YASKAWA 600 V Class: 0.75 to 18.5 kW Technical Manual
YASKAWA AC Drive-A1000
High Performance Vector Control Drive
Technical Manual
Type: CIMR-AUA
Models:
To properly use the product, read this manual thoroughly and retain
for easy reference, inspection, and maintenance. Ensure the end user
receives this manual.
600 V Class: 0.75 to 18.5 kW
Receiving
Mechanical Installation
Electrical Installation
Start-Up Programming &
Operation
Parameter Details
Troubleshooting
Periodic Inspection &
Maintenance
Peripheral Devices &
Options
Specifications
Parameter List
MEMOBUS/Modbus
Communications
1
2
3
4
5
6
7
8
A
B
C
MANUAL NO. SIEP C710616 31B
Standards Compliance
Quick Reference Sheet
D
E
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YASKAWA ELECTRIC SIEP C710616 31B YASKAWA AC Drive – A1000 Technical Manual
Quick Reference
u
Easily Set Parameters for Specific Applications
Preset parameter defaults are available for setting up applications. Refer to Application Selection on
page 97.
Run a Motor One Frame Larger
This drive can operate a motor one frame size larger when running variable torque loads such as fans and pumps. Refer to C6-01: Drive Duty Mode
Selection on page 166.
Drive a Synchronous PM Motor
A1000 can operate synchronous PM motors. Refer to Subchart A-3: Operation with Permanent
Magnet Motors on page 95.
<99>
PM motor control modes are not available on 600 V class drives, CIMR-Ao5oooooooo.
Automatic tuning sets motor parameters. Refer to Auto-Tuning on page 100.
Use drive monitors to check if fans, capacitors, or other components require maintenance. Refer to Performance Life Monitors Maintenance
Monitors on page 351.
Refer to Drive Alarms, Faults, and Errors on page 295 and Refer to Troubleshooting without Fault Display on page 336.
Refer to UL Standards on page 498.
<99>
Perform Auto-Tuning
Maintenance Check Using Drive Monitors
Fault Display and Troubleshooting
Standards Compliance
YASKAWA ELECTRIC SIEP C710616 31B YASKAWA AC Drive – A1000 Technical Manual
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YASKAWA ELECTRIC SIEP C710616 31B YASKAWA AC Drive – A1000 Technical Manual
Table of Contents
QUICK REFERENCE ....................................................................................... 3
i. PREFACE & GENERAL SAFETY.................................................................. 15
i.1 Preface ....................................................................................................................... 16
Applicable Documentation....................................................................................................... 16
Symbols................................................................................................................................... 16
Terms and Abbreviations ........................................................................................................ 17
i.2 General Safety ........................................................................................................... 18
Supplemental Safety Information ............................................................................................ 18
Safety Messages..................................................................................................................... 19
General Application Precautions ............................................................................................. 20
Motor Application Precautions................................................................................................. 22
Drive Label Warnings .............................................................................................................. 25
Warranty Information............................................................................................................... 25
1. RECEIVING .................................................................................................... 27
1.1 Section Safety............................................................................................................ 28
1.2 General Description .................................................................................................. 29
A1000 Model Selection ........................................................................................................... 29
Control Mode Selection ........................................................................................................... 30
1.3 Model Number and Nameplate Check ..................................................................... 32
Nameplate ............................................................................................................................... 32
1.4 Drive Models and Enclosure Types......................................................................... 34
1.5 Component Names.................................................................................................... 35
IP20/NEMA Type 1 Enclosure................................................................................................. 35
Front Views ............................................................................................................................. 36
2. MECHANICAL INSTALLATION..................................................................... 37
2.1 Section Safety............................................................................................................ 38
2.2 Mechanical Installation ............................................................................................. 40
Installation Environment .......................................................................................................... 40
Installation Orientation and Spacing........................................................................................ 40
Digital Operator Remote Usage .............................................................................................. 42
Exterior and Mounting Dimensions ......................................................................................... 45
3. ELECTRICAL INSTALLATION ...................................................................... 47
3.1 Section Safety............................................................................................................ 48
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SIEP C710616 31B YASKAWA AC Drive – A1000 Technical Manual
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Table of Contents
3.2 Standard Connection Diagram...........................................................................................50
3.3 Main Circuit Connection Diagram......................................................................................53
Three-Phase 600 V Class ................................................................................................................. 53
3.4 Terminal Block Configuration ............................................................................................54
3.5 Terminal Cover ....................................................................................................................55
IP20/NEMA Type 1............................................................................................................................ 55
3.6 Digital Operator and Front Cover.......................................................................................56
Removing/Reattaching the Digital Operator...................................................................................... 56
Removing/Reattaching the Front Cover ............................................................................................ 56
3.7 Top Protective Cover ..........................................................................................................57
Removing the Top Protective Cover ................................................................................................. 57
Reattaching the Top Protective Cover .............................................................................................. 57
3.8 Main Circuit Wiring..............................................................................................................58
Main Circuit Terminal Functions........................................................................................................ 58
Protecting Main Circuit Terminals ..................................................................................................... 58
Wire Gauges and Tightening Torque ................................................................................................ 58
Main Circuit Terminal and Motor Wiring ............................................................................................ 59
3.9 Control Circuit Wiring .........................................................................................................61
Control Circuit Connection Diagram.................................................................................................. 61
Control Circuit Terminal Block Functions .......................................................................................... 61
Terminal Configuration ...................................................................................................................... 63
Wiring the Control Circuit Terminal ................................................................................................... 65
Switches and Jumpers on the Terminal Board.................................................................................. 67
3.10 Control I/O Connections .....................................................................................................68
Sinking/Sourcing Mode Switch for Digital Inputs............................................................................... 68
Sinking/Sourcing Mode Selection for Safe Disable Inputs ................................................................ 69
Using the Pulse Train Output ............................................................................................................ 69
Terminal A2 Input Signal Selection ................................................................................................... 70
Terminal A3 Analog/PTC Input Selection.......................................................................................... 70
Terminal AM/FM Signal Selection ..................................................................................................... 71
MEMOBUS/Modbus Termination ...................................................................................................... 71
3.11 Connect to a PC...................................................................................................................72
3.12 External Interlock ................................................................................................................73
Drive Ready....................................................................................................................................... 73
3.13 Wiring Checklist ..................................................................................................................74
4. START-UP PROGRAMMING & OPERATION....................................................... 77
4.1 Section Safety......................................................................................................................78
4.2 Using the Digital Operator..................................................................................................79
Keys and Displays............................................................................................................................. 79
LCD Display ...................................................................................................................................... 80
ALARM (ALM) LED Displays............................................................................................................. 81
LO/RE LED and RUN LED Indications.............................................................................................. 81
Menu Structure for Digital Operator .................................................................................................. 83
4.3 The Drive and Programming Modes..................................................................................84
Navigating the Drive and Programming Modes................................................................................. 84
Changing Parameter Settings or Values ........................................................................................... 85
Verifying Parameter Changes: Verify Menu ...................................................................................... 87
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Simplified Setup Using the Setup Group........................................................................................... 88
Switching Between LOCAL and REMOTE........................................................................................ 89
4.4 Start-Up Flowcharts ............................................................................................................91
Flowchart A: Basic Start-Up and Motor Tuning ................................................................................. 92
Subchart A-1: Simple Motor Setup Using V/f Control........................................................................ 93
Subchart A-2: High Performance Operation Using OLV or CLV ....................................................... 94
Subchart A-3: Operation with Permanent Magnet Motors................................................................. 95
4.5 Powering Up the Drive ........................................................................................................96
Powering Up the Drive and Operation Status Display....................................................................... 96
4.6 Application Selection..........................................................................................................97
Setting 1: Water Supply Pump Application........................................................................................ 97
Setting 2: Conveyor Application ........................................................................................................ 98
Setting 3: Exhaust Fan Application ................................................................................................... 98
Setting 4: HVAC Fan Application ...................................................................................................... 98
Setting 5: Compressor Application .................................................................................................... 99
4.7 Auto-Tuning .......................................................................................................................100
Types of Auto-Tuning ...................................................................................................................... 100
Before Auto-Tuning the Drive.......................................................................................................... 103
Auto-Tuning Interruption and Fault Codes ...................................................................................... 104
Auto-Tuning Operation Example ..................................................................................................... 104
Parameter Settings during Induction Motor Auto-Tuning: T1 .......................................................... 106
Parameter Settings during PM Motor Auto-Tuning: T2 ................................................................... 108
Parameter Settings during Inertia and Speed Control Loop Auto-Tuning: T3................................. 111
4.8 No-Load Operation Test Run............................................................................................112
No-Load Operation Test Run .......................................................................................................... 112
4.9 Test Run with Load Connected........................................................................................114
Test Run with the Load Connected ................................................................................................. 114
4.10 Verifying Parameter Settings and Backing Up Changes...............................................115
Backing Up Parameter Values: o2-03 ............................................................................................. 115
Parameter Access Level: A1-01...................................................................................................... 115
Password Settings: A1-04, A1-05 ................................................................................................... 115
Copy Function ................................................................................................................................. 116
4.11 Test Run Checklist ............................................................................................................117
5. PARAMETER DETAILS ....................................................................................... 119
5.1 A: Initialization...................................................................................................................120
A1: Initialization ............................................................................................................................... 120
A2: User Parameters....................................................................................................................... 125
5.2 b: Application.....................................................................................................................126
b1: Operation Mode Selection......................................................................................................... 126
b2: DC Injection Braking and Short Circuit Braking......................................................................... 133
b3: Speed Search............................................................................................................................ 135
b4: Delay Timers ............................................................................................................................. 140
b5: PID Control................................................................................................................................ 141
b6: Dwell Function........................................................................................................................... 150
b7: Droop Control (CLV, CLV/PM) .................................................................................................. 151
b8: Energy Saving ........................................................................................................................... 152
b9: Zero Servo................................................................................................................................. 153
5.3 C: Tuning............................................................................................................................154
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C1: Acceleration and Deceleration Times ....................................................................................... 154
C2: S-Curve Characteristics............................................................................................................ 156
C3: Slip Compensation.................................................................................................................... 156
C4: Torque Compensation .............................................................................................................. 159
C5: Automatic Speed Regulator (ASR) ........................................................................................... 161
C6: Carrier Frequency..................................................................................................................... 166
5.4 d: Reference Settings .......................................................................................................169
d1: Frequency Reference................................................................................................................ 169
d2: Frequency Upper/Lower Limits ................................................................................................. 171
d3: Jump Frequency........................................................................................................................ 172
d4: Frequency Reference Hold and Up/Down 2 Function............................................................... 173
d5: Torque Control .......................................................................................................................... 178
d6: Field Weakening and Field Forcing........................................................................................... 182
d7: Offset Frequency....................................................................................................................... 183
5.5 E: Motor Parameters .........................................................................................................184
E1: V/f Pattern for Motor 1............................................................................................................... 184
E2: Motor 1 Parameters .................................................................................................................. 187
E3: V/f Pattern for Motor 2............................................................................................................... 190
E4: Motor 2 Parameters .................................................................................................................. 191
E5: PM Motor Settings .................................................................................................................... 193
5.6 F: Option Settings .............................................................................................................196
F1: PG Speed Control Card Settings .............................................................................................. 196
F2: Analog Input Card Settings ....................................................................................................... 199
F3: Digital Input Card Settings ........................................................................................................ 199
F4: Analog Monitor Card Settings ................................................................................................... 200
F5: Digital Output Card Settings...................................................................................................... 201
F6: Communication Option Card..................................................................................................... 201
CC-Link Parameters........................................................................................................................ 203
PROFIBUS-DP Parameters ............................................................................................................ 203
CANopen Parameters ..................................................................................................................... 204
DeviceNet Parameters .................................................................................................................... 204
5.7 H: Terminal Functions.......................................................................................................207
H1: Multi-Function Digital Inputs ..................................................................................................... 207
H2: Multi-Function Digital Outputs................................................................................................... 218
H3: Multi-Function Analog Inputs .................................................................................................... 228
H4: Multi-Function Analog Outputs ................................................................................................. 234
H5: MEMOBUS/Modbus Serial Communication ............................................................................. 235
H6: Pulse Train Input/Output........................................................................................................... 235
5.8 L: Protection Functions ....................................................................................................238
L1: Motor Protection ........................................................................................................................ 238
L2: Momentary Power Loss Ride-Thru............................................................................................ 243
L3: Stall Prevention ......................................................................................................................... 250
L4: Speed Detection........................................................................................................................ 256
L5: Fault Restart.............................................................................................................................. 257
L6: Torque Detection....................................................................................................................... 259
L7: Torque Limit .............................................................................................................................. 261
L8: Drive Protection......................................................................................................................... 263
5.9 n: Special Adjustments.....................................................................................................269
n1: Hunting Prevention.................................................................................................................... 269
n2: Speed Feedback Detection Control (AFR) Tuning.................................................................... 270
n3: High Slip Braking (HSB) and Overexcitation Braking................................................................ 270
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n5: Feed Forward Control ............................................................................................................... 272
n6: Online Tuning ............................................................................................................................ 274
n8: PM Motor Control Tuning .......................................................................................................... 275
5.10 o: Operator Related Settings............................................................................................278
o1: Digital Operator Display Selection............................................................................................. 278
o2: Digital Operator Keypad Functions ........................................................................................... 279
o3: Copy Function ........................................................................................................................... 281
o4: Maintenance Monitor Settings................................................................................................... 282
q: DriveWorksEZ Parameters.......................................................................................................... 283
r: DriveWorksEZ Connection Parameters ....................................................................................... 283
T: Motor Tuning ............................................................................................................................... 283
5.11 U: Monitor Parameters......................................................................................................284
U1: Operation Status Monitors ........................................................................................................ 284
U2: Fault Trace................................................................................................................................ 284
U3: Fault History.............................................................................................................................. 284
U4: Maintenance Monitors .............................................................................................................. 284
U5: PID Monitors ............................................................................................................................. 284
U6: Operation Status Monitors ........................................................................................................ 284
U8: DriveWorksEZ Monitors............................................................................................................ 285
6. TROUBLESHOOTING.......................................................................................... 287
6.1 Section Safety....................................................................................................................288
6.2 Motor Performance Fine-Tuning......................................................................................290
Fine-Tuning V/f Control and V/f Control with PG............................................................................. 290
Fine-Tuning Open Loop Vector Control .......................................................................................... 291
Fine-Tuning Closed Loop Vector Control ........................................................................................ 292
Fine-Tuning Open Loop Vector Control for PM Motors................................................................... 292
Fine-Tuning Advanced Open Loop Vector Control for PM Motors.................................................. 293
Fine-Tuning Closed Loop Vector Control for PM Motors ................................................................ 293
Parameters to Minimize Motor Hunting and Oscillation .................................................................. 294
6.3 Drive Alarms, Faults, and Errors .....................................................................................295
Types of Alarms, Faults, and Errors................................................................................................ 295
Alarm and Error Displays ................................................................................................................ 296
6.4 Fault Detection ..................................................................................................................300
Fault Displays, Causes, and Possible Solutions ............................................................................. 300
6.5 Alarm Detection.................................................................................................................316
Alarm Codes, Causes, and Possible Solutions ............................................................................... 316
6.6 Operator Programming Errors .........................................................................................324
Operator Programming Error Codes, Causes, and Possible Solutions........................................... 324
6.7 Auto-Tuning Fault Detection ............................................................................................328
Auto-Tuning Codes, Causes, and Possible Solutions..................................................................... 328
6.8 Copy Function Related Displays .....................................................................................332
Tasks, Errors, and Troubleshooting ................................................................................................ 332
6.9 Diagnosing and Resetting Faults.....................................................................................334
Fault Occurs Simultaneously with Power Loss ............................................................................... 334
If the Drive Still has Power After a Fault Occurs ............................................................................. 334
Viewing Fault Trace Data After Fault .............................................................................................. 334
Fault Reset Methods ....................................................................................................................... 335
6.10 Troubleshooting without Fault Display...........................................................................336
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Common Problems.......................................................................................................................... 336
Cannot Change Parameter Settings ............................................................................................... 336
Motor Does Not Rotate Properly after Pressing RUN Button or after Entering External Run
Command ...................................................................................................................................... 337
Motor is Too Hot.............................................................................................................................. 338
Drive Does Not Allow Selection the Desired Auto-Tuning Mode..................................................... 339
oPE02 Error Occurs When Lowering the Motor Rated Current Setting .......................................... 339
Motor Stalls during Acceleration or Acceleration Time is Too Long................................................ 339
Drive Frequency Reference Differs from the Controller Frequency Reference Command ............. 340
Excessive Motor Oscillation and Erratic Rotation............................................................................ 340
Deceleration Takes Longer Than Expected with Dynamic Braking Enabled .................................. 340
Noise From Drive or Output Lines When the Drive is Powered On ................................................ 341
Ground Fault Circuit Interrupter (GFCI) Trips During Run .............................................................. 341
Connected Machinery Vibrates When Motor Rotates ..................................................................... 341
PID Output Fault.............................................................................................................................. 342
Insufficient Starting Torque ............................................................................................................. 342
Motor Rotates After the Drive Output is Shut Off (Motor Rotates During DC Injection Braking)..... 342
Output Frequency is not as High as Frequency Reference ............................................................ 342
Buzzing Sound from Motor at 2 kHz................................................................................................ 342
Unstable Motor Speed when Using PM .......................................................................................... 343
Motor Does Not Restart after Power Loss....................................................................................... 343
7. PERIODIC INSPECTION & MAINTENANCE ...................................................... 345
7.1 Section Safety....................................................................................................................346
7.2 Inspection ..........................................................................................................................348
Recommended Daily Inspection...................................................................................................... 348
Recommended Periodic Inspection................................................................................................. 349
7.3 Periodic Maintenance .......................................................................................................351
Replacement Parts.......................................................................................................................... 351
7.4 Drive Cooling Fans............................................................................................................353
Number of Cooling Fans ................................................................................................................. 353
Cooling Fan Component Names ..................................................................................................... 353
Cooling Fan Replacement............................................................................................................... 353
7.5 Drive Replacement ............................................................................................................356
Serviceable Parts ............................................................................................................................ 356
Terminal Board................................................................................................................................ 356
Replacing the Drive ......................................................................................................................... 356
8. PERIPHERAL DEVICES & OPTIONS ................................................................. 359
8.1 Section Safety....................................................................................................................360
8.2 Drive Options and Peripheral Devices ............................................................................361
8.3 Connecting Peripheral Devices .......................................................................................363
8.4 Option Card Installation....................................................................................................364
Installing Option Cards .................................................................................................................... 364
Installation Procedure...................................................................................................................... 364
8.5 Installing Peripheral Devices ...........................................................................................366
Dynamic Braking Options................................................................................................................ 366
Installing a Molded Case Circuit Breaker (MCCB) and Earth Leakage Circuit Breaker (ELCB) ..... 367
Installing a Ground Fault Circuit Interrupter (GFCI) ........................................................................ 367
Installing a Magnetic Contactor at the Power Supply Side.............................................................. 368
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Connecting an AC or DC Reactor ................................................................................................... 368
Installing Input Fuses ...................................................................................................................... 369
Attachment for External Heatsink Mounting .................................................................................... 369
Installing a Motor Thermal Overload (oL) Relay on the Drive Output ............................................. 369
A. SPECIFICATIONS ................................................................................................ 371
A.1 Heavy Duty and Normal Duty Ratings.............................................................................372
A.2 Power Ratings ...................................................................................................................373
Three-Phase 600 V Class Drives .................................................................................................... 373
A.3 Drive Specifications ..........................................................................................................374
A.4 Drive Watt Loss Data ........................................................................................................376
A.5 Drive Derating Data ...........................................................................................................377
Carrier Frequency Derating............................................................................................................. 377
Temperature Derating ..................................................................................................................... 377
Altitude Derating.............................................................................................................................. 378
B. PARAMETER LIST............................................................................................... 379
B.1 Understanding Parameter Descriptions..........................................................................380
Control Modes, Symbols, and Terms .............................................................................................. 380
B.2 Parameter Groups .............................................................................................................381
B.3 A: Initialization Parameters ..............................................................................................382
A1: Initialization ............................................................................................................................... 382
A2: User Parameters....................................................................................................................... 383
B.4 b: Application.....................................................................................................................384
b1: Operation Mode Selection......................................................................................................... 384
b2: DC Injection Braking and Short Circuit Braking......................................................................... 385
b3: Speed Search............................................................................................................................ 386
b4: Timer Function .......................................................................................................................... 387
b5: PID Control................................................................................................................................ 387
b6: Dwell Function........................................................................................................................... 389
b7: Droop Control ............................................................................................................................ 389
b8: Energy Saving ........................................................................................................................... 389
b9: Zero Servo................................................................................................................................. 390
B.5 C: Tuning............................................................................................................................391
C1: Acceleration and Deceleration Times ....................................................................................... 391
C2: S-Curve Characteristics............................................................................................................ 392
C3: Slip Compensation.................................................................................................................... 392
C4: Torque Compensation .............................................................................................................. 393
C5: Automatic Speed Regulator (ASR) ........................................................................................... 393
C6: Carrier Frequency..................................................................................................................... 395
B.6 d: References.....................................................................................................................397
d1: Frequency Reference................................................................................................................ 397
d2: Frequency Upper/Lower Limits ................................................................................................. 398
d3: Jump Frequency........................................................................................................................ 398
d4: Frequency Reference Hold and Up/Down 2 Function............................................................... 399
d5: Torque Control .......................................................................................................................... 400
d6: Field Weakening and Field Forcing........................................................................................... 400
d7: Offset Frequency....................................................................................................................... 401
B.7 E: Motor Parameters .........................................................................................................402
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E1: V/f Pattern for Motor 1............................................................................................................... 402
E2: Motor 1 Parameters .................................................................................................................. 403
E3: V/f Pattern for Motor 2............................................................................................................... 404
E4: Motor 2 Parameters .................................................................................................................. 405
E5: PM Motor Settings .................................................................................................................... 406
B.8 F: Options...........................................................................................................................407
F1: PG Speed Control Card (PG-B3/PG-X3) .................................................................................. 407
F2: Analog Input Card (AI-A3)......................................................................................................... 409
F3: Digital Input Card (DI-A3).......................................................................................................... 409
F4: Analog Monitor Card (AO-A3) ................................................................................................... 410
F5: Digital Output Card (DO-A3) ..................................................................................................... 410
F6: Communication Option Card..................................................................................................... 411
B.9 H Parameters: Multi-Function Terminals ........................................................................414
H1: Multi-Function Digital Inputs ..................................................................................................... 414
H2: Multi-Function Digital Outputs................................................................................................... 419
H3: Multi-Function Analog Inputs .................................................................................................... 422
H4: Analog Outputs ......................................................................................................................... 424
H5: MEMOBUS/Modbus Serial Communication ............................................................................. 425
H6: Pulse Train Input/Output........................................................................................................... 426
B.10 L: Protection Function ......................................................................................................427
L1: Motor Protection ........................................................................................................................ 427
L2: Momentary Power Loss Ride-Thru............................................................................................ 427
L3: Stall Prevention ......................................................................................................................... 429
L4: Speed Detection........................................................................................................................ 430
L5: Fault Restart.............................................................................................................................. 431
L6: Torque Detection....................................................................................................................... 431
L7: Torque Limit .............................................................................................................................. 433
L8: Drive Protection......................................................................................................................... 433
B.11 n: Special Adjustment.......................................................................................................436
n1: Hunting Prevention.................................................................................................................... 436
n2: Speed Feedback Detection Control (AFR) Tuning.................................................................... 436
n3: High Slip Braking (HSB) and Overexcitation Braking................................................................ 436
n5: Feed Forward Control ............................................................................................................... 437
n6: Online Tuning ............................................................................................................................ 438
n8: PM Motor Control Tuning .......................................................................................................... 438
B.12 o: Operator-Related Settings ...........................................................................................440
o1: Digital Operator Display Selection............................................................................................. 440
o2: Digital Operator Keypad Functions ........................................................................................... 440
o3: Copy Function ........................................................................................................................... 441
o4: Maintenance Monitor Settings................................................................................................... 441
B.13 DriveWorksEZ Parameters ...............................................................................................443
q: DriveWorksEZ Parameters.......................................................................................................... 443
r: DriveWorksEZ Connection Parameters ....................................................................................... 443
B.14 T: Motor Tuning .................................................................................................................444
T1: Induction Motor Auto-Tuning..................................................................................................... 444
T2: PM Motor Auto-Tuning .............................................................................................................. 445
T3: ASR and Inertia Tuning............................................................................................................. 447
B.15 U: Monitors.........................................................................................................................448
U1: Operation Status Monitors ........................................................................................................ 448
U2: Fault Trace................................................................................................................................ 450
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U3: Fault History.............................................................................................................................. 451
U4: Maintenance Monitors .............................................................................................................. 452
U5: PID Monitors ............................................................................................................................. 453
U6: Operation Status Monitors ........................................................................................................ 454
U8: DriveWorksEZ Monitors............................................................................................................ 455
B.16 Control Mode Dependent Parameter Default Values .....................................................456
A1-02 (Motor 1 Control Mode) Dependent Parameters .................................................................. 456
E3-01 (Motor 2 Control Mode) Dependent Parameters .................................................................. 458
B.17 V/f Pattern Default Values.................................................................................................459
B.18 Defaults by Drive Model (o2-04) and ND/HD (C6-01)......................................................460
C. MEMOBUS/MODBUS COMMUNICATIONS........................................................ 463
C.1 MEMOBUS/Modbus Configuration ..................................................................................464
C.2 Communication Specifications........................................................................................465
C.3 Connecting to a Network ..................................................................................................466
Network Cable Connection.............................................................................................................. 466
Wiring Diagram for Multiple Connection.......................................................................................... 466
Network Termination ....................................................................................................................... 467
C.4 MEMOBUS/Modbus Setup Parameters ...........................................................................468
MEMOBUS/Modbus Serial Communication.................................................................................... 468
C.5 Drive Operations by MEMOBUS/Modbus........................................................................471
Observing the Drive Operation........................................................................................................ 471
Controlling the Drive........................................................................................................................ 471
C.6 Communications Timing...................................................................................................472
Command Messages from Master to Drive..................................................................................... 472
Response Messages from Drive to Master ..................................................................................... 472
C.7 Message Format ................................................................................................................473
Message Content ............................................................................................................................ 473
Slave Address ................................................................................................................................. 473
Function Code ................................................................................................................................. 473
Data................................................................................................................................................. 473
Error Check ..................................................................................................................................... 473
C.8 Message Examples ...........................................................................................................475
Reading Drive MEMOBUS/Modbus Register Contents .................................................................. 475
Loopback Test................................................................................................................................. 475
Writing to Multiple Registers............................................................................................................ 476
C.9 MEMOBUS/Modbus Data Table........................................................................................477
Command Data ............................................................................................................................... 477
Monitor Data.................................................................................................................................... 478
Broadcast Messages....................................................................................................................... 488
Fault Trace Contents....................................................................................................................... 489
Alarm Register Contents ................................................................................................................. 491
C.10 Enter Command.................................................................................................................492
Enter Command Types ................................................................................................................... 492
Enter Command Settings when Upgrading the Drive...................................................................... 492
C.11 Communication Errors .....................................................................................................493
MEMOBUS/Modbus Error Codes.................................................................................................... 493
Slave Not Responding..................................................................................................................... 493
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C.12 Self-Diagnostics ................................................................................................................494
D. STANDARDS COMPLIANCE .............................................................................. 495
D.1 Section Safety....................................................................................................................496
D.2 UL Standards .....................................................................................................................498
UL Standards Compliance .............................................................................................................. 498
Drive Motor Overload Protection ..................................................................................................... 499
D.3 Safe Disable Input Function .............................................................................................501
Specifications .................................................................................................................................. 501
Precautions ..................................................................................................................................... 501
Using the Safe Disable Function ..................................................................................................... 501
E. QUICK REFERENCE SHEET .............................................................................. 505
E.1 Drive and Motor Specifications........................................................................................506
Drive Specifications......................................................................................................................... 506
Motor Specifications ........................................................................................................................ 506
E.2 Basic Parameter Settings .................................................................................................507
Basic Setup ..................................................................................................................................... 507
V/f Pattern Setup ............................................................................................................................. 507
Motor Setup..................................................................................................................................... 507
Multi-Function Digital Inputs ............................................................................................................ 507
Pulse Train Input/Analog Inputs ...................................................................................................... 508
Multi-Function Digital Outputs ......................................................................................................... 508
Monitor Outputs............................................................................................................................... 508
E.3 User Setting Table.............................................................................................................509
INDEX ................................................................................................................... 517
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YASKAWA ELECTRIC SIEP C710616 31B YASKAWA AC Drive – A1000 Technical Manual
i
Preface & General Safety
This section provides safety messages pertinent to this product that, if not heeded, may result in fatality,
personal injury, or equipment damage. Yaskawa is not responsible for the consequences of ignoring
these instructions.
i.1 PREFACE...............................................................................................................16
i.2 GENERAL SAFETY...............................................................................................18
YASKAWA ELECTRIC SIEP C710616 31B YASKAWA AC Drive – A1000 Technical Manual
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TERMSTERMS
i.1 Preface
i.1 Preface
Yaskawa
manufactures products used as components in a wide variety of industrial systems and equipment. The selection and
application of Yaskawa products remain the responsibility of the equipment manufacturer or end user. Yaskawa accepts no
responsibility for the way its products are incorporated into the final system design. Under no circumstances should any
Yaskawa product be incorporated into any product or design as the exclusive or sole safety control. Without exception, all
controls should be designed to detect faults dynamically and fail safely under all circumstances. All systems or equipment
designed to incorporate a product manufactured by Yaskawa must be supplied to the end user with appropriate warnings and
instructions as to the safe use and operation of that part. Any warnings provided by Yaskawa must be promptly provided to
the end user. Yaskawa offers an express warranty only as to the quality of its products in conforming to standards and
specifications published in the Yaskawa manual. NO OTHER WARRANTY, EXPRESS OR IMPLIED, IS OFFERED.
Yaskawa assumes no liability for any personal injury, property damage, losses, or claims arising from misapplication of its
products.
This manual is designed to ensure correct and suitable application of A1000-Series Drives. Read this manual before attempting
to install, operate, maintain, or inspect a drive and keep it in a safe, convenient location for future reference. Be sure you
understand all precautions and safety information before attempting application.
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Applicable Documentation
The following manuals are available for A1000 series drives:
A1000 Series AC Drive Technical Manual
A1000
0V
009
This manual provides detailed information on parameter settings, drive functions, and MEMOBUS/
Modbus specifications. Use this manual to expand drive functionality and to take advantage of higher
performance features. This manual is available for download on our documentation website,
www.yaskawa.com.
A1000 Series AC Drive Quick Start Guide
Read this guide first. This guide is packaged together with the product and contains basic information
required to install and wire the drive. It also gives an overview of fault diagnostics, maintenance, and
parameter settings. The purpose of this guide is to prepare the drive for a trial run with an application and
for basic operation. This manual is available for download on our documentation website,
www.yaskawa.com.
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Symbols
Note: Indicates a supplement or precaution that does not cause drive damage.
Indicates a term or definition used in this manual.
16
YASKAWA ELECTRIC SIEP C710616 31B YASKAWA AC Drive – A1000 Technical Manual
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TERMSTERMS
Terms and Abbreviations
• Drive: Yaskawa A1000-Series Drive
• BCD: Binary Coded Decimal
• H: Hexidecimal Number Format
• kbps: Kilobits per Second
• MAC: Media Access Control
• Mbps: Megabits per Second
• PG: Pulse Generator
• r/min: Revolutions per Minute
• V/f: V/f Control
• V/f w/PG: V/f Control with PG
• OLV: Open Loop Vector Control
• CLV: Closed Loop Vector Control
• OLV/PM: Open Loop Vector Control for PM
• AOLV/PM: Advanced Open Loop Vector Control for PM
• CLV/PM: Closed Loop Vector Control for PM
• PM motor: Permanent Magnet Synchronous motor (an abbreviation for IPM motor or SPM motor)
• IPM motor: Interior Permanent Magnet Motor (e.g., Yaskawa SSR1 Series and SST4 Series motors)
• SPM motor: Surface mounted Permanent Magnet Motor (e.g., Yaskawa SMRA Series motors)
i.1 Preface
YASKAWA ELECTRIC SIEP C710616 31B YASKAWA AC Drive – A1000 Technical Manual
17
i.2 General Safety
i.2 General Safety
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Supplemental Safety Information
General Precautions
• The diagrams in this manual may be indicated without covers or safety shields to show details. Replace the covers or shields before
operating the drive and run the drive according to the instructions described in this manual.
• Any illustrations, photographs, or examples used in this manual are provided as examples only and may not apply to all products to
which this manual is applicable.
• The products and specifications described in this manual or the content and presentation of the manual may be changed without notice
to improve the product and/or the manual.
• When ordering a new copy of the manual due to damage or loss, contact your Yaskawa representative or the nearest Yaskawa sales
office and provide the manual number shown on the front cover.
• If nameplate becomes worn or damaged, order a replacement from your Yaskawa representative or the nearest Yaskawa sales office.
WARNING
Read and understand this manual before installing, operating or servicing this drive. The drive must be installed according
to this manual and local codes.
The following conventions are used to indicate safety messages in this manual. Failure to heed these messages could result
in serious or fatal injury or damage to the products or to related equipment and systems.
DANGER
Indicates a hazardous situation, which, if not avoided, will result in death or serious injury.
WARNING
Indicates a hazardous situation, which, if not avoided, could result in death or serious injury.
WARNING! may also be indicated by a bold key word embedded in the text followed by an italicized safety message.
CAUTION
Indicates a hazardous situation, which, if not avoided, could result in minor or moderate injury.
CAUTION! may also be indicated by a bold key word embedded in the text followed by an italicized safety message.
NOTICE
Indicates a property damage message.
NOTICE: may also be indicated by a bold key word embedded in the text followed by an italicized safety message.
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YASKAWA ELECTRIC SIEP C710616 31B YASKAWA AC Drive – A1000 Technical Manual
i.2 General Safety
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Safety Messages
DANGER
Heed the safety messages in this manual.
Failure to comply will result in death or serious injury.
The operating company is responsible for any injuries or equipment damage resulting from failure to heed the warnings in
this manual.
Electrical Shock Hazard
Do not connect or disconnect wiring while the power is on.
Failure to comply will result in death or serious injury.
Before servicing, disconnect all power to the equipment. The internal capacitor remains charged even after the power supply
is turned off. After shutting off the power, wait for at least the amount of time specified on the drive before touching any
components.
WARNING
Sudden Movement Hazard
System may start unexpectedly upon application of power, resulting in death or serious injury.
Clear all personnel from the drive, motor and machine area before applying power. Secure covers, couplings, shaft keys and
machine loads before applying power to the drive.
When using DriveWorksEZ to create custom programming, the drive I/O terminal functions change from factory
settings and the drive will not perform as outlined in this manual.
Unpredictable equipment operation may result in death or serious injury.
Take special note of custom I/O programming in the drive before attempting to operate equipment.
Electrical Shock Hazard
Do not attempt to modify or alter the drive in any way not explained in this manual.
Failure to comply could result in death or serious injury.
Yaskawa is not responsible for any modification of the product made by the user. This product must not be modified.
Do not allow unqualified personnel to use equipment.
Failure to comply could result in death or serious injury.
Maintenance, inspection, and replacement of parts must be performed only by authorized personnel familiar with installation,
adjustment and maintenance of AC drives.
Do not remove covers or touch circuit boards while the power is on.
Failure to comply could result in death or serious injury.
Fire Hazard
Do not use an improper voltage source.
Failure to comply could result in death or serious injury by fire.
Verify that the rated voltage of the drive matches the voltage of the incoming power supply before applying power.
Crush Hazard
Do not use this drive in lifting applications without installing external safety circuitry to prevent accidental dropping
of the load.
The drive does not possess built-in load drop protection for lifting applications.
Failure to comply could result in death or serious injury from falling loads.
Install electrical and/or mechanical safety circuit mechanisms independent of drive circuitry.
YASKAWA ELECTRIC SIEP C710616 31B YASKAWA AC Drive – A1000 Technical Manual
19
i.2 General Safety
CAUTION
Crush Hazard
Do not carry the drive by the front cover.
Failure to comply may result in minor or moderate injury from the main body of the drive falling.
NOTICE
Observe proper electrostatic discharge procedures (ESD) when handling the drive and circuit boards.
Failure to comply may result in ESD damage to the drive circuitry.
Do not perform a withstand voltage test on any part of the drive.
Failure to comply could result in damage to the sensitive devices within the drive.
Do not operate damaged equipment.
Failure to comply could result in further damage to the equipment.
Do not connect or operate any equipment with visible damage or missing parts.
Install adequate branch circuit short circuit protection per applicable codes.
Failure to comply could result in damage to the drive.
The drive is suitable for circuits capable of delivering not more than 100,000 RMS symmetrical Amperes, 600 Vac maximum
(600 V Class).
Do not expose the drive to halogen group disinfectants.
Failure to comply may cause damage to the electrical components in the drive.
Do not pack the drive in wooden materials that have been fumigated or sterilized.
Do not sterilize the entire package after the product is packed.
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General Application Precautions
Selection
n
Installing a Reactor
Use an AC or DC reactor in the following situations:
• to suppress harmonic current.
• to smooth peak current resulting from capacitor switching.
• when the power supply is above 600 kVA.
• when the drive is running from a power supply system with thyristor converters.
4000
Power supply harmonics
reactor required
Power Supply
Capacity (kVA)
Drive Capacity
600
0
Drive Capacity (kVA)
Figure i.1 Installing a Reactor
Reactor
unnecessary
60 400
For specialized motors, make sure that the motor rated current is less than the rated output current for the drive.
When running more than one motor in parallel from a single drive, the capacity of the drive should be larger than [total motor
rated current × 1.1].
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YASKAWA ELECTRIC SIEP C710616 31B YASKAWA AC Drive – A1000 Technical Manual
i.2 General Safety
Starting Torque
The overload rating for the drive determines the starting and accelerating characteristics of the motor. Expect lower torque
than when running from line power. To get more starting torque, use a larger drive or increase both the motor and drive capacity.
Emergency Stop
When the drive faults out, the output shuts off but the motor does not stop immediately. A mechanical brake may be required
when it is necessary to stop the motor faster than the ability of the Fast Stop function of the drive.
Options
NOTICE: The B1, B2, +1, +2, and +3 terminals are used to connect optional A1000-compatible devices only. Connecting non-Yaskawa-
approved devices to these terminals may damage the drive.
Repetitive Starting/Stopping
Elevators, punching presses, and other applications with frequent starts and stops often exceed 150% of their rated current
values. Heat stress generated from repetitive high current can shorten the life span of the IGBTs.
Yaskawa recommends lowering the carrier frequency, particularly when audible noise is not a concern. It may also be beneficial
to reduce the load, increase the acceleration and deceleration times, or switch to a larger drive to help keep peak current levels
under 150%. Be sure to check the peak current levels when starting and stopping repeatedly during the initial test run, and
make adjustments accordingly.
Installation
n
Enclosure Panels
Keep the drive in a clean environment by installing the drive in an enclosure panel or selecting an installation area free of
airborne dust, lint, and oil mist. Be sure to leave the required space between drives to provide for cooling, and take proper
measures so the ambient temperature remains within allowable limits and keep flammable materials away from the drive.
Yaskawa offers protective designs for drives that must be used in areas subjected to oil mist and excessive vibration. Contact
Yaskawa or your Yaskawa agent for details.
Installation Direction
NOTICE: Install the drive upright as specified in the manual. Refer to Mechanical Installation on page 40 for more information on
installation. Failure to comply may damage the drive due to improper cooling.
Settings
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Motor Code
When using OLV/PM, set the proper motor code to parameter E5-01 before performing a trial run.
Upper Limits
NOTICE: The drive is capable of running the motor up to 400 Hz. Be sure to set the upper limit for the frequency of the drive to prevent the
possible danger of accidentally operating equipment at higher than rated speed. The default setting for the maximum output frequency is
60 Hz.
DC Injection Braking
NOTICE: Excessive current during DC Injection Braking and excessive duration of DC Injection Braking can cause motor overheat.
Acceleration/Deceleration Times
Acceleration and deceleration times are affected by the amount of torque generated by the motor, the load torque, and the
inertia moment. Set a longer accel/decel time when Stall Prevention is enabled. The accel/decel times are lengthened for as
long as the Stall Prevention function is in operation. Install one of the available braking options or increase the capacity of the
drive for faster acceleration and deceleration.
General Handling
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Wiring Check
NOTICE: Do not connect power supply lines to output terminals U/T1, V/T2, or W/T3. Failure to comply will destroy the drive. Be sure to
perform a final check of all sequence wiring and other connections before turning on the power and also check for short circuits on the
control terminals, which may damage the drive.
Selecting a Circuit Breaker or Leakage Circuit Breaker
Yaskawa recommends installing a Ground Fault Circuit Interrupter (GFCI) to the power supply side. The GFCI should be
designed for use with AC drives (e.g., Type B according to IEC 60755).
Select a Molded Case Circuit Breaker (MCCB) or GFCI with a rated current 1.5 to 2 times higher than the drive rated current
to avoid nuisance trips caused by harmonics in the drive input current. Refer to Installing a Molded Case Circuit Breaker
(MCCB) and Earth Leakage Circuit Breaker (ELCB) on page 367 for more information.
YASKAWA ELECTRIC SIEP C710616 31B YASKAWA AC Drive – A1000 Technical Manual
21
i.2 General Safety
Magnetic Contactor Installation
WARNING! Fire Hazard. Shut off the drive with a magnetic contactor (MC) when a fault occurs in any external equipment such as braking
resistors. Refer to Installing a Magnetic Contactor at the Power Supply Side on page 368. Failure to comply may cause resistor
overheating, fire, and injury to personnel.
NOTICE: To get the full performance life out of the electrolytic capacitors and circuit relays, refrain from switching the drive power supply
off and on more than once every 30 minutes. Frequent use can damage the drive. Use the drive to stop and start the motor.
Inspection and Maintenance
WARNING! Electrical Shock Hazard. Capacitors in the drive do not immediately discharge after shutting off the power. Wait for at least the
amount of time specified on the drive before touching any components after shutting off the power. Failure to comply may cause injury to
personnel from electrical shock.
WARNING! Electrical Shock Hazard. When a drive is running a PM motor, voltage continues to be generated at the motor terminals after
the drive is shut off while the motor coasts to stop. Take the precautions described below to prevent shock and injury:
• In applications where the machine can still rotate even though the drive has fully stopped a load, install a switch
to the drive output side to disconnect the motor and the drive.
• Do not allow an external force to rotate the motor beyond the maximum allowable speed or to rotate the motor
when the drive has been shut off.
• Wait for at least the time specified on the warning label after opening the load switch on the output side before
inspecting the drive or performing any maintenance.
• Do not open and close the load switch while the motor is running, as this can damage the drive.
• If the motor is coasting, make sure the power to the drive is turned on and the drive output has completely
stopped before closing the load switch.
WARNING! Burn Hazard. Because the heatsink can get very hot during operation, take proper precautions to prevent burns. When replacing
the cooling fan, shut off the power and wait at least 15 minutes to be sure that the heatsink has cooled down. Failure to comply may cause
burn injury to personnel.
Wiring
All wire ends should use ring terminals for UL/cUL compliance. Use only the tools recommended by the terminal manufacturer
for crimping.
Transporting the Drive
NOTICE: Never steam clean the drive. During transport, keep the drive from coming into contact with salts, fluorine, bromine, phthalate
ester, and other such harmful chemicals.
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Motor Application Precautions
Standard Induction Motors
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Low-Speed Range
The cooling fan of a standard motor should sufficiently cool the motor at the rated speed. As the self-cooling capability of
such a motor reduces with the speed, applying full torque at low speed will possibly damage the motor. Reduce the load torque
as the motor slows to prevent motor damage from overheat. Figure i.2 shows the allowable load characteristics for a Yaskawa
standard motor. Use a motor designed specifically for operation with a drive when 100% continuous torque is needed at low
speeds.
25% ED (or 15 min)
40% ED (or 20 min)
60% ED (or 40 min)
100
90
80
70
(%)
60
50
Continuous operation
Torque
22
3 6
Figure i.2 Allowable Load Characteristics for a Yaskawa Motor
20
Frequency (Hz)
YASKAWA ELECTRIC SIEP C710616 31B YASKAWA AC Drive – A1000 Technical Manual
60
i.2 General Safety
Insulation Tolerance
NOTICE: Consider motor voltage tolerance levels and motor insulation in applications with an input voltage of over 440 V or particularly
long wiring distances.
High-Speed Operation
NOTICE: Problems may occur with the motor bearings and dynamic balance of the machine when operating a motor beyond its rated speed.
Contact the motor or machine manufacturer.
Torque Characteristics
Torque characteristics differ compared to operating the motor directly from line power. The user should have a full
understanding of the load torque characteristics for the application.
Vibration and Shock
The drive allows selection of high carrier PWM control and low carrier PWM. Selecting high carrier PWM can help reduce
motor oscillation.
Take particular caution when adding a variable speed drive to an application running a motor from line power at a constant
speed. If resonance occurs, install shock-absorbing rubber around the base of the motor and enable the Jump frequency selection
to prevent continuous operation in the resonant frequency range.
Audible Noise
Noise created during run varies by the carrier frequency setting. When using a high carrier frequency, audible noise from the
motor is comparable to the motor noise generated when running from line power. Operating above the rated motor speed can
create unpleasant motor noise.
Synchronous Motors
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• Contact Yaskawa or a Yaskawa agent when planning to use a synchronous motor not endorsed by Yaskawa.
• Use a standard induction motor when running multiple synchronous motors simultaneously. A single drive does not have
this capability.
• A synchronous motor may rotate slightly in the opposite direction of the Run command at start depending on parameter
settings and rotor position.
• The amount of generated starting torque differs depending on the control mode and motor type. Set up the motor with the
drive after verifying the starting torque, allowable load characteristics, impact load tolerance, and speed control range.
Contact Yaskawa or a Yaskawa agent when planning to use a motor that does not fall within these specifications:
• In Open Loop Vector Control for PM motors, braking torque is less than 125% when running between 20% and 100% speed,
even with a braking resistor. Braking torque drops to less than 50% when running at less than 20% speed.
• In Open Loop Vector Control for PM motors, the allowable load inertia moment is approximately 50× higher than the motor
inertia moment.
Contact Yaskawa or a Yaskawa agent for questions concerning applications with a larger inertia moment.
• When using a holding brake in Open Loop Vector Control for PM motors, release the brake prior to starting the motor.
Failure to set the proper timing can cause speed loss.
• To restart a coasting motor rotating over 200 Hz while in V/f Control, first use the Short Circuit Braking function to bring
the motor to a stop. Short Circuit Braking requires a special braking resistor. Contact Yaskawa or a Yaskawa agent for
details.
• To restart a coasting motor rotating below 200 Hz, use the Speed Search function if the motor cable is not too long. If the
motor cable is relatively long, stop the motor using Short Circuit Braking.
Specialized Motors
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Multi-Pole Motor
The rated current of a multi-pole motor differs from that of a standard motor, so be sure to check the maximum current when
selecting a drive. Always stop the motor before switching between the number of motor poles. The motor will coast to stop if
a regen overvoltage (ov) fault occurs or if overcurrent (oC) protection is triggered.
Submersible Motor
The rated current of a submersible motor is greater than that of a standard motor, so select the drive capacity accordingly. Use
a motor cable large enough to avoid decreasing the maximum torque level from voltage drop caused by a long motor cable.
Explosion-Proof Motor
The motor and the drive must be tested together to be certified as explosion-proof. The drive is not designed for explosionproof areas.
YASKAWA ELECTRIC SIEP C710616 31B YASKAWA AC Drive – A1000 Technical Manual
23
i.2 General Safety
When attaching an encoder to an explosion-proof motor, make sure the encoder is also explosion-proof. Use an insulating
signal converter to connect the encoder signal lines to the speed feedback option card.
Geared Motor
Make sure that the gear and the lubricant are rated for the desired speed range to avoid gear damage when operating at low
speeds or very high speeds. Consult with the manufacturer for applications that require operation outside the rated speed range
of the motor or gear box.
Single-Phase Motor
Variable speed drives are not designed to operate with single phase motors. Using capacitors to start the motor causes excessive
current to flow and can damage drive components. A split-phase start or a repulsion start can burn out the starter coils because
the internal centrifugal switch is not activated. The drive is for use with three-phase motors only.
Motor with Brake
Take caution when using the drive to operate a motor with a built-in holding brake. If the brake is connected to the output side
of the drive, it may not release at start due to low voltage levels, so be sure to install a separate power supply for the motor
brake. Note that motors with built-in brakes tend to generate a fair amount of noise when running at low speeds.
Notes on Power Transmission Machinery
n
Installing an AC drive in machinery that was previously connected directly to the power supply will allow the machine to
operate at variable speeds. Continuous operation outside of the rated speeds can wear on lubrication material in gear boxes
and other power transmission parts. Make sure that lubrication is sufficient within the entire speed range to avoid machine
damage. Note that operation above the rated speed can increase the noise generated by the machine.
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YASKAWA ELECTRIC SIEP C710616 31B YASKAWA AC Drive – A1000 Technical Manual
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Drive Label Warnings
Always heed the warning information listed in Figure i.3 in the position shown in Figure i.4.
WARNING
Risk of electric shock.
●
Read manual before installing.
●
Wait 5 minutes for capacitor
discharge after disconnecting
power supply.
●
To conform to requirements,
make sure to ground the supply
neutral for 575V class.
●
After opening the manual switch
between the drive and motor,
please wait 5 minutes before
inspecting, performing
maintenance or wiring the drive.
Hot surfaces
●
Top and Side surfaces may
become hot. Do not touch.
Figure i.3 Warning Information
i.2 General Safety
A1000
CMR-AU5A0009 AA
0V 3 h se 5 5 W 3 7kW
Warning Label
Figure i.4 Warning Information Position
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Warranty Information
Restrictions
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A1000 was not designed or manufactured for use in devices or systems that may directly affect or threaten human lives or
health.
Customers who intend to use the product described in this manual for devices or systems relating to transportation, health
care, space aviation, atomic power, electric power, or in underwater applications must first contact their Yaskawa
representatives or the nearest Yaskawa sales office.
WARNING! Injury to Personnel. This product has been manufactured under strict quality-control guidelines. However, if this product is to
installed in any location where failure of this product could involve or result in a life-and-death situation or loss of human life or in a facility
be
where failure may cause a serious accident or physical injury, safety devices must be installed to minimize the likelihood of any accident.
YASKAWA ELECTRIC SIEP C710616 31B YASKAWA AC Drive – A1000 Technical Manual
25
i.2 General Safety
This Page Intentionally Blank
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YASKAWA ELECTRIC SIEP C710616 31B YASKAWA AC Drive – A1000 Technical Manual
1
Receiving
This chapter explains how to inspect the drive upon receipt, and gives an overview of the different
enclosure types and components.
1.1 SECTION SAFETY.................................................................................................28
1.2 GENERAL DESCRIPTION.....................................................................................29
1.3 MODEL NUMBER AND NAMEPLATE CHECK....................................................32
1.4 DRIVE MODELS AND ENCLOSURE TYPES........................................................34
1.5 COMPONENT NAMES...........................................................................................35
YASKAWA ELECTRIC SIEP C710616 31B YASKAWA AC Drive – A1000 Technical Manual
27
1.1 Section Safety
1.1 Section Safety
CAUTION
Do not carry the drive by the front cover or the terminal cover.
Failure to comply may cause the main body of the drive to fall, resulting in minor or moderate injury.
NOTICE
Observe proper electrostatic discharge procedures (ESD) when handling the drive and circuit boards.
Failure to comply may result in ESD damage to the drive circuitry.
A motor connected to a PWM drive may operate at a higher temperature than a utility-fed motor and the operating
speed range may reduce motor cooling capacity.
Ensure that the motor is suitable for drive duty and/or the motor service factor is adequate to accommodate the additional
heating with the intended operating conditions.
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YASKAWA ELECTRIC SIEP C710616 31B YASKAWA AC Drive – A1000 Technical Manual
1.2 General Description
1.2 General Description
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A1000 Model Selection
Refer to Table 1.1 for drive selection depending on the motor power and Normal or Heavy Duty rating.
Note: The models and capacities in shown here are based on standard settings and operation conditions. Higher carrier frequencies and higher ambient
temperatures require derating.
Table 1.1 A1000 Models
Three-Phase 600 V Class
Motor Power (kW)
Model CIMR-Ao
0.75 5A0003 1.7 – –
1.5 5A0004 3.5 5A0003 2.7
2.2 5A0006 4.1 5A0004 3.9
3.7 5A0009 6.3 5A0006 6.1
5.5 5A0011 9.8 5A0009 9
7.5 5A0017 12.5 5A0011 11
11 5A0022 17 5A0017 17
15 5A0027 22 5A0022 22
18.5 5A0032 27 5A0027 27
22 – – 5A0032 32
<1> These values assume the carrier frequency is not set higher than 8 kHz.
<2> These values assume the carrier frequency is set to 2 kHz.
Note: Current derating is required when setting the carrier frequency higher. Refer to Carrier Frequency Derating on page 377 for details.
Heavy Duty Rating Normal Duty Rating
Rated Output
Current (A)
<1>
Model CIMR-Ao
Rated Output
Current (A)
<2>
Receiving
1
YASKAWA ELECTRIC SIEP C710616 31B YASKAWA AC Drive – A1000 Technical Manual
29
1.2 General Description
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Control Mode Selection
Table 1.2 gives an overview of the A1000 control modes and their various features.
Table 1.2 Control Modes and their Features
Motor Type Induction Motors
Control Mode V/f V/f w/PG OLV CLV OLV/PM AOLV/PM CLV/PM –
Parameter Setting A1-02 = 0 A1-02 = 1 A1-02 = 2 A1-02 = 3 A1-02 = 5 A1-02 = 6 A1-02 = 7
Basic Description V/f control
Motor Type IM IM IM IM PM IPM PM –
Multi Motor YES N/A N/A N/A N/A N/A N/A –
Motor data
unknown
High Speed
Accuracy
Type of
Applications
PG Option Card N/A
Control
Characteristics
High Speed
Response
Zero Speed
Control
Torque Control
Operation
Torque Limit
Operation
Speed Control
Range
Speed Accuracy ±2 to 3% ±0.03% ±0.2% ±0.02% ±0.2% ±0.2% ±0.02%
Speed Response 3 Hz (approx.) 3 Hz (approx.) 10 Hz 50 Hz 10 Hz 10 Hz 50 Hz
Starting Torque 150% at 3 Hz 150% at 3 Hz
V/f control
using motor
speed feedback
YES N/A N/A N/A N/A N/A N/A –
N/A YES YES YES YES YES YES –
N/A N/A YES YES N/A YES YES –
N/A N/A N/A YES N/A YES YES –
N/A N/A N/A YES N/A YES YES –
N/A N/A YES YES N/A N/A YES –
PG-B3 or
PG-X3
1:40 1:40 1:200 1:1500 1:20 1:100 1:1500
Open Loop
Vector control
N/A
200% at
0.3 Hz
Closed Loop
Vector control
PG-B3 or
PG-X3
200% at
0 r/min
Permanent Magnet Motors
Open Loop
Vector control
for PM motors
N/A N/A PG-X3 –
100% at
5% speed
Open Loop
Vector control
for IPM motors
200% at
0 r/min
<99>
Closed Loop
Vector control
for PM motors
200% at
0 r/min
Comments
Default Setting is
OLV control (A1-02
=2)
–
May fluctuate with
characteristics and
motor temperature.
Speed deviation
when operating at
constant speed may
fluctuate with
characteristics and
motor temperature.
Max. frequency of a
speed reference
signal that the drive
can follow may
fluctuate with
characteristics and
motor temperature.
Starting torque may
fluctuate with
characteristics and
motor temperature.
Performance may
differ by capacity.
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YASKAWA ELECTRIC SIEP C710616 31B YASKAWA AC Drive – A1000 Technical Manual
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