Yaskawa VS-616PS5 Programming Manual
VS-616PS5 Series
Programming Manual
Brushless Motor Drive
2 VS-616PS5 Programming Manual
WARNING
YASKAWA manufactures component parts that can be used in a wide variety of industrial applications.
The selection and application of YASKAWA products remains the responsibility of the equipment
designer 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 products designed to incorporate a component
part manufactured by YASKAWA must be supplied to the end user with appropriate warnings and
instructions as to that part’s safe use and operation. 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 YASKAWA’s 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.
VS-616PS5 Programming Manual 3
READ THIS ENTIRE MANUAL BEFORE INSTALLING OR OPERATING THE VS-616PS5!
WARNING!
The PS5 motor uses permanent magnets. HIGH VOLTAGE is generated by the
motor whenever the rotor is turning, with or without a power supply. Make sure
the motor is not turning before performing ANY service on the motor or on the
inverter.
If there is a possibility that the motor can be turned by the load while inverter
power is off, install a contactor or a manual disconnect to open the motor leads
while servicing the inverter. Interlock the disconnect with the control circuits of
the drive.
ONLY PERSONNEL WHO ARE EXPERIENCED IN WORKING WITH HIGH VOLTAGE, HIGH
POWER EQUIPMENT SHOULD INSTALL OR SERVICE THIS EQUIPMENT.
Turn off the supply power to the VS-616PS5 AND make sure the motor is stopped AND the internal
capacitors are discharged before connecting or disconnecting wires or touching any internal parts.
The VS-616PS5 internal capacitors remain charged even after the power supply is turned off. Wait
at least five minutes after removing power. Make sure all LED’s are off before servicing the inverter.
Do not use a Megger or other type of high withstand voltage tester on the VS-616PS5. Higher volt-
ages can damage the semiconductors used in the inverter.
Do not connect or disconnect the operator or a computer while the VS-616PS5 is running.
FAILURE TO OBSERVE THE WARNINGS AND PRECAUTIONS IN THIS MANUAL CAN EXPOSE THE USER TO HIGH
VOLTAGES, RESULTING IN DAMAGE TO EQUIPMENT, SERIOUS PERSONAL INJURY, OR EVEN DEATH.
POWER SUPPLY LIMITATIONS
The VS-616PS5 is suitable for use on a circuit capable of delivering not
more than 65,000 RMS symmetrical amperes at 480 VAC maximum (for
460 VAC class units) or 240 VAC maximum (for 230 VAC class units).
NOTICENOTICE
The information contained within this document is the proprietary property of Yaskawa Electric America,
Inc. This information may not be copied, reproduced, or transmitted to other parties without the expressed
written authorization of Yaskawa Electric America, Inc.
No patent liability is assumed with respect to the use of the information contained herein.
Yaskawa is constantly improving its high-quality products. The information contained in this manual is sub-
ject to change without notice.
Every precaution has been taken in the preparation of this manual. Nevertheless, 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.
4 VS-616PS5 Programming Manual
Contents
Section Description Page
INTRODUCTION. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
VS-616PS5 PARAMETER TREE . . . . . . . . . . . . . . . . . . . . . . . . .8
A INITIALIZATION PARAMETERS. . . . . . . . . . . . . . . . . . . . . . . . . . . .9
A1 Initialization Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
B APPLICATION PARAMETERS . . . . . . . . . . . . . . . . . . . . . . . . . . .10
B1 Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10
B2 Zero Speed Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14
B3 Magnetic Pull-in Current. . . . . . . . . . . . . . . . . . . . . . . . . .15
B4 Delay Timers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17
B5 PID Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18
B6 Reference Hold. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22
B7 Droop Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23
C TUNING PARAMETERS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24
C1 Accel/Decel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24
C2 PG Origin Pulse Compensation . . . . . . . . . . . . . . . . . . . .27
C3 Voltage Limitation Control. . . . . . . . . . . . . . . . . . . . . . . . .28
C5 ASR Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29
C6 Carrier Frequency. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31
D REFERENCE PARAMETERS . . . . . . . . . . . . . . . . . . . . . . . . . . . .35
D1 Preset References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .35
D2 Reference Limits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .37
D3 Jump Frequencies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .38
D4 Hold Reference Memory. . . . . . . . . . . . . . . . . . . . . . . . . .39
D5 Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .40
E MOTOR PARAMETERS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .44
E1 Motor Constant. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .44
F OPTION PARAMETERS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .49
F1 PG Option Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .49
F2 AI-14 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .52
F3 DI-08/DI-16H Set-up. . . . . . . . . . . . . . . . . . . . . . . . . . . . .53
F4 AO-08/AO-12 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . .44
F5 DO-02 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .56
F6 DO-08 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .57
F9 CP-916 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .59
H CONTROL CIRCUIT TERMINAL PARAMETERS . . . . . . . . . . . . . . .61
H1 Digital Inputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .61
H2 Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .67
H3 Analog Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .74
H4 Analog Outputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .78
L PROTECTION PARAMETERS . . . . . . . . . . . . . . . . . . . . . . . . . . .82
L2 Power Loss Ridethrough . . . . . . . . . . . . . . . . . . . . . . . . .82
L3 Stall Prevention. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .83
L4 Reference Detection. . . . . . . . . . . . . . . . . . . . . . . . . . . . .84
L5 Fault Restart. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .86
L6 Torque Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .88
L7 Torque Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .91
VS-616PS5 Programming Manual 5
Section Description Page
L8 Hardware Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
O OPERATOR PARAMETERS . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
O1 Monitor Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
O2 Key Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .97
T TUNING PARAMETERS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .100
T1 Auto-tuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Appendix VS-616PS5 PARAMETER LIST. . . . . . . . . . . . . . . . . . . . . . . . 101
6 VS-616PS5 Programming Manual
Introduction
Introduction
The Model VS-616PS5 is a series of high quality, general purpose, inverters designed to
control the current in a permanent magnet (PM) brushless motor. In the PM motor, current is
directly related to torque.
With power outputs ranging from 0.5 to 500 horsepower (HP), the VS-616PS5 series is suitable for any application. The inverters provide full start-up torque, smooth low speed operation, and precise speed control from zero to full speed. The proprietary auto-tuning function
allows the inverters to get the best performance from PM motors manufactured worldwide.
Some of Yaskawa’s proprietary features of the VS-616PS5 inverter include torque control,
automatic tuning to the motor characteristics, UL recognized electronic thermal motor overload, energy saving operation, PID loop control, and low noise operation. Also available is a
digital operator for simple programming. The design team has used the latest in microprocessor technology to produce the ultimate drive for any application.
Use the Parameter Tree on the following page to determine which control mode and access
level each parameter is available in.
The VS-616PS585 ships preset to the Quick-start access level. This publication describes
all Quick-Start, Basic and Advanced parameters. For installation and simplified Quick-Start
parameters, please refer to YEA-TOA-S616-10.22.
VS-616PS5 Programming Manual 7
VS-616PS5 Parameter Tree
VS-616PS5 Parameter Overview
Group Function Parameter No.
Quick-start Basic Advanced
MonitorU
A Initialize
ApplicationB
TuningC
ReferenceD
MotorE
OptionF
U1 Monitor 01-03, 05-14 15-19 20-22,27-33,41-47, 49,50,53,54,55
U2 Fault Trace 01-14 15,16 17-22
U3 Fault History 01-08
A1 Initialize 01, 03, 04
B1 Sequence 01-03 04 05-06
B2 Zero Speed Level 01
B3 Magnetic Pull-in 02, 04, 05
B4 Delay Timers 01, 02
B5 Pid Control 01-08
B6 Reference Hold 01-04
B7 Droop Control 01, 02
C1 Accel/decel 01, 02
C2 PG Origin Pulse Comp. 13
C3 Voltage Limit Control 05
C5 Asr Tuning 01-04 05-07
C6 Carrier Frequency 02
C7 S-Curve Characteristics 01-04
D1 Preset Reference 01-04, 09 05-08
D2 Reference Limit 01, 02
D3 Jump Speed 01-04
D4 Hold Reference Memory 01
D5 Torque Control 01-06
E1 Motor Constant 01-13, 17 15,16
F1 PG Option Set-up 01,05 02-04 08-11, 13
F2 AI-14 Set-up 01
F3 DI-08, 16 Set-up 01
F4 AO-08, 12 Set-up 01-06
F5 DO-02 Set-up 01, 02
F6 DO-08 Set-up 01
F8 Speed Feedback Selection 01 02
F9 CP-916 Set-up 01-06
03, 04,
09
05-08, 10, 11
TerminalH
ProtectionL
OperatorO
TuningT
H1 Digital Inputs 01-06
H2 Digital Outputs 01-03
H3 Analog Inputs 01-03 04-12
H4 Analog Outputs 01-07
H5 Serial Communications 01-05
L2 Power Loss Ridethrough 01, 02 05
L3 Stall Prevention 01
L4 Reference Detection 01, 02 03-05
L5 Fault Restart 01, 02
L6 Torque Detection 01-03 04-06
L7 Torque Limit 01-04
L8 Hardware Protection 01, 02, 03, 05, 07, 10
O1 Monitor Select 01-03
O2 Key Select
T1 Auto-tuning 02,03
01, 02,
04
05-08
* User Selectable
8 VS-616PS5 Programming Manual
Section A: Initialization Parameters
A1 Initialization Set-up
Main Menu:Initialize <ENTER>
A Initialization Parameters
A1 Initialization Set-up
A1-01 Parameter Access Level Q
This parameter allows the “masking” of parameters according to user level. See the
following table:
Setting Description
0 Operation Only
2 Quick Start Level (factory default) - For maintenance-level programming.
3 Basic Level - For basic programming in most applications.
4 Advanced Level - For advanced programming in special applications.
A1-03 Operator Status Q
Use this parameter to reset the inverter to its factory default settings. Initialize the
inverter after changing the control PCB, or after selecting inverter capacity (O2-04).
Setting Description
0 No Initialization (factory default).
2220 2-Wire Initialization - terminal 1 becomes FWD run command and
terminal 2 becomes REV run command. All other parameters are
reset to their original factory default settings.
3330 3-Wire Initialization - terminal 1 becomes run command, terminal 2
becomes stop command and terminal 3 becomes FWD/REV run
selection. All other parameters are reset to their original factory
default settings.
A1-04 Password Entry Q
This parameter allows password entry to view masked parameters.
VS-616PS5 Programming Manual 9
Section B: Application Parameters
B1 Initialization Sequence
Main Menu: Programming <ENTER>
B Application Parameters
B1 Sequence
B1-01 Frequency Reference Selection Q
B1-02 Operation Method Selection Q
Setting Range: 0 to 4
Factory Default: 1
Frequency reference and run command can be set independently as shown below:
Setting Description
0 Run by digital operator reference
1 Run by external terminal reference (factory default).
2 Run by serial communication
3 Option card (run by CP-916 B/G, 216 I/F references
4 Run by personal computer (CP-717) reference
6 Pulse Train reference (valid for B1-01 only, used with PG-P2)
By depressing the LOCAL/REMOTE key on the digital operator, the operation mode
can be selected as shown below:
Local: Frequency reference and run command from digital operator. (Remote
SEQ and REF LEDs off)
Remote:Operation according to frequency reference and run command set by B1-
01 & B1-02, respectively.
The Control Method is reset to remote operation when power is cycled.
B1-03 Stopping Method Selection Q
Setting Range: 0 to 3
Factory Default: 0
This function selects the stopping method suitable for the application.
Setting Description
0 Ramp to stop (factory default).
1 Coast to stop.
3 Coast to stop with timer.
10 VS-616PS5 Programming Manual
• Ramp to Stop (B1-03 = “0”)
Section B: Application Parameters
B1 Sequence
Output Frequency
Zero Speed Level
Factory Default 0.5Hz
Run Command
ON
OFF
Decel time 1 (C1-02)
Figure 1 Stopping Method - Ramp to Stop
Upon removal of the FWD (REV) run command, the motor decelerates at a rate
determined by the time set in deceleration time 1 (C1-02) and baseblocks upon
reaching the zero speed level (B2-01) or minimum speed (E1-08), whichever is
higher. If the deceleration time setting is too short or the load inertia is large, an overvoltage fault (OV) may occur during deceleration. In this case, increase the deceleration time or install an optional braking transistor and/or braking resistor (braking
transistors are provided as standard for units 230V 7.5kW and smaller, 460V 15kW
and smaller).
Braking torque: without braking resistor, approximately 5% of motor rated torque
with braking option, approximately 150% of motor rated torque
• Coast to Stop (B1-03 = “1”)
Output frequency
Run command
ON
Inverter output is shut OFF
when stop command is given.
OFF
Figure 2 Stopping Method - Coast to Stop
Upon removal of the FWD (REV) run command, the motor starts to coast. Upon reapplying the run command operation will resume after the minimum baseblock time
(L2-03) elapses.
Coast to Stop with Timer 1 (B1-03 = “3”) should be used to prohibit the inverter from
starting into a rotating motor. When setting B1-03=3, the deceleration time (C1-02) is
used as the timer during which operation is prohibited.
VS-616PS5 Programming Manual 11
Section B: Application Parameters
B1 Sequence
• Coast to Stop with Timer 1 (B1-03 = “3”)
Output Frequency
Coasting
FWD (REV)
Run Command
Run Command Disabled
Decel Time 1
(C1-02)
Accel Time 1
(C1-01)
Time
ONONON
Figure 4 Stopping Method - Coast to Stop w/Timer
Upon removal of the run command, a new run command is blocked until the coast to
stop timer has elapsed (same as Decel 1). After the timer elapses, the user must
enter another run command for the inverter to begin acceleration. This stopping
method is disabled during flux vector control.
B1-04 Reverse Operation Enable/Disable B
Setting Range: 0 to 1
Factory Default: 0
A “reverse run disabled” setting does not allow a reverse run command from the control circuit terminal or the digital operator. This setting is used in applications where a
reverse run command is undesirable.
Setting Description
0 Reverse run is enabled (factory default).
1 Reverse run is disabled.
B1-05 Operation Selection at Zero Speed A
Select an operation mode to be used when the speed reference (analog input) drops
below the minimum speed setting (El -08).
Setting Description
0 E1-08 is ignored, run according to speed reference.
12 VS-616PS5 Programming Manual
Section B: Application Parameters
B1 Sequence
Setting Description
1 Baseblock (factory default)- No output to motor
2 Run at minimum output speed (E1-08).
3 Zero-speed operation (internal speed reference is set to “0”)
B1-06 LOCAL/REMOTE Run Select A
This parameter determines how the inverter will function when switching from local to
remote operation when the external run command is applied.
Selection Description
0 Operation is disabled if the external run command is applied
prior to switching from local to remote. The run command
must be removed and re-applied to start operation.
1 Operation is enabled if the external run command is applied
prior to switching from local to remote.(factory default).
VS-616PS5 Programming Manual 13
Section B: Application Parameters
B2 Servo Speed Level
B2 Zero Speed Level
.
B2-01 Zero-speed Level (Baseblock level) B
Setting Range: 0.0 to 20.0%
Factory Default: 0.5%
Sets the speed at which the inverter baseblocks upon deceleration. 20% equals 20%
of the maximum speed setting as entered in parameter E1-06.
The initial value is 0.5%. The units can be changed by O1-03.
14 VS-616PS5 Programming Manual
Section B: Application Parameters
B3 Magnetic Pull-in
B3 Magnetic Pull-in
The magnetic pull-in (Synchronization) feature is used only during the PG orientation
auto-tuning process. During normal operation this function is not performed.
During PG Orientation Auto-Tuning, the following parameters are used to gradually
ramp up the motor current to a desired level to allow a “soft” rotor pole alignment.
Once the magnetic pull-in is completed, the PG Orientation feature is performed.
B3-02 Magnetic Pull-in Current A
Setting Range: 0 to 150%
Factory Default: 50%
The current level during initial magnetic pull-in is set in units of 1%.
A setting of 100% generates Motor rated current (E1-04). Increasing this value
increases the motor torque during the pull-in process.
B3-04 Current Ramp-up Time A
Setting Range: 0.0 to 5.0s
Factory Default: 1.0s.
Sets the rate at which the current is increased during the magnetic pull-in process.
Too short a setting will result in abrupt rotor movement.
VS-616PS5 Programming Manual 15
Current Value
B3-04
B3-05
Section B: Application Parameters
B3 Magnetic Pull-in
B3-05 Magnetic Pull-in Time A
Setting Range: 0.0 to 5.0s
Factory Default: 1.0s
This parameter sets the time to allow the rotor to pull in (align) with the magnetic field
at initial excitation. Pull-in waiting time is set in units of 0.1s.
The current vs. time plot during the magnetic pull-in process is as follows:
B3-02
0 1 2
Operation Status B3-02 Adjustment B3-04 Adjustment B3-05Adjustment
Slow Start - Decrease set value Decrease set value
Insufficient torque, and
“STO” is output
Increase set value. - -
Time
16 VS-616PS5 Programming Manual
Section B: Application Parameters
B4 Delay Timers
B4 Delay Timers
Use the inverter input (multifunction inputs) and output (multifunction outputs) in
place of an external timer. When a multi-function contact input (H1-XX = “18”) is
closed, a multi-function contact output (H2-XX = “12”) can be set to close after the
On-delay time (B4-01) has expired. This function operates independently of any concurrent inverter activity.
B4-01 On-delay Timer A
Setting Range: 0.0 to 300.0s
Factory Default: 0.0s
Sets the ON-delay time in units of 0.1 second. The multi-function input must be
“closed” for longer than the ON-delay timer for the multi-function output to close.
B4-02 Off-delay Timer A
Setting Range: 0.0 to 300.0s
Factory Default: 0.0s
Sets the OFF-delay time in units of 0.1 second. The multi-function input must be
“open” longer than the OFF-delay timer for the multi-function output to open.
Multi-function Contact
Input: Timer Function
Multi-function Contact
Output: Timer Function
B4-01
ON
ON
B4-02
ON ON ON
B4-01
ON
ON ON ON
ON
B4-02
Figure 8 Timing Diagram of Timer Function
VS-616PS5 Programming Manual 17
Section B: Application Parameters
B5 PID Control
B5 PID Control
The Proportional, Integral, and Derivative (PID) control function provides closed-loop
control and regulation of a system variable such as temperature or pressure. A control signal based on the difference (or error) between a feedback signal and a desired
setpoint is produced. Integration and derivative calculations are then performed on
this signal, based upon the PID parameter settings (B5-01 to B5-08), to minimize
deviation, for precise control.
B5-01 PID Control Mode Selection A
To enable PID control, set PID control mode selection to “1” or “2”, according to the
description below. Also be sure to set terminal 16 function selection (H3-05) to PID
feedback (Set Value: “B”).
Setting Description
0 PID is disabled (factory default).
1 PID is enabled (deviation signal is put through derivative control).
2 PID operates with feed forward (feedback signal is put through derivative control).
Notes:
1. PID with feed forward applies control much quicker than normal PID, without waiting for the
deviation signal to build up.
2. A PID inverse feedback signal can be selected by inverting the settings for terminal 16 gain
and bias.
Then select the PID control intended value (setpoint) and detected value (feedback)
setpoint as follows:
Detected Value (Feedback)
Set the PID feedback value with the control circuit terminal 16 voltage signal (0 to
10V, -10 to 10V) or multi-step speed parameters H1-03 to H1-06.
Control circuit terminal 16 voltage signal:
Set reference selection (B1-01) to “1” and set H3-05 = “B”.
Multi-step speed parameters via multifunction inputs (H1-01 to H1-06):
Set reference selection (B1-01) to “0.”
Set multifunction inputs to (H1-01 to H1-06) set value 3,4 and/or 5.
(allows combination of multi-step speed references and jog frequency reference
as entered in parameter D1-01 thru D1-09)
Intended Value (Setpoint)
The control circuit terminal 14 current signal (4 to 20mA) or voltage signals (0 to 10V,
-10 to +10V) can be used to set the PID setpoint value.
Control circuit terminal 14 accepts 4-20 MA current signal:
Set terminal 14 signal selection (H3-08) to “2.”
18 VS-616PS5 Programming Manual
Section B: Application Parameters
B5 PID Control
Control circuit terminal 14 accepts voltage signal:
Set terminal 14 signal selection (H3-08) to “0” for 0-10 VDC input signal or “1” for 10 to 10 VDC input signal. The J1 jumper must also be cut to set-up terminal 14
to accept a voltage signal.
B5-02
B5-01
1
+
2
+
P
0
Frequency
Reference
I
B5-03
D
B5-05
Limit
B5-04
1
2
B5-06
++
Limit
+
Offset
B5-07
B5-08
Output
Delay Time
1 or 2
B5-01
Intended
Value
Detected
Value
H3-06
Feedback
Calibration
Gain
D
B5-05
(Deviation) -
+
B5-01
Figure 9 PID Control Block Diagram
Notes:
1. I value is reset to ”0” when operation stops.
2. The upper limit of the I value can be set by parameter B5-04.
Increase the value of parameter B5-04 to upgrade control capability by
integration. If the control system is unstable and it cannot be stopped by
adjusting the integral time, output delay time, etc., decrease the set value
of parameter B5-04.
3. PID control can be canceled by a multi-function contact input signal.
By setting any of parameters H1-01 to H1-06 to “19” and by closing the
contact during running PID control is disabled and the intended value signal itself is used as a frequency reference signal.
B5-02 PID Control Proportional Gain A
Setting Range: 0.00 to 25.00
Factory Default: 1.00
The proportional gain is the value by which the deviation signal is multiplied to generate a new frequency reference. Too high a setting will result in oscillations (instability).
Too low a setting will result in a sluggish response.
VS-616PS5 Programming Manual 19
Section B: Application Parameters
B5 PID Control
B5-03 PID Control Integral Time A
Setting Range: 0.00 to 360.0s
Factory Default: 1.00s
The integral calculation sums the deviation over time which forces the deviation to
become zero. Thus, the feedback will match the desired setpoint. The integral time
determines how quickly the integral gain increase is added to the control loop. Too
high a setting will result in slow response. Too low a setting may result in rapid oscillations (instability).
B5-04 PID Control Integral Limit A
Setting Range: 0.0 to 100.0%
Factory Default: 100.0%
The integral limit is used to limit the range of the integral term. In some applications it
may be desirable to limit the integral term to improve system response. Otherwise,
the integral value may become large and overshoots may result when the integral
value takes a long time to integrate in the opposite direction. This value is set as a
percentage of maximum motor speed (E1-06).
B5-05 PID Control Derivative Time A
Setting Range: 0.00 to 10.00s
Factory Default: 0.00s
The derivative calculation attempts to control the remaining overshoot left over after
the proportion and integral calculations. If the system is approaching the intended
value very rapidly, the derivative control produces a strong braking action to prevent
overshoot. If the system is already stable with very little deviation change, derivative
control has very little effect. The derivative time is used to dampen oscillations and
reduce overshoot, thus improving stability. Setting the derivative time to a larger
number produces more braking action in the control system.
B5-06 PID Control Limit A
Setting Range: 0.0 to 100.0%
Factory Default: 100.0%
The PID limit places a limit on the PID signal output, limiting the output frequency reference. Normally this is set to 100% to allow unrestrained operation of the PID function. This value is set as a percentage of maximum motor speed (E1-06).
20 VS-616PS5 Programming Manual
Section B: Application Parameters
B5 PID Control
B5-07 PID Control Offset A
Setting Range: ±100.0%
Factory Default: 0.0%
The PID offset adds a bias to the calculated PID value.
B5-08 PID Control Output Primary Delay Time A
Setting Range: 0.00 to 10.00s
Factory Default: 0.00s
The output delay time builds in a delay to changes in the calculated PID value, which
can prevent oscillations and improve stability. Use the PID Delay Time when transients occur in the system and it is undesirable to have the PID respond.
Parameters B5-04 thru B5-08 are preset at the factory to optimum values for most
applications, and hence, do not need to be changed.
When tuning a system, first increase the proportional gain until oscillations occur.
Then, reduce the proportional gain slightly until the oscillations stop. Next, reduce the
integral time slowly until oscillations begin. Then, increase the integral time slowly so
that the oscillations cease. Test the system under all conditions, observe the stability
and verify that the desired operation is generated. Fine tune the proportional and integral times, along with any other PID parameter as needed.
VS-616PS5 Programming Manual 21
Section B: Application Parameters
B6 Reference Hold
B6 Reference Hold
The reference hold or dwell function is used to temporarily hold the output frequency
at a set reference, for a set time, during the acceleration and deceleration process.
Use this function when driving a permanent magnet motor, or a motor with a heavy
starting load. The pause in acceleration allows the magnets in a permanent magnet
motor to synchronize with the stator field of the motor, thus reducing traditionally high
starting current.
B6-01 Dwell Reference at Start A
Setting Range: 0.00 to 100.00%
Factory Default: 0.00%
Sets the dwell frequency reference during acceleration in units of 0.01%.
B6-02 Dwell Time at Start A
Setting Range: 0.0 to 10.0s
Factory Default: 0.0s
Sets the amount of time that the frequency reference “dwells” during acceleration in
units of 0.1s.
B6-03 Dwell Reference at Stop A
Setting Range: 0.00 to 100.00%
Factory Default: 0.00%
Sets the dwell frequency reference during deceleration in units of 0.01%.
B6-04 Dwell Time at Stop A
Setting Range: 0.0 to 10.0s
Factory Default: 0.0s
Sets the amount of time that the frequency reference “dwells” during deceleration in
units of 0.1s.
22 VS-616PS5 Programming Manual
Section B: Application Parameters
B7 DROOP Control
B7 Droop Control
Droop Control is a function that allows the speed of a motor to decrease in proportion
to load torque. This can be used to insure load sharing between drives on multiple
drive systems.
B7-01 Droop Capacity A
Range:0.0 to 100.0%
Factory Default: 0.0%
Droop amount (%)
=
B701–()
------------------------- %
100
x 100
A setting of 100% allows the speed to drop 100% of the maximum speed value
(when the torque is 100%).
Droop response time is set with parameter B7-02.
B7-02 Droop Delay Time A
Setting Range: 0.00 to 1.00s
Factory Default: 0.10s
When B7-02 is decreased, drooping response becomes quicker, but the motor
hunts more easily.
Torque
Load
Motor
Speed
63%
B7-02
Droop Amount (B7-01)
= Torque (%) x B7-01
VS-616PS5 Programming Manual 23
Section C: Tuning Parameters
C1 Accel/Decel
C Tuning Parameters
C1 Accel/Decel
C1-01 Acceleration Time 1 Q
C1-02 Deceleration Time 1 Q
C1-03 Acceleration Time 2 B
C1-04 Deceleration Time 2 B
C1-05 Acceleration Time 3 A
C1-06 Deceleration Time 3 A
C1-07 Acceleration Time 4 A
C1-08 Deceleration Time 4 A
Setting Range: 0.00 to 6000.0s
Factory Default: 10.0s
The acceleration parameters set the time necessary for the output speed to accelerate from 0 to the maximum Speed (E1-06). Deceleration parameters set the time
needed for the output Speed to decelerate from the maximum speed to 0. .
Accel Time 1
(C1-01)
Output
Frequency
FWD (REV) Run Command
Accel/Decel Time Selection 1
(Terminals 3 to 8, Setting = “7”)
Accel/Decel Time Selection 2
(Terminals 3 to 8, Setting = “1A”)
* When “ramp to stop” is selected (B1-03 = “0”)
Decel Time 1* (C1-02)
ON OFF ON
Figure 13 Timing Diagram of Accel/Decel Time Adjustment
Accel Time 2 (C1-03)
ON
Decel Time 2*
(C1-04)
Decel Time 1*
(C1-02)
Accel Time 3
(C1-05)
ON OFF ON
OFF
Decel Time 3* (C1-06)
Accel Time 4 (C1-07)
ON
ON
Decel Time 4*
(C1-08)
Decel Time 1*
(C1-02)
Time
Use the multifunction inputs to select up to four accel/decel times. When any of the
multi-function contact input selections (H1-01 to H1-06) are set to “7”and “1A”, up to
four accel/decel times can then be selected by opening or closing the appropriate
accel/decel time selection commands (terminals 3 to 8).
24 VS-616PS5 Programming Manual
Section C: Tuning Parameters
C1 Accel/Decel
.
Accel/decel Time Selection 1
Multi-function Input
Setting = “7”
Open or not set Open or not set C1-01 C1-02
Closed Open or not set C1-03 C1-04
Open or not set Closed C1-05 C1-06
Closed Closed C1-07 C1-08
Accel/decel Time Selection 2
Multi-function Input
Setting = “1A”
Accel Time Decel Time
C1-09 Fast-stop Time B
Setting Range: 0.00 to 6000.0s
Factory Default: 10.0s
When a Multi-function contact input is set to fast-stop command (setting = “15”), and
the contact closes the fast stop feature is executed.
It may be necessary to install a braking unit to achieve the desired stopping rate and
eliminate over-voltage from occurring.
C1-10 Accel/Decel Time Setting Units A
Setting Description
0 Accel/decel time (C1-01 to C1-09) setting range is in units of 0.01s.
Accel/decel time setting range: 0.00 to 600.00s
1 Accel/decel time (C1-01 to C1-09) setting range is in units of 0.1 second.
Accel/decel time setting range: 0.0 to 6000.0s (factory default).
If any of the parameters C1-01 to C1-09 is set to 600.1 seconds or more, C1-10 cannot be set to “0.”
C1-11 Automatic Accel/Decel Time Switching Speed Level A
Setting Range: 0.0 to 100.0%
Factory Default: 0.0%
Accel/decel times can be changed automatically, without using the multi-function contact inputs. This feature is active anytime C1-11 is not equal to 0.
Use accel/decel times set in parameters C1-01 and C1-02 when output frequency ≥
C1-11.
Use accel/decel times set in parameters C1-07 and C1-08 when output frequency <
C1-11.
Multi-function contact inputs which are set for accel/decel selection have priority over
VS-616PS5 Programming Manual 25
Section C: Tuning Parameters
C1 Accel/Decel
the automatic change of accel/decel.
Output Frequency
Accel/Decel Switching Level
(C1-11)
C1-07
C1-01 C1-02 C1-08
Figure 14 Accel/Decel Switching Level Adjustment
26 VS-616PS5 Programming Manual
Section C: Tuning Parameters
C2 PG Origin Pulse Compensation
C2 PG Origin Pulse Compensation
C2-13 PG Origin Pulse Compensation Value Q
Setting Range: ±180°
Indicates the angular displacement between the magnetic pole and the marker pulse
from the hall sensor or encoder feedback devices. This value is used to control the
commutation to insure optimum performance.
This value is automatically set when performing PG origin auto-tuning.
Do not change after setting.
This value is not initialized at initialization.
VS-616PS5 Programming Manual 27
Section C: Tuning Parameters
C3 Voltage Limit Control
C3 Voltage Limit Control
C3-05 Voltage Limit Control Selection A
This parameter sets the voltage limit control.
Set Value Description
0 •Voltage limitation control is not performed (fac-
tory default).
1 •Voltage limitation control is performed limits the
output voltage to 230 (460) by reducing the d-axis
current level.
28 VS-616PS5 Programming Manual
C5 ASR Tuning
Proportional Gain According to Motor Speed
The Automatic Speed Regulator (ASR) provides closed loop motor speed control so
that optimum performance during changes in motor speed or load can be achieved.
Section C: Tuning Parameters
C5 ASR Tuning
Torque Limit
Secondary Current Reference
L7-01 ~ L7-04
Speed Reference
Speed Feedback
+
C5-01, C5-03
-
P
I
C5-02, C5-04
+
+
1
1 + ST
C5-05
Figure 20 ASR Block Diagram (Flux Vector Control)
C5-01 ASR Proportional Gain 1 B
Setting Range: 0.00 to 300.00
Factory Default: 5.00
The ASR proportional gain 1 adjusts the speed in response to the speed deviation
signal. Speed response increases as the proportional gain is increased. However,
the load may become unstable if the ASR proportional gain is set too high.
C5-02 ASR Integral Time 1 B
Setting Range: 0.000 to 10.000s
Factory Default: 0.500s
The ASR integral time 1 adjusts the inverter’s response time to changes in load.
Response increases as the integral time is decreased. However, the load may
become unstable if the ASR integral time is set too low.
C5-03 ASR Proportional Gain 2 B
Setting Range: 0.00 to 300.00
Factory Default: 5.00
The ASR proportional gain 2 is an additional proportional gain adjustment that can be
enabled by a multi-function contact input (H1-XX = “77”).
(see Figure 22)
C5-03 Proportional Gain
Multi-function Input
(H1-XX = “77”)
ON
OFF
C5-02
OFF
ON
C5-02
Figure 21 ASR Multi-function Input Timing Diagram
VS-616PS5 Programming Manual 29
Section C: Tuning Parameters
C5 ASR Tuning
C5-04 ASR Integral Time 2 B
Setting Range: 0.000 to 10.000s
Factory Default: 0.500s
The ASR integral time 2 is an additional integral time adjustment.
C5-05 ASR Output Primary Delay Time A
Setting Range: 0.000 to 0.500s
Factory Default: 0.004s
Mechanical backlash in an application causes secondary current (I2) reference variations in the motor’s rotor. This condition can undesirably limit the adjustment of ASR
parameters. The output delay time constant is used to control these secondary current (I2) reference variations.
C5-06 ASR Switching Speed Level A
Setting Range: 0.00 to 100.00%
Factory Default: 0.00%
Sets speed at which C5-01 and C5-02 are achieved. When C5-06 is set to any setting other than 0, both sets of proportional and integral values are used (See Figure
22).
C5-01
C5-02
C5-03
P gain · I time
0
C5-06
C5-04
f
FB
Motor Speed
P · N
fFB =
120
where . . .
P = Number of Motor Poles
N = Motor RPM
* When C5-06 =”0”, proportional gain 1 (C5-01)
and integral time 1 (C5-02) are selected.
Figure 22 ASR Switching Speed Level
Notes:
1. When C5-06 =” 0”, proportional gain 1 (C5-01) and integral time 1 (C5-02) are selected.
C5-07 ASR P Gain at Start A
Setting Range: 0.00 to 300.00
Factory Default: 5.00
This parameter sets the ASR P gain applied at magnetic pole pull-in. It is set to a
unit of 0.01.
30 VS-616PS5 Programming Manual
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