YASKAWA AC Drive - V1000 Option Series Manual

MANUAL NO. TM.V1000SW.134A

YASKAWA AC Drive - V1000 Option

1000 Hz High Frequency
Custom Software

Supplement

Software No. VSV91005X

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

2 YASKAWA ELECTRIC TM.V1000.SW.134A V1000 High Frequency Custom Software Supplement

Copyright 2009 YASKAWA ELECTRIC AMERICA. All rights reserved.

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

This Page Intentionally Blank

YASKAWA ELE C T R I C TM.V1000SW.134A 1000 Hz High Frequency Custom Software Supplement 3

Table of Contents

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

2 PRODUCT OVERVIEW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8

3 MODIFICATIONS FROM STANDARD SOFTWARE . . . . . . . 9

4 MODIFIED PARAMETERS . . . . . . . . . . . . . . . . . . . . . . . . . .10

5 NEW AND MODIFIED SOFTWARE FUNCTIONS . . . . . . . .14

6 APPLICATION NOTES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Refer to the V1000 Technical Manual for content not described in this document.

4 YASKAWA ELE C T R I C TM.V1000SW.134A 1000 Hz High Frequency Custom Software Supplement

This Page Intentionally Blank

YASKAWA ELECTRIC TM.V1000SW.134A 1000 Hz High Frequency Custom Software Supplement 5

1 Preface and Safety

1 Preface and Safety

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

1 Preface and Safety

6 YASKAWA ELE C T R I C TM.V1000SW.134A 1000 Hz High Frequency Custom Software Supplement

◆ Applicable Documentation

The following manuals are available for the V1000 1000 Hz Drive:

Option Supplement

Yaskawa AC Drive -V1000 1000 Hz High Frequency Custom Software Supplement
Manual No: TM.V1000SW.134A (This document)

Read this manual first.This supplement is an addendum to V1000 Quick Start Guide and
Technical
Manual. It lists the effect of this custom software on the parameters in the drive and function
descriptions in the manual.
To obtain the supplement access this site:
U.S.: http://www.yaskawa.com

Yaskawa AC Drive -V1000 1167 Hz High Frequency Custom Software Supplement
Manual No: TM.V1000SW.134B (Consult factory if needed for your application)

Yaskawa Drive

Yaskawa AC Drive-V1000
Quick Start Guide

To obtain instruction manuals for Yaskawa products
access these sites:
U.S.: http://www.yaskawa.com

For questions, contact the local Yaskawa sales office or
the nearest Yaskawa representative.

Yaskawa AC Drive-V1000
Technical Manual

SUPPLEMENT

STOP

(Hz)

(Hz)
(A)
(V)

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V1000

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1 Preface and Safety

YASKAWA ELECTRIC TM.V1000SW.134A 1000 Hz High Frequency Custom Software Supplement 7

◆ Supplemental Safety Information

Read and understand this manual and the V1000 Quick Start Guide before installing,
operating, or servicing this option unit. The drive must be installed according to the V1000
Quick Start Guide and local codes. Observe all cautions and warnings in this document and
the standard drive technical manuals.

Refer to the V1000 Quick Start Guide and the V1000 Technical Manual for safety
information and installation and start-up instructions.

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

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

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

◆ Obtaining Support

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

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

8 YASKAWA ELECTRIC TM.V1000SW.134A 1000 Hz High Frequency Custom Software Supplement

2 Product Overview

2 Product Overview

◆ About This Product

This custom software is designed for high frequency motor applications. The drive's
maximum output frequency can be set up to 1000 Hz. Non-applicable drive functions are
deleted in order to optimize CPU processing time for this software.

◆ Applicable Models

The 1000 Hz Option is available in these drive models in Table 1.

Table 1 Applicable Models

Drive Software Version <1>

<1> See “PRG” on the drive nameplate for the software version number.

VUBAA-134 = 005

VUBBA-134 = 005

VUBFA-134 = 005

YASKAWA ELECTRIC TM.V1000SW.134A 1000 Hz High Frequency Custom Software Supplement 9

3 Modifications from Standard Software

3 Modifications from Standard Software

Changed Item High Frequency Software Standard Software

Applicable Drive Models All All

Maximum Output Frequency 1000 Hz (1167)

<1>

<1> In order to set the frequency reference above 1000 Hz, consult the Yaskawa Application Engineering group at

(800-927-5292) for application review and procedures.

400 Hz

Carrier Frequency

Max: 7 kHz
C6-02: 2, B, C, F

Max: 15 kHz
C6-02: 1 ~ A, F

Drive Current Rating Fixed at Heavy Duty (HD) ratings Depends on C6-01

Drive Overload Rating Fixed at 150%/1 min. (C6-01 fixed) Depends on C6-01

Control Mode Fixed at V/f (A1-02 fixed) V/f, OLV, OLV for PM

DriveWorksEZ (DWEZ) No Available

Communication Option Kits No Available

Frequency Setting Resolution Fixed at 0.1 Hz

0.01 Hz (less than 100 Hz)

0.1 Hz (above 10 Hz)

Frequency reference and
output frequency display
units.

<2> <3>

o1-03 parameter (same as b5-20)
0: 0.1 Hz
1: 0.01 (Max frequency 100%)
2: Deleted
3: User Defined (o1-10 and o1-11)

o1-03 parameter (same as b5-20)
0: 0.1 Hz
1: 0.01 (Max frequency 100%)
2: RPM
3: User Defined (o1-10 and o1-11)

<2> MEMOBUS/Modbus frequency reference can be set by 0.1 Hz. For 1000 Hz reference, 10000 (2710Hex) must be

set to 0002Hex MEMOBUS/Modbus register.

<3> Also applies to register data via MEMOBUS/Modbus RTU communication.

Torque Compensation

Enabled only at low speeds.

Refer to New and Modified Software
Functions on page 14.

Constant throughout the entire
frequency range.

On-Delay Compensation

Enabled only at low speeds. Addition of On­Delay Compensation Selection parameter S1­01

Refer to New and Modified Software
Functions on page 14.

Enabled throughout the entire
frequency range.

Stall Prevention Level During
Acceleration (L3-02)

Maximum setting: 170% Maximum setting: 150%

Deleted Functions

• All OLV and OLV for PM specific
parameters

• All OLV and OLV for PM specific monitors

• Estimation type Speed Search

• High Slip Braking (HSB)

• Auto-Tuning

•KEB

• Overexcitation Deceleration

Refer to Modified Parameters on page 10.

-

10 YASKAWA ELECTRIC TM.V1000SW.134A 1000 Hz High Frequency Custom Software Supplement

4 Modified Parameters

4 Modified Parameters

Table 2 Deleted Parameters from Standard Software

Table 3 Deleted Multi-function Digital Inputs (H1 Group)

Table 4 Deleted Multi-function Digital Outputs (H2 Group)

Parameter Name

A1-06 Application Preset

b3-06 Output Current 1 during Speed Search (Estimation Type)

b3-10 Speed Search Detection Compensation Gain (Estimation Type)

b3-24 Speed Search Method Selection

b8-01 ~ b8-19 Energy Saving Control Parameters

C6-01 Normal/Heavy Duty Selection

E3-01 Motor 2 Control Method Selection

L2-06 ~ L2-11 KEB Parameters

L3-11 ov Suppression Function Selection

n3-01 ~ n3-23 High Slip Braking/Overexcitation Deceleration Parameters

T1-01 ~ T1-08 Motor Tuning Parameters

Setting Function

65 KEB Ride-thru 1 (N.C.)

66 KEB Ride-thru 1 (N.O.)

68 HSB (High Slip Braking)

7A KEB Ride-thru 2 (N.C.)

7B KEB Ride-thru 2 (N.O.)

Setting Function

4A KEB Operation

4 Modified Parameters

YASKAWA ELECTRIC TM.V1000SW.134A 1000 Hz High Frequency Custom Software Supplement 11

Table 5 Modified Parameter Setting Ranges

Table 6 Parameters with Modified Defaults

Table 7 New Param et er

Parameter Name Setting Range

A1-02 Control Method Selection 0

b4-01 Timer Function On-Delay Time 0.0 ~ 3000.0 s

b4-02 Timer Function Off-Delay Time 0.0 ~ 3000.0 s

b5-20 PID Setpoint Scaling 0, 1, 3

H6-01 Pulse Train Input Terminal RP Function Selection 0, 1, 2

L3-02 Stall Prevention Level during Acceleration 0 ~ 170%

L3-04 Stall Prevention Selection during Deceleration 0 ~ 3

o1-03 Digital Operator Display Selection 0, 1, 3

Parameter Name Setting Range Default Note

b2-04 DC Injection Braking Time at Stop 0.0 ~ 10.0 0.0 s Previous default: 0.5

n1-01 Hunting Prevention Selection 0, 1 0 (off) Previous default: 1 (on)

Parameter Name Setting Range Default Note

S1-01 On-Delay Compensation Selection 0, 1 1 0: Disabled, 1: Enabled

4 Modified Parameters

12 YASKAWA ELE C T R I C TM.V1000SW.134A 1000 Hz High Frequency Custom Software Supplement

Table 8 Parameters with Modified Upper Limits

Parameter Name Setting Range Default

b5-19 PID Setpoint Value 0.0 ~ 1000.0 0.0 Hz

C1-11 Accel/Decel Time Switching Frequency 0.0 ~ 1000.0 0.0 Hz

d1-01 Frequency Reference 1 0.0 ~ 1000.0 0.0 Hz

d1-02 Frequency Reference 2 0.0 ~ 1000.0 0.0 Hz

d1-03 Frequency Reference 3 0.0 ~ 1000.0 0.0 Hz

d1-04 Frequency Reference 4 0.0 ~ 1000.0 0.0 Hz

d1-05 Frequency Reference 5 0.0 ~ 1000.0 0.0 Hz

d1-06 Frequency Reference 6 0.0 ~ 1000.0 0.0 Hz

d1-07 Frequency Reference 7 0.0 ~ 1000.0 0.0 Hz

d1-08 Frequency Reference 8 0.0 ~ 1000.0 0.0 Hz

d1-09 Frequency Reference 9 0.0 ~ 1000.0 0.0 Hz

d1-10 Frequency Reference 10 0.0 ~ 1000.0 0.0 Hz

d1-11 Frequency Reference 11 0.0 ~ 1000.0 0.0 Hz

d1-12 Frequency Reference 12 0.0 ~ 1000.0 0.0 Hz

d1-13 Frequency Reference 13 0.0 ~ 1000.0 0.0 Hz

d1-14 Frequency Reference 14 0.0 ~ 1000.0 0.0 Hz

d1-15 Frequency Reference 15 0.0 ~ 1000.0 0.0 Hz

d1-16 Frequency Reference 16 0.0 ~ 1000.0 0.0 Hz

d1-17 Jog Frequency Reference 0.0 ~ 1000.0 0.0 Hz

d3-01 Jump Frequency 1 0.0 ~ 1000.0 0.0 Hz

d3-02 Jump Frequency 2 0.0 ~ 1000.0 0.0 Hz

d3-03 Jump Frequency 3 0.0 ~ 1000.0 0.0 Hz

E1-04 Maximum Output Frequency 0.0 ~ 1000.0 60.0 Hz

E1-06 Base Frequency 0.0 ~ 1000.0 60.0 Hz

E1-07 Mid Output Frequency 0.0 ~ 1000.0 3.0 Hz

E1-09 Minimum Output Frequency 0.0 ~ 1000.0 1.5 Hz

E1-11 Mid Output Frequency 2 0.0 ~ 1000.0 0.0 Hz

E3-04 Motor 2 Maximum Output Frequency 0.0 ~ 1000.0 60.0 Hz

E3-06 Motor 2 Base Frequency 0.0 ~ 1000.0 60.0 Hz

E3-07 Motor 2 Mid Output Frequency 0.0 ~ 1000.0 3.0 Hz

E3-09 Motor 2 Minimum Output Frequency 0.0 ~ 1000.0 1.5 Hz

E3-11 Motor 2 Mid Output Frequency 2 0.0 ~ 1000.0 0.0 Hz

L4-01 Speed Agreement Detection Level 0.0 ~ 1000.0 0.0 Hz

L4-03 Speed Agreement Detection Level (+/-) -999.9 ~ 999.9 0.0 Hz

4 Modified Parameters

YASKAWA ELECTRIC TM.V1000SW.134A 1000 Hz High Frequency Custom Software Supplement 13

Table 9 Modified Monitors

Table 10 Deleted Monitors

Table 11 MEMOBUS/Modbus Communication Data

Parameter Name Setting Range

U1-01 Frequency Reference 0.0 ~ 1000.0 Hz

U1-02 Output Frequency 0.0 ~ 1000.0 Hz

U1-16 Output Frequency after Soft Start 0.0 ~ 1000.0 Hz

U2-03 Frequency Reference at Previous Fault 0.0 ~ 1000.0 Hz

U2-04 Output Frequency at Previous Fault 0.0 ~ 1000.0 Hz

U4-14 Peak Hold Output Frequency 0.0 ~ 1000.0 Hz

Parameter Name

U1-05 Motor Speed

U1-09 Torque Reference

Register Name Data

2H Frequency Reference Setting upper limit 40000 to FFFFH

3EH Output Frequency RPM Deleted

14 YASKAWA ELECTRIC TM.V1000SW.134A 1000 Hz High Frequency Custom Software Supplement

5 New and Modified Software Functions

5 New and Modified Software Functions

◆ Carrier Frequency

• The carrier frequency upper limit changed from 15.0 kHz to 7.0 kHz and two new patterns
were added. See Figure 1.

• The carrier frequency selection parameter (C6-02) has been modified according to

Table 12.

• Refer to Application Notes on page 16 for more information.

Table 12 Carrier Frequency Selection Parameter (C6-02) Settings

Figure 1

Figure 1 Additional Carrier Frequency Patterns

C6-02

Carrier

Frequency

Selection

C6-03

Carrier

Frequency

Upper Limit

C6-04

Carrier

Frequency

Lower Limit

C6-05

Carrier Frequency

Proportional Gain

Note

2 5.0 5.0 0 Same as standard

B 7.0 1.0 12 New setting

C 7.0 1.0 8 New setting

F 2.0 2.0 0 Same as standard

7.0 kHz

42 Hz

Carrier

Frequency

Output

Frequency

292 Hz

Parameter C6-02 = B

1.0 kHz

E1-04

7.0 kHz

62 Hz

Carrier

Frequency

Output

Frequency

437 Hz

Parameter C6-02 = C

1.0 kHz

E1-04

5 New and Modified Software Functions

YASKAWA ELECTRIC TM.V1000SW.134A 1000 Hz High Frequency Custom Software Supplement 15

◆ Torque Compensation

High speed motors typically have very low impedance compared to standard 60/120 Hz
motors. These high speed/low impedance motors saturate easily and may cause hunting and
oscillation when a high V/f pattern is applied, especially at high frequencies. Therefore,
Torque Compensation Gain (C4-01) is modified to limit voltage boost above 120 Hz and
eliminate voltage boost above 160 Hz as shown in Figure 2.

Figure 2

Figure 2 Torque Compensation Gain

◆ On-Delay Compensation

High speed motors typically operate at low V/f ratios compared to standard 60/120 Hz
motors, and On-Delay Compensation settings may adversely affect the motor voltage and
cause hunting and oscillation. Therefore, On-Delay Compensation Gain is modified to
reduce its effectiveness above 120 Hz as shown in Figure 3.

Note: When S1-01 = 0, On-Delay Compensation is disabled at all frequencies.

Figure 3

Figure 3 On-Delay Compensation Gain

C4-01

120 Hz

Output

Frequency

(Fout)

160 Hz

0

1.00

120 Hz

Output

Frequency

(Fout)

160 Hz

0

16 YASKAWA ELECTRIC TM.V1000SW.134A 1000 Hz High Frequency Custom Software Supplement

6 Application Notes

6 Application Notes

◆ Using an Output Reactor

If drive oL2 faults occur and a typical drive overload is not suspected, an output reactor or a
larger drive may be required to eliminate oL2 faults. High-speed motors typically have very
low impedance, which may result in excessive peak motor current, increased motor
temperature, low speed cogging, or increased torque ripple.

It may be necessary to use an output reactor to add impedance to the system and reduce the
peak ripple current and eliminate nuisance oL2 faults. To confirm that excessive peak
current caused by low motor impedance is causing the oL2 fault, measure the output current
using an oscilloscope or chart recorder with a clamp-on amp meter.

Generally, the peak of the motor current waveform should not exceed 100% continuous
drive HD nameplate x 2.5. This value may vary slightly by drive model. Refer to Figure 4
for an example of peak current measurement.

When using a reactor to reduce peak current, consult with the reactor manufacturer to select
a reactor that will smooth out the current waveform and also prevent a large voltage drop.

Proper reactor selection is critical in high speed applications because the reactor impedance
is directly proportional to the output frequency, which is usually given at 60 Hz. Example; a
reactor operating at 600 Hz will have 10 times the impedance and result in 10 times the
voltage drop when compared to the same reactor operating at 60 Hz.

Using a larger capacity drive to allow for the additional peak current may also solve the oL2
overload trip problem. The decision to employ an output reactor or increase drive capacity is
made on a case-by-case basis.

Figure 4

Figure 4 Measuring Peak Current

6 Application Notes

YASKAWA ELECTRIC TM.V1000SW.134A 1000 Hz High Frequency Custom Software Supplement 17

◆ Fine Tuning the Carrier Frequency

It is important to optimize the carrier frequency to improve the motor current waveform.
This will improve motor speed stability and torque performance and also limit hunting and
oscillation at higher speeds.

Use one of the following setting recommendations to fine tune the carrier frequency for
optimum motor performance:

1. For a flat 7.0 kHz across the speed range: Set C6-02 = “F” with C6-03 = “7.0”, C6-04 =
“7.0”, and C6-05 = “0”. The 7.0 kHz across the output frequency range keeps the carrier
frequency as high as possible.

2. To create a ramped carrier frequency pattern to keep the output frequency and

carrier frequency at a constant ratio:

• Set C6-02 = “F” to build a custom pattern.

• Set C6-03 = “7.0 kHz” so the motor will run at 7.0 kHz at top speed.

• Set C6-04 = “1.0 kHz” so the carrier frequency will be ramped for the greatest output
frequency range.

• Solve the following formula for C6-05:

C6-05 = [7000 Hz / (2 x E1-04)]

The C6-05 setting range is 7 ~ 99, however a setting lower than 7 disables the ramp
function and C6-03 is used across the output frequency range. For motors with output
frequencies greater than 500 Hz, use C6-05 = 7.

• Solve for corner output frequencies A and B

A Hz = [1000 Hz / (2 x C6-05)]
B Hz = [7000 Hz / (2 x C6-05)]

Figure 5

Figure 5 Carrier Frequency

C6-03 =

7.0 kHz

A Hz

Carrier

Frequency

(Fc)

Output

Frequency

(Fout)

B Hz

Parameter C6-02 = F

C6-04 =

1.0 kHz

E1-04

Fc = 2 x C6-05 x Fout

6 Application Notes

18 YASKAWA ELE C T R I C TM.V1000SW.134A 1000 Hz High Frequency Custom Software Supplement

◆ Precautions for High Frequency/Low Impedance Motors

High frequency motors exhibit different characteristics than standard 60/120 Hz maximum
frequency motors. The low impedance associated with these high frequency motors often
requires manually programming a custom V/f pattern into the E1 parameter group to obtain
proper performance and rated power from the drive-motor combination.

The low impedance may also cause excessive motor current. In addition to considering the
use of an output reactor, it may be advantageous to oversize the drive to accommodate the
high peak current that may result from the low impedance motor. Using a drive that is at
least one or two models larger than the motor FLA may also help eliminate the oL2 faults.

Compatibility between the drive, motor, and the reactor is best accomplished via testing and
observation of the motor current waveform with an oscilloscope. Refer to Using an Output

Reactor on page 16.

◆ Revision History

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

Revision No. Publication Date Software No. Revised Content

First Version 2009.11.06 VSV910050 -

MANUAL NO.ޓTM.V1000SW.134A

Published in U.S.A. November 2009 09-11

Date of
publication

Date of original
publication

Revision number

1

YASKAWA AC Drive - V1000 Option

1000 Hz High Frequency Custom Software

Supplement

YASKAWA ELECTRIC AMERICA, INC.

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

http://www.yaskawa.com

YASKAWA ELÉTRICO DO BRASIL COMÉRCIO LTDA.

Avenda Fagundes Filho, 620 Bairro Saude, São Paulo, SP 04304–000, Brasil
Phone: [phone] Fax: [phone]

http://www.yaskawa.com.br

YASKAWA ELECTRIC AMERICA

In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems

or the manufacture thereof, the export will fall under the relevant regulations as stipulated in the Foreign Exchange and
Foreign Trade Regulations. Therefore, be sure to follow all procedures and submit all relevant documentation according to any and all rules,
regulations and laws that may apply.

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

© 2009 YASKAWA ELECTRIC AMERICA. All rights reserved.

MANUAL NO. TM.V1000SW.134A

Published in U.S.A. November 2009
09-11