Yaskawa A1000 User Manual

YASKAWA AC Drive - A1000

Electronic Line Shaft
with Alignment

Custom Software Supplement

Software Number: VSA91003
Drive Models: AU□A□□□□□□□-064

AU□A□□□□□□□-065

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

□

MANUAL NO. TM.A1000SW.064

Table of Contents

1 PREFACE AND SAFETY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

2 ELECTRONIC LINE SHAFT. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6

3 SIMPLE AUTOMATION ALIGNMENT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

4 COMPREHENSIVE PARAMETER LIST . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Refer to the A1000 Technical Manual for content not described in this document.

Copyright © 2011 YASKAWA ELECTRIC CORPORATION

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

YASK AWA TM.A1000SW.064 Electronic Line Shaft with Alignment A1000 Custom Software Supplement 3

This Page Intentionally Blank

4 YA SK AWA TM.A1000SW.064 Electronic Line Shaft with Alignment A1000 Custom Software Supplement

1 Preface and Safety

1 Preface and Safety

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.

 Applicable Documentation

The following manuals are available for the A1000 Drive:

Custom Software Supplement

Yaskawa AC Drive - Electric Line Shaft with Simple Automatic Alignment A1000 Custom Software Supplement

SUPPLEMENT

Manual No: TM.A1000SW.064

Read this manual first. This supplement is an addendum to the A1000 Quick Start Guide and Technical Manual. It lists the
effects of this custom software on the parameters in the drive and function descriptions in the manual.
To obtain the supplement access this site: U.S: http://www.yaskawa.com

Yaskawa Drive

Yaskawa AC Drive ­A1000 Quick Start Guide

Yaskawa AC Drive ­A1000 Technical Manual

To obtain instruction manuals for Yaskawa products access these sites:
U.S.: http://www.yaskawa.com
Europe: http://www.yaskawa.eu.com
Japan: http://www.e-mechatronics.com
Other areas: contact a Yaskawa representative.
For questions, contact the local Yaskawa sales office or the nearest Yaskawa
representative.

 Supplemental Safety Information

Read and understand this manual and the A1000 Quick Start Guide before installing, operating, or servicing this option
unit. Install the drive according to the A1000 Quick Start Guide and local codes. Observe all cautions and warnings in this
document and the standard drive technical manuals.

Refer to the A1000 Quick Start Guide and Technical Manual for safety information and to install and start-up the drive.

This document is a supplement to the standard drive technical manual. It describes the effects on the drive parameters and
functions with the software installed.

• Custom software is provided to add functionality to a standard drive to enhance or enable use in a specific application.

• The software is loaded to the flash ROM area of the control board, and replaces the standard drive software.

 Obtaining Support

When seeking support for a drive with custom software, it is imperative to provide the unique part number shown on the
drive nameplate. The software is flashed to the control board memory and the operation of parameters, functions, and
monitors are different than the standard drive software, as described herein.

Refer to Yaskawa office locations listed on the back cover of this manual.

YAS KA WA TM.A1000SW.064 Electronic Line Shaft with Alignment A1000 Custom Software Supplement 5

2 Electronic Line Shaft

Master Drive

A1000

PG-X3

M

M

PG

Input Channel

Pulse Monitor Output

Channel 2 Input

Channel 1 Input

PG

Follower Drive

A1000

PG-X3

PG-X3

2 Electronic Line Shaft

 Overview

The Electronic Line Shaft (ELS) function allows a drive to precisely follow the speed, direction, and phase of a master
encoder (PG) signal. The follower can match its position (phase angle) to the master within several quadrature encoder
counts.

The ELS function is used in applications where the machinery being driven requires two mechanically isolated and
motor-driven moving parts to maintain a constant position relationship. The gear ratio between the master and the
follower is infinitely adjustable.

NOTICE: Damage to equipment. Equipment damage may occur if the ELS function is used with two or more motors mechanically
coupled to drive the same load. Do not use Electronic Line Shaft functionality to drive two or more motors that are mechanically
coupled to the same driven load.

In addition, a gear ratio adjustment, or “draw”, can be added to the speed reference via parameter setting, analog input,
multi-function input MOP, or serial communication. It is also possible to run the drive in a pure speed follower mode for
applications that do not require matched position.

Figure 1

Figure 1 Typical Configuration Connection

6YASKAWA TM.A1000SW.064 Electronic Line Shaft with Alignment A1000 Custom Software Supplement

2 Electronic Line Shaft

 Basic Concepts and Principles

The master encoder signal is fed into a PG option card installed in the CN5-B port of the follower (PG Channel 2). When
using V/f w/PG or CLV control modes, the encoder signal of the follower is fed into a PG option card installed in the
CN5-C port of the follower (PG Channel 1) and the master encoder speed is multiplied by the programmed gear ratio to
determine the frequency reference of the follower.

Setting parameter P1-01 to 4 or 5 configures the drive for ELS and ELS Signed Run modes. These configurations
determine the error between the master and follower position and this error is fed into a PI controller, which is then added
to the previously calculated frequency reference. The position regulator is disabled when the drive is configured only as a
speed follower (non-ELS modes).

Figure 2

Speed Calculation

Master Encoder

Speed

Position Regulator

Master Encoder

Pulse Count

Follower Encoder

Pulse Count

Gear

Calculation

ELS Mode

Enabled

Gear

Calculation

Figure 2 Simplified Block Diagram of ELS Function

+

-

Position Error

Accumulator

PI

Controller

+

+

Frequency
Reference

The Signed Run mode ELS functions identically to the standard ELS mode with the following exceptions:

• When a reverse Run command is given, the follower will match the velocity and phase of the master, but in the opposite
direction (i.e., if the master runs in the forward direction, the follower will run in reverse direction and if the master runs
in the reverse direction, the follower will run in the forward direction).

• When a forward Run command is present, the follower will run in the same direction as the master.

 Changes from the Standard Product

• The Motor 2 Selection multi-function input setting is deleted (only Motor 1 can be used).

• The follower drive uses acceleration and deceleration times of zero during Electronic Line Shaft operation
(P1-01 = 4 or 5).

•

PG 2 related parameters F1-31 and F1-32 are always available and no longer require selecting Motor 2 via
digital input.

 Limitations

• For ELS and ELS Signed Run modes (P1-01 = 4 or 5), Yaskawa recommends using Closed Loop Vector (A1-02 = 3)
control mode.

• For Speed Follower Both Directions, ELS, and ELS Signed Run modes (P1-01 = 1, 4, or 5), install master and follower
encoder feedback cards and set to quadrature encoder input (F1-21 and F1-37 = 1).

• For Speed Follower Both Directions mode (P1-01 = 1), set the master encoder input to quadrature encoder input
(F1-37 = 1).

• For ELS and ELS Signed Run modes (P1-01 = 4 or 5), express the gear ratio exactly, including remainder, to prevent
phase drift.

• Use the proper option card port for each encoder (PG) input. (CN5-B: Master Encoder, CN5-C: Follower Encoder).

• DriveWorksEZ is not currently supported with software version VSA910030.

• The LED keypad is not fully supported; some alarms and faults may not display properly on the LED keypad.

YAS KA WA TM.A1000SW.064 Electronic Line Shaft with Alignment A1000 Custom Software Supplement 7

2 Electronic Line Shaft

All Modes

V/fV/f

V/f w PGV/f w PG

OLVOLVOLVOLV

CLVCLV

OLV/PMOLV/PM

AOLV/PMAOLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

 Related Parameters and Functions

Tab le 1 lists terms and symbols used in this section to indicate which parameters are available in which control modes.

Table 1 Symbols and Icons Used in Parameter Descriptions

Symbol Description

Parameter is available in all control modes.

Parameter is available when operating the drive with V/f Control.

Parameter is available when operating the drive with V/f with PG Control.

Parameter is available when operating the drive with Open Loop Vector.

Parameter is available when operating the drive with Closed Loop Vector.

Parameter is available when operating the drive with Open Loop Vector for PM motors.

Parameter is available when operating the drive with Advanced Open Loop Vector for PM motors.

CLV/PMCLV/PM

Motor 2

Parameter is available when operating the drive with Closed Loop Vector for PM motors.

Parameter is NOT available when operating the drive in the control mode.

Parameter can be changed during run.

Refers to a second motor when the drive is operating two motors. Switch between these motors using the multi-function input
terminals.

The parameters in the tables below are used to set up the drive for operation with the software.

Table 2 Modified Parameters

No.

(Addr.

Hex)

F1-01

(380)

F1-02

(381)

F1-05

(384)

(Digital Operator Display)

PG1 Pulses per Revolution
(PG Pulses/Rev)

Operation Selection at PG Open
Circuit (PGo)
(PG Fdbk Loss Sel)

PG 1 Rotation Selection
(PG1 Rotation Sel)

Name

Description Values

Sets the number of pulses for a PG option card connected to port CN5-C.

Sets the operation when a PGo is detected on a PG option card connected to port
CN5-C.
0: Ramp to Stop
1: Coast to Stop
2: Fast Stop
3: Alarm Only
4: No Alarm Display

Sets the direction of forward travel for the PG card installed in CN5-C.
0: Pulse A Leads
1: Pulse B Leads

Default: 1024 ppr
Min: 1
Max.: 60000

Default: 1
Range: 0 to 4

Default: 0
Range: 0, 1

F1-14
(38D)

F1-21
(3BC)

PG Open-Circuit Detection Time
(PGO Detect Time)

PG 1 Signal Selection
(PG1 Signal Sel)

Sets the amount of time required to trigger a PG Open fault (PGo).

Selects single-channel/quadrature detection mode for the PG option card 1.

Default: 2.0 s
Min: 0.0
Max.: 10.0

Default: 1
Range: 0, 1

0: A Pulse Detection
1: AB Pulse Detection

8 YA SK AWA TM.A1000SW.064 Electronic Line Shaft with Alignment A1000 Custom Software Supplement

2 Electronic Line Shaft

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

No.

(Addr.

Hex)

F1-31
(3B0)

F1-32
(3B1)

F1-36
(3B5)

F1-37

(3BD)

(Digital Operator Display)

Name

PG 2 Pulses per Revolution
(PG Pulses/Rev 2)

PG 2 Rotation Selection
(PG Rotation Sel2)

PG Option Card Disconnect
Detection 2
(Hardware PGO Ch2)

PG 2 Signal Selection
(PG2 Signal Sel)

Description Va lues

Sets the number of pulses for a PG option card connected to port CN5-B.

Sets the direction of forward travel for a PG option card installed in port
CN5-B.
0: Pulse A Leads
1: Pulse B Leads

Determines whether the drive detects a fault when a PGo is detected on a PG
option card installed in port CN5-B.
0: Disabled
1: Enabled

Selects single-channel/quadrature detection mode for the PG option card 2
installed in port CN5-B.
0: A Pulse Detection
1: AB Pulse Detection

Default: 1024 ppr
Min: 1
Max.: 60000

Default: 0
Range: 0, 1

Default: 1
Range: 0, 1

Default: 1
Range: 0, 1

No.

(Addr.

Hex)

P1-01

(600)

(Digital Operator Display)

Follower Mode Selection
(Follower Mode)

Name

P1-02 Replaced by F1-31

P1-03

(602)

Ratio Numerator (Upper 4
Digits)
(Ratio Num High)

Table 3 Additional Parameters

Description Va lues

Selects the follower mode.
0: Disabled. Follower mode is disabled and the follower drive runs from the
normal frequency reference (b1-01).
1: Speed - Both Dir. The follower drive follows the master encoder speed in
both direction (follower Run command direction has no effect).
2: Speed - Fwd Dir. The follower drive follows the master encoder speed only
when the master is running in the forward direction. Follower direction is
determined by follower Run command direction.
3: Speed Abs Val. The follower drive follows the master encoder speed but
ignores the master encoder direction (motion is always in the direction of the
follower Run command).
4: Elec Line Shaft. The follower drive follows the master encoder speed and
position (both directions). A reverse Run command is treated as a forward
Run command; there is no directional effect.
5: ELS - Sign Run. The follower drive follows the master encoder speed and
position (both directions). When a forward Run command is present the drive
follows the master in the same direction. When a reverse Run command is
present the drive follows in the opposite direction of the master.

Sets the upper four digits of the primary gear ratio numerator.

Default: 0
Range: 0 to 5

Default: 1000
Min: 0
Max.: 9999

YAS KA WA TM.A1000SW.064 Electronic Line Shaft with Alignment A1000 Custom Software Supplement 9

2 Electronic Line Shaft

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

No.

(Addr.

Hex)

P1-04

(603)

P1-05

(604)

P1-06

(605)

P1-07

(606)

P1-08

(607)

(Digital Operator Display)

Name

Ratio Denominator (Upper 4
Digits)
(Ratio Den High)

Ratio Numerator (Lower 4
Digits)
(Ratio Num Low)

Ratio Denominator (Lower 4
Digits)
(Ratio Den Low)

Ratio 2 Numerator
(Ratio 2 Num)

Ratio 2 Denominator
(Ratio 2 Den)

Description Values

Sets the upper four digits of the primary gear ratio denominator.

Sets the lower four digits of the primary gear ratio numerator.

Sets the lower four digits of the primary gear ratio denominator.

Sets the numerator of the secondary gear ratio. Active when a multi-function
digital input is set to 81 (Ratio 2 Select) and the input is closed.

Sets the numerator of the secondary gear ratio. Active when a multi-function
digital input is set to 81 (Ratio 2 Select) and the input is closed.

Default: 1000
Min: 0
Max.: 9999

Default: 0
Min: 0
Max.: 9999

Default: 0
Min: 0
Max.: 9999

Default: 1
Min: 1
Max.: 65535

Default: 1
Min: 1
Max.: 65535

P1-09

(608)

P1-10

(609)

P2-01
(60A)

P2-02
(60B)

Position Error Accumulation
Selection
(Pos Accum Select)

Position Units Selection
(Position Units)

Digital Ratio Adjustment
(Digital RatioAdj)

MOP Adjust Time
(MOP Adjust Time)

Selects when the position error accumulator is enabled in the follower drive.
0: Only During Run. Position error is only calculated when the follower drive is
running (not during High-Slip Braking).
1: Always. Position error is calculated whenever power is applied to the drive.
Note: ELS modes only.

Selects the units used for the follower drive Position Error Monitor (U7-08).
0: Encoder Counts. Position error is displayed in quadrature follower encoder
counts (cnts).
1: Motor Revs. Position error is displayed in follower motor revolutions
(0.001 rev).
2: Motor Degrees. Position error is displayed in follower motor degrees
(0.1 degree).
3: Motor Radians. Position error is displayed in follower motor radians
(0.001 rad).
Note: ELS modes only.

Sets the digital gear ratio adjustment of the follower drive. The gear ratio
adjustment is also influenced by the analog, MOP, and communication gear
ratio adjustments.

Sets the time for the MOP ratio adjustment to change by 100.00% when the
MOP Adjust Increase or MOP Adjust Decrease multi-function input is closed.

Default: 0
Range: 0, 1

Default: 0
Range: 0 to 3

Default: 0.00%
Min: -99.99
Max.: 99.99

Default: 50.0 s
Min: 0.0
Max.: 6000.0

P2-03
(60C)

Gear Ratio Adjustment Ramp
Time
(Ratio Adj Ramp)

Sets the time for the composite gear ratio adjustment of the follower drive to

Default: 10.0 s
Min: 0.0
Max.: 6000.0

change by 100.00%.

10 YA SK AWA TM.A1000SW.064 Electronic Line Shaft with Alignment A1000 Custom Software Supplement

2 Electronic Line Shaft

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

No.

(Addr.

Hex)

P2-04
(60D)

P2-05
(60E)

P2-06
(60F)

(Digital Operator Display)

Name

Advance/Retard Mode Selection
(Adv/Ret Mode Sel)

Advance/Retard Amount
(Adv/Ret Amount)

Follower Deviation Level
(Follower Dev Lvl)

Description Va lues

Selects the advance/retard functionality of the follower drive.
0: Continuous. The follower will advance or retard continuously while the
Advance Follower or Retard Follower multi-function input is closed. Parameter
P2-05 sets the amount of advance/retard encoder counts per second.
1: Step. The follower will advance or retard by the amount set in parameter
P2-05 each time the Advance Follower or Retard Follower multi-function input
is closed.
Note: ELS modes only.

Sets the number of quadrature follower encoder counts the follower will
advance or retard per second when parameter P2-04 is set to 0.
Sets the step amount of the advance/retard function when P2-04 is set to 1.
Note: ELS modes only.

Sets the amount of position error in quadrature follower encoder counts that will
activate the follower deviation detection.
Note: ELS modes only.

Default: 0
Range: 0, 1

Default: 2048 cnts
Min: 0
Max.: 65535

Default: 4096 cnts
Min: 0
Max.: 65535

P2-07

(610)

Follower Deviation Selection
(Follower Dev Sel)

P2-08 No longer required

P2-09

(612)

MOP Adjustment Memorization
at Power Off
(MOP mem @ Pwr Off)

P3-01

(614)

Position P Gain
(Position P Gain)

P3-02

(615)

Position I Time
(Position I Time)

P3-03

(616)

Position Regulator Filter Time
(Pos Filter Time)

Selects the follower drive action when the position error exceeds the P2-06
setting.
0: No Detection. The drive continues to run.
1: Alarm Only. The drive continues to run and an FdEv alarm flashes on the
digital operator.
2: Coast to Stop (Fault). The FdEv fault is displayed, the drive contact is
activated, and the motor coasts to stop.

Selects whether the MOP gear adjustment is memorized when the drive loses
power.
0: Disabled. MOP adjustment is not memorized at power down.
1: Enabled. MOP adjustment is memorized at power down.

Sets the proportional gain of the position regulator PI loop.
Note: ELS modes only.

Sets the integral time of the position regulator PI loop.
Note: ELS modes only.

Sets the filter time of the position regulator output. This is a first order lag filter.
Note: ELS modes only.

Default: 2
Range: 0 to 2

Default: 0
Range: 0, 1

Default: 5.00
Min: 0.00
Max.: 100.00

Default: 0.00 s
Min: 0.00
Max.: 50.00

Default: 0.00 s
Min: 0.00
Max.: 1.50

YAS KA WA TM.A1000SW.064 Electronic Line Shaft with Alignment A1000 Custom Software Supplement 11

2 Electronic Line Shaft

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

No.

(Addr.

Hex)

P3-04

(617)

P3-05

(618)

P3-06

(619)

(Digital Operator Display)

Name

Position PI Limit
(Pos PI Limit)

Position Regulator Trim Mode
(Pos Trim Mode)

Speed Proportional Position Trim
Lower Limit
(SpdProp LowerLim)

Description Values

Sets the limit (+/-) of the position regulator output as a percentage of the
maximum output frequency (E1-04).
Note: ELS modes only.

Selects how the position regulator output is used to trim the follower drive
speed reference (master encoder frequency).
0: Constant. The position regulator output is independent of the master encoder
speed reference.
1: Speed Prop. The position regulator output is proportional to the master
encoder speed reference.
Note: ELS modes only.

Sets the lower limit of the position regulator trim when P3-05 is set to 1.
Set in terms of percentage of follower reference after gear ratio adjustment.

Refer to Function Description on page 16 for examples of how this factors into

calculations.

Default: 8.00%
Min: 0.00
Max.: 10.00

Default: 0
Range: 0, 1

Default: 10.00%
Min: 0.00
Max.: 100.00

P3-07
(61A)

Ratio Change Speed Agree
Width
(RatioChg SpdAgrF)

Function Group

Function No.

Monitor Group

U7

P1

P2

P3

Sets the frequency width used to determine “Speed Agree” when the drive is
accelerating or decelerating due to one of the following factors:
Gear ratio change

Default: 0.5 Hz
Min: 0.0
Max.: 20.0

Change in state of the Follower Disable multi-function input
Change in the state of the Run command.

Table 4 Function Group Text

Function Group Name

(Digital Operator Display)

P

Coordinated Motor

(Coordinated Motor)

Table 5 Function Text

Function Name

(Digital Operator Display)

Follower Configuration

(Follower Config)

Follower Motor Tuning

(Follower Tuning)

Position Regulator Tuning

(Pos Reg Tuning)

Table 6 Monitor Group Text

Monitor Name

(Digital Operator Display)

Coordinated Motor Monitor Group

(CoordinatedMotor)

Coordinated Motor state indicators

Description

12 YA SK AWA TM.A1000SW.064 Electronic Line Shaft with Alignment A1000 Custom Software Supplement

Table 7 Monitors

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

2 Electronic Line Shaft

No.

(Addr.

Hex)

U7-02

(661)

U7-03

(662)

U7-04

(663)

U7-05

(664)

Monitor Name

(Digital Operator

Display)

Master Encoder
Reference
(Master PG Fref)

Follower Reference after
Gear Ratio
(Fref After Gear)

Gear Ratio Adjustment
(Gear Ratio Adj)

Follower Reference after
Gear Ratio Adjustment
(Fref After Adj)

Description

Displays the frequency of the master encoder before gear ratios and MOP
gains are applied.
Note: Display/Modbus values are limited to -3276.8 to 3276.7

<1>.

Displays the frequency of the master encoder after the active gear ratio
(P1-03 to P1-08) is applied.
Note: Display/Modbus values are limited to -3276.8 to 3276.7

<1>.

Displays the total gear ratio adjustment (sum of the digital, analog, MOP,
and communication adjustments).

Displays the frequency of the master encoder after the digital, analog, MOP,
and communication gear ratio adjustments are applied.
Note: Display/Modbus values are limited to -3276.8 to 3276.7

<1>.

Analog Output

Scaling

Full scale:

Maximum Output

Frequency (E1-04)

Full scale:

Maximum Output

Frequency (E1-04)

Full scale:

100.00%

Full scale:

Maximum Output

Frequency (E1-04)

Unit

0.1 Hz

0.1 Hz

0.01%

0.1 Hz

U7-06

(665)

U7-07

(666)

U7-08

(667)

U7-09

(668)

Master Counts/5ms
(Master Cts/5ms)

Follower Counts/5ms
(Follower Cts/5ms)

Position Error
(Position Error)

Position Regulator P
Output
(Position P Out)

Displays the number of quadrature encoder counts per 5 ms from the master
drive.
This monitor is representative only and should only be used to confirm that
encoder counts are being received.
Note: ELS modes only.

Displays the number of quadrature encoder counts per 5 ms from the
follower drive.
This monitor is representative only and should only be used to confirm that
encoder counts are being received.
Note: ELS modes only.

Displays the position error between the master and follower encoders in
quadrature follower encoder counts.

Note: ELS modes only.
Note: Modbus values are limited to -3276.8 to 3276.7. Display values are

limited to -9999 to 99999

<1>.

Displays the proportional gain contribution of the position PI regulator.
Note: ELS modes only.

Full scale:

Counts/5 ms at

Maximum Output

Frequency (E1-04)

Full scale:

Counts/5 ms at

Maximum Output

Frequency (E1-04)

Full scale:

Counts/5 ms at

Maximum Output

Frequency (E1-04)

Full scale:

100.00%

cnts

cnts

P1-10

<2> <3>

0.01%

U7-10

(669)

Position Regulator I
Output
(Position I Out)

Displays the output of the integrator of the position PI regulator.

Full scale:

100.00%

Note: ELS modes only.

YAS KA WA TM.A1000SW.064 Electronic Line Shaft with Alignment A1000 Custom Software Supplement 13

0.01%

2 Electronic Line Shaft

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

No.

(Addr.

Hex)

U7-11
(66A)

Monitor Name

(Digital Operator

Display)

Position Regulator PI
Output
(Position PI Out)

Description

Displays the output of the position PI regulator.

Analog Output

Scaling

Full scale:

100.00%

Unit

0.01%

Note: ELS modes only.

<1> When the internal value is outside of the maximum/minimum value range that can be displayed on the keypad, the monitor will display the

maximum/minimum value and the display name of the monitor will flash, alternating between “OVER” and the monitor name.

<2> Unit is dependent on the setting of the Position Units Selection (P1-10).
<3> When reading by network communication (register 667), the unit is fixed at quadrature encoder counts.

Table 8 MEMOBUS Registers

MEMOBUS

Address

00DH

00EH

Network Communication Gear Ratio Adjustment.
Allows gear ratio adjustment via network communication. The total gear ratio adjustment is
the sum of the analog, digital, MOP, and network communication ratio adjustments.
Data is interpreted as signed, so the adjustment can be set from -327.67% to 327.67%.
Note: The ENTER command is not required when writing to this register.

Network Communication Advance/Retard Counts.
Allows for advancing/retarding of the follower drive via network communication.
Data is interpreted as signed, so the advance/retard counts can be set from –32768 to 32767.
This is set in quadrature follower encoder counts. After this register is set, its data returns to
zero automatically.

Note: ELS modes only.
Note: The ENTER command is not required when writing to this register.

Description Scaling

1 = 0.01%

1 = 1 quadrature encoder count

Table 9 Multi-Function Output Settings (H1-)

Setting Description

80

81

82

Follower Disable
Closed: Follower mode (P1-01) is disabled and the follower drive will follow the normal frequency reference (based on b1-01
setting) and use the selected Accel/Decel times.
Note: ELS modes only.

Ratio 2 Select
Closed: Gear Ratio 2 (P1-07 and P1-08) is selected. When in ELS mode (P1-01 is set to 4 or 5), the follower drive will clear its
position error and follow the C1-03 and C1-04 Accel/Decel times to ramp to the new ratio. Upon reaching speed agree, the
position loop will re-enable.

Advance Follower
Closed: Follower position is advanced relative to the master encoder. No position error is accumulated. Refer to the
descriptions for parameters P2-04 and P2-05 for details.
Note: ELS modes only.

83

Retard Follower
Closed: Follower position is retarded relative to the master encoder. No position error is accumulated. Refer to the descriptions
for parameters P2-04 and P2-05 for details.
Note: ELS modes only.

14 YA SK AWA TM.A1000SW.064 Electronic Line Shaft with Alignment A1000 Custom Software Supplement

Setting Description

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

84

MOP Adjust Increase (MOP Adjust Inc)
Closed: The MOP ratio adjustment is increased. Refer to the descriptions for parameters P2-02 and P2-09 for details.

85

MOP Adjust Decrease (MOP Adjust Dec)
Closed: The MOP ratio adjustment is decreased. Refer to the descriptions for parameters P2-02 and P2-09 for details.

86

MOP Adjust Reset (MOP Adjust Reset)
Closed: The MOP ratio adjustment is reset to zero. Refer to the descriptions for parameters P2-02 and P2-09 for details.

2 Electronic Line Shaft

87

Position Error Reset (Pos Err Reset)
Closed: Position error is reset to zero.
Note: ELS modes only.

88

Position Regulator Integral Reset (Pos Reg I Reset)
Closed: Position regulator integral is reset to zero.
Note: ELS modes only.

Table 10 Multi-Function Output Settings (H2-)

Setting Description

40

Follower Position Deviation
Closed: The position error has exceeded the Follower Deviation Level (P2-06).
Note: ELS modes only.

Table 11 Multi-Function Analog Input Settings (H3-02/H3-06/H3-10)

Setting Description

20

V/f

OLV/PM

OLV/PM

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

Analog Ratio Adjustment
Input value is added to the digital, MOP, and network communication ratio adjustments to form the total
gear ratio adjustment.

V/f w PG

V/f w PG

AOLV/PM

AOLV/PM

OLV

OLV

CLV/PM

CLV/PM

CLVV/f

CLV

Analog Output

Scaling

Full scale:

100.00%

 Troubleshooting

Table 12 Fault Displays, Causes, and Possible Solutions

Digital Operator Display Description

oPE12

PG Opt Card Err

Cause Possible Solution

P1-01 is set to 4 or 5 (ELS modes) and two PG-X3 or
PG-B3 option cards are not installed in the CN5-B
and CN5-C ports.
P1-01 is set to 1, 2, or 3 and a PG-X3 or PG-B3
option card is not installed in the CN5-B port.

YAS KA WA TM.A1000SW.064 Electronic Line Shaft with Alignment A1000 Custom Software Supplement 15

An additional encoder card is required in the appropriate slot(s) for the selected ELS mode
(P1-01) and follower control mode (A1-02).

Install the encoder (PG) option card into the appropriate option card slot(s). Select the
appropriate ELS mode (P1- 01).

2 Electronic Line Shaft

Digital Operator Display Description

oPE21

PG Sel Err

Cause Possible Solution

P1-01 is set to 4, 5 (ELS modes) and master or
follower encoder input is set to single channel (F1-21
or F1-37 are set to 0).
P1-01 is set to 1 and the master encoder input is set to
single channel (F1-37 is set to 0)

Digital Operator Display Description

FdEv

Follower Pos Dev

Cause Possible Solution

Mechanical binding of the follower motor. Confirm the machinery is operating correctly and the follower motor is not binding.
The Follower Deviation Level (P2-06) is too low. Increase the P2-06 setting.
The master encoder is rotating, the follower is
stopped, and the Position Error Accumulation
Selection (P1-09) is set to 1 (error is always
accumulated).
The master input frequency is greater than the
follower maximum frequency (E1-04).

Digital Operator Display Description

PL

Loss of Position

Cause Possible Solution

Mechanical binding of the follower motor. Confirm the machinery is operating correctly and the follower motor is not binding.
The master encoder is rotating, the follower is
stopped, and the Position Error Accumulation
Selection (P1-09) is set to 1 (error is always
accumulated).
The desired follower speed is too high for the PPR of
the installed encoder.

The selected ELS mode (P1-01) requires AB Pulse detection.

Select AB Pulse detection for the appropriate channel(s) (F1-21 or F1-37 is set to 1) or
select the appropriate ELS mode (P1-01).

The position error has exceeded the Follower Deviation Level (P2-06) and the Follower
Deviation Selection (P2-07) is set to 2 (Coast to Stop).

If the application requires that the master encoder rotate while the follower is stopped, set
P1-09 to 0 (position error only during Run).

Set E1-04 to a value that is 10% faster than the maximum master input frequency.

The follower drive has lost its position information due to one of the following conditions:

• The position error has exceeded 268,435,456 counts

• The pulse frequency after the gear ratio is so high that the follower cannot run at this speed
without exceeding the encoder option card hardware limitation (300 kHz).

If the application requires that the master encoder rotate while the follower is stopped, set
P1-09 to 0 (position error only during Run).

Replace the encoder of the follower motor with a lower PPR model.

 Function Description

When parameter P1-01, Follower Mode Selection, is set to 1, 2, or 3 (speed follower mode), the drive will follow the
speed of the master encoder signal. The direction that the drive runs is determined on the Run command direction and the
master encoder direction, similarly to when the drive operates from a bipolar analog frequency reference.

Using the gear ratio parameters P1-03 to P1-06, the drive can be made to run at a ratio of the master speed and the
alternate gear ratio (P1-07 and P1-08) can be selected using the Ratio 2 Select multi-function input (H1-0 = 81). The
basic gear ratio formula is:

Follower Frequency Reference = Master Encoder Frequency Reference x (Numerator / Denominator)

The Master Encoder Frequency Reference formula is:

Figure 3

Master Encoder

Pulse Frequency

Follower Motor

Poles (E2-04)

X

Master Encoder

2

PPR (F1-31)

Figure 3 Master Encoder Frequency Reference Formula

=

Master

Encoder

Frequency

Reference

(U7-02)

16 YA SK AWA TM.A1000SW.064 Electronic Line Shaft with Alignment A1000 Custom Software Supplement

2 Electronic Line Shaft

The formula for the primary gear ratio is:

Figure 4

Master

Encoder
Frequency
Reference

(U7-02)

P1-03

X X X X X X X X

X

X X X X X X X X

P1-04

Figure 4 Primary Gear Ratio Formula

P1-05

P1-06

Follower

Frequency

=

Reference

(U7-03)

The pairs of numerator and denominator parameters are used together to form an 8-digit number divided by an 8-digit
number. Use P1-03/P1-04 for ratios that can be expressed using 4-digit numbers or fewer. Gear ratio 2 can only be
expressed as a 4-digit number divided by a 4-digit number.

The gear ratio required for the application must be able to be exactly expressed (including the complete remainder) by the
formula in Figure 4. If the ratio cannot be exactly expressed, the follower will drift in phase over time. The Simple
Automatic Alignment function can be used to correct for drift over time if alignment sensors such as proximity sensors
from both the master and follower systems are available as digital inputs to the follower drive.

If necessary, the ratio can be further adjusted using the Digital Ratio Adjustment, the Analog Ratio Adjustment (H3-02/
06/10 = 20), the MOP Adjust multi-function inputs (H1-0 = 84 to 86), and the Communication Ratio Adjustment
(register 00DH). These adjustments are summed and then added to 100% to produce the total gear ratio adjustment, which
is multiplied by the incoming master speed reference (after gear ratio calculation).

When parameter P1-01, Follower Mode Selection, is set to 4 or 5 (ELS modes), the drive will track follower position
relative to the master encoder. A PI regulator is applied to the position error. The PI regulator output trims the speed
reference calculated from the master encoder signal, gear ratio parameters, and gear ratio adjustment to synchronize the
position of the follower motor with the position of the master. The Advance Follower (H1-0 = 82) and Retard Follower
(H1-0 = 83) multi-function inputs can also be used to change the position of the follower relative to the master.

When the gear ratio of the drive is changed during run by changing the gear ratio parameters during run or because of a
change of state of the Ratio 2 Select multi-function input, the drive will ramp to the new ratio using Accel/Decel Time 2
(C1-03/C1-04). If an ELS mode is selected, the position error will be held to zero during the ratio change until the drive
re-enters Speed Agree (based on setting of P3-07, Ratio Change Speed Agree Width).

When parameter P1-01, Follower Mode Selection, is set to 4 (standard ELS mode), the follower motor direction is always
the same as the master encoder direction. Forward and reverse Run commands are treated identically. When P1-01 is set
to 5 (Sign Run mode), the drive behaves identically to when P1-01 is set to 4, except that when a reverse Run command is
given it will cause the follower drive to match speed and position in the opposite direction of the master. Tab le 1 3 shows
the direction of the Follower depending on the direction of the Master, P1-01 setting, b1-04 (Reverse Operation Prohibit
Selection) setting, and the Forward Run/Reverse Run digital input signal.

Table 13 Follower Rotation Direction for Various Settings and Master Direction

b1-04

(Reverse

Operation)

b1-04 = 0

Enabled

b1-04 = 1

Enabled

P1-01 = 1

Digital

Input

Signal

FWD FWD REV FWD NONE FWD FWD FWD REV FWD REV

REV REV FWD NONE REV REV REV FWD REV REV FWD

FWD FWD NONE FWD NONE FWD FWD FWD NONE FWD NONE

REV NONE NONE NONE NONE NONE NONE NONE NONE NONE NONE

Speed Follower -

Both Directions

Master:

FWD

Master:

REV

P1-01 = 2

Speed Follower -

Forward Direction
Master:

FWD

Master:

REV

P1-01 = 3

Speed Follower -

Absolute Value

Master:

FWD

Master:

REV

P1-01 = 4

Electronic Line

Shaft

Master:

FWD

Master:

REV

P1-01 = 5

Electronic Line

Shaft -Sign Run

Master:

FWD

Master:

REV

YAS KA WA TM.A1000SW.064 Electronic Line Shaft with Alignment A1000 Custom Software Supplement 17

2 Electronic Line Shaft

In the Standard ELS mode, when an Advance Follower input (H1-0 = 82) is active, the follower drive moves in the
absolute positive direction with respect to the follower and in the absolute negative direction when Retard Follower input
is active.

These functions behave the same way in ELS - Sign Run mode when a forward Run command is given. When a reverse
Run command is given during ELS - Sign Run mode, the Advance Follower input will move the follower drive in the
absolute negative direction while the Retard Follower input will move the follower drive in the absolute positive
direction.

The diagrams below outline the Follower direction and Advance/Retard behavior for P1-04 settings and Forward/Reverse
Run command selections

Figure 5

FWD Run Command REV Run Command

Master Follower Master Follower

FWD FWD

Ret

Adv

P1-01 = 4

REVREV

Ret

Adv

FWD FWD

Ret

Adv

P1-01 = 5

REVREV

Ret

Adv

Figure 5 Follower Direction and Advance/Retard Behavior

FWD

REV

FWD

REV FWD

FWD

Adv

REV

Adv

REV

Adv

Adv

Ret

Ret

Ret

Ret

When the drive is put into LOCAL mode (digital input or keypad button) or when the drive is given a forward or reverse
jog command, the frequency reference switches back to standard frequency reference and uses the selected Accel/Decel
times.

• In ELS mode, the Position P Gain setting (P3-01) is scaled in relation to the drive Max Frequency (E1-04). If the E1-04
setting is changed, the proportional contribution of the position regulator will be influenced. (The integral contribution
is also influenced since it is directly proportional to the proportional contribution).

• The Maximum Output Frequency (E1-04) of the follower drive must be set higher than the maximum input frequency
from the master source for proper position control. As a general rule, set E1-04 in the follower to be 10% (or at least
equal to P3-04 Position PI Limit) greater than the maximum input frequency of the master source. Failure to do so can
result in large continuous amounts of Position Error (U7-08).

• The exact gear ratio (including remainder) must be known and able to be expressed using the gear ratio parameters. Any
error in the gear ratio settings will result in follower motor drift.

18 YA SK AWA TM.A1000SW.064 Electronic Line Shaft with Alignment A1000 Custom Software Supplement

2 Electronic Line Shaft

• P3-06, Speed Proportional Position Trim Lower Limit, Examples. For the following, assume E1-04 is set to 60 Hz and
P3-06 is set to 10.00%:

With Speed Proportional Position Trim disabled, a PI output of 10% adds 60 Hz * 10% = 6 Hz, regardless of the value
of follower reference after gear ratio.

With Speed Proportional Position Trim enabled, and follower reference after gear ratio of 30 Hz, a PI output of 10%
adds 60 Hz * 10% * (30 Hz / 60 Hz) = 3 Hz.

With Speed Proportional Position Trim enabled, for any follower reference below the P3-06 value multiplied by E1-04
(10% * 60 Hz = 6 Hz), the trim amount is limited to P3-06.
In this case, a PI output of 10% adds 60 Hz * 10% * 10% = 0.6 Hz.

YAS KA WA TM.A1000SW.064 Electronic Line Shaft with Alignment A1000 Custom Software Supplement 19

2 Electronic Line Shaft

Master

Encoder

Speed

Master

Encoder

PPR (F1-31)

Master

Encoder

Speed

Reference

Calculation

Gear

Ratio

Calculation

Gear Ratio

Adjustment

Position Error

Calculation

Master Pulse Count

Follower Pulse Count

Primary Ratio

P

1

-03~

P1

-06

Secondary Ratio

P1

-07~P

1

-08

Master Encoder PPR

(F1-31

)

Encoder PPR (

F1-

01

)

Gear Ratio Adjustment

Advance / Retard Multi - function Inputs

Clear Position Error Multi -

function Input

Communication Advance/

Retard Counts

Master

Counts/5

ms

(U7-06)

Follower

Counts

/

5

ms

(U7

-07

)

Master Encoder

Frequency Reference

(U

7

-02

)

Follower Reference

After Gear Ratio

(U

7

-

03)

Ratio 2 S elect

Multi -

function Input

Position PI Regulator

Position P Gain (P

3

-01

)

Position Error

(U7-08)

Position I Time (P3-02)

Position Regulator Filter

Time (

P

3

-

03

)

Position PI Limit

(

P

3

-04)

Position Error

Reset Multi -

function Input

Position Error

Integral Reset

Multi-

function

Input

Position Regulator P Output

(U7

-

09

)

Position Regulator I Output

(

U7-10)

Position

Regulator PI

Output

(U

7

-11)

Speed Proportional Position

Trim Lower Limit

(P3

-

06

)

Position Regulator Trim

Mode

(P

3-05)

01

+

+

Follower Reference After

Gear Ratio Adjustment

(U7

-

05)

Frequency

Reference

Follower Mode

Selection

(

P

1

-

01

)

1

,

2

,

3

4,

5

Simple MFI

Alignment

function.

MFIAlign()

Align

Command

Master

Trigger

Switch

Follower

Trigger

Switch

To: MFI Align

fref bias

From: MFI Align

fref bias

+

Follower

Encoder

PPR (F1-01)

 Block Diagram

Figure 6

20 YA SK AWA TM.A1000SW.064 Electronic Line Shaft with Alignment A1000 Custom Software Supplement

Figure 6 Software Overview Diagram

3 Simple Automation Alignment

3 Simple Automation Alignment

 Basic Concepts and Principles

This software adds an automatic alignment feature to the base electronic line shaft software by using two proximity
switches connected to the trigger inputs on the follower drive. One switch indicates the position of the master, and the
other switch indicates the position of the follower. When the alignment feature is activated and the machine is running,
the distance between the trigger switches is measured and then compensated for.

Figure 7

Gear

Follower

Box

d

e

n

g

li

A

Follower Trigger Switch

Motor

Master Trigger Switch

Master

Motor

Master Motor

Master Encoder

PG-X3

A1000

Follower Encoder

Follower Motor

PG-X3

PG-X3

A1000

Figure 7 Simple Automation Alignment Diagram

 Limitations

• Alignment accuracy is decreased at higher speeds due to latency in the trigger switches and the drive digital inputs and
internal scan rate.

• If the “Clear Position Error” digital input is activated when an alignment is being performed, the drive may experience
a step-change in frequency reference.

• The LED keypad is not officially supported because some alarms and faults may not display properly on the LED
keypad.

YAS KA WA TM.A1000SW.064 Electronic Line Shaft with Alignment A1000 Custom Software Supplement 21

3 Simple Automation Alignment

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

 Related Parameters and Functions

Tab le 1 lists terms and symbols used in this section to indicate which parameters are available in which control modes.

The parameters in the tables below are used to set up the drive for operation with the software.

Table 14 Additional Parameters

No.

(Addr.

Hex)

P4-01

(61E)

P4-02

(620)

P4-03

(621)

(Digital Operator Display)

Name

Alignment Select
(Alignment Sel)

Alignment Trim Rate
(Align Trim Rate)

Alignment Offset
(Align Offset)

Description Values

Selects the follower mode.
Enables and disables the alignment feature.
0: Alignment Disabl (Alignment Disabled)
1: Manual Align
2: Auto Align at St (Auto Align at Start)
3: Continuous Align
4: Window Align

Sets the amount of speed added to or subtracted from the follower drive during
an alignment procedure.

Sets an offset value to correct for the physical misalignment of the trigger inputs
in terms of follower revolutions. A positive offset value signifies that the
follower signal is expected before the master (assuming standard settings and
forward Run command), while a negative offset value signifies that the master
signal is expected before the follower signal.

Default: 0
Range: 0 to 4

Default: 6.0 Hz
Min: 0.1
Max.: 30.0

Default: 0.00 rev
Min: -99.99
Max.: 99.99

P4-04

(622)

P4-05

(623)

P4-06

(624)

Alignment Check
(Alignment Check)

Trigger Switch Type
(Trigger Sw Type)

Align Fault Select
(Align Fault Sel)

Used with a digital output to detect if the master and the follower trigger pulses
are within a preset window of follower counts.
When the number of follower quadrature encoder counts between the two
trigger inputs is less than this value, the “In Alignment” digital output will
activate. (H2-0 = 42).

Sets the normal (not activated) state of the Master and Follower trigger
switches.
0: Both NO
1: Mstr NO Folwr NC
2: Mstr NC Folwr NO
3: Both NC

Sets the reaction of the drive when the distance (follower motor revolutions)
between the two trigger inputs exceeds the P4-07 setting.
0: Disabled
1: Ignore First Trg (Ignore First Trigger)
2: Fault

Default: 100 cnts
Min: 0
Max.: 65535

Default: 0
Range: 0 to 3

Default: 0
Range: 0 to 2

22 YA SK AWA TM.A1000SW.064 Electronic Line Shaft with Alignment A1000 Custom Software Supplement

3 Simple Automation Alignment

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

No.

(Addr.

Hex)

P4-07

(625)

P4-08

(626)

P4-09

(627)

P4-10

(628)

(Digital Operator Display)

Name

Maximum Alignment Distance
(Max Align Dist)

Maximum Alignment Speed
(Max Align Speed)

Align Trigger Window
(Align Trg Window)

Align Trigger Count
(Align Trig Count)

Description Va lues

Sets the maximum number of follower motor revolutions between the trigger
inputs before an Alignment Fault will occur (P4-06).

Sets the maximum follower speed allowed for an alignment to occur to prevent
alignment at high speeds where accuracy is diminished.
A setting of 0.0 Hz disables this function.

Sets the maximum amount of alignment error allowed before the Window
Counts increment (in follower revolutions).
During an alignment check, if P4-09 is exceeded, the U7-13 Window Counts
monitor is incremented. If the alignment error is equal to or less than the value
set to P4-09, the U7-13 Window Counts monitor is decremented.
Note: This parameter is only used when P4-01 is set to 4.

Sets the number of Window Counts (monitor U7-13) required to trigger an
alignment.
Note: This parameter is only used when P4-01 is set to 4.

Default: 1000 rev
Min: 1
Max.: 5000

Default: 0.0 Hz
Min: 0.0
Max.: 400.0

Default: 2.00 rev
Min: 0.00
Max.: 100.00

Default: 3 cnts
Min: 1
Max.: 100

P4-11

(629)

Repeat Trigger Select
(Repeat Trig Sel)

Function No.

P4

Monitor Group

U7

Selects the method for handling triggers.
0: Last Trigger. If consecutive master triggers (or follower triggers) occur
before a corresponding follower trigger (or master trigger) occurs, the last
master trigger (or follower trigger) is used for alignment.
1: First Trigger. If consecutive master triggers (or follower triggers) occur
before a corresponding follower trigger (or master trigger) occurs, the first
master trigger (or follower trigger) is used for alignment. This option is
identical to F7 functionality.

Table 15 Function Text

Function Name

(Digital Operator Display)

Alignment Configuration

(Alignment)

Table 16 Monitor Group Text

Monitor Name

(Digital Operator Display)

Coordinated Motor

(CoordinatedMotor)

Contains all monitors related to Coordinated Motor
functionality.

Description

Default: 0
Range: 0, 1

YAS KA WA TM.A1000SW.064 Electronic Line Shaft with Alignment A1000 Custom Software Supplement 23

3 Simple Automation Alignment

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

Table 17 Monitors

No.

(Addr.

Hex)

U7-12

(66C)

Monitor Name

(Digital Operator

Display)

Alignment Error
Alignment Error

Description

Displays the Alignment Error seen during the last Alignment Check in
follower revolutions. During default conditions with a forward Run
command, a positive Alignment Error means that the master is too far ahead
of the follower.

U7-13
(66D)

Alignment Window
Counts
Window Counts

Displays the current count of Alignment Checks that have been outside of
the P4-09 alignment window when P4-01 is set to 4.
This monitor resets and an alignment is performed when this count is
reaches the value of P4-10.

Table 18 Multi-Function Output Settings (H1-)

Setting Description

89

Follower Trigger (Follower Trigger)
This input is connected to a switch that detects the position of the follower machine. Configurable using parameter P4-05.

Analog Output

Scaling

Full scale:

Counts/5 ms at

Maximum Output

Frequency (E1-04)

n/a n/a

Unit

revs

8A

Master Trigger (Master Trigger)
This input is connected to a switch that detects the position of the master machine. Configurable using parameter P4-05.

Align Fol Cmd (Align Fol Cmd)

8B

Align Follower Command
Commands the align function to begin when parameter P4-01=1 or 2. This input is edge triggered (open to closed transition).
When P4-01=3 or 4 and a digital input is programmed to this setting, it acts as an enable/disable for the alignment function
(open = disabled, closed = enabled). When opened alignment will still be measured and displayed in monitor U7-12 but the
drive will not attempt to correct the alignment.
When P4-01=3 or 4 and no digital input is programmed to this setting, alignment is always enabled.

Table 19 Multi-Function Output Settings (H2-)

Setting Description

Align Complete
Closed after a successful alignment operation completes.

41

Open after:

• The first trigger has been received and the accumulated distance exceeds the sum of P4-03 and P4-04.

• The follower is stopped, faulted, or an electronic line shaft position error is cleared or disabled.

• An advance/retard command is given.

• The next Align Follower Command digital input is given when P4-01 is set to 1 or 2.

• The next Master Trigger or Follower Trigger digital input occurs when P4-01 is set to 3 or 4.

24 YA SK AWA TM.A1000SW.064 Electronic Line Shaft with Alignment A1000 Custom Software Supplement

3 Simple Automation Alignment

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

Setting Description

In Alignment

42

Closed after both trigger inputs are received and the distance between them is shorter than the P4-04 value.
Open after:

• The first trigger has been received and the accumulated distance exceeds the sum of P4-03 and P4-04.

• The follower is stopped, faulted, or an electronic line shaft position error is cleared or disabled.

• An advance/retard command is given.

 Troubleshooting

Table 20 Fault Displays, Causes, and Possible Solutions

Digital Operator Display Description

Too much distance (follower motor revolutions) was counted between the two trigger inputs

AF

Alignment Fault

Cause Possible Solution

The distance between the master and the follower
exceeded the allowable amount (P4-07).
Malfunctioning or miswired trigger switches. Check the trigger switches for proper wiring and operation.

during an alignment routine.
The distance measured between the two trigger pulses (during alignment) or the entire
alignment error (including offset and position error) has exceeded 21,474,836 encoder
counts. (Regardless of the P4-07 setting).

Check the machine integrity.

 Function Descriptions

 Alignment Enable

To enable the alignment function, it is necessary to program the master and the follower trigger multi-function digital
input functions into the H1-

 parameters and set parameter P4-01, Alignment Select, to a non-zero value.

The alignment function will NOT operate under the following conditions:

• Drive is faulted

• Drive is not running

• Follower is ramping between forward and reverse Run commands

• Electronic Line Shaft is disabled via multi-function input (H1-

 = 80)

• Electronic Line Shaft is disabled via parameter setting (P1-01 is set to 1, 2, or 3)

• Drive is in LOCAL mode

• A “Jog” is being commanded of the follower drive

• Drive is ramping to speed due to a gear ratio change or Line Shaft being re-enabled

• Position error is being cleared via multi-function input (H1-

 = 87).

 Alignment Select

Parameter P4-01, Alignment Select, enables and disables the alignment feature. When P4-01 is set to 0, the drive will not
perform an alignment and the two digital outputs associated with alignment (H2-0
energized.

• When P4-01 is set to 0 - Disabled. The drive will not perform an alignment.

• When P4-01 is set to 1 - Manual Align. The drive must see the rising edge of the align command (H1­the alignment process. The drive will not attempt another alignment until there is another rising edge on the align
command.

• When P4-01 is set to 2 - Auto Align at Start. The drive will immediately begin the alignment process when the Run
command is applied. The drive will not attempt another alignment until there is another rising edge on the align
command.

 = 41 and H2-0 = 42) are de-

 = 8B) to start

YAS KA WA TM.A1000SW.064 Electronic Line Shaft with Alignment A1000 Custom Software Supplement 25

3 Simple Automation Alignment

• When P4-01 is set to 3 - Continuous Alignment. The drive will immediately begin the alignment process when the Run
command is applied. When two valid trigger inputs are received, the drive automatically re-starts the alignment process.
Trigger pulses will be ignored if the drive has not completed the previous alignment.

• When P4-01 is set to 4 - Window Alignment. The drive will perform an alignment at start and measure alignment
during subsequent trigger pulses. When the alignment is off by more than the P4-09 setting, the U7-13 count will
increment. When the alignment is within the P4-09 setting, the U7-13 count will decrement. Alignment is also
performed when the U7-13 count is equal to P4-10, at which time U7-13 is reset to zero.

 Alignment Process

The alignment function aligns the follower to the master using fixed trigger positions. This process does not control the
master drive; all corrections are made by the follower drive. The amount of the correction is controlled by the quadrature
counts accumulated from the time when the first or leading trigger starts the process and continues until the trailing
trigger stops it and the speed of the correction is controlled by parameter P4-02, Alignment Trim Rate.

The correction is made when the trailing trigger input becomes active. The rate at which the drive accelerates or
decelerates during the alignment procedure is fixed. For a 1024 PPR encoder, the ramp rate will be approximately 20Hz/
1 sec. The alignment process is intended to be performed at low speeds, but will function as long as the triggers provide at
least a 15 millisecond signal so the follower drive can see the trigger inputs.

Note: If consecutive master triggers occur before a follower trigger occurs, the first master trigger will be used

and subsequent master triggers will be ignored. If consecutive follower triggers occur before a master
trigger occurs, the first follower trigger will be used and subsequent master triggers will be ignored.

Maximum alignment speed: If an alignment is in process and the follower needs to run faster to catch up to the master, it
will only be allowed to compensate at a rate of up to 95% of the follower’s maximum frequency setting. If the follower is
already running at or above the 95% speed level, the alignment function will not complete.

Minimum alignment speed: If an alignment is in process, and the follower needs to slow down in order for the master to
catch up, the follower drive could run in reverse. If reverse on the follower is disabled (b1-04 = 1), the follower drive will
only be allowed to run at a minimum of zero speed (no reverse).

 Alignment Fault Select

When parameter P4-06 is set to 0, “Disabled”, there is no settable limit to the number of follower motor revolutions that
can elapse between master and follower trigger inputs.

Note: To prevent internal overflow, the maximum number of encoder counts allowed between the two trigger

inputs is 268,435,456. (65,536 motor revolutions with a 1024 PPR encoder).

When parameter P4-06 is set to 1, “Ignore 1st Pulse”, it will disregard the first trigger input (regardless of master or
follower) when the P4-07 distance (either direction) has elapsed.

If the align command is asserted between the time that the master and follower trigger inputs are read and the P4-07
distance elapses, the drive will disregard the first input and wait for two valid trigger inputs. When using this mode, it is
useful to program the P4-07 distance to between 50% and 90% of the total trigger-to-trigger distance.

When parameter P4-06 is set to 2, “Fault”, the drive will fault out on an “AF - Alignment Fault” and coast to stop when
the number of P4-07 revolutions have passed after the first trigger input (regardless of master or follower). When this
mode is used, it is useful to set P4-07 to a value greater than the normal trigger-to-trigger distance.

 Align Complete / In Alignment Multi-function Digital Outputs

The “Align Complete” digital output (H2-0 = 41) will close when a successful align procedure has been completed. The
Align Complete digital output will de-energize after detecting the rising edge of an Align Follower Command. If the drive
is set to reset position error at stop (P1-09 = 0), the Align Complete digital output will also de-energize when the Run
command is removed or if electronic line shaft is disabled (H1­at all times (P1-09 = 1), the Align Complete will de-energize only if electronic line shaft is disabled or another align
command is received.

26 YA SK AWA TM.A1000SW.064 Electronic Line Shaft with Alignment A1000 Custom Software Supplement

 = 80). If the drive is set to accumulate position error

3 Simple Automation Alignment

Master Run Input

Follower R un Input

Align Input

Master Trig Input

Follower Trig Input

Master Motor Speed

Follower Motor Speed

Align Complete Output

In Alignment Output

Align Trim Rate (P 4-02)

Master Run Input

Follower R un Input

Align Input

Master Trig Input

Follower Trig Input

Master Motor Speed

Follower Motor Speed

Align Complete Output

In Alignment Output

Align Trim Rate (P4-02)

The “In Alignment” digital output (H2-0 = 42) indicates whether the trigger inputs are activated within a settable
quadrature encoder count range. The In Alignment output energizes when the triggers are within the P4-07 setting and
will de-energize when the P4-07 setting is exceeded. This output will only change state after the trailing trigger has
activated.

 Position Error Clear

A condition is added to this software that will clear the position error. When parameter P1-09 is set to 0 and High Slip
Braking is activated, the position error will be cleared.

 Diagrams

Figure 8

Figure 9

Note: The “Align Input” is edge triggered. It does not matter whether the input is maintained or momentary.

Figure 8 Forward Run - Alignment - Master before Follower

Figure 9 Forward Run - Alignment - Follower before Master

YAS KA WA TM.A1000SW.064 Electronic Line Shaft with Alignment A1000 Custom Software Supplement 27

3 Simple Automation Alignment

A

Master Run Input

Follower Run Input

Align Input

Master Trig Input

Follower Trig Input

Master Motor Speed

Follower Motor Speed

Align Complete Output

In Alignment Output

Align Trim Rate (P4-02)

Follower Run Input

Master Trig Input

Follower T rig Input

In Alignment Digital Output

P4-03

P4-04

P4-03

P4-04

P4-03

P4-04

P4-03

P4-04

Figure 10

Master Run Input

Follower Run Input

Align Input

Master Trig Input

Follower Trig Input

Master Motor Speed

Follower Motor Speed

lign Complete Output

In Alignment Output

Figure 10 Reverse Run - Alignment - Master before Follower

Figure11

Align Trim Rate (P4-02)

Figure 11 Reverse Run - Alignment - Follower before Master

Note: The “Align Input” is edge triggered. It does not matter whether the input is maintained or momentary.

Figure 12

Follower R un Input

P4-04 P4-04 P4-04 P4-04 P4-04

Master Trig Input

Follower T rig Input

In Alignment Digital Output

Figure 12 In Alignment (Digital Output) Function, No Offset (P4-03 = 0.00 revs) (P4-04 = 4096 cnts)

Figure 13

Figure 13 In Alignment (Digital Output) Function, with Offset (P4-03 = +3.00 revs) (P4-04 = 4096 cnts)

28 YA SK AWA TM.A1000SW.064 Electronic Line Shaft with Alignment A1000 Custom Software Supplement

Figure 14

Master Run Input

Follower Run Input

Align Input

Master T rig Input

Follower Trig Input

Master Motor S peed

Follower Motor Speed

Align Complete Output

Align Trim Rate (P4-02)

P4-07

Max Align Dist

Follower slows down for a long period

while the master catches up.

Master Run Input

Follower Run Input

Align Input

Master T rig Input

Follower Trig Input

Master Motor S peed

Follower Motor Speed

Align Complete Output

Align Trim Rate (P4-02)

P4-07

Max Align Dist

The first follower trigger pulse is

ignored after the P4-07 distance has

elapsed.

Master Run Input

Follower Run Input

Align Input

Master T rig Input

Follower Trig Input

Master Motor S peed

Follower Motor Speed

Align Complete Output

P4-07

Max Align Dist

Coast

To

Stop

Drive faults once the distance set into

P4-07 as passed.

Figure 15

3 Simple Automation Alignment

Figure 14 Alignment Fault Select = Disabled (P4-06 = 0)

Figure 16

YAS KA WA TM.A1000SW.064 Electronic Line Shaft with Alignment A1000 Custom Software Supplement 29

Figure 15 Alignment Fault Select = Ignore 1st Pulse (P4-06 = 1)

Figure 16 Alignment Fault Select = Fault (P4-06 = 2)

3 Simple Automation Alignment

A

Master Run Input

Follower Run Input

Align Input

Master Trig Input

Follower Trig Input

Master Motor Speed

Follower Motor Speed

Align Complete Output

In Alignment Output

Align Trim Rate (P4-02)

Master Run Input

Follower Run Input

Align Input

Master Trig Input

Follower Trig Input

Master Motor Speed

Follower Motor Speed

Align Complete Output

In Alignment Output

Align Trim Rate (P4-02)

Figure 17

Master Run Input

Follower Run Input

Align Input

Master Trig Input

Follower Trig Input

Master Motor Speed

(P4-02)

Follower Motor Speed

lign Complete Output

Figure 18

(P4-02)

Figure 17 Continuous Alignment (P4-01 = 3)

(P4-02)

Figure 19

Figure 18 Normally Open Trigger Inputs (P4-05 = 0)

Figure 19 Normally Closed Trigger Inputs (P4-05 = 3)

30 YA SK AWA TM.A1000SW.064 Electronic Line Shaft with Alignment A1000 Custom Software Supplement

Figure 20

Master Trig Input

Follower Trig Input

P4-09

Align Trigger

Window

Alignment Window

Counts (U7-13)

0

P4-09

Align Trigger

Window

P4-09

Align Trigger

Window

P4-09

Align Trigger

Window

P4-09

Align Trigger

Window

Align Trigger Count

(P4-10) = 3

1

2

3

Alignment is not performed because U7-13 never reaches P4-10

Master Trig Input

Follower Trig Input

P4-09

Align Trigger

Window

0

P4-09

Align Trigger

Window

Align Trigger Count

(P4-10) = 3

1

2

3

Alignment is performed

P4-09

Align Trigger

Window

Alignment Window

Counts (U7-13)

F

i

r

s

t

T

r

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g

e

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S

e

c

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T

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e

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A

l

i

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m

e

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O

c

c

u

r

s

L

a

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T

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i

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e

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F

i

r

s

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T

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S

e

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A

l

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O

c

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L

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i

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F

i

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T

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i

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g

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S

e

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o

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T

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i

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A

l

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e

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O

c

c

u

r

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L

a

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T

r

i

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e

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F

i

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T

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i

g

g

e

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S

e

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o

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d

T

r

i

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A

l

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O

c

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u

r

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L

a

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i

g

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e

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F

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T

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i

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L

a

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F

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Figure 21

3 Simple Automation Alignment

Figure 20 P4-01 = 4, Window Alignment Mode

Figure 21 Last and First Triggers

YAS KA WA TM.A1000SW.064 Electronic Line Shaft with Alignment A1000 Custom Software Supplement 31

3 Simple Automation Alignment

Forward

Forward

Forward

Forward

Follower

T rigger

Switch

Master
Trigger

Switch

P4-03 Align Offset

+3. 00 r ev

Flags

Master Conveyor Belt

Follower Conveyor Belt

Figure 22

Figure 22 Two Aligned Conveyor Belts with Different Trigger Switch Positioning Corrected with Parameter P4-03

32 YA SK AWA TM.A1000SW.064 Electronic Line Shaft with Alignment A1000 Custom Software Supplement

4 Comprehensive Parameter List

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

 F1: PG Speed Control Card

4 Comprehensive Parameter List

No.

(Addr.

Hex)

F1-01

(380)

F1-02

(381)

F1-05

(384)

F1-14
(38D)

(Digital Operator Display)

Name

PG1 Pulses per Revolution
(PG Pulses/Rev)

Operation Selection at PG Open
Circuit (PGo)
(PG Fdbk Loss Sel)

PG 1 Rotation Selection
(PG1 Rotation Sel)

PG Open-Circuit Detection Time
(PGO Detect Time)

Description Va lues

Sets the number of pulses for a PG option card connected to port CN5-C.

Sets the operation when a PGo is detected on a PG option card connected to port
CN5-C.
0: Ramp to Stop
1: Coast to Stop
2: Fast Stop
3: Alarm Only
4: No Alarm Display

Sets the direction of forward travel for the PG card installed in CN5-C.
0: Pulse A Leads
1: Pulse B Leads

Sets the amount of time required to trigger a PG Open fault (PGo).

Default: 1024 ppr
Min: 1
Max.: 60000

Default: 1
Range: 0 to 4

Default: 0
Range: 0, 1

Default: 2.0 s
Min: 0.0
Max.: 10.0

F1-21

(3BC)

F1-31
(3B0)

F1-32
(3B1)

F1-36
(3B5)

PG 1 Signal Selection
(PG1 Signal Sel)

PG 2 Pulses per Revolution
(PG Pulses/Rev 2)

PG 2 Rotation Selection
(PG Rotation Sel2)

PG Option Card Disconnect
Detection 2
(Hardware PGO Ch2)

Selects single-channel/quadrature detection mode for the PG option card 1.
0: A Pulse Detection
1: AB Pulse Detection

Sets the number of pulses for a PG option card connected to port CN5-B.

Sets the direction of forward travel for a PG option card installed in port CN5­B.
0: Pulse A Leads
1: Pulse B Leads

Determines whether the drive detects a fault when a PGo is detected on a PG
option card installed in port CN5-B.
0: Disabled
1: Enabled

Default: 1
Range: 0, 1

Default: 1024 ppr
Min: 1
Max.: 60000

Default: 0
Range: 0, 1

Default: 1
Range: 0, 1

YAS KA WA TM.A1000SW.064 Electronic Line Shaft with Alignment A1000 Custom Software Supplement 33

4 Comprehensive Parameter List

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

No.

(Addr.

Hex)

F1-37

(3BD)

(Digital Operator Display)

PG 2 Signal Selection
(PG2 Signal Sel)

Name

Selects single-channel/quadrature detection mode for the PG option card 2
installed in port CN5-B.
0: A Pulse Detection
1: AB Pulse Detection

 H1: Multi-Function Digital Input Settings

Setting Description

80

81

Follower Disable
Closed: Follower mode (P1-01) is disabled and the follower drive will follow the normal frequency reference (based on b1-01
setting) and use the selected Accel/Decel times.
Note: ELS modes only.

Ratio 2 Select
Closed: Gear Ratio 2 (P1-07 and P1-08) is selected. When in ELS mode (P1-01 is set to 4 or 5), the follower drive will clear its
position error and follow the C1-03 and C1-04 Accel/Decel times to ramp to the new ratio. Upon reaching speed agree, the
position loop will re-enable.

Description Values

Default: 1
Range: 0, 1

82

83

84

85

86

Advance Follower
Closed: Follower position is advanced relative to the master encoder. No position error is accumulated. Refer to the
descriptions for parameters P2-04 and P2-05 for details.
Note: ELS modes only.

Retard Follower
Closed: Follower position is retarded relative to the master encoder. No position error is accumulated. Refer to the de scrip to
ins for parameters P2-04 and P2-05 for details.
Note: ELS modes only.

MOP Adjust Increase (MOP Adjust Inc)
Closed: The MOP ratio adjustment is increased. Refer to the descriptions for parameters P2-02 and P2-09 for details.

MOP Adjust Decrease (MOP Adjust Dec)
Closed: The MOP ratio adjustment is decreased. Refer to the descriptions for parameters P2-02 and P2-09 for details.

MOP Adjust Reset (MOP Adjust Reset)
Closed: The MOP ratio adjustment is reset to zero. Refer to the descriptions for parameters P2-02 and P2-09 for details.

34 YA SK AWA TM.A1000SW.064 Electronic Line Shaft with Alignment A1000 Custom Software Supplement

Setting Description

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

4 Comprehensive Parameter List

87

88

89

8A

8B

Position Error Reset (Pos Err Reset)
Closed: Position error is reset to zero.
Note: ELS modes only.

Position Regulator Integral Reset (Pos Reg I Reset)
Closed: Position regulator integral is reset to zero.
Note: ELS modes only.

Follower Trigger (Follower Trigger)
This input is connected to a switch that detects the position of the follower machine. Configurable using parameter P4-05.

Master Trigger (Master Trigger)
This input is connected to a switch that detects the position of the master machine. Configurable using parameter P4-05.

Advance Follower
Closed: Follower position is advanced relative to the master encoder. No position error is accumulated. Refer to the
descriptions for parameters P2-04 and P2-05 for details.
Note: ELS modes only.

 H2: Multi-Function Digital Output Settings

Setting Description

40

41

42

Follower Position Deviation
Closed: The position error has exceeded the Follower Deviation Level (P2-06).
Note: ELS modes only.

Align Complete
Closed after a successful alignment operation completes.
Open after:
The first trigger has been received and the accumulated distance exceeds the sum of P4-03 and P4-04.
The follower is stopped, faulted, or an electronic line shaft position error is cleared or disabled.
An advance/retard command is given.
The next Align Follower Command digital input is given when P4-01 is set to 1 or 2.
The next Master Trigger or Follower Trigger digital input occurs when P4-01 is set to 3 or 4.

In Alignment
Closed after both trigger inputs are received and the distance between them is shorter than the P4-04 value.
Open after:
The first trigger has been received and the accumulated distance exceeds the sum of P4-03 and P4-04.
The follower is stopped, faulted, or an electronic line shaft position error is cleared or disabled.
An advance/retard command is given.

YAS KA WA TM.A1000SW.064 Electronic Line Shaft with Alignment A1000 Custom Software Supplement 35

4 Comprehensive Parameter List

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

 H3: Multi-Function Analog Input Settings (H3-02/H3-06/H3-10)

Setting Description

20

Analog Ratio Adjustment
Input value is added to the digital, MOP, and network communication ratio adjustments to form the total
gear ratio adjustment.

 P1: Follower Configuration

No.

(Addr.

Hex)

P1-01

(600)

(Digital Operator Display)

Follower Mode Selection
(Follower Mode)

P1-02 Replaced by F1-31

P1-03

(602)

Ratio Numerator (Upper 4
Digits)
(Ratio Num High)

P1-04

(603)

Ratio Denominator (Upper 4
Digits)
(Ratio Den High)

P1-05

(604)

Ratio Numerator (Lower 4
Digits)
(Ratio Num Low)

P1-06

(605)

Ratio Denominator (Lower 4
Digits)
(Ratio Den Low)

Name

Selects the follower mode.
0: Disabled. Follower mode is disabled and the follower drive runs from the
normal frequency reference (b1-01).
1: Speed - Both Dir. The follower drive follows the master encoder speed in
both direction (follower Run command direction has no effect).
2: Speed - Fwd Dir. The follower drive follows the master encoder speed only
when the master is running in the forward direction. Follower direction is
determined by follower Run command direction.
3: Speed Abs Val. The follower drive follows the master encoder speed but
ignores the master encoder direction (motion is always in the direction of the
follower Run command).
4: Elec Line Shaft. The follower drive follows the master encoder speed and
position (both directions). A reverse Run command is treated as a forward
Run command; there is no directional effect.
5: ELS - Sign Run. The follower drive follows the master encoder speed and
position (both directions). When a forward Run command is present the drive
follows the master in the same direction. When a reverse Run command is
present the drive follows in the opposite direction of the master.

Sets the upper four digits of the primary gear ratio numerator.

Sets the upper four digits of the primary gear ratio denominator.

Sets the lower four digits of the primary gear ratio numerator.

Sets the lower four digits of the primary gear ratio denominator.

Analog Output

Scaling

Full scale:

100.00%

Description Values

Default: 0
Range: 0 to 5

Default: 1000
Min: 0
Max.: 9999

Default: 1000
Min: 0
Max.: 9999

Default: 0
Min: 0
Max.: 9999

Default: 0
Min: 0
Max.: 9999

P1-07

(606)

Ratio 2 Numerator
(Ratio 2 Num)

Sets the numerator of the secondary gear ratio. Active when a multi-function

Default: 1
Min: 1
Max.: 65535

digital input is set to 81 (Ratio 2 Select) and the input is closed.

36 YA SK AWA TM.A1000SW.064 Electronic Line Shaft with Alignment A1000 Custom Software Supplement

4 Comprehensive Parameter List

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

No.

(Addr.

Hex)

P1-08

(607)

P1-09

(608)

P1-10

(609)

(Digital Operator Display)

Name

Ratio 2 Denominator
(Ratio 2 Den)

Position Error Accumulation
Selection
(Pos Accum Select)

Position Units Selection
(Position Units)

Description Va lues

Sets the numerator of the secondary gear ratio. Active when a multi-function
digital input is set to 81 (Ratio 2 Select) and the input is closed.

Selects when the position error accumulator is enabled in the follower drive.
0: Only During Run. Position error is only calculated when the follower drive is
running (not during High-Slip Braking).
1: Always. Position error is calculated whenever power is applied to the drive.
Note: ELS modes only.

Selects the units used for the follower drive Position Error Monitor (U7-08).
0: Encoder Counts. Position error is displayed in quadrature follower encoder
counts (cnts).
1: Motor Revs. Position error is displayed in follower motor revolutions (0.001
rev).
2: Motor Degrees. Position error is displayed in follower motor degrees (0.1
degree).
3: Motor Radians. Position error is displayed in follower motor radians (0.001
rad).
Note: ELS modes only.

Default: 1
Min: 1
Max.: 65535

Default: 0
Range: 0, 1

Default: 0
Range: 0 to 3

 P2: Follower Motor Tuning

No.

(Addr.

Hex)

P2-01
(60A)

P2-02
(60B)

P2-03
(60C)

(Digital Operator Display)

Digital Ratio Adjustment
(Digital RatioAdj)

MOP Adjust Time
(MOP Adjust Time)

Gear Ratio Adjustment Ramp
Time
(Ratio Adj Ramp)

Name

Sets the digital gear ratio adjustment of the follower drive. The gear ratio
adjustment is also influenced by the analog, MOP, and communication gear
ratio adjustments.

Sets the time for the MOP ratio adjustment to change by 100.00% when the
MOP Adjust Increase or MOP Adjust Decrease multi-function input is closed.

Sets the time for the composite gear ratio adjustment of the follower drive to
change by 100.00%.

Description Va lues

Default: 0.00%
Min: -99.99
Max.: 65535

Default: 50.0 s
Min: 0.0
Max.: 6000.0

Default: 10.0 s
Min: 0.0
Max.: 6000.0

YAS KA WA TM.A1000SW.064 Electronic Line Shaft with Alignment A1000 Custom Software Supplement 37

4 Comprehensive Parameter List

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

No.

(Addr.

Hex)

P2-04
(60D)

P2-05

(60E)

P2-06

(60E)

(Digital Operator Display)

Name

Advance/Retard Mode Selection
(Adv/Ret Mode Sel)

Advance/Retard Amount
(Adv/Ret Amount)

Follower Deviation Level
(Follower Dev Lvl)

Description Values

Selects the advance/retard functionality of the follower drive.
0: Continuous. The follower will advance or retard continuously while the
Advance Follower or Retard Follower multi-function input is closed. Parameter
P2-05 sets the amount of advance/retard encoder counts per second.
1: Step. The follower will advance or retard by the amount set in parameter
P2-05 each time the Advance Follower or Retard Follower multi-function input
is closed.
Note: ELS modes only.

Sets the number of quadrature follower encoder counts the follower will
advance or retard per second when parameter P2-04 is set to 0.
Sets the step amount of the advance/retard function when P2-04 is set to 1.
Note: ELS modes only.

Sets the amount of position error in quadrature follower encoder counts that will
activate the follower deviation detection.
Note: ELS modes only.

Default: 0
Range: 0, 1

Default: 2048 cnts
Min: 0
Max.: 65535

Default: 4096 cnts
Min: 0
Max.: 65535

Selects the follower drive action when the position error exceeds the P2-06

P2-07

(610)

Follower Deviation Selection
(Follower Dev Sel)

setting.
0: No Detection. The drive continues to run.
1: Alarm Only. The drive continues to run and an FdEv alarm flashes on the
digital operator.
2: Coast to Stop (Fault). The FdEv fault is displayed, the drive contact is
activated, and the motor coasts to stop.

P2-08 No longer required

P2-09

(612)

MOP Adjustment Memorization
at Power Off
(MOP mem @ Pwr Off)

Selects whether the MOP gear adjustment is memorized when the drive loses
power.
0: Disabled. MOP adjustment is not memorized at power down.
1: Enabled. MOP adjustment is memorized at power down.

 P3: Position Regulator Tuning

No.

(Addr.

Hex)

P3-01

(614)

(Digital Operator Display)

Position P Gain
(Position P Gain)

Name

Sets the proportional gain of the position regulator PI loop.
Note: ELS modes only.

Default: 2
Range: 0 to 2

Default: 0
Range: 0, 1

Description Values

Default: 5.00
Min: 0.00
Max.: 100.00

P3-02

(615)

Position I Time
(Position I Time)

Sets the integral time of the position regulator PI loop.

Default: 0.00 s
Min: 0.00
Max.: 50.00

Note: ELS modes only.

38 YA SK AWA TM.A1000SW.064 Electronic Line Shaft with Alignment A1000 Custom Software Supplement

4 Comprehensive Parameter List

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

No.

(Addr.

Hex)

P3-03

(616)

P3-04

(617)

P3-05

(618)

P3-06

(619)

(Digital Operator Display)

Name

Position Regulator Filter Time
(Pos Filter Time)

Position PI Limit
(Pos PI Limit)

Position Regulator Trim Mode
(Pos Trim Mode)

Speed Proportional Position Trim
Lower Limit
(SpdProp LowerLim)

Description Va lues

Sets the filter time of the position regulator output. This is a first order lag filter.
Note: ELS modes only.

Sets the limit (+/-) of the position regulator output as a percentage of the
maximum output frequency (E1-04).
Note: ELS modes only.

Selects how the position regulator output is used to trim the follower drive
speed reference (master encoder frequency).
0: Constant. The position regulator output is independent of the master encoder
speed reference.
1: Speed Prop. The position regulator output is proportional to the master
encoder speed reference.
Note: ELS modes only.

Sets the lower limit of the position regulator trim when P3-05 is set to 1.
Set in terms of percentage of follower reference after gear ratio adjustment.

Refer to Function Description on page 16 for examples of how this factors into

calculations.

Default: 0.00 s
Min: 0.00
Max.: 1.50

Default: 8.00%
Min: 0.00
Max.: 10.00

Default: 0
Range: 0, 1

Default: 10.00%
Min: 0.00
Max.: 100.00

P3-07
(61A)

Ratio Change Speed Agree
Width
(RatioChg SpdAgrF)

Sets the frequency width used to determine “Speed Agree” when the drive is
accelerating or decelerating due to one of the following factors:
Gear ratio change
Change in state of the Follower Disable multi-function input
Change in the state of the Run command.

 P4: Alignment Configuration

No.

(Addr.

Hex)

P4-01
(61E)

P4-02

(620)

(Digital Operator Display)

Alignment Select
(Alignment Sel)

Alignment Trim Rate
(Align Trim Rate)

Name

Selects the follower mode.
Enables and disables the alignment feature.
0: Alignment Disabl (Alignment Disabled)
1: Manual Align
2: Auto Align at St (Auto Align at Start)
3: Continuous Align
4: Window Align

Sets the amount of speed added to or subtracted from the follower drive during
an alignment procedure.

Default: 0.5 Hz
Min: 0.0
Max.: 20.0

Description Va lues

Default: 0
Range: 0 to 4

Default: 6.0 Hz
Min: 0.1
Max.: 30.0

YAS KA WA TM.A1000SW.064 Electronic Line Shaft with Alignment A1000 Custom Software Supplement 39

4 Comprehensive Parameter List

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

No.

(Addr.

Hex)

P4-03

(621)

P4-04

(622)

P4-05

(623)

(Digital Operator Display)

Name

Alignment Offset
(Align Offset)

Alignment Check
(Alignment Check)

Trigger Switch Type
(Trigger Sw Type)

Description Values

Sets an offset value to correct for the physical misalignment of the trigger inputs
in terms of follower revolutions. A positive offset value signifies that the
follower signal is expected before the master (assuming standard settings and
forward Run command), while a negative offset value signifies that the master
signal is expected before the follower signal.

Used with a digital output to detect if the master and the follower trigger pulses
are within a preset window of follower counts.
When the number of follower quadrature encoder counts between the two
trigger inputs is less than this value, the “In Alignment” digital output will
activate. (H2-0 = 42).

Sets the normal (not activated) state of the Master and Follower trigger
switches.
0: Both NO
1: Mstr NO Folwr NC
2: Mstr NC Folwr NO
3: Both NC

Default: 0.00 rev
Min: -99.99
Max.: 99.99

Default: 0 cnts
Min: 0
Max.: 65535

Default: 0
Range: 0 to 3

P4-06

(624)

P4-07

(625)

P4-08

(626)

P4-09

(627)

P4-10

(628)

Align Fault Select
(Align Fault Sel)

Maximum Alignment Distance
(Max Align Dist)

Maximum Alignment Speed
(Max Align Speed)

Align Trigger Window
(Align Trg Window)

Align Trigger Count
(Align Trig Count)

Sets the reaction of the drive when the distance (follower motor revolutions)
between the two trigger inputs exceeds the P4-07 setting.
0: Disabled
1: Ignore First Trg (Ignore First Trigger)
2: Fault

Sets the maximum number of follower motor revolutions between the trigger
inputs before an Alignment Fault will occur (P4-06).

Sets the maximum follower speed allowed for an alignment to occur to prevent
alignment at high speeds where accuracy is diminished.
A setting of 0.0 Hz disables this function.

Sets the maximum amount of alignment error allowed before the Window
Counts increment (in follower revolutions).
During an alignment check, if P4-09 is exceeded, the U7-13 Window Counts
monitor is incremented. If the alignment error is equal to or less than the value
set to P4-09, the U7-13 Window Counts monitor is decremented.
Note: This parameter is only used when P4-01 is set to 4.

Sets the number of Window Counts (monitor U7-13) required to trigger an
alignment.
Note: This parameter is only used when P4-01 is set to 4.

Default: 0
Range: 0 to 2

Default: 1000 rev
Min: 1
Max.: 5000

Default: 0.0 Hz
Min: 0.0
Max.: 400.0

Default: 2.00 rev
Min: 0.0
Max.: 100.0

Default: 3 cnts
Min: 1
Max.: 100

40 YA SK AWA TM.A1000SW.064 Electronic Line Shaft with Alignment A1000 Custom Software Supplement

4 Comprehensive Parameter List

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

No.

(Addr.

Hex)

(Digital Operator Display)

Name

Selects the method for handling triggers.

P4-11

(629)

Repeat Trigger Select
(Repeat Trig Sel)

0: Last Trigger. If consecutive master triggers (or follower triggers) occur
before a corresponding follower trigger (or master trigger) occurs, the last
master trigger (or follower trigger) is used for alignment.
1: First Trigger. If consecutive master triggers (or follower triggers) occur
before a corresponding follower trigger (or master trigger) occurs, the first
master trigger (or follower trigger) is used for alignment. This option is
identical to F7 functionality.

 U7: Coordinated Motor Monitors

No.

(Addr.

Hex)

U7-02

(661)

Monitor Name

(Digital Operator

Display)

Master Encoder
Reference
(Master PG Fref)

Displays the frequency of the master encoder before gear ratios and MOP
gains are applied.
Note: Display/Modbus values are limited to -3276.8 to 3276.7

Description Va lues

Description

<1>.

Default: 0
Range: 0, 1

Analog Output

Scaling

Full scale:

Maximum Output

Frequency (E1-04)

Unit

0.1 Hz

U7-03

(662)

U7-04

(663)

U7-05

(664)

U7-06

(665)

U7-07

(666)

Follower Reference after
Gear Ratio
(Fref After Gear)

Gear Ratio Adjustment
(Gear Ratio Adj)

Follower Reference after
Gear Ratio Adjustment
(Fref After Adj)

Master Counts/5ms
(Master Cts/5ms)

Follower Counts/5ms
(Follower Cts/5ms)

Displays the frequency of the master encoder after the active gear ratio (P1­03 to P1-08) is applied.
Note: Display/Modbus values are limited to -3276.8 to 3276.7

<1>.

Displays the total gear ratio adjustment (sum of the digital, analog, MOP,
and communication adjustments).

Displays the frequency of the master encoder after the digital, analog, MOP,
and communication gear ratio adjustments are applied.
Note: Display/Modbus values are limited to -3276.8 to 3276.7

<1>.

Displays the number of quadrature encoder counts per 5 ms from the master
drive.
This monitor is representative only and should only be used to confirm that
encoder counts are being received.
Note: ELS modes only.

Displays the number of quadrature encoder counts per 5 ms from the
follower drive.
This monitor is representative only and should only be used to confirm that
encoder counts are being received.
Note: ELS modes only.

Full scale:

100.00%

Full scale:

Maximum Output

Frequency (E1-04)

Full scale:

Maximum Output

Frequency (E1-04)

Full scale:

Counts/5 ms at

Maximum Output

Frequency (E1-04)

Full scale:

Counts/5 ms at

Maximum Output

Frequency (E1-04)

0.01%

0.1 Hz

0.1 Hz

cnts

cnts

YAS KA WA TM.A1000SW.064 Electronic Line Shaft with Alignment A1000 Custom Software Supplement 41

4 Comprehensive Parameter List

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

V/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLVV/f

OLV/PM

V/f w PG

AOLV/PM

OLV

CLV/PM

CLV

OLV/PM AOLV/PM CLV/PMOLV/PM AOLV/PM CLV/PM

No.

(Addr.

Hex)

U7-08

(667)

U7-09

(668)

U7-10

(668)

U7-11

(668)

Monitor Name

(Digital Operator

Display)

Position Error
(Position Error)

Position Regulator P
Output
(Position P Out)

Position Regulator I
Output
(Position I Out)

Position Regulator PI
Output
(Position PI Out)

Description

Displays the position error between the master and follower encoders in
quadrature follower encoder counts.
Note: ELS modes only.
Note: Modbus values are limited to -3276.8 to 3276.7. Display values are
limited to -9999 to 99999

<1>.

Displays the proportional gain contribution of the position PI regulator.
Note: ELS modes only.

Displays the output of the integrator of the position PI regulator.
Note: ELS modes only.

Displays the output of the position PI regulator.
Note: ELS modes only.

Analog Output

Scaling

Full scale:

Counts/5 ms at

Maximum Output

Frequency (E1-04)

Full scale:

100.00%

Full scale:

100.00%

Full scale:

100.00%

Unit

10

0.01%

0.01%

0.01%

P1-

<2> <3>

Full scale:

U7-12

(66C)

Alignment Error
Alignment Error

Displays the Alignment Error seen during the last Alignment Check in
follower revolutions. During default conditions with a forward Run
command, a positive Alignment Error means that the master is too far ahead

Counts/5 ms at

Maximum Output

Frequency (E1-04)

revs

of the follower.

U7-13
(66D)

Alignment Window
Counts
Window Counts

Displays the current count of Alignment Checks that have been outside of
the P4-09 alignment window when P4-01 is set to 4.

n/a n/a

This monitor resets and an alignment is performed when this count is
reaches the value of P4-10.

<1> When the internal value is outside of the maximum/minimum value range that can be displayed on the keypad, the monitor will display the

maximum/minimum value and the display name of the monitor will flash, alternating between “OVER” and the monitor name.
<2> Unit is dependent on the setting of the Position Units Selection (P1-10).
<3> When reading by network communication (register 667), the unit is fixed at quadrature encoder counts.

42 YA SK AWA TM.A1000SW.064 Electronic Line Shaft with Alignment A1000 Custom Software Supplement

4 Comprehensive Parameter List

This Page Intentionally Blank

YAS KA WA TM.A1000SW.064 Electronic Line Shaft with Alignment A1000 Custom Software Supplement 43

4 Comprehensive Parameter List

MANUAL NO.ޓTM.A1000SW.064

Published in U.S.A. June 2011 11-6

Date of
publication

Date of original
publication

Revision number

1

 Revision History

The revision dates and the numbers of the revised manuals appear on the bottom of the back cover.

Date of Publication Revision Number Software Number Revised Content

Corrected available control modes in parameter list throughout.

May 2014 3 VSA910030

January 2013 2 VSA910030

August 2011 1 VSA910030 Added notice in Section 2: Electronic Line Shaft
June 2011 - VSA910030 First release.

Default value setting in parameter P4-04 changed from 0 to 100
and 13 other technical changes made throughout.
Corrected available control modes in parameter list throughout.
Corrected digital input 8B description.

44 YA SK AWA TM.A1000SW.064 Electronic Line Shaft with Alignment A1000 Custom Software Supplement

YASKAWA AC Drive - A1000

Electronic Line Shaft with Alignment

Custom Software Supplement

YASKAWA AMERICA, INC.

2121 Norman Drive South, Waukegan, IL 60085, U.S.A.
Phone: (800) YASKAWA (927-5292) or 1-847-887-7000 Fax: [phone]
http://www.yaskawa.com

DRIVE CENTER (INVERTER PLANT)

2-13-1, Nishimiyaichi, Yukuhashi, Fukuoka, 824-8511, Japan
Phone: [phone] Fax: [phone]
http://www.yaskawa.co.jp

YASKAWA ELECTRIC CORPORATION

New Pier Takeshiba South To wer, 1-16-1, Kaigan, Minatoku, To kyo, 105-6891, Japan
Phone: [phone] Fax: [phone]
http://www.yaskawa.co.jp

YASKAWA ELÉTRICO DO BRASIL LTDA.

Avenda Fagundes Filho, 620 Bairro Saude, São Paulo, SP04304-000, Brasil
Phone: [phone]
http://www.yaskawa.com.br

YASKAWA EUROPE GmbH

Hauptstrasse 185, 65760 Eschborn, Germany
Phone: [phone] Fax: [phone]
http://www.yaskawa.eu.com

YASKAWA ELECTRIC UK LTD.

1 Hunt Hill Orchardton Woods, Cumbernauld, G68 9LF, United Kingdom
Phone: [phone]
http://www.yaskawa.co.uk

YASKAWA ELECTRIC KOREA CORPORATION

7F, Doore Bldg. 24, Yeoido-dong, Ye oungdungpo-gu, Seoul, 150-877, Korea
Phone: [phone]
http://www.yaskawa.co.kr

YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.

151 Lorong Chuan, #04-01, New Tech Park, 556741, Singapore
Phone: [phone]
http://www.yaskawa.com.sg

YASKAWA ELECTRIC (SHANGHAI) CO., LTD.

No. 18 Xizang Zhong Road, 17F, Harbour Ring Plaza, Shanghai, 200001, China
Phone: [phone]
http://www.yaskawa.com.cn

YASKAWA ELECTRIC (SHANGHAI) CO., LTD. BEIJING OFFICE

Room 1011, Tower W3 Oriental Plaza, No. 1 East Chang An Ave.,
Dong Cheng District, Beijing, 100738, China
Phone: [phone]

YASKAWA ELECTRIC TAIWAN CORPORATION

9F, 16, Nanking E. Rd., Sec. 3, Taipei, 104, Taiwan
Phone: [phone]

Fax: [phone]

Fax: [phone]

Fax: [phone]

Fax: [phone]

Fax: [phone]

Fax: [phone]

Fax: [phone]

YASKAWA AMERICA, INC.

In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture
thereof, the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations. Therefore, be sure
to follow all procedures and submit all relevant documentation according to any and all rules, regulations and laws that may apply.

Specifications are subject to change without notice for ongoing product modifications and improvements.

© 2011 YASKAWA AMERICA, INC. All rights reserved.

MANUAL NO. TM.A1000SW.064

Published in U.S.A. May 2014 13-1

3