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

+ 31 hidden pages

Yaskawa PG-F3 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