Yaskawa A1000 Technical Manual

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

This Page Intentionally Blank

◆ 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

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

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

YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual 5

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

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

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

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

YASKAWA ELECTRIC SIEP C710616 21A YASKAWA AC Drive - A1000 Technical Manual 9

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

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

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

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

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

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

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

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

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

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

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

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

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

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

i.2 General Safety

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

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

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

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

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

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

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

+ 488 hidden pages

Yaskawa A1000 Technical 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