Yaskawa PG-F3 User Manual

YASKAWA AC Drive 1000-Series Option

Motor Encoder Feedback (EnDat, HIPERFACE) Interface

Installation Manual

Type: PG-F3

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

安川インバータ1000シリーズオプション

エンコーダインタフェース

EnDat, HIPERFACE

（

用）

取扱説明書

形式 PG-F3

製品を安全にお使い頂くために，本書を必ずお読みください。また，本書をお手元に保管していただくとともに，最終的に本製品をご使用になるユーザー様のお手元に確実に届けられるよう，お取り計らい願います。

MANUAL NO. TOBP C730600 51F

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.

2 YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual

1 PREFACE AND SAFETY . . . . . . . . . . . . . . . . . . . . . . . . . . . .4

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

3 RECEIVING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9

4 OPTION COMPONENTS. . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

5 INSTALLATION PROCEDURE . . . . . . . . . . . . . . . . . . . . . . . 11

6 RELATED PARAMETERS . . . . . . . . . . . . . . . . . . . . . . . . . .32

7 TROUBLESHOOTING. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

8 SPECIFICATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .43

YAS KAWA ELE CTR IC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual 3

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, EXPRESS OR IMPLIED, IS OFFERED. Yaskawa assumes no liability for any personal injury, property damage, losses, or claims arising from misapplication of its products.

◆ Applicable Documentation

The following manuals are available for the option:

Option

Yaskawa AC Drive 1000-Series Option Motor Encoder Feedback (EnDat/HIPERFACE) Interface PG-F3 Installation Manual (This book) Manual No: TOBPC73060051

Read this manual first. The installation manual is packaged with the option and contains information required to install the option and set up related drive parameters.

Yaskawa Drive

Yaskawa AC Drive 1000-Series Quick Start Guide

Yaskawa AC Drive 1000-Series Technical Manual

4 YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual

The drive manuals cover basic installation, wiring, operation procedures, functions, troubleshooting, and maintenance information. The manuals also include important information about parameter settings and drive tuning. Access these sites to obtain Yaskawa instruction manuals: U.S.: http://www.yaskawa.com Europe: http://www.yaskawa.eu.com Japan: http://www.e-mechatronics.com For questions, contact your local Yaskawa sales office or the nearest Yaskawa representative.

1 Preface and Safety

◆ Terms and Abbreviations

Note: Indicates supplemental information that is not related to safety messages

Drive: Yaskawa AC Drive 1000-Series

Option: Yaskawa AC Drive 1000-Series Option Motor Encoder Feedback (EnDat/HIPERFACE) Interface:

PG: Pulse Generator or Encoder mounted on the motor

V/f: V/f Control

V/f w/PG: V/f Control with PG

CLV: Closed Loop Vector Control

AOLV/PM: Advanced Open Loop Vector Control for PM

CLV/PM: Closed Loop Vector Control for PM

Typ e PG - F3

◆ Registered Trademarks

• EnDat is a trademark of DR. JOHANNES HEIDENHAIN GmbH.

• HIPERFACE is a trademark of SICK STEGMANN GmbH & Co., KG.

Trademarks are the property of their respective owners.

YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual 5

1 Preface and Safety

DANGER

W ARNING

CAUTION

NOTICE

◆ Supplemental Safety Information

Read and understand this manual before installing, operating, or servicing this option. Install the option according to this manual and local codes.

The following conventions indicate safety messages in this manual. Failure to heed these messages could cause fatal injury or damage products and related equipment and systems.

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

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

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

Indicates an equipment damage message.

6 YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual

1 Preface and Safety

NOTICE

■ General Safety

General Precautions

• The diagrams in this book may include options and drives without covers or safety shields to illustrate details. Be sure to reinstall covers or shields before operating any devices. Use the option 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 new copies of the manual, contact a Yaskawa representative or the nearest Yaskawa sales office and provide the manual number shown on the front cover.

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.

Do not modify the drive or option circuitry.

Failure to comply could result in damage to the drive or option and will void warranty.

Yaskawa is not responsible for any modification of the product made by the user. This product must not be modified.

Do not expose the drive or option to halogen group disinfectants.

Failure to comply may cause damage to the electrical components in the option.

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.

YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual 7

2 Product Overview

◆ About This Product

The PG-F3 Option allows the user to connect certain rotary encoders to applicable Yaskawa drives. Suitable rotary encoders include either EnDat 2.1/01, EnDat 2.2/01, or EnDat 2.2/22 by HEIDENHAIN, or HIPERFACE by SICK STEGMANN. The PG-F3 Option facilitates motor speed feedback to the drive and takes advantage of Closed Loop Vector control for PM Motors. The option increases control accuracy and performance.

An encoder signal allows the drive to compensate for subtle variations in the load, while providing the drive with the necessary data to control the output frequency and maintain an accurate constant speed.

The PG-F3 Option reads a maximum input frequency from the encoder of 20 kHz when using EnDat 2.1/01, EnDat 2.2/01, or HIPERFACE. Be sure to select an encoder with an output of maximum of 20 kHz when operating at maximum speed.

The maximum input frequency is not a concern when using EnDat 2.2/22 because compatible encoder models utilize serial communication.

Set the drive motor control mode to operate in the Closed Loop Vector Control for PM Motors when using the PG-F3 Option. Refer to the drive Technical Manual for details.

◆ Applicable Models

The option can be used with the drive models in Tab le 1 .

Table 1 Applicable Models

Drive Series

A1000 All models

L1000A All models <2>

<1> Only available in software version S1018 and later. The software version (PRG) is indicated on the nameplate

affixed to the side of the drive.

<2> EnDat 2.2/22 and HIPERFACE are available in drive software PRG:7016 and later.

8 YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual

Drive Model Number

<1>

3 Receiving

Please perform the following tasks upon receiving the option:

• Inspect the option for damage. Contact the shipper immediately if the option appears damaged upon receipt.

• Verify receipt of the correct model by checking the model number printed on the option nameplate (Refer to Figure 1 on page 10 for more information).

• Contact your supplier if you have received the wrong model or the option does not function properly.

◆ Option Package Contents

Description: Option Ground Wire Screws (M3) Installation Manual

MANUAL

–

Quantity: 1131

◆ Tools Required for Installation

• A Phillips screwdriver (M3 metric / #1, #2 U.S. standard size) is required to install the option.

• A flat-blade screwdriver (blade depth: 0.4 mm, width: 2.5 mm) is required to wire the option terminal block.

• A pair of diagonal cutting pliers.

• A small file or medium-grit sandpaper.

Note: Tools required to prepare option cables for wiring are not listed in this manual.

YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual 9

4 Option Components

IP b–b+B+ B–DTDTIG

TB1

TB2

IP IG CK CK A+ A– a+ a– FE

4 Option Components

◆ PG-F3 Option

Figure 1

CN3

Underside

A – Terminal block TB1 E – Installation hole B – Terminal block TB2 F – Model number C – Jumper for PG encoder power

D – Connector (CN5)

<1> Refer to Table 5 on page 24 for details. <2> The ground wires provided in the option shipping package must be connected during installation.

PG-F3

supply voltage (CN3)

Figure 1 PG-F3 Option Components

<1>

G – Ground terminal and installation

hole

<2>

◆ Terminal Blocks TB1 and TB2

Refer to Table 8 and Table 9 on page 29 for details on TB1 and TB2 terminal functions and signal levels.

10 YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual

5 Installation Procedure

W ARNING

5 Installation Procedure

◆ Section Safety

DANGER

Electric Shock Hazard

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

Failure to comply will result in death or serious injury.

Disconnect all power to the drive, wait at least the amount of time specified on the drive front cover safety label. After all indicators are off, measure the DC bus voltage to confirm safe level, and check for unsafe voltages before servicing. The internal capacitor remains charged after the power supply is turned off.

Electrical Shock Hazard

Do not remove the front covers of the drive while the power is on.

Failure to comply could result in death or serious injury.

The diagrams in this section may include options and drives without covers or safety shields to show details. Be sure to reinstall covers or shields before operating any devices. Use the option according to the instructions described in this manual.

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 this product.

Do not touch circuit boards while the power to the drive is on.

Failure to comply could result in death or serious injury.

YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual 11

5 Installation Procedure

NOTICE

W ARNING

Do not use damaged wires, stress the wiring, or damage the wire insulation.

Failure to comply could result in death or serious injury.

Fire Hazard

Tighten all terminal screws to the specified tightening torque.

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

Damage to Equipment

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

Failure to comply may result in ESD damage to circuitry.

Never shut the power off while the drive is running or outputting voltage.

Failure to comply may cause the application to operate incorrectly or damage the drive.

Do not operate damaged equipment.

Failure to comply may cause further damage to the equipment.

Do not connect or operate any equipment with visible damage or missing parts.

Tighten all terminal screws to the specified tightening torque.

Failure to comply could result in damage to the terminal block.

Do not use unshielded cable for control wiring.

Failure to comply may cause electrical interference resulting in poor system performance.

Use shielded twisted-pair wires and ground the shield to the ground terminal of the drive.

12 YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual

5 Installation Procedure

NOTICE

Properly connect all pins and connectors.

Failure to comply may prevent proper operation and possibly damage equipment.

Check wiring to ensure that all connections are correct after installing the option and connecting any other devices.

Failure to comply may result in damage to the option.

YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual 13

5 Installation Procedure

◆ Prior to Installing the Option

Prior to installing the option, wire the drive, make the necessary connections to the drive terminals, and verify that the drive functions normally. Refer to the Quick Start Guide packaged with the drive for information on wiring and connecting the drive.

Figure 2 shows an exploded view of the drive with the option and related components for

reference.

Figure 2

A – Insertion point for CN5 G – Removable tabs for wire routing B – Option card H – Ground wire C – Included screws I – Drive grounding terminal (FE) D – Front cover J – Connector CN5-A E – Digital operator K – Connector CN5-B F – Terminal cover L – Connector CN5-C

Figure 2 Drive Components with Option

14 YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual

5 Installation Procedure

◆ Installing the Option

Refer to the instructions below to install the option.

1. Shut off power to the drive, wait the appropriate amount of time for voltage to

dissipate, then remove the digital operator (E), front cover (D), and terminal cover (F). Refer to the Quick Start Guide packaged with the drive.

DANGER! Electrical Shock Hazard. Disconnect all power to the drive and wait at least the amount of time specified on the drive front cover safety label. After all indicators are off, measure the DC bus voltage to confirm safe level, and check for unsafe voltages before servicing to prevent electric shock. The internal capacitor remains charged even after the power supply is turned off.

NOTICE: Damage to Equipment. Observe proper electrostatic discharge procedures (ESD) when handling the option, drive, and circuit boards. Failure to comply may result in ESD damage to circuitry.

Figure 3

Figure 3 Remove the Front Cover, Terminal Cover, and Digital Operator

YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual 15

5 Installation Procedure

2. Insert the option card (B) into the CN5-C (L) connector located on the drive and

Figure 4

fasten it into place using one of the included screws (C).

Figure 4 Insert the Option Card

16 YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual

5 Installation Procedure

3. Connect the ground wire (H) to the ground terminal (I) using one of the remaining

screws (C). Connect the other end of the ground wire (H) to the remaining ground terminal and installation hole on the option (B) using the last remaining provided

Figure 5

screw (C).

Figure 5 Connect the Ground Wire

Note: There are two screw holes on the drive for use as ground terminals (I). When connecting three

options, two ground wires will need to share the same drive ground terminal.

YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual 17

5 Installation Procedure

4. Prepare and connect the wire ends as shown in Figure 6 and Figure 7. Refer to

Wire Gauges and Tightening Torques on page 28 to confirm that the proper

tightening torque is applied to each terminal. Take particular precaution to ensure that each wire is properly connected and wire insulation is not accidentally pinched into electrical terminals.

WARNING! Fire Hazard. Tighten all terminal screws according to the specified tightening torque. Loose electrical connections could result in death or serious injury by fire due to overheating electrical connections. Tightening screws beyond the specified tightening torque may result in erroneous operation, damage the terminal block, or cause a fire.

NOTICE: Heat shrink tubing or electrical tape may be required to ensure that cable shielding does not contact other wiring. Insufficient insulation may cause a short circuit and damage the option or drive.

Figure 6

Shield

PG option terminal

FE/SD

Figure 6 Preparing Ends of Shielded Cable

Figure 7

Insulation

Shield sheath (Insulate with electrical tape or shrink tubing)

Screwdriver blade size

Blade depth of

0.4 mm or less

Blade width of

2.5 mm or less

PG at moto

Ground Terminal

Loosen the screws and insert the wire into the opening on the terminal block.

To PG at motor

(do not solder ends)

Option terminal block

Pull back the shielding and lightly twist the end with fingers, keeping the ends from fraying.

about 5.5 mm (7/32”) When not using crimped insulated sleeves

Figure 7 Preparing and Connecting Cable Wiring

18 YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual

5 Installation Procedure

CN3

8V 5V

a–

CN5-C

YASKAWA

Drive

PG-F3 Option

U/T1

V/T2

W/T3

R/L1 S/L2 T/L3

B+ B–

A–

A+

TB1,TB2

b–

Cable

(by HEIDENHAIN)

EnDat 2.1/01, EnDat 2.2/01 encoder

A pulse monitor signal

B pulse monitor signal

main circuit terminal control circuit terminal

<2>

Shielded cable

<1>

Ground wire

5. Wire the motor PG encoder to the terminal block on the option.

• Wiring EnDat 2.1/01 or EnDat 2.2/01 Encoders Wire the motor PG encoder to the terminal block on the option using a HEIDENHAIN 17conductor cable. Refer to

Figure 8 for the connection diagram.

The signal “Sensor Up”must be connected to terminal IP on the PG-F3 option for cables longer than 10 m. Additionally, the “Sensor 0 V”must be connected to terminal IG. Refer

Table 8 and Table 9 for a detailed description of the option terminal functions.

Connection Diagram

<1> Properly connect the cable shield to terminal IG on the option Terminal Block TB2 or remove the ground

connection on both ends.

<2> Ground the shield on the PG encoder side and the drive side. If noise problems arise in the PG encoder signal,

remove the shield ground from one end of the signal line or remove the shield ground connection on both ends.

YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual 19

Figure 8 PG-F3 Option and PG Encoder Connection Diagram (EnDat 2.1/01, EnDat 2.2/01)

Figure 6 and Figure 7 for wiring instructions. Refer to

5 Installation Procedure

Table 2 PG Encoder Cable Specification (EnDat 2.1/01, EnDat 2.2/01)

Option Terminal

CK Purple CLOCK

DT Gray DATA

A+ Green/Black A+

A– Yellow/Black A–

B+ Blue/Black B+

B– Red/Black B–

PG Encoder Cable

Color PG Encoder Signal

Brown/Green Up

Blue Sensor Up

White/Green 0V

White Sensor 0V

Yellow CLOCK

Pink DATA

20 YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual

5 Installation Procedure

b–

a–

B–

B+

A–

A+

CN3

TB1,TB2

PG-F3 Option

8V 5V

EnDat 2.2/22 encoder

Cable

(by HEIDENHAIN)

U/T1 V/T2

W/T3

R/L1 S/L2 T/L3

YASKAWA

Drive

CN5-C

main circuit terminal control circuit terminal

<1>

Ground wire

• Wiring an EnDat 2.2/22 Encoder

Wire the motor PG encoder to the terminal block on the option using a HEIDENHAIN 8conductor cable. Refer to

Figure 9 for the connection diagram.

The signal “Sensor Up” must be connected to terminal IP on the PG-F3 option for cables longer than 10 m. Additionally, the “Sensor 0 V” must be connected to terminal IG. Refer

to Option Terminal Functions (EnDat) on page 29

option terminal functions.

<1> Ground the shield on the PG encoder side and the drive side. If noise problems arise in the PG encoder signal,

remove the shield ground from one end of the signal line or remove the shield ground connection on both ends.

Figure 9 PG-F3 Option and PG Encoder Connection Diagram (EnDat 2.2/22)

YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual 21

Figure 6 and Figure 7 for wiring instructions. Refer to

for a detailed description of the

5 Installation Procedure

Table 3 PG Encoder Cable Specification (EnDat 2.2/22)

Option Terminal

CK Purple CLOCK

DT Gray DATA

A+ −−

A– −−

B+ −−

B– −−

PG Encoder Cable

Color PG Encoder Signal

Brown/Green Up

Blue Sensor Up

White/Green 0V

White Sensor 0V

Yellow CLOCK

Pink DATA

22 YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual

5 Installation Procedure

<1>

R/L1 S/L2 T/L3

U/T1

TB1, TB2

V/T2

W/T3

CN3

CN5-C

B+

B–

A–

A+

a–

b–

GND

Data–

Data+

+COS

+SIN

REFCOS

REFSIN

main circuit terminal control circuit terminal

YASKAWA

Drive

Cable

(by SICK STEGMANN)

HIPERFACE encoder

A pulse monitor signal

B pulse monitor signal

Ground wire

• Wiring an HIPERFACE Encoder Wire the motor PG encoder to the terminal block on the option using a SICK

STEGMANN 8-conductor cable. Refer to Figure 6 and Figure 7 for wiring instructions. Refer to Figure 10 for the connection diagram.

Refer to Option Terminal Functions (EnDat) on page 29 for a detailed description

of the option terminal functions.

<1> Ground the shield on the PG encoder side and the drive side. If noise problems arise in the PG encoder signal,

remove the shield ground from one end of the signal line or remove the shield ground connection on both ends.

Figure 10 PG-F3 Option and PG Encoder Connection Diagram (HIPERFACE)

YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual 23

5 Installation Procedure

5 V

8 V

Table 4 PG Encoder Cable Specification (HIPERFACE)

Option Terminal

Color PG Encoder Signal

IP Red Us

IG Blue GND

CK – –

DT Gray/Yellow DATA+

Green/Purple DATA-

A+ Pink +COS

A- Black REFCOS

B+ White +SIN

Brown REFSIN

PG Encoder Cable

––

6. Set the voltage for the PG encoder power supply using jumper CN3 located on the

option. Position the jumper as shown in Tab le 5 to select the voltage level.

NOTICE: The positioning of jumper CN3 selects the PG encoder power supply voltage (5 V or 8 V). Select the voltage level for the PG encoder connected to the option and motor. If the wrong voltage is selected, the PG encoder may not operate properly or may become damaged as a result.

Table 5 Setting the PG Encoder Power Supply Voltage (IP) with Jumper CN3

Voltage Level 5 V ± 5% (default) 8 V ± 10%

Jumper CN3 Position

5 V

8 V

24 YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual

7. Route the option wiring.

Depending on the drive model, some drives may require routing the wiring through the side of the front cover to the outside. In these cases, cut out the perforated openings on the left side of the drive front cover as shown in Figure 11-A and leave no sharp edges to damage wiring. Route the wiring inside the enclosure as shown in Figure 11-B for drives that do not require routing through the front cover. Refer to the Peripheral Devices & Options section of the drive Technical Manual for

Figure 8

more information.

5 Installation Procedure

A – Route wires through the openings

provided on the left side of the front cover.

<1> The drive will not meet NEMA Type 1 requirements if wiring is exposed outside the enclosure.

YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual 25

<1>

Figure 11 Wire Routing Examples

B – Use the open space provided

inside the drive to route option wiring.

5 Installation Procedure

8. Replace and secure the front covers of the drive (D, F) and replace the digital

Figure 9

operator (E).

Figure 12 Replace the Front Covers and Digital Operator

Note: Take proper precautions when wiring the option so that the front covers will easily fit back onto

the drive. Make sure cables are not pinched between the front covers and the drive when replacing the covers.

26 YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual

5 Installation Procedure

9. Set drive parameters in Table 10 for proper motor rotation.

• Confirming Motor Rotation with EnDat 2.1/01, EnDat 2.2/01, or HIPERFACE The leading pulse determines the motor rotation direction. A PG encoder signal with leading A phase is considered to be rotating forward (counter-clockwise when viewing

Figure 10

WARNING! Ensure the drive RUN circuit is locked out and a RUN command is not possible before attempting to manually rotate the motor shaft with the drive powered on. Failure to comply may cause injury to personnel due to inadvertant equipment movement.

rotation from motor load side).

The A phase leads, followed by the B phase displaced at 90 degrees

Phase

Figure 13 Displacement of A and B Phases

After connecting the PG encoder outputs to the option, apply power to the drive and manually rotate the motor and check the rotation direction by viewing monitor U1-05 on the digital operator.

Reverse motor rotation is indicated by a negative value for U1-05; forward motor rotation is indicated by a positive value. If monitor U1-05 indicates that the forward direction is opposite of what is intended, set drive parameter F1-05 to 1 to switch the direction of how the option reads pulses from the PG encoder output.

Note: If the drive is initialized using A1-03 =1110, 2220, or 3330, the value for F1-05 will reset to the

factory default and the parameter will need to be readjusted to switch the direction.

• Confirming Motor Rotation with EnDat 2.2/22 EnDat 2.2/22 uses serial data transmission and lacks A and B phases, so it is necessary to refer to monitor U1-05 to determine the direction of rotation. After connecting the PG encoder outputs to the option, apply power to the drive and manually rotate the motor and check the rotation direction by viewing monitor U1-05 on

Time

→

the digital operator.

Reverse motor rotation is indicated by a negative value for U1-05; forward motor rotation is indicated by a positive value.

If the motor is rotating forward, but U1-05 reads that it is rotating in reverse, switch the rotation direction for the PG1 encoder by setting parameter F1-05 to 1.

Note: If the drive is initialized using A1-03 = 1110, 2220, or 3330, the value for F1-05 will reset to the

factory default and the parameter will need to be readjusted to switch the direction.

YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual 27

5 Installation Procedure

6 mm

◆ Wire Gauges, Tightening Torque, and Crimp Terminals

■ Wire Gauges and Tightening Torques

Wire gauge and torque specifications are listed in Tab l e 6.

Table 6 Wire Gauges and Tightening Torques

Ter min al

Signal

a+, a–, b+, b–,

IP, IG, DT

, B+, B–

CK, CK

A+, A–

<1> For EnDat 2.1/01 and EnDat 2.2/01, use a HEIDENHAIN 17-pin cable. Refer to PG Encoder Cable Specification

(EnDat 2.1/01, EnDat 2.2/01) on page 20 for details.

For EnDat 2.2/22, use a HEIDENHAIN 8-pin cable. Refer to PG Encoder Cable Specification (EnDat 2.2/22) on

page 22 for details.

For HIPERFACE, use a SICK STEGMANN 8-pin cable. Refer to PG Encoder Cable Specification

(HIPERFACE) on page 24 for details.

Crimp Terminals

■

Screw

Size

Tightening

Torque

Nxm

(inxlb)

0.22 to 0.25

(1.95 to 2.21)

Yaskawa recommends using CRIMPFOX 6 by Phoenix Contact or equivalent crimp terminals with the specifications listed in Table 7 for wiring to ensure proper connections.

Note: Properly trim wire ends so loose wire ends do not extend from the crimp terminals.

Bare Cable Crimp Terminals

Recomm.

Gauge

0.75

(18 AWG)

<1>

Applicable

Gauges

Stranded wire:

0.25 to 1.0

(24 to 17 AWG)

Solid wire:

0.25 to 1.5

(24 to16 AWG)

Applicable

Gauges

0.5

(20 AWG)

Recomm.

–––

Gauge

0.25 to 0.5

(24 to 20 AWG)

Wire Typ e

Shielded

twisted

pair, etc.

Tab l e 7 Crimp Terminal Sizes

Wire Gauge

0.25 (24 AWG) AI 0.25 - 6YE 10.5 (13/32) 0.8 (1/32) 2 (5/64)

0.34 (22 AWG) AI 0.34 - 6TQ 10.5 (13/32) 0.8 (1/32) 2 (5/64)

0.5 (20 AWG) AI 0.5 - 6WH 14 (9/16) 1.1 (3/64) 2.5 (3/32)

28 YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual

Phoenix Contact

Model

mm (in)

mm (in)d2mm (in)

◆ Terminal Functions

0.6 V to 1.2 V

Tab l e 8 Option Terminal Functions (EnDat)

Ter mi nal

Block

TB1

Terminal Function Description

IP PG encoder power supply Supplies power to the PG encoder.

PG encoder power supply

common

DT Communication data signal I/O

Inverse communication data

signal I/O

B+ B phase signal input Input for the B phase sine-wave from the PG encoder.

B– Inverse B phase signal input

b+ B phase monitor signal output Outputs a ratio of the B phase frequency.

Inverse B phase monitor signal

b–

output

5 Installation Procedure

• Jumper with terminal CN3 to select the power supply voltage, 5 V or 8 V.

• Voltage range: 5 V ±5%, 330 mA 8 V ±10%, 150 mA Note: The number of connections to terminals IP and IG differs by wiring length when the power supply is set for +5 V ±5%.

• Up to 10 m: One or two connections to both IP

and IG.

• 10 to 20 m: Two connections to both IP and IG.

Reads and processes PG encoder data. Signal level: RS-485 protocol

• Maximum input frequency: 20 kHz

• Input signal differential: B+ - B–

Note: Not available when using EnDat 2.2/22.

• Output method: Line driver

• Output voltage: RS-422 level

• Possible resolution: 1/n Set F1-06 to monitor the pulse signal. Varies by drive model. Note: Not available when using EnDat 2.2/22.

YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual 29

5 Installation Procedure

0.6 V to 1.2 V

Ter min al

Block

TB2

Ter min al Function Description

IP PG encoder power supply

PG encoder power supply

common

Communication clock signal

output

Inverse communication clock

signal output

A+ A phase signal input Input for the A phase sine-wave from the PG encoder.

A– Inverse A phase signal input

a+ A phase monitor signal output Outputs a ratio of the A phase frequency.

Inverse A phase monitor signal

a–

output

FE Ground Ground terminal for shielded cable.

Supplies power to the PG encoder. Connects to terminal IP on the option.

Supplies power to the PG encoder. Connects to terminal IG on the option.

Outputs the communication clock signal to the PG encoder. Signal level: RS-485 protocol

• Maximum input frequency: 20 kHz

• Input signal differential: A+ - A–

Note: Not available when using EnDat 2.2/22.

• Output method: Line driver

• Output voltage: RS-422 level

• Possible resolution ratio: 1/n Set F1-06 to monitor the pulse signal. Varies by drive model. Note: Not available when using EnDat 2.2/22.

30 YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual

Ter mi nal

0.9 V to 1.1 V

Block

TB1

Terminal

(Signal)

(Us)

(GND)

(Data+)

(Data-)

B+

(+SIN)

B-

(REFSIN)

5 Installation Procedure

Tab l e 9 Option Terminal Functions (HIPERFACE)

Function Description

PG encoder power supply

PG encoder power supply common

Communication data signal I/O

Inverse communication data signal I/O

SIN signal input

Inverse SIN signal input

Supplies power to the PG encoder.

• Jumper with terminal CN3 to select the power supply voltage, 5 V or 8 V.

• Voltage range: 5 V ±5%, 330 mA 8 V ±10%, 150 mA

Reads and processes PG encoder data. Signal level: RS-485 protocol

Input for the sine-wave from the PG encoder.

• Maximum input frequency: 20 kHz

• Input signal differential: +SIN - REFSIN

b+ SIN pulse monitor signal output Outputs a ratio of the sine pulse frequency.

Inverse SIN pulse monitor signal

output

(Us)

(GND)

(+COS)

TB2

(RSFCOS)

YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual 31

PG encoder power supply

PG encoder power supply common

CK –

A+

COS signal input

A-

Inverse COS signal input

a+ COS pulse monitor signal output Outputs pulses of the cosine signal frequency ratio.

Inverse COS pulse monitor

signal output

FE Ground Ground terminal for shielded cable.

–

• Output method: Line driver

• Output voltage: RS-422 level

• Possible resolution: 1/n (n = 0 to 32) Set F1-06 to monitor the pulse signal.

Supplies power to the PG encoder. Connects to terminal IP on the option.

Supplies power to the PG encoder. Connects to terminal IG on the option.

Not used.

Input for the cosine-wave from the PG encoder.

• Maximum input frequency: 20 kHz

• Input signal differential: +COS - REFCOS

• Output method: Line driver

• Output voltage: RS-422 level

• Possible resolution ratio: 1/n (n = 0 to 32) Set F1-06 to monitor the pulse signal.

6 Related Parameters

The following parameters set the drive for operation with the option. Set parameters as needed. Parameter setting methods can be found in the drive Quick Start Guide or Technical Manual.

Table 10 Related Parameters

No.

(Addr. Hex)

A1-02

(102)

F1-01

(380)

<2>

F1-02

(381)

F1-03

(382)

F1-04

(383)

F1-05

(384)

Name Description

0: V/f Control 1: V/f Control with PG

Control Method Selection

PG 1 Pulses per Revolution

PG Feedback Loss Operation Selection

PG Overspeed Operation Selection

PG Deviation Operation Selection

PG 1 Rotation

2: Open Loop Vector Control 3: Closed Loop Vector Control 5: Open Loop Vector Control for PM 6: Advanced Open Loop Vector Control for PM 7: Closed Loop Vector Control for PM Note: Set to 7 when using PG-F3.

Sets the signal periods per revolution to be read from the pulse generator.

Sets the stopping method after PG disconnect (PGo). 0: Ramp to stop (decelerates at time set to C1-02) 1: Coast to stop 2: Fast Stop (decelerates at the time set to C1-09) 3: Continue running 4: No alarm display NOTICE: Due to potential damage to the motor and machinery, only use settings 3 and 4 under special circumstances.

Sets the stopping method after detecting overspeed. 0: Ramp to stop (decelerates at time set to C1-02) 1: Coast to stop 2: Fast Stop (decelerates at the time set to C1-09) 3: Continue running NOTICE: Due to potential damage to the motor and machinery, do not use the "Continue running" setting except under special circumstances.

0: Ramp to stop (decelerates at time set to C1-02) 1: Coast to stop 2: Fast Stop (decelerates at the time set to C1-09) 3: Continue running NOTICE: Due to potential damage to the motor and machinery, do not use the "Continue running" setting except under special circumstances.

0: Forward = A pulse leads 1: Forward = B pulse leads

Control

Mode

All Modes

CLV CLV/PM

Valu es

<1>

Default: Range: <1>

<1>

Default: Min: <1> Max: <1>

Default: 1

<1>

Range:

Default: 1 Range: 0 to 3

<1>

Default: Range: 0 to 3

Default: <1> Range: 0, 1

32 YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual

6 Related Parameters

Sinθ2 + Cosθ

No.

(Addr. Hex)

F1-06

(385)

F1-08

(387)

F1-09

(388)

F1-10

(389)

F1-11 (38A)

F1-14 (38D)

F1-18

(3AD)

F1-19

(3AE)

F1-20 (3B4)

F1-50 (3D2)

F1-51 (3D3)

Name Description

Sets the division ratio for PG encoder pulse output.

PG 1 Ratio for PG Pulse Monitor

PG Overspeed Level

Overspeed Det. Time

Excessive Speed Deviation Det. Level

Excessive Speed Deviation Det. Time

PG Disconnect Det. Time

Reverse Rotation Det. for PG 1

PG 1 Hardware Disconnect

Encoder Selection

PGoH Detection Level

Set as a three-digit number: x is the first digit, y is the second digit, and z is the third digit: When using the PG-F3 option, the drive disregards the value set for "x", and uses the formula 1/yz to determine the division rate for the pulse generator. The setting range is 1/32 : 1.

Sets the level for detecting overspeed as a percentage of the maximum output frequency.

Sets the time required for the motor to exceed the level set in F1-08 to trigger a fault.

Sets the degree of speed deviation to trigger a dEv fault. Set as a percentage of the maximum output frequency.

Sets the time required for a speed deviation situation to trigger a fault.

Sets the time in seconds for PG encoder disconnect to be detected.

0: Disabled n: Number of times a dv3 situation must be detected to trigger a fault.

0: Disabled n: Number of times a dv4 situation must be detected to trigger a fault.

0: Disabled. No fault if the connection is lost. 1: Enabled. Fault if connection is lost.

0: EnDat 2.1/2.2 Serial+Sin/Cos 1: EnDat 2.2 Serial only 2: HIPERFACE

Sets the level for detecting a PG Hardware Fault (PGoH). Set as a percentage of .

Control

Mode

CLV CLV/PM

CLV/PM

CLV CLV/PM

CLV/PM

Val ue s

Default: 1 Min: 1 Max: 132

Default: 115 Min: 0 Max: 120

Default: 0.0 Min: 0.0 Max: 2.0

Default: 10 Min: 0 Max: 50

Default: 0.5 Min: 0.0 Max: 10.0

Default: 2.0 Min: 0.0 Max: 10.0

Default: 10 Min: 0 Max: 10

Default: 128 Min: 0 Max: 5000

Default: 1 Range: 0, 1

Default: 0 Range: 0 to 2

Default: 80 Min: 1 Max: 100

YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual 33

6 Related Parameters

No.

(Addr. Hex)

F1-52 (3D4)

<1> Varies by drive model. <2> The output frequency of the PG encoder can be calculated with the following formula:

Operation at maximum

output frequency (Hz)

Name Description

Sets the communications speed between the serial encoder and the PG-F3 Option.

Communication Speed Selection of Serial Encoder

This parameter can be set when F1-50 = 1. EnDat/HIPERFACE 0: 1 M/ 9600 bps 1: 500 k/19200 bps 2: 1 M/38400 bps (same as setting 0 when using EnDat 2.2/22) 3: 1 M/38400 bps (same as setting 0 when using EnDat 2.2/22)

Motor speed at maximum frequency output (r/min)

＝

Control

Mode

CLV/PM

PG rating (p/rev)

Valu es

Default: 0 Range: 0 to 3

34 YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual

7 Troubleshooting

◆ Drive-Side Error Codes

Ta bl e 11 lists the various fault codes related to the option and pulse generator. Refer to the

drive Technical Manual for further details on fault codes.

Check the following items first when an error code occurs on the drive:

• Are the cables connected properly and securely?

• Is the option properly installed to the drive?

• Did a momentary power loss occur?

Table 11 Fault Displays, Causes, and Possible Solutions

Digital Operator Display Fault Name

dEv

Cause Possible Solution

The load is too heavy. Reduce the load.

The acceleration and deceleration times are set too short or too long.

The load is locked up. Check the machine.

Parameters are set inappropriately.

Motor brake is engaged. Ensure the motor brake releases properly.

Brake control sequence is incorrect.

Digital Operator Display Fault Name

dv3

Cause Possible Solution

E5-11 is not set properly. Set the value for Δθ to E5-11 as specified on the motor nameplate.

An external force on the load side caused the motor to move.

Speed Deviation (for Control Mode with PG)

The deviation between the speed reference and speed feedback is greater than the setting in F1-10 for longer than the time set to F1-11.

Increase or decrease the acceleration and deceleration times (C1-01 through C1-

08).

Check the settings of parameters F1-10 and F1-11.

Correct the brake control sequence and verify that the brake is released.

Inversion Detection

• Torque reference and acceleration are in opposite directions.

• The speed reference and actual motor speed differ by over 30% for the number of pulses set to parameter F1-18.

• Make sure the motor is rotating in the proper direction.

• Investigate problems on the load side causing motor rotation in the opposite direction.

YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual 35

7 Troubleshooting

Noise interference along the PG encoder cable is affecting the A channel or B channel.

The PG encoder is disconnected or is not wired properly, or the PG option or PG encoder are damaged.

The PG encoder rotational direction set to F1-05 is in the opposite direction of the motor wiring.

Digital Operator Display Fault Name

dv4

Cause Possible Solution

E5-11 is not set properly.

Noise interference along the PG encoder cable is affecting the A or B phase.

PG encoder is disconnected or is not wired properly, or the PG option or PG encoder are damaged.

Digital Operator Display Fault Name

oFA00 Non-compatible option is connected to drive port CN5-A.

Cause Possible Solution

Non-compatible option is connected to drive port CN5-A.

Digital Operator Display Fault Name

oFb00 Non-compatible option is connected to drive port CN5-B.

Cause Possible Solution

Non-compatible option is connected to drive port CN5-B.

• Check PG encoder wiring and make sure all wiring including shielded wiring is properly connected.

• If the problem continues after cycling power, replace the PG option or the PG encoder.

Make sure motor wiring for each phase (U, V, W) is connected properly.

Inversion Prevention Detection

Pulses indicate that the motor is rotating in the opposite direction of the speed reference. Set the number of pulses to trigger inverse detection to F1-19. Note: To avoid nuisance faults, be sure to disable inverse detection in applications where the motor may rotate in the opposite direction of the speed reference. Set F1-19 to 0 to disable this feature.

• Set the value for Δθ to E5-11 as specified on the motor nameplate.

• If the problem continues after cycling power, replace the PG option or the PG encoder.

• Make sure the motor is rotating in the proper direction.

• Investigate problems on the load-side that may be causing the motor to rotate in the opposite direction.

• Check PG encoder wiring and make sure all wiring including shielded wiring is properly connected.

• If the problem continues after cycling power, replace the PG option or the PG encoder.

Use only compatible options. Connect PG-F3 to CN5-C. For other options, refer to the Installation Manual for that option.

Use only compatible options.Connect PG-F3 to CN5-C. For other options, refer to the Installation Manual for that option.

36 YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual

Digital Operator Display Fault Name

oFC01 Option Connection Error at drive port CN5-C

Cause Possible Solution

Option at drive port CN5-C was changed during run.

Digital Operator Display Fault Name

oFC50

Cause Possible Solution

The option is damaged. Replace the option.

Digital Operator Display Fault Name

oFC51

Cause Possible Solution

The option is damaged. Replace the option.

Digital Operator Display Fault Name

oFC52

Cause Possible Solution

PG encoder wiring is incorrect. Correct the wiring.

PG encoder cable is disconnected.

F1-50 (Encoder selection) is incorrect.

Digital Operator Display Fault Name

oFC53

Cause Possible Solution

PG encoder wiring is incorrect. Correct the wiring.

PG encoder cable is disconnected.

Digital Operator Display Fault Name

oFC54

Cause Possible Solution

Power supply to PG encoder is wired incorrectly.

Switch the power off and reconnect the option.

PG Encoder Option A/D Conversion Error

Error with the A/D conversion level (VCC level), or A/D conversion timed out.

PG Encoder Option Analog Circuit Error

Incorrect signal level (+2.5 V signal)

PG Encoder Communication Timeout

Serial encoder timed out waiting to receive data

Reconnect the cable.

Set F1-50 (Encoder selection) according to the encoder connected to the drive.

PG Encoder Communication Data Error

Serial encoder CRC checksum error

Reconnect the cable.

PG Encoder Error

Alarm reading EnDat absolute position data from the PG encoder (OR flag from EnDat error for overvoltage, undervoltage, etc.)

Correct the wiring.

7 Troubleshooting

YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual 37

7 Troubleshooting

PG-F3 power supply circuit is damaged.

Digital Operator Display Fault Name

Cause Possible Solution

Overshoot is occurring.

Incorrect speed feedback scaling when terminal RP is used as speed feedback input in V/f control.

Incorrect PG encoder pulse number set.

Inappropriate parameter settings.

Digital Operator Display Fault Name

PGo

Cause Possible Solution

PG encoder cable is disconnected.

PG encoder wiring is incorrect. Correct the wiring.

PG encoder does not have enough power.

Brake control sequence is incorrect.

Digital Operator Display Fault Name

PGoH

Cause Possible Solution

PG encoder cable is disconnected.

Replace the option.

Overspeed

The motor speed feedback exceeded the F1-08 setting.

Increase the settings for C5-01 (Speed Control Proportional Gain 1) and reduce C5-02 (Speed Control Integral Time 1).

• Set H6-02 to the value of the speed feedback signal frequency when the motor runs at the maximum speed.

• Adjust the input signal using parameters H6-03 through H6-05.

Check and correct parameter F1-01.

Check the setting for the overspeed detection level and the overspeed detection time (F1-08 and F1-09).

PG Encoder Disconnected

Detected when no PG encoder pulses have been received for a time longer than is set to F1-14.

Reconnect the cable.

Make sure the correct power supply is properly connected to the PG encoder.

Correct the brake control sequence and verify that the brake has been released.

PG Encoder Hardware Fault

PG encoder cable is disconnected.

Reconnect the cable.

38 YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual

Table 12 Operation Error Displays, Causes, and Possible Solutions

Digital Operator Display Fault Name

oPE02

Cause Possible Solution

Parameters were set outside the possible range.

Digital Operator Display Fault Name

oPE06

Cause Possible Solution

Control mode requires installing a PG option, but no PG option is installed (A1-02 = 7).

Parameter Range Setting Error

Use U1-18 to find parameters set outside range.

Set parameters to the proper values.

Note: When multiple errors occur simultaneously, other errors are

given precedence over oPE02.

Control Method Selection Error

Correct the setting for the control method.

Connect a PG option.

7 Troubleshooting

YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual 39

7 Troubleshooting

120 Ω

PG-F3

–

2.5 V

PG Encoder

26LS31 Level

Clock

Data output

Data input

Monitor Signals

–

, B

–

A+, B+

◆ Preventing Noise Interference

Take the following steps to prevent erroneous operation caused by noise interference:

• Use shielded wire for the PG encoder signal lines.

• Limit the length of all motor output power cables to less than 20 m.

• The signal “Sensor Up” must be connected to terminal IP on the PG-F3 option for cables longer than 10 m. Additionally, the “Sensor 0 V”must be connected to terminal IG.

• Use separate conduit or cable tray dividers to separate option control wiring, main circuit input power wiring, and motor output power cables.

• Ground the shield on the PG encoder side and the drive side. If electrical inteference problems arise in the PG encoder signal, verify that the shield is properly grounded and ground one end of the signal line or remove the ground connection on both ends.

• Properly connect the shield in cable to the IG on the option terminal or remove the ground connection on both ends.

■ Interface Circuit

EnDat 2.1/01, EnDat 2.2/01

Figure11

40 YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual

Figure 14 Interface Circuit (EnDat 2.1/01, EnDat 2.2/01)

EnDat 2.2/22

Figure 12

Clock

2.5V

PG-F3

120 Ω

7 Troubleshooting

A–,B– A+,B+

PG Encoder

Data output

Data input

26LS31 Level

120 Ω

Figure 15 Interface Circuit (EnDat 2.2/22)

YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual 41

7 Troubleshooting

Monitor Signals

PG-F3

120 Ω

A-,BA+,B+

120 Ω

Encoder

26LS31 Level

Clock

Data output

Data input

2.5 V

HIPERFACE

Figure 13

Figure 16 Interface Circuit (HIPERFACE)

42 YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual

8 Specifications

Table 13 Option Specifications

Items Specifications

Model PG-F3

EnDat 2.1/01, EnDat 2.2/01, EnDat 2.2/22 (HEIDENHAIN)

ECN1313 (EnDat 2.1/01, EnDat 2.2/01) ECN113 (EnDat 2.1/01, EnDat 2.2/01) ECN413 (EnDat 2.1/01, EnDat 2.2/01)

Compatible PG Encoder Types

Multi-turn Not available

PG Encoder Wiring Length

PG Encoder Power Supply

Compatible Control Modes

Maximum Input Frequency

Pulse Monitor Output

PG Encoder Disconnect Detection

Ambient Temperature

Humidity 95% RH or lower with no condensation

Storage Temperature

Area of Use Indoor (free of corrosive gas, airborne particles, etc.)

Altitude 1000 m (3280 ft.) or lower

ECN1325 (EnDat 2.2/22) ECN125 (EnDat 2.2/22) ECN425 (EnDat 2.2/22)

HIPERFACE (SICK STEGMANN)

SRS50/60 SKS36 SFS60

20 m(65 ft.) maximum. Wiring length over 10 m (32 ft.) for EnDat requires two connections to both IP and IG.

Output voltage: 5 V ± 5%, 8 V ± 10% Maximum Output Current: 330 mA (5 V), 150 mA (8 V)

Closed Loop Vector for PM motors

20 kHz (no maximum input frequency for EnDat 2.2/22)

Monitor for A and B phase output Matches RS-422 Level

Note: Not available when using EnDat 2.2/22.

Software detection

-10°C to 50°C (14°F to 122°F)

-20°C to 60°C (-4°F to 140°F) allowed for short-term transport of the product

8 Specifications

YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual 43

7654321

◆ Revision History

Revision dates and manual numbers appear on the bottom of the back cover.

MANUAL NO. TOBP C730600 51B

Published in Japan November 2009 09-7

Date of publication

Revision number

Date of original publication

Date of

Publication

March 2013

October 2012

July 2012 Back cover Revision: Address

July 2011 Entire Document Addition: EnDat 2.2/22 added along with corresponding data.

January 2011

March 2010 Entire Document Edited for procedural clarity and readability.

November 2009 Entire Document Edited for procedural clarity and readability.

July 2009 −−First edition

Rev. No Section Revised Content

Entire Document Addition: HIPERFACE added along with corresponding data.

Back cover Revision: Address

Chapter 2

Back cover Revision: Address

Front cover Revision: Format

Back cover Revision: Address, format

Revision: Revised in accordance with software and hardware upgrade.

44 YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual

YASKAWA AC Drive 1000-Series Option

Motor Encoder Feedback (EnDat, HIPERFACE) Interface

Installation Manual

DRIVE CENTER (INVERTER PLANT)

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YASKAWA ELECTRIC CORPORATION

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.

MANUAL NO. TOBP C730600 51F

Published in Japan March 2013 09-7 12-7-9

7 -0

Yaskawa PG-F3 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Table of Contents

1 Preface and Safety

◆ Applicable Documentation

◆ Terms and Abbreviations

◆ Registered Trademarks

◆ Supplemental Safety Information

2 Product Overview

◆ About This Product

◆ Applicable Models

3 Receiving

◆ Option Package Contents

◆ Tools Required for Installation

4 Option Components

◆ PG-F3 Option

◆ Terminal Blocks TB1 and TB2

5 Installation Procedure

◆ Section Safety

◆ Prior to Installing the Option

◆ Installing the Option

◆ Wire Gauges, Tightening Torque, and Crimp Terminals

◆ Terminal Functions

6 Related Parameters

7 Troubleshooting

◆ Drive-Side Error Codes

◆ Preventing Noise Interference

8 Specifications

◆ Revision History