Yaskawa A1000 Technical Manual

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YASKAWA AC Drive A1000

High Performance Vector Control Drive

Technical Manual

Type: CIMR-AA , CIMR-AT Models:

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

200 V Class: 0.4 to 55 kW 400 V Class: 0.4 to 90 kW

Receiving

Mechanical Installation

Electrical Installation

Start-Up Programming &

Operation

Parameter Details

Troubleshooting

Periodic Inspection &

Maintenance

Peripheral Devices &

Options

Specifications

Parameter List

MEMOBUS/Modbus

Communications

MANUAL NO. SIEP C710616 21A

Standards Compliance

Quick Reference Sheet

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This Page Intentionally Blank

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◆ Quick Reference

Easily Set Parameters for Specific Applications

Preset parameter defaults are available for setting up applications. Refer to Application Selection on page 97.

Run a Motor One-Frame Larger

This drive can operate a motor one frame size larger when running variable torque loads such as fans and pumps. Refer to C6-01: Drive Duty Mode Selection on page 168.

Drive a Synchronous PM Motor

A1000 can operate synchronous PM motors. Refer to Subchart A-3: Operation with Permanent Magnet Motors on page 95.

Perform Auto-Tuning

Automatic tuning sets motor parameters. Refer to Auto-Tuning on page 103.

Maintenance Check Using Drive Monitors

Use drive monitors to check the if fans, capacitors, and other components may require maintenance. Refer to Performance Life Monitors Maintenance Monitors on page 337.

Fault Display and Troubleshooting

Refer to Drive Alarms, Faults, and Errors on page 292 and Refer to Troubleshooting without Fault Display on page 324.

Standards Compliance

Refer to European Standards on page 478 and Refer to UL Standards on page 484.

YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual 3

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4 YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual

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

TABLE OF CONTENTS.................................................................................................... 5

I. PREFACE & GENERAL SAFETY ....................................................................... 13

i.1 Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

Applicable Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

Symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

Terms and Abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

i.2 General Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Supplemental Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Safety Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Application Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Notes on Motor Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Applications with Specialized Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Drive Label Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Warranty Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

1. RECEIVING .......................................................................................................... 25

1.1 Section Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

1.2 General Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

A1000 Model Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Control Mode Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

1.3 Model Number and Nameplate Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Nameplate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

1.4 Drive Models and Enclosure Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

1.5 Component Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

IP20/NEMA Type 1 Enclosure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

IP00/Open-Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Front Views . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

2. MECHANICAL INSTALLATION .......................................................................... 37

2.1 Section Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

2.2 Mechanical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

Installation Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

Installation Orientation and Spacing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Digital Operator Remote Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Exterior and Mounting Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

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3. ELECTRICAL INSTALLATION ............................................................................ 49

3.1 Section Safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .50

3.2 Standard Connection Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .52

3.3 Main Circuit Connection Diagram. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .55

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

Three-Phase 400 V Class (CIMR-A4A0002 to 0044) . . . . . . . . . . . . . . . . . . . . . . . .55

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

Three-Phase 400 V Class (CIMR-A4A0058, 0072) . . . . . . . . . . . . . . . . . . . . . . . . . .55

Three-Phase 200 V Class (CIMR-A2A0169, 0211)

Three-Phase 400 V Class (CIMR-A4A0088 to 0165) . . . . . . . . . . . . . . . . . . . . . . . .55

3.4 Terminal Block Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .56

3.5 Terminal Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .57

CIMR-A2A0004 to 0081, 4A0002 to 0044 (IP20/NEMA Type 1) . . . . . . . . . . . . . . . .57

CIMR-A2A0110 to 0211, 4A0058 to 0165 (IP00/Open-Chassis) . . . . . . . . . . . . . . .58

3.6 Digital Operator and Front Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .59

Removing/Reattaching the Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .59

Removing/Reattaching the Front Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .59

3.7 Protective Cover. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .60

Removing the Protective Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .60

Reattaching the Protective Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .60

3.8 Main Circuit Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .61

Main Circuit Terminal Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .61

Wire Gauges and Tightening Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .61

Main Circuit Terminal and Motor Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .64

3.9 Control Circuit Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .66

Control Circuit Terminal Block Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .67

Terminal Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .69

Wiring the Control Circuit Terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .70

3.10 Control I/O Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .72

Sinking/Sourcing Mode Switch for Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . .72

Using the Photocoupler and Contact Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .74

Using the Pulse Train Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .74

3.11 Terminal A2 Analog Input Signal Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .75

Terminal A2 Input Signal Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .75

3.12 Connect to a PC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .76

3.13 MEMOBUS/Modbus Termination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .77

3.14 External Interlock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .78

Drive Ready . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .78

3.15 Wiring Checklist . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .79

4. START-UP PROGRAMMING & OPERATION .................................................... 81

4.1 Section Safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .82

4.2 Using the Digital Operator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .83

Keys and Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .83

Digital Text Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .84

LED Screen Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .84

LO/RE LED and RUN LED Indications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .85

Menu Structure for Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .86

4.3 The Drive and Programming Modes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .87

Navigating the Drive and Programming Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .87

Changing Parameter Settings or Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .89

Verifying Parameter Changes: Verify Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .89

Simplified Setup Using the Setup Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .90

Switching Between LOCAL and REMOTE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .91

6 YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual

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4.4 Start-Up Flowcharts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

Flowchart A: Basic Start-up and Motor Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

Subchart A-1: Simple Motor Setup Using V/f Control . . . . . . . . . . . . . . . . . . . . . . . . . 93

Subchart A-2: High Performance Operation Using OLV or CLV . . . . . . . . . . . . . . . . . 94

Subchart A-3: Operation with Permanent Magnet Motors . . . . . . . . . . . . . . . . . . . . . . 95

4.5 Powering Up the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

Powering Up the Drive and Operation Status Display . . . . . . . . . . . . . . . . . . . . . . . . . 96

4.6 Application Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

Setting 1: Water Supply Pump Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

Setting 2: Conveyor Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

Setting 3: Exhaust Fan Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98

Setting 4: HVAC Fan Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98

Setting 5: Compressor Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

Setting 6: Hoist Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

Notes on Controlling the Brake when Using the Hoist Application Preset . . . . . . . . . 100

Setting 7: Traveling Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101

4.7 Auto-Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

Types of Auto-Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

Before Auto-Tuning the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

Auto-Tuning Interruption and Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

Auto-Tuning Operation Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

Parameter Settings during Induction Motor Auto-Tuning: T1 . . . . . . . . . . . . . . . . . . . 108

Parameter Settings during PM Motor Auto-Tuning: T2 . . . . . . . . . . . . . . . . . . . . . . . 110

Parameter Settings during Inertia and Speed Control Loop Auto-Tuning: T3 . . . . . . 112

4.8 No-Load Operation Test Run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114

No-Load Operation Test Run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114

4.9 Test Run with Load Connected . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115

Test Run with the Load Connected . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115

4.10 Verifying Parameter Settings and Backing Up Changes. . . . . . . . . . . . . . . . . . 116

Backing Up Parameter Values: o2-03 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116

Parameter Access Level: A1-01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116

Password Settings: A1-04, A1-05 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116

Copy Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

4.11 Test Run Checklist . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118

5. PARAMETER DETAILS..................................................................................... 121

5.1 A: Initialization. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122

A1: Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122

A2: User Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126

5.2 b: Application. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127

b1: Operation Mode Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127

b2: DC Injection Braking and Short Circuit Braking . . . . . . . . . . . . . . . . . . . . . . . . . . 134

b3: Speed Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137

b4: Delay Timers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142

b5: PID Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142

b6: Dwell Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152

b7: Droop Control (CLV, CLV/PM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153

b8: Energy Saving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154

b9: Zero Servo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155

5.3 C: Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156

C1: Acceleration and Deceleration Times . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156

C2: S-Curve Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158

C3: Slip Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158

C4: Torque Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161

C5: Automatic Speed Regulator (ASR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162

YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual 7

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C6: Carrier Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .168

5.4 d: Reference Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .171

d1: Frequency Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .171

d2: Frequency Upper/Lower Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .172

d3: Jump Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .173

d4: Frequency Reference Hold and Up/Down 2 Function . . . . . . . . . . . . . . . . . . . . .174

d5: Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .178

d6: Field Weakening and Field Forcing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .182

d7: Offset Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .183

5.5 E: Motor Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .184

E1: V/f Pattern for Motor 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .184

E2: Motor 1 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .188

E3: V/f Pattern for Motor 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .191

E4: Motor 2 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .192

E5: PM Motor Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .194

5.6 F: Option Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .197

F1: PG Speed Control Card Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .197

F2: Analog Input Card Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .200

F3: Digital Input Card Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .200

F4: Analog Monitor Card Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .201

F5: Digital Output Card Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .202

F6: Communication Option Card . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .202

CC-Link Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .203

PROFIBUS-DP Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .204

CANopen Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .205

DeviceNet Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .205

5.7 H: Terminal Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .207

H1: Multi-Function Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .207

H2: Multi-Function Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .217

H3: Multi-Function Analog Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .226

H4: Multi-Function Analog Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .232

H5: MEMOBUS/Modbus Serial Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . .233

H6: Pulse Train Input/Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .233

5.8 L: Protection Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .236

L1: Motor Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .236

L2: Momentary Power Loss Ride-Thru . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .241

L3: Stall Prevention . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .247

L4: Speed Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .254

L5: Fault Restart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .255

L6: Torque Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .256

L7: Torque Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .259

L8: Drive Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .260

5.9 n: Special Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .266

n1: Hunting Prevention . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .266

n2: Speed Feedback Detection Contol (AFR) Tuning . . . . . . . . . . . . . . . . . . . . . . . .266

n3: High Slip Braking (HSB) and Overexcitation Braking . . . . . . . . . . . . . . . . . . . . . .267

n5: Feed Forward Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .269

n6: Online Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .271

n8: PM Motor Control Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .272

5.10 o: Operator Related Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .275

o1: Digital Operator Display Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .275

o2: Digital Operator Keypad Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .276

o3: Copy Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .278

o4: Maintenance Monitor Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .279

q: DriveWorksEZ Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .280

8 YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual

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r: DriveWorksEZ Connection Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280

T: Motor Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281

5.11 U: Monitor Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282

U1: Operation Status Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282

U2: Fault Trace . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282

U3: Fault History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282

U4: Maintenance Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282

U5: PID Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282

U6: Operation Status Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282

U8: DriveWorksEZ Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283

6. TROUBLESHOOTING ....................................................................................... 285

6.1 Section Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286

6.2 Motor Performance Fine-Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288

Fine-Tuning V/f Control and V/f Control with PG . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288

Fine-Tuning Open Loop Vector Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288

Fine-Tuning Closed Loop Vector Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289

Fine-Tuning Open Loop Vector Control for PM Motors . . . . . . . . . . . . . . . . . . . . . . . 289

Fine-Tuning Advanced Open Loop Vector Control for PM Motors . . . . . . . . . . . . . . 290

Fine-Tuning Closed Loop Vector Control for PM Motors . . . . . . . . . . . . . . . . . . . . . . 290

Parameters to Minimize Motor Hunting and Oscillation . . . . . . . . . . . . . . . . . . . . . . . 291

6.3 Drive Alarms, Faults, and Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292

Types of Alarms, Faults, and Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292

Alarm and Error Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293

6.4 Fault Detection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297

Fault Displays, Causes, and Possible Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297

6.5 Alarm Detection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308

Alarm Codes, Causes, and Possible Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308

6.6 Operator Programming Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 314

oPE Codes, Causes, and Possible Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 314

6.7 Auto-Tuning Fault Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317

Auto-Tuning Codes, Causes, and Possible Solutions . . . . . . . . . . . . . . . . . . . . . . . . 317

6.8 Copy Function Related Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320

Tasks, Errors, and Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320

6.9 Diagnosing and Resetting Faults. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 322

Fault Occurs Simultaneously with Power Loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 322

If the Drive Still has Power After a Fault Occurs . . . . . . . . . . . . . . . . . . . . . . . . . . . . 322

Viewing Fault Trace Data After Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 322

Fault Reset Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323

6.10 Troubleshooting without Fault Display. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324

Common Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324

Cannot Change Parameter Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324

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

External Run Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325

Motor is Too Hot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326

Drive Does Not Allow Selection the Desired Auto-Tuning Mode . . . . . . . . . . . . . . . . 326

oPE02 Error Occurs When Lowering the Motor Rated Current Setting . . . . . . . . . . . 326

Motor Stalls during Acceleration or Acceleration Time is Too Long . . . . . . . . . . . . . 326

Drive Frequency Reference Differs from the Controller Frequency Reference

Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 327

Excessive Motor Oscillation and Erratic Rotation . . . . . . . . . . . . . . . . . . . . . . . . . . . 327

Deceleration Takes Longer Than Expected with Dynamic Braking Enabled . . . . . . . 327

Load Falls When Brake is Applied (Hoist-Type Applications) . . . . . . . . . . . . . . . . . . 327

Noise From Drive or Output Lines When the Drive is Powered On . . . . . . . . . . . . . . 328

Ground Fault Circuit Interrupter (GFCI) Trips During Run . . . . . . . . . . . . . . . . . . . . . 328

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Connected Machinery Vibrates When Motor Rotates . . . . . . . . . . . . . . . . . . . . . . . .328

PID Output Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .328

Insufficient Starting Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .328

Motor Rotates After the Drive Output is Shut Off (Motor Rotates During DC Injection

Braking) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .329

Output Frequency is not as High as Frequency Reference . . . . . . . . . . . . . . . . . . . .329

Buzzing Sound from Motor at 2 kHz . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .329

Unstable Motor Speed when Using PM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .329

Motor Does Not Restart after Power Loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .329

7. PERIODIC INSPECTION & MAINTENANCE .................................................... 331

7.1 Section Safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .332

7.2 Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .335

Recommended Daily Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .335

Recommended Periodic Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .336

7.3 Periodic Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .337

Replacement Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .337

7.4 Drive Cooling Fans. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .339

Number of Cooling Fans and Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .339

Cooling Fan Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .339

7.5 Drive Replacement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .344

Serviceable Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .344

Terminal Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .344

Replacing the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .344

8. PERIPHERAL DEVICES & OPTIONS .............................................................. 347

8.1 Section Safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .348

8.2 Drive Options and Peripheral Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .349

8.3 Connecting Peripheral Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .351

8.4 Option Card Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .352

Installing Option Cards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .352

Installation Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .352

8.5 Installing Peripheral Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .354

Braking Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .354

Installing a Molded Case Circuit Breaker (MCCB) . . . . . . . . . . . . . . . . . . . . . . . . . . .356

Installing a Leakage Breaker . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .357

Installing a Magnetic Contactor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .357

Connecting an AC or DC Reactor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .357

Connecting a Surge Absorber . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .358

Connecting a Noise Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .358

Fuse/Fuse Holder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .360

Attachment for External Heatsink . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .361

EMC Filter Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .361

Installing a Motor Thermal Overload (oL) Relay on the Drive Output . . . . . . . . . . . . .361

A. SPECIFICATIONS .............................................................................................. 363

A.1 Heavy Duty and Normal Duty Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .364

A.2 Three-Phase 200 V Class Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .365

A.3 Three-Phase 400 V Class Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .366

A.4 Drive Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .367

A.5 Drive Watt Loss Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .369

A.6 Drive Derating Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .370

Carrier Frequency Derating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .370

Temperature Derating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .371

10 YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual

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B. PARAMETER LIST ............................................................................................ 373

B.1 Understanding the Parameter Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 374

Control Modes, Symbols, and Terms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 374

B.2 Parameter Groups. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375

B.3 Parameter Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376

A: Initialization Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376

b: Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 377

C: Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382

d: References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 386

E: Motor Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389

F: Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 393

H Parameters: Multi-Function Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 398

L: Protection Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 409

n: Advanced Performance Set-Up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 414

o: Operator Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 417

q: DWEZ Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 419

r: DWEZ Connection Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 419

T: Motor Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 419

U: Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 422

B.4 Control Mode Dependent Parameter Default Values. . . . . . . . . . . . . . . . . . . . . . 429

A1-02 (Motor 1 Control Mode) Dependent Parameters . . . . . . . . . . . . . . . . . . . . . . . 429

E3-01 (Motor 2 Control Mode) Dependent Parameters . . . . . . . . . . . . . . . . . . . . . . . 430

B.5 V/f Pattern Default Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 431

B.6 Defaults by Drive Model Selection (o2-04) and ND/HD (C6-01) . . . . . . . . . . . . . 432

B.7 Parameters that Change with the Motor Code Selection . . . . . . . . . . . . . . . . . . 437

Yaskawa SMRA Series SPM Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 437

Yaskawa SSR1 Series IPM Motor (For Derated Torque) . . . . . . . . . . . . . . . . . . . . . 438

Yaskawa SST4 Series IPM Motor (For Constant Torque) . . . . . . . . . . . . . . . . . . . . . 441

C. MEMOBUS/MODBUS COMMUNICATIONS ..................................................... 445

C.1 MEMOBUS/Modbus Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 446

C.2 Communication Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 447

C.3 Connecting to a Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 448

Network Cable Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 448

Wiring Diagram for Multiple Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 448

Network Termination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 449

C.4 MEMOBUS/Modbus Setup Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 450

MEMOBUS/Modbus Serial Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 450

C.5 Drive Operations by MEMOBUS/Modbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 453

Observing the Drive Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 453

Controlling the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 453

C.6 Communications Timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 454

Command Messages from Master to Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 454

Response Messages from Drive to Master . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 454

C.7 Message Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 455

Message Content . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 455

Slave Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 455

Function Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 455

Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 455

Error Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 455

C.8 Message Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 457

Reading Drive MEMOBUS/Modbus Register Contents . . . . . . . . . . . . . . . . . . . . . . . 457

Loopback Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 457

Writing to Multiple Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 458

YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual 11

Page 12

C.9 MEMOBUS/Modbus Data Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .459

Command Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .459

Monitor Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .460

Broadcast Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .468

Fault Trace Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .468

Alarm Register Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .469

C.10 Enter Command. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .471

Enter Command Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .471

Enter Command Settings when Upgrading the Drive . . . . . . . . . . . . . . . . . . . . . . . . .471

C.11 Communication Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .472

MEMOBUS/Modbus Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .472

Slave Not Responding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .472

C.12 Self-Diagnostics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .473

D. STANDARDS COMPLIANCE ............................................................................ 475

D.1 Section Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .476

D.2 European Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .478

CE Low Voltage Directive Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .478

EMC Guidelines Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .479

D.3 UL Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .484

UL Standards Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .484

Drive Motor Overload Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .486

D.4 Safe Disable Input Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .488

Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .488

Using the Safe Disable Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .488

E. QUICK REFERENCE SHEET ............................................................................ 491

E.1 Drive and Motor Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .492

Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .492

Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .492

E.2 Multi-Function I/O Terminal Settings Record . . . . . . . . . . . . . . . . . . . . . . . . . . . .493

Multi-Function Digital Inputs (SC Common) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .493

Pulse Train Input/Analog Inputs (AC Common) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .493

Multi-Function Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .493

Multi-Function Photocoupler Outputs (PC Common) . . . . . . . . . . . . . . . . . . . . . . . . .493

Monitor Outputs (AC Common) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .493

E.3 User Setting Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .494

INDEX............................................................................................................................ 501

12 YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual

Page 13

Preface & General Safety

This section provides safety messages pertinent to this product that, if not heeded, may result in fatality, personal injury, or equipment damage. Yaskawa is not responsible for the consequences of ignoring these instructions.

I.1 PREFACE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

I.2 GENERAL SAFETY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual 13

Page 14

i.1 Preface

TERMSTERMSTERMS

i.1 Preface

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

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

◆ Applicable Documentation

The following manuals are available for A1000 series drives:

A1000 Series AC Drive Technical Manual

This manual describes installation, wiring, operation procedures, functions, troubleshooting, maintenance, and inspections to perform before operation.

A1000 Series AC Drive Quick Start Guide

Read this manual first. This guide is packaged together with the product. It contains basic information required to install and wire the drive. This guide provides basic programming and simple setup and adjustment.

CIMR-AA2A0021FAA

200V 3Phase 5.5kW/3.7kW

S/N:

WARNING

Risk of electric shock.

●

Read manual before installing.

●

Wait 5 minutes for capacitor discharge after disconnecting power supply.

●

To conform to requirements, make sure to ground the supply neutral for 400V class.

●

After opening the manual switch between the drive and motor, please wait 5 minutes before inspecting, performing maintenance or wiring the drive.

Hot surfaces

●

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

●

DIGITAL OPERATOR JVOP-182

REV DRV FOUT

ESC

RUN STOP

AVERTISSMENT

Risque de décharge électrique.

●

Lire le manuel avant l'installation.

●

Attendre 5 minutes après la coupure de l'alimentation, pour permettre la décharge des condensateurs.

●

Pour répondre aux exigences , s assurer que le neutre soit relié à la terre, pour la série 400V.

●

Après avoir déconnécte la protection entre le driver et le moteur, veuillez patienter 5 minutes avain d’effectuer une opération de montage ou de câblage du variateur.

Surfaces Chaudes

●

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

危険

けが．感電のおそれがあります。

●

据え付け、運転の前には必ず取扱説明書を読むこと。

●

通電中および電源遮断後5分以内はフロントカバーを外さない事。

●

400V級インバータの場合は、電源の中性点が接地されていることを確認すること。(対応）

●

保守・点検、配線を行う場合は、出力側開閉器を遮断後5分待って実施してください。

高温注意

●

インバータ上部、両側面は高温になります。触らないでください。

ALM

LO RE

ENTERRESET

NPJT31470-1

◆ Symbols

Note: Indicates a supplement or precaution that does not cause drive damage.

Indicates a term or definition used in this manual.

◆ Terms and Abbreviations

• Drive: Yaskawa A1000 Series Drive

• V/f: V/f Control

• V/f w/PG: V/f Control with PG

• OLV: Open Loop Vector Control

• CLV: Closed Loop Vector Control

• OLV/PM: Open Loop Vector Control for PM

• AOLV/PM: Advanced Open Loop Vector Control for PM

• CLV/PM: Closed Loop Vector Control for PM

• PM motor: Permanent Magnet Synchronous motor (an abbreviation for IPM motor or SPM motor)

• IPM motor: Interior Permanent Magnet Motor (such as Yaskawa’s SSR1 Series and SST4 Series motors)

• SPM motor: Surface mounted Permanent Magnet Motor (such as Yaskawa’s SMRA Series motors)

14 YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual

Page 15

i.2 General Safety

W ARNING

DANGER

W ARNING

CAUTION

NOTICE

i.2 General Safety

◆ Supplemental Safety Information

General Precautions

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

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

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

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

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

Read and understand this manual before installing, operating or servicing this drive. The drive must be installed according to this manual and local codes.

The following conventions are used to indicate safety messages in this manual. Failure to heed these messages could result in serious or possibly even fatal injury or damage to the products or to related equipment and systems.

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

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

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

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

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

Indicates a property damage message.

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

YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual 15

Page 16

i.2 General Safety

DANGER

W ARNING

◆ Safety Messages

Heed the safety messages in this manual.

Failure to comply will result in death or serious injury. The operating company is responsible for any injuries or equipment damage resulting from failure to heed the warnings

in this manual.

Electrical Shock Hazard

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

Failure to comply will result in death or serious injury. Before servicing, disconnect all power to the equipment. The internal capacitor remains charged even after the power

supply is turned off. After shutting off the power, wait for at least the amount of time specified on the drive before touching any components.

Sudden Movement Hazard

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

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

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

Unpredictable equipment operation may result in death or serious injury. Take special note of custom I/O programming in the drive before attempting to operate equipment.

Electrical Shock Hazard

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

Failure to comply could result in death or serious injury. Yaskawa is not responsible for any modification of the product made by the user. This product must not be modified.

Do not allow unqualified personnel to use equipment.

Failure to comply could result in death or serious injury. Maintenance, inspection, and replacement of parts must be performed only by authorized personnel familiar with

installation, adjustment and maintenance of AC drives.

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

Failure to comply could result in death or serious injury.

Fire Hazard

Do not use an improper voltage source.

Failure to comply could result in death or serious injury by fire. Verify that the rated voltage of the drive matches the voltage of the incoming power supply before applying power.

Crush Hazard

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

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

Failure to comply could result in death or serious injury from falling loads. Install electrical and/or mechanical safety circuit mechanisms independent of drive circuitry.

16 YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual

Page 17

i.2 General Safety

CAUTION

NOTICE

Crush Hazard

Do not carry the drive by the front cover.

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

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

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

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

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

Do not operate damaged equipment.

Failure to comply could result in further damage to the equipment. Do not connect or operate any equipment with visible damage or missing parts.

Install adequate branch circuit short circuit protection per applicable codes.

Failure to comply could result in damage to the drive. The drive is suitable for circuits capable of delivering not more than 100,000 RMS symmetrical Amperes, 240 Vac

maximum (200 V Class) and 480 Vac maximum (400 V Class).

Do not expose the drive to halogen group disinfectants.

Failure to comply may cause damage to the electrical components in the drive. Do not pack the drive in wooden materials that have been fumigated or sterilized. Do not sterilize the entire package after the product is packed.

◆ Application Notes

■ Selection

Installing a Reactor

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

• to suppress harmonic current.

• to smooth peak current that results from capacitor switching.

• when the power supply is above 600 kVA.

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

Note: A DC reactor is built in to 200 V and 400 V class models with a capacity of 22 kW and higher (HD rating).

Figure i.1

4000

Power supply harmonics reactor required

Power Supply

Capacity (kVA)

600

Drive Capacity (kVA)

Figure i.1 Installing a Reactor

Reactor unnecessary

60 400

YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual 17

Page 18

i.2 General Safety

Drive Capacity

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

Starting Torque

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

Emergency Stop

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

Options

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

Repetitive Starting/Stopping

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

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

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

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

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

■

Installation

Enclosure Panels

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

Installation Direction

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

Mechanical Installation on page 40.

■

Settings

Motor Code

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

Upper Limits

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

DC Injection Braking

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

18 YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual

Page 19

i.2 General Safety

Acceleration/Deceleration Times

Acceleration and deceleration times are affected by how much torque the motor generates, the load torque, and the inertia moment ((GD2)/4). Set a longer accel/decel time when Stall Prevention is enabled. The accel/decel times are lengthened for as long as the Stall Prevention function is operating. For faster acceleration and deceleration, install one of the

braking options available or increase the capacity of the drive.

■

Compliance with Harmonic Suppression Guidelines

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

General Handling

■

Wiring Check

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

Magnetic Contactor Installation

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

Inspection and Maintenance

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

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

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

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

• Do not attempt to move a load that could potentially rotate the motor faster than the maximum allowable r/min even when the drive has been shut off.

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

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

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

Wiring

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

Transporting the Drive

Never steam clean the drive.

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

YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual 19

Page 20

i.2 General Safety

◆ Notes on Motor Operation

■ Using a Standard Motor

Low Speed Range

The cooling fan of a standard motor is usually designed to sufficiently cool the motor at the rated speed. As the selfcooling capability of such a motor reduces with the speed, applying full torque at low speed will possibly damage the motor. To prevent motor damage from overheat, reduce the load torque as the motor slows. Figure i.2 shows the allowable load characteristics for a Yaskawa standard motor. A motor designed specifically for operation with a drive should be used when 100% continuous torque is needed at low speeds.

Figure i.2

Torque

(%)

25% ED (or 15 min)

40% ED (or 20 min)

60% ED (or 40 min)

100

Continuous operation

Figure i.2 Allowable Load Characteristics for a Yaskawa Motor

Frequency (Hz)

Insulation Tolerance

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

High Speed Operation

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

Torque Characteristics

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

Vibration and Shock

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

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

Audible Noise

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

Using a Synchronous Motor

■

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

• Synchronous motors cannot be started directly from line power. Applications requiring line power to start should use an induction motor with the drive.

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

20 YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual

Page 21

i.2 General Safety

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

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

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

• In Open Loop Vector Control for PM motors, braking torque is less than 125% when running between 20% to 100% speed, even with a braking resistor. Braking torque drops to less than half when running at less than 20% speed.

• In Open Loop Vector Control for PM motors, the allowable load inertia moment is approximately 50 times higher than the motor inertia moment or less. Contact Yaskawa or your Yaskawa agent concerning applications with a larger inertia moment.

• When using a holding brake in Open Loop Vector Control for PM motors, release the brake prior to starting the motor. Failure to set the proper timing can result in speed loss. Not for use with conveyor, transport, or hoist type applications.

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

◆ Applications with Specialized Motors

■ Applications with Specialized Motors

Multi-Pole Motor

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

Submersible Motor

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

Explosion-Proof Motor

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

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

Geared Motor

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

Single-Phase Motor

Variable speed drives are not designed for operation with single phase motors. Using capacitors to start the motor causes excessive current to flow and can damage drive components. A split-phase start or a repulsion start can end up burning out the starter coils because the internal centrifugal switch is not activated. A1000 is for use with 3-phase motors only.

Uras Vibrator

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

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

• Use V/f Control.

YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual 21

Page 22

i.2 General Safety

WARNING

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

Risk of electric shock.

Hot surfaces

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

●

LO RE

ESC

RUN STOP

ENTERRESET

ALM

DIGITAL OPERATOR JVOP-182

CIMR-AA2A0021FAA

200V 3Phase 5.5kW/3.7kW

REV DRV FOUT

S/N:

危険

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

けが．感電のおそれがあります。

高温注意

インバータ上部、両側面は高温になります。触らないでください。

●

AVERTISSMENT

NPJT31470-1

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

Risque de décharge électrique.

Surfaces Chaudes

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

WARNING

Risk of electric shock.

Hot surfaces

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

●

Warning Label

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

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

Motor with Brake

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

Power Driven Machinery (decelerators, belts, chains, etc.)

■

Continuous operation at low speeds wears on the lubricating material used in gear box type systems to accelerate and decelerate power driven machinery. Caution should also be taken when operating at speeds above the rated machine speed due to noise and shortened performance life.

◆ Drive Label Warnings

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

Figure i.3

Figure i.3 Warning Information

Figure i.4

22 YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual

Figure i.4 Warning Information Position

Page 23

i.2 General Safety

◆ Warranty Information

■ Warranty Period

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

■ Scope of Warranty

Inspections

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

Repairs

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

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

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

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

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

Problems caused by natural disaster or fire.

After the free warranty period elapses.

Replenishment or replacement of consumables or expendables.

Defective products due to packaging or fumigation.

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

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

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

Contact your local Yaskawa representative for more information.

Exceptions

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

Restrictions

■

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

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

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

YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual 23

Page 24

i.2 General Safety

24 YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual

Page 25

Receiving

This chapter explains how to inspect the drive upon receipt, and gives and overview of the different enclosure types and components.

1.1 SECTION SAFETY. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

1.2 GENERAL DESCRIPTION. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

1.3 MODEL NUMBER AND NAMEPLATE CHECK . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

1.4 DRIVE MODELS AND ENCLOSURE TYPES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

1.5 COMPONENT NAMES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual 25

Page 26

1.1 Section Safety

CAUTION

NOTICE

1.1 Section Safety

Do not carry the drive by the front cover or the terminal cover.

Failure to comply may cause the main body of the drive to fall, resulting in minor or moderate injury.

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

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

A motor connected to a PWM drive may operate at a higher temperature than a utility-fed motor and the operating speed range may reduce motor cooling capacity.

Ensure that the motor is suitable for drive duty and/or the motor service factor is adequate to accommodate the additional heating with the intended operating conditions.

26 YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual

Page 27

1.2 General Description

Receiving

1.2 General Description

◆ A1000 Model Selection

Table 1 .1 gives a reference for drive selection depending on the motor power and Normal or Heavy Duty rating.

Note: The models and capacities in shown here are based on standard settings and operation conditions. Derating is required for higher

carrier frequencies and higher ambient temperatures.

Table 1.1 A1000 Models

Motor Power

(kW)

0.4 2A0004 3.2 <1> – – 4A0002 1.8 – –

0.75 2A0006 5 <1> 2A0004 3.5 4A0004 3.4 4A0002 2.1

1.1 2A0008 6.9 <1> 2A0006 6 – – – –

1.5 2A0010 8 <1> 2A0008 8 4A0005 4.8 4A0004 4.1

2.2 2A0012 11 <1> 2A0010 9.6 4A0007 5.5 4A0005 5.4

3.0 2A0018 14 <1> 2A0012 12 4A0009 7.2 4A0007 6.9

3.7 2A0021 17.5 <1> 2A0018 17.5 4A0011 9.2 4A0009 8.8

5.5 2A0030 25 <1> 2A0021 21 4A0018 14.8 4A0011 11.1

7.5 2A0040 33 <1> 2A0030 30 4A0023 18 4A0018 17.5 11 2A0056 47 <1> 2A0040 40 A 4A0031 24 <1> 4A0023 23 15 2A0069 60 <1> 2A0056 56 A 4A0038 31 <1> 4A0031 31

18.5 2A0081 75 <1> 2A0069 69 A 4A0044 39 <1> 4A0038 38 22 2A0110 85 <1> 2A0081 81 A 4A0058 45 <1> 4A0044 44 30 2A0138 115 <1> 2A0110 110 A 4A0072 60 <1> 4A0058 58 37 2A0169 145 <2> 2A0138 138 A 4A0088 75 <1> 4A0072 72 45 2A0211 180 <2> 2A0169 169 A 4A0103 91 <1> 4A0088 88 55 – – 2A0211 211 A 4A0139 112 <2> 4A0103 103 75 – – – – 4A0165 150 <2> 4A0139 139 90 – – – – – – 4A0165 165

Heavy Duty Rating Normal Duty Rating Heavy Duty Rating Normal Duty Rating

Model CIMR-A

3-Phase 200 V Class 3-Phase 400 V Class

Rated Output

Current (A)

Model CIMR-A

Rated Output

Current (A)

Model CIMR-A

<3>

Rated Output

Current (A)

Model CIMR-A

Rated Output

Current (A)

<3>

<1> These values assume the carrier frequency is set to 8 kHz. <2> These values assume the carrier frequency is set to 5 kHz. <3> These values assume the carrier frequency is set to 2 kHz.

Note: Current derating is required when setting the carrier frequency higher. Refer to Carrier Frequency Derating on page 370 for

details.

YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual 27

Page 28

1.2 General Description

◆ Control Mode Selection

Table 1 .2 gives an overview of the A1000 control modes and their various features.

Table 1.2 Control Modes and their Features

Motor Type Induction Motors Permanent Magnet Motors Comments

Control Mode V/f V/f w/PG OLV CLV OLV/PM AOLV/PM CLV/PM –

Parameter Setting A1-02 = 0 A1-02 = 1 A1-02 = 2 A1-02 = 3 A1-02 = 5 A1-02 = 6 A1-02 = 7

Basic Description

Motor Type IM IM IM IM PM IPM PM –

Multi Motor YES N/A N/A N/A N/A N/A N/A –

Motor data

unknown

High Speed

Typ e o f

Applications

PG Option Card N/A

Control

Characteristics

Application-

Specific

Accuracy

High Speed

Response

Zero Speed

Control

Torque Control

Operation

Torque Limit

Operation

Speed Control

Range

Speed Accuracy ±2 to 3% ±0.03% ±0.2% ±0.02% ±0.2% ±0.2% ±0.02%

Speed Response

Starting Torque 150% at 3 Hz 150% at 3 Hz

Auto-Tuning

Tor que Li mi t N/A N/A YES YES N/A YES YES

Torque Control N/A N/A N/A YES N/A N/A YES

Droop Function N/A N/A N/A YES N/A N/A YES –

Zero Servo

Control

Speed Search YES YES YES – YES YES YES

Energy-Saving

Control

High Slip

Braking

Feed Forward

Control

Kinetic Energy

Buffering

Overexcitation

Deceleration

Inertia Tuning,

ASR Tuning

Overvoltage Suppression

High Frequency

Injection

V/f control

YES N/A N/A N/A N/A N/A N/A –

N/A YES YES YES YES YES YES –

N/A N/A YES YES N/A YES YES –

N/A N/A N/A YES N/A YES YES –

N/A N/A YES YES N/A N/A YES –

1:40 1:40 1:200 1:1500 1:20 1:100 1:1500

3 Hz

(approx.)

• Energy Saving Tuning

• Termination resistor

N/A N/A N/A YES N/A N/A YES Locks the rotor position.

YES YES YES YES N/A

YES YES N/A N/A N/A N/A N/A

N/A N/A N/A YES N/A N/A YES

YES YES YES YES YES YES YES

YES YES YES YES N/A N/A N/A

N/A N/A N/A YES N/A N/A YES

YES YES YES YES YES YES YES

N/A N/A N/A N/A N/A YES N/A

using motor

speed

feedback

PG-B3 or PG-

3 Hz

(approx.)

• Energy Saving Tuning

• Termination resistor

Open Loop

Vector control

N/A

10 Hz 50 Hz 10 Hz 10 Hz 50 Hz

200% at 0.3 Hz200% at 0

• Rotational

• Stationary

• Termination resistor

Closed Loop

Vector control

PG-B3 or PG-

r/min

• Rotational

• Stationary

• Termination resistor

•ASR

• Inertia

Open Loop

Vector control

for PM motors

N/A N/A PG-X3 –

100% at 5%

speed

• Stationary

• Termination resistor

Open Loop

Vector control

for IPM

motors

200% at

0 r/min

• Stationary

• Termination resistor

YES (IPM

motors only)

Closed Loop Ve ct o r c o nt r ol for PM motors

200% at

0 r/min

• Stationary

• Termination resistor

•ASR

• Inertia

• Encoder Offset

YES (IPM

motors only)

Default Setting is Open Loop Vector Control.

–

May fluctuate with characteristics and motor temperature.

Speed deviation when operating at constant speed. May fluctuate with characteristics and motor temperature.

Max. frequency of a speed reference signal that the drive can follow. May fluctuate with characteristics and motor temperature.

May fluctuate with characteristics and motor temperature. Performance may differ by capacity.

Automatically adjusts parameter settings that concern electrical characteristics of the motor.

Sets the maximum torque for the motor to protect the load and connected machinery.

Allows direct control of motor torque for tension control and other such applications.

Bi-directional speed detection of a coasting motor to restart it without stopping.

Saves energy by always operating the motor at its maximum efficiency.

Increases motor loss to allow for faster deceleration than normal without the use of a braking resistor. The effectiveness may vary based on motor characteristics.

Improves speed accuracy when the load changes by compensating effects of the system inertia.

Decelerates the drive to allow it to ride through a momentary power loss and continue operation.

Provides fast deceleration without using a braking resistor.

Provides automatic Speed Control and Feed Forward function tuning.

Prevents overvoltage by increasing speed during regeneration. Never use this function with hoist or crane applications.

Greatly increases the speed control range of an IPM motor.

28 YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual

Page 29

1.3 Model Number and Nameplate Check

Receiving

PRG : 1010

IND.CONT.EQ.

7J48 B

CIMR-AA2A0021FAA

YASKAWA ELECTRIC CORPORATION

MADE IN JAPAN

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

: E131457 IP20

PASS

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

FILE NO

TYPE 1 ENCLOSURE

AC drive model

Input specifications Output specifications

Lot number Serial number

Software version

Enclosure type

Normal Duty Amps / Heavy Duty Amps

1.3 Model Number and Nameplate Check

Please perform the following tasks after receiving the drive:

• Inspect the drive for damage. If the drive appears damaged upon receipt, contact the shipper immediately.

• Verify receipt of the correct model by checking the information on the nameplate.

• If you have received the wrong model or the drive does not function properly, contact your supplier.

◆ Nameplate

Figure 1.1

■ Three-Phase 200 V

YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual 29

Figure 1.1 Nameplate Information

CIMR- A A 2 A 0001 F A A

Drive

A1000 Series

Region

No.

Code

UUSA

A Japan

C Europe

No. Voltage Class

Customized

No.

Specifications

A Standard model

3-phase, 200-240 Vac

3-phase, 380-480 Vac

Normal Duty Heavy Duty

No.

Max. Motor Capacity kWRated Output

Current A

0004 0.75 3.5 0004 0.4 3.2 0006 1.1 6.0 0006 0.75 5 0008 1.5 8.0 0008 1.1 6.9 0010 2.2 9.6 0010 1.5 8 0012 3.0 12 0012 2.2 11 0018 3.7 17.5 0018 3.0 14.0 0021 5.5 21 0021 3.7 17.5 0030 7.5 30 0030 5.5 25 0040 11 40 0040 7.5 33 0056 15 56 0056 11 47 0069 18.5 69 0069 15 60 0081 22 81 0081 18.5 75

Enclosure

No.

Type

IP00

FNEMA 1

Environmental

No.

Specification <1>

Standard

K Gas-resistant

Humidity- and dust-resistant Oil-resistant

Vibration-resistant

No.

Design Revision Order

Max. Motor Capacity kWRated Output

Current A

Page 30

1.3 Model Number and Nameplate Check

Normal Duty Heavy Duty

No.

0110 30 110 0110 22 85 0138 37 138 0138 30 115 0169 45 169 0169 37 145 0211 55 211 0211 45 180

Max. Motor Capacity kWRated Output

Current A

■ Three-Phase 400 V

Normal Duty Heavy Duty

No.

0002 0004 1.5 4.1 0004 0.75 3.4 0005 2.2 5.4 0005 1.5 4.8 0007 3.0 6.9 0007 2.2 5.5 0009 3.7 8.8 0009 3.0 7.2 0011 5.5 11.1 0011 3.7 9.2 0018 7.5 17.5 0018 5.5 14.8 0023 11 23 0023 7.5 18

0031 15 31 0031 11 24 0038 18.5 38 0038 15 31 0044 22 44 0044 18.5 39 0058 30 58 0058 22 45 0072 37 72 0072 30 60 0088 45 88 0088 37 75 0103 55 103 0103 45 91 0139 75 139 0139 55 112 0165 90 165 0165 75 150

Max. Motor Capacity kWRated Output

0.75 2.1 0002 0.4 1.8

Current A

No.

Max. Motor Capacity kWRated Output

Current A

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

Note: Refer to Drive Models and Enclosure Types on page 31 for differences regarding enclosure protection types and component

descriptions.

30 YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual

Page 31

1.4 Drive Models and Enclosure Types

Receiving

1.4 Drive Models and Enclosure Types

Two types of enclosures are offered for A1000 drives.

• IP00/Open-Chassis models are designed for installation in an enclosure panel that serves to protect personnel from injury caused by accidentally touching live parts.

• IP20/NEMA Type 1 models mount to an indoor wall or in an enclosure panel.

Table 1 .3 describes drive enclosures and models.

Table 1.3 Drive Models and Enclosure Types

Voltage Class

Three-Phase 200 V Class

Three-Phase

400 V Class

IP20/NEMA Type 1 <1>

CIMR-A

2A0004F 2A0006F <2> 2A0008F <2> 2A0010F <2> 2A0012F <2> 2A0018F <2> 2A0021F <2> 2A0030F <2> 2A0040F <2> 2A0056F <2> 2A0069F <2>

2A0081F <2> 2A0110F <2> 2A0110A 2A0138F

<2> 2A0138A <2> 2A0169A

2A0169F 2A0211F

<2> 2A0211A

4A0002F

4A0004F <2>

4A0005F <2>

4A0007F <2>

4A0009F <2>

4A0011F <2>

4A0018F <2>

4A0023F <2>

4A0031F <2>

4A0038F <2>

4A0044F <2> 4A0058F <2> 4A0058A

<2> 4A0072A

4A0072F 4A0088F

<2> 4A0088A

4A0103F

<2> 4A0103A <2> 4A0139A

4A0139F 4A0165F

<2> 4A0165A

Enclosure Type

IP00/Open-Chassis

CIMR-A

<2>

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

YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual 31

Page 32

1.5 Component Names

This section gives and overview of the drive components described in this manual.

Note: 1. See Using the Digital Operator on page 83 for a description of the operator keypad.

2. The drive may have no cooling fans or only one cooling fan depending on the model.

◆ IP20/NEMA Type 1 Enclosure

■ Three-Phase AC200 V CIMR-A2A0004F to 0081F

Three-Phase AC400 V CIMR-A4A0002F to 0044F

Figure 1.2

A – Fan cover <1> B – Cooling fan

<1> I – Protective cover

H – Rubber bushing

C – Mounting hole J – Front cover D – Heatsink K – USB port (type-B) E – Optional 24 V DC power supply connector

L – Digital operator

cover F – Terminal board M – Terminal cover G – Bottom front cover N – Terminal cover screw

<1> The following drive models have a single cooling fan: CIMR-A2A0018F and 0021F, CIMR-A4A0007F through 0011F.

Drives CIMR-A2A0004F through 0012F and CIMR-A4A0002F through 0005F do not have a cooling fan or a cooling fan cover.

Figure 1.2 Exploded View of IP20/NEMA Type 1 Components (CIMR-A2A00030F)

32 YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual

Page 33

Receiving

◆ IP00/Open-Chassis

■ Three-Phase AC200 V CIMR-A2A0110A, 0138A

Three-Phase AC400 V CIMR-A4A0058A, 0103A

Figure 1.3

1.5 Component Names

A – Fan cover G – Front cover B – Cooling fan H – USB port (type-B) C – Mounting hole I – Front cover screw D – Heatsink J – Digital operator E – Optional 24 V DC power supply

K – Drive cover

connector cover

F – Terminal board L – Terminal cover

Figure 1.3 Exploded View of IP00/Open Chassis Components (CIMR-A2A0110A)

YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual 33

Page 34

1.5 Component Names

■ Three-Phase AC200 V CIMR-A2A0169A, 0211A

Three-Phase AC400 V CIMR-A4A0139A, 0165A

Figure 1.4

A – Mounting hole H – Front cover B – Heatsink I – USB port (type-B) C – Optional 24 V DC power supply

J – Digital operator

connector cover D – Terminal board K – Front cover screw E – Fan guard L – Drive cover F – Cooling fan M – Terminal cover G – Fan unit

Figure 1.4 Exploded view of IP00/Open-Chassis Type Components (CIMR-A4A0165A)

34 YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual

Page 35

Receiving

◆ Front Views

CIMR-A2A0012F

CIMR-A2A0110A

Figure 1.5

1.5 Component Names

A – Terminal board connector G – Main circuit terminal (Refer to Wiring

the Main Circuit Terminal on page 65)

B – DIP switch S1 (Refer to Terminal A2

H – Protective cover to prevent miswiring

Analog Input Signal Selection on page 75)

C – DIP switch S2 (Refer to MEMOBUS/

I – Option card connector (CN5-C)

Modbus Termination on page 77)

D – Sink/source jumper S3 (Refer to

J – Option card connector (CN5-B)

Sinking/Sourcing Mode Switch for Digital Inputs on page 72)

E – Ground terminal K – Option card connector (CN5-A) F – Terminal board (Refer to Control

Circuit Wiring on page 66)

Figure 1.5 Front View of Drives

YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual 35

Page 36

1.5 Component Names

36 YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual

Page 37

Mechanical Installation

This chapter explains how to properly mount and install the drive.

2.1 SECTION SAFETY. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

2.2 MECHANICAL INSTALLATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual 37

Page 38

2.1 Section Safety

W ARNING

CAUTION

NOTICE

2.1 Section Safety

Fire Hazard

Provide sufficient cooling when installing the drive inside an enclosed panel or cabinet.

Failure to comply could result in overheating and fire. When multiple drives are placed inside the same enclosure panel, install proper cooling to ensure air entering the

enclosure does not exceed 40 °C.

Crush Hazard

Do not carry the drive by the front cover or the terminal cover.

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

Equipment Hazard

Prevent foreign matter such as metal shavings or wire clippings from falling into the drive during drive installation and project construction.

Failure to comply could result in damage to the drive. Place a temporary cover over the top during installation. Be sure to remove the temporary cover before start-up, as the cover will reduce ventilation and cause the unit to overheat.

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

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

Operating the motor in the low-speed range diminishes the cooling effects, increases motor temperature, and may lead to motor damage by overheating.

Reduce the motor torque in the low-speed range whenever using a standard blower cooled motor. If 100% torque is required continuously at low speed, consider using a special drive or vector-control motor. Select a motor that is compatible with the required load torque and operating speed range.

The speed range for continuous operation differs according to the lubrication method and motor manufacturer.

If the motor is to be operated at a speed higher than the rated speed, consult with the manufacturer. Continuously operating an oil-lubricated motor in the low-speed range may result in burning.

When the input voltage is 440 V or higher or the wiring distance is greater than 100 meters, pay special attention to the motor insulation voltage or use a drive-rated motor with reinforced insulation.

Failure to comply could lead to motor winding failure.

Motor vibration may increase when operating a machine in variable-speed mode, if that machine previously operated at a constant speed.

Install vibration-proof rubber on the motor base or use the frequency jump function to skip a frequency resonating the machine.

The motor may require more acceleration torque with drive operation than with a commercial power supply.

Set a proper V/f pattern by checking the load torque characteristics of the machine to be used with the motor.

The rated input current of submersible motors is higher than the rated input current of standard motors.

Select an appropriate drive according to its rated output current. When the distance between the motor and drive is long, use a cable thick enough to connect the motor to the drive to prevent motor torque reduction.

38 YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual

Page 39

2.1 Section Safety

Mechanical

Installation

NOTICE

The current rating differs for a motor with variable pole pitches differs from a standard motor.

Check the maximum current of the motor before selecting the drive capacity. Only switch motor poles when the motor is stopped. Switching between motor during run will trigger overcurrent protection circuitry or result in overvoltage from regeneration, and the motor will simply coast to stop.

When using an explosion-proof motor, it must be subject to an explosion-proof test in conjunction with the drive.

This is also applicable when an existing explosion-proof motor is to be operated with the drive. Since the drive itself is not explosion-proof, always install it in a safe place.

Never lift the drive up while the cover is removed.

This can damage the terminal board and other components.

YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual 39

Page 40

2.2 Mechanical Installation

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

◆ Installation Environment

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

Table 2.1 Installation Environment

Environment Conditions

Installation Area Indoors

-10 °C to +40 °C (IP20/NEMA Type 1)

-10 °C to +50 °C (IP00/Open-Chassis)

Ambient Temperature

Humidity

Storage Temperature

Surrounding Area

Altitude

Vibration

Orientation Install the drive vertically to maintain maximum cooling effects.

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

95% RH or less and free of condensation

-20 to +60 °C Install the drive in an area free from:

• oil mist and dust

• metal shavings, oil, water or other foreign materials

• radioactive materials

• combustible materials (e.g., wood)

• harmful gases and liquids

• excessive vibration

• chlorides

• direct sunlight 1000 m or lower

10 to 20 Hz at 9.8 m/s 20 to 55 Hz at 5.9 m/s2 (up to 200 V 45 kW or 400 V 75 kW) or 2.0 m/s2 (200 V 55 kW or 400 V 90 kW and above)

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

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

40 YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual

Page 41

2.2 Mechanical Installation

Mechanical

Installation

OK NG NG

Side Clearance Top/Bottom Clearance

◆ Installation Orientation and Spacing

Install the drive upright as illustrated in Figure 2.1 to maintain proper cooling.

Figure 2.1

Figure 2.1 Correct Installation Orientation

■ Single Drive Installation

Figure 2.2 shows the installation distance required to maintain sufficient space for airflow and wiring. Install the

heatsink against a closed surface to avoid diverting cooling air around the heatsink.

Figure 2.2

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

Figure 2.2 Correct Installation Spacing

Note: IP20/NEMA Type 1 and IP00/Open-Chassis models require the same amount of space above and below the drive for installation.

■ Multiple Drive Installation (Side-by-Side Installation)

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

When installing multiple drives into the same enclosure panel, mount the drives according to Figure 2.2.

When mounting drives with the minimum clearance of 2 mm according to Figure 2.3, derating must be considered and parameter L8-35 must be set to 1. Refer to Temperature Derating on page 371

YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual 41

Page 42

2.2 Mechanical Installation

Side Clearance

Line up the tops of the drives.

Top/Bottom Clearance

Figure 2.3

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

Figure 2.3 Space Between Drives (Side-by-Side Mounting)

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

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

D – 120 mm minimum

When drives with IP20/NEMA Type 1 enclosures are mounted side by side, the protective covers of all drives must be removed as shown in Figure 2.4. Refer to Protective Cover on page 60 to remove and reattach the protective cover.

Figure 2.4

Figure 2.4 IP20/NEMA 1 Side-by-Side Mounting in Enclosure

◆ Digital Operator Remote Usage

■ Remote Operation

The digital operator mounted on the drive can be removed and connected to the drive using an extension cable up to 3 m long. This makes it easier to operate the drive when it is installed in a location where it can not be accessed easily.

The digital operator can also be permanently mounted in a remote location like a panel door. An extension cable and an installation support set (depending on the installation type) will be required.

Note: Refer to Drive Options and Peripheral Devices on page 349 for information on extension cables and installation support sets.

42 YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual

Page 43

Mechanical

Installation

■ Digital Operator Remote Installation

S /N : J007XE273710001

7. 9

minimum

Unit: mm

12. 2

1. 6

Ins tallation holes (2-M 3 scr ews, depth 5)

Digital Operator

M3 × 6 Phillips recessed pan head machine screw × 2

Encl osure panel

Unit: mm

Digital Operator Dimensions

Figure 2.5

Figure 2.5 Digital Operator Dimensions

Installation Types and Required Materials

There are two ways the digital operator can be mounted to an enclosure:

2.2 Mechanical Installation

External/face-mount installs the operator outside the enclosure panel

2. Internal/flush-mount installs the operator inside the enclosure panel

Table 2.2 Digital Operator Installation Methods and Required Tools

Installation Method Description Installation Support Sets Model Required Tools

External/Face-Mount

Internal/Flush-Mount

Simplified installation with the digital operator is mounted on the outside of the panel with two screws.

Encloses the digital operator in the panel. The digital operator is flush with the outside of the panel.

– – Phillips screwdriver (M3)

Installation Support Set A

(for mounting with screws through

holes in the panel)

Installation Support Set B

(for use with threaded studs that are

fixed to the panel)

EZZ020642A Phillips screwdriver (M3, M4)

EZZ020642B

Phillips screwdriver (M3)

Wrench (M4)

Note: Prevent foreign matter such as metal shavings or wire clippings from falling into the drive during installation and project

construction. Failure to comply could result in damage to the drive. Place a temporary cover over the top of the drive during installation. Remove the temporary cover before startup, as the cover will reduce ventilation and cause the drive to overheat.

External/Face-Mount

1. Cut an opening in the enclosure panel for the digital operator as shown in Figure 2.7.

2. Position the digital operator so the display faces outwards, and mount it to the enclosure panel as shown in

Figure 2.6

Figure 2.6.

YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual 43

Figure 2.6 External/Face-Mount Installation

Page 44

2.2 Mechanical Installation

Unit: mm

Figure 2.7

Figure 2.7 Panel Cut-Out Dimensions (External/Face-Mount Installation)

Internal/Flush-Mount

An internal flush-mount requires an installation support set that must be purchased separately. Contact your Yaskawa representative to order an installation support set and mounting hardware. Figure 2.8 illustrates how to attach the Installation Support Set A.

Cut an opening in the enclosure panel for the digital operator as shown in Figure 2.9.

2. Mount the digital operator to the installation support.

3. Mount the installation support set and digital operator to the enclosure panel.

Figure 2.8

Enclosure panel

Digital Operator

M4 × 10 Phillips truss head screw × 4 (for panel widths between 1 and 1.6)

Installation Support Set A

M3 × 6 Phillips recessed pan head machine screw × 2

Unit: mm

Figure 2.8 Internal/Flush Mount Installation

Note: For environments with a significant amount of dust or other airborne debris, use a gasket between the enclosure panel and the

Figure 2.9

digital operator.

+0.5

120

+0.5

Unit : mm

Figure 2.9 Panel Cut-Out Dimensions (Internal/Flush-Mount Installation)

44 YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual

Page 45

Mechanical

Installation

◆ Exterior and Mounting Dimensions

Table 2.3 Drive Models and Types

Protective Design

IP20/NEMA Type 1

IP00/Open-Chassis

Three-Phase

200 V Class

20004F 20006F 20008F 20010F 20012F 20018F 20021F 20030F 20040F 20056F 20069F 20081F

20110A 20138A 20169A 20211A

Drive Model CIMR-A

2.2 Mechanical Installation

Three-Phase

400 V Class

40002F 40004F 40005F 40007F 40009F 40011F 40018F 40023F 40031F 40038F 40044F

–

40058A 40072A 40088A 40103A 40139A 40165A

Page

YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual 45

Page 46

2.2 Mechanical Installation

4-d

1.5

Figure 1

Figure 2

Figure 3

4-d

■ IP20/NEMA Type 1 Drives

46 YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual

Page 47

2.2 Mechanical Installation

Mechanical

Installation

Table 2.4 Dimensions for IP20/NEMA Type 1: 200 V Class

Drive Model

CIMR-A2A

0004 0006 140 260 147 122 – 248 6 – 38 5 – M5 3.1 0008 140 260 147 122 – 248 6 – 38 5 – M5 3.2 0010 140 260 147 122 – 248 6 – 38 5 – M5 3.2 0012 140 260 147 122 – 248 6 – 38 5 – M5 3.2 0018 140 260 164 122 – 248 6 – 55 5 – M5 3.5 0021 140 260 164 122 – 248 6 – 55 5 – M5 3.5 0030 140 260 167 122 – 248 6 – 55 5 – M5 4.0 0040 140 260 167 122 – 248 6 – 55 5 – M5 4.0 0056 180 300 187 160 – 284 8 – 75 5 – M5 5.6 0069 220 350 197 192 – 335 8 – 78 5 – M6 8.7

0081

0110 0138 279 614 258 220 450 435 7.5 164 100 2.3 2.3 M6 28 0169 329 730 283 260 550 535 7.5 180 110 2.3 2.3 M6 41 0211 329 730 283 260 550 535 7.5 180 110 2.3 2.3 M6 42

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

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

<1>

<2>

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

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

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

Dimensions (mm)

Weight

(kg)

Table 2.5 Dimensions for IP20/NEMA Type 1: 400 V Class

Drive Model

CIMR-A4A

0002 0004 140 260 147 122 – 248 6 – 38 5 – M5 3.2 0005 140 260 147 122 – 248 6 – 38 5 – M5 3.2 0007 140 260 164 122 – 248 6 – 55 5 – M5 3.4 0009 140 260 164 122 – 248 6 – 55 5 – M5 3.5 0011 140 260 164 122 – 248 6 – 55 5 – M5 3.5 0018 140 260 167 122 – 248 6 – 55 5 – M5 3.9 0023 140 260 167 122 – 248 6 – 55 5 – M5 3.9 0031 180 300 167 160 – 284 8 – 55 5 – M5 5.4 0038 180 300 187 160 – 284 8 – 75 5 – M5 5.7 0044 220 350 197 192 – 335 8 – 78 5 – M6 8.3

0058 0072 279 515 258 220 450 435 7.5 65 100 2.3 2.3 M6 27 0088 329 630 258 260 510 495 7.5 120 105 2.3 3.2 M6 39 0103 329 630 258 260 510 495 7.5 120 105 2.3 3.2 M6 39 0139 329 730 283 260 550 535 7.5 180 110 2.3 2.3 M6 45 0165 329 730 283 260 550 535 7.5 180 110 2.3 2.3 M6 46

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

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

<1>

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

<2>

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

Dimensions (mm)

Weight

(kg)

YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual 47

Page 48

2.2 Mechanical Installation

■ IP00/Open-Chassis Drives

Max 8

Table 2.6 Dimensions for IP00/Open-Chassis: 200 V Class

Drive Model CIMR-A2A

0110 0138 275 450 258 220 435 7.5 100 2.3 2.3 M6 25 0169 325 550 283 260 535 7.5 110 2.3 2.3 M6 37 0211 325 550 283 260 535 7.5 110 2.3 2.3 M6 38

Figure W H D W1 H1 H2 D1 t1 t2 d

250 400 258 195 385 7.5 100 2.3 2.3 M6 21

4-d

Figure 1

Dimensions (mm)

Weight

(kg)

Table 2.7 Dimensions for IP00/Open-Chassis: 400 V Class

Drive Model CIMR-A4A

0058 0072 275 450 258 220 435 7.5 100 2.3 2.3 M6 25 0088 325 510 258 260 495 7.5 105 2.3 3.2 M6 36 0103 325 510 258 260 495 7.5 105 2.3 3.2 M6 36 0139 325 550 283 260 535 7.5 110 2.3 2.3 M6 41 0165 325 550 283 260 535 7.5 110 2.3 2.3 M6 42

Figure W H D W1 H1 H2 D1 t1 t2 d

250 400 258 195 385 7.5 100 2.3 2.3 M6 21

Dimensions (mm)

Weight

(kg)

48 YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual

Page 49

Electrical Installation

This chapter explains proper procedures for wiring the control circuit terminals, motor, and power supply.

3.1 SECTION SAFETY. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

3.2 STANDARD CONNECTION DIAGRAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

3.3 MAIN CIRCUIT CONNECTION DIAGRAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

3.4 TERMINAL BLOCK CONFIGURATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

3.5 TERMINAL COVER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

3.6 DIGITAL OPERATOR AND FRONT COVER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

3.7 PROTECTIVE COVER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

3.8 MAIN CIRCUIT WIRING. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

3.9 CONTROL CIRCUIT WIRING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

3.10 CONTROL I/O CONNECTIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

3.11 TERMINAL A2 ANALOG INPUT SIGNAL SELECTION . . . . . . . . . . . . . . . . . . . . . 75

3.12 CONNECT TO A PC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

3.13 MEMOBUS/MODBUS TERMINATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

3.14 EXTERNAL INTERLOCK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

3.15 WIRING CHECKLIST. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual 49

Page 50

3.1 Section Safety

DANGER

W ARNING

3.1 Section Safety

Electrical Shock Hazard

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

Failure to comply will result in death or serious injury.

Electrical Shock Hazard

Do not operate equipment with covers removed.

Failure to comply could result in death or serious injury. The diagrams in this section may show drives without covers or safety shields to show details. Be sure to reinstall

covers or shields before operating the drives and run the drives according to the instructions described in this manual.

Always ground the motor-side grounding terminal.

Improper equipment grounding could result in death or serious injury by contacting the motor case.

Do not perform work on the drive while wearing loose clothing, jewelry or without eye protection.

Failure to comply could result in death or serious injury. Remove all metal objects such as watches and rings, secure loose clothing, and wear eye protection before beginning

work on the drive.

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

Failure to comply could result in death or serious injury.

Do not allow unqualified personnel to perform work on the drive.

Failure to comply could result in death or serious injury. Installation, maintenance, inspection, and servicing must be performed only by authorized personnel familiar with

installation, adjustment, and maintenance of AC drives.

Do not touch any terminals before the capacitors have fully discharged.

Failure to comply could result in death or serious injury. Before wiring terminals, disconnect all power to the equipment. The internal capacitor remains charged even after the

power supply is turned off. After shutting off the power, wait for at least the amount of time specified on the drive before touching any components.

Fire Hazard

Tighten all terminal screws to the specified tightening torque.

Loose electrical connections could result in death or serious injury by fire due to overheating of electrical connections.

Do not use improper combustible materials.

Failure to comply could result in death or serious injury by fire. Do not install the drive to a combustible surface. Never place combustible materials on the drive.

Do not use an improper voltage source.

Failure to comply could result in death or serious injury by fire. Verify that the rated voltage of the drive matches the voltage of the incoming power supply before applying power.

When installing a dynamic braking resistor or optional Braking Resistor Unit, perform all wiring exactly as specified in the wiring diagrams provided.

Failure to do so can result in fire. Improper wiring may damage braking components.

50 YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual

Page 51

3.1 Section Safety

Electrical Installation

CAUTION

NOTICE

Do not carry the drive by the front cover or the terminal cover.

Failure to comply may cause the main body of the drive to fall, resulting in minor or moderate injury.

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

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

Never connect or disconnect the motor from the drive while the drive is outputting voltage.

Improper equipment sequencing could result in damage to the drive.

Do not use unshielded cable for control wiring.

Failure to comply may cause electrical interference resulting in poor system performance. Use shielded, twisted-pair wires and ground the shield to the ground terminal of the drive.

Do not allow unqualified personnel to use the product.

Failure to comply could result in damage to the drive or braking circuit. Carefully review instruction manual TOBPC72060000 when connecting a braking option to the drive.

Do not modify the drive circuitry.

Failure to comply could result in damage to the drive and will void warranty. Yaskawa is not responsible for any modification of the product made by the user. This product must not be modified.

Check all the wiring to ensure that all connections are correct after installing the drive and connecting any other devices.

Failure to comply could result in damage to the drive.

YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual 51

Page 52

3.2 Standard Connection Diagram

Connect the drive and peripheral devices as shown in Figure 3.1. It is possible to set and run the drive via the digital operator without connecting digital I/O wiring. This section does not discuss drive operation; Refer to Start-Up

Programming & Operation on page 81 for instructions on operating the drive.

NOTICE: Inadequate wiring could result in damage to the drive. Install adequate branch circuit short circuit protection per applicable codes. The drive is suitable for circuits capable of delivering not more than 18,000 RMS symmetrical amperes, 240 Vac maximum (200 V Class) and 480 Vac maximum (400 V Class).

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

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

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

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

52 YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual

Page 53

Electrical Installation

Figure 3.1

−



−

<4>

<6>

A+ A

B

Z

B+

Z+

AO IG BO IG ZO IG

TB1

TB2

B track monitor

A track monitor

U/T

V/T2

W/T

Ground

Cooling fan

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

DC reactor

(option)

Thermal relay

(option)

−



−

0 V

S S

Drive

B112

kΩ

0 V

E (G)

<1>

<2>

<3>

<11>

<8>

<12>

<13>

<9>

<10>

<8>

<7>

<5>

−

+24 V

MB MC

CN5-C

CN5-B

CN5-A

Jumper

Braking resistor (option)

Forward Run / Stop

Reverse Run / Stop

External fault

Fault reset

Multi-speed step 1

Multi-speed step 2

External Baseblock

Jog speed

Multi-function

digtial inputs

(default setting)

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

Option board

connectors

Pulse Train Input (max 32 kHz)

Shield ground terminal

Multi-function analog/ pulse

train inputs

Power supply +10.5 Vdc, max. 20 mA

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

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

−V

Power supply, -10.5 Vdc, max. 20 mA

Safety switch

MEMOBUS/Modbus

comm. RS485/422

max. 115.2 kBps

Safe Disable inputs

Wire

jumper

Open

Safety relay /

controller

Termination resistor

(120 Ω, 1/2 W)

DIP Switch S2

DIP Switch S1

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

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

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

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

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

Multi-function analog output 1 (Output frequency)

-10 to +10 Vdc (2mA)

Multi-function analog output 2 (Output current)

-10 to +10 Vdc (2mA)

EDM (Safety Electronic Device Monitor)

Main Circuit

Control Circuit

shielded line

twisted-pair shielded line

main circuit terminal

control circuit terminal

PGB3

R/L1

S/L2

T/L3

MCCB Three-phase power supply 200 to 400 V 50/60 Hz

R S

OFF

THRX

TRX

FLT-A

FLT-B

TRX

Fault relay contact

Braking resistor unit Thermal relay trip contact

THRX

Fuse

3.2 Standard Connection Diagram

<1> Remove the jumper when installing a DC reactor. Models CIMR-A2A0110 through 0211 and 4A0058 through 0165 come with a built-in

DC reactor. <2> When installing a braking resistor option, a thermal relay sequence should also be set up to shut off power to the drive in case overheat occurs. <3> The drive’s protection function for the internal braking transistor needs to be disabled (L8-55 = 0) if using a regen unit such as a regen

converter or some type of braking option unit (and therefore not the internal braking transistor). If left enabled, a braking resistor fault (rF)

may result.

Make sure Stall Prevention is disabled (L3-04 = 0) whenever using a regenerative converter, a regenerative unit, a braking resistor or the

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

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

this can cause erroneous operation or damage the drive. <9> Set DIP switch S1 to select between a voltage or current input signal to terminal A2. The default setting is for current input. <10> Enable the termination resistor in the last drive in a MEMOBUS network by setting DIP switch S2 to the ON position. <11> The sink/source setting for the Safe Disable input is the same as with the sequence input. Jumper S3 has the drive set for an external power

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

YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual 53

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

Figure 3.31 for instructions.

a feedback-type of signal.

Page 54

3.2 Standard Connection Diagram

Figure 3.1 Drive Standard Connection Diagram (example: CIMR-A2A0040)

WARNING! Sudden Movement Hazard. Do not close the wiring for the control circuit unless the multifunction input terminal

parameters are properly set. Improper sequencing of run/stop circuitry could result in death or serious injury from moving equipment.

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

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

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

54 YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual

Page 55

3.3 Main Circuit Connection Diagram

Electrical Installation

R/L1

S/L2

T/L3

U/T1

V/T2

W/T3

Braking Unit (option)

Braking Resistor Unit (option)

Drive

Motor

−

Use terminals and

for DC power supply

−

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

3.3 Main Circuit Connection Diagram

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

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

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

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

Figure 3.2

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

ac, 50 to 60 Hz

Figure 3.2 Connecting Main Circuit Terminals

DC reactor

Jumper

(option)

−

R/L1

S/L2

T/L3

Braking Resistor Unit

Drive

U/T1

V/T2

W/T3

(option)

Motor

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

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

Figure 3.3

Use terminals and

for DC power supply

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

ac, 50 to 60 Hz

−

Drive

R/L1

S/L2

T/L3

Figure 3.3 Connecting Main Circuit Terminals

◆ Three-Phase 200 V Class (CIMR-A2A0169, 0211)

Three-Phase 400 V Class (CIMR-A4A0088 to 0165)

Figure 3.4

Braking Resistor Unit (option)

U/T1

V/T2

W/T3

Motor

YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual 55

Figure 3.4 Connecting Main Circuit Terminals

Page 56

3.4 Terminal Block Configuration

R/L1 S/L2 T/L3 B1 B2 U/T1 V/T2 W/T3

+1 +2

–

U/T1 V/T2 W/T3

+1 +2

R/L1 S/L2 T/L3

–

R/L1 S/L2 T/L3 U/T1 V/T2 W/T3

+1 +2

B1 B2

–

B1 B2

U/T1 V/T2 W/T3

+1 +2

R/L1 S/L2 T/L3

–

R/L1

S/L2

T/L3

U/T1

V/T2

W/T3

–

R/L1 S/L2 T/L3

U/T1

V/T2 W/T3

–

R/L1 S/L2 T/L3

U/T1

V/T2 W/T3

–

CIMR-A2A0004, 0006, 0008, 0010,

0012, 0018, 0021ޓ

CIMR-A4A0002, 0004, 0005, 0007,

0009, 0011

CIMR-A2A0030, 0040 CIMR-A4A0018, 0023

CIMR-A2A0056

CIMR-A4A0031, 0038, 0044

CIMR-A2A0069, 0081

CIMR-A4A0088, 0103

CIMR-A2A0110, 0138 CIMR-A4A0058, 0072

CIMR-A2A0169, 0211 CIMR-A4A0139, 0165

3.4 Terminal Block Configuration

Figure 3.6 shows the different main circuit terminal arrangements for the drive capacities.

Figure 3.5

Figure 3.5 Main Circuit Terminal Block Configuration

56 YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual

Page 57

3.5 Terminal Cover

Electrical Installation

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

3.5 Terminal Cover

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

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

■ Removing the Terminal Cover

1. Loosen the terminal cover screw.

Figure 3.6

Figure 3.6 Removing the Terminal Cover on an IP20/NEMA Type 1 Drive

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

Figure 3.7

terminal cover.

Figure 3.7 Removing the Terminal Cover on an IP20/NEMA Type 1 Drive

■ Reattaching the Terminal Cover

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

page 65 and Wiring the Control Circuit Terminal on page 70 for details on wiring.

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

Figure 3.8

Figure 3.8 Reattaching the Terminal Cover on an IP20/NEMA Type 1 Drive

YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual 57

Page 58

3.5 Terminal Cover

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

◆ CIMR-A2A0110 to 0211, 4A0058 to 0165 (IP00/Open-Chassis)

■ Removing the Terminal Cover

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

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

cover may fall off causing an injury.

Figure 3.9

Figure 3.9 Removing the Terminal Cover on an IP00/Open-Chassis Drive

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

Figure 3.10

Figure 3.10 Removing the Terminal Cover on an IP00/Open-Chassis Drive

■ Reattaching the Terminal Cover

Once wiring to the terminal board and other devices is complete, double check all connections and finally reattach the terminal cover. Refer to Wiring the Main Circuit Terminal on page 65 and Wiring the Control Circuit Terminal on

page 70 for details on wiring.

Figure 3.11

Figure 3.11 Reattaching the Terminal Cover on an IP00/Open-Chassis Drive

58 YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual

Page 59

3.6 Digital Operator and Front Cover

Electrical Installation

3.6 Digital Operator and Front Cover

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

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

◆ Removing/Reattaching the Digital Operator

■ Removing the Digital Operator

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

Figure 3.12

Figure 3.12 Removing the Digital Operator

■ Reattaching the Digital Operator

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

Figure 3.13

Figure 3.13 Reattaching the Digital Operator

◆ Removing/Reattaching the Front Cover

■ Removing the Front Cover

After removing the terminal cover and the digital operator, loosen the screw that affixes the front cover (model CIMRA2A0081 does not use a screw to affix the front cover). Pinch inwards on tabs found on each side of the front cover, then pull forward to remove it from the drive.

Figure 3.14

Figure 3.14 Remove the Front Cover

■ Reattaching the Front Cover

Reverse the instructions given above to reattach the front cover. Pinch inwards on the tabs found on each side of the front cover while guiding it back into the drive. Make sure it clicks firmly into place.

YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual 59

Page 60

3.7 Protective Cover

Protective Cover Mounting Holes

3.7 Protective Cover

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

◆ Removing the Protective Cover

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

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

Figure 3.15

Figure 3.15 Removing the Protective Cover

◆ Reattaching the Protective Cover

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

Figure 3.16

Figure 3.16 Reattaching the Protective Cover

60 YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual

Page 61

3.8 Main Circuit Wiring

Electrical Installation

3.8 Main Circuit Wiring

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

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

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

◆ Main Circuit Terminal Functions

Table 3.1 Main Circuit Terminal Functions

Ter min al Typ e

200 V Class

400 V Class

CIMR-A

R/L1

S/L2

T/L3

U/T1

V/T2

W/T3

–

Model

2A0004 to 2A0081 2A0110 to 2A0138 2A0169 to 2A0211

4A0002 to 4A0044 4A0058 to 4A0072 4A0088 to 4A0165

Main circuit power supply input Connects line power to the drive 53

Drive output Connects to the motor 53

Braking resistor not available

• DC reactor connection (+1, +2) (remove the shorting bar between +1 and +2)

• DC power supply input (+1,

−)

not available

• DC power supply input (+1, −)

For 200 V class: 100 Ω or less

For 400 V class: 10 Ω or less

not available

• DC power supply input (+1, −)

• Braking transistor connection (+3, −)

Function Page

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

For connection

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

• of braking options

• connection of a DC reactor

Grounding terminal 65

354

358

◆ Wire Gauges and Tightening Torque

Select the appropriate wires and crimp terminals from Ta bl e 3.2 through Table 3.4.

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

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

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

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

Line drop voltage (V) = 3 × wire resistance (Ω/km) × wire length (m) × current (A) × 10

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

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

• Refer to UL Standards Compliance on page 484 for information on UL compliance.

-3

YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual 61

Page 62

3.8 Main Circuit Wiring

■ Three-Phase 200 V Class

Table 3.2 Wire Gauge and Torque Specifications (Three-Phase 200 V Class)

Model

CIMR-A

2A0004 2A0006 2A0008 2A0010

2A0012

2A0018

2A0021

2A0030

2A0040

2A0056

2A0069

2A0081

2A0110

Ter mi nal

R/L1, S/L2, T/L3 2 2 to 5.5 14 14 to 10 2.5 2.5 to 6 U/T1, V/T2, W/T3 2 2 to 5.5 14 14 to 10 2.5 2.5 to 6 –, +1, +2 2 2 to 5.5 – 14 to 10 – 2.5 to 6 B1, B2 2 2 to 5.5 – 14 to 10 – 2.5 to 6

R/L1, S/L2, T/L3 2 2 to 5.5 12 14 to 10 2.5 2.5 to 6 U/T1, V/T2, W/T3 2 2 to 5.5 14 14 to 10 2.5 2.5 to 6 –, +1, +2 2 2 to 5.5 – 14 to 10 – 2.5 to 6 B1, B2 2 2 to 5.5 – 14 to 10 – 2.5 to 6

R/L1, S/L2, T/L3 3.5 2 to 5.5 10 12 to 10 2.5 2.5 to 6 U/T1, V/T2, W/T3 3.5 2 to 5.5 10 14 to 10 2.5 2.5 to 6 –, +1, +2 3.5 2 to 5.5 – 14 to 10 – 2.5 to 6 B1, B2 2 2 to 5.5 – 14 to 10 – 2.5 to 6

R/L1, S/L2, T/L3 5.5 3.5 to 5.5 10 12 to 10 4 2.5 to 6 U/T1, V/T2, W/T3 3.5 3.5 to 5.5 10 12 to 10 2.5 2.5 to 6 –, +1, +2 5.5 3.5 to 5.5 – 12 to 10 – 4 to 6 B1, B2 2 2 to 5.5 – 14 to 10 – 2.5 to 6

R/L1, S/L2, T/L3 14 5.5 to 14 8 10 to 6 6 4 to 16 U/T1, V/T2, W/T3 8 5.5 to 14 8 10 to 6 6 4 to 16 –, +1, +2 14 5.5 to 14 – 10 to 6 – 6 to 16 B1, B2 3.5 2 to 5.5 – 14 to 10 – 4 to 6

R/L1, S/L2, T/L3 14 14 6 8 to 6 10 6 to 16 U/T1, V/T2, W/T3 14 8 to 14 8 8 to 6 10 6 to 16 –, +1, +2 14 14 – 6 – 16 B1, B2 5.5 3.5 to 5.5 – 12 to 10 – 4 to 6

R/L1, S/L2, T/L3 22 14 to 22 4 6 to 4 16 16 to 25 U/T1, V/T2, W/T3 14 14 to 22 4 6 to 4 16 16 to 25 –, +1, +2 22 14 to 22 – 6 to 4 – 16 to 25

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

R/L1, S/L2, T/L3 30 22 to 30 3 4 to 3 25 16 to 25 U/T1, V/T2, W/T3 22 14 to 30 3 4 to 3 16 16 to 25 –, +1, +2 30 22 to 30 – 4 to 3 – 25

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

R/L1, S/L2, T/L3 38 30 to 38 2 3 to 2 35 25 to 35 U/T1, V/T2, W/T3 30 22 to 38 2 3 to 2 25 25 to 35 –, +1, +2 38 30 to 38 – 3 to 2 – 25 to 35

B1, B2 14 14 – 6 – 16 M5

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

1, V/T2, W/T3 38 30 to

U/T –, +1 60 38 to 60 – 2 to 1/0 – 35 to 50 B1, B2 22 14 to 50 – 6 to 1/0 – 16 to 50

Recommended

Gauge

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

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

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

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

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

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

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

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

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

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

Applicable

Gauge

Recommended

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

Gauge

AWG, kc mil

Applicable

Gauge

AWG, kcmil

Recommended

Gauge

Applicable

Gauge

Screw

Size

Tightening

Tor que

Nxm (lb.in.)

1.2 to 1.5

(10.6 to 13.3)

1.2 to 1.5

(10.6 to 13.3)

1.2 to 1.5

(10.6 to 13.3)

1.2 to 1.5

(10.6 to 13.3)

1.2 to 1.5

(10.6 to 13.3)

2 to 2.5

(17.7 to 22.1)

1.2 to 1.5

(10.6 to 13.3)

2 to 2.5

(17.7 to 22.1)

4 to 6

(35.4 to 53.1)

2 to 2.5

(17.7 to 22.1)

4 to 6

(35.4 to 53.1)

9 to11

(79.7 to 97.4)

2 to 2.5

(17.7 to 22.1)

4 to 6

(35.4 to 53.1)

9 to11

(79.7 to 97.4)

2 to 2.5

(17.7 to 22.1)

4 to 6

(35.4 to 53.1)

9 to 11

(79.7 to 97.4)

62 YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual

Page 63

3.8 Main Circuit Wiring

Electrical Installation

Model

CIMR-A

2A0138

2A0169

2A0211

Ter mi nal

R/L1, S/L2, T/L3 60 50 to 80 2/0 1 to 3/0 50 35 to 70 U/T1, V/T2, W/T3 60 50 to 80 2/0 1 to 3/0 50 35 to 70 –, +1 80 60 to 80 – 1/0 to 3/0 – 50 to 70 B1, B2 30 22 to 80 – 4 to 3/0 – 25 to 70

R/L1, S/L2, T/L3 80 60 to 100 4/0 2/0 to 4/0 70 50 to 95 U/T1, V/T2, W/T3 80 60 to 100 4/0 3/0 to 4/0 70 50 to 95 –, +1 50 × 2P 50 to 100 – 1 to 4/0 – 35 to 95 +3 60 50 to 100 – 1/0 to 4/0 – 50 to 95

R/L1, S/L2, T/L3 100 80 to 100 1/0 × 2P 1/0 to 4/0 95 70 to 95 U/T1, V/T2, W/T3 50 × 2P 50 to 100 1/0 × 2P 1/0 to 4/0 95 70 to 95 –, +1 50 × 2P 50 to 100 – 1 to 4/0 – 35 to 95 +3 80 60 to 100 – 1/0 to 4/0 – 50 to 95

Recommended

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

Gauge

22 22 to 38 4 4 25 25 M8

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

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

Applicable

Gauge

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

■ Three-Phase 400 V Class

Table 3.3 Wire Gauge and Torque Specifications (Three-Phase 400 V Class)

Model

CIMR-A

4A0002 4A0004

4A0005 4A0007 4A0009

4A0011

4A0018

4A0023

4A0031

Ter mi nal

R/L1, S/L2, T/L3 2 2 to 5.5 14 14 to 10 2.5 2.5 to 6 U/T1, V/T2, W/T3 2 2 to 5.5 14 14 to 10 2.5 2.5 to 6 –, +1, +2 2 2 to 5.5 – 14 to 10 – 2.5 to 6 B1, B2 2 2 to 5.5 – 14 to 10 – 2.5 to 6

R/L1, S/L2, T/L3 2 2 to 5.5 12 14 to 10 2.5 2.5 to 6 U/T1, V/T2, W/T3 2 2 to 5.5 14 14 to 10 2.5 2.5 to 6 –, +1, +2 2 2 to 5.5 – 14 to 10 – 2.5 to 6 B1, B2 2 2 to 5.5 – 14 to 10 – 2.5 to 6

R/L1, S/L2, T/L3 3.5 2 to 14 10 12 to 6 2.5 2.5 to 16 U/T1, V/T2, W/T3 3.5 2 to 14 10 12 to 6 2.5 2.5 to 16 –, +1, +2 3.5 2 to 14 – 12 to 6 – 4 to 16 B1, B2 2 2 to 5.5 – 12 to 10 – 4 to 6

R/L1, S/L2, T/L3 5.5 3.5 to 14 10 10 to 6 4 2.5 to 16 U/T1, V/T2, W/T3 5.5 3.5 to 14 10 10 to 6 4 2.5 to 16 –, +1, +2 5.5 3.5 to 14 – 12 to 6 – 4 to 16 B1, B2 2 2 to 5.5 – 12 to 10 – 4 to 6

R/L1, S/L2, T/L3 14 5.5 to 14 8 8 to 6 6 6 to 16 U/T1, V/T2, W/T3 8 5.5 to 8 8 10 to 6 6 6 to 16 –, +1, +2 14 5.5 to 14 – 10 to 6 – 6 to 16

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

Recommended

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

Gauge

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

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

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

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

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

Applicable

Gauge

Recommended

Gauge

AWG, kcmil

Recommended

Gauge

AWG, kcmil

Applicable

Gauge

AWG, kcmil

Applicable

Gauge

AWG, kcmil

Recommended

Gauge

Recommended

Gauge

Applicable

Gauge

Applicable

Gauge

Screw

Size

M10

Screw

Size

Tightening

Torque

Nxm (lb.in.)

18 to 23

(159 to 204)

9 to 11

(79.7 to 97.4)

18 to 23

(159 to 204)

9 to 11

(79.7 to 97.4)

18 to 23

(159 to 204)

9 to 11

(79.7 to 97.4)

Tightening

Torque

Nxm (lb.in.)

1.2 to 1.5

(10.6 to 13.3)

1.2 to 1.5

(10.6 to 13.3)

1.2 to 1.5

(10.6 to 13.3)

1.2 to 1.5

(10.6 to 13.3)

2 to 2.5

(17.7 to 22.1)

1.2 to 1.5

(10.6 to 13.3)

2 to 2.5

(17.7 to 22.1)

2 to 2.5

(17.7 to 22.1)

2 to 2.5

(17.7 to 22.1)

4 to 6

(35.4 to 53.1)

YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual 63

Page 64

3.8 Main Circuit Wiring

Model

CIMR-A

4A0038

4A0044

4A0058

4A0072

4A0088

4A0103

4A0139

4A0165

Ter mi nal

R/L1, S/L2, T/L3 14 14 6 8 to 6 10 10 to 16 U/T1, V/T2, W/T3 14 8 to 14 8 8 to 6 6 6 to 16 –, +1, +2 14 14 – 6 – 6 to 16

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

R/L1, S/L2, T/L3 14 14 to 22 6 6 to 4 16 16 to 25 U/T1, V/T2, W/T3 14 14 to 22 6 6 to 4 16 16 to 25 –, +1, +2 14 14 to 22 – 6 to 4 – 16 to 25

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

R/L1, S/L2, T/L3 14 14 to 50 4 6 to 1/0 16 10 to 50 U/T1, V/T2, W/T3 14 14 to 50 4 6 to 1/0 16 10 to 50 –, +1 22 14 to 50 – 6 to 1/0 – 16 to 50 B1, B2 14 8 to 50 – 8 to 1/0 – 10 to 50

R/L1, S/L2, T/L3 22 14 to 50 3 4 to 1/0 16 16 to 50 U/T1, V/T2, W/T3 22 14 to 50 3 4 to 1/0 25 16 to 50 –, +1 30 22 to 50 – 4 to 1/0 – 25 to 50 B1, B2 14 14 to 50 – 6 to 1/0 – 16 to 50

R/L1, S/L2, T/L3 30 22 to 60 2 3 to 3/0 25 16 to 70 U/T1, V/T2, W/T3 30 22 to 60 2 3 to 3/0 25 25 to 70 –, +1 38 30 to 60 – 3 to 2/0 – 25 to 70 +3 22 14 to 60 – 6 to 3/0 – 16 to 70

R/L1, S/L2, T/L3 38 30 to 60 1/0 2 to 3/0 35 25 to 70 U/T1, V/T2, W/T3 38 30 to 60 1 2 to 3/0 35 25 to 70 –, +1 60 30 to 60 – 3 to 2/0 – 25 to 70 +3 30 22 to 60 – 4 to 3/0 – 25 to 70

R/L1, S/L2, T/L3 60 38 to 100 3/0 1/0 to 4/0 50 35 to 95 U/T1, V/T2, W/T3 60 50 to 100 2/0 1/0 to 4/0 50 35 to 95 –, +1 100 60 to 100 – 1/0 to 4/0 – 50 to 95 +3 50 30 to 100 – 3 to 4/0 – 25 to 95

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

U/T1, V/T2, W/T3 80 80 to 100 4/0 3/0 to 4/0 70 70 to 95

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

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

Recommended

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

Gauge

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

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

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

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

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

22 22 4 4 25 25

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

Applicable

Gauge

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

Recommended

Gauge

AWG, kc mil

Applicable

Gauge

AWG, kcmil

Recommended

Gauge

Applicable

Gauge

Screw

Size

M10

Tightening

Tor que

Nxm (lb.in.)

2 to 2.5

(17.7 to 22.1)

2 to 2.5

(17.7 to 22.1)

4 to 6

(35.4 to 53.1)

4 to 6

(35.4 to 53.1)

2 to 2.5

(17.7 to 22.1)

4 to 6

(35.4 to 53.1)

9 to 11

(79.7 to 97.4)

9 to 11

(79.7 to 97.4)

9 to 11

(79.7 to 97.4)

9 to 11

(79.7 to 97.4)

18 to 23

(159 to 204)

18 to 23

(159 to 204)

◆ Main Circuit Terminal and Motor Wiring

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

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

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

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

64 YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual

Page 65

3.8 Main Circuit Wiring

Electrical Installation

OK OK NG

■ Cable Length Between Drive and Motor

Voltage drop along the motor cable may cause reduced motor torque when the wiring between the drive and the motor is too long, especially at low frequency output. This can also be a problem when motors are connected in parallel with a fairly long motor cable. Drive output current will increase as the leakage current from the cable increases. An increase in leakage current may trigger an overcurrent situation and weaken the accuracy of the current detection.

Adjust the drive carrier frequency according to Ta bl e 3.4. If the motor wiring distance exceeds 100 m because of the system configuration, reduce the ground currents. Refer to C6-02: Carrier Frequency Selection on page 168.

Table 3.4 Cable Length Between Drive and Motor

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

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

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

motors that are connected.

■ Ground Wiring

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

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

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

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

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

Refer to Figure 3.17 when using multiple drives. Do not loop the ground wire.

Figure 3.17

Figure 3.17 Multiple Drive Wiring

■ Wiring the Main Circuit Terminal

WARNING! Electrical Shock Hazard. Shut off the power supply to the drive before wiring the main circuit terminals. Failure to comply may result in death or serious injury.

Wire the main circuit terminals after the terminal board has been properly grounded. Models CIMR-A2A0004 through 0081 and 4A0002 through 0044 have a cover placed over the DC bus and braking

circuit terminals prior to shipment to help prevent miswiring. Cut away covers as needed for terminals using wire cutters.

Figure 3.18

A – Protective Cover

Figure 3.18 Protecting Cover to Prevent Miswiring (CIMR-A2A0056)

■ Main Circuit Connection Diagram

Refer to Main Circuit Connection Diagram on page 55 when wiring terminals on the drive’s main power circuit.

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

YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual 65

Page 66

3.9 Control Circuit Wiring

−



−



−

S S

Drive

kΩ

E (G)

<6>

<3>

<5>

<7>

<8>

<4>

<3>

<2>

<1>

MB MC

CN5-C

CN5-B

CN5-A

Forward Run / Stop

Reverse Run / Stop

External fault

Fault reset

Multi-speed step 1

Multi-speed step 2

External Baseblock

Jog speed

Multi-function

digtial inputs

(default setting)

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

Option board

connectors

Pulse Train Input (max 32 kHz)

Shield ground terminal

Multi-function analog/ pulse

train inputs

Power supply +10.5 Vdc, max. 20 mA

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

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

−V

Power supply, -10.5 Vdc, max. 20 mA

Safety switch

MEMOBUS/Modbus

comm. RS485/422

max. 115.2 kBps

Safe Disable inputs

Wire

jumper

Open

Safety relay /

controller

Termination resistor

(120 Ω, 1/2 W)

DIP Switch S2

DIP Switch S1

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

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

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

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

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

Multi-function analog output 1 (Output frequency)

-10 to +10 Vdc (2mA)

Multi-function analog output 2 (Output current)

-10 to +10 Vdc (2mA)

EDM (Safety Electronic Device Monitor)

Control Circuit

shielded line twisted-pair shielded line main circuit terminal control circuit terminal

3.9 Control Circuit Wiring

Figure 3.19

<1> Supplying power to the control circuit separately from the main circuit requires 24 V power supply (option). <2> This figure shows an example of a sequence input to S1 through S8 using a non-powered relay or an NPN transistor. Use jumper S3 to select

sink or source and internal or external power supply.

<3> The maximum output current capacity for the +V and -V terminals on the control circuit is 20 mA. Never short terminals +V, -V, and AC, as

this can cause erroneous operation or damage the drive.

<4> Set DIP switch S1 to select between a voltage or current input signal to terminal A2. The default setting is for current input. <5> Enable the termination resistor in the last drive in a MEMOBUS network by setting DIP switch S2 to the ON position. <6> The sink/source setting for the Safe Disable input is the same as with the sequence input. <7> Disconnect the wire jumper between H1 - HC and H2 - HC when utilizing the Safe Disable input. <8> Monitor outputs work with devices such as analog frequency meters, ammeters, voltmeters, and wattmeters. They are not intended for use as a

feedback-type of signal.

66 YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual

Figure 3.19 Control Circuit Connection Diagram

Page 67

3.9 Control Circuit Wiring

Electrical Installation

◆ Control Circuit Terminal Block Functions

Drive parameters determine which functions apply to the multi-function digital inputs (S1 to S8), multi-function digital outputs (M1, M2), multi-function photocoupler outputs (P1, P2), multi-function analog inputs (A1 to A3), and multifunction analog monitor output (FM, AM). The default setting is listed next to each terminal in Figure 3.19.

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

WARNING! Confirm the drive I/O signals and external sequence before starting test run. Setting parameter A1-06 may change the I/O terminal function automatically from the factory setting. Refer to Application Selection on page 97. Failure to comply may result in death or serious injury.

■ Input Terminals

Table 3 .5 lists the input terminals on the drive. Text in parenthesis indicates the default setting for each multi-function

input.

Table 3.5 Control Circuit Input Terminals

Typ e

Multi-Function Digital Inputs

Safe Disable Inputs

Analog Inputs / Pulse Train Input

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

Multi-function input 1 (Closed: Forward run, Open: Stop)

Multi-function input 2 (Closed: Reverse run, Open: Stop)

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

Multi-function input 4 (Fault reset)

Multi-function input 5 (Multi-step speed reference 1)

Multi-function input 6 (Multi-step speed reference 2)

Multi-function input 7 (Jog reference)

Multi-function input 8 (External baseblock)

Multi-function input common Multi-function input common

Safe Disable input 1

Safe Disable input 2

Safe Disable function common Safe disable function common

Multi-function pulse train input (Frequency reference)

Power supply for analog inputs 10.5 Vdc (max allowable current 20 mA) 127

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

-V

Multi-function analog input 1 (Frequency reference bias) -10 to 10 Vdc, 0 to 10 Vdc (input impedance: 20 kΩ)

Multi-function analog input 2 (Frequency reference bias)

Multi-function analog input 3 (auxiliary frequency

reference) Frequency reference common 0 V 127

Ground for shielded lines and option cards – –

E (G)

Photocoupler 24 Vdc, 8 mA Set the S3 jumper to select between sinking, sourcing mode, and the power supply. Refer to Sinking/Sourcing Mode Switch for Digital Inputs on page 72.

24 Vdc, 8 mA One or both open: Output disabled Both closed: Normal operation Internal impedance: 3.3 kΩ Off time of at least 1 ms Disconnect the wire jumpers shorting terminals H1, H2, and HC to use the Safe Disable inputs. Set the S3 jumper to select between sinking, sourcing mode, and the power supply as explained for multi-function input terminals in Sinking/Sourcing

Mode Switch for Digital Inputs on page 72.

Input frequency range: 0 to 32 kHz Signal Duty Cycle: 30 to 70% High level: 3.5 to 13.2 Vdc, low level: 0.0 to 0.8 Vdc Input impedance: 3 kΩ

-10 to 10 Vdc, 0 to 10 Vdc (input impedance: 20 kΩ) 4 to 20 mA, 0 to 20 mA (input impedance: 250 Ω) Voltage or current input must be selected by DIP switch S1 and H3-09

-10 to 10 Vdc, 0 to 10 Vdc (input impedance: 20 kΩ) 127

<1>

207

488

128 233

127 226

127 127 228

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

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

YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual 67

Page 68

3.9 Control Circuit Wiring

■ Output Terminals

Table 3 .6 lists the output terminals on the drive. Text in parenthesis indicates the default setting for each multi-function

output.

Table 3.6 Control Circuit Output Terminals

Typ e

Fault Relay

Multi-Function Digital Output

Multi-Function Photocoupler Output

Monitor Output

Safety Monitor Output

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

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

<2> Connect a flywheel diode as shown in the Figure 3.20 when driving a reactive load such as a relay coil. Make sure the diode rating is greater

than the circuit voltage.

Figure 3.20

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

N.O.

<1>

N.C. output

Fault output common

Multi-function digital output (During run)

Photocoupler output 1 (Zero speed)

Photocoupler output 2 (Speed agree 1)

Photocoupler output common

Pulse train output (Output frequency) 32 kHz (max) 233

Analog monitor output 1 (Output frequency)

Analog monitor output 2 (Output current)

Monitor common 0 V –

Safety monitor output

DM+

Safety monitor output common

DM-

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

48 Vdc, 2 to 50 mA

-10 to +10 Vdc or 0 to +10 Vdc 232

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

<2>

217

478

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

Figure 3.20 Connecting a Suppression Diode

■ Serial Communication Terminals

Table 3.7 Control Circuit Terminals: Serial Communications

Typ e

MEMOBUS/Modbus Communication

<1>

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

the termination resistor, see Control I/O Connections on page 72.

No. Signal Name Function (Signal Level)

Communications input (+)

R+

Communications input (-)

R-

Communications output (+)

S+

Communications output (-)

S-

Shield ground 0 V

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

RS-485/422 MEMOBUS/Modbus communication protocol

115.2 kbps (max.)

68 YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual

Page 69

Electrical Installation

◆ Terminal Configuration

DM+

DM−

R+

R−

S+

S−

E(G)

FM AC AM P1 P2 PC SC MA MB MC

M1 M2

E(G)

S1 S2 S3 S4 S5 S6 S7 S8

SC A1 A2 A3 +V AC -V

ABC

Inside of the Terminal Cover

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

Under the Terminal Board

(CIMR-A2A0110 to 2A0211, 4A0072 to 4A0165)

Control circuit terminals should be wired as shown in Figure 3.21.

Figure 3.21

3.9 Control Circuit Wiring

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

Figure 3.21 Control Circuit Terminal Arrangement

(CIMR-AA)

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

Figure 3.22

Figure 3.22 Control Circuit Terminal Arrangement

YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual 69

Page 70

3.9 Control Circuit Wiring

■ Wire Size and Torque Specifications

Select appropriate wire type and gauges from Tab le 3 .8. For simpler and more reliable wiring, use crimp ferrules on the wire ends. Refer to Table 3 .9 for ferrule terminal types and sizes.

Table 3.8 Wire Gauges and Torque Specifications

Bare Wire Terminal Ferrule-Type Terminal

Applicable wire

size

(AWG)

0.5 to 2

(20 to 14)

0.5 to 2

(20 to 14)

Standard 0.25 to 1.0

(24 to 17)

Single 0.25 to 1.5

(24 to 16)

Recomm. mm

(AWG)

0.75 (18)

1.25 (12)

0.75 (18)

Applicable wire

(AWG)

0.25 to 0.5 (24 to 20)

size

––

Recomm. mm2

(AWG)

0.5

(20)

Wire Type

Shielded line, etc.E (G) M3.5

Terminal

Block

TB1, TB2

TB4, TB5, TB6

Ter min al

FM, AC, AM, P1, P2, PC, SC, A1, A2, A3, +V, -V, S1-S8, MA, MB, MC, M1, M2

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

Screw

Size

M3.5

Tightening

Torque

N•m

(lb.in.)

0.8 to 1.0

(7.1 to 8.6)

0.8 to 1.0

(7.1 to 8.6)

0.22 to 0.25 (1.9 to 2.2)

■ Ferrule-Type Wire Terminals

Prepare wire ends with insulated sleeves before connecting to the drive. See Table 3 .9 for dimensions. Yaskawa recommends CRIMPFOX ZA-3, a crimping tool manufactured by PHOENIX CONTACT.

Figure 3.23

6 mm

Figure 3.23 Ferrule Dimensions

Table 3.9 Ferrule Terminal Types and Sizes

Size mm2 (AWG) Ty pe L (mm) d1 (mm) d2 (mm) Manufacturer

0.25 (24) AI 0.25-6YE 10.5 0.8 2 PHOENIX CONTACT0.34 (22) AI 0.34-6TQ 10.5 0.8 2

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

◆ Wiring the Control Circuit Terminal

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

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

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

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

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

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

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

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

Figure 3.24 for details. Prepare the ends of the control circuit wiring as shown in Figure 3.26. Refer to Wire Size and Torque Specifications on page 70.

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

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3.9 Control Circuit Wiring

Electrical Installation

TB6 TB5 TB4

Preparing wire terminal ends

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

Connect control wires as shown in the following figure:

Figure 3.24

A – Loosen screw to insert wire.

Wire in the following order:

C – Avoid fraying wire strands when stripping

insulation from wire. Strip length 5.5 mm.

TB4, TB5, TB6

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

Blade width of 2.5 mm or less

Figure 3.24 Terminal Board Wiring Guide

Use the space above TB2 to wire TB4 through TB6 as illustrated in Figure 3.25.

Figure 3.25

Figure 3.25 Terminal Board Wiring

When setting the frequency by analog reference from an external potentiometer, use shielded twisted-pair wires (treating wire ends as shown in Figure 3.26) and connect the shield to the ground terminal of the drive.

Figure 3.26

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

drive.

C – Insulation F – Shield

Figure 3.26 Preparing the Ends of Shielded Cables

NOTICE: The analog signal lines between the drive and the operator station or peripheral equipment should not exceed 50 meters

when using an analog signal from a remote source to supply the frequency reference. Failure to comply could result in poor system performance.

E – Shield sheath (insulate with tape)

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3.10 Control I/O Connections

◆ Sinking/Sourcing Mode Switch for Digital Inputs

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

Figure 3.27

Figure 3.27 Jumper S3

■ Sink Mode (0 V Common), Internal Power Supply

When controlling the digital inputs by NPN transistors (0 V common/sinking mode) or contacts using the drive internal power supply, position the jumper S3 for sinking as shown in Figure 3.28.

Figure 3.28

IP24 V

(24 V)

Figure 3.28 Sinking Mode (0 V Common), Internal Power Supply

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

When controlling digital inputs by PNP transistors (+24 V common/sourcing mode) or contact inputs using the drive internal power supply, set jumper S3 for sourcing as shown in Figure 3.29.

Figure 3.29

IP24 V

(24 V)

Figure 3.29 Source Mode (+24 V Common), Internal Power Supply

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3.10 Control I/O Connections

Electrical Installation

Sink Mode (0 V Common) External Power Supply

IP24 V

(24 V)

+24 V

IP24 V (24 V)

+24 V

Source Mode (+24 V Common) External Power Supply

■ Sink/Source Mode, External Power Supply

When using an external voltage source for controlling the digital inputs, set jumper S3 as shown in Figure 3.30. Here, the inputs can be used for either sinking or sourcing.

Figure 3.30

Figure 3.30 Sink/Source Mode, External Power Supply

■ Power Supply Inputs Instead of the Safe Disable Feature

Refer to Figure 3.31 to wire the input terminals for an external power supply instead of the Safe Disable feature.

Figure 3.31

+24 V

IP24 V

(24 V)

Figure 3.31 Power Supply Inputs Instead of the Safe Disable Feature

+24 V

IP24 V

(24 V)

Sink ModeSource Mode

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3.10 Control I/O Connections

Load Impedance

Sink Current

External Power Supply

◆ Using the Photocoupler and Contact Outputs

The example below illustrates the use of multi-function digital outputs and the fault relay. Refer to Figure 3.1 for standard connection diagram.

Figure 3.32

Drive

Multi-Function Digital Output 250 Vac 10 mA 30 Vdc 10 mA

Fault Contact Output 250 Vac 10 mA 30 Vdc 10 mA

Multi-Function Photocoupler Output 48 Vdc

0 to

50 mA

1 A

<1>

1 A

Zero speed

Speed Agree 1

<1>

During Run

Fault

Relay

Controller

Relay

Max 48 Vdc

Max 250 Vac

<1> Minimum load: 5 Vdc, 10 mA

Figure 3.32 Photocoupler and Contact Outputs

◆ Using the Pulse Train Output

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

Using Power from the Pulse Output Terminal (Source Mode)

■

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

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

1.5 kΩ 5 V 4 kΩ 8 V

10 kΩ 10 V

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

Figure 3.33

RL = VMP 2 / (12 - VMP)

Figure 3.33 Pulse Output Connection Using Internal Voltage Supply

■ Using External Power Supply (Sink Mode)

The high voltage level of the pulse output signal depends on the external voltage applied. The voltage must be between 12 and 15 Vdc. The load resistance must be adjusted so that the current is lower than 16 mA.

External Power Supply (V) Load Impedance (kΩ)

Figure 3.34

12 to 15 Vdc ±10% 1.0 kΩ or higher

Figure 3.34 Pulse Output Connection Using External Voltage Supply

74 YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual

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3.11 Terminal A2 Analog Input Signal Selection

Electrical Installation

Dip Switch S1

3.11 Terminal A2 Analog Input Signal Selection

◆ Terminal A2 Input Signal Selection

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

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

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

To set the DIP switch on the terminal board, use an appropriate sized tool with a tip of approximately 8 mm in width.

Figure 3.35

Figure 3.35 DIP Switch S1

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

the frequency reference.

Table 3.10 DIP Switch S1 Settings

Setting Value Description

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

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

Table 3.11 Parameter H3-09 Details

No. Parameter Name Description

Selects the signal level for terminal A2.

H3-09 Terminal A2 signal level selection

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

Setting

Range

0 to 3 2

Default Setting

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3.12 Connect to a PC

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

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

Figure 3.36

USB Cable

(Type-AB)

(Type-B) (Type-A)

Figure 3.36 Connecting to a PC (USB)

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3.13 MEMOBUS/Modbus Termination

Electrical Installation

DIP Switch S2

(OFF: default)

OFF

3.13 MEMOBUS/Modbus Termination

This drive is equipped with a built in termination resistor for the RS-422/485 communication port. DIP switch S2 enables or disabled the termination resistor as shown in Figure 3.37. The OFF position is the default. The termination resistor should be placed to the ON position when the drive is the last in a series of slave drives.

Table 3.12 MEMOBUS/Modbus Switch Settings

S2 Position Description

ON Internal termination resistor ON

OFF Internal termination resistor OFF (default setting)

Figure 3.37

Figure 3.37 DIP Switch S2

Note: Refer to the MEMOBUS/Modbus communications manual for details on MEMOBUS/Modbus.

YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual 77

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3.14 External Interlock

Operation Circuit

Drive Ready

Stop

Ready1 Ready2 Fault1

Run

Fault2

Run

S1 SC

Fault 1

Ready 1

Max 250 Vac

Relay 1

Relay 2

Relay 1

Relay 2

Controller

Fault Output

Drive Ready

Drive 1

Run

S1 SC

Fault 2

Ready 2

Max 250 Vac

Relay 1

Relay 2

Relay 1

Relay 2

Controller

Fault Output

Drive Ready

Drive 2

3.14 External Interlock

Systems that may be affected if the drive faults out should be interlocked with the drive’s fault output and ready signal.

◆ Drive Ready

When the “Drive ready” signal has been set to one of the multi-function contact outputs, that output will close whenever the drive is ready to accept a Run command or is already running. Under the following conditions the Drive ready signal will switch off and remain off, even if a Run command is entered:

• when the power supply is shut off.

• during a fault.

• when there is problem with the control power supply.

• when a parameter setting error makes the drive unable to run even if a Run command has been entered.

• when a fault such as overvoltage or undervoltage is triggered as soon as the Run command is entered.

• when the drive is in the Programming mode and will not accept a Run command even when entered.

■

Interlock Circuit Example

Two drives running a single application might interlock with the controller using the Drive ready and Fault output signals as shown below. The figure illustrates how the application would not be able to run if either drive experiences a fault or is unable to supply a Drive ready signal.

Ter min al Output Signal Parameter Setting

MA, MB, MC Fault – M1-M2 Drive Ready H2-01 = 06

Figure 3.38

78 YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual

Figure 3.38 Interlock Circuit Example

Page 79

Electrical Installation

3.15 Wiring Checklist

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

-3

Motor rated voltage (V) x 0.02 ≥

OL1

OL2

OLn

MC1

MC2

MCn

Drive

MC1 - MCn OL 1 - OLn

... magnetic contactor ... thermal relay

Power supply

No. Item Page

1 Check drive model number to ensure receipt of correct model. 31

2 Make sure you have the correct braking resistors, DC reactors, noise filters, and other peripheral devices. 349

3 Check the option card model number. 350

4 Ensure that the area surrounding the drive complies with specifications. 40

5 The voltage from the power supply should be within the input voltage specification range of the drive. 184

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

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

8 Confirm proper branch circuit protection as specified by national and local codes. 52

9 Properly wire the power supply to drive terminals R/L1, S/L2, and T/L3. 55

Properly wire the drive and motor together.

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

11 Use 600 Vac vinyl-sheathed wire for the power supply and motor lines. 61

Use the correct wire gauges for the main circuit. Refer to Wire Gauges and Tightening Torque on page 61. 61

• When using comparatively long motor cable, calculate the amount of voltage drop. 61

Drive, peripherals, option cards

Installation area and physical setup

Power supply voltage, output voltage

Main circuit wiring

3.15 Wiring Checklist

419

• If the cable between the drive and motor exceeds 50 m, adjust the carrier frequency set to C6-02 accordingly. 65

13 Properly ground the drive. Review page 65. 65

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

Refer to Wire Gauges and Tightening Torque on page 61.

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

Note: Close MC1 through MCn before operating the drive. If using a braking resistor or dynamic braking resistor unit, install a magnetic contactor. Properly install the resistor, and ensure that overload

protection shuts off the power supply.

17 Verify phase advancing capacitors, input noise filters, or ground fault circuit interrupters are NOT installed on the output side of the drive. –

18 Use twisted-pair line for all drive control circuit wiring. 66

Ground the shields of shielded wiring to the GND terminal.

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

circuits.

21 Properly wire any option cards. 70

Check for any other wiring mistakes.

Onl

y use a multimeter to check wiring.

Properly fasten the control circuit terminal screws in the drive.

Refer to Wire Gauges and Tightening Torque on page 61.

24 Pick up all wire clippings. –

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

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

YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual 79

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

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

–

354

Control circuit wiring

–

Page 80

3.15 Wiring Checklist

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Start-Up Programming & Operation

This chapter explains the functions of the digital operator and how to program the drive for initial operation.

4.1 SECTION SAFETY. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

4.2 USING THE DIGITAL OPERATOR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

4.3 THE DRIVE AND PROGRAMMING MODES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

4.4 START-UP FLOWCHARTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

4.5 POWERING UP THE DRIVE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

4.6 APPLICATION SELECTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

4.7 AUTO-TUNING. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

4.8 NO-LOAD OPERATION TEST RUN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114

4.9 TEST RUN WITH LOAD CONNECTED. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115

4.10 VERIFYING PARAMETER SETTINGS AND BACKING UP CHANGES . . . . . . . 116

4.11 TEST RUN CHECKLIST . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118

YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual 81

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4.1 Section Safety

DANGER

W ARNING

4.1 Section Safety

Electrical Shock Hazard

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

Failure to comply will result in death or serious injury.

Electrical Shock Hazard

Do not operate equipment with covers removed.

Failure to comply could result in death or serious injury. The diagrams in this section may include drives without covers or safety shields to illustrate details. Be sure to reinstall

covers or shields before operating the drives and run the drives according to the instructions described in this manual.

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

Failure to comply could result in death or serious injury.

A separate holding brake should be prepared by the user.

The holding brake should be wired so that it is activated by an external sequence when a fault occurs, the power is shut off, or an emergency switch is triggered.

Failure to comply could result in death or serious injury.

Precautions should be taken on the machine side in crane and hoist applications to ensure that load does not fall or slip.

Failure to take proper safety precautions can result in serious injury.

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4.2 Using the Digital Operator

Start-Up Programming

& Operation

ALM

REV DRV FOUT

LO RE

ESC

RUN STOP

ENTERRESET

DIGITAL OPERATOR JVOP-182

345 6

14 13 12

STOP

4.2 Using the Digital Operator

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

◆ Keys and Displays

Figure 4.1

No.

Figure 4.1 Keys and Displays on the Digital Operator

Display Name Function

RUN

ESC Key

RESET Key

RUN Key

Up Arrow Key

Down Arrow Key

STOP Key <1>

ENTER Key

LO/RE Selection Key

RUN Light

LO/RE Light

<2>

• Returns to the previous menu.

• Moves the cursor to the left when selecting a parameter number.

• When pressed and held, returns to the frequency reference display from any display screen or menu item.

• Moves the cursor to the right.

• Resets the drive to clear a fault situation.

Starts the drive.

• Scrolls up the display screen.

• Scrolls up to select parameter numbers, setting values, etc.

• Scrolls down the display screen.

• Scrolls down to select parameter numbers, setting values, etc.

Stops the operation.

• Selects all modes, parameters, settings, etc.

• Selects a menu item to move from one display screen to the next.

Switches drive control between the operator (LOCAL) and an external source (REMOTE) for the Run command and frequency reference.

Lit while the drive is operating the motor. Refer to page 85 for details.

Lit while the operator is selected to run the drive (LOCAL mode). Refer to page 85 for details.

ALM LED Light

FOUT LED Light

DRV LED Light

REV LED Light

Refer to LED Screen Displays on page 84.

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

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

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

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

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4.2 Using the Digital Operator

ALMREV

DRV

REV

DRV

FOU

DIG

ALMREV

DRV

◆ Digital Text Display

Text appears on the digital operator as shown below. This section explains the meaning of text as it appears on the display screen.

Lit Flashing

Table 4.1 Digital Text Display

Tex t LED Text LED Text LED Tex t LED

09IR

1AJ S

2BKT

3CLU

4DM

<1>

5ENW

6 F O X none

7GPY

8 H Q Z none

<1> Displayed in two digits.

◆ LED Screen Displays

Table 4.2 LED Screen Displays

Display Lit Flashing Off

The drive has detected an alarm or error

Motor is rotating in reverse — Motor is rotating forward

• The drive is in the Drive Mode

• During Auto-Tuning

When the display shows the output frequency —

• When an alarm occurs

• oPE detected

• When a fault or error occurs during Auto-Tuning

When DriveWorksEZ is used

<1>

Normal state (no fault or alarm)

• The drive is in the Programming Mode

• The drive will not accept a Run command

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

<1>

IGITAL OPERATOR JVOP-182

As illustrated in this manual

IGITAL OPERATOR JVOP-182

DRV

ITAL OPERATOR JVOP-182

ALM

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

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Start-Up Programming

& Operation

◆ LO/RE LED and RUN LED Indications

Drive output frequency

during stop

Frequency setting

OFF

Flashing

OFF

RUN LED

RUN

0 Hz

6 Hz

RUN

STOP

Table 4.3 LO/RE LED and RUN LED Indications

LED Lit Flashing Flashing Quickly <1>

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

During run

Examples

• During deceleration to stop

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

<1> Refer to Figure 4.2 for the difference between “flashing” and “flashing quickly”.

Figure 4.2

——

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

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

• During deceleration when a Fast Stop command was entered.

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

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

• The drive was powered up with b117 = 0 (default) while the Run command is active.

1 s

4.2 Using the Digital Operator

Off

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

During stop

Figure 4.3

Flashing

Flashing quickly

ON ON

Figure 4.2 RUN LED Status and Meaning

Figure 4.3 RUN LED and Drive Operation

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4.2 Using the Digital Operator

XXXX

<1>

ALM

DIGITAL OPERATOR JVOP-182

REV DRV FOUT

DRV

XXX

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

The drive will display the actual setting values.

Pressing RUN will start the motor.

DRIVE MODE

DRV light is on.

Drive cannot operate the motor.

PROGRAMMING MODE

DRV light is on.

Turn the power on

Forward Selection

Output Frequency

Output Current

Output Voltage

Monitor Display

Verify Menu

Set Up Mode

Parameter Setting Mode

Auto-Tuning

Reverse Selection

Description of Key Operations

◆ Menu Structure for Digital Operator

Figure 4.4

<1> Reverse can only be selected when the drive is set for LOCAL. Details on switching between forward and reverse can be found in

Navigating the Drive and Programming Modes on page 87.

Figure 4.4 Digital Operator Menu and Screen Structure

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Page 87

4.3 The Drive and Programming Modes

Start-Up Programming

& Operation

ALM

DIGITAL OPERATOR JVOP-182

REV DRV FOUT

DRV

ALM

DIGITAL OPERATOR JVOP-182

REV DRV FOUT

DRV

- Forward rotation

- Reverse rotation

ALM

DIGITAL OPERATOR JVOP-182

REV DRV FOUT

DRV

FOUT

ALM

DIGITAL OPERATOR JVOP-182

REV DRV FOUT

DRV

ALM

DIGITAL OPERATOR JVOP-182

REV DRV FOUT

DRV

ALM

DIGITAL OPERATOR JVOP-182

REV DRV FOUT

DRV

4.3 The Drive and Programming Modes

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

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

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

Note: If parameter b1-08 is set to 0 the drive will accept a Run command only in the Drive Mode. When editing parameters, the user

must first exit the Programming Mode and enter the Drive Mode before starting the motor.

Note: To allow the drive to run the motor while in the Programming Mode, set b1-08 to 1.

◆ Navigating the Drive and Programming Modes

The drive is set to operate in Drive Mode when it is first powered up. Switch between display screens by using the and keys.

Mode Contents Operator Display Description

Power Up

Frequency Reference

(default)

This display screen allows the user to monitor and change the frequency reference while the drive is running. Refer to The

Drive and Programming Modes on page 87.

Note: The user can select the data displayed when the drive is first powered up with parameter o1-02.

Drive Mode

Forward/Reverse

Output Frequency

Display

Output Current

Display

Output Voltage

Reference

(default)

This display shows the direction that has been selected when the drive is controlled by a REMOTE source. When the drive is set for LOCAL, the user can switch between FWD and REV as shown below.

Note: For applications that should not run in reverse (fans, pumps, etc.), set parameter b1-04 = “1” to prohibit the motor from rotating in reverse.

Displays the frequency that is output from the drive.

Monitors the output current of the drive.

Shows the data that selected for display by the user in parameter o1-01. The default setting displays drive output voltage (o1-01 = 106). Refer to Parameter List on page 373.

Monitor Display Lists the monitor parameters (U- parameters) available in the drive.

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Page 88

4.3 The Drive and Programming Modes

ALM

DIGITAL OPERATOR JVOP-182

REV DRV FOUT

ALM

DIGITAL OPERATOR JVOP-182

REV DRV FOUT

ALM

DIGITAL OPERATOR JVOP-182

REV DRV FOUT

ALM

DIGITAL OPERATOR JVOP-182

REV DRV FOUT

ALM

DIGITAL OPERATOR JVOP-182

REV DRV FOUT

DRV

Mode Contents Operator Display Description

Verify Menu

Lists all parameters that have been edited or changed from default settings. Refer to Verifying Parameter Changes:

Verify Menu on page 89.

A select list of parameters necessary to get the drive operating quickly. Refer to Using the Setup Group (STUP) on

page 90.

Note: Parameters listed in the Setup Group differ depending the Application Preset in parameter A1-06. Refer to

Application Selection on page 97.

Allows the user to access and edit all parameter settings. Refer to Parameter List on page 373.

Motor parameters are calculated and set automatically. Refer to Auto-Tuning on page 103.

Programming

Mode

Setup Group

Parameter Setting

Mode

Auto-Tuning Mode

Drive Mode Frequency Reference Returns to the frequency reference display screen.

■ Drive Mode Details

The following actions are possible in the Drive Mode:

• Run and stop the drive

• Monitor the operation status of the drive (frequency reference, output frequency, output current, output voltage, etc.)

• View information on an alarm

• View a history of alarms that have occurred

Figure 4.5 illustrates how to change the frequency reference from F 0.00 (0 Hz) to F 6.00 (6 Hz) while in the Drive

Mode. This example assumes the drive is set to LOCAL.

Figure 4.5

Frequency reference

display at power up

DIGITAL OPERATOR JVOP-182

ALM

REV DRV FOUT

DRV

Press to select the

digit to the right

Press until the frequency

reference becomes 6 Hz

DIGITAL OPERATOR JVOP-182

ALM

REV DRV FOUT

DRV

Press to select LOCAL

Figure 4.5 Setting the Frequency Reference while in the Drive Mode

Note: The drive will not accept a change to the frequency reference until the ENTER key is pressed after the frequency reference is

entered. This feature prevents accidental setting of the frequency reference. To have the drive accept changes to the frequency reference as soon as changes are made without requiring the ENTER key, set o2-05 to 1.

■ Programming Mode Details

The following actions are possible in the Programming Mode:

88 YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual

Page 89

4.3 The Drive and Programming Modes

Start-Up Programming

& Operation

ALM

DIGITAL OPERATOR JVOP-182

REV DRV FOUT

DRV

• Parameter Setting Mode: Access and edit all parameter settings

• Verify Menu: Check a list of parameters that have been changed from their original default values

• Setup Group: Access a list of commonly used parameters to simplify setup (see Simplified Setup Using the Setup

Group on page 90)

• Auto-Tuning Mode: Automatically calculates and sets motor parameters to optimize drive performance

◆ Changing Parameter Settings or Values

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

Step Display/Result

DIGITAL OPERATOR JVOP-182

ALM

REV DRV FOUT

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

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

Press the key to enter the parameter menu tree.

Press or key to select the C parameter group.

DRV

Press two times.

Press or key to select the parameter C1-02.

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

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

Press the key and enter 0020.0.

10.

Press and the drive will confirm the change.

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

DIGITAL OPERATOR JVOP-182

ALM

REV DRV FOUT

12.

Press the key until back at the initial display.

DRV

◆ Verifying Parameter Changes: Verify Menu

The Verify Menu lists edited parameters from the Programming Mode or as a result of Auto-Tuning. The Verify Menu helps determine which settings have been changed, and is particularly useful when replacing a drive. If no settings have been changed, the Verify Menu will read . The Verify Menu also allows users to quickly access and re-edit any parameters settings that have been changed.

Note: The Verify Menu will not display parameters from the A1 group (except for A1-02) even if those parameters have been changed

from their default settings.

The following example is a continuation of the steps above. Here, parameter C1-02 is accessed using the Verify Menu, and is changed again from 10.0 s to 20.0 s.

To check the list of edited parameters:

Step Display/Result

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

YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual 89

Page 90

4.3 The Drive and Programming Modes

ALM

DIGITAL OPERATOR JVOP-182

REV DRV FOUT

ALM

DIGITAL OPERATOR JVOP-182

REV DRV FOUT

ALM

DIGITAL OPERATOR JVOP-182

REV DRV FOUT

ALM

DIGITAL OPERATOR JVOP-182

REV DRV FOUT

ALM

DIGITAL OPERATOR JVOP-182

REV DRV FOUT

ALM

DIGITAL OPERATOR JVOP-182

REV DRV FOUT

ALM

DIGITAL OPERATOR JVOP-182

REV DRV FOUT

ALM

DIGITAL OPERATOR JVOP-182

REV DRV FOUT

DRV

Control Circuit

Terminal

Parameter Display

Select digit to edit

Operator

<1>

<2>

Press until

appears

<2>

Frequency reference

appears when

powered up

Step Display/Result

Press or until the display shows the top of the Verify Menu.

Press to enter the list of parameters that have been edited from their original default settings.

If parameters other than C1-02 have been changed, use the or key to scroll until C1-02 appears.

Press the key to access the setting value. Left digit flashes.

◆ Simplified Setup Using the Setup Group

In the Setup Group, the drive lists the basic parameters needed to set up the drive for the application. It provides a simplified way to get the application running right away by showing only the most important parameters.

■ Using the Setup Group (STUP)

Figure 4.6 illustrates how to enter and how to change parameters in the Setup Group.

The first display shown when entering the Setup Group is APPL. Skipping this display will keep the current Setup Group parameter selection. The default setting for the Setup Group is a group of parameters most commonly use in generalpurpose applications. Pressing the ENTER key from the APPL display and selecting an Application Preset will change the Setup Group to parameters optimal for the application selected. Refer to Application Selection on page 97.

In this example, the Setup Group is accessed to change b1-01 from 1 to 0. This changes the source of the frequency reference from the control circuit terminals to the digital operator.

Figure 4.6

<1> Use the up and down arrow keys to scroll through the Setup Group. Press the ENTER key to view or change parameter settings. <2> To return to the previous menu without saving changes, press the ESC key.

Figure 4.6 Setup Group Example

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Page 91

4.3 The Drive and Programming Modes

Start-Up Programming

& Operation

DRV

■ Setup Group Parameters

Table 4 .4 lists parameters available by default in the Setup Group. When an Application Preset has been selected in

parameter A1-06 or the APPL display of the Setup Group, the parameters selected for the Setup Group will change automatically. Refer to Application Selection on page 97.

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

Table 4.4 Setup Group Parameters

Parameter Name Parameter Name

A1-02 Control Method Selection E1-01 Input Voltage Reference

b1-01 Frequency Reference Selection 1 E1-03 V/f Pattern Selection b1-02 Run Command Selection 1 E1-04 Maximum Output Frequency

b1-03 Stop Method Selection E1-05 Maximum Voltage C1-01 Acceleration Time 1 E1-06 Base Frequency C1-02 Deceleration Time 1 E1-09 Minimum Output Frequency C6-01 Duty Selection E1-13 Base Voltage C6-02 Carrier Frequency Selection E2-01 Motor Rated Current

d1-01 Frequency Reference 1 E2-04 Number of Motor Poles d1-02 Frequency Reference 2 E2-11 Motor Rate Capacity d1-03 Frequency Reference 3 H4-02 Terminal AM Gain Setting d1-04 Frequency Reference 4 L1-01 Motor Protection Function Selection d1-17 Jog Frequency Reference L3-04 Stall Prevention Selection during Deceleration

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

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

◆ Switching Between LOCAL and REMOTE

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

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

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

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

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

■ Using the LO/RE Key on the Digital Operator

Step Display/Result

DIGITAL OPERATOR JVOP-182

ALM

REV DRV FOUT

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

DRV

DIGITAL OPERATOR JVOP-182

REV DRV FOUT

ALM

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

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

ESC

RUN STOP

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

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

When setting the multi-function input terminals,

Note: 1. Refer to Parameter List on page 373 for a list of digital input selections.

YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual 91

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

LO RE

ENTERRESET

Page 92

4.4 Start-Up Flowcharts

YES

START

Install and wire the drive as explained in Chapters 1, 2, and 3

Apply main power on to the drive

Adhere to safety messages concerning application of power

Application Presets

A1-06 used ?

Set the control mode in parameter A1-02.

Refer to Application Selection section

Flowchart A-1

Control Mode

A1-02 =

Flowchart A-2

Flowchart A-3

Set the basic parameters



b1-01/02 for frequency reference and run command source selection



H1-,H2-,H3-,H4-,H6-for I/O terminal setting



d1-for multi-speed references if used



C1- and C2-for accel./decel. and S-curve time settings



C6-01 for heavy/normal duty mode selection



L8-55 = 0 if a regen converter is used.



L3-04 if braking options are used

Fine tune parameters. Adjust application settings (PID, ...) if necessary.

Check the machine operation and verify parameter settings.

Drive is ready to run the application.

From Flowchart A-1, A-2, or A-3

0: V/f 1: V/f w/PG

2: OLV 3: CLV

5: OLV/PM 6: AOLV/PM 7: CLV/PM

4.4 Start-Up Flowcharts

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

Flowchart Subchart Objective Page

A – Basic startup procedure and motor tuning 92

A-1 Simple motor setup using V/f mode 93

–

Note: To set up the drive using one of the Application Presets, refer to Application Selection on page 97.

◆ Flowchart A: Basic Start-up and Motor Tuning

Flowchart A in Figure 4.7 describes a basic start-up sequence. This sequence varies slightly depending on the application. Use drive default parameter settings in simple applications that do not require high precision.

Figure 4.7

A-2 High-performance operation using Open Loop Vector (OLV) or Closed Loop Vector (CLV) motor control 94 A-3 Setting up the drive to run a permanent magnet (PM) motor 95

Note: When the motor cable length has changed for more than 50 m after Auto-Tuning has been performed (e.g., after the drive has

Note: Auto-Tuning should be performed again after installing an AC reactor or other such components to the output side of the drive.

been set up and then later installed in a different location), execute Stationary Auto-Tuning for resistance between motor lines once the drive is installed in its final installation location.

Figure 4.7 Basic Start-up

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Page 93

4.4 Start-Up Flowcharts

Start-Up Programming

& Operation

Perform Stationary Auto-Tuning for Stator Resistance (T1-01 = 2)

YES

Energy Savings

(b8-01 = 1) or

Speed Estimation Speed Search

(b3-24 = 1) enabled

when b3-01 = 1

or L2-01 = 1,2 ?

Is the motor cable longer than

50 meters?

Return to

Flowchart

Perform Rotational Auto-Tuning for V/f Control (T1-01 = 3)

Is there a

PG encoder

on the motor?

࡮Set or verify the V/f pattern settings E1-.

࡮Enter the number of motor poles to E2-04 (or E4-04 for motor 2).

࡮Set the PG speed feedback parameters (F1-).

Set or verify the V/f pattern settings E1-.

YES

Run the motor without load; check the rotation direction and operation. Verify external signal commands to the drive work as desired.

Couple the load or machine to the motor.

Run the machine and check for desired operation.

From

Flowchart

◆ Subchart A-1: Simple Motor Setup Using V/f Control

Flowchart A1 in Figure 4.8 describes simple motor setup for V/f Control, with or without PG feedback. V/f Control is suited for more basic applications such as fans and pumps. This procedure illustrates Energy Savings and Speed Estimation Speed Search.

Figure 4.8

Figure 4.8 Simple Motor Setup with Energy Savings or Speed Search

YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual 93

Page 94

4.4 Start-Up Flowcharts

Is the load less than

30% of the rated load

for the motor?

YES

From

Flowchart

Possible for motor to

rotate during tuning? <1>

<2>

Motor test report/

data sheet available?

Perform Stationary Auto-Tuning 2 (T1-01 = 4)

Perform Rotating Auto-Tuning (T1-01 = 0)

Perform Stationary

Auto-Tuning 1 (T1-01 = 1)

YES

Is there a PG

encoder on the

motor?

 Feed Forward  KEB 2

Perform Inertia Tuning

(T1-01 = 8)

<3>

Should the

drive set ASR gain

automatically?

Return to

Flowchart

Run the motor without load; check the rotation direction and operation. Verify external signal commands to the drive work as desired.

Connect the load to the motor.

Perform ASR gain tuning.

(T1-01 = 9)

<4>

Run the machine and check for desired operation.

YES

Does the application require

any of the following drive functions?

◆ Subchart A-2: High Performance Operation Using OLV or CLV

Flowchart A2 in Figure 4.9 describes the setup procedure for high-performance with Open Loop Vector Control or Closed Loop Vector Control. Appropriate for applications requiring high starting torque and torque limits.

Note: Although the drive sets parameters for the PG encoder during Auto-Tuning, sometimes the direction of the motor and direction

Figure 4.9

of the PG get reversed. Use parameter F1-05 to switch the direction of the PG so that it matches the motor direction.

<1> The load must be decoupled from the motor to properly perform Rotational Auto-Tuning. <2> Rotational Auto-Tuning can still be performed if the load is 30% or less, though Stationary Auto-Tuning will probably yield better control

performance. <3> Make sure the motor and load can run freely, i.e., if a brake is mounted, make sure it is released. <4> ASR Gain Tuning automatically performs Inertia Tuning and sets parameters related to Feed Forward and the KEB Ride-Thru function.

94 YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual

Figure 4.9 Flowchart A2: High Performance Operation Using OLV or CLV

Page 95

4.4 Start-Up Flowcharts

Start-Up Programming

& Operation

From

Flowchart

Motor test report/ data

sheet available?

YES

Input the motor data.

(T2-01 = 0)

Perform PM Stationary

Auto-Tuning (T2-01 = 1)

<1>

Is the motor cable longer

than 50 meters?

YES

Perform PM Stationary Auto-Tuning for Stator

Resistance (T2-01 = 2)

Is there a PG

encoder on the

motor?

Perform PM Inertia Tuning

(T2-01 = 8)

<2>

Should the drive set ASR gain

automatically?

Return to

Flowchart

Run the motor without load; check the rotation direction and operation.Verify external signal commands to the drive work as desired.

Connect the load to the motor.

Perform ASR gain tuning.

(T2-01 = 9).

<3>

Run the machine and check for desired operation.

YES

Does the application require

any of the following drive functions?

 Feed Forward  KEB 2

◆ Subchart A-3: Operation with Permanent Magnet Motors

Flowchart A3 in Figure 4.10 describes the set-up procedure for running a PM motor in Open Loop Vector Control. PM motors can be used for more energy-efficient operation in reduced or variable torque applications.

Note: 1. Although the drive sets parameters for the PG encoder during Auto-Tuning, sometimes the direction of the motor and direction of the

PG get reversed. Use parameter F1-05 to switch the direction of the PG so that it matches the motor direction.

Figure 4.10

2. The Z pulse must be realigned if the PG encoder is replaced. Set T2-01 to 3 to recalibrate the drive for the new encoder.

<1> Enter the motor code to E5-01 when using a Yaskawa PM motor (SMRA Series, SSR1 Series, and SST4 Series). If using a motor from another

manufacturer, enter FFFF. <2> Make sure the motor and load can run freely, i.e., if a brake is mounted, make sure it is released. <3> ASR Gain Tuning automatically performs Inertia Tuning and sets parameters related to Feed Forward and the KEB Ride-Thru function.

Figure 4.10 Operation with Permanent Magnet Motors

YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual 95

Page 96

4.5 Powering Up the Drive

ALM

DIGITAL OPERATOR JVOP-182

REV DRV FOUT

DRV

ALM

DIGITAL OPERATOR JVOP-182

REV DRV FOUT

DRV

ALM

4.5 Powering Up the Drive

◆ Powering Up the Drive and Operation Status Display

■ Powering Up the Drive

Review the following checklist before turning the power on.

Item to Check Description

Ensure the power supply voltage is correct: 200 V class: 3-phase 200 to 240 Vac 50/60 Hz

Power supply voltage

Drive output terminals and motor

Status of the load and connected

■

terminals

Control circuit terminals Check control circuit terminal connections.

Drive control terminal status Open all control circuit terminals (off).

machinery

Status Display

When the power supply to the drive is turned on, the digital operator lights will appear as follows:

400 V class: 3-phase 380 to 480 Vac 50/60 Hz Properly wire the power supply input terminals (R/L1, S/L2, T/L3). Check for proper grounding of drive and motor.

Properly wire drive output terminals U/T1, V/T2, and W/T3 with motor terminals U, V, and W.

Decouple the motor from the load.

No. Name Description

Normal Operation

Fault

External fault (example)

The data display area displays the frequency reference. is lit.

Data displayed varies by the type of fault. Refer to Fault Displays, Causes, and Possible Solutions on page 297 for more information and possible solution. and are lit.

96 YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual

Page 97

4.6 Application Selection

Start-Up Programming

& Operation

4.6 Application Selection

Several Application Presets are available to facilitate drive setup for commonly used applications. Selecting one of these Application Presets automatically assigns functions to the input and output terminals, and sets certain parameters to values appropriate for the application that was selected. In addition, the parameters most likely to be changed are assigned to the group of User Parameters, A2-01 through A2-16. User Parameters are part of the Setup Group, and provide quicker access to by eliminating the need to scroll through multiple menus.

An Application Preset can either be selected from the APPL display in the Setup Group (Refer to Simplified Setup

Using the Setup Group on page 90) or in parameter A1-06. The following presets can be selected:

Note: An Application Preset can only be selected if all drive parameters are on at their original default settings. It may be necessary to

initialize the drive by setting A1-03 to “2220” or “3330” prior to selecting an Application Preset.

WARNING! Confirm the drive I/O signals and external sequence before performing a test run. Setting parameter A1-06 may change the I/O terminal function automatically from the default setting. Failure to comply may result in death or serious injury.

No. Parameter Name Setting Range Default

0: Disabled 1: Water supply pump 2: Conveyor

A1-06

Application Presets

3: Exhaust fan 4: HVAC 5: Compressor 6: Hoist 7: Crane

◆ Setting 1: Water Supply Pump Application

Table 4.5 Water Supply Pump: Parameter Settings

No. Name Default Setting

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

b1-04 Reverse Operation Selection 1: Reverse Prohibited C1-01 Acceleration Time 1 1.0 s C1-02 Deceleration Time 1 1.0 s C6-01 Duty Rating 1: Normal Duty E1-03 V/f Pattern Selection 0FH E1-07 Mid Output Frequency 30.0 Hz E1-08 Mid Output Frequency Voltage 50.0 V L2-01 Momentary Power Loss Operation Selection 1: Enabled L3-04 Stall Prevention Selection during Deceleration 1: Enabled

Table 4.6 Water Supply Pump: User Parameters (A2-01 to A2-16)

No. Parameter Name No. Parameter Name

b1-01 Frequency Reference Selection E1-08 Mid Output Frequency Voltage b1-02 Run Command Selection E2-01 Motor Rated Current

b1-04 Reverse Operation Selection H1-05 Multi-Function Digital Input Terminal S5 Function Selection C1-01 Acceleration Time 1 H1-06 Multi-Function Digital Input Terminal S6 Function Selection C1-02 Deceleration Time 1 H1-07 Multi-Function Digital Input Terminal S7 Function Selection E1-03 V/f Pattern Selection L5-01 Number of Auto Restart Attempts E1-07 Mid Output Frequency −−

◆ Setting 2: Conveyor Application

Table 4.7 Conveyor: Parameter Settings

No. Parameter Name Default Setting

A1-02 Control Method Selection 0: V/f Control C1-01 Acceleration Time 1 3.0 s C1-02 Deceleration Time 1 3.0 s C6-01 Duty Rating 0: Heavy Duty L3-04 Stall Prevention Selection during Deceleration 1: Enabled

YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual 97

Page 98

4.6 Application Selection

Table 4.8 Conveyor: User Parameters (A2-01 to A2-16)

No. Parameter Name No. Parameter Name

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

b1-01 Frequency Reference Selection E2-01 Motor Rated Current b1-02 Run Command Selection L3-04 Stall Prevention Selection during Deceleration

C1-01 Acceleration Time 1 −−

◆ Setting 3: Exhaust Fan Application

Table 4.9 Exhaust Fan: Parameter Settings

No. Parameter Name Default Setting

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

b1-04 Reverse Operation Selection 1: Reverse Prohibited C6-01 Duty Selection 1: Normal Duty E1-03 V/f Pattern Selection 0FH E1-07 Mid Output Frequency 30.0 Hz E1-08 Mid Output Frequency Voltage 50.0 V L2-01 Momentary Power Loss Operation Selection 1: Enabled L3-04 Stall Prevention Selection during Deceleration 1: Enabled

Table 4.10 Exhaust Fan: User Parameters (A2-01 to A2-16)

No. Parameter Name No. Parameter Name

b1-01 Frequency Reference Selection E1-07 Mid Output Frequency b1-02 Run Command Selection E1-08 Mid Output Frequency Voltage b1-04 Reverse Operation Selection E2-01 Motor Rated Current

b3-01 Speed Search Selection at Start H1-05 Multi-Function Digital Input Terminal S5 Function Selection C1-01 Acceleration Time 1 H1-06 Multi-Function Digital Input Terminal S6 Function Selection C1-02 Deceleration Time 1 H1-07 Multi-Function Digital Input Terminal S7 Function Selection E1-03 V/f Pattern Selection L5-01 Number of Auto Restart Attempts

◆ Setting 4: HVAC Fan Application

Table 4.11 HVAC Fan: Parameter Settings

No. Parameter Name Default Setting

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

b1-04 Reverse Operation Selection 1: Reverse Prohibited b1-17 Run Command at Power Up 1: Run command issued, motor operation start C6-01 Duty Rating 1: Normal Duty C6-02 Carrier Frequency Selection 3: 8.0 kHz

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

L2-01 Momentary Power Loss Operation Selection

L8-03 Overheat Pre-Alarm Operation Selection 4: Operation at lower speed L8-38 Carrier Frequency Reduction 2: Enabled across entire frequency range.

Table 4.12 HVAC Fan: User Parameters (A2-01 to A2-16)

No. Parameter Name No. Parameter Name

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

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

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

b1-04 Reverse Operation Selection E2-01 Motor Rated Current C1-01 Acceleration Time 1 H3-11 Terminal A2 Gain Setting C1-02 Deceleration Time 1 H3-12 Terminal A2 Input Bias C6-02 Carrier Frequency Selection L2-01 Momentary Power Loss Operation Selection

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

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

98 YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual

Page 99

4.6 Application Selection

Start-Up Programming

& Operation

◆ Setting 5: Compressor Application

Table 4.13 Compressor: Parameter Settings

No. Parameter Name Default Setting

A1-02 Control Method Selection 0: V/f Control b1-04 Reverse Operation Selection 1: Reverse Prohibited C1-01 Acceleration Time 1 5.0 s C1-02 Deceleration Time 1 5.0 s C6-01 Duty Rating 0: Heavy Duty E1-03 V/f Pattern Selection 0FH L2-01 Momentary Power Loss Operation Selection 1: Enabled L3-04 Stall Prevention Selection during Deceleration 1: Enabled

Table 4.14 Compressor: User Parameters (A2-01 to A2-16):

No. Parameter Name No. Parameter Name

b1-01 Frequency Reference Selection E1-03 V/f Pattern Selection b1-02 Run Command Selection E1-07 Mid Output Frequency

b1-04 Reverse Operation Selection E1-08 Mid Output Frequency Voltage C1-01 Acceleration Time 1 E2-01 Motor Rated Current C1-02 Deceleration Time 1 −−

◆ Setting 6: Hoist Application

Note: 1. Read the instructions listed on page 100 when using Hoist Application Preset

2. Perform Auto-Tuning after selecting the Hoist Application Preset.

Table 4.15 Hoist: Parameters and Settings

No. Parameter Name Default Setting

A1-02 Control Method Selection 2: Open Loop Vector Control

b1-01 Frequency Reference Selection 0: Operator b6-01 Dwell Reference at Start 3.0 Hz

b6-02 Dwell Time at Start 0.3 s C1-01 Acceleration Time 1 3.0 s C1-02 Deceleration Time 1 3.0 s C6-01 Duty Rating 0: Heavy Duty C6-02 Carrier Frequency Selection 2: 5 kHz

d1-01 Frequency Reference 1 6.0 Hz

d1-02 Frequency Reference 2 30.0 Hz

d1-03 Frequency Reference 3 60.0 Hz E1-03 V/f Pattern Selection 0FH H2-01 Terminals M1-M2 Function Selection 5: Frequency Detection 2 H2-02 Terminals P1 Function Selection 37: During Frequency Output L2-03 Momentary Power Loss Minimum Baseblock Time 0.3 s L3-04 Momentary Power Loss Voltage Recovery Ramp Time 0: Disabled L4-01 Speed Agreement Detection Level 2.0 Hz L4-02 Speed Agreement Detection Width 0.0 Hz L6-01 Torque Detection Selection 1 8: UL3 at RUN - Fault L6-02 Torque Detection Level 1 2% L6-03 Torque Detection Time 1 0.5 s L8-05 Input Phase Loss Protection Selection 1: Enabled L8-07 Output Phase Loss Protection 1: Enabled L8-38 Carrier Frequency Reduction 1: Enabled below 6 Hz L8-41 Current Alarm Selection 1: Enabled (alarm is output)

Table 4.16 Hoist: User Parameters (A2-01 to A2-16):

No. Parameter Name No. Parameter Name

A1-02 Control Method Selection d1-02 Frequency Reference 2

b1-01 Frequency Reference Selection d1-03 Frequency Reference 3 b6-01 Dwell Reference at Start E1-08 Mid Output Frequency Voltage

b6-02 Dwell Time at Start H2-01 Terminals M1-M2 Function Selection C1-01 Acceleration Time 1 L1-01 Motor Overload Protection Selection C1-02 Deceleration Time 1 L4-01 Speed Agreement Detection Level C6-02 Carrier Frequency Selection L6-02 Torque Detection Level 1

d1-01 Frequency Reference 1 L6-03 Torque Detection Time 1

YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual 99

Page 100

4.6 Application Selection

L4-02

L4-01

OFF

time

Output

frequency

Frequency

Dectection 2

◆ Notes on Controlling the Brake when Using the Hoist Application Preset

■ Prevent Inadvertent Brake Release during Baseblock

The hoist application selection uses the frequency detection function for controlling the brake.

Although the drive output will be shut off, the drive still maintains the frequency reference if the Run command remains active when an external Baseblock command is given (H1- = 8 or 9). Disable the frequency detection during baseblock by setting parameter L4-07 = 0 to prevent the brake remaining open while the drive is in baseblock.

■

Controlling the Brake in a Closed Loop Vector Control

For hoist applications using Closed Loop Vector Control, Yaskawa recommends setting the “During frequency output” signal to a digital output (H2-01 = 37 for terminal M1-M2) in order to control the brake. This way, the brake will always close during baseblock, and the setting of parameter L4-07 as described above will not affect brake control.

Brake Control During Safe Disable Input

■

If the Safe Disable input is triggered, the drive output will shut off and the frequency reference will reset to 0. The brake will also close, regardless if the Run command is active. The Run command must be cycled before the drive can restart.

Related Parameter Settings

■

The table below shows the parameter settings needed when using output terminals M1-M2 as brake control output.

Function

Frequency Detection 2 Digital Output

Frequency Detection during Baseblock L4-07 0

DC Injection Braking Start Frequency

(for brake control)

Speed Agreement Detection Level (frequency for the brake to open)

Speed Agreement Width

(bandwidth for the brake to close)

(frequency for the brake to close)

During Frequency Output H2-01 37

Parameter Setting Comment

H2-01 5

L4-01 1.0 to 3.0 Hz

L4-02 0.0 to 0.5 Hz

b2-01 0.1 to 0.5 Hz

<1>

<2>

Use this setup for V/f control modes or Open Loop

Use this setup in Closed Loop Vector control for IM or

Vector control

PM motors

<1> This is the setting recommended when using Open Loop Vector Control. If using V/f Control, set the level as the motor rated slip frequency

plus 0.5 Hz. Not enough motor torque will be created if this value is set too low, and the load may tend to slip. Make sure this value is greater than the minimum output frequency and greater than the value of L4-02, as shown in the diagram below. If set too high, however, there may be a jolt at start.

<2> Hysteresis for Frequency detection 2 can be adjusted by changing the Frequency detection width (L4-02) between 0.0 and 0.5 Hz. If the load

slips during stop, make changes in steps of 0.1 Hz until the load no longer slips.

Figure 4.11

Figure 4.11 Frequency Detection 2

■ Sequence Circuit Configuration Example

The braking sequence should be designed as follows:

• A normally open signal (N.O.) should be used to control the brake so that it is released when terminal M1-M2 closes.

• When a fault signal is output, the brake should close.

100 YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual

Yaskawa A1000 Technical Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

◆ Quick Reference

Table of Contents

i.1 Preface

◆ Applicable Documentation

◆ Symbols

◆ Terms and Abbreviations

i.2 General Safety

◆ Supplemental Safety Information

◆ Safety Messages

◆ Application Notes

◆ Notes on Motor Operation

◆ Applications with Specialized Motors

◆ Drive Label Warnings

◆ Warranty Information

Receiving

1.1 Section Safety

1.2 General Description

◆ A1000 Model Selection

◆ Control Mode Selection

1.3 Model Number and Nameplate Check

◆ Nameplate

1.4 Drive Models and Enclosure Types

1.5 Component Names

◆ IP20/NEMA Type 1 Enclosure

◆ IP00/Open-Chassis

◆ Front Views

Mechanical Installation

2.1 Section Safety

2.2 Mechanical Installation

◆ Installation Environment

◆ Installation Orientation and Spacing

◆ Digital Operator Remote Usage

◆ Exterior and Mounting Dimensions

Electrical Installation

3.1 Section Safety

3.2 Standard Connection Diagram

3.3 Main Circuit Connection Diagram

3.4 Terminal Block Configuration

3.5 Terminal Cover

3.6 Digital Operator and Front Cover

◆ Removing/Reattaching the Digital Operator

◆ Removing/Reattaching the Front Cover

3.7 Protective Cover

◆ Removing the Protective Cover

◆ Reattaching the Protective Cover

3.8 Main Circuit Wiring

◆ Main Circuit Terminal Functions

◆ Wire Gauges and Tightening Torque

◆ Main Circuit Terminal and Motor Wiring

3.9 Control Circuit Wiring

◆ Control Circuit Terminal Block Functions

◆ Terminal Configuration

◆ Wiring the Control Circuit Terminal

3.10 Control I/O Connections

◆ Sinking/Sourcing Mode Switch for Digital Inputs

◆ Using the Photocoupler and Contact Outputs

◆ Using the Pulse Train Output

3.11 Terminal A2 Analog Input Signal Selection

◆ Terminal A2 Input Signal Selection

3.12 Connect to a PC

3.13 MEMOBUS/Modbus Termination

3.14 External Interlock

Drive Ready

3.15 Wiring Checklist

Start-Up Programming & Operation

4.1 Section Safety

4.2 Using the Digital Operator

◆ Keys and Displays

◆ Digital Text Display

◆ LED Screen Displays

◆ LO/RE LED and RUN LED Indications

◆ Menu Structure for Digital Operator

4.3 The Drive and Programming Modes

◆ Navigating the Drive and Programming Modes

◆ Changing Parameter Settings or Values

◆ Verifying Parameter Changes: Verify Menu