YKW U1000
Uploaded by
etorres.gerenproYKW U1000
Uploaded by
etorres.gerenproYASKAWA U1000 Series
Technical Manual
Type: CIMR-U
Rated Output Current: 200 V Class: 22 to 248 A
400 V Class: 9.6 to 414 A
To properly use the product, read this manual thoroughly and retain for
easy reference, inspection, and maintenance. Ensure the end user receives
this manual.
Receiving 1
Mechanical Installation 2
Electrical Installation 3
Start-Up Programming &
Operation 4
Parameter Details 5
Troubleshooting 6
Periodic Inspection &
Maintenance 7
Peripheral Devices &
Options 8
Specifications A
Parameter List B
MEMOBUS/Modbus
Communications
C
Standards Compliance D
MANUAL NO. SIEP C710636 03A
Quick Reference Sheet E
Copyright © 2014 YASKAWA ELECTRIC CORPORATION.
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. 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.
2 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
Quick Reference
Easily Set Parameters for Specific Applications
Preset parameter defaults are available for setting up applications. Refer to Application Selection on page 110.
Run a Motor One-Frame Larger
This drive can operate a motor one frame size larger when running variable torque loads such as fans and pumps. Refer to C6-01: Drive Duty Mode Selection on page 189.
Drive a Synchronous PM Motor
U1000 can operate synchronous PM motors. Refer to Subchart A-3: Operation with Permanent Magnet Motors on page 108.
Perform Auto-Tuning
Automatic tuning sets motor parameters. Refer to Auto-Tuning on page 116.
Maintenance Check Using Drive Monitors
Use drive monitors to check the if fans, capacitors, and other components may require maintenance. Refer to Performance Life Monitors Maintenance Monitors on page 354.
Fault Display and Troubleshooting
Refer to Drive Alarms, Faults, and Errors on page 306 and Refer to Troubleshooting without Fault Display on page 342.
Standards Compliance
YEG
Refer to European Standards on page 518.
Refer to UL Standards on page 521.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 3
4 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
Table of Contents
Quick Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
i. PREFACE & GENERAL SAFETY............................................................................ 15
i.1 Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Applicable Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Terms and Abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Trademarks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
i.2 General Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Supplemental Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Safety Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Application Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Notes on Motor Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Applications with Specialized Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Drive Label Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Warranty Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
1. RECEIVING .............................................................................................................. 27
1.1 Section Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
1.2 General Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
U1000 Model Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Control Mode Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
1.3 Model Number and Nameplate Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Nameplate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Model Number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
1.4 Drive Models and Enclosure Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
1.5 Component Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
IP00 Enclosure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
IP20/NEMA Type 1 Enclosure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Front Views . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
2. MECHANICAL INSTALLATION............................................................................... 39
2.1 Section Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
2.2 Mechanical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Installation Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Installation Orientation and Spacing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Instructions on Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Digital Operator Remote Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Exterior and Mounting Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 5
3. ELECTRICAL INSTALLATION ................................................................................ 55
3.1 Section Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
3.2 Standard Connection Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
3.3 Main Circuit Connection Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
3.4 Terminal Block Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
3.5 Terminal Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
20028 to 20130, 40011 to 40124 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
20154 to 20248, 40156 to 40414 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
3.6 Digital Operator and Front Cover. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Removing/Reattaching the Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Removing/Reattaching the Front Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
3.7 Top Protective Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Attaching the Top Protective Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Removing the Top Protective Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
3.8 Main Circuit Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Main Circuit Terminal Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Protecting Main Circuit Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Main Circuit Wire Gauges and Tightening Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Main Circuit Terminal and Motor Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
3.9 Control Circuit Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Control Circuit Connection Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Control Circuit Terminal Block Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Terminal Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Wiring the Control Circuit Terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
3.10 Control I/O Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Switches and Jumpers on the Terminal Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Sinking/Sourcing Mode for Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Sinking/Sourcing Mode Selection for Safe Disable Inputs . . . . . . . . . . . . . . . . . . . . . . 81
Terminal DM+ and DM- Output Signal Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Using the Pulse Train Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Terminal A2 Input Signal Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Terminal A3 Analog/PTC Input Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Terminal AM/FM Signal Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
3.11 Connect to a PC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
3.12 MEMOBUS/Modbus Termination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
3.13 Enable the Internal EMC Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
3.14 External Interlock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Operation Ready . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
3.15 Wiring Checklist . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
4. START-UP PROGRAMMING & OPERATION ........................................................ 93
4.1 Section Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
4.2 Using the Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Keys and Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
LCD Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
ALARM (ALM) LED Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
LO/RE LED and RUN LED Indications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Menu Structure for Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
4.3 The Drive and Programming Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Navigating the Drive and Programming Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Changing Parameter Settings or Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Verifying Parameter Changes: Verify Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
Simplified Setup Using the Setup Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Switching Between LOCAL and REMOTE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
6 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
4.4 Start-Up Flowcharts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Flowchart A: Basic Start-up and Motor Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Subchart A-1: Simple Motor Setup Using V/f Control . . . . . . . . . . . . . . . . . . . . . . . . 106
Subchart A-2: High Performance Operation Using OLV or CLV . . . . . . . . . . . . . . . . 107
Subchart A-3: Operation with Permanent Magnet Motors . . . . . . . . . . . . . . . . . . . . . 108
4.5 Powering Up the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
Powering Up the Drive and Operation Status Display . . . . . . . . . . . . . . . . . . . . . . . . 109
4.6 Application Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
Setting 1: Water Supply Pump Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
Setting 2: Conveyor Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Setting 3: Exhaust Fan Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Setting 4: HVAC Fan Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Setting 5: Air Compressor Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Setting 6: Hoist Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Notes on Controlling the Brake when Using the Hoist Application Preset . . . . . . . . . 113
Setting 7: Traveling Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
4.7 Auto-Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
Types of Auto-Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
Before Auto-Tuning the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
Auto-Tuning Interruption and Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
Auto-Tuning Operation Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
Parameter Settings during Induction Motor Auto-Tuning: T1 . . . . . . . . . . . . . . . . . . . 123
Parameter Settings during PM Motor Auto-Tuning: T2 . . . . . . . . . . . . . . . . . . . . . . . 125
Parameter Settings during Inertia and Speed Control Loop Auto-Tuning: T3 . . . . . . 127
4.8 No-Load Operation Test Run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
No-Load Operation Test Run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
4.9 Test Run with Load Connected . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
Test Run with the Load Connected . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
4.10 Verifying Parameter Settings and Backing Up Changes . . . . . . . . . . . . . . . . . . . 132
Backing Up Parameter Values: o2-03 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
Parameter Access Level: A1-01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
Password Settings: A1-04, A1-05 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
Copy Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
4.11 Test Run Checklist . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
5. PARAMETER DETAILS......................................................................................... 137
5.1 A: Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
A1: Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
A2: User Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
5.2 b: Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
b1: Operation Mode Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
b2: DC Injection Braking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
b3: Speed Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
b4: Timer Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
b5: PID Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
b6: Dwell Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
b7: Droop Control (CLV, CLV/PM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
b8: Energy Saving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
b9: Zero Servo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 7
5.3 C: Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
C1: Acceleration and Deceleration Times . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
C2: S-Curve Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
C3: Slip Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
C4: Torque Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
C5: Automatic Speed Regulator (ASR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
C6: Carrier Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
C7: Voltage Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
5.4 d: Reference Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
d1: Frequency Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
d2: Frequency Upper/Lower Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194
d3: Jump Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194
d4: Frequency Reference Hold and Up/Down 2 Function . . . . . . . . . . . . . . . . . . . . . 195
d5: Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200
d6: Field Weakening and Field Forcing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204
d7: Offset Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
5.5 E: Motor Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
E1: V/f Pattern for Motor 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
E2: Motor 1 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
E3: V/f Pattern for Motor 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
E4: Motor 2 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
E5: PM Motor Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216
5.6 F: Option Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
F1: PG Speed Control Card Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
F2: Analog Input Card Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
F3: Digital Input Card Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
F4: Analog Monitor Card Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223
F5: Digital Output Card Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224
F6 and F7: Communication Option Card . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224
5.7 H: Terminal Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
H1: Multi-Function Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
H2: Multi-Function Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
H3: Multi-Function Analog Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247
H4: Multi-Function Analog Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252
H5: MEMOBUS/Modbus Serial Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254
H6: Pulse Train Input/Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254
5.8 L: Protection Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257
L1: Motor Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257
L2: Momentary Power Loss Ride-Thru . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262
L3: Stall Prevention . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264
L4: Speed Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 269
L5: Fault Restart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270
L6: Torque Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271
L7: Torque Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 274
L8: Drive Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275
L9: Drive Protection 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280
5.9 n: Special Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281
n1: Hunting Prevention . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281
n2: Speed Feedback Detection Control (AFR) Tuning . . . . . . . . . . . . . . . . . . . . . . . . 281
n3: Overexcitation Braking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282
n5: Feed Forward Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283
n6: Online Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284
n8: PM Motor Control Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285
8 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.10 o: Operator Related Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290
o1: Digital Operator Display Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290
o2: Digital Operator Keypad Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291
o3: Copy Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294
o4: Maintenance Monitor Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294
q: DriveWorksEZ Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296
r: DriveWorksEZ Connection Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296
T: Motor Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296
5.11 U: Monitor Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297
U1: Operation Status Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297
U2: Fault Trace . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297
U3: Fault History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297
U4: Maintenance Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297
U5: PID Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297
U6: Control Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298
U8: DriveWorksEZ Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298
U9: Power Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298
6. TROUBLESHOOTING ........................................................................................... 299
6.1 Section Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 300
6.2 Motor Performance Fine-Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302
Fine-Tuning V/f Control and V/f Control with PG . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302
Fine-Tuning Open Loop Vector Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302
Fine-Tuning Closed Loop Vector Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303
Fine-Tuning Open Loop Vector Control for PM Motors . . . . . . . . . . . . . . . . . . . . . . . 303
Fine-Tuning Advanced Open Loop Vector Control for PM Motors . . . . . . . . . . . . . . 304
Fine-Tuning Closed Loop Vector Control for PM Motors . . . . . . . . . . . . . . . . . . . . . . 304
Parameters to Minimize Motor Hunting and Oscillation . . . . . . . . . . . . . . . . . . . . . . . 305
6.3 Drive Alarms, Faults, and Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306
Types of Alarms, Faults, and Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306
Alarm and Error Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307
6.4 Fault Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
Fault Displays, Causes, and Possible Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
6.5 Alarm Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324
Alarm Codes, Causes, and Possible Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324
6.6 Operator Programming Errors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331
oPE Codes, Causes, and Possible Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331
6.7 Auto-Tuning Fault Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334
Auto-Tuning Codes, Causes, and Possible Solutions . . . . . . . . . . . . . . . . . . . . . . . . 334
6.8 Copy Function Related Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338
Tasks, Errors, and Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338
6.9 Diagnosing and Resetting Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340
Fault Occurs Simultaneously with Power Loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340
If the Drive Still has Power After a Fault Occurs . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340
Viewing Fault Trace Data After Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340
Fault Reset Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341
6.10 Troubleshooting without Fault Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 342
Common Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 342
Cannot Change Parameter Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 342
Motor Does Not Rotate Properly after Pressing RUN Button or after Entering
External Run Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343
Motor is Too Hot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 344
Drive Does Not Allow Selection the Desired Auto-Tuning Mode . . . . . . . . . . . . . . . . 344
oPE02 Error Occurs When Lowering the Motor Rated Current Setting . . . . . . . . . . . 344
Motor Stalls during Acceleration or Acceleration Time is Too Long . . . . . . . . . . . . . 345
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 9
Drive Frequency Reference Differs from the Controller Frequency
Reference Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 345
Excessive Motor Oscillation and Erratic Rotation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 345
Load Falls When Brake is Applied (Hoist-Type Applications) . . . . . . . . . . . . . . . . . . . 345
Noise From Drive or Motor Cables When the Drive is Powered On . . . . . . . . . . . . . . 346
Equipment for Residual Current Monitoring/Detection
(RCM/RCD) Trips During Run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 346
Connected Machinery Vibrates When Motor Rotates . . . . . . . . . . . . . . . . . . . . . . . . 346
PID Output Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 346
Insufficient Starting Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 346
Motor Rotates After the Drive Output is Shut Off (Motor Rotates During
DC Injection Braking) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347
Output Frequency is not as High as Frequency Reference . . . . . . . . . . . . . . . . . . . . 347
Buzzing Sound from Motor at 2 kHz . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347
Unstable Motor Speed when Using PM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347
Motor Does Not Restart after Power Loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347
The Safety Controller Does Not Recognize Safe Disable Monitor Output Signals
(Terminals DM+ and DM-) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347
7. PERIODIC INSPECTION & MAINTENANCE ........................................................ 349
7.1 Section Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 350
7.2 Inspection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 352
Recommended Daily Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 352
Recommended Periodic Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353
7.3 Periodic Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 354
Replacement Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 354
7.4 Cooling Fan and Circulation Fan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 356
Number of Fan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 356
Cooling Fan Component Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 357
Cooling Fan Replacement: 20028 to 20130, 40011 to 40124 . . . . . . . . . . . . 358
Cooling Fan Replacement: 20154, 20192, 40156, 40180 . . . . . . . . . . . . . . . 360
Cooling Fan Replacement: 20248, 40216 to 40414 . . . . . . . . . . . . . . . . . . . . . 364
7.5 Drive Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 369
Serviceable Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 369
Terminal Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 369
Replacing the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 370
8. Peripheral Devices & OPTIONS ........................................................................... 373
8.1 Section Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 374
8.2 Drive Options and Peripheral Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376
8.3 Connecting Peripheral Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 377
8.4 Option Card Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 378
Prior to Installing the Option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 378
Installing the Option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379
8.5 Installing Peripheral Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 388
Installing a Molded Case Circuit Breaker (MCCB) and Equipment for Residual
Current Monitoring/Detection (RCM/RCD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 388
Installing a Magnetic Contactor at the Power Supply Side . . . . . . . . . . . . . . . . . . . . . 389
Connecting a Surge Absorber . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389
Reducing Noise . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389
Attachment for External Heatsink (IP00/NEMA type 1 Enclosure) . . . . . . . . . . . . . . . 390
Internal EMC-Filter Model Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 390
Installing a Motor Thermal Overload (oL) Relay on the Drive Output . . . . . . . . . . . . . 390
10 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
A. SPECIFICATIONS.................................................................................................. 391
A.1 Heavy Duty and Normal Duty Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 392
A.2 Three-Phase 200 V Class Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 393
A.3 Three-Phase 400 V Class Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 394
A.4 Drive Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395
A.5 Drive Watt Loss Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 397
A.6 Drive Derating Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 398
Rated Current Depending on Carrier Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . 398
Carrier Frequency Derating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 398
Temperature Derating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 399
Altitude Derating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 399
B. PARAMETER LIST ................................................................................................ 401
B.1 Understanding the Parameter Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 402
Control Modes, Symbols, and Terms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 402
B.2 Parameter Groups . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 403
B.3 Parameter Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 404
A: Initialization Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 404
b: Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 405
C: Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 412
d: Reference Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 417
E: Motor Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 420
F: Option Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 424
H: Multi-Function Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 432
L: Protection Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 442
n: Special Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 448
o: Operator Related Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 451
q: DriveWorksEZ Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 453
r: DriveWorksEZ Connection Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 453
T: Motor Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 453
U: Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 456
B.4 Control Mode Dependent Parameter Default Values. . . . . . . . . . . . . . . . . . . . . . . 465
A1-02 (Motor 1 Control Mode) Dependent Parameters . . . . . . . . . . . . . . . . . . . . . . . 465
E3-01 (Motor 2 Control Mode) Dependent Parameters . . . . . . . . . . . . . . . . . . . . . . . 467
B.5 V/f Pattern Default Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 468
B.6 Defaults by Drive Model Selection (o2-04) and ND/HD (C6-01) . . . . . . . . . . . . . . 469
B.7 Parameters that Change with the Motor Code Selection (for PM Motors) . . . . . 473
YASKAWA SMRA Series SPM Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 473
YASKAWA SSR1 Series IPM Motor (For Derated Torque) . . . . . . . . . . . . . . . . . . . . 474
YASKAWA SST4 Series IPM Motor (For Constant Torque) . . . . . . . . . . . . . . . . . . . 480
C. MEMOBUS/MODBUS COMMUNICATIONS ......................................................... 487
C.1 MEMOBUS/Modbus Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 488
C.2 Communication Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 489
C.3 Connecting to a Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 490
Network Cable Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 490
Wiring Diagram for Multiple Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 490
Network Termination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 491
C.4 MEMOBUS/Modbus Setup Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 492
MEMOBUS/Modbus Serial Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 492
C.5 Drive Operations by MEMOBUS/Modbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 495
Observing the Drive Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 495
Controlling the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 495
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 11
C.6 Communications Timing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 496
Command Messages from Master to Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 496
Response Messages from Drive to Master . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 496
C.7 Message Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 497
Message Content . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 497
Slave Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 497
Function Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 497
Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 497
Error Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 498
C.8 Message Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 499
Reading Drive MEMOBUS/Modbus Register Contents . . . . . . . . . . . . . . . . . . . . . . . 499
Loopback Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 499
Writing to Multiple Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 500
C.9 MEMOBUS/Modbus Data Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 501
Command Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 501
Monitor Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 502
Broadcast Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 509
Fault Trace Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 510
Alarm Register Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 511
C.10 Enter Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 512
Enter Command Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 512
C.11 Communication Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513
MEMOBUS/Modbus Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513
Slave Not Responding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513
C.12 Self-Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 514
D. STANDARDS COMPLIANCE................................................................................. 515
D.1 Section Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 516
D.2 European Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 518
CE Low Voltage Directive Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 518
EMC Guidelines Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 519
D.3 UL Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 521
UL Standards Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 521
Drive Motor Overload Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 527
D.4 Safe Disable Input Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 529
Safety Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 529
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 529
Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 529
Using the Safe Disable Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 530
E. QUICK REFERENCE SHEET................................................................................. 533
E.1 Drive and Motor Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 534
Drive Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 534
Motor Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 534
E.2 Basic Parameter Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 535
Basic Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 535
V/f Pattern Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 535
Motor Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 535
Multi-Function Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 535
Pulse Train Input/Analog Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 535
Multi-Function Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 535
Monitor Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 535
E.3 User Setting Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 536
12 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
Index ............................................................................................................................. 542
Revision History ............................................................................................................ 555
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 13
14 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
i
Preface & General Safety
This section provides safety messages pertinent to this product that, if not heeded, may result
in fatality, personal injury, or equipment damage. Yaskawa is not responsible for the
consequences of ignoring these instructions.
i.1 PREFACE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
i.2 GENERAL SAFETY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 15
i.1 Preface
i.1 Preface
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.
This manual is designed to ensure correct and suitable application of U1000 Series Drives. Read this manual before
attempting to install, operate, maintain, or inspect a drive and keep it in a safe, convenient location for future reference.
Be sure you understand all precautions and safety information before attempting application.
Applicable Documentation
The following manuals are available for U1000 series drives:
YASKAWA U1000 Series
Safety Precautions
This guide is packaged together with the product. It contains basic information required to install and wire the drive, in addition to an
overview of fault diagnostics, maintenance safety, and parameter settings.
YASKAWA U1000 Series
Technical Manual (this book)
This manual is included on the CD-ROM packaged with the product (Yaskawa AC Drive Manuals, TOBC C710616 21). A new version of
this manual is also available for download on our documentation website, e-mechatronics.com. This manual provides detailed information
on parameter settings, drive functions, and MEMOBUS/Modbus specifications. Use this manual to expand drive functionality and to take
advantage of higher performance features.
Symbols
Note: Indicates a supplement or precaution that does not cause drive damage.
Terms and Abbreviations
• V/f: V/f Control
• V/f w/PG: V/f Control with PG
• OLV: Open Loop Vector Control
• CLV: Closed Loop Vector Control
• OLV/PM: Open Loop Vector Control for PM
• AOLV/PM: Advanced Open Loop Vector Control for PM
• CLV/PM: Closed Loop Vector Control for PM
• PM motor: Permanent Magnet Synchronous motor (an abbreviation for IPM motor or SPM motor)
• IPM motor: Interior Permanent Magnet Motor (such as Yaskawa’s SSR1 Series and SST4 Series motors)
• SPM motor: Surface mounted Permanent Magnet Motor (such as Yaskawa’s SMRA Series motors)
Trademarks
• CANopen is a trademark of CAN in Automation (CiA).
• CC-Link is a trademark of CC-Link Partner Association (CLPA).
• DeviceNet is a trademark of Open DeviceNet Vendor Association, Inc. (ODVA).
• PROFIBUS-DP is a trademark of PROFIBUS International (PI).
• MECHATROLINK-II and MECHATROLINK-III are a trademark of MECHATROLINK Members Association
(MMA).
• LONWORKS is a trademark of ECHELON USA.
• Modbus TCP/IP is a trademark of Modbus-IDA.
• EtherNet/IP is a trademark of the ODVA.
• Other companies and product names mentioned in this manual are trademarks of those companies.
16 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
i.2 General Safety
i.2 General Safety
Supplemental Safety Information
General Precautions
• The diagrams in this manual may be indicated without covers or safety shields to show details. Restore covers or
shields before operating the drive and run the drive 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 a new copy of the manual due to damage or loss, contact your Yaskawa representative or the nearest
Yaskawa sales office and provide the manual number shown on the front cover.
• If nameplate becomes worn or damaged, order a replacement from your Yaskawa representative or the nearest
Yaskawa sales office.
WARNING
Read and understand this manual before installing, operating or servicing this drive. The drive must be installed
according to this manual and local codes.
The following conventions are used to indicate safety messages in this manual. Failure to heed these messages could
result in serious or possibly even fatal injury or damage to the products or to related equipment and systems.
DANGER
Indicates a hazardous situation, which, if not avoided, will result in death or serious injury.
WARNING
Indicates a hazardous situation, which, if not avoided, could result in death or serious injury.
WARNING! will also be indicated by a bold key word embedded in the text followed by an italicized safety message.
CAUTION
Indicates a hazardous situation, which, if not avoided, could result in minor or moderate injury.
CAUTION! will also be indicated by a bold key word embedded in the text followed by an italicized safety message.
NOTICE
Indicates a property damage message.
NOTICE: will also be indicated by a bold key word embedded in the text followed by an italicized safety message.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 17
i.2 General Safety
Safety Messages
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.
Electrical Shock Hazard
Do not connect or disconnect wiring while the power is on.
Failure to comply will result in death or serious injury.
Before servicing, disconnect all power to the equipment. The capacitor for the control power supply remains charged
even after the power supply is turned off. After shutting off the power, wait for at least the amount of time specified on
the drive before touching any components.
WARNING
Sudden Movement Hazard
System may start unexpectedly upon application of power, resulting in death or serious injury.
Clear all personnel from the drive, motor and machine area before applying power. Secure covers, couplings, shaft
keys and machine loads before applying power to the drive.
When using DriveWorksEZ to create custom programming, the drive I/O terminal functions change from
factory settings and the drive will not perform as outlined in this manual.
Unpredictable equipment operation may result in death or serious injury.
Take special note of custom I/O programming in the drive before attempting to operate equipment.
Electrical Shock Hazard
Do not attempt to modify or alter the drive in any way not explained in this manual.
Failure to comply could result in death or serious injury.
Yaskawa is not responsible for any modification of the product made by the user. This product must not be modified.
Do not allow unqualified personnel to use equipment.
Failure to comply could result in death or serious injury.
Installation, maintenance, inspection and servicing must be performed only by authorized personnel familiar with
installation, adjustment and maintenance of AC drives.
Do not remove covers or touch circuit boards while the power is on.
Failure to comply could result in death or serious injury.
Make sure the protective earthing conductor complies with technical standards and local safety regulations.
When an EMC filter is installed or with models CIMR-U40414 and larger, the leakage current exceeds 3.5 mA.
Therefore according to IEC/EN 61800-5-1 automatic power supply interruption in case of discontinuity of the
protective earthing conductor must be provided or a protective earthing conductor with a cross section of at least 10
mm2 (Cu) or 16 mm2 (Al) must be used.
Use appropriate equipment for residual current monitoring/detection (RCM/RCD).
This drive can cause a residual current with a DC component in the protective earthing conductor. Where a residual
current operated protective or monitoring device is used for protection in case of direct or indirect contact, always use
an RCM or RCD of type B according to IEC/EN 60755.
18 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
i.2 General Safety
WARNING
Fire Hazard
Do not use an improper voltage source.
Failure to comply could result in death or serious injury by fire.
Verify that the rated voltage of the drive matches the voltage of the incoming power supply before applying power.
Crush Hazard
Do not use this drive in lifting applications without installing external safety circuitry to prevent accidental
dropping of the load.
The drive does not possess built-in load drop protection for lifting applications.
Failure to comply could result in death or serious injury from falling loads.
Install electrical and/or mechanical safety circuit mechanisms independent of drive circuitry.
If using a crane or a lifter to transport the drive, make sure that only qualified personnel are allowed operating.
Incorrect operation may cause the drive to suddenly drop, resulting in serious injury.
Only allow qualified personnel to operate a crane or hoist to transport the drive.
Failure to comply could result in death or serious injury from falling equipment.
CAUTION
Crush Hazard
Do not carry the drive by the front cover.
Failure to comply may result in minor or moderate injury from the main body of the drive falling.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 19
i.2 General Safety
NOTICE
Observe proper electrostatic discharge procedures (ESD) when handling the drive and circuit boards.
Failure to comply may result in ESD damage to the drive circuitry.
Do not perform a withstand voltage test on any part of the drive.
Failure to comply could result in damage to the sensitive devices within the drive.
Do not operate damaged equipment.
Failure to comply could result in further damage to the equipment.
Do not connect or operate any equipment with visible damage or missing parts.
If a fuse is blown or equipment for residual current monitoring/detection (RCM/RCD) is tripped, check the
wiring and the selection of the peripheral devices.
Contact your supplier if the cause cannot be identified after checking the above.
Do not restart the drive or immediately operate the peripheral devices if a fuse is blown or equipment for
residual current monitoring/detection (RCM/RCD) is tripped.
Check the wiring and the selection of peripheral devices to identify the cause.
Contact your supplier before restarting the drive or the peripheral devices if the cause cannot be identified.
Install adequate branch circuit short circuit protection per applicable codes.
Failure to comply could result in damage to the drive.
The drive is suitable for circuits capable of delivering not more than 100,000 RMS symmetrical Amperes, 240 Vac
maximum (200 V Class), 480 Vac maximum (400 V Class: CIMR-U4E, CIMR-U4W), and 500 Vac
maximum (400 V Class: CIMR-U4A, CIMR-U4P).
Do not expose the drive to halogen group disinfectants.
Failure to comply may cause damage to the electrical components in the drive.
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.
Application Notes
Selection
Drive Rated Output Current
Make sure that the motor rated current is less than the rated output current for the drive.
When running more than one motor in parallel from a single drive, the capacity of the drive should be larger than [motor
rated current 1.1]. Run only one motor from each drive when using vector control. It is not possible to run more than
one motor from one drive with vector control.
When 2 Seconds is Required for Momentary Power Loss Ride-Thru Time
Use the units listed below when continuing drive operation after the power is restored even after a momentary loss of
power of 2 seconds occurs:
• 200 V class Momentary Power Loss Ride-Thru unit: Model No. P0010
• 400 V class Momentary Power Loss Ride-Thru unit: Model No. P0020
Drive Start-Up Time
The drive requires 1.5 seconds to prepare for operation after the power is turned on. Be mindful of this delay when using
an external reference input.
Note: 1.5 seconds is the required time when no optional devices are used with the drive. When using an optional communication
device, the time required for the drive to be ready for operation will vary in accordance with the start up time of the
communication card.
20 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
i.2 General Safety
Selection of Power Supply Capacity
Use a power supply that is greater than the rated input capacity (kVA) of the drive. If the power supply is lower than the
rated capacity of the drive, the device will be unable to run the application properly and will trigger a fault.
The rated input capacity of the drive, SCONV (kVA), can be calculated by the following formula:
SCONV = 3 IinVin /1000
(Iin: Rated input current [A], Vin: Applicable power supply voltage [V])
Connection to Power Supply
The total impedance of the power supply and wiring for the rated current of the drive is %Z = 10% or more. Power
voltage distortion may occur when the impedance of the power supply is too large. When wiring over long distances, be
sure to take preventative measures such as using thick cables or series wiring to lower the impedance of wiring. Contact
Yaskawa for details.
Grounding the Power Supply
Yaskawa recommends using a dedicated ground for the power supply, as the drive is designed to run with a 1:1 ratio
relative to the power supply. Ground other devices should as directed in the specifications for those devices. Take
particular care when connecting sensitive electronic equipment such as OA devices. Separate ground lines and install a
noise filter to prevent problems from noise.
When Using a Generator as a Power Supply
Select the generator capacity approximately twice as large as the drive input power supply capacity. Set the deceleration
time or load so that the regenerative power from the motor will be 10% or less of the generator capacity. For further
information, contact a Yaskawa representative.
When a Phase Advance Capacitor or Thyristor Controller is Provided for the Power Supply
The drive does not require a phase advance capacitor. Installing a phase advance capacitor to the drive will weaken the
power factor.
For the phase advance capacitor that has already been installed on the same power supply system as the drive, attach a
phase-advance capacitor with a series reactor to prevent oscillation with the drive.
Contact Yaskawa when a device generating voltage surge or voltage distortion such as DC motor drive thyristor
controller or magnetic agitator is installed on the same power supply system.
Prevention Against EMC or Harmonic Leakage Current
Use units with built-in EMC filters that have the CE marking.
Use a zero-phase reactor as a noise filter when a device that will be affected by noise is near the drive.
Effects of Power Supply Distortion
Distortion of the power supply voltage increases the harmonics contents due to power supply harmonics entering the
drive.
Starting Torque
The startup and acceleration characteristics of the motor are restricted to the drive’s overload current rating (HD: 150%
60 s, ND: 120% 60 s).
The overload rating for the drive determines the starting and accelerating characteristics of the motor. Expect lower
torque than when running from line power. To achieve a higher starting torque, use a larger drive, or a drive and motor
with larger capacity.
Emergency Stop
When the drive faults out, the output is shut off. This, however, does not stop the motor immediately. Some type of
mechanical brake may be needed if it is necessary to halt the motor faster than the Fast Stop function is able to.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 21
i.2 General Safety
Repetitive Starting/Stopping
Cranes (hoists), elevators, punching presses, and other such applications with frequent starts and stops often exceed
150% of their rated output current values. Heat stress generated from repetitive high current can shorten the life span of
the IGBTs. The expected lifetime of the IGBTs is about 8 million start and stop cycles with a 4 kHz carrier frequency and
a 150% peak current.
For crane-type applications using an inching function in which the motor is quickly started and stopped, Yaskawa
recommends selecting a large enough drive so that peak current levels remain below 150% of the drive rated current.
Run only one motor from each drive when using vector control. It is not possible to run more than one motor from one
drive with vector control.
Carrier Frequency Derating
When the carrier frequency of the drive is increased above the factory default setting, the rated output current of the drive
should be reduced. Refer to Carrier Frequency Derating on page 398 for details.
Installation
Enclosure Panels
Keep the drive in a clean environment by either selecting an area free of airborne dust, lint, and oil mist, or install the
drive in an enclosure panel. Be sure to leave the required space between drives to provide for cooling, and that proper
measures are taken so that the ambient temperature remains within allowable limits. Keep flammable materials away
from the drive. If the drive must be used in an area where it is subjected to oil mist and excessive vibration, protective
designs are available. Contact Yaskawa or your Yaskawa agent for details.
Installation Direction
The drive should be installed upright as specified in the manual. For more information on installation, refer to
Mechanical Installation on page 42.
Settings
Upper Limits
The drive is capable of running the motor up to 400 Hz. Due to the danger of accidentally of operating at high speed, be
sure to set the upper limit for the frequency. The default setting for the maximum output frequency is 50 Hz.
DC Injection Braking
Motor overheat can result if there is too much current used during DC Injection Braking, or if the time for DC Injection
Braking is too long.
Acceleration/Deceleration Times
Acceleration and deceleration times are affected by how much torque the motor generates, the load torque, and the
moment of inertia. Set a longer accel/decel time when Stall Prevention is enabled. The accel/decel times are lengthened
for as long as the Stall Prevention function is operating. For faster acceleration and deceleration, use a larger drive and
motor.
General Handling
Wiring Check
Be sure to perform a final check of all sequence wiring and other connections before turning the power on. Make sure
there are no short circuits on the control terminals (+V, AC, etc.), as this could damage the drive.
Selecting a Circuit Breaker or Leakage Circuit Breaker
Yaskawa recommends installing equipment for residual current monitoring/detection (RCM/RCD) to the power supply
side. The RCM/RCD should be designed for use with an AC drive (e.g. Type B according to IEC/EN 60755).
Select a MCCB (Molded Case Circuit Breaker) or RCM/RCD with a rated current that is 1.5 to 2 times higher than the
rated current of the drive in order to avoid nuisance trips caused by harmonics in the drive input current. Also refer to
Installing a Molded Case Circuit Breaker (MCCB) and Equipment for Residual Current Monitoring/Detection
(RCM/RCD) on page 388.
22 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
i.2 General Safety
Magnetic Contactor Installation
Use a magnetic contactor (MC) to ensure that power to the drive can be completely shut off when necessary. The MC
should be wired so that it opens when a fault output terminal is triggered.
Avoid switching a magnetic contactor on the power supply side more frequently than once every 30 minutes. Frequent
switching can cause damage to the drive.
Inspection and Maintenance
Capacitors for the control power supply take time to discharge even after the power has been shut off. After shutting off
the power, wait for at least the amount of time specified on the drive before touching any components.
The heatsink can become quite hot during operation, and proper precautions should be taken to prevent burns. When
replacing the cooling fan, shut off the power and wait at least 15 minutes to be sure that the heatsink has cooled down.
Even when the power has been shut off for a drive running a PM motor, voltage continues to be generated at the motor
terminals while the motor coasts to stop. Take the precautions described below to prevent shock and injury:
• In Applications where the machine can still rotate even though the drive has fully stopped a load switch for
disconnecting motor and drive should be installed to the output side of the drive.
• Do not allow an external force to rotate the motor beyond the maximum allowable speed, also when the drive has been
shut off.
• Wait for at least the time specified on the warning label after opening the load switch on the output side before
inspecting the drive or performing any maintenance.
• Do not open and close the load switch while the motor is running, as this can damage the drive.
• If the motor is coasting, make sure the power to the drive is turned on and the drive output has completely stopped
before closing the load switch.
Wiring
All wire ends should use ring terminals for UL/cUL compliance. Use only the tools recommended by the terminal
manufacturer for crimping.
Transporting the Drive
Never steam clean the drive.
During transport, keep the drive from coming into contact with salts, fluorine, bromine, phthalate ester, and other such
harmful chemicals.
Notes on Motor Operation
Using a Standard Motor
Low Speed Range
The cooling fan of a standard motor is usually designed to sufficiently cool the motor at the rated speed. As the
self-cooling capability of such a motor decreases with the speed, applying full torque at low speed will possibly damage
the motor. To prevent motor damage from overheat, reduce the load torque as the motor slows.
Insulation Tolerance
Consider voltage tolerance levels and insulation in applications with an input voltage of over 440 V or particularly long
wiring distances. Contact Yaskawa or your Yaskawa agent for consultation.
High Speed Operation
Problems may occur with the motor bearings and dynamic balance of the machine when operating a motor beyond its
rated speed. Contact the motor or machine manufacturer.
Torque Characteristics
Torque characteristics differ compared to operating the motor directly from line power. The user should have a full
understanding of the load torque characteristics for the application.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 23
i.2 General Safety
Vibration and Shock
The U1000 lets the user choose between high carrier PWM control. Selecting Closed Loop Vector Control can help
reduce motor oscillation.
• Take particular caution when using a variable speed drive for an application that is conventionally run from line power
at a constant speed. If resonance occurs shock-absorbing rubber should be installed around the base of the motor and
the Jump frequency selection should be enabled to prevent continuous operation in the resonant frequency range.
• Mechanical resonance can occur with long motor shafts and in applications such as turbines, blowers, and fans with
high inertia loads.
Audible Noise
Noise created during run varies by the carrier frequency setting. When using a high carrier frequency, audible noise from
the motor is comparable to the motor noise generated when running from line power. Operating above the rated speed
can create unpleasant motor noise.
Using a Synchronous Motor
• Contact Yaskawa or your Yaskawa agent if you plan to use any other synchronous motor not endorsed by Yaskawa.
• A single drive is not capable of running multiple synchronous motors at the same time. Use a standard induction motor
for such setups.
• At start, a synchronous motor may rotate slightly in the opposite direction of the Run command depending on
parameter settings and rotor position.
• The amount of starting torque that can be generated differs by each control mode and by the type of motor being used.
Set up the motor with the drive after verifying the starting torque, allowable load characteristics, impact load tolerance,
and speed control range.
Contact Yaskawa or your Yaskawa agent if you plan to use a motor that does not fall within these specifications.
• In Open Loop Vector Control for PM motors, the allowable load inertia is approximately 50 times higher than the
motor inertia or less. Contact Yaskawa or your Yaskawa agent concerning applications with a larger inertia.
• When using a holding brake in Open Loop Vector Control for PM motors, release the brake prior to starting the motor.
Failure to set the proper timing can result in speed loss. Not for use with conveyor, transport, or hoist type applications.
• Use the Speed Search function to restart a coasting motor rotating over 200 Hz while in V/f Control.
Applications with Specialized Motors
Applications with Specialized Motors
Multi-Pole Motor
Because the rated current will differ from a standard motor, be sure to check the maximum current when selecting a
drive. Always stop the motor before switching between the number of motor poles. If a regenerative overvoltage fault
occurs or if overcurrent protection is triggered, the motor will coast to stop.
Submersible Motor
Because motor rated current is greater than a standard motor, select the drive accordingly. Be sure to use a large enough
motor cable to avoid decreasing the maximum torque level on account of voltage drop caused by a long motor cable.
Explosion-Proof Motor
Both the motor and drive need to be tested together to be certified as explosion-proof. The drive is not designed for
explosion proof areas.
Furthermore, if an encoder is attached to an explosion-proof motor make sure the encoder is explosion-proof too. Use an
insulating signal converter for connecting the encoder signal lines to the drives speed feedback option card.
Geared Motor
To avoid gear damage when operating at low speeds or very high speeds, make sure that both the gear and lubricant are
rated for the desired speed range. Consult with the manufacturer for applications that require operation outside the rated
speed range of the motor or gear box.
24 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
i.2 General Safety
Single-Phase Motor
Variable speed drives are not designed for operation with single phase motors. Using capacitors to start the motor causes
excessive current to flow and can damage drive components. A split-phase start or a repulsion start can end up burning
out the starter coils because the internal centrifugal switch is not activated. The U1000 is for use with three-phase motors
only.
Motor with Brake
Caution should be taken when using a drive to operate a motor with a built-in holding brake. If the brake is connected to
the output side of the drive, it may not release at start due to low voltage levels. A separate power supply should be
installed for the motor brake. Motors with a built-in brake tend to generate a fair amount of noise when running at low
speeds.
Notes on Power Transmission Parts (belts, chains, gear boxes, ...)
Installing a drive in a machine that was directly connected to the power supply allows to adjust the machine speed.
Continuous operation above or below the rated speed can wear out lubrication material in gear boxes and other power
transmission parts. In order to avoid machine damage make sure lubrication is sufficient within the whole speed range.
Note that operation above the rated speed can increase the noise generated by the machine.
Drive Label Warnings
Always heed the warning information listed in Figure i.1 in the position shown in Figure i.2.
Figure i.1
WARNING
Risk of electric shock.
Read manual before installing.
Wait 5 minutes for capacitor
discharge after disconnecting
power supply.
To conform to rrequirements,
make sure to ground the supply
neutral for 400V class.
After disconnecting from power
supply,please wait 5 minutes
before inspecting, performing
maintenance or wiring the
converter.
Hot Surfaces
Wait 5 minutes or longer
until the unit has cooled.
Figure i.1 Warning Information
Figure i.2
Warning Label
Figure i.2 Warning Information Position
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 25
i.2 General Safety
Warranty Information
Restrictions
U1000 was not designed or manufactured for use in devices or systems that may directly affect or threaten human lives
or health.
Customers who intend to use the product described in this manual for devices or systems relating to transportation, health
care, space aviation, atomic power, electric power, or in underwater applications must first contact their Yaskawa
representatives or the nearest Yaskawa sales office.
This product has been manufactured under strict quality-control guidelines. However, if this product is to be installed in
any location where failure of this product could involve or result in a life-and-death situation or loss of human life or in a
facility where failure may cause a serious accident or physical injury, safety devices must be installed to minimize the
likelihood of any accident.
26 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
1
Receiving
This chapter explains how to inspect the drive upon receipt, and gives and overview of the
different enclosure types and components.
1.1 SECTION SAFETY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
1.2 GENERAL DESCRIPTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
1.3 MODEL NUMBER AND NAMEPLATE CHECK. . . . . . . . . . . . . . . . . . . . . . . . . . . 31
1.4 DRIVE MODELS AND ENCLOSURE TYPES . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
1.5 COMPONENT NAMES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 27
1.1 Section Safety
1.1 Section Safety
CAUTION
Do not carry the drive by the front cover or the terminal cover.
Failure to comply may cause the main body of the drive to fall, resulting in minor or moderate injury.
NOTICE
Observe proper electrostatic discharge procedures (ESD) when handling the drive and circuit boards.
Failure to comply may result in ESD damage to the drive circuitry.
A motor connected to a U1000 may operate at a higher temperature than a utility-fed motor and the operating
speed range may reduce motor cooling capacity.
Ensure that the motor is suitable for drive duty and/or the motor service factor is adequate to accommodate the
additional heating with the intended operating conditions.
28 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
1.2 General Description
1.2 General Description
U1000 Model Selection
Refer to Table 1.1 for drive selection depending on Normal Duty (ND) or Heavy Duty (HD) rating.
Note: The models and capacities in shown here are based on standard settings and operation conditions. Higher carrier frequencies,
higher ambient temperatures, operating temperatures, and altitudes require derating.
Table 1.1 U1000 Models
3-Phase 200 V Class 3-Phase 400 V Class
Heavy Duty Rating (HD) Normal Duty Rating (ND) Heavy Duty Rating (HD) Normal Duty Rating (ND)
Model Model
CIMR-U Rated Output Rated Output CIMR-U Rated Output Rated Output
Current (A) Current (A) Current (A) Current (A)
20028 22 28 40011 9.6 11
20042 28 42 40014 11 14
20054 42 54 40021 14 21
20068 54 68 40027 21 27
20081 68 81 40034 27 34
20104 81 104 40040 34 40
20130 104 130 40052 40 52
20154 130 154 40065 52 65
20192 154 192 40077 65 77
20248 192 248 40096 77 96
– – – 40124 96 124
– – – 40156 124 156
– – – 40180 156 180
– – – 40216 180 216
– – – 40240 216 240
– – – 40302 240 302
– – – 40361 302 361
– – – 40414 361 414
Note: Current derating is required when setting the carrier frequency higher. Refer to Carrier Frequency Derating on page 398 for
details.
Receiving
1
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 29
1.2 General Description
Control Mode Selection
Table 1.2 gives an overview of the U1000 control modes and their various features:
Table 1.2 Control Modes and their Features
Motor Type Induction Motors Permanent Magnet Motors Comments
Control Mode V/f V/f w/PG OLV CLV OLV/PM AOLV/PM CLV/PM –
Default Setting is Open Loop Vector
Parameter Setting A1-02 = 0 A1-02 = 1 A1-02 = 2 A1-02 = 3 A1-02 = 5 A1-02 = 6 A1-02 = 7
Control.
V/f control Open Loop
Open Loop Closed Loop
using motor Open Loop Closed Loop Vector control
Basic Description V/f control Vector control Vector control –
speed Vector control Vector control for IPM
for PM motors for PM motors
feedback motors
Motor Type IM IM IM IM PM IPM PM –
Multi Motor YES N/A N/A N/A N/A N/A N/A –
Motor data
YES N/A N/A N/A N/A N/A N/A –
unknown
High Speed
N/A YES YES YES YES YES YES –
Accuracy
Type of High Speed
Applications N/A N/A YES YES N/A YES YES –
Response
Zero Speed
N/A N/A N/A YES N/A YES YES –
Control
Torque Control
N/A N/A N/A YES N/A YES YES –
Operation
Torque Limit
N/A N/A YES YES N/A N/A YES –
Operation
PG-B3 or PG-B3 or
PG Option Card N/A N/A N/A N/A PG-X3 –
PG-X3 PG-X3
May fluctuate with characteristics and
Speed Control 1:20 motor temperature.
1:40 1:40 1:200 1:1500 1:20 1:1500
Range 1:100 <1> Enabled for 1:100 when n8-57 = 1 (high
frequency injection enabled).
Speed deviation when operating at
Speed Accuracy 2 to 3% 0.03% 0.2% 0.02% 0.2% 0.2% 0.02% constant speed. May fluctuate with
characteristics and motor temperature.
Control
Max. frequency of a speed reference signal
Characteristics 3 Hz 3 Hz
Speed Response 10 Hz 100 Hz 10 Hz 10 Hz 100 Hz that the drive can follow. May fluctuate
(approx.) (approx.)
with characteristics and motor temperature.
100% at 5%
speed May fluctuate with characteristics and
200% at 200% at 100% at 200% at
Starting Torque 150% at 3 Hz 150% at 3 Hz 200% at motor temperature.
0.3 Hz <2> 0 min-1 <2> 5% speed 0 min-1 <2>
0 min-1 Performance may differ by capacity.
<1> <2>
• Rotational
• Stationary
• Rotational
• Energy • Energy • Stator
• Rotational • Stationary
Saving Saving Resistance
• Stationary • Line to • Stationary • Stationary Automatically adjusts parameter settings
Tuning Tuning • ASR
Auto-Tuning • Line to line • Stator • Stator that concern electrical characteristics of the
• Line to • Line to • Inertia
line resistance Resistance Resistance motor.
line line • Encoder
resistance • ASR
resistance resistance Offset
• Inertia
• Back EMF
Constant
Sets the maximum torque for the motor to
Torque Limit N/A N/A YES YES N/A YES YES
protect the load and connected machinery.
Allows direct control of motor torque for
Torque Control N/A N/A N/A YES N/A N/A YES
tension control and other such applications.
Droop Function N/A N/A N/A YES N/A N/A YES –
Zero Servo
Application- N/A N/A N/A YES N/A N/A YES Locks the rotor position.
Control
Specific
Bi-directional speed detection of a coasting
Speed Search YES YES YES – YES YES YES
motor to restart it without stopping.
Energy-Saving YES (IPM YES (IPM Saves energy by always operating the
YES YES YES YES N/A
Control motors only) motors only) motor at its maximum efficiency.
Improves speed accuracy when the load
Feed Forward
N/A N/A N/A YES N/A N/A YES changes by compensating effects of the
Control
system inertia.
Inertia Tuning, Provides automatic Speed Control and
N/A N/A N/A YES N/A N/A YES
ASR Tuning Feed Forward function tuning.
When the output frequency matches the
Commercial
power supply frequency 50 Hz, the PWM
Power
YES N/A N/A N/A N/A N/A N/A switching operation stops and switches to
Switching
operation with a direct commercial power
Selection
supply connection.
High Frequency YES (IPM Greatly increases the speed control range
N/A N/A N/A N/A N/A N/A
Injection motor) of an IPM motor.
<1> Use a larger drive or increase the drive capacity to achieve this value.
<2> Available when High Frequency Injection is enabled (n8-57 = 1).
30 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
1.3 Model Number and Nameplate Check
1.3 Model Number and Nameplate Check
Please perform the following tasks after receiving the drive:
• Inspect the drive for damage.
If the drive appears damaged upon receipt, contact the shipper immediately.
• Verify receipt of the correct model by checking the information on the nameplate.
• If you have received the wrong model or the drive does not function properly, contact your supplier.
Nameplate
Figure 1.1
YEG
Normal Duty Amps / Heavy Duty Amps
AC drive model MODEL : CIMR-UC4A0011AAA
REV : A
Input specifications INPUT : AC3PH 380-500V 50/60Hz 8.7A/10A
IND.CONT.EQ.
Output specifications OUTPUT : AC3PH 0-475V 0-400Hz 9.6A/11A 7J48
MASS : 20 kg PRG : 1010 Software version
Lot number O/N : 6W3050-2-100
Serial number S/N : J0065F575310100
FILE NO : E131457
PASS
YASKAWA ELECTRIC CORPORATION MADE IN JAPAN
2-1 Kurosaki-shiroishi, Yahatanishi-Ku, Kitakyushu 806-0004 Japan <1>
<1> The address of the head office of Yaskawa Electric Corporation (responsible for
product liability) is shown on the nameplate.
Figure 1.1 Nameplate Information
Receiving
1
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 31
1.3 Model Number and Nameplate Check
Model Number
CIMR - U C 2 A 0028 A A A
U1000 Series Customized Enclosure Design
No. No. Type
Specifications Revision
A Standard model A IP00 Order
No. Region
Code EMC Noise Filter NEMA
E Built-in F Type 1
C Europe
24 V Power
P Supply Unit
Built-in Environmental
No.
EMC Noise Filter Specification <1>
and 24 V Power A Standard
W Supply Unit
Built-in K Gas-resistant
M Humidity- and
dust-resistant
No. Voltage Class N Oil-resistant
S Vibration-resistant
YEC_common 2
4
3-phase, 200-240 Vac
3-phase, 380-480 Vac
Refer to Table 1.3 and Table 1.4.
<1> Drives with these specifications do not guarantee complete protection for the
environmental conditions indicated.
Three-Phase 200 V
Table 1.3 Model Number and Specifications (200 V)
Rated Output Current (A)
No. Heavy Duty (HD) Normal Duty (ND)
[C6-01 = 0] [C6-01 = 1]
0028 22 28
0042 28 42
0054 42 54
0068 54 68
0081 68 81
0104 81 104
0130 104 130
0154 130 154
0192 154 192
0248 192 248
Three-Phase 400 V
Table 1.4 Model Number and Specifications (400 V)
Rated Output Current (A)
No. Heavy Duty (HD) Normal Duty (ND)
[C6-01 = 0] [C6-01 = 1]
0011 9.6 11
0014 11 14
0021 14 21
0027 21 27
0034 27 34
0040 34 40
0052 40 52
0065 52 65
0077 65 77
0096 77 98
0124 96 124
0156 124 156
0180 156 180
0216 180 216
0240 216 240
0302 240 302
0361 302 361
0414 361 414
Note: 1. Use parameter C6-01 to select between Normal duty and Heavy duty (default).
2. Refer to Drive Models and Enclosure Types on page 33 for differences regarding enclosure protection types and component
descriptions.
32 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
1.4 Drive Models and Enclosure Types
1.4 Drive Models and Enclosure Types
Two types of enclosures are offered for U1000 drives.
• IP00 enclosure models are designed for installation in an enclosure panel that serves to protect personnel from injury
caused by accidentally touching live parts.
• IP20/NEMA Type 1 enclosure models mount to an indoor wall or in an enclosure panel.
Table 1.5 describes drive enclosures and models.
Table 1.5 Drive Models and Enclosure Types
Enclosure Type
Voltage Class IP00 Enclosure IP20/NEMA Type 1 Enclosure
CIMR-U CIMR-U
20028A 20028F <1>
20042A 20042F <1>
20054A 20054F <1>
20068A 20068F <1>
Three-Phase 20081A 20081F <1>
200 V Class 20104A 20104F <1>
20130A 20130F <1>
20154A 20154F <1>
20192A 20192F <1>
20248A 20248F <1>
40011A 40011F <1>
40014A 40014F <1>
40021A 40021F <1>
40027A 40027F <1>
40034A 40034F <1>
40040A 40040F <1>
40052A 40052F <1>
40065A 40065F <1>
Three-Phase 40077A 40077F <1>
400 V Class 40096A 40096F <1>
40124A 40124F <1>
40156A 40156F <1>
Receiving
40180A 40180F <1>
40216A 40216F <1>
40240A 40240F <1>
40302A 40302F <1>
40361A 40361F <1>
1
40414A 40414F <1>
<1> Remove the top protective cover when installing an IP20/NEMA Type 1 enclosure drive in a cabinet. Removing the top protective cover
from a IP20/NEMA Type 1 enclosure drive voids NEMA Type 1 protection while retaining IP20 conformity. Attaching a top protective
cover and bottom cover to an IP00 enclosure drive will convert the drive to an IP20/NEMA Type 1 enclosure drive.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 33
1.5 Component Names
1.5 Component Names
This section gives and overview of the drive components described in this manual.
Note: 1. Refer to Using the Digital Operator on page 95 for a description of the operator keypad.
2. The drive may have no cooling fans or only one cooling fan depending on the model.
IP00 Enclosure
Three-Phase AC200 V CIMR-U20028A to 20081A
Three-Phase AC400 V CIMR-U40011A to 40077A
Figure 1.2
F
A
E B
common_TMonly
A – Cooling fan D – Digital operator
B – Heatsink E – Front cover
C – Terminal cover F – Eye bolt
Figure 1.2 IP00 Enclosure Components
(CIMR-U20028A)
Three-Phase AC200 V CIMR-U20104A, 20130A
Three-Phase AC400 V CIMR-U40096A, 40124A
Figure 1.3
F A
B
D
common_TMonly
A – Cooling fan D – Digital operator
B – Heatsink E – Front cover
C – Terminal cover F – Eye bolt
Figure 1.3 IP00 Enclosure Components
(CIMR-U20104A)
34 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
1.5 Component Names
Three-Phase AC200 V CIMR-U20154A, 20192A
Three-Phase AC400 V CIMR-U40156A, 40180A
Figure 1.4
G
A
B
F
E
D
common_TMonly
A – Cooling fan E – Front cover
B – Heatsink F – Drive cover
C – Terminal cover G – Hanging bracket
D – Digital operator
Figure 1.4 IP00 Enclosure Components
(CIMR-U20154A)
Three-Phase AC200 V CIMR-U20248A
Three-Phase AC400 V CIMR-U40216A to 40414A
Figure 1.5
Receiving
H
A
common_TMonly
G B 1
E
D
A – Cooling fan E – Front cover
B – Heatsink F – Drive cover 1
C – Terminal cover G – Drive cover 2
D – Digital operator H – Hanging bracket
Figure 1.5 IP00 Enclosure Components
(CIMR-U20248A)
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 35
1.5 Component Names
IP20/NEMA Type 1 Enclosure
Three-Phase AC200 V CIMR-U20028F to 20081F
Three-Phase AC400 V CIMR-U40011F to 40077F
Figure 1.6
H
A
G
F B
common_TMonly
A – Cooling fan E – Digital operator
B – Heatsink F – Front cover
C – Bottom cover G – Top protective cover
D – Terminal cover H – Eye bolt
Figure 1.6 IP20/NEMA Type 1 Enclosure Components
(CIMR-U20028F)
Three-Phase AC200 V CIMR-U20104F, 20130F
Three-Phase AC400 V CIMR-U40096F, 40124F
Figure 1.7
H
A
G
E B
common_TMonly
A – Cooling fan E – Digital operator
B – Heatsink F – Front cover
C – Bottom cover G – Top protective cover
D – Terminal cover H – Eye bolt
Figure 1.7 IP20/NEMA Type 1 Enclosure Components
(CIMR-U20104F)
36 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
1.5 Component Names
Three-Phase AC200 V CIMR-U20154F, 20192F
Three-Phase AC400 V CIMR-U40156F, 40180F
Figure 1.8
I
A
H
F
E
common_TMonly
A – Cooling fan F – Front cover
B – Heatsink G – Drive cover
C – Bottom cover H – Top protective cover
D – Terminal cover I – Hanging bracket
E – Digital operator
Figure 1.8 IP20/NEMA Type 1 Enclosure Components
(CIMR-U20154F)
Three-Phase AC200 V CIMR-U20248F
Three-Phase AC400 V CIMR-U40216F to 40414F
Figure 1.9
Receiving
J
A
I
common_TMonly
H 1
B
F
E
A – Cooling fan F – Front cover
B – Heatsink G – Drive cover 1
C – Bottom cover H – Drive cover 2
D – Terminal cover I – Top protective cover
E – Digital operator J – Hanging bracket
Figure 1.9 IP20/NEMA Type 1 Enclosure Components
(CIMR-U20248F)
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 37
1.5 Component Names
Front Views
Figure 1.10
common_
TMonly
C
C A
A – Terminal board (Refer to Control C – EMC filter switch
Circuit Wiring on page 76.) (CIMR-U2E/2W/4E/4W)
B – Main circuit terminal (Refer to Wiring
the Main Circuit Terminal on page 75.)
Figure 1.10 Front View of Drives
38 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
2
Mechanical Installation
This chapter explains how to properly mount and install the drive.
2.1 SECTION SAFETY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
2.2 MECHANICAL INSTALLATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 39
2.1 Section Safety
2.1 Section Safety
WARNING
Fire Hazard
Provide sufficient cooling when installing the drive inside an enclosed panel or cabinet.
Failure to comply could result in overheating and fire.
When multiple drives are placed inside the same enclosure panel, install proper cooling to ensure air entering the
enclosure does not exceed 40°C.
Crush Hazard
Use a dedicated lifter when transporting the drive by a lifter.
Failure to comply may result in serious injury or death from falling equipment.
Only use vertical suspension to temporarily lift the drive during installation to an enclosure panel. Do not use
vertical suspension to transport the drive.
Failure to comply may result in serious injury or death from falling equipment.
Use screws to securely affix the drive front cover, terminal blocks, and other drive components prior to vertical
suspension.
Failure to comply may result in serious injury or death from falling equipment.
Do not subject the drive to vibration or impact greater than 1.96 m/s2 (0.2 G) while it is suspended by the cables.
Failure to comply may result in serious injury or death from falling equipment.
Do not attempt to flip the drive over or leave the drive unattended while it is suspended by the wires.
Failure to comply may result in serious injury or death from falling equipment.
40 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
2.1 Section Safety
NOTICE
Equipment Hazard
Prevent foreign matter such as metal shavings or wire clippings from falling into the drive during drive
installation and project construction.
Failure to comply could result in damage to the drive.
Place a temporary cover over the top during installation. Be sure to remove the temporary cover before start-up, as the
cover will reduce ventilation and cause the unit to overheat.
Observe proper electrostatic discharge (ESD) procedures when handling the drive.
Failure to comply could result in ESD damage to the drive circuitry.
Operating the motor in the low-speed range diminishes the cooling effects, increases motor temperature, and
may lead to motor damage by overheating.
Reduce the motor torque in the low-speed range whenever using a standard blower cooled motor. If 100% torque is
required continuously at low speed, consider using a special drive or vector-control motor. Select a motor that is
compatible with the required load torque and operating speed range.
The speed range for continuous operation differs according to the lubrication method and motor manufacturer.
If the motor is to be operated at a speed higher than the rated speed, consult with the manufacturer.
Continuously operating an oil-lubricated motor in the low-speed range may result in burning.
When the input voltage is 440 V or higher or the wiring distance is greater than 100 meters, pay special
attention to the motor insulation voltage or use a drive-rated motor with reinforced insulation.
Failure to comply could lead to motor winding failure.
Motor vibration may increase when operating a machine in variable-speed mode, if that machine previously
operated at a constant speed.
Install vibration-proof rubber on the motor base or use the frequency jump function to skip a frequency resonating the
machine.
The motor may require more acceleration torque with drive operation than with a commercial power supply.
Set a proper V/f pattern by checking the load torque characteristics of the machine to be used with the motor.
The rated input current of submersible motors is higher than the rated input current of standard motors.
Mechanical
Select an appropriate drive according to its rated output current. When the distance between the motor and drive is
Installation
long, use a cable thick enough to connect the motor to the drive to prevent motor torque reduction.
The current rating differs for a motor with variable pole pitches differs from a standard motor.
Check the maximum current of the motor before selecting the drive capacity. Only switch motor poles when the motor 2
is stopped. Switching between motor during run will trigger overcurrent protection circuitry or result in overvoltage
from regeneration, and the motor will simply coast to stop.
When using an explosion-proof motor, it must be subject to an explosion-proof test in conjunction with the
drive.
This is also applicable when an existing explosion-proof motor is to be operated with the drive. Since the drive itself is
not explosion-proof, always install it in a safe place.
Never lift the drive up while the cover is removed.
This can damage the terminal board and other components.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 41
2.2 Mechanical Installation
2.2 Mechanical Installation
This section outlines specifications, procedures, and the environment for proper mechanical installation of the drive.
Installation Environment
To help prolong the optimum performance life of the drive, install the drive in an environmental matching the
specifications in Table 2.1.
Table 2.1 Installation Environment
Environment Conditions
Installation Area Indoors
IP00 enclosure: -10°C to +50°C
IP20/NEMA Type 1 enclosure: -10°C to +40°C
Drive reliability improves in environments without wide temperature fluctuations.
Ambient Temperature
When using the drive in an enclosure panel, install a cooling fan or air conditioner in the area to ensure that the air temperature inside the enclosure
does not exceed the specified levels.
Do not allow ice to develop on the drive.
Humidity 95% RH or less and free of condensation
Storage Temperature -20°C to +60°C
Install the drive in an area free from:
• oil mist and dust
• metal shavings, oil, water or other foreign materials
• radioactive materials
Surrounding Area • combustible materials (e.g., wood)
• harmful gases and liquids
• excessive vibration
• chlorides
• direct sunlight
Altitude 1000 m, up to 3000 m with derating (for details, refer to Altitude Derating on page 399)
10 to 20 Hz at 9.8 m/s2
Vibration 20 to 55 Hz at 5.9 m/s2 (CIMR-U20028 to 20081, 40011 to 40077)
20 to 55 Hz at 2.0 m/s2 (CIMR-U20104 to 20248, 40096 to 40414)
Orientation Install the drive vertically to maintain maximum cooling effects.
NOTICE: Avoid placing drive peripheral devices, transformers, or other electronics near the drive as the noise created can lead to
erroneous operation. If such devices must be used in close proximity to the drive, take proper steps to shield the drive from noise.
NOTICE: Prevent foreign matter such as metal shavings and wire clippings from falling into the drive during installation. Failure to
comply could result in damage to the drive. Place a temporary cover over the top of the drive during installation. Remove the
temporary cover before startup, as the cover will reduce ventilation and cause the drive to overheat.
Installation Orientation and Spacing
Install the drive upright as illustrated in Figure 2.1 to maintain proper cooling.
Figure 2.1
Figure 2.1 Correct Installation Orientation
42 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
2.2 Mechanical Installation
Single Drive Installation
Figure 2.2 shows the installation distance required to maintain sufficient space for airflow and wiring.
Figure 2.2
Side Clearance Top/Bottom Clearance
A
C
B B E
A D
A – 50 mm minimum D – 120 mm minimum
B – 30 mm minimum E – Airflow direction
C – 200 mm minimum
Figure 2.2 Correct Installation Spacing
Note: IP20/NEMA Type 1 enclosure and IP00 enclosure models require the same amount of space above and below the drive for
installation.
Instructions on Installation
Eye bolts and hanging brackets are used to install the drive or to temporarily lift the drive when replacing it. Using the
eye bolts and hanging brackets, the drive can be installed in an enclosure panel or on a wall. Do not leave the drive
suspended by the wires in a horizontal or vertical position for long periods of time. Do not transport the drive over long
distances. Read the following precautions and instructions before installing the drive.
WARNING! Crush Hazard. Observe the following instructions and precautions. Failure to comply could result in serious injury or death
from falling equipment.
• Only use vertical suspension to temporarily lift the drive during installation to an enclosure panel. Do not
Mechanical
Installation
use vertical suspension to transport the drive.
• Confirm that the spring washer is completely closed prior to lifting to prevent damage to the drive.
• Use screws to securely affix the drive front cover, terminal blocks, and other drive components prior to
vertical suspension.
• Do not subject the drive to vibration or impact greater than 1.96 m/s2 (0.2 G) while it is suspended by the
wires. 2
• Do not leave the drive unattended while it is suspended by the wires.
Figure 2.3
• Do not attempt to flip the drive over while it is suspended by the wires.
D
B
C
A
A – No space between drive and washer C – Space between drive and washer
B – Spring washer fully closed D – Spring washer open
Figure 2.3 Spring Washer
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 43
2.2 Mechanical Installation
Horizontal Suspension of the Drive Models 20154 to 20248 and 40156 to 40414
To make a wire hanger or frame for use when lifting the drive with a crane, lay the drive in a horizontal position and pass
a wire through the hanging brackets.
Note: Use the hanging brackets on the top and hanging holes of the bottom cover when lifting models 20154F, 20192F, 40156F,
40180F.
Figure 2.4
20154A, 20192A, 20248, 20154F, 20192F, 40156F, 40180F
40156A, 40180A, 40216 to 40414
Figure 2.4 Horizontal Suspension (20154 to 20248, 40156 to 40414)
Vertical Suspension of the Drive
Follow the procedure described below when suspending the drive with eye bolts or hanging brackets.
Models 20028 to 20130 and 40011 to 40124
WARNING! Crush Hazard. Use an adequate length of wire to ensure a 50 or wider suspension angle as illustrated in Figure 2.5 The
maximum allowable load of the eye bolts cannot be guaranteed when the drive is suspended with the wires at angles less than 50.
Failure to comply may result in serious injury or death from falling equipment.
1. Pass wire through the holes of the two eye bolts or two hanging brackets.
Figure 2.5
Suspending angle:
50 degree or greater
Figure 2.5 Drive Suspension Using Wires and Eye Bolts (20028 to 20130, 40011 to 40124)
2. Gradually take up the slack in the wires and hoist the drive after the wires are stretched tight.
3. Lower the drive when ready to install in the enclosure panel. Stop lowering the drive when it is near the floor then
begin lowering the drive again very slowly until the drive is placed correctly.
44 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
2.2 Mechanical Installation
20154 to 20248, 40156 to 40414
WARNING! Crush Hazard. Use an adequate length of wire to ensure a 50 or wider suspension angle as illustrated in Figure 2.7. The
maximum allowable load of the eye bolts cannot be guaranteed when the drive is suspended with the wires at angles less than 50.
Failure to comply may result in serious injury or death from falling equipment.
1. Remove the two hanging brackets from the drive lower side panels and bolt them on the top panel.
Note: 1. Tighten the hanging brackets with the specified tightening torque: M10: 18 to 23 Nm, M12: 32 to 40 Nm.
2. Four hanging brackets are attached to the top of NEMA Type 1 drives 20154F, 20192F, 40156F, and 40180F.
Figure 2.6
Figure 2.6 Location of Hanging Brackets (20154 to 20248, 40156 to 40414)
2. Pass wire through the holes of all four hanging brackets.
Figure 2.7
Suspending angle:
50° or greater
Mechanical
Installation
Figure 2.7 Drive Suspension Using Wires and Hanging Brackets (20154 to 20248, 40156 to 40414)
3. Gradually take up the slack in the wires and hoist the drive after the wires are stretched tight. 2
4. Lower the drive when ready to install in the enclosure panel. Stop lowering the drive when it is near the floor,
then slowly begin lowering the drive again very slowly until the drive is placed correctly.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 45
2.2 Mechanical Installation
Digital Operator Remote Usage
Remote Operation
The digital operator mounted on the drive can be removed and connected to the drive using an extension cable up to 3 m
long. This makes it easier to operate the drive when it is installed in a location where it can not be accessed easily.
The digital operator can also be permanently mounted in a remote location like a panel door. An extension cable and an
installation support set (depending on the installation type) will be required.
Note: Refer to Drive Options and Peripheral Devices on page 376 for information on extension cables and installation support sets.
Figure 2.8
Drive Operator
Comm Port
S / N : J007XE273710001
common_
TMonly
Communication Cable Connector
Figure 2.8 Communication Cable Connection
Digital Operator Remote Installation
Digital Operator Dimensions
12.2 1.6 Installation holes (2-M3 screws, depth 5)
commonTMonly
S / N : J007XE273710001
90
78
15
7.9 44
60
minimum
50 Unit: mm
Figure 2.9 Digital Operator Dimensions
46 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
2.2 Mechanical Installation
Installation Types and Required Materials
There are two ways the digital operator can be mounted to an enclosure:
1. External/face-mount installs the operator outside the enclosure panel
2. Internal/flush-mount installs the operator inside the enclosure panel
Table 2.2 Digital Operator Installation Methods and Required Tools
Installation Method Description Installation Support Sets Model Required Tools
Simplified installation with the digital
External/Face-Mount operator is mounted on the outside of – – Phillips screwdriver (#1)
the panel with two screws.
Installation Support Set A
(for mounting with screws through EZZ020642A Phillips screwdriver (#1, #2)
Encloses the digital operator in the holes in the panel)
Internal/Flush-Mount panel. The digital operator is flush
with the outside of the panel. Installation Support Set B
Phillips screwdriver (#1)
(for use with threaded studs that are EZZ020642B
Wrench (7 mm)
fixed to the panel)
NOTICE: Prevent foreign matter such as metal shavings or wire clippings from falling into the drive during installation and project
construction. Failure to comply could result in damage to the drive. Place a temporary cover over the top of the drive during
installation. Remove the temporary cover before drive start-up, as the cover will reduce ventilation and cause the drive to overheat.
External/Face-Mount
1. Cut an opening in the enclosure panel for the digital operator as shown in Figure 2.11.
2. Position the digital operator so the display faces outwards, and mount it to the enclosure panel as shown in
Figure 2.10.
Figure 2.9
Digital Operator M3 × 6
Phillips recessed
pan head machine screw × 2
Enclosure panel
common_TMonly
Unit: mm
Figure 2.10 External/Face-Mount Installation
Figure 2.10
Mechanical
Installation
22
common_TMonly
2
78
26
22
2
22
14
Unit: mm
Figure 2.11 Panel Cut-Out Dimensions (External/Face-Mount Installation)
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 47
2.2 Mechanical Installation
Internal/Flush-Mount
An internal flush-mount requires an installation support set that must be purchased separately. Contact your Yaskawa
representative to order an installation support set and mounting hardware. Figure 2.12 illustrates how to attach the
Installation Support Set A.
1. Cut an opening in the enclosure panel for the digital operator as shown in Figure 2.13.
2. Mount the digital operator to the installation support.
3. Mount the installation support set and digital operator to the enclosure panel.
Figure 2.11
Enclosure panel
Digital Operator
M4 × 10 Installation Support Set A
Phillips truss head screw × 4 M3 × 6
(for panel widths between 1 and 1.6) Phillips recessed
pan head machine screw × 2
common_TMonly
Unit: mm
Figure 2.12 Internal/Flush Mount Installation
Note: Use a gasket between the enclosure panel and the digital operator in environments with a significant amount of dust or other
airborne debris.
Figure 2.12
89 +0.5
0
120
45 common_TMonly
59 +0.5
0
Unit: mm
Figure 2.13 Panel Cut-Out Dimensions (Internal/Flush-Mount Installation)
48 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
2.2 Mechanical Installation
Exterior and Mounting Dimensions
Table 2.3 Drive Models and Types
Drive Model CIMR-U
Protective Design Three-Phase Three-Phase Page
200 V Class 400 V Class
40011A
40014A
40021A
40027A
20028A 40034A
20042A 40040A
20054A 40052A
20068A 40065A
20081A 40077A
IP00 Enclosure 50
20104A 40096A
20130A 40124A
20154A 40156A
20192A 40180A
20248A 40216A
40240A
40302A
40361A
40414A
40011F
40014F
40021F
40027F
20028F 40034F
20042F 40040F
20054F 40052F
20068F 40065F
20081F 40077F
IP20/NEMA Type 1 Enclosure 52
20104F 40096F
20130F 40124F
20154F 40156F
20192F 40180F
20248F 40216F
40240F
40302F
40361F
40414F
Mechanical
Installation
2
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 49
2.2 Mechanical Installation
IP00 Enclosure Drives
W1
t2
H4
4-d
H1
H
t1
H2
W D1
D
common_TMonly Figure 1
W1
H4
4-d t2
H1
t1
D1
H2
W D
Figure 2
H4
W1 4-d t2
H1
H
t1
H2
Max 15 W Max 15 D1
D
Figure 3
50 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
2.2 Mechanical Installation
W1 common_TMonly
H4
W2 W2 6-d
t2
H1
H
t1
H2
D1
Max 15 Max 15 D
Figure 4
Table 2.4 Dimensions for IP00 Enclosure: 200 V Class
Dimensions (mm) Weight (kg)
Model
Figure CIMR-U CIMR-U
CIMR-U W H D W1 W2 H1 H2 H4 D1 t1 t2 d 2A/2P 2E/2W
20028A 250 480 360 205 – 463 6.5 40 100 2.3 4 7 20 21
20042A
32 33
20054A 1
264 650 420 218 – 629 11.5 40 115.5 2.3 4 10
20068A
35 36
20081A
20104A
2 264 816 450 218 – 795 11.5 40 124.5 2.3 2.3 10 60 63
20130A
20154A
3 415 990 403 250 – 966 11 40 165 4.5 3.9 12 110 115
20192A
20248A 4 490 1132 450 360 180 1104 14.5 49 181 4.5 4.5 14 176 181
Table 2.5 Dimensions for IP00 Enclosure: 400 V Class
Dimensions (mm) Weight (kg)
Model
Mechanical
Installation
CIMR-U Figure CIMR-U CIMR-U
W H D W1 W2 H1 H2 H4 D1 t1 t2 d 4A/4P 4E/4W
40011A
40014A
40021A 250 480 360 205 – 463 6.5 40 100 2.3 4 7 20 21
40027A 2
40034A 1
40040A
32 33
40052A
264 650 420 218 – 629 11.5 40 115.5 2.3 4 10
40065A
35 36
40077A
40096A
2 264 816 450 218 – 795 11.5 40 124.5 2.3 2.3 10 60 63
40124A
40156A
3 415 990 403 250 – 966 11 40 165 4.5 3.9 12 110 115
40180A
40216A
490 1132 450 360 180 1104 14.5 49 181 4.5 4.5 14 176 181
40240A
40302A 4
40361A 695 1132 450 560 280 1102 14.5 65 178 4.5 4.5 14 259 267
40414A
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 51
2.2 Mechanical Installation
NEMA Type 1 Enclosure Drives
W1
4-d common_TMonly t2
H4
H1
H0
H
t1
H2
H3
D1
W D
Figure 1
W1 4-d common_TMonly t2
H4
H1
H0
H
t1
H3
H2
D1
W
D
Figure 2
common_TMonly
H4
W1 4-d t2
H1
H0
H
H3
H2
t1
D1
Max 15 W Max 15
D
Figure 3
52 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
2.2 Mechanical Installation
W1 common_TMonly
H4
6-d
W2 W2 t2
H1
H0
H
H2
H3
t1
D1
Max 15 W Max 15 D
Figure 4
Table 2.6 Dimensions for IP20/NEMA Type 1 Enclosure: 200 V Class
Dimensions (mm) Weight (kg)
Model
CIMR-U Figure CIMR-U CIMR-U
W H D W1 W2 H0 H1 H2 H3 H4 D1 t1 t2 d
2A/2P 2E/2W
20028F 250 524 360 205 – 480 463 6.5 42 40 100 2.3 4 7 21.5 22.5
20042F
34 35
20054F 1
264 705 420 218 – 650 629 11.5 54 40 115.5 2.3 4 10
20068F
37 38
20081F
20104F
2 264 885 450 218 – 816 795 11.5 68 40 124.5 2.3 2.3 10 62 65
20130F
20154F
3 415 1107 403 250 – 990 966 11 85 8 165 4.5 3.9 12 113 118
20192F
20248F 4 490 1320 450 360 180 1132 1104 14.5 169 29 181 4.5 4.5 14 180 185
Table 2.7 Dimensions for IP20/NEMA Type 1 Enclosure: 400 V Class
Mechanical
Installation
Dimensions (mm) Weight (kg)
Model
CIMR-U Figure CIMR-U CIMR-U
W H D W1 W2 H0 H1 H2 H3 H4 D1 t1 t2 d
4A/4P 4E/4W
40011F
40014F
2
40021F 250 524 360 205 – 480 463 6.5 42 40 100 2.3 4 7 21.5 22.5
40027F
40034F 1
40040F
34 35
40052F
264 705 420 218 – 650 629 11.5 54 40 115.5 2.3 4 10
40065F
37 38
40077F
40096F
2 264 885 450 218 – 816 795 11.5 68 40 124.5 2.3 2.3 10 62 65
40124F
40156F
3 415 1107 403 250 – 990 966 11 85 8 165 4.5 3.9 12 113 118
40180F
40216F
490 1320 450 360 180 1132 1104 14.5 169 29 181 4.5 4.5 14 180 185
40240F
40302F 4
40361F 695 1460 450 560 280 1132 1102 14.5 300 29 178 4.5 4.5 14 270 278
40414F
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 53
2.2 Mechanical Installation
54 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
3
Electrical Installation
This chapter explains proper procedures for wiring the control circuit terminals, motor, and
power supply.
3.1 SECTION SAFETY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
3.2 STANDARD CONNECTION DIAGRAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
3.3 MAIN CIRCUIT CONNECTION DIAGRAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
3.4 TERMINAL BLOCK CONFIGURATION. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
3.5 TERMINAL COVER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
3.6 DIGITAL OPERATOR AND FRONT COVER. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
3.7 TOP PROTECTIVE COVER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
3.8 MAIN CIRCUIT WIRING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
3.9 CONTROL CIRCUIT WIRING. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
3.10 CONTROL I/O CONNECTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
3.11 CONNECT TO A PC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
3.12 MEMOBUS/MODBUS TERMINATION. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
3.13 ENABLE THE INTERNAL EMC FILTER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
3.14 EXTERNAL INTERLOCK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
3.15 WIRING CHECKLIST . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 55
3.1 Section Safety
3.1 Section Safety
DANGER
Electrical Shock Hazard
Do not connect or disconnect wiring while the power is on.
Failure to comply will result in death or serious injury.
WARNING
Electrical Shock Hazard
Do not operate equipment with covers removed.
Failure to comply could result in death or serious injury.
The diagrams in this section may show drives without covers or safety shields to show details. Be sure to reinstall
covers or shields before operating the drives and run the drives according to the instructions described in this manual.
Always ground the motor-side grounding terminal.
Improper equipment grounding could result in death or serious injury by contacting the motor case.
Do not perform work on the drive while wearing loose clothing, jewelry or without eye protection.
Failure to comply could result in death or serious injury.
Remove all metal objects such as watches and rings, secure loose clothing, and wear eye protection before beginning
work on the drive.
Do not remove covers or touch circuit boards while the power is on.
Failure to comply could result in death or serious injury.
Do not allow unqualified personnel to perform work on the drive.
Failure to comply could result in death or serious injury.
Installation, maintenance, inspection, and servicing must be performed only by authorized personnel familiar with
installation, adjustment, and maintenance of AC drives.
Do not touch any terminals before the capacitors have fully discharged.
Failure to comply could result in death or serious injury.
Before wiring terminals, disconnect all power to the equipment. The internal capacitor remains charged even after the
power supply is turned off. After shutting off the power, wait for at least the amount of time specified on the drive
before touching any components.
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.
Do not use improper combustible materials.
Failure to comply could result in death or serious injury by fire.
Do not install the drive to a combustible surface. Never place combustible materials on the drive.
Do not use an improper voltage source.
Failure to comply could result in death or serious injury by fire.
Verify that the rated voltage of the drive matches the voltage of the incoming power supply before applying power.
CAUTION
Do not carry the drive by the front cover or the terminal cover.
Failure to comply may cause the main body of the drive to fall, resulting in minor or moderate injury.
56 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
3.1 Section Safety
NOTICE
Observe proper electrostatic discharge procedures (ESD) when handling the drive and circuit boards.
Failure to comply may result in ESD damage to the drive circuitry.
Never connect or disconnect the motor from the drive while the drive is outputting voltage.
Improper equipment sequencing could result in damage to the drive.
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.
Do not allow unqualified personnel to use the product.
Failure to comply could result in damage to the drive.
Carefully review instruction manual when connecting, wiring, or replacing the drive.
Do not modify the drive circuitry.
Failure to comply could result in damage to the drive and will void warranty.
Yaskawa is not responsible for any modification of the product made by the user. This product must not be modified.
Check all the wiring to ensure that all connections are correct after installing the drive and connecting any other
devices.
Failure to comply could result in damage to the drive.
Electrical Installation
3
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 57
3.2 Standard Connection Diagram
3.2 Standard Connection Diagram
Connect the drive and peripheral devices as shown in Figure 3.1. It is possible to set and run the drive via the digital
operator without connecting digital I/O wiring. This section does not discuss drive operation; Refer to Start-Up
Programming & Operation on page 93 for instructions on operating the drive.
NOTICE: Inadequate wiring could result in damage to the drive. Install adequate branch circuit protection per applicable codes. The
drive is suitable for circuits capable of delivering not more than 100,000 RMS symmetrical amperes, 240 Vac maximum (200 V Class),
480 Vac maximum (400 V Class: CIMR-U4E/4W), and 500 Vac maximum (400 V Class: CIMR-U4A/4P).
NOTICE: When the input voltage is 440 V or higher or the wiring distance is greater than 100 meters, pay special attention to the
motor insulation voltage or use a drive duty motor. Failure to comply could lead to motor insulation breakdown.
NOTICE: Do not connect AC control circuit ground to drive enclosure. Improper drive grounding can cause control circuit malfunction.
NOTICE: The minimum load for the relay outputs M1-M2, M3-M4, M5-M6, and MA-MB-MC is 10 mA.
NOTICE: Correctly set Sink/Source jumper S3 for internal power supply. Failure to comply may result in damage to the drive. Refer to
Control I/O Connections on page 80 for details.
58 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
3.2 Standard Connection Diagram
Figure 3.1
Terminals p1 and n1 are for
momentary power loss compensation
unit. Do not connect to AC power
supply.
Main
Switch
YEG
Three-phase R/L1 R/L1 p1 n1
power supply S/L2
U Motor
S/L2 Main Circuit U/T1
200 to 400 V V
T/L3 T/L3 V/T2 M
50/60 Hz
Drive W/T3
W
Control Circuit <1>
Shielded
Ground Cable
Forward Run / Stop S1 Option card connectors
CN5-C
Reverse Run / Stop S2
CN5-B
External fault S3
CN5-A
Fault reset S4
Terminal board
jumpers and switches
Multi-function Multi-speed step 1 S5
digital inputs V I
DIP Switch S1
(default setting) A2 Volt/Curr. Sel
Multi-speed step 2 S6
On
DIP Switch S2
Off
Term. Res. On/Off
Jog speed S7
Jumper S3
External Baseblock H1, H2
S8
Sink/Source Sel.
SN PTC DIP Switch S4
A3 Analog/PTC
Sink / Source mode SC Input Sel
AI
selection wire link
(default: Sink) <2> SP
Jumper S5
V
+24 V <3> AM/FM Volt./Curr.
I Selection
FM AM
N.O.
Slide Switch S6
DM+,DM-
N.C./N.O. Selection
N.C.
Shield ground terminal
MA Fault relay output <4>
RP Pulse Train Input (max 32 kHz)
MB 250 Vac, max. 1 A
<5>
+V Power supply +10.5 Vdc, max. 20 mA
MC
30 Vdc, max 1 A
(min. 5 Vdc, 10 mA)
2 kΩ
A1 Analog Input 1 (Frequency Reference Bias)
-10 to +10 Vdc (20 kΩ) M1 Multi-function relay output (During Run)
Multi-function 250 Vac, max. 1 A
analog/ pulse <6> A2 Analog Input 2 (Frequency Reference Bias) M2 30 Vdc, max 1 A
train inputs -10 to +10 Vdc (20 kΩ) (min. 5 Vdc, 10 mA)
0 or 4 to 20 mA (250 Ω)
M3 Multi-function relay output (Zero Speed)
Analog Input 3 / PTC Input (Aux. frequency 250 Vac, max. 1 A
A3 M4 30 Vdc, max 1 A
reference)
(min. 5 Vdc, 10 mA)
<7> AC -10 to +10 Vdc (20 kΩ)
0V M5 Multi-function relay output (Speed Agree 1)
250 Vac, max. 1 A
Electrical Installation
M6
<5> −V Power supply, -10.5 Vdc, max. 20 mA 30 Vdc, max 1 A
(min. 5 Vdc, 10 mA)
Termination resistor
(120 Ω, 1/2 W) MP Multi-function pulse train output
(Output frequency)
AC 0 to 32 kHz (2.2 kΩ)
DIP
Switch S2
R+ 0V
R <8>
MEMOBUS/Modbus S+ FM
comm. RS-422/RS-485 + Multi-function analog output 1
(Output frequency)
max. 115.2 kbps S FM -10 to +10 Vdc (2mA) or 4 to 20 mA
Safety
Switch IG <9> <10>
AM
S2
<11>
Safe Disable inputs H1
AC
AM
+ Multi-function analog output 2
(Output current)
-10 to +10 Vdc (2mA) or 4 to 20 mA
3
S1 H2 0V
EMC filter <10>
Switch <14>
E (G)
ON
Open Wire OFF EDM (Safety Electronic Device Monitor)
jumper
Safety relay / DM+ shielded line
controller <12> <13>
HC twisted-pair shielded line
DM
24 V 24 control circuit terminal
24 V Power Supply
0V 0 Unit Terminals <15> main circuit terminal
FE
Figure 3.1 Drive Standard Connection Diagram (example: CIMR-U20028)
<1> Supplying power to the control circuit separately from the main circuit requires a 24 V power supply.
<2> This figure shows an example of a sequence input to S1 through S8 using a non-powered relay or an NPN transistor. Install the wire link
between terminals SC-SP for Sink mode and SC-SN for Source mode. Leave it out for external power supply. Never short terminals SP and
SN as doing so will damage the drive.
<3> The maximum current supplied by this voltage source is 150 mA if no digital input option card DI-A3 is used.
<4> Wire the fault relay output separately from the main circuit power supply and other power lines.
<5> The maximum output current capacity for the +V and -V terminals on the control circuit is 20 mA. Never short terminals +V, -V, and AC, as
this can cause erroneous operation or damage the drive.
<6> Set DIP switch S1 to select between a voltage or current input signal to terminal A2. The default setting is for current input.
<7> Set DIP switch S4 to select between analog or PTC input for terminal A3.
<8> Enable the termination resistor in the last drive in a MEMOBUS network by setting DIP switch S2 to the ON position.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 59
3.2 Standard Connection Diagram
<9> Use jumper S5 to selection between voltage or current output signals at terminal AM and FM. Set parameters H4-07 and H4-08 accordingly.
<10> Monitor outputs work with devices such as analog frequency meters, ammeters, voltmeters, and wattmeters. They are not intended for use as
a feedback-type of signal.
<11> Use jumper S3 to select between Sink mode, Source mode or external power supply for the Safe Disable inputs.
<12> Disconnect the wire jumper between H1 - HC and H2 - HC when utilizing the Safe Disable input.
<13> Slide the switch S6 to select N.C. or N.O. as the state of the DM+ and DM- terminals for EDM output.
<14> Models CIMR-UE and W have EMC filter switch.
<15> Models CIMR-UP and W have terminals 24, 0, and FE.
WARNING! Sudden Movement Hazard. Do not close the wiring for the control circuit unless the multifunction input terminal
parameters are properly set. Improper sequencing of run/stop circuitry could result in death or serious injury from moving equipment.
WARNING! Sudden Movement Hazard. Ensure start/stop and safety circuits are wired properly and in the correct state before
energizing the drive. Failure to comply could result in death or serious injury from moving equipment. When programmed for 3-Wire
control, a momentary closure on terminal S1 may cause the drive to start.
WARNING! Sudden Movement Hazard. When using a 3-Wire sequence, set the drive to 3-Wire sequence prior to wiring the control
terminals and set parameter b1-17 to 0 so the drive will not accept a Run command at power up (default). If the drive is wired for a
3-Wire sequence but set up for a 2-Wire sequence (default), and parameter b1-17 is set to 1 so the drive accepts a Run command at
power up, the motor will rotate in reverse direction at drive power up and may cause injury.
WARNING! Sudden Movement Hazard. Confirm the drive I/O signals and external sequence before executing the application preset
function. Executing the application preset function or setting A1-06 0 will change the drive I/O terminal functions and may cause
unexpected equipment operation. Failure to comply may cause death or serious injury.
WARNING! When using the automatic fault restart function with wiring designed to shut off the power supply upon drive fault, make
sure the drive does not trigger a fault output during fault restart (L5-02 = 0, default). Failure to comply will prevent the automatic fault
restart function from working properly.
60 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
3.3 Main Circuit Connection Diagram
3.3 Main Circuit Connection Diagram
Refer to the Table 3.1 when wiring the main circuit of the drive. Connections may vary based on drive capacity. The DC
power supply for the main circuit also provides power to the control circuit.
Table 3.1 Drive main circuit configurations
CIMR-U20028 to 20248, 40011 to 40414
p1
Control common_
n1
board
TMonly
Control power supply
R/L1 U/T1
S/L2 Input filter Bidirectional IGBT V/T2
T/L3 W/T3
Electrical Installation
3
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 61
3.4 Terminal Block Configuration
3.4 Terminal Block Configuration
Figure 3.2 to Figure 3.7 show the different main circuit terminal arrangements for the drive capacities.
Table 3.2 Terminal Block Configuration
Model Figure
20028 Figure 3.2
20042
20054
Figure 3.3
20068
200 V Class 20081
CIMR-U 20104
Figure 3.4
20130
20154
Figure 3.5
20192
20248 Figure 3.6
40011
40014
40021 Figure 3.2
40027
40034
40040
40052
Figure 3.3
40065
400 V Class 40077
CIMR-U 40096
Figure 3.4
40124
40156
Figure 3.5
40180
40216
Figure 3.6
40240
40302
40361 Figure 3.7
40414
Figure 3.2
common_
TMonly
CHARGE
n1 p1 R/L1 S/L2 T/L3 U/T1 V/T2 W/T3
Figure 3.2 Main Circuit Terminal Arrangements (20028, 40011 to 40034)
62 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
3.4 Terminal Block Configuration
Figure 3.3
CHARGE
n1 p1 R/L1 S/L2 T/L3 U/T1 V/T2 W/T3
common_
TMonly
Figure 3.3 Main Circuit Terminal Arrangements (20042 to 20081, 40040 to 40077)
Figure 3.4
n1 p1
common_
TMonly
Electrical Installation
R/L1 S/L2 T/L3 U/L1 V/L2 W/L3
Figure 3.4 Main Circuit Terminal Arrangements (20104, 20130, 40096, 40124)
Figure 3.5
SW 24 0 FE 3
n1 p1
R/L1 S/L2 T/L3 U/L1 V/L2 W/L3
common_
TMonly
Figure 3.5 Main Circuit Terminal Arrangements (20154, 20192, 40156, 40180)
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 63
3.4 Terminal Block Configuration
Figure 3.6
SW
OFF
ON
▼
n1 p1
R/L1 S/L2 T/L3 U/L1 V/L2 W/L3
common_
TMonly
Figure 3.6 Main Circuit Terminal Arrangements (20248, 40216, 40240)
Figure 3.7
n1 p1
common_
TMonly
R/L1 S/L2 T/L3 U/L1 V/L2 W/L3
Figure 3.7 Main Circuit Terminal Arrangements (40302 to 40414)
64 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
3.5 Terminal Cover
3.5 Terminal Cover
Follow the procedure below to remove the terminal cover for wiring and to reattach the terminal cover after wiring is
complete.
20028 to 20130, 40011 to 40124
Removing the Terminal Cover
1. Loosen the terminal cover screw.
Figure 3.8
common_
TMonly
Figure 3.8 Removing the Terminal Cover
2. Push in on the hook located on the bottom of the terminal cover, and gently pull forward. This should remove the
terminal cover.
Figure 3.9
Electrical Installation
common_
TMonly
Figure 3.9 Removing the Terminal Cover
Reattaching the Terminal Cover
Power lines and signal wiring should pass through the opening provided. Refer to Wiring the Main Circuit Terminal on
3
page 75 and Wiring the Control Circuit Terminal on page 78 for details on wiring.
Reattach the terminal cover after completing the wiring to the drive and other devices.
Figure 3.10
common_
<1> TMonly
Figure 3.10 Reattaching the Terminal Cover
<1> Connect the ground wiring first, then the main circuit wiring, and finally the control circuit wiring.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 65
3.5 Terminal Cover
20154 to 20248, 40156 to 40414
Removing the Terminal Cover
1. Loosen the screws on the terminal cover, then pull down on the cover.
CAUTION! Crush Hazard. Do not completely remove the cover screws, just loosen them. If the cover screws are removed completely,
the terminal cover may fall off causing an injury. Take special care when removing/reattaching the terminal covers for larger drives.
Figure 3.11
common_
TMonly
Figure 3.11 Removing the Terminal Cover
2. Pull forward on the terminal cover to free it from the drive.
Figure 3.12
common_
TMonly
Figure 3.12 Removing the Terminal Cover
Reattaching the Terminal Cover
Once wiring to the terminal board and other devices is complete, double check all connections and finally reattach the
terminal cover. Refer to Wiring the Main Circuit Terminal on page 75 and Wiring the Control Circuit Terminal on
page 78 for details on wiring.
Figure 3.13
common_
<1> TMonly
Figure 3.13 Reattaching the Terminal Cover
<1> Connect the ground wiring first, then the main circuit wiring, and finally the control circuit wiring.
66 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
3.6 Digital Operator and Front Cover
3.6 Digital Operator and Front Cover
Detach the digital operator from the drive for remote operation or when opening the front cover to install an option card.
NOTICE: Be sure to remove the digital operator prior to opening or reattaching the front cover. Leaving the digital operator plugged
into the drive when removing the front cover can result in erroneous operation caused by a poor connection. Firmly fasten the front
cover back into place before reattaching the digital operator.
Removing/Reattaching the Digital Operator
Removing the Digital Operator
While pressing on the tab located on the right side of the digital operator, pull the digital operator forward to remove it
from the drive.
Figure 3.14
common_
TMonly
Figure 3.14 Removing the Digital Operator
Reattaching the Digital Operator
Insert the digital operator into the opening in the front cover while aligning it with the notches on the left side of the
opening. Next, press gently on the right side of the operator until it clicks into place.
Figure 3.15
common_
Electrical Installation
TMonly
Figure 3.15 Reattaching the Digital Operator
Removing/Reattaching the Front Cover
3
Removing the Front Cover
20028 to 20130, 40011 to 40124
After removing the terminal cover and the digital operator, loosen the screw that affixes the front cover. Pinch in on the
tabs found on each side of the front cover, then pull forward to remove it from the drive.
Figure 3.16
common_
TMonly
Figure 3.16 Remove the Front Cover (20028 to 20130, 40011 to 40124)
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 67
3.6 Digital Operator and Front Cover
20154 to 20248, 40156 to 40414
1. Remove the terminal cover and the digital operator.
2. Loosen the installation screw on the front cover.
3. Use a straight-edge screwdriver to loosen the hooks on each side of the cover that hold it in place.
Figure 3.17
common_
TMonly
Hook Hook
Front cover
installation screw
Figure 3.17 Remove the Front Cover (20154 to 20248, 40156 to 40414)
4. Unhook the left side of the front cover then swing the left side towards you as shown in the figure below until the
cover comes off.
Figure 3.18
common_
TMonly
Figure 3.18 Remove the Front Cover (20154 to 20248, 40156 to 40414)
Reattaching the Front Cover
20028 to 20130, 40011 to 40124
Reverse the instructions given in Remove the Front Cover (2¨0028 to 2¨0130, 4¨0011 to 4¨0124) on page 67 to reattach
the front cover.Reverse the instructions given in Removing the Front Cover on page 67 to reattach the front cover. Pinch
inwards on the hooks found on each side of the front cover while guiding it back into the drive. Make sure it clicks firmly
into place.
20154 to 20248, 40156 to 40414
1. Slide the front cover so that the hooks on the top connect to the drive.
Figure 3.19
common_
TMonly
Figure 3.19 Reattach the Front Cover (20154 to 20248, 40156 to 40414)
2. Once the hooks have connected to the drive, press firmly on the cover to make sure it locks into place.
68 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
3.7 Top Protective Cover
3.7 Top Protective Cover
Drive models with IP00 specifications become NEMA Type 1 after correctly installing a top protective cover. Do not
attach the top protective cover when installing the drive in a control panel.
Attaching the Top Protective Cover
Insert the small protruding hooks on the sides of the top protective cover into the provided mounting holes on the top of
the drive. Pinch the hooks inward so that the they connect with the mounting holes and fasten the top protective cover
back into place.
Note: Attaching the top protective cover and the bottom conduit bracket to an IP00 drive changes protection to NEMA Type 1.
Figure 3.20
common_TMonly
A – Protective Cover Mounting Holes
Figure 3.20 Reattaching the Top Protective Cover
Removing the Top Protective Cover
Insert the tip of a straight-edge screwdriver into the small opening located on the front edge of the top protective cover.
Gently apply pressure as shown in the figure below to free the cover from the drive.
Note: Removing the top protective cover or the bottom conduit bracket from an IP20/NEMA Type 1 enclosure drive voids the NEMA
Electrical Installation
Type 1 protection while maintaining IP20 conformity.
Figure 3.21
common_TMonly
Figure 3.21 Removing the Top Protective Cover
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 69
3.8 Main Circuit Wiring
3.8 Main Circuit Wiring
This section describes the functions, specifications, and procedures required to safely and properly wire the main circuit
in the drive.
NOTICE: Do not solder the ends of wire connections to the drive. Soldered wiring connections can loosen over time. Improper wiring
practices could result in drive malfunction due to loose terminal connections.
NOTICE: Do not switch the drive input to start or stop the motor. Frequently switching the drive on and off shortens the life of the DC
bus charge circuit and the DC bus capacitors, and can cause premature drive failures. For the full performance life, refrain from
switching the drive on and off more than once every 30 minutes.
Main Circuit Terminal Functions
Table 3.3 Main Circuit Terminal Functions
CIMR-U 20028 to 20248 40011 to 40414
Function Page
Terminal Type
R/L1
S/L2 Main circuit power supply input Connects line power to the drive 59
T/L3
U/T1
V/T2 Drive output Connects to the motor 59
W/T3
Available for connecting a momentary power loss
p1, n1 Momentary power loss recovery unit input 58
recovery unit option
100 or less 10 or less Grounding terminal 75
Protecting Main Circuit Terminals
Insulation Caps or Sleeves
Use insulation caps or sleeves when wiring the drive with crimp terminals. Take particular care to ensure that the wiring
does not touch nearby terminals or the surrounding case.
Main Circuit Protective Cover
Close the protective cover after wiring the main circuit terminals on 20028 to 20081, 40011 to 40077.
Figure 3.22
Figure 3.22 Main Circuit Protective Cover (20028 to 20081, 40011 to 40077)
70 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
3.8 Main Circuit Wiring
Attach the protective covers after wiring the main circuit terminals, p1, and n1 terminals on models 20104 to 20248,
40096 to 40414.
Figure 3.23
Main circuit terminal Terminals p1, n1
Figure 3.23 Protective Cover (20104 to 20248, 40096 to 40414)
Main Circuit Wire Gauges and Tightening Torque
Select the appropriate wires and crimp terminals from Table 3.4 through Table 3.5.
Note: Wire gauge recommendations based on drive continuous current ratings (ND) using 75°C 600 Vac vinyl-sheathed wire assuming
ambient temperature within 40°C and wiring distance less than 100 m.
• Consider the amount of voltage drop when selecting wire gauges. Increase the wire gauge when the voltage drop is
greater than 2% of motor rated voltage. Ensure the wire gauge is suitable for the terminal block. Use the following
formula to calculate the amount of voltage drop:
Line drop voltage (V) = 3 wire resistance (/km) wire length (m) motor rated current (A) 10-3
• Refer to UL Standards Compliance on page 521 for information on UL compliance.
The wire gauges listed in the following tables are Yaskawa recommendations. Refer to local codes for proper wire gauge
selections.
Electrical Installation
Three-Phase 200 V Class
Table 3.4 Wire Gauge and Torque Specifications (Three-Phase 200 V Class)
For Asia <1> For U.S.A. <2> For Europe and China <3>
Model Screw Tightening
Terminal Recomm. Applicable Recomm. Applicable Recomm. Applicable Torque
CIMR-U Gauge Gauge Gauge Gauge Gauge Gauge Size Nm (lb.in.)
mm2 mm2 AWG, kcmil AWG, kcmil mm2 mm2
R/L1, S/L2, T/L3 5.5 3.5 to 8 8 10 to 8 4 2.5 to 10 M5 2.3 to 2.7
U/T1, V/T2, W/T3 5.5 3.5 to 8 8 10 to 8 4 2.5 to 10 M5 (20.4 to 23.9) 3
20028 3.9 to 4.9
5.5 5.5 to 14 8 10 to 6 6 6 to 16 M6
(34.7 to 43.4)
1 to 1.4
p1, n1 2 2 to 3.5 14 14 to 12 2.5 2.5 to 4 M4
(8.9 to 12.4)
R/L1, S/L2, T/L3 14 5.5 to 22 6 8 to 3 10 5.5 to 25 M6 4 to 6
U/T1, V/T2, W/T3 14 5.5 to 22 6 8 to 3 10 5.5 to 25 M6 (35.4 to 53.1)
20042 8.8 to 10.8
5.5 5.5 to 22 8 10 to 3 10 6 to 25 M8
(78.1 to 95.5)
1 to 1.4
p1, n1 2 2 to 3.5 14 14 to 12 2.5 2.5 to 4 M4
(8.9 to 12.4)
R/L1, S/L2, T/L3 14 14 to 22 4 6 to 3 16 10 to 25 M6 4 to 6
U/T1, V/T2, W/T3 14 14 to 22 4 6 to 3 16 10 to 25 M6 (35.4 to 53.1)
20054 8.8 to 10.8
8 8 to 22 6 8 to 3 10 10 to 25 M8
(78.1 to 95.5)
1 to 1.4
p1, n1 2 2 to 3.5 14 14 to 12 2.5 2.5 to 4 M4
(8.9 to 12.4)
R/L1, S/L2, T/L3 22 14 to 22 4 4 to 3 16 16 to 25 M6 4 to 6
U/T1, V/T2, W/T3 22 14 to 22 4 4 to 3 16 16 to 25 M6 (35.4 to 53.1)
20068 8.8 to 10.8
14 14 to 22 6 6 to 3 16 16 to 25 M8
(78.1 to 95.5)
1 to 1.4
p1, n1 2 2 to 3.5 14 14 to 12 2.5 2.5 to 4 M4
(8.9 to 12.4)
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 71
3.8 Main Circuit Wiring
For Asia <1> For U.S.A. <2> For Europe and China <3>
Tightening
Model Terminal Recomm. Applicable Recomm. Applicable Recomm. Applicable Screw Torque
CIMR-U Gauge Gauge Gauge Gauge Gauge Gauge Size Nm (lb.in.)
mm2 mm2 AWG, kcmil AWG, kcmil mm2 mm2
R/L1, S/L2, T/L3 30 22 6 2P 6 to 3 2P 25 16 to 25 M6 4 to 6
U/T1, V/T2, W/T3 30 22 6 2P 6 to 3 2P 25 16 to 25 M6 (35.4 to 53.1)
20081 8.8 to 10.8
14 14 to 22 6 6 to 3 16 16 to 25 M8
(78.1 to 95.5)
1 to 1.4
p1, n1 2 2 to 3.5 14 14 to 12 2.5 2.5 to 4 M4
(8.9 to 12.4)
R/L1, S/L2, T/L3 38 8 to 60 2P 1 6 to 1/0 2P 35 10 to 50 2P M8 8 to 10
U/T1, V/T2, W/T3 38 8 to 60 2P 1 6 to 1/0 2P 35 10 to 50 2P M8 (70.8 to 88.5)
20104 8.8 to 10.8
22 22 to 38 4 4 to 1 25 10 to 35 M8
(78.1 to 95.5)
1.2 to 2.0
p1, n1 2 2 to 3.5 14 14 to 12 2.5 2.5 to 4 M4
(10.6 to 17.7)
R/L1, S/L2, T/L3 22 2P 14 to 60 2P 4 2P 6 to 1/0 2P 16 2P 10 to 50 2P M8 8 to 10
U/T1, V/T2, W/T3 22 2P 14 to 60 2P 4 2P 6 to 1/0 2P 16 2P 10 to 50 2P M8 (70.8 to 88.5)
20130 8.8 to 10.8
22 22 to 38 4 4 to 1 16 16 to 35 M8
(78.1 to 95.5)
1.2 to 2.0
p1, n1 2 2 to 3.5 14 14 to 12 2.5 2.5 to 4 M4
(10.6 to 17.7)
R/L1, S/L2, T/L3 22 2P 22 to 100 2P 3 2P 4 to 4/0 2P 25 2P 16 to 95 2P M10 15 to 20
U/T1, V/T2, W/T3 22 2P 22 to 100 2P 3 2P 4 to 4/0 2P 25 2P 16 to 95 2P M10 (133 to 177)
20154 17.7 to 22.6
22 22 to 60 4 4 to 2/0 25 25 to 70 M10
(156 to 200)
1.2 to 2.0
p1, n1 2 2 to 3.5 14 14 to 12 2.5 2.5 to 4 M4
(10.6 to 17.7)
R/L1, S/L2, T/L3 38 2P 22 to 100 2P 1 2P 3 to 4/0 2P 35 2P 25 to 95 2P M10 15 to 20
U/T1, V/T2, W/T3 38 2P 22 to 100 2P 1 2P 3 to 4/0 2P 35 2P 25 to 95 2P M10 (133 to 177)
20192 17.7 to 22.6
22 22 to 60 3 4 to 2/0 25 25 to 70 M10
(156 to 200)
1.2 to 2.0
p1, n1 2 2 to 3.5 14 14 to 12 2.5 2.5 to 4 M4
(10.6 to 17.7)
R/L1, S/L2, T/L3 50 2P 38 to 100 2P 2/0 2P 1 to 4/0 2P 50 2P 35 to 95 2P M10 15 to 20
U/T1, V/T2, W/T3 50 2P 38 to 100 2P 2/0 2P 1 to 4/0 2P 50 2P 35 to 95 2P M10 (133 to 177)
20248 31.4 to 39.2
22 22 to 100 3 4 to 4/0 35 25 to 95 M12
(278 to 347)
1.2 to 2.0
p1, n1 2 2 to 3.5 14 14 to 12 2.5 2.5 to 4 M4
(10.6 to 17.7)
<1> Gauges listed here are for use in Japan.
<2> Gauges listed here are for use in the United States.
<3> Gauges listed here are for use in Europe and China.
Three-Phase 400 V Class
Table 3.5 Wire Gauge and Torque Specifications (Three-Phase 400 V Class)
For Asia <1> For U.S.A. <2> For Europe and China <3>
Model Screw Tightening
Terminal Recomm. Applicable Recomm. Applicable Recomm. Applicable Torque
CIMR-U Gauge Gauge Gauge Gauge Gauge Gauge Size Nm (lb.in.)
mm2 mm2 AWG, kcmil AWG, kcmil mm2 mm2
R/L1, S/L2, T/L3 2 2 to 8 14 14 to 8 2.5 2.5 to 10 M5 2.3 to 2.7
U/T1, V/T2, W/T3 2 2 to 8 14 14 to 8 2.5 2.5 to 10 M5 (20.4 to 23.9)
40011 3.9 to 4.9
3.5 2 to 14 10 12 to 6 2.5 2.5 to 16 M6
(34.7 to 43.4)
1 to 1.4
p1, n1 2 2 to 3.5 14 14 to 12 2.5 2.5 to 4 M4
(8.9 to 12.4)
R/L1, S/L2, T/L3 2 2 to 8 12 14 to 8 2.5 2.5 to 10 M5 2.3 to 2.7
U/T1, V/T2, W/T3 2 2 to 8 12 14 to 8 2.5 2.5 to 10 M5 (20.4 to 23.9)
40014 3.9 to 4.9
3.5 2 to 14 10 12 to 6 2.5 2.5 to 16 M6
(34.7 to 43.4)
1 to 1.4
p1, n1 2 2 to 3.5 14 14 to 12 2.5 2.5 to 4 M4
(8.9 to 12.4)
R/L1, S/L2, T/L3 3.5 2 to 8 10 12 to 8 2.5 2.5 to 10 M5 2.3 to 2.7
U/T1, V/T2, W/T3 3.5 2 to 8 10 12 to 8 2.5 2.5 to 10 M5 (20.4 to 23.9)
40021 3.9 to 4.9
3.5 2 to 14 10 12 to 6 2.5 2.5 to 16 M6
(34.7 to 43.4)
1 to 1.4
p1, n1 2 2 to 3.5 14 14 to 12 2.5 2.5 to 4 M4
(8.9 to 12.4)
72 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
3.8 Main Circuit Wiring
For Asia <1> For U.S.A. <2> For Europe and China <3>
Tightening
Model Recomm. Applicable Recomm. Applicable Recomm. Applicable Screw
CIMR-U Terminal Torque
Gauge Gauge Gauge Gauge Gauge Gauge Size Nm (lb.in.)
mm2 mm2 AWG, kcmil AWG, kcmil mm2 mm2
R/L1, S/L2, T/L3 5.5 3.5 to 8 8 10 to 8 4 2.5 to 10 M5 2.3 to 2.7
U/T1, V/T2, W/T3 5.5 3.5 to 8 8 10 to 8 4 2.5 to 10 M5 (20.4 to 23.9)
40027 3.9 to 4.9
5.5 3.5 to 14 8 12 to 6 4 4 to 16 M6
(34.7 to 43.4)
1 to 1.4
p1, n1 2 2 to 3.5 14 14 to 12 2.5 2.5 to 4 M4
(8.9 to 12.4)
R/L1, S/L2, T/L3 8 5.5 to 8 8 8 6 4 to 10 M5 2.3 to 2.7
U/T1, V/T2, W/T3 8 5.5 to 8 8 8 6 4 to 10 M5 (20.4 to 23.9)
40034 3.9 to 4.9
5.5 5.5 to 14 8 10 to 6 6 6 to 16 M6
(34.7 to 43.4)
1 to 1.4
p1, n1 2 2 to 3.5 14 14 to 12 2.5 2.5 to 4 M4
(8.9 to 12.4)
R/L1, S/L2, T/L3 14 8 to 22 8 8 to 3 10 6 to 25 M6 4 to 6
U/T1, V/T2, W/T3 14 8 to 22 8 8 to 3 10 6 to 25 M6 (35.4 to 53.1)
40040 8.8 to 10.8
5.5 5.5 to 22 8 10 to 3 10 6 to 25 M8
(78.1 to 95.5)
1 to 1.4
p1, n1 2 2 to 3.5 14 14 to 12 2.5 2.5 to 4 M4
(8.9 to 12.4)
R/L1, S/L2, T/L3 14 14 to 22 6 8 to 3 10 10 to 25 M6 4 to 6
U/T1, V/T2, W/T3 14 14 to 22 6 8 to 3 10 10 to 25 M6 (35.4 to 53.1)
40052 8.8 to 10.8
8 8 to 22 6 8 to 3 10 10 to 25 M8
(78.1 to 95.5)
1 to 1.4
p1, n1 2 2 to 3.5 14 14 to 12 2.5 2.5 to 4 M4
(8.9 to 12.4)
R/L1, S/L2, T/L3 22 14 to 22 4 6 to 3 16 10 to 25 M6 4 to 6
U/T1, V/T2, W/T3 22 14 to 22 4 6 to 3 16 10 to 25 M6 (35.4 to 53.1)
40065 8.8 to 10.8
14 14 to 22 6 6 to 3 16 16 to 25 M8
(78.1 to 95.5)
1 to 1.4
p1, n1 2 2 to 3.5 14 14 to 12 2.5 2.5 to 4 M4
(8.9 to 12.4)
R/L1, S/L2, T/L3 22 22 3 4 to 3 25 16 to 25 M6 4 to 6
U/T1, V/T2, W/T3 22 22 3 4 to 3 25 16 to 25 M6 (35.4 to 53.1)
40077 8.8 to 10.8
14 14 to 22 6 6 to 3 16 16 to 25 M8
(78.1 to 95.5)
1 to 1.4
p1, n1 2 2 to 3.5 14 14 to 12 2.5 2.5 to 4 M4
(8.9 to 12.4)
R/L1, S/L2, T/L3 38 8 to 60 2P 1 8 to 1/0 2P 35 10 to 50 2P M8 8 to 10
U/T1, V/T2, W/T3 38 8 to 60 2P 1 8 to 1/0 2P 35 10 to 50 2P M8 (70.8 to 88.5)
Electrical Installation
40096 8.8 to 10.8
22 22 to 38 4 4 to 1 25 10 to 35 M8
(78.1 to 95.5)
1.2 to 2.0
p1, n1 2 2 to 3.5 14 14 to 12 2.5 2.5 to 4 M4
(10.6 to 17.7)
R/L1, S/L2, T/L3 22 2P 14 to 60 2P 4 2P 6 to 1/0 2P 16 2P 10 to 50 2P M8 8 to 10
U/T1, V/T2, W/T3 22 2P 14 to 60 2P 4 2P 6 to 1/0 2P 16 2P 10 to 50 2P M8 (70.8 to 88.5)
40124 8.8 to 10.8
22 22 to 38 4 4 to 1 16 16 to 35 M8
(78.1 to 95.5)
p1, n1 2 2 to 3.5 14 14 to 12 2.5 2.5 to 4 M4
1.2 to 2.0
(10.6 to 17.7)
3
R/L1, S/L2, T/L3 22 2P 22 to 100 2P 3 2P 4 to 4/0 2P 25 2P 16 to 95 2P M10 15 to 20
U/T1, V/T2, W/T3 22 2P 22 to 100 2P 3 2P 4 to 4/0 2P 25 2P 16 to 95 2P M10 (133 to 177)
40156 17.7 to 22.6
22 22 to 60 4 4 to 2/0 25 25 to 70 M10
(156 to 200)
1.2 to 2.0
p1, n1 2 2 to 3.5 14 14 to 12 2.5 2.5 to 4 M4
(10.6 to 17.7)
R/L1, S/L2, T/L3 30 2P 22 to 100 2P 2 2P 3 to 4/0 2P 25 2P 25 to 95 2P M10 15 to 20
U/T1, V/T2, W/T3 30 2P 22 to 100 2P 2 2P 3 to 4/0 2P 25 2P 25 to 95 2P M10 (133 to 177)
40180 17.7 to 22.6
22 22 to 60 3 4 to 2/0 25 25 to 70 M10
(156 to 200)
1.2 to 2.0
p1, n1 2 2 to 3.5 14 14 to 12 2.5 2.5 to 4 M4
(10.6 to 17.7)
R/L1, S/L2, T/L3 38 2P 30 to 100 2P 1/0 2P 2 to 4/0 2P 35 2P 25 to 95 2P M10 15 to 20
U/T1, V/T2, W/T3 38 2P 30 to 100 2P 1/0 2P 2 to 4/0 2P 35 2P 25 to 95 2P M10 (133 to 177)
40216 31.4 to 39.2
22 22 to 100 3 4 to 4/0 35 25 to 95 M12
(278 to 347)
1.2 to 2.0
p1, n1 2 2 to 3.5 14 14 to 12 2.5 2.5 to 4 M4
(10.6 to 17.7)
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 73
3.8 Main Circuit Wiring
For Asia <1> For U.S.A. <2> For Europe and China <3>
Tightening
Model Terminal Recomm. Applicable Recomm. Applicable Recomm. Applicable Screw Torque
CIMR-U Gauge Gauge Gauge Gauge Gauge Gauge Size Nm (lb.in.)
mm2 mm2 AWG, kcmil AWG, kcmil mm2 mm2
R/L1, S/L2, T/L3 50 2P 38 to 100 2P 1/0 2P 1/0 to 4/0 2P 50 2P 35 to 95 2P M10 15 to 20
U/T1, V/T2, W/T3 50 2P 38 to 100 2P 1/0 2P 1/0 to 4/0 2P 50 2P 35 to 95 2P M10 (133 to 177)
40240 31.4 to 39.2
38 30 to 100 2 2 to 4/0 50 35 to 95 M12
(278 to 347)
1.2 to 2.0
p1, n1 2 2 to 3.5 14 14 to 12 2.5 2.5 to 4 M4
(10.6 to 17.7)
R/L1, S/L2, T/L3 80 2P 50 to 100 2P 3/0 2P 1/0 to 4/0 2P 70 2P 50 to 95 2P M10 15 to 20
U/T1, V/T2, W/T3 80 2P 50 to 100 2P 3/0 2P 1/0 to 4/0 2P 70 2P 50 to 95 2P M10 (133 to 177)
40302 31.4 to 39.2
38 38 to 150 1 1 to 300 70 35 to 150 M12
(278 to 347)
1.2 to 2.0
p1, n1 2 2 to 3.5 14 14 to 12 2.5 2.5 to 4 M4
(10.6 to 17.7)
R/L1, S/L2, T/L3 100 2P 80 to 100 2P 4/0 2P 3/0 to 4/0 2P 95 2P 70 to 95 2P M10 15 to 20
U/T1, V/T2, W/T3 100 2P 80 to 100 2P 4/0 2P 3/0 to 4/0 2P 95 2P 70 to 95 2P M10 (133 to 177)
40361 31.4 to 39.2
60 60 to 150 1/0 1/0 to 300 95 70 to 150 M12
(278 to 347)
1.2 to 2.0
p1, n1 2 2 to 3.5 14 14 to 12 2.5 2.5 to 4 M4
(10.6 to 17.7)
R/L1, S/L2, T/L3 125 2P 100 to 150 2P 300 2P 4/0 to 300 2P 95 2P 95 to 150 2P M12 25 to 35
U/T1, V/T2, W/T3 125 2P 100 to 150 2P 300 2P 4/0 to 300 2P 95 2P 95 to 150 2P M12 (221 to 310)
40414 31.4 to 39.2
60 60 to 200 1/0 1/0 to 400 95 70 to 240 M12
(278 to 347)
1.2 to 2.0
p1, n1 2 2 to 3.5 14 14 to 12 2.5 2.5 to 4 M4
(10.6 to 17.7)
<1> Gauges listed here are for use in Japan.
<2> Gauges listed here are for use in the United States.
<3> Gauges listed here are for use in Europe and China.
Main Circuit Terminal and Motor Wiring
This section outlines the various steps, precautions, and checkpoints for wiring the main circuit terminals and motor
terminals.
NOTICE: When connecting the motor to the drive output terminals U/T1, V/T2, and W/T3, the phase order for the drive and motor
should match. Failure to comply with proper wiring practices may cause the motor to run in reverse if the phase order is backward.
NOTICE: Do not connect phase-advancing capacitors or LC/RC noise filters to the output circuits. Failure to comply could result in
damage to the drive, phase-advancing capacitors, LC/RC noise filters or ground fault circuit interrupters.
Cable Length Between Drive and Motor
Voltage drop along the motor cable may cause reduced motor torque when the wiring between the drive and the motor is
too long, especially at low frequency output. This can also be a problem when motors are connected in parallel with a
fairly long motor cable. Drive output current will increase as the leakage current from the cable increases. An increase in
leakage current may trigger an overcurrent situation and weaken the accuracy of the current detection.
Adjust the drive carrier frequency according to Table 3.6. If the motor wiring distance exceeds 100 m because of the
system configuration, reduce the ground currents. Refer to C6-02: Carrier Frequency Selection on page 190.
Table 3.6 Cable Length Between Drive and Motor
Cable Length 50 m or less Greater than 50 m
Carrier Frequency 10 kHz or less 4 kHz or less
Note: 1. When setting carrier frequency for drives running multiple motors, calculate cable length as the total wiring distance to all connected
motors.
2. The maximum cable length is 100 m when using OLV/PM (A1-02 = 5) or AOLV/PM (A1-02 = 6).
74 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
3.8 Main Circuit Wiring
Ground Wiring
Follow the precautions to wire the ground for one drive or a series of drives.
WARNING! Electrical Shock Hazard. Always use a ground wire that complies with technical standards on electrical equipment and
minimize the length of the ground wire. Improper equipment grounding may cause dangerous electrical potentials on equipment
chassis, which could result in death or serious injury.
WARNING! Electrical Shock Hazard. Be sure to ground the drive ground terminal. Improper equipment grounding could result in death
or serious injury by contacting ungrounded electrical equipment.
NOTICE: Do not share the ground wire with other devices such as welding machines or large-current electrical equipment. Improper
equipment grounding could result in drive or equipment malfunction due to electrical interference.
NOTICE: When using more than one drive, ground multiple drives according to instructions. Improper equipment grounding could
result in abnormal operation of drive or equipment.
Refer to Figure 3.24 when using multiple drives. Do not loop the ground wire.
Figure 3.24
Figure 3.24 Multiple Drive Wiring
Wiring the Main Circuit Terminal
WARNING! Electrical Shock Hazard. Shut off the power supply to the drive before wiring the main circuit terminals. Failure to comply
may result in death or serious injury.
Wire the main circuit terminals after the terminal board has been properly grounded.
Models 20028 to 20081 and 40011 to 40077 have a cover placed over terminals p1 and n1 prior to shipment to
help prevent miswiring. Use wire cutters to cut away covers as needed for terminals.
Electrical Installation
Figure 3.25
common_
TMonly
A
CHARGE
n1 p1 R/L1 S/L2 T/L3 U/T1 V/T2 W/T3
B
3
A – Protective Covert for Terminal p1 and n1 B – Main Circuit Protective Cover
Figure 3.25 Protecting Cover to Prevent Miswiring
Main Circuit Connection Diagram
Refer to Main Circuit Connection Diagram on page 61 when wiring terminals on the main power circuit of the drive.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 75
3.9 Control Circuit Wiring
3.9 Control Circuit Wiring
Control Circuit Connection Diagram
Refer to Standard Connection Diagram on page 58 when wiring terminals on the drive’s control circuit.
Control Circuit Terminal Block Functions
Drive parameters determine which functions apply to the multi-function digital inputs (S1 to S8), multi-function digital
outputs (M1 to M6), multi-function analog inputs (A1 to A3), and multi-function analog monitor outputs (FM, AM). The
default setting is listed next to each terminal in Figure 3.1 on page 59.
WARNING! Sudden Movement Hazard. Always check the operation and wiring of control circuits after being wired. Operating a drive
with untested control circuits could result in death or serious injury.
WARNING! Sudden Movement Hazard. Confirm the drive I/O signals and external sequence before starting test run. Setting
parameter A1-06 may change the I/O terminal function automatically from the factory setting. Refer to Application Selection on
page 110. Failure to comply may result in death or serious injury.
Input Terminals
Table 3.7 lists the input terminals on the drive. Text in parenthesis indicates the default setting for each multi-function
input.
Table 3.7 Control Circuit Input Terminals
Type No. Terminal Name (Function) Function (Signal Level) Default Setting Page
S1 Multi-function input 1 (Closed: Forward run, Open: Stop)
S2 Multi-function input 2 (Closed: Reverse run, Open: Stop)
S3 Multi-function input 3 (External fault, N.O.) Photocoupler
S4 Multi-function input 4 (Fault reset) 24 Vdc, 8 mA
Set the wire jumper between SC and SN or SC and SP for selection of sinking/
S5 Multi-function input 5 (Multi-step speed reference 1) sourcing mode and power supply. Refer to Sinking/Sourcing Mode for Digital Inputs 432
Multi-Function S6 Multi-function input 6 (Multi-step speed reference 2) on page 80.
Digital Inputs S7 Multi-function input 7 (Jog reference)
S8 Multi-function input 8 (Baseblock command (N.O.))
SC Multi-function input common Multi-function input common
SP Digital input power supply +24 Vdc 24 Vdc power supply for digital inputs, 150 mA max (only when not using digital
input option DI-A3) 80
SN Digital input power supply 0 V NOTICE: Do not jumper or short terminals SP and SN. Failure to comply will
damage the drive.
H1 Safe Disable input 1 24 Vdc, 8 mA
One or both open: Output disabled
Both closed: Normal operation
Internal impedance: 3.3 k
Safe Disable Off time of at least 1 ms
H2 Safe Disable input 2 Disconnect the wire jumpers shorting terminals H1, H2, and HC to use the Safe 529
Inputs
Disable inputs. Set the S3 jumper to select between sinking, sourcing mode, and the
power supply as explained in Sinking/Sourcing Mode Selection for Safe Disable
Inputs on page 81.
HC Safe Disable function common Safe disable function common
Input frequency range: 0 to 32 kHz
Signal Duty Cycle: 30 to 70% 145
RP Multi-function pulse train input (Frequency reference)
High level: 3.5 to 13.2 Vdc, low level: 0.0 to 0.8 Vdc 254
Input impedance: 3 k
+V Power supply for analog inputs 10.5 Vdc (max allowable current 20 mA) 144
-V Power supply for analog inputs -10.5 Vdc (max allowable current 20 mA) –
144
Analog Inputs / A1 Multi-function analog input 1 (Frequency reference bias) -10 to 10 Vdc, 0 to 10 Vdc (input impedance: 20 k)
247
Pulse Train Input
-10 to 10 Vdc, 0 to 10 Vdc (input impedance: 20 k) 144
A2 Multi-function analog input 2 (Frequency reference bias) 4 to 20 mA, 0 to 20 mA (input impedance: 250 ) 145
Voltage or current input must be selected by DIP switch S1 and H3-09 248
Multi-function analog input 3 (auxiliary frequency -10 to 10 Vdc, 0 to 10 Vdc (input impedance: 20 k)
A3 144
reference) / PTC Input Use DIP switch S4 on the terminal board to select between analog and PTC input.
AC Frequency reference common 0V 144
E (G) Ground for shielded lines and option cards – –
76 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
3.9 Control Circuit Wiring
Output Terminals
Table 3.8 lists the output terminals on the drive. Text in parenthesis indicates the default setting for each multi-function
output.
Table 3.8 Control Circuit Output Terminals
Type No. Terminal Name (Function) Function (Signal Level) Default Setting Page
MA N.O. output (Fault)
30 Vdc, 10 mA to 1 A; 250 Vac, 10 mA to 1 A
Fault Relay Output MB N.C. output (Fault) 237
Minimum load: 5 Vdc, 10 mA
MC Fault output common
M1
Multi-function digital output (During run)
M2
Multi-Function M3 30 Vdc, 10 mA to 1 A; 250 Vac, 10 mA to 1 A
Multi-function digital output (Zero Speed) 237
Digital Output <1> M4 Minimum load: 5 Vdc, 10 mA
M5
Multi-function digital output (Speed Agree 1)
M6
MP Pulse train output (Output frequency) 32 kHz (max) 254
FM Analog monitor output 1 (Output frequency) -10 to +10 Vdc, 0 to +10 Vdc, or 4-20 mA
Use jumper S5 on the terminal board to select between voltage or current output
Monitor Output 252
AM Analog monitor output 2 (Output current) signals.
Resolution: 1/1000
AC Monitor common 0V –
DM+ Safety monitor output Outputs status of Safe Disable function. Closed when both Safe Disable
Safety Monitor channels are closed. Up to +48 Vdc 50 mA. Slide the switch S6 to select N.C. or
518
Output DM- Safety monitor output N.O. as the state of the DM+ and DM- terminals for EDM output as explained
on 81 page.
<1> Refrain from assigning functions to digital relay outputs that involve frequent switching, as doing so may shorten relay performance life.
Switching life is estimated at 200,000 times (assumes 1 A, resistive load).
Serial Communication Terminals
Table 3.9 Control Circuit Terminals: Serial Communications
Type No. Signal Name Function (Signal Level)
R+ Communications input (+)
R- Communications input (-) RS-422/RS-485
MEMOBUS/Modbus MEMOBUS/Modbus communication: Use a RS-485 or
MEMOBUS/Modbus communication protocol
Communication S+ Communications output (+) RS-422 cable to connect the drive. 115.2 kbps (max.)
<1>
S- Communications output (-)
IG Shield ground 0V
Electrical Installation
<1> Enable the termination resistor in the last drive in a MEMOBUS/Modbus network by setting DIP switch S2 to the ON position. For more
information on the termination resistor, see Control I/O Connections on page 80.
Terminal Configuration
The control circuit terminals should are arranged as shown in Figure 3.26.
Figure 3.26
3
YEG
E(G) HC H1 H2 DM+ DM- IG R+ R- S+ S-
M3 M6 M4
V+ AC V- A1 A2 A3 FM AM AC MP RP AC M1 M2 M5
S1 S2 S3 S4 S5 S6 S7 S8 SN SC SP MA MB MC
Figure 3.26 Control Circuit Terminal Arrangement
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 77
3.9 Control Circuit Wiring
Wire Size
Select appropriate wire type and gauges from Table 3.10. For simpler and more reliable wiring, use crimp ferrules on the
wire ends. Refer to Ferrule-Type Wire Terminals on page 78 for ferrule terminal types and sizes.
Table 3.10 Wire Gauges
Bare Wire Terminal Ferrule-Type Terminal
Terminal Recomm. Gauge Applicable Gauge Recomm. Gauge Applicable Gauge Wire Type
mm2 (AWG) mm2 (AWG) mm2 (AWG) mm2 (AWG)
S1-S8, SC, SP, SN, RP, +V, -V, A1, A2, Stranded wire:
A3, AC, M1-M6, MA, MB, MC, MP, 0.75 0.2 to 1.0 (24 to 16) 0.5 0.25 to 0.5
Shielded line, etc.
AM, FM, AC, S+, S-, R+, R-, IG, HC, (18) Solid wire: (20) (24 to 20)
H1, H2, DM+, DM- 0.2 to 1.5 (24 to 16)
Ferrule-Type Wire Terminals
Yaskawa recommends using CRIMPFOX 6, a crimping tool manufactured by PHOENIX CONTACT, to prepare wire
ends with insulated sleeves before connecting to the drive. Refer to Table 3.11 for dimensions.
Figure 3.27
d1
YEG
8 mm
d2
Figure 3.27 Ferrule Dimensions
Table 3.11 Ferrule Terminal Types and Sizes
Size mm2 (AWG) Type L (mm) d1 (mm) d2 (mm) Manufacturer
0.25 (24) AI 0.25-8YE 12.5 0.8 1.8
0.34 (22) AI 0.34-8TQ 10.5 0.8 1.8
PHOENIX CONTACT
AI 0.5-8WH or
0.5 (20) 14 1.1 2.5
AI 0.5-8OG
Wiring the Control Circuit Terminal
This section describes the proper procedures and preparations for wiring the control terminals.
WARNING! Electrical Shock Hazard. Do not remove covers or touch the circuit boards while the power is on. Failure to comply could
result in death or serious injury.
NOTICE: Separate control circuit wiring from main circuit wiring (terminals R/L1, S/L2, T/L3, U/T1, V/T2, W/T3, p1, n1) and other
high-power lines. Improper wiring practices could result in drive malfunction due to electrical interference.
NOTICE: Separate wiring for output terminals MA, MB, MC, M1, and M2 to M6 from wiring to other control circuit lines. Improper wiring
practices could result in drive or equipment malfunction or nuisance trips.
NOTICE: Use a class 2 power supply (UL standard) when connecting to the control terminals. Improper application of peripheral
devices could result in drive performance degradation due to improper power supply.
NOTICE: Insulate shields with tape or shrink tubing to prevent contact with other signal lines and equipment. Improper wiring practices
could result in drive or equipment malfunction due to short circuit.
NOTICE: Connect the shield of shielded cable to the appropriate ground terminal. Improper equipment grounding could result in drive
or equipment malfunction or nuisance trips.
Wire the control circuit only after terminals have been properly grounded and main circuit wiring is complete. Refer to
Figure 3.28 and Figure 3.29 for details. Prepare the ends of the control circuit wiring as shown in Figure 3.30. Refer to
Wire Size on page 78.
NOTICE: Use shielded twisted-pair cables as indicated to prevent operating faults. Improper wiring practices could result in drive or
equipment malfunction due to electrical interference.
78 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
3.9 Control Circuit Wiring
Connect control wires as shown in Figure 3.28 and Figure 3.29.
Figure 3.28
Push wire end
into terminal
Control Wires
Terminal Board
YEG
Figure 3.28 Terminal Board Wiring Guide
To disconnect control wires from the terminals use the procedure described in Figure 3.29. Grasp the wire where it
enters the terminal with a pair of pliers, then use a straight-edge screw driver to release the terminal and pull the wire out.
If it fits tightly, e.g. if ferrules are used, turn the wire for about 45 and then pull it gently out. Use this procedure to
remove the wire jumper between terminals HC, H1 and H2 that is preinstalled at shipping.
Figure 3.29
Push down to open
the terminal
Turn the wire 45° and
pull it out of the terminal.
45 °
Use a screwdriver with a blade
width of max 2.5 mm and a
thickness of max 0.4 mm
Control Wires
Terminal Board
YEG
Figure 3.29 Removing Wires from the Terminal Board
When setting the frequency by analog reference from an external potentiometer, use shielded twisted-pair wires
(preparing wire ends as shown in Figure 3.30 and connect the shield to the ground terminal (E [G]) of the drive.
Figure 3.30
Electrical Installation
E B
A C
A – Drive side D –Shield sheath (insulate with tape)
B – Insulation E –Shield 3
C – Control device side
Figure 3.30 Preparing the Ends of Shielded Cables
NOTICE: The analog signal wiring between the drive and the operator station or peripheral equipment should not exceed 50 meters
when using an analog signal from a remote source to supply the frequency reference. Failure to comply could result in poor system
performance.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 79
3.10 Control I/O Connections
3.10 Control I/O Connections
Switches and Jumpers on the Terminal Board
The terminal board is equipped with several switches used to adapt the drive I/Os to the external control signals.
Figure 3.31 shows the location of these switches.
Figure 3.31
DIP Switch S1
Slide Switch S6 Terminal A2 Signal
Terminal DM+,DM-
N.C./N.O. Selection
Selection
V I
YEG
N.O.
N.C.
Jumper S5
Terminal AM/FM Signal
Jumper S3 Selection
Terminal H1/H2
Sink/Source Sel.
V
FM AM
E(G) HC H1 H2 DM+ DM- IG R+ R- S+ S-
M3 M6 M4
V+ AC V- A1 A2 A3 FM AM AC MP RP AC M1 M2 M5
DIP Switch S4
S1 S2 S3 S4 S5 S6 S7 S8 SN SC SP MA MB MC
Terminal A3 Analog/
DIP Switch S2 PTC Input Sel.
RS-422/485
Termination Resistor
Off On PTC
AI
Figure 3.31 Locations of Jumpers and Switches on the Terminal Board
Sinking/Sourcing Mode for Digital Inputs
Use the wire jumper between terminals SC and SP or SC and SN to select between Sink mode, Source mode or external
power supply for the digital inputs S1 to S8 as shown in Table 3.12 (Default: Sink mode, internal power supply).
Note: Never short terminals SP and SN as doing so will damage the drive.
Table 3.12 Digital Input Sink / Source / External Power Supply Selection
Drive Internal Power Supply (Terminal SN and SP) External 24 Vdc Power Supply
S7 S7
S8 S8
Sinking Mode (NPN)
SN SN
SC SC
24 Vdc 24 Vdc
SP External SP
24 Vdc
80 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
3.10 Control I/O Connections
Drive Internal Power Supply (Terminal SN and SP) External 24 Vdc Power Supply
S7 S7
S8 S8
Sourcing Mode (PNP)
SN SN
SC SC
24 Vdc 24 Vdc
External
SP SP
24 Vdc
Sinking/Sourcing Mode Selection for Safe Disable Inputs
Use jumper S3 on the terminal board to select between Sink mode, Source mode or external power supply for the Safe
Disable inputs H1 and H2 as shown in Table 3.12 (Default: Source mode, internal power supply.) Refer to Switches and
Jumpers on the Terminal Board on page 80 for locating jumper S3.
Table 3.13 Safe Disable Input Sink / Source / External Power Supply Selection (CIMR-UB)
Drive Internal Power Supply External 24 Vdc Power Supply
Jumper S3 Jumper S3
24 Vdc 24 Vdc
HC HC
External
24 Vdc
Sinking Mode
H1 H1
H2 H2
Jumper S3 Jumper S3
24 Vdc 24 Vdc
HC HC
Electrical Installation
External
24 Vdc
Sourcing Mode
H1 H1
H2 H2
3
Terminal DM+ and DM- Output Signal Selection
Slide the switch S6 to select N.C. or N.O. as the state of the DM+ and DM- terminals for EDM output. The switch is
initially set to N.C.
Table 3.14 EDM Switch Settings
S6 Position Description
N.O. Normal Open
N.C. Normal Close (default setting)
Note: Refer to Safe Disable Input Function on page 529 for details on EDM.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 81
3.10 Control I/O Connections
Using the Pulse Train Output
The pulse train output terminal MP can either supply power but can also be used with external power supply. Peripheral
devices should be connected in accordance with the specifications listed below. Failure to do so can cause unexpected
drive operation, and can damage the drive or connected circuits.
Using Power from the Pulse Output Terminal (Source Mode)
The high voltage level of the pulse output terminal depends on the load impedance.
Load Impedance RL (k) Output Voltage VMP (V) (insulated)
1.5 k 5V
4 k 8V
10 k 10 V
Note: The load resistance needed in order to get a certain high level voltage VMP can be calculated by: RL = VMP 2 / (12 - VMP)
Figure 3.32
Load Impedance
MP
VMP RL
AC
common_
TMonly
Figure 3.32 Pulse Output Connection Using Internal Voltage Supply
Using External Power Supply (Sink Mode)
The high voltage level of the pulse output signal depends on the external voltage applied. The voltage must be between
12 and 15 Vdc. The load resistance must be adjusted so that the current is lower than 16 mA.
External Power Supply (V) Load Impedance (k)
12 to 15 Vdc 10% 1.0 k or higher
Figure 3.33
External Power Supply
Load Impedance
MP
Sink Current
AC
common_
TMonly
Figure 3.33 Pulse Output Connection Using External Voltage Supply
Terminal A2 Input Signal Selection
Terminal A2 can be used to input either a voltage or a current signal. Select the signal type using switch S1 as explained
in Table 3.15. Set parameter H3-09 accordingly as shown in Table 3.16. Refer to Switches and Jumpers on the Terminal
Board on page 80 for locating switch S1.
Note: If terminals A1 and A2 are both set for frequency bias (H3-02 = 0 and H3-10 = 0), both input values will be combined to create
the frequency reference.
Table 3.15 DIP Switch S1 Settings
Setting Description
V (left position) Voltage input (-10 to +10 V)
I (right position) (default) Current input (4 to 20 mA or 0 to 20 mA): default setting
Table 3.16 Parameter H3-09 Details
Setting Default
No. Parameter Name Description
Range Setting
Selects the signal level for terminal A2.
0: 0 to 10 Vdc
H3-09 Terminal A2 signal level selection 1: -10 to 10 Vdc 0 to 3 2
2: 4 to 20 mA
3: 0 to 20 mA
82 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
3.10 Control I/O Connections
Terminal A3 Analog/PTC Input Selection
Terminal A3 can be configured either as multi-function analog input or as PTC input for motor thermal overload
protection. Use switch S4 to select the input function as described in Table 3.17. Refer to Switches and Jumpers on the
Terminal Board on page 80 for locating switch S4.
Table 3.17 DIP Switch S4 Settings
Setting Description
AI (lower position) (default) Analog input for the function selected in parameter H3-06
PTC (upper position) PTC input. Parameter H3-06 must be set to E (PTC input)
Terminal AM/FM Signal Selection
The signal type for terminals AM and FM can be set to either voltage or current output using jumper S5 on the terminal
board as explained in Table 3.18. When changing the setting of jumper S5, parameters H4-07 and H4-08 must be set
accordingly. The default selection is voltage output for both terminals. Refer to Switches and Jumpers on the Terminal
Board on page 80 for locating jumper S5.
Table 3.18 Jumper S5 Settings
Voltage Output Current Output
V V
Terminal AM I I
FM AM FM AM
V V
Terminal FM I I
FM AM FM AM
Table 3.19 Parameter H4-07, H4-08 Details
Setting Default
No. Parameter Name Description Range Setting
H4-07 Terminal AM signal level selection 0: 0 to 10 Vdc
1: -10 to 10 Vdc 0 to 2 0
H4-08 Terminal FM signal level selection 2: 4 to 20 mA
Electrical Installation
3
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 83
3.11 Connect to a PC
3.11 Connect to a PC
This drive is equipped with a USB port (type-B).
The drive can connect to the USB port of a PC using a USB 2.0, AB type cable (sold separately). DriveWizard Plus can
then be used to monitor drive performance and manage parameter settings. Contact Yaskawa for more information on
DriveWizard Plus.
Figure 3.34
USB Cable
(Type-AB)
(Type-B) (Type-A)
PC
common_TMonly
Figure 3.34 Connecting to a PC (USB)
84 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
3.12 MEMOBUS/Modbus Termination
3.12 MEMOBUS/Modbus Termination
This drive is equipped with a built in termination resistor for the RS-422/RS-485 communication port. DIP switch S2
enables or disabled the termination resistor as shown in Table 3.20. The OFF position is the default. The termination
resistor should be placed to the ON position when the drive is the last in a series of slave drives. Refer to Switches and
Jumpers on the Terminal Board on page 80 for locating switch S2.
Table 3.20 MEMOBUS/Modbus Switch Settings
S2 Position Description
ON Internal termination resistor ON
OFF Internal termination resistor OFF (default setting)
Note: Refer to MEMOBUS/Modbus Communications on page 487 for details on MEMOBUS/Modbus.
Electrical Installation
3
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 85
3.13 Enable the Internal EMC Filter
3.13 Enable the Internal EMC Filter
DANGER! Electrical Shock Hazard. Do not touch SW screw while power is applied to the drive. Failure to comply will result in death or
serious injury.
WARNING! Electrical Shock Hazard. Connect the ground cable correctly. Failure to comply may result in death or serious injury.
NOTICE: When disabling the internal EMC filter, move the screws from ON to OFF and then tighten to the specified torque.
Completely removing the screws or tightening the screws to an incorrect torque may cause drive failure.
Note: For floating, impedance grounded, or asymmetrically grounded networks, disconnect the internal EMC filter by moving the SW
screw to the OFF position.
Table 3.21 shows asymmetrical grounded networks. Asymmetrical networks require first moving the SW screw to
disconnect the internal ground connection. (Drives are shipped with SW screw installed at the OFF position.)
Table 3.21 Asymmetrical Grounded Network
L1
Grounded at the corner of the delta
L3 L2
L1
Grounded at the middle of the side
L3 L2
L1
Single-phase, grounded at the end point
L1
L1
L2
Three-phase variable transformer without solidly grounded
neutral L2
L3
L3
If EMC is a concern and the network is grounded symmetrically, install the SW screw to the ON position. Installing the
SW screw enables the internal EMC filter (Drives are shipped with SW screw installed at the OFF position).
Figure 3.35
L1
L3 L2
Figure 3.35 Symmetrical Grounded Network
86 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
3.13 Enable the Internal EMC Filter
Figure 3.36
A ON
B OFF
SW
A – SW (ON) B – Screw (OFF)
Figure 3.36 EMC Filter Switch Location (2E0028, 2W0028, 4E0011 to 4E0034, 4W0011 to 4W0034)
Figure 3.37
A ON
B OFF
SW
A – SW (ON) B – Screw (OFF)
Electrical Installation
Figure 3.37 EMC Filter Switch Location (2E0042, 2E0054, 2W0042, 2W0054, 4E0040 to 4E0077, 4W0040 to 4W0077)
Figure 3.38
A ON
B OFF
SW
A – SW (ON) B – Screw (OFF)
Figure 3.38 EMC Filter Switch Location (2E0104, 2E0130, 2W0104, 2W0130, 4E0096, 4E0124, 4W0096, 4W0124)
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 87
3.13 Enable the Internal EMC Filter
Figure 3.39
A – SW (ON) B – Screw (OFF)
Figure 3.39 EMC Filter Switch Location (2E0154, 2E0192, 2W0154, 2W0192, 4E0156, 4E0180, 4W0156, 4W0180)
Figure 3.40
B
A
A – SW (ON) B – Screw (OFF)
Figure 3.40 EMC Filter Switch Location (2E0248, 2W0248, 4E0216, 4E0240, 4W0216, 4W0240)
Figure 3.41
A
B
B
A
A – SW (ON) B – Screw (OFF)
Figure 3.41 EMC Filter Switch Location (4E0302 to 4E0414, 4W0302 to 4W0414)
88 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
3.14 External Interlock
3.14 External Interlock
Systems that may be affected during drive fault conditions should be interlocked with the drive fault output and ready
signal.
Operation Ready
When the “Operation ready” signal has been set to one of the multi-function contact outputs, that output will close when
the drive is ready to accept a Run command or is already running. Under the following conditions the Operation ready
signal will switch off and remain off, even if a Run command is entered:
• when the power supply is shut off
• during a fault
• when there is problem with the control power supply
• when a parameter setting error renders the drive unable to run even when entering a Run command
• when a fault such as overvoltage or undervoltage is triggered as soon as the Run command is entered
• when the drive is in the Programming mode and will not accept a Run command even when entered
Interlock Circuit Example
Two drives running a single application might interlock with the controller using the Operation ready and Fault output
signals as shown below. The figure illustrates how the application would not be able to run if either drive experiences a
fault or is unable to supply an Operation ready signal.
Terminal Output Signal Parameter Setting
MA, MB, MC Fault –
M1-M2 Operation Ready H2-01 = 06
Ready1 Ready2 Fault1 Fault2
Operation Ready
Operation
Circuit
Operation ready
Stop
Run common_
TMonly
Figure 3.42
Drive 1 Controller
Electrical Installation
MA
Relay 1 SA Relay 1
Max
Run Fault MB 250 Vac Fault 1
S1
Output
SC MC
Relay 2
Relay 2 SA Ready 1
M1
Operation Ready M2
3
common_
Drive 2 Controller TMonly
MA
Relay 1 SA Relay 1
Max
Run Fault MB 250 Vac Fault 2
S1
Output
SC MC
Relay 2
Relay 2 SA Ready 2
M1
Operation Ready
M2
Figure 3.42 Interlock Circuit Example
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 89
3.15 Wiring Checklist
3.15 Wiring Checklist
No. Item Page
Drive, peripherals, option cards
1 Check drive model number to ensure receipt of correct model. 33
2 Make sure you have the correct peripheral devices. 376
3 Check the option card model number. 376
Installation area and physical setup
4 Ensure that the area surrounding the drive complies with specifications. 42
Power supply voltage, output voltage
5 The voltage from the power supply should be within the input voltage specification range of the drive. 206
31
6 The voltage rating for the motor should match the drive output specifications.
453
31
7 Verify that the drive is properly sized to run the motor.
453
Main circuit wiring
8 Confirm proper branch circuit protection as specified by national and local codes. 58
9 Properly wire the power supply to drive terminals R/L1, S/L2, and T/L3. 61
Properly wire the drive and motor together.
10 The motor lines and drive output terminals U/T1, V/T2, and W/T3 should match in order to produce the desired phase order. If the phase order 74
is incorrect, the drive will rotate in the opposite direction.
11 Use 600 Vac vinyl-sheathed wire for the power supply and motor lines. 71
Use the correct wire gauges for the main circuit. Refer to Main Circuit Wire Gauges and Tightening Torque on page 71. 71
• When using comparatively long motor cable, calculate the amount of voltage drop. 71
12 Motor rated voltage (V) × 0.02 ≥
3 × wire resistance (Ω/km) × cable length (m) × motor rated current (A) × 10 -3
• If the cable between the drive and motor exceeds 50 m, adjust the carrier frequency set to C6-02 accordingly. 74
13 Properly ground the drive. 75
Tightly fasten all terminal screws (control circuit terminals, grounding terminals).
14 71
Refer to Main Circuit Wire Gauges and Tightening Torque on page 71.
Set up overload protection circuits when running multiple motors from a single drive.
Power supply Drive MC1 OL1
M1
MC2 OL2
15 MC1 - MCn ... magnetic contactor –
M2 OL 1 - OL n ... thermal relay
MCn OLn
Mn
Note: Close MC1 through MCn before operating the drive (MC1 through MCn cannot be switched off during run).
16 Verify that ground wiring for models 2E/2W/4E/4W is correct before turning on the EMC filter switch. 86
17 Verify phase advancing capacitors, input noise filters, or ground fault circuit interrupters are NOT installed on the output side of the drive. –
Control circuit wiring
18 Use twisted-pair line for all drive control circuit wiring. 76
19 Ground the shields of shielded wiring to the GND terminal. 78
If using a 3-wire sequence, properly set parameters for multi-function contact input terminals S1 through S8, and properly wire control
20 –
circuits.
21 Properly wire any option cards. 78
Check for any other wiring mistakes.
22 –
Only use a multimeter to check wiring.
Properly fasten the control circuit terminal screws in the drive.
23 71
Refer to Main Circuit Wire Gauges and Tightening Torque on page 71.
24 Pick up all wire clippings. –
25 Ensure that no frayed wires on the terminal block are touching other terminals or connections. –
26 Properly separate control circuit wiring and main circuit wiring. –
27 Analog signal line wiring should not exceed 50 m. –
28 Safe Disable input wiring should not exceed 30 m. –
90 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
3.15 Wiring Checklist
No. Item Page
29 Verify the logic of Safety Monitor Output Signal (DM+, DM-). 529
Disconnect the internal EMC filter by moving the SW screw to the OFF position for floating, impedance grounded, or asymmetrically
30 86
grounded networks.
Electrical Installation
3
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 91
3.15 Wiring Checklist
92 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
4
Start-Up Programming & Operation
This chapter explains the functions of the digital operator and how to program the drive for
initial operation.
4.1 SECTION SAFETY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
4.2 USING THE DIGITAL OPERATOR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
4.3 THE DRIVE AND PROGRAMMING MODES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
4.4 START-UP FLOWCHARTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
4.5 POWERING UP THE DRIVE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
4.6 APPLICATION SELECTION. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
4.7 AUTO-TUNING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
4.8 NO-LOAD OPERATION TEST RUN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
4.9 TEST RUN WITH LOAD CONNECTED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
4.10 VERIFYING PARAMETER SETTINGS AND BACKING UP CHANGES. . . . . . . 132
4.11 TEST RUN CHECKLIST . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 93
4.1 Section Safety
4.1 Section Safety
DANGER
Electrical Shock Hazard
Do not connect or disconnect wiring while the power is on.
Failure to comply will result in death or serious injury.
WARNING
Electrical Shock Hazard
Do not operate equipment with covers removed.
Failure to comply could result in death or serious injury.
The diagrams in this section may include drives without covers or safety shields to illustrate details. Be sure to reinstall
covers or shields before operating the drives and run the drives according to the instructions described in this manual.
Do not remove covers or touch circuit boards while the power is on.
Failure to comply could result in death or serious injury.
A separate holding brake should be prepared by the user.
The holding brake should be wired so that it is activated by an external sequence when a fault occurs, the power
is shut off, or an emergency switch is triggered.
Failure to comply could result in death or serious injury.
Precautions should be taken on the machine side in crane and hoist applications to ensure that load does not fall
or slip.
Failure to take proper safety precautions can result in serious injury.
94 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
4.2 Using the Digital Operator
4.2 Using the Digital Operator
Use the digital operator to enter run and stop commands, display data, edit parameters, as well as display fault and alarm
information.
Keys and Displays
Figure 4.1
DIGITAL OPERATOR JVOP-180 ALM 12
1
11
F1 F2
2 ESC
LO
RE
9
3 RESET ENTER
8
10 RUN STOP
4 5 6 7
Figure 4.1 Keys and Displays on the Digital Operator
No. Display Name Function
F1
Function Key The functions assigned to F1 and F2 vary depending on the menu that is currently displayed. The name of each
1
(F1, F2) function appears in the lower half of the display window.
F2
• Returns to the previous display.
2 ESC ESC Key • Moves the cursor one space to the left.
• Pressing and holding this button will return to the Frequency Reference display.
• Moves the cursor to the right.
3 RESET Key
RESET • Resets the drive to clear a fault situation.
Starts the drive in the LOCAL mode.
The Run LED
• is on, when the drive is operating the motor.
4 RUN RUN Key
• flashes during deceleration to stop or when the frequency reference is 0.
• flashes quickly the drive is disabled by a DI, the drive was stopped using a fast stop DI or a run command
was active during power up.
5 Up Arrow Key Scrolls up to display the next item, selects parameter numbers and increments setting values.
Start-Up Programming
6 Down Arrow Key Scrolls down to display the previous item, selects parameter numbers and decrements setting values.
& Operation
7 STOP STOP Key <1> Stops drive operation.
• Enters parameter values and settings.
8 ENTER Key
ENTER • Selects a menu item to move between displays.
9 LO LO/RE Selection Key <2>
Switches drive control between the operator (LOCAL) and the control circuit terminals (REMOTE). The LED
is on when the drive is in the LOCAL mode (operation from keypad).
4
RE
10 RUN RUN Light Lit while the drive is operating the motor. Refer to page 97 for details.
11 LO LO/RE Light Lit while the operator is selected to run the drive (LOCAL mode). Refer to page 97 for details.
RE
12 ALM LED Light Refer to ALARM (ALM) LED Displays on page 97 for details.
<1> The STOP key has highest priority. Pressing the STOP key will always cause the drive to stop the motor, even if a Run command is active at
any external Run command source. To disable the STOP key priority, set parameter o2-06 to 0.
<2> The LO/RE key can only switch between LOCAL and REMOTE when the drive is stopped. To disable the LO/RE key to prohibit switching
between LOCAL and REMOTE, set parameter o2-01 to 0.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 95
4.2 Using the Digital Operator
LCD Display
Figure 4.2
1 2 3 4
MODE DWEZ DRV Rdy
FREF (OPR) 5 YEG
6
U1-01= 50.0Hz
U1-02=50.00Hz LSEQ 7
U1-03=10.50A LREF
JOG FWD FWD/REV
8 9 10
Figure 4.2 LCD Display
Table 4.1 Display and Contents
No. Name Display Content
MODE Displayed when in Mode Selection.
MONITR Displayed when in Monitor Mode.
VERIFY Indicates the Verify Menu.
1 Operation Mode Menus
PRMSET Displayed when in Parameter Setting Mode.
A.TUNE Displayed during Auto-Tuning.
SETUP Displayed when in Setup Mode.
DriveWorksEZ Function
2 DWEZ Displayed when DriveWorksEZ is being used.
Selection
DRV Displayed when in Drive Mode.
3 Mode Display Area
PRG Displayed when in Programming Mode.
4 Ready Rdy Indicates the drive is ready to run.
5 Data Display – Displays specific data and operation data.
OPR Displayed when the frequency reference is assigned to the LCD Operator.
AI Displayed when the frequency reference is assigned to the drives Analog Input.
Frequency Reference
6 COM Displayed when the frequency reference is assigned to the drives MEMOBUS/Modbus Communication Inputs.
Assignment <1>
OP Displayed when the frequency reference is assigned to a drive Option Unit.
RP Displayed when the frequency reference is assigned to the drives Pulse Train Input.
RSEQ Displayed when the reference is supplied from a remote source.
LSEQ Displayed when the reference is supplied from the operator keypad.
7 LO/RE Display <2>
RREF Displayed when the frequency reference is supplied from a remote source.
LREF Displayed when the frequency reference is supplied from the operator keypad.
JOG Pressing F1 runs the motor at the Jog frequency.
HELP Pressing F1 displays the Help menu.
Function Key 1
8 Pressing scrolls the cursor to the left.
(F1) F1
HOME Pressing F1 returns to the top menu (Frequency Reference).
ESC Pressing F1 returns to the previous display.
FWD Indicates forward motor operation.
9 FWD/REV
REV Indicates reverse motor operation.
FWD/REV Pressing F2 switches between forward and reverse.
DATA Pressing F2 scrolls to the next display.
Function Key 2
10
(F2)
Pressing F2 scrolls the cursor to the right.
RESET Pressing F2 resets the existing drive fault or error.
<1> Displayed when in Frequency Reference Mode.
<2> Displayed when in Frequency Reference Mode and Monitor Mode.
96 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
4.2 Using the Digital Operator
ALARM (ALM) LED Displays
Table 4.2 ALARM (ALM) LED Status and Contents
State Content Display
Illuminated When the drive detects a fault.
• When an alarm occurs.
Flashing • When oPE is detected.
• When a fault or error occurs during Auto-Tuning.
Off Normal operation (no fault or alarm).
LO/RE LED and RUN LED Indications
Table 4.3 LO/RE LED and RUN LED Indications
LED Lit Flashing Flashing Quickly <1> Off
When source of the Run command
Run command to be given from a device other
is assigned to the digital operator – –
than the digital operator (REMOTE)
(LOCAL)
• While the drive is set for LOCAL, a
Run command was entered to the
input terminals after which the drive
was then switched to REMOTE.
• A Run command was entered via the
input terminals while not in the
Drive Mode.
• During deceleration to stop • During deceleration when a Fast
During run • When a Run command is input and Stop command was entered. During stop
frequency reference is 0 Hz • The drive output is shut off by the
Safe Disable function.
• While the drive was running in the
REMOTE mode, the STOP key was
pushed.
• The drive was powered up with
b1-17 = 0 (default) while the Run
command is active.
Examples
<1> Refer to Figure 4.3 for the difference between “flashing” and “flashing quickly”.
Start-Up Programming
Figure 4.3
1s
ON ON
& Operation
Flashing
common_TM
only
Flashing ON ON ON ON
quickly
4
Figure 4.3 RUN LED Status and Meaning
Figure 4.4
Drive output frequency
during stop RUN STOP RUN
STOP
/ 6 Hz
Frequency setting
0 Hz common_TM
RUN LED OFF ON OFF OFF only
Flashing
Figure 4.4 RUN LED and Drive Operation
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 97
4.2 Using the Digital Operator
Menu Structure for Digital Operator
Figure 4.5
Turn the power on
(RUN LED lit)
- MODE - DRV Rdy
FREF (AI)
Drive Mode <1> U1-01= 0.00Hz
U1-02= 0.00Hz RSEQ
U1-03= 0.00A RREF
JOG FWD
- MODE - DRV Rdy -MONITR- DRV Rdy -MONITR- DRV Rdy
Monitor Menu Monitor Frequency Ref
U1-01= 0.00Hz U1 -01= 0.00Hz U1- 01 = 0.00Hz
U1-02= 0.00Hz RSEQ U1-02= 0.00Hz RSEQ U1-02= 0.00Hz RSEQ
U1-03= 0.00A RREF U1-03= 0.00A RREF U1-03= 0.00A RREF
JOG FWD JOG FWD <3> JOG FWD
- MODE - PRG -MONITR- DRV Rdy -MONITR- DRV Rdy
Fault Trace Output Freq
Modified Consts
U2 -01= ----- U1- 02 = 0.00Hz
Modified
U2-02= oPr RSEQ U1-03= 0.00A RSEQ
X Parameters U2-03= 0.00Hz RREF U1-04= 2 RREF
HELP FWD DATA <4> JOG FWD JOG FWD
- MODE - PRG
Programming Mode <2>
Quick Setting
Initial Display <5>
U1000
HELP FWD DATA XX.XX/XX.XXA
U1000 <XXXXXXXXX>
YASKAWA
<6>
- MODE - PRG
Programming
HELP FWD DATA
- MODE - PRG Rdy
Auto-Tuning
AUTO
HELP FWD DATA
Figure 4.5 Digital Operator Menu and Screen Structure
<1> Pressing RUN will start the motor.
<2> Drive cannot operate the motor.
<3> Flashing characters are shown as 1 .
<4> X characters are shown in this manual. The LCD Operator will display the actual setting values.
<5> The Frequency Reference appears after the initial display which shows the product name.
<6> The information that appears on the display will vary depending on the drive.
98 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
4.3 The Drive and Programming Modes
4.3 The Drive and Programming Modes
The drive has a Programming Mode to program the drive for operation, and a Drive Mode used to actually run the motor.
Drive Mode: In the Drive Mode, the user can start the motor and observe operation status with the monitors that are
available. Parameter settings cannot be edited or changed when in the Drive Mode.
Programming Mode: The Programming Mode allows access to edit, adjust, and verify parameters, as well as perform
Auto-Tuning. Unless set to allow a Run command, the drive will not accept a Run command when the digital operator is
in the Programming Mode.
Note: 1. If parameter b1-08 is set to 0 the drive will accept a Run command only in the Drive Mode. When editing parameters, the user must
first exit the Programming Mode and enter the Drive Mode before starting the motor.
2. To allow the drive to run the motor while in the Programming Mode, set b1-08 to 1.
Navigating the Drive and Programming Modes
The drive is set to operate in Drive Mode when it is first powered up. Switch between display screens by using the
and keys.
Mode Contents Operator Display Description
- MODE - DRV Rdy
FREF (AI)
This display screen allows the user to monitor and change the frequency reference while the drive is running. Refer
Frequency Reference U1-01= 0.00Hz
Power Up to The Drive and Programming Modes on page 99.
(default) U1-02= 0.00Hz RSEQ Note: The user can select the data displayed when the drive is first powered up with parameter o1-02.
U1-03= 0.00A RREF
JOG FWD
- MODE - DRV Rdy
Drive Mode Monitor Menu
U1-01= 0.00Hz Lists the monitor parameters (U- parameters) available in the drive.
Monitor Display
U1-02= 0.00Hz RSEQ Press the Enter Key and then use the Up, Down, ESC, and Reset keys to navigate through the drive monitors.
U1-03= 0.00A RREF
JOG FWD
- MODE - PRG
Modified Consts
Verify Menu Modified Lists all parameters that have been edited or changed from default settings. Refer to Verifying Parameter
Start-Up Programming
X Parameters Changes: Verify Menu on page 102.
HELP FWD DATA
& Operation
- MODE - PRG
Quick Setting A select list of parameters necessary to get the drive operating quickly. Refer to Using the Setup Group on
Setup Group page 103.
Note: Parameters listed in the Setup Group differ depending the Application Preset in parameter A1-06. Refer to
HELP FWD DATA
Application Selection on page 110. 4
Programming
Mode
- MODE - PRG
Programming
Parameter Setting
Mode Allows the user to access and edit all parameter settings. Refer to Parameter Table on page 404.
HELP FWD DATA
- MODE - PRG
Auto-Tuning
Auto-Tuning Mode Motor parameters are calculated and set automatically. Refer to Auto-Tuning on page 116.
AUTO
HELP FWD DATA
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 99
4.3 The Drive and Programming Modes
Mode Contents Operator Display Description
- MODE - DRV Rdy
FREF (AI)
U1-01= 0.00Hz
Drive Mode Frequency Reference Returns to the frequency reference display screen.
U1-02= 0.00Hz RSEQ
U1-03= 0.00A RREF
JOG FWD
Drive Mode Details
The following actions are possible in the Drive Mode:
• Run and stop the drive
• Monitor the operation status of the drive (frequency reference, output frequency, output current, output voltage, etc.)
• View information on an alarm
• View a history of alarms that have occurred
Figure 4.6 illustrates how to change the frequency reference from F 0.00 (0 Hz) to F 6.00 (6 Hz) while in the Drive
Mode. This example assumes the drive is set to LOCAL.
Figure 4.6
Frequency reference
display at power up
F1 F2
- MODE - DRV Rdy - MODE - DRV Rdy -MONITR- DRV Rdy
FREF (AI) FREF (OPR) FREF (d1-01) left right
U1-01= 0.00Hz U1-01= 0.00Hz
U1-01= 000.00Hz
U1-02= 0.00Hz RSEQ U1-02= 0.00Hz LSEQ 㧔0.00㨪50.00㧕
U1-03= 0.00A RREF U1-03= 0.00A LREF ̌0.00Hz̍
JOG FWD JOG FWD FWD/REV FWD Press until the frequency
Press to select reference changes to 006.00 Hz
LOCAL
-MONITR- DRV Rdy -MONITR- DRV Rdy - MODE - DRV Rdy YEG_TM
FREF (d1-01) FREF (d1-01) FREF (OPR)
U1-01= 006.00Hz U1-01= 006.00Hz ESC U1-01= 6.00Hz
U1-02= 0.00Hz LSEQ
only
㧔0.00㨪50.00㧕 Entry Accepted 㧔0.00㨪50.00㧕
̌0.00Hz̍ ̌0.00Hz̍ U1-03= 0.00A LREF
FWD FWD JOG FWD FWD/REV
Figure 4.6 Setting the Frequency Reference while in the Drive Mode
Note: The drive will not accept a change to the frequency reference until the ENTER key is pressed after the frequency reference is
entered. This feature prevents accidental setting of the frequency reference. To have the drive accept changes to the frequency
reference as soon as changes are made without requiring the ENTER key, set o2-05 to 1.
Programming Mode Details
The following actions are possible in the Programming Mode:
• Parameter Setting Mode: Access and edit all parameter settings
• Verify Menu: Check a list of parameters that have been changed from their original default values
• Setup Group: Access a list of commonly used parameters to simplify setup (Refer to Simplified Setup Using the
Setup Group on page 103)
• Auto-Tuning Mode: Automatically calculates and sets motor parameters to optimize drive performance
100 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
4.3 The Drive and Programming Modes
Changing Parameter Settings or Values
This example explains changing C1-02 (Deceleration Time 1) from 10.0 seconds (default) to 20.0 seconds.
Step Display/Result
- MODE - DRV Rdy
FREF (AI)
U1-01= 0.00Hz
1. Turn on the power to the drive. The initial display appears.
U1-02= 0.00Hz RSEQ
U1-03= 0.00A RREF
JOG FWD
- MODE - PRG
Programming
2.
Press the or key until the Parameter Setting Mode screen appears.
HELP FWD DATA
-PRMSET- PRG
Initialization
3. A1-00=0
Press the key to enter the parameter menu tree. Select Language
FWD
-PRMSET- PRG
Basic Setup
4. C1-01= 10.0 sec
Press or key to select the C parameter group. Accel Time 1
FWD
-PRMSET- PRG -PRMSET- PRG
Accel/Decel Accel Time 1
5. C1-01= 10.0 sec C1-01= 10.0Sec
Press two times. Accel Time 1 (0.0~6000.0)
“10.0 sec”
FWD FWD
-PRMSET- PRG
Decel Time 1
6. C1-02= 10.0Sec
Press or key to select the parameter C1-02. (0.0~6000.0)
“10.0 sec”
FWD
-PRMSET- PRG
Decel Time 1
7. C1-02= 0010.0Sec
Press to view the current setting value (10.0 s). Left digit flashes. (0.0~6000.0)
“10.0 sec”
Start-Up Programming
FWD
-PRMSET- PRG
Decel Time 1
& Operation
8. C1-02=0010.0Sec
Press F1 , F2 or until the desired number is selected. “1” flashes. (0.0~6000.0)
“10.0 sec”
FWD
-PRMSET- PRG
Decel Time 1
C1-02=0020.0Sec
4
9. (0.0~6000.0)
Press the key and enter 0020.0.
“10.0 sec”
FWD
10.
Press and the drive will confirm the change. Entry Accepted
-PRMSET- PRG
Decel Time 1
C1-02= 20.0Sec
11. The display automatically returns to the screen shown in Step 4. (0.0~6000.0)
“10.0 sec”
FWD
- MODE - DRV Rdy
FREF (AI)
U1-01= 0.00Hz
12.
Press the key until back at the initial display. U1-02= 0.00Hz RSEQ
U1-03= 0.00A RREF
JOG FWD
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 101
4.3 The Drive and Programming Modes
Verifying Parameter Changes: Verify Menu
The Verify Menu lists edited parameters from the Programming Mode or as a result of Auto-Tuning. It helps determine
which settings have been changed, and is particularly useful when replacing a drive. If no settings have been changed, the
Verify Menu will read “None”. The Verify Menu also allows users to quickly access and re-edit any parameters settings
that have been changed.
Note: The Verify Menu will not display parameters from the A1 group (except for A1-02) and E5-01 even if those parameters have
been changed from their default settings.
The following example is a continuation of the steps above. Here, parameter C1-02 is accessed using the Verify Menu,
and is changed again from 10.0 s to 20.0 s.
To check the list of edited parameters:
Step Display/Result
- MODE - DRV Rdy
FREF (AI)
U1-01= 0.00Hz
1. Turn on the power to the drive. The initial display appears.
U1-02= 0.00Hz RSEQ
U1-03= 0.00A RREF
JOG FWD
- MODE - PRG
Modified Consts
2. Press or until the display shows the top of the Verify Menu. Modified
X Parameters
HELP FWD DATA
- VERIFY - PRG Rdy
Accel Time 1
Press to enter the list of parameters that have been edited from their original default settings.
3. C1-02 = 20.0sec
(0.0~6000.0)
If parameters other than C1-02 have been changed, use the or key to scroll until C1-02 appears. “10.0sec”
Home FWD DATA
- VERIFY - PRG Rdy
Accel Time 1
Press the key.
C1-01=0020.0sec
4. (0.0~6000.0)
F1 F2 “10.0sec”
Press , , , , and to change the setting value. FWD
5.
Press and the drive will confirm the change. Entry Accepted
102 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
4.3 The Drive and Programming Modes
Simplified Setup Using the Setup Group
In the Setup Group, the drive lists the basic parameters needed to set up the drive for the application. It provides a
simplified way to get the application running right away by showing only the most important parameters.
Using the Setup Group
Figure 4.7 illustrates how to enter and how to change parameters in the Setup Group.
The first display shown when entering the Setup Group is the Application Selection menu. Skipping this display will
keep the current Setup Group parameter selection. The default setting for the Setup Group is a group of parameters most
commonly use in general-purpose applications. Pressing the ENTER key from the Application Selection display and
selecting an Application Preset will change the Setup Group to parameters optimal for the application selected. Refer to
Application Selection on page 110 and Setup Group Parameters on page 104 for details.
In this example, the Setup Group is accessed to change b1-01 from 1 to 0. This changes the source of the frequency
reference from the control circuit terminals to the digital operator.
- MODE - DRV Rdy - MODE - PRG
FREF (AI)
U1-01= 0.00Hz
U1-02= 0.00Hz RSEQ
Quick Setting
common_TMonly
U1-03= 0.00A RREF
JOG FWD HELP FWD DATA
Frequency reference Press until
appears when Setup Group
powered up appears
<1> - SETUP - PRG
Application Sel
A1-06= 0 ∗0∗
General
Home FWD DATA
Parameter Display
- SETUP - PRG
Control Method
A1-02= 2 ∗2∗
Open Loop Vector
Home FWD DATA
- SETUP - PRG
Ref Source 1
b1-01= 1 ∗1∗
Analog Input
“1”
- SETUP - PRG FWD
Ref Source 1
Control Circuit
b1-01= 1 ∗1∗
Analog Input
Terminal
<2>
Start-Up Programming
Home FWD DATA - SETUP - PRG
Ref Source 1
b1-01= 0 ∗1∗
Entry Accepted Operator
“1”
& Operation
FWD
- SETUP - PRG
Run Source 1 Operator
b1-02= 1 ∗1∗ <2>
Digital Inputs
Home FWD DATA
4
- SETUP - PRG
StallP Decel Sel
L3-04= 1 ∗1∗
General Purpose
Home FWD DATA
<1> Use the up and down arrow keys to scroll through the Setup Group. Press the ENTER key to view or change parameter settings.
<2> To return to the previous menu without saving changes, press the ESC key.
Figure 4.7 Setup Group Example
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 103
4.3 The Drive and Programming Modes
Setup Group Parameters
Table 4.4 lists parameters available by default in the Setup Group. When an Application Preset has been selected in
parameter A1-06 or the Application Selection display of the Setup Group, the parameters selected for the Setup Group
will change automatically. Refer to Application Selection on page 110.
If the desired parameter is not listed in the Setup Group, go to the Programming Mode.
Table 4.4 Setup Group Parameters
Parameter Name Parameter Name
A1-02 Control Method Selection d1-17 Jog Frequency Reference
b1-01 Frequency Reference Selection 1 E1-03 V/f Pattern Selection
b1-02 Run Command Selection 1 E1-04 Maximum Output Frequency
b1-03 Stopping Method Selection E1-05 Maximum Voltage
C1-01 Acceleration Time 1 E1-06 Base Frequency
C1-02 Deceleration Time 1 E1-09 Minimum Output Frequency
C6-01 Drive Duty Mode Selection E1-13 Base Voltage
C6-02 Carrier Frequency Selection E2-01 Motor Rated Current
d1-01 Frequency Reference 1 E2-04 Number of Motor Poles
d1-02 Frequency Reference 2 E2-11 Motor Rated Power
d1-03 Frequency Reference 3 H4-02 Multi-Function Analog Output Terminal FM Gain
d1-04 Frequency Reference 4 L1-01 Motor Overload Protection Function Selection
Note: Parameter availability depends on the control mode set in A1-02 that is used to run the drive and motor. Consequently, some of
the parameters listed above may not be accessible in certain control modes.
Switching Between LOCAL and REMOTE
When the drive is set to accept the Run command from the digital operator RUN key, this is referred to as LOCAL mode.
When the drive is set to accept the Run command from an external device (via the input terminals, serial
communications, etc.) this is referred to as REMOTE mode.
WARNING! Sudden Movement Hazard. The drive may start unexpectedly if the Run command is already applied when switching from
LOCAL mode to REMOTE mode when b1-07 = 1, resulting in death or serious injury. Be sure all personnel are clear of rotating
machinery.
The operation can be switched between LOCAL and REMOTE either by using the LO/RE key on the digital operator or
a digital input.
Note: 1. After selecting LOCAL, the LO/RE light will remain lit.
2. The drive will not allow the user to switch between LOCAL and REMOTE during run.
Using the LO/RE Key on the Digital Operator
Step Display/Result
- MODE - DRV Rdy
FREF (AI)
U1-01= 0.00Hz
1. Turn on the power to the drive. The initial display appears.
U1-02= 0.00Hz RSEQ
U1-03= 0.00A RREF
JOG FWD
DIGITAL OPERATOR JVOP-180 ALM
- MODE - DRV Rdy
FREF (AI)
U1-01= 0.00Hz
U1-02= 0.00Hz RSEQ
U1-03= 0.00A RREF
JOG FWD
Press . The LO/RE light will light up. The drive is now in LOCAL. F1 F2
2. ESC
LO
RE
RESET ENTER
To set the drive for REMOTE operation, press the key again.
RUN STOP
Using Input Terminals S1 through S8 to Switch between LO/RE
The user can also switch between LOCAL and REMOTE modes using one of the digital input terminals S1 through S8
(set the corresponding parameter H1- to “1”).
Note: Setting H1- to 1 disables the LO/RE key on the digital operator. Refer to H1: Multi-Function Digital Inputs on page 432
for details.
104 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
4.4 Start-Up Flowcharts
4.4 Start-Up Flowcharts
The flowcharts in this section summarize basic steps required to start the drive. Use the flowcharts to determine the most
appropriate start-up method for a given application. The charts are intended as a quick reference to help familiarize the
user with start-up procedures.
Flowchart Subchart Objective Page
A – Basic startup procedure and motor tuning 105
A-1 Simple motor setup using V/f mode 106
– A-2 High-performance operation using Open Loop Vector (OLV) or Closed Loop Vector (CLV) motor control 107
A-3 Setting up the drive to run a permanent magnet (PM) motor 108
Flowchart A: Basic Start-up and Motor Tuning
Flowchart A in Figure 4.8 describes a basic start-up sequence. This sequence varies slightly depending on the
application. Use drive default parameter settings in simple applications that do not require high precision.
Figure 4.7
START
Install and wire the drive as explained in Chapters 1, 2, and 3
Apply main power on to the drive
Adhere to safety messages concerning application of power
Application Preset YES
A1-06 used ?
NO
Set the control mode in parameter A1-02. Refer to
Application
Selection section
Set the basic parameters
C6-01 for heavy/normal duty mode selection
b1-01/02 for frequency reference and run command source selection
H1-, H2-, H3-, H4-, H6- for I/O terminal setting
d1- for multi-speed references if used
C1- and C2- for accel./decel. and S-curve time settings
common_TMo
Control Mode
nly
A1-02 =
Start-Up Programming
0: V/f 2: OLV 5: OLV/PM
1: V/f w/PG 3: CLV 6: AOLV/PM
7: CLV/PM
& Operation
To To To
Flowchart A-1 Flowchart A-2 Flowchart A-3
4
From Flowchart A-1, A-2, or A-3
Fine tune parameters. Adjust application settings (PID, ...) if necessary.
Check the machine operation and verify parameter settings.
Drive is ready to run the application.
Figure 4.8 Basic Start-up
Note: 1. When the motor cable length has changed for more than 50 m after Auto-Tuning has been performed (e.g., after the drive has been set
up and then later installed in a different location), execute Stationary Auto-Tuning for resistance between motor lines once the drive
is installed in its final installation location.
2. Auto-Tuning should be performed again after installing an AC reactor or other such components to the output side of the drive.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 105
4.4 Start-Up Flowcharts
Subchart A-1: Simple Motor Setup Using V/f Control
Flowchart A-1 in Figure 4.9 describes simple motor setup for V/f Control, with or without PG feedback. V/f Control is
suited for more basic applications such as fans and pumps. This procedure illustrates Energy Savings and Speed
Estimation Speed Search.
Figure 4.8
From
Flowchart
A
Is there a YES
PG encoder
on the motor?
NO
Set or verify the V/f pattern settings E1-.
Set or verify the V/f pattern
Enter the number of motor poles to E2-04 (or E4-04 for motor 2).
settings E1-.
Set the F1- parameters.
Energy Savings common_TMo
(b8-01 = 1) or
Speed Estimation Speed Search NO nly
(b3-24 = 1) enabled
when b3-01 = 1
or L2-01 = 1,2 ?
YES
Perform Rotational YES
Auto-Tuning for V/f Control Is the motor cable longer than
(T1-01 = 3) 50 meters?
NO Perform Stationary Auto-Tuning for
Stator Resistance (T1-01 = 2)
Run the motor without load; check the rotation direction and operation.
Verify external signal commands to the drive work as desired.
Couple the load or machine to the motor.
Run the machine and check for desired operation.
Return to
Flowchart
A
Figure 4.9 Simple Motor Setup with Energy Savings or Speed Search
106 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
4.4 Start-Up Flowcharts
Subchart A-2: High Performance Operation Using OLV or CLV
Flowchart A-2 in Figure 4.10 describes the setup procedure for high-performance with Open Loop Vector Control or
Closed Loop Vector Control. Appropriate for applications requiring high starting torque and torque limits.
Note: Although the drive sets parameters for the PG encoder during Auto-Tuning, sometimes the direction of the motor and direction
of the PG get reversed. Use parameter F1-05 to switch the direction of the PG so that it matches the motor direction.
Figure 4.9
From
Flowchart
A
Possible for motor to YES
rotate during tuning? <1>
NO
<2>
Motor test report/ YES Perform Stationary Perform Rotating
data sheet available? Auto-Tuning 2 (T1-01 = 4) Auto-Tuning (T1-01 = 0)
NO
YES Is the load less than
30% of the rated load
for the motor?
NO
Perform Stationary Obtain a test report from the motor manufacturer
Auto-Tuning 3 (T1-01 = 5) <3> and perform Stationary Auto-Tuning 2 (T1-01 = 4).
Run the motor without load; check the rotation direction and operation.
Verify external signal commands to the drive work as desired.
Run the operation in test mode for Auto-Tuning 3.
common_TMo
nly
Connect the load to the motor.
Is there a PG NO
encoder on the
motor?
YES
Start-Up Programming
Should the YES
drive set ASR gain
automatically?
& Operation
NO
Does the application
YES
require Feed Forward
function?
NO Perform Inertia Tuning
(T1-01 = 8) <4>
Perform ASR gain tuning.
(T1-01 = 9) <5>
4
Run the machine and check for desired
operation.
Return to
Flowchart
A
<1> The load must be decoupled from the motor to properly perform Rotational Auto-Tuning.
<2> Rotational Auto-Tuning can still be performed if the load is 30% or less, though Stationary Auto-Tuning will probably yield better control
performance.
<3> Run the operation in test mode for Auto-Tuning 3. The drive will automatically set motor parameters automatically. For details, refer to
Stationary Auto-Tuning 3 on page 120.
<4> Make sure the motor and load can run freely, i.e., if a brake is mounted, make sure it is released.
<5> ASR Gain Tuning automatically performs Inertia Tuning and sets parameters related to Feed Forward function.
Figure 4.10 Flowchart A-2: High Performance Operation Using OLV or CLV
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 107
4.4 Start-Up Flowcharts
Subchart A-3: Operation with Permanent Magnet Motors
Flowchart A-3 in Figure 4.11 describes the set-up procedure for running a PM motor in Open Loop Vector Control. PM
motors can be used for more energy-efficient operation in reduced or variable torque applications.
Note: 1. Although the drive sets parameters for the PG encoder during Auto-Tuning, sometimes the direction of the motor and direction of the
PG get reversed. Use parameter F1-05 to switch the direction of the PG so that it matches the motor direction.
2. The Z pulse must be realigned if the PG encoder is replaced. Set T2-01 to 3 to recalibrate the drive for the new encoder.
Figure 4.10
From
Flowchart
A
Motor test report/ NO
data sheet available?
Possible
YES
for motor to rotate
during tuning?
YES NO
Input the motor data. Input the motor data. Perform PM
(T2-01 = 0) <1> (T2-01 = 1) <1> Rotational Auto-Tuning.
(T2-01 = 14)
YES
Is the motor cable longer
than 50 meters?
PM Stationary Auto-Tuning for
NO Stator Resistance (T2-01 = 2)
Run the motor without load; check the rotation direction and operation.
Verify external signal commands to the drive work as desired.
NO Is there a
PG encoder on the
motor?
YES
NO Has PG been common_TMo
replaced after Auto-Tuning was
performed? nly
YES
Disconnect the motor from the load so that the motor shaft can rotate.
Is reverse NO
operation disabled?
(b1-04 = 1)
YES
Enable reverse operation.
(b1-04 = 0)
Perform Z Pulse Offset Tuning.
(T2-01 = 3)
Connect the load to the motor.
YES
Should the drive set ASR?
NO
NO Does the application
require Feed Forward
function?
YES
Perform PM Inertia Tuning. Perform ASR gain tuning.
(T2-01=8) <2> (T2-01=9) <3>
Run the machine and check for
desired operation.
Return to
Flowchart
A
<1> A motor code can be entered as the parameter setting for E5-01 when using a Yaskawa PM motor (SMRA Series, SSR1 Series, and SST4
Series). If using a motor from another manufacturer, enter FFFF.
<2> Make sure the motor and load can run freely, i.e., if a brake is mounted, make sure it is released.
<3> ASR Gain Tuning automatically performs Inertia Tuning and sets parameters related to Feed Forward function.
Figure 4.11 Operation with Permanent Magnet Motors
108 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
4.5 Powering Up the Drive
4.5 Powering Up the Drive
Powering Up the Drive and Operation Status Display
Powering Up the Drive
Review the following checklist before turning the power on.
Item to Check Description
Ensure the power supply voltage is correct:
200 V class: 3-phase 200 to 240 Vac 50/60 Hz
400 V class: CIMR-U4A, CIMR-U4P: 3-phase 380 to 500 Vac 50/60 Hz
Power supply voltage 400 V class: CIMR-U4E, CIMR-U4W: 3-phase 380 to 480 Vac 50/60 Hz
Properly wire the power supply input terminals (R/L1, S/L2, T/L3).
Check for proper grounding of drive and motor.
Use a power supply with a capacity that is equal to or greater than the unit capacity.
Drive output terminals and motor
Properly wire drive output terminals U/T1, V/T2, and W/T3 with motor terminals U, V, and W.
terminals
Control circuit terminals Check control circuit terminal connections.
Drive control terminal status Open all control circuit terminals (off).
Status of the load and connected
Decouple the motor from the load.
machinery
Status Display
When the power supply to the drive is turned on, the digital operator lights will appear as follows:
Status Display Description
DIGITAL OPERATOR JVOP-180
ALM
- MODE - DRV Rdy
Normal Operation FREF (AI)
U1-01= 0.00Hz
The data display area displays the frequency reference. Rdy is displayed.
U1-02= 0.00Hz RSEQ
U1-03= 0.00A RREF
JOG FWD
DIGITAL OPERATOR JVOP-180
ALM
- MODE - DRV
Data displayed varies by the type of fault. Refer to Fault Displays, Causes, and Possible Solutions on page 312
Fault EF3
Ext Fault S3 for more information and possible solution. ALM is displayed.
FWD RESET
External fault (example)
Start-Up Programming
& Operation
4
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 109
4.6 Application Selection
4.6 Application Selection
Several Application Presets are available to facilitate drive setup for commonly used applications. Selecting one of these
Application Presets automatically assigns functions to the input and output terminals, and sets certain parameters to
values appropriate for the application that was selected. In addition, the parameters most likely to be changed are
assigned to the group of User Parameters, A2-01 through A2-16. User Parameters are part of the Setup Group, and
provide quicker access to by eliminating the need to scroll through multiple menus.
An Application Preset can either be selected from the Application Selection display in the Setup Group (Refer to
Simplified Setup Using the Setup Group on page 103) or in parameter A1-06. The following presets can be selected:
Note: 1. An Application Preset can only be selected if all drive parameters are on at their original default settings. It may be necessary to
initialize the drive by setting A1-03 to “2220” or “3330” prior to selecting an Application Preset.
2. Do not set any value outside the allowable range for A1-06 (Application Presets). If an out-of-range value is set, “APPL” will be
displayed flashing in the Setup group and the up and down arrow keys cannot be used. If this happens, press the ESC key to return to
the Setup group. It will then be possible to switch to another mode using the up and down arrow keys.
3. The values set for A1-06 cannot be changed except by initializing the values by setting A1-03=2220, and then making new settings.
Note that setting an out-of-range value for A1-06 (Application Preset) will not cause any problem with the operation of the drive. If
you will encounter a problem if all of the parameters are initialized, the setting of A1-06 does not need to be changed.
WARNING! Confirm the drive I/O signals and external sequence before performing a test run. Setting parameter A1-06 may change
the I/O terminal function automatically from the default setting. Failure to comply may result in death or serious injury.
Table 4.5 Application Preset (A1-06)
No. Parameter Name Setting Range Default
0: General-purpose
1: Water supply pump
2: Conveyor
3: Exhaust fan
A1-06 Application Preset 0
4: HVAC fan
5: Air compressor
6: Hoist
7: Crane (Traveling)
Setting 1: Water Supply Pump Application
Table 4.6 Water Supply Pump: Parameter Settings
No. Name Default Setting
A1-02 Control Method Selection 0: V/f Control
b1-04 Reverse Operation Selection 1: Reverse Prohibited
C1-01 Acceleration Time 1 1.0 s
C1-02 Deceleration Time 1 1.0 s
C6-01 Drive Duty Mode Selection 1: Normal Duty (ND)
E1-03 V/f Pattern Selection F: Custom V/f pattern
E1-07 Middle Output Frequency 30.0 Hz
E1-08 Middle Output Frequency Voltage 50.0 V <1>
L2-01 Momentary Power Loss Operation Selection 1: Enabled
<1> Values shown here are for 200 V class drives. Double values when using a 400 V class unit.
Table 4.7 Water Supply Pump: User Parameters (A2-01 to A2-16)
No. Parameter Name No. Parameter Name
b1-01 Frequency Reference Selection 1 E1-08 Middle Output Frequency Voltage
b1-02 Run Command Selection 1 E2-01 Motor Rated Current
b1-04 Reverse Operation Selection H1-05 Multi-Function Digital Input Terminal S5 Function Selection
C1-01 Acceleration Time 1 H1-06 Multi-Function Digital Input Terminal S6 Function Selection
C1-02 Deceleration Time 1 H1-07 Multi-Function Digital Input Terminal S7 Function Selection
E1-03 V/f Pattern Selection L5-01 Number of Auto Restart Attempts
E1-07 Middle Output Frequency
110 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
4.6 Application Selection
Setting 2: Conveyor Application
Table 4.8 Conveyor: Parameter Settings
No. Parameter Name Default Setting
A1-02 Control Method Selection 0: V/f Control
C1-01 Acceleration Time 1 3.0 s
C1-02 Deceleration Time 1 3.0 s
C6-01 Drive Duty Mode Selection 0: Heavy Duty (HD)
Table 4.9 Conveyor: User Parameters (A2-01 to A2-16)
No. Parameter Name No. Parameter Name
A1-02 Control Method Selection C1-01 Acceleration Time 1
b1-01 Frequency Reference Selection 1 C1-02 Deceleration Time 1
b1-02 Run Command Selection 1 E2-01 Motor Rated Current
Setting 3: Exhaust Fan Application
Table 4.10 Exhaust Fan: Parameter Settings
No. Parameter Name Default Setting
A1-02 Control Method Selection 0: V/f Control
b1-04 Reverse Operation Selection 1: Reverse Prohibited
C6-01 Drive Duty Mode Selection 1: Normal Duty (ND)
E1-03 V/f Pattern Selection F: Custom V/f pattern
E1-07 Middle Output Frequency 30.0 Hz
E1-08 Middle Output Frequency Voltage 50.0 V <1>
L2-01 Momentary Power Loss Operation Selection 1: Enabled
<1> Values shown here are for 200 V class drives. Double values when using a 400 V class unit.
Table 4.11 Exhaust Fan: User Parameters (A2-01 to A2-16)
No. Parameter Name No. Parameter Name
b1-01 Frequency Reference Selection 1 E1-07 Middle Output Frequency
b1-02 Run Command Selection 1 E1-08 Middle Output Frequency Voltage
b1-04 Reverse Operation Selection E2-01 Motor Rated Current
b3-01 Speed Search Selection at Start H1-05 Multi-Function Digital Input Terminal S5 Function Selection
C1-01 Acceleration Time 1 H1-06 Multi-Function Digital Input Terminal S6 Function Selection
C1-02 Deceleration Time 1 H1-07 Multi-Function Digital Input Terminal S7 Function Selection
E1-03 V/f Pattern Selection L5-01 Number of Auto Restart Attempts
Start-Up Programming
Setting 4: HVAC Fan Application
Table 4.12 HVAC Fan: Parameter Settings
& Operation
No. Parameter Name Default Setting
A1-02 Control Method Selection 0: V/f Control
b1-04 Reverse Operation Selection 1: Reverse Prohibited
b1-17 Run Command at Power Up 1: Run command issued, motor operation start
C6-01 Drive Duty Model Selection 1: Normal Duty (ND) 4
C6-02 Carrier Frequency Selection 1: 4.0 Hz <1>
H2-03 Terminal M5-M6 Function Selection (Relay) 39: Watt Hour Pulse Output
2: CPU Power Active - Drive will restart if power returns prior to control power supply shut
L2-01 Momentary Power Loss Operation Selection
down.
L8-03 Overheat Pre-Alarm Operation Selection 4: Operation at lower speed
L8-38 Carrier Frequency Reduction Selection 2: Enabled across entire frequency range.
<1> Max. setting value varies by the drive model selection (o2-04).
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 111
4.6 Application Selection
Table 4.13 HVAC Fan: User Parameters (A2-01 to A2-16)
No. Parameter Name No. Parameter Name
b1-01 Frequency Reference Selection 1 d2-02 Frequency Reference Lower Limit
b1-02 Run Command Selection 1 E1-03 V/f Pattern Selection
b1-03 Stopping Method Selection E1-04 Maximum Output Frequency
b1-04 Reverse Operation Selection E2-01 Motor Rated Current
C1-01 Acceleration Time 1 H3-11 Terminal A2 Gain Setting
C1-02 Deceleration Time 1 H3-12 Terminal A2 Bias Setting
C6-02 Carrier Frequency Selection L2-01 Momentary Power Loss Operation Selection
d2-01 Frequency Reference Upper Limit o4-12 kWh Monitor Initialization
Setting 5: Air Compressor Application
Table 4.14 Compressor: Parameter Settings
No. Parameter Name Default Setting
A1-02 Control Method Selection 0: V/f Control
b1-04 Reverse Operation Selection 1: Reverse Prohibited
C1-01 Acceleration Time 1 5.0 s
C1-02 Deceleration Time 1 5.0 s
C6-01 Drive Duty Model Selection 0: Heavy Duty (HD)
E1-03 V/f Pattern Selection F: Custom V/f pattern
L2-01 Momentary Power Loss Operation Selection 1: Enabled
Table 4.15 Compressor: User Parameters (A2-01 to A2-16):
No. Parameter Name No. Parameter Name
b1-01 Frequency Reference Selection 1 E1-03 V/f Pattern Selection
b1-02 Run Command Selection 1 E1-07 Middle Output Frequency
b1-04 Reverse Operation Selection E1-08 Middle Output Frequency Voltage
C1-01 Acceleration Time 1 E2-01 Motor Rated Current
C1-02 Deceleration Time 1
Setting 6: Hoist Application
Note: 1. Read the instructions listed on page 113 when using Hoist Application Preset
2. Perform Auto-Tuning after selecting the Hoist Application Preset.
Table 4.16 Hoist: Parameters and Settings
No. Parameter Name Default Setting
A1-02 Control Method Selection 2: Open Loop Vector Control
b1-01 Frequency Reference Selection 1 0: Operator
b6-01 Dwell Reference at Start 3.0 Hz
b6-02 Dwell Time at Start 0.3 s
C1-01 Acceleration Time 1 3.0 s
C1-02 Deceleration Time 1 3.0 s
C6-01 Drive Duty Mode Selection 0: Heavy Duty (HD)
C6-02 Carrier Frequency Selection 2: 6.0 kHz <1>
d1-01 Frequency Reference 1 6.0 Hz
d1-02 Frequency Reference 2 30.0 Hz
d1-03 Frequency Reference 3 50. 0 Hz
E1-03 V/f Pattern Selection F: Custom V/f pattern
H2-01 Terminals M1-M2 Function Selection 5: Frequency Detection 2
H2-02 Terminals M3-M4 Function Selection 37: During Frequency Output
H3-06 Terminal A3 Function Selection 1F: Through mode
L2-03 Momentary Power Loss Minimum Baseblock Time 0.3 s
L3-04 Momentary Power Loss Voltage Recovery Ramp Time 0: Disabled
L4-01 Speed Agreement Detection Level 2.0 Hz
L4-02 Speed Agreement Detection Width 0.0 Hz
L6-01 Torque Detection Selection 1 8: UL3, UL4 at speed agree (fault)
L6-02 Torque Detection Level 1 2%
L6-03 Torque Detection Time 1 0.5 s
L8-07 Output Phase Loss Protection Selection 1: Enabled
L8-38 Carrier Frequency Reduction Selection 1: Enabled below 6 Hz
L8-41 High Current Alarm Selection 1: Enabled (alarm is output)
<1> Max. setting value varies by the drive model selection (o2-04).
112 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
4.6 Application Selection
Table 4.17 Hoist: User Parameters (A2-01 to A2-16):
No. Parameter Name No. Parameter Name
A1-02 Control Method Selection d1-02 Frequency Reference 2
b1-01 Frequency Reference Selection 1 d1-03 Frequency Reference 3
b6-01 Dwell Reference at Start E1-08 Middle Output Frequency Voltage
b6-02 Dwell Time at Start H2-01 Terminals M1-M2 Function Selection
C1-01 Acceleration Time 1 L1-01 Motor Overload Protection Selection
C1-02 Deceleration Time 1 L4-01 Speed Agreement Detection Level
C6-02 Carrier Frequency Selection L6-02 Torque Detection Level 1
d1-01 Frequency Reference 1 L6-03 Torque Detection Time 1
Notes on Controlling the Brake when Using the Hoist Application Preset
Prevent accidental Brake Release during Baseblock
The hoist application selection uses the frequency detection function for controlling the brake.
Although the drive output will be shut off, the drive still maintains the frequency reference if the Run command remains
active when an External Baseblock command is given (H1- = 8 or 9). Disable the frequency detection during
baseblock by setting parameter L4-07 = 0 to prevent the brake remaining open while the drive is in baseblock.
Controlling the Brake in Closed Loop Vector Control
For hoist applications using Closed Loop Vector Control, Yaskawa recommends setting the “During frequency output”
signal to a digital output (H2-01 = 37 for terminal M1-M2) in order to control the brake. This way, the brake will always
close during baseblock, and the setting of parameter L4-07 as described above will not affect brake control.
Brake Control During Safe Disable Input
If the Safe Disable input is triggered, the drive output will shut off and the frequency reference will reset to 0. The brake
will also close, regardless if the Run command is active. The Run command must be cycled before the drive can restart.
Related Parameter Settings
Table 4.18 shows the parameter settings needed when using output terminals M1-M2 as brake control output.
Table 4.18 Parameter Settings for Brake Control Output (M1-M2)
Function Parameter Setting Comment
Frequency Detection 2 Digital Output
H2-01 5
Start-Up Programming
(for brake control)
Speed Agreement Detection Level
L4-01 1.0 to 3.0 Hz <1> Use this setup for V/f control modes or Open Loop Vector
(frequency for the brake to open)
control
Speed Agreement Width
& Operation
L4-02 0.0 to 0.5 Hz <2>
(bandwidth for the brake to close)
Frequency Detection during Baseblock L4-07 0
DC Injection Braking Start Frequency
b2-01 0.1 to 0.5 Hz Use this setup in Closed Loop Vector control for IM or PM
(frequency for the brake to close)
motors
During Frequency Output H2-01 37
4
<1> This is the setting recommended when using Open Loop Vector Control. If using V/f Control, set the level as the motor rated slip frequency
plus 0.5 Hz. Not enough motor torque will be created if this value is set too low, and the load may tend to slip. Make sure this value is greater
than the minimum output frequency and greater than the value of L4-02, as shown in the diagram below. If set too high, however, there may be
a jolt at start.
<2> Hysteresis for Frequency detection 2 can be adjusted by the Frequency detection width (L4-02) between 0.0 and 0.5 Hz. If the load slips during
stop, make changes in steps of 0.1 Hz until the load no longer slips.
Figure 4.11
L4-01
L4-02
Output
YEG_TMonly
time
frequency
ON OFF
Frequency
Dectection 2
Figure 4.12 Frequency Detection 2
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 113
4.6 Application Selection
Sequence Circuit Configuration Example
The braking sequence should be designed as follows:
• A normally open signal (N.O.) should be used to control the brake so that it is released when terminal M1-M2 closes.
• When a fault signal is output, the brake should close.
Figure 4.12
U1000 Holding brake
MA auxilary relay coil
UP
S1 Forward Run MB Safety
Circuit BR
DOWN MC
S2 Reverse
Run
Fault Contact YEG_TMonly
Fast/Slow
S6 Multi-step
speed reference 2
M1 (250 Vac 1 A or less)
SC
M2 (30 Vdc 1 A or less)
“Frequency Detect 2”
or “During Frequency
Output”
Figure 4.13 Sequence Circuit Configuration
• The brake should release just a bit after the Run command is issued, allowing the motor to build up torque. If using the
V/f, V/f w PG or OLV control modes and the “Frequency detection 2” signal controls the brake, the motor can be given
time to build up torque by setting the brake release level in parameter L4-01. Additionally, DC Injection Braking at
start can be applied. If using CLV or CLV/PM and the “During frequency output” signal controls the brake, initial
excitation should be enabled. Set the initial excitation time to parameter b2-03.
• The time chart below gives a an example sequence.
Figure 4.13
OFF ON
S1-SC UP
Input
S6-SC Fast/Slow OFF ON
b6-02
YEG_TMonly
d1-01
d1-03
Output frequency b6-01 b2-04
0
Speed Agreement Detection Level DC Injection braking Time
Output L4-01
Frequency Detection 2 b2-01 (DC injection braking start frequency)
(H2-01 = 05) ON OFF or E1-09 (Min. output frequency) <1>
M1-M2
Holding brake
Closed Open Closed
<1> The drive brakes at the frequency set to b2-01 or E1-09, whichever value is higher.
Figure 4.14 Holding Brake Time Chart (V/f, V/f w/PG, OLV)
Figure 4.14
OFF ON
S1-SC UP
Input
S6-SC Fast/slow OFF ON
d1-01
YEG_TMonly
d1-03
Output frequency b2-04
L4-01
0
Output Time
Zero speed control
b2-01 (DC injection braking start frequency)
During frequency output ON OFF or E1-09 (Min. output frequency) <1>
M1-M2 (H2-01 = 37)
Holding brake
Closed Open Closed
<1> The drive brakes at the frequency set to b2-01 or E1-09, whichever value is higher.
Figure 4.15 Holding Brake Time Chart (CLV, CLV/PM)
114 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
4.6 Application Selection
Setting 7: Traveling Application
Table 4.19 Traveling: Parameters and Settings
No. Parameter Name Default Setting
A1-02 Control Method Selection 0: V/f Control
b1-01 Frequency Reference Selection 1 0: Operator
C1-01 Acceleration Time 1 3.0 s
C1-02 Deceleration Time 1 3.0 s
C6-01 Drive Duty Mode Selection 0: Heavy Duty (HD)
C6-02 Carrier Frequency Selection 2: 6.0 kHz <1>
d1-01 Frequency Reference 1 6.0 Hz
d1-02 Frequency Reference 2 30.0 Hz
d1-03 Frequency Reference 3 50.0 Hz
H1-05 Multi-Function Digital Input Terminal S5 Function 3: Multi-Step Speed Reference 1
H1-06 Multi-Function Digital Input Terminal S6 Function 4: Multi-Step Speed Reference 2
H2-02 Terminals M3-M4 Function Selection 37: During frequency output
H3-06 Terminal A3 Function Selection 1F: Through mode
L3-04 Stall Prevention Selection during Deceleration 0: Disabled
L8-07 Output Phase Loss Protection Selection 1: Triggered when one output phase is lost
L8-38 Carrier Frequency Reduction Selection 1: Enabled below 6 Hz
L8-41 High Current Alarm Selection 1: Enabled (alarm output)
<1> Max. setting value varies by the drive model selection (o2-04).
Table 4.20 Traveling: User Parameters (A2-01 to A2-16)
No. Parameter Name No. Parameter Name
b1-01 Frequency Reference Selection d1-03 Frequency Reference 3
C1-01 Acceleration Time 1 E2-01 Motor Rated Current
C1-02 Deceleration Time 1 H1-05 Multi-Function Digital Input Terminal S5 Function
C6-02 Carrier Frequency Selection H1-06 Multi-Function Digital Input Terminal S6 Function
d1-01 Frequency Reference 1 H2-01 Terminals M1-M2 Function Selection
d1-02 Frequency Reference 2 L1-01 Motor Overload Protection Selection
Start-Up Programming
& Operation
4
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 115
4.7 Auto-Tuning
4.7 Auto-Tuning
Types of Auto-Tuning
The drive offers different types of Auto-Tuning for induction motors and permanent magnet motors. The type of
Auto-Tuning used differs further based on the control mode and other operating conditions. Refer to the tables below to
select the type of Auto-Tuning that bests suits the application. Directions on how to execute Auto-Tuning are listed in
Start-Up Flowcharts on page 105.
Note: The drive will only show Auto-Tuning parameters that are valid for the control mode that has been set to A1-02. If the control
mode is for an induction motor, the Auto-Tuning parameters for PM motors will not be available. If the control mode is for a PM
motor, the Auto-Tuning parameters for induction motors will not be available. Inertia Tuning and ASR Gain Tuning parameters
and setting options will be visible only when the drive is set for operation with Closed Loop Vector or CLV/PM.
Auto-Tuning for Induction Motors
This feature automatically sets the V/f pattern and motor parameters E1- and E2- (E3-, E4- for motor 2)
for an induction motor. In Closed Loop Vector, some F1- parameters for speed feedback detection are also set up.
Table 4.21 Types of Auto-Tuning for Induction Motors
Control Mode
Type Setting Application Conditions and Benefits
V/f V/f w/PG OLV CLV
• Motor can be decoupled from the load and rotate freely while
Auto-Tuning is performed.
Rotational Auto-Tuning T1-01 = 0 • Motor and load can not be decoupled but the motor load is below 30%. N/A N/A YES YES
• Rotational Auto-Tuning gives the most accurate results, and is therefore
highly recommended if possible.
• Motor and load can not be decoupled and the load is higher than 30%.
• A motor test report is available. Once the no-load current and the rated
Stationary Auto-Tuning 2 T1-01 = 4 N/A N/A YES YES
slip have been entered, the drive calculates and sets all other
motor-related parameters.
• The drive is used in V/f Control and other Auto-Tuning selections not
possible.
• Drive and motor capacities differ.
Stationary Auto-Tuning for • Tunes the drive after the cable between the drive and motor has been
T1-01 = 2 YES YES YES YES
Line-to-Line Resistance replaced with a cable over 50 m long. Assumes Auto-Tuning has already
been performed.
• Should not be used for any vector control modes unless the motor cable
has changed.
• Recommended for applications using Speed Estimation Speed Search or
Rotational Auto-Tuning for V/f using the Energy Saving function in V/f Control.
T1-01 = 3 • Assumes motor can rotate while Auto-Tuning is performed. Increases YES YES N/A N/A
Control
accuracy for certain functions like torque compensation, slip
compensation, Energy Saving, and Speed Search.
• A motor test report listing motor data is not available.
• Motor can be driven with a normal duty mode after Auto-Tuning. A trial
Stationary Auto-Tuning 3 T1-01 = 5 N/A N/A YES YES
run is performed after Auto-Tuning to automatically calculate motor
parameters needed for vector control.
Table 4.22 lists the data that must be entered for Auto-Tuning. Make sure this data is available before starting
Auto-Tuning.
The information needed is usually listed on the motor nameplate or in the motor test report provided by the motor
manufacturer. Also refer to Subchart A-1: Simple Motor Setup Using V/f Control on page 106 and Subchart A-2: High
Performance Operation Using OLV or CLV on page 107 for details on Auto-Tuning process and selections.
Table 4.22 Auto-Tuning Input Data
Tuning Type (T1-01)
Input 2 3
Input Value Unit 0 4 5
Parameter Line-to-Line Rotational for
Standard Stationary 2 Stationary 3
Resistance V/f Control
Control Mode A1-02 – 2, 3 0, 1, 2, 3 0, 1 2, 3 2, 3
Motor Rated Power T1-02 kW YES YES YES YES YES
Motor Rated Voltage T1-03 Vac YES N/A YES YES YES
Motor Rated Current T1-04 A YES YES YES YES YES
Motor Rated Frequency T1-05 Hz YES N/A YES YES YES
Number of Motor Poles T1-06 – YES N/A YES YES YES
Motor Rated Speed T1-07 min-1 YES N/A YES YES YES
PG Number of Pulses Per
T1-08 – YES <1> N/A N/A YES <1> YES <1>
Revolution
Motor No-load Current T1-09 A N/A N/A N/A YES YES
116 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
4.7 Auto-Tuning
Tuning Type (T1-01)
Input 2 3
Input Value Parameter Unit 0 4 5
Line-to-Line Rotational for
Standard Stationary 2 Stationary 3
Resistance V/f Control
Control Mode A1-02 – 2, 3 0, 1, 2, 3 0, 1 2, 3 2, 3
Motor Rated Slip T1-10 Hz N/A N/A N/A YES YES
Motor Iron Loss T1-11 W N/A N/A YES N/A YES
<1> Input data is needed for CLV/PM only.
Auto-Tuning for Permanent Magnet Motors
Automatically sets the V/f pattern and motor parameters E1- and E5- when a PM motor is used. In Closed Loop
Vector Control, the Auto-Tuning process will also set some F1- parameters for speed feedback detection.
Table 4.23 Types of Auto-Tuning for Permanent Magnet Motors
Control Mode
Type Setting Application Conditions and Benefits
OLV/PM AOLV/PM CLV/PM
• Motor does not rotate during Auto-Tuning
PM Motor Parameter Settings T2-01 = 0 YES YES YES
• Motor test report or motor data like listed in Table 4.24 are available.
• A motor test report listing motor data is not available. Drive
PM Stationary Auto-Tuning T2-01 = 1 YES YES YES
automatically calculates and sets motor parameters.
• Useful to tune the drive when the motor data were set up manually or by
PM Stationary Auto-Tuning for
T2-01 = 2 motor code and the cable is longer than 50 m. Should also be performed if YES YES YES
Stator Resistance
the cable has changed after earlier tuning.
• PG encoder has been replaced. Calculates the Z pulse offset.
Z Pulse Offset Tuning T2-01 = 3 N/A N/A YES
• Requires the motor to rotate with no or very low load.
• Use if a motor test is not available.
• Tunes the motor induction voltage only.
• Should be performed after motor data are set and the encoder offset is
Back EMF Constant Tuning T2-01 = 11 N/A N/A YES
adjusted.
• The motor must be uncoupled from the mechanical system (remove
loads).
• The motor rotated in reverse or STo fault (Motor Step-Out) occurred at
startup in OLV/PM
High Frequency Injection • Low speed and no torque after activating the high frequency injection
T2-01 = 13 N/A YES YES
Parameter Tuning control (n8-57 = 1) in AOLV/PM.
• Faults, such as the motor rotating in reverse, occurred when the power
was turned on during initial startup in CLV/PM.
• A motor test report listing motor data is not available.
• Motor can be decoupled from the load and rotate freely while
Auto-Tuning is performed. Drive automatically calculates and sets motor
PM Rotational Auto-Tuning T2-01 = 14 YES YES YES
parameters.
• PM Rotational Auto-Tuning gives more accurate results than Stationary
Auto-Tuning.
Table 4.24 lists the data that must be entered for Auto-Tuning. Make sure the data is available before starting
Start-Up Programming
Auto-Tuning.
The information needed is usually listed on the motor nameplate or in the motor test report provided by the motor
& Operation
manufacturer. Also refer to Subchart A-3: Operation with Permanent Magnet Motors on page 108 for details on the
tuning mode selection and the tuning process.
Figure 4.15
common_ 4
556 TMonly
&4+8' 122
'0& '0&
Figure 4.16 Example of Motor Nameplate
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 117
4.7 Auto-Tuning
Table 4.24 Auto-Tuning Input Data
Tuning Type (T2-01)
Input 2 3 11 13
Input Value Unit 0 1 Stationary Z-Pulse Back EMF High 14
Parameter
Motor Parameter Settings Stationary Stator Frequency Rotational
Offset Constant
Resistance Injection
Control Mode A1-02 – 5, 6, 7 5 6, 7 5 6, 7 5, 6, 7 7 7 6, 7 5 6 7
Motor Code T2-02 – <1> FFFF FFFF – – – – – – – – –
Motor Type T2-03 – N/A N/A N/A YES YES N/A N/A N/A N/A YES YES YES
Motor Rated Power T2-04 kW N/A YES YES YES YES N/A N/A N/A N/A YES YES YES
Motor Rated Voltage T2-05 Vac N/A YES YES YES YES N/A N/A N/A N/A YES YES YES
Motor Rated Current T2-06 A N/A YES YES YES YES YES N/A N/A N/A YES YES YES
Motor Rated Frequency T2-07 Hz N/A YES N/A YES N/A N/A N/A N/A N/A YES N/A N/A
Number of Motor Poles T2-08 – N/A YES YES YES YES N/A N/A N/A N/A YES YES YES
Motor Rated Speed T2-09 min-1 N/A N/A YES N/A YES N/A N/A N/A N/A N/A YES YES
Stator 1 Phase Resistance T2-10 YES YES YES N/A N/A N/A N/A N/A N/A N/A N/A N/A
d-Axis Inductance T2-11 mH YES YES YES N/A N/A N/A N/A N/A N/A N/A N/A N/A
q-Axis Inductance T2-12 mH YES YES YES N/A N/A N/A N/A N/A N/A N/A N/A N/A
Induced Voltage Constant
T2-13 – YES YES YES N/A N/A N/A N/A N/A N/A N/A N/A N/A
Unit Selection
Voltage Constant T2-14 <3> YES YES YES N/A N/A N/A N/A N/A N/A N/A N/A N/A
Tuning Pull-in Current T2-15 % N/A N/A N/A YES YES N/A N/A N/A N/A YES YES YES
PG Number of Pulses Per
T2-16 ppr YES <2> N/A YES <2> N/A YES <2> N/A N/A N/A N/A N/A N/A YES
Revolution
deg
Z Pulse Offset T2-17 YES <2> N/A YES <2> N/A YES <2> N/A N/A N/A N/A N/A N/A N/A
(mech.)
<1> Input the motor code when using the YASKAWA motor. Select FFFF when using the motor by other manufacturers.
<2> Input data is needed for CLV/PM only.
<3> Depends on T2-13 setting.
Inertia Tuning and Speed Control Loop Auto-Tuning
Inertia Tuning can be performed when the drive is using Closed Loop Vector control for either IM or PM motors. Inertia
Tuning automatically calculates load and motor inertia, and optimizes settings related to the Feed Forward control.
ASR Gain Auto-Tuning performs the same operation as Inertia Tuning, but also optimizes speed control loop settings.
Table 4.25 Inertia and Speed Control Loop Tuning
Type Setting Control Mode Application Conditions and Benefits
IM Motor T1-01 = 8 CLV Lets the motor rotate at a certain speed and applies a test signal. The response to
Inertia Tuning the test signals are analyzed, and adjustments are made to parameters controlling
PM Motor T2-01 = 8 CLV/PM the Feed Forward function.
IM Motor T1-01 = 9 CLV Performs the same operation as Inertia Tuning, but also adjusts the ASR gain
ASR Gain Auto-Tuning
PM Motor T2-01 = 9 CLV/PM according to the response to the test signal.
Note: Inertia Tuning and ASR Gain Auto-Tuning might not be available if gears are between the machine and the motor shaft.
Table 4.26 explains that data that must be entered in order to perform the Inertia Tuning and ASR Gain Auto-Tuning.
Refer to Auto-Tuning for Permanent Magnet Motors on page 117 for details.
Table 4.26 Auto-Tuning Input Data
Tuning Type (T1-01 or T2-01)
Input Value Input Parameter Unit 8 9
Inertia Tuning ASR Gain Tuning
Control mode A1-02 – 3, 7 3, 7
Test signal frequency T3-01 Hz YES YES
Test signal amplitude T3-02 rad YES YES
Motor inertia T3-03 kgm2 YES YES
System response frequency T3-04 Hz N/A YES
118 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
4.7 Auto-Tuning
Before Auto-Tuning the Drive
Check the items below before Auto-Tuning the drive.
Basic Auto-Tuning Preparations
• Auto-Tuning requires the user to input data from the motor nameplate or motor test report. Make sure this data is
available before Auto-Tuning the drive.
• For best performance, the drive input supply voltage must be greater than the motor rated voltage.
Note: Better performance is possible when using a motor with a base voltage that is 20 V (200 V class models) or 40V (400 V class
models) lower than the input supply voltage. This is particularly important when operating the motor above 90% of base speed,
where high torque precision is required.
• To cancel Auto-Tuning, press the STOP key on the digital operator.
• When using a motor contactor, make sure it is closed throughout the Auto-Tuning process.
• When using Auto-Tuning for motor 2, make sure motor 2 is connected to the drive output when performing the tuning.
• Table 4.27 describes digital input and output terminal operation while Auto-Tuning is performed.
Table 4.27 Digital Input and Output Operation During Auto-Tuning
Motor Type Auto-Tuning Type Digital Input Digital Output
Rotational Auto-Tuning Functions the same as during normal operation
Stationary Auto-Tuning 2
Maintains the status at the start of Auto-Tuning
IM Motor Stationary Auto-Tuning for Line-to-Line Resistance
Rotational Auto-Tuning for V/f Control Functions the same as during normal operation
Stationary Auto-Tuning 3 Maintains the status at the start of Auto-Tuning
PM Motor Parameter Settings Digital output functions are disabled.
PM Stationary Auto-Tuning
Digital input functions are disabled.
PM Stationary Auto-Tuning for Stator Resistance Maintains the status at the start of Auto-Tuning
PM Motor Z Pulse Offset Tuning
Back EMF Constant Tuning Functions the same as during normal operation
High Frequency Injection Parameter Tuning Digital output functions are disabled.
PM Rotational Auto-Tuning Functions the same as during normal operation
IM and PM Inertia Tuning
Functions the same as during normal operation
Motors ASR Gain Auto-Tuning
Notes on Rotational Auto-Tuning
• To achieve optimal performance from Rotational Auto-Tuning, the load should be decoupled from the motor.
Rotational Auto-Tuning is best suited for applications requiring high performance over a wide speed range.
• If motor and load can not be decoupled, reduce the load so that it is no greater than 30% of the rated load. Performing
Rotational Auto-Tuning with a higher load will set motor parameters incorrectly, and can cause irregular motor
Start-Up Programming
rotation.
• Ensure the motor-mounted brake is fully released if installed.
• Connected machinery should be allowed to rotate the motor.
& Operation
NOTICE: Make sure that the motor and the load are not connected when performing Auto-Tuning. Failure to comply may cause
damage to equipment or injury to personnel.
NOTICE: Electrical Shock Hazard. When executing Auto-Tuning, voltage is applied to the motor even before it rotates. Do not touch
the motor until Auto-Tuning is completed. Failure to comply may result in injury from electrical shock. If Rotational Auto-Tuning is 4
performed, the motor will remain stopped for approximately one minute with power applied and then the motor will rotate for one
minute.
Notes on Stationary Auto-Tuning
Stationary Auto-Tuning modes analyze motor characteristics by injecting current into the motor for about one minute.
WARNING! Electrical Shock Hazard. When executing Stationary Auto-Tuning, voltage is applied to the motor even before it rotates.
Do not touch the motor until Auto-Tuning is completed. Failure to comply may result in injury from electrical shock.
WARNING! Sudden Movement Hazard. If installed, do not release the mechanical brake during stationary Auto-Tuning. Inadvertent
brake release may cause damage to equipment or injury to personnel. Ensure that the mechanical brake release circuit is not
controlled by the drive multi-function digital outputs.
Stationary Auto-Tuning 2
• Perform these tuning methods when using a vector control mode but Rotational Auto-Tuning cannot be performed.
• Check the area around the motor to ensure that nothing will accidentally cause the motor to rotate during the
Auto-Tuning process.
• Perform Stationary Auto-Tuning 3 when the motor test report is not available. If the motor test report is available,
perform Stationary Auto-Tuning 2 instead.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 119
4.7 Auto-Tuning
Stationary Auto-Tuning 3
NOTICE: Electrical Shock Hazard. When executing Stationary Auto-Tuning 3, voltage is applied to the motor even before it rotates. Do
not touch the motor until Auto-Tuning is completed. Failure to comply may result in injury from electrical shock.
NOTICE: When performing Stationary Auto-Tuning 3 for a motor while it is connected to the machine, such as a conveyor, do not
release the holding brake during Auto-Tuning.
Stationary Auto-Tuning 3 can be used in either Open Loop Vector control or Closed Loop Vector control. Set T1-01 to 5
and enter the input data from the motor nameplate. If the RUN key is pressed, the motor will remain stopped for
approximately one minute to automatically calculate the motor parameters that are needed. When the motor is used for
the first time in Drive Mode after Auto-Tuning has been performed, the motor parameters (E2-02 and E2-03) are set
automatically.
After Stationary Auto-Tuning 3 has been performed, make sure the following conditions are met and use the following
procedures to perform the operation in test mode.
1. Check the values of E2-02 and E2-03 in Verify Menu or Parameter Setting Mode.
2. Operate the motor once in Drive Mode with the following conditions.
• Do not disconnect the wiring between the motor and drive.
• Do not lock the motor shaft with a mechanical brake or other device.
• The maximum motor load should be 30% of the rated load.
• Maintain a constant speed of 30% of E1-06 (base frequency, default value = maximum frequency) or higher
for one second or longer.
3. After the motor is stopped, recheck the values of E2-02 and E2-03 in Verify Mode or Parameter Setting Mode.
4. Confirm that the input data is correct.
Note: 1. If the aforementioned conditions are not met when using the motor for the very first use, there will be large discrepancies between the
values set for the motor rated slip (E2-02) and the motor no-load current (E2-03), and the motor test report and the data given in
Defaults by Drive Model Selection (o2-04) and ND/HD (C6-01) on page 469. This could result in motor vibration, hunting,
insufficient torque, or overcurrent. For hoist applications, this could result in the cage falling or serious injury. Either perform
Stationary Auto-Tuning 3 again and then perform operation with the above procedure and conditions, or perform Stationary
Auto-Tuning 2, or rotational Auto-Tuning.
2. If midway initialization is performed, restart the entire procedure from the beginning.
3. Use the following guidelines for a general-purpose motor: Motor rated slip (E2-02): 0.5 Hz to 3 Hz, Motor no-load current (E2-03):
30% to 65% of the rated current. Generally speaking, for larger motor capacities the rated slip is smaller and the no-load current as a
percentage of the rated current is smaller. Refer to Defaults by Drive Model Selection (o2-04) and ND/HD (C6-01) on page 469 for
details.
Stationary Auto-Tuning for Line-to-Line Resistance and PM Motor Stator Resistance
• Perform when entering motor data manually while using motor cables longer than 50 m.
• If the motor cables have been replaced with line over 50 m long after Auto-Tuning as already been performed, then
execute Stationary Auto-Tuning for line-to-line resistance.
Notes on Inertia Tuning and ASR Gain Auto-Tuning
WARNING! Electrical Shock Hazard. When executing Inertia Tuning or ASR Gain Auto-Tuning, voltage is applied to the motor even
before it rotates. Do not touch the motor until Auto-Tuning is completed. Failure to comply may result in injury from electrical shock.
• Both tuning methods must be performed with the machine connected to the motor but without load applied.
• The motor will rotate during the Auto-Tuning process. Make sure the areas around the motor and connected machinery
are clear.
• The drive will let the system rotate at a certain speed while superimposing a sine wave test signal. Make sure this
tuning process does not cause any problem or malfunction in the machine before using it.
• Ensure the motor-mounted brake is fully released if installed.
• Connected machinery should be allowed to rotate the motor.
120 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
4.7 Auto-Tuning
Auto-Tuning Interruption and Fault Codes
If tuning results are abnormal or the STOP key is pressed before completion, Auto-Tuning will be interrupted and a fault
code will appear on the digital operator.
Figure 4.16
common_
DIGITAL OPERATOR JVOP-180
ALM DIGITAL OPERATOR JVOP-180
ALM TMonly
- A.TUNE - DRV Rdy - MODE - DRV
REV DRV
DRV FOUT
Tune Proceeding
X.XX Hz/ X.XXA Er-03
STOP key
FWD FWD RESET
A – During Auto-Tuning B – Auto-Tuning Aborted
Figure 4.17 Auto-Tuning Aborted Display
Auto-Tuning Operation Example
The following example demonstrates Rotational Auto-Tuning when using OLV (A1-02 = 2) and CLV (A1-02 = 3).
Selecting the Type of Auto-Tuning
Step Display/Result
- MODE - DRV Rdy
FREF (AI)
U1-01= 0.00Hz
1. Turn on the power to the drive. The initial display appears.
U1-02= 0.00Hz RSEQ
U1-03= 0.00A RREF
JOG FWD
- MODE - PRG
Auto-Tuning
2.
Press the or key until the Auto-Tuning display appears. AUTO
HELP FWD DATA
- A.TUNE - PRG
Tuning Mode Sel
3. Press to begin setting parameters.
T1-01= 0 ∗0∗
Standard Tuning
ESC FWD DATA
- A.TUNE - PRG
Start-Up Programming
Tuning Mode Sel
4. T1-01= 0 ∗0∗
Press to select the value for T1-01. <1> Standard Tuning
“0”
FWD
& Operation
5.
Save the setting by pressing . Entry Accepted
- A.TUNE - PRG
4
Tuning Mode Sel
6. The display automatically returns to the display shown in Step 3. T1-01= 0 ∗0∗
Standard Tuning
ESC FWD DATA
<1> T1-00 will appear on the display when one of the multi-function inputs has been set to switch between motor 1 and motor 2 (H1- = 16).
Enter Data from the Motor Nameplate
After selecting the type of Auto-Tuning, enter the data required from the motor nameplate.
Note: These instructions continue from Step 6 in “Selecting the Type of Auto-Tuning.”
Step Display/Result
- A.TUNE - PRG
Mtr Rated Power
1. Press to access the motor output power parameter T1-02. T1-02= 0.75kW
The value set for E2-11 prior to turning on the power is displayed for T1-02. (0.00 ~ 650.00)
“0.75kW”
ESC FWD DATA
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 121
4.7 Auto-Tuning
Step Display/Result
- A.TUNE - PRG
Mtr Rated Power
2. The setting value of T1-02 flashes when is pressed. T1-02= 000.75kW
The setting can be changed. (0.00 ~ 650.00)
“0.75kW”
FWD
- A.TUNE - PRG
Mtr Rated Power
3. Press F1 , F2 , , and to enter the motor power nameplate data in kW.
T1-02= 000.40kW
(0.00 ~ 650.00)
“0.75kW”
FWD
4.
Press to save the setting. Entry Accepted
- A.TUNE - PRG
Mtr Rated Power
5. The display automatically returns to the display in Step 1. T1-02= 0.40kW
(0.00 ~ 650.00)
“0.75kW”
ESC FWD DATA
- A.TUNE - PRG
Rated Voltage
T1-03= 200.0VAC
Repeat Steps 1 through 5 to set the following parameters: (0.0 ~ 255.0)
• T1-03, Motor Rated Voltage “200.0VAC”
ESC FWD DATA
• T1-04, Motor Rated Current
• T1-05, Motor Base Frequency
6.
• T1-06, Number of Motor Poles
• T1-07, Motor Base Frequency
• T1-09, Motor No-Load Current (Stationary Auto-Tuning 2 only) - A.TUNE - PRG
Mtr Rated Slip
• T1-10, Motor Rated Slip (Stationary Auto-Tuning 2 only)
T1-10= X.XX Hz
(0.00 ~ 20.00)
“X.XX Hz”
ESC FWD DATA
Note: 1. For details on each setting, refer to Parameter Settings during Induction Motor Auto-Tuning: T1 on page 123.
2. To execute Stationary Auto-Tuning for line-to-line resistance only, set parameters T1-02 and T1-04.
Starting Auto-Tuning
WARNING! Sudden Movement Hazard. The drive and motor may start unexpectedly during Auto-Tuning, which could result in death
or serious injury. Ensure the area surrounding the drive motor and load are clear before proceeding with Auto-Tuning.
WARNING! Electrical Shock Hazard. High voltage will be supplied to the motor when Stationary Auto-Tuning is performed even with
the motor stopped, which could result in death or serious injury. Do not touch the motor until Auto-Tuning has been completed.
NOTICE: Rotational Auto-Tuning will not function properly if a holding brake is engaged on the load. Failure to comply could result in
improper operation of the drive. Ensure the motor can freely spin before beginning Auto-Tuning.
Enter the required information from the motor nameplate. Press to proceed to the Auto-Tuning start display.
Note: These instructions continue from Step 6 in “Enter Data from the Motor Nameplate”.
Step Display/Result
- A.TUNE - DRV Rdy
Auto-Tuning
1. 0.00 Hz/ 0.00A
After entering the data listed on the motor nameplate, press to confirm. Tuning Ready ?
Press RUN key
ESC FWD
- A.TUNE - DRV Rdy
Press to activate Auto-Tuning. The drive begins by injecting current into the motor for about 1 min, Tune Proceeding
2. and then starts to rotate the motor. X.XX Hz/ X.XXA
Note: The first digit on the display indicates which motor is undergoing Auto-Tuning (motor 1 or motor 2). The
second digit indicates the type of Auto-Tuning being performed. FWD
- MODE - DRV
3. Auto-Tuning finishes in approximately one to two minutes. End
Tune Successful
FWD RESET
122 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
4.7 Auto-Tuning
Parameter Settings during Induction Motor Auto-Tuning: T1
The T1- parameters are used to set the Auto-Tuning input data for induction motor tuning.
Note: For motors that are to be operated in the field weakening range, first perform the Auto-Tuning with the base data. After
Auto-Tuning is complete, change the maximum frequency E1-04 to the desired value.
T1-00: Motor 1/Motor 2 Selection
Selects the motor to be tuned when motor 1/2 switching is enabled, i.e., a digital input is set for function H1- = 16.
This parameter is not displayed if motor 1/2 switching is disabled.
No. Name Setting Range Default
T1-00 Motor 1/Motor 2 Selection 1 or 2 1
Setting 1: Motor 1
Auto-Tuning automatically sets parameters E1- and E2- for motor 1.
Setting 2: Motor 2
Auto-Tuning automatically sets parameters E3- and E4- for motor 2. Make sure that motor 2 is connected to the
drive for Auto-Tuning.
T1-01: Auto-Tuning Mode Selection
Sets the type of Auto-Tuning to be used. Refer to Auto-Tuning for Induction Motors on page 116 for details on the
different types of Auto-Tuning.
No. Name Setting Range Default
V/f: 2, 3
V/f w/PG: 2, 3 2 (V/f, V/f w/PG)
T1-01 Auto-Tuning Mode Selection
OLV: 0, 2, 4, 5 0 (OLV, CLV)
CLV: 0, 2, 4, 5, 8, 9
Setting 0: Rotational Auto-Tuning
Setting 2: Stationary Auto-Tuning for Line-to-Line Resistance
Setting 3: Rotational Auto-Tuning for V/f Control
Setting 4: Stationary Auto-Tuning 2
Setting 5: Stationary Auto-Tuning 3
Setting 8: Inertia Tuning
Start-Up Programming
Setting 9: ASR Gain Auto-Tuning
Note: Inertia Tuning and ASR Gain Auto-Tuning might not be available if gears are between the machine and the motor shaft.
& Operation
T1-02: Motor Rated Power
Sets the motor rated power according to the motor nameplate value.
No. Name Setting Range Default 4
Determined by o2-04 and
T1-02 Motor Rated Power 0.00 to 650.00 kW
C6-01
T1-03: Motor Rated Voltage (T1-01 = 0, 3, 4, 5)
Sets the motor rated voltage according to the motor nameplate value. If the motor to be operated above its base speed,
enter the voltage at base speed here.
For better control precision around rated speed when using a vector control mode, it can be helpful to enter the no-load
voltage for the motor here. The motor’s “no-load voltage” refers to the voltage needed to operate the motor under no-load
conditions at rated speed. The no-load voltage can usually be found in the motor test report available from the
manufacturer. If the motor test report is not available, enter approximately 85% of the rated voltage printed on the motor
nameplate. This may increase the output current and reduce the overload margin.
No. Name Setting Range Default
T1-03 <1> Motor Rated Voltage 0.0 to 255.5 V 200.0 V
<1> Values shown here are for 200 V class drives. Double values when using a 400 V class unit.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 123
4.7 Auto-Tuning
T1-04: Motor Rated Current
Sets the motor rated current according to the motor nameplate value. For optimal performance in OLV or CLV, the motor
rated current should be between 50 and 100% of the drive rated current. Enter the current at the motor base speed.
No. Name Setting Range Default
T1-04 Motor Rated Current 10 to 150% of drive rated current o2-04
T1-05: Motor Base Frequency (T1-01 = 0, 2, 4, 5)
Sets the motor rated frequency according to the motor nameplate value. If a motor with an extended speed range is used
or the motor is used in the field weakening area, enter the maximum frequency to E1-04 (E3-04 for motor 2) after
Auto-Tuning is complete.
No. Name Setting Range Default
T1-05 Motor Base Frequency 0.0 to 400.0 Hz 50.0 Hz
T1-06: Number of Motor Poles (T1-01 = 0, 3, 4, 5)
Sets the number of motor poles according to the motor nameplate value.
No. Name Setting Range Default
T1-06 Number of Motor Poles 2 to 48 4
T1-07: Motor Base Speed (T1-01 = 0, 3, 4, 5)
Used to set the motor rated speed according to the motor nameplate value. If a motor with an extended speed range is
used or the motor is used in the field weakening area, enter the speed at base frequency here.
No. Name Setting Range Default
T1-07 Motor Base Speed 0 to 24000 min-1 1450 min-1
T1-08: PG Number of Pulses Per Revolution (T1-01 = 0, 4, 5)
Sets the number of pulses from the PG encoder. Set the actual number of pulses for one full motor rotation.
No. Name Setting Range Default
T1-08 PG Number of Pulses Per Revolution 0 to 60000 ppr 1024 ppr
Note: T1-08 will only be displayed in CLV.
T1-09: Motor No-Load Current (T1-01 = 4, 5)
Sets the no-load current for the motor.
The default setting displayed is no-load current that was automatically calculated from the rated power set in T1-02 and
the motor rated current set to T1-04. Enter the data listed on the motor test report. Leave this data at the default setting if
the motor test report is not available.
No. Name Setting Range Default
0 A to [T1-04]
T1-09 <1> Motor No-Load Current –
(Max: 0 to 2999.9)
<1> Display is in the following units:
CIMR-U20028, 20042, and 40011 to 40027: 0.01 A units
CIMR-U20054 to 20248, and 40034 to 40414: 0.1 A units
T1-10: Motor Rated Slip (T1-01 = 4, 5)
Sets the rated slip for the motor.
The default setting displayed is the motor rated slip for a Yaskawa motor calculated from the rated power set in T1-02.
Enter the data listed on the motor test report.
No. Name Setting Range Default
T1-10 Motor Rated Slip 0.00 to 20.00 Hz –
124 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
4.7 Auto-Tuning
T1-11: Motor Iron Loss (T1-01 = 3, 5)
Provides iron loss information for determining the Energy Saving coefficient. T1-11 will first display a value for the
motor iron loss that was automatically calculated when motor capacity was entered to T1-02. If the motor test report is
available, enter the motor iron loss value listed there.
No. Name Setting Range Default
T1-11 Motor Iron Loss 0 to 65535 W E2-11 (E4-11)
Parameter Settings during PM Motor Auto-Tuning: T2
The T2- parameters are used to set the Auto-Tuning input data for PM motor tuning.
T2-01: PM Motor Auto-Tuning Mode Selection
Selects the type of Auto-Tuning to be performed. Refer to Auto-Tuning for Permanent Magnet Motors on page 117 for
details on different types of Auto-Tuning.
No. Name Setting Range Default
OLV/PM: 0, 1, 2, 14
T2-01 PM Motor Auto-Tuning Mode Selection AOLV/PM: 0, 1, 2, 13, 14 0
CLV/PM: 0, 1, 2, 3, 8, 9, 11, 13, 14
Setting 0: PM Motor Parameter Settings
Setting 1: PM Stationary Auto-Tuning
Setting 2: PM Stationary Auto-Tuning for Stator Resistance
Setting 3: Z-Pulse Offset Tuning
Setting 8: Inertia Tuning
Setting 9: ASR Gain Auto-Tuning
Setting 11: Back EMF Constant Tuning
Setting 13: High Frequency Injection Parameter Tuning
Setting 14: PM Rotational Auto-Tuning
Note: 1. Inertia Tuning and ASR Gain Auto-Tuning might not be available if gears are between the machine and the motor shaft.
2. For special-purpose motors, Yaskawa recommends Back EMF Constant Tuning after Stationary Auto-Tuning has been performed.
Back EMF Constant Tuning rotates the motor to measure the actual induction voltage constants, and therefore allows for more
accurate control than Stationary Auto-Tuning alone.
T2-02: PM Motor Code Selection
Start-Up Programming
If the drive is operating a Yaskawa PM motor from the SMRA, SSR1, or SST4 series, enter the motor code for the motor
in parameter T2-02. This will automatically set parameters T2-03 through T2-14. If using a specialized motor or one
& Operation
designed by a manufacturer other than Yaskawa, set T2-02 to FFFF. Data from the motor nameplate or the motor test
report will then need to be entered as prompted.
Only the designated PM motor codes may be entered. The PM motor codes accepted by the drive will differ by the
control mode that has been selected. Refer to E5: PM Motor Settings on page 216 for motor codes. 4
No. Name Setting Range Default
T2-02 PM Motor Code Selection 0000 to FFFF Depending on A1-02 and o2-04
T2-03: PM Motor Type
Selects the type of PM motor the drive will operate.
No. Name Setting Range Default
T2-03 PM Motor Type 0, 1 1
Setting 0: IPM motor
Setting 1: SPM motor
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 125
4.7 Auto-Tuning
T2-04: PM Motor Rated Power
Specifies the motor rated power in kilowatts.
No. Name Setting Range Default
T2-04 PM Motor Rated Power 0.00 to 650.00 kW Depending on o2-04 and C6-01
T2-05: PM Motor Rated Voltage
Sets the motor rated voltage.
No. Name Setting Range Default
T2-05 <1> PM Motor Rated Voltage 0.0 to 255.0 V 200.0 V
<1> The setting range and default value shown here is for a 200 V class drive. These values double when using a 400 V class unit.
T2-06: PM Motor Rated Current
Enter the motor rated current in amps.
No. Name Setting Range Default
10% to 150% of the drive rated
T2-06 PM Motor Rated Current Depending on o2-04
current.
T2-07: PM Motor Base Frequency
Enter the motor base frequency in Hz.
Note: T2-07 will be displayed when in OLV/PM.
No. Name Setting Range Default
T2-07 PM Motor Base Frequency 0.0 to 400.0 Hz 87.5 Hz
T2-08: Number of PM Motor Poles
Enter the number of motor poles.
No. Name Setting Range Default
T2-08 Number of PM Motor Poles 2 to 48 6
T2-09: PM Motor Base Speed
Enter the motor rated speed in min-1.
Note: T2-09 will be displayed when in AOLV/PM and CLV/PM.
No. Name Setting Range Default
T2-09 PM Motor Base Speed 0 to 24000 min-1 1750 min-1
T2-10: PM Motor Stator Resistance
Enter the motor stator resistance per motor phase.
No. Name Setting Range Default
T2-10 PM Motor Stator Resistance 0.000 to 65.000 Depending on T2-02
T2-11: PM Motor d-Axis Inductance
Enter the d axis inductance per motor phase.
No. Name Setting Range Default
T2-11 PM Motor d-Axis Inductance 0.00 to 600.00 mH Depending on T2-02
T2-12: PM Motor q-Axis Inductance
Enter the q axis inductance per motor phase.
No. Name Setting Range Default
T2-12 PM Motor q-Axis Inductance 0.00 to 600.00 mH Depending on T2-02
126 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
4.7 Auto-Tuning
T2-13: Induced Voltage Constant Unit Selection
Selects the units used for setting the induced voltage coefficient.
No. Name Setting Range Default
T2-13 Induced Voltage Constant Unit Selection 0, 1 1
Setting 0: mV (min-1)
Setting 1: mV (rad/s)
Note: If T2-13 is set to 0, then the drive will use E5-24 (Motor Induction Voltage Constant 2 (for PM Motors)), and will automatically
set E5-09 (Motor Induction Voltage Constant 1 (Ke) (for PM Motors)) to 0.0. If T2-13 is set to 1, then the drive will use E5-09
and will automatically set E5-25 to 0.0.
T2-14: PM Motor Induced Voltage Constant (Ke)
Enter the motor induced voltage constant (Ke).
No. Name Setting Range Default
T2-14 PM Motor Induced Voltage Constant (Ke) 0.0 to 2000.0 Depending on T2-02
T2-15: Pull-In Current Level for PM Motor Tuning
Sets the amount of pull-in current used to tune the d-axis and q-axis inductance. Set as a percentage of the motor rated
current.
No. Name Setting Range Default
T2-15 Pull-In Current Level for PM Motor Tuning 0 to 120% 30%
T2-16: PG Number of Pulses Per Revolution for PM Motor Tuning
Enter the number of pulses from the PG encoder per motor rotation. Set the actual number of pulses for one full motor
rotation.
No. Name Setting Range Default
T2-16 PG Number of Pulses Per Revolution for PM Motor Tuning 0 to 15000 ppr 1024 ppr
T2-17: Encoder Z-Pulse Offset ()
Sets the amount of compensation or offset in 0.1 degree units in order to fine-tune the home position. If the amount of
offset needed for the Z pulse is unknown or if the PG encoder is replaced, perform Z pulse tuning.
Start-Up Programming
No. Name Setting Range Default
& Operation
T2-17 Encoder Z-Pulse Offset () -180.0 to 180.0 deg 0.0 deg
Parameter Settings during Inertia and Speed Control Loop Auto-Tuning: T3
These tuning methods apply a sine wave test signal to the system. By the measuring the response the drive estimates the 4
system inertia. It automatically sets parameters listed in Table 4.28.
Table 4.28 Parameters Adjusted by Inertia and Speed Loop Auto-Tuning
T1-01 or T2-01
Parameter Description 8 9
Inertia Tuning Speed Control Loop (ASR) Tuning
C5-01 ASR Proportional Gain 1 N/A YES
C5-17 (C5-37) Motor Inertia YES YES
C5-18 (C5-38) Motor Inertia Ratio YES YES
n5-02 Motor Acceleration Time YES YES
n5-03 Feed Forward Control Ratio Gain YES YES
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 127
4.7 Auto-Tuning
T3-01: Inertia Tuning Frequency Reference
There is normally no need to change this parameter from the default value.
Sets the frequency of the test signal applied to the motor during Inertia Tuning. Increasing the value may be beneficial
when working with high inertia loads.
No. Name Setting Range Default
T3-01 Inertia Tuning Frequency Reference 0.1 to 20.0 Hz 3.0 Hz
T3-02: Inertia Tuning Reference Amplitude
There is normally no need to change this parameter from the default value.
Enter the amplitude of the test signal applied to the motor during Inertia Tuning. If the load inertia is too large and causes
problems during Inertia Tuning, try decreasing the value. If a fault occurs when T3-01 is set to low value, the situation
may be remedied by adjusting T3-02.
No. Name Setting Range Default
T3-02 Inertia Tuning Reference Amplitude 0.1 to 10.0 rad 0.5 rad
T3-03: Motor Inertia
Enter the inertia of the motor. This value is used to determine the load inertia using the test signal response. The default
setting is for a Yaskawa standard motor as listed in the motor inertia table.
No. Name Setting Range Default
Depending on
T3-03 Motor Inertia 0.0001 to 600.00 kgm2
o2-04, C6-01, E5-01
Note: Display is in the following units.
CIMR-U20028 to 20130, 40011 to 40077: 0.0001 kgm2 units
CIMR-U20154 to 20248, 40096 to 40414: 0.001 kgm2 units
The display resolution depends on the rated output current of the drive after the Drive Duty has been set in parameter C6-01.
T3-04: ASR Response Frequency
Sets the response frequency (reciprocal of the step response time constant) of the system or the connected machine. The
drive uses this value and the load inertia to fine-tune the speed control loop gain (C5-01, ASR Gain 1). Oscillation may
result if the value input here is higher than the actual response frequency of the system.
No. Name Setting Range Default
T3-04 ASR Response Frequency 0.1 to 50.0 Hz 10.0 Hz
128 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
4.8 No-Load Operation Test Run
4.8 No-Load Operation Test Run
No-Load Operation Test Run
This section explains how to operate the drive with the motor decoupled from the load during a test run.
Before Starting the Motor
Check the following items before operation:
• Ensure the area around the motor is safe.
• Ensure external emergency stop circuitry is working properly and other safety precautions have been taken.
During Operation
Check the following items during operation:
• The motor should rotate smoothly (i.e., no abnormal noise or oscillation).
• The motor should accelerate and decelerate smoothly.
No-Load Operation Instructions
The following example illustrates a test run procedure using the digital operator.
Step Display/Result
- MODE - DRV Rdy
FREF (AI)
1. Turn on the power to the drive. The initial display appears. U1-01= 0.00Hz
U1-02= 0.00Hz RSEQ
U1-03= 0.00A RREF
JOG FWD
DIGITAL OPERATOR JVOP-180 ALM
- MODE - DRV Rdy
FREF (OPR)
U1-01= 0.00Hz
U1-02= 0.00Hz LSEQ
U1-03= 0.00A LREF
JOG FWD FWD/REV
F1 F2
2.
LO
ESC
RE
Press the key to select LOCAL. The LO/RE light will turn on. RESET ENTER
RUN STOP
Off On
Start-Up Programming
3. Set the frequency reference to 6 Hz. Refer to Figure 4.6 (page 100) for the setting procedure. – –
DIGITAL OPERATOR JVOP-180 ALM
& Operation
- MODE - DRV Rdy
FREF (OPR)
U1-01= 6.00Hz
U1-02= 0.00Hz LSEQ
U1-03= 0.00A LREF
JOG FWD FWD/REV
F1 F2
LO
ESC
RE
4. Press to give the drive a Run command. RUN will light and the motor will rotate at 6 Hz. RESET ENTER
RUN STOP
4
RUN RUN
Off On
Motor
5. Ensure the motor is rotating in the correct direction and that no faults or alarms occur.
Forward
If there is no error in step 4, increase the frequency reference. Refer to Figure 4.6 (page 100) for the procedure
to change the frequency reference. Increase the frequency in increments of 10 Hz, verifying smooth operation
6. – –
at all speeds. For each frequency, check the drive output current using monitor U1-03. The current should be
well below the motor rated current.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 129
4.8 No-Load Operation Test Run
Step Display/Result
DIGITAL OPERATOR JVOP-180 ALM
- MODE - DRV Rdy
FREF (OPR)
U1-01= 50.00Hz
YEG_T
Monly
U1-02= 0.00Hz LSEQ
U1-03= 0.00A LREF
JOG FWD FWD/REV
F1 F2
LO
ESC
RE
7. The drive should operate normally. Press STOP to stop the motor. RUN flashes during deceleration to stop
RESET ENTER
until the motor comes to a complete stop. RUN STOP
RUN RUN
Off On
130 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
4.9 Test Run with Load Connected
4.9 Test Run with Load Connected
Test Run with the Load Connected
After performing a no-load test run, connect the motor and proceed to run the motor and load together.
Notes on Connected Machinery
• Clear the area around the motor.
• The motor should come to a complete stop without problems.
• Connect the load and machinery to the motor.
• Fasten all installation screws properly. Check that the motor and connected machinery are held in place.
• Confirm that the Fast Stop circuit or mechanical safety measures operate correctly.
• Be ready to press the STOP button in case of emergency.
Checklist Before Operation
• The motor should rotate in the proper direction.
• The motor should accelerate and decelerate smoothly.
Operating the Motor under Loaded Conditions
Test run the application similarly to the no-load test procedure when connecting the machinery to the motor.
• Watch monitor parameter U1-03 during operation to ensure there is no overcurrent.
• If the application permits running the load in the reverse direction, try changing motor direction and the frequency
reference while watching for abnormal motor oscillation or vibration.
• Correct any problems that occur with hunting, oscillation, or other control-related issues.
Start-Up Programming
& Operation
4
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 131
4.10 Verifying Parameter Settings and Backing Up Changes
4.10 Verifying Parameter Settings and Backing Up Changes
Use the Verify Menu to check all changes to parameter settings. Refer to Verifying Parameter Changes: Verify Menu on
page 102.
Save the verified parameter settings. Change the access level or set a password to the drive to prevent accidental
modification of parameter settings.
Backing Up Parameter Values: o2-03
The following procedure saves all parameters settings to drive memory where they can later be recalled. Set o2-03 to “1”
to save parameter changes. This saves all parameter settings, and then returns o2-03 to 0. The drive can now “recall” the
saved parameters by performing a User Initialization (A1-03 = 1110).
No. Parameter Name Description Setting Range Default Setting
Lets the user create a set of default settings for a User Initialization.
0: Saved/Not set
User Parameter
o2-03 1: Set Defaults - Saves current parameter settings as the default values for a User Initialization. 0 to 2 0
Default Value
2: Clear All - Clears the currently saved user settings. After saving the user parameter set value, the items of
1110 (User Parameter Initialize) are displayed in A1-03 (User Parameter Default Value).
Selects a method to initialize the parameters.
0: No Initialize
1110: User Initialization (The user must first program and store desired settings using parameter o2-03)
A1-03 Initialize Parameters 0 to 5550 0
2220: 2-Wire Initialization (parameter initialized prior to shipment)
3330: 3-Wire Initialization
5550: oPE04 Fault reset
Parameter Access Level: A1-01
Setting the Access Level for “Operation only” (A1-01 = 0) allows the user to access parameters A1- and U-
only. Other parameters are not displayed.
Setting the Access Level for “User Parameters” (A1-01 = 1) allows the user to access only the parameters that have been
previously saved as User Parameters. This is helpful when displaying only the relevant parameters for a specific
application.
No. Parameter Description Setting Default
Name Range
Selects which parameters are accessible via the digital operator.
0: Operation only. A1-01, A1-04, and A1-06 can be set and monitored, U- parameters can also be viewed.
Access Level
A1-01 1: User Parameters. Only those recently changed among application parameters A2-01 to A2-16 and A2-17 to A2 -32 0 to 2 2
Selection
can be set and monitored.
2: Advanced Access Level. All parameters can be set and monitored.
Parameters selected by the user are saved as User Parameters. This includes recently viewed parameters or parameters
specifically selected for quick access.
A2-01
User Parameters If parameter A2-33 is set to 1, recently viewed parameters will be listed between A2-17 and A2-32. Parameters A2-01
to A1-00 to o4-19 –
1 to 32 through A2-16 must be manually selected by the user.
A2-32
If A2-33 is set to 0, then recently viewed parameters will not be saved to the group of User Parameters. A2-
parameters are now available for manual programming.
0: Parameters A2-01 through A2-32 are reserved for the user to create a list of User Parameters.
User Parameter
1: Save history of recently viewed parameters. Recently edited parameters will be saved to A2-17 through A2-32 for
A2-33 Automatic 0, 1 1
quick access. The most recently changed parameter is saved to A2-17. The second most recently changed parameter is
Selection
saved to A2-18.
Password Settings: A1-04, A1-05
The user can set a password to the drive to restrict access. The password is selected via parameter A1-05. The password
must be entered to A1-04 to unlock parameter access (i.e., parameter setting A1-04 must match the value programmed
into A1-05). The following parameters cannot be viewed or edited until the value entered to A1-04 correctly matches the
value set to A1-05: A1-01, A1-02, A1-03, A1-06, and A2-01 through A2-33.
Note: Parameter A1-05 is hidden from view. To display A1-05, access parameter A1-04 and simultaneously press the key and the
key.
132 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
4.10 Verifying Parameter Settings and Backing Up Changes
Copy Function
Parameter settings can be copied to another drive to simplify parameter restoration or multiple drive setup. The drive
supports the following copy options:
• LCD Operator (standard in all models)
The LCD operator used to operate the drive also supports copying, importing, and verifying parameter settings. Refer
to o3: Copy Function on page 294 for details.
• LED Operator
The optional LED operator also supports copying, importing, and verifying parameter settings. Refer to the manual
supplied with the LED operator for instructions.
• USB Copy Unit and CopyUnitManager
The copy unit is an external option connected to the drive to copy parameter settings from one drive and save those
settings to another drive. Refer to the manual supplied with the USB Copy Unit for instructions.
The CopyUnitManager is a PC software tool. It allows the user to load parameter settings from the Copy Unit onto a
PC, or from the PC onto a Copy Unit. This is useful when managing parameters for various drives or applications.
Refer to the manual supplied with the CopyUnitManager for instructions.
• DriveWizard Plus
DriveWizard is a PC software tool for parameter management, monitoring, and diagnosis. DriveWizard can load, store,
and copy drive parameter settings. For details, refer to Help in the DriveWizard software.
Start-Up Programming
& Operation
4
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 133
4.11 Test Run Checklist
4.11 Test Run Checklist
Review the checklist before performing a test run. Check each item that applies.
No. Checklist Page
1 Thoroughly read the manual before performing a test run. –
2 Turn the power on. 109
Check the items that correspond to the control mode being used.
WARNING! Ensure start/stop and safety circuits are wired properly and in the correct state before energizing the drive. Failure to
comply could result in death or serious injury from moving equipment. When programmed for 3-Wire control, a momentary closure on
terminal S1 may cause the drive to start.
No. Checklist Page
V/f Control (A1-02 = 0) and V/f Control with PG (A1-02 = 1)
Select the best V/f pattern according to the application and motor characteristics.
3 –
Example: Set E1-03 to 0 when using a motor with a rated frequency of 50.0 Hz.
4 Perform Rotational Auto-Tuning for V/f Control if using Energy Saving functions. 116
V/f Control with PG (A1-02 = 1)
5 Setup the PG feedback parameters correctly and make sure the encoder pulse counting direction is correct. 218
6 Set the proportional gain for ASR speed control to C5-01 and the integral time to C5-02. 186
Open Loop Vector Control (A1-02 = 2) or Closed Loop Vector Control (A1-02=3)
7 Decouple motor shafts and machines when performing Rotational Auto-Tuning. 116
8 Set Auto-Tuning mode to T1-01 (set to 0 for Rotational Auto-Tuning). 116
Enter the following data according to the information listed on the motor nameplate.
• Motor rated power to T1-02 (kW)
• Motor rated voltage to T1-03 (V)
9 • Motor rated current to T1-04 (A) 116
• Motor base frequency to T1-05 (Hz)
• Number of motor poles to T1-06
• Motor base speed to T1-07 (min-1)
Closed Loop Vector Control (A1-02 = 3)
10 Set F1-01 and F1-05. 218, 219
11 Set the proportional gain for ASR speed control to C5-01 and the integral time to C5-02. Perform ASR Tuning if possible. 186
Open Loop Vector Control for PM (A1-02 = 5)
12 Perform Auto-Tuning as described. 125
Advanced Open Loop Vector Control for PM (A1-02 = 6)
13 Perform Auto-Tuning as described. 125
14 Set the proportional gain for ASR speed control to C5-01 and the integral time to C5-02. 186
Closed Loop Vector Control for PM (A1-02 = 7)
15 Set PM motor data using E5- parameters. 125
16 Set the proportional gain for ASR speed control to C5-01 and the integral time to C5-02. Perform ASR Tuning if possible. 186
17 Set F1-01 and F1-05. 218, 219
18 Set the offset between the rotor magnetic axis and the Z-pulse of the encoder connected to E5-11. 217
Proceed to the following checklist after checking items 3 through 18.
No. Checklist Page
19 The should be displayed on the LCD operator after giving a Run command. –
20 To give a Run command and frequency reference from the digital operator, press to set to LOCAL. The LO/RE key will light. 95, 104
If the motor rotates in the opposite direction during the test run, switch two of the drive output terminals (U/T1, V/T2, W/T3) or change
21 344
parameter b1-14.
22 In accordance with load condition, set Heavy Duty or Normal Duty mode using C6-01. Heavy Duty is the default setting. 189
23 Set the correct values for the motor rated current (E2-01, E4-01, E5-03) and motor protection (L1-01) to ensure motor thermal protection. 210, 257
134 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
4.11 Test Run Checklist
No. Checklist Page
If the Run command and frequency reference are provided via the control circuit terminals, set the drive for REMOTE and be sure the LO/RE
24 104
light is out.
If the control circuit terminals should supply the frequency reference, select the correct voltage input signal level (0 to 10 V or -10 to +10 V)
25 144
or the correct current input signal level (4 to 20 mA or 0 to 20 mA).
26 Apply the proper signal level (-10 to +10 V or 0 to 10 V) to terminal A1, A2, or A3. 144
27 Apply the proper signal level (-10 to +10 V, 4 to 20 mA or 0 to 20 mA) to terminal A2. 144
Set the level for current signal to H3-09 (set to 2 for 4 to 20 mA, or 3 for 0 to 20 mA). Set terminal A2 function to H3-10 (set to 0 for
28 144
Frequency Bias).
Set DIP switch S1 on the drive to “I” when using terminal A2 as current input.
29 82
Set DIP switch S1 on the drive to “V” when using terminal A2 as voltage input.
If the frequency reference is supplied via one of the analog inputs, make sure the analog input produces the desired frequency reference. Make
the following adjustments if the drive does not operate as expected:
• Gain adjustment: Set the maximum voltage/current signal and adjust the analog input gain (H3-03 for input A1, H3-11 for input A2, H3-07
30 247, 249
for analog input A3) until the frequency reference value reaches the desired value.
• Bias adjustment: Set the minimum voltage/current signal and adjust the analog input bias (H3-04 for input A1, H3-12 for input A2, H3-08
for analog input A3) until the frequency reference value reaches the desired minimum value.
Start-Up Programming
& Operation
4
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 135
4.11 Test Run Checklist
136 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5
Parameter Details
5.1 A: INITIALIZATION. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
5.2 B: APPLICATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
5.3 C: TUNING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
5.4 D: REFERENCE SETTINGS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
5.5 E: MOTOR PARAMETERS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
5.6 F: OPTION SETTINGS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
5.7 H: TERMINAL FUNCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
5.8 L: PROTECTION FUNCTIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257
5.9 N: SPECIAL ADJUSTMENTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281
5.10 O: OPERATOR RELATED SETTINGS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290
5.11 U: MONITOR PARAMETERS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 137
5.1 A: Initialization
5.1 A: Initialization
The initialization group contains parameters associated with initial setup of the drive. Parameters involving the display
language, access levels, initialization, and password are located in this group.
A1: Initialization
A1-00: Language Selection
Selects the display language for the digital operator.
Note: This parameter is not reset when the drive is initialized using parameter A1-03.
No. Parameter Name Setting Range Default
A1-00 Language Selection 0 to 7 0
Setting 0: English
Setting 1: Japanese
Setting 2: German
Setting 3: French
Setting 4: Italian
Setting 5: Spanish
Setting 6: Portuguese
Setting 7: Chinese
A1-01: Access Level Selection
Allows or restricts access to drive parameters.
No. Parameter Name Setting Range Default
A1-01 Access Level Selection 0 to 2 2
Setting 0: Operation only
Access is restricted to parameters A1-01, A1-04, A1-06, and all U monitor parameters.
Setting 1: User Parameters
Access to only a specific list of parameters set to A2-01 through A2-32. These User Parameters can be accessed using the
Setup Mode of the digital operator.
Setting 2: Advanced Access Level (A) and Setup Access Level (S)
All parameters can be viewed and edited.
Notes on Parameter Access
• If the drive parameters are password protected by A1-04 and A1-05, parameters A1-00 through A1-03, A1-06, and all
A2 parameters cannot be modified.
• If a digital input terminal programmed for “Program lockout” (H1- = 1B) is enabled, parameter values cannot be
modified, even if A1-01 is set to 1 or 2.
• If parameters are changed via serial communication, then it will not be possible to edit or change parameters settings
with the drive’s digital operator until an Enter command is issued to the drive from the serial communication.
A1-02: Control Method Selection
Selects the Control Method (also referred to as the “control mode”) the drive uses to operate the motor. If the drive is set
up to run two motors, then A1-02 determines the control mode for motor 1.
Note: When changing control modes, all parameter settings depending upon the setting of A1-02 will be reset to the default.
No. Parameter Name Setting Range Default
A1-02 Control Method Selection 0, 1, 2, 3, 5, 6, 7 0
138 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.1 A: Initialization
Control Modes for Induction Motors (IM)
Setting 0: V/f Control for Induction Motors
V/f Control is for simple speed control and multiple motor applications with low demands to dynamic response or speed
accuracy. This control mode should be used when the motor parameters are unknown and Auto-Tuning cannot be
performed. The speed control range is 1:40.
Setting 1: V/f Control with PG Speed Feedback
For general-purpose applications that do not require high dynamic response but high speed accuracy. This mode should
be used if the motor parameters are unknown and Auto-Tuning cannot be performed. The speed control range is 1:40.
Setting 2: Open Loop Vector Control
For general, variable-speed applications with a speed control range of 1:120 that require precise speed control, quick
torque response, and high torque at low speed without using a speed feedback signal from the motor.
Setting 3: Closed Loop Vector Control
For general, variable-speed applications that required precise speed control down to zero speed, fast torque response, or
precise torque control. A speed feedback signal from the motor is required. The speed control range is up to 1:1500.
Control Modes for Permanent Magnet Motors (SPM or IPM)
Setting 5: Open Loop Vector Control for PM
For general, variable-speed applications with low demands to dynamic response or speed accuracy. The drive can control
an SPM or IPM motor with a speed range of 1:20.
Setting 6: Advanced Open Loop Vector Control for PM
For general, variable-speed applications that require precise speed control and torque limit. The drive can control an IPM
motor with a speed range of 1:20. Set High Frequency Injection parameter n8-57 to 1 to achieve a speed control range as
high as 1:100. Refer to n8-57: High Frequency Injection on page 288 for details.
Setting 7: Closed Loop Vector Control for PM
This mode can be used for high precision control of a PM motor in constant torque or variable torque applications. The
speed control range reaches 1:1500. A speed feedback signal is required.
A1-03: Initialize Parameters
Resets parameters back to the original default values. After initialization, the setting for A1-03 automatically returns to 0.
No. Parameter Name Setting Range Default
A1-03 Initialize Parameters 0, 1110, 2220, 3330, 5550 0
Parameter Details
Setting 1110: User Initialize
Drive parameters are reset to values selected by the user as User Settings. User Settings are stored when parameter o2-03
is set to “1: Set defaults”.
Note: A “user-initialization” resets all parameters to a user-defined set of default values that were previously saved to the drive. To
clear the user-defined default values, set parameter o2-03 to 2.
Setting 2220: 2-Wire Initialization
5
Resets all parameters back to their original default settings with digital inputs S1 and S2 configured as Forward run and
Reverse run, respectively. For more on digital input functions, refer to Setting 40, 41: Forward run, Reverse run
command for 2-wire sequence on page 234.
Setting 3330: 3-Wire Initialization
The drive parameters are returned to factory default values with digital inputs S1, S2, and S5 configured as Run, Stop,
and Forward/Reverse respectively. Also refer to digital input functions, Setting 0: 3-Wire Sequence on page 227.
Setting 5550: oPE04 Reset
If parameters on a certain drive have been edited and then a different terminal block is installed with different settings
saved in its built-in memory, an oPE04 error will appear on the display. To use the parameter settings saved to the
terminal block memory, set A1-03 to 5550.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 139
5.1 A: Initialization
Notes on Parameter Initialization
The parameters shown in Table 5.1 will not be reset when the drive is initialized by setting A1-03 = 2220 or 3330.
Although the control mode in A1-02 is not reset when A1-03 is set to 2220 or 3330, it may change when an application
preset is selected.
Table 5.1 Parameters not Changed by Drive Initialization
No. Parameter Name
A1-00 Language Selection
A1-02 Control Method Selection
E1-03 V/f Pattern Selection
E5-01 Motor Code Selection (for PM motors)
E5-02 Motor Rated Power (for PM Motor)
E5-03 Motor Rated Current (for PM Motor)
E5-04 Number of Motor Poles (for PM Motor)
E5-05 Motor Stator Resistance (r1) (for PM Motor)
E5-06 Motor d-Axis Inductance (Ld) (for PM Motor)
E5-07 Motor q-Axis Inductance (Lq) (for PM Motor)
E5-09 Motor Induction Voltage Constant 1 (Ke) (for PM Motor)
E5-24 Motor Induction Voltage Constant 2 (Ke) (for PM Motor)
F6-/F7- Communication parameters (initialized when F6-08 = 1)
L8-35 Installation Method Selection
o2-04 Drive Model Selection
A1-04, A1-05: Password and Password Setting
A1-04 is for entering the password when the drive is locked. A1-05 is a hidden parameter used to set the password.
No. Parameter Name Setting Range Default
A1-04 Password
0000 to 9999 0000
A1-05 Password Setting
How to use the Password
The user can set a password for the drive to restrict access. The password is set to A1-05 and must be entered to A1-04 to
unlock parameter access. Until the correct password is entered, the following parameters cannot be viewed or edited:
A1-01, A1-02, A1-03, A1-06, A1-07, and A2-01 through A2-32.
The instructions below demonstrate how to set a new password. Here, the password set is “1234”. An explanation
follows on how to enter the password to unlock the parameters.
Table 5.2 Setting the Password for Parameter Lock
Step Display/Result
- MODE - DRV Rdy
FREF (AI)
U1-01= 0.00Hz
1. Turn on the power to the drive. The initial display appears.
U1-02= 0.00Hz RSEQ
U1-03= 0.00A RREF
JOG FWD
- MODE - PRG
Programming
2.
Press the key until the Parameter Setting Mode screen appears.
HELP FWD DATA
-PRMSET- PRG
Initialization
3. A1-00=0
Press the key to enter the parameter menu tree. Select Language
FWD
-PRMSET- PRG
Select Language
4. Select the flashing digits by pressing . A1-00=0 ∗0∗
English
FWD
-PRMSET- PRG
Enter Password
5. Select A1-04 by pressing .
A1- 04 = 0
(0~9999)
“0”
FWD
140 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.1 A: Initialization
Step Display/Result
-PRMSET- PRG
Select Password
Press the key while holding down at the same time. A1-05 will appear.
6. A1- 05 = 04
(0~9999)
Note: Because A1-05 is hidden, it will not be displayed by simply pressing the key. “0”
FWD
-PRMSET- PRG
Select Password
7. Press the key.
A1- 05 = 0000
(0~9999)
“0”
FWD
-PRMSET- PRG
Select Password
8. Use F1 , F2 , , and to enter the password. A1-05= 1234
(0~9999)
left right “0”
FWD
9.
Press to save what was entered. Entry Accepted
-PRMSET- PRG
Select Password
10. The display automatically returns to the display shown in step 5. A1- 05 = 1234
(0~9999)
“0”
FWD
Table 5.3 Check to see if A1-02 is locked (continuing from step 10 above)
Step Display/Result
-PRMSET- PRG
Control Method
1. A1-02= 2 ∗2∗
Press to display A1-02. Open Loop Vector
FWD
2. – –
Press to make sure that the setting values cannot be selected.
- MODE - PRG
Programming
3. Press to return to the first display.
HELP FWD DATA
Table 5.4 Enter the Password to Unlock Parameters (continuing from step 3 above)
Step Display/Result
-PRMSET- PRG
Parameter Details
Initialization
1. A1-00=0
Press to enter the parameter setup display. Select Language
FWD
-PRMSET- PRG
Select Language
2. A1-00=0 ∗0∗
Press to select the flashing digits as shown. English
FWD
5
-PRMSET- PRG
Enter Password
3. A1- 04 = 0
Press to scroll to A1-04. (0~9999)
“0”
FWD
-PRMSET- PRG
Press the key. Enter Password
4. A1- 04 = 1234
Use F1 , F2 , , and to enter the password. (0~9999)
“0”
left right FWD
5.
Press to save the new password. Entry Accepted
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 141
5.1 A: Initialization
Step Display/Result
-PRMSET- PRG
Enter Password
6. Drive returns to the parameter display. A1- 04 = 0
(0~9999)
“0”
FWD
-PRMSET- PRG
Control Method
7. A1-02= 2 ∗2∗
Press and scroll to A1-02. Open Loop Vector
“2”
FWD
-PRMSET- PRG
Control Method
8. A1-02= 2 ∗2∗
Press to display the value set to A1-02. Open Loop Vector
FWD
-PRMSET- PRG
Control Method
9. A1-02= 0 ∗2∗
Use or to change the value if desired (though changing the control mode at this point is not typically done). V/F Control
“2”
FWD
10.
Press to save the setting, or press to return to the previous display without saving changes. Entry Accepted
-PRMSET- PRG
Control Method
11. The display automatically returns to the parameter display. A1-02= 0 ∗0∗
V/F Control
FWD
Note: Parameter settings can be edited after entering the correct password. Performing a 2-wire or 3-wire initialization resets the
password to “0000”. Reenter the password to parameter A1-05 after drive initialization.
A1-06: Application Preset
Several Application Presets are available to facilitate drive setup for commonly used applications. Selecting one of these
Application Presets automatically programs certain parameters to a new set default values and selects the functions for
the I/O terminals that best suit the application. All parameters changed when selecting an Application Preset are also
assigned to the list of User Parameters, A2-01 through A2-16. These can be edited more easily in the Setup Mode and
provide quicker access by eliminating the need to scroll through multiple menus.
Refer to Application Selection on page 110 for details on parameter A1-06.
A1-07: DriveWorksEZ Function Selection
DriveWorksEZ is a software package that can be used to customize the drive functionality or add PLC functionality by
the interconnection and configuration of basic software function blocks. The drive performs programs created by the user
in 1 ms cycles.
Parameter A1-07 can be used to enable or disable the DriveWorksEZ program inside the drive.
Note: 1. If DriveWorksEZ has assigned functions to any multi-function output terminals, those functions will remain set to those terminals
even after disabling DriveWorksEZ.
2. For more information on DriveWorksEZ, contact a Yaskawa representative or the Yaskawa sales department directly.
No. Parameter Name Setting Range Default
A1-07 DriveWorksEZ Function Selection 0 to 2 0
Setting 0: DWEZ disabled
Setting 1: DWEZ enabled
Setting 2: Digital input
If a digital input is programmed for DWEZ enable/disable (H1- = 9F), DWEZ will be enabled when the input is
opened.
142 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.1 A: Initialization
A2: User Parameters
A2-01 to A2-32: User Parameters 1 to 32
The user can select 32 parameters and assign them to A2-01 through A2-32. This saves time later scrolling through the
parameter menu. The list of User Parameters can also track the most recently edited settings and save those parameters to
this list.
No. Parameter Name Setting Range Default
A2-01 to A2-32 User Parameters 1 to 32 A1-00 to o4-19 Determined by A1-06 <1>
<1> A1-06 determines how parameters edited by the user are saved to the list of Preferred Parameters, A2-01 through A2-32. Refer to Application
Selection on page 110 for details.
Saving User Parameters
To save specific parameters to A2-01 to A2-32, first set the access level to allow access to all parameters (A1-02 = 2).
Next assign the parameter number to the User Parameters list by entering it into one of the A2- parameters. If A1-01
is then set to 1, the access level can be restricted so that users can only set and refer to the specific parameters saved as
User Parameters.
A2-33: User Parameter Automatic Selection
A2-33 determines whether or not parameters that have been edited are saved to the User Parameters (A2-17 to A2-32) for
quick, easy access.
No. Parameter Name Setting Range Default
A2-33 User Parameter Automatic Selection 0 or 1 Determined by A1-06
Setting 0: Do not save list of recently viewed parameters.
To manually select the parameters listed in the User Parameter group, set A2-33 to 0.
Setting 1: Save history of recently viewed parameters.
By setting A2-33 to 1, all parameters that were recently edited will be automatically saved to A2-17 through A2-32. A
total of 16 parameters are saved with the most recently edited parameter set to A2-17, the second most recently to A2-18,
and so on. User Parameters can be accessed using the Setup Mode of the digital operator.
Parameter Details
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 143
5.2 b: Application
5.2 b: Application
b1: Operation Mode Selection
b1-01: Frequency Reference Selection 1
Use parameter b1-01 to select the frequency reference source 1 for the REMOTE mode.
Note: 1. If a Run command is input to the drive but the frequency reference entered is 0 or below the minimum frequency, the RUN indicator
LED on the digital operator will light. However, the RUN indicator LED will light in zero speed control when A1-02 is set to 3, 5, or
6.
2. Press the LO/RE key to set the drive to LOCAL and use the operator keypad to enter the frequency reference.
No. Parameter Name Setting Range Default
b1-01 Frequency Reference Selection 1 0 to 4 1
Setting 0: Operator keypad
Using this setting, the frequency reference can be input by:
• switching between the multi-speed references in the d1- parameters.
• entering the frequency reference on the operator keypad.
Setting 1: Terminals (analog input terminals)
Using this setting, an analog frequency reference can be entered as a voltage or current signal from terminals A1, A2, or
A3.
Voltage Input
Voltage input can be used at any of the three analog input terminals. Make the settings as described in Table 5.5 for the
input used.
Table 5.5 Analog Input Settings for Frequency Reference Using Voltage Signals
Parameter Settings
Terminal Signal Level Notes
Signal Level Selection Function Selection Gain Bias
0 to 10 Vdc H3-01 = 0 H3-02 = 0
A1 H3-03 H3-04 –
-10 to +10 Vdc H3-01 = 1 (Frequency Reference Bias)
0 to 10 Vdc H3-09 = 0 H3-10 = 0 Make sure to set DIP switch S1 on the
A2 H3-11 H3-12
-10 to +10 Vdc H3-09 = 1 (Frequency Reference Bias) terminal board to “V” for voltage input.
0 to 10 Vdc H3-05 = 0 H3-06 = 0 Make sure to set DIP switch S4 on the
A3 H3-07 H3-08
-10 to +10 Vdc H3-05 = 1 (Frequency Reference Bias) terminal board to “AI”.
Figure 5.1
Drive Drive
V 10.5 V, 20 mA power supply V 10.5 V, 20 mA power supply
0 to 10 V -10 to 10 V
2 kΩ A1 Analog Input 1 4 kΩ A1 Analog Input 1
A2 Analog Input 2 A2 Analog Input 2
A3 Analog Input 3 A3 Analog Input 3
AC Analog input common AC Analog input common
common_ -V -10.5 V, 20 mA power supply -V -10.5 V, 20 mA power supply
TMonly
Figure 5.1 Setting the Frequency Reference as a Voltage Signal at Terminal A1
Use the wiring example shown in Figure 5.1 for any other analog input terminals. When using input A2 make sure DIP
switch S1 is set for voltage input.
144 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.2 b: Application
Current Input
Input terminal A2 can accept a current input signal. Refer to Table 5.6 to set terminal A2 for current input.
Table 5.6 Analog Input Settings for Frequency Reference Using a Current Signal
Parameter Settings
Terminal Signal Level Notes
Signal Level Selection Function Selection Gain Bias
4 to 20 mA H3-09 = 2 H3-10 = 0 Make sure to set DIP switch S1 on the
A2 H3-11 H3-12
0 to 20 mA H3-09 = 3 (Frequency Bias) terminal board to “I” for current input.
Figure 5.2
DIP switch S1
V I Drive
V 10.5 V, 20 mA power supply
A1 Analog Input 1
0 or 4 to 20 mA
A2 Analog Input 2
A3 Analog Input 3
AC Analog input common
common_ V 10.5 V, 20 mA power supply
TMonly
Figure 5.2 Setting the Frequency Reference as a Current Signal to Terminal A2
DIP switch S1 must first be set for current input.
Switching between Main/Auxiliary Frequency References
The frequency reference input can be switched between the analog terminals A1, A2, and A3 using multi-speed inputs.
Refer to Multi-Step Speed Selection on page 192 for details on using this function.
Setting 2: MEMOBUS/Modbus Communications
This setting requires entering the frequency reference via the RS-485/422 serial communications port (control terminals
R+, R-, S+, and S-). Refer to MEMOBUS/Modbus Communications on page 487 for instructions.
Setting 3: Option card
This setting requires entering the frequency reference via an option board plugged into connector CN5-A on the drive
control board. Consult the option board manual for instructions on integrating the drive with the communication system.
Note: If the frequency reference source is set for an option PCB (b1-01 = 3), but an option board is not installed, an oPE05 operation
error will be displayed on the digital operator and the drive will not run.
Setting 4: Pulse Train Input
Parameter Details
When b1-01 is set to 4, the frequency reference must be provided by a pulse train signal to terminal RP. Follow the
directions below to make sure the pulse train signal is working properly.
Verifying Pulse Train is Working Properly
• Make sure that b1-04 is set to 4 and H6-01 is set to 0.
• Set the pulse input scaling H6-02 to the pulse train frequency value that equals 100% of the frequency reference. 5
• Enter a pulse train signal to terminal RP and check if the correct frequency reference is displayed.
b1-02: Run Command Selection 1
Parameter b1-02 determines the Run command source 1 in the REMOTE mode.
No. Parameter Name Setting Range Default
b1-02 Run Command Selection 1 0 to 3 1
Setting 0: Operator
This setting requires entering the Run command via the digital operator RUN key and also illuminates the LO/RE
indicator on the digital operator.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 145
5.2 b: Application
Setting 1: Control Circuit Terminal
This setting requires that the Run and Stop commands are entered from the digital input terminals. The following
sequences can be used:
• 2-wire sequence 1:
Setting A1-03 to 2220 initializes the drive and presets terminals S1 and S2 to FWD/Stop and REV/Stop. These are the
default settings of the drive. Refer to Setting 40, 41: Forward run, Reverse run command for 2-wire sequence on
page 234.
• 2-wire sequence 2:
Two inputs (Start/Stop-FWD/REV). Also refer to Setting 42, 43: Run and direction command for 2-wire sequence 2
on page 234.
• 3-wire sequence:
Setting A1-03 to 3330 initializes the drive and presets terminals S1, S2, and S5 to Start, Stop, and FWD/REV. Refer to
Setting 0: 3-Wire Sequence on page 227.
Setting 2: MEMOBUS/Modbus Communications
To issue a Run command via serial communications, set b1-02 to 2 and connect the RS-485/422 serial communication
cable to control terminals R+, R-, S+, and S- on the removable terminal block. Refer to MEMOBUS/Modbus
Communications on page 487 for instructions.
Setting 3: Option Card
To issue the Run command via the communication option board, set b1-02 to 3 and plug a communication option board
into the CN5-A port on the control PCB. Refer to the manual supplied with the option board for instructions on
integrating the drive into the communication system.
Note: If b1-02 is set to 3, but an option board is not installed in CN5-A, an oPE05 operation error will be displayed on the digital
operator and the drive will not run.
b1-03: Stopping Method Selection
Select how the drive stops the motor when the Run command is removed or when a Stop command is entered.
No. Parameter Name Setting Range Default
b1-03 Stopping Method Selection 0 to 3, 9 <1> 0
<1> The setting range is 0, 1, or 3 in CLV, OLV/PM, AOLV/PM, or CLV/PM.
Setting 0: Ramp to stop
When the Run command is removed, the drive will decelerate the motor to stop. The deceleration rate is determined by
the active deceleration time. The default deceleration time is set to parameter C1-02.
When the output frequency falls below the level set in parameter b2-01, the drive will start DC injection or Zero Speed
Control depending on the selected control mode.
V/f, V/f w/PG and OLV (A1-02 = 0, 1, 2)
For these control modes, parameter b2-01 sets the starting frequency for DC Injection Braking at stop. Once the output
frequency falls below the setting of b2-01, DC Injection Braking is enabled for the time set in parameter b2-04.
Figure 5.3
Run command ON OFF
Output frequency
Deceleration in the time set
E1-09 Min. Output Frequency DC Injection Braking
b2-01 DC Injection Braking
Start Frequency
b2-04
Figure 5.3 DC Injection Braking at Stop for V/f, V/f w/PG and OLV
Note: If b2-01 is set to a smaller value than parameter E1-09 (minimum output frequency), then DC Injection Braking will begin as
soon as the frequency falls to the value set to E1-09.
146 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.2 b: Application
OLV/PM and AOLV/PM (A1-02 = 5, 6)
When the output frequency falls below the setting of b2-01, drive output is shut down, and DC Injection Braking is
performed for the time set in b2-04.
Figure 5.4
Run command ON OFF
Output frequency
Deceleration in the time set
E1-09 Min. Output Frequency Short Circuit Braking
b2-01 DC Injection Braking
Start Frequency
Figure 5.4 Coast to Stop (OLV/PM. AOLV/PM)
Note: If b2-01 is set to a smaller value than parameter E1-09 (minimum output frequency), then DC Injection Braking will begin as
soon as the frequency falls to the value set to E1-09.
The drive will not perform short-circuit braking when b2-01 = E1-09 = 0 Hz.
CLV and CLV/PM (A1-02 = 3, 7)
For these control modes, parameter b2-01 sets the starting frequency for Zero Speed Control (not position lock) at stop.
Once the output frequency falls below the setting of b2-01, Zero Speed Control is enabled for the time set in parameter
b2-04.
Figure 5.5
Run command ON OFF
Output frequency
Deceleration in the time set
E1-09 Min. Output Frequency Zero speed control
b2-01 DC Injection Braking
Start Frequency
b2-04
Figure 5.5 Zero Speed Control at Stop in CLV and CLV/PM
Note: If b2-01 is set to lower than the minimum output frequency (E1-09), then Zero Speed Control begins at the frequency set to
E1-09.
Setting 1: Coast to stop
When the Run command is removed, the drive will shut off its output and the motor will coast (uncontrolled
deceleration) to stop. The stopping time is determined by the inertia and the friction in the driven system.
Figure 5.6
Run
command ON OFF
Parameter Details
Output
frequency
Drive output is shut off
Motor speed
5
Figure 5.6 Coast to Stop
Note: After a stop is initiated, any subsequent Run command entered will be ignored until the momentary power loss minimum
baseblock time (L2-03) has expired. Do not enter Run command until it has come to a complete stop. To start the motor back up
before it has stopped completely, use DC Injection at start (refer to b2-03: DC Injection Braking Time at Start on page 154) or
Speed Search (refer to b3: Speed Search on page 155).
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 147
5.2 b: Application
Setting 2: DC Injection Braking to stop
When the Run command is removed, the drive will enter baseblock (turn off its output) for the momentary power loss
minimum baseblock time (L2-03). Once the minimum baseblock time has expired, the drive will brake the motor by
injecting DC current into the motor windings. The stopping time is significantly faster than when compared with simply
coasting to stop. The level of current used for DC Injection Braking is set by parameter b2-02 (default = 50%).
Note: This function is not available in Closed Loop Vector Control (A1-02 = 3) and the control modes for PM motors (A1-02 = 5, 6, 7).
Figure 5.7
Run
command ON OFF
DC Injection Braking
Output with the current set in
frequency b2-02
Motor speed
Motor coasts
Momentary Power
Loss Minimum
Baseblock Time
(L2-03)
Figure 5.7 DC Injection Braking to Stop
The time for DC Injection Braking is determined by the value set to b2-04 and by the output frequency at the time the
Run command is removed. It can be calculated by:
(b2-04) × 10 × Output frequency
DC Injection brake time = Max. output frequency (E1-04)
Figure 5.8
DC Injection braking time
b2-0410
b2-04
Output frequency when 100%
10%
Stop command was entered (Maximum output
frequency)
Figure 5.8 DC Injection Braking Time Depending on Output Frequency
Note: If an overcurrent (oC) fault occurs during DC Injection Braking to stop, lengthen the momentary power loss minimum baseblock
time (L2-03) until the fault no longer occurs.
Setting 3: Coast to Stop with Timer
When the Run command is removed, the drive will turn off its output and the motor will coast to stop. If a Run command
is input before the time t (value of C1-02) has expired, the drive will not start. A Run command activated during time t
must be cycled after t has expired in order to start the drive.
Figure 5.9
Run command ON OFF ON OFF ON
Output Drive output shut off
frequency
Run wait time t
Figure 5.9 Coast to Stop with Timer
148 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.2 b: Application
The wait time t is determined by the output frequency when the Run command is removed and by the active deceleration
time.
Figure 5.10
Run wait time t
Active deceleration time
Momentary Power Loss
Minimum Baseblock Time (L2-03)
Min output Output frequency 100%
frequency when Stop command (Max output
was entered frequency)
Figure 5.10 Run Wait Time Depending on Output Frequency
Setting 9: Simple Positioning Stop
This method of stopping the motor always decelerates the same distance to stop as shown in Figure 5.11. The stopping
distance S1 is calculated using the maximum output frequency setting E1-04 and the selected deceleration time. If the
drive is stopped from a frequency lower than the maximum speed it keeps the current speed. When the distance traveled
becomes equal to S1 - S2, the drive decelerates to stop using the current deceleration time. The stopping accuracy can be
adjusted using the positioning gain set in parameter d4-12.
Figure 5.11
Normal Deceleration Simple Positioning
Motor speed Motor speed
YEG
Deceleration Deceleration
Max. output Max. output
distance distance
frequency frequency
S1 S1
S1
S2
t t
Set deceleration time Set deceleration time
Run command Run command
Figure 5.11 Simple Positioning Deceleration
Precautions when using Simple Positioning:
• Changing the deceleration time during the deceleration will result in inaccurate positioning as the calculation considers
Parameter Details
the deceleration time that was active only when the Run command was removed.
• The Dwell function must be deactivated (b6-03 and b6-04 = 0).
• Stall Prevention during stop must be deactivated (L3-04 = 0). For regenerative loads a braking option might be
necessary.
• High Slip Braking must be deactivated (H1- must be different from 68).
• The S-curves at deceleration start and deceleration end must be inactive (C2-03/C2-04 = 0).
5
b1-04: Reverse Operation Selection
For some applications, reverse motor rotation is not appropriate and may cause problems (e.g., air handling units, pumps,
etc.).
Note: Setting parameter b1-04 to 1 instructs the drive to ignore any Reverse run commands.
No. Parameter Name Setting Range Default
b1-04 Reverse Operation Selection 0 or 1 0
Setting 0: Reverse operation enabled
Possible to operate the motor in both forward and reverse directions.
Setting 1: Reverse operation disabled
Drive disregards a Reverse run command or a negative frequency reference.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 149
5.2 b: Application
b1-05: Action Selection below Minimum Output Frequency (CLV and CLV/PM)
Parameter b1-05 sets the operation when the frequency reference is lower than the minimum output frequency set in
parameter E1-09.
No. Parameter Name Setting Range Default
b1-05 Action Selection below Minimum Output Frequency 0 to 3 0
Setting 0: Follow the Frequency Reference
The drive adjusts the motor speed following the speed reference, even if the frequency reference is below the setting of
parameter E1-09. When the Run command is removed and the motor speed is smaller than the setting of b2-01, Zero
Speed Control (not position lock) is performed for the time set in parameter b2-04 before the drive output shuts off.
Figure 5.12
Run OFF ON
Command common_TMonly
E1-09 Min.
Output Frequency
Frequency
reference Zero Speed Zero Speed
IM: Initial Excitation Control
PM: Zero Spd. Contr. b2-01 DC Control
Injection Braking E1-09
Start Frequency
Motor
Speed b2-03 b2-04
DC Injection Braking Time at Start DC Injection Braking Time at Stop
Figure 5.12 Run at the Frequency Reference
Setting 1: Coast to Stop
The motor is started first when the frequency reference exceeds the setting of parameter E1-09. Once the motor is
running and the frequency reference falls below E1-09 the drive output is shut off and the motor coasts. When the motor
speed falls below the zero speed level set in parameter b2-01, Zero Speed Control is activated for the time set in b2-04.
Figure 5.13
Run OFF ON
Command
E1-09 Min.
Output Frequency
Frequency
reference Motor common_TMonly
IM: Initial Excitation Coasts
PM: Zero Spd. Contr. b2-01 DC Zero Speed
Injection Braking Control
Start Frequency
Motor
Speed b2-03 b2-04
DC Injection Braking Time DC Injection Braking Time at Stop
at Start
Figure 5.13 Coast to Stop
Setting 2: Run at the minimum frequency
Whenever a Run command is active and the frequency reference is smaller than the value of parameter E1-09, the drive
runs the motor at the speed set in E1-09. When the Run command is removed, the drive decelerates the motor. As soon as
the motor speed reaches the zero speed level set in b2-01, Zero Speed Control is activated for the time set in b2-04.
Figure 5.14
Run OFF ON
Command
E1-09 Min.
Output Frequency
Frequency common_TMonly
reference Run at
Run at Zero Speed
IM: Initial Excitation E1-09 E1-09
b2-01 DC Control
PM: Zero Spd. Contr.
Injection Braking
Start Frequency
Motor
Speed b2-03 b2-04
DC Injection Braking Time at Start DC Injection Braking Time at Stop
Figure 5.14 Run at the Minimum Frequency
150 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.2 b: Application
Setting 3: Zero Speed Control
The drive applies Zero Speed Control whenever the frequency reference setting is below the value of parameter E1-09.
When the Run command is removed, Zero Speed Control is activated for the time set in b2-04, even if it was already
active before.
Figure 5.15
Run OFF ON
Command
E1-09 Min.
Output Frequency
Frequency
common_TMonly
reference Zero
Zero Speed
IM: Initial Excitation Speed
b2-01 DC Control
PM: Zero Spd. Contr. Control
Injection Braking E1-09
Motor Start Frequency
Speed b2-03 b2-04
DC Injection Braking Time at Start DC Injection Braking Time at Stop
Figure 5.15 Zero Speed Control
b1-06: Digital Input Reading
This parameter defines how the digital inputs are read. Depending on this setting, the drive will take either 1 ms or 2 ms
to act upon a signal received over the digital inputs.
No. Name Setting Range Default
b1-06 Digital Input Reading 0 or 1 1
Setting 0: Read once (1 ms scan)
The state of a digital input is read once. If the state has changed, the input command is immediately processed. With this
setting the drive responds more quickly to digital inputs, but a noisy signal could cause erroneous operation.
Setting 1: Read twice (2 ms scan)
The state of a digital input is read twice. Only if the state does not change during the double reading, the input command
is processed. This reading process is slower but more resistant against noisy signals.
b1-07: LOCAL/REMOTE Run Selection
The drive has three separate control sources that can be switched using digital inputs (H1- = 1 (LOCAL/REMOTE
Selection) or 2 (External reference 1/2)) or the LO/RE key on the digital operator. Refer to Setting 1: LOCAL/REMOTE
selection on page 228, Setting 2: External reference 1/2 selection on page 228 and o2-01: LO/RE (LOCAL/REMOTE)
Key Function Selection on page 291 for details.
• LOCAL: Digital operator. The digital operator is used to set the frequency reference and Run command.
• REMOTE: External reference 1. The frequency reference and Run command source are set by b1-01 and b1-02.
Parameter Details
• REMOTE: External reference 2. The frequency reference and Run command source are set by b1-15 and b1-16.
When switching from LOCAL to REMOTE, or between External reference 1 and External reference 2, the Run
command may already be present at the location the source was switched to. Parameter b1-07 can be used to determine
how the Run command is treated in this case.
5
No. Parameter Name Setting Range Default
b1-07 LOCAL/REMOTE Run Selection 0 or 1 0
Setting 0: Run command must be cycled
When the Run command source is different in the old and new source (e.g., the old source was the terminals and the new
source is serial communication), and the Run command is active at the new source as the switch over occurs, the drive
will not start or will stop operation if it was running before. The Run command has to be cycled at the new source in
order to start the drive again.
Setting 1: Accept Run command at the new source
When the Run command is active at the new source, the drive starts or continues operation if it was running before.
WARNING! The drive may start unexpectedly if switching control sources when b1-07 = 1. Clear all personnel away from rotating
machinery and electrical connections prior to switching control sources. Failure to comply may cause death or serious injury.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 151
5.2 b: Application
b1-08: Run Command Selection while in Programming Mode
As a safety precaution, the drive will not normally respond to a Run command input when the digital operator is being
used to adjust parameters in the Programming Mode (Verify Menu, Setup Mode, Parameter Settings Mode, and
Auto-Tuning Mode). If required by the application, set b1-08 to allow the drive to run while in the Programming Mode.
No. Parameter Name Setting Range Default
b1-08 Run Command Selection while in Programming Mode 0 to 2 0
Setting 0: Disabled
A Run command is not accepted while the digital operator is in the Programming Mode.
Setting 1: Enabled
A Run command is accepted in any digital operator mode.
Setting 2: Prohibit programming during run
It is not possible to enter the Programming Mode as long as the drive output is active. The Programming Mode cannot be
displayed during Run.
b1-14: Phase Order Selection
Sets the phase order for drive output terminals U/T1, V/T2, and W/T3.
Switching motor phases will reverse the direction of the motor.
No. Parameter Name Setting Range Default
b1-14 Phase Order Selection 0 or 1 0
Setting 0: Standard phase order
Setting 1: Switched phase order (A1-02 = 0, 1, 2, 3, 5, 6)
b1-15: Frequency Reference Selection 2
This parameter is used to set the source for the secondary frequency reference. b1-15 is enabled when H1- = 2 and
the terminal is closed. Refer to Setting 2: External reference 1/2 selection on page 228, and b1-02: Run Command
Selection 1 on page 145 for details.
No. Parameter Name Setting Range Default
b1-15 Frequency Reference Selection 2 0 to 4 0
b1-16: Run Command Selection 2
This parameter is used to set the source for the secondary run command. b1-16 is enabled when H1- = 2 and the
terminal is closed. Refer to Setting 2: External reference 1/2 selection on page 228, and b1-01: Frequency Reference
Selection 1 on page 144 for details.
No. Parameter Name Setting Range Default
b1-16 Run Command Selection 2 0 to 3 0
b1-17: Run Command at Power Up
This parameter is used to determine whether an external Run command that is active during power up will start the drive
or not.
No. Parameter Name Setting Range Default
b1-17 Run Command at Power Up 0 or 1 0
Setting 0: Run command at power up is not accepted
The Run command has to be cycled to start the drive.
Note: For safety reasons, the drive is initially programmed not to accept a Run command at power up (b1-17 = 0). If a Run command is
issued at power up, the RUN indicator LED will flash quickly.
152 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.2 b: Application
Setting 1: Run command at power up is accepted
If an external Run command is active when the drive is powered up, then the drive will start to operate the motor as soon
as it gets ready for operation (i.e., once the internal start up process is complete).
WARNING! Sudden Movement Hazard. If b1-17 is set to 1 and an external Run command is active during power up, the motor will
begin rotating as soon as the power is switched on. Proper precautions must be taken to ensure that the area around the motor is safe
prior to powering up the drive. Failure to comply may cause serious injury.
b1-21: Start Condition Selection at Closed Loop Vector Control
There is normally no need to change this parameter from the default value.
Selects a condition to start Closed Loop Vector Control.
No. Name Setting Range Default
b1-21 Start Condition Selection at Closed Loop Vector Control 0 or 1 0
Setting 0: Run command is not accepted when b2-01 motor speed < E1-09.
Setting 1: Run command is accepted when b2-01 motor speed < E1-09.
b1-24: Commercial Power Switching Selection
When the output frequency matches the power supply frequency (50 Hz), the PWM switching operation stops and
switches to operation with a direct commercial power supply connection.
Note: 1. Commercial power switching can be enabled when an induction motor is being driven in V/f or OLV control modes (A1-02 = 0 or 2).
2. Input and output current value may change when a switch is made.
3. Verify that the induction motor can be driven with the commercial power supply (e.g., the rated voltage and rated speed) prior to
enabling the commercial power switching selection.
No. Name Setting Range Default
b1-24 Commercial Power Switching Selection 0, 1 0
0: Disabled
A voltage will be output with PWM switching operation regardless of the output frequency.
1: Enabled
When the deviation between the output frequency and the power supply frequency is less than or equal to the commercial
power switching output frequency coincidence level (b1-26), the PWM switching operation stops and switches to
operation with a direct commercial power supply connection.
Operation with a direct commercial power supply continues until the deviation between the output frequency and the
power supply frequency is greater than or equal to the commercial power switching output frequency coincidence/
non-coincidence level (b1-25 + b1-26).
Parameter Details
b1-25/b1-26 Commercial Power Supply Cancellation Level/Switching Level
These parameters set the value in 0.1 Hz increments at which commercial power supply switching selection is enabled
and disabled.
When the deviation between the output frequency and the power supply frequency becomes equal to or less than the
setting values of b1-26, an output frequency coincidence condition exists. 5
The drive will operate in commercial power switching mode.
If the drive will not switch to commercial power supply switching mode, set b1-26.
When the deviation between the output frequency and the power supply frequency becomes equal to or greater than the
setting value of b1-25 + b1-26, the drive will operate in PWM switching mode.
If commercial power switching mode and PWM switching mode are repeated frequently, increase the setting value of
b1-25.
Note: The drive will not switch to commercial power switching mode when L3-06, Stall Prevention Level during Run, is exceeded and
L3-05, Stall Prevention Selection during Run, is enabled.
No. Name Setting Range Default
b1-25 Commercial Power Supply Cancellation Level 0.4 to 6.0 Hz 1.0 Hz
b1-26 Commercial Power Supply Switching Level 0.0 to 3.0 Hz 0.2 Hz
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 153
5.2 b: Application
b2: DC Injection Braking
b2 parameters determine operation of the DC injection braking and Zero speed control features.
b2-01: DC Injection Braking Start Frequency
b2 parameters determine operation of the DC Injection Braking and Zero Speed Control features.
No. Name Setting Range Default
b2-01 DC Injection Braking Start Frequency 0.0 to 10.0 Hz Determined by A1-02
The function triggered by parameter b2-01 depends on the control mode that has been selected.
OLV/PM, AOLV/PM, V/f, V/f w/PG and OLV (A1-02 = 0, 1, 2, 5, 6)
For these control modes, parameter b2-01 sets the starting frequency for DC Injection Braking at stop. Once the output
frequency falls below the setting of b2-01, DC Injection Braking is enabled for the time set in parameter b2-04.
Figure 5.16
DC Injection
common_ E1-09 Min. Output Braking
Frequency
TMonly b2-01 DC Injection
Braking Start Frequency
Output Time
frequency
b2-04
Figure 5.16 DC Injection Braking at Stop for V/f, V/f w/PG and OLV
Note: If b2-01 is set to a smaller value than parameter E1-09 (minimum output frequency), then DC Injection Braking will begin as
soon as the frequency falls to the value set to E1-09.
CLV and CLV/PM (A1-02 = 3, 7)
For these control modes, parameter b2-01 sets the starting frequency for Zero Speed Control (not position lock) at stop.
Once the output frequency falls below the setting of b2-01, Zero Speed Control is enabled for the time set in parameter
b2-04.
Figure 5.17
common_ E1-09 Min. Output
Zero Speed
Control
TMonly Frequency
b2-01 DC Injection
Braking Start Frequency
Output Time
frequency
b2-04
Figure 5.17 Zero Speed Control at Stop in CLV and CLV/PM
Note: If b2-01 is set to lower than the minimum output frequency (E1-09), then Zero Speed Control begins at the frequency set to
E1-09.
b2-02: DC Injection Braking Current
Sets the DC Injection Braking current as a percentage of the drive rated current. If set larger than 50%, the carrier
frequency is automatically reduced to 4 kHz.
No. Name Setting Range Default
b2-02 DC Injection Braking Current 0 to 100% 50%
The level of DC Injection Braking current affects the strength of the magnetic field attempting to lock the motor shaft.
Increasing the current level will increase the amount of heat generated by the motor windings. This parameter should
only be increased to the level necessary to hold the motor shaft.
b2-03: DC Injection Braking Time at Start
Sets the time of DC Injection Braking (Zero Speed Control when in CLV and CLV/PM) at start. Used to stop a coasting
motor before restarting it or to apply braking torque at start. Disabled when set to 0.00 s.
No. Name Setting Range Default
b2-03 DC Injection Braking Time at Start 0.00 to 10.00 s 0.00 s
Note: Before starting an uncontrolled rotating motor (e.g., a fan motor driven by windmill effect), DC Injection or Speed Search should
be used to either stop the motor or detect its speed before starting it. Otherwise motor stalling and other faults can occur.
154 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.2 b: Application
b2-04: DC Injection Braking Time at Stop
Sets the time of DC Injection Braking (Zero Speed Control when in CLV and CLV/PM) at stop. Used to completely stop
a motor with high inertia load after ramp down. Increase the value if the motor still coasts by inertia after it should have
stopped. Disabled when set to 0.00 s.
No. Name Setting Range Default
b2-04 DC Injection Braking Time at Stop 0.00 to 10.00 s Determined by A1-02
b2-08: Magnetic Flux Compensation Value
Sets the magnetic flux compensation at start as a percentage of the no-load current value (E2-03). This function allows
better more flux to develop, making it easier to start machines that require high starting torque or motors with a large
rotor time constant.
No. Name Setting Range Default
b2-08 Magnetic Flux Compensation Value 0 to 1000% 0%
When a Run command is issued, the DC current level injected into the motor changes linearly from the level set to b2-08
to E2-03 within the time set to b2-03.
Note that the level of the DC current injected to the motor is limited to 80% of the drive rated current or to the motor
rated current, whichever value is smaller.
Note: 1. If b2-08 is set below 100%, it can take a relatively long time for flux to develop.
2. If b2-08 is set to 0%, the DC current level will be the DC Injection current set to b2-02.
3. As DC Injection can generate a fair amount of noise, b2-08 may need to be adjusted to keep noise levels acceptable.
b3: Speed Search
The Speed Search function allows the drive to detect the speed of a rotating motor shaft that is driven by external forces
and start the motor operation directly from the detected speed without first stopping the machine.
Example: When a momentary loss of power occurs, the drive output shuts off and the motor coasts. When power returns,
the drive can find the speed of the coasting motor and restart it directly.
Enabling Speed Search for PM motors only requires setting parameter b3-01 to 1. The drive offers current detection and
speed estimation Speed Search for induction motors. Parameter b3-24 selects the speed search method for induction
motors. Both methods and relevant parameters are explained below.
Speed Search start timing differs depending on whether operation is after a momentary power loss (L2-01 = 1 or 2) or
after restarting (b3-01 = 1).
Parameter Details
The operation timing of the Speed Search after a momentary power loss is shown in Figure 5.18. The operation timing
after restarting is shown in Figure 5.19.
After restoring power, the Speed Search operation remains in baseblock status for at least the time set in b3-05.
However, Speed Search will not start if the time set in L2-03, Minimum Baseblock Time, has not expired after the power
stops. 5
When induced voltage remains in the motor, the Speed Search operation starts after the time set in b3-05 without waiting
for the time set in L2-03.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 155
5.2 b: Application
Figure 5.18
AC Power supply common_TMonly
Output frequency
Momentary Power Loss
Minimum Baseblock Time (L2-03)
b3-05
Figure 5.18 Time Chart for Speed Search after Recovery from Momentary Power Loss
When performing a speed search operation at start, the speed search operation will start after waiting for the longer of the
times set in b3-05 and L2-03 after the Run command input is received.
When induced voltage remains in the motor, the Speed Search operation starts after the time set in b3-05 without waiting
for the time set in L2-03.
Figure 5.19
Run command
Output
frequency
Momentary Power
Loss
common_TMonly Minimum Baseblock
Time (L2-03)
b3-05
Figure 5.19 Time Chart for Speed Search at Start
Current Detection Speed Search 2 (b3-24 = 2)
Current Detection Speed Search 2 is for use with IM motors.
The current set in b3-31 is applied and the speed is detected based on the current flow to the motor. After Speed Search is
completed, the speed is accelerated or decelerated to the frequency reference.
If the output current during the Speed Search operation is larger than the setting value of b3-32, reduce the frequency for
the deceleration time set in b3-03. After motor speed estimation is completed, the speed is accelerated or decelerated to
the frequency reference.
Speed Estimation Speed Search (b3-24 = 1)
Speed Estimation Speed Search estimates the motor speed while the motor is coasting and then restarts operation. After
the Speed Search is completed, the speed is accelerated or decelerated to the frequency reference.
This method can be used for a single induction motor connected to a drive. Do not use this method if the motor is one or
more frame size smaller than the drive, at motor speeds above 200 Hz, or when using a single drive to operate more than
one motor.
Notes on Using Speed Estimation Speed Search
• Rotational Auto-Tuning for V/f Control (T1-01 = 3) needs to be first performed if you plan to use Speed Estimation in
V/f Control. Perform Stationary Auto-Tuning for Line-to-Line Resistance (T1-01 = 2) again if the there is a change in
the cable length between the drive and motor.
• Use Current Detection Speed Search 2 to search for speeds beyond 200 Hz, if the application is running multiple
motors from the same drive, or if the motor is considerably smaller than the capacity of the drive.
• Speed Estimation may have trouble finding the actual speed if the motor cable is very long. Current Detection Speed
Search 2 should be used in such situations.
156 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.2 b: Application
• Use Current Detection Speed Search 2 instead of Speed Estimation when operating motors smaller than 1.5 kW. Speed
Estimation can end up stopping smaller motors, as it might not be able to detect the speed or rotation direction of such
small motors.
Speed Search Activation
Speed Search can be activated as described below. Select the Speed Search type in parameter b3-24 independent of the
activation method.
1. Automatically activate Speed Search with every Run command. Set b3-01, Speed Search Selection at Start, to 1
(Enabled). External Speed Search commands are ignored.
2. Activate Speed Search using the digital input terminals.
The following input functions for H1- can be used.
Table 5.7 Speed Search Activation by Digital Inputs
Setting Description b3-24 = 1 b3-24 = 2
Closed: Activate Current Detection Speed Search from the
61 External Search Command 1
maximum output frequency (E1-04).
Activate Speed Estimation Speed Search
Closed: Activate Current Detection Speed Search from the
62 External Search Command 2
frequency reference.
To activate Speed Search by a digital input, the input must always be set together with the Run command, or the Run
command must be entered after the Speed Search command is given.
3. After automatic fault restart
When the number of maximum fault restarts in parameter L5-01 is set higher than 0, the drive will automatically
perform Speed Search as specified by b3-24 following a fault.
4. After momentary power loss
This mode requires that the Power Loss Ride-Thru function be enabled always or at least enabled during CPU
operation (L2-01 = 1 or 2). Refer to L2-01: Momentary Power Loss Operation Selection on page 262
5. After external baseblock is released
The drive will resume the operation starting with Speed Search if the Run command is present and the output
frequency is above the minimum frequency when the Baseblock command is released.
Rotation Direction Detection Conditions for Backspin
Backspin occurs when the motor rotates in the opposite direction from the rotation direction command.
Specify the speed search direction when power is recovered after a momentary power loss in applications in which
backspin can occur, such as for an oil pump when backspin may occur due to the weight of the oil after a momentary
power loss. The search starts from the rotation direction specified in the direction command when the momentary power
loss time is short.
The search starts from the opposite direction of the direction specified in the direction command when the momentary
Parameter Details
power loss time is long. The rotation for the Speed Search is determined as follows:
[t] is the time from the momentary power loss to recovery.
• 0 t < b3-50: The search is started in the direction specified by the frequency reference.
• b3-50 t < b3-51: The motor is not restarted and the baseblock continues.
The search starts from the opposite direction of the direction command when the momentary power loss time exceeds 5
the setting value of b3-51.
• b3-51 t: The search is started in the direction opposite to the frequency reference.
Refer to b3-50/b3-51 Backspin Search Direction Judgment Time 1/2 on page 161 for details on the backspin direction
judgment time.
Note: 1. Set b3-50 to a value higher than 0.0 s to enable rotation direction detection for backspin.
2. When setting b3-50, be sure to also set the following parameters to the values specified. Setting these parameters to any other values
will trigger an oPE08 fault.
b3-50 b3-51
b3-14 = 0
b3-24 = 2
3. Backspin detection is not necessary with a PM motor.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 157
5.2 b: Application
b3-01: Speed Search Selection at Start
Determines if Speed Search is automatically performed when a Run command is issued or not.
No. Parameter Name Setting Range Default
b3-01 Speed Search Selection at Start 0 or 1 Determined by A1-02
Setting 0: Disabled
When the Run command is entered, the drive starts operating at the minimum output frequency. If external Speed Search
1 or 2 is already enabled by a digital input, the drive will start operating with Speed Search.
Setting 1: Enabled
Speed Search is performed whenever the Run command is entered. The drive begins running the motor once Speed
Search is complete.
b3-03: Speed Search Deceleration Time
Parameter b3-03 sets the output frequency reduction ramp. The time entered into b3-03 will be the time to decelerate
from maximum frequency (E1-04) to minimum output frequency (E1-09).
In Current Detection Type 2 Speed Search, the time set in this parameter is used as the acceleration or deceleration time
for the output frequency while searching.
No. Name Setting Range Default
b3-03 Speed Search Deceleration Time 0.1 to 10.0 s 2.0 s
b3-04: V/f Gain during Speed Search (Speed Estimation Type)
During Speed Search, the output voltage calculated from the V/f pattern is multiplied with this value. Changing this
parameter can help reduce the output current during Speed Search.
No. Name Setting Range Default
Determined by C6-01 and
b3-04 V/f Gain during Speed Search (Speed Estimation Type) 10 to 100%
o2-04
b3-05: Speed Search Delay Time
In cases where an output contactor is used between the drive and the motor, the contactor must be closed before Speed
Search can be performed. This parameter can be used to delay the Speed Search operation, giving the contactor enough
time to close completely.
No. Name Setting Range Default
b3-05 Speed Search Delay Time 0.0 to 100.0 s 0.2 s
b3-06: Output Current 1 during Speed Search (Speed Estimation Type)
Sets the current injected to the motor at the beginning of Speed Estimation Speed Search as a factor of the motor rated
current set in E2-01 (E4-01 for motor 2). If the motor speed is relatively slow when the drive starts to perform Speed
Search after a long period of baseblock, it may be helpful to increase the setting value. The output current during Speed
Search is automatically limited by the drive rated current.
No. Name Setting Range Default
b3-06 Output Current 1 during Speed Search (Speed Estimation Type) 0.0 to 2.0 Determined by o2-04
Note: If Speed Estimation is not working correctly even after adjusting b3-06, try using Current Detection Speed Search 2 instead.
b3-08: Current Control Gain during Speed Search (Speed Estimation Type)
There is normally no need to change this parameter from the default value.
Sets the proportional gain for the current controller during Speed Search.
No. Name Setting Range Default
A1-02 = 0 to 3: Determined
b3-08 Current Control Gain during Speed Search (Speed Estimation Type) 0.00 to 6.00 by o2-04
A1-02 = 5 or 6: 0.30
158 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.2 b: Application
b3-10: Speed Search Detection Compensation Gain (Speed Estimation Type)
This parameter sets the gain for the detected motor speed of the Speed Estimation Speed Search. There is normally no
need to change this parameter from the default value. If acceleration occurs when restarting, set the parameter as close to
1.00 as possible.
No. Name Setting Range Default
b3-10 Speed Search Detection Compensation Gain (Speed Estimation Type) 1.00 to 1.20 1.05
b3-14: Bi-Directional Speed Search Selection (Speed Estimation Type)
Sets how the drive determines the motor rotation direction when performing Speed Estimation Speed Search.
Disable this parameter when b3-50 is 0.1 or longer.
No. Parameter Name Setting Range Default
b3-14 Bi-Directional Speed Search Selection (Speed Estimation Type) 0 or 1 Determined by A1-02
Setting 0: Disabled
The drive uses the frequency reference to determine the direction of motor rotation in order to restart the motor.
Setting 1: Enabled
The drive detects the motor rotation direction in order to restart the motor.
b3-17: Speed Search Restart Current Level (Speed Estimation Type)
A large current can flow into the drive if there is a fairly large difference between the estimated frequency and the actual
motor speed when performing Speed Estimation. This parameter sets the current level at which Speed Estimation is
restarted, thus avoiding overcurrent and overvoltage problems. Set as a percentage of the drive rated current.
No. Name Setting Range Default
b3-17 Speed Search Restart Current Level (Speed Estimation Type) 0 to 200% 150%
b3-18: Speed Search Restart Detection Time (Speed Estimation Type)
Sets the time that the current must be greater than the level set in b3-17 before Speed Search can be restarted.
No. Name Setting Range Default
b3-18 Speed Search Restart Detection Time (Speed Estimation Type) 0.00 to 1.00 s 0.10 s
b3-19: Number of Speed Search Restarts (Speed Estimation Type)
Sets the number of times the drive should attempt to find the speed and restart the motor. If the number of restart attempts
Parameter Details
exceeds the value set to b3-19, the SEr fault will occur and the drive will stop.
No. Name Setting Range Default
b3-19 Number of Speed Search Restarts (Speed Estimation Type) 0 to 10 3
b3-24: Speed Search Method Selection 5
Sets the Speed Search method used.
In V/f, V/f w/PG, or OLV control modes, set this parameter to 2 (Current Detection Type Speed Search 2) when b3-50 is
0.1 or longer.
No. Parameter Name Setting Range Default
b3-24 Speed Search Method Selection 1.2 2
1: Speed Estimation
2: Current Detection 2
Note: 1. Enable or disable Speed Search at start with b3-01 and Speed Search after momentary power loss with L2-01.
2. Refer to Current Detection Speed Search 2 (b3-24 = 2) on page 156 and Speed Estimation Speed Search (b3-24 = 1) on page 156
for details on the Speed Search direction.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 159
5.2 b: Application
b3-25: Speed Search Wait Time (Speed Estimation Type)
Sets the wait time between Speed Search restarts. Increase the wait time if problems occur with overcurrent or if the SEr
fault occurs.
No. Name Setting Range Default
b3-25 Speed Search Wait Time (Speed Estimation Type) 0.0 to 30.0 s 0.5 s
b3-27: Start Speed Search Select
Selects a condition to activate Speed Search Selection at Start (b3-01). Set this parameter to 1 when using a sequence in
which operation starts when the frequency reference exceeds the minimum output frequency while the Run command is
active.
No. Name Setting Range Default
b3-27 Start Speed Search Select 0, 1 0
Setting 0: Triggered when a Run command is issued (normal).
Setting 1: Triggered when an external baseblock is released.
b3-29: Speed Search Induced Voltage Level
There is normally no need to change this parameter from the default value.
Lower this value in small increments if changes are necessary. However, setting this value too low will prevent the drive
from performing Speed Search.
No. Name Setting Range Default
b3-29 Speed Search Induced Voltage Level 0 to 10% 10%
b3-31 Speed Search Operation Current Level 1 (Current Detection 2)
Sets the current level used to limit the output current during Current Detection Type Speed Search 2 as a ratio to E2-03,
Motor No-Load Current. The current level is determined for a no-load current that is 30% of the rated motor current
when the setting value of E2-03 is less than or equal to 30% of the rated motor current.
Note: If the setting value is too large, a stopped inductive motor may accelerate too quickly. In such cases, set this parameter to a value
that is smaller than the rated motor current
No. Name Setting Range Default
b3-31 Speed Search Operation Current Level 1 (Current Detection 2) 1.50 to 3.50 1.50
b3-32 Speed Search Operation Current Level 2 (Current Detection 2)
Sets the current level at which to end the Speed Search for Current Detection Type Speed Search 2 as a ratio to E2-03,
Motor No-Load Current.
The current level is determined for a no-load current that is 30% of the rated motor current when the setting value of
E2-03 is less than or equal to 30% of the rated motor current.
No. Name Setting Range Default
b3-32 Speed Search Operation Current Level 2 (Current Detection 2) 0.00 to 1.49 1.20
b3-33: Speed Search Selection when Run Command is Input in Uv
Activates or deactivates the speed search at start in accordance with whether or not a Run command was issued during an
undervoltage (Uv) if operation during a momentary power loss (L2-01 = 1 or 2), speed search at start (b3-01 = 1), and
coasting to a stop (b1-03 = 1) are enabled.
Note: 1. Use a sequence that will hold the Run command even during momentary power losses when the Momentary Power Loss Operation
Selection is enabled (L2-01 = 1 or 2).
2. Disable this parameter for a machine in which the motor will stop during a momentary power loss.
No. Name Setting Range Default
b3-33 Speed Search Selection when Run Command is Input in Uv 0 or 1 0
160 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.2 b: Application
Setting 0: Speed Search disabled
Setting 1: Speed Search enabled
b3-50/b3-51 Backspin Search Direction Judgment Time 1/2
The direction of the Speed Search is adjusted to allow for backspin.
When momentary power loss time t is shorter than the time set in b3-50, the search operates according to the direction
command.
When momentary power loss time t is equal to or longer than the time set in b3-51, the search operates from the opposite
direction of the direction command. When momentary power loss time t is equal to or longer than the time set in b3-50
and shorter than b3-15, baseblock continues until momentary power loss time t exceeds the time set in b3-51. The search
then operates from the opposite direction of the direction command.
Note: 1. Use these parameters only in applications in which backspin can occur.
2. Be sure to set b3-50 < b3-51.
No. Name Setting Range Default
b3-50 Backspin Search Direction Judgment Time 1 0.0 to 10.0 0.0 s
b3-51 Backspin Search Direction Judgment Time 2 0.0 to 10.0 0.0
Speed Search from the Direction Command (0.0 Momentary Power Loss Time t < b3-50)
When time t from the momentary power loss to recovery is shorter than the setting value of b3-50, Speed Search is
performed in the direction specified by the direction command. The deceleration time set in b3-52 is used for the search
frequency and the setting value of the maximum frequency is used as the starting search frequency.
Figure 5.20
Power supply voltage
Momentary power loss time t
Output frequency
Forward operation
b3-52
ed
r spe
Moto
Normal operation b3-50 common_TMonly
b3-51
Parameter Details
Search in progress
t
Figure 5.20 Speed Search from Forward Run Command
Continuous Baseblock (b3-50 t < b3-51)
When time t from the momentary power loss to recovery is between the times set for b3-50 and b3-51, operation will not
be restarted and the baseblock will continue. The drive will stay in baseblock for the time set in b3-51 even after restoring 5
power. After the time set in b3-51 passes, Speed Search starts in the opposite direction of the direction command. The
deceleration time in b3-53 is used for the search frequency and the setting value of the maximum frequency is used as the
starting search frequency.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 161
5.2 b: Application
Figure 5.21
Power supply voltage
Momentary power loss time t
Output frequency
Forward operation
M
ot
or
sp
ee
d
Normal operation b3-50
b3-51 b3-53 common_TMonly
Search in progress
t
Figure 5.21 Continuing Baseblock
Speed Search in Direction Opposite to Direction Command (b3-51 t)
When time t from the momentary power loss to recovery exceeds the setting value of b3-51, Speed Search is performed
in the opposite direction of the direction command. The deceleration time in b3-53 is used for the search frequency and
the setting value of the maximum frequency is used as the starting search frequency.
Figure 5.22
Power supply voltage
Momentary power loss time t
Output frequency
Forward operation
M
ot
or
sp
ee
d
Normal operation b3-50
b3-51
b3-53 common_TMonly
Search in progress
t
Figure 5.22 Speed Search in Direction Opposite to Direction Command (b3-50 t < )
b3-52 Backspin Search Deceleration Time 1
Sets the search frequency deceleration rate when searching from the direction command when momentary power loss
time t is shorter than the time set in b3-50. Set the value lower than the motor deceleration rate during coasting.
No. Name Setting Range Default
b3-52 Backspin Search Deceleration Time 1 0.1 to 10.0 2.0
b3-53 Backspin Search Deceleration Time 2
Sets the search frequency deceleration rate for a Speed Search from the opposite direction of the direction command
when momentary power loss time t is equal to or longer than the time set in b3-51.
No. Name Setting Range Default
b3-53 Backspin Search Deceleration Time 2 0.1 to 10.0 2.0
162 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.2 b: Application
b4: Timer Function
The timer function is independent of drive operation and can be used to delay the switching of a digital output triggered
by a digital input signal. An on-delay and off-delay can be separately set. The delay timer can help to get rid of chattering
switch noise from sensors.
To enable the timer function, a multi-function input must be set to “Timer function input” (H1-=18) and a
multi-function output must be set to “Timer output” (H2-=12). Only one timer can be used.
b4-01/b4-02: Timer Function On-Delay, Off-Delay Time
b4-01 sets the on-delay time for switching the timer output. b4-02 sets the off-delay time for switching the timer output.
No. Name Setting Range Default
b4-01 Timer Function On-Delay Time 0.0 to 3000.0 s 0.0 s
b4-02 Timer Function Off-Delay Time 0.0 to 3000.0 s 0.0 s
Timer Function Operation
When the timer function input closes for longer than the value set in b4-01, the timer output switches on. When the timer
function input is open for longer than the value set in b4-02, the timer output function switches off. Figure 5.23
demonstrates the timer function operation.
Figure 5.23
Multi-function Contact On (Closed)
Input: Timer Function ON ON
Off (Open)
Multi-function Contact
On (Closed)
Output: Timer Function ON ON
Off (Open) common_TMonly
b4-01 b4-02 b4-01 b4-02
Figure 5.23 Timer Operation
b4-03 to b4-08: H2- ON-Delay and OFF-Delay Time
Sets the length of the delay time for contact outputs to open or close for the related functions set in H2-.
No. Name Setting Range Default
b4-03 H2-01 ON Delay Time 0 to 65000 ms 0 ms
b4-04 H2-01 OFF Delay Time 0 to 65000 ms 0 ms
b4-05 H2-02 ON Delay Time 0 to 65000 ms 0 ms
b4-06 H2-02 OFF Delay Time 0 to 65000 ms 0 ms
b4-07 H2-03 ON Delay Time 0 to 65000 ms 0 ms
b4-08 H2-03 OFF Delay Time 0 to 65000 ms 0 ms
Parameter Details
Internal data of H2-01 ON ON On (Closed)
Off (Open)
Multi-Function Digital ON ON On (Closed)
Outputs of H2-01
b4-03 b4-04
Off (Open) 5
b4-03 b4-04
Time period that the multi-function Time period that the multi-function
digital output is closed < 100 ms
common_
digital output is closed ≥ 100 ms
Time period that the multi-function
digital output is closed = 100 ms
Note: Even if the length of the off-delay time and on-delay time for multi-function digital outputs are each less than 100 ms, the
multi-function digital output closes for at least 100 ms.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 163
5.2 b: Application
b5: PID Control
The drive has a built in PID (Proportional + Integral + Derivative) controller that can be used for closed loop control of
system variables such as pressure, temperature, and so on. The difference between the target and the feedback value
(deviation) is fed into the PID controller. The PID controller adjusts the drive output frequency in order to minimize the
deviation, providing accurate control of system variables.
P Control
The output of P control is the product of the deviation and the P gain so that it follows the deviation directly and linearly.
With P control, only an offset between the target and feedback remains.
I Control
The output of I control is the integral of the deviation. It minimizes the offset between target and feedback value that
typically remains when pure P control is used. The integral time (I time) constant determines how fast the offset is
eliminated.
D Control
D control predicts the deviation signal by multiplying its derivative (slope of the deviation) with a time constant, then
adds this value to the PID input. This way the D portion of a PID controller provides a braking action to the controller
response and can reduce the tendency to oscillate and overshoot.
Be aware that D control tends to amplify noise on the deviation signal, which can result in control instability. D control
should therefore only be used when necessary.
PID Operation
To better demonstrate how PID works, Figure 5.24 shows how the PID output changes when the PID input (deviation)
jumps from 0 to a constant level.
Figure 5.24
PID input
Time
PID output
I control
common_TMonly
PID Output D control
P control
Time
Figure 5.24 PID Operation
Using PID Control
Applications for PID control are listed in Table 5.8.
Table 5.8 Using PID Control
Application Description Sensors Used
Machinery speed is fed back and adjusted to meet the target value. Synchronous control is performed using speed data from
Speed Control Tachometer
other machinery as the target value
Pressure Maintains constant pressure using pressure feedback. Pressure sensor
Fluid Control Keeps flow at a constant level by feeding back flow data. Flow rate sensor
Temperature Control Maintains a constant temperature by controlling a fan with a thermostat. Thermocoupler, Thermistor
164 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.2 b: Application
PID Setpoint Input Methods
The PID setpoint input depends on the PID function setting in parameter b5-01.
If parameter b5-01 is set to 1 or 2, the reference source in b1-01 (or b1-15) or one of the inputs listed in Table 5.9
becomes the PID setpoint.
If b5-01 is set to 3 or 4, then the PID setpoint can be input from one of the sources listed in Table 5.9.
Table 5.9 PID Setpoint Sources
PID Setpoint Source Settings
Analog Input A1 Set H3-02 = C
Analog Input A2 Set H3-10 = C
Analog Input A3 Set H3-06 = C
MEMOBUS/Modbus Register 0006H Set bit 1 in register 000FH to 1 and input the setpoint to register 0006H
Pulse Input RP Set H6-01 = 2
Parameter b5-19 Set parameter b5-18 = 1 and input the PID setpoint to b5-19
Note: A duplicate allocation of the PID setpoint input will result in an oPE alarm.
PID Feedback Input Methods
Either one feedback signal can be input for normal PID control, or two feedback signals can be input for controlling a
differential process value.
Normal PID Feedback
The PID feedback signal can be input from one of the sources listed in Table 5.10.
Table 5.10 PID Feedback Sources
PID Feedback Source Settings
Analog Input A1 Set H3-02 = B
Analog Input A2 Set H3-10 = B
Analog Input A3 Set H3-06 = B
Pulse Input RP Set H6-01 = 1
Note: A duplicate allocation of the PID feedback input will result in an oPE alarm.
Differential Feedback
The second PID feedback signal for differential feedback can come from the sources listed in Table 5.11. The differential
feedback function is automatically enabled when a differential feedback input is assigned.
Table 5.11 PID Differential Feedback Sources
PID Differential Feedback Source Settings
Analog Input A1 Set H3-02 = 16
Parameter Details
Analog Input A2 Set H3-10 = 16
Analog Input A3 Set H3-06 = 16
Note: A duplicate allocation of the PID differential feedback input will result in an oPE alarm.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 165
Figure 5.25
166
Frequency Reference
Upper Limit
Frequency Reference
PID disable when: Fmax x109%
Selection 1/2
b1-01/15 - b5-01=0
5.2 b: Application
Frequency Reference 1 to 16 - a JOG Command is Input
0
d1-01 to d1-16 - PID Disable by Digital Input Enabled Bi-directional PID
RUN
1 Ouptut Enable +
Analog Input A1/A2/A3 b5-16 On/Off
100% H1- = 7F -
PID Sleep
PID Block Diagram
2
Serial Comm Delay Time
3 0 50% 100% Always 1 b5-15
Option Card
Rev Run Fwd Run when PID Sleep Function Start Level
Pulse Input 4 1 PID off
Sleep Function
0
Disabled 1
PID Function Setting + Output
b5-01 = 1/2 b5-01 = 3/4 + Enabled 0 Frequency
d4-11 SFS
Bi-directional C1-
PID Target Output Sel.
Upper Limit
b5-18=1 PID Ouput
b5-19 not 1 Fmax x109%
(U5-03)
PID Setpoint 0
H3-02/10=C not C
Analog Input A1/A2/A3 PID SFS Cancel DI (U5-04) b5-11
H1-=34 Lower Limit 0 1
H6-01=2 not 2 On
Pulse Input
Enable / Disable Reverse
Off Upper Limit
Reg. 0Fh, bit 1 Operation when PID
MEMOBUS Reg. 0006h Fmax x109%
1 0 Output is Negative
Always 1 when
PID Input b5-01 = 3/4
PID Accel/Decel Time (U5-02) Lower Limit
b5-17 Fmax x109%
Figure 5.25 PID Block Diagram
Proportional Gain Integral Time Integral Limit Setting
PID Feedback Setting (P) Setting (I) PID Primary Delay
0 b5-04
b5-02 b5-03 Time Constant
+
+ 0 0 + 0 + + 0
Pulse Input not 1 P 1/s b5-08 b5-10
H6-01=1 - 1 + 1 + +
-1 -1
PID Input 1 1 PID Output
Analog Input A1/A2/A3 not B PID Output
H3-02/10=B Limit PID Input Z-1 Gain Setting
PID Adjusted PID Integral Hold PID Integral Limit/Lower Limit b5-07
PID Feedback b5-35 Level Selection H1-=31 b5-06 / b5-34 PID Output
Feedback Reset Level Selection PID Offset
0 (U5-01) H1-=35 or
(U5-06) H1-=30 b5-09 Adjustment
b5-09
not 16 + 1 or 3
- +
+ +
b5-05
Analog Input A1/A2/A3
H3-02/10 Integral Limit + Derivative b5-01
2 or 4
= 16 + Setting 2 or 4 Time (D)
b5-05 Z-1
+
PID Differential b5-01
1 or 3
YEG_TMonly
Feedback Z-1
(U5-05)
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.2 b: Application
b5-01: PID Function Setting
Enables or disables the PID operation and selects the PID operation mode.
No. Parameter Name Setting Range Default
b5-01 PID Function Setting 0 to 8 0
Setting 0: PID disabled
Setting 1: Output frequency = PID output 1
The PID controller is enabled and the PID output builds the frequency reference. The PID input is D controlled.
Setting 2: Output frequency = PID output 2
The PID controller is enabled and the PID output builds the frequency reference. The PID feedback is D controlled.
Setting 3: Output frequency = frequency reference + PID output 1
The PID controller is enabled and the PID output is added to the frequency reference. The PID input is D controlled.
Setting 4: Output frequency = frequency reference + PID output 2
The PID controller is enabled and the PID output is added to the frequency reference. The PID feedback is D controlled.
Setting 5: Mode compatible with setting 1 of similar products from a previous product line
Setting 6: Mode compatible with setting 2 of similar products from a previous product line
Setting 7: Mode compatible with setting 3 of similar products from a previous product line
Setting 8: Mode compatible with setting 4 of similar products from a previous product line
b5-02: Proportional Gain Setting (P)
Sets the P gain that is applied to the PID input. A large value will tend to reduce the error, but may cause instability
(oscillations) if set too high. A low value may allow too much offset between the setpoint and feedback.
No. Name Setting Range Default
b5-02 Proportional Gain Setting (P) 0.00 to 25.00 1.00
b5-03: Integral Time Setting (I)
Sets the time constant that is used to calculate the integral of the PID input. The smaller the integral time set to b5-03, the
faster the offset will be eliminated. If set too short, it can cause overshoot or oscillation. To turn off the integral time, set
b5-03 = 0.00.
No. Name Setting Range Default
b5-03 Integral Time Setting (I) 0.0 to 360.0 s 1.0 s
Parameter Details
b5-04: Integral Limit Setting
Sets the maximum output possible from the integral block. Set as a percentage of the maximum frequency (E1-04).
No. Name Setting Range Default
b5-04 Integral Limit Setting 0.0 to 100.0% 100.0% 5
Note: On some applications, especially those with rapidly varying loads, the output of the PID function may show a fair amount of
oscillation. To suppress this oscillation, a limit can be applied to the integral output by programming b5-04.
b5-05: Derivative Time (D)
Sets the time the drive predicts the PID input/PID feedback signal based on the derivative of the PID input/PID feedback.
Longer time settings will improve the response but can cause vibrations. Shorter settings will reduce the overshoot but
also reduce the controller responsiveness. D control is disabled by setting b5-05 to zero seconds.
No. Name Setting Range Default
b5-05 Derivative Time (D) 0.00 to 10.00 s 0.00 s
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 167
5.2 b: Application
b5-06: PID Output Limit
Sets the maximum output possible from the entire PID controller. Set as a percentage of the maximum frequency
(E1-04).
No. Name Setting Range Default
b5-06 PID Output Limit 0.0 to 100.0% 100.0%
b5-07: PID Offset Adjustment
Sets the offset added to the PID controller output. Set as a percentage of the maximum frequency.
No. Name Setting Range Default
b5-07 PID Offset Adjustment -100.0 to 100.0% 0.0%
b5-08: PID Primary Delay Time Constant
Sets the time constant for the filter applied to the output of the PID controller. Normally, change is not required.
No. Name Setting Range Default
b5-08 PID Primary Delay Time Constant 0.00 to 10.00 s 0.00 s
Note: Useful when there is a fair amount of oscillation or when rigidity is low. Set to a value larger than the cycle of the resonant
frequency. Increasing this time constant may reduce the responsiveness of the drive.
b5-09: PID Output Level Selection
Normally a positive PID input (feedback smaller than setpoint) leads to positive PID output. Parameter b5-09 can be used
to reverse the sign of the PID controller output signal.
No. Parameter Name Setting Range Default
b5-09 PID Output Level Selection 0 or 1 0
Setting 0: Normal Output
A positive PID input causes an increase in the PID output (direct acting).
Setting 1: Reverse Output
A positive PID input causes a decrease in the PID output (reverse acting).
b5-10: PID Output Gain Setting
Applies a gain to the PID output and can be helpful when the PID function is used to trim the frequency reference (b5-01
= 3 or 4).
No. Name Setting Range Default
b5-10 PID Output Gain Setting 0.00 to 25.00 1.00
b5-11: PID Output Reverse Selection
Determines whether a negative PID output reverses the direction of drive operation or not. When the PID function is used
to trim the frequency reference (b5-01 = 3 or 4), this parameter has no effect and the PID output will not be limited (same
as b5-11 = 1).
No. Parameter Name Setting Range Default
b5-11 PID Output Reverse Selection 0 or 1 0
Setting 0: Reverse Disabled
Negative PID output will be limited to 0 and the drive output will be stopped.
Setting 1: Reverse Enabled
Negative PID output will cause the drive to run in the opposite direction.
168 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.2 b: Application
PID Feedback Loss Detection
The PID feedback loss detection function can detect broken sensors or broken sensor wiring. It should be used whenever
PID control is enabled to prevent critical machine conditions (e.g., acceleration to max. frequency) caused by a feedback
loss.
Feedback loss can be detected in two ways:
• Feedback Low Detection
Detected when the feedback falls below a certain level for longer than the specified time. This function is set up using
parameters b5-12 to b5-14.
• Feedback High Detection
Detected when the feedback rises beyond a certain level for longer than the specified time. This function is set up using
parameters b5-12, b5-36, and b5-37.
The following figure explains the working principle of feedback loss detection when the feedback signal is too low.
Feedback high detection works in the same way.
Figure 5.26
PID feedback value
PID
Feedback
Low Detection
Level
(b5-13) common_TMonly
time
no FbL
detection
FbL detection
PID Feedback PID Feedback
Loss Detection Time Loss Detection Time
(b5-14) (b5-14)
Figure 5.26 PID Feedback Loss Detection
b5-12: PID Feedback Loss Detection Selection
Enables or disables the feedback loss detection and sets the operation when a feedback loss is detected.
No. Parameter Name Setting Range Default
b5-12 PID Feedback Loss Detection Selection 0 to 5 0
Setting 0: Digital Output Only
A digital output set for “PID feedback low” (H2- = 3E) will be triggered if the PID feedback value is below the
Parameter Details
detection level set to b5-13 for the time set to b5-14 or longer. A digital output set for “PID feedback high” (H2- =
3F) will be triggered if the PID feedback value is beyond the detection level set to b5-36 for longer than the time set to
b5-37. Neither a fault nor an alarm is displayed on the digital operator. The drive will continue operation. When the
feedback value leaves the loss detection range, the output is reset.
Setting 1: Feedback Loss Alarm
If the PID feedback value falls below the level set to b5-13 for longer than the time set to b5-14, an “FbL - PID Feedback 5
Loss” alarm will be displayed and a digital output set for “PID feedback low” (H2- = 3E) will be triggered. If the
PID feedback value exceeds the level set to b5-36 for longer than the time set to b5-37, an “FBH - Feedback High” alarm
will be displayed and a digital output set for “PID feedback high” (H2- = 3F) will be triggered. Both events trigger
an alarm output (H2- = 10). The drive will continue operation. When the feedback value leaves the loss detection
range, the alarm and outputs are reset.
Setting 2: Feedback Loss Fault
If the PID feedback value falls below the level set to b5-13 for longer than the time set to b5-14, an “FbL - PID Feedback
Loss” fault will be displayed. If the PID feedback value exceeds the level set to b5-36 for longer than the time set to
b5-37, an “FbH - Feedback High” fault will be displayed. Both events trigger a fault output (H2- = E) and cause the
drive to stop the motor.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 169
5.2 b: Application
Setting 3: Digital output only, even if PID is disabled by digital input
Same as b5-12 = 0. Detection is still active even if PID is disabled by a digital input (H1- = 19).
Setting 4: Feedback loss alarm, even if PID is disabled by digital input
Same as b5-12 = 1. Detection is still active even if PID is disabled by a digital input (H1- = 19).
Setting 5: Feedback loss fault, even if PID is disabled by digital input
Same as b5-12 = 2. Detection is still active even if PID is disabled by a digital input (H1- = 19).
b5-13: PID Feedback Low Detection Level
Sets the feedback level used for PID feedback low detection. The PID feedback has to fall below this level for longer
than the time b5-14 before feedback loss is detected.
No. Name Setting Range Default
b5-13 PID Feedback Low Detection Level 0 to 100% 0%
b5-14: PID Feedback Low Detection Time
Sets the time that the PID feedback has to fall below b5-13 before feedback loss is detected.
No. Name Setting Range Default
b5-14 PID Feedback Low Detection Time 0.0 to 25.5 s 1.0 s
b5-36: PID Feedback High Detection Level
Sets the feedback level used for PID feedback high detection. The PID feedback has to exceed this level for longer than
the time b5-37 before feedback loss is detected.
No. Name Setting Range Default
b5-36 PID Feedback High Detection Level 0 to 100% 100%
b5-37: PID Feedback High Detection Time
Sets the time for that the PID feedback has to exceed b5-36 before feedback loss is detected.
No. Name Setting Range Default
b5-37 PID Feedback High Detection Time 0.0 to 25.5 s 1.0 s
PID Sleep
The PID Sleep function stops the drive when the PID output or the frequency reference falls below the PID Sleep
operation level for a certain time. The drive will resume operating once the PID output or frequency reference rises above
the PID Sleep operation level for the specified time. An example of PID Sleep operation appears in the figure below.
Figure 5.27
PID Output
PID Sleep Function
Start Level (b5-15)
PID Sleep Delay Time
b5-16 b5-16
common_TMonly
Internal Run PID Sleep Delay Time
command Run Stop
External Run Run command enabled
command Continues to output “During Run”
During Run
Figure 5.27 PID Sleep Operation
Notes on using the PID Sleep function
• The PID Sleep function is always active, even if PID control is disabled.
• The PID Sleep function stops the motor according to the stopping method in b1-03.
The parameters that control the PID Sleep function are explained below.
170 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.2 b: Application
b5-15: PID Sleep Function Start Level
Sets the level that triggers PID Sleep.
The drive goes into Sleep mode if the PID output or frequency reference is smaller than b5-15 for longer than the time set
in b5-16. It resumes operation when the PID output or frequency reference is above b5-15 for longer than the time set in
b5-16.
No. Name Setting Range Default
b5-15 PID Sleep Function Start Level 0.0 to 400.0 Hz <1> 0.0 Hz <1>
<1> In AOLV/PM and CLV/PM control modes, the setting units and range are expressed as a percent (0.0 to 100.0%) instead of in Hz.
b5-16: PID Sleep Delay Time
Sets the delay time to activate or deactivate the PID Sleep function.
No. Name Setting Range Default
b5-16 PID Sleep Delay Time 0.0 to 25.5 s 0.0 s
b5-17: PID Accel/Decel Time
The PID acceleration/deceleration time is applied on the PID setpoint value.
As the normal acceleration times C1- are applied after the PID output, they reduce the responsiveness of the system
and can cause hunting or overshoot and undershoot when the setpoint changes quickly. Using the PID acceleration/
deceleration time instead helps to avoid such problems.
The PID acceleration/deceleration time can be canceled using a digital input programmed for “PID soft starter cancel”
(H1- = 34).
No. Name Setting Range Default
b5-17 PID Accel/Decel Time 0.0 to 6000.0 s 0.0 s
b5-18: PID Setpoint Selection
Enables or disables parameter b5-19 for PID setpoint.
No. Parameter Name Setting Range Default
b5-18 PID Setpoint Selection 0 or 1 0
Setting 0: Disabled
Parameter b5-19 is not used as the PID setpoint.
Parameter Details
Setting 1: Enabled
Parameter b5-19 is used as PID setpoint.
b5-19: PID Setpoint Value
Used as the PID setpoint if parameter b5-18 = 1.
5
No. Name Setting Range Default
b5-19 PID Setpoint Value 0.00 to 100.00% 0.00%
b5-20: PID Setpoint Scaling
Determines the units that the PID setpoint value (b5-19) is set in and displayed. Also determines the units for monitors
U5-01 and U5-04. The units for setting/display can be changed with b5-20.
No. Parameter Name Setting Range Default
b5-20 PID Setpoint Scaling 0 to 3 1
Setting 0: 0.01 Hz
The setpoint and PID monitors are displayed in Hz with a resolution of 0.01 Hz.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 171
5.2 b: Application
Setting 1: 0.01% (100.00%: Maximum Frequency)
The setpoint and PID monitors are displayed as a percentage with a resolution of 0.01%.
Setting 2: min-1 (set the motor poles)
The setpoint and PID monitors are displayed in min-1 with a resolution of 1 min-1.
Setting 3: User Defined (determined by b5-38 and b5-39)
Parameters b5-38 and b5-39 determine the units and resolution used to display the values the setpoint in b5-19, and PID
monitors U1-01 and U1-04.
b5-34: PID Output Lower Limit
Sets the minimum possible PID controller output as a percentage of the maximum output frequency (E1-04). The lower
limit is disabled when set to 0.00%.
No. Name Setting Range Default
b5-34 PID Output Lower Limit -100.0 to 100.0% 0.00%
b5-35: PID Input Limit
Sets the maximum allowed PID input as a percentage of the maximum output frequency (E1-04). Parameter b5-35 acts as
a bipolar limit.
No. Name Setting Range Default
b5-35 PID Input Limit 0.0 to 1000.0% 1000.0%
b5-38, b5-39: PID Setpoint User Display, PID Setpoint Display Digits
When parameter b5-20 is set to 3, the parameters b5-38 and b5-39 can be used to set a user defined display for the PID
setpoint value (b5-19) and PID feedback monitors (U5-01, U5-04).
Parameter b5-38 determines the display value when the maximum frequency is output. Parameter b5-39 determines the
number of digits. The setting value is equal to the number of decimal places.
No. Name Setting Range Default
b5-38 PID Setpoint User Display 1 to 60000 Determined by b5-20
b5-39 PID Setpoint Display Digits 0 to 3 Determined by b5-20
b5-40: Frequency Reference Monitor Content During PID
Sets the content of the frequency reference monitor display (U1-01) when PID control is active.
No. Name Setting Range Default
b5-40 Frequency Reference Monitor Content During PID 0 or 1 0
Setting 0: Frequency Reference after PID
Monitor U1-01 displays the frequency reference including the output of the PID controller.
Setting 1: Frequency Reference
Monitor U1-01 displays the frequency reference value.
b5-47: PID Output Reverse Selection 2
Determines whether a negative PID output reverses the direction of drive operation. When the PID function is used to
trim the frequency reference (b5-01 = 3 or 4), this parameter has no effect and the PID output will not be limited (same as
b5-11 = 1).
No. Name Setting Range Default
b5-47 PID Output Reverse Selection 2 0, 1 1
Setting 0: Reverse Disabled
Negative PID output will be limited to 0 and the drive output will be stopped.
Setting 1: Reverse Enabled
Negative PID output will cause the drive to run in the opposite direction.
172 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.2 b: Application
Fine-Tuning PID
Once PID control parameters have been set, fine-tuning may be required. Follow the directions below.
Table 5.12 PID Fine Tuning
Goal Tuning Procedure Result
Response Before adjustment
• Reduce the derivative time (b5-05)
Overshoot must be suppressed
• Increase the integral time (b5-03)
After adjustment
Time
After adjustment
Response
Quickly achieve stability, and some • Decrease the integral time (b5-03)
overshoot is permissible • Increase the derivative time (b5-05) Before adjustment
Time
Before adjustment
Response
Suppress long cycle oscillations (longer than
Increase the integral time (b5-03)
the integral time setting)
After adjustment
Time
Before adjustment
Response
• If oscillation cycle time is close to the derivative
time, the derivative part is likely having too much
influence. Reduce the derivative time (b5-05). After adjustment
Suppress short cycle oscillations • If the derivative time is set to 0.00 s and
oscillations are still a problem, try reducing the
proportional gain (b5-02) or try increasing the
PID primary delay time (b5-08)
Time
Parameter Details
b6: Dwell Function
The Dwell function is used to temporarily hold the frequency reference at a predefined value for a set time, then continue
accelerating or decelerating.
If used with induction motors, the Dwell function can help prevent speed loss when starting and stopping a heavy load. If
running a PM motor in V/f control, the pause in acceleration allows the PM motor rotor to align with the stator field of 5
the motor, thus reducing the starting current.
Figure 5.28 shows how the Dwell function works.
Note: Using the Dwell function requires that the stopping method for the drive be set to “Ramp to stop” (b1-03 = 0).
Figure 5.28
OFF ON OFF
Run Command
common_TMonly
b6-01 b6-03
Output Frequency
b6-02 b6-04
Figure 5.28 Dwell Function at Start and Stop
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 173
5.2 b: Application
b6-01, b6-02: Dwell Reference, Dwell Time at Start
Parameter b6-01 determines the frequency that is held for the time set in b6-02 during acceleration.
No. Name Setting Range Default
b6-01 Dwell Reference at Start 0.0 to 400.0 Hz <1> 0.0 Hz <1>
b6-02 Dwell Time at Start 0.0 to 10.0 s 0.0 s
<1> In AOLV/PM and CLV/PM control modes, the setting units and range are expressed as a percent (0.0 to 100.0%) instead of in Hz.
b6-03, b6-04: Dwell Reference, Dwell Time at Stop
Parameter b6-03 determines the frequency that is held for the time set in b6-04 during deceleration.
No. Name Setting Range Default
b6-03 Dwell Reference at Stop 0.0 to 400.0 Hz <1> 0.0 Hz <1>
b6-04 Dwell Time at Stop 0.0 to 10.0 s 0.0 s
<1> In AOLV/PM and CLV/PM control modes, the setting units and range are expressed as a percent (0.0 to 100.0%) instead of in Hz.
b7: Droop Control (CLV, CLV/PM)
Droop control is a function for setting the motor rated slip as required. Droop control can automatically balance the load
level between two motors that drive the same load, such as the traverse axis in cranes. It must be activated in one of the
two drives that control these motors. The drive in which Droop control is activated will automatically reduce the speed if
the torque reference rises, and increase the speed if the torque reference falls again, thereby shifting the load from one
motor to the other.
Note: Disable Feed Forward (n5-01 = 0) whenever using Droop control.
Figure 5.29
Motor A runs faster than B, pulling more load Motor B runs faster than A, pulling more load
A = 100% Load A = 90% Load A = 80% Load A = 90% Load
fref_A = constant fref_A = constant
common_TMonly
fref_B increase fref_B decrease
B = 80% Load B = 90% Load B = 100% Load B = 90% Load
Droop Control increases the speed reference in Droop Control decreases the speed reference in
drive B accomplishing load balance drive B accomplishing load balance
Figure 5.29 Droop Control in a Traverse Application
b7-01: Droop Control Gain
Sets the amount of speed reduction when the torque reference is 100%. The gain is set as a percentage of the maximum
output frequency. A setting of 0.0% disables the Droop control function.
No. Parameter Name Setting Range Default
b7-01 Droop Control Gain 0.0 to 100.0% 0.0%
Figure 5.30
Speed
Speed reference
Droop control gain
b7-01
common_TMonly
Torque
0 100%
Figure 5.30 Droop Control Gain
174 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.2 b: Application
b7-02: Droop Control Delay Time
The setting in b7-02 adjusts the responsiveness of Droop control. Reduce the setting if the reaction time is too long, and
increase it if hunting occurs.
No. Parameter Name Setting Range Default
b7-02 Droop Control Delay Time 0.03 to 2.00 s 0.05 s
b7-03: Droop Control Limit Selection
Enables or disables the droop control limit.
No. Parameter Name Setting Range Default
b7-03 Droop Control Limit Selection 0, 1 1
Setting 0: Disabled
Setting 1: Enabled
b8: Energy Saving
The Energy Saving feature improves overall system efficiency by operating the motor at its most efficient level.
Note: 1. Energy Saving is not designed for applications that experience instantaneous heavy loads or applications that rarely operate with light
load conditions.
2. As the performance of the Energy Saving function strongly depends on the accuracy of the motor data, always perform Auto-Tuning
and make sure the motor data has been entered correctly before using this function.
b8-01: Energy Saving Control Selection
Enables or disables the Energy Saving function.
Note: Enabling the Energy Saving function when using a PM motor may adversely affect motor efficiency depending on the type of
PM motor. Disable the Energy Saving function in such cases.
No. Parameter Name Setting Range Default
b8-01 Energy Saving Control Selection 0 or 1 Determined by A1-02
Setting 0: Disabled
Setting 1: Enabled
b8-02: Energy Saving Gain (OLV, CLV)
Sets the gain level for Energy Saving. A higher value results in lower magnetization of the motor and thereby less energy
consumption. However, if b8-02 is too high, the motor may stall.
Parameter Details
No. Name Setting Range Default
b8-02 Energy Saving Gain 0.0 to 10.0 Determined by A1-02
b8-03: Energy Saving Control Filter Time Constant (OLV, CLV)
Parameter b8-03 sets the response time for Energy Saving. Although lowering this value allows for a quicker response,
instability may result if it is too low.
5
No. Name Setting Range Default
Determined by
b8-03 Energy Saving Control Filter Time Constant 0.00 to 10.00 s
A1-02, C6-01, and o2-04
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 175
5.2 b: Application
b8-04: Energy Saving Coefficient Value (V/f, V/f w/PG)
Parameter b8-04 is used to fine-tune Energy Saving control. The default setting depends on the capacity of the drive.
This default setting is for a standard Yaskawa motor. If using a motor other than a standard one, adjust the default setting
of b8-04 in increments of around 5% until the output power monitor U1-08 is at the minimum value, while running the
drive with a light load.
A low setting results in less output voltage and less energy consumption, but too small a value will cause the motor to
stall.
No. Name Setting Range Default
Determined by
b8-04 Energy Saving Coefficient Value 0.00 to 655.00
C6-01, E2-11, and o2-04
Note: This default value changes if the motor rated capacity set to E2-11 is changed. The Energy Saving coefficient is set automatically
when Auto-Tuning for Energy Saving is performed (Refer to Auto-Tuning on page 116).
b8-05: Power Detection Filter Time (V/f, V/f w/PG)
The Energy Saving function continuously searches out the lowest output voltage in order to achieve minimum output
power. Parameter b8-05 determines how often the output power is measured in ms.
Reducing this setting will increase the response time. If the filter time is too short, the motor may become unstable with a
lighter load.
No. Name Setting Range Default
b8-05 Power Detection Filter Time 0 to 2000 ms 20 ms
b8-06: Search Operation Voltage Limit (V/f, V/f w/PG)
Sets the voltage limit for the optimal output voltage detection of Speed Search as a percentage of the maximum output
voltage. During the search operation, the drive will keep the output voltage above this level to prevent motor stalling.
Note: If set too low, the motor may stall with a sudden increase to the load. Disabled when b8-06 = 0. Setting this value to 0 does not
disable Energy Saving.
No. Name Setting Range Default
b8-06 Search Operation Voltage Limit 0 to 100% 0%
b8-16: Energy Saving Parameter (Ki) for PM Motors
Coefficient to adjust torque linearity.
There is normally no need to change this parameter from the default value.
When E5-01 (Motor Code Selection (for PM Motors)) is set to 1 or 2, the automatically calculated value
will be set. This set value cannot be changed. If oscillation occurs when Energy Saving is enabled (b8-01 = 1), then check
the value displayed in monitor U5-21. If the value displayed differs from the Ki value written on the motor nameplate,
then set b8-16 accordingly.
No. Name Setting Range Default
b8-16 Energy Saving Parameter (Ki) for PM Motors 0.00 to 3.00 1.00
b8-17: Energy Saving Parameter (Kt) for PM Motors
Coefficient to adjust torque linearity.
There is normally no need to change this parameter from the default value.
When E5-01 (Motor Code Selection (for PM Motors)) is set to 1 or 2, the automatically calculated value
will be set. This set value cannot be changed. If oscillation occurs when Energy Saving is enabled (b8-01 = 1), then check
the value displayed in monitor U5-22. If the value displayed differs from the Kt value written on the motor nameplate,
then set b8-17 accordingly.
No. Name Setting Range Default
b8-17 Energy Saving Parameter (Kt) for PM Motors 0.00 to 3.00 1.00
176 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.2 b: Application
b9: Zero Servo
The Zero Servo function is a position loop that can be used in CLV and CLV/PM control modes to lock the motor at a
certain position.
It must be activated using a digital input set for H1- = 72. The drive will decelerate when this input is closed. Once
the motor speed falls below the level set in parameter b2-01, the drive goes into the Zero Servo mode and holds the
current position. When the input assigned to trigger the Zero Servo function is released and the Run command is still
present, the drive reaccelerates.
Figure 5.31
Run command ON OFF
Zero Servo command ON OFF
Motor Speed common_TMonly
Zero Servo
b2-01 Operation
DC Injection Braking
start frequency
Figure 5.31 Zero Servo Operation
When Zero Servo is active, the deviation between the rotor position and the zero position is displayed in monitor U6-22
(monitor value must be divided by 4 to get the deviation in actual encoder pulses).
A digital output programmed for “Zero Servo complete” (H2- = 33) is turned on when the rotor position is within the
zero position, plus or minus the Zero Servo completion width set in parameter b9-02.
Note: 1. The Run command must remain on when using the Zero Servo function. If the Run command is switched off, then Zero Servo will no
longer be able to hold the load in place.
2. When the Zero Servo command has shut off, the Zero Servo Completion digital output width also shuts off.
3. Avoid using Zero Servo to lock 100% load for long periods, as this can trigger a fault. If such loads need to be held in place for long
periods, either make sure the current is less than 50% of the drive rated current during Zero Servo, or use a larger capacity drive.
4. If the load rotates the motor when using CLV/PM, a dv4 fault may occur. To prevent this, either increase the Zero Servo gain (b9-01)
or increase the number of pulses set to F1-19 that are required to trigger dv4.
b9-01: Zero Servo Gain
Parameter b9-01 adjusts the responsiveness of the Zero Servo position loop. Increase the value if the response is too slow
and the deviation from the zero position rises too high when load is applied. Decrease the value if vibrations occur during
Zero Servo operation.
Note: Before adjusting the Zero Servo gain, make sure the ASR parameters (C5-) are set up properly and vibration or hunting does
not occur when running with a zero speed reference.
Parameter Details
No. Name Setting Range Default
b9-01 Zero Servo Gain 0 to 100 5
b9-02: Zero Servo Completion Width
Sets the output range of the Zero Servo completion signal. Enter the amount of deviation allowable from the desired
position to trigger Zero Servo. An output terminal set for Zero Servo Complete (H2- = 33) will be triggered when the 5
motor reaches the position Zero Servo position plus or minus b9-02.
No. Name Setting Range Default
b9-02 Zero Servo Completion Width 0 to 16383 10
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 177
5.3 C: Tuning
5.3 C: Tuning
C parameters are used to set the acceleration and deceleration characteristics, as well as S-curves. Other parameters in
this group cover settings for slip compensation, torque compensation, and carrier frequency.
C1: Acceleration and Deceleration Times
C1-01 to C1-08: Accel, Decel Times 1 to 4
Four different sets of acceleration and deceleration times can be set in the drive. They can be selected by digital inputs,
by the motor selection, or can be switched automatically. Acceleration time parameters always set the time to accelerate
from 0 Hz to the maximum output frequency (E1-04). Deceleration time parameters always set the time to decelerate
from maximum output frequency to 0 Hz. C1-01 and C1-02 are the default active accel/decel settings.
No. Parameter Name Setting Range Default
C1-01 Acceleration Time 1
C1-02 Deceleration Time 1
C1-03 Acceleration Time 2
C1-04 Deceleration Time 2
0.0 to 6000.0 s <1> 10.0 s
C1-05 Acceleration Time 3 (Motor 2 Accel Time 1)
C1-06 Deceleration Time 3 (Motor 2 Decel Time 1)
C1-07 Acceleration Time 4 (Motor 2 Accel Time 2)
C1-08 Deceleration Time 4 (Motor 2 Decel Time 2)
<1> The setting range for the acceleration and deceleration times is determined by the accel/decel time setting units in C1-10. For example, if the
time is set in units of 0.01 s (C1-10 = 0), the setting range becomes 0.00 to 600.00 s.
Switching Acceleration Times by Digital Input
Accel/decel times 1 are active by default if no input is set. The accel/decel times 2, 3, and 4 can be activated by digital
inputs (H1- = 7 and 1A) as explained in Table 5.13.
Table 5.13 Accel/Decel Time Selection by Digital Input
Accel/Decel Time Sel. 1 Accel/Decel Time Sel. 2 Active Times
H1- = 7 H1- = 1A Acceleration Deceleration
0 0 C1-01 C1-02
1 0 C1-03 C1-04
0 1 C1-05 C1-06
1 1 C1-07 C1-08
Figure 5.32 shows an operation example for changing accel/decel. times. The example below requires that the stopping
method be set for “Ramp to stop” (b1-03 = 0).
Figure 5.32
Decel Time 1 Decel Time 3
(C1-02) Decel Time 2 Decel Time 4
Accel Time 3 (C1-06)
Accel Time 1 Accel Time 2 (C1-04) (C1-05) (C1-08)
Output (C1-01) (C1-03) Accel Time 4 Decel Time 1
frequency (C1-07)
Decel Time 1 (C1-02)
(C1-02)
Time
ON OFF ON ON OFF ON
FWD (REV)
Run command
ON OFF ON
Accel/Decel Time Selection 1
(Terminals S1 to S8, H1- = “7”)
ON
Accel/Decel Time Selection 2
(Terminals S1 to S8, H1- = “1A”)
Figure 5.32 Timing Diagram of Accel/Decel Time Change
178 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.3 C: Tuning
Switching Acceleration and Deceleration Times by Motor Selection
When switching between motor 1 and 2 using a digital input (H1-= 16), parameters C1-01 to C1-04 become accel/
decel time 1 and 2 for motor 1, while C1-05 to C1-08 become accel/decel time 1 and 2 for motor 2. Accel/decel times 1
and 2 can be switched for each motor using a digital inputs set to H1- = 7 like shown in Table 5.14.
Note: 1. The motor 2 selection function cannot be used when PM motor is used.
2. The digital input setting “Accel/Decel time 2 selection” (H1- = 1A) cannot be used together with motor 1/2 switching. Trying to
do so triggers an oPE03 error, indicating a contradictory multifunction input settings.
Table 5.14 Motor Switching and Accel/Decel Time Combinations
Motor 1 Selected Motor 2 Selected
Accel/Decel Time 1 (H1- = 7) (Terminal set to H1-=16 OFF) (Terminal set to H1-=16 ON)
Accel Decel Accel Decel
Open C1-01 C1-02 C1-05 C1-06
Closed C1-03 C1-04 C1-07 C1-08
Switching Accel/Decel Times by a Frequency Level
The drive can switch between different acceleration and deceleration times automatically. The drive will switch from
accel/decel time 4 in C1-07 and C1-08 to the default accel/decel time in C1-01 and C1-02 (C1-05 and C1-06 for motor 2)
when the output frequency exceeds the frequency level set in parameter C1-11. When it falls below this level, the accel/
decel times are switched back. Figure 5.33 shows an operation example.
Note: Acceleration and deceleration times selected by digital inputs have priority over the automatic switching by the frequency level
set to C1-11. For example, if accel/decel time 2 is selected, the drive will use this time only and not switch from accel/decel time
4 to the selected one.
Figure 5.33
Output Frequency
C1-11
Accel/Decel Time
Switching Frequency
C1-07 C1-01 C1-02 C1-08
setting setting setting setting
When the output frequency ≥ C1-11, drive uses Accel/Decel Time 1 (C1-01, -02)
When the output frequency < C1-11, drive uses Accel/Decel Time 2 (C1-07, -08)
Figure 5.33 Accel/Decel Time Switching Frequency
C1-09: Fast Stop Time
Parameter C1-09 will set a special deceleration that is used when certain faults occur or that can be operated by closing a
digital input configured as H1- = 15 (N.O. input) or 17 (N.C. input). The input does not have to be closed
continuously, even a momentary closure will trigger the Fast Stop operation. Unlike standard deceleration, once the Fast
Stop operation is initiated, the drive cannot be restarted until the deceleration is complete, the Fast Stop input is cleared,
Parameter Details
and the Run command is cycled.
A digital output programmed for “During Fast Stop” (H2- = 4C) will be closed as long as Fast Stop is active.
A Fast Stop can be selected as the action the drive should take when certain faults occur, such as L8-03 (Overheat
Pre-Alarm Operation Selection).
5
No. Parameter Name Setting Range Default
C1-09 Fast Stop Time 0.0 to 6000.0 s <1> 10.0 s
<1> The setting range for the acceleration and deceleration times is determined by the accel/decel time setting units in C1-10. For example, if the
time is set in units of 0.01 s (C1-10 = 0), the setting range becomes 0.00 to 600.00 s
C1-10: Accel/Decel Time Setting Units
Determines the units for the acceleration and deceleration times set to C1-01 through C1-09.
No. Parameter Name Setting Range Default
C1-10 Accel/Decel Time Setting Units 0 or 1 1
Setting 0: 0.01 s units
The accel/decel times are set in 0.01 s units. The setting range is 0.00 to 600.00 s.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 179
5.3 C: Tuning
C1-10 cannot be set to 0 if any of the parameters C1-01 to C1-09 is set to 600.1 s or longer.
Setting 1: 0.1 s units
The accel/decel times are set in 0.1 s units. The setting range is 0.0 to 6000.0 s.
C1-11: Accel/Decel Time Switching Frequency
Sets the frequency at which the drive switches between accel/decel time settings. Refer to Switching Accel/Decel Times
by a Frequency Level on page 179.
No. Parameter Name Setting Range Default
C1-11 Accel/Decel Time Switching Frequency 0.0 to 400.0 Hz <1> Determined by A1-02 <1>
<1> In AOLV/PM and CLV/PM control modes, the setting units and range are expressed in percent (0.0 to 100.0%) instead of in Hz.
Note: Setting C1-11 to 0.0 Hz (0.0%) disables this function.
C2: S-Curve Characteristics
Use S-curve characteristics to smooth acceleration and deceleration and to minimize abrupt shock to the load. Set
S-curve characteristic time during acceleration/deceleration at start and acceleration/deceleration at stop. If the STo fault
(Pull-Out Detection) occurs when starting a PM motor, try increasing the value set to C2-01.
C2-01 to C2-04: S-Curve Characteristics
C2-01 through C2-04 set separate S-curves for each section of the acceleration or deceleration.
No. Parameter Name Setting Range Default
C2-01 S-Curve Characteristic at Accel Start Determined by A1-02
C2-02 S-Curve Characteristic at Accel End 0.20 s
0.00 to 10.00 s
C2-03 S-Curve Characteristic at Decel Start 0.20 s
C2-04 S-Curve Characteristic at Decel End 0.00 s
Figure 5.34 explains how S-curves are applied.
Figure 5.34
FWD run
REV run
C2-02 C2-03
C2-04
common_TMonly
Output
frequency C2-01
C2-01 C2-04
C2-02 C2-03
Figure 5.34 S-Curve Timing Diagram - FWD/REV Operation
Setting the S-curve will increase the acceleration and deceleration times.
Actual accel time = accel time setting + (C2-01 + C2-02) / 2
Actual decel time = decel time setting + (C2-03 + C2-04) / 2
C3: Slip Compensation
The Slip Compensation function improves the speed accuracy of an induction motor. By adjusting the output frequency
in accordance with the motor load, it compensates the slip and makes the motor speed equal to the frequency reference.
Note: Perform Auto-Tuning and make sure that the motor rated current (E2-01), the motor rated slip (E2-02), and the motor no-load
current (E2-03) have all been set properly before making any adjustments to slip compensation parameters.
C3-01: Slip Compensation Gain
This parameter sets the gain for the motor slip compensation function. Although this parameter rarely needs to be
changed, adjustments might be needed under the following circumstances:
• If the motor at constant speed is slower than the frequency reference, increase C3-01.
• If the motor at constant speed is faster than the frequency reference, decrease C3-01.
180 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.3 C: Tuning
No. Parameter Name Setting Range Default
C3-01 Slip Compensation Gain 0.0 to 2.5 Determined by A1-02
Note: Default setting is 0.0 in V/f Control (A1-02 = 0), and 1.0 in Open Loop Vector Control (A1-02 = 2). In Closed Loop Vector
Control, slip compensation is used to correct inaccuracies that can result from temperature fluctuation in the rotor.
C3-02: Slip Compensation Primary Delay Time
Adjusts the filter on the output side of the slip compensation function. Although this parameter rarely needs to be
changed, adjustment may help in the following situations:
• Decrease the setting when the slip compensation response is too slow.
• Increase this setting when speed is unstable.
No. Parameter Name Setting Range Default
C3-02 Slip Compensation Primary Delay Time 0 to 10000 ms Determined by A1-02
Note: Default for V/f Control (A1-02 = 0) is 2000 ms. Default for Open Loop Vector Control (A1-02 = 2) is 200 ms.
C3-03: Slip Compensation Limit
Sets the upper limit for the slip compensation function as a percentage of the motor rated slip (E2-02).
No. Parameter Name Setting Range Default
C3-03 Slip Compensation Limit 0 to 250% 200%
The slip compensation limit is constant throughout the constant torque range (frequency reference E1-06). In the
constant power range (frequency reference E1-06), it is increased based on C3-03 and the output frequency as shown in
Figure 5.35.
Figure 5.35
E1-04
E1-06 × C3-03
C3-03
common_TMonly
Output Frequency
E1-06 E1-04
Base Maximum Output
Frequency Frequency
Figure 5.35 Slip Compensation Limit
C3-04: Slip Compensation Selection during Regeneration
Parameter Details
Enables or disables slip compensation during regenerative operation.
Even if enabled, this function does not operate when the output frequency is too low.
No. Parameter Name Setting Range Default
C3-04 Slip Compensation Selection during Regeneration 0 to 2 0
Setting 0: Disabled
5
Slip compensation is not provided. Depending on the load and mode of operation, the actual motor speed will be lower or
higher than the frequency reference.
Setting 1: Enabled (6 Hz and above)
Slip compensation is enabled during regenerative operation. It will not be active at output frequencies below 6 Hz.
Setting 2: Enabled (compensation provided wherever possible)
Slip compensation is enabled during regenerative operation, and at frequencies as low as 2 Hz. The drive uses the motor
rated slip set in E2-02 to automatically calculate the frequency range where compensation will be disabled.
C3-05: Output Voltage Limit Operation Selection
Determines if the motor flux reference is automatically reduced when output voltage reaches the saturation range.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 181
5.3 C: Tuning
If the input power supply voltage is low or the motor has a high voltage rating, this function can help improve the speed
precision when moving heavy loads at high speeds. When this function is enabled, the reduction in flux causes a slightly
higher current at high speed. Keep this in mind when selecting the drive.
No. Parameter Name Setting Range Default
C3-05 Output Voltage Limit Operation Selection 0 or 1 0
Setting 0: Disabled
Setting 1: Enabled
C3-21: Motor 2 Slip Compensation Gain
Used to improve speed accuracy for motor 2. Functions in the same way that C3-01 functions for motor 1.
Adjust this parameter only after the motor 2 rated current (E4-01), motor 2 rated slip (E4-02), and the motor 2 no-load
current (E4-03) have all been set.
Refer to C3-01: Slip Compensation Gain on page 180 for details on adjusting this parameter.
No. Parameter Name Setting Range Default
C3-21 Motor 2 Slip Compensation Gain 0.0 to 2.5 Determined by E3-01
Note: Default setting is 0.0 in V/f Control (E3-01 = 0). Default setting is 1.0 in Open Loop Vector Control (E3-01 = 2) and Closed Loop
Vector Control (E3-01 = 3). In Closed Loop Vector Control, slip compensation gain acts as an adaptable gain.
C3-22: Motor 2 Slip Compensation Primary Delay Time
Functions for motor 2 in the same way that C3-02 functions for motor 1.
Refer to C3-02: Slip Compensation Primary Delay Time on page 181 for instructions on how to adjust this parameter.
No. Parameter Name Setting Range Default
C3-22 Motor 2 Slip Compensation Primary Delay Time 0 to 10000 ms Determined by E3-01
Note: The default for V/f Control (E3-01 = 0) is 2000 ms. The default for Open Loop Vector Control (E3-01 = 2) is 200 ms.
C3-23: Motor 2 Slip Compensation Limit
Sets the upper limit for the slip compensation function as a percentage of the motor rated slip (E4-02).
No. Parameter Name Setting Range Default
C3-23 Motor 2 Slip Compensation Limit 0 to 250% 200%
The slip compensation limit is constant throughout the constant torque range (frequency reference E3-06). In the
constant power range (frequency reference E3-06), it is increased based on C3-23 and the output frequency as shown in
Figure 5.36.
Figure 5.36
E3-04
E3-06 × C3-23
common_TMonly
C3-23
Output Frequency
E3-06 E3-04
Base Maximum Output
Frequency Frequency
Figure 5.36 Slip Compensation Limit
C3-24: Motor 2 Slip Compensation Selection during Regeneration
Functions for motor 2 in the same way that C3-04 functions for motor 1.
No. Parameter Name Setting Range Default
C3-24 Motor 2 Slip Compensation Selection during Regeneration 0 to 2 0
182 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.3 C: Tuning
Setting 0: Disabled
Setting 1: Enabled (6 Hz and above)
Setting 2: Enabled (compensation provided wherever possible)
C4: Torque Compensation
The torque compensation function compensates for insufficient torque production at start-up or when a load is applied.
Note: Make sure the motor parameters and V/f pattern are set properly before setting torque compensation parameters.
C4-01: Torque Compensation Gain
Sets the gain for the torque compensation function.
No. Parameter Name Setting Range Default
C4-01 Torque Compensation Gain 0.00 to 2.50 Determined by A1-02
Torque Compensation in V/f, V/f w/PG, and OLV/PM:
The drive calculates the motor primary voltage loss using the output current and the termination resistor value (E2-05 for
IM, E5-05 for PM motors) and then adjusts the output voltage to compensate for insufficient torque at start or when load
is applied. The effects of this voltage compensation can be increased or decreased using parameter C4-01.
Torque Compensation in OLV:
The drive controls the motor excitation current (d-axis current) and torque producing current (q-axis current) separately.
Torque compensation affects the torque producing current only. C4-01 works as a factor of the torque reference value that
builds the torque producing current reference.
Adjustment
Although this parameter rarely needs to be adjusted, changing the torque compensation gain in small steps of 0.05 may
help in the following situations:
• Increase this setting when using a long motor cable.
• Decrease this setting when motor oscillation occurs.
Adjust C4-01 so that the output current does not exceed the drive rated current.
Note: 1. Refrain from adjusting torque compensation in Open Loop Vector Control, as it can have a negative effect on torque accuracy.
2. Refrain from adjusting this parameter in OLV/PM. Too high a value can cause overcompensation, resulting in motor oscillation.
C4-02: Torque Compensation Primary Delay Time
Sets the delay time used for applying torque compensation.
Parameter Details
No. Parameter Name Setting Range Default
C4-02 Torque Compensation Primary Delay Time 0 to 60000 ms Determined by A1-02
Adjustment
Although C4-02 rarely needs to be changed, adjustments may help in the following situations:
• If the motor vibrates, increase C4-02. 5
• If the motor responds too slowly to changes in the load, decrease C4-02.
C4-03: Torque Compensation at Forward Start (OLV)
Sets the amount of torque at start in the forward direction in order to improve motor performance during start with a
heavy load. Compensation is applied using the time constant set in parameter C4-05. Enable this function when the load
pulls the motor in reverse when starting with a Forward run command. Setting of 0.0% disables this feature.
No. Parameter Name Setting Range Default
C4-03 Torque Compensation at Forward Start 0.0 to 200.0% 0.0%
C4-04: Torque Compensation at Reverse Start (OLV)
Sets the amount of torque reference at start in the reverse direction in order to improve motor performance during start
with heavy load. Compensation is applied using the Torque Compensation Time set in parameter C4-05. Enable this
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 183
5.3 C: Tuning
function if the load pulls the motor in the forward direction when starting with a Reverse run command. Setting 0.0%
disables this feature.
No. Parameter Name Setting Range Default
C4-04 Torque Compensation at Reverse Start -200.0 to 0.0% 0.0%
C4-05: Torque Compensation Time Constant (OLV)
This parameter is the time constant for applying the torque compensation at start that is set to C4-03 and C4-04.
No. Parameter Name Setting Range Default
C4-05 Torque Compensation Time Constant 0 to 200 ms 10 ms
C4-07: Motor 2 Torque Compensation Gain
Functions for motor 2 in the same way that C4-01 functions for motor 1.
Refer to C3-01: Slip Compensation Gain on page 180 for details on adjusting this parameter.
No. Parameter Name Setting Range Default
C4-07 Motor 2 Torque Compensation Gain 0.00 to 2.50 1.00
C5: Automatic Speed Regulator (ASR)
The ASR is used for controlling the motor speed in V/f w/PG, CLV, AOLV/PM, and CLV/PM control modes. It adjusts
the output frequency (V/f w/PG) or torque reference (CLV, AOLV/PM, CLV/PM) in order to minimize the difference
between frequency reference and actual motor speed.
Figure 5.37 and Figure 5.38 illustrate how ASR works.
Figure 5.37
+ Output frequency
Frequency
reference
+
ASR limit
+
common_TMonly
- +
Change
Detected speed
rate
P
limiter +
I
C5-01
C5-05
C5-03
C5-02, C5-04
Figure 5.37 Speed Control Block Diagram for V/f Control with PG
Figure 5.38
Torque limits
C5-01, C5-03
+ + Torque reference
Frequency Primary
P
reference
-
filter
common_TMonly
I +
I limit
C5-06
L7-01 to L7-04
Detected speed C5-02, C5-04 C5-08
<1>
<1> Advanced Open Loop Vector Control for PM motors estimates the speed using the motor model and does not require an encoder
feedback signal.
Figure 5.38 Speed Control Block Diagram for CLV, AOLV/PM and CLV/PM
Adjusting the ASR Parameters
Before adjusting ASR parameters make sure all motor data have been set up correctly or Auto-Tuning has been
performed.
Analog output signals should be used to monitor the frequency reference after soft starter (U1-16) and the motor speed
(U1-05) when adjusting the ASR. Refer to H4: Multi-Function Analog Outputs on page 252 for details on setting up
analog output functions.
Generally when tuning the ASR, first optimize the ASR gain, then adjust the integral time settings. Always make
adjustments with the load connected to the motor.
184 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.3 C: Tuning
Adjusting the ASR Parameters in V/f Control with PG
In V/f Control with PG, the ASR settings change between two sets of parameters depending on the motor speed as
described in C5-01, C5-03/C5-02, C5-04: ASR Proportional Gain 1, 2 / ASR Integral Time 1, 2 on page 186.
Perform the following steps for adjusting ASR parameters:
1. Run the motor at minimum speed and increase ASR proportional gain 2 (C5-03) as much as possible without
oscillation.
2. Run the motor at minimum speed and decrease ASR integral time 2 (C5-04) as much as possible without
oscillation.
3. Check the output current monitor to make sure that the output current is less than 50% of the drive rated current.
If the value is higher than 50%, decrease C5-03 and increase C5-04.
4. Run the motor at maximum speed and increase ASR proportional gain 1 (C5-01) as much as possible without
oscillations.
5. Run the motor at maximum speed and decrease ASR integral time 1 (C5-02) as much as possible without
oscillations.
6. If higher speed precision and faster response during acceleration or deceleration is required, enable integral
control during accel/decel by setting parameter C5-12 to 1. Change the speed and make sure no over/
undershoot occurs.
Adjusting the ASR Parameters in CLV, AOLV/PM, and CLV/PM
In CLV, AOLV/PM, and CLV/PM the drive is pre-set to use ASR settings C5-01/02 over the whole speed range. If
required by the application, a second set of ASR parameters (C5-03/04) can be automatically activated depending on the
motor speed or by using a digital input. Also refer to C5-01, C5-03/C5-02, C5-04: ASR Proportional Gain 1, 2 / ASR
Integral Time 1, 2 on page 186.
Perform the following steps for adjusting ASR parameters:
1. Run the motor at zero speed and increase the ASR proportional gain 1 (C5-01) as much as possible without
oscillation.
2. Run the motor at zero speed and decrease the ASR integral time 1 (C5-02) as much as possible without
oscillation.
3. Run at the normal operating speed. Check for over/undershoot when changing speed and for any oscillation.
4. Should problems occur in step 3, increase the integral time and reduce the gain.
Alternatively, use different ASR settings for high and low speed. Set the values from step 1 and 2 to parameters
C5-03 and C5-04, then set an ASR switching frequency in parameter C5-07. Run the motor at a speed higher
than C5-07 and repeat step 3 while adjusting C5-01 and C5-02.
Solving Problems During ASR Setup
Use Table 5.15 when making adjustments to ASR. Though the parameters listed below are for motor 1, the same changes
can be made to the corresponding motor 2 parameters when running a second motor.
Parameter Details
Table 5.15 ASR Setup Problems and Corrective Actions
Problem Possible Solutions
Speed reference
Slow response to speed changes or speed • Increase the ASR proportional gain.
deviation lasts for too long Motor Speed
• Decrease the integral time.
5
Time
Motor Speed
Overshoot or undershoot at the end of • Decrease the ASR proportional gain.
acceleration or deceleration Speed reference • Increase the integral time.
Time
Speed reference
• Decrease the ASR proportional gain.
Vibration and oscillation occur at constant
• Increase the integral time.
speed
Motor Speed • Increase the ASR primary delay time constant (C5-06).
Time
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 185
5.3 C: Tuning
Problem Possible Solutions
Speed reference
• Check the pulse number set to F1-01 and the gear ratio in F1-12 and F1-13.
The motor slip is not fully compensated when • Make sure the pulse signal from the encoder is set up properly.
running in V/f Control with PG Motor Speed • Check monitor U6-04 and check if the ASR is working at its output limit (setting of
C5-05). If so, increase C5-05.
Time
Integral operation is enabled in V/f Control with • Decrease the ASR proportional gain.
PG (C5-15 = 1) and over/undershoot occurs – • Increase the integral time.
when changing speed. • If the problem persists, reduce the ASR output limit set in C5-05.
• V/f control: Use C5-01/02 and C5-03/04 to set up different ASR settings at minimum
Oscillation at low speed and response is too and maximum speed.
–
slow at high speed (or vice versa) • CLV, AOLV/PM, CLV/PM: Use C5-01, C5-02 and C5-03, C5-04 to define optimal
ASR settings for high and low speed. Use C5-07 to define a switching frequency.
C5-01, C5-03/C5-02, C5-04: ASR Proportional Gain 1, 2 / ASR Integral Time 1, 2
These parameters can be used to adjust the responsiveness of the ASR.
Note: C5-01 is automatically set when ASR Tuning is performed (T1-01 = 9 or T2-01 = 9).
No. Parameter Name Setting Range Default
C5-01 ASR Proportional Gain 1 0.00 to 300.00 Determined by A1-02
C5-02 ASR Integral Time 1 0.000 to 10.000 s Determined by A1-02
C5-03 ASR Proportional Gain 2 0.00 to 300.00 Determined by A1-02
C5-04 ASR Integral Time 2 0.000 to 10.000 s Determined by A1-02
These parameter settings will function differently depending on the control mode.
V/f Control with PG
Parameters C5-01 and C5-02 determine the ASR characteristics at maximum speed, whereas C5-03 and C5-04 determine
the characteristics at minimum speed.
Figure 5.39
P = C5-01
P and I setting
I = C5-02
P = C5-03
I = C5-04
common_TMonly
Motor speed
0 E1-09 E1-04
Min. output frequency Max. output frequency
Figure 5.39 ASR Gain and Integral Time in V/fw/PG
CLV, AOLV/PM, and CLV/PM
In these control modes, parameters C5-03 and C5-04 define the ASR gain an integral time at zero speed. The settings in
C5-01 and C5-02 are used at speeds above the setting in C5-07. C5-07 is set to 0 as the default so that C5-01 and C5-02
are used over the entire speed range. Also refer to C5-07: ASR Gain Switching Frequency on page 187.
Figure 5.40
P = C5-01
P, I
I = C5-02
Ramp
P = C5-03 common_TMonly
I = C5-04 (Low speed)
Motor speed (Hz)
㧜 C5-07
Figure 5.40 Low-speed and High-speed Gain Settings
The gain set in C5-03 can also be activated with a digital input programmed to “ASR gain switch” (H1- = 77). When
the terminal is open, the drive uses the ASR gain level set by the pattern in the figure above. When the terminal closes,
C5-03 is used. The integral time set to C5-02 is used to change linearly between these settings.
The ASR gain switch command from a multi-function input terminal overrides the switching frequency set to C5-07.
186 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.3 C: Tuning
Figure 5.41
ASR Gain Switch signal
(Digital input) OFF ON
Proportional gain
Proportional gain (P) determined
by motor speed. common_TMonly
C5-03 gain setting
C5-02 C5-02
Figure 5.41 ASR Proportional Gain Switch
ASR Gain Tuning (C5-01, C5-03)
The higher this setting, the faster is the speed response. Too high of a setting can lead to oscillation. In general, this
setting should be increased with larger loads in order to minimize the speed deviation.
ASR Integral Time Tuning (C5-02, C5-04)
Determines how fast a continuous speed deviation problem is eliminated. Too long of an integral time makes the speed
control less responsive, while a too short of an integral time can cause oscillation.
C5-05: ASR Limit
Sets the ASR output limit as a percentage of the maximum output frequency (E1-04). If the motor rated slip is high, the
setting might need to be increased to provide proper motor speed control. Use the ASR output monitor U6-04 to
determine if ASR is working at the limit set in C5-05. If so, make sure the PG 1 pulses per revolution (F1-01), PG 1 gear
teeth 1 and 2 (F1-12, F1-13), and the PG signal are set correctly before making further changes to C5-05.
No. Parameter Name Setting Range Default
C5-05 ASR Limit 0.0 to 20.0% 5.0%
C5-06: ASR Primary Delay Time Constant
This parameter rarely requires adjustment. This parameter sets the filter time constant for the time from the speed loop to
the torque command output.
Increase this setting gradually in increments of 0.01 for loads with low rigidity, or when oscillation is a problem.
No. Parameter Name Setting Range Default
C5-06 ASR Primary Delay Time Constant 0.000 to 0.500 s Determined by A1-02
C5-07: ASR Gain Switching Frequency
Sets the frequency where the drive should switch between ASR proportional gain 1 and 2 (C5-01, C5-03) as well as
between integral time 1 and 2 (C5-02, C5-04).
Parameter Details
No. Parameter Name Setting Range Default
C5-07 ASR Gain Switching Frequency 0.0 to 400.0 Hz <1> Determined by A1-02 <1>
<1> In AOLV/PM and CLV/PM control modes, the setting units and range are expressed as a percent (0.0 to 100.0%) instead of in Hz.
Note: A multi-function input set for the ASR gain switch (H1- = 77) takes priority over the ASR gain switching frequency.
Switching the proportional gain and integral time in the low or high speed range can help stabilize operation and avoid 5
resonance problems. A good switching point is about 80% of the frequency where oscillation occurs, or at 80% of the
target speed. Refer to C5-01, C5-03/C5-02, C5-04: ASR Proportional Gain 1, 2 / ASR Integral Time 1, 2 on page 186.
C5-08: ASR Integral Limit
Sets the upper limit for ASR as a percentage of the rated load.
No. Parameter Name Setting Range Default
C5-08 ASR Integral Limit 0 to 400% 400%
C5-12: Integral Operation during Accel/Decel (V/f w/PG)
Enables integral operation during acceleration and deceleration. Integral operation should be used when driving a heavy
load or a high inertia load, but can cause problems with overshoot at the end of acceleration and deceleration. Refer to
ASR Setup Problems and Corrective Actions on page 185 to solve such problems.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 187
5.3 C: Tuning
No. Parameter Name Setting Range Default
C5-12 Integral Operation during Accel/Decel 0, 1 0
Setting 0: Disabled
Integral operation occurs only during constant speed and not during acceleration or deceleration.
Setting 1: Enabled
Integral operation is always enabled.
C5-17, C5-18: Motor Inertia, Load Inertia Ratio
C5-17 and C5-18 determine the ratio of the machine inertia to the inertia of the motor being used.
Example: Setting C5-18 to 2.0 reflects a load inertia that is twice the motor inertia.
These parameters are set automatically when Inertia Tuning and ASR Tuning are performed in CLV and CLV/PM control
modes. Refer to Auto-Tuning on page 116 for details on Auto-Tuning or enter the data manually.
No. Parameter Name Setting Range Default
Determined by C6-01, E5-01 and
C5-17 Motor Inertia 0.0001 to 600.00 kgm2 o2-04
C5-18 Load Inertia Ratio 0.0 to 6000.0 1.0
C5-21, C5-23 / C5-22, C5-24: Motor 2 ASR Proportional Gain 1, 2 / Integral Time 1, 2
These parameters function for motor 2 in the same way that C5-01 through C5-04 function for motor 1. For more details,
see C5-01, C5-03/C5-02, C5-04: ASR Proportional Gain 1, 2 / ASR Integral Time 1, 2 on page 186.
No. Parameter Name Setting Range Default
C5-21 Motor 2 ASR Proportional Gain 1 0.00 to 300.00 Determined by E3-01
C5-22 Motor 2 ASR Integral Time 1 0.000 to 10.000 s Determined by E3-01
C5-23 Motor 2 ASR Proportional Gain 2 0.00 to 300.00 Determined by E3-01
C5-24 Motor 2 ASR Integral Time 2 0.000 to 10.000 s Determined by E3-01
C5-25: Motor 2 ASR Limit
Functions for motor 2 in the same way that C5-05 functions for motor 1. Sets the ASR output limit for motor 2 as a
percentage of the maximum output frequency (E1-04). For more details, see C5-05: ASR Limit on page 187.
No. Parameter Name Setting Range Default
C5-25 Motor 2 ASR Limit 0.0 to 20.0% 5.0%
C5-26: Motor 2 ASR Primary Delay Time Constant
This parameter rarely requires adjustment. Functions for motor 2 in the same way that C5-06 functions for motor 1.
Sets the filter time constant for the time from the speed loop to the torque command output. For more details, see C5-06:
ASR Primary Delay Time Constant on page 187.
No. Parameter Name Setting Range Default
C5-26 Motor 2 ASR Primary Delay Time Constant 0.000 to 0.500 s Determined by E3-01
C5-27: Motor 2 ASR Gain Switching Frequency
Functions for motor 2 in the same way that C5-07 functions for motor 1.
Sets the frequency for motor 2 to change motor 2 ASR proportional gain 1 and 2 (C5-21, C5-23) as well as the motor 2
ASR integral time 1 and 2 (C5-22, C5-24). For more details, see C5-01, C5-03/C5-02, C5-04: ASR Proportional Gain 1,
2 / ASR Integral Time 1, 2 on page 186.
No. Parameter Name Setting Range Default
C5-27 Motor 2 ASR Gain Switching Frequency 0.0 to 400.0 Hz 0.0 Hz
Note: A multi-function input set for the ASR gain switch (H1- = 77) takes priority over the ASR gain switching frequency.
188 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.3 C: Tuning
C5-28: Motor 2 ASR Integral Limit
Functions for motor 2 in the same way that C5-08 functions for motor 1.
Sets the upper limit for ASR as a percentage of the rated load.
No. Parameter Name Setting Range Default
C5-28 Motor 2 ASR Integral Limit 0 to 400% 400%
C5-32: Integral Operation during Accel/Decel for Motor 2
Functions for motor 2 in the same way that C5-12 functions for motor 1.
Enables integral operation during acceleration and deceleration. Refer to C5-12: Integral Operation during Accel/Decel
(V/f w/PG) on page 187 for more details.
No. Parameter Name Setting Range Default
C5-32 Integral Operation during Accel/Decel for Motor 2 0, 1 0
Setting 0: Disabled
Integral operation occurs only during constant speed and not during acceleration or deceleration.
Setting 1: Enabled
Integral operation is always enabled.
C5-37, C5-38: Motor 2 Inertia, Motor 2 Load Inertia Ratio
These parameters function for motor 2 in the same way that C5-17 and C5-18 function for motor 1.
These parameters are set automatically when Inertia Tuning and ASR Tuning are performed for motor 2 in CLV and
CLV/PM control modes. Refer to Auto-Tuning on page 116 for details on Auto-Tuning or enter the data manually.
No. Parameter Name Setting Range Default
C5-37 Motor 2 Inertia 0.0001 to 600.00 kgm2 Determined by C6-01 and o2-04
C5-38 Motor 2 Load Inertia Ratio 0.0 to 6000.0 1.0
C6: Carrier Frequency
C6-01: Drive Duty Mode Selection
The drive has two different “duty modes” to select from based on the load characteristics. The drive rated current,
overload capacity, and maximum output frequency will change depending upon the duty mode selection. Use parameter
C6-01 to select Heavy Duty (HD) or Normal Duty (ND) for the application. The default setting is ND. Refer to Heavy
Parameter Details
Duty and Normal Duty Ratings on page 392 for details about the rated current.
No. Parameter Name Setting Range Default
C6-01 Drive Duty Mode Selection 0 or 1 1 (ND)
Table 5.16 Differences between Heavy and Normal Duty 5
Characteristics Heavy Duty Rating (HD) Normal Duty Rating (ND)
C6-01 0 1
Overload
150% Overload
120%
Rated Load
Rated Load 100%
100%
Performance
0 Motor Speed 100% 0 Motor Speed 100%
Use Heavy Duty Rating for applications requiring a high overload Use Normal Duty Rating for applications in which the torque requirements
Application tolerance with constant load torque. Such applications include extruders drop along with the speed. Examples include fans and pumps where a high
and conveyors. overload tolerance is not required.
Over load capability (oL2) 150% of drive rated Heavy Duty current for 60 s 120% of drive rated Normal Duty current for 60 s
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 189
5.3 C: Tuning
Characteristics Heavy Duty Rating (HD) Normal Duty Rating (ND)
Stall Prevention during
150% 120%
Acceleration (L3-02)
Stall Prevention during Run
150% 120%
(L3-06)
Default Carrier Frequency 4 kHz 4 kHz
Note: By changing the Duty Mode selection, the maximum size motor the drive can run changes, and the E2- parameters are
automatically set to appropriate values (E4- for motor 2). Parameter settings determined by motor capacity are recalculated
automatically when the Duty Mode selection is changed. This includes b8-04, L2-03, n5-02, C5-17, and C5-37.
C6-02: Carrier Frequency Selection
Parameter C6-02 sets the switching frequency of the drive’s output transistors. Changes to the switching frequency can
help lower audible noise and also reduce leakage current.
Note: 1. The upper limit of the carrier frequency depends on the model. Refer to Rated Current Depending on Carrier Frequency on
page 398.
2. Increasing the carrier frequency above the default value automatically lowers the drive’s current rating. Refer to Rated Current
Depending on Carrier Frequency on page 398.
No. Parameter Name Setting Range Default
Determined by A1-02, o2-04.
C6-02 Carrier Frequency Selection 1 to 4, F <1>
Reset when C6-01 is changed.
<1> Setting F is not available in AOLV/PM control mode (A1-02 = 6).
1: 4.0 kHz
2: 6.0 kHz
3: 8.0 kHz
4: 10.0 kHz
F: User defined (C6-03 to C6-05)
Guidelines for Carrier Frequency Parameter Setup
Symptom Remedy
Speed and torque are unstable at low speeds
Noise from the drive affects peripheral devices
Lower the carrier frequency.
Excessive leakage current from the drive
Wiring between the drive and motor is too long <1>
Audible motor noise is too loud Increase the carrier frequency or use Swing PWM.
<1> The carrier frequency may need to be lowered if the motor cable is too long. Refer to Table 5.17.
Table 5.17 Wiring Distance and Carrier Frequency
Wiring Distance Up to 50 m Greater than 50 m
Recommended setting value for C6-02 1 to 4 (up to 10 kHz) 1 (up to 4 kHz)
Note: The maximum cable length is 100 m when using OLV/PM (A1-02 = 5) or AOLV/PM (A1-02 = 6).
C6-03, C6-04, C6-05: Carrier Frequency Upper Limit, Lower Limit, Proportional Gain
Use these parameters to set a user defined or a variable carrier frequency. To set the upper and lower limits and the carrier
frequency proportional gain, first set C6-02 to F.
No. Parameter Name Setting Range Default
C6-03 Carrier Frequency Upper Limit 4.0 to 10.0 kHz <1>
C6-04 Carrier Frequency Lower Limit (V/f Control only) 4.0 to 10.0 kHz <1> Determined by C6-02
C6-05 Carrier Frequency Proportional Gain (V/f Control only) 0 to 99 <1>
<1> Available only when C6-02 is set to F.
Setting a Fixed User Defined Carrier Frequency
A carrier frequency between the fixed selectable values can be entered in parameter C6-03 when C6-02 is set to F. In V/f
Control, parameter C6-04 must also be adjusted to the same value as C6-03.
Setting a Variable Carrier Frequency (V/f Control)
In V/f Control, the carrier frequency can be set up to change linearly with the output frequency. To do this, set the upper
and lower limits for the carrier frequency and the carrier frequency proportional gain (C6-03, C6-04, C6-05).
190 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.3 C: Tuning
C6-09: Carrier Frequency during Rotational Auto-Tuning
C6-09 determines what the carrier frequency should be while Rotational Auto-Tuning is performed.
This parameter rarely requires adjustment, but can be helpful solving problems with overcurrent when Auto-Tuning a
high frequency motor or a low impedance motor. In such cases, first set C6-03 to high value, then set C6-09 = 1.
No. Parameter Name Setting Range Default
C6-09 Carrier Frequency during Rotational Auto-Tuning 0, 1 0
Setting 0: Carrier Frequency = 4 kHz
Setting 1: Same value set to C6-03
C7: Voltage Adjustment
C7-43: Input Voltage Offset Adjustment
This parameter rarely requires adjustment. Enables adjustment of the offset for the input voltage circuit when the control
board is replaced.
Changing the value of o2-04 will trigger an oPE30 error. The input voltage offset must be adjusted when the error occurs.
If the combination of the control board and drive does not change, set this parameter to 0002 (offset adjustment not
required).
Contact Yaskawa or a Yaskawa representative if it becomes necessary to replace the control board.
Note: Adjustment is completed at the factory. Do not change the setting of this parameter.
No. Parameter Name Setting Range Default
C7-43 Input Voltage Offset Adjustment 0000 to 9999 0000
Setting 0000: Standard
Setting 0002: Offset adjustment not required.
C7-56: Power Factor Control Selection
Power factor control improves the input power supply power factor according to the operating conditions. This parameter
rarely requires adjustment, but may be enabled to improve the power factor in the low output region.
Power factor control is not suitable for applications with frequent load fluctuations. This function is disabled in High
Output Voltage Mode (C7-60 = 1).
No. Parameter Name Setting Range Default
Parameter Details
C7-56 Power Factor Control Selection 0, 1 0
0: Power Factor Control Disabled
1: Power Factor Control Enabled
C7-60: Output Voltage Limit Mode Selection
Sets the mode to limit the output voltage. 5
Set this parameter to 0 (Harmonic suppression priority mode) to give priority to harmonic suppression. The maximum
output voltage is automatically limited to suppress harmonics.
Set this parameter to 1 (High output voltage mode) to give priority to the output voltage over harmonic suppression. The
effectiveness of harmonic suppression will be reduced because the maximum output voltage will be used.
No. Parameter Name Setting Range Default
C7-60 Output Voltage Limit Mode Selection 0, 1 1
Setting 0: Harmonic Suppression Priority Mode
Setting 1: High Output Voltage Mode
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 191
5.4 d: Reference Settings
5.4 d: Reference Settings
The figure below gives an overview of the reference input, selections, and priorities.
Figure 5.42
b1-01
(Freq. Reference Selection 1)
LO/RE Key on Digital Operator or common_TMonly
=4 Digital Input H1- = 1
Pulse Train Input
=3
Option Card
=2
MEMOBUS comm.
Digital Input 0
=1 Remote
Terminal A1/A2/A3 H1- = 2 1
MS 1
=0
d1-01 Local
(Freq.Ref 1)
Set to supply the
auxiliary frequency reference
Terminal A2
b1-15 H3-10 = 2
(Freq. Reference Selection 2) MS 2
d1-02
H3-10 = 2
=4
Terminal A3 NetRef
Pulse Train Input 1 ComRef Frequency
=3 H3-06 = 3 1 Reference
MS 3
Option card Open
d1-03 0
=2 H3-06 = 3 Close 0
MEMOBUS comm. MS 4
d1-04 Memobus Register 0001h, bit 4 if
=1
Terminal A1/A2/A3 Frequency standard 2 wire sequence selected,
=0 Reference MS 15 usually 0
d1-01 d1-15
4 through 16 Set from Communications
(Freq. Ref. 1) MS 16
Option Card, usually 0
d1-16
Jog Digital Input (H1-)
Jog Frequency Reference d1-17 Jog Reference Selection (=6),
Multi-Step Speed FJOG(=12), RJOG(=13)
Figure 5.42 Frequency Reference Setting Hierarchy
d1: Frequency Reference
d1-01 to d1-17: Frequency Reference 1 to 16 and Jog Frequency Reference
Up to 17 preset frequency references (including the Jog reference) can be programmed in the drive. The drive lets the
user switch between these frequency references during run by using the digital input terminals. The drive uses the
acceleration and deceleration times that have been selected when switching between each frequency reference.
The Jog frequency must be selected by a separate digital input and overrides all other frequency references.
The multi-speed references 1, 2, and 3 can be provided by analog inputs.
No. Parameter Name Setting Range Default
d1-01 to d1-16 Frequency Reference 1 to 16 0.00 to 400.00 Hz <1> <2> 0.00 Hz <2>
d1-17 Jog Frequency Reference 0.00 to 400.00 Hz <1> <2> 6.00 Hz <2>
<1> The upper limit is determined by the maximum output frequency (E1-04) and upper limit for the frequency reference (d2-01).
<2> Setting units are determined by parameter o1-03. The default is “Hz” (o1-03 = 0) in V/f, V/f w/PG, OLV, CLV, and OLV/PM control modes.
The default for AOLV/PM and CLV/PM control modes expresses the frequency reference as a percentage (o1-03 = 1).
Multi-Step Speed Selection
To use several speed references for a multi-step speed sequence, set the H1- parameters to 3, 4, 5, and 32. To assign
the Jog reference to a digital input, set H1- to 6.
Notes on using analog inputs as Multi-Step Speed 1, 2, and 3:
• Multi-Step Speed 1
When setting terminal A1's analog input to Multi-Step Speed 1, set b1-01 to 1, and when setting d1-01 (Frequency
Reference 1) to Multi-Step Speed 1, set b1-01 to 0.
192 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.4 d: Reference Settings
• Multi-Step Speed 2
When setting terminal A3's analog input to Multi-Step Speed 2, set H3-06 (Terminal A3 Function Selection) to 2
(Auxiliary frequency reference 1). When setting d1-02 (Frequency Reference 2) to Multi-Step Speed 2, set H3-06 to F
(Through mode).
• Multi-Step Speed 3
When setting terminal A2's analog input to Multi-Step Speed 3, set H3-10 (Terminal A2 Function Selection) to 3
(Auxiliary frequency reference 2).
When inputting 0 to 10 V to terminal A2's analog input, set H3-09 to 0, and DIP switch S1 on the control circuit
terminal board to V (voltage).
The different speed references can be selected as shown in Table 5.18. Figure 5.43 illustrates the multi-step speed
selection.
Table 5.18 Multi-Step Speed Reference and Terminal Switch Combinations
Multi-Step Multi-Step Multi-Step Multi-Step Jog Reference
Reference Speed Reference 1 Speed Reference 2 Speed Reference 3 Speed Reference 4 Selection
H1- = 3 H1- = 4 H1- = 5 H1- = 32 H1- = 6
Frequency Reference 1 (set in b1-01) OFF OFF OFF OFF OFF
Frequency Reference 2 (d1-02 or input terminal A1, A2, A3) ON OFF OFF OFF OFF
Frequency Reference 3 (d1-03 or input terminal A1, A2, A3) OFF ON OFF OFF OFF
Frequency Reference 4 (d1-04) ON ON OFF OFF OFF
Frequency Reference 5 (d1-05) OFF OFF ON OFF OFF
Frequency Reference 6 (d1-06) ON OFF ON OFF OFF
Frequency Reference 7 (d1-07) OFF ON ON OFF OFF
Frequency Reference 8 (d1-08) ON ON ON OFF OFF
Frequency Reference 9 (d1-09) OFF OFF OFF ON OFF
Frequency Reference 10 (d1-10) ON OFF OFF ON OFF
Frequency Reference 11 (d1-11) OFF ON OFF ON OFF
Frequency Reference 12 (d1-12) ON ON OFF ON OFF
Frequency Reference 13 (d1-13) OFF OFF ON ON OFF
Frequency Reference 14 (d1-14) ON OFF ON ON OFF
Frequency Reference 15 (d1-15) OFF ON ON ON OFF
Frequency Reference 16 (d1-16) ON ON ON ON OFF
Jog Frequency Reference (d1-17) <1> ON
<1> The Jog frequency overrides whatever frequency reference is being used.
Figure 5.43
Frequency d1-16
reference d1-15
d1-14
d1-09
Parameter Details
d1-08
d1-07
d1-06
d1-05
d1-04
d1-03
(A3)
d1-02
(A2) 5
d1-01
(A1) d1-17
Time
FWD (REV) Run/Stop ON
ON ON ON ON ON ON
Multi-step Speed Ref. 1
ON ON ON
Multi-step Speed Ref. 2
ON ON
Multi-step Speed Ref. 3
Multi-step Speed Ref. 4 ON
Jog Reference Selection ON
Figure 5.43 Preset Reference Timing Diagram
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 193
5.4 d: Reference Settings
d2: Frequency Upper/Lower Limits
By entering upper or lower frequency limits, the user can keep motor speed from going above or below levels that may
cause resonance or equipment damage.
d2-01: Frequency Reference Upper Limit
Sets the maximum frequency reference as a percentage of the maximum output frequency. This limit applies to all
frequency references.
Even if the frequency reference is set to a higher value, the drive internal frequency reference will not exceed this value.
No. Parameter Name Setting Range Default
d2-01 Frequency Reference Upper Limit 0.0 to 110.0% 100.0%
d2-02: Frequency Reference Lower Limit
Sets the minimum frequency reference as a percentage of the maximum output frequency. This limit applies to all
frequency references.
If a lower reference than this value is entered, the drive will run at the limit set to d2-02. If the drive is started with a
lower reference than d2-02, it will accelerate up to d2-02.
No. Parameter Name Setting Range Default
d2-02 Frequency Reference Lower Limit 0.0 to 110.0% 0.0%
Figure 5.44
Internal frequency
reference common_TMonly
d2-01
Frequency Reference Upper Limit
Operating
range
Frequency Reference Lower Limit
d2-02
Set frequency reference
Figure 5.44 Frequency Reference: Upper and Lower Limits
d2-03: Master Speed Reference Lower Limit
Unlike frequency reference lower limit (d2-02) that affects all the frequency references wherever they are sourced from
(i.e., analog input, preset speed, Jog speed, etc.), the master speed lower limit (d2-03) sets a lower limit that will only
affect a frequency reference entered from the analog input terminals (A1, A2, or A3).
Set as a percentage of the maximum output frequency.
Note: When lower limits are set to both parameters d2-02 and d2-03, the drive uses the greater of those two values as the lower limit.
No. Parameter Name Setting Range Default
d2-03 Master Speed Reference Lower Limit 0.0 to 110.0% 0.0%
d3: Jump Frequency
d3-01 to d3-04: Jump Frequencies 1, 2, 3 and Jump Frequency Width
To avoid operating at a speed that causes resonance in driven machinery, the drive can be programmed with three
separate Jump frequencies. The Jump frequencies are frequency ranges that the drive will not operate at. If the speed
reference falls within a Jump frequency dead band, the drive will clamp the frequency reference just below the dead band
and only accelerate past it when the frequency reference rises above the upper end of the dead band.
Setting parameters d3-01 through d3-03 to 0.0 Hz disables the Jump frequency function.
No. Parameter Name Setting Range Default
d3-01 Jump Frequency 1 0.0 to 400.0 Hz <1> 0.0 Hz <1>
d3-02 Jump Frequency 2 0.0 to 400.0 Hz <1> 0.0 Hz <1>
d3-03 Jump Frequency 3 0.0 to 400.0 Hz <1> 0.0 Hz <1>
194 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.4 d: Reference Settings
No. Parameter Name Setting Range Default
d3-04 Jump Frequency Width 0.0 to 20.0 Hz <2> 1.0 Hz <2>
<1> In AOLV/PM and CLV/PM control modes, the setting units and range are expressed as a percent (0.0 to 100.0%) instead of in Hz.
<2> In AOLV/PM and CLV/PM control modes, the setting units and range are expressed as a percent instead of in Hz. The Setting range is 0.0 to
40.0% and the default is 1.0%.
Figure 5.45 shows the relationship between the Jump frequency and the output frequency.
Figure 5.45
Frequency
reference
Frequency
reference
decreases Frequency
reference
increases
Jump
Frequency
Width (d3-04)
common_TMonly
Jump
Frequency
Width (d3-04)
Jump
Frequency
Width (d3-04)
Jump Jump Jump Output
Frequency 3 Frequency 2 Frequency 1 Frequency
d3-03 d3-02 d3-01
Figure 5.45 Jump Frequency Operation
Note: 1. The drive will use the active accel/decel time to pass through the specified dead band range, but will not allow continuous operation
in that range.
2. When setting more than one Jump frequency, make sure that the parameters do not overlap.
d4: Frequency Reference Hold and Up/Down 2 Function
d4-01: Frequency Reference Hold Function Selection
This parameter is effective when either of the digital input functions listed below is used.
• Accel/decel ramp hold function (H1-= A)
• Up/Down command (H1- = 10 and 11)
• Up/Down 2 command (H1- = 75 and 76)
Parameter d4-01 determines whether the frequency reference or the frequency bias (Up/Down 2) value is saved when the
Parameter Details
Stop command is entered or the power supply is shut down.
No. Parameter Name Setting Range Default
d4-01 Frequency Reference Hold Function Selection 0 or 1 0
The operation depends on the function used with parameter d4-01.
5
Setting 0: Disabled
• Acceleration hold
The hold value will be reset to 0 Hz when the Stop command is entered or the drive power is switched off. The active
frequency reference will be the value the drive uses when it restarts.
• Up/Down
The frequency reference value will be reset to 0 Hz when the Stop command is entered or the drive power is switched
off. The drive will start from 0 Hz when it is turned back on again.
• Up/Down 2
The frequency bias is not saved when the Stop command is entered, or 5 s after the Up/Down 2 command has been
released. The Up/Down 2 function will start with a bias of 0% when the drive is restarted.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 195
5.4 d: Reference Settings
Setting 1: Enabled
• Acceleration hold
The last hold value will be saved when the Run command or the drive power is switched off. The drive will use the
value that was saved as the frequency reference when it restarts. The multi-function input terminal set for “Accel/decel
ramp hold” (H1- = A) must be enabled the entire time, or else the hold value will be cleared when the power is
switched on.
Figure 5.46
ON ON
Power supply
OFF
OFF ON OFF ON
Forward Run/Stop
OFF ON OFF ON
Hold Accel/Decel
Frequency reference
common_TMonly
Output frequency d4-01 = 1
d4-01 = 0
Hold Hold
Figure 5.46 Frequency Reference Hold with Accel/Decel Hold Function
• Up/Down
The frequency reference value will be saved when the Run command or the drive power is switched off. The drive will
use the frequency reference that was saved when it restarts.
• Up/Down 2 with frequency reference from digital operator
When a Run command is active and the Up/Down 2 command is released for longer than 5 s, the Up/Down 2 bias
value is added to the frequency reference and then reset to 0. This new frequency reference is saved and will also be
used to restart the drive after the power is cycled.
Figure 5.47
Bias is added to frequency
reference and reset to 0
Output
frequency
Frequency
reference
common_TMonly
Bias 5s
5s
Up 2 command
Figure 5.47 Up/Down 2 Example with Reference from Digital Operator and d4-01 = 1
196 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.4 d: Reference Settings
• Up/Down 2 with frequency reference from input sources other than the digital operator
When a Run command is active and the Up/Down 2 command is released for longer than 5 s, the bias value will be
saved in parameter d4-06. When restarting after the power is switched off, the drive will add the value saved in d4-06
as a bias to the frequency reference.
Figure 5.48
Bias is saved in parameter d4-06
Output
frequency
d4-06 value
common_TMonly
5s
Bias
5s
Up 2 command
Figure 5.48 Up/Down 2 Example with Other Reference than Digital Operator and d4-01 = 1
Note: Make sure to set the limits for Up/Down 2 properly when using d4-01 = 1 in combination with the Up/Down 2 function. Refer to
d4-08: Frequency Reference Bias Upper Limit (Up/Down 2) on page 199 and Refer to d4-09: Frequency Reference Bias
Lower Limit (Up/Down 2) on page 199 for details on the limit settings.
Clearing the Value that was Saved
Depending on which function is used, the frequency reference value that was saved can be cleared by:
• Releasing the input programmed for Acceleration hold.
• Setting an Up or Down command while no Run command is active.
• Parameter d4-06 is reset to zero. Refer to d4-06: Frequency Reference Bias (Up/Down 2) on page 198 for details.
d4-03: Frequency Reference Bias Step (Up/Down 2)
Sets the bias that is added to or subtracted from the frequency reference by the Up/Down 2 function.
No. Parameter Name Setting Range Default
d4-03 Frequency Reference Bias Step (Up/Down 2) 0.00 to 99.99 Hz 0.00 Hz
The operation depends on the set value:
Setting d4-03 = 0.00 Hz
While the Up 2 or Down 2 command is enabled, the bias value is increased or decreased using the accel/decel time
determined by parameter d4-04.
Parameter Details
Figure 5.49
Output
frequency
Bias value is increased using the
accel/decel times as set in d4-04
5
Bias
common_TMonly
Up 2 command
Figure 5.49 Up/Down 2 Bias when d4-03 = 0.0 Hz
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 197
5.4 d: Reference Settings
Setting d4-03 0.00 Hz
When an Up 2 or Down 2 command is enabled, the bias is increased or decreased in steps for the value set in d4-03. The
frequency reference changes with the accel/decel times determined by parameter d4-04.
Figure 5.50
Output
frequency
Bias value is increased in steps as
defined in d4-03
Drive uses accel/decel times as
set in d4-04
Bias
common_TMonly
Up 2 command
Figure 5.50 Up/Down 2 Bias when d4-03 > 0.0 Hz
d4-04: Frequency Reference Bias Accel/Decel (Up/Down 2)
Parameter d4-04 determines the accel/decel times that are used for increasing/decreasing the frequency reference or bias
when the Up/Down 2 function is used.
No. Parameter Name Setting Range Default
d4-04 Frequency Reference Bias Accel/Decel (Up/Down 2) 0 or 1 0
Setting 0: Current Accel/Decel Time
The drive uses the currently active accel/decel time.
Setting 1: Accel/Decel Time 4
The drive uses accel/decel time 4 set to parameters C1-07 and C1-08.
d4-05: Frequency Reference Bias Operation Mode Selection (Up/Down 2)
Determines if the bias value is held or not when the Up/Down 2 inputs are both released or both enabled. The parameter
is effective only when parameter d4-03 is set to 0.00.
No. Parameter Name Setting Range Default
d4-05 Frequency Reference Bias Operation Mode Selection (Up/Down 2) 0 or 1 0
Setting 0: Hold Bias Value
The bias value will be held if no input Up 2 or Down 2 is active.
Setting 1: Reset Bias Value
The bias is reset to 0% when both inputs Up 2 and Down 2 are either on or off. The drive will use the accel/decel time as
selected in d4-04 to accelerate or decelerate to the frequency reference value.
d4-06: Frequency Reference Bias (Up/Down 2)
This parameter is used to save the frequency reference bias value set by the Up/Down 2 function. It is set as a percentage
of the maximum output frequency. The function of d4-06 depends on how the Up/Down 2 function is configured.
• This parameter is normally not used when the frequency reference is set by the digital operator. The user can set d4-06
to a certain value that will be applied during run, but this value will be reset when the frequency reference changes
(including multi-step references) or will be disabled when d4-01 = 0 and the Run command is removed.
• When d4-01 = 0 and the frequency reference is set by a source other than the digital operator, the value set in d4-06 is
generally added to or subtracted from the frequency reference.
• When d4-01 = 1 and the frequency reference is set by a source other than the digital operator, the bias value adjusted
with the Up/Down 2 inputs is stored in d4-06 once 5 s have passed after the Up 2 or Down 2 command is released. The
frequency reference will then return to what it was without the Up/Down 2 command.
No. Parameter Name Setting Range Default
d4-06 Frequency Reference Bias (Up/Down 2) -99.9 to 100.0% 0.0%
198 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.4 d: Reference Settings
Conditions that Generally Reset or Disable Parameter d4-06
• When the Up/Down 2 function has not been assigned to the multi-function terminals
• When the frequency reference source has been changed (including LOCAL/REMOTE or External reference 1/2 switch
over by digital inputs)
• If d4-03 = 0 Hz, d4-05 = 1 and the Up/Down 2 commands are both open or both closed
• Any changes to the maximum frequency set to E1-04
d4-07: Analog Frequency Reference Fluctuation Limit (Up/Down 2)
This parameter is for handling changes in the frequency reference while the terminal set for Up 2 or Down 2 is enabled.
If the frequency reference changes for more than the level set to d4-07, then the bias value will be held, and the drive will
accelerate or decelerate following the frequency reference. When the frequency reference is reached, the bias hold is
released and the bias follows the Up/Down 2 input commands.
Parameter d4-07 is applicable only if the frequency reference is set by an analog or pulse input.
No. Parameter Name Setting Range Default
d4-07 Analog Frequency Reference Fluctuation Limit (Up/Down 2) 0.1 to 100.0% 1.0%
d4-08: Frequency Reference Bias Upper Limit (Up/Down 2)
Parameter d4-08 sets the upper limit of the Up/Down 2 bias (monitor U6-20) and the value that can be saved in parameter
d4-06. Set this parameter to an appropriate value before using the Up/Down 2 function.
Note: When the frequency reference is set by the digital operator (b1-01 = 0) and d4-01 = 1, the bias value will be added to the
frequency reference if no Up/Down 2 command is received for 5 s, and will be reset to 0 afterwards. From that point, the bias can
be increased up to the limit set in d4-08 again.
No. Parameter Name Setting Range Default
d4-08 Frequency Reference Bias Upper Limit (Up/Down 2) 0.0 to 100.0% 100.0%
d4-09: Frequency Reference Bias Lower Limit (Up/Down 2)
Parameter d4-09 sets the lower limit of the Up/Down 2 bias (monitor U6-20) and the value that can be saved in parameter
d4-06. Set this parameter to an appropriate value before using the Up/Down 2 function.
Note: When the frequency reference is set by the digital operator (b1-01 = 0) and d4-01 = 1, the bias value will be added to the
frequency reference if no Up/Down 2 command is received for 5 s, and will be reset to 0 afterwards. If the bias is increased using
the Up 2 command, it cannot be reduced with a Down 2 command when the limit set in d4-09 is 0. To allow speed reduction in
this situation, set a negative lower limit in d4-09.
No. Parameter Name Setting Range Default
d4-09 Frequency Reference Bias Lower Limit (Up/Down 2) -99.9 to 0.0% 0.0%
d4-10: Up/Down Frequency Reference Limit Selection
Parameter Details
Selects how the lower frequency limit is set when the Up/Down function is used. Refer to Setting 10, 11: Up, Down
command on page 230 for details on the Up/Down function in combination with frequency reference limits.
No. Parameter Name Setting Range Default
d4-10 Up/Down Frequency Reference Limit Selection 0 or 1 0 5
Setting 0: Lower Limit is Determined by d2-02 or Analog Input
The lower frequency reference limit is determined by the higher value of either parameter d2-02 or an analog input (A1,
A2, A3) that is programmed for “Frequency bias”.
Note: For example, if the command to switch the external reference (H1- = 2) is used to switch between the Up/Down function and
an analog input as the reference source, then the analog value would become the lower reference limit when the Up/Down
command is active. Change d4-10 to 1 to make the Up/Down function independent of the analog input value.
Setting 1: Lower Limit is Determined by Parameter d2-02
Only parameter d2-02 sets the lower frequency reference limit.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 199
5.4 d: Reference Settings
d4-11: Bi-Directional Output Selection
Selects if the frequency reference or PID output value is converted into bi-directional internal frequency reference. Refer
also to the PID block diagram in Figure 5.25 to see how bi-directional output works.
Note: When used in combination with PID control, the bi-directional output function can be enabled or disabled using a digital input
(H1- = 7F)
No. Parameter Name Setting Range Default
d4-11 Bi-Directional Output Selection 0 or 1 0
Setting 0: No Conversion
The frequency reference or PID output value is used as it is without being converted. The drive will operate in the
direction selected from 0 to 100% of the maximum output frequency.
Setting 1: Bi-Directional Output Conversion
When the frequency reference or PID output is below 50%, the drive reverses the selected direction. When it is above
50% the drive works in the selected direction.
d4-12: Stop Position Gain
Sets the gain for adjusting the stopping accuracy when simple positioning is selected as the stopping method (b1-03 = 9).
No. Parameter Name Setting Range Default
d4-12 Stop Position Gain 0.50 to 2.55 1.00
Increase the value if the motor stops before the desired stop position is reached. Decrease it if the motor stops too late.
Also refer to b1-03: Stopping Method Selection on page 146 for details on simple positioning.
d5: Torque Control
Torque Control is available for CLV and CLV/PM (A1-02 = 3, 7). It allows to define a setpoint for the torque produced
by the motor.
Torque Control Operation
Torque control can be enabled either by setting parameter d5-01 to 1 or by a digital input (H1- = 71). Figure 5.51
illustrates the working principle.
Figure 5.51
Torque Compensation
d5-02
U1-09
External Torque Reference Torque Reference Delay
d5-08 L7-
C1- , C2-
+ Torque Internal Torque
Soft Limits Reference
External Speed Limit +
Starter 1 d5-03
2
Speed Limiter
Speed Limit set in d5-04
Compensated torque
reference
Speed Feedback
Speed Limit Bias d5-05
common_TMonly
Figure 5.51 Torque Control Block Diagram
The externally input torque reference is used as the target value for the motor output torque. If the motor torque reference
and the load torque are not in balance when in Torque Control, the motor accelerates or decelerates. An operation beyond
the speed limit is prevented by compensating the external torque reference value if the motor speed reaches the limit. The
compensation value is calculated using the speed limit, speed feedback, and the speed limit bias.
If an external torque compensation value is input, it is added to the speed limit compensated torque reference value. The
value calculated is limited by the L7- settings, and is then used as the internal torque reference, which can be
monitored in U1-09. The L7- settings have highest priority, i.e., the motor cannot be operated with a higher torque
than the L7- settings, even if the external torque reference value is increased.
200 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.4 d: Reference Settings
Setting the Torque Reference, Speed Limit, and Torque Compensation Values
Torque Control Reference Sources
Input values for Torque Control can be set like explained in Table 5.19.
Table 5.19 Torque Control Input Value Selection
Input Value Signal Source Settings Remarks
Make sure the signal level settings for the input terminal selected
Analog inputs A1/A2/A3 H3-02, H3-10, or H3-06 = 13 <1> match the signal used. Refer to H3: Multi-Function Analog Inputs
on page 247 for details on adjusting analog input signals.
The H3- settings become effective for the option board input
terminals. Make sure the signal level settings for the input terminal
• F2-01 = 0
Analog Option Card selected match the signal used. Refer to H3: Multi-Function
• H3-02, H3-10, or H3-06 = 13 <1>
Analog Inputs on page 247 for details on adjusting analog input
Torque Reference signals.
• b1-01 = 2
MEMOBUS Register 0004H • Set Register 000FH, Bit 2 = 1 to enable Torque –
reference from register 0004H
• b1-01 = 3
• F6-06 = 1
Communication Option Card –
Refer to the option card manual for details about
setting the torque reference.
d5-03 = 1
Signal selected as frequency The speed limit is taken from the input selected as The settings in C1- for accel/decel times and in C2- for
Speed Limit reference source frequency reference source in parameter b1-01 or S-curves are applied to the speed limit value.
b1-15. <1>
Parameter d5-04 d5-03 = 2 –
Make sure the signal level settings for the input terminal selected
Analog inputs A1/A2/A3 H3-02, H3-10, or H3-06 = 14 <1> match the signal used. Refer to H3: Multi-Function Analog Inputs
on page 247 for details on adjusting analog input signals.
The H3- settings become effective for the option card input
• F2-01 = 0
Analog Option Card terminals. Make sure the signal level settings for the input terminal
• H3-02, H3-10, or H3-06 = 14 <1>
selected match the signal used.
Torque Compensation
• b1-01 = 2
MEMOBUS Register 0005H • Set Register 000FH, bit 3 = 1 to enable the torque –
compensation setting by register 0005H
• b1-01 = 3
Communication Option Card • Refer to the option card manual for details about –
setting the torque compensation value.
<1> Sets analog input terminals A1, A2, and A3 to supply the speed limit, torque reference, or torque compensation. An oPE07 error
(Multi-Function Analog Input Selection Error) will occur if two analog inputs are set for the same function.
Input Value Polarity
The direction of the input values described above depends on the polarity of the Run command and the input value.
• With a Forward run command and a positive torque reference signal the internal torque reference will be positive, i.e.,
in the forward direction. However, if a Reverse Run command is input, the torque command will be for reverse
rotation.
• With a Forward run command and a negative torque reference signal the internal torque reference will be negative, i.e.,
Parameter Details
in the reverse direction. However, if a Reverse Run command is input, the torque command will be for forward
rotation.
When analog inputs are used, negative input values can be generated by
• applying negative voltage input signals.
• using positive analog input signals but setting the analog input bias to negative values so that the input value can be 5
negative.
• applying positive voltage input signals and using a digital input that is programmed for H1- = 78.
When MEMOBUS/Modbus communication or a communication option card is used, only positive input values can be
set.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 201
5.4 d: Reference Settings
Speed Limitation and Speed Limit Bias
The speed limit setting is read from the input selected in parameter d5-03. A bias can be added to this speed limit using
parameter d5-05 while parameter d5-08 determines how the speed limit bias is applied. Table 5.20 explains the relation
between these settings.
Table 5.20 Speed Limit, Speed Bias and Speed Limit Priority Selection
Operating Conditions
Run Command Forward Reverse Forward Reverse Forward Reverse Forward Reverse
Torque Reference
Positive (Forward) Negative (Reverse) Negative (Reverse) Positive (Forward) Positive (Forward) Negative (Reverse) Negative (Reverse) Positive (Forward)
Direction
Speed Limit
Positive (Forward) Negative (Reverse) Negative (Reverse) Positive (Forward) Positive (Forward) Negative (Reverse) Negative (Reverse) Positive (Forward)
Direction
Rotation Direction Forward Reverse Forward Reverse
Torque Torque Torque Torque
Torque Δn Speed Limit Torque Torque Torque Δn
Limit Bias d5-05 Limit Limit Limit Δn
Speed Limit
Speed Limit Internal
Bias d5-05
Speed Bias d5-05 Torque
Internal
Torque Limit Speed Reference
Speed Limit
Bidirectional Speed Reference Limit Bias
Limit Bias Speed Speed Speed d5-05 Speed
0 0
(d5-08 = 0) 0 0
<1> Internal Speed
Torque Internal Limit Bias
Speed Limit Speed Reference Δn Speed
Torque d5-05
Bias d5-05 Limit Limit
Reference
Torque Speed Limit Torque Torque Torque
Limit Bias d5-05 Δn Limit Δn d5-05 Limit Limit
Torque Torque Torque Torque
Torque Δn Torque Torque Torque Δn
Limit Δn Limit Limit Speed Limit Limit Δn
Bias d5-05
Speed Speed Limit
Internal Internal
Torque Limit Bias d5-05 Speed Limit Torque
Unidirectional Reference Reference
Speed Limit Bias Speed Speed Speed
0 Speed 0
(d5-08 = 1) 0 0
<1> Internal Internal
Torque Speed
Speed Torque
Speed Reference Reference Speed Limit Bias
Limit Bias
Limit Limit d5-05
d5-05
Torque Δn Torque Δn Torque Torque
Limit Δn Limit Δn Limit Limit
Winder Unwinder
Speed Torque Speed Torque Torque Speed Torque Speed
Application Example Line Direction Line Direction
M Line Direction M M M Line Direction
<1> The value of delta n in the drawings depends on the ASR setting in parameters C5-.
Indicating Operation at the Speed Limit
A digital output can be programmed to close when the drives is operating at or beyond the speed limit (H2- = 32).
Use this output to notify a PLC or some other control device of abnormal operating conditions.
Switching Between Torque and Speed Control
A digital input can be used to switch Torque Control and Speed Control (H1- = 71). When switching from Speed
Control to Torque Control, the torque limit becomes the torque reference and the speed reference becomes the speed
limit. This change is reversed when switching back to Speed Control.
If required by the application, a delay time can be set up using parameter d5-06. The reference values (torque reference/
speed limit in Torque Control or speed reference/torque limit in Speed Control) are held during this switch delay time. Be
sure to change the reference values from the controller within this delay time.
Note: 1. The speed/torque control switchover time d5-06 is not applied when the Stop command is entered. Here the operation switches
immediately to speed control and the drive decelerates to stop at the torque limit.
2. Set d5-01 to 0 when switching between Torque Control and Speed Control. An oPE15 alarm will be triggered if parameter d5-01 is
set to 1 while H1- is set to 71 at the same time.
202 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.4 d: Reference Settings
Figure 5.52
Speed/Torque control OFF ON OFF ON
switch (H1- = 71)
Run command OFF ON
Operation Mode Speed Control Torque Control Speed Control Torque Control Speed Control
Frequency reference Speed Ref. Speed Limit Speed Ref. Speed Limit Speed Ref.
signal or d5-04
Torque reference signal/
Torque Limit Torque Reference Torque Limit Torque Reference Torque Limit
Torque limit
d5-06 d5-06 d5-06 common_TMonly
Figure 5.52 Speed/Torque Control Switching Time
d5-01: Torque Control Selection
No. Parameter Name Setting Range Default
d5-01 Torque Control Selection 0 or 1 0
Setting 0: Disabled
Speed Control will be active. Also use this setting when H1- = 71 (Speed/Torque Control Switch).
Setting 1: Enabled
Torque Control is always enabled.
d5-02: Torque Reference Delay Time
A filter with the time constant set in parameter d5-02 can be applied to the torque reference signal in order to eliminate
oscillation that results from an unstable torque reference signal. A higher filter time will stabilize control, but also reduce
the responsiveness.
No. Parameter Name Setting Range Default
d5-02 Torque Reference Delay Time 0 to 1000 ms Determined by A1-02
d5-03: Speed Limit Selection
Parameter d5-03 determines how the speed limit is set.
Parameter Details
No. Parameter Name Setting Range Default
d5-03 Speed Limit Selection 1 or 2 1
Setting 1: Frequency Reference Input
The frequency reference value at the active reference source (digital operator, External reference 1 or External reference
2) will be used as speed limit. Note that in this case all settings for accel/decel times (C1-01 to C1-08) and S-curves
(C2-01 to C2-04) will apply for the speed limit. 5
Setting 2: Parameter d5-04
The speed limit is set by parameter d5-04.
d5-04: Speed Limit
Sets the speed limit during torque control if parameter d5-03 is set to 2. Refer to Speed Limitation and Speed Limit Bias
on page 202.
No. Parameter Name Setting Range Default
d5-04 Speed Limit -120 to 120% 0%
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 203
5.4 d: Reference Settings
d5-05: Speed Limit Bias
Using d5-05 a bias can be applied to the speed limit value. The bias is set as a percentage of the maximum output
frequency. Refer to Speed Limitation and Speed Limit Bias on page 202.
No. Parameter Name Setting Range Default
d5-05 Speed Limit Bias 0 to 120% 10%
d5-06: Speed/Torque Control Switchover Time
Sets the delay time for switching from Speed Control to Torque Control and vice versa.
No. Parameter Name Setting Range Default
d5-06 Speed/Torque Control Switchover Time 0 to 1000 ms 0 ms
d5-08: Unidirectional Speed Limit Bias
Parameter d5-08 selects how the speed limit bias is applied.
No. Parameter Name Setting Range Default
d5-08 Unidirectional Speed Limit Bias 0 or 1 1
Setting 0: Disabled
The speed limit bias is applied in both directions, the speed limit and the opposite direction.
Setting 1: Enabled
The speed limit bias is applied in the opposite direction of the speed limit only.
d6: Field Weakening and Field Forcing
Field Weakening
The Field Weakening function reduces the output voltage to a pre-defined level in order to reduce the energy
consumption of the motor. It can be activated using a digital input programmed for H1- = 63. Field Weakening
should only be used with a known and unchanging light load condition. Use the Energy Saving function (b8-
parameters) when Energy Saving for various different load conditions is required.
Field Forcing
The Field Forcing function compensates the delaying influence of the motor time constant when changing the excitation
current reference. Field Forcing can improve the motor responsiveness. It is ineffective during DC Injection Braking.
d6-01: Field Weakening Level
Sets the level to what the output voltage is reduced when Field Weakening is activated. Set as percentage of the drive
maximum output voltage.
No. Parameter Name Setting Range Default
d6-01 Field Weakening Level 0 to 100% 80%
d6-02: Field Weakening Frequency Limit
Sets the minimum output frequency for that field weakening can be activated. For frequencies below d6-02, Field
Weakening cannot be activated.
No. Parameter Name Setting Range Default
d6-02 Field Weakening Frequency Limit 0 to 400.0 Hz 0.0 Hz
204 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.4 d: Reference Settings
d6-03: Field Forcing Selection
Enables or disables the Field Forcing function.
No. Parameter Name Setting Range Default
d6-03 Field Forcing Selection 0 or 1 0
Setting 0: Disabled
Setting 1: Enabled
d6-06: Field Forcing Limit
This parameter rarely requires adjustment. Sets the maximum level to what the Field Forcing function can boost the
excitation current reference. The value is set as a percentage of the motor no load current.
No. Parameter Name Setting Range Default
d6-06 Field Forcing Limit 100 to 400% 400%
d7: Offset Frequency
d7-01 to d7-03: Offset Frequency 1 to 3
Three different offset values can be added to the frequency reference. They can be selected using digital inputs
programmed for Offset frequency 1, 2, and 3 (H1- = 44, 45, 46). The selected offset values are added together if
multiple inputs are closed at the same time. The value is set as a percentage of the Maximum Output Frequency.
Note: This function can be used to replace the “Trim Control” function (H1- = 1C, 1D) of earlier Yaskawa drives.
No. Parameter Name Setting Range Default
d7-01 Offset Frequency 1 -100.0 to 100.0% 0%
d7-02 Offset Frequency 2 -100.0 to 100.0% 0%
d7-03 Offset Frequency 3 -100.0 to 100.0% 0%
Figure 5.53 illustrates the Offset frequency function.
Figure 5.53
Frequency
Frequency SFS reference after
reference
soft starter
Multi-function
input (44) = on
Offset Frequency 1 [d7-01]
(Signed)
Multi-function
input (45) = on
Parameter Details
Offset Frequency 2 [d7-02]
(Signed)
Multi-function
input (46) = on
Offset Frequency 3 [d7-03]
(Signed)
common_TMonly
Figure 5.53 Offset Frequency Operation 5
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 205
5.5 E: Motor Parameters
5.5 E: Motor Parameters
E parameters cover V/f pattern and motor data settings.
E1: V/f Pattern for Motor 1
V/f Pattern Settings (E1-03)
The drive uses the V/f pattern that has been set to adjust the output voltage relative to the frequency reference. There are
15 different preset V/f patterns (setting 0 to E) to select from, each with varying voltage profiles, saturation levels
(frequency at which maximum voltage is reached), and maximum frequencies. Additionally, one custom V/f pattern is
available (setting F). The custom V/f pattern requires the user to create the pattern using parameters E1-04 through
E1-10.
E1-03: V/f Pattern Selection
The user can select the V/f pattern for the drive and motor from 15 predefined patterns, or create a custom V/f pattern.
No. Parameter Name Setting Range Default
E1-03 V/f Pattern Selection 0 to F <1> F <2>
<1> Parameter setting value is not reset to the default value during drive initialization (A1-03).
<2> Settings 0 through E are not available when using any of the vector control modes.
Setting a Predefined V/f Pattern (Setting 0 to E)
Choose the V/f pattern that best meets the application demands from Table 5.21. These settings are available only in V/f
Control modes. Set the correct value to E1-03. Parameters E1-04 to E1-13 can only be monitored, not changed.
Note: 1. Setting an improper V/f pattern may result in low motor torque or increased current due to overexcitation.
2. Parameter E1-03 is not reset when the drive is initialized.
Table 5.21 Predefined V/f Patterns
Setting Specification Characteristic Application
0 50 Hz
1 60 Hz For general purpose applications. Torque remains constant regardless of
Constant torque
2 60 Hz (with 50 Hz base) changes to speed.
3 72 Hz (with 60 Hz base)
4 50 Hz, Heavy Duty 2
5 50 Hz, Heavy Duty 1 For fans, pumps, and other applications where the required torque
Derated torque
6 60 Hz, Heavy Duty 1 changes as a function of the speed.
7 60 Hz, Heavy Duty 2
8 60 Hz, mid starting torque
9 60 Hz, high starting torque Select high starting torque when:
High starting torque • Wiring between the drive and motor exceeds 150 m
A 60 Hz, mid starting torque • A large amount of starting torque is required
B 60 Hz, high starting torque
C 90 Hz (with 60 Hz base)
D 120 Hz (with 60 Hz base) Constant output Output voltage is constant when operating at greater than 60 Hz.
E 180 Hz (with 60 Hz base)
For general purpose applications. Torque remains constant regardless of
F <1> 60 Hz Constant torque
changes to speed.
<1> Setting F enables a custom V/f pattern by changing parameters E1-04 to E1-13. When the drive is shipped, the default values for parameters
E1-04 to E1-13 are the same as those of setting 1.
The following tables show details on predefined V/f patterns.
206 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.5 E: Motor Parameters
Predefined V/f Patterns for models CIMR-U40011, CIMR-U40014
Table 5.22 Constant Torque Characteristics, Settings 0 to 3
Setting = 0 50 Hz Setting = 1 60 Hz Setting = 2 60 Hz Setting = 3 72 Hz
400 400 400 400
Voltage (V)
Voltage (V)
Voltage (V)
Voltage (V)
30 30 30 30
18 18 18 18
0 1.3 2.5 50 0 1.5 3 60 0 1.5 3 50 60 0 1.5 3 60 72
Frequency (Hz) Frequency (Hz) Frequency (Hz) Frequency (Hz)
Table 5.23 Derated Torque Characteristics, Settings 4 to 7
Setting = 4 50 Hz Setting = 5 50 Hz Setting = 6 60 Hz Setting = 7 60 Hz
400 400 400 400
Voltage (V)
Voltage (V)
Voltage (V)
Voltage (V)
100 100
70 70
18 18
16 16
0 1.3 25 50 0 1.3 25 50 0 1.5 30 60 0 1.5 30 60
Frequency (Hz) Frequency (Hz) Frequency (Hz) Frequency (Hz)
Table 5.24 High Starting Torque, Settings 8 to B
Setting = 8 50 Hz Setting = 9 50 Hz Setting = A 60 Hz Setting = B 60 Hz
400 400 400 400
Voltage (V)
Voltage (V)
Voltage (V)
Voltage (V)
48 48
38 38
26 30
22 22
0 1.3 2.5 50 0 1.3 2.5 50 0 1.5 3 60 0 1.5 3 60
Frequency (Hz) Frequency (Hz) Frequency (Hz) Frequency (Hz)
Table 5.25 Rated Output Operation, Settings C to F
Setting = C 90 Hz Setting = D 120 Hz Setting = E 180 Hz Setting = F 60 Hz
400 400 400 400
Voltage (V)
Voltage (V)
Voltage (V)
Voltage (V)
Parameter Details
30 30 30 30
18 18 18 18
0 1.5 3 60 90 0 1.5 3 60 120 0 1.5 3 60 180 0 1.5 3 60
Frequency (Hz) Frequency (Hz) Frequency (Hz) Frequency (Hz)
Predefined V/f Patterns for Models CIMR-U20028 to 20192 and CIMR-U40021 to 40124
The following graphs are for 200 V class drives. Double values when using a 400 V class drive.
5
Table 5.26 Rated Torque Characteristics, Settings 0 to 3
Setting = 0 50 Hz Setting = 1 60 Hz Setting = 2 60 Hz Setting = 3 72 Hz
200 200 200 200
Voltage (V)
Voltage (V)
Voltage (V)
Voltage (V)
14 14 14 14
7 7 7 7
0 1.3 2.5 50 0 1.5 3 60 0 1.5 3 50 60 0 1.5 3 60 72
Frequency (Hz) Frequency (Hz) Frequency (Hz) Frequency (Hz)
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 207
5.5 E: Motor Parameters
Table 5.27 Derated Torque Characteristics, Settings 4 to 7
Setting = 4 50 Hz Setting = 5 50 Hz Setting = 6 60 Hz Setting = 7 60 Hz
200 200 200 200
Voltage (V)
Voltage (V)
Voltage (V)
Voltage (V)
50 50
14 35
7 7
7 6
0 1.3 25 50 0 1.3 25 50 0 1.5 30 60 0 1.5 30 60
Frequency (Hz) Frequency (Hz) Frequency (Hz) Frequency (Hz)
Table 5.28 High Starting Torque, Settings 8 to B
Setting = 8 50 Hz Setting = 9 50 Hz Setting = A 60 Hz Setting = B 60 Hz
200 200 200 200
Voltage (V)
Voltage (V)
Voltage (V)
Voltage (V)
23 23
18 18
11 13
9 9
0 1.3 2.5 50 0 1.3 2.5 50 0 1.5 3 60 0 1.5 3 60
Frequency (Hz) Frequency (Hz) Frequency (Hz) Frequency (Hz)
Table 5.29 Constant Output, Settings C to F
Setting = C 90 Hz Setting = D 120 Hz Setting = E 180 Hz Setting = F 60 Hz
200 200 200 200
Voltage (V)
Voltage (V)
Voltage (V)
Voltage (V)
14 14 14 14
7 7 7 7
0 1.5 3 60 90 0 1.5 3 60 120 0 1.5 3 60 180 0 1.5 3 60
Frequency (Hz) Frequency (Hz) Frequency (Hz) Frequency (Hz)
Predefined V/f Patterns for Models CIMR-U20248 and CIMR-U40156 to 40414
The following graphs are for 200 V class drives. Double values when using a 400 V class drive.
Table 5.30 Rated Torque Characteristics, Settings 0 to 3
Setting = 0 50 Hz Setting = 1 60 Hz Setting = 2 60 Hz Setting = 3 72 Hz
200 200 200 200
Voltage (V)
Voltage (V)
Voltage (V)
Voltage (V)
12 12 12 12
6 6 6 6
0 1.3 2.5 50 0 1.5 3 60 0 1.5 3 50 60 0 1.5 3 60 72
Frequency (Hz) Frequency (Hz) Frequency (Hz) Frequency (Hz)
Table 5.31 Derated Torque Characteristics, Settings 4 to 7
Setting = 4 50 Hz Setting = 5 50 Hz Setting = 6 60 Hz Setting = 7 60 Hz
200 200 200 200
Voltage (V)
Voltage (V)
Voltage (V)
Voltage (V)
50 50
35 35
6 6
5 5
0 1.3 25 50 0 1.3 25 50 0 1.5 30 60 0 1.5 30 60
Frequency (Hz) Frequency (Hz) Frequency (Hz) Frequency (Hz)
208 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.5 E: Motor Parameters
Table 5.32 High Starting Torque, Settings 8 to B
Setting = 8 50 Hz Setting = 9 50 Hz Setting = A 60 Hz Setting = B 60 Hz
200 200 200 200
Voltage (V)
Voltage (V)
Voltage (V)
Voltage (V)
20 20
15 15
9 11
7 7
0 1.3 2.5 50 0 1.3 2.5 50 0 1.5 3 60 0 1.5 3 60
Frequency (Hz) Frequency (Hz) Frequency (Hz) Frequency (Hz)
Table 5.33 Constant Output, Settings C to F
Setting = C 90 Hz Setting = D 120 Hz Setting = E 180 Hz Setting = F 60 Hz
200 200 200 200
Voltage (V)
Voltage (V)
Voltage (V)
Voltage (V)
12 12 12 12
6 6 6 6
0 1.5 3 60 90 0 1.5 3 60 120 0 1.5 3 60 180 0 1.5 3 60
Frequency (Hz) Frequency (Hz) Frequency (Hz) Frequency (Hz)
Setting a Custom V/f Pattern (Setting F: Default)
Setting parameter E1-03 to F allows to set up a custom V/f pattern by changing parameters E1-04 to E1-13.
When initialized, the default values for parameters E1-04 to E1-13 will be equal to V/f pattern 0 of the predefined
patterns.
V/f Pattern Settings E1-04 to E1-13
If E1-03 is set to a preset V/f pattern (i.e., set to any value besides F), then the user can refer to parameters E1-04 through
E1-13 to monitor the V/f pattern. To create a new V/f pattern, set E1-03 to F. Refer to Figure 5.54 for an example custom
V/f pattern.
Note: Certain E1- parameters might not be visible depending on the selected control mode. Refer to Parameter Table on page 404
for details.
No. Parameter Name Setting Range Default
E1-04 Maximum Output Frequency 40.0 to 400.0 Hz <1> <2> <3>
E1-05 Maximum Voltage 0.0 to 255.0 V <4> <2> <4>
E1-06 Base Frequency 0.0 to [E1-04] <1> <2> <3>
E1-07 Middle Output Frequency 0.0 to [E1-04] <2>
E1-08 Middle Output Frequency Voltage 0.0 to 255.0 V <4> <2> <4>
Parameter Details
E1-09 Minimum Output Frequency 0.0 to [E1-04] <1> <2> <3>
E1-10 Minimum Output Frequency Voltage 0.0 to 255.0 V <4> <2> <4>
E1-11 Middle Output Frequency 2 0.0 to [E1-04] 0.0 Hz <6>
E1-12 Middle Output Frequency Voltage 2 0.0 to 255.0 V <4> 0.0 V <4> <5> <6>
E1-13 Base Voltage 0.0 to 255.0 V <4> 0.0 V <4> <5> <7>
<1> Default setting is determined by E5-01 in OLV/PM. The setting range is 0.0 to 400.0 Hz when E5-01 = FFFFH.
<2> Default setting is determined by the control mode. 5
<3> When using PM motors, the default setting is determined by the motor code set to E5-01.
<4> Values shown here are for 200 V class drives. Double values when using a 400 V class drive.
<5> The drive changes these settings when Auto-Tuning is performed (Rotational Auto-Tuning, Stationary Auto-Tuning 2, 3).
<6> Parameter ignored when E1-11 and E1-12 are set to 0.0.
<7> When Auto-Tuning is performed, E1-13 and E1-05 will be set to the same value.
Figure 5.54
Output Voltage (V)
common_
TMonly
Frequency (Hz)
Figure 5.54 V/f Pattern
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 209
5.5 E: Motor Parameters
Note: 1. The following condition must be true when setting up the V/f pattern: E1-09 E1-07 E1-06 E1-11 E1-04
2. To make the V/f pattern a straight line below E1-06, set E1-09 = E1-07. In this case the E1-08 setting is disregarded.
3. E1-03 is unaffected when the parameters are initialized using parameter A1-03, but the settings for E1-04 through E1-13 are returned
to their default values.
4. Parameters E1-11, E1-12, and E1-13 should only be used to fine-tune the V/f pattern in the constant output range. These parameters
rarely need to be changed.
E2: Motor 1 Parameters
These parameters contain the motor data needed for motor 1. They are set automatically when Auto-Tuning is performed
(this includes Rotational Auto-Tuning, Stationary Auto-Tuning 2 and 3, and Rotational Auto-Tuning for V/f Control). If
Auto-Tuning cannot be performed, refer to Auto-Tuning Fault Detection on page 334 for detail.
Note: As the motor parameters for a PM motor are set up in the E5- parameters, parameters for induction motors (E2-) are
hidden when a PM motor control mode is selected for motor 1 (i.e., parameter A1-02 is set to 5, 6, or 7).
E2-01: Motor Rated Current
Provides motor control, protects the motor, and calculates torque limits. Set E2-01 to the full load amps (FLA) stamped
on the motor nameplate. If Auto-Tuning completes successfully, the value entered to T1-04 will automatically be saved
to E2-01.
No. Parameter Name Setting Range Default
Determined by
E2-01 Motor Rated Current 10% to 180% of the drive rated current.
C6-01 and o2-04
Note: 1. Display is in the following units.
CIMR-U20028, 20042, and 40011 to 40027: 0.01 A units
CIMR-U20054 to 20248, and 40034 to 40414: 0.1 A units
2. If the motor rated current in E2-01 is set lower than the motor no-load current in E2-03, than a parameter setting error will occur
(oPE02). E2-03 must be set correctly to prevent this error.
E2-02: Motor Rated Slip
Sets the motor rated slip in Hz to provide motor control, protect the motor and calculate torque limits. This value is
automatically set during Auto-Tuning (Rotational Auto-Tuning, Stationary Auto-Tuning 2 and 3).
No. Parameter Name Setting Range Default
Determined by C6-01 and
E2-02 Motor Rated Slip 0.00 to 20.00 Hz
o2-04
If Auto-Tuning cannot be performed, calculate the motor rated slip using the information written on the motor nameplate
and the formula below:
E2-02 = f (n p)/120
(f: rated frequency (Hz), n: rated motor speed (min-1), p: number of motor poles)
E2-03: Motor No-Load Current
Set the no-load current for the motor in amperes when operating at the rated frequency and the no-load voltage. The drive
sets E2-03 during the Auto-Tuning process (Rotational Auto-Tuning and Stationary Auto-Tuning 2 and 3). The motor
no-load current listed in the motor test report can also be entered to E2-03 manually. Contact the motor manufacturer to
receive a copy of the motor test report.
No. Parameter Name Setting Range Default
0.00 A to [E2-01] Determined by C6-01 and
E2-03 Motor No-Load Current
(unit: 0.01 A) o2-04
Note: Display is in the following units.
CIMR-U20028, 20042, and 40011 to 40027: 0.01 A units
CIMR-U20054 to 20248, and 40034 to 40414: 0.1 A units
E2-04: Number of Motor Poles
Set the number of motor poles to E2-04. If Auto-Tuning completes successfully, the value entered to T1-06 will
automatically be saved to E2-04.
210 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.5 E: Motor Parameters
No. Parameter Name Setting Range Default
E2-04 Number of Motor Poles 2 to 48 4
E2-05: Motor Line-to-Line Resistance
Sets the line-to-line resistance of the motor stator winding. If Auto-Tuning completes successfully, this value is
automatically calculated. Remember that this value must be entered as line-to-line and not for each motor phase.
If Auto-Tuning is not possible, then contact the motor manufacturer to find out the line-to-line resistance or measure it
manually. When using the manufacturer motor test report, calculate E2-05 by the formulas below.
• E-type insulation: Multiply 0.92 times the resistance value () listed on the test report at 75°C
• B-type insulation: Multiply 0.92 times the resistance value () listed on the test report at 75°C.
• F-type insulation: Multiply 0.87 times the resistance value () listed on the test report at 115°C.
No. Parameter Name Setting Range Default
Determined by C6-01 and
E2-05 Motor Line-to-Line Resistance 0.000 to 65.000
o2-04
E2-06: Motor Leakage Inductance
Sets the voltage drop due to motor leakage inductance as a percentage of motor rated voltage. This value is automatically
set during Auto-Tuning (Rotational Auto-Tuning, Stationary Auto-Tuning 2 and 3).
No. Parameter Name Setting Range Default
Determined by C6-01 and
E2-06 Motor Leakage Inductance 0.0 to 40.0%
o2-04
E2-07: Motor Iron-Core Saturation Coefficient 1
Sets the motor iron saturation coefficient at 50% of the magnetic flux. If Rotational Auto-Tuning completes successfully,
then this value is automatically calculated and set to E2-07. This coefficient is used when operating with constant output.
No. Parameter Name Setting Range Default
E2-07 Motor Iron-Core Saturation Coefficient 1 0.00 to 0.50 0.50
E2-08: Motor Iron-Core Saturation Coefficient 2
Sets the motor iron saturation coefficient at 75% of the magnetic flux. If Rotational Auto-Tuning completes successfully,
then this value is automatically and set to E2-08. This coefficient is used when operating with constant output.
No. Parameter Name Setting Range Default
E2-08 Motor Iron-Core Saturation Coefficient 2 E2-07 to 0.75 0.75
Parameter Details
E2-09: Motor Mechanical Loss
There is normally no need to change this parameter from the default value.
This parameter sets to the motor mechanical loss as a percentage of motor rated power (kW) capacity. Adjust this setting
in the following circumstances:
5
• When there is a large amount of torque loss due to motor bearing friction.
• When there is a large amount of torque loss in a fan or pump application.
The setting for the mechanical loss is added to the torque.
No. Parameter Name Setting Range Default
E2-09 Motor Mechanical Loss 0.0 to 10.0% 0.0%
E2-10: Motor Iron Loss for Torque Compensation
This parameter sets the motor iron loss in watts.
No. Parameter Name Setting Range Default
Determined by C6-01 and
E2-10 Motor Iron Loss for Torque Compensation 0 to 65535 W
o2-04
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 211
5.5 E: Motor Parameters
E2-11: Motor Rated Power
This parameter sets the motor rated power in kW. If Auto-Tuning completes successfully, the value entered to T1-02 will
automatically be saved to E2-11.
No. Parameter Name Setting Range Default
Determined by
E2-11 Motor Rated Power 0.00 to 650.00 kW
C6-01 and o2-04
Setting Motor Parameters Manually
Follow the instructions below when setting motor-related parameters manually instead of using the Auto-Tuning feature.
Refer to the motor test report included with the motor to make sure the correct data is entered into the drive.
Setting the Motor Rated Current
Enter the motor rated current listed on the nameplate of the motor to E2-01.
Setting the Motor Rated Slip
Use the base speed listed on the motor nameplate to calculate the rated slip. Refer to the formula below, then enter that
value to E2-02.
Motor rated slip = rated frequency [Hz] – base speed [min-1] (no. of motor poles) / 120
Setting the No-Load Current
Enter the no-load current at rated frequency and rated voltage to E2-03. The no-load current is not usually listed on the
nameplate. Contact the motor manufacturer if the data cannot be found.
The default setting of the no-load current is for performance with a 4-pole Yaskawa motor.
Setting the Number of Motor Poles
Only required when A1-02 is set to 0, 1, 2, 3 (Control Modes for Induction Motors). Enter the number of motor poles as
indicated on motor nameplate.
Setting the Line-to-Line Resistance
E2-05 is normally set during Auto-Tuning. If Auto-Tuning cannot be performed, contact the manufacturer of the motor to
find out what the correct resistance is between motor lines. The motor test report can also be used to calculate this value:
• E-type insulation: Multiply 0.92 times the resistance value () listed on the test report at 75C.
• B-type insulation: Multiply 0.92 times the resistance value () listed on the test report at 75C.
• F-type insulation: Multiply 0.87 times the resistance value () listed on the test report at 115C.
Setting the Motor Leakage Inductance
The motor leakage inductance set to E2-06 determines the amount of voltage drop relative to the motor rated voltage.
This value should be entered particularly for motors with a low degree of inductance, such as high-speed motors. As this
information is not listed on the motor nameplate, contact the motor manufacturer to find out the correct value for the
motor leakage inductance.
Setting the Motor Iron-Core Saturation Coefficient 1, 2
E2-07 and E2-08 are set when Auto-Tuning is performed.
Setting the Motor Mechanical Loss
The drive only requires this information when using Closed Loop Vector Control. The drive compensates for the degree
of mechanical loss with torque compensation. Although E2-09 rarely needs to be changed, adjustment may benefit the
following circumstances:
• When there is a large amount of torque loss due to motor bearing friction.
• When there is a large amount of torque loss in a fan or pump application.
Setting the Motor Iron Loss for Torque Compensation
This value only needs to be set when using V/f Control. Enter this value in watts to E2-10. The drive uses this setting to
improve the precision of torque compensation.
212 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.5 E: Motor Parameters
E3: V/f Pattern for Motor 2
These parameters set the V/f pattern used for motor 2. Refer to Setting 16: Motor 2 selection on page 232 for details on
switching motors.
Note: As the function for switching between two motors cannot be used with a PM motor, the E3- parameters will be hidden when
a PM motor control mode is selected (A1-02 = 5, 6, or 7).
E3-01: Motor 2 Control Mode Selection
Selects the control mode for motor 2. A control mode for PM motors cannot be selected for motor 2.
Note: 1. E3-01 dependant parameters are reset to the default settings when E3-01 is changed.
2. Protection from motor overload (oL1) is determined by L1-01, just as it is for motor 1.
No. Parameter Name Setting Range Default
E3-01 Motor 2 Control Mode Selection 0 to 3 0
Setting 0: V/f Control
Setting 1: V/f Control with PG
Setting 2: Open Loop Vector Control
Setting 3: Closed Loop Vector Control
E3-04 to E3-13
Parameters E3-04 through E3-13 set up the V/f pattern used for motor 2 as shown in Figure 5.55.
Note: Certain E3- parameters might not be visible depending on the control mode. Refer to Parameter Table on page 404.
No. Parameter Name Setting Range Default
E3-04 Motor 2 Max Output Frequency 40.0 to 400.0 Hz <2>
E3-05 Motor 2 Max Voltage 0.0 to 255.0 <1> <1> <2>
E3-06 Motor 2 Base Frequency 0.0 to [E3-04] <2>
E3-07 Motor 2 Mid Output Frequency 0.0 to [E3-04] <2>
E3-08 Motor 2 Mid Output Frequency Voltage 0.0 to 255.0 <1> <1> <2>
E3-09 Motor 2 Minimum Output Frequency 0.0 to [E3-04] <2>
E3-10 Motor 2 Minimum Output Frequency Voltage 0.0 to 255.0 <1> <1> <2>
E3-11 Motor 2 Mid Output Frequency 2 0.0 to [E3-04] 0.0 Hz <4>
E3-12 Motor 2 Mid Output Frequency Voltage 2 0.0 to 255.0 <1> 0.0 V <1> <3> <4>
E3-13 Motor 2 Base Voltage 0.0 to 255.0 <1> 0.0 V <1> <3>
<1> Values shown here are for 200 V class drives. Double the value when using a 400 V class drive.
<2> Default setting is determined by the control mode selected for motor 2 (E3-01).
<3> The drive sets this value when Auto-Tuning is performed (Rotational Auto-Tuning and Stationary Auto-Tuning 2).
<4> Parameter ignored when E3-11 and E3-12 are set to 0.0.
Parameter Details
Figure 5.55
Output (V)
E3-05
E3-12
E3-13
E3-08 5
E3-10 common_TMonly
E3-09 E3-07 E3-06 E3-11 E3-04
Frequency (Hz)
Figure 5.55 V/f Pattern for Motor 2
Note: 1. The following conditions must be true when setting up the V/f pattern: E3-09 E3-07 E3-06 E3-11 E3-04
2. To make the V/f pattern a straight line at a frequency lower than E3-06, set E3-09 = E3-07. With this setting, E3-08 is disregarded.
3. Parameters E3-04 through E3-13 are reset to their default values when the drive is initialized.
4. E3-11, E3-12, and E3-13 rarely need to be changed, and should only be used to fine-tune the V/f pattern in the constant output range.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 213
5.5 E: Motor Parameters
E4: Motor 2 Parameters
E4 parameters contain the motor data for motor 2. These parameters are usually set automatically during the
Auto-Tuning process (Rotational Auto-Tuning, Stationary Auto-Tuning 2 and 3). If Auto-Tuning cannot be performed,
refer to Auto-Tuning Fault Detection on page 334 for detail.
Note: As the function for switching between two motors cannot be used with a PM motor, the E5- parameters will be hidden when
a PM motor control mode is selected (A1-02 = 5, 6, or 7).
E4-01: Motor 2 Rated Current
Set E4-01 to the full load amps (FLA) stamped on the nameplate of motor 2. This value is used for motor protection and
to calculate torque limits. If Auto-Tuning completes successfully, the value entered to T1-04 will automatically be saved
to E4-01.
No. Parameter Name Setting Range Default
Determined by C6-01 and
E4-01 Motor 2 Rated Current 10 to 150% of the drive rated current.
o2-04
Note: 1. Display is in the following units.
CIMR-U20028, 20042, and 40011 to 40027: 0.01 A units
CIMR-U20054 to 20248, and 40034 to 40414: 0.1 A units
2. If the motor rated current in E4-01 is set lower than the motor no-load current in E4-03, then a parameter setting error will occur
(oPE02). E4-03 must be set correctly to prevent this error.
E4-02: Motor 2 Rated Slip
This parameter sets the motor 2 rated slip frequency. Slip compensation is based on this value. The drive calculates this
value automatically during Auto-Tuning (Rotational Auto-Tuning and Stationary Auto-Tuning 2 and 3).
For information on calculating the motor rated slip, refer to E2-02: Motor Rated Slip on page 210.
No. Parameter Name Setting Range Default
Determined by C6-01 and
E4-02 Motor 2 Rated Slip 0.00 to 20.00 Hz
o2-04
E4-03: Motor 2 No-Load Current
Set the no-load current for motor 2 in amperes when operating at the rated frequency and the no-load voltage. The drive
sets E2-03 during the Auto-Tuning process (Rotational Auto-Tuning and Stationary Auto-Tuning 2 and 3). The motor
no-load current listed in the motor test report can also be entered to E2-03 manually. Contact the motor manufacturer to
receive a copy of the motor test report.
No. Parameter Name Setting Range Default
Determined by C6-01 and
E4-03 Motor 2 No-Load Current 0 to [E4-01]
o2-04
Note: Display is in the following units.
CIMR-U20028, 20042, and 40011 to 40027: 0.01 A units
CIMR-U20054 to 20248, and 40034 to 40414: 0.1 A units
E4-04: Motor 2 Motor Poles
Set the pole number of motor 2 to E4-04. If Auto-Tuning completes successfully, the entered value to T1-06 will be
automatically saved to E4-04.
No. Parameter Name Setting Range Default
E4-04 Motor 2 Motor Poles 2 to 48 4
E4-05: Motor 2 Line-to-Line Resistance
Sets the line-to-line resistance for the motor 2 stator winding. If Auto-Tuning completes successfully, this value is
automatically calculated. Remember this value must be entered as line-to-line and not for each motor phase. Refer to
E2-05: Motor Line-to-Line Resistance on page 211 to manually enter this parameter setting.
214 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.5 E: Motor Parameters
No. Parameter Name Setting Range Default
Determined by C6-01 and
E4-05 Motor 2 Line-to-Line Resistance 0.000 to 65.000
o2-04
E4-06: Motor 2 Leakage Inductance
Sets the voltage drop due to motor leakage inductance as a percentage of rated voltage of motor 2. This value is
automatically set during Auto-Tuning (Rotational Auto-Tuning and Stationary Auto-Tuning 2 and 3).
No. Parameter Name Setting Range Default
Determined by C6-01 and
E4-06 Motor 2 Leakage Inductance 0.0 to 40.0%
o2-04
E4-07: Motor 2 Motor Iron-Core Saturation Coefficient 1
Sets the motor 2 iron saturation coefficient at 50% of magnetic flux. This value is automatically set during Rotational
Auto-Tuning. Adjust this parameter when operating in the constant output range.
No. Parameter Name Setting Range Default
E4-07 Motor 2 Motor Iron-Core Saturation Coefficient 1 0.00 to 0.50 0.50
E4-08: Motor 2 Motor Iron-Core Saturation Coefficient 2
Sets the motor iron saturation coefficient at 75% of magnetic flux. This value is automatically set during Rotational
Auto-Tuning. Adjust this parameter when operating in the constant output range.
No. Parameter Name Setting Range Default
E4-08 Motor 2 Motor Iron-Core Saturation Coefficient 2 [E4-07] to 0.75 0.75
E4-09: Motor 2 Mechanical Loss
There is normally no need to change this parameter from the default value.
Sets the motor mechanical loss as a percentage of motor rated power (kW).
This parameter may need to be adjusted in the following circumstances:
• When there is a large amount of torque loss due to motor bearing friction.
• When there is a large amount of torque loss in a fan or pump application.
The setting for the mechanical loss is added to the torque.
No. Parameter Name Setting Range Default
E4-09 Motor 2 Mechanical Loss 0.0 to 10.0% 0.0%
Parameter Details
E4-10: Motor 2 Iron Loss
Sets the motor 2 iron loss in watts.
No. Parameter Name Setting Range Default
E4-10 Motor 2 Iron Loss 0 to 65535 W
Determined by C6-01 and 5
o2-04
E4-11: Motor 2 Rated Power
Sets the motor 2 rated power. If Auto-Tuning completes successfully, the value entered to T1-02 will automatically be
saved to E4-11.
No. Parameter Name Setting Range Default
E4-11 Motor 2 Rated Power 0.00 to 650.00 kW Determined by o2-04
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 215
5.5 E: Motor Parameters
E5: PM Motor Settings
These parameters set the motor data of a PM motor.
When Yaskawa motors are used, entering the motor code written on the motor nameplate will set up the E5-
parameters.
For all other PM motors, Auto-Tuning can be performed. If motor data is known, it can also be entered manually.
Note: 1. E5- parameters are visible only when a PM motor control mode is selected (A1-02 = 5, 6, or 7).
2. E5- parameters are not reset when the drive is initialized using parameter A1-03.
E5-01: Motor Code Selection (for PM Motors)
When Yaskawa motors are used, set the motor code for the PM motor being used. Depending on the motor code entered,
the drive automatically sets several parameters to appropriate values. Refer to Parameters that Change with the Motor
Code Selection (for PM Motors) on page 473 for details on the supported motor codes and their parameter settings.
Setting parameter E5-01 to FFFF will allow to set the motor data manually using the E5- parameters.
No. Parameter Name Setting Range Default
Determined by A1-02,
E5-01 Motor Code Selection (for PM Motors) 0000 to FFFF
C6-01 and o2-04
Note: 1. E5- parameters are not reset when the drive is initialized using parameter A1-03.
2. When E5-01 is set to a value other than FFFF, the drive will not initialize using parameter A1-03.
3. Changing E5-01 to FFFF from value other than FFFF will not change the values of parameters E5-02 through E5-24.
4. Set E5-01 to FFFF when using a motor other than a Yaskawa SMRA, SSR1, or SST4 series.
5. Default settings are:
• OLV/PM, AOLV/PM: Yaskawa SSR1 Series (1750 min-1)
• CLV/PM: Yaskawa SST4 Series (1750 min-1)
6. Selection may vary depending on the motor code entered to E5-01.
7. If an alarm or hunting occurs even though a motor code is used, enter the value indicated on the name plate. For details, refer to
Auto-Tuning for Permanent Magnet Motors on page 117.
E5-02: Motor Rated Power (for PM Motors)
Sets the rated power of the motor. Determined by the value set to T2-04 during Stationary Auto-Tuning for PM motors or
by entering the motor code to E5-01.
No. Parameter Name Setting Range Default
E5-02 Motor Rated Power (for PM Motors) 0.10 to 650.00 kW Determined by E5-01
E5-03: Motor Rated Current (for PM Motors)
Sets the motor rated current in amps. This parameter is automatically set when the value is entered to T2-06 during the
Auto-Tuning process.
No. Parameter Name Setting Range Default
E5-03 Motor Rated Current (for PM Motors) 10 to 150% of drive rated current Determined by E5-01
Note: Display is in the following units.
CIMR-U20028, 20042, and 40011 to 40027: 0.01 A units
CIMR-U20054 to 20248, and 40034 to 40414: 0.1 A units
E5-04: Number of Motor Poles (for PM Motors)
Sets the number of motor poles. This parameter is automatically set when the value is entered to T2-08 during the
Auto-Tuning process.
No. Parameter Name Setting Range Default
E5-04 Number of Motor Poles (for PM Motors) 2 to 48 Determined by E5-01
E5-05: Motor Stator Resistance (r1) (for PM Motors)
Set the resistance for one motor phase. When measuring the resistance manually, make sure not to enter the line-to-line
resistance into E5-05.
216 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.5 E: Motor Parameters
No. Parameter Name Setting Range Default
E5-05 Motor Stator Resistance (r1) (for PM Motors) 0.000 to 65.000 Determined by E5-01
E5-06: Motor d-Axis Inductance (Ld) (for PM Motors)
Sets the d-axis inductance in 0.01 mH units. This parameter is set during the Auto-Tuning process.
No. Parameter Name Setting Range Default
E5-06 Motor d-Axis Inductance (Ld) (for PM Motors) 0.00 to 300.00 mH Determined by E5-01
E5-07: Motor q-Axis Inductance (Lq) (for PM Motors)
Sets the q-axis inductance in 0.01 mH units. This parameter is set during the Auto-Tuning process.
No. Parameter Name Setting Range Default
E5-07 Motor q-Axis Inductance (Lq) (for PM Motors) 0.00 to 600.00 mH Determined by E5-01
E5-09: Motor Induction Voltage Constant 1 (Ke) (for PM Motors)
Sets the induced peak voltage per phase in units of 0.1 mV/(rad/s) [electrical angle]. Set this parameter when using an
IPM motor with derated torque (SSR1 series or equivalent) or an IPM motor with constant torque (SST4 series or
equivalent).
Set the voltage constant with E5-09 or E5-24 when E5-01 is set to FFFF. This parameter is set during Auto-Tuning for
Yaskawa SSR1 or SST4 series PM motors.
No. Parameter Name Setting Range Default
E5-09 Motor Induction Voltage Constant 1 (Ke) (for PM Motors) 0.0 to 2000.0 mV/(rad/s) Determined by E5-01
Note: Ensure that E5-24 = 0 when setting parameter E5-09. An alarm will be triggered, however, if both E5-09 and E5-24 are set 0, or
if neither parameter is set to 0. When E5-01 = FFFF, then E5-09 = 0.0.
E5-11 Encoder Z-Pulse Offset () (for PM Motors)
Sets the offset between the rotor magnetic axis and the Z-pulse of the encoder connected. This parameter is set during
Parameter Auto-Tuning for PM motors and during Z Pulse Tuning.
No. Parameter Name Setting Range Default
E5-11 Encoder Z-Pulse Offset () (for PM Motors) -180.0 to 180.0 deg 0.0 deg
E5-24: Motor Induction Voltage Constant 2 (Ke) (for PM Motors)
Set the induced phase-to-phase rms voltage in units of 0.1 mV/(min-1) [mechanical angle]. Set this parameter when using
an SPM Motor (SMRA Series or equivalent).
Parameter Details
When E5-01 is set to FFFF, use either E5-09 or E5-24 for setting the voltage constant. This parameter is set during
Parameter Auto-Tuning for PM motors.
No. Parameter Name Setting Range Default
E5-24 Motor Induction Voltage Constant 2 (Ke) (for PM Motors) 0.0 to 6500.0 mV/(min-1) Determined by E5-01 5
Note: Ensure that E5-09 = 0 when setting parameter E5-24. An alarm will be triggered, however, if both E5-09 and E5-24 are set 0, or
if neither parameter is set to 0. When E5-01 = FFFF, then E5-09 = 0.0.
E5-25: Polarity Switch for Initial Polarity Estimation (for PM Motors)
There is normally no need to change this parameter from the default value.
Switches polarity for initial polarity estimation. If “Sd = 1” is listed on the nameplate or in a test report for a Yaskawa
motor, E5-25 should be set to 1.
No. Parameter Name Setting Range Default
E5-25 Polarity Switch for Initial Polarity Estimation (for PM Motors) 0, 1 0
Setting 0: “Sd = 1” is not listed
Setting 1: “Sd = 1” is listed
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 217
5.6 F: Option Settings
5.6 F: Option Settings
F1: PG Speed Control Card Settings
Yaskawa offers a PG-X3, PG-B3, PG-RT3, and PG-F3 motor encoder PG option card. Use the CN5-C port when using
only one PG option card and use the CN5-C and CN5-B ports when using two PG option cards. When programming one
of the multi-function input terminals to act as a switch between two motors (H1-= 16), use the card connected to port
CN5-C for motor 1 and use the card connected to CN5-B for motor 2.
Table 5.34 lists the parameters that must be set for each option card port.
Table 5.34 Option Card Ports and Corresponding Parameters
Port Parameters
CN5-C and CN5-B (common) F1-02 to F1-04, F1-08 to F1-11, F1-14
CN5-C only F1-01, F1-05, F1-06, F1-12, F1-13, F1-18 to F1-21
CN5-B only F1-31 to F1-37
F1-01, F1-31: PG 1 and PG 2 Pulses Per Revolution
Sets the number encoder number of pulses per revolution.
No. Parameter Name Option Port Setting Range Default
F1-01 PG 1 Pulses Per Revolution CN5-C 1 to 60000 ppr <1> Determined by A1-02
F1-31 PG 2 Pulses Per Revolution CN5-B 1 to 60000 ppr 1024 ppr
<1> The setting range is 0 to 15000 ppr in PM motor control modes.
F1-02, F1-14: PG Open Circuit (PGo) Operation Selection, Detection Time
A PGo fault is triggered if the drive receives no pulse signal for longer than the time set in F1-14. The stopping method
when PGo occurs should be set to parameter F1-02.
Note: Depending on the motor speed and load conditions, an error such as oC may occur.
No. Parameter Name Option Port Setting Range Default
F1-02 Operation Selection at PG Open Circuit (PGo) CN5-B, CN5-C 0 to 4 1
F1-14 PG Open-Circuit Detection Time CN5-B, CN5-C 0.0 to 10.0 s 2.0 s
Parameter F1-02 Settings:
Setting 0: Ramp to stop (uses the deceleration time set to C1-02)
Setting 1: Coast to stop
Setting 2: Fast Stop (uses the Fast Stop time set to C1-09)
Setting 3: Alarm only
Setting 4: No alarm display
Note: Due to potential damage to motor and machinery, the “Alarm only” and “No alarm display” setting should be used only under
special circumstances.
F1-03, F1-08, F1-09: Overspeed (oS) Operation Selection, Detection Level, Delay Time
An overspeed error (oS) is triggered when the speed feedback exceeds the value set in F1-08 for longer than the time set
in F1-09. The stopping method when an overspeed fault occurs can be selected in parameter F1-03.
Note: In AOLV/PM, the motor will coast to a stop (F1-03 = 1). The setting for F1-03 cannot be changed to 0,2, or 3.
No. Parameter Name Option Port Setting Range Default
F1-03 Operation Selection at Overspeed (oS) CN5-B, CN5-C 0 to 3 1
F1-08 Overspeed Detection Level CN5-B, CN5-C 0 to 120% 115%
F1-09 Overspeed Detection Delay Time CN5-B, CN5-C 0.0 to 2.0 s Determined by A1-02
Parameter F1-03 Settings:
Setting 0: Ramp to stop (uses the deceleration time set to C1-02)
Setting 1: Coast to stop
Setting 2: Fast Stop (uses the Fast Stop time set to C1-09)
Setting 3: Alarm only
Note: Due to potential damage to motor and machinery, the “Alarm only” setting should be used only under special circumstances.
218 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.6 F: Option Settings
F1-04, F1-10, F1-11: Operation at Speed Deviation (dEv), Detection Level, Delay Time
A speed deviation error (dEv) is triggered when the difference between the frequency reference and the speed feedback
exceeds the value set in F1-10 for longer than the time set in F1-1. The stopping method when a speed deviation fault
occurs can be selected in parameter F1-04.
No. Parameter Name Option Port Setting Range Default
F1-04 Operation Selection at Speed Deviation (dEv) CN5-B, CN5-C 0 to 3 3
F1-10 Excessive Speed Deviation Detection Level CN5-B, CN5-C 0 to 50% 10%
F1-11 Excessive Speed Deviation Detection Delay Time CN5-B, CN5-C 0.0 to 10.0 s 0.5 s
Settings for Parameter F1-04:
Setting 0: Ramp to stop (uses the deceleration time set to C1-02)
Setting 1: Coast to stop
Setting 2: Fast Stop (uses the Fast Stop time set to C1-09)
Setting 3: Alarm only (drive continues operating while “dEv” flashes on the screen)
F1-05, F1-32: PG 1, PG 2 Rotation Selection
Determines the direction indicated by the pulses from the PG feedback encoder for motor 1 and motor 2.
See PG option card instruction manual for details on how to set the direction for the PG encoder and the motor.
No. Parameter Name Option Port Setting Range Default
F1-05 PG 1 Rotation Selection CN5-C 0, 1 Determined by A1-02 <1>
F1-32 PG 2 Rotation Selection CN5-B 0, 1 0
<1> Determined by the control mode: 0 when A1-02 = 1 or 3, 1 when A1-02 = 7.
Setting 0: A pulse leads with Forward run command.
Setting 1: B pulse leads with Forward run command.
F1-06, F1-35: PG 1, PG 2 Division Rate for PG Pulse Monitor
Sets the ratio between the pulse input and the pulse output of a PG option card as a three digit number, where the first
digit (n) sets the numerator and the second and third digit (m) set the denominator as shown below:
(1 + n)
fPulse Input = fPulse Output m
common_TMonly
Example: To have a ratio of 1/32 between the PG card pulse input and output, set F1-06 = 032.
No. Parameter Name Option Port Setting Range Default
Parameter Details
F1-06 PG 1 Division Rate for PG Pulse Monitor CN5-C 001 to 032, 102 to 132 (1 to 1 ) 1
32
F1-35 PG 2 Division Rate for PG Pulse Monitor CN5-B 1 to 132 (1 to 1 ) 1
32
F1-12, F1-13, F1-33, F1-34: PG 1, PG 2 Gear Teeth 1, 2 (V/f w/PG only)
Sets the gear ratio between the motor shaft and the PG encoder. F1-12 and F1-33 set the number of gear teeth on the
motor side, while F1-13 and F-34 set the number of gear teeth for the load side. The drive uses the formula below to
5
calculate the motor speed.
Input pulses frequency from PG × 60 Load-side PG gear teeth (F1-12/33) common_TMonly
min-1 =
Pulses per Rev (F1-01/31) Motor-side PG gear teeth (F1-13/34)
No. Parameter Name Option Port Setting Range Default
F1-12 PG 1 Gear Teeth 1 CN5-C 0 to 1000 0
F1-13 PG 1 Gear Teeth 2 CN5-C 0 to 1000 0
F1-33 PG 2 Gear Teeth 1 CN5-B 0 to 1000 0
F1-34 PG 2 Gear Teeth 2 CN5-B 0 to 1000 0
Note: A gear ratio of 1 will be used if any of these parameters is set to 0.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 219
5.6 F: Option Settings
F1-18: dv3 Detection Selection (CLV/PM)
A dv3 situation is detected when the torque reference and speed reference are in opposite directions while the difference
between the actual motor speed and the speed reference is greater than 30%. Parameter F1-18 sets the number of times
such a situation must occur before a dv3 fault is triggered. Setting F1-18 to 0 disables dv3 detection.
No. Parameter Name Option Port Setting Range Default
F1-18 dv3 Detection Selection CN5-B, CN5-C 0 to 10 10
Note: A common cause for a dv3 fault is the incorrect setting of E5-11. Make sure the correct Z pulse offset has been entered to E5-11.
F1-19: dv4 Detection Selection (CLV/PM)
A dv4 fault is triggered when there is a motor speed deviation opposite to the frequency reference and larger than the
number of pulses set in F1-19. Setting F1-19 to 0 disables dv4 detection.
No. Parameter Name Option Port Setting Range Default
F1-19 dv4 Detection Selection CN5-B, CN5-C 0 to 5000 128
Note: 1. A common cause for a dv4 fault is the incorrect setting of E5-11. Make sure the correct Z pulse offset is set to E5-11.
2. Set F1-19 to 0 for applications where the direction of the load is the opposite of the speed reference.
F1-20, F1-36: PG Option Card Disconnect Detection 1, 2
Selects whether the drive detects a PG hardware fault (PGoH).
No. Parameter Name Option Port Setting Range Default
F1-20 PG Option Card Disconnect Detection 1 CN5-C 0, 1 1
F1-36 PG Option Card Disconnect Detection 2 CN5-B 0, 1 1
Setting 0: Disabled
Setting 1: Enabled
F1-21, F1-37: PG 1, PG 2 Signal Selection (V/f w/PG only)
Determines whether the signal to the PG option card is single track or two track.
No. Parameter Name Option Port Setting Range Default
F1-21 PG 1 Signal Selection CN5-C 0, 1 0
F1-37 PG 2 Signal Selection CN5-B 0, 1 0
Setting 0: Single track (A track only)
Setting 1: Two track (tracks A and B)
F1-30: PG Option Card Port for Motor 2 Selection
Specifies the drive port for the PG option card used for motor 2. This parameter should be set when switching between
motor 1 and motor 2, where both motors supply a speed feedback signal to the drive. If the speed feedback signals from
both motor 1 and motor 2 are selected externally and supplied to a single PG option card, set F1-30 = 0. If each motor has
its own PG card connected to the drive, then set F1-30 to 1.
Note: The motor 2 selection function cannot be used when PM motor is used.
No. Parameter Name Setting Range Default
F1-30 PG Option Card Port for Motor 2 Selection 0, 1 1
Setting 0: CN5-C
Setting 1: CN5-B
220 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.6 F: Option Settings
F1-50: Encoder Selection
Sets up the type of encoder connected to a PG-F3 option card.
To identify the PG-F3 software version refer to the PG-F3 labeling in the field designated “C/N” (S + four digit
number).”
No. Parameter Name Setting Range Default
F1-50 Encoder Selection 0 to 2 0
Setting 0: EnDat 2.1/01, 2.2/01 Serial Communications operation + Sin/Cos
Setting 1: EnDat 2.2/22 Serial Communications operation
Setting 2: Hiperface
F1-51: PGoH Detection Level
Sets the level for detecting PG Hardware Fault (PGoH).
Usually the relation between the sin and cos track is sin2θ + cos2θ = 1 . If the value of the square root falls below the
the level set in F1-51, a speed feedback hardware fault is detected. Available when F1-20 = 1.
No. Parameter Name Setting Range Default
F1-51 PGoH Detection Level 1 to 100% 80%
F1-52: Communication Speed of Serial Encoder Selection
Selects the speed for serial communication between a PG-F3 option card and serial encoder.
No. Parameter Name Setting Range Default
F1-52 Communication Speed of Serial Encoder Selection 0 to 3 0
Setting 0: 1M bps/9600 bps (EnDat 2.2/22 / Hiperface)
Setting 1: 500k bps/19200 bps (EnDat 2.2/22 / Hiperface)
Setting 2: 1M bps/38400 bps (EnDat 2.2/22 / Hiperface)
Setting 3: 1M bps/38400 bps (EnDat 2.2/22 / Hiperface)
F2: Analog Input Card Settings
These parameters are used to setup the drive for operation with the analog input option card AI-A3. If the AI-A3 option
card is not connected, the drive terminals A1 to A3 are enabled regardless of the setting of F2-01. This section describes
parameters that govern operation with an input option card. Refer to the instruction manual packaged with the option
card for specific details on installation, wiring, input signal level selection, and parameter setup.
Parameter Details
F2-01: Analog Input Option Card Operation Selection
Determines how the input terminals on the AI-A3 option card are to be used.
No. Parameter Name Setting Range Default
F2-01 Analog Input Option Card Operation Selection 0, 1 0 5
Setting 0: Separate functions for each terminal (V1, V2, V3 replace terminals A1, A2, A3)
Apply this setting to replace the drive terminals A1, A2, and A3 by the option board terminals V1, V2, and V3.
Functions, gain, and bias levels for an analog reference supplied by AI-A3 are set using the H3- parameters as
described in H3-03, H3-04: Terminal A1 Gain and Bias Settings on page 247.
Note: Parameter setting error oPE05 will occur if option card terminals are set for separate input functions (F2-01 = 0) while b1-01 = 3.
Setting 1: Combine input terminal values to create frequency reference (V1, V2, V3 are combined)
With this setting, all three input signals on the AI-A3 option card are added together to create the frequency reference.
When the option card is the source of the frequency reference for the drive, parameter b1-01 must be set to 3. Gain and
bias settings for the frequency reference supplied from AI-A3 can be set using parameters F2-02 and F2-03.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 221
5.6 F: Option Settings
F2-02, F2-03: Analog Input Option Card Gain, Bias
Parameter F2-02 sets the gain and parameter F2-03 sets the bias for the AI-A3 input signal when the card is used in the
combined input signals mode (F2-01 = 1). Both gain and bias are set as a percentage of the maximum output frequency.
No. Parameter Name Setting Range Default
F2-02 Analog Input Option Card Gain -999.9 to 999.9% 100.0%
F2-03 Analog Input Option Card Bias -999.9 to 999.9% 0.0%
Note: Enabled only when F2-01 = 1.
F3: Digital Input Card Settings
These parameters set up the drive for operation with the option card DI-A3. This section describes parameters that
govern operation with a digital input option card. Refer to the instruction manual packaged with the option card for
specific details on installation, wiring, input signal level selection, and parameter setup.
F3-01: Digital Input Option Card Input Selection
Determines the type of input for digital option card DI-A3 when o1-03 is set to 0 or 1.
No. Parameter Name Setting Range Default
F3-01 Digital Input Option Card Input Selection 0 to 7 0
Setting 0: BCD, 1% units
Setting 1: BCD, 0.1% units
Setting 2: BCD, 0.01% units
Setting 3: BCD, 1 Hz units
Setting 4: BCD, 0.1 Hz units
Setting 5: BCD, 0.01 Hz units
Setting 6: BCD, special setting (5 digit input), 0.02 Hz units
Setting 7: Binary
The unit and the setting range are determined by F3-03.
F3-03 = 0: 255/100% (-255 to +255)
F3-03 = 1: 4095/100% (-4095 to +4095)
F3-03 = 2: 30000/100% (-33000 to +33000)
Note: BCD input when o1-03 = 2 or 3. Units are determined by o1-03.
F3-03: Digital Input Option DI-A3 Data Length Selection
Determines the number of bits for the option card input that sets the frequency reference.
No. Parameter Name Setting Range Default
F3-03 Digital Input Option DI-A3 Data Length Selection 0 to 2 2
Setting 0: 8 bit
Setting 1: 12 bit
Setting 2: 16 bit
222 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.6 F: Option Settings
F4: Analog Monitor Card Settings
These parameters set up the drive for operation with the analog output option card AO-A3. This section describes
parameters that govern operation with an analog output option card. Refer to the instruction manual packaged with the
option card for specific details on installation, wiring, input signal level selection, and parameter setup.
F4-01, F4-03: Terminal V1, V2 Monitor Selection
Selects the data to output from analog terminal V1. Enter the final three digits of U- to determine which monitor
data is output from the option card. Some monitors are only available in certain control modes.
No. Parameter Name Setting Range Default
F4-01 Terminal V1 Monitor Selection 000 to 999 102
F4-03 Terminal V2 Monitor Selection 000 to 999 103
F4-02, F4-04, F4-05, F4-06: Terminal V1, V2 Monitor Gain and Bias
Parameters F4-02 and F4-04 determine the gain, while parameters F4-05 and F4-06 set the bias. These parameters are set
as a percentage of the output signal from V1 and V2 where 100% equals 10 V output. The terminal output voltage is
limited to 10 V.
No. Parameter Name Setting Range Default
F4-02 Terminal V1 Monitor Gain -999.9 to 999.9% 100.0%
F4-04 Terminal V2 Monitor Gain -999.9 to 999.9% 50.0%
F4-05 Terminal V1 Monitor Bias -999.9 to 999.9% 0.0%
F4-06 Terminal V2 Monitor Bias -999.9 to 999.9% 0.0%
Using Gain and Bias to Adjust Output Signal Level
The output signal is adjustable while the drive is stopped.
Terminal V1
1. View the value set to F4-02 (Terminal V1 Monitor Gain) on the digital operator. A voltage equal to 100% of the
parameter being set in F4-01 will be output from terminal V1.
2. Adjust F4-02 viewing the monitor connected to the terminal V1.
3. View the value set to F4-05 on the digital operator, terminal V1 will output a voltage equal to 0% of the parameter
being set in F4-01.
Adjust F4-05 viewing the output signal on the terminal V1.
Terminal V2
1. View the value set to F4-02 (Terminal V2 Monitor Gain) on the digital operator. A voltage equal to 100% of the
parameter being viewed in F4-03 will be output from terminal V2.
Parameter Details
2. Adjust F4-04 viewing the monitor connected to the terminal V2.
3. View the value set to F4-06 on the digital operator, terminal V2 will output a voltage equal to 0% of the parameter
being set in F4-03.
4. Adjust F4-06 viewing the output signal on the terminal V2.
F4-07, F4-08: Terminal V1, V2 Signal Level 5
Sets the output signal level for terminals V1 and V2.
No. Parameter Name Setting Range Default
F4-07 Terminal V1 Signal Level 0, 1 0
F4-08 Terminal V2 Signal Level 0, 1 0
Setting 0: 0 to 10 V
Setting 1: -10 to 10 V
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 223
5.6 F: Option Settings
F5: Digital Output Card Settings
These parameters set up the drive for operation with the digital output option card DO-A3. This section describes
parameters that govern operation with a digital output option card. Refer to the instruction manual packaged with the
option card for specific details on installation, wiring, input signal level selection, and parameter setup.
F5-01 through F5-08: Digital Output Option Card Terminal Function Selection
When F5-09 = 2, the parameters listed in the table below are used to assign functions to the output terminals on the
option card.
No. Name Setting Range Default
F5-01 Terminal P1-PC Output Selection 0 to 192 0: During run
F5-02 Terminal P2-PC Output Selection 0 to 192 1: Zero speed
F5-03 Terminal P3-PC Output Selection 0 to 192 2: Speed agree
F5-04 Terminal P4-PC Output Selection 0 to 192 4: Frequency detection 1
F5-05 Terminal P5-PC Output Selection 0 to 192 6: Drive ready
F5-06 Terminal P6-PC Output Selection 0 to 192 37: During frequency output
F5-07 Terminal M1-M2 Output Selection 0 to 192 F: Not used
F5-08 Terminal M3-M4 Output Selection 0 to 192 F: Not used
F5-09: DO-A3 Output Mode Selection
Determines how the DO-A3 option card is to work with the drive.
No. Parameter Name Setting Range Default
F5-09 DO-A3 Output Mode Selection 0 to 2 0
Note: Refer to TOBP C730600 41 YASKAWA AC Drive-Option Card DO-A3 Installation Manual for more details on F5-09 settings.
Setting 0: Separate output functions for each of 8 terminals
Setting 1: Binary output
Setting 2: Output functions assigned by F5-01 through F5-08
F6 and F7: Communication Option Card
These parameters are to configure communication option cards and communication fault detection methods.
Some parameters apply to all communication option cards, while some parameters are used only for certain network
options.
Communication Protocol
Parameter
CC-Link MECHATROLINK-II MECHATROLINK-III PROFIBUS-DP CANopen DeviceNet LONWORKS Modbus TCP/IP EtherNet/IP
F6-01 to F6-03
F6-04 – – – – – – – –
F6-06 to F6-08
F6-10 to F6-14 – – – – – – – –
F6-20, F6-21 – – – – – – –
F6-22 – – – – – – – –
F6-23 to F6-26 – – – – – – –
F6-30 to F6-32 – – – – – – – –
F6-35 to F6-36 – – – – – – – –
F6-50 to F6-63 – – – – – – – –
F7-01 to F7-15 – – – – – – –
F7-16 – – – – – – – –
F7-17 to F7-42 – – – – – – – –
224 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.6 F: Option Settings
F6-01: Communications Error Operation Selection
Determines drive operation if a communication error occurs.
No. Parameter Name Setting Range Default
F6-01 Communications Error Operation Selection 0 to 3 1
Setting 0: Ramp to stop (uses the deceleration time set to C1-02)
Setting 1: Coast to stop
Setting 2: Fast Stop (uses the Fast Stop time set to C1-09)
Setting 3: Alarm only (continue operation)
F6-02: External Fault from Comm. Option Detection Selection
Determines the detection method of an external fault initiated by a communication option (EF0).
No. Parameter Name Setting Range Default
F6-02 External Fault from Comm. Option Detection Selection 0 or 1 0
Setting 0: Always detected
Setting 1: Detection during run only
F6-03: External Fault from Comm. Option Operation Selection
Determines the operation when an external fault is initiated by a communication option (EF0).
No. Parameter Name Setting Range Default
F6-03 External Fault from Comm. Option Operation Selection 0 to 3 1
Setting 0: Ramp to stop
Setting 1: Coast to stop
Setting 2: Fast Stop
Setting 3: Alarm only (continue operation)
F6-06: Torque Reference/Torque Limit Selection from Comm. Option
Used to select if torque reference and torque limit values are assigned to the drive from the network.
No. Parameter Name Setting Range Default
F6-06 Torque Reference/Torque Limit Selection from Comm. Option 0, 1 0
Setting 0: Disabled
Parameter Details
Setting 1: Enabled
F6-07: Multi-Step Speed Enable/Disable when NetRef/ComRef is Selected
Selects how multi-step speed inputs are treated when the NetRef command is set.
No. Parameter Name Setting Range Default 5
F6-07 Multi-Step Speed Enable/Disable when NetRef/ComRef is Selected 0, 1 0
Setting 0: Multi-step speed operation disabled
If the NetRef command is selected, multi-step speed input frequency references are disabled.
Setting 1: Multi-step speed operation enabled
Even if the NetRef command is selected, multi-step speed inputs are still active and can override the frequency reference
from the communications option.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 225
5.6 F: Option Settings
F6-08: Reset Communication Parameters
Determines whether communication-related parameters (F6-/F7-) are reset when the drive is initialized using
parameter A1-03.
No. Parameter Name Setting Range Default
F6-08 Reset Communication Parameters 0, 1 0
Setting 0: Do not reset parameters F6-/F7- when the drive is initialized with A1-03
Setting 1: Reset F6-/F7- when the drive is initialized with A1-03
Note: F6-08 is not reset when the drive is initialized.
CC-Link Parameters
Parameters F6-04, F6-10, F6-11, and F6-14 set up the drive to operate on a CC-Link network.
For details on parameter settings, refer to the YASKAWA AC Drive 1000-Series Option CC-Link Installation Manual
and Technical Manual.
MECHATROLINK-II Parameters
Parameters F6-20 through F6-26 set up the drive to operate on a MECHATROLINK-II network.
For details on parameter settings, refer to the YASKAWA AC Drive 1000-Series Option MECHATROLINK-II
Installation Manual and Technical Manual.
MECHATROLINK-III Parameters
Parameters F6-20, F6-21, F6-23 through F6-26 set up the drive to operate on a MECHATROLINK-III network.
For details on parameter settings, refer to the YASKAWA AC Drive 1000-Series Option MECHATROLINK-III
Installation Manual and Technical Manual.
PROFIBUS-DP Parameters
Parameters F6-30 through F6-32 set up the drive to operate on a PROFIBUS-DP network.
For details on parameter settings, refer to the YASKAWA AC Drive 1000-Series Option PROFIBUS-DP Installation
Manual and Technical Manual.
CANopen Parameters
Parameters F6-35 and F6-36 set up the drive to operate on a CANopen network.
For details on parameter settings, refer to the YASKAWA AC Drive 1000-Series Option CANopen Installation Manual
and Technical Manual.
DeviceNet Parameters
Parameters F6-50 through F6-63 set up the drive to operate on a DeviceNet network.
For details on parameter settings, refer to the YASKAWA AC Drive 1000-Series Option DeviceNet Installation Manual
and Technical Manual.
Modbus TCP/IP Parameters
Parameters F7-01 through F7-16, U6-80 through U6-93, U6-98, and U6-99 set up the drive to operate on a Modbus TCP/
IP network.
For details on parameter settings, refer to the YASKAWA AC Drive 1000-Series Option Modbus TCP/IP Installation
Manual and Technical Manual.
EtherNet/IP Parameters
Parameters F7-01 through F7-15, F7-17 through F7-42, U6-80 through U6-93,U6-98, and U6-99 set up the drive to
operate on an EtherNet/IP network.
For details on parameter settings, refer to the YASKAWA AC Drive 1000-Series Option EtherNet/IP Installation Manual
and Technical Manual.
226 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.7 H: Terminal Functions
5.7 H: Terminal Functions
H parameters are used to assign functions to the external terminals.
H1: Multi-Function Digital Inputs
H1-01 to H1-08: Functions for Terminals S1 to S8
These parameters assign functions to the multi-function digital inputs. The various functions and their settings are listed
below in Table 5.35.
Setting
No. Parameter Name Default
Range
H1-01 Multi-Function Digital Input Terminal S1 Function Selection 1 to 9F 40 (F) <1>: Forward Run Command (2-wire sequence)
H1-02 Multi-Function Digital Input Terminal S2 Function Selection 1 to 9F 41 (F) <1>: Reverse Run Command (2-wire sequence)
H1-03 Multi-Function Digital Input Terminal S3 Function Selection 0 to 9F 24: External Fault (N.O., always detected, coast to stop)
H1-04 Multi-Function Digital Input Terminal S4 Function Selection 0 to 9F 14: Fault Reset
H1-05 Multi-Function Digital Input Terminal S5 Function Selection 0 to 9F 3 (0) <1>: Multi-Step Speed Reference 1
H1-06 Multi-Function Digital Input Terminal S6 Function Selection 0 to 9F 4 (3) <1>: Multi-Step Speed Reference 2
H1-07 Multi-Function Digital Input Terminal S7 Function Selection 0 to 9F 6 (4) <1>: Jog Reference Selection
H1-08 Multi-Function Digital Input Terminal S8 Function Selection 0 to 9F 8: External Baseblock Command
<1> Number appearing in parenthesis is the default value after performing a 3-Wire initialization (A1-03 = 3330).
Table 5.35 Multi-Function Digital Input Terminal Settings
Setting Function Page Setting Function Page
0 3-wire sequence 227 34 PID soft starter cancel 234
1 Local/remote selection 228 35 PID input level selection 234
2 External reference 1/2 selection 228 40 Forward run command (2-wire sequence)
234
3 Multi-Step Speed Reference 1 41 Reverse run command (2-wire sequence)
4 Multi-Step Speed Reference 2 228 42 Run command (2-wire sequence 2)
234
5 Multi-Step Speed Reference 3 43 FWD/REV command (2-wire sequence 2)
6 Jog reference selection 229 44 Offset frequency 1
7 Accel/decel time selection 1 229 45 Offset frequency 2 234
8 Baseblock command (N.O.) 46 Offset frequency 3
229
9 Baseblock Command (N.C.) 47 Node setup 234
A Accel/decel ramp hold 229 60 DC Injection Braking command 235
B Drive overheat alarm (OH2) 229 30 PID integral reset 234
C Analog terminal input selection 229 31 PID integral hold 234
D PG encoder disable 229 32 Multi-step speed reference 4 234
E ASR integral reset 229 61 External Speed Search command 1 235
F Through mode 230 62 External Speed Search command 2 235
10 Up command 63 Field Weakening 235
Parameter Details
230
11 Down command 67 Communications test mode 235
12 Forward jog 6A Drive enabled 235
231
13 Reverse jog 71 Speed/Torque Control switch 235
14 Fault reset 231 72 Zero Servo 235
15 Fast Stop (N.O.) 231 75 Up 2 command
235
16 Motor 2 selection 232 76 Down 2 command
17 Fast Stop (N.C.) 231 77 ASR gain switch 236
5
18 Timer function input 232 78 External torque reference polarity inversion 236
19 PID disable 232 7E Forward/reverse detection (V/f control with simple PG) 236
1A Accel/decel time selection 2 232 7F Bi-directional PID output enable 236
1B Program lockout 233 90 to 97 DriveWorksEZ Digital input 1 to 8 236
1E Reference sample hold 233 9F DriveWorksEZ disabled 236
20 to 2F External fault 233 – – –
Setting 0: 3-Wire Sequence
When one of the digital inputs is programmed for 3-wire control, that input becomes a forward/reverse directional input,
S1 becomes the Run command input, and S2 becomes the Stop command input.
The drive will start the motor when the input S1 set for the Run command is closed for longer than 2 ms. The drive will
stop the operation when the Stop input S2 is released. Whenever the input programmed for 3 wire sequence is open, the
drive will be set for forward direction. If the input is closed, the drive is set for reverse direction.
Note: When 3-wire sequence is selected, the Run and Stop commands must be input via S1 and S2.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 227
5.7 H: Terminal Functions
Figure 5.56
Stop Switch
(N.C.)
Run Switch
(N.O.)
DRIVE
common_TMonly
S1
Run Command (Runs when Closed)
S2
Stop Command (Stops when Open)
S5
FWD/REV (Multi-Function Input)
(H1-05 = 0)
SC
Sequence Input Common
Figure 5.56 3-Wire Sequence Wiring Diagram
Figure 5.57
2 ms min.
Run command Can be either ON or OFF
2 ms min.
Stop command Can be either ON or OFF
Forward/reverse
command OFF (forward) ON (reverse)
Motor speed
common_
TMonly
Stop Forward Reverse Stop Forward
Figure 5.57 3-Wire Sequence
Note: 1. The Run command must be closed for more than 2 ms.
2. If the Run command is active at power up and b1-17 = 0 (Run command at power up not accepted), the Run LED will flash to
indicate that protective functions are operating. If required by the application, set b1-17 to 1 to have the Run command issued
automatically as soon as the drive is powered up.
WARNING! Sudden Movement Hazard. Ensure start/stop and safety circuits are wired properly and in the correct state before
energizing the drive. Failure to comply could result in death or serious injury from moving equipment.
WARNING! The drive may start unexpectedly in reverse direction after power up if it is wired for 3-wire sequence but set up for 2-wire
sequence (default). Make sure b1-17 is set to “0” (drive does not accept a Run command active at power up). When initializing the
drive use 3-wire initialization. Failure to comply could result in death or serious injury from moving equipment.
Setting 1: LOCAL/REMOTE selection
This setting allows the input terminal to determine if the drive will run in LOCAL mode or REMOTE mode.
Status Description
Closed LOCAL: Frequency reference and Run command are input from the digital operator.
REMOTE: Frequency reference and Run command are input from the external reference that has been selected in accordance with settings of b1-01 and b1-02 or
Open
b1-15 and b1-16.
Note: 1. If one of the multi-function input terminals is set to for LOCAL/REMOTE, then the LO/RE key on the operator will be disabled.
2. When the drive is set to LOCAL, the LO/RE LED will light.
3. The default setting of the drive is not to allow switching between LOCAL and REMOTE during run. To allow the drive to switch
between LOCAL and REMOTE during run, Refer to b1-07: LOCAL/REMOTE Run Selection on page 151.
Setting 2: External reference 1/2 selection
This function can be used to switch the Run command and frequency reference source between External reference 1 and
2 if the drive is in the REMOTE mode.
Status Description
Open External reference 1 is used (defined by parameters b1-01 and b1-02)
Closed External reference 2 is used (defined by parameters b1-15 and b1-16)
Note: With default settings the drive is not to allow switching between External reference 1 and 2 during run. Refer to b1-07: LOCAL/
REMOTE Run Selection on page 151 if this feature is required by the application.
Setting 3 to 5: Multi-Step Speed Reference 1 to 3
Used to switch multi-step speed frequency references d1-01 to d1-08 by digital inputs. Refer to d1: Frequency
Reference on page 192 for details.
228 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.7 H: Terminal Functions
Setting 6: Jog reference selection
The Jog frequency set in parameter d1-17 becomes the frequency reference when the input terminal closes.
Refer to d1: Frequency Reference on page 192 for details.
Setting 7: Accel/decel time selection 1
Used to switch between accel/decel times 1 (C1-01 and C1-02) and 2 (C1-03 and C1-04). Refer to C1-01 to C1-08:
Accel, Decel Times 1 to 4 on page 178 for details.
Setting 8, 9: Baseblock command (N.O., N.C.)
When the drive receives a Baseblock command, the output transistor stop switching and the motor coasts to stop. During
this time, the alarm “bb” will flash on the digital operator to indicate baseblock. When baseblock ends and a Run
command is active, the drive performs Speed Search to get the motor running again.
Drive Operation
Digital Input Function
Input Open Input Closed
Setting 9 (N.C.) Baseblock (Interrupt output) Normal operation
Setting 8 (N.O.) Normal operation Baseblock (Interrupt output)
NOTICE: If using baseblock in hoist applications, make sure the brake closes when the drive output is cut off by a Baseblock
command triggered via one of the input terminals. Failure to do so will result in the motor suddenly coasting when the Baseblock
command is entered, causing the load to slip.
Figure 5.58
OFF ON
Run command
Baseblock
ON release
Baseblock input
Frequency
reference
Begin Speed Search from the
common_
previous frequency reference TMonly
Output frequency
Output off, motor coasts
Figure 5.58 Baseblock Operation During Run
Setting A: Accel/decel ramp hold
When the digital input programmed for the Accel/decel ramp hold function closes, the drive will lock (“hold”) the output
Parameter Details
frequency. Acceleration or deceleration will resume once the input is opened again.
If the Accel/decel ramp hold function is enabled (d4-01 = 1), the drive will save the output frequency to memory
whenever the Ramp Hold input is closed. When the drive is restarted after stop or after power supply interruption, the
output frequency that was saved will become the frequency reference (provided that the Accel/decel ramp hold input is
still closed). Refer to d4-01: Frequency Reference Hold Function Selection on page 195 for details.
5
Setting B: Drive overheat alarm (oH2)
Triggers an oH2 alarm when the contact closes. Because this is an alarm, drive operation is not affected.
Setting C: Analog terminal input selection (terminal A1, A2, A3)
When closed, the terminals specified in H3-14 are enabled. When open, the drive disregards the input signal to the analog
terminals.
Setting D: PG encoder disable
When closed the drive disregards PG feedback from the motor when using V/f Control with PG. When the terminal is
opened again, the drive resumes using PG feedback to control motor speed.
Setting E: ASR integral reset
Switches between PI control or simply P control by resetting the integral value. As long as the terminal is closed, integral
operation is disabled and the drive uses P control. When the terminal opens, PI control resumes.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 229
5.7 H: Terminal Functions
Setting F: Through mode
Select this setting when the terminal is not used or when using the terminal in the pass-through mode. When set to F, an
input does not trigger any function in the drive. Setting F, however, still allows the input status to be read out by a PLC
via a communication option or MEMOBUS/Modbus communications.
Setting 10, 11: Up, Down command
Using the Up/Down function allows the frequency reference to be set by two push buttons. One digital input must be
programmed as the Up command (H1-= 10) to increase the frequency reference, and the other one must be
programmed as the Down command (H1-= 11) to decrease the frequency reference.
The Up/Down function has priority over the frequency references from the digital operator, the analog inputs, and the
pulse input (b1-01 = 0, 1, 4). If the Up/Down function is used, then references provided by these sources will be
disregarded.
The inputs operate as shown in Table 5.36.
Table 5.36 Up, Down command
Status
Drive Operation
Up (10) Down (11)
Open Open Hold current frequency reference
Closed Open Increase frequency reference
Open Closed Decrease frequency reference
Closed Closed Hold current frequency reference
Note: 1. An oPE03 alarm will occur when only one of the functions Up/Down is programmed for a digital input.
2. An oPE03 alarm will occur if the Up/Down function is assigned to the terminals while another input is programmed for the Accel/
decel ramp hold function. For more information on alarms, Refer to oPE Codes, Causes, and Possible Solutions on page 331.
3. The Up/Down function can only be used for parameter b1-01. Consider this when using parameter b1-15 switching command
(H1- = 2).
Using the Up/Down Function with Frequency Reference Hold (d4-01)
• When the frequency reference hold function is disabled (d4-01 = 0), the Up/Down frequency reference will be reset to
0 when the Run command is cleared or the power is cycled.
• When d4-01 = 1, the drive will save the frequency reference set by the Up/Down function. When the Run command or
the power is cycled, the drive will restart with the reference value that was saved. The value that was saved can be reset
by closing either the Up or Down input without having a Run command active. Refer to d4-01: Frequency Reference
Hold Function Selection on page 195.
Using the Up/Down Function with Frequency Reference Limits
The upper frequency reference limit is determined by parameter d2-01.
The value for the lower frequency reference limit depends on the setting of parameter d4-10, and can be set by an analog
input or parameter d2-02. Refer to d4-10: Up/Down Frequency Reference Limit Selection on page 199 for details.
When a Run command is applied, the lower limits work as follows:
• If the lower limit is set by d2-02 only, the drive will accelerate to this limit as soon as a Run command is entered.
• If the lower limit is determined by an analog input only, the drive will accelerate to the limit as long as the Run
command and an Up or Down command are active. It will not start running if only the Run command is on.
• If the lower limit is set by both an analog input and d2-02, and the analog limit is higher than the d2-02 value, then the
drive will accelerate to the d2-02 value when a Run command is input. Once the d2-02 value is reached, it will
continue acceleration to the analog limit only if an Up or Down command is set.
Figure 5.59 shows an Up/Down function example with a lower frequency reference limit set by d2-02, and the frequency
reference hold function both enabled (d4-01 = 1) and disabled (d4-01 = 0).
230 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.7 H: Terminal Functions
Figure 5.59
Output frequency
upper limit
Accelerates to
lower limit d4-01 = 1
Same
frequency
d4-01 = 0
Lower limit
FWD run/stop ON
ON
common_
Up command
ON Hold TMonly
Frequency
reset
Down command
ON ON
Power supply
Figure 5.59 Up/Down Command Operation
Setting 12, 13: Forward Jog, Reverse Jog
Digital inputs programmed as Forward Jog (H1- = 12) and Reverse Jog (H1- = 13) will be Jog inputs that do not
require a Run command. Closing the terminal set for Forward Jog input will cause the drive to ramp to the Jog frequency
reference (d1-17) in the forward direction. The Reverse Jog will cause the same action in the reverse direction. The
Forward Jog and Reverse Jog command can be set independently.
Note: The Forward Jog and Reverse Jog commands override all other frequency references. However, if the drive is set to prohibit
reverse rotation (b1-04 = 1), then activating Reverse Jog will have no effect. If both the Forward Jog and Reverse Jog are input
simultaneously for 500 ms or more, an alarm will occur and the drive will ramp to stop.
Figure 5.60
d1-17
Output
Frequency
d1-17
ON
FJOG common_
RJOG
ON TMonly
Figure 5.60 FJOG/RJOG Operation
Setting 14: Fault reset
Whenever the drive detects a fault condition, the fault output contact will close and the drive’s output will shut off. The
motor then coasts to stop (specific stopping methods can be selected for some faults such as L1-04 for motor overheat).
Parameter Details
Once the Run command is removed, the fault can be cleared by either the RESET key on the digital operator or by
closing a digital input configured as a Fault Reset (H1- = 14).
Note: Fault Reset commands are ignored as long as the Run command is present. To reset a fault, first remove the Run command.
Setting 15, 17: Fast Stop (N.O., N.C.)
The Fast Stop function operates much like an emergency stop input to the drive. If a Fast Stop command is input while
the drive is running, the drive will decelerate to a stop by the deceleration time set to C1-09 (Refer to C1-09: Fast Stop
5
Time on page 179). The drive can only be restarted after is has come to a complete stop, the Fast Stop input is off, and
the Run command has been switched off.
• To trigger the Fast Stop function with a N.O. switch, set H1- = 15.
• To trigger the Fast Stop function with a N.C. switch, set H1- = 17.
Figure 5.61 shows an operation example of Fast Stop.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 231
5.7 H: Terminal Functions
Figure 5.61
Run/Stop
ON ON
Fast-Stop
H1- = 17 ON ON
Decelerates at C1-09
Output Frequency
common_
TIME TMonly
Figure 5.61 Fast Stop Sequence
NOTICE: Rapid deceleration can trigger an overvoltage fault. When faulted, the drive output shuts off, and the motor coasts. To avoid
this uncontrolled motor state and to ensure that the motor stops quickly and safely, set an appropriate Fast Stop time to C1-09.
Setting 16: Motor 2 selection
The drive has the capability to control two induction motors independently. A second motor may be selected using a
multi-function digital input as shown in Figure 5.62.
Note: The motor 2 selection function cannot be used when PM motor is used.
Figure 5.62
Drive M Motor 1
Motor switch input
common_
M Motor 2
TMonly
Figure 5.62 Motor Selection
When switching between motor 1 and motor 2, the parameters used to control those motors also change. Below,
Table 5.37 lists the parameters that correspond to each motor.
Table 5.37 Parameters for Switching Between Two Motors
No. Setting 16 Open (Motor 1) Setting 16 Closed (Motor 2)
C1-: Acceleration/Deceleration Time C1-01 to C1-04 C1-05 to C1-08
C3-: Slip Compensation C3-01 to C3-04 C3-21 to C3-24
C4-: Torque Compensation C4-01 C4-07
C5-: Speed Control (ASR) C5-01 to C5-08, C5-12, C5-17, C5-18 C5-21 to C5-28, C5-32, C5-37, C5-38
E1-, E3-: V/f Pattern
E1-, E2- E3- to E4-
E2-, E4-: Motor Parameters
F1- (PG Speed Control Card Settings) F1-01 to F1-21 F1-02 to F1-04, F1-08 to F1-11, F1-14, F1-31 to F1-37
Note: 1. When using 2 motors, the motor overload protection selection (oL1) set to L1-01 applies to both motor 1 and motor 2.
2. It is not possible to switch between motor 1 and motor 2 during run. Doing so will trigger the “rUn” alarm.
3. There is a 500 ms delay when switching between motors equipped with a PG encoder for feedback.
4. The motor 2 selection function cannot be used when PM motor is used.
If a digital output is programmed for “Motor 2 selection” (H2-01, H2-02, or H2-03 = 1C), the output is closed when
motor 2 is selected.
Setting 18: Timer function input
This setting configures a digital input terminal as the input for the timer function. Use this setting combination with the
timer function output (H2- = 12). Refer to b4: Timer Function on page 163 for details.
Setting 19: PID disable
When the PID function has been enabled by parameter b5-01, it can be indefinitely disabled by closing a digital input.
When the input is released, the drive resumes PID operation. Also refer to PID Block Diagram on page 166.
Setting 1A: Accel/decel time selection 2
Used to select accel/decel times 1 to 4 in combination with the Accel/decel time selection 1 command. Refer to C1-01 to
C1-08: Accel, Decel Times 1 to 4 on page 178 for details.
232 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.7 H: Terminal Functions
Setting 1B: Program lockout
When an input is programmed for Program Lockout, parameters values cannot be changed as long as this input is open (it
is still possible to view and monitor parameter settings).
Setting 1E: Reference sample hold
This function allows the user to sample an analog frequency reference signal being input to terminal A1, A2, or A3 and
hold the frequency reference at the sampled level. Once the Analog Frequency Reference Sample/Hold function is held
for at least 100 ms, the drive reads the analog input and changes the frequency reference to the newly sampled speed as
illustrated in Figure 5.63.
When the power is shut off and the sampled analog frequency reference is cleared, the frequency reference is reset to 0.
Figure 5.63
Frequency
reference
l
na
g sig
alo
An
Time
common_
Reference OFF ON TMonly
Sample Hold Input
100 ms 100 ms
Figure 5.63 Analog Frequency Reference Sample/Hold
An oPE03 error will occur when one of the following functions is used simultaneously with the Analog frequency
reference sample/hold command.
• Accel/decel ramp hold (setting: A)
• Up command, Down command (setting: 10, 11)
• Offset frequency (setting: 44 to 46)
• Up or Down 2 command (setting: 75, 76)
Setting 20 to 2F: External fault
By using the External fault command, the drive can be stopped when problems occur with external devices.
To use the External fault command, set one of the multi-function digital inputs to any value between 20 to 2F. The digital
operator will display EF where is the number of the terminal to which the external fault signal is assigned.
For example, if an external fault signal is input to terminal S3, “EF3” will be displayed.
Select the value to be set in H1- from a combination of any of the following three conditions:
• Signal input level from peripheral devices (N.O., N.C.)
Parameter Details
• External fault detection method
• Operation after external fault detection
Table 5.38 shows the relationship between the conditions and the value set to H1-:
Table 5.38 Stopping Method for External Fault
Terminal Status <1> Detection Conditions <2> Stopping Method
5
Setting Detected during Ramp to Stop Coast to Stop Fast Stop Alarm Only
N.O. N.C. Always Detected Run only (fault) (fault) (fault) (continue running)
20 – – – – –
21 – – – – –
22 – – – – –
23 – – – – –
24 – – – – –
25 – – – – –
26 – – – – –
27 – – – – –
28 – – – – –
29 – – – – –
2A – – – – –
2B – – – – –
2C – – – – –
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 233
5.7 H: Terminal Functions
Terminal Status <1> Detection Conditions <2> Stopping Method
Setting Detected during Ramp to Stop Coast to Stop Fast Stop Alarm Only
N.O. N.C. Always Detected
Run only (fault) (fault) (fault) (continue running)
2D – – – – –
2E – – – – –
2F – – – – –
<1> Determine the terminal status for each fault, i.e., whether the terminal is normally open or normally closed.
<2> Determine whether detection for each fault should be enabled only during run or always detected.
Setting 30: PID integral reset
By configuring one of the digital inputs for PID integral reset (H1- = 30), the value of the integral component in PID
control will be reset to 0 whenever the terminal is closed. Refer to PID Block Diagram on page 166 for more details.
Setting 31: PID integral hold
By configuring a digital input for PID Integral Hold (H1- = 31), the value of the integral component of the PID
control is locked as long as the input is active. The PID controller resumes integral operation from the hold value as soon
as the integral hold input is released. Refer to PID Block Diagram on page 166 for more information on this function.
Setting 32: Multi-Step Speed Reference 4
Used to select the multi-step speeds d1-09 to d1-16 in combination with the input terminal set for Multi-Step Speed 1, 2
and 3. Refer to d1-01 to d1-17: Frequency Reference 1 to 16 and Jog Frequency Reference on page 192.
Setting 34: PID soft starter cancel
A digital input configured as a PID soft starter cancel input (H1- = 34) can be used to enable or disable the PID soft
starter and thereby canceling the PID accel/decel time (b5-17). Refer to PID Block Diagram on page 166.
Setting 35: PID input level selection
Allows and input terminal to switch the sign of the PID input. Refer to PID Block Diagram on page 166 for details.
Setting 40, 41: Forward run, Reverse run command for 2-wire sequence
Configures the drive for a 2-wire sequence.
When an input terminal set to 40 closes, the drive operates in the forward direction. When an input set for 41 closes, the
drive will operate in reverse. Closing both inputs at the same time will result in an external fault.
Note: 1. This function cannot be used simultaneously with settings 42 and 43.
2. The same functions are assigned to terminals S1 and S2 when the drive is initialized for 2-wire sequence.
Figure 5.64
Drive
Forward Run
S1
Reverse Run
S2
SC Digital Input Common
common_
TMonly
Figure 5.64 Example Wiring Diagram for 2-Wire Sequence
Setting 42, 43: Run and direction command for 2-wire sequence 2
Sets the drive for 2-wire sequence 2.
When an input terminal programmed for 42 is closed, the drive will operate in the direction selected. When the input
opens, the drive will stop. The input programmed for 43 selects the direction. If it is open, forward direction is selected.
If it is closed, reverse direction is selected.
Note: This function cannot be used simultaneously with settings 40 and 41.
Setting 44, 45, 46: Offset frequency 1, 2, 3
These inputs can be used to add offset frequencies d7-01, d7-02, and d7-03 to the frequency reference. Refer to d7-01 to
d7-03: Offset Frequency 1 to 3 on page 205 for details.
Setting 47: Node setup
If the SI-S3 option card is connected, closing this terminal will set a node address for operation on a CANopen network.
234 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.7 H: Terminal Functions
Setting 60: DC Injection Braking command
When a DC Injection Braking command is input while the drive is stopped, DC Injection Braking operation is activated.
When a Run command or a Jog command is input, DC Injection Braking is released. Refer to b2: DC Injection Braking
on page 154 for details on setting up the DC Injection Braking function.
The diagram below illustrates how the DC Injection Braking function works.
Figure 5.65
DC Injection braking OFF ON OFF
command
OFF ON OFF
FWD Run command
DC Injection
DC Injection braking
braking DC Injection Braking
Start Frequency common_
Output frequency
(b2-01) TMonly
Figure 5.65 DC Injection Braking Input Timing Diagram
Setting 61, 62: External Speed Search command 1, 2
These input functions can be used to enable Speed Search even if parameter b3-01 = 0 (no Speed Search at start). Refer
to Speed Search Activation on page 157 for details on how to use the input signals. Refer to b3: Speed Search on
page 155 for more about Speed Search.
Note: Operator error oPE03 will result if both Speed Search 1 and Speed Search 2 are set to the input terminals at the same time.
Setting 63: Field Weakening
Enabled in V/f Control. When closed, Field Weakening is performed. For details, Refer to d6: Field Weakening and
Field Forcing on page 204.
Setting 67: Communication test mode
The drive has a built-in function for self-diagnosing serial communications operation. The test involves wiring the send
and receive terminals of the RS-485/422 port together. The drive transmits data and then confirms that the
communications are received normally. Refer to Self-Diagnostics on page 514 for details on how to use this function.
Setting 6A: Drive enable
A digital input configured as a “Drive enable” (H1- = 6A) will prevent the drive from executing a Run command
until the input is closed. When the input is open, the digital operator will display “dnE” to indicate that the drive is
disabled.
If a Run command is enabled before the terminal set for “Drive enable” closes, then the drive will not run until the Run
Parameter Details
command is cycled (i.e., a new Run command is required). If the input is opened while the drive is running, the drive will
stop according to the stop method set to b1-03 (Refer to b1-03: Stopping Method Selection on page 146).
Setting 71: Speed/Torque Control switch
Switches the drive between Torque Control and Speed Control. Torque Control is enabled when the terminal is closed,
and Speed Control is enabled when the terminal is open. Note that parameter d5-01 must be set to 0 when using this
function. Refer to d5: Torque Control on page 200 and Switching Between Torque and Speed Control on page 202.
5
Setting 72: Zero Servo
Used to activate the Zero Servo function that can be used to lock the rotor at a certain position. Refer to b9: Zero Servo
on page 177 for details.
Setting 75, 76: Up 2, Down 2 command
The Up 2 and Down 2 function can be used to add a bias to the frequency reference. The input programmed for 75 will
increase the bias and the input programmed for 76 will decrease it. Table 5.39 explains how the Up/Down 2 function
works depending on the frequency reference source and parameters d4-01, d4-03, and d4-05. Refer to d4: Frequency
Reference Hold and Up/Down 2 Function on page 195 for detailed explanations of these and other Up/Down 2 related
parameters.
Note: 1. The Up 2 and Down 2 functions must be set as a pair.
2. When using the Up 2 and Down 2, set appropriate bias limit values to parameters d4-08 and d4-09.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 235
5.7 H: Terminal Functions
Table 5.39 Up/Down 2 Operations
Condition Freq. Ref. Source d4-03 d4-05 d4-01 Operation Frequency Saved
1 0 • Accelerates (increases the bias) while the Up 2 terminal is closed. Not saved
• Decelerates (decreases the bias) while Down 2 is closed.
• Holds output frequency (holds the bias) when no Up 2 or Down 2 If the bias and frequency reference are
0 constant for 5 s, the bias is added to the
2 1 command or both active.
Multi-Step Speed • Resets the bias when the reference changes. active frequency reference and reset
0
Reference • Operates with the frequency reference in all other situations. afterwards.
• Accelerates (increases the bias) while the Up 2 terminal is closed.
3 1 – • Decelerates (decreases the bias) while Down 2 is closed. Not saved
• Otherwise operates at the frequency reference.
4 0 • When the Up 2 is enabled, drive accelerates up to the frequency Not saved
reference plus d4-03 (bias is increased for d4-03).
• When Down 2 is enabled, drive decelerates down to the
Multi-Step Speed Value other frequency reference minus d4-03 (bias is decreased for d4-03). If the bias and frequency reference are
– constant for 5 s, the bias is added to the
5 Reference than 0 1 • Holds output frequency (holds the bias) when no Up 2 or Down 2
input or both active. active frequency reference and reset
• Resets the bias when the reference changes. afterwards.
• Operates with the frequency reference in all other situations.
6 0 • Accelerates (increases the bias) while the Up 2 terminal is closed. Not saved
• Decelerates (decreases the bias) while Down 2 is closed.
• Holds output frequency (holds the bias) when no Up 2 or Down 2 If the bias is constant for 5 s, it is saved to
Other
0 0 input or both active. parameter d4-06. The frequency reference
7 (analog comm., etc.) 1 • If the frequency reference changes for more than d4-07 during cannot be overwritten, so only the bias is
accel/decel, bias value is held until the output frequency meets saved.
the reference (speed agree).
• Accelerates (increases the bias) while the Up 2 terminal is closed.
8 0 1 – • Decelerates (decreases the bias) while Down 2 is closed. Not saved
• Otherwise operates at the frequency reference
9 0 • When Up 2 is enabled, drive accelerates up to the frequency Not saved
Other reference plus d4-03 (increases the bias for d4-03).
(analog comm, etc.) • When Down 2 is enabled, drive decelerates down to the If the bias is constant for 5 s, it is saved to
Value other
– frequency reference minus d4-03 (decreases the bias for d4-03). parameter d4-06. The frequency reference
10 than 0 1 • If the frequency reference changes for more then d4-07 during cannot be overwritten, so only the bias is
accel/decel, bias value is held until the output frequency meets saved.
the reference (speed agree).
Setting 77: ASR gain switch
Switches the ASR gain between the values set to C5-01 and C5-03. The gain set to C5-03 is enabled when the terminal is
closed, and C5-01 is enabled when the terminal opens again. Refer to C5-01, C5-03/C5-02, C5-04: ASR Proportional
Gain 1, 2 / ASR Integral Time 1, 2 on page 186 for a more detailed description.
Setting 78: External torque reference polarity inversion
Reverses the direction of the torque reference when the terminal closes. Refer to d5: Torque Control on page 200 and
Setting the Torque Reference, Speed Limit, and Torque Compensation Values on page 201 for details.
Setting 7E: Forward/reverse detection (for V/f Control with Simple PG Feedback)
When a digital input is programmed for this function, the input determines the motor rotation direction for V/f Control
with Simple PG feedback (A1-02 = 0 and H6-01 = 3). If the input is open, the speed feedback signal is considered to be
forward. If the input is closed, it is considered to be in reverse. Refer to H6: Pulse Train Input/Output on page 254.
Setting 7F: Bi-Directional PID Output Selection
If PID output to bi-directional output conversion is enabled in parameter d4-11, a digital input programmed for 7F can be
used to switch between normal output or bi-directional output. If the digital input is open, the PID output builds the out-
put frequency reference.
If the input is closed, the PID output is converted to bi-directional output frequency reference. Refer to d4-11:
Bi-Directional Output Selection on page 200.
Setting 90 to 97: DriveWorksEZ Digital Input 1 to 8
These settings are for digital inputs functions used in DriveWorksEZ. Normally there is no need to change these settings.
Setting 9F: DriveWorksEZ Disable
This function is used to enable or disable a DriveWorksEZ program in the drive. An input programmed for this function
is effective only if A1-07 = 2.
Status Description
Open DriveWorksEZ enabled
Closed DriveWorksEZ disabled
236 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.7 H: Terminal Functions
H2: Multi-Function Digital Outputs
H2-01 to H2-03: Terminal M1-M2, M3-M4, and M5-M6 Function Selection
The drive has three multi-function output terminals. Table 5.40 lists the functions available for theses terminals using
H2-01, H2-02, and H2-03.
No. Parameter Name Setting Range Default
H2-01 Terminal M1-M2 Function Selection 0 to 192 0: During run
H2-02 Terminal M3-M4 Function Selection 0 to 192 1: Zero Speed
H2-03 Terminal M5-M6 Function Selection 0 to 192 2: Speed agree 1
Table 5.40 Multi-Function Digital Output Terminal Settings
Setting Function Page Setting Function Page
0 During run 237 1E Restart enabled 244
1 Zero Speed 238 1F Motor overload alarm (oL1) 244
2 Speed agree 1 238 20 Drive overheat pre-alarm (oH) 244
3 User-set speed agree 1 238 22 Mechanical Weakening detection 244
4 Frequency detection 1 239 2F Maintenance period 244
5 Frequency detection 2 239 30 During torque limit 244
6 Drive ready 240 31 During speed limit 244
7 During Power Supply Voltage Fault 240 32 During speed limit in Torque Control 244
8 During baseblock (N.O.) 240 33 Zero Servo complete 244
9 Frequency reference source 240 37 During frequency output 244
A Run command source 240 38 Drive enabled 245
B Torque detection 1 (N.O.) 240 39 Power consumption pulse output 245
C Frequency reference loss 241 3A Regenerated power pulse output 245
E Fault 241 3C LOCAL/REMOTE Status 245
F Through mode 241 3D During Speed Search 245
10 Minor fault 241 3E PID feedback low 245
11 Fault reset command active 241 3F PID feedback high 245
12 Timer output 241 4C During Fast Stop 245
13 Speed agree 2 241 4D oH pre-alarm time limit 245
14 User-set speed agree 2 242 60 Internal cooling fan alarm 245
15 Frequency detection 3 242 61 Rotor Position Detection Complete 245
16 Frequency detection 4 242 62 Memobus Regs1 (It selects it with H2-07 and H2-08.) 246
17 Torque detection 1 (N.C.) 63 Memobus Regs2 (It selects it with H2-09 and H2-10.) 246
240
18 Torque detection 2 (N.O.) 64 During commercial power operation 246
19 Torque detection 2 (N.C.) 240 90 DriveWorksEZ digital output 1
1A During reverse 243 91 DriveWorksEZ digital output 2 246
1B During baseblock (N.C.) 243 92 DriveWorksEZ digital output 3
1C Motor 2 selection 243 100 to 192 Functions 0 to 92 with inverse output 246
Parameter Details
1D During regeneration 243 – – –
Setting 0: During Run
Output closes when the drive is outputting a voltage.
Status
Open Drive is stopped.
Description
5
Closed A Run command is input or the drive is during deceleration or during DC injection.
Figure 5.66
Run command OFF ON
Baseblock OFF ON
command
Output
frequency
common_
During Run OFF ON TMonly
Figure 5.66 During Run Time Chart
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 237
5.7 H: Terminal Functions
Setting 1: Zero Speed
Terminal closes whenever the output frequency or motor speed (CLV, CLV/PM) becomes less than or equal to the
minimum output frequency set to E1-09 or b2-01.
Status Description
Open Output frequency is more than or equal to the minimum output frequency set to E1-09 or b2-01
Closed Output frequency becomes less than the minimum output frequency set to E1-09 or b2-01
Note: When using CLV or CLV/PM control modes, the output terminal will close when the motor speed becomes less than or equal to
the zero speed level set for b2-01. In all other control modes, the output terminal will close when the output frequency becomes
less than or equal to the minimum output frequency set for E1-09.
Figure 5.67
Output frequency
or
E1-09 (Max. Output Frequency) or
motor speed
b2-01 (DC Injection Braking Start Frequency)
common_
OFF
Zero Speed
ON
TMonly
Figure 5.67 Zero-Speed Time Chart
Setting 2: Speed agree 1 (fref/fout Agree 1)
Closes whenever the actual output frequency or motor speed (CLV, CLV/PM) is within the Speed Agree Width (L4-02)
of the current frequency reference regardless of the direction.
Status Description
Open Output frequency or motor speed does not match the frequency reference while the drive is running.
Closed Output frequency or motor speed is within the range of frequency reference ±L4-02.
Note: Detection works in both directions, forward and reverse.
Figure 5.68
Frequency common_TMonly
reference
Output Frequency L4-02
or Motor Speed
L4-02
Speed agree 1 OFF ON
Figure 5.68 Speed Agree 1 Time Chart
Refer to L4-01, L4-02: Speed Agreement Detection Level and Detection Width on page 269 for more details.
Setting 3: User-set speed agree 1 (fref/fset Agree 1)
Closes whenever the actual output frequency or motor speed (CLV, CLV/PM) and the frequency reference are within the
speed agreement detection width (L4-02) of the speed agreement detection level (L4-01).
Status Description
Open Output frequency or motor speed and frequency reference are not both within the range of L4-01 ± L4-02.
Closed Output frequency or motor speed and the frequency reference are both within the range of L4-01 ± L4-02.
Note: Frequency detection works in both forward and reverse. The value of L4-01 is used as the detection level for both directions.
238 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.7 H: Terminal Functions
Figure 5.69
Frequency reference + L4-02
Frequency reference common_TMonly
L4-01 + L4-02
Frequency reference – L4-02
L4-01
L4-01 – L4-02 Output frequency
During
Forward
0 Hz
During Reverse
Output frequency –L4-01 + L4-02
–L4-01
Frequency reference + L4-02
–L4-01 – L4-02
Frequency reference
Frequency reference – L4-02
User Set OFF OFF OFF
ON ON ON ON
Speed Agree 1
Figure 5.69 User Set Speed Agree 1 Time Chart
Refer to L4-01, L4-02: Speed Agreement Detection Level and Detection Width on page 269 for more instructions.
Setting 4: Frequency Detection 1
Output opens when the output frequency or motor speed (CLV, CLV/PM) rises above the detection level set in L4-01 plus
the detection width set in L4-02. The terminal remains open until the output frequency or motor speed falls below the
level set in L4-01.
Status Description
Open Output frequency or motor speed exceeded L4-01 + L4-02.
Closed Output frequency or motor speed is below L4-01 or has not exceeded L4-01 + L4-02.
Note: Frequency detection works in both forward and reverse. The value of L4-01 is used as the detection level for both directions.
Figure 5.70
Output Frequency
or Motor Speed
L4-02
L4-01
L4-01
L4-02
Frequency
common_
detection 1 <1> ON OFF
TMonly
Parameter Details
<1> This is the time chart when L4-07 (Speed Agree Detection Selection) is set to 1 (detection always enabled). The default setting for L4-07 is 0
(no detection during baseblock). When L4-07 = 0, the terminal opens during baseblock.
Figure 5.70 Frequency Detection 1 Time Chart
Refer to L4-01, L4-02: Speed Agreement Detection Level and Detection Width on page 269 for more details.
Setting 5: Frequency Detection 2
Output closes whenever the output frequency or motor speed (CLV, CLV/PM) is above the detection level set in L4-01. 5
The terminal remains closed until the output frequency or motor speed falls below L4-01 minus the setting of L4-02.
Status Description
Open Output frequency or motor speed is below L4-01 minus L4-02 or has not exceeded L4-01.
Closed Output frequency or motor speed exceeded L4-01.
Note: Frequency detection works in both forward and reverse. The value of L4-01 is used as the detection level for both directions.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 239
5.7 H: Terminal Functions
Figure 5.71
Output Frequency
or Motor Speed L4-02
L4-01
L4-01
L4-02
common_
Frequency
Detection 2
OFF ON TMonly
Figure 5.71 Frequency Detection 2 Time Chart
Refer to L4-01, L4-02: Speed Agreement Detection Level and Detection Width on page 269 for more details.
Setting 6: Drive ready
Output closes whenever the drive is ready to operate the motor. The terminal will not close under the conditions listed
below, and any Run commands will be disregarded.
• When the power is shut off
• During a fault
• When the drive’s internal power supply has malfunctioned
• When a parameter setting error makes it impossible to run
• Although stopped, an undervoltage situation occurs
• While editing a parameter in the Programming Mode (when b1-08 = 0)
Setting 7: During Power Supply Voltage Fault
Output closes when the power supply voltage or the control circuit voltage falls below the drive operating voltage or
when the power supply frequency is incorrect.
Status Description
Open Normal
Closed One of the following faults will occur: Fdv (Power Supply Frequency Fault), AUv (Power Supply Undervoltage), or Uv (Undervoltage).
Setting 8: During baseblock (N.O.)
Output closes to indicate that the drive is in a baseblock state. While in baseblock, output transistors do not switch and no
main circuit voltage is output.
Status Description
Open Drive is not in a baseblock state.
Closed Baseblock is being executed.
Setting 9: Frequency reference source
A digital output programmed for this function shows the frequency reference source that is currently selected.
Status Description
Open Frequency reference is provided from External reference 1 (b1-01) or External reference 2 (b1-15)
Closed Frequency reference is being sourced from the digital operator.
Setting A: Run command source
A digital output programmed for this function shows the Run command source that is currently selected.
Status Description
Open Run command is provided from External reference 1 (b1-02) or 2 (b1-16).
Closed Run command is being sourced from the digital operator.
Setting B, 17, 18, 19: Torque detection 1 (N.O., N.C.), Torque detection 2 (N.O., N.C.)
These digital output functions can be used to signal an overtorque or undertorque situation to an external device.
Set up the torque detection levels and select the output function from the table below. Refer to L6: Torque Detection on
page 271 for details.
240 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.7 H: Terminal Functions
Setting Status Description
Torque detection 1 (N.O.):
B Closed Output current/torque exceeds (overtorque detection) or is below (undertorque detection) the torque value set in parameter L6-02 for longer than
the time specified in parameter L6-03.
Torque detection 1 (N.C.):
17 Open Output current/torque exceeds (overtorque detection) or is below (undertorque detection) the torque value set in parameter L6-02 for longer than
the time specified in parameter L6-03.
Torque detection 2 (N.O.):
18 Closed Output current/torque exceeds (overtorque detection) or is below (undertorque detection) the torque value set in parameter L6-05 for longer than
the time specified in parameter L6-06.
Torque detection 2 (N.C.):
19 Open Output current/torque exceeds (overtorque detection) or is below (undertorque detection) the torque value set in parameter L6-05 for longer than
the time specified in parameter L6-06.
Setting C: Frequency reference loss
An output set for this function will be closed if frequency reference loss is detected. Refer to L4-05: Frequency
Reference Loss Detection Selection on page 269 for details.
Setting E: Fault
The digital output will close whenever the drive experiences a fault (this excludes faults CPF00 and CPF01).
Setting F: Through mode
Select this setting when using the terminal in a pass-through mode. When set to F, an output does not trigger any function
in the drive. Setting F, however, still allows the output status to be read by a PLC via a communication option or
MEMOBUS/Modbus communications.
Setting 10: Minor fault
Output closes when a minor fault condition is present.
Setting 11: Fault reset command active
Output closes whenever there is an attempt to reset a fault situation from the control circuit terminals, via serial
communications, or using a communications option card.
Setting 12: Timer output
This setting configures a digital output terminal as output for the timer function. Refer to b4: Timer Function on
page 163 for details.
Setting 13: Speed agree 2 (fref /fout agree 2)
Closes whenever the actual output frequency or motor speed (CLV, CLV/PM) is within the speed agreement detection
width (L4-04) of the current frequency reference, regardless of the direction.
Status Description
Parameter Details
Open Output frequency or motor speed does not match the frequency reference while the drive is running.
Closed Output frequency or motor speed is within the range of frequency reference ±L4-04.
Note: Detection works in both forward and reverse.
Figure 5.72
Frequency
reference common_
Output Frequency L4-04 TMonly 5
or Motor Speed
L4-04
Speed Agree 2 OFF ON
Figure 5.72 Speed Agree 2 Time Chart
Refer to L4-03, L4-04: Speed Agreement Detection Level and Detection Width (+/-) on page 269 for more details.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 241
5.7 H: Terminal Functions
Setting 14: User-set speed agree 2 (fref /fset agree 2)
Closes whenever the actual output frequency or motor speed (CLV, CLV/PM) and the frequency reference are within the
speed agreement detection width (L4-04) of the speed agreement detection level (L4-03). As the detection level L4-03 is
a signed value, detection works in the specified direction only.
Status Description
Open Output frequency or motor speed and frequency reference are both outside the range of L4-03 ±L4-04
Closed Output frequency or motor speed and the frequency reference are both with in the range of L4-03 ±L4-04
Figure 5.73
Frequency reference + L4-04
Frequency reference
L4-03 + L4-04
Frequency reference – L4-04
L4-03
L4-03 – L4-04 Output frequency
During
Forward
0 Hz
common_
Output frequency
TMonly
Frequency reference
User Set OFF OFF
ON ON
Speed Agree 2
Figure 5.73 User Set Speed Agree 2 Example with a Positive L3-04 Value
Refer to L4-03, L4-04: Speed Agreement Detection Level and Detection Width (+/-) on page 269 for more details.
Setting 15: Frequency detection 3
Output opens when the output frequency or motor speed (CLV, CLV/PM) rises above the detection level set in L4-03 plus
the detection with set in L4-04. The terminal remains open until the output frequency or motor speed falls below the level
set in L4-03. As the detection level L4-03 is a signed value, the detection works in the specified direction only.
Status Description
Open Output frequency or motor speed exceeded L4-03 plus L4-04.
Closed Output frequency or motor speed is below L4-03 or has not exceeded L4-03 plus L4-04 yet.
Figure 5.74
Output Frequency
or Motor Speed L4-04 common_
L4-03 TMonly
Frequency
detection 3 <1> ON OFF
Figure 5.74 Frequency Detection 3 Example with a Positive L3-04 Value
<1> This is the time chart when L4-07 (Speed Agree Detection Selection) is set to 1 (detection always enabled). The default
setting for L4-07 is 0 (no detection during baseblock). When L4-07 = 0, the terminal opens during baseblock.
Refer to L4-03, L4-04: Speed Agreement Detection Level and Detection Width (+/-) on page 269 for more details.
Setting 16: Frequency detection 4
Output closes whenever the output frequency or motor speed (CLV, CLV/PM) is above the detection level set in L4-03.
The terminal remains closed until the output frequency or motor speed falls below L4-03 minus the setting of L4-04. As
the detection level L4-03 is a signed value, frequency detection works in the specified direction only.
242 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.7 H: Terminal Functions
Status Description
Open Output frequency or motor speed is below L4-03 minus L4-04 or has not exceeded L4-03 yet.
Closed Output frequency or motor speed exceeded L4-03.
Figure 5.75
Output Frequency
or Motor Speed L4-04 common_
L4-03 TMonly
Frequency
OFF ON
Detection 4
Figure 5.75 Frequency Detection 4 Example with Positive L3-04 Value
Refer to L4-03, L4-04: Speed Agreement Detection Level and Detection Width (+/-) on page 269 for more details.
Setting 1A: During reverse
A digital output set for “During reverse” will close whenever the drive is running the motor in the reverse direction.
Status Description
Open Motor is being driven in the forward direction or stopped.
Closed Motor is being driven in reverse.
Figure 5.76
Output frequency
FWD Run command
REV Run command
During Reverse
OFF ON common_
time TMonly
Figure 5.76 Reverse Direction Output Example Time Chart
Setting 1B: During baseblock (N.C.)
Parameter Details
Output opens to indicate that the drive is in a baseblock state. While Baseblock is executed, output transistors do not
switch and no main circuit voltage is output.
Status Description
Open Baseblock is being executed.
Closed Drive is not in a baseblock state.
5
Setting 1C: Motor 2 selection
Indicates which motor is selected when another output terminal is set up to switch drive operation between two motors
(H1- = 16). Refer to Setting 16: Motor 2 selection on page 232 for details on switching motors.
Status Description
Open Motor 1 is selected.
Closed Motor 2 is selected.
Setting 1D: During regeneration
Terminal closes when the motor is driven in the regenerative mode.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 243
5.7 H: Terminal Functions
Setting 1E: Restart enabled
An output set for “Restart enabled” closes once the drive begins attempting to restart after a fault has occurred.
The fault restart function allows the drive to automatically clear a fault. The terminal set to 1E will close after the fault is
cleared and the drive has begun attempting to restart. If the drive cannot successfully restart within the number of
attempts permitted by L5-01, then a fault will be triggered and the terminal set to 1E will open. Refer to L5: Fault
Restart on page 270 for details on automatic restart.
Setting 1F: Motor overload alarm (oL1)
An output programmed for this function will close when the motor overload level estimated by the oL1 fault detection
exceeds 90% of the oL1 detection level. Refer to L1-01: Motor Overload Protection Selection on page 257.
Setting 20: Drive overheat pre-alarm (oH)
Output closes whenever the drive heatsink temperature reaches the level specified by parameter L8-02. Refer to L8-02:
Overheat Alarm Level on page 275 for details on drive overheat detection.
Setting 22: Mechanical weakening detection
Output closes when a mechanical weakening situation is detected. Refer to Mechanical Weakening Detection on
page 273 for details.
Setting 2F: Maintenance period
Output closes when the cooling fan, DC bus capacitors, or DC bus pre-charge relay may require maintenance as
determined by the estimated performance life span of those components. Refer to Periodic Maintenance on page 354.
Setting 30: During torque limit
Output closes when the motor is operating at the torque limit specified by the L7- parameters or an analog input.
This setting can only be used in OLV, CLV, AOLV/PM and CLV/PM control modes. Refer to L7-01 to L7-04: Torque
Limits on page 274 for details.
Setting 31: During speed limit
Output closes when the speed limit has been reached. This function can be used in CLV and CLV/PM control modes.
Status Description
Open The conditions described below are not present.
1. The frequency reference has reached the upper limit set in d2-01.
Closed 2. The frequency reference has fallen to the lower limit set in d2-02 or d2-03.
3. Parameter b1-05 is set to 1, 2, or 3, and the frequency reference has fallen below the minimum output frequency (E1-09).
Setting 32: During speed limit in Torque Control
The motor torque and load torque are not in balance, causing the motor to accelerate. An output terminal set to 32 closes
when the motor reaches the speed limit. Refer to d5: Torque Control on page 200 and Indicating Operation at the Speed
Limit on page 202 for details.
Setting 33: Zero Servo complete
Output closes when Zero Servo is enabled and the load is locked into position within the zero servo completion width
(b9-02). For how Zero Servo operates, refer to b9: Zero Servo on page 177.
Setting 37: During frequency output
Output closes when the drive is outputting a frequency.
Status Description
Open The drive is not outputting a frequency (one of the following functions is being performed: stop, baseblock, DC Injection Braking (during initial excitation)).
Closed Drive is outputting frequency.
244 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.7 H: Terminal Functions
Figure 5.77
OFF ON
run command
baseblock OFF ON
command
output
frequency
OFF ON
during run
during frequency OFF ON
common_
output TMonly
Figure 5.77 During Frequency Output Time Chart
Setting 38: Drive enable
A digital output set for “Drive enable” will reflect the status of a digital input configured as a “Drive enable” input
(H1- = 6A). If that digital input closes, then the digital output set for “Drive enable” will also close.
Setting 39: Power consumption pulse output
Outputs a pulse to indicate the power consumption. Refer to H2-06: Power Consumption Output Unit Selection on
page 246 for details.
Setting 3A: Regenerated power pulse output
Outputs a pulse to indicate the regenerated power. Refer to H2-06: Power Consumption Output Unit Selection on
page 246 for details.
Setting 3C: LOCAL/REMOTE status
Output terminal closes while the drive is set for LOCAL and opens when in REMOTE.
Status Description
Open REMOTE: The external reference that has been selected (either b1-01 and b1-02 or b1-15 and b1-16) is used as frequency reference and Run command source
Closed LOCAL: The digital operator is used as frequency reference and Run command source
Setting 3D: During Speed Search
Output terminal closes while Speed Search is being performed. Refer to b3: Speed Search on page 155 for details.
Setting 3E: PID feedback low
Output terminal closes when a PID feedback loss (FbL) is detected. The feedback is considered to be lost if it falls below
the level set to b5-13 for longer than the time set to b5-14. Refer to PID Feedback Loss Detection on page 169 for
details.
Parameter Details
Setting 3F: PID feedback high
Output terminal closes when an excessive PID feedback (FbH) is detected. The feedback is considered to be lost if it rises
beyond the level set to b5-36 for longer than the time set to b5-37. Refer to PID Feedback Loss Detection on page 169
for details.
Setting 4C: During Fast Stop
5
Output terminal closes when a Fast Stop is being executed. Setting 15, 17: Fast Stop (N.O., N.C.) on page 231.
Setting 4D: oH pre-alarm time limit
Output terminal closes when the drive is reducing the speed due to a drive overheat alarm (L8-03 = 4) and the overheat
alarm has not disappeared after ten frequency reduction operation cycles. Refer to L8-03: Overheat Pre-Alarm
Operation Selection on page 275 for a more detailed description.
Setting 60: Internal cooling fan alarm
Output closes when the drive’s internal cooling fan has failed.
Setting 61: Rotor position detection complete
After the Run command is given, the output terminal signals that the drive has detected the rotor position (PM motors).
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 245
5.7 H: Terminal Functions
Setting 62: Memobus Regs1 (It selects it with H2-07 and H2-08.)
The contact output is closed if any of the bits that are specified by H2-08 for the MEMOBUS/Modbus register address
that is set in H2-07 turns on.
Setting 63: Memobus Regs2 (It selects it with H2-09 and H2-10.)
The contact output is closed if any of the bits that are specified by H2-10 for the MEMOBUS/Modbus register address
that is set in H2-09 turns on.
Setting 64: During commercial power operation
Output closes when operating on commercial power when commercial power switching is selected (b1-24 = 1).
Setting 90 to 92: DriveWorksEZ digital output 1 to 3
These settings are for output functions used in DriveWorksEZ. Normally there is no need to change these settings.
Setting 100 to 192: Functions 0 to 92 with inverse output
These settings have the same function as settings 0 to 92 but with inverse output. Set as 1, where the “1” indicates
inverse output and the last two digits specify the setting number of the function.
Examples: For inverse output of “8: During baseblock”, set 108.
H2-06: Power Consumption Output Unit Selection
Sets the units for the output signal when one of the multi-function terminals is set to power consumption pulse output
(H2-01, H2-02, or H2-03 = 39).
This output function provides a watt hour meter or a PLC input by a 200 ms pulse signal. H2-06 determines the
frequency that pulses are issued to keep track of the kWh for the drive.
No. Parameter Name Setting Range Default
1: 1 kWh units
2: 10 kWh units
H2-06 Power Consumption Output Unit Selection 1
3: 100 kWh units
4: 1000 kWh units
Note: 1. A negative power output (i.e., regeneration) does not subtract from the total watt hours.
2. The drive keeps track of the watt hours as long as the control circuit has power. The value is reset when the power supply is shut off.
Figure 5.78
H2-06
(Watt Hour Output Unit Selection)
Integral Power
H2-01 to H2-03
㧔Multi-function Output) ON
OFF OFF
0.2 s common_TMonly
Figure 5.78 Watt Hour Output Example
H2-07 to H2-10: Memobus Regs
These parameters specify the MEMOBUS/Modbus registers and bits from which data will be sent to the multi-function
contact outputs.
No. Name Setting Range Default
H2-07 Memobus Regs1 Address Select 1 to 1FFFH 1
H2-08 Memobus Regs1 Bit Select 0 to FFFFH 0
H2-09 Memobus Regs2 Address Select 1 to 1FFFH 1
H2-10 Memobus Regs2 Bit Select 0 to FFFFH 0
The MEMOBUS/Modbus register addresses for sending data to multi-function digital outputs 62 and 63 are specified in
H2-07 and H2-09, and the bits for the MEMOBUS/Modbus registers are specified in H2-08 and H2-10.
246 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.7 H: Terminal Functions
H3: Multi-Function Analog Inputs
The drive is equipped with three multi-function analog input terminals: A1, A2, and A3. Refer to Table 5.41 for a listing
of the functions that can be set to these terminals.
H3-01: Terminal A1 Signal Level Selection
Selects the input signal level for analog input A1.
No. Name Setting Range Default
H3-01 Terminal A1 Signal Level Selection 0, 1 0
Setting 0: 0 to 10 Vdc
The input level is 0 to 10 Vdc. The minimum input level is limited to 0%, so that a negative input signal due to gain and
bias settings will be simply read as 0%.
Setting 1: -10 to 10 Vdc
The input level is -10 to 10 Vdc. If the resulting voltage is negative after being adjusted by gain and bias settings, then the
motor will rotate in reverse.
H3-02: Terminal A1 Function Selection
Determines the function assigned to analog input terminal A1. Refer to Multi-Function Analog Input Terminal Settings
on page 250 for instructions on how to adjust the signal level.
No. Name Setting Range Default
H3-02 Terminal A1 Function Selection 0 to 32 0
H3-03, H3-04: Terminal A1 Gain and Bias Settings
Parameter H3-03 sets the level of the selected input value that is equal to 10 Vdc input at terminal A1 (gain).
Parameter H3-04 sets the level of the selected input value that is equal to 0 V input at terminal A1 (bias).
Both can be used to adjust the characteristics of the analog input signal to terminal A1.
No. Name Setting Range Default
H3-03 Terminal A1 Gain Setting -999.9 to 999.9% 100.0%
H3-04 Terminal A1 Bias Setting -999.9 to 999.9% 0.0%
Setting Examples
• Gain H3-03 = 200%, bias H3-04 = 0, terminal A1 as frequency reference input (H3-02 = 0):
Parameter Details
An input 10 Vdc will be equivalent to a 200% frequency reference and 5 Vdc will be equivalent to a 100% frequency
reference. Since the drive output is limited by the maximum frequency parameter (E1-04), the frequency reference will
be equal to E1-04 above 5 Vdc.
Figure 5.79
H3-01 = 0 H3-01 = 1
common_
TMonly
Gain = 200 % Gain = 200 %
5
Frequency 100%
reference E1-04
-10 V -5 V
100 % 0V 5V 10 V
E1-04
-100%
E1-04
Bias = 0 % Gain = -200 %
0V 5V 10 V
Figure 5.79 Frequency Reference Setting by Analog Input with Increased Gain
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 247
5.7 H: Terminal Functions
• Gain H3-03 = 100%, bias H3-04 = -25%, terminal A1 as frequency reference input:
An input of 0 Vdc will be equivalent to a -25% frequency reference.
When parameter H3-01 = 0, the frequency reference is 0% between 0 and 2 Vdc input.
When parameter H3-01 = 1, the motor will rotate in reverse between -10 and 2 Vdc input.
Figure 5.80
H3-01 = 0 H3-01 = 1
common_
100 %
100% TMonly
Frequency H3-01 = 0
reference -10 V -6.0 V
2.0 V 10 V
-25% Analog Input
Voltage
0
2.0 V 10 V
Analog Input -100%
-25% Voltage E1-04
H3-01 = 1 -150%
Figure 5.80 Frequency Reference Setting by Analog Input with Negative Bias
H3-05: Terminal A3 Signal Level Selection
Selects the input signal level for analog input A3. Refer to Multi-Function Analog Input Terminal Settings on page 250
for a list of functions and descriptions.
No. Name Setting Range Default
H3-05 Terminal A3 Signal Level Selection 0, 1 0
Setting 0: 0 to 10 Vdc
The input level is 0 to 10 Vdc. See the explanation provided for H3-01. Refer to Setting 0: 0 to 10 Vdc on page 247.
Setting 1: -10 V to 10 Vdc
The input level is -10 to 10 Vdc. See the explanation provided for H3-01. Refer to Setting 1: -10 to 10 Vdc on page 247.
H3-06: Terminal A3 Function Selection
Determines the function assigned to analog input terminal A3. Refer to Multi-Function Analog Input Terminal Settings
on page 250 for a list of functions and descriptions.
When analog input A3 is used as PTC input set H3-06 = E and make sure switch S4 on the terminal board is set for PTC
input. Also refer to Terminal A3 Analog/PTC Input Selection on page 83.
No. Name Setting Range Default
H3-06 Terminal A3 Function Selection 0 to 32 2
H3-07, H3-08: Terminal A3 Gain and Bias Setting
Parameter H3-07 sets the level of the selected input value that is equal to 10 Vdc input at terminal A3 (gain).
Parameter H3-08 sets the level of the selected input value that is equal to 0 V input at terminal A3 (bias).
No. Name Setting Range Default
H3-07 Terminal A3 Gain Setting -999.9 to 999.9% 100.0%
H3-08 Terminal A3 Bias Setting -999.9 to 999.9% 0.0%
H3-09: Terminal A2 Signal Level Selection
Selects the input signal level for analog input A2. Be sure to also set DIP switch S1 on the terminal board accordingly for
a voltage input or current input.
No. Name Setting Range Default
H3-09 Terminal A2 Signal Level Selection 0 to 3 2
Setting 0: 0 to 10 Vdc
The input level is 0 to 10 Vdc. Refer to Setting 0: 0 to 10 Vdc on page 247
248 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.7 H: Terminal Functions
Setting 1: -10 to 10 Vdc
The input level is -10 to 10 Vdc. Refer to Setting 1: -10 to 10 Vdc on page 247.
Setting 2: 4 to 20 mA
The input level is 4 to 20 mA. Negative input values by negative bias or gain settings will be limited to 0%.
Setting 3: 0 to 20 mA
The input level is 0 to 20 mA. Negative input values by negative bias or gain settings will be limited to 0%.
H3-10: Terminal A2 Function Selection
Determines the function assigned to analog input terminal A2. Refer to Multi-Function Analog Input Terminal Settings
on page 250 for a list of functions and descriptions.
No. Name Setting Range Default
H3-10 Terminal A2 Function Selection 0 to 32 0
H3-11, H3-12: Terminal A2 Gain and Bias Setting
Parameter H3-11 sets the level of the input value selected that is equal to 10 Vdc input or 20 mA input to terminal A2.
Parameter H3-12 sets the level of the input value selected that is equal to 0 V, 4 mA or 0 mA input at terminal A2.
Both can be used to adjust the characteristics of the analog input signal to terminal A2. The setting works in the same
way as parameters H3-03 and H3-04 for analog input A1.
No. Name Setting Range Default
H3-11 Terminal A2 Gain Setting -999.9 to 999.9% 100.0%
H3-12 Terminal A2 Bias Setting -999.9 to 999.9% 0.0%
H3-13: Analog Input Filter Time Constant
Parameter H3-13 sets the time constant for a first order filter that will be applied to the analog inputs.
An analog input filter can be used to prevent erratic drive control when a “noisy” analog reference is used. The drive
operation becomes more stable the longer the time programmed, but it becomes less responsive to rapidly changing
analog signals.
No. Name Setting Range Default
H3-13 Analog Input Filter Time Constant 0.00 to 2.00 s 0.03 s
H3-14: Analog Input Terminal Enable Selection
Parameter Details
When one of the multi-function digital input parameters is set for “Analog terminal input selection” (H1- = C), the
value set to H3-14 determines which of the analog input terminals will be enabled or disabled when the input is closed.
All analog input terminals will be enabled all of the time if H1- is not set to C. The terminals other than the one set as
the target are not influenced by input signals.
No.
H3-14
Name
Analog Input Terminal Enable Selection
Setting Range
1 to 7
Default
7
5
Setting 1: A1 only enabled
Setting 2: A2 only enabled
Setting 3: A1 and A2 only enabled
Setting 4: A3 only enabled
Setting 5: A1 and A3 only enabled
Setting 6: A2 and A3 only enabled
Setting 7: All analog input terminals enabled
H3-16 to H3-18 Terminal A1/A2/A3 Offset
Parameters H3-16 to H3-18 set the offset level of the selected input value to terminal A1, A2 or A3 that is equal to 0 Vdc
input. These parameters rarely need adjustment.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 249
5.7 H: Terminal Functions
No. Name Setting Range Default
H3-16 Terminal A1 Offset -500 to 500 0
H3-17 Terminal A2 Offset -500 to 500 0
H3-18 Terminal A3 Offset -500 to 500 0
Multi-Function Analog Input Terminal Settings
See Table 5.41 for information on how H3-02, H3-10, and H3-06 determine functions for terminals A1, A2, and A3.
Note: The scaling of all input functions depends on the gain and bias settings for the analog inputs. Set these to appropriate values
when selecting and adjusting analog input functions.
Table 5.41 Multi-Function Analog Input Terminal Settings
Setting Function Page Setting Function Page
0 Frequency bias 250 E Motor temperature (PTC input) 252
1 Frequency gain 250 F Through mode 252
2 Auxiliary frequency reference 1 250 10 Forward torque limit
3 Auxiliary frequency reference 2 250 11 Reverse Torque Limit 252
4 Output voltage bias 250 12 Regenerative torque limit
5 Accel/decel time gain 250 13 Torque limit using torque reference/speed limit 252
6 DC Injection Braking current 251 14 Torque compensation 252
7 Overtorque/Undertorque detection level 251 15 General torque limit 252
8 Stall Prevention level during run 251 16 Differential PID feedback 252
9 Output frequency lower limit level 251 1F Through mode 252
B PID feedback 251 30 DriveWorksEZ analog input 1
C PID setpoint 251 31 DriveWorksEZ analog input 2 252
D Frequency bias 251 32 DriveWorksEZ analog input 3
Setting 0: Frequency bias
The input value of an analog input set to this function will be added to the analog frequency reference value. When the
frequency reference is supplied by a different source other than the analog inputs, this function will have no effect. Use
this setting also when only one of the analog inputs is used to supply the frequency reference.
By default, analog inputs A1 and A2 are set for this function. Using A1 and A2 at the same time increases the frequency
reference by the total of all inputs.
Example: If the analog frequency reference from analog input terminal A1 is 50% and a bias of 20% is applied by analog
input terminal A2, the resulting frequency reference will be 70% of the maximum output frequency.
Setting 1: Frequency gain
The input value of an analog input set to this function will be multiplied with the analog frequency reference value.
Example: If the analog frequency reference from analog input terminal A1 is 80% and a gain of 50% is applied from
analog input terminal A2, the resulting frequency reference will be 40% of the maximum output frequency.
Setting 2: Auxiliary reference 1
Sets the auxiliary frequency reference 1 when multi-step speed operation is selected. Refer to Multi-Step Speed
Selection on page 192 for details.
Setting 3: Auxiliary reference 2
Sets the auxiliary frequency reference 2 when multi-step speed operation is selected. Refer to Multi-Step Speed
Selection on page 192 for details.
Setting 4: Output voltage bias
Voltage bias boosts the output voltage of the V/f curve as a percentage of the maximum output voltage (E1-05). Available
only when using V/f Control.
Setting 5: Accel/decel time gain
Adjusts the gain level for the acceleration and deceleration times set to parameters C1-01 through C1-08.
The acceleration time used by the drive is calculated by multiplying the this gain level to C1- as follows:
C1- Accel/decel time gain = Drive accel/decel time
250 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.7 H: Terminal Functions
Figure 5.81
100%
Acceleration/deceleration gain from 1 to 10 V
(10 V)
= × 10 (%)
50% Input Voltage (V)
20%
10%
0 1V 2V 5V 10 V
common_TMonly
Figure 5.81 Accel/Decel Time Gain with Analog Input Terminal
Setting 6: DC Injection Braking current
The current level used for DC Injection Braking. Set as a percentage of the maximum output current using.
Figure 5.82
DC Injection Braking Current Level
100%
Drive Rated
Current
common_TMonly
0 10 V
(4) (20 mA)
Figure 5.82 DC Injection Braking Current Using an Analog Input Terminal
Setting 7: Overtorque/Undertorque Detection level
Using this setting, the overtorque/undertorque detection level for torque detection 1 (L6-01) can be set by an analog
input. The analog input will replace the level set to L6-02. An analog input of 100% (10 V or 20 mA) will set a torque
detection level equal to 100% drive rated current/motor rated torque. Adjust the analog input gain if higher detection
level settings are required. Refer to L6: Torque Detection on page 271 for details on torque detection.
Setting 8: Stall Prevention level
This setting allows an analog input signal to adjust the Stall Prevention level. Figure 5.83 shows the setting
characteristics. The drive will use either the Stall Prevention level set to L3-06 or the level coming from the analog input
terminal that has been selected, whichever value is lower.
Figure 5.83
Stall Prevention Level during Run
common_TMonly
100%
30%
Parameter Details
Analog Input Level
0 30% 100%
Figure 5.83 Stall Prevention During Run Using an Analog Input Terminal
Setting 9: Output frequency lower limit level
The user can adjust the lower limit of the output frequency using an analog input signal.
Setting B: PID feedback 5
An input set for this function supplies the PID feedback value. This setting requires PID operation to be enabled in b5-01.
Refer to PID Feedback Input Methods on page 165.
Setting C: PID setpoint
An input set for this function supplies the PID setpoint value, and the frequency reference selected in parameter b1-01 is
no longer the PID setpoint. PID operation to be enabled in b5-01 to use this setting. Refer to PID Setpoint Input
Methods on page 165.
Setting D: Frequency bias
The input value of an analog input set to this function will be added to the frequency reference. This function can be used
with any frequency reference source.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 251
5.7 H: Terminal Functions
Setting E: Motor temperature
In addition to motor overload fault detection oL1, it is possible to use a PTC (Positive Temperature Coefficient)
thermistor for motor insulation protection. Connect the PTC to analog input terminal A3, and set switch S4 on the
terminal board to PTC. Refer to Terminal A3 Analog/PTC Input Selection on page 83 for details on setting S4. Refer to
Motor Protection Using a Positive Temperature Coefficient (PTC) on page 260 for further explanation.
Setting F, 1F: Through mode
When set to F or 1F, an input does not affect any drive function, but the input level can still be read out by a PLC via a
communication option or MEMOBUS/Modbus communications.
Setting 10, 11, 12, 15: Forward, Reverse, Regenerative, General torque limit (OLV, CLV, AOLV/PM, CLV/PM)
These functions can be used to set a torque limit using analog inputs for different operating conditions. Refer to L7:
Torque Limit on page 274 for details.
Setting 13: Torque Limit Using Torque Reference/Speed Limit
When using Torque Control, an analog input programmed to this function can set the torque reference (when in Torque
Control) or the torque limit (when in Speed Control). Refer to Setting the Torque Reference, Speed Limit, and Torque
Compensation Values on page 201 for details.
Setting 14: Torque compensation
Used to set a torque compensation value when using Torque Control. Refer to Setting the Torque Reference, Speed
Limit, and Torque Compensation Values on page 201 for details.
Setting 16: Differential PID Feedback
If an analog value is set for this function, the PID controller is set for differential feedback. The subtraction of the PID
feedback input value and the differential feedback input value builds the feedback value that is used to calculate the PID
input. Refer to PID Feedback Input Methods on page 165.
Setting 30, 31, 32: DriveWorksEZ Analog Input 1, 2, 3
These settings are for functions used in DriveWorksEZ. Normally there is no need to change or apply these settings.
H4: Multi-Function Analog Outputs
These parameters assign functions to analog output terminals FM and AM for monitoring a specific aspect of drive
performance.
H4-01, H4-04: Multi-Function Analog Output Terminal FM, AM Monitor Selection
Sets the desired drive monitor parameter U- to output as an analog value via terminal FM and AM. Refer to U:
Monitors on page 456 for a list of all monitors. The “Analog Output Level” column indicates if a monitor can be used
for analog output.
Example: Enter “103” for U1-03.
No. Name Setting Range Default
H4-01 Multi-Function Analog Output Terminal FM Monitor Selection 000 to 999 102
H4-04 Multi-Function Analog Output Terminal AM Monitor Selection 000 to 999 103
A setting of 031 or 000 applies no drive monitor to the analog output. With this setting, terminal functions as well as FM
and AM output levels can be set by a PLC via a communication option or MEMOBUS/Modbus (through mode).
H4-02, H4-03: Multi-Function Analog Output Terminal FM Gain and Bias
H4-05, H4-06: Multi-Function Analog Output Terminal AM Gain and Bias
Parameter H4-02 and H4-05 set the terminal FM and AM output signal level when the value of the selected monitor is at
100%. Parameter H4-03 and H4-06 set the terminal FM and AM output signal level when the value of the selected
monitor is at 0%. Both are set as a percentage, where 100% equals 10 Vdc or 20 mA analog output and 0% equals 0 V or
4 mA. The output voltage of both terminals is limited to +/-10 Vdc.
The output signal range can be selected between 0 to +10 Vdc, -10 to +10 Vdc, or 4 to 20 mA using parameter H4-07 and
H4-08. Figure 5.84 illustrates how gain and bias settings work.
252 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.7 H: Terminal Functions
No. Name Setting Range Default
H4-02 Multi-Function Analog Output Terminal FM Gain -999.9 to 999.9% 100.0%
H4-03 Multi-Function Analog Output Terminal FM Bias -999.9 to 999.9% 0.0%
H4-05 Multi-Function Analog Output Terminal AM Gain -999.9 to 999.9% 50.0%
H4-06 Multi-Function Analog Output Terminal AM Bias -999.9 to 999.9% 0.0%
Using Gain and Bias to Adjust Output Signal Level
When viewing a gain setting parameter (H4-02 or H4-05) on the digital operator, the analog output will supply a voltage
signal equal to 100% of the monitor value (including changes made from bias and gain settings). When viewing a bias
setting parameter (H4-03 or H4-06), the analog output voltage will supply a signal equal to 0% monitor value.
Example 1: To have an output signal of 5 V at terminal FM when the monitored value is at 100%, set H4-02 to 50%.
Example 2: To have an output signal of 10 V at terminal FM when the monitored value is at 76.7%, set H4-02 to 150%.
Figure 5.84
H4-07, 08 = 0 H4-07, 08 = 1
15V
Gain = 150%
Output Voltage
Bias = 0%
10V
Gain = 100%
10 V Bias = 0%
Gain 150% 5V
Bias 0% Gain = 50%
Output Voltage Bias = 0%
-100%
Gain 100%
5V Bias 0% 100%
Monitor Value
-5 V
Gain 50%
Bias 0%
0V -10 V common_
0% Monitor Value 100%
TMonly
-15 V
Figure 5.84 Analog Output Gain and Bias Setting Example 1 and 2
Example 3: To have an output signal of 3 V at terminal FM when the monitored value is at 0%, set H4-03 to 30%.
Figure 5.85
Gain = 100%
H4-07, 08 = 0 H4-07, 08 = 1
Bias = 30%
10V
Gain = 100%
10 V Output Voltage Bias = 0%
Bias 30% 3V
Output Voltage Gain 100% -100%
100%
Bias 0% Monitor Value
3V -4 V
Gain 100%
Parameter Details
0V -10 V
0% Monitor Value 100%
YEG_TMonly
Figure 5.85 Analog Output Gain and Bias Setting Example 3
H4-07, H4-08: Multi-Function Analog Output Terminal FM, AM Signal Level Selection
Sets the voltage output level of U parameter (monitor parameter) data to terminal FM and terminal AM using parameters 5
H4-07 and H4-08.
When changing the setting of these parameters make sure jumper S5 on the terminal board is set accordingly. Refer to
Terminal AM/FM Signal Selection on page 83 for details on setting S5.
No. Name Setting Range Default
H4-07 Multi-Function Analog Output Terminal FM Signal Level Selection 0 to 2 0
H4-08 Multi-Function Analog Output Terminal AM Signal Level Selection 0 to 2 0
Setting 0: 0 to 10 V
Setting 1: -10 V to 10 V
Setting 2: 4 to 20 mA
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 253
5.7 H: Terminal Functions
H5: MEMOBUS/Modbus Serial Communication
Through the drives built in RS-422/485 port (terminals R+, R-, S+, S-), serial communication is possible using
programmable logic controllers (PLCs) or similar devices running the MEMOBUS/Modbus protocol.
The H5- parameters are used to set up the drive for MEMOBUS/Modbus Communications. Refer to MEMOBUS/
Modbus Serial Communication on page 492 for detailed descriptions of the H5- parameters.
H6: Pulse Train Input/Output
A one track pulse train signal with a maximum frequency of 32 kHz can be input to the drive at terminal RP. This pulse
train signal can be used as the frequency reference, for PID functions, or as the speed feedback signal in V/f Control.
The pulse output monitor terminal MP can output drive monitor values as a pulse train signal with a maximum frequency
of 32 kHz. It can be used in sinking or sourcing mode. Refer to Using the Pulse Train Output on page 82 for details.
Use parameters H6- to set the scale and other aspects of the pulse input terminal RP and pulse output terminal MP.
H6-01: Pulse Train Input Terminal RP Function Selection
Selects the function of pulse train input terminal RP.
No. Name Setting Range Default
H6-01 Pulse Train Input Terminal RP Function Selection 0 to 3 0
Setting 0: Frequency reference
If the pulse input is set for this function and the frequency reference source is set to pulse input (b1-01, b1-15 = 4), the
drive reads the frequency value from terminal RP.
Setting 1: PID feedback value
Using this setting, the feedback value for PID control can be supplied as a pulse signal at terminal RP. Refer to b5: PID
Control on page 164 for details on PID control.
Setting 2: PID setpoint value
Using this setting, the setpoint value for PID control can be supplied as a pulse signal at terminal RP. Refer to b5: PID
Control on page 164 for details on PID control.
Setting 3: Speed feedback (V/f Control with Simple Speed Feedback)
This setting can be used in V/f control to increase the speed control precision by using a motor speed feedback signal.
The drive reads the speed feedback from terminal RP, compares it to the frequency reference and compensates the motor
slip using a speed regulator (ASR, setup in the C5- parameters) like shown in Figure 5.83. Because input terminal
RP is incapable of detecting motor direction, a separate way of determining motor direction still needs to be set up:
1. Using a Digital Input
If a digital input programmed for “Forward/reverse detection” (H1- = 7E) is closed, the drive assumes
reverse rotation. If open, then the drive assumes that the motor is rotating forwards.
2. Using the Frequency Reference Direction
If no digital input is set to “Forward/reverse detection” (H1- = 7E), the drive uses the direction of the
frequency reference as the direction for the speed feedback detected at the pulse input.
254 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.7 H: Terminal Functions
Figure 5.86
Output Frequency
after Soft Starter
common_TMonly
Motor speed
Figure 5.86 Speed Control with ASR in V/f with Simple Speed Feedback
Enabling V/f Control with Simple Speed Feedback:
1. Set the drive to V/f Control (A1-02 = 0).
2. Connect the motor speed pulse signal to the pulse input RP, set H6-01 = 3, and set the pulse signal frequency
that is equal to the maximum speed to H6-02 (pulse train input scaling). Make sure the pulse input bias (H6-04)
is 0% and the gain (H6-03) is 100%.
3. Decide the signal used for detecting the direction. If a digital input is used, set H1- = 7E.
4. Use the ASR gain and integral time parameters described in C5: Automatic Speed Regulator (ASR) on
page 184 for adjusting the responsiveness.
Note: 1. C5 parameters will appear when using V/f Control (A1-02 = 0) and when the pulse input RP function is set for simple PG feedback in
V/f Control (H6-01 = 3).
2. If running two motors from the same drive, note that the V/f Control with simple PG feedback can be used for motor 1 only.
H6-02: Pulse Train Input Scaling
This parameter sets the pulse signal frequency that is equal to 100% of the input value selected in parameter H6-01.
No. Name Setting Range Default
H6-02 Pulse Train Input Scaling 100 to 32000 Hz 1440 Hz
H6-03: Pulse Train Input Gain
Parameter Details
Sets the level of the input value selected in H6-01 when a pulse train signal with the frequency set in H6-02 is input to
terminal RP.
No. Name Setting Range Default
H6-03 Pulse Train Input Gain 0.0 to 1000.0% 100.0%
H6-04: Pulse Train Input Bias 5
Sets the level of the input value selected in H6-01 when no signal (0 Hz) is input to terminal RP.
No. Name Setting Range Default
H6-04 Pulse Train Input Bias -100.0 to 100.0% 0.0%
H6-05: Pulse Train Input Filter Time
Sets the pulse train input filter time constant in seconds.
No. Name Setting Range Default
H6-05 Pulse Train Input Filter Time 0.00 to 2.00 s 0.10 s
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 255
5.7 H: Terminal Functions
H6-06: Pulse Train Monitor Selection
Selects the monitor to output as a pulse train signal via terminal MP. Indicate which monitor to output entering the three
digits in U-. Refer to U: Monitors on page 456 for a complete list of monitors. Monitors that can be selected by
H6-06 appear in the table below.
No. Name Setting Range Default
000 <1>, 031 <1>, 101, 102, 105, 116,
H6-06 Pulse Train Monitor Selection 102
501, 502, 801 to 809
<1> Set “000” or “031” when the terminal is not used, or when using the terminal in the through mode.
H6-07: Pulse Train Monitor Scaling
Pulse train monitor scaling sets the output pulse frequency at terminal MP when the specified monitor item is at 100%.
Set H6-06 to 102 and H6-07 to 0 to make the pulse train monitor output synchronous to the output frequency.
No. Name Setting Range Default
H6-07 Pulse Train Monitor Scaling 0 to 32000 Hz 1440 Hz
H6-08: Pulse Train Input Minimum Frequency
Sets the minimum output frequency that can be detected by the pulse train input. Increasing this setting reduces the time
the drive needs to react to changes in the input signal.
• If the pulse input frequency falls below this level, the pulse input value will be 0.
• Enabled when H6-01 = 0, 1, or 2.
• When simple speed feedback in V/f Control is set as the function for terminal RP (H6-01 = 3), the minimum frequency
becomes the detection time for PG disconnect (F1-14).
No. Name Setting Range Default
H6-08 Pulse Train Input Minimum Frequency 0.1 to 1000.0 Hz 0.5 Hz
256 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.8 L: Protection Functions
5.8 L: Protection Functions
L1: Motor Protection
L1-01: Motor Overload Protection Selection
The drive has an electronic overload protection function that estimates the motor overload level based on output current,
output frequency, thermal motor characteristics, and time. An oL1 fault will be triggered when motor overload is
detected and drive output will be shut off.
L1-01 sets the overload protection function characteristics according to the motor being used.
No. Name Setting Range Default
L1-01 Motor Overload Protection Selection 0 to 6 Determined by A1-02
Note: 1. When the motor protection function is enabled (L1-010), an oL1 alarm can be output through one of the multi-function outputs by
setting H2-01 to 1F. The output will close when the motor overload level reaches 90% of the oL1 detection level.
2. Select a method to protect the motor from overheat by setting L1-01 between 1 and 6 when running a single motor from the drive. An
external thermal relay is not needed.
Setting 0: Disabled (motor overload protection is not provided)
This setting should be used if no motor overheat protection is desired or if multiple motors are connected to a single
drive. In this case it is recommended that you install a thermal relay for each motor as shown in Figure 5.87.
Figure 5.87
Drive
Power M1
supply MC1 L10
M2
MC2 L20
common_TMonly MC1, MC2: Magnetic contactors
L10, L20: Thermal relays
Figure 5.87 Example of Protection Circuit Design for Multiple Motors
NOTICE: Thermal protection cannot be provided when running multi-motors simultaneously with the same drive, or when using
motors with a current rating that is relatively high when compared with other standard motors (such as a submersible motor). Failure to
comply could result in motor damage. Disable the electronic overload protection of the drive (L1-01 = “0: Disabled”) and protect each
motor with individual motor thermal overloads.
NOTICE: Close MC1 and MC2 before operating the drive. (MC1 and MC2 cannot be switched off during run.)
Parameter Details
Setting 1: General-purpose motor (standard self-cooled)
Because the motor is self-cooled, the overload tolerance drops when the motor speed is lowered. The drive appropriately
adjusts the electrothermal trigger point according to the motor overload characteristics, protecting the motor from
overheat throughout the entire speed range.
5
Overload Tolerance Cooling Ability Overload Characteristics
A: Max. speed for 200LJ and above
B: Max. speed for 160MJ to 180 LJ
C: Max. speed for 132MJ and below
Motor designed to operate from line power. Continuous operation at less than line power
Motor cooling is most effective when running at frequency with 100% load can trigger motor
rated base frequency (check the motor nameplate or overload (oL1). A fault is output and the motor will
specifications). coast to stop.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 257
5.8 L: Protection Functions
Setting 2: Drive dedicated motor (speed range for constant torque: 1:10)
Use this setting when operating a drive duty motor that allows constant torque in a speed range of 1:10. The drive will
allow the motor to run with 100% load from 10% up to 100% speed. Running at slower speeds with full load can trigger
an overload fault.
Overload Tolerance Cooling Ability Overload Characteristics
150
Rated Speed=100% Speed
60 s
A: Max. speed for 200LJ and above
B: Max. speed for 160MJ to 180 LJ
Torque (%)
100 C: Max. speed for 132MJ and below
Motor is designed to effectively cool itself even at Continuous operation with 100% load from 5 Hz to
low speeds. 50 Hz.
55
50
Continuous A
B
C
0 110 100120 167 200
Speed (%)
Setting 3: Vector motor (speed range for constant torque: 1:100)
Use this setting when operating a drive-dedicated motor that allows constant torque in a speed range of 1:100. This motor
type is allowed to run with 100% load from 1% up to 100% speed. Running slower speeds with full load can trigger an
overload fault.
Overload Tolerance Cooling Ability Overload Characteristics
150
Rated Speed=100% Speed
60 s A: Max. speed for 200LJ and above
B: Max. speed for 160MJ to 180 LJ
100 C: Max. speed for 132MJ and below
Torque (%)
90
Motor is designed to effectively cool itself at Continuous operation with 100% load from 0.5 Hz to
ultra-low speeds. 50 Hz.
50 Continuous
A
B
C
0 1 100120 167 200
Speed (%)
Setting 4: PM derated torque motor
This setting is for operating a PM motor. PM motors for derated torque have a self-cooling design, so the overload
tolerance drops as the motor slows. Electronic thermal overload is triggered in accordance with the motor overload
characteristics, providing overheat protection across the entire speed range.
Overload Tolerance Cooling Ability Overload Characteristics
150
120 60 s
Torque (%)
100 Reaching 100% when operating at below the base
80 Motor is designed to produce 100% torque at base frequency will cause a motor overload fault (oL1).
Continuous speed. Built with effective cooling capabilities. The drive fault output closes and the motor coasts to
50
stop.
0.0 10 33 100
Motor Speed (%)
258 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.8 L: Protection Functions
Setting 5: Constant torque PM motors (constant torque range of 1:500)
Sets protection characteristics needed when driving a PM with constant torque. These motors allow for a speed control
from 0.2% to 100% when operating with 100% load. Slower speeds with 100% load will trigger overload.
Overload Tolerance Cooling Ability Overload Characteristics
Instantaneous rating (60 s)
150
125
Torque (%)
115
Continuous
100
83
77 Motor is designed to effectively cool itself at Continuous operation with 100% load from 0.2% to
67
ultra-low speeds (about 0.2% of base speed). 100% of base speed.
0 0.2 100 120 130 150
Percent of base speed (%)
Setting 6: General-purpose motor (50 Hz)
Because the motor (50 Hz) is self-cooled, the overload tolerance drops when the motor speed is lowered. The drive
appropriately adjusts the electrothermal trigger point according to the motor overload characteristics, protecting the
motor from overheat throughout the entire speed range.
Overload Tolerance Cooling Ability Overload Characteristics
150 Rated Speed=100% Speed
60 s
A: Max. speed for 200LJ and above
B: Max. speed for 160MJ to 180 LJ
C: Max. speed for 132MJ and below
Torque (%)
100
90 Motor designed to operate from line power. Continuous operation at less than line power
Motor cooling is most effective when running at frequency with 100% load can trigger motor
rated base frequency (check the motor nameplate or overload (oL1). A fault is output and the motor will
specifications). coast to stop.
50 Continuous
A
B
C
05 33 100 120 167 200
Speed (%)
L1-02: Motor Overload Protection Time
There is normally no need to change this parameter from the default value. Sets the time it takes the drive to detect motor
overheat due to overload. If the motor overload tolerance protection time when an overload of 150% is imposed after
Parameter Details
continuous operation at 100% is clear, set that time as the value.
No. Name Setting Range Default
L1-02 Motor Overload Protection Time 0.1 to 5.0 minutes 1.0 minutes
Defaulted to operate with an allowance of 150% overload operation for one minute in a hot start; after continuous 5
operation at 100%.
• Figure 5.88 shows an example of the electrothermal protection operation time using a general-purpose motor
operating at 50 Hz with L1-02 set to one minute.
Motor overload protection operates in the area between a cold start and a hot start.
• Cold start: Characteristics of motor protection operation time in response to an overload situation that was suddenly
reached when starting a stationary motor.
• Hot start: Characteristics of motor protection operation time in response to an overload situation that occurred while
the motor was operating continuously at or below its rated current.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 259
5.8 L: Protection Functions
Figure 5.88
Operation time (minutes) common_TMonly
10
7
3
Cold start (Characteristics when an overload occurs
at a complete stop)
1
0.4
Hot start (Characteristics when an overload occurs
during continuous operation at 100%)
0.1
Motor current (%)
0 100 150 200 E2-01 = 100% motor current
Figure 5.88 Protection Operation Time for General Purpose Motors at the Rated Output Frequency
Motor Protection Using a Positive Temperature Coefficient (PTC)
A motor PTC can be connected to an analog input of the drive. This input is used by the drive for motor overheat
protection.
When the PTC input signal reaches the motor overheat alarm level, an oH3 alarm will be triggered and the drive will
continue operation as selected in L1-03. When the PTC input signal reaches the overheat fault level, an oH4 fault will be
triggered, a fault signal will be output, and the drive will stop the motor using the stop method determined in L1-04.
Connect the PTC between terminals AC and A3 and set jumper S4 on the terminal board to “PTC” like shown in
Figure 5.89. Set parameter H3-05 to 0 and parameter H3-06 to E.
Figure 5.89
Multi-function input Drive
MA
Fault output
MB
DIP Switch S4
MC
YEG PTC
M1
M2
AI
M3 Multi-function
M4 digital outputs
A3 (0-10 V)
M5
PTC
M6
thermistor
AC
Figure 5.89 Connection of a Motor PTC
The PTC must have the following characteristics for one motor phase. The drives motor overload detection expects 3 of
these PTCs to be connected in series.
260 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.8 L: Protection Functions
Figure 5.90
common_TMonly
Tr’
Tr - 5K (oH3 Alarm Level) Tr + 5K (oH4 Fault Level)
Figure 5.90 Motor PTC Characteristics
Overheat detection using a PTC can be set up by parameters L1-03, L1-04, and L1-05 as explained below.
L1-03: Motor Overheat Alarm Operation Selection (PTC input)
Sets the drive operation when the PTC input signal reaches the motor overheat alarm level (oH3).
No. Name Setting Range Default
L1-03 Motor Overheat Alarm Operation Selection (PTC input) 0 to 3 3
Setting 0: Ramp to stop
The drive stops the motor using the deceleration time 1 set in parameter C1-02.
Setting 1: Coast to stop
The drive output is switched off and the motor coasts to stop.
Setting 2: Fast Stop
The drive stops the motor using the Fast Stop time set in parameter C1-09.
Setting 3: Alarm only
The operation is continued and an oH3 alarm is displayed on the digital operator.
L1-04: Motor Overheat Fault Operation Selection (PTC input)
Sets the drive operation when the PTC input signal reaches the motor overheat fault level (oH4).
No. Name Setting Range Default
L1-04 Motor Overheat Fault Operation Selection (PTC input) 0 to 2 1
Parameter Details
Setting 0: Ramp to stop
The drive stops the motor using the deceleration time 1 set in parameter C1-02.
Setting 1: Coast to Stop
The drive output is switched off and the motor coasts to stop.
Setting 2: Fast Stop
5
The drive stops the motor using the Fast Stop time set in parameter C1-09.
L1-05: Motor Temperature Input Filter Time (PTC input)
Used to set a filter on the PTC input signal in order to prevent a motor overheat fault from being mistakenly detected.
No. Name Setting Range Default
L1-05 Motor Temperature Input Filter Time (PTC input) 0.00 to 10.00 s 0.20 s
L1-08: oL1 Current Lvl
Sets the reference current for motor thermal overload detection for motor 1 in amperes.
If L1-08 is set to 0.0A, E2-01 (E5-03 when in PM control mode) is used as a reference for motor overload protection. If
L1-08 is set to any other, that value is used as a reference for motor overload protection.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 261
5.8 L: Protection Functions
No. Name Setting Range Default
0.0 A or 10 to 150% of drive rated
L1-08 oL1 Current Lvl 0.00 A
current <1> <2>
<1> Display is in the following units.
CIMR-U20028, 20042, and 40011 to 40027: 0.01A units
CIMR-U20054 to 20248, and 40034 to 40414: 0.1A units
<2> Cannot be set to a value smaller than 10% of drive rated current if the current level is set to a value greater than 0.0 A.
L1-09: oL1 Current Lvl (for 2nd motor)
Sets the reference current for motor thermal overload detection for motor 2 in amperes.
If L1-09 is set to 0.0A, E4-01 is used as a reference for motor overload protection. If L1-09 is set to any other, that value
is used as a reference for motor overload protection.
No. Name Setting Range Default
0.0 A or 10 to 150% of drive rated
L1-09 oL1 Current Lvl (for 2nd motor) 0.0 A
current <1> <2>
<1> Display is in the following units.
CIMR-U20028, 20042, and 40011 to 40027: 0.01A units
CIMR-U20054 to 20248, and 40034 to 40414: 0.1A units
<2> Cannot be set to a value smaller than 10% of drive rated current if the current level is set to a value greater than 0.0 A.
L1-13: Continuous Electrothermal Operation Selection
Determines whether or not to hold the current value of the motor overload protection selection (L1-01) when the power
supply is interrupted.
No. Name Setting Range Default
L1-13 Continuous Electrothermal Operation Selection 0 or 1 1
Setting 0: Disabled
Setting 1: Enabled
L2: Momentary Power Loss Ride-Thru
L2-01: Momentary Power Loss Operation Selection
When a momentary power loss occurs, the drive can automatically return to the operation it was performing prior to the
power loss based on certain conditions.
No. Name Setting Range Default
L2-01 Momentary Power Loss Operation Selection 0 to 2 0
Setting 0: Disabled (default)
If a momentary power loss occurs, a power supply frequency fault (Fdv) is detected and the drive output is turned OFF.
The motor coasts to stop.
Setting 1: Recover within L2-02
When a momentary power loss occurs, the drive output will be shut off. Should the power return within the time set to
parameter L2-02, the drive will perform Speed Search and attempt to resume operation. If power is not restored within
this time (i.e., DC bus voltage level remains below Uv1 detection level L2-05), then an Fdv fault is triggered and the
drive will stop.
Setting 2: Recover as long as CPU has power
When a momentary power loss occurs, the drive output will be shut off. Should the power return as long as the drive
control circuit has power, the drive will attempt to perform Speed Search and resume the operation. An Fdv fault is not
triggered even if the control power is below the Fdv level.
Note: 1. When using a magnetic contactor between the motor and the drive, keep the magnetic contactor closed during the momentary power
loss.
2. “Uv” will flash on the operator while the drive is attempting to recover from a momentary power loss. A fault signal is not output at
this time.
262 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.8 L: Protection Functions
L2-02: Momentary Power Loss Ride-Thru Time
Sets the maximum time allowed to ride through a power loss. If power loss operation exceeds this time, the drive will
attempt to accelerate back to frequency reference. This parameter is valid if L2-01 = 1.
Note: The amount of time the drive is capable of recovering after a power loss is determined by the capacity of the drive. Drive
capacity determines the upper limit for L2-02.
No. Name Setting Range Default
L2-02 Momentary Power Loss Ride-Thru Time 0.0 to 2.5 s 0.5 s
L2-03: Momentary Power Loss Minimum Baseblock Time
Sets the minimum baseblock time when power is restored following a momentary power loss. This determines the time
the drive waits for the residual voltage in the motor to dissipate. Increase this setting if overcurrent occurs at the
beginning of Speed Search, after a power loss, or during DC Injection Braking.
No. Name Setting Range Default
Determined by C6-01
L2-03 Momentary Power Loss Minimum Baseblock Time 0.1 to 5.0 s
and o2-04
L2-04: Momentary Power Loss Voltage Recovery Ramp Time
Sets the time for the drive to restore the output voltage to the level specified by the V/f pattern after Speed Search. The
setting value determines the time for the voltage to go from 0 V to the maximum voltage.
No. Name Setting Range Default
Determined by C6-01 and
L2-04 Momentary Power Loss Voltage Recovery Ramp Time 0.0 to 5.0 s
o2-04
L2-07: Momentary Power Loss Voltage Recovery Acceleration Time
Sets the time to reaccelerate from the deceleration frequency to the frequency set in frequency reference (frequency
before power loss) after momentary power loss.
When set to 0.0 s, the drive will accelerate back up to speed according to the active acceleration time set by C1-01,
C1-03, C1-05, or C1-07.
No. Name Setting Range Default
L2-07 Momentary Power Loss Voltage Recovery Acceleration Time 0.00 to 6000.0 s <1> 0.00 s
<1> Setting range is determined by the accel/decel time units set in C1-10. If the time is set in units of 0.01 s (C1-10 = 0), the setting range becomes
0.00 to 600.00 s.
L2-13: Input Power Frequency Fault Detection Gain
Parameter Details
Sets the gain used to detect a power supply frequency fault (Fdv).
If an Fdv fault occurs with no momentary power loss, reduce the setting value in 0.1 increments.
No. Name Setting Range Default
L2-13 Input Power Frequency Fault Detection Gain 0.1 to 2.0 1.0
5
L2-21: Low Input Voltage Detection Level
Sets the low input voltage detection level.
No. Name Setting Range Default
L2-21 <1> Low Input Voltage Detection Level 100 to 230 V 150 V
<1> Values are specific to 200 V class drives. Double the value for 400 V class drives.
L2-27: Power Supply Frequency Fault Detection Width
There is normally no need to change this parameter from the default value. Sets the frequency width used to detect a
power supply frequency fault (Fdv) in Hz.
No. Name Setting Range Default
L2-27 Power Frequency Fault Detection Width 3.0 to 20.0 Hz 6.0 Hz
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 263
5.8 L: Protection Functions
L3: Stall Prevention
When the load is too high or acceleration and deceleration times are too short, the motor may be unable to keep up with
the frequency reference, resulting in excessive slip. During acceleration, this usually causes an overcurrent fault (oC),
overload (oL2), or motor overload (oL1). During deceleration, it can cause the drive to fault out from overvoltage (oV).
The drive can prevent the motor from stalling and still reach the desired speed without the user needing to change the
acceleration or deceleration time settings. The Stall Prevention function can be set separately for acceleration, operating
at constant speeds, and deceleration.
L3-01: Stall Prevention Selection during Acceleration
Stall Prevention during acceleration (L3-01) prevents tripping with overcurrent (oC), motor overload (oL1), or overload
(oL2) faults common when accelerating with heavy loads.
L3-01 determines the type of Stall Prevention the drive should used during acceleration.
No. Name Setting Range Default
L3-01 Stall Prevention Selection during Acceleration 0, 1, 3 1
Setting 0: Disabled
No Stall Prevention is provided. If the acceleration time is too short, the drive may not be able to get the motor up to
speed fast enough, thus tripping an overload fault.
Setting 1: Enabled
Enables Stall Prevention during acceleration. Operation varies, depending on the control mode.
• V/f Control, V/f Control with PG, and Open Loop Vector Control:
If the output current rises above the Stall Prevention level set in L3-02, then the drive stops accelerating. Acceleration
will not resume until the output current falls 15% below the setting in L3-02.
The Stall Prevention level is automatically reduced in the constant power range. Refer to L3-03: Stall Prevention
Limit during Acceleration/Deceleration on page 265.
Figure 5.91
Output current
common_TMonly
Stall Prevention Level
During Acceleration
L3-02
L3-02
-15%
Time
Output frequency
Controls the output frequency
to prevent the motor from stalling
Time
Figure 5.91 Stall Prevention During Acceleration for Induction Motors
264 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.8 L: Protection Functions
• Open Loop Vector Control for PM:
If the output current remains above the Stall Prevention level set in L3-02 for the time set in L3-27, then the drive will
begin to decelerate using the deceleration time set in L3-22. (Refer to L3-22: Deceleration Time at Stall Prevention
during Acceleration on page 267.) Acceleration will not resume until the output current falls 15% below the setting in
L3-02.
Figure 5.92
common_TMonly
Output current
L3-02 15 % of L3-02
Time
Output frequency
L3-27
L3-27
Time
Deceleration
using L3-22
Figure 5.92 Stall Prevention During Acceleration for Permanent Magnet Motors
Setting 3: Enabled (Current Limit)
The acceleration rate is automatically adjusted while limiting the output current at the setting value of the stall prevention
level during acceleration (L3-02).
The acceleration rate is automatically adjusted during acceleration of the load (the output current) increases and the
current limit is exceeded.
Figure 5.93
L3-02
15% of rated current
Output current
Frequency reference
common_TMonly
Output frequency
Figure 5.93 Current-limited Acceleration
Parameter Details
L3-02/L3-14: Stall Prevention Level during Acceleration/Deceleration
There is normally no need to change these parameters from their default values.
Set the output voltage level at which to enable stall prevention during acceleration as a percentage of drive rated current.
These parameters are valid when stall prevention during deceleration is selected (L3-04 = 1). Decrease the setting values
if stalling occurs when parameters are set to default. 5
No. Name Setting Range Default
L3-02 Stall Prevention Level during Acceleration 0 to 150% <1> <1>
L3-14 Stall Prevention Level during Deceleration 80 to 150% <1> <1>
<1> The upper limit and the default setting depend on C6-01, Drive Duty Selection, and L8-38, Carrier Frequency Reduction Selection.
• Stalling may occur when the motor is rated at a smaller current than the drive rated output current and the stall
prevention default settings are used. Set L3-02/L3-14 appropriately if stalling occurs.
• Also set parameter L3-03 when operating the motor in the constant power range.
L3-03: Stall Prevention Limit during Acceleration/Deceleration
The Stall Prevention level is automatically reduced when the motor is operated in the constant power range. L3-03 sets
the lower limit for this reduction as a percentage of the drive rated current.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 265
5.8 L: Protection Functions
No. Name Setting Range Default
L3-03 Stall Prevention Limit during Acceleration/Deceleration 0 to 100% 50%
Figure 5.94
Stall Prevention level during Acceleration
L3-02
L3-14
L3-03
Output frequency
E1-06
Base frequency
common_TMonly
Figure 5.94 Stall Prevention Level and Limit During Acceleration
L3-04: Stall Prevention Selection during Deceleration
Stall prevention during deceleration prevents the motor from stalling when a large load is imposed on the motor or rapid
deceleration is performed.
No. Name Setting Range Default
L3-04 Stall Prevention Selection during Deceleration 0, 1, 4, 6 <1> 1
<1> Settings 4 are not available in OLV/PM, AOLV/PM and CLV/PM.
Setting 0: Disabled
The drive decelerates according to the set deceleration time.
High inertia loads or rapid deceleration may trigger an overcurrent (oC) fault. Switch to another L3-04 selection if an oC
fault occurs.
Setting 1: General-purpose Stall Prevention
With this setting the drive tries to decelerate within the set deceleration time. When the output current exceeds the Stall
Prevention level, the drive pauses deceleration. Deceleration continues as soon as the output current drops below that
level. Stall Prevention may be triggered repeatedly to avoid an overcurrent (oC) fault.
Figure 5.95 illustrates the function of Stall Prevention during deceleration.
Figure 5.95
Output Frequency
common_TMonly
Deceleration characteristics
when Stall Prevention was
triggered during deceleration
Time
specified deceleration time
Figure 5.95 Stall Prevention During Deceleration
Setting 4: Overexcitation Deceleration
Overexcitation Deceleration (increasing the motor flux) is faster than deceleration with no Stall Prevention (L3-04 = 0).
Setting 4 changes the selected decel time and functions to provide protection from an overvoltage trip. Refer to
Overexcitation Deceleration (Induction Motors) on page 282 for details.
Setting 6: Enable (Current Limit)
The deceleration rate is automatically adjusted during deceleration of the load while limiting the regeneration current at
the setting value of the stall prevention level during deceleration (L3-14).
The stall prevention level may be reached if an external force is applied in the regeneration direction, dramatically
decreasing the possibility of stopping the motor.
266 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.8 L: Protection Functions
Figure 5.96
L3-14
15% of rated current
Frequency reference
common_
TMonly
Figure 5.96 Deceleration for Current Limit
L3-05: Stall Prevention Selection during Run
Stall Prevention during run can prevent a motor from stalling by automatically reducing the speed when a transient
overload occurs while the motor is running at constant speed.
This parameter determines how Stall Prevention works during run.
No. Name Setting Range Default
L3-05 Stall Prevention Selection during Run 0 to 2 1
Note: 1. This parameter is available in V/f, V/f w/PG, and OLV/PM.
2. When output frequency is 6 Hz or less, Stall Prevention during run is disabled regardless of the setting in L3-05 and L3-06.
Setting 0: Disabled
Drive runs at the set frequency reference. A heavy load may cause the motor to stall and trip the drive with an oC or oL
fault.
Setting 1: Decelerate using C1-02
If the current exceeds the Stall Prevention level set in parameter L3-06, then the drive will decelerate at decel time
(C1-02, C1-04, C1-06, C1-08). Once the current level drops below the value of L3-06 minus 2% for 100 ms, the drive
accelerates back to the frequency reference at the active acceleration time.
Setting 2: Decelerate using C1-04
Same as setting 1 except the drive decelerates at decel time 2 (C1-04).
L3-06: Stall Prevention Level during Run
Sets the current level to trigger Stall Prevention during run. Depending on the setting of parameter L3-23, the level is
automatically reduced in the constant power range (speed beyond base speed). A setting of 100% is equal to the drive
rated current.
Parameter Details
The Stall Prevention level can be adjusted using an analog input. Refer to Multi-Function Analog Input Terminal
Settings on page 250 for details.
No. Name Setting Range Default
L3-06 Stall Prevention Level during Run 30 to 150% <1> <1>
5
<1> The upper limit and default for this setting is determined by C6-01 and L8-38.
L3-22: Deceleration Time at Stall Prevention during Acceleration
Sets the brief deceleration time used when stalling occurs while accelerating a PM motor. When set to 0, this function is
disabled and the drive will decelerate at the selected deceleration time when stalling occurs.
The function is effective only in Open Loop Vector Control for PM motors and if parameter L3-01 is set to 1.
No. Name Setting Range Default
L3-22 Deceleration Time at Stall Prevention during Acceleration 0.0 to 6000.0 s 0.0 s
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 267
5.8 L: Protection Functions
L3-23: Automatic Reduction Selection for Stall Prevention during Run
This function reduces the Stall Prevention during run level in the constant power range.
No. Name Setting Range Default
L3-23 Automatic Reduction Selection for Stall Prevention during Run 0 or 1 0
Setting 0: Disabled
The level set in L3-06 is used throughout the entire speed range.
Setting 1: Enabled
The Stall Prevention level during run is reduced in the constant power range. The lower limit will be 40% of L3-06.
L3-27: Stall Prevention Detection Time
Sets a delay time from when the Stall Prevention level is reached and the actual Stall Prevention function is activated.
No. Name Setting Range Default
L3-27 Stall Prevention Detection Time 0 to 5000 ms 50 ms
L3-36/L3-41: Vibration Suppression Gain during Acceleration/Deceleration (with Current
Limit)
There is normally no need to change these parameters from their default values. These parameters are valid when
acceleration stall prevention (with current limit) is enabled (L3-01 = 3), or when current-limited deceleration is selected
for stall prevention during deceleration (L3-04 = 6). Increase the setting values if oscillation occurs in the output current
during acceleration/deceleration.
No. Name Setting Range Default
L3-36 Vibration Suppression Gain during Acceleration (with Current Limit) 0.0 to 100.0 Determined by 1-02
L3-41 Vibration Suppression Gain during Deceleration (with Current Limit) 1.0 to 1000.0 Determined by 1-02
L3-39/L3-44: Current-limited Integral Time Constant during Acceleration/Deceleration
There is normally no need to change this parameter from the default value. This parameter is valid if current limiting is
selected for Stall Prevention during Acceleration/Deceleration (L3-01 = 3, L3-04 = 6). Set the time constant for
acceleration/deceleration rate adjustment for current-limited acceleration/deceleration.
No. Name Setting Range Default
L3-39 Current-limited Integral Time Constant during Acceleration 1.0 to 1000.0 ms 100.0 ms
L3-44 Current-limited Integral Time Constant during Deceleration 1.0 to 1000.0 ms 100.0 ms
L3-40/L3-45: Current-limited Maximum S-curve Selection during Acceleration/
Deceleration
Enable or disable the maximum S-curve for current-limited acceleration/deceleration (acceleration: L3-40, deceleration:
L3-45).
The acceleration/deceleration rate of the motor when starting and at the start of deceleration is optimized. Because it is
optimized, the actual acceleration/deceleration time may exceed the setting.
Enable this function when an overcurrent (oC) or other error occurs immediately after starting acceleration or
deceleration.
No. Name Setting Range Default
L3-40 Current-limited Maximum S-curve Selection during Acceleration 0, 1 0
L3-45 Current-limited Maximum S-curve Selection during Deceleration 0, 1 0
0: Disabled
1: Enabled
268 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.8 L: Protection Functions
L4: Speed Detection
These parameters set up the speed agree and speed detection functions which can be assigned to the multi-function
output terminals.
The speed is detected using the motor speed when A1-02 = 3 or 7.
L4-01, L4-02: Speed Agreement Detection Level and Detection Width
Parameter L4-01 sets the detection level for the digital output functions “Speed agree 1,” “User-set speed agree 1,”
“Frequency detection 1,” and “Frequency detection 2.”
Parameter L4-02 sets the hysteresis level for these functions.
No. Name Setting Range Default
L4-01 Speed Agreement Detection Level 0.0 to 400.0 Hz <1> 0.0 Hz <1>
L4-02 Speed Agreement Detection Width 0.0 to 20.0 Hz Determined by A1-02
<1> In AOLV/PM and CLV/PM control modes, the setting units and range are expressed as a percent (0.0 to 100.0%) instead of in Hz.
Refer to H2-01 to H2-03: Terminal M1-M2, M3-M4, and M5-M6 Function Selection on page 237, Settings 2, 3, 4, and
5.
L4-03, L4-04: Speed Agreement Detection Level and Detection Width (+/-)
Parameter L4-03 sets the detection level for the digital output functions “Speed agree 2,” “User-set speed agree 2,”
“Frequency detection 3,” and “Frequency detection 4.”
Parameter L4-04 sets the hysteresis level for these functions.
No. Name Setting Range Default
L4-03 Speed Agreement Detection Level (+/-) -400.0 to 400.0 Hz <1> 0.0 Hz <1>
L4-04 Speed Agreement Detection Width (+/-) 0.0 to 20.0 Hz Determined by A1-02
<1> In AOLV/PM and CLV/PM control modes, the setting units and range are expressed as a percent (-100.0 to 100.0%) instead of in Hz.
Refer to H2-01 to H2-03: Terminal M1-M2, M3-M4, and M5-M6 Function Selection on page 237, Settings 13, 14, 15,
and 16.
L4-05: Frequency Reference Loss Detection Selection
The drive can detect a loss of an analog frequency reference from input A1, A2, or A3. Frequency reference loss is
detected when the frequency reference drops below 10% of the reference before or below 5% of the maximum output
frequency within 400 ms.
Parameter Details
Figure 5.97
Analog 100%
frequency
reference 10%
400 ms
Loss of
Reference
output
OFF ON
time
common_TMonly 5
Figure 5.97 Loss of Reference Function
To have a digital output trigger when frequency reference loss occurs, set H2-01, H2-02, or H2-03 to C. Refer to Setting
C: Frequency reference loss on page 241 for details on setting the output function.
Parameter L4-05 selects the operation when a frequency reference loss is detected.
No. Name Setting Range Default
L4-05 Frequency Reference Loss Detection Selection 0 or 1 0
Setting 0: Stop
Drive follows the frequency reference (which is no longer present) and simply stops the motor.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 269
5.8 L: Protection Functions
Setting 1: Continue operation with reduced frequency reference
The drive will continue operation at the frequency reference value set in parameter L4-06. When the external frequency
reference value is restored, the operation is continued with the frequency reference.
L4-06: Frequency Reference at Reference Loss
Sets the frequency reference level the drive runs with when L4-05 = 1 and a reference loss was detected. The value is set
as a percentage of the frequency reference when the loss was detected.
No. Name Setting Range Default
L4-06 Frequency Reference at Reference Loss 0.0 to 100.0% 80.0%
L4-07: Speed Agree Detection Selection
Determines when frequency detection is active using parameters L4-01 through L4-04.
No. Name Setting Range Default
L4-07 Speed Agree Detection Selection 0 or 1 0
Setting 0: No detection during baseblock
Setting 1: Detection always enabled
L5: Fault Restart
After a fault has occurred, this function attempts to automatically restart the motor and continue operation instead of
stopping.
The drive can be set up to perform a self-diagnostic check and resume the operation after a fault has occurred. If the
self-check is successful and the cause of the fault has disappeared, the drive restarts by first performing Speed Search.
Refer to b3: Speed Search on page 155 for details.
DANGER! Never use the fault restart function in hoist-type applications.
The drive can attempt to restart itself following the faults listed below.
Fault Name Fault Name
Aov Power Supply Overvoltage oL1 Motor Overload
GF Ground Fault oL3 Overtorque 1
LF Output Phase Loss oL4 Overtorque Detection 2
LSo LSo Fault ov Control Circuit Overvoltage
oC Overcurrent Uv1 Control Circuit Undervoltage Fault <1>
oH1 Overheat 1 (Heatsink Overheat) Sto Pull-Out Detection
<1> When L2-01 is set to 1 or 2 (continue operation during momentary power loss)
Use parameters L5-01 to L5-05 to set up automatic fault restart.
To output a signal during fault restart, set H2-01, H2-02, or H2-03 to 1E.
L5-01: Number of Auto Restart Attempts
Sets the number of times that the drive may attempt to restart itself.
The method of incrementing the restart counter is determined by the setting of parameter L5-05. When the counter
reaches the number set in L5-01, the operation stops and the fault has to be reset manually after correcting the cause.
The restart counter is incremented at each restart attempt, regardless of whether the attempt was successful. When the
counter reaches the number set in L5-01, the operation stops and the fault has to be reset manually after correcting the
cause.
The number of fault restarts is reset back to zero when:
• The drive operates normally for ten minutes following a fault restart.
• A fault is cleared manually after protective functions are triggered.
• The power supply is cycled.
No. Name Setting Range Default
L5-01 Number of Auto Restart Attempts 0 to 10 Times 0 Time
270 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.8 L: Protection Functions
L5-02: Auto Restart Fault Output Operation Selection
Determines if a fault output is triggered (H2- = E) when the drive attempts to restart.
No. Name Setting Range Default
L5-02 Auto Restart Fault Output Operation Selection 0 or 1 0
Setting 0: No fault output
Setting 1: Fault output is set
L5-04: Fault Reset Interval Time
Determines the amount of time to wait between restart attempts when parameter L5-05 is set to 1.
No. Name Setting Range Default
L5-04 Fault Reset Interval Time 0.5 to 600.0 s 10.0 s
L5-05: Fault Reset Operation Selection
No. Name Setting Range Default
L5-05 Fault Reset Operation Selection 0 or 1 0
Setting 0: Count successful restarts
The drive will continuously attempt to restart. If it restarts successfully, the restart counter is increased. This operation is
repeated each time a fault occurs until the counter reaches the value set in L5-01.
Setting 1: Count restart attempts
The drive will try to restart using the time interval set in parameter L5-04. A record is kept of the number of attempts to
restart to the drive, regardless of whether or not those attempts were successful. When the number of attempted restarts
exceeds the value set to L5-01, the drive gives up trying to restart.
L6: Torque Detection
The drive provides two independent torque detection functions that trigger an alarm or fault signal when the load is too
heavy (oL), or suddenly drops (UL). They are set up using the L6- parameters. To indicate the underload or overload
condition to an external device, digital outputs should be programmed as shown below.
Note: When overtorque occurs in the application, the drive may stop due to overcurrent (oC) or overload (oL1). To prevent this, an
overload situation should be indicated to the controller before oC or oL1 occur in the drive. Use the torque detection for this
purpose. Use undertorque detection to discover application problems like a torn belt, a pump shutting off, or other similar
trouble.
Parameter Details
H2-01, H2-02, H2-03
Description
Setting
B Torque detection 1, N.O. (output closes when overload or underload is detected)
17 Torque detection 1, N.C. (output opens when overload or underload is detected
18 Torque detection 2, N.O. (output close when overload or underload is detected)
19 Torque detection 2, N.C. (output opens when overload or underload is detected)
Figure 5.98 and Figure 5.99 show the function of overtorque and undertorque detection. 5
Figure 5.98
Motor current / torque common_TMonly
10 % hysteresis 10 % hysteresis
L6-02/05
L6-03/06 L6-03/06
Torque detection 1 (NO)
or
Torque detection 2 (NO) ON ON
Figure 5.98 Overtorque Detection Operation
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 271
5.8 L: Protection Functions
Figure 5.99
Motor current / torque 10 % hysteresis
common_TMonly
L6-02/05
L6-03/06 L6-03/06
Torque detection 1 (NO)
or
Torque detection 2 (NO) ON ON
Figure 5.99 Undertorque Detection Operation
Note: 1. The torque detection function uses a hysteresis of 10% of the drive rated output current and motor rated torque.
2. In V/f, V/f w/PG and OLV/PM, the level is set as a percentage of the drive rated output current. In OLV, CLV, AOLV/PM and CLV/
PM, it is set as a percentage of the motor rated torque.
L6-01, L6-04: Torque Detection Selection 1, 2
The torque detection function is triggered when the current or torque exceeds the levels set in L6-02 and L6-05 for longer
than the time set in L6-03 and L6-06. L6-01 and L6-04 select the conditions for detection and the operation that follows.
No. Name Setting Range Default
L6-01 Torque Detection Selection 1 0 to 8 0
L6-04 Torque Detection Selection 2 0 to 8 0
Setting 0: Disabled
Setting 1: oL3, oL4 at speed agree (Alarm)
Overtorque detection is active only when the output speed is equal to the frequency reference, i.e., no detection during
acceleration and deceleration. The operation continues after detection and an oL3/oL4 alarm is triggered.
Setting 2: oL3, oL4 at run (Alarm)
Overtorque detection works as long as the Run command is active. The operation continues after detection and an oL3 or
oL4 alarm is triggered.
Setting 3: oL3, oL4 at speed agree (Fault)
Overtorque detection is active only when the output speed is equal to the frequency reference, i.e., no detection during
acceleration and deceleration. The operation is stopped and an oL3 or oL4 fault is triggered.
Setting 4: oL3, oL4 at run (Fault)
Overtorque detection works as long as a Run command is active. Operation stops and an oL3 or oL4 fault is triggered.
Setting 5: UL3, UL4 at speed agree (Alarm)
Undertorque detection is active only when the output speed is equal to the frequency reference, i.e., no detection during
acceleration and deceleration. The operation continues after detection and a UL3 or UL4 alarm is triggered.
Setting 6: UL3, UL4 at Run (Alarm)
Undertorque detection works as long as the Run command is active. The operation continues after detection and a UL3 or
UL4 alarm is triggered.
Setting 7: UL3, UL4 at Speed Agree (Fault)
Undertorque detection is active only when the output speed is equal to the frequency reference, i.e., no detection during
acceleration and deceleration. The operation is stopped and a UL3 or UL4 fault is triggered.
Setting 8: UL3, UL4 at run (Fault)
Undertorque detection works as long as a Run command is active. Operation stops and a UL3 or UL4 fault is triggered.
L6-02, L6-05: Torque Detection Level 1, 2
These parameters set the detection levels for the torque detection functions 1 and 2. In V/f and OLV/PM control modes
these levels are set as a percentage of the drive rated output current, while in vector control modes these levels are set as
a percentage of the motor rated torque. When Mechanical Weakening detection is enabled (L6-08 0), the level for
L6-02 is set as a percentage of the drive’ rated output current in all control modes.
272 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.8 L: Protection Functions
No. Name Setting Range Default
L6-02 Torque Detection Level 1 0 to 300% 150%
L6-05 Torque Detection Level 2 0 to 300% 150%
Note: The torque detection level 1 (L6-02) can also be supplied by an analog input terminal set to H3- = 7. Here, the analog value
has priority and the setting in L6-02 is disregarded. Torque detection level 2 (L6-05) cannot be set by an analog input.
L6-03, L6-06: Torque Detection Time 1, 2
These parameters determine the time required to trigger an alarm or fault after exceeding the levels in L6-02 and L6-05.
No. Name Setting Range Default
L6-03 Torque Detection Time 1 0.0 to 10.0 s 0.1 s
L6-06 Torque Detection Time 2 0.0 to 10.0 s 0.1 s
Mechanical Weakening Detection
This function can be used to detect mechanical weakening of a machine that leads to overtorque or undertorque situations
after a certain machine operation time has elapsed.
The function is activated in the drive when the cumulative operation counter U4-01 exceeds the time set in parameter
L6-11. Mechanical Weakening Detection uses the torque detection 1 settings (L6-01, L6-02, L6-03) and triggers an oL5
or UL5 fault when overtorque or undertorque occurs in the speed range determined by parameter L6-08 and L6-09. The
oL5 or UL5 operation is set by parameter L6-08.
To output a signal for Mechanical Weakening Detection, set H2- to 22.
L6-08: Mechanical Weakening Detection Operation
Sets the speed range to detect mechanical weakening and the action to take when mechanical weakening is detected.
No. Name Setting Range Default
L6-08 Mechanical Weakening Detection Operation 0 to 8 0
Setting 0: Disabled
Setting 1: Continue running if the speed is greater than L6-09 (signed) (Alarm)
Detection when the speed is above L6-09 (signed). Upon detection operation continues, but an oL5 alarm is output.
Setting 2: Continue running if the speed is greater than L6-09 (Alarm)
Detection when the speed is above L6-09 (unsigned). Upon detection operation continues, but an oL5 alarm is output.
Setting 3: Stop when motor speed is greater than L6-09 (signed) (Fault)
Detection when the speed is above L6-09 (signed). Upon detection operation is stopped and an oL5 fault is output.
Parameter Details
Setting 4: Stop when Motor Speed is Greater than L6-09 (Fault)
Detection when the speed is above L6-09 (unsigned). Upon detection operation is stopped and an oL5 fault is output.
Setting 5: Continue running if the speed is less than L6-09 (signed) (Alarm)
Detection when the speed is below L6-09 (signed). Upon detection operation continues, but a UL5 alarm is output. 5
Setting 6: Continue running if the speed is less than L6-09 (Alarm)
Detection when the speed is below L6-09 (unsigned). Upon detection operation continues, but a UL5 alarm is output.
Setting 7: Stop when Motor Speed is less than L6-09 (signed) (Fault)
Detection when the speed is below L6-09 (signed). Upon detection operation is stopped and a UL5 fault is output.
Setting 8: Stop when motor speed is less than L6-09 (Fault)
Detection when the speed is below L6-09 (unsigned). Upon detection the operation is stopped and a UL5 fault is output.
L6-09: Mechanical Weakening Detection Speed Level
Sets the speed level for Mechanical Weakening Detection.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 273
5.8 L: Protection Functions
No. Name Setting Range Default
L6-09 Mechanical Weakening Detection Speed Level -110.0 to 110.0% 110.0%
The value is set as a percentage of the maximum frequency. If L6-08 is set for unsigned speed detection (L6-08 = 2, 4, 6,
8) then the absolute value of L6-09 is used (negative settings are treated as positive values).
L6-10: Mechanical Weakening Detection Time
Sets the time permitted for the situation selected in parameter L6-08 to arise before mechanical weakening is detected.
No. Name Setting Range Default
L6-10 Mechanical Weakening Detection Time 0.0 to 10.0 s 0.1 s
L6-11: Mechanical Weakening Detection Start Time
Sets the drives cumulative operation time at which Mechanical Weakening Detection is activated. If U4-01 reaches the
L6-11 value, the function is activated.
No. Name Setting Range Default
L6-11 Mechanical Weakening Detection Start Time 0 to 65535 h 0h
L7: Torque Limit
The torque limit function can be used to limit the torque in each of the four quadrants individually and thereby protect the
machinery. It can be used in OLV, CLV, AOLV/PM, and CLV/PM control modes. The limit can be either set by
parameters or by analog inputs. A digital output programmed for “During torque limit” (H2-01, H2-02, H2-03 = 30) can
be switched when the drive is operating at the torque limit.
Setting Torque Limits
The torque limits are defined by parameters L7-01 to L7-04 for each of the four operation quadrants. Analog inputs can
also be used to either define a general limit for all operation conditions (H3-02, H3-06, H3-10 = 15) or for setting
separate limits for each operation condition (H3-02, H3-06, H3-10 = 10, 11, or 12). Figure 5.100 shows which of the
limit settings is applied in each quadrant.
If two limit values are defined for the same operation conditions, the drive will use the lower value.
Note: The maximum output torque is ultimately limited by the drive output current (max. 150% of drive rated current in HD, 120% in
ND). Output torque will not exceed the limit set for the drive rated current, even if the torque limits are set to higher values.
Example: If parameter L7-01 = 130%, L7-02 to L7-04 = 200%, and a general torque limit of 150% is set by an analog
input (H3-02, H3-06, H3-10 = 15), then the torque limit in quadrant 1 will be 130%, but 150% in all other quadrants.
Figure 5.100
positive torque reference
REV run regenerative FWD run motoring
10: Forward Torque Limit 10: Forward Torque Limit
12: Regenerative Torque Limit 15: General Torque Limit
15: General Torque Limit Parameter L7-01
Parameter L7-04
quadrant 2 quadrant 1
REV motor rotation FWD motor rotation
quadrant 3 quadrant 4
11: Reverse Torque Limit
11: Reverse Torque Limit 12: Regenerative Torque Limit
15: General Torque Limit 15: General Torque Limit
Parameter L7-02 Parameter L7-03
REV run motoring FWD run regenerative
negative torque reference common_TMonly
Figure 5.100 Torque Limit Parameters and Analog Input Settings
L7-01 to L7-04: Torque Limits
These parameters set the torque limits in each quadrant.
No. Name Setting Range Default
L7-01 Forward Torque Limit 0 to 300% 200%
274 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.8 L: Protection Functions
No. Name Setting Range Default
L7-02 Reverse Torque Limit 0 to 300% 200%
L7-03 Forward Regenerative Torque Limit 0 to 300% 200%
L7-04 Reverse Regenerative Torque Limit 0 to 300% 200%
Note: If the multi-function analog input is programmed for “10: Forward torque limit”, “11: Reverse torque limit”, “12: Regenerative
torque limit”, or “15: General torque limit”, the drive uses the lower value in L7-01 through L7-04, or analog input torque limit.
L7-06: Torque Limit Integral Time Constant
Sets the integral time constant for the torque limit function. Decrease this setting for faster torque limit response. Increase
it if oscillation occur when operating at the torque limit.
No. Name Setting Range Default
L7-06 Torque Limit Integral Time Constant 5 to 10000 ms 200 ms
L7-07: Torque Limit Control Method Selection during Accel/Decel
Selects the function of torque limit during acceleration and deceleration.
No. Name Setting Range Default
L7-07 Torque Limit Control Method Selection during Accel/Decel 0 or 1 0
Setting 0: Proportional control
The torque limit function works with P control during accel and decel, and switches to I control at constant speed. Use
this setting when accelerating or decelerating to the desired speed has priority over the torque limit during speed changes.
Setting 1: Integral control
The torque limit function always uses I control. Use this setting when a highly accurate torque limit is required, even
during speed changes. Using this function may increase the acceleration time, or may prevent the motor speed from
reaching the frequency reference if the torque limit is reached first.
L7-16: Torque Limit Process at Start
Assigns a time filter to allow the torque limit to build at start.
No. Name Setting Range Default
L7-16 Torque Limit Process at Start 0 or 1 1
Setting 0: Disabled
Toque limit is created at start without a delay time. Disable L7-16 to maximize response time when the application
requires sudden acceleration or deceleration at start.
Parameter Details
Setting 1: Enabled
A time filter is added to allow the torque limit to build at start.
L8: Drive Protection
L8-02: Overheat Alarm Level 5
Sets the overheat alarm (oH) detection level.
The drive will output an alarm when the heatsink temperature exceeds the alarm level set in parameter L8-02. If the
temperature reaches the overheat fault level, the drive will trigger an oH1 fault and stop operation.
When an output terminal is set for the oH pre-alarm (H2- = 20), the switch will close when the heatsink temperature
rises above L8-02.
No. Name Setting Range Default
Determined by C6-01 and
L8-02 Overheat Alarm Level 50 to 150°C
o2-04
L8-03: Overheat Pre-Alarm Operation Selection
Sets the operation when an overheat pre-alarm is detected.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 275
5.8 L: Protection Functions
Note: Change settings only when necessary.
No. Name Setting Range Default
L8-03 Overheat Pre-Alarm Operation Selection 0 to 4 3
Setting 0: Ramp to stop
If an overheat alarm occurs, the drive decelerates to stop using the deceleration time currently selected. If a digital output
is programmed for “fault” (H2- = E), this output will be triggered.
Setting 1: Coast to stop
If heatsink overheat (oH) occurs, the drive switches off the output and the motor coasts to stop. If a digital output is
programmed for “fault” (H2- = E), this output will be triggered.
Setting 2: Fast Stop
If an overheat alarm occurs, the drive decelerates to stop using the Fast Stop time (C1-09). If a digital output is
programmed for “fault” (H2- = E), this output will be triggered.
Setting 3: Alarm only
If an overheat alarm occurs, an alarm is output and the drive continues operation.
Setting 4: Operation with reduced speed
If an overheat alarm occurs, the operation is continued but the speed is reduced to the level set in parameter L8-19. If
after 10 s the oH alarm is still present, the speed is reduced once more. The amount of reduction depends on how often
the alarm repeats. If the oH alarm disappears while the drive is operating at a reduced speed, then the drive will switch
back to the previous speed it was reduced to before. Figure 5.101 explains the operation with reduced speed during an
oH alarm. A digital output programmed for 4D is switched when the oH alarm is still active after ten reduction cycles.
Figure 5.101
Output frequency common_TMonly
10 s 10 s 10 s 10 s 10 s 10 s 10 s
fref
oH
Alarm
fref × (L8-19) Reset oH
Alarm Reset oH
oH Alarm
Alarm
fref × (L8-19)2
oH etc. oH
Alarm Alarm
fref × (L8-19)3
fref × (L8-19)4
time
oH alarm number
Digital output (4D)
Figure 5.101 Output Frequency Reduction During Overheat Alarm
L8-07: Output Phase Loss Protection Selection
Enables or disables the output phase loss detection, which is triggered when the output current falls below 5% of the
drive rated current.
Note: 1. Output phase loss detection can mistakenly be triggered if the motor rated current is very small compared to the drive rating. Disable
this parameter in such cases.
2. Output phase loss detection is not possible when the drive is running a PM motor with light load.
No. Name Setting Range Default
L8-07 Output Phase Loss Protection Selection 0 to 2 0
276 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.8 L: Protection Functions
Setting 0: Disabled
Setting 1: Fault when one phase is lost
An output phase loss fault (LF) is triggered when one output phase is lost. The output shuts off and the motor coasts to
stop.
Setting 2: Fault when two phases are lost
An output phase loss fault (LF) is triggered when two and more output phases are lost. The output shuts off and the motor
coasts to stop.
L8-09: Output Ground Fault Detection Selection
Enables or disables the output ground fault detection.
No. Name Setting Range Default
L8-09 Output Ground Fault Detection Selection 0 or 1 1
Setting 0: Disabled
Ground faults are not detected.
Setting 1: Enabled
A ground fault (GF) is triggered when high leakage current or a ground short circuit occurs in one or two output phases.
L8-10: Heatsink Cooling Fan Operation Selection
Selects the heatsink cooling fan operation.
No. Name Setting Range Default
L8-10 Heatsink Cooling Fan Operation Selection 0 or 1 0
Setting 0: Run with timer
The fan is switched on when a Run command is active. It is switched off with the delay set in parameter L8-11 after the
Run command has been released. Using this setting extends the fan lifetime.
Note: The cooling fan will always turn on when a damping resistor overheat (doH) is detected regardless of the setting value.
Setting 1: Run always
The fan runs whenever power is supplied to the drive.
L8-11: Heatsink Cooling Fan Off-Delay Time
Sets the cooling fan switch off-delay time if parameter L8-10 is set to 0.
Parameter Details
No. Name Setting Range Default
L8-11 Heatsink Cooling Fan Off-Delay Time 0 to 300 s 60 s
L8-12: Ambient Temperature Setting
If the temperature where the drive is mounted is above the specified values, the drive rated current must be reduced for
optimal performance life. By setting the ambient temperature to parameter L8-12 and adjusting the installation method 5
setting in L8-35, the drive rating automatically adapts to safe values. Refer to Temperature Derating on page 399 for
detail.
No. Name Setting Range Default
L8-12 Ambient Temperature Setting -10 to 50°C 40°C
L8-15: oL2 Characteristics Selection at Low Speeds
Selects whether the drive overload capability (oL fault detection level) is reduced at low speeds in order to prevent
premature output transistor failures. Set this parameter to 0 (Protection disabled at low speed) when protection is
activated for an oL2 fault for a light load at low speed.
Note: 1. Contact Yaskawa before using the drive for applications for which the setting is 0 (disabled).
2. Do not set this parameter to 0 (disabled) in V/f or OLV control.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 277
5.8 L: Protection Functions
No. Name Setting Range Default
L8-15 oL2 Characteristics Selection at Low Speed 0 or 1 1
Setting 0: Protection disabled at low speed
The overload protection level is not reduced. Frequently operating the drive with high output current at low speed can
lead to premature drive faults.
Setting 1: protection enabled at low speed
The overload protection level (oL2 fault detection level) is automatically reduced at speeds below 6 Hz.
L8-18: Software Current Limit Selection
The Software Current Limit (CLA) is a drive protection function that prevents main circuit transistor failures caused by
high current. Parameter L8-18 enables or disables this function.
Note: This setting should not be changed unless absolutely necessary.
No. Name Setting Range Default
L8-18 Software Current Limit Selection 0 or 1 0
Setting 0: Software CLA disabled (gain = 0)
The drive may trip on an oC fault if the load is too heavy or the acceleration is too short.
Setting 1: Software CLA enabled
When the soft CLA current level is reached, the drive reduces the output voltage in order to reduce the current. If the
current level drops below the Software CLA level, then normal operation will continue.
L8-19: Frequency Reduction Rate during Overheat Pre-Alarm
Specifies how much the output frequency is reduced when L8-03 is set to 4 and an oH alarm is present. Set as a factor of
the maximum output frequency.
No. Name Setting Range Default
L8-19 Frequency Reduction Rate during Overheat Pre-Alarm 0.1 to 0.9 0.8
L8-27: Overcurrent Detection Gain
Adjusts the overcurrent detection level when running in OLV/PM, AOLV/PM, or CLV/PM. A setting of 100% is equal to
the motor rated current. When the drive rated current is considerably higher than the motor rated current, use this
parameter to decrease the overcurrent level in order to prevent motor demagnetization by too high current.
Overcurrent detection will use whichever value is the lowest: the overcurrent level for the drive, or the motor rated
current multiplied by L8-27.
Note: The drive detects the lowest overcurrent from the overcurrent level of the drive, the setting value of this parameter, and the
overcurrent level determined from the motor rated current.
No. Name Setting Range Default
L8-27 Overcurrent Detection Gain 0.0 to 400.0% 300.0%
L8-29: Current Unbalance Detection (LF2)
Enables or disables output current unbalance detection when running in OLV/PM, AOLV/PM, or CLV/PM. Current
unbalance can heat up a PM motor and lead to demagnetization of the magnets. The current imbalance detection function
prevents such motor damage by monitoring output current and triggering the LF2 fault when current unbalance occurs.
No. Name Setting Range Default
L8-29 Current Unbalance Detection (LF2) 0, 2 2
Setting 0: Disabled
Motor protection with LF2 is disabled.
278 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.8 L: Protection Functions
Setting 2: Enabled
An LF2 fault is triggered when an output current imbalance is detected. Drive output shuts off and the motor coasts to
stop.
L8-32 Cooling Fan Failure Selection
Determines drive operation when a FAn fault occurs.
No. Name Setting Range Default
L8-32 Cooling Fan Failure Selection 0 to 2 1
Setting 0: Ramp to stop
The drive stops the motor using the deceleration time 1 set in parameter C1-02.
Setting 1: Coast to stop
The drive output is switched off and the motor coasts to stop.
Setting 2: Fast stop
The drive stops the motor using the Fast stop time set in parameter C1-09.
L8-35: Installation Method Selection
Selects the type of installation for the drive and changes the overload (oL2) limits accordingly. Refer to Temperature
Derating on page 399 for detail.
Note: 1. This parameter is not reset when the drive is initialized.
2. The value is preset to the appropriate value when the drive is shipped. Change the value only when using Side-by-Side installation or
when mounting a standard drive with the heatsink outside the cabinet.
No. Name Setting Range Default
L8-35 Installation Method Selection 0, 2, 3 Determined by o2-04
Setting 0: IP00 enclosure
For an IP00 enclosure drive installed with at a minimum of 30 mm space to the next drive or a cabinet wall.
Setting 2: IP20 or NEMA Type 1 enclosure
For drives compliant with IP20 or NEMA Type 1 enclosure specifications.
Setting 3: Finless drive or external heatsink Installation
For finless drives or a standard drive mounted with the heatsink outside the cabinet or enclosure panel.
L8-38: Carrier Frequency Reduction Selection
Parameter Details
Lets the drive reduce the carrier frequency when the output current exceeds a certain level. This temporarily increases the
overload capability (oL2 detection), allowing the drive to run through transient load peaks without tripping.
L8-38 selects the operation of the carrier frequency reduction function.
Note: This function cannot be used in Advanced Open Loop Vector for PM motors.
No. Name Setting Range Default
5
Determined by A1-02,
L8-38 Carrier Frequency Reduction Selection 0 to 2
C6-01 and o2-04
Setting 0: Disabled
No carrier frequency reduction at high current.
Setting 1: Enabled for output frequencies below 6 Hz
The carrier frequency is reduced at speeds below 6 Hz when the current exceeds 100% of the drive rated current. The
drive returns to its normal carrier frequency when the current falls below 88% or the output frequency exceeds 7 Hz.
Setting 2: Enabled for entire frequency range
The carrier frequency is reduced at the following speeds:
• Below 6 Hz when the current exceeds 100% of the drive rated current.
• Above 7 Hz when the current exceeds 112% of the drive rated current.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 279
5.8 L: Protection Functions
The drive uses the delay time set in parameter L8-40 and a hysteresis of 12% when switching the carrier frequency back
to the set value.
L8-40: Carrier Frequency Reduction Off-Delay Time
The following settings are used when the carrier frequency is to be reduced at start:
• Time taken for the reduced carrier frequency to return to the carrier frequency set at C6-02.
• Time taken to return to the set carrier frequency after reducing it by setting L8-38 to 1 or 2.
The carrier frequency reduction function at start is disabled if this value is 0.00 s.
No. Name Setting Range Default
L8-40 Carrier Frequency Reduction Off-Delay Time 0.00 to 2.00 s Determined by A1-02
L8-41: High Current Alarm Selection
Triggers a current alarm (HCA) when the output current rises too much.
No. Name Setting Range Default
L8-41 High Current Alarm Selection 0 or 1 0
Setting 0: Disabled
No alarm is detected.
Setting 1: Enabled
An alarm is triggered when the output current exceeds 150% of the drive rated current. A digital output set for an minor
fault (H2- = 10) will close.
L8-93: LSo Detection Time at Low Speed
Sets the amount of time until baseblock is executed once LSo has been detected at low speed. A setting of 0.0 s
essentially disables this parameters.
No. Name Setting Range Default
L8-93 LSo Detection Time at Low Speed 0.0 to 10.0 s 1.0 s
L8-94: LSo Detection Level at Low Speed
Determines the detection level of LSo at low speed. Set as a percentage of the maximum frequency (E1-04).
No. Name Setting Range Default
L8-94 LSo Detection Level at Low Speed 0 to 10% 3%
L8-95: Average LSo Frequency at Low Speed
Sets the average number of times LSo can occur at low speed.
No. Name Setting Range Default
L8-95 Average LSo Frequency at Low Speed 1 to 50 times 10 times
L9: Drive Protection 2
L9-03: Carrier Frequency Reduction Level Selection
There is normally no need to change this parameter from the default value.
Selects which current level is used for the automatic carrier frequency reduction function.
No. Name Setting Range Default
L9-03 Carrier Frequency Reduction Level Selection 0, 1 0
Setting 0: Rated Current Reduces the carrier frequency based on the drive rated current.
Setting 1: Derated Current Reduces the carrier frequency based on the drive current after derating due to
temperature or carrier frequency setting (C6-02).
280 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.9 n: Special Adjustments
5.9 n: Special Adjustments
These parameters handle a variety of specialized adjustments and functions, including Hunting Prevention, AFR Control,
resistance between motor lines, and PM motor control functions.
n1: Hunting Prevention
Hunting Prevention keeps the drive from hunting as a result of low inertia and operating with light load. Hunting often
occurs with a high carrier frequency and an output frequency below 30 Hz.
n1-01: Hunting Prevention Selection
Enables or disables the Hunting Prevention function.
Note: This function is available only when using V/f Control. Hunting Prevention should be disabled when drive response is more
important than suppressing motor oscillation. This function can also be disabled without any problems in applications with high
inertia loads or relatively heavy loads.
No. Name Setting Range Default
n1-01 Hunting Prevention Selection 0 or 1 1
Setting 0: Disabled
Setting 1: Enabled
n1-02: Hunting Prevention Gain Setting
Sets the gain for the Hunting Prevention Function.
No. Name Setting Range Default
n1-02 Hunting Prevention Gain Setting 0.00 to 2.50 1.00
Normally, n1-02 does not need to be changed, but adjustment may help under the following conditions:
• If the motor vibrates while lightly loaded and n1-01 = 1, increase the gain by 0.1 until vibration ceases.
• If the motor stalls while n1-01 = 1, decrease the gain by 0.1 until the stalling ceases.
n1-03: Hunting Prevention Time Constant
Determines how responsive the Hunting Prevention function is (affects the primary delay time for Hunting Prevention).
No. Name Setting Range Default
n1-03 Hunting Prevention Time Constant 0 to 500 ms Determined by o2-04
Normally, n1-03 does not need to be changed, but adjustment may help under the following conditions:
Parameter Details
• Increase this value for applications with a large load inertia. A higher setting leads to slower response, though, which
can result in oscillation at lower frequencies.
• Lower this setting if oscillation occurs at low speed.
n1-05: Hunting Prevention Gain while in Reverse
5
This parameter is the same as n1-02, except that it is used when rotating in reverse. Refer to n1-02: Hunting Prevention
Gain Setting on page 281.
Note: When set to 0 ms, n1-02 is enabled even when the drive is operating in reverse.
No. Name Setting Range Default
n1-05 Hunting Prevention Gain while in Reverse 0.00 to 2.50 0.00
n2: Speed Feedback Detection Control (AFR) Tuning
These parameters are used to achieve speed stability when a load is suddenly applied or removed.
Note: Before making changes to the AFR parameters, make sure all motor parameters are set properly or perform Auto-Tuning.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 281
5.9 n: Special Adjustments
n2-01: Speed Feedback Detection Control (AFR) Gain
Sets the internal speed feedback detection control gain in the AFR.
No. Name Setting Range Default
n2-01 Speed Feedback Detection Control (AFR) Gain 0.00 to 10.00 1.00
Normally there is no need to adjust n2-01 from the default setting. Make adjustments in the following cases:
• If hunting occurs, increase the setting value in steps of 0.05 while checking the response.
• If response is low, decrease the setting value in steps of 0.05 while checking the response.
n2-02: Speed Feedback Detection Control (AFR) Time Constant 1
Parameter n2-02 sets the time constant normally used by AFR.
No. Name Setting Range Default
n2-02 Speed Feedback Detection Control (AFR) Time Constant 1 0 to 2000 ms 50 ms
These parameters rarely need to be changed. Adjust settings only under the following conditions:
• If hunting occurs, increase n2-02. If response is low, decrease it.
• If setting n2-02 to a higher value, also increase C4-02 (Torque Compensation Primary Delay Time) proportionally.
n3: Overexcitation Braking
Overexcitation Deceleration (Induction Motors)
Overexcitation Deceleration increases the flux during deceleration and allows shorter deceleration time settings. Enabled
by setting L3-04 to 4. See L3-04: Stall Prevention Selection during Deceleration on page 266.
Notes on Overexcitation Deceleration
• During Overexcitation Deceleration 2, Hunting Prevention in V/f Control and torque limits in Open Loop Vector
Control are disabled.
• Overexcitation Deceleration can be used in Open and Closed Loop Vector Control, but it lowers the accuracy of Torque
Control, and thereby the braking efficiency. It can be most efficiently used in a V/f Control.
• Overexcitation Deceleration cannot be used with PM motors.
Parameter Adjustments
• When repetitive or long Overexcitation Deceleration results in motor overheat, lower the overexcitation deceleration
gain (n3-13).
• During Overexcitation Deceleration (L3-04 = 4), the drive decelerates at the active deceleration time (C1-02, C1-04,
C1-06, or C1-08). Make sure to set this time so that no overcurrent (oC) fault occurs.
• When a Run command is entered during Overexcitation Deceleration, overexcitation operation is cancelled and the
drive will reaccelerate to the specified speed.
n3-13: Overexcitation Deceleration Gain
Multiplies a gain to the V/f pattern output value during Overexcitation Deceleration, thereby determining the level of
overexcitation. The drive returns to the normal V/f value after the motor has stopped or when it is accelerating to the
frequency reference.
No. Name Setting Range Default
n3-13 Overexcitation Deceleration Gain 1.00 to 2.00 1.10
The optimum setting for n3-13 depends on the motor flux saturation characteristics.
• Increase the gain gradually by 1.25 to 1.90 to improve the braking power of Overexcitation Deceleration.
• If flux saturation characteristics cause overcurrent, try lowering n3-13. A high setting sometimes causes overcurrent
(oC), motor overload (oL1), or overload (oL2).
282 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.9 n: Special Adjustments
n5: Feed Forward Control
Enabling Feed Forward can improve the drive’s responsiveness to speed reference changes in applications where a high
speed control proportional gain setting (ASR gain, C5-01, C5-03) would lead to problems with overshoot, undershoot, or
oscillation. Figure 5.102 gives an example of overshoot reduction by Feed Forward. Parameters related to this function
and the function principle are illustrated in Figure 5.103. Feed Forward can only be used in Closed Loop Vector Control
for induction or PM motors (A1-02 = 4 or 7), or in Advanced Open Loop Vector Control for PM motors (A1-02 = 6).
Figure 5.102
1050 1050 Suppresses
overshoot at the
Motor Speed (min-1) Overshoot end of acceleration
Motor Speed (min-1)
900 900
750 750
0 0
0 0.5 1 0 0.5 1
Time (s) Time (s)
common_TMonly
Conventional Speed Control Feed Forward Control
Figure 5.102 Overshoot Suppression by Feed Forward Control
Figure 5.103
Feed Forward Control Output
common_TMonly
U6-26
Feed Forward Torque
Frequency Compensation Value
reference after
Soft Starter Feed Forward
Control
n5-02/03 ASR Delay and
+ + Torque reference
+ ASR P and I
Torque Limits
Frequency - C5-01/02/03/04
C5-06, L7-
Reference
U1-20
Speed U6-25 U1-09
Feedback
Feedback Control Output
Figure 5.103 Feed Forward Control
Note: 1. Feed Forward can only be used in CLV, AOLV/PM, and CLV/PM control modes.
2. Prior to using Feed Forward, always perform Auto-Tuning or set the correct motor data manually. Also perform ASR Auto-Tuning to
set the ASR proportional gain 1 (C5-01), or adjust it manually. Fine-tune the other ASR parameters (C5-) if required.
3. If not restricted by the application, use Inertia Tuning (T1-01 = 8) to have the drive automatically optimize Feed Forward parameters.
If Inertia Tuning cannot be performed, parameters related to Feed Forward should be set manually.
n5-01: Feed Forward Control Selection
Parameter Details
Enables or disables the Feed Forward function.
No. Name Setting Range Default
n5-01 Feed Forward Control Selection 0 or 1 0
Setting 0: Disabled 5
Setting 1: Enabled
n5-02: Motor Acceleration Time
Sets the time required to accelerate the motor from a full stop up to the rated speed at the rated torque.
No. Parameter Name Setting Range Default
Determined by C6-01,
n5-02 Motor Acceleration Time 0.001 to 10.000 s
E5-01 and o2-04
This value can be set automatically by Inertia Tuning. If Inertia Tuning cannot be performed, use one of the methods
below to determine the setting value for this parameter.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 283
5.9 n: Special Adjustments
Calculation
The motor acceleration time can be calculated by,
Where:
2π JMotor nrated • JMotor is the motor inertia in kgm/s2.
n5-02 =
60 Trated • nrated is the rated speed of the motor in min-1
• Trated is the rated torque of the motor in Nm.
or
Where:
4 π JMotor frated • JMotor is the motor inertia in kgm2.
n5-02 = • frated is the rated frequency of the motor in Hz.
p Trated
• p is the number of motor poles (not pole pairs!).
• Trated is the rated torque of the motor in Nm.
Measuring Acceleration Time
Take the following steps when measuring the motor acceleration time.
1. Select the control mode; CLV (A1-02 = 3), AOLV/PM (A1-02 = 6), or CLV/PM (A1-02 = 7).
2. Decouple motor and load.
3. Make sure Auto-Tuning has been performed or that the correct motor data has been entered manually.
4. Make sure that the speed loop (ASR) has been set up properly.
5. Set the acceleration time to zero.
6. Set the forward torque limit in parameter L7-01 to 100%.
7. Set the frequency reference equal to the motor rated speed.
8. While monitoring the motor speed in U1-05, start the motor in the forward direction and measure the time it takes
to reach the rated speed.
9. Reverse the parameter settings above and set the measured time to parameter n5-02.
n5-03: Feed Forward Control Gain
Parameter n5-03 sets the inertia ratio of the load connected to the motor. This value can be set automatically by Inertia
Tuning.
No. Parameter Name Setting Range Default
n5-03 Feed Forward Control Gain 0.00 or 100.00 1.00
This value can be set automatically by Inertia Tuning. If Inertia Tuning cannot be performed, determine the value for
parameter n5-03 using the following steps.
1. Select the control mode; CLV (A1-02 = 3), AOLV/PM (A1-02 = 6), or CLV/PM (A1-02 = 7).
2. Setup parameter n5-02 correctly.
3. Couple motor and load.
4. Set the acceleration time C1-01 to 0.
5. Set the torque limits in the L7- parameters to a value that will easily be reached during the test (TLim_Test).
6. Set the frequency reference equal to a value in the upper speed range of the machine (fref_Test).
7. While monitoring the motor speed in U1-05, start the motor in the forward direction and measure the time it takes
to reach the reference speed (taccel).
8. Reverse the parameter settings above and calculate the set value for parameter n5-03 using the formula below.
Where:
• taccel is the measured acceleration time in s.
taccel TLim_Test frated
n5-03 = -1 • frated is the rated frequency of the motor in Hz.
n5-02 fref_Test 100 • TLim_Test is torque limit setting during the test (%).
• fref_Test is the frequency reference during the test in Hz.
n6: Online Tuning
Online Tuning prevents loss from insufficient torque and diminished speed control accuracy due to fluctuating motor
temperature.
n6-01: Online Tuning Selection
Selects the type of motor data Online Tuning uses for Open Loop Vector Control.
284 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.9 n: Special Adjustments
No. Name Setting Range Default
n6-01 Online Tuning Selection 0 to 2 0
Setting 0: Disabled
Setting 1: Line-to-line resistance tuning
This setting enables line-to-line resistance online tuning. This procedure is effective for speed values up to 6 Hz and
improves the overload capacity in the low speed range by adjusting the value set for the motor resistance.
Setting 2: Voltage correction
The drive adjusts the output voltage during run to improve overload tolerance and minimize the effects of high
temperatures on speed accuracy.
Note: This setting can only be selected if the Energy Saving function is disabled (b8-01 = 0).
n6-05: Online Tuning Gain
Sets the compensation gain for the voltage correction in the Online Tuning function (n6-01 = 2). Normally there is no
need to adjust n6-05, but increase the set value in steps of 0.1 if an overload fault occurs during voltage correction.
No. Name Setting Range Default
n6-05 Online Tuning Gain 0.1 to 50.0 1.0
n8: PM Motor Control Tuning
These parameters are available in the vector control modes for permanent magnet motors and can be used to adjust
control performance.
n8-01: Initial Rotor Position Estimation Current
Sets the current used for initial rotor position estimation as a percentage of the motor rated current (for PM Motors)
(E5-03). If the motor nameplate lists an “Si” value, that value should be entered here.
There is normally no need to change this parameter from the default value.
Note: This parameter is available in AOLV/PM or CLV/PM.
No. Name Setting Range Default
n8-01 Initial Rotor Position Estimation Current 0 to 100% 50%
n8-02: Pole Attraction Current
Sets the current applied to pull the rotor into position after the initial rotor position estimations are complete. The value is
set as a percentage of the motor rated current. Increase this setting in order to increase the starting torque.
Parameter Details
Note: This parameter is available in AOLV/PM or CLV/PM.
No. Name Setting Range Default
n8-02 Pole Attraction Current 0 to 150% 80%
n8-11: Induction Voltage Estimation Gain 2
5
There is normally no need to change this parameter from the default value.
Sets the gain for speed estimation.
No. Name Setting Range Default
n8-11 Induction Voltage Estimation Gain 2 0.0 to 1000.0 Determined by n8-72 <1>
<1> When n8-72 is set to 0, the default setting is 50.0 and when n8-72 is set to 1, the default setting is 150.0. Refer to n8-72: Speed Estimation
Method Selection on page 289 for a list of monitors.
n8-14: Polarity Compensation Gain 3
There is normally no need to change this parameter from the default value.
Sets the gain for speed estimation.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 285
5.9 n: Special Adjustments
No. Name Setting Range Default
n8-14 Polarity Compensation Gain 3 0.000 to 10.000 1.000
n8-15: Polarity Compensation Gain 4
There is normally no need to change this parameter from the default value.
Sets the gain for speed estimation.
No. Name Setting Range Default
n8-15 Polarity Compensation Gain 4 0.000 to 10.000 0.500
n8-21: Motor Ke Gain
There is normally no need to change this parameter from the default value.
Sets the gain for speed estimation.
No. Name Setting Range Default
n8-21 Motor Ke Gain 0.80 to 1.00 0.90
n8-35: Initial Rotor Position Detection Selection
Selects how the rotor position is detected at start.
Note: 1. This parameter is available in AOLV/PM or CLV/PM.
2. In CLV/PM, the drive performs a magnetic pole search the first time it starts the motor. After that, rotor position is calculated from the
PG encoder signal and saved until the drive is switched off. Parameter n8-35 determines how this initial pole search operates.
3. High Frequency Injection and pulse injection for rotor position detection (n8-35 = 1 or 2) can be used with IPM motors only. When
using an SPM motor, select the pull in method to find the initial position of the rotor (n8-35 = 0).
No. Name Setting Range Default
n8-35 Initial Rotor Position Detection Selection 0 to 2 1
Setting 0: Pull in
Starts the rotor using pull-in current.
Setting 1: High Frequency Injection
High frequency is injected in order to detect the rotor position. Some noise may be generated from the motor at start.
Setting 2: Pulse injection
A pulse signal is injected into the motor in order to detect the rotor position.
n8-36: High Frequency Injection Level
There is normally no need to change this parameter from the default value.
Sets the frequency level used for High Frequency Injection. Enabled when n8-57 = 1.
No. Name Setting Range Default
n8-36 High Frequency Injection Level 200 to 1000 Hz 500 Hz
n8-37: High Frequency Injection Amplitude
There is normally no need to change this parameter from the default value.
Sets the amplitude of high-frequency injection as a percentage of the voltage class standard (200 V Class: 200 V, 400 V
Class: 400 V). Enabled when n8-57 = 1.
No. Name Setting Range Default
n8-37 High Frequency Injection Amplitude 0.0 to 50.0% 20.0%
n8-39: Low Pass Filter Cutoff Frequency for High Frequency Injection
There is normally no need to change this parameter from the default value.
Sets a cutoff frequency of a low pass filter for high frequency injection. Enabled when n8-57 = 1.
286 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.9 n: Special Adjustments
No. Name Setting Range Default
n8-39 Low Pass Filter Cutoff Frequency for High Frequency Injection 0 to 1000 Hz 50 Hz
n8-45: Speed Feedback Detection Control Gain (for PM Motors)
Sets the gain for internal speed feedback detection control. Although this setting rarely needs to be changed, adjustment
may be necessary under the following conditions:
• Increase this setting if motor oscillation or hunting occurs.
• Decrease this setting in increments of 0.05 to decrease drive responsiveness.
Note: This parameter is available in OLV/PM.
No. Name Setting Range Default
n8-45 Speed Feedback Detection Control Gain (for PM Motors) 0.00 to 10.00 0.80
n8-47: Pull-In Current Compensation Time Constant (for PM Motors)
Sets the time constant for the actual current and the pull-in current to match one another.
Although this setting rarely needs to be changed, adjustment may be necessary under the following conditions:
• Increase this setting when it takes too long for the reference value of the pull-in current to match the target value.
• Decrease this setting if motor oscillation occurs.
Note: This parameter is available in OLV/PM.
No. Name Setting Range Default
n8-47 Pull-In Current Compensation Time Constant (for PM Motors) 0.0 to 100.0 s 5.0 s
n8-48: Pull-In Current (for PM Motors)
Sets the d-axis current during no-load operation at a constant speed. Set as a percentage of the motor rated current (for
PM Motors).
• Increase this setting when hunting occurs or the motor speed is unstable while running at a constant speed.
• If there is too much current when driving a light load at a constant speed, then reduce this value slightly.
Note: This parameter is available in OLV/PM.
No. Name Setting Range Default
n8-48 Pull-In Current (for PM Motors) 20 to 200% 30%
n8-49: d-Axis Current for High Efficiency Control (for PM Motors)
Sets the d-axis current reference when running with high load at constant speed. When using an IPM motor, setting this
parameter will increase the efficiency by using the motors reluctance torque and thereby reduce the energy consumption.
This parameter should be set to 0 when using an SPM motor.
Parameter Details
Although this setting seldom needs to be changed, please note the following:
• If motor operation is unstable when driving heavy loads, try lowering this setting.
• If motor parameters (E5-) have been changed, this value will be reset to 0 and will need to be readjusted.
Note: This parameter is available in OLV/PM.
No. Name Setting Range Default
5
n8-49 d-Axis Current for High Efficiency Control (for PM Motors) -200.0 to 0.0% Determined by E5-01
n8-51: Acceleration/Deceleration Pull-In Current (for PM Motors)
Sets the pull-in current during acceleration and deceleration as a percentage of the motor rated current (for PM Motors)
(E5-03).
Adjustments to this setting may help in the following situations:
• Increase this setting when a large amount of starting torque is required.
• Lower this setting if there is excessive current during acceleration.
Note: This parameter is available in OLV/PM.
No. Name Setting Range Default
n8-51 Acceleration/Deceleration Pull-In Current (for PM Motors) 0 to 200% 50%
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 287
5.9 n: Special Adjustments
n8-54: Voltage Error Compensation Time Constant
Sets the time constant for voltage error compensation. Make changes to this parameter under the following conditions:
• Adjust the value when hunting occurs at low speed.
• Increase the value in steps of 0.1 when hunting occurs with sudden load changes. Try to disable the compensation by
setting 0 if increasing n8-54 does not help.
• Increase the value when oscillations occur at start.
Note: This parameter is available in OLV/PM.
No. Name Setting Range Default
n8-54 Voltage Error Compensation Time Constant 0.00 to 10.00 1.00
n8-55: Load Inertia
Sets the ratio between motor inertia and the inertia of the connected machinery. If this value is set too low, the motor may
not start very smoothly, and the STo fault (Pull-Out Detection) may occur.
For large inertia loads or to improve speed control response, increase this setting from 0. Oscillations may occur if this
value is set too high with low inertia load.
Note: This parameter is available in OLV/PM.
No. Name Setting Range Default
n8-55 Load Inertia 0 to 3 0
Setting 0: Below 1:10
The inertia ratio between the motor and the load is less than 1:10.
Setting 1: Between 1:10 and 1:30
The inertia ratio between the motor and the load is between 1:10 and 1:30. Set n8-55 to 1 if an STo fault occurs as a result
of impact load or sudden acceleration/deceleration when n8-55 = 0.
Setting 2: Between 1:30 and 1:50
The inertia ratio between the motor and the load is between 1:30 and 1:50. Set n8-55 to 2 if an STo fault occurs as a result
of impact load or sudden acceleration/deceleration when n8-55 = 1.
Setting 3: Beyond 1:50
The inertia ratio between the motor and the load is higher than 1:50. Set n8-55 to 3 if an STo fault occurs as a result of
impact load or sudden acceleration/deceleration when n8-55 = 2.
n8-57: High Frequency Injection
Detects motor speed by injecting a high frequency into the motor.
Note: This parameter is available in AOLV/PM.
No. Name Setting Range Default
n8-57 High Frequency Injection 0 or 1 0
Setting 0: Disabled
Disable n8-57 with SPM motors. The speed control range will be limited to approximately 1:20.
Setting 1: Enabled
Enabling n8-57 with IPM motors allows precise speed detection in a speed control range of approximately 1:100.
Note: 1. Be aware that using this function will generate some audible noise in the motor up to a certain speed.
2. Set E1-09 to 0.0 when using zero speed control.
288 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.9 n: Special Adjustments
n8-62: Output Voltage Limit (for PM Motors)
Sets the output voltage limit to prevent voltage saturation. This parameter rarely requires adjustment. Never set this value
higher than the actual input voltage.
Note: This parameter is available in OLV/PM, AOLV/PM, or CLV/PM.
No. Name Setting Range Default
n8-62 <1> Output Voltage Limit (for PM Motors) 0.0 to 250.0 Vac 200 Vac
<1> Values shown here are for 200 V class drives. Double values when using a 400 V class drive.
n8-69: Speed Calculation Gain
There is normally no need to change this parameter from the default value.
Sets the proportional gain for Speed Estimation.
Note: This parameter is available in AOLV/PM.
No. Name Setting Range Default
n8-69 Speed Calculation Gain 0.00 to 20.00 1.00
n8-72: Speed Estimation Method Selection
There is normally no need to change this parameter from the default value.
Sets a method of the speed estimation.
No. Name Setting Range Default
n8-72 Speed Estimation Method Selection 0, 1 1
Setting 0: Conventional method
Setting 1: 1000-series method
n8-84: Polarity Judge Current
Sets the current to determine polarity for the initial polarity calculation as a percentage of the motor rated current.
Set the value in % unit (E5-03 = 100%)
Note: 1. This parameter is available in AOLV/PM and CLV/PM.
2. If an “Si” value is listed on the nameplate for a Yaskawa motor, n8-84 should be set to “Si” value 2.
No. Name Setting Range Default
n8-84 Polarity Judge Current 0 to 150% 100%
Judging Polarity and Motor Pole Position
Parameter Details
If operating in Advanced OLV/PM (A1-02 = 6) or CLV/PM (A1-02 = 7), the drive determines motor polarity by
performing initial polarity estimation when it starts the motor (this is done only the first time the motor is started when
using CLV/PM). The drive may begin operating in the wrong direction if it determines motor polarity incorrectly as the
opposite direction of the Run command.
Monitor U6-57 displays the deviation from the integrated current, making it possible to see if initial polarity estimation 5
has successfully determined the motor polarity.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 289
5.10 o: Operator Related Settings
5.10 o: Operator Related Settings
These parameters are for controlling the various functions, features, and display of the digital operator.
o1: Digital Operator Display Selection
These parameters determine how data appears on the operator display.
o1-01: Drive Mode Unit Monitor Selection
When o1-02 is set to 5, any U monitors can be displayed. This parameter will select the monitors. Pressing the up arrow
key will display the following data: speed reference rotational direction output speed output current o1-01
selection.
Parameter o1-01 selects the content of the last monitor in this sequence. This is done by entering the “1”part of
“U1-”. Certain monitors are not available in some control modes.
There is no effect like this on an LCD operator.
No. Name Setting Range Default
104 to 914
o1-01 Drive Mode Unit Monitor Selection U1-04 (Control Mode) to 106 (U1-06)
U9-14 (Power Monitor) <1>
<1> U2- and U3- parameters cannot be selected.
o1-02: User Monitor Selection after Power Up
Selects which monitor parameter is displayed upon power up. Refer to U: Monitor Parameters on page 297 for a list of
monitors.
No. Name Setting Range Default
o1-02 User Monitor Selection after Power Up 1 to 5 1
Setting 1: Frequency reference (U1-01)
Setting 2: Motor direction
Setting 3: Output frequency (U1-02)
Setting 4: Output current (U1-03)
Setting 5: User-selected monitor (set by o1-01)
o1-03: Digital Operator Display Selection
Sets the units used to display the frequency reference and output frequency. Set o1-03 to 3 for user-set units, then set
parameters o1-10 and o1-11.
No. Name Setting Range Default
o1-03 Digital Operator Display Selection 0 to 3 Determined by A1-02
Setting 0: 0.01 Hz units
Setting 1: 0.01% units (100% = max. output frequency)
Setting 2: min-1 units (calculated by the max output frequency and the no. of motor poles)
Setting 3: User-set units (use o1-10, o1-11)
Set the value use for the maximum frequency reference to o1-10. The placement of the decimal point in this number
should be set to o1-11.
For example, to have the maximum output frequency displayed as “100.00”, set the o1-10 = 1000 and o1-11 = 2 (i.e.,
1000 with 2 decimal points).
Note: 1. Parameter o1-03 allows the programmer to change the units used in the following parameters and monitors:
U1-01: frequency reference
U1-02: output frequency
U1-05: motor speed
U1-16: output frequency after soft starter (accel/decel ramp generator)
d1-01 to d1-17: frequency references
2. Setting o1-03 to 2 requires that the number of motor poles be entered to E2-04, E4-04, and E5-04.
290 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.10 o: Operator Related Settings
o1-04: V/f Pattern Display Unit
Determines the units used for the frequency reference when setting parameters that create the V/f pattern: E1-04, E1-06,
E1-09, E1-11, and E2-04. For motor 2, this includes parameters E3-04, E3-06, E3-07, E3-09, and E3-11.
Enabled only in vector control modes (CLV, AOLV/PM, CLV/PM).
No. Name Setting Range Default
o1-04 V/f Pattern Display Unit 0 or 1 Determined by A1-02
Setting 0: Hertz
Setting 1: min-1
Note: For motor 2, o1-04 can only be set to 0 for Hertz.
o1-05: LCD Contrast Control
Sets the brightness of the LCD operator. The lower the setting, the brighter the LCD. The higher the setting, the darker
the LCD.
No. Name Setting Range Default
Default: 3
o1-05 LCD Contrast Control 0 to 5 Min: 0
Max: 5
o1-10: User-Set Display Units Maximum Value
Determines the display value that is equal to the maximum output frequency.
No. Name Setting Range Default
o1-10 User-Set Display Units Maximum Value 1 to 60000 Determined by o1-03
o1-11: User-Set Display Units Decimal Display
Determines how many decimal points should be used to set and display the frequency reference.
No. Name Setting Range Default
o1-11 User-Set Display Units Decimal Display 0 to 3 Determined by o1-03
Setting 0: No decimal point
Setting 1: One decimal point
Setting 2: Two decimal points
Setting 3: Three decimal points
Parameter Details
o2: Digital Operator Keypad Functions
These parameters determine the functions assigned to the operator keys.
o2-01: LO/RE (LOCAL/REMOTE) Key Function Selection
Parameter o2-01 determines whether the LO/RE key on the digital operator will be enabled or not for switching between
LOCAL and REMOTE. 5
No. Name Setting Range Default
o2-01 LO/RE (LOCAL/REMOTE) Key Function Selection 0 or 1 1
Setting 0: Disabled
The LO/RE key is disabled.
Setting 1: Enabled
The LO/RE switches between LOCAL and REMOTE operation. Switching is possible during stop only. When LOCAL
is selected, the LED indicator on the LO/RE key will light up.
WARNING! Sudden Movement Hazard. The drive may start unexpectedly if the Run command is already applied when switching from
LOCAL mode to REMOTE mode when b1-07 = 1, resulting in death or serious injury. Check all mechanical or electrical connections
thoroughly before making any setting changes to o2-01 and b1-07. Table 5.42 lists the setting combinations for o2-01 and b1-07.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 291
5.10 o: Operator Related Settings
Table 5.42 LO/RE Key and b1-07
o2-01 b1-07 Switch from LOCAL to REMOTE Switch from REMOTE to LOCAL
0 Not possible Not possible
0
1 Not possible Not possible
0 Will not run until a new Run command is entered. Run not possible
1 If a Run command is entered, the drive will start running as soon
1 as the LO/RE key is pushed to change from LOCAL to Run not possible
REMOTE.
o2-02: STOP Key Function Selection
Determines if the STOP key on the digital operator can still be used to stop drive operation when the drive is being
controlled from a remote source (i.e., not from digital operator).
No. Name Setting Range Default
o2-02 STOP Key Function Selection 0 or 1 1
Setting 0: Disabled
Setting 1: Enabled
The STOP key can be used to terminate drive operation, even if the Run command source is not assigned to the digital
operator. If the drive is stopped by pressing the STOP key, the Run command must be cycled to restart the drive.
o2-03: User Parameter Default Value
Once drive parameters are set up completely, the values set can be saved as user-set default values using parameter
o2-03. Once this has been done, the “Initialize Parameters” parameter (A1-03) will offer the choice of “1110: User
Initialize”. Choosing A1-03 = “1110: User Initialize” will reset all parameters to the values saved as user-set defaults.
Refer to A1-03: Initialize Parameters on page 139 for details on drive initialization.
No. Name Setting Range Default
o2-03 User Parameter Default Value 0 to 2 0
Setting 0: No change (awaiting command)
Setting 1: Set User Initialize values
The current parameter settings are saved as user-set default for a later User Initialize. Once o2-03 is set to 1 and the
ENTER key is pressed, the values are saved and the display returns to 0.
Setting 2: Clear User Initialize Values
All user-set defaults for “User Initialize” are cleared. Once o2-03 is set to 2 and the ENTER key is pressed, the values are
erased and the display returns to 0.
o2-04: Drive Model Selection
This parameter must be set when replacing the control board or the terminal board for any reason. Refer to Defaults by
Drive Model Selection (o2-04) and ND/HD (C6-01) on page 469 for information on the drive model selection.
NOTICE: Drive performance will suffer if the correct drive capacity is not set to o2-04, and protective functions will fail to operate
properly.
No. Name Setting Range Default
Determined by drive
o2-04 Drive Model Selection –
capacity
Note: Change settings only when necessary.
292 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.10 o: Operator Related Settings
o2-05: Frequency Reference Setting Method Selection
Determines if the ENTER key must be pressed after changing the frequency reference using the digital operator while in
the Drive Mode.
No. Name Setting Range Default
o2-05 Frequency Reference Setting Method Selection 0 or 1 0
Setting 0: ENTER key required
Every time the frequency reference is changed using the digital operator, the ENTER key must be pressed for the drive to
accept the change.
Setting 1: ENTER key not required
The output frequency changes immediately when the reference is changed by the up or down arrow keys on the digital
operator. The ENTER key does not need to be pressed. The frequency reference (Fref) is saved to memory after
remaining unchanged for 5 seconds.
o2-06: Operation Selection when Digital Operator is Disconnected
Determines if the drive will stop when the digital operator is removed in LOCAL mode or when b1-02 or b1-16 is set to
0. When the operator is reconnected, the display will indicate that it was disconnected.
No. Name Setting Range Default
o2-06 Operation Selection when Digital Operator is Disconnected 0 or 1 0
Setting 0: Continue operation
The operation is continued.
Setting 1: Trigger a fault
The operation is stopped and an “oPr” fault is triggered. The motor coasts to stop.
o2-07: Motor Direction at Power Up when Using Operator
Determines the direction the motor will rotate after the drive is powered up and the Run command is given from the
digital operator.
Note: This parameter is effective only when the Run command is set to be given from the digital operator (b1-02, b1-16 = 0).
No. Name Setting Range Default
o2-07 Motor Direction at Power Up when Using Operator 0 or 1 0
Setting 0: Forward
Parameter Details
Setting 1: Reverse
o2-19: Selection of Parameter Write During UV
Determines whether parameter settings can be changed during a DC bus undervoltage condition. To be used with 24V
POWER SUPPLY (PS-A10L, PS-A10H).
Note: When this parameter is set to 1, it is possible for a CPF06 Fault to occur. This function should only be used with 24V POWER 5
SUPPLY (PS-A10L, PS-A10H) REVISION B or later. Parameter changes might not occur correctly when using an older
revision.
Setting 0: Disabled
Setting 1: Enabled
No. Name Setting Range Default
o2-19 Selection of Parameter Write During UV 0 or 1 0
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 293
5.10 o: Operator Related Settings
o3: Copy Function
These parameters control the digital operator’s Copy function. The Copy function lets the user store all parameter
settings into the memory of the digital operator, and easily transfer those settings to other drives (requires that the other
drives be the same model, capacity, and have the same control mode setting). Refer to Copy Function Related Displays
on page 338 for a description of errors and displays.
o3-01 Copy Function Selection
Setting o3-01 will instruct the drive to Read, Write, or Verify parameters settings.
No. Name Setting Range Default
o3-01 Copy Function Selection 0 to 3 0
Setting 0: Copy Select (no function)
Setting 1: INV --> OP READ
All parameters are copied from the drive to the digital operator.
Note: Set o3-02 to 1 to unlock copy protection.
Setting 2: OP --> INV WRITE
All parameters are copied from the digital operator to the drive.
Setting 3: OP<-->INV VERIFY
Parameters in the drive are compared with the parameter settings saved on the digital operator to see if they match.
o3-02 Copy Allowed Selection
Restricts or allows the use of the Copy function.
No. Name Setting Range Default
o3-02 Copy Allowed Selection 0 or 1 0
Setting 0: Disabled
Setting 1: Enabled
o4: Maintenance Monitor Settings
o4-01: Cumulative Operation Time Setting
Parameter o4-01 sets the cumulative operation time of the drive. The user can also manually set this parameter to begin
keeping track of operation time from some desired value. Total operation time can be viewed in monitor U4-01.
Note: The value in o4-01 is set in 10 h units. For example, a setting of 30 will set the cumulative operation time counter to 300 h. 300 h
will also be displayed in monitor U4-01.
No. Name Setting Range Default
o4-01 Cumulative Operation Time Setting 0 to 9999 0
o4-02: Cumulative Operation Time Selection
Selects the conditions for how the drive keeps track of its total operation time. This time log can be viewed in U4-01.
No. Name Setting Range Default
o4-02 Cumulative Operation Time Selection 0 or 1 0
Setting 0: Power on time
The drive logs the time it is connected to a power supply, regardless if the motor is running or not.
Setting 1: Run time
The drive logs the time that the output is active. This includes whenever the Run command is active (even if the motor is
not rotating) and when there is voltage output.
294 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.10 o: Operator Related Settings
o4-03: Cooling Fan Operation Time Setting
Sets the value for how long the cooling fan has been operating. This value can be viewed in monitor U4-03. Parameter
o4-03 also sets the base value used for the cooling fan maintenance, which is displayed in U4-04. Be sure to reset this
parameter back to 0 if the cooling fan is replaced.
Note: 1. The value in o4-03 increases after every 10 hours of use. A setting of 30 will set the cooling fan operation time counter to 300 h.
“300” will be displayed in monitor U4-03.
2. The cooling fan may require maintenance at an earlier date in harsher environments.
No. Name Setting Range Default
o4-03 Cooling Fan Operation Time Setting 0 to 9999 0
o4-05: Capacitor Maintenance Setting
Sets value of the maintenance monitor for the capacitors displayed in U4-05 as a percentage of the total expected
performance life. This value should be reset to 0 when the capacitors have been replaced.
Note: The actual maintenance time will depend on the environment where the drive is used.
No. Name Setting Range Default
o4-05 Capacitor Maintenance Setting 0 to 150% 0%
o4-07: DC Bus Pre-Charge Relay Maintenance Setting
Sets the value of the softcharge bypass relay maintenance time displayed in U4-06 as a percentage of the total expected
performance life. This value should be reset to 0 when the bypass relay has been replaced.
Note: The actual maintenance time will depend on the environment where the drive is used.
No. Name Setting Range Default
o4-07 DC Bus Pre-Charge Relay Maintenance Setting 0 to 150% 0%
o4-11: U2, U3 Initialization
Resets the fault trace and fault history monitors (U2- and U3-).
No. Name Setting Range Default
o4-11 U2, U3 Initialization 0 or 1 0
Setting 0: No action
The drive keeps the record already saved concerning fault trace and fault history.
Setting 1: Reset fault data
Resets the data for the U2- and U3- monitors. Setting o4-11 to 1 and pressing the ENTER key erases fault data
Parameter Details
and returns the display to 0.
o4-12: kWh Monitor Initialization
Resets the electric power (U9-01 to U9-03) and regenerative power (U9-04 to U9-06). Resets electric power rate (U9-07
to U9-10) and regenerative power rate (U9-11 to U9-14).
5
No. Name Setting Range Default
o4-12 kWh Monitor Initialization 0 or 1 0
Setting 0: No Action
Setting 1: Reset kWh Data
Once o4-12 is set to 1 and the ENTER key is pressed, kWh data is erased and the display returns to 0.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 295
5.10 o: Operator Related Settings
o4-13: Number of Run Commands Counter Initialization
Resets the Run command counter displayed in U4-02.
No. Name Setting Range Default
o4-13 Number of Run Commands Counter Initialization 0 or 1 0
Setting 0: No Action
The Run command data are kept as they are.
Setting 1: Number of Run Commands Counter
Resets the Run command counter. The monitor U4-02 will show 0. Once o4-13 is set to 1 and the ENTER key is pressed,
the counter value is erased and the display returns to 0.
o4-19: Power Unit Price
Sets the energy price per 1 kWh. This parameter is used to calculate the power rate displayed for total consumed power
(U9-07 to U9-10) and total regenerated power (U9-11 to U9-14).
No. Name Setting Range Default
o4-19 Power Unit Price 0.00 to 650.00 000.00
q: DriveWorksEZ Parameters
q1-01 to q6-07 are reserved for use with DriveWorksEZ. Refer to the DriveWorksEZ manual for more information.
r: DriveWorksEZ Connection Parameters
r1-01 to r1-40 are reserved for use with DriveWorksEZ. Refer to the DriveWorksEZ manual for more information.
T: Motor Tuning
Auto-Tuning automatically sets and tunes parameters required for optimal motor performance.
Refer to Auto-Tuning on page 116 for details on Auto-Tuning parameters.
296 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.11 U: Monitor Parameters
5.11 U: Monitor Parameters
Monitor parameters let the user view various aspects of drive performance using the digital operator display. Some
monitors can be output from terminals FM and AM by assigning the specific monitor parameter number (U-) to
H4-01 and H4-04. Refer to H4-01, H4-04: Multi-Function Analog Output Terminal FM, AM Monitor Selection on
page 252 for details on assigning functions to an analog output.
U1: Operation Status Monitors
Status monitors display drive status data such as output frequency and output current. Refer to U1: Operation Status
Monitors on page 456 for a complete list of U1- monitors and descriptions.
U2: Fault Trace
These monitor parameters are used to view the status of various drive aspects when a fault occurs.
This information is helpful for finding out why a fault occurred. Refer to U2: Fault Trace on page 458 for a complete list
of U2- monitors and descriptions.
U2- monitors are not reset when the drive is initialized. Refer to o4-11: U2, U3 Initialization on page 295 for
instructions on how to reset these monitor values.
Note: Fault trace (i.e., the fault history) is not kept when CPF00, CPF01, CPF06, CPF24, Fdv, oFA00, oFb00, oFC00, Uv1, and Uv2
occur.
U3: Fault History
These parameters display faults that have occurred during operation as well as the drive operation time when those faults
occurred. Refer to U3: Fault History on page 460 for a complete list of U3- monitors and descriptions.
U3- monitors are not reset when the drive is initialized. Refer to o4-11: U2, U3 Initialization on page 295 for
instructions on how to reset these monitor values.
Note: Fault trace (i.e., the fault history) is not kept when CPF00, CPF01, CPF06, CPF24, Fdv, oFA00, oFb00, oFC00, Uv1, and Uv2
occur.
U4: Maintenance Monitors
Maintenance monitors show:
• Runtime data of the drive and cooling fans, and number of Run commands issued
• Maintenance data and replacement information for various drive components
Parameter Details
• kWh data
• Highest peak current that has occurred and output frequency at the time the peak current occurred
• Motor overload status information
• Detailed information about the present Run command and frequency reference source selection
Refer to U4: Maintenance Monitors on page 460 for a complete list of U4- monitors and descriptions. 5
U5: PID Monitors
These monitors display various aspects of PID control. Refer to PID Block Diagram on page 166 for details on how
these monitors display PID data.
U5: PID Monitors on page 461 has a complete list of U5- monitors and descriptions.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 297
5.11 U: Monitor Parameters
U6: Control Monitors
Control monitors show:
• Reference data for the output voltage and vector control
• Data on PM motor rotor synchronization, forward phase compensation, and flux positioning
• Pulse data from the PG motor encoder
• Pulse data for Zero Servo control
• ASR and Feed Forward control monitors
Refer to Figure 5.37 on page 184 and Figure 5.38 on page 184 for details and an illustration showing where monitors
are located in the ASR block.
• The offset value added to the frequency reference by the frequency offset function. Refer to Setting 44, 45, 46: Offset
frequency 1, 2, 3 on page 234.
• The bias value added to the frequency reference by the Up/Down 2 function (refer to Setting 75, 76: Up 2, Down 2
command on page 235)
Refer to U6: Control Monitors on page 462 for a complete list of U6- monitors and descriptions.
U8: DriveWorksEZ Monitors
These monitors are reserved for use with DriveWorksEZ.
A complete description of the U8- monitors can be found in the DriveWorksEZ instruction manual.
U9: Power Monitors
The total consumed power and regenerated power are displayed for these parameters.
Refer to U9: Power Monitors on page 464 for a complete list of U9- monitors and descriptions.
298 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
6
Troubleshooting
This chapter provides descriptions of the drive faults, alarms, errors, related displays, and
guidance for troubleshooting. This chapter can also serve as a reference guide for tuning the
drive during a trial run.
6.1 SECTION SAFETY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 300
6.2 MOTOR PERFORMANCE FINE-TUNING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302
6.3 DRIVE ALARMS, FAULTS, AND ERRORS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306
6.4 FAULT DETECTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
6.5 ALARM DETECTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324
6.6 OPERATOR PROGRAMMING ERRORS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331
6.7 AUTO-TUNING FAULT DETECTION. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334
6.8 COPY FUNCTION RELATED DISPLAYS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338
6.9 DIAGNOSING AND RESETTING FAULTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340
6.10 TROUBLESHOOTING WITHOUT FAULT DISPLAY. . . . . . . . . . . . . . . . . . . . . . 342
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 299
6.1 Section Safety
6.1 Section Safety
DANGER
Electrical Shock Hazard
Do not connect or disconnect wiring while the power is on.
Failure to comply will result in death or serious injury.
WARNING
Electrical Shock Hazard
Do not operate equipment with covers removed.
Failure to comply could result in death or serious injury.
The diagrams in this section may illustrate drives without covers or safety shields to display details. Be sure to reinstall
covers or shields before operating the drives and run the drives according to the instructions described in this manual.
Always ground the motor-side grounding terminal.
Improper equipment grounding could result in death or serious injury by contacting the motor case.
Do not touch terminals before the drive has fully discharged.
Failure to comply could result in death or serious injury.
Before wiring terminals, disconnect all power to the equipment. The capacitor for the control power supply remains
charged even after the drive input power is turned off. After shutting off the power, wait for at least the amount of time
specified on the drive before touching any components.
Do not allow unqualified personnel to perform work on the drive.
Failure to comply could result in death or serious injury.
Installation, maintenance, inspection and servicing must be performed only by authorized personnel familiar with
installation, adjustment and maintenance of AC drives.
Do not perform work on the drive while wearing loose clothing, jewelry, or without eye protection.
Failure to comply could result in death or serious injury.
Remove all metal objects such as watches and rings, secure loose clothing and wear eye protection before beginning
work on the drive.
Do not remove covers or touch circuit boards while the power is on.
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.
Do not use an improper voltage source.
Failure to comply could result in death or serious injury by fire.
Verify that the rated voltage of the drive matches the voltage of the incoming drive input power before applying power.
Do not use improper combustible materials.
Failure to comply could result in death or serious injury by fire.
Attach the drive to metal or other noncombustible material.
300 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
6.1 Section Safety
NOTICE
Observe proper electrostatic discharge procedures (ESD) when handling the drive and circuit boards.
Failure to comply may result in ESD damage to the drive circuitry.
Never connect or disconnect the motor from the drive while the drive is outputting voltage.
Improper equipment sequencing could result in damage to the drive.
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.
Do not allow unqualified personnel to use the product.
Failure to comply could result in damage to the drive.
Installation, maintenance, inspection and servicing must be performed only by authorized personnel familiar with
installation, adjustment and maintenance of drives.
Do not modify the drive circuitry.
Failure to comply could result in damage to the drive and will void warranty.
Yaskawa is not responsible for modification of the product made by the user.
Check all the wiring after installing the drive and connecting other devices to ensure that all connections are
correct.
Failure to comply could result in damage to the drive.
Troubleshooting
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 301
6.2 Motor Performance Fine-Tuning
6.2 Motor Performance Fine-Tuning
This section offers helpful information for counteracting oscillation, hunting, or other problems that occur while
performing a trial run. Refer to the section below that corresponds to the motor control method used.
Note: This section describes parameters that are commonly edited and may be set incorrectly. Consult Yaskawa for more information
on detailed settings and fine-tuning the drive.
Fine-Tuning V/f Control and V/f Control with PG
Table 6.1 Parameters for Fine-Tuning Performance in V/f and V/f w/PG
Suggested
Problem Parameter No. Corrective Action Default Setting
• If insufficient motor torque relative to the size of the load causes hunting,
reduce the setting.
• When motor hunting and oscillation occur with a light load, increase the
Motor hunting and oscillation at speeds Hunting Prevention Gain Setting
setting. 1.00 0.10 to 2.00
between 10 and 40 Hz (n1-02)
• Lower this setting if hunting occurs when using a motor with a relatively
low inductance, such as a high-frequency motor or a motor with a larger
frame size.
• If the motor noise is too loud, increase the carrier frequency.
• Motor noise • When motor hunting and oscillation occur at speeds up to 40 Hz, lower
Carrier Frequency Selection
• Motor hunting and oscillation at the carrier frequency. 1 (4 kHz) 1 to max. setting
(C6-02)
speeds up to 40 Hz • The default setting for the carrier frequency depends on the Drive Model
Selection (o2-04) and the Drive Duty Mode Selection (C6-01).
Torque Compensation Primary
• Poor torque or speed response • If motor torque and speed response are too slow, decrease the setting.
Delay Time 200 ms <1> 100 to 1000 ms
• Motor hunting and oscillation • If motor hunting and oscillation occur, increase the setting.
(C4-02)
• Poor motor torque at speeds below 10 • If motor torque is insufficient at speeds below 10 Hz, increase the setting.
Torque Compensation Gain
Hz • If motor hunting and oscillation with a relatively light load, decrease the 1.00 0.50 to 1.50
(C4-01)
• Motor hunting and oscillation setting.
Middle Output Frequency • If torque is insufficient at speeds below 10 Hz, increase the setting.
• If motor instability occurs at motor start, decrease the setting. E1-08: 15.0 V
• Poor motor torque at low speeds Voltage (E1-08) Default setting
E1-10: 9.0 V
• Motor instability at motor start Minimum Output Frequency Note: The recommended setting value is for 200 V class drives. Double ±5 V
<2>
Voltage (E1-10) this value when using a 400 V class drive.
0.0
Slip Compensation Gain After setting the motor-rated current (E2-01), motor-rated slip (E2-02), and
Poor speed precision (V/f control) (no slip 0.5 to 1.5
(C3-01) motor no-load current (E2-03), adjust the slip compensation gain (C3-01).
compensation)
Proportional gain
ASR Proportional Gain 1 (C5-01)
Poor speed precision (V/f control with Adjust the ASR proportional gain 1 (C5-01) and the ASR integral time 1 C5-01: 0.20 = 0.10 to 1.00
ASR Integral Time 1 (C5-02)
PG) (C5-02). C5-02: 0.200 s Integral time
<3> <4>
= 0.100 to 2.000 s
<1> Default setting value is dependent on parameter A1-02, Control Method Selection, and o2-04, Drive Model Selection.
<2> Default settings change when the Control Method is changed (A1-02) or a different V/f pattern is selected using parameter E1-03.
<3> ASR in V/f Control with PG only controls the output frequency, and therefore does not allow the high gain settings possible when using Close
Loop Vector control.
<4> Refer to C5: Automatic Speed Regulator (ASR) on page 184 for details on Automatic Speed Regulator (ASR).
Fine-Tuning Open Loop Vector Control
Table 6.2 Parameters for Fine-Tuning Performance in OLV
Problem Parameter No. Corrective Action Default Suggested
Setting
• Poor motor torque and speed • If motor torque and speed response are too slow, gradually decrease the
Speed Feedback Detection
response setting by 0.05.
Control (AFR) Gain 1.00 0.50 to 2.00
• Motor hunting and oscillation at • If motor hunting and oscillation occur, gradually increase the setting by
(n2-01)
speeds between 10 and 40 Hz 0.05.
• To improve motor torque speed response, gradually reduce this setting by
• Poor motor torque and speed 10 ms and check the performance.
Speed Feedback Detection
response • If motor hunting and oscillation occur as a result of load inertia, gradually
Control (AFR) Time Constant 1 50 ms 50 to 2000 ms
• Motor hunting and oscillation at increase the setting by 50 ms and check the performance.
(n2-02)
speeds between 10 and 40 Hz Note: When changing n2-02, set C4-02 (Torque Compensation Primary
Delay Time) accordingly.
• To improve motor torque speed response, gradually reduce this setting by
2 ms and check the performance.
• Poor motor torque and speed • If motor hunting and oscillation occur, gradually increase this setting by
Torque Compensation Primary
response 10 ms. 20 ms <1> 20 to 100 ms <1>
Delay Time (C4-02)
• Motor hunting and oscillation Note: Ensure that C4-02 C4-06. When making adjustments to C4-02,
increase the Speed Feedback Detection Control (AFR) Time Constant1
(n2-02) proportionally.
Slip Compensation Primary • If response is slow, gradually decrease the setting by 10 ms.
Poor speed response and stability 200 ms <2> 100 to 500 ms
Delay Time (C3-02) • If speed is unstable, gradually increase the setting by 10 ms.
• If speed is too slow, gradually increase the setting by 0.1 ms.
Poor speed precision Slip Compensation Gain (C3-01) 1.0 <2> 0.5 to 1.5
• If speed is too fast, gradually decrease the setting by 0.1 ms.
Poor speed precision during Slip Compensation Selection Enable slip compensation during regeneration by setting parameter C3-04
0 1
regenerative operation during Regeneration (C3-04) = 1.
302 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
6.2 Motor Performance Fine-Tuning
Suggested
Problem Parameter No. Corrective Action Default Setting
• If there is too much motor noise, the carrier frequency is too low.
• Motor noise • If motor hunting and oscillation occur at low speeds, reduce the carrier
Carrier Frequency Selection
• Motor hunting and oscillation occur frequency. 1 (4 kHz) 1 to max. setting
(C6-02)
at speeds below 10 Hz Note: The default setting for the carrier frequency depends on the Drive
Model Selection (o2-04) and Drive Duty Mode Selection (C6-01).
• If motor torque and speed response are too slow, increase the setting.
Middle Output Frequency E1-08: 11.0 V
• Poor motor torque at low speeds • If the motor exhibits excessive instability at start-up, reduce the setting.
Voltage (E1-08) <2> Default setting
• Poor speed response Note: The default value is for 200 V class units. Double this value when
Minimum Output Frequency E1-10: 2.0 V ±2 V
• Motor instability at start using a 400 V class drive. When working with a relatively light load,
Voltage (E1-10) <2>
increasing this value too much can result in overtorque.
<1> Default setting value is dependent on parameter A1-02, Control Method Selection, and o2-04, Drive Model Selection.
<2> Default settings change when the Control Method is changed (A1-02) or a different V/f pattern is selected using parameter E1-03.
When using OLV, leave the torque compensation gain (C4-01) at its default setting of 1.00.
Fine-Tuning Closed Loop Vector Control
Table 6.3 Parameters for Fine-Tuning the Performance in CLV
Suggested
Problem Parameter No. Corrective Action Default
Setting
ASR Proportional Gain 1 • If motor torque and speed response are too slow, gradually increase the
(C5-01) ASR gain setting by 5.
• Poor torque or speed response
ASR Proportional Gain 2 • If motor hunting and oscillation occur, decrease the setting. 20.00 10.00 to 50.00
• Motor hunting and oscillation
(C5-03) • Parameter C5-03 needs to be adjusted only if C5-05 > 0.
<1> • Perform ASR Auto-Tuning if possible
ASR Integral Time 1 (C5-02) • If motor torque and speed response are too slow, decrease the setting.
• Poor torque or speed response
ASR Integral Time 2 (C5-04) • If motor hunting and oscillation occur, increase the setting. 0.500 s 0.300 to 1.000 s
• Motor hunting and oscillation
<1> • Parameter C5-04 needs to be adjusted only if C5-05 > 0.
Trouble maintaining the ASR
ASR Gain Switching Frequency Have the drive switch between two different ASR proportional gain and 0.0 to max output
proportional gain or the integral time at 0.0 Hz
(C5-07) <1> integral time settings based on the output frequency. frequency
the low or high end of the speed range
• If motor torque and speed response are too slow, gradually decrease the
ASR Primary Delay Time
Motor hunting and oscillation setting by 0.01. 0.004 s 0.004 to 0.020 s
Constant (C5-06) <1>
• If the load is less rigid and subject to oscillation, increase this setting.
• Motor noise • If there is too much motor noise, the carrier frequency is too low.
Carrier Frequency Selection 1 to the max.
• Control motor hunting and oscillation • If motor hunting and oscillation occur at low speeds, reduce the carrier 1 (4 kHz)
(C6-02) setting
occur at speeds below 3 Hz. frequency.
Feed Forward Control Selection Enable Feed Forward by setting parameter n5-01 = 1 and perform Inertia
Overshoot or undershoot when the
(n5-01) Tuning. If Inertia Tuning is not possible, set parameters C5-17, C5-18, and 0 1
speed changes with high inertia load.
Inertia Tuning (T1-01 = 8) n5-03 manually.
<1> Refer to C5: Automatic Speed Regulator (ASR) on page 184 for details on Automatic Speed Regulator (ASR).
Fine-Tuning Open Loop Vector Control for PM Motors
Table 6.4 Parameters for Fine-Tuning Performance in OLV/PM
Suggested
Problem Parameter No. Corrective Action Default Setting
• Check the settings for base and maximum frequency in the E1-
parameters
Motor parameters • Check E5- parameters and make sure all motor data has been set
Motor performance not as desired – –
(E1-, E5-) correctly. Be careful not to enter line to line data where single-phase data
Troubleshooting
is required, and vice versa.
• Perform Auto-Tuning.
Close to the actual
Load Inertia (n8-55) Adjust parameter n8-55 to meet the load inertia ratio of the machine. 0
load inertia ratio
Speed Feedback Detection
Decrease in
Control Gain (for PM Motors) Decrease the speed feedback detection control gain (n8-45). 0.8
Poor motor torque and speed response decrements of 0.05
(n8-45)
Torque Compensation Gain
Enable torque compensation.
Note: Setting this value too high can cause overcompensation and motor 0 1
6
(C4-01)
oscillation.
Acceleration/Deceleration Pull-In Increase in steps
Increase the pull-in current set in n8-51 50%
Current (for PM Motors) (n8-51) of 5%
DC Injection Braking Current
b2-03 = 0.5 s
(b2-02) Use DC Injection Braking at start to align the rotor. Be aware that this b2-02 = 50%
Increase b2-02 if
Oscillation at start or the motor stalls DC Injection Time at Start operation can cause a short reverse rotation at start. b2-03 = 0.0 s
needed
(b2-03)
Increase the load inertia ratio.
Close to the actual
Load Inertia (n8-55) Note: Setting this value too high can cause overcompensation and motor 0
load inertia ratio
oscillation.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 303
6.2 Motor Performance Fine-Tuning
Problem Parameter No. Corrective Action Default Suggested
Setting
Pull-In Current Compensation
Reduce in
Time Constant (for PM Motors) Decrease n8-47 if hunting occurs during constant speed 5.0 s
increments of 0.2 s
(n8-47)
Stalling or oscillation occur when load
Pull-In Current (for PM Motors) Increase in
is applied during constant speed Increase the pull-in current in n8-48. 30%
(n8-48) increments of 5%
Close to the actual
Load Inertia (n8-55) Increase the load inertia ratio. 0
load inertia ratio
Speed Feedback Detection
Increase in
Hunting or oscillation occur Control Gain (for PM Motors) Increase the speed feedback detection gain in n8-45. 0.8
increments 0.05
(n8-45)
Motor Induction Voltage • Check and adjust the induced voltage constant. dep. on drive Refer to the motor
STO fault trips even if the load is not
Constant 1/2 (Ke) (for PM • Check the motor name plate, the data sheet or contact the motor capacity and data sheet or the
too high
Motors) (E5-09 or E5-24) manufacturer for getting data. motor code nameplate.
Set the value lower
Stalling or STO occurs at high speed as Output Voltage Limit Set the value of the input voltage to parameter n8-62. 200 Vac or
than the actual
the output voltage becomes saturated. (for PM Motors) (n8-62) Never set the value higher than 10% of the actual input voltage. 400 Vac
input voltage.
Fine-Tuning Advanced Open Loop Vector Control for PM Motors
Table 6.5 Parameters for Fine-Tuning Performance in AOLV/PM
Suggested
Problem Parameter No. Corrective Action Default
Setting
ASR Proportional Gain 1 • If motor torque and speed response are too slow, gradually increase the
• Poor torque or speed response (C5-01) setting by 5.
10.00 5.00 to 30.00 <1>
• Motor hunting and oscillation ASR Proportional Gain 2 • If motor hunting and oscillation occur, decrease the setting.
(C5-03) • Parameter C5-03 needs to be adjusted only if C5-05 > 0.
• If motor torque and speed response are too slow, decrease the setting.
• Poor torque or speed response ASR Integral Time 1 (C5-02) 0.300 to
• If motor hunting and oscillation occur, increase the setting. 0.500 s
• Motor hunting and oscillation ASR Integral Time 2 (C5-04) 1.000 s <1>
• Parameter C5-03 needs to be adjusted only if C5-05 > 0
Trouble maintaining the ASR
ASR Gain Switching Frequency Have the drive switch between two different ASR proportional gain and
proportional gain or the integral time at 0.0% 0.0 to Max min-1
(C5-07) integral time settings based on the output frequency.
the low or high end of the speed range
ASR Primary Delay Time 0.016 to
Motor hunting and oscillation If the load is less rigid and subject to oscillation, increase this setting. 0.010 s
Constant (C5-06) 0.035 s <1>
Motor stalling makes normal operation Motor parameters
Check the motor parameter settings. – –
impossible (E1-, E5-)
<1> Optimal settings will differ between no-load and loaded operation.
Fine-Tuning Closed Loop Vector Control for PM Motors
Table 6.6 Parameters for Fine-Tuning Performance in CLV/PM
Suggested
Problem Parameter No. Corrective Action Default Setting
ASR Proportional Gain 1 • If motor torque and speed response are too slow, gradually increase the
• Poor torque or speed response (C5-01) setting by 5.
20.00 10.00 to 50.00 <1>
• Motor hunting and oscillation ASR Proportional Gain 2 • If motor hunting and oscillation occur, decrease the setting.
(C5-03) • Perform ASR Gain Auto-Tuning if possible
• Poor torque or speed response ASR Integral Time 1 (C5-02) • If motor torque and speed response are too slow, decrease the setting. 0.300 to
0.500 s
• Motor hunting and oscillation ASR Integral Time 2 (C5-04) • If motor hunting and oscillation occur, increase the setting. 1.000 s <1>
ASR proportional gain or the integral
ASR Gain Switching Frequency Have the drive switch between two different ASR proportional gain and
time at the low or high end of the speed 0.0% 0.0 to Max min-1
(C5-07) integral time settings based on the output frequency.
range
ASR Primary Delay Time 0.004 to
Motor hunting and oscillation If the load is less rigid and subject to oscillation, increase this setting. 0.016 s
Constant (C5-06) 0.020 s <1>
Motor stall makes normal operation Motor parameters
Check the motor parameter settings. – –
impossible (E1-, E5-)
Feed Forward Control Selection Enable Feed Forward Control by setting parameter n5-01 = 1 and perform
Overshoot or undershoot at speed
(n5-01) Inertia Auto-Tuning. If Auto-Tuning cannot be performed set parameters 0 1
changes with high inertia load.
Inertia Auto-Tuning (T2-01 = 8) C5-17, C5-18 and n5-03 manually.
<1> Optimal settings will differ between no-load and loaded operation.
304 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
6.2 Motor Performance Fine-Tuning
Parameters to Minimize Motor Hunting and Oscillation
In addition to the parameters discussed on page 302 through 304, parameters in Table 6.7 indirectly affect motor hunting
and oscillation.
Table 6.7 Parameters that Affect Control Performance in Applications
Name (Parameter No.) Application
Prevents motor speed loss by maintaining the output frequency when working with heavy loads or when there is powerful
Dwell Function (b6-01 through b6-04)
backlash on the machine side.
Used to balance the load between two motors that drive the same load. Can be used when the control method (A1-02) is set to
Droop Function (b7-01, b7-02)
3 or 7.
Accel/Decel Time (C1-01 through C1-11) Adjusting accel and decel times will affect the torque presented to the motor during acceleration or deceleration.
S-Curve Characteristics (C2-01 through C2-04) Prevents shock at the beginning and end of acceleration and deceleration.
Jump Frequency (d3-01 through d3-04) Skips over the resonant frequencies of connected machinery.
Analog Input Filter Time Constant (H3-13) Prevents fluctuation in the analog input signal due to noise.
• Prevents motor speed loss. Used when the load is too heavy and also during sudden acceleration/deceleration.
Stall Prevention (L3-01 through L3-06)
• Adjustment is not normally required because Stall Prevention is enabled as a default.
• Sets the maximum torque for Open Loop Vector Control.
Torque Limits (L7-01 through L7-04, L7-06, L7-07) • When increasing setting values, select the drive based on calculations from the motor rated torque. Motor speed loss may
occur with heavy loads.
Used to increase response for acceleration/deceleration or to reduce overshooting when there is low machine rigidity and the
Feed Forward Control (n5-01 through n5-03) gain of the speed controller (ASR) cannot be increased. The inertia ratio between the load and motor and the acceleration time
of the motor running alone must be set.
Troubleshooting
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 305
6.3 Drive Alarms, Faults, and Errors
6.3 Drive Alarms, Faults, and Errors
Types of Alarms, Faults, and Errors
Check the digital operator for information about possible faults if the drive or motor fails to operate. Refer to Using the
Digital Operator on page 95.
If problems occur that are not covered in this manual, contact the nearest Yaskawa representative with the following
information:
• Drive model
• Software version
• Date of purchase
• Description of the problem
Table 6.8 contains descriptions of the various types of alarms, faults, and errors that may occur while operating the drive.
Contact Yaskawa in the event of drive failure.
Table 6.8 Types of Alarms, Faults, and Errors
Type Drive Response
When the drive detects a fault:
• The digital operator displays text that indicates the specific fault and the ALM indicator LED remains lit until the fault is reset.
• The fault interrupts drive output and the motor coasts to a stop.
Faults
• Some faults allow the user to select how the drive should stop when the fault occurs.
• Fault output terminals MA-MC will close, and MB-MC will open.
The drive will remain inoperable until that fault has been cleared. Refer to Fault Reset Methods on page 341.
When the drive detects an alarm or a minor fault:
• The digital operator displays text that indicates the specific alarm or minor fault, and the ALM indicator LED flashes.
• The drive generally continues running the motor, although some alarms allow the user to select a stopping method when the alarm occurs.
Minor Faults and Alarms
• One of the multi-function contact outputs closes if set to be tripped by a minor fault (H2- = 10), but not by an alarm.
• The digital operator displays text indicating a specific alarm and ALM indicator LED flashes.
To reset the a minor fault or alarm, remove whatever is causing the problem.
When parameter settings conflict with one another or do not match hardware settings (such as with an option card), it results in an operation error. When the
drive detects an operation error:
Operation Errors • The digital operator displays text that indicates the specific error.
• Multi-function contact outputs do not operate.
The drive will not operate the motor until the error has been reset. Correct the settings that caused the operation error to clear the error.
Tuning errors occur while performing Auto-Tuning. When the drive detects a tuning error:
• The digital operator displays text indicating the specific error.
Tuning Errors • Multi-function contact outputs do not operate.
• Motor coasts to stop.
Remove the cause of the error and repeat the Auto-Tuning process.
These are the types of errors that can occur when using the optional digital operator or the USB Copy Unit to copy, read, or verify parameter settings.
• The digital operator displays text indicating the specific error.
Copy Function Errors
• Multi-function contact outputs do not operate.
Pressing any key on the operator will clear the fault. Find out what is causing the problem (such as model incompatibility) and try again.
306 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
6.3 Drive Alarms, Faults, and Errors
Alarm and Error Displays
Faults
Table 6.9 gives an overview of possible fault codes. As conditions such as overvoltage can trip both a fault and an alarm,
it is important to distinguish between faults and alarms in order to find the right corrective action.
When the drive detects a fault, the ALM indicator LEDs lights and the fault code appears on the display. The drive fault
contact MA-MB-MC will be triggered. If the ALM LED blinks and the code appearing on the operator screen is flashes,
then an alarm has been detected. See Minor Faults and Alarms on page 309 for a list of alarm codes.
Table 6.9 Fault Displays (1)
Digital Operator Display Digital Operator Display
Name Page Name Page
LED Operator LCD Operator LED Operator LCD Operator
Aov Power Supply Overvoltage 312 EF0 Option Card External Fault 315
AUv Power Supply Undervoltage 312 to
EF1 to EF8 External Fault (input terminal S1 to S8) 315
bUS Option Communication Error 312
MEMOBUS/Modbus Communication
CE 312 Err EEPROM Write Error 315
Error
CF Control Fault 312 FAn Fan Fault 315
CoF Current Offset Fault 313 FbH Excessive PID Feedback 315
FbL PID Feedback Loss 316
to
Fdv Power Supply Frequency Fault 316
,
GF Ground Fault 316
to CPF00 to CPF24,
CPF26 to CPF35, Control Circuit Error 313 LF Output Phase Loss 316
, CPF40 to CPF45
LF2 Output Current Imbalance 316
to
LSo LSo Fault <2> 317
<1> <3> nSE Node Setup Error 317
CPF25 Terminal Board not Connected 313 oC Overcurrent 317
Option Card Connection Error at Option
Speed Deviation (for Control Mode with <3> oFA00 317
Port CN5-A
dEv PG and PM Open Loop Vector Control 313
Mode without PG) oFA01 Option Card Fault at Option Port CN5-A 318
doH Damping Resistor Overheat 313 to Option Card Error Occurred at Option Port
oFA02 to oFA06 318
CN5-A
dv1 Z Pulse Fault 313
dv2 Z Pulse Noise Fault Detection 314 , Option Card Error Occurred at Option Port
oFA10, oFA11 318
CN5-A
dv3 Inversion Detection 314
dv4 Inversion Prevention Detection 314 to
Troubleshooting
oFA12 to oFA17 Option Card Connection Error (CN5-A) 318
dv7 Polarity Judge Timeout 314
, dWAL, to Comm. Option Card Connection Error
DriveWorksEZ Fault 314 oFA30 to oFA43 318
dWFL (CN5-A)
EEPROM Memory DriveWorksEZ Data
dWF1 314 <3> oFb00 Option Card Fault at Option Port CN5-B 318
Error
E5 MECHATROLINK Watchdog Timer Error 314 – – – –
6
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 307
6.3 Drive Alarms, Faults, and Errors
Table 6.10 Fault Displays (2)
Digital Operator Display Digital Operator Display
Name Page Name Page
LED Operator LCD Operator LED Operator LCD Operator
oFb01 Option Card Fault at Option Port CN5-B 318 oL5 Mechanical Weakening Detection 1 320
oFb02 Option Card Fault at Option Port CN5-B 318 oPr External Digital Operator Connection Fault 321
, Option Card Error Occurred at Option Port
oFb03, oFb11 318 oS Overspeed 321
CN5-B
ov Control Circuit Overvoltage 321
to Option Card Error Occurred at Option Port
oFb12 to oFb17 318
CN5-B
PGo PG Disconnect (for Control Mode with PG) 321
Option Card Connection Error at Option
<3> oFC00 318 PGoH PG Hardware Fault (when using PG-X3) 321
Port CN5-C
oFC01 Option Card Fault at Option Port CN5-C 318 SCF Safety Circuit Fault 321
oFC02 Option Card Fault at Option Port CN5-C 319 SEr Too Many Speed Search Restarts 321
SoH Snubber Discharge Resistor Overheat 322
, Option Card Error Occurred at Option Port
oFC03, oFC11 319
CN5-C
SrC Phase Order Detection Fault 322
to Option Card Error Occurred at Option Port
oFC12 to oFC17 319 Srr Internal Resistance Fault 322
CN5-C
to Option Card Error Occurred at Option Port
oFC50 to oFC55 319 STo Pull-Out Detection 322
CN5-C
oH Heatsink Overheat 319 SvE Zero Servo Fault 322
oH1 Overheat 1 (Heatsink Overheat) 319 UL3 Undertorque Detection 1 322
oH3 Motor Overheat Alarm (PTC Input) 319 UL4 Undertorque Detection 2 322
oH4 Motor Overheat Fault (PTC Input) 319 UL5 Mechanical Weakening Detection 2 322
oL1 Motor Overload 320 <3>
Uv1 Control Circuit Undervoltage Fault 323
oL2 Drive Overload 320 <3> Uv2 Control Power Supply Voltage Fault 323
Undervoltage 3 (Soft-Charge Bypass
oL3 Overtorque Detection 1 320 <3> Uv3 323
Circuit Fault)
oL4 Overtorque Detection 2 320 – – – –
<1> Displayed as CPF00 or CPF20 when occurring at drive power up. When one of the faults occurs after successfully starting the drive, the display
will show CPF01 or CPF21.
<2> This function prevents continuous operation in reverse when using high frequency injection (n8-57 = 1) in the Advanced Open Loop Vector
Control mode for PM motors (A1-02 = 6) with a motor for which no motor code has been entered (it does not simply prevent reverse
operation). To quickly detect undesirable reverse operation, set L8-93, L8-94, and L8-95 to low values within range of erroneous detection.
<3> Fault trace (i.e., the fault history) is not kept when CPF00, CPF01, CPF06, CPF24, Fdv, oFA00, oFb00, oFC00, Uv1, Uv2, and Uv3 occur.
308 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
6.3 Drive Alarms, Faults, and Errors
Minor Faults and Alarms
Table 6.11 give an overview of possible alarm codes. As conditions such as overvoltage can trip both a fault and alarm, it
is important to distinguish between faults and alarms in order to find the right corrective action.
If an alarm is detected, the ALM LED will blink and the alarm code display flashes. The majority of alarms will trigger a
digital output programmed for alarm output (H2- = 10). If the ALM LED lights without blinking, this means that a
fault has been detected (not an alarm). Information on fault codes can be found in Faults on page 307.
Table 6.11 Minor Fault and Alarm Displays
Digital Operator Display Minor Fault Output
Name Page
LED Operator LCD Operator (H2- = 10)
AEr Station Address Setting Error (CC-Link, CANopen, MECHATROLINK) YES 324
AUv Power Supply Undervoltage YES 312
bb Baseblock No output 324
bUS Option Communication Error YES 324
CALL Serial Communication Transmission Error YES 324
CE MEMOBUS/Modbus Communication Error YES 325
CrST Cannot Reset YES 325
CyC MECHATROLINK Comm. Cycle Setting Error YES 325
Speed Deviation (when using a PG option card and PM Open Loop Vector Control
dEv YES 325
Mode without PG)
dnE Drive Disabled YES 325
doH Damping Resistor Overheat YES 325
dWAL DriveWorksEZ Fault YES 314
E5 MECHATROLINK Watchdog Timer Error YES 314
EF Forward/Reverse Run Command Input Error YES 326
EF0 Option Card External Fault YES 326
to
EF1 to EF8 External Fault (input terminal S1 to S8) YES 326
FAn Fan Fault YES 315
FbH Excessive PID Feedback YES 326
FbL PID Feedback Loss YES 326
Troubleshooting
Fdv Power Supply Frequency Fault YES 327
Hbb Safe Disable Signal Input YES 327
HbbF Safe Disable Signal Input YES 327
HCA Current Alarm YES 327
LT-1 Cooling Fan Maintenance Time No output <1> 327 6
LT-2 Capacitor Maintenance Time No output <1> 327
LT-3 Soft Charge Bypass Relay Maintenance Time No output <1> 328
oH Heatsink Overheat YES 328
oH2 Heatsink Overheat Warning YES 328
oH3 Motor Overheat YES 328
oL3 Overtorque 1 YES 328
oL4 Overtorque 2 YES 328
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 309
6.3 Drive Alarms, Faults, and Errors
Digital Operator Display Minor Fault Output
Name Page
LED Operator LCD Operator (H2- = 10)
oL5 Mechanical Weakening Detection 1 YES 328
oS Overspeed YES 329
ov Control Circuit Overvoltage YES 329
PASS MEMOBUS/Modbus Comm. Test Mode Complete No output 329
PGo PG Disconnect (for Control Mode with PG) YES 329
PGoH PG Hardware Fault (when using PG-X3) YES 329
rUn Motor Switch during Run YES 329
SE MEMOBUS/Modbus Communication Test Mode Error YES 329
SrC Phase Order Detection Fault YES 329
UL3 Undertorque Detection 1 YES 330
UL4 Undertorque Detection 2 YES 330
UL5 Mechanical Weakening Detection 2 YES 322
Uv Control Circuit Undervoltage YES 330
<1> Output when H2- = 2F.
Operation Errors
Table 6.12 Operation Error Displays
Digital Operator Display Digital Operator Display
Name Page Name Page
LED Operator LCD Operator LED Operator LCD Operator
oPE01 Unit Capacity Setting Fault 331 oPE10 V/f Data Setting Error 332
oPE02 Parameter Range Setting Error 331 oPE11 Carrier Frequency Setting Error 332
oPE03 Multi-Function Input Setting Error 331 oPE13 Pulse Monitor Selection Error 332
oPE04 Terminal Board Mismatch Error 332 oPE15 Torque Control Setting Error 333
Run Command/Frequency Reference
oPE05 332 oPE16 Energy Saving Constants Error 333
Source Selection Error
oPE06 Control Method Selection Error 332 oPE18 Online Tuning Parameter Setting Error 333
Multi-Function Analog Input Selection
oPE07 332 oPE20 PG-F3 Setting Error 333
Error
oPE08 Parameter Selection Error 332 oPE30 Incorrect Input Voltage Adjustment 333
oPE09 PID Control Selection Fault 332 – – – –
310 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
6.3 Drive Alarms, Faults, and Errors
Auto-Tuning Errors
Table 6.13 Auto-Tuning Error Displays
Digital Operator Display Digital Operator Display
Name Page Name Page
LED Operator LCD Operator LED Operator LCD Operator
End1 Excessive V/f Setting 334 Er-10 Motor Direction Error 335
End2 Motor Iron-Core Saturation Coefficient 334 Er-11 Motor Speed Error 335
End3 Rated Current Setting Alarm 334 Er-12 Current Detection Error 336
End4 Adjusted Slip Calculation Error 334 Er-13 Leakage Inductance Error 336
End5 Resistance Tuning Error 334 Er-14 Motor Speed Error 2 336
End6 Leakage Inductance Alarm 334 Er-15 Torque Saturation Error 336
End7 No-Load Current Alarm 334 Er-16 Inertia ID Error 336
Er-01 Motor Data Error 334 Er-17 Reverse Prohibited Error 336
Er-02 Minor Fault 335 Er-18 Induction Voltage Error 336
Er-03 STOP Button Input 335 Er-19 PM Inductance Error 336
Er-04 Line-to-Line Resistance Error 335 Er-20 Stator Resistance Error 336
Er-05 No-Load Current Error 335 Er-21 Z Pulse Correction Error 336
High Frequency Injection Parameter
Er-08 Rated Slip Error 335 Er-25 337
Tuning Error
Er-09 Acceleration Error 335 – – – –
Errors and Displays When Using the Copy Function
Table 6.14 Copy Errors
Digital Operator Display
Name Page
LED Operator LCD Operator
CoPy Writing Parameter Settings (flashing) 338
CPEr Control Mode Mismatch 338
CPyE Error Writing Data 338
CSEr Copy Unit Error 338
dFPS Drive Model Mismatch 338
End Task Complete 338
iFEr Communication Error 338
ndAT Model, Voltage Class, Capacity Mismatch 338
Troubleshooting
rdEr Error Reading Data 339
rEAd Reading Parameter Settings (flashing) 339
vAEr Voltage Class, Capacity Mismatch 339
vFyE Parameter settings in the drive and those saved to the copy function are not the same 339
vrFy Comparing Parameter Settings (flashing) 339
6
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 311
6.4 Fault Detection
6.4 Fault Detection
Fault Displays, Causes, and Possible Solutions
Faults are detected for drive protection that cause the drive to stop while toggling the form-C output associated with
terminals MA-MB-MC.
Remove the cause of the fault and manually clear the fault before attempting to run the drive again.
Table 6.15 Detailed Fault Displays, Causes, and Possible Solutions
Digital Operator Display Fault Name
Power Supply Overvoltage
Aov The input power supply voltage became equal to or higher than the Input Power Supply Overvoltage Detection Level.
200 V Class: Approximately 277 Vrms
400 V Class: Approximately 630 Vrms
Cause Possible Solution
• The power supply voltage exceeded the range listed in
drive input power specifications.
• Reduce the voltage to within the range in the power supply specifications.
• Regenerative operation was performed when the
• Increase the capacity of the power supply.
power supply capacity was too small.
• The power supply circuit opened during regeneration.
Digital Operator Display Fault Name
Power Supply Undervoltage
AUv The input power supply voltage became equal to or lower than the Input Power Supply Undervoltage Detection Level (L2-21).
200 V Class: Approximately 150 Vrms
400 V Class: Approximately 300 Vrms
Cause Possible Solution
The capacity of the power supply is too small. Increase the capacity of the power supply.
The distortion in the power supply is too large. Lower the impedance of the input power supply wiring.
Check the input power supply for phase loss or an imbalance in the interphase voltages. Investigate and correct the cause and then
A phase loss occurred in the input power supply.
reset the fault.
An internal transistor was destroyed.
The input wiring is grounded or short-circuited.
The built-in fuse is open. The output transistor has failed because the drive output has grounded or short-circuited.
Replace the board or the drive. For instructions on replacing the control board, contact Yaskawa or your nearest sales
representative.
Digital Operator Display Fault Name
Option Communication Error
bUS • After establishing initial communication, the connection was lost.
• Only detected when the run command frequency reference is assigned to an option card.
Cause Possible Solution
No signal received from the PLC. • Check for faulty wiring.
• Correct the wiring.
Faulty communications wiring or a short circuit exists. • Check for disconnected cables and short circuits. Repair as needed.
• Check the various options available to minimize the effects of noise.
• Take steps to counteract noise in the control circuit, main circuit, and ground wiring.
A communications data error occurred due to noise. • Ensure that other equipment such as switches or relays do not cause noise. Use surge suppressors if necessary.
• Use only recommended cables or other shielded line. Ground the shield on the controller side or on the drive input power side.
• Separate all communication wiring from drive power lines. Install an EMC noise filter to the drive power supply input.
The option card is damaged. • Replace the option card if there are no problems with the wiring and the error continues to occur.
• The connector pins on the option card are not properly lined up with the connector pins on the drive.
The option card is not properly connected to the drive.
• Reinstall the option card.
Digital Operator Display Fault Name
MEMOBUS/Modbus Communication Error
CE
Control data was not received for the CE detection time set to H5-09.
Cause Possible Solution
• Check for faulty wiring.
Faulty communications wiring or a short circuit exists. • Correct the wiring.
• Check for disconnected cables and short circuits. Repair as needed.
• Check the various options available to minimize the effects of noise.
• Take steps to counteract noise in the control circuit, main circuit, and ground wiring.
Communication data error occurred due to noise. • Use only recommended cables or other shielded line. Ground the shield on the controller side or on the drive input power side.
• Ensure that other equipment such as switches or relays do not cause noise and use surge suppressors if required.
• Separate all communication wiring from drive power lines. Install an EMC noise filter to the drive power supply input.
Digital Operator Display Fault Name
Control Fault
CF The torque limit was reached continuously for 3 seconds after the Stop command was input and deceleration was not possible in
Open Loop Vector Control.
Cause Possible Solution
Motor parameters are not set properly. Check the motor parameter settings and repeat Auto-Tuning.
Torque limit is too low. Set the torque limit to the most appropriate setting (L7-01 through L7-04).
• Adjust the deceleration time (C1-02, C1-04, C1-06, C1-08).
Load inertia is too big.
• Set the frequency to the minimum value and interrupt the Run command when the drive finishes decelerating.
312 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
6.4 Fault Detection
Digital Operator Display Fault Name
Current Offset Fault
CoF The current sensor is damaged or there was residual induction current in the motor (e.g., during sudden deceleration or when
coasting) when the drive attempted to start the motor.
Cause Possible Solution
Due to residual induction current in the motor when the • Create a motor restart sequence that allows enough time for the residual induction voltage to dissipate.
drive attempted to start the motor, the drive attempted to • Enable Speed Search at start (b3-01 = 1). Use the multi-function terminals to execute External Speed Search 1 and 2 (H1- =
adjust the current offset value beyond the allowable 61 or 62).
range. Note: When using a PM motor, both External Speed Search 1 and 2 perform the same operation.
Hardware is damaged. Replace the drive.
Digital Operator Display Fault Name
to ,
CPF00 to CPF03, CPF07,
, ,
CPF08, CPF11 to CPF14,
to , CPF16 to CPF24,
Control Circuit Error
CPF26 to CPF35,
to ,
CPF40 to CPF45
to , <1>
to <1>
Cause Possible Solution
• Cycle power to the drive.
Hardware is damaged. • If the problem continues, replace either the control board or the entire drive. For instructions on replacing the control board,
contact Yaskawa or your nearest sales representative.
Connector on the operator is damaged. Replace the operator.
Digital Operator Display Fault Name
Control Circuit Error
CPF06
There is an error in the data saved to EEPROM.
Cause Possible Solution
The power supply was switched off when parameters
Reinitialize the drive (A1-03 = 2220, 3330).
were being saved to the drive.
• Turn the power off and check the connection between the control board and the drive.
Hardware is damaged. • If the problem continues, replace either the control board or the entire drive. For instructions on replacing the control board,
contact Yaskawa or your nearest sales representative.
Digital Operator Display Fault Name
CPF25 Terminal Board not Connected
Cause Possible Solution
Terminal board is not connected correctly. Reconnect the terminal board to the connector on the drive, then cycle the power to the drive.
Digital Operator Display Fault Name
Speed Deviation (for Control Mode with PG)
dEv The deviation between the speed detection value for the pulse input and the speed reference after speed agreement was reached
exceeded the setting value of F1-10 for the time set in F1-11 or longer when the Operation Selection at Deviation was set to
continue operation (F1-04 = 3).
Cause Possible Solution
Load is too heavy. Reduce the load.
Acceleration and deceleration times are set too short. Increase the acceleration and deceleration times (C1-01 through C1-08).
The load is locked up. Check the machine.
Parameters are not set appropriately. Check the settings of parameters F1-10 and F1-11.
• Set H6-02 to the same value as the speed feedback signal frequency when the motor runs at maximum speed.
Incorrect speed feedback scaling if terminal RP is used
• Adjust the speed feedback signal using parameters H6-03 through H6-05.
as speed feedback input in V/f control.
• Make sure the speed feedback signal frequency does not exceed the maximum input frequency of terminal RP.
Troubleshooting
Motor brake engaged. Ensure the motor brake releases properly.
Increase the setting values of L7-01 to L7-04, the value of the torque limit from the analog input, or the value of the torque limit
The torque limit is small for the load.
set from the communication option.
Digital Operator Display Fault Name
Damping Resistor Overheat
doH
The temperature of the built-in damping resistor exceeded the set value.
Cause Possible Solution
6
• The capacity of the power supply is too small. • Increase the capacity of the power supply.
• The distortion in the power supply is too large. • Lower the impedance of the input power supply wiring.
A phase loss occurred in the input power supply. Check the input power supply for phase loss or an imbalance in the interphase voltages.
Digital Operator Display Fault Name
Z Pulse Fault
dv1 The motor turned one full rotation without the Z pulse being detected.
Note: Available in CLV/PM control mode only.
Cause Possible Solution
PG encoder is not connected, not wired properly, or is • Make sure the PG encoder is properly connected and all shielded lines are properly grounded.
damaged. • If the problem continues after cycling power, then replace either the PG option card or the PG encoder itself.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 313
6.4 Fault Detection
Digital Operator Display Fault Name
Z Pulse Noise Fault Detection
dv2 The Z pulse is out of phase by more than 5 degrees for the number of times specified in parameter F1-17.
Note: Available in CLV/PM control mode only.
Cause Possible Solution
Electrical signal interference along the PG cable. Separate the PG cable lines from the source of the noise (very possibly drive output wiring).
PG cable is not wired properly. Rewire the PG encoder and make sure all shielded lines are properly grounded.
PG option card or the PG encoder is damaged. If the problem continues after cycling power, then replace either the PG option card or the PG encoder itself.
Digital Operator Display Fault Name
Inversion Detection
dv3 The torque reference and acceleration are in opposite directions from one another (one is in reverse and the other is forward)
while at the same time the speed reference and actual motor speed differ by over 30% for the number of pulses set to F1-18.
Note: Available in CLV/PM control mode only.
Cause Possible Solution
Set the value for to E5-11 as specified on the motor nameplate. Replacing the PG encoder or changing the application so that
The Z pulse offset is not set properly to E5-11.
the motor rotates in reverse instead requires readjustment of the Z pulse offset. (T2-01 = 3)
An external force on the load side has caused the motor • Make sure the motor is rotating in the right direction.
to move. • Look for any problems on the load side that might be causing the motor to rotate in the opposite direction.
Electrical signal interference along the PG cable
affecting the A or B pulse.
Rewire the PG encoder and make sure all lines including shielded line are properly connected.
PG encoder is disconnected, not wired properly, or the
PG option card or PG itself is damaged.
Rotational direction for the PG encoder set to F1-05 is
Make sure motor lines for each phase (U, V, W) are connected properly.
the opposite of the order of the motor lines.
Digital Operator Display Fault Name
Inversion Prevention Detection
Pulses indicate that the motor is rotating in the opposite direction of the speed reference. Set the number of pulses to trigger
dv4 inverse detection to F1-19.
Note: 1. Disable inverse detection in applications where the motor may rotate in the opposite direction of the speed reference.
Setting F1-19 to 0 disables this feature.
2. Available in CLV/PM control mode only.
Cause Possible Solution
• Set the value for to E5-11 as specified on the motor nameplate.
• If the problem continues after cycling power, then replace either the PG option card or the PG encoder itself. Replacing the PG
The Z pulse offset is not set properly to E5-11.
encoder or changing the application so that the motor rotates in reverse instead requires readjustment of the Z-pulse offset.
(T2-01 = 3)
Electrical signal interference along the PG cable • Make sure the motor is rotating in the correct direction.
affecting the A or B pulse. • Look for any problems on the load side that might be causing the motor to rotate in the opposite direction.
PG encoder is disconnected, not wired properly, or the • Rewire the PG encoder and make sure all lines including shielded line are properly connected.
PG option card or PG itself is damaged. • If the problem continues after cycling power, then replace either the PG option card or the PG encoder itself.
Digital Operator Display Fault Name
dv7 Polarity Judge Timeout
Cause Possible Solution
Disconnection in the motor coil winding. • Measure the motor line-to-line resistance and replace the motor if the motor coil winding is open.
• Check for loose terminals. Apply the tightening torque specified in this manual to fasten the terminals.
Loose output terminals. Refer to Wire Size on page 78.
Digital Operator Display Fault Name
dWAL
DriveWorksEZ Fault
dWFL
Cause Possible Solution
Fault output by DriveWorksEZ Correct whatever caused the fault.
Digital Operator Display Fault Name
EEPROM Memory DriveWorksEZ Data Error
dWF1
There is an error in the DriveWorksEZ program saved to EEPROM.
Cause Possible Solution
Problem with EEPROM data. Reinitialize the drive (A1-03 = 2220, 3330) and then download the DriveWorksEZ program again.
• Turn the power off and check the connection between the control board and the drive.
There is an error in EEPROM control circuit. • If the problem continues, replace either the control board or the entire drive and then download the DriveWorksEZ program.
For instructions on replacing the control board, contact Yaskawa or your nearest sales representative.
Digital Operator Display Fault Name
MECHATROLINK Watchdog Timer Error
E5
The watchdog has timed out.
Cause Possible Solution
Data has not been received from the PLC, triggering the
Execute DISCONNECT or ALM_CLR, then issue a CONNECT command or SYNC_SET command and proceed to phase 3.
watchdog timer.
314 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
6.4 Fault Detection
Digital Operator Display Fault Name
Option Card External Fault
EF0
An external fault condition is present.
Cause Possible Solution
An external fault was received from the PLC with other
• Remove the cause of the external fault.
than F6-03 = 3 “alarm only” (the drive continued to run
• Remove the external fault input from the PLC.
after external fault).
Problem with the PLC program. Check the PLC program and correct problems.
Digital Operator Display Fault Name
External Fault (input terminal S1)
EF1
External fault at multi-function input terminal S1.
External Fault (input terminal S2)
EF2
External fault at multi-function input terminal S2.
External Fault (input terminal S3)
EF3
External fault at multi-function input terminal S3.
External Fault (input terminal S4)
EF4
External fault at multi-function input terminal S4.
External Fault (input terminal S5)
EF5
External fault at multi-function input terminal S5.
External Fault (input terminal S6)
EF6
External fault at multi-function input terminal S6.
External Fault (input terminal S7)
EF7
External fault at multi-function input terminal S7
External Fault (input terminal S8)
EF8
External fault at multi-function input terminal S8
Cause Possible Solution
An external device has tripped an alarm function. Remove the cause of the external fault and reset the fault.
• Ensure the signal lines have been connected properly to the terminals assigned for external fault detection (H1- = 20 to 2B).
Wiring is incorrect.
• Reconnect the signal line.
• Check if the any unused terminals are set for H1- = 20 to 2B (External Fault).
Incorrect setting of multi-function contact inputs.
• Change the terminal settings.
Digital Operator Display Fault Name
EEPROM Write Error
Err
Data cannot be written to the EEPROM.
Cause Possible Solution
• Press the button.
Noise has corrupted data while writing to the EEPROM. • Correct the parameter setting.
• Cycle power to the drive. Refer to Diagnosing and Resetting Faults on page 340.
• Replace either the control board or the entire drive. For instructions on replacing the control board, contact Yaskawa or your
nearest sales representative.
Replace either the control board or the entire drive. For instructions on replacing the control board, contact Yaskawa or your
Hardware problem.
nearest sales representative.
Digital Operator Display Fault Name
Fan Fault
FAn
Fan failed.
Cause Possible Solution
Cycle power to the drive.
Check if the fan is operating or not.
Troubleshooting
Cooling fan has malfunctioned. Verify the cumulative operation time of the fan using monitor U4-03, and the fan maintenance timer in U4-04.
If the cooling fan has passed its expected performance life or is damaged in some way, follow the instructions in this manual to
replace it.
Fault detected in the internal cooling fan to the power Cycle power to the drive.
supply (models 20154 to 20248, 40156 to If the fault still occurs, either replace the control circuit board or the entire unit.
40414). For instructions on replacing the power board, contact the Yaskawa sales office directly or your nearest Yaskawa representative.
Digital Operator Display Fault Name
FbH
Excessive PID Feedback 6
PID feedback input is greater than the level set b5-36 for longer than the time set to b5-37. To enable fault detection, set b5-12 =
2 or 5.
Cause Possible Solution
Parameters are not set appropriately. Check the settings of parameters b5-36 and b5-37.
Wiring for PID feedback is incorrect. Correct the wiring.
• Check the sensor on the control side.
There is a problem with the feedback sensor.
• Replace the sensor if damaged.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 315
6.4 Fault Detection
Digital Operator Display Fault Name
PID Feedback Loss
FbL This fault occurs when PID feedback loss detection is programmed to trigger a fault (b5-12 = 2 or 5) and the PID feedback level
is below the detection level set to b5-13 for longer than the time set to b5-14.
Cause Possible Solution
Parameters are not set appropriately. Check the settings of parameters b5-13 and b5-14.
Wiring for PID feedback is incorrect. Correct the wiring.
There is a problem with the feedback sensor. Check the sensor on the controller side. If damaged, replace the sensor.
Digital Operator Display Fault Name
Power Supply Frequency Fault
Fdv
The input power supply frequency exceeded the allowable frequency fluctuation.
Cause Possible Solution
A momentary power loss occurred. Reset the fault.
An input power supply wiring terminal is loose. Check for loose terminals.
The fluctuation in the voltage of the input power supply
Increase the power supply frequency fault detection width (L2-27).
is too large.
Replace either the control board or the entire drive. For instructions on replacing the control board, contact Yaskawa or your
The built-in fuse is open.
nearest sales representative.
Digital Operator Display Fault Name
Ground Fault
GF
A current short to ground exceeded 50% of rated current on the output side of the drive.
Cause Possible Solution
• Check the insulation resistance of the motor.
Motor insulation is damaged.
• Replace the motor.
• Check the motor cable.
• Remove the short circuit and turn the power back on.
A damaged motor cable is creating a short circuit.
• Check the resistance between the cable and the ground terminal .
• Replace the cable.
• Reduce the carrier frequency.
The leakage current at the drive output is too high.
• Reduce the amount of stray capacitance.
• The value set exceeds the allowable setting range while the drive automatically adjusts the current offset (this generally only
happens when attempting to restart a PM motor that is coasting to stop).
The drive performed a current offset adjustment while
• Enable Speed Search at start (b3-01 = 1).
the motor was rotating.
• Perform Speed Search 1 or 2 (H1- = 61 or 62) via one of the external terminals.
Note: Speed Search 1 and 2 are the same when using PM OLV.
Replace either the control board or the entire drive. For instructions on replacing the control board, contact Yaskawa or your
Hardware problem.
nearest sales representative.
Digital Operator Display Fault Name
Output Phase Loss
LF • Phase loss on the output side of the drive.
• Phase Loss Detection is enabled when L8-07 is set to 1 or 2.
Cause Possible Solution
• Check for wiring errors and ensure the output cable is connected properly.
The output cable is disconnected.
• Correct the wiring.
• Check the resistance between motor lines.
The motor winding is damaged.
• Replace the motor if the winding is damaged.
The output terminal is loose. Apply the tightening torque specified in this manual to fasten the terminals. Refer to Wire Size on page 78.
The rated current of the motor being used is less than 5%
Check the drive selection and motor capacities.
of the drive rated current.
Replace either the control board or the entire drive. For instructions on replacing the control board, contact Yaskawa or your
An output transistor is damaged.
nearest sales representative.
A single-phase motor is being used. The drive cannot operate a single phase motor.
Digital Operator Display Fault Name
Output Current Imbalance
LF2
One or more of the phases in the output current is lost.
Cause Possible Solution
• Check for faulty wiring or poor connections on the output side of the drive.
Phase loss has occurred on the output side of the drive.
• Correct the wiring.
Terminal wires on the output side of the drive are loose. Apply the tightening torque specified in this manual to fasten the terminals. Refer to Wire Size on page 78.
Replace either the control board or the entire drive. For instructions on replacing the control board, contact Yaskawa or your
The output circuit is damaged.
nearest sales representative.
• Measure the line-to-line resistance for each motor phase. Ensure all values are the same.
Motor impedance or motor phases are uneven.
• Replace the motor.
316 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
6.4 Fault Detection
Digital Operator Display Fault Name
LSo Fault
LSo
<2> Pull-out has been detected at low speed.
Cause Possible Solution
Enter the correct motor code for the PM motor being used into E5-01.
The incorrect motor code has been entered.
For special-purpose motors, enter the correct data to all E5 parameters according to the test report provided for the motor.
Reduce the load.
The load is too heavy.
Use a larger drive.
Make sure some external force is not rotating the motor at start.
The drive incorrectly detected the position of the motor
Enable Speed Search Selection at start. (b3-01 = 1)
poles.
If the value displayed in U6-57 is lower than 819, then set the polarity judge current (n8-84) higher than the default value.
• Increase the value set to L8-93.
Values set to parameters L8-93, L8-94, and L8-95 are
• Increase the value set to L8-94.
incorrect.
• Increase the value set to L8-95.
Digital Operator Display Fault Name
Node Setup Error
nSE
A terminal assigned to the node setup function closed during run.
Cause Possible Solution
The node setup terminal closed during run.
A run command was issued while the node setup Stop the drive when using the node setup function.
function was active.
Digital Operator Display Fault Name
Overcurrent
oC
Drive sensors have detected an output current greater than the specified overcurrent level.
Cause Possible Solution
The motor has been damaged due to overheating or the • Check the insulation resistance.
motor insulation is damaged. • Replace the motor.
• Check the motor cables.
• Remove the short circuit and power the drive back up.
One of the motor cables has shorted out or there is a
grounding problem. • Check the resistance between the motor cables and the ground terminal .
• Replace damaged cables.
• Measure the current flowing into the motor.
• Use a drive one-frame larger if the current value exceeds the rated current of the drive.
The load is too heavy.
• Determine if there is sudden fluctuation in the current level.
• Reduce the load to avoid sudden changes in the current level or use a drive one-frame larger.
Calculate the torque needed during acceleration relative to the load inertia and the specified acceleration time. If the right amount
of torque cannot be set, make the following changes:
The acceleration or deceleration times are too short. • Increase the acceleration time (C1-01, -03, -05, -07)
• Increase the S-curve characteristics (C2-01 through C2-04)
• Use a drive one-frame larger.
The drive is attempting to operate a specialized motor or • Check the motor capacity.
a motor larger than the rated current allowed. • Ensure that the rated current of the drive is greater than or equal to the current rating found on the motor nameplate.
Magnetic contactor (MC) on the output side of the drive
Set up the operation sequence so that the MC is not tripped while the drive is outputting current.
has turned on or off.
• Check the ratios between the voltage and frequency.
V/f setting is not operating as expected. • Set parameter E1-04 through E1-10 appropriately (E3-04 through E3-10 for motor 2).
• Lower the voltage if it is too high relative to the frequency.
• Check the amount of torque compensation.
Excessive torque compensation.
• Reduce the torque compensation gain (C4-01) until there is no speed loss and less current.
• Review the possible solutions provided for handling electrical signal interference.
Drive fails to operate properly due to electrical signal
• Review the section on handling electrical signal interference and check the control circuit lines, main circuit lines, and ground
interference.
wiring.
• Check if fault occurs simultaneously to overexcitation function operation.
Troubleshooting
Overexcitation gain is set too high.
• Consider motor flux saturation and reduce the value of n3-13 (Overexcitation Deceleration Gain).
• Enable Speed Search at start (b3-01 = 1).
Run command applied while motor was coasting.
• Program the Speed Search command input through one of the multi-function contact input terminals (H1- = 61 or 62).
The wrong motor code has been entered for PM Open • Enter the correct motor code to E5-01.
Loop Vector (Yaskawa motors only) or the motor data • If a non-Yaskawa PM motor is used, enter “FFFF” to E5-01. Set the correct motor data to the E5- parameters or perform
are wrong. Auto-Tuning.
The overcurrent level has exceeded the value set to L8-
27. (PM control modes)
Correct the value set to overcurrent detection gain (L8-27).
6
• Check which motor control method the drive is set to (A1-02).
The motor control method and motor do not match. • For IM motors, set A1-02 = “0”, “1”, “2”, or “3”.
• For PM motors, set A1-02 = “5”, “6” or “7”.
The drives rated output current is too small. Use a larger drive.
Digital Operator Display Fault Name
Option Card Connection Error at Option Port CN5-A
oFA00
Option compatibility error
Cause Possible Solution
The option card installed into port CN5-A is
Check if the drive supports the option card that you are attempting to install. Contact Yaskawa for assistance.
incompatible with the drive.
A PG option card is connected to option port CN5-A PG option boards are supported by option ports CN5-B and CN5-C only. Place the PG option card into the correct option port.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 317
6.4 Fault Detection
Digital Operator Display Fault Name
Option Card Fault at Option Port CN5-A
oFA01
Option not properly connected
Cause Possible Solution
• Turn the power off and reconnect the option card.
• Check if the option card is properly plugged into the option port. Make sure the card is fixed properly.
The option board connection to port CN5-A is faulty.
• If the option is not a communication option card, try to use the card in another option port. If it works there, replace the drive. If
the error persists (oFb01 or oFC01 occur), replace the option board.
Digital Operator Display Fault Name
to oFA02 to oFA06
Option Card Error Occurred at Option Port CN5-A
, oFA10, oFA11
to oFA12 to oFA17 Option Card Connection Error (CN5-A)
to oFA30 to oFA43 Comm. Option Card Connection Error (CN5-A)
Cause Possible Solution
• Cycle power to the drive.
Option card or hardware is damaged. • If the problem continues, replace either the control board or the entire drive. For instructions on replacing the control board,
contact Yaskawa or your nearest sales representative.
Digital Operator Display Fault Name
Option Card Fault at Option Port CN5-B
oFb00
Option compatibility error
Cause Possible Solution
The option card installed into port CN5-B is
Check if the drive supports the option card that you are attempting to install. Contact Yaskawa for assistance.
incompatible with the drive.
A communication option card has been installed in
Communication option cards are supported by option port CN5-A only. More than one comm. option cannot be installed.
option port CN5-B.
Digital Operator Display Fault Name
Option Card Fault at Option Port CN5-B
oFb01
Option not properly connected
Cause Possible Solution
• Turn the power off and reconnect the option card.
• Check if the option card is properly plugged into the option port. Make sure the card is fixed properly.
The option board connection to port CN5-B is faulty.
• Try to use the card in another option port (in case of a PG option use port CN5-C). If option card still doesn’t work there,
replace the drive. If the error persists (oFA01 or oFC01 occur), replace the option board.
Digital Operator Display Fault Name
Option Card Fault at Option Port CN5-B
oFb02
Same type of option card already connected
Cause Possible Solution
An option card of the same type is already installed in
Except for PG options, each option card type can only be installed once. Make sure only one type of option card is connected.
option port CN5-A.
An input option card is already installed in option port Make sure that a comm. option, a digital input option, or an analog input option is installed. The same type of card cannot be
CN5-A. installed twice.
Digital Operator Display Fault Name
to oFb03 to oFb11
Option Card Error Occurred at Option Port CN5-B
to oFb12 to oFb17
Cause Possible Solution
• Cycle power to the drive.
Option card or hardware is damaged. • If the problem continues, replace either the control board or the entire drive. For instructions on replacing the control board,
contact Yaskawa or your nearest sales representative.
Digital Operator Display Fault Name
Option Card Connection Error at Option Port CN5-C
oFC00
Option compatibility error
Cause Possible Solution
The option card installed into port CN5-C is
Check if the drive supports the option card that you are attempting to instal. Contact Yaskawa for assistance.
incompatible with the drive.
A communication option card has been installed in
Communication option cards are supported by option port CN5-A only. More than one comm. option cannot be installed.
option port CN5-C.
Digital Operator Display Fault Name
Option Card Fault at Option Port CN5-C
oFC01
Option not properly connected
Cause Possible Solution
• Turn the power off and reconnect the option card.
• Check if the option card is properly plugged into the option port. Make sure the card is fixed properly.
The option board connection to port CN5-C is faulty.
• Try to use the card in another option port (in case of a PG option use port CN5-B). If it works there, replace the drive. If the
error persists (oFA01 or oFb01 occur), replace the option board.
318 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
6.4 Fault Detection
Digital Operator Display Fault Name
Option Card Fault at Option Port CN5-C
oFC02
Same type of option card already connected
Cause Possible Solution
An option card of the same type is already installed in
Except for PG options, each option card type can only be installed once. Make sure only one type of option card is connected.
option port CN5-A or CN5-B.
An input option card is already installed in option port Make sure that a comm. option, a digital input option, or an analog input option is installed. The same type of card cannot be
CN5-A or CN5-B. installed twice.
Three PG option boards are installed. Maximum two PG option boards can be used at the same time. Remove the PG option board installed into option port CN5-A.
Digital Operator Display Fault Name
to oFC03 to oFC11
Option Card Error Occurred at Option Port CN5-C
to oFC12 to oFC17
Cause Possible Solution
• Cycle power to the drive.
Option card or hardware is damaged. • If the problem continues, replace either the control board or the entire drive. For instructions on replacing the control board,
contact Yaskawa or your nearest sales representative.
Digital Operator Display Fault Name
to oFC50 to oFC55 Option Card Error Occurred at Option Port CN5-C
Cause Possible Solution
Option card or hardware is damaged. Refer to the option manual for details.
Digital Operator Display Fault Name
Heatsink Overheat
oH The temperature of the heatsink exceeded the overheat pre-alarm level set to L8-02. Default value for L8-02 is determined by the
drive model selection (o2-04).
Cause Possible Solution
• Check the temperature surrounding the drive. Verify temperature is within drive specifications.
• Improve the air circulation within the enclosure panel.
Surrounding temperature is too high.
• Install a fan or air conditioner to cool the surrounding area.
• Remove anything near the drive that might be producing excessive heat.
• Measure the output current.
Load is too heavy. • Decrease the load.
• Lower the carrier frequency selection (C6-02).
• Replace the cooling fan. Refer to Cooling Fan Component Names on page 357.
Internal cooling fan is stopped.
• After replacing the drive, reset the cooling fan maintenance parameter (o4-03 = 0).
Digital Operator Display Fault Name
Overheat 1 (Heatsink Overheat)
oH1
The temperature of the heatsink exceeded the drive overheat level. The overheat level is determined by drive capacity (o2-04).
Cause Possible Solution
• Check the temperature surrounding the drive.
• Improve the air circulation within the enclosure panel.
Surrounding temperature is too high.
• Install a fan or air conditioner to cool the surrounding area.
• Remove anything near the drive that might be producing excessive heat.
• Measure the output current.
Load is too heavy. • Lower the carrier frequency selection (C6-02).
• Reduce the load.
Digital Operator Display Fault Name
Motor Overheat Alarm (PTC Input)
oH3 • The motor overheat signal to analog input terminal A1, A2, or A3 exceeded the alarm detection level.
• Detection requires multi-function analog input H3-02, H3-10, or H3-06 be set to “E”.
Troubleshooting
Cause Possible Solution
• Check the size of the load, the accel/decel times, and the cycle times.
• Decrease the load.
• Increase the acceleration and deceleration times (C1-01 through C1-08).
• Adjust the preset V/f pattern (E1-04 through E1-10). This will mainly involve reducing E1-08 and E1-10.
Motor has overheated • Be careful not to lower E1-08 and E1-10 too much, as this reduces load tolerance at low speeds.
• Check the motor rated current.
•
•
Enter the motor rated current as indicated on the motor nameplate (E2-01).
Ensure the motor cooling system is operating normally.
6
• Repair or replace the motor cooling system.
Digital Operator Display Fault Name
Motor Overheat Fault (PTC Input)
oH4 • The motor overheat signal to analog input terminal A1, A2, or A3 exceeded the fault detection level.
• Detection requires that multi-function analog input H3-02, H3-10, or H3-06 = “E”.
Cause Possible Solution
• Check the size of the load, the accel/decel times, and the cycle times.
• Decrease the load.
• Increase the acceleration and deceleration times (C1-01 through C1-08).
Adjust the preset V/f pattern (E1-04 through E1-10). This will mainly involve reducing E1-08 and E1-10. Be careful not to lower
Motor has overheated. E1-08 and E1-10 too much because this reduces load tolerance at low speeds.
• Check the motor rated current.
• Enter the motor rated current as indicated on the motor nameplate (E2-01).
• Ensure the motor cooling system is operating normally.
• Repair or replace the motor cooling system.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 319
6.4 Fault Detection
Digital Operator Display Fault Name
Motor Overload
oL1
The electronic motor overload protection tripped.
Cause Possible Solution
Reduce the load.
Load is too heavy. Note: After the value of U4-16 has decreased to one less than 100, reset oL1. The value of U4-16 must be less than 100 before
oL1 can be reset.
Cycle times are too short during acceleration and
Increase the acceleration and deceleration times (C1-01 through C1-08).
deceleration.
• Reduce the load.
A general purpose motor is driven below the rated speed • Increase the speed.
with too high load. • If the motor is supposed to operate at low speeds, either increase the motor capacity or use a motor specifically designed to
operate in the desired speed range.
Adjust the user-set V/f patterns (E1-04 through E1-10). Parameters E1-08 and E1-10 may need to be reduced. Be careful not to
The output voltage is too high.
lower E1-08 and E1-10 too much because this reduces load tolerance at low speeds.
• Check the motor-rated current.
The wrong motor rated current is set to E2-01.
• Enter the value written on the motor nameplate to parameter E2-01.
• Check the rated frequency indicated on the motor nameplate.
The base frequency is set incorrectly.
• Enter the rated frequency to E1-06 (Base Frequency).
Multiple motors are running off the same drive. Disable the motor protection function (L1-01 = 0) and install a thermal relay to each motor.
• Check the motor characteristics.
The electrical thermal protection characteristics and
• Correct the type of motor protection that has been selected (L1-01).
motor overload characteristics do not match.
• Install an external thermal relay.
The electrical thermal relay is operating at the wrong • Check the current rating listed on the motor nameplate.
level. • Check the value set for the motor rated current (E2-01).
• Overexcitation increases the motor losses and the motor temperature. If applied too long, motor damage can occur. Prevent
excessive overexcitation operation or apply proper cooling to the motor.
Motor overheated by overexcitation operation.
• Reduce the excitation deceleration gain (n3-13).
• Set L3-04 (Stall Prevention during Deceleration) to a value other than 4.
• Check values set to Speed Search related parameters.
Speed Search related parameters are set incorrectly. • Reduce the Speed Search Operation Current Level 1 (Current Detection Type 2) (b3-31).
• After Auto-Tuning, enable Speed Estimation Speed Search (b3-24 = 1).
Output current fluctuation due to power supply loss Check the power supply for phase loss.
Digital Operator Display Fault Name
Drive Overload
oL2
The thermal sensor of the drive triggered overload protection.
Cause Possible Solution
Load is too heavy. Reduce the load.
Acceleration or deceleration times are too short. Increase the settings for the acceleration and deceleration times (C1-01 through C1-08).
• Adjust the preset V/f pattern (E1-04 through E1-10). This will mainly involve reducing E1-08 and E1-10.
The output voltage is too high.
• Be careful not to lower E1-08 and E1-10 excessively because this reduces load tolerance at low speeds.
Drive capacity is too small. Use a larger drive.
• Reduce the load when operating at low speeds.
Overload occurred when operating at low speeds. • Use a larger drive.
• Lower the carrier frequency (C6-02).
Excessive torque compensation. Reduce the torque compensation gain (C4-01) until there is no speed loss but less current.
• Check the settings for all Speed Search related parameters.
Speed Search related parameters are set incorrectly. • Adjust the current used during the Speed Search deceleration time (b3-03).
• After Auto-Tuning the drive, enable the Speed Estimation Speed Search (b3-24 = 1).
Output current fluctuation due to input phase loss Check the power supply for phase loss.
Digital Operator Display Fault Name
Overtorque Detection 1
oL3
The current has exceeded the value set for torque detection level 1 (L6-02) for longer than the allowable time (L6-03).
Cause Possible Solution
Parameter settings are not appropriate for the load. Check the settings of parameters L6-02 and L6-03.
Fault on the machine side (e.g., machine is locked up). Check the status of the load. Remove the cause of the fault.
Digital Operator Display Fault Name
Overtorque Detection 2
oL4
The current has exceeded the value set for torque detection level 2 (L6-05) for longer than the allowable time (L6-06).
Cause Possible Solution
Parameter settings are not appropriate for the load. Check the settings of parameters L6-05 and L6-06.
Digital Operator Display Fault Name
Mechanical Weakening Detection 1
oL5
Overtorque occurred, matching the conditions specified in L6-08.
Cause Possible Solution
Overtorque triggered mechanical weakening detection
Check for the cause of mechanical weakening.
level set to L6-08.
320 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
6.4 Fault Detection
Digital Operator Display Fault Name
External Digital Operator Connection Fault
The external operator has been disconnected from the drive.
oPr Note: An oPr fault will occur when all of the following conditions are true:
• Output is interrupted when the operator is disconnected (o2-06 = 1).
• The Run command is assigned to the operator (b1-02 = 0 and LOCAL has been selected).
Cause Possible Solution
• Check the connection between the operator and the drive.
External operator is not properly connected to the drive. • Replace the cable if damaged.
• Turn off the drive input power and disconnect the operator. Next reconnect the operator and turn the drive input power back on.
Digital Operator Display Fault Name
Overspeed
oS
The motor speed feedback exceeded the F1-08 setting.
Cause Possible Solution
• Reduce the settings for C5-01 (Speed Control Proportional Gain 1) and increase C5-02 (Speed Control Integral Time 1).
Overshoot is occurring.
• If using a Closed Loop Vector mode, enable Feed Forward and perform Inertia Auto-Tuning.
Incorrect speed feedback scaling if terminal RP is used • Set H6-02 to the value of the speed feedback signal frequency when the motor runs at the maximum speed.
as speed feedback input in V/f control. • Adjust the input signal using parameters H6-03 through H6-05.
Incorrect number of PG pulses has been set. Check and correct parameter F1-01.
Inappropriate parameter settings. Check the setting for the overspeed detection level and the overspeed detection time (F1-08 and F1-09).
Digital Operator Display Fault Name
Control Circuit Overvoltage
ov Voltage in the control circuit has exceeded the overvoltage level.
• For 200 V class: approximately 450 V
• For 400 V class: approximately 900 V
Cause Possible Solution
Ground fault in the output circuit causing the capacitor • Check the motor wiring for ground faults.
to overcharge. • Correct grounding shorts and turn the power back on.
• Check the voltage.
Drive input power voltage is too high.
• Lower drive input power voltage within the limits listed in the specifications.
The capacity of the input power supply is too small. Use a power supply that has at least twice the input capacity of the drive.
The input power supply repeatedly turned on and off
Implement countermeasures so that chattering does not occur for the input power supply.
over a short period of time.
An I/O terminal is loose. Check the tightening torque of the I/O terminals.
Chattering is occurring in the magnetic contactor (MC)
installed between the drive’s output terminals and the Implement countermeasures so that chattering does not occur for the MC.
motor.
There is a phase loss or an imbalance in the interphase
Check the status of the input power supply and eliminate phase losses and imbalance.
voltages of the input power supply.
Digital Operator Display Fault Name
PG Disconnect (for any control modes using a PG option card)
PGo
No PG pulses are received for longer than the time set to F1-14.
Cause Possible Solution
PG cable is disconnected. Reconnect the cable.
PG cable wiring is wrong. Correct the wiring.
PG has no power. Check the power line to the PG encoder.
PG encoder brake is clamped shut. Ensure the motor brake releases properly.
Digital Operator Display Fault Name
PG Hardware Fault (detected when using a PG-X3 option card)
PGoH
PG cable is not connected properly.
Troubleshooting
Cause Possible Solution
PG cable is disconnected. Reconnect the cable. Check the setting of F1-20.
Digital Operator Display Fault Name
Safety Circuit Fault
SCF
Safety Circuit Fault is detected.
Cause Possible Solution
The safety circuit is damaged.
Replace either the control board or the entire drive. For instructions on replacing the control board, contact Yaskawa or your
nearest sales representative.
6
Digital Operator Display Fault Name
Too Many Speed Search Restarts
SEr
The number of Speed Search restarts exceeded the number set to b3-19.
Cause Possible Solution
• Reduce the detection compensation gain during Speed Search (b3-10).
• Increase the current level when attempting Speed Search (b3-17).
Speed Search parameters are set to the wrong values.
• Increase the detection time during Speed Search (b3-18).
• Repeat Auto-Tuning.
The motor is coasting in the opposite direction of the
Enable Bi-Directional Speed Search (b3-14 = 1).
Run command.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 321
6.4 Fault Detection
Digital Operator Display Fault Name
SoH Snubber Discharge Resistor Overheat
Cause Possible Solution
• The input power supply voltage is too high. • Reduce the voltage to within the range in the power supply specifications.
• The capacity of the power supply is too small. • Increase the capacity of the power supply.
• The distortion in the power supply is too large. • Lower the impedance of the input power supply wiring.
• Check the load conditions. (Reduce the load.)
The load was too large during repetitious operation.
• Increase the acceleration/deceleration time.
A phase loss occurred in the input power supply. Check the input power supply for phase loss or an imbalance in the interphase voltages.
Digital Operator Display Fault Name
Phase Order Detection Fault
SrC
The phase rotation direction for the input power supply changed.
Cause Possible Solution
The power supply phase order changed during
operation.
Investigate and correct the cause and then reset the fault.
An input power supply wiring terminal is loose.
Refer to Diagnosing and Resetting Faults on page 340.
The fluctuation in the voltage of the input power supply
is too large.
Digital Operator Display Fault Name
Internal Resistance Fault
Srr
An operation failure occurred in the snubber discharge resistor circuit.
Cause Possible Solution
• Cycle power to the drive.
The snubber discharge resistor or peripheral circuits
• If the problem continues, replace either the control board or the entire drive. For instructions on replacing the control board,
failed.
contact Yaskawa or your nearest sales representative.
Digital Operator Display Fault Name
Pull-Out Detection
STo
Motor pull out or step out has occurred. Motor has exceeded its pull-out torque.
Cause Possible Solution
• Enter the correct motor code for the PM being used into E5-01.
The wrong motor code is set (Yaskawa motors only).
• For special-purpose motors, enter the correct data to all E5 parameters according to the test report provided for the motor.
• Increase the load inertia for PM motor (n8-55).
• Increase the pull-in current during accel/decel (n8-51).
Load is too heavy.
• Reduce the load.
• Use a larger motor and drive.
Load inertia is too heavy. Increase the load inertia for PM motor (n8-55).
• Increase the acceleration and deceleration times (C1-01 through C1-08).
Acceleration and deceleration times are too short.
• Increase the S-curve acceleration and deceleration times (C2-01).
Speed response is too slow. Increase the load inertia for PM motor (n8-55).
Digital Operator Display Fault Name
Zero Servo Fault
SvE
Position deviation during zero servo.
Cause Possible Solution
Torque limit is set too low. Set the torque limit to an appropriate value using parameters L7-01 to L7-04.
Excessive load torque. Reduce the amount of load torque.
Electrical signal interference along PG encoder wiring. Check the PG signal for electrical signal interference.
Digital Operator Display Fault Name
Undertorque Detection 1
UL3 The current has fallen below the minimum value set for torque detection level 1 (L6-02) for longer than the allowable time
(L6-03).
Cause Possible Solution
Parameter settings are not appropriate for the load. Check the settings of parameters L6-02 and L6-03.
There is a fault on the machine side. Check the load for any problems.
Digital Operator Display Fault Name
Undertorque Detection 2
UL4 The current has fallen below the minimum value set for torque detection level 2 (L6-05) for longer than the allowable time
(L6-06).
Cause Possible Solution
Parameter settings are not appropriate for the load. Check the settings of parameters L6-05 and L6-06.
There is a fault on the machine side. Check the load for any problems.
Digital Operator Display Fault Name
Mechanical Weakening Detection 2
UL5
The operation conditions matched the conditions set to L6-08.
Cause Possible Solution
Undertorque was detected and matched the conditions
Check the load side for any problems.
for mechanical loss detection set to L6-08.
322 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
6.4 Fault Detection
Digital Operator Display Fault Name
Control Circuit Undervoltage Fault
Uv1 One of the following conditions occurred:
• For 200 V class: approximately 175 V
• For 400 V class: approximately 350 V
Cause Possible Solution
• The main circuit drive input power is wired incorrectly.
Input power phase loss.
• Correct the wiring.
• Ensure there are no loose terminals.
One of the drive input power wiring terminals is loose. • Apply the tightening torque specified in this manual to fasten the terminals. Refer to Main Circuit Wire Gauges and
Tightening Torque on page 71
• Check the voltage.
There is a problem with the voltage from the drive input
• Correct the voltage to be within the range listed in drive input power specifications.
power.
• If there is no problem with the power supply to the main circuit, check for problems with the main circuit magnetic contactor.
The power has been interrupted. Correct the drive input power.
• Check the maintenance time for the capacitors (U4-05).
The capacitors are worn.
• Replace the entire drive if U4-05 exceeds 90%. Contact Yaskawa or your nearest sales representative.
• Cycle power to the drive and see if the fault reoccurs.
The relay or contactor on the soft-charge bypass circuit • If the problem continues, replace the entire drive. Contact Yaskawa or your nearest sales representative.
is damaged. • Check monitor U4-06 for the performance life of the soft-charge bypass.
• Replace the entire drive if U4-06 exceeds 90%. Contact Yaskawa or your nearest sales representative.
Digital Operator Display Fault Name
Control Power Supply Voltage Fault
Uv2
Voltage is too low for the control drive input power.
Cause Possible Solution
• Cycle power to the drive. Check if the fault reoccurs.
Control power supply wiring is damaged.
• If the problem continues, replace the entire drive or the control power supply.
• Cycle power to the drive. Check if the fault reoccurs.
Internal circuitry is damaged.
• If the problem continues, replace the entire drive. Contact Yaskawa or your nearest sales representative.
Digital Operator Display Fault Name
Undervoltage 3 (Soft-Charge Bypass Circuit Fault)
Uv3
The soft-charge bypass circuit has failed.
Cause Possible Solution
• Cycle power to the drive and see if the fault reoccurs.
The relay or contactor on the soft-charge bypass circuit • If the problem continues, replace the entire drive. Contact Yaskawa or your nearest sales representative.
is damaged. • Check monitor U4-06 for the performance life of the soft-charge bypass.
• Replace the entire drive if U4-06 exceeds 90%. Contact Yaskawa or your nearest sales representative.
<1> Displayed as CPF00 or CPF20 when occurring at drive power up. When one of the faults occurs after successfully starting the drive, the
display will show CPF01 or CPF21.
<2> This function prevents continuous operation in reverse when using high frequency injection (n8-57 = 1) in the Advanced Open Loop Vector
Control mode for PM motors (A1-02 = 6) with a motor for which no motor code has been entered (it does not simply prevent reverse
operation). Set L8-93, L8-94, and L8-95 to low values within range of erroneous detection to quickly detect undesirable reverse operation.
Troubleshooting
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 323
6.5 Alarm Detection
6.5 Alarm Detection
Alarm Codes, Causes, and Possible Solutions
Alarms are drive protection functions that do not necessarily cause the drive to stop. Once the cause of an alarm is
removed, the drive will return to the same status is was before the alarm occurred.
When an alarm has been triggered, the ALM light on the digital operator display blinks and the alarm code display
flashes. If a multi-function output is set for an alarm (H2- = 10), that output terminal will be triggered.
Note: If a multi-function output is set to close when an alarm occurs (H2- = 10), it will also close when maintenance periods are
reached, triggering alarms LT-1 through LT-3 (triggered only if H2- = 2F).
Table 6.16 Alarm Codes, Causes, and Possible Solutions
Digital Operator Display Minor Fault Name
Station Address Setting Error (CC-Link, CANopen, MECHATROLINK)
AEr
Option card node address is outside the acceptable setting range.
Minor Fault
Cause Possible Solutions
(H2-01 = 10)
Station number is set outside the possible setting • Set parameter F6-10 to the proper value if a CC-Link option card is used.
YES
range. • Set parameter F6-35 to the proper value if a CANopen option card is used.
Digital Operator Display Minor Fault Name
Power Supply Undervoltage
AUv The input power supply voltage became equal to or lower than the Input Power Supply Undervoltage Detection Level (L2-21).
200 V Class: Approximately 150 Vrms
400 V Class: Approximately 300 Vrms
Minor Fault
Cause Possible Solutions
(H2-01 = 10)
The power supply voltage is low. Increase the power supply voltage.
Check the input power supply for phase loss or an imbalance in the interphase voltages. Investigate and correct the
A phase loss occurred in the input power supply. YES
cause and then reset the fault.
Voltage detection failed. Correctly wire r1/ 11, 1/ 21, and t1/ 31.
Digital Operator Display Minor Fault Name
Baseblock
bb
Drive output interrupted as indicated by an external baseblock signal.
Minor Fault
Cause Possible Solutions
(H2-01 = 10)
External baseblock signal was entered via one of the
Check external sequence and baseblock signal input timing. No output
multi-function input terminals (S1 to S8).
Digital Operator Display Minor Fault Name
Option Communication Error
bUS • After initial communication was established, the connection was lost.
• Assign a Run command frequency reference to the option card.
Minor Fault
Cause Possible Solutions
(H2-01 = 10)
• Check for faulty wiring.
Connection is broken or master controller stopped
• Correct the wiring.
communicating.
• Check for disconnected cables and short circuits. Repair as needed.
Option card is damaged. If there are no problems with the wiring and the fault continues to occur, replace the option card.
The option card is not properly connected to the • The connector pins on the option card are not properly lined up with the connector pins on the drive.
drive. • Reinstall the option card.
• Check options available to minimize the effects of noise. YES
• Take steps to counteract noise in the control circuit wiring, main circuit lines and ground wiring.
• Try to reduce noise on the controller side.
• Use surge absorbers on magnetic contactors or other equipment causing the disturbance.
A data error occurred due to noise.
• Use recommended cables or some other type of shielded line. Ground the shield to the controller side or on the
input power side.
• All wiring for comm. devices should be separated from drive input power lines. Install an EMC noise filter to the
drive input power.
Digital Operator Display Minor Fault Name
Serial Communication Transmission Error
CALL
Communication has not yet been established.
Minor Fault
Cause Possible Solutions
(H2-01 = 10)
• Check for wiring errors.
Communications wiring is faulty, there is a short
• Correct the wiring.
circuit, or something is not connected properly.
• Check for disconnected cables and short circuits. Repair as needed.
Programming error on the master side. Check communications at start-up and correct programming errors.
• Perform a self-diagnostics check. YES
Communications circuitry is damaged. • If the problem continues, replace either the control board or the entire drive. For instructions on replacing the
control board, contact Yaskawa or your nearest sales representative.
A termination resistor must be installed at both ends of a communication line. Slave drives must have the internal
Termination resistor setting is incorrect.
termination resistor switch set correctly. Place DIP switch S2 to the ON position.
324 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
6.5 Alarm Detection
Digital Operator Display Minor Fault Name
MEMOBUS/Modbus Communication Error
CE
Control data was not received correctly for two seconds.
Minor Fault
Cause Possible Solutions
(H2-01 = 10)
• Check options available to minimize the effects of noise.
• Take steps to counteract noise in the control circuit wiring, main circuit lines, and ground wiring.
• Reduce noise on the controller side.
A data error occurred due to noise. • Use surge absorbers for the magnetic contactors or other components that may be causing the disturbance.
• Use only recommended shielded line. Ground the shield on the controller side or on the drive input power side.
• Separate all wiring for comm. devices from drive input power lines. Install an EMC noise filter to the drive input
power supply.
• Check the H5 parameter settings as well as the protocol setting in the controller.
Communication protocol is incompatible. YES
• Ensure settings are compatible.
The CE detection time (H5-09) is set shorter than the • Check the PLC.
time required for a communication cycle to take • Change the software settings in the PLC.
place. • Set a longer CE detection time (H5-09).
Incompatible PLC software settings or there is a • Check the PLC.
hardware problem. • Remove the cause of the error on the controller side.
• Check the connector to make sure the cable has a signal.
Communications cable is disconnected or damaged.
• Replace the communications cable.
Digital Operator Display Minor Fault Name
CrST Cannot Reset
Minor Fault
Cause Possible Solutions
(H2-01 = 10)
A fault reset command was entered while the Run • Ensure that a Run command cannot be entered from the external terminals or option card during fault reset.
YES
command was still present. • Turn off the Run command.
Digital Operator Display Minor Fault Name
MECHATROLINK Comm. Cycle Setting Error
CyC
Comm. Cycle Setting Error was detected.
Minor Fault
Cause Possible Solutions
(H2-01 = 10)
The controller is using a comm. cycle beyond the
allowable setting range for the MECHATROLINK Set the comm. cycle for the upper controller within the allowable setting range for the MECHATROLINK option. YES
option.
Digital Operator Display Minor Fault Name
Speed Deviation (for Control Mode with PG)
dEv The deviation between the speed detection value for the pulse input and the speed reference after speed agreement was reached
exceeded the setting value of F1-10 for the time set in F1-11 or longer when the Operation Selection at Deviation was set to continue
operation (F1-04 = 3).
Minor Fault
Cause Possible Solutions
(H2-01 = 10)
Load is too heavy Reduce the load.
Acceleration and deceleration times are set too short. Increase the acceleration and deceleration times (C1-01 through C1-08).
The load is locked up. Check the machine.
Parameter settings are inappropriate. Check the settings of parameters F1-10 and F1-11.
• Set H6-02 to value of the speed feedback signal frequency when the motor runs at the maximum speed. YES
Incorrect speed feedback scaling if terminal RP is
• Adjust the speed feedback signal using parameters H6-03 through H6-05.
used as speed feedback input in V/f Control.
• Make sure the speed feedback signal frequency does not exceed he maximum input frequency of terminal RP.
The motor brake engaged. Ensure the brake releases properly.
Increase the setting values of L7-01 to L7-04, the value of the torque limit from the analog input, or the value of the
The torque limit is small for the load.
torque limit set from the communication option.
Troubleshooting
Digital Operator Display Minor Fault Name
dnE Drive Disabled
Minor Fault
Cause Possible Solutions
(H2-01 = 10)
“Drive Enable” is set to a multi-function contact
input (H1- = 6A) and that signal was switched Check the operation sequence. YES
off. 6
Digital Operator Display Minor Fault Name
Damping Resistor Overheat
doH
The temperature of the built-in damping resistor exceeded the set value.
Minor Fault
Cause Possible Solutions
(H2- = 10)
The capacity of the power supply is too small. Increase the capacity of the power supply.
The distortion in the power supply is too large. Lower the impedance of the input power supply wiring. YES
A phase loss occurred in the input power supply. Check the input power supply for phase loss or an imbalance in the interphase voltages.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 325
6.5 Alarm Detection
Digital Operator Display Minor Fault Name
Forward/Reverse Run Command Input Error
EF
Both forward run and reverse run closed simultaneously for over 0.5 s.
Minor Fault
Cause Possible Solutions
(H2-01 = 10)
Check the forward and reverse command sequence and correct the problem.
Sequence error YES
Note: When minor fault EF detected, motor ramps to stop.
Digital Operator Display Minor Fault Name
Option Card External Fault
EF0
An external fault condition is present.
Minor Fault
Cause Possible Solutions
(H2-01 = 10)
An external fault was received from the PLC with
• Remove the cause of the external fault.
F6-03 = 3 (causing the drive to continue running
• Remove the external fault input from the PLC. YES
when an external fault occurs).
There is a problem with the PLC program. Check the PLC program and correct problems.
Digital Operator Display Minor Fault Name
External fault (input terminal S1)
EF1
External fault at multi-function input terminal S1.
External fault (input terminal S2)
EF2
External fault at multi-function input terminal S2.
External fault (input terminal S3)
EF3
External fault at multi-function input terminal S3.
External fault (input terminal S4)
EF4
External fault at multi-function input terminal S4.
External fault (input terminal S5)
EF5
External fault at multi-function input terminal S5.
External fault (input terminal S6)
EF6
External fault at multi-function input terminal S6.
External fault (input terminal S7)
EF7
External fault at multi-function input terminal S7.
External fault (input terminal S8)
EF8
External fault at multi-function input terminal S8.
Minor Fault
Cause Possible Solutions
(H2-01 = 10)
An external device has tripped an alarm function. Remove the cause of the external fault and reset the multi-function input value.
• Ensure the signal lines have been connected properly to the terminals assigned for external fault detection
Wiring is incorrect. (H1- = 2C to 2F).
YES
• Reconnect the signal line.
• Check if the unused terminals have been set for H1- = 2C to 2F (External Fault).
Multi-function contact inputs are set incorrectly.
• Change the terminal settings.
Digital Operator Display Minor Fault Name
Excessive PID Feedback
FbH
The PID feedback input is higher than the level set in b5-36 for longer than the time set in b5-37, and b5-12 is set to 1 or 4.
Minor Fault
Cause Possible Solutions
(H2-01 = 10)
Parameters settings for b5-36 and b5-37 are
Check parameters b5-36 and b5-37.
incorrect.
PID feedback wiring is faulty. Correct the wiring.
YES
Feedback sensor has malfunctioned. Check the sensor and replace it if damaged.
Replace either the control board or the entire drive. For instructions on replacing the control board, contact
Feedback input circuit is damaged.
Yaskawa or your nearest sales representative.
Digital Operator Display Minor Fault Name
PID Feedback Loss
FbL
The PID feedback input is lower than the level set in b5-13 for longer than the time set in b5-14 is set to 1 or 4.
Minor Fault
Cause Possible Solutions
(H2-01 = 10)
Parameters settings for b5-13 and b5-14 are
Check parameters b5-13 and b5-14.
incorrect.
PID feedback wiring is faulty. Correct the wiring.
YES
Feedback sensor has malfunctioned. Check the sensor and replace it if damaged.
Replace either the control board or the entire drive. For instructions on replacing the control board, contact
Feedback input circuit is damaged.
Yaskawa or your nearest sales representative.
326 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
6.5 Alarm Detection
Digital Operator Display Minor Fault Name
Power Supply Frequency Fault
Fdv
The input power supply frequency exceeded the allowable frequency fluctuation.
Minor Fault
Cause Possible Solutions
(H2-01 = 10)
A momentary power loss occurred. Reset the fault.
An input power supply wiring terminal is loose. Check for loose terminals.
The fluctuation in the voltage of the input power
Increase the Power Supply Frequency Fault Detection Width (L2-27).
supply is too large.
Replace either the control board or the entire drive. For instructions on replacing the control board, contact YES
The built-in fuse is open.
Yaskawa or your nearest sales representative.
The phase rotation direction has changed in the input
Correct the wiring.
power supply.
The detected power supply frequency exceeded the
Improve the power supply.
allowable value.
Digital Operator Display Minor Fault Name
Safe Disable Signal Input
Hbb
Both Safe Disable Input channels are open.
Minor Fault
Cause Possible Solutions
(H2-01 = 10)
• Check signal status at the input terminals H1 and H2.
Both Safe Disable Inputs H1 and H2 are open. • Check the Sink/Source Selection for the digital inputs.
• If the Safe Disable function is not utilized, check if the terminals H1-HC, and H2-HC are linked. YES
Replace either the control board or the entire drive. For instructions on replacing the control board, contact
Internally, both Safe Disable channels are broken.
Yaskawa or your nearest sales representative.
Digital Operator Display Minor Fault Name
Safe Disable Signal Input
HbbF
One Safe Disable channel is open while the other one is closed.
Minor Fault
Cause Possible Solutions
(H2-01 = 10)
The signals to the Safe Disable inputs are wrong or Check signal status at the input terminals H1 and H2. If the Safe Disable function is not utilized, the terminals
the wiring is incorrect. H1-HC, and H2-HC must be linked.
YES
Replace either the control board or the entire drive. For instructions on replacing the control board, contact
One of the Safe Disable channels is faulty.
Yaskawa or your nearest sales representative.
Digital Operator Display Minor Fault Name
Current Alarm
HCA
Drive current exceeded overcurrent warning level (150% of the rated current).
Minor Fault
Cause Possible Solutions
(H2-01 = 10)
Either reduce the load for applications with repetitive operation (repetitive stops and starts, etc.), or use a larger
Load is too heavy.
drive.
• Calculate the torque required during acceleration and for the moment of inertia.
• If the torque level is not right for the load, take the following steps:
Acceleration and deceleration times are too short.
• Increase the acceleration and deceleration times (C1-01 through C1-08).
• Use a larger drive.
YES
A special-purpose motor is being used, or the drive is
• Check the motor capacity.
attempting to run a motor greater than the rated
• Use a motor appropriate for the drive. Ensure the motor is within the rated output current range.
output current.
The current level increased due to Speed Search after
The alarm will appear only briefly. There is no need to take action to prevent the alarm from occurring in such
a momentary power loss or while attempting to
instances.
perform a fault restart.
Digital Operator Display Minor Fault Name
Troubleshooting
Cooling Fan Maintenance Time
LT-1 The cooling fan has reached its expected maintenance period and may need to be replaced.
Note: An alarm output (H2- = 10) will only be triggered if both (H2- = 2F and H2- = 10) are set.
Minor Fault
Cause Possible Solutions
(H2-01 = 10)
The cooling fan has reached 90% of its expected
Replace the cooling fan and reset the Maintenance Monitor by setting o4-03 to 0. YES
performance life.
Digital Operator Display Minor Fault Name 6
Capacitor Maintenance Time
LT-2 The main circuit and control circuit capacitors are nearing the end of their expected performance life.
Note: An alarm output (H2- = 10) will only be triggered if H2- = 2F.
Minor Fault
Cause Possible Solutions
(H2-01 = 10)
The main circuit and control circuit capacitors have Replace either the control board or the entire drive. For instructions on replacing the control board, contact
YES
reached 90% of their expected performance life. Yaskawa or your nearest sales representative.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 327
6.5 Alarm Detection
Digital Operator Display Minor Fault Name
Soft Charge Bypass Relay Maintenance Time
LT-3 The DC bus soft charge relay is nearing the end of its expected performance life.
Note: An alarm output (H2- = 10) will only be triggered if H2- = 2F.
Minor Fault
Cause Possible Solutions
(H2-01 = 10)
The DC bus soft charge relay has reached 90% of Replace either the control board or the entire drive. For instructions on replacing the control board, contact
YES
their expected performance life. Yaskawa or your nearest sales representative.
Digital Operator Display Minor Fault Name
Heatsink Overheat
oH The temperature of the heatsink exceeded the overheat pre-alarm level set to L8-02 (90-100C). Default value for L8-02 is
determined by drive capacity (o2-04).
Minor Fault
Cause Possible Solutions
(H2-01 = 10)
• Check the surrounding temperature.
• Improve the air circulation within the enclosure panel.
Surrounding temperature is too high
• Install a fan or air conditioner to cool surrounding area.
• Remove anything near drive that may cause extra heat.
• Replace the cooling fan. Refer to Cooling Fan Component Names on page 357.
Internal cooling fan has stopped.
• After replacing the drive, reset the cooling fan maintenance parameter to (o4-03 = “0”). YES
• Provide proper installation space around the drive as indicated in the manual. Refer to Installation Orientation
and Spacing on page 42.
Airflow around the drive is restricted. • Allow for the specified space and ensure that there is sufficient circulation around the control panel.
• Check for dust or foreign materials clogging cooling fan.
• Clear debris caught in the fan that restricts air circulation.
Digital Operator Display Minor Fault Name
Heatsink Overheat Warning
oH2
“Heatsink Overheat Warning” was input to a multi-function input terminal, S1 through S8 (H1-= B)
Minor Fault
Cause Possible Solutions
(H2-01 = 10)
An external device triggered an overheat warning in • Search for the device that tripped the overheat warning.
YES
the drive. • Solving the problem will clear the warning.
Digital Operator Display Minor Fault Name
Motor Overheat
oH3
The motor overheat signal entered to a multi-function analog input terminal exceeded the alarm level (H3-02, H3-06 or H3-10 = E).
Minor Fault
Cause Possible Solutions
(H2-01 = 10)
Motor thermostat wiring is fault (PTC input). Repair the PTC input wiring.
There is a fault on the machine side (e.g., the • Check the status of the machine.
machine is locked up). • Remove the cause of the fault.
• Check the load size, accel/decel times, and cycle times.
• Decrease the load.
• Increase accel and decel times (C1-01 to C1-08). YES
• Adjust the preset V/f pattern (E1-04 through E1-10). This will mainly involve reducing E1-08 and E1-10.
Motor has overheated. Note: Do not lower E1-08 and E1-10 excessively, because this reduces load tolerance at low speeds.
• Check the motor-rated current.
• Enter motor-rated current on motor nameplate (E2-01).
• Ensure the motor cooling system is operating normally.
• Repair or replace the motor cooling system.
Digital Operator Display Minor Fault Name
Overtorque 1
oL3
Drive output current (or torque in OLV, CLV, AOLV/PM, CLV/PM) was greater than L6-02 for longer than the time set in L6-03.
Minor Fault
Cause Possible Solutions
(H2-01 = 10)
Inappropriate parameter settings. Check parameters L6-02 and L6-03.
There is a fault on the machine side (e.g., the • Check the status of the machine. YES
machine is locked up). • Remove the cause of the fault.
Digital Operator Display Minor Fault Name
Overtorque 2
oL4
Drive output current (or torque in OLV, CLV, AOLV/PM, CLV/PM) was greater than L6-05 for longer than the time set in L6-06.
Minor Fault
Cause Possible Solutions
(H2-01 = 10)
Parameter settings are not appropriate. Check parameters L6-05 and L6-06.
There is a fault on the machine side (e.g., the • Check the status of the machine being used. YES
machine is locked up). • Remove the cause of the fault.
Digital Operator Display Minor Fault Name
Mechanical Weakening Detection 1
oL5
Overtorque occurred, matching the conditions specified in L6-08.
Minor Fault
Cause Possible Solutions
(H2-01 = 10)
Overtorque occurred, triggering the mechanical
Check for the cause of mechanical weakening. YES
weakening level set to L6-08.
328 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
6.5 Alarm Detection
Digital Operator Display Minor Fault Name
Overspeed
oS
The motor speed feedback exceeded the F1-08 setting.
Minor Fault
Cause Possible Solutions
(H2-01 = 10)
• Increase the settings for C5-01 (Speed Control Proportional Gain 1) and reduce C5-02 (Speed Control Integral
Overshoot is occurring. Time 1).
• If using a Closed Loop Vector mode enable Feed Forward Control and perform Inertia Auto-Tuning.
Incorrect speed feedback scaling if terminal RP is • Set H6-02 to value of the speed feedback signal frequency when the motor runs at the maximum speed. YES
used as speed feedback input in V/f control • Adjust the input signal using parameters H6-03 through H6-05.
Incorrect PG pulse number has been set Check and correct parameter F1-01.
Inappropriate parameter settings. Check the setting for the overspeed detection level and the overspeed detection time (F1-08 and F1-09).
Digital Operator Display Minor Fault Name
Control Circuit Overvoltage
ov Voltage in the control circuit exceeded the trip point.
For 200 V class: approximately 450 V
For 400 V class: approximately 900 V
Minor Fault
Cause Possible Solutions
(H2-01 = 10)
Voltage surge can result from a thyristor convertor and a phase advancing capacitor operating on the same drive
Surge voltage present in the drive input power.
input power system.
• Check the voltage.
Drive input power voltage is too high.
• Lower drive input power voltage within the limits listed in the specifications.
The capacity of the input power supply is too small. Use a power supply that has at least twice the input capacity of the drive.
YES
The input power supply repeatedly turned on and off
Implement countermeasures so that chattering does not occur for the input power supply.
over a short period of time.
An I/O terminal is loose. Check the tightening torque of the I/O terminals.
There is a phase loss or an imbalance in the
Check the status of the input power supply and eliminate phase losses and imbalance.
interphase voltages of the input power supply.
Digital Operator Display Minor Fault Name
PASS MEMOBUS/Modbus Comm. Test Mode Complete
Minor Fault
Cause Possible Solutions
(H2-01 = 10)
MEMOBUS/Modbus test has finished normally. This verifies that the test was successful. No output
Digital Operator Display Minor Fault Name
PG Disconnect (for Control Mode with PG)
PGo
Detected when no PG pulses are received for a time longer than setting in F1-14.
Minor Fault
Cause Possible Solutions
(H2-01 = 10)
PG cable is disconnected. Reconnect the cable.
PG cable wiring is wrong. Correct the wiring.
YES
PG encoder does not have enough power. Make sure the correct power supply is properly connected to the PG encoder.
Brake is holding the PG. Ensure the brake releases properly
Digital Operator Display Minor Fault Name
PG Hardware Fault (detected when using a PG-X3 option card)
PGoH
PG cable has become disconnected.
Minor Fault
Cause Possible Solutions
(H2-01 = 10)
PG cable is disconnected. Reconnect the cable. Check the setting of F1-20. YES
Troubleshooting
Digital Operator Display Minor Fault Name
Motor Switch during Run
rUn
A command to switch motors was entered during run.
Minor Fault
Cause Possible Solutions
(H2-01 = 10)
A motor switch command was entered during run. Change the operation pattern so that the motor switch command is entered while the drive is stopped. YES
Digital Operator Display
MEMOBUS/Modbus Communication Test Mode Error
Minor Fault Name
6
SE
Note: This alarm will not trigger a multi-function output terminal that is set for alarm output (H2- = 10).
Minor Fault
Cause Possible Solutions
(H2-01 = 10)
A digital input set to 67H (MEMOBUS/Modbus
Stop the drive and run the test again. YES
test) was closed while the drive was running.
Digital Operator Display Minor Fault Name
Phase Order Detection Fault
SrC
The phase rotation direction for the input power supply changed.
Minor Fault
Cause Possible Solutions
(H2-01 = 10)
An input power supply wiring terminal is loose.
Investigate and correct the cause and then reset the fault.
The fluctuation in the voltage of the input power YES
Refer to Diagnosing and Resetting Faults on page 340.
supply is too large.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 329
6.5 Alarm Detection
Digital Operator Display Minor Fault Name
Undertorque Detection 1
UL3
Drive output current (or torque in OLV, CLV, AOLV/PM, CLV/PM) less than L6-02 for longer than L6-03 time.
Minor Fault
Cause Possible Solutions
(H2-01 = 10)
Inappropriate parameter settings. Check parameters L6-02 and L6-03.
YES
Load has dropped or decreased significantly. Check for broken parts in the transmission system.
Digital Operator Display Minor Fault Name
Undertorque Detection 2
UL4
Drive output current (or torque in OLV, CLV, AOLV/PM, CLV/PM) less than L6-05 for longer than L6-06 time.
Minor Fault
Cause Possible Solutions
(H2-01 = 10)
Inappropriate parameter settings. Check parameters L6-05 and L6-06.
YES
The load has dropped or decreased significantly. Check for broken parts in the transmission system.
Digital Operator Display Minor Fault Name
Control Circuit Undervoltage
Uv One of the following conditions occurred:
• Contactor to suppress inrush current in the drive was opened.
• Low voltage in the control drive input power. This alarm outputs only if L2-01 is not 0 and DC bus voltage is under L2-05.
Minor Fault
Cause Possible Solutions
(H2-01 = 10)
Phase loss in the drive input power. Check for wiring errors in the main circuit drive input power. Correct the wiring.
• Ensure the terminals have been properly tightened.
Loose wiring in the drive input power terminals. • Apply the tightening torque to the terminals as specified. Refer to Main Circuit Wire Gauges and Tightening
Torque on page 71.
There is a problem with the drive input power • Check the voltage.
voltage. • Lower the voltage of the drive input power so that it is within the limits listed in the specifications. YES
• Check the maintenance time for the capacitors (U4-05).
Drive internal circuitry is worn. • Replace either the control board or the entire drive if U4-05 exceeds 90%. For instructions on replacing the
control board, contact Yaskawa or your nearest sales representative.
The drive input power transformer is too small and • Check for an alarm when the magnetic contactor, line breaker, and leakage breaker are closed.
voltage drops when the power is switched on. • Check the capacity of the drive input power transformer.
330 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
6.6 Operator Programming Errors
6.6 Operator Programming Errors
oPE Codes, Causes, and Possible Solutions
An Operator Programming Error (oPE) occurs when a contradictory parameter is set or an individual parameter is set to
an inappropriate value.
The drive will not operate until the parameter or parameters causing the problem are set correctly. An oPE, however, does
not trigger an alarm or fault output. If an oPE occurs, investigate the cause and refer to oPE Codes, Causes, and Possible
Solutions on page 331 for the appropriate action. When an oPE appears on the operator display, press the ENTER button
to view U1-18 and see the parameter that is causing the oPE error (U1-18).
Table 6.17 oPE Codes, Causes, and Possible Solutions
Digital Operator Display Error Name
Unit Capacity Setting Fault
oPE01
Unit capacity and the value set to o2-04 do not match.
Cause Possible Solutions
The drive model selection (o2-04) and the actual capacity of the drive are not the same. Correct the value set to o2-04.
Digital Operator Display Error Name
Parameter Range Setting Error
oPE02
Use U1-18 to find parameters set outside the range.
Cause Possible Solutions
Parameters were set outside the possible setting range. Set parameters to the proper values.
Note: When multiple errors occur at the same time, other errors are given precedence over oPE02.
Digital Operator Display Error Name
Multi-Function Input Selection Error
oPE03
A contradictory setting is assigned to multi-function contact inputs H1-01 to H1-08.
Cause Possible Solutions
• The same function is assigned to two multi-function inputs. • Ensure all multi-function inputs are assigned to different functions.
• Excludes “Not used” and “External Fault.” • Re-enter the multi-function settings to ensure this does not occur.
The Up command was set but the Down command was not, or vice versa (settings 10 vs. 11).
The Up 2 command was set but the Down 2 command was not, or vice versa (settings 75 vs. Correctly set functions that need to be enabled in combination with other functions.
76).
• Run/Stop command for a 2-wire sequence was set (H1- = 42), but Forward/Reverse
command (H1- = 43) was not. Correctly set functions that need to be enabled in combination with other functions.
• “Drive Enable” is set to multi-function input S1 or S2 (H1-01 = 6A or H1-02 = 6A).
• Two of the following functions are set at the same time:
• Up/Down Command (10 vs. 11)
• Check if contradictory settings have been assigned to the multi-function input terminals at
• Up 2/Down 2 Command (75 vs. 76)
the same time.
• Hold Accel/Decel Stop (A)
• Correct setting errors.
• Analog Frequency Reference Sample/Hold (1E)
• Offset Frequency 1, 2, 3 Calculations (44, 45, 46)
The Up/Down command (10, 11) is enabled at the same time as PID control (b5-01). Disable control PID (b5-01 = 0) or disable the Up/Down command.
Settings for N.C. and N.O. input for the following functions were selected at the same time:
• External Search Command 1 and External Search Command 2 (61 vs. 62)
• Fast Stop N.O. and Fast Stop N.C. (15 vs. 17)
Check for contradictory settings assigned to the multi-function input terminals at the same
• Motor Switch Command and Accel/Decel Time 2 (16 vs. 1A)
time. Correct setting errors.
• FWD Run Command (or REV) and FWD/REV Run Command (2-wire) (40, 41 vs. 42, 43)
• External DB Command and Drive Enable (60 vs. 6A)
Troubleshooting
• Motor Switch Command and Up 2/Down 2 Command (16 vs. 75, 76)
One of the following settings was entered while H1- = 2 (External Reference 1/2):
• b1-15 = 4 (Pulse Train Input) but the pulse train input selection is not set for the frequency
reference (H6-01 > 0)
• b1-15 or b1-16 set to 3 but no option card is connected
• Although b1-15 = 1 (Analog Input) and H3-02 or H3-10 are set to 0 (Frequency Bias) Correct the settings for the multi-function input terminal parameters.
H2- = 38 (Drive Enabled) but H1- is not set to 6A (Drive Enable).
H1- = 7E (Direction Detection) although H6-01 is not set to 3 (for V/f Control with PG 6
using terminal RP as speed feedback input).
H1- = 16 is selected when using PG-RT3. Correct the setting. PG-RT3 is not available for the application with Motor 2 Selection.
Digital Operator Display Error Name
oPE04 Terminal Board Mismatch Error
Cause Possible Solutions
The drive, control board, or terminal board has been replaced and the parameter settings Set A1-03 to 5550 to load the parameter settings stored in the terminal board to the drive.
between the control board and the terminal board no longer match. Initialize parameters after drive replacement by setting A1-03 to 2220 or 3330.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 331
6.6 Operator Programming Errors
Digital Operator Display Error Name
oPE05 Run Command/Frequency Reference Source Selection Error
Cause Possible Solutions
Frequency reference is assigned to an option card (b1-01 = 3) but an input option card is not
connected to the drive.
Reconnect the input option card to the drive.
The Run command is assigned to an option card (b1-02 = 3) but an input option card is not
connected to the drive.
Frequency reference is assigned to the pulse train input (b1-01 = 4), but terminal RP is not set
Set H6-01 to “0”.
for frequency reference input (H6-01 > 0)
Although the digital card input is set for BCD special for a 5 digit input (F3-01 = 6), the data
Set the input data for 16 bit (F3-03 = 2).
length is set for 8 bit or 12 bit (F3-03 = 0, 1).
The following values have been set while an AI-A3 option card is installed:
• The source of frequency reference setting is assigned to an option card (b1-01 = 3). Make sure parameters are set properly.
• The action for the analog card is set for separate terminal input (F2-01 = 0).
Digital Operator Display Error Name
Control Method Selection Error
oPE06
Correct the setting for the control method.
Cause Possible Solutions
A control mode has been selected that requires a PG option card to be installed, but no PG • Connect a PG option card.
encoder is installed (A1-02 = 1, 3, or 7). • Correct the value set to A1-02.
Digital Operator Display Error Name
Multi-Function Analog Input Selection Error
oPE07 A contradictory setting is assigned to multi-function analog inputs H3-02, H3-10, or H3-06
and PID functions conflict.
Cause Possible Solutions
Change the settings to H3-02, H3-10, or H3-06 so that functions no longer conflict.
At least two analog input terminals are set to the same function (i.e., at least two of these
Note: Both 0 (frequency reference bias) and F (not used) or 1F (Through mode) can be set to
parameters has the same setting: H3-02, H3-10, or H3-06).
H3-02, H3-10, or H3-06 at the same time.
The following simultaneous contradictory settings:
• H3-02, H3-10, or H3-06 = B (PID Feedback) while H6-01 (Pulse Train Input Terminal RP
Function Selection) = 1 (PID Feedback)
• H3-02, H3-10, or H3-06 = C (PID Setpoint Value) while H6-01 = 2 (PID Setpoint Value) Disable one of the PID selections.
• H3-02, H3-10, or H3-06 = C (PID Setpoint Value) while b5-18 = 1 (enables b5-19 as the
PID Setpoint Value)
• H6-01 = 2 (PID Setpoint Value) while b5-18 = 1 (enables b5-19 as the PID Setpoint Value)
Digital Operator Display Error Name
Parameter Selection Error
oPE08
A function has been set that cannot be used in the motor control method selected.
Cause Possible Solutions
Attempted to use a function that is not valid for the selected control mode. Check the motor control method and the functions available.
• Set the correct motor code in accordance with the motor being used (E5-01).
In OLV/PM, parameters E5-02 to E5-07 are set to 0. • When using a special-purpose motor, set E5- in accordance with the test report
provided.
Both E5-09 and E5-24 are set to 0, or are not 0 in control modes for PM. Set E5-09 or E5-24 to the correct value, and set the other to “0”.
Note: Use U1-18 to find which parameters are set outside the specified setting range. Other errors are given precedence over oPE08 when multiple errors occur at the same time.
Digital Operator Display Error Name
PID Control Selection Fault
oPE09 PID control function selection is incorrect. Requires that PID control is enabled (b5-01 = 1
to 4).
Cause Possible Solutions
The following simultaneous contradictory settings have occurred:
• b5-15 not 0.0 (PID Sleep Function Operation Level) • Set b5-15 to another value besides 0.
• The stopping method is set to either DC Injection Braking or coast to stop with a timer • Set the stopping method to coast to stop or ramp to stop (b1-03 = 0 or 1).
(b1-03 = 2 or 3).
PID control is set to b5-01 = 1 or 2, but the lower limit for the frequency reference (d2-02) is
Correct the parameter settings.
not set to 0 while reverse output is enabled (b5-11 = 1).
PID control is set to b5-01 = 3 or 4, but the lower limit for the frequency reference (d2-01) is
Correct the parameter settings.
not 0.
Digital Operator Display Error Name
V/f Data Setting Error
oPE10 The following setting errors have occurred where:
• E1-09 E1-07 E1-06 E1-11 E1-04
• E3-09 E3-07 E3-06 E3-11 E3-04
Cause Possible Solutions
Correct the settings for E1-04, E1-06, E1-07, E1-09, and E1-11 (for motor 2, correct E3-04,
V/f Pattern Setting Error
E3-06, E3-07, E3-09, and E3-11).
Digital Operator Display Error Name
Carrier Frequency Setting Error
oPE11
Correct the setting for the carrier frequency.
Cause Possible Solutions
The following simultaneous contradictory settings: C6-05 is greater than 6 and C6-04 is
greater than C6-03 (carrier frequency lower limit is greater than the upper limit). If C6-05 is
less than or equal to 6, the drive operates at C6-03. Correct the parameter settings.
Upper and lower limits between C6-02 and C6-05 contradict each other.
332 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
6.6 Operator Programming Errors
Digital Operator Display Error Name
Pulse Monitor Selection Error
oPE13
Incorrect setting of monitor selection for pulse train (H6-06).
Cause Possible Solutions
Scaling for the pulse train monitor is set to 0 (H6-07 = 0) while H6-06 is not set to 101, 102,
Change scaling for the pulse train monitor or set H6-06 to 101, 102, 105, or 116.
105, or 116.
Digital Operator Display Error Name
Torque Control Setting Error
oPE15
Parameters settings that are not allowed in combination with Torque Control have been set.
Cause Possible Solutions
Torque Control in enabled (d5-01 = 1) while the Speed/Torque Control switch function is
assigned to a digital input (H1- = 71).
Either Torque Control is enabled by d5-01 = 1, the or Speed/Torque Control switch is assigned Correct the parameter settings.
to a digital input H1- = 71, while at the same time:
• Feed Forward is enabled (n5-01 = 1) or
• Droop Control is enabled (b7-01 0)
Digital Operator Display Error Name
oPE16 Energy Savings Constants Error
Cause Possible Solutions
In AOLV/PM the automatically calculated energy saving coefficients are out of the allowable
Check and correct the motor data in E5 parameters.
range.
Digital Operator Display Error Name
Online Tuning Parameter Setting Error
oPE18
Parameters that control Online Tuning are not set correctly.
Cause Possible Solutions
One of the following setting errors has occurred while Online Tuning is enabled in OLV
(A1-02 = 2):
• E2-02 has been set below 30% of the original default value Make sure E2-02, E2-03, and E2-06 are set the correct values.
• E2-06 has been set below 50% of the original default value
• E2-03 = 0
Digital Operator Display Error Name
PG-F3 Setting Error
oPE20
The encoder signal frequency is too high.
Cause Possible Solutions
With the entered encoder resolution (F1-01), maximum output frequency (E1-04), and motor • Set F1-01 to the correct encoder resolution.
pole number (E5-04,) the calculation encoder signal frequency exceeds 50 kHz (with PG-F3 • Reduce the maximum output frequency of the drive in parameter E1-04 so the encoder
option). signal frequency at maximum speed is lower than 50 kHz.
Digital Operator Display Error Name
Incorrect Input Voltage Adjustment
oPE30
The input voltage offset adjustment has not been performed.
Cause Possible Solutions
• The setting of o2-04 (Drive Model Selection) changed.
For information on clearing the fault, contact Yaskawa or your nearest sales representative.
• EEPROM failed for the input voltage offset.
Troubleshooting
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 333
6.7 Auto-Tuning Fault Detection
6.7 Auto-Tuning Fault Detection
Auto-Tuning faults in this section are displayed on the digital operator and will cause the motor to coast to a stop.
Auto-tuning faults do not trigger a multi-function digital output set for fault or alarm output.
An (End) error on the digital operator display indicates Auto-Tuning has successfully completed with discrepancies in
the calculations. Check the cause of the (End) error using the tables in this section and perform Auto-Tuning again
after fixing the cause.
The drive may be used in the application if no cause can be identified despite the existence of an (End) error.
An (Er-) error indicates that Auto-Tuning has not completed successfully. Check for the cause of the error using the
tables in this section, and perform Auto-Tuning again after fixing the cause.
Auto-Tuning Codes, Causes, and Possible Solutions
Table 6.18 Auto-Tuning Codes, Causes, and Possible Solutions
Digital Operator Display Error Name
End1 Excessive V/f Setting (detected only during Rotational Auto-Tuning, and displayed after Auto-Tuning is complete)
Cause Possible Solutions
The torque reference exceeded 20% during • Before Auto-Tuning the drive, verify the information written on the motor nameplate and enter that data to T1-03 through T1-05.
Auto-Tuning. • Enter proper information to parameters T1-03 to T1-05 and repeat Auto-Tuning.
The results from Auto-Tuning the no-load current • If possible, disconnect the motor from the load and perform Auto-Tuning. If the load cannot be uncoupled, simply use the
exceeded 80%. Auto-Tuning results as they are.
Digital Operator Display Error Name
End2 Motor Iron-Core Saturation Coefficient (detected only during Rotational Auto-Tuning and displayed after Auto-Tuning is complete)
Cause Possible Solutions
Motor data entered during Auto-Tuning was • Make sure the data entered to the T1 parameters match the information written on the motor nameplate.
incorrect. • Restart Auto-Tuning and enter the correct information.
Results from Auto-Tuning are outside the parameter
• Check and correct faulty motor wiring.
setting range, assigning the iron-core saturation
• Disconnect the motor from machine and perform Rotational Auto-Tuning.
coefficient (E2-07, E2-08) a temporary value.
Digital Operator Display Error Name
End3 Rated Current Setting Alarm (displayed after Auto-Tuning is complete)
Cause Possible Solutions
The correct current rating printed on the nameplate • Check the setting of parameter T1-04.
was not entered into T1-04. • Check the motor data and repeat Auto-Tuning.
Digital Operator Display Error Name
End4 Adjusted Slip Calculation Error
Cause Possible Solutions
The slip that was calculated is outside the allowable • Make sure the data entered for Auto-Tuning is correct.
range. • Execute Rotational Auto-Tuning instead. If not possible, try Stationary Auto-Tuning 2.
Digital Operator Display Error Name
End5 Resistance Tuning Error
Cause Possible Solutions
The resistance value that was calculated is outside • Double check the data that was entered for the Auto-Tuning process.
the allowable range. • Check the motor and motor cable connection for faults.
Digital Operator Display Error Name
End6 Leakage Inductance Alarm
Cause Possible Solutions
• Check the setting of parameter A1-02.
A1-02 setting error
• Check the control mode and repeat Auto-Tuning.
The leakage inductance value that was calculated is
Double check the data that was entered for the Auto-Tuning process.
outside the allowable range.
Digital Operator Display Error Name
End7 No-Load Current Alarm
Cause Possible Solutions
The entered no-load current value was outside the
Check and correct faulty motor wiring.
allowable range.
Auto-Tuning results were less than 5% of the motor
Double check the data that was entered for the Auto-Tuning process.
rated current.
Digital Operator Display Error Name
Er-01 Motor Data Error
Cause Possible Solutions
Motor data or data entered during Auto-Tuning was • Check that the motor data entered to T1 parameters matches motor nameplate input before Auto-Tuning.
incorrect. • Start Auto-Tuning over again and enter the correct information.
334 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
6.7 Auto-Tuning Fault Detection
Motor rated power and motor-rated current settings • Check the drive and motor capacities.
(T1-02 and T1-04) do not match. • Correct the settings of parameters T1-02 and T1-04.
Motor rated current and detected no-load current are • Check the motor rated current and no-load current.
not consistent with another. • Correct the settings of parameters T1-04 and E2-03.
Base frequency and motor rated speed (T1-05 and • Set T1-05 and T1-07 to the correct value.
T1-07) do not match. • Check if the correct pole number was entered to T1-06.
Digital Operator Display Error Name
Er-02 Minor Fault
Cause Possible Solutions
An alarm was triggered during Auto-Tuning. Exit the Auto-Tuning menu, check the alarm code, remove the alarm cause, and repeat Auto-Tuning.
Digital Operator Display Error Name
Er-03 STOP Button Input
Cause Possible Solutions
Auto-Tuning canceled by pressing STOP button. Auto-Tuning did not complete properly and will have to be performed again.
Digital Operator Display Error Name
Er-04 Line-to-Line Resistance Error
Cause Possible Solutions
Motor data entered during Auto-Tuning was • Make sure the data entered to the T1 parameters match the information written on the motor nameplate.
incorrect. • Restart Auto-Tuning and enter the correct information.
Results from Auto-Tuning are outside the parameter
setting range or the tuning process took too long. Check and correct faulty motor wiring.
Motor cable or cable connection faulty.
Digital Operator Display Error Name
Er-05 No-Load Current Error
Cause Possible Solutions
Motor data entered during Auto-Tuning was • Make sure the data entered to the T1 parameters match the information written on the motor nameplate.
incorrect. • Restart Auto-Tuning and enter the correct information.
Results from Auto-Tuning are outside the parameter • Check and correct faulty motor wiring.
setting range or the tuning process took too long. • Perform Rotational Auto-Tuning.
• Disconnect the motor from machine and restart Auto-Tuning. If motor and load cannot be uncoupled make sure the load is lower
The load during Rotational Auto-tuning was too
than 30%.
high.
• If a mechanical brake is installed, make sure it is fully lifted during tuning.
Digital Operator Display Error Name
Er-08 Rated Slip Error
Cause Possible Solutions
Motor data entered during Auto-Tuning was • Make sure the data entered to the T1 parameters match the information written on the motor nameplate.
incorrect. • Restart Auto-Tuning and enter the correct information.
Drive-calculated values outside parameter setting • Check and correct faulty motor wiring.
range or the tuning process took too long. • Perform Rotational Auto-Tuning.
• Disconnect the motor from machine and restart Auto-Tuning. If motor and load cannot be uncoupled make sure the load is lower
The load during rotational Auto-tuning was too high. than 30%.
• If a mechanical brake is installed, make sure it is fully lifted during tuning.
Digital Operator Display Error Name
Er-09 Acceleration Error
Cause Possible Solutions
The motor did not accelerate for the specified • Increase the acceleration time (C1-01).
acceleration time. • Check if it is possible to disconnect the machine from the motor.
Troubleshooting
Torque limit when motoring is too low (L7-01 and • Check the settings of parameters L7-01 and L7-02.
L7-02). • Increase the setting.
• Disconnect the motor from machine and restart Auto-Tuning. If motor and load cannot be uncoupled make sure the load is lower
The load during Rotational Auto-Tuning was too
than 30%.
high.
• If a mechanical brake is installed, make sure it is fully lifted during tuning.
Digital Operator Display Error Name
Er-10 Motor Direction Error
Cause Possible Solutions
6
The encoder signal lines are not properly connected
Check and correct wiring to the PG encoder.
to the drive.
Check the motor speed monitor U1-05 while turning the motor manually in forward direction. If the sign displayed is negative,
Motor and PG direction are opposite.
change the setting of parameter F1-05.
The load pulled the motor in the opposite direction
of the speed reference and the torque exceeded Uncouple the motor from the load and repeat Auto-Tuning.
100%.
Digital Operator Display Error Name
Er-11 Motor Speed Error
Cause Possible Solutions
• Increase the acceleration time 1 (C1-01).
Torque reference is too high.
• Disconnect the machine from the motor, if possible.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 335
6.7 Auto-Tuning Fault Detection
Digital Operator Display Error Name
Er-12 Current Detection Error
Cause Possible Solutions
One of the motor phases is missing:
Check motor wiring and correct any problems.
(U/T1, V/T2, W/T3).
Current exceeded the current rating of the drive. • Check the motor wiring for a short between motor lines.
• If a magnetic contactor is used between motors, make sure it is closed.
The current is too low. • Replace either the control board or the entire drive. For instructions on replacing the control board, contact Yaskawa or your nearest
sales representative.
Attempted Auto-Tuning without motor connected to
Connect the motor and perform Auto-Tuning.
the drive.
Replace either the control board or the entire drive. For instructions on replacing the control board, contact Yaskawa or your nearest
Current detection signal error.
sales representative.
Digital Operator Display Error Name
Er-13 Leakage Inductance Error
Cause Possible Solutions
• Check all wiring and correct any mistakes.
Drive was unable to complete tuning for leakage
• Double check the motor rated current value that was entered to T1-04 for Auto-Tuning.
inductance within 300 seconds.
• Check the motor rated current value written on the motor nameplate and enter the correct value.
Digital Operator Display Error Name
Er-14 Motor Speed Error 2
Cause Possible Solutions
The motor speed exceeded twice the amplitude of
Reduce the ASR gain set to C5-01.
speed reference during Inertia Tuning.
Digital Operator Display Error Name
Er-15 Torque Saturation Error
Cause Possible Solutions
• Increase the torque limits in L7-01 through L7-04 (but keep them within reasonable limits).
The output torque reached the torque limit set in
• First try reducing the test signal frequency in T3-01 and repeat the tuning. If necessary, then try reducing the test signal amplitude
L7-01 through L7-04 during Inertia Tuning.
(T3-02) and repeat the tuning.
Digital Operator Display Error Name
Er-16 Inertia ID Error
Cause Possible Solutions
• First try reducing the test signal frequency in T3-01 and repeat the tuning. If necessary, then try reducing the test signal amplitude
The inertia identified by the drive was abnormally
(T3-02) and repeat the tuning.
small or abnormally large during Inertia Tuning.
• Check the basic motor inertia value entered to T3-03.
Digital Operator Display Error Name
Er-17 Reverse Prohibited Error
Cause Possible Solutions
Drive is prohibited from rotating the motor in • Inertia Auto-Tuning cannot be performed if the drive is restricted from rotating in reverse.
reverse while attempting to perform Inertia Tuning. • Assuming it is acceptable for the application to rotate in reverse, set b1-04 to 0 and then execute Inertia Tuning.
Digital Operator Display Error Name
Er-18 Induction Voltage Error
Cause Possible Solutions
The result of Back EMF Constant Tuning (induced
Double check the data that was entered to the T2- parameters, and perform Auto-Tuning again.
voltage) exceeds the allowable setting range.
Digital Operator Display Error Name
Er-19 PM Inductance Error
Cause Possible Solutions
The induced voltage constant inductance values set
Double check the data that was entered to the T2- parameters, and perform Auto-Tuning again.
to E5-08 or E5-09 exceed the allowable range.
Digital Operator Display Error Name
Cause Possible Solutions
Er-20 Stator Resistance Error
Stator resistance tuning attempted to set a value to
Double check the data that was entered to the T2- parameters, and perform Auto-Tuning again.
E5-06 that is outside the allowable setting range.
Digital Operator Display Error Name
Er-21 Z Pulse Correction Error
Cause Possible Solutions
Motor was coasting when Auto-Tuning was
Make sure the motor has stopped completely. Repeat Auto-Tuning.
performed.
Either the motor or the PG encoder on the motor is
Check the wiring for the motor and the PG encoder. Repeat Auto-Tuning.
not properly wired.
The direction for the PG encoder is set incorrectly, or
the number of pulses set for the PG encoder is Check the direction and number of pulses set for the PG encoder. Repeat Auto-Tuning.
wrong.
PG encoder is damaged. Check the signal output from the PG encoder attached to the motor. Replace the PG if damaged.
336 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
6.7 Auto-Tuning Fault Detection
Digital Operator Display Error Name
Er-25 High Frequency Injection Parameter Tuning Error
Cause Possible Solutions
Perform Stationary Auto-Tuning and then perform High Frequency Injection Parameter Tuning again. If the problem continues, high
Motor data was incorrect. frequency injection control might not be possible with that motor.
Note: Auto-Tuning is not applicable for SPM motors.
Troubleshooting
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 337
6.8 Copy Function Related Displays
6.8 Copy Function Related Displays
Tasks, Errors, and Troubleshooting
The table below lists the messages and errors that may appear when using the Copy function.
When executing the tasks offered by the Copy function, the operator will indicate the task being performed. When an
error occurs, a code appears on the operator to indicate the error. Note that errors related to the Copy function do not
trigger a multi-function output terminal that has been set up to close when a fault or alarm occurs. To clear an error,
simply press any key on the operator and the error display will disappear.
Table 6.19 lists the corrective action that can be taken when an error occurs.
Note: 1. Whenever using the copy function, the drive should be fully stopped.
2. The drive will not accept a Run command while the Copy function is being executed.
3. Parameters can only be saved to a drive when the voltage class, capacity, control mode, and software version match.
Table 6.19 Copy Function Task and Error Displays
Digital Operator Display Task
CoPy Writing Parameter Settings (flashing)
Cause Possible Solutions
Parameters are being written to the drive. Not an error.
Digital Operator Display Task
CPEr Control Mode Mismatch
Cause Possible Solutions
Control mode of the parameters to be loaded onto the drive and Check the control mode for the parameters that are to be loaded onto the drive and the control mode set to the drive those
the control mode already set to the drive don’t match. parameters will be written to. Set the same control mode using parameter A1-02 and try again.
Digital Operator Display Task
CPyE Error Writing Data
Cause Possible Solutions
Failed writing parameters. Try writing parameters again.
Digital Operator Display Task
CSEr Copy Unit Error
Cause Possible Solutions
Hardware fault Replace the operator or the USB Copy Unit.
Digital Operator Display Task
dFPS Drive Model Mismatch
Cause Possible Solutions
The drive from which the parameter were copied and the drive
Check the model number of the drive that the parameters were copied from and the model of the drive you are attempting to
you are attempting to write to are not the same model.
write those parameters to.
• The drive the parameters were copied from is a different
Make sure the drive from which the parameter are copied and the drive to be written to have the same model numbers and
model drive.
software versions.
• The drive you attempting to write to is a different model.
Digital Operator Display Task
End Task Complete
Cause Possible Solutions
Finished reading, writing, or verifying parameters. Not an error.
Digital Operator Display Task
iFEr Communication Error
Cause Possible Solutions
A communication error occurred between the drive and the
Check the cable connection.
operator or the USB copy unit.
A non-compatible cable is being used to connect the USB
Use the cable originally packaged with the USB Copy Unit.
Copy Unit and the drive.
Digital Operator Display Task
ndAT Model, Voltage Class, Capacity Mismatch
Cause Possible Solutions
The drive the parameters were copied from and the drive you
are attempting to write to have different electrical
Make sure model numbers and specifications are the same for both drives.
specifications, a different capacity, is set to a different control
mode, or is a different model number.
The device being used to write the parameters is blank and
Making sure all connections are correct, and copy the parameter settings onto the USB Copy Unit or the operator.
does not have any parameters saved on it.
338 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
6.8 Copy Function Related Displays
Digital Operator Display Task
rdEr Error Reading Data
Cause Possible Solutions
Failed while attempting to read parameter settings from the
Press and hold the READ key on the USB Copy Unit for at least one second to have the unit read parameters from the drive.
drive.
Digital Operator Display Task
rEAd Reading Parameter Settings (flashing)
Cause Possible Solutions
Displayed while the parameter settings are being read onto the
Not an error.
USB Copy Unit.
Digital Operator Display Task
vAEr Voltage Class, Capacity Mismatch
Cause Possible Solutions
The drive the parameters were copied from and the drive you
performing the Verify mode on have different electrical Make sure electrical specifications and capacities are the same for both drives.
specifications or are a different capacity.
Digital Operator Display Task
vFyE Parameter settings in the drive and those saved to the copy function are not the same
Cause Possible Solutions
Indicates that parameter settings that have been Read and To have parameters be the same, either write the parameters save on the USB Copy Unit or LCD digital operator onto the
loaded onto the Copy Unit or Digital Operator are different. drive, or Read the parameter settings on the drive onto the USB Copy Unit.
Digital Operator Display Task
vrFy Comparing Parameter Settings (flashing)
Cause Possible Solutions
The Verify mode has confirmed that parameters settings on the
Not an error.
drive and parameters read to the copy device are identical.
Troubleshooting
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 339
6.9 Diagnosing and Resetting Faults
6.9 Diagnosing and Resetting Faults
When a fault occurs and the drive stops, follow the instructions below to remove whatever conditions triggered the fault,
then restart the drive.
Fault Occurs Simultaneously with Power Loss
WARNING! Electrical Shock Hazard. Ensure there are no short circuits between the main circuit terminals (R/L1, S/L2, and T/L3) or
between the ground and main circuit terminals before restarting the drive. Failure to comply may result in serious injury or death and
will cause damage to equipment.
1. Turn on the drive input power.
2. Use monitor parameters U2- to display data on the operating status of the drive just before the fault
occurred.
3. Remove the cause of the fault and reset.
Note: 1. To find out what faults were triggered, check the fault history in U2-02. Information on drive status when the fault occurred such as
the frequency, current, and voltage can be found in U2-03 through U2-58. Refer to Viewing Fault Trace Data After Fault on
page 340 for information on how to view fault data.
2. When the fault continues to be displayed after cycling power, remove the cause of the fault and reset.
If the Drive Still has Power After a Fault Occurs
1. Look at the digital operator for information on the fault that occurred.
2. Refer to Fault Displays, Causes, and Possible Solutions on page 312
3. Reset the fault. Refer to Fault Reset Methods on page 341.
Viewing Fault Trace Data After Fault
Step Display/Result
- MODE - DRV Rdy
FREF(AI)
U1-01= 0.00Hz
1. Turn on the drive input power. The first screen displays.
U1-02= 0.00Hz RSEQ
U1-03= 0.00A RREF
JOG FWD
- MODE - DRV Rdy
Monitor Menu
U1-01= 0.00Hz
2. Press to display the monitor menu screen. U1-02= 0.00Hz RSEQ
U1-03= 0.00A RRFF
JOG FWD
-MONITR- DRV Rdy
Monitor
U1 -01= 0.00Hz
3. Press to display the monitor mode screen.
U1-02= 0.00Hz RSEQ
U1-03= 0.00A RRFF
JOG FWD
- MONITR - DRV Rdy
Last Fault
YEG
Press and to scroll to monitor U2-02. The fault code U2-02= oC
4.
shown in U2-02 is the fault that occurred most recently. In this example, U2-03= 50.00Hz RSEQ
the most recent fault is “oC” (overcurrent). U2-04= 50.00Hz RRFF
JOG FWD
- MONITR - DRV Rdy
Frequency Ref
YEG
U2-03= 50.00Hz
U2-04= 50.00Hz RSEQ
U2-05= XX.XXA RRFF
JOG FWD
Press to view drive status information when fault occurred.
5.
Parameter U2-58 helps determine the cause of a fault.
Parameters to be monitored differ depending on the control mode.
- MONITR - DRV Rdy
PowerSupply Freq
U2-58= 50.00Hz
U2-01= ----- RSEQ
U2-02= oC RRFF
JOG FWD
340 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
6.9 Diagnosing and Resetting Faults
Fault Reset Methods
When a fault occurs, the cause of the fault must be removed and the drive must be restarted. The table below lists the
different ways to restart the drive.
After the Fault Occurs Procedure
DIGITAL OPERATOR JVOP-180 ALM
- MODE - DRV
oC
Overcurrent
Fix the cause of the fault, restart the drive, and Press on the digital operator when error code is FWD RESET
reset the fault RESET F1 F2
displayed. ESC
LO
RE
RESET ENTER
RUN STOP
U1000
Close then open the fault signal digital input via terminal S4. Fault Reset Switch
Resetting via Fault Reset Digital Input S4 S4 Fault Reset Digital Input
S4 is set for “Fault Reset” as default (H1-04 = 14).
SC Digital Input Common
ON
If the above methods do not reset the fault, turn off the drive main power supply. Reapply power after the digital
operator display is out.
OFF
Note: If the Run command is present, the drive will disregard any attempts to reset the fault. The Run command must first be removed
before a fault situation can be cleared.
Troubleshooting
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 341
6.10 Troubleshooting without Fault Display
6.10 Troubleshooting without Fault Display
This section describes troubleshooting problems that do not trip an alarm or fault.
The following symptoms indicate that the drive is not set correctly for proper performance with the motor. Refer to
Motor Performance Fine-Tuning on page 302 for guidance on troubleshooting.
• Motor hunting and oscillation
• Poor motor torque
• Poor speed precision
• Poor motor torque and speed response
• Motor noise
Common Problems
Common Problems Page
Cannot Change Parameter Settings 342
Motor Does Not Rotate 343
Motor Does Not Rotate Properly after Pressing RUN Button or after Entering
Motor Rotates in the Opposite Direction from the Run Command 344
External Run Command
Motor Rotates in One Direction Only 344
Motor is Too Hot 344
Drive Does Not Allow Selection of Rotational Auto-Tuning 344
oPE02 Error Occurs When Lowering the Motor Rated Current Setting 344
Motor Stalls During Acceleration or With Large Loads 345
Drive Frequency Reference Differs from the Controller Frequency Reference Command 345
Excessive Motor Oscillation and Erratic Rotation 345
Load Falls When Brake is Applied (Hoist-Type Applications) 345
Noise From Drive or Motor Cables When the Drive is Powered On 346
Equipment for Residual Current Monitoring/Detection (RCM/RCD) Trips During Run. 346
Unexpected Noise from Connected Machinery 346
Connected Machinery Vibrates When Motor Rotates
Oscillation or Hunting 346
PID Output Fault 346
Insufficient Starting Torque 346
Motor Rotates After the Drive Output is Shut Off (Motor Rotates During DC Injection Braking) 347
Output Frequency is not as High as Frequency Reference 347
Buzzing Sound from Motor at 2 kHz 347
Unstable Motor Speed when Using PM or IPM 347
Motor Does Not Restart after Power Loss 347
The Safety Controller Does Not Recognize Safe Disable Monitor Output Signals (Terminals DM+ and DM-) 347
Cannot Change Parameter Settings
Cause Possible Solutions
• Stop the drive and switch over to the Programming Mode.
The drive is running the motor (i.e., the Run command is present).
• Most parameters cannot be edited during run.
The Access Level is set to restrict access to parameter settings. • Set the Access Level to allow parameters to be edited (A1-01 = 2).
• See what mode the operator is currently set for.
The operator is not in the Parameter Setup Mode (the screen will
• Parameters cannot be edited when in the Setup Mode (“STUP”). Switch modes so that “PAr” appears on the screen.
display “PAr”).
Refer to The Drive and Programming Modes on page 99.
A multi-function contact input terminal is set to allow or restrict • When the terminal is open, parameters cannot be edited.
parameter editing (H1-01 through H1-08 = 1B). • Turn on the multi-function contact input set to 1B.
• If the password entered to A1-04 does not match the password saved to A1-05, then drive settings cannot be
changed.
• Reset the password.
The wrong password was entered. If you cannot remember the password:
• Scroll to A1-04. Press the STOP button and press at the same time. Parameter A1-05 will appear.
• Set a new password to parameter A1-05.
• Check the drive input power voltage by looking at the control circuit voltage (U1-07).
Undervoltage was detected.
• Check all main circuit wiring.
342 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
6.10 Troubleshooting without Fault Display
Motor Does Not Rotate Properly after Pressing RUN Button or after Entering
External Run Command
Motor Does Not Rotate
Cause Possible Solutions
• Check if the DRV light on the digital operator is lit.
The drive is not in the Drive Mode.
• Enter the Drive Mode to begin operating the motor. Refer to The Drive and Programming Modes on page 99.
Stop the drive and check if the correct frequency reference source is selected. If the operator keypad shall be the source, the LO/RE button
LED must be on. If the source is REMOTE, it must be off.
Take the following steps to solve the problem:
The button was pushed.
• Push the button.
• If o2-01 is set to 0, then the LO/RE button will be disabled.
• When Auto-Tuning completes, the drive is switched back to the Programming Mode. The Run command will not be accepted unless the
Auto-Tuning has just completed. drive is in the Drive Mode.
• Use the digital operator to enter the Drive Mode. Refer to The Drive and Programming Modes on page 99.
A Fast Stop was executed and has not yet
Reset the Fast Stop command.
been reset.
Check parameter b1-02 (Run Command Selection 1).
Set b1-02 so that it corresponds with the correct Run command source.
Settings are incorrect for the source that 0: Digital operator
provides the Run command. 1: Control circuit terminal (default setting)
2: MEMOBUS/Modbus communications
3: Option card
• Check the wiring for the control terminal.
There is faulty wiring in the control circuit
• Correct wiring mistakes.
terminals.
• Check the input terminal status monitor (U1-10).
Check parameter b1-01 (Frequency Reference Selection 1).
Set b1-01 to the correct source of the frequency reference.
The drive has been set to accept the 0: Digital operator
frequency reference from the incorrect 1: Control circuit terminal (default setting)
source. 2: MEMOBUS/Modbus communications
3: Option card
4: Pulse train input (RP)
The terminal set to accept the main speed
If the frequency reference is set at terminal A1, check parameter H3-01 for the correct signal level selection. If terminal A2 is used, check DIP
reference is set to the incorrect voltage and/
switch S1 parameter H3-08. If terminal A3 is used, check parameter H3-08. Refer to Terminal A2 Input Signal Selection on page 82.
or current.
Selection for the sink/source mode and the
Check jumper S3. Refer to Sinking/Sourcing Mode for Digital Inputs on page 80.
internal/external power supply is incorrect.
• Check the frequency reference monitor (U1-01).
Frequency reference is too low.
• Increase the frequency by changing the maximum output frequency (E1-09).
• Check the multi-function analog input settings.
Multi-function analog input is set up to • Check if analog input A1, A2, or A3 is set for frequency reference gain (H3-02, H3-10, H3-06 = 1). If so, check if the correct signal is
accept gain for the frequency reference, but applied to the terminal. The gain and the frequency reference will be 0 if no signal is applied to the gain input.
no voltage (current) has been provided. • Check if H3-02, H3-10, and H3-06 have been set to the proper values.
• Check if the analog input value has been set properly. (U1-13 to U1-15)
• When the STOP button is pressed, the drive will decelerate to stop.
The STOP button was pressed when
• Switch off the Run command and then re-enter a new Run command.
the drive was started from a REMOTE
source. • The STOP button can be disabled when o2-02 is set to 0.
Motor starting torque is too low. Refer to Motor Performance Fine-Tuning on page 302
Troubleshooting
Frequency reference value is too low or the
Enter a value that is above the minimum output frequency determined by E1-09.
drive does not accept the value entered.
• If the drive is supposed to be set up for a 2-wire sequence, then ensure parameters H1-03 through H1-08 are not set to 0.
The sequence Start/Stop sequence is set up
• If the drive is supposed to be set up for a 3-wire sequence, then one of the parameters H1-03 through H1-08 must be set to 0. Terminal S1
incorrectly.
will become the Start, terminal S2 will become the Stop input.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 343
6.10 Troubleshooting without Fault Display
Motor Rotates in the Opposite Direction from the Run Command
Cause Possible Solutions
• Check the motor wiring.
• Switch two motor cables (U, V, and W) to reverse motor direction.
Phase wiring between the drive and motor is incorrect.
• Connect drive output terminals U/T1, V/T2, and W/T3 in the right order to match motor terminals U, V, and W.
• Change the setting of parameter b1-14.
Typically, forward is designated as being counterclockwise when looking from the motor shaft (see figure below).
The forward direction for the motor is setup incorrectly.
2
1. Forward Rotating Motor (looking down the motor shaft)
2. Motor Shaft
The motor is running at almost 0 Hz and the Speed Search estimated
Disable bi-directional search (b3-14 = "0") so that Speed Search is performed only in the specified direction.
the speed to be in the opposite direction.
Note: Check the motor specifications for the forward and reverse directions. The motor specifications will vary depending on the
manufacturer of the motor.
Motor Rotates in One Direction Only
Cause Possible Solutions
• Check parameter b1-04.
The drive prohibits reverse rotation.
• Set the drive to allow the motor to rotate in reverse (b1-04 = 0).
A Reverse run signal has not been entered, although 3-wire
Make sure that one of the input terminals S3 to S8 used for the 3-wire sequence has been set for reverse.
sequence is selected.
Motor is Too Hot
Cause Possible Solutions
If the load is too heavy for the motor, the motor will overheat as it exceeds its rated torque value for an extended
period of time.
Keep in mind that the motor also has a short-term overload rating in addition to the possible solutions provided below:
The load is too heavy. • Reduce the load.
• Increase the acceleration and deceleration times.
• Check the values set for the motor protection (L1-01, L1-02) as well as the motor rated current (E2-01).
• Increase motor capacity.
• Check the ambient temperature.
The air around the motor is too hot.
• Cool the area until it is within the specified temperature range.
• Perform Auto-Tuning.
The drive is operating in a vector control mode but Auto-Tuning has
• Calculate the motor value and reset the motor parameters.
not yet been performed.
• Change the motor control method to V/f Control (A1-02 = 0).
When the motor cable is long, high voltage surges occur between the motor coils and drive switching.
Normally, surges can reach up to three times the drive input power supply voltage (600 V for 200 V class, and 1200 V
Insufficient voltage insulation between motor phases. for 400 V class).
• Use a motor with a voltage tolerance higher than the max voltage surge.
• Use a motor designed to work specifically with a drive when using a 400 V class unit.
The motor fan has stopped or is clogged. Check the motor fan.
Carrier frequency is too low. Increase the carrier frequency to lower the current harmonic distortion and lower the motor temperature.
Drive Does Not Allow Selection the Desired Auto-Tuning Mode
Cause Possible Solutions
The desired Auto-Tuning mode is not available for the selected • Check if the desired tuning mode is available for the selected control mode. Refer to Auto-Tuning on page 116.
control mode. • Change the motor control method by setting A1-02.
oPE02 Error Occurs When Lowering the Motor Rated Current Setting
Cause Possible Solutions
• The user is trying to set the motor rated current in E2-01 to a value lower than the no-load current set in E2-03.
Motor rated current and the motor no-load current setting in the • Make sure that value set in E2-01 is higher than E2-03.
drive are incorrect. • If it is necessary to set E2-01 lower than E2-03, first lower the value set to E2-03, then change the setting in E2-01
as needed.
344 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
6.10 Troubleshooting without Fault Display
Motor Stalls during Acceleration or Acceleration Time is Too Long
Cause Possible Solutions
Torque limit has been reached or current suppression keeps the drive Take the following steps to resolve the problem:
from accelerating. • Reduce the load.
• Increase motor capacity.
Note: Although the drive has a Stall Prevention function and a Torque Compensation Limit function, accelerating too
Load is too heavy. quickly or trying to drive an excessively large load can exceed the capabilities of the motor.
Torque limit is not set properly. Check the torque limit setting.
• Check the maximum output frequency (E1-04).
• Increase E1-04 if it is set too low.
Frequency reference is too low. Check U1-01 for proper frequency reference.
Check if a frequency reference signal switch has been set to one of the multi-function input terminals.
Check for low gain level set to terminals A1, A2, or A3 (H3-03, H3-11, H3-07).
• Reduce the load so that the output current remains within the motor rated current.
• In extruder and mixer applications, the load will sometimes increase as the temperature drops.
Load is too heavy.
• Increase the acceleration time.
• Check if the mechanical brake is fully releasing as it should.
Acceleration time has been set too long. Check if the acceleration time parameters have been set too long (C1-01, C1-03, C1-05, C1-07).
• Set the correct V/f pattern so that it matches the characteristics of the motor being used.
Motor characteristics and drive parameter settings are incompatible
• Check the V/f pattern set to E1-03.
with one another.
• Execute Rotational Auto-Tuning.
• Perform Auto-Tuning.
Although the drive is operating in Open Loop Vector motor control
• Calculate motor data and reset motor parameters.
method, Auto-Tuning has not been performed.
• Switch to V/f Control (A1-02 = 0).
• Check the multi-function analog input settings. Multi-function analog input terminal A1, A2, or A3 is set for
frequency gain (H3-02, H3-10, or H3-06 is set to “1”), but there is no voltage or current input provided.
Incorrect frequency reference setting.
• Make sure H3-02, H3-10, and H3-06 are set to the proper values.
• See if the analog input value is set to the right value (U1-13 to U1-15).
• Check the Stall Prevention level during acceleration (L3-02).
The Stall Prevention level during acceleration and deceleration set
• If L3-02 is set too low, acceleration may be taking too long.
too low.
• Increase L3-02.
• Check the Stall Prevention level during run (L3-06).
The Stall Prevention level during run has been set too low. • If L3-06 is set too low, speed will drop as the drive outputs torque.
• Increase the setting value.
• The motor cable may be long enough (over 50 m) to require Auto-Tuning for line-to-line resistance.
Drive reached the limitations of the V/f motor control method. • Be aware that V/f Control is comparatively limited when it comes to producing torque at low speeds.
• Consider switching to Open Loop Vector Control.
Drive Frequency Reference Differs from the Controller Frequency Reference
Command
Cause Possible Solutions
• Check the gain and bias settings for the analog inputs that are used to set the frequency reference. Check parameters
The analog input gain and bias for the frequency reference input H3-03 and H3-04 for input A1, check parameters H3-11, and H3-12 for input A2, and check parameters H3-07 and
are set to incorrect values. H3-08 for input A3.
• Set these parameters to the appropriate values.
• If more than one of multi-function analog inputs A1 to A3 is set for frequency reference bias (H3-02, H3-10, or H3-06
A frequency bias signal is being entered via analog input terminals is set to “0”), then the sum of all signals builds the frequency reference.
A1 to A3. • Make sure that H3-02, H3-10, and H3-06 are set appropriately.
• Check the input level set for terminals A1 to A3 (U1-13 to U1-15).
Troubleshooting
PID control is enabled, and the drive is consequently adjusting the
output frequency to match the PID setpoint. The drive will only
If PID control is not necessary for the application, disable it by setting b5-01 to “0”.
accelerate to the maximum output frequency set in E1-04 while
PID control is active.
Excessive Motor Oscillation and Erratic Rotation
Cause Possible Solutions
6
Poor balance between motor phases. Check drive input power voltage to ensure that it provides stable power.
• Enable Hunting Prevention (n1-01 = 1).
Hunting prevention function is disabled.
• Increase the AFR gain (n2-01) or the AFR time constant 1 (n2-02).
Load Falls When Brake is Applied (Hoist-Type Applications)
Cause Possible Solutions
The timing for the brake to close and release is not set properly. Refer to Notes on Controlling the Brake when Using the Hoist Application Preset on page 113.
Insufficient DC Injection Braking. Increase the amount of DC Injection Braking Current (b2-02).
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 345
6.10 Troubleshooting without Fault Display
Noise From Drive or Motor Cables When the Drive is Powered On
Cause Possible Solutions
• Lower the carrier frequency (C6-02).
• Install a noise filter on the input side of drive input power.
• Install a noise filter on the output side of the drive.
Relay switching in the drive generates
• Place the wiring inside a metal conduit to shield it from switching noise.
excessive noise.
• Ground the drive and motor properly.
• Separate the main circuit wiring and the control lines.
• Make sure wires and the motor have been properly grounded.
Equipment for Residual Current Monitoring/Detection (RCM/RCD) Trips During Run
Cause Possible Solutions
• Increase the RCM/RCD sensitivity or use RCM/RCD with a higher threshold.
• Lower the carrier frequency (C6-02).
Excessive leakage current trips RCM/RCD.
• Reduce the length of the cable used between the drive and the motor.
• Install a noise filter or reactor on the output side of the drive. Set the carrier frequency to 2 kHz when connecting a reactor.
Connected Machinery Vibrates When Motor Rotates
Unexpected Noise from Connected Machinery
Cause Possible Solutions
The carrier frequency is at the resonant frequency of the connected
Adjust the carrier frequency using parameters C6-02 through C6-05.
machinery.
• Adjust the parameters used for the Jump frequency function (d3-01 through d3-04) to skip the problem-causing
The drive output frequency is the same as the resonant frequency
bandwidth.
of the connected machinery.
• Place the motor on a rubber pad to reduce vibration.
Note: To inspect for a motor error, set C6-02 to a value between 1 and 4 and check the motor.
Oscillation or Hunting
Cause Possible Solutions
Perform Auto-Tuning.
Insufficient tuning.
Refer to Motor Performance Fine-Tuning on page 302.
Gain is too low when using PID control. Refer to b5: PID Control on page 164 for details.
• Ensure that noise is not affecting the signal lines.
The frequency reference is assigned to an external source and the • Separate main circuit wiring and control circuit wiring.
signal is noisy. • Use twisted-pair cables or shielded wiring for the control circuit.
• Increase the analog input filter time constant (H3-13).
• Perform Auto-Tuning.
The cable between the drive and motor is too long.
• Reduce the length of the cable.
PID Output Fault
Cause Possible Solutions
• Check the multi-function analog input terminal settings.
• Set multi-function analog input terminal A1, A2, or A3 for PID feedback (H3-02, H3-10, or H3-06 = “B”).
• A signal input to the terminal selection for PID feedback is needed.
No PID feedback input. • Check the connection of the feedback signal.
• Check the various PID-related parameter settings.
• No PID feedback input to the terminal causes the value detected to be 0, causing a PID fault and the drive to operate
at max frequency.
• PID control keeps the difference between target and detection values at 0. Set the input level for the values relative to
The level of detection and the target value do not correspond with
one another.
each other.
• Use analog input gains H3-03 and H3-11 to adjust PID target and feedback signal scaling.
Reverse drive output frequency and speed detection. When output
Set PID output for reverse characteristics (b5-09 = 1).
frequency rises, the sensor detects a speed decrease.
Adjustment made to PID parameter settings are insufficient. Refer to b5: PID Control on page 164 for details.
Insufficient Starting Torque
Cause Possible Solutions
Auto-Tuning has not yet been performed (required for vector
Perform Auto-Tuning. Refer to Motor Performance Fine-Tuning on page 302.
control modes).
The control mode was changed after performing Auto-Tuning. Perform Auto-Tuning again.
Only Stationary Auto-Tuning was performed. Perform Rotational Auto-Tuning.
346 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
6.10 Troubleshooting without Fault Display
Motor Rotates After the Drive Output is Shut Off (Motor Rotates During DC Injection
Braking)
Cause Possible Solutions
• Adjust the DC Injection braking settings.
DC Injection Braking is set too low and the drive cannot decelerate
• Increase the current level for DC Injection Braking Current (b2-02).
properly.
• Increase the DC Injection Braking time at stop (b2-04).
The stopping method is set so that the drive coasts to stop. Set b1-03 (Stopping Method Selection) to 0 or 2.
Output Frequency is not as High as Frequency Reference
Cause Possible Solutions
• Adjust the parameters used for the Jump frequency function (d3-01, d3-02, d3-03).
Frequency reference is set within the range of the Jump frequency.
• Enabling the Jump frequency prevents the drive from outputting the frequencies specified in the Jump range.
• Set the maximum output frequency and the upper limit for the frequency reference to more appropriate values
Upper limit for the frequency reference has been exceeded. (E1-04, d2-01).
• The following calculation yields the upper value for the output frequency = E1-04 d2-01 / 100
• Reduce the load.
Large load triggered Stall Prevention function during acceleration.
• Adjust the Stall Prevention level during acceleration (L3-02).
• Set b1-21 (Start Condition Selection at Closed Loop Vector Control) to 1.
Motor runs at following speed.
• Set E1-09 (Minimum Output Frequency) to a value lower than the setting for b2-01 (DC Injection Braking Start
b2-01 Motor speed < E1-09
Frequency).
Buzzing Sound from Motor at 2 kHz
Cause Possible Solutions
• If the output current rises too high at low speeds, the carrier frequency is automatically reduced and causes a whining
or buzzing sound.
Exceeded 110% of the rated output current of the drive while
• If the sound is coming from the motor, disable carrier frequency derating (L8-38 = 0).
operating at low speeds.
• Disabling the automatic carrier frequency derating increases the chances of an overload fault (oL2). Switch to a larger
capacity motor if oL2 faults occur too frequently.
Unstable Motor Speed when Using PM
Cause Possible Solutions
The motor code for the PM motor (E5-01 or T2-02) is set
Refer to Motor Performance Fine-Tuning on page 302 for details.
incorrectly (Yaskawa motors only).
Drive is attempting to operate the motor beyond the speed control
Check the speed control range and adjust the speed accordingly.
range listed in the specifications.
Motor hunting occurs. Refer to Motor Performance Fine-Tuning on page 302 for details.
Hunting occurs at start. Increase the S-curve time at the start of acceleration (C2-01).
• Enter the correct motor code for the PM motor being used into E5-01.
Too much current is flowing through the drive. • For special-purpose motors, enter the correct data to all E5 parameters according to the test report provided for the
motor.
Motor Does Not Restart after Power Loss
Troubleshooting
Cause Possible Solutions
• Check the sequence and wiring that has been set up to enter the Run command.
The Run command was not issued again when power was restored.
• A relay should be set up to make sure the Run command remains enabled throughout any power loss.
The relay that is supposed to maintain the Run command has been
Check wiring and circuitry for the relay intended to keep the Run command enabled.
switched off.
The Safety Controller Does Not Recognize Safe Disable Monitor Output Signals 6
(Terminals DM+ and DM-)
Cause Possible Solutions
• Check the wiring for the Safe Disable monitor output terminal.
There is faulty wiring in the Safe Disable monitor output terminals.
• Correct wiring mistakes.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 347
6.10 Troubleshooting without Fault Display
348 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
7
Periodic Inspection & Maintenance
This chapter describes the periodic inspection and maintenance of the drive to ensure that it
receives the proper care to maintain overall performance.
7.1 SECTION SAFETY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 350
7.2 INSPECTION. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 352
7.3 PERIODIC MAINTENANCE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 354
7.4 COOLING FAN AND CIRCULATION FAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 356
7.5 DRIVE REPLACEMENT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 369
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 349
7.1 Section Safety
7.1 Section Safety
DANGER
Electrical Shock Hazard
Do not connect or disconnect wiring while the power is on.
Failure to comply could result in death or serious injury.
Before servicing, disconnect all power to the equipment. The internal capacitor remains charged even after the power
supply is turned off. The charge indicator LED will extinguish when the DC bus voltage is below 50 Vdc. To prevent
electric shock, wait for at least the time specified on the warning label; after all indicators are OFF, measure for unsafe
voltages to confirm the drive is safe prior to servicing.
Never connect or disconnect wiring, remove connectors or option cards, or replace the cooling fan, and air filter
while the power is on.
Failure to comply will result in death or serious injury.
Before servicing, disconnect all power to the equipment. The internal capacitor remains charged even after the power
supply is turned off.
WARNING
Electrical Shock Hazard
Do not operate equipment with covers removed.
Failure to comply could result in death or serious injury.
The diagrams in this section may show drives without covers or safety shields to show details. Be sure to reinstall
covers or shields before operating the drives and run the drives according to the instructions described in this manual.
Always ground the motor-side grounding terminal.
Improper equipment grounding could result in death or serious injury by contacting the motor case.
Do not remove covers or touch circuit boards while the power is on.
Failure to comply could result in death or serious injury.
Do not allow unqualified personnel to perform work on the drive.
Failure to comply could result in death or serious injury.
Installation, maintenance, inspection, and servicing must be performed only by authorized personnel familiar with
installation, adjustment, and maintenance of AC drives.
Do not perform work on the drive while wearing loose clothing, jewelry or without eye protection.
Failure to comply could result in death or serious injury.
Remove all metal objects such as watches and rings, secure loose clothing, and wear eye protection before beginning
work on the drive.
Do not touch any terminals before the capacitors have fully discharged.
Failure to comply could result in death or serious injury.
Before servicing, disconnect all power to the equipment. The internal capacitor remains charged even after the power
supply is turned off. The charge indicator LED will extinguish when the DC bus voltage is below 50 Vdc. To prevent
electric shock, wait for at least the time specified on the warning label; after all indicators are OFF, measure the DC bus
voltage level to confirm it has reached a safe level.
350 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
7.1 Section Safety
WARNING
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.
Do not use an improper voltage source.
Failure to comply could result in death or serious injury by fire.
Verify that the rated voltage of the drive matches the voltage of the incoming power supply before applying power.
Do not use improper combustible materials.
Failure to comply could result in death or serious injury by fire.
Attach the drive to metal or other noncombustible material.
NOTICE
Observe proper electrostatic discharge procedures (ESD) when handling the drive and circuit boards.
Failure to comply may result in ESD damage to the drive circuitry.
Follow cooling fan replacement instructions. The cooling fan cannot operate properly when it is installed
incorrectly and could seriously damage the drive.
Follow the instructions in this manual to replace the cooling fan, making sure that the label is on top before inserting
the cooling fan into the drive. To ensure maximum useful product life, replace both cooling fans when performing
maintenance.
Never connect or disconnect the motor from the drive while the drive is outputting voltage.
Improper equipment sequencing could result in damage to the drive.
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.
Do not allow unqualified personnel to use the product.
Failure to comply could result in damage to the drive.
Maintenance, inspection, and replacement of parts must be performed only by authorized personnel familiar with
installation, adjustment and maintenance of AC drives.
Do not modify the drive circuitry.
Failure to comply could result in damage to the drive and will void warranty.
Yaskawa is not responsible for any modification of the product made by the user. This product must not be modified.
Check all the wiring to ensure that all connections are correct after installing the drive and connecting any other
devices.
Periodic Inspection &
Failure to comply could result in damage to the drive.
Comply with proper wiring practices.
Maintenance
The motor may run in reverse if the phase order is backward.
Connect motor input terminals U, V and W to drive output terminals U/T1,V/T2, and W/T3. The phase order for the
drive and motor should match.
Frequently switching the drive power supply to stop and start the motor can damage the drive. 7
To get the full performance life out of the capacitor for the control power supply and circuit relays, refrain from
switching the drive power supply off and on more than once every 30 minutes. Frequent use can damage the drive. Use
the drive to stop and start the motor.
Do not operate damaged equipment.
Failure to comply could result in further damage to the equipment.
Do not connect or operate any equipment with visible damage or missing parts.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 351
7.2 Inspection
7.2 Inspection
Power electronics have limited life and may exhibit changes in characteristics or performance deterioration after years of
use under normal conditions. To help avoid such problems, it is important to perform preventive maintenance and
periodic inspection on the drive.
Drives contain a variety of power electronics such as power transistors, semiconductors, capacitors, resistors, fans, and
relays. The electronics in the drive serve a critical role in maintaining proper motor control.
Follow the inspection lists provided in this chapter as a part of a regular maintenance program.
Note: The drive will require more frequent inspection if it is placed in harsh environments, such as:
High ambient temperatures
Frequent starting and stopping
Fluctuations in the AC supply or load
Excessive vibrations or shock loading
Dust, metal dust, salt, sulfuric acid, chlorine atmospheres
Poor storage conditions.
Perform the first equipment inspection one to two years after installation.
Recommended Daily Inspection
Table 7.1 outlines the recommended daily inspection for Yaskawa drives. Check the following items on a daily basis to
avoid premature deterioration in performance or product failure. Copy this checklist and mark the “Checked” column
after each inspection.
Table 7.1 General Recommended Daily Inspection Checklist
Inspection Category Inspection Points Corrective Action Checked
• Check the load coupling.
Motor Inspect for abnormal oscillation or noise coming from the motor. • Measure motor vibration.
• Tighten all loose components.
• Check for excessive load.
Inspect for abnormal heat generated from the drive or motor and • Loose connections
visible discoloration. • Check for dirty heatsink or motor.
Cooling • Ambient temperature
• Check for clogged or dirty fan.
Inspect drive cooling fan and circulation fan operation.
• Check fan operation drive parameter.
Verify the drive environment complies with the specifications listed • Eliminate the source of contaminants or correct poor
Environment
in Installation Environment on page 42. environment.
The drive output current should not be higher than the motor or drive • Check for excessive load.
Load
rating for an extended period of time. • Check the motor parameter settings of the drive.
• Correct the voltage or power supply to within nameplate
Power Supply Voltage Check main power supply and control voltages. specifications.
• Verify all main circuit phases.
352 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
7.2 Inspection
Recommended Periodic Inspection
Table 7.2 outlines the recommended periodic inspections for Yaskawa drive installations. Although periodic inspections
should generally be performed once a year; the drive may require more frequent inspection in harsh environments or with
rigorous use. Operating and environmental conditions, along with experience in each application, will determine the
actual inspection frequency for each installation. Periodic inspection will help to avoid premature deterioration in
performance or product failure. Copy this checklist and mark the “Checked” column after each inspection.
Periodic Inspection
WARNING! Electrical Shock Hazard. Do not inspect, connect, or disconnect any wiring while the power is on. Failure to comply can
result in serious personal injury. Before servicing, disconnect all power to the equipment. The internal capacitor remains charged even
after the power supply is turned off. The charge indicator LED will extinguish when the DC bus voltage is below 50 Vdc. To prevent
electric shock, wait for at least the time specified on the warning label; after all indicators are OFF, measure for unsafe voltages to
confirm the drive is safe prior to servicing.
Table 7.2 Periodic Inspection Checklist
Inspection Area Inspection Points Corrective Action Checked
Main Circuit Periodic Inspection
• Inspect equipment for discoloration from overheating or • Replace damaged components as required.
deterioration. • The drive has few serviceable parts and may require complete
• Inspect for damaged or deformed parts. drive replacement.
General • Inspect enclosure door seal if used.
• Remove foreign particles and dust by sucking them out with a
Inspect for dirt, foreign particles, or dust collection on components.
vacuum cleaner to avoid touching parts.
• Replace components if cleaning is not possible.
• Inspect wiring and connections for discoloration, damage, or heat
Conductors and Wiring stress. Repair or replace damaged wiring.
• Inspect wire insulation and shielding for wear.
Terminals Inspect terminals for stripped, damaged, or loose connections. Tighten loose screws and replace damaged screws or terminals.
• Inspect contactors and relays for excessive noise during operation. • Check coil voltage for over or under voltage conditions.
Relays and Contactors • Inspect coils for signs of overheating such as melted or cracked • Replace damaged removable relays contactors or circuit
insulation. board.
• Inspect for leaking, discoloration, or cracks.
The drive has few serviceable parts and may require complete
Capacitor • Check if the cap has come off, for any swelling, or if the sides
drive replacement.
have burst open.
Diode, IGBT (Power Remove foreign particles and dust by sucking them out with a
Inspect for dust or other foreign material collected on the surface.
Transistor) vacuum cleaner to avoid touching parts.
Motor Periodic Inspection
Stop the motor and contact qualified maintenance personnel as
Operation Check Check for increased vibration or abnormal noise.
required.
Control Circuit Periodic Inspection
• Tighten loose screws and replace damaged screws or
• Inspect terminals for stripped, damaged, or loose connections. terminals.
General
• Make sure all terminals have been properly tightened. • If terminals are integral to a circuit board, then board or drive
replacement may be required.
• Fix any loose connections.
• If an antistatic cloth or vacuum plunger can't be used, replace
the board.
Check for any odor, discoloration, and rust. Make sure connections
• Do not use any solvents to clean the board.
Circuit Boards are properly fastened and that no dust or oil mist has accumulated on
• Remove foreign particles and dust by sucking them out with a
the surface of the board.
vacuum cleaner to avoid touching parts.
• The drive has few serviceable parts and may require complete
Periodic Inspection &
drive replacement.
Cooling System Periodic Inspection
Cooling Fan, Replace as required.
• Check for abnormal oscillation or unusual noise.
Maintenance
Circulation Fan, Refer to Cooling Fan and Circulation Fan on page 356 for
• Check for damaged or missing fan blades.
Control Board Cooling Fan information on cleaning or replacing the fan.
Remove foreign particles and dust by sucking them out with a
Heatsink Inspect for dust or other foreign material collected on the surface.
vacuum cleaner to avoid touching parts.
Inspect air intake and exhaust openings. They must be free from • Visually inspect the area.
Air Duct
obstruction and properly installed. • Clear obstructions and clean air duct as required.
Display Periodic Inspection 7
• Make sure data appears on the operator properly. • Contact your Yaskawa representative if there is any trouble
Digital Operator • Inspect for dust or other foreign material that may have collected with the display or keypad.
on surrounding components. • Clean the digital operator.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 353
7.3 Periodic Maintenance
7.3 Periodic Maintenance
The drive has Maintenance Monitors that keep track of component wear. This feature provides advance maintenance
warning and eliminates the need to shut down the entire system for unexpected problems. The drive allows the user to
check predicted maintenance periods for the components listed below.
For replacement parts, contact the distributor where the drive was purchased or contact Yaskawa directly.
• Cooling Fan, Circulation Fan
• Capacitors for the control power supply
• Inrush Prevention Circuit
Replacement Parts
Table 7.3 contains the estimated performance life of components that require replacement during the life of the drive.
Only use Yaskawa replacement parts for the appropriate drive model and revision.
Table 7.3 Estimated Performance Life
Component Estimated Performance Life
Cooling Fan, Circulation Fan 10 years
Capacitors for the control power supply 10 years <1>
<1> Capacitors for the control power supply cannot be replaced on some models. Complete drive replacement may be required for these models.
NOTICE: Estimated performance life based on specific usage conditions. These conditions are provided for the purpose of replacing
parts to maintain performance. Some parts may require more frequent replacement due to poor environments or rigorous use. Usage
conditions for estimated performance life:
• Ambient temperature: Yearly average of 40°C (IP00 enclosure)
• Load factor: 80% maximum
• Operation time: 24 hours a day
Performance Life Monitors Maintenance Monitors
The drive calculates the maintenance period for components that may require replacement during the life of the drive. A
percentage of the maintenance period is displayed on the digital operator by viewing the appropriate monitor parameter.
When the maintenance period reaches 100%, there is increased risk that the drive may malfunction. Yaskawa
recommends checking the maintenance period regularly to ensure maximum performance life.
Refer to Recommended Periodic Inspection on page 353 for more details.
Table 7.4 Performance Life Monitors Used for Component Replacement
Parameter Component Contents
Displays the accumulated operation time of the fan from 0 to 99999 hours. This value is automatically reset to 0 after it
U4-03
Cooling Fan, Circulation Fan reaches 99999.
U4-04 Displays the accumulated fan operation time as a percentage of the specified maintenance period.
U4-05 DC Bus Capacitors Displays the accumulated time the capacitors are used as a percentage of the specified maintenance period.
U4-06 Pre-charge Circuit Displays the number of times the drive is powered up as a percentage of the performance life of the inrush circuit.
354 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
7.3 Periodic Maintenance
Alarm Outputs for Maintenance Monitors
An output can be set up to inform the user when a specific components has neared its expected performance life.
When one of multi-function digital output terminals has been assigned the maintenance monitor function (H2- = 2F),
the terminal will close when the cooling fan, DC bus capacitors, or DC bus pre-charge relay reach 90% of the expected
performance life. Additionally the digital operator will display an alarm like shown in Table 7.5 to indicate the specific
components that may need maintenance.
Table 7.5 Maintenance Alarms
Alarm Display
Function Corrective Action
LCD Operator
LT-1 <1> The cooling fans have reached 90% of their designated life time. Replace the cooling fan.
The DC bus capacitors have reached 90% of their designated life Contact a Yaskawa representative or the nearest Yaskawa sales
LT-2 <1>
time. office on possible drive replacement.
The capacitor for controller has reached 90% of its designated life Contact a Yaskawa representative or the nearest Yaskawa sales
LT-3 <1>
time. office on possible drive replacement.
<1> This alarm message will be output only if the Maintenance Monitor function is assigned to one of the digital outputs (H2- = 2F). The alarm
will also trigger a digital output that is programmed for alarm indication (H2- = 10).
Related Drive Parameters
Parameters o4-03, o4-05, and o4-07 can be used to reset a Maintenance Monitor back to zero after a specific component
has been replaced. Refer to Parameter Table on page 404 for details on parameter settings.
NOTICE: If these parameters are not reset after the corresponding parts have been replaced, the Maintenance Monitor function will
continue to count down the performance life from the value that was reached with the old part. If the Maintenance Monitor is not reset,
the drive will not have the correct value of the performance life for the new component.
Periodic Inspection &
Maintenance
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 355
7.4 Cooling Fan and Circulation Fan
7.4 Cooling Fan and Circulation Fan
NOTICE: Follow cooling fan replacement instructions. The cooling fan cannot operate properly when installed incorrectly and could
seriously damage the drive. To ensure maximum useful product life, replace all cooling fans when performing maintenance.
Contact a Yaskawa representative or the nearest Yaskawa sales office to order replacement cooling fans as required.
For drives with multiple cooling fans, replace all the fans when performing maintenance to ensure maximum product
performance life.
Number of Fan
Three-Phase 200 V Class Three-Phase 400 V Class
Model Model
CIMR-U Cooling Fan Circulation Fan Page CIMR-U Cooling Fan Circulation Fan Page
20028 2 – 40011 2 –
20042 2 – 40014 2 –
20054 2 – 40021 2 –
20068 2 – 358 40027 2 –
20081 2 – 40034 2 –
20104 2 – 40040 2 – 358
20130 2 – 40052 2 –
20154 3 – 40065 2 –
360
20192 3 – 40077 2 –
20248 1 2 364 40096 2 –
– – – – 40124 2 –
– – – – 40156 3 –
360
– – – – 40180 3 –
– – – – 40216 1 2
– – – – 40240 1 2
– – – – 40302 2 2 364
– – – – 40361 2 2
– – – – 40414 2 2
356 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
7.4 Cooling Fan and Circulation Fan
Cooling Fan Component Names
WARNING! Electrical Shock Hazard. Do not connect or disconnect wiring while the power is on. Failure to comply can result in serious
personal injury. Before servicing the drive, disconnect all power to the equipment. The internal capacitor remains charged even after
the power supply is turned off. After shutting off the power, wait for at least the amount of time specified on the drive before touching
any components.
CAUTION! Burn Hazard. Do not touch a hot drive heatsink. Failure to comply could result in minor or moderate injury. Shut off the
power to the drive when replacing the cooling fan. To prevent burns, wait at least 15 minutes and ensure the heatsink has cooled
down.
NOTICE: Prevent Equipment Damage. Follow cooling fan and circulation fan replacement instructions. Fans cannot operate properly
when they are installed incorrectly and can damage the drive. Follow the instructions below to replace the fans, making sure that the
label is on top before inserting the fan into the drive. To ensure maximum useful product life, replace all fans when performing
maintenance.
Note: Procedures shown in this section use a representative drive model. Figures in these procedures may differ slightly from the actual
model used by the customer.
Figure 7.1
20028 to 20130, 40011 to 40124 20154, 20192, 40156, 40180
A A
B B
20248, 40216 to 40414
Periodic Inspection &
C
Maintenance
7
common_
TMonly
A – Fan Guard C – Circulation Fan Unit
B – Cooling Fan/Cooling Fan Unit
Figure 7.1 Cooling Fan Component Names
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 357
7.4 Cooling Fan and Circulation Fan
Cooling Fan Replacement: 20028 to 20130, 40011 to 40124
WARNING! Electrical Shock Hazard. Do not connect or disconnect wiring while the power is on. Failure to comply can result in serious
personal injury. Before servicing the drive, disconnect all power to the equipment. The internal capacitor remains charged even after
the power supply is turned off. After shutting off the power, wait for at least the amount of time specified on the drive before touching
any components.
CAUTION! Burn Hazard. Do not touch a hot drive heatsink. Failure to comply could result in minor or moderate injury. Shut off the
power to the drive when replacing the cooling fan. To prevent burns, wait at least 15 minutes and ensure the heatsink has cooled
down.
NOTICE: Prevent Equipment Damage. Follow cooling fan and circulation fan replacement instructions. Improper fan replacement
could cause damage to equipment. Make sure the fan is facing upwards when installing the replacement fan into the drive. Replace all
fans when performing maintenance to help ensure maximum useful product life.
Removing the Cooling Fan Guard and Cooling Fan
1. Depress the right and left sides of the fan guard tabs and pull upward. Remove the fan guard from the top of the
drive.
Figure 7.2
common_TM
only
Figure 7.2 Remove the Fan Guard
2. Remove the cooling fan cartridge.
Figure 7.3
common_TM
only
Figure 7.3 Remove the Cooling Fan
3. Disconnect the pluggable connector and remove the fan.
Figure 7.4
common_TM
only
Figure 7.4 Disconnect the Cooling Fan
358 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
7.4 Cooling Fan and Circulation Fan
Installing the Cooling Fan
Reverse the procedure described above to reinstall the cooling fan.
1. Properly plug the relay connector.
Figure 7.5
common_TMonly
Push the connectors together so
no space remains between them.
Figure 7.5 Plug the Relay Connector
2. Install the replacement fan into the drive, ensuring the alignment pins line up as shown in Figure 7.6.
Figure 7.6
B B
common_TMonly
A – Label facing up B – Make sure the alignment pins
line up properly.
Figure 7.6 Install the Cooling Fan
3. Properly connect the fan power lines, then place the cable back into the recess of the drive.
Figure 7.7
common_TMonly
Figure 7.7 Reley Connector Placement Periodic Inspection &
4. While pressing in on the tabs on the left and right sides of the fan guard, guide the fan guard until it clicks back
Maintenance
into place.
Note: The fan guard has a cutout on the front side for proper alignment.
Figure 7.8
common_TMonly
Figure 7.8 Reattach the Fan Guard
5. Turn on the power supply and set o4-03 to 0 to reset the Maintenance Monitor cooling fan operation time.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 359
7.4 Cooling Fan and Circulation Fan
Cooling Fan Replacement: 20154, 20192, 40156, 40180
WARNING! Electrical Shock Hazard. Do not connect or disconnect wiring while the power is on. Failure to comply can result in serious
personal injury. Before servicing the drive, disconnect all power to the equipment. The internal capacitor remains charged even after
the power supply is turned off. After shutting off the power, wait for at least the amount of time specified on the drive before touching
any components.
CAUTION! Burn Hazard. Do not touch a hot drive heatsink. Failure to comply could result in minor or moderate injury. Shut off the
power to the drive when replacing the cooling fan. To prevent burns, wait at least 15 minutes and ensure the heatsink has cooled
down.
NOTICE: Prevent Equipment Damage. Follow cooling fan and circulation fan replacement instructions. Improper fan replacement
could cause damage to equipment. Make sure the fan is facing upwards when installing the replacement fan into the drive. Replace all
fans when performing maintenance to help ensure maximum useful product life.
Removing the Fan Guard and Cooling Fan
1. Loosen the four screws that hold the fan guard in place.
Figure 7.9
A common_TMonly
A – Screw locations
Figure 7.9 Loosen the Screws
2. Slide the fan guard toward the front of the drive to remove it from the drive.
Figure 7.10
common_TMonly
Figure 7.10 Remove the Fan Guard
3. Release the cables from the hooks in five locations.
Figure 7.11
A
common_TMonly
A – Hook locations
Figure 7.11 Release the Cables
360 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
7.4 Cooling Fan and Circulation Fan
4. Loosen the four screws affixing the cooling fan unit.
Figure 7.12
A common_TMonly
A – Screw locations
Figure 7.12 Remove the Cooling Fan Unit
5. Disconnect the three pluggable connectors and remove the fan unit from the drive.
Figure 7.13
common_TMonly
Figure 7.13 Unplug the Relay Connector
Installing the Cooling Fan Unit
1. Connect the relay connectors for the replacement fan units.
Note: Replace the whole unit when replacing the cooling fan.
Figure 7.14
common_TMonly
Periodic Inspection &
Maintenance
7
Figure 7.14 Plug in the Relay Connector
Figure 7.15
common_TMonly
Figure 7.15 Cooling Fan Unit
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 361
7.4 Cooling Fan and Circulation Fan
2. Guide the fan cables through the provided hooks to hold the cables in place.
Figure 7.16
common_TMonly
A
A – Fan cable hook locations
Figure 7.16 Position the Fan Cables
3. Install the cooling fan unit while pulling the cables upward.
Note: Do not pinch the fan cable between parts when reassembling the fan unit.
Figure 7.17
common_TMonly
Figure 7.17 Install the Cooling Fan Unit
4. Guide the cables through the second set of provided hooks to hold the cables in place.
Figure 7.18
D
common_TMonly
B
A C
A – Cooling fan A C – Bend three times
B – Cooling fan B D – Bend twice
Figure 7.18 Cooling Fan Wire Routing
362 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
7.4 Cooling Fan and Circulation Fan
5. Thread the four fan unit screws into the proper holes approximately 2/3 of the way. Leave enough space to
reinsert the fan guard.
Figure 7.19
common_TMonly
A
A – Screw locations
Figure 7.19 Insert Cooling Fan Screws
6. Insert the fan guard and firmly tighten the screws so they do not come loose.
Figure 7.20
A common_TMonly
A – Screw locations
Figure 7.20 Reattach the Fan Guard
7. Turn on the power supply and set o4-03 to 0 to reset the Maintenance Monitor cooling fan operation time.
Periodic Inspection &
Maintenance
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 363
7.4 Cooling Fan and Circulation Fan
Cooling Fan Replacement: 20248, 40216 to 40414
WARNING! Electrical Shock Hazard. Do not connect or disconnect wiring while the power is on. Failure to comply can result in serious
personal injury. Before servicing the drive, disconnect all power to the equipment. The internal capacitor remains charged even after
the power supply is turned off. After shutting off the power, wait for at least the amount of time specified on the drive before touching
any components.
CAUTION! Burn Hazard. Do not touch a hot drive heatsink. Failure to comply could result in minor or moderate injury. Shut off the
power to the drive when replacing the cooling fan. To prevent burns, wait at least 15 minutes and ensure the heatsink has cooled
down.
NOTICE: Prevent Equipment Damage. Follow cooling fan and circulation fan replacement instructions. Improper fan replacement
could result in damage to equipment. Follow the instructions and replace the whole unit when replacing the cooling fan.
Removing the Fan Guard and Cooling Fan
1. Loosen the four screws that hold the fan guard in place.
Figure 7.21
common_TMonly
A – Screw locations
Figure 7.21 Loosen the Screws
2. Slide the fan guard toward the right to remove it from the drive.
Figure 7.22
common_
TMonly
Figure 7.22 Remove the Fan Guard
3. Release the cable from the hooks.
Note: Models 40302 to 40414 have four hooks.
Figure 7.23
common_TMonly
A – Hook locations
Figure 7.23 Free the Cable
364 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
7.4 Cooling Fan and Circulation Fan
4. Loosen the two screws affixing the cooling fan unit.
Figure 7.24
common_TMonly
Figure 7.24 Remove the Cooling Fan Unit
5. Unplug the relay connector and release the fan from the drive.
Figure 7.25
common_TMonly
Figure 7.25 Unplug the Relay Connector
Installing the Cooling Fan
1. Pass the cable through the opening of the replacement cooling fan unit from the back side, then plug the relay
connector.
Figure 7.26
Push the connectors together so
no space remains between them.
common_TMonly Periodic Inspection &
Maintenance
A – Opening
Figure 7.26 Attach the Relay Connector
Figure 7.27
20248, 40216, 40240 40302 to 40414 common_TMonly
7
Figure 7.27 Cooling Fan Unit
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 365
7.4 Cooling Fan and Circulation Fan
2. Install the cooling fan unit and place the cable back into position.
Note: 1. Replace the whole unit when performing maintenance on the cooling fans.
2. Install the cooling fan unit while pulling the cable upward so that the cable does not get pinched between parts.
Figure 7.28
common_TMonly
A
A – Pull the cable upward C – Hook
B – Bend three times
Figure 7.28 Install the Circulation Fan Unit
3. Thread the four fan unit screws into the proper holes approximately 2/3 of the way. Leave enough space to
reinsert the fan guard.
Figure 7.29
common_TMonly
A – Screw locations
Figure 7.29 Attach the Cooling Fan Unit
4. Reattach the fan cover and then tighten the screws firmly so that the screws do not come loose.
Figure 7.30
common_TMonly
Figure 7.30 Reattach the Fan Guard
366 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
7.4 Cooling Fan and Circulation Fan
Removing the Cooling Fan Unit
1. Loosen the five screws that hold the drive cover in place and free it from the drive.
CAUTION! Crush Hazard. Do not completely remove the cover screws, just loosen them. If the cover screws are removed completely,
the terminal cover may fall off causing an injury. Take special care when removing/reattaching the terminal covers for larger drives.
Figure 7.31
common_TMonly
A – Screw locations
Figure 7.31 Remove the Drive Cover
2. Unlock the two cable hooks.
Note: The circulation fan unit on models 40302 to 40414 is located on the right side of the drive.
Figure 7.32
common_TMonly
Figure 7.32 Unlock the Cable Hooks
3. Unplug the relay connectors and free the cable from the hooks.
Figure 7.33
Periodic Inspection &
Maintenance
common_TMonly
Figure 7.33 Unplug the Relay Connector
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 367
7.4 Cooling Fan and Circulation Fan
4. Loosen the three screws, then slide the cooling fan unit up and carefully pull it out.
Figure 7.34
A
common_TMonly
A – Screw locations
Figure 7.34 Removing the Circulation Fan Unit
Installing the Cooling Fan Unit
CAUTION! Crush Hazard. Do not completely remove the cover screws, just loosen them. If the cover screws are removed completely,
the terminal cover may fall off causing an injury. Take special care when removing/reattaching the terminal covers for larger drives.
1. Reverse the procedure described above to install the replacement cooling fan unit.
Note: 1. Replace the whole unit when performing maintenance on the cooling fans.
2. Place the cables back into the hooks to secure.
3. Do not pinch the fan cable between parts when reassembling the fan unit.
4. Tighten the screws firmly so they do not come loose.
Figure 7.35
common_TMonly
Figure 7.35 Installing the Circulation Fan Unit
2. Turn on the power supply and set o4-03 to 0 to reset the Maintenance Monitor cooling fan operation time.
368 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
7.5 Drive Replacement
7.5 Drive Replacement
Serviceable Parts
The drive contains some serviceable parts. The following parts can be replaced over the life span of the drive:
• Terminal board I/O PCBs
• Cooling fans/Cooling fan unit
• Front cover
Replace the drive if the main power circuitry is damaged. Contact your local Yaskawa representative before replacing
parts if the drive is still under warranty. Yaskawa reserves the right to replace or repair the drive according to Yaskawa
warranty policy.
Terminal Board
The drive has a modular I/O terminal block that facilitates quick drive replacement. The terminal board contains
on-board memory that stores all drive parameter settings and allows the parameters to be saved and transferred to the
replacement drive. To transfer the terminal board, disconnect the terminal board from the damaged drive and reconnect it
to the replacement drive. There is no need to manually reprogram the replacement drive after transferring the terminal
board.
Note: If the damaged drive and the new replacement drive are have different capacities, the data stored in the terminal board cannot be
transferred to the new drive and an oPE01 error will appear on the display. The terminal board can still be used, but parameter
setting from the old drive cannot be transferred. The replacement drive must be initialized and manually programmed.
Figure 7.36
common_TMonly
Periodic Inspection &
Maintenance
A – Terminal board locking screws B – Removable terminal board
7
Figure 7.36 Terminal Board
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 369
7.5 Drive Replacement
Replacing the Drive
WARNING! Electrical Shock Hazard. Do not connect or disconnect wiring while the power is on. Failure to comply can result in serious
personal injury. Before servicing the drive, disconnect all power to the equipment. The internal capacitor remains charged even after
the power supply is turned off. After shutting off the power, wait for at least the amount of time specified on the drive before touching
any components.
WARNING! Electrical Shock Hazard. Do not allow unqualified personnel to perform work on the drive. Failure to comply could result in
serious injury. Installation, maintenance, inspection and servicing must be performed only by authorized personnel familiar with
installation, adjustment and maintenance of AC drives.
NOTICE: Damage to Equipment. Observe proper electrostatic discharge procedures (ESD) when handling the drive and circuit
boards. Failure to comply may result in ESD damage to the drive circuitry.
The following procedure explains how to replace a drive. This section provides instructions for drive replacement only.
To install option boards or other types of options, then refer to the specific manuals for those options.
NOTICE: When transferring an option from a damaged drive to a new replacement drive, make sure it is working properly before
reconnecting it to the new drive. Replace broken options to prevent immediate breakdown of the replacement drive.
1. Remove the terminal cover.
Figure 7.37
YEG_
TMon
ly
Figure 7.37 Remove the Terminal Cover
2. Loosen the screws holding the terminal board in place. Remove the screw securing the bottom cover and
remove the bottom cover from the drive.
Figure 7.38
YEG_
TMon
ly
Figure 7.38 Unscrew the Terminal Board
370 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
7.5 Drive Replacement
3. Slide the terminal board as illustrated by the arrows in Figure 7.39 to remove it from the drive along with the
bottom cover.
Figure 7.39
YEG_
TMon
ly
Figure 7.39 Remove the Terminal Board
Figure 7.40
YEG_
TMon
ly
Figure 7.40 Disconnected Removable Terminal Board
4. Disconnect all option cards and options. Make sure they are intact before reusing them.
5. Replace the drive and wire the main circuit.
Installing the Drive
1. After wiring the main circuit, connect the terminal block to the drive as shown in Figure 7.41. Use the installation
screw (M3: 0.49 - 0.73 Nm) to fasten the terminal block into place.
Figure 7.41
YEG_
TMon
ly
Periodic Inspection &
Maintenance
Figure 7.41 Install the Terminal Board
2. Reconnect options for the new drive the same way the options were connected in the old drive. Connect option
boards to the same option ports in the new drive that were used in the old drive.
3. Replace the terminal cover.
4. After powering on the drive, all parameter settings are transferred from the terminal board to the drive memory. If 7
an oPE04 error occurs, load the parameter settings saved on the terminal board to the new drive by setting
parameter A1-03 to 5550. Reset the Maintenance Monitor function timers by setting parameters o4-01 through
o4-12 to 0, and parameter o4-13 to 1.
Note: 1. When replacing a previous generation product with U1000, do not use the previous generation terminal board.
2. Set the correct value in o2-04. Refer to Defaults by Drive Model Selection (o2-04) and ND/HD (C6-01) on page 469 for details.
3. Contact Yaskawa or a Yaskawa representative for instructions on replacing the terminal board. Improperly replacing the terminal
board will result in drive malfunction.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 371
7.5 Drive Replacement
372 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
8
Peripheral Devices & Options
This chapter explains the installation of peripheral devices and options available for the drive.
8.1 SECTION SAFETY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 374
8.2 DRIVE OPTIONS AND PERIPHERAL DEVICES. . . . . . . . . . . . . . . . . . . . . . . . . 376
8.3 CONNECTING PERIPHERAL DEVICES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 377
8.4 OPTION CARD INSTALLATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 378
8.5 INSTALLING PERIPHERAL DEVICES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 388
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 373
8.1 Section Safety
8.1 Section Safety
DANGER
Electrical Shock Hazard
Do not connect or disconnect wiring while the power is on.
Failure to comply will result in death or serious injury.
The capacitor for the control power supply remains charged even after the power supply is turned off. After shutting off
the power, wait for at least the amount of time specified on the drive before touching any components.
WARNING
Electrical Shock Hazard
Do not operate equipment with covers removed.
Failure to comply could result in death or serious injury.
The diagrams in this section may show drives without covers or safety shields to show details. Be sure to reinstall
covers or shields before operating the drives and run the drives according to the instructions described in this manual.
Do not remove covers or touch circuit boards while the power is on.
Failure to comply could result in death or serious injury.
Do not allow unqualified personnel to perform work on the drive.
Failure to comply could result in death or serious injury.
Installation, maintenance, inspection and servicing must be performed only by authorized personnel familiar with
installation, adjustment and maintenance of AC drives.
Do not perform work on the drive while wearing loose clothing, jewelry or without eye protection.
Failure to comply could result in death or serious injury.
Remove all metal objects such as watches and rings, secure loose clothing and wear eye protection before beginning
work on the drive.
Always ground the motor-side grounding terminal.
Improper equipment grounding could result in death or serious injury by contacting the motor case.
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.
374 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
8.1 Section Safety
NOTICE
Observe proper electrostatic discharge procedures (ESD) when handling the drive and circuit boards.
Failure to comply may result in ESD damage to the drive circuitry.
Never connect or disconnect the motor from the drive while the drive is outputting voltage.
Improper equipment sequencing could result in damage to the drive.
If a fuse is blown or equipment for residual current monitoring/detection (RCM/RCD) is tripped, check the
wiring and the selection of the peripheral devices.
Contact your supplier if the cause cannot be identified after checking the above.
Do not restart the drive or immediately operate the peripheral devices if a fuse is blown or equipment for
residual current monitoring/detection (RCM/RCD) is tripped.
Check the wiring and the selection of peripheral devices to identify the cause.
Contact your supplier before restarting the drive or the peripheral devices if the cause cannot be identified.
Peripheral Devices &
Options
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 375
8.2 Drive Options and Peripheral Devices
8.2 Drive Options and Peripheral Devices
Table 8.1 lists the names of the various accessories and options available for Yaskawa drives. Contact Yaskawa or your
Yaskawa agent to order these peripheral devices.
• Peripheral Device Selection: Refer to the Yaskawa catalog for selection and part numbers.
• Peripheral Device Installation: Refer to the corresponding option manual for installation instructions.
Table 8.1 Available Peripheral Devices
Option Model Number Description
Input / Output Option Cards
Allows high precision, high resolution analog reference input.
Input channels: 3
Analog Input AI-A3
Voltage input: -10 to 10 Vdc (20 k), 13 bit signed
Current input: 4 to 20 mA or 0 to 20 mA (250 ), 12 bit
Provides extra multi-function analog output terminals.
Analog Monitor AO-A3 Output channels: 2
Output voltage: -10 to 10 V, 11 bit (signed)
Used to set the frequency reference by digital inputs
Input channels: 18 (including SET signal and SIGN signal)
Digital Input DI-A3
Input signal type: BCD 16 bit (4 digit), 12 bit (3 digit), 8 bit (2 digit)
Input signal: 24 Vdc, 8 mA
Provides extra insulated multi-function digital outputs.
Digital Output DO-A3 Photocoupler relays: 6 (48 V, up to 50 mA)
Contact relays: 2 (250 Vac/up to 1 A, 30 Vdc/up to 1 A)
Motor Speed Feedback Option Cards
For speed feedback input by connecting a motor encoder
Input: 3 track (can be used with one or two tracks), for HTL encoder connection,
Motor PG Feedback Open Collector
PG-B3 50 kHz max
Interface
Output: 3 track, open collector
Encoder power supply: 12 V, max current 200 mA
For speed feedback input by connecting a motor encoder
Motor PG Feedback Line Driver Input: 3 track (can be used with one or two tracks), line driver, 300 kHz max
PG-X3
Interface Output: 3 track, line driver
Encoder power supply: 5 V or 12 V, max current 200 mA
For speed feedback input by connecting a motor encoder.
Encoder type: EnDat 2.1/01, EnDat 2.2/01, and EnDat 2.2/22 (HEIDENHAIN),
HIPERFACE (SICK STEGMANN)
Maximum input frequency: 50 kHz
EnDat Encoder PG-F3 Pulse monitor: Matches RS-422 level
Output voltage: 5 V5%, 8 V10%
Maximum output current: 200 mA
Wiring length: 20 m max. for the encoder, 30 m max. for the pulse monitor
Note: This option card can only be used in CLV/PM.
For motor speed feedback by connecting a resolver (TS2640N321E64 by
Tamagawa Seiki Co., LTD).
Motor Feedback Resolver Interface PG-RT3 Input voltage: 7 Vac rms 10 kHz
Transformation ratio: 0.5 ± 5%
maximum input current: 100 mA rms
Communication Options Cards
PROFIBUS-DP SI-P3 Connects to a PROFIBUS-DP network.
CC-Link SI-C3 Connects to a CC-Link network
DeviceNet SI-N3 Connects to a DeviceNet network
CANopen SI-S3 Connects to a CANopen network
MECHATROLINK-II SI-T3 Connects to a MECHATROLINK-II network
MECHATROLINK-III SI-ET3 Connects to a MECHATROLINK-III network.
EtherNet/IP SI-EN3 Connects to an EtherNet/IP network
Modbus TCP/IP SI-EM3 Connects to a Modbus TCP/IP network
LONWORKS SI-W3 Connects to a LONWORKS network
Interface Options
LED Operator JVOP-182 5-digits LED operator with Copy function
Extension cable (1 m or 3 m) to connect the digital operator for remote operation
Remote Operator Cable WV001/WV003
RJ-45, 8 pin straight through, UTP CAT5e cable
Allows the user to copy and verify parameter settings between drives. Can also be
USB Copy Unit JVOP-181
used as an adapter to connect the drive to the USB port on a PC.
PC Software Tools
DriveWizard Plus Contact Yaskawa PC tool for drive setup and parameter management
DriveWorksEZ Contact Yaskawa PC tool for enhanced programming of the drive
376 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
8.3 Connecting Peripheral Devices
8.3 Connecting Peripheral Devices
Figure 8.1 illustrates how to configure the drive and motor to operate with various peripheral devices.
For more detailed instructions on how to install each device shown below, refer to the specific manual for that device.
Figure 8.1
Engineering Software Tools
DriveWizard
DriveWorksEZ
LED Operator/LCD Operator
Power
YASKAWA
USB Copy Unit
ERR
Supply
COM
JVOP-181
LOCK
py rify ad
Co Ve Re
USB USB Cable
Line (Type-AB)
Breaker Copy unit
(MCCB) PC
Surge
or Absorber
Equipment for USB Cable
Residual Current (Type-AB, sold separately)
Monitoring/Detection U1000
(RCM/RCD)
Magnetic
Contactor
(MC)
Momentary
Power Loss
Recovery Unit
Zero-phase
Reactor
Ground
p1 n1 R/L1 S/L2 T/L3 U/T1 V/T2 W/T3
Motor
YEG_
Magnetic
Contactor TMonly
(switches to
line power) Ground
Figure 8.1 Connecting Peripheral Devices
Note: Note that if the drive is set to trigger a fault output whenever the fault restart function is activated (L5-02 = 1), then a sequence to
interrupt power when a fault occurs will result in shutting off the power to the drive as the drive attempts to restart itself. The
default setting for L5-02 is 0 (fault output active during restart attempt).
Peripheral Devices &
Options
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 377
8.4 Option Card Installation
8.4 Option Card Installation
This section provides instructions on installing the option cards listed in Table 8.1.
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 Table 8.2 for information on wiring and connecting the drive.
Table 8.2 below lists the number of option cards that can be connected to the drive and the drive connectors for
connecting those option cards.
Table 8.2 Option Card Installation
Option Card Connector Number of Cards Possible
PG-B3, PG-X3 CN5-C 2 <1>
PG-RT3 <2>, PG-F3 <2> CN5-C 1
DO-A3, AO-A3 CN5-A, B, C 1
SI-C3, SI-EM3, SI-EN3, SI-EP3, SI-ET3, SI-N3, SI-P3,
CN5-A 1
SI-S3, SI-T3, SI-W3, AI-A3, DI-A3
<1> If two PG option cards are connected, use both CN5-B and CN5-C. If only one PG option card is connected to the drive, use the CN5-C
connector.
<2> These option cards are not available for the application with Motor 2 Selection.
Figure 8.2 shows an exploded view of the drive with the option and related components for reference.
Figure 8.2
A
B D
C
K E
J
I
H
F
G
common_
TMonly
A – Insertion point for CN5 G – Ground wire
B – Option card H – Drive grounding terminal (FE)
C – Included screws I – Connector CN5-A
D – Front cover J – Connector CN5-B
E – Digital operator K – Connector CN5-C
F – Terminal cover
Figure 8.2 Drive Components with Option
378 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
8.4 Option Card Installation
Installing the Option
Refer to the instructions below to install the option.
DANGER! Electrical Shock Hazard. Disconnect all power to the drive and wait at least the amount of time specified on the drive front
cover safety label. After all indicators are off, measure the control power supply voltage to confirm safe level, and check for unsafe
voltages before servicing to prevent electric shock. The capacitor for the control power supply remains charged even after the power
supply is turned off.
WARNING! Electrical Shock Hazard. Do not allow unqualified personnel to perform work on the drive. 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 AC drives and Option Cards.
NOTICE: Damage to Equipment. Observe proper electrostatic discharge procedures (ESD) when handling the option card, drive, and
circuit boards. Failure to comply may result in ESD damage to circuitry.
NOTICE: Damage to Equipment. Tighten all terminal screws to the specified tightening torque. Failure to comply may cause the
application to operate incorrectly or damage the drive.
1. Shut off power to the drive, wait the appropriate amount of time for voltage to dissipate, then remove the digital
operator (E) and front covers (D, F). Refer to Digital Operator and Front Cover on page 67.
Figure 8.3
common_
TMonly
Figure 8.3 Remove the Front Covers and Digital Operator
2. Insert the option card (B) into the CN5-A (I), CN5-B (J), or CN5-C (K) connectors located on the drive and fasten
it into place using one of the included screws (C).
Use both CN5-B and CN5-C when connecting two options.
Figure 8.4
B
C
Peripheral Devices &
K
J
Options
8
common_
TMonly
Figure 8.4 Insert the Option Card
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 379
8.4 Option Card Installation
3. Connect one end of the ground wire (G) to the ground terminal (H) using one of the remaining screws (C).
Connect the other end of the ground wire (G) to the remaining ground terminal and installation hole on the option
(B) using the last remaining provided screw (C).
Figure 8.5
G
common_
TMonly
Figure 8.5 Connect the Ground Wire
Note: 1. The option package includes two ground wires. Use the longer wire when plugging the option into connector CN5-C on the drive
side. Use the shorter wire when plugging the option into connector
CN5-B. Refer to the option card instruction manual for more information.
2. There are two screw holes on the drive for use as ground terminals (H). When connecting three options, two ground wires will need
to share the same drive ground terminal.
4. Prepare and connect the wire ends as shown in Figure 8.6 and Figure 8.7. Refer to Wire Gauges and
Tightening Torques on page 382 to confirm that the proper tightening torque is applied to each terminal. Take
particular precaution to ensure that each wire is properly connected and wire insulation is not accidentally
pinched into electrical terminals.
WARNING! Fire Hazard. Tighten all terminal screws according to the specified tightening torque. Loose electrical connections could
result in death or serious injury by fire due to overheating electrical connections. Tightening screws beyond the specified tightening
torque may result in erroneous operation, damage to the terminal block, or cause a fire.
NOTICE: Heat shrink tubing or electrical tape may be required to ensure that cable shielding does not contact other wiring. Insufficient
insulation may cause a short circuit and damage the option or drive.
Figure 8.6
Shield Insulation
PG at motor
PG option terminal
B3
Ground Terminal
FE/SD Shield sheath
(Insulate with electrical tape
common_
or shrink tubing) TMonly
Figure 8.6 Preparing Ends of Shielded Cable
Figure 8.7
Preparing wire ends: Screwdriver blade size
Pull back the shielding and lightly
twist the end with fingers, keeping
the ends from fraying.
Blade depth of
0.4 mm or less
about 5.5 mm (7/32”)
When not using Blade width of
crimped insulated 2.5 mm or less
sleeves
Loosen the screws and
insert the wire into the
Option terminal block
opening on the terminal block.
Shielded cable common_
(do not solder ends)
TMonly
Figure 8.7 Preparing and Connecting Cable Wiring
380 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
8.4 Option Card Installation
5. For the PG-B3 and PG-X3 Option, wire the motor PG encoder to the terminal block. Refer to Figure 8.8 and
Figure 8.12 for wiring instructions.
Refer to Terminal Functions on page 382 for a detailed description of the option terminal functions.
Connecting PG-B3 Option
Parameter Settings and Connections for Different Encoder Types
• Connecting a Single-Pulse Encoder
When using a single-pulse encoder in V/f with PG control mode, connect the pulse output from the PG to the option
and set drive parameter F1-21 to 0.
• Connecting a Two-Pulse Encoder
When using a two-pulse encoder, connect the A and B pulse outputs on the PG to the option and set F1-21 to 1.
When using a two-pulse encoder in Closed Loop Vector control mode, connect pulse outputs A and B from the encoder
to the corresponding terminals on the option.
• Connecting a Two-Pulse Encoder with Z Marker Pulse
When using a two-pulse encoder with Z marker pulse, connect the A, B, and Z pulse outputs to the corresponding
terminals on the option.
Control Method V/f with PG Closed Loop Vector
No. of Encoders 1 (CN5-C) 2 (CN5-B) 1 (CN5-C) 2 (CN5-B)
Single Pulse (A) F1-21 = 0 F1-37 = 0 N/A N/A
Two Pulse (AB Quadrature) F1-21 = 1 F1-37 = 1 No setting required No setting required
Two Pulse with Marker (ABZ) F1-21 = 1 F1-37 = 1 No setting required No setting required
Connection Diagram of PG-B3
Refer to Table 8.3 for a detailed description of the option board terminal functions.
Refer to Wire Gauges and Tightening Torques on page 382 for information on making cables.
R/L1 U/T1
S/L2 V/T2 M
T/L3 W/T3
YASKAWA TB1
Drive PGB3 3
A+
Option 4
A
5
B+
6 PG
B
Z+
Z
SD
NC
FE E
<1>
TB2
1
IP
IG 2
CN5 AO
IG A pulse monitor signal
Peripheral Devices &
BO
B pulse monitor signal
IG
ZO Z pulse monitor signal
FE IG
Options
Ground wire
Twisted-pair shielded line common_
Main circuit terminal Control circuit terminal
TMonly 8
<1> Ground the shield on the PG side and the drive side. If noise problems arise in the PG signal, remove the shield ground from one end of the
signal line or remove the shield ground connection on both ends.
Figure 8.8 PG-B3 Option and Encoder Connection Diagram
Note: The PG-B3 Option reads a maximum input frequency from the PG encoder of 50 kHz. Be sure to select a PG encoder with an
output pulse frequency of maximum 50 kHz when operating at maximum speed.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 381
8.4 Option Card Installation
Take the following steps to prevent erroneous operation caused by noise interference:
• Use shielded wire for the PG encoder signal lines.
• Limit the length of all motor output power cables to less than 100 m. Limit the length of open-collector output lines to
less than 50 m.
• Use separate conduit or cable tray dividers to separate option control wiring, main circuit input power wiring, and
motor output power cables.
Interface Circuit
• Complementary Output
Figure 8.8
PG-B3 IP Vcc PG Encoder
12 V
330 Ω A+,B+,Z+ A,B,Z
470 Ω A-,B-,Z- 0V
330 Ω
IG 0V
AO,BO,ZO
IG
Monitor Signals common_
TMonly
Figure 8.9 Complementary Outputs for the Interface Circuit
• Open-Collector Outputs
Figure 8.9
PGB3 IP Vcc
12 V PG Encoder
330 Ω A+,B+,Z+
470 Ω A,B,Z
A,B,Z
330 Ω
IG 0V
AO,BO,ZO
IG
Monitor Signals common_
TMonly
Figure 8.10 Open-Collector Outputs for the Interface Circuit
Terminal Functions
Table 8.3 Option Terminal Functions
Terminal Block Terminal Function Description
TB1
A+ A+ pulse signal input
A– A– pulse signal input • Pulse signal inputs from the PG.
B+ B+ pulse signal input • Signal inputs from complementary and open-collector outputs
A+ A- B+ B- Z+ Z-
• Signal level
B– B– pulse signal input
IP IG
TB1 H level: 8 to 12 V
Z+ Z+ pulse signal input L level: 2.0 V or less
Z– Z– pulse signal input
SD NC pin (open) For use when cables shields should not be grounded
AO IG BO IG ZO IG
FE Ground Used for grounding shielded lines
IP PG power supply • Output voltage: 12.0 V ± 5%
SD FE
IG PG power supply common • Max output current: 200 mA <1>
AO A pulse monitor signal
• Outputs the monitor signal for the A, B, and Z pulses from the PG speed
TB2 BO B pulse monitor signal control card
ZO Z pulse monitor signal • For open collector outputs from the option
• Max voltage: 24 V
TB2 IG Monitor signal common • Max current: 30 mA
<1> A separate UL Listed class 2 power supply is necessary when the PG requires more than 200 mA to operate.
Wire Gauges and Tightening Torques
Wire gauge and torque specifications are listed in Table 8.4. For simpler and more reliable wiring, use crimp ferrules on
the wire ends. Refer to the option manuals for the wire size and torque specifications of other options.
382 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
8.4 Option Card Installation
Table 8.4 Wire Gauges and Tightening Torques
Bare Cable Crimp Terminals
Screw Tightening Torque
Terminal Signal Nm Applicable Wire Applicable Wire Wire Type
Size Recomm. Wire Size Size Recomm. Wire Size Size
(inlb) mm2 mm2
mm2 mm2
A+, A–, B+, Stranded wire:
Shielded twisted
B–, Z+, Z–, 0.25 to 1.0
pair, etc.
FE, IP, IG 0.22 to 0.25 0.75 (24 to 17 AWG) 0.5 0.25 to 0.5
M2
(1.95 to 2.21) (18 AWG) Solid wire: (20 AWG) (24 to 20 AWG)
AO, IG, BO, 0.25 to 1.5 Shielded cable,
IG, ZO, IG (24 to 16 AWG) etc.
Crimp Terminals
Yaskawa recommends using CRIMPFOX 6 by Phoenix Contact or equivalent crimp terminals with the specifications
listed in Table 8.5 for wiring to ensure proper connections.
Note: Properly trim wire ends so loose wire ends do not extend from the crimp terminals.
Table 8.5 Crimp Terminal Sizes
Wire Size L d1 d2
mm2 Phoenix Contact Model mm (in) mm (in) mm (in)
0.25 (24 AWG) AI 0.25 - 6YE 10.5 (13/32) 0.8 (1/32) 2 (5/64)
0.34 (22 AWG) AI 0.34 - 6TQ 10.5 (13/32) 0.8 (1/32) 2 (5/64)
d1 6 mm d2
L 0.5 (20 AWG) AI 0.5 - 6WH 14 (9/16) 1.1 (3/64) 2.5 (3/32)
PG Encoder Cables for PG-B3 Option
Yaskawa recommends using an LMA-B-S185Y (complementary output) for cables running between the PG-B3
Option and the PG as show in Figure 8.11.
For instructions on wiring the terminal block, refer to Table 8.3.
Figure 8.10
TB1 TB2
A+ A- B+ B- Z+ Z- SD FE IP IG AO IG BO IG ZO IG
3 4 5 6 E 1 2
TA1 A G
B H F
PG encoder side
C E
D
common_
Pin)
TMonly
Figure 8.11 Wiring PG Encoder Cable
Table 8.6 Connecting the PG Encoder Cable Specification
PG Encoder Cable
Option Terminal
Wire Color Pin
Peripheral Devices &
IP 1 Blue C
IG 2 White H
A+ 3 Yellow B
A– 4 White G
Options
B+ 5 Green A
B– 6 White F
FE E N/A (shield) D
8
Table 8.7 PG Encoder Cable Types
Length Type Length Type
10 m (32 ft.) W5010 50 m (164 ft.) W5050
30 m (98 ft.) W5030 100 m (328 ft.) W5100
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 383
8.4 Option Card Installation
Connecting PG-X3 Option
Parameter Settings and Connections for Different Encoder Types
• Connecting a Single-Pulse Encoder
When using a single-pulse encoder in V/f with PG control mode, connect the pulse output from the PG to the option
and set drive parameter F1-21 to 0.
• Connecting a Two-Pulse Encoder
When using a two-pulse encoder, connect the A and B pulse outputs on the PG to the option and set F1-21 to 1.
When using a two-pulse encoder in Closed Loop Vector control mode, connect pulse outputs A and B from the encoder
to the corresponding terminals on the option.
• Connecting a Two-Pulse Encoder with Z Marker Pulse
When using a two-pulse encoder with Z marker pulse, connect the A, B, and Z pulse outputs to the corresponding
terminals on the option.
When using a two-pulse encoder in CLV/PM control mode, connect pulse outputs A and B from the encoder to the
corresponding terminals on the option.
Control Method V/f with PG Closed Loop Vector
No. of Encoders 1 (CN5-C) 2 (CN5-B) 1 (CN5-C) 2 (CN5-B)
Single Pulse (A) F1-21 = 0 F1-37 = 0 N/A N/A
Two Pulse (AB Quadrature) F1-21 = 1 F1-37 = 1 No setting required No setting required
Two Pulse with Marker (ABZ) F1-21 = 1 F1-37 = 1 No setting required No setting required
Connection Diagram of PG-X3
Refer to Table 8.8 for a detailed description of the option board terminal functions.
The positioning of jumper CN3 selects the PG encoder power supply voltage (5.5 V or 12 V). Select the voltage level for
the PG encoder connected to the option and motor. If the wrong voltage is selected, the PG encoder may not operate
properly or may become damaged as a result.
Refer to Setting the PG Encoder Power Supply Voltage on page 385 for details.
R/L1 U/T1
S/L2 V/T2 M
T/L3 W/T3
TB1
YASKAWA
Drive PGX3 A+
Option A
B+
PG
B
Z+
Z
SD
NC
FE
<1>
CN3
IP12 TB2
IP5 IP
IG IG
SG
CN5-B a+
A pulse monitor signal
or a
CN5-C b+
B pulse monitor signal
b
z+
Z pulse monitor signal
FE z
Ground wire
twisted-pair shielded line
common_
main circuit terminal control circuit terminal TMonly
<1> Ground the shield on the PG side and the drive side. If noise problems arise in the PG signal, remove the shield ground from one end of the
signal line or remove the shield ground connection on both ends.
Figure 8.12 PG-X3 Option and PG Encoder Connection Diagram
Note: The PG-X3 Option reads a maximum input frequency from the PG of 300 kHz. Be sure to select a PG with an output pulse
frequency of maximum 300 kHz when operating at maximum speed.
384 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
8.4 Option Card Installation
Take the following steps to prevent erroneous operation caused by noise interference:
• Use shielded wire for the PG encoder signal lines.
• Use separate conduit or cable tray dividers to separate option control wiring, main circuit input power wiring, and
motor output power cables.
Interface Circuit
Figure 8.11
PGX3 PG Encoder
A+,B+,Z+ A,B,Z
600 Ω
A,B,Z
26LS32 level A,B,Z 26LS31 level
a+,b+,z+
a,b,z
Monitor Signals
26LS31 level SG common_
TMonly
Figure 8.13 Interface Circuit (PG-X3)
Terminal Functions
Table 8.8 Option Terminal Functions
Terminal Block Terminal Function Description
A+ A+ pulse signal input
A– A– pulse signal input
TB1TB1
B+ B+ pulse signal input • Inputs for the A channel, B channel, and Z pulses from the PG encoder
B– B– pulse signal input • Signal level matches RS-422
A+ A− B+ B− Z+ Z−
A+ A− B+ B− Z+ Z−
TB1 Z+ Z+ pulse signal input
IP IG
IP IG
Z– Z– pulse signal input
Open connection connectors for use when cable shields should not be
SD NC pin (open)
grounded
SG a+ a− b+ b− z+ z−
SG a+ a− b+ b− z+ z−
FE Ground Used as the shield ground termination point.
IP PG encoder power supply • Output voltage: 12.0 V ± 5% or 5.5 V ± 5%
IG PG encoder power supply common • Max. output current: 200 mA <1>
SD FE
SD FE
SG Monitor signal common
a+ A+ pulse monitor signal
TB2 a– A- pulse monitor signal • Output signal for monitoring A channel, B channel, and Z pulses from the
b+ B+ pulse monitor signal PG encoder
TB2 b– B- pulse monitor signal • Signal level matches RS-422
TB2
z+ Z+ pulse monitor signal
z– Z- pulse monitor signal
<1> A separate UL Listed class 2 power supply is necessary when the PG requires more than 200 mA to operate.
Setting the PG Encoder Power Supply Voltage
For the PG-X3 Option, set the voltage for the PG encoder power supply using jumper CN3 located on the option.
NOTICE: The positioning of jumper CN3 selects the PG encoder power supply voltage (5.5 V or 12 V). Select the voltage level for the
PG encoder connected to the option and motor. If the wrong voltage is selected, the PG encoder may not operate properly or may
become damaged as a result.
Table 8.9 Setting the PG Encoder Power Supply Voltage (IP) with Jumper CN3
Voltage Level 5.5 V ± 5% (default) 12.0 V ± 5%
5.5 V 12 V 5.5 V 12 V
Peripheral Devices &
CN3 CN3
Jumper CN3
Options
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 385
8.4 Option Card Installation
Wire Gauges and Tightening Torques
Wire gauge and torque specifications are listed in Table 8.10. For simpler and more reliable wiring, use crimp ferrules on
the wire ends. Refer to the option manuals for the wire size and torque specifications of other options.
Table 8.10 Wire Gauges and Tightening Torques
Tightening Torque Bare Cable Crimp Terminals
Screw
Terminal Signal Size
Nm Recomm. Gauge Applicable Gauges Recomm. Gauge Applicable Gauges Wire Type
(inlb) mm2 mm2 mm2 mm2
A+, A–, B+, Stranded wire:
Shielded twisted
B–, Z+, Z–, 0.25 to 1.0
pair, etc.
SD, FE, IP, IG 0.22 to 0.25 0.75 (24 to 17 AWG) 0.5 0.25 to 0.5
M2
(1.95 to 2.21) (18 AWG) Solid wire: (20 AWG) (24 to 20 AWG)
a+, a–, b+, 0.25 to 1.5 Shielded cable,
b–, z+, z–, SG (24 to 16 AWG) etc.
Crimp Terminals
Yaskawa recommends using CRIMPFOX 6 by Phoenix Contact or equivalent crimp terminals with the specifications
listed in Table 8.11 for wiring to ensure proper connections.
Note: Properly trim wire ends so loose wire ends do not extend from the crimp terminals.
Table 8.11 Crimp Terminal Sizes
Wire Gauge L d1 d2
mm2 Phoenix Contact Model mm (in) mm (in) mm (in)
0.25 (24 AWG) AI 0.25 - 6YE 10.5 (13/32) 0.8 (1/32) 2 (5/64)
0.34 (22 AWG) AI 0.34 - 6TQ 10.5 (13/32) 0.8 (1/32) 2 (5/64)
d1 6 mm d2
L 0.5 (20 AWG) AI 0.5 - 6WH 14 (9/16) 1.1 (3/64) 2.5 (3/32)
6. Route the option wiring.
Route the wiring inside the enclosure as shown in Figure 8.14
Figure 8.12
common_
TMonly
Figure 8.14 Wire Routing Examples
386 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
8.4 Option Card Installation
7. Replace and secure the front covers of the drive (D, F) and replace the digital operator (E).
Figure 8.13
common_
TMonly
Figure 8.15 Replace the Front Covers and Digital Operator
Note: Take proper precautions when wiring the option so that the front covers will easily fit back onto the drive. Make sure cables are
not pinched between the front covers and the drive when replacing the covers.
8. For the PG-B3 and PG-X3 Option, set drive parameters for proper motor rotation.
With a two-pulse or three-pulse PG encoder, the leading pulse determines the motor rotation direction. A PG
encoder signal with leading A pulse followed by a B pulse displaced at 90 degrees is considered to be rotating
forward (counterclockwise when viewing rotation from motor load side).
Figure 8.14
The A pulse leads, followed
by the B pulse displaced at 90 degrees
A pulse
B pulse common_
Time TMonly
Figure 8.16 Displacement of A and B Pulses
After connecting the PG encoder outputs to the option, apply power to the drive and manually rotate the motor
and check the rotation direction by viewing monitor U1-05 on the digital operator.
Reverse motor rotation is indicated by a negative value for U1-05; forward motor rotation is indicated by a
positive value.
If monitor U1-05 indicates that the forward direction is opposite of what is intended, set F1-05 or F1-32 to 1, or
reverse the two A pulse wires with the two B pulse wires on option terminal TB1 as shown in Figure 8.17.
Figure 8.15
B3
A+ A- B+ B- Z+ Z- A+ A- B+ B- Z+ Z-
Peripheral Devices &
3 4 5 6 5 6 3 4 common_
TMonly
Options
Figure 8.17 A Channel and B Channel Wire Switching
If switching the wires is inconvenient, set drive parameter F1-05/F1-32 to 1 to switch the direction of how the
option reads pulses from the PG encoder output.
Please note that when the drive is initialized using A1-03 =1110, 2220, 3330, the value for F1-05/F1-32 will reset 8
to factory default and the parameter will need to be adjusted again to switch the direction. However, when F1-05
and F1-32 are saved as User Parameters (o2-03 = 1) and the User Parameter settings are initialized using
A1-03 = 1110, the values for F1-05 and F1-32 are not reset.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 387
8.5 Installing Peripheral Devices
8.5 Installing Peripheral Devices
This section describes the proper steps and precautions to take when installing or connecting various peripheral devices
to the drive.
NOTICE: Use a class 2 power supply (UL standard) when connecting to the control terminals. Improper application of peripheral
devices could result in drive performance degradation due to improper power supply.
Installing a Molded Case Circuit Breaker (MCCB) and Equipment for Residual
Current Monitoring/Detection (RCM/RCD)
Install an MCCB or an RCM/RCD for line protection between the power supply and the main circuit power supply input
terminals R/L1, S/L2, and T/L3. This protects the main circuit and devices wired to the main circuit while also providing
overload protection.
Consider the following when selecting and installing a MCCB or an RCM/RCD:
• The capacity of the MCCB or RCM/RCD should be 1.5 to 2 times the rated output current of the drive. Use an MCCB
or an RCM/RCD with operation characteristics so that the MCCB or RCM/RCD does not trip faster than the drive
overload protection (shuts off the drive after 1 min. operation at 150% of the drive rated current).
• If several drives are connected to one MCCB or RCM/RCD, use a sequence that shuts the power OFF when an error
occurs in one drive by using a magnetic contactor (MC) as shown in the following figure.
Figure 8.16
A MCCB or RCM/RCD MC
R/L1
S/L2
T/L3 YEG_TMo
MC
MB nly
C MC
MC
A – Power supply C – Control Power Supply
B – Drive
Figure 8.18 Power Supply Interrupt Wiring (Example)
WARNING! Electrical Shock Hazard. Switch off and lock the MCCB (or RCM/RCD) and MC before wiring terminals. Failure to comply
may result in serious injury or death.
Installing a Residual Current Monitoring Device
Residual currents occurring in drive installations can contain AC, DC and high frequency components that may prevent a
normal RCM/RCD from tripping. If an RCM/RCD is required in the installation, always use all current sensitive RCM/
RCD (Type B according to IEC/EN 60755) to ensure proper ground fault interruption.
Leakage currents generated by the drive during normal operation may trip an RCM/RCD even if a ground fault is not
present.
Factors that influence the leakage current are:
• Size of the AC drive
• AC drive carrier frequency
• Motor cable type and length
• EMI/RFI filter
If the RCM/RCD trips spuriously consider changing these items or use an RCM/RCD with a higher trip level.
388 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
8.5 Installing Peripheral Devices
Installing a Magnetic Contactor at the Power Supply Side
Install a magnetic contactor to the drive input for the purposes explained below.
Disconnecting the Power Supply
The drive should be shut off with a magnetic contactor (MC) when a fault occurs in any external equipment such as
braking resistors.
NOTICE: Do not connect electromagnetic switches or magnetic contactors to the output motor circuits without proper sequencing.
Improper sequencing of output motor circuits could result in damage to the drive.
NOTICE: Install a MC on the input side of the drive when the drive should not automatically restart after power loss. To get the full
performance life out of the electrolytic capacitors and circuit relays, refrain from switching the drive power supply off and on more than
once every 30 minutes. Frequent use can damage the drive. Use the drive to stop and start the motor.
NOTICE: Use a magnetic contactor (MC) to ensure that power to the drive can be completely shut off when necessary. The MC should
be wired so that it opens when a fault output terminal is triggered.
Note: 1. To keep the drive from restarting automatically when power is restored after momentary power loss, install a magnetic contactor to
the drive input.
2. To have the drive continue operating through momentary power loss, set up a delay for the magnetic contactor so that it does not open
prematurely.
Connecting a Surge Absorber
A surge absorber suppresses surge voltage generated from switching an inductive load near the drive. Inductive loads
include magnetic contactors, relays, valves, solenoids, and brakes. Always use a surge absorber or diode when operating
with an inductive load.
Note: Never connect a surge absorber to the drive output.
Reducing Noise
Preventing Induced Noise
Use shielded cables and internal EMC-filter models or zero phase reactors to prevent induced noise. Lay the cables at
least 30 cm away from the signal line to prevent induced noise.
Figure 8.17
B
C
A MCCB D
R/L1 U/T1
S/L2 V/T2 M
T/L3 W/T3
G
common_
F TMonly
Peripheral Devices &
A – Power supply E – Separate at least 30 cm
B – Drive F – Controller
C – Shielded motor cable G – Signal line
D – Motor
Options
Figure 8.19 Preventing Induced Noise
Reducing Noise Using Internal EMC-Filter Models 8
Internal EMC filters are built-in to drive models CIMR-UE/W. These drives comply with EMC guidelines
IEC/EN 61800-3 2nd Environment Category C2. Use switches on the drive to enable the EMC filters. Refer to Enable
the Internal EMC Filter on page 86.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 389
8.5 Installing Peripheral Devices
Attachment for External Heatsink (IP00/NEMA type 1 Enclosure)
An external heatsink can be attached that projects outside the enclosure. Steps should be taken to ensure that there is
enough air circulation around the heatsink.
Contact your Yaskawa sales representative or Yaskawa directly.
Internal EMC-Filter Model Installation
Internal EMC-filter models (CIMR-UE/W) are tested according to European standards IEC/EN 61800-3 2nd
Environment Category C2 and comply with the EMC guidelines. Refer to EMC Filter Installation on page 519 for
details about EMC filter selection and installation.
Installing a Motor Thermal Overload (oL) Relay on the Drive Output
Motor thermal overload relays protect the motor by disconnecting power lines to the motor due to a motor overload
condition.
Install a motor thermal overload relay between the drive and motor:
• When operating multiple motors on a single AC drive.
• When using a power line bypass to operate the motor directly from the power line.
It is not necessary to install a motor thermal overload relay when operating a single motor from a single AC drive. The
AC drive has UL recognized electronic motor overload protection built into the drive software.
Note: 1. Disable the motor protection function (L1-01 = 0) when using an external motor thermal overload relay.
2. The relay should shut off main power on the input side of the main circuit when triggered.
General Precautions when Using Thermal Overload Relays
The following application precautions should be considered when using motor thermal overload relays on the output of
AC drives in order to prevent nuisance trips or overheat of the motor at low speeds:
• Low speed motor operation
• Use of multiple motors on a single AC drive
• Motor cable length
• Nuisance tripping resulting from high AC drive carrier frequency
Low Speed Operation and Motor Thermal oL Relays
Generally, thermal relays are applied on general-purpose motors. When general-purpose motors are driven by AC drives,
the motor current is approximately 5% to 10% greater than if driven by a commercial power supply. In addition, the
cooling capacity of a motor with a shaft-driven fan decreases when operating at low speeds. Even if the load current is
within the motor rated value, motor overheating may occur. A thermal relay cannot effectively protect the motor due to
the reduction of cooling at low speeds. For this reason, apply the UL recognized electronic thermal overload protection
function built into the drive whenever possible.
UL recognized electronic thermal overload function of the drive: Speed-dependent heat characteristics are simulated
using data from standard motors and force-ventilated motors. The motor is protected from overload using this function.
Using a Single Drive to Operate Multiple Motors
Set parameter L1-01 to 0 so that thermal overload protection for the drive is disabled.
Note: The UL recognized electronic thermal overload function cannot be applied when operating multiple motors with a single drive.
Long Motor Cables
When a high carrier frequency and long motor cables are used, nuisance tripping of the thermal relay may occur due to
increased leakage current. To avoid this, reduce the carrier frequency or increase the tripping level of the thermal
overload relay.
Nuisance Tripping Due to a High AC Drive Carrier Frequency
Current waveforms generated by high carrier frequency drives tend to increase the temperature in overload relays. It may
be necessary to increase the trip level setting when encountering nuisance triggering of the relay.
WARNING! Fire Hazard. Confirm an actual motor overload condition is not present prior to increasing the thermal oL trip setting.
Check local electrical codes before making adjustments to motor thermal overload settings.
390 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
Appendix: A
Specifications
A.1 HEAVY DUTY AND NORMAL DUTY RATINGS . . . . . . . . . . . . . . . . . . . . . . . . . 392
A.2 THREE-PHASE 200 V CLASS DRIVES. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 393
A.3 THREE-PHASE 400 V CLASS DRIVES. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 394
A.4 DRIVE SPECIFICATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395
A.5 DRIVE WATT LOSS DATA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 397
A.6 DRIVE DERATING DATA. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 398
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 391
A.1 Heavy Duty and Normal Duty Ratings
A.1 Heavy Duty and Normal Duty Ratings
The capacity of the drive is based on two types of load characteristics: Heavy Duty (HD) and Normal Duty (ND). The
user can select HD or ND torque depending on the application. Fans, pumps, and blowers should use ND, while other
applications generally use HD.
Refer to Selecting the Appropriate Load Rating on page 392 for the differences between HD and ND.
Table A.1 Selecting the Appropriate Load Rating
Setting Parameter C6-01 Rated Output Current Overload Tolerance
0: Heavy Duty (default) HD Rating varies by model <1> 150% rated output current for 60 s
1: Normal Duty ND Rating varies by model <1> 120% rated output current for 60 s varies by model
<1> Refer to Three-Phase 200 V Class Drives on page 393 and Three-Phase 400 V Class Drives on page 394 for information on rating changes
based on drive model.
Note: Differences between HD ratings and ND ratings for the drive include rated input and output current, overload capacity, and
current limit. The default setting is HD (C6-01 = 0).
392 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
A.2 Three-Phase 200 V Class Drives
A.2 Three-Phase 200 V Class Drives
Table A.2 Power Ratings (Three-Phase 200 V Class)
Item Specification
CIMR-U2 0028 0042 0054 0068 0081 0104 0130 0154 0192 0248
HD Rating 20 25 38 49 62 74 95 118 140 175
Input Current (A) <1>
ND Rating 25 38 49 62 74 95 118 140 175 226
HD Rating 9 12 17 22 28 34 43 54 64 80
Rated Input Capacity (kVA) <2>
ND Rating 12 17 22 28 34 43 54 64 80 103
HD Rating 22 28 42 54 68 81 104 130 154 192
Input/ Rated Output Current (A) <3> <4>
Output ND Rating 28 42 54 68 81 104 130 154 192 248
Rating HD Rating: 150% of rated output current for 60 s
Overload Tolerance ND Rating: 120% of rated output current for 60 s
(Derating may be required for applications that start and stop frequently)
Carrier Frequency 4 kHz (User adjustable up to 10 kHz. Derating may be required.)
Maximum Output Voltage (V) Proportional to input voltage <5>
Maximum Output Frequency (Hz) 400 Hz <6>
Rated Voltage Rated Frequency Three-phase 200 to 240 Vac 50/60 Hz
Power Allowable Voltage Fluctuation -15 to 10%
Supply Allowable Frequency Fluctuation 3% (Frequency fluctuation rate: 1 Hz/100 ms or less)
Allowable Phase Power Supply Voltage Unbalance 2% or less
Harmonic Current Harmonic Distortion <5> 5% or less (IEEE519 compliant)
Input Power Factor <5> 0.98% or more (During rated operation)
<1> Assumes operation at the rated output current. Input current rating varies depending on the power supply transformer, input reactor, wiring
connections, and power supply impedance.
<2> Rated input capacity is calculated with a power line voltage of 240 V 1.1.
<3> The rated output current of the drive output amps should be equal to or greater than the motor rated current.
<4> Carrier frequency is set to 4 kHz. Current derating is required in order to raise the carrier frequency.
<5> If one of the following specifications are needed, the maximum output voltage will be the equivalent to the input voltage 0.87.
Harmonic current distortion of 5% or less
Harmonic suppression guidelines compliance
Input power factor of 0.98 or more
<6> User-adjustable
Specifications
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 393
A.3 Three-Phase 400 V Class Drives
A.3 Three-Phase 400 V Class Drives
Table A.3 Power Ratings (Three-Phase 400 V Class)
Item Specification
CIMR-U4 0011 0014 0021 0027 0034 0040 0052 0065 0077 0096 0124 0156
HD Rating 8.7 10 13 19 25 31 36 47 59 70 87 113
Input Current (A) <1>
ND Rating 10 13 19 25 31 36 47 59 70 87 113 142
HD Rating 8 9 12 17 22 28 33 43 54 64 80 103
Rated Input Capacity (kVA) <2>
ND Rating 9 12 17 22 28 33 43 54 64 80 103 130
Rated Output Current HD Rating 9.6 11 14 21 27 34 40 52 65 77 96 124
Input/
(A) <3> <4> ND Rating 11 14 21 27 34 40 52 65 77 96 124 156
Output
Rating HD Rating: 150% of rated output current for 60 s
Overload Tolerance ND Rating: 120% of rated output current for 60 s
(Derating may be required for applications that start and stop frequently)
Carrier Frequency 4 kHz (User adjustable up to 10 kHz. Derating may be required.)
Maximum Output Voltage (V) Proportional to input voltage <5>
Maximum Output Frequency (Hz) 400 Hz <6>
Three-phase (CIMR-U4A/4P) 380 to 500 Vac 50/60 Hz
Rated Voltage Rated Frequency
Three-phase (CIMR-U4E/4W) 380 to 480 Vac 50/60 Hz
Power Allowable Voltage Fluctuation -15 to 10%
Supply Allowable Frequency Fluctuation 3% (Frequency fluctuation rate: 1 Hz/100 ms or less)
Allowable Phase Power Supply Voltage
2% or less
Unbalance
Harmonic Current Harmonic Distortion <5> 5% or less (IEEE519 compliant)
Input Power Factor <5> 0.98% or more (During rated operation)
Item Specification
CIMR-U4 0180 0216 0240 0302 0361 0414
HD Rating 142 164 197 218 275 329
Input Current (A) <1>
ND Rating 164 197 218 275 329 377
HD Rating 130 150 180 200 251 300
Rated Input Capacity (kVA) <2>
ND Rating 150 180 200 251 300 344
Rated Output Current HD Rating 156 180 216 240 302 361
Input/
(A) <3> <4> ND Rating 180 216 240 302 361 414
Output
Rating HD Rating: 150% of rated output current for 60 s
Overload Tolerance ND Rating: 120% of rated output current for 60 s
(Derating may be required for applications that start and stop frequently)
Carrier Frequency 4 kHz (User adjustable up to 10 kHz. Derating may be required.)
Maximum Output Voltage (V) Proportional to input voltage <5>
Maximum Output Frequency (Hz) 400 Hz <6>
Three-phase (CIMR-U4A/4P) 380 to 500 Vac 50/60 Hz
Rated Voltage Rated Frequency
Three-phase (CIMR-U4E/4W) 380 to 480 Vac 50/60 Hz
Power Allowable Voltage Fluctuation -15 to 10%
Supply Allowable Frequency Fluctuation 3% (Frequency fluctuation rate: 1 Hz/100 ms or less)
Allowable Phase Power Supply Voltage
2% or less
Unbalance
Harmonic Current Harmonic Distortion <5> 5% or less (IEEE519 compliant)
Input Power Factor <5> 0.98% or more (During rated operation)
<1> Assumes operation at the rated output current. Input current rating varies depending on the power supply transformer, input reactor, wiring
connections, and power supply impedance.
<2> Rated input capacity is calculated with a power line voltage of 480 V 1.1.
<3> The rated output current of the drive output amps should be equal to or greater than the motor rated current.
<4> Carrier frequency is set to 4 kHz. Current derating is required in order to raise the carrier frequency.
<5> If one of the following specifications are needed, the maximum output voltage will be the equivalent to the input voltage 0.87.
Harmonic current distortion of 5% or less
Harmonic suppression guidelines compliance
Input power factor of 0.98 or more
<6> User-adjustable
394 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
A.4 Drive Specifications
A.4 Drive Specifications
Note: 1. Perform rotational Auto-Tuning to obtain the performance specifications given below.
2. For optimum performance life of the drive, install the drive in an environment that meets the required specifications.
Item Specification
The following control methods can be set using drive parameters:
• V/f Control (V/f)
• V/f Control with PG (V/f w/PG)
• Open Loop Vector Control (OLV)
Control Method
• Closed Loop Vector Control (CLV)
• Open Loop Vector Control for PM (OLV/PM)
• Advanced Open Loop Vector Control for PM (AOLV/PM)
• Closed Loop Vector Control for PM (CLV/PM)
Frequency Control Range 0.01 to 400 Hz
Frequency Accuracy Digital input: within ±0.01% of the max output frequency (-10°C to +40°C)
(Temperature Fluctuation) Analog input: within ±0.1% of the max output frequency (25°C ±10°C)
Digital inputs: 0.01 Hz
Frequency Setting Resolution
Analog inputs: 1/2048 of the maximum output frequency setting (11 bit plus sign)
Output Frequency Resolution 0.001 Hz
Main speed frequency reference: DC -10 to +10 V (20 k), DC 0 to +10 V (20 k), 4 to 20 mA (250 ), 0 to 20 mA (250 ),
Frequency Setting Signal
Main speed reference: Pulse train input (max. 32 kHz)
V/f, V/f w/PG: 150% at 3 Hz
OLV: 200% at 0.3 Hz <1>
Starting Torque
CLV, AOLV/PM, CLV/PM: 200% at 0.0 min-1 <1>
Control OLV/PM: 100% at 3 Hz
Characteristics V/f, V/f w/PG: 1:40
OLV: 1:200
Speed Control Range CLV, CLV/PM: 1:1500
OLV/PM: 1:20
AOLV/PM: 1:100
Speed Control Accuracy OLV: 0.2% (25°C ±10°C), CLV: 0.02% (25°C ±10°C) <2>
OLV: 10 Hz (25°C ±10°C)
Speed Response
CLV: 250 Hz (25°C ±10°C)
Torque Limit Parameters setting allow separate limits in four quadrants (available in OLV, CLV, AOLV/PM, CLV/PM)
Accel/Decel Time 0.0 to 6000.0 s (4 selectable combinations of independent acceleration and deceleration settings)
Braking Torque Same value as overload tolerance
V/f Characteristics User-selected programs and V/f preset patterns possible
Torque Control, Droop Control, Speed/torque Control Switching, Feed Forward Control, Zero Servo Function, Momentary
Power Loss Ride-Thru, Speed Search, Synchronous Transfer with Commercial Power Supply, Overtorque/Undertorque
Detection, Torque Limit, 17 Step Speed (max), Accel/decel Switch, S-curve Accel/decel, 3-wire Sequence, Auto-tuning
(rotational, stationary tuning), Dwell, Cooling Fan on/off Switch, Slip Compensation, Torque Compensation, Frequency Jump,
Main Control Functions
Upper/lower Limits for Frequency Reference, DC Injection Braking at Start and Stop, PID Control (with sleep function), Energy
Saving Control, MEMOBUS/Modbus Comm. (RS-422/RS-485 max, 115.2 kbps), Fault Restart, Application Presets,
DriveWorksEZ (customized function), Removable Terminal Block with Parameter Backup Function, Online Tuning,
Overexcitation Deceleration, Inertia (ASR) Tuning, High Frequency Injection, etc.
Power Supply Regeneration Available
Motor Protection Electronic thermal overload relay
Momentary Overcurrent Protection Drive stops when output current reaches about 200% of the rated current
Overload Protection Drive stops after 60 s at 150% of rated Heavy Duty output current <3>
200 V class: Stops when input voltage exceeds approx. 315 V
Overvoltage Protection
400 V class: Stops when input voltage exceeds approx. 630 V
Protection 200 V class: Stops when input voltage falls below approx. 150 V
Functions Undervoltage Protection
400 V class: Stops when input voltage falls below approx. 300 V
Momentary Power Loss Ride-Thru Immediately stop after 2 ms or longer power loss. <4> Continuous operation during power loss than 2 s (standard) <5>
Heatsink Overheat Protection Thermistor
Stall Prevention Stall Prevention is available during acceleration, deceleration, and during run.
Ground Protection Electronic circuit protection <6>
Charge LED of Capacitor for Control
Remains lit until control power supply voltage falls below 50 V
Power Supply
Area of Use Indoors
Ambient Temperature IP20/NEMA Type 1 enclosure: -10C to +40C, IP00 enclosure: -10C to +50C
Specifications
Humidity 95 RH% or less (no condensation)
Environment Storage Temperature -20°C to 60C (short-term temperature during transportation)
Altitude Up to 1000 meters <7>
10 to 20 Hz: 9.8 m/s2
Vibration/Shock 20 to 55 Hz: 5.9 m/s2 (20028 to 20081, 40011 to 40077)
2.0 m/s2 (20104 to 20248, 40096 to 40414)
• UL508C
A
Standards • IEC/EN 61800-3, IEC/EN 61800-5-1
• ISO/EN 13849-1 Cat.3 PLe, IEC/EN 61508 SIL3
Protection Design IP00 enclosure <8>, IP20/NEMA Type 1 enclosure
<1> Current derating is required. Select control modes in accordance with the drive capacity.
<2> The accuracy of these values depends on motor characteristics, ambient conditions, and drive settings. Specifications may vary with different
motors and with changing motor temperature. Contact Yaskawa for consultation.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 395
A.4 Drive Specifications
<3> Overload protection may be triggered when operating with 150% of the rated output current if the output frequency is less than 6 Hz.
<4> May be shorter due to load conditions and motor speed.
<5> A separate Momentary Power Loss Ride-Thru Unit is required for the drives if the application needs to continue running during a momentary
power loss up to 2 s.
<6> Ground protection cannot be provided when the impedance of the ground fault path is too low, or when the drive is powered up while a ground
fault is present at the output.
<7> Up to 3000 m with output current and voltage derating. Refer to Altitude Derating on page 399 for details.
<8> Reattaching the top protective cover and bottom cover on an IP00 enclosure drive may convert this drive to a NEMA Type 1 conformity.
396 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
A.5 Drive Watt Loss Data
A.5 Drive Watt Loss Data
Table A.4 Watt Loss 200 V Class Three-Phase Models
Heavy Duty Normal Duty
Model
CIMR-U Exterior Loss Exterior Loss
Rated Amps (A) Interior Loss (W) Total Loss (W) Rated Amps (A) Interior Loss (W) Total Loss (W)
(W) (W)
20028 22 91 543 634 28 103 659 762
20042 28 138 586 724 42 168 854 1022
20054 42 168 808 976 54 195 1037 1233
20068 54 190 1016 1207 68 225 1295 1521
20081 68 208 1181 1389 81 238 1420 1658
20104 81 234 1313 1547 104 282 1696 1978
20130 104 280 1673 1953 130 341 2157 2498
20154 130 318 2037 2356 154 366 2441 2807
20192 154 366 2400 2765 192 447 3064 3511
20248 192 460 2815 3275 248 578 3785 4363
Table A.5 Watt Loss 400 V Class Three-Phase Models
Heavy Duty Normal Duty
Model
CIMR-U Exterior Loss Exterior Loss
Rated Amps (A) Interior Loss (W) Total Loss (W) Rated Amps (A) Interior Loss (W) Total Loss (W)
(W) (W)
40011 10 76 415 491 11 80 452 532
40014 11 70 372 442 14 79 459 538
40021 14 80 438 518 21 105 641 745
40027 21 93 549 642 27 106 675 780
40034 27 107 658 765 34 124 798 922
40040 34 150 693 844 40 174 877 1051
40052 40 178 855 1034 52 209 1109 1318
40065 52 204 1087 1290 65 240 1369 1610
40077 65 220 1238 1458 77 251 1479 1730
40096 77 247 1373 1620 96 290 1715 2005
40124 96 290 1693 1983 124 362 2256 2618
40156 124 343 2242 2585 156 421 2857 3277
40180 156 421 2833 3254 180 482 3316 3798
40216 180 503 3035 3538 216 587 3720 4308
40240 216 551 3498 4049 240 600 3897 4497
40302 240 689 3867 4556 302 857 5202 6059
40361 302 735 4384 5119 361 863 5434 6297
40414 361 902 5563 6465 414 1012 6444 7456
Specifications
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 397
A.6 Drive Derating Data
A.6 Drive Derating Data
The drive can be operated at above the rated temperature, altitude, and default carrier frequency by derating the drive
capacity.
Rated Current Depending on Carrier Frequency
Table A.6 shows the drive output current depending on the carrier frequency settings.
Use the data in Table A.6 to linearly calculate output current values for carrier frequencies not listed in the tables.
Table A.6 Carrier Frequency and Current Derating
Three-Phase 200 V Class Three-Phase 400 V Class
Rated Current (A) Rated Current (A)
Model Model
CIMR-U Heavy Duty Rating (HD) Normal Duty Rating (ND) CIMR-U Heavy Duty Rating (HD) Normal Duty Rating (ND)
4 kHz 6 kHz 8 kHz 10 kHz 4 kHz 6 kHz 8 kHz 10 kHz 4 kHz 6 kHz 8 kHz 10 kHz 4 kHz 6 kHz 8 kHz 10 kHz
20028 22 20 18 15 28 25 22 20 40011 9.6 8.6 7.7 6.7 11 9.9 8.8 7.7
20042 28 25 22 20 42 38 34 29 40014 11 9.9 8.8 7.7 14 13 11 9.8
20054 42 38 34 29 54 49 43 38 40021 14 13 11 9.8 21 19 17 15
20068 54 49 43 38 68 61 54 48 40027 21 19 17 15 27 24 22 19
20081 68 61 54 48 81 73 65 57 40034 27 24 22 19 34 31 27 24
20104 81 73 65 – 104 94 83 – 40040 34 31 27 24 40 36 32 28
20130 104 94 83 – 130 117 104 – 40052 40 36 32 28 52 47 42 36
20154 130 117 – – 154 139 – – 40065 52 47 42 36 65 59 52 46
20192 154 139 – – 192 173 – – 40077 65 59 52 46 77 69 62 54
20248 192 – – – 248 – – – 40096 77 69 62 – 96 86 77 –
40124 96 86 77 – 124 112 99 –
40156 124 112 – – 156 140 – –
40180 156 140 – – 180 162 – –
40216 180 – – – 216 – – –
40240 216 – – – 240 – – –
40302 240 – – – 302 – – –
40361 302 – – – 361 – – –
40414 361 – – – 414 – – –
Carrier Frequency Derating
As the carrier frequency of the drive is increased above the factory default setting, the drive’s rated output current must
be derated according to Figure A.1.
Figure A.1
100%
90%
80%
70%
common_
TMonly
0 4 kHz 6 kHz 8 kHz 10 kHz
Figure A.1 Carrier Frequency Derating
398 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
A.6 Drive Derating Data
Temperature Derating
To ensure the maximum performance life, the drives output current must be derated like shown in Figure A.2 when the
drive is installed in areas with high ambient temperature. In order to ensure reliable drive overload protection, the
parameters L8-12 and L8-35 must also be set according to the installation conditions.
Parameter Settings
No. Name Description Range Def.
Ambient Temperature Adjust the drive overload (oL2) protection level when the drive is installed in an environment
L8-12 -10 to 50 40°C
Setting that exceeds its ambient temperature rating.
0: IP00 Enclosure
Installation Method Determined by
L8-35 2: NEMA Type 1 Enclosure 0, 2, 3
Selection o2-04
3: Finless Drive or External Heatsink Installation
0: IP00 Enclosure
Drive operation between -10C and 50C allows 100% continuous current without derating.
2: NEMA Type 1 Enclosure
Drive operation between -10C and 40C allows 100% continuous current without derating. Operation between 40C
and 50C requires output current derating.
3: External Heatsink Installation, Finless Drive
Drive operation between -10C and 40C allows 100% continuous current without derating. Operation between 40C
and 50C requires output current derating.
Figure A.2
L8-35=0: IP00 Enclosure
Drive Rating
(%)
L8-35=2: NEMA Type 1 Enclosure
100 L8-35=3: External Heatsink lnstallation
85
70
55
common_
L8-12
TMonly
0
-10 30 40 50 (Ambient temp: °C)
Figure A.2 Ambient Temperature and Installation Method Derating
Altitude Derating
The drive standard ratings are valid for an installation altitude up to 1000 m. If the altitude exceeds 1000 m both the drive
rated voltage and the rated output current must be derated for 1% per 100 m. The maximum altitude is 3000 m. Specifications
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 399
A.6 Drive Derating Data
400 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
Appendix: B
Parameter List
This appendix contains a full listing of all parameters and settings available in the drive.
B.1 UNDERSTANDING THE PARAMETER TABLE . . . . . . . . . . . . . . . . . . . . . . . . . 402
B.2 PARAMETER GROUPS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 403
B.3 PARAMETER TABLE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 404
B.4 CONTROL MODE DEPENDENT PARAMETER DEFAULT VALUES. . . . . . . . . 465
B.5 V/F PATTERN DEFAULT VALUES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 468
B.6 DEFAULTS BY DRIVE MODEL SELECTION (O2-04) AND ND/HD (C6-01) . . . 469
B.7 PARAMETERS THAT CHANGE WITH THE MOTOR CODE SELECTION
(FOR PM MOTORS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 473
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 401
B.1 Understanding the Parameter Table
B.1 Understanding the Parameter Table
Control Modes, Symbols, and Terms
The table below lists terms and symbols used in this section to indicate which parameters are available in which control
modes.
Note: For detailed instructions on each control mode, Refer to Control Mode Selection on page 30.
Table B.1 Symbols and Icons Used in the Parameter Table
Symbol Description
All Modes Indicates the parameter is accessible in all control modes.
V/f Parameter is available when operating the drive with V/f Control.
V/f w/PG Parameter is available when operating the drive with V/f with PG Control.
OLV Parameter is available when operating the drive with Open Loop Vector.
CLV Parameter is available when operating the drive with Closed Loop Vector.
OLV/PM Parameter is available when operating the drive with Open Loop Vector for PM motors.
AOLV/PM Parameter is available when operating the drive with Advanced Open Loop Vector for PM motors.
CLV/PM Parameter is available when operating the drive with Closed Loop Vector for PM motors.
Indicates this parameter can be changed during run.
Motor 2 Refers to a second motor when the drive is operating two motors. Switch between these motors using the multi-function input terminals.
Note: If a parameter is not available in a certain control mode, the symbol for that control mode is grayed out.
402 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
B.2 Parameter Groups
B.2 Parameter Groups
Parameter Group Name Page Parameter Group Name Page
A1 Initialization 404 H2 Multi-Function Digital Outputs 435
A2 User Parameters 404 H3 Multi-Function Analog Inputs 438
b1 Operation Mode Selection 405 H4 Multi-Function Analog Outputs 440
b2 DC Injection Braking 406 H5 MEMOBUS/Modbus Serial Communication 441
b3 Speed Search 406 H6 Pulse Train Input/Output 442
b4 Timer Function 408 L1 Motor Protection 442
b5 PID Control 408 L2 Momentary Power Loss Ride-Thru 443
b6 Dwell Function 410 L3 Stall Prevention 443
b7 Droop Control 410 L4 Speed Detection 445
b8 Energy Saving 410 L5 Fault Restart 445
b9 Zero Servo 411 L6 Torque Detection 445
C1 Acceleration and Deceleration Times 412 L7 Torque Limit 446
C2 S-Curve Characteristics 412 L8 Drive Protection 447
C3 Slip Compensation 413 L9 Drive Protection 2 448
C4 Torque Compensation 413 n1 Hunting Prevention 448
C5 Automatic Speed Regulator (ASR) 414 n2 Speed Feedback Detection Control (AFR) Tuning 448
C6 Carrier Frequency 415 n3 Overexcitation Braking 449
C7 Voltage Adjustment 416 n5 Feed Forward Control 449
d1 Frequency Reference 417 n6 Online Tuning 449
d2 Frequency Upper/Lower Limits 418 n8 PM Motor Control Tuning 449
d3 Jump Frequency 418 o1 Digital Operator Display Selection 451
d4 Frequency Reference Hold and Up/Down 2 Function 418 o2 Digital Operator Keypad Functions 452
d5 Torque Control 419 o3 Copy Function 452
d6 Field Weakening and Field Forcing 419 o4 Maintenance Monitor Settings 452
d7 Offset Frequency 420 q DriveWorksEZ Parameters 453
E1 V/f Pattern for Motor 1 420 r DriveWorksEZ Connection Parameters 453
E2 Motor 1 Parameters 421 T1 Induction Motor Auto-Tuning 453
E3 V/f Pattern for Motor 2 422 T2 PM Motor Auto-Tuning 454
E4 Motor 2 Parameters 422 T3 ASR and Inertia Tuning 456
E5 PM Motor Settings 423 U1 Operation Status Monitors 456
PG Speed Control Card Settings
F1 424 U2 Fault Trace 458
(PG-B3/PG-F3/PG-RT3/PG-X3)
F2 Analog Input Card Settings (AI-A3) 426 U3 Fault History 460
F3 Digital Input Card Settings (DI-A3) 427 U4 Maintenance Monitors 460
F4 Analog Monitor Card Settings (AO-A3) 427 U5 PID Monitors 461
F5 Digital Output Card Settings (DO-A3) 428 U6 Control Monitors 462
Communication Option Card (SI-C3, SI-EM3, SI-EN3,
F6 428 U8 DriveWorksEZ Monitors 463
SI-ET3, SI-N3, SI-P3, SI-S3, SI-T3, and SI-W3)
F7 Communication Option Card (SI-EM3/SI-EN3) 430 U9 Power Monitors 464
H1 Multi-Function Digital Inputs 432
Parameter List
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 403
B.3 Parameter Table
B.3 Parameter Table
A: Initialization Parameters
The A parameter group creates the operating environment for the drive. This includes the parameter Access Level, Motor
Control Method, Password, User Parameters and more.
A1: Initialization
No.(Addr.) Name Description Setting Page
common_
All Modes TMonly
A1-00 0: English
(100H) 1: Japanese
Default: 0
2: German
Language Selection Min: 0 138
3: French
Max: 7
4: Italian
<3>
5: Spanish
6: Portuguese
7: Chinese
A1-01 common_
(101H) All Modes TMonly Default: 2
Access Level Selection 0: View and set A1-01 and A1-04. U- parameters can also be viewed. Min: 0 138
1: User Parameters (access to a set of parameters selected by the user, A2-01 to A2-32) Max: 2
<2> 2: Advanced Access (access to view and set all parameters)
common_
All Modes TMonly
0: V/f Control
A1-02 1: V/f Control with PG Default: 0
(102H) Control Method Selection 2: Open Loop Vector Control Min: 0 138
<3> 3: Closed Loop Vector Control Max: 7
5: Open Loop Vector Control for PM
6: Advanced Open Loop Vector Control for PM
7: Closed Loop Vector Control for PM
common_
All Modes TMonly
0: No initialization Default: 0
A1-03
Initialize Parameters 1110: User Initialize (parameter values must be stored using parameter o2-03) Min: 0 139
(103H)
2220: 2-wire initialization Max: 5550
3330: 3-wire initialization
5550: oPE04 error reset
A1-04
Password common_
Default: 0000
(104H) All Modes TMonly
Min: 0000 140
A1-05 When the value set into A1-04 does not match the value set into A1-05, parameters A1-01
Password Setting Max: 9999
(105H) through A1-03, A1-06, A1-07, and A2-01 through A2-32 cannot be changed.
common_
All Modes TMonly
0: General-purpose
1: Water supply pump
Default: 0
A1-06 2: Conveyor
Application Preset Min: 0 142
(127H) 3: Exhaust fan
Max: 7
4: HVAC fan
5: Air compressor
6: Hoist
7: Crane (Traveling)
common_
All Modes TMonly Default: 0
A1-07
DriveWorksEZ Function Selection 0: DWEZ disabled Min: 0 142
(128H)
1: DWEZ enabled Max: 2
2: Digital input (enabled when H1- = 9F)
<2> Default setting value is dependent on the Application Preset selected with parameter A1-06.
<3> The parameter setting is not reset to the default value when A1-03 is used to initialize the drive.
A2: User Parameters
No.(Addr.) Name Description Setting Page
common_
A2-01 to All Modes TMonly Default: <2>
A2-32 User Parameters 1 to 32 Min: A1-00 143
Parameters that were recently edited are listed here. The user can also select parameters to
(106 to 125H) Max: o4-19
appear here for quick access.
common_
All Modes TMonly Default: 1 <1>
A2-33 User Parameter Automatic
0: Parameters A2-01 through A2-32 are reserved for the user to create a list of User Parameters. Min: 0 143
(126H) Selection
1: Save history of recently viewed parameters. Recently edited parameters will be saved to Max: 1
A2-17 through A2-32 for quick access.
<1> Default setting value is dependent on parameter A1-06. This setting value is 0 when A1-06 = 0, and 1 when A1-06 does not equal 0.
<2> Default setting value is determined by the Application Preset selected with parameter A1-06.
404 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
B.3 Parameter Table
b: Application
Application parameters configure the source of the Run command, DC Injection Braking, Speed Search, timer functions,
PID control, the Dwell function, Energy Savings, and a variety of other application-related settings.
b1: Operation Mode Selection
No.(Addr.) Name Description Setting Page
common_
All Modes TMonly
0: Digital operator Default: 1
b1-01
Frequency Reference Selection 1 1: Analog input terminals Min: 0 144
(180H)
2: MEMOBUS/Modbus communications Max: 4
3: Option PCB
4: Pulse train input (terminal RP)
common_
All Modes TMonly
Default: 1
b1-02 0: Digital operator
Run Command Selection 1 Min: 0 145
(181H) 1: Digital input terminals
Max: 3
2: MEMOBUS/Modbus communications
3: Option PCB
common_
All Modes TMonly
0: Ramp to stop Default: 0
b1-03
Stopping Method Selection 1: Coast to stop Min: 0 146
(182H)
2: DC Injection Braking to stop Max: 9 <11>
3: Coast with timer
9: Simple Positioning
common_
All Modes TMonly Default: 0
b1-04
Reverse Operation Selection Min: 0 149
(183H) 0: Reverse enabled.
Max: 1
1: Reverse disabled.
V/f V/f w/PG OLV CLV common_
TMonly
OLV/PM AOLV/PM CLV/PM Default: 0
b1-05 Action Selection below Minimum
0: Operates according to frequency reference (E1-09 is disabled). Min: 0 150
(184H) Output Frequency
1: Output shuts off (coast to stop if less than E1-09). Max: 3
2: Operates according to E1-09 (frequency reference set to E1-09).
3: Zero speed (frequency reference becomes zero when less than E1-09).
common_
All Modes TMonly
Default: 1
b1-06
Digital Input Reading 0: Input status is read once and processed immediately (for quick response) Min: 0 151
(185H)
1: Input is read twice and processed only if the status is the same in both readings (robust Max: 1
against noisy signals)
common_
All Modes TMonly Default: 0
b1-07
LOCAL/REMOTE Run Selection Min: 0 151
(186H) 0: An external Run command has to be cycled at the new source to be activated.
Max: 1
1: An external Run command at new source is accepted immediately.
common_
All Modes TMonly
Default: 0
b1-08 Run Command Selection while in
0: Run command is not accepted while in the Programming Mode. Min: 0 152
(187H) Programming Mode
1: Run command is accepted while in the Programming Mode. Max: 2
2: Prohibit entering Programming Mode during run.
V/f V/f w/PG OLV CLV common_
Default: 0
b1-14 OLV/PM AOLV/PM CLV/PM
TMonly
Phase Order Selection Min: 0 152
(1C3H)
0: Standard Max: 1
1: Switch phase order (reverses the direction of the motor)
common_
All Modes TMonly
Enabled when an input terminal set for “External reference” (H1- = 2) closes.
Default: 0
b1-15 0: Digital operator
Frequency Reference Selection 2 Min: 0 152
(1C4H) 1: Terminals (analog input terminals)
Max: 4
2: MEMOBUS/Modbus communications
3: Option card
4: Pulse train input
common_
All Modes TMonly
Enabled when a terminal set for “External reference” (H1- = 2) closes. Default: 0
Parameter List
b1-16
Run Command Selection 2 0: Digital operator Min: 0 152
(1C5H)
1: Digital input terminals Max: 3
2: MEMOBUS/Modbus communications
3: Option card
common_
All Modes Default: 0
TMonly
b1-17
Run Command at Power Up Min: 0 152
(1C6H) 0: Disregarded. A new Run command needs to be issued after power up.
1: Allowed. Motor will start immediately after power up if a Run command is already enabled.
Max: 1
B
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 405
B.3 Parameter Table
No.(Addr.) Name Description Setting Page
V/f V/f w/PG OLV CLV common_
TMonly
OLV/PM AOLV/PM CLV/PM Default: 0
b1-21 Start Condition Selection at Closed
There is normally no need to change this parameter from the default value. Min: 0 153
(748H) Loop Vector Control
Selects a condition to start Closed Loop Vector Control. Max: 1
0: Run command is not accepted when b2-01 Motor speed < E1-09.
1: Run command is accepted when b2-01 Motor speed < E1-09.
V/f V/f w/PG OLV CLV common_
TMonly Default: 0
b1-24 Commercial Power Operation OLV/PM AOLV/PM CLV/PM Min: 0 153
(B2CH) Switching Selection
0: Disabled Max: 1
1: Enabled
V/f V/f w/PG OLV CLV common_ Default: 1.0 Hz
b1-25 Commercial Power Supply TMonly
OLV/PM AOLV/PM CLV/PM Min: 0.4 Hz 153
(B2DH) Operation Cancellation Level
Max: 6.0 Hz
Set the switching level to switch to PWM switching mode in 0.1 Hz units.
V/f V/f w/PG OLV CLV common_ Default: 0.2 Hz
b1-26 Commercial Power Supply TMonly
OLV/PM AOLV/PM CLV/PM Min: 0.0 Hz 153
(B2EH) Operation Switching Level
Max: 3.0 Hz
Set the switching level to switch to the commercial power supply operation in 0.1 Hz units.
<11> Setting range is 0, 1, or 3 when the control mode is CLV, OLV/PM, AOLV/PM, or CLV/PM.
b2: DC Injection Braking
No.(Addr.) Name Description Setting Page
common_
All Modes TMonly Default: <10>
b2-01 DC Injection Braking Start
Min: 0.0 Hz 154
(189H) Frequency Sets the frequency at which DC Injection Braking starts when “Ramp to stop” (b1-03 = 0) is
Max: 10.0 Hz
selected.
V/f V/f w/PG OLV CLV common_ Default: 50%
b2-02 TMonly
DC Injection Braking Current OLV/PM AOLV/PM CLV/PM Min: 0% 154
(18AH)
Max: 100%
Sets the DC Injection Braking current as a percentage of the drive rated current.
common_
All Modes Default: 0.00 s
TMonly
b2-03
DC Injection Braking Time at Start Min: 0.00 s 154
(18BH) Sets the time of DC Injection Braking (Zero Speed Control when in CLV and CLV/PM) time at
Max: 10.00 s
start. Disabled when set to 0.00 s.
Default: <10>
common_
b2-04 All Modes TMonly
DC Injection Braking Time at Stop Min: 0.00 s 155
(18CH)
Sets the time of DC Injection Braking (Zero Speed Control when in CLV and CLV/PM) at stop. Max: 10.00 s
V/f V/f w/PG OLV CLV common_ Default: 0%
b2-08 Magnetic Flux Compensation TMonly
OLV/PM AOLV/PM CLV/PM Min: 0% 155
(190H) Value
Max: 1000%
Sets the magnetic flux compensation as a percentage of the no-load current value (E2-03).
<10> Default setting is determined by the control mode (A1-02).
b3: Speed Search
No.(Addr.) Name Description Setting Page
V/f V/f w/PG OLV CLV common_
Default: <10>
b3-01 OLV/PM AOLV/PM CLV/PM
TMonly
Speed Search Selection at Start Min: 0 158
(191H)
0: Disabled Max: 1
1: Enabled
V/f V/f w/PG OLV CLV common_ Default: 2.0 s
b3-03 TMonly
Speed Search Deceleration Time OLV/PM AOLV/PM CLV/PM Min: 0.1 s 158
(193H)
Max: 10.0 s
Sets output frequency reduction time during Speed Search.
V/f V/f w/PG OLV CLV common_
TMonlyDefault: <9>
b3-04 V/f Gain during Speed Search OLV/PM AOLV/PM CLV/PM Min: 10% 158
(194H) (Speed Estimation type)
Determines how much to lower the V/f ratio during Speed Search. Output voltage during Speed Max: 100%
Search equals the V/f setting multiplied by b3-04.
common_
All Modes TMonly Default: 0.2 s
b3-05
Speed Search Delay Time Min: 0.0 s 158
(195H) When using an external contactor on the output side, b3-05 delays executing Speed Search after
Max: 100.0 s
a momentary power loss to allow time for the contactor to close.
V/f V/f w/PG OLV CLV common_
TMonly Default: <9>
b3-06 Output Current 1 during Speed OLV/PM AOLV/PM CLV/PM Min: 0.0 158
(196H) Search (Speed Estimation Type)
Sets the current injected to the motor at the beginning of Speed Estimation Speed Search. Set as Max: 2.0
a coefficient for the motor rated current.
406 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
B.3 Parameter Table
No.(Addr.) Name Description Setting Page
V/f V/f w/PG OLV CLV common_
TMonly Default: <16>
b3-08 Current Control Gain during Speed OLV/PM AOLV/PM CLV/PM Min: 0.00 158
(198H) Search (Speed Estimation Type)
Sets the proportional gain for the current controller during Speed Search. Max: 6.00
There is normally no need to change this parameter from the default value.
V/f V/f w/PG OLV CLV common_
TMonly
Speed Search Detection OLV/PM AOLV/PM CLV/PM Default: 1.05
b3-10
Compensation Gain (Speed Min: 1.00 159
(19AH) Sets the gain which is applied to the speed detected by Speed Estimation Speed Search before
Estimation Type) Max: 1.20
the motor is reaccelerated. Increase this setting if ov occurs when performing Speed Search
after a relatively long period of baseblock.
V/f V/f w/PG OLV CLV common_
Default: <10>
b3-14 Bi-Directional Speed Search OLV/PM AOLV/PM CLV/PM
TMonly
Min: 0 159
(19EH) Selection (Speed Estimation Type)
0: Disabled (uses the direction of the frequency reference) Max: 1
1: Enabled (drive detects which way the motor is rotating)
V/f V/f w/PG OLV CLV common_ Default: 150%
b3-17 Speed Search Restart Current TMonly
OLV/PM AOLV/PM CLV/PM Min: 0% 159
(1F0H) Level (Speed Estimation Type)
Max: 200%
Sets the Speed Search restart current level as a percentage of the drive rated current.
V/f V/f w/PG OLV CLV common_ Default: 0.10 s
b3-18 Speed Search Restart Detection
OLV/PM AOLV/PM CLV/PM
TMonly Min: 0.00 s 159
(1F1H) Time (Speed Estimation Type)
Max: 1.00 s
Sets the time to detect Speed Search restart.
V/f V/f w/PG OLV CLV common_ Default: 3
b3-19 Number of Speed Search Restarts TMonly
OLV/PM AOLV/PM CLV/PM Min: 0 159
(1F2H) (Speed Estimation Type)
Max: 10
Sets the number of times the drive can attempt to restart when performing Speed Search.
V/f V/f w/PG OLV CLV common_
TMonly Default: 2
b3-24 OLV/PM AOLV/PM CLV/PM
Speed Search Method Selection Min: 1 159
(1C0H)
1: Speed Estimation Max: 2
2: Current Detection 2
V/f V/f w/PG OLV CLV Default: 0.5 s
b3-25 Speed Search Wait Time (Speed common_
OLV/PM AOLV/PM CLV/PM TMonly Min: 0.0 s 160
(1C8H) Estimation Type)
Max: 30.0 s
Sets the time the must wait between each Speed Search restart attempt.
V/f V/f w/PG OLV CLV common_
TMonly
OLV/PM AOLV/PM CLV/PM Default: 0
b3-27
Start Speed Search Select Selects a condition to activate Speed Search Selection at Start (b3-01) or External Speed Search Min: 0 160
(1C9H)
Command 1 or 2 from the multi-function input. Max: 1
0: Triggered when a Run command is issued (normal).
1: Triggered when an external baseblock is released.
V/f V/f w/PG OLV CLV common_
TMonly
OLV/PM AOLV/PM CLV/PM Default: 10%
b3-29 Speed Search Induced Voltage
There is normally no need to change this parameter from the default value. Min: 0% 160
(77CH) Level
Performs Speed Search when the motor induced voltage exceeds the set level. If changes are Max: 10%
necessary, try lowering this value in small increments. If set too low, then the drive will not
perform Speed Search.
V/f V/f w/PG OLV CLV common_ Default: 1.50
b3-31 Speed Search Operation Current TMonly
OLV/PM AOLV/PM CLV/PM Min: 1.50 160
(BC0H) Level 1 (Current Detection 2)
Max: 3.50
Set the current level to use to limit the output current during a Speed Search.
V/f V/f w/PG OLV CLV common_
Default: 1.20
TMonly
b3-32 Speed Search Operation Current OLV/PM AOLV/PM CLV/PM Min: 0.00 160
(BC1H) Level 2 (Current Detection 2)
Set the current level at which to end the Speed Search for Current Detection Type Speed Search Max: 1.49
2.
common_
All Modes TMonly
Activates or deactivates the speed search at start in accordance with whether or not a Run
b3-33 Speed Search Selection when Run command was issued during an undervoltage (Uv) if operation during a momentary power loss Default: 0
(L2-01 = 1 or 2), the speed search at start (b3-01 = 1), and coasting to a stop (b1-03 = 1) are Min: 0 160
(B3FH) Command is Input in Uv
enabled. Max: 1
Parameter List
0: Speed Search disabled
1: Speed Search enabled
b3-50 Backspin Search Direction
V/f V/f w/PG OLV CLV Default: 0.0 s 161
(BC7H) Judgment Time 1 common_
TMonly Min: 0.0 s
b3-51 Backspin Search Direction OLV/PM AOLV/PM CLV/PM
Max: 10.0 s 161
(BC8H) Judgment Time 2 The direction of the Speed Search is adjusted to allow for backspin.
V/f V/f w/PG OLV CLV
B
common_
Default: 2.0 s
TMonly
b3-52 Backspin Search Deceleration OLV/PM AOLV/PM CLV/PM Min: 0.1 s 162
(BC9H) Time 1
Sets the deceleration rate for the search frequency when searching from the direction command Max: 10.0 s
when the momentary power loss time is less than b3-50.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 407
B.3 Parameter Table
No.(Addr.) Name Description Setting Page
V/f V/f w/PG OLV CLV common_
TMonly Default: 2.0 s
b3-53 Backspin Search Deceleration OLV/PM AOLV/PM CLV/PM
Min: 0.1 s 162
(BCAH) Time 2 Sets the deceleration rate for the search frequency for a Speed Search from the direction Max: 10.0 s
opposite to the direction command when the momentary power loss time is equal to or greater
than b3-51.
<9> Default setting value is dependent on the drive model (o2-04) and the Drive Duty (C6-01).
<10> Default setting is determined by the control mode (A1-02).
<16> Default setting is determined by the control mode (A1-02) and the drive model (o2-04).
b4: Timer Function
No.(Addr.) Name Description Setting Page
Default: 0.0 s
b4-01
Timer Function On-Delay Time common_ Min: 0.0 s 163
(1A3H) All Modes TMonly Max: 3000.0 s
Used to set the on-delay and off-delay times for a digital timer output (H2-=12). The output Default: 0.0 s
b4-02 is triggered by a digital input programmed to H1-=18)
Timer Function Off-Delay Time Min: 0.0 s 163
(1A4H)
Max: 3000.0 s
b4-03
H2-01 ON Delay Time
(B30H)
b4-04
H2-01 OFF Delay Time
(B31H)
b4-05
H2-02 ON Delay Time common_
Default: 0 ms
(B32H) All Modes TMonly
b4-06 Sets the length of the delay time for contact outputs to open or close for the related functions set Min: 0 ms 163
H2-02 OFF Delay Time in H2-. Max: 65000 ms
(B33H)
b4-07
H2-03 ON Delay Time
(B34H)
b4-08
H2-03 OFF Delay Time
(B35H)
b5: PID Control
No.(Addr.) Name Description Setting Page
common_
All Modes TMonly
0: Disabled
1: Enabled (PID output becomes output frequency reference, deviation D controlled)
2: Enabled (PID output becomes output frequency reference, feedback D controlled)
3: Enabled (PID output added to frequency reference, deviation D controlled) Default: 0
b5-01
PID Function Setting 4: Enabled (PID output added to frequency reference, feedback D controlled) Min: 0 167
(1A5H)
5: Mode that is compatible with setting 1 of similar product from a past line Max: 8 <6>
6: Mode that is compatible with setting 2 of similar product from a past line
7: Mode that is compatible with setting 3 of similar product from a past line
8: Mode that is compatible with setting 4 of similar product from a past line
Note: If the used drive is replaced with Varispeed F7 inverter or a similar product from a past
line, use settings 5 to 8 instead of settings 1 to 4.
b5-02
common_ Default: 1.00
(1A6H) All Modes TMonly
Proportional Gain Setting (P) Min: 0.00 167
Sets the proportional gain of the PID controller. Max: 25.00
b5-03
common_ Default: 1.0 s
(1A7H) All Modes TMonly
Integral Time Setting (I) Min: 0.0 s 167
Sets the integral time for the PID controller. Max: 360.0 s
b5-04 common_
All Modes Default: 100.0%
(1A8H) TMonly
Integral Limit Setting Min: 0.0% 167
Sets the maximum output possible from the integrator as a percentage of the maximum output
Max: 100.0%
frequency.
b5-05
common_ Default: 0.00 s
(1A9H) All Modes TMonly
Derivative Time (D) Min: 0.00 s 167
Sets D control derivative time. Max: 10.00 s
b5-06 common_
All Modes TMonly Default: 100.0%
(1AAH)
PID Output Limit Min: 0.0% 168
Sets the maximum output possible from the entire PID controller as a percentage of the
Max: 100.0%
maximum output frequency.
b5-07 common_
All Modes Default: 0.0%
(1ABH) TMonly
PID Offset Adjustment Min: -100.0% 168
Applies an offset to the PID controller output. Set as a percentage of the maximum output
Max: 100.0%
frequency.
b5-08
common_ Default: 0.00 s
(1ACH) All Modes TMonly
PID Primary Delay Time Constant Min: 0.00 s 168
Sets a low pass filter time constant on the output of the PID controller. Max: 10.00 s
408 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
B.3 Parameter Table
No.(Addr.) Name Description Setting Page
common_
All Modes TMonly Default: 0
b5-09
PID Output Level Selection Min: 0 168
(1ADH) 0: Normal output (direct acting)
Max: 1
1: Reverse output (reverse acting)
b5-10
common_ Default: 1.00
(1AEH) All Modes TMonly
PID Output Gain Setting Min: 0.00 168
Sets the gain applied to the PID output. Max: 25.00
common_
All Modes TMonly Default: 0
b5-11
PID Output Reverse Selection 0: Negative PID output triggers zero limit. Min: 0 168
(1AFH)
1: Rotation direction reverses with negative PID output. Max: 1
When using setting 1, make sure reverse operation is permitted by parameter b1-04.
common_
All Modes TMonly
0: No fault. Digital output only.
1: Fault detection. Alarm output, drive continues operation. Default: 0
b5-12 PID Feedback Loss Detection
2: Fault detection. Fault output, drive output is shut off. Min: 0 169
(1B0H) Selection
3: No fault. Digital output only. No fault detection when PID control is disabled. Max: 5
4: Fault detection. Alarm is triggered and drive continues to run. Fault detection even when PID
is disabled.
5: Fault detection. Drive output shuts off. No fault detection when PID control is disabled.
common_ Default: 0%
b5-13 PID Feedback Low Detection All Modes TMonly Min: 0% 170
(1B1H) Level
Sets the PID feedback Low detection level as a percentage of the maximum output frequency. Max: 100%
common_ Default: 1.0 s
b5-14 PID Feedback Low Detection All Modes TMonly
Min: 0.0 s 170
(1B2H) Time
Sets a delay time for PID feedback loss. Max: 25.5 s
common_ Default: 0.0 Hz
b5-15 All Modes TMonly
PID Sleep Function Start Level Min: 0.0 Hz 171
(1B3H)
Sets the frequency level that triggers the sleep function. Max: 400.0 Hz
common_ Default: 0.0 s
b5-16 All Modes TMonly
PID Sleep Delay Time Min: 0.0 s 171
(1B4H)
Sets a delay time before the sleep function is triggered. Max: 25.5 s
common_ Default: 0.0 s
b5-17 All Modes TMonly
PID Accel/Decel Time Min: 0.0 s 171
(1B5H)
Sets the acceleration and deceleration time to PID setpoint. Max: 6000.0 s
common_
All Modes TMonly Default: 0
b5-18
PID Setpoint Selection Min: 0 171
(1DCH) 0: Disabled
Max: 1
1: Enabled
b5-19 common_
All Modes TMonly Default: 0.00%
(1DDH)
PID Setpoint Value Min: 0.00% 171
Sets the PID target value when b5-18 = 1. Set as a percentage of the maximum output
Max: 100.00%
frequency.
common_
All Modes TMonly
Sets the units for setting/display b5-19. Default: 1
b5-20
PID Setpoint Scaling 0: 0.01 Hz units Min: 0 171
(1E2H)
1: 0.01% units (100% = max output frequency) Max: 3
2: min-1 (number of motor poles must entered)
3: User-set (set scaling to b5-38 and b5-39)
b5-34 common_
All Modes TMonly Default: 0.00%
(19FH)
PID Output Lower Limit Min: -100.0% 172
Sets the minimum output possible from the PID controller as a percentage of the maximum
Max: 100.0%
output frequency.
b5-35 common_
All Modes Default: 1000.0%
(1A0H) TMonly
PID Input Limit Min: 0.0% 172
Limits the PID control input (deviation signal) as a percentage of the maximum output
Max: 1000.0%
frequency. Acts as a bipolar limit.
common_ Default: 100%
b5-36 PID Feedback High Detection All Modes TMonly Min: 0% 170
(1A1H) Level
Sets the PID feedback high detection level as a percentage of the maximum output frequency. Max: 100%
common_ Default: 1.0 s
b5-37 PID Feedback High Detection All Modes TMonly
Min: 0.0 s 170
(1A2H) Time
Sets the PID feedback high level detection delay time. Max: 25.5 s
common_ Default: <5>
b5-38 All Modes TMonly
PID Setpoint User Display Min: 1 172
(1FEH)
Sets the display value of U5-01 and U5-04 when the maximum frequency is output. Max: 60000
Parameter List
common_
All Modes TMonly
Default: <5>
b5-39 0: No decimal places
PID Setpoint Display Digits Min: 0 172
(1FFH) 1: One decimal places
Max: 3
2: Two decimal places
3: Three decimal places
common_
All Modes Default: 0
B
b5-40 Frequency Reference Monitor TMonly
Min: 0 172
(17FH) Content during PID 0: Display the frequency reference (U1-01) after PID compensation has been added.
Max: 1
1: Display the frequency reference (U1-01) before PID compensation has been added.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 409
B.3 Parameter Table
No.(Addr.) Name Description Setting Page
common_
All Modes TMonly
Default: 1
b5-47 Reverses operation selection when b5-01 =3 or 4
PID Output Reverse Selection 2 Min: 0 172
(17DH) 0: Zero limit when PID output is a negative value
Max: 1
1: Reverse operation when PID output is a negative value (Zero limit if the reverse operation is
prohibited by b1-04)
<5> Default setting is dependent on PID setpoint scaling (b5-20).
<6> Default setting value varies by the drive model (o2-04).
b6: Dwell Function
No.(Addr.) Name Description Setting Page
Default: 0.0 Hz
b6-01
Dwell Reference at Start Min: 0.0 Hz 174
(1B6H)
Max: 400.0 Hz
common_Default: 0.0 s
b6-02 All Modes
Dwell Time at Start TMonly Min: 0.0 s 174
(1B7H)
Parameters b6-01 and b6-02 set the frequency to hold and the time to maintain that frequency at Max: 10.0 s
start. Default: 0.0 Hz
b6-03 Parameters b6-03 and b6-04 set the frequency to hold and the time to maintain that frequency at Min: 0.0 Hz
Dwell Reference at Stop 174
(1B8H) stop. Max: 400.0 Hz
Default: 0.0 s
b6-04
Dwell Time at Stop Min: 0.0 s 174
(1B9H)
Max: 10.0 s
b7: Droop Control
No.(Addr.) Name Description Setting Page
b7-01 V/f V/f w/PG OLV CLV common_
TMonly Default: 0.0%
(1CAH) OLV/PM AOLV/PM CLV/PM
Droop Control Gain Min: 0.0% 174
Sets the speed reduction gain applied at a torque reference of 100%. Set as a percentage of Max: 100.0%
motor base speed.
b7-02 V/f V/f w/PG OLV CLV
common_ Default: 0.05 s
(1CBH)
Droop Control Delay Time. OLV/PM AOLV/PM CLV/PM TMonly Min: 0.03 s 175
Max: 2.00 s
Used to adjust the responsiveness of Droop Control.
V/f V/f w/PG OLV CLV
common_
Default: 1
b7-03 OLV/PM AOLV/PM CLV/PM TMonly
Droop Control Limit Selection Min: 0 175
(17EH)
0: Disabled Max: 1
1: Enabled
b8: Energy Saving
No.(Addr.) Name Description Setting Page
V/f V/f w/PG OLV CLV
common_
Default: <10>
b8-01 OLV/PM AOLV/PM CLV/PM TMonly
Energy Saving Control Selection Min: 0 175
(1CCH)
0: Disabled Max: 1
1: Enabled
b8-02 V/f V/f w/PG OLV CLV
common_ Default: <10>
(1CDH)
Energy Saving Gain OLV/PM AOLV/PM CLV/PM TMonly Min: 0.0 175
Max: 10.0
Sets the gain used for Energy Saving.
b8-03 V/f V/f w/PG OLV CLV
common_ Default: <4>
(1CEH) Energy Saving Control Filter Time
OLV/PM AOLV/PM CLV/PM TMonly Min: 0.00 s 175
Constant
Max: 10.00 s
Sets a time constant for Energy Saving.
V/f V/f w/PG OLV CLV
common_
OLV/PM AOLV/PM CLV/PM TMonly Default: <8> <9>
b8-04
Energy Saving Coefficient Value Min: 0.00 176
(1CFH) Determines the level of maximum motor efficiency. Setting range is 0.0 to 2000.0 maximum Max: 655.00
output up to 3.7 kW. The display resolution depends on the rated output current after the Drive
Duty has been set in parameter C6-01.
V/f V/f w/PG OLV CLV Default: 20 ms
common_
b8-05
Power Detection Filter Time OLV/PM AOLV/PM CLV/PM TMonly Min: 0 ms 176
(1D0H)
Max: 2000 ms
Sets a time constant filter for output power detection.
V/f V/f w/PG OLV CLV common_ Default: 0%
b8-06 TMonly
Search Operation Voltage Limit OLV/PM AOLV/PM CLV/PM Min: 0% 176
(1D1H)
Max: 100%
Sets the limit for the voltage search operation as a percentage of the motor rated voltage.
410 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
B.3 Parameter Table
No.(Addr.) Name Description Setting Page
V/f V/f w/PG OLV CLV common_
TMonly
OLV/PM AOLV/PM CLV/PM Default: 1.00
b8-16 Energy Saving Parameter (Ki) for
Coefficient to adjust torque linearity Min: 0.00 176
(1F8H) PM Motors
Set to the Kt value on the motor nameplate. Max: 3.00
When E5-01 (Motor Code Selection (for PM Motors)) is set to 1 or 2, the
automatically calculated value will be set. This set value cannot be changed.
V/f V/f w/PG OLV CLV common_
TMonly
OLV/PM AOLV/PM CLV/PM Default: 1.00
b8-17 Energy Saving Parameter (Kt) for
Coefficient to adjust torque linearity Min: 0.00 176
(1F9H) PM Motors
Set to the Kt value on the motor nameplate. Max: 3.00
When E5-01 (Motor Code Selection (for PM Motors)) is set to 1 or 2, the
automatically calculated value will be set. This set value cannot be changed.
<4> Default setting is dependent on the control mode (A1-02), the drive model (o2-04), and the Drive Duty (C6-01).
<8> Parameter value changes automatically if E2-11 is manually changed or changed by Auto-Tuning.
<9> Default setting value is dependent on the drive model (o2-04) and the Drive Duty (C6-01).
<10> Default setting is determined by the control mode (A1-02).
b9: Zero Servo
No.(Addr.) Name Description Setting Page
V/f V/f w/PG OLV CLV common_ Default: 5
b9-01
Zero Servo Gain OLV/PM AOLV/PM CLV/PM
TMonly Min: 0 177
(1DAH)
Max: 100
Sets the position loop gain for the Zero Servo function.
V/f V/f w/PG OLV CLV
common_ Default: 10
b9-02 OLV/PM AOLV/PM CLV/PM TMonly
Zero Servo Completion Width Min: 0 177
(1DBH)
Sets the range to trigger an output terminal set for “Zero Servo Complete” during Zero Servo Max: 16383
operation.
Parameter List
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 411
B.3 Parameter Table
C: Tuning
C parameters are used to adjust the acceleration and deceleration times, S-curves, slip compensation, torque
compensation, and carrier frequency selections.
C1: Acceleration and Deceleration Times
No.(Addr.) Name Description Setting Page
C1-01
common_
(200H) All Modes TMonly
Acceleration Time 1 178
Sets the time to accelerate from 0 to maximum frequency.
C1-02
common_
(201H) All Modes TMonly
Deceleration Time 1 178
Sets the time to decelerate from maximum frequency to 0.
C1-03
common_
(202H) All Modes TMonly
Acceleration Time 2 178
Sets the time to accelerate from 0 to maximum frequency.
C1-04
common_
(203H) All Modes TMonly
Deceleration Time 2 178
Sets the time to decelerate from maximum frequency to 0.
C1-05
common_ Default: 10.0 s
(204H) Acceleration Time 3 (Motor 2 All Modes TMonly Min: 0.0 s 178
Accel Time 1)
Sets the time to accelerate from 0 to maximum frequency. Max: 6000.0 s <12>
C1-06
common_
(205H) Deceleration Time 3 (Motor 2 All Modes TMonly 178
Decel Time 1)
Sets the time to decelerate from maximum frequency to 0.
C1-07
common_
(206H) Acceleration Time 4 (Motor 2 All Modes TMonly 178
Accel Time 2)
Sets the time to accelerate from 0 to maximum frequency.
C1-08
common_
(207H) Deceleration Time 4 (Motor 2 All Modes TMonly 178
Decel Time 2)
Sets the time to decelerate from maximum frequency to 0.
C1-09 common_
(208H) All Modes TMonly
Fast Stop Time 179
Sets the time for the Fast Stop function.
common_
All Modes TMonly Default: 1
C1-10
Accel/Decel Time Setting Units Min: 0 179
(209H) 0: 0.01 s (0.00 to 600.00 s)
Max: 1
1: 0.1 s (0.0 to 6000.0 s)
common_ Default: <10>
C1-11 Accel/Decel Time Switching All Modes TMonly
Min: 0.0 Hz 180
(20AH) Frequency
Sets the frequency to switch between accel/decel time settings Max: 400.0 Hz
<10> Default setting is determined by the control mode (A1-02).
<12> Setting range value is dependent on parameter C1-10, Accel/Decel Time Setting Units. When C1-10 = 0 (units of 0.01 seconds), the setting
range becomes 0.00 to 600.00 seconds.
C2: S-Curve Characteristics
No.(Addr.) Name Description Setting Page
Default: 0.20 s <10>
C2-01 S-Curve Characteristic at Accel
Min: 0.00 s 180
(20BH) Start All Modes
common_
TMonly Max: 10.00 s
The S-curve can be controlled at the four points shown below. Default: 0.20 s
C2-02 S-Curve Characteristic at Accel
Min: 0.00 s 180
(20CH) End
ON OFF Max: 10.00 s
Run Command
Output Frequency Default: 0.20 s
C2-03 S-Curve Characteristic at Decel C2-02 C2-03
Min: 0.00 s 180
(20DH) Start
C2-01 C2-04 Max: 10.00 s
Default: 0.00 s
C2-04 S-Curve Characteristic at Decel Time
Min: 0.00 s 180
(20EH) End
Max: 10.00 s
<10> Default setting is determined by the control mode (A1-02).
412 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
B.3 Parameter Table
C3: Slip Compensation
No.(Addr.) Name Description Setting Page
C3-01 V/f V/f w/PG OLV CLV common_ Default: <10>
(20FH) TMonly
Slip Compensation Gain OLV/PM AOLV/PM CLV/PM Min: 0.0 180
Max: 2.5
Sets the gain for the motor slip compensation function used for motor 1.
C3-02 V/f V/f w/PG OLV CLV common_ Default: <10>
(210H) Slip Compensation Primary Delay TMonly
OLV/PM AOLV/PM CLV/PM Min: 0 ms 181
Time
Max: 10000 ms
Adjusts the slip compensation function delay time used for motor 1.
V/f V/f w/PG OLV CLV common_
TMonly Default: 200%
C3-03 OLV/PM AOLV/PM CLV/PM
Slip Compensation Limit Min: 0% 181
(211H)
Sets an upper limit for the slip compensation function as a percentage of motor rated slip for Max: 250%
motor 1 (E2-02).
V/f V/f w/PG OLV CLV common_
TMonly Default: 0
C3-04 Slip Compensation Selection OLV/PM AOLV/PM CLV/PM
Min: 0 181
(212H) during Regeneration 0: Disabled. Max: 2
1: Enabled above 6 Hz.
2: Enabled whenever slip compensation is possible.
V/f V/f w/PG OLV CLV common_
TMonly Default: 0
C3-05 Output Voltage Limit Operation OLV/PM AOLV/PM CLV/PM Min: 0 181
(213H) Selection
0: Disabled. Max: 1
1: Enabled. Automatically decreases motor flux when output voltage saturation is reached.
C3-21 V/f V/f w/PG OLV CLV common_ Default: <15>
(33EH) TMonly
Motor 2 Slip Compensation Gain OLV/PM AOLV/PM CLV/PM Min: 0.0 182
Max: 2.5
Sets the slip compensation gain used for motor 2.
C3-22 V/f V/f w/PG OLV CLV common_ Default: <15>
(241H) Motor 2 Slip Compensation TMonly
OLV/PM AOLV/PM CLV/PM Min: 0 ms 182
Primary Delay Time
Max: 10000 ms
Sets the slip compensation delay time used for motor 2.
V/f V/f w/PG OLV CLV common_
TMonly Default: 200%
C3-23 OLV/PM AOLV/PM CLV/PM
Motor 2 Slip Compensation Limit Min: 0% 182
(242H)
Sets the upper limit for the slip compensation function for motor 2. Set as a percentage of the Max: 250%
motor rated slip (E4-02).
V/f V/f w/PG OLV CLV common_
TMonly Default: 0
C3-24 Motor 2 Slip Compensation OLV/PM AOLV/PM CLV/PM
Min: 0 182
(243H) Selection during Regeneration 0: Disabled. Max: 2
1: Enabled above 6 Hz.
2: Enabled whenever slip compensation is possible.
<10> Default setting is determined by the control mode (A1-02).
<15> Default setting is determined by the control mode for motor 2 (E3-01).
C4: Torque Compensation
No.(Addr.) Name Description Setting Page
C4-01 V/f V/f w/PG OLV CLV common_
Default: <10>
(215H) OLV/PM AOLV/PM CLV/PM
TMonly
Torque Compensation Gain Min: 0.00 183
Sets the gain for the automatic torque (voltage) boost function and helps to produce better Max: 2.50
starting torque. Used for motor 1.
C4-02 V/f V/f w/PG OLV CLV common_ Default: <16>
(216H) Torque Compensation Primary TMonly
OLV/PM AOLV/PM CLV/PM Min: 0 ms 183
Delay Time
Max: 60000 ms
Sets the torque compensation filter time.
V/f V/f w/PG OLV CLV common_ Default: 0.0%
C4-03 Torque Compensation at Forward TMonly
OLV/PM AOLV/PM CLV/PM Min: 0.0% 183
(217H) Start
Parameter List
Max: 200.0%
Sets torque compensation at forward start as a percentage of motor torque.
V/f V/f w/PG OLV CLV common_ Default: 0.0%
C4-04 Torque Compensation at Reverse TMonly
OLV/PM AOLV/PM CLV/PM Min: -200.0% 183
(218H) Start
Max: 0.0%
Sets torque compensation at reverse start as a percentage of motor torque.
V/f V/f w/PG OLV CLV common_
TMonly Default: 10 ms B
C4-05 Torque Compensation Time OLV/PM AOLV/PM CLV/PM Min: 0 ms 184
(219H) Constant
Sets the time constant for torque compensation at forward start and reverse start (C4-03 and Max: 200 ms
C4-04).
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 413
B.3 Parameter Table
No.(Addr.) Name Description Setting Page
C4-07 V/f V/f w/PG OLV CLV common_ Default: 1.00
(341H) Motor 2 Torque Compensation TMonly
OLV/PM AOLV/PM CLV/PM Min: 0.00 184
Gain
Max: 2.50
Sets the torque compensation gain used for motor 2.
<10> Default setting is determined by the control mode (A1-02).
<16> Default setting is determined by the control mode (A1-02) and the drive model (o2-04).
C5: Automatic Speed Regulator (ASR)
No.(Addr.) Name Description Setting Page
C5-01 V/f V/f w/PG OLV CLV common_ Default: <10>
(21BH) TMonly
ASR Proportional Gain 1 OLV/PM AOLV/PM CLV/PM Min: 0.00 186
Max: 300.00
Sets the proportional gain of the speed control loop (ASR).
C5-02 V/f V/f w/PG OLV CLV common_ Default: <10>
(21CH) TMonly
ASR Integral Time 1 OLV/PM AOLV/PM CLV/PM Min: 0.000 s 186
Max: 10.000 s
Sets the integral time of the speed control loop (ASR).
C5-03 V/f V/f w/PG OLV CLV common_ Default: <10>
(21DH) TMonly
ASR Proportional Gain 2 OLV/PM AOLV/PM CLV/PM Min: 0.00 186
Max: 300.00
Sets the speed control gain 2 of the speed control loop (ASR).
C5-04 V/f V/f w/PG OLV CLV common_ Default: <10>
(21EH) TMonly
ASR Integral Time 2 OLV/PM AOLV/PM CLV/PM Min: 0.000 s 186
Max: 10.000 s
Sets the integral time 2 of the speed control loop (ASR).
V/f V/f w/PG OLV CLV common_
TMonly Default: 5.0%
C5-05 OLV/PM AOLV/PM CLV/PM
ASR Limit Min: 0.0% 187
(21FH)
Sets the upper limit for the speed control loop (ASR) as a percentage of the maximum output Max: 20.0%
frequency (E1-04).
V/f V/f w/PG OLV CLV common_ Default: <10>
C5-06 TMonly
ASR Primary Delay Time Constant OLV/PM AOLV/PM CLV/PM Min: 0.000 s 187
(220H)
Max: 0.500 s
Sets the filter time constant for the time from the speed loop to the torque command output.
V/f V/f w/PG OLV CLV common_ Default: <10>
C5-07 TMonly
ASR Gain Switching Frequency OLV/PM AOLV/PM CLV/PM Min: 0.0 Hz 187
(221H)
Max: 400.0 Hz
Sets the frequency for switching between proportional gain 1, 2 and integral time 1, 2.
V/f V/f w/PG OLV CLV common_ Default: 400%
C5-08 TMonly
ASR Integral Limit OLV/PM AOLV/PM CLV/PM Min: 0% 187
(222H)
Max: 400%
Sets the ASR integral upper limit as a percentage of rated load torque.
V/f V/f w/PG OLV CLV common_
TMonly Default: 0
C5-12 Integral Operation during Accel/ OLV/PM AOLV/PM CLV/PM Min: 0 187
(386H) Decel
0: Disabled. Integral functions are enabled only during constant speed. Max: 1
1: Enabled. Integral functions are always enabled, during accel/decel and during constant speed.
V/f V/f w/PG OLV CLV common_ Default: <9> <14>
C5-17 TMonly
Motor Inertia OLV/PM AOLV/PM CLV/PM Min: 0.0001 kgm2 188
(276H)
Max: 600.00 kgm2
Sets the motor inertia. This value is automatically set during ASR or Inertia Auto-Tuning.
V/f V/f w/PG OLV CLV common_
TMonly Default: 1.0
C5-18 OLV/PM AOLV/PM CLV/PM
Load Inertia Ratio Min: 0.0 188
(277H)
Sets the ratio between the motor and load inertia. This value is automatically set during ASR or Max: 6000.0
Inertia Auto-Tuning.
C5-21 V/f V/f w/PG OLV CLV common_ Default: <15>
(356H) TMonly
Motor 2 ASR Proportional Gain 1 OLV/PM AOLV/PM CLV/PM Min: 0.00 188
Max: 300.00
Sets the proportional gain of the speed control loop (ASR) for motor 2.
C5-22 V/f V/f w/PG OLV CLV common_ Default: <15>
(357H) TMonly
Motor 2 ASR Integral Time 1 OLV/PM AOLV/PM CLV/PM Min: 0.000 s 188
Max: 10.000 s
Sets the integral time of the speed control loop (ASR) for motor 2.
C5-23 V/f V/f w/PG OLV CLV common_ Default: <15>
(358H) TMonly
Motor 2 ASR Proportional Gain 2 OLV/PM AOLV/PM CLV/PM Min: 0.00 188
Max: 300.00
Sets the speed control gain 2 of the speed control loop (ASR) for motor 2.
C5-24 V/f V/f w/PG OLV CLV common_ Default: <15>
(359H) TMonly
Motor 2 ASR Integral Time 2 OLV/PM AOLV/PM CLV/PM Min: 0.000 s 188
Max: 10.000 s
Sets the integral time 2 of the speed control loop (ASR) for motor 2.
414 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
B.3 Parameter Table
No.(Addr.) Name Description Setting Page
V/f V/f w/PG OLV CLV common_
TMonly Default: 5.0%
C5-25 OLV/PM AOLV/PM CLV/PM
Motor 2 ASR Limit Min: 0.0% 188
(35AH)
Sets the upper limit for the speed control loop (ASR) for motor 2 as a percentage of the Max: 20.0%
maximum output frequency (E3-04).
V/f V/f w/PG OLV CLV common_
TMonly Default: <15>
C5-26 Motor 2 ASR Primary Delay Time OLV/PM AOLV/PM CLV/PM Min: 0.000 s 188
(35BH) Constant
Sets the filter time constant for the time from the speed loop to the torque command output used Max: 0.500 s
for motor 2.
V/f V/f w/PG OLV CLV common_
TMonly Default: 0.0 Hz
C5-27 Motor 2 ASR Gain Switching OLV/PM AOLV/PM CLV/PM Min: 0.0 Hz 188
(35CH) Frequency
Sets the frequency for motor 2 used to switch between proportional gain 1 and 2, and between Max: 400.0 Hz
the integral time 1 and 2.
V/f V/f w/PG OLV CLV common_ Default: 400%
C5-28 TMonly
Motor 2 ASR Integral Limit OLV/PM AOLV/PM CLV/PM Min: 0% 189
(35DH)
Max: 400%
Sets the ASR integral upper limit for motor 2 as a percentage of rated load torque.
V/f V/f w/PG OLV CLV common_
TMonly Default: 0
C5-32 Integral Operation during Accel/ OLV/PM AOLV/PM CLV/PM
Min: 0 189
(361H) Decel for Motor 2 0: Disabled. Integral functions for motor 2 are enabled only during constant speed. Max: 1
1: Enabled. Integral functions are always enabled for motor 2, during accel/decel and during
constant speed.
V/f V/f w/PG OLV CLV common_
TMonly Default: <9>
C5-37 OLV/PM AOLV/PM CLV/PM
Motor 2 Inertia Min: 0.0001 kgm2 189
(278H)
Sets the inertia of motor 2 alone without the load. This value is automatically set during ASR or Max: 600.00 kgm
2
Inertia Auto-Tuning.
V/f V/f w/PG OLV CLV common_
TMonly Default: 1.0
C5-38 OLV/PM AOLV/PM CLV/PM
Motor 2 Load Inertia Ratio Min: 0.0 189
(279H)
Sets the ratio between the motor 2 and machine inertia. This value is automatically set during Max: 6000.0
ASR or Inertia Auto-Tuning.
<9> Default setting is dependent on the control mode (A1-02), the drive model (o2-04), and the Drive Duty (C6-01).
<10> Default setting is determined by the control mode (A1-02).
<14> Default setting value is dependent on the motor code set to E5-01.
<15> Default setting is determined by the control mode for motor 2 (E3-01).
C6: Carrier Frequency
No.(Addr.) Name Description Setting Page
common_
All Modes TMonly
0: Heavy Duty (HD)
Default: 0
C6-01 Over load capability: 150% of drive rated Heavy Duty current for 60 s
Drive Duty Mode Selection Min: 0 189
(223H) Default Carrier Frequency: 2 kHz
Max: 1
1: Normal Duty (ND)
Over load capability: 120% of drive rated Normal Duty current for 60 s
Default Carrier Frequency: 2 kHz Swing PWM
common_
All Modes TMonly
1: 4.0 kHz
Default: <4>
C6-02 2: 6.0 kHz
Carrier Frequency Selection Min: 1 190
(224H) 3: 8.0 kHz
Max: F
4: 10.0 kHz
F: User defined (determined by C6-03 through C6-05)
Note: Setting F is not available in AOLV/PM control mode (A1-02 = 6).
common_
All Modes TMonly Default: <13>
C6-03
Carrier Frequency Upper Limit C6-04 and C6-05 are available only in V/f and V/f w/PG control modes. Min: 4.0 kHz 190
(225H)
Determines the upper and lower limits for the carrier frequency. Max: 10.0 kHz
In OLV, C6-03 determines the upper limit of the carrier frequency.
Carrier Frequency
Default: <13>
C6-04
Carrier Frequency Lower Limit Min: 4.0 kHz 190
Parameter List
(226H) C6-03
Max: 10.0 kHz
C6-04 Output Frequency
× (C6-05)
Output Default: <13>
C6-05 Carrier Frequency Proportional
E1-04 Frequency Min: 0 190
(227H) Gain
Max Output Max: 99
Frequency
B
V/f V/f w/PG OLV CLV common_
TMonly Default: 0
C6-09 Carrier Frequency during OLV/PM AOLV/PM CLV/PM Min: 0 191
(22BH) Rotational Auto-Tuning
0: Carrier Frequency = 4 kHz <74> Max: 1
1: Setting value for C6-03 <75>
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 415
B.3 Parameter Table
<4> Default setting is dependent on the control mode (A1-02), the drive model (o2-04), and the Drive Duty (C6-01).
<13> Default setting value is dependent on the carrier frequency selection (C6-02).
<74> In PM control mode, this value is 4 kHz.
<75> In PM control mode, this value is the carrier frequency that is set in C6-02.
C7: Voltage Adjustment
No.(Addr.) Name Description Setting Page
common_
All Modes TMonly Default: 0000
C7-43 Input Voltage Offset
Enables adjustment of the offset for the input voltage circuit when the control board is replaced. Min: 0000 191
(112AH) Adjustment
0000: Standard Max: 9999
0002: Offset adjustment not required.
common_
All Modes TMonly Default: 0
C7-56 Power Factor Control
Min: 0 191
(B18H) Selection 0: Power Factor Control Disabled
Max: 1
1: Power Factor Control Enabled
common_
All Modes TMonly Default: 1
C7-60 Output Voltage Limit
Min: 0 191
(B1CH) Mode Selection 0: Harmonic suppression priority mode
Max: 1
1: High output voltage mode
416 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
B.3 Parameter Table
d: Reference Settings
Reference parameters are used to set the various frequency reference values during operation.
d1: Frequency Reference
No.(Addr.) Name Description Setting Page
d1-01
(280H)
Frequency Reference 1 192
d1-02
(281H)
Frequency Reference 2 192
d1-03
(282H)
Frequency Reference 3 192
d1-04
(283H)
Frequency Reference 4 192
d1-05
(284H)
Frequency Reference 5 192
d1-06
(285H)
Frequency Reference 6 192
d1-07
(286H)
Frequency Reference 7 192
d1-08
(287H)
Frequency Reference 8 common_ 192
All Modes TMonly Default: 0.00 Hz
Min: 0.00 Hz
Sets the frequency reference for the drive. Setting units are determined by parameter o1-03.
d1-09 Max: 400.00 Hz
Note: The value set to o1-03 is changed to 1 and the unit is changed to percentage automatically
(288H) <20> <63>
Frequency Reference 9 when A1-02 is set to 6 or 7 192
d1-10
(28BH)
Frequency Reference 10 192
d1-11
(28CH)
Frequency Reference 11 192
d1-12
(28DH)
Frequency Reference 12 192
d1-13
(28EH)
Frequency Reference 13 192
d1-14
(28FH)
Frequency Reference 14 192
d1-15
(290H)
Frequency Reference 15 192
d1-16
(291H)
Parameter List
Frequency Reference 16 192
d1-17 Default: 6.00 Hz
common_
(292H) All Modes TMonly Min: 0.00 Hz
Jog Frequency Reference 192
Max: 400.00 Hz
Sets the jog frequency reference. Setting units are determined by parameter o1-03.
<20> <63>
<20> Range upper limit is determined by the maximum output frequency (E1-04) and the upper limit of the frequency reference (d2-01). B
<63> The value of o1-03 is changed to 1 and the unit is also changed to a percentage (%) when the control mode is set to CLV/PM or AOLV/PM.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 417
B.3 Parameter Table
d2: Frequency Upper/Lower Limits
No.(Addr.) Name Description Setting Page
common_ Default: 100.0%
d2-01 All Modes TMonly
Frequency Reference Upper Limit Min: 0.0% 194
(289H)
Sets the frequency reference upper limit as a percentage of the maximum output frequency. Max: 110.0%
common_ Default: 0.0%
d2-02 All Modes TMonly
Frequency Reference Lower Limit Min: 0.0% 194
(28AH)
Sets the frequency reference lower limit as a percentage of the maximum output frequency. Max: 110.0%
common_
All Modes TMonly Default: 0.0%
d2-03 Master Speed Reference Lower
Min: 0.0 194
(293H) Limit Sets the lower limit for frequency references from analog inputs as a percentage of the
Max: 110.0%
maximum output frequency.
d3: Jump Frequency
No.(Addr.) Name Description Setting Page
d3-01 common_
Jump Frequency 1 All Modes TMonly 194
(294H)
Default: 0.0 Hz
d3-02 Eliminates problems with resonant vibration of the motor/machine by avoiding continuous
<10> <67>
Jump Frequency 2 operation in predefined frequency ranges. The drive accelerates and decelerates the motor 194
(295H) Min: 0.0 Hz <67>
through the prohibited frequency ranges.
d3-03 Max: 400.0 Hz <67>
Jump Frequency 3 Setting 0.0 disables this function. 194
(296H) Parameters must not be overlapped.
Default: 1.0 Hz
common_
d3-04 All Modes TMonly <10> <68>
Jump Frequency Width 194
(297H) Min: 0.0 Hz <68>
Sets the dead-band width around each selected prohibited frequency reference point.
Max: 20.0 Hz <68>
<10> Default setting is determined by the control mode (A1-02).
<67> Default setting is 0.0% and setting range is 0.0 to 100.0% in AOLV/PM or CLV/PM.
<68> Default setting is 1.0% and setting range is 0.0 to 40.0% in AOLV/PM or CLV/PM.
d4: Frequency Reference Hold and Up/Down 2 Function
No.(Addr.) Name Description Setting Page
common_
All Modes TMonly Default: 0
d4-01 Frequency Reference Hold
Min: 0 195
(298H) Function Selection 0: Disabled. Drive starts from zero when the power is switched on.
Max: 1
1: Enabled. At power up, the drive starts the motor at the Hold frequency that was saved.
d4-03 common_
All Modes Default: 0.00 Hz
(2AAH) Frequency Reference Bias Step TMonly
Min: 0.00 Hz 197
(Up/Down 2) Sets the bias added to the frequency reference when the Up 2 and Down 2 digital inputs are
Max: 99.99 Hz
enabled (H1- = 75, 76).
d4-04 common_
All Modes Default: 0
(2ABH) Frequency Reference Bias Accel/ TMonly
Min: 0 198
Decel (Up/Down 2) 0: Use selected accel/decel time.
Max: 1
1: Use accel/decel time 4 (C1-07 and C1-08).
common_
d4-05 All Modes TMonly
Frequency Reference Bias Default: 0
(2ACH)
Operation Mode Selection (Up/ 0: Bias value is held if no input Up 2 or Down 2 is active. Min: 0 198
Down 2) 1: When the Up 2 reference and Down 2 reference are both on or both off, the applied bias Max: 1
becomes 0. The specified accel/decel times are used for acceleration or deceleration.
common_
All Modes TMonly Default: 0.0%
d4-06 Frequency Reference Bias (Up/
Min: -99.9% 198
(2ADH) Down 2) The Up/Down 2 bias value is saved in d4-06 when the frequency reference is not input by the
Max: 100.0%
digital operator. Set as a percentage of the maximum output frequency.
common_
All Modes
d4-07 TMonly
Default: 1.0%
(2AEH) Analog Frequency Reference Limits how much the frequency reference is allowed to change while an input terminal set for
Min: 0.1% 199
Fluctuation Limit (Up/Down 2) Up 2 or Down 2 is enabled. If the frequency reference changes for more than the set value, then
Max: 100.0%
the bias value is held and the drive accelerates or decelerates to the frequency reference. Set as a
percentage of the maximum output frequency.
d4-08 common_
All Modes Default: 100.0%
(2AFH) Frequency Reference Bias Upper TMonly
Min: 0.0% 199
Limit (Up/Down 2) Sets the upper limit for the bias and the value that can be saved in d4-06. Set as a percentage of
Max: 100.0%
the maximum output frequency.
d4-09 common_
All Modes Default: 0.0%
(2B0H) Frequency Reference Bias Lower TMonly
Min: -99.9% 199
Limit (Up/Down 2) Sets the lower limit for the bias and the value that can be saved in d4-06. Set as a percentage of
Max: 0.0%
the maximum output frequency.
common_
All Modes TMonly Default: 0
d4-10 Up/Down Frequency Reference
Min: 0 199
(2B6H) Limit Selection 0: The lower limit is determined by d2-02 or an analog input.
Max: 1
1: The lower limit is determined by d2-02.
418 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
B.3 Parameter Table
No.(Addr.) Name Description Setting Page
common_
All Modes TMonly
Enables or disables the conversion of frequency reference or PID output value into
Default: 0
d4-11 bi-directional internal frequency reference.
Bi-Directional Output Selection Min: 0 200
(2B7H) 0: Disabled - Operation in the selected direction between 0 to 100% frequency reference or PID
Max: 1
output
1: Enabled - Operation in reverse direction when frequency reference or PID output < 50%, else
operation in the selected direction.
common_ Default: 1.00
d4-12 All Modes TMonly
Stop Position Gain Min: 0.50 200
(2B8H)
Sets the gain used by the simple positioning stop function in order to fine adjust the position. Max: 2.55
d5: Torque Control
No.(Addr.) Name Description Setting Page
V/f V/f w/PG OLV CLV common_
TMonly
Default: 0
d5-01 OLV/PM AOLV/PM CLV/PM
Torque Control Selection Min: 0 203
(29AH) 0: Speed Control Max: 1
1: Torque Control
Set to 0 when using a digital input to switch between Speed and Torque Control (H1- = 71).
V/f V/f w/PG OLV CLV common_
TMonly Default: <10>
d5-02 OLV/PM AOLV/PM CLV/PM
Torque Reference Delay Time Min: 0 ms 203
(29BH)
Sets a delay time for the torque reference signal. Used to suppress effects by noisy or fluctuating Max: 1000 ms
torque reference signals.
V/f V/f w/PG OLV CLV common_
TMonly Default: 1
d5-03 OLV/PM AOLV/PM CLV/PM
Speed Limit Selection Min: 1 203
(29CH)
1: Limit set by the frequency reference in b1-01. Max: 2
2: Limit set by d5-04.
V/f V/f w/PG OLV CLV common_
TMonly Default: 0%
d5-04 OLV/PM AOLV/PM CLV/PM
Speed Limit Min: -120% 203
(29DH) Sets the speed limit during Torque Control as a percentage of the maximum output frequency. Max: 120%
Enabled when d5-03 = 2. A negative setting set a limit in the opposite direction of the Run
command.
V/f V/f w/PG OLV CLV common_
TMonly Default: 10%
d5-05 OLV/PM AOLV/PM CLV/PM
Speed Limit Bias Min: 0% 204
(29EH)
Sets the speed limit bias as a percentage of the maximum output frequency. Max: 120%
The bias is applied to the specified speed limit and can adjust the margin for the speed limit.
V/f V/f w/PG OLV CLV common_
TMonly Default: 0 ms
d5-06 Speed/Torque Control Switchover OLV/PM AOLV/PM CLV/PM Min: 0 ms 204
(29FH) Time
Sets the delay time for switching between Speed and Torque Control using an input terminal Max: 1000 ms
(H1- = 71). Reference values are held during this switch delay time.
V/f V/f w/PG OLV CLV common_
TMonly Default: 1
d5-08 OLV/PM AOLV/PM CLV/PM
Unidirectional Speed Limit Bias Min: 0 204
(2B5H)
0: Disabled Max: 1
1: Enabled
<10> Default setting is determined by the control mode (A1-02).
d6: Field Weakening and Field Forcing
No.(Addr.) Name Description Setting Page
V/f V/f w/PG OLV CLV common_
TMonly
Default: 80%
d6-01 OLV/PM AOLV/PM CLV/PM
Field Weakening Level Min: 0% 204
(2A0H) Sets the drive output voltage for the Field Weakening function as a percentage of the maximum Max: 100%
output voltage.
Enabled when a multi-function input is set for Field Weakening (H1- = 63).
V/f V/f w/PG OLV CLV common_
Parameter List
TMonly Default: 0.0 Hz
d6-02 OLV/PM AOLV/PM CLV/PM
Field Weakening Frequency Limit Min: 0.0 Hz 204
(2A1H) Sets the lower limit of the frequency range where Field Weakening control is valid. Max: 400.0 Hz
The Field Weakening command is valid only at frequencies above this setting and only when
the output frequency matches the frequency reference (speed agree).
V/f V/f w/PG OLV CLV common_
TMonly Default: 0
d6-03
(2A2H)
Field Forcing Selection OLV/PM AOLV/PM CLV/PM Min: 0
Max: 1
205 B
0: Disabled
1: Enabled
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 419
B.3 Parameter Table
No.(Addr.) Name Description Setting Page
V/f V/f w/PG OLV CLV common_
TMonly Default: 400%
d6-06 OLV/PM AOLV/PM CLV/PM
Field Forcing Limit Min: 100% 205
(2A5H)
Sets the upper limit of the excitation current command during magnetic field forcing. A setting Max: 400%
of 100% is equal to motor no-load current. Disabled only during DC Injection Braking.
d7: Offset Frequency
No.(Addr.) Name Description Setting Page
d7-01 common_
All Modes Default: 0.0%
(2B2H) TMonly
Offset Frequency 1 Min: -100.0% 205
Added to the frequency reference when the digital input “Frequency offset 1” (H1- = 44) is
Max: 100.0%
switched on. A setting of 100% is equal to the drive maximum output current.
d7-02 common_
All Modes Default: 0.0%
(2B3H) TMonly
Offset Frequency 2 Min: -100.0% 205
Added to the frequency reference when the digital input “Frequency offset 2” (H1- = 45) is
Max: 100.0%
switched on. A setting of 100% is equal to the drive maximum output current.
d7-03 common_
All Modes Default: 0.0%
(2B4H) TMonly
Offset Frequency 3 Min: -100.0% 205
Added to the frequency reference when the digital input “Frequency offset 3” (H1- = 46) is
Max: 100%
switched on. A setting of 100% is equal to the drive maximum output current.
E: Motor Parameters
E1: V/f Pattern for Motor 1
No.(Addr.) Name Description Setting Page
V/f V/f w/PG OLV CLV common_
TMonly
OLV/PM AOLV/PM CLV/PM
0: 50 Hz, Constant torque 1
1: 60 Hz, Constant torque 2
2: 60 Hz, Constant torque 3 (50 Hz base)
3: 72 Hz, Constant torque 4 (60 Hz base)
4: 50 Hz, Variable torque 1
5: 50 Hz, Variable torque 2 Default: F <3>
E1-03
V/f Pattern Selection 6: 60 Hz, Variable torque 3 Min: 0 206
(302H)
7: 60 Hz, Variable torque 4 Max: F <30>
8: 50 Hz, High starting torque 1
9: 50 Hz, High starting torque 2
A: 60 Hz, High starting torque 3
B: 60 Hz, High starting torque 4
C: 90 Hz (60 Hz base)
D: 120 Hz (60 Hz base)
E: 180 Hz (60 Hz base)
F: Custom V/f, E1-04 through E1-13 settings define the V/f pattern
Default: <4> <14>
E1-04
Maximum Output Frequency Min: 40.0 Hz 209
(303H)
Max: 400.0 Hz <29>
common_
All Modes TMonly Default: <4> <14> <18>
E1-05
Maximum Voltage E1-04, E1-06 to E1-13 can only be changed when E1-03 is set to F. Min: 0.0 V 209
(304H)
To set linear V/f characteristics, set the same values for E1-07 and E1-09. In this case, the Max: 255.0 V <18>
setting for E1-08 will be disregarded. Ensure that the four frequencies are set according to these Default: <4> <14>
E1-06
Base Frequency rules or an oPE10 fault will occur: Min: 0.0 209
(305H)
E1-09 E1-07 < E1-06 E1-11 E1-04 Max: E1-04 <29>
Note that if E1-11 = 0, then both E1-11 and E1-12 are disabled, and the above conditions do not Default: <4>
E1-07 apply.
Middle Output Frequency Min: 0.0 209
(306H)
Output Voltage (V) Max: E1-04
E1-05 Default: <4> <18>
E1-08
Middle Output Frequency Voltage E1-12 Min: 0.0 V 209
(307H)
Max: 255.0 V <18>
E1-13
Default: <4> <14>
E1-09
Minimum Output Frequency Min: 0.0 209
(308H)
Max: E1-04 <29>
E1-08
Default: <4> <18>
E1-10 Minimum Output Frequency
Min: 0.0 V 209
(309H) Voltage E1-10 Max: 255.0 V <18>
E1-11 E1-09 E1-07 E1-06 E1-11 E1-04 Default: 0.0 Hz
(30AH) Middle Output Frequency 2 Frequency (Hz) Min: 0.0 Hz 209
<21> Note: Some parameters may not be available depending on the control mode. Max: E1-04
E1-12 • E1-07, E1-08 and E1-10 are available only in the following control modes: V/f Control, V/f Default: 0.0 V
Middle Output Frequency Voltage with PG, Open Loop Vector.
(30BH) Min: 0.0 V 209
2 • E1-11, E1-12 and E1-13 are available only in the following control modes: V/f Control, V/f
<21> Max: 255.0 V <18>
with PG, Open Loop Vector, Closed Loop Vector.
E1-13 Default: 0.0 V <18>
(30CH) Base Voltage Min: 0.0 V 209
<27> Max: 255.0 V <18>
<3> Parameter setting value is not reset to the default value when the drive is initialized.
<4> Default setting is dependent on the control mode (A1-02), the drive model (o2-04), and the Drive Duty (C6-01).
420 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
B.3 Parameter Table
<14> Default setting value is dependent on the motor code set to E5-01.
<18> Values shown here are for 200 V class drives. Double the value when using a 400 V class drive.
<21> Parameter ignored when E1-11 (Motor 1 Mid Output Frequency 2) and E1-12 (Motor 1 Mid Output Frequency Voltage 2) are set to 0.0.
<27> When E1-13 (Base Voltage) is set to 0.0, output voltage is controlled with E1-05 (Maximum Voltage) = E1-13. When Auto-Tuning is
performed, E1-05 and E1-13 are automatically set to the same value.
<29> The setting range varies according to the motor code entered to E5-01 when using OLV/PM. The setting range is 0.0 to 400.0 Hz when E5-01
is set to FFFFH.
<30> The setting value is F in OLV.
E2: Motor 1 Parameters
No.(Addr.) Name Description Setting Page
Default: <9>
V/f V/f w/PG OLV CLV common_ Min: 10% of drive rated
E2-01 TMonly
Motor Rated Current OLV/PM AOLV/PM CLV/PM current 210
(30EH)
Max: 180% of drive
Sets the motor nameplate full load current in Amps. Automatically set during Auto-Tuning. rated current <19>
V/f V/f w/PG OLV CLV common_ Default: <9>
E2-02 TMonly
Motor Rated Slip OLV/PM AOLV/PM CLV/PM Min: 0.00 Hz 210
(30FH)
Max: 20.00 Hz
Sets the motor rated slip. Automatically set during Auto-Tuning.
V/f V/f w/PG OLV CLV common_ Default: <9>
E2-03 TMonly
Motor No-Load Current OLV/PM AOLV/PM CLV/PM Min: 0.00 A 210
(310H)
Max: E2-01 <19>
Sets the no-load current for the motor. Automatically set during Auto-Tuning.
V/f V/f w/PG OLV CLV common_ Default: 4
E2-04 TMonly
Number of Motor Poles OLV/PM AOLV/PM CLV/PM Min: 2 210
(311H)
Max: 48
Sets the number of motor poles. Automatically set during Auto-Tuning.
V/f V/f w/PG OLV CLV common_ Default: <9>
E2-05
Motor Line-to-Line Resistance OLV/PM AOLV/PM CLV/PM
TMonly Min: 0.000 211
(312H)
Max: 65.000
Sets the phase-to-phase motor resistance. Automatically set during Auto-Tuning.
V/f V/f w/PG OLV CLV common_
TMonly Default: <9>
E2-06 OLV/PM AOLV/PM CLV/PM
Motor Leakage Inductance Min: 0.0% 211
(313H)
Sets the voltage drop due to motor leakage inductance as a percentage of motor rated voltage. Max: 40.0%
Automatically set during Auto-Tuning.
V/f V/f w/PG OLV CLV common_
TMonly Default: 0.50
E2-07 Motor Iron-Core Saturation OLV/PM AOLV/PM CLV/PM Min: 0.00 211
(314H) Coefficient 1
Sets the motor iron saturation coefficient at 50% of magnetic flux. Automatically set during Max: 0.50
Auto-Tuning.
V/f V/f w/PG OLV CLV common_
TMonly Default: 0.75
E2-08 Motor Iron-Core Saturation OLV/PM AOLV/PM CLV/PM Min: E2-07 211
(315H) Coefficient 2
Sets the motor iron saturation coefficient at 75% of magnetic flux. Automatically set during Max: 0.75
Auto-Tuning.
V/f V/f w/PG OLV CLV common_ Default: 0.0%
E2-09 TMonly
Motor Mechanical Loss OLV/PM AOLV/PM CLV/PM Min: 0.0% 211
(316H)
Max: 10.0%
Sets the motor mechanical loss as a percentage of motor rated power (kW).
V/f V/f w/PG OLV CLV common_ Default: <9>
E2-10 Motor Iron Loss for Torque TMonly
OLV/PM AOLV/PM CLV/PM Min: 0 W 211
(317H) Compensation
Max: 65535 W
Sets the motor iron loss.
V/f V/f w/PG OLV CLV common_
TMonly Default: <9>
E2-11 OLV/PM AOLV/PM CLV/PM
Motor Rated Power Min: 0.00 kW 212
(318H) Sets the motor rated power in kilowatts. Automatically set during Auto-Tuning. Max: 650.00 kW
Note: If the power of the motor is given in HP, use the following formula to convert it to kW.
1 HP = 0.746 kW
<9> Default setting value is dependent on the drive model (o2-04) and the Drive Duty (C6-01).
<19> Display is in the following units.
CIMR-U20028, 20042, and 40011 to 40027: 0.01 A units
Parameter List
CIMR-U20054 to 20248, and 40034 to 40414: 0.1 A units
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 421
B.3 Parameter Table
E3: V/f Pattern for Motor 2
These parameters are hidden when a PM motor control mode has been selected for motor 1 (A1-02 = 5, 6, 7).
No.(Addr.) Name Description Setting Page
V/f V/f w/PG OLV CLV common_
TMonly
OLV/PM AOLV/PM CLV/PM Default: 0
E3-01
Motor 2 Control Mode Selection 0: V/f Control Min: 0 213
(319H)
1: V/f Control with PG Max: 3
2: Open Loop Vector Control
3: Closed Loop Vector Control
Default: <25>
E3-04
Motor 2 Max. Output Frequency Min: 40.0 Hz 213
(31AH)
Max: 400.0 Hz
Default: <18>
E3-05
Motor 2 Max. Voltage V/f V/f w/PG OLV CLV common_ Min: 0.0 V 213
(31BH) TMonly Max: 255.0 V <18>
OLV/PM AOLV/PM CLV/PM
Default: <25>
E3-06 To set linear V/f characteristics, set the same values for E3-07 and E3-09. In this case, the
Motor 2 Base Frequency Min: 0.0 Hz 213
(31CH) setting for E3-08 will be disregarded. Ensure that the five frequencies are set according to these
Max: E3-04
rules or an oPE10 fault will occur:
E3-09 E3-07 E3-06 E3-04 Default: <25>
E3-07
Motor 2 Mid Output Frequency Note that if E3-11 = 0, then both E3-11 and E3-12 are disabled, and the above conditions do not Min: 0.0 Hz 213
(31DH)
apply. Max: E3-04
Default: <18> <25>
E3-08 Motor 2 Mid Output Frequency Output Voltage (V)
Min: 0.0 V 213
(31EH) Voltage E3-05
E3-12 Max: 255.0 V <18>
Default: <25>
E3-09 Motor 2 Minimum Output E3-13 Min: 0.0 Hz 213
(31FH) Frequency
Max: E3-04
Default: <18> <25>
E3-10 Motor 2 Minimum Output E3-08 Min: 0.0 V 213
(320H) Frequency Voltage
Max: 255.0 V <18>
E3-11 E3-10 Default: 0.0 Hz <24>
(345H) Motor 2 Mid Output Frequency 2 Min: 0.0 Hz 213
E3-09 E3-07 E3-06 E3-11 E3-04
<24> Max: E3-04
Frequency (Hz)
E3-12 Default: 0.0 V
Motor 2 Mid Output Frequency Note: E3-07 and E3-08 are only available in the following control modes: V/f, V/f w/PG and
(346H) Min: 0.0 V 213
Voltage 2 OLV.
<24> Max: 255.0 V <18>
E3-13 Default: 0.0 V
(347H) Motor 2 Base Voltage Min: 0.0 V 213
<50> Max: 255.0 V <18>
<18> Values shown here are for 200 V class drives. Double the value when using a 400 V class drive.
<24> Parameter ignored when E3-11 (Motor 2 Mid Output Frequency 2) and E3-12 (Motor 2 Mid Output Frequency Voltage 2) are set to 0.
<25> Default setting depends on the control mode for motor 2 set in parameter E3-01. The value shown here is for V/f Control.
<50> When E3-13 (Motor 2 Base Voltage) is set to 0.0, output voltage is controlled with E3-05 (Motor 2 Max. Voltage) = E3-13. When
Auto-Tuning is performed, E3-05 and E3-13 are automatically set to the same value.
E4: Motor 2 Parameters
These parameters are hidden when a PM motor control mode has been selected for motor 1 (A1-02 = 5, 6, 7).
No.(Addr.) Name Description Setting Page
Default: <9>
V/f V/f w/PG OLV CLV common_ Min: 10% of drive rated
E4-01 TMonly
Motor 2 Rated Current OLV/PM AOLV/PM CLV/PM current 214
(321H)
Max: 150% of drive
Sets the full load current for motor 2. Automatically set during Auto-Tuning. rated current <19>
V/f V/f w/PG OLV CLV common_ Default: <9>
E4-02 TMonly
Motor 2 Rated Slip OLV/PM AOLV/PM CLV/PM Min: 0.00 Hz 214
(322H)
Max: 20.00 Hz
Sets the rated slip for motor 2. Automatically set during Auto-Tuning.
V/f V/f w/PG OLV CLV common_ Default: <9>
E4-03 TMonly
Motor 2 No-Load Current OLV/PM AOLV/PM CLV/PM Min: 0 A 214
(323H)
Max: E4-01 <19>
Sets the no-load current for motor 2. Automatically set during Auto-Tuning.
V/f V/f w/PG OLV CLV common_ Default: 4
E4-04 TMonly
Motor 2 Motor Poles OLV/PM AOLV/PM CLV/PM Min: 2 214
(324H)
Max: 48
Sets the number of poles of motor 2. Automatically set during Auto-Tuning.
V/f V/f w/PG OLV CLV common_ Default: <9>
E4-05 TMonly
Motor 2 Line-to-Line Resistance OLV/PM AOLV/PM CLV/PM Min: 0.000 214
(325H)
Max: 65.000
Sets the phase-to-phase resistance for motor 2. Automatically set during Auto-Tuning.
422 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
B.3 Parameter Table
No.(Addr.) Name Description Setting Page
V/f V/f w/PG OLV CLV common_
TMonly Default: <9>
E4-06 OLV/PM AOLV/PM CLV/PM
Motor 2 Leakage Inductance Min: 0.0% 215
(326H)
Sets the voltage drop for motor 2 due to motor leakage inductance as a percentage of rated Max: 40.0%
voltage. Automatically set during Auto-Tuning.
V/f V/f w/PG OLV CLV common_
TMonly Default: 0.50
E4-07 Motor 2 Motor Iron-Core OLV/PM AOLV/PM CLV/PM Min: 0.00 215
(343H) Saturation Coefficient 1
Set to the motor iron saturation coefficient at 50% of magnetic flux for motor 2. Automatically Max: 0.50
set during Auto-Tuning.
V/f V/f w/PG OLV CLV common_
TMonly Default: 0.75
E4-08 Motor 2 Motor Iron-Core OLV/PM AOLV/PM CLV/PM Min: E4-07 215
(344H) Saturation Coefficient 2
Set to the motor iron saturation coefficient at 75% of magnetic flux for motor 2. This value is Max: 0.75
automatically set during Auto-Tuning.
V/f V/f w/PG OLV CLV common_
TMonly Default: 0.0%
E4-09 OLV/PM AOLV/PM CLV/PM
Motor 2 Mechanical Loss Min: 0.0% 215
(33FH)
There is normally no need to change this parameter from the default value. Max: 10.0%
Sets the motor mechanical loss for motor 2 as a percentage of motor rated power (kW).
V/f V/f w/PG OLV CLV common_ Default: <9>
E4-10 TMonly
Motor 2 Iron Loss OLV/PM AOLV/PM CLV/PM Min: 0 W 215
(340H)
Max: 65535 W
Sets the motor iron loss.
V/f V/f w/PG OLV CLV common_ Default: <9>
E4-11 TMonly
Motor 2 Rated Power OLV/PM AOLV/PM CLV/PM Min: 0.00 kW 215
(327H)
Max: 650.00 kW
Sets the motor rated capacity in kW. Automatically set during Auto-Tuning.
<9> Default setting value is dependent on the drive model (o2-04) and the Drive Duty (C6-01).
<19> Display is in the following units.
CIMR-U20028, 20042, and 40011 to 40027: 0.01 A units
CIMR-U20054 to 20248, and 40034 to 40414: 0.1 A units
E5: PM Motor Settings
No.(Addr.) Name Description Setting Page
V/f V/f w/PG OLV CLV common_
TMonly
OLV/PM AOLV/PM CLV/PM
E5-01 Enter the Yaskawa motor code for the PM motor being used. Various motor parameters are Default: <4>
Motor Code Selection automatically set based on the value of this parameter. Setting that were changed manually will Min: 0000
(329H) 216
(for PM Motors) be overwritten by the defaults of the selected motor code.
<3> Max: FFFF <28>
Note1. Set to FFFF when using a non-Yaskawa PM motor or a special motor.
2. If an alarm or hunting occurs even though a motor code is used, enter the value indicated
on the nameplate. For more details, refer to Auto-Tuning for Permanent Magnet Motors
on page 117.
E5-02 V/f V/f w/PG OLV CLV common_ Default: <14>
Motor Rated Power TMonly
(32AH) OLV/PM AOLV/PM CLV/PM Min: 0.10 kW 216
(for PM Motors)
<3> Max: 650.00 kW
Sets the rated capacity of the motor.
Default: <14>
E5-03 V/f V/f w/PG OLV CLV common_ Min: 10% of drive rated
Motor Rated Current TMonly
(32BH) OLV/PM AOLV/PM CLV/PM current 216
(for PM Motors)
<3> Max: 150% of drive
Sets the motor rated current. rated current <19>
E5-04 V/f V/f w/PG OLV CLV common_ Default: <14>
Number of Motor Poles TMonly
(32CH) OLV/PM AOLV/PM CLV/PM Min: 2 216
(for PM Motors)
<3> Max: 48
Sets the number of motor poles.
E5-05 V/f V/f w/PG OLV CLV common_ Default: <14>
Motor Stator Resistance (r1)
(32DH) OLV/PM AOLV/PM CLV/PM
TMonly Min: 0.000 216
(for PM Motors)
<3> Max: 65.000
Set the resistance for each motor phase.
E5-06 V/f V/f w/PG OLV CLV Default: <14>
Parameter List
common_
Motor d-Axis Inductance (Ld) TMonly
(32EH) OLV/PM AOLV/PM CLV/PM Min: 0.00 mH 217
(for PM Motors)
<3> Max: 300.00 mH
Sets the d-axis inductance for the PM motor.
E5-07 V/f V/f w/PG OLV CLV common_ Default: <14>
Motor q-Axis Inductance (Lq) TMonly
(32FH) OLV/PM AOLV/PM CLV/PM Min: 0.00 mH 217
(for PM Motors)
<3> Max: 600.00 mH
Sets the q-axis inductance for the PM motor.
B
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 423
B.3 Parameter Table
No.(Addr.) Name Description Setting Page
V/f V/f w/PG OLV CLV common_
TMonly Default: <14>
E5-09 OLV/PM AOLV/PM CLV/PM
Motor Induction Voltage Min: 0.0 mV/(rad/s)
(331H) Set the induced phase peak voltage in units of 0.1 mV/(rad/s) [electrical angle]. Set this 217
Constant 1 (Ke) (for PM Motors) Max:
<3> parameter when using a Yaskawa SSR1 Series PM motor with derated torque, or a Yaskawa 2000.0 mV/(rad/s)
SST4 Series motor with constant torque.
When setting this parameter, E5-24 should be set to 0.
V/f V/f w/PG OLV CLV common_
TMonly Default: 0.0 deg
E5-11 Encoder Z-pulse Offset () OLV/PM AOLV/PM CLV/PM Min: -180 deg 217
(333H) (for PM Motors)
Sets the offset between the rotor magnetic axis and the Z pulse of an incremental encoder. Set Max: 180 deg
during Z Pulse Offset Tuning.
V/f V/f w/PG OLV CLV common_
TMonly Default: <14>
E5-24 OLV/PM AOLV/PM CLV/PM
Motor Induction Voltage Min: 0.0 mV/(min-1)
(353H) 217
Constant 2 (Ke) (for PM Motors) Set the induced phase-to-phase rms voltage in units of 0.1 mV/(min-1) [mechanical angle]. Set Max:
<3>
this parameter when using a Yaskawa SMRA Series SPM motor. 6500.0 mV/(min-1)
When setting this parameter, E5-09 should be set to 0.
V/f V/f w/PG OLV CLV common_
TMonly
Polarity Switch for Initial OLV/PM AOLV/PM CLV/PM Default: 0
E5-25
Polarity Estimation There is normally no need to change this parameter from the default value. Min: 0 217
(35EH)
(for PM Motors) Switches polarity for initial polarity estimation. Max: 1
If "Sd=1" is listed on the nameplate or in a test report for a Yaskawa motor, E5-25 should be set
to 1.
<3> Parameter setting value is not reset to the default value when the drive is initialized.
<4> Default setting is dependent on the control mode (A1-02), the drive model (o2-04), and the Drive Duty (C6-01).
<14> Default setting value is dependent on the motor code set to E5-01.
<19> Display is in the following units.
CIMR-U20028, 20042, and 40011 to 40027: 0.01 A units
CIMR-U20054 to 20248, and 40034 to 40414: 0.1 A units
<28> Selection may vary depending on the motor code entered to E5-01.
F: Option Settings
F parameters are used to program the drive for PG feedback from the motor and to function with option cards.
F1: PG Speed Control Card Settings (PG-B3/PG-F3/PG-RT3/PG-X3)
Parameters F1-01, F1-05, F1-06, F1-12, F1-13, and F1-18 through F1-21 are used to set up a PG option card plugged into
option connector CN5-C of the drive. They include “PG 1” in the parameter name.
Parameters F1-31 through F1-37 are used to set up a PG option card plugged into option connector CN5-B of the drive.
They include “PG 2” in the parameter name.
Other parameters in the F1 group are used to set operation for PG options plugged into connector CN5-C and CN5-B.
No.(Addr.) Name Description Setting Page
V/f V/f w/PG OLV CLV common_
TMonly Default: <10>
F1-01 OLV/PM AOLV/PM CLV/PM
PG 1 Pulses Per Revolution Min: 1 ppr 218
(380H) Sets the number of PG (pulse generator or encoder) pulses. Max: 60000 ppr
Sets the number of pulses per motor revolution.
Note: Setting range is 0 to 15000 ppr when A1-02 = 5, 6, 7 (PM control mode).
V/f V/f w/PG OLV CLV common_
TMonly
OLV/PM AOLV/PM CLV/PM
0: Ramp to stop. Decelerate to stop using the deceleration time in C1-02. Default: 1
F1-02 Operation Selection at PG Open
1: Coast to stop. Min: 0 218
(381H) Circuit (PGo)
2: Fast Stop. Decelerate to stop using the deceleration time in C1-09. Max: 4
3: Alarm only.
4: No alarm display.
Note: Depending on the motor speed and load conditions, an error such as oC may occur.
V/f V/f w/PG OLV CLV common_
TMonly
OLV/PM AOLV/PM CLV/PM
0: Ramp to stop. Decelerate to stop using the deceleration time in C1-02. Default: 1
F1-03 Operation Selection at Overspeed
1: Coast to stop. Min: 0 218
(382H) (oS)
2: Fast Stop. Decelerate to stop using the deceleration time in C1-09. Max: 3
3: Alarm only.
Note: In AOLV/PM, the motor will coast to a stop (F1-03 = 1). The setting for F1-03 cannot be
changed to 0, 2, or 3.
424 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
B.3 Parameter Table
No.(Addr.) Name Description Setting Page
V/f V/f w/PG OLV CLV common_
TMonly
OLV/PM AOLV/PM CLV/PM Default: 3
F1-04 Operation Selection at Speed
0: Ramp to stop. Decelerate to stop using the deceleration time in C1-02. Min: 0 219
(383H) Deviation (dEv)
1: Coast to stop. Max: 3
2: Fast Stop. Decelerate to stop using the deceleration time in C1-09.
3: Alarm only.
V/f V/f w/PG OLV CLV common_
TMonly Default: <10>
F1-05 OLV/PM AOLV/PM CLV/PM
PG 1 Rotation Selection Min: 0 219
(384H)
0: Pulse A leads Max: 1
1: Pulse B leads
V/f V/f w/PG OLV CLV common_
TMonly
OLV/PM AOLV/PM CLV/PM Default: 1
F1-06 PG 1 Division Rate for PG Pulse
Sets the division ratio for the pulse monitor used of the PG option card installed to connector Min: 1 219
(385H) Monitor
CN5-C. By setting for a three-digit number: xyz, the division ratio becomes = [(1 + x) / yz]. If Max: 132
only using the A pulse for one track input, then the input ratio will be 1:1, regardless of what
F1-06 is set to.
V/f V/f w/PG OLV CLV common_ Default: 115%
F1-08 TMonly
Overspeed Detection Level OLV/PM AOLV/PM CLV/PM Min: 0% 218
(387H)
Max: 120%
Sets the overspeed detection level as a percentage of the maximum output frequency.
V/f V/f w/PG OLV CLV common_ Default: <10>
F1-09 TMonly
Overspeed Detection Delay Time OLV/PM AOLV/PM CLV/PM Min: 0.0 s 218
(388H)
Max: 2.0 s
Sets the time in seconds for an overspeed situation to trigger a fault (oS).
V/f V/f w/PG OLV CLV common_ Default: 10%
F1-10 Excessive Speed Deviation TMonly
OLV/PM AOLV/PM CLV/PM Min: 0% 219
(389H) Detection Level
Max: 50%
Sets the speed deviation detection level as a percentage of the maximum output frequency.
V/f V/f w/PG OLV CLV common_ Default: 0.5 s
F1-11 Excessive Speed Deviation TMonly
OLV/PM AOLV/PM CLV/PM Min: 0.0 s 219
(38AH) Detection Delay Time
Max: 10.0 s
Sets the time in seconds for a speed deviation situation to trigger a fault (dEv).
Default: 0
F1-12
PG 1 Gear Teeth 1 V/f V/f w/PG OLV CLV common_ Min: 0 219
(38BH) TMonly Max: 1000
OLV/PM AOLV/PM CLV/PM
Default: 0
F1-13 Sets the gear ratio between the motor shaft and the encoder (PG).
PG 1 Gear Teeth 2 Min: 0 219
(38CH) A gear ratio of 1 will be used if either of these parameters is set to 0. Max: 1000
V/f V/f w/PG OLV CLV common_ Default: 2.0 s
F1-14 TMonly
PG Open-Circuit Detection Time OLV/PM AOLV/PM CLV/PM Min: 0.0 s 218
(38DH)
Max: 10.0 s
Sets the time required to trigger a PG Open fault (PGo).
V/f V/f w/PG OLV CLV common_
TMonly Default: 10
F1-18 OLV/PM AOLV/PM CLV/PM
dv3 Detection Selection Min: 0 220
(3ADH)
0: Disabled Max: 10
1: Enabled
V/f V/f w/PG OLV CLV common_
TMonly Default: 128
F1-19 OLV/PM AOLV/PM CLV/PM
dv4 Detection Selection Min: 0 220
(3AEH)
0: Disabled Max: 5000
n: Number of pulses that the A and B pulse are reversed that triggers dv4 detection.
V/f V/f w/PG OLV CLV common_
TMonly Default: 1
F1-20 PG Option Card Disconnect OLV/PM AOLV/PM CLV/PM Min: 0 220
(3B4H) Detection 1
0: Disabled Max: 1
1: Enabled
V/f V/f w/PG OLV CLV common_
TMonly Default: 0
F1-21 OLV/PM AOLV/PM CLV/PM
PG 1 Signal Selection Min: 0 220
(3BCH)
0: A pulse detection Max: 1
1: AB pulse detection
Parameter List
V/f V/f w/PG OLV CLV common_
TMonly Default: 1
F1-30 PG Card Option Port for Motor 2 OLV/PM AOLV/PM CLV/PM
Min: 0 220
(3AAH) Selection Sets the port for the PG option card used by motor 2. Max: 1
0: CN5-C
1: CN5-B
F1-31
V/f V/f w/PG OLV CLV common_ Default: 1024 ppr B
PG 2 Pulses Per Revolution TMonly Min: 1 ppr 218
(3B0H) OLV/PM AOLV/PM CLV/PM
Max: 60000 ppr
Sets the number of pulses for a PG option card connected to port CN5-B.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 425
B.3 Parameter Table
No.(Addr.) Name Description Setting Page
V/f V/f w/PG OLV CLV common_
TMonly Default: 0
F1-32 OLV/PM AOLV/PM CLV/PM
PG 2 Rotation Selection Min: 0 219
(3B1H)
0: Pulse A leads Max: 1
1: Pulse B leads
Default: 0
F1-33
PG 2 Gear Teeth 1 V/f V/f w/PG OLV CLV common_ Min: 0 219
(3B2H)
TMonly Max: 1000
OLV/PM AOLV/PM CLV/PM
Default: 0
F1-34 Sets the gear ratio between the motor shaft and the encoder (PG).
PG 2 Gear Teeth 2 Min: 0 219
(3B3H) A gear ratio of 1 will be used if either of these parameters is set to 0. Max: 1000
V/f V/f w/PG OLV CLV common_
TMonly Default: 1
F1-35 PG 2 Division Rate for Pulse OLV/PM AOLV/PM CLV/PM Min: 1 219
(3BEH) Monitor
Sets the division ratio for the pulse monitor used of the PG option card 2 installed to connector Max: 132
CN5-B. By setting for a three-digit number: xyz, the division ratio becomes = [(1 + x) / yz].
V/f V/f w/PG OLV CLV common_
TMonly Default: 1
F1-36 PG Option Card Disconnect OLV/PM AOLV/PM CLV/PM Min: 0 220
(3B5H) Detection 2
0: Disabled Max: 1
1: Enabled
V/f V/f w/PG OLV CLV common_
TMonly Default: 0
F1-37 OLV/PM AOLV/PM CLV/PM
PG 2 Signal Selection Min: 0 220
(3BDH)
0: A pulse detection Max: 1
1: AB pulse detection
V/f V/f w/PG OLV CLV common_
TMonly
OLV/PM AOLV/PM CLV/PM
Selects the encoder connected the PG-F3 option. Default: 0
F1-50 0: EnDat 2.1/01, 2.2/01 Serial Communication + Sin/Cos
Encoder Selection Min: 0 221
(3D2H) 1: EnDat 2.2/22 Serial Communication Max: 2
2: Hiperface
Note: The use of EnDat2.2/22 encoders requires a PG-F3 option with software version 0102 or
later. To identify the PG-F3 software version refer to the PG-F3 labeling in the field
designated “C/N” (S + four digit number).
V/f V/f w/PG OLV CLV common_ Default: 80%
F1-51 TMonly
PGoH Detection Level OLV/PM AOLV/PM CLV/PM Min: 1% 221
(3D3H)
Max: 100%
Sets the level for detecting PG Hardware Fault (PGoH). Available when F1-20 = 1
V/f V/f w/PG OLV CLV common_
TMonly
OLV/PM AOLV/PM CLV/PM
Default: 0
F1-52 Communication Speed of Serial Selects the communication speed between the PG-F3 option and serial encoder. Min: 0 221
(3D4H) Encoder Selection 0: 1M bps/9600 bps (EnDat 2.2/22 / Hiperface) Max: 3
1: 500k bps/19200 bps (EnDat 2.2/22 / Hiperface)
2: 1M bps/38400 bps (EnDat 2.2/22 / Hiperface)
3: 1M bps/38400 bps (EnDat 2.2/22 / Hiperface)
<10> Default setting is determined by the control mode (A1-02).
F2: Analog Input Card Settings (AI-A3)
No.(Addr.) Name Description Setting Page
common_
All Modes TMonly Default: 0
F2-01 Analog Input Option Card
0: Option card input terminals V1, V2, and V3 replace drive input terminals A1, A2, and A3. Min: 0 221
(38FH) Operation Selection
1: Input signals to terminals V1, V2, and V3 are added together to create the frequency Max: 1
reference.
F2-02
common_ Default: 100.0%
(368H) All Modes TMonly
Analog Input Option Card Gain Min: -999.9% 222
Sets the gain for the input signal to the analog card. Max: 999.9%
F2-03
common_ Default: 0.0%
(369H) All Modes TMonly
Analog Input Option Card Bias Min: -999.9% 222
Sets the bias for the input signal to the analog card. Max: 999.9%
426 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
B.3 Parameter Table
F3: Digital Input Card Settings (DI-A3)
No.(Addr.) Name Description Setting Page
common_
All Modes TMonly
0: BCD, 1% units
1: BCD, 0.1% units
2: BCD, 0.01% units
3: BCD, 1 Hz units
4: BCD, 0.1 Hz units
Default: 0
F3-01 Digital Input Option Card Input 5: BCD, 0.01 Hz units
Min: 0 222
(390H) Selection 6: BCD customized setting (5 digit), 0.02 Hz units
Max: 7
7: Binary input
The unit and the setting range are determined by F3-03.
F3-03 = 0: 255/100% (-255 to +255)
F3-03 = 1: 40961/100% (-4095 to +4095)
F3-03 = 2: 30000/100% (-33000 to +33000)
When the digital operator units are set to be displayed in Hertz or user-set units (o1-03 = 2 or 3),
the units for F3-01 are determined by parameter o1-03.
common_
All Modes TMonly Default: 2
F3-03 Digital Input Option DI-A3 Data
0: 8 bit Min: 0 222
(3B9H) Length Selection
1: 12 bit Max: 2
2: 16 bit
F4: Analog Monitor Card Settings (AO-A3)
No.(Addr.) Name Description Setting Page
common_
All Modes TMonly Default: 102
F4-01
Terminal V1 Monitor Selection Min: 000 223
(391H) Sets the monitor signal for output from terminal V1. Set this parameter to the last three digits of
Max: 999
the desired U- monitor. Some U parameters are available only in certain control modes.
F4-02
common_ Default: 100.0%
(392H) All Modes TMonly
Terminal V1 Monitor Gain Min: -999.9% 223
Sets the gain for voltage output via terminal V1. Max: 999.9%
common_
All Modes TMonly Default: 103
F4-03
Terminal V2 Monitor Selection Min: 000 223
(393H) Sets the monitor signal for output from terminal V2. Set this parameter to the last three digits of
Max: 999
the desired U- monitor. Some U parameters are available only in certain control modes.
F4-04
common_ Default: 50.0%
(394H) All Modes TMonly
Terminal V2 Monitor Gain Min: -999.9% 223
Sets the gain for voltage output via terminal V2. Max: 999.9%
F4-05
common_ Default: 0.0%
(395H) All Modes TMonly
Terminal V1 Monitor Bias Min: -999.9% 223
Sets the amount of bias added to the voltage output via terminal V1. Max: 999.9%
F4-06
common_ Default: 0.0%
(396H) All Modes TMonly
Terminal V2 Monitor Bias Min: -999.9% 223
Sets the amount of bias added to the voltage output via terminal V2. Max: 999.9%
Default: 0
F4-07
Terminal V1 Signal Level common_ Min: 0 223
(397H) All Modes TMonly Max: 1
0: 0 to 10 V Default: 0
F4-08 1: -10 to 10 V
Terminal V2 Signal Level Min: 0 223
(398H)
Max: 1
Parameter List
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 427
B.3 Parameter Table
F5: Digital Output Card Settings (DO-A3)
No.(Addr.) Name Description Setting Page
Default: 0
F5-01
Terminal P1-PC Output Selection Min: 0 224
(399H)
Max: 192
Default: 1
F5-02
Terminal P2-PC Output Selection Min: 0 224
(39AH)
Max: 192
Default: 2
F5-03
Terminal P3-PC Output Selection Min: 0 224
(39BH)
Max: 192
Default: 4
F5-04
Terminal P4-PC Output Selection common_ Min: 0 224
(39CH) All Modes TMonly Max: 192
Sets the function for contact output terminals M1-M2, M3-M4, and photocoupler output Default: 6
F5-05 terminals P1 through P6.
Terminal P5-PC Output Selection Min: 0 224
(39DH)
Max: 192
Default: 37
F5-06
Terminal P6-PC Output Selection Min: 0 224
(39EH)
Max: 192
Default: F
F5-07
Terminal M1-M2 Output Selection Min: 0 224
(39FH)
Max: 192
Default: F
F5-08
Terminal M3-M4 Output Selection Min: 0 224
(3A0H)
Max: 192
common_
All Modes TMonly Default: 0
F5-09
DO-A3 Output Mode Selection 0: Output terminals are each assigned separate output functions. Min: 0 224
(3A1H)
1: Binary code output Max: 2
2: Use output terminal functions selected by parameters F5-01 through F5-08.
F6: Communication Option Card
(SI-C3, SI-EM3, SI-EN3, SI-ET3, SI-N3, SI-P3, SI-S3, SI-T3, and SI-W3)
F6-01 through F6-03 and F6-06 through F6-08 are common settings used for CC-Link, CANopen, DeviceNet, Ethernet/
IP, PROFIBUS-DP, MECHATROLINK-II, MECHATROLINK-III, Modbus TCP/IP, and LONWORKS option cards.
Other parameters in the F6 group are used for communication protocol specific settings.
For more details on a specific option card, refer to the instruction manual for the option card.
No.(Addr.) Name Description Setting Page
common_
All Modes TMonly
Default: 1
F6-01 Communications Error Operation 0: Ramp to stop. Decelerate to stop using the deceleration time in C1-02.
Min: 0 225
(3A2H) Selection 1: Coast to stop.
Max: 3
2: Fast Stop. Decelerate to stop using the deceleration time in C1-09.
3: Alarm only.
common_
All Modes TMonly Default: 0
F6-02 External Fault from Comm. Option
Min: 0 225
(3A3H) Detection Selection 0: Always detected
Max: 1
1: Detection during run only
common_
All Modes TMonly
Default: 1
F6-03 External Fault from Comm. Option 0: Ramp to stop. Decelerate to stop using the deceleration time in C1-02.
Min: 0 225
(3A4H) Operation Selection 1: Coast to stop.
Max: 3
2: Fast Stop. Decelerate to stop using the deceleration time in C1-09.
3: Alarm only.
common_ Default: 2.0 s
F6-04 All Modes TMonly
bUS Error Detection Time Min: 0.0 s –
(3A5H)
Set the delay time for error detection if a bus error occurs. Max: 5.0 s
V/f V/f w/PG OLV CLV common_
TMonly Default: 0
F6-06 Torque Reference/Torque Limit OLV/PM AOLV/PM CLV/PM Min: 0 225
(3A7H) Selection from Comm. Option
0: Disabled. Torque reference/limit from option board disabled. Max: 1
1: Enabled. Torque reference/limit from option board enabled.
common_
Multi-Step Speed Enable/Disable All Modes TMonly Default: 0
F6-07
Selection when NefRef/ComRef is Min: 0 225
(3A8H) 0: Multi-step reference disabled (same as F7)
Selected Max: 1
1: Multi-step reference enabled (same as V7)
common_
All Modes TMonly
F6-08 Default: 0
0: Communication-related parameters (F6-/F7-) are not reset when the drive is
(36AH) Reset Communication Parameters Min: 0 226
initialized using A1-03.
<3> Max: 1
1: Reset all communication-related parameters (F6-/F7-) when the drive is initialized
using A1-03.
common_ Default: 0
F6-10 All Modes TMonly
CC-Link Node Address Min: 0 –
(3B6H)
Sets the node address if a CC-Link option card is installed. Max: 64
428 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
B.3 Parameter Table
No.(Addr.) Name Description Setting Page
common_
All Modes TMonly
0: 156 kbps Default: 0
F6-11
CC-Link Communication Speed 1: 625 kbps Min: 0 –
(3B7H)
2: 2.5 Mbps Max: 4
3: 5 Mbps
4: 10 Mbps
common_
All Modes TMonly Default: 0
F6-14
CC-Link bUS Error Auto Reset Min: 0 –
(3BBH) 0: Disabled
Max: 1
1: Enabled
common_
All Modes TMonly
MECHATROLINK-II
Default: 0
F6-21 0: 32 byte
MECHATROLINK Frame Size Min: 0 –
(36CH) 1: 17 byte
Max: 1
MECHATROLINK-III
0: 64 byte
1: 32 byte
MECHATROLINK-II
Default: 21
Min: 20
common_
F6-20 MECHATROLINK Station All Modes TMonly Max: 3FH
–
(36BH) Address MECHATROLINK-III
Sets the station address when the MECHATROLINK option has been installed.
Default: 21
Min: 03
Max: EFH
common_
All Modes TMonly Default: 0
F6-22
MECHATROLINK Link Speed Min: 0 –
(36DH) 0: 10 Mbps
Max: 1
1: 4 Mbps
common_ Default: 0
F6-23 MECHATROLINK Monitor All Modes TMonly Min: 0 –
(36EH) Selection (E)
Sets the MECHATROLINK monitor (E). Max: FFFFH
common_ Default: 0
F6-24 MECHATROLINK Monitor All Modes TMonly Min: 0 –
(36FH) Selection (F)
Sets the MECHATROLINK monitor (F). Max: FFFFH
common_
All Modes TMonly
Operation Selection at Default: 1
F6-25 0: Ramp to stop. Decelerate to stop using the deceleration time in C1-02.
MECHATROLINK Watchdog Min: 0 –
(3C9H) 1: Coast to stop.
Timer Error (E5) Max: 3
2: Fast Stop. Decelerate to stop using the deceleration time in C1-09.
3: Alarm only.
common_ Default: 2
F6-26 MECHATROLINK bUS Errors All Modes TMonly Min: 2 –
(3CAH) Detected
Sets the number of option communication errors (bUS). Max: 10
common_ Default: 0
F6-30 All Modes TMonly
PROFIBUS-DP Node Address Min: 0 –
(3CBH)
Sets the node address. Max: 125
common_
All Modes TMonly Default: 0
F6-31 PROFIBUS-DP Clear Mode
Min: 0 –
(3CCH) Selection 0: Resets drive operation with a Clear mode command.
Max: 1
1: Maintains the previous operation state when Clear mode command is given.
common_
All Modes TMonly Default: 0
F6-32 PROFIBUS-DP Data Format
Min: 0 –
(3CDH) Selection 0: PPO Type
Max: 1
1: Conventional
common_ Default: 0
F6-35 All Modes TMonly
CANopen Node ID Selection Min: 0 –
(3D0H)
Sets the node address. Max: 126
common_
All Modes TMonly
0: Auto-detection
1: 10 kbps
2: 20 kbps Default: 6
F6-36
CANopen Communication Speed 3: 50 kbps Min: 0 –
(3D1H)
4: 125 kbps Max: 8
5: 250 kbps
6: 500 kbps
7: 800 kbps
8: 1 Mbps
common_ Default: 0
Parameter List
F6-50 All Modes TMonly
DeviceNet MAC Address Min: 0 –
(3C1H)
Selects the drives MAC address. Max: 64
common_
All Modes TMonly
0: 125 kbps Default: 0
F6-51
DeviceNet Communication Speed 1: 250 kbps Min: 0 –
(3C2H)
2: 500 kbps Max: 4
3: Adjustable from network B
4: Detect automatically
common_ Default: 21
F6-52 All Modes TMonly
DeviceNet PCA Setting Min: 0 –
(3C3H)
Sets the format of the data set from the DeviceNet master to the drive. Max: 255
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 429
B.3 Parameter Table
No.(Addr.) Name Description Setting Page
common_ Default: 71
F6-53 All Modes TMonly
DeviceNet PPA Setting Min: 0 –
(3C4H)
Sets the format of the data set from the drive to the DeviceNet master. Max: 255
common_
All Modes TMonly Default: 0
F6-54 DeviceNet Idle Mode Fault
Min: 0 –
(3C5H) Detection 0: Enabled
Max: 1
1: Disabled, no fault detection
common_
All Modes TMonly
Default: 0
F6-55 Used to verify the baud rate running on the network.
DeviceNet Baud Rate Monitor Min: 0 –
(3C6H) 0: 125 kbps
Max: 2
1: 250 kbps
2: 500 kbps
common_ Default: 0
F6-56 All Modes TMonly
DeviceNet Speed Scaling Min: -15 –
(3D7H)
Sets the scaling factor for the speed monitor in DeviceNet. Max: 15
common_ Default: 0
F6-57 All Modes TMonly
DeviceNet Current Scaling Min: -15 –
(3D8H)
Sets the scaling factor for the output current monitor in DeviceNet. Max: 15
common_ Default: 0
F6-58 All Modes TMonly
DeviceNet Torque Scaling Min: -15 –
(3D9H)
Sets the scaling factor for the torque monitor in DeviceNet. Max: 15
common_ Default: 0
F6-59 All Modes TMonly
DeviceNet Power Scaling Min: -15 –
(3DAH)
Sets the scaling factor for the power monitor in DeviceNet. Max: 15
common_ Default: 0
F6-60 All Modes TMonly
DeviceNet Voltage Scaling Min: -15 –
(3DBH)
Sets the scaling factor for the voltage monitor in DeviceNet. Max: 15
common_ Default: 0
F6-61 All Modes TMonly
DeviceNet Time Scaling Min: -15 –
(3DCH)
Sets the scaling factor for the time monitor in DeviceNet. Max: 15
common_ Default: 0
F6-62 All Modes TMonly
DeviceNet Heartbeat Interval Min: 0 –
(3DDH)
Sets the heartbeat interval for DeviceNet communications. Max: 10
common_ Default: 0
F6-63 All Modes TMonly
DeviceNet Network MAC ID Min: 0 –
(3DEH)
Saves and monitors the settings 0 to 63 of F6-50 (DeviceNet MAC Address). Max: 63
F6-64 to
common_
F6-71 All Modes TMonly
Reserved – –
(3DFH to
Reserved for Dynamic I/O Assembly Parameters.
3C8H)
<3> Parameter setting value is not reset to the default value when the drive is initialized.
F7: Communication Option Card (SI-EM3 and SI-EN3)
F7-01 through F7-42 are common settings used for Modbus TCP/IP, and Ethernet/IP option cards. Other parameters in
the F7 group are used for communication protocol specific settings.
For more details on a specific option card, refer to the instruction manual for the option card.
No.(Addr.) Name Description Setting Page
F7-01 common_
All Modes Default: 192
(3E5H) TMonly
IP Address 1 Sets the static/fixed IP address. Min: 0 –
<44> <45>
Parameter F7-01 sets the most significant octet. Max: 255
<46>
F7-02 common_
All Modes Default: 168
(3E6H) TMonly
IP Address 2 Sets the static/fixed IP address. Min: 0 –
<44> <45>
Parameter F7-02 sets the second most significant octet. Max: 255
<46>
F7-03 common_
All Modes Default: 1
(3E7H) TMonly
IP Address 3 Sets the static/fixed IP address. Min: 0 –
<44> <45>
Parameter F7-03 sets the third most significant octet. Max: 255
<46>
F7-04 common_
All Modes Default: 20
(3E8H) TMonly
IP Address 4 Sets the static/fixed IP address. Min: 0 –
<44> <45>
Parameter F7-04 sets the fourth most significant octet. Max: 255
<46>
common_
F7-05 All Modes TMonly
Default: 255
(3E9H) Subnet Mask 1 Sets the static/fixed Subnet Mask. Min: 0 –
<46> Parameter F7-05 sets the most significant octet. Max: 255
common_
F7-06 All Modes TMonly
Default: 255
(3EAH) Subnet Mask 2 Sets the static/fixed Subnet Mask. Min: 0 –
<46> Parameter F7-06 sets the second most significant octet. Max: 255
common_
F7-07 All Modes TMonly Default: 255
(3EBH) Subnet Mask 3 Min: 0 –
Sets the static/fixed Subnet Mask.
<46> Max: 255
Parameter F7-07 sets the third most significant octet.
430 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
B.3 Parameter Table
No.(Addr.) Name Description Setting Page
common_
F7-08 All Modes TMonly
Default: 0
(3ECH) Subnet Mask 4 Sets the static/fixed Subnet Mask. Min: 0 –
<46> Parameter F7-08 sets the fourth most significant octet. Max: 255
common_
F7-09 All Modes TMonly
Default: 192
(3EDH) Gateway Address 1 Sets the static/fixed Gateway address. Min: 0 –
<46> Parameter F7-09 sets the most significant octet. Max: 255
common_
F7-10 All Modes TMonly
Default: 168
(3EEH) Gateway Address 2 Sets the static/fixed Gateway address. Min: 0 –
<46> Parameter F7-10 sets the second most significant octet. Max: 255
common_
F7-11 All Modes TMonly
Default: 1
(3EFH) Gateway Address 3 Sets the static/fixed Gateway address. Min: 0 –
<46> Parameter F7-11 sets the third most significant octet. Max: 255
common_
F7-12 All Modes TMonly
Default: 1
(3E0H) Gateway Address 4 Sets the static/fixed Gateway address. Min: 0 –
<46> Parameter F7-12 sets the fourth most significant octet. Max: 255
common_
All Modes TMonly
Selects how the option address is set. Default: 2
F7-13
Address Mode at Startup 0: Static <45> Min: 0 –
(3F1H)
1: BOOTP Max: 2
2: DHCP
common_
All Modes TMonly
Selects duplex mode setting. Default: 1
F7-14
Duplex Mode Selection 0: Half duplex forced Min: 0 –
(3F2H)
1: Auto-negotiate duplex mode and communication speed Max: 2
2: Full duplex forced
common_
F7-15 All Modes TMonly Default: 10
(3F3H) Communication Speed Selection Sets the communication speed. Min: 10 –
<47> 10: 10 Mbps Max: 100
100: 100 Mbps
common_
All Modes TMonly Default: 0
F7-16 Sets the time-out value for communication loss detection in tenths of a second. A value of 0
Communication Loss Time-out Min: 0 –
(3F4H) disables the connection time-out. Max: 300
Example: An entered value of 100 represents 10.0 seconds.
common_ Default: 0
F7-17 All Modes
EtherNet/IP Speed Scaling Factor TMonly Min: -15 –
(3F5H) Sets the scaling factor for the speed monitor in EtherNet/IP Class ID 2AH Object. Max: 15
common_ Default: 0
F7-18 All Modes
EtherNet/IP Current Scaling Factor TMonly Min: -15 –
(3F6H) Sets the scaling factor for the output current monitor in EtherNet/IP Class ID 2AH Object. Max: 15
common_ Default: 0
F7-19 All Modes
EtherNet/IP Torque Scaling Factor TMonly Min: -15 –
(3F7H) Sets the scaling factor for the torque monitor in EtherNet/IP Class ID 2AH Object. Max: 15
common_ Default: 0
F7-20 All Modes
EtherNet/IP Power Scaling Factor TMonly Min: -15 –
(3F8H) Sets the scaling factor for the power monitor in EtherNet/IP Class ID 2AH Object. Max: 15
common_ Default: 0
F7-21 All Modes
EtherNet/IP Voltage Scaling Factor TMonly Min: -15 –
(3F9H) Sets the scaling factor for the voltage monitor in EtherNet/IP Class ID 2AH Object. Max: 15
common_ Default: 0
F7-22 All Modes
EtherNet/IP Time Scaling TMonly Min: -15 –
(3FAH) Sets the scaling factor for the time monitor in EtherNet/IP Class ID 2AH Object. Max: 15
F7-23 to
F7-27 common_
(3FBH to All Modes TMonly
3FFH), Dynamic Output Assembly Parameters used in Output Assembly 116. Each parameter contains a MEMOBUS/Modbus
address. The value received for Output Assembly 116 will be written to this corresponding Default: 0 –
F7-28 to Parameters
F7-32 MEMOBUS/Modbus address. A MEMOBUS/Modbus address value of 0 means that the value
(370H to received for Output Assembly 116 will not be written to any MEMOBUS/Modbus register.
374H)
common_
All Modes TMonly
Parameters used in Input Assembly 166. Each parameter contains a MEMOBUS/Modbus
F7-33 to address. The value sent for Input Assembly 166 will be read from this corresponding
F7-42 Dynamic Input Assembly MEMOBUS/Modbus address. A MEMOBUS/Modbus address value of 0 means that the value Default: 0 –
(375H to Parameters sent for Input Assembly 166 is not defined by the user, therefore the option default register
Parameter List
37EH) value will be returned.
Refer to Ethernet/IP Technical Manual for definitions of the default MEMOBUS/Modbus
registers.
<44> Cycle power for setting changes to take effect.
<45> If F7-13 is set to 0, then all IP Addresses (as defined with parameters F7-01 to F7-04) must be unique.
<46> Set F7-01 to F7-12 when F7-13 is set to 0.
<47> Set F7-15 when F7-14 is set to 0 or 2.
B
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 431
B.3 Parameter Table
H: Multi-Function Terminals
H parameters assign functions to the multi-function input and output terminals.
H1: Multi-Function Digital Inputs
No.(Addr.) Name Description Setting Page
Default: 40 (F) <31>
H1-01 Multi-Function Digital Input
Min: 1 227
(438H) Terminal S1 Function Selection
Max: 9F
Default: 41 (F) <31>
H1-02 Multi-Function Digital Input
Min: 1 227
(439H) Terminal S2 Function Selection
Max: 9F
Default: 24
H1-03 Multi-Function Digital Input
Min: 0 227
(400H) Terminal S3 Function Selection
Max: 9F
Default: 14
H1-04 Multi-Function Digital Input All Modes Min: 0 227
(401H) Terminal S4 Function Selection
Assigns a function to the multi-function digital inputs. Max: 9F
Refer to H1 Multi-Function Digital Input Selections on page 432 for a description of setting Default: 3 (0) <31>
H1-05 Multi-Function Digital Input values. Min: 0 227
(402H) Terminal S5 Function Selection Note: Unused terminals should be set to F. Max: 9F
Default: 4 (3) <31>
H1-06 Multi-Function Digital Input
Min: 0 227
(403H) Terminal S6 Function Selection
Max: 9F
Default: 6 (4) <31>
H1-07 Multi-Function Digital Input
Min: 0 227
(404H) Terminal S7 Function Selection
Max: 9F
Default: 8
H1-08 Multi-Function Digital Input
Min: 0 227
(405H) Terminal S8 Function Selection
Max: 9F
<31> Value in parenthesis is the default setting when a 3-wire initialization is performed (A1-03 = 3330).
H1 Multi-Function Digital Input Selections
H1-
Setting Function Description Page
common_
All Modes TMonly
0 3-wire Sequence 227
Closed: Reverse rotation (only if the drive is set up for 3-wire sequence)
Terminals S1 and S2 are automatically set up for the Run command and Stop command.
common_
All Modes TMonly
1 LOCAL/REMOTE Selection Open: REMOTE (parameter settings determine the source of the frequency Reference 1 or 2 (b1-01, b1-02 or 228
b1-15, b1-16)
Closed: LOCAL, Frequency reference and Run command are input from the digital operator.
common_
All Modes TMonly
2 External Reference 1/2 Selection 228
Open: Run command and frequency reference source 1 (determined by b1-01 and b1-02)
Closed: Run command and frequency reference source 2 (determined by b1-15 and b1-16)
3 Multi-Step Speed Reference 1 common_ 228
All Modes TMonly
4 Multi-Step Speed Reference 2 228
When input terminals are set to Multi-Step Speed References 1 through 3, switching combinations of those
5 Multi-Step Speed Reference 3 terminals will create a multi-step speed sequence using the frequency references set in d1-01 through d1-08. 228
common_
All Modes TMonly
6 Jog Reference Selection 229
Closed: Jog frequency reference (d1-17) selected. Jog has priority over all other reference sources.
common_
All Modes TMonly
7 Accel/Decel Time Selection 1 229
Used to switch between accel/decel time 1 (set in C1-01, C1-02) and accel/decel time 2 (set in C1-03, C1-04).
common_
All Modes TMonly
8 Baseblock Command (N.O.) 229
Closed: No drive output
common_
All Modes TMonly
9 Baseblock Command (N.C.) 229
Open: No drive output
common_
All Modes TMonly
A Accel/Decel Ramp Hold 229
Open: Accel/decel is not held
Closed: The drive pauses during acceleration or deceleration and maintains the output frequency.
common_
All Modes TMonly
B Drive Overheat Alarm (oH2) 229
Closed: Closes when an oH2 alarm occurs
common_
All Modes TMonly
C Analog Terminal Input Selection 229
Open: Function assigned by H3-14 is disabled.
Closed: Function assigned by H3-14 is enabled.
432 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
B.3 Parameter Table
H1 Multi-Function Digital Input Selections
H1-
Function Description Page
Setting
V/f V/f w/PG OLV CLV common_
TMonly
D PG Encoder Disable OLV/PM AOLV/PM CLV/PM 229
Open: Speed feedback for V/f Control with PG is enabled.
Closed: Speed feedback disabled.
V/f V/f w/PG OLV CLV common_
TMonly
E ASR Integral Reset OLV/PM AOLV/PM CLV/PM 229
Open: PI control
Closed: Integral reset
common_
All Modes TMonly
F Through Mode 230
Select this setting when the terminal is not used or when using the terminal in the pass-through mode. The terminal
does not trigger a drive function but can be used as digital input for the controller the drive is connected to.
10 Up Command common_ 230
All Modes TMonly
The drive accelerates when the Up command terminal closes, and decelerates when the Down command closes.
When both terminals are closed or both are open, the drive holds the frequency reference. The Up and Down
11 Down Command commands must always be used in conjunction with one another. 230
common_
All Modes TMonly
12 Forward Jog 231
Closed: Runs forward at the Jog frequency d1-17.
common_
All Modes TMonly
13 Reverse Jog 231
Closed: Runs reverse at the Jog frequency d1-17.
common_
All Modes TMonly
14 Fault Reset 231
Closed: Resets faults if the cause is cleared and the Run command is removed.
common_
All Modes TMonly
15 Fast Stop (N.O.) 231
Closed: Decelerates at the Fast Stop time set to C1-09.
V/f V/f w/PG OLV CLV common_
TMonly
16 Motor 2 Selection OLV/PM AOLV/PM CLV/PM 232
Open: Motor 1 (E1-, E2-)
Closed: Motor 2 (E3-, E4-)
common_
All Modes TMonly
17 Fast Stop (N.C.) 231
Open: Decelerates to stop at the Fast Stop time set to C1-09.
common_
All Modes TMonly
18 Timer Function Input 232
Triggers the timer set up by parameters b4-01 and b4-02. Must be set in conjunction with the timer function output
(H2- = 12).
common_
All Modes TMonly
19 PID Disable 232
Open: PID control enabled
Closed: PID control disabled
common_
All Modes TMonly
1A Accel/Decel Time Selection 2 232
Used in conjunction with an input terminal set for “Accel/decel time selection 1” (H1- = 7), and allows the
drive to switch between accel/decel times 3 and 4.
common_
All Modes TMonly
1B Program Lockout 233
Open: Parameters cannot be edited (except for U1-01 if the reference source is assigned to the digital operator).
Closed: Parameters can be edited and saved.
common_
All Modes TMonly
1E Reference Sample Hold 233
Closed: Samples the analog frequency reference and operates the drive at that speed.
common_
All Modes TMonly
20: N.O., Always detected, ramp to stop
21: N.C., Always detected, ramp to stop
22: N.O., During run, ramp to stop
23: N.C., During run, ramp to stop
Parameter List
24: N.O., Always detected, coast to stop
25: N.C., Always detected, coast to stop
26: N.O., During run, coast to stop
20 to 2F External Fault 233
27: N.C., During run, coast to stop
28: N.O., Always detected, Fast Stop
29: N.C., Always detected, Fast Stop
2A: N.O., During run, Fast Stop
2B: N.C., During run, Fast Stop
2C: N.O., Always detected, alarm only (continue running) B
2D: N.C., Always detected, alarm only (continue running)
2E: N.O., During run, alarm only (continue running)
2F: N.C., During run, alarm only (continue running)
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 433
B.3 Parameter Table
H1 Multi-Function Digital Input Selections
H1-
Function Description Page
Setting
common_
All Modes TMonly
30 PID Integral Reset 234
Closed: Resets the PID control integral value.
common_
All Modes TMonly
31 PID Integral Hold 234
Open: Performs integral operation.
Closed: Maintains the current PID control integral value.
common_
All Modes TMonly
32 Multi-Step Speed Reference 4 234
Used in combination with input terminals set to Multi-Step Speed Reference 1, 2, and 3. Use parameters d1-09 to
d1-16 to set reference values.
common_
All Modes TMonly
34 PID Soft Starter Cancel 234
Open: PID soft starter is enabled.
Closed: Disables the PID soft starter b5-17.
common_
All Modes TMonly
35 PID Input Level Selection 234
Closed: Inverts the PID input signal
common_
All Modes TMonly
Forward Run Command (2-wire
40 Open: Stop 234
Sequence)
Closed: Forward run
Note: Cannot be set together with settings 42 or 43.
common_
All Modes TMonly
Reverse Run Command (2-wire
41 Open: Stop 234
Sequence)
Closed: Reverse run
Note: Cannot be set together with settings 42 or 43.
common_
All Modes TMonly
42 Run Command (2-wire Sequence 2) Open: Stop 234
Closed: Run
Note: Cannot be set together with settings 40 or 41.
common_
All Modes TMonly
FWD/REV Command (2-wire Sequence Open: Forward
43 234
2) Closed: Reverse
Note: Determines motor direction, but does not issue a Run command. Cannot be set together with settings 40 or
41.
common_
All Modes TMonly
44 Offset Frequency 1 234
Closed: Adds d7-01 to the frequency reference.
common_
All Modes TMonly
45 Offset Frequency 2 234
Closed: Adds d7-02 to the frequency reference.
common_
All Modes TMonly
46 Offset Frequency 3 234
Closed: Adds d7-03 to the frequency reference.
common_
All Modes TMonly
47 Node Setup 234
Closed: Node setup for SI-S3 enabled.
V/f V/f w/PG OLV CLV common_
60 DC Injection Braking Command TMonly 235
OLV/PM AOLV/PM CLV/PM
Closed: Triggers DC Injection Braking.
V/f V/f w/PG OLV CLV common_
61 External Speed Search Command 1 TMonly 235
OLV/PM AOLV/PM CLV/PM
Closed: Activates Current Detection Speed Search from the maximum output frequency (E1-04).
V/f V/f w/PG OLV CLV common_
62 External Speed Search Command 2 TMonly 235
OLV/PM AOLV/PM CLV/PM
Closed: Activates Current Detection Speed Search from the frequency reference.
V/f V/f w/PG OLV CLV common_
63 Field Weakening TMonly 235
OLV/PM AOLV/PM CLV/PM
Closed: The drive performs Field Weakening control as set for d6-01 and d6-02.
common_
All Modes TMonly
67 Communications Test Mode 235
Tests the MEMOBUS/Modbus RS-485/422 interface. Displays “PASS” if the test completes successfully.
common_
All Modes TMonly
6A Drive Enable 235
Open: Drive disabled. If this input is opened during run, then the drive will stop as specified by b1-03.
Closed: Ready for operation.
434 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
B.3 Parameter Table
H1 Multi-Function Digital Input Selections
H1-
Function Description Page
Setting
V/f V/f w/PG OLV CLV common_
TMonly
71 Speed/Torque Control Switch OLV/PM AOLV/PM CLV/PM 235
Open: Speed Control
Closed: Torque Control
V/f V/f w/PG OLV CLV common_
72 Zero Servo TMonly 235
OLV/PM AOLV/PM CLV/PM
Closed: Zero Servo enabled
common_
75 Up 2 Command All Modes TMonly
235
Used to control the bias added to the frequency reference by the Up/Down 2 function. The Up 2 and Down 2
76 Down 2 Command 235
commands must always be used in conjunction with one another.
V/f V/f w/PG OLV CLV common_
TMonly
77 ASR Gain Switch OLV/PM AOLV/PM CLV/PM 236
Open: ASR proportional gain 1 (C5-01)
Closed: ASR proportional gain 2 (C5-03)
V/f V/f w/PG OLV CLV common_
External Torque Reference Polarity TMonly
78 OLV/PM AOLV/PM CLV/PM 236
Inversion
Open: Forward torque reference
Closed: Reverse polarity
V/f V/f w/PG OLV CLV common_
Forward/Reverse Detection (V/f Control TMonly
7E OLV/PM AOLV/PM CLV/PM 236
with Simple PG feedback)
Direction of rotation detection (for V/f with Simple PG Feedback)
common_
All Modes TMonly
7F Bi-Directional PID Output Selection 236
Open: Bi-directional output is disabled.
Closed: Bi-directional output is enabled.
common_
All Modes TMonly
90 to 97 DriveWorksEZ Digital Inputs 1 to 8 236
Reserved for DWEZ input functions
common_
All Modes TMonly
9F DriveWorksEZ Disable 236
Open: DWEZ enabled
Closed: DWEZ disabled
H2: Multi-Function Digital Outputs
No.(Addr.) Name Description Setting Page
Default: 0
H2-01 Terminal M1-M2 Function
Min: 0 237
(40BH) Selection (Relay)
YEG_
Max: 192
All Modes TMonly Default: 1
H2-02 Terminal M3-M4 Function
Assigns a function to the multi-function digital outputs. Min: 0 237
(40CH) Selection (Relay)
Refer to H2 Multi-Function Digital Output Settings on page 436 for a description of setting Max: 192
values. Default: 2
H2-03 Terminal M5-M6 Function
Min: 0 237
(40DH) Selection (Relay)
Max: 192
common_
All Modes TMonly
Sets the units for the output signal when one of the multi-function terminals is set to power
consumption pulse output (H2-01, H2-02, or H2-03 = 39). Outputs a 200 ms pulse signal when Default: 1
H2-06 Power Consumption Output Unit
the watt-hour counter increases by the units selected. Min: 1 246
(437H) Selection
1: 1 kWh units Max: 4
2: 10 kWh units
3: 100 kWh units
4: 1000 kWh units
common_
All Modes Default: 1
TMonly
H2-07
Memobus Regs1 Address Select Min: 1 246
(B3AH) Sets the addresses of the MEMOBUS/Modbus registers from which data will be sent to contact
Max: 1FFFH
outputs 62 and 162.
common_
Parameter List
All Modes TMonly Default: 0
H2-08
Memobus Regs1 Bit Select Min: 0 246
(B3BH) Sets the bits for the MEMOBUS/Modbus registers from which data will be sent to contact
Max: FFFFH
outputs 62 and 162.
common_
All Modes Default: 1
TMonly
H2-09
Memobus Regs2 Address Select Min: 1 246
(B3CH) Sets the addresses of the MEMOBUS/Modbus registers from which data will be sent to contact
Max: 1FFFH
outputs 63 and 163.
common_
Default: 0
B
All Modes TMonly
H2-10
Memobus Regs2 Bit Select Min: 0 246
(B3DH) Sets the bits for the MEMOBUS/Modbus registers from which data will be sent to contact
Max: FFFFH
outputs 63 and 163.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 435
B.3 Parameter Table
H2 Multi-Function Digital Output Settings
H2-
Setting Function Description Page
common_
All Modes TMonly
0 During Run 237
Closed: A Run command is active or voltage is output.
common_
All Modes TMonly
Open: Output speed is greater than or equal to the value of E1-09 (Minimum Output Frequency) or b2-01 (DC Injection
1 Zero Speed 238
Braking Start Frequency).
Closed: Output frequency is less than the value of E1-09 (Minimum Output Frequency) or b2-01 (DC Injection Braking
Start Frequency).
common_
All Modes TMonly
2 Speed Agree 1 238
Closed: Output frequency equals the speed reference (plus or minus the hysteresis set to L4-02).
common_
All Modes TMonly
3 User-set Speed Agree 1 238
Closed: Output frequency and speed reference equal L4-01 (plus or minus the hysteresis set to L4-02).
common_
All Modes TMonly
4 Frequency Detection 1 239
Closed: Output frequency is less than or equal to the value in L4-01 with hysteresis determined by L4-02.
common_
All Modes TMonly
5 Frequency Detection 2 239
Closed: Output frequency is greater than or equal to the value in L4-01 with hysteresis determined by L4-02.
common_
All Modes TMonly
6 Drive Ready 240
Closed: Power up is complete and the drive is ready to accept a Run command.
common_
All Modes TMonly
7 During Power Supply Voltage Fault 240
Closed: The main circuit DC voltage dropped to the control circuit undervoltage (Uv1) detection level.
common_
All Modes TMonly
8 During Baseblock (N.O.) 240
Closed: Drive has entered the baseblock state (no output voltage).
common_
All Modes TMonly
9 Frequency Reference Source 240
Open: External Reference 1 or 2 supplies the frequency reference (set in b1-01 or b1-15).
Closed: Digital operator supplies the frequency reference.
common_
All Modes TMonly
A Run Command Source 240
Open: External Reference 1 or 2 supplies the Run command (set in b1-02 or b1-16).
Closed: Digital operator supplies the Run command.
common_
B Torque Detection 1 (N.O.) All Modes TMonly 240
Closed: An overtorque or undertorque situation has been detected.
common_
All Modes TMonly
C Frequency Reference Loss 241
Closed: Analog frequency reference has been lost.
Frequency reference loss is detected when the frequency reference drops below 10% of the reference within 400 ms.
common_
All Modes TMonly
E Fault 241
Closed: Fault occurred (this excludes faults CPF00 and CPF01).
common_
All Modes TMonly
F Through Mode 241
Select this setting when the terminal is not used or when using the terminal in the pass-through mode.
common_
All Modes TMonly
10 Minor Fault 241
Closed: An alarm has been triggered.
common_
All Modes TMonly
11 Fault Reset Command Active 241
Closed: The drive has received a reset command from the multi-function input terminals or from serial network, or the
digital operator’s RESET key has been pressed.
common_
All Modes TMonly
12 Timer Output 241
Closed: Timer output.
common_
All Modes TMonly
13 Speed Agree 2 241
Closed: When drive output frequency equals the frequency reference ±L4-04.
common_
All Modes TMonly
14 User-set Speed Agree 2 242
Closed: When the drive output frequency is equal to the value in L4-03 ±L4-04.
common_
All Modes TMonly
15 Frequency Detection 3 242
Closed: When the drive output frequency is less than or equal to the value in L4-03 ±L4-04.
common_
All Modes TMonly
16 Frequency Detection 4 242
Closed: When the output frequency is greater than or equal to the value in L4-03 ±L4-04.
common_
All Modes TMonly
17 Torque Detection 1 (N.C.) 240
Open: Overtorque or undertorque has been detected.
436 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
B.3 Parameter Table
H2 Multi-Function Digital Output Settings
H2-
Function Description Page
Setting
common_
All Modes TMonly
18 Torque Detection 2 (N.O.) 240
Closed: Overtorque or undertorque has been detected.
common_
All Modes TMonly
19 Torque Detection 2 (N.C.) 240
Open: Overtorque or undertorque has been detected.
common_
All Modes TMonly
1A During Reverse 243
Closed: Drive is running in the reverse direction.
common_
All Modes TMonly
1B During Baseblock (N.C.) 243
Open: Drive has entered the baseblock state (no output voltage).
V/f V/f w/PG OLV CLV common_
1C Motor 2 Selection TMonly 243
OLV/PM AOLV/PM CLV/PM
Closed: Motor 2 is selected by a digital input (H1- = 16)
V/f V/f w/PG OLV CLV common_
1D During Regeneration OLV/PM AOLV/PM CLV/PM
TMonly 243
Closed: Motor is regenerating energy into the drive.
common_
All Modes TMonly
1E Restart Enabled 244
Closed: An automatic restart is performed
common_
All Modes TMonly
1F Motor Overload Alarm (oL1) 244
Closed: oL1 is at 90% of its trip point or greater. An oH3 situation also triggers this alarm.
common_
All Modes TMonly
20 Drive Overheat Pre-alarm (oH) 244
Closed: Heatsink temperature exceeds the parameter L8-02 value.
common_
All Modes TMonly
22 Mechanical Weakening Detection 244
Closed: Mechanical weakening detected.
common_
All Modes TMonly
2F Maintenance Period 244
Closed: Cooling fan, electrolytic capacitors, or the soft charge bypass relay may require maintenance.
V/f V/f w/PG OLV CLV common_
30 During Torque Limit TMonly 244
OLV/PM AOLV/PM CLV/PM
Closed: When the torque limit has been reached.
V/f V/f w/PG OLV CLV common_
31 During Speed Limit TMonly 244
OLV/PM AOLV/PM CLV/PM
Closed: Speed limit has been reached.
V/f V/f w/PG OLV CLV common_
During Speed Limit in Torque TMonly
32 OLV/PM AOLV/PM CLV/PM 244
Control
Closed: Speed limit has been reached while using Torque Control.
V/f V/f w/PG OLV CLV common_
33 Zero Servo Complete TMonly 244
OLV/PM AOLV/PM CLV/PM
Closed: Zero Servo operation has finished.
common_
All Modes TMonly
37 During Frequency Output Open: No frequency output from drive if stopped, with baseblock, or with DC injection braking during initial 244
excitation.
Closed: Drive is outputting a frequency.
common_
All Modes TMonly
38 Drive Enabled 245
Closed: Multi-function input set for “Drive enable” is closed (H1- = 6A)
common_
All Modes TMonly
39 Power Consumption Pulse Output 245
Output units are determined by H2-06. Outputs a pulse every 200 ms to indicate the kWh count.
common_
All Modes TMonly
3A Regenerated Power Pulse Output 245
Parameter List
Outputs a pulse to indicate the regenerated power.
common_
All Modes TMonly
3C LOCAL/REMOTE Status 245
Open: REMOTE
Closed: LOCAL
common_
All Modes
3D During Speed Search TMonly 245
Closed: Speed Search is being executed. B
common_
All Modes TMonly
3E PID Feedback Low 245
Closed: PID feedback level is too low.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 437
B.3 Parameter Table
H2 Multi-Function Digital Output Settings
H2-
Function Description Page
Setting
common_
All Modes TMonly
3F PID Feedback High 245
Closed: The PID feedback level is too high.
common_
All Modes TMonly
4C During Fast Stop 245
Closed: A Fast Stop command has been entered from the operator or input terminals.
common_
All Modes TMonly
4D oH Pre-alarm Time Limit 245
Closed: oH pre-alarm time limit has passed.
common_
All Modes TMonly
60 Internal Cooling Fan Alarm 245
Closed: Internal cooling fan alarm
V/f V/f w/PG OLV CLV common_
61 Rotor Position Detection Complete TMonly 245
OLV/PM AOLV/PM CLV/PM
Closed: Drive has successfully detected the rotor position of the PM motor.
common_
All Modes TMonly
Memobus Regs1 (It selects it with
62 246
H2-07 and H2-08.) The contact output is closed if any of the bits that are specified by H2-08 for the MEMOBUS/Modbus register address
that is set in H2-07 turns on.
common_
All Modes TMonly
Memobus Regs2 (It selects it with
63 246
H2-09 and H2-10.) The contact output is closed if any of the bits that are specified by H2-10 for the MEMOBUS/Modbus register address
that is set in H2-09 turns on.
common_
V/f V/f w/PG OLV CLV TMonly
64 During Commercial Power Operation OLV/PM AOLV/PM CLV/PM 246
Closed: Operating on commercial power.
common_
All Modes TMonly
90 to 92 DriveWorksEZ Digital Outputs 1 to 3 246
Reserved for DWEZ digital output functions.
common_
All Modes TMonly
100 to 192 Function 0 to 92 with Inverse Output 246
Inverts the output switching of the multi-function output functions.
Set the last two digits of 1 to reverse the output signal of that specific function.
H3: Multi-Function Analog Inputs
No.(Addr.) Name Description Setting Page
common_
All Modes TMonly Default: 0
H3-01 Terminal A1 Signal Level
Min: 0 247
(410H) Selection 0: 0 to 10 V
Max: 1
1: -10 to 10 V
common_ Default: 0
H3-02 All Modes TMonly
Terminal A1 Function Selection Min: 0 247
(434H)
Sets the function of terminal A1. Max: 32
H3-03
common_ Default: 100.0%
(411H) All Modes TMonly
Terminal A1 Gain Setting Min: -999.9% 247
Sets the level of the input value selected in H3-02 when 10 V is input at terminal A1. Max: 999.9%
H3-04
common_ Default: 0.0%
(412H) All Modes TMonly
Terminal A1 Bias Setting Min: -999.9% 247
Sets the level of the input value selected in H3-02 when 0 V is input at terminal A1. Max: 999.9%
common_
All Modes TMonly Default: 0
H3-05 Terminal A3 Signal Level
Min: 0 248
(413H) Selection 0: 0 to 10 V
Max: 1
1: -10 to 10 V
common_ Default: 2
H3-06 All Modes TMonly
Terminal A3 Function Selection Min: 0 248
(414H)
Sets the function of terminal A3. Max: 32
H3-07
common_ Default: 100.0%
(415H) All Modes TMonly
Terminal A3 Gain Setting Min: -999.9% 248
Sets the level of the input value selected in H3-06 when 10 V is input at terminal A3. Max: 999.9%
H3-08
common_ Default: 0.0%
(416H) All Modes TMonly
Terminal A3 Bias Setting Min: -999.9% 248
Sets the level of the input value selected in H3-06 when 0 V is input at terminal A3. Max: 999.9%
common_
All Modes TMonly
0: 0 to 10 V Default: 2
H3-09 Terminal A2 Signal Level
1: -10 to 10 V Min: 0 248
(417H) Selection
2: 4 to 20 mA Max: 3
3: 0 to 20 mA
Note: Use DIP switch S1 to set input terminal A2 for a current or a voltage input signal.
438 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
B.3 Parameter Table
No.(Addr.) Name Description Setting Page
common_ Default: 0
H3-10 All Modes TMonly
Terminal A2 Function Selection Min: 0 249
(418H)
Sets the function of terminal A2. Max: 32
H3-11
common_ Default: 100.0%
(419H) All Modes TMonly
Terminal A2 Gain Setting Min: -999.9% 249
Sets the level of the input value selected in H3-10 when 10 V (20 mA) is input at terminal A2. Max: 999.9%
H3-12
common_ Default: 0.0%
(41AH) All Modes TMonly
Terminal A2 Bias Setting Min: -999.9% 249
Sets the level of the input value selected in H3-10 when 0 V (0 or 4 mA) is input at terminal A2. Max: 999.9%
common_ Default: 0.03 s
H3-13 All Modes TMonly
Analog Input Filter Time Constant Min: 0.00 s 249
(41BH)
Sets a primary delay filter time constant for terminals A1, A2, and A3. Used for noise filtering. Max: 2.00 s
common_
All Modes TMonly
Determines which of the analog input terminals will be enabled or disabled when a digital input
programmed for “Analog input enable” (H1- = C) is activated. The terminals other than the
one set as the target are not influenced by input signals.
Default: 7
H3-14 Analog Input Terminal Enable 1: Terminal A1 only
Min: 1 249
(41CH) Selection 2: Terminal A2 only
Max: 7
3: Terminals A1 and A2 only
4: Terminal A3 only
5: Terminals A1 and A3
6: Terminals A2 and A3
7: All terminals enabled
common_ Default: 0
H3-16 All Modes TMonly
Terminal A1 Offset Min: -500 249
(2F0H)
Adds an offset when the analog signal to terminal A1 is at 0 V. Max: 500
common_ Default: 0
H3-17 All Modes TMonly
Terminal A2 Offset Min: -500 249
(2F1H)
Adds an offset when the analog signal to terminal A2 is at 0 V. Max: 500
common_ Default: 0
H3-18 All Modes TMonly
Terminal A3 Offset Min: -500 249
(2F2H)
Adds an offset when the analog signal to terminal A3 is at 0 V. Max: 500
H3 Multi-Function Analog Input Settings
Setting Function Description (For when output is 100%) Page
common_
All Modes TMonly
0 Frequency Bias 250
E1-04 (maximum output frequency)
common_
All Modes TMonly
1 Frequency Gain 250
0 to 10 V signal allows a setting of 0 to 100%. -10 to 0 V signal allows a setting of -100 to 0%.
common_
All Modes TMonly
2 Auxiliary Frequency Reference 1 250
E1-04 (maximum output frequency)
common_
All Modes TMonly
3 Auxiliary Frequency Reference 2 250
E1-04 (maximum output frequency)
V/f V/f w/PG OLV CLV common_
4 Output Voltage Bias TMonly 250
OLV/PM AOLV/PM CLV/PM
10 V = E1-05 (motor rated voltage)
common_
All Modes TMonly
5 Accel/Decel Time Gain 250
10 V = 100%
V/f V/f w/PG OLV CLV common_
6 DC Injection Braking Current TMonly 251
OLV/PM AOLV/PM CLV/PM
10 V = Drive rated current
common_
All Modes TMonly
7 Overtorque/Undertorque Detection Level 251
10 V = Drive rated current (V/f, V/fw/PG)
10 V = Motor rated torque (OLV, CLV, OLV/PM, AOLV/PM, CLV/PM)
V/f V/f w/PG OLV CLV common_
8 Stall Prevention Level During Run TMonly 251
Parameter List
OLV/PM AOLV/PM CLV/PM
10 V = Drive rated current
common_
All Modes TMonly
9 Output Frequency Lower Limit Level 251
10 V = E1-04 (maximum output frequency)
common_
All Modes
B
B PID Feedback TMonly 251
10 V = 100%
common_
All Modes TMonly
C PID Setpoint 251
10 V = 100%
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 439
B.3 Parameter Table
H3 Multi-Function Analog Input Settings
Setting Function Description (For when output is 100%) Page
common_
All Modes TMonly
D Frequency Bias 251
10 V = E1-04 (maximum output frequency)
common_
All Modes TMonly
E Motor Temperature (PTC input) 252
10 V = 100%
common_
All Modes TMonly
F Through Mode 252
Select this setting when the terminal is not used or when using the terminal in the pass-through mode.
V/f V/f w/PG OLV CLV common_
10 Forward Torque Limit TMonly 252
OLV/PM AOLV/PM CLV/PM
10 V = Motor rated torque
V/f V/f w/PG OLV CLV common_
11 Reverse Torque Limit TMonly 252
OLV/PM AOLV/PM CLV/PM
10 V = Motor rated torque
V/f V/f w/PG OLV CLV common_
12 Regenerative Torque Limit TMonly 252
OLV/PM AOLV/PM CLV/PM
10 V = Motor rated torque
V/f V/f w/PG OLV CLV common_
Torque Limit Using Torque Reference/Speed TMonly
13 OLV/PM AOLV/PM CLV/PM 252
Limit
10 V = Motor rated torque
V/f V/f w/PG OLV CLV common_
14 Torque Compensation TMonly 252
OLV/PM AOLV/PM CLV/PM
10 V = Motor rated torque
V/f V/f w/PG OLV CLV common_
15 General Torque Limit TMonly 252
OLV/PM AOLV/PM CLV/PM
10 V = Motor rated torque
common_
All Modes TMonly
16 Differential PID Feedback 252
10 V = 100%
common_
All Modes TMonly
1F Through Mode 252
Select this setting when the terminal is not used or when using the terminal in the pass-through mode.
common_
All Modes TMonly
30 to 32 DriveWorksEZ Analog Input 1 to 3 252
Output is determined by the function selected using DWEZ.
H4: Multi-Function Analog Outputs
No.(Addr.) Name Description Setting Page
common_
All Modes TMonly
Default: 102
H4-01 Multi-Function Analog Output
Selects the data to be output through multi-function analog output terminal FM. Min: 000 252
(41DH) Terminal FM Monitor Selection
Set the desired monitor parameter to the digits available in U-. For example, enter “103” Max: 999
for U1-03.
H4-02
common_ Default: 100.0%
(41EH) Multi-Function Analog Output All Modes TMonly Min: -999.9% 252
Terminal FM Gain
Sets the signal level at terminal FM that is equal to 100% of the selected monitor value. Max: 999.9%
H4-03
common_ Default: 0.0%
(41FH) Multi-Function Analog Output All Modes TMonly Min: -999.9% 252
Terminal FM Bias
Sets the signal level at terminal FM that is equal to 0% of the selected monitor value. Max: 999.9%
common_
All Modes TMonly
Default: 103
H4-04 Multi-Function Analog Output
Selects the data to be output through multi-function analog output terminal AM. Min: 000 252
(420H) Terminal AM Monitor Selection
Set the desired monitor parameter to the digits available in U-. For example, enter “103” Max: 999
for U1-03.
H4-05
common_ Default: 50.0%
(421H) Multi-Function Analog Output All Modes TMonly Min: -999.9% 252
Terminal AM Gain
Sets the signal level at terminal AM that is equal to 100% of the selected monitor value. Max: 999.9%
H4-06
common_ Default: 0.0%
(422H) Multi-Function Analog Output All Modes TMonly Min: -999.9% 252
Terminal AM Bias
Sets the signal level at terminal AM that is equal to 0% of the selected monitor value. Max: 999.9%
common_
All Modes TMonly
Multi-Function Analog Output Default: 0
H4-07
Terminal FM Signal Level 0: 0 to 10 V Min: 0 253
(423H)
Selection 1: -10 to 10 V Max: 2
2: 4 to 20 mA
440 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
B.3 Parameter Table
No.(Addr.) Name Description Setting Page
common_
All Modes TMonly
Multi-Function Analog Output Default: 0
H4-08
Terminal AM Signal Level 0: 0 to 10 V Min: 0 253
(424H)
Selection 1: -10 to 10 V Max: 2
2: 4 to 20 mA
H5: MEMOBUS/Modbus Serial Communication
Note: The settings for MEMOBUS/Modbus communications become effective when the drive is restarted.
No.(Addr.) Name Description Setting Page
common_
H5-01 All Modes Default: 1FH
TMonly
(425H) Drive Slave Address Min: 0 492
Selects drive station node number (address) for MEMOBUS/Modbus terminals R+, R-, S+, S-.
<32> Max: FFH
Cycle power for the setting to take effect.
common_
All Modes TMonly
0: 1200 bps
1: 2400 bps
2: 4800 bps
Default: 3
H5-02 3: 9600 bps
Communication Speed Selection Min: 0 492
(426H) 4: 19200 bps
Max: 8
5: 38400 bps
6: 57600 bps
7: 76800 bps
8: 115200 bps
Cycle power for the setting to take effect.
common_
All Modes TMonly
Default: 0
H5-03 0: No parity
Communication Parity Selection Min: 0 492
(427H) 1: Even parity
Max: 2
2: Odd parity
Cycle power for the setting to take effect.
common_
All Modes TMonly
Default: 3
H5-04 Stopping Method After 0: Ramp to stop
Min: 0 492
(428H) Communication Error (CE) 1: Coast to stop
Max: 3
2: Fast Stop
3: Alarm only
common_
All Modes TMonly Default: 1
H5-05 Communication Fault Detection
Min: 0 493
(429H) Selection 0: Disabled
Max: 1
1: Enabled. If communication is lost for more than two seconds, a CE fault will occur.
common_ Default: 5 ms
H5-06 All Modes TMonly
Drive Transmit Wait Time Min: 5 ms 493
(42AH)
Set the wait time between receiving and sending data. Max: 65 ms
common_
All Modes TMonly Default: 1
H5-07
RTS Control Selection Min: 0 493
(42BH) 0: Disabled. RTS is always on.
Max: 1
1: Enabled. RTS turns on only when sending.
common_
All Modes TMonly Default: 2.0 s
H5-09 Communication Fault Detection
Min: 0.0 s 493
(435H) Time Sets the time required to detect a communications error. Adjustment may be needed when
Max: 10.0 s
networking several drives.
common_
All Modes TMonly Default: 0
H5-10 Unit Selection for MEMOBUS/
Min: 0 494
(436H) Modbus Register 0025H 0: 0.1 V units
Max: 1
1: 1 V units
common_
All Modes TMonly Default: 0
H5-11 Communications ENTER Function
Min: 0 494
(43CH) Selection 0: Drive requires an Enter command before accepting any changes to parameter settings.
Max: 1
1: Parameter changes are activated immediately without the Enter command.
common_
All Modes TMonly Default: 0
H5-12
Run Command Method Selection Min: 0 494
(43DH) 0: FWD/Stop, REV/Stop
Max: 1
1: Run/Stop, FWD/REV
common_
All Modes TMonly
There is normally no need to change this parameter from the default value. Default: 0
H5-17 Operation Selection when Unable
Selects operation when an attempt is made to write data into EEPROM by MEMOBUS/Modbus Min: 0 494
(11A1H) to Write into EEPROM
communications, when writing into EEPROM is not possible. Max: 1
Parameter List
0: Cannot write into EEPROM.
1: Write in RAM only.
common_
All Modes TMonly Default: 0 ms
H5-18 Filter Time Constant for Motor
Sets the filter time constant for monitoring the motor speed from MEMOBUS/Modbus Min: 0 ms 494
(11A2H) Speed Monitoring
communications and communication option. Max: 100 ms
Applicable MEMOBUS/Modbus registers: 3EH, 3FH, 44H, ACH, and ADH
<32> If this parameter is set to 0, the drive will be unable to respond to MEMOBUS/Modbus commands. B
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 441
B.3 Parameter Table
H6: Pulse Train Input/Output
No.(Addr.) Name Description Setting Page
common_
All Modes TMonly
Default: 0
H6-01 Pulse Train Input Terminal RP 0: Frequency reference
Min: 0 254
(42CH) Function Selection 1: PID feedback value
Max: 3
2: PID setpoint value
3: V/f Control with Simple PG feedback (possible only when using motor 1 in V/f Control)
H6-02
common_ Default: 1440 Hz
(42DH) All Modes TMonly
Pulse Train Input Scaling Min: 100 Hz 255
Sets the terminal RP input signal frequency that is equal to 100% of the value selected in H6-01. Max: 32000 Hz
H6-03 common_
All Modes Default: 100.0%
(42EH) TMonly
Pulse Train Input Gain Min: 0.0% 255
Sets the level of the value selected in H6-01 when a frequency with the value set in H6-02 is
Max: 1000.0%
input.
H6-04
common_ Default: 0.0%
(42FH) All Modes TMonly
Pulse Train Input Bias Min: -100.0% 255
Sets the level of the value selected in H6-01 when 0 Hz is input. Max: 100.0%
H6-05
common_ Default: 0.10 s
(430H) All Modes TMonly
Pulse Train Input Filter Time Min: 0.00 s 255
Sets the pulse train input filter time constant. Max: 2.00 s
H6-06 common_
All Modes Default: 102
(431H) TMonly
Pulse Train Monitor Selection Min: 000 256
Select the pulse train monitor output function (value of the - part of U-).
Max: 809
Example: To select U5-01, set “501”.
H6-07 common_
All Modes Default: 1440 Hz
(432H) TMonly
Pulse Train Monitor Scaling Min: 0 Hz 256
Sets the terminal MP output signal frequency when the monitor value is 100%. As an example,
Max: 32000 Hz
have the pulse train monitor output equal the output frequency, set H6-06 to 102 and H6-07 to 0.
common_
All Modes TMonly Default: 0.5 Hz
H6-08 Pulse Train Input Minimum
Min: 0.1 Hz 256
(43FH) Frequency Sets the minimum frequency for the pulse train input to be detected. Enabled when H6-01 = 0,
Max: 1000.0 Hz
1, or 2.
L: Protection Function
L parameters provide protection to the drive and motor, such as: control during momentary power loss, Stall Prevention,
frequency detection, fault restarts, overtorque detection, torque limits, and other types of hardware protection.
L1: Motor Protection
No. (Addr.) Name Description Setting Page
common_
All Modes TMonly
0: Disabled
1: General purpose motor (standard fan cooled)
2: Drive dedicated motor with a speed range of 1:10 Default: <10>
L1-01 Motor Overload Protection
3: Vector motor with a speed range of 1:100 Min: 0 257
(480H) Selection
4: PM motor with variable torque Max: 6
5: PM motor with constant torque control
6: General purpose motor (50 Hz)
The drive may not be able to provide protection when multiple motors are used, even if
overload is enabled in L1-01. Set L1-01 to 0 and install separate thermal relay to each motor.
common_ Default: 1.0 min
L1-02 All Modes TMonly
Motor Overload Protection Time Min: 0.1 min 259
(481H)
Sets the motor thermal overload protection (oL1) time. Max: 5.0 min
common_
All Modes TMonly
Sets operation when the motor temperature analog input (H3-02, H3-06, or H3-10 = E) exceeds
Default: 3
L1-03 Motor Overheat Alarm Operation the oH3 alarm level.
Min: 0 261
(482H) Selection (PTC input) 0: Ramp to stop
Max: 3
1: Coast to stop
2: Fast Stop (decelerate to stop using the deceleration time in C1-09)
3: Alarm only (“oH3” will flash)
common_
All Modes TMonly
Sets stopping method when the motor temperature analog input (H3-02, H3-06, or H3-10 = E) Default: 1
L1-04 Motor Overheat Fault Operation
exceeds the oH4 fault level. Min: 0 261
(483H) Selection (PTC input)
0: Ramp to stop Max: 2
1: Coast to stop
2: Fast Stop (decelerate to stop using the deceleration time in C1-09)
common_ Default: 0.20 s
L1-05 Motor Temperature Input Filter All Modes TMonly Min: 0.00 s 261
(484H) Time (PTC input)
Adjusts the filter for the motor temperature analog input (H3-02, H3-06, or H3-10 = E). Max: 10.00 s
442 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
B.3 Parameter Table
No. (Addr.) Name Description Setting Page
Default: 0.0 A
common_ Min: 0.0 A or 10% of
L1-08 All Modes TMonly
oL1 Current Lvl drive rated current 261
(1103H)
Sets the reference current for motor thermal overload detection for motor 1 in amperes. Max: 150% of drive
rated current <19>
Default: 0.0 A
V/f V/f w/PG OLV CLV Min: 0.0 A or 10% of
L1-09
oL1 Current Lvl (for 2nd motor) common_ drive rated current 262
(1104H) OLV/PM AOLV/PM CLV/PM TMonly
Max: 150% of drive
Sets the reference current for motor thermal overload detection for motor 2 in amperes. rated current <19>
common_
All Modes TMonly Default: 1
L1-13 Continuous Electrothermal
Min: 0 262
(46DH) Operation Selection 0: Disabled
Max: 1
1: Enabled
<10> Default setting is determined by the control mode (A1-02).
<19> Display is in the following units.
CIMR-U20028, 20042, and 40011 to 40027: 0.01A units
CIMR-U20054 to 20248, and 40034 to 40414: 0.1A units
L2: Momentary Power Loss Ride-Thru
No. (Addr.) Name Description Setting Page
common_
All Modes TMonly
Default: 0
L2-01 Momentary Power Loss Operation
0: Disabled. Drive trips on Uv1 fault when power is lost. Min: 0 262
(485H) Selection
1: Recover within the time set in L2-02. Uv1 will be detected if power loss is longer than L2-02. Max: 2
2: Recover as long as CPU has power. Uv1 is not detected.
common_ Default: 0.5 s
L2-02 Momentary Power Loss Ride-Thru All Modes TMonly Min: 0.0 s 263
(486H) Time
Sets the Power Loss Ride-Thru time. Enabled only when L2-01 = 1 or 3. Max: 2.5 s
common_
All Modes TMonly
Default: <9>
L2-03 Momentary Power Loss Minimum Sets the minimum wait time for residual motor voltage decay before the drive output
Min: 0.1 s 263
(487H) Baseblock Time reenergizes after performing Power Loss Ride-Thru.
Max: 5.0 s
Increasing the time set to L2-03 may help if overcurrent or overvoltage occur during Speed
Search or during DC Injection Braking.
V/f V/f w/PG OLV CLV common_ Default: <9>
L2-04 Momentary Power Loss Voltage TMonly
OLV/PM AOLV/PM CLV/PM Min: 0.0 s 263
(488H) Recovery Ramp Time
Max: 5.0 s
Sets the time for the output voltage to return to the preset V/f pattern during Speed Search.
common_
All Modes TMonly Default: 0.00 s
L2-07 Momentary Power Loss Voltage
Min: 0.00 s 263
(48BH) Recovery Acceleration Time Sets the time to accelerate to the frequency reference when momentary power loss is over. If set
Max: 6000.0 s <12>
to 0.0, the active acceleration time (C1-01, C1-03, C1-05, or C1-07) is used.
common_ Default: 1.0
L2-13 Power Supply Frequency Fault All Modes TMonly Min: 0.1 263
(4F7H) Detection Gain
Set the gain to use to detect power supply frequency fault (Fdv). Max: 2.0
Default: Determined by
common_
L2-21 All Modes TMonly o2-04, C6-01
Low Input Voltage Detection Level 263
(4F7H) Min: 100 V <18>
Set the level at which to detect a low input voltage.
Max: 200 V <18>
common_
All Modes TMonly Default: 6.0 Hz
L2-27 Power Supply Frequency Fault
Min: 3.0 Hz 263
(4F7H) Detection Width There is normally no need to change this parameter from the default value. Set the frequency
Max: 20.0 Hz
width to use to detect power supply frequency fault (Fdv).
<9> Default setting is determined by the drive model (o2-04) and duty selection (C6-01).
<12> Setting range value is dependent on the units selected for the accel/decel time (C1-10). When C1-10 = 0 (units of 0.01 s), the setting range
becomes 0.00 to 600.00 s.
<18> Values shown here are for 200 V class drives. Double the value when using a 400 V class drive.
L3: Stall Prevention
No. (Addr.) Name Description Setting Page
V/f V/f w/PG OLV CLV common_
TMonly
OLV/PM AOLV/PM CLV/PM
Parameter List
0: Disabled
1: Enabled
General purpose. Acceleration is paused when the current is above the L3-02 setting. Default: 1
L3-01 Stall Prevention Selection during
2: Enabled Min: 0 264
(48FH) Acceleration
Intelligent Stall Prevention. Accelerate in the shortest possible time without exceeding the Max: 2
L3-02 level.
3: Enabled (Current Limit)
The acceleration rate is automatically adjusted while limiting the output current at the setting
value of the stall prevention level (L3-02). B
Note: Setting 2 is not available in OLV/PM.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 443
B.3 Parameter Table
No. (Addr.) Name Description Setting Page
V/f V/f w/PG OLV CLV common_ Default: <35>
L3-02 Stall Prevention Level during TMonly
OLV/PM AOLV/PM CLV/PM Min: 0% 265
(490H) Acceleration
Max: 150% <35>
Used when L3-04 = 1. 100% is equal to the drive rated current.
V/f V/f w/PG OLV CLV common_
TMonly Default: 50%
L3-03 Stall Prevention Limit during OLV/PM AOLV/PM CLV/PM Min: 0% 265
(491H) Acceleration/Deceleration
Sets Stall Prevention lower limit during acceleration/Deceleration when operating in the Max: 100%
constant power range. Set as a percentage of the drive’s rated current.
common_
All Modes TMonly
0: Disabled
Deceleration at the active deceleration rate. An ov fault may occur.
1: General-purpose Stall Prevention Default: 1
L3-04 Stall Prevention Selection during
Deceleration is paused when the output current exceeds the Stall Prevention level. Min: 0 266
(492H) Deceleration
4: Overexcitation Deceleration Max: 6 <34>
Decelerates while increasing the motor flux.
6: Enable (Current Limit)
The deceleration rate is automatically adjusted while limiting the regeneration current at the
setting value of the stall prevention level (L3-14).
V/f V/f w/PG OLV CLV common_
TMonly Default: 1
L3-05 Stall Prevention Selection during OLV/PM AOLV/PM CLV/PM
Min: 0 267
(493H) Run 0: Disabled. Drive runs at a set frequency. A heavy load may cause stalling. Max: 2
1: Decel time 1. Uses the deceleration time set to C1-02 while Stall Prevention is performed.
2: Decel time 2. Uses the deceleration time set to C1-04 while Stall Prevention is performed.
V/f V/f w/PG OLV CLV common_ Default: <35>
L3-06 TMonly
Stall Prevention Level during Run OLV/PM AOLV/PM CLV/PM Min: 30% 267
(494H)
Max: 150% <35>
Enabled when L3-05 is set to 1 or 2. 100% is equal to the drive rated current.
V/f V/f w/PG OLV CLV common_ Default: <35>
L3-14 Stall Prevention Level during TMonly
OLV/PM AOLV/PM CLV/PM Min: 100% 265
(4C7H) Deceleration
Max: 200% <35>
Used when L3-04 = 1 or 6. 100% is equal to the drive rated current.
V/f V/f w/PG OLV CLV common_ Default: 0.0 s
L3-22 Deceleration Time at Stall TMonly
OLV/PM AOLV/PM CLV/PM Min: 0.0 s 267
(4F9H) Prevention during Acceleration
Max: 6000.0 s
Sets the deceleration time used for Stall Prevention during acceleration in OLV/PM.
V/f V/f w/PG OLV CLV common_
TMonly Default: 0
L3-23 Automatic Reduction Selection for OLV/PM AOLV/PM CLV/PM
Min: 0 268
(4FDH) Stall Prevention during Run 0: Sets the Stall Prevention level set in L3-06 that is used throughout the entire frequency range. Max: 1
1: Automatic Stall Prevention level reduction in the constant output range. The lower limit
value is 40% of L3-06.
V/f V/f w/PG OLV CLV common_ Default: 50 ms
L3-27 TMonly
Stall Prevention Detection Time OLV/PM AOLV/PM CLV/PM Min: 0 ms 268
(456H)
Max: 5000 ms
Sets the time the current must exceed the Stall Prevention level to activate Stall Prevention.
V/f V/f w/PG OLV CLV Default: Determined by
common_
L3-36 Vibration Suppression Gain during TMonly A1-02
OLV/PM AOLV/PM CLV/PM 268
(11D5H) Acceleration (with Current Limit) Min: 0.0
Increase the setting value if oscillation occurs in the output current during acceleration. Max: 100.0
V/f V/f w/PG OLV CLV common_ Default: 100.0 ms
L3-39 Current-limited Integral Time TMonly
OLV/PM AOLV/PM CLV/PM Min: 1.0 ms 268
(11D5H) Constant during Acceleration
Max: 1000.0 ms
Set the time constant for acceleration rate adjustment for current-limited acceleration.
V/f V/f w/PG OLV CLV common_
TMonly Default: 0
L3-40 Current-limited Maximum S-curve OLV/PM AOLV/PM CLV/PM Min: 0 268
(11D5H) Selection during Acceleration
0: Disable Max: 1
1: Enable
V/f V/f w/PG OLV CLV Default: Determined by
common_
L3-41 Vibration Suppression Gain during TMonly A1-02
OLV/PM AOLV/PM CLV/PM 268
(11D5H) Deceleration (with Current Limit) Min: 0.0
Increase the setting value if oscillation occurs in the output current during deceleration. Max: 100.0
V/f V/f w/PG OLV CLV common_ Default: 100.0 ms
L3-44 Current-limited Integral Time TMonly
OLV/PM AOLV/PM CLV/PM Min: 1.0 ms 268
(11D8H) Constant during Deceleration
Max: 1000.0 ms
Set the time constant for deceleration rate adjustment for current-limited deceleration.
V/f V/f w/PG OLV CLV common_
TMonly Default: 0
L3-45 Current-limited Maximum S-curve OLV/PM AOLV/PM CLV/PM
Min: 0 268
(11D9H) Selection during Deceleration 0: Disable Max: 1
1: Enable
Available when L3-04 = 6.
<34> The setting range is 0 and 1 in vector control modes for PM, AOLV/PM, CLV/PM.
444 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
B.3 Parameter Table
<35> The upper limit of the setting range and default setting is determined by the values set to the duty selection (C6-01) and the carrier frequency
reduction selection (L8-38).
L4: Speed Detection
No. (Addr.) Name Description Setting Page
Default: <10>
L4-01
Speed Agreement Detection Level common_ Min: 0.0 Hz 269
(499H) All Modes TMonly Max: 400.0 Hz
L4-01 sets the frequency detection level for digital output functions H2- = 2, 3, 4, 5. Default: <10>
L4-02
Speed Agreement Detection Width L4-02 sets the hysteresis or allowable margin for speed detection. Min: 0.0 Hz 269
(49AH)
Max: 20.0 Hz
Default: 0.0 Hz
L4-03 Speed Agreement Detection Level
Min: -400.0 Hz 269
(49BH) (+/-) common_
All Modes TMonly
Max: 400.0 Hz
L4-03 sets the frequency detection level for digital output functions H2- = 13, 14, 15, 16.
Default: <10>
L4-04 Speed Agreement Detection Width L4-04 sets the hysteresis or allowable margin for speed detection.
Min: 0.0 Hz 269
(49CH) (+/-)
Max: 20.0 Hz
common_
All Modes TMonly Default: 0
L4-05 Frequency Reference Loss
Min: 0 269
(49DH) Detection Selection 0: Stop. Drive stops when the frequency reference is lost.
Max: 1
1: Run. Drive runs at a reduced speed when the frequency reference is lost.
common_
All Modes TMonly Default: 80.0%
L4-06 Frequency Reference at Reference
Min: 0.0% 270
(4C2H) Loss Sets the percentage of the frequency reference that the drive should run with when the
Max: 100.0%
frequency reference is lost.
common_
All Modes TMonly Default: 0
L4-07
Speed Agree Detection Selection Min: 0 270
(470H) 0: No detection during baseblock.
Max: 1
1: Detection always enabled.
<10> Default setting is determined by the control mode (A1-02).
L5: Fault Restart
No. (Addr.) Name Description Setting Page
common_
All Modes TMonly Default: 0
L5-01
Number of Auto Restart Attempts Min: 0 270
(49EH) Sets the number of times the drive may attempt to restart after the following faults occur: GF,
Max: 10
LF, oC, oH1, oL1, oL3, oL4, ov, Sto, Uv1.
common_
All Modes TMonly Default: 0
L5-02 Auto Restart Fault Output
Min: 0 271
(49FH) Operation Selection 0: Fault output not active.
Max: 1
1: Fault output active during restart attempt.
common_ Default: 10.0 s
L5-04 All Modes TMonly
Fault Reset Interval Time Min: 0.5 s 271
(46CH)
Sets the amount of time to wait between performing fault restarts. Max: 600.0 s
common_
All Modes TMonly
Default: 0
L5-05 0: Continuously attempt to restart while incrementing restart counter only at a successful
Fault Reset Operation Selection Min: 0 271
(467H) restarts (same as F7 and G7).
Max: 1
1: Attempt to restart with the interval time set in L5-04 and increment the restart counter with
each attempt (same V7).
L6: Torque Detection
No. (Addr.) Name Description Setting Page
common_
All Modes TMonly
0: Disabled
1: oL3 detection only active during speed agree, operation continues after detection
2: oL3 detection always active during run, operation continues after detection Default: 0
L6-01
Torque Detection Selection 1 3: oL3 detection only active during speed agree, output shuts down on an oL3 fault Min: 0 272
(4A1H)
4: oL3 detection always active during run, output shuts down on an oL3 fault Max: 8
5: UL3 detection only active during speed agree, operation continues after detection
6: UL3 detection always active during run, operation continues after detection
7: UL3 detection only active during speed agree, output shuts down on an oL3 fault
8: UL3 detection always active during run, output shuts down on an oL3 fault
Parameter List
common_ Default: 150%
L6-02 All Modes TMonly
Torque Detection Level 1 Min: 0% 272
(4A2H)
Sets the overtorque and undertorque detection level. Max: 300%
common_ Default: 0.1 s
L6-03 All Modes TMonly
Torque Detection Time 1 Min: 0.0 s 273
(4A3H)
Sets the time an overtorque or undertorque condition must exist to trigger torque detection 1. Max: 10.0 s
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 445
B.3 Parameter Table
No. (Addr.) Name Description Setting Page
common_
All Modes TMonly
0: Disabled
1: oL4 detection only active during speed agree, operation continues after detection
2: oL4 detection always active during run, operation continues after detection Default: 0
L6-04
Torque Detection Selection 2 3: oL4 detection only active during speed agree, output shuts down on an oL4 fault Min: 0 272
(4A4H)
4: oL4 detection always active during run, output shuts down on an oL4 fault Max: 8
5: UL4 detection only active during speed agree, operation continues after detection
6: UL4 detection always active during run, operation continues after detection
7: UL4 detection only active during speed agree, output shuts down on an oL4 fault
8: UL4 detection always active during run, output shuts down on an oL4 fault
common_ Default: 150%
L6-05 All Modes TMonly
Torque Detection Level 2 Min: 0% 272
(4A5H) Sets the overtorque and undertorque detection level. Max: 300%
common_ Default: 0.1 s
L6-06 All Modes TMonly
Torque Detection Time 2 Min: 0.0 s 273
(4A6H)
Sets the time an overtorque or undertorque condition must exist to trigger torque detection 2. Max: 10.0 s
common_
All Modes TMonly
This function can detect an overtorque or undertorque in a certain speed range as a result of
machine fatigue. It is triggered by a specified operation time and uses the oL1 detection settings
(L6-01 and L6-03)
0: Mechanical Weakening Detection disabled.
Default: 0
L6-08 Mechanical Weakening Detection 1: Continue running (alarm only). Detected when the speed (signed) is greater than L6-09.
Min: 0 273
(468H) Operation 2: Continue running (alarm only). Detected when the speed (not signed) is greater than L6-09.
Max: 8
3: Interrupt drive output (fault). Detected when the speed (signed) is greater than L6-09.
4: Interrupt drive output (fault). Detected when the speed (not signed) is greater than L6-09.
5: Continue running (alarm only). Detected when the speed (signed) is less than L6-09.
6: Continue running (alarm only). Detected when the speed (not signed) is less than L6-09.
7: Interrupt drive output (fault). Detected when the speed (signed) is less than L6-09.
8: Interrupt drive output (fault). Detected when the speed (not signed) is less than L6-09.
common_
All Modes TMonly Default: 110.0%
L6-09 Mechanical Weakening Detection
Min: -110.0% 273
(469H) Speed Level Sets the speed that triggers Mechanical Weakening Detection. When L6-08 is set for an
Max: 110.0%
unsigned value, the absolute value is used if the setting is negative.
common_ Default: 0.1 s
L6-10 Mechanical Weakening Detection All Modes TMonly Min: 0.0 s 274
(46AH) Time
Sets the time mechanical weakening has to be detected before an alarm or fault is triggered. Max: 10.0 s
common_ Default: 0 h
L6-11 Mechanical Weakening Detection All Modes TMonly Min: 0 h 274
(46BH) Start Time
Sets the operation time (U1-04) required before Mechanical Weakening Detection is active. Max: 65535 h
L7: Torque Limit
No. (Addr.) Name Description Setting Page
V/f V/f w/PG OLV CLV common_ Default: 200%
L7-01
Forward Torque Limit TMonly Min: 0% 274
(4A7H) OLV/PM AOLV/PM CLV/PM
Max: 300%
Sets the torque limit value as a percentage of the motor rated torque. Four individual quadrants
can be set.
Default: 200%
L7-02
Reverse Torque Limit Output Torque Min: 0% 274
(4A8H)
Positive Torque Max: 300%
L7-01
L7-04 Motor Default: 200%
L7-03 Forward Regenerative Torque min-1
Regeneration Min: 0% 274
(4A9H) Limit
REV FWD Max: 300%
Regeneration
L7-03 Default: 200%
L7-04 Reverse Regenerative Torque L7-02 Min: 0% 274
(4AAH) Limit Negative Torque Max: 300%
V/f V/f w/PG OLV CLV common_ Default: 200 ms
L7-06 Torque Limit Integral Time TMonly
OLV/PM AOLV/PM CLV/PM Min: 5 ms 275
(4ACH) Constant
Max: 10000 ms
Sets the integral time constant for the torque limit.
V/f V/f w/PG OLV CLV common_
TMonly Default: 0
L7-07 Torque Limit Control Method OLV/PM AOLV/PM CLV/PM
Min: 0 275
(4C9H) Selection during Accel/Decel 0: Proportional control (changes to integral control at constant speed). Use this setting when Max: 1
acceleration to the desired speed should take precedence over the torque limit.
1: Integral control. Set L7-07 to 1 if the torque limit should take precedence.
V/f V/f w/PG OLV CLV common_
TMonly Default: 1
L7-16 OLV/PM AOLV/PM CLV/PM
Torque Limit Process at Start Min: 0 275
(44DH)
0: Disabled Max: 1
1: Enabled
446 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
B.3 Parameter Table
L8: Drive Protection
No. (Addr.) Name Description Setting Page
common_ Default: <6>
L8-02 All Modes TMonly
Overheat Alarm Level Min: 50C 275
(4AEH)
An overheat alarm will occur if the heatsink temperature exceeds the level set in L8-02. Max: 150C
common_
All Modes TMonly
0: Ramp to stop. A fault is triggered. Default: 3
L8-03 Overheat Pre-Alarm Operation
1: Coast to stop. A fault is triggered. Min: 0 275
(4AFH) Selection
2: Fast Stop. Decelerate to stop using the deceleration time in C1-09. A fault is triggered. Max: 4
3: Continue operation. An alarm is triggered.
4: Continue operation at reduced speed as set in L8-19.
common_
All Modes TMonly
0: Disabled Default: 0
L8-07 Output Phase Loss Protection
1: Enabled (triggered by a single phase loss) Min: 0 276
(4B3H) Selection
2: Enabled (triggered when two phases are lost) Max: 2
Note: Low motor rated current in comparison to the drive rated output current may erroneously
trigger output phase loss detection. Disable this parameter in such cases.
common_
All Modes TMonly Default: <6>
L8-09 Output Ground Fault Detection
Min: 0 277
(4B5H) Selection 0: Disabled
Max: 1
1: Enabled
common_
All Modes TMonly
Default: 0
L8-10 Heatsink Cooling Fan Operation 0: Run with timer (Fan operates only during run and for L8-11 seconds after stop.)
Min: 0 277
(4B6H) Selection 1: Run always (Cooling fan operates whenever the drive is powered up.)
Max: 1
Note: The cooling fan will turn on when a Damping Resistor Overheat (doH) fault is detected
regardless of the setting value.
Default: 60 s
common_
L8-11 Heatsink Cooling Fan Off Delay All Modes TMonly
Min: 0 s 277
(4B7H) Time
Sets a delay time to shut off the cooling fan after the Run command is removed when L8-10 = 0. Max: 300 s
common_ Default: 40C
L8-12 All Modes TMonly
Ambient Temperature Setting Min: -10C 277
(4B8H)
Enter the ambient temperature. This value adjusts the oL2 detection level. Max: 50C
common_
All Modes TMonly Default: 1
L8-15 oL2 Characteristics Selection at
Min: 0 277
(4BBH) Low Speeds 0: No oL2 level reduction below 6 Hz.
Max: 1
1: oL2 level is reduced linearly below 6 Hz. It is halved at 0 Hz.
V/f V/f w/PG OLV CLV common_
TMonly Default: 0
L8-18 OLV/PM AOLV/PM CLV/PM
Software Current Limit Selection Min: 0 278
(4BEH)
0: Disabled Max: 1
1: Enabled
common_ Default: 0.8
L8-19 Frequency Reduction Rate during All Modes TMonly Min: 0.1 278
(4BFH) Overheat Pre-Alarm
Specifies the frequency reference reduction gain at overheat pre-alarm when L8-03 = 4. Max: 0.9
V/f V/f w/PG OLV CLV common_
TMonly Default: 300.0%
L8-27 OLV/PM AOLV/PM CLV/PM
Overcurrent Detection Gain Min: 0.0% 278
(4DDH)
Sets the gain for overcurrent detection as a percentage of the motor rated current. Overcurrent is Max: 400.0%
detected using the drive’s overcurrent level or the value set to L8-27, whichever is lower.
V/f V/f w/PG OLV CLV common_
TMonly Default: 2
L8-29 Current Unbalance Detection OLV/PM AOLV/PM CLV/PM Min: 0 278
(4DFH) (LF2)
0: Disabled Max: 2
2: Enabled
common_
All Modes TMonly
Default: 1
L8-32 Determines the action the drive should take when a fault occurs with the internal cooling fan.
Cooling Fan Failure Selection Min.: 0 279
(4E2H) 0: Ramp to stop
Max.: 2
1: Coast to stop
2: Fast Stop (decelerate to stop using the deceleration time in C1-09)
common_
All Modes TMonly Default: <6>
L8-35
Installation Method Selection 0: IP00 enclosure drive Min: 0 279
(4ECH)
2: NEMA Type 1 enclosure Max: 3
3: Finless model drive or external heatsink installation
Parameter List
V/f V/f w/PG OLV CLV common_
TMonly Default: <16>
L8-38 Carrier Frequency Reduction OLV/PM AOLV/PM CLV/PM
Min: 0 279
(4EFH) Selection 0: Disabled Max: 2
1: Enabled below 6 Hz
2: Enabled for the entire speed range
L8-40 Carrier Frequency Reduction
V/f V/f w/PG OLV CLV common_
TMonly Default: <10> B
OLV/PM AOLV/PM CLV/PM Min: 0.00 s 280
(4F1H) Off-Delay Time
Sets the time that the drive continues running with reduced carrier frequency after the carrier Max: 2.00 s
reduction condition is gone. Setting 0.00 s disables the carrier frequency reduction time.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 447
B.3 Parameter Table
No. (Addr.) Name Description Setting Page
common_ Default: 0
L8-41 All Modes TMonly
High Current Alarm Selection Min: 0 280
(4F2H) 0: Disabled
Max: 1
1: Enabled. An alarm is triggered at output currents above 150% of the drives rated current.
V/f V/f w/PG OLV CLV common_ Default: 1.0 s
L8-93 TMonly
LSo Detection Time at Low Speed OLV/PM AOLV/PM CLV/PM Min: 0.0 s 280
(73CH)
Max: 10.0 s
Sets the amount of time until baseblock is executed once LSo has been detected at low speed.
V/f V/f w/PG OLV CLV common_ Default: 3%
L8-94 TMonly
LSo Detection Level at Low Speed OLV/PM AOLV/PM CLV/PM Min: 0% 280
(73DH)
Max: 10%
Determines the detection level of LSo at low speed.
V/f V/f w/PG OLV CLV common_ Default: 10 times
L8-95 Average LSo Frequency at Low TMonly
OLV/PM AOLV/PM CLV/PM Min: 1 280
(77FH) Speed
Max: 50
Sets the average number of times LSo can occur at low speed.
<6> Default setting value varies by the drive model (o2-04).
<10> Default setting is determined by the control mode (A1-02).
<16> Default setting is determined by the control mode (A1-02) and the drive model (o2-04).
L9: Drive Protection 2
No. (Addr.) Name Description Setting Page
V/f V/f w/PG OLV CLV common_
TMonly
OLV/PM AOLV/PM CLV/PM
There is normally no need to change this parameter from the default value. Default: 0
L9-03 Carrier Frequency Reduction
(819H) Level Selection Selects the level to start the reduction of the frequency or to clear the current frequency level for Min: 0 280
the automatic reduction of the carrier frequency. Max: 1
0: Reduces the carrier frequency based on the drive's rated current that is not derated.
1: Reduces the carrier frequency based on the drive's rated current that is derated by the carrier
frequency and the temperature selected for C6-02.
n: Special Adjustments
The n parameters are used to adjust more advanced performance characteristics such as Hunting Prevention, speed
feedback detection, and Online Tuning for motor line-to-line resistance.
n1: Hunting Prevention
No. (Addr.) Name Description Setting Page
V/f V/f w/PG OLV CLV common_
TMonly Default: 1
n1-01 OLV/PM AOLV/PM CLV/PM
Hunting Prevention Selection Min: 0 281
(580H)
0: Disabled Max: 1
1: Enabled
V/f V/f w/PG OLV CLV common_
TMonly Default: 1.00
n1-02 OLV/PM AOLV/PM CLV/PM
Hunting Prevention Gain Setting Min: 0.00 281
(581H)
If the motor vibrates while lightly loaded, increase the gain by 0.1 until vibration ceases. If the Max: 2.50
motor stalls, decrease the gain by 0.1 until the stalling ceases.
V/f V/f w/PG OLV CLV common_ Default: <6>
n1-03 TMonly
Hunting Prevention Time Constant OLV/PM AOLV/PM CLV/PM Min: 0 ms 281
(582H)
Max: 500 ms
Sets the time constant used for Hunting Prevention.
V/f V/f w/PG OLV CLV common_
TMonly Default: 0.00
n1-05 Hunting Prevention Gain while in OLV/PM AOLV/PM CLV/PM Min: 0.00 281
(530H) Reverse
Sets the gain used for Hunting Prevention. If set to 0, the gain set to n1-02 is used for operation Max: 2.50
in reverse.
<6> Default setting value varies by the drive model (o2-04).
n2: Speed Feedback Detection Control (AFR) Tuning
No. (Addr.) Name Description Setting Page
V/f V/f w/PG OLV CLV common_
TMonly Default: 1.00
n2-01 Speed Feedback Detection Control OLV/PM AOLV/PM CLV/PM
Min: 0.00 282
(584H) (AFR) Gain Sets the internal speed feedback detection control gain in the automatic frequency regulator Max: 10.00
(AFR).
If hunting occurs, increase the set value. If response is low, decrease the set value.
448 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
B.3 Parameter Table
No. (Addr.) Name Description Setting Page
V/f V/f w/PG OLV CLV common_ Default: 50 ms
n2-02 Speed Feedback Detection Control TMonly
OLV/PM AOLV/PM CLV/PM Min: 0 ms 282
(585H) (AFR) Time Constant 1
Max: 2000 ms
Sets the time constant used for speed feedback detection control (AFR).
n3: Overexcitation Braking
No. (Addr.) Name Description Setting Page
V/f V/f w/PG OLV CLV common_ Default: 1.10
n3-13 TMonly
Overexcitation Deceleration Gain OLV/PM AOLV/PM CLV/PM Min: 1.00 282
(531H)
Max: 2.00
Sets the gain applied to the V/f pattern during Overexcitation Deceleration (L3-04 = 4).
n5: Feed Forward Control
No. (Addr.) Name Description Setting Page
V/f V/f w/PG OLV CLV common_
TMonly Default: 0
n5-01 OLV/PM AOLV/PM CLV/PM
Feed Forward Control Selection Min: 0 283
(5B0H)
0: Disabled Max: 1
1: Enabled
V/f V/f w/PG OLV CLV common_ Default: <9> <14>
n5-02 TMonly
Motor Acceleration Time OLV/PM AOLV/PM CLV/PM Min: 0.001 s 283
(5B1H)
Max: 10.000 s
Sets the time required to accelerate the motor at the rated torque from stop to rated speed.
V/f V/f w/PG OLV CLV common_
TMonly Default: 1.00
n5-03 OLV/PM AOLV/PM CLV/PM
Feed Forward Control Gain Min: 0.00 284
(5B2H)
Sets the ratio between motor and load inertia. Lower this setting if overshoot occurs at the end Max: 100.00
of acceleration.
<9> Default setting value is dependent on the drive model (o2-04) and the Drive Duty (C6-01).
<14> Default setting value is dependent on the motor code set to E5-01.
n6: Online Tuning
No. (Addr.) Name Description Setting Page
V/f V/f w/PG OLV CLV common_
TMonly Default: 0
n6-01 OLV/PM AOLV/PM CLV/PM
Online Tuning Selection Min: 0 284
(570H) 0: Disabled Max: 2
1: Line-to-line resistance tuning
2: Voltage correction. Setting not possible when Energy Saving is enabled (b8-01).
V/f V/f w/PG OLV CLV common_
TMonly Default: 1.0
n6-05 OLV/PM AOLV/PM CLV/PM
Online Tuning Gain Min: 0.1 285
(5C7H)
Decrease this setting for motors with a relatively large rotor time constant. Max: 50.0
If overload occurs, increase this setting slowly in increments of 0.10.
n8: PM Motor Control Tuning
No. (Addr.) Name Description Setting Page
V/f V/f w/PG OLV CLV common_
TMonly Default: 50%
n8-01 Initial Rotor Position Estimation OLV/PM AOLV/PM CLV/PM Min: 0% 285
(540H) Current
Sets the current used for initial rotor position estimation as a percentage of the motor rated Max: 100%
current (E5-03). If the motor nameplate lists an “Si” value, that value should be entered here.
V/f V/f w/PG OLV CLV common_
TMonly Default: 80%
n8-02 OLV/PM AOLV/PM CLV/PM
Pole Attraction Current Min: 0% 285
(541H)
Sets the current during initial polar attraction as a percentage of the motor rated current. Enter a Max: 150%
high value when attempting to increase starting torque.
V/f V/f w/PG OLV CLV
Parameter List
common_
TMonly Default: <17>
n8-11 Induction Voltage Estimation Gain OLV/PM AOLV/PM CLV/PM Min: 0.0 285
(54AH) 2
There is normally no need to change this parameter from the default value. Max: 1000.0
Sets the gain for estimating the speed.
V/f V/f w/PG OLV CLV common_
TMonly Default: 1.000
n8-14
(54DH)
Polarity Compensation Gain 3 OLV/PM AOLV/PM CLV/PM
There is normally no need to change this parameter from the default value.
Min: 0.000
Max: 10.000
285
B
Sets the gain for estimating the speed.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 449
B.3 Parameter Table
No. (Addr.) Name Description Setting Page
V/f V/f w/PG OLV CLV common_
TMonly Default: 0.500
n8-15 OLV/PM AOLV/PM CLV/PM
Polarity Compensation Gain 4 Min: 0.000 286
(54EH)
There is normally no need to change this parameter from the default value. Max: 10.000
Sets the gain for estimating the speed.
V/f V/f w/PG OLV CLV common_
TMonly Default: 0.90
n8-21 OLV/PM AOLV/PM CLV/PM
Motor Ke Gain Min: 0.80 286
(554H)
There is normally no need to change this parameter from the default value. Max: 1.00
Sets the gain for estimating the speed.
V/f V/f w/PG OLV CLV common_
TMonly Default: 1
n8-35 Initial Rotor Position Detection OLV/PM AOLV/PM CLV/PM
Min: 0 286
(562H) Selection 0: Pull-in Max: 2
1: High frequency injection
2: Pulse injection
V/f V/f w/PG OLV CLV common_
TMonly Default: 500 Hz
n8-36 OLV/PM AOLV/PM CLV/PM
High Frequency Injection Level Min: 200 Hz 286
(563H) There is normally no need to change this parameter from the default value. Max: 1000 Hz
Sets the frequency in Hz for the superimposed signal used for superimposed harmonics.
Enabled when n8-57 = 1.
V/f V/f w/PG OLV CLV common_
TMonly Default: 20.0%
n8-37 High Frequency Injection OLV/PM AOLV/PM CLV/PM
Min: 0.0% 286
(564H) Amplitude There is normally no need to change this parameter from the default value. Max: 50.0%
Sets the amplitude of high-frequency injection as a percentage of the voltage class standard
(200 V Class: 200 V, 400 V Class: 400 V). Enabled when n8-57 = 1.
V/f V/f w/PG OLV CLV common_
TMonly Default: 50 Hz
n8-39 Low Pass Filter Cutoff Frequency OLV/PM AOLV/PM CLV/PM
Min: 0 Hz 286
(566H) for High Frequency Injection There is normally no need to change this parameter from the default value. Max: 1000 Hz
Sets the cutoff frequency of a low pass filter for high frequency injection. Enabled when n8-57
= 1.
V/f V/f w/PG OLV CLV common_ Default: 0.80
n8-45 Speed Feedback Detection Control TMonly
OLV/PM AOLV/PM CLV/PM Min: 0.00 287
(538H) Gain (for PM Motors)
Max: 10.00
Increase this setting if hunting occurs. Decrease to lower the response.
V/f V/f w/PG OLV CLV common_
TMonly Default: 5.0 s
n8-47 Pull-In Current Compensation OLV/PM AOLV/PM CLV/PM
Min: 0.0 s 287
(53AH) Time Constant (for PM Motors) Sets the time constant to make the pull-in current reference and actual current value agree. Max: 100.0 s
Decrease the value if the motor begins to oscillate, and increase the value if it takes too long for
the current reference to equal the output current.
V/f V/f w/PG OLV CLV common_
TMonly Default: 30%
n8-48 OLV/PM AOLV/PM CLV/PM
Pull-In Current (for PM Motors) Min: 20% 287
(53BH) Defines the d-axis current reference during no-load operation at a constant speed. Set as a Max: 200%
percentage of the motor rated current. Increase this setting if hunting occurs while running at
constant speed.
V/f V/f w/PG OLV CLV common_
TMonly Default: <14>
n8-49 d-Axis Current for High Efficiency OLV/PM AOLV/PM CLV/PM Min: -200.0% 287
(53CH) Control (for PM Motors)
Sets the d-axis current reference when running a high load at constant speed. Set as a percentage Max: 0.0%
of the motor rated current.
V/f V/f w/PG OLV CLV common_
TMonly Default: 50%
n8-51 Acceleration/Deceleration Pull-In OLV/PM AOLV/PM CLV/PM Min: 0% 287
(53EH) Current (for PM Motors)
Sets the d-axis current reference during acceleration/deceleration as a percentage of the motor Max: 200%
rated current. Set to a high value when more starting torque is needed.
V/f V/f w/PG OLV CLV common_
TMonly Default: 1.00 s
n8-54 Voltage Error Compensation Time OLV/PM AOLV/PM CLV/PM Min: 0.00 s 288
(56DH) Constant
Adjusts the value when hunting occurs at low speed. If hunting occurs with sudden load Max: 10.00 s
changes, increase n8-54 in increments of 0.1. Reduce this setting if oscillation occurs at start.
V/f V/f w/PG OLV CLV common_
TMonly
OLV/PM AOLV/PM CLV/PM
Default: 0
n8-55 Sets the ratio between motor and machine inertia.
Load Inertia Min: 0 288
(56EH) 0: Below 1:10 Max: 3
1: Between 1:10 and 1:30
2: Between 1:30 and 1:50
3: Beyond 1:50
450 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
B.3 Parameter Table
No. (Addr.) Name Description Setting Page
V/f V/f w/PG OLV CLV common_
TMonly Default: 0
n8-57 OLV/PM AOLV/PM CLV/PM
High Frequency Injection Min: 0 288
(574H)
0: Disabled. Disable when using an SPM motor. Max: 1
1: Enabled. Use this setting to enhance the speed control range when using an IPM motor.
V/f V/f w/PG OLV CLV common_
n8-62 TMonly Default: 200.0 V <18>
Output Voltage Limit (for PM OLV/PM AOLV/PM CLV/PM
(57DH) Min: 0.0 V 289
Motors)
Prevents output voltage saturation. Should be set just below the voltage provided by the input Max: 250.0 V <18>
power supply.
V/f V/f w/PG OLV CLV common_
TMonly Default: 1.00
n8-69 OLV/PM AOLV/PM CLV/PM
Speed Calculation Gain Min: 0.00 289
(65DH)
There is normally no need to change this parameter from the default value. Max: 20.00
Sets the proportional gain for Speed Estimation.
V/f V/f w/PG OLV CLV common_
TMonly
OLV/PM AOLV/PM CLV/PM Default: 1
n8-72 Speed Estimation Method
There is normally no need to change this parameter from the default value. Min: 0 289
(655H) Selection
Sets the method to be used for estimating the speed. Max: 1
0: Conventional method
1: 1000-series method
V/f V/f w/PG OLV CLV common_
TMonly
OLV/PM AOLV/PM CLV/PM
Default: 100%
n8-84 Sets the current to determine polarity for the initial polarity calculation as a percentage of the
Polarity Judge Current Min: 0% 289
(2D3H) motor rated current. Max: 150%
100% = Motor rated current
Note: If an “Si” value is listed on the nameplate for a Yaskawa motor, n8-84 should be set to
“Si” value 2.
<14> Default setting value is dependent on the motor code set to E5-01.
<17> Default setting is dependent on the speed estimation method selection (n8-72) as follows:
50.0 when n8-72 = 0
150.0 when n8-72 = 1
<18> Values shown here are for 200 V class drives. Double the value when using a 400 V class drive.
o: Operator Related Settings
The o parameters are used to set up the digital operator displays.
o1: Digital Operator Display Selection
No. (Addr.) Name Description Setting Page
common_
All Modes TMonly
o1-01 Default: 106 (Monitor
Switches the display after the power has been turned on. When using an LED operator, pressing
(500H) Drive Mode Unit Monitor U1-06)
the up arrow key will display the following data: frequency reference rotational direction 290
Selection Min: 104
output frequency output current output voltage U1-.
Max: 914
(This is done by entering the 1 part of U1-. Certain monitors are not available in some
control modes.)
common_
All Modes TMonly
o1-02 o1-02 selects the information that is displayed when the power is turned on.
1: Frequency reference (U1-01) Default: 1
(501H) User Monitor Selection after
2: Direction Min: 1 290
Power Up
Max: 5
3: Output frequency (U1-02)
4: Output current (U1-03)
5: User-selected monitor (set by o1-01)
common_
All Modes TMonly
Sets the units the drive should use to display the frequency reference and motor speed monitors. Default: <10>
o1-03
Digital Operator Display Selection 0: 0.01 Hz Min: 0 290
(502H)
1: 0.01% (100% = E1-04) Max: 3
2: min-1 (calculated using the number of motor poles setting in E2-04, E4-04, or E5-04)
3: User-selected units (set by o1-10 and o1-11)
Parameter List
V/f V/f w/PG OLV CLV common_
TMonly Default: <10>
o1-04 OLV/PM AOLV/PM CLV/PM
V/f Pattern Display Unit Min: 0 291
(503H)
0: Hz Max: 1
1: min-1
o1-05
common_ Default: 3
(504H) All Modes TMonly
LCD Contrast Control Min: 0 291
Sets the brightness of the LCD operator (option). Max: 5 B
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 451
B.3 Parameter Table
No. (Addr.) Name Description Setting Page
Default: <36>
o1-10 User-Set Display Units Maximum common_
All Modes Min: 1 291
(520H) Value TMonly
Max: 60000
These settings define the display values when o1-03 is set to 3.
o1-10 sets the display value that is equal to the maximum output frequency. Default: <36>
o1-11 User-Set Display Units Decimal
o1-11 sets the position of the decimal position. Min: 0 291
(521H) Display
Max: 3
<10> Default setting is determined by the control mode (A1-02).
<36> Default setting value is determined by the digital operator display selection (o1-03).
o2: Digital Operator Keypad Functions
No. (Addr.) Name Description Setting Page
common_
All Modes TMonly Default: 1
o2-01 LO/RE (LOCAL/REMOTE) Key
Min: 0 291
(505H) Function Selection 0: Disabled
Max: 1
1: Enabled. LO/RE key switches between LOCAL and REMOTE operation.
common_
All Modes TMonly Default: 1
o2-02
STOP Key Function Selection Min: 0 292
(506H) 0: Disabled. STOP key is disabled in REMOTE operation.
Max: 1
1: Enabled. STOP key is always enabled.
common_
All Modes TMonly Default: 0
o2-03
User Parameter Default Value 0: No change. Min: 0 292
(507H)
1: Set defaults. Saves parameter settings as default values for a User Initialization. Max: 2
2: Clear all. Clears the default settings that have been saved for a User Initialization.
Default: Determined by
common_
o2-04 All Modes TMonly drive capacity
Drive Model Selection 292
(508H) Min: –
Enter the drive model. Setting required only if installing a new control board.
Max: –
common_
All Modes TMonly
Default: 0
o2-05 Frequency Reference Setting
0: ENTER key must be pressed to enter a frequency reference. Min: 0 293
(509H) Method Selection
1: ENTER key is not required. The frequency reference can be adjusted using the up and down Max: 1
arrow keys only.
common_
All Modes TMonly Default: 0
o2-06 Operation Selection when Digital
Min: 0 293
(50AH) Operator is Disconnected 0: The drive continues operating if the digital operator is disconnected.
Max: 1
1: A fault is triggered (oPr) and the motor coasts to stop.
common_
All Modes TMonly Default: 0
o2-07 Motor Direction at Power Up when
0: Forward Min: 0 293
(527H) Using Operator
1: Reverse Max: 1
This parameter requires that drive operation be assigned to the digital operator.
o2-09
Reserved – – –
(50DH)
common_
All Modes TMonly
Selects if parameter settings can be changed during a DC bus undervoltage condition. To be
Default: 0
o2-19 Selection of Parameter Write used with 24V POWER SUPPLY (PS-A10L, PS-A10H).
Min: 0 293
(61FH) During UV 0: Disabled
Max: 1
1: Enabled
Note: Enabling this function may trigger a CPF06 fault when used with a 24 V Power Supply
option revision earlier than B, as the parameter changes might not occur correctly.
o3: Copy Function
No. (Addr.) Name Description Setting Page
common_
All Modes TMonly
0: Copy select
Default: 0
o3-01 1: INV OP READ (Read parameters from the drive, saving them onto the digital operator.)
Copy Function Selection Min: 0 294
(515H) 2: OP INV WRITE (Copy parameters from the digital operator, writing them to the drive.)
Max: 3
3: OP INV VERIFY (Verify parameter settings on the drive to check if they match the data
saved on the operator.)
To read the drive’ parameter settings into the digital operator, set o3-02 to 1 (to allow reading).
common_
All Modes TMonly Default: 0
o3-02
Copy Allowed Selection Selects whether the read operation (o3-01 = 1) is enabled or disabled. Min: 0 294
(516H)
0: Read operation prohibited Max: 1
1: Read operation allowed
o4: Maintenance Monitor Settings
No. (Addr.) Name Description Setting Page
common_ Default: 0
o4-01 Cumulative Operation Time All Modes TMonly Min: 0 294
(50BH) Setting
Sets the value for the cumulative operation time of the drive in units of 10 h. Max: 9999
452 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
B.3 Parameter Table
No. (Addr.) Name Description Setting Page
common_
All Modes TMonly Default: 0
o4-02 Cumulative Operation Time
Min: 0 294
(50CH) Selection 0: Logs power-on time
Max: 1
1: Logs operation time when the drive output is active (output operation time).
common_ Default: 0
o4-03 Cooling Fan Operation Time All Modes TMonly Min: 0 295
(50EH) Setting
Sets the value of the fan operation time monitor U4-03 in units of 10 h. Max: 9999
common_
All Modes TMonly Default: 0%
o4-05
Capacitor Maintenance Setting Min: 0% 295
(51DH) Sets the value of the Maintenance Monitor for the capacitors. See U4-05 to check when the
Max: 150%
capacitors may need to be replaced.
common_
All Modes TMonly Default: 0%
o4-07 DC Bus Pre-Charge Relay
Min: 0% 295
(523H) Maintenance Setting Sets the value of the Maintenance Monitor for the soft charge bypass relay. See U4-06 to check
when the bypass relay may need to be replaced. Max: 150%
common_
All Modes TMonly Default: 0
o4-11
U2, U3 Initialization 0: U2- and U3- monitor data is not reset when the drive is initialized (A1-03). Min: 0 295
(510H)
1: U2- and U3- monitor data is reset when the drive is initialized (A1-03). (The value Max: 1
of o4-11 is automatically returned to 0.)
common_
All Modes TMonly Default: 0
o4-12
kWh Monitor Initialization Min: 0 295
(512H) 0: No action
Max: 1
1: Reset kWh data (The value of o4-12 is automatically returned to 0.)
common_
All Modes TMonly Default: 0
o4-13 Number of Run Commands
0: U4-02 monitor data is not reset when the drive is initialized (A1-03). Min: 0 296
(528H) Counter Initialization
1: U4-02 monitor data is reset when the drive is initialized (A1-03). (The value of o4-13 is Max: 1
automatically returned to 0.)
All Modes common_TMonly Default: 000.00
o4-19
Power Unit Price Min: 000.00 296
(113AH) Sets the energy price per 1 kWh. This parameter is used to calculate the power rate displayed for
Max: 650.00
total consumed power (U9-07 to U9-10) and total regenerated power (U9-11 to U9-14).
q: DriveWorksEZ Parameters
No. (Addr.) Name Description Setting Page
q1-01 to
common_
q6-07 All Modes TMonly Refer to Help in the
DriveWorksEZ Parameters 296
(1600H to DWEZ software.
Reserved for DriveWorksEZ
1746H)
r: DriveWorksEZ Connection Parameters
No. (Addr.) Name Description Setting Page
r1-01 to
common_ Default: 0
r1-40 DriveWorksEZ Connection All Modes TMonly Min: 0 296
(1840H to Parameters 1 to 20 (upper/lower)
DriveWorksEZ Connection Parameters 1 to 20 (upper/lower) Max: FFFFH
1867H)
T: Motor Tuning
Enter data into the following parameters to tune the motor and drive for optimal performance
T1: Induction Motor Auto-Tuning
No. (Addr.) Name Description Setting Page
V/f V/f w/PG OLV CLV common_
TMonly Default: 1
T1-00 OLV/PM AOLV/PM CLV/PM
Motor 1/Motor 2 Selection Min: 1 123
(700H)
1: Motor 1 (sets E1-, E2-) Max: 2
2: Motor 2 (sets E3-, E4-)
V/f V/f w/PG OLV CLV common_
Parameter List
TMonly
OLV/PM AOLV/PM CLV/PM
0: Rotational Auto-Tuning
2: Stationary Auto-Tuning for Line-to-Line Resistance
T1-01 3: Rotational Auto-Tuning for V/f Control (necessary for Energy Savings and Speed Estimation Default: 0
(701H) Auto-Tuning Mode Selection Speed Search) Min: 0 123
<37> 4: Stationary Auto-Tuning 2 Max: 4, 5, 8, 9 <10>
5: Stationary Auto-Tuning 3
8: Inertia Tuning (perform Rotational Auto-Tuning prior to Inertia Tuning) B
9: ASR Gain Tuning (perform Rotational Auto-Tuning prior to ASR Gain Auto-Tuning)
Note: Inertia Tuning and ASR Gain Auto-Tuning might not be available if gears are between
the machine and the motor shaft.
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 453
B.3 Parameter Table
No. (Addr.) Name Description Setting Page
V/f V/f w/PG OLV CLV common_ Default: <9>
T1-02 TMonly
Motor Rated Power OLV/PM AOLV/PM CLV/PM Min: 0.00 kW 123
(702H)
Max: 650.00 kW
Sets the motor rated power as specified on the motor nameplate.
V/f V/f w/PG OLV CLV common_ Default: 200.0 V <18>
T1-03 TMonly
Motor Rated Voltage OLV/PM AOLV/PM CLV/PM Min: 0.0 V 123
(703H)
Max: 255.0 V <18>
Sets the motor rated voltage as specified on the motor nameplate.
Default: <6>
V/f V/f w/PG OLV CLV common_ Min: 10% of drive rated
T1-04 TMonly
Motor Rated Current OLV/PM AOLV/PM CLV/PM current 124
(704H)
Max: 150% of drive
Sets the motor rated current as specified on the motor nameplate. rated current
V/f V/f w/PG OLV CLV common_ Default: 50.0 Hz
T1-05 TMonly
Motor Base Frequency OLV/PM AOLV/PM CLV/PM Min: 0.0 Hz 124
(705H)
Max: 400.0 Hz
Sets the rated frequency of the motor as specified on the motor nameplate.
V/f V/f w/PG OLV CLV common_ Default: 4
T1-06 TMonly
Number of Motor Poles OLV/PM AOLV/PM CLV/PM Min: 2 124
(706H)
Max: 48
Sets the number of motor poles as specified on the motor nameplate.
V/f V/f w/PG OLV CLV common_ Default: 1450 min-1
T1-07 TMonly
Motor Base Speed OLV/PM AOLV/PM CLV/PM Min: 0 min-1 124
(707H)
Max: 24000 min-1
Sets the rated speed of the motor as specified on the motor nameplate.
V/f V/f w/PG OLV CLV common_ Default: 1024 ppr
T1-08 PG Number of Pulses Per TMonly
OLV/PM AOLV/PM CLV/PM Min: 0 ppr 124
(708H) Revolution
Max: 60000 ppr
Set the number of pulses per revolution for the PG being used (pulse generator or encoder).
V/f V/f w/PG OLV CLV common_
TMonly
OLV/PM AOLV/PM CLV/PM Default: –
T1-09 Motor No-Load Current
Sets the no-load current for the motor. Min: 0 A 124
(709H) (Stationary Auto-Tuning)
After setting the motor capacity to T1-02 and the motor rated current to T1-04, this parameter Max: T1-04
will automatically display the no-load current for a standard 4 pole Yaskawa motor. Enter the
no-load current as indicated on the motor test report.
V/f V/f w/PG OLV CLV common_
TMonly
OLV/PM AOLV/PM CLV/PM Default: –
T1-10 Motor Rated Slip
Sets the motor rated slip. Min: 0.00 Hz 124
(70AH) (Stationary Auto-Tuning)
After setting the motor capacity to T1-02, this parameter will automatically display the motor Max: 20.00 Hz
slip for a standard 4 pole Yaskawa motor. Enter the motor slip as indicated on the motor test
report.
V/f V/f w/PG OLV CLV common_
TMonly Default: 14 W <38>
T1-11 OLV/PM AOLV/PM CLV/PM
Motor Iron Loss Min: 0 W 125
(70BH) Sets the iron loss for determining the Energy Saving coefficient. Max: 65535 W
The value is set to E2-10 (motor iron loss) set when the power is cycled. If T1-02 is changed, a
default value appropriate for the motor capacity that was entered will appear.
<6> Default setting value varies by the drive model (o2-04).
<9> Default setting value is dependent on the drive model (o2-04) and the Drive Duty (C6-01).
<10> Default setting is determined by the control mode (A1-02).
<18> Values shown here are for 200 V class drives. Double the value when using a 400 V class drive.
<37> The availability of certain Auto-Tuning methods depends on the control mode selected for the drive.
<38> Default setting value differs depending on the motor code value and motor parameter settings.
T2: PM Motor Auto-Tuning
No. (Addr.) Name Description Setting Page
V/f V/f w/PG OLV CLV common_
TMonly
OLV/PM AOLV/PM CLV/PM
0: PM Motor Parameter Settings
1: PM Stationary Auto-Tuning
2: PM Stationary Auto-Tuning for Stator Resistance
3: Z Pulse Offset Tuning
T2-01 8: Inertia Tuning Default: 0
PM Motor Auto-Tuning Mode 9: ASR Gain Auto-Tuning
(750H) Min: 0 125
Selection 11: Back EMF Constant Tuning
<37> Max: 14 <10>
13: High Frequency Injection Parameter Tuning
14: PM Rotational Auto-Tuning
Note: 1. Inertia Tuning and ASR Gain Auto-Tuning might not be available if gears are between
the machine and the motor shaft.
2. For special-purpose motors, Yaskawa recommends Back EMF Constant Tuning after
Stationary Auto-Tuning has been performed. Back EMF Constant Tuning rotates the
motor to measure the actual induction voltage constants, and therefore allows for more
accurate control than Stationary Auto-Tuning alone.
454 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
B.3 Parameter Table
No. (Addr.) Name Description Setting Page
V/f V/f w/PG OLV CLV common_
TMonly
OLV/PM AOLV/PM CLV/PM
Default: <16>
T2-02 Enter the motor code when using a Yaskawa PM motor. Once the motor code is entered, the
PM Motor Code Selection Min: 0000 125
(751H) drive automatically sets parameters T2-03 through T2-09. Set parameters T2-10 through T2-14 Max: FFFF
according the motor nameplate or the motor test report. When using a motor that is not
supported motor code or a non-Yaskawa motor, set FFFF here and then adjust the other T2
parameters according the motor nameplate or the motor test report.
V/f V/f w/PG OLV CLV common_
TMonly Default: 1
T2-03 OLV/PM AOLV/PM CLV/PM
PM Motor Type Min: 0 125
(752H)
0: IPM motor Max: 1
1: SPM motor
V/f V/f w/PG OLV CLV common_ Default: <6>
T2-04 TMonly
PM Motor Rated Power OLV/PM AOLV/PM CLV/PM Min: 0.00 kW 126
(730H)
Max: 650.00 kW
Sets the motor rated power.
V/f V/f w/PG OLV CLV common_ Default: 200.0 V <18>
T2-05 TMonly
PM Motor Rated Voltage OLV/PM AOLV/PM CLV/PM Min: 0.0 V 126
(732H)
Max: 255.0 V <18>
Enter the motor rated voltage as indicated on the motor nameplate.
Default: <6>
V/f V/f w/PG OLV CLV common_ Min: 10% of drive rated
T2-06 TMonly
PM Motor Rated Current OLV/PM AOLV/PM CLV/PM current 126
(733H)
Max: 150% of drive
Enter the motor rated current as indicated on the motor nameplate. rated current
V/f V/f w/PG OLV CLV common_ Default: 87.5 Hz
T2-07 TMonly
PM Motor Base Frequency OLV/PM AOLV/PM CLV/PM Min: 0.0 Hz 126
(753H)
Max: 400.0 Hz
Enter the motor base frequency as indicated on the motor nameplate.
V/f V/f w/PG OLV CLV common_ Default: 6
T2-08 TMonly
Number of PM Motor Poles OLV/PM AOLV/PM CLV/PM Min: 2 126
(734H)
Max: 48
Enter the number of motor poles for the PM motor as indicated on the motor nameplate.
V/f V/f w/PG OLV CLV common_ Default: 1750 min-1
T2-09 TMonly
PM Motor Base Speed OLV/PM AOLV/PM CLV/PM Min: 0 min-1 126
(731H)
Max: 24000 min-1
Enter the base speed for the PM motor as indicated on the motor nameplate.
V/f V/f w/PG OLV CLV common_ Default: <39>
T2-10
PM Motor Stator Resistance OLV/PM AOLV/PM CLV/PM
TMonly Min: 0.000 126
(754H)
Max: 65.000
Enter the rotor resistance for the PM motor as indicated on the motor nameplate.
V/f V/f w/PG OLV CLV common_ Default: <39>
T2-11 TMonly
PM Motor d-Axis Inductance OLV/PM AOLV/PM CLV/PM Min: 0.00 mH 126
(735H)
Max: 600.00 mH
Enter the d-axis inductance for the PM motor as indicated on the motor nameplate.
V/f V/f w/PG OLV CLV common_ Default: <39>
T2-12 TMonly
PM Motor q-Axis Inductance OLV/PM AOLV/PM CLV/PM Min: 0.00 mH 126
(736H)
Max: 600.00 mH
Enter the q-axis inductance for the PM motor as indicated on the motor nameplate.
V/f V/f w/PG OLV CLV common_
TMonly Default: 1
T2-13 Induced Voltage Constant Unit OLV/PM AOLV/PM CLV/PM Min: 0 127
(755H) Selection
0: mV/(min-1). E5-09 will automatically be set to 0.0, and E5-24 will be used. Max: 1
1: mV/(rad/s). E5-24 will automatically be set to 0.0, and E5-09 will be used
V/f V/f w/PG OLV CLV common_ Default: <39>
T2-14 PM Motor Induced Voltage TMonly
OLV/PM AOLV/PM CLV/PM Min: 0.0 127
(737H) Constant (Ke)
Max: 2000.0
Enter the induced voltage coefficient for the PM motor as indicated on the motor nameplate.
V/f V/f w/PG OLV CLV common_
TMonly Default: 30%
T2-15 Pull-In Current Level for PM OLV/PM AOLV/PM CLV/PM Min: 0% 127
(756H) Motor Tuning
Sets the amount of pull-in current to use for Auto-Tuning as a percentage of the motor rated Max: 120%
current. Increase this setting for high inertia loads.
Parameter List
V/f V/f w/PG OLV CLV common_ Default: 1024 ppr
T2-16 PG Number of Pulses Per TMonly
OLV/PM AOLV/PM CLV/PM Min: 0 ppr 127
(738H) Revolution for PM Motor Tuning
Max: 15000 ppr
Sets the number of pulses per revolution for the PG being used (pulse generator or encoder).
V/f V/f w/PG OLV CLV common_ Default: 0.0 deg
T2-17 TMonly
Encoder Z-Pulse Offset () Min: -180.0 deg 127
(757H) OLV/PM AOLV/PM CLV/PM
Sets the offset between encoder offset and the rotor magnetic axis.
Max: 180.0 deg B
<6> Default setting value varies by the drive model (o2-04).
<10> Default setting is determined by the control mode (A1-02).
<16> Default setting is determined by the control mode (A1-02) and the drive model (o2-04).
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 455
B.3 Parameter Table
<18> Values shown here are for 200 V class drives. Double the value when using a 400 V class drive.
<37> The availability of certain Auto-Tuning methods depends on the control mode selected for the drive.
<39> Default setting is determined by the drive capacity and the motor code selected in T2-02.
T3: ASR and Inertia Tuning
No. (Addr.) Name Description Setting Page
V/f V/f w/PG OLV CLV common_
TMonly Default: 3.0 Hz
T3-01 Inertia Tuning Frequency OLV/PM AOLV/PM CLV/PM Min: 0.1 Hz 128
(760H) Reference
Sets the frequency of the test signal used during Inertia Tuning and ASR Gain Auto-Tuning. Max: 20.0 Hz
Reduce this value if the inertia is large or if a fault occurs.
V/f V/f w/PG OLV CLV common_
TMonly Default: 0.5 rad
T3-02 Inertia Tuning Reference OLV/PM AOLV/PM CLV/PM Min: 0.1 rad 128
(761H) Amplitude
Sets the amplitude of the test signal used during Inertia and ASR Gain Auto-Tuning. Reduce Max: 10.0 rad
this value if the inertia is too large or if a fault occurs.
V/f V/f w/PG OLV CLV common_ Default: <9> <14>
T3-03 TMonly
Motor Inertia OLV/PM AOLV/PM CLV/PM Min: 0.0001 kgm2 128
(762H)
Max: 600.00 kgm2
Sets the motor inertia. Default setting is the inertia of a Yaskawa motor.
V/f V/f w/PG OLV CLV common_
T3-04 TMonly Default: 10.0 Hz
(763H) ASR Response Frequency OLV/PM AOLV/PM CLV/PM Min: 0.1 Hz 128
<40> Sets the response frequency of the mechanical system connected to the motor. Oscillation may Max: 50.0 Hz
result if set too high.
<9> Default setting value is dependent on the drive model (o2-04) and the Drive Duty (C6-01).
<14> Default setting value is dependent on the motor code set to E5-01.
<40> Displayed only when performing Inertia Tuning or ASR Gain Auto-Tuning (T1-01 = 9 or T2-01 = 9).
U: Monitors
Monitor parameters allow the user to view drive status, fault information, and other data concerning drive operation.
U1: Operation Status Monitors
Analog Output
No. (Addr.) Name Description Level Unit Page
common_
U1-01 All Modes TMonly 10 V: Max frequency
Frequency Reference 0.01 Hz –
(40H) (-10 to +10 V)
Monitors the frequency reference. Display units are determined by o1-03.
common_
U1-02 All Modes TMonly 10 V: Max frequency
Output Frequency 0.01 Hz –
(41H) Displays the output frequency. Display units are determined by o1-03. (-10 to +10 V)
common_
U1-03 All Modes TMonly 10 V: Drive rated
Output Current <19> <23> –
(42H) current
Displays the output current.
common_
All Modes TMonly
0: V/f Control
1: V/f Control with PG
U1-04 No signal output
Control Method 2: Open Loop Vector Control – –
(43H) available
3: Closed Loop Vector Control
5: Open Loop Vector Control for PM
6: Advanced Open Loop Vector Control for PM
7: Closed Loop Vector Control for PM
V/f V/f w/PG OLV CLV common_
U1-05 TMonly 10 V: Max Frequency
Motor Speed OLV/PM AOLV/PM CLV/PM 0.01 Hz –
(44H) (-10 to +10 V)
Displays the motor speed feedback. Display units are determined by o1-03.
common_
U1-06 All Modes TMonly
Output Voltage Reference 10 V: 200 Vrms <18> 0.1 Vac –
(45H)
Displays the output voltage.
common_
U1-07 All Modes TMonly
Control Circuit Voltage 10 V: 400 V <18> 1 Vdc –
(46H)
Displays the control circuit voltage.
common_
U1-08 All Modes TMonly 10 V: <60>
Output Power <22> –
(47H) (-10 to +10 V)
Displays the output power (this value is calculated internally).
V/f V/f w/PG OLV CLV common_ 10 V: Motor rated
U1-09 TMonly
Torque Reference OLV/PM AOLV/PM CLV/PM torque 0.1% –
(48H)
(-10 to +10 V)
Monitors the internal torque reference.
456 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
B.3 Parameter Table
Analog Output
No. (Addr.) Name Description Level Unit Page
common_
All Modes TMonly
Displays the input terminal status.
U1 - 10= 0 0 0 0 0 0 0 0
1 Digital input 1
(terminal S1 enabled)
1 Digital input 2
(terminal S2 enabled)
1 Digital input 3
U1-10 (terminal S3 enabled) No signal output
Input Terminal Status – –
(49H) available
1 Digital input 4
(terminal S4 enabled)
1 Digital input 5
(terminal S5 enabled)
1 Digital input 6
(terminal S6 enabled)
1 Digital input 7
(terminal S7 enabled)
1 Digital input 8
(terminal S8 enabled)
common_
All Modes TMonly
Displays the output terminal status.
U1 - 11= 0 0 0 0 0 0 0 0
1 Multi-Function
Digital Output
(terminal M1-M2)
U1-11 No signal output
(4AH)
Output Terminal Status 1 Multi-Function
Digital Output available
– –
YEG_ (terminal M3-M4)
TMonly 1Multi-Function
Digital Output
(terminal M5-M6)
Not Used
1Fault Relay Output
(terminal MA-MC closed
MA/MB-MC open)
common_
All Modes TMonly
Displays the drive operation status.
U1 - 12= 0 0 0 0 0 0 0 0
1 During run
1 During zero-speed
U1-12
Drive Status
1 During REV No signal output
– –
(4BH) available
1 During fault reset
signal input
1 During speed agree
1 Drive ready
1 During alarm
detection
1 During fault detection
common_
U1-13 All Modes TMonly 10 V: 100%
Terminal A1 Input Level 0.1% –
(4EH) (-10 to +10 V)
Displays the signal level to analog input terminal A1.
common_
U1-14 All Modes TMonly 10 V: 100%
Terminal A2 Input Level 0.1% –
(4FH) (-10 to +10 V)
Displays the signal level to analog input terminal A2.
common_
U1-15 All Modes TMonly 10 V: 100%
Terminal A3 Input Level 0.1% –
(50H) (-10 to +10 V)
Displays the signal level to analog input terminal A3.
common_
U1-16 Output Frequency after Soft All Modes 10 V: Max frequency
Parameter List
TMonly 0.01 Hz –
(53H) Starter (-10 to +10 V)
Displays output frequency with ramp time and S-curves. Units determined by o1-03.
common_
All Modes TMonly
U1-17 No signal output
DI-A3 Input Status Displays the reference value input from the DI-A3 option card. – –
(58H) available
Display will appear in hexadecimal as determined by the digital card input selection in F3-01.
3FFFF: Set (1 bit) + sign (1 bit) + 16 bit
U1-18
oPE Fault Parameter
All Modes
common_
TMonly No signal output
– –
B
(61H) available
Displays the parameter number that caused the oPE02 or oPE08 (Operation error).
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 457
B.3 Parameter Table
No. (Addr.) Name Description Analog Output Unit Page
Level
common_
All Modes TMonly
Displays the contents of a MEMOBUS/Modbus error.
U1 - 19= 0 0 0 0 0 0 0 0
1 CRC Error
U1-19 MEMOBUS/Modbus Error 1 Data Length Error No signal output
– –
(66H) Code 0 Not Used available
1 Parity Error
1 Overrun Error
1 Framing Error
1 Timed Out
0 Not Used
common_
U1-21 AI-A3 Terminal V1 Input All Modes TMonly 10 V: 100%
0.1% –
(77H) Voltage Monitor (-10 to +10 V)
Displays the input voltage to terminal V1 on analog input card AI-A3.
common_
U1-22 AI-A3 Terminal V2 Input All Modes TMonly 10 V: 100%
0.1% –
(72AH) Voltage Monitor (-10 to +10 V)
Displays the input voltage to terminal V2 on analog input card AI-A3.
common_
U1-23 AI-A3 Terminal V3 Input All Modes TMonly 10 V: 100%
0.1% –
(72BH) Voltage Monitor (-10 to +10 V)
Displays the input voltage to terminal V3 on analog input card AI-A3.
common_
U1-24 All Modes TMonly
Input Pulse Monitor Determined by H6-02 1 Hz –
(7DH)
Displays the frequency to pulse train input terminal RP.
common_
U1-25 All Modes TMonly No signal output
Software Number (Flash) – –
(4DH) available
FLASH ID
common_
U1-26 All Modes TMonly No signal output
Software No. (ROM) – –
(5BH) available
ROM ID
200 V class
U1-54 Drive Input Power Voltage All Modes common_TMonly 10 V: 400 V
1V –
(1083H) Effective Value 400 V class
Displays the effective value of the drive input power voltage.
10 V: 800 V
U1-58 All Modes common_TMonly 10 V: Rated
Power Supply Frequency 0.1 Hz –
(1087H) frequency
Displays the frequency of the drive input power supply.
All Modes common_TMonly
Displays information on the input power supply.
U1 - 72= 0 0 0 0 0 0 0 0
Bit 0: AUv reset. (0: Not completed, 1: Reset)
Bit 1: PF reset (0: Not completed, 1: Reset)
U1-72 Input Power Supply Bit 2: Rated frequency detection No signal output
(0: Not completed, 1: Completed) – –
(1095H) Information available
Bit 3: Phase order detection
(0: Not completed, 1: Completed)
Bit 4: Power supply established
(0: Not completed, 1: Completed)
Bit 5: Fdv detection (0: Not detected, 1: Detected)
Bit 6: PF detection (0: Not detected, 1: Detected)
Bit 7: Reserved.
<18> Values shown here are for 200 V class drives. Double the value when using a 400 V class drive.
<19> Display is in the following units.
CIMR-U20028, 20042, and 40011 to 40027: 0.01 A units
CIMR-U20054 to 20248, and 40034 to 40414: 0.1 A units
<22> Display is in the following units.
CIMR-U20028, 20042, and 40011 to 40027: 0.01 kW units
CIMR-U20054 to 20248, and 40034 to 40414: 0.1 kW units
<23> When checking the values of U1-03, U2-05 and U4-13 with the digital operator they are displayed in units of amperes, but when they are
checked using MEMOBUS/Modbus communications, the monitor value in MEMOBUS/Modbus communications is: displayed numeric value
/ 8192 drive’ rated current (A), from the condition “8192 (maximum value) = drive’ rated current (A)”
<60> In V/f and V/f w/PG control mode, 10 V = drive rated current (A) voltage class (V). In OLV, CLV, OLV/PM, AOLV/PM, or CLV/PM
control mode, 10 V = motor rated power (E2-11) (kW).
U2: Fault Trace
Analog Output
No. (Addr.) Name Description Level Unit Page
common_
U2-01 All Modes TMonly No signal output
Current Fault – –
(80H) available
Displays the current fault.
458 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
B.3 Parameter Table
Analog Output
No. (Addr.) Name Description Level Unit Page
common_
U2-02 All Modes TMonly No signal output
Previous Fault – –
(81H) available
Displays the previous fault.
common_
U2-03 Frequency Reference at All Modes TMonly No signal output
0.01 Hz –
(82H) Previous Fault available
Displays the frequency reference at the previous fault.
common_
U2-04 Output Frequency at Previous All Modes TMonly No signal output
0.01 Hz –
(83H) Fault available
Displays the output frequency at the previous fault.
common_
U2-05 Output Current at Previous All Modes TMonly No signal output
<19> <23> –
(84H) Fault available
Displays the output current at the previous fault.
V/f V/f w/PG OLV CLV common_
U2-06 TMonly No signal output
Motor Speed at Previous Fault OLV/PM AOLV/PM CLV/PM 0.01 Hz –
(85H) available
Displays the motor speed at the previous fault.
common_
U2-07 Output Voltage at Previous All Modes TMonly No signal output
0.1 Vac –
(86H) Fault available
Displays the output voltage at the previous fault.
common_
U2-08 DC Bus Voltage at Previous All Modes TMonly No signal output
1 Vdc –
(87H) Fault available
Displays the DC bus voltage at the previous fault.
common_
U2-09 Output Power at Previous All Modes TMonly No signal output
0.1 kW –
(88H) Fault available
Displays the output power at the previous fault.
V/f V/f w/PG OLV CLV common_
U2-10 Torque Reference at Previous TMonly No signal output
OLV/PM AOLV/PM CLV/PM 0.1% –
(89H) Fault available
Displays the torque reference at the previous fault.
common_
U2-11 Input Terminal Status at All Modes TMonly No signal output
– –
(8AH) Previous Fault available
Displays the input terminal status at the previous fault. Displayed as in U1-10.
common_
U2-12 Output Terminal Status at All Modes TMonly No signal output
– –
(8BH) Previous Fault available
Displays the output status at the previous fault. Displayed as in U1-11.
common_
U2-13 Drive Operation Status at All Modes TMonly No signal output
– –
(8CH) Previous Fault available
Displays the operation status of the drive at the previous fault. Displayed as in U1-12.
common_
U2-14 Cumulative Operation Time at All Modes TMonly No signal output
1h –
(8DH) Previous Fault available
Displays the cumulative operation time at the previous fault.
common_
U2-15 Run Speed after Soft Starter at All Modes TMonly No signal output
0.01 Hz –
(7E0H) Previous Fault available
Displays the run speed after a soft start when a previous fault occurred. Displayed as in U1-16.
V/f V/f w/PG OLV CLV common_
U2-16 Motor q-Axis Current at TMonly No signal output
OLV/PM AOLV/PM CLV/PM 0.1% –
(7E1H) Previous Fault available
Displays the q-axis current for the motor at the previous fault. Displayed as in U6-01.
V/f V/f w/PG OLV CLV common_
U2-17 Motor d-Axis Current at TMonly No signal output
OLV/PM AOLV/PM CLV/PM 0.1% –
(7E2H) Previous Fault available
Displays the d-axis current for the motor at the previous fault. Displayed as in U6-02.
V/f V/f w/PG OLV CLV common_
U2-19 Rotor Deviation at Previous TMonly No signal output
OLV/PM AOLV/PM CLV/PM 0.1 deg –
(7E4H) Fault available
Displays the degree of rotor deviation when the most recent fault occurred. Displays the same
status displayed in U6-10.
common_
All Modes TMonly
U2-20 Heatsink Temperature at No signal output
Displays the temperature of the heatsink when the most recent fault occurred. Displayed as in 1C –
(8EH) Previous Fault available
U4-08.
U2-50 Input Power Supply All Modes common_TMonly No signal output
– –
(85CH) Information at Previous Fault available
Displays the input power supply information at the previous fault. Displayed as in U1-72.
200 V class
U2-54 Power Supply Voltage at All Modes common_TMonly 10 V: 400 V
1V –
Parameter List
(843H) Previous Fault 400 V class
Displays the power supply voltage at the previous fault. Displayed as in U1-54.
10 V: 800 V
U2-58 Power Supply Frequency at All Modes common_TMonly 10 V: Rated
0.1 Hz –
(847H) Previous Fault frequency
Displays the power supply frequency at the previous fault. Displayed as in U1-58.
<19> Display is in the following units.
CIMR-U20028, 20042, and 40011 to 40027: 0.01 A units
CIMR-U20054 to 20248, and 40034 to 40414: 0.1 A units B
<23> When checking the values of U1-03, U2-05 and U4-13 with the digital operator they are displayed in units of amperes, but when they are
checked using MEMOBUS/Modbus communications, the monitor value in MEMOBUS/Modbus communications is: displayed numeric value
/ 8192 drive’ rated current (A), from the condition “8192 (maximum value) = drive’s rated current (A)”
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 459
B.3 Parameter Table
U3: Fault History
Analog Output
No. (Addr.) Name Description Unit Page
Level
U3-01 to
U3-04 common_
All Modes TMonly No signal output
(90H to 93H First to 4th Most Recent Fault – –
available
(800H to Displays the first to the fourth most recent faults.
803H))
common_
All Modes TMonly
U3-05 to
U3-10 Displays the fifth to the tenth most recent faults. No signal output
5th to 10th Most Recent Fault – –
(804H to After ten faults have occurred in the drive, data for the oldest fault is deleted. The most recent available
809H) fault appears in U3-01, with the next most recent fault appearing in U3-02. The data is moved to
the next monitor parameter every time a fault occurs.
U3-11 to
U3-14 common_
Cumulative Operation Time at All Modes TMonly No signal output
(94H to 97H 1h –
1st to 4th Most Recent Fault available
(80AH to Displays the cumulative operation time when the first to the fourth most recent faults occurred.
80DH))
U3-15 to
common_
U3-20 Cumulative Operation Time at All Modes TMonly No signal output
1h –
(80EH to 5th to 10th Most Recent Fault available
Displays the cumulative operation time when the fifth to the tenth most recent faults occurred.
813H)
U4: Maintenance Monitors
Analog Output
No. (Addr.) Name Description Unit Page
Level
common_
All Modes TMonly
U4-01
Displays the cumulative operation time of the drive. The value for the cumulative operation No signal output
(4CH) Cumulative Operation Time 1h –
time counter can be reset in parameter o4-01. Use parameter o4-02 to determine if the operation available
<26>
time should start as soon as the power is switched on or only while the Run command is present.
The maximum number displayed is 99999, after which the value is reset to 0.
common_
All Modes TMonly
U4-02 No signal output
Number of Run Commands 1 Time –
(75H) Displays the number of times the Run command is entered. Reset the number of Run commands available
using parameter o4-13. This value will reset to 0 and start counting again after reaching 65535.
common_
All Modes TMonly
U4-03
No signal output
(67H) Cooling Fan Operation Time Displays the cumulative operation time of the cooling fan. The default value for the fan 1h –
operation time is reset in parameter o4-03. This value will reset to 0 and start counting again available
<58>
after reaching 99999.
common_
All Modes TMonly
U4-04 No signal output
Cooling Fan Maintenance Displays main cooling fan usage time in as a percentage of its expected performance life. 1% –
(7EH) available
Parameter o4-03 can be used to reset this monitor. The fan should be replaced when this
monitor reaches 90%.
common_
All Modes TMonly
U4-05 No signal output
Capacitor Maintenance Displays main circuit capacitor usage time in as a percentage of their expected performance life. 1% –
(7CH) available
Parameter o4-05 can be used to reset this monitor. The capacitor should be replaced when this
monitor reaches 90%.
common_
All Modes TMonly
U4-06 Soft Charge Bypass Relay No signal output
Displays the soft charge bypass relay maintenance time as a percentage of its estimated 1% –
(7D6H) Maintenance available
performance life. Parameter o4-07 can be used to reset this monitor. The soft charge bypass
relay should be replaced when this monitor reaches 90%.
common_
U4-08 All Modes TMonly
Heatsink Temperature 10 V: 100C 1C –
(68H)
Displays the heatsink temperature.
common_
U4-09 All Modes TMonly No signal output
LED Check – –
(5EH) available
Lights all segments of the LED to verify that the display is working properly.
common_
U4-13 All Modes TMonly No signal output 0.01 A
Peak Hold Current –
(7CFH) available <19> <23>
Displays the highest current value that occurred during run.
common_
U4-14 All Modes TMonly No signal output
Peak Hold Output Frequency 0.01 Hz –
(7D0H) available
Displays the output frequency when the current value shown in U4-13 occurred.
common_
All Modes TMonly
U4-16 Motor Overload Estimate
10 V: 100% 0.1% –
(7D8H) (oL1) Shows the value of the motor overload detection accumulator. 100% is equal to the oL1
detection level.
460 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
B.3 Parameter Table
Analog Output
No. (Addr.) Name Description Level Unit Page
common_
All Modes TMonly
Displays the source for the frequency reference as XY-nn.
X: indicates which reference is used:
1 = Reference 1 (b1-01)
2 = Reference 2 (b1-15)
Y-nn: indicates the reference source
0-01 = Digital operator
U4-18 Frequency Reference Source 1-00 = Analog No signal output
– –
(7DAH) Selection 1-01 = Analog (terminal A1) available
1-02 = Analog (terminal A2)
1-03 = Analog (terminal A3)
2-02 to 17 = Multi-step speed (d1-02 to 17)
3-01 = MEMOBUS/Modbus communications
4-01 = Communication option card
5-01 = Pulse input
7-01 = DWEZ
9-01 = Up/Down Command
common_
U4-19 Frequency Reference from All Modes TMonly No signal output
0.01% –
(7DBH) MEMOBUS/Modbus Comm. available
Displays the frequency reference provided by MEMOBUS/Modbus (decimal).
common_
U4-20 All Modes TMonly No signal output
Option Frequency Reference – –
(7DCH) available
Displays the frequency reference input by an option card (decimal).
common_
All Modes TMonly
Displays the source for the Run command as XY-nn.
X: Indicates which Run source is used:
1 = Reference 1 (b1-02)
2 = Reference 2 (b1-16)
Y: Input power supply data
0 = Digital operator
1 = External terminals
3 = MEMOBUS/Modbus communications
4 = Communication option card
U4-21 Run Command Source No signal output
7 = DWEZ – –
(7DDH) Selection available
nn: Run command limit status data
00: No limit status.
01: Run command was left on when stopped in the PRG mode
02: Run command was left on when switching from LOCAL to REMOTE operation
03: Waiting for soft charge bypass contactor after power up (Uv or Uv1 flashes after 10 s)
04: Waiting for “Run command prohibited” time period to end
05: Fast Stop (digital input, digital operator)
06: b1-17 (Run command given at power-up)
07: During baseblock while coast to stop with timer
08: Frequency reference is below minimal reference during baseblock
09: Waiting for Enter command
common_
All Modes TMonly
U4-22 MEMOBUS/Modbus No signal output
– –
(7DEH) Communications Reference Displays the drive control data set by MEMOBUS/Modbus communications register no. 0001H available
as a four-digit hexadecimal number.
common_
U4-23 Communication Option Card All Modes TMonly No signal output
– –
(7DFH) Reference available
Displays drive control data set by an option card as a four-digit hexadecimal number.
<19> Display is in the following units.
CIMR-U20028, 20042, and 40011 to 40027: 0.01 A units
CIMR-U20054 to 20248, and 40034 to 40414: 0.1 A units
<23> When checking the values of U1-03, U2-05 and U4-13 with the digital operator they are displayed in units of amperes, but when they are
checked using MEMOBUS/Modbus communications, the monitor value in MEMOBUS/Modbus communications is: displayed numeric value
/ 8192 drive’ rated current (A), from the condition “8192 (maximum value) = drive’ rated current (A)”
<26> The MEMOBUS/Modbus communications data is in 10 h units. If data in 1 h units are also required, refer to register number 0099H.
<58> The MEMOBUS/Modbus communications data is in 10 h units. If data in 1 h units are also required, refer to register number 009BH.
U5: PID Monitors
Analog Output
No. (Addr.) Name Description Level Unit Page
common_
U5-01 All Modes TMonly 10 V: 100%
PID Feedback 0.01% –
(57H) (-10 to +10 V)
Displays the PID feedback value.
Parameter List
common_
U5-02 All Modes TMonly 10 V: 100%
PID Input 0.01% –
(63H) (-10 to +10 V)
Displays the amount of PID input (deviation between PID setpoint and feedback).
common_
U5-03 All Modes TMonly 10 V: 100%
PID Output 0.01% –
(64H) (-10 to +10 V)
Displays PID control output.
common_
U5-04 All Modes 10 V: 100%
(65H)
PID Setpoint
Displays the PID setpoint.
TMonly
(-10 to +10 V)
0.01% –
B
common_
U5-05 All Modes TMonly 10 V: 100%
PID Differential Feedback 0.01% –
(7D2H) (-10 to +10 V)
Displays the 2nd PID feedback value if differential feedback is used (H3- = 16).
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 461
B.3 Parameter Table
No. (Addr.) Name Description Analog Output Unit Page
Level
common_
All Modes TMonly
U5-06 10 V: 100%
PID Adjusted Feedback 0.01% –
(7D3H) Displays the difference of both feedback values if differential feedback is used (U5-01) - (-10 to +10 V)
(U5-05). If differential feedback is not used, then U5-01 and U5-06 will be the same.
Automatically Calculated V/f V/f w/PG OLV CLV common_
U5-21 TMonly No signal output
Energy Saving Coefficient Ki OLV/PM AOLV/PM CLV/PM 0.01 –
(872H) available
Value
Displays the energy saving coefficient Ki value.
Automatically Calculated V/f V/f w/PG OLV CLV common_
U5-22 TMonly No signal output
Energy Saving Coefficient Kt OLV/PM AOLV/PM CLV/PM 0.01 –
(873H) available
Value
Displays the energy saving coefficient Kt value.
U6: Control Monitors
Analog Output
No. (Addr.) Name Description Unit Page
Level
10 V: Motor
common_
U6-01 All Modes TMonlysecondary rated
Motor Secondary Current (Iq) 0.1% –
(51H) current
Displays the value of the motor secondary current (Iq). Motor rated secondary current is 100%.
(-10 to +10 V)
V/f V/f w/PG OLV CLV common_ 10 V: Motor
U6-02 TMonly secondary rated
Motor Excitation Current (Id) OLV/PM AOLV/PM CLV/PM 0.1% –
(52H) current
Displays the value calculated for the motor excitation current (Id). Motor rated secondary (-10 to +10 V)
current is 100%.
U6-03 10 V: Max frequency
ASR Input
(54H) V/f V/f w/PG OLV CLV (-10 to +10 V)
common_
TMonly 10 V: Motor 0.01% –
U6-04 OLV/PM AOLV/PM CLV/PM secondary rated
ASR Output
(55H) Displays the input and output values when using ASR control. current
(-10 to +10 V)
V/f V/f w/PG OLV CLV common_
U6-05 TMonly 10 V: 200 Vrms <18>
Output Voltage Reference (Vq) OLV/PM AOLV/PM CLV/PM 0.1 Vac –
(59H) (-10 to +10 V)
Output voltage reference (Vq) for the q-axis.
V/f V/f w/PG OLV CLV common_
U6-06 TMonly 10 V: 200 Vrms <18>
Output Voltage Reference (Vd) OLV/PM AOLV/PM CLV/PM 0.1 Vac –
(5AH) (-10 to +10 V)
Output voltage reference (Vd) for the d-axis.
V/f V/f w/PG OLV CLV common_
U6-07 TMonly 10 V: 200 Vrms <18>
q-Axis ACR Output OLV/PM AOLV/PM CLV/PM 0.1% –
(5FH) (-10 to +10 V)
Displays the output value for current control relative to motor secondary current (q-axis).
V/f V/f w/PG OLV CLV common_
U6-08 TMonly 10 V: 200 Vrms <18>
d-Axis ACR Output OLV/PM AOLV/PM CLV/PM 0.1% –
(60H) (-10 to +10 V)
Displays the output value for current control relative to motor secondary current (d-axis).
V/f V/f w/PG OLV CLV common_ 10 V: 180 deg
U6-09 Advance Phase Compensation TMonly
OLV/PM AOLV/PM CLV/PM -10 V: -180 deg 0.1 deg –
(7C0H) ()
(-10 to +10 V)
Displays the degree of forward phase correction after calculating the deviation of cmp.
V/f V/f w/PG OLV CLV common_
TMonly 10 V: 180 deg
U6-10 OLV/PM AOLV/PM CLV/PM
Control Axis Deviation () -10 V: -180 deg 0.1 deg –
(7C1H)
Displays the amount of deviation between the actual d-axis / q-axis and the -axis / -axis used (-10 to +10 V)
for motor control.
V/f V/f w/PG OLV CLV common_ 10 V: 180 deg
U6-13 Flux Position Detection TMonly
OLV/PM AOLV/PM CLV/PM -10 V: -180 deg 0.1 deg –
(7CAH) (sensor)
(-10 to +10 V)
Monitors the value of the flux position detection (sensor).
V/f V/f w/PG OLV CLV common_ 10 V: 180 deg
U6-14 Flux Position Estimation TMonly
OLV/PM AOLV/PM CLV/PM -10 V: -180 deg 0.1 deg –
(7CBH) (observer)
(-10 to +10 V)
Monitors the value of the flux position estimation.
common_
U6-18 All Modes TMonly
Speed Detection PG1 Counter 10 V: 65536 1 pulse –
(7CDH)
Monitors the number of pulses for speed detection (PG1).
common_
U6-19 All Modes TMonly
Speed Detection PG2 Counter 10 V: 65536 1 pulse –
(7E5H)
Monitors the number of pulses for speed detection (PG2).
common_
U6-20 Frequency Reference Bias All Modes TMonly 10 V: Max frequency 0.1% –
(7D4H) (Up/Down 2)
Displays the bias value used to adjust the frequency reference.
462 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
B.3 Parameter Table
Analog Output
No. (Addr.) Name Description Level Unit Page
common_
All Modes TMonly
U6-21
Offset Frequency 10 V: Max frequency 0.1% –
(7D5H) The total value of the offset frequencies d7-01, d7-02 and d7-03 selected with digital inputs 44
to 46 is displayed.
V/f V/f w/PG OLV CLV common_ 10 V: No. of pulses
U6-22 TMonly
Zero Servo Pulse Movement OLV/PM AOLV/PM CLV/PM per revolution 1 pulse –
(62H)
(-10 to +10 V)
Displays how far the rotor has moved from its last position in PG pulses (multiplied by 4).
V/f V/f w/PG OLV CLV 10 V: Motor
common_
U6-25 TMonly secondary rated
Feedback Control Output OLV/PM AOLV/PM CLV/PM 0.01% –
(6BH) current
Output monitor for the ASR speed loop. (-10 to +10 V)
V/f V/f w/PG OLV CLV 10 V: Motor
common_
U6-26 TMonly secondary rated
Feed Forward Control Output OLV/PM AOLV/PM CLV/PM 0.01% –
(6CH) current
Output monitor for Feed Forward control. (-10 to +10 V)
V/f V/f w/PG OLV CLV common_
U6-54 TMonly
ACR Id Deviation Integral OLV/PM AOLV/PM CLV/PM 10 V: 100% 0.10% –
(74EH)
Monitors the value of the ACR Id deviation integral.
V/f V/f w/PG OLV CLV common_
U6-55 ACR Id Deviation TMonly
OLV/PM AOLV/PM CLV/PM 10 V: 100% 0.10% –
(74FH) Proportional
Monitors the value of the ACR Id deviation proportional.
V/f V/f w/PG OLV CLV common_
TMonly
U6-57 Integrated Current Deviation OLV/PM AOLV/PM CLV/PM No signal output
1 –
(7C4H) during Judging Polarity Displays the deviation from the integrated current when judging motor polarity. If this value is available
lower than 819, then increase the value set to n8-84. The value 8192 is equivalent to the motor
rated current.
U6-80 to
common_
U6-83 All Modes No signal output
Online IP Address TMonly – –
(7B0H to IP Address currently available; U6-80 is the most significant octet available
7B3H)
U6-84 to
common_
U6-87 All Modes No signal output
Online Subnet TMonly – –
(7B4H to Subnet currently available; U6-84 is the most significant octet available
7B7H)
U6-88 to
common_
U6-91 All Modes No signal output
Online Gateway TMonly – –
(7B8H to Gateway currently available; U6-88 is the most significant octet available
7F1H)
common_
U6-92 All Modes 10: 10 Mbps
Online Speed TMonly – –
(7F2H) Link Speed 100: 100 Mbps
common_
U6-93 All Modes 0: Half
Online Duplex TMonly – –
(7F3H) Duplex Setting 1: Full
common_
U6-98 All Modes
First Fault TMonly – – –
(7F8H) First Option Fault
common_
U6-99 All Modes
Current Fault TMonly – – –
(7F9H) Current Option Fault
<18> Values shown here are for 200 V class drives. Double the value when using a 400 V class drive.
Note: Fault trace (i.e., the fault history) is not kept when CPF00, CPF01, CPF06, CPF24, oFA00, oFb00, oFC00, Uv1, Uv2, or Uv3
occur.
U8: DriveWorksEZ Monitors
Analog Output
No. (Addr.) Name Description Level Unit Page
U8-01 to
common_
U8-10 DriveWorksEZ Custom All Modes TMonly 10 V: 100% 0.01% –
(1950H to Monitor 1 to 10
Parameter List
DriveWorksEZ Custom Monitor 1 to 10
1959H)
U8-11 to
common_
U8-13 DriveWorksEZ Version All Modes TMonly No signal output
– –
(195AH to Control Monitor 1 to 3 available
DriveWorksEZ Version Control Monitor 1 to 3
195CH)
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 463
B.3 Parameter Table
U9: Power Monitors
Analog Output
No. (Addr.) Name Description Unit Page
Level
U9-01 Shows the total amount of electric power consumed. No signal output
Electric Power (GWh) 1 GWh –
(820H) available
U9-02 000 000 000 kW No signal output
Electric Power (MWh) 1 MWh –
(821H) U9-03 available
U9-03 U9-02 No signal output
Electric Power (kWh) 1 kWh –
(822H) U9-01
available
U9-04 Shows the total amount of regenerated power. No signal output
Regenerative Power (GWh) 1 GWh –
(823H) available
U9-05 000 000 000 kW No signal output
Regenerative Power (MWh) 1 MWh –
(824H) U9-06 available
U9-06 U9-05 No signal output
Regenerative Power (kWh) 1 kWh –
(825H) U9-04
available
These parameters show the electric power rate in Power Unit Price (o4-19) that is calculated
from the total electrical power consumption in U9-01 to U9-03.
U9-10: Digit 1 to digit 3
U9-09: Digit 4 to digit 6
U9-08: Digit 7 to digit 9
U9-07: Digit 10 to digit 12
U9-07 to
U9-10 000 000 000 000 No signal output
Electric Power Rates 1 to 4 – –
(826H to U9-10 available
829H)
U9-09
U9-08
U9-07
The values shown in U9-07 to U9-10 are calculated by multiplying U9-01 to U9-03 by the value
set in o4-19.
These parameters show the regenerative power rate in Power Unit Price (o4-19) that is
calculated from the total electrical power consumption in U9-04 to U9-06.
U9-14: Digit 1 to digit 3
U9-13: Digit 4 to digit 6
U9-12: Digit 7 to digit 9
U9-11: Digit 10 to digit 12
U9-11 to
U9-14 Regenerative Power Rates 000 000 000 000 No signal output
– –
(82AH to 1 to 4 U9-14 available
82DH)
U9-13
U9-12
U9-11
The values shown in U9-11 to U9-14 are calculated by multiplying U9-04 to U9-06 by the value
set in o4-19.
464 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
B.4 Control Mode Dependent Parameter Default Values
B.4 Control Mode Dependent Parameter Default Values
The tables below list parameters that depend on the control mode selection (A1-02 for motor 1, E3-01 for motor 2).
These parameters are initialized to the shown values if the control mode is changed.
A1-02 (Motor 1 Control Mode) Dependent Parameters
Table B.2 A1-02 (Motor 1 Control Mode) Dependent Parameters and Default Values
Control Modes (A1-02)
No. Name Setting Range Resolution
V/f (0) V/f w/PG (1) OLV (2) CLV (3)
b2-01 DC Injection Braking Start Frequency 0.0 to 10.0 0.1 0.5 Hz 0.5 Hz 0.5 Hz 0.5 Hz
b2-04 DC Injection Braking Time at Stop 0.00 to 10.00 0.01 s 0.50 0.50 0.50 0.50
b3-01 Speed Search Selection at Start 0 or 1 – 0 1 0 –
Current Control Gain during Speed Search
b3-08 0.00 to 6.00 – <6> <6> <6> <6>
(Speed Estimation Type)
b3-14 Bi-Directional Speed Search Selection 0 or 1 – 1 0 1 –
b3-24 Speed Search Method Selection 1, 2 – 2 1 2 2
b5-15 PID Sleep Function Start Level 0.0 to 400.0 0.1 0.0 Hz 0.0 Hz 0.0 Hz 0.0 Hz
b6-01 Dwell Reference at Start 0.0 to 400.0 0.1 0.0 Hz 0.0 Hz 0.0 Hz 0.0 Hz
b6-03 Dwell Reference at Stop 0.0 to 400.0 0.1 0.0 Hz 0.0 Hz 0.0 Hz 0.0 Hz
b8-01 Energy Saving Control Selection 0 or 1 – 0 0 0 0
b8-02 Energy Saving Gain 0.0 to 10.0 0.1 – – 0.7 1.0
b8-03 Energy Saving Control Filter Time Constant 0.00 to 10.00 0.01 s – – 0.50 <51> 0.01 <51>
C1-11 Accel/Decel Time Switching Frequency 0.0 to 400.0 0.1 0.0 Hz 0.0 Hz 0.0 Hz 0.0 Hz
C2-01 S-Curve Time at Accel Start 0.00 to 10.00 0.01 s 0.20 0.20 0.20 0.20
C3-01 Slip Compensation Gain 0.0 to 2.5 0.1 0.0 – 1.0 1.0
C3-02 Slip Compensation Primary Delay Time 0 to 10000 1 ms 2000 – 200 –
C4-01 Torque Compensation Gain 0.00 to 2.50 0.01 1.00 1.00 1.00 –
C4-02 Torque Compensation Primary Delay Time 0 to 10000 1 ms 200 200 20 –
C5-01 ASR Proportional Gain 1 0.00 to 300.00 0.01 – 0.20 – 20.00
C5-02 ASR Integral Time 1 0.000 to 10.000 0.001 s – 0.200 – 0.500
C5-03 ASR Proportional Gain 2 0.00 to 300.00 0.01 – 0.02 – 20.00
C5-04 ASR Integral Time 2 0.000 to 10.000 0.001 s – 0.050 – 0.500
C5-06 ASR Primary Delay Time Constant 0.000 to 0.500 0.001 s – – – 0.004
C5-07 ASR Gain Switching Frequency 0.0 to 400.0 0.1 – – – 0.0 Hz
C6-02 Carrier Frequency Selection 1 to 4, F – 1 <53> 1 <53> 1 <53> 1
d3-01 Jump Frequency 1 0.0 to 400.0 0.1 0.0 Hz 0.0 Hz 0.0 Hz 0.0 Hz
d3-02 Jump Frequency 2 0.0 to 400.0 0.1 0.0 Hz 0.0 Hz 0.0 Hz 0.0 Hz
d3-03 Jump Frequency 3 0.0 to 400.0 0.1 0.0 Hz 0.0 Hz 0.0 Hz 0.0 Hz
d3-04 Jump Frequency Width 0.0 to 20.0 0.1 1.0 Hz 1.0 Hz 1.0 Hz 1.0 Hz
d5-02 Torque Reference Delay Time 0 to 1000 1 ms – – – 0
E1-04 Maximum Output Frequency 40.0 to 400.0 0.1 Hz 60.0 <52> 60.0 60.0 60.0
E1-05 Maximum Voltage <18> 0.0 to 255.0 0.1 V 200 <52> 200 <52> 200 200
E1-06 Base Frequency 0.0 to 400.0 0.1 Hz 60.0 <52> 60.0 <52> 60.0 60.0
E1-07 Middle Output Frequency 0.0 to 400.0 0.1 Hz 3.0 <52> 3.0 <52> 3.0 0.0
E1-08 Middle Output Frequency Voltage <18> 0.0 to 255.0 0.1 V 15.0 <52> 15.0 <52> 11.0 0.0
E1-09 Minimum Output Frequency 0.0 to 400.0 0.1 Hz 1.5 <52> 1.5 <52> 0.5 0.0
E1-10 Minimum Output Frequency Voltage <18> 0.0 to 255.0 0.1 V 9.0 9.0 2.0 0.0
E1-04 to
The default setting of these parameters depends on the control mode but also on the drive capacity. Refer to V/f Pattern Default Values on page 468.
E1-10
F1-01 PG 1 Pulses Per Revolution 0 to 60000 1 ppr – 600 – 600
F1-05 PG 1 Rotation Selection 0 or 1 – – 0 – 0
F1-09 Overspeed Detection Delay Time 0.0 to 2.0 0.1 s – 1.0 – 0.0
L1-01 Motor Overload Protection Selection 0 to 6 – 1 1 1 1
Vibration Suppression Gain during Acceleration
L3-36 0.0 to 100.0 – 10.0 10.0 20.0 –
(with Current Limit)
Parameter List
Vibration Suppression Gain during Deceleration
L3-41 0.0 to 100.0 – 10.0 10.0 20.0 –
(with Current Limit)
L4-01 Speed Agreement Detection Level 0.0 to 400.0 0.1 0.0 Hz 0.0 Hz 0.0 Hz 0.0 Hz
L4-02 Speed Agreement Detection Width 0.0 to 20.0 0.1 2.0 Hz 2.0 Hz 2.0 Hz 2.0 Hz
L4-03 Speed Agreement Detection Level (+/-) -400.0 to 400.0 0.1 0.0 Hz 0.0 Hz 0.0 Hz 0.0 Hz
L4-04 Speed Agreement Detection Width (+/–) 0.0 to 20.0 0.1 2.0 Hz 2.0 Hz 2.0 Hz 2.0 Hz
L8-38 Carrier Frequency Reduction Selection 0 to 2 – <53> <53> <53> <53> B
L8-40 Carrier Frequency Reduction Off Delay Time 0.00 to 2.00 0.01 s 0.50 0.50 0.50 0.50
o1-03 Digital Operator Display Selection 0 to 3 – 0 0 0 0
o1-04 V/f Pattern Display Unit 0 or 1 – – – – 0
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 465
B.4 Control Mode Dependent Parameter Default Values
<6> Default setting value varies by the drive model (o2-04).
<18> Values shown here are for 200 V class drives. Double the value when using a 400 V class drive.
<51> This setting value depends on a Maximum Applicable Motor Capacity in models CIMR-U20248, 40156 to 40414: 2.00 in
Open Loop Vector Control, 0.05 in Closed Loop Vector Control
<52> This setting value depends on a rated output current and V/f pattern selection in parameter E1-03.
<53> The default setting value depends on the Heavy/Normal duty selection in parameter C6-01.
Table B.3 A1-02 (Motor 1 Control Mode) Dependent Parameters and Default Values
Control Modes (A1-02)
No. Name Setting Range Resolution
OLV/PM (5) AOLV/PM (6) CLV/PM (7)
b2-01 DC Injection Braking Start Frequency 0.0 to 10.0 0.1 0.5 Hz 1.0% <41> 0.5% <41>
b2-04 DC Injection Braking Time at Stop 0.00 to 10.00 0.01 s 0.00 0.00 0.00
b3-01 Speed Search Selection at Start 0 or 1 – 0 0 1
Current Control Gain during Speed Search
b3-08 0.00 to 6.00 – 0.3 0.3 0.3
(Speed Estimation Type)
b3-14 Bi-Directional Speed Search Selection 0 or 1 – 1 1 1
b3-24 Speed Search Method Selection 1, 2 – 2 2 2
b5-15 PID Sleep Function Start Level 0.0 to 400.0 <55> 0.1 0.0 Hz 0.0% 0.0%
b6-01 Dwell Reference at Start 0.0 to 400.0 <55> 0.1 0.0 Hz 0.0% 0.0%
b6-03 Dwell Reference at Stop 0.0 to 400.0 <55> 0.1 0.0 Hz 0.0% 0.0%
b8-01 Energy Saving Control Selection 0 or 1 – – 1 1
b8-02 Energy Saving Gain 0.0 to 10.0 0.1 – – –
b8-03 Energy Saving Control Filter Time Constant 0.00 to 10.00 0.01 s – – –
C1-11 Accel/Decel Time Switching Frequency 0.0 to 400.0 <55> 0.1 0.0 Hz 0.0% 0.0%
C2-01 S-Curve Time at Accel Start 0.00 to 10.00 0.01 s 1.00 0.20 0.20
C3-01 Slip Compensation Gain 0.0 to 2.5 0.1 – – –
C3-02 Slip Compensation Primary Delay Time 0 to 10000 1 ms – – –
C4-01 Torque Compensation Gain 0.00 to 2.50 0.01 0.00 – –
C4-02 Torque Compensation Primary Delay Time 0 to 10000 1 ms 100 – –
C5-01 ASR Proportional Gain 1 0.00 to 300.00 0.01 – 10.00 20.00
C5-02 ASR Integral Time 1 0.000 to 10.000 0.001 s – 0.500 0.500
C5-03 ASR Proportional Gain 2 0.00 to 300.00 0.01 – 10.00 20.00
C5-04 ASR Integral Time 2 0.000 to 10.000 0.001 s – 0.500 0.500
C5-06 ASR Primary Delay Time Constant 0.000 to 0.500 0.001 s – 0.016 0.004
C5-07 ASR Gain Switching Frequency 0.0 to 400.0 <55> 0.1 – 0.0% 0.0%
C6-02 Carrier Frequency Selection 1 to 4, F – 1 1 1
d3-01 Jump Frequency 1 0.0 to 400.0 <55> 0.1 0.0 Hz 0.0% 0.0%
d3-02 Jump Frequency 2 0.0 to 400.0 <55> 0.1 0.0 Hz 0.0% 0.0%
d3-03 Jump Frequency 3 0.0 to 400.0 <55> 0.1 0.0 Hz 0.0% 0.0%
d3-04 Jump Frequency Width 0.0 to 20.0 <56> 0.1 1.0 Hz 1.0% 1.0%
d5-02 Torque Reference Delay Time 0 to 1000 1 ms – – 0
E1-04 Maximum Output Frequency 40.0 to 400.0 0.1 Hz <14> <14> <14>
E1-05 Maximum Voltage <18> 0.0 to 377.1 0.1 V <14> <14> <14>
E1-06 Base Frequency 0.0 to 400.0 0.1 Hz <14> <14> <14>
E1-07 Middle Output Frequency 0.0 to 400.0 0.1 Hz – – –
E1-08 Middle Output Frequency Voltage <18> 0.0 to 377.1 0.1 V – – –
E1-09 Minimum Output Frequency 0.0 to 400.0 0.1 Hz <14> <14> 0.0
E1-10 Minimum Output Frequency Voltage <18> 0.0 to 377.1 0.1 V – – –
E1-04 to
The default setting of these parameters depends on the control mode but also on the drive capacity. Refer to V/f Pattern Default Values on page 468.
E1-10
F1-01 PG 1 Pulses Per Revolution 0 to 60000 1 ppr – – 1024
F1-05 PG 1 Rotation Selection 0 or 1 – – – 1
F1-09 Overspeed Detection Delay Time 0.0 to 2.0 0.1 s – 0.0 0.0
Vibration Suppression Gain during Acceleration
L3-36 0.0 to 100.0 – – – –
(with Current Limit)
Vibration Suppression Gain during Deceleration
L3-41 0.0 to 100.0 – – – –
(with Current Limit)
L1-01 Motor Overload Protection Selection 0 to 6 – 4 4 5
L4-01 Speed Agreement Detection Level 0.0 to 400.0 <55> 0.1 0.0 Hz 0.0% 0.0%
L4-02 Speed Agreement Detection Width 0.0 to 20.0 0.1 2.0 Hz 4.0% <41> 4.0% <41>
L4-03 Speed Agreement Detection Level (+/-) -400.0 to 400.0 <57> 0.1 0.0 Hz 0.0% 0.0%
L4-04 Speed Agreement Detection Width (+/-) 0.0 to 20.0 0.1 2.0 Hz 4.0% <41> 4.0% <41>
L8-38 Carrier Frequency Reduction Selection 0 to 2 – 0 – 0
L8-40 Carrier Frequency Reduction Off Delay Time 0.00 to 2.00 0.01s 0.00 – 0.00
o1-03 Digital Operator Display Selection 0 to 3 – 0 1 1
o1-04 V/f Pattern Display Unit 0 or 1 – – 1 1
<14> Default setting value is dependent on the motor code set to parameter E5-01.
<18> Values shown here are for 200 V class drives. Double the value when using a 400 V class drive.
466 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
B.4 Control Mode Dependent Parameter Default Values
<41> This default value is a calculated as a percentage of the maximum output frequency.
<55> In AOLV/PM and CLV/PM control modes, the setting units and range are expressed as a percent (0.0 to 100.0%) instead of in Hz.
<56> In AOLV/PM and CLV/PM control modes, the setting units and range are expressed as a percent (0.0 to 40.0%) instead of in Hz.
<57> In AOLV/PM and CLV/PM control modes, the setting units and range are expressed as a percent (-100.0 to 100.0%) instead of in Hz.
E3-01 (Motor 2 Control Mode) Dependent Parameters
Table B.4 E3-01 (Motor 2 Control Mode) Dependent Parameters and Default Values
Control Modes (E3-01)
No. Name Setting Range Resolution
V/f (0) V/f w/PG (1) OLV (2) CLV (3)
C3-21 Motor 2 Slip Compensation Gain 0.0 to 2.5 0.1 0.0 – 1.0 1.0
C3-22 Motor 2 Slip Compensation Primary Delay Time 0 to 10000 1 ms 2000 – 200 –
C5-21 Motor 2 ASR Proportional Gain 1 0.00 to 300.00 0.01 – 0.20 – 20.00
C5-22 Motor 2 ASR Integral Time 1 0.000 to 10.000 0.001 s – 0.200 – 0.500
C5-23 Motor 2 ASR Proportional Gain 2 0.00 to 300.00 0.01 – 0.02 – 20.00
C5-24 Motor 2 ASR Integral Time 2 0.000 to 10.000 0.001 s – 0.050 – 0.500
C5-26 Motor 2 Carrier Frequency Selection 1 to F – 7 <9> 7 <9> 7 <9> 7 <9>
E3-04 Motor 2 Maximum Output Frequency 40.0 to 400.0 0.1 Hz 60.0 60.0 60.0 60.0
E3-05 Motor 2 Maximum Output Voltage <18> 0.0 to 255.0 0.1 V 200.0 200.0 200.0 200.0
E3-06 Motor 2 Base Frequency 0.0 to 400.0 0.1 Hz 60.0 60.0 60.0 60.0
E3-07 Motor 2 Mid Output Frequency 0.0 to 400.0 0.1 Hz 3.0 3.0 3.0 0.0
E3-08 Motor 2 Mid Output Frequency Voltage <18> 0.0 to 255.0 0.1 V 15.0 15.0 11.0 0.0
E3-09 Motor 2 Minimum Output Frequency 0.0 to 400.0 0.1 Hz 1.5 1.5 0.5 0.0
E3-10 Motor 2 Minimum Output Voltage <18> 0.0 to 255.0 0.1 V 9.0 9.0 2.0 0.0
E3-04 to The default setting of these parameters depends on the control mode but also on the drive capacity They are equivalent to the motor 1 settings. Refer to V/f Pattern Default
E3-10 Values on page 468.
<9> Default setting is determined by the drive model (o2-04) and duty selection (C6-01).
<18> Values shown here are for 200 V class drives. Double the value when using a 400 V class drive.
Parameter List
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 467
B.5 V/f Pattern Default Values
B.5 V/f Pattern Default Values
The tables below show the V/f pattern settings default values depending on the control mode (A1-02) and the V/f pattern
selection (E1-03 in V/f Control).
Table B.5 E1-03 V/f Pattern Settings for Drive Capacity: CIMR-U40011 and 40014
No. Units V/f
F OLV CLV
E1-03 0 1 2 3 4 5 6 7 8 9 A B C D E
<42>
E1-04 Hz 50.0 60.0 60.0 72.0 50.0 50.0 60.0 60.0 50.0 50.0 60.0 60.0 90.0 120.0 180.0 50.0 50.0 50.0
E1-05
V 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0
<18>
E1-06 Hz 50.0 60.0 50.0 60.0 50.0 50.0 60.0 60.0 50.0 50.0 60.0 60.0 60.0 60.0 60.0 50.0 50.0 –
E1-07 Hz 2.5 3.0 3.0 3.0 25.0 25.0 30.0 30.0 2.5 2.5 3.0 3.0 3.0 3.0 3.0 2.5 3.0 –
E1-08
V 15.0 15.0 15.0 15.0 35.0 50.0 35.0 50.0 19.0 24.0 19.0 24.0 15.0 15.0 15.0 15.0 14.4 –
<18>
E1-09 Hz 1.3 1.5 1.5 1.5 1.3 1.3 1.5 1.5 1.3 1.3 1.5 1.5 1.5 1.5 1.5 1.3 0.5 –
E1-10
V 9.0 9.0 9.0 9.0 8.0 9.0 8.0 9.0 11.0 13.0 11.0 15.0 9.0 9.0 9.0 9.0 3.0 –
<18>
<18> Values shown here are for 200 V class drives. Double the value when using a 400 V class drive.
<42> Default settings for E1-04 through E1-10 (E3-04 through E3-10 for motor 2).
Table B.6 E1-03 V/f Pattern Settings for Drive Capacity:
CIMR-U20028 to 20192; CIMR-U40021 to 40124
No. Units V/f
F OLV CLV
E1-03 0 1 2 3 4 5 6 7 8 9 A B C D E
<42>
E1-04 Hz 50.0 60.0 60.0 72.0 50.0 50.0 60.0 60.0 50.0 50.0 60.0 60.0 90.0 120.0 180.0 50.0 50.0 50.0
E1-05
V 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0
<18>
E1-06 Hz 50.0 60.0 50.0 60.0 50.0 50.0 60.0 60.0 50.0 50.0 60.0 60.0 60.0 60.0 60.0 50.0 50.0 –
E1-07 Hz 2.5 3.0 3.0 3.0 25.0 25.0 30.0 30.0 2.5 2.5 3.0 3.0 3.0 3.0 3.0 2.5 3.0 –
E1-08
V 14.0 14.0 14.0 14.0 35.0 50.0 35.0 50.0 18.0 23.0 18.0 23.0 14.0 14.0 14.0 14.0 13.2 –
<18>
E1-09 Hz 1.3 1.5 1.5 1.5 1.3 1.3 1.5 1.5 1.3 1.3 1.5 1.5 1.5 1.5 1.5 1.3 0.5 –
E1-10
V 7.0 7.0 7.0 7.0 6.0 7.0 6.0 7.0 9.0 11.0 9.0 13.0 7.0 7.0 7.0 7.0 2.4 –
<18>
<18> Values shown here are for 200 V class drives. Double the value when using a 400 V class drive.
<42> Default settings for E1-04 through E1-10 (E3-04 through E3-10 for motor 2).
Table B.7 E1-03 V/f Pattern Settings for Drive Capacity:
CIMR-U20248; CIMR-U40156 to 40414
No. Units V/f OLV/PM
F OLV CLV AOLV/PM
E1-03 0 1 2 3 4 5 6 7 8 9 A B C D E CLV/PM
<42>
E1-04 Hz 50.0 60.0 60.0 72.0 50.0 50.0 60.0 60.0 50.0 50.0 60.0 60.0 90.0 120.0 180.0 50.0 50.0 50.0 <14>
E1-05
V 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 <14>
<18>
E1-06 Hz 50.0 60.0 50.0 60.0 50.0 50.0 60.0 60.0 50.0 50.0 60.0 60.0 60.0 60.0 60.0 50.0 50.0 50.0 <14>
E1-07 Hz 2.5 3.0 3.0 3.0 25.0 25.0 30.0 30.0 2.5 2.5 3.0 3.0 3.0 3.0 3.0 2.5 3.0 0.0 –
E1-08
V 12.0 12.0 12.0 12.0 35.0 50.0 35.0 50.0 15.0 20.0 15.0 20.0 12.0 12.0 12.0 12.0 13.2 0.0 –
<18>
E1-09 Hz 1.3 1.5 1.5 1.5 1.3 1.3 1.5 1.5 1.3 1.3 1.5 1.5 1.5 1.5 1.5 1.3 0.5 0.0 <14>
E1-10
V 6.0 6.0 6.0 6.0 5.0 6.0 5.0 6.0 7.0 9.0 7.0 11.0 6.0 6.0 6.0 6.0 2.4 0.0 –
<18>
<14> Default setting value is dependent on the motor code set to parameter E5-01.
<18> Values shown here are for 200 V class drives. Double the value when using a 400 V class drive.
<42> Default settings for E1-04 through E1-10 (E3-04 through E3-10 for motor 2).
468 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
B.6 Defaults by Drive Model Selection (o2-04) and ND/HD (C6-01)
B.6 Defaults by Drive Model Selection (o2-04) and ND/HD (C6-01)
The following tables show parameters and default settings that change with the drive model selection (o2-04). Parameter
numbers shown in parenthesis are valid for motor 2.
Table B.8 200 V Class Drives Default Settings by Drive Model Selection and ND/HD settings
No. Name Unit Default Settings
Model CIMR-U – 20028 20042 20054 20068
HD ND HD ND HD ND HD ND
C6-01 Drive Duty Selection –
0 1 0 1 0 1 0 1
o2-04 Drive Model Selection Hex. 6A 6B 6D 6E
E2-11 (E4-11) Motor rated Output kW 5.5 7.5 7.5 11 11 15 15 18.5
b3-04 V/f Gain during Speed Search % 100 100 100 100 100 100 100 100
b3-06 Output Current 1 during Speed Search – 0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.5
Current Control Gain during Speed Search
b3-08 – 0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.5
(Speed Estimation Type)
b8-03 Energy Saving Control Filter Time Constant s 0.50 0.50 0.50 0.50 0.50 0.50 0.50 0.50
b8-04 Energy Saving Coefficient Value – 94.75 72.69 72.69 70.44 70.44 63.13 63.13 57.87
C5-17 (C5-37) Motor Inertia kgm2 0.026 0.037 0.037 0.053 0.053 0.076 0.076 0.138
C6-02 Carrier Frequency Selection – 1 1 1 1 1 1 1 1
E2-01 (E4-01) Motor Rated Current A 19.6 26.6 26.6 39.7 39.7 53 53 65.8
E2-02 (E4-02) Motor Rated Slip Hz 1.5 1.3 1.3 1.7 1.7 1.6 1.6 1.67
E2-03 (E4-03) Motor No-Load Current A 5.1 8 8 11.2 11.2 15.2 15.2 15.7
E2-05 (E4-05) Motor Line to Line Resistance 0.399 0.288 0.288 0.23 0.23 0.138 0.138 0.101
E2-06 (E4-06) Motor Leakage Inductance % 18.2 15.5 15.5 19.5 19.5 17.2 17.2 20.1
E2-10 (E4-10) Motor Iron Loss for Torque Compensation W 172 262 262 245 245 272 272 505
E5-01 Motor Code Selection (for PM Motors) Hex. 120A 120A 120B 120B 120D 120D 120E 120E
L2-02 Momentary Power Loss Ride-Thru Time s 0.7 0.8 0.8 0.9 0.9 1 1 1
L2-03 Momentary Power Loss Minimum Baseblock Time s 0.3 0.3 0.3 0.3 0.3 0.6 0.6 0.6
L2-04 Momentary Power Loss Voltage Recovery Time V 150 150 150 150 150 150 150 150
L8-02 Overheat Alarm Level C 130 130 130 130 130 130 130 130
L8-35 Installation Method Selection – 2 2 2 2 2 2 2 2
L8-38 Carrier Frequency Reduction Selection – 1 1 1 1 1 1 1 1
n1-03 Hunting Prevention Time Constant ms 10 10 10 10 10 10 10 10
n5-02 Motor Acceleration Time s 0.168 0.175 0.175 0.265 0.265 0.244 0.244 0.317
No. Name Unit Default Settings
Model CIMR-U – 20081 20104 20130 20154
HD ND HD ND HD ND HD ND
C6-01 Drive Duty Selection –
0 1 0 1 0 1 0 1
o2-04 Drive Model Selection Hex. 6F 70 72 73
E2-11 (E4-11) Motor rated Output kW 18.5 22 22 30 30 37 37 45
b3-04 V/f Gain during Speed Search % 100 100 100 80 80 80 80 80
b3-06 Output Current 1 during Speed Search – 0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.5
Current Control Gain during Speed Search
b3-08 – 0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.5
(Speed Estimation Type)
b8-03 Energy Saving Control Filter Time Constant s 0.50 0.50 0.50 0.50 0.50 0.50 0.50 0.50
b8-04 Energy Saving Coefficient Value – 57.87 51.79 51.79 46.27 46.27 38.16 38.16 35.78
C5-17 (C5-37) Motor Inertia kgm2 0.138 0.165 0.165 0.220 0.220 0.273 0.273 0.333
C6-02 Carrier Frequency Selection – 1 1 1 1 1 1 1 1
E2-01 (E4-01) Motor Rated Current A 65.8 77.2 77.2 105 105 131 131 160
E2-02 (E4-02) Motor Rated Slip Hz 1.67 1.7 1.7 1.8 1.8 1.33 1.33 1.6
E2-03 (E4-03) Motor No-Load Current A 15.7 18.5 18.5 21.9 21.9 38.2 38.2 44
E2-05 (E4-05) Motor Line to Line Resistance 0.101 0.079 0.079 0.064 0.064 0.039 0.039 0.03
E2-06 (E4-06) Motor Leakage Inductance % 20.1 19.5 19.5 20.8 20.8 18.8 18.8 20.2
E2-10 (E4-10) Motor Iron Loss for Torque Compensation W 505 538 538 699 699 823 823 852
Parameter List
E5-01 Motor Code Selection (for PM Motors) Hex. 120F 120F 1210 1210 1212 1212 1213 1213
L2-02 Momentary Power Loss Ride-Thru Time s 1 1 1 1.1 1.1 1.1 1.1 1.2
L2-03 Momentary Power Loss Minimum Baseblock Time s 0.6 0.6 0.6 0.6 0.6 0.6 0.6 1
L2-04 Momentary Power Loss Voltage Recovery Time V 150 150 150 150 150 150 150 150
L8-02 Overheat Alarm Level C 130 130 130 130 130 130 130 130
L8-35 Installation Method Selection – 2 2 2 2 2 2 2 2 B
L8-38 Carrier Frequency Reduction Selection – 1 1 1 1 1 1 1 1
n1-03 Hunting Prevention Time Constant ms 10 10 10 10 10 10 10 10
n5-02 Motor Acceleration Time s 0.317 0.355 0.355 0.323 0.323 0.32 0.32 0.387
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 469
B.6 Defaults by Drive Model Selection (o2-04) and ND/HD (C6-01)
No. Name Unit Default Settings
Model CIMR-U – 20192 20248
HD ND HD ND
C6-01 Drive Duty Selection –
0 1 0 1
o2-04 Drive Model Selection Hex. 74 75
E2-11 (E4-11) Motor rated Output kW 45 55 55 75
b3-04 V/f Gain during Speed Search % 80 80 80 80
b3-06 Output Current 1 during Speed Search – 0.5 0.5 0.5 0.7
Current Control Gain during Speed Search
b3-08 – 0.5 0.5 0.5 0.5
(Speed Estimation Type)
b8-03 Energy Saving Control Filter Time Constant s 0.50 2.00 2.00 2.00
b8-04 Energy Saving Coefficient Value – 35.78 31.35 31.35 23.1
C5-17 (C5-37) Motor Inertia kgm2 0.333 0.490 0.49 0.90
C6-02 Carrier Frequency Selection – 1 1 1 1
E2-01 (E4-01) Motor Rated Current A 160 190 190 260
E2-02 (E4-02) Motor Rated Slip Hz 1.6 1.43 1.43 1.39
E2-03 (E4-03) Motor No-Load Current A 44 45.6 45.6 72
E2-05 (E4-05) Motor Line to Line Resistance 0.03 0.022 0.022 0.023
E2-06 (E4-06) Motor Leakage Inductance % 20.2 20.5 20.5 20
E2-10 (E4-10) Motor Iron Loss for Torque Compensation W 852 960 960 1200
E5-01 Motor Code Selection (for PM Motors) Hex. 1214 1214 1215 1215
L2-02 Momentary Power Loss Ride-Thru Time s 1.2 1.3 1.3 1.5
L2-03 Momentary Power Loss Minimum Baseblock Time s 1 1 1 1
L2-04 Momentary Power Loss Voltage Recovery Time V 150 150 150 150
L8-02 Overheat Alarm Level C 130 130 130 130
L8-35 Installation Method Selection – 0 0 0 0
L8-38 Carrier Frequency Reduction Selection – 1 1 1 1
n1-03 Hunting Prevention Time Constant ms 10 10 10 10
n5-02 Motor Acceleration Time s 0.387 0.317 0.317 0.533
Table B.9 400 V Class Drives Default Settings by Drive Capacity and ND/HD Setting
No. Name Unit Default Settings
Model CIMR-U – 40011 40014 40021 40027
HD ND HD ND HD ND HD ND
C6-01 Drive Duty Selection –
0 1 0 1 0 1 0 1
o2-04 Drive Model Selection Hex. 95 97 99 9A
E2-11 (E4-11) Motor rated Output kW 2.2 3.7 3.7 5.5 5.5 7.5 7.5 11
b3-04 V/f Gain during Speed Search % 100 100 100 100 100 100 100 100
b3-06 Output Current 1 during Speed Search – 0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.5
Current Control Gain during Speed Search
b3-08 – 0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.5
(Speed Estimation Type)
b8-03 Energy Saving Control Filter Time Constant s 0.50 0.50 0.50 0.50 0.50 0.50 0.50 0.50
b8-04 Energy Saving Coefficient Value – 313.6 245.8 245.8 189.5 189.5 145.38 145.38 140.88
C5-17 (C5-37) Motor Inertia kgm2 0.0088 0.0158 0.0158 0.0255 0.026 0.037 0.037 0.053
C6-02 Carrier Frequency Selection – 1 1 1 1 1 1 1 1
E2-01 (E4-01) Motor Rated Current A 4.2 7 7 9.8 9.8 13.3 13.3 19.9
E2-02 (E4-02) Motor Rated Slip Hz 3 2.7 2.7 1.5 1.5 1.3 1.3 1.7
E2-03 (E4-03) Motor No-Load Current A 1.5 2.3 2.3 2.6 2.6 4 4 5.6
E2-05 (E4-05) Motor Line to Line Resistance 6.495 3.333 3.333 1.595 1.595 1.152 1.152 0.922
E2-06 (E4-06) Motor Leakage Inductance % 18.7 19.3 19.3 18.2 18.2 15.5 15.5 19.6
E2-10 (E4-10) Motor Iron Loss for Torque Compensation W 77 130 130 193 193 263 263 385
E5-01 Motor Code Selection (for PM Motors) Hex. 1236 1236 1238 1238 123A 123A 123B 123B
L2-02 Momentary Power Loss Ride-Thru Time s 0.5 0.6 0.6 0.7 0.7 0.8 0.8 0.9
L2-03 Momentary Power Loss Minimum Baseblock Time s 0.3 0.3 0.3 0.3 0.3 0.3 0.3 0.3
L2-04 Momentary Power Loss Voltage Recovery Time V 300 300 300 300 300 300 300 300
L8-02 Overheat Alarm Level C 130 130 130 130 130 130 130 130
L8-35 Installation Method Selection – 2 2 2 2 2 2 2 2
L8-38 Carrier Frequency Reduction Selection – 1 1 1 1 1 1 1 1
n1-03 Hunting Prevention Time Constant ms 10 10 10 10 10 10 10 10
n5-02 Motor Acceleration Time s 0.145 0.154 0.154 0.168 0.168 0.175 0.175 0.265
470 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
B.6 Defaults by Drive Model Selection (o2-04) and ND/HD (C6-01)
No. Name Unit Default Settings
Model CIMR-U – 40034 40040 40052 40065
HD ND HD ND HD ND HD ND
C6-01 Drive Duty Selection –
0 1 0 1 0 1 0 1
o2-04 Drive Model Selection Hex. 9C 9D 9E 9F
E2-11 (E4-11) Motor rated Output kW 11 15 15 18.5 18.5 22 22 30
b3-04 V/f Gain during Speed Search % 100 100 100 100 100 100 100 100
b3-06 Output Current 1 during Speed Search – 0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.5
Current Control Gain during Speed Search
b3-08 – 0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.5
(Speed Estimation Type)
b8-03 Energy Saving Control Filter Time Constant s 0.50 0.50 0.50 0.50 0.50 0.50 0.50 0.50
b8-04 Energy Saving Coefficient Value – 140.88 126.26 126.26 115.74 115.74 103.58 103.58 92.54
C5-17 (C5-37) Motor Inertia kgm2 0.053 0.076 0.076 0.138 0.138 0.165 0.165 0.220
C6-02 Carrier Frequency Selection – 1 1 1 1 1 1 1 1
E2-01 (E4-01) Motor Rated Current A 19.9 26.5 26.5 32.9 32.9 38.6 38.6 52.3
E2-02 (E4-02) Motor Rated Slip Hz 1.7 1.6 1.6 1.67 1.67 1.7 1.7 1.8
E2-03 (E4-03) Motor No-Load Current A 5.6 7.6 7.6 7.8 7.8 9.2 9.2 10.9
E2-05 (E4-05) Motor Line to Line Resistance 0.922 0.55 0.55 0.403 0.403 0.316 0.316 0.269
E2-06 (E4-06) Motor Leakage Inductance % 19.6 17.2 17.2 20.1 20.1 23.5 23.5 20.7
E2-10 (E4-10) Motor Iron Loss for Torque Compensation W 385 440 440 508 508 586 586 750
E5-01 Motor Code Selection (for PM Motors) Hex. 123D 123D 123E 123E 123F 123F 1240 1240
L2-02 Momentary Power Loss Ride-Thru Time s 0.9 1 1 1 1 1 1 1.1
L2-03 Momentary Power Loss Minimum Baseblock Time s 0.3 0.6 0.6 0.6 0.6 0.6 0.6 0.6
L2-04 Momentary Power Loss Voltage Recovery Time V 300 300 300 300 300 300 300 300
L8-02 Overheat Alarm Level C 130 130 130 130 130 130 130 130
L8-35 Installation Method Selection – 2 2 2 2 2 2 0 0
L8-38 Carrier Frequency Reduction Selection – 1 1 1 1 1 1 1 1
n1-03 Hunting Prevention Time Constant ms 10 10 10 10 10 10 10 10
n5-02 Motor Acceleration Time s 0.265 0.244 0.244 0.317 0.317 0.355 0.355 0.323
No. Name Unit Default Settings
Model CIMR-U – 40077 40096 40124 40156
HD ND HD ND HD ND HD ND
C6-01 Drive Duty Selection –
0 1 0 1 0 1 0 1
o2-04 Drive Model Selection Hex. A1 A2 A3 A4
E2-11 (E4-11) Motor rated Output kW 30 37 37 45 45 55 55 75
b3-04 V/f Gain during Speed Search % 100 100 100 100 100 80 80 60
b3-06 Output Current 1 during Speed Search – 0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.7
Current Control Gain during Speed Search
b3-08 – 0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.8
(Speed Estimation Type)
b8-03 Energy Saving Control Filter Time Constant s 0.50 0.50 0.50 0.50 0.50 2.00 2.00 2.00
b8-04 Energy Saving Coefficient Value – 92.54 76.32 76.32 71.56 71.56 67.2 67.2 46.2
C5-17 (C5-37) Motor Inertia kgm2 0.220 0.273 0.273 0.333 0.333 0.490 0.490 0.900
C6-02 Carrier Frequency Selection – 1 1 1 1 1 1 1 1
E2-01 (E4-01) Motor Rated Current A 52.3 65.6 65.6 79.7 79.7 95 95 130
E2-02 (E4-02) Motor Rated Slip Hz 1.8 1.33 1.33 1.6 1.6 1.46 1.46 1.39
E2-03 (E4-03) Motor No-Load Current A 10.9 19.1 19.1 22 22 24 24 36
E2-05 (E4-05) Motor Line to Line Resistance 0.269 0.155 0.155 0.122 0.122 0.088 0.088 0.092
E2-06 (E4-06) Motor Leakage Inductance % 20.7 18.8 18.8 19.9 19.9 20 20 20
E2-10 (E4-10) Motor Iron Loss for Torque Compensation W 750 925 925 1125 1125 1260 1260 1600
E5-01 Motor Code Selection (for PM Motors) Hex. 1242 1242 1243 1243 1244 1244 1245 1245
L2-02 Momentary Power Loss Ride-Thru Time s 1.1 1.1 1.1 1.2 1.2 1.2 1.2 1.3
L2-03 Momentary Power Loss Minimum Baseblock Time s 0.6 0.6 0.6 0.6 0.6 1 1 1
L2-04 Momentary Power Loss Voltage Recovery Time V 300 300 300 300 300 300 300 300
L8-02 Overheat Alarm Level C 130 130 130 130 130 130 130 130
L8-35 Installation Method Selection – 0 0 0 0 0 2 0 0
Parameter List
L8-38 Carrier Frequency Reduction Selection – 1 1 1 1 1 1 1 1
n1-03 Hunting Prevention Time Constant ms 10 10 10 10 10 10 30 30
n5-02 Motor Acceleration Time s 0.323 0.32 0.32 0.387 0.387 0.317 0.317 0.533
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 471
B.6 Defaults by Drive Model Selection (o2-04) and ND/HD (C6-01)
No. Name Unit Default Settings
Model CIMR-U – 40180 40216 40240 40302
HD ND HD ND HD ND HD ND
C6-01 Drive Duty Selection –
0 1 0 1 0 1 0 1
o2-04 Drive Model Selection Hex. A5 A6 A7 A8
E2-11 (E4-11) Motor rated Output kW 75 90 90 110 110 132 132 160
b3-04 V/f Gain during Speed Search % 60 60 60 60 60 60 60 60
b3-06 Output Current 1 during Speed Search – 0.7 0.7 0.7 0.7 0.7 0.7 0.7 0.7
Current Control Gain during Speed Search
b3-08 – 0.8 0.8 0.8 0.8 0.8 0.8 0.8 0.8
(Speed Estimation Type)
b8-03 Energy Saving Control Filter Time Constant s 2.00 2.00 2.00 2.00 2.00 2.00 2.00 2.00
b8-04 Energy Saving Coefficient Value – 46.2 38.91 38.91 36.23 36.23 32.79 32.79 30.13
C5-17 (C5-37) Motor Inertia kgm2 0.900 1.100 1.10 1.90 1.90 2.10 2.10 3.30
C6-02 Carrier Frequency Selection – 1 1 1 1 1 1 1 1
E2-01 (E4-01) Motor Rated Current A 130 156 156 190 190 223 223 270
E2-02 (E4-02) Motor Rated Slip Hz 1.39 1.4 1.4 1.4 1.4 1.38 1.38 1.35
E2-03 (E4-03) Motor No-Load Current A 36 40 40 49 49 58 58 70
E2-05 (E4-05) Motor Line to Line Resistance 0.092 0.056 0.056 0.046 0.046 0.035 0.035 0.029
E2-06 (E4-06) Motor Leakage Inductance % 20 20 20 20 20 20 20 20
E2-10 (E4-10) Motor Iron Loss for Torque Compensation W 1600 1760 1760 2150 2150 2350 2350 2850
E5-01 Motor Code Selection (for PM Motors) Hex. 1246 1246 1247 1247 1248 1248 1249 1249
L2-02 Momentary Power Loss Ride-Thru Time s 1.3 1.5 1.5 1.7 1.7 1.7 1.7 1.8
L2-03 Momentary Power Loss Minimum Baseblock Time s 1 1 1 1 1 1 1 1
L2-04 Momentary Power Loss Voltage Recovery Time V 300 300 300 300 300 300 300 300
L8-02 Overheat Alarm Level C 130 130 130 130 130 130 130 130
L8-35 Installation Method Selection – 0 0 0 0 0 0 0 0
L8-38 Carrier Frequency Reduction Selection – 1 1 1 1 1 1 1 1
n1-03 Hunting Prevention Time Constant ms 30 30 30 30 30 30 30 30
n5-02 Motor Acceleration Time s 0.533 0.592 0.592 0.646 0.646 0.673 0.673 0.777
No. Name Unit Default Settings
Model CIMR-U – 40361 40414
HD ND HD ND
C6-01 Drive Duty Selection –
0 1 0 1
o2-04 Drive Model Selection Hex. A9 AA
E2-11 (E4-11) Motor rated Output kW 160 185 185 220
b3-04 V/f Gain during Speed Search % 60 60 60 60
b3-06 Output Current 1 during Speed Search – 0.7 0.7 0.7 0.7
Current Control Gain during Speed Search
b3-08 – 0.8 0.8 0.8 0.8
(Speed Estimation Type)
b8-03 Energy Saving Control Filter Time Constant s 2.00 2.00 2.00 2.00
b8-04 Energy Saving Coefficient Value – 30.13 30.57 30.57 27.13
C5-17 (C5-37) Motor Inertia kgm2 3.30 3.60 3.60 4.10
C6-02 Carrier Frequency Selection – 1 1 1 1
E2-01 (E4-01) Motor Rated Current A 270 310 310 370
E2-02 (E4-02) Motor Rated Slip Hz 1.35 1.3 1.3 1.3
E2-03 (E4-03) Motor No-Load Current A 70 81 81 96
E2-05 (E4-05) Motor Line to Line Resistance 0.029 0.025 0.025 0.02
E2-06 (E4-06) Motor Leakage Inductance % 20 20 20 20
E2-10 (E4-10) Motor Iron Loss for Torque Compensation W 2850 3200 3200 3700
E5-01 Motor Code Selection (for PM Motors) Hex. 124A 124A FFFF FFFF
L2-02 Momentary Power Loss Ride-Thru Time s 1.8 1.9 1.9 2
L2-03 Momentary Power Loss Minimum Baseblock Time s 1 1 1 1
L2-04 Momentary Power Loss Voltage Recovery Time V 300 300 300 300
L8-02 Overheat Alarm Level C 130 130 130 130
L8-35 Installation Method Selection – 0 0 0 0
L8-38 Carrier Frequency Reduction Selection – 1 1 1 1
n1-03 Hunting Prevention Time Constant ms 30 30 100 100
n5-02 Motor Acceleration Time s 0.777 0.864 0.864 0.91
472 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
B.7 Parameters that Change with the Motor Code Selection (for PM Motors)
B.7 Parameters that Change with the Motor Code Selection (for PM Motors)
The following tables show parameters and default settings that change with the motor code selection E5-01 when Open
Loop Vector for PM motors is used.
YASKAWA SMRA Series SPM Motor
Table B.10 200 V, 1800 min-1 Type YASKAWA SMRA Series SPM Motor
No. Name Unit Default Settings
Motor Code Selection (for PM Motors) 0002 0003 0005 0006 0008
Voltage Class V 200 200 200 200 200
E5-01
Rated Power kW 0.4 0.75 1.5 2.2 3.7
Rated Speed min-1 1800 1800 1800 1800 1800
E5-02 Motor Rated Power (for PM Motors) kW 0.4 0.75 1.5 2.2 3.7
E5-03 Motor Rated Current (for PM Motors) A 2.1 4.0 6.9 10.8 17.4
E5-04 Number of Motor Poles (for PM Motors) – 8 8 8 8 8
E5-05 Motor Stator Resistance (r1) (for PM Motors) 2.47 1.02 0.679 0.291 0.169
Motor d-Axis Inductance (Ld) (for PM
E5-06 mH 12.7 4.8 3.9 3.6 2.5
Motors)
Motor q-Axis Inductance (Lq) (for PM
E5-07 mH 12.7 4.8 3.9 3.6 2.5
Motors)
Motor Induction Voltage Constant 1 (Ke) (for
E5-09 mVs/rad 0 0 0 0 0
PM Motors)
Motor Induction Voltage Constant 2 (Ke) (for
E5-24 mV/(min-1) 62.0 64.1 73.4 69.6 72.2
PM Motors)
E1-04 Maximum Output Frequency Hz 120 120 120 120 120
E1-05 Maximum Voltage V 200.0 200.0 200.0 200.0 200.0
E1-06 Base Frequency Hz 120 120 120 120 120
E1-09 Minimum Output Frequency Hz 6 6 6 6 6
C5-17 Motor Inertia kgm2 0.0007 0.0014 0.0021 0.0032 0.0046
n5-02 Motor Acceleration Time s 0.064 0.066 0.049 0.051 0.044
d-Axis Current for High Efficiency Control
n8-49 % 0 0 0 0 0
(for PM Motors) (OLV/PM)
Table B.11 200 V, 3600 min-1 Type YASKAWA SMRA Series SPM Motor
No. Name Unit Default Settings
Motor Code Selection (for PM Motors) 0103 0105 0106 0108
Voltage Class V 200 200 200 200
E5-01
Rated Power kW 0.75 1.5 2.2 3.7
Rated Speed min-1 3600 3600 3600 3600
E5-02 Motor Rated Power (for PM Motors) kW 0.75 1.5 2.2 3.7
E5-03 Motor Rated Current (for PM Motors) A 4.1 8.0 10.5 16.5
E5-04 Number of Motor Poles (for PM Motors) – 8 8 8 8
E5-05 Motor Stator Resistance (r1) (for PM Motors) 0.538 0.20 0.15 0.097
Motor d-Axis Inductance (Ld) (for PM
E5-06 mH 3.2 1.3 1.1 1.1
Motors)
Motor q-Axis Inductance (Lq) (for PM
E5-07 mH 3.2 1.3 1.1 1.1
Motors)
Motor Induction Voltage Constant 1 (Ke) (for
E5-09 mVs/rad 0 0 0 0
PM Motors)
Motor Induction Voltage Constant 2 (Ke) (for
E5-24 mV/(min-1) 32.4 32.7 36.7 39.7
PM Motors)
E1-04 Maximum Output Frequency Hz 240 240 240 240
E1-05 Maximum Voltage V 200.0 200.0 200.0 200.0
E1-06 Base Frequency Hz 240 240 240 240
E1-09 Minimum Output Frequency Hz 12 12 12 12
C5-17 Motor Inertia kgm2 0.0007 0.0014 0.0021 0.0032
Parameter List
n5-02 Motor Acceleration Time s 0.137 0.132 0.132 0.122
d-Axis Current for High Efficiency Control
n8-49 % 0 0 0 0
(for PM Motors) (OLV/PM)
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 473
B.7 Parameters that Change with the Motor Code Selection (for PM Motors)
YASKAWA SSR1 Series IPM Motor (For Derated Torque)
Table B.12 200 V, 1750 min-1 Type YASKAWA SSR1 Series IPM Motor
No. Name Unit Default Settings
Motor Code Selection (for PM Motors) 1202 1203 1205 1206 1208 120A 120B 120D
Voltage Class V 200 200 200 200 200 200 200 200
E5-01
Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11
Rated Speed min-1 1750 1750 1750 1750 1750 1750 1750 1750
E5-02 Motor Rated Power (for PM Motors) kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11.0
E5-03 Motor Rated Current (for PM Motors) A 1.77 3.13 5.73 8.44 13.96 20.63 28.13 41.4
E5-04 Number of Motor Poles (for PM Motors) – 6 6 6 6 6 6 6 6
Motor Stator Resistance (r1) (for PM
E5-05 8.233 2.284 1.470 0.827 0.455 0.246 0.198 0.094
Motors)
Motor d-Axis Inductance (Ld) (for PM
E5-06 mH 54.84 23.02 17.22 8.61 7.20 4.86 4.15 3.40
Motors)
Motor q-Axis Inductance (Lq) (for PM
E5-07 mH 64.10 29.89 20.41 13.50 10.02 7.43 5.91 3.91
Motors)
Motor Induction Voltage Constant 1 (Ke)
E5-09 mVs/rad 223.7 220.3 240.8 238.0 238.7 239.6 258.2 239.3
(for PM Motors)
Motor Induction Voltage Constant 2 (Ke)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(for PM Motors)
E1-04 Maximum Output Frequency Hz 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5
E1-05 Maximum Voltage V 190.0 190.0 190.0 190.0 190.0 190.0 190.0 190.0
E1-06 Base Frequency Hz 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5
E1-09 Minimum Output Frequency Hz 4.4 4.4 4.4 4.4 4.4 4.4 4.4 4.4
C5-17 Motor Inertia kgm2 0.0011 0.0017 0.0023 0.0043 0.0083 0.014 0.017 0.027
n5-02 Motor Acceleration Time s 0.092 0.076 0.052 0.066 0.075 0.083 0.077 0.084
d-Axis Current for High Efficiency
n8-49 % -7.6 -11.5 -9.1 -19.0 -18.7 -23.4 -18.5 -10.9
Control (for PM Motors) (OLV/PM)
No. Name Unit Default Settings
Motor Code Selection (for PM Motors) 120E 120F 1210 1212 1213 1214 1215 1216
Voltage Class V 200 200 200 200 200 200 200 200
E5-01
Rated Power kW 15 18 22 30 37 45 55 75
Rated Speed min-1 1750 1750 1750 1750 1750 1750 1750 1750
E5-02 Motor Rated Power (for PM Motors) kW 15.00 18.50 22.00 30.00 37.00 45.00 55.00 75.00
E5-03 Motor Rated Current (for PM Motors) A 55.4 68.2 80.6 105.2 131.3 153.1 185.4 257.3
E5-04 Number of Motor Poles (for PM Motors) – 6 6 6 6 6 6 6 6
Motor Stator Resistance (r1) (for PM
E5-05 0.066 0.051 0.037 0.030 0.020 0.014 0.012 0.006
Motors)
Motor d-Axis Inductance (Ld) (for PM
E5-06 mH 2.45 2.18 1.71 1.35 0.99 0.83 0.79 0.44
Motors)
Motor q-Axis Inductance (Lq) (for PM
E5-07 mH 3.11 2.55 2.05 1.82 1.28 1.01 0.97 0.56
Motors)
Motor Induction Voltage Constant 1 (Ke)
E5-09 mVs/rad 248.1 253.6 250.0 280.9 264.2 280.4 311.9 268.0
(for PM Motors)
Motor Induction Voltage Constant 2 (Ke)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(for PM Motors)
E1-04 Maximum Output Frequency Hz 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5
E1-05 Maximum Voltage V 190.0 190.0 190.0 190.0 190.0 190.0 190.0 190.0
E1-06 Base Frequency Hz 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5
E1-09 Minimum Output Frequency Hz 4.4 4.4 4.4 4.4 4.4 4.4 4.4 4.4
C5-17 Motor Inertia kgm2 0.046 0.055 0.064 0.116 0.140 0.259 0.31 0.42
n5-02 Motor Acceleration Time s 0.102 0.101 0.098 0.130 0.127 0.193 0.191 0.187
d-Axis Current for High Efficiency
n8-49 % -16.5 -11.3 -12.8 -16.8 -15.6 -10.7 -9.6 -13.3
Control (for PM Motors) (OLV/PM)
474 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
B.7 Parameters that Change with the Motor Code Selection (for PM Motors)
Table B.13 400 V, 1750 min-1 Type YASKAWA SSR1 Series IPM Motor
No. Name Unit Default Settings
Motor Code Selection (for PM Motors) 1232 1233 1235 1236 1238 123A 123B 123D 123E 123F
Voltage Class V 400 400 400 400 400 400 400 400 400 400
E5-01
Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11 15 18
Rated Speed min-1 1750 1750 1750 1750 1750 1750 1750 1750 1750 1750
E5-02 Motor Rated Power (for PM Motors) kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11.0 15 18.50
E5-03 Motor Rated Current (for PM Motors) A 0.89 1.56 2.81 4.27 7.08 10.31 13.65 20.7 27.5 33.4
E5-04 Number of Motor Poles (for PM Motors) – 6 6 6 6 6 6 6 6 6 6
Motor Stator Resistance (r1) (for PM
E5-05 25.370 9.136 6.010 3.297 1.798 0.982 0.786 0.349 0.272 0.207
Motors)
Motor d-Axis Inductance (Ld) (for PM
E5-06 mH 169.00 92.08 67.71 34.40 32.93 22.7 16.49 13.17 10.30 8.72
Motors)
Motor q-Axis Inductance (Lq) (for PM
E5-07 mH 197.50 119.56 81.71 54.00 37.70 26.80 23.46 15.60 12.77 11.22
Motors)
Motor Induction Voltage Constant 1 (Ke)
E5-09 mVs/rad 392.6 440.6 478.3 466.3 478.8 478.1 520.0 481.5 498.8 509.5
(for PM Motors)
Motor Induction Voltage Constant 2 (Ke)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(for PM Motors)
E1-04 Maximum Output Frequency Hz 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5
E1-05 Maximum Voltage V 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0
E1-06 Base Frequency Hz 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5
E1-09 Minimum Output Frequency Hz 4.4 4.4 4.4 4.4 4.4 4.4 4.4 4.4 4.4 4.4
C5-17 Motor Inertia kgm2 0.0011 0.0017 0.0023 0.0043 0.0083 0.014 0.017 0.027 0.046 0.055
n5-02 Motor Acceleration Time s 0.092 0.076 0.052 0.066 0.075 0.083 0.077 0.084 0.102 0.101
d-Axis Current for High Efficiency
n8-49 % -8.6 -11.5 -10.3 -19.8 -8.5 -11.0 -18.6 -12.5 -15.5 -17.9
Control (for PM Motors) (OLV/PM)
No. Name Unit Default Settings
Motor Code Selection (for PM Motors) 1240 1242 1243 1244 1245 1246 1247 1248 1249 124A
Voltage Class V 400 400 400 400 400 400 400 400 400 400
E5-01
Rated Power kW 22 30 37 45 55 75 90 110 132 160
Rated Speed min-1 1750 1750 1750 1750 1750 1750 1750 1750 1750 1750
E5-02 Motor Rated Power (for PM Motors) kW 22.00 30.00 37.00 45.00 55.00 75.00 90.00 110.00 132 160
E5-03 Motor Rated Current (for PM Motors) A 39.8 52.0 65.8 77.5 92.7 126.6 160.4 183.3 222.9 267.7
E5-04 Number of Motor Poles (for PM Motors) – 6 6 6 6 6 6 6 6 6 6
Motor Stator Resistance (r1) (for PM
E5-05 0.148 0.235 0.079 0.054 0.049 0.029 0.019 0.017 0.012 0.008
Motors)
Motor d-Axis Inductance (Ld) (for PM
E5-06 mH 6.81 5.4 4.08 3.36 3.16 2.12 1.54 1.44 1.21 0.97
Motors)
Motor q-Axis Inductance (Lq) (for PM
E5-07 mH 8.47 7.26 5.12 3.94 3.88 2.61 2.06 2.21 1.46 1.28
Motors)
Motor Induction Voltage Constant 1 (Ke)
E5-09 mVs/rad 503.9 561.7 528.5 558.1 623.8 594.5 524.1 583.7 563.6 601.2
(for PM Motors)
Motor Induction Voltage Constant 2 (Ke)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(for PM Motors)
E1-04 Maximum Output Frequency Hz 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5
E1-05 Maximum Voltage V 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380 380
E1-06 Base Frequency Hz 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5
E1-09 Minimum Output Frequency Hz 4.4 4.4 4.4 4.4 4.4 4.4 4.4 4.4 4.4 4.4
C5-17 Motor Inertia kgm2 0.064 0.116 0.140 0.259 0.31 0.42 0.56 0.83 0.96 1.61
n5-02 Motor Acceleration Time s 0.098 0.130 0.127 0.193 0.191 0.187 0.208 0.254 0.243 0.338
d-Axis Current for High Efficiency
n8-49 % -15.1 -16.8 -14.1 -8.8 -9.6 -10.3 -17.0 -21.7 -10.9 -13.2
Control (for PM Motors) (OLV/PM)
Parameter List
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 475
B.7 Parameters that Change with the Motor Code Selection (for PM Motors)
Table B.14 200 V, 1450 min-1 Type YASKAWA SSR1 Series IPM Motor
No. Name Unit Default Settings
Motor Code Selection (for PM Motors) 1302 1303 1305 1306 1308 130A 130B 130D
Voltage Class V 200 200 200 200 200 200 200 200
E5-01
Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11
Rated Speed min-1 1450 1450 1450 1450 1450 1450 1450 1450
E5-02 Motor Rated Power (for PM Motors) kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11.0
E5-03 Motor Rated Current (for PM Motors) A 1.88 3.13 5.63 8.33 14.17 20.63 27.71 39.6
E5-04 Number of Motor Poles (for PM Motors) – 6 6 6 6 6 6 6 6
Motor Stator Resistance (r1) (for PM
E5-05 3.190 1.940 1.206 0.665 0.341 0.252 0.184 0.099
Motors)
Motor d-Axis Inductance (Ld) (for PM
E5-06 mH 32.15 26.12 14.72 12.27 8.27 6.49 6.91 4.07
Motors)
Motor q-Axis Inductance (Lq) (for PM
E5-07 mH 41.74 34.30 20.15 14.77 9.81 7.74 7.66 4.65
Motors)
Motor Induction Voltage Constant 1 (Ke)
E5-09 mVs/rad 264.3 269.6 284.3 287.1 284.5 298.0 335.0 303.9
(for PM Motors)
Motor Induction Voltage Constant 2 (Ke)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(for PM Motors)
E1-04 Maximum Output Frequency Hz 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5
E1-05 Maximum Voltage V 190.0 190.0 190.0 190.0 190.0 190.0 190.0 190.0
E1-06 Base Frequency Hz 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5
E1-09 Minimum Output Frequency Hz 3.6 3.6 3.6 3.6 3.6 3.6 3.6 3.6
C5-17 Motor Inertia kgm2 0.0017 0.0023 0.0043 0.0083 0.0136 0.017 0.027 0.046
n5-02 Motor Acceleration Time s 0.098 0.071 0.066 0.087 0.085 0.072 0.084 0.096
d-Axis Current for High Efficiency
n8-49 % -6.6 -10.9 -13.5 -9.0 -9.5 -10.1 -6.0 -9.3
Control (for PM Motors) (OLV/PM)
No. Name Unit Default Settings
Motor Code Selection (for PM Motors) 130E 130F 1310 1312 1313 1314 1315
Voltage Class V 200 200 200 200 200 200 200
E5-01
Rated Power kW 15 18 22 30 37 45 55
Rated Speed min-1 1450 1450 1450 1450 1450 1450 1450
E5-02 Motor Rated Power (for PM Motors) kW 15.00 18.50 22.00 30.00 37.00 45.00 55.00
E5-03 Motor Rated Current (for PM Motors) A 55.5 65.6 75.1 105.2 126.0 153.1 186.5
E5-04 Number of Motor Poles (for PM Motors) – 6 6 6 6 6 6 6
Motor Stator Resistance (r1) (for PM
E5-05 0.075 0.057 0.041 0.034 0.023 0.015 0.012
Motors)
Motor d-Axis Inductance (Ld) (for PM
E5-06 mH 3.29 2.53 1.98 1.75 1.48 1.04 0.87
Motors)
Motor q-Axis Inductance (Lq) (for PM
E5-07 mH 3.84 3.01 2.60 2.17 1.70 1.31 1.10
Motors)
Motor Induction Voltage Constant 1 (Ke)
E5-09 mVs/rad 311.2 300.9 327.7 354.2 369.6 351.6 374.7
(for PM Motors)
Motor Induction Voltage Constant 2 (Ke)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(for PM Motors)
E1-04 Maximum Output Frequency Hz 72.5 72.5 72.5 72.5 72.5 72.5 72.5
E1-05 Maximum Voltage V 190.0 190.0 190.0 190.0 190.0 190.0 190.0
E1-06 Base Frequency Hz 72.5 72.5 72.5 72.5 72.5 72.5 72.5
E1-09 Minimum Output Frequency Hz 3.6 3.6 3.6 3.6 3.6 3.6 3.6
C5-17 Motor Inertia kgm2 0.055 0.064 0.116 0.140 0.259 0.312 0.42
n5-02 Motor Acceleration Time s 0.085 0.080 0.122 0.108 0.161 0.160 0.175
d-Axis Current for High Efficiency
n8-49 % -10.7 -13.2 -15.7 -11.5 -7.0 -11.8 -10.2
Control (for PM Motors) (OLV/PM)
476 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
B.7 Parameters that Change with the Motor Code Selection (for PM Motors)
Table B.15 400 V, 1450 min-1 Type YASKAWA SSR1 Series IPM Motor
No. Name Unit Default Settings
Motor Code Selection (for PM Motors) 1332 1333 1335 1336 1338 133A 133B 133D 133E 133F
Voltage Class V 400 400 400 400 400 400 400 400 400 400
E5-01
Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11 15 18
Rated Speed min-1 1450 1450 1450 1450 1450 1450 1450 1450 1450 1450
E5-02 Motor Rated Power (for PM Motors) kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11.0 15 18.50
E5-03 Motor Rated Current (for PM Motors) A 0.94 1.56 2.81 4.27 6.98 10.21 13.85 19.5 27.4 32.9
E5-04 Number of Motor Poles (for PM Motors) – 6 6 6 6 6 6 6 6 6 6
Motor Stator Resistance (r1) (for PM
E5-05 12.760 7.421 4.825 2.656 1.353 0.999 0.713 0.393 0.295 0.223
Motors)
Motor d-Axis Inductance (Ld) (for PM
E5-06 mH 128.60 85.11 58.87 46.42 31.73 26.20 27.06 15.51 12.65 9.87
Motors)
Motor q-Axis Inductance (Lq) (for PM
E5-07 mH 166.96 113.19 80.59 60.32 40.45 30.94 33.45 19.63 15.87 12.40
Motors)
Motor Induction Voltage Constant 1 (Ke)
E5-09 mVs/rad 528.6 544.2 568.5 572.8 562.9 587.6 670.1 612.7 624.6 610.4
(for PM Motors)
Motor Induction Voltage Constant 2 (Ke)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(for PM Motors)
E1-04 Maximum Output Frequency Hz 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5
E1-05 Maximum Voltage V 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0
E1-06 Base Frequency Hz 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5
E1-09 Minimum Output Frequency Hz 3.6 3.6 3.6 3.6 3.6 3.6 3.6 3.6 3.6 3.6
C5-17 Motor Inertia kgm2 0.0017 0.0023 0.0043 0.0083 0.0136 0.017 0.027 0.046 0.055 0.064
n5-02 Motor Acceleration Time s 0.098 0.071 0.066 0.087 0.085 0.072 0.084 0.096 0.085 0.080
d-Axis Current for High Efficiency
n8-49 % -6.6 -9.2 -13.5 -12.1 -13.7 -10.1 -12.2 -15.5 -15.1 -16.0
Control (for PM Motors) (OLV/PM)
No. Name Unit Default Settings
Motor Code Selection (for PM Motors) 1340 1342 1343 1344 1345 1346 1347 1348 1349
Voltage Class V 400 400 400 400 400 400 400 400 400
E5-01
Rated Power kW 22 30 37 45 55 75 90 110 132
Rated Speed min-1 1450 1450 1450 1450 1450 1450 1450 1450 1450
E5-02 Motor Rated Power (for PM Motors) kW 22.00 30.00 37.00 45.00 55.00 75.00 90.00 110.00 132.00
E5-03 Motor Rated Current (for PM Motors) A 37.6 52.5 63.2 76.4 96.1 124.0 153.1 186.5 226.0
E5-04 Number of Motor Poles (for PM Motors) – 6 6 6 6 6 6 6 6 6
Motor Stator Resistance (r1) (for PM
E5-05 0.164 0.137 0.093 0.059 0.048 0.028 0.024 0.015 0.011
Motors)
Motor d-Axis Inductance (Ld) (for PM
E5-06 mH 7.90 7.01 5.93 4.17 3.11 2.32 2.20 1.45 1.23
Motors)
Motor q-Axis Inductance (Lq) (for PM
E5-07 mH 10.38 8.68 6.79 5.22 4.55 2.97 3.23 1.88 1.67
Motors)
Motor Induction Voltage Constant 1 (Ke)
E5-09 mVs/rad 655.4 708.4 739.2 703.0 747.1 639.3 708.0 640.7 677.0
(for PM Motors)
Motor Induction Voltage Constant 2 (Ke)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(for PM Motors)
E1-04 Maximum Output Frequency Hz 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5
E1-05 Maximum Voltage V 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0
E1-06 Base Frequency Hz 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5
E1-09 Minimum Output Frequency Hz 3.6 3.6 3.6 3.6 3.6 3.6 3.6 3.6 3.6
C5-17 Motor Inertia kgm2 0.116 0.140 0.259 0.312 0.42 0.56 0.83 0.96 1.61
n5-02 Motor Acceleration Time s 0.122 0.108 0.161 0.160 0.175 0.171 0.213 0.201 0.281
d-Axis Current for High Efficiency
n8-49 % -15.7 -11.5 -6.8 -11.5 -14.8 -15.8 -19.6 -14.9 -15.1
Control (for PM Motors) (OLV/PM)
Parameter List
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 477
B.7 Parameters that Change with the Motor Code Selection (for PM Motors)
Table B.16 200 V, 1150 min-1 Type YASKAWA SSR1 Series IPM Motor
No. Name Unit Default Settings
Motor Code Selection (for PM Motors) 1402 1403 1405 1406 1408 140A 140B
Voltage Class V 200 200 200 200 200 200 200
E5-01
Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5
Rated Speed min-1 1150 1150 1150 1150 1150 1150 1150
E5-02 Motor Rated Power (for PM Motors) kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5
E5-03 Motor Rated Current (for PM Motors) A 1.88 3.02 6.00 8.85 14.27 20.21 26.67
E5-04 Number of Motor Poles (for PM Motors) – 6 6 6 6 6 6 6
Motor Stator Resistance (r1) (for PM
E5-05 4.832 2.704 1.114 0.511 0.412 0.303 0.165
Motors)
Motor d-Axis Inductance (Ld) (for PM
E5-06 mH 48.68 32.31 19.22 12.15 7.94 11.13 6.59
Motors)
Motor q-Axis Inductance (Lq) (for PM
E5-07 mH 63.21 40.24 24.38 15.35 11.86 14.06 8.55
Motors)
Motor Induction Voltage Constant 1 (Ke)
E5-09 mVs/rad 320.4 327.1 364.4 344.4 357.5 430.8 391.5
(for PM Motors)
Motor Induction Voltage Constant 2 (Ke)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(for PM Motors)
E1-04 Maximum Output Frequency Hz 57.5 57.5 57.5 57.5 57.5 57.5 57.5
E1-05 Maximum Voltage V 190.0 190.0 190.0 190.0 190.0 190.0 190.0
E1-06 Base Frequency Hz 57.5 57.5 57.5 57.5 57.5 57.5 57.5
E1-09 Minimum Output Frequency Hz 2.9 2.9 2.9 2.9 2.9 2.9 2.9
C5-17 Motor Inertia kgm2 0.0017 0.0023 0.0083 0.0136 0.0171 0.027 0.046
n5-02 Motor Acceleration Time s 0.062 0.044 0.080 0.090 0.067 0.072 0.088
d-Axis Current for High Efficiency
n8-49 % -8.8 -9.9 -9.3 -10.0 -17.7 -12.3 -15.3
Control (for PM Motors) (OLV/PM)
No. Name Unit Default Settings
Motor Code Selection (for PM Motors) 140D 140E 140F 1410 1412 1413 1414
Voltage Class V 200 200 200 200 200 200 200
E5-01
Rated Power kW 11 15 18 22 30 37 45
Rated Speed min-1 1150 1150 1150 1150 1150 1150 1150
E5-02 Motor Rated Power (for PM Motors) kW 11.0 15 18.50 22.00 30.00 37.00 45.00
E5-03 Motor Rated Current (for PM Motors) A 39.9 55.6 63.5 74.4 104.2 129.6 154.2
E5-04 Number of Motor Poles (for PM Motors) – 6 6 6 6 6 6 6
Motor Stator Resistance (r1) (for PM
E5-05 0.113 0.084 0.066 0.048 0.035 0.023 0.016
Motors)
Motor d-Axis Inductance (Ld) (for PM
E5-06 mH 4.96 3.83 3.33 2.38 2.04 1.53 1.16
Motors)
Motor q-Axis Inductance (Lq) (for PM
E5-07 mH 6.12 4.65 4.50 3.15 2.86 2.27 1.54
Motors)
Motor Induction Voltage Constant 1 (Ke)
E5-09 mVs/rad 384.4 372.1 421.3 410.9 436.1 428.8 433.3
(for PM Motors)
Motor Induction Voltage Constant 2 (Ke)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(for PM Motors)
E1-04 Maximum Output Frequency Hz 57.5 57.5 57.5 57.5 57.5 57.5 57.5
E1-05 Maximum Voltage V 190.0 190.0 190.0 190.0 190.0 190.0 190.0
E1-06 Base Frequency Hz 57.5 57.5 57.5 57.5 57.5 57.5 57.5
E1-09 Minimum Output Frequency Hz 2.9 2.9 2.9 2.9 2.9 2.9 2.9
C5-17 Motor Inertia kgm2 0.055 0.064 0.116 0.140 0.259 0.312 0.418
n5-02 Motor Acceleration Time s 0.073 0.062 0.091 0.092 0.125 0.122 0.135
d-Axis Current for High Efficiency
n8-49 % -13.9 -14.4 -17.9 -15.9 -17.9 -20.1 -13.7
Control (for PM Motors) (OLV/PM)
478 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
B.7 Parameters that Change with the Motor Code Selection (for PM Motors)
Table B.17 400 V, 1150 min-1 Type YASKAWA SSR1 Series IPM Motor
No. Name Unit Default Settings
Motor Code Selection (for PM Motors) 1432 1433 1435 1436 1438 143A 143B 143D 143E
Voltage Class V 400 400 400 400 400 400 400 400 400
E5-01
Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11 15
Rated Speed min-1 1150 1150 1150 1150 1150 1150 1150 1150 1150
E5-02 Motor Rated Power (for PM Motors) kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11.0 15
E5-03 Motor Rated Current (for PM Motors) A 0.94 1.51 3.00 4.43 7.08 10.10 13.33 19.9 27.8
E5-04 Number of Motor Poles (for PM Motors) – 6 6 6 6 6 6 6 6 6
Motor Stator Resistance (r1) (for PM
E5-05 19.320 10.800 4.456 2.044 1.483 1.215 0.660 0.443 0.331
Motors)
Motor d-Axis Inductance (Ld) (for PM
E5-06 mH 194.70 129.20 76.88 48.60 37.58 44.54 26.36 19.10 15.09
Motors)
Motor q-Axis Inductance (Lq) (for PM
E5-07 mH 252.84 160.90 97.52 61.40 47.65 56.26 34.20 24.67 18.56
Motors)
Motor Induction Voltage Constant 1 (Ke)
E5-09 mVs/rad 640.9 654.1 728.8 688.9 702.0 861.5 783.0 762.2 749.6
(for PM Motors)
Motor Induction Voltage Constant 2 (Ke)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(for PM Motors)
E1-04 Maximum Output Frequency Hz 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5
E1-05 Maximum Voltage V 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0
E1-06 Base Frequency Hz 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5
E1-09 Minimum Output Frequency Hz 2.9 2.9 2.9 2.9 2.9 2.9 2.9 2.9 2.9
C5-17 Motor Inertia kgm2 0.0017 0.0023 0.0083 0.0136 0.0171 0.027 0.046 0.055 0.064
n5-02 Motor Acceleration Time s 0.062 0.044 0.080 0.090 0.067 0.072 0.088 0.073 0.062
d-Axis Current for High Efficiency
n8-49 % -8.8 -9.9 -9.3 -10.0 -12.8 -12.3 -15.3 -16.7 -14.9
Control (for PM Motors) (OLV/PM)
No. Name Unit Default Settings
Motor Code Selection (for PM Motors) 143F 1440 1442 1443 1444 1445 1446 1447 1448
Voltage Class V 400 400 400 400 400 400 400 400 400
E5-01
Rated Power kW 18 22 30 37 45 55 75 90 110
Rated Speed min-1 1150 1150 1150 1150 1150 1150 1150 1150 1150
E5-02 Motor Rated Power (for PM Motors) kW 18.50 22.00 30.00 37.00 45.00 55.00 75.00 90.00 110.00
E5-03 Motor Rated Current (for PM Motors) A 31.8 37.2 52.1 64.8 76.6 92.0 127.1 150.5 185.4
E5-04 Number of Motor Poles (for PM Motors) – 6 6 6 6 6 6 6 6 6
Motor Stator Resistance (r1) (for PM
E5-05 0.264 0.192 0.140 0.093 0.063 0.051 0.033 0.027 0.015
Motors)
Motor d-Axis Inductance (Ld) (for PM
E5-06 mH 13.32 9.52 8.16 6.13 4.63 3.96 3.03 2.60 1.89
Motors)
Motor q-Axis Inductance (Lq) (for PM
E5-07 mH 18.00 12.60 11.40 9.10 6.15 5.00 5.14 3.28 2.33
Motors)
Motor Induction Voltage Constant 1 (Ke)
E5-09 mVs/rad 842.7 821.8 872.3 857.7 866.6 854.0 823.1 853.4 829.2
(for PM Motors)
Motor Induction Voltage Constant 2 (Ke)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(for PM Motors)
E1-04 Maximum Output Frequency Hz 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5
E1-05 Maximum Voltage V 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0
E1-06 Base Frequency Hz 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5
E1-09 Minimum Output Frequency Hz 2.9 2.9 2.9 2.9 2.9 2.9 2.9 2.9 2.9
C5-17 Motor Inertia kgm2 0.116 0.140 0.259 0.312 0.418 0.56 0.83 0.96 1.61
n5-02 Motor Acceleration Time s 0.091 0.092 0.125 0.122 0.135 0.147 0.161 0.154 0.212
d-Axis Current for High Efficiency
n8-49 % -17.9 -15.9 -17.7 -20.1 -13.8 -12.5 -28.8 -13.3 -11.6
Control (for PM Motors) (OLV/PM)
Parameter List
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 479
B.7 Parameters that Change with the Motor Code Selection (for PM Motors)
YASKAWA SST4 Series IPM Motor (For Constant Torque)
Table B.18 200 V, 1750 min-1 Type YASKAWA SST4 Series IPM Motor
No. Name Unit Default Settings
Motor Code Selection (for PM Motors) 2202 2203 2205 2206 2208 220A 220B 220D
Voltage Class V 200 200 200 200 200 200 200 200
E5-01
Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11
Rated Speed min-1 1750 1750 1750 1750 1750 1750 1750 1750
E5-02 Motor Rated Power (for PM Motors) kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11.0
E5-03 Motor Rated Current (for PM Motors) A 1.77 3.54 6.56 8.96 14.79 20.94 29.58 41.1
E5-04 Number of Motor Poles (for PM Motors) – 6 6 6 6 6 6 6 6
Motor Stator Resistance (r1) (for PM
E5-05 2.247 1.132 0.774 0.479 0.242 0.275 0.161 0.111
Motors)
Motor d-Axis Inductance (Ld) (for PM
E5-06 mH 22.32 12.38 8.90 7.39 5.06 5.82 3.86 3.59
Motors)
Motor q-Axis Inductance (Lq) (for PM
E5-07 mH 32.50 15.72 11.96 9.63 6.42 6.74 4.66 4.32
Motors)
Motor Induction Voltage Constant 1 (Ke)
E5-09 mVs/rad 215.2 203.9 219.3 230.6 235.1 251.7 235.7 252.0
(for PM Motors)
Motor Induction Voltage Constant 2 (Ke)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(for PM Motors)
E1-04 Maximum Output Frequency Hz 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5
E1-05 Maximum Voltage V 190.0 190.0 190.0 190.0 190.0 190.0 190.0 190.0
E1-06 Base Frequency Hz 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5
E1-09 Minimum Output Frequency Hz 4.4 4.4 4.4 4.4 4.4 4.4 4.4 4.4
C5-17 Motor Inertia kgm2 0.0016 0.0022 0.0042 0.0081 0.0133 0.013 0.017 0.027
n5-02 Motor Acceleration Time s 0.134 0.099 0.094 0.124 0.121 0.081 0.075 0.082
d-Axis Current for High Efficiency
n8-49 % -9.3 -6.4 -10.0 -9.9 -9.7 -8.4 -11.5 -13.1
Control (for PM Motors) (OLV/PM)
No. Name Unit Default Settings
Motor Code Selection (for PM Motors) 220E 220F 2210 2212 2213 2214 2215 2216
Voltage Class V 200 200 200 200 200 200 200 200
E5-01
Rated Power kW 15 18 22 30 37 45 55 75
Rated Speed min-1 1750 1750 1750 1750 1750 1750 1750 1750
E5-02 Motor Rated Power (for PM Motors) kW 15 18.50 22.00 30.00 37.00 45.00 55.00 75.00
E5-03 Motor Rated Current (for PM Motors) A 54.2 68.2 78.6 104.2 129.2 153.1 205.2 260.4
E5-04 Number of Motor Poles (for PM Motors) – 6 6 6 6 6 6 6 6
Motor Stator Resistance (r1) (for PM
E5-05 0.071 0.049 0.040 0.030 0.020 0.013 0.009 0.006
Motors)
Motor d-Axis Inductance (Ld) (for PM
E5-06 mH 2.67 1.98 1.69 1.31 0.88 0.77 0.55 0.40
Motors)
Motor q-Axis Inductance (Lq) (for PM
E5-07 mH 3.10 2.41 2.12 1.61 1.14 1.04 0.69 0.50
Motors)
Motor Induction Voltage Constant 1 (Ke)
E5-09 mVs/rad 253.7 244.6 256.3 283.1 266.3 260.0 261.5 259.3
(for PM Motors)
Motor Induction Voltage Constant 2 (Ke)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(for PM Motors)
E1-04 Maximum Output Frequency Hz 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5
E1-05 Maximum Voltage V 190.0 190.0 190.0 190.0 190.0 190.0 190.0 190.0
E1-06 Base Frequency Hz 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5
E1-09 Minimum Output Frequency Hz 4.4 4.4 4.4 4.4 4.4 4.4 4.4 4.4
C5-17 Motor Inertia kgm2 0.044 0.054 0.063 0.113 0.137 0.252 0.30 0.41
n5-02 Motor Acceleration Time s 0.099 0.098 0.096 0.127 0.124 0.188 0.186 0.184
d-Axis Current for High Efficiency
n8-49 % -10.9 -14.3 -15.1 -11.3 -14.1 -18.8 -11.4 -12.2
Control (for PM Motors) (OLV/PM)
480 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
B.7 Parameters that Change with the Motor Code Selection (for PM Motors)
Table B.19 400 V, 1750 min-1 Type YASKAWA SST4 Series IPM Motor
No. Name Unit Default Settings
Motor Code Selection (for PM Motors) 2232 2233 2235 2236 2238 223A 223B 223D
Voltage Class V 400 400 400 400 400 400 400 400
E5-01
Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11
Rated Speed min-1 1750 1750 1750 1750 1750 1750 1750 1750
E5-02 Motor Rated Power (for PM Motors) kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11.0
E5-03 Motor Rated Current (for PM Motors) A 0.92 1.77 3.33 4.48 7.50 10.42 14.27 20.5
E5-04 Number of Motor Poles (for PM Motors) – 6 6 6 6 6 6 6 6
Motor Stator Resistance (r1) (for PM
E5-05 8.935 4.570 3.096 1.906 0.972 1.103 0.630 0.429
Motors)
Motor d-Axis Inductance (Ld) (for PM
E5-06 mH 80.14 48.04 35.60 30.31 20.03 23.41 14.86 14.34
Motors)
Motor q-Axis Inductance (Lq) (for PM
E5-07 mH 110.76 64.88 47.84 38.36 24.97 28.70 17.25 17.25
Motors)
Motor Induction Voltage Constant 1 (Ke)
E5-09 mVs/rad 416.5 399.4 438.5 475.5 463.7 485.8 470.4 513.4
(for PM Motors)
Motor Induction Voltage Constant 2 (Ke)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(for PM Motors)
E1-04 Maximum Output Frequency Hz 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5
E1-05 Maximum Voltage V 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0
E1-06 Base Frequency Hz 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5
E1-09 Minimum Output Frequency Hz 4.4 4.4 4.4 4.4 4.4 4.4 4.4 4.4
C5-17 Motor Inertia kgm2 0.0016 0.0022 0.0042 0.0081 0.0133 0.013 0.017 0.027
n5-02 Motor Acceleration Time s 0.134 0.099 0.094 0.124 0.121 0.081 0.075 0.082
d-Axis Current for High Efficiency
n8-49 % -7.5 -8.5 -9.8 -8.2 -9.1 -13.1 -9.2 -12.4
Control (for PM Motors) (OLV/PM)
No. Name Unit Default Settings
Motor Code Selection (for PM Motors) 223E 223F 2240 2242 2243 2244 2245 2246
Voltage Class V 400 400 400 400 400 400 400 400
E5-01
Rated Power kW 15 18 22 30 37 45 55 75
Rated Speed min-1 1750 1750 1750 1750 1750 1750 1750 1750
E5-02 Motor Rated Power (for PM Motors) kW 15 18.50 22.00 30.00 37.00 45.00 55.00 75.00
E5-03 Motor Rated Current (for PM Motors) A 26.4 34.2 38.8 52.2 65.4 77.6 99.3 130.2
E5-04 Number of Motor Poles (for PM Motors) – 6 6 6 6 6 6 6 6
Motor Stator Resistance (r1) (for PM
E5-05 0.275 0.196 0.160 0.120 0.077 0.052 0.036 0.023
Motors)
Motor d-Axis Inductance (Ld) (for PM
E5-06 mH 9.99 7.92 6.82 5.24 3.57 2.98 1.59 1.59
Motors)
Motor q-Axis Inductance (Lq) (for PM
E5-07 mH 12.37 9.64 8.51 6.44 4.65 3.75 2.78 1.97
Motors)
Motor Induction Voltage Constant 1 (Ke)
E5-09 mVs/rad 505.3 489.2 509.5 566.2 531.6 530.6 515.2 515.2
(for PM Motors)
Motor Induction Voltage Constant 2 (Ke)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(for PM Motors)
E1-04 Maximum Output Frequency Hz 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5
E1-05 Maximum Voltage V 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0
E1-06 Base Frequency Hz 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5
E1-09 Minimum Output Frequency Hz 4.4 4.4 4.4 4.4 4.4 4.4 4.4 4.4
C5-17 Motor Inertia kgm2 0.044 0.054 0.063 0.113 0.137 0.252 0.30 0.41
n5-02 Motor Acceleration Time s 0.099 0.098 0.096 0.127 0.124 0.188 0.186 0.184
d-Axis Current for High Efficiency
n8-49 % -15.1 -14.3 -15.3 -11.3 -14.5 -13.2 -22.6 -11.9
Control (for PM Motors) (OLV/PM)
Parameter List
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 481
B.7 Parameters that Change with the Motor Code Selection (for PM Motors)
No. Name Unit Default Settings
Motor Code Selection (for PM Motors) 2247 2248 2249 224A 224C 224D 224E
Voltage Class V 400 400 400 400 400 400 400
E5-01
Rated Power kW 90 110 132 160 200 220 300
Rated Speed min-1 1750 1750 1750 1750 1750 1750 1750
E5-02 Motor Rated Power (for PM Motors) kW 90.00 110.00 132.00 160.00 200.00 250.00 300.00
E5-03 Motor Rated Current (for PM Motors) A 153.1 184.4 229.2 269.8 346.9 421.9 520.8
E5-04 Number of Motor Poles (for PM Motors) – 6 6 6 6 6 6 6
Motor Stator Resistance (r1) (for PM
E5-05 0.019 0.017 0.012 0.008 0.005 0.004 0.002
Motors)
Motor d-Axis Inductance (Ld) (for PM
E5-06 mH 1.51 1.43 1.13 0.96 0.65 0.67 0.40
Motors)
Motor q-Axis Inductance (Lq) (for PM
E5-07 mH 1.76 1.92 1.54 1.26 0.88 0.74 0.52
Motors)
Motor Induction Voltage Constant 1 (Ke)
E5-09 mVs/rad 538.3 590.9 548.2 603.9 556.8 593.1 495.4
(for PM Motors)
Motor Induction Voltage Constant 2 (Ke)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(for PM Motors)
E1-04 Maximum Output Frequency Hz 87.5 87.5 87.5 87.5 87.5 87.5 87.5
E1-05 Maximum Voltage V 380.0 380.0 380.0 380.0 380.0 380.0 380.0
E1-06 Base Frequency Hz 87.5 87.5 87.5 87.5 87.5 87.5 87.5
E1-09 Minimum Output Frequency Hz 4.4 4.4 4.4 4.4 4.4 4.4 4.4
C5-17 Motor Inertia kgm2 0.55 0.82 0.96 1.60 1.95 2.82 3.70
n5-02 Motor Acceleration Time s 0.205 0.250 0.244 0.336 0.327 0.379 0.414
d-Axis Current for High Efficiency
n8-49 % -8.6 -14.8 -17.5 -12.5 -14.7 -5.1 -16.3
Control (for PM Motors) (OLV/PM)
Table B.20 200 V, 1450 min-1 Type YASKAWA SST4 Series IPM Motor
No. Name Unit Default Settings
Motor Code Selection (for PM Motors) 2302 2303 2305 2306 2308 230A 230B 230D
Voltage Class V 200 200 200 200 200 200 200 200
E5-01
Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11
Rated Speed min-1 1450 1450 1450 1450 1450 1450 1450 1450
E5-02 Motor Rated Power (for PM Motors) kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11.0
E5-03 Motor Rated Current (for PM Motors) A 1.77 3.33 5.94 9.48 14.17 20.42 27.92 39.6
E5-04 Number of Motor Poles (for PM Motors) – 6 6 6 6 6 6 6 6
Motor Stator Resistance (r1) (for PM
E5-05 3.154 1.835 0.681 0.308 0.405 0.278 0.180 0.098
Motors)
Motor d-Axis Inductance (Ld) (for PM
E5-06 mH 28.46 19.46 10.00 6.88 8.15 5.77 6.32 3.34
Motors)
Motor q-Axis Inductance (Lq) (for PM
E5-07 mH 39.29 25.89 15.20 9.25 10.76 8.60 8.80 4.61
Motors)
Motor Induction Voltage Constant 1 (Ke)
E5-09 mVs/rad 268.8 256.9 271.9 260.2 286.8 314.9 300.8 292.3
(for PM Motors)
Motor Induction Voltage Constant 2 (Ke)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(for PM Motors)
E1-04 Maximum Output Frequency Hz 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5
E1-05 Maximum Voltage V 190.0 190.0 190.0 190.0 190.0 190.0 190.0 190.0
E1-06 Base Frequency Hz 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5
E1-09 Minimum Output Frequency Hz 3.6 3.6 3.6 3.6 3.6 3.6 3.6 3.6
C5-17 Motor Inertia kgm2 0.0016 0.0022 0.0081 0.0133 0.0133 0.017 0.027 0.044
n5-02 Motor Acceleration Time s 0.092 0.068 0.125 0.139 0.083 0.070 0.082 0.092
d-Axis Current for High Efficiency
n8-49 % -7.5 -9.4 -13.9 -10.0 -15.0 -17.9 -22.7 -20.5
Control (for PM Motors) (OLV/PM)
482 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
B.7 Parameters that Change with the Motor Code Selection (for PM Motors)
No. Name Unit Default Settings
Motor Code Selection (for PM Motors) 230E 230F 2310 2312 2313 2314 2315 2316
Voltage Class V 200 200 200 200 200 200 200 200
E5-01
Rated Power kW 15 18 22 30 37 45 55 75
Rated Speed min-1 1450 1450 1450 1450 1450 1450 1450 1450
E5-02 Motor Rated Power (for PM Motors) kW 15.0 18.50 22.00 30.00 37.00 45.00 55.00 75.00
E5-03 Motor Rated Current (for PM Motors) A 54.2 68.3 75.2 102.0 131.3 160.4 191.7 257.3
E5-04 Number of Motor Poles (for PM Motors) – 6 6 6 6 6 6 6 6
Motor Stator Resistance (r1) (for PM
E5-05 0.073 0.055 0.048 0.034 0.023 0.016 0.012 0.007
Motors)
Motor d-Axis Inductance (Ld) (for PM
E5-06 mH 2.94 2.23 2.08 1.67 1.39 0.94 0.82 0.56
Motors)
Motor q-Axis Inductance (Lq) (for PM
E5-07 mH 3.65 2.85 2.66 2.04 1.73 1.22 1.06 0.76
Motors)
Motor Induction Voltage Constant 1 (Ke)
E5-09 mVs/rad 305.1 297.6 355.8 355.4 324.0 302.4 337.2 323.4
(for PM Motors)
Motor Induction Voltage Constant 2 (Ke)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(for PM Motors)
E1-04 Maximum Output Frequency Hz 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5
E1-05 Maximum Voltage V 190.0 190.0 190.0 190.0 190.0 190.0 190.0 190.0
E1-06 Base Frequency Hz 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5
E1-09 Minimum Output Frequency Hz 3.6 3.6 3.6 3.6 3.6 3.6 3.6 3.6
C5-17 Motor Inertia kgm2 0.054 0.063 0.113 0.137 0.252 0.304 0.41 0.55
n5-02 Motor Acceleration Time s 0.083 0.079 0.118 0.105 0.157 0.156 0.172 0.169
d-Axis Current for High Efficiency
n8-49 % -14.6 -16.4 -11.8 -10.5 -14.5 -17.4 -13.9 -17.5
Control (for PM Motors) (OLV/PM)
Table B.21 400 V, 1450 min-1 Type YASKAWA SST4 Series IPM Motor
No. Name Unit Default Settings
Motor Code Selection (for PM Motors) 2332 2333 2335 2336 2338 233A 233B 233D 233E 233F 2340
Voltage Class V 400 400 400 400 400 400 400 400 400 400 400
E5-01
Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11 15 18 22
Rated Speed min-1 1450 1450 1450 1450 1450 1450 1450 1450 1450 1450 1450
E5-02 Motor Rated Power (for PM Motors) kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11.0 15 18.50 22.00
E5-03 Motor Rated Current (for PM Motors) A 0.91 1.67 3.02 4.74 7.08 10.21 13.96 20.5 27.1 34.2 37.6
E5-04 Number of Motor Poles (for PM Motors) – 6 6 6 6 6 6 6 6 6 6 6
Motor Stator Resistance (r1) (for PM
E5-05 12.616 7.340 2.724 1.232 1.509 1.112 0.720 0.393 0.291 0.220 0.192
Motors)
Motor d-Axis Inductance (Ld) (for PM
E5-06 mH 113.84 77.84 40.00 27.52 31.73 23.09 25.28 13.36 11.77 8.94 8.32
Motors)
Motor q-Axis Inductance (Lq) (for PM
E5-07 mH 157.16 103.56 60.80 37.00 40.88 34.39 35.20 18.44 14.60 11.40 10.64
Motors)
Motor Induction Voltage Constant 1 (Ke)
E5-09 mVs/rad 490.8 513.8 543.7 520.3 580.8 602.7 601.5 584.6 610.3 595.2 711.6
(for PM Motors)
Motor Induction Voltage Constant 2 (Ke)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(for PM Motors)
E1-04 Maximum Output Frequency Hz 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5
E1-05 Maximum Voltage V 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0
E1-06 Base Frequency Hz 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5
E1-09 Minimum Output Frequency Hz 3.6 3.6 3.6 3.6 3.6 3.6 3.6 3.6 3.6 3.6 3.6
C5-17 Motor Inertia kgm2 0.0016 0.0022 0.0081 0.0133 0.0133 0.017 0.027 0.044 0.054 0.063 0.113
n5-02 Motor Acceleration Time s 0.092 0.068 0.125 0.139 0.083 0.070 0.082 0.092 0.083 0.079 0.118
d-Axis Current for High Efficiency
n8-49 % -9.5 -9.4 -13.7 -10.0 -12.9 -19.9 -22.8 -19.8 -14.5 -16.1 -11.8
Control (for PM Motors) (OLV/PM)
Parameter List
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 483
B.7 Parameters that Change with the Motor Code Selection (for PM Motors)
No. Name Unit Default Settings
Motor Code Selection (for PM Motors) 2342 2343 2344 2345 2346 2347 2348 2349 234A 234C 234D
Voltage Class V 400 400 400 400 400 400 400 400 400 400 400
E5-01
Rated Power kW 30 37 45 55 75 90 110 132 160 200 250
Rated Speed min-1 1450 1450 1450 1450 1450 1450 1450 1450 1450 1450 1450
E5-02 Motor Rated Power (for PM Motors) kW 30.00 37.00 45.00 55.00 75.00 90.00 110.00 132.00 160.00 200.00 250.00
E5-03 Motor Rated Current (for PM Motors) A 50.9 65.4 80.2 96.1 129.2 153.1 191.7 226.0 268.8 331.3 422.9
E5-04 Number of Motor Poles (for PM Motors) – 6 6 6 6 6 6 6 6 6 6 6
Motor Stator Resistance (r1) (for PM
E5-05 0.136 0.091 0.064 0.048 0.028 0.024 0.015 0.011 0.007 0.006 0.003
Motors)
Motor d-Axis Inductance (Ld) (for PM
E5-06 mH 6.68 5.30 3.76 3.09 2.24 2.20 1.34 1.23 0.92 0.84 0.61
Motors)
Motor q-Axis Inductance (Lq) (for PM
E5-07 mH 8.16 6.80 4.88 4.75 3.03 3.23 2.16 1.67 1.30 1.25 0.89
Motors)
Motor Induction Voltage Constant 1 (Ke)
E5-09 mVs/rad 710.8 652.7 604.8 669.1 646.8 708.0 637.8 677.0 661.7 687.1 655.9
(for PM Motors)
Motor Induction Voltage Constant 2 (Ke)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(for PM Motors)
E1-04 Maximum Output Frequency Hz 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5
E1-05 Maximum Voltage V 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0
E1-06 Base Frequency Hz 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5
E1-09 Minimum Output Frequency Hz 3.6 3.6 3.6 3.6 3.6 3.6 3.6 3.6 3.6 3.6 3.6
C5-17 Motor Inertia kgm2 0.137 0.252 0.304 0.41 0.55 0.82 0.96 1.60 1.95 2.82 3.70
n5-02 Motor Acceleration Time s 0.105 0.157 0.156 0.172 0.169 0.210 0.201 0.279 0.281 0.325 0.341
d-Axis Current for High Efficiency
n8-49 % -10.5 -15.6 -17.4 -21.7 -17.3 -19.6 -24.1 -15.1 -17.0 -19.8 -19.3
Control (for PM Motors) (OLV/PM)
Table B.22 200 V, 1150 min-1 Type YASKAWA SST4 Series IPM Motor
No. Name Unit Default Settings
Motor Code Selection (for PM Motors) 2402 2403 2405 2406 2408 240A 240B 240D
Voltage Class V 200 200 200 200 200 200 200 200
E5-01
Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11
Rated Speed min-1 1150 1150 1150 1150 1150 1150 1150 1150
E5-02 Motor Rated Power (for PM Motors) kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11.0
E5-03 Motor Rated Current (for PM Motors) A 1.77 3.44 5.94 9.17 14.79 20.21 27.40 39.0
E5-04 Number of Motor Poles (for PM Motors) – 6 6 6 6 6 6 6 6
Motor Stator Resistance (r1) (for PM
E5-05 2.680 1.520 1.071 0.542 0.362 0.295 0.162 0.115
Motors)
Motor d-Axis Inductance (Ld) (for PM
E5-06 mH 30.55 15.29 17.48 11.98 8.60 9.54 5.31 4.44
Motors)
Motor q-Axis Inductance (Lq) (for PM
E5-07 mH 42.71 24.28 22.51 15.51 10.69 13.84 8.26 5.68
Motors)
Motor Induction Voltage Constant 1 (Ke)
E5-09 mVs/rad 313.1 313.1 345.3 342.9 363.8 384.3 379.9 370.2
(for PM Motors)
Motor Induction Voltage Constant 2 (Ke)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(for PM Motors)
E1-04 Maximum Output Frequency Hz 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5
E1-05 Maximum Voltage V 190.0 190.0 190.0 190.0 190.0 190.0 190.0 190.0
E1-06 Base Frequency Hz 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5
E1-09 Minimum Output Frequency Hz 2.9 2.9 2.9 2.9 2.9 2.9 2.9 2.9
C5-17 Motor Inertia kgm2 0.0022 0.0042 0.0081 0.0133 0.0168 0.027 0.044 0.054
n5-02 Motor Acceleration Time s 0.080 0.081 0.078 0.088 0.066 0.070 0.085 0.071
d-Axis Current for High Efficiency
n8-49 % -8.4 -11.0 -10.7 -10.7 -9.4 -22.5 -22.2 -16.7
Control (for PM Motors) (OLV/PM)
484 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
B.7 Parameters that Change with the Motor Code Selection (for PM Motors)
No. Name Unit Default Settings
Motor Code Selection (for PM Motors) 240E 240F 2410 2412 2413 2414 2415 2416
Voltage Class V 200 200 200 200 200 200 200 200
E5-01
Rated Power kW 15 18 22 30 37 45 55 75
Rated Speed min-1 1150 1150 1150 1150 1150 1150 1150 1150
E5-02 Motor Rated Power (for PM Motors) kW 15 18.50 22.00 30.00 37.00 45.00 55.00 75.00
E5-03 Motor Rated Current (for PM Motors) A 55.9 65.4 77.0 103.5 126.0 153.1 188.5 260.4
E5-04 Number of Motor Poles (for PM Motors) – 6 6 6 6 6 6 6 6
Motor Stator Resistance (r1) (for PM
E5-05 0.083 0.065 0.052 0.035 0.026 0.019 0.013 0.009
Motors)
Motor d-Axis Inductance (Ld) (for PM
E5-06 mH 3.50 2.92 2.55 2.03 1.59 1.24 0.98 0.70
Motors)
Motor q-Axis Inductance (Lq) (for PM
E5-07 mH 4.23 3.79 3.22 2.46 1.92 1.64 1.37 0.97
Motors)
Motor Induction Voltage Constant 1 (Ke)
E5-09 mVs/rad 364.5 404.5 445.1 444.4 447.3 470.8 422.4 418.3
(for PM Motors)
Motor Induction Voltage Constant 2 (Ke)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(for PM Motors)
E1-04 Maximum Output Frequency Hz 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5
E1-05 Maximum Voltage V 190.0 190.0 190.0 190.0 190.0 190.0 190.0 190.0
E1-06 Base Frequency Hz 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5
E1-09 Minimum Output Frequency Hz 2.9 2.9 2.9 2.9 2.9 2.9 2.9 2.9
C5-17 Motor Inertia kgm2 0.063 0.113 0.137 0.252 0.304 0.410 0.55 0.82
n5-02 Motor Acceleration Time s 0.061 0.089 0.090 0.122 0.119 0.132 0.145 0.159
d-Axis Current for High Efficiency
n8-49 % -13.7 -15.2 -10.9 -9.8 -9.3 -11.5 -17.7 -17.1
Control (for PM Motors) (OLV/PM)
Table B.23 400 V, 1150 min-1 Type YASKAWA SST4 Series IPM Motor
No. Name Unit Default Settings
Motor Code Selection (for PM Motors) 2432 2433 2435 2436 2438 243A 243B 243D 243E 243F 2440
Voltage Class V 400 400 400 400 400 400 400 400 400 400 400
E5-01
Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11 15 18 22
Rated Speed min-1 1150 1150 1150 1150 1150 1150 1150 1150 1150 1150 1150
E5-02 Motor Rated Power (for PM Motors) kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11.0 15 18.50 22.00
E5-03 Motor Rated Current (for PM Motors) A 0.89 1.72 3.02 4.58 7.40 10.21 13.75 19.5 27.7 32.7 39.2
E5-04 Number of Motor Poles (for PM Motors) – 6 6 6 6 6 6 6 6 6 6 6
Motor Stator Resistance (r1) (for PM
E5-05 10.720 6.080 4.336 2.143 1.428 1.199 0.648 0.460 0.325 0.260 0.209
Motors)
Motor d-Axis Inductance (Ld) (for PM
E5-06 mH 122.20 61.16 70.24 46.20 33.87 41.67 21.24 17.76 12.83 11.68 10.09
Motors)
Motor q-Axis Inductance (Lq) (for PM
E5-07 mH 170.80 97.12 90.04 60.28 42.98 69.15 33.04 22.72 17.19 15.16 16.25
Motors)
Motor Induction Voltage Constant 1 (Ke)
E5-09 mVs/rad 626.1 626.1 703.1 727.6 699.0 861.5 759.7 740.4 716.6 809.1 786.2
(for PM Motors)
Motor Induction Voltage Constant 2 (Ke)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(for PM Motors)
E1-04 Maximum Output Frequency Hz 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5
E1-05 Maximum Voltage V 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0
E1-06 Base Frequency Hz 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5
E1-09 Minimum Output Frequency Hz 2.9 2.9 2.9 2.9 2.9 2.9 2.9 2.9 2.9 2.9 2.9
C5-17 Motor Inertia kgm2 0.0022 0.0042 0.0081 0.0133 0.0168 0.027 0.044 0.054 0.063 0.113 0.137
n5-02 Motor Acceleration Time s 0.080 0.081 0.078 0.088 0.066 0.070 0.085 0.071 0.061 0.089 0.090
d-Axis Current for High Efficiency
n8-49 % -8.4 -11.0 -9.9 -9.0 -11.4 -23.2 -22.1 -16.7 -20.2 -15.2 -27.7
Control (for PM Motors) (OLV/PM)
Parameter List
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 485
B.7 Parameters that Change with the Motor Code Selection (for PM Motors)
No. Name Unit Default Settings
Motor Code Selection (for PM Motors) 2442 2443 2444 2445 2446 2447 2448 2449 244A 244C
Voltage Class V 400 400 400 400 400 400 400 400 400 400
E5-01
Rated Power kW 30 37 45 55 75 90k 110 132 160 200
Rated Speed min-1 1150 1150 1150 1150 1150 1150 1150 1150 1150 1150
E5-02 Motor Rated Power (for PM Motors) kW 30.00 37.00 45.00 55.00 75.00 90.00 110.00 132.00 160.00 200.00
E5-03 Motor Rated Current (for PM Motors) A 51.8 63.0 76.6 93.1 128.1 153.1 186.5 221.9 269.8 336.5
E5-04 Number of Motor Poles (for PM Motors) – 6 6 6 6 6 6 6 6 6 6
Motor Stator Resistance (r1) (for PM
E5-05 0.140 0.106 0.076 0.051 0.032 0.026 0.015 0.012 0.009 0.007
Motors)
Motor d-Axis Inductance (Ld) (for PM
E5-06 mH 8.12 6.43 4.96 3.99 2.97 2.44 1.87 1.49 1.41 1.22
Motors)
Motor q-Axis Inductance (Lq) (for PM
E5-07 mH 9.84 7.71 6.56 5.39 3.90 3.23 2.46 2.08 1.88 1.51
Motors)
Motor Induction Voltage Constant 1 (Ke)
E5-09 mVs/rad 888.8 857.7 941.6 853.8 829.6 835.6 833.4 848.6 889.1 915.0
(for PM Motors)
Motor Induction Voltage Constant 2 (Ke)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(for PM Motors)
E1-04 Maximum Output Frequency Hz 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5
E1-05 Maximum Voltage V 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0
E1-06 Base Frequency Hz 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5
E1-09 Minimum Output Frequency Hz 2.9 2.9 2.9 2.9 2.9 2.9 2.9 2.9 2.9 2.9
C5-17 Motor Inertia kgm2 0.252 0.304 0.410 0.55 0.82 0.96 1.60 1.95 2.82 3.70
n5-02 Motor Acceleration Time s 0.122 0.119 0.132 0.145 0.159 0.155 0.211 0.214 0.256 0.268
d-Axis Current for High Efficiency
n8-49 % -9.8 -10.2 -11.5 -16.0 -15.7 -15.7 -14.7 -16.5 -14.1 -10.4
Control (for PM Motors) (OLV/PM)
486 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
Appendix: C
MEMOBUS/Modbus Communications
C.1 MEMOBUS/MODBUS CONFIGURATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 488
C.2 COMMUNICATION SPECIFICATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 489
C.3 CONNECTING TO A NETWORK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 490
C.4 MEMOBUS/MODBUS SETUP PARAMETERS . . . . . . . . . . . . . . . . . . . . . . . . . . 492
C.5 DRIVE OPERATIONS BY MEMOBUS/MODBUS . . . . . . . . . . . . . . . . . . . . . . . . 495
C.6 COMMUNICATIONS TIMING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 496
C.7 MESSAGE FORMAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 497
C.8 MESSAGE EXAMPLES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 499
C.9 MEMOBUS/MODBUS DATA TABLE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 501
C.10 ENTER COMMAND . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 512
C.11 COMMUNICATION ERRORS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513
C.12 SELF-DIAGNOSTICS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 514
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 487
C.1 MEMOBUS/Modbus Configuration
C.1 MEMOBUS/Modbus Configuration
Drives can be controlled from a PLC or other master device via serial communications using the MEMOBUS/Modbus
protocol.
MEMOBUS/Modbus communication can be configured using one master (PLC) and a maximum of 255 slaves. The
drive has slave functionality only, meaning that serial communication is normally initiated from the master and
responded to by the slaves.
The master communicates to the slave (drive) specified. The address or node for each slave must be set beforehand so
that the master can communicate with the slave at that address. A slave that receives a command from the master will
perform the specified function and then send a response back to the master.
Figure C.1
Master (PLC or other)
Slave (U1000)
common_
TMonly
Figure C.1 Connecting Multiple Drives to a PLC
488 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
C.2 Communication Specifications
C.2 Communication Specifications
MEMOBUS/Modbus specifications appear in Table C.1.
Table C.1 MEMOBUS/Modbus Communication Specifications
Item Specifications
Interface RS-422, RS-485
Communications Cycle Asynchronous (Start-stop synchronization)
Communication Speeds Available 1.2; 2.4; 4.8; 9.6; 19.2; 38.4; 57.6; 76.8; 115.2 kbps
Data length 8 bit (fixed)
Communication Parameters
Parity Select even, odd, or none
Stop bit 1 bit (fixed)
Protocol MEMOBUS/Modbus (using RTU mode only)
Max Number of Slaves 31 drives (RS-485)
MEMOBUS/Modbus
Communications
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 489
C.3 Connecting to a Network
C.3 Connecting to a Network
This section explains how to connect the drive to a MEMOBUS/Modbus network and the network termination required.
Network Cable Connection
Follow the instructions below to connect the drive to a MEMOBUS/Modbus network.
1. With the power shut off, connect the communications cable to the drive and the master. Use terminals TB5 for
MEMOBUS/Modbus.
Figure C.2
IG R+ R- S+ S- (TB4)
YEG_TMonly
S- Send (-)
S+ Send (+)
R- Receive (-)
R+ Receive (+)
IG Shield Ground
Figure C.2 Serial Communications Cable Connection Terminals (TB4)
Note: Separate the communications cables from the main circuit cables and other wiring and power cables. Use shielded cables for the
communications cables, and properly shielded clamps to prevent problems with noise. When using RS-485 communications,
connect S+ to R+, and S- to R- as shown in the diagram below.
2. Check or set the termination resistor selection at all slaves. Use the description in Network Termination on
page 491 for slaves that are U1000 drives.
3. Switch the power on.
4. Set the parameters needed for serial communications (H5-01 through H5-12) using the digital operator.
5. Shut the power off and wait until the display on the digital operator goes out completely.
6. Turn the power back on.
7. The drive is now ready to begin communicating with the master.
Wiring Diagram for Multiple Connection
Figure C.3 and Figure C.4 explain the wiring diagrams for multiple connections using MEMOBUS/Modbus
communication.
RS-485 Interface
Figure C.3
R– S–
U1000
R+ S+
PLC
S– R– S2
S+ R+
IG IG OFF
S–
U1000
S+
R– S2
R+
IG OFF
S–
U1000
common_
S+
R– S2
TMonly
R+ ON
IG
Figure C.3 RS-485 Interface
Note: 1. Turn on the DIP switch S2 on the drive that is located at the end of the network. All other slave devices must have this DIP switch set
to the OFF position.
2. Set H5-07 to “1” when using the RS-485 interface.
490 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
C.3 Connecting to a Network
RS-422 Interface
Figure C.4
R– S–
U1000
R+ S+
PLC
S– R– S2
S+ R+
IG IG OFF
S–
U1000
S+
R– S2
R+
IG OFF
common_
S–
S+
U1000
TMonly
R– S2
R+ ON
IG
Figure C.4 RS-422 Interface
Note: 1. Turn on the DIP switch S2 on the drive that is located at the end of the network. All other slave devices must have this DIP switch set
to the OFF position.
2. Set H5-07 to 0 when using RS-422 interface in a point-to-point circuit.
Set H5-07 to 1 when using RS-422 interface in a multi-drop circuit.
Network Termination
The two ends of the MEMOBUS/Modbus network line have to be terminated. The drive has a built in termination
resistor that can be enabled or disabled using DIP switch S2. If a drive is located at the end of a network line, enable the
termination resistor by setting DIP switch S2 to the ON position. Disable the termination resistor on all slaves that are not
located at the network line end.
Refer to MEMOBUS/Modbus Termination on page 85 for details on setting S2.
MEMOBUS/Modbus
Communications
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 491
C.4 MEMOBUS/Modbus Setup Parameters
C.4 MEMOBUS/Modbus Setup Parameters
MEMOBUS/Modbus Serial Communication
The settings for MEMOBUS/Modbus communications become effective when the drive is restarted after they have been
made.
H5-01: Drive Slave Address
Sets the drive slave address used for MEMOBUS/Modbus communications.
Note: After changing this parameter, the power must be cycled to enable the new setting.
No. Name Setting Range Default
H5-01 Drive Slave Address 0 to FFH <1> 1FH
<1> If the address is set to 0, no response will be provided during communications.
For serial communications to work, each individual slave drive must be assigned a unique slave address. Setting H5-01
to any value besides 0 assigns the drive its address in the network. Slave address don’t need to be assigned in sequential
order, but each address needs to be unique so that no two drives have the same address.
H5-02: Communication Speed Selection
Sets the MEMOBUS/Modbus communications speed.
Note: After changing this parameter, the power must be cycled to enable the new setting.
No. Name Setting Range Default
H5-02 Communication Speed Selection 0 to 8 3
Setting 0: 1200 bps
Setting 1: 2400 bps
Setting 2: 4800 bps
Setting 3: 9600 bps
Setting 4: 19200 bps
Setting 5: 38400 bps
Setting 6: 57600 bps
Setting 7: 76800 bps
Setting 8: 115200 bps
H5-03: Communication Parity Selection
Sets the parity used for MEMOBUS/Modbus communications.
Note: After changing this parameter, the power must be cycled to enable the new setting.
No. Name Setting Range Default
H5-03 Communication Parity Selection 0 to 2 0
Setting 0: No parity
Setting 1: Even parity
Setting 2: Odd parity
H5-04: Stopping Method after Communication Error
Selects the stopping method after a MEMOBUS/Modbus communications error (CE) has occurred.
No. Name Setting Range Default
H5-04 Stopping Method after Communication Error 0 to 3 3
492 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
C.4 MEMOBUS/Modbus Setup Parameters
Setting 0: Ramp to stop (uses the deceleration time currently enabled)
Setting 1: Coast to stop
Setting 2: Fast Stop
Setting 3: Alarm only (continue operation)
H5-05: Communication Fault Detection Selection
Enables or disabled the communication error (CE) detection for MEMOBUS/Modbus communications.
No. Name Setting Range Default
H5-05 Communication Fault Detection Selection 0 or 1 1
Setting 0: Disabled
No communication error detection. The drive continues operation.
Setting 1: Enabled
If the drive does not receive data from the master for longer than the time set to H5-09, then a CE fault will be triggered
and the drive will operate as determined by parameter H5-04.
H5-06: Drive Transmit Wait Time
Sets the time the drive waits after receiving data from a master until responding data.
No. Name Setting Range Default
H5-06 Drive Transmit Wait Time 5 to 65 ms 5 ms
Figure C.5
PLC→U1000 U1000→PLC PLC→U1000
Command message Response message Command message Time
common_
TMonly
24 bit length H5-06 setting
Figure C.5 Drive Transmit Wait Time Setting
H5-07: RTS Control Selection
Enables or disables RTS control.
No. Name Setting Range Default
H5-07 RTS Control Selection 0 or 1 1
Setting 0: Disabled. RTS is always on.
Use this setting with point-to-point RS-422 communications.
Setting 1: Enabled. RTS switches while sending.
Use this setting with RS-485 communications or when using multi-drop RS-422 communications.
H5-09: Communication Fault Detection Time
Sets the time the communications must be lost before the drive triggers a CE fault.
No. Name Setting Range Default
H5-09 Communication Fault Detection Time 0.0 to 10.0 s 2.0 s
MEMOBUS/Modbus
Communications
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 493
C.4 MEMOBUS/Modbus Setup Parameters
H5-10: Unit Selection for MEMOBUS/Modbus Register 0025H
Sets the unit for the output voltage monitor value in MEMOBUS/Modbus register 0025H.
No. Name Setting Range Default
H5-10 Unit Selection for MEMOBUS/Modbus Register 0025H 0 or 1 0
Setting 0: 0.1 V units
Setting 1: 1 V units
H5-11: Communications ENTER Function Selection
Selects if an Enter command is needed to change parameter values via MEMOBUS/Modbus communications. Refer to
Enter Command on page 512.
No. Name Setting Range Default
H5-11 Communications ENTER Function Selection 0 or 1 0
Setting 0: Enter command necessary
Parameter changes become effective after an Enter command. An Enter command must only be sent after the last
parameter change, not for each single parameter.
Setting 1: Enter command not necessary
Parameter value changes become effective immediately without the need to send an Enter command.
H5-12: Run Command Method Selection
Selects the type of sequence used when the Run command source is set to MEMOBUS/Modbus communications (b1-02,
b1-16 = 2).
No. Name Setting Range Default
H5-12 Run Command Method Selection 0 or 1 0
Setting 0: FWD/Stop, REV/Stop
Setting bit 0 of MEMOBUS/Modbus register 0001H will start and stop the drive in the forward direction. Setting bit 1
will start and stop the drive in reverse.
Setting 1: Run/Stop, FWD/REV
Setting bit 0 of MEMOBUS/Modbus register 0001H will start and stop the drive. Setting bit 1 changes the direction.
H5-17: Operation Selection when Unable to Write into EEPROM
There is normally no need to change this parameter from the default value.
Selects the operation to be carried out when an attempt is made to write data into EEPROM by MEMOBUS/Modbus
communications if writing into EEPROM is not enabled.
No. Name Setting Range Default
H5-17 Operation Selection when Unable to Write into EEPROM 0, 1 0
Setting 0: Cannot write into EEPROM.
Setting 1: Write in RAM only.
H5-18: Filter Time Constant for Motor Speed Monitoring
Sets the filter time constant for monitoring the motor speed from MEMOBUS/Modbus communications and
communication option.
Applicable MEMOBUS/Modbus registers: 3EH, 3FH, 44H, ACH, and ADH
No. Name Setting Range Default
H5-18 Filter Time Constant for Motor Speed Monitoring 0 to 100 0 ms
494 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
C.5 Drive Operations by MEMOBUS/Modbus
C.5 Drive Operations by MEMOBUS/Modbus
The drive operations that can be performed by MEMOBUS/Modbus communication depend on drive parameter settings.
This section explains the functions that can be used and related parameter settings.
Observing the Drive Operation
A PLC can perform the following actions with MEMOBUS/Modbus communications at any time regardless of
parameter settings (except H5-).
• Observe drive status and drive control terminal status from a PLC.
• Read and write parameters.
• Set and reset faults.
• Set multi-function inputs. Inputs settings from the input terminals (S1 to S8) and from MEMOBUS/Modbus
communications are both linked by an OR operation.
Controlling the Drive
To start and stop the drive or set the frequency reference using MEMOBUS/Modbus communications, an external
reference must be selected and the parameters listed in Table C.2 must be adjusted accordingly.
Table C.2 Setting Parameters for Drive Control from MEMOBUS/Modbus
Reference Source Parameter Name Required Setting
b1-01 Frequency Reference Selection 1 2
External Reference 1
b1-02 Run Command Selection 1 2
b1-15 Frequency Reference Selection 2 2
External Reference 2
b1-16 Run Command Selection 2 2
Refer to b1-01: Frequency Reference Selection 1 on page 144 and b1-02: Run Command Selection 1 on page 145 for
details on external reference parameter selections. Refer to Setting 2: External reference 1/2 selection on page 228 for
instructions on how to select external reference 1 and 2.
MEMOBUS/Modbus
Communications
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 495
C.6 Communications Timing
C.6 Communications Timing
To prevent overrun in the slave drive, the master should wait a certain time between sending messages to the same drive.
In the same way, the slave drive must wait before sending response messages to prevent an overrun in the master. This
section explains the message timing.
Command Messages from Master to Drive
In order to prevent overrun and data loss, the master must wait between receiving a response and sending the same type
of command as before to the same slave drive. The minimum wait time depends on the command as shown in Table C.3.
Table C.3 Minimum Wait Time for Sending Messages
Command Type Example Minimum Wait Time
• Control command (Run, Stop)
1 • Set inputs/outputs 5 ms <1>
• Read monitors and parameter values
H5-11 = 0: 50 ms
2 Write parameters H5-11 = 1: 200ms
<1>
200 ms to 2 s, depending on the number of
3 Save changes using an Enter command
parameters that were changed <1>
4 Enter with storage to drive EEPROM after initialization 5s
<1> If the drive receives command type 1 data during the minimum wait time, it will perform the command and then respond. However, if it
receives a command type 2 or 3 during that time, either a communication error will result or the command will be ignored.
Figure C.6
PLC → U1000 U1000→ PLC PLC→ U1000
Command message Response message Command message Time
common_
24 bit length Master Send
Wait Time
TMonly
Figure C.6 Minimum Wait Time for Sending Messages
A timer should be set in the master to check how long it takes for the slave drive(s) to respond to the master. If no
response is received within a certain amount of time, the master should try resending the message.
Response Messages from Drive to Master
If the drive receives a command from the master, it will process the data received and wait for the time set in H5-06 until
it responds. Increase H5-06 if the drive response causes overrun in the master.
Figure C.7
PLC→ U1000 U1000→PLC PLC→ U1000
Command message Response message Command message Time
common_
24 bit length H5-06 TMonly
setting
Figure C.7 Minimum Response Wait Time
496 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
C.7 Message Format
C.7 Message Format
Message Content
In MEMOBUS/Modbus communications, the master sends commands to the slave, and the slave responds. The message
format is configured for both sending and receiving as shown below, and the length of data packets depends on the
command (function) content.
SLAVE ADDRESS common_
FUNCTION CODE TMonly
DATA
ERROR CHECK
Slave Address
The slave address in the message defines the note the message is sent to. Use addresses between 0 and FF (hex). If a
message with slave address 0 is sent (broadcast), the command from the master will be received by all slaves. The slaves
do not provide a response to a broadcast type message.
Function Code
The three types of function codes are shown in the table below.
Data Length (bytes)
Function Function Name Command Message Response Message
Code
Minimum Maximum Minimum Maximum
03H Read MEMOBUS/Modbus registers 8 8 7 37
08H Loopback test 8 8 8 8
10H Write to multiple MEMOBUS/Modbus registers 11 41 8 8
Data
Configure consecutive data by combining the MEMOBUS/Modbus register address (test code in case of a loopback test)
and the data the register contains. The data length changes depending on the command details.
A drive MEMOBUS/Modbus register always has a data length of two bytes. Therefore data written into drive registers
must also always have a length of two bytes. Register data read out from the drive will always consist of two bytes.
MEMOBUS/Modbus
Communications
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 497
C.7 Message Format
Error Check
The drive uses a CRC-16 (cyclic redundancy check, checksum method) for checking data validity. Use the procedure
described below when calculating the CRC-16 checksum for command data or when verifying response data.
Command Data
When the drive receives data, it calculates the CRC-16 checksum from the data and compares it to the CRC-16 value
received within the message. Both must match before a command is processed.
An initial value of FFFFH (i.e., all 16 bits equal 1) must be used for CRC-16 calculations in the MEMOBUS/Modbus
protocol.
Calculate the CRC-16 checksum using the following steps:
1. The starting value is FFFFH.
2. Perform an XOR operation of this value and the slave address.
3. Right shift the result.
4. When the overflow bit of the shift operation becomes 1, perform an XOR operation of the result from step 3
above and the fix value A001H.
5. Repeat steps 3 and 4 until eight shift operations have been performed.
6. After eight shift operations, perform an XOR operation with the result and the next data in the message (function
code, register address, data). Continue with steps 3 to 5 until the last data has been processed.
7. The result of the last shift or XOR operation is the checksum.
The example in Table C.4 shows the CRC-16 calculation of the slave address 02H and the function code 03H, yielding
the result D140H.
Note: This example does not show the calculation for a complete MEMOBUS/Modbus command. Normally data would follow in the
calculation.
Table C.4 CRC-16 Checksum Calculation Example
Description Calculation Overflow Description Calculation Overflow
Initial Value (FFFFH) 1111 1111 1111 1111 Function Code 03H 0000 0000 0000 0011
Address 02H 0000 0000 0000 0010 XOR w result 1000 0001 0011 1101
XOR w initial value 1111 1111 1111 1101 Shift 1 0100 0000 1001 1110 1
Shift 1 0111 1111 1111 1110 1 XOR w A001H 1010 0000 0000 0001
XOR w A001H 1010 0000 0000 0001 XOR result 1110 0000 1001 1111
XOR result 1101 1111 1111 1111 Shift 2 0111 0000 0100 1111 1
Shift 2 0110 1111 1111 1111 1 XOR w A001H 1010 0000 0000 0001
XOR w A001H 1010 0000 0000 0001 XOR result 1101 0000 0100 1110
XOR result 1100 1111 1111 1110 Shift 3 0110 1000 0010 0111 0
Shift 3 0110 0111 1111 1111 0 Shift 4 0011 0100 0001 0011 1
Shift 4 0011 0011 1111 1111 1 XOR w A001H 1010 0000 0000 0001
XOR w A001H 1010 0000 0000 0001 XOR result 1001 0100 0001 0010
XOR result 1001 0011 1111 1110 Shift 5 0100 1010 0000 1001 0
Shift 5 0100 1001 1111 1111 0 Shift 6 0010 0101 0000 0100 1
Shift 6 0010 0100 1111 1111 1 XOR w A001H 1010 0000 0000 0001
XOR w A001H 1010 0000 0000 0001 XOR result 1000 0101 0000 0101
XOR result 1000 0100 1111 1110 Shift 7 0100 0010 1000 0010 1
Shift 7 0100 0010 0111 1111 0 XOR w A001H 1010 0000 0000 0001
Shift 8 0010 0001 0011 1111 1 XOR result 1110 0010 1000 0011
XOR w A001H 1010 0000 0000 0001 Shift 8 0111 0001 0100 0001 1
XOR result 1000 0001 0011 1110 XOR w A001H 1010 0000 0000 0001
XOR result 1101 0001 0100 0000
1101 0001 0100 0000
Perform operations with next data (function code) CRC-16 D 1 4 0
Lower Upper
Continue from here with next data.
Response Data
To be sure that the data is valid, perform a CRC-16 calculation on the response message data as described above.
Compare the result to the CRC-16 checksum that was received within the response message. Both should match.
498 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
C.8 Message Examples
C.8 Message Examples
Below are some examples of command and response messages.
Reading Drive MEMOBUS/Modbus Register Contents
Using the function code 03H (Read), a maximum of 16 MEMOBUS/Modbus registers can be read out at a time.
The following table shows message examples when reading status signals, error details, data link status, and frequency
references from the slave 2 drive.
Command Message Response Message (normal) Response Message (fault)
Slave Address 02H Slave Address 02H Slave Address 02H
Function Code 03H Function Code 03H Function Code 83H
Upper 00H Data Quantity 08H Error Code 03H
Starting No.
Lower 20H Upper 00H Upper F1H
1st storage register CRC-16
Upper 00H Lower 65H Lower 31H
Data Quantity
Lower 04H Next storage Upper 00H
Upper 45H register Lower 00H
CRC-16
Lower F0H Next storage Upper 00H
register Lower 00H
Next storage Upper 01H
register Lower F4H
Upper AFH
CRC-16
Lower 82H
Loopback Test
Function code 08H performs a loopback test. This test returns a response message with exactly the same content as the
command message and can be used to check communications between the master and slave. User-defined test code and
data values can be set.
The following table shows a message example when performing a loopback test with the slave 1 drive.
Command Message Response Message (normal) Response Message (fault)
Slave Address 01H Slave Address 01H Slave Address 01H
Function Code 08H Function Code 08H Function Code 88H
Upper 00H Upper 00H Error Code 01H
Test Code Test Code
Lower 00H Lower 00H Upper 86H
CRC-16
Upper A5H Upper A5H Lower 50H
Data Data
Lower 37H Lower 37H
Upper DAH Upper DAH
CRC-16 CRC-16
Lower 8DH Lower 8DH
MEMOBUS/Modbus
Communications
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 499
C.8 Message Examples
Writing to Multiple Registers
Function code 10h allows the user to write multiple drive MEMOBUS/Modbus registers with one message. This process
works similar to reading registers, i.e., the address of the first register that is to be written and the data quantity must be
set in the command message. The data to be written must be consecutive so that the register addresses are in order,
starting from the specified address in the command message. The data order must be high byte, then lower byte.
The following table shows an example of a message where a forward operation has been set with a frequency reference
of 60.00 Hz for the slave 1 drive.
If parameter values are changed using the Write command, depending on the setting of H5-11, an Enter command will be
necessary to activate the data or save them. Refer to H5-11: Communications ENTER Function Selection on page 494
and Enter Command on page 512 for detailed descriptions.
Command Message Response Message (normal) Response Message (fault)
Slave Address 01H Slave Address 01H Slave Address 01H
Function Code 10H Function Code 10H Function Code 90H
Upper 00H Upper 00H Error Code 02H
Starting No. Starting No.
Lower 01H Lower 01H Upper CDH
CRC-16
Upper 00H Upper 00H Lower C1H
Data Quantity Data Quantity
Lower 02H Lower 02H
Number of Bytes 04H Upper 10H
CRC-16
Upper 00H Lower 08H
Starting Data
Lower 01H
Upper 17H
Next Data
Lower 70H
Upper 63H
CRC-16
Lower 39H
Note: For the number of bytes in the command message, take double the number of the data quantity.
500 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
C.9 MEMOBUS/Modbus Data Table
C.9 MEMOBUS/Modbus Data Table
Table below lists all MEMOBUS/Modbus data. There are three types of data: command data, monitor data, and
broadcast data.
Command Data
It is possible to both read and write command data.
Note: Bits that are not used should be set to 0. Refrain from writing to reserved registers.
Register No. Contents
0000H Reserved
Operation Commands and Multi-function Inputs
H5-12 = 0: Forward Run Command (0 = Stop, 1 = Forward Run)
bit 0
H5-12 = 1: Run Command (0 = Stop, 1 = Run)
H5-12 = 0: Reverse Run Command (0 = Stop, 1 = Reverse Run)
bit 1
H5-12 = 1: Forward/Reverse (0 = Forward, 1 = Reverse)
bit 2 Option Card External Fault (EF0)
bit 3 Fault Reset
Multi-Function Input 1
Function is ComRef when H1-01 = 40 (Forward/Stop).
bit 4
Note: When the bit at ComCtrl is turned on, commands from MEMOBUS/Modbus communications take control of the operation.
0001H However, when a communications option card is connected, that option card is given priority.
Multi-Function Input 2
bit 5
Function is ComCtrl when H1-02 = 41 (Reverse/Stop).
bit 6 Multi-Function Input 3
bit 7 Multi-Function Input 4
bit 8 Multi-Function Input 5
bit 9 Multi-Function Input 6
bit A Multi-Function Input 7
bit B Multi-Function Input 8
bit C to F Reserved
0002H Frequency Reference Units are determined by parameter o1-03.
Unit: 0.1%
0003H Output voltage gain
Range: 20 (2.0%) to 2000 (200.0%), Default when power on: 1000 (100.0%)
0004H Torque Reference/Torque Limit, 0.1% units, signed (Usable only if Torque Control is enabled)
0005H Torque Compensation, 0.1% units, signed (Usable only if Torque Control is enabled)
0006H PID Target, 0.01% units, signed
0007H Analog Output Terminal FM Setting (10 V / 4000 H)
0008H Analog Output Terminal AM Setting (10 V / 4000 H)
Settings for Multi-Function Digital Outputs
bit 0 Multi-Function Contact Output (terminal M1-M2)
bit 1 Multi-Function Contact Output 2 (terminal M3-M4)
bit 2 Multi-Function Contact Output 2 (terminal M5-M6)
0009H
bit 3 to 5 Reserved
bit 6 Enables the function in bit 7
bit 7 Fault Contact Output (terminal MA/MB-MC)
bit 8 to F Reserved
000AH Pulse Output Terminal MP Setting, 1 Hz units, Setting Range: 0 to 32000
000BH to 000EH Reserved
Control Selection Setting
bit 0 Reserved
bit 1 PID Setpoint Input
bit 2 Torque reference / torque limit input (enables the setting from MEMOBUS/Modbus)
bit 3 Torque compensation input (enables the setting from MEMOBUS/Modbus)
000FH
bit 4 to B Reserved
bit C Enable Terminal S5 Input for Broadcast Data
bit D Enable Terminal S6 Input for Broadcast Data
MEMOBUS/Modbus
Communications
bit E Enable Terminal S7 Input for Broadcast Data
bit F Enable Terminal S8 Input for Broadcast Data
0010H to 001AH Reserved
001BH Analog Monitor Option AO-A3 Analog Output 1 (10 V/4000 H)
001CH Analog Monitor Option AO-A3 Analog Output 2 (10 V/4000 H)
001DH Digital Output Option DO-A3 Output (Binary)
001EH to 001FH Reserved
C
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 501
C.9 MEMOBUS/Modbus Data Table
Monitor Data
Monitor data can be read only.
Register No. Contents
Drive Status 1
bit 0 During Run
bit 1 During Reverse
bit 2 Drive Ready
bit 3 Fault
bit 4 Data Setting Error
0020H
bit 5 Multi-Function Contact Output 1 (terminal M1-M2)
bit 6 Multi-Function Contact Output 2 (terminal M3-M4)
bit 7 Multi-Function Contact Output 3 (terminal M5-M6)
bit 8 to bit D Reserved
bit E When ComRef has been enabled
bit F When ComCtrl has been enabled
Fault Contents 1
bit 0 Overcurrent (oC), Ground fault (GF)
bit 1 Control Circuit Overvoltage (ov)
bit 2 Overload (oL2)
bit 3 Overheat 1 (oH1), Heatsink Overheat Warning (oH2)
bit 4, 5 Reserved
bit 6 PID Feedback Loss/Excessive PID Feedback (FbL / FbH)
bit 7 External Fault (EF0 to EF8)
0021H bit 8 CPF: Hardware Fault (includes oFx)
bit 9 Motor Overload (oL1), Overtorque Detection 1/2 (oL3/oL4), Undertorque Detection 1/2 (UL3/UL4)
bit A PG Disconnect (PGo), PG Hardware Fault (PGoH), Overspeed (oS), Speed Deviation (dEv)
bit B Control Circuit Undervoltage (Uv), Power Supply Undervoltage (AUv), Power Supply Frequency Fault (Fdv)
Control Circuit Undervoltage Fault (Uv1), Control Power Supply Voltage Fault (Uv2), Undervoltage 3 (Uv3), Power
bit C
Supply Frequency Fault (Fdv), Power Supply Undervoltage (AUv), Phase Order Detection Fault (SrC)
bit D Output Phase Loss (LF)
bit E MEMOBUS/Modbus Communication Error (CE), Option Communication Error (bUS)
bit F External Digital Operator Connection Fault (oPr)
Data Link Status
bit 0 Writing data or switching motors
bit 1, 2 Reserved
bit 3 Upper or lower limit error
0022H bit 4 Data conformity error
bit 5 Writing to EEPROM
0: Write into EEPROM.
bit 6 1: Write in RAM only.
Note: Enabled only when H5-17=1.
bit 7 to bit F Reserved
0023H Frequency Reference, <1>
0024H Output Frequency, <1>
0025H Output Voltage Reference, 0.1 V units (units are determined by parameter H5-10)
0026H Output Current, 0.1 A units <1>
0027H Output Power
0028H Torque Reference
Fault Contents 2
bit 0 Reserved
bit 1 Ground Fault (GF)
bit 2 Reserved
0029H
bit 3 Output Phase Loss (LF)
bit 4, 5 Reserved
bit 6 Motor Overheat Fault (PTC Input) (oH4)
bit 7 to bit F Reserved
502 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
C.9 MEMOBUS/Modbus Data Table
Register No. Contents
Alarm Contents1
bit 0, 1 Reserved
bit 2 Forward/Reverse Run Command Input Error (EF)
bit 3 Baseblock (bb)
bit 4 Overtorque 1 (oL3)
bit 5 Heatsink Overheat (oH)
bit 6 Control Circuit Overvoltage (ov)
bit 7 Control Circuit Undervoltage (Uv)
002AH
bit 8 Fan Fault (FAn)
bit 9 MEMOBUS/Modbus Communication Error (CE)
bit A Option Communication Error (bUS)
bit B Undertorque Detection 1/2 (UL3/UL4)
bit C Motor Overheat (oH3)
bit D PID Feedback Loss, Excessive PID Feedback (FbL, FbH)
bit E Reserved
bit F Serial Communication Transmission Error (CALL)
Input Terminal Status
bit 0 Terminal S1 Closed
bit 1 Terminal S2 Closed
bit 2 Terminal S3 Closed
bit 3 Terminal S4 Closed
002BH
bit 4 Terminal S5 Closed
bit 5 Terminal S6 Closed
bit 6 Terminal S7 Closed
bit 7 Terminal S8 Closed
bit 8 to bit F Reserved
Drive Status 2
bit 0 During Run
bit 1 Zero Speed
bit 2 Speed Agree
bit 3 User-set Speed Agree
bit 4 Frequency Detection 1
bit 5 Frequency Detection 2
bit 6 Drive Ready
002CH bit 7 During Undervoltage
bit 8 During Baseblock
bit 9 Frequency Reference from Operator Keypad
bit A Run Command from Operator Keypad
bit B Over/Undertorque Detection 1, 2
bit C Frequency Reference Loss
bit D During Fault Restart
bit E Fault
bit F Communication Timeout
Output Terminal Status
bit 0 Multi-Function Contact Output 1 (terminal M1-M2)
bit 1 Multi-Function Contact Output 2 (terminal M3-M4)
002DH bit 2 Multi-Function Contact Output 3 (terminal M5-M6)
bit 3 to 6 Reserved
bit 7 Fault Contact Output (terminal MA/MB-MC)
bit 8 to F Reserved
002EH Reserved
002FH Frequency Reference Bias (from Up/Down 2 Function), 0.1% units
0030H Reserved
0031H Control Circuit Voltage, 1 Vdc units
0032H Torque Reference (U1-09), 0.1% units
0033H Reserved
0034H Product Code 1 [ASCII], Product Type (U0 for U1000)
0035H Product Code 2 [ASCII], Region Code
0036H, 0037H Reserved
MEMOBUS/Modbus
0038H PID Feedback, 0.1% units, unsigned, 100% / max. output frequency
Communications
0039H PID Input, 0.1% units, signed, 100% / max. output frequency
003AH PID Output, 0.1% units, signed, 100% / max. output frequency
003BH, 003CH Reserved
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 503
C.9 MEMOBUS/Modbus Data Table
Register No. Contents
Communications Error Contents <3>
bit 0 CRC Error
bit 1 Data Length Error
bit 2 Reserved
003DH bit 3 Parity Error
bit 4 Overrun Error
bit 5 Framing Error
bit 6 Timeout
bit 7 to bit F Reserved
003EH min-1 <4>
Output Frequency
003FH 0.01% units
0040H to 004AH Used for various monitors U1-. Refer to U: Monitors on page 456 for parameter details.
Drive status (U1-12)
bit 0 During Run
bit 1 During Zero Speed
bit 2 During Reverse Run
bit 3 During Fault Reset Signal Input
bit 4 During Speed Agree
bit 5 Drive Ready
004BH bit 6 Minor Fault
bit 7 Fault
bit 8 During Operation Error (oPE)
bit 9 During Momentary Power Loss
bit A Motor 2 selected
bit B Reserved
bit E ComRef status, NetRef status
bit F ComCtrl status, NetCtrl status
Used for various monitors U1-, U4-, U5- and U6-. Refer to U2: Fault Trace on page 458 and U3: Fault History on page 460 for parameter
004CH to 007EH
details.
007FH Minor Fault Code, Refer to Alarm Register Contents on page 511 for Minor Fault codes.
0080H to 0097H Used for monitors U2-, U3-. Refer to U: Monitors on page 456 and Fault Trace Contents on page 510 for register value descriptions.
U4-01 (Cumulative Operation Time)
0098H, 0099H
Example: When U4-01 (Cumulative Operation Time) is 12345 hours, then 0098H = 1234 and 0099H = 5.
U4-03 (Cooling Fan Operation Time)
009AH, 009BH
Example: When U4-03 (Cooling Fan Operation Time) is 12345 hours, then 009AH = 1234 and 009BH = 5.
009CH to 00AAH Reserved
00ABH Drive Rated Current <1>
00ACH min-1 units <4>
Motor Speed (U1-05)
00ADH 0.01% units
00AEH, 00AFH Reserved
Register contains ASCII code of the option card.
AI-A3 = 0003H
AO-A3 = 0004H
DI-A3 = 0001H
DO-A3 = 0002H
PG-B3 = 0011H
PG-F3 = 0021H
PG-RT3 = 0023H
PG-X3 = 0012H
00B0H Option Code Connected to CN5-A
SI-C3 = 5343H
SI-EM3 = 1005H
SI-EN3 = 1006H
SI-ET3 = 1004H
SI-N3 = 534EH
SI-P3 = 5350H
SI-S3 = 5353H
SI-T3 = 5354H
SI-W3 = 1003H
00B1H Reserved
00B2H Option Code Connected to CN5-B
00B3H Option Code Connected to CN5-C
00B4H Reserved
00B5H Frequency Reference After min-1 units <4>
00B6H Soft-starter (U1-16) 0.01% units
00B7H min-1 <4>
Frequency Reference
00B8H 0.01% units
00B9H to 00BEH Reserved
00BFH Lists the last two digits of operation error code oPE.
504 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
C.9 MEMOBUS/Modbus Data Table
Register No. Contents
Fault contents 3
bit 1 Control Circuit Undervoltage Fault (Uv1)
bit 2 Control Power Supply Undervoltage Fault (Uv2)
bit 3 Undervoltage 3 (Soft-Charge Bypass Circuit Fault) (Uv3)
bit 4 Reserved
bit 5 Ground Fault (GF)
bit 6 Overcurrent (oC)
00C0H bit 7 Control Circuit Overvoltage (ov)
bit 8 Heatsink Overheat (oH)
bit 9 Overheat 1 (oH1)
bit A Motor Overload (oL1)
bit B Overload (oL2)
bit C Overtorque Detection 1 (oL3)
bit D Overtorque Detection 2 (oL4)
bit E, F Reserved
Fault contents 4
bit 0 External Fault at input terminal S3 (EF3)
bit 1 External Fault at input terminal S4 (EF4)
bit 2 External Fault at input terminal S5 (EF5)
bit 3 External Fault at input terminal S6 (EF6)
bit 4 External Fault at input terminal S7 (EF7)
bit 5 External Fault at input terminal S8 (EF8)
bit 6 Fan Fault (FAn)
00C1H bit 7 Overspeed (os)
bit 8 Speed Deviation (dEv)
bit 9 PG Disconnect (PGo)
bit A Reserved
bit B Output Phase Loss (LF)
bit C Motor Overheat (PTC input) (oH3)
bit D External Digital Operator Connection Fault (oPr)
bit E EEPROM Write Error (Err)
bit F Motor Overheat Fault (PTC input) (oH4)
Fault contents 5
bit 0 MEMOBUS/Modbus Communication Error (CE)
bit 1 Option Communication Error (bUS)
bit 2, 3 Reserved
bit 4 Control Fault (CF)
bit 5 Zero Servo Fault (SvE)
00C2H
bit 6 Option Card External Fault (EF0)
bit 7 PID Feedback Loss (FbL)
bit 8 Undertorque Detection 1 (UL3)
bit 9 Undertorque Detection 2 (UL4)
bit A to E Reserved
bit F Hardware Fault (includes oFx)
Fault contents 6
bit 0 Reserved
bit 1 Z Pulse Fault (dv1)
bit 2 Z Pulse Noise Fault Detection (dv2)
bit 3 Inversion Detection (dv3)
bit 4 Inversion Prevention Detection (dv4)
00C3H bit 5 Output Current Imbalance (LF2)
bit 6 Pull-Out Detection (STo)
bit 7 PG Hardware Fault (PGoH)
bit 8 MECHATROLINK Watchdog Timer Error (E5)
bit 9 Reserved
bit A Too Many Speed Search Restarts (SEr)
bit B to F Reserved
Fault contents 7
bit 0 PID Feedback Loss (FbH)
MEMOBUS/Modbus
bit 1 External Fault 1, input terminal S1 (EF1)
Communications
bit 2 External Fault 2, input terminal S2 (EF2)
bit 3 Mechanical Weakening Detection 1 (oL5)
00C4H
bit 4 Mechanical Weakening Detection 2 (UL5)
bit 5 Current Offset Fault (CoF)
bit 6, 7 Reserved
bit 8 DriveWorksEZ Fault (dWFL)
bit 9 to F Reserved
C
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 505
C.9 MEMOBUS/Modbus Data Table
Register No. Contents
Fault contents 8
bit 0 LSo Fault (LSo)
bit 1 Node Setup Fault (nSE)
00C5H
bit 2 to 9 Reserved
bit A Polarity Judge Timeout (dv7)
bit B to F Reserved
00C6H, 00C7H Reserved
Alarm contents 2
bit 0 Control Circuit Undervoltage (Uv)
bit 1 Control Circuit Overvoltage (ov)
bit 2 Heatsink Overheat (oH)
bit 3 Heatsink Overheat Warning (oH2)
bit 4 Overtorque Detection 1 (oL3)
bit 5 Overtorque Detection 2 (oL4)
bit 6 Forward/Reverse Run Commands Input Error (EF)
00C8H bit 7 Baseblock (bb)
bit 8 External Fault 3, input terminal S3 (EF3)
bit 9 External Fault 4, input terminal S4 (EF4)
bit A External Fault 5, input terminal S5 (EF5)
bit B External Fault 6, input terminal S6 (EF6)
bit C External Fault 7, input terminal S7 (EF7)
bit D External Fault 8, input terminal S8 (EF8)
bit E Fan Fault (FAn)
bit F Overspeed (oS)
Alarm contents 3
bit 0 Speed Deviation (dEv)
bit 1 PG Disconnect (PGo)
bit 2 External Digital Operator Connection Fault (oPr)
bit 3 MEMOBUS/Modbus Communication Error (CE)
bit 4 Option Communication Error (bUS)
bit 5 Serial Communication Transmission Error (CALL)
bit 6 Motor Overload (oL1)
00C9H bit 7 Overload (oL2)
bit 8 Reserved
bit 9 Option Card External fault (EF0)
bit A Motor Switch during Run (rUn)
bit B Reserved
bit C Serial Communication Transmission Error (CALL)
bit D Undertorque Detection 1 (UL3)
bit E Undertorque Detection 2 (UL4)
bit F MEMOBUS/Modbus Communication Test Mode Error (SE)
Alarm contents 4
bit 0 Reserved
bit 1 Motor Overheat Alarm (PTC Input) (oH3)
bit 2 to 5 Reserved
00CAH bit 6 PID Feedback Loss (FbL)
bit 7 Excessive PID Feedback (FbH)
bit 9 Drive Disabled (dnE)
bit A PG Disconnect (PGo)
bit B to F Reserved
Alarm Contents 5
bit 0 MECHATROLINK Watchdog Timer Error (E5)
bit 1 Station Address Setting Error (AEr)
bit 2 MECHATROLINK Comm. Cycle Setting Error (CyC)
bit 3 Current Alarm (HCA)
bit 4 Cooling Fan Maintenance Time (LT-1)
bit 5 Capacitor Maintenance Time (LT-2)
bit 6 Damping Resistor Overheat (doH)
00CBH
bit 7 SI-S EEPROM Error (EEP)
bit 8 External Fault 1 (input terminal S1) (EF1)
bit 9 External Fault 2 (input terminal S2) (EF2)
bit A Safe Disable Signal Input (HbbF)
bit B Safe Disable Signal Input (Hbb)
bit C Mechanical Weakening Detection 1 (oL5)
bit D Mechanical Weakening Detection 2 (UL5)
bit E, F Reserved
Alarm Contents 6
00CCH
bit 0, 1 Reserved
00CCH bit 2 Capacitor Maintenance Time (LT-3)
506 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
C.9 MEMOBUS/Modbus Data Table
Register No. Contents
bit 3 to 7 Reserved
00CCH bit 8 DriveWorksEZ Fault (dWAL)
bit 9 to F Reserved
Alarm Contents 7
bit 0 Power Supply Frequency Fault Detection (Fdv)
bit 1 Phase Order Detection Fault (SrC)
00CDH
bit 2 Reserved
bit 3 Power Supply Undervoltage (AUv)
bit 4 to F Reserved
Alarm Contents 8
bit 0 to D Reserved
00CEH
bit E Snubber Discharge Resistor Overheat (SoH)
bit F Reserved
00CFH Reserved
CPF Contents 1
bit 0, 1 Reserved
bit 2 Control Circuit Error (CPF02)
bit 3 Control Circuit Error (CPF03)
bit 4, 5 Reserved
bit 6 Control Circuit Error (CPF06)
bit 7 Control Circuit Error (CPF07)
00D0H
bit 8 Control Circuit Error (CPF08)
bit 9, A Reserved
bit B Control Circuit Error (CPF11)
bit C Control Circuit Error (CPF12)
bit D Control Circuit Error (CPF13)
bit E Control Circuit Error (CPF14)
bit F Reserved
CPF Contents 2
bit 0 Control Circuit Error (CPF16)
bit 1 Control Circuit Error (CPF17)
bit 2 Control Circuit Fault (CPF18)
bit 3 Control Circuit Error (CPF19)
bit 4 Control Circuit Error (CPF20)
bit 5 Control Circuit Error (CPF21)
bit 6 Control Circuit Error (CPF22)
00D1H bit 7 Control Circuit Error (CPF23)
bit 8 Control Circuit Error (CPF24)
bit 9 Terminal Board not Connected (CPF25)
bit A Control Circuit Error (CPF26)
bit B Control Circuit Error (CPF27)
bit C Control Circuit Error (CPF28)
bit D Control Circuit Error (CPF29)
bit E Control Circuit Error (CPF30)
bit F Control Circuit Error (CPF31)
CPF Contents 3
bit 0 Control Circuit Error (CPF32)
bit 1 Control Circuit Error (CPF33)
bit 2 Control Circuit Error (CPF34)
bit 3 Control Circuit Error (CPF35)
bit 4 to 7 Reserved
00D2H bit 8 Control Circuit Error (CPF40)
bit 9 Control Circuit Error (CPF41)
bit A Control Circuit Error (CPF42)
bit B Control Circuit Error (CPF43)
bit C Control Circuit Error (CPF44)
bit D Control Circuit Error (CPF45)
bit E, F Reserved
00D3H to 00D7H Reserved
MEMOBUS/Modbus
oFA0 Contents (CN5-A)
Communications
bit 0 Option Compatibility Error (oFA00)
bit 1 Option not properly connected (oFA01)
bit 2 Same type of option card already connected (oFA02)
00D8H
bit 3, 4 Reserved
bit 5 A/D Conversion Error (oFA05)
bit 6 Option Response Error (oFA06)
bit 7 to F Reserved
C
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 507
C.9 MEMOBUS/Modbus Data Table
Register No. Contents
oFA1 Contents (CN5-A)
bit 0 Option RAM Fault (oFA10)
bit 1 Option Operation Mode Fault (SLMOD) (oFA11)
bit 2 Unit Receive CRC Error (oFA12)
bit 3 Unit Receive Frame Error (oFA13)
00D9H
bit 4 Unit Receive Abort Error (oFA14)
bit 5 Option Receive CRC Error (oFA15)
bit 6 Option Receive Frame Error (oFA16)
bit 7 Option Receive Abort Error (oFA17)
bit 8 to F Reserved
00DAH to 00DBH Reserved
oFA3 Contents (CN5-A)
bit 0 Comm. ID Error (oFA30)
bit 1 Model Code Error (oFA31)
bit 2 Sumcheck Error (oFA32)
bit 3 Comm. option timeout waiting for response (oFA33)
bit 4 MEMOBUS Timeout (oFA34)
bit 5 Unit timeout waiting for response (oFA35)
bit 6 CI Check Error (oFA36)
00DBH
bit 7 Unit timeout waiting for response (oFA37)
bit 8 Control Command Selection Error (oFA38)
bit 9 Unit timeout waiting for response (oFA39)
bit A Control Response Selection 1 Error (oFA40)
bit B Unit timeout waiting for response (oFA41)
bit C Control Response Selection 2 Error (oFA42)
bit D Control Response Selection Error (oFA43)
bit E, F Reserved
oFb0 Contents (CN5-B)
bit 0 Option compatibility error (oFb00)
bit 1 Option not properly connected (oFb01)
bit 2 Same type of option card already connected (oFb02)
00DCH
bit 3, 4 Reserved
bit 5 A/D Conversion Fault (oFb05)
bit 6 Option Response Error (oFb06)
bit 7 to F Reserved
oFb1 Contents (CN5-B)
bit 0 Option RAM Fault (oFb10)
bit 1 Option Operation Mode Fault (SLMOD) (oFb11)
bit 2 Unit Receive CRC Error (oFb12)
bit 3 Unit Receive Frame Error (oFb13)
00DDH
bit 4 Unit Receive Abort Error (oFb14)
bit 5 Option Receive CRC Error (oFb15)
bit 6 Option Receive Frame Error (oFb16)
bit 7 Option Receive Abort Error (oFb17)
bit 8 to F Reserved
00DEH to 00DFH Reserved
oFb3 Contents (CN5-B)
bit 0 Comm. ID Error (oFb30)
bit 1 Model Code Error (oFb31)
bit 2 Sumcheck Error (oFb32)
bit 3 Comm. option timeout waiting for response (oFb33)
bit 4 MEMOBUS Timeout (oFb34)
bit 5 Unit timeout waiting for response (oFb35)
bit 6 CI Check Error (oFb36)
00E0H
bit 7 Unit timeout waiting for response (oFb37)
bit 8 Control Command Selection Error (oFb38)
bit 9 Unit timeout waiting for response (oFb39)
bit A Control Response Selection 1 Error (oFb40)
bit B Unit timeout waiting for response (oFb41)
bit C Control Response Selection 2 Error (oFb42)
bit D Control Response Selection Error (oFb43)
bit E, F Reserved
508 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
C.9 MEMOBUS/Modbus Data Table
Register No. Contents
oFC0 Contents (CN5-C)
bit 0 Option compatibility error (oFC00)
bit 1 Option not properly connected (oFC01)
bit 2 Same type of option card already connected (oFC02)
00E1H
bit 3, 4 Reserved
bit 5 A/D Conversion Fault (oFC05)
bit 6 Option Response Error (oFC06)
bit 7 to F Reserved
oFC1 Contents (CN5-C)
bit 0 Option RAM Fault (oFC10)
bit 1 Option Operation Mode Fault (SLMOD) (oFC11)
bit 2 Unit Receive CRC Error (oFC12)
bit 3 Unit Receive Frame Error (oFC13)
00E2H
bit 4 Unit Receive Abort Error (oFC14)
bit 5 Option Receive CRC Error (oFC15)
bit 6 Option Receive Frame Error (oFC16)
bit 7 Option Receive Abort Error (oFC17)
bit 8 to F Reserved
00E3H Reserved
oFC5 Contents (CN5-C)
bit 0 Encoder Option AD Conversion Error (oFC50)
bit 1 Encoder Option Analog Circuit Error (oFC51)
bit 2 Encoder Communication Timeout (oFC52)
00E4H
bit 3 Encoder Communication Data Error (oFC53)
bit 4 Encoder Error (oFC54)
bit 5 Resolver Error (oFC55)
bit 6 to F Reserved
00E5H to 00E9H Reserved
Fault contents 11
bit 0 to 6 Reserved
bit 7 Damping Resistor Overheat (doH)
bit 8 Snubber Discharge Resistor Overheat (SoH)
00EAH
bit 9 Internal Resistance Fault (Srr)
bit A to D Reserved
bit E Safety Circuit Fault (SCF)
bit F Reserved
00EBH to 00FAH Reserved
00FBH Output Current
<1> Units are determined by parameter o1-03.
<2> Display is in the following units:
CIMR-U20028, 20042, and 40011 to 40027: 0.01 A units
CIMR-U20054 to 20248, and 40034 to 40414: 0.1 A units
<3> The contents of a communication error are saved until the fault is reset.
<4> Depending on the motor used, the correct motor pole number must be set to parameter E2-04, E4-04, or E5-04.
Broadcast Messages
Data can be written from the master to all slave devices at the same time.
The slave address in a broadcast command message must be set to 00H. All slaves will receive the message, but will not
respond.
Register No. Contents
Digital Input Command
bit 0 Forward Run (0: Stop 1: Run)
bit 1 Direction Command (0: Forward, 1: Reverse)
bit 2, 3 Reserved
bit 4 External Fault
MEMOBUS/Modbus
0001H bit 5 Fault Reset
Communications
bit 6 to B Reserved
bit C Multi-Function Digital Input S5
bit D Multi-Function Digital Input S6
bit E Multi-Function Digital Input S7
bit F Multi-Function Digital Input S8
0002H Frequency Reference 30000/100%
C
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 509
C.9 MEMOBUS/Modbus Data Table
Fault Trace Contents
The table below shows the fault codes that can be read out by MEMOBUS/Modbus commands from the U2- and
U3- monitor parameters.
Table C.5 Fault Trace / History Register Contents
Fault Code Fault Name Fault Code Fault Name
0002H Control Circuit Undervoltage Fault (Uv1) 00A0H Control Circuit Error (CPF31)
0003H Control Power Supply Voltage Fault (Uv2) 00A1H Control Circuit Error (CPF32)
0004H Undervoltage 3 (Uv3) 00A2H Control Circuit Error (CPF33)
0006H Ground Fault (GF) 00A3H Control Circuit Error (CPF34)
0007H Overcurrent (oC) 00A4H Control Circuit Error (CPF35)
0008H Control Circuit Overvoltage (ov) 00A9H Control Circuit Error (CPF40)
0009H Heatsink Overheat (oH) 00AAH Control Circuit Error (CPF41)
000AH Overheat 1 (oH1) 00ABH Control Circuit Error (CPF42)
000BH Motor Overload (oL1) 00ACH Control Circuit Error (CPF43)
000CH Overload (oL2) 00ADH Control Circuit Error (CPF44)
000DH Overtorque Detection 1 (oL3) 00AEH Control Circuit Error (CPF45)
000EH Overtorque Detection 2 (oL4) 0101H Option compatibility error (oFA00)
0011H External Fault at input terminal S3 (EF3) 0102H Option not properly connected (oFA01)
0012H External Fault at input terminal S4 (EF4) 0103H Same type of option card already connected (oFA02)
0013H External Fault at input terminal S5 (EF5) 0106H A/D Conversion Error (oFA05)
0014H External Fault at input terminal S6 (EF6) 0107H Option Response Error (oFA06)
0015H External Fault at input terminal S7 (EF7) 0111H Option RAM Fault (oFA10)
0016H External Fault at input terminal S8 (EF8) 0112H Option Operation Mode Fault (SLMOD) (oFA11)
0017H Fan Fault (FAn) 0113H Unit Receive CRC Error (oFA12)
0018H Overspeed (oS) 0114H Unit Receive Frame Error (oFA13)
0019H Speed Deviation (dEv) 0115H Unit Receive Abort Error (oFA14)
001AH PG Disconnect (PGo) 0116H Option Receive CRC Error (oFA15)
001CH Output Phase Loss (LF) 0117H Option Receive Frame Error (oFA16)
001DH Motor Overheat Alarm (PTC input) (oH3) 0118H Option Receive Abort Error (oFA17)
001EH Digital Operator Connection Fault (oPr) 0131H Comm. ID Error (oFA30)
001FH EEPROM Write Error (Err) 0132H Model Code Error (oFA31)
0020H Motor Overheat Fault (PTC input) (oH4) 0133H Sumcheck Error (oFA32)
0021H MEMOBUS/Modbus Communication Error (CE) 0134H Comm. option timeout waiting for response (oFA33)
0022H Option Communication Error (bUS) 0135H MEMOBUS Timeout (oFA34)
0025H Control fault (CF) 0136H Unit timeout waiting for response (oFA35)
0026H Zero-Serve Fault (SvE) 0137H CI Check Error (oFA36)
0027H Option Card External Fault (EF0) 0138H Unit timeout waiting for response (oFA37)
0028H PID Feedback Loss (FbL) 0139H Control Command Selection Error (oFA38)
0029H Undertorque Detection 1 (UL3) 013AH Unit timeout waiting for response (oFA39)
002AH Undertorque Detection 2 (UL4) 013BH Control Response Selection 1 Error (oFA40)
0030H Hardware Fault (including oFx) 013CH Unit timeout waiting for response (oFA41)
0032H Z Pulse Fault (dv1) 013DH Control Response Selection 2 Error (oFA42)
0033H Z Pulse Noise Fault Detection (dv2) 013EH Control Response Selection Error (oFA43)
0034H Inversion Detection (dv3) 0201H Option Compatibility Error (oFb00)
0035H Inversion Prevention Detection (dv4) 0202H Option Connection Error (oFb01)
0036H Output Current Imbalance (LF2) 0203H Same type of option card already connected (oFb02)
0037H Pull-Out Detection (Sto) 0206H A/D Conversion Error (oFb05)
0038H PG Hardware Fault (PGoH) 0207H Option Response Error (oFb06)
0039H MECHATROLINK Watchdog Timer Error (E5) 0211H Option RAM Fault (oFb10)
003BH Too Many Speed Search Restarts (SEr) 0212H Option Operation Mode Fault (SLMOD) (oFb11)
0041H Excessive PID Feedback (FbH) 0213H Unit Receive CRC Error (oFb12)
0042H External Fault 1, input terminal S1 (EF1) 0214H Unit Receive Frame Error (oFb13)
0043H External Fault 2, input terminal S2 (EF2) 0215H Unit Receive Abort Error (oFb14)
0044H Mechanical Weakening Detection 1 (oL5) 0216H Option Receive CRC Error (oFb15)
0045H Mechanical Weakening Detection 2 (UL5) 0217H Option Receive Frame Error (oFb16)
0046H Current Offset Fault (CoF) 0218H Option Receive Abort Error (oFb17)
0049H DriveWorksEZ Fault (dWFL) 0232H Model Code Error (oFb31)
004AH EEPROM Memory DriveWorksEZ Data Error (dWF1) 0233H Sumcheck Error (oFb32)
0051H LSo Fault (LSo) 0234H Comm. option timeout waiting for response (oFb33)
0052H Node Setup Fault (nSE) 0235H MEMOBUS Timeout (oFb34)
005BH Polarity Judge Timeout (dv7) 0236H Unit timeout waiting for response (oFb35)
005CH Ground Fault (GF) 0237H CI Check Error (oFb36)
0066H Power Supply Undervoltage (AUv) 0238H Unit timeout waiting for response (oFb37)
0067H Power Supply Overvoltage (Aov) 0239H Control Command Selection Error (oFb38)
510 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
C.9 MEMOBUS/Modbus Data Table
Fault Code Fault Name Fault Code Fault Name
0068H Power Supply Frequency Fault Detection (Fdv) 023AH Unit timeout waiting for response (oFb39)
0069H Phase Order Detection Fault (SrC) 023BH Control Response Selection 1 Error (oFb40)
0081H Control Circuit Error (CPF00) 023CH Unit timeout waiting for response (oFb41)
0082H Control Circuit Error (CPF01) 023DH Control Response Selection 2 Error (oFb42)
0083H Control Circuit Error (CPF02) 023EH Control Response Selection Error (oFb43)
0084H Control Circuit Error (CPF03) 0301H Option Compatibility Error (oFC00)
0087H Control Circuit Error (CPF06) 0302H Option not properly connected (oFC01)
0088H Control Circuit Error (CPF07) 0303H Same type of option card already connected (oFC02)
0089H Control Circuit Error (CPF08) 0306H A/D Conversion Error (oFC05)
008CH Control Circuit Error (CPF11) 0307H Option Response Error (oFC06)
008DH Control Circuit Error (CPF12) 0311H Option RAM Fault (oFC10)
008EH Control Circuit Error (CPF13) 0312H Option Operation Mode Fault (SLMOD) (oFC11)
008FH Control Circuit Fault (CPF14) 0313H Unit Receive CRC Error (oFC12)
0091H Control Circuit Error (CPF16) 0314H Unit Receive Frame Error (oFC13)
0092H Control Circuit Error (CPF17) 0315H Unit Receive Abort Error (oFC14)
0093H Control Circuit Fault (CPF18) 0316H Option Receive CRC Error (oFC15)
0094H Control Circuit Fault (CPF19) 0317H Option Receive Frame Error (oFC16)
0095H Control Circuit Error (CPF20) 0318H Option Receive Abort Error (oFC17)
0096H Control Circuit Error (CPF21) 0351H Encoder Option AD Conversion Error (oFC50)
0097H Control Circuit Error (CPF22) 0352H Encoder Option Analog Circuit Error (oFC51)
0098H Control Circuit Error (CPF23) 0353H Encoder Communication Timeout (oFC52)
0099H Control Circuit Error (CPF24) 0354H Encoder Communication Data Error (oFC53)
009AH Terminal Board not Connected (CPF25) 0355H Encoder Error (oFC54)
009BH Control Circuit Error (CPF26) 0356H Resolver Error (oFC55)
009CH Control Circuit Error (CPF27) 0408H Damping Resistor Overheat (doH)
009DH Control Circuit Error (CPF28) 0409H Snubber Discharge Resistor Overheat (SoH)
009EH Control Circuit Error (CPF29) 040AH Internal Resistance Fault (Srr)
009FH Control Circuit Error (CPF30) – –
Alarm Register Contents
The table below shows the alarm codes that can be read out from MEMOBUS/Modbus register 007FH.
Table C.6 Alarm Register 007FH Contents
Alarm Code Fault Name Alarm Code Fault Name
0001H Control Circuit Undervoltage (Uv) 001FH Undertorque Detection 2 (UL4)
0002H Control Circuit Overvoltage (ov) 0020H MEMOBUS/Modbus Communication Test Mode Error (SE)
0003H Heatsink Overheat (oH) 0022H Motor Overheat (oH3)
0004H Heatsink Overheat Warning (oH2) 0027H PID Feedback Loss (FbL)
0005H Overtorque 1 (oL3) 0028H Excessive PID Feedback (FbH)
0006H Overtorque 2 (oL4) 002AH Drive Disabled (dnE)
0007H Forward/Reverse Run commands input error (EF) 002BH PG Disconnect (PGo)
0008H Baseblock (bb) 0031H MECHATROLINK Watchdog Timer Error (E5)
0009H External Fault 3, input terminal S3 (EF3) 0032H Station Address Setting Error (AEr)
000AH External Fault 4, input terminal S4 (EF4) 0033H MECHATROLINK Comm. Cycle Setting Error (CyC)
000BH External Fault 5, input terminal S5 (EF5) 0034H Current Alarm (HCA)
000CH External Fault 6, input terminal S6 (EF6) 0035H Cooling Fan Maintenance Time (LT-1)
000DH External Fault 7, input terminal S7 (EF7) 0036H Capacitor Maintenance Time (LT-2)
000EH External Fault 8, input terminal S8 (EF8) 0037H Damping Resistor Overheat (doH)
000FH Fan Fault (FAn) 0038H SI-S EEPROM Error (EEP)
0010H Overspeed (oS) 0039H External Fault (input terminal S1) (EF1)
0012H PG Disconnect (PGo) 003AH External Fault (input terminal S2) (EF2)
0014H MEMOBUS/Modbus Communication Error (CE) 003BH Safe Disable Signal Input (HbbF)
0015H Option Communication Error (bUS) 003CH Safe Disable Signal Input (Hbb)
0016H Serial Communication Transmission Error (CALL) 003DH Mechanical Weakening Detection 1 (oL5)
001AH Option Card External Fault (EF0) 003EH Mechanical Weakening Detection 2 (UL5)
MEMOBUS/Modbus
001BH Motor Switch command input during run (rUn) 0043H Soft Charge Bypass Relay Maintenance Time (LT-3)
Communications
001DH Serial Communication Transmission Error (CALL) 0049H DriveWorksEZ Fault (dWAL)
001EH Undertorque Detection 1 (UL3) 0050H Power Supply Undervoltage (AUv)
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 511
C.10 Enter Command
C.10 Enter Command
When writing parameters to the drive from the PLC using MEMOBUS/Modbus communication, parameter H5-11
determines if an Enter command must be issued to enable these parameters or not. This sections the types of Enter
commands and how they work.
Enter Command Types
The drive supports two types of Enter commands as shown in Table C.7. An Enter command is enabled by writing 0 to
register number 0900H or 0910H. These registers can only be written to. An error will occur if the user attempts to read
from these registers.
Table C.7 Enter Command Types
Register No. Description
Writes data into the EEPROM (non-volatile memory) of the drive and enables the data in RAM at the same time. Parameter changes remain even if the power
0900H
supply is cycled.
0910H Writes data in the RAM only. Parameter changes are lost when the drive is shut off.
Note: Because the EEPROM can be written to a maximum of 100,000 times, refrain from writing to the EEPROM too often. The Enter
command registers are write-only. Consequently, if these registers are read, then the register address will be invalid (Error code:
02H). An Enter command is not required if reference or broadcast data are sent to the drive.
512 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
C.11 Communication Errors
C.11 Communication Errors
MEMOBUS/Modbus Error Codes
A list of MEMOBUS/Modbus errors appears in Table C.8.
When an error occurs, remove whatever caused the error and restart communications.
Table C.8 MEMOBUS/Modbus Error Codes
Error Name
Error Code
Cause
Function Code Error
01H
Attempted to set a function code from a PLC other than 03H, 08H, and 10H.
Register Number Error
02H • A register number specified in the command message does not exist.
• Attempted to send a broadcast message using other register numbers than 0001H or 0002H.
Bit Count Error
03H • Read data or write data is greater than 16 bits. Invalid command message quantity.
• In a write message, the “Number of Data Items” contained within the message does not equal twice the amount of data words (i.e., the total of Data 1+ Data
2, etc.).
Data Setting Error
21H • Control data or parameter write data is outside the allowable setting range.
• Attempted to write a contradictory parameter setting.
Write Mode Error
22H • During run, the user attempted to write a parameter that cannot be written to during run.
• During a control circuit error (CPF06), the master attempted to write to a parameter other than A1-00 to A1-05, E1-03, or o2-04.
• Attempted to write to read-only data.
Control Circuit Undervoltage Write Error
23H
During an undervoltage situation, the master attempted to write to parameters that cannot be written to during undervoltage.
Write Error During Parameter Process
24H
Master attempted writing to the drive while the unit was processing parameter data.
Writing into EEPROM Disabled
25H An attempt was made to write data into EEPROM by MEMOBUS/Modbus communications when writing EEPROM is not possible. (If this error code occurs,
an error message is displayed and the drive continues operation.)
Slave Not Responding
In the following situations, the slave drive will ignore the command message sent from the master, and not send a
response message:
• When a communications error (overrun, framing, parity, or CRC-16) is detected in the command message.
• When the slave address in the command message and the slave address in the unit do not match (remember to set the
slave address for the drive using H5-01).
• When the gap between two blocks (8 bit) of a message exceeds 24 bits.
• When the command message data length is invalid.
Note: If the slave address specified in the command message is 00H, all slaves execute the write function, but do not return response
messages to the master.
MEMOBUS/Modbus
Communications
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 513
C.12 Self-Diagnostics
C.12 Self-Diagnostics
The drive has a built-in self-diagnosing function of the serial communication interface circuits. To perform the
self-diagnosis function, use the following procedure.
DANGER! Electrical Shock Hazard. Do not connect or disconnect wiring while the power is on. Failure to comply will result in death or
serious injury. Before servicing, disconnect all power to the equipment. The internal capacitor remains charged even after the power
supply is turned off. The charge indicator LED will extinguish when the DC bus voltage is below 50 Vdc. To prevent electric shock, wait
at least one minute after all indicators are OFF and measure the DC bus voltage level to confirm safe level.
1. Turn on the power to the drive.
2. Note the present terminal S6 function selection setting (H1-06) and set it for the communications test mode
(H1-06 = 67).
3. Turn off the power to the drive.
4. With the power off, wire the drive as shown in Figure C.8, connecting terminals R+ and S+, R- and S-, and S6
and SC.
Figure C.8
YEG_TM
only
E(G) HC H1 H2 DM+ DM- IG R+ R- S+ S-
V+ AC V- A1 A2 A3 FM AM AC MP RP AC
S1 S2 S3 S4 S5 S6 S7 S8 SN SC SP
Figure C.8 Terminal Connections for Communication Self-Diagnostics
5. Set jumper S3 to source mode (internal power supply).
6. Turn the power to the drive back on.
7. During normal operation, the drive will display “PASS”. This indicates that the communications test mode is
operating normally.
When a fault occurs, the drive will display “CE” on the keypad display.
8. Turn off the power supply.
9. Remove the wire jumpers from terminal R+, R-, S+, S-, and S6-SC. Set back jumper S3 to its original position.
Set terminal S6 to its original function.
10. Return to normal operation.
514 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
Appendix: D
Standards Compliance
This appendix explains the guidelines and criteria for maintaining CE and UL standards.
D.1 SECTION SAFETY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 516
D.2 EUROPEAN STANDARDS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 518
D.3 UL STANDARDS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 521
D.4 SAFE DISABLE INPUT FUNCTION. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 529
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 515
D.1 Section Safety
D.1 Section Safety
DANGER
Electrical Shock Hazard
Do not connect or disconnect wiring while the power is on.
Failure to comply will result in death or serious injury.
WARNING
Electrical Shock Hazard
Do not operate equipment with covers removed.
Failure to comply could result in death or serious injury.
The diagrams in this section may show drives without covers or safety shields to show details. Be sure to reinstall
covers or shields before operating the drives and run the drives according to the instructions described in this manual.
Always ground the motor-side grounding terminal.
Improper equipment grounding could result in death or serious injury by contacting the motor case.
Do not touch any terminals before the capacitors have fully discharged.
Failure to comply could result in death or serious injury.
Before wiring terminals, disconnect all power to the equipment. The capacitor for the control power supply remains
charged even after the power supply is turned off. After shutting off the power, wait for at least the amount of time
specified on the drive before touching any components.
Do not allow unqualified personnel to perform work on the drive.
Failure to comply could result in death or serious injury.
Installation, maintenance, inspection, and servicing must be performed only by authorized personnel familiar with
installation, adjustment and maintenance of AC drives.
Do not perform work on the drive while wearing loose clothing, jewelry or without eye protection.
Failure to comply could result in death or serious injury.
Remove all metal objects such as watches and rings, secure loose clothing, and wear eye protection before beginning
work on the drive.
Do not remove covers or touch circuit boards while the power is on.
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.
Do not use an improper voltage source.
Failure to comply could result in death or serious injury by fire.
Verify that the rated voltage of the drive matches the voltage of the incoming power supply before applying power.
Do not use improper combustible materials.
Failure to comply could result in death or serious injury by fire.
Attach the drive to metal or other noncombustible material.
516 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
D.1 Section Safety
NOTICE
Observe proper electrostatic discharge procedures (ESD) when handling the drive and circuit boards.
Failure to comply may result in ESD damage to the drive circuitry.
Never connect or disconnect the motor from the drive while the drive is outputting voltage.
Improper equipment sequencing could result in damage to the drive.
Do not use unshielded wire 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.
Do not modify the drive circuitry.
Failure to comply could result in damage to the drive and will void warranty.
Yaskawa is not responsible for modification of the product made by the user. This product must not be modified.
Check all the wiring to ensure that all connections are correct after installing the drive and connecting other
devices.
Failure to comply could result in damage to the drive.
If a fuse is blown or equipment for residual current monitoring/detection (RCM/RCD) is tripped, check the
wiring and the selection of the peripheral devices.
Contact your supplier if the cause cannot be identified after checking the above.
Do not restart the drive or immediately operate the peripheral devices if a fuse is blown or equipment for
residual current monitoring/detection (RCM/RCD) is tripped.
Check the wiring and the selection of peripheral devices to identify the cause.
Contact your supplier before restarting the drive or the peripheral devices if the cause cannot be identified.
Compliance
Standards
D
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 517
D.2 European Standards
D.2 European Standards
Figure D.1
YEC_common
Figure D.1 CE Mark
The CE mark indicates that a product is in compliance with applicable European Directives for safety and environmental
regulations. It is required for engaging in business and commerce in Europe.
The applicable European Directives for this product are as follows. We declared the CE marking based on the
harmonized standards in the following table.
Applicable European Directive Applicable Harmonized Standards
Low Voltage Directive (2006/95/EC) IEC/EN618995-1: 2007
EMC Guidelines (2004/108/EC) IEC/EN 61800-3: 2004
ISO/EN ISO 13849-1/AC: 2009
Machinery Directive (2006/42/EC) IEC/EN 62061: 2005 (SILCL3)
IEC/EN 61800-5-2: 2007 (SIL3)
The user(s) is solely responsible for ensuring that the end products used with this drive comply with all applicable
European directives and with other national regulations (if required).
CE Low Voltage Directive Compliance
This drive has been tested according to European standard IEC/EN 61800-5-1, and it fully complies with the Low
Voltage Directive.
To comply with the Low Voltage Directive, be sure to meet the following conditions when combining this drive with
other devices:
Area of Use
Do not use drives in areas with pollution higher than severity 2 and overvoltage category 3 in accordance with
IEC/EN 664.
Grounding
The drive is designed to be used in T-N (grounded neutral point) networks. If installing the drive in other types of
grounded systems, contact your Yaskawa representative for instructions. Refer to Enable the Internal EMC Filter on
page 86 for details.
Guarding Against Harmful Materials
When installing IP00 enclosure drives, use an enclosure that prevents foreign material from entering the drive from
above or below.
518 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
D.2 European Standards
EMC Guidelines Compliance
Drives with built-in EMC filters (CIMR-UE/W) are tested according to European standards IEC/EN 61800-3:
2004 and complies with EMC guidelines. Use drives with built-in EMC filters to comply with EMC guidelines.
EMC Filter Installation
Installation Method
Verify the following installation conditions to ensure that other devices and machinery used in combination with this
drive (CIMR-UE/W) also comply with EMC guidelines.
1. Place the drive in the enclosure.
2. Use braided shield cable for the drive and motor wiring, or run the wiring through a metal conduit.
3. Keep wiring as short as possible. Ground the shield on both the drive side and the motor side.
Figure D.2
A D C
U/T1 U
V/T2 V
M YEC_common
W/T3 W
E
A – Drive D – Metal conduit
B – 10 m max cable length between drive and motor E – Ground wire should be as short as possible.
C – Motor
Figure D.2 Installation Method
4. Make sure the protective earthing conductor complies with technical standards and local safety regulations.
WARNING! Electrical Shock Hazard.
Because the leakage current exceeds 3.5 mA in models CIMR-U40302 and larger, IEC/EN 61800-5-1 states that either the power
supply must be automatically disconnected in case of discontinuity of the protective earthing conductor or a protective earthing
conductor with a cross-section of at least 10 mm2 (Cu) or 16 mm2 (Al) must be used. Failure to comply may result in death or serious
injury.
Figure D.3
A
YEC_common
C B
A – Braided shield cable C – Cable clamp (conductive)
B – Metal panel
Figure D.3 Ground Area
Compliance
Standards
D
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 519
D.2 European Standards
Three-Phase 200 V/400 V Class
Figure D.4
D
B
C
U1000
E
D I D
F A
A
PE
G
L3
L2 YEC_common
L1
A – Ground the cable shield F – Motor cable (braided shield cable, max. 10 m)
B – Enclosure panel G – Motor
C – Metal plate H – Cable clamp
D – Grounding surface (remove any paint or sealant) I – Ground plate (scrape off any visible paint)
E – Drive
Figure D.4 EMC Filter and Drive Installation for CE Compliance (Three-Phase 200 V/400 V Class)
520 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
D.3 UL Standards
D.3 UL Standards
UL Standards Compliance
The UL/cUL mark applies to products in the United States and Canada. It indicates that UL has performed product
testing and evaluation, and determined that their stringent standards for product safety have been met. For a product to
receive UL certification, all components inside that product must also receive UL certification.
Figure D.5
Figure D.5 UL/cUL Mark
This drive is tested in accordance with UL standard UL508C and complies with UL requirements. The conditions
described below must be met to maintain compliance when using this drive in combination with other equipment:
Installation Area
Do not install the drive to an area greater than pollution degree 2 (UL standard).
Ambient Temperature
IP00 enclosure: -10C to +50C
IP20/NEMA Type1 enclosure: -10C to +40C
Main Circuit Terminal Wiring
Yaskawa recommends using closed-loop crimp terminals on all drive models. Use only the tools recommended by the
terminal manufacturer for crimping.
The wire gauges listed in Table D.1 and Table D.2 are Yaskawa recommendations. Refer to local codes for proper wire
gauge selections.
Note: The mark indicates the terminals for protective ground connection. (as defined in IEC/EN 60417-5019)
Grounding impedance;
200 V: 100 or less
400 V: 10 or less
Table D.1 Wire Gauge and Torque Specifications (Three-Phase 200 V Class)
Model Recomm. Gauge Applicable Gauge Screw Tightening Torque
Terminal
CIMR-U AWG, kcmil AWG, kcmil Size Nm (lb.in.)
R/L1, S/L2, T/L3 8 10 to 8 M5 2.3 to 2.7
U/T1, V/T2, W/T3 8 10 to 8 M5 (20.4 to 23.9)
20028 3.9 to 4.9
8 10 to 6 M6
(34.7 to 43.4)
1 to 1.4
p1, n1 14 14 to 12 M4
(8.9 to 12.4)
R/L1, S/L2, T/L3 6 8 to 3 M6 4 to 6
U/T1, V/T2, W/T3 6 8 to 3 M6 (35.4 to 53.1)
20042 8.8 to 10.8
8 10 to 3 M8
(78.1 to 95.5)
1 to 1.4
p1, n1 14 14 to 12 M4
(8.9 to 12.4)
R/L1, S/L2, T/L3 4 6 to 3 M6 4 to 6
U/T1, V/T2, W/T3 4 6 to 3 M6 (35.4 to 53.1)
20054 8.8 to 10.8
6 8 to 3 M8
(78.1 to 95.5)
1 to 1.4
p1, n1 14 14 to 12 M4
(8.9 to 12.4)
R/L1, S/L2, T/L3 4 4 to 3 M6 4 to 6
(35.4 to 53.1)
Compliance
U/T1, V/T2, W/T3 4 4 to 3 M6
Standards
20068 8.8 to 10.8
6 6 to 3 M8
(78.1 to 95.5)
1 to 1.4
p1, n1 14 14 to 12 M4
(8.9 to 12.4)
D
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 521
D.3 UL Standards
Model Terminal Recomm. Gauge Applicable Gauge Screw Tightening Torque
CIMR-U AWG, kcmil AWG, kcmil Size Nm (lb.in.)
R/L1, S/L2, T/L3 6 2P 6 to 3 2P M6 4 to 6
U/T1, V/T2, W/T3 6 2P 6 to 3 2P M6 (35.4 to 53.1)
20081 8.8 to 10.8
6 6 to 3 M8
(78.1 to 95.5)
1 to 1.4
p1, n1 14 14 to 12 M4
(8.9 to 12.4)
R/L1, S/L2, T/L3 1 6 to 1/0 2P M8 8 to 10
U/T1, V/T2, W/T3 1 6 to 1/0 2P M8 (70.8 to 88.5)
20104 8.8 to 10.8
4 4 to 1 M8
(78.1 to 95.5)
1.2 to 2.0
p1, n1 14 14 to 12 M4
(10.6 to 17.7)
R/L1, S/L2, T/L3 4 2P 6 to 1/0 2P M8 8 to 10
U/T1, V/T2, W/T3 4 2P 6 to 1/0 2P M8 (70.8 to 88.5)
20130 8.8 to 10.8
4 4 to 1 M8
(78.1 to 95.5)
1.2 to 2.0
p1, n1 14 14 to 12 M4
(10.6 to 17.7)
R/L1, S/L2, T/L3 3 2P 4 to 4/0 2P M10 15 to 20
U/T1, V/T2, W/T3 3 2P 4 to 4/0 2P M10 (133 to 177)
20154 17.7 to 22.6
4 4 to 2/0 M10
(156 to 200)
1.2 to 2.0
p1, n1 14 14 to 12 M4
(10.6 to 17.7)
R/L1, S/L2, T/L3 1 2P 3 to 4/0 2P M10 15 to 20
U/T1, V/T2, W/T3 1 2P 3 to 4/0 2P M10 (133 to 177)
20192 17.7 to 22.6
3 4 to 2/0 M10
(156 to 200)
1.2 to 2.0
p1, n1 14 14 to 12 M4
(10.6 to 17.7)
R/L1, S/L2, T/L3 2/0 2P 1 to 4/0 2P M10 15 to 20
U/T1, V/T2, W/T3 2/0 2P 1 to 4/0 2P M10 (133 to 177)
20248 31.4 to 39.2
3 4 to 4/0 M12
(278 to 347)
1.2 to 2.0
p1, n1 14 14 to 12 M4
(10.6 to 17.7)
Table D.2 Wire Gauge and Torque Specifications (Three-Phase 400 V Class)
Model Terminal Recomm. Gauge Applicable Gauge Screw Tightening Torque
CIMR-U AWG, kcmil AWG, kcmil Size Nm (lb.in.)
R/L1, S/L2, T/L3 14 14 to 8 M5 2.3 to 2.7
U/T1, V/T2, W/T3 14 14 to 8 M5 (20.4 to 23.9)
40011 3.9 to 4.9
10 12 to 6 M6
(34.7 to 43.4)
1 to 1.4
p1, n1 14 14 to 12 M4
(8.9 to 12.4)
R/L1, S/L2, T/L3 12 14 to 8 M5 2.3 to 2.7
U/T1, V/T2, W/T3 12 14 to 8 M5 (20.4 to 23.9)
40014 3.9 to 4.9
10 12 to 6 M6
(34.7 to 43.4)
1 to 1.4
p1, n1 14 14 to 12 M4
(8.9 to 12.4)
R/L1, S/L2, T/L3 10 12 to 8 M5 2.3 to 2.7
U/T1, V/T2, W/T3 10 12 to 8 M5 (20.4 to 23.9)
40021 3.9 to 4.9
10 12 to 6 M6
(34.7 to 43.4)
1 to 1.4
p1, n1 14 14 to 12 M4
(8.9 to 12.4)
R/L1, S/L2, T/L3 8 10 to 8 M5 2.3 to 2.7
U/T1, V/T2, W/T3 8 10 to 8 M5 (20.4 to 23.9)
40027 3.9 to 4.9
8 12 to 6 M6
(34.7 to 43.4)
1 to 1.4
p1, n1 14 14 to 12 M4
(8.9 to 12.4)
R/L1, S/L2, T/L3 8 8 M5 2.3 to 2.7
U/T1, V/T2, W/T3 8 8 M5 (20.4 to 23.9)
40034 3.9 to 4.9
8 10 to 6 M6
(34.7 to 43.4)
1 to 1.4
p1, n1 14 14 to 12 M4
(8.9 to 12.4)
522 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
D.3 UL Standards
Model Recomm. Gauge Applicable Gauge Screw Tightening Torque
CIMR-U Terminal AWG, kcmil AWG, kcmil Nm (lb.in.)
Size
R/L1, S/L2, T/L3 8 8 to 3 M6 4 to 6
U/T1, V/T2, W/T3 8 8 to 3 M6 (35.4 to 53.1)
40040 8.8 to 10.8
8 10 to 3 M8
(78.1 to 95.5)
1 to 1.4
p1, n1 14 14 to 12 M4
(8.9 to 12.4)
R/L1, S/L2, T/L3 6 8 to 3 M6 4 to 6
U/T1, V/T2, W/T3 6 8 to 3 M6 (35.4 to 53.1)
40052 8.8 to 10.8
6 8 to 3 M8
(78.1 to 95.5)
1 to 1.4
p1, n1 14 14 to 12 M4
(8.9 to 12.4)
R/L1, S/L2, T/L3 4 6 to 3 M6 4 to 6
U/T1, V/T2, W/T3 4 6 to 3 M6 (35.4 to 53.1)
40065 8.8 to 10.8
6 6 to 3 M8
(78.1 to 95.5)
1 to 1.4
p1, n1 14 14 to 12 M4
(8.9 to 12.4)
R/L1, S/L2, T/L3 3 4 to 3 M6 4 to 6
U/T1, V/T2, W/T3 3 4 to 3 M6 (35.4 to 53.1)
40077 8.8 to 10.8
6 6 to 3 M8
(78.1 to 95.5)
1 to 1.4
p1, n1 14 14 to 12 M4
(8.9 to 12.4)
R/L1, S/L2, T/L3 1 8 to 1/0 2P M8 8 to 10
U/T1, V/T2, W/T3 1 8 to 1/0 2P M8 (70.8 to 88.5)
40096 8.8 to 10.8
4 4 to 1 M8
(78.1 to 95.5)
1.2 to 2.0
p1, n1 14 14 to 12 M4
(10.6 to 17.7)
R/L1, S/L2, T/L3 4 2P 6 to 1/0 2P M8 8 to 10
U/T1, V/T2, W/T3 4 2P 6 to 1/0 2P M8 (70.8 to 88.5)
40124 8.8 to 10.8
4 4 to 1 M8
(78.1 to 95.5)
1.2 to 2.0
p1, n1 14 14 to 12 M4
(10.6 to 17.7)
R/L1, S/L2, T/L3 3 2P 4 to 4/0 2P M10 15 to 20
U/T1, V/T2, W/T3 3 2P 4 to 4/0 2P M10 (133 to 177)
40156 17.7 to 22.6
4 4 to 2/0 M10
(156 to 200)
1.2 to 2.0
p1, n1 14 14 to 12 M4
(10.6 to 17.7)
R/L1, S/L2, T/L3 2 2P 3 to 4/0 2P M10 15 to 20
U/T1, V/T2, W/T3 2 2P 3 to 4/0 2P M10 (133 to 177)
40180 17.7 to 22.6
3 4 to 2/0 M10
(156 to 200)
1.2 to 2.0
p1, n1 14 14 to 12 M4
(10.6 to 17.7)
R/L1, S/L2, T/L3 1/0 2P 2 to 4/0 2P M10 15 to 20
U/T1, V/T2, W/T3 1/0 2P 2 to 4/0 2P M10 (133 to 177)
40216 31.4 to 39.2
3 4 to 4/0 M12
(278 to 347)
1.2 to 2.0
p1, n1 14 14 to 12 M4
(10.6 to 17.7)
R/L1, S/L2, T/L3 1/0 2P 1/0 to 4/0 2P M10 15 to 20
U/T1, V/T2, W/T3 1/0 2P 1/0 to 4/0 2P M10 (133 to 177)
40240 31.4 to 39.2
2 2 to 4/0 M12
(278 to 347)
1.2 to 2.0
p1, n1 14 14 to 12 M4
(10.6 to 17.7)
R/L1, S/L2, T/L3 3/0 2P 1/0 to 4/0 2P M10 15 to 20
U/T1, V/T2, W/T3 3/0 2P 1/0 to 4/0 2P M10 (133 to 177)
40302 <1> 31.4 to 39.2
1 1 to 300 M12
(278 to 347)
1.2 to 2.0
p1, n1 14 14 to 12 M4
(10.6 to 17.7)
R/L1, S/L2, T/L3 4/0 2P 3/0 to 4/0 2P M10 15 to 20
Compliance
Standards
U/T1, V/T2, W/T3 4/0 2P 3/0 to 4/0 2P M10 (133 to 177)
40361 <1> 31.4 to 39.2
1/0 1/0 to 300 M12
(278 to 347)
1.2 to 2.0
p1, n1 14 14 to 12 M4
(10.6 to 17.7)
D
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 523
D.3 UL Standards
Model Terminal Recomm. Gauge Applicable Gauge Screw Tightening Torque
CIMR-U AWG, kcmil AWG, kcmil Size Nm (lb.in.)
R/L1, S/L2, T/L3 300 2P 4/0 to 300 2P M12 25 to 35
U/T1, V/T2, W/T3 300 2P 4/0 to 300 2P M12 (221 to 310)
40414 <1> 31.4 to 39.2
1/0 1/0 to 400 M12
(278 to 347)
1.2 to 2.0
p1, n1 14 14 to 12 M4
(10.6 to 17.7)
<1> When an EMC filter is installed, additional measures must be taken in order to comply with IEC/EN61800-5-1. Refer to EMC Filter
Installation on page 519.
Closed-Loop Crimp Terminal Recommendations
Yaskawa recommends using closed-loop crimp terminals on all drive models. UL approval requires the use of UL Listed
crimp terminals when wiring the drive main circuit terminals on models CIMR-U20068 to 20248 and 40052 to
40414. Use only crimping tools as specified by the crimp terminal manufacturer. Yaskawa recommends crimp
terminals made by JST and Tokyo DIP (or equivalent) for the insulation cap.
Table D.3 matches the wire gauges and terminal screw sizes with Yaskawa - recommended crimp terminals, tools, and
insulation caps. Refer to the appropriate Wire Gauge and Torque Specifications table for the wire gauge and screw size
for your drive model. Place orders with a Yaskawa representatives or the Yaskawa sales department.
Table D.3 Closed-Loop Crimp Terminal Size
Wire Gauge (AWG, kcmil) Tool
Crimp Terminal Insulation Cap
Drive Model R/L1, S/L2, T/L3 Screw Size Code <2>
Model Number Machine No. Die Jaw Model No.
U/T1, V/T2, W/T3
200 V Class Three-Phase Drives
10 M5 R5.5-5 YA-4 AD-900 TP-005 100-054-030
20028
8 <1> M5 R8-5 YA-4 AD-901 TP-008 100-054-032
8 M6 R8-6 YA-4 AD-901 TP-008 100-065-184
6 <1> M6 R14-6 YA-4 AD-902 TP-014 100-051-261
20042
4 M6 R22-6 YA-5 AD-953 TP-022 100-051-262
3 M6 R22-6 YA-5 AD-953 TP-022 100-051-262
6 M6 R14-6 YA-5 AD-952 TP-014 100-051-261
20054 4 <1> M6 R22-6 YA-5 AD-953 TP-022 100-051-262
3 M6 R22-6 YA-5 AD-953 TP-022 100-051-262
4 <1> M6 R22-6 YA-5 AD-953 TP-022 100-051-262
20068
3 M6 R22-6 YA-5 AD-953 TP-022 100-051-262
6 <1> M6 R14-6 YA-5 AD-952 TP-014 100-051-261
20081 4 M6 R22-6 YA-5 AD-953 TP-022 100-051-262
3 M6 R22-6 YA-5 AD-953 TP-022 100-051-262
6 M8 R14-8 YA-4 AD-902 TP-014 100-054-035
4 M8 R22-8 YA-5 AD-953 TP-022 100-051-263
3 M8 R22-8 YA-5 AD-953 TP-022 100-051-263
20104
2 M8 R38-8 YA-5 AD-954 TP-038 100-051-264
1 <1> M8 R38-8 YA-5 AD-954 TP-038 100-051-264
1/0 M8 R60-8 YA-5 AD-955 TP-060 100-051-265
6 M8 R14-8 YA-5 AD-952 TP-014 100-054-035
4 <1> M8 R22-8 YA-5 AD-953 TP-022 100-051-263
3 M8 R22-8 YA-5 AD-953 TP-022 100-051-263
20130
2 M8 R38-8 YA-5 AD-954 TP-038 100-051-264
1 M8 R38-8 YA-5 AD-954 TP-038 100-051-264
1/0 M8 R60-8 YA-5 AD-955 TP-060 100-051-265
4 M10 R22-10 YA-5 AD-953 TP-022 100-061-113
3 <1> M10 R22-10 YA-5 AD-953 TP-022 100-061-113
2 M10 R38-10 YA-5 AD-954 TP-038 100-061-114
1 M10 R38-10 YA-5 AD-954 TP-038 100-061-114
20154 1/0 M10 R60-10 YA-5 AD-955 TP-060 100-051-266
YF-1 TD-322
2/0 M10 70-10 TP-080 100-064-251
YET-300-1 TD-311
YF-1 TD-323
3/0 M10 80-10 TP-080 100-051-267
YET-300-1 TD-312
4/0 M10 R100-10 YF-1 TD-324 TP-100 100-051-269
524 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
D.3 UL Standards
Wire Gauge (AWG, kcmil) Tool
Crimp Terminal Insulation Cap
Drive Model R/L1, S/L2, T/L3 Screw Size Code <2>
Model Number Machine No. Die Jaw Model No.
U/T1, V/T2, W/T3
3 M10 R22-10 YA-5 AD-953 TP-022 100-061-113
2 M10 R38-10 YA-5 AD-954 TP-038 100-061-114
1 <1> M10 R38-10 YA-5 AD-954 TP-038 100-061-114
1/0 M10 R60-10 YA-5 AD-955 TP-060 100-051-266
20192 YF-1 TD-322
2/0 M10 70-10 TP-080 100-064-251
YET-300-1 TD-311
YF-1 TD-323
3/0 M10 80-10 TP-080 100-051-267
YET-300-1 TD-312
YF-1 TD-324
4/0 M10 R100-10 TP-100 100-051-269
YET-300-1 TD-312
1 M10 R38-10 YA-5 AD-954 TP-038 100-061-114
YF-1 TD-321
1/0 M10 R60-10 TP-060 100-051-266
YET-300-1 TD-311
YF-1 TD-322
2/0 <1> M10 70-10 TP-080 100-064-251
20248 YET-300-1 TD-311
YF-1 TD-323
3/0 M10 80-10 TP-080 100-051-267
YET-300-1 TD-312
YF-1 TD-324
4/0 M10 R100-10 TP-100 100-051-269
YET-300-1 TD-312
400 V Class Three-Phase Drives
14 <1> M5 R2-5 YA-4 AD-900 TP-003 100-123-030
12 M5 R5.5-5 YA-4 AD-900 TP-005 100-054-030
40011
10 M5 R5.5-5 YA-4 AD-900 TP-005 100-054-030
8 M5 R8-5 YA-4 AD-901 TP-008 100-054-032
14 M5 R2-5 YA-4 AD-900 TP-003 100-123-030
12 <1> M5 R5.5-5 YA-4 AD-900 TP-005 100-054-030
40014
10 M5 R5.5-5 YA-4 AD-900 TP-005 100-054-030
8 M5 R8-5 YA-4 AD-901 TP-008 100-054-032
12 M5 R5.5-5 YA-4 AD-900 TP-005 100-054-030
40021 10 <1> M5 R5.5-5 YA-4 AD-900 TP-005 100-054-030
8 M5 R8-5 YA-4 AD-901 TP-008 100-054-032
10 M5 R5.5-5 YA-4 AD-900 TP-005 100-054-030
40027
8 <1> M5 R8-5 YA-4 AD-901 TP-008 100-054-032
40034 8 <1> M5 R8-5 YA-4 AD-901 TP-008 100-054-032
8 <1> M6 R8-6 YA-4 AD-901 TP-008 100-065-184
6 M6 R14-6 YA-4 AD-902 TP-014 100-051-261
40040
4 M6 R22-6 YA-5 AD-953 TP-022 100-051-262
3 M6 R22-6 YA-5 AD-953 TP-022 100-051-262
8 M6 R8-6 YA-4 AD-901 TP-008 100-065-184
6 <1> M6 R14-6 YA-4 AD-902 TP-014 100-051-261
40052
4 M6 R22-6 YA-5 AD-953 TP-022 100-051-262
3 M6 R22-6 YA-5 AD-953 TP-022 100-051-262
6 M6 R14-6 YA-5 AD-952 TP-014 100-051-261
40065 4 <1> M6 R22-6 YA-5 AD-953 TP-022 100-051-262
3 M6 R22-6 YA-5 AD-953 TP-022 100-051-262
4 M6 R22-6 YA-5 AD-953 TP-022 100-051-262
40077
3 <1> M6 R22-6 YA-5 AD-953 TP-022 100-051-262
8 M8 R8-8 YA-4 AD-901 TP-008 100-061-111
6 M8 R14-8 YA-4 AD-902 TP-014 100-054-035
4 M8 R22-8 YA-5 AD-953 TP-022 100-051-263
40096 3 M8 R22-8 YA-5 AD-953 TP-022 100-051-263
2 M8 R38-8 YA-5 AD-954 TP-038 100-051-264
1 <1> M8 R38-8 YA-5 AD-954 TP-038 100-051-264
1/0 M8 R60-8 YA-5 AD-955 TP-060 100-051-265
6 M8 R14-8 YA-5 AD-952 TP-014 100-054-035
4 <1> M8 R22-8 YA-5 AD-953 TP-022 100-051-263
3 M8 R22-8 YA-5 AD-953 TP-022 100-051-263
40124
2 M8 R38-8 YA-5 AD-954 TP-038 100-051-264
1 M8 R38-8 YA-5 AD-954 TP-038 100-051-264
1/0 M8 R60-8 YA-5 AD-955 TP-060 100-051-265
Compliance
Standards
D
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 525
D.3 UL Standards
Wire Gauge (AWG, kcmil) Tool
Crimp Terminal Insulation Cap
Drive Model R/L1, S/L2, T/L3 Screw Size Model Number Model No. Code <2>
Machine No. Die Jaw
U/T1, V/T2, W/T3
4 M10 R22-10 YA-5 AD-953 TP-022 100-061-113
3 <1> M10 R22-10 YA-5 AD-953 TP-022 100-061-113
2 M10 R38-10 YA-5 AD-954 TP-038 100-061-114
1 M10 R38-10 YA-5 AD-954 TP-038 100-061-114
1/0 M10 R60-10 YA-5 AD-955 TP-060 100-051-266
40156
YF-1 TD-322
2/0 M10 70-10 TP-080 100-064-251
YET-300-1 TD-311
YF-1 TD-323
3/0 M10 80-10 TP-080 100-051-267
YET-300-1 TD-312
YF-1 TD-324
4/0 M10 R100-10 TP-100 100-051-269
YET-300-1 TD-312
3 M10 R22-10 YA-5 AD-953 TP-022 100-061-113
2 <1> M10 R38-10 YA-5 AD-954 TP-038 100-061-114
1 M10 R38-10 YA-5 AD-954 TP-038 100-061-114
1/0 M10 R60-10 YA-5 AD-955 TP-060 100-051-266
40180 YF-1 TD-322
2/0 M10 70-10 TP-080 100-064-251
YET-300-1 TD-311
YF-1 TD-323
3/0 M10 80-10 TP-080 100-051-267
YET-300-1 TD-312
YF-1 TD-324
4/0 M10 R100-10 TP-100 100-051-269
YET-300-1 TD-312
2 M10 R38-10 YA-5 AD-954 TP-038 100-061-114
1 M10 R38-10 YA-5 AD-954 TP-038 100-061-114
YF-1 TD-321
1/0 <1> M10 R60-10 TP-060 100-051-266
YET-300-1 TD-311
40216 YF-1 TD-322
2/0 M10 70-10 TP-080 100-064-251
YET-300-1 TD-311
YF-1 TD-323
3/0 M10 80-10 TP-080 100-051-267
YET-300-1 TD-312
YF-1 TD-324
4/0 M10 R100-10 TP-100 100-051-269
YET-300-1 TD-312
YF-1 TD-321
1/0 <1> M10 R60-10 TP-060 100-051-266
YET-300-1 TD-311
YF-1 TD-322
2/0 M10 70-10 TP-080 100-064-251
YET-300-1 TD-311
40240
YF-1 TD-323
3/0 M10 80-10 TP-080 100-051-267
YET-300-1 TD-312
YF-1 TD-324
4/0 M10 R100-10 TP-100 100-051-269
YET-300-1 TD-312
YF-1 TD-321
1/0 M10 R60-10 TP-060 100-051-266
YET-300-1 TD-311
YF-1 TD-322
2/0 M10 70-10 TP-080 100-064-251
YET-300-1 TD-311
40302
YF-1 TD-323
3/0 <1> M10 80-10 TP-080 100-051-267
YET-300-1 TD-312
YF-1 TD-324
4/0 M10 R100-10 TP-100 100-051-269
YET-300-1 TD-312
YF-1 TD-323
3/0 M10 80-10 TP-080 100-051-267
YET-300-1 TD-312
40361
YF-1 TD-324
4/0 <1> M10 R100-10 TP-100 100-051-269
YET-300-1 TD-312
YF-1 TD-324
4/0 M12 R100-12 TP-100 100-051-270
YET-300-1 TD-312
YF-1 TD-325
40414 250 M12 R150-12 TP-150 100-051-273
YET-300-1 TD-313
YF-1 TD-325
300 <1> M12 R150-12 TP-150 100-051-273
YET-300-1 TD-313
<1> Recommended wire gauges.
<2> Codes refer to a set of three crimp terminals and three insulation caps. Prepare input and output wiring using two sets for each
connection.
Note: Use crimp insulated terminals or insulated shrink tubing for wiring connections. Wires should have a continuous maximum
allowable temperature of 75C 600 Vac UL-approved vinyl-sheathed insulation.
526 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
D.3 UL Standards
Low Voltage Wiring for Control Circuit Terminals
Wire low voltage wires with NEC Class 1 circuit conductors. Refer to national state or local codes for wiring. If external
power supply used, it shall be UL Listed Class 2 power source only or equivalent. Refer to NEC Article 725 Class 1,
Class 2, and Class 3 Remote-Control, Signaling, and Power Limited Circuits for requirements concerning class 1 circuit
conductors and class 2 power supplies.
Table D.4 Control Circuit Terminal Power Supply
Input/Output Terminal Signal Power Supply Specifications
Open Collector Outputs DM+, DM- Requires class 2 power supply.
Digital inputs S1-S8, SN, SC, SP, HC, H1, H2 Use the internal LVLC power supply of the drive. Use class 2 for external power supply.
Analog inputs/outputs +V, -V, A1, A2, A3, AC, AM, FM Use the internal LVLC power supply of the drive. Use class 2 for external power supply.
Drive Short-Circuit Rating
The drive is suitable for use on a circuit capable of delivering not more than 100,000 RMS symmetrical Amperes, 240
Vac maximum (200 V Class) and 480 Vac maximum (400 V class: 4E and 4W), and 500 Vac maximum
(400 V class: 4A and 4P) with built-in fuses manufactured by Hinode Electric Co., Ltd. and Mersen.
Drive Motor Overload Protection
Set parameter E2-01 (motor rated current) to the appropriate value to enable motor overload protection. The internal
motor overload protection is UL Listed and in accordance with the NEC and CEC.
E2-01 Motor Rated Current
Setting Range: 10% to 180% of the drive rated current
Default Setting: Model Dependent
Parameter E2-01 (motor rated current) protects the motor if parameter L1-01 is not set to 0 (default is 1, enabling
protection for standard induction motors).
If Auto-Tuning has been performed successfully, the motor data entered to T1-04 and T2-06 is automatically written into
parameter E2-01. If Auto-Tuning has not been performed, manually enter the correct motor rated current to parameter
E2-01.
L1-01 Motor Overload Protection Selection
The drive has an electronic overload protection function (oL1) based on time, output current, and output frequency,
which protects the motor from overheating. The electronic thermal overload function is UL-recognized, so it does not
require an external thermal relay for single motor operation.
This parameter selects the motor overload curve used according to the type of motor applied.
Table D.5 Overload Protection Settings
Setting Description
0 Disabled Disabled the drive’s internal motor overload protection.
Selects protection characteristics for a standard self cooled motor with limited cooling capabilities when running below
1 Standard fan cooled motor (default) the rated speed. The motor overload detection level (oL1) is automatically reduces when running below the motor rated
speed.
Selects protection characteristics for a motor with self-cooling capability within a speed range of 10:1. The motor
2 Drive duty motor with a speed range of 1:10
overload detection level (oL1) is automatically reduced when running below 1/10 of the motor rated speed.
Selects protection characteristics for a motor capable of cooling itself at any speed — including zero speed (externally
3 Vector motor with a speed range of 1:100
cooled motor). The motor overload detection level (oL1) is constant over the entire speed range.
Selects protection characteristics for a variable torque PM motor. The motor overload detection level (oL1) is
4 Permanent Magnet motor with variable torque
automatically reduces when running below the motor rated speed.
Selects protection characteristics for a constant torque PM motor. The motor overload detection level (oL1) is constant
5 Permanent Magnet motor with constant torque
over the whole speed range.
Selects protection characteristics for a standard self cooled motor with limited cooling capabilities when running below
6 Standard fan cooled motor (50 Hz) the rated speed. The motor overload detection level (oL1) is automatically reduces when running below the motor rated
speed.
When connecting the drive to more than one motor for simultaneous operation, disable the electronic overload protection
Compliance
Standards
(L1-01 = 0) and wire each motor with its own motor thermal overload relay.
D
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 527
D.3 UL Standards
Enable the motor overload protection (L1-01 = 1 to 6) when connecting the drive to a single motor, unless another motor
overload preventing device is installed. The drive electronic thermal overload function causes an oL1 fault, which shuts
off the output of the drive and prevents additional overheating of the motor. The motor temperature is continually
calculated as long as the drive is powered up.
L1-02 Motor Overload Protection Time
Setting Range: 0.1 to 5.0 min
Factory Default: 1.0 min
Parameter L1-02 determines how long the motor is allowed to operate before the oL1 fault occurs when the drive is
running at 50 Hz and at 150% of the full load amp rating (E2-01) of the motor. Adjusting the value of L1-02 can shift the
set of oL1 curves up the y axis of the diagram below, but will not change the shape of the curves.
Figure D.6
Operation time (minutes)
10
7
3
Cold start
1
0.4
Hot start
0.1
Motor current (%)
0 100 150 200 E2-01 = 100% motor current
Figure D.6 Motor Overload Protection Time
L1-03 Motor Overheat Alarm Operation Selection (PTC Input)
Setting Description
0 Ramp to Stop
1 Coast to Stop
2 Fast-Stop
3 Alarm Only (default setting)
L1-04 Motor Overheat Fault Operation Selection (PTC Input)
Setting Description
0 Ramp to Stop
1 Coast to Stop (default setting)
2 Fast-Stop
528 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
D.4 Safe Disable Input Function
D.4 Safe Disable Input Function
This section explains the Safe Disable function. Contact Yaskawa if more information is required.
Safety Standards
The TUV mark indicates compliance with safety standards.
Figure D.7
Figure D.7 TUV mark
Table D.6 Safety Standards and Applicable Harmonized Standards
Safety Standards Applicable Harmonized Standards
IEC/EN 61508 series: 2010 (SIL3)
Functional Safety IEC/EN 62061: 2005 (SILCL3)
IEC/EN 61800-5-2: 2007 (SIL3)
Safety of Machinery ISO/EN ISO 13849-1/AC: 2009 (PL e (Cat.3))
EMC IEC/EN 61326-3-1: 2008 (EMC-related)
The Safe Disable function is in compliance with these standards.
Specifications
The Safe Disable inputs provide a stop function in compliance with “Safe Torque Off” as defined in the IEC/EN
61800-5-2. Safe Disable inputs have been designed to meet the requirements of the ISO/EN 13849-1 and IEC/EN 61508.
A Safe Disable Status Monitor for error detection in the safety circuit is also provided.
Table D.7 Specifications for Safe Disable Function
• Input signal specifications
Signal ON level: 18 to 28 Vdc
Signal OFF level: -4 to 4 Vdc
Inputs / Outputs • Inputs: 2
Safe Disable inputs H1, H2
• Outputs: 1
Safe Disable Monitor output EDM (DM+, DM-)
Response Time from Input Open to Drive Output Stop less than 3 ms
Response Time from Input Open of H1 and H2 Terminals to
less than 4 ms
EDM
Demand Rate Low PFD = 8.14E-6
Failure Probability Demand Rate High or
PFH = 1.96E-9
Continuous
The Safe Disable inputs satisfy the following requirements (DC from EDM considered).
Performance Level
Performance Level (PL) e according to ISO/EN 13849-1
HFT (Hardware Fault Tolerance) N=1
Classification of Subsystem Type B
Precautions
DANGER! Sudden Movement Hazard. Improper use of the Safe Disable function will result in serious injury or death. Make sure the
entire system or machinery uses the Safe Disable function in compliance with safety requirements. When implementing the Safe
Disable function into the safety system of a machine, a thorough risk assessment and validation for the whole system must be carried
out to ensure it complies with relevant safety norms (e.g., ISO/EN 13849, IEC/EN 61508, IEC/EN 62061).
DANGER! Sudden Movement Hazard. When using a PM motor, even if the drive output is shut off by the Safe Disable function, a
break down of two output transistors can cause current to flow through the motor winding, resulting in a rotor movement for a
maximum angle of 180 degrees (electrically). Ensure this condition will not affect the safety of the application when using the Safe
Disable function. Failure to comply will result in death or serious injury.
DANGER! Electrical Shock Hazard. The Safe Disable function can switch off the drive output, but does not cut the drive power supply
Compliance
and cannot electrically isolate the drive output from the input. Always shut off the drive power supply when performing maintenance or
Standards
installations on the drive input side as well as the drive output side. Failure to comply will result in death or serious injury.
D
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 529
D.4 Safe Disable Input Function
WARNING! Sudden Movement Hazard. If the motor is subjected to an external force, use a mechanical brake that meets the safety
requirements of entire system or machinery to stop the machine connected to the load. The motor will move when an external
gravitational force in the vertical axis is applied even if the Safety Disable function is in operation. Failure to comply may result in
serious injury or death.
WARNING! Sudden Movement Hazard. Connect the Safe Disable inputs to the devices in compliance with safety requirements.
Failure to comply will result in death or serious injury.
WARNING! Sudden Movement Hazard. When using the Safe Disable inputs, make sure to remove the wire links between terminals
H1, H2, and HC that were installed prior to shipment. Failing to do so will keep the Safe Disable circuit from operating properly and can
cause injury or even death.
WARNING! All safety features (including Safe Disable) should be inspected daily and periodically. If the system is not operating
normally, there is a risk of serious personal injury.
WARNING! Only a qualified technician with a thorough understanding of the drive, the instruction manual, and safety standards should
be permitted to wire, inspect, and maintain the Safe Disable input. Failure to comply may result in serious injury or death.
NOTICE: The Safe Disable Monitor (output terminals DM+ and DM-) should not be used for any other purpose than to monitor the
Safe Disable status or to discover a malfunction in the Safe Disable inputs. The monitor output is not considered a safe output.
NOTICE: When utilizing the Safe Disable function, use only the EMC filters recommended in EMC Filter Installation on page 519.
Using the Safe Disable Function
The Safe Disable inputs offer a stop function in compliance with “Safe Torque Off,” as defined in IEC/EN 61800-5-2.
Safe Disable inputs have been designed to meet the requirements in Table D.6.
A Safe Disable Status Monitor for error detection in the safety circuit is also provided.
Safe Disable Circuit
The Safe Disable circuit consists of two independent input channels that can block the output transistors (terminals H1
and H2). The input can either use the drive internal power supply or an external power supply. Use jumper S3 on the
terminal board to select between Sink or Source mode with either internal or external power supply.
A photocoupler output is available to monitor the status of the Safe Disable terminals DM+ and DM-. Refer to Output
Terminals on page 77 for signal specifications when using this output.
Additionally a Safe Disable monitor function can be assigned to one of the digital outputs (H2- = 58).
Figure D.8
Main Power
24 Vdc Control
Safety Relay or PLC HC Circuit
with safety functionality
Safety Jumper S3
Outputs Setting:
Feedback
SOURCE
H1 Gate Block 1
H2 Gate Block 2
DM+ Power Module
>=1
DM-
N.O.
N.C.
U1000 Slide Switch S6
YEG
Motor
Figure D.8 Safe Disable Function Wiring Example (Source Mode)
530 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
D.4 Safe Disable Input Function
Disabling and Enabling the Drive Output (“Safe Torque Off”)
Figure D.9 illustrates a Safe Disable input operation example.
Figure D.9
Motor coasts
Output to stop
Frequency
Drive is ready for
operation
Run Command Run Stop
H1, H2 Input ON (Safe Disable off) OFF (Safe Disable activated)
Drive Output Normal operation Safe Torque-Off Baseblock (Not Safe!)
Figure D.9 Safe Disable Operation
Entering the “Safe Torque Off” State
Whenever either one Safe Disable input or both inputs open, the motor torque is shut off by switching off the drive
output. If the motor was running before the Safe Disable inputs opened, it will coast to stop, regardless of the stopping
method set in parameter b1-03.
Notice that the “Safe Torque Off” state can only be achieved using the Safe Disable function. Removing the Run
command stops the drive and shuts the output off (baseblock), but does not create a “Safe Torque Off” status.
Note: To avoid an uncontrolled stop during normal operation, make sure that the Safe Disable inputs are opened first when the motor
has completely stopped.
Returning to Normal Operation after Safe Disable
The Safe Disable function can only be deactivated when a Run command is not active.
When Safe Disable was activated during stop, normal operation can be resumed by simply turning on both Safe Disable
inputs (i.e., by deactivating “Safe Torque Off”).
When Safe Disable was activated during run, first the Run command has to be removed and then the Safe Disable inputs
have to be turned on before the drive can be restarted.
Safe Disable Monitor Output Function and Digital Operator Display
Table D.8 explains the drive output and Safe Disable monitor state depending on the Safe Disable inputs.
Table D.8 Safety Input and EDM Terminal Status
Safe Disable Status Monitor,
Safe Disable Input Status
DM+ - DM-
Drive Output Status Digital Operator Display
S6 Selected S6 Selected
Input 1, H1-HC Input 2, H2-HC
N.C. N.O.
OFF OFF ON OFF Safely disabled, “Safe Torque Off” Hbb (flashes)
ON OFF OFF ON Safely disabled, “Safe Torque Off” HbbF (flashes)
OFF ON OFF ON Safely disabled, “Safe Torque Off” HbbF (flashes)
ON ON OFF ON Baseblock, ready for operation Normal display
Safe Disable Status Monitor
With the Safe Disable monitor output (terminals DM+ and DM–), the drive provides a safety status feedback signal. This
signal should be read by the device that controls the Safe Disable inputs (PLC or a safety relay) in order to prohibit
leaving the “Safe Torque Off” status in case the safety circuit malfunctions. Refer to the instruction manual of the safety
device for details on this function.
Compliance
Standards
D
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 531
D.4 Safe Disable Input Function
Digital Operator Display
When both Safe Disable inputs are open, “Hbb” will flash in the digital operator display.
Should only one of the Safe Disable channels be on while the other is off, “HbbF” will flash in the display to indicate that
there is a problem in the safety circuit or in the drive. This display should not appear under normal conditions if the Safe
Disable circuit is utilized properly. Refer to Alarm Codes, Causes, and Possible Solutions on page 324 to resolve
possible errors.
If a fault in the safety circuit of the drive is detected, “SCF” will be displayed in the LCD operator. This indicates damage
to the drive. Refer to Fault Displays, Causes, and Possible Solutions on page 312 for details.
Validating Safe Disable Function
When you start-up, replace parts or conduct maintenance, you must always perform the following validation test on the
safe disable inputs after completing the wiring. (Check results should be maintained as a record of tests performed.)
• When the H1 and H2 signals turn OFF, confirm that “Hbb” is displayed on the LCD operator, and that the motor is not
in operation.
• Monitor the ON/OFF status of the H1 and H2 signals and confirm the EDM signal by referring to Table D.8.
If the ON/OFF status of the signals do not coincide with the display, the following must be considered: an error in the
external device, disconnection of the external wiring, short circuit in the external wiring, or a failure in the drive. Find the
cause and correct the problem.
• Confirm that the EDM signal is OFF while in normal operation.
• In normal operation, confirm the EDM signal by referring to Table D.8.
532 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
Appendix: E
Quick Reference Sheet
This section provides tables to keep record of the drive specification, motor specification and
drive settings. Fill in the data after commissioning the application and have them ready when
contacting Yaskawa for technical assistance.
E.1 DRIVE AND MOTOR SPECIFICATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 534
E.2 BASIC PARAMETER SETTINGS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 535
E.3 USER SETTING TABLE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 536
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 533
E.1 Drive and Motor Specifications
E.1 Drive and Motor Specifications
Drive Specifications
Normal Duty Amps / Heavy Duty Amps
AC drive model MODEL : CIMR-UA4A0011AAA
REV : A
Input specifications INPUT : AC3PH 380-500V 50/60Hz 8.7A/10A
IND.CONT.EQ.
Output specifications OUTPUT : AC3PH 0-475V 0-400Hz 9.6A/11A 7J48
MASS : 20 kg PRG : 1010 Software version
Lot number O/N : 6W3050-2-100
Serial number S/N : J0065F575310100
YEG_
FILE NO : E131457
PASS TMonly
YASKAWA ELECTRIC CORPORATION MADE IN JAPAN
2-1 Kurosaki-shiroishi, Yahatanishi-Ku, Kitakyushu 806-0004 Japan
Items Value
Model CIMR-U
Serial Number
Software Version (PRG)
Options used
(Option cards, etc.)
Motor Specifications
Induction Motor
Items Value Items Value
Manufacturer Motor Rated Current A
Model Motor Base Frequency Hz
Motor Rated Power kW Number of Motor Poles
Motor Rated Voltage V Motor Rated Speed (T1-07) min-1
Permanent Magnet Motor
Items Value Items Value
Manufacturer Induction Voltage Constant mVs/rad
Model Induction Voltage Constant mV/(min-1)
PM Motor Rated Power kW PM Motor Rated Current A
PM Motor Rated Voltage V PM Motor Base Frequency Hz
d-Axis Inductance mH Number of PM Motor Poles
q-Axis Inductance mH PM Motor Base Speed min-1
Motor Speed Encoder (if used)
Items Value Items Value
Manufacturer Resolution
Interface – –
534 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
E.2 Basic Parameter Settings
E.2 Basic Parameter Settings
Use these tables to keep record of the most important parameters. Have these data available when contacting the
technical support.
Basic Setup
Item Setting Value Memo Item Setting Value Memo
Control Mode A1-02 = Frequency Reference Source b1-01 =
Normal/Heavy Duty Selection C6-01 = Run Command Source b1-02 =
V/f Pattern Setup
Item Setting Value Memo Item Setting Value Memo
V/f Pattern Selection E1-03 = Middle Output Frequency E1-07 =
Max. Output Frequency E1-04 = Mid. Output Freq. Voltage E1-08 =
Maximum Voltage E1-05 = Min. Output Frequency E1-09 =
Base Frequency E1-06 = Min. Output Freq. Voltage E1-10 =
Motor Setup
Item Setting Value Memo Item Setting Value Memo
Motor Rated Current E2-01 = Number of Motor Poles E2-04 =
Induction
Motor Rated Slip E2-02 = Line-to-Line Resistance E2-05 =
Motor
Motor No-Load Current E2-03 = Motor Leakage Inductance E2-06 =
Motor Code Selection E5-01 = Motor d-Axis Inductance E5-06 =
Motor Rated Power E5-02 = Motor q-Axis Inductance E5-07 =
PM Motor Motor Rated Current E5-03 = Induction Volt. Const.1 E5-09 =
Number of Motor Poles E5-04 = Encoder Z-pulse Offset E5-11 =
Motor Stator Resistance E5-05 = Induction Volt. Const. 2 E5-24 =
Multi-Function Digital Inputs
Input Setting Value and Function Input Setting Value and Function
Terminal Used Name Memo Terminal Used Name Memo
S1 H1-01 = S5 H1-05 =
S2 H1-02 = S6 H1-06 =
S3 H1-03 = S7 H1-07 =
S4 H1-04 = S8 H1-08 =
Pulse Train Input/Analog Inputs
Terminal Input Used Setting Value and Function Name Memo
RP H6-01 =
A1 H3-02 =
A2 H3-10 =
A3 H3-06 =
Multi-Function Digital Outputs
Terminal Output Used Setting Value and Function Name Memo
M1-M2 H2-01 =
M3-M4 H2-02 =
M5-M6 H2-03 =
Monitor Outputs
Terminal Output Used Setting Value and Function Name Memo
FM H4-01 =
Quick Reference
AM H4-04 =
MP H6-06 =
Sheet
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 535 E
E.3 User Setting Table
E.3 User Setting Table
Use the Verify Menu to see which parameters have been changed from their original default settings.
• The diamond below the parameter number indicates that the parameter setting can be changed during run.
• Parameter names in boldface type are included in the Setup Group of parameters which can be set by A1-06 = 0).
User User
No. Name Setting No. Name Setting
A1-00 Language Selection b3-53 Backspin Search Deceleration Time 2
A1-01 Access Level Selection b4-01 Timer Function On-Delay Time
A1-02 Control Method Selection b4-02 Timer Function Off-Delay Time
A1-03 Initialize Parameters b4-03 H2-01 ON Delay Time
A1-04 Password b4-04 H2-01 OFF Delay Time
A1-05 Password Setting b4-05 H2-02 ON Delay Time
A1-06 Application Preset b4-06 H2-02 OFF Delay Time
A1-07 DriveWorksEZ Function Selection b4-07 H2-03 ON Delay Time
A2-01 to b4-08 H2-03 OFF Delay Time
User Parameters 1 to 32
A2-32 b5-01 PID Function Setting
A2-33 User Parameter Automatic Selection b5-02 Proportional Gain Setting (P)
b1-01 Frequency Reference Selection 1 b5-03 Integral Time Setting (I)
b1-02 Run Command Selection 1 b5-04 Integral Limit Setting
b1-03 Stopping Method Selection b5-05 Derivative Time (D)
b1-04 Reverse Operation Selection b5-06 PID Output Limit
b1-05 Action Selection below Minimum Output Frequency b5-07 PID Offset Adjustment
b1-06 Digital Input Reading b5-08 PID Primary Delay Time Constant
b1-07 LOCAL/REMOTE Run Selection b5-09 PID Output Level Selection
b1-08 Run Command Selection while in Programming Mode b5-10 PID Output Gain Setting
b1-14 Phase Order Selection b5-11 PID Output Reverse Selection
b1-15 Frequency Reference Selection 2 b5-12 PID Feedback Loss Detection Selection
b1-16 Run Command Selection 2 b5-13 PID Feedback Loss Detection Level
b1-17 Run Command at Power Up b5-14 PID Feedback Loss Detection Time
b1-21 Start Condition Selection at Closed Loop Vector Control b5-15 PID Sleep Function Start Level
b1-24 Commercial Power Switching Selection b5-16 PID Sleep Delay Time
Commercial Power Switching Output Frequency b5-17 PID Accel/Decel Time
b1-25
Non-coincidence Level
b5-18 PID Setpoint Selection
Commercial Power Switching Output Frequency
b1-26 b5-19 PID Setpoint Value
Coincidence Level
b2-01 DC Injection Braking Start Frequency b5-20 PID Setpoint Scaling
b2-02 DC Injection Braking Current b5-34 PID Output Lower Limit
b2-03 DC Injection Braking Time at Start b5-35 PID Input Limit
b2-04 DC Injection Braking Time at Stop b5-36 PID Feedback High Detection Level
b2-08 Magnetic Flux Compensation Value b5-37 PID Feedback High Detection Time
b3-01 Speed Search Selection at Start b5-38 PID Setpoint User Display
b3-03 Speed Search Deceleration Time b5-39 PID Setpoint Display Digits
b3-05 Speed Search Delay Time b5-40 Frequency Reference Monitor Content during PID
b3-06 Output Current 1 during Speed Search b5-47 PID Output Reverse Selection 2
Current Control Gain during Speed Search (Speed b6-01 Dwell Reference at Start
b3-08
Estimation Type) b6-02 Dwell Time at Start
b3-10 Speed Search Detection Compensation Gain b6-03 Dwell Reference at Stop
b3-12 Minimum Current Detection Level during Speed Search b6-04 Dwell Time at Stop
b3-14 Bi-Directional Speed Search Selection b7-01 Droop Control Gain
b3-17 Speed Search Restart Current Level b7-02 Droop Control Delay Time
b3-18 Speed Search Restart Detection Time b7-03 Droop Control Limit Selection
b3-19 Number of Speed Search Restarts b8-01 Energy Saving Control Selection
b3-24 Speed Search Method Selection b8-02 Energy Saving Gain
b3-25 Speed Search Wait Time b8-03 Energy Saving Control Filter Time Constant
b3-27 Start Speed Search Select b8-04 Energy Saving Coefficient Value
b3-29 Speed Search Induced Voltage Level b8-05 Power Detection Filter Time
b3-31 Speed Search Operation Current Level 1 (Common) b8-06 Search Operation Voltage Limit
Speed Search Operation Current Level 2 (Current b8-16 Energy Saving Parameter (Ki) for PM Motors
b3-32
Detection 2)
b8-17 Energy Saving Parameter (Kt) for PM Motors
Speed Search Selection when Driving Instruction is Input
b3-33 b9-01 Zero Servo Gain
in Uv
b9-02 Zero Servo Completion Width
b3-50 Backspin Search Direction Judgment Time 1
C1-01 Acceleration Time 1
b3-51 Backspin Search Direction Judgment Time 2
C1-02 Deceleration Time 1
b3-52 Backspin Search Deceleration Time 1
536 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
E.3 User Setting Table
No. Name User No. Name User
Setting Setting
C1-03 Acceleration Time 2 d1-07 Frequency Reference 7
C1-04 Deceleration Time 2 d1-08 Frequency Reference 8
C1-05 Acceleration Time 3 (Motor 2 Accel Time 1) d1-09 Frequency Reference 9
C1-06 Deceleration Time 3 (Motor 2 Decel Time 1) d1-10 Frequency Reference 10
C1-07 Acceleration Time 4 (Motor 2 Accel Time 2) d1-11 Frequency Reference 11
C1-08 Deceleration Time 4 (Motor 2 Decel Time 2) d1-12 Frequency Reference 12
C1-09 Fast-Stop Time d1-13 Frequency Reference 13
C1-10 Accel/Decel Time Setting Units d1-14 Frequency Reference 14
C1-11 Accel/Decel Time Switching Frequency d1-15 Frequency Reference 15
C2-01 S-Curve Characteristic at Accel Start d1-16 Frequency Reference 16
C2-02 S-Curve Characteristic at Accel End d1-17 Jog Frequency Reference
C2-03 S-Curve Characteristic at Decel Start d2-01 Frequency Reference Upper Limit
C2-04 S-Curve Characteristic at Decel End d2-02 Frequency Reference Lower Limit
C3-01 Slip Compensation Gain d2-03 Master Speed Reference Lower Limit
C3-02 Slip Compensation Primary Delay Time d3-01 Jump Frequency 1
C3-03 Slip Compensation Limit d3-02 Jump Frequency 2
C3-04 Slip Compensation Selection during Regeneration d3-03 Jump Frequency 3
C3-05 Output Voltage Limit Operation Selection d3-04 Jump Frequency Width
C3-21 Motor 2 Slip Compensation Gain d4-01 Frequency Reference Hold Function Selection
C3-22 Motor 2 Slip Compensation Primary Delay Time d4-03 Frequency Reference Bias Step (Up/Down 2)
C3-23 Motor 2 Slip Compensation Limit d4-04 Frequency Reference Bias Accel/Decel (Up/Down 2)
C3-24 Motor 2 Slip Compensation Selection during Regeneration Frequency Reference Bias Operation Mode Selection (Up/
d4-05
C4-01 Torque Compensation Gain Down 2)
C4-02 Torque Compensation Primary Delay Time d4-06 Frequency Reference Bias (Up/Down 2)
C4-03 Torque Compensation at Forward Start Analog Frequency Reference Fluctuation Limit (Up/Down
d4-07
2)
C4-04 Torque Compensation at Reverse Start
d4-08 Frequency Reference Bias Upper Limit (Up/Down 2)
C4-05 Torque Compensation Time Constant
d4-09 Frequency Reference Bias Lower Limit (Up/Down 2)
C4-07 Motor 2 Torque Compensation Gain
d4-10 Up/Down Frequency Reference Limit Selection
C5-01 ASR Proportional Gain 1
d4-11 Bi-directional Output Selection
C5-02 ASR Integral Time 1
d4-12 Stop Position Gain
C5-03 ASR Proportional Gain 2
d5-01 Torque Control Selection
C5-04 ASR Integral Time 2
d5-02 Torque Reference Delay Time
C5-05 ASR Limit
d5-03 Speed Limit Selection
C5-06 ASR Primary Delay Time Constant
d5-04 Speed Limit
C5-07 ASR Gain Switching Frequency
d5-05 Speed Limit Bias
C5-08 ASR Integral Limit
d5-06 Speed/Torque Control Switchover Time
C5-12 Integral Operation during Accel/Decel
d5-08 Unidirectional Speed Limit Bias
C5-17 Motor Inertia
d6-01 Field Weakening Level
C5-18 Load Inertia Ratio
d6-02 Field Weakening Frequency Limit
C5-21 Motor 2 ASR Proportional Gain 1
d6-03 Field Forcing Selection
C5-22 Motor 2 ASR Integral Time 1
d6-06 Field Forcing Limit
C5-23 Motor 2 ASR Proportional Gain 2
d7-01 Offset Frequency 1
C5-24 Motor 2 ASR Integral Time 2
d7-02 Offset Frequency 2
C5-25 Motor 2 ASR Limit
d7-03 Offset Frequency 3
C5-26 Motor 2 ASR Primary Delay Time Constant
E1-03 V/f Pattern Selection
C5-27 Motor 2 ASR Gain Switching Frequency
E1-04 Maximum Output Frequency
C5-28 Motor 2 ASR Integral Limit
E1-05 Maximum Voltage
C5-32 Integral Operation during Accel/Decel for Motor 2
E1-06 Base Frequency
C5-37 Motor 2 Inertia
E1-07 Middle Output Frequency
C5-38 Motor 2 Load Inertia Ratio
E1-08 Middle Output Frequency Voltage
C6-01 Drive Duty Selection
E1-09 Minimum Output Frequency
C6-02 Carrier Frequency Selection
E1-10 Minimum Output Frequency Voltage
C6-03 Carrier Frequency Upper Limit
E1-11 Middle Output Frequency 2
C6-04 Carrier Frequency Lower Limit
E1-12 Middle Output Frequency Voltage 2
C6-05 Carrier Frequency Proportional Gain
E1-13 Base Voltage
C6-09 Carrier Frequency during Rotational Auto-Tuning
E2-01 Motor Rated Current
C7-43 Input Voltage Offset Adjustment
E2-02 Motor Rated Slip
C7-56 Power Factor Control Selection
E2-03 Motor No-Load Current
C7-60 Output Voltage Limit Mode Selection
E2-04 Number of Motor Poles
d1-01 Frequency Reference 1
E2-05 Motor Line-to-Line Resistance
d1-02 Frequency Reference 2
E2-06 Motor Leakage Inductance
d1-03 Frequency Reference 3
Quick Reference
E2-07 Motor Iron-Core Saturation Coefficient 1
d1-04 Frequency Reference 4
E2-08 Motor Iron-Core Saturation Coefficient 2
d1-05 Frequency Reference 5
E2-09 Motor Mechanical Loss
d1-06 Frequency Reference 6
E2-10 Motor Iron Loss for Torque Compensation
Sheet
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 537 E
E.3 User Setting Table
No. Name User No. Name User
Setting Setting
E2-11 Motor Rated Power F2-03 Analog Input Option Card Bias
E3-01 Motor 2 Control Mode Selection F3-01 Digital Input Option Card Input Selection
E3-04 Motor 2 Maximum Output Frequency F3-03 Digital Input Option DI-A3 Data Length Selection
E3-05 Motor 2 Maximum Voltage F4-01 Terminal V1 Monitor Selection
E3-06 Motor 2 Base Frequency F4-02 Terminal V1 Monitor Gain
E3-07 Motor 2 Mid Output Frequency F4-03 Terminal V2 Monitor Selection
E3-08 Motor 2 Mid Output Frequency Voltage F4-04 Terminal V2 Monitor Gain
E3-09 Motor 2 Minimum Output Frequency F4-05 Terminal V1 Monitor Bias
E3-10 Motor 2 Minimum Output Frequency Voltage F4-06 Terminal V2 Monitor Bias
E3-11 Motor 2 Mid Output Frequency 2 F4-07 Terminal V1 Signal Level
E3-12 Motor 2 Mid Output Frequency Voltage 2 F4-08 Terminal V2 Signal Level
E3-13 Motor 2 Base Voltage F5-01 Terminal P1-PC Output Selection
E4-01 Motor 2 Rated Current F5-02 Terminal P2-PC Output Selection
E4-02 Motor 2 Rated Slip F5-03 Terminal P3-PC Output Selection
E4-03 Motor 2 Rated No-Load Current F5-04 Terminal P4-PC Output Selection
E4-04 Motor 2 Motor Poles F5-05 Terminal P5-PC Output Selection
E4-05 Motor 2 Line-to-Line Resistance F5-06 Terminal P6-PC Output Selection
E4-06 Motor 2 Leakage Inductance F5-07 Terminal M1-M2 Output Selection
E4-07 Motor 2 Motor Iron-Core Saturation Coefficient 1 F5-08 Terminal M3-M4 Output Selection
E4-08 Motor 2 Motor Iron-Core Saturation Coefficient 2 F5-09 DO-A3 Output Mode Selection
E4-09 Motor 2 Mechanical Loss F6-01 Communications Error Operation Selection
E4-10 Motor 2 Iron Loss F6-02 External Fault from Comm. Option Detection Selection
E4-11 Motor 2 Rated Power F6-03 External Fault from Comm. Option Operation Selection
E5-01 Motor Code Selection (for PM Motors) F6-04 bUS Error Detection Time
E5-02 Motor Rated Power (for PM Motors) Torque Reference/Torque Limit Selection from Comm.
F6-06
E5-03 Motor Rated Current (for PM Motors) Option
E5-04 Number of Motor Poles (for PM Motors) Multi-Step Speed Enable/Disable Selection when NetRef/
F6-07
ComRef is Selected
E5-05 Motor Stator Resistance (for PM Motors)
F6-08 Reset Communication Parameters
E5-06 Motor d-Axis Inductance (for PM Motors)
F6-10 CC-Link Node Address
E5-07 Motor q-Axis Inductance (for PM Motors)
F6-11 CC-Link Communications Speed
E5-09 Motor Induction Voltage Constant 1 (for PM Motors)
F6-14 CC-Link bUS Error Auto Reset
E5-11 Encoder Z-pulse Offset (for PM Motors)
F6-20 MECHATROLINK Station Address
E5-24 Motor Induction Voltage Constant 2 (for PM Motors)
F6-21 MECHATROLINK Frame Size
Polarity Switch for Initial Polarity Estimation (for PM
E5-25 F6-22 MECHATROLINK Link Speed
Motors)
F1-01 PG 1 Pulses Per Revolution F6-23 MECHATROLINK Monitor Selection (E)
F1-02 Operation Selection at PG Open Circuit (PGo) F6-24 MECHATROLINK Monitor Selection (F)
F1-03 Operation Selection at Overspeed (oS) Operation Selection at MECHATROLINK Watchdog
F6-25
Timer Error (E5)
F1-04 Operation Selection at Speed Deviation (dEv)
F6-26 MECHATROLINK bUS Errors Detected
F1-05 PG 1 Rotation Selection
F6-30 PROFIBUS-DP Node Address
F1-06 PG 1 Division Rate for PG Pulse Monitor
F6-31 PROFIBUS-DP Clear Mode Selection
F1-08 Overspeed Detection Level
F6-32 PROFIBUS-DP Data Format Selection
F1-09 Overspeed Detection Delay Time
F6-35 CANopen Node ID Selection
F1-10 Excessive Speed Deviation Detection Level
F6-36 CANopen Communication Speed
F1-11 Excessive Speed Deviation Detection Delay Time
F6-50 DeviceNet MAC Address
F1-12 PG 1 Gear Teeth 1
F6-51 DeviceNet Communication Speed
F1-13 PG 1 Gear Teeth 2
F6-52 DeviceNet PCA Setting
F1-14 PG Open-Circuit Detection Time
F6-53 DeviceNet PPA Setting
F1-18 dv3 Detection Selection
F6-54 DeviceNet Idle Mode Fault Detection
F1-19 dv4 Detection Selection
F6-55 DeviceNet Baud Rate Monitor
F1-20 PG Option Card Disconnect Detection 1
F6-56 DeviceNet Speed Scaling
F1-21 PG 1 Signal Selection
F6-57 DeviceNet Current Scaling
F1-30 PG Option Card Port for Motor 2 Selection
F6-58 DeviceNet Torque Scaling
F1-31 PG 2 Pulses Per Revolution
F6-59 DeviceNet Power Scaling
F1-32 PG 2 Rotation Selection
F6-60 DeviceNet Voltage Scaling
F1-33 PG 2 Gear Teeth 1
F6-61 DeviceNet Time Scaling
F1-34 PG 2 Gear Teeth 2
F6-62 DeviceNet Heartbeat Interval
F1-35 PG 2 Division Rate for PG Pulse Monitor
F6-63 DeviceNet Network MAC ID
F1-36 PG Option Card Disconnect Detection 2
F6-64 to
F1-37 PG2 Signal Selection Reserved
F6-71
F1-50 Encoder Selection F7-01 IP Address 1
F1-51 PGoH Detection Level F7-02 IP Address 2
F1-52 Communication Speed of Serial Encoder Selection F7-03 IP Address 3
F2-01 Analog Input Option Card Operation Selection F7-04 IP Address 4
F2-02 Analog Input Option Card Gain F7-05 Subnet Mask 1
538 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
E.3 User Setting Table
No. Name User No. Name User
Setting Setting
F7-06 Subnet Mask 2 H4-05 Multi-Function Analog Output Terminal AM Gain
F7-07 Subnet Mask 3 H4-06 Multi-Function Analog Output Terminal AM Bias
F7-08 Subnet Mask 4 Multi-Function Analog Output Terminal FM Signal Level
H4-07
F7-09 Gateway Address 1 Selection
F7-10 Gateway Address 2 Multi-Function Analog Output Terminal AM Signal Level
H4-08
Selection
F7-11 Gateway Address 3
H5-01 Drive Node Address
F7-12 Gateway Address 4
H5-02 Communication Speed Selection
F7-13 Address Mode at Startup
H5-03 Communication Parity Selection
F7-14 Duplex Mode Selection
H5-04 Stopping Method After Communication Error (CE)
F7-15 Communication Speed Selection
H5-05 Communication Fault Detection Selection
F7-16 Communication Loss Time-out
H5-06 Drive Transmit Wait Time
F7-17 EtherNet/IP Speed Scaling Factor
H5-07 RTS Control Selection
F7-18 EtherNet/IP Current Scaling Factor
H5-09 CE Detection Time
F7-19 EtherNet/IP Torque Scaling Factor
H5-10 Unit Selection for MEMOBUS/Modbus Register 0025H
F7-20 EtherNet/IP Power Scaling Factor
H5-11 Communications ENTER Function Selection
F7-21 EtherNet/IP Voltage Scaling Factor
H5-12 Run Command Method Selection
F7-22 EtherNet/IP Time Scaling
H5-17 Operation Selection when Unable to Write into EEPROM
F7-23 to
Dynamic Output Assembly Parameters H5-18 Filter Time Constant for Motor Speed Monitoring
F7-32
F7-33 to H6-01 Pulse Train Input Terminal RP Function Selection
Dynamic Input Assembly Parameters
F7-42 H6-02 Pulse Train Input Scaling
Multi-Function Digital Input Terminal S1 Function H6-03 Pulse Train Input Gain
H1-01
Selection H6-04 Pulse Train Input Bias
Multi-Function Digital Input Terminal S2 Function H6-05 Pulse Train Input Filter Time
H1-02
Selection
H6-06 Pulse Train Monitor Selection
Multi-Function Digital Input Terminal S3 Function
H1-03 H6-07 Pulse Train Monitor Scaling
Selection
Multi-Function Digital Input Terminal S4 Function H6-08 Pulse Train Input Minimum Frequency
H1-04
Selection L1-01 Motor Overload Protection Selection
Multi-Function Digital Input Terminal S5 Function L1-02 Motor Overload Protection Time
H1-05
Selection
L1-03 Motor Overheat Alarm Operation Selection (PTC input)
Multi-Function Digital Input Terminal S6 Function
H1-06 L1-04 Motor Overheat Fault Operation Selection (PTC input)
Selection
L1-05 Motor Temperature Input Filter Time (PTC input)
Multi-Function Digital Input Terminal S7 Function
H1-07 L1-08 oL1 Current Lvl
Selection
Multi-Function Digital Input Terminal S8 Function L1-09 oL1 Current Lvl (for 2nd motor)
H1-08
Selection L1-13 Continuous Electrothermal Operation Selection
H2-01 Terminal M1-M2 Function Selection (relay) L2-01 Momentary Power Loss Operation Selection
H2-02 Terminal M3-M4 Function Selection (Relay) L2-02 Momentary Power Loss Ride-Thru Time
H2-03 Terminal M5-M6 Function Selection (Relay) L2-03 Momentary Power Loss Minimum Baseblock Time
H2-06 Power Consumption Output Unit Selection L2-04 Momentary Power Loss Voltage Recovery Ramp Time
H2-07 Memobus Regs1 Address Select Momentary Power Loss Voltage Recovery Acceleration
L2-07
H2-08 Memobus Regs1 Bit Select Time
H2-09 Memobus Regs2 Address Select L2-13 Power Supply Frequency Fault Detection Gain
H2-10 Memobus Regs2 Bit Select L2-21 Low Input Voltage Detection Level
H3-01 Terminal A1 Signal Level Selection L2-27 Power Supply Frequency Fault Detection Width
H3-02 Terminal A1 Function Selection L3-01 Stall Prevention Selection during Acceleration
H3-03 Terminal A1 Gain Setting L3-02 Stall Prevention Level during Acceleration
H3-04 Terminal A1 Bias Setting L3-03 Stall Prevention Limit during Acceleration
H3-05 Terminal A3 Signal Level Selection L3-04 Stall Prevention Selection during Deceleration
H3-06 Terminal A3 Function Selection L3-05 Stall Prevention Selection during Run
H3-07 Terminal A3 Gain Setting L3-06 Stall Prevention Level during Run
H3-08 Terminal A3 Bias Setting L3-14 Stall Prevention Level during Deceleration
H3-09 Terminal A2 Signal Level Selection L3-22 Deceleration Time at Stall Prevention during Acceleration
H3-10 Terminal A2 Function Selection Automatic Reduction Selection for Stall Prevention during
L3-23
Run
H3-11 Terminal A2 Gain Setting
L3-27 Stall Prevention Detection Time
H3-12 Terminal A2 Bias Setting
Vibration Suppression Gain during Acceleration (with
H3-13 Analog Input Filter Time Constant L3-36
Current Limit)
H3-14 Analog Input Terminal Enable Selection
Current-limited Integral Time Constant during
H3-16 Terminal A1 Offset L3-39
Acceleration
H3-17 Terminal A2 Offset Current-limited Maximum S-curve Selection during
L3-40
H3-18 Terminal A3 Offset Acceleration
Multi-Function Analog Output Terminal FM Monitor Vibration Suppression Gain during Deceleration (with
H4-01 L3-41
Selection Current Limit)
H4-02 Multi-Function Analog Output Terminal FM Gain Current-limited Integral Time Constant during
Quick Reference
L3-44
Deceleration
H4-03 Multi-Function Analog Output Terminal FM Bias
Current-limited Maximum S-curve Selection during
Multi-Function Analog Output Terminal AM Monitor L3-45
H4-04 Deceleration
Selection
L4-01 Speed Agreement Detection Level
Sheet
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 539 E
E.3 User Setting Table
No. Name User No. Name User
Setting Setting
L4-02 Speed Agreement Detection Width n8-21 Motor Ke Gain
L4-03 Speed Agreement Detection Level (+/-) n8-35 Initial Rotor Position Detection Selection
L4-04 Speed Agreement Detection Width (+/-) n8-36 High Frequency Injection Level
L4-05 Frequency Reference Loss Detection Selection n8-37 High Frequency Injection Amplitude
L4-06 Frequency Reference at Reference Loss Low Pass Filter Cutoff Frequency for High Frequency
n8-39
L4-07 Speed Agree Detection Selection Injection
L5-01 Number of Auto Restart Attempts n8-45 Speed Feedback Detection Control Gain (for PM Motors)
L5-02 Auto Restart Fault Output Operation Selection Pull-In Current Compensation Time Constant (for PM
n8-47
Motors)
L5-04 Fault Reset Interval Time
n8-48 Pull-In Current (for PM Motors)
L5-05 Fault Reset Operation Selection
d-Axis Current for High Efficiency Control (for PM
L6-01 Torque Detection Selection 1 n8-49
Motors)
L6-02 Torque Detection Level 1 n8-51 Acceleration/Deceleration Pull-In Current (for PM Motors)
L6-03 Torque Detection Time 1 n8-54 Voltage Error Compensation Time Constant
L6-04 Torque Detection Selection 2 n8-55 Load Inertia
L6-05 Torque Detection Level 2 n8-57 High Frequency Injection
L6-06 Torque Detection Time 2 n8-62 Output Voltage Limit (for PM Motors)
L6-08 Mechanical Weakening Detection Operation n8-69 Speed Calculation Gain
L6-09 Mechanical Weakening Detection Speed Level n8-72 Speed Estimation Method Selection
L6-10 Mechanical Weakening Detection Time n8-84 Polarity Judge Current
L6-11 Mechanical Weakening Detection Start Time o1-01 Drive Mode Unit Monitor Selection
L7-01 Forward Torque Limit o1-02 User Monitor Selection After Power Up
L7-02 Reverse Torque Limit o1-03 Digital Operator Display Selection
L7-03 Forward Regenerative Torque Limit o1-04 V/f Pattern Display Unit
L7-04 Reverse Regenerative Torque Limit o1-05 LCD Contrast Control
L7-06 Torque Limit Integral Time Constant o1-10 User-Set Display Units Maximum Value
Torque Limit Control Method Selection during Accel/ o1-11 User-Set Display Units Decimal Display
L7-07
Decel
o2-01 LO/RE (LOCAL/REMOTE) Key Function Selection
L7-16 Torque Limit Process at Start
o2-02 STOP Key Function Selection
L8-02 Overheat Alarm Level
o2-03 User Parameter Default Value
L8-07 Output Phase Loss Protection
o2-04 Drive Model Selection
L8-09 Output Ground Fault Detection Selection
o2-05 Frequency Reference Setting Method Selection
L8-10 Heatsink Cooling Fan Operation Selection
Operation Selection when Digital Operator is
L8-11 Heatsink Cooling Fan Off Delay Time o2-06
Disconnected
L8-12 Ambient Temperature Setting o2-07 Motor Direction at Power Up when Using Operator
L8-15 oL2 Characteristics Selection at Low Speeds o2-19 Selection of Parameter Write During UV
L8-18 Software Current Limit Selection o3-01 Copy Function Selection
L8-19 Frequency Reduction Rate during Overheat Pre-Alarm o3-02 Copy Allowed Selection
L8-27 Overcurrent Detection Gain o4-01 Cumulative Operation Time Setting
L8-29 Current Unbalance Detection (LF2) o4-02 Cumulative Operation Time Selection
L8-32 Cooling Fan Failure Selection o4-03 Cooling Fan Maintenance Operation Time Setting
L8-35 Installation Method Selection o4-05 Capacitor Maintenance Setting
L8-38 Carrier Frequency Reduction Selection o4-07 DC Bus Pre-charge Relay Maintenance Setting
L8-40 Carrier Frequency Reduction Off-Delay Time o4-11 U2, U3 Initialize Selection
L8-41 High Current Alarm Selection o4-12 kWh Monitor Initialization
L8-93 LSo Detection Time at Low Speed o4-13 Number of Run Commands Counter Initialization
L8-94 LSo Detection Level at Low Speed o4-19 Power Unit Price
L8-95 Average LSo Frequency at Low Speed q1-01 to
DriveWorksEZ Parameters
L9-03 Carrier Frequency Reduction Level Selection q6-07
n1-01 Hunting Prevention Selection r1-01 to DriveWorksEZ Connection Parameter 1 to 20 (upper/
r1-40 lower)
n1-02 Hunting Prevention Gain Setting
T1-00 Motor 1/Motor 2 Selection
n1-03 Hunting Prevention Time Constant
T1-01 Auto-Tuning Mode Selection
n1-05 Hunting Prevention Gain while in Reverse
T1-02 Motor Rated Power
n2-01 Speed Feedback Detection Control (AFR) Gain
T1-03 Motor Rated Voltage
n2-02 Speed Feedback Detection Control (AFR) Time Constant 1
T1-04 Motor Rated Current
n3-13 Overexcitation Deceleration Gain
T1-05 Motor Base Frequency
n5-01 Feed Forward Control Selection
T1-06 Number of Motor Poles
n5-02 Motor Acceleration Time
T1-07 Motor Base Speed
n5-03 Feed Forward Control Gain
T1-08 PG Number of Pulses Per Revolution
n6-01 Online Tuning Selection
T1-09 Motor No-Load Current (Stationary Auto-Tuning)
n6-05 Online Tuning Gain
T1-10 Motor Rated Slip (Stationary Auto-Tuning)
n8-01 Initial Rotor Position Estimation Current
T1-11 Motor Iron Loss
n8-02 Pole Attraction Current
T2-01 PM Motor Auto-Tuning Mode Selection
n8-11 Induction Voltage Estimation Gain 2
T2-02 PM Motor Code Selection
n8-14 Polarity Compensation Gain 3
T2-03 PM Motor Type
n8-15 Polarity Compensation Gain 4
T2-04 PM Motor Rated Power
540 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
E.3 User Setting Table
No. Name User
Setting
T2-05 PM Motor Rated Voltage
T2-06 PM Motor Rated Current
T2-07 PM Motor Base Frequency
T2-08 Number of PM Motor Poles
T2-09 PM Motor Base Speed
T2-10 PM Motor Stator Resistance
T2-11 PM Motor d-Axis Inductance
T2-12 PM Motor q-Axis Inductance
T2-13 Induced Voltage Constant Unit Selection
T2-14 PM Motor Induced Voltage Constant (Ke)
T2-15 Pull-In Current Level for PM Motor Tuning
PG Number of Pulses Per Revolution for PM Motor
T2-16
Tuning
T2-17 Encoder Z-Pulse Offset
T3-01 Inertia Tuning Frequency Reference
T3-02 Inertia Tuning Reference Amplitude
T3-03 Motor Inertia
T3-04 ASR Response Frequency
Quick Reference
Sheet
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 541 E
AO-A3 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .223
Aov. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .307, 312
Application Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20
Index Application Presets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .110
Application Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .110
Applications with Specialized Motors . . . . . . . . . . . . . . . . . . . . .24
ASR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .184
Symbols ASR Gain Auto-Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .118
+V. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 ASR Gain Switching Frequency . . . . . . . . . . . . . . . . . . . . . . . .187
Numerics ASR Integral Limit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .187
1800 min-1 Type Yaskawa SMRA Series SPM Motor ASR Integral Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .186
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 473 ASR Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .187
2-Wire Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139 ASR Primary Delay Time Constant. . . . . . . . . . . . . . . . . . . . . .187
3-Wire Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139 ASR Proportional Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .186
3-Wire Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227 ASR Response Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . .128
3-Wire Sequence Wiring Diagram . . . . . . . . . . . . . . . . . . . . . . 228 Attachment for External Heatsink . . . . . . . . . . . . . . . . . . . . . . .390
5th Most Recent Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 460 Auto Restart Fault Output Operation Selection . . . . . . . . . . . . .271
Auto Restart Operation Selection . . . . . . . . . . . . . . . . . . . . . . .445
A
Automatic Reduction Selection for Stall Prevention
A1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
during Run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .268, 444
A1-02 (Motor 1 Control Mode) Dependent Parameters . . . . . 465
Automatic Speed Regulator . . . . . . . . . . . . . . . . . . . . . . . . . . . .184
A2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Auto-Tuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .116, 119, 122
A2 Signal Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Auto-Tuning Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .334
A3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Auto-Tuning Error Displays . . . . . . . . . . . . . . . . . . . . . . . . . . .311
A3 Analog/PTC Input Selection . . . . . . . . . . . . . . . . . . . . . . . . 80
Auto-Tuning Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .311
AC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76, 77
Auto-Tuning Fault Codes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .121
Accel/Decel Time. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305, 395
Auto-Tuning Fault Detection . . . . . . . . . . . . . . . . . . . . . . . . . . .334
Accel/Decel Time Setting Units. . . . . . . . . . . . . . . . . . . . . . . . 179
Auto-Tuning Fault Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . .334
Accel/Decel Time Switching Frequency . . . . . . . . . . . . . . . . . 180
Auto-Tuning for Induction Motors . . . . . . . . . . . . . . . . . . . . . .116
Acceleration Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311, 335
Auto-Tuning for Permanent Magnet Motors . . . . . . . . . . . . . . .117
Acceleration Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
Auto-Tuning Input Data. . . . . . . . . . . . . . . . . . . . . . . . . . .116, 118
Acceleration Time Pull-In Current. . . . . . . . . . . . . . . . . . . . . . 450
Auto-Tuning Interruption and Fault Codes . . . . . . . . . . . . . . . .121
Acceleration/Deceleration Pull-In Current (for PM Motors) . . 287
Auto-Tuning Mode Selection. . . . . . . . . . . . . . . . . . . . . . .123, 453
Access Level Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . 132, 138
AUv . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .307, 309, 312
Action Selection below Minimum Output Frequency . . . . . . . 150
Average Pull-Out Frequency at Low Speed. . . . . . . . . . . . . . . .280
Adjusted Slip Calculation Error . . . . . . . . . . . . . . . . . . . . . . . . 334
Adjusting the ASR Parameters. . . . . . . . . . . . . . . . . . . . . . . . . 184 B
AEr . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324 Backing Up Parameter Values . . . . . . . . . . . . . . . . . . . . . . . . . .132
AFR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281 Base Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .209, 320
AFR Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302 Base Voltage. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .209
AFR Time Constant 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302 Baseblock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .309, 324
AI-A3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376 Baseblock Signal Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .309
AI-A3 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221 Basic Auto-Tuning Preparations . . . . . . . . . . . . . . . . . . . . . . . .119
Alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311 Basic Start-up and Motor Tuning. . . . . . . . . . . . . . . . . . . . . . . .105
ALARM (ALM) LED Displays . . . . . . . . . . . . . . . . . . . . . . . . . 97 bb . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .309, 324
Alarm Outputs for Maintenance Monitors . . . . . . . . . . . . . . . . 355 Before Auto-Tuning the Drive . . . . . . . . . . . . . . . . . . . . . . . . . .119
Alarm Register 007FH Contents . . . . . . . . . . . . . . . . . . . . . . . 511 Bi-Directional Output Selection. . . . . . . . . . . . . . . . . . . . . . . . .200
Alarms and Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306 Bi-Directional Speed Search Selection . . . . . . . . . . . . . . . . . . .159
ALM LED Light. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 Braking Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .395
Altitude. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 Broadcast Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .509
AM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 bUS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .307, 309, 312, 324
AM/FM Signal Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 Buzzing Sound from Motor at 2 kHz. . . . . . . . . . . . . . . . . . . . .347
Ambient Temperature. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 C
Ambient Temperature and Installation Method Derating. . . . . 399 Cable Length Between Drive and Motor . . . . . . . . . . . . . . . . . . .74
Ambient Temperature Setting . . . . . . . . . . . . . . . . . 277, 399, 447 CALL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .309, 324
Analog Filter Time Constant . . . . . . . . . . . . . . . . . . . . . . . . . . 305 Cannot Change Parameter Settings . . . . . . . . . . . . . . . . . . . . . .342
Analog Frequency Reference Fluctuation Limit . . . . . . . . . . . 199 Cannot Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .309, 325
Analog Frequency Reference Sample/Hold. . . . . . . . . . . . . . . 233 CANopen Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .226
Analog Input Card Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . 221 Capacitor Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .460
Analog Input Filter Time Constant . . . . . . . . . . . . . . . . . . . . . 249 Capacitor Maintenance Setting . . . . . . . . . . . . . . . . . . . . .295, 453
Analog Input Option Card Bias . . . . . . . . . . . . . . . . . . . . . . . . 222 Capacitor Maintenance Time . . . . . . . . . . . . . . . . . . . . . . . . . . .327
Analog Input Option Card Gain . . . . . . . . . . . . . . . . . . . . . . . . 222 Carrier Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .189
Analog Input Option Card Operation Selection. . . . . . . . . . . . 221 Carrier Frequency and Current Derating . . . . . . . . . . . . . . . . . .398
Analog Input Terminal Enable Selection . . . . . . . . . . . . . . . . . 249 Carrier Frequency Derating . . . . . . . . . . . . . . . . . . . . . . . . . . . .398
Analog Inputs / Pulse Train Input . . . . . . . . . . . . . . . . . . . . . . . 76 Carrier Frequency during Rotational Auto-Tuning . . . . . . . . . .191
Analog Monitor Card Settings . . . . . . . . . . . . . . . . . . . . . . . . . 223 Carrier Frequency Lower Limit . . . . . . . . . . . . . . . . . . . . . . . . .190
AO-A3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376 Carrier Frequency Proportional Gain. . . . . . . . . . . . . . . . . . . . .190
542 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
Carrier Frequency Reduction . . . . . . . . . . . . . . . . . . . . . . . . . . 447 Copy Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
Carrier Frequency Reduction Off-Delay Time. . . . . . . . . . . . . 280 Copy Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133, 294
Carrier Frequency Reduction Selection . . . . . . . . . . . . . . . . . . 279 Copy Function Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306
Carrier Frequency Selection . . . . . . . . . . . . . . . . . . . 190, 302, 303 Copy Function Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294
Carrier Frequency Setting Error . . . . . . . . . . . . . . . . . . . . 310, 332 Copy Unit Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338
Carrier Frequency Upper Limit . . . . . . . . . . . . . . . . . . . . . . . . 190 CopyUnitManager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
CC-Link Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226 CPEr . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338
CE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307, 309, 312, 325 CPF06. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313
CE Detection Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 493 CPF11 to CPF14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313
CE Low Voltage Directive Compliance . . . . . . . . . . . . . . . . . . 518 CPF20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307
CF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307, 312 CPF21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307
Changing Parameter Settings or Values . . . . . . . . . . . . . . . . . . 101 CPF22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307
Closed Loop Vector control . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 CPF23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307
Closed Loop Vector Control for PM Motors . . . . . . . . . . . . . . . 30 CPF24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307
Coast to stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147 CPF25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307, 313
Coast to Stop with Timer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148 CPyE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338
Command Messages from Master to Drive . . . . . . . . . . . . . . . 496 CRC-16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 498
Communication Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338 CRC-16 Checksum Calculation Example . . . . . . . . . . . . . . . . 498
Communication Fault Detection Selection. . . . . . . . . . . . . . . . 493 CrST . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309, 325
Communication Option Card . . . . . . . . . . . . . . . . . . . . . . . . . . 224 CSEr . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338
Communication Option Card Reference . . . . . . . . . . . . . . . . . 461 Cumulative Operation Time. . . . . . . . . . . . . . . . . . . . . . . . . . . 460
Communication Parity Selection . . . . . . . . . . . . . . . . . . . . . . . 492 Cumulative Operation Time at 5th Most Recent Fault . . . . . . 460
Communication Speed of Serial Encoder Selection. . . . . . . . . 221 Cumulative Operation Time at Most Recent Fault . . . . . . . . . 460
Communication Speed Selection . . . . . . . . . . . . . . . . . . . . . . . 492 Cumulative Operation Time at Previous Fault. . . . . . . . . . . . . 459
Communications Enter Function Selection . . . . . . . . . . . . . . . 494 Cumulative Operation Time Selection . . . . . . . . . . . . . . . 294, 453
Communications Error Operation Selection . . . . . . . . . . . . . . 225 Cumulative Operation Time Setting. . . . . . . . . . . . . . . . . 294, 452
Communications Timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 496 Current Alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309, 327
Comparing Parameter Settings . . . . . . . . . . . . . . . . . . . . . . . . . 339 Current Detection Error . . . . . . . . . . . . . . . . . . . . . . . . . . 311, 336
Component Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 Current Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 458
Compressor Application. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 Current Imbalance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307
Connected Machinery Vibrates When Motor Rotates . . . . . . . 346 Current Unbalance Detection (LF2). . . . . . . . . . . . . . . . . 278, 447
Connecting a Noise Filter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389 Current-limited Integral Time Constant during Acceleration . 268
Connecting a Surge Absorber. . . . . . . . . . . . . . . . . . . . . . . . . . 389 Current-limited Integral Time Constant during Deceleration . 268
Connecting Peripheral Devices . . . . . . . . . . . . . . . . . . . . . . . . 377 Current-limited Maximum S-curve Selection during
Connecting to a PC (USB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84 Acceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 268
Connection of a Motor PTC . . . . . . . . . . . . . . . . . . . . . . . . . . . 260 Current-limited Maximum S-curve Selection during
Continuous Electrothermal Operation Selection . . . . . . . . . . . 262 Deceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 268
Control Circuit Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307, 313 Cyclic Redundancy Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . 498
Control Circuit Input Terminals . . . . . . . . . . . . . . . . . . . . . . . . . 76 D
Control Circuit Output Terminals. . . . . . . . . . . . . . . . . . . . . . . . 77
D Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
Control Circuit Overvoltage . . . . . . . . . . . . . . . . . . . 308, 310, 321
d References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 417
Control Circuit Terminal Arrangement . . . . . . . . . . . . . . . . . . . 77
Daily Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 352
Control Circuit Terminal Block Functions . . . . . . . . . . . . . . . . . 76
Damping Resistor Overheat . . . . . . . . . . . . . . . . . . . 307, 309, 313
Control Circuit Undervoltage . . . . . . . . . . . . . . . . . . . . . . 310, 330
d-Axis ACR Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 462
Control Circuit Undervoltage Fault . . . . . . . . . . . . . . . . . 308, 323
d-Axis Current for High Efficiency Control
Control Circuit Voltage. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 456
(for PM Motors) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287
Control Circuit Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
DC Bus Pre-Charge Relay Maintenance Setting . . . . . . . . . . . 295
Control Fault. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307, 312
DC Bus Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 456
Control I/O Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
DC Bus Voltage at Previous Fault . . . . . . . . . . . . . . . . . . . . . . 459
Control Method Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
DC Injection Braking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 345
Control Method Selection Error . . . . . . . . . . . . . . . . . . . . . . . . 332
DC Injection Braking at Stop . . . . . . . . . . . . . . . . . . . . . . . . . . 347
Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138, 456
DC Injection Braking Current . . . . . . . . . . . . . . . . . . . . . 154, 347
Control Mode Dependent Parameter Default Values . . . . . . . . 465
DC Injection Braking Input Timing Diagram . . . . . . . . . . . . . 235
Control Mode Mismatch. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338
DC Injection Braking Start Frequency. . . . . . . . . . . . . . . . . . . 154
Control Mode Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
DC Injection Braking Time at Start . . . . . . . . . . . . . . . . . . . . . 154
Control Modes and their Features . . . . . . . . . . . . . . . . . . . . . . . 30
DC Injection Braking Time at Stop . . . . . . . . . . . . . . . . . . . . . 155
Control Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 463, 464
DC Injection Braking to Stop. . . . . . . . . . . . . . . . . . . . . . . . . . 148
Control Power Supply Undervoltage . . . . . . . . . . . . . . . . . . . . 308
Deceleration Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
Control Power Supply Voltage Fault . . . . . . . . . . . . . . . . . . . . 323
Deceleration Time at Stall Prevention during
Conveyor Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Acceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267, 444
Cooling Fan Maintenance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 460
Defaults by Drive Model Selection (o2-04) and
Cooling Fan Maintenance Setting (Operation Time) . . . . . . . . 453
ND/HD (C6-01) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 469
Cooling Fan Maintenance Time . . . . . . . . . . . . . . . . . . . . . . . . 327
Delay Timers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
Cooling Fan Operation Time . . . . . . . . . . . . . . . . . . . . . . . . . . 460
Derivative Time (D) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
Cooling Fan Operation Time Setting . . . . . . . . . . . . . . . . . . . . 295
dEv . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307, 309, 313, 325
CoPy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338
DeviceNet Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226
Copy Allowed Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 543
dFPS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338 Droop Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .174
DI-A3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376 Droop Control Delay Time . . . . . . . . . . . . . . . . . . . . . . . . . . . .175
DI-A3 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222 Droop Control Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .174
Diagnosing and Resetting Faults . . . . . . . . . . . . . . . . . . . . . . . 340 Droop Control Limit Selection . . . . . . . . . . . . . . . . . . . . . . . . .175
Digital Input Card Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . 222 During commercial power operation . . . . . . . . . . . . . . . . . . . . .246
Digital Input Option Card Input Selection . . . . . . . . . . . . . . . . 222 During Frequency Output Time Chart . . . . . . . . . . . . . . . . . . . .245
Digital Input Option DI-A3 Data Length Selection . . . . . . . . . 222 During Run 2, Motor Switch Command Input . . . . . . . . . . . . .310
Digital Input Reading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151 During Run Time Chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .237
Digital Input Sink / Source / External Power Supply dv1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .313
Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 dv2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .314
Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 dv3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .314
Digital Operator Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 dv3 Detection Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .220
Digital Operator Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 532 dv4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .314
Digital Operator Display Selection . . . . . . . . . . . . . . . . . 290, 451 dv4 Detection Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .220
Digital Operator Installation Methods and Required Tools . . . . 47 dv7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .314
Digital Operator Keypad Functions . . . . . . . . . . . . . . . . . . . . . 291 dWAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .309, 314
Digital Operator Menu and Screen Structure . . . . . . . . . . . . . . . 98 Dwell Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .173, 305
Digital Operator Remote Installation . . . . . . . . . . . . . . . . . . . . . 46 Dwell Reference at Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .174
Digital Operator Remote Usage . . . . . . . . . . . . . . . . . . . . . . . . . 46 Dwell Reference at Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .174
Digital Output Card Settings . . . . . . . . . . . . . . . . . . . . . . . . . . 224 Dwell Time at Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .174
Digital Output Option Card Terminal Function Selection . . . . 224 Dwell Time at Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .174
DIP Switch S1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 DWEZ Connection Parameters . . . . . . . . . . . . . . . . . . . . . . . . .453
DIP Switch S1 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 DWEZ Version Control Monitor 1 to 3 . . . . . . . . . . . . . . . . . . .463
DIP Switch S2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 dWF1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .314
DIP Switch S4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 dWFL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .314
DIP Switch S4 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 E
Disabling and Enabling the Drive Output . . . . . . . . . . . . . . . . 531
E (G). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .76
DM- . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
E3-01 (Motor 2 Control Mode) Dependent Parameters. . . . . . .467
DM+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
EEPROM Write Error . . . . . . . . . . . . . . . . . . . . . . . . . . . .307, 315
dnE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309, 325
EF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .309, 326
DO-A3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376
EF0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .307, 315, 326
DO-A3 Output Mode Selection . . . . . . . . . . . . . . . . . . . . . . . . 224
EF1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .315, 326
DO-A3 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224
EF1 to EF7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .307, 309
doH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307, 309, 313
EF2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .315, 326
Drive Derating Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 398
EF3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .315, 326
Drive Disabled . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309, 325
EF4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .315, 326
Drive Does Not Allow Selection of Rotational
EF5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .315, 326
Auto-Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 344
EF6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .315, 326
Drive Duty Mode Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
EF7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .315, 326
Drive Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99, 100
EF8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .315, 326
Drive Mode Unit Monitor Selection . . . . . . . . . . . . . . . . 290, 451
Electrical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .55
Drive Model Mismatch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338
EMC Filter and Drive Installation for CE Compliance . . . . . . .520
Drive Model Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292
EMC Filter Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .519
Drive Models and Types. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
EMC Guidelines Compliance . . . . . . . . . . . . . . . . . . . . . . . . . .519
Drive Motor Overload Protection . . . . . . . . . . . . . . . . . . . . . . 527
Enclosure Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .33
Drive Operation Status at Previous Fault . . . . . . . . . . . . . . . . . 459
Encoder Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .221
Drive Overheat . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309
Encoder Z-Pulse Offset . . . . . . . . . . . . . . . . . . . . . . . . . . .127, 217
Drive Overload. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 320
End . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .338
Drive Ready . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
End1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .311, 334
Drive Replacement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 369
End2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .311, 334
Drive Short-Circuit Rating . . . . . . . . . . . . . . . . . . . . . . . . . . . . 527
End3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .311, 334
Drive Slave Address. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 492
End4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .334
Drive Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395
End5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .334
Drive Standard Connection Diagram . . . . . . . . . . . . . . . . . . . . . 59
End6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .334
Drive Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 457
End7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .334
Drive Transmit Wait Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . 493
Energy Saving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .175
Drive Unit Setting Error. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310
Energy Saving Coefficient Value . . . . . . . . . . . . . . . . . . . . . . . .176
Drive Watt Loss Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 397
Energy Saving Control Filter Time Constant. . . . . . . . . . . . . . .175
Drive/kVA Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 452
Energy Saving Control Selection . . . . . . . . . . . . . . . . . . . . . . . .175
DriveWizard Plus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133, 376
Energy Saving Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .175
DriveWorksEZ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376
Enter Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .512
DriveWorksEZ Connection Parameters . . . . . . . . . . . . . . . . . . 296
Enter command necessary . . . . . . . . . . . . . . . . . . . . . . . . . . . . .494
DriveWorksEZ Custom Monitor 1 to 10 . . . . . . . . . . . . . . . . . 463
Enter command not necessary . . . . . . . . . . . . . . . . . . . . . . . . . .494
DriveWorksEZ Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 314
Enter Command Types. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .512
DriveWorksEZ Function Selection . . . . . . . . . . . . . . . . . . . . . 142
Enter Data from the Motor Nameplate . . . . . . . . . . . . . . . . . . .121
DriveWorksEZ Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298
Entering the "Safe Torque Off" State . . . . . . . . . . . . . . . . . . . . .531
DriveWorksEZ Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . 296
544 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
Er-01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311, 334 Field Forcing Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
Er-02 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311, 335 Field Forcing Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
Er-03 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311, 335 Field Weakening. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204
Er-04 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311, 335 Field Weakening Frequency Limit . . . . . . . . . . . . . . . . . . . . . . 204
Er-05 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311, 335 Field Weakening Level. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204
Er-08 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311, 335 Fine-Tuning Advanced Open Loop Vector Control for PM
Er-09 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311, 335 Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304
Er-10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335 Fine-Tuning Closed Loop Vector Control . . . . . . . . . . . . . . . . 303
Er-11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311, 335 Fine-Tuning Closed Loop Vector Control for PM Motors. . . . 304
Er-12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311, 336 Fine-Tuning Open Loop Vector Control . . . . . . . . . . . . . . . . . 302
Er-13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336 Fine-Tuning Open Loop Vector Control for PM Motors . . . . . 303
Er-14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336 Fine-Tuning V/f Control and V/f Control with PG . . . . . . . . . 302
Er-15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336 FJOG/RJOG Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
Er-16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336 FM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Er-17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336 Formula to calculate the amount of voltage drop. . . . . . . . . . . . 71
Er-18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336 Forward Regenerative Torque Limit . . . . . . . . . . . . . . . . 275, 446
Er-19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336 Forward Torque Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . 274, 446
Er-20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336 Forward/Reverse Run Command Input Error . . . . . . . . . . . . . 326
Er-21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336 Frequency Accuracy (Temperature Fluctuation) . . . . . . . . . . . 395
Er-25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337 Frequency Control Range. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395
Err . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307, 315 Frequency Detection 1 Time Chart . . . . . . . . . . . . . . . . . . . . . 239
Error Reading Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339 Frequency Detection 2 Time Chart . . . . . . . . . . . . . . . . . . . . . 240
Error Writing Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338 Frequency Detection 3 Example with a Positive L3-04
Errors and Displays When Using the Copy Function . . . . . . . 311 Value. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242
European Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 518 Frequency Detection 4 Example with Positive L3-04
Excessive Motor Oscillation and Erratic Rotation . . . . . . . . . . 345 Value. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243
Excessive PID Feedback . . . . . . . . . . . . . . . . . 307, 309, 315, 326 Frequency Reduction Rate during Overheat
Excessive Speed Deviation Detection Delay Time . . . . . . . . . 219 Pre-Alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 278, 447
Excessive Speed Deviation Detection Level . . . . . . . . . . . . . . 219 Frequency Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192, 456
Excessive V/f Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311, 334 Frequency Reference at Previous Fault . . . . . . . . . . . . . . . . . . 459
Exhaust Fan Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 Frequency Reference at Reference Loss . . . . . . . . . . . . . 270, 445
Exterior and Mounting Dimensions . . . . . . . . . . . . . . . . . . . . . . 49 Frequency Reference Bias . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
External 24 Vdc Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . 80 Frequency Reference Bias (Up/Down 2) . . . . . . . . . . . . . . . . . 462
External Digital Operator Connection Fault. . . . . . . . . . . . . . . 321 Frequency Reference Bias Accel/Decel. . . . . . . . . . . . . . . . . . 198
External Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315, 326 Frequency Reference Bias Lower Limit . . . . . . . . . . . . . . . . . 199
External Fault (input terminal S1 to S7). . . . . . . . . . . . . . 307, 309 Frequency Reference Bias Operation Mode Selection . . . . . . 198
External Fault from Comm. Option Detection Selection . . . . . 225 Frequency Reference Bias Step . . . . . . . . . . . . . . . . . . . . . . . . 197
External Fault from Comm. Option Operation Selection. . . . . 225 Frequency Reference Bias Upper Limit. . . . . . . . . . . . . . . . . . 199
External Interlock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 Frequency Reference from MEMOBUS/Modbus Comm.. . . . 461
F Frequency Reference Hold. . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
Frequency Reference Hold Function Selection . . . . . . . . . . . . 195
Fast Stop Sequence. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232
Frequency Reference Loss Detection Selection. . . . . . . . 269, 445
Fast Stop Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
Frequency Reference Lower Limit . . . . . . . . . . . . . . . . . . . . . 194
Fault Causes and Solutions. . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
Frequency Reference Monitor Content During PID . . . . . . . . 172
Fault Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
Frequency Reference Selection . . . . . . . . . . . . . . . . . . . . . . . . 405
Fault Displays. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307, 308, 312
Frequency Reference Selection 1. . . . . . . . . . . . . . . . . . . 144, 343
Fault History. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297, 340, 460
Frequency Reference Selection 2. . . . . . . . . . . . . . . . . . . . . . . 152
Fault Relay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Frequency Reference Setting / Decimal Display . . . . . . . . . . . 452
Fault Reset Interval Time . . . . . . . . . . . . . . . . . . . . . . . . . 271, 445
Frequency Reference Setting and User-Set Display . . . . . . . . 452
Fault Reset Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341
Frequency Reference Setting Hierarchy . . . . . . . . . . . . . . . . . 192
Fault Reset Operation Selection . . . . . . . . . . . . . . . . . . . . 271, 445
Frequency Reference Setting Method Selection . . . . . . . 293, 452
Fault Restart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270
Frequency Reference Source Selection . . . . . . . . . . . . . . . . . . 461
Fault Trace . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297, 340, 458
Frequency Reference Upper Limit. . . . . . . . . . . . . . . . . . . . . . 194
Fault Trace / History Register Contents . . . . . . . . . . . . . . . . . . 510
Frequency Setting Resolution . . . . . . . . . . . . . . . . . . . . . . . . . 395
Fault Trace Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340
Frequency Setting Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395
Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306, 307
Function Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 497
FbH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307, 309, 315, 326
Function Key (F1, F2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
FbL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307, 309, 316, 326
Function Key 1 (F1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Fdv . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307, 309, 316, 327
Function Key 2 (F2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Feed Forward Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283
Functions for Terminals S1 to S8. . . . . . . . . . . . . . . . . . . . . . . 227
Feed Forward Control Diagram . . . . . . . . . . . . . . . . . . . . . . . . 283
Feed Forward Control Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . 284 G
Feed Forward Control Selection. . . . . . . . . . . . . . . . . . . . . . . . 283 General Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Ferrule Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 GF. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307, 316
Ferrule Terminal Types and Sizes . . . . . . . . . . . . . . . . . . . . . . . 78 Ground Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307, 316
Ferrule-Type Wire Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 Ground Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Field Forcing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 545
H Installation Spacing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .43
H1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 Installing a Leakage Breaker . . . . . . . . . . . . . . . . . . . . . . . . . . .388
H1 Multi-Function Digital Input Selections. . . . . . . . . . . . . . . 432 Installing a Magnetic Contactor. . . . . . . . . . . . . . . . . . . . . . . . .389
H1/H2 Sink/Source Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . 80 Installing a Molded Case Circuit Breaker (MCCB). . . . . . . . . .388
H2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 Installing a Motor Thermal Overload (oL) Relay on the
H3 Multi-Function Analog Input Settings . . . . . . . . . . . . . . . . 439 Drive Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .390
Hbb . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309, 327 Installing Peripheral Devices . . . . . . . . . . . . . . . . . . . . . . . . . . .388
HbbF. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309, 327 Insulation Cap . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .70
HC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 Integral Limit Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .167
HCA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309, 327 Integral Operation during Accel/Decel . . . . . . . . . . . . . . . . . . .187
HD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189 Integral Operation during Accel/Decel for Motor 2 . . . . . . . . .189
Heatsink Cooling Fan Off-Delay Time . . . . . . . . . . . . . . . . . . 277 Integral Time Setting (I). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .167
Heatsink Cooling Fan Operation Delay Time . . . . . . . . . . . . . 447 Interlock Circuit Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .89
Heatsink Cooling Fan Operation Selection . . . . . . . . . . . 277, 447 Internal Resistance Fault . . . . . . . . . . . . . . . . . . . . . . . . . .308, 322
Heatsink Overheat . . . . . . . . . . . . . . . . . . . . . . 308, 309, 319, 328 Inversion Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .314
Heatsink Overheat Warning . . . . . . . . . . . . . . . . . . . . . . . . . . . 328 Inversion Prevention Detection . . . . . . . . . . . . . . . . . . . . . . . . .314
Heatsink Temperature. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 460 IP00 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .50
Heavy Duty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189, 392 J
Heavy Duty Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 392 Jog Frequency Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .192
High Current Alarm Selection . . . . . . . . . . . . . . . . . . . . . . . . . 280 Jump Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .194, 305
High Frequency Injection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288 Jump Frequency Width . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .194
High Frequency Injection Amplitude. . . . . . . . . . . . . . . . . . . . 286 Jumper S3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .80
High Frequency Injection Level. . . . . . . . . . . . . . . . . . . . . . . . 286 Jumper S5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .80
High Performance Operation Using OLV or CLV . . . . . . . . . . 107 Jumper S5 Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .83
Hoist Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Horizontal Suspension . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 K
Humidity. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 Keys and Displays on the Digital Operator . . . . . . . . . . . . . . . . .95
Hunting Prevention . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281 kWh Monitor Initial Value Selection . . . . . . . . . . . . . . . . . . . . .453
Hunting Prevention Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302 kWh Monitor Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . .295
Hunting Prevention Gain Setting . . . . . . . . . . . . . . . . . . . 281, 448 L
Hunting Prevention Gain while in Reverse . . . . . . . . . . . 281, 448 L Protection Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .442
Hunting Prevention Selection. . . . . . . . . . . . . . . . . . . . . . 281, 448 L2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .263
Hunting Prevention Time Constant . . . . . . . . . . . . . . . . . 281, 448 Language Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .138
HVAC Fan Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 LCD Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .96
I LCD Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .376
I Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164 Leakage Inductance Alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . .334
iFEr. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338 Leakage Inductance Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . .336
IG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 LED Check. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .460
Incorrect Input Voltage Adjustment . . . . . . . . . . . . . . . . . 310, 333 LF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .307, 316
Induced Noise. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389 LF2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .307, 316
Induced Voltage Constant Unit Selection. . . . . . . . . . . . . . . . . 127 Line-to-Line Motor Resistance Online Tuning . . . . . . . . . . . . .449
Induction Voltage Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336 Line-to-Line Resistance Error . . . . . . . . . . . . . . . . . . . . . .311, 335
Inertia Detection Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336 LO/RE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .97, 104, 129
Inertia Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118 LO/RE (LOCAL/REMOTE) Key Function Selection. . . . . . . .291
Inertia Tuning Frequency Reference . . . . . . . . . . . . . . . . . . . . 128 LO/RE LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .97
Inertia Tuning Reference Amplitude . . . . . . . . . . . . . . . . . . . . 128 LO/RE Light . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .95
Initial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105 Load Current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .450
Initial Rotor Position Detection Selection . . . . . . . . . . . . . . . . 286 Load Falls When Brake is Applied . . . . . . . . . . . . . . . . . . . . . .345
Initial Rotor Position Estimation Current. . . . . . . . . . . . . . . . . 285 Load Inertia . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .288, 450
Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138 Load Inertia Ratio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .188
Initialization required . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331 LOCAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .104
Initialize Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132, 139 LOCAL/REMOTE Key Function Selection . . . . . . . . . . . . . . .452
Input Power Frequency Fault Detection Gain . . . . . . . . . . . . . 263 LOCAL/REMOTE Run Selection . . . . . . . . . . . . . . . . . . . . . . .151
Input Pulse Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 458 Locations of Jumpers and Switches on the Terminal Board . . . .80
Input Terminal Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 457 Loopback Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .499
Input Terminal Status at Previous Fault . . . . . . . . . . . . . . . . . . 459 Loss of Reference Function . . . . . . . . . . . . . . . . . . . . . . . . . . . .269
Input Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104 Low Input Voltage Detection Level . . . . . . . . . . . . . . . . . . . . . .263
Input Voltage Offset Adjustment . . . . . . . . . . . . . . . . . . . . . . . 191 Low Voltage Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .527
Inrush Prevention Circuit Fault . . . . . . . . . . . . . . . . . . . . . . . . 323 Low Voltage Wiring for Control Circuit Terminals . . . . . . . . . .527
Inrush Prevention Relay Maintenance Setting . . . . . . . . . . . . . 453 LSo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .307, 317
Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 352, 353 LT-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .327
install . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 LT-2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .327
Installation Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 LT-3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .328
Installation Method Selection. . . . . . . . . . . . . . . . . . . . . . . . . . 279 M
Installation Orientation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 M1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .77
Installation Orientation and Spacing . . . . . . . . . . . . . . . . . . . . . 42 M2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .77
546 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
M3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 Momentary Power Loss Operation Selection. . . . . . . . . . 262, 443
M4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 Momentary Power Loss Ride-Thru . . . . . . . . . . . . . . . . . 262, 395
M5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 Momentary Power Loss Ride-Thru Time . . . . . . . . . . . . 263, 443
M6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 Momentary Power Loss Voltage Recovery
MA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 Acceleration Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263, 443
Magnetic Flux Compensation Value . . . . . . . . . . . . . . . . . . . . 155 Momentary Power Loss Voltage Recovery Ramp
Main Circuit Connection Diagram . . . . . . . . . . . . . . . . . . . . 61, 75 Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263, 443
Main Circuit Protective Cover . . . . . . . . . . . . . . . . . . . . . . . . . . 70 Monitor Output. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Main Circuit Terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 Monitor Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297, 456
Main Circuit Terminal and Motor Wiring . . . . . . . . . . . . . . . . . 74 Most Recent Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 460
Main Circuit Terminal Functions . . . . . . . . . . . . . . . . . . . . . . . . 70 Motor 1 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
Main Circuit Terminal Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . 75 Motor 1/Motor 2 Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
Main Circuit Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 Motor 2 ASR Gain Switching Frequency . . . . . . . . . . . . . . . . 188
Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 354, 355 Motor 2 ASR Integral Limit. . . . . . . . . . . . . . . . . . . . . . . . . . . 189
Maintenance Alarms. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355 Motor 2 ASR Integral Time . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
Maintenance Monitor Settings . . . . . . . . . . . . . . . . . . . . . . . . . 294 Motor 2 ASR Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
Maintenance Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . 297, 460 Motor 2 ASR Primary Delay Time Constant . . . . . . . . . . . . . . 188
Master Speed Reference Lower Limit . . . . . . . . . . . . . . . . . . . 194 Motor 2 ASR Proportional Gain . . . . . . . . . . . . . . . . . . . . . . . 188
Maximum Output Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . 209 Motor 2 Base Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
Maximum Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209 Motor 2 Base Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
MB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 Motor 2 Control Mode Selection . . . . . . . . . . . . . . . . . . . . . . . 213
MC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 Motor 2 Inertia . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
Mechanical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 Motor 2 Iron Loss. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
Mechanical Weakening Detection . . . . . . . . . . . . . . . . . . . . . . 273 Motor 2 Leakage Inductance . . . . . . . . . . . . . . . . . . . . . . . . . . 215
Mechanical Weakening Detection 1 . . . . . . . . . 308, 310, 320, 328 Motor 2 Line-to-Line Resistance . . . . . . . . . . . . . . . . . . . . . . . 214
Mechanical Weakening Detection 2 . . . . . . . . . . . . . . . . . . . . . 322 Motor 2 Load Inertia Ratio. . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
Mechanical Weakening Detection Operation . . . . . . . . . . 273, 446 Motor 2 Max Output Frequency. . . . . . . . . . . . . . . . . . . . . . . . 213
Mechanical Weakening Detection Speed Level . . . . . . . . 273, 446 Motor 2 Max Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
Mechanical Weakening Detection Start Time . . . . . . . . . 274, 446 Motor 2 Mechanical Loss. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
Mechanical Weakening Detection Time. . . . . . . . . . . . . . 274, 446 Motor 2 Mid Output Frequency . . . . . . . . . . . . . . . . . . . . . . . . 213
MECHATROLINK Parameters . . . . . . . . . . . . . . . . . . . . . . . . 226 Motor 2 Mid Output Frequency 2 . . . . . . . . . . . . . . . . . . . . . . 213
MEMOBUS/Modbus Comm. Test Mode Complete . . . . . . . . 329 Motor 2 Mid Output Frequency Voltage . . . . . . . . . . . . . . . . . 213
MEMOBUS/Modbus Communication. . . . . . . . . . . . . . . . . . . . 77 Motor 2 Mid Output Frequency Voltage 2 . . . . . . . . . . . . . . . . 213
MEMOBUS/Modbus Communication Motor 2 Minimum Output Frequency . . . . . . . . . . . . . . . . . . . 213
Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307, 309, 312, 325 Motor 2 Minimum Output Frequency Voltage. . . . . . . . . . . . . 213
MEMOBUS/Modbus Communication Test Mode Error . . . . . 329 Motor 2 Motor Iron-Core Saturation Coefficient 1 . . . . . . . . . 215
MEMOBUS/Modbus Communications . . . . . . . . . . . . . . . . . . 487 Motor 2 Motor Iron-Core Saturation Coefficient 2 . . . . . . . . . 215
MEMOBUS/Modbus Communications Reference . . . . . . . . . 461 Motor 2 Motor Poles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
MEMOBUS/Modbus Data Table . . . . . . . . . . . . . . . . . . . . . . . 501 Motor 2 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
MEMOBUS/Modbus Error Code. . . . . . . . . . . . . . . . . . . . . . . 458 Motor 2 Rated Current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
MEMOBUS/Modbus Error Codes . . . . . . . . . . . . . . . . . . . . . . 513 Motor 2 Rated No-Load Current . . . . . . . . . . . . . . . . . . . . . . . 214
MEMOBUS/Modbus Setup Parameters. . . . . . . . . . . . . . . . . . 492 Motor 2 Rated Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
MEMOBUS/Modbus Specifications . . . . . . . . . . . . . . . . . . . . 489 Motor 2 Rated Slip . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
MEMOBUS/Modbus Switch Settings . . . . . . . . . . . . . . . . . 81, 85 Motor 2 Slip Compensation Gain . . . . . . . . . . . . . . . . . . . . . . 182
MEMOBUS/Modbus Termination . . . . . . . . . . . . . . . . . . . . . . . 85 Motor 2 Slip Compensation Limit . . . . . . . . . . . . . . . . . . . . . . 182
MEMOBUS/Modbus Test Mode Complete . . . . . . . . . . . . . . . 310 Motor 2 Slip Compensation Primary Delay Time . . . . . . . . . . 182
Menu Structure for Digital Operator . . . . . . . . . . . . . . . . . . . . . 98 Motor 2 Slip Compensation Selection during
Message Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 497 Regeneration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
Mid Output Voltage A . . . . . . . . . . . . . . . . . . . . . . . . . . . 302, 303 Motor 2 Torque Compensation Gain . . . . . . . . . . . . . . . . . . . . 184
Middle Output Frequency. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209 Motor Acceleration Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283
Middle Output Frequency 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . 209 Motor Base Frequency . . . . . . . . . . . . . . . . . . . . . . . 122, 124, 454
Middle Output Frequency Voltage . . . . . . . . . . . . . . . . . . . . . . 209 Motor Base Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124, 454
Middle Output Frequency Voltage 2 . . . . . . . . . . . . . . . . . . . . 209 Motor Code Selection (for PM Motors). . . . . . . . . . . . . . 216, 473
Minimum Output Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . 209 Motor Data Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311, 334
Minimum Output Frequency Voltage . . . . . . . . . . . . . . . . . . . . 209 Motor d-Axis Current at Previous Fault. . . . . . . . . . . . . . . . . . 459
Minimum Output Voltage. . . . . . . . . . . . . . . . . . . . . . . . . 302, 303 Motor d-Axis Inductance (for PM Motors) . . . . . . . . . . . . . . . 217
Minimum Wait Time for Sending Messages . . . . . . . . . . . . . . 496 Motor Direction at Power Up when Using Operator . . . . 293, 452
Minor Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309 Motor Direction Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335
Minor Fault. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335 Motor Does Not Rotate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343
Minor Fault and Alarm Displays . . . . . . . . . . . . . . . . . . . . . . . 309 Motor Excitation Current (ld) . . . . . . . . . . . . . . . . . . . . . . . . . 462
Minor Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309 Motor Feedback Resolver Interface . . . . . . . . . . . . . . . . . . . . . 376
Minor Faults and Alarms . . . . . . . . . . . . . . . . . . . . . . . . . 306, 309 Motor Hunting and Oscillation Control Parameters . . . . . . . . 305
Model Number and Nameplate Check . . . . . . . . . . . . . . . . . . . . 31 Motor Induction Voltage Constant 1 (for PM Motors) . . . . . . 217
Model, Voltage Class, Capacity Mismatch. . . . . . . . . . . . . . . . 338 Motor Induction Voltage Constant 2 (for PM Motors) . . . . . . 217
Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 Motor Inertia . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128, 188
Momentary Overcurrent Protection . . . . . . . . . . . . . . . . . . . . . 395 Motor Iron Core Saturation Coefficient Error . . . . . . . . . . . . . 311
Momentary Power Loss Minimum Baseblock Time . . . . 263, 443 Motor Iron Loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125, 454
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 547
Motor Iron Loss for Torque Compensation . . . . . . . . . . . . . . . 211 Multi-Function Analog Output Terminal FM Signal
Motor Iron-Core Saturation Coefficient. . . . . . . . . . . . . . . . . . 334 Level Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .253
Motor Iron-Core Saturation Coefficient 1 . . . . . . . . . . . . . . . . 211 Multi-Function Analog Outputs. . . . . . . . . . . . . . . . . . . . . . . . .252
Motor Iron-Core Saturation Coefficient 2 . . . . . . . . . . . . . . . . 211 Multi-Function Digital Input Terminal Settings . . . . . . . . . . . .227
Motor is Too Hot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 344 Multi-Function Digital Inputs . . . . . . . . . . . . . . . . . . . . . . .76, 227
Motor Leakage Inductance. . . . . . . . . . . . . . . . . . . . . . . . . . . . 211 Multi-Function Digital Output . . . . . . . . . . . . . . . . . . . . . . . . . . .77
Motor Line-to-Line Resistance . . . . . . . . . . . . . . . . . . . . . . . . 211 Multi-Function Digital Output Terminal Settings . . . . . . . . . . .237
Motor Mechanical Loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211 Multi-Function Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . .237
Motor No-Load Current . . . . . . . . . . . . . . . . . . . . . . . . . . 124, 210 Multi-Function Input Selection Error . . . . . . . . . . . . . . . . . . . .331
Motor Overheat . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309, 328 Multi-Function Input Setting Error . . . . . . . . . . . . . . . . . . . . . .310
Motor Overheat 1 (PTC input) . . . . . . . . . . . . . . . . . . . . . . . . . 308 Multiple Drive Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .75
Motor Overheat 2 (PTC input) . . . . . . . . . . . . . . . . . . . . . . . . . 308 Multi-Step Speed Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . .192
Motor Overheat Alarm (PTC Input). . . . . . . . . . . . . . . . . . . . . 319 N
Motor Overheat Alarm Operation Selection . . . . . . . . . . 261, 442
n Advanced Performance Set Up . . . . . . . . . . . . . . . . . . . . . . . .448
Motor Overheat Fault (PTC Input). . . . . . . . . . . . . . . . . . . . . . 319
Nameplate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31
Motor Overheat Fault Operation Selection . . . . . . . . . . . 261, 442
Navigating the Drive and Programming Modes . . . . . . . . . . . . .99
Motor Overload . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 320
ND . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .189
Motor Overload Estimate (oL1). . . . . . . . . . . . . . . . . . . . . . . . 460
ndAT. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .338
Motor Overload Protection Selection. . . . . . . . . . . . 257, 442, 527
NEMA Type1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .52
Motor Overload Protection Time . . . . . . . . . . . . . . . 259, 442, 528
NetRef/ComRef Function Selection . . . . . . . . . . . . . . . . . . . . .225
Motor Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
Network Termination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .491
Motor Performance Fine-Tuning . . . . . . . . . . . . . . . . . . . . . . . 302
Noise From the Drive or Output Lines When the Drive
Motor PG Feedback Line Driver Interface . . . . . . . . . . . . . . . 376
is Powered On . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .346
Motor PG Feedback Open Collector Interface. . . . . . . . . . . . . 376
No-Load Current Alarm. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .334
Motor Poles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
No-Load Current Error. . . . . . . . . . . . . . . . . . . . . . . . . . . .311, 335
Motor Produces Insufficient Torque. . . . . . . . . . . . . . . . . . . . . 346
No-Load Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .129
Motor Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257
No-Load Operation Test Run . . . . . . . . . . . . . . . . . . . . . . . . . . .129
Motor Protection Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320
Normal Duty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .189, 392
Motor Protection Using a Positive Temperature
Normal Duty Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .392
Coefficient . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260
Notes on Controlling the Brake when Using the Hoist
Motor PTC Characteristics. . . . . . . . . . . . . . . . . . . . . . . . . . . . 261
Application Preset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .113
Motor q-Axis Current at Previous Fault. . . . . . . . . . . . . . . . . . 459
Notes on Inertia Tuning and ASR Gain Auto-Tuning . . . . . . . .120
Motor q-Axis Inductance (for PM Motors) . . . . . . . . . . . . . . . 217
Notes on Motor Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23
Motor Rated Current . . . . . . . . . . . . 122, 124, 210, 216, 454, 527
Notes on Rotational Auto-Tuning . . . . . . . . . . . . . . . . . . . . . . .119
Motor Rated Power . . . . . . . . . . . . . . . . . . . . . 123, 212, 216, 454
Notes on Stationary Auto-Tuning . . . . . . . . . . . . . . . . . . . . . . .119
Motor Rated Slip . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124, 210
nSE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .307
Motor Rated Voltage . . . . . . . . . . . . . . . . . . . . . . . . 122, 123, 454
Number of Auto Restart Attempts . . . . . . . . . . . . . . . . . . .270, 445
Motor Rotates After the Drive Output is Shut Off. . . . . . . . . . 347
Number of Motor Poles . . . . . . . . . . . . . . . . . . .124, 210, 216, 454
Motor Rotates Faster Than the Frequency Reference . . . . . . . 345
Number of PM Motor Poles. . . . . . . . . . . . . . . . . . . . . . . . . . . .126
Motor Rotates in One Direction Only . . . . . . . . . . . . . . . . . . . 344
Number of Run Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . .460
Motor Secondary Current (Iq) . . . . . . . . . . . . . . . . . . . . . . . . . 462
Number of Run Commands Counter Initialization . . . . . . . . . .296
Motor Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232
Number of Speed Search Restarts . . . . . . . . . . . . . . . . . . . . . . .159
Motor Selection 1/2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 453
Motor Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 456 O
Motor Speed at Previous Fault . . . . . . . . . . . . . . . . . . . . . . . . . 459 oC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .307, 317
Motor Speed Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311 oFA00. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .307, 317
Motor Speed Error 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336 oFA01. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .307, 318
Motor Speed Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335 oFA03 to oFA06. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .318
Motor Stalls During Acceleration or With Large Loads . . . . . 345 oFA10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .318
Motor Stator Resistance (for PM Motors) . . . . . . . . . . . . . . . . 216 oFA11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .318
Motor Switch during Run. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 329 oFA12 to oFA17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .318
Motor Temperature Input Filter Time . . . . . . . . . . . . . . . 261, 442 oFA30 to oFA43. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .307, 318
Motor Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 oFb00 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .318
MP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 oFb01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .318
Multi-Function Analog Input Selection Error . . . . . . . . . 310, 332 oFb02 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .318
Multi-Function Analog Input Terminal Settings . . . . . . . . . . . 250 oFb03 to oFb11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .318
Multi-Function Analog Inputs . . . . . . . . . . . . . . . . . . . . . . . . . 247 oFb12 to oFb17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .318
Multi-Function Analog Output Terminal AM Bias . . . . . . . . . 253 oFC00. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .318
Multi-Function Analog Output Terminal AM Gain . . . . . . . . . 253 oFC01. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .318
Multi-Function Analog Output Terminal AM Monitor oFC02. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .319
Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252 oFC03 to oFC11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .319
Multi-Function Analog Output Terminal AM Signal oFC12 to oFC17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .319
Level Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253 Offset Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .205, 463
Multi-Function Analog Output Terminal FM Bias . . . . . . . . . 253 oH. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .308, 309, 319, 328
Multi-Function Analog Output Terminal FM Gain . . . . . . . . . 253 oH1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .308, 319
Multi-Function Analog Output Terminal FM Monitor oH2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .309, 328
Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252 oH3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .308, 309, 319, 328
548 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
oH4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 319 Output Current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 456
oL1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 320 Output Current 1 During Speed Search . . . . . . . . . . . . . . . . . . 158
oL2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 320, 347 Output Current at Previous Fault . . . . . . . . . . . . . . . . . . . . . . . 459
oL2 Characteristics Selection at Low Speeds . . . . . . . . . 277, 447 Output Current Imbalance . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316
oL3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 309, 320, 328 Output Frequency. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 456
oL4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 309, 320, 328 Output Frequency after Soft Start . . . . . . . . . . . . . . . . . . . . . . 457
oL5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 310, 320, 328 Output Frequency at Previous Fault. . . . . . . . . . . . . . . . . . . . . 459
Online Tuning Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285 Output Frequency is not as High as Frequency Reference . . . 347
Online Tuning Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284 Output Frequency Reduction During Overheat Alarm . . . . . . 276
oPE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331 Output Frequency Resolution . . . . . . . . . . . . . . . . . . . . . . . . . 395
oPE Fault Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331, 457 Output Ground Fault Detection Selection . . . . . . . . . . . . 277, 447
oPE01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310, 331 Output of speed control (ASR) (for Simple V/f PG) . . . . . . . . 462
oPE02 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310, 331 Output Phase Loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307, 316
oPE03 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310, 331 Output Phase Loss Protection . . . . . . . . . . . . . . . . . . . . . . . . . 447
oPE04 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310, 331 Output Phase Loss Protection Selection . . . . . . . . . . . . . . . . . 276
oPE05 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310, 332 Output Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 456
oPE06 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310, 332 Output Power at Previous Fault . . . . . . . . . . . . . . . . . . . . . . . . 459
oPE07 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310, 332 Output Terminal Status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 457
oPE08 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310, 332 Output Terminal Status at Previous Fault. . . . . . . . . . . . . . . . . 459
oPE09 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310, 332 Output Voltage at Previous Fault . . . . . . . . . . . . . . . . . . . . . . . 459
oPE10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310, 332 Output Voltage Limit (for PM Motors) . . . . . . . . . . . . . . . . . . 289
oPE11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310, 332 Output Voltage Limit Mode Selection . . . . . . . . . . . . . . . . . . . 191
oPE13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310, 333 Output Voltage Limit Operation Selection. . . . . . . . . . . . . . . . 181
oPE15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310, 333 Output Voltage Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . 456
oPE18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310, 333 Output Voltage Reference (Vd) . . . . . . . . . . . . . . . . . . . . . . . . 462
oPE20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310, 333 Output Voltage Reference (Vq) . . . . . . . . . . . . . . . . . . . . . . . . 462
oPE30 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310, 333 ov . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 310, 321, 329
Open Loop Vector Control . . . . . . . . . . . . . 30, 303, 312, 345, 346 ov Suppression Function Selection . . . . . . . . . . . . . . . . . . . . . 444
Open Loop Vector Control for IPM Motors . . . . . . . . . . . . . . . . 30 Overcurrent. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307, 317
Open Loop Vector Control for PM Motors . . . . . . . . . . . . . . . . 30 Overcurrent Detection Gain . . . . . . . . . . . . . . . . . . . . . . . 278, 447
Open Loop Vector Control Mode Tuning. . . . . . . . . . . . . . . . . 302 Overexcitation Deceleration. . . . . . . . . . . . . . . . . . . . . . . . . . . 282
Open Loop Vector Control Mode Tuning Parameters . . . 303, 304 Overexcitation Deceleration Gain . . . . . . . . . . . . . . 282, 317, 449
Open Loop Vector Control Mode Tuning Overheat 1 (Heatsink Overheat). . . . . . . . . . . . . . . . . . . . . . . . 319
Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302, 303, 304 Overheat Alarm Level . . . . . . . . . . . . . . . . . . . . . . . . . . . 275, 447
Operating with the Load Connected. . . . . . . . . . . . . . . . . . . . . 131 Overheat Pre-Alarm Operation Selection . . . . . . . . . . . . 275, 447
Operation Error Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310 Overload Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395
Operation Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306, 310 Overspeed (for Control Mode with PG). . . . . . . . . . . . . . 321, 329
Operation Selection at Deviation (dEv) . . . . . . . . . . . . . . . . . . 219 Overspeed (for Simple V/f with PG) . . . . . . . . . . . . . . . . . . . . 310
Operation Selection at Overspeed (oS) . . . . . . . . . . . . . . . . . . 218 Overspeed Detection Delay Time . . . . . . . . . . . . . . . . . . . . . . 218
Operation Selection at PG Open Circuit (PGo) . . . . . . . . . . . . 218 Overspeed Detection Level . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
Operation Selection when Digital Operator is Overtorque 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309, 328
Disconnected . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293, 452 Overtorque 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309, 328
Operation Status Monitors . . . . . . . . . . . . . . . . 297, 298, 456, 462 Overtorque Detection 1 . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 320
Operation with Permanent Magnet Motors . . . . . . . . . . . . . . . 108 Overtorque Detection 2 . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 320
Operator Connection Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308 Overtorque Detection Operation . . . . . . . . . . . . . . . . . . . . . . . 271
Operator Programming Errors . . . . . . . . . . . . . . . . . . . . . . . . . 331 Overvoltage Protection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395
Operator Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . 451 P
Operator Related Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290
P Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
oPr. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 321
Parameter Access Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
Option Card Communications Error . . . . . . . . . . . . . . . . . . . . 309
Parameter Range Setting Error. . . . . . . . . . . . . . . . . . . . . . . . . 331
Option Card Connection Error at Option Port CN5-A. . . . . . . 317
Parameter Selection Error . . . . . . . . . . . . . . . . . . . . . . . . 310, 332
Option Card Connection Error at Option Port CN5-C . . . . . . . 318
Parameter Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Option card error occurred at option port CN5-A . . . . . . . . . . 318
Parameters that Change with the Motor Code Selection
Option card error occurred at option port CN5-B . . . . . . . . . . 318
(for PM Motors) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 473
Option card error occurred at option port CN5-C . . . . . . . . . . 319
Parameters to Minimize Motor Hunting and Oscillation . . . . . 305
Option Card External Fault . . . . . . . . . . . . . . . . . . . 307, 315, 326
PASS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310, 329
Option Card Fault at Option Port CN5-A. . . . . . . . . . . . . . . . . 318
Password . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132, 140
Option Card Fault at Option Port CN5-B. . . . . . . . . . . . . . . . . 318
Password Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
Option Card Fault at Option Port CN5-C. . . . . . . . . . . . . 318, 319
Password Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
Option Card Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 378
Peak Hold Current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 460
Option Communication Error. . . . . . . . . . . . . . . . . . 307, 312, 324
Peak Hold Output Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . 460
Option Frequency Reference . . . . . . . . . . . . . . . . . . . . . . . . . . 461
Performance Life . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 354
Option Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
Performance Life Monitors Maintenance Monitors. . . . . . . . . 354
Option Unit Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307
Periodic Inspection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353
Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 373
Periodic Maintenance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 354
oS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 310, 321, 329
Peripheral Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 373
Oscillation or Hunting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 346
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 549
Permanent Magnet Motor Control . . . . . . . . . . . . . . . . . . . . . . 108 PID Setpoint Display Digits. . . . . . . . . . . . . . . . . . . . . . . . . . . .172
PG 1 Division Rate for PG Pulse Monitor . . . . . . . . . . . . . . . . 219 PID Setpoint Input Methods . . . . . . . . . . . . . . . . . . . . . . . . . . .165
PG 1 Gear Teeth 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219 PID Setpoint Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .171
PG 1 Gear Teeth 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219 PID Setpoint Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .171
PG 1 Pulses Per Revolution . . . . . . . . . . . . . . . . . . . . . . . . . . . 218 PID Setpoint User Display. . . . . . . . . . . . . . . . . . . . . . . . . . . . .172
PG 1 Rotation Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219 PID Setpoint Value. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .171
PG 1 Signal Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220 PID Sleep . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .170
PG 2 Division Rate for PG Pulse Monitor . . . . . . . . . . . . . . . . 219 PID Sleep Delay Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .171
PG 2 Gear Teeth 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219 PID Sleep Function Start Level . . . . . . . . . . . . . . . . . . . . . . . . .171
PG 2 Gear Teeth 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219 PM Inductance Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .336
PG 2 Pulses Per Revolution . . . . . . . . . . . . . . . . . . . . . . . . . . . 218 PM Motor Auto-Tuning Mode Selection. . . . . . . . . . . . . . . . . .125
PG 2 Rotation Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219 PM Motor Base Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . .126
PG 2 Signal Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220 PM Motor Base Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .126
PG Disconnect (for any control modes using a PG option PM Motor Code Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . .125
card) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321 PM Motor Control Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . .285
PG Disconnect (for Control Mode with PG) . . . . . . . . . . . . . . 329 PM Motor d-Axis Inductance . . . . . . . . . . . . . . . . . . . . . . . . . .126
PG Disconnect (for Simple V/f with PG). . . . . . . . . . . . . 308, 310 PM Motor Induced Voltage Constant. . . . . . . . . . . . . . . . . . . . .127
PG Hardware Fault (detected when using a PG-X3 option PM Motor Parameter Settings . . . . . . . . . . . . . . . . . . . . . . . . . .117
card) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321, 329 PM Motor q-Axis Inductance . . . . . . . . . . . . . . . . . . . . . . . . . .126
PG Number of Pulses Per Revolution . . . . . . . . . . . . . . . . . . . 124 PM Motor Rated Current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .126
PG Number of Pulses Per Revolution for PM Motor PM Motor Rated Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .126
Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127 PM Motor Rated Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .126
PG Open-Circuit Detection Time. . . . . . . . . . . . . . . . . . . . . . . 218 PM Motor Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .216
PG Option Card Disconnection Detection 1 . . . . . . . . . . . . . . 220 PM Motor Stator Resistance . . . . . . . . . . . . . . . . . . . . . . . . . . .126
PG Option Card Disconnection Detection 2 . . . . . . . . . . . . . . 220 PM Motor Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .125
PG Option Card Port for Motor 2 Selection. . . . . . . . . . . . . . . 220 PM Stationary Auto-Tuning. . . . . . . . . . . . . . . . . . . . . . . . . . . .117
PG Speed Control Card Settings . . . . . . . . . . . . . . . . . . . . . . . 218 PM Stationary Auto-Tuning for Stator Resistance . . . . . . . . . .117
PG-B3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376 Pole Attraction Current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .285
PG-B3 Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218 Power Detection Filter Time . . . . . . . . . . . . . . . . . . . . . . . . . . .176
PG-F3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376 Power Factor Control Selection . . . . . . . . . . . . . . . . . . . . . . . . .191
PG-F3 Setting Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310, 333 Power Ratings (Three-Phase 200 V Class) . . . . . . . . . . . . . . . .393
PGo. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 310, 321, 329 Power Ratings (Three-Phase 400 V Class) . . . . . . . . . . . . . . . .394
PGoH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321, 329 Power Supply Frequency Fault . . . . . . . . . . . . .307, 309, 316, 327
PGoH Detection Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221 Power Supply Frequency Fault Detection Width. . . . . . . . . . . .263
PG-RT3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376 Power Supply Overvoltage . . . . . . . . . . . . . . . . . . . . . . . .307, 312
PG-X3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376 Power Supply Undervoltage . . . . . . . . . . . . . . . . . . .307, 309, 312
PG-X3 Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218 Power Unit Price . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .296
Phase Order Detection Fault . . . . . . . . . . . . . . 308, 310, 322, 329 Powering Up the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .109
Phase Order Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152 Predefined V/f Patterns . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .206
PID Accel/Decel Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171 Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16
PID Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166 Preparing the Ends of Shielded Cables . . . . . . . . . . . . . . . . . . . .79
PID Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164 Preset Reference Timing Diagram . . . . . . . . . . . . . . . . . . . . . . .193
PID Control Selection Error. . . . . . . . . . . . . . . . . . . . . . . . . . . 310 Previous Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .459
PID Control Selection Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . 332 PROFIBUS-DP Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . .226
PID Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 461 Programming Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .99, 100
PID Feedback High Detection Level . . . . . . . . . . . . . . . . . . . . 170 Proportional Gain Setting (P). . . . . . . . . . . . . . . . . . . . . . . . . . .167
PID Feedback High Detection Time . . . . . . . . . . . . . . . . . . . . 170 Protecting cover to prevent miswiring . . . . . . . . . . . . . . . . . . . . .38
PID Feedback Input Methods. . . . . . . . . . . . . . . . . . . . . . . . . . 165 PTC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .260
PID Feedback Loss. . . . . . . . . . . . . . . . . . . . . . 307, 309, 316, 326 Pull-In Current (for PM Motors) . . . . . . . . . . . . . . . . . . . .287, 450
PID Feedback Loss Detection Selection . . . . . . . . . . . . . . . . . 169 Pull-In Current Compensation Time Constant
PID Feedback Low Detection Level . . . . . . . . . . . . . . . . . . . . 170 (for PM Motors) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .287, 450
PID Feedback Low Detection Time . . . . . . . . . . . . . . . . . . . . . 170 Pull-In Current during Accel/Decel for PM. . . . . . . . . . . . . . . .322
PID Fine Tuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173 Pull-In Current Level for PM Motor Tuning . . . . . . . . . . . . . . .127
PID Function Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167 Pull-Out Detection . . . . . . . . . . . . . . . . . . . . . . . . . . .280, 308, 322
PID Input (feedback) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 461 Pull-Out Detection Level at Low Speed . . . . . . . . . . . . . . . . . .280
PID Input Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172 Pull-Out Detection Time at Low Speed . . . . . . . . . . . . . . . . . . .280
PID Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297, 461 Pull-Out Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .280
PID Offset Adjustment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168 Pull-put. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .317
PID Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 461 Pulse Monitor Selection Error . . . . . . . . . . . . . . . . . . . . . . . . . .333
PID Output Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 346 Pulse Output Connection Using External Voltage Supply. . . . . .82
PID Output Gain Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168 Pulse Output Connection Using Internal Voltage Supply . . . . . .82
PID Output Level Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . 168 Pulse Train Input Bias . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .255
PID Output Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168 Pulse Train Input Filter Time . . . . . . . . . . . . . . . . . . . . . . . . . . .255
PID Output Lower Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172 Pulse Train Input Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .255
PID Output Reverse Selection . . . . . . . . . . . . . . . . . . . . . . . . . 168 Pulse Train Input Minimum Frequency . . . . . . . . . . . . . . . . . . .256
PID Primary Delay Time Constant . . . . . . . . . . . . . . . . . . . . . 168 Pulse Train Input Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .255
PID Setpoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 461 Pulse Train Input Terminal RP Function Selection . . . . . . . . . .254
550 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
Pulse Train Input/Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254 RUN Light . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Pulse Train Monitor Scaling. . . . . . . . . . . . . . . . . . . . . . . . . . . 256 Run Speed after Soft Starter at Previous Fault. . . . . . . . . . . . . 459
Pulse Train Monitor Selection . . . . . . . . . . . . . . . . . . . . . . . . . 256 S
Q S- . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
q-axis ACR Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 462 S+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
R S1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
S2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
R- . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
S3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
R+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
S4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Ramp to stop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
S5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Rated Current Depending on Carrier Frequency . . . . . . . . . . . 398
S6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Rated Current Setting Alarm . . . . . . . . . . . . . . . . . . . . . . 311, 334
S7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Rated Slip Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311, 335
S8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
rdEr . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339
Safe Disable Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 530
READ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294
Safe Disable Function Wiring Example (Source Mode) . . . . . 530
rEAd . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339
Safe Disable Input Function. . . . . . . . . . . . . . . . . . . . . . . . . . . 529
Reading Drive MEMOBUS/Modbus Register Contents . . . . . 499
Safe Disable Input Sink / Source / External Power Supply
Reading Parameter Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . 339
Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Reattaching the Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . 67
Safe Disable Inputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Reattaching the Front Cover. . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Safe Disable Monitor Output Function and Digital
Reattaching the Terminal Cover on an IP00 Enclosure
Operator Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 531
Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Safe Disable Signal Input. . . . . . . . . . . . . . . . . . . . . . . . . 309, 327
Reattaching the Terminal Cover on an IP20/NEMA Type 1
Safe Disable Status Monitor. . . . . . . . . . . . . . . . . . . . . . . . . . . 531
Enclosure Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Safe Torque Off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 531
Reattaching the Top Protective Cover . . . . . . . . . . . . . . . . . . . . 69
Safety Circuit Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 321
REMOTE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Safety Hazard Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Removing the Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . . 67
Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Removing the Front Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Safety Input and EDM Terminal Status . . . . . . . . . . . . . . . . . . 531
Removing the Terminal Cover on an IP00 Enclosure
Safety Monitor Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Save Disable Signal Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . 327
Removing the Terminal Cover on an IP20/NEMA Type 1
SC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Enclosure Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
SCF. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 321
Removing the Top Protective Cover . . . . . . . . . . . . . . . . . . . . . 69
S-Curve Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . 180, 305
Removing Wires from the Terminal Board . . . . . . . . . . . . . . . . 79
SE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310, 329
Replacement Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 354
Search Operation Voltage Limit . . . . . . . . . . . . . . . . . . . . . . . . 176
Replacing the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 370
Self-diagnosing function of the serial communication
Reset Communication Parameters . . . . . . . . . . . . . . . . . . . . . . 226
interface circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 514
Resistance Tuning Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334
SEr . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 321
Response Messages from Drive to Master . . . . . . . . . . . . . . . . 496
Serial Communication Terminals. . . . . . . . . . . . . . . . . . . . . . . . 77
Returning to Normal Operation after Safe Disable . . . . . . . . . 531
Serial Communication Transmission Error . . . . . . . . . . . 309, 324
Reverse Direction Output Example Time Chart. . . . . . . . . . . . 243
Serial Communications Cable Connection Terminals
Reverse Operation Selection . . . . . . . . . . . . . . . . . . . . . . . . . . 149
(TB5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 490
Reverse Prohibited Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336
Serviceable Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 369
Reverse Regenerative Torque Limit . . . . . . . . . . . . . . . . . 275, 446
Setup Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Reverse Torque Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275, 446
Setup Group Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Rotational Auto-Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . 116, 119
Setup Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Rotational Auto-Tuning for V/f Control . . . . . . . . . . . . . . . . . 116
Shielded Twisted-Pair Cables. . . . . . . . . . . . . . . . . . . . . . . . . . . 79
RP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Simple Motor Setup Using V/f Control . . . . . . . . . . . . . . . . . . 106
RS-422 Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 491
Simple Positioning Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
RS-422/485 Termination Resistor . . . . . . . . . . . . . . . . . . . . . . . 80
Simplified Setup Using the Setup Group . . . . . . . . . . . . . . . . . 103
RS-485 Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 490
Sinking Mode (NPN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
RTS Control Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 493
Sinking/Sourcing Mode Selection for Safe Disable Inputs . . . . 81
rUn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310, 329
Sinking/Sourcing Mode Switch for Digital Inputs. . . . . . . . . . . 80
Run Command at Power Up. . . . . . . . . . . . . . . . . . . . . . . . . . . 152
Slave Address. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 497
Run Command Input Error. . . . . . . . . . . . . . . . . . . . . . . . . . . . 309
Slip Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
Run Command Method Selection . . . . . . . . . . . . . . . . . . . . . . 494
Slip Compensation Gain . . . . . . . . . . . . . . . . . . . . . . . . . 180, 302
Run Command Selection . . . . . . . . . . . . . . . . . . . . . . . . . 343, 405
Slip Compensation Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
Run Command Selection 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
Slip Compensation Primary Delay Time . . . . . . . . . . . . . 181, 302
Run Command Selection 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
Slip Compensation Selection during Regeneration . . . . . . . . . 181
Run Command Selection Error . . . . . . . . . . . . . . . . . . . . . . . . 310
SN. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Run command selection while in Programming Mode . . . . . . 152
Snubber Discharge Resistor Overheat . . . . . . . . . . . . . . . 308, 322
Run Command Source Selection . . . . . . . . . . . . . . . . . . . . . . . 461
Soft Charge Bypass Relay Maintenance . . . . . . . . . . . . . . . . . 460
Run Command/Frequency Reference Source Selection
Soft Charge Bypass Relay Maintenance Time. . . . . . . . . . . . . 328
Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332
Soft Charge Circuit Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308
RUN LED. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Soft CLA Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 447
RUN LED and Drive Operation . . . . . . . . . . . . . . . . . . . . . . . . . 97
Software Current Limit Selection . . . . . . . . . . . . . . . . . . . . . . 278
RUN LED Status and Meaning . . . . . . . . . . . . . . . . . . . . . . . . . 97
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 551
Software No. (Flash) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 458 Stator Resistance Error. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .336
Software No. (ROM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 458 Status Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .109
Software version. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 STo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .308, 322
SoH. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 322 STOP button Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .311, 335
Sourcing Mode (PNP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 STOP Key Function Selection . . . . . . . . . . . . . . . . . . . . . .292, 452
SP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 Stop Position Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .200
Speed Agree 1 Time Chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238 Stopping Method after Communication Error . . . . . . . . . . . . . .492
Speed Agree 2 Time Chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241 Stopping Method Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . .146
Speed Agree Detection Selection. . . . . . . . . . . . . . . . . . . . . . . 270 Storage Temperature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .42
Speed Agreement Detection Level. . . . . . . . . . . . . . . . . . 269, 445 SvE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .322
Speed Agreement Detection Level (+/-) . . . . . . . . . . . . . 269, 445 Switches and Jumpers on the Terminal Board . . . . . . . . . . . . . . .80
Speed Agreement Detection Width . . . . . . . . . . . . . . . . . 269, 445 Switching Between LOCAL and REMOTE . . . . . . . . . . . . . . .104
Speed Agreement Detection Width (+/-) . . . . . . . . . . . . . 269, 445 Switching Between Torque and Speed Control . . . . . . . . . . . . .202
Speed Control Accuracy. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395 T
Speed Control Integral Time 1 . . . . . . . . . . . . . . . . . . . . . . . . . 329
T Motor Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .453
Speed Control Loop Auto-Tuning . . . . . . . . . . . . . . . . . . . . . . 118
Task Complete . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .338
Speed Control Proportional Gain 1 . . . . . . . . . . . . . . . . . . . . . 329
Temperature Derating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .399
Speed Control Range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395
Terminal A1 Bias Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .247
Speed Deviation (for Control Mode with PG) . . . . . . . . . . . . . 313
Terminal A1 Function Selection . . . . . . . . . . . . . . . . . . . . . . . .247
Speed Deviation (for Simple V/f with PG) . . . . . . . . . . . 307, 309
Terminal A1 Gain Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . .247
Speed Deviation (when using a PG option card) . . . . . . . . . . . 325
Terminal A1 Signal Level Selection . . . . . . . . . . . . . . . . . . . . .247
Speed Feedback Detection Contol (AFR) Tuning . . . . . . . . . . 281
Terminal A2 Bias Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .249
Speed Feedback Detection Control (AFR) Gain . . . . . . . 282, 448
Terminal A2 Function Selection . . . . . . . . . . . . . . . . . . . . . . . .249
Speed Feedback Detection Control (AFR) Time
Terminal A2 Gain Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . .249
Constant 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282, 449
Terminal A2 Input Signal Selection. . . . . . . . . . . . . . . . . . . . . . .82
Speed Feedback Detection Control Gain
Terminal A2 Signal Level Selection . . . . . . . . . . . . . . . . . . . . .248
(for PM Motors) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287, 450
Terminal A3 Analog/PTC Input Selection. . . . . . . . . . . . . . . . . .83
Speed Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
Terminal A3 Bias Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .248
Speed Limit Bias . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202, 204
Terminal A3 Function Selection . . . . . . . . . . . . . . . . . . . . . . . .248
Speed Limit Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
Terminal A3 Gain Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . .248
Speed Limitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
Terminal A3 Signal Level Selection . . . . . . . . . . . . . . . . . . . . .248
Speed Response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395
Terminal AM/FM Signal Selection . . . . . . . . . . . . . . . . . . . . . . .83
Speed Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155, 321
Terminal Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .38, 369
Speed Search Deceleration Time . . . . . . . . . . . . . . . . . . . . . . . 158
Terminal Board not connected . . . . . . . . . . . . . . . . . . . . . . . . . .307
Speed Search Delay Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
Terminal Board Wiring Guide . . . . . . . . . . . . . . . . . . . . . . . . . . .79
Speed Search Detection Compensation Gain. . . . . . . . . . . . . . 159
Terminal Connections for Communication
Speed Search Estimation Type . . . . . . . . . . . . . . . . . . . . . . . . . 320
Self-Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .514
Speed Search Method Selection. . . . . . . . . . . . . . . . . . . . . . . . 159
Terminal Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .65
Speed Search Operation Current Level 1
Terminal M1-M2 Function Selection. . . . . . . . . . . . . . . . . . . . .237
(Current Detection Type 2). . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
Terminal M1-M2 Output Selection . . . . . . . . . . . . . . . . . . . . . .224
Speed Search Operation Current Level 2
Terminal M3-M4 Function Selection. . . . . . . . . . . . . . . . . . . . .237
(Current Detection 2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
Terminal M3-M4 Output Selection . . . . . . . . . . . . . . . . . . . . . .224
Speed Search Restart Current Level. . . . . . . . . . . . . . . . . . . . . 159
Terminal M5-M6 Function Selection. . . . . . . . . . . . . . . . . . . . .237
Speed Search Restart Detection Time . . . . . . . . . . . . . . . . . . . 159
Terminal P1-PC Output Selection . . . . . . . . . . . . . . . . . . . . . . .224
Speed Search Selection at Start . . . . . . . . . . . . . . . . . . . . . . . . 158
Terminal P2-PC Output Selection . . . . . . . . . . . . . . . . . . . . . . .224
Speed Search Wait Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
Terminal P3-PC Output Selection . . . . . . . . . . . . . . . . . . . . . . .224
Speed/Torque Control Switchover Time . . . . . . . . . . . . . . . . . 204
Terminal P4-PC Output Selection . . . . . . . . . . . . . . . . . . . . . . .224
SrC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 310, 322, 329
Terminal P5-PC Output Selection . . . . . . . . . . . . . . . . . . . . . . .224
Srr . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 322
Terminal P6-PC Output Selection . . . . . . . . . . . . . . . . . . . . . . .224
Stall Prevention . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264, 305
Terminal V1 Monitor Bias . . . . . . . . . . . . . . . . . . . . . . . . . . . . .223
Stall Prevention Detection Time . . . . . . . . . . . . . . . . . . . . . . . 268
Terminal V1 Monitor Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . .223
Stall Prevention during Deceleration . . . . . . . . . . . . . . . . . . . . 320
Terminal V1 Monitor Selection . . . . . . . . . . . . . . . . . . . . . . . . .223
Stall Prevention Level during Acceleration . . . . . . . . . . . . . . . 444
Terminal V1 Signal Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . .223
Stall Prevention Level during Run . . . . . . . . . . . . . . . . . . 267, 444
Terminal V2 Monitor Bias . . . . . . . . . . . . . . . . . . . . . . . . . . . . .223
Stall Prevention Limit during Acceleration . . . . . . . . . . . 265, 444
Terminal V2 Monitor Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . .223
Stall Prevention Selection during Acceleration . . . . . . . . 264, 443
Terminal V2 Monitor Selection . . . . . . . . . . . . . . . . . . . . . . . . .223
Stall Prevention Selection during Deceleration . . . . . . . . 266, 444
Terminal V2 Signal Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . .223
Stall Prevention Selection during Run . . . . . . . . . . . . . . . 267, 444
Termination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .85
Standard Connection Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Test Run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .119, 121, 122, 129
Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395
Test Run Checklist . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .134
Starting Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395
Test Run with Load Connected . . . . . . . . . . . . . . . . . . . . . . . . .131
Start-Up Flowcharts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Tightening Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .71
Station Address Setting Error
Timer Function Off-Delay Time . . . . . . . . . . . . . . . . . . . . . . . .163
(CC-Link, CANopen, MECHATROLINK) . . . . . . . . . . . . . . . 324
Timer Function On-Delay Time. . . . . . . . . . . . . . . . . . . . . . . . .163
Stationary Auto-Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
Too Many Speed Search Restarts. . . . . . . . . . . . . . . . . . . .308, 321
Stationary Auto-Tuning 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
Top Protective Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .69
Stationary Auto-Tuning for Line-to-Line Resistance. . . . . . . . 116
552 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
Top Protective Covers, Reattaching . . . . . . . . . . . . . . . . . . . . . . 66 Unit Capacity Setting Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . 331
Top Protective Covers, Removing . . . . . . . . . . . . . . . . . . . . 65, 66 Unit Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292
Torque Compensation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183 Unit Selection for MEMOBUS/Modbus Register 0025H . . . . 494
Torque Compensation at Forward Start . . . . . . . . . . . . . . . . . . 183 Unstable Motor Speed when Using PM. . . . . . . . . . . . . . . . . . 347
Torque Compensation at Reverse Start . . . . . . . . . . . . . . . . . . 183 Up/Down 2 Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
Torque Compensation Gain . . . . . . . . . . . . . . . . . . . . . . . 183, 302 Up/Down 2 Operations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236
Torque Compensation Primary Delay Time . . . . . . . . . . . 183, 302 Up/Down Command Operation . . . . . . . . . . . . . . . . . . . . . . . . 231
Torque Compensation Primary Delay Time Constant 1. . . . . . 302 Up/Down Frequency Reference Limit Selection . . . . . . . . . . . 199
Torque Compensation Time Constant . . . . . . . . . . . . . . . . . . . 184 USB Copy Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133, 376
Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200 USB port (type-B) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Torque Control Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . 200 User Monitor Selection after Power Up. . . . . . . . . . . . . . 290, 451
Torque Control Input Value Selection . . . . . . . . . . . . . . . . . . . 201 User Parameter Automatic Selection . . . . . . . . . . . . 132, 143, 404
Torque Control Reference Sources. . . . . . . . . . . . . . . . . . . . . . 201 User Parameter Default Value . . . . . . . . . . . . . . . . . 132, 292, 452
Torque Control Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203 User Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
Torque Control Setting Error . . . . . . . . . . . . . . . . . . . . . . . . . . 333 User Parameters 1 to 32 . . . . . . . . . . . . . . . . . . . . . . 132, 143, 404
Torque Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271 User Set Speed Agree 1 Time Chart . . . . . . . . . . . . . . . . . . . . 239
Torque Detection Level 1 . . . . . . . . . . . . . . . . . . . . . . . . . 273, 445 User Set Speed Agree 2 Example with a Positive L3-04
Torque Detection Level 2 . . . . . . . . . . . . . . . . . . . . . . . . . 273, 446 Value. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242
Torque Detection Selection 1 . . . . . . . . . . . . . . . . . . . . . . 272, 445 User-Set Display Units Decimal Display. . . . . . . . . . . . . . . . . 291
Torque Detection Selection 2 . . . . . . . . . . . . . . . . . . . . . . 272, 446 User-Set Display Units Maximum Value . . . . . . . . . . . . . . . . . 291
Torque Detection Time 1 . . . . . . . . . . . . . . . . . . . . . . . . . 273, 445 Using the Pulse Train Output . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Torque Detection Time 2 . . . . . . . . . . . . . . . . . . . . . . . . . 273, 446 Using the Safe Disable Function . . . . . . . . . . . . . . . . . . . . . . . 530
Torque Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 274, 395 Uv . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310, 330
Torque Limit Control Method Selection during Uv1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 323
Accel/Decel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275, 446 Uv2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 323
Torque Limit Integral Time Constant . . . . . . . . . . . . . . . . 275, 446 Uv3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 323
Torque Limit Process at Start . . . . . . . . . . . . . . . . . . . . . . . . . . 275 V
Torque Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305
-V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Torque Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 456
V/f Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395
Torque Reference / Torque Limit Selection from Comm.
V/f Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
V/f Control Mode Tuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302
Torque Reference at Previous Fault . . . . . . . . . . . . . . . . . . . . . 459
V/f Control Mode Tuning Parameters . . . . . . . . . . . . . . . . . . . 302
Torque Reference Delay Time . . . . . . . . . . . . . . . . . . . . . . . . . 203
V/f control using motor speed feedback . . . . . . . . . . . . . . . . . . 30
Torque Saturation Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336
V/f Control with Simple Speed Feedback . . . . . . . . . . . . . . . . 254
Torque Specifications, Three Phase 200 V Class . . . . . . . . 71, 521
V/f Data Setting Error . . . . . . . . . . . . . . . . . . . . . . . . . . . 310, 332
Torque Specifications, Three Phase 400 V Class . . . . . . . . 72, 522
V/f Gain During Speed Search. . . . . . . . . . . . . . . . . . . . . . . . . 158
transport . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
V/f Pattern Default Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . 468
Traveling Application. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
V/f Pattern Defaults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 468
Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299
V/f Pattern Display Unit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291
Troubleshooting without Fault Display . . . . . . . . . . . . . . . . . . 342
V/f Pattern for Motor 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
Tuning Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306
V/f Pattern for Motor 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
Types of Alarms, Faults, and Errors . . . . . . . . . . . . . . . . . . . . . 306
V/f Pattern Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206, 345
Types of Auto-Tuning for Induction Motors . . . . . . . . . . . . . . 116
vAEr . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339
Types of Auto-Tuning for Permanent Magnet Motors . . . . . . . 117
VERIFY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294
U Verify Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
U Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 456 Verifying Parameter Changes. . . . . . . . . . . . . . . . . . . . . . . . . . 102
U1000 Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 Vertical Suspension . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
U2, U3 Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 295, 453 vFyE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339
UL Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 521 Vibration Suppression Gain during Acceleration
UL/cUL Mark . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 521 (with Current Limit) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 268
UL3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 310, 322, 330 Vibration Suppression Gain during Deceleration
UL4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 310, 322, 330 (with Current Limit) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 268
UL5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310, 322 Voltage Class, Capacity Mismatch. . . . . . . . . . . . . . . . . . . . . . 339
Undertorque 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310 Voltage Error Compensation Time Constant . . . . . . . . . . . . . . 288
Undertorque 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310 vrFy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339
Undertorque Detection 1 . . . . . . . . . . . . . . . . . . . . . 308, 322, 330 W
Undertorque Detection 2 . . . . . . . . . . . . . . . . . . . . . 308, 322, 330
Warranty Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Undertorque Detection Operation . . . . . . . . . . . . . . . . . . . . . . 272
Water Supply Pump Application . . . . . . . . . . . . . . . . . . . . . . . 110
Undervoltage 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323
Watt Hour Output Example . . . . . . . . . . . . . . . . . . . . . . . . . . . 246
Undervoltage 3 (Soft-Charge Bypass Circuit Fault) . . . . . . . . 323
Watt Hour Output Unit Selection . . . . . . . . . . . . . . . . . . . . . . . 246
Undervoltage Protection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395
Watt Loss 200 V Class Three Phase Models . . . . . . . . . . . . . . 397
Unexpected Noise from Connected Machinery . . . . . . . . . . . . 346
Watt Loss 400 V Class Three Phase Models . . . . . . . . . . . . . . 397
Unidirectional Speed Limit Bias . . . . . . . . . . . . . . . . . . . . . . . 204
Wire Gauge, Three Phase 200 V Class . . . . . . . . . . . . . . . 71, 521
unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Wire Gauge, Three Phase 400 V Class . . . . . . . . . . . . . . . 72, 522
installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Wire Gauges . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71, 78
transport . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Wiring Checklist. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 553
Wiring Diagram for 2-Wire Sequence . . . . . . . . . . . . . . . . . . . 234
Wiring Distance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190
Wiring the Control Circuit Terminal . . . . . . . . . . . . . . . . . . . . . 78
WRITE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294
Writing Parameter Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . 338
Writing to Multiple Registers. . . . . . . . . . . . . . . . . . . . . . . . . . 500
Z
Z Pulse Correction Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336
Z Pulse Fault. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313
Z Pulse Noise Fault Detection . . . . . . . . . . . . . . . . . . . . . . . . . 314
Z Pulse Offset Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
Zero Servo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
Zero Servo Completion Width . . . . . . . . . . . . . . . . . . . . . . . . . 177
Zero Servo Fault. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 322
Zero Servo Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
Zero-Speed Time Chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238
554 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
Revision History
The revision dates and the numbers of the revised manuals appear on the bottom of the back cover.
MANUAL NO. SIEP C710636 03A
Published in Japan July 2014 14-7
Date of original publication
Date of publication
Date of Publication Revision Number Section Revised Content
July 2014 First Edition
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 555
YASKAWA U1000 Series
Technical Manual
EUROPEAN HEADQUARTERS
YASKAWA EUROPE GmbH
Hauptstrasse 185, 65760 Eschborn, Germany
Phone: +49 (0)6196 569 300 Fax: +49 (0)6196 569 398
E-mail: [email protected] Internet: http://www.yaskawa.eu.com
YASKAWA ENGINEERING EUROPE GmbH
Hauptstrasse 185, 65760 Eschborn, Germany
Phone: +49 (0)6196 569 520 Fax: +49 (0)6196 888 598
E-mail: [email protected] Internet: http://www.yaskawa-eng.eu.com
U.S.A.
YASKAWA AMERICA, INC.
2121 Norman Drive South, Waukegan, IL 60085, U.S.A.
Phone: +1 800 YASKAWA (927-5292) or +1 847 887 7000 Fax: +1 847 887 7310
Internet: http://www.yaskawa.com
JAPAN
YASKAWA ELECTRIC CORPORATION
New Pier Takeshiba South Tower, 1-16-1, Kaigan, Minatoku, Tokyo, 105-6891, Japan
Phone: +81 (0)3 5402 4502 Fax: +81 (0)3 5402 4580
Internet: http://www.yaskawa.co.jp
DRIVE CENTER (INVERTER PLANT)
2-13-1, Nishimiyaichi, Yukuhashi, Fukuoka, 824-8511, Japan
Phone: +81 (0)930 25 3844 Fax: +81 (0)930 25 4369
Internet: http://www.yaskawa.co.jp
YASKAWA ELECTRIC CORPORATION
In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture thereof,
the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations. Therefore, be sure to follow all
procedures and submit all relevant documentation according to any and all rules, regulations and laws that may apply.
Specifications are subject to change without notice for ongoing product modifications and improvements.
© 2014 YASKAWA ELECTRIC CORPORATION. All rights reserved.
MANUAL NO. SIEP C710636 03A
Published in Japan July 2014 14-7
13-7-6_YEU
Original instructions
You might also like
- Service Manual For The CARESTREAM X-Ray Generator: Publication No. 7K3254 Rev E 2023-06-19No ratings yetService Manual For The CARESTREAM X-Ray Generator: Publication No. 7K3254 Rev E 2023-06-19155 pages
- YASKAWA AC Drive A1000: Technical ManualNo ratings yetYASKAWA AC Drive A1000: Technical Manual628 pages
- YASKAWA AC Drive A1000: Technical ManualNo ratings yetYASKAWA AC Drive A1000: Technical Manual590 pages
- 1449540377SIEP C710616 35D 3 0e1000.compressedNo ratings yet1449540377SIEP C710616 35D 3 0e1000.compressed480 pages
- Hardware Manual: ACS880-04 Drive Modules (200 To 710 KW, 300 To 700 HP)No ratings yetHardware Manual: ACS880-04 Drive Modules (200 To 710 KW, 300 To 700 HP)252 pages
- L1000a - TM - en - Siep C710616 33G - 6 - 0No ratings yetL1000a - TM - en - Siep C710616 33G - 6 - 0486 pages
- ACH580-01 HW - Reva - Screen - A5 - 3AUA0000076331No ratings yetACH580-01 HW - Reva - Screen - A5 - 3AUA0000076331212 pages
- Regenerative Braking Unit (r1000) Users Manual enNo ratings yetRegenerative Braking Unit (r1000) Users Manual en203 pages
- Powerflex 7000 Medium Voltage Ac Drive Air-Cooled ('A' Frame) - Forge ControlNo ratings yetPowerflex 7000 Medium Voltage Ac Drive Air-Cooled ('A' Frame) - Forge Control196 pages
- YASKAWA AC Drive E1000: Technical ManualNo ratings yetYASKAWA AC Drive E1000: Technical Manual476 pages
- 1000A AC Elevator Drive: Technical ManualNo ratings yet1000A AC Elevator Drive: Technical Manual474 pages
- SIEP C71061627C 02 YAS+A1000+UsersManualNo ratings yetSIEP C71061627C 02 YAS+A1000+UsersManual544 pages
- Soft Starter SMC - 50 - 150-Um011 - En-P - Ingles PDFNo ratings yetSoft Starter SMC - 50 - 150-Um011 - En-P - Ingles PDF306 pages
- Bien-tan-yaskawa-E1000-series-manual 05122016092655 PDF100% (1)Bien-tan-yaskawa-E1000-series-manual 05122016092655 PDF480 pages
- YASKAWA AC Drive-A1000: 6-Phase/12-Pulse Input Installation GuideNo ratings yetYASKAWA AC Drive-A1000: 6-Phase/12-Pulse Input Installation Guide70 pages
- Practical Guide Building A Marketing Plan v7No ratings yetPractical Guide Building A Marketing Plan v710 pages
- TOA-S616-6.5B VS-616 G3 LN Instructions PDFNo ratings yetTOA-S616-6.5B VS-616 G3 LN Instructions PDF46 pages
- CFOA Based Low Pass and High Pass Ladder Filter-ANo ratings yetCFOA Based Low Pass and High Pass Ladder Filter-A9 pages
- Short-Beam and Three-Point-Bending Tests For The Study of Shear and Flexural Properties in Unidirectional-Fiber-Reinforced Epoxy CompositesNo ratings yetShort-Beam and Three-Point-Bending Tests For The Study of Shear and Flexural Properties in Unidirectional-Fiber-Reinforced Epoxy Composites12 pages
- UC - Website Technical Requirement ModelingNo ratings yetUC - Website Technical Requirement Modeling14 pages
- 2022 - LLC Assistant Lecturer AAP - Michael (211119)No ratings yet2022 - LLC Assistant Lecturer AAP - Michael (211119)5 pages
- E-Learning - Student's Guide (Moodle 2.6)No ratings yetE-Learning - Student's Guide (Moodle 2.6)11 pages
- Environmental Analysis of Big Bazaar For The Year 2010No ratings yetEnvironmental Analysis of Big Bazaar For The Year 201014 pages
- Vibration Basics and Machine Reliability Simplified : A Practical Guide to Vibration AnalysisFrom EverandVibration Basics and Machine Reliability Simplified : A Practical Guide to Vibration Analysis4/5 (2)
