Yaskawa AC Drive-A1000 Technical Manual
YASKAWA AC Drive-A1000
High Performance Vector Control Drive
Technical Manual
Type: CIMR-AUA
Models:
To properly use the product, read this manual thoroughly and retain
for easy reference, inspection, and maintenance. Ensure the end user
receives this manual.
200 V Class: 0.4 to 110 kW (3/4 to 175 HP ND)
400 V Class: 0.4 to 630 kW (3/4 to 1000 HP ND)
600 V Class: 0.75 to 185 kW (1 to 250 HP ND)
Receiving
Mechanical Installation
Electrical Installation
Start-Up Programming &
Operation
Parameter Details
Troubleshooting
Periodic Inspection &
Maintenance
Peripheral Devices &
Options
Specifications
Parameter List
MEMOBUS/Modbus
Communications
1
1
2
2
3
3
4
4
5
5
6
6
7
7
8
8
A
A
B
B
C
C
MANUAL NO. SIEP C710616 41D
Standards Compliance
Quick Reference Sheet
D
D
E
E
Copyright © 2010 YASKAWA ELECTRIC CORPORATION. All rights reserved.
No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form or by any means,
mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of Yaskawa. No patent
liability is assumed with respect to the use of the information contained herein. Moreover, because Yaskawa is constantly
striving to improve its high-quality products, the information contained in this manual is subject to change without notice.
Every precaution has been taken in the preparation of this manual. Yaskawa assumes no responsibility for errors or omissions.
Neither is any liability assumed for damages resulting from the use of the information contained in this publication.
Quick Reference
u
Easily Set Parameters for Specific Applications
Preset parameter defaults are available for setting up applications. Refer to Application Selection on
page 132.
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 205.
Drive a Synchronous PM Motor
The drive can operate synchronous PM motors. Refer to Subchart A-3: Operation with Permanent
Magnet Motors on page 130.
<99>
PM motor control modes are not available on 600 V class drives, models 5Aoooo.
Automatic tuning sets motor parameters. Refer to Auto-Tuning on page 135.
Use drive monitors to check if fans, capacitors, or other components require maintenance. Refer to Performance Life Monitors Maintenance
Monitors on page 403.
Refer to Drive Alarms, Faults, and Errors on page 342 and Refer to Troubleshooting without Fault Display on page 388.
Refer to European Standards on page 648 and Refer to UL and CSA Standards on page 656
<1> CE marking applies to 200 V class and 400 V class models only.
<99>
Perform Auto-Tuning
Maintenance Check Using Drive Monitors
Fault Display and Troubleshooting
Standards Compliance
<1>
.
YASKAWA ELECTRIC SIEP C710616 41D YASKAWA AC Drive – A1000 Technical Manual
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YASKAWA ELECTRIC SIEP C710616 41D YASKAWA AC Drive – A1000 Technical Manual
Table of Contents
QUICK REFERENCE ....................................................................................... 3
i. PREFACE & GENERAL SAFETY.................................................................. 17
i.1 Preface ....................................................................................................................... 18
Applicable Documentation....................................................................................................... 18
Symbols................................................................................................................................... 18
Terms and Abbreviations ........................................................................................................ 19
Trademarks ............................................................................................................................. 19
i.2 General Safety ........................................................................................................... 20
Supplemental Safety Information ............................................................................................ 20
Safety Messages..................................................................................................................... 21
General Application Precautions ............................................................................................. 23
Motor Application Precautions................................................................................................. 25
Drive Label Warning Example................................................................................................. 27
Warranty Information............................................................................................................... 27
1. RECEIVING .................................................................................................... 29
1.1 Section Safety............................................................................................................ 30
1.2 General Description .................................................................................................. 31
A1000 Model Selection ........................................................................................................... 31
Control Mode Selection ........................................................................................................... 32
1.3 Model Number and Nameplate Check ..................................................................... 35
Nameplate ............................................................................................................................... 35
1.4 Drive Models and Enclosure Types......................................................................... 39
1.5 Component Names.................................................................................................... 42
IP20/NEMA Type 1 Enclosure................................................................................................. 42
IP00/Open Type Enclosure ..................................................................................................... 45
Front Views ............................................................................................................................. 50
2. MECHANICAL INSTALLATION..................................................................... 51
2.1 Section Safety............................................................................................................ 52
2.2 Mechanical Installation ............................................................................................. 54
Installation Environment .......................................................................................................... 54
Installation Orientation and Spacing........................................................................................ 54
Precautions and Instructions for Installation of Models 4A0930 and 4A1200 ......................... 56
Digital Operator Remote Usage .............................................................................................. 57
Exterior and Mounting Dimensions ......................................................................................... 60
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Table of Contents
3. ELECTRICAL INSTALLATION .............................................................................. 69
3.1 Section Safety......................................................................................................................70
Standard Connection Diagram...........................................................................................72
3.2
3.3 Main Circuit Connection Diagram......................................................................................75
Three-Phase 200 V Class Models 2A0004 to 2A0081
Three-Phase 400 V Class Models 4A0002 to 4A0044
Three-Phase 600 V Class Models 5A0003 to 5A0032 .................................................................... 75
Three-Phase 200 V Class Models 2A0110, 2A0138
Three-Phase 400 V Class Models 4A0058, 4A0072
Three-Phase 600 V Class Models 5A0041, 5A0052 ....................................................................... 75
Three-Phase 200 V Class Models 2A0169 to 2A0211
Three-Phase 400 V Class Models 4A0088 to 4A0139
Three-Phase 600 V Class Models 5A0062 to 5A0099 .................................................................... 76
Three-Phase 200 V Class Models 2A0250 to 2A0415
Three-Phase 400 V Class Models 4A0165 to 4A0675
Three-Phase 600 V Class Models 5A0125 to 5A0242 .................................................................... 76
Three-Phase 400 V Class Models 4A0930, 4A1200......................................................................... 77
12-Phase Rectification ...................................................................................................................... 77
3.4 Terminal Block Configuration ............................................................................................79
3.5 Terminal Cover ....................................................................................................................81
Models 2A0004 to 2A0081, 4A0002 to 4A0044, 5A0003 to 5A0032
(IP20/NEMA Type 1 Enclosure)....................................................................................................... 81
Models 2A0110 to 2A0250, 4A0208 to 4A1200, and 5A0125 to 5A0242 (IP00/Open Type
Enclosure)........................................................................................................................................ 82
3.6 Digital Operator and Front Cover.......................................................................................83
Removing/Reattaching the Digital Operator...................................................................................... 83
Removing/Reattaching the Front Cover ............................................................................................ 83
3.7 Top Protective Cover ..........................................................................................................86
Removing the Top Protective Cover ................................................................................................. 86
Reattaching the Top Protective Cover .............................................................................................. 86
3.8 Main Circuit Wiring..............................................................................................................87
Main Circuit Terminal Functions........................................................................................................ 87
Protecting Main Circuit Terminals ..................................................................................................... 88
Wire Gauges and Tightening Torque ................................................................................................ 89
Main Circuit Terminal and Motor Wiring ............................................................................................ 96
3.9 Control Circuit Wiring .........................................................................................................98
Control Circuit Connection Diagram.................................................................................................. 98
Control Circuit Terminal Block Functions .......................................................................................... 98
Terminal Configuration .................................................................................................................... 100
Wiring the Control Circuit Terminal ................................................................................................. 101
Switches and Jumpers on the Terminal Board................................................................................ 103
3.10 Control I/O Connections ...................................................................................................104
Sinking/Sourcing Mode Switch for Digital Inputs............................................................................. 104
Sinking/Sourcing Mode Selection for Safe Disable Inputs .............................................................. 105
Using the Pulse Train Output .......................................................................................................... 105
Terminal A2 Input Signal Selection ................................................................................................. 106
Terminal A3 Analog/PTC Input Selection........................................................................................ 106
Terminal AM/FM Signal Selection ................................................................................................... 107
MEMOBUS/Modbus Termination .................................................................................................... 107
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YASKAWA ELECTRIC SIEP C710616 41D YASKAWA AC Drive – A1000 Technical Manual
Table of Contents
3.11 Connect to a PC.................................................................................................................108
3.12 External Interlock ..............................................................................................................109
Drive Ready
..................................................................................................................................... 109
3.13 Wiring Checklist ................................................................................................................110
4. START-UP PROGRAMMING & OPERATION..................................................... 113
4.1 Section Safety....................................................................................................................114
4.2 Using the Digital Operator................................................................................................115
Keys and Displays........................................................................................................................... 115
LCD Display .................................................................................................................................... 116
ALARM (ALM) LED Displays........................................................................................................... 117
LO/RE LED and RUN LED Indications............................................................................................ 117
Menu Structure for Digital Operator ................................................................................................ 119
4.3 The Drive and Programming Modes................................................................................120
Navigating the Drive and Programming Modes............................................................................... 120
Changing Parameter Settings or Values ......................................................................................... 121
Verifying Parameter Changes: Verify Menu .................................................................................... 123
Simplified Setup Using the Setup Group......................................................................................... 124
Switching Between LOCAL and REMOTE...................................................................................... 125
4.4 Start-Up Flowcharts ..........................................................................................................126
Flowchart A: Basic Start-Up and Motor Tuning ............................................................................... 127
Subchart A-1: Simple Motor Setup Using V/f Control...................................................................... 128
Subchart A-2: High Performance Operation Using OLV or CLV ..................................................... 129
Subchart A-3: Operation with Permanent Magnet Motors............................................................... 130
4.5 Powering Up the Drive ......................................................................................................131
Powering Up the Drive and Operation Status Display..................................................................... 131
4.6 Application Selection........................................................................................................132
Setting 1: Water Supply Pump Application...................................................................................... 132
Setting 2: Conveyor Application ...................................................................................................... 133
Setting 3: Exhaust Fan Application ................................................................................................. 133
Setting 4: HVAC Fan Application .................................................................................................... 134
Setting 5: Compressor Application .................................................................................................. 134
4.7 Auto-Tuning .......................................................................................................................135
Types of Auto-Tuning ...................................................................................................................... 135
Before Auto-Tuning the Drive.......................................................................................................... 138
Auto-Tuning Interruption and Fault Codes ...................................................................................... 139
Auto-Tuning Operation Example ..................................................................................................... 139
T1: Parameter Settings during Induction Motor Auto-Tuning .......................................................... 141
Parameter Settings during PM Motor Auto-Tuning: T2 ................................................................... 143
Parameter Settings during Inertia and Speed Control Loop Auto-Tuning: T3................................. 146
4.8 No-Load Operation Test Run............................................................................................148
No-Load Operation Test Run .......................................................................................................... 148
4.9 Test Run with Load Connected........................................................................................150
Test Run with the Load Connected ................................................................................................. 150
4.10 Verifying Parameter Settings and Backing Up Changes...............................................151
Backing Up Parameter Values: o2-03 ............................................................................................. 151
Parameter Access Level: A1-01...................................................................................................... 151
Password Settings: A1-04, A1-05 ................................................................................................... 151
Copy Function ................................................................................................................................. 152
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Table of Contents
4.11 Test Run Checklist ............................................................................................................153
5. PARAMETER DETAILS ....................................................................................... 155
5.1
A: Initialization...................................................................................................................156
A1: Initialization ............................................................................................................................... 156
A2: User Parameters....................................................................................................................... 161
5.2 b: Application.....................................................................................................................162
b1: Operation Mode Selection......................................................................................................... 162
b2: DC Injection Braking and Short Circuit Braking......................................................................... 170
b3: Speed Search............................................................................................................................ 173
b4: Delay Timers ............................................................................................................................. 178
b5: PID Control................................................................................................................................ 179
b6: Dwell Function........................................................................................................................... 188
b7: Droop Control (CLV, CLV/PM) .................................................................................................. 189
b8: Energy Saving ........................................................................................................................... 190
b9: Zero Servo................................................................................................................................. 192
5.3 C: Tuning............................................................................................................................193
C1: Acceleration and Deceleration Times ....................................................................................... 193
C2: S-Curve Characteristics............................................................................................................ 195
C3: Slip Compensation.................................................................................................................... 195
C4: Torque Compensation .............................................................................................................. 198
C5: Automatic Speed Regulator (ASR) ........................................................................................... 200
C6: Carrier Frequency..................................................................................................................... 205
5.4 d: Reference Settings .......................................................................................................208
d1: Frequency Reference................................................................................................................ 208
d2: Frequency Upper/Lower Limits ................................................................................................. 210
d3: Jump Frequency........................................................................................................................ 211
d4: Frequency Reference Hold and Up/Down 2 Function............................................................... 212
d5: Torque Control .......................................................................................................................... 217
d6: Field Weakening and Field Forcing........................................................................................... 221
d7: Offset Frequency....................................................................................................................... 222
5.5 E: Motor Parameters .........................................................................................................223
E1: V/f Pattern for Motor 1............................................................................................................... 223
E2: Motor 1 Parameters .................................................................................................................. 227
E3: V/f Pattern for Motor 2............................................................................................................... 230
E4: Motor 2 Parameters .................................................................................................................. 231
E5: PM Motor Settings .................................................................................................................... 233
5.6 F: Option Settings .............................................................................................................236
F1: PG Speed Control Card Settings .............................................................................................. 236
F2: Analog Input Card Settings ....................................................................................................... 239
F3: Digital Input Card Settings ........................................................................................................ 239
F4: Analog Monitor Card Settings ................................................................................................... 240
F5: Digital Output Card Settings...................................................................................................... 241
F6: Communication Option Card..................................................................................................... 242
CC-Link Parameters........................................................................................................................ 243
PROFIBUS-DP Parameters ............................................................................................................ 244
CANopen Parameters ..................................................................................................................... 244
DeviceNet Parameters .................................................................................................................... 245
5.7 H: Terminal Functions.......................................................................................................247
H1: Multi-Function Digital Inputs ..................................................................................................... 247
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H2: Multi-Function Digital Outputs................................................................................................... 258
H3: Multi-Function Analog Inputs .................................................................................................... 268
H4: Multi-Function Analog Outputs ................................................................................................. 274
H5: MEMOBUS/Modbus Serial Communication
H6: Pulse Train Input/Output........................................................................................................... 276
............................................................................. 276
5.8 L: Protection Functions ....................................................................................................279
L1: Motor Protection ........................................................................................................................ 279
L2: Momentary Power Loss Ride-Thru............................................................................................ 286
L3: Stall Prevention ......................................................................................................................... 293
L4: Speed Detection........................................................................................................................ 299
L5: Fault Restart.............................................................................................................................. 301
L6: Torque Detection....................................................................................................................... 302
L7: Torque Limit .............................................................................................................................. 305
L8: Drive Protection......................................................................................................................... 306
5.9 n: Special Adjustments.....................................................................................................313
n1: Hunting Prevention.................................................................................................................... 313
n2: Speed Feedback Detection Control (AFR) Tuning.................................................................... 314
n3: High Slip Braking (HSB) and Overexcitation Braking................................................................ 314
n5: Feed Forward Control ............................................................................................................... 317
n6: Online Tuning ............................................................................................................................ 319
n8: PM Motor Control Tuning .......................................................................................................... 319
5.10 o: Operator Related Settings............................................................................................324
o1: Digital Operator Display Selection............................................................................................. 324
o2: Digital Operator Keypad Functions ........................................................................................... 325
o3: Copy Function ........................................................................................................................... 327
o4: Maintenance Monitor Settings................................................................................................... 328
q: DriveWorksEZ Parameters.......................................................................................................... 330
r: DriveWorksEZ Connection Parameters ....................................................................................... 330
T: Motor Tuning ............................................................................................................................... 330
5.11 U: Monitor Parameters......................................................................................................331
U1: Operation Status Monitors ........................................................................................................ 331
U2: Fault Trace................................................................................................................................ 331
U3: Fault History.............................................................................................................................. 331
U4: Maintenance Monitors .............................................................................................................. 331
U5: PID Monitors ............................................................................................................................. 331
U6: Operation Status Monitors ........................................................................................................ 331
U8: DriveWorksEZ Monitors............................................................................................................ 332
6. TROUBLESHOOTING.......................................................................................... 333
6.1 Section Safety....................................................................................................................334
6.2 Motor Performance Fine-Tuning......................................................................................336
Fine-Tuning V/f Control and V/f Control with PG............................................................................. 336
Fine-Tuning Open Loop Vector Control .......................................................................................... 337
Fine-Tuning Closed Loop Vector Control ........................................................................................ 338
Fine-Tuning Open Loop Vector Control for PM Motors................................................................... 339
Fine-Tuning Advanced Open Loop Vector Control for PM Motors.................................................. 340
Fine-Tuning Closed Loop Vector Control for PM Motors ................................................................ 340
Parameters to Minimize Motor Hunting and Oscillation .................................................................. 341
6.3 Drive Alarms, Faults, and Errors .....................................................................................342
Types of Alarms, Faults, and Errors................................................................................................ 342
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Alarm and Error Displays ................................................................................................................ 343
6.4 Fault Detection ..................................................................................................................347
Fault Displays, Causes, and Possible Solutions
............................................................................. 347
6.5 Alarm Detection.................................................................................................................366
Alarm Codes, Causes, and Possible Solutions ............................................................................... 366
6.6 Operator Programming Errors .........................................................................................375
Operator Programming Error Codes, Causes, and Possible Solutions........................................... 375
6.7 Auto-Tuning Fault Detection ............................................................................................379
Auto-Tuning Codes, Causes, and Possible Solutions..................................................................... 379
6.8 Copy Function Related Displays .....................................................................................384
Tasks, Errors, and Troubleshooting ................................................................................................ 384
6.9 Diagnosing and Resetting Faults.....................................................................................386
Fault Occurs Simultaneously with Power Loss ............................................................................... 386
If the Drive Still has Power After a Fault Occurs ............................................................................. 386
Viewing Fault Trace Data After Fault .............................................................................................. 386
Fault Reset Methods ....................................................................................................................... 387
6.10 Troubleshooting without Fault Display...........................................................................388
Common Problems.......................................................................................................................... 388
Cannot Change Parameter Settings ............................................................................................... 388
Motor Does Not Rotate Properly after Pressing RUN Button or after Entering External Run
Command ...................................................................................................................................... 389
Motor is Too Hot.............................................................................................................................. 390
Drive Does Not Allow Selection of the Desired Auto-Tuning Mode................................................. 391
oPE02 Error Occurs When Lowering the Motor Rated Current Setting .......................................... 391
Motor Stalls during Acceleration or Acceleration Time is Too Long................................................ 391
Drive Frequency Reference Differs from the Controller Frequency Reference Command ............. 392
Excessive Motor Oscillation and Erratic Rotation............................................................................ 392
Deceleration Takes Longer Than Expected with Dynamic Braking Enabled .................................. 392
Noise From Drive or Motor Cables When the Drive is Powered On ............................................... 393
Ground Fault Circuit Interrupter (GFCI) Trips During Run .............................................................. 393
Connected Machinery Vibrates When Motor Rotates ..................................................................... 393
PID Output Fault.............................................................................................................................. 394
Insufficient Starting Torque ............................................................................................................. 394
Motor Rotates After the Drive Output is Shut Off (Motor Rotates During DC Injection Braking)..... 394
Output Frequency is Not as High as Frequency Reference............................................................ 394
Sound from Motor............................................................................................................................ 394
Unstable Motor Speed when Using PM .......................................................................................... 395
Motor Does Not Restart after Power Loss....................................................................................... 395
7. PERIODIC INSPECTION & MAINTENANCE ...................................................... 397
7.1 Section Safety....................................................................................................................398
7.2 Inspection ..........................................................................................................................400
Recommended Daily Inspection...................................................................................................... 400
Recommended Periodic Inspection................................................................................................. 401
7.3 Periodic Maintenance .......................................................................................................403
Replacement Parts.......................................................................................................................... 403
7.4 Drive Cooling Fans............................................................................................................405
Number of Cooling Fans ................................................................................................................. 405
Cooling Fan Component Names ..................................................................................................... 407
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YASKAWA ELECTRIC SIEP C710616 41D YASKAWA AC Drive – A1000 Technical Manual
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Cooling Fan Replacement: 2A0018 to 2A0081, 4A0007 to 4A0044, and 5A0006 to 5A0032 ........ 409
Cooling Fan Replacement: 2A0110, 2A0138, 4A0058, 4A0072, 5A0041, and 5A0052 ................. 411
Cooling Fan Replacement: 4A0088 and 4A0103
Cooling Fan Replacement: 2A0169 to 2A0415, 4A0139 to 4A0362, and 5A0062 to 5A0242 ........ 415
Cooling Fan Replacement: 4A0414 ................................................................................................ 419
Cooling Fan Replacement: 4A0515 and 4A0675 ............................................................................ 421
Cooling Fan Replacement: 4A0930 and 4A1200 ............................................................................ 425
............................................................................ 413
7.5 Replacing the Air Filter .....................................................................................................430
Air Filter Replacement..................................................................................................................... 430
7.6 Drive Replacement ............................................................................................................432
Serviceable Parts ............................................................................................................................ 432
Terminal Board................................................................................................................................ 432
Replacing the Drive ......................................................................................................................... 433
8. PERIPHERAL DEVICES & OPTIONS ................................................................. 435
8.1 Section Safety....................................................................................................................436
8.2 Drive Options and Peripheral Devices ............................................................................437
8.3 Connecting Peripheral Devices .......................................................................................439
8.4 Option Installation.............................................................................................................440
Prior to Installing the Option ............................................................................................................ 440
PG Option Installation Example ...................................................................................................... 441
Terminal Functions of PG-B3 and PG-X3 Options.......................................................................... 448
8.5 Installing Peripheral Devices ...........................................................................................449
Dynamic Braking Options................................................................................................................ 449
Installing a Molded Case Circuit Breaker (MCCB) or Ground Fault Circuit Interrupter (GFCI) ....... 452
Installing a Magnetic Contactor at the Power Supply Side.............................................................. 452
Connecting an AC Reactor or DC Link Choke ................................................................................ 453
Connecting a Surge Absorber ......................................................................................................... 453
Connecting a Noise Filter ................................................................................................................ 454
Installing Input Fuses ...................................................................................................................... 455
Attachment for External Heatsink Mounting .................................................................................... 459
Installing a Motor Thermal Overload (oL) Relay on the Drive Output ............................................. 459
A. SPECIFICATIONS ................................................................................................ 461
A.1 Heavy Duty and Normal Duty Ratings.............................................................................462
A.2 Power Ratings ...................................................................................................................463
Three-Phase 200 V Class Drive Models 2A0004 to 2A0030 .......................................................... 463
Three-Phase 200 V Class Drive Models 2A0040 to 2A0211 .......................................................... 464
Three-Phase 200 V Class Drive Models 2A0250 to 2A0415 .......................................................... 465
Three-Phase 400 V Class Drive Models 4A0002 to 4A0031 .......................................................... 466
Three-Phase 400 V Class Drive Models 4A0038 to 4A0165 .......................................................... 467
Three-Phase 400 V Class Drive Models 4A0208 to 4A1200 .......................................................... 468
Three-Phase 600 V Class Drive Models 5A0003 to 5A0032 .......................................................... 469
Three-Phase 600 V Class Drive Models 5A0041 to 5A0099 .......................................................... 470
Three-Phase 600 V Class Drive Models 5A0125 to 5A0242 .......................................................... 471
A.3 Drive Specifications ..........................................................................................................472
A.4 Drive Watt Loss Data ........................................................................................................474
A.5 Drive Derating Data ...........................................................................................................476
Single-Phase Derating .................................................................................................................... 476
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Table of Contents
Carrier Frequency Derating............................................................................................................. 482
Temperature Derating ..................................................................................................................... 486
Altitude Derating.............................................................................................................................. 487
PARAMETER LIST............................................................................................... 489
B.
B.1 Understanding Parameter Descriptions..........................................................................490
Control Modes, Symbols, and Terms .............................................................................................. 490
B.2 Parameter Groups .............................................................................................................491
Parameter Differences for Drive Models 4A0930 and 4A1200 ....................................................... 492
B.3 A: Initialization Parameters ..............................................................................................493
A1: Initialization ............................................................................................................................... 493
A2: User Parameters....................................................................................................................... 494
B.4 b: Application.....................................................................................................................495
b1: Operation Mode Selection......................................................................................................... 495
b2: DC Injection Braking and Short Circuit Braking......................................................................... 496
b3: Speed Search............................................................................................................................ 497
b4: Timer Function .......................................................................................................................... 498
b5: PID Control................................................................................................................................ 499
b6: Dwell Function........................................................................................................................... 501
b7: Droop Control ............................................................................................................................ 501
b8: Energy Saving ........................................................................................................................... 501
b9: Zero Servo................................................................................................................................. 502
B.5 C: Tuning............................................................................................................................503
C1: Acceleration and Deceleration Times ....................................................................................... 503
C2: S-Curve Characteristics............................................................................................................ 504
C3: Slip Compensation.................................................................................................................... 504
C4: Torque Compensation .............................................................................................................. 505
C5: Automatic Speed Regulator (ASR) ........................................................................................... 506
C6: Carrier Frequency..................................................................................................................... 508
B.6 d: References.....................................................................................................................509
d1: Frequency Reference................................................................................................................ 509
d2: Frequency Upper/Lower Limits ................................................................................................. 510
d3: Jump Frequency........................................................................................................................ 511
d4: Frequency Reference Hold and Up/Down 2 Function............................................................... 511
d5: Torque Control .......................................................................................................................... 512
d6: Field Weakening and Field Forcing........................................................................................... 513
d7: Offset Frequency....................................................................................................................... 513
B.7 E: Motor Parameters .........................................................................................................514
E1: V/f Pattern for Motor 1............................................................................................................... 514
E2: Motor 1 Parameters .................................................................................................................. 515
E3: V/f Pattern for Motor 2............................................................................................................... 516
E4: Motor 2 Parameters .................................................................................................................. 517
E5: PM Motor Settings .................................................................................................................... 518
B.8 F: Options...........................................................................................................................520
F1: PG Speed Control Card (PG-X3/PG-B3) .................................................................................. 520
F2: Analog Input Card (AI-A3)......................................................................................................... 522
F3: Digital Input Card (DI-A3).......................................................................................................... 522
F4: Analog Monitor Card (AO-A3) ................................................................................................... 523
F5: Digital Output Card (DO-A3) ..................................................................................................... 523
F6, F7: Communication Option Card............................................................................................... 524
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B.9 H Parameters: Multi-Function Terminals ........................................................................528
H1: Multi-Function Digital Inputs ..................................................................................................... 528
H2: Multi-Function Digital Outputs................................................................................................... 533
H3: Multi-Function Analog Inputs
H4: Analog Outputs ......................................................................................................................... 538
H5: MEMOBUS/Modbus Serial Communication ............................................................................. 539
H6: Pulse Train Input/Output........................................................................................................... 540
.................................................................................................... 536
B.10 L: Protection Function ......................................................................................................541
L1: Motor Protection ........................................................................................................................ 541
L2: Momentary Power Loss Ride-Thru............................................................................................ 542
L3: Stall Prevention ......................................................................................................................... 543
L4: Speed Detection........................................................................................................................ 545
L5: Fault Restart.............................................................................................................................. 545
L6: Torque Detection....................................................................................................................... 546
L7: Torque Limit .............................................................................................................................. 547
L8: Drive Protection......................................................................................................................... 547
B.11 n: Special Adjustment.......................................................................................................550
n1: Hunting Prevention.................................................................................................................... 550
n2: Speed Feedback Detection Control (AFR) Tuning.................................................................... 550
n3: High Slip Braking (HSB) and Overexcitation Braking................................................................ 550
n5: Feed Forward Control ............................................................................................................... 551
n6: Online Tuning ............................................................................................................................ 552
n8: PM Motor Control Tuning .......................................................................................................... 552
B.12 o: Operator-Related Settings ...........................................................................................554
o1: Digital Operator Display Selection............................................................................................. 554
o2: Digital Operator Keypad Functions ........................................................................................... 554
o3: Copy Function ........................................................................................................................... 555
o4: Maintenance Monitor Settings................................................................................................... 555
B.13 DriveWorksEZ Parameters ...............................................................................................557
q: DriveWorksEZ Parameters.......................................................................................................... 557
r: DriveWorksEZ Connection Parameters ....................................................................................... 557
B.14 T: Motor Tuning .................................................................................................................558
T1: Induction Motor Auto-Tuning..................................................................................................... 558
T2: PM Motor Auto-Tuning .............................................................................................................. 559
T3: ASR and Inertia Tuning............................................................................................................. 561
B.15 U: Monitors.........................................................................................................................562
U1: Operation Status Monitors ........................................................................................................ 562
U2: Fault Trace................................................................................................................................ 564
U3: Fault History.............................................................................................................................. 566
U4: Maintenance Monitors .............................................................................................................. 566
U5: PID Monitors ............................................................................................................................. 568
U6: Operation Status Monitors ........................................................................................................ 569
U8: DriveWorksEZ Monitors............................................................................................................ 570
B.16 Control Mode Dependent Parameter Default Values .....................................................571
A1-02 (Motor 1 Control Mode) Dependent Parameters .................................................................. 571
E3-01 (Motor 2 Control Mode) Dependent Parameters .................................................................. 574
B.17 V/f Pattern Default Values.................................................................................................575
B.18 Defaults by Drive Model and Duty Rating ND/HD...........................................................577
B.19 Parameters Changed by Motor Code Selection .............................................................594
YASKAWA ELECTRIC SIEP C710616 41D YASKAWA AC Drive – A1000 Technical Manual
13
Table of Contents
Yaskawa SMRA Series SPM Motor ................................................................................................ 594
Yaskawa SSR1 Series IPM Motor (For Derated Torque)................................................................ 595
Yaskawa SST4 Series IPM Motor (For Constant Torque) ..............................................................
C. MEMOBUS/MODBUS COMMUNICATIONS........................................................ 611
C.1 MEMOBUS/Modbus Configuration ..................................................................................612
C.2 Communication Specifications........................................................................................613
C.3 Connecting to a Network ..................................................................................................614
Network Cable Connection.............................................................................................................. 614
Wiring Diagram for Multiple Connections ........................................................................................ 614
Network Termination ....................................................................................................................... 615
C.4 MEMOBUS/Modbus Setup Parameters ...........................................................................616
MEMOBUS/Modbus Serial Communication.................................................................................... 616
C.5 Drive Operations by MEMOBUS/Modbus........................................................................619
Observing the Drive Operation........................................................................................................ 619
Controlling the Drive........................................................................................................................ 619
C.6 Communications Timing...................................................................................................620
Command Messages from Master to Drive..................................................................................... 620
Response Messages from Drive to Master ..................................................................................... 620
C.7 Message Format ................................................................................................................621
Message Content ............................................................................................................................ 621
Slave Address ................................................................................................................................. 621
Function Code ................................................................................................................................. 621
Data................................................................................................................................................. 621
Error Check ..................................................................................................................................... 621
C.8 Message Examples ...........................................................................................................623
Reading Drive MEMOBUS/Modbus Register Contents .................................................................. 623
Loopback Test................................................................................................................................. 623
Writing to Multiple Registers............................................................................................................ 624
C.9 MEMOBUS/Modbus Data Table........................................................................................625
Command Data ............................................................................................................................... 625
Monitor Data.................................................................................................................................... 626
Broadcast Messages....................................................................................................................... 637
Fault Trace Contents....................................................................................................................... 638
Alarm Register Contents ................................................................................................................. 640
C.10 Enter Command.................................................................................................................641
Enter Command Types ................................................................................................................... 641
Enter Command Settings when Upgrading the Drive...................................................................... 641
C.11 Communication Errors .....................................................................................................642
MEMOBUS/Modbus Error Codes.................................................................................................... 642
Slave Not Responding..................................................................................................................... 642
C.12 Self-Diagnostics ................................................................................................................643
602
D. STANDARDS COMPLIANCE .............................................................................. 645
D.1 Section Safety....................................................................................................................646
D.2 European Standards .........................................................................................................648
CE Low Voltage Directive Compliance............................................................................................ 648
EMC Guidelines Compliance .......................................................................................................... 650
14
YASKAWA ELECTRIC SIEP C710616 41D YASKAWA AC Drive – A1000 Technical Manual
Table of Contents
D.3 UL and CSA Standards .....................................................................................................656
UL Standards Compliance .............................................................................................................. 656
CSA Standards Compliance............................................................................................................ 671
Drive Motor Overload Protection
Precautionary Notes on External Heatsink (IP00/Open Type Enclosure) ....................................... 673
..................................................................................................... 671
D.4 Safe Disable Input Function .............................................................................................675
Specifications .................................................................................................................................. 675
Precautions ..................................................................................................................................... 675
Using the Safe Disable Function ..................................................................................................... 675
E. QUICK REFERENCE SHEET .............................................................................. 679
E.1 Drive and Motor Specifications........................................................................................680
Drive Specifications......................................................................................................................... 680
Motor Specifications ........................................................................................................................ 680
E.2 Basic Parameter Settings .................................................................................................682
Basic Setup ..................................................................................................................................... 682
V/f Pattern Setup ............................................................................................................................. 682
Motor Setup..................................................................................................................................... 682
Multi-Function Digital Inputs ............................................................................................................ 683
Pulse Train Input/Analog Inputs ...................................................................................................... 683
Multi-Function Digital Outputs ......................................................................................................... 683
Monitor Outputs............................................................................................................................... 683
E.3 User Setting Table.............................................................................................................684
INDEX ................................................................................................................... 693
YASKAWA ELECTRIC SIEP C710616 41D YASKAWA AC Drive – A1000 Technical Manual
15
Table of Contents
This Page Intentionally Blank
16
YASKAWA ELECTRIC SIEP C710616 41D YASKAWA AC Drive – A1000 Technical Manual
i
Preface & General Safety
This section provides safety messages pertinent to this product that, if not heeded, may result in fatality,
personal injury, or
these instructions.
i.1 PREFACE...............................................................................................................18
i.2 GENERAL SAFETY...............................................................................................20
equipment damage. Yaskawa is not responsible for the consequences of ignoring
YASKAWA ELECTRIC SIEP C710616 41D YASKAWA AC Drive – A1000 Technical Manual
17
TERMSTERMS
i.1 Preface
i.1 Preface
Yaskawa manufactures products used as components in a wide variety of industrial systems and equipment. The selection and
application of Yaskawa products remain the responsibility of the equipment manufacturer or end user. Yaskawa accepts no
responsibility for the way its products are incorporated into the final system design. Under no circumstances should any
Yaskawa product be incorporated into any product or design as the exclusive or sole safety control. Without exception, all
controls should be designed to detect faults dynamically and fail safely under all circumstances. All systems or equipment
designed to incorporate a product manufactured by Yaskawa must be supplied to the end user with appropriate warnings and
instructions as to the safe use and operation of that part. Any warnings provided by Yaskawa must be promptly provided to
the end user. Yaskawa offers an express warranty only as to the quality of its products in conforming to standards and
specifications published in the Yaskawa manual. NO OTHER WARRANTY, EXPRESS OR IMPLIED, IS OFFERED.
Yaskawa assumes no liability for any personal injury, property damage, losses, or claims arising from misapplication of its
products.
This manual is designed to ensure correct and suitable application of A1000-Series Drives. Read this manual before attempting
to install, operate, maintain, or inspect a drive and keep it in a safe, convenient location for future reference. Be sure you
understand all precautions and safety information before attempting application.
u
Applicable Documentation
The following manuals are available for A1000 series drives:
A1000 Series AC Drive Technical Manual (SIEPC71061641)
A1000
CIMR-AU5A0009FAA
600V 3Phase 5.5kW/3.7kW
This manual provides detailed information on parameter settings, drive functions, and MEMOBUS/
Modbus specifications. Use this manual to expand drive functionality and to take advantage of higher
performance features. This manual is available for download on our documentation website,
www.yaskawa.com.
A1000 Series AC Drive Quick Start Guide (TOEPC71061641)
Read this guide first. This guide is packaged together with the product and contains basic information
required to install and wire the drive. It also gives an overview of fault diagnostics, maintenance, and
parameter settings. The purpose of this guide is to prepare the drive for a trial run with an application and
for basic operation. This manual is available for download on our documentation website,
www.yaskawa.com.
u
Symbols
Note: Indicates a supplement or precaution that does not cause drive damage.
Indicates a term or definition used in this manual.
18
YASKAWA ELECTRIC SIEP C710616 41D YASKAWA AC Drive – A1000 Technical Manual
u
TERMSTERMS
Terms and Abbreviations
• Drive: Yaskawa A1000-Series Drive
• BCD: Binary Coded Decimal
• H: Hexadecimal Number Format
• IGBT: Insulated Gate Bipolar Transistor
• kbps: Kilobits per Second
• MAC: Media Access Control
• Mbps: Megabits per Second
• PG: Pulse Generator
• r/min: Revolutions per Minute
• V/f: V/f Control
• V/f w/PG: V/f Control with PG
• OLV: Open Loop Vector Control
• CLV: Closed Loop Vector Control
• OLV/PM: Open Loop Vector Control for PM
• AOLV/PM: Advanced Open Loop Vector Control for PM
• CLV/PM: Closed Loop Vector Control for PM
• PM motor: Permanent Magnet Synchronous motor (an abbreviation for IPM motor or SPM motor)
• IPM motor: Interior Permanent Magnet Motor (e.g., Yaskawa SSR1 Series and SST4 Series motors)
• SPM motor: Surface mounted Permanent Magnet Motor (e.g., Yaskawa SMRA Series motors)
i.1 Preface
u
Trademarks
• CANopen is a trademark of CAN in Automation (CiA).
• CC-Link is a trademark of CC-Link Partner Association (CLPA).
• DeviceNet is a trademark of Open DeviceNet Vendor Association, Inc. (ODVA).
• PROFIBUS-DP is a trademark of PROFIBUS International (PI).
• MECHATROLINK-I/MECHATROLINK-II are trademarks of MECHATROLINK Members Association (MMA).
• Other companies and product names mentioned in this manual are trademarks of those companies.
YASKAWA ELECTRIC SIEP C710616 41D YASKAWA AC Drive – A1000 Technical Manual
19
i.2 General Safety
i.2 General Safety
u
Supplemental Safety Information
General Precautions
• The diagrams in this manual may be indicated without covers or safety shields to show details. Replace the covers or shields before
operating the drive and run the drive according to the instructions described in this manual.
• Any illustrations, photographs, or examples used in this manual are provided as examples only and may not apply to all products to
which this manual is applicable.
• The
products and specifications described in this manual or the content and presentation of the manual may be changed without notice
to improve the product and/or the manual.
• When ordering a new copy of the manual due to damage or loss, contact your Yaskawa representative or the nearest Yaskawa sales
office and provide the manual number shown on the front cover.
• If nameplate becomes worn or damaged, order a replacement from your Yaskawa representative or the nearest Yaskawa sales office.
WARNING
Read and understand this manual before installing, operating or servicing this drive. The drive must be installed according
to this manual and local codes.
The following conventions are used to indicate safety messages in this manual. Failure to heed these messages could result
in serious or fatal injury or damage to the products or to related equipment and systems.
DANGER
Indicates a hazardous situation, which, if not avoided, will result in death or serious injury.
WARNING
Indicates a hazardous situation, which, if not avoided, could result in death or serious injury.
WARNING! may also be indicated by a bold key word embedded in the text followed by an italicized safety message.
CAUTION
Indicates a hazardous situation, which, if not avoided, could result in minor or moderate injury.
CAUTION! may also be indicated by a bold key word embedded in the text followed by an italicized safety message.
NOTICE
Indicates a property damage message.
NOTICE: may also be indicated by a bold key word embedded in the text followed by an italicized safety message.
20
YASKAWA ELECTRIC SIEP C710616 41D YASKAWA AC Drive – A1000 Technical Manual
i.2 General Safety
u
Safety Messages
DANGER
Heed the safety messages in this manual.
Failure to comply will result in death or serious injury.
The operating company is responsible for any injuries or equipment damage resulting from failure to heed the warnings in
this manual.
Electrical Shock Hazard
Do not connect or disconnect wiring while the power is on.
Failure to comply will result in death or serious injury.
Before servicing, disconnect
is turned off. After shutting off the power, wait for at least the amount of time specified on the drive before touching any
components.
all power to the equipment. The internal capacitor remains charged even after the power supply
WARNING
Sudden Movement Hazard
System may start unexpectedly upon application of power, resulting in death or serious injury.
all personnel
Clear
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.
from the drive, motor and machine area before applying power. Secure covers, couplings, shaft keys and
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.
Make sure the protective earthing conductor complies with technical standards and local safety regulations.
Because the leakage current exceeds 3.5 mA in models 4A0414 and larger, IEC 61800-5-1 states that either the power supply
must be automatically disconnected in case of discontinuity of the protective earthing conductor or a protective earthing
conductor with a cross-section of at least 10 mm2 (Cu) or 16 mm2 (Al) must be used. Failure to comply may result in death
or serious injury.
Always use appropriate equipment for Ground Fault Circuit Interrupters (GFCIs).
The drive can cause a residual current with a DC component in the protective earthing conductor. Where a residual current
operated protective or monitoring device is used for protection in case of direct or indirect contact, always use a type B GFCI
according to IEC 60755.
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.
YASKAWA ELECTRIC SIEP C710616 41D YASKAWA AC Drive – A1000 Technical Manual
21
i.2 General Safety
WARNING
Install adequate branch circuit protection according to applicable local codes and this Installation Manual. Failure
to comply could result in fire and damage to the A1000 drive or injury to personnel.
The device is
maximum (200 V class) and 480 Vac maximum (400 V class), and 600 Vac maximum (600 V class) when protected by
branch circuit protection devices specified in this supplement.
suitable for use on a circuit capable of delivering not more than 100,000 RMS symmetrical amperes, 240 Vac
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.
CAUTION
Crush Hazard
Do not carry the drive by the front cover.
Failure to comply may result in minor or moderate injury from the main body of the drive falling.
NOTICE
Observe proper electrostatic discharge procedures (ESD) when handling the drive and circuit boards.
Failure to comply may result in ESD damage to the drive circuitry.
Do not perform a withstand voltage test on any part of the drive.
Failure to comply could result in damage to the sensitive devices within the drive.
Do not operate damaged equipment.
Failure to comply could result in further damage to the equipment.
Do not connect or operate any equipment with visible damage or missing parts.
If a fuse
peripheral devices.
Contact your supplier if the cause cannot be identified after checking the above.
Do not restart the drive immediately operate the peripheral devices if a fuse is blown or a GFCI is tripped.
Check the wiring and the selection of peripheral devices to identify the cause. Contact your supplier before restarting the
drive or the peripheral devices if the cause cannot be identified.
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 use on a circuit capable of delivering not more than 100,000 RMS symmetrical Amperes, 240 Vac
maximum (200 V Class), 480 Vac maximum (400 V Class), and 600 Vac maximum (600 V Class) when protected by
Bussmann Type FWH or FWP fuses as specified in Factory Recommended Branch Circuit Protection on page 648.
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.
is blown or a Ground Fault Circuit Interrupter (GFCI) is tripped, check the wiring and the selection of the
22
YASKAWA ELECTRIC SIEP C710616 41D YASKAWA AC Drive – A1000 Technical Manual
u
General Application Precautions
Selection
n
Installing a Reactor
Use an AC reactor or DC link choke in the following situations:
• 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 link choke is built in to drive models 2A0110 to 2A0415 and 4A0058 to 4A1200.
4000
Power supply harmonics
reactor required
Power Supply
Capacity (kVA)
600
Reactor
unnecessary
0
60 400
Drive Capacity (kVA)
i.2 General Safety
Figure i.1 Installing a Reactor
Drive Capacity
For specialized motors, make sure that the motor rated current is less than the rated output current for the drive.
When running more
than one motor in parallel from a single drive, the capacity of the drive should be larger than [total motor
rated current × 1.1].
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
During a drive fault condition, the output shuts off but the motor does not stop immediately. A mechanical brake may be
required when it is necessary to stop the motor faster than the ability of the Fast Stop function of the drive.
Options
NOTICE: The B1, B2, , –, +1, +2, and +3 terminals are used to connect optional drive-specific compatible devices only. Connecting non-
Yaskawa-approved devices to these terminals may damage the drive.
Repetitive Starting/Stopping
Laundry machines, punching presses, and other applications with frequent starts and stops often approach 150% of their rated
current values. Heat stress generated from repetitive high current will shorten the life span of the IGBTs.
Yaskawa recommends lowering the carrier frequency, particularly when audible noise is not a concern. It is beneficial to
reduce the load, increase the acceleration and deceleration times, or switch to a larger drive to help keep peak current levels
under 150%. Be sure to check the peak current levels when starting and stopping repeatedly during the initial test run, and
make adjustments accordingly.
Installation
n
Enclosure Panels
Keep the drive in a clean environment by installing the drive in an enclosure panel or selecting an installation area free of
airborne dust, lint, and oil mist. Be sure to leave the required space between drives to provide for cooling, and take proper
measures so the ambient temperature remains within allowable limits and keep flammable materials away from the drive.
Yaskawa offers protective designs for drives that must be used in areas subjected to oil mist and excessive vibration. Contact
Yaskawa or your Yaskawa agent for details.
Installation Direction
NOTICE: Install the drive upright as specified in the manual. Refer to Mechanical Installation on page 54 for more information on
installation. Failure to comply may damage the drive due to improper cooling.
YASKAWA ELECTRIC SIEP C710616 41D YASKAWA AC Drive – A1000 Technical Manual
23
i.2 General Safety
Settings
n
Motor Code
When using OLV/PM, set the proper motor code to parameter E5-01 before performing a trial run.
Upper Limits
NOTICE: The drive is
possible danger of accidentally operating equipment at higher than rated speed. The default setting for the maximum output frequency is
60 Hz.
capable of running the motor up to 400 Hz. Be sure to set the upper limit for the frequency of the drive to prevent the
DC Injection Braking
NOTICE: Excessive current during DC Injection Braking and excessive duration of DC Injection Braking can cause motor overheat.
Acceleration/Deceleration Times
Acceleration and deceleration times are affected by the amount of torque generated by the motor, the load torque, and the
inertia moment. Set a longer accel/decel time when Stall Prevention is enabled. The accel/decel times are lengthened for as
long as the Stall Prevention function is in operation. Install one of the available braking options or increase the capacity of the
drive for faster acceleration and deceleration.
General Handling
n
Wiring Check
NOTICE: Do not connect power supply lines to output terminals U/T1, V/T2, or W/T3. Failure to comply will destroy the drive. Be sure to
perform a final check of all sequence wiring and other connections before turning on the power and also check for short circuits on the
control terminals, which may damage the drive.
Selecting a Circuit Breaker or Circuit Interrupter
Yaskawa recommends installing a Ground Fault Circuit Interrupter (GFCI) to the power supply side. The GFCI should be
designed for use with AC drives (e.g., Type B according to IEC 60755).
Select a Molded Case Circuit Breaker (MCCB) or GFCI with a rated current 1.5 to 2 times higher than the drive rated current
to avoid nuisance trips caused by harmonics in the drive input current. Refer to Installing a Molded Case Circuit Breaker
(MCCB) or Ground Fault Circuit Interrupter (GFCI) on page 452 for more information.
NOTICE: Prevent Equipment Damage. Install a fuse and a GFCI in models 4A0930 and 4A1200. Failure to comply may result in serious
damage to the facilities if the drive is defective. Refer to Wiring Fuses for Models 4A0930 and 4A1200 on page 88 for details.
Magnetic Contactor Installation
WARNING! Fire Hazard. Shut off the drive with a magnetic contactor (MC) when a fault occurs in any external equipment such as braking
resistors. Refer to Installing a Magnetic Contactor at the Power Supply Side on page 452. Failure to comply may cause resistor
overheating, fire, and injury to personnel.
NOTICE: To get the full performance life out of the electrolytic capacitors and circuit relays, refrain from switching the drive power supply
off and on more than once every 30 minutes. Frequent use can damage the drive. Use the drive to stop and start the motor.
Inspection and Maintenance
WARNING! Electrical Shock Hazard. Capacitors in the drive do not immediately discharge after shutting off the power. Wait for at least the
amount of time specified on the drive before touching any components after shutting off the power. Failure to comply may cause injury to
personnel from electrical shock.
WARNING! Electrical Shock Hazard. When a drive is running a PM motor, voltage continues to be generated at the motor terminals after
the drive is shut off while the motor coasts to stop. Take the precautions described below to prevent shock and injury:
∙ In applications where the machine can still rotate after the drive has fully stopped a load, install a switch to the drive output side to disconnect
the motor and the drive.
∙ Do not allow an external force to rotate the motor beyond the maximum allowable speed or to rotate the motor when the drive has been
shut off.
∙ Wait for at least the time specified on the warning label after opening the load switch on the output side before inspecting the drive or
performing any maintenance.
∙ Do not open and close the load switch while the motor is running.
∙ If the motor is coasting, make sure the power to the drive is turned on and the drive output has completely stopped before closing the load
switch.
WARNING! Burn Hazard. Because the heatsink can get very hot during operation, take proper precautions to prevent burns. When replacing
the cooling fan, shut off the power and wait at least 15 minutes to be sure that the heatsink has cooled down. Failure to comply may cause
burn injury to personnel.
Wiring
Yaskawa recommends using ring terminals on all drive models. Drive models 2A0069 to 2A0415 and 4A0058 to 4A1200
require the use of use ring terminals for UL/cUL compliance. Use only the tools recommended by the terminal manufacturer
for crimping.
24
YASKAWA ELECTRIC SIEP C710616 41D YASKAWA AC Drive – A1000 Technical Manual
50
3 6
60
60
70
80
90
100
25% ED (or 15 min)
40% ED (or 20 min)
60% ED (or 40 min)
Frequency (Hz)
Continuous operation
Torque
(%)
20
i.2 General Safety
Transporting the Drive
NOTICE: Never steam clean the drive. During transport, keep the drive from coming into contact with salts, fluorine, bromine, phthalate
ester, and other such harmful chemicals.
u
Motor Application Precautions
Standard Induction Motors
n
Low-Speed Range
The cooling fan of a standard motor should sufficiently cool the motor at the rated speed. As the self-cooling capability of
such a motor reduces with the speed, applying full torque at low speed will possibly damage the motor. Reduce the load torque
as the motor slows to prevent motor damage from overheat. Figure i.2 shows the allowable load characteristics for a Yaskawa
standard motor. Use a motor designed specifically for operation with a drive when 100% continuous torque is needed at low
speeds.
Figure i.2 Allowable Load Characteristics for a Yaskawa Motor
Insulation Tolerance
NOTICE: Consider motor voltage tolerance levels and motor insulation in applications with an input voltage of over 440 V or particularly
long wiring distances.
High-Speed Operation
NOTICE: Problems
Contact the motor or machine manufacturer.
may occur
with the motor bearings and dynamic balance of the machine when operating a motor beyond its rated speed.
Torque Characteristics
Torque characteristics differ compared to operating the motor directly from line power. The user should have a full
understanding of the load torque characteristics for the application.
Vibration and Shock
The drive allows selection of high carrier PWM control and low carrier PWM. Selecting high carrier PWM can help reduce
motor oscillation.
• Take particular caution when adding a variable speed drive to an application running a motor from line power at a constant
speed. If resonance occurs, install shock-absorbing rubber around the base of the motor and enable the Jump frequency
selection to prevent continuous operation in the resonant frequency range.
• Mechanical resonance can occur with long motor shafts and in applications such as turbines, blowers, and fans with high
inertia loads. Use Closed Loop Vector Control when these applications experience mechanical resonance problems.
Audible Noise
Noise created during run varies by the carrier frequency setting. When using a high carrier frequency, audible noise from the
motor is comparable to the motor noise generated when running from line power. Operating above the rated motor speed can
create unpleasant motor noise.
n
• Contact Yaskawa or a Yaskawa agent when planning to use a synchronous motor not endorsed by Yaskawa.
• Use a standard induction motor when running multiple synchronous motors simultaneously. A single drive does not have
Synchronous Motors
this capability.
YASKAWA ELECTRIC SIEP C710616 41D YASKAWA AC Drive – A1000 Technical Manual
25
i.2 General Safety
• A synchronous motor may rotate slightly in the opposite direction of the Run command at start depending on parameter
settings and rotor position.
• The amount of generated starting torque differs depending on the control mode and motor type. Set up the motor with the
drive after verifying the starting torque, allowable load characteristics, impact load tolerance, and speed control range.
Contact Yaskawa or a Yaskawa agent when planning to use a motor that does not fall within these specifications:
Open Loop Vector Control for PM motors, braking torque is less than 125% when running between 20% and 100% speed,
• In
even with a braking resistor. Braking torque drops to less than 50% when running at less than 20% speed.
• In Open Loop Vector Control for PM motors, the allowable load inertia moment is approximately 50 times higher than the
motor inertia moment.
Contact Yaskawa or a Yaskawa agent for questions concerning applications with a larger inertia moment.
• When using a holding brake in Open Loop Vector Control for PM motors, release the brake prior to starting the motor.
Failure to set the proper timing can cause speed loss.
• To restart a coasting motor rotating over 200 Hz while in V/f Control, first use the Short Circuit Braking function to bring
the motor to a stop. Short Circuit Braking requires a special braking resistor. Contact Yaskawa or a Yaskawa agent for
details.
• To restart a coasting motor rotating below 200 Hz, use the Speed Search function if the motor cable is not too long. If the
motor cable is relatively long, stop the motor using Short Circuit Braking.
Specialized Motors
n
Multi-Pole Motor
The rated current of a multi-pole motor differs from that of a standard motor, so be sure to check the maximum current when
selecting a drive. Always stop the motor before switching between the number of motor poles. The motor will coast to stop if
a regen overvoltage (ov) fault occurs or if overcurrent (oC) protection is triggered.
Submersible Motor
The rated current of a submersible motor is greater than that of a standard motor, so select the drive capacity accordingly. Use
a motor cable large enough to avoid decreasing the maximum torque level from voltage drop caused by a long motor cable.
Explosion-Proof Motor
The motor and the drive must be tested together to be certified as explosion-proof. The drive is not designed for explosionproof areas.
When attaching an encoder to an explosion-proof motor, make sure the encoder is also explosion-proof. Use an insulating
signal converter to connect the encoder signal lines to the speed feedback option card.
Geared Motor
Make sure that the gear and the lubricant are rated for the desired speed range to avoid gear damage when operating at low
speeds or very high speeds. Consult with the manufacturer for applications that require operation outside the rated speed range
of the motor or gear box.
Single-Phase Motor
Variable speed drives are not designed to operate with single phase motors. Using capacitors to start the motor causes excessive
current to flow and can damage drive components. A split-phase start or a repulsion start can burn out the starter coils because
the internal centrifugal switch is not activated. The drive is for use with three-phase motors only.
Motor with Brake
Take caution when using the drive to operate a motor with a built-in holding brake. If the brake is connected to the output side
of the drive, it may not release at start due to low voltage levels, so be sure to install a separate power supply for the motor
brake. Note that motors with built-in brakes tend to generate a fair amount of noise when running at low speeds.
Notes on Power Transmission Machinery
n
Installing an AC drive in machinery that was previously connected directly to the power supply will allow the machine to
operate at variable speeds. Continuous operation outside of the rated speeds can wear on lubrication material in gear boxes
and other power transmission parts. Make sure that lubrication is sufficient within the entire speed range to avoid machine
damage. Note that operation above the rated speed can increase the noise generated by the machine.
26
YASKAWA ELECTRIC SIEP C710616 41D YASKAWA AC Drive – A1000 Technical Manual
u
Warning Label
600V 3Phase 5.5kW/3.7kW
Drive Label Warning Example
Always heed the warning information listed in Figure i.3 in the position shown in Figure i.4.
WARNING
Risk of electric shock.
●
Read manual before installing.
●
Wait 5 minutes for capacitor
discharge after disconnecting
power supply.
●
To conform to requirements,
make sure to ground the supply
neutral for 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.
Figure i.3 Warning Information Example
i.2 General Safety
Figure i.4 Warning Information Position
u
Warranty Information
Restrictions
n
The drive is not designed or manufactured for use in devices or systems that may directly affect or threaten human lives or
health.
Customers who intend to use the product described in this manual for devices or systems relating to transportation, health
care, space aviation, atomic power, electric power, or in underwater applications must first contact their Yaskawa
representatives or the nearest Yaskawa sales office.
WARNING! Injury to Personnel. This product has been manufactured under strict quality-control guidelines. However, if this product is to
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 41D YASKAWA AC Drive – A1000 Technical Manual
27
i.2 General Safety
This Page Intentionally Blank
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YASKAWA ELECTRIC SIEP C710616 41D YASKAWA AC Drive – A1000 Technical Manual
1
Receiving
This chapter explains how to inspect the drive upon receipt, and gives an overview of the different
enclosure types and components.
1.1 SECTION SAFETY.................................................................................................30
1.2
1.3 MODEL NUMBER AND NAMEPLATE CHECK....................................................35
1.4 DRIVE MODELS AND ENCLOSURE TYPES........................................................39
1.5 COMPONENT NAMES...........................................................................................42
GENERAL DESCRIPTION.....................................................................................31
YASKAWA ELECTRIC SIEP C710616 41D YASKAWA AC Drive – A1000 Technical Manual
29
1.1 Section Safety
1.1 Section Safety
CAUTION
Do not carry the drive by the front cover or the terminal cover.
Failure to comply may cause the main body of the drive to fall, resulting in minor or moderate injury.
NOTICE
Observe proper electrostatic discharge procedures (ESD) when handling the drive and circuit boards.
Failure to comply may result in ESD damage to the drive circuitry.
A motor connected
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.
to a PWM drive may operate at a higher temperature than a utility-fed motor and the operating
30
YASKAWA ELECTRIC SIEP C710616 41D YASKAWA AC Drive – A1000 Technical Manual
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