Yaskawa E7 Technical Manual

Electronic Lineshaft

With Alignment

F7 Drive Software

Technical Manual

Software Number: VSF11005X, Drive Models: CIMR-F7UXXXXXX-064, CIMR-F7UXXXXXX-065
Document Number: TM.F7SW.064, Date: 02/25/2010, Rev: 10-02

This document is intended to provide proper installation and use of the Yaskawa drive with custom software. 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. Read and understand this document and the standard drive technical
manuals before attempting to install, adjust, operate, inspect, or maintain the drive.

warnings in this document and the standard drive technical manuals.

Custom software is written to add

Observe all cautions and

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. Custom software can add new
functions, modify standard functions, or even inhibit standard functions. It can be used to modify display text or
parameter names. Custom software is usually loaded to the drive before delivery. The control board and drive
nameplate are assigned unique part numbers and the software is registered, archived, and retrievable.

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 has been flashed to the control board memory and the operation of
parameters, functions, and monitors are different than the standard drive software, as described herein.

1.0 Overview

The Electronic Lineshaft (ELS) function allows a drive to precisely follow a master encoder (PG) signal in
speed, direction, and phase. The follower can match its position (phase angle) to the master within several
quadrature encoder counts. The function is used in applications where the machinery being driven requires
two mechanically isolated, moving parts to maintain a constant position relationship. The gear ratio between
the master and the follower is infinitely adjustable. In addition, a gear ratio adjustment (“draw”) can be added
to the speed reference via parameter, analog input, multi-function input, MOP, or network communication.
The drive can also be run in a pure speed follower mode for applications that do not require matched position,
only velocity following.

Both the master and follower encoder signals are fed into the follower drive’s dual encoder (PG) option card.
The master encoder speed is multiplied by the programmed gear ratio to determine the speed reference. The
error between the master and follower position is determined. This is fed into a PI controller, which is in turn
added to the previously calculated speed reference. When the drive is configured as a speed follower, the
position regulator is disabled.

A signed-run mode is also available in ELS. When P1-01 = 5 (Electronic Line Shaft - Sign Run), ELS
functions identically to standard ELS (P1-01 = 4), with the following difference:

 When a reverse run command is given through the terminal S2 digital input, the follower will match the

 When a forward run command is present through terminal S1, the follower will run in the same direction is

With revision VSF110052, the software adds an automatic alignment feature to the base electronic line shaft
software. This is accomplished by using two proximity switches connected to the trigger inputs on the follower
drive. One switch is used to indicate the position of the master, and the other switch is used to indicate the
position of the follower. When the alignment feature is activated and the machine is running, the distance
between the trigger switches is measured and then compensated for by either advancing or retarding the
follower motor.

velocity and phase of the master, but in the opposite direction. If the master runs in the forward direction,
the follower will run in reverse direction. If the master runs in the reverse direction, the follower will run in
the forward direction.

the master.

Date: 02/25/2010, Rev: 10-02 Page 2 of 34 TM.F7SW.064

Speed Calculation

ELS – Sign Mode Enabled

AND Reverse Run Command

Master Encoder

Master Encoder

Pulse Count

Speed

Position Regulator

ELS – Sign Mode Enabled

AND Reverse Run Command

Follower Encoder

Pulse Count

Gear

Calculation

Gear

Calculation

ELS Mode Enabled OR

ELS – Sign Mode

Enabled

+

-

Position Error

Accumulator

PI

Controller

+

+

Simplified Block Diagram of the Electronic Lineshaft Function

Gear

Follower

Box

d

e

n

g

i

l

A

Master

Motor

Master Motor

Master Encoder

Master Trigger Switch

Follower Trigger Switch

PG-X2

Motor

Follower Motor

Follower Encoder

F 7

Simplified Application Example of Electronic Lineshaft with Alignment Function

Frequency
Reference

PG-W2

F 7

Date: 02/25/2010, Rev: 10-02 Page 3 of 34 TM.F7SW.064

Input Channel

Monitor Output

Channel 1 Input

Channel 2 Input

Monitor Output

.
.
.

Channel 1 Input

Channel 2 Input

PG-X2

Pulse

Master Drive

PG-W2

Pulse

Follower Drive 1

PG-W2

Follower Drive n

F7

F7

.
.
.

F7

PG

M

PG

M

PG

M

Typical Connection Diagram for Electronic Lineshaft

Date: 02/25/2010, Rev: 10-02 Page 4 of 34 TM.F7SW.064

2.0 Changes from Standard Product

a. The Motor 2 Selection (H1-0X = 16) multi-function digital input function is deleted (only Motor 1 can be

used).
b. The kWh monitors (U1-29 and U1-30) are deleted.
c. Parameter E2-04 (Motor Poles) is available in all control modes (Advanced access level only for V/f and

Open Loop Vector).
d. T he follower drive uses acceleration and deceleration times of zero during standard Electronic Line Shaft

(P1-01 = 4, 5).
e. All “A2” parameters along with the entire user access level have been deleted from this software.

3.0 Limitations

a. For ELS modes (P1-01 = 4, 5), Flux Vector control mode is highly recommended (A1-02 = 3).
b. For ELS modes (P1-01 = 4, 5), the gear ratio must be exactly expressed, including remainder, to prevent

phase drift (error). See section 5.0.
c. The proper encoder (PG) option card must be used based on the control mode and follower mode

selection. The table below shows the supported option cards for each configuration.
d. If the “Clear Position Error” digital input is activated when an alignment is being performed, the drive could

possibly experience a step-change in frequency reference.

e. Alignment accuracy will be lessened at higher speeds. This is due to latency in the trigger

switches themselves and the drive’s digital inputs and internal scan rate.

Encoder (PG) Option Card Selection

Control Mode P1-01 = 1, 2, 3 (Speed Follower) P1-01 = 4, 5 (ELS)

V/f w/ PG PG-W2, PG-Y2, PG-Z2

Open Loop Vector PG-B2, PG-T2, PG-X2, PG-W2, PG-Y2, PG-Z2

Flux Vector PG-W2, PG-Y2, PG-Z2

V/f PG-B2, PG-T2, PG-X2, PG-W2, PG-Y2, PG-Z2

PG-W2, PG-Y2, PG-Z2

Note: If the PG-W2 option is used, jumper HDR1 must be set to the correct position
according to the figure below.

Date: 02/25/2010, Rev: 10-02 Page 5 of 34 TM.F7SW.064

4.0 Related Parameters and Functions

4.1 Parameters

Parameter

Address

Number

Modbus

Parameter Name

Digital Operator

Range

Description

Display

Selects the follower mode.

0: Disabled

Follower mode is disabled
and the follower drive runs
from the normal frequency
reference (B1-01).

1: Speed – Both Dir

The follower drive follows
the master encoder speed
in both directions.

2: Speed – One Dir

The follower drive follows
the master encoder speed
in the direction of the run
command only.

3: Speed – Abs Val

The follower drive follows
the master encoder speed
but ignores the master

P1-01 600H

Follower Mode

Selection

Follower Mode

encoder direction (motion is
always in the direction of
the run command).

4: Elec Line Shaft

0 ~ 5 0 No Q Q Q Q

The follower drive follows
the master encoder speed
and position (both
directions). Terminals S1 or
S2 can be used to issue the
run command. There is no
directional effect.

5: ELS – Sign Run

The follower drive follows
the master encoder speed
and position (both
directions). When a forward
run command is present
(terminal S1), the drive
follows the master in the
same direction. When a
reverse run command is
present (terminal S2), the
drive follows in the opposite
direction of the master.

*1: Access Level (A1-01): Q = “Quick Start”, A = “Advanced”, F = “Factory”.

Default

Change During

Run

Control Mode *1

Open Loop

V/f w/ PG

V/f

Vector

Flux Vector

Date: 02/25/2010, Rev: 10-02 Page 6 of 34 TM.F7SW.064

4.1 Parameters (continued)

Parameter

Address

Number

Modbus

Parameter Name

Digital Operator

Display

Description

Range

Default

Change During

Run

Control Mode *1

Open Loop

V/f w/ PG

V/f

Vector

Flux Vector

P1-02 601H

P1-03 602H

Master Encoder

PPR

Master PG PPR

Ratio Numerator

(Upper 4 Digits)

Ratio Num High

Sets the pulses per revolution
(PPR) of the master encoder
(PG).

Sets the upper 4 digits of the
primary gear ratio numerator.
See section 5.1.

20 ~
60,000
Pulses

0 ~

9999

Ratio

P1-04 603H

Denominator

(Upper 4 Digits)

Sets the upper 4 digits of the
primary gear ratio
denominator. See section 5.1.

0 ~

9999

Ratio Den High

P1-05 604H

Ratio Numerator

(Lower 4 Digits)

Ratio Num Low

Sets the lower 4 digits of the
primary gear ratio numerator.
See section 5.1.

0 ~

9999

Ratio

Sets the lower 4 digits of the
primary gear ratio
denominator. See section 5.1.

0 ~

9999

P1-06 605H

Denominator

(Lower 4 Digits)

Ratio Den Low

Sets the numerator of the
secondary gear ratio. Active
when a multi-function digital
input is set to 81 (Ratio 2
Select) and the input is closed.

Sets the denominator of the
secondary gear ratio. Active
when a multi-function digital
input is set to 81 (Ratio 2
Select) and the input is closed.

1 ~

65,535

1 ~

65,535

P1-07 606H

P1-08 607H

Ratio 2

Numerator

Ratio 2 Num

Ratio 2

Denominator

Ratio 2 Den

Sets when the position error
accumulator is enabled in the
follower drive.

0: Only During Run

Position error is only
calculated when the
follower drive is running

during High Slip Braking)

1: Always

Position error is calculated

0 ~ 1 0 No A A A A

(not

.

P1-09 608H

Position Error
Accumulation

Selection

Pos Accum

Select

whenever power is applied
to the follower drive.

Note: ELS modes only.

*1: Access Level (A1-01): Q = “Quick Start”, A = “Advanced”, F = “Factory”.

1024 No Q Q Q Q

1000 Yes Q Q Q Q

1000 Yes Q Q Q Q

0 Yes A A A A

0 Yes A A A A

1 Yes A A A A

1 Yes A A A A

Date: 02/25/2010, Rev: 10-02 Page 7 of 34 TM.F7SW.064

4.1 Parameters (continued)

Parameter

Address

Number

Modbus

Parameter Name

Digital Operator

Range

Description

Display

Selects the units used for the
follower drive Position Error
Monitor (U1-96).

0: Encoder Counts

Position error is displayed in
quadrature follower encoder
counts (cts).

1: Motor Revs

P1-10 609H

Position Units

Selection

Position Units

Position error is displayed in
follower motor revolutions
(0.001rev).

2: Motor Degrees

0 ~ 3 0 Yes A A A A

Position error is displayed in
follower motor degrees
(0.1°).

3: Motor Radians

Position error is displayed in
follower motor radians
(0.001rad).

Note: ELS modes only.

Sets the digital gear ratio
adjustment of the follower
drive. The gear ratio
adjustment is also influenced
by the analog, MOP and
communication gear ratio

-99.99
~

+99.99

%

P2-01 60AH

Digital Ratio

Adjustment

Digital RatioAdj

adjustments.

Sets the time for the MOP ratio

P2-02 60BH

MOP Adjust Time

MOP Adjust

Time

adjustment to change by

100.00% when the MOP
Adjust Increase or MOP Adjust
Decrease multi-function input

0.0 ~

6000.0
sec

is closed.

P2-03 60CH

Gear Ratio

Adjustment Ramp

Time

Ratio Adj Ramp

Sets the time for the composite
gear ratio adjustment of the
follower drive to change by

100.00%.

0.0 ~

6000.0
sec

*1: Access Level (A1-01): Q = “Quick Start”, A = “Advanced”, F = “Factory”.

Change During

Control Mode *1

Default

Run

V/f

V/f w/ PG

Open Loop

Flux Vector

Vector

0.00 Yes A A A A

50.0 Yes A A A A

10.0 Yes A A A A

Date: 02/25/2010, Rev: 10-02 Page 8 of 34 TM.F7SW.064

4.1 Parameters (continued)

Parameter

Address

Number

Modbus

Parameter Name

Digital Operator

Range

Description

Display

Selects the advance/retard
functionality of the follower
drive.

0: Continuous

The follower will advance or
retard continuously while
the Advance Follower or
Retard Follower multi­function input is closed. P2­05 sets amount of
advance/retard encoder
counts per second.

1: Step

0 ~ 1 0 No A A A A

P2-04 60DH

Advance/Retard

Mode Selection

Adv/Ret Mode

Sel

The follower will advance or
retard by the amount set in
parameter P2-05 each time
the Advance Follower or
Retard Follower multi­function input is closed.

Note: ELS modes only.

Sets the number of quadrature
follower encoder counts the
follower will advance/retard per
second when P2-04 = 0. Sets
the step amount of the
advance/retard function when
P2-04 = 1.

0 ~

65,535
Counts

P2-05 60EH

Advance/Retard

Amount

Adv/Ret Amount

Note: ELS modes only.

Sets the amount of position
error in quadrature follower
encoder counts that will

P2-06 60FH

Follower

Deviation Level

Follower Dev Lvl

activate the follower deviation
detection. Also sets the
scaling for the Position Error
analog output selection (H3-

0 ~

65,535
Counts

05, H3-09 = 94).

Note: ELS modes only.

*1: Access Level (A1-01): Q = “Quick Start”, A = “Advanced”, F = “Factory”.

Change During

Control Mode *1

Default

Run

V/f

V/f w/ PG

Open Loop

Flux Vector

Vector

2048 Yes A A A A

4096 No A A A A

Date: 02/25/2010, Rev: 10-02 Page 9 of 34 TM.F7SW.064

4.1 Parameters (continued)

Parameter

Address

Number

Modbus

Parameter Name

Digital Operator

Range

Description

Display

Selects the follower drive
action when the position error
exceeds the P2-06 setting.

0: No Detection

P2-07 610H

Follower

Deviation

Selection

Follower Dev Sel

The drive continues to run.

1: Alarm

The drive continues to run
and an FDEV alarm flashes
on the digital operator.

0 ~ 2 2 No A A A A

2: Fault (Coast to Stop)

The FDEV fault is
displayed, the drive fault
contact is activated, and the
motor coasts to a stop.

Selects which input encoder
signal is sent to the PG
monitor output when using a

P2-08 611H

Encoder (PG)

Monitor Channel

Selection

PG Mon Ch

Select

dual channel PG option card
(PG-W2, PG-Y2, or PG-Z2).

0: Channel 1

Encoder 1 is sent to the
monitor output.

0 ~ 1 1 Yes A A A A

1: Channel 2

Encoder 2 is sent to the
monitor output.

Determines if the MOP gear
adjustment is memorized when

P2-09 612H

MOP Adjustment

Memorization at

Power Off

MOP Mem @Pwr

Off

the drive loses power.

0: Disabled

MOP adjustment is not
memorized at power down.

1: Enabled

0 ~ 1 0 No A A A A

MOP adjustment is
memorized at power down.

Sets the proportional gain of
the position regulator PI loop.

Note: ELS modes only.

Sets the integral time of the
position regulator PI loop.

Note: ELS modes only.

0.00 ~

100.00

0.00 ~

50.00
sec

P3-01 614H

P3-02 615H

Position P Gain

Position P Gain

Position I Time

Position I Time

*1: Access Level (A1-01): Q = “Quick Start”, A = “Advanced”, F = “Factory”.

Change During

Control Mode *1

Default

Run

V/f

V/f w/ PG

Open Loop

Flux Vector

Vector

5.00 Yes A A A A

0.00 Yes A A A A

Date: 02/25/2010, Rev: 10-02 Page 10 of 34 TM.F7SW.064

4.1 Parameters (continued)

Parameter

Address

Number

Modbus

Parameter Name

Digital Operator

Display

Description

Range

Default

Change During

Run

Control Mode *1

Open Loop

V/f w/ PG

V/f

Vector

Flux Vector

P3-03 616H

Position

Regulator Filter

Time

Pos Filter Time

Sets the filter time of the
position regulator output. This
is a first order lag filter.

Note: ELS modes only.

0.00 ~

1.50
sec

Sets the limit (+/-) of the
position regulator output. Set

P3-04 617H

Position PI Limit

Pos PI Limit

as a percentage of the
maximum output frequency
E1-04.

0.00 ~

10.00
%

Note: ELS modes only.

Selects how the position
regulator output is used to trim
the follower drive speed
reference (master encoder
frequency).

0: Constant

The position regulator
output is independent of the
master encoder speed
reference.

1: Speed Prop

0 ~ 1 0 Yes A A A A

P3-05 618H

Position

Regulator Trim

Mode

Pos Trim Mode

The position regulator
output is proportional to the
master encoder speed
reference.

Note: ELS modes only.

Speed

Proportional

P3-06 619H

Position Trim

Lower Limit

Sets the lower limit of the
position regulator trim when
P3-05 = 1.

0.00 ~

100.00% 10.00 Yes A A A A

SpdProp

LowerLim

Sets the frequency width used
to determine “Speed Agree”
when the drive is accelerating

P3-07 61AH

Ratio Change

Speed Agree

Width

RatioChg

SpdAgrF

or decelerating due to one of
the following:

 Gear ratio change
 Change in state of the

Follower Disable multi-

0.0 ~

20.0
Hz

function input

 Change in state of the run

command

*1: Access Level (A1-01): Q = “Quick Start”, A = “Advanced”, F = “Factory”.

0.00 Yes A A A A

8.00 Yes A A A A

0.5 Yes A A A A

Date: 02/25/2010, Rev: 10-02 Page 11 of 34 TM.F7SW.064