YASKAWA 400 V Class: 414 A to 2000 A Heavy Duty. 466 A to 2250 A Normal Duty Programming Manual

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YASKAWA AC Drive-A1000 HHP

High Performance Vector Control Drive

Programming Manual

Type: CIMR-AU Model: 400 V Class: 414 A to 2000 A Heavy Duty, 466 A to 2250 A Normal Duty

575 V Class: 414 A to 2000 A Heavy Duty, 466 A to 2250 A Normal Duty 690 V Class: 414 A to 2000 A Heavy Duty, 466 A to 2250 A Normal Duty

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

MANUAL NO. SIEP YEAHHP 01B

Parameter Details

Troubleshooting

Parameter List

MEMOBUS/MODBUS Communications

Page 2

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. 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.

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Table of Contents

1. PARAMETER DETAILS ................................................................................... 9

1.1 A: Initialization........................................................................................................... 10

A1: Initialization ....................................................................................................................... 10

A2: User Parameters............................................................................................................... 17

1.2 b: Application............................................................................................................. 18

b1: Operation Mode Selection................................................................................................. 18

b2: DC Injection Braking and Short Circuit Braking................................................................. 25

b3: Speed Search.................................................................................................................... 27

b4: Timer Function .................................................................................................................. 33

b5: PID Control........................................................................................................................ 33

b6: Dwell Function................................................................................................................... 43

b7: Droop Control (CLV, CLV/PM) .......................................................................................... 43

b9: Zero Servo......................................................................................................................... 44

1.3 C: Tuning.................................................................................................................... 46

C1: Acceleration and Deceleration Times ............................................................................... 46

C2: S-Curve Characteristics.................................................................................................... 48

C3: Slip Compensation............................................................................................................ 48

C4: Torque Compensation ...................................................................................................... 51

C5: Automatic Speed Regulator (ASR) ................................................................................... 53

C6: Carrier Frequency............................................................................................................. 57

1.4 d: Reference Settings ............................................................................................... 59

d1: Frequency Reference........................................................................................................ 59

d2: Frequency Upper/Lower Limits ......................................................................................... 61

d3: Jump Frequency................................................................................................................ 62

d4: Frequency Reference Hold and Up/Down 2 Function....................................................... 63

d5: Torque Control .................................................................................................................. 67

d6: Field Weakening and Field Forcing................................................................................... 72

d7: Offset Frequency............................................................................................................... 73

1.5 E: Motor Parameters ................................................................................................. 74

E1: V/f Pattern for Motor 1....................................................................................................... 74

E2: Motor 1 Parameters .......................................................................................................... 77

E3: V/f Pattern for Motor 2....................................................................................................... 80

E4: Motor 2 Parameters .......................................................................................................... 81

1.6 F: Option Settings ..................................................................................................... 84

F1: PG Speed Control Card Settings ...................................................................................... 84

F2: Analog Input Card Settings ............................................................................................... 86

F3: Digital Input Card Settings ................................................................................................ 87

F4: Analog Monitor Card Settings ........................................................................................... 88

YASKAWA ELECTRIC SIEP YEAHHP 01B YASKAWA AC Drive – A1000 HHP Programming Manual

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Table of Contents

F5: Digital Output Card Settings........................................................................................................ 89

F6 and F7: Communication Option Card........................................................................................... 89

CC-Link Parameters.......................................................................................................................... 91

PROFIBUS-DP Parameters .............................................................................................................. 91

CANopen Parameters ....................................................................................................................... 92

DeviceNet Parameters ...................................................................................................................... 92

1.7 H: Terminal Functions.........................................................................................................95

H1: Multi-Function Digital Inputs ....................................................................................................... 95

H2: Multi-Function Digital Outputs................................................................................................... 105

H3: Multi-Function Analog Inputs .................................................................................................... 115

H4: Multi-Function Analog Outputs ................................................................................................. 121

H5: MEMOBUS/Modbus Serial Communication ............................................................................. 122

H6: Pulse Train Input/Output........................................................................................................... 125

1.8 L: Protection Functions ....................................................................................................128

L1: Motor Protection ........................................................................................................................ 128

L2: Momentary Power Loss Ride-Thru............................................................................................ 134

L3: Stall Prevention ......................................................................................................................... 140

L4: Speed Detection........................................................................................................................ 145

L5: Fault Restart.............................................................................................................................. 146

L6: Torque Detection....................................................................................................................... 148

L7: Torque Limit .............................................................................................................................. 151

L8: Drive Protection......................................................................................................................... 152

1.9 n: Special Adjustments.....................................................................................................158

n1: Hunting Prevention.................................................................................................................... 158

n2: Speed Feedback Detection Control (AFR) Tuning.................................................................... 158

n3: High Slip Braking (HSB) and Overexcitation Braking................................................................ 159

1.10 o: Operator Related Settings............................................................................................161

o1: Digital Operator Display Selection............................................................................................. 161

o2: Digital Operator Keypad Functions ........................................................................................... 162

o3: Copy Function ........................................................................................................................... 164

o4: Maintenance Monitor Settings................................................................................................... 165

q: DriveWorksEZ Parameters.......................................................................................................... 166

r: DriveWorksEZ Connection Parameters ....................................................................................... 166

1.11 T: Motor Tuning .................................................................................................................168

T1: Parameter Settings during Induction Motor Auto-Tuning .......................................................... 168

1.12 U: Monitor Parameters......................................................................................................171

U1: Operation Status Monitors ........................................................................................................ 171

U2: Fault Trace................................................................................................................................ 171

U3: Fault History.............................................................................................................................. 171

U4: Maintenance Monitors .............................................................................................................. 171

U5: PID Monitors ............................................................................................................................. 171

U6: Operation Status Monitors ........................................................................................................ 171

U8: DriveWorksEZ Monitors............................................................................................................ 172

2. TROUBLESHOOTING.......................................................................................... 173

2.1 Section Safety....................................................................................................................174

2.2 Motor Performance Fine-Tuning......................................................................................176

Fine-Tuning V/f Control and V/f Control with PG............................................................................. 176

Fine-Tuning Open Loop Vector Control .......................................................................................... 176

Parameters to Minimize Motor Hunting and Oscillation .................................................................. 177

YASKAWA ELECTRIC SIEP YEAHHP 01B YASKAWA AC Drive – A1000 HHP Programming Manual

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Table of Contents

2.3 Drive Alarms, Faults, and Errors .....................................................................................179

Types of Alarms, Faults, and Errors................................................................................................ 179

Alarm and Error Displays ................................................................................................................ 179

2.4 Fault Detection ..................................................................................................................184

Fault Displays, Causes, and Possible Solutions ............................................................................. 184

2.5 Alarm Detection.................................................................................................................203

Alarm Codes, Causes, and Possible Solutions ............................................................................... 203

2.6 Operator Programming Errors .........................................................................................213

Operator Programming Error Codes, Causes, and Possible Solutions........................................... 213

2.7 Auto-Tuning Fault Detection ............................................................................................217

Auto-Tuning Codes, Causes, and Possible Solutions..................................................................... 217

2.8 Copy Function Related Displays .....................................................................................222

Tasks, Errors, and Troubleshooting ................................................................................................ 222

2.9 Diagnosing and Resetting Faults.....................................................................................224

Fault Occurs Simultaneously with Power Loss ............................................................................... 224

If the Drive Still has Power After a Fault Occurs ............................................................................. 224

Viewing Fault Trace Data After Fault .............................................................................................. 224

Fault Reset Methods ....................................................................................................................... 225

2.10 Troubleshooting without Fault Display...........................................................................226

Common Problems.......................................................................................................................... 226

Cannot Change Parameter Settings ............................................................................................... 226

Motor Does Not Rotate Properly after Pressing RUN Button or after Entering External Run

Command ...................................................................................................................................... 227

Motor is Too Hot.............................................................................................................................. 228

Drive Does Not Allow Selection of the Desired Auto-Tuning Mode................................................. 229

oPE02 Error Occurs When Lowering the Motor Rated Current Setting .......................................... 229

Motor Stalls during Acceleration or Acceleration Time is Too Long................................................ 229

Drive Frequency Reference Differs from the Controller Frequency Reference Command ............. 230

Excessive Motor Oscillation and Erratic Rotation............................................................................ 230

Deceleration Takes Longer Than Expected with Dynamic Braking Enabled .................................. 230

Noise From Drive or Motor Cables When the Drive is Powered On ............................................... 231

Ground Fault Circuit Interrupter (GFCI) Trips During Run .............................................................. 231

Connected Machinery Vibrates When Motor Rotates ..................................................................... 231

PID Output Fault.............................................................................................................................. 232

Insufficient Starting Torque ............................................................................................................. 232

Motor Rotates after the Drive Output is Shut Off (Motor Rotates During DC Injection Braking) ..... 232

Output Frequency is Not as High as Frequency Reference............................................................ 232

Sound from Motor............................................................................................................................ 233

Motor Does Not Restart after Power Loss....................................................................................... 233

A. PARAMETER LIST............................................................................................... 235

A.1 Understanding Parameter Descriptions..........................................................................236

A1-02 Control Modes, Symbols, and Terms ................................................................................... 236

A.2 Parameter Groups .............................................................................................................237

A.3 A: Initialization Parameters ..............................................................................................238

A1: Initialization ............................................................................................................................... 238

A2: User Parameters....................................................................................................................... 239

A.4 b: Application.....................................................................................................................240

b1: Operation Mode Selection......................................................................................................... 240

YASKAWA ELECTRIC SIEP YEAHHP 01B YASKAWA AC Drive – A1000 HHP Programming Manual

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Table of Contents

b2: DC Injection Braking and Short Circuit Braking......................................................................... 241

b3: Speed Search............................................................................................................................ 242

b4: Timer Function .......................................................................................................................... 243

b5: PID Control................................................................................................................................ 243

b6: Dwell Function........................................................................................................................... 245

b7: Droop Control ............................................................................................................................ 245

b9: Zero Servo................................................................................................................................. 246

A.5 C: Tuning............................................................................................................................247

C1: Acceleration and Deceleration Times ....................................................................................... 247

C2: S-Curve Characteristics............................................................................................................ 248

C3: Slip Compensation.................................................................................................................... 248

C4: Torque Compensation .............................................................................................................. 249

C5: Automatic Speed Regulator (ASR) ........................................................................................... 250

C6: Carrier Frequency..................................................................................................................... 251

A.6 d: References.....................................................................................................................252

d1: Frequency Reference................................................................................................................ 252

d2: Frequency Upper/Lower Limits ................................................................................................. 253

d3: Jump Frequency........................................................................................................................ 253

d4: Frequency Reference Hold and Up/Down 2 Function............................................................... 254

d5: Torque Control .......................................................................................................................... 255

d6: Field Weakening and Field Forcing........................................................................................... 255

d7: Offset Frequency....................................................................................................................... 256

A.7 E: Motor Parameters .........................................................................................................257

E1: V/f Pattern for Motor 1............................................................................................................... 257

E2: Motor 1 Parameters .................................................................................................................. 258

E3: V/f Pattern for Motor 2............................................................................................................... 259

E4: Motor 2 Parameters .................................................................................................................. 260

A.8 F: Options...........................................................................................................................261

F1: PG Speed Control Card (PG-X3/PG-B3) .................................................................................. 261

F2: Analog Input Card (AI-A3)......................................................................................................... 263

F3: Digital Input Card (DI-A3).......................................................................................................... 263

F4: Analog Monitor Card (AO-A3) ................................................................................................... 263

F5: Digital Output Card (DO-A3) ..................................................................................................... 264

F6, F7: Communication Option Card............................................................................................... 264

A.9 H Parameters: Multi-Function Terminals ........................................................................269

H1: Multi-Function Digital Inputs ..................................................................................................... 269

H2: Multi-Function Digital Outputs................................................................................................... 273

H3: Multi-Function Analog Inputs .................................................................................................... 276

H4: Analog Outputs ......................................................................................................................... 279

H5: MEMOBUS/Modbus Serial Communication ............................................................................. 279

H6: Pulse Train Input/Output........................................................................................................... 280

A.10 L: Protection Function ......................................................................................................282

L1: Motor Protection ........................................................................................................................ 282

L2: Momentary Power Loss Ride-Thru............................................................................................ 283

L3: Stall Prevention ......................................................................................................................... 284

L4: Speed Detection........................................................................................................................ 285

L5: Fault Restart.............................................................................................................................. 286

L6: Torque Detection....................................................................................................................... 286

L7: Torque Limit .............................................................................................................................. 287

L8: Drive Protection......................................................................................................................... 288

A.11 n: Special Adjustment.......................................................................................................290

YASKAWA ELECTRIC SIEP YEAHHP 01B YASKAWA AC Drive – A1000 HHP Programming Manual

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Table of Contents

n1: Hunting Prevention.................................................................................................................... 290

n2: Speed Feedback Detection Control (AFR) Tuning.................................................................... 290

n3: High Slip Braking (HSB) and Overexcitation Braking................................................................ 290

A.12 o: Operator-Related Settings ...........................................................................................292

o1: Digital Operator Display Selection............................................................................................. 292

o2: Digital Operator Keypad Functions ........................................................................................... 292

o3: Copy Function ........................................................................................................................... 293

o4: Maintenance Monitor Settings................................................................................................... 293

A.13 DriveWorksEZ Parameters ...............................................................................................295

q: DriveWorksEZ Parameters.......................................................................................................... 295

r: DriveWorksEZ Connection Parameters ....................................................................................... 295

A.14 T: Motor Tuning .................................................................................................................296

T1: Induction Motor Auto-Tuning..................................................................................................... 296

A.15 U: Monitors.........................................................................................................................298

U1: Operation Status Monitors ........................................................................................................ 298

U2: Fault Trace................................................................................................................................ 300

U3: Fault History.............................................................................................................................. 302

U4: Maintenance Monitors .............................................................................................................. 302

U5: PID Monitors ............................................................................................................................. 305

U6: Operation Status Monitors ........................................................................................................ 305

U8: DriveWorksEZ Monitors............................................................................................................ 306

A.16 Control Mode Dependent Parameter Default Values .....................................................307

A1-02 (Motor 1 Control Mode) Dependent Parameters .................................................................. 307

E3-01 (Motor 2 Control Mode) Dependent Parameters .................................................................. 308

A.17 V/f Pattern Default Values.................................................................................................309

A.18 Defaults by Drive Model and Duty Rating ND/HD...........................................................310

B. MEMOBUS/MODBUS COMMUNICATIONS........................................................ 313

B.1 MEMOBUS/Modbus Configuration ..................................................................................314

B.2 Communication Specifications........................................................................................315

B.3 Connecting to a Network ..................................................................................................316

Network Cable Connection.............................................................................................................. 316

Wiring Diagram for Multiple Connections ........................................................................................ 316

Network Termination ....................................................................................................................... 317

B.4 MEMOBUS/Modbus Setup Parameters ...........................................................................319

MEMOBUS/Modbus Serial Communication.................................................................................... 319

B.5 Drive Operations by MEMOBUS/Modbus........................................................................322

Observing the Drive Operation........................................................................................................ 322

Controlling the Drive........................................................................................................................ 322

B.6 Communications Timing...................................................................................................323

Command Messages from Master to Drive..................................................................................... 323

Response Messages from Drive to Master ..................................................................................... 323

B.7 Message Format ................................................................................................................324

Message Content ............................................................................................................................ 324

Slave Address ................................................................................................................................. 324

Function Code ................................................................................................................................. 324

Data................................................................................................................................................. 324

Error Check ..................................................................................................................................... 324

YASKAWA ELECTRIC SIEP YEAHHP 01B YASKAWA AC Drive – A1000 HHP Programming Manual

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Table of Contents

B.8 Message Examples ...........................................................................................................326

Reading Drive MEMOBUS/Modbus Register Contents .................................................................. 326

Loopback Test................................................................................................................................. 326

Writing to Multiple Registers............................................................................................................ 326

B.9 MEMOBUS/Modbus Data Table........................................................................................328

Command Data ............................................................................................................................... 328

Monitor Data.................................................................................................................................... 329

Broadcast Messages....................................................................................................................... 340

Fault Trace Contents....................................................................................................................... 341

Alarm Register Contents ................................................................................................................. 343

B.10 Enter Command.................................................................................................................344

Enter Command Types ................................................................................................................... 344

Enter Command Settings when Upgrading the Drive...................................................................... 344

B.11 Communication Errors .....................................................................................................345

MEMOBUS/Modbus Error Codes.................................................................................................... 345

Slave Not Responding..................................................................................................................... 345

B.12 Self-Diagnostics ................................................................................................................346

INDEX ................................................................................................................... 347

YASKAWA ELECTRIC SIEP YEAHHP 01B YASKAWA AC Drive – A1000 HHP Programming Manual

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Parameter Details

1.1 A: INITIALIZATION................................................................................................10

1.2 B: APPLICATION...................................................................................................18

1.3 C: TUNING..............................................................................................................46

1.4 D: REFERENCE SETTINGS..................................................................................59

1.5 E: MOTOR PARAMETERS....................................................................................74

1.6 F: OPTION SETTINGS...........................................................................................84

1.7 H: TERMINAL FUNCTIONS...................................................................................95

1.8 L: PROTECTION FUNCTIONS............................................................................128

1.9 N: SPECIAL ADJUSTMENTS..............................................................................158

1.10 O: OPERATOR RELATED SETTINGS................................................................161

1.11 T: MOTOR TUNING..............................................................................................168

1.12 U: MONITOR PARAMETERS..............................................................................171

YASKAWA ELECTRIC SIEP YEAHHP 01B YASKAWA AC Drive – A1000 HHP Programming Manual

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1.1 A: Initialization

The initialization group contains parameters associated with initial drive setup, including parameters involving the display language, access levels, initialization, and password.

A1: Initialization

A1-00: Language Selection

Selects the display language for the digital operator.

Note: This parameter is not reset when the drive is initialized using parameter A1-03.

No. Parameter Name Setting Range Default

A1-00 Language Selection 0,1 0

Setting 0: English

Setting 1: Japanese

A1-01: Access Level Selection

Allows or restricts access to drive parameters.

No. Parameter Name Setting Range Default

A1-01 Access Level Selection 0 to 2 2

Setting 0: Operation only

Allows access and programming of parameters A1-01, A1-04, and Drive Mode.

Allows access to all U monitor parameters.

Does not allow access to Verify Mode, Setup Mode, or Auto-Tuning Mode.

Setting 1: User Parameters

Allows access and programming of parameters A1-00, A1-01, A1-04, and Drive Mode.

Allows access to all U monitor parameters.

Allows access to parameters set in A2-01 to A2-32 in Setup Mode.

Does not allow access to Verify Mode or Auto-Tuning Mode.

Setting 2: Advanced Access Level (A) and Setup Access Level (S)

Allows access and programming of all parameters.

Notes on Parameter Access

• If the drive parameters are password protected by A1-04 and A1-05, parameters A1-01 through A1-03, A1-06, A1-07, and A2-01 through A2-32 cannot be modified.

•

If a digital input terminal programmed for “Program lockout” (H1-oo = 1B) is enabled, parameter values cannot be modified, even if A1-01 is set to 1 or 2.

• If parameters are changed via serial communication, it will not be possible to edit or change parameter settings with the digital operator until an Enter command is issued to the drive from the serial communication.

A1-02: Control Method Selection

Selects the Control Method (also referred to as the control mode) that the drive uses to operate the motor. Parameter A1-02 determines the control mode for motor 1 when the drive is set up to run two motors.

Note: When changing control modes, all parameter settings depending upon the setting of A1-02 will be reset to the default.

No. Parameter Name Setting Range Default

A1-02 Control Method Selection 0, 1, 2, 3 2

Control Modes for Induction Motors (IM)

YASKAWA ELECTRIC SIEP YEAHHP 01B YASKAWA AC Drive – A1000 HHP Programming Manual

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1.1 A: Initialization

Setting 0: V/f Control for Induction Motors

Use this mode for simple speed control and for multiple motor applications with low demands to dynamic response or speed accuracy. This control mode is also used when the motor parameters are unknown and Auto-Tuning cannot be performed. The speed control range is 1:40.

Setting 1: V/f Control with PG Speed Feedback

Use this mode for general-purpose applications that require high speed accuracy but do not require high dynamic response. This control mode is also used when the motor parameters are unknown and Auto-Tuning cannot be performed. The speed control range is 1:40.

Setting 2: Open Loop Vector Control

Use this mode for general, variable-speed applications with a speed control range of 1:200 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

Use this mode for general, variable-speed applications that require precise speed control down to zero speed, quick torque response or precise torque control, and a speed feedback signal from the motor. The speed control range is up to 1:1500.

A1-03: Initialize Parameters

Resets parameters to 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

Resets parameters to the values selected by the user as User Settings. User Settings are stored when parameter o2-03 is set to “1: Set defaults”.

Note: User Initialization resets all parameters to a user-defined set of default values previously saved to the drive. Set parameter o2-03 to 2 to

Setting 2220: 2-Wire Initialization

clear the user-defined default values.

Resets parameters to default settings with digital inputs S1 and S2 configured as Forward run and Reverse run, respectively.

Refer to Setting 40, 41: Forward Run, Reverse Run Command for 2-Wire Sequence on page 102 for more information on

digital input functions.

Setting 3330: 3-Wire Initialization

Resets parameters to default settings with digital inputs S1, S2, and S5 configured as Run, Stop, and Forward/Reverse respectively. Refer to Setting 0: 3-Wire Sequence on page 96 for more information on digital input functions.

Setting 5550: oPE04 Reset

An oPE04 error appears on the digital operator when a terminal block with settings saved to its built-in memory is installed in a drive that has edited parameters. Set A1-03 to 5550 to use the parameter settings saved to the terminal block memory.

Notes on Parameter Initialization

The parameters shown in Table 1.1 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 1.1 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

F6-08 Communication Parameter Reset

o2-04 Drive/kVA Selection

A1-04, A1-05: Password and Password Setting

Parameter A1-04 enters the password when the drive is locked; parameter A1-05 is a hidden parameter that sets the password.

Parameter Details

YASKAWA ELECTRIC SIEP YEAHHP 01B YASKAWA AC Drive – A1000 HHP Programming Manual

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- MODE -

U1-01= 0.00Hz

U1-02= 0.00Hz U1-03= 0.00 A

DRV

Freq Ref (AI)

Rdy

FWD

LSEQ LREF

-PRMSETInitialization

Select Language

PRG

A1-00= 0

← →

FWD

← →

-PRMSETSelect Language

English

PRG

FWD

A1-00= 0 *0*

← →

-PRMSET-

A1- 04 = 0

(0~9999)

“0”

PRG

Enter Password

FWD

OFF

← →

-PRMSET-

A1- 05 = 0

(0~9999)

“0”

PRG

Select Password

FWD

← →

-PRMSET-

A1- 05 = 0000

(0~9999)

“0”

PRG

Select Password

FWD

← →

-PRMSET-

A1- 05 = 1234

(0~9999)

“0”

PRG

Select Password

FWD

← →

-PRMSET-

A1- 05 = 0

(0~9999)

“0”

PRG

Select Password

FWD

1.1 A: Initialization

No. Parameter Name Setting Range Default

A1-04 Password

A1-05 Password Setting

0000 to 9999 0000

How to Use the Password

The user can set a password in parameter A1-05 to restrict access to the drive. The password must be entered to A1-04 to unlock parameter access (i.e., parameter setting A1-04 must match the value programmed into A1-05). The following parameters cannot be viewed or edited until the value entered to A1-04 correctly matches the value set to A1-05: A1-01, A1-02, A1-03, A1-06, A1-07, and A2-01 through A2-32.

The instructions below demonstrate how to set password “1234”. An explanation follows on how to enter that password to unlock the parameters.

Table 1.2 Setting the Password for Parameter Lock

Step Display/Result

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

- MODE - PRG

Programming

Press or until the Parameter Setting Mode screen appears.

FWD

HELP

DATA

Press to enter the parameter menu tree.

Select the flashing digits by pressing

Select A1-04 by pressing .

Press while holding down

Press .

Use

Note:

A1-05 is hidden and will not display by pressing only .

, , and to enter the password.

, or .

at the same time. A1-05 will appear.

10. The display automatically returns to the display shown in step 6.

Press to save what was entered.

Entry Accepted

YASKAWA ELECTRIC SIEP YEAHHP 01B YASKAWA AC Drive – A1000 HHP Programming Manual

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← →

-PRMSET- PRG Control Method

FWD

A1-02= 2 2

Open Loop Vector

-PRMSETInitialization

Select Language

PRG

A1-00= 0

← →

FWD

← →

-PRMSETSelect Language

English

PRG

FWD

A1-00= 0 *0*

← →

-PRMSET-

A1- 04 = 0

(0~9999)

“0”

PRG

Enter Password

FWD

← →

-PRMSET- PRG

Enter Password

FWD

A1-04= 1234

V/f Control

← →

-PRMSET-

A1- 04 = 0

(0~9999)

“0”

PRG

Enter Password

FWD

← →

-PRMSET- PRG

Control Method

FWD

A1-02= 2 2

Open Loop Vector

← →

-PRMSET- PRG

Control Method

FWD

A1-02= 2

Open Loop Vector

← →

-PRMSET- PRG

Control Method

FWD

A1-02= 2

V/F Control

“2”

Press to display A1-02.

1.1 A: Initialization

Table 1.3 Check if A1-02 is Locked (continuing from step 10 above)

Step Display/Result

Press , making sure that the setting values cannot be changed.

Press to return to the first display.

Table 1.4 Enter the Password to Unlock Parameters (continuing from step 3 above)

Step Display/Result

Press to enter the parameter setup display.

Press

Press to scroll to A1-04 and .

, to select the flashing digits as shown.

4. Enter the password “1234”.

- MODE - PRG

Programming

FWD

HELP

DATA

YASKAWA ELECTRIC SIEP YEAHHP 01B YASKAWA AC Drive – A1000 HHP Programming Manual

Press to save the new password.

6. Drive returns to the parameter display.

Press and scroll to A1-02.

Press to display the value set to A1-02. If the first “0” blinks, parameter settings are unlocked.

Use and to change the value if desired (though changing the control mode at this point is

not typically done).

Entry Accepted

Parameter Details

Page 14

← →

-PRMSET- PRG Control Method

FWD

A1-02= 0 0

V/F Control

1.1 A: Initialization

Step Display/Result

10.

Press to save the setting, or press to return to the previous display without saving changes.

11. The display automatically returns to the parameter display.

Note: 1. Parameter settings can be edited after entering the correct password.

2. Performing a 2-Wire or 3-Wire initialization resets the password to “0000”.

3. Enter a setting other than the password (e.g., 0000) in A1-04 to use the set password to release the lock and restore the lock with the

same password after changing parameter settings.

A1-06: Application Preset

Entry Accepted

Several Application Presets are available to facilitate drive setup for commonly used applications. Selecting one of these Application Presets automatically assigns functions to the input and output terminals and sets a predefined group of parameters to values appropriate for the selected application.

In addition, the parameters most likely to be changed are assigned to the group of User Parameters, A2-01 through A2-16. User Parameters are part of the Setup Group, which provides quicker access by eliminating the need to scroll through multiple menus.

Setting 1: Water Supply Pump Application

Table 1.5 Water Supply Pump: Parameter Settings

No. Name Default Setting

A1-02 Control Method Selection 0: V/f Control

b1-04 Reverse Operation Selection 1: Reverse Prohibited

C1-01 Acceleration Time 1 1.0 s

C1-02 Deceleration Time 1 1.0 s

C6-01 Duty Rating 1: Normal Duty

E1-03 V/f Pattern Selection 0FH

E1-07 Mid Output Frequency 30.0 Hz

E1-08 Mid Output Frequency Voltage 50.0 V

L2-01 Momentary Power Loss Operation Selection 1: Enabled

L3-04 Stall Prevention Selection during Deceleration 1: Enabled

b1-01 Frequency Reference Selection E1-08 Mid Output Frequency Voltage

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

b1-04 Reverse Operation Selection H1-05

C1-01 Acceleration Time 1 H1-06

C1-02 Deceleration Time 1 H1-07

E1-03 V/f Pattern Selection L5-01 Number of Auto Restart Attempts

E1-07 Mid Output Frequency − −

Table 1.6 Water Supply Pump: User Parameters (A2-01 to A2-16)

No. Parameter Name No. Parameter Name

Multi-Function Digital Input Terminal S5 Function Selection

Multi-Function Digital Input Terminal S6 Function Selection

Multi-Function Digital Input Terminal S7 Function Selection

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1.1 A: Initialization

Setting 2: Conveyor Application

Table 1.7 Conveyor: Parameter Settings

No. Parameter Name Default Setting

A1-02 Control Method Selection 0: V/f Control

C1-01 Acceleration Time 1 3.0 s

C1-02 Deceleration Time 1 3.0 s

C6-01 Duty Rating 0: Heavy Duty

L3-04 Stall Prevention Selection during Deceleration 1: Enabled

Table 1.8 Conveyor: User Parameters (A2-01 to A2-16)

No. Parameter Name No. Parameter Name

A1-02 Control Method Selection C1-02 Deceleration Time 1

b1-01 Frequency Reference Selection E2-01 Motor Rated Current

b1-02 Run Command Selection L3-04 Stall Prevention Selection during Deceleration

C1-01 Acceleration Time 1 − −

Setting 3: Exhaust Fan Application

Table 1.9 Exhaust Fan: Parameter Settings

No. Parameter Name Default Setting

A1-02 Control Method Selection 0: V/f Control

b1-04 Reverse Operation Selection 1: Reverse Prohibited

C6-01 Duty Selection 1: Normal Duty

E1-03 V/f Pattern Selection 0FH

E1-07 Mid Output Frequency 30.0 Hz

E1-08 Mid Output Frequency Voltage 50.0 V

L2-01 Momentary Power Loss Operation Selection 1: Enabled

L3-04 Stall Prevention Selection during Deceleration 1: Enabled

Table 1.10 Exhaust Fan: User Parameters (A2-01 to A2-16)

No. Parameter Name No. Parameter Name

b1-01 Frequency Reference Selection E1-07 Mid Output Frequency

b1-02 Run Command Selection E1-08 Mid Output Frequency Voltage

b1-04 Reverse Operation Selection E2-01 Motor Rated Current

b3-01 Speed Search Selection at Start H1-05

C1-01 Acceleration Time 1 H1-06

C1-02 Deceleration Time 1 H1-07

Multi-Function Digital Input Terminal S5 Function Selection

Multi-Function Digital Input Terminal S6 Function Selection

Multi-Function Digital Input Terminal S7 Function Selection

E1-03 V/f Pattern Selection L5-01 Number of Auto Restart Attempts

Setting 4: HVAC Fan Application

Table 1.11 HVAC Fan: Parameter Settings

No. Parameter Name Default Setting

A1-02 Control Method Selection 0: V/f Control

b1-04 Reverse Operation Selection 1: Reverse Prohibited

b1-17 Run Command at Power Up 1: Run command issued, motor operation start

C6-01 Duty Rating 1: Normal Duty

C6-02 Carrier Frequency Selection 1: 2.0 kHz

H2-03 Terminals P2 Function Selection 39: Watt Hour Pulse Output

Parameter Details

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1.1 A: Initialization

No. Parameter Name Default Setting

L2-01 Momentary Power Loss Operation Selection

L8-03 Overheat Pre-Alarm Operation Selection 4: Operation at lower speed

L8-38 Carrier Frequency Reduction 2: Enabled across entire frequency range.

Table 1.12 HVAC Fan: User Parameters (A2-01 to A2-16)

No. Parameter Name No. Parameter Name

b1-01 Frequency Reference Selection d2-02 Frequency Reference Lower Limit

b1-02 Run Command Selection E1-03 V/f Pattern Selection

b1-03 Stopping Method Selection E1-04 Max Output Frequency

b1-04 Reverse Operation Selection E2-01 Motor Rated Current

C1-01 Acceleration Time 1 H3-11 Terminal A2 Gain Setting

C1-02 Deceleration Time 1 H3-12 Terminal A2 Input Bias

C6-02 Carrier Frequency Selection L2-01 Momentary Power Loss Operation Selection

d2-01 Frequency Reference Upper Limit o4-12 kWh Monitor Initial Value Selection

Setting 5: Compressor Application

Table 1.13 Compressor: Parameter Settings

No. Parameter Name Default Setting

A1-02 Control Method Selection 0: V/f Control

b1-04 Reverse Operation Selection 1: Reverse Prohibited

C1-01 Acceleration Time 1 5.0 s

C1-02 Deceleration Time 1 5.0 s

C6-01 Duty Rating 0: Heavy Duty

E1-03 V/f Pattern Selection 0F Hex

L2-01 Momentary Power Loss Operation Selection 1: Enabled

L3-04 Stall Prevention Selection during Deceleration 1: Enabled

2: CPU Power Active - Drive will restart if power returns prior to control power supply shut down.

Table 1.14 Compressor: User Parameters (A2-01 to A2-16):

No. Parameter Name No. Parameter Name

b1-01 Frequency Reference Selection E1-03 V/f Pattern Selection

b1-02 Run Command Selection E1-07 Mid Output Frequency

b1-04 Reverse Operation Selection E1-08 Mid Output Frequency Voltage

C1-01 Acceleration Time 1 E2-01 Motor Rated Current

C1-02 Deceleration Time 1 – –

A1-07: DriveWorksEZ Function Selection

Enables and disables the DriveWorksEZ program inside the drive.

DriveWorksEZ is a software package for customizing drive functionality or adding PLC functionality by the interconnection and configuration of basic software function blocks. The drive performs user-created programs in 1 ms cycles.

Note: 1. If DriveWorksEZ has assigned functions to any of the multi-function output terminals, those functions will remain set to those terminals

No. Parameter Name Setting Range Default

A1-07 DriveWorksEZ Function Selection 0 to 2 0

Setting 0: DWEZ disabled

Setting 1: DWEZ enabled

Setting 2: Digital input

even after disabling DriveWorksEZ.

2. For more information on DriveWorksEZ, contact a Yaskawa representative.

If a digital input is programmed for DWEZ enable/disable (H1-oo = 9F), DWEZ will be enabled when the input is opened.

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1.1 A: Initialization

A2: User Parameters

A2-01 to A2-32: User Parameters 1 to 32

The user can select up to 32 parameters and assign them to parameters A2-01 through A2-32 to provide quicker access by eliminating the need to scroll through multiple menus. The User Parameter list can also save the most recently edited parameters.

No. Parameter Name Setting Range Default

A2-01 to A2-32 User Parameters 1 to 32 b1-01 to o4-13

<1> A1-06 determines how parameters edited by the user are saved to the list of User Parameters, A2-01 through A2-32.

Saving User Parameters

Determined by

A1-06

<1>

To save specific parameters to A2-01 through A2-32, set parameter A1-01 to 2 to allow access to all parameters, then enter the parameter number to one of the A2-oo parameters to assign it to the list of User Parameters. Finally, set A1-01 to 1 to restrict access so users can only set and refer to the parameters saved as User Parameters.

A2-33: User Parameter Automatic Selection

Determines whether recently edited parameters are saved to the second half of the User Parameters (A2-17 to A2-32) for quicker access.

No. Parameter Name Setting Range Default

A2-33 User Parameter Automatic Selection 0, 1

Determined by

A1-06

Setting 0: Do not save list of recently edited parameters

Set A2-33 to 0 to manually select the parameters listed in the User Parameter group.

Setting 1: Save list of recently edited parameters

Set A2-33 to 1 to automatically save recently edited parameters to A2-17 through A2-32. A total of 16 parameters are saved with the most recently edited parameter set to A2-17, the second most recently to A2-18, and so on. Access the User Parameters using the Setup Mode of the digital operator.

Note: User parameters are listed from A2-27 to A2-32. Parameters A2-01 to A2-26 are already listed as defined by default when in Setup Mode.

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Parameter Details

Page 18

1.2 b: Application

b1: Operation Mode Selection

b1-01: Frequency Reference Selection 1

Selects 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

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-oo 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 1.15 for the input used.

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.

Terminal Signal Level

0 to 10 Vdc H3-01 = 0

-10 to +10 Vdc H3-01 = 1

0 to 10 Vdc H3-09 = 0

-10 to +10 Vdc H3-09 = 1

0 to 10 Vdc H3-05 = 0

-10 to +10 Vdc H3-05 = 1

2 k

Table 1.15 Analog Input Settings for Frequency Reference Using Voltage Signals

Parameter Settings

Signal Level

Selection

Drive

10.5 V, 20 mA power supply

0 to 10 V

Figure 1.1 Setting the Frequency Reference as a Voltage Signal at Terminal A1

A1 Analog Input 1

A2 Analog Input 2

A3 Analog Input 3

AC Analog input common

-V

-10.5 V, 20 mA power supply

Function Selection Gain Bias

(Frequency Reference Bias)

H3-02 = 0

H3-10 = 0

(Frequency Reference Bias)

H3-06 = 0

(Frequency Reference Bias)

4 k

H3-03 H3-04 –

H3-11 H3-12

H3-07 H3-08

10.5 V, 20 mA power supply

-10 to 10 V

A1 Analog Input 1

A2 Analog Input 2

A3 Analog Input 3

AC Analog input common

-V

-10.5 V, 20 mA power supply

Set DIP switch S1 on the terminal board to “V” for voltage input.

Set DIP switch S4 on the terminal board to “AI”.

Drive

Notes

Use the wiring example shown in Figure 1.1 for any other analog input terminals. When using input A2 make sure DIP switch S1 is set for voltage input.

Current Input

Input terminal A2 can accept a current input signal. Refer to Table 1.16 to set terminal A2 for current input.

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Page 19

Terminal

Table 1.16 Analog Input Settings for Frequency Reference Using a Current Signal

Signal

Level

4 to 20 mA H3-09 = 2

0 to 20 mA H3-09 = 3

Signal Level

Selection

Figure 1.2 Setting the Frequency Reference as a Current Signal to Terminal A2

Parameter Settings

Function

Selection

H3-10 = 0

(Frequency Bias)

DIP switch S1

V I

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

-V

-10.5 V, 20 mA power supply

1.2 b: Application

Notes

Make sure to set DIP switch S1 on the terminal board to “I” for current input.

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 59 for details on using this function.

Setting 2: MEMOBUS/Modbus Communications

This setting requires entering the frequency reference via the RS-485/422 serial communications port (control terminals R+, R-, S+, S-).

Setting 3: Option card

This setting requires entering the frequency reference via an option board plugged into connector CN5-A on the drive control board. Consult the option board manual for instructions on integrating the drive with the communication system.

Note: If the frequency reference source is set for Option PCB (b1-01 = 3), but an option board is not installed, an oPE05 Operator Programming

Setting 4: Pulse Train Input

Error will be displayed on the digital operator and the drive will not run.

This setting requires a pulse train signal to terminal RP to provide the frequency reference. Follow the directions below to verify that the pulse signal is working properly.

Verifying the Pulse Train is Working Properly

• Set b1-04 to 4 and set H6-01 to 0.

• Set the H6-02 to the pulse train frequency value that equals 100% of the frequency reference.

• Enter a pulse train signal to terminal RP and check for the correct frequency reference on the display.

b1-02: Run Command Selection 1

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

This setting requires entering the Run command via the digital operator RUN key and also illuminates the LO/RE indicator on the digital operator.

Setting 1: Control Circuit Terminal

This setting requires entering the Run command via the digital input terminals using one of following sequences:

• 2-Wire sequence 1:

YASKAWA ELECTRIC SIEP YEAHHP 01B YASKAWA AC Drive – A1000 HHP Programming Manual

Parameter Details

Page 20

1.2 b: Application

Two inputs (FWD/Stop-REV/Stop). Set A1-03 to 2220 to initialize the drive and preset terminals S1 and S2 to these functions. This is the default setting of the drive. Refer to Setting 40, 41: Forward Run, Reverse Run Command for 2-

Wire Sequence on page 102.

• 2-Wire sequence 2:

Two inputs (Start/Stop-FWD/REV). Refer to Setting 42, 43: Run and Direction Command for 2-Wire Sequence 2 on

page 103.

• 3-Wire sequence:

Three inputs (Start-Stop-FWD/REV). Set A1-03 to 3330 to initialize the drive and preset terminals S1, S2, and S5 to these functions. Refer to Setting 0: 3-Wire Sequence on page 96.

Setting 2: MEMOBUS/Modbus Communications

This setting requires entering the frequency reference via the RS-485/422 serial communications port (control terminals R+, R-, S+, S-).

Setting 3: Option Card

This setting requires entering the Run command via the communication option board by plugging a communication option board into the CN5-A port on the control PCB. Refer to the option board manual 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

b1-03: Stopping Method Selection

operator and the drive will not run.

Selects 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 25 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.

Run

command

Output

frequency

Motor speed

ON OFF

Drive output is shut off

Figure 1.3 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

Setting 2: DC Injection Braking to Stop

not enter Run command until it has come to a complete stop. Use DC Injection at Start (Refer to b2-03: DC Injection Braking Time at

Start on page 26) or Speed Search (Refer to b3: Speed Search on page 27) to restart the motor before it has completely stopped.

When the Run command is removed, the drive will enter baseblock (turn off its output) for the minimum baseblock time (L2-03). When the minimum baseblock time has expired, the drive will inject the amount DC current set in parameter b2-02 into the motor windings to brake the motor. The stopping time in DC Injection Braking to Stop is significantly faster compared to Coast to Stop.

Note: This function is not available in the control modes for PM motors (A1-02 = 5, 6, 7).

Note: PM motor control modes are not available in A1000 HHP drive models.

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Page 21

DC Injection brake time

(b2-04) x 10 x Output frequency

Max. output frequency (E1-04)

1.2 b: Application

Run

command

Output

frequency

Motor speed

ON OFF

DC Injection Braking

with the current set in

Motor coasts

Minimum Baseblock

Time (

L2-03)

b2-02

Figure 1.4 DC Injection Braking to Stop

DC Injection Braking time is determined by the value set to b2-04 and the output frequency at the time the Run command is removed. It can be calculated by:

DC Injection braking time

b2-04×10

b2-04

10%

Output frequency when

Stop command was entered

100%

(Maximum output

frequency)

Figure 1.5 DC Injection Braking Time Depending on Output Frequency

Note: If an overcurrent (oC) fault occurs during DC Injection Braking to Stop, lengthen the minimum 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. The drive will not start if a Run command is input before the time t (C1-02) has expired. Cycle the Run command that was activated during time t after t has expired to start the drive.

Run command

Output

frequency

ON ON ONOFF OFF

Drive output shut off

Run wait time t

Figure 1.6 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.

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Parameter Details

Page 22

Min output frequency

100%

(Max output

frequency)

Output frequency

when Stop command

was entered

Run wait time t

Active deceleration time

Momentary Power Loss Minimum Baseblock Time (L2-03)

Zero Speed

Control

b2-01 DC Injection

Speed Level

Run

Command

Frequency

reference

Motor

Speed

OFF ON

Zero Speed

Control

E1-09 Min.

Frequency

b2-04

Zero Speed

Time at Stop

E1-09

b2-03

Zero Speed Time at Start

IM: Initial Excitation

PM: Zero Spd. Contr.

1.2 b: Application

Figure 1.7 Run Wait Time Depending on Output Frequency

b1-04: Reverse Operation Selection

Enables and disables Reverse operation. For some applications, reverse motor rotation is not appropriate and may cause problems (e.g., air handling units, pumps, etc.).

No. Parameter Name Setting Range Default

b1-04 Reverse Operation Selection 0, 1 0

Setting 0: Reverse operation enabled

Possible to operate the motor in both forward and reverse directions.

Setting 1: Reverse operation disabled

Drive disregards a Reverse run command or a negative frequency reference.

b1-05: Action Selection below Minimum Output Frequency (CLV and CLV/PM)

Sets the operation when the frequency reference is lower than the minimum output frequency set in parameter E1-09.

No. Parameter Name Setting Range Default

b1-05 Action Selection below Minimum Output Frequency 0 to 3 0

Setting 0: Follow the Frequency Reference

The drive adjusts the motor speed following the speed reference, even if the frequency reference is below the setting of parameter E1-09. When the Run command is removed and the motor speed is smaller than the setting of b2-01, Zero Speed Control (not position lock) is performed for the time set in parameter b2-04 before the drive output shuts off.

Figure 1.8 Run at the Frequency Reference

Setting 1: Coast to Stop

The motor starts when the frequency reference exceeds the parameter E1-09 setting. When the motor is running and the frequency reference falls below E1-09, the drive output shuts off and the motor coasts. When the motor speed falls below the zero speed level set in b2-01, Zero Speed Control is activated for the time set in b2-04.

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Page 23

b2-03

Zero Speed Time at Start

IM: Initial Excitation

PM: Zero Spd. Contr.

Run

Command

Frequency

reference

Motor

Speed

OFF ON

Zero Speed

Control

E1-09 Min.

Frequency

b2-04

Zero Speed Time at Stop

Motor

Coasts

b2-01 Zero

Speed Level

Run

Command

Frequency

reference

Motor

Speed

OFF ON

Zero Speed

Control

E1-09 Min.

b2-04

Run at E1-09

Run at

E1-09

b2-03

IM: Initial Excitation

PM: Zero Spd. Contr.

Frequency

Zero Speed Time at Start

Zero Speed

Time at Stop

b2-01 Zero Speed Level

Zero

Speed

Control

Run

Command

Frequency

reference

Motor

Speed

OFF ON

Zero Speed

Control

E1-09 Min. Frequency

b2-04

E1-09

b2-03

IM: Initial Excitation

PM: Zero Spd. Contr.

Zero Speed Time at Start

Zero Speed Time at Stop

b2-01 Zero

Speed Level

1.2 b: Application

Figure 1.9 Coast to Stop

Setting 2: Run at the Minimum Frequency

When a Run command is active and the frequency reference is smaller than the parameter E1-09 setting, the drive runs the motor at the speed set in E1-09. When the Run command is removed, the drive decelerates the motor. As soon as the motor speed reaches the zero speed level set in b2-01, Zero Speed Control is activated for the time set in b2-04.

Figure 1.10 Run at the Minimum Frequency

Setting 3: Zero Speed Control

The drive applies Zero Speed Control whenever the frequency reference setting is below the value of parameter E1-09.

Remove the Run command when the drive is operating at or above the frequency set in E1-09 to activate Zero Speed Control for the time set in b2-04, regardless of whether Zero Speed Control was already active.

Figure 1.11 Zero Speed Control

b1-06: Digital Input Reading

Defines how the digital inputs are read. The inputs are acted upon every 1 ms or 2 ms depending upon the setting.

No. Name Setting Range Default

b1-06 Digital Input Reading 0, 1 1

Parameter Details

Setting 0: Read once (1 ms scan)

The state of a digital input is read once. If the state has changed, the input command is immediately processed. With this setting the drive responds more quickly to digital inputs, but a noisy signal could cause erroneous operation.

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Page 24

1.2 b: Application

Setting 1: Read twice (2 ms scan)

The state of a digital input is read twice. The input command is processed only if the state does not change during the double reading. This reading process is slower than the “Read once” process, but it is more resistant to noisy signals.

b1-07: LOCAL/REMOTE Run Selection

The drive has three separate control sources that can be switched using digital inputs (H1-oo = 1 (LOCAL/REMOTE Selection) or 2 (External reference 1/2)) or the LO/RE key on the digital operator. Refer to Setting 1: LOCAL/REMOTE

Selection on page 96, Refer to Setting 2: External Reference 1/2 Selection on page 97 and Refer to o2-01: LO/RE (LOCAL/REMOTE) Key Function Selection on page 162 for details.

• LOCAL: Digital operator. The digital operator sets the frequency reference and Run command.

• REMOTE: External reference 1. The frequency reference and Run command source are set by b1-01 and b1-02.

• REMOTE: External reference 2. The frequency reference and Run command source are set by b1-15 and b1-16. When switching from LOCAL to REMOTE, or between External reference 1 and External reference 2, the Run command

may already be present at the location at which the source is being switched. In this case, use parameter b1-07 to determine how the Run command is treated.

No. Parameter Name Setting Range Default

b1-07 LOCAL/REMOTE Run Selection 0, 1 0

Setting 0: Run command must be cycled

When the Run command source differs between the old source and the new source (e.g., the old source was the terminals and the new source is serial communication), and the Run command is active at the new source as the switchover occurs, the drive will not start or the drive will stop operation if it was previously running. The Run command must be cycled at the new source to restart the drive.

Setting 1: Accept Run command at the new source

When the Run command is active at the new source, the drive starts or continues operation if it was previously running.

WARNING! Sudden Movement Hazard. The drive may start unexpectedly if switching control sources when b1-07 = 1. Clear all personnel from rotating machinery and electrical connections prior to switching control sources. Failure to comply may cause death or serious injury.

b1-08: Run Command Selection while in Programming Mode

As a safety precaution, the drive will not normally respond to a Run command input when the digital operator is being used to adjust parameters in Programming Mode (Verify Menu, Setup Mode, Parameter Settings Mode, and Auto-Tuning Mode). If required by the application, set b1-08 to allow the drive to run while in Programming Mode.

No. Parameter Name Setting Range Default

b1-08 Run Command Selection while in Programming Mode 0 to 2 0

Setting 0: Disabled

A Run command is not accepted while the digital operator is in Programming Mode.

Setting 1: Enabled

A Run command is accepted in any digital operator mode.

Setting 2: Prohibit programming during run

It is not possible to enter the Programming Mode as long as the drive output is active. The Programming Mode cannot be displayed during Run.

b1-14: Phase Order Selection

Sets the phase order for drive output terminals U/T1, V/T2, and W/T3.

Switching motor phases will reverse the direction of the motor.

No. Parameter Name Setting Range Default

b1-14 Phase Order Selection 0, 1 0

Setting 0: Standard Phase Order Setting 1: Switched Phase Order

b1-15: Frequency Reference Selection 2

Enabled when H1-oo = 2 and the terminal is closed. Refer to Setting 2: External Reference 1/2 Selection on page 97 and

Refer to b1-02: Run Command Selection 1 on page 19 for details.

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1.2 b: Application

No. Parameter Name Setting Range Default

b1-15 Frequency Reference Selection 2 0 to 4 0

b1-16: Run Command Selection 2

Enabled when H1-oo = 2 and the terminal is closed. Refer to Setting 2: External Reference 1/2 Selection on page 97 and

Refer to b1-01: Frequency Reference Selection 1 on page 18 for details.

No. Parameter Name Setting Range Default

b1-16 Run Command Selection 2 0 to 3 0

b1-17: Run Command at Power Up

Determines whether an external Run command that is active during power up will start the drive.

No. Parameter Name Setting Range Default

b1-17 Run Command at Power Up 0, 1 0

Setting 0: Run Command at Power Up Is Not Issued

Cycle the Run command to start the drive.

Note: For safety reasons, the drive is initially programmed not to accept a Run command at power up (b1-17 = 0). If a Run command is issued at

Setting 1: Run Command at Power Up Is Issued

power up, the RUN indicator LED will flash quickly.

If an external Run command is active when the drive is powered up, the drive will begin operating the motor once the internal start up process is complete.

WARNING! Sudden Movement Hazard. If b1-17 is set to 1 and an external Run command is active during power up, the motor will begin rotating as soon as the power is switched on. Proper precautions must be taken to ensure that the area around the motor is safe prior to powering up the drive. Failure to comply may cause serious injury.

b2: DC Injection Braking and Short Circuit Braking

These parameters determine operation of the DC Injection Braking, Zero Speed Control, and Short Circuit Braking features.

b2-01: DC Injection Braking Start Frequency

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.

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. When the output frequency falls below the setting of b2-01, DC Injection Braking is enabled for the time set in parameter b2-04.

DC Injection

E1-09 Min. Frequency b2-01 Zero Speed Level

Output

frequency

Figure 1.12 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.

Braking

Time

b2-04

Parameter Details

CLV (A1-02 = 3)

Note: PM motor control modes are not available in A1000 HHP drive models.

For these control modes, parameter b2-01 sets the starting frequency for Zero Speed Control (not position lock) at stop. When the output frequency falls below the setting of b2-01, Zero Speed Control is enabled for the time set in parameter b2-04 provided b1-05 is set to 0.

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1.2 b: Application

Zero Speed

E1-09 Min. Frequency b2-01 Zero Speed Level

Output

frequency

Figure 1.13 Zero Speed Control at Stop in CLV and CLV/PM

Note: If b2-01 is set lower than the minimum frequency (E1-09), then Zero Speed Control begins at the frequency set to E1-09.

b2-02: DC Injection Braking Current

Control

Time

b2-04

Sets the DC Injection Braking current as a percentage of the drive rated current. The carrier frequency is automatically reduced to 1 kHz when this parameter is set to more than 50%.

No. Name Setting Range Default

b2-02 DC Injection Braking Current 0 to 100% 50%

The level of DC Injection Braking current affects the strength of the magnetic field attempting to lock the motor shaft. Increasing the current level will increase the amount of heat generated by the motor windings. Do not set this parameter higher than the level necessary to hold the motor shaft.

b2-03: DC Injection Braking Time at Start

Sets the time of DC Injection Braking (Zero Speed Control in CLV and CLV/PM) at start. Used to stop a coasting motor before restarting it or to apply braking torque at start. Disabled when set to 0.00 s.

No. Name Setting Range Default

b2-03 DC Injection Braking Time at Start 0.00 to 10.00 s 0.00 s

Note: Before starting an uncontrolled rotating motor (e.g., a fan motor driven by windmill effect), use DC Injection or Speed Search to stop the

b2-04: DC Injection Braking Time at Stop

motor or detect motor speed before starting it. Otherwise, motor stalling and other faults can occur.

Sets the time of DC Injection Braking (Zero Speed Control in CLV and CLV/PM) at stop. Used to completely stop a motor with high inertia load after ramp down. Increase the value if the motor still coasts by inertia after it should have stopped. Disabled when set to 0.00 s.

No. Name Setting Range Default

b2-04 DC Injection Braking Time at Stop 0.00 to 10.00 s

Determined by

A1-02

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1.2 b: Application

b2-08: Magnetic Flux Compensation Value

Sets the magnetic flux compensation at start as a percentage of the no-load current value (E2-03). This function allows for the development of more flux to facilitate starting machines that require high starting torque or motors with a large rotor time constant.

No. Name Setting Range Default

b2-08 Magnetic Flux Compensation Value 0 to 1000% 0%

When a Run command is issued, the DC current level injected into the motor changes linearly from the level set to b2-08 to the level set to E2-03 within the time set to b2-03.

Output frequency

b2-08

E2-03

Magnetizing Current

Reference

Figure 1.14 Magnetic Flux Compensation

b2-03

Time

When b2-08 ≠ 0%, the current will flow for the time set in b2-03 (DC Injection Braking Time at Start) when DC Injection Braking starts. The current will change linearly from the setting of b2-08 to the setting of E2-03.

The level of the DC current injected to the motor is limited to 80% of the drive rated current or to the motor rated current, whichever value is smaller.

Note: 1. If b2-08 is set below 100%, it can take a relatively long time for flux to develop.

2. If b2-08 is set to 0%, the DC current level will be the DC Injection current set to b2-02.

3. As DC Injection can generate a fair amount of noise, b2-08 may need to be adjusted to keep noise levels acceptable.

b3: Speed Search

The Speed Search function allows the drive to detect the speed of a rotating motor shaft that is driven by external forces and start the motor operation directly from the detected speed without first stopping the machine.

Example: When a momentary loss of power occurs, the drive output shuts off and the motor coasts. When power returns, the drive can find the speed of the coasting motor and restart it directly.

Enabling Speed Search for PM motors only requires setting parameter b3-01 to 1.

The drive offers current detection and speed estimation Speed Search for induction motors. Parameter b3-24 selects the speed search method for induction motors. Both methods and relevant parameters are explained below.

Current Detection Speed Search (b3-24 = 0)

Current Detection Speed Search detects the motor speed by looking at motor current in IM motors. When Speed Search is started it reduces the output frequency starting from either the maximum output frequency or the frequency reference while increasing the output voltage using the time set in parameter L2-04. As long as the current is higher than the level set to b3-02, the output frequency is lowered using the time constant set to b3-03. If the output current falls below b3-02, the drive assumes that the output frequency and motor speed are the same and accelerates or decelerates to the frequency reference.

Be aware that sudden acceleration may occur when using this method of Speed Search with relatively light loads.

Figure 1.15 illustrates Current Detection Speed Search operation after a momentary power loss (L2-01 must be set to 1 or 2):

Parameter Details

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Page 28

Run command

Output

frequency

Output current

OFF ON

b3-02 (Speed search operation current)

Decel time set

set to b3-03

Waits for twice as long as L2-04

Selected frequency reference

Minimum Baseblock Time (L2-03)

Max. output frequency or the specified frequency reference

1.2 b: Application

AC power

supply

Output frequency

Output current

Output frequency before momentary power loss

OFFON

Min. Baseblock Time (L2-03)

Decel time set to b3-03

b3-05

Waits for twice as long as L2-04

Selected frequency reference

Speed Search operation current set to b3-02

Figure 1.15 Current Detection Speed Search after Power Loss

Note: After power is restored, the drive waits until the time set to b3-05 has passed before performing Speed Search. Thereby the Speed Search

may start not at the end of L2-03 but even later.

When Speed Search is applied automatically with the Run command, the drive waits for the minimum baseblock time set to L2-03 before starting Speed Search. If L2-03 is lower than the time set to parameter b3-05, then b3-05 is used as the wait time.

Figure 1.16 Current Detection Speed Search at Start or Speed Search Command by Digital Input

Notes on Using Current Detection Type Speed Search

• Shorten the Speed Search deceleration time set to b3-03 if an oL1 fault occurs while performing Current Detection Speed Search.

• Current Detection Speed Search is not available when using OLV Control for PM motors.

• Increase the minimum baseblock time set to L2-03 if an overcurrent or overvoltage fault occurs when performing Speed Search after power is restored following a momentary power loss.

Speed Estimation Type Speed Search (b3-24 = 1)

This method can be used for a single induction motor connected to a drive. Do not use this method if the motor is one or more frame size smaller than the drive, at motor speeds above 200 Hz, or when using a single drive to operate more than one motor.

Speed Estimation is executed in the two steps described below:

Step 1: Back EMF Voltage Estimation

This method is used by Speed Search after baseblock (e.g., a power loss where the drive CPU continued to run and the Run command was kept active). Here, the drive estimates the motor speed by analyzing the back EMF voltage and outputs the estimated frequency and increases the voltage using the time constant set in parameter L2-04. After that, the motor is accelerated or decelerated to the frequency reference starting from the detected speed. If there is not enough residual voltage in the motor windings to perform the calculations described above, the drive will automatically proceed to step 2.

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Page 29

AC power

Run command

Output

frequency

Output

current

OFF

b3-02 (Speed search operation current)

Starts at the speed speed that was detected

Waits twice as long as L2-04

Frequency reference set to the drive

Decelerates at the Speed

Search decel time set to b3-03

1.0 s

Min. Baseblock Time (L2-03) <1>

supply

Output

frequency

Output

current

1.2 b: Application

OFFON

Starts at the speed that was detected

Several miliseconds

Selected frequency reference

Min. Baseblock Time

(L2-03)

b3 -05

<1>

Figure 1.17 Speed Search after Baseblock

<1> After AC power is restored, the drive will wait for at least the time set to b3-05. If the power interruption is longer than

the minimum baseblock time set to L2-03, the drive will wait until the time set to b3-05 has passed after power is restored before starting Speed Search.

Step 2: Current Injection

Current Injection is performed when there is insufficient residual voltage in the motor after extended power losses, when Speed Search is applied with the Run command (b3-01 = 1), or when an External search command is used.

This feature injects the amount of DC current set to b3-06 to the motor and detects the speed by measuring the current feedback. The drive then outputs the detected frequency and increases the voltage using the time constant set to parameter L2-04 while looking at the motor current.

The output frequency is reduced if the current is higher than the level in b3-02. When the current falls below b3-02, the motor speed is assumed to be found and the drive starts to accelerate or decelerate to the frequency reference.

<1> The wait time for Speed Search (b3-05) determines the lower limit.

Notes on Using Speed Estimation Speed Search

• Perform Stationary Auto-Tuning for Line-to-Line Resistance (T1-01 = 2). If the there is a change in the cable length between

the drive and motor.

• Use Current Detection to search for speeds beyond 200 Hz if the application is running multiple motors from the same drive

or if the motor is considerably smaller than the capacity of the drive.

• Speed Estimation may have trouble finding the actual speed if the motor cable is very long. Use Current Detection in these

instances.

Speed Search Activation

Speed Search can be activated using any of the methods 1 through 5 described below. Select the Speed Search type in parameter b3-24 independent of the activation method.

YASKAWA ELECTRIC SIEP YEAHHP 01B YASKAWA AC Drive – A1000 HHP Programming Manual

Figure 1.18 Speed Search at Start

Parameter Details

Page 30

1.2 b: Application

Method 1. Automatically activate Speed Search with every Run command. Set b3-01, Speed Search Selection at Start, to 1 (Enabled). External Speed Search commands are ignored.

Method 2. Activate Speed Search using the multi-function input terminal. Use the input functions for H1-oo in Table 1.17.

Table 1.17 Speed Search Activation by Multi-Function Input Terminal

b3-24 = 1

Setting Description

External Search Command 1

External Search Command 2

(Current Injection

Method of Speed

Estimation)

Activate Speed Estimation Speed Search

(Current Detection Speed Search)

Closed: Activate Current Detection Speed Search from the maximum output frequency (E1-04).

Closed: Activate Current Detection Speed Search from the frequency reference.

b3-24 = 0

To activate Speed Search by the multi-function input terminal, the input must be set together with the Run command or the Run command must be entered after giving the Speed Search command.

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1.2 b: Application

Method 3. After automatic fault restart.

When the number of maximum fault restarts in parameter L5-01 is set higher than 0, the drive will automatically perform Speed Search as specified by b3-24 following a fault.

Method 4. After momentary power loss.

This mode requires that the Power Loss Ride-Thru function is enabled during CPU operation (L2-01 = 1 or 2). Refer to L2-01:

Momentary Power Loss Operation Selection on page 134 for details.

Method 5. After external baseblock is released.

The drive will resume the operation starting with Speed Search if the Run command is present and the output frequency is above the minimum frequency when the Baseblock command (H1-oo = 8 or 9) is released.

b3-01: Speed Search Selection at Start

Determines if Speed Search is automatically performed when a Run command is issued.

No. Parameter Name Setting Range Default

b3-01 Speed Search Selection at Start 0, 1

Setting 0: Disabled

Determined by

A1-02

This setting starts operating the drive at the minimum output frequency when the Run command is entered. If external Speed Search 1 or 2 is already enabled by a digital input, the drive will start operating with Speed Search.

Setting 1: Enabled

This setting performs Speed Search when the Run command is entered. The drive begins running the motor after Speed Search is complete.

b3-02: Speed Search Deactivation Current

Sets the operating current for Speed Search as a percentage of the drive rated current. Normally there is no need to change this setting. Lower this value if the drive has trouble restarting.

No. Name Setting Range Default

b3-02 Speed Search Deactivation Current 0 to 200%

Note: When parameter A1-02 = 0 (V/f Control) the factory default setting is 120. When parameter A1-02 = 2 (Open Loop Vector) the factory

b3-03: Speed Search Deceleration Time

default setting is 100.

Determined by

A1-02

Sets the output frequency reduction ramp used by the Current Injection Method of Speed Estimation (b3-24 = 1). The time entered into b3-03 will be the time to decelerate from maximum frequency (E1-04) to minimum frequency (E1-09).

No. Name Setting Range Default

b3-03 Speed Search Deceleration Time 0.1 to 10.0 s 2.0 s

b3-04: V/f Gain During Speed Search

During Speed Search, the output voltage calculated from the V/f pattern is multiplied with this value. Changing this value can help reduce the output current during Speed Search.

No. Name Setting Range Default

b3-04 V/f Gain During Speed Search 10 to 100%

Note: Available control modes for parameter b3-04 vary by drive model:

b3-05: Speed Search Delay Time

CIMR-Ao2A0004 to 2A0415 and 4A0002 to 4A0675: Available when A1-02 = 0, 1. CIMR-Ao4A0930 to 4A1200 and A1000 HHP : Available when A1-02 = 0.

Determined by

o2-04

Parameter Details

In cases where an output contactor is used between the drive and the motor, the contactor must be closed before Speed Search can be performed. This parameter can be used to delay the Speed Search operation, giving the contactor enough time to close completely.

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1.2 b: Application

No. Name Setting Range Default

b3-05 Speed Search Delay Time 0.0 to 100.0 s 0.2 s

b3-06: Output Current 1 During Speed Search

Sets the current injected to the motor at the beginning of Speed Estimation Speed Search as a factor of the motor rated current set in E2-01 (E4-01 for motor 2). If the motor speed is relatively slow when the drive starts to perform Speed Search after a long period of baseblock, it may be helpful to increase the setting value. The output current during Speed Search is automatically limited by the drive rated current.

No. Name Setting Range Default

b3-06 Output Current 1 during Speed Search 0.0 to 2.0

Note: Use Current Detection Speed Search if Speed Estimation is not working correctly even after adjusting b3-06.

b3-10: Speed Search Detection Compensation Gain (Speed Estimation Type)

Sets the gain for the detected motor speed of the Speed Estimation Speed Search. Increase the setting only if an overvoltage fault occurs when the drive restarts the motor.

No. Name Setting Range Default

b3-10 Speed Search Detection Compensation Gain 1.00 to 1.20 1.05

b3-14: Bi-Directional Speed Search Selection

Sets how the drive determines the motor rotation direction when performing Speed Estimation Speed Search.

Determined by

o2-04

No. Parameter Name Setting Range Default

b3-14 Bi-Directional Speed Search Selection 0, 1

Setting 0: Disabled

The drive uses the frequency reference to determine the direction of motor rotation to restart the motor.

Setting 1: Enabled

The drive detects the motor rotation direction to restart the motor.

b3-17: Speed Search Restart Current Level

Sets the current level at which Speed Estimation is restarted as a percentage of drive rated current to avoid overcurrent and overvoltage problems since a large current can flow into the drive if the difference between the estimated frequency and the actual motor speed is too big when performing Speed Estimation.

No. Name Setting Range Default

b3-17 Speed Search Restart Current Level 0 to 200% 150%

b3-18: Speed Search Restart Detection Time (Speed Estimation Type)

Sets the time for which the current must be above the level set in b3-17 before restarting Speed Search.

No. Name Setting Range Default

b3-18 Speed Search Restart Detection Time 0.00 to 1.00 s 0.10 s

b3-19: Number of Speed Search Restarts (Speed Estimation Type)

Determined by

A1-02

Sets the number of times the drive should attempt to find the speed and restart the motor. If the number of restart attempts exceeds the value set to b3-19, the SEr fault will occur and the drive will stop.

No. Name Setting Range Default

b3-19 Number of Speed Search Restarts 0 to 10 3

b3-24: Speed Search Method Selection

Sets the Speed Search method used.

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Page 33

b4-01 b4-02 b4-01 b4-02

Multi-function Contact

On (Closed) Off (Open)

Multi-function Contact Output: Timer Function

Input: Timer Function

ON ON

（H1-□□=18)

（H2-□□=12)

1.2 b: Application

No. Parameter Name Setting Range Default

b3-24 Speed Search Method Selection 0, 1 0

Setting 0: Current Detection Speed Search Setting 1: Speed Estimation Speed Search

Note: Refer to Current Detection Speed Search (b3-24 = 0) on page 27 and Refer to Speed Estimation Type Speed Search (b3-24 = 1) on page

b3-25: Speed Search Wait Time

28 for explanations of the Speed Search methods.

Sets the wait time between Speed Search restarts. Increase the wait time if problems occur with overcurrent, overvoltage, or if the SEr fault occurs.

No. Name Setting Range Default

b3-25 Speed Search Wait Time 0.0 to 30.0 s 0.5 s

b4: Timer Function

The timer function is independent of drive operation and can delay the switching of a digital output triggered by a digital input signal and help eliminate chattering switch noise from sensors. An on-delay and off-delay can be set separately.

To enable the timer function, set a multi-function input to “Timer Function Input” (H1-oo = 18) and set a multi-function output to “Timer output” (H2-oo = 12). Only one timer can be used.

b4-01, b4-02: Timer Function On-Delay, Off-Delay Time

b4-01 sets the on-delay time for switching the timer output. b4-02 sets the off-delay time for switching the timer output.

No. Name Setting Range Default

b4-01 Timer Function On-Delay Time 0.0 to 3000.0 s 0.0 s

b4-02 Timer Function Off-Delay Time 0.0 to 3000.0 s 0.0 s

Timer Function Operation

The timer function switches on when the timer function input closes for longer than the value set to b4-01. The timer function switches off when the timer function input is open for longer than the value set to b4-02. Figure 1.19 illustrates the timer function operation:

Figure 1.19 Timer Operation

b5: PID Control

The drive has a built-in Proportional + Integral + Derivative (PID) controller that uses the difference between the target value and the feedback value to adjust the drive output frequency to minimize deviation and provide accurate closed loop control of system variables such as pressure or temperature.

P Control

The output of P control is the product of the deviation and the P gain so that it follows the deviation directly and linearly. With P control, only an offset between the target and feedback remains.

I Control

The output of I control is the integral of the deviation. It minimizes the offset between target and feedback value that typically remains when pure P control is used. The integral time (I time) constant determines how fast the offset is eliminated.

Parameter Details

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1.2 b: Application

D Control

D control predicts the deviation signal by multiplying its derivative (slope of the deviation) with a time constant, then adds this value to the PID input. This way the D portion of a PID controller provides a braking action to the controller response and can reduce the tendency to oscillate and overshoot.

D control tends to amplify noise on the deviation signal, which can result in control instability. Only use D control when absolutely necessary.

PID Operation

To better demonstrate PID functionality, Figure 1.20 illustrates the PID output when the PID input (deviation) is at a constant level.

PID input

Time

PID output

I control

PID Output

D control

P control

Time

Figure 1.20 PID Operation

Using PID Control

Applications for PID control are listed in Table 1.18.

Table 1.18 Using PID Control

Application Description Sensors Used

Speed Control

Pressure Maintains constant pressure using pressure feedback. Pressure sensor

Fluid Control Keeps flow at a constant level by feeding back flow data. Flow rate sensor

Temperature

Control

PID Setpoint Input Methods

Machinery speed is fed back and adjusted to meet the target value. Synchronous control is performed using speed data from other machinery as the target value

Maintains a constant temperature by controlling a fan with a thermostat.

Tachometer

Thermocoupler, Thermistor

The PID setpoint input can be input from one of the sources listed in Table 1.19.

If none of the sources listed in Table 1.19 are used, the frequency reference source in b1-01 (or b1-15) or one of the inputs listed in Table 1.19 becomes the PID setpoint.

Table 1.19 PID Setpoint Sources

PID Setpoint Source Settings

Analog Input A1 Set H3-02 = C

Analog Input A2 Set H3-10 = C

Analog Input A3 Set H3-06 = C

MEMOBUS/Modbus Register 0006 H Set bit 1 in register 000F H to 1 and input the setpoint to register 0006 H

Pulse Input RP Set H6-01 = 2

Parameter b5-19 Set parameter b5-18 = 1 and input the PID setpoint to b5-19

Note: A duplicate allocation of the PID setpoint input will cause an oPE07 (Multi-Function Analog Input Selection Error) alarm.

PID Feedback Input Methods

Input one feedback signal for normal PID control or input two feedback signals can for controlling a differential process value.

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1.2 b: Application

Normal PID Feedback

Input the PID feedback signal from one of the sources listed in Table 1.20:

Table 1.20 PID Feedback Sources

PID Feedback Source Settings

Analog Input A1 Set H3-02 = B

Analog Input A2 Set H3-10 = B

Analog Input A3 Set H3-06 = B

Pulse Input RP Set H6-01 = 1

Note: A duplicate allocation of the PID feedback input will cause an oPE07 (Multi-Function Analog Input Selection Error) alarm.

Differential Feedback

The second PID feedback signal for differential feedback can come from the sources listed in Table 1.21. The differential feedback function is automatically enabled when a differential feedback input is assigned.

Table 1.21 PID Differential Feedback Sources

PID Differential Feedback Source Settings

Analog Input A1 Set H3-02 = 16 (Differential PID Feedback)

Analog Input A2 Set H3-10 = 16 (Differential PID Feedback)

Analog Input A3 Set H3-06 = 16 (Differential PID Feedback)

Note: A duplicate allocation of the PID differential feedback input will cause an oPE07 (Multi-Function Analog Input Selection Error) alarm.

YASKAWA ELECTRIC SIEP YEAHHP 01B YASKAWA AC Drive – A1000 HHP Programming Manual

Parameter Details

Page 36

-1

Frequency Reference 1 to 16

Frequency Reference

Selection 1

b1-01/15

Option Card

Serial Comm

Terminal A1/A2/A3

Pulse Input

Output

Frequency

1/s

b5-08

PID Setpoint

(U5-04)

Proportional Gain

Setting (P)

b5-02

Integral Time

Setting (I)

b5-03

Integral Limit Setting

b5-04

PID Output

Limit/Lower Limit

b5-06 / b5-34

PID Delay

Time

PID disable when:

- b5-01=0

- a JOG Command is Input

- PID Disable by Digital Input Enabled

PID Integral Hold

H1-

=31

PID Integral

Reset

H1- =30

PID Output

Level Selection

b5-09

Enable / Disable Reverse

Operation when PID

Output is Negative

Frequency Reference

PID Target

PID Feedback

PID Input

(U5-02)

PID Feedback

(U5-01)

b5-07

b5-10

PID Output

Gain Setting

PID Offset Adjustment

b5-15

PID Sleep Function Start Level

RUN

On/Off

b5-16

PID Sleep

Delay Timer

Sleep Function

SFS

C1-

d1-01 to d1-16

H6-01=1

b5-05

1 or 3

2 or 4

b5-01

Derivative

Time (D)

not B

b5-05

b5-01

2 or 4

1 or 3

not 1

H3-02/10=B

Terminal A1/A2/A3

Pulse Input

PID Input Limit

b5-35

Disabled

Enabled

not 16

H3-02/10=16

PID Differential

Feedback

(U5-05)

PID Adjusted

Feedback

(U5-06)

PID Ouput

(U5-03)

Derivative

Time (D)

Upper Limit

Fmax x109%

Lower Limit

Fmax x109%

Lower Limit 0

b5-11

Upper Limit

Fmax x109%

Always 1 when

b5-01 = 3/4

PID Input

Level Selection

H1-

=35

not 1

b5-18 = 1

H6-01 = 2

H3-02/06/10 = C

not C

not 2

Terminal A2/A3

MEMOBUS Reg. 0006H

Pulse Input

b5-19

Off

PID Accel/Decel Time

b5-17

PID Soft Starter Cancel

(H1-

= 34)

b5-01=3/4

b5-01=1/2

Terminal A1/A2/A3

PID Function Setting

1.2 b: Application

PID Block Diagram

Figure 1.21 PID Block Diagram

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1.2 b: Application

b5-01: PID Function Setting

Enables or disables the PID operation and selects the PID operation mode.

No. Parameter Name Setting Range Default

b5-01 PID Function Setting 0 to 8 0

Setting 0: PID disabled

Setting 1: Output frequency = PID output 1

The PID controller is enabled and the PID output builds the frequency reference. The PID input is D controlled.

Setting 2: Output frequency = PID output 2

The PID controller is enabled and the PID output builds the frequency reference. The PID feedback is D controlled.

Setting 3: Output frequency = frequency reference + PID output 1

The PID controller is enabled and the PID output is added to the frequency reference. The PID input is D controlled.

Setting 4: Output frequency = frequency reference + PID output 2

The PID controller is enabled and the PID output is added to the frequency reference. The PID feedback is D controlled.

Setting 5: Mode compatible with setting 1 of similar products from a previous product line Setting 6: Mode compatible with setting 2 of similar products from a previous product line Setting 7: Mode compatible with setting 3 of similar products from a previous product line Setting 8: Mode compatible with setting 4 of similar products from a previous product line

Note: 1. If the drive is replaced with Varispeed F7 drive or a similar product from a previous product line, use settings 5 to 8 instead of settings

1 to 4.

2. Settings 5 to 8 are not available for models 4A0930 and 4A1200.

b5-02: Proportional Gain Setting (P)

Sets the P gain applied to the PID input. Larger values will tend to reduce the error but may cause oscillations if set too high, while lower values may allow too much offset between the setpoint and feedback.

No. Name Setting Range Default

b5-02 Proportional Gain Setting (P) 0.00 to 25.00 2.00

b5-03: Integral Time Setting (I)

Sets the time constant used to calculate the integral of the PID input. The shorter the integral time set to b5-03, the faster the offset will be eliminated. If the integral time is set too short, however, overshoot or oscillation may occur. To turn off the integral time, set b5-03 to 0.00.

No. Name Setting Range Default

b5-03 Integral Time Setting (I) 0.0 to 360.0 s 1.0 s

b5-04: Integral Limit Setting

Sets the maximum output possible from the integral block as a percentage of the maximum frequency (E1-04).

No. Name Setting Range Default

b5-04 Integral Limit Setting 0.0 to 100.0% 100.0%

Note: On some applications, especially those with rapidly varying loads, the output of the PID function may show a fair amount of oscillation.

b5-05: Derivative Time (D)

Program b5-04 to apply a limit to the integral output and suppress this oscillation.

Sets the time the drive predicts the PID input/PID feedback signal based on the derivative of the PID input/PID feedback. Longer time settings improve the response but can cause instability, while shorter time settings reduce the overshoot but reduce controller responsiveness. D control is disabled by setting b5-05 to zero seconds.

Parameter Details

No. Name Setting Range Default

b5-05 Derivative Time (D) 0.00 to 10.00 s 0.00 s

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1.2 b: Application

b5-06: PID Output Limit

Sets the maximum output possible from the entire PID controller as a percentage of the maximum frequency (E1-04).

No. Name Setting Range Default

b5-06 PID Output Limit 0.0 to 100.0% 100.0%

b5-07: PID Offset Adjustment

Sets the offset added to the PID controller output as a percentage of the maximum frequency (E1-04).

No. Name Setting Range Default

b5-07 PID Offset Adjustment -100.0 to 100.0% 0.0%

b5-08: PID Primary Delay Time Constant

Sets the time constant for the filter applied to the output of the PID controller. Normally, change is not required.

No. Name Setting Range Default

b5-08 PID Primary Delay Time Constant 0.00 to 10.00 s 0.00 s

Note: Useful when there is a fair amount of oscillation or when rigidity is low. Set to a value larger than the cycle of the resonant frequency.

b5-09: PID Output Level Selection

Reverses the sign of the PID controller output signal. Normally a positive PID input (feedback smaller than setpoint) leads to positive PID output.

Setting 0: Normal Output

A positive PID input causes an increase in the PID output (direct acting).

Setting 1: Reverse Output

A positive PID input causes a decrease in the PID output (reverse acting).

b5-10: PID Output Gain Setting

Applies a gain to the PID output and can be helpful when the PID function is used to trim the frequency reference (b5-01 = 3 or 4).

b5-11: PID Output Reverse Selection

Determines whether a negative PID output reverses the direction of drive operation. This parameter has no effect when the PID function trims the frequency reference (b5-01 = 3 or 4) and the PID output will not be limited (same as b5-11 = 1).

Increasing this time constant may reduce the responsiveness of the drive.

No. Parameter Name Setting Range Default

b5-09 PID Output Level Selection 0, 1 0

No. Name Setting Range Default

b5-10 PID Output Gain Setting 0.00 to 25.00 1.00

No. Parameter Name Setting Range Default

b5-11 PID Output Reverse Selection 0, 1 0

Setting 0: Reverse Disabled

Negative PID output will be limited to 0 and the drive output will be stopped.

Setting 1: Reverse Enabled

Negative PID output will cause the drive to run in the opposite direction.

PID Feedback Loss Detection

The PID feedback loss detection function detects broken sensors or broken sensor wiring. It should be used when PID control is enabled to prevent critical machine conditions (e.g., acceleration to max. frequency) caused by a feedback loss.

Feedback loss can be detected in two ways:

• Feedback Low Detection

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1.2 b: Application

Detected when the feedback falls below a certain level for longer than the specified time. This function is set up using parameters b5-12 to b5-14.

• Feedback High Detection

Detected when the feedback rises above a certain level for longer than the specified time. This function is set up using parameters b5-12, b5-36, and b5-37.

The following figure illustrates the working principle of feedback loss detection when the feedback signal is too low. Feedback high detection works in the same way.

PID feedback value

PID Feedback Detection Loss Level

(b5-13)

no FbL detection

PID Feedback

Loss Detection Time

(b5-14)

Figure 1.22 PID Feedback Loss Detection

PID Feedback

Loss Detection Time

(b5-14)

FbL detection

time

b5-12: PID Feedback Loss Detection Selection

Enables or disables the feedback loss detection and sets the operation when a feedback loss is detected.

No. Parameter Name Setting Range Default

b5-12 PID Feedback Loss Detection Selection 0 to 5 0

Setting 0: Multi-Function Digital Outputs Only

Multi-function digital outputs set for “PID feedback low” (H2-oo = 3E) will be triggered if the PID feedback value is below the detection level set to b5-13 for the time set to b5-14 or longer. Multi-function digital outputs set for “PID feedback high” (H2-oo = 3F) will be triggered if the PID feedback value is beyond the detection level set to b5-36 for longer than the time set to b5-37. Neither a fault nor an alarm is displayed on the digital operator and the drive will continue operation. The multifunction digital outputs reset when the feedback value leaves the loss detection range.

Setting 1: Feedback Loss Alarm

If the PID feedback value falls below the level set to b5-13 for longer than the time set to b5-14, a “FBL - Feedback Low” alarm will be displayed and a digital output set for “PID feedback low” (H2-oo = 3E) will be triggered. If the PID feedback value exceeds the level set to b5-36 for longer than the time set to b5-37, a “FBH - Feedback High” alarm will be displayed and a digital output set for “PID feedback high” (H2-oo = 3F) will be triggered. Both events trigger an alarm output (H2-oo = 10). The drive will continue operation. The alarm and multi-function digital outputs reset when the feedback value leaves the loss detection range.

Setting 2: Feedback Loss Fault

If the PID feedback value falls below the level set to b5-13 for longer than the time set to b5-14, a “FbL - Feedback Low” fault will be displayed. If the PID feedback value exceeds the level set to b5-36 for longer than the time set to b5-37, a “FbH

- Feedback High” fault will be displayed. Both events trigger a fault output (H2-oo = E) and cause the drive to stop the motor.

Setting 3: Digital Output Only, even if PID Is Disabled by Digital Input

Same as b5-12 = 0. Detection remains active when PID is disabled by a digital input (H1-oo = 19).

Setting 4: Feedback Loss Alarm, even if PID Is Disabled by Digital Input

Same as b5-12 = 1. Detection remains active when PID is disabled by a digital input (H1-oo = 19).

Setting 5: Feedback Loss fault, even if PID Is Disabled by Digital Input

Same as b5-12 = 2. Detection remains active when PID is disabled by a digital input (H1-oo = 19).

b5-13: PID Feedback Low Detection Level

Sets the PID feedback detection low level as a percentage of E1-04 (Maximum Output Frequency). The PID feedback must fall below this level for longer than the time set to b5-14 before feedback loss is detected.

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Parameter Details

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1.2 b: Application

No. Name Setting Range Default

b5-13 PID Feedback Low Detection Level 0 to 100% 0%

b5-14: PID Feedback Low Detection Time

Sets the time that the PID feedback has to fall below b5-13 before feedback loss is detected.

No. Name Setting Range Default

b5-14 PID Feedback Low Detection Time 0.0 to 25.5 s 1.0 s

b5-36: PID Feedback High Detection Level

Sets the excessive PID feedback detection high level as a percentage of E1-04 (Maximum Output Frequency). The PID feedback must exceed this level for longer than the time set to b5-37 before feedback loss is detected.

No. Name Setting Range Default

b5-36 PID Feedback High Detection Level 0 to 100% 100%

b5-37: PID Feedback High Detection Time

Sets the time that the PID feedback must exceed the value set to b5-36 before feedback loss is detected.

No. Name Setting Range Default

b5-37 PID Feedback High Detection Time 0.0 to 25.5 s 1.0 s

PID Sleep

The PID Sleep function stops the drive when the PID output or the frequency reference falls below the PID Sleep operation level for a certain time. The drive will resume operating when the PID output or frequency reference rise above the PID Sleep operation level for the specified time. An example of PID Sleep operation appears in the figure below.

PID Output

PID Sleep Level ( b5-15)

Sleep Delay Time

Internal Run

command

External Run

command

During Run

Notes on using the PID Sleep function

b5-16 b5-16

Run

Figure 1.23 PID Sleep Operation

Stop

Continues to output “During Run”

Sleep Delay Time

Run command enabled

• The PID Sleep function is active even when PID control is disabled.

• The PID Sleep function stops the motor according to the stopping method set to b1-03. The parameters necessary to control the PID Sleep function are explained below.

b5-15: PID Sleep Function Start Level

Sets the level that triggers PID Sleep.

The drive goes into Sleep mode if the PID output or frequency reference is smaller than b5-15 for longer than the time set to b5-16. The drive resumes operation when the PID output or frequency reference is above b5-15 for longer than the time set to b5-16.

No. Name Setting Range Default

b5-15 PID Sleep Function Start Level 0.0 to 400.0 Hz 0.0 Hz

b5-16: PID Sleep Delay Time

Sets the delay time to activate or deactivate the PID Sleep function.

No. Name Setting Range Default

b5-16 PID Sleep Delay Time 0.0 to 25.5 s 0.0 s

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1.2 b: Application

b5-17: PID Accel/Decel Time

The PID acceleration/deceleration time is applied on the PID setpoint value. When the setpoint changes quickly, the normal C1-oo acceleration times reduce the responsiveness of the system as they

are applied after the PID output. The PID accel/decel time helps avoid the hunting and overshoot and undershoot that can result from the reduced responsiveness.

The PID acceleration/deceleration time can be canceled using a digital input programmed for “PID SFS cancel” (H1-oo =

34).

No. Name Setting Range Default

b5-17 PID Accel/Decel Time 0.0 to 6000.0 s 0.0 s

b5-18: PID Setpoint Selection

Enables or disables parameter b5-19 for PID setpoint.

No. Parameter Name Setting Range Default

b5-18 PID Setpoint Selection 0, 1 0

Setting 0: Disabled

Parameter b5-19 is not used as the PID setpoint.

Setting 1: Enabled

Parameter b5-19 is used as PID setpoint.

b5-19: PID Setpoint Value

Used as the PID setpoint if parameter b5-18 = 1.

No. Name Setting Range Default

b5-19 PID Setpoint Value 0.00 to 100.00% 0.00%

b5-20: PID Setpoint Scaling

Determines the units for the PID Setpoint Value (b5-19) and monitors U5-01 and U5-04. The units for setting and display can be changed with b5-20.

No. Parameter Name Setting Range Default

b5-20 PID Setpoint Scaling 0 to 3 1

Setting 0: 0.01 Hz

The setpoint and PID monitors are displayed in Hz with a resolution of 0.01 Hz.

Setting 1: 0.01% (100.00%: Maximum PID Feedback)

The setpoint and PID monitors are displayed as a percentage with a resolution of 0.01%.

Setting 2: r/min (Set the Motor Poles)

The setpoint and PID monitors are displayed in r/min with a resolution of 1 r/min.

Setting 3: User Defined (Determined by b5-38 and b5-39)

Parameters b5-38 and b5-39 determine the units and resolution used to display the values the setpoint in b5-19, and PID monitors U1-01 and U1-04.

b5-34: PID Output Lower Limit

Sets the minimum possible PID controller output as a percentage of the maximum output frequency (E1-04). The lower limit is disabled when set to 0.00%

No. Name Setting Range Default

b5-34 PID Output Lower Limit -100.0 to 100.0% 0.00%

b5-35: PID Input Limit

Sets the maximum allowed PID input as a percentage of the maximum output frequency (E1-04). Parameter b5-35 acts as a bipolar limit.

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Parameter Details

Page 42

Response

Before adjustment

After adjustment

Time

1.2 b: Application

No. Name Setting Range Default

b5-35 PID Input Limit 0.0 to 1000.0% 1000.0%

b5-38, b5-39: PID Setpoint User Display, PID Setpoint Display Digits

When parameter b5-20 is set to 3, parameters b5-38 and b5-39 set a user-defined display for the PID setpoint (b5-19) and PID feedback monitors (U5-01, U5-04).

Parameter b5-38 determines the display value when the maximum frequency is output and parameter b5-39 determines the number of digits. The setting value is equal to the number of decimal places.

No. Name Setting Range Default

b5-38 PID Setpoint User Display 1 to 60000

b5-39 PID Setpoint Display Digits 0 to 3

Determined by

b5-20

Determined by

b5-20

Setting 0: No Decimal Places Setting 1: One Decimal Place Setting 2: Two Decimal Places Setting 3: Three Decimal Places

b5-40: Frequency Reference Monitor Content During PID

Sets the content of the frequency reference monitor display (U1-01) when PID control is active.

No. Name Setting Range Default

b5-40 Frequency Reference Monitor Content During PID 0, 1 0

Setting 0: Frequency Reference after PID

Monitor U1-01 displays the frequency reference increased or reduced for the PID output.

Setting 1: Frequency Reference

Monitor U1-01 displays the frequency reference value.

Fine-Tuning PID

Follow the directions below to fine tune PID control parameters:

Table 1.22 PID Fine Tuning

Goal Tuning Procedure Result

Before adjustment

After adjustment

Suppress overshoot

Response

• Reduce the derivative time (b5-05)

• Increase the integral time (b5-03)

Time

Achieve stability quickly while allowing some overshoot

• Decrease the integral time (b5-03)

• Increase the derivative time (b5-05)

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Goal Tuning Procedure Result

Response

Before adjustment

After adjustment

Time

1.2 b: Application

Suppress long cycle oscillations (longer than the integral time setting)

Suppress short cycle oscillations

b6: Dwell Function

Increase the integral time (b5-03)

• If oscillation cycle time is close to the derivative time, reduce the derivative time (b5-05).

• If the derivative time is set to 0.00 s and oscillations are still a problem, reduce the proportional gain (b5-02) or increase the PID primary delay time (b5-08)

Response

Before adjustment

After adjustment

Time

The Dwell function temporarily holds the frequency reference at a predefined value for a set time then continues accelerating or decelerating.

The Dwell function helps prevent speed loss when starting and stopping a heavy load with induction motors. When running a PM motor in V/f control, the pause in acceleration allows the PM motor rotor to align with the stator field of the motor and reduce the starting current.

Figure 1.24 illustrates how the Dwell function works.

Note: Set the stopping method to "Ramp to Stop" (b1-03 = 0) to use the Dwell function.

Run Command

Output Frequency

b6-02 b6-04

Figure 1.24 Dwell Function at Start and Stop

b6-01, b6-02: Dwell Reference, Dwell Time at Start

b6-01

OFFOFF

b6-03

Parameter b6-01 determines the frequency that is held for the time set in b6-02 during acceleration.

No. Name Setting Range Default

b6-01 Dwell Reference at Start 0.0 to 400.0 Hz 0.0 Hz

b6-02 Dwell Time at Start 0.0 to 10.0 s 0.0 s

b6-03, b6-04: Dwell Reference, Dwell Time at Stop

Parameter b6-03 determines the frequency that is held for the time set in b6-04 during deceleration.

No. Name Setting Range Default

b6-03 Dwell Reference at Stop 0.0 to 400.0 Hz 0.0 Hz

b6-04 Dwell Time at Stop 0.0 to 10.0 s 0.0 s

b7: Droop Control (CLV, CLV/PM)

Parameter Details

Note: PM motor control modes are not available in A1000 HHP drive models.

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1.2 b: Application

Droop control automatically balances the load level between two motors driving the same load. Droop control must be activated in one of the drives controlling these motors. The drive in which Droop control is activated shifts the load from one motor to another by automatically reducing the speed when the torque reference rises, and automatically increasing the speed when the torque reference falls.

Motor A runs faster than B, pulling more load

Motor B runs faster than A, pulling more load

= 100% Load

= constant

ref_A

increase f

ref_B

= 80% Load

Droop Control increases the speed reference in

drive B accomplishing load balance

= 90% Load

= 80% Load

= constant

ref_A

decrease

ref_B

= 100% Load

Droop Control decreases the speed reference in

drive B accomplishing load balance

= 90% Load

Figure 1.25 Droop Control Application

b7-01: Droop Control Gain

Sets the amount of speed reduction when the torque reference is 100%. The gain is set as a percentage of the maximum output frequency. A setting of 0.0% disables the Droop control function.

No. Parameter Name Setting Range Default

b7-01 Droop Control Gain 0.0 to 100.0% 0.0%

Speed

Speed reference

Droop control gain

b7-01

Torque

100%

Figure 1.26 Droop Control Gain

b7-02: Droop Control Delay Time

Adjusts the responsiveness of Droop control. Reduce the setting if the reaction time is too long, and increase the setting if hunting occurs.

No. Parameter Name Setting Range Default

b7-02 Droop Control Delay Time 0.03 to 2.00 s 0.05 s

b7-03: Droop Control Limit Selection

Enables or disables the droop control limit.

No. Parameter Name Setting Range Default

b7-03 Droop Control Limit Selection 0, 1 1

Setting 0: Disabled

Setting 1: Enabled

b9: Zero Servo

The Zero Servo function is a position loop that can be used in CLV and CLV/PM control modes to lock the motor at a certain position.

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1.2 b: Application

To activate Zero Servo mode, use a digital input set for H1-oo = 72 and the drive will decelerate when this input is closed. The drive goes into Zero Servo mode and holds the current position when the motor speed falls below the level set to parameter b2-01. The drive accelerates when the input assigned to trigger the Zero Servo function is released and the Run command is still present.

Run command

OFF

Zero Servo command

Motor Speed

b2-01

DC Injection Braking

start frequency

Figure 1.27 Zero Servo Operation

ON OFF

Zero Servo

Operation

When Zero Servo mode is active, the deviation between the rotor position and the zero position is displayed in monitor U6-22 (monitor value must be divided by 4 to get the deviation in actual encoder pulses).

A digital output programmed for “Zero Servo complete” (H2-oo = 33) is turned on when the rotor position is within the zero position, plus or minus the Zero Servo completion width set to parameter b9-02.

Note: 1. The Run command must remain on when using the Zero Servo function. Zero Servo will not hold the load in place if the Run command

b9-01: Zero Servo Gain

is switched off.

2. When the Zero Servo command has shut off, the Zero Servo Completion digital output width also shuts off.

3. Avoid using Zero Servo to lock 100% load for long periods, as this can trigger a fault. If such loads need to be held in place for long

periods, either make sure the current is less than 50% of the drive rated current during Zero Servo, or use a larger capacity drive.

4. If the load rotates the motor when using CLV/PM, a dv4 fault may occur. To prevent this increase the Zero Servo gain (b9-01).

Adjusts the responsiveness of the Zero Servo position loop. Increase the value if the response is too slow and the deviation from the zero position rises too high when load is applied. Decrease the value if vibrations occur during Zero Servo operation.

Note:

Before adjusting the Zero Servo gain, make sure the ASR parameters (C5-oo) are set up properly and vibration or hunting does not occur when running with a zero speed reference.

No. Name Setting Range Default

b9-01 Zero Servo Gain 0 to 100 5

b9-02: Zero Servo Completion Width

Sets the output range of the Zero Servo completion signal. Enter the amount of deviation allowable from the desired position to trigger Zero Servo. An output terminal set for Zero Servo (H2-oo = 33) will be triggered when the motor reaches the position Zero Servo plus or minus b9-02.

No. Name Setting Range Default

b9-02 Zero Servo Completion Width 0 to 16383 10

Parameter Details

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1.3 C: Tuning

C parameters set the characteristics for acceleration, deceleration, and S-curves. Other parameters in the C group cover settings for slip compensation, torque compensation, and carrier frequency.

C1: Acceleration and Deceleration Times

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 by digital inputs, motor selection, or 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

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 Decel 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.

<1>

10.0 s

Switching Acceleration Times by Digital Input

Accel/decel times 1 are active by default if no input is set. Activate accel/decel times 2, 3, and 4 by digital inputs (H1-oo = 7 and 1A) as explained in Table 1.23.

Table 1.23 Accel/Decel Time Selection by Digital Input

Accel/Decel Time Sel. 1

H1-oo = 7

Accel/Decel Time Sel. 2

H1-oo = 1A

Acceleration Deceleration

Active Times

0 0 C1-01 C1-02

1 0 C1-03 C1-04

0 1 C1-05 C1-06

1 1 C1-07 C1-08

Figure 1.28 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).

Accel Time 1

Output frequency

FWD (REV) Run command

Accel/Decel Time Selection 1 (Terminals S1 to S8, H1-oo = “7”)

Accel/Decel Time Selection 2 (Terminals S1 to S8, H1-oo = “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 1.28 Timing Diagram of Accel/Decel Time Change

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Page 47

Output Frequency

C1-11

Accel/Decel Time Switch Frequency

C1-03

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 (C1-03, -04)

C1-01

setting

C1-02 setting

C1-04

setting

C1-03 =

(accel time from 0 Hz to C1-11) × (E1-04)

C1-11

C1-01 =

(accel time between C1-11 and E1-04) × (E1-04)

(E1-04 - C1-11)

C1-02 =

(decel time between E1-04 and C1-11) × (E1-04)

(E1-04 - C1-11)

C1-04 =

(decel time from C1-11 to 0 Hz) × (E1-04)

C1-11

1.3 C: Tuning

Switching Acceleration and Deceleration Times by Motor Selection

When switching between motor 1 and 2 using a digital input (H1-oo= 16), parameters C1-01 to C1-04 become accel/decel times 1 and 2 for motor 1, while C1-05 to C1-08 become accel/decel times 1 and 2 for motor 2. Accel/decel times 1 and 2 can be switched for each motor using a digital inputs set to H1-oo = 7 like shown in Table 1.24.

Note: 1. The motor 2 selection function cannot be used with PM motors.

Attempting to use the digital input setting “Accel/Decel time 2 selection” (H1-oo = 1A) together with motor 1/2 switching triggers an oPE03 error, indicating contradictory multifunction input settings.

Table 1.24 Motor Switching and Accel/Decel Time Combinations

Accel/Decel Time 1 (H1-oo = 7)

(Terminal set to H1-oo = 16 OFF)

Motor 1 Selected

(Terminal set to H1-oo = 16 ON)

Motor 2 Selected

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 to parameter C1-11. When the frequency falls below this level, the accel/ decel times are switched back. Figure 1.29 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 only accel/decel time 2; it will not switch from accel/decel time 4 to the selected one.

C1-11: Accel/Decel Time Switching Frequency

Sets the frequency at which the drive switches between accel/decel time settings. Refer to Switching Accel/Decel Times by

a Frequency Level on page 47 for details.

No. Parameter Name Setting Range Default

C1-11 Accel/Decel Time Switching Frequency

<1> In AOLV/PM and CLV/PM control modes, the setting units and range are expressed as a percentage (0.0 to 100.0%) instead of in Hz.

Note: Setting C1-11 to 0.0 disables this function.

C1-09: Fast Stop Time

Sets a special deceleration used when a select group of faults occur (e.g., L8-03 Overheat Pre-Alarm Operation Selection) or when closing a digital input configured as H1-oo = 15 (N.O. input) or 17 (N.C. input). A momentary closure of the digital input will trigger the Fast Stop operation; it does not have to be closed continuously.

The drive cannot be restarted after initiating a Fast Stop operation until after completing deceleration, clearing the Fast Stop input, and cycling the Run command.

A digital output programmed for “During Fast Stop” (H2-oo = 4C) will be closed as long as Fast Stop is active.

No. Parameter Name Setting Range Default

C1-09 Fast Stop Time

<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

YASKAWA ELECTRIC SIEP YEAHHP 01B YASKAWA AC Drive – A1000 HHP Programming Manual

is set in units of 0.01 s (C1-10 = 0), the setting range becomes 0.00 to 600.00 s

Figure 1.29 Accel/Decel Time Switching Frequency

0.0 to 400.0 Hz

0.0 to 6000.0 s

<1>

Determined by

A1-02

<1>

10.0 s

Parameter Details

Page 48

1.3 C: Tuning

NOTICE: Rapid deceleration can trigger an overvoltage fault. The drive output shuts off when faulted and the motor coasts. Set an

appropriate Fast Stop time to C1-09 to avoid this uncontrolled motor state and to ensure that the motor stops quickly and safely.

C1-10: Accel/Decel Time Setting Units

Determines the units for the acceleration and deceleration times set to C1-01 through C1-09 using parameter C1-10.

No. Parameter Name Setting Range Default

C1-10 Accel/Decel Time Setting Units 0, 1 1

Setting 0: 0.01 s units

The accel/decel times are set in 0.01 s units. The setting range is 0.00 to 600.00 s. C1-10 cannot be set to 0 if any of the parameters C1-01 to C1-09 is set to 600.1 s or longer.

Setting 1: 0.1 s units

The accel/decel times are set in 0.1 s units. The setting range is 0.0 to 6000.0 s.

C2: S-Curve Characteristics

Use S-curve characteristics to smooth acceleration and deceleration and minimize abrupt shock to the load. Set S-curve characteristic time during acceleration/deceleration at start and acceleration/deceleration at stop. Increase the value set to C2-01 if the STo fault (Step Out Detection) occurs when starting a PM motor.

C2-01 to C2-04: S-Curve Characteristics

C2-01 through C2-04 set separate S-curves for each section of the acceleration or deceleration.

No. Parameter Name Setting Range Default

C2-01 S-Curve Characteristic at Accel Start

C2-02 S-Curve Characteristic at Accel End 0.20 s

C2-03 S-Curve Characteristic at Decel Start 0.20 s

C2-04 S-Curve Characteristic at Decel End 0.00 s

0.00 to 10.00 s

Figure 1.30 illustrates S-curve application.

FWD run

REV run

C2-03

C2-04

C2-01

C2-02

C2-04

C2-03

C2-02

Output frequency

Figure 1.30 S-Curve Timing Diagram - FWD/REV Operation

C2-01

Setting the S-curve will increase the acceleration and deceleration times.

• Actual accel time = accel time setting + (C2-01 + C2-02) / 2

• Actual decel time = decel time setting + (C2-03 + C2-04) / 2

Determined by

A1-02

C3: Slip Compensation

The Slip Compensation function improves the speed accuracy of an induction motor. By adjusting the output frequency in accordance with the motor load, it compensates the slip and makes the motor speed equal to the frequency reference.

Note: Perform Auto-Tuning and make sure that the motor rated current (E2-01), the motor rated slip (E2-02), and the no-load current (E2-03)

C3-01: Slip Compensation Gain

have all been set properly before making any adjustments to slip compensation parameters.

Sets the gain for the motor slip compensation function. Although this parameter rarely needs to be changed, adjustments may be necessary under the following circumstances:

• Increase the setting if the motor at constant speed is slower than the frequency reference.

YASKAWA ELECTRIC SIEP YEAHHP 01B YASKAWA AC Drive – A1000 HHP Programming Manual

Page 49

• Decrease the setting if the motor at constant speed is faster than the frequency reference.

No. Parameter Name Setting Range Default

C3-01 Slip Compensation Gain 0.0 to 2.5

1.3 C: Tuning

Determined by

A1-02

Note: Default setting is 0.0 in V/f Control (A1-02 = 0), and 1.0 in Open Loop Vector Control (A1-02 = 2). In Closed Loop Vector Control, slip

C3-02: Slip Compensation Primary Delay Time

compensation corrects inaccuracies that can result from temperature fluctuation in the rotor.

Adjusts the filter on the output side of the slip compensation function. Although this parameter rarely needs to be changed, adjustments may be necessary in the following situations:

• Decrease the setting when the slip compensation response is too slow.

• Increase this setting when speed is unstable.

No. Parameter Name Setting Range Default

C3-02 Slip Compensation Primary Delay Time 0 to 10000 ms

Note: Default for V/f Control (A1-02 = 0) is 2000 ms. Default for Open Loop Vector Control (A1-02 = 2) is 200 ms.

C3-03: Slip Compensation Limit

Determined by

A1-02

Sets the upper limit for the slip compensation function as a percentage of the motor rated slip (E2-02).

No. Parameter Name Setting Range Default

C3-03 Slip Compensation Limit 0 to 250% 200%

The slip compensation limit is constant throughout the constant torque range (frequency reference ≤ E1-06). In the constant power range (frequency reference ≥ E1-06), it is increased based on C3-03 and the output frequency as shown in the following diagram.

E1-04

× C3-03

E1-06

C3-03

E1-06

Base

Frequency

Figure 1.31 Slip Compensation Limit

C3-04: Slip Compensation Selection during Regeneration

E1-04

Maximum

Frequency

Output Frequency

Enables or disables slip compensation during regenerative operation. When slip compensation during regeneration has been activated and a regenerative load is applied, it might be necessary to use a dynamic braking option (braking resistor, braking resistor unit, or braking unit).

This function does not operate when the output frequency is too low, regardless of whether it has been enabled.

No. Parameter Name Setting Range Default

C3-04 Slip Compensation Selection during Regeneration 0 to 2 0

Setting 0: Disabled

Slip compensation is not provided. Depending on the load and mode of operation, the actual motor speed will be lower or higher than the frequency reference.

Setting 1: Enabled (6 Hz and above)

Slip compensation is enabled during regenerative operation. It will not be active at output frequencies below 6 Hz.

Setting 2: Enabled (compensation provided wherever possible)

Slip compensation is enabled during regenerative operation and at frequencies as low as 2 Hz. The drive uses the motor rated slip set to E2-02 to automatically calculate the frequency range where compensation will be disabled.

Parameter Details

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1.3 C: Tuning

C3-05: Output Voltage Limit Operation Selection

Determines if the motor flux reference is automatically reduced when output voltage reaches the saturation range.

If the input power supply voltage is low or the motor has a high voltage rating, this function improves the speed precision when moving heavy loads at high speeds. When selecting the drive, remember that the reduction in flux causes a slightly higher current at high speed when this function is enabled.

No. Parameter Name Setting Range Default

C3-05 Output Voltage Limit Operation Selection 0, 1 1

Note: Available control modes for parameter C3-05 vary by drive model:

Setting 0: Disabled

Setting 1: Enabled

C3-16: Output Voltage Limit Operation Start Level (Percentage Modulation)

Models 2A0004 to 2A0415, 4A0002 to 4A0675, and 5A0003 to 5A0242: Available when A1-02 = 2, 3 Models 4A0930 and 4A1200: Available when A1-02 = 2, 3, 6, 7 A1000 HHP: Available when A1-02 = 2 or 3

Sets the output voltage limit operation start level (percentage modulation) when C3-05 is enabled.

Note: This parameter is only available in models 4A0930, 4A1200, and A1000 HHP.

No. Parameter Name Setting Range Default

C3-16 Output Voltage Limit Operation Start Level 70.0 to 90.0% 85.0%

C3-17: Maximum Output Voltage Limit Level (Percentage Modulation)

Sets the output voltage limit operation determined by C3-18 (percentage modulation) when C3-05 is enabled.

Note: This parameter is only available in models 4A0930, 4A1200, and A1000 HHP.

No. Parameter Name Setting Range Default

C3-17 Maximum Output Voltage Limit Level 85.0 to 100.0% 90.0%

C3-18: Output Voltage Limit Level

Sets the maximum percentage of output voltage reduction when C3-05 is enabled.

Note: This parameter is only available in models 4A0930, 4A1200, and A1000 HHP.

No. Parameter Name Setting Range Default

C3-18 Output Voltage Limit Level 30.0 to 100.0% 90.0%

C3-21: Motor 2 Slip Compensation Gain

Improves the speed accuracy for motor 2 and functions in the same way that C3-01 functions for motor 1. Adjust this parameter only after setting the motor rated current (E4-01), motor rated slip (E4-02), and the motor no-load current (E4-03).

Refer to C3-01: Slip Compensation Gain on page 48 for details on adjusting this parameter.

No. Parameter Name Setting Range Default

C3-21 Motor 2 Slip Compensation Gain 0.0 to 2.5 Determined by E3-01

Note: Default setting is 0.0 in V/f Control (E3-01 = 0). Default setting is 1.0 in Open Loop Vector Control (E3-01 = 2) and Closed Loop Vector

C3-22: Motor 2 Slip Compensation Primary Delay Time

Control (E3-01 = 3). In Closed Loop Vector Control, slip compensation gain acts as an adaptable gain.

Functions for motor 2 the same way that C3-02 functions for motor 1.

Refer to C3-02: Slip Compensation Primary Delay Time on page 49 for details on adjusting this parameter.

No. Parameter Name Setting Range Default

C3-22 Motor 2 Slip Compensation Primary Delay Time 0 to 10000 ms Determined by A1-02

Note: The default for V/f Control (E3-01 = 0) is 2000 ms. The default for Open Loop Vector Control (E3-01 = 2) is 200 ms.

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1.3 C: Tuning

C3-23: Motor 2 Slip Compensation Limit

Sets the upper limit for the slip compensation function as a percentage of the motor rated slip (E4-02).

No. Parameter Name Setting Range Default

C3-23 Motor 2 Slip Compensation Limit 0 to 250% 200%

The slip compensation limit is constant throughout the constant torque range (frequency reference ≤ E3-06). In the constant power range (frequency reference ≥ E3-06), it is increased based on C3-23 and the output frequency as illustrated in Figure

1.32.

E3-04

× C3-23

E3-06

C3-23

E3-06

Base

Frequency

Figure 1.32 Slip Compensation Limit

C3-24: Motor 2 Slip Compensation Selection during Regeneration

E3-04

Maximum

Frequency

Output Frequency

Functions for motor 2 the same way that C3-04 functions for motor 1.

Refer to C3-04: Slip Compensation Selection during Regeneration on page 49 for details on adjusting this parameter.

No. Parameter Name Setting Range Default

C3-24

Setting 0: Disabled

Setting 1: Enabled (6 Hz and above)

Setting 2: Enabled (compensation provided wherever possible)

C4: Torque Compensation

Motor 2 Slip Compensation Selection during

Regeneration

0 to 2 0

The torque compensation function compensates for insufficient torque production at start-up or when a load is applied.

Note: Set the motor parameters and V/f pattern properly before setting torque compensation parameters.

C4-01: Torque Compensation Gain

Sets the gain for the torque compensation function.

No. Parameter Name Setting Range Default

C4-01 Torque Compensation Gain 0.00 to 2.50

Torque Compensation in V/f, V/f w/PG, and OLV/PM:

Determined by

A1-02

The drive calculates the motor primary voltage loss using the output current and the termination resistor value (E2-05 for IM motors, E5-05 for PM motors) and adjusts the output voltage to compensate for insufficient torque at start or when load is applied. The effects of this voltage compensation can be increased or decreased using parameter C4-01.

Torque Compensation in OLV:

The drive controls the motor excitation current (d-Axis current) and torque producing current (q-Axis current) separately. Torque compensation affects the torque producing current only. C4-01 works as a factor of the torque reference value that builds the torque producing current reference.

Adjustment

Although this parameter rarely needs to be changed, it may be necessary to adjust the torque compensation gain in small steps of 0.05 in the following situations:

• Increase this setting when using a long motor cable.

YASKAWA ELECTRIC SIEP YEAHHP 01B YASKAWA AC Drive – A1000 HHP Programming Manual

Parameter Details

Page 52

1.3 C: Tuning

• Decrease this setting when motor oscillation occurs. Adjust C4-01 so the output current does not exceed the drive rated current.

Note: 1. Refrain from adjusting torque compensation in Open Loop Vector Control, as it can have a negative effect on torque accuracy.

2. Refrain from adjusting this parameter in OLV/PM. Setting this value too high can cause overcompensation and motor oscillation.

C4-02: Torque Compensation Primary Delay Time

Sets the delay time used for applying torque compensation.

No. Parameter Name Setting Range Default

C4-02 Torque Compensation Primary Delay Time 0 to 60000 ms

Adjustment

Determined by

A1-02

Although C4-02 rarely needs to be changed, adjustments may be necessary in the following situations:

• Increase this setting if the motor vibrates.

• Decrease this setting if the motor responds too slowly to changes in the load.

C4-03: Torque Compensation at Forward Start (OLV)

Sets the amount of torque at start in the forward direction to improve motor performance during start with a heavy load. Compensation is applied using the time constant set in parameter C4-05. Enable this function when the load pulls the motor in reverse when starting with a Forward run command. Setting 0.0% disables this feature.

No. Parameter Name Setting Range Default

C4-03 Torque Compensation at Forward Start 0.0 to 200.0% 0.0%

C4-04: Torque Compensation at Reverse Start (OLV)

Sets the amount of torque reference at start in the reverse direction to improve motor performance during start with heavy load. Compensation is applied using the Torque Compensation Time set in parameter C4-05. Enable this function if the load pulls the motor in the forward direction when starting with a Reverse run command. Setting 0.0% disables this feature.

No. Parameter Name Setting Range Default

C4-04 Torque Compensation at Reverse Start -200.0 to 0.0% 0.0%

C4-05: Torque Compensation Time Constant (OLV)

Sets the time constant for applying the torque compensation at start that is set to C4-03 and C4-04.

No. Parameter Name Setting Range Default

C4-05 Torque Compensation Time Constant 0 to 200 ms 10 ms

C4-06: Torque Compensation Primary Delay Time 2 (OLV)

Sets the time constant used during Speed Search or during regenerative operation. Adjust the value if an overvoltage fault occurs with sudden changes in the load or at the end of acceleration with high inertia load.

No. Parameter Name Setting Range Default

C4-06 Torque Compensation Primary Delay Time 2 0 to 10000 ms 150 ms

Note: If C4-06 is set to a relatively large value, increase the setting in n2-03 (AFR Time Constant 2) proportionally.

C4-07: Motor 2 Torque Compensation Gain

Functions for motor 2 the same way that C4-01 functions for motor 1.

Refer to C3-01: Slip Compensation Gain on page 48 for details on adjusting this parameter.

No. Parameter Name Setting Range Default

C4-07 Motor 2 Torque Compensation Gain 0.00 to 2.50 1.00

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Page 53

<1>

C5-02, C5-04

C5-06

C5-08

C5-01, C5-03

Frequency reference

Detected speed

Torque limits

Torque reference

limit

Primary filter

L7-01 to L7-04

1.3 C: Tuning

C5: Automatic Speed Regulator (ASR)

The ASR controls the motor speed in V/f w/PG, CLV, AOLV/PM, and CLV/PM control modes and adjusts the output frequency (V/f w/PG) or torque reference (CLV, AOLV/PM, CLV/PM) to minimize the difference between frequency reference and actual motor speed.

Figure 1.33 and Figure 1.34 illustrate ASR functionality:

Output frequency

ASR limit

C5-05

Limit

Frequency reference

Detected speed

Figure 1.33 Speed Control Block Diagram for V/f Control with PG

Change rate limiter

C5-01 C5-03

C5-02, C5-04

<1> AOLV/PM estimates the speed using the motor model and does not require an encoder feedback signal.

Perform Auto-Tuning and set up all motor data correctly prior to adjusting ASR parameters.

Use analog output signals to monitor the frequency reference after softstarter (U1-16) and the motor speed (U1-05) when adjusting the ASR. Refer to H4: Multi-Function Analog Outputs on page 121 for details on setting up analog output functions.

Generally when tuning the ASR, optimize the ASR gain before adjusting the integral time settings. Always make adjustments with the load connected to the motor.

Adjusting the ASR Parameters in V/f Control with PG

In V/f Control with PG, the ASR settings change between two sets of parameters depending on the motor speed as described in C5-01, C5-03/C5-02, C5-04: ASR Proportional Gain 1, 2/ASR Integral Time 1, 2 on page 54.

Perform the following steps for adjusting ASR parameters:

Adjusting the ASR Parameters in CLV, AOLV/PM, and CLV/PM

The drive is preset to use ASR settings C5-01/02 over the entire speed range in CLV, AOLV/PM, and CLV/PM. If required by the application, a second set of ASR parameters (C5-03/04) can be automatically activated depending on the motor speed. Use a digital input to activate the second ASR Gain (C5-03). Refer to C5-01, C5-03/C5-02, C5-04: ASR Proportional Gain

1, 2/ASR Integral Time 1, 2 on page 54 for details.

YASKAWA ELECTRIC SIEP YEAHHP 01B YASKAWA AC Drive – A1000 HHP Programming Manual

Figure 1.34 Speed Control Block Diagram for CLV, AOLV/PM and CLV/PM

Adjusting the ASR Parameters

Run the motor at minimum speed and increase ASR gain 2 (C5-03) as much as possible without oscillation.

Run the motor at minimum speed and decrease ASR integral time 2 (C5-04) as much as possible without oscillation.

Check the output current monitor to make sure that the output current is less than 50% of the drive rated current. If

the value is higher than 50%, decrease C5-03 and increase C5-04. Run the motor at maximum speed and increase ASR gain 1 (C5-01) as much as possible without oscillations.

Run the motor at maximum speed and decrease ASR integral time 1 (C5-02) as much as possible without oscillations.

If higher speed precision and faster response during acceleration or deceleration are required, enable integral control

during accel/decel by setting parameter C5-12 to 1. Change the speed and make sure no over/undershoot occurs.

Parameter Details

Page 54

1.3 C: Tuning

Perform the following steps for adjusting ASR parameters:

Run the motor at zero speed and increase the ASR gain (C5-01) as much as possible without oscillation.

Run the motor at zero speed and decrease the ASR integral time (C5-02) as much as possible without oscillation.

Run at the normal operating speed. Check for over/undershoot when changing speed and for any oscillation.

If problems occur in step 3, increase the integral time and reduce the gain.

Alternatively, use different ASR settings for high and low speed. Set the values from step 1 and 2 to parameters C5-03 and C5-04, then set an ASR switching frequency in parameter C5-07. Run the motor at a speed higher than C5-07 and repeat step 3 while adjusting C5-01 and C5-02.

Solving Problems During ASR Setup

Use Table 1.25 when making adjustments to ASR. Though the parameters listed below are for motor 1, the same changes can be made to the corresponding motor 2 parameters when running a second motor.

Table 1.25 ASR Setup Problems and Corrective Actions

Problem Possible Solutions

Speed reference

Slow response to speed changes or speed deviation lasts for too long

Overshoot or undershoot at the end of acceleration or deceleration

Vibration and oscillation occur at constant speed

The motor slip is not fully compensated when running in V/f Control with PG

Integral operation is enabled in V/f Control with PG (C5-12 = 1) and over/undershoot occurs when changing speed.

Oscillation at low speed and response is too slow at high speed (or vice versa)

Motor Speed

Speed reference

Time

Speed reference

Motor Speed

Speed reference

Motor Speed

Time

• Increase the ASR gain.

• Decrease the integral time.

• Decrease the ASR gain.

• Increase the integral time.

• Decrease the ASR gain.

• Increase the integral time.

• Increase the ASR delay time (C5-06).

• Check the pulse number set to F1-01 and the gear ratio in F1-12 and F1-13.

• Make sure the pulse signal from the encoder is set up properly.

• Check monitor U6-04 and determine if the ASR is working at its output limit (setting of C5-05). If the ASR is at the output limit, increase C5-05.

• Decrease the ASR gain.

• Increase the integral time.

• Reduce the ASR output limit set in C5-05.

• V/f control: Use C5-01/02 and C5-03/04 to set up different ASR settings at minimum and maximum speed.

• CLV, AOLV/PM, CLV/PM: Use C5-01, C5-02 and C5-03, C5-04 to define optimal ASR settings for high and low speed. Use C5-07 to define a switching frequency.

C5-01, C5-03/C5-02, C5-04: ASR Proportional Gain 1, 2/ASR Integral Time 1, 2

These parameters adjust the responsiveness of the ASR.

No. Parameter Name Setting Range Default

C5-01 ASR Proportional Gain 1 0.00 to 300.00

C5-02 ASR Integral Time 1 0.000 to 10.000 s

C5-03 ASR Proportional Gain 2 0.00 to 300.00

YASKAWA ELECTRIC SIEP YEAHHP 01B YASKAWA AC Drive – A1000 HHP Programming Manual

Determined by

A1-02

Determined by

A1-02

Determined by

A1-02

Page 55

E1-04

P = C5-03 I = C5-04

P = C5-01 I = C5-02

E1-09

P and I setting

Motor speed

Max. output frequency

Min. output frequency

1.3 C: Tuning

No. Parameter Name Setting Range Default

C5-04 ASR Integral Time 2 0.000 to 10.000 s

Determined by

A1-02

These parameter settings will function differently depending on the control mode.

V/f Control with PG

Parameters C5-01 and C5-02 determine the ASR characteristics at maximum speed. Parameters C5-03 and C5-04 determine the characteristics at minimum speed.

Figure 1.35 ASR Gain and Integral Time in V/f w/PG

CLV, AOLV/PM, and CLV/PM

Note: PM motor control modes are not available in A1000 HHP drive models.

In these control modes, parameters C5-03 and C5-04 define the ASR gain an integral time at zero speed. The settings in C5-01 and C5-02 are used at speeds above the setting in C5-07. C5-07 is set to 0 as the default so that C5-01 and C5-02 are used over the entire speed range. Refer to C5-07: ASR Gain Switching Frequency on page 56.

The gain set in C5-03 can also be activated with a digital input programmed to “ASR gain switch” (H1-oo = 77). When the terminal is open, the drive uses the ASR gain level set by the pattern in the figure above. When the terminal closes, C5-03 is used. The integral time set to C5-02 is used to change linearly between these settings. The ASR gain switch command from a multi-function input terminal overrides the switching frequency set to C5-07.

ASR Gain Tuning (C5-01, C5-03)

The higher this setting, the faster the speed response, although a setting that is too high can lead to oscillation. Increase this setting with larger loads to minimize the speed deviation.

ASR Integral Time Tuning (C5-02, C5-04)

Determines how fast a continuous speed deviation problem is eliminated. A setting that is too long reduces the responsiveness of the speed control. A setting that is too short can cause oscillation.

Figure 1.36 Low-speed and High-speed Gain Settings

ASR Gain Switch signal (Digital input)

Proportional gain (P)

P, I

０

OFF

Ramp

C5-07

C5-02 C5-02

P = C5-01 I = C5-02

P = C5-03 I = C5-04

Motor speed (Hz)

Figure 1.37 ASR Proportional Gain Switch

(Low speed)

Proportional gain determined by motor speed.

C5-03 gain setting

Parameter Details

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1.3 C: Tuning

C5-05: ASR Limit

Sets the ASR output limit as a percentage of the maximum output frequency (E1-04). If the motor rated slip is high, the setting might need to be increased to provide proper motor speed control. Use the ASR output monitor U6-04 to determine if ASR is working at the limit set in C5-05. If ASR is working at the limit, make sure the PG pulses (F1-01), PG gear teeth (F1-12, F1-13), and the PG signal are set correctly before making further changes to C5-05.

No. Parameter Name Setting Range Default

C5-05 ASR Limit 0.0 to 20.0% 5.0%

C5-06: ASR Primary Delay Time Constant

Sets the filter time constant for the time from the speed loop to the torque command output. Increase this setting gradually in increments of 0.01 for loads with low rigidity or when oscillation is a problem. This parameter rarely needs to be changed.

No. Parameter Name Setting Range Default

C5-06 ASR Primary Delay Time Constant 0.000 to 0.500 s Determined by A1-02

C5-07: ASR Gain Switching Frequency

Sets the frequency where the drive should switch between ASR proportional gain 1 and 2 (C5-01, C5-03) as well as between integral time 1 and 2 (C5-02, C5-04).

No. Parameter Name Setting Range Default

C5-07 ASR Gain Switching Frequency

<1> In AOLV/PM and CLV/PM control modes the setting units and range are expressed as a percent (0.0 to 100.0%) instead of in Hz.

Note:

A multi-function input set for the ASR gain switch (H1-oo = 77) takes priority over the ASR gain switching frequency.

0.0 to 400.0 Hz

<1>

Determined by A1-02

<1>

Switching the proportional gain and integral time in the low or high speed range can help stabilize operation and avoid resonance problems. A good switching point is 80% of the frequency where oscillation occurs or at 80% of the target speed. Refer to

C5-01, C5-03/C5-02, C5-04: ASR Proportional Gain 1, 2/ASR Integral Time 1, 2 on page 54.

C5-08: ASR Integral Limit

Sets the upper limit for ASR as a percentage of the rated load.

No. Parameter Name Setting Range Default

C5-08 ASR Integral Limit 0 to 400% 400%

C5-12: Integral Operation during Accel/Decel (V/f w/PG)

Enables integral operation during acceleration and deceleration. Use integral operation when driving a heavy load or a high inertia load (default). Set C5-12 to 1 to use integral operation for low inertia/high performance loads. Enabling integral operation may cause problems with overshoot at the end of acceleration and deceleration. Refer to ASR Setup Problems and

Corrective Actions on page 54 to solve such problems.

No. Parameter Name Setting Range Default

C5-12 Integral Operation during Accel/Decel 0, 1 0

Setting 0: Disabled

Integral operation occurs only during constant speed and not during acceleration or deceleration.

Setting 1: Enabled

Integral operation is always enabled.

C5-21, C5-23 / C5-22, C5-24: Motor 2 ASR Proportional Gain 1, 2 / Integral Time 1, 2

These parameters function for motor 2 the same way that C5-01 through C5-04 function for motor 1. Refer to C5-01, C5-03/

C5-02, C5-04: ASR Proportional Gain 1, 2/ASR Integral Time 1, 2 on page 54 for details.

No. Parameter Name Setting Range Default

C5-21 Motor 2 ASR Proportional Gain 1 0.00 to 300.00 Determined by E3-01

C5-22 Motor 2 ASR Integral Time 1 0.000 to 10.000 s Determined by E3-01

C5-23 Motor 2 ASR Proportional Gain 2 0.00 to 300.00 Determined by E3-01

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1.3 C: Tuning

No. Parameter Name Setting Range Default

C5-24 Motor 2 ASR Integral Time 2 0.000 to 10.000 s Determined by E3-01

C5-25: Motor 2 ASR Limit

Functions for motor 2 the same way that C5-05 functions for motor 1. Sets the ASR output limit for motor 2 as a percentage of the maximum output frequency (E4-04). Refer to C5-05: ASR Limit on page 56 for details.

No. Parameter Name Setting Range Default

C5-25 Motor 2 ASR Limit 0.0 to 20.0% 5.0%

C5-26: Motor 2 ASR Primary Delay Time Constant

Functions for motor 2 the same way that C5-06 functions for motor 1.Sets the filter time constant for the time from the speed loop to the torque command output. Refer to C5-06: ASR Primary Delay Time Constant on page 56 for details. This parameter rarely needs to be changed.

No. Parameter Name Setting Range Default

C5-26 Motor 2 ASR Primary Delay Time Constant 0.000 to 0.500 s 0.004 s

C5-27: Motor 2 ASR Gain Switching Frequency

Functions for motor 2 the same way that C5-07 functions for motor 1. Sets the frequency for motor 2 to change ASR proportional gain 1 and 2 (C5-21, C5-23) as well as the integral time 1 and 2 (C5-22, C5-24). Refer to C5-01, C5-03/C5-02, C5-04: ASR

Proportional Gain 1, 2/ASR Integral Time 1, 2 on page 54 for details.

No. Parameter Name Setting Range Default

C5-27 Motor 2 ASR Gain Switching Frequency 0.0 to 400.0 Hz 0.0 Hz

Note:

C5-28: Motor 2 ASR Integral Limit

Functions for motor 2 the same way that C5-08 functions for motor 1. Sets the upper limit for ASR as a percentage of the rated load. Refer to C5-08: ASR Integral Limit on page 56 for details.

C5-32: Integral Operation during Accel/Decel for Motor 2

Functions for motor 2 the same way that C5-12 functions for motor 1. Enables integral operation during acceleration and deceleration. Refer to C5-12: Integral Operation during Accel/Decel (V/f w/PG) on page 56 for details.

Setting 0: Disabled

Integral operation occurs only during constant speed and not during acceleration or deceleration.

Setting 1: Enabled

Integral operation is always enabled.

C6: Carrier Frequency

A multi-function input set for the ASR gain switch (H1-oo = 77) takes priority over the ASR gain switching frequency.

No. Parameter Name Setting Range Default

C5-28 Motor 2 ASR Integral Limit 0 to 400% 400%

No. Parameter Name Setting Range Default

C5-32 Integral Operation during Accel/Decel for Motor 2 0, 1 0

C6-01: Drive Duty Mode Selection

The drive has two different duty modes from which to select based on the load characteristics. The drive rated current, overload capacity, and maximum output frequency will change depending upon the duty mode selection. Use parameter C6-01 to select Heavy Duty (HD) or Normal Duty (ND) for the application.

No. Parameter Name Setting Range Default

C6-01 Duty Mode Selection 0, 1 1 (ND)

YASKAWA ELECTRIC SIEP YEAHHP 01B YASKAWA AC Drive – A1000 HHP Programming Manual

Parameter Details

Page 58

1.3 C: Tuning

Table 1.26 Differences between Heavy Duty and Normal Duty

Characteristics Heavy Duty Rating (HD) Normal Duty Rating (ND)

C6-01 0 1

150 %

100 %

Performance

Overload

Rated Load

120 %

100 %

Rated Load

Overload

Application

0 Motor Speed

100 %

Use Heavy Duty Rating for applications requiring a high overload tolerance with constant load torque, such as extruders and conveyors.

Motor Speed

Use Normal Duty Rating for applications in which the torque requirements drop along with the speed, such as fans and pumps where a high overload tolerance is not required.

100 %

Overload 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)

150% 120%

Default Carrier Frequency 2 kHz 2 kHz Swing PWM

Note:

Changing the Duty Mode selection automatically changes the maximum size motor that the drive can run, sets the E2-oo parameters to appropriate values (E4-oo for motor 2), and recalculates parameter settings determined by motor capacity (e.g., b8-04, L2-03).

C6-02: Carrier Frequency Selection

Sets the switching frequency of the drive output transistors. Changes to the switching frequency lower audible noise and reduce leakage current.

No. Parameter Name Setting Range Default

C6-02 Carrier Frequency Selection 1 1

Setting

C6–02 Carrier Frequency

1 2.0 kHz

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1.4 d: Reference Settings

The figure below gives an overview of the reference input, selections, and priorities.

(Freq. Reference Source 1)

Pulse Train Input

Option Card

MEMOBUS comm.

Terminal A1/A2/A3

d1-01

(Freq.Ref 1)

(Freq. Reference Source 2)

Pulse Train Input

Option card

MEMOBUS comm.

Terminal A1/A2/A3

d1-01

(Freq. Ref. 1)

b1-01

LO/RE Key on Digital Operator or

b1-15

Digital Input H1-oo = 2

Digital Input H1-oo = 1

Jog Frequency

Remote

Local

Set to supply the

auxiliary frequency reference

Terminal A2

d1-02

Terminal A3

d1-03

Frequency

Reference

4 through 16

d1-04

d1-15

d1-16

d1-17

H3-10 = 2

H3-06 = 3

MS 1

MS 2

MS 3

MS 4

MS 15

MS 16

Jog

Multi-Step Speed

Open

1.4 d: Reference Settings

NetRef ComRef

Digital Input (H1-oo) Jog Reference (=6), FJOG(=12), RJOG(=13)

Memobus Register 0001h, bit 4 if standard 2 wire sequence selected, usually 0

Set from Communications Option Card, usually 0

Frequency

Reference

Figure 1.38 Frequency Reference Setting Hierarchy

d1: Frequency Reference

d1-01 to d1-17: Frequency Reference 1 to 16 and Jog Frequency Reference

The drive lets the user switch between up to 17 preset frequency references during run (including the Jog reference) through 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 overrides all other frequency references and must be selected by a separate digital input.

The multi-speed references 1, 2, and 3 can be provided by analog inputs.

No. Parameter Name Setting Range Default

d1-01 to d1-16 Frequency Reference 1 to 16

d1-17 Jog Frequency Reference

0.00 to 150.00 Hz

<1> <2>

0.00 Hz

6.00 Hz

<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).

<2>

Multi-Step Speed Selection

To use several speed references for a multi-step speed sequence, set the H1-oo parameters to 3, 4, 5, and 32. To assign the Jog reference to a digital input, set H1-oo 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, assign the frequency reference source 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), 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.

Parameter Details

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1.4 d: Reference Settings

• When an analog input is set to “Auxiliary frequency 2” (H3-02, H2-06, or H2-10 = 3), 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.

Select the different speed references as shown in Table 1.27. Figure 1.39 illustrates the multi-step speed selection.

Table 1.27 Multi-Step Speed Reference and Terminal Switch Combinations

Multi-Step

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> The Jog frequency overrides all other frequency references.

<1>

Speed

H1-oo = 3

ON OFF OFF OFF OFF

OFF ON OFF OFF OFF

− − − − ON

Multi-Step

Speed 2

H1-oo = 4

Multi-Step

Speed 3

H1-oo = 5

Multi-Step

Speed 4

H1-oo = 32

Jog Reference

H1-oo = 6

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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 Selection

Time

Multi-step Speed Ref. 1

Multi-step Speed Ref. 4

Frequency

reference

d1-01

(A1)

d1-02

(A2)

d1-03

(A3)

1.4 d: Reference Settings

Figure 1.39 Preset Reference Timing Diagram

d2: Frequency Upper/Lower Limits

Upper and lower frequency limits prevent motor speed from going above or below levels that may cause resonance or equipment damage.

d2-01: Frequency Reference Upper Limit

Sets the maximum frequency reference as a percentage of the maximum output frequency. This limit applies to all frequency references.

Even if the frequency reference is set to a higher value, the drive internal frequency reference will not exceed this value.

No. Parameter Name Setting Range Default

d2-01 Frequency Reference Upper Limit 0.0 to 110.0% 100.0%

d2-02: Frequency Reference Lower Limit

Sets the minimum frequency reference as a percentage of the maximum output frequency. This limit applies to all frequency references.

If a lower reference than this value is entered, the drive will run at the limit set to d2-02. If the drive is started with a lower reference than d2-02, it will accelerate up to d2-02.

No. Parameter Name Setting Range Default

d2-02 Frequency Reference Lower Limit 0.0 to 110.0% 0.0%

Parameter Details

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1.4 d: Reference Settings

Internal frequency

reference

d2-01

Operating range

d2-02

Figure 1.40 Frequency Reference: Upper and Lower Limits

d2-03: Master Speed Reference Lower Limit

Frequency Reference Upper Limit

Frequency Reference Lower Limit

Set frequency reference

Sets a lower limit as a percentage of the maximum output frequency that will only affect a frequency reference entered from the analog input terminals (A1, A2, or A3) as the master speed reference. This is unlike parameter d2-02, which affects all frequency references regardless of their source.

Note: When lower limits are set to both parameters d2-02 and d2-03, the drive uses the greater of those two values as the lower limit.

No. Parameter Name Setting Range Default

d2-03 Master Speed Reference Lower Limit 0.0 to 110.0% 0.0%

d3: Jump Frequency

d3-01 to d3-04: Jump Frequencies 1, 2, 3 and Jump Frequency Width

The Jump frequencies are frequency ranges at which the drive will not operate. The drive can be programmed with three separate Jump frequencies to avoid operating at speeds that cause resonance in driven machinery. If the speed reference falls within a Jump frequency dead band, the drive will clamp the frequency reference just below the dead band and only accelerate past it when the frequency reference rises above the upper end of the dead band.

Setting parameters d3-01 through d3-03 to 0.0 Hz disables the Jump frequency function.

No. Parameter Name Setting Range Default

d3-01 Jump Frequency 1

d3-02 Jump Frequency 2

d3-03 Jump Frequency 3

d3-04 Jump Frequency Width

<1> In AOLV/PM and CLV/PM control modes, the setting units and range are expressed as a percentage instead of in Hz.

0.0 to 150.0 Hz

0.0 to 20.0 Hz

<1>

0.0 Hz

1.0 Hz

<1>

Figure 1.41 shows the relationship between the Jump frequency and the output frequency.

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Frequency

Reference

Output Frequency

Jump

Frequency

Width (d3-04)

Jump

Frequency 3

d3-03

Jump

Frequency 2

d3-02

Jump

Frequency 1

d3-01

Frequency

reference

decreases

Frequency

reference increases

Jump

Frequency

Width (d3-04)

Jump

Frequency

Width (d3-04)

Figure 1.41 Jump Frequency Operation

1.4 d: Reference Settings

Note: 1. The drive will use the active accel/decel time to pass through the specified dead band range, but will not allow continuous operation in

that range.

2. When setting more than one Jump frequency, make sure that d3-01≥ d3-02 ≥ d3-03.

d4: Frequency Reference Hold and Up/Down 2 Function

d4-01: Frequency Reference Hold Function Selection

Determines whether the frequency reference or the frequency bias (Up/Down 2) value is saved when the Stop command is entered or the power supply is shut down. This parameter is effective when either of the digital input functions listed below are used:

•

Accel/decel ramp hold function (H1-oo= A)

•

Up/Down function (H1-oo = 10 and 11)

•

Up/Down 2 function (H1-oo = 75 and 76)

No. Parameter Name Setting Range Default

d4-01 Frequency Reference Hold Function Selection 0, 1 0

The operation depends on the function used with parameter d4-01.

Setting 0: Disabled

• Acceleration hold

The hold value will be reset to 0 Hz when the Stop command is entered or the drive power is switched off. The active frequency reference will be the value the drive uses when it restarts.

• Up/Down

The frequency reference value will be reset to 0 Hz when the Stop command is entered or the drive power is switched off. The drive will start from 0 Hz when it is restarted.

• Up/Down 2

The frequency bias is not saved when the Stop command is entered, or 5 s after the Up/Down 2 command has been released. The Up/Down 2 function will start with a bias of 0% when the drive is restarted.

Setting 1: Enabled

• Acceleration hold

The last hold value will be saved when the Run command or the drive power is switched off and the drive will use the saved value as the frequency reference when it restarts. Make sure to continuously enable the multi-function input terminal set for “Accel/decel ramp hold” (H1-oo = A) or the hold value will be cleared when the power is switched on.

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Parameter Details

Page 64

1.4 d: Reference Settings

Power supply

Forward Run / Stop

Hold Accel/Decel

Frequency reference

Output frequency

OFF OFF

ON ON

Hold Hold

ON ON

OFF

OFFOFF

d4-01 = 1

d4-01 = 0

Figure 1.42 Frequency Reference Hold with Accel/Decel Hold Function

• Up/Down

The frequency reference value will be saved when the Run command or the drive power is switched off. The drive will use the frequency reference that was saved when it restarts.

• Up/Down 2 with frequency reference from digital operator

When a Run command is active and the Up/Down 2 command is released for longer than 5 s, the Up/Down 2 bias value is added to the frequency reference and then reset to 0. This new frequency reference is saved and will also be used to restart the drive after the power is cycled.

Bias is added to frequency

Output

frequency

reference and reset to 0

Frequency

reference

Bias

Up 2 command

5 s

Figure 1.43 Up/Down 2 Example with Reference from Digital Operator and d4-01 = 1

• Up/Down 2 with frequency reference from input sources other than the digital operator

When a Run command is active and the Up/Down 2 command is released for longer than 5 s, the bias value will be saved in parameter d4-06. When restarting after the power is switched off, the drive will add the value saved in d4-06 as a bias to the frequency reference.

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1.4 d: Reference Settings

Output

frequency

d4-06 value

Bias

Up 2 command

Figure 1.44 Up/Down 2 Example with Other Reference than Digital Operator and d4-01 = 1

Note: Set the limits for Up/Down 2 properly when using d4-01 = 1 in combination with the Up/Down 2 function. Refer to d4-08: Frequency

Reference Bias Upper Limit (Up/Down 2) on page 67 and Refer to d4-09: Frequency Reference Bias Lower Limit (Up/Down 2) on page 67 for details on the limit settings.

Bias is saved in parameter d4-06

5 s

Clearing the Saved Value

Depending on which function is used, it is possible to clear the saved frequency reference value by:

• Releasing the input programmed for Acceleration hold.

• Setting an Up or Down command while no Run command is active.

• Resetting parameter d4-06 to zero. Refer to d4-06: Frequency Reference Bias (Up/Down 2) on page 66 for details.

d4-03: Frequency Reference Bias Step (Up/Down 2)

Sets the bias added to or subtracted from the frequency reference by the Up/Down 2 function.

No. Parameter Name Setting Range Default

d4-03 Frequency Reference Bias Step (Up/Down 2) 0.00 to 99.99 Hz 0.00 Hz

The operation depends on the set value:

Setting d4-03 = 0.00 Hz

While the Up 2 or Down 2 command is enabled, the bias value is increased or decreased using the accel/decel times determined by parameter d4-04.

Output

frequency

Bias value is increased using the accel/decel times as set in d4-04

Bias

Up 2 command

Figure 1.45 Up/Down 2 Bias when d4-03 = 0.00 Hz

Setting d4-03 ≠ 0.00 Hz

When an Up 2 or Down 2 command is enabled, the bias is increased or decreased in steps for the value set in d4-03. The frequency reference changes with the accel/decel times determined by parameter d4-04.

Parameter Details

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1.4 d: Reference Settings

Output

frequency

Bias value is increased in steps as defined in d4-03 Drive uses accel/decel times as

Bias

Up 2 command

Figure 1.46 Up/Down 2 Bias when d4-03 ≠ 0.00 Hz

d4-04: Frequency Reference Bias Accel/Decel (Up/Down 2)

set in d4-04

Determines the accel/decel times used to increase or decrease the frequency reference or bias when using the Up/Down 2 function.

No. Parameter Name Setting Range Default

d4-04 Frequency Reference Bias Accel/Decel (Up/Down 2) 0, 1 0

Setting 0: Current Accel/Decel Time

The drive uses the currently active accel/decel time.

Setting 1: Accel/Decel Time 4

The drive uses accel/decel time 4 set to parameters C1-07 and C1-08.

d4-05: Frequency Reference Bias Operation Mode Selection (Up/Down 2)

Determines if the bias value is held when the Up/Down 2 inputs are both released or both enabled. The parameter is effective only when parameter d4-03 is set to 0.00.

No. Parameter Name Setting Range Default

d4-05

Setting 0: Hold Bias Value

Frequency Reference Bias Operation Mode Selection

(Up/Down 2)

0, 1 0

The bias value will be held if no input Up 2 or Down 2 is active.

Setting 1: Reset Bias Value

The bias is reset to 0% when inputs Up 2 and Down 2 are both on or both off. The drive will use the accel/decel time as selected in d4-04 to accelerate or decelerate to the frequency reference value.

d4-06: Frequency Reference Bias (Up/Down 2)

Saves the frequency reference bias value set by the Up/Down 2 function as a percentage of the maximum output frequency. The function of this parameter depends on the Up/Down 2 function configuration. This parameter is not normally used when the digital operator sets the frequency reference.

• The value set to d4-06 will be applied during run, however the value is reset when the frequency reference changes (including multi-step references) and is disabled when d4-01 = 0 and the Run command is removed.

• When d4-01 = 0 and the frequency reference is set by a source other than the digital operator, the value set in d4-06 is added to or subtracted from the frequency reference.

• When d4-01 = 1 and the frequency reference is set by a source other than the digital operator, the bias value adjusted with the Up/Down 2 inputs is stored in d4-06 when 5 s have passed after releasing the Up 2 or Down 2 command. The frequency reference will return to the value without the Up/Down 2 command.

No. Parameter Name Setting Range Default

d4-06 Frequency Reference Bias (Up/Down 2) -99.9 to 100.0% 0.0%

Conditions that Reset or Disable d4-06

• The Up/Down 2 function has not been assigned to the multi-function terminals.

• The frequency reference source has been changed (including LOCAL/REMOTE or External reference 1/2 switch over by digital inputs).

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1.4 d: Reference Settings

• d4-03 = 0.00 Hz, d4-05 = 1, and the Up/Down 2 commands are both open or both closed.

• Any changes to the maximum frequency set to E1-04.

d4-07: Analog Frequency Reference Fluctuation Limit (Up/Down 2)

Handles frequency reference changes while the Up 2 or Down 2 terminal is enabled. If the frequency reference changes for more than the level set to d4-07, then the bias value will be held,and the drive will accelerate or decelerate following the frequency reference. When the frequency reference is reached, the bias hold is released and the bias follows the Up/Down 2 input commands.

This parameter is applicable only if the frequency reference is set by an analog or pulse input.

No. Parameter Name Setting Range Default

d4-07 Analog Frequency Reference Fluctuation Limit (Up/Down 2) 0.1 to 100.0% 1.0%

d4-08: Frequency Reference Bias Upper Limit (Up/Down 2)

Sets the upper limit of the Up/Down 2 bias (monitor U6-20) and the value that can be saved in parameter d4-06. Set this parameter to an appropriate value before using the Up/Down 2 function.

Note: When the frequency reference is set by the digital operator (b1-01 = 0) and d4-01 = 1, the bias value will be added to the frequency reference

if no Up/Down 2 command is received for 5 s, and will be reset to 0 afterwards. From that point, the bias can be increased up to the limit set in d4-08 again.

No. Parameter Name Setting Range Default

d4-08 Frequency Reference Bias Upper Limit (Up/Down 2) 0.0 to 100.0% 100.0%

d4-09: Frequency Reference Bias Lower Limit (Up/Down 2)

Sets the lower limit of the Up/Down 2 bias (monitor U6-20) and the value that can be saved in parameter d4-06. Set this parameter to an appropriate value before using the Up/Down 2 function.

Note: When the frequency reference is set by the digital operator (b1-01 = 0) and d4-01 = 1, the bias value will be added to the frequency reference

d4-10: Up/Down Frequency Reference Limit Selection

if no Up/Down 2 command is received for 5 s, and will be reset to 0 afterwards. If the bias is increased using the Up 2 command, it cannot be reduced with a Down 2 command when the limit set in d4-09 is 0. Set a negative lower limit in d4-09 to allow speed reduction in this situation.

No. Parameter Name Setting Range Default

d4-09 Frequency Reference Bias Lower Limit (Up/Down 2) -99.9 to 0.0% 0.0%

Selects how the lower frequency limit is set when using the Up/Down function. Refer to Setting 10, 11: Up/Down

Function on page 98 for details on the Up/Down function in combination with frequency reference limits.

No. Parameter Name Setting Range Default

d4-10 Up/Down Frequency Reference Limit Selection 0, 1 0

Setting 0: Lower Limit is Determined by d2-02 or Analog Input

The higher value between d2-02 and an analog input programmed for Frequency bias (A1, A2, A3) determines the lower frequency reference limit.

Note:

Setting 1: Lower Limit is Determined by d2-02

When using the External Reference 1/2 (H1-oo = 2) to switch between the Up/Down function and an analog input as the reference source, the analog value becomes the lower reference limit when the Up/Down command is active. Set d4-10 to 1 to make the Up/Down function independent of the analog input value.

Only parameter d2-02 sets the lower frequency reference limit.

d5: Torque Control

Torque Control defines a setpoint for the motor torque and is available for CLV and CLV/PM (A1-02 = 3).

Note: PM motor control modes are not available in A1000 HHP drive models.

Torque Control Operation

Torque control can be enabled either by setting parameter d5-01 to 1 or by setting digital input (H1-oo = 71). Figure 1.47 illustrates the working principle.

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Parameter Details

Page 68

1.4 d: Reference Settings

Torque Compensation

External Torque Reference

External Speed Limit

Speed Limit set in d5-04

Speed Feedback

Speed Limit Bias d5-05

Torque Reference Delay

C1-oo , C2-oo

Soft

Starter

d5-02

d5-08

d5-03

Figure 1.47 Torque Control Block Diagram

Speed Limiter

Compensated torque reference

L7-oo

Torque

Limits

U1-09

Internal Torque

Reference

The externally input torque reference is the target value for the motor output torque. If the motor torque reference and the load torque are not in balance when in Torque Control, the motor accelerates or decelerates. To prevent operation beyond the speed limit, compensate the external torque reference value if the motor speed reaches the limit. The compensation value is calculated using the speed limit, speed feedback, and the speed limit bias.

If an external torque compensation value is input, it is added to the speed limit compensated torque reference value. The value calculated is limited by the L7-oo settings, and is then used as the internal torque reference, which can be monitored in U1-09. The L7-oo settings have highest priority. The motor cannot be operated with a higher torque than the L7-oo settings even if the external torque reference value is increased.

Setting the Torque Reference, Speed Limit, and Torque Compensation Values

Torque Control Reference Sources

Set input values for Torque Control as explained in Table 1.28.

Table 1.28 Torque Control Input Value Selection

Input Value Signal Source Settings Remarks

Match the input terminal signal level settings to Analog inputs A1/A2/ A3

H3-02, H3-10, or H3-06 = 13

<1>

the signal being used. Refer to H3: Multi-

Function Analog Inputs on page 115 for details

on adjusting analog input signals.

Torque Reference

Analog Option

• F2-01 = 0

•

H3-02, H3-10, or H3-06 = 13

The F3-oo settings become effective for the

option board input terminals. Match the input

terminal signal level settings to the signal being

<1>

used. Refer to H3: Multi-Function Analog

Inputs on page 115 for details on adjusting

analog input signals.

• b1-01 = 2

MEMOBUS Register 0004H

• Set Register 000FH, Bit 2 = 1 to enable Torque reference from register 0004H

Torque Reference

• b1-01 = 3

• F6-06 = 1

Communications Option

Refer to the option card manual for details about setting the torque compensation value.

d5-03 = 1 The speed limit is taken from the input selected as frequency reference source in parameter b1-01 or b1-15.

<1>

The settings in C1-oo for accel/decel times and in C2-oo for S-curves are applied to the speed limit value.

Speed Limit

Signal selected as frequency reference source

Parameter d5-04 d5-03 = 2 –

–

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1.4 d: Reference Settings

Input Value Signal Source Settings Remarks

Match the input terminal signal level settings to Analog inputs A1/A2/ A3

Analog Option

Torque

Compensation

MEMOBUS Register 0005H

Communications Option

<1> Sets analog input terminals A1, A2, and A3 to supply the speed limit, torque reference, or torque compensation. Setting two analog inputs for the

same function will trigger an oPE07 error (Multi-Function Analog Input Selection Error).

Input Value Polarity

H3-02, H3-10, or H3-06 = 14

• F2-01 = 0

•

H3-02, H3-10, or H3-06 = 14

• b1-01 = 2

• Set Register 000FH, bit 3 = 1 to enable the torque compensation setting by register 0005H

b1-01 = 3 Refer to the option card manual for details about setting the torque compensation value.

<1>

the signal being used. Refer to H3: Multi-

Function Analog Inputs on page 115 for details

on adjusting analog input signals. The H3-oo settings become effective for the

option board input terminals. Match the input terminal signal level settings to the signal being used.

–

The direction of the input values described above depends on the polarity of the Run command and the input value.

Table 1.29 Torque Control Signal Polarity

Run Command Direction Input Value Polarity Input Value Direction

Forward

Reverse

+ (positive) Forward direction

- (negative) Reverse direction

+ (positive) Reverse direction

- (negative) Forward direction

Example:

• With a Forward run command and a positive torque reference signal the internal torque reference will be positive, i.e., in the forward direction.

• With a Forward run command and a negative torque reference signal the internal torque reference will be negative, i.e., in the reverse direction.

When using analog inputs, negative input values can be generated by:

• applying negative voltage input signals.

• using positive analog input signals while setting the analog input bias to negative values so the input value can be negative.

•

applying positive voltage input signals and using a digital input that is programmed for H1- oo = 78.

When using MEMOBUS/Modbus communication or a communication option card, only positive input values can be set.

Independent of its input source, the polarity of the torque reference signal can be inverted using a digital input that is programmed for H1-oo = 78. Use this function to input negative torque reference values when using MEMOBUS/Modbus or a communication option card.

Speed Limitation and Speed Limit Bias

The speed limit setting is read from the input selected in parameter d5-03. A bias can be added to this speed limit using parameter d5-05 while parameter d5-08 determines how the speed limit bias is applied. Table 1.30 explains the relation between these settings.

Table 1.30 Speed Limit, Speed Bias and Speed Limit Priority Selection

Operating Conditions

Run

Command

Torque

Reference

Direction

Forward Reverse Forward Reverse Forward Reverse Forward Reverse

Positive

(Forward)

Reverse Positive

(Forward)

Negative

(Reverse)

Negative

(Reverse)

Negative

(Reverse)

Negative

(Reverse)

Positive

(Forward)

Positive

(Forward)

Parameter Details

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1.4 d: Reference Settings

Speed Limit

Direction

Motor

Rotation

Direction

Bidirectional

Speed Limit

Bias

(d5-08 = 0)

<1>

Unidirectiona

l Speed Limit

Bias

(d5-08 = 1)

<1>

Positive

(Forward)

Torque

Limit

Internal Torque

Reference

Speed Limit Bias d5-05

Torque

Limit

Internal Torque

Reference

Speed

Limit Bias

d5-05

Forward Reverse Forward Reverse

Torque

Δn

Torque

Δn

Speed

Negative

(Reverse)

Speed Limit Bias d5-05

Speed

Limit

Δn

Limit

Speed

Torque

Limit

Speed

Torque

Limit

Negative

(Reverse)

Torque

Limit

Speed

Limit

Speed Limit Bias d5-05

Torque

Limit

Speed

Limit

Δn

Operating Conditions

Positive

(Forward)

Torque

Speed Limit Bias d5-05

Speed

Internal Torque

Reference

Torque

Δn

Limit

Torque

Speed Limit

Bias d5-05

Speed

Internal Torque

Reference

Torque

Δn

Limit

Positive

(Forward)

Torque

Limit

Internal

Torque

Reference

Torque

Limit

Δn

Torque

Negative

(Reverse)

Speed Limit Bias d5-05

Speed Limit

Δn

d5-05

Speed Limit Bias d5-05

Speed Limit

Δn

Speed

Torque

Limit

Speed

Internal

Torque

Reference

Torque

Limit

Negative

(Reverse)

Torque

Limit

Speed

Limit Bias

d5-05

Torque

Limit

Internal Torque

Reference

Speed

Δn

Speed

Limit

Δn

Limit

Torque

Δn

Torque

Positive

(Forward)

Internal Torque

Reference

Speed

Speed Limit Bias d5-05

Torque

Limit

Δn

Speed

Limit Bias

d5-05

Torque

Limit

Unwinder

Line Direction

Torque Speed

Application

Line Direction

Speed

Winder

Torque

Speed Torque

Torque

Speed

Example

<1>

The value of delta n in the drawings depends on the ASR setting in parameters C5-oo.

Indicating Operation at the Speed Limit

Line Direction

Program a digital output to close when the drive operates at or beyond the speed limit (H2-oo = 32). Use this output to notify a control device such as a PLC of abnormal operating conditions.

Switching Between Torque and Speed Control

Use a digital input to switch Torque Control and Speed Control (H1-oo = 71). When switching from Speed Control to Torque Control, the torque limit becomes the torque reference and the speed reference becomes the speed limit. This change is reversed when switching back to Speed Control.

If required by the application, set up a delay time using parameter d5-06. The reference values (torque reference/speed limit in Torque Control or speed reference/torque limit in Speed Control) are held during this switch delay time. Change the reference values from the controller within this delay time.

Note: 1. The switching delay time d5-06 is not applied when the Stop command is entered. Here the operation switches immediately to speed

control and the drive decelerates to stop at the torque limit.

2. Set d5-01 to 0 when switching between Torque Control and Speed Control. An oPE15 (Torque Control Setting Error) alarm will be

triggered if parameter d5-01 is set to 1 while H1-oo is set to 71 at the same time.

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1.4 d: Reference Settings

Speed/Torque control

input (H1-oo = 71)

Run command

Operation Mode

Frequency reference

signal or d5-04

Torque reference signal/

d5-01: Torque Control Selection

Torque limit

OFF

Speed Control Torque Control Speed Control Torque Control

Speed Ref. Speed Limit Speed Ref. Speed Limit

OFF

d5-06

Figure 1.48 Speed/Torque Control Switching Time

ON OFF

Torque LimitTorque Limit Torque Reference Torque Reference

d5-06

Speed Control

Speed Ref.

Torque Limit

d5-06

No. Parameter Name Setting Range Default

d5-01 Torque Control Selection 0, 1 0

Setting 0: Disabled

Speed Control will be active. Also use this setting when H1-oo = 71 (Speed/Torque Control Switch).

Setting 1: Enabled

Torque Control is always enabled.

d5-02: Torque Reference Delay Time

Apply a filter with the time constant set to parameter d5-02 to the torque reference signal to eliminate oscillation resulting from an unstable torque reference signal. A higher filter time stabilizes control while reducing the responsiveness.

No. Parameter Name Setting Range Default

d5-02 Torque Reference Delay Time 0 to 1000 ms 0 ms

d5-03: Speed Limit Selection

Determines how the speed limit is set.

No. Parameter Name Setting Range Default

d5-03 Speed Limit Selection 1 or 2 1

Setting 1: Frequency Reference Input

The frequency reference value at the active reference source (digital operator, External reference 1 or External reference 2) will be used as speed limit. Note that in this case all settings for accel/decel times (C1-01 to C1-08) and S-curves (C2-01 to C2-04) will apply for the speed limit.

Setting 2: d5-04

The speed limit is set by parameter d5-04.

d5-04: Speed Limit

Sets the speed limit during torque control if parameter d5-03 is set to 2. Refer to Speed Limitation and Speed Limit Bias on

page 69.

No. Parameter Name Setting Range Default

d5-04 Speed Limit -120 to 120% 0%

Parameter Details

d5-05: Speed Limit Bias

Applies a bias set as a percentage of the maximum output frequency to the speed limit value. Refer to Speed Limitation and

Speed Limit Bias on page 69.

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1.4 d: Reference Settings

No. Parameter Name Setting Range Default

d5-05 Speed Limit Bias 0 to 120% 10%

d5-06: Speed/Torque Control Switchover Time

Sets the delay time for switching between Speed Control and Torque Control.

No. Parameter Name Setting Range Default

d5-06 Speed/Torque Control Switchover Time 0 to 1000 ms 0 ms

d5-08: Unidirectional Speed Limit Bias

Selects how the speed limit bias is applied.

No. Parameter Name Setting Range Default

d5-08 Unidirectional Speed Limit Bias 0, 1 1

Setting 0: Disabled

The speed limit bias is applied in the speed limit direction and the opposite direction.

Setting 1: Enabled

The speed limit bias is applied in the opposite direction of the speed limit only.

d6: Field Weakening and Field Forcing

Field Weakening

The Field Weakening function reduces the output voltage to a predefined level to reduce the energy consumption of the motor. To activate the Field Weakening function, use a digital input programmed for H1-oo = 63. Only use Field Weakening with a known and unchanging light load condition. Use the Energy Saving function (b8-oo parameters) when Energy Saving for various different load conditions is required.

Field Forcing

The Field Forcing function compensates the delaying influence of the motor time constant when changing the excitation current reference and improves motor responsiveness. Field Forcing is ineffective during DC Injection Braking.

d6-01: Field Weakening Level

Sets the level to which the output voltage is reduced when Field Weakening is activated. Set as percentage of the maximum output voltage.

No. Parameter Name Setting Range Default

d6-01 Field Weakening Level 0 to 100% 80%

d6-02: Field Weakening Frequency Limit

Sets the lower limit (in Hz) of the frequency range where field weakening control is valid. The field weakening command is valid only at frequencies above this setting and only when output frequency is in agreement with the current output frequency (speed agree).

No. Parameter Name Setting Range Default

d6-02 Field Weakening Frequency Limit 0 to 150.0 Hz 0.0 Hz

d6-03: Field Forcing Selection

Enables or disables the Field Forcing function.

No. Parameter Name Setting Range Default

d6-03 Field Forcing Selection 0, 1 0

Setting 0: Disabled

Setting 1: Enabled

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1.4 d: Reference Settings

d6-06: Field Forcing Limit

Sets the maximum level at which the Field Forcing function can boost the excitation current reference. The value is set as a percentage of the motor no load current. This parameter does not normally need to be changed.

No. Parameter Name Setting Range Default

d6-06 Field Forcing Limit 100 to 400% 400%

d7: Offset Frequency

d7-01 to d7-03: Offset Frequency 1 to 3

Three different offset values can be added to the frequency reference. They can be selected using digital inputs programmed for Offset frequency 1, 2, and 3 (H1-oo = 44, 45, 46). The selected offset values are added together if multiple inputs are closed simultaneously. The value is set as a percentage of the Maximum Output Frequency.

Note:

This function can replace the “Trim Control” function (H1-oo = 1C, 1D) of older Yaskawa drives.

No. Parameter Name Setting Range Default

d7-01 Offset Frequency 1 -100.0 to 100.0% 0%

d7-02 Offset Frequency 2 -100.0 to 100.0% 0%

d7-03 Offset Frequency 3 -100.0 to 100.0% 0%

Figure 1.49 illustrates the Offset frequency function.

Frequency reference

Offset Frequency 1 [d7-01]

(Signed)

Multi-function

input (44) = on

SFS

Frequency reference after soft starter

Offset Frequency 2 [d7-02]

(Signed)

Offset Frequency 3 [d7-03]

(Signed)

Figure 1.49 Offset Frequency Operation

Multi-function

input (45) = on

Multi-function

input (46) = on

Parameter Details

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1.5 E: Motor Parameters

E parameters cover V/f pattern and motor data settings.

E1: V/f Pattern for Motor 1

E1-01: Input Voltage Setting

Adjusts the levels of some protective features of the drive (overvoltage, Stall Prevention, etc.). Set this parameter to the nominal voltage of the AC power supply.

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. Parameter Name Setting Range Default

E1-01 Input Voltage Setting

<1> Values shown are specific to 400 V class drives. Multiply the values by 1.4375 for 575 V class drives. Multiply the values by 1.725 for 690 V class

drives.

E1-01 Related Values

310 to 510 V

<1>

The input voltage setting determines the overvoltage and undervoltage detection levels, the operation levels of the braking transistor, the KEB function, and the overvoltage suppression function.

(Approximate Values)

Voltage Setting Value of E1-01

400 V Class

575 V Class 575 V 475 Vdc 635 Vdc 930 Vdc

690 V Class 794 570 Vdc 635 Vdc 930 Vdc

setting ≥ 400 V

setting < 400 V 350 Vdc 460 Vdc 750 Vdc

Uv Detection Level

(L2-05)

380 Vdc 500 Vdc 750 Vdc

Desired DC Bus Voltage

during KEB (L2-11)

ov Suppression /

Stall Prevention Level

(L3-17)

460 V

<1>

Note: The braking transistor operation levels are valid for the drive internal braking transistor. When using an external CDBR braking chopper,

V/f Pattern Settings (E1-03)

refer to the instruction manual of that unit.

The drive uses a V/f pattern to adjust the output voltage relative to the frequency reference. There are 15 different predefined V/f patterns (setting 0 to E) from which to select, 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) that requires the user to create the pattern using parameters E1-04 through E1-10.

E1-03: V/f Pattern Selection

Selects the V/f pattern for the drive and motor from 15 predefined patterns or creates a custom V/f pattern.

No. Parameter Name Setting Range Default

E1-03 V/f Pattern Selection

<1> Settings 0 through E are not available when A1-02 = 2, 3.

<2> Parameter is not reset to the default value when the drive is initialized using A1-03.

Setting a Predefined V/f Pattern (Setting 0 to E)

0 to F

<1>

<2>

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. Drive initialization does not reset parameter E1-03.

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400

1.3 2.5 50

Voltage (V)

Frequency (Hz)

400

1.5 3 60

Voltage (V)

Frequency (Hz)

400

1.5 3 6050

Voltage (V)

Frequency (Hz)

400

1.5 3 7260

Voltage (V)

Frequency (Hz)

400

1.3 25 50

Voltage (V)

Frequency (Hz)

400

1.3 25 50

100

Voltage (V)

Frequency (Hz)

400

1.5 30 60

Voltage (V)

Frequency (Hz)

400

1.5 30 60

100

Voltage (V)

Frequency (Hz)

1.5 E: Motor Parameters

Table 1.31 Predefined V/f Patterns

Setting Specification Characteristic Application

0 50 Hz

1 60 Hz

2 60 Hz (with 50 Hz base)

Constant torque

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

Variable torque

7 50 Hz, Heavy Duty 2

8 50 Hz, mid starting torque

9 50 Hz, high starting torque

A 60 Hz, mid starting torque

High starting torque

B 60 Hz, high starting torque

C 90 Hz (with 60 Hz base)

D 120 Hz (with 60 Hz base)

Constant output

E 150 Hz (with 60 Hz base)

<1>

60 Hz Constant torque

<1> Setting F enables a custom V/f pattern by changing parameters E1-04 to E1-13. When the drive is shipped, the default values for parameters E1-04

to E1-13 are the same as those of setting 1.

For general purpose applications. Torque remains constant regardless of changes to speed.

For fans, pumps, and other applications where the required torque changes as a function of the speed.

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.

For general purpose applications. Torque remains constant regardless of changes to speed.

The following tables show details on predefined V/f patterns.

Predefined V/f Patterns for all HHP models:

• 400 V Class 414 A to 2000 A Heavy Duty, 466 A to 2250 A Normal Duty,

• 575 V Class 414 A to 2000 A Heavy Duty, 466 A to 2250 A Normal Duty,

• 690 V Class 414 A to 2000 A Heavy Duty, 466 A to 2250 A Normal Duty.

The values in the following graphs are specific to 400 V class drives. Multiply the values by 1.4375 for 575 V class drives. Multiply the values by 1.725 for 690 V class drives.

Table 1.32 Rated Torque Characteristics, Settings 0 to 3

Setting = 0 50 Hz Setting = 1 60 Hz Setting = 2 60 Hz Setting = 3 72 Hz

Table 1.33 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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400

1.3 2.5 50

Voltage (V)

Frequency (Hz)

400

1.3 2.5 50

Voltage (V)

Frequency (Hz)

400

1.5 3 60

Voltage (V)

Frequency (Hz)

400

1.5 3 60

Voltage (V)

Frequency (Hz)

400

1.5 3 9060

Voltage (V)

Frequency (Hz)

400

1.5 3 12060

Voltage (V)

Frequency (Hz)

400

1.5 3 15060

Voltage (V)

Frequency (Hz)

13.8

460

1.5 3 60

27.6

Frequency (Hz)

1.5 E: Motor Parameters

Table 1.34 High Starting Torque, Settings 8 to B

Setting = 8 50 Hz Setting = 9 50 Hz Setting = A 60 Hz Setting = B 60 Hz

Table 1.35 Constant Output, Settings C to F

Setting = C 90 Hz Setting = D 120 Hz Setting = E 150 Hz Setting = F 60 Hz

Note: The values in this graph are

specific to 400 V class drives in

setting F. Multiply the values by

1.25 for 575 V class drives.

Multiply the values by 1.725 for

690 V class drives.

Setting a Custom V/f Pattern (Setting F: Default)

Setting parameter E1-03 to F allows the user to set up a custom V/f pattern by changing parameters E1-04 to E1-13.

V/f Pattern Settings E1-04 to E1-13

If E1-03 is set to a preset V/f pattern (i.e., a value other than F), the user can monitor the V/f pattern in parameters E1-04 through E1-13. To create a new V/f pattern, set E1-03 to F. Refer to V/f Pattern on page 77 for an example custom V/f pattern.

Note:

<1> Default setting is determined by the control mode.

<3> Values shown are specific to 400 V class drives. Multiply the value by 1.4375 for 575 V class drives. Multiply the value by 1.725 for 690 V class

<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.

Certain E1-oo parameters might not be visible depending on the control mode. Refer to Parameter List on page 235 for details.

No. Parameter Name Setting Range Default

E1-04 Maximum Output Frequency 40.0 to 150.0 Hz

E1-05 Maximum Voltage

0.0 to 510.0 V

<3> <1>

E1-06 Base Frequency 0.0 to [E1-04]

E1-07 Middle Output Frequency 0.0 to [E1-04]

E1-08 Middle Output Frequency Voltage

0.0 to 510.0 V

<3> <1>

E1-09 Minimum Output Frequency 0.0 to [E1-04]

E1-10 Minimum Output Frequency Voltage

0.0 to 510.0 V

<3> <1>

E1-11 Middle Output Frequency 2 0.0 to [E1-04]

E1-12 Middle Output Frequency Voltage 2

E1-13 Base Voltage

0.0 to 510.0 V

<3>

<1>

0.0 Hz

0.0 V

drives.

<5>

<4> <5>

<4>

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1.5 E: Motor Parameters

Output Voltage (V)

E1-05 E1-12

E1-13

E1-08

E1-10

E1-09 E1-07 E1-06 E1-11 E1-04

Frequency (Hz)

Figure 1.50 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 equal to E1-07. In this case the E1-08 setting is disregarded.

3. E1-03 is unaffected when the drive is initialized, but E1-04 through E1-13 return to their default values.

4. Only use E1-11, E1-12, and E1-13 to fine-tune the V/f pattern in the constant output range. These parameters rarely need to be changed.

E2: Motor 1 Parameters

These parameters contain the motor data needed for motor 1. Performing Auto-Tuning (including Rotational Auto-Tuning and Stationary Auto-Tuning 1 and 2) automatically sets these parameters. Refer to Auto-Tuning Fault Detection on page

217 for details if Auto-Tuning cannot be performed.

Note:

The function for switching between two motors cannot be used with a PM motor. E2-oo parameters are hidden when a PM motor control mode is selected (A1-02 = 5, 6, or 7).

E2-01: Motor Rated Current

Provides motor control, protects the motor, and calculates torque limits. Set E2-01 to the full load amps (FLA) stamped on the motor nameplate. If Auto-Tuning completes successfully, the value entered to T1-04 will automatically be saved to E2-01.

No. Parameter Name Setting Range Default

E2-01 Motor Rated Current

Note: 1. The number of decimal places in the parameter value depends on the drive model and the ND/HD selection in parameter C6-01. This

E2-02: Motor Rated Slip

value has two decimal places (0.01 A) if the drive is set for a maximum applicable motor capacity up to and including 11 kW, and one decimal place (0.1 A) if the maximum applicable motor capacity is higher than 11 kW.

2. An oPE02 error will occur if the motor rated current in E2-01 is set lower than the motor no-load current in E2-03. Set E2-03 correctly to prevent this error.

10% to 200% of the drive

rated current

Determined by

C6-01 and o2-04

Sets the motor rated slip in Hz to provide motor control, protect the motor, and calculate torque limits. This value is automatically set during Auto-Tuning (Rotational Auto-Tuning, Stationary Auto-Tuning 1 and 2).

No. Parameter Name Setting Range Default

E2-02 Motor Rated Slip 0.00 to 20.00 Hz

Determined by

C6-01 and o2-04

If Auto-Tuning cannot be performed, calculate the motor rated slip using the information written on the motor nameplate and the formula below:

E2-02 = f - (n × p)/120

(f: rated frequency (Hz), n: rated motor speed (r/min), p: number of motor poles)

E2-03: Motor No-Load Current

Set the no-load current for the motor in amperes when operating at the rated frequency and the no-load voltage. The drive sets E2-03 during the Auto-Tuning process (Rotational Auto-Tuning and Stationary Auto-Tuning 1, 2). The motor no-load current listed in the motor test report can also be entered to E2-03 manually. Contact the motor manufacturer to receive a copy of the motor test report.

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1.5 E: Motor Parameters

No. Parameter Name Setting Range Default

E2-03 Motor No-Load Current

0 to [E2-01]

(unit: 0.01 A)

Determined by

C6-01 and o2-04

Note: The number of decimal places in the parameter value depends on the drive model and the ND/HD selection in parameter C6-01. This value

E2-04: Number of Motor Poles

has two decimal places (0.01 A) if the drive is set for a maximum applicable motor capacity up to and including 11 kW, and one decimal place (0.1 A) if the maximum applicable motor capacity is higher than 11 kW.

Set the number of motor poles to E2-04. If Auto-Tuning completes successfully, the value entered to T1-06 will automatically be saved to E2-04.

No. Parameter Name Setting Range Default

E2-04 Number of Motor Poles 2 to 48 4

E2-05: Motor Line-to-Line Resistance

Sets the line-to-line resistance of the motor stator winding. If Auto-Tuning completes successfully, this value is automatically calculated. Enter this value as line-to-line and not for each motor phase.

If Auto-Tuning is not possible, contact the motor manufacturer to find out the line-to-line resistance or measure it manually. When using the manufacturer motor test report, calculate E2-05 by one of the formulas below:

• E-type insulation: Multiply 0.92 times the resistance value (Ω) listed on the test report at 75 °C.

• B-type insulation: Multiply 0.92 times the resistance value (Ω) listed on the test report at 75 °C.

• F-type insulation: Multiply 0.87 times the resistance value (Ω) listed on the test report at 115 °C.

No. Parameter Name Setting Range Default

E2-05 Motor Line-to-Line Resistance

0.000 to 65000 mΩ

<1>

Determined by

C6-01 and o2-04

E2-06: Motor Leakage Inductance

Sets the voltage drop due to motor leakage inductance as a percentage of motor rated voltage. This value is automatically set during Auto-Tuning (Rotational Auto-Tuning, Stationary Auto-Tuning 1, 2).

No. Parameter Name Setting Range Default

E2-06 Motor Leakage Inductance 0.0 to 40.0%

E2-07: Motor Iron-Core Saturation Coefficient 1

Determined by

C6-01 and o2-04

Sets the motor iron saturation coefficient at 50% of the magnetic flux. If Rotational Auto-Tuning completes successfully, then this value is automatically calculated and set to E2-07. This coefficient is used when operating with constant output.

No. Parameter Name Setting Range Default

E2-07 Motor Iron-Core Saturation Coefficient 1 0.00 to 0.50 0.50

E2-08: Motor Iron-Core Saturation Coefficient 2

Sets the motor iron saturation coefficient at 75% of the magnetic flux. If Rotational Auto-Tuning completes successfully, then this value is automatically calculated and set to E2-08. This coefficient is used when operating with constant output.

No. Parameter Name Setting Range Default

E2-08 Motor Iron-Core Saturation Coefficient 2 E2-07 to 0.75 0.75

E2-09: Motor Mechanical Loss

Sets the motor mechanical loss as a percentage of motor rated power (kW) capacity.

Adjust this setting in the following circumstances:

• When there is a large amount of torque loss due to motor bearing friction.

• When there is a large amount of torque loss in a fan or pump application. The setting for the mechanical loss is added to the torque.

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1.5 E: Motor Parameters

No. Parameter Name Setting Range Default

E2-09 Motor Mechanical Loss 0.0 to 10.0% 0.0%

E2-10: Motor Iron Loss for Torque Compensation

Sets the motor iron loss in watts.

No. Parameter Name Setting Range Default

E2-10 Motor Iron Loss for Torque Compensation 0 to 65535 W

E2-11: Motor Rated Power

Determined by

C6-01 and o2-04

Sets the motor rated power in kW. If Auto-Tuning completes successfully, the value entered to T1-02 will automatically be saved to E2-11.

No. Parameter Name Setting Range Default

E2-11 Motor Rated Power 0.00 to 650.00 kW

Determined by

o2-04

Note: The display resolution depends on the rated output power of the drive after setting the Drive Duty in parameter C6-01. Drive models CIMR-

Setting Motor Parameters Manually

Ao2A0004 to 4A0515 display this value in units of 0.01 kW (two decimal places). Drive models CIMR-Ao4A0675 to 4A1200 and HHP models display this value in units of 0.1 kW (one decimal place).

Follow the instructions below when setting motor-related parameters manually instead of Auto-Tuning. Refer to the motor test report included with the motor to ensure the correct data is entered into the drive.

Set the Motor Rated Current

Enter the motor rated current listed on the nameplate of the motor to E2-01.

Set the Motor Rated Slip

Calculate the motor rated slip using the base speed listed on the motor nameplate. Refer to the formula below, then enter that value to E2-02.

Motor rated slip = rated frequency [Hz] – base speed [r/min] × (no. of motor poles) / 120

Set the No-Load Current

Enter the no-load current at rated frequency and rated voltage to E2-03. This information is not usually listed on the nameplate. Contact the motor manufacturer if the data cannot be found.

The default setting of the no-load current is for performance with a 4-pole Yaskawa motor.

Set the Number of Motor Poles

Enter the number of motor poles as indicated on motor nameplate. This is required when A1-02 = 0 to 3 (induction motor control methods).

Set the Line-to-Line Resistance

E2-05 is normally set during Auto-Tuning. If Auto-Tuning cannot be performed, contact the motor manufacturer to determine the correct resistance between motor lines. The motor test report can also be used to calculate this value using the formulas below:

• E-type insulation: Multiply 0.92 times the resistance value (Ω) listed on the test report at 75 °C.

• B-type insulation: Multiply 0.92 times the resistance value (Ω) listed on the test report at 75 °C.

• F-type insulation: Multiply 0.87 times the resistance value (Ω) listed on the test report at 115 °C.

Set the Motor Leakage Inductance

The motor leakage inductance set to E2-06 determines the amount of voltage drop relative to the motor rated voltage. Enter this value for motors with a low degree of inductance, such as high-speed motors. This information is usually not listed on the motor nameplate. Contact the motor manufacturer if the data cannot be found.

Set the Motor Iron-Core Saturation Coefficient 1, 2

E2-07 and E2-08 are set when Auto-Tuning is performed.

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1.5 E: Motor Parameters

Set the Motor Mechanical Loss

Only required in Closed Loop Vector Control. The drive compensates for the degree of mechanical loss with torque compensation. Although E2-09 rarely needs to be changed, adjustment may be necessary in the following circumstances:

• When there is a large amount of torque loss due to motor bearing friction.

• When there is a large amount of torque loss in a fan or pump application.

Set the Motor Iron Loss for Torque Compensation

Only required when using V/f Control. Enter this value in watts to E2-10. The drive uses this setting to improve the precision of torque compensation.

E3: V/f Pattern for Motor 2

These parameters set the V/f pattern used for motor 2. Refer to Setting 16: Motor 2 Selection on page 100 for details on switching motors.

Note:

E3-01: Motor 2 Control Mode Selection

The function for switching between two motors cannot be used with a PM motor. E3-oo parameters are hidden when a PM motor control mode is selected (A1-02 = 5, 6, or 7).

Selects the control mode for motor 2. A control mode for PM motors cannot be selected for motor 2.

No. Parameter Name Setting Range Default

E3-01 Motor 2 Control Mode Selection 0 to 3 0

Note: L1-01 determines protection from motor overload (oL1) in motor 2 and motor 1.

Setting 0: V/f Control

Setting 1: V/f Control with PG

Setting 2: Open Loop Vector Control

Setting 3: Closed Loop Vector Control

E3-04 to E3-13

Parameters E3-04 through E3-13 set up the V/f pattern used for motor 2 as shown in Figure 1.51.

Note:

<1> Values shown are specific to 400 V class drives. Multiply the value by 1.4375 for 575 V class drives. Multiply the value by 1.725 for 690 V class

<2> Default setting is determined by the control mode selected for motor 2 (E3-01).

<3> The drive sets this value when Auto-Tuning is performed (Rotational Auto-Tuning and Stationary Auto-Tuning 1, 2).

<4> Parameter ignored when E3-11 and E3-12 are set to 0.0.

Certain E3-oo parameters might not be visible depending on the control mode. Refer to Parameter List on page 235 for details.

No. Parameter Name Setting Range Default

0.0 Hz

0.0 V

<2>

<3> <4>

E3-04 Motor 2 Max Output Frequency 40.0 to 150.0 Hz

E3-05 Motor 2 Max Voltage

E3-06 Motor 2 Base Frequency 0.0 to [E3-04]

E3-07 Motor 2 Mid Output Frequency 0.0 to [E3-04]

E3-08 Motor 2 Mid Output Frequency Voltage

E3-09 Motor 2 Minimum Output Frequency 0.0 to [E3-04]

E3-10 Motor 2 Minimum Output Frequency Voltage

E3-11 Motor 2 Mid Output Frequency 2 0.0 to [E3-04]

E3-12 Motor 2 Mid Output Frequency Voltage 2

E3-13 Motor 2 Base Voltage

drives.

0.0 to 510.0 V

<1> <1> <2>

<1>

<4>

<3>

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1.5 E: Motor Parameters

Output (V)

E3-05 E3-12

E3-13

E3-08

E3-10

E3-09

E3-07

Frequency (Hz)

Figure 1.51 V/f Pattern for Motor 2

Note: 1. The following conditions must be true when setting up the V/f pattern: E3-09 ≤ E3-07 < E3-06 ≤ Ε3-11 ≤ E3-04

2. To make the V/f pattern a straight line at a frequency lower than E3-07, set E3-09 equal to E3-07. In this case the E3-08 setting is

disregarded.

3. Parameters E3-04 through E3-13 are reset to their default values when the drive is initialized.

4. Only use E3-11, E3-12, and E3-13 to fine-tune the V/f pattern in the constant output range. These parameters rarely need to be changed.

E4: Motor 2 Parameters

E3-06

E3-11

E3-04

E4 parameters contain the motor data for motor 2. These parameters are usually set automatically during the Auto-Tuning process for vector control modes (Rotational Auto-Tuning, Stationary Auto-Tuning 1 and 2). It may be necessary to set these parameters manually if there is a problem performing Auto-Tuning.

E4-01: Motor 2 Rated Current

Protects the motor and calculates torque limits. Set E4-01 to the full load amps (FLA) stamped on the nameplate of motor 2. If Auto-Tuning completes successfully, the value entered to T1-04 will automatically be saved to E4-01.

No. Parameter Name Setting Range Default

E4-01 Motor 2 Rated Current

Note: 1. The number of decimal places in the parameter value depends on the drive model and the ND/HD selection in parameter C6-01. This

E4-02: Motor 2 Rated Slip

2. An oPE02 error will occur if the motor rated current in E4-01 is set lower than the motor no-load current in E4-03. Set E4-03 correctly to prevent this error.

10 to 200% of the drive rated

current.

Determined by

C6-01 and o2-04

Sets the motor 2 rated slip frequency and is the basis for slip compensation value. The drive calculates this value automatically during Auto-Tuning (Rotational Auto-Tuning and Stationary Auto-Tuning 1, 2).

Refer to E2-02: Motor Rated Slip on page 77 for information on calculating the motor rated slip.

No. Parameter Name Setting Range Default

E4-02 Motor 2 Rated Slip 0.00 to 20.00 Hz

E4-03: Motor 2 Rated No-Load Current

Determined by

C6-01 and o2-04

Sets the no-load current for motor 2 in amperes when operating at the rated frequency and the no-load voltage. The drive sets E2-03 during the Auto-Tuning process (Rotational Auto-Tuning and Stationary Auto-Tuning 1, 2). The motor no-load current listed in the motor test report can also be entered to E2-03 manually. Contact the motor manufacturer for a copy of the motor test report.

No. Parameter Name Setting Range Default

E4-03 Motor 2 Rated No-Load Current 0 to [E4-01]

Note: The number of decimal places in the parameter value depends on the drive model and the ND/HD selection in parameter C6-01. This value

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Determined by

C6-01 and o2-04

Parameter Details

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1.5 E: Motor Parameters

E4-04: Motor 2 Motor Poles

Sets the number of poles for motor 2. If Auto-Tuning completes successfully, the value entered to T1-06 will be automatically saved to E4-04.

No. Parameter Name Setting Range Default

E4-04 Motor 2 Motor Poles 2 to 48 4

E4-05: Motor 2 Line-to-Line Resistance

Sets the line-to-line resistance for the motor 2 stator winding. If Auto-Tuning completes successfully, this value is automatically calculated. Enter this value as line-to-line and not for each motor phase. Refer to E2-05: Motor Line-to-Line Resistance on

page 78 to manually enter this parameter setting.

No. Parameter Name Setting Range Default

E4-05 Motor 2 Line-to-Line Resistance

E4-06: Motor 2 Leakage Inductance

0.000 to 65000 mΩ

<1>

Determined by

C6-01 and o2-04

Sets the voltage drop due to motor leakage inductance as a percentage of rated voltage of motor 2. This value is automatically set during Auto-Tuning (Rotational Auto-Tuning and Stationary Auto-Tuning 1, 2).

No. Parameter Name Setting Range Default

E4-06 Motor 2 Leakage Inductance 0.0 to 40.0%

Determined by

C6-01 and o2-04

E4-07: Motor 2 Motor Iron-Core Saturation Coefficient 1

Sets the motor 2 iron saturation coefficient at 50% of magnetic flux. This value is automatically set during Rotational AutoTuning. Adjust this parameter when operating in the constant output range.

No. Parameter Name Setting Range Default

E4-07 Motor 2 Motor Iron-Core Saturation Coefficient 1 0.00 to 0.50 0.50

E4-08: Motor 2 Motor Iron-Core Saturation Coefficient 2

Sets the motor iron saturation coefficient at 75% of magnetic flux. This value is automatically set during Rotational AutoTuning. Adjust this parameter when operating in the constant output range.

No. Parameter Name Setting Range Default

E4-08 Motor 2 Motor Iron-Core Saturation Coefficient 2 [E4-07] to 0.75 0.75

E4-09: Motor 2 Mechanical Loss

Sets the motor mechanical loss as a percentage of motor rated power (kW).

Although E4-09 rarely needs to be changed, adjustment may be necessary in the following circumstances:

• When there is a large amount of torque loss due to motor bearing friction.

• When there is a large amount of torque loss in a fan or pump application. The setting for the mechanical loss is added to the torque.

No. Parameter Name Setting Range Default

E4-09 Motor 2 Mechanical Loss 0.0 to 10.0% 0.0%

E4-10: Motor 2 Iron Loss

Sets the motor 2 iron loss in watts.

No. Parameter Name Setting Range Default

E4-10 Motor 2 Iron Loss 0 to 65535 W

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Determined by

C6-01 and o2-04

Page 83

1.5 E: Motor Parameters

E4-11: Motor 2 Rated Power

Sets the motor 2 rated power. If Auto-Tuning completes successfully, the value entered to T1-02 will automatically be saved to E4-11.

No. Parameter Name Setting Range Default

E4-11 Motor 2 Rated Power 0.00 to 650.00 kW

Determined by

o2-04

Note: The display resolution depends on the rated output power of the drive after setting the Drive Duty in parameter C6-01. Drive models CIMR-

Ao2A0004 to 4A0515 display this value in units of 0.01 kW (two decimal places). Drive models CIMR-Ao4A0675 to 4A1200 and HHP models display this value in units of 0.1 kW (one decimal place).

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Parameter Details

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1.6 F: Option Settings

F1: PG Speed Control Card Settings

Yaskawa offers a PG-X3 and PG-B3 motor encoder PG option card. Use the CN5-C port when using only one PG option card and use the CN5-C and CN5-B ports when using two PG option cards. When programming one of the multi-function input terminals to act as a switch between two motors (H1-oo= 16), use the card connected to port CN5-C for motor 1 and use the card connected to CN5-B for motor 2.

Table 1.36 lists the parameters that must be set for each option card port.

Table 1.36 Option Card Ports and Corresponding Parameters

Port Parameters

CN5-C and CN5-B (common) F1-02 to F1-04, F1-08 to F1-11, F1-14

CN5-C only F1-01, F1-05, F1-06, F1-12, F1-13, F1-20 for A1000 HHP only, F1-21

CN5-B only F1-31 to F1-37

F1-01, F1-31: PG 1 and PG 2 Pulses Per Revolution

Sets the number encoder number of pulses per revolution.

No. Parameter Name Option Port Setting Range Default

F1-01 PG 1 Pulses Per Revolution CN5-C

F1-31 PG 2 Pulses Per Revolution CN5-B 1 to 60000 ppr 1024 ppr

<1> Setting range is 0 to 15000 in PM motor control modes

1 to 60000 ppr

<1>

1024 ppr

F1-02, F1-14: PG Open (PGo) Circuit Operation Selection, Detection Time

A PGo fault is triggered if the drive receives no pulse signal for longer than the time set in F1-14. Set the stopping method for a PGo fault in parameter F1-02.

Note: An ov or oC error may occur depending on motor speed and load conditions.

No. Parameter Name Option Port Setting Range Default

F1-02 Operation Selection at PG Open Circuit (PGo) CN5-B, CN5-C 0 to 4 1

F1-14 PG Open-Circuit Detection Time CN5-B, CN5-C 0.0 to 10.0 s 2.0 s

Parameter F1-02 Settings:

Setting 0: Ramp to stop (uses the deceleration time set to C1-02)

Setting 1: Coast to stop

Setting 2: Fast Stop (uses the Fast Stop time set to C1-09)

Setting 3: Alarm only

Note: Due to potential damage to motor and machinery, refrain from using the “Alarm only” or “No alarm display” settings except under special

Setting 4: No alarm display

Note: Due to potential damage to motor and machinery, refrain from using the “Alarm only” or “No alarm display” settings except under special

F1-03, F1-08, F1-09: Overspeed (oS) Operation Selection, Detection Level, Delay Time

circumstances.

An oS fault is triggered when the speed feedback exceeds the value set in F1-08 for longer than the time set in F1-09. Set the stopping method for an oS fault in parameter F1-03.

Note: In AOLV/PM, the motor will coast to a stop (F1-03 = 1). The setting for F1-03 cannot be changed to 0, 2, or 3.

No. Parameter Name Option Port Setting Range Default

F1-03 Operation Selection at Overspeed (oS) CN5-B, CN5-C 0 to 3 1

F1-08 Overspeed Detection Level CN5-B, CN5-C 0 to 120% 115%

F1-09 Overspeed Detection Delay Time CN5-B, CN5-C 0.0 to 2.0 s Determined by A1-02

Parameter F1-03 Settings:

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1.6 F: Option Settings

Setting 0: Ramp to stop (uses the deceleration time set to C1-02)

Setting 1: Coast to stop

Setting 2: Fast Stop (uses the Fast Stop time set to C1-09)

Setting 3: Alarm only

Note: Due to potential damage to motor and machinery, refrain from using the “Alarm only” setting except under special circumstances.

F1-04, F1-10, F1-11: Operation at Speed Deviation (dEv), Detection Level, Delay Time

A speed deviation error (dEv) is triggered when the difference between the frequency reference and the speed feedback exceeds the value set in F1-10 for longer than the time set in F1-1. The stopping method when a speed deviation fault occurs can be selected in parameter F1-04.

No. Parameter Name Option Port Setting Range Default

F1-04 Operation Selection at Deviation (dEv) CN5-B, CN5-C 0 to 3 3

F1-10 Excessive Speed Deviation Detection Level CN5-B, CN5-C 0 to 50% 10%

F1-11 Excessive Speed Deviation Detection Delay Time CN5-B, CN5-C 0.0 to 10.0 s 0.5 s

Settings for Parameter F1-04:

Setting 0: Ramp to stop (uses the deceleration time set to C1-02)

Setting 1: Coast to stop

Setting 2: Fast Stop (uses the Fast Stop time set to C1-09)

Setting 3: Alarm only (drive continues operating while “dEv” flashes on the screen)

F1-05, F1-32: PG 1, PG 2 Rotation Selection

Determines the direction indicated by the pulses from the PG feedback encoder for motor 1 and motor 2.

See PG option card instruction manual for details on setting the direction for the PG encoder and the motor.

No. Parameter Name Option Port Setting Range Default

F1-05 PG 1 Rotation Selection CN5-C 0, 1

F1-32 PG 2 Rotation Selection CN5-B 0, 1 0

<1> Default is 0 when A1-02 = 1 or 3. Default is 1 when A1-02 = 7.

Setting 0: A pulse leads with Forward run command

Setting 1: B pulse leads with Forward run command

F1-06, F1-35: PG 1, PG 2 Division Rate for PG Pulse Monitor

Determined by

A1-02

<1>

Sets the ratio between the pulse input and the pulse output of a PG option card as a three-digit number, where the first digit (n) sets the numerator and the second and third digit (m) set the denominator as shown below:

Pulse Input

= f

Pulse Output

(1 + n)

Example: Set F1-06 to 032 for a ratio of 1/32 between the PG card pulse input and output.

No. Parameter Name Option Port Setting Range Default

F1-06 PG 1 Division Rate for PG Pulse Monitor CN5-C

F1-35 PG 2 Division Rate for PG Pulse Monitor CN5-B

F1-12, F1-13, F1-33, F1-34: PG 1, PG 2 Gear Teeth 1, 2 (V/f w/PG only)

102 to 132 (1 to

001 to 032,

1 to 132 (1 to

)

001

Sets the gear ratio between the motor shaft and the PG encoder. F1-12 and F1-33 set the number of gear teeth on the motor side, while F1-13 and F-34 set the number of gear teeth on the load side. The drive uses the formula below to calculate the motor speed:

YASKAWA ELECTRIC SIEP YEAHHP 01B YASKAWA AC Drive – A1000 HHP Programming Manual

Parameter Details

Page 86

r/min =

Input pulse frequency from PG 60

Pulses per Rev (F1-01/31)

Load-side PG gear teeth (F1-12/33)

Motor-side PG gear teeth (F1-13/34)

1.6 F: Option Settings

No. Parameter Name Option Port Setting Range Default

F1-12 PG 1 Gear Teeth 1 CN5-C 0 to 1000 0

F1-13 PG 1 Gear Teeth 2 CN5-C 0 to 1000 0

F1-33 PG 2 Gear Teeth 1 CN5-B 0 to 1000 0

F1-34 PG 2 Gear Teeth 2 CN5-B 0 to 1000 0

Note: A gear ratio of 1 will be used if any of these parameters are set to 0.

F1-20, F1-36: PG Option Card Disconnect Detection

Sets whether the drive detects a PG hardware fault (PGoH).

No. Parameter Name Option Port Setting Range Default

F1-20 PG Option Card Disconnection Detection 1 CN5-C 0, 1 1

F1-36 PG Option Card Disconnection Detection 2 CN5-B 0, 1 1

Setting 0: Disabled

Setting 1: Enabled

F1-21, F1-37: PG 1, PG 2 Signal Selection (V/f w/PG only)

Determines whether the signal to the PG option card is single-channel or two-channel.

No. Parameter Name Option Port Setting Range Default

F1-21 PG 1 Signal Selection CN5-C 0, 1 0

F1-37 PG 2 Signal Selection CN5-B 0, 1 0

Setting 0: Single-channel (A channel only)

Setting 1: Two-channel (channels A and B)

F1-30: PG Option Card Port for Motor 2 Selection

Specifies the drive port for the PG option card used for motor 2. Set this parameter when switching between motor 1 and motor 2, where both motors supply a speed feedback signal to the drive. Set F1-30 to 0 when using the same PG card for feedback signals from both motors. Set F1-30 to 1 when each motor has its own PG card connected to the drive.

Note: The motor 2 selection function cannot be used with PM motors.

No. Parameter Name Setting Range Default

F1-30 PG Option Card Port for Motor 2 Selection 0, 1 1

Setting 0: CN5-C

Setting 1: CN5-B

F2: Analog Input Card Settings

These parameters set the drive for operation with the analog input option card AI-A3. If no AI-A3 card is connected, drive terminals A1 to A3 are enabled regardless of the F2-01 setting. This section describes parameters that govern operation with an input option card. Refer to the option card instruction manual for specific details on installation, wiring, input signal level selection, and parameter setup.

F2-01: Analog Input Option Card Operation Selection

Determines how the input terminals on the AI-A3 option card are used.

No. Parameter Name Setting Range Default

F2-01 Analog Input Option Card Operation Selection 0, 1 0

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1.6 F: Option Settings

Setting 0: Separate functions for each terminal (V1, V2, V3 replace terminals A1, A2, A3)

Use the H3-oo parameters described in H3-03, H3-04: Terminal A1 Gain and Bias Settings on page 115 to set the functions and gain and bias levels for an analog reference supplied by AI-A3.

Note: Setting option card terminals for separate input functions (F2-01 = 0) while b1-01 = 3 will trigger an oPE05 error.

Setting 1: Combine input terminal values to create frequency reference (V1, V2, V3 are combined)

This setting adds all three input signals on the AI-A3 option card to create the frequency reference. Set b1-01 to 3 when the option card is the source of the frequency reference for the drive. Set the gain and bias settings for the frequency reference supplied from AI-A3 with F2-02 and F2-03.

F2-02, F2-03: Analog Input Option Card Gain, Bias

Parameter F2-02 sets the gain and parameter F2-03 sets the bias for the AI-A3 input signal when the card is used in the combined input signals mode (F2-01 = 1). Both gain and bias are set as a percentage of the maximum output frequency.

No. Parameter Name Setting Range Default

F2-02 Analog Input Option Card Gain -999.9 to 999.9% 100.0%

F2-03 Analog Input Option Card Bias -999.9 to 999.9% 0.0%

Note: Enabled only when F2-01 = 1.

F3: Digital Input Card Settings

These parameters set the drive for operation with the option card DI-A3. Refer to the instruction manual packaged with the option card for specific details on installation, wiring, input signal level selection, and parameter setup.

F3-01: Digital Input Option Card Input Selection

Determines the type of input for digital option card DI-A3 when o1-03 is set to 0 or 1.

No. Parameter Name Setting Range Default

F3-01 Digital Input Option Card Input Selection 0 to 7 0

Note: BCD input when o1-03 = 2 or 3. Units are determined by o1-03.

Setting 0: BCD, 1% units

Setting 1: BCD, 0.1% units

Setting 2: BCD, 0.01% units

Setting 3: BCD, 1 Hz units

Setting 4: BCD, 0.1 Hz units

Setting 5: BCD, 0.01 Hz units

Setting 6: BCD, special setting (5 digit input), 0.02 Hz units

Setting 7: Binary

The unit and the setting range are determined by F3-03.

F3-03 = 0: 255/100% (-255 to +255)

F3-03 = 1: 4095/100% (-4095 to +4095)

F3-03 = 2: 30000/100% (-33000 to +33000)

Note: BCD input when o1-03 = 2 or 3. Units are determined by o1-03.

F3-03: Digital Input Option DI-A3 Data Length Selection

Determines the number of bits for the option card input that sets the frequency reference.

Parameter Details

No. Parameter Name Setting Range Default

F3-03 Digital Input Option DI-A3 Data Length Selection 0 to 2 2

Setting 0: 8 bit

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1.6 F: Option Settings

Setting 1: 12 bit

Setting 2: 16 bit

F4: Analog Monitor Card Settings

These parameters set the drive for operation with the analog output option card AO-A3. Refer to the instruction manual packaged with the option card for specific details on installation, wiring, input signal level selection, and parameter setup.

F4-01, F4-03: Terminal V1, V2 Monitor Selection

Selects the data to output from analog terminal V1. Enter the final three digits of Uo-oo to determine which monitor data is output from the option card. Some monitors are only available in certain control modes.

No. Parameter Name Setting Range Default

F4-01 Terminal V1 Monitor Selection 000 to 999 102

F4-03 Terminal V2 Monitor Selection 000 to 999 103

Note: Set “000” or “031” when using the terminal in through mode. This setting can adjust the V1 and V2 terminal output from PLC via

F4-02, F4-04, F4-05, F4-06: Terminal V1, V2 Monitor Gain and Bias

MEMOBUS/Modbus communications or a communications option.

Parameters F4-02 and F4-04 determine the gain, while parameters F4-05 and F4-06 set the bias. These parameters are set as a percentage of the output signal from V1 and V2 where 100% equals 10 V output. The terminal output voltage is limited to 10 V.

No. Parameter Name Setting Range Default

F4-02 Terminal V1 Monitor Gain -999.9 to 999.9% 100.0%

F4-04 Terminal V2 Monitor Gain -999.9 to 999.9% 50.0%

F4-05 Terminal V1 Monitor Bias -999.9 to 999.9% 0.0%

F4-06 Terminal V2 Monitor Bias -999.9 to 999.9% 0.0%

Using Gain and Bias to Adjust Output Signal Level

The output signal is adjustable while the drive is stopped.

Terminal V1

View the value set to F4-02 (Terminal V1 Monitor Gain) on the digital operator. A voltage equal to 100% of the

parameter being set in F4-01 will be output from terminal V1. Adjust F4-02 viewing the monitor connected to the terminal V1.

View the value set to F4-05 on the digital operator, terminal V1 will output a voltage equal to 0% of the parameter

being set in F4-01. Adjust F4-05 viewing the output signal on the terminal V1.

Terminal V2

View the value set to F4-02 (Terminal V2 Monitor Gain) on the digital operator. A voltage equal to 100% of the

parameter being viewed in F4-03 will be output from terminal V2. Adjust F4-04 viewing the monitor connected to the terminal V2.

View the value set to F4-06 on the digital operator, terminal V2 will output a voltage equal to 0% of the parameter

being set in F4-03. Adjust F4-06 viewing the output signal on the terminal V2.

F4-07, F4-08: Terminal V1, V2 Signal Level

Sets the output signal level for terminals V1 and V2.

No. Parameter Name Setting Range Default

F4-07 Terminal V1 Signal Level 0, 1 0

F4-08 Terminal V2 Signal Level 0, 1 0

Setting 0: 0 to 10 V

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1.6 F: Option Settings

Setting 1: -10 to 10 V

F5: Digital Output Card Settings

These parameters set the drive for operation with the digital output option card DO-A3. Refer to the instruction manual packaged with the option card for specific details on installation, wiring, input signal level selection, and parameter setup.

F5-01 through F5-08: Digital Output Option Card Terminal Function Selection

When F5-09 = 2, the parameters listed in the table below assign functions to the output terminals on the option card.

No. Name Setting Range Default

F5-01 Terminal P1-PC Function Selection 0 to 192 0: During run

F5-02 Terminal P2-PC Function Selection 0 to 192 1: Zero speed

F5-03 Terminal P3-PC Output Selection 0 to 192 2: Speed agree

F5-04 Terminal P4-PC Output Selection 0 to 192 4: Frequency detection 1

F5-05 Terminal P5-PC Output Selection 0 to 192 6: Drive ready

F5-06 Terminal P6-PC Output Selection 0 to 192 37: During frequency output

F5-07 Terminal M1-M2 Output Selection 0 to 192 F: Not used

F5-08 Terminal M3-M4 Output Selection 0 to 192 F: Not used

F5-09: DO-A3 Output Mode Selection

Determines how the DO-A3 option card works with the drive.

No. Parameter Name Setting Range Default

F5-09 DO-A3 Output Mode Selection 0 to 2 0

Note: Refer to TOBP C730600 41 Yaskawa AC Drive-Option DO-A3 Installation Manual for more details on F5-09 settings.

Setting 0: Separate Output Functions for Each of 8 Terminals

Setting 1: Binary Output

Setting 2: Output Functions Assigned by F5-01 through F5-08

F6 and F7: Communication Option Card

These parameters configure communication option cards and communication fault detection methods.

Some parameters apply to all communication option cards and some parameters apply to certain network options only. The option cards are applicable to the parameter rows marked with an “O”.

Comm.

Protocol

CC-Link O O O O – – – – – – – – – –

MECHATROLINK-II

MECHATROLINKIII

PROFIBUSDP

CANopen O – O – – – – – O – – – – –

EtherCAT O – O – – – – – – – – – – –

BACnet O – – – – – – – – O – – – –

DeviceNet O – O – – – – – – – O – – –

LonWorks O – O – – – – – – – – – – –

Modbus TCP/IP

F6-01 to

F6-03

O – O – O O O – – – – – – –

O – O – O – O – – – – – – –

O – O – – – – O – – – – – –

O – O – – – – – – – – O O –

F6-04

F6-06 to

F6-08

F6-10 to

F6-14

F6-20,

F6-21

Parameter Range

F6-22

F6-23 to

F6-26

F6-30 to

F6-32

F6-35,

F6-36

F6-45 to

F6-49

F6-50 to

F6-63

F7-01 to

F7-15

F7-16

F7-17 to

F7-42

Parameter Details

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1.6 F: Option Settings

Comm.

Protocol

PROFINET O – O – – – – – – – – O – O

EtherNet/IP O – O – – – – – – – – O – O

F6-01: Communications Error Operation Selection

F6-01 to

F6-03

F6-04

F6-06 to

F6-08

F6-10 to

F6-14

F6-20,

F6-21

Parameter Range

F6-22

F6-23 to

F6-26

F6-30 to

F6-32

F6-35,

F6-36

F6-45 to

F6-49

F6-50 to

F6-63

F7-01 to

F7-15

F7-16

F7-17 to

Determines drive operation when a communication error occurs.

No. Parameter Name Setting Range Default

F6-01 Communications Error Operation Selection 1

Setting 0: Ramp to Stop (Use the Deceleration Time Set to C1-02)

Setting 1: Coast to Stop

Setting 2: Fast Stop (Use the Fast Stop Time Set to C1-09)

Setting 3: Alarm Only (Continue Operation)

F6-02: External Fault from Comm. Option Detection Selection

Determines the detection method of an external fault initiated by a communication option (EF0).

No. Parameter Name Setting Range Default

F6-02 External Fault from Comm. Option Detection Selection 0, 1 0

F7-42

Setting 0: Always Detected

Setting 1: Detection during Run Only

F6-03: External Fault from Comm. Option Operation Selection

Determines drive operation when an external fault is initiated by a communication option (EF0).

No. Parameter Name Setting Range Default

F6-03 External Fault from Comm. Option Operation Selection 0 to 3 1

Setting 0: Ramp to Stop

Setting 1: Coast to Stop

Setting 2: Fast Stop

Setting 3: Alarm Only (Continue Operation)

F6-06: Torque Reference/Torque Limit Selection from Comm. Option

Selects whether torque reference and torque limit values are assigned to the drive from the network.

No. Parameter Name Setting Range Default

F6-06 Torque Reference/Torque Limit Selection from Comm. Option 0, 1 0

Setting 0: Disabled

Setting 1: Enabled

F6-07: NetRef/ComRef Function Selection

Selects the treatment of multi-step speed inputs when the NetRef command is set.

No. Parameter Name Setting Range Default

F6-07 NetRef/ComRef Function Selection 0, 1 0

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1.6 F: Option Settings

Setting 0: Multi-step Speed Operation Disabled

Multi-step speed input frequency references are disabled when the NetRef command is selected.

Setting 1: Multi-step Speed Operation Enabled

Multi-step speed inputs are still active and can override the frequency reference from the communications option even when the NetRef command is selected.

F6-08: Reset Communication Parameters

Determines whether F6-oo/F7-oo communication-related parameters are reset after initialization.

No. Parameter Name Setting Range Default

F6-08 Reset Communication Parameters 0, 1 0

Setting 0: Do Not Reset F6-oo/F7-oo Parameters after Initialization Using A1-03

Setting 1: Reset F6-oo/F7-oo Parameters after Initialization Using A1-03

Note: F6-08 is not reset when the drive is initialized.

CC-Link Parameters

Parameters F6-04, F6-10, F6-11, and F6-14 set the drive to operate on a CC-Link network.

F6-04: bUS Error Detection Time

Sets the delay time for bUS error detection.

No. Parameter Name Setting Range Default

F6-04 bUS Error Detection Time 0.0 to 5.0 s 2.0 s

F6-10: CC-Link Node Address

Sets the node address of a CC-Link option board.

No. Parameter Name Setting Range Default

F6-10 CC-Link Node Address 0 to 64 0

F6-11: CC-Link Communication Speed

Sets the communication speed for a CC-Link option card.

No. Parameter Name Setting Range Default

F6-11 CC-Link Communication Speed 0 to 4 0

Setting 0: 156 kbps Setting 1: 625 kbps Setting 2: 2.5 Mbps Setting 3: 5 Mbps Setting 4: 10 Mbps

F6-14: bUS Error Auto Reset

Selects whether a bUS error can be automatically reset if automatic fault retry is enabled.

No. Parameter Name Setting Range Default

F6-14 bUS Error Auto Reset 0, 1 0

Setting 0: Disabled, Auto Reset Not Possible

Setting 1: Enabled, Auto Reset Possible

Parameter Details

PROFIBUS-DP Parameters

Parameters F6-30 through F6-32 set the drive to run on a PROFIBUS-DP network.

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1.6 F: Option Settings

F6-30: PROFIBUS-DP Node Address

Sets the node address of a PROFIBUS-DP option card.

No. Parameter Name Setting Range Default

F6-30 PROFIBUS-DP Node Address 0 to 125 0

F6-31: PROFIBUS-DP Clear Mode Selection

Determines the operation when a Clear Mode command is received.

No. Parameter Name Setting Range Default

F6-31 PROFIBUS-DP Clear Mode Selection 0, 1 0

Setting 0: Reset

Resets the drive operation (frequency reference, inputs, outputs etc.).

Setting 1: Maintain the Previous State

Returns the drive status to the state prior to receiving the command.

F6-32: PROFIBUS-DP Data Format Selection

Selects the data format used for PROFIBUS-DP communication.

No. Parameter Name Setting Range Default

F6-32 PROFIBUS-DP Data Format Selection 0, 1 0

Setting 0: PPO-type Data Format

Setting 1: Conventional Data Format

CANopen Parameters

Parameters F6-35 and F6-36 set the drive to operate on a CANopen network.

F6-35: CANopen Node ID Selection

Selects the node ID of a CANopen option board.

No. Parameter Name Setting Range Default

F6-35 CANopen Node ID Selection 0 to 126 0

F6-36: CANopen Communication Speed

Sets the communication speed for a CANopen option card.

No. Parameter Name Setting Range Default

F6-36 CANopen Communication Speed 0 to 8 6

Setting 0: Auto detection Setting 1: 10 kbps Setting 2: 20 kbps Setting 3: 50 kbps Setting 4: 125 kbps Setting 5: 250 kbps Setting 6: 500 kbps Setting 7: 800 kbps Setting 8: 1 Mbps

DeviceNet Parameters

Parameters F6-50 through F6-63 set the drive to operate on a DeviceNet network.

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1.6 F: Option Settings

F6-50: DeviceNet MAC Address

Sets the MAC address for a DeviceNet option card.

No. Parameter Name Setting Range Default

F6-50 DeviceNet MAC Address 0 to 64 64

F6-51: DeviceNet Communication Speed

Sets the communication speed for a DeviceNet option card.

To assign the baud rate for the drive from the upper controller, set F6-51 = 3.

To make the drive detect the network speed, set F6-51 = 4. The drive will automatically adjust itself after detecting the network speed.

No. Parameter Name Setting Range Default

F6-51 DeviceNet Communication Speed 0 to 4 4

Setting 0: 125 kbps Setting 1: 250 kbps Setting 2: 500 kbps Setting 3: Adjustable from network Setting 4: Auto detection

F6-52: DeviceNet PCA Setting

Defines the format for data the drive receives from the DeviceNet master.

No. Parameter Name Setting Range Default

F6-52 DeviceNet PCA Setting 0 to 255 21

F6-53: DeviceNet PPA Setting

Defines the format for data sent from the drive to the DeviceNet master.

No. Parameter Name Setting Range Default

F6-53 DeviceNet PPA Setting 0 to 255 71

F6-54: DeviceNet Idle Mode Fault Detection

Determines whether the drive triggers an EF0 fault when no data is received from the master (e.g., when the master is idling).

No. Parameter Name Setting Range Default

F6-54 DeviceNet Idle Mode Fault Detection 0, 1 0

Setting 0: Enabled

Setting 1: Disabled, No Fault Detection

F6-55: DeviceNet Baud Rate Monitor

Displays the baud rate currently being used for network communications. F6-55 is used only as a monitor.

No. Parameter Name Setting Range Default

F6-55 DeviceNet Baud Rate Monitor 0 to 2 (read only) 0

Setting 0: 125 kbps Setting 1: 250 kbps Setting 2: 500 kbps

F6-56 to F6-61: DeviceNet Scaling Factors

These parameters define scaling factors for drive monitors in the DeviceNet Class ID 2AH - AC/DC Drive Object.

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Parameter Details

Page 94

1.6 F: Option Settings

No. Parameter Name Setting Range Default

F6-56 DeviceNet Speed Scaling -15 to 15 0

F6-57 DeviceNet Current Scaling -15 to 15 0

F6-58 DeviceNet Torque Scaling -15 to 15 0

F6-59 DeviceNet Power Scaling -15 to 15 0

F6-60 DeviceNet Voltage Scaling -15 to 15 0

F6-61 DeviceNet Time Scaling -15 to 15 0

Setting

The monitor value in the AC/DC Drive Object 2AH is calculated by: AC/DC Drive Object 2AH Monitor = Drive Value × 2

Scaling

Example:

If the drive output frequency monitor (U1-02) is 5.00 and the scaling is set to F6-56 = 6, then the value in the AC/DC Drive Object 2AH, Instance 1, Attribute 7 would be 500 × 26 = 32000.

F6-62: DeviceNet Heartbeat Interval

Sets the heartbeat interval for DeviceNet communications. A setting of 0 disables the heartbeat function.

No. Parameter Name Setting Range Default

F6-62 DeviceNet Heartbeat Interval 0 to 10 0

F6-63: DeviceNet Network MAC ID

Displays the MAC ID assigned to the drive. F6-63 is used only as a monitor.

No. Parameter Name Setting Range Default

F6-63 DeviceNet Network MAC ID 0 to 63 (read only) 0

F6-64 to F6-71: Dynamic Assembly Parameters (Reserved)

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1.7 H: Terminal Functions

H parameters assign functions to the external terminals.

H1: Multi-Function Digital Inputs

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 settings are listed in Table

1.37.

No. Parameter Name

H1-01 Multi-Function Digital Input Terminal S1 Function Selection 1 to 9F

H1-02 Multi-Function Digital Input Terminal S2 Function Selection 1 to 9F

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

H1-06 Multi-Function Digital Input Terminal S6 Function Selection 0 to 9F

H1-07 Multi-Function Digital Input Terminal S7 Function Selection 0 to 9F

H1-08 Multi-Function Digital Input Terminal S8 Function Selection 0 to 9F

<1> Number appearing in parenthesis is the default value after performing a 3-Wire initialization.

Table 1.37 Multi-Function Digital Input Terminal Settings

Setting Function Page

0 3-Wire Sequence 96

1 LOCAL/REMOTE Selection 96

2 External Reference 1/2 Selection 97

3 Multi-Step Speed Reference 1

974 Multi-Step Speed Reference 2

5 Multi-Step Speed Reference 3

6 Jog reference Selection 97

7 Accel/Decel Time Selection 1 97

8 Baseblock Command (N.O.)

9 Baseblock Command (N.C.)

A Accel/Decel Ramp Hold 97

B Drive Overheat Alarm (oH2) 98

C Analog Terminal Input Selection 98

D PG Encoder Disable 98

E ASR integral reset 98

F Through Mode 98

10 Up Command

11 Down Command

12 Forward Jog

13 Reverse Jog

14 Fault Reset 99

15 Fast Stop (N.O.) 99

16 Motor 2 Selection 100

17 Fast Stop (N.C.) 99

18 Timer Function Input 100

19 PID Disable 101

1A Accel/Decel Time Selection 2 101

1B Program Lockout 101

1E Reference Sample Hold 101

Setting

Range

<1>

40 (F)

41 (F)

3 (0)

4 (3)

6 (4)

8 (6)

Setting Function Page

20 to 2F External Fault 101

30 PID Integral Reset 102

31 PID Integral Hold 102

32 Multi-Step Speed Reference 4 102

34 PID Soft Starter Cancel 102

35 PID Input Level Selection 102

40 Forward Run Command (2-Wire sequence)

41 Reverse Run Command (2-Wire sequence)

42 Run Command (2-Wire sequence 2)

43 FWD/REV Command (2-Wire sequence 2)

44 Offset Frequency 1

46 Offset Frequency 3

47 Node Setup 103

60 DC Injection Braking Command 103

61 External Speed Search Command 1 103

62 External Speed Search Command 2 103

63 Field Weakening 103

65 KEB Ride-Thru 1 (N.C.)

66 KEB Ride-Thru 1 (N.O.)

67 Communications Test Mode 103

6A Drive Enabled 104

71 Speed/Torque Control Switch 104

72 Zero Servo 104

75 Up 2 Command

76 Down 2 Command

77 ASR Gain Switch 105

78 External Torque Reference Polarity Inversion 105

: Forward Run Command (2-Wire sequence)

<1>

: Reverse Run Command (2-Wire sequence)

<1>

: Multi-Step Speed Reference 1

<1>

: Multi-Step Speed Reference 2

<1>

: Jog Reference Selection

<1>

: External Baseblock Command

Default

102

103

10345 Offset Frequency 2

103

Parameter Details

104

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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)

Standard Digital Input Common

1.7 H: Terminal Functions

Setting Function Page

Forward/Reverse Detection (V/f control with

simple PG)

105

Setting Function Page

9F DriveWorksEZ Disabled 105

90 to 97 DriveWorksEZ Digital Input 1 to 8 105

Setting 0: 3-Wire Sequence

The digital input programmed for 3-Wire control becomes the forward/reverse directional input, S1 becomes the Run command input, and S2 becomes the Stop command input.

The drive starts the motor when the input S1 set for the Run command closes for longer than 2 ms. The drive stops the operation when the Stop input S2 releases for 2 ms. When the digital input programmed for a forward/reverse operation is open, the drive is set for forward operation. When the digital input is closed, the drive is set for reverse operation.

Note: Input the Run and Stop commands via S1 and S2 when selecting a 3-Wire sequence.

Figure 1.52 3-Wire Sequence Wiring Diagram

2 ms min.

Run command

Stop command

Forward/reverse command

OFF (forward)

Can be either ON or OFF

OFF (stopped)

ON (reverse)

Motor speed

TIME

Stop Reverse Stop Foward

Forward

Figure 1.53 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 automatically issue the Run command upon drive power up.

WARNING! Sudden Movement Hazard. Ensure start/stop and safety circuits are wired properly and in the correct state before applying power to the drive. Failure to comply could result in death or serious injury from moving equipment.

WARNING! Sudden Movement Hazard. 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.

Setting 1: LOCAL/REMOTE Selection

This setting allows the input terminal to determine if the drive will run in LOCAL mode or REMOTE mode.

Status Description

Closed LOCAL: Frequency reference and Run command are input from the digital operator.

REMOTE: Frequency reference and Run command are input from the selected external reference. If a digital input set to H1-oo = 2 is active, they will be read from external reference source 2 (b1-15 and b1-16). In all other cases they will be read from external reference source 1 (b1-01 and b1-02).

2. When the drive is set to LOCAL, the LO/RE LED will light.

3. The default setting of the drive does not allow switching between LOCAL and REMOTE during run. To allow the drive to switch

between LOCAL and REMOTE during run, Refer to b1-07: LOCAL/REMOTE Run Selection on page 24.

YASKAWA ELECTRIC SIEP YEAHHP 01B YASKAWA AC Drive – A1000 HHP Programming Manual

Open

Note: 1. The LO/RE key on the digital operator is disabled when one of the multi-function input terminals is set to for LOCAL/REMOTE.

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1.7 H: Terminal Functions

Setting 2: External Reference 1/2 Selection

This function switches the Run command and frequency reference source between External reference 1 and 2 if the drive is in the REMOTE mode.

Status Description

Open External reference 1 is used (defined by parameters b1-01 and b1-02)

Closed External reference 2 is used (defined by parameters b1-15 and b1-16)

Note: Default drive settings do not allow switching between External reference 1 and 2 during run. Refer to b1-07: LOCAL/REMOTE Run

Selection on page 24 if this feature is required by the application.

Setting 3 to 5: Multi-Step Speed Reference 1 to 3

Switches multi-step speed frequency references d1-01 to d1-08 by digital inputs. Refer to d1: Frequency Reference on page

59 for details.

Setting 6: Jog Reference Selection

The Jog frequency set in parameter d1-17 becomes the frequency reference when the input terminal closes. Refer to d1:

Frequency Reference on page 59 for details.

Setting 7: Accel/Decel Time Selection 1

Switches between accel/decel times 1 (C1-01 and C1-02) and 2 (C1-03 and C1-04). Refer to C1-01 to C1-08: Accel, Decel

Times 1 to 4 on page 46 for details.

Setting 8, 9: Baseblock Command (N.O., N.C.)

When the drive receives a baseblock command, the output transistors stop switching, the motor coasts to stop, and a bb alarm flashes on the digital operator to indicate baseblock. When baseblock ends while a Run command is active, the drive performs Speed Search to restart the motor.

DIgital Input Function

Setting 8 (N.C.) Baseblock (Interrupt output) Normal operation

Setting 9 (N.O.) Normal operation Baseblock (Interrupt output)

WARNING! Sudden Movement Hazard. When using a mechanical holding brake with the drive in a lifting application, close the brake when the drive output is cut off by a baseblock command triggered by one of the input terminals. Failure to comply will result in a slipping load from the motor suddenly coasting when the baseblock command is entered and may cause serious injury or death.

Input Open Input Closed

Drive Operation

Run command

Baseblock input

Frequency reference

Output frequency

OFF ON

Figure 1.54 Baseblock Operation During Run

Baseblock release

Begin Speed Search from the previous frequency reference

Output off, motor coasts

Setting A: Accel/Decel Ramp Hold

When the digital input programmed for the Accel/decel ramp hold function closes, the drive locks (holds) the output frequency. Acceleration or deceleration resumes when the input is reopened.

If the Accel/decel ramp hold function is enabled (d4-01 = 1), the drive saves the output frequency to memory when the Ramp Hold input is closed. When the drive is restarted after stop or after power supply interruption, the saved output frequency becomes the frequency reference (provided that the Accel/decel ramp hold input is still closed). Refer to d4-01: Frequency

Reference Hold Function Selection on page 63 for details.

Parameter Details

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1.7 H: Terminal Functions

Setting B: Drive Overheat Alarm (oH2)

Triggers an oH2 alarm when the contact closes. Drive operation is not affected because this is an alarm.

Setting C: Analog Terminal Input Selection (Terminal A1, A2, A3)

When closed, the terminals specified in H3-14 are enabled. When open, the drive disregards the input signal to the analog terminals.

Setting D: PG Encoder Disable

When closed, the drive disregards PG feedback from the motor when using V/f Control with PG. When the terminal is reopened, the drive resumes using PG feedback to control motor speed.

Setting E: ASR Integral Reset

Switches between PI control and P control by resetting the integral value. Integral operation is disabled when the terminal is closed and the drive uses P control. PI control resumes when the terminal opens.

Setting F: Through Mode

Select this setting when using the terminal in a pass-through mode. When set to F, an input does not trigger any function in the drive. Setting F, however, still allows the input status to be read out by a PLC via a communication option or MEMOBUS/ Modbus communications.

Setting 10, 11: Up/Down Function

The Up/Down function allows the frequency reference to be set by two push buttons when one digital input is programmed as the Up input (H1-oo= 10) to increase the frequency reference and the other digital input is programmed as the Down input (H1-oo= 11) to decrease the frequency reference.

The Up/Down function takes priority over the frequency references from the digital operator, the analog inputs, and the pulse input (b1-01 = 0, 1, 4). When using the Up/Down function, references provided by these sources will be disregarded.

The inputs operate as shown in the table below:

Status

Up (10) Down (11)

Open Open Hold current frequency reference

Closed Open Increase frequency reference

Open Closed Decrease frequency reference

Closed Closed Hold current frequency reference

Note: 1. An oPE03 alarm occurs when only one of the Up/Down functions is programmed to a digital input.

2. An oPE03 alarm occurs when the Up/Down function is assigned to the terminals and a different digital input is programmed for the

Accel/decel ramp hold function.

3. The Up/Down function can only be used for External reference 1. Consider this when using Up/Down and the external reference switching

command (H1-oo = 2).

Drive Operation

Using the Up/Down Function with Frequency Reference Hold (d4-01)

• If the frequency reference hold function is disabled (d4-01 = 0), the Up/Down frequency reference will be reset to 0 when the Run command is cleared or the power is cycled.

• When d4-01 = 1, the drive will save the frequency reference set by the Up/Down function. When the Run command or the power is cycled, the drive will restart with the saved reference value. Close the Up or Down input without an active Run command to reset the saved value. Refer to d4-01: Frequency Reference Hold Function Selection on page 63.

Using the Up/Down Function with Frequency Reference Limits

Parameter d2-01 determines the upper frequency reference limit.

The value for the lower frequency reference limit depends on the parameter d4-10 setting. This value can be set by an analog input or parameter d2-02. Refer to d4-10: Up/Down Frequency Reference Limit Selection on page 67 for details. When a Run command is applied, the lower limits function as follows:

• If the lower limit is set by d2-02 only, the drive accelerates to this limit as soon as a Run command is entered.

• If the lower limit is determined by an analog input only, the drive accelerates to the limit when both the Run command and an Up or Down command are active. The drive will not start running if only the Run command is active.

• If the lower limit is set by both an analog input and d2-02, and the analog limit is higher than the d2-02 value, the drive accelerates to the d2-02 value when a Run command is input. When the d2-02 value is reached, the drive accelerates to the analog limit only if an Up or Down command is set.

Figure 1.55 shows an Up/Down function example with a lower frequency reference limit set by d2-02, and the frequency

reference hold function both enabled and disabled.

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Accelerates to lower limit

Output frequency

upper limit

Lower limit

FWD run/stop

Up command

Down command

Power supply

Same frequency

d4-01 = 1

d4-01 = 0

Hold frequency reset

1.7 H: Terminal Functions

Figure 1.55 Up/Down Command Operation

Setting 12, 13: Forward Jog, Reverse Jog

Digital inputs programmed as Forward Jog (H1-oo = 12) and Reverse Jog (H1-oo = 13) will be Jog inputs that do not require a Run command. Closing the terminal set for Forward Jog input will cause the drive to ramp to the Jog frequency reference (d1-17) in the forward direction. The Reverse Jog will cause the same action in the reverse direction. The Forward Jog and Reverse Jog command can be set independently.

Note: The Forward Jog and Reverse Jog commands override all other frequency references. However, if the drive is set to prohibit reverse rotation

(b1-04 = 1), activating Reverse Jog will have no effect. Inputting both the Forward Jog and Reverse Jog are simultaneously for 500 ms or longer will trigger an alarm will and the drive will ramp to stop.

d1-17

Output

Frequency

d1-17

Setting 14: Fault Reset

When the drive detects a fault condition, the fault output contact closes, the drive output shuts off, and the motor coasts to stop (specific stopping methods can be selected for some faults such as L1-04 for motor overheat). After removing the Run command, clear the fault either by pressing the RESET key on the digital operator or closing a digital input configured as a Fault Reset (H1-oo = 14).

Note: Remove the Run command prior to resetting a fault. Fault Reset commands are ignored while the Run command is present.

Setting 15, 17: Fast Stop (N.O., N.C.)

The Fast Stop function operates similar to an emergency stop input to the drive. If a Fast Stop command is input while the drive is running, the drive decelerates to a stop in the deceleration time set to C1-09 (Refer to C1-09: Fast Stop Time on page

47). The drive can only be restarted after bringing the drive to a complete stop, turning off the Fast Stop input, and switching

off the Run command.

•

To trigger the Fast Stop function with an N.O. switch, set H1-oo = 15.

•

To trigger the Fast Stop function with an N.C. switch, set H1-oo = 17.

Figure 1.57 shows an operation example of Fast Stop.

FJOG

RJOG

Figure 1.56 FJOG/RJOG Operation

Parameter Details

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1.7 H: Terminal Functions

Run/Stop

Fast-Stop H1- = 17

ON ON

ONON

Decelerates at C1-09

Output Frequency

Figure 1.57 Fast Stop Sequence

NOTICE: Rapid deceleration can trigger an overvoltage fault. When faulted, the drive output shuts off, and the motor coasts. To avoid this

uncontrolled motor state and to ensure that the motor stops quickly and safely, set an appropriate Fast Stop time to C1-09.

TIME

Setting 16: Motor 2 Selection

The drive has the capability to control two induction motors independently. A second motor may be selected using a multifunction digital input as shown in Figure 1.58.

Note: The motor 2 selection function cannot be used with PM motors.

Drive

Motor switch input

Figure 1.58 Motor Selection

Motor 1

Motor 2

When switching between motor 1 and motor 2, the parameters used to control those motors also change. Below, Table 1.38 lists the parameters that correspond to each motor:

Table 1.38 Parameters for Switching Between Two Motors

No. Setting 16 Open (Motor 1)

C1-oo: Acceleration/Deceleration Time

C3-oo : Motor Slip Compensation C4-oo: Motor Torque

Compensation C5-oo: Speed Control (ASR) E1-oo, E3-oo: V/f Pattern

E2-oo, E4-oo: Motor Parameters

F1-oo (PG Constant)

C1-01 to C1-04

C3-01 to C3-04, C3-15

C4-01

C5-01 to C5-08, C5-12, C5-15

E1-oo, E2-oo

F1-01 to F1-21

⇒

Setting 16 Closed (Motor 2)

C1-05 to C1-08

C3-21 to C3-25

C4-07

C5-21 to C5-28, C5-32, C5-35

E3-oo to E4-oo

F1-02 to F1-04, F1-08 to F1-11, F1-14, F1-31 to F1-37

Note: 1. When using 2 motors, the motor overload protection selection (oL1) set to L1-01 applies to both motor 1 and motor 2.

2. Attempting to switch between motor 1 and motor 2 during run will trigger the rUn alarm.

3. There is a 500 ms delay when switching between motors equipped with a PG encoder for feedback.

4. The motor 2 selection function cannot be used with PM motors.

If a digital output is programmed for “Motor 2 selection” (H1-01, H1-02, or H1-03 = 1C), the motor will be selected when the output is closed.

Setting 18: Timer Function Input

This setting configures a digital input terminal as the input for the timer function. Use this setting combination with the timer function output (H2-oo = 12). Refer to b4: Timer Function on page 33 for details.

100

YASKAWA ELECTRIC SIEP YEAHHP 01B YASKAWA AC Drive – A1000 HHP Programming Manual

YASKAWA 400 V Class: 414 A to 2000 A Heavy Duty. 466 A to 2250 A Normal Duty Programming Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Parameter Details

1.1 A: Initialization

A1: Initialization

A2: User Parameters

1.2 b: Application

b1: Operation Mode Selection

b2: DC Injection Braking and Short Circuit Braking

b3: Speed Search

b5: PID Control

b6: Dwell Function

b7: Droop Control (CLV, CLV/PM)

1.3 C: Tuning

C1: Acceleration and Deceleration Times

C2: S-Curve Characteristics

C3: Slip Compensation

C4: Torque Compensation

C5: Automatic Speed Regulator (ASR)

C6: Carrier Frequency

1.4 d: Reference Settings

d1: Frequency Reference

d2: Frequency Upper/Lower Limits

d3: Jump Frequency

d4: Frequency Reference Hold and Up/Down 2 Function

d5: Torque Control

d6: Field Weakening and Field Forcing

d7: Offset Frequency

1.5 E: Motor Parameters

E1: V/f Pattern for Motor 1

E2: Motor 1 Parameters

E3: V/f Pattern for Motor 2

E4: Motor 2 Parameters

1.6 F: Option Settings

F1: PG Speed Control Card Settings

F2: Analog Input Card Settings

F3: Digital Input Card Settings

F4: Analog Monitor Card Settings

F5: Digital Output Card Settings

F6 and F7: Communication Option Card

CC-Link Parameters

PROFIBUS-DP Parameters

CANopen Parameters

DeviceNet Parameters

1.7 H: Terminal Functions

H1: Multi-Function Digital Inputs