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
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