiring (CIMR-A2A0056)

Main Circuit Connection Diagram

Refer to Main Circuit Connection Diagram on page 28 when wiring terminals on the drive’s main power circuit.

WARNING! Fire Hazard. The braking resistor connection terminals are B1 and B2. Do not connect braking resistors to any other terminals. Improper wiring connections could cause the braking resistor to overheat and cause death or serious injury by fire. Failure to comply may result in damage to the braking circuit or drive.

■ Control Circuit Terminal Block Functions

Drive parameters determine which functions apply to the multi-function digital inputs (S1 to S8), multi-function digital outputs (M1, M2), multi-function photocoupler outputs (P1, P2), multi-function analog inputs (A1 to A3), and multifunction analog monitor output (FM, AM). The default setting is listed next to each terminal in Figure 10.

WARNING! Sudden Movement Hazard. Always check the operation and wiring of control circuits after being wired. Operating a drive with untested control circuits could result in death or serious injury.

WARNING! Confirm the drive I/O signals and external sequence before starting test run. Setting parameter A1-06 may change the I/O terminal function automatically from the factory setting. Refer to Application Selection on page 63. Failure to comply may result in death or serious injury.

Input Terminals

Table 1 0 lists the input terminals on the drive. Text in parenthesis indicates the default setting for each multi-function

input.

42 YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide

Page 43

Electrical Installation

Table 10 Control Circuit Input Terminals

3 Electrical Installation

Type

MultiFunction Digital Inputs

Safe Disable Inputs

Analog Inputs / Pulse Train

Input

No. Terminal Name (Function) Function (Signal Level) Default Setting Page

Multi-function input 1 (Closed: Forward run,

Open: Stop)

Multi-function input 2 (Closed: Reverse run,

Open: Stop)

Multi-function input 3 (External fault, N.O.)

Multi-function input 4 (Fault reset)

Multi-function input 5 (Multi-step speed

reference 1)

Multi-function input 6 (Multi-step speed

reference 2)

Multi-function input 7 (Jog reference)

Multi-function input 8 (External baseblock)

Multi-function input common Multi-function input common

Safe Disable input 1

Photocoupler 24 Vdc, 8 mA Set the S3 jumper to select between sinking, sourcing mode, and the power supply. Refer to

on page 48

Sinking/Sourcing Mode Switch for Digital Inputs

24 Vdc, 8 mA

154

One or both open: Output disabled Both closed: Normal operation Internal impedance: 3.3 kΩ Off time of at least 1 ms

Safe Disable input 2

Disconnect the wire jumpers shorting terminals H1, H2, and HC

191

to use the Safe Disable inputs. Set the S3 jumper to select between sinking, sourcing mode, and the power supply as explained for multi-function input terminals in Sinking/Sourcing Mode Switch for

Digital Inputs on page 48

Safe Disable function common Safe disable function common

. <1>

Input frequency range: 0 to 32 kHz

Multi-function pulse train input (Frequency

reference)

Signal Duty Cycle: 30 to 70% High level: 3.5 to 13.2 Vdc, low level: 0.0 to 0.8 Vdc

161

189

Input impedance: 3 kΩ

Power supply for analog inputs 10.5 Vdc (max allowable current 20 mA)

Power supply for analog inputs -10.5 Vdc (max allowable current 20 mA) –

-V

Multi-function analog input 1 (Frequency

reference bias)

-10 to 10 Vdc, 0 to 10 Vdc (input impedance: 20 kΩ)

Multi-function analog input 2 (Frequency

reference bias)

4 to 20 mA, 0 to 20 mA (input impedance: 250 Ω) Voltage or current input must be selected by DIP switch S1 and H3-09

Multi-function analog input 3 (auxiliary

frequency reference)

Frequency reference common 0 V

Ground for shielded lines and option cards – –

E (G)

-10 to 10 Vdc, 0 to 10 Vdc (input impedance: 20 kΩ)

189

<1> Setting jumper S3 for an external power supply makes the wire link between terminals H1, H2, and H2 ineffective. Remove the wire link and

connect an external power supply that can supply terminals H1, H2, and HC continuously.

YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide 43

Page 44

3 Electrical Installation

YEC_common

Output Terminals

Table 11 lists the output terminals on the drive. Text in parenthesis indicates the default setting for each multi-function

output.

Table 11 Control Circuit Output Terminals

Typ e

Fault Relay

MultiFunction Digital

<1>

Output

MultiFunction Photocoupler Output

Monitor Output

Safety Monitor

Output

No. Terminal Name (Function) Function (Signal Level) Default Setting Page

N.O.

N.C. output

Fault output common

30 Vdc, 10 mA to 1 A; 250 Vac, 10 mA to 1 A Minimum load: 5 Vdc, 10 mA

Multi-function digital output (During run)

Photocoupler output 1 (Zero speed)

Photocoupler output 2 (Speed agree 1)

Photocoupler output common

Pulse train output (Output frequency) 32 kHz (max) 161

Analog monitor output 1 (Output frequency)

Analog monitor output 2 (Output current)

Monitor common 0 V –

Safety monitor output

DM+

Safety monitor output common

DM-

30 Vdc, 10 mA to 1 A; 250 Vac, 10 mA to 1 A Minimum load: 5 Vdc, 10 mA

48 Vdc, 2 to 50 mA

<2> 81

-10 to +10 Vdc or 0 to +10 Vdc 160

Outputs status of Safe Disable function. Closed when both Safe Disable channels are closed. Up to +48 Vdc 50 mA

191

<1> Refrain from assigning functions to terminals M1 and M2 that involve frequent switching, as doing so may shorten relay performance life.

Switching life is estimated at 200,000 times (assumes 1 A, resistive load).

<2> Connect a flywheel diode as shown in the Figure 31 when driving a reactive load such as a relay coil. Make sure the diode rating is greater than

the circuit voltage.

Figure 31

A – External power, 48 V max. C – Coil B – Suppression diode D – 50 mA or less

Figure 31 Connecting a Suppression Diode

Serial Communication Terminals

Table 12 Control Circuit Terminals: Serial Communications

Typ e

MEMOBUS/Modbus Communication

<1>

<1> Enable the termination resistor in the last drive in a MEMOBUS network by setting DIP switch S2 to the ON position. For more information on

the termination resistor, see Control I/O Connections on page 48.

No. Signal Name Function (Signal Level)

Communications input (+)

R+

Communications input (-)

R-

Communications output (+)

S+

Communications output (-)

S-

Shield ground 0 V

MEMOBUS/Modbus communication: Use a RS-485 or RS-422 cable to connect the drive.

RS-485/422 MEMOBUS/Modbus communication protocol

115.2 kbps (max.)

44 YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide

Page 45

Electrical Installation

■ Terminal Configuration

DM+

DM−

R+

R−

S+

S−

E(G)

FM AC AM P1 P2 PC SC MA MB MC

M1 M2

E(G)

S1 S2 S3 S4 S5 S6 S7 S8

SC A1 A2 A3 +V AC -V

ABC

YEC_common

Inside of the Terminal Cover

(CIMR-A2A0004 to 2A0081, 4A0002 to 4A0044)

Under the Terminal Board

(CIMR-A2A0110 to 2A0415, 4A0072 to 4A0675)

YEC_common

Control circuit terminals should are arranged as shown in Figure 32.

Figure 32

3 Electrical Installation

A – Terminal Block (TB 6) D – Terminal Block (TB 1) B – Terminal Block (TB 5) E – Terminal Block (TB 2) C – Terminal Block (TB 4)

Figure 32 Control Circuit Terminal Arrangement

Terminal board arrangement appears below. The exact location of the labeling may vary by model.

Figure 33

Figure 33 Control Circuit Terminal Arrangement

YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide 45

Page 46

3 Electrical Installation

6 mm

YEC_common

Wire Size and Torque Specifications

Select appropriate wire type and gauges from Tab le 1 3. For simpler and more reliable wiring, use crimp ferrules on the wire ends. Refer to Table 1 4 for ferrule terminal types and sizes.

Table 13 Wire Gauges and Torque Specifications

Bare Wire Terminal Ferrule-Type Terminal

Applicable wire

size

mm2

(AWG)

Recomm.

(AWG)

Applicable wire

size

(AWG)

Recomm.

mm2 (AWG)

Wire Type

Terminal

Block

Term ina l

Screw

Size

Tightening

Tor que

Nxm

(lb.in.)

FM, AC, AM, P1,

TB1, TB2

P2, PC, SC, A1, A2, A3, +V, -V, S1-S8, MA, MB,

M3.5

0.8 to 1.0

(7.1 to 8.6)

0.5 to 2

(20 to 14)

0.75 (18)

––

MC, M1, M2

Shielded line,

TB4, TB5, TB6

E (G) M3.5

HC, H1, H2, DM+, DM-, IG, R+, R-, S+, S-, RP,

0.8 to 1.0

(7.1 to 8.6)

0.22 to 0.25 (1.9 to 2.2)

0.5 to 2

(20 to 14)

Standard 0.25 to

1.0

(24 to 17)

Single 0.25 to 1.5

(24 to 16)

1.25 (12)

0.75 (18)

0.25 to 0.5 (24 to 20)

0.5

(20)

Ferrule-Type Wire Terminals

Prepare wire ends with insulated sleeves before connecting to the drive. See Table 1 4 for dimensions. Yaskawa recommends CRIMPFOX ZA-3, a crimping tool manufactured by PHOENIX CONTACT.

Figure 34

etc.

Figure 34 Ferrule Dimensions

Table 14 Ferrule Terminal Types and Sizes

Size mm2 (AWG) Type L (mm) d1 (mm) d2 (mm) Manufacturer

0.25 (24) AI 0.25-6YE 10.5 0.8 2

PHOENIX CONTACT0.34 (22) AI 0.34-6TQ 10.5 0.8 2

0.5 (20) AI 0.5-6WH 14 1.1 2.5

■ Wiring the Control Circuit Terminal

This section describes the proper procedures and preparations for wiring the control terminals.

WARNING! Electrical Shock Hazard. Do not remove covers or touch the circuit boards while the power is on. Failure to comply could result in death or serious injury.

NOTICE: Separate control circuit wiring from main circuit wiring (terminals R/L1, S/L2, T/L3, B1, B2, U/T1, V/T2, W/T3, -, +1, +2) and other high-power lines. Improper wiring practices could result in drive malfunction due to electrical interference.

NOTICE: Separate wiring for digital output terminals MA, MB and MC from wiring to other control circuit lines. Improper wiring practices could result in drive or equipment malfunction or nuisance trips.

NOTICE: Use a class 2 power supply (UL standard) when connecting to the control terminals. Improper application of peripheral devices could result in drive performance degradation due to improper power supply.

NOTICE: Insulate shields with tape or shrink tubing to prevent contact with other signal lines and equipment. Improper wiring practices could result in drive or equipment malfunction due to short circuit.

NOTICE: Connect the shield of shielded cable to the appropriate ground terminal. Improper equipment grounding could result in drive or equipment malfunction or nuisance trips.

46 YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide

Page 47

3 Electrical Installation

Electrical Installation

TB6 TB5 TB4

Preparing wire terminal ends

YEC_common

Wire the control circuit only after terminals have been properly grounded and main circuit wiring is complete. Refer to

Figure 35 for details. Prepare the ends of the control circuit wiring as shown in Figure 37. Refer to Wire Size and Torque Specifications on page 46.

NOTICE: Do not tighten screws beyond the specified tightening torque. Failure to comply may result in erroneous operation, damage the terminal block, or cause a fire.

NOTICE: Use shielded twisted-pair cables as indicated to prevent operating faults. Improper wiring practices could result in drive or equipment malfunction due to electrical interference.

Connect control wires as shown in the following figure:

Figure 35

A – Loosen screw to insert wire.

Wire in the following order:

C – Avoid fraying wire strands when stripping

insulation from wire. Strip length 5.5 mm.

TB4, TB5, TB6

B – Single wire or stranded wire D – Blade depth of 0.4 mm or less

Blade width of 2.5 mm or less

Figure 35 Terminal Board Wiring Guide

Use the space above TB2 to wire TB4 through TB6 as illustrated in Figure 36.

Figure 36

When setting the frequency by analog reference from an external potentiometer, use shielded twisted-pair wires (treating wire ends as shown in Figure 37 and connect the shield to the ground terminal of the drive.

Figure 37

YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide 47

A – Drive side D – Control device side B – Connect shield to ground terminal of

drive.

C – Insulation F – Shield

Figure 36 Terminal Board Wiring

E – Shield sheath (insulate with tape)

Figure 37 Preparing the Ends of Shielded Cables

Page 48

3 Electrical Installation

YEC_common

IP24 V

(24 V)

YEC_common

NOTICE: The signal lines between the drive and the operator station or peripheral equipment should not exceed 50 meters when using an analog signal from a remote source to supply the frequency reference. Failure to comply could result in poor system performance.

◆ Control I/O Connections

■ Sinking/Sourcing Mode Switch for Digital Inputs

Set jumper S3 to select between sinking/sourcing mode, and internal or external power supply. Signal levels are the same for terminals S1 through S8 and the safety inputs. The drive is preset to sinking mode.

Figure 38

Figure 38 Jumper S3

Sink Mode (0 V Common), Internal Power Supply

When controlling the digital inputs by NPN transistors (0 V common/sinking mode) or contacts using the drive internal power supply, position the jumper S3 for sinking as shown in Figure 39.

Figure 39

Figure 39 Sinking Mode (0 V Common), Internal Power Supply

Source Mode (+24 V Common), Internal Power Supply

When controlling digital inputs by PNP transistors (+24 V common/sourcing mode) or contact inputs using the drive internal power supply, set jumper S3 for sourcing as shown in Figure 40.

Figure 40

IP24 V

Figure 40 Source Mode (+24 V Common), Internal Power Supply

48 YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide

(24 V)

Page 49

3 Electrical Installation

Electrical Installation

Sink Mode (0 V Common) External Power Supply

IP24 V

(24 V)

+24 V

IP24 V

(24 V)

+24 V

Source Mode (+24 V Common) External Power Supply

YEC_common

RL = VMP 2 / (12 - VMP)

Load Impedance

Sink/Source Mode, External Power Supply

When using an external voltage source for controlling the digital inputs, set jumper S3 as shown in Figure 41. Here, the inputs can be used for either sinking or sourcing.

Figure 41

Figure 41 Sink/Source Mode, External Power Supply

Power Supply Inputs Instead of the Safe Disable Feature

Refer to Figure 42 to wire the input terminals for an external power supply instead of the Safe Disable feature.

Figure 42

+24 V

IP24 V

(24 V)

+24 V

Sink ModeSource Mode

IP24 V

(24 V)

Figure 42 Power Supply Inputs Instead of the Safe Disable Feature

■ Using the Pulse Train Output

The pulse train output terminal MP can either supply power but can also be used with external power supply. Peripheral devices should be connected in accordance with the specifications listed below. Failure to do so can cause unexpected drive operation, and can damage the drive or connected circuits.

Using Power from the Pulse Output Terminal (Source Mode)

The high voltage level of the pulse output terminal depends on the load impedance.

Load Impedance RL (kΩ) Output Voltage VMP (V) (insulated)

1.5 kΩ 5 V 4 kΩ 8 V

10 kΩ 10 V

Note: The load resistance needed in order to get a certain high level voltage VMP can be calculated by:

Figure 43

YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide 49

Figure 43 Pulse Output Connection Using Internal Voltage Supply

Page 50

3 Electrical Installation

Load Impedance

Sink Current

External Power Supply

YEC_common

Using External Power Supply (Sink Mode)

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.

External Power Supply (V) Load Impedance (kΩ)

12 to 15 Vdc ±10% 1.0 kΩ or higher

Figure 44

Figure 44 Pulse Output Connection Using External Voltage Supply

◆ Terminal A2 Analog Input Signal Selection

■ Terminal A2 Input Signal Selection

Terminal A2 can be used to input either a voltage or a current signal.

When using input A2 as a voltage input, set DIP switch S1 to “V” (left position) and set parameter H3-09 to 0 (0 to 10 Vdc) or to 1 (-10 to 10 Vdc).

To use current input at terminal A2, set the DIP switch S1 to “I” (default setting) and H3-09 = 2 or 3 (4 to 20 mA or 0 to 20 mA).

To set the DIP switch on the terminal board, use an appropriate sized tool with a tip of approximately 0.8 mm in width.

Figure 45

Dip Switch S1

Figure 45 DIP Switch S1

Note: If terminals A1 and A2 are both set for frequency bias (H3-02 = 0 and H3-10 = 0), both input values will be combined to create

the frequency reference.

Table 15 DIP Switch S1 Settings

Setting Description

V (left position) Voltage input (-10 to +10 V)

I (right position) (default) Current input (4 to 20 mA or 0 to 20 mA): default setting

50 YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide

Page 51

Electrical Installation

Table 16 Parameter H3-09 Details

(Type-B) (Type-A)

USB Cable

(Type-AB)

YEC_common

3 Electrical Installation

No. Parameter Name Description

Selects the signal level for terminal A2. 0: 0 to 10 Vdc

H3-09 Terminal A2 signal level selection

1: -10 to 10 Vdc 2: 4 to 20 mA 3: 0 to 20 mA

Setting

Range

0 to 3 2

Default Setting

◆ Connect to a PC

This drive is equipped with a USB port (type-B).

The drive can connect to the USB port of a PC using a USB 2.0, AB type cable (sold separately). DriveWizard Plus can then be used to monitor drive performance and manage parameter settings. Contact Yaskawa for more information on DriveWizard Plus.

Figure 46

◆ Wiring Checklist

No. Item Page

1 Check drive model number to ensure receipt of correct model. 17

2 Make sure you have the correct braking resistors, DC reactors, noise filters, and other peripheral devices. –

3 Check the option card model number. –

4 Ensure that the area surrounding the drive complies with specifications. 19

5 The voltage from the power supply should be within the input voltage specification range of the drive. 75

6 The voltage rating for the motor should match the drive output specifications.

7 Verify that the drive is properly sized to run the motor.

8 Confirm proper branch circuit protection as specified by national and local codes. 26

9 Properly wire the power supply to drive terminals R/L1, S/L2, and T/L3. 28

Properly wire the drive and motor together.

The motor lines and drive output terminals R/T1, V/T2, and W/T3 should match in order to produce the desired phase order. If the phase order is incorrect, the drive will rotate in the opposite direction.

11 Use 600 Vac vinyl-sheathed wire for the power supply and motor lines. 35

Figure 46 Connecting to a PC (USB)

Drive, peripherals, option cards

Installation area and physical setup

Power supply voltage, output voltage

172

Main circuit wiring

YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide 51

Page 52

3 Electrical Installation

3 x wire resistance (Ω/km) x cable length (m) x motor rated current (A) x 10

-3

Motor rated voltage (V) x 0.02 ≥

OL1

OL2

OLn

MC1

MC2

MCn

Drive

MC1 - MCn OL 1 - OLn

... magnetic contactor ... thermal relay

Power supply

No. Item Page

Use the correct wire gauges for the main circuit. Refer to Wire Gauges and Tightening Torque on page 35. 35

• When using comparatively long motor cable, calculate the amount of voltage drop.

• If the cable between the drive and motor exceeds 50 m, adjust the carrier frequency set to C6-02 accordingly. 41

13 Properly ground the drive. Review page 42. 42

Tightly fasten all terminal screws (control circuit terminals, grounding terminals).

Refer to Wire Gauges and Tightening Torque on page 35.

Set up overload protection circuits when running multiple motors from a single drive.

Note: Close MC1 through MCn before operating the drive (MC1 through MCn cannot be switched off during run).

If using a dynamic braking option, install a magnetic contactor. Properly install the resistor, and ensure that

overload protection shuts off the power supply.

Verify phase advancing capacitors, input noise filters, or ground fault circuit interrupters are NOT installed on

the output side of the drive.

Control circuit wiring

18 Use twisted-pair line for all drive control circuit wiring. 46

Ground the shields of shielded wiring to the GND terminal.

If using a 3-wire sequence, properly set parameters for multi-function contact input terminals S1 through S8,

and properly wire control circuits.

21 Properly wire any option cards. 46

Check for any other wiring mistakes.

Only use a multimeter to check wiring.

Properly fasten the control circuit terminal screws in the drive.

Refer to Wire Gauges and Tightening Torque on page 35.

24 Pick up all wire clippings. –

25 Ensure that no frayed wires on the terminal block are touching other terminals or connections. –

26 Properly separate control circuit wiring and main circuit wiring. –

–

27 Analog signal line wiring should not exceed 50 m. –

28 Safe Disable input wiring should not exceed 30 m. –

52 YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide

Page 53

4 Start-Up Programming & Operation

Start-Up Programming

& Operation

ALM

REV DRV FOUT

LO RE

ESC

RUN STOP

ENTERRESET

DIGITAL OPERATOR JVOP-182

345 6

14 13 12

YEC_common

ESC

RESET

RUN

STOP

ENTER

RUN

4 Start-Up Programming & Operation

◆ Using the Digital Operator

Use the digital operator to enter run and stop commands, display data, edit parameters, as well as display fault and alarm information.

Keys and Displays

■

Figure 47

Figure 47 Keys and Displays on the Digital Operator

No. Display Name Function

• Returns to the previous display.

1ESC Key

• Moves the cursor one space to the left.

• Pressing and holding this button will return to the Frequency Reference display.

2RESET Key

• Moves the cursor to the right.

• Resets the drive to clear a fault situation.

Starts the drive in the LOCAL mode. The Run LED

3 RUN Key

• is on, when the drive is operating the motor.

• flashes during deceleration to stop or when the frequency reference is 0.

• flashes quickly the drive is disabled by a DI, the drive was stopped using a fast stop DI or a run command was active during power up.

4 Up Arrow Key

5 Down Arrow Key

6STOP Key

<1> Stops drive operation.

7 ENTER Key

8 LO/RE Selection Key

LO RE

<2>

Scrolls up to display the next item, selects parameter numbers and increments setting values.

Scrolls down to display the next item, selects parameter numbers and increments setting values.

• Enters parameter values and settings.

• Selects a menu item to move between displays.

Switches drive control between the operator (LOCAL) and the control circuit terminals (REMOTE). The LED is on when the drive is in the LOCAL mode (operation from keypad).

YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide 53

LO RE

RUN Light

LO/RE Light

Lit while the drive is operating the motor. Refer to page

Lit while the operator is selected to run the drive (LOCAL mode). Refer to page details.

55 for details.

55 for

Page 54

4 Start-Up Programming & Operation

ALMREV

DRV

FOU

DIG

ALMREV

DRV

No. Display Name Function

ALM LED Light

FOUT LED Light

Refer to LED Screen Displays on page 54.

DRV LED Light

REV LED Light

<1> The STOP key has highest priority. Pressing the STOP key will always cause the drive to stop the motor, even if a Run command is active at

any external Run command source. To disable the STOP key priority, set parameter o2-06 to 0.

<2> The LO/RE key can only switch between LOCAL and REMOTE when the drive is stopped. To disable the LO/RE key to prohibit switching

between LOCAL and REMOTE, set parameter o2-01 to 0.

■ LED Screen Displays

Table 17 LED Screen Displays

Display Lit Flashing Off

• When an alarm occurs

The drive has detected an alarm or error

Motor is rotating in reverse – Motor is rotating forward

• The drive is in the Drive Mode

• During Auto-Tuning

When the display shows the output frequency

• oPE detected

• When a fault or error occurs during Auto-Tuning

When DriveWorksEZ is used

<1>

–

Normal state (no fault or alarm)

• The drive is in the Programming Mode

• The drive will not accept a Run command

When a display other than the output frequency monitor is shown.

As illustrated in this manual

IGITAL OPERATOR JVOP-182

DRV

<1> Refer to the DriveWorksEZ instruction manual for further information.

ITAL OPERATOR JVOP-182

ALM

IGITAL OPERATOR JVOP-182

54 YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide

Page 55

4 Start-Up Programming & Operation

Start-Up Programming

& Operation

■ LO/RE LED and RUN LED Indications

Table 18 LO/RE LED and RUN LED Indications

LED Lit Flashing Flashing Quickly Off

When source of the Run command is assigned to the digital operator (LOCAL)

During run

––

• During deceleration to stop

• When a Run command is input and frequency reference is 0 Hz

• While the drive is set for LOCAL, a Run command was entered to the input terminals after which the drive was then switched to REMOTE.

• A Run command was entered via the input terminals while not in the Drive Mode.

• During deceleration when a Fast Stop command was entered.

• The drive output is shut off by the Safe Disable function.

• While the drive was running in the REMOTE mode, the STOP key was pushed.

• The drive was powered up with b1-17 = 0 (default) while the Run command is active.

Run command to be given from a device other than the digital operator (REMOTE)

During stop

Examples

YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide 55

Page 56

4 Start-Up Programming & Operation

XXXX

<1>

ALM

DIGITAL OPERATOR JVOP-182

REV DRV FOUT

DRV

XXX

Note: “XX” characters are shown in this manual.

The drive will display the actual setting values.

Pressing RUN will start the motor.

DRIVE MODE

DRV light is on.

Drive cannot operate the motor.

PROGRAMMING MODE

DRV light is on.

Turn the power on

Forward Selection

Output Frequency

Output Current

Output Voltage

Monitor Display

Verify Menu

Set Up Mode

Parameter Setting Mode

Auto-Tuning

Reverse Selection

Description of Key Operations

YEC_common

■ Menu Structure for Digital Operator

Figure 48

<1> Reverse can only be selected when the drive is set for LOCAL.

◆ The Drive and Programming Modes

The drive has a Programming Mode to program the drive for operation, and a Drive Mode used to actually run the motor.

Figure 48 Digital Operator Menu and Screen Structure

Drive Mode: In the Drive Mode, the user can start the motor and observe operation status with the monitors that are available. Parameter settings cannot be edited or changed when in the Drive Mode.

Programming Mode: The Programming Mode allows access to edit, adjust, and verify parameters, as well as perform Auto-Tuning. Unless set to allow a Run command, the drive will not accept a Run command when the digital operator is in the Programming Mode.

■

This example explains changing C1-02 (Deceleration Time 1) from 10.0 seconds (default) to 20.0 seconds.

1. Turn on the power to the drive. The initial display appears.

Changing Parameter Settings or Values

Step Display/Result

Press the or key until the Parameter Setting Mode screen appears.

Press the key to enter the parameter menu tree.

DIGITAL OPERATOR JVOP-182

REV DRV FOUT

DRV

ALM

56 YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide

Page 57

Start-Up Programming

& Operation

Step Display/Result

Press or key to select the C parameter group.

Press two times.

Press or key to select the parameter C1-02.

Press to view the current setting value (10.0 s). Left digit flashes.

Press until the desired number is selected. “1” flashes.

Press the key and enter 0020.0.

10.

Press and the drive will confirm the change.

11. The display automatically returns to the screen shown in Step 4.

12.

Press the key until back at the initial display.

4 Start-Up Programming & Operation

DIGITAL OPERATOR JVOP-182

ALM

REV DRV FOUT

DRV

Setup Group Parameters

Table 1 9 lists parameters available by default in the Setup Group. When an Application Preset has been selected in

parameter A1-06 or the Application Selection display of the Setup Group, the parameters selected for the Setup Group will change automatically. Refer to Application Selection on page 63.

If the desired parameter is not listed in the Setup Group, go to the Programming Mode.

Table 19 Setup Group Parameters

Parameter Name Parameter Name

A1-02 Control Method Selection E1-09 Minimum Output Frequency

b1-01 Frequency Reference Selection 1 E1-13 Base Voltage

b1-02 Run Command Selection 1 E2-01 Motor Rated Current

b1-03 Stopping Method Selection E2-11 Motor Rate Power

C1-01 Acceleration Time 1 E5-01 Motor Code Selection

C1-02 Deceleration Time 1 E5-02 Motor Rated Power

C6-01 Drive Duty Mode Selection E5-03 Motor Rated Current

C6-02 Carrier Frequency Selection E5-04 Number of Motor Poles

d1-01 Frequency Reference 1 E5-05 Motor Stator Resistance

d1-02 Frequency Reference 2 E5-06 Motor d-Axis Inductance

d1-03 Frequency Reference 3 E5-07 Motor q-Axis Inductance

d1-04 Frequency Reference 4 E5-09 Motor Induction Voltage Constant 1

d1-17 Jog Frequency Reference E5-24 Motor Induction Voltage Constant 2

E1-01 Input Voltage Setting H4-02 Multi-Function Analog Output Terminal FM Gain

E1-04 Maximum Output Frequency H4-05 Multi-Function Analog Output Terminal AM Gain

E1-05 Maximum Voltage L1-01 Motor Overload Protection Function Selection

E1-06 Base Frequency L3-04 Stall Prevention Selection during Deceleration

Note: Parameter availability depends on the control mode set in A1-02 that is used to run the drive and motor. Consequently, some of

the parameters listed above may not be accessible in certain control modes.

■ Switching Between LOCAL and REMOTE

When the drive is set to accept the Run command from the digital operator RUN key, this is referred to as LOCAL mode. When the drive is set to accept the Run command from an external device (via the input terminals, serial communications, etc.) this is referred to as REMOTE mode.

YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide 57

Page 58

4 Start-Up Programming & Operation

YEC_c ommon

YEC_ common

WARNING! Sudden Movement Hazard. The drive may start unexpectedly if the Run command is already applied when switching from LOCAL mode to REMOTE mode when b1-07 = 1, resulting in death or serious injury. Be sure all personnel are clear of rotating machinery.

The operation can be switched between LOCAL and REMOTE either by using the LO/RE key on the digital operator or a digital input.

Note: 1. After selecting LOCAL, the LO/RE light will remain lit.

2. The drive will not allow the user to switch between LOCAL and REMOTE during run.

Using the LO/RE Key on the Digital Operator

Step Display/Result

DIGITAL OPERATOR JVOP-182

ALM

REV DRV FOUT

1. Turn on the power to the drive. The initial display appears.

DRV

DIGITAL OPERATOR JVOP-182

REV DRV FOUT

DRV

ALM

Press . The LO/RE light will light up. The drive is now in LOCAL.

To set the drive for REMOTE operation, press the key again.

ESC

RUN STOP

LO RE

ENTERRESET

Using Input Terminals S1 through S8 to Switch between LO/RE

The user can also switch between LOCAL and REMOTE modes using one of the digital input terminals S1 through S8 (set the corresponding parameter H1- to “1”).

When setting the multi-function input terminals,

Note: 1. Refer to Parameter List on page 131 for a list of digital input selections.

2. Setting H1- to 1 disables the LO/RE key on the digital operator.

◆ Start-Up Flowcharts

The flowcharts in this section summarize basic steps required to start the drive. Use the flowcharts to determine the most appropriate start-up method for a given application. The charts are intended as a quick reference to help familiarize the user with start-up procedures.

Flowchart Subchart Objective Page

A – Basic startup procedure and motor tuning 59

A-1 Simple motor setup using V/f mode 60

–

A-2

A-3 Setting up the drive to run a permanent magnet (PM) motor 62

High-performance operation using Open Loop Vector (OLV) or Closed Loop Vector (CLV) motor control

Note: To set up the drive using one of the Application Presets, refer to Application Selection on page 63.

58 YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide

Page 59

4 Start-Up Programming & Operation

Start-Up Programming

& Operation

YES

START

Install and wire the drive as explained in Chapters 1, 2, and 3

Apply main power on to the drive

Adhere to safety messages concerning application of power

Application Presets

A1-06 used ?

Set the control mode in parameter A1-02.

Refer to Application Selection section

Flowchart A-1

Control Mode

A1-02 =

Flowchart A-2

Flowchart A-3

Set the basic parameters



b1-01/02 for frequency reference and run command source selection



H1-, H2-, H3-, H4-, H6- for I/O terminal setting



d1- for multi-speed references if used



C1- and C2- for accel./decel. and S-curve time settings



C6-01 for heavy/normal duty mode selection



L8-55 = 0 if a regen converter is used.



L3-04 if dynamic braking options are used

Fine tune parameters. Adjust application settings (PID, ...) if necessary.

Check the machine operation and verify parameter settings.

Drive is ready to run the application.

From Flowchart A-1, A-2, or A-3

0: V/f 1: V/f w/PG

2: OLV 3: CLV

5: OLV/PM 6: AOLV/PM 7: CLV/PM

■ Flowchart A: Basic Start-up and Motor Tuning

Flowchart A in Figure 49 describes a basic start-up sequence. This sequence varies slightly depending on the application. Use drive default parameter settings in simple applications that do not require high precision.

Figure 49

Note: When the motor cable length has changed for more than 50 m after Auto-Tuning has been performed (e.g., after the drive has

Note: Auto-Tuning should be performed again after installing an AC reactor or other such components to the output side of the drive.

been set up and then later installed in a different location), execute Stationary Auto-Tuning for resistance between motor lines once the drive is installed in its final installation location.

Figure 49 Basic Start-up

YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide 59

Page 60

4 Start-Up Programming & Operation

Perform Stationary Auto-Tuning for Stator Resistance (T1-01 = 2)

YES

Energy Savings

(b8-01 = 1) or

Speed Estimation Speed Search

(b3-24 = 1) enabled

when b3-01 = 1 or L2-01 = 1,2 ?

Is the motor cable longer than

50 meters?

Return to Flowchart

Perform Rotational Auto-Tuning for V/f Control (T1-01 = 3)

Is there a

PG encoder

on the motor?

࡮Set or verify the V/f pattern settings E1-.

࡮Enter the number of motor poles to E2-04 (or E4-04 for motor 2).

࡮Set the PG speed feedback parameters (F1-).

Set or verify the V/f pattern settings E1-.

YES

Run the motor without load; check the rotation direction and operation. Verify external signal commands to the drive work as desired.

Couple the load or machine to the motor.

Run the machine and check for desired operation.

From

Flowchart

■ Subchart A-1: Simple Motor Setup Using V/f Control

Flowchart A1 in Figure 50 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.

Figure 50

Figure 50 Simple Motor Setup with Energy Savings or Speed Search

60 YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide

Page 61

4 Start-Up Programming & Operation

Start-Up Programming

& Operation

Is the load less than

30% of the rated load

for the motor?

YES

From

Flowchart

Possible for motor to

rotate during tuning?

<1>

<2>

Motor test report/

data sheet available?

Perform Stationary Auto-Tuning 2 (T1-01 = 4)

Perform Rotating Auto-Tuning (T1-01 = 0)

Perform Stationary

Auto-Tuning 1 (T1-01 = 1)

YES

Is there a PG

encoder on the

motor?

 Feed Forward  KEB 2

Perform Inertia Tuning

(T1-01 = 8)

<3>

Should the

drive set ASR gain

automatically?

Return to

Flowchart

Run the motor without load; check the rotation direction and operation. Verify external signal commands to the drive work as desired.

Connect the load to the motor.

Perform ASR gain tuning.

(T1-01 = 9)

<4>

Run the machine and check for desired operation.

YES

Does the application require

any of the following drive functions?

■ Subchart A-2: High Performance Operation Using OLV or CLV

Flowchart A2 in Figure 51 describes the setup procedure for high-performance with Open Loop Vector Control or Closed Loop Vector Control. Appropriate for applications requiring high starting torque and torque limits.

Note: Although the drive sets parameters for the PG encoder during Auto-Tuning, sometimes the direction of the motor and direction

Figure 51

of the PG get reversed. Use parameter F1-05 to switch the direction of the PG so that it matches the motor direction.

<1> The load must be decoupled from the motor to properly perform Rotational Auto-Tuning. <2> Rotational Auto-Tuning can still be performed if the load is 30% or less, though Stationary Auto-Tuning will probably yield better control

performance. <3> Make sure the motor and load can run freely, i.e., if a brake is mounted, make sure it is released. <4> ASR Gain Tuning automatically performs Inertia Tuning and sets parameters related to Feed Forward and the KEB Ride-Thru function.

YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide 61

Figure 51 Flowchart A2: High Performance Operation Using OLV or CLV

Page 62

4 Start-Up Programming & Operation

From

Flowchart

Motor test report/ data

sheet available?

YES

Input the motor data.

(T2-01 = 0)

Perform PM Stationary

Auto-Tuning (T2-01 = 1)

<1>

Is the motor cable longer

than 50 meters?

YES

Perform PM Stationary

Auto-Tuning for Stator

Resistance (T2-01 = 2)

Is there a PG

encoder on the

motor?

Perform PM Inertia Tuning

(T2-01 = 8)

<2>

Should the drive set ASR gain

automatically?

Return to Flowchart

Run the motor without load; check the rotation direction and operation.Verify external signal commands to the drive work as desired.

Connect the load to the motor.

Perform ASR gain tuning.

(T2-01 = 9).

<3>

Run the machine and check for desired operation.

YES

Does the application require

any of the following drive functions?

 Feed Forward  KEB 2

■ Subchart A-3: Operation with Permanent Magnet Motors

Flowchart A3 in Figure 52 describes the set-up 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.

Note: 1. Although the drive sets parameters for the PG encoder during Auto-Tuning, sometimes the direction of the motor and direction of the

PG get reversed. Use parameter F1-05 to switch the direction of the PG so that it matches the motor direction.

Figure 52

2. The Z pulse must be realigned if the PG encoder is replaced. Set T2-01 to 3 to recalibrate the drive for the new encoder.

<1> Enter the motor code to E5-01 when using a Yaskawa PM motor (SMRA Series, SSR1 Series, and SST4 Series). If using a motor from another

manufacturer, enter FFFF. <2> Make sure the motor and load can run freely, i.e., if a brake is mounted, make sure it is released. <3> ASR Gain Tuning automatically performs Inertia Tuning and sets parameters related to Feed Forward and the KEB Ride-Thru function.

Figure 52 Operation with Permanent Magnet Motors

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4 Start-Up Programming & Operation

Start-Up Programming

& Operation

ALM

DIGITAL OPERATOR JVOP-182

REV DRV FOUT

DRV

YEC_co mmon

YEC_ common

◆ Powering Up the Drive

■ Powering Up the Drive and Operation Status Display

Powering Up the Drive

Review the following checklist before turning the power on.

Item to Check Description

Ensure the power supply voltage is correct: 200 V class: 3-phase 200 to 240 Vac 50/60 Hz

Power supply voltage

Drive output terminals and

motor terminals

Control circuit terminals Check control circuit terminal connections.

Drive control terminal status Open all control circuit terminals (off).

Status of the load and connected machinery

Status Display

When the power supply to the drive is turned on, the digital operator lights will appear as follows:

400 V class: 3-phase 380 to 480 Vac 50/60 Hz

Properly wire the power supply input terminals (R/L1, S/L2, T/L3).

Check for proper grounding of drive and motor.

Properly wire drive output terminals U/T1, V/T2, and W/T3 with motor terminals U, V, and W.

Decouple the motor from the load.

No. Name Description

Normal

Operation

Fault

DIGITAL OPERATOR JVOP-182

REV DRV FOUT

DRV

ALM

External fault (example)

The data display area displays the frequency reference. is lit.

Data displayed varies by the type of fault. Refer to Fault Displays, Causes, and

Possible Solutions on page 100 for more information and possible solution. and

are lit.

◆ Application Selection

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 certain parameters to values appropriate for the application that was selected. 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, and provide quicker access to by eliminating the need to scroll through multiple menus.

An Application Preset can either be selected from the Application Selection display in the Setup Group or in parameter A1-06. The following presets can be selected:

Note: An Application Preset can only be selected if all drive parameters are on at their original default settings. It may be necessary to

initialize the drive by setting A1-03 to “2220” or “3330” prior to selecting an Application Preset.

WARNING! Confirm the drive I/O signals and external sequence before performing a test run. Setting parameter A1-06 may change the I/O terminal function automatically from the default setting. Failure to comply may result in death or serious injury.

No. Parameter Name Setting Range Default

0: Disabled 1: Water supply pump 2: Conveyor

A1-06

Application Presets

3: Exhaust fan 4: HVAC

5: Compressor 6: Hoist 7: Crane

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4 Start-Up Programming & Operation

◆ Basic Drive Setup Adjustments

This section explains the basic settings required for initial drive operation. Checking these basic parameter settings during start-up will help to ensure a successful drive start-up. If more information is required for parameters not listed in this section, Refer to Parameter List on page 131 as required for a complete listing of drive parameters.

A1-02: Control Method Selection

■

Selects the Control Method (also referred to as the “control mode”) the drive uses to operate the motor. If the drive is set up to run two motors, then A1-02 determines the control mode for motor 1.

No. Parameter Name Setting Range Default

A1-02

<1> Regional default settings

Setting 2: Japan (Model code: CIMR-AAA) and Asia (Model code: CIMR-ATA) Setting 0: China (Model code: CIMR-ABA)

Control Modes for Induction Motors (IM)

Setting 0: V/f Control for Induction Motors

V/f Control is for simple speed control and multiple motor applications with low demands to dynamic response or speed accuracy. This control mode should be used when the motor parameters are unknown and Auto-Tuning cannot be performed. The speed control range is 1:40.

Control Method Selection 0, 1, 2, 3, 5, 6, 7 <1>

Setting 1:V/f Control with PG Speed Feedback

For general-purpose applications that do not require high dynamic response but high speed accuracy. This mode should be used if the motor parameters are unknown and Auto-Tuning cannot be performed. The speed control range is 1:40.

Setting 2: Open Loop Vector Control

For general, variable-speed applications with a speed control range of 1:120 that require precise speed control, quick torque response, and high torque at low speed without using a speed feedback signal from the motor.

Setting 3: Closed Loop Vector Control

For general, variable-speed applications that requiring precise speed control down to zero speed, fast torque response, or precise torque control. A speed feedback signal from the motor is required. The speed control range is up to 1:1500.

Control Modes for Permanent Magnet Motors (SPM or IPM)

Setting 5: Open Loop Vector Control for PM

Use this mode for variable torque applications and take advantage of the energy saving capabilities of a PM motor. Using this mode, the drive can control an SPM or IPM motor with a speed range of 1:20.

Setting 6: Advanced Open Loop Vector Control for PM

This control mode can be used to operate an IPM motor for constant torque applications. Using High Frequency Injection, a speed control range as high as 1:100 is possible.

Setting 7: Closed Loop Vector Control for PM

This mode can be used for high precision control of a PM motor in constant torque or variable torque applications. The speed control range reaches 1:1500. A speed feedback signal is required.

■

A1-03: Initialize Parameters

Resets parameters back to the original default values. After initialization, the setting for A1-03 automatically returns to 0.

No. Parameter Name Setting Range Default

A1-03 Initialize Parameters 0, 1110, 2220, 3330, 5550 0

Setting 1110: User Initialize

Drive parameters are reset to values selected by the user as User Settings. User Settings are stored when parameter o2-03 is set to “1: Set defaults”.

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4 Start-Up Programming & Operation

Start-Up Programming

& Operation

Note: A “user-initialization” resets all parameters to a user-defined set of default values that were previously saved to the drive. To

clear the user-defined default values, set parameter o2-03 to 2.

Setting 2220: 2-Wire Initialization

Resets all parameters back to their original default settings with digital inputs S1 and S2 configured as Forward run and Reverse run, respectively.

Setting 3330: 3-Wire Initialization

The drive parameters are returned to factory default values with digital inputs S1, S2, and S5 configured as Run, Stop, and Forward/Reverse respectively. Also refer to digital input functions, Setting 0: 3-Wire Sequence on page 81.

Setting 5550: oPE04 Reset

If parameters on a certain drive have been edited and then a different terminal block is installed with different settings saved in its built-in memory, an oPE04 error will appear on the display. To use the parameter settings saved to the terminal block memory, set A1-02 to 5550.

Notes on Parameter Initialization

The parameters shown in Tabl e 20 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.

Table 20 Parameters not Changed by Drive Initialization

No. Parameter Name

A1-00 Language Selection

A1-02 Control Method Selection

C6-01 Duty Selection

E1-03 V/f Pattern Selection

E5-01 Motor Code Selection (for PM motors)

F6-08 Comm. Parameter Reset

L8-35 Installation Selection

o2-04 Drive/kVA Selection

■ b1-01: Frequency Reference Selection 1

Use parameter b1-01 to select the frequency reference source 1 for the REMOTE mode.

Note: 1. If a Run command is input to the drive but the frequency reference entered is 0 or below the minimum frequency, the RUN indicator

LED on the digital operator will light and the STOP indicator will flash.

2. Press the LO/RE key to set the drive to LOCAL and use the operator keypad to enter the frequency reference.

No. Parameter Name Setting Range Default

b1-01 Frequency Reference Selection 1 0 to 4 1

Setting 0: Operator keypad

Using this setting, the frequency reference can be input by:

• switching between the multi-speed references in the d1- parameters.

• entering the frequency reference on the operator keypad.

Setting 1: Terminals (analog input terminals)

Using this setting, an analog frequency reference can be entered as a voltage or current signal from terminals A1, A2, or A3.

Voltage Input

Voltage input can be used at any of the three analog input terminals. Make the settings as described in Table 21 for the input used.

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4 Start-Up Programming & Operation

Drive

A1 Analog Input 1

0 to 10 V

AC Analog input common

2 kΩ

＋V

-V

10.5 V, 20 mA power supply

-10.5 V, 20 mA power supply

A2 Analog Input 2

A3 Analog Input 3

Drive

A1 Analog Input 1

-10 to 10 V

AC Analog input common

4 kΩ

＋V

-V

10.5 V, 20 mA power supply

-10.5 V, 20 mA power supply

A2 Analog Input 2

A3 Analog Input 3

Table 21 Analog Input Settings for Frequency Reference Using Voltage Signals

Ter min al

Figure 53

Signal

Level

Signal Level

Selection

0 to 10 Vd H3-01 = 0

-10 to +10 Vdc

H3-01 = 1

0 to 10 Vd H3-09 = 0

-10 to +10 Vdc

H3-09 = 1

0 to 10 Vd H3-05 = 0

-10 to +10 Vdc

H3-05 = 1

Parameter Settings

Function Selection Gain Bias

H3-02 = 0

(Frequency Reference

H3-03 H3-04 –

Bias)

H3-10 = 0

(Frequency Reference

H3-11 H3-12

Bias)

H3-06 = 0

(Frequency Reference

H3-07 H3-08 –

Bias)

Notes

Make sure to set DIP switch S1 on the terminal board to “V” for voltage input.

Figure 53 Setting the Frequency Reference as a Voltage Signal at Terminal A1

Use the wiring example shown in Figure 53 for any other analog input terminals. When using input A2 make sure DIP switch S1 is set for voltage input.

Current Input

Input terminal A2 can accept a current input signal. Refer to Ta bl e 2 2 to set terminal A2 for current input.

Table 22 Analog Input Settings for Frequency Reference Using a Current Signal

Parameter Settings

Function

Selection

H3-10 = 0

(Frequency Bias)

0 or 4 to 20 mA

Gain Bias

H3-11 H3-12

Drive

10.5 V, 20 mA power supply

A1 Analog Input 1

A2 Analog Input 2

A3 Analog Input 3

AC Analog input common

Notes

Make sure to set DIP switch S1

on the terminal board to “I” for

current input.

Term ina l

Figure 54

Signal

Level

Signal Level

Selection

4 to 20 mA H3-09 = 2

0 to 20 mA H3-09 = 3

DIP switch S1

-V

-10.5 V, 20 mA power supply

DIP switch S1 must first be set for current input.

Figure 54 Setting the Frequency Reference as a Current Signal to Terminal A2

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4 Start-Up Programming & Operation

Start-Up Programming

& Operation

Switching between Main/Auxiliary Frequency References

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 74 for details on using this function.

Setting 2: MEMOBUS/Modbus Communications

This setting requires that the frequency reference is entered via the RS-485/422 serial communications port (control terminals R+, R-, S+, S-).

Setting 3: Option card

This setting requires that the frequency reference is entered via an option board plugged into connector CN5-A on the drives control board. Consult the manual supplied with the option board for instructions on integrating the drive with the communication system.

Note: If the frequency reference source is set for an option PCB (b1-01 = 3), but an option board is not installed, an OPE05 Operator

Programming Error will be displayed on the digital operator and the drive will not run.

Setting 4: Pulse Train Input

If b1-01 is set to 4, the frequency reference must be provided by a pulse train signal to terminal RP. Follow the directions below to make sure the pulse signal is working properly.

Verifying Pulse Train is Working Properly

• Make sure that b1-04 is set to 4 and H6-01 is set to 0.

• Set the pulse input scaling 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 if the correct frequency reference is displayed.

b1-02: Run Command Selection 1

■

Parameter b1-02 determines the Run command source 1 in the REMOTE mode.

No. Parameter Name Setting Range Default

b1-02 Run Command Selection 1 0 to 3 1

Setting 0: Operator

When the b1-02 = 0, the LO/RE light will switch on and the RUN key will enter a Run command to start the drive.

Setting 1: Control Circuit Terminal

This setting requires that the Run and Stop commands are entered from the digital input terminals. The following sequences can be used:

• 2-wire sequence 1: Two inputs (FWD/Stop-REV/Stop). Initializing the drive by setting A1-03 = 2220, presets the terminals S1 and S2 to these functions. This is the default setting of the drive.

• 2-wire sequence 2: Two inputs (Start/Stop-FWD/REV).

• 3-wire sequence: Three inputs (Start-Stop-FWD/REV). Initialize the drive by setting A1-03 = 3330 presets the terminals S1, S2, and S5 to these functions. Also refer to Setting 0: 3-Wire Sequence on page 81.

Setting 2: MEMOBUS/Modbus Communications

To issue a Run command via serial communications, set b1-02 to 2 and connect the RS-485/422 serial communication cable to control terminals R+, R-, S+, and S- on the removable terminal block.

Setting 3: Option Card

To issue the Run command via the communication option board, set b1-02 to 3 and plug a communication option board into the CN5-A port on the control PCB. Refer to the manual supplied with the option board for instructions on integrating the drive into the communication system.

Note: If b1-02 is set to 3, but an option board is not installed in CN5-A, an oPE05 operator programming error will be displayed on the

digital operator and the drive will not run.

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4 Start-Up Programming & Operation

Drive output is shut off

Run

command

Output

frequency

Motor speed

ON OFF

Motor coasts

DC Injection Braking

with the current set in

b2-02

Run

command

Output

frequency

ON OFF

Motor speed

Minimum Baseblock

Time (

L2-03)

■ b1-03: Stopping Method Selection

Select how the drive stops the motor when the Run command is removed or when a Stop command is entered.

No. Parameter Name Setting Range Default

b1-03 Stopping Method Selection 0 to 3 0

Setting 0: Ramp to stop

When the Run command is removed, the drive will decelerate the motor to stop. The deceleration rate is determined by the active deceleration time. The default deceleration time is set to parameter C1-02.

When the output frequency falls below the level set in parameter b2-01, the drive will start DC injection, Zero Speed Control or Short Circuit Braking, depending on the selected control mode. Refer to b2-01: DC Injection Braking Start

Frequency on page 69 for details.

Setting 1: Coast to stop

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.

Figure 55

Figure 55 Coast to Stop

Note: After a stop is initiated, any subsequent Run command entered will be ignored until the minimum baseblock time (L2-03) has

expired. Do not enter Run command until it has come to a complete stop. To start the motor back up before it has stopped completely, use DC Injection at start (refer to b2-03 on page 133) or Speed Search (refer to b3: Speed Search on page 133).

Setting 2: DC Injection Braking to stop

When the Run command is removed, the drive will enter baseblock (turn off its output) for the minimum baseblock time (L2-03). Once the minimum baseblock time has expired, the drive will brake the motor by injecting DC current into the motor windings. The stopping time is significantly faster than when compared with simply coasting to stop. The level of current used for DC Injection Braking is set by parameter b2-02 (default = 50%).

Note: This function is not available in the control modes for PM motors (A1-02 = 5, 6, 7).

Figure 56

Figure 56 DC Injection Braking to Stop

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4 Start-Up Programming & Operation

Start-Up Programming

& Operation

Min output

frequency

100%

(Max output

frequency)

Output frequency

when Stop command

was entered

Run wait time t

Active deceleration time

Min Baseblock Time (L2-03)

The time for DC Injection Braking is determined by the value set to b2-04 and by the output frequency at the time the Run command is removed. It can be calculated by:

(b2-04) × 10 × Output frequency

Max. output frequency (E1-04)

Output frequency when

100%

(Maximum output

frequency)

Figure 57

DC Injection brake time

DC Injection braking time

b2-0410

b2-04

10%

Stop command was entered

Figure 57 DC Injection Braking Time Depending on Output Frequency

Note: If an overcurrent (oC) fault occurs during DC Injection Braking to stop, lengthen the minimum baseblock time (L2-03) until the

fault no longer occurs.

Setting 3: Coast to Stop with Timer

When the Run command is removed, the drive will turn off its output and the motor will coast to stop. If a Run command is input before the time t (value of C1-02) has expired, the drive will not start. A Run command activated during time t must be cycled after t has expired in order to start the drive.

Figure 58

Run command

ON ON ONOFF OFF

Output

frequency

Drive output shut off

Run wait time t

Figure 58 Coast to Stop with Timer

The wait time t is determined by the output frequency when the Run command is removed and by the active deceleration time.

Figure 59

Figure 59 Run Wait Time Depending on Output Frequency

■ b2-01: DC Injection Braking Start Frequency

Parameter b2-01 is active when “Ramp to stop” is selected as the stopping method (b1-03 = 0).

No. Name Setting Range Default

b2-01 DC Injection Braking Start Frequency 0.0 to 10.0 Hz Determined by A1-02

The function triggered by parameter b2-01 depends on the control mode that has been selected.

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4 Start-Up Programming & Operation

Output

frequency

Time

b2-04

DC Injection

Braking

E1-09 Min. Frequency b2-01 Zero Speed Level

V/f, V/f w/PG and OLV (A1-02 = 0, 1, 2)

For these control modes, parameter b2-01 sets the starting frequency for DC Injection Braking at stop. Once the output frequency falls below the setting of b2-01, DC Injection Braking is enabled for the time set in parameter b2-04.

Figure 60

Figure 60 DC Injection Braking at Stop for V/f, V/f w/PG and OLV

Note: If b2-01 is set to a smaller value than parameter E1-09 (minimum frequency), then DC Injection Braking will begin as soon as

the frequency falls to the value set to E1-09.

OLV/PM and AOLV/PM (A1-02 = 5, 6)

For these control modes, parameter b2-01 sets the starting frequency for Short-Circuit Braking at stop. Once the output frequency falls below the setting of b2-01, Short-Circuit Braking is enabled for the time set in parameter b2-13. If DC Injection Braking time is enabled at stop, then DC Injection Braking is performed for the time set in b2-04 after ShortCircuit Braking is complete.

Figure 61

E1-09 Min. Frequency b2-01 Zero Speed Level

Output

frequency

Figure 61 Short-Circuit Braking at Stop in OLV/PM and AOLV/PM

Note: If b2-01 is set to a smaller value than parameter E1-09 (minimum frequency), then DC Injection Braking will begin as soon as

the frequency falls to the value set to E1-09.

CLV and CLV/PM (A1-02 = 3, 7)

Short Circuit

Braking

DC Injection

Braking

b2-04b2-13

Time

For these control modes, parameter b2-01 sets the starting frequency for Zero Speed Control (not position lock) at stop. Once the output frequency falls below the setting of b2-01, Zero Speed Control is enabled for the time set in parameter b2-04 if b1-05 = 0.

Figure 62

E1-09 Min. Frequency b2-01 Zero Speed Level

Output

frequency

Figure 62 Zero Speed Control at Stop in CLV and CLV/PM

Note: If b2-01 is set to lower than the minimum frequency (E1-09), then Zero Speed Control begins at the frequency set to E1-09.

Zero Speed

Control

b2-04

Time

■ b3-01: Speed Search Selection at Start

Determines if Speed Search is automatically performed when a Run command is issued or not.

No. Parameter Name Setting Range Default

b3-01 Speed Search Selection at Start 0 or 1 Determined by A1-02

Setting 0: Disabled

When the Run command is entered, the drive starts operating at the minimum output frequency. If external Speed Search 1 or 2 is already enabled by a digital input, the drive will start operating with Speed Search.

Setting 1: Enabled

Speed Search is performed whenever the Run command is entered. The drive begins running the motor once Speed Search is complete.

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4 Start-Up Programming & Operation

Start-Up Programming

& Operation

■ C1-01 to C1-08: Accel, Decel Times 1 to 4

Four different sets of acceleration and deceleration times can be set in the drive. They can be selected by digital inputs, by the motor selection, or can be switched automatically. Acceleration time parameters always set the time to accelerate from 0 Hz to the maximum output frequency (E1-04). Deceleration time parameters always set the time to decelerate from maximum output frequency to 0 Hz. C1-01 and C1-02 are the default active accel/decel settings.

No.

Parameter Name Setting Range Default

C1-01 Acceleration Time 1

C1-02 Deceleration Time 1

C1-03 Acceleration Time 2

C1-04 Deceleration Time 2

C1-05 Acceleration Time 3 (Motor 2 Accel Time 1)

0.0 to 6000.0 s <1> 10.0 s

C1-06 Deceleration Time 3 (Motor 2 Decel Time 1)

C1-07 Acceleration Time 4 (Motor 2 Accel Time 2)

C1-08 Deceleration Time 4 (Motor 2 Accel Time 2)

<1> The setting range for the acceleration and deceleration times is determined by the accel/decel time setting units in C1-10. For example, if the

time is set in units of 0.01 s (C1-10 = 0), the setting range becomes 0.00 to 600.00 s.

Switching Acceleration Times by Digital Input

Accel/decel times 1 are active by default if no input is set. The accel/decel times 2, 3, and 4 can be activated by digital inputs (H1- = 7 and 1A) as explained in Tab le 2 3.

Table 23 Accel/Decel Time Selection by Digital Input

Accel/Decel Time Sel. 1

H1- = 7

0 0 C1-01 C1-02

1 0 C1-03 C1-04

0 1 C1-05 C1-06

1 1 C1-07 C1-08

Accel/Decel Time Sel. 2

H1- = 1A

Acceleration Deceleration

Active Times

Figure 63 shows an operation example for changing accel/decel. times. The example below requires that the stopping

method be set for “Ramp to stop” (b1-03 = 0).

Figure 63

Accel Time 1

Output frequency

FWD (REV) Run command

Accel/Decel Time Selection 1 (Terminals S1 to S8, H1- = “7”)

ccel/Decel Time Selection 2

(Terminals S1 to S8, H1- = “1A”)

(C1-01)

Decel Time 1 (C1-02)

Accel Time 2 (C1-03)

OFF

Decel Time 2 (C1-04)

Decel Time 1 (C1-02)

Accel Time 3 (C1-05)

OFF

Decel Time 3 (C1-06)

Accel Time 4

(C1-07)

OFF

Decel Time 4 (C1-08)

Decel Time 1 (C1-02)

Time

Figure 63 Timing Diagram of Accel/Decel Time Change

Switching Acceleration and Deceleration Times by Motor Selection

When switching between motor 1 and 2 using a digital input (H1-= 16), parameters C1-01 to C1-04 become accel/ decel time 1 and 2 for motor 1, while C1-05 to C1-08 become accel/decel time 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- = 7 like shown in Tab le 2 4.

Note: 1. The motor 2 selection function cannot be used when PM motor is used.

2. The digital input setting “Accel/Decel time 2 selection” (H1- = 1A) cannot be used together with motor 1/2 switching. Trying to

do so triggers an oPE03 error, indicating a contradictory multifunction input settings.

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4 Start-Up Programming & Operation

Output Frequency

C1-11 Accel/Decel Time Switch Frequency

C1-07

setting

When the output frequency ≥ C1-11, drive uses Accel/Decel Time 1 (C1-01, -02) When the output frequency < C1-11, drive uses Accel/Decel Time 2 (C1-07, -08)

C1-01

setting

C1-02

setting

C1-08

setting

100%

0 Motor Speed

Rated Load

Overload

150%

Motor Speed

100%

120%

Rated Load

Overload

Table 24 Motor Switching and Accel/Decel Time Combinations

Accel/Decel Time 1 (H1- = 7)

Motor 1 Selected (Terminal set to H1-

=16 OFF)

Motor 2 Selected (Terminal set to H1-

=16 ON)

Accel Decel Accel Decel

Open C1-01 C1-02 C1-05 C1-06

Closed C1-03 C1-04 C1-07 C1-08

Switching Accel/Decel Times by a Frequency Level

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 in parameter C1-11. When it falls below this level, the accel/ decel times are switched back. Figure 64 shows an operation example.

Note: Acceleration and deceleration times selected by digital inputs have priority over the automatic switching by the frequency level

set to C1-11. For example, if accel/decel time 2 is selected, the drive will use this time only and not switch from accel/decel time

Figure 64

4 to the selected one.

Figure 64 Accel/Decel Time Switching Frequency

■ C6-01: Drive Duty Mode Selection

The drive has two different “duty modes” to select from 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. The default setting is ND. Refer to Heavy

Duty and Normal Duty Ratings on page 124 for details about the rated current.

No. Parameter Name Setting Range Default

C6-01 Duty Mode Selection 0 or 1 0 (HD)

Table 25 Differences between Heavy and Normal Duty

Characteristics Heavy Duty Rating (HD) Normal Duty Rating (ND)

C6-01 01

Performance

Use Heavy Duty Rating for applications requiring a high

Application

overload tolerance with constant load torque. Such applications include extruders and conveyors.

Over load capability (oL2) 150% of drive rated Heavy Duty current for 60 s 120% of drive rated Normal Duty current for 60 s

Stall Prevention during

Acceleration (L3-02)

Stall Prevention during

Run (L3-06)

Default Carrier Frequency 2 kHz 2 kHz Swing PWM

Note: By changing the Duty Mode selection, the maximum size motor the drive can run changes, and the E2- parameters are

automatically set to appropriate values (E4- for motor 2). Parameters settings determined by motor capacity are recalculated automatically when the Duty Mode selection is changed. This includes b8-04, L2-03, n5-02, L3-24, C5-17, and C5-37.

150% 120%

Use Normal Duty Rating for applications in which the torque requirements drop along with the speed. Examples include fans and pumps where a high overload tolerance is not required.

72 YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide

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4 Start-Up Programming & Operation

Start-Up Programming

& Operation

■ C6-02: Carrier Frequency Selection

Parameter C6-02 sets the switching frequency of the drive’s output transistors. Changes to the switching frequency helps lower audible noise and also reduces leakage current.

Note: Increasing the carrier frequency above the default value automatically lowers the drive’s current rating.

No. Parameter Name Setting Range Default

C6-02 Carrier Frequency Selection 1 to F

Note: The default setting for the carrier frequency differs based on the type of motor and the Duty Mode selection. The default is 2 kHz

when the drive is set for Heavy Duty performance, and defaulted to “Swing PWM1” when set for Normal Duty performance. When using a PM motor, the default carrier frequency is 5.0 Hz.

Settings:

C6-02 Carrier Frequency C6-02 Carrier Frequency C6-02 Carrier Frequency

1 2.0 kHz 5 12.5 kHz (10.0 kHz) 9 Swing PWM 3

2 5.0 kHz (4.0 kHz) 6 15.0 kHz (12.0 kHz) A Swing PWM 4

3 8.0 kHz (6.0 kHz) 7 Swing PWM 1

4 10.0 kHz (8.0 kHz) 8 Swing PWM 2

Note: 1. Swing PWM uses a carrier frequency of 2.0 kHz as a base, then applies a special PWM pattern to reduce the audible noise.

2. The value in parenthesis indicates the carrier frequency for AOLV/PM.

Determined by A1-02, o2-04.

Reset when C6-01 is changed.

F User defined (C6-03 to C6-05)

Guidelines for Carrier Frequency Parameter Setup

Symptom

Speed and torque are unstable at low speeds

Noise from the drive affects peripheral devices

Excessive leakage current from the drive

Wiring between the drive and motor is too long <1>

Audible motor noise is too loud Increase the carrier frequency or use Swing PWM. <2>

<1> The carrier frequency may need to be lowered if the motor cable is too long. Refer to the table below. <2> In Normal Duty, the carrier frequency default is for Swing PWM (C6-02 = 7), the same as setting 2 kHz. Increasing the carrier frequency is fine

when the drive is set for Normal Duty, but remember that the drive rated current falls when the carrier frequency is increased.

Wiring Distance Up to 50 m Up to 100 m Greater than 100 m

Recommended setting value for C6-02 1 to F (up to 15 kHz)

d1-01 to d1-17: Frequency Reference 1 to 16 and Jog Frequency Reference

■

Lower the carrier frequency.

1 to 2 (up to 5 kHz), 7 (Swing

PWM)

Remedy

1 (up to 2 kHz), 7 (Swing PWM)

Up to 17 preset frequency references (including the Jog reference) can be programmed in the drive. The drive lets the user switch between these frequency references during run by using the digital input terminals. The drive uses the acceleration and deceleration times that have been selected when switching between each frequency reference.

The Jog frequency must be selected by a separate digital input and overrides all other frequency references.

The multi-speed references 1, 2, and 3 can be provided by analog inputs.

No.

d1-01 to d1-16 Frequency Reference 1 to 16 0.00 to 400.00 Hz <1> <2> 0.00 Hz <2>

d1-17 Jog Frequency Reference 0.00 to 400.00 Hz <1> <2> 6.00 Hz <2>

<1> The upper limit is determined by the maximum output frequency (E1-04) and upper limit for the frequency reference (d2-01). <2> Setting units are determined by parameter o1-03. The default is “Hz” (o1-03 = 0) in V/f, V/f w/PG, OLV, CLV, and OLV/PM control modes.

The default for AOLV/PM and CLV/PM control modes expresses the frequency reference as a percentage (o1-03 = 1).

YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide 73

Parameter Name Setting Range Default

Page 74

4 Start-Up Programming & Operation

Multi-Step Speed Selection

To use several speed references for a multi-step speed sequence, set the H1- parameters to 3, 4, 5, and 32. To assign the Jog reference to a digital input, set H1- to 6.

Notes on using analog inputs as Multi-Speed 1, 2, and 3:

• The first frequency reference (Multi-Speed 1) comes from the source specified in b1-01. When using an analog input terminal to supply the frequency reference, the frequency reference source must be assigned to the control terminals (b1-01 = 1).

• When an analog input is set to “Auxiliary frequency 1” (H3-02, H2-06, or H2-10 = 2), then the value set to this input will be used as the Multi-Step Speed 2 instead of the value set to parameter d1-02. If no analog inputs are set for “Auxiliary frequency 1”, then d1-02 becomes the reference for Multi-Step Speed 2.

• When the an analog input is set to “Auxiliary frequency 2” (H3-02, H2-06, or H2-10 = 3), then the value set to this input will be used as the Multi-Step Speed 3 instead of the value set to parameter d1-03. If no analog inputs are set for “Auxiliary frequency 2”, then d1-03 becomes the reference for Multi-Step Speed 3.

The different speed references can be selected as shown in Table 2 6. Figure 65 illustrates the multi-step speed selection.

Table 26 Multi-Step Speed Reference and Terminal Switch Combinations

Reference

Frequency Reference 1 (set in b1-01) OFF OFF OFF OFF OFF

Frequency Reference 2 (d1-02 or input terminal A1, A2, A3)

Frequency Reference 3 (d1-03 or input terminal A1, A2, A3)

Frequency Reference 4 (d1-04) ON ON OFF OFF OFF

Frequency Reference 5 (d1-05) OFF OFF ON OFF OFF

Frequency Reference 6 (d1-06) ON OFF ON OFF OFF

Frequency Reference 7 (d1-07) OFF ON ON OFF OFF

Frequency Reference 8 (d1-08) ON ON ON OFF OFF

Frequency Reference 9 (d1-09) OFF OFF OFF ON OFF

Frequency Reference 10 (d1-10) ON OFF OFF ON OFF

Frequency Reference 11 (d1-11) OFF ON OFF ON OFF

Frequency Reference 12 (d1-12) ON ON OFF ON OFF

Frequency Reference 13 (d1-13) OFF OFF ON ON OFF

Frequency Reference 14 (d1-14) ON OFF ON ON OFF

Frequency Reference 15 (d1-15) OFF ON ON ON OFF

Frequency Reference 16 (d1-16) ON ON ON ON OFF

Jog Frequency Reference (d1-17) <1> −−−−ON

<1> The Jog frequency overrides whatever frequency reference is being used.

Multi-Step

Speed

H1-=3

ON OFF OFF OFF OFF

OFF ON OFF OFF OFF

Multi-Step

Speed 2

H1-=4

Multi-Step

Speed 3

H1-=5

Multi-Step

Speed 4

H1-=32

Jog Reference

H1-=6

74 YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide

Page 75

Start-Up Programming

& Operation

Figure 65

d1-04

d1-05

d1-06

d1-07

d1-17

d1-12

d1-13

d1-14

d1-15

d1-16

FWD (REV) Run/Stop

Multi-step Speed Ref. 2

Multi-step Speed Ref. 3

Jog Reference

Time

Multi-step Speed Ref. 1

Multi-step Speed Ref. 4

Frequency

reference

d1-01

(A1)

d1-02

(A2)

d1-01

(A3)

4 Start-Up Programming & Operation

■ E1-01: Input Voltage Setting

Set the input voltage parameter to the nominal voltage of the AC power supply. This parameter adjusts the levels of some protective features of the drive (overvoltage, Stall Prevention, etc.).

NOTICE: Set parameter E1-01 to match the input voltage of the drive. Drive input voltage (not motor voltage) must be set in E1-01 for the protective features to function properly. Failure to set the correct drive input voltage will result in improper drive operation.

No.

E1-01 <1> Input Voltage Setting 155 to 255 V 200 V

<1> The setting range and default value shown here are for 200 V class drives. Double this for 400 V class units.

E1-01 Related Values

The input voltage setting determines the undervoltage detection level as well as DC bus levels used by the KEB function and the overvoltage suppression function.

Vol tag e

200 V Class All settings 190 V 260 V 375 V

400 V Class

Note: The braking transistor operation levels are valid for the drive internal braking transistor. If an external CDBR braking chopper is

■ V/f Pattern Settings (E1-03)

The drive uses the V/f pattern that has been set to adjust the output voltage relative to the frequency reference. There are 15 different preset V/f patterns (setting 0 to E) to select from, each with varying voltage profiles, saturation levels (frequency at which maximum voltage is reached), and maximum frequencies. Additionally, one custom V/f pattern is available (setting F). The custom V/f pattern requires the user to create the pattern using parameters E1-04 through E1-

10.

Figure 65 Preset Reference Timing Diagram

Parameter Name Setting Range Default

Setting Value of

E1-01

setting ≥ 400 V 380 V 500 V 750 V

setting < 400 V 350 V 460 V 750 V

used, refer to the instruction manual of that unit.

Uv Detection Level

(L2-05)

(Approximate Values)

Desired DC Bus Voltage

during KEB (L2-11)

ov Suppression /

Stall Prevention Level

(L3-17)

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4 Start-Up Programming & Operation

200

1.3 2.5 50

Voltage (V)

Frequency (Hz)

200

1.5 3 60

Voltage (V)

Frequency (Hz)

200

1.5 3 6050

Voltage (V)

Frequency (Hz)

200

1.5 3 7260

Voltage (V)

Frequency (Hz)

200

1.3 25 50

Voltage (V)

Frequency (Hz)

200

1.3 25 50

Voltage (V)

Frequency (Hz)

200

1.5 30 60

Voltage (V)

Frequency (Hz)

200

1.5 30 60

Voltage (V)

Frequency (Hz)

■ E1-03: V/f Pattern Selection

The user can select the V/f pattern for the drive and motor from 15 predefined patterns, or create a custom V/f pattern.

No. Parameter Name Setting Range Default

E1-03 V/f Pattern Selection 0 to F <1>

<2>

<1> Parameter setting value is not reset to the default value during drive initialization (A1-03). <2> Settings 0 through E are not available when using any of the vector control modes.

Setting a Predefined V/f Pattern (Setting 0 to E)

Choose the V/f pattern that best meets the application demands from the table below. These settings are available only in V/f Control modes. Set the correct value to E1-03. Parameters E1-04 to E1-13 can only be monitored, not changed.

Note: 1. Setting an improper V/f pattern may result in low motor torque or increased current due to overexcitation.

2. Parameter E1-03 is not reset when the drive is initialized.

Table 27 Predefined V/f Patterns

Setting Specification Characteristic Application

0 50 Hz

1 60 Hz

2 60 Hz (with 50 Hz base)

3 72 Hz (with 60 Hz base)

4 50 Hz, Heavy Duty 2

5 50 Hz, Heavy Duty 1

6 50 Hz, Heavy Duty 1

7 50 Hz, Heavy Duty 2

8 50 Hz, mid starting torque

9 50 Hz, high starting torque

A 60 Hz, mid starting torque

B 60 Hz, high starting torque

C 90 Hz (with 60 Hz base)

D 120 Hz (with 60 Hz base)

E 180 Hz (with 60 Hz base)

Constant torque

Derated torque

High starting torque

Constant output

For general purpose applications. Torque remains constant regardless of changes to speed.

For fans, pumps, and other applications that require torque derating relative to the load.

Select high starting torque when:

• Wiring between the drive and motor exceeds 150 m

• A large amount of starting torque is required

• An AC reactor is installed

Output voltage is constant when operating at greater than 60 Hz.

The following tables show details on predefined V/f patterns.

The following graphs are for 200 V class drives. Double the values when using a 400 V class drive.

Predefined V/f Patterns for models CIMR-A2A0004 to 0021 and CIMR-A4A0002 to 0011

Table 28 Constant Torque Characteristics, Settings 0 to 3

Setting = 0 50 Hz Setting = 1 60 Hz Setting = 2 60 Hz Setting = 3 72 Hz

Table 29 Derated Torque Characteristics, Settings 4 to 7

Setting = 4 50 Hz Setting = 5 50 Hz Setting = 6 60 Hz Setting = 7 60 Hz

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4 Start-Up Programming & Operation

Start-Up Programming

& Operation

200

1.3 2.5 50

Voltage (V)

Frequency (Hz)

200

1.3 2.5 50

Voltage (V)

Frequency (Hz)

200

1.5 3 60

Voltage (V)

Frequency (Hz)

200

1.5 3 60

Voltage (V)

Frequency (Hz)

200

1.5 3 9060

Voltage (V)

Frequency (Hz)

200

1.5 3 12060

Voltage (V)

Frequency (Hz)

200

1.5 3 18060

Voltage (V)

Frequency (Hz)

200

1.5 3 60

Voltage (V)

Frequency (Hz)

200

1.3 2.5 50

Voltage (V)

Frequency (Hz)

Voltage (V)

Frequency (Hz)

200

1.3 25 50

200

1.3 25 50

Voltage (V)

Frequency (Hz)

Voltage (V)

Frequency (Hz)

200

1.5 30 60

200

1.5 30 60

Voltage (V)

Frequency (Hz)

Voltage (V)

Frequency (Hz)

200

1.5 3 60

200

1.5 3 60

Voltage (V)

Frequency (Hz)

Table 30 High Starting Torque, Settings 8 to B

Setting = 8 50 Hz Setting = 9 50 Hz Setting = A 60 Hz Setting = B 60 Hz

Table 31 Rated Output Operation, Settings C to F

Setting = C 90 Hz Setting = D 120 Hz Setting = E 180 Hz Setting = F 60 Hz

Predefined V/f Patterns for Models CIMR-A2A0030 to 0211 and CIMR-A4A0018 to 0103

The following graphs are for 200 V class drives. Double values when using a 400 V class drive.

Table 32 Rated Torque Characteristics, Settings 0 to 3

Setting = 0 50 Hz Setting = 1 60 Hz Setting = 2 60 Hz Setting = 3 72 Hz

200

Voltage (V)

1.5 3 60 Frequency (Hz)

200

Voltage (V)

1.5 3 6050 Frequency (Hz)

200

Voltage (V)

1.5 3 7260

Frequency (Hz)

Table 33 Derated Torque Characteristics, Settings 4 to 7

Setting = 4 50 Hz Setting = 5 50 Hz Setting = 6 60 Hz Setting = 7 60 Hz

Table 34 High Starting Torque, Settings 8 to B

Setting = 8 50 Hz Setting = 9 50 Hz Setting = A 60 Hz Setting = B 60 Hz

200

Voltage (V)

1.3 2.5 50 Frequency (Hz)

200

Voltage (V)

1.3 2.5 50 Frequency (Hz)

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4 Start-Up Programming & Operation

200

1.5 3 9060

Voltage (V)

Frequency (Hz)

200

1.5 3 12060

Voltage (V)

Frequency (Hz)

200

1.5 3 18060

Voltage (V)

Frequency (Hz)

200

1.3 2.5 50

Voltage (V)

Frequency (Hz)

200

1.5 3 6050

Voltage (V)

Frequency (Hz)

200

1.3 25 50

Voltage (V)

Frequency (Hz)

200

1.3 25 50

Voltage (V)

Frequency (Hz)

200

1.5 30 60

Voltage (V)

Frequency (Hz)

200

1.3 2.5 50

Voltage (V)

Frequency (Hz)

200

1.5 3 9060

Voltage (V)

Frequency (Hz)

200

1.5 3 12060

Voltage (V)

Frequency (Hz)

200

1.5 3 18060

Voltage (V)

Frequency (Hz)

200

1.5 3 60

Voltage (V)

Frequency (Hz)

Table 35 Constant Output, Settings C to F

Setting = C 90 Hz Setting = D 120 Hz Setting = E 180 Hz Setting = F 60 Hz

200

Voltage (V)

1.5 3 60 Frequency (Hz)

Predefined V/f Patterns for Models CIMR-A2A0250 to 0415 and CIMR-A4A0139 to 0675

The following graphs are for 200 V class drives. Double values when using a 400 V class drive.

Table 36 Rated Torque Characteristics, Settings 0 to 3

Setting = 0 50 Hz Setting = 1 60 Hz Setting = 2 60 Hz Setting = 3 72 Hz

200

Voltage (V)

1.5 3 60

Frequency (Hz)

Voltage (V)

1.5 3 7260

Frequency (Hz)

Table 37 Derated Torque Characteristics, Settings 4 to 7

Setting = 4 50 Hz Setting = 5 50 Hz Setting = 6 60 Hz Setting = 7 60 Hz

200

Voltage (V)

1.5 30 60

Frequency (Hz)

Table 38 High Starting Torque, Settings 8 to B

Setting = 8 50 Hz Setting = 9 50 Hz Setting = A 60 Hz Setting = B 60 Hz

200

Voltage (V)

1.3 2.5 50

Frequency (Hz)

200

Voltage (V)

1.5 3 60

Frequency (Hz)

200

Voltage (V)

1.5 3 60

Frequency (Hz)

Table 39 Constant Output, Settings C to F

Setting = C 90 Hz Setting = D 120 Hz Setting = E 180 Hz Setting = F 60 Hz

Setting a Custom V/f Pattern (Setting F: Default)

Setting parameter E1-03 to F allows 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 V/f pattern 1 of the predefined patterns.

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4 Start-Up Programming & Operation

Start-Up Programming

& Operation

Output Voltage (V)

Frequency (Hz)

■ V/f Pattern Settings E1-04 to E1-13

If E1-03 is set to a preset V/f pattern (i.e., set to any value besides F), then the user can refer to parameters E1-04 through E1-13 to monitor the V/f pattern. To create a new V/f pattern, set E1-03 to F. Refer to Figure 66 for an example custom V/f pattern.

Note: Certain E1- parameters might not be visible depending on the selected control mode. Refer to Parameter List on page 131

for details.

No.

E1-04

E1-05

E1-06

E1-07

E1-08

E1-09

E1-10

E1-11

E1-12

E1-13

<1> Default setting is determined by the control mode. <2> When using PM motors, the default setting is determined by the motor code set to E5-01. <3> Values shown here are for 200 V class drives. Double values when using a 400 V class unit. <4> The drive changes these settings when Auto-Tuning is performed (Rotational Auto-Tuning, Stationary Auto-Tuning 1, 2). <5> Parameter ignored when E1-11 and E1-12 are set to 0.0. <6> The default value shown here is for the following localized drives: Japan (Model code: CIMR-AAA), Asia (Model code: CIMR-ATA).

For default value of China localized drive (Model code: CIMR-ABA), refer to the A1000 Technical Manual.

Figure 66

Minimum Output Frequency Voltage

Middle Output Frequency Voltage 2

Parameter Name Setting Range Default

Maximum Output Frequency

Maximum Voltage

Base Frequency 0.0 to [E1-04]

Middle Output Frequency 0.0 to [E1-04]

Middle Output Frequency Voltage

Minimum Output Frequency 0.0 to [E1-04]

Middle Output Frequency 2 0.0 to [E1-04]

Base Voltage

40.0 to 400.0 Hz <1> <2> <6>

0.0 to 255.0 V <3> <1> <3>

0.0 to 255.0 V <3> 0.0 V <3> <4> <5>

0.0 to 255.0 V <3> 0.0 V <3> <4>

<1> <2> <6>

<1> <6>

<1> <2> <6>

0.0 Hz <5>

Figure 66 V/f Pattern

Note: 1. The following condition must be true when setting up the V/f pattern: E1-09 ≤ E1-07 < E1-06 ≤ E1-11 ≤ E1-04

2. To make the V/f pattern a straight line below E1-06, set E1-09 = E1-07. In this case the E1-08 setting is disregarded.

3. E1-03 is unaffected when the parameters are initialized using parameter A1-03, but the settings for E1-04 through E1-13 are returned

to their default values.

Parameters E1-11, E1-12, and E1-13 should only be used to fine-tune the V/f pattern in the constant output range. These parameters rarely need to be changed.

■

E2-01: Motor Rated Current

Set E2-01 to the full load amps (FLA) stamped on the motor nameplate. This value is used for motor protection and to calculate torque limits. If Auto-Tuning completes successfully, the value entered to T1-04 will automatically be saved to E2-01.

No. Parameter Name Setting Range Default

E2-01 Motor Rated Current

Note: This value's number of decimal places depends on the drive model and the Heavy/Normal duty selection in parameter C6-01.

The value will have two decimal places (0.01 A) if the drive is set for a Maximum Applicable Motor Capacity up to 11 kW (refer to Table 60 and Table 61) and one decimal place (0.1 A) if the set Maximum Applicable Motor Capacity is higher than 11 kW.

Note: If the motor rated current in E2-01 is set lower than the motor no-load current in E2-03, than a parameter setting error will occur

(oPE02). E2-03 must be set correctly to prevent this error.

10% to 200% of the drive rated

current.

Determined by C6-01

and

o2-04

YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide 79

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4 Start-Up Programming & Operation

■ H1-01 to H1-08: Functions for Terminals S1 to S8

These parameters assign functions to the multi-function digital inputs. The various functions and their settings are listed below in Table 40 .

No.

H1-01 Multi-Function Digital Input Terminal S1 Function Selection 1 to 9F 40 (F) <1>: Forward Run Command (2-wire sequence)

H1-02 Multi-Function Digital Input Terminal S2 Function Selection 1 to 9F 41 (F) <1>: Reverse Run Command (2-wire sequence)

H1-03 Multi-Function Digital Input Terminal S3 Function Selection 0 to 9F 24: External Fault

H1-04 Multi-Function Digital Input Terminal S4 Function Selection 0 to 9F 14: Fault Reset

H1-05 Multi-Function Digital Input Terminal S5 Function Selection 0 to 9F 3 (0) <1>: Multi-Step Speed Reference 1

H1-06 Multi-Function Digital Input Terminal S6 Function Selection 0 to 9F 4 (3) <1>: Multi-Step Speed Reference 2

H1-07 Multi-Function Digital Input Terminal S7 Function Selection 0 to 9F 6 (4) <1>: Jog Reference Selection

H1-08 Multi-Function Digital Input Terminal S8 Function Selection 0 to 9F 8: External Baseblock Command

<1> Number appearing in parenthesis is the default value after performing a 3-Wire initialization.

Parameter Name

Setting

Range

Default

Table 40 Multi-Function Digital Input Terminal Settings

Setting Function Setting Function

0 3-wire sequence 34 PID soft starter cancel

1 Local/remote selection 35 PID input level selection

2 External reference 1/2 selection 40 Forward run command (2-wire sequence)

3 Multi-Step Speed Reference 1 41 Reverse run command (2-wire sequence)

4 Multi-Step Speed Reference 2 42 Run command (2-wire sequence 2)

5 Multi-Step Speed Reference 3 43 FWD/REV command (2-wire sequence 2)

6 Jog reference selection 44 Offset frequency 1

7 Accel/decel time selection 1 45 Offset frequency 2

8 Baseblock command (N.O.) 46 Offset frequency 3

9 Baseblock Command (N.C.) 47 Node setup

A Accel/decel ramp hold 60 DC Injection Braking command

B Drive overheat alarm (OH2) 61 External Speed Search command 1

C Analog terminal input selection 62 External Speed Search command 2

D PG encoder disable 63 Field Weakening

E ASR integral reset 65 KEB Ride-Thru 1 (N.C.)

F Through mode 66 KEB Ride-Thru 1 (N.O.)

10 Up command 67 Communications test mode

11 Down command 68 High Slip Braking

12 Forward jog 6A Drive enabled

13 Reverse jog 71 Speed/Torque Control switch

14 Fault reset 72 Zero Servo

15 Fast Stop (N.O.) 75 Up 2 command

16 Motor 2 selection 76 Down 2 command

17 Fast Stop (N.C.) 77 ASR gain switch

18 Timer function input 78 External torque reference polarity inversion

19 PID disable 7A KEB Ride-Thru 2 (N.C.)

1A Accel/decel time selection 2 7B KEB Ride-Thru 2 (N.O.)

1B Program lockout 7C Short Circuit Braking (N.O.)

1E Reference sample hold 7D Short Circuit Braking (N.C.)

20 to 2F External fault 7E Forward/reverse detection (V/f control with simple PG)

30 PID integral reset 90 to 97 DriveWorksEZ Digital input 1 to 8

31 PID integral hold 9F DriveWorksEZ disabled

32 Multi-step speed reference 4 ––

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4 Start-Up Programming & Operation

Start-Up Programming

& Operation

Run Command (Runs when Closed)

DRIVE

Stop Switch

(N.C.)

Run Switch

(N.O.)

Stop Command (Stops when Open)

FWD/REV (Multi-Function Input) (H1-05 = 0)

Sequence Input Common

2 ms min.

Run command

OFF (stopped)

Can be either ON or OFF

OFF (forward)

Motor speed

Forward/reverse command

Stop command

Stop Reverse Stop Foward

TIME

Forward

ON (reverse)

Setting 0: 3-Wire Sequence

When one of the digital inputs is programmed for 3-wire control, that input becomes a forward/reverse directional input, S1 becomes the Run command input, and S2 becomes the Stop command input.

The drive will start the motor when the input S1 set for the Run command is closed for longer than 2 ms. The drive will stop the operation when the Stop input S2 is released for a brief moment. Whenever the input programmed for 3 wire sequence is open, the drive will be set for forward direction. If the input is closed, the drive is set for reverse direction.

Note: When 3-wire sequence is selected, the Run and Stop commands must be input via S1 and S2.

Figure 67

Figure 67 3-Wire Sequence Wiring Diagram

Figure 68

WARNING! The drive may start unexpectedly in reverse direction after power up if it is wired for 3-wire sequence but set up for 2-wire sequence (default). Make sure b1-17 is set to “0” (drive does not accept a Run command active at power up). When initializing the drive use 3-wire initialization. Failure to comply could result in death or serious injury from moving equipment.

■ H2-01 to H2-03: Terminal M1-M2, P1-PC, and P2-PC Function Selection

The drive has three multi-function output terminals. Table 4 1 lists the functions available for theses terminals using H201, H2-02, and H2-03.

YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide 81

Figure 68 3-Wire Sequence

Note: 1. The Run command must be closed for more than 2 ms.

2. If the Run command is active at power up and b1-17 = 0 (Run command at power up not accepted), the Run LED will flash to

indicate that protective functions are operating. If required by the application, set b1-17 to 1 to have the Run command issued automatically as soon as the drive is powered up.

No. Parameter Name Setting Range Default

H2-01

H2-02

H2-03

Terminal M1-M2 Function Selection (relay)

Terminal P1-PC Function Selection (open-collector)

Terminal P2-PC Function Selection (open-collector)

0 to 192 0: During run

0 to 192 1: Zero Speed

0 to 192 2: Speed agree 1

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4 Start-Up Programming & Operation

L4-02

Frequency reference

Speed agree 1

OFF

Output Frequency

or Motor Speed

Table 41 Multi-Function Digital Output Terminal Settings

Setting Function Setting Function

0 During run 1D During regeneration

1 Zero Speed 1E Restart enabled

2 Speed agree 1 1F Motor overload alarm (oL1)

3 User-set speed agree 1 20 Drive overheat pre-alarm (oH)

4 Frequency detection 1 22 Mechanical Weakening detection

5 Frequency detection 2 2F Maintenance period

6 Drive ready 30 During torque limit

7 DC bus undervoltage 31 During speed limit

8 During baseblock (N.O.) 32 During speed limit in Torque Control

9 Frequency reference source 33 Zero Servo complete

A Run command source 37 During frequency output

B Torque detection 1 (N.O.) 38 Drive enabled

C Frequency reference loss 39 Watt hour pulse output

D Braking resistor fault 3C LOCAL/REMOTE Status

EFault 3D During Speed Search

F Through mode 3E PID feedback low

10 Minor fault 3F PID feedback high

11 Fault reset command active 4A During KEB operation

12 Timer output 4B During Short Circuit Braking

13 Speed agree 2 4C During Fast Stop

14 User-set speed agree 2 4D oH pre-alarm time limit

15 Frequency detection 3 4E Braking transistor fault (rr)

16 Frequency detection 4 4F Braking resistor overheat (rH)

17 Torque detection 1 (N.C.) 60 Internal cooling fan alarm

18 Torque detection 2 (N.O.) 61 Rotor Position Detection Completed

19 Torque detection 2 (N.C.) 90 DriveWorksEZ digital output 1

1A During reverse 91 DriveWorksEZ digital output 2

1B During baseblock (N.C.) 92 DriveWorksEZ digital output 3

1C Motor 2 selection 100 to 192 Functions 0 to 92 with inverse output

Setting 2: Speed agree 1 (f

ref/fout

Agree 1)

Closes whenever 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.

Status Description

Open Output frequency or motor speed does not match the frequency reference while the drive is running.

Closed Output frequency or motor speed is within the range of frequency reference ±L4-02.

Note: Detection works in both directions, forward and reverse.

Figure 69

Figure 69 Speed Agree 1 Time Chart

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4 Start-Up Programming & Operation

Start-Up Programming

& Operation

Setting 3: User-set speed agree 1 (f

ref/fset

Agree 1)

Closes whenever 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).

Status Description

Open Output frequency or motor speed and frequency reference are not both within the range of L4-01 ±L4-02.

Closed Output frequency or motor speed and the frequency reference are both within the range of L4-01 ±L4-02.

Note: Frequency detection works in both forward and reverse. The value of L4-01 is used as the detection level for both directions.

Figure 70

Output Frequency

or Motor Speed

Frequency reference

User Set

Speed Agree 1

Frequency reference

OFF

Figure 70 User Set Speed Agree 1 Time Chart

L4-01

+/- L4-02

OFF

Output frequency

L4-01

+/- L4-02

■ H3-01: Terminal A1 Signal Level Selection

Selects the input signal level for analog input A1.

No. Name Setting Range Default

H3-01 Terminal A1 Signal Level Selection 0 to 1 0

Setting 0: 0 to 10 Vdc

The input level is 0 to 10 Vdc. The minimum input level is limited to 0%, so that a negative input signal due to gain and bias settings will be simply read as 0%.

Setting 1: –10 to 10 Vdc

The input level is –10 to 10 Vdc. If the resulting voltage is negative after being adjusted by gain and bias settings, then the motor will rotate in reverse.

H3-02: Terminal A1 Function Selection

■

Determines the function assigned to analog input terminal A1.

No. Name Setting Range Default

H3-02 Terminal A1 Function Selection 0 to 31 0

■

H3-03, H3-04: Terminal A1 Gain and Bias Settings

Parameter H3-03 sets the level of the selected input value that is equal to 10 Vdc input at terminal A1 (gain).

Parameter H3-04 sets the level of the selected input value that is equal to 0 V input at terminal A1 (bias).

Both can be used to adjust the characteristics of the analog input signal to terminal A1.

No. Name Setting Range Default

H3-03 Terminal A1 Gain Setting -999.9 to 999.9% 100.0%

H3-04 Terminal A1 Bias Setting -999.9 to 999.9% 0.0%

Setting Examples

• Gain H3-03 = 200%, bias H3-04 = 0, terminal A1 as frequency reference input (H3-02 = 0): An input 10 Vdc will be equivalent to a 200% frequency reference and 5 Vdc will be 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.

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4 Start-Up Programming & Operation

2.0 V

10 V

-6.0 V-10 V

E1-04

-100%

-150%

2.0 V 10 V

100 %

Frequency reference

-25%

H3-01 = 0

H3-01 = 1

H3-01 = 0

H3-01 = 1

100%

Analog Input

oltage

Analog Input

Voltage

Figure 71

Gain = 200 %

Frequecny reference

100 %

E1-04

Bias = 0 %

0 V

H3-01 = 0 H3-01 = 1

Gain = 200 %

100% E1-04

-5 V-10 V

10 V5 V

0 V

-100% E1-04

Gain = -200 %

5 V

Figure 71 Frequency Reference Setting by Analog Input with Increased Gain

• 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.

Figure 72

10 V

Figure 72 Frequency Reference Setting by Analog Input with Negative Bias

■ H3-05: Terminal A3 Signal Level Selection

Selects the input signal level for analog input A3.

No. Name Setting Range Default

H3-05 Terminal A3 Signal Level Selection 0, 1 0

Setting 0: 0 to 10 Vdc

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 83.

Setting 1: –10 V to 10 Vdc

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 83.

H3-06: Terminal A3 Function Selection

■

Determines the function assigned to analog input terminal A3.

No. Name Setting Range Default

H3-06 Terminal A3 Function Selection 0 to 31 2

H3-07, H3-08: Terminal A3 Gain and Bias Setting

■

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).

No. Name Setting Range Default

H3-07

H3-08

84 YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide

Terminal A3 Gain Setting

Terminal A3 Bias Setting

-999.9 to 999.9% 100.0%

-999.9 to 999.9% 0.0%

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4 Start-Up Programming & Operation

Start-Up Programming

& Operation

■ H3-09: Terminal A2 Signal Level Selection

Selects the input signal level for analog input A2. Be sure to also set DIP switch S1 on the terminal board accordingly for a voltage input or current input.

No. Name Setting Range Default

H3-09 Terminal A2 Signal Level Selection 0 to 3 2

Setting 0: 0 to 10 Vdc

The input level is 0 to 10 Vdc. Refer to Setting 0: 0 to 10 Vdc on page 83

Setting 1: –10 to 10 Vdc

The input level is –10 to 10 Vdc. Refer to Setting 1: –10 to 10 Vdc on page 83.

Setting 2: 4 to 20 mA Current Input

The input level is 4 to 20 mA. Negative input values by negative bias or gain settings will be limited to 0%.

Setting 3: 0 to 20 mA Current Input

The input level is 0 to 20 mA. Negative input values by negative bias or gain settings will be limited to 0%.

H3-10: Terminal A2 Function Selection

■

Determines the function assigned to analog input terminal A2.

No. Name Setting Range Default

H3-10 Terminal A2 Function Selection 0 to 31 0

■

H3-11, H3-12: Terminal A2 Gain and Bias Setting

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.

Both can be used 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.

No. Name Setting Range Default

H3-11 Terminal A2 Gain Setting -999.9 to 999.9% 100.0%

H3-12 Terminal A2 Bias Setting -999.9 to 999.9% 0.0%

H4-01, H4-04: Multi-Function Analog Output Terminal FM, AM Monitor Selection

■

Sets the desired drive monitor parameter U- to output as an analog value via terminal FM and AM. Refer to U1:

Operation Status Monitors on page 175 for a list of all monitors. The “Analog Output Level” column indicates if a

monitor can be used for analog output.

Example: Enter “103” for U1-03.

No. Name Setting Range Default

H4-01 Multi-Function Analog Output Terminal FM Monitor Selection 000 to 999 102

H4-04 Multi-Function Analog Output Terminal AM Monitor Selection 000 to 999 103

A setting of 031 or 000 applies no drive monitor to the analog output. With this setting, terminal functions as well as FM and AM output levels can be set by a PLC via a communication option or MEMOBUS/Modbus (through mode).

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

Parameter H4-02 and H4-05 set the terminal FM and AM output signal level equal to 100% of the monitor (gain). Parameter H4-03 and H4-06 set the bias added to the monitor output for terminals FM and AM. Both are set as a percentage, where 100% equals 10 Vdc analog output. The output voltage of both terminals is limited to 10 Vdc.

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4 Start-Up Programming & Operation

Output Voltage

0 V

5 V

10 V

Gain 150% Bias 0%

Gain = 150% Bias = 0%

Gain = 100% Bias = 0% Gain = 50% Bias = 0%

Gain 100% Bias 0%

Gain 50% Bias 0%

100%

Monitor Value

H4-07, 08 = 0 H4-07, 08 = 1

10V

-10 V

100%

5 V

15V

-5 V

-15 V

-100%

Gain = 100% Bias = 30%

Gain = 100% Bias = 0%

Gain 100%

Bias 30%

Gain 100%

Bias 0%

Monitor Value

0 V

3 V

10 V

100%0%

Output Voltage

H4-07, 08 = 0 H4-07, 08 = 1

10V

-10 V

100%

5 V

15 V

-5 V

-15 V

-100%

YEC_common

The output signal range can be selected between 0 to +10 Vdc or -10 to +10 Vdc using parameter H4-07 and H4-08.

Figure 73 illustrates how gain and bias settings work.

No. Name Setting Range Default

H4-02 Multi-Function Analog Output Terminal FM Gain -999.9 to 999.9% 100.0%

H4-03 Multi-Function Analog Output Terminal FM Bias -999.9 to 999.9% 0.0%

H4-05 Multi-Function Analog Output Terminal AM Gain -999.9 to 999.9% 50.0%

H4-06 Multi-Function Analog Output Terminal AM Bias -999.9 to 999.9% 0.0%

Using Gain and Bias to Adjust Output Signal Level

When viewing a gain setting parameter (H4-02 or H4-05) on the digital operator, the analog output will supply a voltage signal equal to 100% of the monitor value (including changes made from bias and gain settings). When viewing a bias setting parameter (H4-03 or H4-06), the analog output voltage will supply a signal equal to 0% monitor value (including changes made from bias and gain settings).

Example 1: To have an output signal of 5 V at terminal FM when the monitored value is at 100%, set H4-02 to 50%.

Example 2: To have an output signal of 10 V at terminal FM when the monitored value is at 76.7%, set H4-02 to 150%.

Figure 73

Figure 73 Analog Output Gain and Bias Setting Example 1 and 2

Example 3: To have an output signal of 3 V at terminal FM when the monitored value is at 0%, set H4-03 to 30%.

Figure 74

Figure 74 Analog Output Gain and Bias Setting Example 3

86 YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide

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4 Start-Up Programming & Operation

Start-Up Programming

& Operation

Stall Prevention Level During Acceleration

L3-02

-15%

Output current

Output frequency

Time

Controls the output frequency to prevent the motor from stalling

■ H4-07, H4-08: Multi-Function Analog Output Terminal FM, AM Signal Level Selection

Sets the voltage output level of U parameter (monitor parameter) data to terminal FM and terminal AM using parameters H4-07 and H4-08.

No. Name Setting Range Default

H4-07

H4-08

Multi-Function Analog Output Terminal FM Signal Level Selection

Multi-Function Analog Output Terminal AM Signal Level Selection

0, 1 0

Setting 0: 0 to 10 V Setting 1: -10 V to 10 V

■ L3-01: Stall Prevention Selection during Acceleration

Stall Prevention during acceleration (L3-01) prevents tripping with overcurrent (oC), motor overload (oL1), or drive overload (oL2) faults common when accelerating with heavy loads. L3-01 determines the type of Stall Prevention the drive should used during acceleration.

No.

L3-01 Stall Prevention Selection during Acceleration 0 to 2 <1> 1

<1> Setting 2 is not available for PM OLV.

Name Setting Range Default

Setting 0: Disabled

No Stall Prevention is provided. If the acceleration time is too short, the drive may not be able to get the motor up to speed fast enough, thus tripping an overload fault.

Setting 1: Enabled

Enables Stall Prevention during acceleration. Operation varies, depending on the control mode.

• V/f Control, V/f Control with PG, and Open Loop Vector Control: If the output current rises above the Stall Prevention level set in L3-02, then the drive stops accelerating. Acceleration will not resume until the output current falls 15% below the setting in L3-02. The Stall Prevention level is automatically reduced in the constant power range. Refer to L3-03: Stall Prevention

Limit during Acceleration on page 88.

Figure 75

• Open Loop Vector Control for PM: If the output current remains above the Stall Prevention level set in L3-02 for the time set in L3-27, then the drive will begin to decelerate using the deceleration time set in L3-22. Acceleration will not resume until the output current falls

15% below the setting in L3-02.

YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide 87

Figure 75 Stall Prevention During Acceleration for Induction Motors

Page 88

4 Start-Up Programming & Operation

Output current

L3-02

Output frequency

Time

Deceleration

using L3-22

L3-27

15 % of L3-02

Stall Prevention level during Acceleration

Output frequency

L3-03

E1-06

Base frequency

L3-02

Figure 76

Figure 76 Stall Prevention During Acceleration for Permanent Magnet Motors

Setting 2: Intelligent Stall Prevention

When L3-02 = 2, the drive will disregard the selected acceleration time and try to accelerate in the minimum time. The acceleration rate is adjusted so that the current does not exceed the value set in parameter L3-02.

■

L3-02: Stall Prevention Level during Acceleration

Sets the output current level at which the Stall Prevention during acceleration is activated.

No.

Name Setting Range Default

L3-02 Stall Prevention Level during Acceleration 0 to 150% <1> <1>

<1> The upper limit and default value is determined by the duty rating and the carrier frequency derating selection (C6-01 and L8-38 respectively).

• Stalling may occur when the motor is rated at a smaller capacity than the drive and the Stall Prevention default settings are used. Set L3-02 as appropriate if stalling occurs.

• When operating the motor in the constant power range, also set parameter L3-03.

L3-03: Stall Prevention Limit during Acceleration

■

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.

No. Name Setting Range Default

L3-03 Stall Prevention Limit during Acceleration 0 to 100% 50%

Figure 77

Figure 77 Stall Prevention Level and Limit During Acceleration

■ L3-04: Stall Prevention Selection during Deceleration

Stall Prevention during deceleration can control the deceleration based on the DC bus voltage and prevent an overvoltage fault caused by high inertia or rapid deceleration.

No.

L3-04 Stall Prevention Selection During Deceleration 0 to 5<1> 1

<1> Settings 3 through 5 are not available in OLV/PM. Settings 2 through 5 are not available in AOLV/PM and CLV/PM.

88 YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide

Name Setting Range Default

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4 Start-Up Programming & Operation

Start-Up Programming

& Operation

Output Frequency

Deceleration characteristics when Stall Prevention was triggered during deceleration

Time

specified deceleration time

Setting 0: Disabled

When this setting is used, the drive decelerates according to the set deceleration time. With high inertia loads or rapid deceleration, an overvoltage (ov) fault may occur. In this case use dynamic braking options or switch to another L3-04 selection.

Setting 1: General-purpose Stall Prevention

With this setting the drive tries to decelerate within the set deceleration time. When the DC bus voltage exceeds the Stall Prevention level, the drive pauses deceleration. Deceleration continues as soon as the DC bus voltage drops below that level. Stall Prevention may be triggered repeatedly to avoid an overvoltage fault. The DC bus voltage level for Stall Prevention depends on the input voltage setting E1-01.

Drive Input Voltage Stall Prevention Level during Deceleration

200 V Class 377 Vdc

400 V Class 754 Vdc

Note: 1. This setting should not be used in combination with a Dynamic Braking Resistor or other dynamic braking options. If Stall

Prevention during deceleration is enabled, it will be triggered before the braking resistor option can operate.

2. This method may lengthen the total deceleration time compared to the set value. If this is not appropriate for the application consider using a dynamic braking option.

Figure 78 illustrates the function of Stall Prevention during deceleration.

Figure 78

Setting 2: Intelligent Stall Prevention

With this setting, the drive adjusts the deceleration rate so that the DC bus voltage is kept at the level set in parameter L3-

17. This way the shortest possible deceleration time is achieved while the motor is protected from stalling. The deceleration time that has been selected is disregarded, but the achievable deceleration time cannot be smaller than 1/10 of the set deceleration time.

This function uses the following parameters for adjusting the deceleration rate:

• DC bus voltage gain (L3-20)

• Deceleration rate calculations gain (L3-21)

• Inertia calculations for motor acceleration time (L3-24)

• Load inertia ratio (L3-25)

Note: As the deceleration time is not constant, Intelligent Stall Prevention should not be used in applications where stopping accuracy

Setting 3: Stall Prevention with dynamic braking option

Enables the Stall Prevention function while using a dynamic braking resistor. Overvoltage problems in the DC bus can occur if Stall Prevention during deceleration is disabled (L3-04) in OLV and a dynamic braking option is installed. Set L3-04 to 3 to remedy this situation.

Setting 4: Overexcitation Deceleration 1

Overexcitation Deceleration 1 (increasing the motor flux) is faster than deceleration with no Stall Prevention (L3-04 = 0).

Setting 5: Overexcitation Deceleration 2

Overexcitation Deceleration 2 slows down the motor while trying to maintain the DC bus voltage at the level set in parameter L3-17. By doing this, the achievable deceleration time can even be shorter than with Overexcitation Deceleration 1.

Figure 78 Stall Prevention During Deceleration

is a concern. Use dynamic braking options instead.

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4 Start-Up Programming & Operation

positive torque reference

negative torque reference

10: Positive Torque Limit 12: Regenerative Torque Limit 15: Torque Limit Parameter L7-04

REV motor rotation

11: Negative Torque Limit 15: Torque Limit Parameter L7-03

10: Positive Torque Limit 15: Torque Limit Parameter L7-01

FWD motor rotation

11: Negative Torque Limit 12: Regenerative Torque Limit 15: Torque Limit Parameter L7-02

quadrant 2

quadrant 3

quadrant 1

quadrant 4

REV run regenerative

REV run motoring

FWD run motoring

FWD run regenerative

YEC_QSGonly

■ L3-05: Stall Prevention Selection during Run

Stall Prevention during run can prevent a motor from stalling by automatically reducing the speed when a transient overload occurs while the motor is running at constant speed.

This parameter determines how Stall Prevention works during run.

No. Name Setting Range Default

L3-05 Stall Prevention Selection During Run 0 to 2 1

Note: 1. This function is available in V/f, V/f w/PG, and OLV/PM.

2. When output frequency is 6 Hz or less, Stall Prevention during run is disabled regardless of the setting in L3-05 and L3-06.

Setting 0: Disabled

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.

Setting 1: Decelerate using C1-02

If the current exceeds the Stall Prevention level set in parameter L3-06, then the drive will decelerate at decel time 1 (C1-

02). Once 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.

Setting 2: Decelerate using C1-04

Same as setting 1 except the drive decelerates at decel time 2 (C1-04).

■

L3-06: Stall Prevention Level during Run

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).

The Stall Prevention level can be adjusted using an analog input.

No.

L3-06 Stall Prevention Level During Run 30 to 150 <1> <1>

<1> The upper limit and default for this setting is determined by C6-01 and L8-38.

■

L7-01 to L7-04: Torque Limits

Name Setting Range Default

These parameters set the torque limits in each operation mode.

No. Name Setting Range Default

L7-01 Forward Torque Limit 0 to 300% 200%

L7-02 Reverse Torque Limit 0 to 300% 200%

L7-03 Forward Regenerative Torque Limit 0 to 300% 200%

L7-04 Reverse Regenerative Torque Limit 0 to 300% 200%

Note: If the multi-function analog input is programmed for “10: Forward torque limit”, “11: Reverse torque limit”, “12: Regenerative

Figure 79

torque limit”, or “15: General torque limit”, the drive uses the lower value in L7-01 through L7-04, or analog input torque limit.

90 YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide

Figure 79 Torque Limit Parameters and Analog Input Settings

Page 91

4 Start-Up Programming & Operation

Start-Up Programming

& Operation

◆ Auto-Tuning

■ Types of Auto-Tuning

The drive offers different types of Auto-Tuning for induction motors and permanent magnet motors. The type of AutoTuning used differs further based on the control mode and other operating conditions. Refer to the tables below to select the type of Auto-Tuning that bests suits the application. Directions on how to execute Auto-Tuning are listed in Start-Up

Flowcharts on page 58.

Note: The drive will only show Auto-Tuning parameters that are valid for the control mode that has been set to A1-02. If the control

mode is for an induction motor, the Auto-Tuning parameters for PM motors will not be available. If the control mode is for a PM motor, the Auto-Tuning parameters for induction motors will not be available. Inertia Tuning and ASR Gain Tuning parameters and setting options will be visible only when the drive is set for operation with Closed Loop Vector or CLV/PM.

Auto-Tuning for Induction Motors

This feature automatically sets the V/f pattern and motor parameters E1- and E2- (E3-, E4- for motor 2) for an induction motor. In Closed Loop Vector, some F1- parameters for speed feedback detection are also set up.

Table 42 Types of Auto-Tuning for Induction Motors

Typ e Setting Application Conditions and Benefits

Rotational Auto-Tuning

Stationary Auto-Tuning

for Line-to-Line

Resistance

Rotational Auto-Tuning

for V/f Control

T1-01 = 0

T1-01 = 1

T1-01 = 4

T1-01 = 2

T1-01 = 3

• Motor can be decoupled from the load and rotate freely while Auto-Tuning is performed.

• Motor and load can not be decoupled but the motor load is below 30%.

• Rotational Auto-Tuning gives the most accurate results, and is therefore highly recommended if possible.

• Motor and load can not be decoupled and the load is higher than 30%.

• A motor test report listing motor data is not available.

• Automatically calculates motor parameters needed for vector control.

• Motor and load can not be decoupled and the load is higher than 30%.

• A motor test report is available. Once the no-load current and the rated slip have been entered, the drive calculates and sets all other motor-related parameters.

• The drive is used in V/f Control and other Auto-Tuning selections not possible.

• Drive and motor capacities differ.

• Tunes the drive after the cable between the drive and motor has been replaced with a cable over 50 m long. Assumes Auto-Tuning has already been performed.

• Should not be used for any vector control modes unless the motor cable has changed.

• Recommended for applications using Speed Estimation Speed Search or using the Energy Saving function in V/f Control.

• Assumes motor can rotate while Auto-Tuning is executed. Increases accuracy for certain functions like torque compensation, slip compensation, Energy Saving, and Speed Search.

Control Mode

V/f V/f w/PG OLV CLV

N/A N/A YES YES

YES YES YES YES

YES YES N/A N/A

Table 4 3 lists the data that must be entered for Auto-Tuning. Make sure this data is available before starting Auto-

Tuning. The information needed is usually listed on the motor nameplate or in the motor test report provided by the motor manufacturer. Also refer to page 60 and 61 for details on Auto-Tuning process and selections.

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4 Start-Up Programming & Operation

Table 43 Auto-Tuning Input Data

Tuni ng Ty pe ( T1-0 1)

Input Value

Motor rated power T1-02 kW YES YES YES YES YES

Motor rated voltage T1-03 Vac YES YES N/A YES YES

Motor rated current T1-04 A YES YES YES YES YES

Motor rated frequency T1-05 Hz YES YES N/A YES YES

Number of motor poles T1-06 - YES YES N/A YES YES

Motor rated Speed T1-07 r/min YES YES N/A YES YES

PG Number of pulses per

revolution

Motor no-load current T1-09 A N/A YES N/A N/A YES

Motor rated Slip T1-10 Hz N/A N/A N/A N/A YES

Motor iron loss T1-11 W N/A N/A N/A YES N/A

<1> Input data is needed for CLV/PM only.

Input

Parameter

T1-08 - YES

Unit

Standard1Stationary 1

<1> YES <1> N/A N/A YES <1>

Line-to-Line

Resistance

Rotational for

V/f Control

Stationary 2

Auto-Tuning for Permanent Magnet Motors

Automatically sets the V/f pattern and motor parameters E1- and E5- when a PM motor is used. In Closed Loop Vector Control, the Auto-Tuning process will also set some F1- parameters for speed feedback detection.

Typ e Setting Application Conditions and Benefits

PM Motor Parameter

Settings

PM Stationary Auto-

Tuning

PM Stationary Auto-

Tuning for Stator

Resistance

Z Pulse Offset Tuning

Table 44 Types of Auto-Tuning for Permanent Magnet Motors

OLV/PM AOLV/PM CLV/PM

• Motor does not rotate during Auto-Tuning

T2-01 = 0

T2-01 = 1

T2-01 = 2

T2-01 = 3

• Motor test report or motor data like listed in Tabl e 45 are available.

• A motor test report listing motor data is not available. Drive automatically calculates and sets motor parameters.

• Useful to tune the drive when the motor data were set up manually or by motor code and the cable is longer than 50 m. Should also be performed if the cable has changed after earlier tuning.

• PG encoder has been replaced. Calculates the Z pulse offset.

• Requires the motor to rotate with no or very low load.

Control Mode

YES YES YES

N/A N/A YES

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4 Start-Up Programming & Operation

Start-Up Programming

& Operation

Table 4 5 lists the data that must be entered for Auto-Tuning. Make sure the data is available before starting Auto-Tuning.

The information needed is usually listed on the motor nameplate or in the motor test report provided by the motor manufacturer. Also refer to page 62 for details on the tuning mode selection and the tuning process.

Table 45 Auto-Tuning Input Data

Tuning Type (T2-01)

Input Value

Control Mode A1-02 - 5, 6, 7 5 6, 7 5 6, 7 5, 6, 7 7

Motor Code T2-02 - <1> <1> <1> <2> <2> <2> <2>

Motor Type T2-03 - N/A N/A N/A YES YES N/A N/A

Motor rated power T2-04 kW N/A YES YES YES YES N/A N/A

Motor rated voltage T2-05 Vac N/A YES YES YES YES N/A N/A

Motor rated current T2-06 A N/A YES YES YES YES YES N/A

Motor rated frequency T2-07 Hz N/A YES N/A YES N/A N/A N/A

Number of motor poles T2-08 - N/A YES YES YES YES N/A N/A

Motor rated Speed T2-09 r/min N/A N/A YES N/A YES N/A N/A

Stator 1 Phase resistance T2-10 Ω YES YES YES N/A N/A N/A N/A

d-axis inductance T2-11 mH YES YES YES N/A N/A N/A N/A

q-axis inductance T2-12 mH YES YES YES N/A N/A N/A N/A

Voltage constant <3> T2-13 mVs/rad (el.) YES YES YES N/A N/A N/A N/A

Voltage constant <3> T2-14

Tuning pull-in current T2-15 A N/A N/A N/A YES YES N/A N/A

PG Number of pulses per

revolution

Z Pulse Offset T2-17 deg (mech.) YES <4> N/A YES <4> N/A YES <4> N/A N/A

<1> Input the motor code when using the YASKAWA motor. Select FFFF when using the motor by other manufacturers. <2> T2-02 is not available. <3> Only parameter T2-13 or T2-14 has to be input. Select one and leave the other empty. <4> Input data is needed for CLV/PM only.

Input

Parameter

T2-16 - YES

Unit

mVmin (mech.)

Parameter Calculation

YES YES YES N/A N/A N/A N/A

<4> N/A YES <4> N/A YES <4> N/A N/A

Stationary

Phase

Resistance

Z-Pulse

Offset

Inertia Tuning and Speed Control Loop Auto-Tuning

Inertia Tuning can be performed when the drive is using Closed Loop Vector control for either IM or PM motors. Inertia Tuning automatically calculates load and motor inertia, and optimizes settings related to the KEB Ride-Thru function (KEB 2) and Feed Forward control.

ASR Gain Auto-Tuning performs the same operation as Inertia Tuning, but also optimizes speed control loop settings.

Table 46 Inertia and Speed Control Loop Tuning

Type

Inertia Tuning

ASR Gain Auto-Tuning

Setting

Motor

T1-01 = 8

T1-01 = 9

Motor

Lets the motor rotate at a certain speed and applies a test signal. The

T2-01 =

T2-01 = 9Performs the same operation as Inertia Tuning, but also adjusts the

response to the test signals are analyzed, and adjustments are made

to parameters controlling the Feed Forward and KEB Ride-Thru functions (KEB 2, L2-29 = 1).

ASR gain according to the response to the test signal.

Application Conditions and Benefits

Control Mode

CLV CLV/PM

YES YES

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4 Start-Up Programming & Operation

YEC_common

ALM

DIGITAL OPERATOR JVOP-182

REV DRV FOUT

DRV

Table 4 7 explains that data that must be entered in order to perform the Inertia Tuning and ASR Gain Auto-Tuning. Refer

to Auto-Tuning for Permanent Magnet Motors on page 92 for details.

Table 47 Auto-Tuning Input Data

Tuning Type (T1-01 or T2-01)

Input Value Input Parameter Unit

Test signal frequency T3-01 Hz YES YES

Test signal Amplitude T3-02 rad YES YES

Motor inertia T3-03

kgm

System response frequency T3-04 Hz N/A YES

Inertia Tuning

YES YES

ASR Gain Tuning

■ Auto-Tuning Interruption and Fault Codes

If tuning results are abnormal or the STOP key is pressed before completion, Auto-Tuning will be interrupted and a fault code will appear on the digital operator.

Figure 80

DIGITAL OPERATOR JVOP-182

REV DRV FOUT

DRV

ALM

DIGITAL OPERATOR JVOP-182

REV DRV FOUT

ALM

A – During Auto-Tuning B – Auto-Tuning Aborted

Figure 80 Auto-Tuning Aborted Display

■ Auto-Tuning Operation Example

The following example demonstrates Rotational Auto-Tuning when using OLV (A1-02 = 2) and CLV (A1-02 = 3).

Selecting the Type of Auto-Tuning

Step

1. Turn on the power to the drive. The initial display appears.

Press the or key until the Auto-Tuning display appears.

Press to begin setting parameters.

Press to display the value for T1-01.

Save the setting by pressing .

<1>

6. The display automatically returns to the display shown in Step 3.

<1> T1-00 will appear on the display when one of the multi-function inputs has been set to switch between motor 1 and motor 2 (H1- = 16).

Display/Result

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4 Start-Up Programming & Operation

Start-Up Programming

& Operation

ALM

DIGITAL OPERATOR JVOP-182

REV DRV FOUT

DRV

Enter Data from the Motor Nameplate

After selecting the type of Auto-Tuning, enter the data required from the motor nameplate.

Note: These instructions continue from Step 6 in “Selecting the Type of Auto-Tuning”.

Step Display/Result

Press to access the motor output power parameter T1-02.

Press to view the default setting.

Press to select the digit to edit.

Press and enter the motor power nameplate data in kW.

Press to save the setting.

6. The display automatically returns to the display in Step 1.

Repeat Steps 1 through 5 to set the following parameters:

• T1-03, Motor Rated Voltage

• T1-04, Motor Rated Current

• T1-05, Motor Base Frequency

• T1-06, Number of Motor Poles

• T1-07, Motor Base Frequency

• T1-09, Motor No-Load Current (Stationary Auto-Tuning 1 or 2 only)

• T1-10, Motor Rated Slip (Stationary Auto-Tuning 2 only)

Note: To execute Stationary Auto-Tuning for line-to-line resistance only, set parameters T1-02 and T1-04.

Starting Auto-Tuning

WARNING! Sudden Movement Hazard. The drive and motor may start unexpectedly during Auto-Tuning, which could result in death

or serious injury. Ensure the area surrounding the drive motor and load are clear before proceeding with Auto-Tuning.

WARNING! Electrical Shock Hazard. High voltage will be supplied to the motor when Stationary Auto-Tuning is performed even with the motor stopped, which could result in death or serious injury. Do not touch the motor until Auto-Tuning has been completed.

NOTICE: Rotational Auto-Tuning will not function properly if a holding brake is engaged on the load. Failure to comply could result in improper operation of the drive. Ensure the motor can freely spin before beginning Auto-Tuning.

Enter the required information from the motor nameplate. Press to proceed to the Auto-Tuning start display.

Note: These instructions continue from Step 7 in “Enter Data from the Motor Nameplate”.

Step Display/Result

After entering the data listed on the motor nameplate, press to confirm.

Press to activate Auto-Tuning. flashes. The drive begins by injecting current into the motor for about 1 min, and then starts to rotate the motor.

Note: The first digit on the display indicates which motor is undergoing Auto-Tuning

(motor 1 or motor 2). The second digit indicates the type of Auto-Tuning being performed.

3. Auto-Tuning finishes in approximately one to two minutes.

◆ No-Load Operation Test Run

■ No-Load Operation Test Run

This section explains how to operate the drive with the motor decoupled from the load during a test run.

Before Starting the Motor

Check the following items before operation:

• Ensure the area around the motor is safe.

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4 Start-Up Programming & Operation

Motor

Forward

STOP

LO RE

ESC

RUN STOP

ENTERRESET

ALM

DIGITAL OPERATOR JVOP-182

REV DRV FOUT

Flashing Off

DRV

• Ensure external emergency stop circuitry is working properly and other safety precautions have been taken.

During Operation

Check the following items during operation:

• The motor should rotate smoothly (i.e., no abnormal noise or oscillation).

• The motor should accelerate and decelerate smoothly.

No-Load Operation Instructions

The following example illustrates a test run procedure using the digital operator.

Note: Before starting the motor, set the frequency reference d1-01 to 6 Hz.

Step Display/Result

DIGITAL OPERATOR JVOP-182

ALM

REV DRV FOUT

1. Turn on the power to the drive. The initial display appears.

Press the key to select LOCAL. The LO/RE light will turn on.

DRV

DIGITAL OPERATOR JVOP-182

ALM

REV DRV FOUT

DRV

ESC

ENTERRESET

RUN STOP

Off On

DIGITAL OPERATOR JVOP-182

ALM

REV DRV FOUT

DRV

Press to give the drive a Run command. RUN will light and the motor will

rotate at 6 Hz.

4. Ensure the motor is rotating in the correct direction and that no faults or alarms occur.

If there is no error in step 4, press to increase the frequency reference. Increase the frequency in increments of 10 Hz, verifying smooth operation at all speeds. For

each frequency, check the drive output current using monitor U1-03. The current should be well below the motor rated current.

The drive should operate normally. Press to stop the motor. RUN flashes until

the motor comes to a complete stop.

ESC

ENTERRESET

RUN STOP

Off On

◆ Test Run with Load Connected

■ Test Run with the Load Connected

After performing a no-load test run, connect the motor and proceed to run the motor and load together.

Notes on Connected Machinery

• Clear the area around the motor.

• The motor should come to a complete stop without problems.

• Connect the load and machinery to the motor.

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4 Start-Up Programming & Operation

Start-Up Programming

& Operation

• Fasten all installation screws properly. Check that the motor and connected machinery are held in place.

• Confirm that the Fast Stop circuit or mechanical safety measures operate correctly.

• Be ready to press the STOP button in case of emergency.

Checklist Before Operation

• The motor should rotate in the proper direction.

• The motor should accelerate and decelerate smoothly.

Operating the Motor under Loaded Conditions

Test run the application similarly to the no-load test procedure when connecting the machinery to the motor.

• Watch monitor parameter U1-03 during operation to ensure there is no overcurrent.

• If the application permits running the load in the reverse direction, try changing motor direction and the frequency reference while watching for abnormal motor oscillation or vibration.

• Correct any problems that occur with hunting, oscillation, or other control-related issues.

◆ Test Run Checklist

Review the checklist before performing a test run. Check each item that applies.

No. Checklist Page

1 Thoroughly read the manual before performing a test run. –

2 Turn the power on. 63

3 Set the voltage for the power supply to E1-01. 75

4 Select the correct duty rating (C6-01) for the application. –

Check the items that correspond to the control mode being used.

WARNING! Ensure start/stop and safety circuits are wired properly and in the correct state before energizing the drive. Failure to comply could result in death or serious injury from moving equipment. When programmed for 3-Wire control, a momentary closure on terminal S1 may cause the drive to start.

No. Checklist Page

V/f Control (A1-02 = 0) and V/f Control with PG (A1-02 = 1)

Select the best V/f pattern according to the application and motor characteristics.

Example: If using a motor with a rated frequency of 60.0 Hz, set E1-03 to “1”.

6 Perform Rotational Auto-Tuning for V/f Control if using Energy Saving functions. 91

V/f Control with PG (A1-02 = 1)

7 Setup the PG feedback parameters correctly and make sure the encoder pulse counting direction is correct. –

8 Set the proportional gain for ASR speed control to C5-01 and the integral time to C5-02. –

Open Loop Vector Control (A1-02 = 2) or Closed Loop Vector Control (A1-02=3)

9 Perform Auto-Tuning as described. 91

Closed Loop Vector Control (A1-02 = 3)

Set the proportional gain for ASR speed control to C5-01 and the integral time to C5-02. Perform ASR Tuning

if possible.

Open Loop Vector Control for PM (A1-02 = 5)

11 Perform Auto-Tuning as described. 91

Advanced Open Loop Vector Control for PM (A1-02 = 6)

12 Perform Auto-Tuning as described. 91

13 Set the proportional gain for ASR speed control to C5-01 and the integral time to C5-02. –

Closed Loop Vector Control for PM (A1-02 = 7)

14 Perform Auto-Tuning as described. 91

Set the proportional gain for ASR speed control to C5-01 and the integral time to C5-02. Perform ASR Tuning

if possible.

16 Set the Z pulse offset to or enter the Z manually to parameter E5-11. –

–

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4 Start-Up Programming & Operation

Proceed to the following checklist after checking items 4 through 15.

No. Checklist Page

The should light after giving a Run command.

To give a Run command and frequency reference from the digital operator, press to set to LOCAL.

The LO/RE key will light.

If the motor rotates in the opposite direction during the test run, switch two of the drive output terminals (U/

T1, V/T2, W/T3) or change parameter b1-14.

Set the correct values for the motor rated current (E2-01, E4-01, E5-03) and motor protection (L1-01) to

ensure motor thermal protection.

If the Run command and frequency reference are provided via the control circuit terminals, set the drive for

REMOTE and be sure the LO/RE light is out.

If the control circuit terminals should supply the frequency reference, select the correct voltage input signal

level (0 to 10 V) or the correct current input signal level (4 to 20 mA or 0 to 20 mA).

24 Set the proper voltage to terminal A1 and A3 (-10 to +10 V). 65

When current input is used, switch the drive’s built-in DIP switch S1 from the V-side to I-side. Set the level

for current signal used to H3-09 (set “2” for 4 to 20 mA, or “3” for 0 to 20 mA).

26 Set the proper current to terminal A2. (-10 to +10 V, 4 to 20 mA or 0 to 20 mA). 65

If the frequency reference is supplied via one of the analog inputs, make sure the analog input produces the desired frequency reference. Make the following adjustments if the drive does not operate as expected: Gain adjustment: Set the maximum voltage/current signal and adjust the analog input gain (H3-03 for input A1, H3-11 for input A2, H3-07 for analog input A3) until the frequency reference value reaches the desired

value. Bias adjustment: Set the minimum voltage/current signal and adjust the analog input bias (H3-04 for input A1, H3-12 for input A2, H3-08 for analog input A3) until the frequency reference value reaches the desired minimum value.

–

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5 Troubleshooting

Troubleshooting

5 Troubleshooting

◆ Drive Alarms, Faults, and Errors

■ Types of Alarms, Faults, and Errors

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 53.

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 4 8 contains descriptions of the various types of alarms, faults, and errors that may occur while operating the drive.

Contact Yaskawa in the event of drive failure.

Table 48 Types of Alarms, Faults, and Errors

Type Drive Response

When the drive detects a fault:

• The digital operator displays text that indicates the specific fault and the ALM indicator LED remains lit until the fault is reset.

Faults

Minor Faults and Alarms

Operation Errors

Tuning Errors

Copy Function Errors

• The fault interrupts drive output and the motor coasts to a stop.

• Some faults allow the user to select how the drive should stop when the fault occurs.

• Fault output terminals MA-MC will close, and MB-MC will open.

The drive will remain inoperable until that fault has been cleared. Refer to Fault Reset Methods on page 117.

When the drive detects an alarm or a minor fault:

• The digital operator displays text that indicates the specific alarm or minor fault, and the ALM indicator LED flashes.

• The drive generally continues running the motor, although some alarms allow the user to select a stopping method when the alarm occurs.

• One of the multi-function contact outputs closes if set to be tripped by a minor fault (H2-  = 10), but not by an alarm.

• The digital operator displays text indicating a specific alarm and ALM indicator LED flashes.

To reset the a minor fault or alarm, remove whatever is causing the problem.

When parameter settings conflict with one another or do not match hardware settings (such as with an option card), it results in an operation error. When the drive detects an operation error:

• The digital operator displays text that indicates the specific error.

• Multi-function contact outputs do not operate.

The drive will not operate the motor until the error has been reset. Correct the settings that caused the operation error to clear the error.

Tuning errors occur while performing Auto-Tuning. When the drive detects a tuning error:

• The digital operator displays text indicating the specific error.

• Multi-function contact outputs do not operate.

• Motor coasts to stop.

Remove the cause of the error and repeat the Auto-Tuning process.

These are the types of errors that can occur when using the optional digital operator or the USB Copy Unit to copy, read, or verify parameter settings.

• The digital operator displays text indicating the specific error.

• Multi-function contact outputs do not operate.

Pressing any key on the operator will clear the fault. Find out what is causing the problem (such as model incompatibility) and try again.

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5 Troubleshooting

◆ Fault Detection

■ Fault Displays, Causes, and Possible Solutions

Faults are detected for drive protection, and cause the drive to stop. When a fault occurs, the fault output terminal MAMB-MC is triggered. Faults have to be cleared manually after removing the cause to start running the drive again.

Table 49 Detailed Fault Displays, Causes, and Possible Solutions

Digital Operator Display Fault Name

boL

bUS

Cause Possible Solution

No signal received from the PLC.

Faulty communications wiring or a short circuit exists.

A communications data error occurred due to noise.

The option card is damaged. • Replace the option card if there are no problems with the wiring and the error continues to occur.

The option card is not properly connected to the drive.

Digital Operator Display Fault Name

Cause Possible Solution

Faulty communications wiring or a short circuit exists.

Communication data error occurred due to noise.

Digital Operator Display Fault Name

<1>

CPF00 or CPF01

<1>

CPF02

CPF03

CPF06

Braking Transistor Overload Fault

The braking transistor has reached its overload level.

Option Communication Error

• After establishing initial communication, the connection was lost.

• Only detected when the run command frequency reference is assigned to an option card.

• Check for faulty wiring.

• Correct the wiring.

• Check for disconnected cables and short circuits. Repair as needed.

• Check the various options available to minimize the effects of noise.

• Take steps to counteract noise in the control circuit, main circuit, and ground wiring.

• Ensure that other equipment such as switches or relays do not cause noise. Use surge suppressors if necessary.

• Use only recommended cables or other shielded line. Ground the shield on the controller side or on the drive input power side.

• Separate all communication wiring from drive power lines. Install an EMC noise filter to the drive power supply input.

• The connector pins on the option card are not properly lined up with the connector pins on the drive.

• Reinstall the option card.

MEMOBUS/Modbus Communication Error

Control data was not received for the CE detection time set to H5-09.

• Check for faulty wiring.

• Correct the wiring.

• Check for disconnected cables and short circuits. Repair as needed.

• Check the various options available to minimize the effects of noise.

• Take steps to counteract noise in the control circuit, main circuit, and ground wiring.

• Use only recommended cables or other shielded line. Ground the shield on the controller side or on the drive input power side.

• Ensure that other equipment such as switches or relays do not cause noise and use surge suppressors if required.

• Separate all communication wiring from drive power lines. Install an EMC noise filter to the drive power supply input.

Control Fault

A torque limit was reached continuously for three seconds or longer while ramping to stop in Open Loop Vector Control.

Control Circuit Error

A/D Conversion Error

An A/D conversion error or control circuit error occurred.

Control Board Connection Error

Connection error between the control board and the drive

EEPROM Memory Data Error

There is an error in the data saved to EEPROM.

100 YASKAWA ELECTRIC TOEP C710616 21C YASKAWA AC Drive - A1000 Quick Start Guide

YASKAWA 200 V Class: 0.4 to 110 kW Quick Start Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

■ Quick Reference

Table of Contents

i Preface & General Safety

◆ Preface

◆ General Safety

◆ Model Number and Nameplate Check

1 Receiving

2 Mechanical Installation

◆ Mechanical Installation

3 Electrical Installation

◆ Standard Connection Diagram

◆ Main Circuit Connection Diagram

◆ Terminal Cover

◆ Digital Operator and Front Cover

◆ Top Protective Cover

◆ Main Circuit Wiring

◆ Control I/O Connections

◆ Terminal A2 Analog Input Signal Selection

◆ Connect to a PC

◆ Wiring Checklist

4 Start-Up Programming & Operation

◆ Using the Digital Operator

◆ The Drive and Programming Modes

◆ Start-Up Flowcharts

Powering Up the Drive

◆ Application Selection

◆ Basic Drive Setup Adjustments

◆ Auto-Tuning

◆ No-Load Operation Test Run

◆ Test Run with Load Connected

◆ Test Run Checklist

5 Troubleshooting

◆ Drive Alarms, Faults, and Errors

◆ Fault Detection