Removing the Front Cover Lift up at the location label 1 at the top of the control circuit terminal board in the direction of arrow 2. Always remove the protection covers before installing an Inverter of Use the following procedure to remove and attach a protection cover.
Fit the bottom hooks into the holes, bend the cover slightly, and press the cover down until the hooks on the side snap. Holes for bottom hooks Fig 1. Page Wiring Wiring This chapter describes wiring terminals, main circuit terminal connections, main circuit termi- nal wiring specifications, control circuit terminals, and control circuit wiring specifications.
Connections to Peripheral Devices When using the Digital Operator, the motor can be operated by wiring only the main circuits. Page 39 1. Control circuit terminals are arranged as shown below. Disable the stall prevention during deceleration set constant L to 0 when using a Braking Resistor Unit.
Table 2. Page 45 Table 2. Wire the terminals correctly for the desired purposes. The connections depend on the Inverter capacity. Wiring Main Circuit Inputs Observe the following precautions for wiring the main circuit power supply inputs. Page 51 Installing a Magnetic Contactor If the power supply for the main circuit is to be shut off during a sequence, a magnetic contactor can be used.
When a magnetic contactor is installed on the primary side of the main circuit to forcibly stop the Inverter, however, the regenerative braking does not work and the Inverter will coast to a stop.
No general- purpose noise filter can effectively suppress noise generated from the Inverter. Use the speed search function if the MC is operated during operation. If measures for momentary power interrupts are required, use a delayed release MC. Installing a Thermal Overload Relay This Inverter has an electronic thermal protection function to protect the motor from overheating. To reduce radio noise, install noise filters on both input and output sides, and also install the Inverter in a totally enclosed steel box.
The cable between the Inverter and the motor should be as short as possible. Connect the braking resistor as shown in Fig 2. Page Wiring Control Circuit Terminals Wiring Control Circuit Terminals Wiring Control Circuit Terminals Wire Sizes and Closed-loop Connectors For remote operation using analog signals, keep the control line length between the Digital Operator or opera- tion signals and the Inverter to 50 m or less, and separate the lines from high-power lines main circuits or relay sequence circuits to reduce induction from peripheral devices.
Page Wiring Method Straight Solderless Terminals for Signal Lines Models and sizes of straight solderless terminal are shown in the following table. Use the appropriate terminals for the correct purposes. Page 61 Table 2. An external V power supply is also supported, providing more freedom in signal input methods.
Do not perform a buzzer check on control circuits. Perform the following checks on the wiring. Is all wiring correct? You can mount up one board into each of the three places on the control board A, C, and D shown in Fig 2. Page Installation Installing and Wiring Option Boards Installation Before mounting an option board, remove the terminal cover and be sure that the charge indicator inside the Inverter is not lit. After confirming that the charge indicator is not lit, remove the Digital Operator and front cover and then mount the option board.
Use shielded, twisted-pair wires for pulse inputs and pulse output monitor wires, and connect the shield to the shield connection terminal. Set the correct number for your model. Use a PG that outputs a maximum frequency of approximately 20 kHz for the rotational speed of the motor.
Check the PG power supply specifications before connecting. The maximum response frequency is kHz. Page Digital Operator And Modes Digital Operator and Modes This chapter describes Digital Operator displays and functions, and provides an overview of operating modes and switching between modes. Digital Operator Page 79 Digital Operator Table 3. Sets the number of digits for user constant settings.
Page Modes Modes This section describes the Inverter's modes and switching between modes. Inverter Modes The Inverter's user constants and monitoring functions are organized in groups called modes that make it eas- ier to read and set user constants. The Inverter is equipped with 5 modes. The 5 modes and their primary functions are shown in the Table 3.
The following monitor displays are possible in drive mode: The frequency reference, output frequency, output current, and output voltage, as well as fault information and the fault history. When b Reference selection is set to 0, the frequency can be changed from the frequency setting display. Constants can be changed from the setting displays.
Table 3. MENU Key pressed to enter drive mode. MENU Key pressed to enter quick program- ming mode. Page Verify Mode Verify Mode Verify mode is used to display any constants that have been changed from their default settings in a program- ming mode or by autotuning. Of the environment mode settings, only A will be displayed if it has been changed.
Other environment modes settings will not be displayed even if they have been changed from their default settings.
Page Autotuning Mode Always perform autotuning before starting operation. When the motor cannot be disconnected from the load, perform stationary autotuning. Contact your Yaskawa representatives to set motor constants by calculation. Page Trial Operation Trial Operation This chapter describes the procedures for trial operation of the Inverter and provides an example of trial operation.
Trial Operation Procedure Confirm status. Application Confirmation First, confirm the application before using the Inverter. Page Checking The Display Status 2.
Make sure that the motor output terminals U, V, W and the motor are connected correctly. Make sure that the Inverter control circuit terminal and the control device are wired correctly. Set all Inverter control circuit terminals to turn OFF. Page 94 Table 4. Motor protection L 0: Disabled 0 to 3 selection 1: General motor protection The factory setting depends on the capacity of the Inverter.
The upper limit of the setting range depends on the upper limit set in E Page 96 Setting the Control Method Any of the following four control methods can be set.
If the motor can be operated, perform rotational autotuning. If the motor cannot be oper- ated, perform stationary autotuning 1 or 2. Refer to the following section on Autotuning for details on autotuning. Stationary autotuning for line- Maintain same status as Do not function. Page 99 motor exciting current from motor examination results to T After autotuning, the value of T will be written in E Page After having completed autotuning, set E Motor maximum frequency to the base frequency shown on the motor nameplate.
Table 4. For an Inverter motor or vector motor, the voltage and frequency may be lower than for a general-purpose motor. Always confirm setting on the name- plate or in test reports. Also, if you know the no-load values, set the no-load voltage in T and the no-load frequency in T to obtain better accu- racy.
Page Application Settings Application Settings User constants are set as required in advanced programming mode i. All the constants that can be set in quick programming mode can also be displayed and set in advanced programming mode. Page Adjustment Suggestions Adjustment Suggestions If hunting, vibration, or other problems originating in the control system occur during trial operation, adjust the constants listed in the following table according to the control method.
This table lists only the most commonly used user constants. Page Adjustment Suggestions Table 4. It is not normally necessary to adjust this setting. User Constant Descriptions Description of User Constant Tables User constant tables are structured as shown below. Here, b Frequency Reference Selection is used as an example. The user constants displayed in quick programming mode are listed in the following table.
These, and all other user constants, are also displayed in advanced programming mode. Normally, this setting 30CH If deceleration time is too short, a main circuit overvoltage may result. Initialize Mode: A1 User constants for the environment modes are shown in the following table. No initializing Initializes using the User constants 0 to A Initialize Page Application Constants: B Application Constants: b The following settings are made with the application constants B constants : Operation method selection, DC injection braking, speed searching, timer functions, dwell functions, DROOP functions, energy saving func- tions, and zero-servo.
Operation Mode Selections: b1 User constants for operation mode selection are shown in the following table. Page DC Injection Braking: b2 User constants for injection braking are shown in the following table. Page Droop Control: b7 User constants for droop functions are shown in the following table.
Search Perform search operation to operation optimize operations using Page Motor Slip Compensation: C3 User constants for slip compensation are shown in the following table. Page Reference Constants: D Reference Constants: d The following settings are made with the reference constants d constants : Frequency references. Preset Reference: d1 User constants for frequency references are shown in the following table. Page Jump Frequencies: d3 User constants for jump frequencies are shown in the following table.
This function is enabled to d Speed limit Page User Constant Tables Field Weakening: d6 User constants for the field weakening command are shown in the following table. Page Motor Setup: E2 User constants for motor 1 are shown in the following table. Usually setting is not neces- sary. Multi-function Contact Inputs: H1 User constants for multi-function contact inputs are shown in the following tables.
Page Multi-function Analog Outputs: H4 User constants for multi-function analog outputs are shown in the following table. Page Torque Detection: L6 User constants for the torque detection function are shown in the following table.
Page N: Special Adjustments N: Special Adjustments The following settings are made with the special adjustments constants N constants : Hunting prevention, speed feedback detection control, high-slip braking, and feed forward control. Hunting Prevention Function: N1 User constants for hunting prevention are shown in the following table. Page Copy Function: o3 User constants for the copy function are shown in the following table.
Page U: Monitor Constants U: Monitor Constants The following settings are made with the monitor constants U constants : Setting constants for monitoring in drive mode. Status Monitor Constants: U1 The constants used for monitoring status are listed in the following table. The display is 05CH 4 digits split into upper digits and U operating Cannot be output. Page Fault History: U3 User constants for the error log are shown in the following table.
Page V and V Class Inverters of 0. The setting ranges for the Inverter carrier frequency, overload tolerance, and maximum output frequency depend on the setting in C Page Carrier Frequency Carrier Frequency When selecting the carrier frequency, observe the following precautions items.
If the wiring distance between Inverter and motor is long: Set the carrier frequency low. Use the following values as guidelines. The Inverter overload current reduction level is shown below.
Page Frequency Reference Frequency Reference This section explains how to input the frequency reference. Selecting the Frequency Reference Source Set constant b to select the frequency reference source. Page Frequency Reference Inputting the Frequency Reference Using Control Circuit Terminal Analog Setting When b is set to 1, you can input the frequency reference from control circuit terminal A1 voltage input , control circuit terminal A2 voltage or current input or control circuit terminal A3 voltage input.
Inputting Master Speed Frequency Reference Only Voltage Input When inputting a voltage for the master speed frequency reference, input the voltage to control circuit termi- nal A1.
Page or A3 auxiliary speed frequency reference input to terminal A2 will be used for the Inverter frequency refer- ence when the multi-speed reference 1 allocated to multi-function input terminal is ON. When using terminal A2 as the input terminal of auxiliary speed frequency reference, set H Multi-func- tion analog input terminal A2 function selection to 2 [Auxiliary speed reference frequency 1 2nd speed ana- log ].
The following example of a multi-function input terminal function shows a 9-step operation using multi-step references 1 to 3 and jog frequency selection functions.
Page Frequency Reference Setting Precautions Refer to the following to set step 1 to step 3 to analog inputs. Fig 6. Factory setting: C Deceleration Time 1 If the output frequency when decelerating to a stop falls below b, the DC injection brake will be applied using the DC current set in b only for the time set in b The motor coasts to a stop at the deceleration rate that counterbalances damage to the machine and inertia including the load.
Page Using An Emergency Stop Using an Emergency Stop Set a multi-function input terminal H1- to 15 or 17 emergency stop to decelerate to a stop at the decel- eration time set in C If inputting the emergency stop with an NO contact, set the multi-function input ter- minal H1- to 15, and if inputting the emergency stop with an NC contact, set the multi-function input terminal H Page Acceleration And Deceleration Characteristics Acceleration and Deceleration Characteristics Acceleration and Deceleration Characteristics This section explains the acceleration and deceleration characteristics of the Inverter.
Page Entering S-curve Characteristics in the Acceleration and Deceleration Time By performing acceleration and deceleration using an S-curve pattern, you can reduce shock when starting and stopping the machine.
Using the Inverter, you can set an S-curve characteristic time for each of the following: Acceleration start time, deceleration start time, acceleration end time, and deceleration end time. By temporarily storing the output frequency, you can prevent the motor from stalling. When using the dwell function, you must select a deceleration stop.
Page Acceleration and Deceleration Characteristics Time Chart The following figure shows the frequency characteristics when L is set to 1.
Output current Stall level during acceleration Time Output frequency Output frequency is controlled to prevent the motor stalling. Time Fig 6. This function automatically lengthens the deceleration time with respect to the bus voltage, even if the decel- eration time has been set to a considerably small value. Output frequency Deceleration time controlled to prevent overvoltage Time Deceleration time set value Fig 6. Adjusting Analog Frequency References Gain and bias are among the constants used to adjust analog inputs.
Page Operation Avoiding Resonance Jump Frequency Function Operation Avoiding Resonance Jump Frequency Function The jump frequency function operates the motor while avoiding resonance caused by characteristic frequen- cies in the machinery. This function is effective in creating a frequency reference dead band. During constant-speed operation, operation within the jump frequency range is prohibited. Smooth operation still used during acceleration and deceleration, i.
Limiting Maximum Output Frequency If you do not want the motor to rotate above a given frequency, use constant d Reducing Motor Speed Fluctuation Slip Compensation Function When the load is large, the amount of motor slip also grows large and the motor speed decreases.
The slip compensation function controls the motor at a constant speed, regardless of changes in load. Page Adjusting Slip Compensation Gain You can switch the C constant settings as shown below by changing the control method. Adjust the slip compensation gain using the following procedure.
If the slip compensation function operates during regeneration, you might have to use the braking option braking resistor, Braking Resistor Unit, and Braking Unit to momentarily increase the regenerative amount. Usually setting is not necessary. Adjust the constant as shown below. If the motor is vibrating, increase the set value.
Page Stabilizing Speed Speed Feedback Detection Function Stabilizing Speed Speed Feedback Detection Function The speed feedback detection control AFR function measures the stability of the speed when a load is sud- denly applied, by calculating the amount of fluctuation of the torque current feedback value, and compensat- ing the output frequency with the amount of fluctuation. Limiting Motor Torque Torque Limit Function flux vector control and The motor torque limit function is enabled with open-loop vector control.
Page Machine Protection Setting Torque Limits Using Constants and an Analog Input The following block diagram shows the relationship between torque limit using constants and torque limit using an analog input. Page Preventing Motor Stalling During Operation Preventing Motor Stalling During Operation Stall prevention during operation prevents the motor from stalling by automatically lowering the Inverter's output frequency when a transient overload occurs while the motor is operating at a constant speed.
If the Inverter output current continues to exceed the setting in constant L for ms or longer, the motor speed is reduced. Page L and L Set Values and LED Indications The relationship between alarms displayed by the Digital Operator when overtorque or undertorque is detected, and the set values in L and L, is shown in the following table.
This set value is the electronic thermal base current. Use this setting for applications in which reverse motor rotation can cause problems e. Related Constants Control Methods Change Page Continuing Operation Continuing Operation This section explains functions for continuing or automatically restarting Inverter operation even if an error occurs.
Restarting Automatically After Power Is Restored Even if a temporary power loss occurs, you can restart the Inverter automatically after power is restored to continue motor operation. Set either external search command 1 or external search command 2. Page Continuing Operation Speed Search Selection Set whether to enable or disable speed search at startup, and set the type of speed search estimated speed or current detection using setting b To perform speed search when inputting the Run Command, set b to 1 or 3.
Speed Search at Startup The time chart when speed search at startup or external speed search command is selected is shown below. Deceleration time set in b Run Command Maximum output Set frequency When the error signal during frequency reference loss is output externally, set H to H multi-function contact output terminal M1-M2, P1-PC, and P2-PC function selection to C frequency reference lost.
L auto restart Automatically restarts after a 0 to 10 49EH attempts Page Inverter Protection Inverter Protection This section explains the functions for protecting the Inverter and the braking resistor. Page Input Terminal Functions Input Terminal Functions This section explains input terminal functions, which set operating methods by switching functions for the multi-function contact input terminals S3 to S8.
Here, frequency references from analog frequency reference termi- nal A1 becomes the frequency reference lower limit. If using a combination of the frequency reference from terminal A1 and the frequency reference lower limit set in either constant d or d, the larger lower limit will become the frequency reference lower limit. The Run Command is ON or a voltage is being output. Page Monitor Constants Monitor Constants This section explains the analog monitor and pulse monitor constants.
Using the Analog Monitor Constants This section explains the analog monitor constants. Refer to Chapter 5 User Constants, and set the values for the part of U1- status monitor. Alternatively, you can output monitor items U1- [status monitor] from analog output option terminal channels 1 and 2 on analog monitor boards AO and AO Page Individual Functions Individual Functions Individual Functions This section explains the individual functions used in special applications.
Serial com- munications between master and slave are normally started by the master, and the slave responds. Perform calculations using the following method. Page Loopback Test The loopback test returns command messages directly as response messages without changing the contents to check the communications between the master and slave.
You can set user-defined test code and data values. The following table shows a message example when performing a loopback test with the slave 1 Inverter. Page Individual Functions Set the number of data specified using command messages as quantity of specified messages x 2. Handle response messages in the same way. The types of data are as follows: Reference data, monitor data, and broadcast data. Monitor data can only be read. Register No. Page Individual Functions Register No.
You can also write this data. Page Self-Diagnosis The Inverter has a built-in function for self-diagnosing the operations of serial communications interface cir- cuits. This function is called the self-diagnosis function. The self-diagnosis function connects the communica- tions parts of the send and receive terminals, receives the data sent by the Inverter, and checks if communications are being performed normally. By setting the delay time, you can erase chattering from the sensors and switches.
By combin- ing proportional control P , integral control I , and derivative control D , you can even control targets machinery with play time. The characteristics of the PID control operations are given below. Selection of Operation continues during PID feed- detection, with the Normally, the frequency reference selected in b is the PID target value, but you can also set the PID target value as shown in the following table. Suppressing Overshoot If overshoot occurs, reduce derivative time D , and increase integral time I.
Response Before adjustment After adjustment Time Set a Rapidly Stabilizing Control Condition To rapidly stabilize the control even if overshoot occurs, reduce integral time I , and lengthen derivative time D.
Page Suppressing Short Cycle Vibration If vibration occurs when the vibration cycle is short, and the cycle is almost identical to the derivative time D set value, the differential operation is too strong.
Shorten the derivative time D to suppress the vibration. If vibration continues even when the derivative time D is set to 0. If PID feedback is lost, the Inverter output frequency may accelerate to the maximum output frequency. When setting b to 1 and the status of the PID feedback value detection level in b is insufficient and continues for the time set in b, an FbL PID feedback reference lost alarm will be displayed on the Digi- tal Operator and Inverter operation will continue.
The constants to be adjusted are different for each. Page The following parameters will also affect the control system indirectly. User Parameter Descriptions Description of User Parameter Tables User parameter tables are structured as shown below. Here, b Frequency Reference Selection is used as an example. The user parameters displayed in quick programming mode are listed in the following table. These, and all other user parameters, are also displayed in advanced programming mode.
E Password This function write-protects some parameters of the initial- ize mode. Rotating 0: Speed Search is started using Selection the rotation direction from Direction Torque com- Usually changing this setting pensation is not necessary.
Motor 2 This set value will become a rated current 0. PGO will 0. F Output This function is enabled when a Not used. Normally, there is no need to change this setting.
The gear ratio Adjustments U shoes the kWh Lower lower four digits, U 4 dig Current Fault Last fault U The content of the last fault. The format is the same as for U Page V and V Class Inverters of 0. The setting ranges for the Inverter carrier frequency, overload capability and maximum output fre- quency depend on the setting of C The setting ranges and factory settings of some parameters change with the setting of C Page Carrier Frequency and Inverter Overload Capability The inverter overload capability depends among other things on the carrier frequency setting.
If the carrier fre- quency setting is higher than the factory setting, the overload current capability must be reduced. If the carrier frequency is set to a higher value than the factory setting, the overload capability is reduced like shown in Fig 6. When terminal S3 multi-step speed command 1 is OFF, terminal A1 input master speed frequency refer- ence will be the Inverter frequency reference, and when terminal S3 is ON, terminal A2 input auxiliary speed frequency reference will be the Inverter frequency reference.
Page Using Multi-Step Speed Operation Using Multi-Step Speed Operation The inverter supports a multi step speed operation with a maximum of 17 speed steps, using 16 multi-step fre- quency references, and one jog frequency reference. The following example of a multi-function input terminal function shows a 9-step operation using multi-step references 1 to 3 and jog frequency selection functions.
Page Setting Precautions When setting analog inputs to step 1 and step 2, observe the following precautions. When setting terminal A2's analog input to step 2 set H to 2 auxiliary frequency reference. Page When Closed Loop Vector control is selected, the stopping behavior depends on the setting of b Analog frequency E reference The Run command turns OFF and zero speed control starts when the motor speed feedback drops below b The applied DC injection current can be set in parameter b The DC injection braking time depends on the set value of b and on the output frequency at the moment when the stop com- mand is input and.
Set parameter b to apply DC injection to the motor, before it starts to accel- erate. The time chart for the DC injection brake is shown below. If inputting the fast stop with an NO contact, set the multi-function digital input termi- nal H1- to 15, and if inputting the fast stop with an NC contact, set the multi-function digital input terminal H Page Time Chart The following figure shows the frequency characteristics when L is set to 1. The acceleration rate is lowered. The acceleration is stopped to reduce the output current.
Time Fig 6. Page Preventing Overvoltage During Deceleration Preventing Overvoltage During Deceleration The stall prevention during deceleration function lengthens the deceleration time automatically with respect to the DC-bus voltage to avoid overvoltage tripping.
Page Setting Example An example of stall prevention during deceleration when L is set to 1 is shown below. Output frequency Deceleration time controlled to prevent overvoltage Time Deceleration time set value Fig 6.
Page Adjusting Frequency References Adjusting Frequency References Adjusting Analog Frequency References The analog reference values can be adjusted using the gain and bias functions for the analog inputs. Page Refer to Fig 6. Frequency bias Multi-function analog input terminal A2 channel 3 input Related Parameters Control Methods Change The digital multifunction outputs M1 to M6 can be programmed for this function and can be used to indicate a frequency detection or agreement to any external equipment.
Page Time Charts The following table shows the time charts for each of the speed agreement functions. The slip compensation func- tion keeps the motor speed constant, regardless of changes in load. The setting value of C depends on the control method. Fig 6. Operate the motor at zero speed. Increase C ASR proportional gain 1 to a level where no oscillation in the motor speed occurs.
Decrease C ASR integral time 2 to a level where no oscillation in the motor speed occurs. Page Different Gain Settings for Low-speed and High-speed Switch between low-speed and high-speed gain when oscillation occurs because of resonance with the mechanical system at low speed or high speed. The gain and integral time can be switched according to the motor speed, as shown in 6.
See Fig 6. Page Hunting-Prevention Function Hunting-Prevention Function The hunting-prevention function suppresses hunting when the motor is operating with a light load. It calculates the amount of speed fluctuation using the torque current Iq feedback value and compensates the output frequency with the amount of fluctuation.
The torque limit can be set as fixed value using parameters or as variable value using an analog input. The table below shows the possible analog input settings H for the torque limit function. The torque limit has the priority. Page Motor Torque Detection Motor Torque Detection If an excessive load is applied to the machinery overtorque or the load drops suddenly undertorque , an alarm signal can be output to one of the digital output terminals M1-M2, M3-M4, or M5-M6. Page L and L Set Values and Operator Display The relationship between alarms displayed on the digital operator when overtorque or undertorque is detected, and the set values in L and L, is shown in the following table.
The induction motor's cooling abilities vary with the motor type. Consequently, you must select the electronic thermal protection characteristics. Set L to: 0: to disable the thermal motor protection function.
The thermistor must be connected to an analog input. Page Automatic Restart Automatic Restart This section explains functions for continuing or automatically restarting inverter operation after a momentary power loss.
Restarting Automatically After Momentary Power Loss If a temporary power loss occurs, the inverter can be restarted automatically to continue motor operation. To restart the Inverter after the power has returned, set L to 1 or 2. Page Speed Search Speed Search The speed search function detect the actual speed of a motor that is coasting without control and restart it smoothly from that speed. It is also activated after momentary power loss detection when L is set to enabled.
Set either external search command 1 or external search command 2. Page Speed Calculation Search at Startup The time chart for when speed search at startup and speed search to multi-function input terminals is shown below.
Deceleration time set in b Set frequency refer- Run command ence Starts using calculated speed Output frequency b Output current 0.
Page Current Detection Speed Search at Startup The time chart when speed search at startup or external speed search command is selected is shown below. Deceleration time set in b Run command Set frequency ref- Maximum output erence frequency or set frequency Output frequency b Output current In case of very low current values as with special motors the detected speed can differ from the actual speed of the motor. If no fault is detected, the Inverter will restart automatically.
This is called the auto restart function. Set the number of allowed auto restarts in parameter L The auto restart function can be applied to the following faults.
This function can be used for times when a motor should not be stopped quickly with an emergency stop. Page Inverter Protection Inverter Protection Overheating Protection for an Inverter-Mounted Braking Resistor This function provides overheat protection for inverter-mounted braking resistors Model: ERFWJ When overheating of a mounted braking resistor is detected, an fault RH mounted braking resistor overheat- ing is displayed on the Digital Operator, and the motor coasts to stop.
The fault can be output using one of the multi-function digital outputs as well. Page Inverter Overheat Protection Inverter Overheat Protection This function provides overheat protection for inverter-mounted braking resistors Model: ERFWJ When overheating of a mounted braking resistor is detected, an fault RH mounted braking resistor overheat- ing is displayed on the Digital Operator, and the motor coasts to stop.
This is the factory setting. Local: The digital operator is used as frequency reference and run command source. In this case the value from the input A1 becomes the fre- quency reference lower limit. If using a combination of the frequency reference from terminal A1 and the frequency reference lower limit set in either parameter d or d, the larger limit value will become the frequency reference lower limit.
Otherwise operation fault OPE03 invalid multi-function input selection will occur. Page Output Terminal Functions Output Terminal Functions The digital multifunction outputs can be set for several functions using the H to H parameters termi- nal M1 to M6 function selection. These functions are described in the following section. Page Inverter Operation Ready Setting: 6 If a multifunction output is programmed for this function the output will be switched ON when the initialisa- tion of the inverter at startup has finished without any faults.
Page Motor 2 Selection Setting: 1C If a multifunction output is programmed for this function the output is switched ON when motor 2 is selected. During Regenerative Operation Setting: 1D If a multifunction output is programmed for this function the output is switched ON when the motor works regenerative, i. Page Using The Pulse Train Monitor Output Adjustment Examples The influence of the settings of gain and bias on the analog output channel is shown on three examples in 6.
Page Application Precautions When using the pulse monitor output, connect a peripheral device according to the following load conditions. If the load conditions are different, there is a risk of characteristic insufficiency or damage to the inverter.
Serial com- munications between master and slave are normally started by the master and the slaves respond. Page Function Code The function code specifies commands.
The three function codes shown in the table below are available. Bytes Max. Bytes Min. Bytes Read memory register contents Loop back test Write multiple memory registers Data Configure consecutive data by combining the memory register address test code for a loop back address and Page The following example clarifies the calculation method.
It shows the calculation of a CRC code with the slave address 02H and the function code 03H The example calculation in this example is not done completely normally data would follow the function code.
Reading Inverter Memory Register Contents The content of maximum 16 inverter memory registers can be readout at a time. Among other things the command message must contain the start address of the first register that is to be read out and the quantity of registers that should be read out.
Page Writing to Multiple Inverter Memory Registers The writing of inverter memory registers works similar to the reading process, i. The to be written data must be consecutive, starting from the specified address in the command message.
Page Data Tables The data tables are shown below. The types of data are as follows: Reference data, monitor data, and broadcast data. Reference Data The reference data table is shown below. These data can be read and written. They cannot be used for monitor- ing functions. Monitor data can only be read.
Register Address. Page Register Address. Page Inverter Fault Codes Broadcast Data Using broadcast data a command can be given to all slaves at the same time.
The slave address in the com- mand message must be set to 00H. All slaves will receive the message. They will not respond. The following table shows the broadcast data. When a communications fault overrun, framing, parity, or CRC is detected in the command message. By setting the delay time, you can prevent chattering of the sensors and switches.
Set one of the parameters H to H digital input terminal S3 to S7 to 18 timer function input. By com- bining proportional control P , integral control I , and differential control D , you can even control system with load fluctuation.
The characteristics of the PID control operations are given below. Response Before adjustment After adjustment Time Set a Rapidly Stabilizing Control Condition To rapidly stabilize the control even if overshoot occurs, reduce integral time I , and lengthen differential time D. When the load varies rapidly, the Inverter response is delayed, and the machine might get be damaged or the motor may stall. In this case, reduce the set value to speed up Inverter response. Otherwise if the PID feedback gets lost, the Inverter output frequency may accelerate to the maximum output frequency.
The inverter operation will resume, if the PID output value exceeds the sleep operation level for the time set in parameter b or longer. The PID target value becomes the frequency reference value. Energy-saving control can be performed in all control methods. The parameters to be adjusted are different for each. Page Field Forcing Field Forcing The field forcing function controls the motor flux and compensates the flux establishment delay of the motor.
Thereby it improves the motor responsiveness on changes in the speed reference or the load. Field forcing is applied during all operation conditions except DC Injection. Using parameter d a field forcing limit can be applied.
Motor Rated Slip Setting E Set E to the motor rated slip calculated from the number of rated rotations on the motor nameplate. It is not rec- ommended to change the settings when the motor is used in Open Loop or Closed Loop vector control mode. The factory setting for E is F. Page 0. For a V class motor, multiply all voltages by 2. Page 2. Output voltage V Frequency Hz Fig 6. In the Vector Control modes the motor data are set automatically by autotuning. If the autotuning does not complete normally, set them manually refer to page , Manual Setting of the Motor Parameters.
It is not recommended to change the settings when the motor is used in open loop vector mode. Page Torque Control Torque Control With Closed Loop Vector control the motor's output torque can be controlled by a torque reference from an analog input.
Torque control can be enabled by setting parameter d to 1 or 2. Page Torque Control Operation Torque Control Operation In torque control a torque value can be given as reference for the motor output.
If the torque command and the load are not balanced, the motor accelerates or decelerates. The speed limit circuit prevents the motor speed from rising above certain value set by an analog input or parameter d Page The direction of the torque output from the motor will be determined by the sign of the analog signal input or a digital input command. It does not depend on the direction of the run command. This differs from the operation of the speed limit setting.
To use the speed limit bias, set d to 0 and set the bias in d as a percentage of the maximum output frequency. Page put by the speed limiter is the same as the actual load, the motor will stop accelerating and run at a constant speed.
Page Droop Control Function Droop Control Function Droop control is a function that allows to achieve a load sharing between two motors that drive a single load. The Droop Control function must be enabled at one inverter only. If by this inverter the torque rises, the speed is reduced and the other inverter takes over more load. This means, that if the frequency reference falls below the Zero-Speed level parameter b a position loop is activated and the motor is kept at the position, even if a load is applied.
Page Timing Chart An example timing chart for the Zero-Servo function showing the input and output signals is given in the fig- ure below. Page Kinetic Energy Buffering The function can be activated using a multifunction input i.
A wiring example is shown in Fig. To set up this parameter do the following: Increase C until a UV1 fault is detected during deceleration. Page Speed Follower Function Speed Follower Function The speed follower function allows a slave drive to precisely follow the speed of a master encoder or drive. The speed ratio between the master and the follower is infinitely adjustable. In addtion, a gear ratio adjustment can be added to the speed reference via parameter, analogue input, multi-funtion digital input MOP or serial communication.
Output Freq. E 0. If o is set to 0 it will be Hz. If o is set to 1 it will be rpm. Changing the Display Contrast o Using o the contrast of the LCD display on the digital operator can be raised or lowered. Page Copying Parameters Cumulative Operation Time o and o The inverter has a function that counts the operation time of the inverter cumulatively.
Using parameter o the cumulative operation time can be changed, e. If parameter o is set to 0 the inverter counts the time whenever the power supply is switched ON. If o is set to 1 the time when a RUN command is active is counted only. Programming -ADV- Initialization Page Displaying User-Set Parameters Only Displaying User-set Parameters Only The A2 parameters user-set parameters and A parameter access level can be used to establish a param- eter set that contains only the most important parameters.
Set the number of the parameter to which you want to refer in A to A, and then set A to 1. Using the advanced programming mode you can read and modify A to A and the parameters set in A to A only. Refer to page , Option Card Models and Specifications to see details. If the motor is rotating for- wards, set whether it is A-phase leads or B-phase leads. Inverter Motor PG encoder Forward command Set the dividing ratio for the PG pulse monitor output.
The set value is expressed as n for the higher place digit, and m for the two lower place digits. If b is set to 1 and F is set to 0, the channel 1 and 2 replace the analog inputs A1 and A2.
A1 becomes the frequency reference input and the function of A2 can be selected using parameter H The possible settings are listed in the table below. Page Selecting the Digital Reference The setting range of the digital references is determined by the combination of the settings of o and F The information monitored in U Frequency reference will also change.
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