U1000 Industrial MATRIX Drive: Technical Manual
Uploaded by
Олег МительковU1000 Industrial MATRIX Drive: Technical Manual
Uploaded by
Олег МительковU1000 Industrial MATRIX Drive
Low Harmonic Regenerative Drive for Industrial Applications
Technical Manual
Type: CIMR-UU
Models: 200 V Class: 7.5 to 75 kW (10 to 100 HP ND)
400 V Class: 5.5 to 260 kW (7.5 to 350 HP ND)
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 04C Quick Reference Sheet E
Copyright © 2014 YASKAWA ELECTRIC CORPORATION.
No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form or by any means,
mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of Yaskawa. No patent
liability is assumed with respect to the use of the information contained herein. Moreover, because Yaskawa is constantly
striving to improve its high-quality products, the information contained in this manual is subject to change without notice.
Every precaution has been taken in the preparation of this manual. Yaskawa assumes no responsibility for errors or omissions.
Neither is any liability assumed for damages resulting from the use of the information contained in this publication.
u Quick Reference
Easily Set Parameters for Specific Applications
Preset parameter defaults are available for setting up applications. Refer to Application Selection on
page 127.
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 202.
Drive a Synchronous PM Motor
The drive can operate synchronous PM motors. Refer to Subchart A-3: Operation with Permanent
Magnet Motors on page 124.
Perform Auto-Tuning
Automatic tuning sets motor parameters. Refer to Auto-Tuning on page 130.
Maintenance Check Using Drive Monitors
Use drive monitors to check if fans, capacitors, or other components require maintenance. Refer to Performance Life Monitors Maintenance
Monitors on page 389.
Fault Display and Troubleshooting
Refer to Drive Alarms, Faults, and Errors on page 330 and Refer to Troubleshooting without Fault Display on page 374.
Standards Compliance
Refer to European Standards on page 596 and Refer to UL and CSA Standards on page 599.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 3
This Page Intentionally Blank
4 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
Table of Contents
QUICK REFERENCE ....................................................................................... 3
i. PREFACE & GENERAL SAFETY.................................................................. 17
i.1 Preface ....................................................................................................................... 18
Applicable Documentation....................................................................................................... 18
Symbols................................................................................................................................... 18
Terms and Abbreviations ........................................................................................................ 18
Trademarks ............................................................................................................................. 19
i.2 General Safety ........................................................................................................... 20
Supplemental Safety Information ............................................................................................ 20
Safety Messages..................................................................................................................... 21
General Application Precautions ............................................................................................. 23
Motor Application Precautions................................................................................................. 25
Drive Label Warning Example................................................................................................. 28
Warranty Information............................................................................................................... 28
1. RECEIVING .................................................................................................... 29
1.1 Section Safety............................................................................................................ 30
1.2 General Description .................................................................................................. 31
U1000 Model Selection ........................................................................................................... 31
Control Mode Selection ........................................................................................................... 31
1.3 Model Number and Nameplate Check ..................................................................... 34
Nameplate ............................................................................................................................... 34
1.4 Drive Models and Enclosure Types ......................................................................... 37
1.5 Component Names.................................................................................................... 38
IP00/Open Type Enclosure ..................................................................................................... 38
IP20/NEMA Type 1 Enclosure................................................................................................. 42
Front Views ............................................................................................................................. 46
2. MECHANICAL INSTALLATION..................................................................... 47
2.1 Section Safety............................................................................................................ 48
2.2 Mechanical Installation ............................................................................................. 50
Installation Environment .......................................................................................................... 50
Installation Orientation and Spacing........................................................................................ 50
Instructions on Installation Using the Eye Bolts and Hanging Brackets .................................. 51
Digital Operator Remote Usage .............................................................................................. 53
Exterior and Mounting Dimensions ......................................................................................... 57
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 5
Table of Contents
3. ELECTRICAL INSTALLATION .............................................................................. 63
3.1 Section Safety......................................................................................................................64
3.2 Standard Connection Diagram...........................................................................................66
3.3 Main Circuit Connection Diagram......................................................................................69
3.4 Terminal Block Configuration ............................................................................................70
3.5 Terminal Cover ....................................................................................................................73
Models 2o0028 to 2o0130 and 4o0011 to 4o0124 ....................................................................... 73
Models 2o0154 to 2o0248 and 4o0156 to 4o0414 ....................................................................... 74
3.6 Digital Operator and Front Cover.......................................................................................76
Removing/Reattaching the Digital Operator...................................................................................... 76
Removing/Reattaching the Front Cover ............................................................................................ 76
3.7 Top Protective Cover ..........................................................................................................79
Attaching the Top Protective Cover................................................................................................... 79
Removing the Top Protective Cover ................................................................................................. 79
3.8 Main Circuit Wiring..............................................................................................................80
Main Circuit Terminal Functions........................................................................................................ 80
Protecting Main Circuit Terminals ..................................................................................................... 80
Main Circuit Wire Gauges and Tightening Torque ............................................................................ 81
Main Circuit Terminal and Motor Wiring ............................................................................................ 85
3.9 Control Circuit Wiring .........................................................................................................88
Control Circuit Connection Diagram.................................................................................................. 88
Control Circuit Terminal Block Functions .......................................................................................... 88
Terminal Configuration ...................................................................................................................... 90
Wiring the Control Circuit Terminal ................................................................................................... 91
Switches and Jumpers on the Terminal Board.................................................................................. 92
3.10 Control I/O Connections .....................................................................................................94
Sinking/Sourcing Mode for Digital Inputs .......................................................................................... 94
Sinking/Sourcing Mode Selection for Safe Disable Inputs ................................................................ 95
Using the Pulse Train Output ............................................................................................................ 95
Terminal A2 Input Signal Selection ................................................................................................... 96
Terminal A3 Analog/PTC Input Selection.......................................................................................... 96
Terminal AM/FM Signal Selection ..................................................................................................... 97
MEMOBUS/Modbus Termination ...................................................................................................... 97
Terminal DM+ and DM- Output Signal Selection .............................................................................. 97
3.11 Connect to a PC...................................................................................................................98
3.12 EMC Filter.............................................................................................................................99
Enable the Internal EMC Filter .......................................................................................................... 99
3.13 External Interlock ..............................................................................................................103
Operation Ready ............................................................................................................................. 103
3.14 Wiring Checklist ................................................................................................................104
4. START-UP PROGRAMMING & OPERATION..................................................... 107
4.1 Section Safety....................................................................................................................108
4.2 Using the Digital Operator ................................................................................................109
Digital Operator Keys and Displays................................................................................................. 109
LCD Display .................................................................................................................................... 110
ALARM (ALM) LED Displays........................................................................................................... 111
6 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
Table of Contents
LO/RE LED and RUN LED Indications............................................................................................ 111
Menu Structure for Digital Operator ................................................................................................ 112
4.3 The Drive and Programming Modes ................................................................................113
Navigating the Drive and Programming Modes............................................................................... 113
Changing Parameter Settings or Values ......................................................................................... 114
Verifying Parameter Changes: Verify Menu .................................................................................... 116
Simplified Setup Using the Setup Group......................................................................................... 117
Switching Between LOCAL and REMOTE...................................................................................... 118
4.4 Start-Up Flowcharts ..........................................................................................................119
Flowchart A: Basic Start-Up and Motor Tuning ............................................................................... 120
Subchart A-1: Simple Motor Setup Using V/f Control...................................................................... 121
Subchart A-2: High Performance Operation Using OLV or CLV ..................................................... 122
Subchart A-3: Operation with Permanent Magnet Motors............................................................... 124
4.5 Powering Up the Drive ......................................................................................................126
Powering Up the Drive and Operation Status Display..................................................................... 126
4.6 Application Selection ........................................................................................................127
Setting 1: Water Supply Pump Application...................................................................................... 127
Setting 2: Conveyor Application ...................................................................................................... 128
Setting 3: Exhaust Fan Application ................................................................................................. 128
Setting 4: HVAC Fan Application .................................................................................................... 129
Setting 5: Air Compressor Application............................................................................................. 129
4.7 Auto-Tuning .......................................................................................................................130
Types of Auto-Tuning ...................................................................................................................... 130
Before Auto-Tuning the Drive.......................................................................................................... 133
Auto-Tuning Interruption and Fault Codes ...................................................................................... 135
Auto-Tuning Operation Example ..................................................................................................... 136
T1: Parameter Settings during Induction Motor Auto-Tuning .......................................................... 137
Parameter Settings during PM Motor Auto-Tuning: T2 ................................................................... 139
Parameter Settings during Inertia and Speed Control Loop Auto-Tuning: T3................................. 142
4.8 No-Load Operation Test Run............................................................................................144
No-Load Operation Test Run .......................................................................................................... 144
4.9 Test Run with Load Connected........................................................................................146
Test Run with the Load Connected ................................................................................................. 146
4.10 Verifying Parameter Settings and Backing Up Changes ...............................................147
Backing Up Parameter Values: o2-03 ............................................................................................. 147
Parameter Access Level: A1-01...................................................................................................... 147
Password Settings: A1-04, A1-05 ................................................................................................... 147
Copy Function ................................................................................................................................. 148
4.11 Test Run Checklist ............................................................................................................149
5. PARAMETER DETAILS ....................................................................................... 151
5.1 A: Initialization ...................................................................................................................152
A1: Initialization ............................................................................................................................... 152
A2: User Parameters....................................................................................................................... 157
5.2 b: Application.....................................................................................................................158
b1: Operation Mode Selection......................................................................................................... 158
b2: DC Injection Braking.................................................................................................................. 167
b3: Speed Search............................................................................................................................ 168
b4: Timer Function .......................................................................................................................... 176
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 7
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b5: PID Control................................................................................................................................ 177
b6: Dwell Function........................................................................................................................... 186
b7: Droop Control (CLV, CLV/PM) .................................................................................................. 187
b8: Energy Saving ........................................................................................................................... 188
b9: Zero Servo................................................................................................................................. 190
5.3 C: Tuning............................................................................................................................191
C1: Acceleration and Deceleration Times ....................................................................................... 191
C2: S-Curve Characteristics............................................................................................................ 193
C3: Slip Compensation.................................................................................................................... 193
C4: Torque Compensation .............................................................................................................. 196
C5: Automatic Speed Regulator (ASR) ........................................................................................... 197
C6: Carrier Frequency..................................................................................................................... 202
C7: Voltage Adjustment................................................................................................................... 204
5.4 d: Reference Settings .......................................................................................................205
d1: Frequency Reference................................................................................................................ 205
d2: Frequency Upper/Lower Limits ................................................................................................. 207
d3: Jump Frequency........................................................................................................................ 208
d4: Frequency Reference Hold and Up/Down 2 Function............................................................... 209
d5: Torque Control .......................................................................................................................... 214
d6: Field Weakening and Field Forcing........................................................................................... 218
d7: Offset Frequency....................................................................................................................... 219
5.5 E: Motor Parameters .........................................................................................................220
E1: V/f Pattern for Motor 1............................................................................................................... 220
E2: Motor 1 Parameters .................................................................................................................. 224
E3: V/f Pattern for Motor 2............................................................................................................... 227
E4: Motor 2 Parameters .................................................................................................................. 228
E5: PM Motor Settings .................................................................................................................... 230
5.6 F: Option Settings .............................................................................................................233
F1: PG Speed Control Card Settings .............................................................................................. 233
F2: Analog Input Card Settings ....................................................................................................... 236
F3: Digital Input Card Settings ........................................................................................................ 237
F4: Analog Monitor Card Settings ................................................................................................... 238
F5: Digital Output Card Settings...................................................................................................... 238
F6 and F7: Communication Option Card......................................................................................... 239
CC-Link Parameters........................................................................................................................ 241
MECHATROLINK Parameters ........................................................................................................ 241
PROFIBUS-DP Parameters ............................................................................................................ 242
CANopen Parameters ..................................................................................................................... 243
DeviceNet Parameters .................................................................................................................... 243
Modbus TCP/IP Parameters ........................................................................................................... 245
PROFINET Parameters................................................................................................................... 245
EtherNet/IP Parameters ................................................................................................................. 245
5.7 H: Terminal Functions.......................................................................................................246
H1: Multi-Function Digital Inputs ..................................................................................................... 246
H2: Multi-Function Digital Outputs................................................................................................... 256
H3: Multi-Function Analog Inputs .................................................................................................... 267
H4: Multi-Function Analog Outputs ................................................................................................. 272
H5: MEMOBUS/Modbus Serial Communication ............................................................................. 274
H6: Pulse Train Input/Output........................................................................................................... 274
5.8 L: Protection Functions ....................................................................................................278
L1: Motor Protection ........................................................................................................................ 278
8 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
Table of Contents
L2: Momentary Power Loss Ride-Thru............................................................................................ 283
L3: Stall Prevention ......................................................................................................................... 285
L4: Speed Detection........................................................................................................................ 289
L5: Fault Restart.............................................................................................................................. 291
L6: Torque Detection....................................................................................................................... 292
L7: Torque Limit .............................................................................................................................. 295
L8: Drive Protection......................................................................................................................... 297
L9: Drive Protection 2...................................................................................................................... 302
5.9 n: Special Adjustments.....................................................................................................303
n1: Hunting Prevention.................................................................................................................... 303
n2: Speed Feedback Detection Control (AFR) Tuning.................................................................... 304
n3: Overexcitation Braking .............................................................................................................. 304
n5: Feed Forward Control ............................................................................................................... 305
n6: Online Tuning ............................................................................................................................ 307
n8: PM Motor Control Tuning .......................................................................................................... 307
5.10 o: Operator Related Settings............................................................................................312
o1: Digital Operator Display Selection............................................................................................. 312
o2: Digital Operator Keypad Functions ........................................................................................... 313
o3: Copy Function ........................................................................................................................... 315
o4: Maintenance Monitor Settings................................................................................................... 316
q: DriveWorksEZ Parameters.......................................................................................................... 317
r: DriveWorksEZ Connection Parameters ....................................................................................... 317
T: Motor Tuning ............................................................................................................................... 317
5.11 U: Monitor Parameters ......................................................................................................319
U1: Operation Status Monitors ........................................................................................................ 319
U2: Fault Trace................................................................................................................................ 319
U3: Fault History.............................................................................................................................. 319
U4: Maintenance Monitors .............................................................................................................. 319
U5: PID Monitors ............................................................................................................................. 319
U6: Operation Status Monitors ........................................................................................................ 319
U8: DriveWorksEZ Monitors............................................................................................................ 320
U9: Power Monitors......................................................................................................................... 320
6. TROUBLESHOOTING.......................................................................................... 321
6.1 Section Safety....................................................................................................................322
6.2 Motor Performance Fine-Tuning ......................................................................................324
Fine-Tuning V/f Control and V/f Control with PG............................................................................. 324
Fine-Tuning Open Loop Vector Control .......................................................................................... 325
Fine-Tuning Closed Loop Vector Control ........................................................................................ 326
Fine-Tuning Open Loop Vector Control for PM Motors................................................................... 327
Fine-Tuning Advanced Open Loop Vector Control for PM Motors.................................................. 328
Fine-Tuning Closed Loop Vector Control for PM Motors ................................................................ 328
Parameters to Minimize Motor Hunting and Oscillation .................................................................. 329
6.3 Drive Alarms, Faults, and Errors .....................................................................................330
Types of Alarms, Faults, and Errors................................................................................................ 330
Alarm and Error Displays ................................................................................................................ 331
6.4 Fault Detection ..................................................................................................................335
Fault Displays, Causes, and Possible Solutions ............................................................................. 335
6.5 Alarm Detection .................................................................................................................351
Alarm Codes, Causes, and Possible Solutions ............................................................................... 351
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 9
Table of Contents
6.6 Operator Programming Errors .........................................................................................360
Operator Programming Error Codes, Causes, and Possible Solutions........................................... 360
6.7 Auto-Tuning Fault Detection ............................................................................................364
Auto-Tuning Codes, Causes, and Possible Solutions..................................................................... 364
6.8 Copy Function Related Displays .....................................................................................369
Tasks, Errors, and Troubleshooting ................................................................................................ 369
6.9 Diagnosing and Resetting Faults.....................................................................................371
Fault Occurs Simultaneously with Power Loss ............................................................................... 371
If the Drive Still has Power After a Fault Occurs ............................................................................. 371
Viewing Fault Trace Data After Fault .............................................................................................. 371
Fault Reset Methods ....................................................................................................................... 373
6.10 Troubleshooting without Fault Display ...........................................................................374
Common Problems.......................................................................................................................... 374
Cannot Change Parameter Settings ............................................................................................... 374
Motor Does Not Rotate Properly after Pressing RUN Button or after Entering External Run
Command ...................................................................................................................................... 375
Motor is Too Hot.............................................................................................................................. 376
Drive Does Not Allow Selection of the Desired Auto-Tuning Mode................................................. 377
oPE02 Error Occurs When Lowering the Motor Rated Current Setting .......................................... 377
Motor Stalls during Acceleration or Acceleration Time is Too Long................................................ 377
Drive Frequency Reference Differs from the Controller Frequency Reference Command ............. 378
Excessive Motor Oscillation and Erratic Rotation............................................................................ 378
Noise From Drive or Motor Cables When the Drive is Powered On ............................................... 378
Ground Fault Circuit Interrupter (GFCI) Trips During Run .............................................................. 379
Connected Machinery Vibrates When Motor Rotates ..................................................................... 379
PID Output Fault.............................................................................................................................. 379
Insufficient Starting Torque ............................................................................................................. 380
Motor Rotates after the Drive Output is Shut Off (Motor Rotates During DC Injection Braking) ..... 380
Output Frequency is Not as High as Frequency Reference............................................................ 380
Sound from Motor............................................................................................................................ 380
Unstable Motor Speed when Using PM .......................................................................................... 380
Motor Does Not Restart after Power Loss....................................................................................... 381
The Safety Controller Does Not Recognize Safe Disable Monitor Output Signals (Terminals DM
+ and DM-) ..................................................................................................................................... 381
7. PERIODIC INSPECTION & MAINTENANCE ...................................................... 383
7.1 Section Safety....................................................................................................................384
7.2 Inspection ..........................................................................................................................386
Recommended Daily Inspection...................................................................................................... 386
Recommended Periodic Inspection................................................................................................. 387
7.3 Periodic Maintenance .......................................................................................................389
Replacement Parts.......................................................................................................................... 389
7.4 Drive Cooling Fans............................................................................................................391
Number of Cooling Fans ................................................................................................................. 391
Cooling Fan Component Names ..................................................................................................... 392
Cooling Fan Replacement: 2o0028 to 2o0130 and 4o0011 to 4o0124 ...................................... 393
Cooling Fan Replacement: 2o0154, 2o0192, 4o0156, and 4o0180 ........................................... 395
Cooling Fan Replacement: 2o0248 and 4o0216 to 4o0414 ........................................................ 399
Installing the Cooling Fan................................................................................................................ 401
7.5 Drive Replacement ............................................................................................................405
10 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
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Serviceable Parts ............................................................................................................................ 405
Terminal Board................................................................................................................................ 405
Replacing the Drive ......................................................................................................................... 405
8. PERIPHERAL DEVICES & OPTIONS ................................................................. 409
8.1 Section Safety....................................................................................................................410
8.2 Drive Options and Peripheral Devices ............................................................................412
8.3 Connecting Peripheral Devices .......................................................................................414
8.4 Option Installation .............................................................................................................415
Prior to Installing the Option ............................................................................................................ 415
PG Option Installation Example ...................................................................................................... 415
8.5 Installing Peripheral Devices ...........................................................................................425
Installing a Molded Case Circuit Breaker (MCCB) or Ground Fault Circuit Interrupter (GFCI) ....... 425
Installing a Magnetic Contactor at the Power Supply Side.............................................................. 425
Connecting a Surge Absorber ......................................................................................................... 426
Reducing Noise ............................................................................................................................... 426
Attachment for External Heatsink Mounting .................................................................................... 426
Internal EMC Filter Model Installation ............................................................................................. 426
Installing a Motor Thermal Overload (oL) Relay on the Drive Output ............................................. 426
A. SPECIFICATIONS ................................................................................................ 429
A.1 Heavy Duty and Normal Duty Ratings .............................................................................430
A.2 Power Ratings ...................................................................................................................431
Three-Phase 200 V Class Drive Models 2o0028 to 2o0081......................................................... 431
Three-Phase 200 V Class Drive Models 2o0104 to 2o0248......................................................... 432
Three-Phase 400 V Class Drive Models 4o0011 to 4o0077......................................................... 433
Three-Phase 400 V Class Drive Models 4o0096 to 4o0414......................................................... 434
A.3 Drive Specifications ..........................................................................................................435
A.4 Drive Watt Loss Data ........................................................................................................437
A.5 Drive Derating Data ...........................................................................................................438
Rated Current Depending on Carrier Frequency ............................................................................ 438
Carrier Frequency Derating............................................................................................................. 438
Temperature Derating ..................................................................................................................... 439
Altitude Derating.............................................................................................................................. 439
B. PARAMETER LIST............................................................................................... 441
B.1 Understanding Parameter Descriptions..........................................................................442
Control Modes, Symbols, and Terms ............................................................................................. 442
B.2 Parameter Groups ............................................................................................................443
B.3 A: Initialization Parameters .............................................................................................444
A1: Initialization .............................................................................................................................. 444
A2: User Parameters....................................................................................................................... 445
B.4 b: Application.....................................................................................................................446
b1: Operation Mode Selection......................................................................................................... 446
b2: DC Injection Braking.................................................................................................................. 447
b3: Speed Search............................................................................................................................ 448
b4: Timer Function .......................................................................................................................... 450
b5: PID Control................................................................................................................................ 451
b6: Dwell Function........................................................................................................................... 453
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 11
Table of Contents
b7: Droop Control ............................................................................................................................ 453
b8: Energy Saving ........................................................................................................................... 454
b9: Zero Servo................................................................................................................................. 454
B.5 C: Tuning............................................................................................................................455
C1: Acceleration and Deceleration Times ....................................................................................... 455
C2: S-Curve Characteristics............................................................................................................ 456
C3: Slip Compensation.................................................................................................................... 456
C4: Torque Compensation .............................................................................................................. 457
C5: Automatic Speed Regulator (ASR) ........................................................................................... 457
C6: Carrier Frequency..................................................................................................................... 459
C7: Voltage Adjustment................................................................................................................... 460
B.6 d: Reference Settings .......................................................................................................461
d1: Frequency Reference................................................................................................................ 461
d2: Frequency Upper/Lower Limits ................................................................................................. 463
d3: Jump Frequency........................................................................................................................ 463
d4: Frequency Reference Hold and Up/Down 2 Function............................................................... 463
d5: Torque Control .......................................................................................................................... 464
d6: Field Weakening and Field Forcing........................................................................................... 465
d7: Offset Frequency....................................................................................................................... 465
B.7 E: Motor Parameters .........................................................................................................467
E1: V/f Pattern for Motor 1............................................................................................................... 467
E2: Motor 1 Parameters .................................................................................................................. 468
E3: V/f Pattern for Motor 2............................................................................................................... 469
E4: Motor 2 Parameters .................................................................................................................. 470
E5: PM Motor Settings .................................................................................................................... 471
B.8 F: Option Settings .............................................................................................................473
F1: PG Speed Control Card Settings (PG-B3, PG-X3, PG-RT3, PG-F3) ....................................... 473
F2: Analog Input Card Settings (AI-A3)........................................................................................... 476
F3: Digital Input Card Settings (DI-A3)............................................................................................ 476
F4: Analog Monitor Card Settings (AO-A3) ..................................................................................... 476
F5: Digital Output Card Settings (DO-A3) ....................................................................................... 477
F6: Communication Option Card Settings (SI-C3, SI-ET3, SI-N3, SI-P3, SI-S3, SI-T3, SI-W3) ..... 478
F7: Communication Option Card Settings (SI-EM3, SI-EN3, SI-EP3) ............................................ 480
B.9 H Parameters: Multi-Function Terminals ........................................................................483
H1: Multi-Function Digital Inputs ..................................................................................................... 483
H2: Multi-Function Digital Outputs................................................................................................... 488
H3: Multi-Function Analog Inputs .................................................................................................... 492
H4: Analog Outputs ......................................................................................................................... 494
H5: MEMOBUS/Modbus Serial Communication ............................................................................. 495
H6: Pulse Train Input/Output........................................................................................................... 496
B.10 L: Protection Function ......................................................................................................498
L1: Motor Protection ........................................................................................................................ 498
L2: Momentary Power Loss Ride-Thru............................................................................................ 499
L3: Stall Prevention ......................................................................................................................... 500
L4: Speed Detection........................................................................................................................ 501
L5: Fault Restart.............................................................................................................................. 502
L6: Torque Detection....................................................................................................................... 502
L7: Torque Limit .............................................................................................................................. 504
L8: Drive Protection......................................................................................................................... 504
L9: Drive Protection 2...................................................................................................................... 506
B.11 n: Special Adjustments.....................................................................................................507
12 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
Table of Contents
n1: Hunting Prevention.................................................................................................................... 507
n2: Speed Feedback Detection Control (AFR) Tuning.................................................................... 507
n3: Overexcitation Braking .............................................................................................................. 507
n5: Feed Forward Control ............................................................................................................... 508
n6: Online Tuning ............................................................................................................................ 508
n8: PM Motor Control Tuning .......................................................................................................... 508
B.12 o: Operator-Related Settings ...........................................................................................511
o1: Digital Operator Display Selection............................................................................................. 511
o2: Digital Operator Keypad Functions ........................................................................................... 511
o3: Copy Function ........................................................................................................................... 512
o4: Maintenance Monitor Settings................................................................................................... 512
B.13 DriveWorksEZ Parameters ...............................................................................................514
q: DriveWorksEZ Parameters.......................................................................................................... 514
r: DriveWorksEZ Connection Parameters ....................................................................................... 514
B.14 T: Motor Tuning .................................................................................................................515
T1: Induction Motor Auto-Tuning..................................................................................................... 515
T2: PM Motor Auto-Tuning .............................................................................................................. 516
T3: ASR and Inertia Tuning............................................................................................................. 518
B.15 U: Monitors.........................................................................................................................519
U1: Operation Status Monitors ........................................................................................................ 519
U2: Fault Trace................................................................................................................................ 521
U3: Fault History.............................................................................................................................. 523
U4: Maintenance Monitors .............................................................................................................. 523
U5: PID Monitors ............................................................................................................................. 525
U6: Operation Status Monitors ........................................................................................................ 526
U8: DriveWorksEZ Monitors............................................................................................................ 528
U9: Power Monitors......................................................................................................................... 528
B.16 Control Mode Dependent Parameter Default Values .....................................................530
A1-02 (Motor 1 Control Mode) Dependent Parameters .................................................................. 530
E3-01 (Motor 2 Control Mode) Dependent Parameters .................................................................. 533
B.17 V/f Pattern Default Values.................................................................................................534
B.18 Defaults by Drive Model and Duty Rating ND/HD...........................................................536
B.19 Parameters Changed by Motor Code Selection (for PM Motors)..................................542
Yaskawa SMRA Series SPM Motor ................................................................................................ 542
Yaskawa SSR1 Series IPM Motor (For Derated Torque)................................................................ 543
Yaskawa SST4 Series IPM Motor (For Constant Torque) .............................................................. 550
C. MEMOBUS/MODBUS COMMUNICATIONS........................................................ 559
C.1 MEMOBUS/Modbus Configuration ..................................................................................560
C.2 Communication Specifications ........................................................................................561
C.3 Connecting to a Network ..................................................................................................562
Network Cable Connection.............................................................................................................. 562
Wiring Diagram for Multiple Connections ........................................................................................ 563
Network Termination ....................................................................................................................... 564
C.4 MEMOBUS/Modbus Setup Parameters ...........................................................................565
MEMOBUS/Modbus Serial Communication.................................................................................... 565
C.5 Drive Operations by MEMOBUS/Modbus........................................................................568
Observing the Drive Operation........................................................................................................ 568
Controlling the Drive........................................................................................................................ 568
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 13
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C.6 Communications Timing...................................................................................................569
Command Messages from Master to Drive..................................................................................... 569
Response Messages from Drive to Master ..................................................................................... 569
C.7 Message Format ................................................................................................................570
Message Content ............................................................................................................................ 570
Slave Address ................................................................................................................................. 570
Function Code ................................................................................................................................. 570
Data................................................................................................................................................. 570
Error Check ..................................................................................................................................... 570
C.8 Message Examples ...........................................................................................................572
Reading Drive MEMOBUS/Modbus Register Contents .................................................................. 572
Loopback Test................................................................................................................................. 572
Writing to Multiple Registers............................................................................................................ 573
C.9 MEMOBUS/Modbus Data Table........................................................................................574
Command Data ............................................................................................................................... 574
Monitor Data.................................................................................................................................... 575
Broadcast Messages....................................................................................................................... 587
Fault Trace Contents....................................................................................................................... 587
Alarm Register Contents ................................................................................................................. 589
C.10 Enter Command.................................................................................................................590
Enter Command Types ................................................................................................................... 590
C.11 Communication Errors .....................................................................................................591
MEMOBUS/Modbus Error Codes.................................................................................................... 591
Slave Not Responding..................................................................................................................... 591
C.12 Self-Diagnostics ................................................................................................................592
D. STANDARDS COMPLIANCE .............................................................................. 593
D.1 Section Safety....................................................................................................................594
D.2 European Standards .........................................................................................................596
CE Low Voltage Directive Compliance............................................................................................ 596
EMC Guidelines Compliance .......................................................................................................... 596
D.3 UL and CSA Standards .....................................................................................................599
UL Standards Compliance .............................................................................................................. 599
Drive Motor Overload Protection ..................................................................................................... 607
D.4 Safe Disable Input .............................................................................................................610
Safe Disable Input Function ............................................................................................................ 610
Precautions ..................................................................................................................................... 610
Using the Safe Disable Function ..................................................................................................... 611
E. QUICK REFERENCE SHEET .............................................................................. 615
E.1 Drive and Motor Specifications........................................................................................616
Drive Specifications......................................................................................................................... 616
Motor Specifications ........................................................................................................................ 616
E.2 Basic Parameter Settings .................................................................................................618
Basic Setup ..................................................................................................................................... 618
V/f Pattern Setup ............................................................................................................................. 618
Motor Setup..................................................................................................................................... 618
Multi-Function Digital Inputs ............................................................................................................ 619
14 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
Table of Contents
Pulse Train Input/Analog Inputs ...................................................................................................... 619
Multi-Function Digital Outputs ......................................................................................................... 619
Monitor Outputs............................................................................................................................... 619
E.3 User Setting Table .............................................................................................................620
INDEX ................................................................................................................... 629
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 15
Table of Contents
This Page Intentionally Blank
16 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive 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...............................................................................................................18
i.2 GENERAL SAFETY...............................................................................................20
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 17
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.
u Applicable Documentation
The following manuals are available for U1000-series drives:
U1000 Industrial MATRIX Drive Technical Manual
The most recent version of this manual is available for download on our documentation website,
www.yaskawa.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.
U1000 Industrial MATRIX Drive Quick Start Guide
Read this guide first. This guide is packaged together with the product and contains basic information
required to install and wire the drive. It also gives an overview of fault diagnostics, maintenance safety,
and parameter settings. The most recent version of this manual is available for download on our
documentation website, www.yaskawa.com.
u Symbols
Note: Indicates a supplement or precaution that does not cause drive damage.
u Terms and Abbreviations
• Drive: Yaskawa U1000-Series Drive
• BCD: Binary Coded Decimal
• H: Hexadecimal Number Format
• IGBT: Insulated Gate Bipolar Transistor
• kbps: Kilobits per Second
• MAC: Media Access Control
• Mbps: Megabits per Second
• PG: Pulse Generator
• r/min: Revolutions per Minute
• 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 (e.g., Yaskawa SSR1 Series and SST4 Series motors)
• SPM motor: Surface mounted Permanent Magnet Motor (e.g., Yaskawa SMRA Series motors)
18 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
i.1 Preface
u Trademarks
• BACnet is a trademark of the American Society of Heating, Refrigerating, and Air-Conditioning Engineers (ASHRAE).
• 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).
• EtherCAT is a trademark of Beckhoff Automation GmbH, Germany.
• EtherNet/IP is a trademark of Open DeviceNet Vendor Association, Inc. (ODVA).
• LonWorks is a trademark of Echelon Corporation.
• MECHATROLINK-II and MECHATROLINK-III are trademarks of MECHATROLINK Members Association (MMA).
• Modbus is a trademark of Schneider Electric.
• PROFIBUS-DP is a trademark of PROFIBUS International (PI).
• PROFNET is a trademark of PROFIBUS International (PI).
• Other companies and product names mentioned in this manual are trademarks of those companies.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 19
i.2 General Safety
i.2 General Safety
u Supplemental Safety Information
General Precautions
• The diagrams in this manual may be indicated without covers or safety shields to show details. Replace the 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 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! may 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! may 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: may also be indicated by a bold key word embedded in the text followed by an italicized safety message.
20 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
i.2 General Safety
u 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
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. The charge indicator
LED will extinguish when the control power supply voltage is below 50 Vdc. To prevent electric shock, wait for at least the
time specified on the warning label, once all indicators are OFF, measure for unsafe voltages to confirm the drive is safe
prior to servicing.
Failure to comply will result in death or serious injury.
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.
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 service 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.
Because the leakage current exceeds 3.5 mA in models 4o0302 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.
Always use appropriate equipment for Ground Fault Circuit Interrupters (GFCIs).
The 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 a type B GFCI
according to IEC/EN 60755.
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.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 21
i.2 General Safety
WARNING
Install adequate branch circuit protection according to applicable local codes and this Installation Manual. Failure
to comply could result in fire and damage to the drive or injury to personnel.
The device is suitable for use on a circuit capable of delivering not more than 100,000 RMS symmetrical amperes, 240 Vac
maximum (200 V class), 480 Vac maximum (400 V class: 4Eoooo and 4Woooo), and 500 Vac maximum (400 V
class: 4Aoooo and 4Poooo) when protected by branch circuit protection devices specified in this document.
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.
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.
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 a Ground Fault Circuit Interrupter (GFCI) 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 immediately operate the peripheral devices if a fuse is blown or a GFCI 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.
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.
22 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
i.2 General Safety
u General Application Precautions
n Selection
Drive Rated Output Current
Make sure that the motor rated current is less than the rated output current for the drive.
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.
Selection of Power Supply Capacity
Use a power supply 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 × Iin × Vin /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 or your
Yaskawa agent 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.
Attach a phase-advance capacitor with a series reactor to prevent oscillation with the drive after installing the phase advance
capacitor on the same power supply system as the drive.
Contact Yaskawa or your Yaskawa agent 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 overload current rating (HD: 150% 60 s,
ND: 120% 60 s).
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 23
i.2 General Safety
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
During a drive fault condition, the output shuts off but the motor does not stop immediately. A mechanical brake may be
required when it is necessary to stop the motor faster than the ability of the Fast Stop function of the drive.
Repetitive Starting/Stopping
Laundry machines, punching presses, and other applications with frequent starts and stops often approach 150% of their rated
output current values. Heat stress generated from repetitive high current will shorten the life span of the IGBTs. The expected
life span of the IGBTs is about 8 million start and stop cycles with a 4 kHz carrier frequency and a 150% peak 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.
n Carrier Frequency Derating
Reduce the rated output current of the drive when increasing the carrier frequency above the factory default setting. Refer
to Rated Current Depending on Carrier Frequency on page 438 for details.
n Installation
Enclosure Panels
Keep the drive in a clean environment by installing the drive in an enclosure panel or selecting an installation area free of
airborne dust, lint, and oil mist. Be sure to leave the required space between drives to provide for cooling, and take proper
measures so the ambient temperature remains within allowable limits and keep flammable materials away from the drive.
Yaskawa offers protective designs for drives that must be used in areas subjected to oil mist and excessive vibration. Contact
Yaskawa or your Yaskawa agent for details.
Installation Direction
NOTICE: Install the drive upright as specified in the manual. Refer to Mechanical Installation on page 50 for more information on
installation. Failure to comply may damage the drive due to improper cooling.
n Settings
Motor Code
When using a permanent magnet motor, set the proper motor code to parameter E5-01 before performing a trial run.
Upper Limits
NOTICE: The drive is capable of running the motor up to 400 Hz. Be sure to set the upper limit for the frequency of the drive to prevent the
possible danger of accidentally operating equipment at higher than rated speed. The default setting for the maximum output frequency is
60 Hz.
DC Injection Braking
NOTICE: Excessive current during DC Injection Braking and excessive duration of DC Injection Braking can cause motor overheat.
Acceleration/Deceleration Times
Acceleration and deceleration times are affected by the amount of torque generated by the motor, 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 in operation. Use a larger drive and motor for faster acceleration and deceleration.
n General Handling
Wiring Check
NOTICE: Be sure to perform a final check of all sequence wiring and other connections before turning on the power and also check for short
circuits on the control terminals, which may damage the drive.
Selecting a Circuit Breaker or Circuit Interrupter
Yaskawa recommends installing a Ground Fault Circuit Interrupter (GFCI) to the power supply side. The GFCI should be
designed for use with AC drives (e.g., Type B according to IEC/EN 60755).
Select a Molded Case Circuit Breaker (MCCB) or GFCI with a rated current 1.5 to 2 times higher than the drive rated current
to avoid nuisance trips caused by harmonics in the drive input current. Refer to Installing a Molded Case Circuit Breaker
(MCCB) or Ground Fault Circuit Interrupter (GFCI) on page 425 for more information.
24 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
i.2 General Safety
Magnetic Contactor Installation
WARNING! Fire Hazard. Shut off the drive with a magnetic contactor (MC) when a fault occurs in any external equipment such as braking
resistors. Refer to Installing a Magnetic Contactor at the Power Supply Side on page 425. Failure to comply may cause resistor
overheating, fire, and injury to personnel.
NOTICE: 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.
Inspection and Maintenance
WARNING! Electrical Shock Hazard. Capacitors for the control power supply do not immediately discharge after shutting off the power.
Wait for at least the amount of time specified on the drive before touching any components after shutting off the power. Failure to comply
may cause injury to personnel from electrical shock.
WARNING! Electrical Shock Hazard. When a drive is running a PM motor, voltage continues to be generated at the motor terminals after
the drive is shut off while the motor coasts to stop. Take the precautions described below to prevent shock and injury:
∙ In applications where the machine can still rotate after the drive has fully stopped a load, install a switch to the drive output side to disconnect
the motor and the drive.
∙ Do not allow an external force to rotate the motor beyond the maximum allowable speed or to rotate the motor 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.
∙ 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.
WARNING! Burn Hazard. Because the heatsink can get very hot during operation, take proper precautions 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. Failure to comply may cause
burn injury to personnel.
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
NOTICE: 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.
u Motor Application Precautions
n Standard Induction Motors
Low-Speed Range
The cooling fan of a standard motor should 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. Reduce the load
torque as the motor slows to prevent motor damage from overheat. Figure i.1 shows the allowable load characteristics for a
Yaskawa standard motor. Use a motor designed specifically for operation with a drive when 100% continuous torque is needed
at low speeds.
25% ED (or 15 min)
40% ED (or 20 min)
60% ED (or 40 min)
100
90
80
70
Torque 60
(%) 50
Continuous operation
3 6 20 60
Frequency (Hz)
Figure i.1 Allowable Load Characteristics for a Yaskawa Motor
Insulation Tolerance
NOTICE: Consider motor voltage tolerance levels and motor insulation in applications with an input voltage of over 440 V or particularly
long wiring distances.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 25
i.2 General Safety
High-Speed Operation
NOTICE: 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.
Vibration and Shock
The drive allows selection of high carrier PWM control. Selecting Closed Loop Vector control can help reduce motor
oscillation.
• Take particular caution when adding a variable speed drive to an application running a motor from line power at a constant
speed. If resonance occurs, install shock-absorbing rubber around the base of the motor and enable the Jump frequency
selection 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
The audible noise of the motor varies based on the carrier frequency setting. However, drive current derating may be required.
When using a high carrier frequency, audible noise from the motor is comparable to the motor noise generated when running
from line power.
Synchronous Motors
• Contact Yaskawa or a Yaskawa agent when planning to use a synchronous motor not endorsed by Yaskawa.
• Use a standard induction motor when running multiple synchronous motors simultaneously. A single drive does not have
this capability.
• A synchronous motor may rotate slightly in the opposite direction of the Run command at start depending on parameter
settings and rotor position.
• The amount of generated starting torque differs depending on the control mode and motor type. 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 a Yaskawa agent when planning 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.
Contact Yaskawa or a Yaskawa agent for questions concerning applications with 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 cause speed loss.
• Use the Speed Search function to restart a coasting motor rotating over 200 Hz while in V/f Control.
n Specialized Motors
Multi-Pole Motor
The rated current of a multi-pole motor differs from that of a standard motor, so be sure to check the maximum current when
selecting a drive. Always stop the motor before switching between the number of motor poles. The motor will coast to stop if
a regen overvoltage (ov) fault occurs or if overcurrent (oC) protection is triggered.
Submersible Motor
The rated current of a submersible motor is greater than that of a standard motor, so select the drive accordingly. Use a motor
cable large enough to avoid decreasing the maximum torque level from voltage drop caused by a long motor cable.
Explosion-Proof Motor
The motor and the drive must be tested together to be certified as explosion-proof. The drive is not designed for explosion-
proof areas.
When attaching an encoder to an explosion-proof motor, make sure the encoder is also explosion-proof. Use an insulating
signal converter to connect the encoder signal lines to the speed feedback option card.
Geared Motor
Make sure that the gear and the lubricant are rated for the desired speed range to avoid gear damage when operating at low
speeds or very high speeds. Consult with the manufacturer for applications that require operation outside the rated speed range
of the motor or gear box.
26 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
i.2 General Safety
Single-Phase Motor
Variable speed drives are not designed to operate 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 burn out the starter coils because
the internal centrifugal switch is not activated. The drive is for use with three-phase motors only.
Motor with Brake
Take caution when using the 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, so be sure to install a separate power supply for the motor
brake. Note that motors with built-in brakes tend to generate a fair amount of noise when running at low speeds.
Notes on Power Transmission Machinery
Installing an AC drive in machinery that was previously connected directly to the power supply will allow the machine to
operate at variable speeds. Continuous operation outside of the rated speeds can wear out lubrication material in gear boxes
and other power transmission parts. Make sure that lubrication is sufficient within the entire speed range to avoid machine
damage. Note that operation above the rated speed can increase the noise generated by the machine.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 27
i.2 General Safety
u Drive Label Warning Example
Always heed the warning information listed in Figure i.2.
WARNING
Risk of electric shock.
●
Read manual before installing.
●
Wait 5 minutes for capacitor
discharge after disconnecting
power supply.
●
To conform to requirements,
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.2 Warning Information Example and Position
u Warranty Information
n Restrictions
The drive is 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.
WARNING! Injury to Personnel. 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.
28 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
1
Receiving
This chapter explains how to inspect the drive upon receipt, and gives an overview of the different
enclosure types and components.
1.1 SECTION SAFETY.................................................................................................30
1.2 GENERAL DESCRIPTION.....................................................................................31
1.3 MODEL NUMBER AND NAMEPLATE CHECK....................................................34
1.4 DRIVE MODELS AND ENCLOSURE TYPES........................................................37
1.5 COMPONENT NAMES...........................................................................................38
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 29
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.
30 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
1.2 General Description
1.2 General Description
u 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 and higher
ambient temperatures require derating.
Table 1.1 U1000 Models
Three-Phase 200 V Class Three-Phase 400 V Class
Heavy Duty Rating Normal Duty Rating Heavy Duty Rating Normal Duty Rating
Drive Model Rated Output Rated Output Drive Model Rated Output Rated Output
Current (A) Current (A) Current (A) Current (A)
2o0028 22 28 4o0011 9.6 11
2o0042 28 42 4o0014 11 14
2o0054 42 54 4o0021 14 21
2o0068 54 68 4o0027 21 27
2o0081 68 81 4o0034 27 34
2o0104 81 104 4o0040 34 40
2o0130 104 130 4o0052 40 52
2o0154 130 154 4o0065 52 65
2o0192 154 192 4o0077 65 77
2o0248 192 248 4o0096 77 96
– – – 4o0124 96 124
– – – 4o0156 124 156
– – – 4o0180 156 180
Receiving
– – – 4o0216 180 216
– – – 4o0240 216 240
– – – 4o0302 240 302
– – – 4o0361 302 361
1
– – – 4o0414 361 414
u Control Mode Selection
Table 1.2 gives an overview of the U1000 control modes and their various features.
Table 1.2 Control Modes and 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
Parameter Setting A1-02 = 0 A1-02 = 1 A1-02 = 2 A1-02 = 3 A1-02 = 5 A1-02 = 6 A1-02 = 7 OLV control
(A1-02 =2)
V/f control Open Loop Open Loop Closed Loop
Open Loop Closed Loop
Basic Description V/f control using motor Vector control Vector control Vector control –
Vector control Vector control
speed feedback for PM motors for IPM motors for PM motors
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 31
1.2 General Description
Motor Type Induction Motors Permanent Magnet Motors Comments
Control Mode V/f V/f w/PG OLV CLV OLV/PM AOLV/PM CLV/PM –
Motor Type IM IM IM IM PM IPM PM –
Multi Motor YES – – – – – – –
Motor data
YES – – – – – – –
unknown
High Speed
– YES YES YES YES YES YES –
Accuracy
Type of High Speed
Applications – – YES YES – YES YES –
Response
Zero Speed
– – – YES – YES YES –
Control
Torque Control
– – – YES – – YES –
Operation
Torque Limit
– – YES YES – – YES –
Operation
PG-B3 or PG-B3 or
PG Option Card – – – – PG-X3 –
PG-X3 PG-X3
May fluctuate with
characteristics and
motor temperature.
May fluctuate with
Speed Control 1:20 characteristics and
1:40 1:40 1:200 1:1500 1:20 1:1500
Range 1:100 motor temperature.
Enabled for 1:100
when n8-57, High
Frequency Injection,
is set to 1 (Enabled).
Speed deviation
when operating at
constant speed may
Speed Accuracy ±2 to 3% ±0.03% ±0.2% ±0.02% ±0.2% ±0.2% ±0.02%
fluctuate with
characteristics and
motor temperature.
Control Max. frequency of a
Characteristics speed reference
signal that the drive
Speed Response 3 Hz (approx.) 3 Hz (approx.) 10 Hz 50 Hz 10 Hz 10 Hz 50 Hz can follow may
fluctuate with
characteristics and
motor temperature.
Starting torque may
fluctuate with
characteristics and
motor temperature.
100% at 5% Performance may
200% at 200% at 100% at 200% at
Starting Torque 150% at 3 Hz 150% at 3 Hz speed differ by capacity.
0.3 Hz 0 r/min 5% speed 0 r/min
200% at 0 r/min 200% at 0 r/min
enabled when n8-57,
High Frequency
Injection, is set to 1
(Enabled).
32 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
1.2 General Description
Motor Type Induction Motors Permanent Magnet Motors Comments
Control Mode V/f V/f w/PG OLV CLV OLV/PM AOLV/PM CLV/PM –
• PM Motor Parameter Settings
• PM Stationary Auto-Tuning
• Stationary Auto-Tuning for Line-to-Line Resistance • PM Stationary Auto-Tuning for Stator
Resistance
• PM Rotational Auto-Tuning
Automatically
• Stationary Auto-Tuning 2 adjusts parameter
• Rotational Auto-Tuning for • High Frequency Injection settings that concern
Auto-Tuning • Stationary Auto-Tuning 3 –
V/f Control Parameter Tuning electrical
• Rotational Auto-Tuning characteristics of the
• Back EMF motor
Constant
Application- Tuning
–
Specific • Z Pulse
Offset
Tuning
Sets the maximum
torque for the motor
Torque Limit – – YES YES – YES YES to protect the load
and connected
machinery.
Allows direct
control of motor
Torque Control – – – YES – – YES torque for tension
control and other
such applications.
Droop Function – – – YES – – YES –
Zero Servo Locks the rotor
– – – YES – – YES
Control position.
Bi-directional speed
detection of a
Speed Search YES YES YES – YES YES YES coasting motor to
restart it without
Receiving
stopping.
Saves energy by
YES YES always operating the
Energy-Saving
YES YES YES YES – (IPM motors (IPM motors motor at its
Control
only) only) maximum
efficiency. 1
Improves speed
accuracy when the
Feed Forward load changes by
– – – YES – – YES
Control compensating
effects of the system
inertia.
Application- Over-
Provides fast
Specific excitation YES YES YES YES – – –
deceleration without
using a braking
Deceleration
resistor.
Provides automatic
Inertia Tuning, Speed Control and
– – – YES – – YES
ASR Tuning Feed Forward
function tuning.
When the output
frequency matches
the power supply
frequency (60 Hz),
Commercial the PWM switching
Power Switching YES – – – – – – operation stops and
Selection switches to
operation with a
direct commercial
power supply
connection.
Greatly increases the
High Frequency YES
– – – – – – speed control range
Injection (IPM motor)
of an IPM motor.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 33
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.
u Nameplate
A
I MODEL : CIMR-UU4A0011AUA REV : A
C/C :
H INPUT : AC3PH 380-500V 50/60Hz 8.7A/10A
IND.CONT.EQ.
G OUTPUT : AC3PH 0-475V 0-400Hz 9.6A/11A 7J48 B
MASS : 20 kg PRG : 1010 B
F O/N : 6W3050-2-100
E S/N : J0065F575310100
FILE NO : E131457 IP00
PASS
YASKAWA ELECTRIC CORPORATION MADE IN JAPAN
2-1 Kurosaki-shiroishi, Yahatanishi-Ku, Kitakyushu 806-0004 Japan C
D
A – Normal Duty amps / Heavy Duty F – Lot number
amps G – Output specifications
B – Software version H – Input specifications
C – Address <1> I – AC drive model
D – Enclosure type Refer to Figure 1.2 for details.
E – Serial number
Figure 1.1 Nameplate Information Example
<1> The address of the head office of Yaskawa Electric Corporation (responsible for product liability) is shown on the nameplate.
34 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
1.3 Model Number and Nameplate Check
CIMR-U U 4 A 0096 A U A
U1000 Customized Enclosure Design
No. No.
Series Specifications Type Revision
A Without EMC A IP00 Order
No. Region Noise Filter
Code Built-in EMC
E
U USA Noise Filter
Environmental
No.
Specification <1>
Humidity and dust
U
resistant
No. Voltage Class
2 3-phase, 200-240 Vac
4 3-phase, 380-480 Vac
Refer to the tables below
Figure 1.2 Drive Model Number Definition
<1> Drives with these specifications do not guarantee complete protection for the environmental conditions indicated.
n Three-Phase 200 V Class
Receiving
Table 1.3 Model Number and Specifications (200 V Class)
Normal Duty (ND) Heavy Duty (HD)
C6-01 = 1 C6-01 = 0
Drive Model Reference Motor Rated Output Drive Model Reference Motor Rated Output 1
Capacity kW (HP) Current A Capacity kW (HP) Current A
2o0028 7.5 (10) 28 2o0028 5.5 (7.5) 22
2o0042 11 (15) 42 2o0042 7.5 (10) 28
2o0054 15 (20) 54 2o0054 11 (15) 42
2o0068 18.5 (25) 68 2o0068 15 (20) 54
2o0081 22 (30) 81 2o0081 18.5 (25) 68
2o0104 30 (40) 104 2o0104 22 (30) 81
2o0130 37 (50) 130 2o0130 30 (40) 104
2o0154 45 (60) 154 2o0154 37 (50) 130
2o0192 55 (75) 192 2o0192 45 (60) 154
2o0248 75 (100) 248 2o0248 55 (75) 192
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 35
1.3 Model Number and Nameplate Check
n Three-Phase 400 V Class
Table 1.4 Model Number and Specifications (400 V Class)
Normal Duty (ND) Heavy Duty (HD)
C6-01 = 1 C6-01 = 0
Reference Motor Rated Output Reference Motor Rated Output
Drive Model Drive Model
Capacity kW (HP) Current A Capacity kW (HP) Current A
4o0011 5.5 (7.5) 11 4o0011 3.7 (5) 9.6
4o0014 7.5 (10) 14 4o0014 5.5 (7.5) 11
4o0021 11 (15) 21 4o0021 7.5 (10) 14
4o0027 15 (20) 27 4o0027 11 (15) 21
4o0034 18.5 (25) 34 4o0034 15 (20) 27
4o0040 22 (30) 40 4o0040 18.5 (25) 34
4o0052 30 (40) 52 4o0052 22 (30) 40
4o0065 37 (50) 65 4o0065 30 (40) 52
4o0077 45 (60) 77 4o0077 37 (50) 65
4o0096 55 (75) 96 4o0096 45 (60) 77
4o0124 75 (100) 124 4o0124 55 (75) 96
4o0156 90 (125) 156 4o0156 75 (100) 124
4o0180 110 (150) 180 4o0180 90 (125) 156
4o0216 132 (175) 216 4o0216 110 (150) 180
4o0240 150 (200) 240 4o0240 132 (175) 216
4o0302 185 (250) 302 4o0302 150 (200) 240
4o0361 220 (300) 361 4o0361 185 (250) 302
4o0414 260 (350) 414 4o0414 220 (300) 361
36 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive 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/Open Type 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/Open Type Enclosure IP20/NEMA Type 1 Enclosure <1>
Drive Model Drive Model
2o0028A 2o0028F
2o0042A 2o0042F
2o0054A 2o0054F
2o0068A 2o0068F
Three-Phase 2o0081A 2o0081F
200 V Class 2o0104A 2o0104F
2o0130A 2o0130F
2o0154A 2o0154F
2o0192A 2o0192F
2o0248A 2o0248F
4o0011A 4o0011F
4o0014A 4o0014F
4o0021A 4o0021F
4o0027A 4o0027F
Receiving
4o0034A 4o0034F
4o0040A 4o0040F
4o0052A 4o0052F
4o0065A 4o0065F 1
Three-Phase 4o0077A 4o0077F
400 V Class 4o0096A 4o0096F
4o0124A 4o0124F
4o0156A 4o0156F
4o0180A 4o0180F
4o0216A 4o0216F
4o0240A 4o0240F
4o0302A 4o0302F
4o0361A 4o0361F
4o0414A 4o0414F
<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/Open Type enclosure drive will convert the drive to an IP20/NEMA Type 1 enclosure
drive.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 37
1.5 Component Names
1.5 Component Names
This section gives an overview of the drive components described in this manual.
Note: 1. Refer to Using the Digital Operator on page 109 for a description of the operator keypad.
2. The drive may have no cooling fans or up to two cooling fans depending on the model.
u IP00/Open Type Enclosure
n Three-Phase AC 200 V Class Models 2o0028A to 2o0081A
Three-Phase AC 400 V Class Models 4o0011A to 4o0077A
F
A
E B
A – Cooling fan D – Digital operator
B – Heatsink E – Front cover
C – Terminal cover F – Eye bolt
Figure 1.3 IP00/Open Type Components (Model 2o0028A)
38 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
1.5 Component Names
n Three-Phase AC 200 V Class Models 2o0104A to 2o0130A
Three-Phase AC 400 V Class Models 4o0096A to 4o0124A
F A
B
D
Receiving
1
A – Cooling fan D – Digital operator
B – Heatsink E – Front cover
C – Terminal cover F – Eye bolt
Figure 1.4 IP00/Open Type Components (Model 2o0104A)
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 39
1.5 Component Names
n Three-Phase AC 200 V Class Models 2o0154A and 2o0192A
Three-Phase AC 400 V Class Models 4o0156A and 4o0180A
G
A
B
F
E
D
A – Cooling fan E – Front cover
B – Heatsink F – Drive cover
C – Terminal cover G – Hanging bracket
D – Digital operator
Figure 1.5 IP00/Open Type Components (Model 2o0154A)
40 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
1.5 Component Names
n Three-Phase AC 200 V Class Models 2o0248A
Three-Phase AC 400 V Class Models 4o0216A to 4o0414A
H
A
G B
E
D
Receiving
C
1
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 1.6 IP00/Open Type Components (Model 2o0248A)
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 41
1.5 Component Names
u IP20/NEMA Type 1 Enclosure
n Three-Phase AC 200 V Class Models 2o0028F to 2o0081F
Three-Phase AC 400 V Class Models 4o0011F to 4o0077F
H
A
G
F B
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 Components (Model 2o0028F)
42 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
1.5 Component Names
n Three-Phase AC 200 V Class Models 2o0104F and 2o0130F
Three-Phase AC 400 V Class Models 4o0096F and 4o0124F
H
A
G
E B
Receiving
1
C
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 1.8 IP20/NEMA Type 1 Components (Model 2o0104F)
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 43
1.5 Component Names
n Three-Phase AC 200 V Class Models 2o0154F and 2o0192F
Three-Phase AC 400 V Class Models 4o0156F and 4o0180F
I
A
H
F
E
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 1.9 IP20/NEMA Type 1 Components (Model 2o0154F)
44 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
1.5 Component Names
n Three-Phase AC 200 V Class Model 2o0248F
Three-Phase AC 400 V Class Models 4o0216F to 4o0414F
J
A
I
F
E
Receiving
D
1
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 1.10 IP20/NEMA Type 1 Components (Model 2o0248F)
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 45
1.5 Component Names
u Front Views
C
C A
A – Terminal board (Refer to Control C – EMC filter switch (Models
Circuit Wiring on page 88) UUoEoooo and UUoWoooo)
B – Main circuit terminal (Refer to
Wiring the Main Circuit Terminal
on page 86)
Figure 1.11 Front Views of Drives
46 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
2
Mechanical Installation
This chapter explains how to properly mount and install the drive.
2.1 SECTION SAFETY.................................................................................................48
2.2 MECHANICAL INSTALLATION.............................................................................50
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 47
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.
CAUTION
Crush Hazard
Do not carry the drive by the front cover or the terminal cover.
Failure to comply may result in minor or moderate injury from the main body of the drive falling.
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.
48 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
2.1 Section Safety
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-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.
Select an appropriate drive according to its rated output current. When the distance between the motor and drive is 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 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.
Mechanical Installation
2
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 49
2.2 Mechanical Installation
2.2 Mechanical Installation
This section outlines specifications, procedures, and the environment for proper mechanical installation of the drive.
u Installation Environment
Install the drive in an environment matching the specifications in Table 2.1 to help prolong the optimum performance life of
the drive.
Table 2.1 Installation Environment
Environment Conditions
Installation Area Indoors
IP00/Open Type enclosure: -10 °C to +50 °C (14 °F to 122 °F)
IP20/NEMA Type 1 enclosure: -10 °C to +40 °C (14 °F to 104 °F)
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 (-4 °F to +104 °F)
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 (3281 ft.) or lower, up to 3000 m (9843 ft.) with derating. Refer to Drive Watt Loss Data on page 437 for details.
10 to 20 Hz at 9.8 m/s2 (32.15 ft/s2)
Vibration 20 to 55 Hz at 5.9 m/s2 (19.36 ft/s2) (Models 2o0028 to 2o0081 and 4o0011 to 4o0077)
2.0 m/s2 (6.56 ft/s2) (Models 2o0104 to 2o0248 and 4o0096 to 4o0414)
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
drive start-up, as the cover will reduce ventilation and cause the drive to overheat.
u Installation Orientation and Spacing
NOTICE: Install the drive upright as illustrated in Figure 2.1. Failure to comply may damage the drive due to improper cooling.
Figure 2.1 Correct Installation Orientation
NOTICE: Install the drive upright as specified in the manual. Failure to comply may damage the drive due to improper cooling.
50 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
2.2 Mechanical Installation
n Single Drive Installation
Figure 2.2 shows the installation distance required to maintain sufficient space for airflow and wiring.
Side Clearance Top/Bottom Clearance
A
C
B B D E
A
A – 50 mm (1.97 in) minimum D – 120 mm (4.72 in) minimum
B – 30 mm (1.18 in) minimum E – Airflow direction
C – 200 mm (7.87 in) minimum
Figure 2.2 Correct Installation Spacing
Note: IP20/NEMA Type 1 enclosure and IP00/Open Type enclosure models require the same amount of space above and below the drive for
Mechanical Installation
installation.
u Instructions on Installation Using the Eye Bolts and Hanging Brackets
Eye bolts and hanging brackets are used to install the drive or to temporarily lift the drive during drive replacement. 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 2
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.
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.
Do not leave the drive unattended while it is suspended by the wires.
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 C – Space between drive and washer
washer D – Spring washer open
B – Spring washer fully closed
Figure 2.3 Spring Washer
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 51
2.2 Mechanical Installation
n Horizontal Suspension of Drive Models 2o0154 to 2o0248 and 4o0156 to 4o0414
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.
NOTICE: Use the hanging brackets on the top and hanging holes of the bottom cover when lifting models 2o0154F, 2o0192F, 4o0156F,
and 4o0180F.
2□0154A, 2□0192A, 2□0248, 2□0154F, 2 □0192F, 4 □0156F, and 4 □0180F
4□0156A, 4□0180A, and 4□0216 to 4□0414
Figure 2.4 Horizontal Suspension (Models 2o0154 to 2o0248 and 4o0156 to 4o0414)
n Vertical Suspension of the Drive
Follow the procedure described below when suspending the drive with eye bolts or hanging brackets.
Models 2o0028 to 2o0130 and 4o0011 to 4o0124
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.
Suspending angle:
50° or greater
Figure 2.5 Drive Suspension Using Wires and Eye Bolts
(Models 2o0028 to 2o0130 and 4o0011 to 4o0124)
2. Gradually take up the slack in the wires and hoist the drive after the wires are stretched tight.
52 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
2.2 Mechanical Installation
3. 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 until the drive is placed correctly.
Models 2o0154 to 2o0248 and 4o0156 to 4o0414
WARNING! Crush Hazard. Use an adequate length of wire to ensure a 50° or wider suspension angle as illustrated in Figure 2.6. 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 N·m (159 to 204 in-lb),
M12: 32 to 40 N·m (283 to 354 in-lb).
2. Four hanging brackets are attached to the top of NEMA Type 1 drives 2o0154F, 2o0192F, 4o0156F, and 4o0180F.
Mechanical Installation
Figure 2.6 Location of Hanging Brackets (Models 2o0154 to 2o0248 and 4o0156 to 4o0414)
2. Pass wire through the holes of all four hanging brackets.
Suspending angle:
50° or greater
Figure 2.7 Drive Suspension Using Wires and Hanging Brackets (Models 2o0154 to 2o0248 and 4o0156 to 4o0414)
3. Gradually take up the slack in the wires and hoist the drive after the wires are stretched tight.
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 until the drive is placed correctly.
u Digital Operator Remote Usage
n 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
to facilitate operation when the drive is installed in a location where it can not be easily accessed.
The digital operator can also be permanently mounted remote locations such as panel doors using an extension cable and an
installation support set (depending on the installation type).
Note: Refer to Drive Options and Peripheral Devices on page 412 for information on extension cables and installation support sets.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 53
2.2 Mechanical Installation
Drive Operator
Comm Port
S/N : J007XE273710001
Communication Cable Connector
Figure 2.8 Communication Cable Connection
n Digital Operator Remote Installation
Digital Operator Dimensions
12.2 1.6 Installation holes (2-M3 screws, depth 5)
S/N : J007XE273710001
90
78
15
7.9 44
60
minimum
50 Unit: mm
Figure 2.9 Digital Operator Dimensions
Installation Types and Required Materials
The digital operator mounts to an enclosure two different ways:
• External/face-mount installs the operator outside the enclosure panel
• Internal/flush-mount installs the operator inside the enclosure panel
Table 2.2 Digital Operator Installation Methods and Required Tools
Installation Installation
Description Model Required Tools
Method Support Sets
Simplified installation with
External/ the digital operator is Phillips screwdriver
– –
Face-Mount mounted on the outside of (#1)
the panel with two screws.
Installation Support Set A
Encloses the digital Phillips screwdriver
(for mounting with screws EZZ020642A
operator in the panel. The through holes in the panel) (#1, #2)
Internal/ front of the digital operator
Flush-Mount is flush with the outside of Installation Support Set B Phillips screwdriver (#1)
the panel. (for use with threaded studs EZZ020642B Wrench (7 mm)
that are fixed to the panel)
54 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
2.2 Mechanical Installation
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.
M3 x 6
Digital Operator
Phillips recessed
pan head machine screw x 2
Enclosure panel
Unit: mm
Figure 2.10 External/Face-Mount Installation
22
Mechanical Installation
78
26
22
2
22
14
Unit: mm
2
Figure 2.11 Panel Cut-Out Dimensions (External/Face-Mount Installation)
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 55
2.2 Mechanical Installation
Internal/Flush-Mount
An internal flush-mount requires an installation support set that must be purchased separately. Contact a 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.
Enclosure panel
Digital Operator
M4 × 10 Installation Support Set A
Phillips truss head screw × 4
(for panel widths between 1 and 1.6) M3 × 6
Phillips recessed
pan head machine screw × 2
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.
89 +0.5
0
120
45
59 +0.5
0
Unit : mm
Figure 2.13 Panel Cut-Out Dimensions (Internal/Flush-Mount Installation)
56 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
2.2 Mechanical Installation
u Exterior and Mounting Dimensions
Table 2.3 Drive Models and Types
Drive Model
Protective Design Three-Phase Three-Phase Page
200 V Class 400 V Class
4o0011A
4o0014A
4o0021A
4o0027A
2o0028A 4o0034A
2o0042A 4o0040A
2o0054A 4o0052A
2o0068A 4o0065A
IP00 Enclosure 2o0081A 4o0077A
58
2o0104A 4o0096A
2o0130A 4o0124A
2o0154A 4o0156A
2o0192A 4o0180A
2o0248A 4o0216A
4o0240A
4o0302A
4o0361A
4o0414A
4o0011F
4o0014F
4o0021F
4o0027F
2o0028F 4o0034F
Mechanical Installation
2o0042F 4o0040F
2o0054F 4o0052F
2o0068F 4o0065F
IP20/NEMA Type 1 2o0081F 4o0077F
Enclosure 60
2o0104F 4o0096F
2o0130F 4o0124F
2o0154F 4o0156F
2o0192F 4o0180F
2o0248F 4o0216F
4o0240F 2
4o0302F
4o0361F
4o0414F
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 57
2.2 Mechanical Installation
n IP00 Enclosure Drives
W1
H4
4-d t2
W1
t2
4-d
H4
H1
H
H1
H
W t1
H2
D1
D
t1
Figure 1 D1
H2
W D
Figure 2
W1
H4
W1 4-d t2
H4
W2 W2 6-d
t2
H1
H
H1
H
t1
H2
D1
t1 Max 15 mm Max 15 mm D
D1
H2
Max 15 mm W Max 15 D (0.6 in) (0.6 in)
(0.6 in) (0.6 in)
Figure 3 Figure 4
Table 2.4 Dimensions for IP00 Enclosure: 200 V Class
Dimensions mm (in) Wt. kg (lb)
Drive Model Figure Models Models
W H D W1 W2 H1 H2 H4 D1 t1 t2 d 2Ao/ 2Eo/
2Po 2Wo
250 480 360 205 463 6.5 40 100 2.3 4 7 20 21
2o0028A –
(9.84) (18.89) (14.17) (8.07) (18.22) (0.25) (1.58) (3.93) (0.10) (0.16) (0.28) (44) (46)
2o0042A 32 33
1 (71) (73)
2o0054A 264 650 420 218 629 11.5 40 115.5 2.3 4 10
–
2o0068A (10.39) (25.60) (16.53) (8.58) (24.73) (0.45) (1.58) (4.54) (0.10) (0.16) (0.40)
35 36
2o0081A (77) (79)
2o0104A 264 816 450 218 795 11.5 40 124.5 2.3 2.3 10 60 63
2 –
2o0130A (10.39) (32.12) (17.71) (8.58) (31.29) (0.45) (1.58) (4.90) (0.10) (0.10) (0.40) (132) (139)
2o0154A 415 900 403 250 966 11 40 165 4.5 3.9 12 110 115
3 –
2o0192A (16.33) (38.97) (15.86) (9.84) (38.03) (0.43) (1.58) (6.49) (0.17) (0.15) (0.47) (245) (254)
58 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
2.2 Mechanical Installation
Dimensions mm (in) Wt. kg (lb)
Drive Model Figure Models Models
W H D W1 W2 H1 H2 H4 D1 t1 t2 d 2Ao/ 2Eo/
2Po 2Wo
490 1132 450 360 180 1104 14.5 49 181 4.5 4.5 14 176 181
2o0248A 4
(19.29) (44.56) (17.71) (14.17) (7.08) (43.46) (0.57) (1.92) (7.12) (0.17) (0.17) (0.55) (388) (399)
Table 2.5 Dimensions for IP00 Enclosure: 400 V Class
Dimensions mm (in) Wt. kg (lb)
Drive Model Figure Models Models
W H D W1 W2 H1 H2 H4 D1 t1 t2 d4 4Ao/ 4Eo/
4Po 4Wo
4o0011A
4o0014A
250 480 360 205 463 6.5 40 100 2.3 4 7 20 21
4o0021A –
(9.84) (18.89) (14.17) (8.07) (18.22) (0.25) (1.58) (3.93) (0.10) (0.16) (0.28) (44) (46)
4o0027A
4o0034A 1
4o0040A 32 33
4o0052A (71) (73)
264 650 420 218 629 11.5 40 115.5 2.3 4 10
–
4o0065A (10.39) (25.60) (16.53) (8.58) (24.73) (0.45) (1.57) (4.54) (0.10) (0.16) (0.40)
35 36
4o0077A (77) (79)
4o0096A 264 816 450 218 795 11.5 40 124.5 2.3 2.3 10 60 63
2 –
4o0124A (10.39) (32.12) (17.71) (8.58) (31.29) (0.45) (1.57) (4.90) (0.10) (0.10) (0.28) (132) (139)
4o0156A 415 990 403 250 966 11 40 165 4.5 3.9 12 110 115
3 –
4o0180A (16.33) (38.97) (15.86) (9.84) (38.03) (0.43) (1.57) (6.49) (0.17) (0.15) (0.47) (245) (254)
4o0216A 490 1132 450 360 180 1104 14.5 49 181 4.5 4.5 14 176 181
Mechanical Installation
4o0240A (19.29) (44.56) (17.71) (14.17) (7.08) (43.46) (0.57) (1.92) (7.12) (0.17) (0.17) (0.55) (388) (399)
4o0302A 4
695 1132 450 560 280 1102 14.5 65 178 4.5 4.5 14 259 267
4o0361A
(27.36) (44.56) (17.71) (22.04) (11.02) (43.39) (0.57) (2.55) (7.00) (0.17) (0.17) (0.55) (571) (589)
4o0414A
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 59
2.2 Mechanical Installation
n IP20/NEMA Type 1 Enclosure Drives
W1 4-d t2
W1
4-d
H4
t2
H4
H1
H0
H1
H0
H
H
t1
H2
H3
D1
W D t1
H3
H2
Figure 1 D1
W D
Figure 2
H4
W1 4-d t2
W1
H4
W2 W2
6-d t2
H1
H0
H
H1
H0
H
H2
t1
H3
t1
H2
H3
D1 D1
Max 15 mm W Max 15 mm Max 15 mm W Max 15 mm D
D (0.60 in) (0.60 in)
(0.60 in) (0.60 in)
Figure 3 Figure 4
Table 2.6 Dimensions for IP20/NEMA Type 1 Enclosure: 200 V Class
Dimensions mm (in) Wt. kg (lb)
Drive Models Models
Figure
Model W H D W1 W2 H0 H1 H2 H3 H4 D1 t1 t2 d 2Ao/ 2Eo/
2Po 2Wo
250 524 360 205 480 463 6.5 42 40 100 2.3 4 7 21.5 22.5
2o0028F –
(9.84) (20.62) (14.17) (8.07) (1890) (18.22) (0.25) (1.65) (1.58) (3.93) (0.10) (0.16) (0.28) (47) (50)
2o0042F 34 35
1 (75) (77)
2o0054F 264 705 420 218 650 629 11.5 54 40 115.5 2.3 4 10
–
2o0068F (10.39) (27.75) (16.53) (8.58) (25.59) (24.73) (0.45) (2.12) (1.58) (4.54) (0.10) (0.16) (0.40)
37 38
2o0081F (82) (84)
2o0104F 264 885 450 218 816 795 11.5 68 40 124.5 2.3 2.3 10 62 65
2 –
2o0130F (10.39) (34.84) (17.71) (8.58) (32.12) (31.29) (0.45) (2.67) (1.58) (4.90) (0.10) (0.10) (0.40) (137) (143)
2o0154F 415 1107 403 250 990 966 11 85 8 165 4.5 3.9 12 113 118
3 –
2o0192F (16.33) (43.58) (15.86) (9.84) (38.97) (38.03) (0.43) (3.34) (0.31) (6.49) (0.17) (0.15) (0.47) (249) (260)
490 1320 450 360 180 1132 1104 14.5 169 29 181 4.5 4.5 14 180 185
2o0248F 4
(19.29) (51.96) (17.71) (14.17) (7.08) (44.56) (43.46) (0.57) (6.65) (1.14) (7.12) (0.17) (0.17) (0.55) (397) (408)
60 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
2.2 Mechanical Installation
Table 2.7 Dimensions for IP20/NEMA Type 1 Enclosure: 400 V Class
Dimensions mm (in) Wt. kg (lb)
Drive Models Models
Figure
Model W H D W1 W2 H0 H1 H2 H3 H4 D1 t1 t2 d4 4Ao/ 4Eo/
4Po 4Wo
4o0011F
4o0014F
250 524 360 205 480 463 6.5 42 40 100 2.3 4 7 21.5 22.5
4o0021F –
(9.84) (20.62) (14.17) (8.07) (18.90) (18.22) (0.25) (1.65) (1.58) (3.93) (0.10) (0.15) (0.27) (47) (50)
4o0027F
4o0034F 1
4o0040F 34 35
4o0052F (75) (77)
264 705 420 218 650 629 11.5 54 40 115.5 2.3 4 10
–
4o0065F (10.39) (27.75) (16.53) (8.58) (22.59) (24.73) (0.45) (2.12) (1.57) (4.55) (0.10) (0.15) (0.40)
37 38
4o0077F (82) (84)
4o0096F 264 885 450 218 816 795 11.5 68 40 124.5 2.3 2.3 10 62 65
2 –
4o0124F (10.39) (34.84) (17.71) (8.58) (32.12) (31.29) (0.45) (2.67) (1.57) (4.90) (0.10) (0.10) (0.40) (137) (143)
4o0156F 415 1107 403 250 990 966 11 85 8 165 4.5 3.9 12 113 118
3 –
4o0180F (16.33) (43.58) (15.86) (9.84) (38.97) (38.03) (0.43) (3.34) (0.31) (6.49) (0.17) (0.15) (0.47) (249) (260)
4o0216F 490 1320 450 360 180 1132 1104 14.5 169 29 181 4.5 4.5 14 180 185
4o0240F (19.29) (51.96) (17.71) (14.17) (7.08) (44.56) (43.46) (0.57) (6.65) (1.14) (7.12) (0.17) (0.17) (0.55) (398) (408)
4o0302F 4
695 1460 450 560 280 1132 1102 14.5 300 29 178 4.5 4.5 14 270 278
4o0361F
(27.36) (57.48) (17.71) (22.05) (11.02) (44.56) (43.39) (0.57) (11.81) (1.14) (7.00) (0.17) (0.17) (0.55) (595) (613)
4o0414F
Mechanical Installation
2
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 61
2.2 Mechanical Installation
This Page Intentionally Blank
62 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
3
Electrical Installation
This chapter explains proper procedures for wiring the control circuit terminals, motor, and power
supply.
3.1 SECTION SAFETY.................................................................................................64
3.2 STANDARD CONNECTION DIAGRAM.................................................................66
3.3 MAIN CIRCUIT CONNECTION DIAGRAM............................................................69
3.4 TERMINAL BLOCK CONFIGURATION................................................................70
3.5 TERMINAL COVER................................................................................................73
3.6 DIGITAL OPERATOR AND FRONT COVER........................................................76
3.7 TOP PROTECTIVE COVER...................................................................................79
3.8 MAIN CIRCUIT WIRING.........................................................................................80
3.9 CONTROL CIRCUIT WIRING................................................................................88
3.10 CONTROL I/O CONNECTIONS.............................................................................94
3.11 CONNECT TO A PC...............................................................................................98
3.12 EMC FILTER...........................................................................................................99
3.13 EXTERNAL INTERLOCK.....................................................................................103
3.14 WIRING CHECKLIST...........................................................................................104
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 63
3.1 Section Safety
3.1 Section Safety
DANGER
Electrical Shock Hazard
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. The charge indicator
LED will extinguish when the control power supply voltage is below 50 Vdc. To prevent electric shock, wait for at least the
time specified on the warning label, once all indicators are OFF, measure for unsafe voltages to confirm the drive is safe
prior to servicing.
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 use appropriate equipment for Ground Fault Circuit Interrupters (GFCIs).
The 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 a type B GFCI
according to IEC/EN 60755.
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 service must be performed only by authorized personnel familiar installation,
adjustment, and maintenance of 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 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.
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.
64 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
3.1 Section Safety
WARNING
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.
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.
Electrical Installation
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.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 65
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 107 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 use on a circuit capable of delivering not more than 100,000 RMS symmetrical amperes, 240 Vac maximum (200 V class),
480 Vac maximum (400 V class: 4Eoooo and 4Woooo), and 500 Vac maximum (400 V class: 4Aoooo and 4Poooo) when
protected by branch circuit protection devices specified in this document.
NOTICE: Do not connect AC control circuit ground to drive enclosure. Improper drive grounding can cause control circuit malfunction.
NOTICE: Route motor leads U/T1, V/T2, and W/T3 separate from all other leads to reduce possible interference related issues. Failure to
comply may result in abnormal operation of drive and nearby equipment.
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 94 for details.
Note: The minimum load for the relay outputs M1-M2, M3-M4, M5-M6, and MA-MB-MC is 10 mA.
66 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
3.2 Standard Connection Diagram
<2>
FU
FV
M
FW
Cooling fan
Terminals p1, n1 are for connection
options. Never connect power supply
lines to these terminals.
Wiring sequence should shut off
power to the drive when a fault
output is triggered. <1> 2MCCB
r1 p1 n1
s1 U
U/T1
Three-phase GFCI (MCCB)
t1 Fuse Main Circuit
power supply MC R/L1 V/T2 V
R M
240 to 500 V
50/60 Hz
(Depending on T
S
S/L2
T/L3
Drive W/T3
W
model capacity)
Control Circuit <3> Option board Ground
connectors
Forward Run / Stop S1 TB1
CN5-C PG- X3
(option) A+
Reverse Run / Stop S2 CN5-B A-
<4>
B+ PG
CN5-A B-
External fault S3
Z+
Terminal board Z-
Fault reset S4 jumpers and switches
V I
DIP Switch S1 SD
Multi-function Multi-speed step 1 S5 A2 Volt/Curr. Sel FE
digtial inputs
DIP Switch S2
(default setting) Off On
Multi-speed step 2 Term. Res. On/Off TB2
S6
Jumper S3 IP
Jog speed S7 H1, H2 IG
Sink/Source Sel.
a+
A track monitor
External Baseblock S8 PTC DIP Switch S4 a-
A3 Analog/PTC b+
SN Input Sel B track monitor
AI b-
z+
Sink / Source mode SC Jumper S5
selection wire link V
AM/FM Volt./Curr.
z-
(default: Sink) <5> SP I Selection
+24 V <6> FM AM
N.O.
Slide Switch S6
Shield ground DM+, DM-
terminal N.C./N.O. Selection
Pulse Train Input MA Fault relay output <7>
RP N.C.
(max 32 kHz) MB 250 Vac, max. 1 A
Electrical Installation
<8> 30 Vdc, max 1 A
+V Power supply +10.5 Vdc, max. 20 mA
MC (min. 5 Vdc, 10 mA)
2 kΩ
Analog Input 1 (Frequency Reference Bias)
A1 0 to +/-10Vdc (20 kΩ) M1 Multi-function relay output (During Run)
Multi-function 4 to 20 mA (250 Ω) / 0 to 20 mA (250 Ω) 250 Vac, max. 1 A
analog/pulse M2 30 Vdc, max 1 A
train inputs
A2 Analog Input 2 (Frequency Reference Bias)
0 to +10Vdc (20 kΩ) (min. 5 Vdc, 10 mA)
4 to 20 mA (250 Ω) / 0 to 20 mA (250 Ω) <9> M3 Multi-function relay output (Zero Speed)
Analog Input 3 (Aux. Frequency Reference) 250 Vac, max. 1 A
A3 M4 30 Vdc, max 1 A
0 to +/-10Vdc (20 kΩ)
(min. 5 Vdc, 10 mA)
AC 4 to 20 mA (250 Ω) / 0 to 20 mA (250 Ω) <10>
0V M5 Multi-function relay output (Speed Agree 1)
<8> -V Power supply, -10.5 Vdc, max. 20 mA M6
250 Vac, max. 1 A
30 Vdc, max 1 A
(min. 5 Vdc, 10 mA)
3
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- <11>
MEMOBUS/Modbus comm. FM
RS-422/RS-485 S+ Multi-function analog output 1
max. 115.2 kbps － + (Output frequency)
S- FM -10 to +10 Vdc (2mA)
Safety IG or 4 to 20 mA <12>
switch <13> AM
Multi-function analog output 2
S2 AC － + (Output current)
Safe Disable inputs H1 AM
<14> 0V
-10 to +10 Vdc (2mA)
S1 H2 or 4 to 20 mA <12>
E (G)
<16>
EMC filter
Open Wire Switch
jumper EDM (Safety Electronic Device Monitor)
Safety relay / ON DM+
controller <15> OFF
HC
DM－
24 V 24 24 V Power Supply
0V 0 Terminals <17>
FE
shielded line twisted-pair shielded line control circuit terminal main circuit terminal
Figure 3.1 Drive Standard Connection Diagram (example: model 2o0028)
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 67
3.2 Standard Connection Diagram
<1> When setting L5-02 to 1 to trigger a fault output whenever the fault restart function is activated, a sequence to interrupt power when a fault occurs
will turn off power to the drive as the drive attempts to restart. The default setting for L5-02 is 0 (Fault output not active during restart attempt).
<2> Self-cooling motors do not require wiring that is necessary for motors using a cooling fan.
<3> Supplying power to the control circuit separately from the main circuit requires 24 V power supply (option).
<4> PG option card wiring is not necessary for control modes that do not use a motor speed feedback signal.
<5> This figure illustrates 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, between SC-SN for Source mode, or leave the link out for external power supply. Never short terminals SP and
SN, as it will damage the drive.
<6> This voltage source supplies a maximum current of 150 mA when not using a digital input card DI-A3.
<7> Wire the fault relay output separately from the main circuit power supply and other power lines.
<8> 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 it can
cause erroneous operation or damage the drive.
<9> Set DIP switch S1 to select between a voltage or current input signal to terminal A2. The default setting is for current input.
<10> Set DIP switch S4 to select between analog or PTC input for terminal A3.
<11> Set DIP switch S2 to the ON position to enable the termination resistor in the last drive in a MEMOBUS/Modbus network.
<12> Monitor outputs work with devices such as analog frequency meters, ammeters, voltmeters, and wattmeters. They are not intended for use as a
feedback-type signal.
<13> Use jumper S5 to select between voltage or current output signals at terminals AM and FM. Set parameters H4-07 and H4-08 accordingly.
<14> Use jumper S3 to select between Sink mode, Source mode, and external power supply for the Safe Disable inputs.
<15> Disconnect the wire jumper between H1 - HC and H2 - HC when utilizing the Safe Disable input.
<16> Models UUoAoooo and UUoPoooo do not have a built-in EMC filter switch.
<17> Models UUoPoooo and UUoWoooo 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.
NOTICE: 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.
68 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
3.3 Main Circuit Connection Diagram
3.3 Main Circuit Connection Diagram
Refer to Figure 3.2 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.
Control
p1
board
n1
Control power supply
R/L1 U/T1
S/L2 Input filter Bidirectional IGBT V/T2
T/L3 W/T3
Figure 3.2 Connecting Main Circuit Terminals
Electrical Installation
3
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 69
3.4 Terminal Block Configuration
3.4 Terminal Block Configuration
Figure 3.3 to Figure 3.8 show the different main circuit terminal arrangements for the drive capacities. Use Table 3.1 to
determine the correct figure based on drive model.
Table 3.1 Terminal Block Configuration
Voltage Class Drive Model Figure
2o0028 Figure 3.3
2o0042
2o0054
Figure 3.4
2o0068
2o0081
200 V Class
2o0104
Figure 3.5
2o0130
2o0154
Figure 3.6
2o0192
2o0248 Figure 3.7
4o0011
4o0014
4o0021 Figure 3.3
4o0027
4o0034
4o0040
4o0052
Figure 3.4
CHARGE 4o0065FE
4o0077
400 V Class 24 0 FE
4o0096
Figure 3.5
4o0124
4o0156
ON Figure 3.6
4o0180
OFF 4o0216
Figure 3.7
4o0240
SW 4o0302
4o0361 Figure 3.8
4o0414
CHARGE
n1 p1 R/L1 S/L2 T/L3 U/T1 V/T2 W/T3
Figure 3.3 Main Circuit Terminal Configuration (Models 2o0028 and 4o0011 to 4o0034)
70 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
OFF
SW 3.4 Terminal Block Configuration
CHARGE
n1 p1 R/L1 S/L2 T/L3 U/T1 V/T2 W/T3
CHARGE
ON
OFF
Figure 3.4 Main Circuit
SW
Terminal Configuration (Models 2o0042 to 2o0081 and 4o0040 to 4o0077)
n1 p1
Electrical Installation
R/L1 S/L2 T/L3 U/L1 V/L2 W/L3
3
Figure 3.5 Main Circuit Terminal Configuration (Models 2o0104, 2o0130, 4o0096, and 4o0124)
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 71
3.4 Terminal Block Configuration
CHARGE
ON OFF
SW 24 0 FE
n1 p1
R/L1 S/L2 T/L3 U/L1 V/L2 W/L3
Figure 3.6 Main Circuit Terminal Configuration (Models 2o0154, 2o0192, 4o0156, and 4o0180)
▼
SW
OFF
ON
▼
n1 p1
R/L1 S/L2 T/L3 U/L1 V/L2 W/L3
Figure 3.7 Main Circuit Terminal Configuration (Models 2o0248, 4o0216, and 4o0240)
▼
SW
OFF
▼
ON
n1 p1
R/L1 S/L2 T/L3 U/L1 V/L2 W/L3
Figure 3.8 Main Circuit Terminal Configuration (Models 4o0302 to 4o0414)
72 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive 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.
u Models 2o0028 to 2o0130 and 4o0011 to 4o0124
n Removing the Terminal Cover
1. Loosen the terminal cover screw.
Figure 3.9 Removing the Terminal Cover
2. Push in on the tab located on the bottom of the terminal cover and gently pull forward to remove the terminal cover.
Electrical Installation
3
Figure 3.10 Removing the Terminal Cover
n Reattaching the Terminal Cover
Power lines and signal wiring should pass through the opening provided. Refer to Wiring the Main Circuit Terminal on
page 86 and Wiring the Control Circuit Terminal on page 91 for details on wiring.
Reattach the terminal cover after completing the wiring to the drive and other devices.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 73
3.5 Terminal Cover
<1>
Figure 3.11 Reattaching the Terminal Cover
<1> Connect the ground wiring first, then the main circuit wiring, and finally the control circuit wiring.
u Models 2o0154 to 2o0248 and 4o0156 to 4o0414
n Removing the Terminal Cover
1. Loosen the screws on the terminal cover, then pull down on the cover.
CAUTION! 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.
Figure 3.12 Removing the Terminal Cover
2. Pull forward on the terminal cover to free it from the drive.
Figure 3.13 Removing the Terminal Cover
n Reattaching the Terminal Cover
After wiring the terminal board and other devices, double-check connections and reattach the terminal cover. Refer to Wiring
the Main Circuit Terminal on page 86 and Wiring the Control Circuit Terminal on page 91 for details on wiring.
74 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
3.5 Terminal Cover
<1>
Figure 3.14 Reattaching the Terminal Cover
<1> Connect the ground wiring first, then the main circuit wiring, and finally the control circuit wiring.
Electrical Installation
3
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 75
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.
u Removing/Reattaching the Digital Operator
n 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 3.15 Removing the Digital Operator
n 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 3.16 Reattaching the Digital Operator
u Removing/Reattaching the Front Cover
n Removing the Front Cover
Models 2o0028 to 2o0130 and 4o0011 to 4o0124
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.
76 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
3.6 Digital Operator and Front Cover
Figure 3.17 Remove the Front Cover (Models 2o0028 to 2o0130 and 4o0011 to 4o0124)
Models 2o0154 to 2o0248 and 4o0156 to 4o0414
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.
Hook Hook
Electrical Installation
Front cover
installation screw
Figure 3.18 Remove the Front Cover (Models 2o0154 to 2o0248 and 4o0156 to 4o0414)
4. Unhook the left side of the front cover then swing the left side towards you as shown in Figure 3.19 until the cover
comes off.
Figure 3.19 Remove the Front Cover (Models 2o0154 to 2o0248 and 4o0156 to 4o0414)
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 77
3.6 Digital Operator and Front Cover
n Reattaching the Front Cover
Models 2o0028 to 2o0130 and 4o0011 to 4o0124
Reverse the instructions given in Remove the Front Cover (Models 2o0028 to 2o0130 and 4o0011 to 4o0124) on page
77 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.
Models 2o0154 to 2o0248 and 4o0156 to 4o0414
1. Slide the front cover so the hooks on the top connect to the drive.
Figure 3.20 Reattach the Front Cover (Models 2o0154 to 2o0248 and 4o0156 to 4o0414)
2. After connecting the hooks to the drive, press firmly on the cover to lock it into place.
78 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive 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.
u 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.
A
Figure 3.21 Reattaching the Protective Cover
u Removing the Top Protective Cover
Electrical Installation
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 Figure 3.22 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 Type 1
protection while maintaining IP20 conformity.
Figure 3.22 Removing the Top Protective Cover
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 79
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.
u Main Circuit Terminal Functions
Table 3.2 Main Circuit Terminal Functions
Drive Model 2o0028 to 2o0248 4o0011 to 4o0414
Function Page
Terminal Type
R/L1
S/L2 Main circuit power supply input Connects line power to the drive 67
T/L3
U/T1
V/T2 Drive output Connects to the motor 67
W/T3
Available for connecting a momentary power
p1, n1 Momentary power loss recovery unit input –
loss recovery unit option
100 Ω or less 10 Ω or less Grounding terminal 86
u Protecting Main Circuit Terminals
n 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.
n Main Circuit Protective Cover
Close the protective cover after wiring the main circuit terminals on 2o0028 to 2o0081 and 4o0011 to 4o0077.
Figure 3.23 Main Circuit Protective Cover (Models 2o0028 to 2o0081 and 4o0011 to 4o0077)
Attach the protective covers after wiring the main circuit terminals and p1, and n1 terminals on models 2o0104 to 2o0248
and 4o0096 to 4o0414.
80 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
3.8 Main Circuit Wiring
Main circuit terminal Terminals p1, n1
Figure 3.24 Protective Cover (Models 2o0104 to 2o0248 and 4o0096 to 4o0414)
u Main Circuit Wire Gauges and Tightening Torque
Use the tables in this section to select the appropriate wires and crimp terminals.
Gauges listed in the tables are for use in the United States.
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 (Ω/km) × wire length (m) × current (A) × 10-3
Electrical Installation
Refer to UL Standards Compliance on page 599 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.
n Three-Phase 200 V Class
Table 3.3 Wire Gauge and Torque Specifications (Three-Phase 200 V Class)
For USA and Canada For South America
Drive Screw Tightening 3
Terminal Recomm. Gauge Wire Range Recomm. Gauge Wire Range Torque
Model mm2 mm2 mm2 mm2 Size
N·m (lb.in.)
(AWG, kcmil) (AWG, kcmil) (AWG, kcmil) (AWG, kcmil)
10 6 to 10 4 2.5 to 10
R/L1, S/L2, T/L3 M5
(8) (10 to 8) (12) (14 to 8) 2.3 to 2.7
10 6 to 10 4 2.5 to 10 (20.4 to 23.9)
U/T1, V/T2, W/T3 M5
(8) (10 to 8) (12) (14 to 8)
2o0028
10 6 to 16 6 6 to 16 3.9 to 4.9
M6
(8) (10 to 6) (10) (10 to 5) (34.7 to 43.4)
2.5 2.5 to 4 2.5 2.5 to 4 1 to 1.4
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (8.9 to 12.4)
16 10 to 25 10 6 to 25
R/L1, S/L2, T/L3 M6
(6) (8 to 3) (8) (10 to 3) 4 to 6
16 10 to 25 10 6 to 25 (35.4 to 53.1)
U/T1, V/T2, W/T3 M6
(6) (8 to 3) (8) (10 to 3)
2o0042
10 6 to 25 10 6 to 25 8.8 to 10.8
M8
(8) (10 to 3) (8) (10 to 3) (78.1 to 95.5)
2.5 2.5 to 4 2.5 2.5 to 4 1 to 1.4
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (8.9 to 12.4)
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 81
3.8 Main Circuit Wiring
For USA and Canada For South America
Tightening
Drive Recomm. Gauge Wire Range Recomm. Gauge Wire Range Screw
Terminal Torque
Model mm2 mm2 mm2 mm2 Size N·m (lb.in.)
(AWG, kcmil) (AWG, kcmil) (AWG, kcmil) (AWG, kcmil)
25 16 to 25 16 10 to 25
R/L1, S/L2, T/L3 M6
(4) (6 to 3) (5) (8 to 3) 4 to 6
25 16 to 25 16 10 to 25 (35.4 to 53.1)
U/T1, V/T2, W/T3 M6
(4) (6 to 3) (5) (8 to 3)
2o0054
16 10 to 25 10 10 to 25 8.8 to 10.8
M8
(6) (8 to 3) (8) (8 to 3) (78.1 to 95.5)
2.5 2.5 to 4 2.5 2.5 to 4 1 to 1.4
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (8.9 to 12.4)
25 25 16 16 to 25
R/L1, S/L2, T/L3 M6
(4) (4 to 3) (5) (5 to 3) 4 to 6
25 25 16 16 to 25 (35.4 to 53.1)
U/T1, V/T2, W/T3 M6
(4) (4 to 3) (5) (5 to 3)
2o0068
16 16 to 25 16 16 to 25 8.8 to 10.8
M8
(6) (6 to 3) (5) (5 to 3) (78.1 to 95.5)
2.5 2.5 to 4 2.5 2.5 to 4 1 to 1.4
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (8.9 to 12.4)
16 × 2 16 to 25 × 2 25 16 to 25
R/L1, S/L2, T/L3 M6
(6 × 2P) (6 to 3 × 2P) (3) (5 to 3 × 2P) 4 to 6
16 × 2 16 to 25 × 2 25 16 to 25 (35.4 to 53.1)
U/T1, V/T2, W/T3 M6
(6 × 2P) (6 to 3 × 2P) (3) (5 to 3 × 2P)
2o0081
16 16 to 25 16 16 to 25 8.8 to 10.8
M8
(6) (6 to 3) (5) (5 to 3) (78.1 to 95.5)
2.5 2.5 to 4 2.5 2.5 to 4 1 to 1.4
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (8.9 to 12.4)
R/L1, S/L2, T/L3
35 16 to 50 × 2 35 10 to 50 × 2P M8
(1) (6 to 1/0 × 2P) (1) (8 to 1/0 × 2P) 8 to 10
35 16 to 50 × 2 35 10 to 50 × 2P (70.8 to 88.5)
U/T1, V/T2, W/T3 M8
(1) (6 to 1/0 × 2P) (1) (8 to 1/0 × 2P)
2o0104
25 25 to 35 25 10 to 35 8.8 to 10.8
M8
(4) (4 to 1) (3) (8 to 1) (78.1 to 95.5)
2.5 2.5 to 4 2.5 2.5 to 4 1.2 to 2.0
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (10.6 to 17.7)
R/L1, S/L2, T/L3
25 × 2 16 to 50 × 2 16 × 2P 10 to 50 × 2P M8
(4 × 2P) (6 to 1/0 × 2P) (5 × 2P) (8 to 1/0 × 2P) 8 to 10
25 × 2 16 to 50 × 2 16 × 2P 10 to 50 × 2P (70.8 to 88.5)
U/T1, V/T2, W/T3 M8
(4 × 2P) (6 to 1/0 × 2P) (5 × 2P) (8 to 1/0 × 2P)
2o0130
25 25 to 35 16 16 to 35 8.8 to 10.8
M8
(4) (4 to 1) (5) (5 to 1) (78.1 to 95.5)
2.5 2.5 to 4 2.5 2.5 to 4 1.2 to 2.0
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (10.6 to 17.7)
R/L1, S/L2, T/L3
25 × 2 25 to 95 × 2 25 × 2P 16 to 95 × 2P M10
(3 × 2P) (4 to 4/0 × 2P) (3 × 2P) (5 to 4/0 × 2P) 15 to 20
25 × 2 25 to 95 × 2 25 × 2P 16 to 95 × 2P (133 to 177)
U/T1, V/T2, W/T3 M10
(3 × 2P) (4 to 4/0 × 2P) (3 × 2P) (5 to 4/0 × 2P)
2o0154
25 25 to 70 25 25 to 70 17.7 to 22.6
M10
(4) (4 to 2/0) (3) (3 to 2/0) (156 to 200)
2.5 2.5 to 4 2.5 2.5 to 4 1.2 to 2.0
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (10.6 to 17.7)
R/L1, S/L2, T/L3
35 × 2 25 to 95 × 2 35 × 2P 25 to 95 × 2P M10
(1 × 2P) (3 to 4/0 × 2P) (1 × 2P) (3 to 4/0 × 2P) 15 to 20
35 × 2 25 to 95 × 2 35 × 2P 25 to 95 × 2P (133 to 177)
U/T1, V/T2, W/T3 M10
(1 × 2P) (3 to 4/0 × 2P) (1 × 2P) (3 to 4/0 × 2P)
2o0192
25 25 to 70 25 25 to 70 17.7 to 22.6
M10
(3) (4 to 2/0) (3) (3 to 2/0) (156 to 200)
2.5 2.5 to 4 2.5 2.5 to 4 1.2 to 2.0
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (10.6 to 17.7)
82 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
3.8 Main Circuit Wiring
For USA and Canada For South America
Tightening
Drive Recomm. Gauge Wire Range Recomm. Gauge Wire Range Screw
Terminal Torque
Model mm2 mm2 mm2 mm2 Size N·m (lb.in.)
(AWG, kcmil) (AWG, kcmil) (AWG, kcmil) (AWG, kcmil)
R/L1, S/L2, T/L3
70 × 2 35 to 95 × 2 50 × 2P 35 to 95 × 2P M10
(2/0 × 2P) (1 to 4/0 × 2P) (1/0 × 2P) (1 to 4/0 × 2P) 15 to 20
70 × 2 35 to 95 × 2 50 × 2P 35 to 95 × 2P (133 to 177)
U/T1, V/T2, W/T3 M10
(2/0 × 2P) (1 to 4/0 × 2P) (1/0 × 2P) (1 to 4/0 × 2P)
2o0248
25 25 to 95 35 25 to 95 31.4 to 39.2
M12
(3) (4 to 4/0) (1) (3 to 4/0) (278 to 347)
2.5 2.5 to 4 2.5 2.5 to 4 1.2 to 2.0
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (10.6 to 17.7)
n Three-Phase 400 V Class
Table 3.4 Wire Gauge and Torque Specifications (Three-Phase 400 V Class)
For USA and Canada For South America
Tightening
Drive Recomm. Gauge Wire Range Recomm. Gauge Wire Range Screw
Terminal Torque
Model mm2 mm2 mm2 mm2 Size N·m (lb.in.)
(AWG, kcmil) (AWG, kcmil) (AWG, kcmil) (AWG, kcmil)
2.5 2.5 to 10 2.5 2.5 to 10
R/L1, S/L2, T/L3 M5
(14) (14 to 8) (14) (14 to 8) 2.3 to 2.7
2.5 2.5 to 10 2.5 2.5 to 10 (20.4 to 23.9)
U/T1, V/T2, W/T3 M5
(14) (14 to 8) (14) (14 to 8)
4o0011
6 4 to 16 2.5 2.5 to 16 3.9 to 4.9
M6
(10) (12 to 6) (14) (14 to 5) (34.7 to 43.4)
2.5 2.5 to 4 2.5 2.5 to 4 1 to 1.4
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (8.9 to 12.4)
4 2.5 to 10 2.5 2.5 to 10
R/L1, S/L2, T/L3 M5
(12) (14 to 8) (14) (14 to 8) 2.3 to 2.7
4 2.5 to 10 2.5 2.5 to 10 (20.4 to 23.9)
U/T1, V/T2, W/T3 M5
(12) (14 to 8) (14) (14 to 8)
Electrical Installation
4o0014
6 4 to 16 2.5 2.5 to 16 3.9 to 4.9
M6
(10) (12 to 6) (14) (14 to 5) (34.7 to 43.4)
2.5 2.5 to 4 2.5 2.5 to 4 1 to 1.4
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (8.9 to 12.4)
6 4 to 10 2.5 2.5 to 10
R/L1, S/L2, T/L3 M5
(10) (12 to 8) (14) (14 to 8) 2.3 to 2.7
6 4 to 10 2.5 2.5 to 10 (20.4 to 23.9)
U/T1, V/T2, W/T3 M5
4o0021
(10) (12 to 8) (14) (14 to 8) 3
6 4 to 16 2.5 2.5 to 16 3.9 to 4.9
M6
(10) (12 to 6) (14) (14 to 5) (34.7 to 43.4)
2.5 2.5 to 4 2.5 2.5 to 4 1 to 1.4
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (8.9 to 12.4)
10 6 to 10 4 2.5 to 10
R/L1, S/L2, T/L3 M5
(8) (10 to 8) (12) (14 to 8) 2.3 to 2.7
10 6 to 10 4 2.5 to 10 (20.4 to 23.9)
U/T1, V/T2, W/T3 M5
(8) (10 to 8) (12) (14 to 8)
4o0027
10 4 to 16 4 4 to 16 3.9 to 4.9
M6
(8) (12 to 6) (12) (12 to 5) (34.7 to 43.4)
2.5 2.5 to 4 2.5 2.5 to 4 1 to 1.4
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (8.9 to 12.4)
10 10 6 4 to 10
R/L1, S/L2, T/L3 M5
(8) (8) (10) (12 to 8) 2.3 to 2.7
10 10 6 4 to 10 (20.4 to 23.9)
U/T1, V/T2, W/T3 M5
(8) (8) (10) (12 to 8)
4o0034
10 6 to 16 6 6 to 16 3.9 to 4.9
M6
(8) (10 to 6) (10) (10 to 5) (34.7 to 43.4)
2.5 2.5 to 4 2.5 2.5 to 4 1 to 1.4
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (8.9 to 12.4)
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 83
3.8 Main Circuit Wiring
For USA and Canada For South America
Tightening
Drive Recomm. Gauge Wire Range Recomm. Gauge Wire Range Screw
Terminal Torque
Model mm2 mm2 mm2 mm2 Size N·m (lb.in.)
(AWG, kcmil) (AWG, kcmil) (AWG, kcmil) (AWG, kcmil)
10 10 to 25 10 6 to 25
R/L1, S/L2, T/L3 M6
(8) (8 to 3) (8) (10 to 3) 4 to 6
10 10 to 25 10 6 to 25 (35.4 to 53.1)
U/T1, V/T2, W/T3 M6
(8) (8 to 3) (8) (10 to 3)
4o0040
10 10 to 25 10 6 to 25 8.8 to 10.8
M8
(8) (10 to 3) (8) (10 to 3) (78.1 to 95.5)
2.5 2.5 to 4 2.5 2.5 to 4 1 to 1.4
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (8.9 to 12.4)
16 10 to 25 10 10 to 25
R/L1, S/L2, T/L3 M6
(6) (8 to 3) (8) (8 to 3) 4 to 6
16 10 to 25 10 10 to 25 (35.4 to 53.1)
U/T1, V/T2, W/T3 M6
(6) (8 to 3) (8) (8 to 3)
4o0052
16 10 to 25 10 10 to 25 8.8 to 10.8
M8
(6) (8 to 3) (8) (8 to 3) (78.1 to 95.5)
2.5 2.5 to 4 2.5 2.5 to 4 1 to 1.4
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (8.9 to 12.4)
25 16 to 25 16 10 to 25
R/L1, S/L2, T/L3 M6
(4) (6 to 3) (5) (8 to 3) 4 to 6
25 16 to 25 16 10 to 25 (35.4 to 53.1)
U/T1, V/T2, W/T3 M6
(4) (6 to 3) (5) (8 to 3)
4o0065
16 16 to 25 16 16 to 25 8.8 to 10.8
M8
(6) (6 to 3) (5) (5 to 3) (78.1 to 95.5)
2.5 2.5 to 4 2.5 2.5 to 4 1 to 1.4
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (8.9 to 12.4)
25 25 25 16 to 25
R/L1, S/L2, T/L3 M6
(3) (4 to 3) (3) (5 to 3) 4 to 6
25 25 25 16 to 25 (35.4 to 53.1)
U/T1, V/T2, W/T3 M6
(3) (4 to 3) (3) (5 to 3)
4o0077
16 16 to 25 16 16 to 25 8.8 to 10.8
M8
(6) (6 to 3) (5) (5 to 3) (78.1 to 95.5)
2.5 2.5 to 4 2.5 2.5 to 4 1 to 1.4
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (8.9 to 12.4)
35 10 to 50 35 10 to 50 × 2P
R/L1, S/L2, T/L3 M8
(1) (8 to 1/0 × 2P) (1) (8 to 1/0 × 2P) 8 to 10
35 10 to 50 35 10 to 50 × 2P (70.8 to 88.5)
U/T1, V/T2, W/T3 M8
(1) (8 to 1/0 × 2P) (1) (8 to 1/0 × 2P)
4o0096
25 25 to 35 25 10 to 35 8.8 to 10.8
M8
(4) (4 to 1) (3) (8 to 1) (78.1 to 95.5)
2.5 2.5 to 4 2.5 2.5 to 4 1.2 to 2.0
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (10.6 to 17.7)
25 × 2 16 to 50 × 2 16 × 2P 10 to 50 × 2P
R/L1, S/L2, T/L3 M8
(4 × 2P) (6 to 1/0 × 2P) (5 × 2P) (8 to 1/0 × 2P) 8 to 10
25 × 2 16 to 50 × 2 16 × 2P 10 to 50 × 2P (70.8 to 88.5)
U/T1, V/T2, W/T3 M8
(4 × 2P) (6 to 1/0 × 2P) (5 × 2P) (8 to 1/0 × 2P)
4o0124
25 25 to 35 16 16 to 35 8.8 to 10.8
M8
(4) (4 to 1) (5) (5 to 1) (78.1 to 95.5)
2.5 2.5 to 4 2.5 2.5 to 4 1.2 to 2.0
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (10.6 to 17.7)
25 × 2 25 to 95 × 2 25 × 2P 16 to 95 × 2P
R/L1, S/L2, T/L3 M10
(3 × 2P) (4 to 4/0 × 2P) (3 × 2P) (5 to 4/0 × 2P) 15 to 20
25 × 2 25 to 95 × 2 25 × 2P 16 to 95 × 2P (133 to 177)
U/T1, V/T2, W/T3 M10
(3 × 2P) (4 to 4/0 × 2P) (3 × 2P) (5 to 4/0 × 2P)
4o0156
25 25 to 70 25 25 to 70 17.7 to 22.6
M10
(4) (4 to 2/0) (3) (3 to 2/0) (156 to 200)
2.5 2.5 to 4 2.5 2.5 to 4 1.2 to 2.0
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (10.6 to 17.7)
84 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
3.8 Main Circuit Wiring
For USA and Canada For South America
Tightening
Drive Recomm. Gauge Wire Range Recomm. Gauge Wire Range Screw
Terminal Torque
Model mm2 mm2 mm2 mm2 Size N·m (lb.in.)
(AWG, kcmil) (AWG, kcmil) (AWG, kcmil) (AWG, kcmil)
35 × 2 25 to 95 × 2 25 × 2P 25 to 95 × 2P
R/L1, S/L2, T/L3 M10
(2 × 2P) (3 to 4/0 × 2P) (3 × 2P) (3 to 4/0 × 2P) 15 to 20
35 × 2 25 to 95 × 2 25 × 2P 25 to 95 × 2P (133 to 177)
U/T1, V/T2, W/T3 M10
(2 × 2P) (3 to 4/0 × 2P) (3 × 2P) (3 to 4/0 × 2P)
4o0180
25 25 to 70 25 25 to 70 17.7 to 22.6
M10
(3) (4 to 2/0) (3) (3 to 2/0) (156 to 200)
2.5 2.5 to 4 2.5 2.5 to 4 1.2 to 2.0
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (10.6 to 17.7)
50 × 2 35 to 95 × 2 35 × 2P 25 to 95 × 2P
R/L1, S/L2, T/L3 M10
(1/0 × 2P) (2 to 4/0 × 2P) (1 × 2P) (3 to 4/0 × 2P) 15 to 20
50 × 2 35 to 95 × 2 35 × 2P 25 to 95 × 2P (133 to 177)
U/T1, V/T2, W/T3 M10
(1/0 × 2P) (2 to 4/0 × 2P) (1 × 2P) (3 to 4/0 × 2P)
4o0216
25 25 to 95 35 25 to 95 31.4 to 39.2
M12
(3) (4 to 4/0) (1) (3 to 4/0) (278 to 347)
2.5 2.5 to 4 2.5 2.5 to 4 1.2 to 2.0
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (10.6 to 17.7)
50 × 2 50 to 95 × 2 50 × 2P 35 to 95 × 2P
R/L1, S/L2, T/L3 M10
(1/0 × 2P) (1/0 to 4/0 × 2P) (1/0 × 2P) (1 to 4/0 × 2P) 15 to 20
50 × 2 50 to 95 × 2 50 × 2P 35 to 95 × 2P (133 to 177)
U/T1, V/T2, W/T3 M10
(1/0 × 2P) (1/0 to 4/0 × 2P) (1/0 × 2P) (1 to 4/0 × 2P)
4o0240
35 35 to 95 50 35 to 95 31.4 to 39.2
M12
(2) (2 to 4/0) (1/0) (1 to 4/0) (278 to 347)
2.5 2.5 to 4 2.5 2.5 to 4 1.2 to 2.0
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (10.6 to 17.7)
70 × 2 50 to 95 × 2 70 × 2P 50 to 95 × 2P
R/L1, S/L2, T/L3 M10
(3/0 × 2P) (1/0 to 4/0 × 2P) (3/0 × 2P) (1/0 to 4/0 × 2P) 15 to 20
70 × 2 50 to 95 × 2 70 × 2P 50 to 95 × 2P (133 to 177)
U/T1, V/T2, W/T3 M10
Electrical Installation
4o0302 (3/0 × 2P) (1/0 to 4/0 × 2P) (3/0 × 2P) (1/0 to 4/0 × 2P)
<1>
35 35 to 150 70 35 to 150 31.4 to 39.2
M12
(1) (1 to 300) (3/0) (1 to 300) (278 to 347)
2.5 2.5 to 4 2.5 2.5 to 4 1.2 to 2.0
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (10.6 to 17.7)
95 × 2 70 to 95 × 2 95 × 2P 70 to 95 × 2P
R/L1, S/L2, T/L3 M10
(4/0 × 2P) (3/0 to 4/0 × 2P) (4/0 × 2P) (3/0 to 4/0 × 2P) 15 to 20
95 × 2 70 to 95 × 2 95 × 2P 70 to 95 × 2P (133 to 177)
4o0361
U/T1, V/T2, W/T3
(4/0 × 2P) (3/0 to 4/0 × 2P) (4/0 × 2P) (3/0 to 4/0 × 2P) M10 3
<1>
50 50 to 150 95 70 to 150 31.4 to 39.2
M12
(1/0) (1/0 to 300) (4/0) (3/0 to 300) (278 to 347)
2.5 2.5 to 4 2.5 2.5 to 4 1.2 to 2.0
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (10.6 to 17.7)
150 × 2 95 to 150 × 2 95 × 2P 95 to 150 × 2P
R/L1, S/L2, T/L3 M12
(300 × 2P) (4/0 to 300 × 2P) (4/0 × 2P) (4/0 to 300 × 2P) 25 to 35
150 × 2 95 to 150 × 2 95 × 2P 95 to 150 × 2P (221 to 310)
U/T1, V/T2, W/T3 M12
4o0414 (300 × 2P) (4/0 to 300 × 2P ) (4/0 × 2P) (4/0 to 300 × 2P )
<1>
50 50 to 240 95 70 to 240 31.4 to 39.2
M12
(1/0) (1/0 to 400) (4/0) (3/0 to 400) (278 to 347)
2.5 2.5 to 4 2.5 2.5 to 4 1.2 to 2.0
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (10.6 to 17.7)
<1> Take additional measures in accordance with IEC/EN 61800-5-1 when wiring an EMC filter is installed. Refer to the Technical Manual for details.
u 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.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 85
3.8 Main Circuit Wiring
NOTICE: Route motor leads U/T1, V/T2, and W/T3 separate from all other leads to reduce possible interference related issues. Failure to
comply may result in abnormal operation of drive and nearby equipment.
n 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 3.5. 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 203.
Table 3.5 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 when using OLV/PM (A1-02 = 5) or AOLV/PM (A1-02 = 6) is 100 m.
n Ground Wiring
Follow the precautions below when wiring 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 (200 V class: ground to 100 Ω or less; 400 V class: ground
to 10 Ω or less). 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 3.25 when using multiple drives. Do not loop the ground wire.
Figure 3.25 Multiple Drive Wiring
n 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 2o0028 to 2o0081 and 4o0011 to 4o0077 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.
86 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
3.8 Main Circuit Wiring
A
CHARGE
n1 p1 R/L1 S/L2 T/L3 U/T1 V/T2 W/T3
A – Protective cover for terminals p1 B – Main circuit protective cover
and n1
Figure 3.26 Protective Cover to Prevent Miswiring
n Main Circuit Connection Diagram
Refer to Main Circuit Connection Diagram on page 69 when wiring terminals on the main power circuit of the drive.
Electrical Installation
3
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 87
3.9 Control Circuit Wiring
3.9 Control Circuit Wiring
u Control Circuit Connection Diagram
Refer to Figure 3.1 on page 67 when wiring terminals on the drive control circuit.
u 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 67.
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 127. Failure
to comply may result in death or serious injury.
n Input Terminals
Table 3.6 lists the input terminals on the drive. Text in parenthesis indicates the default setting for each multi-function input.
Table 3.6 Control Circuit Input Terminals
Type No. Terminal Name (Function) Function (Signal Level) Default Setting Page
Multi-function input 1
S1 (Closed: Forward run, Open: Stop)
Multi-function input 2
S2 (Closed: Reverse run, Open: Stop)
Multi-function input 3
S3 (External fault, N.O.)
Multi-function input 4 • Photocoupler
S4 (Fault reset) • 24 Vdc, 8 mA
Multi-function input 5 • Refer to Sinking/Sourcing Mode for Digital Inputs on page 246
S5 (Multi-step speed reference 1) 94.
Multi-Function Multi-function input 6
S6
Digital Inputs (Multi-step speed reference 2)
Multi-function input 7
S7 (Jog reference)
Multi-function input 8
S8 (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 94
using digital input option DI-A3)
SN Digital input power supply 0 V NOTICE: Do not jumper or short terminals SP and SN. Failure 94
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 kΩ
Safe Disable H2 Safe Disable input 2 • Off time of at least 1 ms 610
Inputs
• Disconnect the wire jumpers shorting terminals H1, H2, and HC to
use the Safe Disable inputs. Set the S3 jumper to select between
sinking, sourcing mode, and the power supply as explained on page
94.
HC Safe Disable function common Safe disable function common
88 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
3.9 Control Circuit Wiring
Type No. Terminal Name (Function) Function (Signal Level) Default Setting Page
• Input frequency range: 0 to 32 kHz
Multi-function pulse train input • Signal Duty Cycle: 30 to 70% 159
RP (Frequency reference) • High level: 3.5 to 13.2 Vdc, low level: 0.0 to 0.8 Vdc 274
• Input impedance: 3 kΩ
+V Power supply for analog inputs 10.5 Vdc (max allowable current 20 mA) 158
-V Power supply for analog inputs -10.5 Vdc (max allowable current 20 mA) –
Multi-function analog input 1 158
A1 -10 to 10 Vdc, 0 to 10 Vdc (input impedance: 20 kΩ)
Analog Inputs / (Frequency reference bias) 267
Pulse Train • -10 to 10 Vdc, 0 to 10 Vdc (input impedance: 20 kΩ)
Input
Multi-function analog input 2 • 4 to 20 mA, 0 to 20 mA (input impedance: 250 Ω) 158
A2 (Frequency reference bias) • Voltage or current input must be selected by DIP switch S1 and 269
H3-09.
• -10 to 10 Vdc, 0 to 10 Vdc (input impedance: 20 kΩ)
Multi-function analog input 3
A3 • Use DIP switch S4 on the terminal board to select between analog 158
(Auxiliary frequency reference)/PTC Input
and PTC input.
AC Frequency reference common 0V 158
E (G) Ground for shielded lines and option cards – –
n Output Terminals
Table 3.7 lists the output terminals on the drive. Text in parenthesis indicates the default setting for each multi-function output.
Table 3.7 Control Circuit Output Terminals
Type No. Terminal Name (Function) Function (Signal Level) Default Setting Page
MA N.O. output (Fault)
Fault Relay 30 Vdc, 10 mA to 1 A; 250 Vac, 10 mA to 1 A
MB N.C. output (Fault) 256
Output Minimum load: 5 Vdc, 10 mA
MC Fault output common
M1
Multi-function digital output (During run)
M2
Electrical Installation
Multi-Function M3 30 Vdc, 10 mA to 1 A; 250 Vac, 10 mA to 1 A
Digital Output Multi-function digital output (Zero speed) 256
<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) 274
Monitor FM Analog monitor output 1 (Output frequency) -10 to +10 Vdc, 0 to +10 Vdc, or 4 to 20 mA. Refer to Terminal
Output AM Analog monitor output 2 (Output current) AM/FM Signal Selection on page 97 for details.
272 3
AC Monitor common 0V –
Safety Monitor DM+ Safety monitor output Outputs status of Safe Disable function. Closed when both Safe 612
Output DM- Safety monitor output Disable channels are closed. Up to +48 Vdc 50 mA
<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).
n Serial Communication Terminals
Table 3.8 Control Circuit Terminals: Serial Communications
Type No. Signal Name Function (Signal Level)
R+ Communications input (+) RS-422/RS-485
R- Communications input (-) MEMOBUS/Modbus communication: Use an MEMOBUS/Modbus
MEMOBUS/Modbus
S+ Communications output (+) RS-422 or RS-485 cable to connect the drive. communication
Communication <1> protocol
S- Communications output (-) 115.2 kbps (max.)
IG Shield ground 0V
<1> Enable the termination resistor in the last drive in a MEMOBUS/Modbus network by setting DIP switch S2 to the ON position. Refer to the manual
section on Control I/O Connections for more information.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 89
3.9 Control Circuit Wiring
u Terminal Configuration
The control circuit terminals are arranged as shown in Figure 3.27.
E(G) HC H1 H2 DM+ DM- IG R+ R- S+ S- M3 M4 M6
M1 M2 M5
V+ AC V- A1 A2 A3 FM AM AC MP RP AC
MA MB MC
S1 S2 S3 S4 S5 S6 S7 S8 SN SC SP
Figure 3.27 Control Circuit Terminal Arrangement
n Wire Size and Torque Specifications
Select appropriate wire type and gauges from Table 3.9. For simpler and more reliable wiring, use crimp ferrules on the wire
ends. Refer to Table 3.10 for ferrule terminal types and sizes.
Table 3.9 Wire Gauges
Tightening Bare Wire Terminal Ferrule-Type Terminal
Screw Torque Recomm. Applicable Recomm. Applicable
Terminal Wire Type
Size N•m wire size wire size wire size wire size
(lb. in) mm2 (AWG) mm2 (AWG) mm2 (AWG) mm2 (AWG)
S1-S8, SC, SN, SP
H1, H2, HC
RP, V+, V-, A1, A2, A3, Stranded wire:
AC, 24 V 0.2 to 1.0
MA, MB, MC 0.5 to 0.6 (24 to 16) 0.25 to 0.5 Shielded wire,
M3 0.75 (18) 0.5 (20)
(4.4 to 5.3) Solid wire: (24 to 20) etc.
M1-M6 0.2 to 1.5
MP, FM, AM, AC (24 to 16)
DM+, DM-
R+, R-, S+, S-, IG
n 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. See Table 3.10 for dimensions.
d1
8 mm
d2
Figure 3.28 Ferrule Dimensions
90 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
3.9 Control Circuit Wiring
Table 3.10 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
u 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 digital output terminals MA, MB, MC, and M1 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 when connecting to the control terminals. Improper application of peripheral devices could result in
drive performance degradation due to improper power supply. Refer to NEC Article 725 Class 1, Class 2, and Class 3 Remote-Control,
Signaling, and Power Limited Circuits for requirements concerning class 2 power supplies.
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.
NOTICE: Do not tighten screws beyond the specified tightening torque. Failure to comply may result in erroneous operation, damage to the
terminal block, or cause a fire.
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.
Wire the control circuit only after terminals have been properly grounded and main circuit wiring is complete. Refer to
Electrical Installation
Terminal Board Wiring Guide on page 91 for details. Prepare the ends of the control circuit wiring as shown in Figure
3.31. Refer to Wire Gauges on page 90.
Connect control wires as shown in Figure 3.29 and Figure 3.30.
Preparing wire D
terminal ends
C
A – Loosen screw to insert wire. C – Avoid fraying wire strands when
B – Single wire or stranded wire stripping insulation from wire. Strip
length 5.5 mm.
D – Blade depth of 0.4 mm or less
Blade width of 2.5 mm or less
Figure 3.29 Terminal Board Wiring Guide
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 91
3.9 Control Circuit Wiring
Figure 3.30 Terminal Board Location Inside the Drive
When setting the frequency by analog reference from an external potentiometer, use shielded twisted-pair wires (preparing
wire ends as shown in Figure 3.31) and connect the shield to the ground terminal of the drive.
E B
A C
D
A – Drive side D – Shield sheath (insulate with tape)
B – Insulation E – Shield
C – Control device side
Figure 3.31 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.
u 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
3.32 shows the location of these switches. Refer to Control I/O Connections on page 94 for setting instructions.
92 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
3.9 Control Circuit Wiring
DIP Switch S1
Terminal A2 Signal
Selection
V I
Jumper S5
Terminal AM/FM Signal
Selection
Jumper S3 V I
Terminal H1/H2
Sink/Source Sel. AM
FM
DIP Switch S4
Terminal A3 Analog/
PTC Input Sel.
DIP Switch S2
RS-422/485 Termination
Resistor PTC
Off On
AI
Figure 3.32 Locations of Jumpers and Switches on the Terminal Board
Electrical Installation
3
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 93
3.10 Control I/O Connections
3.10 Control I/O Connections
u 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 3.11 (Default: Sink mode, internal power supply).
NOTICE: Do not short terminals SP and SN. Failure to comply will damage the drive.
Table 3.11 Digital Input Sink/Source/External Power Supply Selection
Drive Internal Power Supply
Mode External 24 Vdc Power Supply
(Terminals SN and SP)
S7 S7
S8 S8
Sinking Mode (NPN) SN SN
SC SC
24 Vdc 24 Vdc
SP External SP
24 Vdc
S7 S7
S8 S8
Sourcing Mode (PNP) SN SN
SC SC
24 Vdc 24 Vdc
External
SP SP
24 Vdc
94 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
3.10 Control I/O Connections
u 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 3.11 (Default: Source mode, internal power supply). Refer to Switches and Jumpers
on the Terminal Board on page 92 for locating jumper S3.
Table 3.12 Safe Disable Input Sink/Source/External Power Supply Selection
Mode 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
External
24 Vdc
Sourcing Mode
H1 H1
H2 H2
u Using the Pulse Train Output
Electrical Installation
The pulse train output terminal MP can supply power or be used with an external power supply.
NOTICE: Connect peripheral devices in accordance with the specifications. Failure to comply may cause unexpected drive operation, and
can damage the drive or connected circuits.
n Using Power from the Pulse Output Terminal (Source Mode)
The high voltage level of the pulse output terminal depends on the load impedance.
3
Load Impedance RL (kΩ) Output Voltage VMP (V) (insulated)
1.5 kΩ 5V
4 kΩ 8V
10 kΩ 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)
Load Impedance
MP
VMP RL
AC
Figure 3.33 Pulse Output Connection Using Internal Voltage Supply
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 95
3.10 Control I/O Connections
n 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 (kΩ)
12 to 15 Vdc ±10% 1.0 kΩ or higher
External Power Supply
Load Impedance
MP
Sink Current
AC
Figure 3.34 Pulse Output Connection Using External Voltage Supply
u 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 3.13. Set parameter H3-09 accordingly as shown in Table 3.14. Refer to Switches and Jumpers on the Terminal
Board on page 92 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 3.13 DIP Switch S1 Settings
Setting Description
V (left position) Voltage input (-10 to +10 V or 0 to 10 V)
I (right position) Current input (4 to 20 mA or 0 to 20 mA): default setting
Table 3.14 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
u 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 3.15. Refer to Switches and Jumpers on the Terminal
Board on page 92 for locating switch S4.
Table 3.15 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)
96 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
3.10 Control I/O Connections
u 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 3.16. 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
92 for locating jumper S5.
Table 3.16 Jumper S5 Settings
Terminal 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 3.17 Parameter H4-07 and 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
u 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 3.18. 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 92 to locate switch S2.
Table 3.18 MEMOBUS/Modbus Switch Settings
Electrical Installation
S2 Position Description
ON Internal termination resistor ON
OFF Internal termination resistor OFF (default setting)
Note: Refer to MEMOBUS/Modbus Communications on page 559 for details on MEMOBUS/Modbus.
u Terminal DM+ and DM- Output Signal Selection 3
Slide switch S6 selects N.C. or N.O. as the state of the DM+ and DM- terminals for EDM output.
Table 3.19 EDM Switch Settings
S2 Position Description
N.O. Normally open
N.C. Normally closed (default setting)
Note: Refer to Safe Disable Input Function on page 610 for details on EDM.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 97
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 a USB port on a PC using a USB 2.0, AB-type cable (sold separately). After connecting the drive to
a PC, Yaskawa DriveWizard Industrial software can be used to monitor drive performance and manage parameter settings.
Contact Yaskawa for more information on DriveWizard Industrial.
USB Cable
(Type-AB)
(Type-B) (Type-A)
PC
Figure 3.35 Connecting to a PC (USB)
98 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
3.12 EMC Filter
3.12 EMC Filter
u 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 3.20 shows asymmetrical grounded networks. Asymmetrical networks require first moving the SW screw to disconnect
the internal ground connection. (Drives are shipped with the SW screw installed at the OFF position.)
Table 3.20 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
Electrical Installation
N
L1
L1
L2
Three-phase variable transformer without solidly grounded neutral L2
3
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 the SW screw installed at the OFF position).
L1
L3 L2
Figure 3.36 Symmetrical Grounded Network
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 99
3.12 EMC Filter
E(G) IG R+ R- S+ S-
M1 M2 M3 M4
V+ AC A1 A2 A3 FM AM AC RP AC 24V MD ME MF
S1 S2 S3 S4 S5 S6 S7 S8 SN SC SP MA MB MC
A ON
B OFF
SW
A – SW (ON) B – Screw (OFF)
Figure 3.37 EMC Filter Switch Location
(Models 2E0028, 2W0028, 4E0011 to 4E0034, and 4W0011 to 4W0034)
V+ AC A1 A2 A3 FM AM AC RP AC 24V MD ME MF
S1 S2 S3 S4 S5 S6 S7 S8 SN SC SP MA MB MC
A ON
B OFF
SW
A – SW (ON) B – Screw (OFF)
Figure 3.38 EMC Filter Switch Location
(Models 2E0042, 2W0042, 2E0054, 2W0054, 4E0040 to 4E0077, and 4W0040 to 4W0077)
100 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
3.12 EMC Filter
A ON
B OFF
SW
A – SW (ON) B – Screw (OFF)
Figure 3.39 EMC Filter Switch Location
(Models 2E0104, 2W0104, 2E0130, 2W0130, 4E0096, 4W0096, 4E0124, and 4W0124)
Electrical Installation
A
A – SW (ON) B – Screw (OFF)
Figure 3.40 EMC Filter Switch Location
(Models 2E0154, 2W0154, 2E0192, 2W0192, 4E0156, 4W0156, 4E0180, and 4W0180)
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 101
3.12 EMC Filter
A – SW (ON) B – Screw (OFF)
Figure 3.41 EMC Filter Switch Location
(Models 2E0248, 2W0248, 4EU0216, 4W0216, 4E0240, and 4W0240)
A
B
B
A
n1 p1
A – SW (ON) B – Screw (OFF)
Figure 3.42 EMC Filter Switch Location
(Models 4E0302 to 4E0414 and 4W0302 to 4W0414)
102 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
3.13 External Interlock
3.13 External Interlock
Systems that may be affected during drive fault conditions should be interlocked with the drive fault output and ready signal.
u Operation Ready
When the “Operation ready” signal has been set to one of the multi-function contact outputs, that output closes when the drive
is ready to accept a Run command or when the drive 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.
n 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. Figure 3.43 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
Drive Ready
Operation
Circuit
Stop
Drive Ready Run
Electrical Installation
Drive 1 Controller
MA
Relay 1 SA Relay 1
Max
Run Fault MB 250 Vac Fault 1
S1
Output
SN MC
Relay 2 SA
Relay 2
Ready 1
3
M1
Drive Ready M2
Drive 2 Controller
MA
Relay 1 SA Relay 1
Max
Run Fault MB 250 Vac Fault 2
S1
Output
SN MC
Relay 2
Relay 2 SA Ready 2
M1
Drive Ready M2
Figure 3.43 Interlock Circuit Example
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 103
3.14 Wiring Checklist
3.14 Wiring Checklist
No. Item Page(s)
Drive, Peripherals, Option Cards
1 Check drive model number to ensure receipt of correct model. 34
2 Make sure you have the correct peripheral devices. 412
3 Check the option card model number. 412
Installation Area and Physical Setup
4 Ensure that the area surrounding the drive complies with specifications. 50
Power Supply Voltage, Output Voltage
5 The voltage from the power supply should be within the input voltage specification range of the drive. –
6 The voltage rating for the motor should match the drive output specifications. 34
7 Verify that the drive is properly sized to run the motor. 515
Main Circuit Wiring
8 Confirm proper branch circuit protection as specified by national and local codes. 66
9 Properly wire the power supply to drive terminals R/L1, S/L2, and T/L3. 69
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 85
order. If the phase order is incorrect, the drive will rotate in the opposite direction.
11 Use 600 Vac vinyl-sheathed wire for the power supply and motor lines. 81
Use the correct wire gauges for the main circuit. Refer to Main Circuit Wire Gauges and Tightening Torque on page
81.
• Consider the amount of voltage drop when selecting wire gauges. Increase the wire gauge when the voltage drop is
12 greater than 2% of motor rated voltage. Ensure the wire gauge is suitable for the terminal block. Use the following 81 86
formula to calculate the amount of voltage drop:
Line drop voltage (V) = 3 × wire resistance (Ω/km) × wire length (m) × current (A) × 10-3
• If the cable between the drive and motor exceeds 50 m, adjust the carrier frequency set to C6-02 accordingly.
13 Properly ground the drive. 86
14 Tighten control circuit and grounding terminal screws. 81
Set up overload protection circuits when running multiple motors from a single drive.
Power supply Drive MC1 OL1
M1
MC2 OL2
15 M2
MC1 - MCn ... magnetic contactor
OL 1 - OL n ... thermal relay
–
MCn OLn
Mn
Note: Close MC1 – MCn before operating the drive. MC1 – MCn cannot be switched off during run.
16 Verify that ground wiring for models UUoEoooo and UUoWoooo is correct before turning on the EMC filter –
switch.
17 Verify phase advancing capacitors, input noise filters, or GFCIs are NOT installed on the output side of the drive. –
Control Circuit Wiring
18 Use twisted-pair line for all drive control circuit wiring. 91
19 Ground the shields of shielded wiring to the GND terminal. 91
20 For 3-Wire sequence, set parameters for multi-function contact input terminals S1 – S8, and wire control circuits. –
21 Properly wire any option cards. 91
22 Check for any other wiring mistakes. Only use a multimeter to check wiring. –
23 Properly fasten drive control circuit terminal screws. 81
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. –
104 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
3.14 Wiring Checklist
No. Item Page(s)
28 Safe Disable input wiring should not exceed 30 m. 610
29 Verify the logic of Safety Monitor Output Signal (DM+, DM-). –
Disconnect the internal EMC filter by moving the SW screw to the OFF position for floating, impedance grounded, or
30 99
asymmetrically grounded networks.
Electrical Installation
3
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 105
3.14 Wiring Checklist
This Page Intentionally Blank
106 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive 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...............................................................................................108
4.2 USING THE DIGITAL OPERATOR......................................................................109
4.3 THE DRIVE AND PROGRAMMING MODES.......................................................113
4.4 START-UP FLOWCHARTS.................................................................................119
4.5 POWERING UP THE DRIVE................................................................................126
4.6 APPLICATION SELECTION................................................................................127
4.7 AUTO-TUNING.....................................................................................................130
4.8 NO-LOAD OPERATION TEST RUN....................................................................144
4.9 TEST RUN WITH LOAD CONNECTED...............................................................146
4.10 VERIFYING PARAMETER SETTINGS AND BACKING UP CHANGES............147
4.11 TEST RUN CHECKLIST.......................................................................................149
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 107
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.
Prepare a separate holding brake.
Wire the holding brake so when a fault occurs, it is activated by an external sequence and shuts the power off or triggers an
emergency switch. Failure to comply could result in death or serious injury.
108 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
4.2 Using the Digital Operator
4.2 Using the Digital Operator
Use the digital operator to enter Run and Stop commands, edit parameters, and display data including fault and alarm
information.
u Digital Operator Keys and Displays
DIGITAL OPERATOR 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 currently displayed menu. The
1 (F1, F2) name of each 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
• Resets the drive to clear a fault situation.
Start-Up Programming
4 RUN RUN Key Starts the drive in LOCAL mode.
Scrolls up to display the next item, selects parameter numbers, and increments setting
5 Up Arrow Key
& Operation
values.
Scrolls down to display the previous item, selects parameter numbers, and decrements
6 Down Arrow Key setting values.
7 STOP STOP Key <1> Stops drive operation.
8 ENTER Key
• Enters parameter values and settings. 4
• Selects a menu item to move between displays
<2> Switches drive control between the operator (LOCAL) and an external source (REMOTE)
9 LO/RE Selection Key for the Run command and frequency reference.
10 Lit while the drive is operating the motor.
RUN Light Refer to page 111 for details.
Lit while the operator is selected to run the drive (LOCAL mode).
11 LO/RE Light Refer to page 111 for details.
Lit when the drive detects an alarm or error.
12 ALM LED Light Refer to ALARM (ALM) LED Displays on page 111 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 o2-02 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 04C U1000 Industrial MATRIX Drive Technical Manual 109
4.2 Using the Digital Operator
u LCD Display
1 2 3 4
5
6
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
2 DWEZ Displayed when DriveWorksEZ is being used.
Function 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 Analog Input of the drive.
Frequency
Reference Displayed when the frequency reference is assigned to the MEMOBUS/Modbus Communication
6 COM Inputs of the drive.
Assignment <1>
OP Displayed when the frequency reference is assigned to an Option Unit of the drive.
RP Displayed when the frequency reference is assigned to the Pulse Train Input of the drive.
RSEQ Displayed when the run command is supplied from a remote source.
LO/RE LSEQ Displayed when the run command is supplied from the operator keypad.
7
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 F1
scrolls the cursor to the left.
(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.
110 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
4.2 Using the Digital Operator
No. Name Display Content
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 error.
<1> Displayed when in Frequency Reference Mode.
<2> Displayed when in Frequency Reference Mode and Monitor Mode.
u ALARM (ALM) LED Displays
Table 4.2 ALARM (ALM) LED Status and Contents
State Content Display
Illuminated When the drive detects an alarm or error.
• When an alarm occurs.
Flashing • When an oPE is detected.
• When a fault or error occurs during Auto-Tuning.
Off Normal operation (no fault or alarm).
u 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 the operator is selected When a device other than the operator
for Run command and is selected for Run command and
— —
frequency reference control frequency reference control
(LOCAL) (REMOTE)
Start-Up Programming
• While the drive was set to LOCAL,
a Run command was entered to the
input terminals then the drive was
switched to REMOTE.
& Operation
• A Run command was entered via
the input terminals while the drive
• During deceleration to was not in Drive Mode.
stop • During deceleration when a Fast
During run • When a Run command is Stop command was entered. During stop
input and frequency
reference is 0 Hz • The drive output is shut off by the 4
Safe Disable function.
• The STOP key was pressed while
drive was running in REMOTE.
• 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”.
1s
ON ON
Flashing
Flashing ON ON ON ON
quickly
Figure 4.3 RUN LED Status and Meaning
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 111
4.2 Using the Digital Operator
Drive output frequency
during stop RUN STOP RUN
STOP
/ 6 Hz
0 Hz
Frequency setting
RUN LED OFF ON OFF OFF
Flashing
Figure 4.4 RUN LED and Drive Operation
u Menu Structure for Digital Operator
Turn the power on
(RUN LED lit)
- MODE - DRV Rdy
FREF (AI)
U1-01= 0.00Hz
Drive Mode <1>
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> RUN
Pressing will start the motor.
<2> Drive cannot operate motor.
<3> Flashing characters are shown as 1 .
<4> “X” characters are used as examples in this manual. The LCD Operator will display the actual setting values.
<5> The Frequency Reference appears after the initial display that shows the product name.
<6> The information that appears on the display will vary depending on the drive.
112 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
4.3 The Drive and Programming Modes
4.3 The Drive and Programming Modes
The drive has a Drive Mode to operate the motor and a Programming Mode to edit parameter settings.
Drive Mode: In Drive Mode the user can operate the motor and observe U Monitor parameters. Parameter settings cannot be
edited or changed when in Drive Mode.
Programming Mode: In Programming Mode the user can edit and verify parameter settings and perform Auto-Tuning. When
the drive is in Programming Mode it will not accept a Run command unless b1-08 is set to 1.
Note: 1. If b1-08 is set to 0, the drive will only accept a Run command in Drive Mode. After editing parameters, the user must exit the Programming
Mode and enter Drive Mode before operating the motor.
2. Set b1-08 to 1 to allow motor operation from the drive while in Programming Mode.
u 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
Frequency U1-01= 0.00Hz the drive is running. Refer to The Drive and Programming Modes on page 113.
Power Up Reference U1-02= 0.00Hz RSEQ
(default) U1-03= 0.00A RREF Note: The user can select the data displayed when the drive is first powered up
JOG FWD with parameter o1-02.
- MODE - DRV Rdy
Monitor Menu
Drive Mode U1-01= 0.00Hz Lists the monitor parameters (Uo-oo 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
U1-03= 0.00A RREF the drive monitors.
JOG FWD
Start-Up Programming
- MODE - PRG
Modified Consts
Verify Menu Modified Lists all parameters that have been edited or changed from default settings. Refer to
X Parameters Verifying Parameter Changes: Verify Menu on page 116.
& Operation
HELP FWD DATA
- MODE - PRG
A select list of parameters necessary to get the drive operating quickly. Refer to
Quick Setting
Using the Setup Group on page 117. 4
Setup Group
Note: Parameters listed in the Setup Group differ depending the Application
HELP FWD DATA Preset in parameter A1-06. Refer to Application Selection on page 127.
Programming
Mode
- MODE - PRG
Programming
Parameter Allows the user to access and edit all parameter settings. Refer to Parameter List on
Setting Mode page 441.
HELP FWD DATA
- MODE - PRG Rdy
Auto-Tuning
Auto-Tuning Motor parameters are calculated and set automatically. Refer to Auto-Tuning on
Mode AUTO page 130.
HELP FWD DATA
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 113
4.3 The Drive and Programming Modes
Mode Contents Operator Display Description
- MODE - DRV Rdy
FREF (AI)
Frequency U1-01= 0.00Hz
Drive Mode Returns to the frequency reference display screen.
Reference U1-02= 0.00Hz RSEQ
U1-03= 0.00A RREF
JOG FWD
n 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.
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 （0.00～60.00）
U1-03= 0.00A RREF U1-03= 0.00A LREF “0.00Hz”
Press until the frequency
JOG FWD
Press to select
JOG FWD FWD/REV
← FWD
→ reference changes to 006.00 Hz
LOCAL
-MONITR- DRV Rdy -MONITR- DRV Rdy - MODE - DRV Rdy
FREF (d1-01) FREF (d1-01) FREF (OPR)
ESC U1-01= 6.00Hz
U1-01= 006.00Hz U1-01= 006.00Hz
（0.00～60.00） Entry Accepted （0.00～60.00） U1-02= 0.00Hz LSEQ
“0.00Hz” “0.00Hz” 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.
n Programming Mode Details
The following actions are possible in the Programming Mode:
• Parameter Setting Mode: Access and edit all parameter settings.
• Verify Menu: View a list of parameters that have been changed from the default values.
• Setup Group: Access a list of commonly used parameters to simplify setup (Refer to Simplified Setup Using the Setup
Group on page 117).
• Auto-Tuning Mode: Automatically calculate and set motor parameters to optimize drive performance.
u Changing Parameter Settings or Values
This example explains changing C1-02 (Deceleration Time 1) from 10.0 seconds 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 or until the Parameter Setting Mode screen appears.
HELP FWD DATA
114 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
4.3 The Drive and Programming Modes
Step Display/Result
-PRMSET- PRG
Initialization
A1-00= 0
3. Press to enter the parameter menu tree. Select Language
← FWD →
-PRMSET- PRG
Basic Setup
C1-01= 10.0 sec
4. Press or to select the C parameter group. Accel Time 1
← FWD →
-PRMSET- PRG -PRMSET- PRG
Accel/Decel Accel Time 1
C1-01= 10.0 sec C1-01= 10.0Sec
5. Press two times. Accel Time 1 (0.0~6000.0)
“10.0 sec”
← FWD → ← FWD →
-PRMSET- PRG
Decel Time 1
C1-02= 10.0Sec
6. Press or to select parameter C1-02. (0.0~6000.0)
“10.0 sec”
← FWD →
-PRMSET- PRG
Decel Time 1
C1-02= 0010.0Sec
7. Press to view the current setting value. The leftmost digit flashes. (0.0~6000.0)
“10.0 sec”
← FWD →
-PRMSET- PRG
Decel Time 1
C1-02=0010.0Sec
8. 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
9. Press to enter 0020.0. (0.0~6000.0)
“10.0 sec”
← →
Start-Up Programming
FWD
10. Press
& Operation
to 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” 4
← FWD →
- MODE - DRV Rdy
FREF (AI)
U1-01= 0.00Hz
12. Press as many times as necessary to return to the initial display. U1-02= 0.00Hz RSEQ
U1-03= 0.00A RREF
JOG FWD
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 115
4.3 The Drive and Programming Modes
u Verifying Parameter Changes: Verify Menu
The Verify Menu lists edited parameters from the Programming Mode or as a result of Auto-Tuning. The Verify Menu 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 parameter settings
that have been changed.
Note: The Verify Menu will not display parameters from the A1 group (except for A1-02) or 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
Press to enter the list of parameters that have been edited from their original default Accel Time 1
settings. C1-02 = 20.0sec
3. (0.0~6000.0)
“10.0sec”
If parameters other than C1-02 have been changed, use or to scroll until C1-02 Home FWD DATA
appears.
- VERIFY - PRG Rdy
Accel Time 1
Press . C1-01=0020.0sec
4. (0.0~6000.0)
F1 F2 “10.0sec”
Press , , , or to change the setting value. FWD
5. Press to confirm the change. Entry Accepted
116 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
4.3 The Drive and Programming Modes
u Simplified Setup Using the Setup Group
The Setup Group lists the basic parameters necessary to set up the drive for an application. This group expedites the startup
process for an application by showing only the most important parameters for the application.
n 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 menu and selecting an
Application Preset will change the Setup Group to parameters optimal for the application selected. Refer to Application
Selection on page 127.
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)
Quick Setting
U1-01= 0.00Hz
U1-02= 0.00Hz RSEQ
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
Start-Up Programming
Ref Source 1
b1-01= 1 *1*
Analog Input
“1”
- SETUP - PRG
Ref Source 1
← FWD
→
Control Circuit
& Operation
b1-01= 1 *1*
Analog Input
Terminal
<2>
Home FWD DATA - SETUP - PRG
Ref Source 1
b1-01= 0 *1*
Entry Accepted Operator
“1”
- SETUP - PRG ← FWD
→ 4
Run Source 1 Operator
b1-02= 1 *1* <2>
Digital Inputs
Home FWD DATA
- SETUP - PRG
StallP Decel Sel
L3-04= 1 *1*
General Purpose
Home FWD DATA
Figure 4.7 Setup Group Example
<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.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 117
4.3 The Drive and Programming Modes
n Setup Group Parameters
Table 4.4 lists the parameters available by default in the Setup Group. Selecting an Application Preset in parameter A1-06 or
from the Application Selection Menu of the Setup Group automatically changes the parameters selected for the Setup Group.
Refer to Application Selection on page 127 for more information.
Use the Programming Mode to access parameters not displayed in the Setup Group.
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 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; some parameters listed above may not be accessible in all control modes.
u Switching Between LOCAL and REMOTE
LOCAL mode is when the drive is set to accept the Run command from the digital operator RUN key. REMOTE mode is
when the drive is set to accept the Run command from an external device (i.e., input terminals or serial communications).
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.
Switch the operation between LOCAL and REMOTE using the LO/RE key on the digital operator or via 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.
n 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
2. Press . The LO/RE light will light up. The drive is now in LOCAL.
F1 F2
LO
ESC
RE
RESET ENTER
To set the drive for REMOTE operation, press the key again. RUN STOP
n Using Input Terminals S1 through S8 to Switch between LOCAL and REMOTE
It is possible to switch between LOCAL and REMOTE modes using one of the digital input terminals S1 through S8 (set the
corresponding parameter H1-oo to “1”).
Setting H1-oo to 1 disables the LO/RE key on the digital operator. Refer to H1: Multi-Function Digital Inputs on page
246 for details.
118 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
4.4 Start-Up Flowcharts
4.4 Start-Up Flowcharts
These flowcharts summarize steps required to start the drive. Use the flowcharts to determine the most appropriate start-up
method for a given application. The charts are quick references to help familiarize the user with start-up procedures.
Flowchart Subchart Objective Page
A – Basic start-up procedure and motor tuning 120
A-1 Simple motor setup using V/f mode 121
– A-2 High-performance operation using Open Loop Vector or Closed Loop Vector motor control 122
A-3 Setting up the drive to run a permanent magnet (PM) motor 124
Start-Up Programming
& Operation
4
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 119
4.4 Start-Up Flowcharts
u Flowchart A: Basic Start-Up and Motor Tuning
Flowchart A in Figure 4.8 describes a basic start-up sequence that varies slightly depending on the application. Use the drive
default parameter settings in simple applications that do not require high precision.
START
Install and wire the drive as explained in Chapters 1, 2, and 3.
Apply main power to the drive while following safety guidelines.
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/b1-02 for frequency reference selection and run command source selection
H1-oo,H2-oo,H3-oo,H4-oo,H6-oo for I/O terminal setting
d1-oo for using multi-speed references
C1-oo and C2-oo for accel/decel and S-curve time settings
Control Mode
A1-02 =
0: V/f 5: OLV/PM
1: V/f w/PG 2: OLV 6: AOLV/PM
3: CLV 7: CLV/PM
To To To
Flowchart A-1 Flowchart A-2 Flowchart A-3
From Flowchart A-1, A-2, or A-3
Fine tune parameters. Adjust application settings 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. Execute Stationary Auto-Tuning for Line-to-Line Resistance if the drive has been Auto-Tuned and then moved to a different location
where the motor cable length exceeds 50 m.
2. Perform Auto-Tuning again after installing an AC reactor or other such components to the output side of the drive.
120 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
4.4 Start-Up Flowcharts
u Subchart A-1: Simple Motor Setup Using V/f Control
Flowchart A1 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.
From
Flowchart
A
Is there a YES
PG encoder
on the motor?
NO
Set or verify the V/f pattern settings E1-oo.
Set or verify the V/f pattern
Enter the number of motor poles to E2-04 (or E4-04 for motor 2).
settings E1-oo.
Set the F1- oo parameters.
Energy Savings
(b8-01 = 1) or
Speed Estimation Speed Search NO
(b3-24 = 1) enabled
when b3-01 = 1
or L2-01 = 1,2 ?
YES
Start-Up Programming
Perform Rotational YES
Auto-Tuning for V/f Control Is the motor cable longer than
(T1-01 = 3) 50 meters?
& Operation
NO Perform Stationary Auto-Tuning for
Stator Resistance (T1-01 = 2)
4
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
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 121
4.4 Start-Up Flowcharts
u Subchart A-2: High Performance Operation Using OLV or CLV
Flowchart A2 in Figure 4.10 describes the setup procedure for high-performance with Open Loop Vector Control or Closed
Loop Vector Control, which is 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.
122 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
4.4 Start-Up Flowcharts
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.
Connect the load to the motor.
Is there a PG NO
encoder on the
motor?
YES
Should the YES
drive set ASR gain
automatically?
Start-Up Programming
NO
Does the YES
application require
& Operation
Feed Forward
Function?
Perform Inertia Tuning Perform ASR gain tuning.
NO
(T1-01 = 8) <4> (T1-01 = 9) <5>
Run the machine and check for desired
4
operation.
Return to
Flowchart
A
Figure 4.10 Flowchart A2: High Performance Operation Using OLV or CLV
<1> Decouple the load from the motor to properly perform Rotational Auto-Tuning
<2> Rotational Auto-Tuning can still be performed if the load is 30% or smaller, though Stationary Auto-Tuning may yield better
control performance.
<3> Run the operation in test mode for Auto-Tuning 3. The drive will set motor parameters automatically. Refer to Stationary Auto-
Tuning 3 on page 134 for details.
<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 the Feed Forward function.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 123
4.4 Start-Up Flowcharts
u Subchart A-3: Operation with Permanent Magnet Motors
Flowchart A3 in Figure 4.11 describes the setup 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. Realign the Z Pulse if the PG encoder is replaced. Set T2-01 to 3 to recalibrate the drive for the new encoder.
124 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
4.4 Start-Up Flowcharts
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
replaced after Auto-Tuning was
performed?
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)
Start-Up Programming
Perform Z Pulse Offset Tuning.
(T2-01 = 3)
Connect the load to the motor.
& Operation
YES
Should the drive set ASR?
NO
NO Does the application
require Feed Forward 4
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
Figure 4.11 Operation with Permanent Magnet Motors
<1> Enter the motor code to 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 the Feed Forward function.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 125
4.5 Powering Up the Drive
4.5 Powering Up the Drive
u Powering Up the Drive and Operation Status Display
n Powering Up the Drive
Review the following checklist before turning the power on.
Item to Check Description
200 V class: Three-phase 200 to 240 Vac 50/60 Hz
400 V class: Models 4Aoooo and 4Poooo: Three-phase 380 to 500 Vac 50/60 Hz
400 V class: Models 4Eooooand 4Woooo: Three-phase 380 to 480 Vac 50/60 Hz
Power supply voltage
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 drive capacity.
Drive output terminals and Properly wire drive output terminals U/T1, V/T2, and W/T3 with motor terminals U, V, and W.
motor 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
n Status Display
When the power supply to the drive is turned on, the digital operator lights will appear as follows:
Status Name Description
DIGITAL OPERATOR
ALM
Normal - MODE - DRV Rdy
FREF (AI)
U1-01= 0.00Hz The data display area displays the frequency reference. “Rdy” is displayed..
Operation U1-02= 0.00Hz RSEQ
U1-03= 0.00A RREF
JOG FWD
LO
ESC
DIGITAL OPERATOR JVOP-180
ALM
RE
RESET ENTER
- MODE - DRV
Fault
RUNEF3 STOP Data displayed varies by the type of fault. Refer to Fault Displays, Causes, and Possible
Ext Fault S3
Solutions on page 335 for more information. “ALM” is displayed.
FWD RESET
External fault (example)
ESC
LO
RE
RESET ENTER
RUN STOP
126 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
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 a predefined group of parameters
to values appropriate for the selected application.
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, which provides quicker access by eliminating the need to scroll through multiple
menus.
An Application Preset can either be selected from the Application Selection menu in the Setup Group (Refer to Simplified
Setup Using the Setup Group on page 117) or in parameter A1-06. The following presets can be selected:
Note: 1. Application Presets can only be selected if all drive parameters are 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.
WARNING! Sudden Movement Hazard. Confirm the drive I/O signals and external sequence before performing a test run. Setting parameter
A1-06 may automatically change the I/O terminal function from the default setting. Failure to comply may result in death or serious injury.
No. Parameter Name Setting Range Default
0: General-purpose
1: Water supply pump
2: Conveyor
A1-06 Application Preset 0
3: Exhaust fan
4: HVAC fan
5: Air compressor
u Setting 1: Water Supply Pump Application
Table 4.5 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
Start-Up Programming
C1-01 Acceleration Time 1 1.0 s
C1-02 Deceleration Time 1 1.0 s
& Operation
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 4
<1> Value shown is specific to 200 V class drives. Double value for 400 V class drives.
Table 4.6 Water Supply Pump: User Parameters (A2-01 to A2-16)
No. Parameter Name No. Parameter Name
b1-01 Frequency Reference Selection 1 E2-01 Motor Rated Current
b1-02 Run Command Selection 1 Multi-Function Digital Input Terminal S5 Function
H1-05
b1-04 Reverse Operation Selection Selection
C1-01 Acceleration Time 1 Multi-Function Digital Input Terminal S6 Function
H1-06 Selection
C1-02 Deceleration Time 1
Multi-Function Digital Input Terminal S7 Function
E1-03 V/f Pattern Selection H1-07 Selection
E1-07 Middle Output Frequency L5-01 Number of Auto Restart Attempts
E1-08 Middle Output Frequency Voltage
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 127
4.6 Application Selection
u Setting 2: Conveyor Application
Table 4.7 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 4.8 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
u Setting 3: Exhaust Fan Application
Table 4.9 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> Value shown is specific to 200 V class drives. Double value for 400 V class drives.
Table 4.10 Exhaust Fan: 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 Multi-Function Digital Input Terminal S5 Function
H1-05 Selection
b3-01 Speed Search Selection at Start
C1-01 Acceleration Time 1 Multi-Function Digital Input Terminal S6 Function
H1-06 Selection
C1-02 Deceleration Time 1
Multi-Function Digital Input Terminal S7 Function
E1-03 V/f Pattern Selection H1-07 Selection
E1-07 Middle Output Frequency L5-01 Number of Auto Restart Attempts
128 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
4.6 Application Selection
u Setting 4: HVAC Fan Application
Table 4.11 HVAC 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
b1-17 Run Command at Power Up 1: Run command issued, motor operation start
C6-01 Drive Duty Mode Selection 1: Normal Duty (ND)
C6-02 Carrier Frequency Selection 3: 4.0 kHz
H2-03 Terminal P2-PC Function Selection 39: Watt Hour Pulse Output
2: CPU Power Active - Drive will restart if power returns prior
L2-01 Momentary Power Loss Operation Selection to control power supply shut 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.
Table 4.12 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 Setting Bias
C6-02 Carrier Frequency Selection L2-01 Momentary Power Loss Operation Selection
d2-01 Frequency Reference Upper Limit o4-12 kWh Monitor Initialization
u Setting 5: Air Compressor Application
Start-Up Programming
Table 4.13 Air Compressor: Parameter Settings
No. Parameter Name Default Setting
& Operation
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 4
C6-01 Drive Duty Mode 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 4.14 Air 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
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 129
4.7 Auto-Tuning
4.7 Auto-Tuning
u 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. Refer to Start-Up Flowcharts on page 119 for directions on executing Auto-
Tuning.
Note: The drive will only show Auto-Tuning parameters that are valid for the control mode that has been set in 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 CLV or CLV/PM.
n Auto-Tuning for Induction Motors
This feature automatically sets the V/f pattern and motor parameters E1-oo and E2-oo (E3-oo, E4-oo for motor 2) for
an induction motor. Additionally, the feature also sets some F1-oo parameters for speed feedback detection in Closed Loop
Vector.
Table 4.15 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.
• Motor and load cannot be decoupled but the motor load is
Rotational Auto-Tuning T1-01 = 0 – – YES YES
below 30%.
• Rotational Auto-Tuning gives the most accurate results,
and is recommended if possible.
• Motor and load cannot be decoupled and the load is higher
than 30%.
Stationary T1-01 = 4 • A motor test report is available. After entering the no-load – – YES YES
Auto-Tuning 2
current and the rated slip, the drive calculates and sets all
other motor-related parameters.
• The drive is used in V/f Control and other Auto-Tuning
selections are not possible.
• Drive and motor capacities differ.
Stationary Auto-Tuning
for Line-to-Line T1-01 = 2 • Tunes the drive after the cable between the drive and motor YES YES YES YES
Resistance has been 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 using the Energy Saving function in
V/f Control.
Rotational Auto-Tuning T1-01 = 3 • Assumes motor can rotate while Auto-Tuning is executed. YES YES – –
for V/f Control
Increases accuracy for certain functions like torque
compensation, slip compensation, Energy Saving, and
Speed Search.
• A motor test report listing motor data is not available.
Stationary • Motor can be driven with a normal duty mode after Auto-
T1-01 = 5 Tuning. A trial run is performed after Auto-Tuning to – – YES YES
Auto-Tuning 3
automatically calculate motor parameters needed for vector
control.
Table 4.16 lists the data that must be entered for Auto-Tuning. Make sure this data is available before starting Auto-Tuning.
The necessary information is usually listed on the motor nameplate or in the motor test report provided by the motor
manufacturer. Refer to Subchart A-1: Simple Motor Setup Using V/f Control on page 121 and Refer to Subchart A-2: High
Performance Operation Using OLV or CLV on page 122 for details on Auto-Tuning processes and selections.
130 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
4.7 Auto-Tuning
Table 4.16 Auto-Tuning Input Data
Tuning Type (T1-01)
Input 2 3
Input Value Unit 0 4 5
Parameter Line-to-Line Rotational for V/
Standard Stationary 2 Stationary 3
Resistance 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 – YES YES YES
Motor Rated Current T1-04 A YES YES YES YES YES
Motor Rated Frequency T1-05 Hz YES – YES YES YES
Number of Motor Poles T1-06 - YES – YES YES YES
Motor Rated Speed T1-07 r/min YES – YES YES YES
PG Number of Pulses per
Revolution T1-08 - YES <1> – – YES <1> YES <1>
Motor No-Load Current T1-09 A – – – YES YES
Motor Rated Slip T1-10 Hz – – – YES YES
Motor Iron Loss T1-11 W – – YES – YES
<1> Input data is needed for CLV/PM only.
n Auto-Tuning for Permanent Magnet Motors
Automatically sets the V/f pattern and motor parameters E1-oo and E5-oo when a PM motor is used. Additionally, the
feature also sets some F1-oo parameters for speed feedback detection in Closed Loop Vector.
Table 4.17 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 T2-01 = 0 • Motor test report or motor data similar to Table 4.18 are YES YES YES
Settings
available.
PM Stationary Auto- • A motor test report listing motor data is not available.
T2-01 = 1 YES YES YES
Start-Up Programming
Tuning • Drive automatically calculates and sets motor parameters.
• Useful to tune the drive when the motor data were set up
PM Stationary Auto- manually or by motor code and the cable is longer than 50
Tuning for Stator T2-01 = 2 m. YES YES YES
& Operation
Resistance • Should also be performed if the cable length has changed
after prior tuning.
• PG encoder has been replaced. Calculates the Z Pulse offset.
Z Pulse Offset Tuning T2-01 = 3 – – YES
• Requires the motor to rotate with no load or very low load.
• Use when a motor test is not available. 4
• Tunes the motor induction voltage only.
Back EMF Constant • Should be performed after motor data are set and the encoder
T2-01 = 11 – – YES
Tuning offset is 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 • Low speed and no torque after activating the high frequency
Injection Parameter T2-01 = 13 injection control (n8-57 = 1) in AOLV/PM. – YES YES
Tuning
• 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
PM Rotational Auto- Auto-Tuning is performed. Drive automatically calculates
T2-01 = 14 YES YES YES
Tuning and sets motor parameters.
• PM Rotational Auto-Tuning gives more accurate results than
Stationary Auto-Tuning.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 131
4.7 Auto-Tuning
Table 4.18 lists the data that must be entered for Auto-Tuning. Make sure the data is available before starting Auto-Tuning.
The necessary information is usually listed on the motor nameplate or in the motor test report provided by the motor
manufacturer. Refer to Subchart A-3: Operation with Permanent Magnet Motors on page 124 for details on the Auto-Tuning
process and selection.
Figure 4.12 Motor Nameplate Example
Table 4.18 Auto-Tuning Input Data
Tuning Type (T2-01)
Input 2 11
Input Value Unit 3 13
Param. 0 1 Stationary Back 14
Z-Pulse High Freq.
Motor Parameter Settings Stationary Stator EMF Rotational
Offset Injection
Resis. Const.
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 (Hex.) T2-02 – <1> <1> <1> – – – – – – – – –
Motor Type T2-03 – – – – YES YES – – – – YES YES YES
Motor Rated Power T2-04 kW – YES YES YES YES – – – – YES YES YES
Motor Rated
T2-05 Vac – YES YES YES YES – – – – YES YES YES
Voltage
Motor Rated
T2-06 A – YES YES YES YES YES – – – YES YES YES
Current
Motor Rated
T2-07 Hz – YES – YES – – – – – YES – –
Frequency
Number of Motor
T2-08 – – YES YES YES YES – – – – YES YES YES
Poles
Motor Rated Speed T2-09 r/min – – YES – YES – – – – – YES YES
Stator Single-phase
T2-10 Ω YES YES YES – – – – – – – – –
Resistance
d-Axis Inductance T2-11 mH YES YES YES – – – – – – – – –
q-Axis Inductance T2-12 mH YES YES YES – – – – – – – – –
Induced Voltage mVs/
Constant Unit T2-13 rad YES YES YES – – – – – – – – –
Selection (elec.)
Voltage Constant mVmin
T2-14 YES YES YES – – – – – – – – –
<3> (mech.)
Tuning Pull-in
T2-15 % – – – YES YES – – – – YES YES YES
Current
PG Number of
Pulses Per T2-16 ppr YES <2> – YES <2> – YES <2> – – – – – – YES
Revolution
deg <2>
Z Pulse Offset T2-17
(mech.) YES
– YES <2> – YES <2> – – – – – – –
<1> Input the motor code when using a Yaskawa motor. Select “FFFF” when using a motor from another manufacturer.
<2> Input data is needed for CLV/PM only.
<3> Dependent upon T2-13 setting.
132 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
4.7 Auto-Tuning
n Inertia Tuning and Speed Control Loop Auto-Tuning
Inertia Tuning can be performed when the drive is using CLV control for either IM or PM motors. Inertia Tuning automatically
calculates load and motor inertia, and optimizes settings related to Feed Forward control.
ASR Gain Auto-Tuning performs the same operation as Inertia Tuning, while also optimizing speed control loop settings.
Table 4.19 Inertia and Speed Control Loop Tuning
Type Setting Control Mode Application Conditions and Benefits
IM T1-01 = 8 CLV Allows the motor to rotate at a certain speed and applies a test signal. The response
Motor
Inertia Tuning to the test signal is analyzed and the necessary adjustments are made to parameters
PM controlling the Feed Forward function.
T2-01 = 8 CLV/PM
Motor
IM T1-01 = 9 CLV
ASR Gain Auto- Motor Performs the same operation as Inertia Tuning, while also adjusting the ASR gain
Tuning PM according to the test signal response.
T2-01 = 9 CLV/PM
Motor
Note: Inertia Tuning and ASR Gain Auto-Tuning may not be available when gears are between the machine and the motor shaft.
Table 4.20 explains the data that must be entered to perform the Inertia Tuning and ASR Gain Auto-Tuning. Refer to Auto-
Tuning for Permanent Magnet Motors on page 131 for details.
Table 4.20 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 – YES
u Before Auto-Tuning the Drive
Start-Up Programming
Check the items below before Auto-Tuning the drive.
n Basic Auto-Tuning Preparations
& Operation
• 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 at least equal to or greater than the motor rated voltage.
Note: Better performance is possible when using a motor with a base voltage that is lower than the input supply voltage (20 V for 200 V class 4
models and 40 V for 400 V class models). 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 4.21 describes digital input and output terminal operation while Auto-Tuning is executed.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 133
4.7 Auto-Tuning
Table 4.21 Auto-Tuning Input Data
Motor Type Auto-Tuning Type Digital Input Digital Output
Rotational Auto-Tuning Functions the same as during normal operation.
Stationary Auto-Tuning 2
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
PM Stationary Auto-Tuning for Stator Resistance are disabled. 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
WARNING! Sudden Movement Hazard. Ensure 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.
WARNING! Electrical Shock Hazard. When executing Auto-Tuning, voltage is applied to the motor before the motor rotates. Do not touch
the motor until Auto-Tuning is completed. Failure to comply may result in injury or death from electrical shock. If Rotational Auto-Tuning is
performed, the motor will remain stopped for approximately one minute with power applied and then the motor will rotate for one minute.
n Notes on Rotational Auto-Tuning
• Decouple the load from the motor to achieve optimal performance from Rotational Auto-Tuning. Rotational Auto-Tuning
is best suited for applications requiring high performance over a wide speed range.
• If it is not possible to decouple the motor and load, reduce the load so it is less than 30% of the rated load. Performing
Rotational Auto-Tuning with a higher load will set motor parameters incorrectly, and can cause irregular motor rotation.
• Ensure the motor-mounted brake is fully released, if installed.
• Connected machinery should be allowed to rotate the motor.
n Notes on Stationary Auto-Tuning
Stationary Auto-Tuning modes analyze motor characteristics by injecting current into the motor for approximately one minute.
WARNING! Electrical Shock Hazard. When executing stationary Auto-Tuning, voltage is applied to the motor before the motor rotates. Do
not touch the motor until Auto-Tuning is completed. Failure to comply may result in injury or death 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 when using a vector control mode and 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.
• Use Stationary Auto-Tuning 3 when the motor test report is not available. Use Stationary Auto-Tuning 2 when the motor
test report is available.
Stationary Auto-Tuning 3
WARNING! Electrical Shock Hazard. When executing Stationary Auto-Tuning 3, voltage is applied to the motor before the motor 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 3. 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 3 can be used in either OLV or CLV control by setting T1-01 to 5 and entering the input data from
the motor nameplate. Pressing the RUN key stops the motor for approximately one minute to automatically calculate the
necessary motor parameters. Motor parameters E2-02 and E2-03 are set automatically when using the motor for the first time
in Drive Mode after Auto-Tuning has been performed.
After performing Stationary Auto-Tuning 3, make sure the following conditions are met and use the following procedures to
perform the operation in test mode:
134 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
4.7 Auto-Tuning
1. 1. Check the E2-02 and E2-03 values in Verify Mode or Parameter Setting Mode.
2. Operate the motor 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 E2-02 and E2-03 values in Verify Mode or Parameter Setting Mode.
4. Confirm that the input data is correct.
Note: 1. If the aforementioned conditions are not met before using the motor for the first time, there will be large discrepancies between the
values set for the motor rated slip (E2-02), motor no-load current (E2-03), the motor test report, and the default values based on o2-04,
Drive Model Selection and C6-01, Drive Duty Rating.
2. If midway initialization is performed, restart the entire tuning 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 and Duty Rating ND/HD on page 536 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 cables more than 50 m long after Auto-Tuning has already been performed, use
Stationary Auto-Tuning for line-to-line resistance.
WARNING! Electrical Shock Hazard. When executing Stationary Auto-Tuning for Line-to-line resistance, 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 or death from electrical
shock.
n 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 or death from electrical shock.
• Perform both tuning methods with the machine connected to the motor, but without the 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.
Start-Up Programming
• Ensure the motor-mounted brake is fully released if installed.
• Connected machinery should be allowed to rotate the motor.
& Operation
u 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.
A B 4
DIGITAL OPERATOR JVOP-180
ALM DIGITAL OPERATOR JVOP-180
ALM
- A.TUNE - DRV Rdy - MODE - DRV
Tune Proceeding
X.XX Hz/ X.XXA Er-03
STOP key
<<<<<< >>> >>>
FWD FWD RESET
A – During Auto-Tuning
ESC
LO B – Auto-Tuning
ESC
Aborted
LO
RE RE
Figure 4.13 Auto-Tuning Aborted Display
RESET ENTER RESET ENTER
RUN STOP RUN STOP
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 135
4.7 Auto-Tuning
u Auto-Tuning Operation Example
The following example demonstrates Rotational Auto-Tuning when using OLV (A1-02 = 2) and CLV (A1-02 = 3).
n 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 or until the Auto-Tuning display appears. AUTO
HELP FWD DATA
- A.TUNE - PRG Rdy
Tuning Mode Sel
T1-01= 0 *0*
3. Press to begin setting parameters. StandardTuning
ESC FWD DATA
- A.TUNE - PRG Rdy
Tuning Mode Sel
T1-01= 0 *0*
4. Press to display the value for T1-01. <1> StandardTuning
“0”
FWD
5. Save the setting by pressing . Entry Accepted
- A.TUNE - PRG Rdy
Tuning Mode Sel
T1-01= 0 *0*
6. The display automatically returns to the display shown in Step 3. StandardTuning
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-oo = 16).
n 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 Rdy
Mtr Rated Power
1. Press to access the motor output power parameter T1-02. T1-02= 0.75kW
(0.00 ~ 650.00)
The value set for E2-11 prior to turning on the power is displayed for T1-02. “0.75kW”
ESC FWD DATA
- A.TUNE - PRG Rdy
Mtr Rated Power
T1-02= 000.75kW
2. The setting value of T1-02 flashes when is pressed. (0.00 ~ 650.00)
The setting can be changed. “0.75kW”
FWD
- A.TUNE - PRG Rdy
Mtr Rated Power
F1 F2
T1-02= 000.40kW
3. Press left , right , , , and to enter the motor power nameplate data in (0.00 ~ 650.00)
kW. “0.75kW”
FWD
4. Press to save the setting. Entry Accepted
136 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
4.7 Auto-Tuning
Step Display/Result
- A.TUNE - PRG Rdy
Mtr Rated Power
T1-02= 0.40kW
5. The display automatically returns to the display in Step 1. (0.00 ~ 650.00)
“0.75kW”
ESC FWD DATA
- A.TUNE - PRG
Rated Voltage
Repeat Steps 1 through 5 to set the following parameters: T1-03= 200.0VAC
• T1-03, Motor Rated Voltage (0.0 ~ 255.0)
“200.0VAC”
• T1-04, Motor Rated Current ESC FWD DATA
• T1-05, Motor Base Frequency
6.
• T1-06, Number of Motor Poles
• T1-07, Motor Base Frequency - A.TUNE - PRG
Mtr Rated Slip
• T1-09, Motor No-Load Current (Stationary Auto-Tuning 2 only) T1-10= X.XX Hz
(0.00 ~ 20.00)
• T1-10, Motor Rated Slip (Stationary Auto-Tuning 2 only) “X.XX Hz”
ESC FWD DATA
Note: 1. For details on each setting, Refer to T1: Parameter Settings during Induction Motor Auto-Tuning on page 137.
2. To execute Stationary Auto-Tuning for line-to-line resistance only, set parameters T1-02 and T1-04.
n 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
Start-Up Programming
Auto-Tuning
0.00 Hz/ 0.00A
1. After entering the data listed on the motor nameplate, press to confirm. Tuning Ready ?
Press RUN key
ESC FWD
& Operation
- A.TUNE - DRV Rdy
Tune Proceeding
Press to activate Auto-Tuning. flashes. The drive begins by injecting current
X.XX Hz/ X.XXA
2. into the motor for about 1 min, and then starts to rotate the motor.
<<<<<< >>> >>>
Note: FWD
- MODE - DRV 4
End
3. Auto-Tuning finishes in approximately one to two minutes. Tune Successful
FWD RESET
u T1: Parameter Settings during Induction Motor Auto-Tuning
The T1-oo parameters set the Auto-Tuning input data for induction motor tuning.
Note: For motors operating in the field weakening range, first perform the Auto-Tuning with the base data. After Auto-Tuning is complete, change
E1-04, Maximum Output Frequency, to the desired value.
n 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-oo = 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, 2 1
Setting 1: Motor 1
Auto-Tuning automatically sets parameters E1-oo and E2-oo for motor 1.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 137
4.7 Auto-Tuning
Setting 2: Motor 2
Auto-Tuning automatically sets parameters E3-oo and E4-oo for motor 2. Make sure that motor 2 is connected to the drive
for Auto-Tuning.
n T1-01: Auto-Tuning Mode Selection
Sets the type of Auto-Tuning to be used. Refer to Auto-Tuning for Induction Motors on page 130 for details on the different
types of Auto-Tuning.
No. Name Setting Range Default
V/f: 2, 3
V/f w/PG: 2, 3 V/f, V/f w/PG: 2
T1-01 Auto-Tuning Mode Selection OLV: 0, 2, 4, 5 OLV, CLV: 0
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
Setting 9: ASR Gain Auto-Tuning
Note: Inertia Tuning and ASR Gain Auto-Tuning may not be available when gears are between the machine and the motor shaft.
n T1-02: Motor Rated Power
Sets the motor rated power according to the motor nameplate value.
No. Name Setting Range Default
Determined by
T1-02 Motor Rated Power 0.00 to 650.00 kW o2-04 and C6-01
n T1-03: Motor Rated Voltage
Sets the motor rated voltage according to the motor nameplate value. Enter the voltage base speed here if the motor is operating
above base speed.
Enter the voltage needed to operate the motor under no-load conditions at rated speed to T1-03 for better control precision
around rated speed when using a vector control mode. 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 Motor Rated Voltage 0.0 to 255.5 V <1> 200.0 V <1>
<1> Values are specific to 200 V class drives. Double values for 400 V class drives.
n T1-04: Motor Rated Current
Sets the motor rated current according to the motor nameplate value. Set the motor rated current between 50% and 100% of
the drive rated current for optimal performance in OLV or CLV. Enter the current at the motor base speed.
No. Name Setting Range Default
10 to 150% of drive rated
T1-04 Motor Rated Current o2-04
current
n T1-05: Motor Base Frequency
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 60.0 Hz
138 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
4.7 Auto-Tuning
n T1-06: Number of Motor Poles
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
n T1-07: Motor Base Speed
Sets the motor rated speed according to the motor nameplate value. Enter the speed at base frequency when using a motor
with an extended speed range or if using the motor in the field weakening area.
No. Name Setting Range Default
T1-07 Motor Base Speed 0 to 24000 r/min 1750 r/min
n T1-08: PG Number of Pulses Per Revolution
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 1 to 60000 ppr 1024 ppr
Note: T1-08 will only be displayed in CLV.
n T1-09: Motor No-Load Current
Sets the no-load current for the motor. The default setting displayed is no-load current 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 Motor No-Load Current –
(Max: 0 to 2999.9) <1>
<1> Display is in the following units:
2o0028 and 4o0011 to 4o0034: 0.01 A units.
Start-Up Programming
2o0042 to 2o0248 and 4o0040 to 4o0414: 0.1 A units.
n T1-10: Motor Rated Slip
& Operation
Sets the rated slip for the motor. The default setting displayed is the 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 – 4
n T1-11: Motor Iron Loss
Provides iron loss information to determine the Energy Saving coefficient. T1-11 will first display the value for the motor iron
loss that was automatically calculated when motor capacity was entered to T1-02. Enter the motor iron loss value listed to
T1-11 if the motor test report is available.
No. Name Setting Range Default
E2-11
T1-11 Motor Iron Loss 0 to 65535 W (E4-11)
u Parameter Settings during PM Motor Auto-Tuning: T2
The T2-oo parameters are used to set the Auto-Tuning input data for PM motor tuning.
n 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 131 for
details on different types of Auto-Tuning.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 139
4.7 Auto-Tuning
No. Name Setting Range Default
OLV/PM: 0, 1, 2, 14
AOLV/PM: 0, 1, 2, 13, 14
T2-01 PM Motor Auto-Tuning Mode Selection 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
Note: Inertia Tuning may not be available when gears are between the machine and the motor shaft.
Setting 9: ASR Gain Auto-Tuning
Note: ASR Gain Auto-Tuning may not be available when gears are between the machine and the motor shaft.
Setting 11: Back EMF Constant Tuning
Note: 1. Back EMF Constant Tuning may not be available when gears are between the machine and the motor shaft.
2. For special-purpose motors, Yaskawa recommends performing Back EMF Constant Tuning after performing Stationary Auto-Tuning.
Back EMF Constant Tuning rotates the motor to measure the actual induction voltage constants, which allows for more accurate control
than Stationary Auto-Tuning alone.
Setting 13: High Frequency Injection Parameter Tuning
Setting 14: PM Rotational Auto-Tuning
n T2-02: PM Motor Code Selection
If the drive is operating a Yaskawa PM motor from the SMRA, SSR1, or SST4 series, enter the motor code in T2-02 to
automatically set parameters T2-03 through T2-14. If the drive is operating a specialized motor or a motor designed by a
manufacturer other than Yaskawa, set T2-02 to FFFF and enter the data from the motor nameplate or the motor test report as
prompted.
Only the designated PM motor codes may be entered. The PM motor codes accepted by the drive will differ depending on the
selected control mode. Refer to E5: PM Motor Settings on page 230 for motor codes.
No. Name Setting Range Default
Determined by A1-02
T2-02 PM Motor Code Selection 0000 to FFFF and o2-04
n 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
n T2-04: PM Motor Rated Power
Specifies the motor rated power in kilowatts.
No. Name Setting Range Default
Determined by o2-04
T2-04 PM Motor Rated Power 0.00 to 650.00 kW and C6-01
n T2-05: PM Motor Rated Voltage
Sets the motor rated voltage.
No. Name Setting Range Default
T2-05 PM Motor Rated Voltage 0.0 to 255.0 V <1> 200.0 V <1>
<1> Value shown is specific to 200 V class drives. Double value for 400 V class drives.
140 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
4.7 Auto-Tuning
n T2-06: PM Motor Rated Current
Enter the motor rated current in amps.
No. Name Setting Range Default
10% to 150% of the drive
T2-06 PM Motor Rated Current Determined by o2-04
rated current.
n 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
n 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
n T2-09: PM Motor Base Speed
Enter the motor rated speed in r/min.
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 r/min 1750 r/min
n T2-10: PM Motor Stator Resistance
Enter the motor stator resistance per motor phase.
Start-Up Programming
No. Name Setting Range Default
T2-10 PM Motor Stator Resistance 0.000 to 65.000 Ω Determined by T2-02
& Operation
n 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 Determined by T2-02 4
n 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 Determined by T2-02
n 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 (r/min)
Setting 1: mV (rad/sec)
Note: If T2-13 is set to 0, then the drive will use E5-24 (Motor Induction Voltage Constant 2), and will automatically set E5-09 (Motor Induction
Voltage Constant 1 (Ke)) 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.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 141
4.7 Auto-Tuning
n 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 Determined by T2-02
n 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%
n 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
n T2-17: Encoder Z Pulse Offset (ΔΘ)
Sets the amount of compensation or offset in 0.1 degree units to fine-tune the home position. Perform Z Pulse tuning when
the amount of offset needed for the Z Pulse is unknown or if the PG encoder is replaced.
No. Name Setting Range Default
T2-17 Encoder Z Pulse Offset (ΔΘ) -180.0 to 180.0 deg 0.0 deg
u Parameter Settings during Inertia and Speed Control Loop Auto-Tuning: T3
These tuning methods apply a sine wave test signal to the system. The drive estimates the system inertia by the measuring the
response and automatically sets the parameters listed in Table 4.22.
Table 4.22 Parameters Adjusted by Inertia and Speed Loop Auto-Tuning
T1-01 or T2-01
Parameter Description 9
8 Speed Control Loop (ASR)
Inertia Tuning Tuning
C5-01 ASR Proportional Gain 1 – 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
n T3-01: Inertia Tuning Frequency Reference
Sets the frequency of the test signal applied to the motor during Inertia Tuning. Although this setting rarely needs to be changed,
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
n T3-02: Inertia Tuning Reference Amplitude
Enter the amplitude of the test signal applied to the motor during Inertia Tuning. Although this setting rarely needs to be
changed, decrease the setting if a large load inertia causes problems during Inertia Tuning. Adjust T3-02 if a fault occurs when
T3-01 is set to a low value.
No. Name Setting Range Default
T3-02 Inertia Tuning Reference Amplitude 0.1 to 10.0 rad 0.5 rad
142 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
4.7 Auto-Tuning
n 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
Determined by o2-04,
T3-03 Motor Inertia 0.0001 to 600.00 kgm2 C6-01, E5-01
Note: Display is in the following units:
Models 2o0028 to 2o0130 and 4o0011 to 4o0077: 0.0001 kgm2 units
Models 2o0154 to 2o0248 and 4o0096 to 4o0414: 0.001 kgm2 units
Display resolution depends on the rated output current of the drive after setting drive duty using parameter C6-01.
n 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
Start-Up Programming
& Operation
4
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 143
4.8 No-Load Operation Test Run
4.8 No-Load Operation Test Run
u No-Load Operation Test Run
This section explains how to operate the drive with the motor decoupled from the load during a test run.
n 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.
n 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.
n No-Load Operation Instructions
The following example illustrates a test run procedure using 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 (OPR)
U1-01= 0.00Hz
U1-02= 0.00Hz LSEQ
U1-03= 0.00A LREF
JOG FWD FWD/REV
F1 F2
LO
2.
ESC
RE
Press to select LOCAL. The LO/RE light will turn on. RESET ENTER
RUN STOP
Off On
Set the frequency reference to 6 Hz. Refer to Setting the Frequency Reference while in
3. – –
the Drive Mode on page 114 for the setting procedure.
DIGITAL OPERATOR JVOP-180 ALM
- 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 RESET ENTER
at 6 Hz. RUN STOP
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 Setting the
Frequency Reference while in the Drive Mode on page 114. Increase the frequency in
6. increments of 10 Hz, verifying smooth operation 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.
144 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
4.8 No-Load Operation Test Run
Step Display/Result
ALM
- MODE - DRV Rdy
FREF (OPR)
U1-01= 60.00Hz
U1-02= 0.00Hz LSEQ
U1-03= 0.00A LREF
JOG FWD FWD/REV
F1 F2
LO
ESC
STOP
RE
7. The drive should operate normally. Press to stop the motor. RUN flashes during RESET ENTER
deceleration to stop until the motor comes to a complete stop. RUN STOP
RUN RUN
Off On
Start-Up Programming
& Operation
4
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 145
4.9 Test Run with Load Connected
4.9 Test Run with Load Connected
u 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.
n Precautions for Connected Machinery
WARNING! Sudden Movement Hazard. Clear all personnel from the drive, motor, and machine area before applying power. System may
start unexpectedly upon application of power, causing death or serious injury.
WARNING! Sudden Movement Hazard. Always check the operation of any fast stop circuits after they are wired. Fast stop circuits are
required to provide safe and quick shutdown of the drive. Prepare to initiate an emergency stop during the test run. Operating a drive with
untested emergency circuits could result in death or serious injury.
• The motor should come to a complete stop without problems.
• Connect the load and machinery to the motor.
• Fasten all installation screws properly and check that the motor and connected machinery are held in place.
n Checklist Before Operation
• The motor should rotate in the proper direction.
• The motor should accelerate and decelerate smoothly.
n Operating the Motor under Loaded Conditions
Test run the application similarly to the no-load test procedure when connecting the machinery to the motor.
• Monitor U1-03 for overcurrent during operation.
• If the application permits running the load in the reverse direction, change the motor direction and the frequency reference
while watching for abnormal motor oscillation or vibration.
• Correct any problems that occur with hunting, oscillation, and other control-related issues.
146 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
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 116.
Save the verified parameter settings. Change the access level or set a password to the drive to prevent accidental modification
of parameter settings.
u Backing Up Parameter Values: o2-03
Setting o2-03 to 1 saves all parameter settings before resetting o2-03 to 0. The drive can now recall all the saved parameters
by performing a User Initialization (A1-03 = 1110).
Parameter Setting Default
No. Description
Name Range Setting
Lets the user create a set of default settings for a User Initialization.
0: Saved/Not Set
1: Set Defaults - Saves current parameter settings as the default values for a User
o2-03 User Defaults Initialization. 0 to 2 0
2: Clear All - Clears the currently saved user settings. After saving the user parameter set
value, the items of 1110 (User Initialization) 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
Initialize
A1-03 parameter o2-03) 0 to 5550 0
Parameters 2220: 2-Wire Initialization (parameter initialized prior to shipment)
3330: 3-Wire Initialization
5550: oPE4 Fault reset
u Parameter Access Level: A1-01
Setting the Access Level for “Operation only” (A1-01 = 0) allows the user to access parameters A1-oo and Uo-oo 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
Start-Up Programming
previously saved as User Parameters. This is helpful when displaying only the relevant parameters for a specific application.
Parameter Setting
No. Description Default
Name Range
& Operation
Selects which parameters are accessible via the digital operator.
0: Operation only. A1-01, A1-04, and A1-06 can be set and monitored, and Uo-ooparameters
Access Level can also be viewed.
A1-01 0 to 2 2
Selection 1: User Parameters. Only recently changed parameters from application parameters A2-01 to
A2-16 and A2-17 to A2 -32 can be set and monitored.
2: Advanced Access Level. All parameters can be set and monitored. 4
Parameters selected by the user are saved as User Parameters, including recently viewed
parameters and parameters specifically selected for quick access.
A2-01 User If parameter A2-33 is set to 1, recently viewed parameters will be listed between A2-17 and A2-32.
to Parameters 1 Parameters A2-01 through A2-16 must be manually selected by the user. A1-00 to –
A2-32 to 32 o4-19
If A2-33 is set to 0, recently viewed parameters will not be saved to the group of User Parameters.
A2-oo parameters are now available for manual programming.
User 0: Parameters A2-01 through A2-32 are reserved for the user to create a group of User Parameters.
Parameter 1: Save history of recently viewed parameters. Recently edited parameters will be saved to A2-17
A2-33 0, 1 1
Automatic through A2-32 for quick access. The most recently changed parameter is saved to A2-17. The
Selection second most recently changed parameter is saved to A2-18, etc.
u Password Settings: A1-04, A1-05
The user can set a password in parameter A1-05 to restrict access to the drive. 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 press and simultaneously.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 147
4.10 Verifying Parameter Settings and Backing Up Changes
u 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 supports copying, importing, and verifying parameter settings. Refer to o3:
Copy Function on page 315 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.
CopyUnitManager is a PC software tool that 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 CopyUnitManager for instructions.
• DriveWizard Industrial
DriveWizard Industrial is a PC software tool for parameter management, monitoring, and diagnosis. DriveWizard Industrial
can load, store, and copy drive parameter settings. For details, refer to Help in the DriveWizard Industrial software.
148 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
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. 126
Check the items that correspond to the control mode being used.
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.
No. Checklist Page
V/f Control (A1-02 = 0) and V/f Control with PG (A1-02 = 1)
3 Select the best V/f pattern according to the application and motor characteristics. –
4 Perform Rotational Auto-Tuning for V/f Control if using Energy Saving functions. 130
V/f Control with PG (A1-02 = 1)
5 Set up the PG feedback parameters correctly and make sure the encoder pulse counting direction is correct. 233
6 Set the proportional gain for ASR speed control to C5-01 and the integral time to C5-02. 199
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. 137
8 Set the Auto-Tuning mode to T1-01 (0 for Rotational Auto-Tuning). 137
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) 137
• Motor base frequency to T1-05 (Hz)
• Number of motor poles to T1-06
Start-Up Programming
• Motor base speed to T1-07 (r/min)
Closed Loop Vector Control (A1-02 = 3)
10 Set F1-01 and F1-05. –
& Operation
11 Set ASR proportional gain to C5-01 and ASR integral time to C5-02. Perform ASR Tuning if possible. 199
Open Loop Vector Control for PM (A1-02 = 5)
12 Perform Auto-Tuning as described. 139
Advanced Open Loop Vector Control for PM (A1-02 = 6) 4
13 Perform Auto-Tuning as described. 139
14 Set the proportional gain for ASR speed control to C5-01 and the integral time to C5-02. 199
Closed Loop Vector Control for PM (A1-02 = 7)
15 Set PM motor data using E5-oo parameters. 139
16 Set ASR proportional gain to C5-01 and ASR integral time to C5-02. Perform ASR Tuning if possible. 199
17 Set F1-01 and F1-05. –
18 Set the offset between the rotor magnetic axis and the Z-pulse of the connected encoder to E5-11. 139
19 The should be displayed on the LCD operator after giving a Run command. –
20 To give Run command and frequency reference from the digital operator, press “LO/RE” key to set to LOCAL. 118
21 If the motor rotates in the opposite direction during test run, switch two of U/T1, V/T2, W/T3, or change b1-14. 126
In accordance with load condition, set Heavy Duty or Normal Duty mode using parameter C6-01. Normal Duty is the
22 –
default setting.
23 Set motor rated current (E2-01, E4-01, E5-03) and motor protection (L1-01) values for motor thermal protection. –
24 Set the drive for REMOTE when control circuit terminals provide the Run command and frequency reference. 118
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 149
4.11 Test Run Checklist
No. Checklist Page
If the control circuit terminals should supply the frequency reference, select the correct voltage input signal level
25 158
(0 to 10 V or -10 to +10 V) or the correct current input signal level (4 to 20 mA or 0 to 20 mA).
26 Apply the proper signal level to terminals A1 and A3 (0 to 10 V or -10 to +10 V). –
27 Apply the proper signal level (-10 to +10 V, 4 to 20 mA or 0 to 20 mA) to terminal A2. –
When current input is used, switch the built-in DIP switch S1 from the V-side to I-side. Set the level for current signal
28 –
used to H3-09 (set “2” for 4 to 20 mA, or “3” for 0 to 20 mA).
Set DIP Switch S1 on the drive to “I” when using terminal A2 as current input.
29 –
Set DIP Switch S1 on the drive to “V” when using terminal A2 as voltage input.
If an analog input supplies the frequency reference, make sure it 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 A1, H3-11 for A2,
30 H3-07 for 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 A1, H3-12 for A2,
H3-08 for A3) until the frequency reference value reaches the desired minimum value.
150 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5
Parameter Details
5.1 A: INITIALIZATION..............................................................................................152
5.2 B: APPLICATION.................................................................................................158
5.3 C: TUNING............................................................................................................191
5.4 D: REFERENCE SETTINGS................................................................................205
5.5 E: MOTOR PARAMETERS..................................................................................220
5.6 F: OPTION SETTINGS.........................................................................................233
5.7 H: TERMINAL FUNCTIONS.................................................................................246
5.8 L: PROTECTION FUNCTIONS............................................................................278
5.9 N: SPECIAL ADJUSTMENTS..............................................................................303
5.10 O: OPERATOR RELATED SETTINGS................................................................312
5.11 U: MONITOR PARAMETERS..............................................................................319
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 151
5.1 A: Initialization
5.1 A: Initialization
The initialization group contains parameters associated with initial drive setup, including parameters involving the display
language, access levels, initialization, and password.
u A1: Initialization
n 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
n 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 to only parameters A1-01, A1-04, 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-oo = 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, it will not be possible to edit or change parameter settings with the
digital operator until an Enter command is issued to the drive from the serial communication.
n A1-02: Control Method Selection
Selects the Control Method (also referred to as the control mode) that the drive uses to operate the motor. Parameter A1-02
determines the control mode for motor 1 when the drive is set up to run two motors.
Note: When changing control modes, all parameter settings depending upon the setting of A1-02 will be reset to the default.
152 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.1 A: Initialization
No. Parameter Name Setting Range Default
A1-02 Control Method Selection 0, 1, 2, 3, 5, 6, 7 0
Control Modes for Induction Motors (IM)
Setting 0: V/f Control for Induction Motors
Use this mode for simple speed control and for multiple motor applications with low demands to dynamic response or speed
accuracy. This control mode is also 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
Use this mode for general-purpose applications that require high speed accuracy but do not require high dynamic response.
This control mode is also used when the motor parameters are unknown and Auto-Tuning cannot be performed. The speed
control range is 1:40.
Setting 2: Open Loop Vector Control
Use this mode for general, variable-speed applications with a speed control range of 1:200 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
Use this mode for general, variable-speed applications that require precise speed control down to zero speed, quick torque
response or precise torque control, and a speed feedback signal from the motor. 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
Use this mode for general, variable-speed applications with low demands on dynamic response or speed accuracy. The drive
can control an SPM or IPM motor with a speed range of 1:20 in this control mode.
Setting 6: Advanced Open Loop Vector Control for PM
Use this mode for general, variable speed applications that require precise speed control and torque limit. 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 310 for details.
Setting 7: Closed Loop Vector Control for PM
Use this mode 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.
Parameter Details
n A1-03: Initialize Parameters
Resets parameters to 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
Setting 1110: User Initialize 5
Resets parameters to the values selected by the user as User Settings. User Settings are stored when parameter o2-03 is set to
“1: Set defaults”.
Note: User Initialization resets all parameters to a user-defined set of default values previously saved to the drive. Set parameter o2-03 to 2 to
clear the user-defined default values.
Setting 2220: 2-Wire Initialization
Resets parameters to default settings with digital inputs S1 and S2 configured as Forward run and Reverse run, respectively.
Refer to Setting 40, 41: Forward Run, Reverse Run Command for 2-Wire Sequence on page 253 for more information on
digital input functions.
Setting 3330: 3-Wire Initialization
Resets parameters to default settings with digital inputs S1, S2, and S5 configured as Run, Stop, and Forward/Reverse
respectively. Refer to Setting 0: 3-Wire Sequence on page 247 for more information on digital input functions.
Setting 5550: oPE04 Reset
An oPE04 error appears on the digital operator when a terminal block with settings saved to its built-in memory is installed
in a drive that has edited parameters. Set A1-03 to 5550 to use the parameter settings saved to the terminal block memory.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 153
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 Motors)
E5-03 Motor Rated Current (for PM Motors)
E5-04 Number of Motor Poles (for PM Motors)
E5-05 Motor Stator Resistance (r1) (for PM Motors)
E5-06 Motor d-Axis Inductance (Ld) (for PM Motors)
E5-07 Motor d-Axis Inductance (Lq) (for PM Motors)
E5-09 Motor Induction Voltage Constant 1 (Ke) (for PM Motors)
E5-24 Motor Induction Voltage Constant 2 (Ke) (for PM Motors)
F6-oo/F7-oo Communication Parameters (Initialized when F6-08 = 1)
L8-35 Installation Method Selection
o2-04 Drive Model Selection
n A1-04, A1-05: Password and Password Setting
Parameter A1-04 enters the password when the drive is locked; parameter A1-05 is a hidden parameter that sets 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 in parameter A1-05 to restrict access to the drive. 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.
The instructions below demonstrate how to set password “1234”. An explanation follows on how to enter that password to
unlock the parameters.
Table 5.2 Setting the Password for Parameter Lock
Step Display/Result
- MODE - DRV Rdy
Freq Ref (AI)
U1-01= 0.00Hz
1. Turn on the power to the drive. The initial display appears. U1-02= 0.00Hz RSEQ
U1-03= 0.00 A RREF
FWD
- MODE - PRG
Programming
2. Press until the Parameter Setting Mode screen appears.
HELP FWD DATA
-PRMSET- PRG
Initialization
A1-00= 0
3. Press to enter the parameter menu tree. Select Language
← FWD →
154 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.1 A: Initialization
Step Display/Result
-PRMSET- PRG
Select Language
A1-00= 0 *0*
4. Select the flashing digits by pressing . English
← FWD →
-PRMSET- PRG
Enter Password
A1- 04 = 0
5. Select A1-04 by pressing . (0~9999)
“0”
← FWD →
-PRMSET- PRG
OFF Select Password
Press while holding down at the same time. A1-05 will appear. A1- 05 = 0
6. (0~9999)
Note: “0”
A1-05 is hidden and will not display by pressing only . ← FWD →
-PRMSET- PRG
Select Password
A1- 05 = 0000
0
7. Press . (0~9999)
“0”
← FWD →
-PRMSET- PRG
Select Password
A1- 05 = 12344
8. Use F1
, F2
, , and to enter the password. (0~9999)
“0”
← FWD →
9. Press to save what was entered. Entry Accepted
-PRMSET- PRG
Select Password
A1- 05 = 0
10. The display automatically returns to the display shown in step 6. (0~9999)
“0”
← FWD →
Table 5.3 Check if A1-02 is Locked (continuing from step 10 above)
Step Display/Result
-PRMSET- PRG
Control Method
Parameter Details
A1-02= 2 2
1. Press to display A1-02. Open Loop Vector
← FWD →
2. Press , making sure that the setting values cannot be changed. – –
- MODE - PRG
3.
Programming
5
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
Initialization
A1-00= 0
1. Press to enter the parameter setup display. Select Language
← FWD →
-PRMSET- PRG
Select Language
A1-00= 0 *0*
2. Press to select the flashing digits as shown. English
← FWD →
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 155
5.1 A: Initialization
Step Display/Result
-PRMSET- PRG
Enter Password
A1- 04 = 0
3. Press to scroll to A1-04. (0~9999)
“0”
← FWD →
-PRMSET- PRG
Enter Password
A1-04= 12344
4. Press key. Use F1
, F2
, , , and to enter the password. V/f Control
← FWD →
5. Press to save the new password. Entry Accepted
-PRMSET- PRG
Enter Password
A1- 04 = 0
6. Drive returns to the parameter display. (0~9999)
“2”
← FWD →
-PRMSET- PRG
Control Method
A1-02= 2 2
7. Press and scroll to A1-02. Open Loop Vector
← FWD →
-PRMSET- PRG
Control Method
A1-02= 2 2
8. Press to display the value set to A1-02. Open Loop Vector
← FWD →
-PRMSET- PRG
Control Method
A1-02= 0 2
9. Use and to change the value if desired (though changing the control mode at this point is V/F Control
not typically done).
← →
“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
A1-02= 0 0
11. The display automatically returns to the parameter display. V/F Control
← FWD →
Note: 1. Parameter settings can be edited after entering the correct password.
2. Performing a 2-Wire or 3-Wire initialization resets the password to “0000”.
n A1-06: Application Preset
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 a predefined group of parameters
to values appropriate for the selected application.
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, which provides quicker access by eliminating the need to scroll through multiple
menus.
Refer to Application Selection on page 127 for details on parameter A1-06.
n A1-07: DriveWorksEZ Function Selection
Enables and disables the DriveWorksEZ program inside the drive.
156 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.1 A: Initialization
DriveWorksEZ is a software package for customizing drive functionality or adding PLC functionality by the interconnection
and configuration of basic software function blocks. The drive performs user-created programs in 1 ms cycles.
Note: 1. If DriveWorksEZ has assigned functions to any of the 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.
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-oo = 9F), DWEZ will be enabled when the input is opened.
u A2: User Parameters
n A2-01 to A2-32: User Parameters 1 to 32
The user can select up to 32 parameters and assign them to parameters A2-01 through A2-32 to provide quicker access by
eliminating the need to scroll through multiple menus. The User Parameter list can also save the most recently edited
parameters.
No. Parameter Name Setting Range Default
Determined by
A2-01 to A2-32 User Parameters 1 to 32 b1-01 to o4-19
A1-06 <1>
<1> A1-06 determines how parameters edited by the user are saved to the list of User Parameters, A2-01 through A2-32. Refer to Application
Selection on page 127 for details.
Saving User Parameters
To save specific parameters to A2-01 through A2-32, set parameter A1-01 to 2 to allow access to all parameters, then enter
the parameter number to one of the A2-oo parameters to assign it to the list of User Parameters. Finally, set A1-01 to 1 to
restrict access so users can only set and refer to the parameters saved as User Parameters.
n A2-33: User Parameter Automatic Selection
Determines whether recently edited parameters are saved to the second half of the User Parameters (A2-17 to A2-32) for
Parameter Details
quicker access.
No. Parameter Name Setting Range Default
Determined by
A2-33 User Parameter Automatic Selection 0, 1 A1-06
Setting 0: Do not save list of recently edited parameters
Set A2-33 to 0 to manually select the parameters listed in the User Parameter group. 5
Setting 1: Save list of recently edited parameters
Set A2-33 to 1 to automatically save recently edited parameters 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. Access the User Parameters
using the Setup Mode of the digital operator.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 157
5.2 b: Application
5.2 b: Application
u b1: Operation Mode Selection
n b1-01: Frequency Reference Selection 1
Selects 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 and the STOP indicator will flash. However, the RUN indicator LED will light in zero speed
control when A1-02 is set to 3, 4, 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-oo 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 Signal Level Notes
Function Selection Gain Bias
Selection
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 Set DIP switch S1 on the
H3-10 = 0
A2 H3-11 H3-12 terminal board to “V” for
-10 to +10 Vdc H3-09 = 1 (Frequency Reference Bias) voltage input.
0 to 10 Vdc H3-05 = 0 H3-06 = 0 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”.
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
2k A1 Analog Input 1 4k A1 Analog Input 1
A2 Analog Input 2 A2 Analog Input 2
OR
A3 Analog Input 3 A3 Analog Input 3
AC Analog input common AC Analog input common
-V -10.5 V, 20 mA power supply -V -10.5 V, 20 mA power supply
Figure 5.1 Setting the Frequency Reference as a Voltage Signal at Terminal A1
Use the wiring example shown in the figure above for any other analog input terminals. When using input A2 make sure DIP
switch S1 is set for voltage input.
Current Input
Input terminal A2 can accept a current input signal. Refer to Table 5.6 to set terminal A2 for current input.
158 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.2 b: Application
Table 5.6 Analog Input Settings for Frequency Reference Using a Current Signal
Parameter Settings
Signal
Terminal Signal Level Function Notes
Level Gain Bias
Selection Selection
4 to 20 mA H3-09 = 2 Make sure to set DIP switch S1 on
H3-10 = 0
A2 H3-11 H3-12 the terminal board to “I” for
0 to 20 mA H3-09 = 3 (Frequency Bias) current input.
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
-V -10.5 V, 20 mA power supply
Figure 5.2 Setting the Frequency Reference as a Current Signal to Terminal A2
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 205 for details on using this function.
Setting 2: MEMOBUS/Modbus Communications
This setting requires entering the frequency reference via the RS-485/RS-422 serial communications port (control terminals
R+, R-, S+, S-). Refer to MEMOBUS/Modbus Configuration on page 560 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 Option PCB (b1-01 = 3), but an option board is not installed, an oPE05 operation error will be
Parameter Details
displayed on the digital operator and the drive will not run.
Setting 4: Pulse Train Input
This setting requires a pulse train signal to terminal RP to provide the frequency reference. Follow the directions below to
verify that the pulse signal is working properly.
Verifying the Pulse Train is Working Properly
• Set b1-01 to 4 and set H6-01 to 0. 5
• Set the H6-02 to the pulse train frequency value that equals 100% of the frequency reference.
• Enter a pulse train signal to terminal RP and check for the correct frequency reference on the display.
n b1-02: Run Command Selection 1
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.
Setting 1: Control Circuit Terminal
This setting requires entering the Run command via the digital input terminals using one of following sequences:
• 2-Wire sequence 1:
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 159
5.2 b: Application
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 253.
• 2-Wire sequence 2:
Two inputs (Start/Stop-FWD/REV). Refer to Setting 42, 43: Run and Direction Command for 2-Wire Sequence 2 on
page 254.
• 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 247.
Setting 2: MEMOBUS/Modbus Communications
This setting requires entering the Run command via serial communications by connecting the RS-485/RS-422 serial
communication cable to control terminals R+, R-, S+, and S- on the removable terminal block. Refer to MEMOBUS/Modbus
Configuration on page 560 for instructions.
Setting 3: Option Card
This setting requires entering the Run command via the communication option board by plugging a communication option
board into the CN5-A port on the control PCB. Refer to the option board manual 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.
n b1-03: Stopping Method Selection
Selects 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 <1> 0
<1> The setting range is 0, 1, or 3 in CLV, OLV/PM, AOLV/PM, and 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. Refer to b2-01: DC Injection Braking Start Frequency on page 167 for details.
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. When the output
frequency falls below the setting of b2-01, DC Injection Braking is enabled for the time set in parameter b2-04.
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 E1-09 (Minimum Output Frequency), then DC Injection Braking will begin when the frequency falls
to the E1-09 value.
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.
160 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.2 b: Application
Run command ON OFF
Output frequency
Deceleration in the time set
E1-09 Min. Output Frequency
b2-01 DC Injection Braking Start Frequency Short Circuit Braking
Figure 5.4 Coast to Stop (OLV/PM and AOLV/PM)
Note: If b2-01 is set to a smaller value than E1-09 (Minimum Output Frequency), then DC Injection Braking will begin when the frequency falls
to the E1-09 value.
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. When
the output frequency falls below the setting of b2-01, Zero Speed Control is enabled for the time set in parameter b2-04.
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 E1-09 (Minimum Output Frequency), 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.
Run
Parameter Details
command ON OFF
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 minimum baseblock time (L2-03) has expired. Do
not enter Run command until it has come to a complete stop. Use DC Injection at Start (Refer to b2-03: DC Injection Braking Time at
Start on page 168) or Speed Search (Refer to b3: Speed Search on page 168) to restart the motor before it has completely stopped.
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). When the minimum baseblock time has expired, the drive will inject the amount DC Injection Braking
is set in parameter b2-02 into the motor windings to brake the motor. The stopping time in DC Injection Braking to Stop is
significantly faster compared to Coast to Stop.
Note: This function is not available in CLV (A1-02 = 3) or in control modes for PM motors (A1-02 = 5, 6, 7).
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 161
5.2 b: Application
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
DC Injection Braking time is determined by the value set to b2-04 and the output frequency at the time the Run command is
removed. It can be calculated by:
(b2-04) x 10 x Output frequency
DC Injection brake time = Max. output frequency (E1-04)
DC Injection braking time
b2-04×10
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. The drive will not start
if a Run command is input before the time t (C1-02) has expired. Cycle the Run command that was activated during time t
after t has expired to start the drive.
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
The wait time t is determined by the output frequency when the Run command is removed and by the active deceleration time.
162 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.2 b: Application
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
n b1-04: Reverse Operation Selection
Enables and disables Reverse operation. For some applications, reverse motor rotation is not appropriate and may cause
problems (e.g., air handling units, pumps, etc.).
No. Parameter Name Setting Range Default
b1-04 Reverse Operation Selection 0, 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.
n b1-05: Action Selection below Minimum Output Frequency (CLV and CLV/PM)
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
Parameter Details
Control (not position lock) is performed for the time set in parameter b2-04 before the drive output shuts off.
Run OFF ON
Command
E1-09 Min.
Output Frequency
Frequency
reference
IM: Initial Excitation
Zero Speed
Control
Zero Speed
Control
5
PM: Zero Spd. Contr.
b2-01 DC Injection E1-09
Motor Braking Start Freq.
Speed b2-03 b2-04
DC Inj. Braking Time at Start DC Inj. Braking Time at Stop
Figure 5.11 Run at the Frequency Reference
Setting 1: Coast to Stop
The motor starts when the frequency reference exceeds the parameter E1-09 setting. When the motor is running and the
frequency reference falls below E1-09, the drive output shuts off and the motor coasts. When the motor speed falls below the
zero speed level set in b2-01, Zero Speed Control is activated for the time set in b2-04.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 163
5.2 b: Application
Run OFF ON
Command
E1-09 Min.
Output Frequency
Frequency
reference Motor
IM: Initial Excitation Coasts
PM: Zero Spd. Contr. b2-01 DC Inj. Zero Speed
Braking Start Control
Motor Frequency
Speed b2-03 b2-04
DC Inj. Braking Time at Start DC Inj. Braking Time at Stop
Figure 5.12 Coast to Stop
Setting 2: Run at the Minimum Frequency
When a Run command is active and the frequency reference is smaller than the parameter E1-09 setting, 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.
Run OFF ON
Command
E1-09 Min.
Output Frequency
Frequency
reference Run at
Run at Zero Speed
IM: Initial Excitation E1-09 E1-09
b2-01 DC Inj. Control
PM: Zero Spd. Contr.
Braking Start
Frequency
Motor
Speed b2-03 b2-04
DC Inj. Braking Time at Start DC Inj. Braking Time at Stop
Figure 5.13 Run at the Minimum Frequency
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.
Run OFF ON
Command
E1-09 Min.
Output Frequency
Frequency
reference Zero
Zero Speed
IM: Initial Excitation Speed
b2-01 DC Inj. Control
PM: Zero Speed Contr.Control
Braking Start E1-09
Motor Frequency
Speed b2-03 b2-04
DC Injection Braking Time at Start DC Injection Braking Time at Stop
Figure 5.14 Zero Speed Control
n b1-06: Digital Input Reading
Defines how the digital inputs are read. The inputs are acted upon every 1 ms or 2 ms depending upon the setting.
No. Name Setting Range Default
b1-06 Digital Input Reading 0, 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. The input command is processed only if the state does not change during the double
reading. This reading process is slower than the “Read once” process, but it is more resistant to noisy signals.
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5.2 b: Application
n b1-07: LOCAL/REMOTE Run Selection
The drive has three separate control sources that can be switched using digital inputs (H1-oo = 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 247, Refer to Setting 2: External Reference 1/2 Selection on page 248 and Refer to o2-01: LO/RE
(LOCAL/REMOTE) Key Function Selection on page 313 for details.
• LOCAL: Digital operator. The digital operator sets 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.
• 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 at which the source is being switched. In this case, use parameter b1-07 to determine
how the Run command is treated.
No. Parameter Name Setting Range Default
b1-07 LOCAL/REMOTE Run Selection 0, 1 0
Setting 0: Run command must be cycled
When the Run command source differs between the old source and the 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 switchover occurs, the drive
will not start or the drive will stop operation if it was previously running. The Run command must be cycled at the new source
to restart the drive.
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 previously running.
WARNING! Sudden Movement Hazard. The drive may start unexpectedly if switching control sources when b1-07 = 1. Clear all personnel
from rotating machinery and electrical connections prior to switching control sources. Failure to comply may cause death or serious injury.
n 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 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 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 Programming Mode.
Parameter Details
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. 5
n 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, 1 0
Setting 0: Standard Phase Order
Setting 1: Switched Phase Order (A1-02 = 0, 1, 2, 3, 5, 6)
n b1-15: Frequency Reference Selection 2
Enabled when H1-oo = 2 and the terminal is closed. Refer to Setting 2: External Reference 1/2 Selection on page 248 and
Refer to b1-02: Run Command Selection 1 on page 159 for details.
No. Parameter Name Setting Range Default
b1-15 Frequency Reference Selection 2 0 to 4 0
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5.2 b: Application
n b1-16: Run Command Selection 2
Enabled when H1-oo = 2 and the terminal is closed. Refer to Setting 2: External Reference 1/2 Selection on page 248 and
Refer to b1-01: Frequency Reference Selection 1 on page 158 for details.
No. Parameter Name Setting Range Default
b1-16 Run Command Selection 2 0 to 3 0
n b1-17: Run Command at Power Up
Determines whether an external Run command that is active during power up will start the drive.
No. Parameter Name Setting Range Default
b1-17 Run Command at Power Up 0, 1 0
Setting 0: Run Command at Power Up Is Not Issued
Cycle the Run command 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 AUTO LED will flash quickly.
Setting 1: Run Command at Power Up Is Issued
If an external Run command is active when the drive is powered up, the drive will begin operating the motor after 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.
n b1-21: Start Condition Selection at Closed Loop Vector Control
Selects a condition to start Closed Loop Vector Control. There is normally no need to change this parameter from the default
value.
No. Parameter 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
n b1-24: Commercial Power Operation Switching Selection
When the output frequency matches the power supply frequency (60 Hz), the PWM switching operation stops and switches
to operation with a direct commercial power supply connection.
Note: 1. Switching can be enabled when an inductive motor is being driven in V/f or OLV control modes.
2. 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. Parameter Name Setting Range Default
b1-24 Commercial Power Switching Selection 0, 1 0
Setting 0: Disabled
A voltage will be output with PWM switching operation regardless of the output frequency.
Setting 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).
n b1-25/b1-26: Commercial Power Switching Output Frequency Coincidence Level/Non-
coincidence Level
These parameters set the value in 0.1 Hz increments at which commercial power supply switching selection is enabled and
disabled.
166 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.2 b: Application
When the deviation between the output frequency and the power supply frequency becomes equal to or less than the setting
values of b1-25 + b1-26, an output frequency coincidence condition exists. 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, 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 duing Run, is exceeded and L3-05,
Stall Prevention Selection during Run, is enabled.
No. Parameter Name Setting Range Default
b1-25 Commercial Power Supply Operation Switching Level 0.4 to 6.0 Hz 1.0 Hz
b1-26 Commercial Power Supply Operation Switching Level 0.0 to 3.0 Hz 0.2 Hz
u b2: DC Injection Braking
b2 parameters determine operation of the DC Injection Braking and Zero Speed Control features.
n b2-01: DC Injection Braking Start Frequency
Active when “Ramp to Stop” is selected as the stopping method (b1-03 = 0).
No. Name Setting Range Default
Determined by
b2-01 DC Injection Braking Start Frequency 0.0 to 10.0 Hz 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. When the output
frequency falls below the setting of b2-01, DC Injection Braking is enabled for the time set in parameter b2-04.
DC Injection
Braking
E1-09 Min. Output Freq.
b2-01 DC Inj. Braking Start Freq.
Output
Frequency Time
b2-04
Figure 5.15 DC Injection Braking at Stop for V/f, V/f w/PG, and OLV
Parameter Details
Note: If b2-01 is set to a smaller value than E1-09 (Minimum Output Frequency), then DC Injection Braking will begin when the frequency falls
to the E1-09 value.
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. When
the output frequency falls below the setting of b2-01, Zero Speed Control is enabled for the time set in parameter b2-04.
Zero Speed
5
E1-09 Min. Output Freq. Control
b2-01 DC Inj. Braking Start Freq.
Output
Frequency Time
b2-04
Figure 5.16 Zero Speed Control at Stop in CLV and CLV/PM
Note: If b2-01 is set to a smaller value than E1-09 (Minimum Output Frequency), then Zero Speed Control begins at the frequency set to E1-09.
n b2-02: DC Injection Braking Current
Sets the DC Injection Braking current as a percentage of the drive rated current. The carrier frequency is automatically reduced
to 4 kHz when this parameter is set to more than 50%.
No. Name Setting Range Default
b2-02 DC Injection Braking Current 0 to 100% 50%
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 167
5.2 b: Application
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. Do not set this parameter higher
than the level necessary to hold the motor shaft.
n b2-03: DC Injection Braking Time at Start
Sets the time of DC Injection Braking (Zero Speed Control 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), use DC Injection or Speed Search to stop the
motor or detect motor speed before starting it. Otherwise, motor stalling and other faults can occur.
n b2-04: DC Injection Braking Time at Stop
Sets the time of DC Injection Braking (Zero Speed Control 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
Determined by
b2-04 DC Injection Braking Time at Stop 0.00 to 10.00 s A1-02
n 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 for the
development of more flux to facilitate starting 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
the level set to E2-03 within the time set to b2-03.
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.
u 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). The operation timing of the Speed Search after a momentary power loss is shown in Figure 5.17. The
operation timing after restarting is shown in Figure 5.18.
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, does not pass after the power stops. 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.
168 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.2 b: Application
AC Power supply
Output frequency
Minimum Baseblock Time (L2-03)
b3-05
Figure 5.17 Timing 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.
Run command
Output
frequency
Minimum Baseblock
Time (L2-03)
b3-05
Figure 5.18 Timing Chart for Speed Search at Start
n 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
Parameter Details
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.
n Speed Estimation Speed Search (b3-24 = 1)
A 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. 5
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
• Perform Rotational Auto-Tuning for V/f Control (T1-01 = 3) prior to using Speed Estimation in V/f Control and 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. Use Current Detection Speed
Search 2 in these instances.
• Use Current Detection Speed Search 2 instead of Speed Estimation when operating motors smaller than 1.5 kW because
Speed Estimation might not be able to detect the speed or rotation of these smaller motors, in which case Speed Estimation
would stop the motor.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 169
5.2 b: Application
n Speed Search Activation
Speed Search can be activated using any of the methods 1 through 5 described below. Select the Speed Search type in parameter
b3-24 independent of the activation method.
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.
Method 2. Activate Speed Search using the digital input terminals.
Use the input functions for H1-oo in Table 5.7.
Table 5.7 Speed Search Activation by Digital Inputs
Setting Description b3-24 = 1 b3-24 = 2
External Search Closed: Activate Current Detection Speed Search from the
61 Command 1 Activate Speed Estimation maximum output frequency (E1-04).
External Search Speed Search Closed: Activate Current Detection Speed Search from the
62 Command 2 frequency reference.
To activate Speed Search by a digital input, the input must be set together with the Run command or the Run command must
be entered after giving the Speed Search command.
Method 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.
Method 4. After momentary power loss.
This mode requires that the Power Loss Ride-Thru function is enabled during CPU operation (L2-01 = 1 or 2). Refer to L2-01:
Momentary Power Loss Operation Selection on page 283.
Method 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 (H1-oo = 8 or 9) is released.
n 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 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 direction command.
• 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 the
setting value of b3-51.
• b3-51 ≤ t: The search is started in the direction opposite to the direction command.
Refer to b3-50/b3-51 Backspin Search Direction Judgment Time 1/ 2 on page 174 for details on the backspin direction
judgment time.
Note: 1. 1. Set b3-50 to the required time 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.
n b3-01: Speed Search Selection at Start
Determines if Speed Search is automatically performed when a Run command is issued.
170 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.2 b: Application
No. Parameter Name Setting Range Default
Determined by
b3-01 Speed Search Selection at Start 0, 1 A1-02
Setting 0: Disabled
This setting starts operating the drive at the minimum output frequency when the Run command is entered. 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
This setting performs Speed Search when the Run command is entered. The drive begins running the motor after Speed Search
is complete.
n b3-03: Speed Search Deceleration Time
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 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
n b3-04: V/f Gain during Speed Search
During Speed Search, the output voltage calculated from the V/f pattern is multiplied with this value. Changing this value can
help reduce the output current during Speed Search.
No. Name Setting Range Default
Determined by
b3-04 V/f Gain during Speed Search 10 to 100% C6-01 and o2-04
n 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
Parameter Details
b3-05 Speed Search Delay Time 0.0 to 100.0 s 0.2 s
n b3-06: Output Current 1 during Speed Search
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. 5
No. Name Setting Range Default
Determined by
b3-06 Output Current 1 during Speed Search 0.0 to 2.0 o2-04
Note: Use Current Detection Speed Search 2 if Speed Estimation is not working correctly even after adjusting b3-06.
n b3-08: Current Control Gain during Speed Search (Speed Estimation Type)
Sets the proportional gain for the current controller during Speed Search. There is normally no need to change this parameter
from the default value.
No. Name Setting Range Default
A1-02 = 0 to 3:
Determined by
b3-08 Current Control Gain during Speed Search (Speed Estimation Type) 0.00 to 6.00 o2-04
A1-02 = 5, 6: 0.30
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 171
5.2 b: Application
n b3-10: Speed Search Detection Compensation Gain
Sets the gain for the detected motor speed of the Speed Estimation Speed Search. Increase the setting only if an overvoltage
fault occurs when the drive restarts the motor.
No. Name Setting Range Default
b3-10 Speed Search Detection Compensation Gain 1.00 to 1.20 1.05
n b3-14: Bi-Directional Speed Search Selection
Sets how the drive determines the motor rotation direction when performing Speed Estimation Speed Search.
Disable this parameter when b3-50, Backspin Search Direction Judgment Time 1, is set to 0.1 or longer.
No. Parameter Name Setting Range Default
Determined by
b3-14 Bi-Directional Speed Search Selection 0, 1 A1-02
Setting 0: Disabled
The drive uses the frequency reference to determine the direction of motor rotation to restart the motor.
Setting 1: Enabled
The drive detects the motor rotation direction to restart the motor.
n b3-17: Speed Search Restart Current Level
Sets the current level at which Speed Estimation is restarted as a percentage of drive rated current to avoid overcurrent and
overvoltage problems since a large current can flow into the drive if the difference between the estimated frequency and the
actual motor speed is too big when performing Speed Estimation.
No. Name Setting Range Default
b3-17 Speed Search Restart Current Level 0 to 200% 150%
n b3-18: Speed Search Restart Detection Time
Sets the time for which the current must be above the level set in b3-17 before restarting Speed Search.
No. Name Setting Range Default
b3-18 Speed Search Restart Detection Time 0.00 to 1.00 s 0.10 s
n b3-19: Number of Speed Search Restarts
Sets the number of times the drive should attempt to find the speed and restart the motor. If the number of restart attempts
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 0 to 10 3
n b3-24: Speed Search Method Selection
Sets the Speed Search method.
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
Setting 1: Speed Estimation
Setting 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 169 and Refer to Speed Estimation Speed Search (b3-24 = 1) on
page 169 for details on the Speed Search direction.
172 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.2 b: Application
n b3-25: Speed Search Wait Time
Sets the wait time between Speed Search restarts. Increase the wait time if problems occur with overcurrent or if an SEr fault
occurs.
No. Name Setting Range Default
b3-25 Speed Search Wait Time 0.0 to 30.0 s 0.5 s
n 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
n b3-29: Speed Search Induced Voltage Level
Lower this value in small increments if changes are necessary. Setting this value too low will prevent the drive from performing
Speed Search. There is normally no need to change this parameter from the default value.
No. Name Setting Range Default
b3-29 Speed Search Induced Voltage Level 0 to 10% 10%
n b3-31: Speed Search Operation Current Level 1 (Current Detection Type 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
Speed Search Operation Current Level 1 (Current Detection Type
b3-31 1.50 to 3.50 1.50
2)
Parameter Details
n 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.
5
No. Name Setting Range Default
b3-32 Speed Search Operation Current Level 2 (Current Detection 2) 0.00 to 1.49 1.20
n b3-33: Speed Search Selection when Run Command Is Given during Uv
Activates and deactivates Speed Search at start in accordance with whether a Run command was issued during an undervoltage
(Uv) condition. Function is active when 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 Given during Uv 0, 1 0
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 173
5.2 b: Application
Setting 0: Disabled
Setting 1: Enabled
n 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
Determined by
b3-50 Backspin Search Direction Judgment Time 1 0.0 to 10.0 A1-02
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.
Power supply voltage
Momentary power loss time t
Output frequency
Forward operation
b3-52
ed
r spe
Moto
Normal operation b3-50
b3-51
Search in progress
t
Figure 5.19 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 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.
174 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.2 b: Application
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
Search in progress
t
Figure 5.20 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.
Power supply voltage
Momentary power loss time t
Output frequency
Forward operation
M
ot
or
sp
ee
d
Parameter Details
0
Normal operation b3-50
b3-51
b3-53
Search in progress 5
t
Figure 5.21 Speed Search in Direction Opposite to Direction Command (b3-50 ≤ t < ∞)
n 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 s 2.0 s
n 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.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 175
5.2 b: Application
No. Name Setting Range Default
b3-523 Backspin Search Deceleration Time 2 0.1 to 10.0 s 2.0 s
u b4: Timer Function
The timer function is independent of drive operation and can delay the switching of a digital output triggered by a digital input
signal and help eliminate chattering switch noise from sensors. An on-delay and off-delay can be set separately.
To enable the timer function, set a multi-function input to “Timer Function Input” (H1-oo = 18) and set a multi-function
output to “Timer output” (H2-oo = 12). Only one timer can be used.
n 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
n Timer Function Operation
The timer function switches on when the timer function input closes for longer than the value set to b4-01. The timer function
switches off when the timer function input is open for longer than the value set to b4-02. Figure 5.22 illustrates the timer
function operation:
Multi-function Contact On (Closed)
Input: Timer Function ON ON
Off (Open)
Multi-function Contact
Output: Timer Function ON ON On (Closed)
Off (Open)
b4-01 b4-02 b4-01 b4-02
Figure 5.22 Timer Operation
n b4-03 to b4-08: H2-oo 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-oo.
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
Internal data of H2-01 ON ON On (Closed)
Off (Open)
Multi-Function Digital
ON ON On (Closed)
Outputs of H2-01
Off (Open)
b4-03 b4-04
b4-03 b4-04
Time period that the multi-function
Time period that the multi- function
digital output is closed < 100 ms
digital output is closed 100 ms
Time period that the multi-function
digital output is closed = 100 ms
Note: The multi-function digital output closes for at least 100 ms even when the length of the off-delay time and on-delay time for multi-function
digital output are each shorter than 100 ms,
176 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.2 b: Application
u b5: PID Control
The drive has a built-in Proportional + Integral + Derivative (PID) controller that uses the difference between the target value
and the feedback value to adjust the drive output frequency to minimize deviation and provide accurate closed loop control
of system variables such as pressure or temperature.
n 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.
n 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.
n 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.
D control tends to amplify noise on the deviation signal, which can result in control instability. Only use D control when
absolutely necessary.
n PID Operation
To better demonstrate PID functionality, Figure 5.23 illustrates how the PID output changes when the PID input (deviation)
jumps from 0 to a constant level.
PID input
Time
PID output
I control
PID Output D control
P control
Parameter Details
Time
Figure 5.23 PID Operation
n Using PID Control
Applications for PID control are listed in Table 5.8.
5
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 Tachometer
Speed Control performed using speed data from 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 Thermocoupler,
Maintains a constant temperature by controlling a fan with a thermostat.
Control Thermistor
n 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 frequency 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.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 177
5.2 b: Application
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 0006 H Set bit 1 in register 000F H to 1 and input the setpoint to register 0006 H
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 cause an oPE alarm.
n PID Feedback Input Methods
Input one feedback signal for normal PID control or input two feedback signals can for controlling a differential process value.
Normal PID Feedback
Input the PID feedback signal 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 cause 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
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 cause an oPE alarm.
178 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
Frequency Reference
Frequency
Reference PID disable when:
b1-01/15 - b5-01=0
Frequency Reference 1 to 16 - a JOG Command is Input
0
n PID Block Diagram
d1-01 to d1-16 - PID Disable by Digital Input Enabled
RUN
1 + b5-16 On/Off
Analog Input A1/A2/A3 -
2 PID Sleep
Serial Comm Delay Timer
3 b5-15
Option Card
Sleep Setting Level
Pulse Input 4
Sleep Function
Disabled
PID Mode + Output
b5-01 = 1/2 b5-01 = 3/4 + Enabled Frequency
SFS
C1-oo
PID Target
Upper Limit
b5-18=1 PID Ouput
b5-19 not 1 Fmax x109%
(U5-03)
PID Set Point 0
H3-02/10=C not C
Analog Input A1/A2/A3 PID SFS Cancel DI (U5-04) b5-11
H1-oo=34 Lower Limit 0 1
H6-01=2 not 2 Off
Pulse Input
Enable / Disable Reverse
On Upper Limit
Reg. 0Fh, bit 1 Operation when PID
MEMOBUS Reg. 0006h Fmax x109%
1 0 Output is Negative
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
Always 1 when
PID Input b5-01 = 3/4
PID Soft (U5-02) Lower Limit
Starter b5-17 Fmax x109%
Figure 5.24 PID Block Diagram
Proportional I - limit
PID Feedback Gain PID Delay
0 I-time b5-04
b5-02 Time
b5-03 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
Adjusted Integral Hold Integral Reset Upper/Lower b5-07
PID Feedback b5-35 Characteristic H1-oo=31 Limit PID Output
PID Feedback H1-oo=30 Characteristic
0 (U5-01) H1-oo=35 b5-06 / b5-34 PID Offset
(U5-06) b5-09
1 or 3 Adjustment
not 16 + +
- + b5-05
Analog Input A1/A2/A3 +
H3-02/10 Derivative + Derivative b5-01
2 or 4
= 16 + Time 2 or 4 Time
b5-05 Z-1
+
PID Differential b5-01
1 or 3
Feedback Z-1
(U5-05)
179
5.2 b: Application
Parameter Details
5
5.2 b: Application
n 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
n b5-02: Proportional Gain Setting (P)
Sets the P gain applied to the PID input. Larger values will tend to reduce the error but may cause oscillations if set too high,
while lower values 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 2.00
n b5-03: Integral Time Setting (I)
Sets the time constant used to calculate the integral of the PID input. The shorter the integral time set to b5-03, the faster the
offset will be eliminated. If the integral time is set too short, however, overshoot or oscillation may occur. To turn off the
integral time, set b5-03 to 0.00.
No. Name Setting Range Default
b5-03 Integral Time Setting (I) 0.0 to 360.0 s 1.0 s
n b5-04: Integral Limit Setting
Sets the maximum output possible from the integral block 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%
Note: On some applications, especially those with rapidly varying loads, the output of the PID function may show a fair amount of oscillation.
Program b5-04 to apply a limit to the integral output and suppress this oscillation.
n 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 improve the response but can cause vibrations, while shorter time settings reduce the overshoot but reduce
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
n b5-06: PID Output Limit
Sets the maximum output possible from the entire PID controller as a percentage of the maximum frequency (E1-04).
180 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.2 b: Application
No. Name Setting Range Default
b5-06 PID Output Limit 0.0 to 100.0% 100.0%
n b5-07: PID Offset Adjustment
Sets the offset added to the PID controller output as a percentage of the maximum frequency (E1-04).
No. Name Setting Range Default
b5-07 PID Offset Adjustment -100.0 to 100.0% 0.0%
n 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.
n b5-09: PID Output Level Selection
Reverses the sign of the PID controller output signal. Normally a positive PID input (feedback smaller than setpoint) leads to
positive PID output.
No. Parameter Name Setting Range Default
b5-09 PID Output Level Selection 0, 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).
n 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
Parameter Details
b5-10 PID Output Gain Setting 0.00 to 25.00 1.00
n b5-11: PID Output Reverse Selection
Determines whether a negative PID output reverses the direction of drive operation. This parameter has no effect when the
PID function trims the frequency reference (b5-01 = 3 or 4) and the PID output will not be limited (same as b5-11 = 1).
No. Parameter Name Setting Range Default 5
b5-11 PID Output Reverse Selection 0, 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.
n PID Feedback Loss Detection
The PID feedback loss detection function detects broken sensors or broken sensor wiring. It should be used when 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
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 181
5.2 b: Application
Detected when the feedback rises above 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 illustrates the working principle of feedback loss detection when the feedback signal is too low. Feedback
high detection works in the same way.
PID feedback value
PID
Feedback
Detection
Loss Level
(b5-13)
time
no FbL
detection
FbL detection
PID Feedback PID Feedback
Loss Detection Time Loss Detection Time
(b5-14) (b5-14)
Figure 5.25 PID Feedback Loss Detection
n 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-oo = 3E) will be triggered if the PID feedback value is below the detection
level set to b5-13 for the time set to b5-14 or longer. A digital output set for “PID feedback high” (H2-oo = 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 and the drive will continue operation. The output resets when the feedback
value leaves the loss detection range.
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, a “FBL - Feedback Low”
alarm will be displayed and a digital output set for “PID feedback low” (H2-oo = 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, a “FBH - Feedback High” alarm will be displayed
and a digital output set for “PID feedback high” (H2-oo = 3F) will be triggered. Both events trigger an alarm output
(H1-oo = 10). The drive will continue operation. The alarm and outputs reset when the feedback value leaves the loss detection
range.
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, a “FbL - Feedback Low”
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, a “FbH
- Feedback High” fault will be displayed. Both events trigger a fault output (H1-oo = E) and cause the drive to stop the
motor.
Setting 3: Digital Output Only, even if PID Is Disabled by Digital Input
Same as b5-12 = 0. Detection remains active when PID is disabled by a digital input (H1-oo = 19).
Setting 4: Feedback Loss Alarm, even if PID Is Disabled by Digital Input
Same as b5-12 = 1. Detection remains active when PID is disabled by a digital input (H1-oo = 19).
Setting 5: Feedback Loss fault, even if PID Is Disabled by Digital Input
Same as b5-12 = 2. Detection remains active when PID is disabled by a digital input (H1-oo = 19).
n b5-13: PID Feedback Low Detection Level
Sets the feedback level used for PID feedback low detection. The PID feedback must fall below this level for longer than the
time set to b5-14 before feedback loss is detected.
No. Name Setting Range Default
b5-13 PID Feedback Low Detection Level 0 to 100% 0%
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5.2 b: Application
n 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
n b5-36: PID Feedback High Detection Level
Sets the feedback level used for PID feedback high detection. The PID feedback must exceed this level for longer than the
time set to b5-37 before feedback loss is detected.
No. Name Setting Range Default
b5-36 PID Feedback High Detection Level 0 to 100% 100%
n b5-37: PID Feedback High Detection Time
Sets the time that the PID feedback must exceed the value set to 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
n 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 when the PID output or frequency reference rise above the PID Sleep
operation level for the specified time. An example of PID Sleep operation appears in the figure below.
PID Output
PID Sleep Level ( b5-15)
Sleep Delay Time
Internal Run b5-16 b5-16 Sleep Delay Time
command Run Stop
External Run Run command enabled
command Continues to output “During Run”
During Run
Figure 5.26 PID Sleep Operation
Parameter Details
Notes on using the PID Sleep function
• The PID Sleep function is active even when PID control is disabled.
• The PID Sleep function stops the motor according to the stopping method set to b1-03.
The parameters necessary to control the PID Sleep function are explained below.
n b5-15: PID Sleep Function Start Level 5
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 to
b5-16. The drive resumes operation when the PID output or frequency reference is above b5-15 for longer than the time set
to 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> In AOLV/PM and CLV/PM control modes, the setting units and range are expressed as a percentage (0.0 to 100.0%).
n 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
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5.2 b: Application
n b5-17: PID Accel/Decel Time
The PID acceleration/deceleration time is applied on the PID setpoint value.
When the setpoint changes quickly, the normal C1-oo acceleration times reduce the responsiveness of the system as they
are applied after the PID output. The PID accel/decel time helps avoid the hunting and overshoot and undershoot that can
result from the reduced responsiveness.
The PID acceleration/deceleration time can be canceled using a digital input programmed for “PID SFS cancel” (H1-oo =
34).
No. Name Setting Range Default
b5-17 PID Accel/Decel Time 0.0 to 6000.0 s 0.0 s
n 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, 1 0
Setting 0: Disabled
Parameter b5-19 is not used as the PID setpoint.
Setting 1: Enabled
Parameter b5-19 is used as PID setpoint.
n b5-19: PID Setpoint Value
Used as the PID setpoint if parameter b5-18 = 1.
No. Name Setting Range Default
b5-19 PID Setpoint Value 0.00 to 100.00% 0.00%
n b5-20: PID Setpoint Scaling
Determines the units for the PID Setpoint Value (b5-19) and monitors U5-01 and U5-04. The units for setting and 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.
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: r/min (Set the Motor Poles)
The setpoint and PID monitors are displayed in r/min with a resolution of 1 r/min.
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.
n 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%
n 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.
184 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.2 b: Application
No. Name Setting Range Default
b5-35 PID Input Limit 0.0 to 1000.0% 1000.0%
n b5-38, b5-39: PID Setpoint User Display, PID Setpoint Display Digits
When parameter b5-20 is set to 3, parameters b5-38 and b5-39 set a user-defined display for the PID setpoint (b5-19) and PID
feedback monitors (U5-01, U5-04).
Parameter b5-38 determines the display value when the maximum frequency is output and parameter b5-39 determines the
number of digits. The setting value is equal to the number of decimal places.
No. Name Setting Range Default
Determined by
b5-38 PID Setpoint User Display 1 to 60000 b5-20
Determined by
b5-39 PID Setpoint Display Digits 0 to 3 b5-20
Setting 0: No Decimal Places
Setting 1: One Decimal Place
Setting 2: Two Decimal Places
Setting 3: Three Decimal Places
n 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, 1 0
Setting 0: Frequency Reference after PID
Monitor U1-01 displays the frequency reference increased or reduced for the PID output.
Setting 1: Frequency Reference
Monitor U1-01 displays the frequency reference value.
n 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).
Parameter Details
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.
5
Setting 1: Reverse Enabled
Negative PID output will cause the drive to run in the opposite direction.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 185
5.2 b: Application
n Fine-Tuning PID
Follow the directions below to fine tune PID control parameters:
Table 5.12 PID Fine Tuning
Goal Tuning Procedure Result
Response Before adjustment
• Reduce the derivative time (b5-05)
Suppress overshoot After adjustment
• Increase the integral time (b5-03)
Time
After adjustment
Response
Achieve stability quickly while • Decrease the integral time (b5-03)
allowing some overshoot • Increase the derivative time (b5-05) Before adjustment
Time
Before adjustment
Response
Suppress long cycle oscillations
(longer than the integral time setting) Increase the integral time (b5-03)
After adjustment
Time
Before adjustment
Response
• If oscillation cycle time is close to the
derivative time, 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, reduce
the proportional gain (b5-02) or increase
the PID primary delay time (b5-08)
Time
u b6: Dwell Function
The Dwell function temporarily holds the frequency reference at a predefined value for a set time then continues accelerating
or decelerating.
The Dwell function helps prevent speed loss when starting and stopping a heavy load with induction motors. When running
a PM motor in V/f control, the pause in acceleration allows the PM motor rotor to align with the stator field of the motor and
reduce the starting current.
Figure 5.27 illustrates how the Dwell function works.
Note: Set the stopping method to "Ramp to Stop" (b1-03 = 0) to use the Dwell function.
186 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.2 b: Application
OFF ON OFF
Run Command
b6-01 b6-03
Output Frequency
b6-02 b6-04
Figure 5.27 Dwell Function at Start and Stop
n 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 0.0 Hz
b6-02 Dwell Time at Start 0.0 to 10.0 s 0.0 s
n 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 0.0 Hz
b6-04 Dwell Time at Stop 0.0 to 10.0 s 0.0 s
u b7: Droop Control (CLV, CLV/PM)
Droop control automatically balances the load level between two motors driving the same load. Droop control must be activated
in one of the drives controlling these motors. The drive in which Droop control is activated shifts the load from one motor to
another by automatically reducing the speed when the torque reference rises, and automatically increasing the speed when the
torque reference falls.
Note: Disable Feed Forward (n5-01 = 0) whenever using Droop control.
Motor A runs faster than B, pulling more load Motor B runs faster than A, pulling more load
Parameter Details
A = 100% Load A = 90% Load A = 80% Load A = 90% Load
fref_A = constant fref_A = constant
fref_B increase fref_B decrease
5
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 5.28 Droop Control Application
n 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%
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5.2 b: Application
Speed
Speed reference
Droop control gain
b7-01
Torque
0 100%
Figure 5.29 Droop Control Gain
n b7-02: Droop Control Delay Time
Adjusts the responsiveness of Droop control. Reduce the setting if the reaction time is too long, and increase the setting if
hunting occurs.
No. Parameter Name Setting Range Default
b7-02 Droop Control Delay Time 0.03 to 2.00 s 0.05 s
n 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
u b8: Energy Saving
The Energy Saving feature improves overall system operating 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. The performance of the Energy Saving function depends on the accuracy of the motor data. Always perform Auto-Tuning and correctly
enter the motor data before using this function.
n 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
Determined by
b8-01 Energy Saving Control Selection 0, 1 A1-02
Setting 0: Disabled
Setting 1: Enabled
n 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 less energy consumption.
If the value is set too high the motor may stall.
No. Name Setting Range Default
Determined by
b8-02 Energy Saving Gain 0.0 to 10.0 A1-02
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5.2 b: Application
n b8-03: Energy Saving Control Filter Time Constant (OLV, CLV)
Sets the response time for Energy Saving. A lower value allows for a quicker response; however a value that is too low may
cause instability.
No. Name Setting Range Default
Determined by
b8-03 Energy Saving Control Filter Time Constant 0.00 to 10.00 s A1-02 and o2-04
n b8-04: Energy Saving Coefficient Value (V/f, V/f w/PG)
Fine tunes Energy Saving control.
The default setting is for a standard Yaskawa motor. When using a different motor, adjust this parameter in 5% increments
until 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. If the value is set too low the motor may stall. The
default setting depends on the capacity of the drive.
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: The 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 130).
n b8-05: Power Detection Filter Time (V/f, V/f w/PG)
Determines how often in milliseconds the output power is measured. The Energy Saving function continuously searches out
the lowest output voltage to achieve minimum output power.
Reducing this setting increases 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
n b8-06: Search Operation Voltage Limit (V/f, V/f w/PG)
Sets the voltage limit for the Speed Search optimal output voltage detection as a percentage of the maximum output voltage.
The drive will keep the output voltage above this level during the search operation to prevent motor stalling.
Parameter Details
Note: If set too low, the motor may stall when the load is suddenly increased. Disabled when set to 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%
n b8-16: Energy Saving Parameter (Ki) for PM Motors 5
There is normally no need to change this parameter from the default value. Coefficient to adjust torque linearity.
Set to the Ki value specified on the motor nameplate.
Setting E5-01, Motor Code Selection (for PM Motors), to 1ooo or 2ooo automatically sets the calculated value. This set
value cannot be changed. If oscillation occurs when Energy Saving is enabled (b8-01 = 1), check the value displayed in monitor
U5-21. If the value displayed differs from the Ki value written on the motor nameplate, 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
n b8-17: Energy Saving Parameter (Kt) for PM Motors
There is normally no need to change this parameter from the default value. Coefficient to adjust torque linearity.
Set to the Kt value specified on the motor nameplate.
Setting E5-01, Motor Code Selection (for PM Motors), to 1ooo or 2ooo automatically sets the calculated value. This set
value cannot be changed. If oscillation occurs when Energy Saving is enabled (b8-01 = 1), check the value displayed in monitor
U5-22. If the value displayed differs from the Kt value written on the motor nameplate, set b8-17 accordingly.
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5.2 b: Application
No. Name Setting Range Default
b8-17 Energy Saving Parameter (Kt) for PM Motors 0.00 to 3.00 1.00
u 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.
To activate Zero Servo mode, use a digital input set for H1-oo = 72 and the drive will decelerate when this input is closed.
The drive goes into Zero Servo mode and holds the current position when the motor speed falls below the level set to parameter
b2-01. The drive accelerates when the input assigned to trigger the Zero Servo function is released and the Run command is
still present.
Run command ON OFF
Zero Servo command ON OFF
Motor Speed
Zero Servo
b2-01 Operation
DC Injection Braking
start frequency
Figure 5.30 Zero Servo Operation
When Zero Servo mode 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-oo = 33) is turned on when the rotor position is within the zero
position, plus or minus the Zero Servo completion width set to parameter b9-02.
Note: 1. The Run command must remain on when using the Zero Servo function. Zero Servo will not hold the load in place if the Run command
is switched off.
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.
n b9-01: Zero Servo Gain
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-oo) are set up properly and vibration or hunting does not occur
when running with a zero speed reference.
No. Name Setting Range Default
b9-01 Zero Servo Gain 0 to 100 5
n 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 (H2-oo = 33) will be triggered when the motor reaches the
position Zero Servo plus or minus b9-02.
No. Name Setting Range Default
b9-02 Zero Servo Completion Width 0 to 16383 10
190 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.3 C: Tuning
5.3 C: Tuning
C parameters set the characteristics for acceleration, deceleration, and S-curves. Other parameters in the C group cover settings
for slip compensation, torque compensation, and carrier frequency.
u C1: Acceleration and Deceleration Times
n 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 by digital inputs, motor selection, or 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. Activate accel/decel times 2, 3, and 4 by digital inputs
(H1-oo = 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-oo = 7 H1-oo = 1A Acceleration Deceleration
Parameter Details
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 5.31 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).
5
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- oo = “7”)
ON
Accel/Decel Time Selection 2
(Terminals S1 to S8, H1- oo = “1A”)
Figure 5.31 Timing Diagram of Accel/Decel Time Change
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 191
5.3 C: Tuning
Switching Acceleration and Deceleration Times by Motor Selection
When switching between motor 1 and 2 using a digital input (H1-oo= 16), parameters C1-01 to C1-04 become accel/decel
times 1 and 2 for motor 1, while C1-05 to C1-08 become accel/decel times 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-oo = 7 like shown in Table 5.14.
Note: 1. The motor 2 selection function cannot be used with PM motors.
2. Attempting to use the digital input setting “Accel/Decel time 2 selection” (H1-oo = 1A) together with motor 1/2 switching triggers an
oPE03 error, indicating 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-oo = 7) (Terminal set to H1-oo = 16 OFF) (Terminal set to H1-oo = 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 to parameter C1-11. When the frequency falls below this level, the accel/
decel times are switched back. Figure 5.32 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 only accel/decel time 2; it will not switch from accel/decel time 4 to the
selected one.
Output Frequency
C1-11
Accel/Decel Time
Switch 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 5.32 Accel/Decel Time Switching Frequency
n C1-09: Fast Stop Time
Sets a special deceleration used when a select group of faults occur (e.g., L8-03 Overheat Pre-Alarm Operation Selection) or
when closing a digital input configured as H1-oo = 15 (N.O. input) or 17 (N.C. input). A momentary closure of the digital
input will trigger the Fast Stop operation; it does not have to be closed continuously.
The drive cannot be restarted after initiating a Fast Stop operation until after completing deceleration, clearing the Fast Stop
input, and cycling the Run command.
A digital output programmed for “During Fast Stop” (H2-oo = 4C) will be closed as long as Fast Stop is active.
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
n C1-10: Accel/Decel Time Setting Units
Determines the units for the acceleration and deceleration times set to C1-01 through C1-09 using parameter C1-10.
No. Parameter Name Setting Range Default
C1-10 Accel/Decel Time Setting Units 0, 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. 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.
192 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.3 C: Tuning
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.
n 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 192 for details.
No. Parameter Name Setting Range Default
Determined by
C1-11 Accel/Decel Time Switching Frequency 0.0 to 400.0 Hz <1> A1-02 <1>
<1> In AOLV/PM and CLV/PM control modes, the setting units and range are expressed as a percentage (0.0 to 100.0%) instead of in Hz.
Note: Setting C1-11 to 0.0 disables this function.
u C2: S-Curve Characteristics
Use S-curve characteristics to smooth acceleration and deceleration and minimize abrupt shock to the load. Set S-curve
characteristic time during acceleration/deceleration at start and acceleration/deceleration at stop. Increase the value set to
C2-01 if the STo fault (Step Out Detection) occurs when starting a PM motor.
n 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
Determined by
C2-01 S-Curve Characteristic at Accel Start A1-02
C2-02 S-Curve Characteristic at Accel End 0.00 to 10.00 s 0.20 s
C2-03 S-Curve Characteristic at Decel Start 0.20 s
C2-04 S-Curve Characteristic at Decel End 0.00 s
Figure 5.33 illustrates S-curve application.
FWD run
REV run
C2-02 C2-04
Parameter Details
C2-03
Output
frequency C2-01
C2-01 C2-04
C2-02 C2-03
Figure 5.33 S-Curve Timing Diagram - FWD/REV Operation
5
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
u 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 no-load current (E2-03)
have all been set properly before making any adjustments to slip compensation parameters.
n C3-01: Slip Compensation Gain
Sets the gain for the motor slip compensation function. Although this parameter rarely needs to be changed, adjustments may
be necessary under the following circumstances:
• Increase the setting if the motor at constant speed is slower than the frequency reference.
• Decrease the setting if the motor at constant speed is faster than the frequency reference.
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5.3 C: Tuning
No. Parameter Name Setting Range Default
Determined by
C3-01 Slip Compensation Gain 0.0 to 2.5 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 corrects inaccuracies that can result from temperature fluctuation in the rotor.
n 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,
adjustments may be necessary 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
Determined by
C3-02 Slip Compensation Primary Delay Time 0 to 10000 ms 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.
n 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 the following
diagram.
E1-04
E1-06 × C3-03
C3-03
Output Frequency
E1-06 E1-04
Base Maximum
Frequency Frequency
Figure 5.34 Slip Compensation Limit
n C3-04: Slip Compensation Selection during Regeneration
Enables or disables slip compensation during regenerative operation.
This function does not operate when the output frequency is too low, regardless of whether it has been enabled.
No. Parameter Name Setting Range Default
C3-04 Slip Compensation Selection during Regeneration 0 to 2 0
Setting 0: Disabled
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 to E2-02 to automatically calculate the frequency range where compensation will be disabled.
n C3-05: Output Voltage Limit Operation Selection
Determines if the motor flux reference is automatically reduced when output voltage reaches the saturation range.
194 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.3 C: Tuning
If the input power supply voltage is low or the motor has a high voltage rating, this function improves the speed precision
when moving heavy loads at high speeds. When selecting the drive, remember that the reduction in flux causes a slightly
higher current at high speed when this function is enabled.
No. Parameter Name Setting Range Default
C3-05 Output Voltage Limit Operation Selection 0, 1 0
Setting 0: Disabled
Setting 1: Enabled
n C3-21: Motor 2 Slip Compensation Gain
Improves the speed accuracy for motor 2 and functions in the same way that C3-01 functions for motor 1. Adjust this parameter
only after setting the motor rated current (E4-01), motor rated slip (E4-02), and the motor no-load current (E4-03).
Refer to C3-01: Slip Compensation Gain on page 193 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.
n C3-22: Motor 2 Slip Compensation Primary Delay Time
Functions for motor 2 the same way that C3-02 functions for motor 1.
Refer to C3-02: Slip Compensation Primary Delay Time on page 194 for details on adjusting this parameter.
No. Parameter Name Setting Range Default
C3-22 Motor 2 Slip Compensation Primary Delay Time 0 to 10000 ms Determined by A1-02
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.
n 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 illustrated in Figure
Parameter Details
5.35.
E3-04
E3-06 × C3-23
C3-23
5
Output Frequency
E3-06 E3-04
Base Maximum
Frequency Frequency
Figure 5.35 Slip Compensation Limit
n C3-24: Motor 2 Slip Compensation Selection during Regeneration
Functions for motor 2 the same way that C3-04 functions for motor 1.
Refer to C3-04: Slip Compensation Selection during Regeneration on page 194 for details on adjusting this parameter.
No. Parameter Name Setting Range Default
Motor 2 Slip Compensation Selection during
C3-24 0 to 2 0
Regeneration
Setting 0: Disabled
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5.3 C: Tuning
Setting 1: Enabled (6 Hz and above)
Setting 2: Enabled (compensation provided wherever possible)
u C4: Torque Compensation
The torque compensation function compensates for insufficient torque production at start-up or when a load is applied.
Note: Set the motor parameters and V/f pattern properly before setting torque compensation parameters.
n C4-01: Torque Compensation Gain
Sets the gain for the torque compensation function.
No. Parameter Name Setting Range Default
Determined by
C4-01 Torque Compensation Gain 0.00 to 2.50 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
motors, E5-05 for PM motors) and 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 changed, it may be necessary to adjust the torque compensation gain in small steps
of 0.05 in the following situations:
• Increase this setting when using a long motor cable.
• Decrease this setting when motor oscillation occurs.
Adjust C4-01 so 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. Setting this value too high can cause overcompensation and motor oscillation.
n C4-02: Torque Compensation Primary Delay Time
Sets the delay time used for applying torque compensation.
No. Parameter Name Setting Range Default
Determined by
C4-02 Torque Compensation Primary Delay Time 0 to 60000 ms A1-02
Adjustment
Although C4-02 rarely needs to be changed, adjustments may be necessary in the following situations:
• Increase this setting if the motor vibrates.
• Decrease this setting if the motor responds too slowly to changes in the load.
n C4-03: Torque Compensation at Forward Start (OLV)
Sets the amount of torque at start in the forward direction 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 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%
n C4-04: Torque Compensation at Reverse Start (OLV)
Sets the amount of torque reference at start in the reverse direction to improve motor performance during start with heavy
load. Compensation is applied using the Torque Compensation Time set in parameter C4-05. Enable this function if the load
pulls the motor in the forward direction when starting with a Reverse run command. Setting 0.0% disables this feature.
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5.3 C: Tuning
No. Parameter Name Setting Range Default
C4-04 Torque Compensation at Reverse Start -200.0 to 0.0% 0.0%
n C4-05: Torque Compensation Time Constant (OLV)
Sets 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
n C4-07: Motor 2 Torque Compensation Gain
Functions for motor 2 the same way that C4-01 functions for motor 1.
Refer to C3-01: Slip Compensation Gain on page 193 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
u C5: Automatic Speed Regulator (ASR)
The ASR controls the motor speed in V/f w/PG, CLV, AOLV/PM, and CLV/PM control modes and adjusts the output frequency
(V/f w/PG) or torque reference (CLV, AOLV/PM, CLV/PM) to minimize the difference between frequency reference and
actual motor speed.
Figure 5.36 and Figure 5.37 illustrate ASR functionality:
+ Output frequency
Frequency
reference
+
Limit
ASR limit
+ +
- Change
Detected speed
rate
P
limiter +
I
C5-01
C5-05
C5-03
C5-02, C5-04
Figure 5.36 Speed Control Block Diagram for V/f Control with PG
Parameter Details
Torque limits
C5-01, C5-03
+ + Torque reference
Frequency Primary
P filter
reference
- I +
I limit
C5-06
Detected speed C5-02, C5-04 C5-08
L7-01 to L7-04 5
<1>
Figure 5.37 Speed Control Block Diagram for CLV, AOLV/PM and CLV/PM
<1> AOLV/PM estimates the speed using the motor model and does not require an encoder feedback signal.
n Adjusting the ASR Parameters
Perform Auto-Tuning and set up all motor data correctly prior to adjusting ASR parameters.
Use analog output signals to monitor the frequency reference after softstarter (U1-16) and the motor speed (U1-05) when
adjusting the ASR. Refer to H4: Multi-Function Analog Outputs on page 272 for details on setting up analog output
functions.
Generally when tuning the ASR, optimize the ASR gain before adjusting the integral time settings. Always make adjustments
with the load connected to the motor.
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 199.
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5.3 C: Tuning
Perform the following steps for adjusting ASR parameters:
1. Run the motor at minimum speed and increase ASR 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 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 are 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
The drive is preset to use ASR settings C5-01/02 over the entire speed range in CLV, AOLV/PM, and CLV/PM. 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. Refer to C5-01, C5-03/C5-02, C5-04: ASR Proportional Gain 1, 2/ASR Integral Time 1, 2 on
page 199.
Perform the following steps for adjusting ASR parameters:
1. Run the motor at zero speed and increase the ASR gain (C5-01) as much as possible without oscillation.
2. Run the motor at zero speed and decrease the ASR integral time (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. If 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.
Table 5.15 ASR Setup Problems and Corrective Actions
Problem Possible Solutions
Speed reference
Slow response to speed changes or • Increase the ASR gain.
speed deviation lasts for too long Motor Speed • Decrease the integral time.
Time
Motor Speed
Overshoot or undershoot at the end • Decrease the ASR gain.
Speed reference
of acceleration or deceleration • Increase the integral time.
Time
Speed reference
• Decrease the ASR gain.
Vibration and oscillation occur at
constant speed Motor Speed
• Increase the integral time.
• Increase the ASR delay time (C5-06).
Time
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 • Make sure the pulse signal from the encoder is set up properly.
compensated when running in V/f Motor Speed
Control with PG • Check monitor U6-04 and determine if the ASR is working at
Time
its output limit (setting of C5-05). If the ASR is at the output
limit, increase C5-05.
Integral operation is enabled in • Decrease the ASR gain.
V/f Control with PG (C5-12 = 1) - • Increase the integral time.
and over/undershoot occurs when
changing speed. • Reduce the ASR output limit set in C5-05.
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5.3 C: Tuning
Problem Possible Solutions
• V/f control: Use C5-01/02 and C5-03/04 to set up different
Oscillation at low speed and ASR settings at minimum and maximum speed.
response is too slow at high speed - • CLV, AOLV/PM, CLV/PM: Use C5-01, C5-02 and C5-03,
(or vice versa) C5-04 to define optimal ASR settings for high and low speed.
Use C5-07 to define a switching frequency.
n C5-01, C5-03/C5-02, C5-04: ASR Proportional Gain 1, 2/ASR Integral Time 1, 2
These parameters 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
Determined by
C5-01 ASR Proportional Gain 1 0.00 to 300.00 A1-02
Determined by
C5-02 ASR Integral Time 1 0.000 to 10.000 s A1-02
Determined by
C5-03 ASR Proportional Gain 2 0.00 to 300.00 A1-02
Determined by
C5-04 ASR Integral Time 2 0.000 to 10.000 s 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. Parameters C5-03 and C5-04 determine
the characteristics at minimum speed.
P = C5-01
P and I setting
I = C5-02
P = C5-03
I = C5-04
Motor speed
0 E1-09 E1-04
Min. output frequency Max. output frequency
Figure 5.38 ASR Gain and Integral Time in V/f w/PG
Parameter Details
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. Refer to C5-07: ASR Gain Switching Frequency on page 200.
P, I
P = C5-01 5
Ramp I = C5-02
P = C5-03
I = C5-04 (Low speed)
Motor speed (Hz)
０ C5-07
Figure 5.39 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-oo = 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.
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5.3 C: Tuning
ASR Gain Switch signal
(Digital input) OFF ON
Proportional gain
Proportional gain (P) determined
by motor speed.
C5-03 gain setting
C5-02 C5-02
Figure 5.40 ASR Proportional Gain Switch
ASR Gain Tuning (C5-01, C5-03)
The higher this setting, the faster the speed response, although a setting that is too high can lead to oscillation. Increase this
setting with larger loads to minimize the speed deviation.
ASR Integral Time Tuning (C5-02, C5-04)
Determines how fast a continuous speed deviation problem is eliminated. A setting that is too long reduces the responsiveness
of the speed control. A setting that is too short can cause oscillation.
n 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 ASR is working at the limit, make sure the PG pulses (F1-01), PG gear teeth (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%
n C5-06: ASR Primary Delay Time Constant
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. This parameter rarely needs to be changed.
No. Parameter Name Setting Range Default
C5-06 ASR Primary Delay Time Constant 0.000 to 0.500 s Determined by A1-02
n 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).
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-oo = 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 resonance
problems. A good switching point is 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 199.
n 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%
n C5-12: Integral Operation during Accel/Decel (V/f w/PG)
Enables integral operation during acceleration and deceleration. Use integral operation when driving a heavy load or a high
inertia load (default). Set C5-12 to 1 to use integral operation for low inertia/high performance loads. Enabling integral
operation may cause problems with overshoot at the end of acceleration and deceleration. Refer to ASR Setup Problems and
Corrective Actions on page 198 to solve such problems.
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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.
n 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 130 for details on Auto-Tuning or enter the data manually.
No. Parameter Name Setting Range Default
Determined by C6-01,
C5-17 Motor Inertia 0.0001 to 600.00 kgm2 E5-01 and o2-04
C5-18 Load Inertia Ratio 0.0 to 6000.0 1.0
n 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 the same way that C5-01 through C5-04 function for motor 1. Refer to C5-01, C5-03/
C5-02, C5-04: ASR Proportional Gain 1, 2/ASR Integral Time 1, 2 on page 199 for details.
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
n C5-25: Motor 2 ASR Limit
Functions for motor 2 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 (E4-04). Refer to C5-05: ASR Limit on page 200 for details.
Parameter Details
No. Parameter Name Setting Range Default
C5-25 Motor 2 ASR Limit 0.0 to 20.0% 5.0%
n C5-26: Motor 2 ASR Primary Delay Time Constant
Functions for motor 2 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. Refer to C5-06: ASR Primary Delay Time Constant on page 200 for details. This
parameter rarely needs to be changed. 5
No. Parameter Name Setting Range Default
C5-26 Motor 2 ASR Primary Delay Time Constant 0.000 to 0.500 s 0.004 s
n C5-27: Motor 2 ASR Gain Switching Frequency
Functions for motor 2 the same way that C5-07 functions for motor 1. Sets the frequency for motor 2 to change ASR proportional
gain 1 and 2 (C5-21, C5-23) as well as the integral time 1 and 2 (C5-22, C5-24). Refer to C5-01, C5-03/C5-02, C5-04: ASR
Proportional Gain 1, 2/ASR Integral Time 1, 2 on page 199 for details.
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-oo = 77) takes priority over the ASR gain switching frequency.
n C5-28: Motor 2 ASR Integral Limit
Functions for motor 2 the same way that C5-08 functions for motor 1. Sets the upper limit for ASR as a percentage of the rated
load. Refer to C5-08: ASR Integral Limit on page 200 for details.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 201
5.3 C: Tuning
No. Parameter Name Setting Range Default
C5-28 Motor 2 ASR Integral Limit 0 to 400% 400%
n C5-32: Integral Operation during Accel/Decel for Motor 2
Functions for motor 2 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 200 for 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.
n C5-37, C5-38: Motor 2 Inertia, Motor 2 Load Inertia Ratio
These parameters function for motor 2 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 130 for details on Auto-Tuning or enter the data manually.
No. Parameter Name Setting Range Default
Determined by C6-01 and
C5-37 Motor 2 Inertia 0.0001 to 600.00 kgm2 o2-04
C5-38 Motor 2 Load Inertia Ratio 0.0 to 6000.0 1.0
u C6: Carrier Frequency
n C6-01: Drive Duty Mode Selection
The drive has two different duty modes from which to select 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. Refer to Heavy Duty and Normal Duty Ratings on page 430
for details about the rated current.
No. Parameter Name Setting Range Default
C6-01 Duty Mode Selection 0, 1 1 (ND)
Table 5.16 Differences between Heavy Duty and Normal Duty
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 Use Normal Duty Rating for applications in which the torque
Application overload tolerance with constant load torque, such as requirements drop along with the speed, such as fans and
extruders and conveyors. pumps where a high overload tolerance is not required.
Overload capability (oL2) 150% of drive rated Heavy Duty current for 60 s 120% of drive rated Normal Duty current for 60 s
Stall Prevention during 150% 120%
Acceleration (L3-02)
Stall Prevention during 150% 120%
Run (L3-06)
202 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.3 C: Tuning
Characteristics Heavy Duty Rating (HD) Normal Duty Rating (ND)
Default Carrier Frequency 4 kHz 4 kHz
Note: Changing the Duty Mode selection automatically changes the maximum size motor that the drive can run, sets the E2-oo parameters to
appropriate values (E4-oo for motor 2), and recalculates parameter settings determined by motor capacity (e.g., b8-04, L2-03, n5-02,
C5-17, and C5-37).
n C6-02: Carrier Frequency Selection
Sets the switching frequency of the drive output transistors. Changes to the switching frequency lower audible noise and reduce
leakage current.
Note: 1. The upper limit of the carrier frequency depends on the capacity. Refer to Rated Current Depending on Carrier Frequency on page
438.
2. Increasing the carrier frequency above the default value automatically lowers the drive current rating. Refer to Rated Current Depending
on Carrier Frequency on page 438.
No. Parameter Name Setting Range Default
Determined by A1-02 and o2-04.
C6-02 Carrier Frequency Selection 1 to 4, F <1> Reset when C6-01 is changed.
<1> Setting F is not available when A1-02, Control Method Selection, is set to 6 (AOLV/PM).
Setting 1: 4.0 kHz
Setting 2: 6.0 kHz
Setting 3: 8.0 kHz
Setting 4: 10.0 kHz
Setting F: User defined (C6-03 to C6-05)
Note: 1. Swing PWM uses a carrier frequency of 2.0 kHz as a base, then applies a special PWM pattern to reduce the audible noise.
2. The value in parenthesis indicates the carrier frequency for AOLV/PM.
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.
Parameter Details
<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).
5
n C6-03, C6-04, C6-05: Carrier Frequency Upper Limit, Lower Limit, Proportional Gain
These parameters set a user-defined or a variable carrier frequency. Set C6-02 to F to set the upper and lower limits and the
carrier frequency proportional gain.
No. Parameter Name Setting Range Default
C6-03 Carrier Frequency Upper Limit 4.0 to 10.0 kHz <1>
Determined by
C6-04 Carrier Frequency Lower Limit (V/f Control only) 4.0 to 10.0 kHz <1> 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, adjust parameter C6-04 to the same value as C6-03.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 203
5.3 C: Tuning
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 by setting the upper and lower
limits for the carrier frequency and the carrier frequency proportional gain (C6-03, C6-04, C6-05).
n C6-09: Carrier Frequency during Rotational Auto-Tuning
Determines the carrier frequency while performing Rotational Auto-Tuning. Although this parameter rarely needs to be
changed, when overcurrent problems occur when Auto-Tuning a high frequency motor or low impedance motor, it may be
helpful to set C6-03 to a high value before setting C6-09 to 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
u C7: Voltage Adjustment
n C7-43: Input Voltage Offset Adjustment
Note: Adjustment is completed at the factory. Do not change the setting of this parameter.
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.
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
n 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
C7-56 Power Factor Control Selection 0, 1 0
Setting 0: Power Factor Control Disabled
Setting 1: Power Factor Control Enabled
n C7-60: Output Voltage Limit Mode Selection
Sets the mode to limit the output voltage.
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
204 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.4 d: Reference Settings
5.4 d: Reference Settings
The figure below gives an overview of the reference input, selections, and priorities.
b1-01
(Freq. Reference Source 1)
LO/RE Key on Digital Operator or
=4 Digital Input H1-oo = 1
Pulse Train Input
=3
Option Card
=2
MEMOBUS comm.
Digital Input 0
=1 Remote
Terminal A1/A2/A3 H1-oo = 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 Source 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-oo)
Jog Frequency d1-17 Jog Reference (=6),
Multi-Step Speed FJOG(=12), RJOG(=13)
Figure 5.41 Frequency Reference Setting Hierarchy
u d1: Frequency Reference
n d1-01 to d1-17: Frequency Reference 1 to 16 and Jog Frequency Reference
Parameter Details
The drive lets the user switch between up to 17 preset frequency references during run (including the Jog reference) through
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 overrides all other frequency references and must be selected by a separate digital input.
The multi-speed references 1, 2, and 3 can be provided by analog inputs.
No. Parameter Name Setting Range Default 5
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-oo parameters to 3, 4, 5, and 32. To assign the
Jog reference to a digital input, set H1-oo to 6.
Notes on using analog inputs as Multi-Speed 1, 2, and 3:
• Multi-Step Speed 1
Set b1-01 to 1 to set terminal A1 analog input to Multi-Step Speed 1.
Set b1-01 to 0 when setting d1-01, Frequency Reference 1, to Multi-Step Speed 1.
• Multi-Step Speed 2
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 205
5.4 d: Reference Settings
Set H3-06, Terminal A3 Function Selection, to 2 (Auxiliary Frequency Reference 1) when setting terminal A3 analog input
to Multi-Step Speed 2.
Set H3-06 to F (Through mode) when setting d1-02, Frequency Reference 2, to Multi-Step Speed 2.
• Multi-Step Speed 3
Set H3-10, Terminal A2 Function Selection, to 3 (Auxiliary Frequency Reference 2) when setting terminal A2 analog input
to Multi-Step Speed 3.
Set H3-10 to F (Through mode) when setting d1-03, Frequency Reference 3, to Multi-Step Speed 3.
Set H3-09 to 0 and set DIP switch S1 on the control circuit terminal board to V (voltage) when inputting 0 to 10 V to terminal
A2 analog input.
Select the different speed references as shown in Table 5.18. Figure 5.42 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
Speed Speed Speed Speed
Reference Selection
Reference Reference 2 Reference 3 Reference 4 H1-oo = 6
H1-oo = 3 H1-oo = 4 H1-oo = 5 H1-oo = 32
Frequency Reference 1 (set in b1-01) OFF OFF OFF OFF OFF
Frequency Reference 2 ON OFF OFF OFF OFF
(d1-02 or input terminal A1, A2, A3)
Frequency Reference 3 OFF ON OFF OFF OFF
(d1-03 or input terminal A1, A2, A3)
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 all other frequency references.
206 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.4 d: Reference Settings
d1-16
Frequency d1-15
reference
d1-14
d1-13
d1-12
d1-07
d1-06
d1-05
d1-04
d1-03
(A3)
d1-02
(A2)
d1-01
(A1)
d1-17
Time
FWD (REV) Run/Stop
ON
Multi-step Speed Ref. 1 ON ON ON ON ON ON
Multi-step Speed Ref. 2 ON ON ON ON
Multi-step Speed Ref. 3 ON ON
Multi-step Speed Ref. 4 ON
Jog Reference Selection ON
Figure 5.42 Preset Reference Timing Diagram
u d2: Frequency Upper/Lower Limits
Upper and lower frequency limits prevent motor speed from going above or below levels that may cause resonance or
equipment damage.
n d2-01: Frequency Reference Upper Limit
Parameter Details
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%
5
n 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%
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 207
5.4 d: Reference Settings
Internal frequency
reference
d2-01
Frequency Reference Upper Limit
Operating
range
Frequency Reference Lower Limit
d2-02
Set frequency reference
Figure 5.43 Frequency Reference: Upper and Lower Limits
n d2-03: Master Speed Reference Lower Limit
Sets a lower limit as a percentage of the maximum output frequency that will only affect a frequency reference entered from
the analog input terminals (A1, A2, or A3) as the master speed reference. This is unlike parameter d2-02, which affects all
frequency references regardless of their source.
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%
u d3: Jump Frequency
n d3-01 to d3-04: Jump Frequencies 1, 2, 3 and Jump Frequency Width
The Jump frequencies are frequency ranges at which the drive will not operate. The drive can be programmed with three
separate Jump frequencies to avoid operating at speeds that cause resonance in driven machinery. 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 HC <1> 0.0 Hz <1>
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 percentage 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 5.44 shows the relationship between the Jump frequency and the output frequency.
208 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.4 d: Reference Settings
Frequency
Reference
Frequency
reference
decreases Frequency
reference
increases
Jump
Frequency
Width (d3-04)
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 5.44 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.
u d4: Frequency Reference Hold and Up/Down 2 Function
n d4-01: Frequency Reference Hold Function Selection
Determines whether the frequency reference or the frequency bias (Up/Down 2) value is saved when the Stop command is
entered or the power supply is shut down. This parameter is effective when either of the digital input functions listed below
are used:
• Accel/decel ramp hold function (H1-oo= A)
• Up/Down function (H1-oo = 10 and 11)
• Up/Down 2 function (H1-oo = 75 and 76)
No. Parameter Name Setting Range Default
Parameter Details
d4-01 Frequency Reference Hold Function Selection 0, 1 0
The operation depends on the function used with parameter d4-01.
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. 5
• 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 restarted.
• 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.
Setting 1: Enabled
• Acceleration hold
The last hold value will be saved when the Run command or the drive power is switched off and the drive will use the saved
value as the frequency reference when it restarts. Make sure to continuously enable the multi-function input terminal set for
“Accel/decel ramp hold” (H1-oo = A) or the hold value will be cleared when the power is switched on.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 209
5.4 d: Reference Settings
ON ON
Power supply
OFF
OFF ON OFF ON
Forward Run / Stop
OFF ON OFF ON
Hold Accel/Decel
Frequency reference
Output frequency d4-01 = 1
d4-01 = 0
Hold Hold
Figure 5.45 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.
Bias is added to frequency
reference and reset to 0
Output
frequency
Frequency
reference
Bias 5s
5s
Up 2 command
Figure 5.46 Up/Down 2 Example with Reference from Digital Operator and d4-01 = 1
• 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.
210 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.4 d: Reference Settings
Bias is saved in parameter d4-06
Output
frequency
d4-06 value
5s
Bias
5s
Up 2 command
Figure 5.47 Up/Down 2 Example with Other Reference than Digital Operator and d4-01 = 1
Note: 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 213 and Refer to d4-09: Frequency Reference Bias Lower Limit (Up/Down 2) on
page 213 for details on the limit settings.
Clearing the Saved Value
Depending on which function is used, it is possible to clear the saved frequency reference value by:
• Releasing the input programmed for Acceleration hold.
• Setting an Up or Down command while no Run command is active.
• Resetting parameter d4-06 to zero. Refer to d4-06: Frequency Reference Bias (Up/Down 2) on page 212 for details.
n d4-03: Frequency Reference Bias Step (Up/Down 2)
Sets the bias 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 times determined
by parameter d4-04.
Parameter Details
Output
frequency
Bias value is increased using the
accel/decel times as set in d4-04
Bias
5
Up 2 command
Figure 5.48 Up/Down 2 Bias when d4-03 = 0.00 Hz
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.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 211
5.4 d: Reference Settings
Output
frequency
Bias value is increased in steps as
defined in d4-03
Drive uses accel/decel times as
set in d4-04
Bias
Up 2 command
Figure 5.49 Up/Down 2 Bias when d4-03 > 0.00 Hz
n d4-04: Frequency Reference Bias Accel/Decel (Up/Down 2)
Determines the accel/decel times used to increase or decrease the frequency reference or bias when using the Up/Down 2
function.
No. Parameter Name Setting Range Default
d4-04 Frequency Reference Bias Accel/Decel (Up/Down 2) 0, 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.
n d4-05: Frequency Reference Bias Operation Mode Selection (Up/Down 2)
Determines if the bias value is held 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
Frequency Reference Bias Operation Mode Selection
d4-05 0, 1 0
(Up/Down 2)
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 inputs Up 2 and Down 2 are both on or both off. The drive will use the accel/decel time as selected
in d4-04 to accelerate or decelerate to the frequency reference value.
n d4-06: Frequency Reference Bias (Up/Down 2)
Saves the frequency reference bias value set by the Up/Down 2 function as a percentage of the maximum output frequency.
The function of this parameter depends on the Up/Down 2 function configuration. This parameter is not normally used when
the digital operator sets the frequency reference.
• The value set to d4-06 will be applied during run, however the value is reset when the frequency reference changes (including
multi-step references) and is 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 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 when 5 s have passed after releasing the Up 2 or Down 2 command. The frequency
reference will return to the value 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%
Conditions that Reset or Disable d4-06
• The Up/Down 2 function has not been assigned to the multi-function terminals.
• The frequency reference source has been changed (including LOCAL/REMOTE or External reference 1/2 switch over by
digital inputs).
212 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.4 d: Reference Settings
• 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.
n d4-07: Analog Frequency Reference Fluctuation Limit (Up/Down 2)
Handles frequency reference changes while the Up 2 or Down 2 terminal 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.
This parameter 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%
n d4-08: Frequency Reference Bias Upper Limit (Up/Down 2)
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%
n d4-09: Frequency Reference Bias Lower Limit (Up/Down 2)
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. Set a negative lower limit in d4-09 to allow speed reduction in this
situation.
No. Parameter Name Setting Range Default
d4-09 Frequency Reference Bias Lower Limit (Up/Down 2) -99.9 to 0.0% 0.0%
n d4-10: Up/Down Frequency Reference Limit Selection
Parameter Details
Selects how the lower frequency limit is set when using the Up/Down function. Refer to Setting 10, 11: Up/Down
Function on page 249 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, 1 0
Setting 0: Lower Limit is Determined by d2-02 or Analog Input
The higher value between d2-02 and an analog input programmed for Frequency bias (A1, A2, A3) determines the lower 5
frequency reference limit.
Note: When using the External Reference 1/2 (H1-oo = 2) to switch between the Up/Down function and an analog input as the reference source,
the analog value becomes the lower reference limit when the Up/Down command is active. Set d4-10 to 1 to make the Up/Down function
independent of the analog input value.
Setting 1: Lower Limit is Determined by d2-02
Only parameter d2-02 sets the lower frequency reference limit.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 213
5.4 d: Reference Settings
u d5: Torque Control
Torque Control defines a setpoint for the motor torque and is available for CLV and CLV/PM (A1-02 = 3, 7).
n Torque Control Operation
Torque control can be enabled either by setting parameter d5-01 to 1 or by setting digital input (H1-oo = 71). Figure 5.50
illustrates the working principle.
Torque Compensation
d5-02
U1-09
External Torque Reference Torque Reference Delay
d5-08 L7-oo
C1-oo , C2-oo
+ 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
Figure 5.50 Torque Control Block Diagram
The externally input torque reference is 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. To prevent operation beyond the speed
limit, compensate 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-oo settings, and is then used as the internal torque reference, which can be monitored in
U1-09. The L7-oo settings have highest priority. The motor cannot be operated with a higher torque than the L7-oo settings
even if the external torque reference value is increased.
n Setting the Torque Reference, Speed Limit, and Torque Compensation Values
Torque Control Reference Sources
Set input values for Torque Control as explained in Table 5.19.
Table 5.19 Torque Control Input Value Selection
Input Value Signal Source Settings Remarks
Match the input terminal signal level settings to
Analog inputs A1/A2/ the signal being used. Refer to H3: Multi-
A3 H3-02, H3-10, or H3-06 = 13 <1> Function Analog Inputs on page 267 for details
on adjusting analog input signals.
Torque Reference The F3-oo settings become effective for the
option board input terminals. Match the input
• F2-01 = 0 terminal signal level settings to the signal being
Analog Option
• H3-02, H3-10, or H3-06 = 13 <1> used. Refer to H3: Multi-Function Analog
Inputs on page 267 for details on adjusting
analog input signals.
• b1-01 = 2
MEMOBUS Register
• Set Register 000FH, Bit 2 = 1 to –
0004H enable Torque reference from
register 0004H
Torque Reference • b1-01 = 3
• F6-06 = 1
Communications Option Refer to the option card manual for –
details about setting the torque
compensation value.
214 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.4 d: Reference Settings
Input Value Signal Source Settings Remarks
d5-03 = 1
Signal selected as The speed limit is taken from the input The settings in C1-oo for accel/decel times and
frequency reference selected as frequency reference source in C2-oo for S-curves are applied to the speed
Speed Limit source limit value.
in parameter b1-01 or b1-15. <1>
Parameter d5-04 d5-03 = 2 –
Match the input terminal signal level settings to
Analog inputs A1/A2/ <1> the signal being used. Refer to H3: Multi-
A3 H3-02, H3-10, or H3-06 = 14 Function Analog Inputs on page 267 for details
on adjusting analog input signals.
The H3-oo settings become effective for the
• F2-01 = 0 option board input terminals. Match the input
Analog Option
• H3-02, H3-10, or H3-06 = 14 <1> terminal signal level settings to the signal being
Torque used.
Compensation • b1-01 = 2
MEMOBUS Register • Set Register 000FH, bit 3 = 1 to –
0005H enable the torque compensation
setting by register 0005H
b1-01 = 3
Communications Option 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. Setting two analog inputs for the
same function will trigger an oPE07 error (Multi-Function Analog Input Selection Error).
Input Value Polarity
The direction of the input values described above depends on the polarity of the Run command and the input value.
Table 5.20 Torque Control Signal Polarity
Run Command Direction Input Value Polarity Input Value Direction
+ (positive) Forward direction
Forward
- (negative) Reverse direction
+ (positive) Reverse direction
Reverse
- (negative) Forward direction
Example:
Parameter Details
• 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., in
the reverse direction. However, if a Reverse Run command is input, the torque command will be for forward rotation.
When using analog inputs, negative input values can be generated by:
• applying negative voltage input signals. 5
• using positive analog input signals while setting the analog input bias to negative values so the input value can be negative.
• applying positive voltage input signals and using a digital input that is programmed for H1- oo = 78.
When using MEMOBUS/Modbus communication or a communication option card, only positive input values can be set.
Independent of its input source, the polarity of the torque reference signal can be inverted using a digital input that is
programmed for H1-oo = 78. Use this function to input negative torque reference values when using MEMOBUS/Modbus
or a communication option card.
n 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 5.21 explains the relation between
these settings.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 215
5.4 d: Reference Settings
Table 5.21 Speed Limit, Speed Bias and Speed Limit Priority Selection
Operating Conditions
Run Forward Reverse Forward Reverse Forward Reverse Forward Reverse
Command
Torque Positive Negative Negative Positive Positive Negative Negative Positive
Reference (Forward) (Reverse) (Reverse) (Forward) (Forward) (Reverse) (Reverse) (Forward)
Direction
Speed Limit Positive Negative Negative Positive Positive Negative Negative Positive
Direction (Forward) (Reverse) (Reverse) (Forward) (Forward) (Reverse) (Reverse) (Forward)
Rotation Forward Reverse Forward Reverse
Direction
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
Bidirectiona Limit Speed Reference
Torque Speed Limit
Limit Bias
l Speed Reference
Speed Speed d5-05
Speed 0 Speed
Limit Bias 0
0 0
(d5-08 = 0) Internal Speed
<1> Speed Limit Torque Internal
Δn Speed Limit Bias
Speed Reference Torque
Bias d5-05 Limit d5-05
Limit Reference
Torque Speed Limit Torque Torque Torque
Limit Bias d5-05 Δn Limit Dn 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
Internal
Speed Speed Limit Internal
Unidirection Torque Limit Bias d5-05 Speed Limit Torque
al Speed Reference
Speed Speed Reference
0 Speed 0 Speed
Limit Bias 0 0
(d5-08 = 1) Internal Internal
Speed
<1> Speed Torque Torque
Limit Bias Speed Reference Reference Speed Limit Bias
d5-05 Limit Limit 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 Line Direction Line Direction
Example
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-oo.
n Indicating Operation at the Speed Limit
Program a digital output to close when the drive operates at or beyond the speed limit (H2-oo = 32). Use this output to notify
a control device such as a PLC of abnormal operating conditions.
n Switching Between Torque and Speed Control
Use a digital input to switch Torque Control and Speed Control (H1-oo = 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, set up a delay time 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. Change the reference
values from the controller within this delay time.
Note: 1. The switching delay 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-oo is set to 71 at the same time.
216 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.4 d: Reference Settings
Speed/Torque control OFF ON OFF ON
input (H1-oo = 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 Limit Torque Reference Torque Limit Torque Reference Torque Limit
d5-06 d5-06 d5-06
Figure 5.51 Speed/Torque Control Switching Time
n d5-01: Torque Control Selection
No. Parameter Name Setting Range Default
d5-01 Torque Control Selection 0, 1 0
Setting 0: Disabled
Speed Control will be active. Also use this setting when H1-oo = 71 (Speed/Torque Control Switch).
Setting 1: Enabled
Torque Control is always enabled.
n d5-02: Torque Reference Delay Time
Apply a filter with the time constant set to parameter d5-02 to the torque reference signal to eliminate oscillation resulting
from an unstable torque reference signal. A higher filter time stabilizes control while reducing the responsiveness.
No. Parameter Name Setting Range Default
d5-02 Torque Reference Delay Time 0 to 1000 ms 0 ms
n d5-03: Speed Limit Selection
Parameter Details
Determines how the speed limit is set.
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) 5
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.
Setting 2: d5-04
The speed limit is set by parameter d5-04.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 217
5.4 d: Reference Settings
n 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 215.
No. Parameter Name Setting Range Default
d5-04 Speed Limit -120 to 120% 0%
n d5-05: Speed Limit Bias
Applies a bias set as a percentage of the maximum output frequency to the speed limit value. Refer to Speed Limitation and
Speed Limit Bias on page 215.
No. Parameter Name Setting Range Default
d5-05 Speed Limit Bias 0 to 120% 10%
n d5-06: Speed/Torque Control Switchover Time
Sets the delay time for switching between Speed Control and Torque Control.
No. Parameter Name Setting Range Default
d5-06 Speed/Torque Control Switchover Time 0 to 1000 ms 0 ms
n d5-08: Unidirectional Speed Limit Bias
Selects how the speed limit bias is applied.
No. Parameter Name Setting Range Default
d5-08 Unidirectional Speed Limit Bias 0, 1 1
Setting 0: Disabled
The speed limit bias is applied in the speed limit direction and the opposite direction.
Setting 1: Enabled
The speed limit bias is applied in the opposite direction of the speed limit only.
u d6: Field Weakening and Field Forcing
Field Weakening
The Field Weakening function reduces the output voltage to a predefined level to reduce the energy consumption of the motor.
To activate the Field Weakening function, use a digital input programmed for H1-oo = 63. Only use Field Weakening with
a known and unchanging light load condition. Use the Energy Saving function (b8-oo 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 and improves motor responsiveness. Field Forcing is ineffective during DC Injection Braking.
n d6-01: Field Weakening Level
Sets the level to which the output voltage is reduced when Field Weakening is activated. Set as percentage of the maximum
output voltage.
No. Parameter Name Setting Range Default
d6-01 Field Weakening Level 0 to 100% 80%
n d6-02: Field Weakening Frequency Limit
Sets the minimum output frequency at which field weakening can be activated. Field Weakening cannot be activated for
frequencies below d6-02.
No. Parameter Name Setting Range Default
d6-02 Field Weakening Frequency Limit 0 to 400.0 Hz 0.0 Hz
218 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.4 d: Reference Settings
n d6-03: Field Forcing Selection
Enables or disables the Field Forcing function.
No. Parameter Name Setting Range Default
d6-03 Field Forcing Selection 0, 1 0
Setting 0: Disabled
Setting 1: Enabled
n d6-06: Field Forcing Limit
Sets the maximum level at which the Field Forcing function can boost the excitation current reference. The value is set as a
percentage of the motor no load current. This parameter does not normally need to be changed.
No. Parameter Name Setting Range Default
d6-06 Field Forcing Limit 100 to 400% 400%
u d7: Offset Frequency
n 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-oo = 44, 45, 46). The selected offset values are added together if multiple inputs are
closed simultaneously. The value is set as a percentage of the Maximum Output Frequency.
Note: This function can replace the “Trim Control” function (H1-oo = 1C, 1D) of older 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 5.52 illustrates the Offset frequency function.
Frequency
Frequency SFS reference after
reference
soft starter
Multi-function
input (44) = on
Offset Frequency 1 [d7-01]
Parameter Details
(Signed)
Multi-function
input (45) = on
Offset Frequency 2 [d7-02]
(Signed)
Multi-function
input (46) = on 5
Offset Frequency 3 [d7-03]
(Signed)
Figure 5.52 Offset Frequency Operation
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 219
5.5 E: Motor Parameters
5.5 E: Motor Parameters
E parameters cover V/f pattern and motor data settings.
u E1: V/f Pattern for Motor 1
n V/f Pattern Settings (E1-03)
The drive uses a V/f pattern to adjust the output voltage relative to the frequency reference. There are 15 different predefined
V/f patterns (setting 0 to E) from which to select, 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) that
requires the user to create the pattern using parameters E1-04 through E1-10.
n E1-03: V/f Pattern Selection
Selects the V/f pattern for the drive and motor from 15 predefined patterns or creates a custom V/f pattern.
No. Parameter Name Setting Range Default
E1-03 V/f Pattern Selection 0 to F F <1>
<1> Parameter is not reset to the default value when the drive is initialized using A1-03.
Setting a Predefined V/f Pattern (Setting 0 to E)
Choose the V/f pattern that best meets the application demands from Table 5.22. 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. Drive initialization does not reset parameter E1-03.
Table 5.22 Predefined V/f Patterns
Setting Specification Characteristic Application
0 50 Hz
1 60 Hz For general purpose applications. Torque remains constant
Constant torque
2 60 Hz (with 50 Hz base) regardless of changes to speed.
3 72 Hz (with 60 Hz base)
4 50 Hz, Variable torque 1
5 50 Hz, Variable torque 2 For fans, pumps, and other applications where the required
Variable torque
6 60 Hz, Variable torque 1 torque changes as a function of the speed.
7 60 Hz, Variable torque 2
8 50 Hz, mid starting torque
Select high starting torque when:
9 50 Hz, high starting torque
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)
Output voltage is constant when operating at greater than
D 120 Hz (with 60 Hz base) Constant output 60 Hz.
E 180 Hz (with 60 Hz base)
F For general purpose applications. Torque remains constant
<1> 60 Hz Constant torque regardless of 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.
220 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.5 E: Motor Parameters
Predefined V/f Patterns for Models 4o0011 and 4o0014
Table 5.23 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 5.24 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 5.25 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 5.26 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 2o0028 to 2o0192 and 4o0021 to 4o0124
The values in the following graphs are specific to 200 V class drives. Double the values for 400 V class drives. 5
Table 5.27 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 04C U1000 Industrial MATRIX Drive Technical Manual 221
5.5 E: Motor Parameters
Table 5.28 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
7 7
6 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 5.29 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 5.30 Constant Output, Settings C to F
Setting = C 90 Hz Setting = D 120 Hz Setting = E 180 Hz Setting = F 60 Hz
200 200 200 230
Voltage (V)
Voltage (V)
Voltage (V)
Voltage (V)
14 14 14 16.1
7 7 7 8.1
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 2o0216 and 4o0156 to 4o0414
The values in the following graphs are specific to 200 V class drives. Double the values for 400 V class drives.
Table 5.31 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 5.32 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)
222 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.5 E: Motor Parameters
Table 5.33 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 5.34 Constant Output, Settings C to F
Setting = C 90 Hz Setting = D 120 Hz Setting = E 180 Hz Setting = F 60 Hz
200 200 200 230
Voltage (V)
Voltage (V)
Voltage (V)
Voltage (V)
12 12 12 13.8
6 6 6 6.9
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 the user 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 Predefined V/f pattern 1.
n V/f Pattern Settings E1-04 to E1-13
If E1-03 is set to a preset V/f pattern (i.e., a value other than F), the user can monitor the V/f pattern in parameters E1-04
through E1-13. To create a new V/f pattern, set E1-03 to F. Refer to V/f Pattern on page 224 for an example custom V/f
pattern.
Note: Certain E1-oo parameters might not be visible depending on the control mode. Refer to Parameter List on page 441 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>
E1-06 Base Frequency 0.0 to [E1-04] <2> <3>
E1-07 Middle Output Frequency 0.0 to [E1-04] <2>
Parameter Details
E1-08 Middle Output Frequency Voltage 0.0 to 255.0 V <4> <2>
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>
E1-11 Middle Output Frequency 2 0.0 to [E1-04] 0.0 Hz <6>
E1-12 Middle Output Frequency Voltage 2 <4> <5> <6>
0.0 to 255.0 V 0.0 V 5
E1-13 Base Voltage 0.0 to 255.0 V <4> 0.0 V <5> <7>
<1> Default setting is determined by E5-01 in OLV/PM. When E5-01 is set to FFFFH, the setting range for E1-04 and E1-06 is 10.0 to 40.0 Hz and the
setting range for E1-09 is 0.0 to 400.0 Hz.
<2> Default setting is determined by the control mode.
<3> When using PM motors, the default setting is determined by the motor code set to E5-01.
<4> Values shown are specific to 200 V class drives. Double the value for 400 V class drives.
<5> The drive changes these settings when Auto-Tuning is performed (Rotational Auto-Tuning, Stationary Auto-Tuning 1, 2).
<6> Parameter ignored when E1-11 and E1-12 are set to 0.0.
<7> E1-13 and E1-05 are set to the same value when Auto-Tuning is performed.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 223
5.5 E: Motor Parameters
Output Voltage (V)
E1-05
E1-12
E1-13
E1-08
E1-10
E1-09 E1-07 E1-06 E1-11 E1-04
Frequency (Hz)
Figure 5.53 V/f Pattern
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 equal to E1-07. In this case the E1-08 setting is disregarded.
3. E1-03 is unaffected when the drive is initialized, but E1-04 through E1-13 return to their default values.
4. Only use E1-11, E1-12, and E1-13 to fine-tune the V/f pattern in the constant output range. These parameters rarely need to be changed.
u E2: Motor 1 Parameters
These parameters contain the motor data needed for motor 1. Performing Auto-Tuning (including Rotational Auto-Tuning
and Stationary Auto-Tuning 2 and 3, and Rotational Auto-Tuning for V/f Control) automatically sets these parameters. Refer
to Auto-Tuning Fault Detection on page 364 for details if Auto-Tuning cannot be performed.
Note: The function for switching between two motors cannot be used with a PM motor. E2-oo parameters are hidden when a PM motor control
mode is selected (A1-02 = 5, 6, or 7).
n 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
10% to 150% of the drive Determined by
E2-01 Motor Rated Current
rated current <1> C6-01 and o2-04
<1> Display is in the following units:
2o0028, 2o0042, and 4o0011 to 4o0027: 0.01 A units
2o0054 to 2o0248 and 4o0034 to 4o0414: 0.1 A units
Note: An oPE02 error will occur if the motor rated current in E2-01 is set lower than the motor no-load current in E2-03. Set E2-03 correctly to
prevent this error.
n 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, 3).
No. Parameter Name Setting Range Default
Determined by
E2-02 Motor Rated Slip 0.00 to 20.00 Hz C6-01 and 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 (r/min), p: number of motor poles)
n 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, 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.
224 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.5 E: Motor Parameters
No. Parameter Name Setting Range Default
Determined by
E2-03 Motor No-Load Current 0.00 A to [E2-01] <1> C6-01 and o2-04
<1> Display is in the following units:
2o0028, 2o0042, and 4o0011 to 4o0027: 0.01 A units
2o0054 to 2o0248 and 4o0034 to 4o0414: 0.1 A units
n 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.
No. Parameter Name Setting Range Default
E2-04 Number of Motor Poles 2 to 48 4
n 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. Enter this value as line-to-line and not for each motor phase.
If Auto-Tuning is not possible, 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 one of the formulas below:
• E-type insulation: Multiply 0.92 times the resistance value (Ω) listed on the test report at 75 °C.
• B-type insulation: Multiply 0.92 times the resistance value (Ω) listed on the test report at 75 °C.
• F-type insulation: Multiply 0.87 times the resistance value (Ω) listed on the test report at 115 °C.
No. Parameter Name Setting Range Default
Determined by
E2-05 Motor Line-to-Line Resistance 0.000 to 65000 mΩ C6-01 and o2-04
n 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, 3).
No. Parameter Name Setting Range Default
Determined by
E2-06 Motor Leakage Inductance 0.0 to 40.0%
Parameter Details
C6-01 and o2-04
n 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
5
E2-07 Motor Iron-Core Saturation Coefficient 1 0.00 to 0.50 0.50
n 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 calculated 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
n E2-09: Motor Mechanical Loss
Sets the motor mechanical loss as a percentage of motor rated power (kW) capacity.
Adjust this setting 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.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 225
5.5 E: Motor Parameters
No. Parameter Name Setting Range Default
E2-09 Motor Mechanical Loss 0.0 to 10.0% 0.0%
n E2-10: Motor Iron Loss for Torque Compensation
Sets the motor iron loss in watts.
No. Parameter Name Setting Range Default
Determined by
E2-10 Motor Iron Loss for Torque Compensation 0 to 65535 W C6-01 and o2-04
n E2-11: Motor Rated Power
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
n Setting Motor Parameters Manually
Follow the instructions below when setting motor-related parameters manually instead of Auto-Tuning. Refer to the motor
test report included with the motor to ensure the correct data is entered into the drive.
Set the Motor Rated Current
Enter the motor rated current listed on the nameplate of the motor to E2-01.
Set the Motor Rated Slip
Calculate the motor rated slip using the base speed listed on the motor nameplate. Refer to the formula below, then enter that
value to E2-02.
Motor rated slip = rated frequency [Hz] – base speed [r/min] × (no. of motor poles) / 120
Set the No-Load Current
Enter the no-load current at rated frequency and rated voltage to E2-03. This information 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.
Set 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.
Set the Line-to-Line Resistance
E2-05 is normally set during Auto-Tuning. If Auto-Tuning cannot be performed, contact the motor manufacturer to determine
the correct resistance between motor lines. The motor test report can also be used to calculate this value using the formulas
below:
• E-type insulation: Multiply 0.92 times the resistance value (Ω) listed on the test report at 75 °C.
• B-type insulation: Multiply 0.92 times the resistance value (Ω) listed on the test report at 75 °C.
• F-type insulation: Multiply 0.87 times the resistance value (Ω) listed on the test report at 115 °C.
Set the Motor Leakage Inductance
The motor leakage inductance set to E2-06 determines the amount of voltage drop relative to the motor rated voltage. Enter
this value for motors with a low degree of inductance, such as high-speed motors. This information is usually not listed on the
motor nameplate. Contact the motor manufacturer if the data cannot be found.
Set the Motor Iron-Core Saturation Coefficient 1, 2
E2-07 and E2-08 are set when Auto-Tuning is performed.
Set the Motor Mechanical Loss
Only required in 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 be necessary in the following circumstances:
• When there is a large amount of torque loss due to motor bearing friction.
226 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.5 E: Motor Parameters
• When there is a large amount of torque loss in a fan or pump application.
Set the Motor Iron Loss for Torque Compensation
Only required 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.
u 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 251 for details on
switching motors.
Note: The function for switching between two motors cannot be used with a PM motor. E3-oo parameters are hidden when a PM motor control
mode is selected (A1-02 = 5, 6, or 7).
n 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.
No. Parameter Name Setting Range Default
E3-01 Motor 2 Control Mode Selection 0 to 3 0
Note: L1-01 determines protection from motor overload (oL1) in motor 2 and motor 1.
Setting 0: V/f Control
Setting 1: V/f Control with PG
Setting 2: Open Loop Vector Control
Setting 3: Closed Loop Vector Control
n 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 5.54.
Note: Certain E3-oo parameters might not be visible depending on the control mode. Refer to Parameter List on page 441 for details.
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 V <1> <1> <2>
E3-06 Motor 2 Base Frequency 0.0 to [E3-04] <2>
Parameter Details
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 V <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 V <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 V <1> 0.0 V <3> <4> 5
E3-13 Motor 2 Base Voltage 0.0 to 255.0 V <1> 0.0 V <3>
<1> Values shown here are specific to 200 V class drives. Double the value for 400 V class drives.
<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.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 227
5.5 E: Motor Parameters
Output (V)
E3-05
E3-12
E3-13
E3-08
E3-10
E3-09 E3-07 E3-06 E3-11 E3-04
Frequency (Hz)
Figure 5.54 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 ≤ Ε3-11 ≤ E3-04
2. To make the V/f pattern a straight line at a frequency lower than E3-06, set E3-09 equal to E3-07. In this case, E3-08 is disregarded.
3. Parameters E3-04 through E3-13 are reset to their default values when the drive is initialized.
4. Only use E3-11, E3-12, and E3-13 to fine-tune the V/f pattern in the constant output range. These parameters rarely need to be changed.
u E4: Motor 2 Parameters
E4 parameters contain the motor data for motor 2. These parameters are usually set automatically during the Auto-Tuning
process for vector control modes (Rotational Auto-Tuning, Stationary Auto-Tuning 2, 3). Refer to Auto-Tuning Fault
Detection on page 364 for details if Auto-Tuning cannot be performed.
Note: The function for switching between two motors cannot be used with a PM motor. E4-oo parameters are hidden when a PM motor control
mode is selected (A1-02 = 5, 6, or 7).
n E4-01: Motor 2 Rated Current
Protects the motor and calculates torque limits. Set E4-01 to the full load amps (FLA) stamped on the nameplate of motor 2.
If Auto-Tuning completes successfully, the value entered to T1-04 will automatically be saved to E4-01.
No. Parameter Name Setting Range Default
10 to 150% of the drive rated Determined by
E4-01 Motor 2 Rated Current
current. <1> C6-01 and o2-04
<1> Display is in the following units:
2o0028, 2o0042, and 4o0011 to 4o0027: 0.01 A units
2o0054 to 2o0248 and 4o0034 to 4o0414: 0.1 A units
Note: An oPE02 error will occur if the motor rated current in E4-01 is set lower than the motor no-load current in E4-03. Set E4-03 correctly to
prevent this error.
n E4-02: Motor 2 Rated Slip
Sets the motor 2 rated slip frequency and is the basis for slip compensation value. The drive calculates this value automatically
during Auto-Tuning (Rotational Auto-Tuning and Stationary Auto-Tuning 2, 3).
Refer to E2-02: Motor Rated Slip on page 224 for information on calculating the motor rated slip.
No. Parameter Name Setting Range Default
Determined by
E4-02 Motor 2 Rated Slip 0.00 to 20.00 Hz C6-01 and o2-04
n E4-03: Motor 2 Rated No-Load Current
Sets 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, 3). The motor no-load current
listed in the motor test report can also be entered to E2-03 manually. Contact the motor manufacturer for a copy of the motor
test report.
No. Parameter Name Setting Range Default
E4-03 Motor 2 Rated No-Load Current <1> Determined by
0 to [E4-01] C6-01 and o2-04
<1> Display is in the following units:
2o0028, 2o0042, and 4o0011 to 4o0027: 0.01 A units
2o0054 to 2o0248 and 4o0034 to 4o0414: 0.1 A units
228 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.5 E: Motor Parameters
n E4-04: Motor 2 Motor Poles
Sets the number of poles for motor 2. If Auto-Tuning completes successfully, the value entered 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
n 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. Enter this value as line-to-line and not for each motor phase. Refer to E2-05: Motor Line-to-Line Resistance on
page 225 to manually enter this parameter setting.
No. Parameter Name Setting Range Default
Determined by
E4-05 Motor 2 Line-to-Line Resistance 0.000 to 65000 mΩ C6-01 and o2-04
n 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 2,3).
No. Parameter Name Setting Range Default
Determined by
E4-06 Motor 2 Leakage Inductance 0.0 to 40.0% C6-01 and o2-04
n 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
n 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.
Parameter Details
No. Parameter Name Setting Range Default
E4-08 Motor 2 Motor Iron-Core Saturation Coefficient 2 [E4-07] to 0.75 0.75
n E4-09: Motor 2 Mechanical Loss
Sets the motor mechanical loss as a percentage of motor rated power (kW).
Although E4-09 rarely needs to be changed, adjustment may be necessary 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
E4-09 Motor 2 Mechanical Loss 0.0 to 10.0% 0.0%
n E4-10: Motor 2 Iron Loss
Sets the motor 2 iron loss in watts.
No. Parameter Name Setting Range Default
Determined by
E4-10 Motor 2 Iron Loss 0 to 65535 W C6-01 and o2-04
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 229
5.5 E: Motor Parameters
n 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
Determined by
E4-11 Motor 2 Rated Power 0.00 to 650.00 kW o2-04
u E5: PM Motor Settings
These parameters set the motor data of a PM motor.
When using Yaskawa motors, set up the E5-oo parameters by entering the motor code written on the motor nameplate.
Perform Auto-Tuning for all other PM motors. The motor data can also be entered manually, if known.
Note: 1. E5-oo parameters are visible only when a PM motor control mode is selected (A1-02 = 5, 6, or 7).
2. E5-oo parameters are not reset when the drive is initialized using parameter A1-03.
n E5-01: Motor Code Selection (for PM Motors)
When using Yaskawa motors, set the motor code for the PM motor being used. The drive automatically sets several parameters
to appropriate values depending on the motor code.
Setting parameter E5-01 to FFFF allows the motor data to be manually set using the E5-oo parameters.
No. Parameter Name Setting Range Default
Determined by
E5-01 Motor Code Selection (for PM Motors) 0000 to FFFF A1-02, C6-01 and
o2-04
Note: 1. E5-oo 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 r/min)
CLV/PM: Yaskawa SST4 Series (1750 r/min)
6. Selection may vary depending on the motor code entered to E5-01.
7. If an alarm or hunting occurs despite using a motor code, enter the value indicated on the nameplate. Refer to Auto-Tuning for Permanent
Magnet Motors on page 131 for details.
Figure 5.55 explains the motor code setting.
Motor Voltage Class
and Capacity
0: Pico Motor 0: 1800 r/min Series
(SMRA Series) 1: 3600 r/min Series
1: Derated Torque for IPM 2: 1750 r/min Series
Motors 3: 1450 r/min Series
(SSR 1 Series) 4: 1150 r/min Series
F: Special Motor
2: Rated Torque for IPM
Motors
(SST4 Series)
Figure 5.55 PM Motor Code
n 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
Determined by
E5-02 Motor Rated Power (for PM Motors) 0.10 to 650.00 kW E5-01
230 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.5 E: Motor Parameters
n E5-03: Motor Rated Current (for PM Motors)
Sets the motor rated current in amps. Automatically set when the value is entered to T2-06 during Auto-Tuning.
No. Parameter Name Setting Range Default
10 to 150% of drive rated Determined by
E5-03 Motor Rated Current (for PM Motors)
current <1> E5-01
<1> Display is in the following units:
2o0028, 2o0042, and 4o0011 to 4o0027: 0.01 A units
2o0054 to 2o0248 and 4o0034 to 4o0414: 0.1 A units
n E5-04: Number of Motor Poles (for PM Motors)
Sets the number of motor poles. Automatically set when the value is entered to T2-08 during Auto-Tuning.
No. Parameter Name Setting Range Default
Determined by
E5-04 Number of Motor Poles (for PM Motors) 2 to 48 E5-01
n E5-05: Motor Stator Resistance (r1) (for PM Motors)
Set the resistance for one motor phase. Do not enter the line-to-line resistance into E5-05 when measuring the resistance
manually.
No. Parameter Name Setting Range Default
Determined by
E5-05 Motor Stator Resistance (for PM Motors) 0.000 to 65.000 Ω E5-01
n 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
Determined by
E5-06 Motor d-Axis Inductance (for PM Motors) 0.00 to 300.00 mH E5-01
n 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.
Parameter Details
No. Parameter Name Setting Range Default
Determined by
E5-07 Motor q-Axis Inductance (for PM Motors) 0.00 to 600.00 mH E5-01
n 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). 5
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 PM
motors.
No. Parameter Name Setting Range Default
Determined by
E5-09 Motor Induction Voltage Constant 1 (for PM Motors) 0.0 to 2000.0 mV/(rad/s) E5-01
Note: Set E5-24 to 0 when setting E5-09. However, setting both E5-09 and E5-24 to 0 will trigger an alarm. An alarm will also be triggered if
neither E5-09 nor E5-24 are set to 0. When E5-01 is set to FFFF, then E5-09 = 0.0.
n E5-11: Encoder Z Pulse Offset (ΔΘ) (for PM Motors)
Sets the offset between the rotor magnetic axis and the Z Pulse of the connected encoder. This parameter is set during 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
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 231
5.5 E: Motor Parameters
n 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/(r/min) [mechanical angle]. Set this parameter when using an
SPM Motor (SMRA Series or equivalent).
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
Determined by
E5-24 Motor Induction Voltage Constant 2 (for PM Motors) 0.0 to 6500.0 mV/(r/min) E5-01
Note: Set E5-24 to 0.0 when setting E5-09. However, setting both E5-09 and E5-24 to 0.0 will trigger an alarm. An alarm will also be triggered
if neither E5-09 nor E5-24 are set to 0.0. When E5-01 is set to FFFF, then E5-09 should be set to 0.0.
n E5-25: Polarity Switch for Initial Polarity Estimation Timeout (for PM Motors)
Switches polarity for initial polarity estimation. There is normally no need to change this parameter from the default value.
If “Sd = 1” is listed on the nameplate or in a test report for a Yaskawa motor, this parameter should be set to 1.
No. Parameter Name Setting Range Default
Polarity Switch for Initial Polarity Estimation Timeout (for PM
E5-25 0, 1 0
Motors)
Setting 0: “Sd = 1” is not listed
Setting 1: “Sd = 1” is listed
232 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.6 F: Option Settings
5.6 F: Option Settings
u F1: PG Speed Control Card Settings
Yaskawa offers PG-X3, PG-B3, PG-RT3, and PG-F3 motor encoder PG option cards. 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-oo= 16), use the card connected to port CN5-C
for motor 1 and use the card connected to CN5-B for motor 2.
Table 5.35 lists the parameters that must be set for each option card port.
Table 5.35 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
n 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> 1024 ppr
F1-31 PG 2 Pulses Per Revolution CN5-B 1 to 60000 ppr 1024 ppr
<1> Setting range is 0 to 15000 in PM motor control modes
n F1-02, F1-14: PG Open (PGo) Circuit 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. Set the stopping method for
a PGo fault in parameter F1-02.
Note: An oC error may occur depending on motor speed and load conditions.
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:
Parameter Details
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 5
Note: Due to potential damage to motor and machinery, refrain from using the “Alarm only” or “No alarm display” settings except under special
circumstances.
Setting 4: No alarm display
Note: Due to potential damage to motor and machinery, refrain from using the “Alarm only” or “No alarm display” settings except under special
circumstances.
n F1-03, F1-08, F1-09: Overspeed (oS) Operation Selection, Detection Level, Delay Time
An oS fault is triggered when the speed feedback exceeds the value set in F1-08 for longer than the time set in F1-09. Set the
stopping method for an oS fault 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:
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 233
5.6 F: Option 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, refrain from using the “Alarm only” setting except under special circumstances.
n 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 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)
n 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 setting the direction for the PG encoder and the motor.
No. Parameter Name Option Port Setting Range Default
Determined by
F1-05 PG 1 Rotation Selection CN5-C 0, 1
A1-02 <1>
F1-32 PG 2 Rotation Selection CN5-B 0, 1 0
<1> Default is 0 when A1-02 = 1 or 3. Default is 1 when A1-02 = 7.
Setting 0: A pulse leads with Forward run command
Setting 1: B pulse leads with Forward run command
n 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
Example: Set F1-06 to 032 for a ratio of 1/32 between the PG card pulse input and output.
No. Parameter Name Option Port Setting Range Default
001 to 032,
F1-06 PG 1 Division Rate for PG Pulse Monitor CN5-C 1 1
102 to 132 (1 to 32 )
1
F1-35 PG 2 Division Rate for PG Pulse Monitor CN5-B 1 to 132 (1 to 32 ) 1
n 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 on the load side. The drive uses the formula below to calculate the
motor speed:
234 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.6 F: Option Settings
Input pulse frequency from PG 60 Load-side PG gear teeth (F1-12/33)
r/min =
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 are set to 0.
n F1-18: dv3 Detection Selection (CLV/PM)
Sets the number of times the drive will detect a dv3 situation before triggering a dv3 fault. The drive detects a dv3 condition
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%. 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 to enter the correct Z Pulse offset to E5-11.
n F1-19: dv4 Detection Selection (CLV/PM)
Sets the number of pulses necessary to trigger a dv4 fault when there is a motor speed deviation opposite to the frequency
reference. 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 to enter the correct Z-pulse offset to E5-11.
2. Set F1-19 to 0 for applications where the direction of the load is the opposite of the speed reference.
n F1-20, F1-36: PG Option Card Disconnect Detection
Sets whether the drive detects a PG hardware fault (PGoH).
No. Parameter Name Option Port Setting Range Default
F1-20 PG Option Card Disconnection Detection 1 CN5-C 0, 1 1
Parameter Details
F1-36 PG Option Card Disconnection Detection 2 CN5-B 0, 1 1
Setting 0: Disabled
Setting 1: Enabled
n F1-21, F1-37: PG 1, PG 2 Signal Selection (V/f w/PG only) 5
Determines whether the signal to the PG option card is single-channel or two-channel.
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-channel (A channel only)
Setting 1: Two-channel (channels A and B)
n F1-30: PG Option Card Port for Motor 2 Selection
Specifies the drive port for the PG option card used for motor 2. Set this parameter when switching between motor 1 and motor
2, where both motors supply a speed feedback signal to the drive. Set F1-30 to 0 when using the same PG card for feedback
signals from both motors. Set F1-30 to 1 when each motor has its own PG card connected to the drive.
Note: The motor 2 selection function cannot be used with PM motors.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 235
5.6 F: Option Settings
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
n F1-50: Encoder Selection
Sets up the type of encoder connected to a PG-F3 option card.
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
The use of EnDat2.2/22 encoders requires a PG-F3 option with software version 0102 or later.
Setting 2: Hiperface
n F1-51: PGoH Detection Level
Sets the level for detecting PG Hardware Fault (PGoH). Available when F1-20 = 1.
Usually the relation between the sin and cos track is .
A speed feedback hardware fault is triggered when the value of the square root falls below the level set in F1-51.
No. Parameter Name Setting Range Default
F1-51 PGoH Detection Level 1 to 100% 80%
n 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)
u F2: Analog Input Card Settings
These parameters set the drive for operation with the analog input option card AI-A3. If no AI-A3 card is connected, drive
terminals A1 to A3 are enabled regardless of the F2-01 setting. This section describes parameters that govern operation with
an input option card. Refer to the option card instruction manual for specific details on installation, wiring, input signal level
selection, and parameter setup.
n F2-01: Analog Input Option Card Operation Selection
Determines how the input terminals on the AI-A3 option card are used.
No. Parameter Name Setting Range Default
F2-01 Analog Input Option Card Operation Selection 0, 1 0
Setting 0: Separate functions for each terminal (V1, V2, V3 replace terminals A1, A2, A3)
Use the H3-oo parameters described in H3-03, H3-04: Terminal A1 Gain and Bias Settings on page 267 to set the functions
and gain and bias levels for an analog reference supplied by AI-A3.
Note: Setting option card terminals for separate input functions (F2-01 = 0) while b1-01 = 3 will trigger an oPE05 error.
236 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.6 F: Option Settings
Setting 1: Combine input terminal values to create frequency reference (V1, V2, V3 are combined)
This setting adds all three input signals on the AI-A3 option card to create the frequency reference. Set b1-01 to 3 when the
option card is the source of the frequency reference for the drive. Set the gain and bias settings for the frequency reference
supplied from AI-A3 with F2-02 and F2-03.
n 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.
u F3: Digital Input Card Settings
These parameters set the drive for operation with the option card DI-A3. Refer to the instruction manual packaged with the
option card for specific details on installation, wiring, input signal level selection, and parameter setup.
n 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
Note: BCD input when o1-03 = 2 or 3. Units are determined by o1-03.
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
Parameter Details
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) 5
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.
n 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
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 237
5.6 F: Option Settings
u F4: Analog Monitor Card Settings
These parameters set the drive for operation with the analog output option card AO-A3. Refer to the instruction manual
packaged with the option card for specific details on installation, wiring, input signal level selection, and parameter setup.
n F4-01, F4-03: Terminal V1, V2 Monitor Selection
Selects the data to output from analog terminal V1. Enter the final three digits of Uo-ooto 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
n 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.
4. 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.
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.
n F4-07, F4-08: Terminal V1, V2 Signal Level
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
u F5: Digital Output Card Settings
These parameters set the drive for operation with the digital output option card DO-A3. Refer to the instruction manual
packaged with the option card for specific details on installation, wiring, input signal level selection, and parameter setup.
238 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.6 F: Option Settings
n F5-01 through F5-08: Digital Output Option Card Terminal Function Selection
When F5-09 = 2, the parameters listed in the table below assign functions to the output terminals on the option card.
No. Name Setting Range Default
F5-01 Terminal P1-PC Output Selection 0 to 1A7 0: During run
F5-02 Terminal P2-PC Output Selection 0 to 1A7 1: Zero speed
F5-03 Terminal P3-PC Output Selection 0 to 1A7 2: Speed agree
F5-04 Terminal P4-PC Output Selection 0 to 1A7 4: Frequency detection 1
F5-05 Terminal P5-PC Output Selection 0 to 1A7 6: Drive ready
F5-06 Terminal P6-PC Output Selection 0 to 1A7 37: During frequency output
F5-07 Terminal M1-M2 Output Selection 0 to 1A7 F: Not used
F5-08 Terminal M3-M4 Output Selection 0 to 1A7 F: Not used
n F5-09: DO-A3 Output Mode Selection
Determines how the DO-A3 option card works 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 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
u F6 and F7: Communication Option Card
These parameters configure communication option cards and communication fault detection methods.
Some parameters apply to all communication option cards and some parameters apply to certain network options only. The
option cards are applicable to the parameter rows marked with an “O”.
Parameter Range
Comm.
Parameter Details
Protocol F6-01 to F6-06 to F6-10 to F6-20, F6-23 to F6-30 to F6-35, F6-50 to F7-01 to F7-17 to
F6-04 F6-22 F7-16
F6-03 F6-08 F6-14 F6-21 F6-26 F6-32 F6-36 F6-63 F7-15 F7-42
CC-Link O O O O – – – – – – – – –
MECHA-
O – O – O O O – – – – – –
TROLINK-II
MECHA-
O – O – O – O – – – – – –
TROLINK-III
PROFIBUS-
5
O – O – – – – O – – – – –
DP
CANopen O – O – – – – – O – – – –
DeviceNet O – O – – – – – – O – – –
LonWorks O – O – – – – – – – – – –
Modbus
O – O – – – – – – – O O –
TCP/IP
PROFINET O – O – – – – – – – O – O
EtherNet/IP O – O – – – – – – – O – O
n F6-01: Communications Error Operation Selection
Determines drive operation when a communication error occurs.
No. Parameter Name Setting Range Default
F6-01 Communications Error Operation Selection 0 to 3 1
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 239
5.6 F: Option Settings
Setting 0: Ramp to Stop (Use the Deceleration Time Set to C1-02)
Setting 1: Coast to Stop
Setting 2: Fast Stop (Use the Fast Stop Time Set to C1-09)
Setting 3: Alarm Only (Continue Operation)
n 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, 1 0
Setting 0: Always Detected
Setting 1: Detection during Run Only
n F6-03: External Fault from Comm. Option Operation Selection
Determines drive 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)
n F6-06: Torque Reference/Torque Limit Selection from Comm. Option
Selects whether 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
Setting 1: Enabled
n F6-07: NetRef/ComRef Function Selection
Selects the treatment of multi-step speed inputs when the NetRef command is set.
No. Parameter Name Setting Range Default
F6-07 NetRef/ComRef Function Selection 0, 1 0
Setting 0: Multi-step Speed Operation Disabled
Multi-step speed input frequency references are disabled when the NetRef command is selected.
Setting 1: Multi-step Speed Operation Enabled
Multi-step speed inputs are still active and can override the frequency reference from the communications option even when
the NetRef command is selected.
n F6-08: Reset Communication Parameters
Determines whether F6-oo/F7-oo communication-related parameters are reset after initialization.
No. Parameter Name Setting Range Default
F6-08 Reset Communication Parameters 0, 1 0
240 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.6 F: Option Settings
Setting 0: Do Not Reset F6-oo/F7-oo Parameters after Initialization Using A1-03
Setting 1: Reset F6-oo/F7-oo Parameters after Initialization Using A1-03
Note: F6-08 is not reset when the drive is initialized.
u CC-Link Parameters
Parameters F6-04, F6-10, F6-11, and F6-14 set the drive to operate on a CC-Link network.
n F6-04: bUS Error Detection Time
Sets the delay time for bUS error detection.
No. Parameter Name Setting Range Default
F6-04 bUS Error Detection Time 0.0 to 5.0 s 2.0 s
n F6-10: CC-Link Node Address
Sets the node address of a CC-Link option board.
No. Parameter Name Setting Range Default
F6-10 CC-Link Node Address 0 to 64 0
n F6-11: CC-Link Communication Speed
Sets the communication speed for a CC-Link option card.
No. Parameter Name Setting Range Default
F6-11 CC-Link Communication Speed 0 to 4 0
Setting 0: 156 kbps
Setting 1: 625 kbps
Setting 2: 2.5 Mbps
Setting 3: 5 Mbps
Setting 4: 10 Mbps
n F6-14: CC-Link bUS Error Auto Reset
Selects whether a bUS error can be automatically reset if automatic fault retry is enabled.
Parameter Details
No. Parameter Name Setting Range Default
F6-14 CC-Link bUS Error Auto Reset 0, 1 0
Setting 0: Disabled, Auto Reset Not Possible
Setting 1: Enabled, Auto Reset Possible
5
u MECHATROLINK Parameters
n F6-20: MECHATROLINK Station Address
Sets the station address when the MECHATROLINK option is installed.
Note: All station addresses must be unique. Setting this parameter to 20 or 3F will trigger a Station Address Error (AEr) and turn on the “ERR”
light.
No. Parameter Name Setting Range Default
F6-20 MECHATROLINK Station Address 20 to 3FH <1> 21H
<1> Range shown is for the MECHATROLINK-II option (SI-T3). Range for MECHATROLINK-III option (SI-ET3) is: 03 to EFH.
n F6-21: MECHATROLINK Frame Size
Sets the frame size.
No. Parameter Name Setting Range Default
F6-21 MECHATROLINK Frame Size 0, 1 0
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5.6 F: Option Settings
Setting 0: 32-byte (MECHATROLINK-II option setting)
Value for MECHATROLINK-III option is: 64-byte
Setting 1: 17-byte (MECHATROLINK-II option setting)
Value for MECHATROLINK-III option is: 32-byte
n F6-22: MECHATROLINK Link Speed
Sets the communication speed for a MECHATROLINK-II option card.
Note: This parameter is only available with a MECHATROLINK-II option card.
No. Parameter Name Setting Range Default
F6-22 MECHATROLINK Link Speed 0, 1 0
Setting 0: 10 Mbps
Setting 1: 4 Mbps
n F6-23: MECHATROLINK Monitor Selection (Code 0EH)
Sets MEMOBUS/Modbus register to monitor SEL_MON of INV_CTL and INV_CTL.
Setting byte 10 of INV_CTL to “0EH” enables the register set by F6-23.
Bytes 11 and 12 of the response data enable the register content set by F6-23.
No. Parameter Name Setting Range Default
F6-23 MECHATROLINK Monitor Selection (Code 0EH) 0 to FFFFH 0H
n F6-24: MECHATROLINK Monitor Selection (Code 0FH)
Sets MEMOBUS/Modbus register to monitor SEL_MON of INV_CTL and INV_CTL.
Setting byte 10 of INV_CTL to 0FH enables the register set by F6-24.
Bytes 11 and 12 of the response data enable the register content set by F6-24.
No. Parameter Name Setting Range Default
F6-24 MECHATROLINK Monitor Selection (Code 0FH) 0 to FFFFH 0H
n F6-25: Operation Selection at Watchdog Error (E5)
No. Parameter Name Setting Range Default
F6-25 Operation Selection at Watchdog Error (E5) 0 to 3 1
Setting 0: Ramp to stop. Decelerate to stop using the deceleration time in C1-02.
Setting 1: Coast to stop
Setting 2: Fast Stop. Decelerate to stop using the deceleration time in C1-09.
Setting 3: Alarm only
n F6-26: MECHATROLINK bUS Errors Detected
No. Parameter Name Setting Range Default
F6-26 MECHATROLINK bUS Errors Detected 2 to 10 2
u PROFIBUS-DP Parameters
Parameters F6-30 through F6-32 set the drive to run on a PROFIBUS-DP network.
n F6-30: PROFIBUS-DP Node Address
Sets the node address of a PROFIBUS-DP option card.
No. Parameter Name Setting Range Default
F6-30 PROFIBUS-DP Node Address 0 to 125 0
242 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.6 F: Option Settings
n F6-31: PROFIBUS-DP Clear Mode Selection
Determines the operation when a Clear Mode command is received.
No. Parameter Name Setting Range Default
F6-31 PROFIBUS-DP Clear Mode Selection 0, 1 0
Setting 0: Reset
Resets the drive operation (frequency reference, inputs, outputs etc.).
Setting 1: Maintain the Previous State
Returns the drive status to the state prior to receiving the command.
n F6-32: PROFIBUS-DP Data Format Selection
Selects the data format used for PROFIBUS-DP communication.
No. Parameter Name Setting Range Default
F6-32 PROFIBUS-DP Data Format Selection 0, 1 0
Setting 0: PPO-type Data Format
Setting 1: Conventional Data Format
u CANopen Parameters
Parameters F6-35 and F6-36 set the drive to operate on a CANopen network.
n F6-35: CANopen Node ID Selection
Selects the node ID of a CANopen option board.
No. Parameter Name Setting Range Default
F6-35 CANopen Node ID Selection 0 to 126 0
n F6-36: CANopen Communication Speed
Sets the communication speed for a CANopen option card.
No. Parameter Name Setting Range Default
Parameter Details
F6-36 CANopen Communication Speed 0 to 8 6
Setting 0: Auto detection
Setting 1: 10 kbps
Setting 2: 20 kbps
Setting 3: 50 kbps
Setting 4: 125 kbps
5
Setting 5: 250 kbps
Setting 6: 500 kbps
Setting 7: 800 kbps
Setting 8: 1 Mbps
u DeviceNet Parameters
Parameters F6-50 through F6-63 set the drive to operate on a DeviceNet network.
n F6-50: DeviceNet MAC Address
Sets the MAC address for a DeviceNet option card.
No. Parameter Name Setting Range Default
F6-50 DeviceNet MAC Address 0 to 64 64
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5.6 F: Option Settings
n F6-51: DeviceNet Communication Speed
Sets the communication speed for a DeviceNet option card.
To assign the baud rate for the drive from the upper controller, set F6-51 = 3.
To make the drive detect the network speed, set F6-51 = 4. The drive will automatically adjust itself after detecting the network
speed.
No. Parameter Name Setting Range Default
F6-51 DeviceNet Communication Speed 0 to 4 4
Setting 0: 125 kbps
Setting 1: 250 kbps
Setting 2: 500 kbps
Setting 3: Adjustable from network
Setting 4: Auto detection
n F6-52: DeviceNet PCA Setting
Defines the format for data the drive receives from the DeviceNet master.
No. Parameter Name Setting Range Default
F6-52 DeviceNet PCA Setting 0 to 255 21
n F6-53: DeviceNet PPA Setting
Defines the format for data sent from the drive to the DeviceNet master.
No. Parameter Name Setting Range Default
F6-53 DeviceNet PPA Setting 0 to 255 71
n F6-54: DeviceNet Idle Mode Fault Detection
Determines whether the drive triggers an EF0 fault when no data is received from the master (e.g., when the master is idling).
No. Parameter Name Setting Range Default
F6-54 DeviceNet Idle Mode Fault Detection 0, 1 0
Setting 0: Enabled
Setting 1: Disabled, No Fault Detection
n F6-55: DeviceNet Baud Rate Monitor
Displays the baud rate currently being used for network communications. F6-55 is used only as a monitor.
No. Parameter Name Setting Range Default
F6-55 DeviceNet Baud Rate Monitor 0 to 2 (read only) 0
Setting 0: 125 kbps
Setting 1: 250 kbps
Setting 2: 500 kbps
n F6-56 to F6-61: DeviceNet Scaling Factors
These parameters define scaling factors for drive monitors in the DeviceNet Class ID 2AH - AC/DC Drive Object.
No. Parameter Name Setting Range Default
F6-56 DeviceNet Speed Scaling -15 to 15 0
F6-57 DeviceNet Current Scaling -15 to 15 0
F6-58 DeviceNet Torque Scaling -15 to 15 0
F6-59 DeviceNet Power Scaling -15 to 15 0
F6-60 DeviceNet Voltage Scaling -15 to 15 0
F6-61 DeviceNet Time Scaling -15 to 15 0
244 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.6 F: Option Settings
Setting
The monitor value in the AC/DC Drive Object 2AH is calculated by:
AC/DC Drive Object 2AH Monitor = Drive Value × 2Scaling
Example:
If the drive output frequency monitor (U1-02) is 5.00 and the scaling is set to F6-56 = 6, then the value in the AC/DC Drive
Object 2AH, Instance 1, Attribute 7 would be 500 × 26 = 32000.
n F6-62: DeviceNet Heartbeat Interval
Sets the heartbeat interval for DeviceNet communications. A setting of 0 disables the heartbeat function.
No. Parameter Name Setting Range Default
F6-62 DeviceNet Heartbeat Interval 0 to 10 0
n F6-63: DeviceNet Network MAC ID
Displays the MAC ID assigned to the drive. F6-63 is used only as a monitor.
No. Parameter Name Setting Range Default
F6-63 DeviceNet Network MAC ID 0 to 63 (read only) 63
n F6-64 to F6-71: Dynamic Assembly Parameters (Reserved)
n F7-01 to F7-04: IP Address 1 to 4
Sets the significant octet of network static IP address.
n F7-05 to F7-08: Subnet Mask 1 to 4
Sets the significant octet of network static Subnet Mask.
n F7-09 to F7-12: Gateway Address 1 to 4
Sets the significant octet of network Gateway address.
u 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.
Parameter Details
For details on parameter settings, refer to the YASKAWA AC Drive 1000-Series Option Modbus TCP/IP Installation Manual
and Technical Manual.
u PROFINET 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 a PROFINET network. 5
For details on parameter settings, refer to the YASKAWA AC Drive 1000-Series Option PROFINET Installation Manual and
Technical Manual.
u 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.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 245
5.7 H: Terminal Functions
5.7 H: Terminal Functions
H parameters assign functions to the external terminals.
u H1: Multi-Function Digital Inputs
n 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 settings are listed in Table
5.36.
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 5.36 Multi-Function Digital Input Terminal Settings
Setting Function Page Setting Function Page
0 3-Wire Sequence 247 20 to 2F External Fault 252
1 LOCAL/REMOTE Selection 247 30 PID Integral Reset 253
2 External Reference 1/2 Selection 248 31 PID Integral Hold 253
3 Multi-Step Speed Reference 1 32 Multi-Step Speed Reference 4 253
4 Multi-Step Speed Reference 2 248 34 PID Soft Starter Cancel 253
5 Multi-Step Speed Reference 3 35 PID Input Level Selection 253
6 Jog reference Selection 248 40 Forward Run Command (2-Wire sequence)
253
7 Accel/Decel Time Selection 1 248 41 Reverse Run Command (2-Wire sequence)
8 Baseblock Command (N.O.) 42 Run Command (2-Wire sequence 2)
248 254
9 Baseblock Command (N.C.) 43 FWD/REV Command (2-Wire sequence 2)
A Accel/Decel Ramp Hold 248 44 Offset Frequency 1
B Drive Overheat Alarm (oH2) 249 45 Offset Frequency 2 254
C Analog Terminal Input Selection 249 46 Offset Frequency 3
D PG Encoder Disable 249 47 Node Setup 254
E ASR integral reset 249 60 DC Injection Braking Command 254
F Through Mode 249 61 External Speed Search Command 1 254
10 Up Command 62 External Speed Search Command 2 254
249
11 Down Command 63 Field Weakening 254
12 Forward Jog 67 Communications Test Mode 254
250
13 Reverse Jog 6A Drive Enabled 255
14 Fault Reset 250 71 Speed/Torque Control Switch 255
15 Fast Stop (N.O.) 250 72 Zero Servo 255
16 Motor 2 Selection 251 75 Up 2 Command
255
17 Fast Stop (N.C.) 250 76 Down 2 Command
18 Timer Function Input 251 77 ASR Gain Switch 256
19 PID Disable 252 78 External Torque Reference Polarity Inversion 256
1A Accel/Decel Time Selection 2 252 Forward/Reverse Detection (V/f control with
7E 256
simple PG)
1B Program Lockout 252
7F PID Bi-directional Enable (Reserved) 256
1E Reference Sample Hold 252
246 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.7 H: Terminal Functions
Setting Function Page Setting Function Page
90 to 97 DriveWorksEZ Digital Input 1 to 8 256 9F DriveWorksEZ Disabled 256
Setting 0: 3-Wire Sequence
The digital input programmed for 3-Wire control becomes the forward/reverse directional input, S1 becomes the Run command
input, and S2 becomes the Stop command input.
The drive starts the motor when the input S1 set for the Run command closes for longer than 2 ms. The drive stops the operation
when the Stop input S2 is released. When the digital input programmed for a forward/reverse operation is open, the drive is
set for forward operation. When the digital input is closed, the drive is set for reverse operation.
Note: Input the Run and Stop commands via S1 and S2 when selecting a 3-Wire sequence.
Stop Switch Run Switch DRIVE
(N.C.) (N.O.)
S1
Run Command (Runs when Closed)
S2
Stop Command (Stops when Open)
S5
FWD/REV (Multi-Function Input)
(H1-05 = 0)
SN
Standard Digital Input Common
Figure 5.56 3-Wire Sequence Wiring Diagram
Figure 5.61
2 ms min.
Run command Can be either ON or OFF
2 ms min.
Can be
Stop command
ON or OFF
Forward/reverse
command OFF (forward) ON (reverse)
Motor speed
Stop Forward Reverse Stop Foward
Figure 5.57 3-Wire Sequence
Parameter Details
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 automatically issue the Run command upon drive
power up.
WARNING! Sudden Movement Hazard. Ensure start/stop and safety circuits are wired properly and in the correct state before applying
power to the drive. Failure to comply could result in death or serious injury from moving equipment.
WARNING! Sudden Movement Hazard. The drive may start unexpectedly in reverse direction after power up if it is wired for 3-Wire sequence 5
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 an external reference that has been selected in accordance with
Open settings b1-01 and b1-02 ro b1-15 and b1-16.
Note: 1. The LO/RE key on the digital operator is disabled when one of the multi-function input terminals is set to for LOCAL/REMOTE.
2. When the drive is set to LOCAL, the LO/RE LED will light.
3. The default setting of the drive does not 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 165.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 247
5.7 H: Terminal Functions
Setting 2: External Reference 1/2 Selection
This function switches 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: Default drive settings do not allow switching between External reference 1 and 2 during run. Refer to b1-07: LOCAL/REMOTE Run
Selection on page 165 if this feature is required by the application.
Setting 3 to 5: Multi-Step Speed Reference 1 to 3
Switches multi-step speed frequency references d1-01 to d1-08 by digital inputs. Refer to d1: Frequency Reference on page
205 for details.
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 205 for details.
Setting 7: Accel/Decel Time Selection 1
Switches 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 191 for details.
Setting 8, 9: Baseblock Command (N.O., N.C.)
When the drive receives a baseblock command, the output transistors stop switching, the motor coasts to stop, and a bb alarm
flashes on the digital operator to indicate baseblock. When baseblock ends while a Run command is active, the drive performs
Speed Search to restart the motor.
Drive Operation
DIgital Input Function
Input Open Input Closed
Setting 8 (N.O.) Normal operation Baseblock (Interrupt output)
Setting 9 (N.C.) Baseblock (Interrupt output) Normal operation
WARNING! Sudden Movement Hazard. When using a mechanical holding brake with the drive in a lifting application, close the brake when
the drive output is cut off by a baseblock command triggered by one of the input terminals. Failure to comply will result in a slipping load
from the motor suddenly coasting when the baseblock command is entered and may cause serious injury or death.
OFF ON
Run command
Baseblock
ON release
Baseblock input
Frequency
reference
Begin Speed Search from the
previous frequency reference
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 locks (holds) the output frequency.
Acceleration or deceleration resumes when the input is reopened.
If the Accel/decel ramp hold function is enabled (d4-01 = 1), the drive saves the output frequency to memory when the Ramp
Hold input is closed. When the drive is restarted after stop or after power supply interruption, the saved output frequency
becomes 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 209 for details.
248 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.7 H: Terminal Functions
Setting B: Drive Overheat Alarm (oH2)
Triggers an oH2 alarm when the contact closes. Drive operation is not affected because this is an alarm.
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 reopened,
the drive resumes using PG feedback to control motor speed.
Setting E: ASR Integral Reset
Switches between PI control and P control by resetting the integral value. Integral operation is disabled when the terminal is
closed and the drive uses P control. PI control resumes when the terminal opens.
Setting F: Through Mode
Select this setting when the terminal is not used or when using the terminal in 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 Function
The Up/Down function allows the frequency reference to be set by two push buttons when one digital input is programmed
as the Up input (H1-oo= 10) to increase the frequency reference and the other digital input is programmed as the Down input
(H1-oo= 11) to decrease the frequency reference.
The Up/Down function takes priority over the frequency references from the digital operator, the analog inputs, and the pulse
input (b1-01 = 0, 1, 4). When using the Up/Down function, references provided by these sources will be disregarded.
The inputs operate as shown in Table 5.37:
Table 5.37 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
Parameter Details
Note: 1. An oPE03 alarm occurs when only one of the Up/Down functions is programmed to a digital input.
2. An oPE03 alarm occurs when the Up/Down function is assigned to the terminals and a different digital input is programmed for the
Accel/decel ramp hold function. For more information on alarms, Refer to Drive Alarms, Faults, and Errors on page 330.
3. The Up/Down function can only be used for External reference 1 for parameter b1-01. Consider this when using Up/Down and the
external reference parameter b1-15 switching command (H1-oo = 2).
Using the Up/Down Function with Frequency Reference Hold (d4-01)
• If the frequency reference hold function is disabled (d4-01 = 0), the Up/Down frequency reference will be reset to 0 when 5
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 saved reference value. Close the Up or Down input without an active Run
command to reset the saved value. Refer to d4-01: Frequency Reference Hold Function Selection on page 209.
Using the Up/Down Function with Frequency Reference Limits
Parameter d2-01 determines the upper frequency reference limit.
The value for the lower frequency reference limit depends on the parameter d4-10 setting. This value can be set by an analog
input or parameter d2-02. Refer to d4-10: Up/Down Frequency Reference Limit Selection on page 213 for details. When a
Run command is applied, the lower limits function as follows:
• If the lower limit is set by d2-02 only, the drive accelerates to this limit as soon as a Run command is entered.
• If the lower limit is determined by an analog input only, the drive accelerates to the limit when both the Run command and
an Up or Down command are active. The drive will not start running if only the Run command is active.
• 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, the drive
accelerates to the d2-02 value when a Run command is input. When the d2-02 value is reached, the drive accelerates to the
analog limit only if an Up or Down command is set.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 249
5.7 H: Terminal Functions
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).
Output frequency
upper limit
Accelerates to
lower limit d4-01 = 1
Same
frequency
d4-01 = 0
Lower limit
FWD run/stop ON
ON
Up command
Hold
ON
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-oo = 12) and Reverse Jog (H1-oo = 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), activating Reverse Jog will have no effect. Inputting both the Forward Jog and Reverse Jog are simultaneously for 500 ms or
longer will trigger an alarm will and the drive will ramp to stop.
d1-17
Output
Frequency
d1-17
ON
FJOG
ON
RJOG
Figure 5.60 FJOG/RJOG Operation
Setting 14: Fault Reset
When the drive detects a fault condition, the fault output contact closes, the drive output shuts off, and the motor coasts to
stop (specific stopping methods can be selected for some faults such as L1-04 for motor overheat). After removing the Run
command, clear the fault either by pressing the RESET key on the digital operator or closing a digital input configured as a
Fault Reset (H1-oo = 14).
Note: Remove the Run command prior to resetting a fault. Fault Reset commands are ignored while the Run command is present.
Setting 15, 17: Fast Stop (N.O., N.C.)
The Fast Stop function operates similar to an emergency stop input to the drive. If a Fast Stop command is input while the
drive is running, the drive decelerates to a stop in the deceleration time set to C1-09 (Refer to C1-09: Fast Stop Time on page
192). The drive can only be restarted after bringing the drive to a complete stop, turning off the Fast Stop input, and switching
off the Run command.
• To trigger the Fast Stop function with an N.O. switch, set H1-oo = 15.
• To trigger the Fast Stop function with an N.C. switch, set H1-oo = 17.
Figure 5.61 shows an operation example of Fast Stop.
250 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.7 H: Terminal Functions
Run/Stop
ON ON
Fast-Stop
H1- = 17 ON ON
Decelerates at C1-09
Output Frequency
TIME
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 with PM motors.
Drive M Motor 1
Motor switch input
M Motor 2
Figure 5.62 Motor Selection
When switching between motor 1 and motor 2, the parameters used to control those motors also change. Below, Table 5.38
lists the parameters that correspond to each motor:
Table 5.38 Parameters for Switching Between Two Motors
Parameter Details
No. Setting 16 Open (Motor 1) ⇒ Setting 16 Closed (Motor 2)
C1-oo: Acceleration/Deceleration
Time
C1-01 to C1-04 ⇒ C1-05 to C1-08
C3-oo : Motor Slip Compensation C3-01 to C3-04 ⇒ C3-21 to C3-24
C4-oo: Motor Torque
Compensation
C4-01 ⇒ C4-07
C5-oo: 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 5
E1-oo, E3-oo: V/f Pattern
E2-oo, E4-oo: Motor Parameters
E1-oo, E2-oo ⇒ E3-oo to E4-oo
F1-02 to F1-04, F1-08 to F1-11, F1-14,
F1-oo (PG Constant) F1-01 to F1-21 ⇒ 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. Attempting to switch between motor 1 and motor 2 during run 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 with PM motors.
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-oo = 12). Refer to b4: Timer Function on page 176 for details.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 251
5.7 H: Terminal Functions
Setting 19: PID Disable
Close a digital input to indefinitely disable the PID function. When the input is released, the drive resumes PID operation.
Refer to PID Block Diagram on page 179.
Setting 1A: Accel/Decel Time Selection 2
Selects 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 191 for details.
Setting 1B: Program Lockout
Parameter values cannot be changed when an input is programmed for Program Lockout and the input is open. It is still possible,
however, 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. When 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.
Frequency
Reference
l
na
g Sig
alo
An
Time
Reference OFF ON
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:
• Hold accel/decel stop (setting: A)
• Up command, Down command (setting: 10, 11)
• Offset frequency (setting: 44 to 46)
• Up or Down functions (setting: 75, 76)
Setting 20 to 2F: External Fault
The External fault command stops the drive when problems occur with external devices.
To use the External fault command, set one of the multi-function digital inputs to a value between 20 and 2F. The digital
operator will display EFo where o 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-oo from a combination of any of the following three conditions:
• Signal input level from peripheral devices (N.O., N.C.)
• External fault detection method
• Operation after external fault detection
Table 5.39 shows the relationship between the conditions and the value set to H1-oo:
Terminal statuses, detection conditions, and stopping methods marked with an “O” are applicable to the corresponding settings.
252 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.7 H: Terminal Functions
Table 5.39 Stopping Method for External Fault
Terminal Status <1> Detection Conditions <2> Stopping Method
Setting Detected Alarm Only
Always Ramp to Stop Coast to Stop Fast Stop
N.O. N.C. during Run (continue
Detected (fault) (fault) (fault)
only running)
20 O O O
21 O O O
22 O O O
23 O O O
24 O O O
25 O O O
26 O O O
27 O O O
28 O O O
29 O O O
2A O O O
2B O O O
2C O O O
2D O O O
2E O O O
2F O O O
<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
Configuring one of the digital inputs for PID integral reset (H1-oo = 30) resets the value of the integral component in PID
control to 0 when the terminal is closed. Refer to PID Block Diagram on page 179 for more details.
Setting 31: PID Integral Hold
Configuring a digital input for Integral Hold (H1-0o = 31) locks the value of the integral component of the PID control 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 179 for more information on this function.
Setting 32: Multi-Step Speed Reference 4
Parameter Details
Selects 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 205.
Setting 34: PID Soft Starter Cancel
A digital input configured as a PID soft starter cancel input (H1-0o = 34) enables or disables the PID soft starter and cancels
the PID accel/decel time (b5-17). Refer to PID Block Diagram on page 179.
Setting 35: PID Input Level Selection 5
Allows an input terminal to switch the sign of the PID input. Refer to PID Block Diagram on page 179 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
operates in reverse. Closing both inputs simultaneously 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.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 253
5.7 H: Terminal Functions
Drive
Forward Run
S1
Reverse Run
S2
Standard Digital
SN
Input Common
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 closes, the drive will operate in the selected direction. The drive will stop when
the input opens.
The input programmed for 43 selects the direction. If the input is open, forward direction is selected. If the input 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 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 219 for details.
Setting 47: Node Setup
If the SI-S3 option card is connected, closing this terminal sets a node address for operation on a CANopen network.
Setting 60: DC Injection Braking Command
DC Injection Braking is activated when a DC Injection Braking command is input while the drive is stopped. DC Injection
Braking is released when a Run command or a Jog command is input. Refer to b2: DC Injection Braking on page 167 for
details on setting up the DC Injection Braking function.
The diagram below illustrates DC Injection Braking:
DC Injection braking OFF ON OFF
command
OFF ON OFF
FWD Run command
DC Injection
DC Injection braking
braking DC Injection Braking
Start Frequency
(b2-01)
Output frequency
Figure 5.65 DC Injection Braking Input Timing Diagram
Setting 61, 62: External Speed Search Command 1, 2
These input functions enable Speed Search even if parameter b3-01 = 0 (no Speed Search at start). Refer to Speed Search
Activation on page 170 for details on how to use the input signals. Refer to b3: Speed Search on page 168 for more about
Speed Search.
Note: Simultaneously assigning Speed Search 1 and Speed Search 2 to the input terminals will trigger an oPE03 error.
Setting 63: Field Weakening
Enabled in V/f Control. When this input is closed, Field Weakening is performed. For details, see d6: Field Weakening and
Field Forcing.
Setting 67: Communication Test Mode
The drive has a built-in function to self-diagnose 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 592 for details on how to use this function.
254 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.7 H: Terminal Functions
Setting 6A: Drive Enable
A digital input configured as a “Drive enable” (H1-oo = 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
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 160).
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. Set parameter d5-01 to 0 when using this function. Refer to d5: Torque
Control on page 214 and Switching Between Torque and Speed Control on page 216.
Setting 72: Zero Servo
Activates the Zero Servo function to lock the rotor at a certain position. Refer to b9: Zero Servo on page 190 for details.
Setting 75, 76: Up 2/Down 2 Function
The Up/Down 2 function adds a bias to the frequency reference. The input programmed for 75 will increase the bias and the
input programmed for 76 will decrease the bias. Table 5.40 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 209 for detailed explanations of these and other Up/Down 2 related parameters.
Note: 1. The Up/Down 2 functions must be set as a pair.
2. When using the Up/Down 2 function, set appropriate bias limit values to parameters d4-08 and d4-09.
Table 5.40 Up/Down 2 Operations
Freq. Ref.
Condition d4-03 d4-05 d4-01 Operation Frequency Saved
Source
1 0 • Accelerates (increases the bias) while the Up 2 Not saved
terminal is closed.
• Decelerates (decreases the bias) while Down 2 is
closed.
If the bias and frequency reference
0 • Holds output frequency (holds the bias) when no are constant for 5 s, the bias is
2 1 Up 2 or Down 2 input or both active. added to the active frequency
Multi-Step Speed • Resets the bias when the reference changes. reference and reset afterwards.
0
Reference • Operates with the frequency reference in all other
situations.
• Accelerates (increases the bias) while the Up 2
terminal is closed.
Parameter Details
3 1 -- • Decelerates (decreases the bias) while Down 2 is Not saved
closed.
• Otherwise operates at the frequency reference.
4 0 • When the Up 2 is enabled, the drive accelerates to Not saved
the frequency reference plus d4-03 (bias is
increased for d4-03).
• When Down 2 is enabled, the drive decelerates to
Value
the frequency reference minus d4-03 (bias is
decreased for d4-03). If the bias and frequency reference
5
Multi-Step Speed other -- are constant for 5 s, the bias is
5 Reference 1 • Holds output frequency (holds the bias) when
than 0 added to the active frequency
neither Up/Down 2 inputs are active or both inputs
are active. reference and reset afterwards.
• Resets the bias when the reference changes.
• Operates with the frequency reference in all other
situations.
6 0 • Accelerates (increases the bias) while the Up 2 Not saved
terminal is closed.
• Decelerates (decreases the bias) while Down 2 is
closed.
• Holds output frequency (holds the bias) when If the bias is constant for 5 s, it is
Other (analog saved to parameter d4-06. The
0 0 neither Up/Down 2 inputs are active or both inputs
7 comm., etc.) 1 frequency reference cannot be
are active.
overwritten, so only the bias is
• If the frequency reference changes for more than saved.
the time set to d4-07 during accel/decel, bias value
is held until the output frequency meets the
reference (speed agree).
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 255
5.7 H: Terminal Functions
Freq. Ref.
Condition d4-03 d4-05 d4-01 Operation Frequency Saved
Source
• Accelerates (increases the bias) while the Up 2
terminal is closed.
8 0 1 -- • Decelerates (decreases the bias) while Down 2 is Not saved
closed.
• Otherwise operates at the frequency reference
9 0 • When Up 2 is enabled, drive accelerates to the Not saved
Other (analog frequency reference plus d4-03 (increases the bias
comm, etc.) for d4-03).
Value • When Down 2 is enabled, drive decelerates to the If the bias is constant for 5 s, it is
other -- frequency reference minus d4-03 (decreases the saved to parameter d4-06. The
10 than 0 1 bias for d4-03). frequency reference cannot be
overwritten, so only the bias is
• If the frequency reference changes for more than saved.
d4-07 during accel/decel, bias value is held until the
output frequency meets 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 reopens. Refer to C5-01, C5-03/C5-02, C5-04: ASR Proportional Gain 1, 2/
ASR Integral Time 1, 2 on page 199 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 214 and Setting
the Torque Reference, Speed Limit, and Torque Compensation Values on page 214 for details.
Setting 7E: Forward/Reverse Detection (for V/f Control with Simple PG Feedback)
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 reverse. Refer to H6:
Pulse Train Input/Output on page 274.
Setting 7F: PID Bi-directional Enable
Setting 7F is reserved.
Setting 90 to 97: DriveWorksEZ Digital Input 1 to 8
These settings are for digital input functions used in DriveWorksEZ. Changing these settings is not typically required.
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
u H2: Multi-Function Digital Outputs
n H2-01 to H2-03: Terminal M1-M2, M3-M4, and M5-M6 Function Selection
The drive has three multi-function output terminals. Table 5.41 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 (relay) 0 to 192 0: During run
H2-02 Terminal M3-M4 Function Selection (relay) 0 to 192 1: Zero Speed
H2-03 Terminal M5-M6 Function Selection (relay) 0 to 192 2: Speed agree 1
Table 5.41 Multi-Function Digital Output Terminal Settings
Setting Function Page Setting Function Page
0 During Run 257 4 Frequency Detection 1 259
1 Zero Speed 257 5 Frequency Detection 2 259
2 Speed Agree 1 258 6 Drive Ready 260
3 User-Set Speed Agree 1 258 7 During Power Supply Voltage Fault 260
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5.7 H: Terminal Functions
Setting Function Page Setting Function Page
8 During Baseblock (N.O.) 260 30 During Torque Limit 264
9 Frequency Reference Source 260 31 During Speed Limit 265
A Run Command Source 260 32 During Speed Limit in Torque Control 265
B Torque Detection 1 (N.O.) 261 33 Zero Servo Complete 265
C Frequency Reference Loss 261 37 During Frequency Output 265
E Fault 261 38 Drive Enabled 265
F Through Mode 261 39 Power Consumption Pulse Output 265
10 Minor Fault 261 3A Regenerated Power Pulse Output 265
11 Fault Reset Command Active 261 3C LOCAL/REMOTE Status 265
12 Timer Output 261 3D During Speed Search 266
13 Speed Agree 2 261 3E PID Feedback Low 266
14 User-Set Speed Agree 2 262 3F PID Feedback High 266
15 Frequency Detection 3 262 4C During Fast Stop 266
16 Frequency Detection 4 263 4D oH Pre-Alarm Time Limit 266
17 Torque Detection 1 (N.C.) 60 Internal Cooling Fan Alarm 266
261
18 Torque Detection 2 (N.O.) 61 Rotor Position Detection Completed 266
19 Torque Detection 2 (N.C.) 261 MEMOBUS Register 1 (Selected with H2-07 and
62 266
H2-08)
1A During Reverse 263
MEMOBUS Register 2 (Selected with H2-09 and
1B During Baseblock (N.C.) 264 63 266
H2-10)
1C Motor 2 Selection 264 64 During Commercial Power Operation 266
1D During regeneration 264 90 DriveWorksEZ Digital Output 1
1E Restart Enabled 264 91 DriveWorksEZ Digital Output 2 266
1F Motor Overload Alarm (oL1) 264 92 DriveWorksEZ Digital Output 3
20 Drive Overheat Pre-Alarm (oH) 264 100 to 192 Functions 0 to 92 with Inverse Output 266
22 Mechanical Weakening Detection 264
2F Maintenance Period 264
Setting 0: During Run
Output closes when the drive is outputting a voltage.
Status Description
Parameter Details
Open Drive is stopped.
Closed A Run command is input or the drive is in deceleration or DC injection.
Run command OFF ON
Baseblock OFF ON
command
5
Output
frequency
During Run OFF ON
Figure 5.66 During Run Time Chart
Setting 1: Zero Speed
Terminal closes when 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.
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5.7 H: Terminal Functions
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 closes 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 closes when the output frequency becomes less than or equal to the
minimum output frequency set for E1-09.
Output frequency
or
E1-09 (Max. Output Frequency) or
motor speed
b2-01 (Zero Speed Level)
OFF ON
Zero Speed
Figure 5.67 Zero-Speed Time Chart
Setting 2: Speed Agree 1 (fref/fout Agree 1)
Closes when 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 forward and reverse.
Frequency
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 Agree Detection Level and Detection Width on page 289 for more details.
Setting 3: User-Set Speed Agree 1 (fref/fset Agree 1)
Closes when the actual output frequency or motor speed (CLV, CLV/PM) and the frequency reference are within the speed
agree width (L4-02) of the programmed speed agree 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 forward and reverse. The value of L4-01 is used as the detection level for both directions.
258 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.7 H: Terminal Functions
Frequency reference + L4-02
Frequency reference
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 Agree Detection Level and Detection Width on page 289 for more instructions.
Setting 4: Frequency Detection 1
The 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 fall 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 forward and reverse. The value of L4-01 is used as the detection level for both directions.
Output Frequency
or Motor Speed
L4-02
L4-01
L4-01
L4-02
Parameter Details
Frequency
ON OFF
detection 1 <1>
Figure 5.70 Frequency Detection 1 Time Chart
<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 is set to 0, the terminal opens during baseblock. 5
Refer to L4-01, L4-02: Speed Agree Detection Level and Detection Width on page 289 for more details.
Setting 5: Frequency Detection 2
The output closes when the output frequency or motor speed (CLV, CLV/PM) is above the detection level set in L4-01. The
terminal remains closed until the output frequency or motor speed fall 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 forward and reverse. The value of L4-01 is used as the detection level for both directions.
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5.7 H: Terminal Functions
Output Frequency
or Motor Speed L4-02
L4-01
L4-01
L4-02
Frequency
OFF ON
Detection 2
Figure 5.71 Frequency Detection 2 Time Chart
Refer to L4-01, L4-02: Speed Agree Detection Level and Detection Width on page 289 for more details.
Setting 6: Drive Ready
The output closes when 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 internal power supply of the drive 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
One of the following faults will occur:
Fdv (Power Supply Frequency Fault)
Closed AUv (Power Supply Undervoltage)
Uv (Undervoltage)
Setting 8: During Baseblock (N.O.)
The 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
Displays the currently selected frequency reference source.
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
Displays the currently selected Run command source.
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.
260 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.7 H: Terminal Functions
Setting B, 17, 18, 19: Torque Detection 1 (N.O., N.C.), Torque Detection 2 (N.O., N.C.)
These digital output functions 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
292 for details.
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 closes when frequency reference loss is detected. Refer to L4-05: Frequency Reference Loss
Detection Selection on page 290 for details.
Setting E: Fault
The output closes when the drive faults (excluding CPF00 and CPF01 faults).
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
The output closes when a minor fault condition is present.
Setting 11: Fault Reset Command Active
The output closes when 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
Parameter Details
This setting configures a digital output terminal as the output for the timer function. Refer to b4: Timer Function on page
176 for details.
Setting 13: Speed Agree 2 (fref /fout Agree 2)
The output closes when the actual output frequency or motor speed (CLV, CLV/PM) is within the speed agree width (L4-04)
of the current frequency reference, regardless of the direction.
5
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 ±L4-04.
Note: Detection works in forward and reverse.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 261
5.7 H: Terminal Functions
Frequency
reference
Output Frequency L4-04
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 Agree Detection Level and Detection Width (+/-) on page 290 for more details.
Setting 14: User-Set Speed Agree 2 (fref /fset Agree 2)
The output closes when the actual output frequency or motor speed (CLV, CLV/PM) and the frequency reference are within
the speed agree width (L4-04) of the programmed speed agree level (L4-03).
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 within the range of L4-03 ±L4-04.
Note: The detection level L4-03 is a signed value; detection works in the specified direction only.
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
Output frequency
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 Agree Detection Level and Detection Width (+/-) on page 290 for more details.
Setting 15: Frequency Detection 3
The 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. The detection level L4-03 is a signed value; 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.
262 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.7 H: Terminal Functions
Output Frequency
or Motor Speed L4-04
L4-03
Frequency
ON OFF
detection 3 <1>
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 is set to 0, the terminal opens during baseblock.
Refer to L4-03, L4-04: Speed Agree Detection Level and Detection Width (+/-) on page 290 for more details.
Setting 16: Frequency Detection 4
The output closes when 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.
Status Description
Open Output frequency or motor speed is below L4-03 minus L4-04 or has not exceeded L4-03.
Closed Output frequency or motor speed exceeded L4-03.
Note: The detection level L4-03 is a signed value; detection works in the specified direction only.
Output Frequency
L4-04
or Motor Speed
L4-03
Parameter Details
Frequency
OFF ON
Detection 4 <1>
Figure 5.75 Frequency Detection 4 Example with 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 is set to 0, the terminal opens during baseblock. 5
Refer to L4-03, L4-04: Speed Agree Detection Level and Detection Width (+/-) on page 290 for more details.
Setting 1A: During Reverse
A digital output set for “During reverse” closes when 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.
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5.7 H: Terminal Functions
Output frequency
FWD Run command
REV Run command
OFF ON
During Reverse
time
Figure 5.76 Reverse Direction Output Example Time Chart
Setting 1B: During Baseblock (N.C.)
The 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.
Setting 1C: Motor 2 Selection
Indicates which motor is selected when another output terminal is set to switch drive operation between two motors (H1-
oo = 16). Refer to Setting 16: Motor 2 Selection on page 251 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.
Setting 1E: Restart Enabled
An output set for “Restart enabled” closes when the drive attempts 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 attempted to restart. If the drive cannot successfully restart within the number of attempts permitted
by L5-01, a fault will be triggered and the terminal set to 1E will open. Refer to L5: Fault Restart on page 291 for details on
automatic restart.
Setting 1F: Motor Overload Alarm (oL1)
The output closes 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 278.
Setting 20: Drive Overheat Pre-Alarm (oH)
The output closes when the drive heatsink temperature reaches the level specified by parameter L8-02. Refer to L8-02:
Overheat Alarm Level on page 297 for details on drive overheat detection.
Setting 22: Mechanical Weakening Detection
The output closes when a mechanical weakening situation is detected. Refer to Mechanical Weakening Detection on page
294 for details.
Setting 2F: Maintenance Period
The 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 389 for details.
Setting 30: During Torque Limit
The output closes when the motor is operating at the torque limit specified by the L7-oo 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 296 for details.
264 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.7 H: Terminal Functions
Setting 31: During Speed Limit
The 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.
2. The frequency reference has fallen to the lower limit set in d2-02 or d2-03.
Closed
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. The output closes when the motor reaches
the speed limit. Refer to d5: Torque Control on page 214 and Indicating Operation at the Speed Limit on page 216 for
details.
Setting 33: Zero Servo Complete
The output closes when Zero Servo is enabled and the load is locked into position within the allowable deviation (b9-02).
Refer to b9: Zero Servo on page 190 for information on Zero Servo operation.
Setting 37: During Frequency Output
The output closes when the drive is outputting a frequency.
Status Description
The drive is not outputting a frequency (one of the following functions is being performed: stop, baseblock, DC Injection Braking
Open (during initial excitation)).
Closed Drive is outputting frequency.
run command OFF ON
baseblock OFF ON
command
output
frequency
during run OFF ON
Parameter Details
during frequency OFF ON
output
Figure 5.77 During Frequency Output Time Chart
Setting 38: Drive Enable
Reflects the status of a digital input configured as a “Drive enable” input (H1-oo = 6A). If that digital input closes, then the
5
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
266 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
266 for details.
Setting 3C: LOCAL/REMOTE Status
The output terminal closes while the drive is set for LOCAL and opens when in REMOTE.
Status Description
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
Open and Run command source.
Closed LOCAL: The digital operator is used as frequency reference and Run command source.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 265
5.7 H: Terminal Functions
Setting 3D: During Speed Search
The output terminal closes while Speed Search is being performed. Refer to b3: Speed Search on page 168 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 181 for details.
Setting 3F: PID Feedback High
Output terminal closes when a PID feedback loss (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 181 for details.
Setting 4C: During Fast Stop
The output terminal closes when a Fast Stop is being executed. Refer to Setting 15, 17: Fast Stop (N.O., N.C.) on page 250.
Setting 4D: oH Pre-Alarm Time Limit
The 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 10 frequency reduction operation cycles. Refer to L8-03: Overheat Pre-Alarm Operation
Selection on page 297 for a more detailed description.
Setting 60: Internal Cooling Fan Alarm
The output closes when the drive 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).
Setting 62: MEMOBUS Register 1 (Selected with H2-07 and H2-08)
The contact output is closed when any of the bits specified by H2-08 for the MEMOBUS/Modbus register address set in H2-07
turn on.
Setting 63: MEMOBUS Register 2 (Selected with H2-09 and H2-10)
The contact output is closed when any of the bits specified by H2-10 for the MEMOBUS/Modbus register address set in H2-09
turn 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 1oo, where the “1” indicates inverse
output and the last two digits specify the setting number of the function.
Example: Set “108” for inverse output of “8: During baseblock”.
n H2-06: Power Consumption Output Unit Selection
When one of the multi-function terminals is set to power consumption pulse output (H2-01, H2-02, or H2-03 = 39), parameter
H2-06 determines the units for the output signal.
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
H2-06 Power Consumption Output Unit Selection 0 to 4 1
Setting 0: 0.1 kWh Units
Setting 1: 1 kWh Units
Setting 2: 10 kWh Units
Setting 3: 100 kWh Units
Setting 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.
266 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.7 H: Terminal Functions
H2-06
(Pulse Output Unit)
Integral Power
H2-01 to H2-03
(Multi-function Output) ON
OFF OFF
0.2 s
Figure 5.78 Watt Hour Output Example
n H2-07 to H2-10: MEMOBUS Registers
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 Register 1 Address Select 1 to 1FFFH 1
H2-08 MEMOBUS Register 1 Bit Select 0 to FFFFH 0
H2-09 MEMOBUS Register 2 Address Select 1 to 1FFFH 1
H2-10 MEMOBUS Register 2 Bit Select 0 to FFFFH 0
The MEMOBUS/Modbus register addresses for sending data to multi-function contact 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.
u H3: Multi-Function Analog Inputs
The drive is equipped with three multi-function analog input terminals: A1, A2, and A3. Refer to Multi-Function Analog
Input Terminal Settings on page 270 for a listing of the functions that can be set to these terminals.
n 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 to 1 0
Parameter Details
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 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 5
motor will rotate in reverse.
n H3-02: Terminal A1 Function Selection
Selects the input signal level for analog input A1. Refer to Multi-Function Analog Input Terminal Settings on page 270
for instructions on adjusting the signal level.
No. Name Setting Range Default
H3-02 Terminal A1 Function Selection 0 to 32 0
n 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).
Use both parameters to adjust the characteristics of the analog input signal to terminal A1.
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5.7 H: Terminal Functions
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):
A 10 Vdc input is equivalent to a 200% frequency reference and 5 Vdc is 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.
H3-01 = 0 H3-01 = 1
Gain = 200 % Gain = 200 %
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
• 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.
H3-01 = 0 H3-01 = 1
100 %
100%
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
n 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 270
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 267.
Setting 1: -10 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 267.
n 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 270 for a list of functions and descriptions.
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5.7 H: Terminal Functions
No. Name Setting Range Default
H3-06 Terminal A3 Function Selection 0 to 32 2
n 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%
n H3-09: Terminal A2 Signal Level Selection
Selects the input signal level for analog input A2. 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 267.
Setting 1: 0 to 10 Vdc Bipolar
The input level is -10 to 10 Vdc. Refer to Setting 1: -10 to 10 Vdc on page 267.
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%.
n 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 270 for a list of functions and descriptions.
No. Name Setting Range Default
Parameter Details
H3-10 Terminal A2 Function Selection 0 to 32 0
n 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.
Use both parameters to adjust the characteristics of the analog input signal to terminal A2. The setting works in the same way 5
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%
n 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 prevents erratic drive control when using a “noisy” analog reference. Drive operation becomes more
stable as the programmed time becomes longer, but it also 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
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5.7 H: Terminal Functions
n H3-14: Analog Input Terminal Enable Selection
When one of the multi-function digital input parameters is set for “Analog input enable” (H1-oo = C), the value set to H3-14
determines which analog input terminals are enabled when the input is closed. All of the analog input terminals will be enabled
all of the time when H1-oo≠ C. The terminals not set as the target are not influenced by input signals.
No. Name Setting Range Default
H3-14 Analog Input Terminal Enable Selection 1 to 7 7
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
n H3-16 to H3-18: Terminal A1/A2/A3 Offset
Set the offset level of the selected input value to terminals A1, A2, or A3 that is equal to 0 Vdc input. These parameters rarely
require adjustment.
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
n Multi-Function Analog Input Terminal Settings
See Table 5.42 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 5.42 Multi-Function Analog Input Terminal Settings
Setting Function Page Setting Function Page
0 Frequency Bias 270 E Motor Temperature (PTC Input) 272
1 Frequency Gain 271 F Through Mode 272
2 Auxiliary Frequency Reference 1 271 10 Forward Torque Limit
3 Auxiliary Frequency Reference 2 271 11 Reverse Torque Limit 272
4 Output Voltage Bias 271 12 Regenerative Torque limit
5 Accel/Decel Time Gain 271 13 Torque Limit Using Torque Reference/Speed Limit 272
6 DC Injection Braking Current 271 14 Torque Compensation 272
7 Torque Detection Level 271 15 General Torque Limit 272
8 Stall Prevention Level During Run 271 16 Differential PID Feedback 272
9 Output Frequency Lower Limit Level 272 1F Through Mode 272
B PID Feedback 272 30 DriveWorksEZ Analog Input 1
C PID Setpoint 272 31 DriveWorksEZ Analog Input 2 272
D Frequency Bias 272 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. Simultaneously using A1 and A2 increases the frequency reference
by the total of all inputs.
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5.7 H: Terminal Functions
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 205 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 205 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 drive acceleration time is calculated by multiplying the gain level to C1-oo as follows:
C1-oo × Accel/decel time gain = Drive accel/decel time
100%
Acceleration/deceleration gain from 1 to 10 V
(10 V)
= × 10 (%)
50% Input Voltage (V)
20%
10%
0 1V 2V 5V 10 V
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 is set as a percentage of the drive rated current.
Parameter Details
DC Injection Braking Current Level
100%
Drive Rated
Current
0 10 V
(4) (20 mA)
Figure 5.82 DC Injection Braking Current Using an Analog Input Terminal
Setting 7: Torque 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 replaces the level set to L6-02. An analog input of 100% (10 V or 20 mA) sets 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 292 for details on torque detection.
Setting 8: Stall Prevention Level
Allows an analog input signal to adjust the Stall Prevention level. Figure 5.83 shows the setting characteristics. The drive will
use the lower value of the Stall Prevention level set to L3-06 or the level coming from the selected analog input terminal.
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5.7 H: Terminal Functions
Stall Prevention Level during Run
100%
30%
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
Supplies the PID feedback value. This setting requires PID operation to be enabled in b5-01. Refer to PID Feedback Input
Methods on page 178.
Setting C: PID Setpoint
Supplies the PID setpoint value and makes the frequency reference selected in parameter b1-01 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 177.
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.
Setting E: Motor Temperature
In addition to motor overload fault detection oL1, it is possible to use a Positive Temperature Coefficient (PTC) thermistor
for motor insulation protection. Refer to Motor Protection Using a Positive Temperature Coefficient (PTC) Thermistor on
page 281 for a detailed 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 set a torque limit using analog inputs for different operating conditions. Refer to L7: Torque Limit on page
295 for details.
Setting 13: Torque Limit Using Torque Reference/Speed Limit
Sets 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 214 for details.
Setting 14: Torque Compensation
Sets a torque compensation value when using Torque Control. Refer to Setting the Torque Reference, Speed Limit, and
Torque Compensation Values on page 214 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 difference of the PID feedback
input value and the differential feedback input value builds the feedback value used to calculate the PID input. Refer to PID
Feedback Input Methods on page 178.
Setting 30, 31, 32: DriveWorksEZ Analog Inputs 1, 2, and 3
These settings are for DriveWorksEZ functions. Normally there is no need to change or apply these settings.
u H4: Multi-Function Analog Outputs
These parameters assign functions to analog output terminals FM and AM for monitoring a specific aspect of drive
performance.
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5.7 H: Terminal Functions
n H4-01, H4-04: Multi-Function Analog Output Terminal FM, AM Monitor Selection
Sets the desired drive monitor parameter Uo-oo to output as an analog value via terminal FM and AM. Refer to U: Monitor
Parameters on page 319 for a list of all monitors. The “Analog Output Level” column indicates whether 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 either of these settings, the output level of the
terminals FM and AM can be set by a PLC via a communication option or MEMOBUS/Modbus (through mode).
n 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
Parameters H4-02 and H4-05 set the terminal FM and AM output signal level when the value of the selected monitor is at
100%. Parameters 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 or -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.
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
The output signal is adjustable while the drive is stopped.
Terminal FM
1. View the value set to H4-02 (Terminal FM Monitor Gain) on the digital operator. A voltage equal to 100% of the
parameter being set in H4-01 will be output from terminal FM.
2. Adjust H4-02 viewing the monitor connected to the terminal FM.
Parameter Details
3. View the value set to H4-03 on the digital operator; terminal FM will output a voltage equal to 0% of the parameter
being set in H4-01.
4. Adjust H4-03 viewing the output signal on the terminal FM.
Terminal AM
1. View the value set to H4-05 (Terminal AM Monitor Gain) on the digital operator. A voltage equal to 100% of the
parameter being set in H4-04 will be output from terminal AM. 5
2. Adjust H4-05 viewing the monitor connected to the terminal AM.
3. View the value set to H4-06 on the digital operator; terminal AM will output a voltage equal to 0% of the parameter
being set in H4-04.
4. Adjust H4-06 viewing the output signal on the terminal AM.
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5.7 H: Terminal Functions
H4-07, 08 = 0 H4-07, 08 = 1
15 V
Gain = 150%
Output Voltage
Bias = 0%
10 V
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
0% Monitor Value 100%
-15 V
Figure 5.84 Analog Output Gain and Bias Setting Example 1 and 2
Set H4-03 to 30% for an output signal of 3 V at terminal FM when the monitored value is at 0%.
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%
0V -10 V
0% Monitor Value 100%
Figure 5.85 Analog Output Gain and Bias Setting Example 3
n 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
H4-07 and H4-08.
Set jumper S5 on the terminal board accordingly when changing these parameters. Refer to Terminal AM/FM Signal
Selection on page 97 for details on setting S5.
No. Name Setting Range Default
Multi-Function Analog Output Terminal FM
H4-07 0 to 2 0
Signal Level Selection
Multi-Function Analog Output Terminal AM
H4-08 0 to 2 0
Signal Level Selection
Setting 0: 0 to 10 V
Setting 1: -10 V to 10 V
Setting 2: 4 to 20 mA
u H5: MEMOBUS/Modbus Serial Communication
Serial communication is possible in the drive using the built-in RS-422/485 port (terminals R+, R-, S+, S-) and programmable
logic controllers (PLCs) or similar devices running the MEMOBUS/Modbus protocol.
The H5-oo parameters set the drive for MEMOBUS/Modbus Communications. Refer to MEMOBUS/Modbus Serial
Communication on page 565 for detailed descriptions of the H5-oo parameters.
u 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.
274 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.7 H: Terminal Functions
The pulse output monitor terminal MP can output drive monitor values as a pulse train signal with a maximum frequency of
32 kHz in sinking or sourcing mode. Refer to Using the Pulse Train Output on page 95 for details.
Use parameters H6-oo to set the scale and other aspects of the pulse input terminal RP and pulse output terminal MP.
n 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 177 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 177 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, set up in the C5-oo parameters) like shown in Figure 5.86. 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-oo = 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-oo = 7E), the drive uses the direction of the frequency
reference as the direction for the speed feedback detected at the pulse input.
Parameter Details
5
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 input scaling). Make sure the pulse input bias (H6-04) is 0% and the
gain (H6-03) is 100%.
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5.7 H: Terminal Functions
3. Decide on the signal used for detecting the direction. Set H1-oo = 7E if using a digital input.
4. Use the ASR gain and integral time parameters described in C5: Automatic Speed Regulator (ASR) on page 197
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, V/f Control with simple PG feedback can be used for motor 1 only.
n H6-02: Pulse Train Input Scaling
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
n H6-03: Pulse Train Input Gain
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%
n H6-04: Pulse Train Input Bias
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%
n 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
n H6-06: Pulse Train Monitor Selection
Selects the monitor to output as a pulse train signal via terminal MP. Enter the three digits in Uo-oo to indicate which
monitor to output. Refer to U: Monitor Parameters on page 319 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,
H6-06 Pulse Train Monitor Selection 105, 116, 501, 502, 102
801 to 809
<1> Set “000” when the terminal is not used or when using the terminal in the through mode.
n H6-07: Pulse Train Monitor Scaling
Sets the output 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
n H6-08: Pulse Train Input Minimum Frequency
Sets the minimum output frequency detected by the pulse train input. Increasing this setting reduces the time the drive needs
to react to changes in the input signal.
• The pulse input value becomes 0 when the pulse input frequency falls below this level.
• 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).
276 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.7 H: Terminal Functions
No. Name Setting Range Default
H6-08 Pulse Train Input Minimum Frequency 0.1 to 1000.0 Hz 0.5 Hz
Parameter Details
5
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5.8 L: Protection Functions
5.8 L: Protection Functions
u L1: Motor Protection
n 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. When the drive detects a motor overload an oL1 fault is triggered and the
drive output shuts off.
L1-01 sets the overload protection function characteristics according to the motor being used.
No. Name Setting Range Default
Determined by
L1-01 Motor Overload Protection Selection 0 to 6 A1-02
Note: 1. When the motor protection function is enabled (L1-01≠ 0), an oL1 alarm can be output through one of the multi-function outputs by
setting H2-01 to 1F. The output closes when the motor overload level reaches 90% of the oL1 detection level.
2. Set L1-01 to a value between 1 and 6 when running a single motor from the drive to select a method to protect the motor from overheat.
An external thermal relay is not necessary.
Setting 0: Disabled (Motor Overload Protection Is Not Provided)
Use this setting if no motor overheat protection is desired or if multiple motors are connected to a single drive. If multiple
motors are connected to a single drive, install a thermal relay for each motor as shown in Figure 5.87.
Drive
Power M1
supply MC1 L10
M2
MC2 L20
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 relatively high current rating compared to 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.
Note: Close MC1 and MC2 before operating the drive. MC1 and MC2 cannot be switched off during run.
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.
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 designed to operate from line Continuous operation at less than line
power. power frequency with 100% load can
60
Motor cooling is most effective when trigger a motor overload fault (oL1). A
50 Continuous running at rated base frequency (check fault is output and the motor will coast
A the motor nameplate or specifications). to stop.
B
C
05 33 100 120 167 200
Speed (%)
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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
100 C: Max. speed for 132MJ and below
Torque (%)
Continuous operation with 100% load
Motor is designed to effectively cool from 6 Hz to E1-06, Motor Base
55 itself even at low speeds.
50 Frequency.
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
Continuous operation with 100% load
from 0.6 Hz to E1-06, Motor Base
Motor is designed to effectively cool Frequency.
50 Continuous itself at speeds near 0.6 Hz.
A Continuous operation below 0.6 Hz
B
may cause an oL1 or oL2 fault.
C
0 1
Parameter Details
100120 167 200
Speed (%)
Setting 4: PM Derated Torque Motor
Use this setting when operating a PM motor. PM motors for derated torque have a self-cooling design and 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. 5
Overload Tolerance Cooling Ability Overload Characteristics
150
120 60 s
Torque (%)
100 Reaching 100% when operating at
80 Motor is designed to produce 100% below the base frequency causes a
50
Continuous torque at base speed. Built with motor overload fault (oL1). The drive
effective cooling capabilities. fault output closes and the motor coasts
to stop.
0.0 10 33 100
Motor Speed (%)
Setting 5: Constant Torque PM Motors (Constant Torque Range of 1:500)
Sets necessary protection characteristics 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.
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5.8 L: Protection Functions
Overload Tolerance Cooling Ability Overload Characteristics
Instantaneous rating (60 s)
150
125
Torque (%)
115
Continuous
100
83
Motor is designed to effectively cool
77
Continuous operation with 100% load
67 itself at speeds near 0.2% of base from 0.2% to 100% of base speed.
speed.
0 0.2 100 120 130 150
Percent of base speed (%)
Setting 6: General-purpose Motor
Note: General-purpose motors are designed with a base speed that operates at line frequency (50/60 Hz depending on geographic region).
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 and protects 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
100 C: Max. speed for 132MJ and below
Torque (%)
90 Motor designed to operate from line Continuous operation at less than line
power. Motor cooling is most effective power frequency with 100% load can
60
when running at rated base frequency trigger a motor overload fault (oL1). A
50 Continuous (check the motor nameplate or fault is output and the motor will coast
A specifications) to stop.
B
C
05 33 100 120 167 200
Speed (%)
n L1-02: Motor Overload Protection Time
Sets the time for the drive to shut down on motor overload (oL1) when the motor is running with excessive current. Enter the
time the motor can withstand operating at 150% current after previously running at 100% current (hot motor overload
condition). There is normally no need to change this parameter from the default 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 operation
at 100%.
Figure 5.88 illustrates an example of the electrothermal protection operation time using a general-purpose motor operating at
the value of E1-06, Motor Base Speed, 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.
280 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.8 L: Protection Functions
Operation time (minutes)
10
7
3 Cold start
(characteristics when an
overload occurs at a
1 complete stop)
Hot start
0.4 (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
n Motor Protection Using a Positive Temperature Coefficient (PTC) Thermistor
Connect a motor PTC can to an analog input of the drive for motor overheat protection.
The motor overheat alarm level triggers an oH3 alarm and the drive continues the operation selected in L1-03. The overheat
fault level triggers an oH4 fault, outputs a fault signal, and the drive stops the motor using the stop method selected in L1-04.
Connect the PTC between terminals AC and A3 and set jumper S4 on the terminal board to “PTC” as shown in Figure 5.89.
Set H3-05 to 0 and H3-06 to E.
Multi-function input Drive
MA
Fault output
MB
DIP Switch S4
MC
PTC
M1
M2
AI
M3 Multi-function
M4 digital outputs
A3 (0-10 V)
Parameter Details
M5
PTC
M6
thermistor
AC
Figure 5.89 Connection of a Motor PTC
5
The PTC must exhibit the characteristics shown in Figure 5.90 in one motor phase. The motor overload protection of the drive
expects 3 of these PTCs to be connected in a series.
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5.8 L: Protection Functions
Class F Class H
Resistance ( )
150 ºC 180 ºC
Tr: threshold value
Temperature
Tr’
Tr - 5K (oH3 Alarm Level) Tr Tr + 5K (oH4 Fault Level)
Figure 5.90 Motor PTC Characteristics
Set up overheat detection using a PTC using parameters L1-03, L1-04, and L1-05 as explained in the following sections.
n 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.
n 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
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.
n L1-05: Motor Temperature Input Filter Time (PTC input)
Sets a filter on the PTC input signal to prevent erroneous detection of a motor overheat fault.
No. Name Setting Range Default
L1-05 Motor Temperature Input Filter Time (PTC input) 0.00 to 10.00 s 0.20 s
n L1-08: oL1 Current Level
Sets the reference current for motor thermal overload detection for motor 1 in amperes. When L1-08 is set to 0.0 A (default),
parameter E2-01 (E5-03 in PM control modes) is used as the reference for motor overload protection. When L1-08 ≠0.0 A,
the set value is used as the reference for motor overload protection.
282 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.8 L: Protection Functions
No. Name Setting Range Default
0.0 A or 10 to 150% of drive
L1-08 oL1 Current Level 0.00 A
rated current <1> <2>
<1> Display is in the following units:
2o0028, 2o0042, and 4o0011 to 4o0027: 0.01 A units
2o0054 to 2o0248 and 4o0034 to 4o0414: 0.1 A units
<2> Cannot be set to a value smaller than 10% of drive rated current when the current level is set to a value greater than 0.0 A.
n L1-09: oL1 Current Level for Motor 2
Sets the reference current for motor thermal overload detection for motor 2 in amperes. When L1-09 is set to 0.0 A (default),
parameter E4-01 is used as the reference for motor overload protection. When L1-09 ≠0.0 A, the set value is used as the
reference for motor overload protection.
No. Name Setting Range Default
0.0 A or 10 to 150% of drive
L1-09 oL1 Current Level for Motor 2 0.0 A
rated current <1> <2>
<1> Display is in the following units:
2o0028, 2o0042, and 4o0011 to 4o0027: 0.01 A units
2o0054 to 2o0248 and 4o0034 to 4o0414: 0.1 A units
<2> Cannot be set to a value smaller than 10% of drive rated current when the current level is set to a value greater than 0.0 A.
n L1-13: Continuous Electrothermal Operation Selection
Determines whether to hold the current value of the electrothermal motor protection (L1-01) when the power supply is
interrupted.
No. Name Setting Range Default
L1-13 Continuous Electrothermal Operation Selection 0, 1 1
Setting 0: Disabled
Setting 1: Enabled
u L2: Momentary Power Loss Ride-Thru
n L2-01: Momentary Power Loss Operation Selection
Parameter Details
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 5
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. If the power returns 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. If the power returns and the drive control circuit has
power, the drive will attempt to perform Speed Search and resume the operation. This will not trigger an Fdv fault.
Note: 1. Keep the magnetic contactor closed during the momentary power loss when using a magnetic contactor between the motor and the drive
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.
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5.8 L: Protection Functions
n 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 the frequency reference. This parameter is valid when 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
n 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
n 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
L2-04 Momentary Power Loss Voltage Recovery Ramp Time 0.0 to 5.0 s C6-01 and o2-04
n 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
before power loss) after momentary power loss.
When set to 0.0 s, the drive will accelerate 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.
n L2-13: Input Power Frequency Fault Detection Gain
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
n L2-21: Low Input Voltage Detection Level
Sets the low input voltage detection level.
No. Name Setting Range Default
L2-21 Low Input Voltage Detection Level 100 to 230 V <1> 150 V <1>
<1> Values are specific to 200 V class drives. Double the value for 400 V class drives.
n L2-27: Power Supply Frequency Fault Detection Width
Sets the frequency width used to detect a power supply frequency fault (Fdv) in Hz. There is normally no need to change this
parameter from the default value.
No. Name Setting Range Default
L2-27 Power Supply Frequency Fault Detection Width 3.0 to 20.0 Hz 6.0 Hz
284 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.8 L: Protection Functions
u L3: Stall Prevention
The motor may experience excessive slip because it cannot keep up with the frequency reference when the load is too high or
acceleration and deceleration times are too short. If the motor slips during acceleration, it usually causes an overcurrent fault
(oC), drive overload (oL2), or motor overload (oL1). If the motor slips during deceleration, it can cause excessive regenerative
power to flow back into the DC bus capacitors, and eventually cause the drive to fault out from overvoltage (oV). The Stall
Prevention Function prevents the motor from stalling and while allowing the motor to reach the desired speed without requiring
the user to change the acceleration or deceleration time settings. The Stall Prevention function can be set separately for
acceleration, operating at constant speeds, and deceleration.
n L3-01: Stall Prevention Selection during Acceleration
Stall Prevention during acceleration prevents tripping with overcurrent (oC), motor overload (oL1), or drive overload (oL2)
faults common when accelerating with heavy loads.
L3-01 determines the type of Stall prevention the drive should use during acceleration.
No. Name Setting Range Default
L3-01 Stall Prevention Selection during Acceleration 0 to 3 <1> 1
<1> Setting 2 is not available for OLV/PM.
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, causing 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:
Acceleration is reduced when the output current value exceeds 85% of the level set to parameter L3-02 for a longer than the
time set to L3-27. The acceleration stops when the current exceeds L3-02. Acceleration continues when the current falls
below L3-02 for longer than the time set to L3-27.
The Stall Prevention level is automatically reduced in the constant power range. Refer to L3-03: Stall Prevention Limit
during Acceleration/Deceleration on page 286.
Output current
Stall Prevention Level
During Acceleration
L3-02
Parameter Details
L3-02
-15%
Time
Output frequency 5
Controls the output frequency
to prevent the motor from stalling
Time
Figure 5.91 Stall Prevention During Acceleration for Induction Motors
• Open Loop Vector Control for PM:
Acceleration stops when the output current reaches the level set to parameter L3-02. When the time set to parameter L3-27
passes, the drive decelerates using the deceleration time set to L3-22 (Refer to L3-22: Deceleration Time at Stall Prevention
during Acceleration on page 288). Deceleration stops when the current falls below 85% of L3-02,. The drive will attempt
to reaccelerate after the time set to L3-27.
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5.8 L: Protection Functions
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 2: Intelligent Stall Prevention
The drive disregards the selected acceleration time and attempts to accelerate in the minimum time. The acceleration rate is
adjusted so the current does not exceed the value set to parameter L3-02.
Setting 3: Enabled (Current Limit)
The acceleration rate is automatically adjusted while limiting the output current at the value set to L3-02, Stall Prevention
Level during Acceleration.
L3-02
15% of rated current
Output current
Frequency reference
Output frequency
Figure 5.93 Current-Limited Acceleration
n L3-02/L3-14: Stall Prevention Level during Acceleration/Deceleration
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. There is normally no need to change these parameters from their default values.
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 default value are determined by 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.
n 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.
No. Name Setting Range Default
L3-03 Stall Prevention Limit during Acceleration/Deceleration 0 to 100% 50%
286 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.8 L: Protection Functions
Stall Prevention level during Acceleration
L3-02
L3-14
L3-03
Output frequency
E1-06
Base frequency
Figure 5.94 Stall Prevention Level and Limit During Acceleration
n 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> Setting 4 is not available in OLV/PM, AOLV/PM, or 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
The drive tries to decelerate within the set deceleration time. The drive pauses deceleration when the output current exceeds
the Stall Prevention level and then continues deceleration when 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.
Output Frequency
Deceleration characteristics
Parameter Details
when Stall Prevention was
triggered during deceleration
Time
specified deceleration time
5
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 304 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.
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5.8 L: Protection Functions
L3-14
15% of rated current
Frequency reference
Figure 5.96 Deceleration for Current Limit
n L3-05: Stall Prevention Selection during Run
Determines how Stall Prevention works during Run. Stall Prevention during run prevents the motor from stalling by
automatically reducing the speed when a transient overload occurs while the motor is running at constant speed.
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. Stall Prevention during run is disabled when the output frequency is 6 Hz or lower regardless of the L3-05 and L3-06 settings.
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, the drive will decelerate at decel time 1 (C1-02). When
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).
n 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.
The Stall Prevention level can be adjusted using an analog input. Refer to Multi-Function Analog Input Terminal
Settings on page 270 for details.
No. Name Setting Range Default
L3-06 Stall Prevention Level During Run 30 to 150% <1> <1>
<1> The upper limit and default for this setting is determined by C6-01 and L8-38.
n 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 decelerates at the selected deceleration time when stalling occurs.
The function is effective only in OLV/ PM control and when 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
n L3-23: Automatic Reduction Selection for Stall Prevention during Run
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, 1 0
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5.8 L: Protection Functions
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.
n 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
n 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
Vibration Suppression Gain during Acceleration Determined by
L3-36 0.0 to 100.0
(with Current Limit) A1-02
Vibration Suppression Gain during Deceleration Determined by
L3-41 1.0 to 1000.0
(with Current Limit) A1-02
n L3-39/L3-44: Current-Limited Integral Time Constant during Acceleration/Deceleration
Set the time constant for acceleration/deceleration rate adjustment for current-limited acceleration/deceleration. There is
normally no need to change these parameters from their default values. These parameters are valid when acceleration or
deceleration stall prevention (with current limit) is enabled (L3-01 = 3 or 6).
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
n 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:
Parameter Details
L3-45). 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 5
Setting 0: Disabled
Setting 1: Enabled
u L4: Speed Detection
These parameters set up the speed agree and speed detection functions that can be assigned to the multi-function output
terminals.
The speed is detected using the motor speed when A1-02 = 3 or 7.
n L4-01, L4-02: Speed Agree 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.
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5.8 L: Protection Functions
No. Name Setting Range Default
L4-01 Speed Agree Detection Level 0.0 to 400.0 Hz 0.0 Hz
Determined by
L4-02 Speed Agree Detection Width 0.0 to 20.0 Hz A1-02
Refer to H2-01 to H2-03: Terminal M1-M2, M3-M4, and M5-M6 Function Selection on page 256, Settings 2, 3, 4, and 5.
n L4-03, L4-04: Speed Agree 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 Agree Detection Level (+/-) -400.0 to 400.0 Hz 0.0 Hz
Determined by
L4-04 Speed Agree Detection Width (+/-) 0.0 to 20.0 Hz A1-02
Refer to H2-01 to H2-03: Terminal M1-M2, M3-M4, and M5-M6 Function Selection on page 256, Settings 13, 14, 15, and
16.
n 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 or below 5% of the maximum output frequency within 400
ms.
Analog 100%
frequency
reference 10%
400 ms
Loss of
Reference OFF ON
output
time
Figure 5.97 Loss of Reference Function
Set H2-01, H2-02, or H2-03 to C for a digital output to trigger when frequency reference loss occurs. Refer to Setting C:
Frequency Reference Loss on page 261 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, 1 0
Setting 0: Stop
Drive follows the frequency reference (which is no longer present) and stops the motor.
Setting 1: Continue operation with reduced frequency reference
The drive will continue operation at the frequency reference value set to parameter L4-06. When the external frequency
reference value is restored, the operation is continued with the frequency reference.
n L4-06: Frequency Reference at Reference Loss
Sets the frequency reference level at which the drive runs when L4-05 = 1 and when detecting a reference loss. The value is
set as a percentage of the frequency reference before the loss was detected.
No. Name Setting Range Default
L4-06 Frequency Reference at Reference Loss 0.0 to 100.0% 80.0%
n 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, 1 0
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5.8 L: Protection Functions
Setting 0: No Detection during baseblock
Setting 1: Detection always enabled
u L5: Fault Restart
After a fault has occurred, Fault Restart attempts to automatically restart the motor and continue operation instead of stopping.
The drive can 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 168 for details).
WARNING! Sudden Movement Hazard. Do not use the fault restart function in lifting applications. Fault restart may cause the machine to
drop the load, which could result in death or serious injury.
The drive can attempt to restart itself following the faults listed below.
Fault Name Fault Name
Aov Power Supply Overvoltage oL3 Overtorque 1
GF Ground Fault oL4 Overtorque 2
LF Output Open Phase ov DC Bus Overvoltage
LSo LSo Fault Uv1 DC Bus Undervoltage <1>
oC Overcurrent STo Pull-Out Detection
oH1 Drive Overheat
oL1 Motor Overload
<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.
Set H2-01, H2-02, or H2-03 to 1E. to output a signal during fault restart.
n L5-01: Number of Auto Restart Attempts
Sets the number of times that the drive may attempt to restart itself.
Parameter L5-05 determines the method of incrementing the restart counter. When the counter reaches the number set to L5-01,
the operation stops and the fault must be manually cleared and reset.
The restart counter is incremented at each restart attempt, regardless of whether the attempt was successful. When the counter
reaches the number set to L5-01, the operation stops and the fault must be manually cleared and reset.
Parameter Details
The number of fault restarts is reset to zero when:
• The drive operates normally for 10 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
5
L5-01 Number of Auto Restart Attempts 0 to 10 Times 0 Times
n L5-02: Auto Restart Fault Output Operation Selection
Determines if a fault output is triggered (H2-oo = E) when the drive attempts to restart.
No. Name Setting Range Default
L5-02 Auto Restart Fault Output Operation Selection 0, 1 0
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5.8 L: Protection Functions
Setting 0: No Fault Output
Auto-Restart - Cancel Early
Fault output disabled (L5-02 = 0)
Run command
Fault condition
L5-04
Fault display
Fault digital output
Output Frequency
(U1-02)
Figure 5.98 Auto Restart Cancel Early
Setting 1: Fault Output Is Set
n 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
n L5-05: Fault Reset Operation Selection
No. Name Setting Range Default
L5-05 Fault Reset Operation Selection 0, 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 to L5-01.
Setting 1: Count Restart Attempts
The drive will attempt to restart using the time interval set to parameter L5-04. A record is kept of the number of attempts to
restart to the drive, regardless of whether those attempts were successful. When the number of attempted restarts exceeds the
value set to L5-01, the drive stops attempting to restart.
u 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). These functions are set up using the L6-oo parameters. Program the digital outputs as shown
below to indicate the underload or overload condition to an external device:
Note: When overtorque occurs in the application, the drive may stop due to overcurrent (oC) or overload (oL1). To prevent the drive from stopping,
use torque detection to indicate an overload situation to the controller before oC or oL1 occur. Use undertorque detection to discover
application problems like a torn belt, a pump shutting off, or other similar trouble.
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 closes when overload or underload is detected)
19 Torque detection 2, N.C. (output opens when overload or underload is detected)
Figure 5.99 and Figure 5.100 illustrate the functions of overtorque and undertorque detection.
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5.8 L: Protection Functions
Motor current / torque
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 5.99 Overtorque Detection Operation
Motor current / torque 10 % hysteresis
L6-02/05
L6-03/06 L6-03/06
Torque detection 1 (NO)
or
Torque detection 2 (NO) ON ON
Figure 5.100 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, the level is set as a percentage of the motor rated torque.
n L6-01, L6-04: Torque Detection Selection 1, 2
The torque detection function is triggered when the current or torque exceed the levels set to L6-02 and L6-05 for longer than
the times set to 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
Parameter Details
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 detecting overtorque and triggering an oL3/oL4 alarm.
Setting 2: oL3, oL4 at Run (Alarm)
Overtorque detection works as long as the Run command is active. The operation continues after detecting overtorque and 5
triggering an oL3/oL4 alarm.
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 stops and triggers an oL3/oL4 fault.
Setting 4: oL3, oL4 at Run (Fault)
Overtorque detection works as long as a Run command is active. The operation stops and triggers an oL3/oL4 fault.
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 detecting overtorque and triggering a UL3/UL4 alarm.
Setting 6: UL3, UL4 at Run (Alarm)
Undertorque detection works as long as the Run command is active. The operation continues after detecting overtorque and
triggering a UL3/UL4 alarm.
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5.8 L: Protection Functions
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 stops and triggers a UL3/UL4 fault.
Setting 8: UL3, UL4 at Run (Fault)
Undertorque detection works as long as a Run command is active. The operation stops and triggers a UL3/UL4 fault.
n L6-02, L6-05: Torque Detection Level 1, 2
These parameters set the detection levels for 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. 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.
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-oo = 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.
n 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 10.0 s
L6-06 Torque Detection Time 2 0.0 to 10.0 s 0.1 s
n Mechanical Weakening Detection
This function detects the mechanical weakening of a machine that leads to overtorque or undertorque situations after a set
machine operation time has elapsed.
The function is activated in the drive when the cumulative operation counter U4-01 exceeds the time set to 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.
Set H2-oo to 22 to output a signal for Mechanical Weakening Detection.
n 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). Operation continues and triggers an oL5 alarm after detection.
Setting 2: Continue Running if the Speed Is Greater than L6-09 (Alarm)
Detection when the speed is above L6-09 (unsigned). Operation continues and triggers an oL5 alarm after detection.
Setting 3: Stop when Motor Speed Is Greater than L6-09 (Signed)
Detection when the speed is above L6-09 (signed). Operation stops and triggers an oL5 fault after detection.
Setting 4: Stop when Motor Speed Is Greater than L6-09
Detection when the speed is above L6-09 (unsigned). Operation stops and triggers an oL5 fault after detection.
Setting 5: Continue Running if the Speed Is Less than L6-09 (Signed) (Alarm)
Detection when the speed is below L6-09 (signed). Operation continues and triggers a UL5 alarm after detection.
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5.8 L: Protection Functions
Setting 6: Continue Running if the Speed Is Less than L6-09 (Alarm)
Detection when the speed is below L6-09 (unsigned). Operation continues and triggers a UL5 alarm after detection.
Setting 7: Stop when Motor Speed Is Less than L6-09 (Signed)
Detection when the speed is below L6-09 (signed). Operation stops and triggers a UL5 fault after detection.
Setting 8: Stop when Motor Speed Is Less than L6-09
Detection when the speed is below L6-09 (unsigned). Operation stops and triggers a UL5 fault after detection.
n L6-09: Mechanical Weakening Detection Speed Level
Sets the speed level for Mechanical Weakening Detection as a percentage of the maximum frequency. If L6-08 is set for
unsigned speed detection (L6-08 = 2, 4, 6, 8), the absolute value of L6-09 is used (negative settings are treated as positive
values).
No. Name Setting Range Default
L6-09 Mechanical Weakening Detection Speed Level -110.0 to 110.0% 110%
n L6-10: Mechanical Weakening Detection Time
Sets the time permitted for the situation selected in parameter L6-08 to arise before detecting mechanical weakening.
No. Name Setting Range Default
L6-10 Mechanical Weakening Detection Time 0.0 to 10.0 s 0.1 s
n L6-11: Mechanical Weakening Detection Start Time
Sets the cumulative drive operation time at which Mechanical Weakening Detection is activated. The function activates when
U4-01 reaches the L6-11 value.
No. Name Setting Range Default
L6-11 Mechanical Weakening Detection Start Time 0 to 65535 h 0h
u L7: Torque Limit
The torque limit function limits the torque in each of the four quadrants individually to protect machinery in OLV, CLV,
AOLV/PM, and CLV/PM control modes. Set the limit through parameters, analog inputs, or by switching a digital output
programmed for “During torque limit” (H2-01, H2-02, H2-03 = 30) when the drive is operating at the torque limit.
Parameter Details
n Setting Torque Limits
Parameters L7-01 to L7-04 define the torque limits for each of the four operation quadrants. it is also possible to use Analog
inputs to define a general limit for all operation conditions (H3-02, H3-06, H3-10 = 15) or to set separate limits for each
operation condition (H3-02, H3-06, H3-10 = 10, 11, or 12). Figure 5.101 shows limit setting 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 drive rated current limit even if the torque limits are set to higher values.
5
Example: If parameter L7-01 = 130%, L7-02 to L7-04 = 200%, and an analog input sets a general torque limit of 150% (H3-02,
H3-06, H3-10 = 15), then the torque limit will be 130% in quadrant 1, but 150% in the other quadrants.
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5.8 L: Protection Functions
Positive torque reference
REV run regenerative FWD run motoring
10: Positive Torque Limit 10: Positive Torque Limit
12: Regenerative Torque Limit 15: Torque Limit
15: Torque Limit Parameter L7-01
Parameter L7-04
Quadrant 2 Quadrant 1
REV motor rotation FWD motor rotation
Quadrant 3 Quadrant 4
11: Negative Torque Limit
11: Negative Torque Limit 12: Regenerative Torque Limit
15: Torque Limit 15: Torque Limit
Parameter L7-02 Parameter L7-03
REV run motoring FWD run regenerative
Negative torque reference
Figure 5.101 Torque Limit Parameters and Analog Input Settings
n 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%
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 lowest value from L7-01 through L7-04, or analog input torque limit.
n L7-06: Torque Limit Integral Time Constant
Sets the integral time constant for the torque limit function. Decrease the setting for faster torque limit response. Increase the
setting if oscillation occurs when operating at the torque limit.
No. Name Setting Range Default
L7-06 Torque Limit Integral Time Constant 5 to 10000 ms 200 ms
n 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, 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 prevent the motor speed from reaching the frequency
reference if the torque limit is reached first.
n 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, 1 1
Setting 0: Disabled
Torque limit is created at start without a delay time. Disable L7-16 to maximize the response time when the application requires
sudden acceleration or deceleration at start.
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Setting 1: Enabled
A delay time of 64 ms is added to allow the torque limit to build at start.
u L8: Drive Protection
n L8-02: Overheat Alarm Level
Sets the overheat alarm (oH) detection level.
The drive outputs an alarm when the heatsink temperature exceeds the overheat alarm level. 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-oo = 20), the switch will close when the heatsink temperature rises
above L8-02.
No. Name Setting Range Default
Determined by
L8-02 Overheat Alarm Level 50 to 150 °C C6-01 and o2-04
n L8-03: Overheat Pre-Alarm Operation Selection
Sets the operation when an overheat pre-alarm is detected.
Note: Change L8-03 setting 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 currently selected deceleration time. If a digital output is
programmed for “fault” (H2-oo = E), this output will be triggered.
Setting 1: Coast to Stop
If an overheat alarm occurs, the drive switches off the output and the motor coasts to stop. If a digital output is programmed
for “fault” (H2-oo = 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-oo = E), this output will be triggered.
Setting 3: Alarm Only
Parameter Details
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 continues with the speed reduced to the level set to parameter L8-19. If the oH alarm
is still present after 10 s, the speed is reduced again. The amount of speed reduction depends on how often the alarm repeats.
If the oH alarm disappears while the drive is operating at a reduced speed, the drive will switch to the previous speed in 10 s
increments until reaching base frequency. Figure 5.102 explains the operation with reduced speed during an oH alarm. A 5
digital output programmed for 4D is switched when the oH alarm is still active after ten reduction cycles.
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5.8 L: Protection Functions
Output frequency
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 5.102 Output Frequency Reduction During Overheat Alarm
n L8-07: Output Phase Loss Protection Selection
Enables or disables the output phase loss detection 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 1
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 or more output phases are lost. The output shuts off and the motor coasts
to stop.
n 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, 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.
n 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, 1 0
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Setting 0: Run with Timer
The fan is switched on when a Run command is active and switched off with the delay set to parameter L8-11 after releasing
the Run command. 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 when power is supplied to the drive.
n L8-11: Heatsink Cooling Fan Off-Delay Time
Sets the cooling fan switch off-delay time if parameter L8-10 is set to 0.
No. Name Setting Range Default
L8-11 Heatsink Cooling Fan Off-Delay Time 0 to 300 s 60 s
n L8-12: Ambient Temperature Setting
Automatically adapts the drive rated current to safe values when used with parameter L8-35. This eliminates the need to reduce
the drive rated current when the temperature where the drive is mounted is above the specified values. Refer to Temperature
Derating on page 439 for details.
No. Name Setting Range Default
L8-12 Ambient Temperature Setting -10 to +50 °C 40 °C
n L8-15: oL2 Characteristics Selection at Low Speeds
Selects whether the drive overload capability (oL fault detection level) is reduced at low speeds 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.
No. Name Setting Range Default
L8-15 oL2 Characteristics Selection at Low Speed 0, 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.
Parameter Details
Setting 1: Protection Enabled at Low Speed
The overload protection level (oL2 fault detection level) is automatically reduced at speeds below 6 Hz. At zero speed, the
overload is derated by 50%.
n L8-18: Software Current Limit Selection
Enables and disables the Software Current Limit (CLA) protection function to prevent main circuit transistor failures caused
by high current. 5
Note: Do not change this setting unless absolutely necessary.
No. Name Setting Range Default
L8-18 Software Current Limit Selection 0, 1 0
Setting 0: Software CLA Disabled
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 Software CLA current level is reached, the drive reduces the output voltage to reduce the current. Normal operation
continues when the current level drops below the Software CLA level.
n L8-19: Frequency Reduction Rate during Overheat Pre-Alarm
Specifies the output frequency reduction when L8-03 is set to 4 and an oH alarm is present. Set as a factor of the maximum
output frequency.
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5.8 L: Protection Functions
No. Name Setting Range Default
L8-19 Frequency Reduction Rate During Overheat Pre-Alarm 0.1 to 0.9 0.8
n L8-27: Overcurrent Detection Gain
Adjusts the overcurrent detection level 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 and prevent motor demagnetization from high current.
Overcurrent detection uses the lower value between the overcurrent level for the drive and 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%
n L8-29: Current Unbalance Detection (LF2)
Enables and disables output current unbalance detection in OLV/PM, AOLV/PM, or CLV/PM. Current unbalance can heat a
PM motor and demagnetize the magnets. The current unbalance detection function monitors output current and triggers the
LF2 fault to prevent such motor damage.
No. Name Setting Range Default
L8-29 Current Unbalance Detection (LF2) 0, 2 2
Setting 0: Disabled
Motor protection with LF2 is disabled.
Setting 2: Enabled
LF2 fault is triggered when an output current imbalance is detected. Drive output shuts off and the motor coasts to stop.
n 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 a stop.
Setting 2: Fast Stop
The drive stops the motor using the Fast stop time set in parameter C1-09.
n L8-35: Installation Method Selection
Selects the type of installation for the drive and changes the drive overload (oL2) limits accordingly.
Note: 1. Initialization does not reset this parameter.
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 <1>
<1> Default setting is determined by parameter o2-04, Drive Model Selection.
Setting 0: IP00/Open-Chassis Enclosure
For an Open Type enclosure drive installed with at a minimum of 30 mm space to the next drive or a cabinet wall.
Setting 2: IP20/NEMA Type 1 Enclosure
For drives compliant with IP20/NEMA Type 1 enclosure specifications.
300 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.8 L: Protection Functions
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.
n L8-38: Carrier Frequency Reduction Selection
Selects the operation of the carrier frequency reduction function. Reduces 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.
Note: This function cannot be used in AOLV/PM.
No. Name Setting Range Default
Determined by
L8-38 Carrier Frequency Reduction Selection 0 to 2 A1-02, 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 the 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.
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.
n 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
Parameter Details
Determined by
L8-40 Carrier Frequency Reduction Off-Delay Time 0.00 to 2.00 s A1-02
n L8-41: High Current Alarm Selection
Triggers a high current alarm (HCA) when the output current exceeds 150% of the drive rated current.
No. Name Setting Range Default
5
L8-41 High Current Alarm Selection 0, 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 alarm
(H2-oo = 10) will close.
n L8-93: LSo Detection Time at Low Speed
Sets the amount of time until baseblock is executed after LSo has been detected at low speed.
A setting of 0.0 s disables this parameter.
No. Name Setting Range Default
L8-93 LSo Detection Time at Low Speed 0.0 to 10.0 s 1.0 s
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5.8 L: Protection Functions
n L8-94: LSo Detection Level at Low Speed
Determines the detection level of Sto 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%
n 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
u L9: Drive Protection 2
n L9-03: Carrier Frequency Reduction Level Selection
Selects start or clear current level for automatic carrier frequency reduction. There is normally no need to change this parameter
from the default value.
No. Name Setting Range Default
L9-03 Carrier Frequency Reduction Level Selection 0, 1 0
Setting 0: Reduces the Carrier Frequency Based on the Drive Rated Current that Is Not Derated
Setting 1: Reduces the Carrier Frequency Based on the Drive Rated Current that Is Derated by the Carrier Frequency
and Temperature with C6-02 Selection
302 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.9 n: Special Adjustments
5.9 n: Special Adjustments
These parameters control a variety of specialized adjustments and functions, including Hunting Prevention, AFR Control,
resistance between motor lines, and PM motor control functions.
u n1: Hunting Prevention
Hunting Prevention prevents 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.
n n1-01: Hunting Prevention Selection
Enables or disables the Hunting Prevention function.
Note: This function is available only when using V/f Control. Disable Hunting Prevention when drive response is more important than suppressing
motor oscillation. This function may be disabled without problems in applications with high inertia loads or relatively heavy loads.
No. Name Setting Range Default
n1-01 Hunting Prevention Selection 0, 1 1
Setting 0: Disabled
Setting 1: Enabled
n 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
Although this parameter rarely needs to be changed, it may require adjustment in the following situations:
• 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.
n n1-03: Hunting Prevention Time Constant
Determines the responsiveness of the Hunting Prevention function (affects the primary delay time for Hunting Prevention).
No. Name Setting Range Default
Parameter Details
Determined by
n1-03 Hunting Prevention Time Constant 0 to 500 ms o2-04
Although this parameter rarely needs to be changed, it may require adjustment in the following situations:
• Increase this value for applications with a large load inertia. A higher setting leads to slower response, which can result in
oscillation at lower frequencies.
• Lower this setting if oscillation occurs at low speed. 5
n n1-05: Hunting Prevention Gain while in Reverse
This parameter functions the same as n1-02, except it is used when rotating in reverse. See the explanation for n1-02.
Note: n1-02 is enabled for forward and reverse operation when n1-05 = 0.0 ms.
No. Name Setting Range Default
n1-05 Hunting Prevention Gain while in Reverse 0.00 to 2.50 0.00
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 303
5.9 n: Special Adjustments
u n2: Speed Feedback Detection Control (AFR) Tuning
These parameters help achieve speed stability when a load is suddenly applied or removed.
Note: Properly set all motor parameters or perform Auto-Tuning before making changes to the AFR parameters.
n n2-01: AFR Gain
Sets the internal speed feedback detection control gain in the AFR.
No. Name Setting Range Default
n2-01 AFR Gain 0.00 to 10.00 1.00
Although this parameter rarely needs to be changed, it may require adjustment in the following situations:
• 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.
n n2-02: AFR Time Constant 1
Sets the time constant normally used by AFR.
No. Name Setting Range Default
n2-02 AFR Time Constant 1 0 to 2000 ms 50 ms
Although this parameter rarely needs to be changed, adjustment may be required in the following situations:
• If hunting occurs, increase the value. If response is low, decrease it.
• When setting the parameter to a higher value, increase C4-02, Torque Compensation Delay Time Constant 1, proportionally.
u n3: Overexcitation Braking
n Overexcitation Deceleration (Induction Motors)
Increases the flux during deceleration and allows shorter deceleration time settings. Enabled by setting L3-04 to 4. Refer to
L3-04: Stall Prevention Selection during Deceleration on page 287.
Notes on Overexcitation Deceleration
• During Overexcitation Deceleration 2, Hunting Prevention in V/f Control and torque limits in OLV Control are disabled.
• Overexcitation Deceleration can be used in OLV and CLV, but it lowers the accuracy of Torque Control and 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 causes motor overheat, lower the overexcitation gain (n3-13) and reduce
the overslip suppression current level (n3-21).
• During Overexcitation Deceleration (L3-04 = 4), the drive decelerates at the active deceleration time (C1-02, C1-04, C1-06,
or C1-08). Set this time so no overcurrent (oC) fault occurs.
• During Overexcitation Deceleration 2 (L3-04 = 5), the drive decelerates using the active deceleration time while adjusting
the deceleration rate to keep the DC bus voltage at the level set to L3-17. The actual stopping time will be longer or shorter
than the set deceleration time depending on the motor characteristics and the load inertia. Increase the deceleration time if
overcurrent (oC) occurs.
• Entering a Run command during Overexcitation Deceleration cancels overexcitation operation and the drive reaccelerates
to the specified speed.
n n3-13: Overexcitation Deceleration Gain
Multiplies a gain to the V/f pattern output value during Overexcitation Deceleration to determine 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.
• Gradually increase the gain to 1.25 or 1.90 to improve the braking power of Overexcitation Deceleration.
304 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.9 n: Special Adjustments
• Lower n3-13 when flux saturation characteristics cause overcurrent. A high setting sometimes causes overcurrent (oC),
motor overload (oL1), or drive overload (oL2).
u n5: Feed Forward Control
Enabling Feed Forward improves the responsiveness of the drive 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 5.103 gives an example of overshoot reduction by Feed Forward. Parameters related to this function and
the function principle are illustrated in Figure 5.104. Feed Forward can only be used in CLV, CLV/PM, or AOLV/PM (A1-02
= 4, 6, or 7).
1050 1050 Suppresses
overshoot at the
Overshoot end of acceleration
Motor Speed (r/min)
Motor Speed (r/min)
900 900
750 750
0 0
0 0.5 1 0 0.5 1
Time (s) Time (s)
Conventional Speed Control Feed Forward Control
Figure 5.103 Overshoot Suppression by Feed Forward Control
Feed Forward Output
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-oo
Reference
U1-20
Speed U6-25 U1-09
Feedback
ASR Output
Parameter Details
Figure 5.104 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 manually enter the correct motor data. Perform ASR Auto-Tuning to set
the speed loop gain (C5-01), or adjust it manually. Fine-tune the other speed control loop parameters (C5-oo) if required.
3. If not restricted by the application, use Inertia Auto Tuning (T1-01 = 8) to automatically optimize Feed Forward parameters. If Inertia
Auto Tuning cannot be performed, manually set parameters related to Feed Forward. 5
n n5-01: Feed Forward Control Selection
Enables and disables the Feed Forward function.
No. Name Setting Range Default
n5-01 Feed Forward Control Selection 0, 1 0
Setting 0: Disabled
Setting 1: Enabled
n n5-02: Motor Acceleration Time
Sets the time required to accelerate the motor from a full stop to the rated speed at the rated torque.
No. Parameter Name Setting Range Default
Determined by
n5-02 Motor Acceleration Time 0.001 to 10.000 s C6-01, E5-01 and
o2-04
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 305
5.9 n: Special Adjustments
Set this value automatically with Inertia Auto-Tuning. If Inertia Auto-Tuning cannot be performed, use one of the following
methods to determine the setting value for this parameter.
Calculation
The motor acceleration time can be calculated by one of the following formulas:
Where:
π JMotor nrated • JMotor is the motor inertia in kgm/s2.
n5-02 =
30 Trated • nrated is the rated speed of the motor in r/min.
• Trated is the rated torque of the motor in N•m.
or
Where:
• JMotor is the motor inertia in kgm2.
4 π JMotor frated
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 N•m.
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. Perform Auto-Tuning or manually enter the correct motor data.
4. Properly set up the speed loop (ASR).
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.
n n5-03: Feed Forward Control Gain
Sets the inertia ratio of the load connected to the motor. This value can be set automatically by Inertia Auto-Tuning.
No. Parameter Name Setting Range Default
n5-03 Feed Forward Control Gain 0.00 to 100.00 1.00
Set this value automatically with Inertia Auto-Tuning. If Inertia Auto 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. Set parameter n5-02 correctly.
3. Couple motor and load.
4. Set the acceleration time in C1-01 to 0.
5. Set the torque limits in the L7-oo 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 =
n5-02 fref_Test 100
-1 • frated is the rated frequency of the motor in Hz.
• TLim_Test is torque limit setting during the test (%).
• fref_Test is the frequency reference during the test in Hz.
306 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.9 n: Special Adjustments
u n6: Online Tuning
Online Tuning prevents loss from insufficient torque and diminished speed control accuracy due to fluctuating motor
temperature.
n n6-01: Online Tuning Selection
Selects the type of motor data Online Tuning uses for OLV control.
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 when the Energy Saving function is disabled (b8-01 = 0).
n n6-05: Online Tuning Gain
Sets the compensation gain for the voltage correction in the Online Tuning function (n6-01 = 2).
Although this parameter rarely needs to be changed, 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
u n8: PM Motor Control Tuning
These parameters adjust the control performance in the vector control modes for permanent magnet motors.
n n8-01: Initial Rotor Position Estimation Current
Sets the current used for initial rotor position estimation as a percentage of the motor rated current (E5-03). If the motor
Parameter Details
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 only available in AOLV/PM or CLV/PM.
No. Name Setting Range Default
n8-01 Initial Rotor Position Estimation Current 0 to 100% 50%
5
n n8-02: Pole Attraction Current
Sets the current that is 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 to increase the starting torque.
Note: This parameter is only available in AOLV/PM or CLV/PM.
No. Name Setting Range Default
n8-02 Pole Attraction Current 0 to 150% 80%
n n8-11: Induction Voltage Estimation Gain 2
Sets the gain for speed estimation. There is normally no need to change this parameter from the default value.
No. Name Setting Range Default
Determined by
n8-11 Induction Voltage Estimation Gain 2 0.0 to 1000.0
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 n8-14: Polarity Compensation
Gain 3 on page 308 for a list of monitors.
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5.9 n: Special Adjustments
n n8-14: Polarity Compensation Gain 3
Sets the gain for speed estimation. There is normally no need to change this parameter from the default value.
No. Name Setting Range Default
n8-14 Polarity Compensation Gain 3 0.000 to 10.000 1.000
n n8-15: Polarity Compensation Gain 4
Sets the gain for speed estimation. There is normally no need to change this parameter from the default value.
No. Name Setting Range Default
n8-15 Polarity Compensation Gain 4 0.000 to 10.000 0.500
n n8-21: Motor Ke Gain
Sets the gain for speed estimation. There is normally no need to change this parameter from the default value.
No. Name Setting Range Default
n8-21 Motor Ke Gain 0.80 to 1.00 0.90
n n8-35: Initial Rotor Position Detection Selection
Selects how the rotor position is detected at start.
Note: 1. 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.
2. 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).
3. This parameter is only available in AOLV/PM or CLV/PM.
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 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 to detect the rotor position.
n n8-36: High Frequency Injection Level
Sets the frequency level used for High Frequency Injection. Enabled when n8-57 = 1. There is normally no need to change
this parameter from the default value.
No. Name Setting Range Default
n8-36 High Frequency Injection Level 200 to 1000 Hz 500 Hz
n n8-37: High Frequency Injection Amplitude
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%
n n8-39: Low Pass Filter Cutoff Frequency for High Frequency Injection
Sets a cutoff frequency of a low pass filter for high frequency injection. Enabled when n8-57 = 1. There is normally no need
to change this parameter from the default value.
No. Name Setting Range Default
n8-39 Low Pass Filter Cutoff Frequency for High Frequency Injection 0 to 1000 Hz 50 Hz
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5.9 n: Special Adjustments
n n8-45: Speed Feedback Detection Control Gain (for PM Motors)
Sets the gain for internal speed feedback detection control. Although this parameter 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 only 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
n n8-47: Pull-In Current Compensation Time Constant (for PM Motors)
Sets the time constant for pull-in current to match the actual current.
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 only 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
n 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 (E5-03).
• Increase this setting when hunting occurs or the motor speed is unstable while running at a constant speed.
• Slightly reduce this value if there is too much current when driving a light load at a constant speed.
Note: This parameter is only available in OLV/PM.
No. Name Setting Range Default
n8-48 Pull-In Current (for PM Motors) 20 to 200% 30%
n 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, this parameter
uses the reluctance torque to increase the efficiency and reduce energy consumption. Set this parameter to 0 when using an
SPM motor.
Parameter Details
Although this setting rarely needs to be changed, adjustment may be necessary under the following conditions:
• Lower the setting if motor operation is unstable when driving heavy loads.
• If motor parameters (E5-oo) have been changed, this value will be reset to 0 and will require readjustment.
Note: This parameter is only available in OLV/PM.
No. Name Setting Range Default
Determined by
5
n8-49 d Axis Current for High Efficiency Control (for PM Motors) -200.0 to 0.0% E5-01
n 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 (E5-03).
Adjustment may be necessary under the following conditions:
• 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 only available in OLV/PM.
No. Name Setting Range Default
n8-51 Acceleration/Deceleration Pull-In Current (for PM Motors) 0 to 200% 50%
n n8-54: Voltage Error Compensation Time Constant
Sets the time constant for voltage error compensation.
Adjustment may be necessary under the following conditions:
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 309
5.9 n: Special Adjustments
• Adjust the value when hunting occurs at low speed.
• Increase the value in steps of 0.1 when hunting occurs with sudden load changes. Set n8-51 to 0 to disable the compensation
if increasing n8-54 does not help.
• Increase the value when oscillations occur at start.
Note: This parameter is only available in OLV/PM.
No. Name Setting Range Default
n8-54 Voltage Error Compensation Time Constant 0.00 to 10.00 1.00
n 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 trigger an STo (Pull-Out Detection) fault.
Increase this setting for large inertia loads or to improve speed control response. A high setting with low inertia load may
cause oscillation.
Note: This parameter is only 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 lower 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.
n n8-57: High Frequency Injection
Injects a high frequency into the motor to detect motor speed.
Note: This parameter is only available in AOLV/PM.
No. Name Setting Range Default
n8-57 High Frequency Injection 0, 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
Enable n8-57 with IPM motors. This allows precise speed detection in a speed control range of approximately 1:100.
Note: 1. This function generates some audible noise in the motor up to a certain speed.
2. Set E1-09 to 0.0 when using zero speed control.
n n8-62: Output Voltage Limit (for PM Motors)
Sets the output voltage limit to prevent voltage saturation. Do not set this value higher than the actual input voltage.
Note: This parameter is only available in OLV/PM, AOLV/PM, and CLV/PM.
No. Name Setting Range Default
n8-62 Output Voltage Limit (for PM Motors) 0.0 to 250.0 Vac <1> 200 Vac <1>
<1> Values shown are specific to 200 V class drives. Double value for 400 V class drives.
n n8-69: Speed Calculation Gain
Sets the proportional gain for Phase Locked Loop (PLL) control of an extended observer.
310 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
5.9 n: Special Adjustments
There is normally no need to change this parameter from the default value.
No. Name Setting Range Default
n8-69 Speed Calculation Gain 0.00 to 20.00 1.00
n n8-72: Speed Estimation Method Selection
Sets the method of the speed estimation. There is normally no need to change this parameter from the default value.
No. Name Setting Range Default
n8-72 Speed Estimation Method Selection 0, 1 1
Setting 0: Conventional Method
Setting 1: 1000-Series Method
n n8-84: Initial Polarity Estimation Timeout 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 only available in AOLV/PM and CLV/PM.
2. If an “Si” value is listed on a Yaskawa motor nameplate, set n8-84 to “Si” value x 2.
No. Name Setting Range Default
n8-84 Initial Polarity Estimation Timeout Current 0 to 150% 100%
Judging Polarity and Motor Pole Position
If operating in AOLV/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 has
successfully determined the motor polarity.
Parameter Details
5
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 311
5.10 o: Operator Related Settings
5.10 o: Operator Related Settings
These parameters control the various functions, features, and display of the digital operator.
u o1: Digital Operator Display Selection
These parameters determine the data display on the digital operator.
n 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: frequency reference → rotational direction → output frequency → output current → o1-01
selection.
Parameter o1-01 selects the content of the last monitor in this sequence. This is done by entering the “1oo” part of
“U1-oo”. 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-oo and U3-oo parameters cannot be selected.
n o1-02: User Monitor Selection after Power Up
Selects which monitor parameter is displayed upon power up. Refer to U: Monitor Parameters on page 319 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)
n 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 before setting
parameters o1-10 and o1-11.
No. Name Setting Range Default
Determined by
o1-03 Digital Operator Display Selection 0 to 3 A1-02
Setting 0: 0.01 Hz Units
Setting 1: 0.01% Units (100% = Max. Output Frequency)
Setting 2: r/min 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 used for the maximum frequency reference to o1-10. Set the placement of the decimal point in this number to
o1-11.
For example, to have the maximum output frequency displayed as “100.00”, set 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
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5.10 o: Operator Related Settings
U1-05: motor speed
U1-16: output frequency after softstarter (accel/decel ramp generator)
d1-01 to d1-17: frequency references
2. Setting o1-03 to 2 requires entering the number of motor poles to E2-04, E4-04, and E5-04.
n 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, 1 0
Setting 0: Hertz
Setting 1: r/min
Note: For motor 2, o1-04 can only be set to 0 for Hertz.
n o1-05: LCD Contrast Control
Sets the brightness of the digital operator. The lower the setting, the brighter the LCD contrast. The higher the setting, the
darker the LCD contrast.
No. Name Setting Range Default
o1-05 LCD Contrast Control 0 to 5 3
n 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
Determined by
o1-10 User-Set Display Units Maximum Value 1 to 60000 o1-03
n 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
Determined by
Parameter Details
o1-11 User-Set Display Units Decimal Display 0 to 3 o1-03
Setting 0: No Decimal Point
Setting 1: One Decimal Point
Setting 2: Two Decimal Points
Setting 3: Three Decimal Points
5
u o2: Digital Operator Keypad Functions
These parameters determine the functions assigned to the operator keys.
n o2-01: LO/RE (LOCAL/REMOTE) Key Function Selection
Determines whether the LO/RE key on the digital operator will be enabled for switching between LOCAL and REMOTE.
No. Name Setting Range Default
o2-01 LO/RE Key Function Selection 0, 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.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 313
5.10 o: Operator Related Settings
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 5.43 lists the setting combinations for o2-01 and b1-07.
Table 5.43 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
Will not run until a new Run command is
0 Run not possible
entered.
1 If a Run command is entered, the drive will start
1 running as soon as the LO/RE key is pushed to Run not possible
change from LOCAL to REMOTE.
n o2-02: STOP Key Function Selection
Determines if the STOP key on the digital operator will stop drive operation when the drive is controlled from a remote source
(i.e., not from digital operator).
No. Name Setting Range Default
o2-02 STOP Key Function Selection 0, 1 1
Setting 0: Disabled
Setting 1: Enabled
The STOP key will terminate drive operation even if the Run command source is not assigned to the digital operator. Cycle
the Run command to restart the drive if the drive has been stopped by pressing the STOP key.
n o2-03: User Parameter Default Value
After completely setting up drive parameters, save the values as user-set defaults with parameter o2-03. After saving the values,
parameter A1-03 (Initialize Parameters) will offer the choice of "1110: User Initialize". Selecting 1110 resets all parameters
to the user-set default values. Refer to A1-03: Initialize Parameters on page 153 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 Initialization. Setting o2-03 to 1 and pressing the
ENTER key saves the values and returns the display to 0.
Setting 2: Clear User Initialize Values
All user-set defaults for “User Initialize” are cleared. Setting o2-03 to 2 and pressing the ENTER key erases the values and
returns the display to 0.
n o2-04: Drive Model Selection
Set this parameter when replacing the control board or the terminal board. Refer to Defaults by Drive Model and Duty Rating
ND/HD on page 536 for information on drive model selection.
NOTICE: Drive performance will suffer and protective functions will not operate properly if the correct drive capacity is not set to o2-04.
No. Name Setting Range Default
Determined by
o2-04 Drive Model Selection - drive capacity
Note: Change o2-04 setting only when necessary.
n 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.
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5.10 o: Operator Related Settings
No. Name Setting Range Default
o2-05 Frequency Reference Setting Method Selection 0, 1 0
Setting 0: ENTER Key Required
The ENTER key must be pressed every time the frequency reference is changed using the digital operator 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.
n o2-06: Operation Selection when Digital Operator is Disconnected
Determines whether 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 Digital Operator Disconnection Operation 0, 1 1
Setting 0: Continue Operation
The operation continues.
Setting 1: Trigger a Fault
The operation stops and triggers an oPr fault. The motor coasts to stop.
n 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, 1 0
Setting 0: Forward
Setting 1: Reverse
Parameter Details
u o3: Copy Function
These parameters control the Copy function of the digital operator. The Copy function stores parameter settings into the
memory of the digital operator to facilitate the transfer of those settings to other drives that are the same model, capacity, and
same control mode setting. Refer to Copy Function Related Displays on page 369 for a description of errors and displays.
n o3-01: Copy Function Selection 5
Instructs the drive to Read, Write, or Verify parameter 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
Copies all parameters from the drive to the digital operator.
Note: Set o3-02 to 1 to unlock copy protection.
Setting 2: OP --> INV WRITE
Copies all parameters from the digital operator to the drive.
Setting 3: OP<-->INV VERIFY
Compares the parameters in the drive with the parameter settings saved on the digital operator for matches.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 315
5.10 o: Operator Related Settings
n o3-02: Copy Allowed Selection
Allows and restricts the use of the Copy function.
No. Name Setting Range Default
o3-02 Copy Allowed Selection 0, 1 0
Setting 0: Disabled
Setting 1: Enabled
u o4: Maintenance Monitor Settings
n o4-01: Cumulative Operation Time Setting
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
n 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 monitor U4-01.
No. Name Setting Range Default
o4-02 Cumulative Operation Time Selection 0, 1 0
Setting 0: Power On Time
The drive logs the time it is connected to a power supply, regardless of whether the motor is running.
Setting 1: Run Time
The drive logs the time that the output is active including when the Run command is active (even if the motor is not rotating)
and when there is voltage output.
n 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. Reset this parameter to 0 after
replacing the cooling fan.
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
n o4-05: Capacitor Maintenance Setting
Sets value of the maintenance monitor for the DC bus capacitors displayed in U4-05 as a percentage of the total expected
performance life. Reset this value to 0 after replacing the DC bus capacitors.
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%
n 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. Reset this value to 0 after replacing the bypass relay.
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%
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5.10 o: Operator Related Settings
n o4-11: U2, U3 Initialization
Resets the fault trace and fault history monitors (U2-oo and U3-oo).
Note: Initializing the drive using A1-03 does not reset these monitors.
No. Name Setting Range Default
o4-11 U2, U3 Initialization 0, 1 0
Setting 0: No Action
The drive keeps the previously saved record concerning fault trace and fault history.
Setting 1: Reset Fault Data
Resets the data for the U2-oo and U3-oo monitors. Setting o4-11 to 1 and pressing the ENTER key erases fault data and
returns the display to 0.
n 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).
No. Name Setting Range Default
o4-12 kWh Monitor Initialization 0, 1 0
Setting 0: No Action
Setting 1: Reset kWh Data
n o4-13: Number of Run Commands Counter Initialization
Resets the Run command counter displayed in U4-02. Initializing the drive or cycling the power does not reset this monitor.
No. Name Setting Range Default
o4-13 Number of Run Commands Counter Initialization 0, 1 0
Setting 0: No Action
The Run command data are kept.
Setting 1: Number of Run Commands Counter
Resets the Run command counter. The monitor U4-02 will show 0. Setting o4-13 to 1 and pressing the ENTER key erases the
counter value and returns the display to 0.
Parameter Details
n o4-19: Power Unit Price
Sets the price per 1 kWh 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
5
u q: DriveWorksEZ Parameters
These parameters are reserved for use with DriveWorksEZ. Refer to the DriveWorksEZ manual for more information.
n q1-01 to q6-07: Reserved for Use by DriveWorksEZ
These parameters are reserved for use with DriveWorksEZ. Refer to the DriveWorksEZ manual for more information.
u r: DriveWorksEZ Connection Parameters
These parameters are reserved for use with DriveWorksEZ. Refer to the DriveWorksEZ manual for more information.
n r1-01 to r1-40: DriveWorksEZ Connection Parameters
These parameters are reserved for use with DriveWorksEZ. Refer to the DriveWorksEZ manual for more information.
u T: Motor Tuning
Auto-Tuning automatically sets and tunes parameters required for optimal motor performance.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 317
5.10 o: Operator Related Settings
Refer to Auto-Tuning on page 130 for details on Auto-Tuning parameters.
318 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive 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 (Uo-oo) to H4-01 and H4-04.
Refer to H4-01, H4-04: Multi-Function Analog Output Terminal FM, AM Monitor Selection on page 273 for details on
assigning functions to an analog output.
u 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 519 for a complete list of U1-oo monitors and descriptions.
u U2: Fault Trace
Use these monitor parameters to view the status of various drive aspects when a fault occurs.
This information is helpful for determining the cause of a fault. Refer to U2: Fault Trace on page 521 for a complete list of
U2-oo monitors and descriptions.
U2-oo monitors are not reset when the drive is initialized. Refer to o4-11: U2, U3 Initialization on page 317 for instructions
on how to reset these monitor values.
Note: Fault histories are not kept when CPF00, CPF01, CPF06, CPF24, Fdv, oFA00, oFb00, oFC00, Uv1, or Uv2 occur.
u 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 523 for a complete list of U3-oo monitors and descriptions.
U3-oo monitors are not reset when the drive is initialized. Refer to o4-11: U2, U3 Initialization on page 317 for instructions
on how to reset these monitor values.
Note: Fault histories are not kept when CPF00, CPF01, CPF06, CPF24, Fdv, oFA00, oFb00, oFC00, Uv1, or Uv2 occur.
u 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 523 for a complete list of U4-oo monitors and descriptions.
5
u U5: PID Monitors
These monitors display various aspects of PID control. Refer to PID Block Diagram on page 179 for details on how these
monitors display PID data.
Refer to U5: PID Monitors on page 525 for a complete list of U5-oo monitors and descriptions.
u U6: Operation Status 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 5.36 and Figure 5.37 on page 197 for details and an illustration showing where monitors are located in the
ASR block.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 319
5.11 U: Monitor Parameters
• 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 254.
• The bias value added to the frequency reference by the Up/Down 2 function (see Setting 75, 76: Up 2/Down 2 Function)
Refer to U6: Operation Status Monitors on page 526 for a complete list of U6-oo monitors and descriptions.
u U8: DriveWorksEZ Monitors
These monitors are reserved for use with DriveWorksEZ.
A complete description of the U8-oo monitors can be found in the DriveWorksEZ instruction manual.
u U9: Power Monitors
The total consumed power and regenerated power are displayed for these parameters. Refer to U9: Power Monitors on page
528 for a complete list of U9-oo monitors and descriptions.
320 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive 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...............................................................................................322
6.2 MOTOR PERFORMANCE FINE-TUNING...........................................................324
6.3 DRIVE ALARMS, FAULTS, AND ERRORS........................................................330
6.4 FAULT DETECTION.............................................................................................335
6.5 ALARM DETECTION...........................................................................................351
6.6 OPERATOR PROGRAMMING ERRORS............................................................360
6.7 AUTO-TUNING FAULT DETECTION..................................................................364
6.8 COPY FUNCTION RELATED DISPLAYS...........................................................369
6.9 DIAGNOSING AND RESETTING FAULTS.........................................................371
6.10 TROUBLESHOOTING WITHOUT FAULT DISPLAY..........................................374
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 321
6.1 Section Safety
6.1 Section Safety
DANGER
Electrical Shock Hazard
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. The charge indicator
LED will extinguish when the control power supply voltage is below 50 Vdc. To prevent electric shock, wait for at least the
time specified on the warning label, once all indicators are OFF, measure for unsafe voltages to confirm the drive is safe
prior to servicing.
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 servicing, disconnect all power to the equipment. The capacitor for the control power supply remains charged even
after the power supply is turned off. The charge indicator LED will extinguish when the control power supply 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.
After blowing a fuse or tripping a GFCI, do not attempt to restart the drive or operate peripheral devices until five
minutes pass and CHARGE lamp is OFF.
Failure to comply could result in death, serious injury, and damage to the drive.
Check wiring and peripheral device ratings to identify the cause of trips.
Contact your supplier if the cause cannot be identified.
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 service must be performed only by authorized personnel familiar installation,
adjustment, and maintenance of 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.
322 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
6.1 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 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.
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 service must be performed only by authorized personnel familiar 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
6
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 323
6.2 Motor Performance Fine-Tuning
6.2 Motor Performance Fine-Tuning
This section offers helpful information for counteracting oscillation, hunting, and 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 commonly edited parameters that may be set incorrectly. Consult Yaskawa for more information on detailed settings
and for fine-tuning the drive.
u 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
• Reduce the setting if insufficient motor torque relative to the
size of the load causes hunting.
Motor hunting and • Increase the setting when motor hunting and oscillation occur
Hunting Prevention
oscillation at speeds with a light load. 1.00 0.10 to 2.00
Gain Setting (n1-02)
between 10 and 40 Hz • Reduce the 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.
• Increase the carrier frequency If the motor noise is too loud.
• Motor noise • Lower the carrier frequency when motor hunting and
• Motor hunting and Carrier Frequency oscillation occur at speeds up to 40 Hz. 1 (4 kHz) 1 to max. setting
oscillation at speeds Selection (C6-02) • The default setting for the carrier frequency depends on the
up to 40 Hz drive model selection (o2-04) and the drive duty mode
selection (C6-01).
• Poor torque or speed
Torque Compensation • Reduce the setting if motor torque and speed response are too
response slow.
Primary Delay Time 200 ms 100 to 1000 ms
• Motor hunting and (C4-02) • Increase the setting if motor hunting and oscillation occur.
oscillation
• Poor motor torque at • Increase the setting if motor torque is insufficient at speeds
speeds below 10 Hz Torque Compensation below 10 Hz.
1.00 0.50 to 1.50
• Motor hunting and Gain (C4-01) • Reduce the setting if motor hunting and oscillation with a
oscillation relatively light load.
Middle Output
• Poor motor torque at Frequency Voltage Depends on
• Increase the setting if motor torque is insufficient at speeds
low speeds (E1-08) o2-04, Drive Default setting
below 10 Hz.
• Motor instability at Minimum Output Model ±5 V
Frequency Voltage • Reduce the setting If motor instability occurs at motor start. Selection
motor start
(E1-10)
0.0
Slip Compensation Gain Set the motor-rated current (E2-01), motor-rated slip (E2-02),
Poor speed precision (no slip
and motor no-load current (E2-03), then adjust the slip 0.5 to 1.5
(V/f control) (C3-01) compen-
compensation gain (C3-01). sation)
ASR Proportional Gain
1 (C5-01) Proportional gain
Poor speed precision ASR Integral Time 1 Adjust the ASR proportional gain 1 (C5-01) and the ASR integral C5-01: 0.20 = 0.10 to 1.00
(V/f control with PG) (C5-02) time 1 (C5-02). C5-02: 0.200 s Integral time =
<1> <2> 0.100 to 2.000 s
<1> ASR in V/f Control with PG only controls the output frequency, and does not allow the same high gain settings as CLV control.
<2> Refer to C5: Automatic Speed Regulator (ASR) on page 197 for details on ASR.
324 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
6.2 Motor Performance Fine-Tuning
u Fine-Tuning Open Loop Vector Control
Table 6.2 Parameters for Fine-Tuning Performance in OLV
Suggested
Problem Parameter No. Corrective Action Default Setting
• Poor motor torque
and speed response Speed Feedback • Gradually reduce the setting in 0.05 increments if motor torque
Detection Control (AFR) and speed response are too slow.
• Motor hunting and 1.00 0.50 to 2.00
Gain • Gradually increase the setting in 0.05 increments if motor hunting
oscillation at speeds (n2-01) and oscillation occur.
between 10 and 40 Hz
• Gradually reduce the setting in 10 ms increments and check the
• Poor motor torque performance to improve motor torque speed response.
and speed response Speed Feedback • Gradually increase the setting by 50 ms increments and check the
Detection Control (AFR)
• Motor hunting and performance if motor hunting and oscillation occur as a result of 50 ms 50 to 2000 ms
Time Constant 1
oscillation at speeds load inertia.
(n2-02)
between 10 and 40 Hz Note: When changing n2-02, set C4-02 (Torque
Compensation Primary Delay Time) accordingly.
• Gradually reduce the setting in 2 ms increments and check the
performance to improve motor torque speed response.
• Poor motor torque • Gradually increase the setting in 10 ms increments if motor
and speed response Torque Compensation hunting and oscillation occur.
Primary Delay Time 20 ms 20 to 100 ms
• Motor hunting and (C4-02) Note: Ensure that C4-02 ≤ C4-06. When making
oscillation adjustments to C4-02, increase the Speed Feedback
Detection Control (AFR) Time Constant 1 (n2-02)
proportionally.
• Gradually reduce the setting in 10 ms increments if response is
Slip Compensation slow.
Poor speed response Primary Delay Time 200 ms 100 to 500 ms
and stability • Gradually increase the setting in 10 ms increments if speed is
(C3-02)
unstable.
• Gradually increase the setting in 0.1 ms increments if speed is too
Slip Compensation Gain slow.
Poor speed precision 1.0 0.5 to 1.5
(C3-01) • Gradually reduce the setting in 0.1 ms increments if speed is too
fast.
Poor speed precision Slip Compensation Enable slip compensation during regeneration by setting parameter
during regenerative Selection during 0 1
C3-04 = 1.
operation Regeneration (C3-04)
• Increase the carrier frequency if there is too much motor noise.
• Motor noise • Reduce the carrier frequency if motor hunting and oscillation
• Motor hunting and Carrier Frequency occur at low speeds. 1 (4 kHz) 1 to max. setting
oscillation occur at Selection (C6-02) Note: The default setting for the carrier frequency depends
speeds below 10 Hz on the drive model selection (o2-04) and drive duty
Troubleshooting
mode selection (C6-01).
Middle Output • Increase the setting if motor torque and speed response are too
• Poor motor torque at Depends on
Frequency Voltage slow.
low speeds o2-04,
(E1-08) • Reduce the setting if the motor exhibits excessive instability at Default setting
• Poor speed response Drive
Minimum Output start-up. ±2 V
• Motor instability at Model
Frequency Voltage Note: When working with a relatively light load, increasing Selection
start (E1-10) this value too much can cause overtorque.
6
When using OLV, leave the torque compensation gain (C4-01) at its default setting of 1.00.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 325
6.2 Motor Performance Fine-Tuning
u 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
• Poor torque or speed ASR Proportional Gain 1 • Gradually increase the ASR gain setting in increments of 5 if
(C5-01) motor torque and speed response are too slow.
response
ASR Proportional Gain 2 • Reduce the setting if motor hunting and oscillation occur. 20.00 10.00 to 50.00
• Motor hunting and (C5-03)
oscillation • Only adjust parameter C5-03 when C5-05 > 0.
<1>
• Perform ASR Auto-Tuning if possible.
• Poor torque or speed ASR Integral Time 1 • Reduce the setting if motor torque and speed response are too
response (C5-02) slow.
ASR Integral Time 2 0.500 s 0.300 to 1.000 s
• Motor hunting and (C5-04) • Increase the setting if motor hunting and oscillation occur.
oscillation <1> • Only adjust parameter C5-04 when C5-05 > 0.
Difficulty maintaining the
ASR proportional gain or ASR Gain Switching Switch the drive between two different ASR proportional gain and 0.0 to max output
the integral time at the low <1> integral time settings based on the output frequency. 0.0 Hz frequency
or high end of the speed Frequency (C5-07)
range
• Gradually reduce the setting in 0.01 s increments if motor torque
ASR Primary Delay and speed response are too slow.
Motor hunting and Time Constant (C5-06) 0.004 s 0.004 to 0.020 s
oscillation <1> • Increase the setting if the load is less rigid and subject to
oscillation.
• Motor noise • Increase the carrier frequency if there is too much motor noise.
• Control motor hunting Carrier Frequency 1 (4 kHz) 1 to max. setting
• Reduce the carrier frequency if motor hunting and oscillation
and oscillation occur at Selection (C6-02) occur at low speeds.
speeds below 3 Hz
Overshoot or undershoot Feed Forward Control Set parameter n5-01 to 1 to Enable Feed Forward then perform
Selection (n5-01)
when the speed changes Inertia Tuning Inertia Tuning. Manually set parameters C5-17, C5-18, and n5-03 0 1
with high inertia load if Inertia Tuning is not possible.
(T1-01 = 8)
<1> Refer to C5: Automatic Speed Regulator (ASR) on page 197 for details on ASR.
326 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
6.2 Motor Performance Fine-Tuning
u 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-oo parameters.
Undesirable motor Motor parameters • Check E5-oo parameters and set motor data correctly. Do
performance - -
(E1-oo, E5-oo) not enter line-to-line data where single-phase data is required,
and vice versa.
• Perform Auto-Tuning.
Adjust parameter n8-55 to meet the load inertia ratio of the Close to the actual
Load Inertia (n8-55) 0
machine. load inertia ratio
Speed Feedback Increase in
Poor motor torque and Detection Control Gain Increase the speed feedback detection control gain (n8-45). 0.8 increments of 0.05
speed response (for PM Motors) (n8-45)
Enable torque compensation.
Torque Compensation
Note: Setting this value too high can cause 0 1
Gain (C4-01)
overcompensation and motor oscillation.
Acceleration/
Deceleration Pull-In Increase in steps
Current (for PM Motors) Increase the pull-in current in n8-51 50% of 5%
(n8-51)
DC Injection Braking
Oscillation at start or the Current (b2-02), DC b2-03 = 0.5 s
Use DC Injection Braking at start to align the rotor. This may b2-02 = 50%
b2-03 = 0.0 s Increase
motor stalls b2-02 if
Injection Time at Start cause a short reverse rotation at start. needed
(b2-03)
Increase the load inertia ratio.
Close to the actual
Load Inertia (n8-55) Note: Setting this value too high can cause 0 load inertia ratio
overcompensation and motor oscillation.
Pull-In Current Reduce in
Compensation Time Reduce n8-47 if hunting occurs during constant speed. 5.0 s increments
Constant (for PM
Stalling or oscillation of 0.2 s
Motors) (n8-47)
occur when load is
applied during constant Pull-In Current (for PM Increase the pull-in current in n8-48. Increase in
30%
speed Motors) (n8-48) increments of 5%
Close to the actual
Load Inertia (n8-55) Increase the load inertia ratio. 0 load inertia ratio
Speed Feedback
Hunting or oscillation Increase in
Detection Control Gain Reduce the speed feedback detection gain in n8-45. 0.8
occur increments 0.05
Troubleshooting
(for PM Motors) (n8-47)
STo fault trips when the Motor Induction Voltage • Check and adjust the induced voltage constant. Depends on Refer to the motor
Constant 1/2 (Ke) (for drive
load is not excessively PM Motors) (E5-09 or • Check the motor nameplate and the data sheet or contact the capacity and data sheet or the
high motor manufacturer. nameplate.
E5-24) motor code
Stalling or STo occurs at 200 Vac
high speed as the output Output Voltage Limit (200 V class) Set equal to input
voltage becomes (for PM Motors) (n8-62) Set the value of the input voltage to parameter n8-62. 400 Vac voltage 6
saturated (400 V class)
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 327
6.2 Motor Performance Fine-Tuning
u 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
• Poor torque or speed ASR Proportional Gain 1 • Gradually increase the setting in increments of 5 if motor torque
response (C5-01) and speed response are too slow. 5.00 to 30.00
10.00
• Motor hunting and ASR Proportional Gain 2 • Reduce the setting if motor hunting and oscillation occur. <1>
oscillation (C5-03) • Only adjust parameter C5-03 when C5-05 > 0.
• Poor torque or speed ASR Integral Time 1 • Reduce the setting if motor torque and speed response are too
response (C5-02) slow. 0.300 to
0.500 s
• Motor hunting and ASR Integral Time 2 • Increase the setting if motor hunting and oscillation occur. 1.000 s <1>
oscillation (C5-04) • Only adjust parameter C5-04 when C5-05 > 0.
Difficulty maintaining the
ASR proportional gain or
the integral time at the low ASR Gain Switching Switch the drive between two different ASR proportional gain and 0.0% 0.0 to
or high end of the speed Frequency (C5-07) integral time settings based on the output frequency. Max r/min
range
Motor hunting and ASR Primary Delay 0.016 to
Increase the setting if the load is less rigid and subject to oscillation. 0.010 s
oscillation Time Constant (C5-06) 0.035 s <1>
Motor stalling makes Motor parameters
normal operation Check the motor parameter settings. - -
impossible (E1-oo, E5-oo)
<1> Optimal settings will differ between no-load and loaded operation.
u 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
• Poor torque or speed ASR Proportional Gain 1 • Gradually increase the setting in increments of 5 if motor torque
response (C5-01) and speed response are too slow. 10.00 to
20.00
• Motor hunting and ASR Proportional Gain 2 • Reduce the setting if motor hunting and oscillation occur. 50.00 <1>
oscillation (C5-03) • Perform ASR Gain Auto-Tuning if possible
• Poor torque or speed ASR Integral Time 1
response (C5-02) • Reduce the setting if torque and speed response are too slow. 0.300 to
0.500 s
• Motor hunting and ASR Integral Time 2 • Increase the setting if motor hunting and oscillation occur. 1.000 s <1>
oscillation (C5-04)
Difficulty maintaining the
ASR proportional gain or ASR Gain Switching Switch the drive between two different ASR proportional gain and 0.0 to
the integral time at the 0.0%
Frequency (C5-07) integral time settings based on the output frequency. Max r/min
low or high end of the
speed range
Motor hunting and ASR Primary Delay 0.004 to
Increase the setting if the load is less rigid and subject to oscillation. 0.016 s
oscillation Time Constant (C5-06) 0.020 s <1>
Motor stall makes normal Motor parameters (E1- Check the motor parameter settings. - -
operation impossible oo, E5-oo)
Overshoot or undershoot Feed Forward Control Set parameter n5-01 to 1 to Enable Feed Forward then perform
Selection (n5-01)
at speed changes with Inertia Tuning. Manually set parameters C5-17, C5-18, and n5-03 0 1
Inertia Auto-Tuning
high inertia load if Inertia Tuning is not possible.
(T2-01 = 8)
<1> Optimal settings will differ between no-load and loaded operation.
328 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
6.2 Motor Performance Fine-Tuning
u Parameters to Minimize Motor Hunting and Oscillation
In addition to the parameters discussed on pages 324 through 328, parameters in Table 6.7 indirectly affect motor hunting and
oscillation.
Table 6.7 Parameters that Affect Control Performance in Applications
Name Application
(Parameter No.)
Dwell Function Prevents motor speed loss by maintaining the output frequency when working with heavy loads or when there
(b6-01 through b6-04) is powerful backlash on the machine side.
Droop Function Balances the load between two motors driving the same load when A1-02 is set to 3 or 7.
(b7-01, b7-02)
Accel/Decel Time Adjusting accel and decel times will affect the torque presented to the motor during acceleration or
(C1-01 through C1-11) deceleration.
S-Curve Characteristics Prevents shock at the beginning and end of acceleration and deceleration.
(C2-01 through C2-04)
Jump Frequency Skips over the resonant frequencies of connected machinery.
(d3-01 through d3-04)
Analog Input Filter Time Constant Prevents fluctuation in the analog input signal due to noise.
(H3-13)
Stall Prevention • Prevents motor speed loss when the load is too heavy or during sudden acceleration/deceleration.
(L3-01 through L3-06) • Adjustment is not normally necessary because Stall Prevention is enabled as a default.
• Sets the maximum torque for OLV 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.
Increases response for acceleration/deceleration and reduces overshooting when there is low machine rigidity
Feed Forward Control and ASR gain cannot be increased. Set the inertia ratio between the load and motor and the acceleration time
(n5-01 through n5-03) of the motor running alone.
Troubleshooting
6
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 329
6.3 Drive Alarms, Faults, and Errors
6.3 Drive Alarms, Faults, and Errors
u 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 109.
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.
Table 6.8 Types of Alarms, Faults, and Errors
Type Drive Response
When the drive detects a fault:
• The digital operator displays text indicating 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 the stopping method when the fault occurs.
• Fault output terminals MA-MC will close, and MB-MC will open.
The drive will remain inoperable until the fault is cleared. Refer to Fault Reset Methods on page 373.
When the drive detects an alarm or a minor fault:
• The digital operator displays text indicating the specific alarm or minor fault, and the ALM indicator LED flashes.
• The drive continues running the motor, although some alarms allow the user to select a stopping method when the alarm
Minor Faults and occurs.
Alarms • A multi-function contact output set to be tripped by a minor fault (H2- oo = 10) closes. If the output is set to be tripped
by an alarm, the contact will not close.
• The digital operator displays text indicating a specific alarm and the ALM indicator LED flashes.
Remove the cause of the problem to reset a minor fault or alarm.
An operation error occurs when parameter settings conflict or do not match hardware settings (such as with an option card).
When the drive detects an operation error:
• The digital operator displays text indicating the specific error.
Operation Errors
• 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.
Copy Function Errors occur when using the 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 digital operator will clear the fault. Investigate the cause of the problem (such as model incompatibility)
and try again.
330 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
6.3 Drive Alarms, Faults, and Errors
u Alarm and Error Displays
n Faults
Table 6.9 gives an overview of possible fault codes. Conditions such as overvoltages can trip faults and alarms. It is important
to distinguish between faults and alarms to determine the proper corrective actions.
When the drive detects a fault, the ALM indicator LED lights, the fault code appears on the digital operator, and the fault
contact MA-MB-MC triggers. An alarm is present if the ALM LED blinks and the fault code on the digital operator flashes.
Refer to Minor Faults and Alarms on page 333 for a list of alarm codes.
Table 6.9 Fault Displays
Digital Operator Digital Operator
Name Page Name Page
Display Display
Aov Power Supply Overvoltage 335 GF Ground Fault 340
AUv Power Supply Undervoltage 335 LF Output Phase Loss 341
bUS Option Communication Error 335 LF2 Current Imbalance 341
MEMOBUS/Modbus Communication LSo LSo Fault 341
CE 336 <4>
Error
CF Control Fault 336 nSE Node Setup Error 341
CoF Current Offset Fault 336 oC Overcurrent 342
to Option Card Connection Error at Option
CPF00 to <3> oFA00 343
, Port CN5-A
, CPF03,
CPF07, Option Card Fault at Option Port CN5-
, oFA01 343
CPF08, A
to
, CPF11 to to oFA02 to Option Card Error Occurred at Option
CPF14, 343
to oFA06 Port CN5-A
CPF16 to Control Circuit Error 336
, CPF24, , oFA10, Option Card Error (CN5-A)
to 343
CPF26 to oFA11
, CPF35,
to CPF40 to to oFA12 to Option Card Connection Error 343
CPF45 oFA17 (CN5-A)
<1> <2> <3>
to oFA30 to Comm Option Card Connection Error 343
CPF06 Control Circuit Error 336 oFA43 (CN5-A)
CPF25 Terminal Board Not Connected 337 Option Card Fault at Option Port CN5-
<3> oFb00 343
B
Speed Deviation (for Control Mode
dEv 337 Option Card Fault at Option Port CN5-
with PG) oFb01 343
B
doH Damping Resistor Overheat 337
Option Card Fault at Option Port CN5-
oFb02 343
Troubleshooting
dv1 Z Pulse Fault 337 B
dv2 Z Pulse Noise Fault Detection 337 , oFb03, Option card error occurred at Option 344
dv3 Inversion Detection 337 oFb11 Port CN5-B
dv4 Inversion Prevention Detection 338 to oFb12 to Option card error occurred at Option 344
oFb17 Port CN5-B
dv7 Initial Polarity Estimation Timeout 338
Option Card Connection Error at Option
dWAL
DriveWorksEZ Fault 338
<3> oFC00 Port CN5-C 344 6
dWFL Option Card Fault at Option Port CN5-
oFC01 344
EEPROM Memory DriveWorksEZ C
dWF1 338
Data Error Option Card Fault at Option Port CN5-
oFC02 344
MECHATROLINK Watchdog Timer C
E5 338
Error , oFC03, Option Card Error Occurred at Option 344
EF0 Option Card External Fault 339 oFC11 Port CN5-C
EF1 to External Fault to oFC12 to Option Card Error Occurred at Option
to 339 344
EF8 (input terminal S1 to S8) oFC17 Port CN5-C
Err EEPROM Write Error 339 to oFC50 to Option Card Error Occurred at Option 344
oFC55 Port CN5-C
FAn Fan Fault 339
oH Heatsink Overheat 344
FbH Excessive PID Feedback 340
oH1 Overheat 1 (Heatsink Overheat) 345
FbL PID Feedback Loss 340
oH3 Motor Overheat Alarm (PTC input) 345
Fdv Power Supply Frequency Fault 340
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 331
6.3 Drive Alarms, Faults, and Errors
Digital Operator Digital Operator
Name Page Name Page
Display Display
oH4 Motor Overheat Fault (PTC input) 345 SoH Snubber Discharge Resistor Overheat 348
oL1 Motor Overload 345 SrC Phase Order Detection Fault 349
oL2 Drive Overload 346 Srr Internal Resistance Fault 349
oL3 Overtorque Detection 1 346 STo Pull-Out Detection 349
oL4 Overtorque Detection 2 347 SvE Zero Servo Fault 349
oL5 Mechanical Weakening Detection 1 347 UL3 Undertorque Detection 1 349
External Digital Operator Connection
oPr 347 UL4 Undertorque Detection 2 350
Fault
oS Overspeed 347 UL5 Mechanical Weakening Detection 2 350
ov Control Circuit Overvoltage 347 <3> Uv1 Control Circuit Undervoltage Fault 350
PG Disconnect
PGo 348
(for Control Mode with PG) Uv2 Control Power Supply Voltage Fault 350
<3>
PG Hardware Fault
PGoH 348
(when using PG-X3) Undervoltage 3 (Soft-Charge Bypass
<3> Uv3 350
Circuit Fault)
SCF Safety Circuit Fault 348
SEr Too Many Speed Search Restarts 348
<1> Displayed as CPF00 when occurring at drive power up. When one of the faults occurs after successfully starting the drive, the display will show
CPF01.
<2> Displayed as CPF20 when occurring at drive power up. When one of the faults occurs after successfully starting the drive, the display will show
CPF21.
<3> Fault histories are not kept when CPF00, CPF01, CPF06, CPF24, Fdv, oFA00, oFb00, oFC00, Uv1, Uv2, or Uv3 occur.
<4> This function prevents continuous operation in reverse when using high frequency injection (n8-57 = 1) in AOLV/PM (A1-02 = 6) with a motor
for which no motor code has been entered (it does not only 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.
332 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
6.3 Drive Alarms, Faults, and Errors
n Minor Faults and Alarms
Refer to Table 6.10 for an overview of possible alarm codes. Conditions such as overvoltages can trip faults and alarms. It is
important to distinguish between faults and alarms to determine the proper corrective actions.
When the drive detects an alarm, the ALM indicator LED blinks and the alarm code display flashes. Most alarms trigger a
digital output programmed for alarm output (H2-oo = 10). A fault (not an alarm) is present if the ALM LED lights without
blinking. Refer to Faults on page 331 for information on fault codes.
Table 6.10 Minor Fault and Alarm Displays
Minor Fault Minor Fault
Digital Operator Output Digital Operator Output
Name Page Name Page
Display (H2-oo = Display (H2-oo =
10) 10)
Station Address Setting Error HCA Current Alarm YES 355
AEr (CC-Link, CANopen, YES 351
Cooling Fan Maintenance Time No <1>
MECHATROLINK) output
LT-1 355
AUv Power Supply Undervoltage YES 335
No output
No output LT-2 Capacitor Maintenance Time <1> 355
bb Baseblock <2> 351
Soft Charge Bypass Relay No output
Option Card Communications LT-3 355
bUS YES 351 Maintenance Time <1>
Error
oH Heatsink Overheat YES 356
CALL Serial Communication YES 352
Transmission Error oH2 Heatsink Overheat Warning YES 356
MEMOBUS/Modbus oH3 Motor Overheat YES 356
CE YES 352
Communication Error
oL3 Overtorque 1 YES 356
CrST Cannot Reset YES 352
oL4 Overtorque 2 YES 357
MECHATROLINK Comm.
CyC YES 352 Mechanical Weakening
Cycle Setting Error oL5 YES 357
Detection 1
Excessive Speed Deviation
dEv YES 353 oS Overspeed YES 357
(for Control Mode with PG)
dnE Drive Disabled YES 353 ov Control Circuit Overvoltage YES 357
doH Damping Resistor Overheat YES 337 MEMOBUS/Modbus Test Mode No output
PASS Complete 357
dWAL DriveWorksEZ Fault YES 338
PGo PG Disconnect
MECHATROLINK Watchdog YES 357
E5 YES 338 (for Control Mode with PG)
Timer Error
PGoH PG Hardware Fault
Forward/Reverse Run Command YES 358
EF YES 353 (when using PG-X3)
Input Error
rUn Motor Switch during Run YES 358
EF0 Option Card External Fault YES 353
MEMOBUS/Modbus Test Mode
SE YES 358
Troubleshooting
to EF1 to External Fault Fault
EF8 (input terminal S1 to S8) YES 353
SrC Phase Order Detection Fault YES 349
FAn Fan Fault YES 339
UL3 Undertorque Detection 1 YES 358
FbH Excessive PID Feedback YES 354
UL4 Undertorque Detection 2 YES 358
FbL PID Feedback Loss YES 354
Mechanical Weakening
UL5 YES 350
Fdv Power Supply Frequency Fault YES 340 Detection 2 6
Hbb Safe Disable Signal Input YES 355 Uv Control Circuit Undervoltge YES 359
HbbF Safe Disable Signal Input YES 355
<1> Output when H2-oo = 2F.
<2> Baseblock alarm “bb” will not activate a digital output programmed for minor fault H2-0o= 10. Set H2-0o = 8 or 1B to activate a digital otuput
for “bb”.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 333
6.3 Drive Alarms, Faults, and Errors
n Operation Errors
Table 6.11 Operation Error Displays
Digital Operator Digital Operator
Name Page Name Page
Display Display
oPE01 Unit Capacity Setting Fault 360 oPE10 V/f Data Setting Error 362
oPE02 Parameter Range Setting Error 360 oPE11 Carrier Frequency Setting Error 362
oPE03 Multi-Function Input Selection Error 360 oPE13 Pulse Monitor Selection Error 362
oPE04 Initialization Required 361 oPE15 Torque Control Setting Error 363
oPE05 Initialization Required 361 oPE16 Energy Saving Constants Error 363
oPE06 Control Method Selection Error 361 oPE18 Online Tuning Parameter Setting Error 363
Multi-Function Analog Input Selection oPE20 PG-F3 Setting Error 363
oPE07 361
Error
oPE30 Incorrect Input Voltage Adjustment 363
oPE08 Parameter Selection Error 362
oPE09 PID Control Selection Fault 362
n Auto-Tuning Errors
Table 6.12 Auto-Tuning Error Displays
Digital Operator Digital Operator
Name Page Name Page
Display Display
End1 Excessive V/f Setting 364 Er-10 Motor Direction Error 366
Motor Iron-Core Saturation Er-11 Motor Speed Error 366
End2 364
Coefficient
Er-12 Current Detection Error 366
End3 Rated Current Setting Alarm 364
Er-13 Leakage Inductance Error 367
End4 Adjusted Slip Calculation Error 364
Er-14 Motor Speed Error 2 367
End5 Resistance Tuning Error 364
Er-15 Torque Saturation Error 367
End6 Leakage Inductance Alarm 364
Er-16 Inertia ID Error 367
End7 No-Load Current Alarm 365
Er-17 Reverse Prohibited Error 367
Er-01 Motor Data Error 365
Er-18 Induction Voltage Error 367
Er-02 Minor Fault 365
Er-19 PM Inductance Error 367
Er-03 STOP Button Input 365
Er-20 Stator Resistance Error 367
Er-04 Line-to-Line Resistance Error 365
Er-21 Z Pulse Correction Error 368
Er-05 No-Load Current Error 365
High Frequency Injection Parameter
Er-08 Rated Slip Error 366 Er-25 368
Tuning Error
Er-09 Acceleration Error 366
n Errors and Displays When Using the Copy Function
Table 6.13 Copy Errors
Digital Operator Digital Operator
Name Page Name Page
Display Display
CoPy Writing Parameter Settings (flashing) 369 rdEr Error Reading Data 370
CPEr Control Mode Mismatch 369 rEAd Reading Parameter Settings (Flashing) 370
CPyE Error Writing Data 369 vAEr Voltage Class, Capacity Mismatch 370
CSEr Copy Unit Error 369 Parameter settings in the drive and
vFyE those saved to the copy function are not 370
dFPS Drive Model Mismatch 369 the same
End Task Complete 369 Comparing Parameter Settings
vrFy 370
iFEr Communication Error 369 (Flashing)
Model, Voltage Class, Capacity
ndAT 370
Mismatch
334 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
6.4 Fault Detection
6.4 Fault Detection
u Fault Displays, Causes, and Possible Solutions
Faults are detected for drive protection, and 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 6.14 Detailed Fault Displays, Causes, and Possible Solutions
Digital Operator Display Fault Name
Power Supply Overvoltage
The input power supply voltage became equal to or higher than the Input Power Supply Overvoltage
Aov 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.
• Regenerative operation was performed • Reduce the voltage to within the range in the power supply specifications.
when the power supply capacity was too • Increase the capacity of the power supply.
small.
• The power supply circuit opened during
regeneration.
Digital Operator Display Fault Name
Power Supply Undervoltage
The input power supply voltage became equal to or lower than the Input Power Supply Undervoltage
AUv 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.
A phase loss occurred in the input power Check the input power supply for phase loss or an imbalance in the interphase voltages. Investigate and
supply. correct the cause and then reset the fault.
An internal transistor was destroyed. The input wiring is grounded or short circuited.
The output transistor has failed because the drive output has grounded or short circuited.
The built-in fuse is open. Replace the board or the drive. For instructions on replacing the control board, contact Yaskawa or your
nearest sales representative.
Troubleshooting
Digital Operator Display Fault Name
Option Communication Error
bUS • The connection was lost after establishing initial communication.
• Only detected when the run command frequency reference is assigned to an option card.
Cause Possible Solution
No signal was received from the PLC • Check for faulty wiring. 6
Faulty communications wiring or an existing • Correct the wiring.
short circuit • Check for disconnected cables and short circuits and repair as needed.
• Check the various options available to minimize the effects of noise.
• Counteract noise in the control circuit, main circuit, and ground wiring.
• Ensure that other equipment such as switches or relays do not cause noise. Use surge absorbers if
Communication data error occurred due to necessary.
noise • Use only recommended cables or other shielded line. Ground the shield on the controller side or 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 option card is not properly connected to • The connector pins on the option card do not line up properly with the connector pins on the drive.
the drive • Reinstall the option card.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 335
6.4 Fault Detection
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 an existing • Correct the wiring.
short circuit
• Check for disconnected cables and short circuits and repair as needed.
• Check the various options available to minimize the effects of noise.
• Counteract noise in the control circuit, main circuit, and ground wiring.
• Use only recommended cables or other shielded line. Ground the shield on the controller side or the
Communication data error occurred due to drive input power side.
noise • Ensure that other equipment such as switches or relays do not cause noise. 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 three seconds after the Stop command was input and
deceleration was not possible in OLV Control.
Cause Possible Solution
Motor parameters are set improperly 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.
Digital Operator Display Fault Name
Current Offset Fault
CoF Drive starts operation while the current-detection circuit failure, or the induced voltage remains in the
motor (coasting and after rapid deceleration).
Cause Possible Solution
• The set value exceeds the allowable setting range while the drive automatically adjusts the current
offset. This happens when attempting to restart a PM motor that is coasting to stop.
The drive performed a current offset • Set b3-01 to 1 to enable Speed Search at Start.
adjustment while the motor was rotating
• Perform Speed Search 1 or 2 (H1-oo = 61 or 62) via one of the external terminals.
Note: Speed Searches 1 and 2 are the same when using OLV/PM.
If the problem continues, replace the control board or the entire drive. Contact Yaskawa or a Yaskawa
Hardware problem representative for instructions on replacing the control board.
Digital Operator Display Fault Name
to , CPF00 to CPF03,
, , CPF07, CPF08,
to , CPF11 to CPF14, Control Circuit Error
to , CPF16 to CPF24,
to , CPF26 to CPF35,
to CPF40 to CPF45
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 Reinitialize the drive (A1-03 = 2220, 3330).
parameters were being saved to the drive.
336 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
6.4 Fault Detection
Digital Operator Display Fault Name
• 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
The load is too heavy. Reduce the load.
Acceleration and deceleration times are set too Increase the acceleration and deceleration times (C1-01 through C1-08).
short.
The load is locked up. Check the machine.
Parameters are not set appropriately. Check the settings of parameters F1-10 and F1-11.
The motor brake is 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
The torque limit is small for the load. value of the torque limit 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
• The capacity of the power supply is too
small. • Increase the capacity of the power supply.
• The distortion in the power supply is too • Lower the impedance of the input power supply wiring.
large.
A phase loss occurred in the input power Check the input power supply for phase loss or an imbalance in the interphase voltages.
supply.
Digital Operator Display Fault Name
Z Pulse Fault (CLV/PM control mode only)
Troubleshooting
dv1
The motor turned one full rotation without the Z Pulse being detected.
Cause Possible Solution
PG encoder is disconnected, improperly • Make sure the PG encoder is properly connected and all shielded lines are properly grounded.
wired, or the PG option card or PG encoder are
damaged • If the problem continues after cycling power, replace the PG option card or the PG encoder.
Digital Operator Display Fault Name 6
Z Pulse Noise Fault Detection (CLV/PM control mode only)
dv2
The Z Pulse is out of phase by more than 5 degrees for 10 consecutive revolutions.
Cause Possible Solution
Noise interference along the PG cable Separate the PG cable lines from the source of the noise.
PG cable is not wired properly Rewire the PG encoder and properly ground all shielded lines.
PG option card or the PG encoder are damaged If the problem continues after cycling power, replace the PG option card or the PG encoder.
Digital Operator Display Fault Name
Inversion Detection (CLV/PM control mode only)
dv3 The torque reference and acceleration are in opposite directions and the speed reference and actual motor
speed differ by more than 30% for the number of times set to F1-18.
Cause Possible Solution
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 337
6.4 Fault Detection
Set the value for Δθ to E5-11 as specified on the motor nameplate. Replacing the PG encoder or changing
The Z Pulse offset is not set properly to E5-11 the application to rotate the motor in reverse requires readjustment of the Z-pulse offset. (T2-01 = 3)
An external force on the load side caused the • Make sure the motor is rotating in the proper direction.
motor to move • Identify and fix any problems on the load side causing the motor to rotate in the opposite direction.
Noise interference along the PG cable
affecting the A or B pulse
PG encoder is disconnected, improperly Properly rewire the PG encoder and connect all lines including shielded line.
wired, or the PG option card or PG encoder are
damaged
Rotational direction for the PG encoder set to Properly connect the motor lines for each phase (U, V, W).
F1-05 is the opposite of the motor line order
Digital Operator Display Fault Name
Inversion Prevention Detection (CLV/PM control mode only)
Pulses indicate that the motor is rotating in the opposite direction of the speed reference. Set the number
dv4 of pulses to trigger inverse detection to F1-19.
Note: Set F1-19 to 0 to disable inverse detection in applications where the motor may rotate in
the opposite direction of the speed reference.
Cause Possible Solution
• Set the value for Δθ to E5-11 as specified on the motor nameplate.
The Z Pulse offset is not set properly to E5-11 • If the problem continues after cycling power, replace the PG option card or the PG encoder. Replacing
the PG encoder or changing the application to rotate the motor in reverse requires readjustment of the
Z-pulse offset. (T2-01 = 3)
Electrical signal interference along the PG • Make sure the motor is rotating in the proper direction.
cable affecting the A or B pulse • Identify and fix any problems on the load side causing the motor to rotate in the opposite direction.
PG encoder is disconnected, improperly • Rewire the PG encoder and properly connect all lines including shielded line.
wired, or the PG option card or PG encoder are
damaged • If the problem continues after cycling power, replace the PG option card or the PG encoder.
Digital Operator Display Fault Name
dv7 Initial Polarity Estimation 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.
Refer to Main Circuit Wire Gauges and Tightening Torque on page 81 for details.
Loose output terminals • Ensure that monitor U6-57 displays a value greater than 819 during the initial test runs for the
application to prevent the drive from incorrectly determining motor polarity. If U6-57 shows a value
less than 819, increase the polarity judge current level set in parameter n8-84.
Digital Operator Display Fault Name
dWAL
DriveWorksEZ Fault
dWFL
Cause Possible Solution
Fault output by DriveWorksEZ Correct the cause of 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 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 the EEPROM control • If the problem continues, replace either the control board or the entire drive and then download the
circuit. 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 timed out.
Cause Possible Solution
338 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
6.4 Fault Detection
Execute DISCONNECT or ALM_CLR, then issue a CONNECT command or SYNC_SET command and
Data has not been received from the PLC proceed to phase 3. Refer to the SI-T3 Option Technical Manual for more details on troubleshooting.
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 • Remove the cause of the external fault.
and F6-03 is set to a value other than 3. • Remove the external fault input from the PLC.
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 tripped an alarm function Remove the cause of the external fault and reset the fault.
• Properly connect the signal lines to the terminals assigned for external fault detection
Wiring is incorrect (H1-oo = 20 to 2B).
• Reconnect the signal line.
Multi-function contact input setting is • Check for unused terminals set for H1-oo = 20 to 2B (External Fault).
incorrect • Change the terminal settings.
Troubleshooting
Digital Operator Display Fault Name
EEPROM Write Error
Err
Data cannot be written to the EEPROM
Cause Possible Solution
• Press “ENTER” on the digital operator.
6
• Correct the parameter setting.
Noise has corrupted data while writing to the
EEPROM • Cycle power to the drive.
• If the problem continues, replace the control board or the entire drive. Contact Yaskawa or a Yaskawa
representative for instructions on replacing the control board.
If the problem continues, replace the control board or the entire drive. Contact Yaskawa or a Yaskawa
Hardware problem representative for instructions on replacing the control board.
Digital Operator Display Fault Name
Fan fault
FAn
Fan failure
Cause Possible Solution
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 339
6.4 Fault Detection
Digital Operator Display Fault Name
Cycle power to the drive.
Verify the cumulative operation time of the fan and the fan maintenance timer using monitors U4-03, and
Cooling fan has malfunctioned. U4-04.
Replace damaged cooling fans and cooling fans that have exceeded expected performance life. Refer to
Drive Cooling Fans on page 391.
Fault detected in the internal cooling fan to the Cycle power to the drive.
If the fault still occurs, replace the control circuit board or the entire unit. For instructions on replacing
power supply. the power board, contact the Yaskawa sales office directly or your nearest Yaskawa representative.
Digital Operator Display Fault Name
Excessive PID Feedback
FbH PID feedback input is greater than the level set to b5-36 for longer than the time set to b5-37. Set b5-12
to 2 or 5 to enable fault detection.
Cause Possible Solution
Parameters are set inappropriately Check b5-36 and b5-37 settings.
Incorrect PID feedback wiring Correct the wiring.
• Check the sensor on the control side.
There is a problem with the feedback sensor
• Replace the sensor if damaged.
Digital Operator Display Fault Name
PID Feedback Loss
FbL 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 set inappropriately Check b5-13 and b5-14 settings.
Incorrect PID feedback wiring Correct the wiring.
• Check the sensor on the control side.
There is a problem with the feedback sensor
• Replace the sensor if damaged.
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 Check for loose terminals.
loose.
The fluctuation in the voltage of the input Increase the power supply frequency fault detection width (L2-27).
power supply is too large.
Replace either the control board or the entire drive. For instructions on replacing the control board, contact
The built-in fuse is open. Yaskawa or your 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.
• Setting L8-09 to 1 enables ground fault detection.
Cause Possible Solution
• Check the insulation resistance of the motor.
Motor insulation is damaged
• Replace the motor.
• Check the motor cable.
A damaged motor cable is creating a short • Remove the short circuit and reapply power to the drive
circuit • Check the resistance between the cable and the ground terminal .
• Replace the cable.
• Reduce the carrier frequency.
Excessive leakage current at the drive output
• Reduce the amount of stray capacitance.
340 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
6.4 Fault Detection
• The set value exceeds the allowable setting range while the drive automatically adjusts the current
The drive performed a current offset offset. This generally only happens when attempting to restart a PM motor that is coasting to stop.
adjustment while the motor was rotating • Set b3-01 to 1 to enable Speed Search at Start.
• Perform Speed Search 1 or 2 (H1-oo = 61 or 62) via one of the external terminals.
If the problem continues, replace the control board or the entire drive. Contact Yaskawa or a Yaskawa
Hardware problem representative for instructions on replacing the control board.
Digital Operator Display Fault Name
Output Phase Loss
LF • Phase loss on the output side of the drive.
• Setting L8-07 to 1 or 2 enables Phase Loss Detection.
Cause Possible Solution
• Check for wiring errors and properly connect the output cable.
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.
• Apply the tightening torque specified in this manual to fasten the terminals. Refer to Main Circuit
The output terminal is loose Wire Gauges and Tightening Torque on page 81 for details.
The rated current of the motor being used is Check the drive selection and motor capacities.
less than 5% of the drive rated current
If the problem continues, replace the control board or the entire drive. Contact Yaskawa or a Yaskawa
An output transistor is damaged representative for instructions on replacing the control board.
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 are lost.
Cause Possible Solution
Phase loss has occurred on the output side of • Check for faulty wiring or poor connections on the output side of the drive.
the drive • Correct the wiring.
Terminal wires are loose on the output side of Apply the tightening torque specified in this manual to fasten the terminals. Refer to Main Circuit Wire
the drive Gauges and Tightening Torque on page 81 for details.
If the problem continues, replace the control board or the entire drive. Contact Yaskawa or a Yaskawa
The output circuit is damaged representative for instructions on replacing the control board.
• Measure the line-to-line resistance for each motor phase. Ensure all values match.
Motor impedance or motor phases are uneven
• Replace the motor.
Digital Operator Display Fault Name
Troubleshooting
LSo Fault
LSo
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. 6
• 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 • Enable Speed Search Selection at start. (b3-01 = 1).
the motor 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 • Increase the value set to L8-94.
L8-95 are incorrect.
• Increase the value set to L8-95.
This function prevents continuous operation in reverse when using high frequency injection (n8-57 = 1) in AOLV/PM (A1-02 = 6) with a motor
for which no motor code has been entered (it does not only 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.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 341
6.4 Fault Detection
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 Stop the drive when using the node setup function.
setup function was active.
Digital Operator Display Fault Name
Overcurrent
oC
Drive sensors detected an output current greater than the specified overcurrent level.
Cause Possible Solution
The motor has been damaged due to • Check the insulation resistance.
overheating or the motor insulation is
damaged • Replace the motor.
• Check the motor cables.
One of the motor cables has shorted out or • Remove the short circuit and reapply power to the drive.
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 that is one frame larger if the current value exceeds the rated current.
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 that is one frame larger.
Calculate the torque needed during acceleration relative to the load inertia and the specified acceleration
time. If it is not possible to set the proper amount of torque, make the following changes:
The acceleration or deceleration times are too • Increase the acceleration time (C1-01, C1-03, C1-05, C1-07)
short
• Increase the S-curve characteristics (C2-01 through C2-04)
• Use a drive that is one frame larger.
The drive is attempting to operate a specialized • Check the motor capacity.
motor or a motor larger than the rated current • Ensure that the rated current of the drive is greater than or equal to the current rating found on the motor
allowed nameplate.
Magnetic contactor (MC) on the output side of Set up the operation sequence so the MC does not trip while the drive is outputting current.
the drive has turned on or off
• Check the ratios between the voltage and frequency.
V/f setting is not operating as expected • Set parameters 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 interference • Review the section on handling noise interference on page 379 and check the control circuit lines, main
circuit lines, and ground wiring.
• Check if the fault occurs simultaneously with overexcitation function operation.
Overexcitation gain is set too high
• Consider motor flux saturation and reduce the value of n3-13 (Overexcitation Deceleration Gain).
• Set b3-01 to 1 to enable Speed Search at Start.
Run command was applied while motor was
coasting • Program the Speed Search command input through one of the multi-function contact input terminals
(H1-oo = 61 or 62).
The wrong motor code has been entered for • Enter the correct motor code to E5-01.
OLV/PM (Yaskawa motors only) or the motor • Set E5-01 to FFFF if using a non-Yaskawa PM motor. Set the correct motor data to the E5-oo
data are wrong parameters or perform Auto-Tuning.
The overcurrent level has exceeded the value Correct the value set to overcurrent detection gain (L8-27).
set to L8-27 (PM control modes)
• Check the control mode.
The motor control method and motor do not •
match For IM motors, set A1-02 to 0, 1, 2, or 3.
• For PM motors, set A1-02 to 5, 6, or 7.
The rated output current of the drive is too Use a larger drive.
small
342 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
6.4 Fault Detection
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 to be installed. Contact Yaskawa for assistance.
incompatible with the drive
A PG option card is connected to option port PG option cards are supported by option ports CN5-B and CN5-C only. Connect the PG option card to
CN5-A the correct option port.
Digital Operator Display Fault Name
Option Card Fault at Option Port CN5-A
oFA01
Option not properly connected
Cause Possible Solution
• Turn off the power and reconnect the option card.
The option card connection to port CN5-A is • Check if the
option card is properly plugged into the option port. Make sure the card is fixed properly.
faulty • If the option is not a communication option card, try to use the card in a different option port. If the
option card works properly in a different option port, CN5-A is damaged, and the drive requires
replacement. If the error persists (oFb01 or oFC01 occur), replace the option card.
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 Communication 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 the control board or the entire drive. Contact Yaskawa or a Yaskawa
representative for instructions on replacing the control board.
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 Make sure the drive supports the option card to be installed. Contact Yaskawa for assistance.
incompatible with the drive
A communication option card has been Communication option cards are only supported by option port CN5-A. It is not possible to install more
installed in option port CN5-B than one communication option.
Troubleshooting
Digital Operator Display Fault Name
Option Card Fault at Option Port CN5-B
oFb01
Option not properly connected
Cause Possible Solution
• Turn off the power and reconnect the option card.
6
The option card connection to port CN5-B is • Check if the option card is properly plugged into the option port. Make sure the card is fixed properly.
faulty • Try to use the card in a different option port (in case of a PG option, use port CN5-C). If the option
card works properly in a different option port, CN5-B is damaged, and the drive requires replacement.
If the error persists (oFA01 or oFC01 occur), replace the option card.
Digital Operator Display Fault Name
Option Card Fault at Option Port CN5-B
oFb02
Same type of option card is currently connected
Cause Possible Solution
An option card of the same type is already Except for PG options, only one of each option card type can only be installed simultaneously. Make sure
installed in option port CN5-A only one type of option card is connected.
An input option card is already installed in Install a communication option, a digital input option, or an analog input option. More than one of the
option port CN5-A same type of card cannot be installed simultaneously.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 343
6.4 Fault Detection
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 the control board or the entire drive. Contact Yaskawa or a Yaskawa
representative for instructions on replacing the control board.
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 Confirm that the drive supports the option card to be installed. Contact Yaskawa for assistance.
incompatible with the drive
A communication option card has been Communication option cards are only supported by option port CN5-A. It is not possible to install more
installed in option port CN5-C than one communication option.
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.
The option card connection to port CN5-C is • Check if the option card is properly plugged into the option port. Make sure the card is fixed properly.
faulty. • Try to use the card in a different option port (in case of a PG option, use port CN5-B). If the option
card works properly in a different option port, CN5-C is damaged, and the drive requires replacement.
If the error persists (oFA01 or oFb01 occur), replace the option card.
Digital Operator Display Fault Name
Option Card Fault at Option Port CN5-C
oFC02
Same type of option card is currently connected
Cause Possible Solution
An option card of the same type is already Except for PG options, only one of each option card type can only be installed simultaneously. Make sure
installed in option port CN5-A or CN5-B. only one type of option card is connected.
An input option card is already installed in Install a communication option, a digital input option, or an analog input option. More than one of the
option port CN5-A or CN5-B. same type of card cannot be installed simultaneously.
A maximum of two PG option boards can be used simultaneously. Remove the PG option board installed
Three PG option boards are 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 the control board or the entire drive. Contact Yaskawa or a Yaskawa
representative for instructions on replacing the control board.
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 heatsink temperature exceeded the overheat pre-alarm level set to L8-02. The default value for L8-02
is determined by drive model selection (o2-04).
Cause Possible Solution
344 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
6.4 Fault Detection
• 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.
Internal cooling fan is stopped
• After replacing the cooling fan, set parameter o4-03 to 0 to reset the cooling fan maintenance.
Digital Operator Display Fault Name
Overheat 1 (Heatsink Overheat)
oH1 The heatsink temperature exceeded the drive overheat level. 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 setting multi-function analog inputs H3-02, H3-10, or H3-06 to 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) by reducing E1-08 and E1-10.
Motor has overheated • Do not set E1-08 and E1-10 too low. This reduces load tolerance at low speeds.
• Check the motor rated current.
• Enter the motor rated current to parameter E2-01 as indicated on the motor nameplate.
• Ensure the motor cooling system is operating normally.
• Repair or replace the motor cooling system.
Troubleshooting
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 setting multi-function analog inputs H3-02, H3-10, or H3-06 to E.
Cause Possible Solution 6
• 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) by reducing E1-08 and E1-10.
Motor has overheated • Do not set E1-08 and E1-10 too low. This reduces load tolerance at low speeds.
• Check the motor rated current.
• Enter the motor rated current to parameter E2-01 as indicated on the motor nameplate.
• Ensure the motor cooling system is operating normally.
• Repair or replace the motor cooling system.
Digital Operator Display Fault Name
Motor Overload
oL1
The electronic motor overload protection tripped
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 345
6.4 Fault Detection
Digital Operator Display Fault Name
Cause Possible Solution
Reduce the load.
Load is too heavy Note: Reset oL1 when the U4-16 value falls below 100.0%. U4-16 value must be less than 100.0%
before oL1 can be reset.
Cycle times are too short during acceleration Increase the acceleration and deceleration times (C1-01 through C1-08).
and deceleration
• Reduce the load.
A general-purpose motor is driven below the • Increase the speed.
rated speed with a 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 pattern (E1-04 through E1-10) by reducing E1-08 and E1-10.
The output voltage is too high
• Do not set E1-08 and E1-10 too low. This reduces load tolerance at low speeds.
• Check the motor-rated current.
The wrong motor rated current is set to E2-01
• Enter the motor rated current to parameter E2-01 as indicated on the motor nameplate.
• Check the rated frequency indicated on the motor nameplate.
The base frequency is set incorrectly
• Enter the rated frequency to E1-06 (Base Frequency).
The electrical thermal protection • Check the motor characteristics.
characteristics and motor overload • Correct the type of motor protection that has been selected (L1-01).
characteristics do not match • Install an external thermal relay.
The electrical thermal relay is operating at the • Check the current rating listed on the motor nameplate.
wrong level • Check the value set for the motor rated current (E2-01).
• Overexcitation increases the motor loss and the motor temperature. Excessive duration of
overexcitation may cause motor damage. Prevent excessive overexcitation operation or apply proper
Motor overheated by overexcitation operation cooling to the motor.
• 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.
Parameters related to Speed Search are set • Reduce the Speed Search Operation Current Level 1 (Current Detection Type 2) (b3-31).
incorrectly
• After Auto-Tuning, set b3-24 to 1 to enable Speed Estimation Speed Search.
Output current fluctuation due to power Check the power supply for phase loss.
supply 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 time is 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) by reducing E1-08 and E1-10.
The output voltage is too high
• Do not lower E1-08 and E1-10 excessively. 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 • Use a larger drive.
speeds
• Lower the carrier frequency (C6-02).
Excessive torque compensation Reduce the torque compensation gain in parameter C4-01 until there is no speed loss but less current.
• Check the settings for all Speed Search related parameters.
Parameters related to Speed Search are set • Adjust the current used during the Speed Search deceleration time (b3-03).
incorrectly
• After Auto-Tuning, set b3-24 to 1 to enable Speed Estimation Speed Search.
Output current fluctuation due to input phase Check the power supply for phase loss.
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).
346 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
6.4 Fault Detection
Cause Possible Solution
Parameter settings are not appropriate for the Check L6-02 and L6-03 settings.
load
Fault on the machine side (e.g., machine is Check the status of the load. Remove the cause of the fault.
locked up)
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 Check the settings of parameters L6-05 and L6-06.
load
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 Identify the cause of mechanical weakening.
detection level set to L6-08
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 • Replace the cable if damaged.
the drive • Turn off the drive input power and disconnect the operator. Reconnect the operator and reapply drive
input power.
Digital Operator Display Fault Name
Overspeed
oS
The motor speed feedback exceeded the F1-08 setting.
Cause Possible Solution
• Reduce the C5-01, Speed Control Proportional Gain 1, setting and increase the C5-02, Speed Control
Troubleshooting
Overshoot is occurring Integral Time 1, setting.
• If using Closed Loop Vector mode, enable Feed Forward and perform Inertia Auto-Tuning.
Incorrect speed feedback scaling if terminal • Set H6-02 to the value of the speed feedback signal frequency when the motor runs at the maximum
RP is used as speed feedback input in V/f speed.
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.
6
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
Voltage in the control circuit has exceeded the overvoltage level.
ov
• For 200 V class drives: approximately 450 V
• For 400 V class drives: approximately 900 V
Cause Possible Solution
Ground fault in the output circuit causing the • Check the motor wiring for ground faults.
capacitor to overcharge. • Correct grounding shorts and reapply power.
• Check the voltage.
Drive input power voltage is too high.
• Lower drive input power voltage within the limits listed in the specifications.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 347
6.4 Fault Detection
Digital Operator Display Fault Name
The capacity of the input power supply is too Use a power supply that has at least twice the input capacity of the drive.
small.
The input power supply repeatedly turned on Implement countermeasures so that chattering does not occur for the input power supply.
and off over a short period of time.
An I/O terminal is loose. Check the tightening torque of the I/O terminals.
Chattering in the magnetic contactor (MC)
installed between the drive output terminals Implement countermeasures so that chattering does not occur for the MC.
and the motor.
There is a phase loss or an imbalance in the
interphase voltages of the input power supply. Check the status of the input power supply and eliminate phase losses and imbalance.
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.
Cause Possible Solution
PG cable is disconnected Reconnect the cable and check the setting of F1-20.
Digital Operator Display Fault Name
Safety Circuit Fault
SCF
Safety Circuit Fault is detected.
Cause Possible Solution
Replace either the control board or the entire drive. For instructions on replacing the control board, contact
The safety circuit is damaged. Yaskawa or your nearest sales representative.
Digital Operator Display Fault Name
Too Many Speed Search Restarts
SEr
The number of Speed Search restarts exceeded the value set to b3-19.
Cause Possible Solution
• Reduce the detection compensation gain during Speed Search (b3-10).
Parameters related to Speed Search are set to • Increase the current level when attempting Speed Search (b3-17).
the wrong values • Increase the detection time during Speed Search (b3-18).
• Repeat Auto-Tuning.
The motor is coasting in the opposite direction Set b3-14 to 1 to enable Bi-Directional Speed Search.
of the Run command
Digital Operator Display Fault Name
SoH Snubber Discharge Resistor Overheat
Cause Possible Solution
• The input power supply voltage is too high.
• The capacity of the power supply is too • Reduce the voltage to within the range in the power supply specifications.
small. • Increase the capacity of the power supply.
• The distortion in the power supply is too • Lower the impedance of the input power supply wiring.
large.
The load was too large during repetitious • Check the load conditions. Reduce the load.
operation. • Increase the acceleration/deceleration time.
A phase loss occurred in the input power Check the input power supply for phase loss or an imbalance in the interphase voltages.
supply.
348 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
6.4 Fault Detection
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 reset the fault. Refer to Diagnosing and Resetting Faults on page
An input power supply wiring terminal is 371.
loose.
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 failed. • 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
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).
Acceleration and deceleration times are too • Increase the acceleration and deceleration times (C1-01 through C1-08).
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
Troubleshooting
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 Check the PG signal for electrical signal interference.
6
encoder wiring
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 Check the settings of parameters L6-02 and L6-03.
load
There is a fault on the machine side Check the load for any problems.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 349
6.4 Fault Detection
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 Check L6-05 and L6-06 settings
load
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 for mechanical loss detection set to Check the load side for any problems.
L6-08
Digital Operator Display Fault Name
Control Circuit Undervoltage Fault
Voltage in the control circuit fell below the detection level:
Uv1
• For 200 V class drives: approximately 175 V
• For 400 V class drives: 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 81 for details.
• Check the voltage.
There is a problem with the voltage from the • Correct the voltage to be within the range listed in drive input power specifications.
drive input 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.
The relay or contactor on the soft-charge • If the problem continues, replace the entire drive. Contact Yaskawa or your nearest sales representative.
bypass circuit 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.
Control power supply wiring is damaged
• If the problem continues, replace the entire drive or the control power supply.
• Cycle power to the drive.
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 Relay Fault)
Uv3
The soft-charge bypass relay failed.
Cause Possible Solution
• Cycle power to the drive.
The relay or contactor on the soft-charge • If the problem continues, replace the entire drive. Contact Yaskawa or your nearest sales representative.
bypass circuit 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.
350 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
6.5 Alarm Detection
6.5 Alarm Detection
u Alarm Codes, Causes, and Possible Solutions
Alarms are drive protection functions that do not necessarily cause the drive to stop. After removing the cause of an alarm,
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-oo = 10), that output terminal will be triggered.
Note: If a multi-function output is set to close when an alarm occurs (H2-oo = 10), it will also close when maintenance periods are reached,
triggering alarms LT-1 through LT-3 (triggered only if H2-oo = 2F).
Table 6.15 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 of the acceptable setting range.
Cause Possible Solutions
Station number is set outside the possible • Set parameter F6-10 to the proper value when using a CC-Link option.
setting range. • Set parameter F6-35 to the proper value when using a CANopen option.
Digital Operator Display Minor Fault Name
Power Supply Undervoltage
The input power supply voltage became equal to or lower than the Input Power Supply Undervoltage
AUv Detection Level (L2-21).
200 V Class: Approximately 150 Vrms
400 V Class: Approximately 300 Vrms
Cause Possible Solution
The power supply voltage is low. Increase the power supply voltage.
A phase loss occurred in the input power Check the input power supply for phase loss or an imbalance in the interphase voltages. Investigate and
supply. correct the cause and then reset the fault.
Voltage detection failed. Correctly wire r1/ l11, s1/ l21, and t1/ l31.
Digital Operator Display Minor Fault Name
Baseblock
bb
Drive output interrupted as indicated by an external baseblock signal.
Cause Possible Solutions
External baseblock signal was entered via Check external sequence and baseblock signal input timing.
one of the multi-function input terminals Note: Baseblock alarm “bb” will not activate a digital output programmed for minor fault
Troubleshooting
(S1 to S8). H2-0o = 10. Set H2-0o = 8 or 1B to activate a digital output for “bb”.
Digital Operator Display Minor Fault Name
Option Communication Error
bUS • The connection was lost after initial communication was established.
• Assign a Run command frequency reference to the option.
Cause Possible Solutions
6
• Check for faulty wiring.
Connection is broken or master controller •
stopped communicating. Correct the wiring.
• Check for disconnected cables and short circuits. Repair as needed.
Option is damaged. If there are no problems with the wiring and the fault continues to occur, replace the option.
The option is not properly connected to the • The connector pins on the option are not properly lined up with the connector pins on the drive.
drive. • Reinstall the option.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 351
6.5 Alarm Detection
• 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.
• Try to reduce noise on the controller side.
A data error occurred due to noise. • Use surge absorbers on magnetic contactors or other equipment causing the disturbance.
• Use recommended cables or some other type of shielded line. Ground the shield to the controller side or
on the input power side.
• Separate the wiring for communication devices from the 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.
Cause Possible Solutions
Communications wiring is faulty, there is a • Check for wiring errors.
short circuit, or something is not connected • Correct the wiring.
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.
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.
Termination resistor setting is incorrect. Install a termination resistor at both ends of a communication line. Set the internal termination resistor switch
correctly on slave drives. Place DIP switch S2 to the ON position.
Digital Operator Display Minor Fault Name
MEMOBUS/Modbus Communication Error
CE
Control data was not received correctly for two seconds.
Cause Possible Solutions
• 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 communication devices from drive input power lines. Install an EMC noise filter
to the drive input power supply.
• Check the H5 parameter settings and the protocol setting in the controller.
Communication protocol is incompatible.
• Ensure settings are compatible.
The CE detection time (H5-09) is set • Check the PLC.
shorter than the time required for a • Change the software settings in the PLC.
communication cycle to take place. • Set a longer CE detection time using parameter H5-09.
Incompatible PLC software settings or • Check the PLC.
there is a hardware problem. • Remove the cause of the error on the controller side.
Communications cable is disconnected or • Check the connector to make sure the cable has a signal.
damaged. • Replace the communications cable.
Digital Operator Display Minor Fault Name
CrST Cannot Reset
Cause Possible Solutions
Fault reset was being executed when a Run • Ensure that a Run command cannot be entered from the external terminals or option during fault reset.
command was entered. • Turn off the Run command.
Digital Operator Display Minor Fault Name
MECHATROLINK Comm. Cycle Setting Error
CyC
Comm. Cycle Setting Error was detected.
Cause Possible Solutions
The controller is using a comm. cycle
beyond the allowable setting range for the Set the comm. cycle for the upper controller within the allowable setting range for the MECHATROLINK
option.
MECHATROLINK option.
352 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
6.5 Alarm Detection
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).
Cause Possible Solution
The load is too heavy. Reduce the load.
Acceleration and deceleration times are set Increase the acceleration and deceleration times (C1-01 through C1-08).
too short.
The load is locked up. Check the machine.
Parameter settings are incorrect. Check the settings of parameters F1-10 and F1-11.
The motor brake has 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
The torque limit is small for the load. of the torque limit set from the communication option.
Digital Operator Display Minor Fault Name
dnE Drive Disabled
Cause Possible Solutions
“Drive Enable” is set to a multi-function
contact input (H1-oo = 6A) and that Check the operation sequence.
signal was switched off.
Digital Operator Display Minor Fault Name
Damping Resistor Overheat
doH
The temperature of the built-in damping resistor exceeded the set value.
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 • Lower the impedance of the input power supply wiring.
large.
A phase loss occurred in the input power Check the input power supply for phase loss or an imbalance in the interphase voltages.
supply.
Digital Operator Display Minor Fault Name
Forward/Reverse Run Command Input Error
EF
Both forward run and reverse run closed simultaneously for longer than 0.5 s.
Cause Possible Solutions
Check the forward and reverse command sequence and correct the problem.
Troubleshooting
Sequence error
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.
Cause Possible Solutions 6
An external fault was received from the
PLC with F6-03 set to 3, which allows the • Remove the cause of the external fault.
drive to continue running after an external • Remove the external fault input from the PLC.
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.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 353
6.5 Alarm Detection
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 Solutions
An external device has tripped an alarm Remove the cause of the external fault and reset the multi-function input value.
function.
• Ensure the signal lines have been connected properly to the terminals assigned for external fault detection
Wiring is incorrect. (H1-oo = 2C to 2F).
• Reconnect the signal line.
Multi-function contact inputs are set • Check if the unused terminals have been set for H1-oo = 2C to 2F (External Fault).
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 to b5-36 for longer than the time set to b5-37, and b5-12
is set to 1 or 4.
Cause Possible Solutions
Parameter settings for b5-36 and b5-37 are Check parameters b5-36 and b5-37.
incorrect.
PID feedback wiring is faulty. Correct the wiring.
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 to b5-13 for longer than the time set to b5-14.
Cause Possible Solutions
Parameter settings for b5-13 and b5-14 are Check parameters b5-13 and b5-14.
incorrect.
PID feedback wiring is faulty. Correct the wiring.
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
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 Check for loose terminals.
loose.
The fluctuation in the voltage of the input Increase the Power Supply Frequency Fault Detection Width (L2-27).
power supply is too large.
Replace either the control board or the entire drive. For instructions on replacing the control board, contact
The built-in fuse is open. Yaskawa or your nearest sales representative.
The phase rotation direction has changed in Correct the wiring.
the input power supply.
The detected power supply frequency Improve the power supply.
exceeded the allowable value.
354 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
6.5 Alarm Detection
Digital Operator Display Minor Fault Name
Safe Disable Signal Input
Hbb
Both Safe Disable Input channels are open.
Cause Possible Solution
• Check signal status at the input terminals H1 and H2.
Both Safe Disable Inputs H1 and H2 are • Check the Sink/Source Selection for the digital inputs.
open.
• If the Safe Disable function is not utilized, determine if terminals H1-HC, and H2-HC are linked.
Internally, both Safe Disable channels are Replace either the control board or the entire drive. For instructions on replacing the control board, contact
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 channel is closed.
Cause Possible Solution
The signals to the Safe Disable inputs are Check signal status at the input terminals H1 and H2. If the Safe Disable function is not utilized, terminals
wrong or the wiring is incorrect. H1-HC, and H2-HC must be linked.
One of the Safe Disable channels is faulty. 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 Minor Fault Name
Current Alarm
HCA
Drive current exceeded overcurrent warning level (150% of the rated current).
Cause Possible Solutions
Load is too heavy. Reduce the load for applications with repetitive operations (i.e., stops and starts), or use a larger drive.
• Calculate the torque required during acceleration and for the moment of inertia.
Acceleration and deceleration times are too • If the torque level is not right for the load, take the following steps:
short. • Increase the acceleration and deceleration times (C1-01 through C1-08).
• Use a larger drive.
A special-purpose motor is being used, or • Check the motor capacity.
the drive is attempting to run a motor
greater than the rated output current. • Use a motor appropriate for the drive. Ensure the motor is within the rated output current range.
The current level increased due to Speed The alarm will only appear briefly. There is no need to take action to prevent the alarm from occurring in
Search after a momentary power loss or
while attempting to perform a fault restart. such instances.
Digital Operator Display Minor Fault Name
Cooling Fan Maintenance Time
The cooling fan has reached its expected maintenance period and may need to be replaced.
Troubleshooting
LT-1
Note: An alarm output (H2-oo = 10) will only be triggered if both (H2-oo = 2F and
H2-oo = 10) are set.
Cause Possible Solutions
The cooling fan has reached 90% of its Replace the cooling fan and set o4-03 to 0 to reset the Maintenance Monitor.
expected 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-oo = 10) will only be triggered if H2-oo = 2F.
Cause Possible Solutions
The main circuit and control circuit Replace either the control board or the entire drive. For instructions on replacing the control board, contact
capacitors have reached 90% of their Yaskawa or your nearest sales representative.
expected performance lives.
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-oo = 10) will only be triggered if H2-oo = 2F.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 355
6.5 Alarm Detection
Cause Possible Solutions
The DC bus soft charge relay has reached Replace either the control board or the entire drive. For instructions on replacing the control board, contact
90% of 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 (90-100 °C). Default
value for L8-02 is determined by drive model selection (o2-04).
Cause Possible Solutions
• 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.
Internal cooling fan has stopped.
• After replacing the drive, set parameter o4-03 to 0 to reset the cooling fan operation time.
• Provide proper installation space around the drive as indicated in the manual. Refer to Installation
Orientation and Spacing on page 50 for details.
Airflow around the drive is restricted. • Allow for the proper space and ensure that there is sufficient circulation around the control panel.
• Check for dust or other foreign materials clogging the 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-oo= B).
Cause Possible Solutions
An external device triggered an overheat Search for the device that tripped the overheat warning. Remove the cause of the problem.
warning in the drive.
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).
Cause Possible Solutions
Motor thermostat wiring is faulty (PTC Repair the PTC input wiring.
input).
There is a fault on the machine side (e.g., • Check the status of the machine.
the 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).
• Adjust the preset V/f pattern (E1-04 through E1-10). This involves reducing E1-08 and E1-10.
Motor has overheated. Note: Refrain from lowering E1-08 and E1-10 excessively to prevent a reduction in 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, and CLV/PM) was greater than L6-02 for longer
than the time set to L6-03.
Cause Possible Solutions
Inappropriate parameter settings. Check parameters L6-02 and L6-03.
There is a fault on the machine side (e.g., • Check the status of the machine.
the machine is locked up). • Remove the cause of the fault.
356 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
6.5 Alarm Detection
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 to L6-06.
Cause Possible Solutions
Parameter settings are not appropriate. Check parameters L6-05 and L6-06.
There is a fault on the machine side (e.g., • Check the status of the machine being used.
the 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.
Cause Possible Solutions
Overtorque occurred, triggering the
mechanical weakening level set to L6-08. Check for the cause of mechanical weakening.
Digital Operator Display Minor Fault Name
Overspeed
oS
The motor speed feedback exceeded the F1-08 setting.
Cause Possible Solutions
• Increase the settings for C5-01 (Speed Control Proportional Gain 1) and reduce C5-02 (Speed Control
Overshoot is occurring. Integral Time 1).
• If using a Closed Loop Vector mode enable Feed Forward Control and perform Inertia Auto-Tuning.
Incorrect speed feedback scaling if terminal • Set H6-02 to value of the speed feedback signal frequency when the motor runs at the maximum speed.
RP is 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
Voltage in the control circuit has exceeded the trip point.
ov
• For 200 V class drives: approximately 450 V
• For 400 V class drives: approximately 900 V
Cause Possible Solution
Surge voltage present in the drive input Voltage surge can result from a thyristor convertor and a phase advancing capacitor operating on the same
power. drive input power system.
Troubleshooting
• 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 Use a power supply that has at least twice the input capacity of the drive.
too small.
The input power supply repeatedly turned Implement countermeasures so that chattering does not occur for the input power supply.
on and off over a short period of time.
An I/O terminal is loose. Check the tightening torque of the I/O terminals. 6
There is a phase loss or an imbalance in the
interphase voltages of the input power Check the status of the input power supply and eliminate phase losses and imbalance.
supply.
Digital Operator Display Minor Fault Name
PASS MEMOBUS/Modbus Comm. Test Mode Complete
Cause Possible Solutions
MEMOBUS/Modbus test has finished This verifies that the test was successful.
normally.
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.
Cause Possible Solutions
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 357
6.5 Alarm Detection
PG cable is disconnected. Reconnect the cable.
PG cable wiring is wrong. Correct the wiring.
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.
Cause Possible Solutions
PG cable is disconnected. Reconnect the cable and check the setting of F1-20.
Digital Operator Display Minor Fault Name
Motor Switch during Run
rUn
A command to switch motors was entered during run.
Cause Possible Solutions
A motor switch command was entered Change the operation pattern so that the motor switch command is entered while the drive is stopped.
during run.
Digital Operator Display Minor Fault Name
MEMOBUS/Modbus Communication Test Mode Error
SE Note: This alarm will not trigger a multi-function output terminal that is set for alarm output
(H2-oo = 10).
Cause Possible Solutions
A digital input set to 67H (MEMOBUS/
Modbus test) was closed while the drive Stop the drive and run the test again.
was running.
Digital Operator Display Minor Fault Name
Phase Order Detection Fault
SrC
The phase rotation direction for the input power supply changed.
Cause Possible Solution
An input power supply wiring terminal is
loose. Investigate and correct the cause and reset the fault. Refer to Diagnosing and Resetting Faults on page
The fluctuation in the voltage of the input 371.
power supply is too large.
Digital Operator Display Minor Fault Name
Undertorque Detection 1
UL3 Drive output current (or torque in OLV, CLV, AOLV/PM, and CLV/PM) less than L6-02 for longer than
L6-03 time.
Cause Possible Solutions
Inappropriate parameter settings. Check parameters L6-02 and L6-03.
Load has dropped or decreased Check for broken parts in the transmission system.
significantly.
Digital Operator Display Minor Fault Name
Undertorque Detection 2
UL4 Drive output current (or torque in OLV, CLV, AOLV/PM, and CLV/PM) less than L6-05 for longer than
L6-06 time.
Cause Possible Solutions
Inappropriate parameter settings. Check parameters L6-05 and L6-06.
The load has dropped or decreased Check for broken parts in the transmission system.
significantly.
358 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
6.5 Alarm Detection
Digital Operator Display Minor Fault Name
Control Circuit Undervoltage
One of the following conditions occurred:
Uv • 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.
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 81 for details.
• Check the voltage.
There is a problem with the voltage from • Correct the voltage to be within the range listed in drive input power specifications.
the drive input 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.
The drive input power transformer is too • Check for an alarm when the magnetic contactor, line breaker, and leakage breaker are closed.
small and voltage drops when the power is
switched on. • Check the capacity of the drive input power transformer.
Troubleshooting
6
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 359
6.6 Operator Programming Errors
6.6 Operator Programming Errors
u Operator Programming Error 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 Table 6.16 for the appropriate action. When
an oPE appears on the operator display, press the ENTER button to view U1-18 and see which parameter is causing the oPE.
Table 6.16 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 Correct the value set to o2-04.
not the same.
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 simultaneously, 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). Properly set the functions that required for use in combination with other
The Up 2 command was set but the Down 2 command was not, or vice versa functions.
(settings 75 vs. 76).
• Run/Stop command for a 2-wire sequence was set (H1-oo = 42), but
Forward/Reverse command (H1-oo = 43) was not. Properly set the functions that required for use in combination with other
• “Drive Enable” is set to multi-function input S1 or S2 (H1-01 = 6A or functions.
H1-02 = 6A).
Two of the following functions are set simultaneously:
• Up/Down Command (10 vs. 11)
• Check if contradictory settings have simultaneously been assigned to the
• Up 2/Down 2 Command (75 vs. 76) multi-function input terminals.
• 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) and PID control (b5-01) are enabled Set b5-01 to 0 to disable control PID or disable the Up/Down command.
simultaneously.
Settings for N.C. and N.O. input for the following functions were selected
simultaneously:
• 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 if contradictory settings have simultaneously been assigned to the
• Motor Switch Command and Accel/Decel Time 2 (16 vs. 1A) multi-function input terminals.
• FWD Run Command (or REV) and FWD/REV Run Command (2-wire) • Correct setting errors.
(40, 41 vs. 42, 43)
• External DB Command and Drive Enable (60 vs. 6A)
• Motor Switch Command and Up 2/Down 2 Command (16 vs. 75, 76)
360 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
6.6 Operator Programming Errors
One of the following settings was entered while H1-oo = 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 Correct the settings for the multi-function input terminal parameters.
(Frequency Bias)
H2-oo is set to 38 (Drive Enabled) and H1-oo is not set to 6A (Drive
Enable).
H1-oo is set to 7E (Direction Detection) and H6-01 is not set to 3 (for V/f
Control with PG using terminal RP as speed feedback input).
Correct the setting. PG-RT3 is not available for the application with Motor
H1-oo is set to 16 when using PG-RT3. 2 selection.
Digital Operator Display Error Name
oPE04 Initialization Required
Cause Possible Solutions
The drive, control board, or terminal board have been replaced and the Set A1-03 to 5550 to load the parameter settings stored in the terminal board
parameter settings between the control board and the terminal board no to the drive. Initialize parameters after drive replacement by setting A1-03
longer match. to 2220 or 3330.
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) and 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) and an input
option card is not connected to the drive.
Frequency reference is assigned to the pulse train input (b1-01 = 4) and Set H6-01 to 0.
terminal RP is not set for frequency reference input (H6-01 > 0)
Although the digital card input is set for BCD special for a 5-digit input Set F3-03 to 2 to set the input data for 16-bit.
(F3-01 = 6), the data 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). Properly set parameters.
• The action for the analog card is set for separate terminal input
(F2-01 = 0).
Digital Operator Display Error Name
Control Method Selection Error
Troubleshooting
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 • Connect a PG option card.
installed, but no PG encoder is installed (A1-02 = 1, 3, or 7). • Correct the value set to A1-02.
Digital Operator Display Error Name
6
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, and H3-06 so that functions no longer
At least two analog input terminals are set to the same function (i.e., at least conflict.
two of these parameters have the same setting: H3-02, H3-10, or H3-06). Note: Both 0 (Frequency Reference Bias) and F (Not Used) can be
set to H3-02, H3-10, or H3-06 simultaneously.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 361
6.6 Operator Programming Errors
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-oo in accordance with the
test report provided.
The following settings have occurred in OLV/PM:
• Set E5-09 or E5-24 to the correct value, and set the other to 0.
• E5-03 does not equal 0
• Set the motor rated current for PM to 0 (E5-03).
• E5-09 and E5-24 are both equal to 0, or neither equals 0
b1-14 (Phase Order Selection) is set to 1 (Switch phase order) when using a Correct the parameter settings.
PG option card.
In AOLV/PM High Frequency Injection is disabled (n8-57 = 0) and the
minimum frequency (E1-09) is set lower than 1/20 of the base frequency Correct the parameter settings.
setting.
Note: Use U1-18 to find parameters that are set outside the specified setting range. When multiple errors occur simultaneously, other errors are
given precedence over oPE08.
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 is not set to 0.0 (PID Sleep Function Operation Level) • Set b5-15 to a value other than 0.0.
• The stopping method is set to either DC Injection Braking or coast to stop • Set the stopping method to coast to stop or ramp to stop (b1-03 = 0 or 1).
with a timer (b1-03 = 2 or 3).
b5-01 is set to 1 or 2, enabling PID control, but the lower limit for the
frequency reference (d2-02) is not set to 0 while reverse output is enabled Correct the parameter settings.
(b5-11 = 1).
b5-01 is set to 3 or 4, enabling PID control, but the lower limit for the Correct the parameter settings.
frequency reference (d2-01) is not 0.
Digital Operator Display Error Name
V/f Data Setting Error
One or more of the parameters listed below are not set according to the
oPE10 formula:
• 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.
V/f pattern setting error. For motor 2, correct E3-04, 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
362 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
6.6 Operator Programming Errors
The following simultaneous contradictory settings have occurred: C6-05 >
6 and C6-04 > C6-03 (carrier frequency lower limit is greater than the upper
limit). Correct the parameter settings.
If C6-05 ≤ 6, the drive operates at C6-03.
The upper and lower limits between C6-02 and C6-05 are contradictory.
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 Change scaling for the pulse train monitor or set H6-06 to 101, 102, 105,
set to 101, 102, 105, or 116. or 116.
Digital Operator Display Error Name
Torque Control Setting Error
oPE15 Parameter settings that are not allowed in combination with Torque Control
have been set.
Cause Possible Solutions
Torque Control is enabled (d5-01 = 1) while the Speed/Torque Control
switch function is assigned to a digital input (H1-oo = 71).
Either d5-01 is set to 1 to enable Torque Control, or the Speed/Torque Control
switch is assigned to a digital input H1-oo = 71, while at the same time: Correct the parameter settings.
• 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 Check and correct the motor data in E5 parameters.
out of the allowable range.
Digital Operator Display Error Name
Online Tuning Parameter Setting Error
oPE18
Parameters controlling online tuning are not set correctly.
Cause Possible Solutions
One of the following errors occurred while online tuning was enabled in OLV
(A1-02 = 2):
• E2-02 was set below 30% of the original default value Set E2-02, E2-03, and E2-06 to the correct values.
• E2-06 was set below 50% of the original default value
Troubleshooting
• E2-03 = 0
Digital Operator Display Error Name
PG-F3 Setting Error
oPE20
The encoder signal frequency is too high.
Cause Possible Solutions 6
With the entered encoder resolution (F1-01), maximum output frequency • Set F1-01 to the correct encoder resolution.
(E1-04), and motor pole number (E5-04), the calculation encoder signal • Reduce the maximum output frequency of the drive in parameter E1-04
frequency exceeded 50 kHz (with PG-F3 option). so the encoder 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
• o2-04, Drive Model Selection, setting changed. Contact Yaskawa or your nearest sales representative for information on
• EEPROM failed for the input voltage offset. clearing the error.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 363
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 Endo error on the digital operator display indicates Auto-Tuning has successfully completed with discrepancies in the
calculations. Restart Auto-Tuning after fixing the cause of the Endo error.
The drive may be used in the application if no cause can be identified despite the existence of an Endo error.
An Ero 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.
u Auto-Tuning Codes, Causes, and Possible Solutions
Table 6.17 Auto-Tuning Codes, Causes, and Possible Solutions
Digital Operator Display Error Name
Excessive V/f Setting (detected only during Rotational Auto-Tuning and displayed after Auto-Tuning is
End1 complete)
Cause Possible Solutions
The torque reference exceeded 20% during • Prior to Auto-Tuning, verify the information on the motor nameplate.
Auto-Tuning. • Enter proper values from motor nameplate to parameters T1-03 to T1-05 and repeat Auto-Tuning.
The results from Auto-Tuning the no-load • If possible, disconnect the motor from the load and perform Auto-Tuning. If the load cannot be uncoupled,
current exceeded 80%. use the current Auto-Tuning results.
Digital Operator Display Error Name
Motor Iron-Core Saturation Coefficient (detected only during Rotational Auto-Tuning and displayed after
End2 Auto-Tuning is complete)
Cause Possible Solutions
Motor data entered during Auto-Tuning • Make sure the data entered to the T1 parameters match the information written on the motor nameplate.
was incorrect. • Restart Auto-Tuning and enter the correct information.
Results from Auto-Tuning are outside the
parameter setting range, assigning the iron- • Check and correct faulty motor wiring.
core saturation coefficients (E2-07 and • Disconnect the motor from machine and perform Rotational Auto-Tuning.
E2-08) to temporary values.
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 • Check the setting of parameter T1-04.
motor nameplate 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 calculated slip is outside the allowable • Make sure the data entered for Auto-Tuning is correct.
range. • If possible, perform Rotational Auto-Tuning. If not possible, perform Stationary Auto-Tuning 2.
Digital Operator Display Error Name
End5 Resistance Tuning Error
Cause Possible Solutions
The calculated resistance value is outside • Double-check the data 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
364 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
6.7 Auto-Tuning Fault Detection
• Double-check the data entered for the Auto-Tuning process.
A1-02 setting error. • Check the setting of A1-02.
• Check the control mode and repeat Auto-Tuning.
Digital Operator Display Error Name
End7 No-Load Current Alarm
Cause Possible Solutions
The entered no-load current value was Check and correct faulty motor wiring.
outside the allowable range.
Auto-Tuning results were less than 5% of Double-check the data entered for the Auto-Tuning process.
the motor rated current.
Digital Operator Display Error Name
Er-01 Motor Data Error
Cause Possible Solutions
Motor data or data entered during • Check that the motor data entered to T1 parameters matches motor nameplate input before Auto-Tuning.
Auto-Tuning was incorrect
. • Restart Auto-Tuning and enter the correct information.
Motor rated power and motor-rated current • Check the drive and motor capacities.
settings (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 • Check the motor rated current and no-load current.
current are inconsistent. • Correct the settings of parameters T1-04 and E2-03.
Base frequency and motor rated speed • Correct the settings of parameters T1-05 and T1-07.
(T1-05 and T1-07) do not match. • Check that the correct number of poles were entered to T1-06.
Digital Operator Display Error Name
Er-02 Minor Fault
Cause Possible Solutions
An alarm was triggered during Auto- Exit the Auto-Tuning menu, check the alarm code, remove the alarm cause, and repeat Auto-Tuning.
Tuning.
Digital Operator Display Error Name
Er-03 STOP Button Input
Cause Possible Solutions
Auto-Tuning canceled by pressing STOP Auto-Tuning did not complete properly. Restart Auto-Tuning.
button.
Digital Operator Display Error Name
Troubleshooting
Er-04 Line-to-Line Resistance Error
Cause Possible Solutions
Motor data entered during Auto-Tuning • Make sure the data entered to the T1 parameters match the information written on the motor nameplate.
was 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. 6
Faulty motor cable or cable connection.
Digital Operator Display Error Name
Er-05 No-Load Current Error
Cause Possible Solutions
Motor data entered during Auto-Tuning • Make sure the data entered to the T1 parameters match the information written on the motor nameplate.
was incorrect. • Restart Auto-Tuning and enter the correct information.
Results from Auto-Tuning are outside the • Check and correct faulty motor wiring.
parameter 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
The load was too high during Rotational sure the load is lower than 30%.
Auto-tuning.
• If a mechanical brake is installed, make sure it is fully lifted during tuning.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 365
6.7 Auto-Tuning Fault Detection
Digital Operator Display Error Name
Er-08 Rated Slip Error
Cause Possible Solutions
Motor data entered during Auto-Tuning • Make sure the data entered to the T1 parameters match the information written on the motor nameplate.
was incorrect. • Restart Auto-Tuning and enter the correct information.
Results from Auto-Tuning are outside the • Check and correct faulty motor wiring.
parameter 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
The load was too high during rotational sure the load is lower than 30%.
Auto-tuning.
• 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 • Increase the acceleration time (C1-01).
specified acceleration time. • Disconnect the machine from the motor if possible.
Torque limit when motoring is too low • Check L7-01 and L7-02 settings.
(L7-01 and L7-02). • Increase the setting.
• Disconnect the motor from machine and restart Auto-Tuning. If motor and load cannot be uncoupled make
The load was too high during Rotational sure the load is lower than 30%.
Auto-Tuning.
• 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
The encoder signal lines are not properly Check and correct wiring to the PG encoder.
connected to the drive.
Motor direction and PG direction are Check the motor speed monitor U1-05 while manually turning the motor forward. If the sign displayed is
opposite. negative, change the setting of parameter F1-05.
The load pulled the motor in the opposite
direction of the speed reference and the Uncouple the motor from the load and restart Auto-Tuning.
torque exceeded 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.
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).
The current exceeded the current rating of • Check motor wiring for a short between motor lines.
the drive. • Close any magnetic contactors used between motors.
The current is too low. • Replace 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 Connect the motor and restart Auto-Tuning.
connected to the drive.
Replace the control board or the entire drive. For instructions on replacing the control board, contact Yaskawa
Current detection signal error.
or your nearest sales representative.
366 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
6.7 Auto-Tuning Fault Detection
Digital Operator Display Error Name
Er-13 Leakage Inductance Error
Cause Possible Solutions
Drive was unable to complete tuning for • Check all wiring and correct any mistakes.
leakage inductance within 300 seconds. • Check the motor rated current value written on the motor nameplate and enter the correct value to T1-04.
Digital Operator Display Error Name
Er-14 Motor Speed Error 2
Cause Possible Solutions
The motor speed exceeded twice the
amplitude of speed reference during Inertia Reduce the ASR gain set to C5-01.
Tuning.
Digital Operator Display Error Name
Er-15 Torque Saturation Error
Cause Possible Solutions
The output torque reached the torque limit • Increase the torque limits in L7-01 through L7-04 within reasonable limits.
set in L7-01 through L7-04 during Inertia • Reduce the test signal frequency in T3-01 and restart Auto-Tuning. If necessary, reduce the test signal
Tuning. amplitude (T3-02) and restart Auto-Tuning.
Digital Operator Display Error Name
Er-16 Inertia ID Error
Cause Possible Solutions
The inertia identified by the drive was • Reduce the test signal frequency in T3-01 and restart Auto-Tuning. If necessary, reduce the test signal
abnormally small or abnormally large amplitude (T3-02) and restart Auto-Tuning.
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 • Inertia Auto-Tuning cannot be performed if the drive is restricted from rotating in reverse.
in reverse while attempting to perform • Assuming it is acceptable for the application to rotate in reverse, set b1-04 to 0 and then pertorm Inertia
Inertia Tuning. Tuning.
Digital Operator Display Error Name
Troubleshooting
Er-18 Induction Voltage Error
Cause Possible Solutions
The result of Back EMF Constant Tuning
(induced voltage) exceeds the allowable Double-check the data entered to the T2-oo parameters and restart Auto-Tuning.
setting range.
Digital Operator Display Error Name 6
Er-19 PM Inductance Error
Cause Possible Solutions
The induced voltage constant attempted to
set a value to E5-08 or E5-09 that is outside Double-check the data entered to the T2-oo parameters and restart Auto-Tuning.
the allowable range.
Digital Operator Display Error Name
Er-20 Stator Resistance Error
Cause Possible Solutions
Stator resistance tuning attempted to set a
value to E5-06 that is outside the allowable Double-check the data entered to the T2-oo parameters and restart Auto-Tuning.
setting range.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 367
6.7 Auto-Tuning Fault Detection
Digital Operator Display Error Name
Er-21 Z Pulse Correction Error
Cause Possible Solutions
Motor was coasting when Auto-Tuning Make sure the motor has stopped completely. Restart Auto-Tuning.
was performed.
Either the motor or the PG encoder on the Check the wiring for the motor and the PG encoder. Restart Auto-Tuning.
motor are not properly wired.
The direction for the PG encoder is set
incorrectly, or the number of pulses set for Check the direction and number of pulses set for the PG encoder. Restart Auto-Tuning.
the PG encoder is wrong.
PG encoder is damaged. Check the signal output from the PG encoder attached to the motor. Replace the PG if damaged.
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
Motor data was incorrect. problem continues, high frequency injection control might not be possible with that motor.
Note: Auto-Tuning is not applicable for SPM motors.
368 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
6.8 Copy Function Related Displays
6.8 Copy Function Related Displays
u 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 6.18 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 6.18 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. This is not an error.
Digital Operator Display Task
CPEr Control Mode Mismatch
Cause Possible Solutions
Control mode of the parameters to be loaded onto • Verify the control mode for the parameters to be loaded onto the drive and the control mode on
the drive and the control mode set to the drive do drive to which those parameters will be written.
not match. • Set the same control mode using parameter A1-02 and retry.
Digital Operator Display Task
CPyE Error Writing Data
Cause Possible Solutions
Failed writing parameters Attempt to write parameters again.
Digital Operator Display Task
CSEr Copy Unit Error
Cause Possible Solutions
Hardware fault Replace the operator or the USB Copy Unit.
Troubleshooting
Digital Operator Display Task
dFPS Drive Model Mismatch
Cause Possible Solutions
The drives used in the copy and write process are
not the same model. • Verify the model number of the drive from which the parameters were copied and the model of
• The drive from which the parameters were the drive to which those parameters will be written. 6
copied is a different model. • Make sure the two drives are the same model and have the same software version.
• The drive to be written to is a different model.
Digital Operator Display Task
End Task Complete
Cause Possible Solutions
Finished reading, writing, or verifying parameters. This is not an error.
Digital Operator Display Task
iFEr Communication Error
Cause Possible Solutions
A communication error occurred between the drive Check the cable connection.
and the operator or the USB copy unit.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 369
6.8 Copy Function Related Displays
A non-compatible cable is being used to connect Use the cable originally packaged with the USB Copy Unit.
the USB Copy Unit and the drive.
Digital Operator Display Task
ndAT Model, Voltage Class, Capacity Mismatch
Cause Possible Solutions
The drive from which the parameters were copied
and the drive to which the parameters will be
written have different electrical specifications, Make sure model numbers and specifications are the same for both drives.
capacities, are set to different control modes, or are
different models.
The device being used to write the parameters is Make sure all connections are correct, and copy the parameter settings onto the USB Copy Unit or
blank and does not have any parameters saved on the operator.
it.
Digital Operator Display Task
rdEr Error Reading Data
Cause Possible Solutions
Failed while attempting to read parameter settings Press and hold the READ key on the USB Copy Unit for at least one second to have the unit read
from the drive. parameters from the drive.
Digital Operator Display Task
rEAd Reading Parameter Settings (flashing)
Cause Possible Solutions
Displayed while the parameter settings are being This is not an error.
read onto the USB Copy Unit.
Digital Operator Display Task
vAEr Voltage Class, Capacity Mismatch
Cause Possible Solutions
The drive from which the parameters were copied
and the drive on which the Verify mode is being Make sure electrical specifications and capacities are the same for both drives.
performed have different electrical 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 To synchronize parameters, either write the parameters saved on the USB Copy Unit or digital
Read and loaded onto the Copy Unit or Digital operator onto the drive, or Read the parameter settings on the drive onto the USB Copy Unit.
Operator are different.
Digital Operator Display Task
vrFy Comparing Parameter Settings (flashing)
Cause Possible Solutions
The Verify mode has confirmed that parameters
settings on the drive and parameters read to the copy This is not an error.
device are identical.
370 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
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.
Note: An oC/SC fault will be displayed in the event of an IGBT failure. It may not be possible to reset this fault until the IGBT problem is corrected.
u 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. Do not immediately operate peripheral devices if a fuse is blown or a GFCI
has tripped. 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-oo 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 371 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.
u 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 335.
3. Reset the fault. Refer to Fault Reset Methods on page 373.
u 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
Troubleshooting
U1-03= 0.00A RREF
JOG FWD
- MODE - DRV Rdy
Monitor
1
U1-01= 0.00Hz
3. Press to display the monitor mode screen. U1-02= 0.00Hz RSEQ
U1-03= 0.00A RREF
JOG FWD
6
- MONITR - DRV Rdy
Last Fault
Press and to scroll to monitor U2-02. The fault code shown in U2-02 U2-02= oC
4. is the fault that occurred most recently. In this example, the most recent fault is U2-03= 60.00Hz RSEQ
“oC” (overcurrent). U2-04= 60.00Hz RREF
JOG FWD
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 371
6.9 Diagnosing and Resetting Faults
Step Display/Result
- MONITR - DRV Rdy
Frequency Ref
U2-03= 60.00Hz
U2-04= 60.00Hz RSEQ
U2-05= XX.XXA RREF
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= 60.00Hz
U2-01= ----- RSEQ
U2-02= oC RREF
JOG FWD
372 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
6.9 Diagnosing and Resetting Faults
u 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
ALM
- MODE - DRV
oC
Overcurrent
Fix the cause of the fault, restart the drive, and Press on the digital operator when the error code
FWD RESET
reset the fault is displayed.
RESET F1 F2
LO
ESC
RE
RESET ENTER
RUN STOP
Drive
Close then open the fault signal digital input via Fault Reset Switch
S4 Fault Reset Digital Input
Resetting via Fault Reset Digital Input S4 terminal S4. S4 is set for “Fault Reset” as default
SC Digital Input Common
(H1-04 = 14).
2 ON
Turn off the main power supply if the above methods do not reset the fault. Reapply power after the
digital operator display has turned off.
1 OFF
Note: If the Run command is present, the drive will disregard any attempts to reset the fault. Remove the Run command before attempting to clear
a fault situation.
Troubleshooting
6
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 373
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 324 for guidance on troubleshooting.
• Motor hunting and oscillation
• Poor motor torque
• Poor speed precision
• Poor motor torque and speed response
• Motor noise
u Common Problems
Common Problems Page
Cannot Change Parameter Settings 374
Motor Does Not Rotate 375
Motor Does Not Rotate Properly after Pressing RUN Button or after Motor Rotates in the Opposite Direction from the Run Command 376
Entering External Run Command
Motor Rotates in One Direction Only 376
Motor is Too Hot 376
Drive Does Not Allow Selection of Rotational Auto-Tuning 377
oPE02 Error Occurs When Lowering the Motor Rated Current Setting 377
Motor Stalls During Acceleration or With Large Loads 377
Drive Frequency Reference Differs from the Controller Frequency Reference Command 378
Excessive Motor Oscillation and Erratic Rotation 378
Noise From Drive or Motor Cables When the Drive is Powered On 378
Ground Fault Circuit Interrupter (GFCI) Trips During Run 379
Unexpected Noise from Connected Machinery 379
Connected Machinery Vibrates When Motor Rotates
Oscillation or Hunting 379
PID Output Fault 379
Insufficient Starting Torque 380
Motor Rotates After the Drive Output is Shut Off (Motor Rotates During DC Injection Braking) 380
Output Frequency is not as High as Frequency Reference 380
Buzzing Sound from Motor at 2 kHz 380
Unstable Motor Speed when Using PM or IPM 380
Motor Does Not Restart after Power Loss 381
The Safety Controller Does Not Recognize Safe Disable Monitor Output Signals (Terminals DM+ and DM-) 381
u Cannot Change Parameter Settings
Cause Possible Solutions
The drive is running the motor • Stop the drive and switch over to the Programming Mode.
(i.e., the Run command is present). • Most parameters cannot be edited during run.
The Access Level is set to restrict access to parameter • Set the Access Level to allow parameters to be edited (A1-01 = 2).
settings.
• See what mode the operator is currently set for.
The operator is not in the Parameter Setup Mode
(the screen will display “PAr”). • Parameters cannot be edited when in the Setup Mode (“STUP”). Switch modes so that “PAr”
appears on the screen. Refer to The Drive and Programming Modes on page 113.
A multi-function contact input terminal is set to allow • When the terminal is open, parameters cannot be edited.
or restrict parameter editing
(H1-01 through H1-08 = 1B). • Turn on the multi-function contact input set to 1B.
374 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
6.10 Troubleshooting without Fault Display
Cause Possible Solutions
• 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 and up arrow keys simultaneously. 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.
u Motor Does Not Rotate Properly after Pressing RUN Button or after Entering External
Run Command
n 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 113.
Stop the drive and check if the correct frequency reference source is selected. If the operator keypad
shall be the source, the LO/RE key LED must be illuminated. If the source is REMOTE, it must
be off.
The LO/RE key was pushed. Take the following steps to solve the problem:
• Push the LO/RE key.
• If o2-01 is set to 0, then the LO/RE key 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 drive is in the Drive Mode.
Auto-Tuning has just completed.
• Use the digital operator to enter the Drive Mode. Refer to The Drive and Programming
Modes on page 113.
A Fast Stop was executed and has not yet been reset. Reset the Fast Stop command.
Check parameter b1-02 (Run Command Selection).
Set b1-02 so that it corresponds with the correct Run command source.
Settings are incorrect for the source that provides the 0: Digital operator
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 terminals. • Correct wiring mistakes.
• Check the input terminal status monitor (U1-10).
Troubleshooting
Check parameter b1-01 (Frequency Reference Selection 1).
Set b1-01 to the correct source of the frequency reference.
0: Digital operator
The drive has been set to accept the frequency 1: Control circuit terminal (default setting)
reference from the incorrect source. 2: MEMOBUS/Modbus communications
3: Option card
4: Pulse train input (RP)
The terminal set to accept the main speed reference is 6
set to the incorrect voltage and/or current.
Selection for the sink/source mode and the internal/ Check jumper S3. Refer to Sinking/Sourcing Mode for Digital Inputs on page 94.
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.
• Check if analog input A1, A2, or A3 is set for frequency reference gain (H3-02, H3-10, H3-06
Multi-function analog input is set up to accept gain for = 1). If so, check if the correct signal is applied to the terminal. The gain and the frequency
the frequency reference, but no voltage (current) has reference will be 0 if no signal is applied to the gain input.
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)
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 375
6.10 Troubleshooting without Fault Display
Cause Possible Solutions
• Pressing the STOP key will decelerate the drive to stop.
The STOP key was pressed when the drive was started •
from a REMOTE source. Switch off the Run command and then re-enter a new Run command.
• Set o2-02 to 0 to disable the STOP key.
Motor starting torque is too low. Refer to Motor Performance Fine-Tuning on page 324.
Frequency reference value is too low or the drive does Enter a value that is above the minimum output frequency determined by E1-09.
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
incorrectly. • 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 will become the Start, terminal S2 will become
the Stop input.
n 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).
1
The forward direction for the motor is set up 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 • Disable bi-directional search (b3-14 = 0) so that Speed Search is performed only in the
Search estimated the speed to be in the opposite specified direction.
direction.
Note: Check the motor specifications for the forward and reverse directions. The motor specifications will vary depending on the manufacturer
of the motor.
n Motor Rotates in One Direction Only
Cause Possible Solutions
• Check parameter b1-04.
The drive prohibits reverse rotation.
• Set parameter b1-04 to 0 to allow the motor to rotate in reverse.
A Reverse run signal has not been entered, although • Make sure that one of the input terminals S3 to S8 used for the 3-Wire sequence has been set
3-Wire sequence is selected. for reverse.
u 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 • Calculate the motor value and reset the motor parameters.
Auto-Tuning has not yet been performed.
• Change the motor control method to V/f Control (A1-02 = 0).
376 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
6.10 Troubleshooting without Fault Display
Cause Possible Solutions
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.
Insufficient voltage insulation between motor phases. • Use a motor with a voltage tolerance higher than the maximum voltage surge.
• Use an inverter-duty motor rated for use with AC drives when using the motor on drives rated
higher than 200 V class.
The motor fan has stopped or is clogged. Check the motor fan.
Increase the carrier frequency to lower the current harmonic distortion and lower the motor
The carrier frequency is too low. temperature.
u Drive Does Not Allow Selection of the Desired Auto-Tuning Mode
Cause Possible Solutions
• Check if the desired tuning mode is available for the selected control mode. Refer to Auto-
The desired Auto-Tuning mode is not available for the Tuning on page 130.
selected control mode.
• Change the motor control method by setting A1-02.
u 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 • Make sure that value set in E2-01 is higher than E2-03.
setting in the 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.
u Motor Stalls during Acceleration or Acceleration Time is Too Long
Cause Possible Solutions
Torque limit has been reached or current suppression Take the following steps to resolve the problem:
keeps the drive from accelerating. • Reduce the load.
• Increase motor capacity.
Load is too heavy. Note: Although the drive has a Stall Prevention function and a Torque Compensation
Limit function, accelerating too 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).
Troubleshooting
• Increase E1-04 if it is set too low.
Check U1-01 for proper frequency reference.
Frequency reference is too low.
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. 6
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 • Check the V/f pattern set to E1-03.
incompatible with one another.
• Execute Rotational Auto-Tuning.
Although the drive is operating in Open Loop Vector • Perform Auto-Tuning.
motor control method, Auto-Tuning has not been • Calculate motor data and reset motor parameters.
performed. • Switch to V/f Control (A1-02 = 0).
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 377
6.10 Troubleshooting without Fault Display
Cause Possible Solutions
• 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
Incorrect frequency reference setting. or current input provided.
• 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 • If L3-02 is set too low, acceleration may be taking too long.
deceleration set too low.
• Increase L3-02.
• Check the Stall Prevention level during run (L3-06).
The Stall Prevention level during run has been set too • If L3-06 is set too low, speed will drop as the drive outputs torque.
low.
• 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 • Be aware that V/f Control is comparatively limited when it comes to producing torque at low
method. speeds.
• Consider switching to Open Loop Vector Control.
u 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.
The analog input gain and bias for the frequency Check parameters H3-03 and H3-04 for input A1, check parameters H3-11, and H3-12 for input
reference input are set to incorrect values. A2, and check parameters H3-07 and 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
A frequency bias signal is being entered via analog (H3-02, H3-10, or H3-06 is set to “0”), then the sum of all signals builds the frequency reference.
input terminals 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).
PID control is enabled, and the drive is consequently
adjusting the output frequency to match the PID
setpoint. The drive will only accelerate to the If PID control is not necessary for the application, disable it by setting b5-01 to 0.
maximum output frequency set in E1-04 while PID
control is active.
u Excessive Motor Oscillation and Erratic Rotation
Cause Possible Solutions
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).
u 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 excessive noise. • Place the wiring inside a metal conduit to shield it from switching 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.
378 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
6.10 Troubleshooting without Fault Display
u Ground Fault Circuit Interrupter (GFCI) Trips During Run
Cause Possible Solutions
• Check the wiring and rating of peripheral devices.
• Increase the GFCI sensitivity or use GFCI with a higher threshold.
• Lower the carrier frequency (C6-02).
Excessive leakage current trips GFCI. • 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.
• Disable the internal EMC filter.
u Connected Machinery Vibrates When Motor Rotates
n Unexpected Noise from Connected Machinery
Cause Possible Solutions
The carrier frequency is at the resonant frequency of Adjust the carrier frequency using parameters C6-02 through C6-05.
the connected machinery.
• Adjust the parameters used for the Jump frequency function (d3-01 through d3-04) to skip the
The drive output frequency is the same as the resonant problem-causing bandwidth.
frequency of the connected machinery.
• Place the motor on a rubber pad to reduce vibration.
Note: Set C6-02 to a value between 1 and 4 and check the motor to inspect for a motor error.
n Oscillation or Hunting
Cause Possible Solutions
Perform Auto-Tuning.
Insufficient tuning. Refer to Motor Performance Fine-Tuning on page 324.
Gain is too low when using PID control. Refer to b5: PID Control on page 177 for details.
• Ensure that noise is not affecting the signal lines.
The frequency reference is assigned to an external • Separate main circuit wiring and control circuit wiring.
source and the signal is noisy. • Use twisted-pair cables or shielded wiring for the control circuit.
• Increase the analog input time filter constant (H3-13).
• Perform Auto-Tuning.
The cable between the drive and motor is too long.
• Reduce the length of the cable.
u PID Output Fault
Troubleshooting
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.
6
• 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
The level of detection and the target value do not for the values relative to one another.
correspond with each other. • Use analog input gains H3-03, H3-07, and H3-11 to adjust PID target and feedback signal
scaling.
Reverse drive output frequency and speed detection.
When output frequency rises, the sensor detects a Set PID output for reverse characteristics (b5-09 = 1).
speed decrease.
Adjustment made to PID parameter settings are Refer to b5: PID Control on page 177 for details.
insufficient.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 379
6.10 Troubleshooting without Fault Display
u Insufficient Starting Torque
Cause Possible Solutions
Auto-Tuning has not yet been performed (required for Perform Auto-Tuning. Refer to
vector control modes). Motor Performance Fine-Tuning on page 324.
The control mode was changed after performing Auto- Perform Auto-Tuning again.
Tuning.
Only Stationary Auto-Tuning was performed. Perform Rotational Auto-Tuning.
u 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 • Increase the current level for DC Injection Braking Current (b2-02).
cannot decelerate properly.
• Increase the DC Injection Braking time at stop (b2-04).
The stopping method is set so that the drive coasts to Set b1-03 (Stopping Method Selection) to 0 or 2.
stop.
u 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
Upper limit for the frequency reference has been appropriate values (E1-04, d2-01).
exceeded. • The following calculation yields the upper value for the output frequency:
E1-04 x d2-01 / 100
Large load triggered Stall Prevention function during • Reduce the load.
acceleration. • Adjust the Stall Prevention level during acceleration (L3-02).
u Sound from Motor
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 operating at low speeds. • If the sound is coming from the motor, disable carrier frequency derating (L8-38 = 0).
• 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.
u Unstable Motor Speed when Using PM
Cause Possible Solutions
The motor code for the PM motor (E5-01 or T2-02) is Refer to Motor Performance Fine-Tuning on page 324 for details.
set incorrectly (Yaskawa motors only).
Drive is attempting to operate the motor beyond the Check the speed control range and adjust the speed accordingly.
speed control range listed in the specifications.
Motor hunting occurs. Refer to Motor Performance Fine-Tuning on page 324 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.
380 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
6.10 Troubleshooting without Fault Display
u Motor Does Not Restart after Power Loss
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 Check wiring and circuitry for the relay intended to keep the Run command enabled.
command has been switched off.
u The Safety Controller Does Not Recognize Safe Disable Monitor Output Signals
(Terminals DM+ and DM-)
Cause Possible Solutions
There is faulty wiring in the Safe Disable monitor • Check the Safe Disable monitor output terminal wiring.
output terminals. • Correct any wiring mistakes.
Troubleshooting
6
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 381
6.10 Troubleshooting without Fault Display
This Page Intentionally Blank
382 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive 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...............................................................................................384
7.2 INSPECTION........................................................................................................386
7.3 PERIODIC MAINTENANCE.................................................................................389
7.4 DRIVE COOLING FANS.......................................................................................391
7.5 DRIVE REPLACEMENT.......................................................................................405
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 383
7.1 Section Safety
7.1 Section Safety
WARNING
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 capacitor for the control power supply remains charged even
after the power supply is turned off. The charge indicator LED will extinguish when the control power supply 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.
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 service must be performed only by authorized personnel familiar installation,
adjustment, and maintenance of 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 capacitor for the control power supply remains charged even
after the power supply is turned off. The charge indicator LED will extinguish when the control power supply 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 control power supply voltage level to confirm it has reached a safe level.
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.
384 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
7.1 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.
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.
Failure to comply could result in damage to the drive.
Comply with proper wiring practices.
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.
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.
Periodic Inspection &
Failure to comply could result in further damage to the equipment.
Do not connect or operate any equipment with visible damage or missing parts.
Maintenance
7
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 385
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.
u 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.
Inspect for abnormal oscillation or noise coming from • Measure motor vibration.
Motor the motor.
• Tighten all loose components.
Check for the following:
• Excessive load.
Inspect for abnormal heat generated from the drive or • Loose connections.
motor and visible discoloration.
• Dirty heatsink or motor.
Cooling
• Ambient temperature.
Check for the following:
Inspect drive cooling fan and circulation fan operation. • Clogged or dirty fan.
• Correct Fan operation parameter setting.
Verify the drive environment complies with the Eliminate the source of contaminants or correct poor
Environment specifications listed in Installation Environment on environment.
page 50.
Check for the following:
The drive output current should not be higher than the • Excessive load.
Load motor or drive rating for an extended period of time.
• Correct motor parameter settings.
• Correct the voltage or power supply to within
Power Supply Voltage Check main power supply and control voltages. nameplate specifications.
• Verify all main circuit phases.
386 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
7.2 Inspection
u 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.
n 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 capacitor for the control power supply remains
charged even after the power supply is turned off. The charge indicator LED will extinguish when the control power supply 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 • Replace damaged components as required.
or deterioration. • The drive has few serviceable parts and may require
• Inspect for damaged or deformed parts. complete drive replacement.
General • Inspect enclosure door seal if used.
Inspect for dirt, foreign particles, or dust collection on • Remove foreign particles and dust with a vacuum
components. cleaner to avoid touching parts.
• Replace components if cleaning is not possible.
• Inspect wiring and connections for discoloration,
Conductors and damage, or heat stress. Repair or replace damaged wiring.
Wiring
• Inspect wire insulation and shielding for wear.
Inspect terminals for stripped, damaged, or loose Tighten loose screws and replace damaged screws or
Terminals connections. terminals.
• Inspect contactors and relays for excessive noise • Check coil voltage for overvoltage or undervoltage
during operation. conditions.
Relays and Contactors
• Inspect coils for signs of overheating such as melted • Replace damaged removable relays, contactors, or
or cracked insulation. circuit board.
• Inspect for leaking, discoloration, or cracks.
The drive has few serviceable parts and may require
Electrolytic Capacitor • Check if the cap has come off, for any swelling, or if complete drive replacement.
the sides have burst open.
Diode, IGBT Inspect for dust or other foreign material collected on the Remove foreign particles and dust with a vacuum
(Power Transistor) surface. cleaner to avoid touching parts.
Motor Periodic Inspection
Stop the motor and contact qualified maintenance
Periodic Inspection &
Operation Check Check for increased vibration or abnormal noise. personnel as required.
Control Circuit Periodic Inspection
Maintenance
• Tighten loose screws and replace damaged screws
• Inspect terminals for stripped, damaged, or loose or terminals.
General connections.
• If terminals are integral to a circuit board, then
• Make sure all terminals have been properly tightened. board or drive replacement may be required.
• Fix any loose connections.
• If an antistatic cloth or vacuum plunger cannot be 7
used, replace the board.
Check for any odor, discoloration, and rust. Make sure • Do not use any solvents to clean the board.
Circuit Boards connections are properly fastened and that no dust or oil
mist has accumulated on the surface of the board. • Remove foreign particles and dust with a vacuum
cleaner to avoid touching parts.
The drive has few serviceable parts and may require
complete drive replacement.
Cooling System Periodic Inspection
• Replace as required.
Cooling Fan, • Check for abnormal oscillation or unusual noise.
Circulation Fan • Refer to Drive Cooling Fans on page 391 for
• Check for damaged or missing fan blades. information on cleaning or replacing the fan.
Inspect for dust or other foreign material collected on the Remove foreign particles and dust with a vacuum
Heatsink surface. cleaner to avoid touching parts.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 387
7.2 Inspection
Inspection Area Inspection Points Corrective Action Checked
Display Periodic Inspection
• Make sure data appears on the display properly.
• Contact the nearest sales office if there is any
Digital Operator • Inspect for dust or other foreign material that may have trouble with the display or keypad.
collected on surrounding components.
388 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
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.
• Cooling Fan, Circulation Fan
• Capacitors for the Control Power Supply
• Inrush Prevention Circuit
For replacement parts, contact the distributor where the drive was purchased or contact Yaskawa directly.
u 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 lower capacity 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/Open Type enclosure)
Load factor: 80% maximum
Operation time: 24 hours a day
n 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 387 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
U4-03 Cooling Fan
Periodic Inspection &
0 after it reaches 99999.
Circulation Fan
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.
Maintenance
Displays the number of times the drive is powered up as a percentage of the performance life of the inrush
U4-06 Pre-charge Circuit circuit.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 389
7.3 Periodic Maintenance
n 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-oo = 2F), the
terminal will close when the cooling fan, DC bus capacitors, or DC bus pre-charge relay reach 90% of 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
Display Function Corrective Action
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
LT-2 <1> time. nearest Yaskawa sales office on possible drive
replacement.
Contact a Yaskawa representative or the
LT-3 <1> The pre-charge circuit has reached 90% of its designated life time. nearest Yaskawa sales 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-oo = 2F). The alarm
will also trigger a digital output that is programmed for alarm indication (H2-oo = 10).
n Related Drive Parameters
Use parameters o4-03, o4-05, and o4-07, to reset a Maintenance Monitor to zero after replacing a specific component. Refer
to Parameter List on page 441 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.
390 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
7.4 Drive Cooling Fans
7.4 Drive Cooling Fans
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.
u Number of Cooling Fans
Drive Model Cooling Fans Circulation Fans Page
Three-Phase 200 V Class
2o0028 2 –
2o0042 2 –
2o0054 2 –
2o0068 2 – 393
2o0081 2 –
2o0104 2 –
2o0130 2 –
2o0154 3 –
395
2o0192 3 –
2o0248 1 2 399
Three-Phase 400 V Class
4o0011 2 –
4o0014 2 –
4o0021 2 –
4o0027 2 –
4o0034 2 –
4o0040 2 – 393
4o0052 2 –
4o0065 2 –
4o0077 2 –
4o0096 2 –
4o0124 2 –
4o0156 3 –
Periodic Inspection &
395
4o0180 3 –
4o0216 1 2
Maintenance
4o0240 1 2
4o0302 2 2 399
4o0361 2 2
4o0414 2 2
7
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 391
7.4 Drive Cooling Fans
u 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 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.
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.
2□0028 to 2□0130 2□0154, 2□0192 2□0248
4□0011 to 4 □0124 4□0156, 4□0180 4□0216 to 4□0414
A A
A
B B
B
A – Fan guard C – Circulation Fan Unit
B – Cooling Fan/Cooling Fan Unit
Figure 7.1 Cooling Fan Component Names
392 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
7.4 Drive Cooling Fans
u Cooling Fan Replacement: 2o0028 to 2o0130 and 4o0011 to 4o0124
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 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.
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.
n 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 Remove the Fan Guard
2. Remove the cooling fan cartridge.
Periodic Inspection &
Figure 7.3 Remove the Cooling Fan Cartridge
Maintenance
3. Disconnect the pluggable connector and remove the fan.
Figure 7.4 Disconnect the Cooling Fan
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 393
7.4 Drive Cooling Fans
n Installing the Cooling Fan
Reverse the procedure described above to reinstall the cooling fan.
1. Properly plug the relay connector.
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.
A
B B
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 Relay Connector Placement
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 into
place.
Note: The fan guard has a cutout on the front side for proper alignment.
394 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
7.4 Drive Cooling Fans
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.
u Cooling Fan Replacement: 2o0154, 2o0192, 4o0156, and 4o0180
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 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.
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.
n Removing the Fan Guard and Cooling Fan
1. Loosen the four screws that hold the fan guard in place.
A
Periodic Inspection &
A –Screw locations
Figure 7.9 Loosen the Screws
Maintenance
2. Slide the fan guard toward the front of the drive to remove it from the drive.
Figure 7.10 Remove the Fan Guard
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 395
7.4 Drive Cooling Fans
3. Release the cables from the hooks in five locations.
A
A –Hook locations
Figure 7.11 Release the Cables
4. Loosen the four screws affixing the cooling fan unit.
A
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 Unplug the Relay Connectors
n Installing the Cooling Fan Unit
1. Connect the relay connectors for the fans in the replacement fan unit.
Note: Replace the whole unit when performing maintenance on the cooling fans.
396 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
7.4 Drive Cooling Fans
Figure 7.14 Plug the Relay Connectors
Figure 7.15 Cooling Fan Unit
2. Guide the fan cables through the provided hooks to hold the cables in place.
Periodic Inspection &
Maintenance
A –Fan relay cable hook locations
Figure 7.16 Position the Fan Cables
3. Install the cooling fan unit while pulling the cables upward. 7
Note: Do not pinch the fan cable between parts when reassembling the fan unit.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 397
7.4 Drive Cooling Fans
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.
D
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
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.
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.
398 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
7.4 Drive Cooling Fans
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.
u Cooling Fan Replacement: 2o0248 and 4o0216 to 4o0414
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 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.
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.
n Removing the Fan Guard and Cooling Fan
1. Loosen the four screws that hold the fan guard in place.
A
Periodic Inspection &
Maintenance
A –Screw locations
Figure 7.21 Loosen the Screws
2. Slide the fan guard toward the right to remove it from the drive. 7
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 399
7.4 Drive Cooling Fans
Figure 7.22 Remove the Fan Guard
3. Release the cable from the hooks.
Note: Models 4o0302 to 4o0414 have 4 hooks.
A –Hook locations
Figure 7.23 Release the Cable
4. Loosen the two screws affixing the cooling fan unit.
Figure 7.24 Remove the Cooling Fan Unit
5. Unplug the relay connector and release the fan from the drive.
Figure 7.25 Unplug the Relay Connector
400 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
7.4 Drive Cooling Fans
u 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.
A
Push the connectors together so
no space remains between them.
A –Opening
Figure 7.26 Attach the Relay Connector
2□0248, 4□0216, 4□0240 4□0302 to 4□0414
Figure 7.27 Cooling Fan Unit
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.
Periodic Inspection &
Maintenance
C
A – Pull the cable upwards C – Hook
B – Bend three times
Figure 7.28 Install the Circulation Fan
7
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.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 401
7.4 Drive Cooling Fans
A –Screw locations
Figure 7.29 Attach the Cooling Fan Unit
4. Reattach the fan guard and then tighten the screws firmly so that the screws do not come loose.
Figure 7.30 Reattach the Fan Cover
n Removing the Circulation Fan
1. Loosen the five screws that hold the drive cover in place.
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.
A –Screw locations
Figure 7.31 Remove the Drive Cover
2. Unlock the two cable hooks.
Note: The circulation fan unit on models 4o0302 to 4o0414 is located on the right side of the drive.
402 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
7.4 Drive Cooling Fans
Figure 7.32 Unlock the Cable Hooks
3. Unplug the relay connectors and release the cable from the hooks.
Figure 7.33 Unplug the Relay Connector
4. Loosen the three screws, then slide the cooling fan unit up and carefully pull it out.
A
Periodic Inspection &
Maintenance
A –Screw locations
Figure 7.34 Remove the Circulation Fan
7
n Installing the Circulation Fan
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.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 403
7.4 Drive Cooling Fans
Figure 7.35 Installing the Circulation Fan
2. Turn on the power supply and set o4-03 to 0 to reset the Maintenance Monitor cooling fan operation time.
404 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
7.5 Drive Replacement
7.5 Drive Replacement
u 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 fan(s)
• 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.
u 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.
Periodic Inspection &
Maintenance
A – Terminal board locking screws B – Removable terminal board 7
Figure 7.36 Terminal Board
u 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 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 allow unqualified personnel to perform work on the drive. Failure to comply could result in
serious injury. Installation, maintenance, inspection, and service must be performed only by authorized personnel familiar installation,
adjustment, and maintenance of drives.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 405
7.5 Drive Replacement
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.
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, refer to the specific manuals for those options.
NOTICE: When transferring a braking transistor, braking resistor, or other type of 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 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.
Note: IP00/Open Type enclosure drives do not have a bottom cover.
Figure 7.38 Unscrew the Terminal Board
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 Remove the Terminal Board
406 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
7.5 Drive Replacement
Figure 7.40 Disconnected Removable Terminal Board
4. Disconnect all option cards and options, making sure they are intact before reusing.
5. Replace the drive and wire the main circuit.
n 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 N·m) to fasten the terminal block into place.
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 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.
Periodic Inspection &
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 and Duty Rating ND/HD on page 536 for details.
3. Contact Yaskawa or a Yaskawa representative for instructions on replacing the terminal board. Improperly replacing the terminal board
Maintenance
will result in drive malfunction.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 407
7.5 Drive Replacement
This Page Intentionally Blank
408 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
8
Peripheral Devices & Options
This chapter explains the installation of peripheral devices and options available for the drive.
8.1 SECTION SAFETY...............................................................................................410
8.2 DRIVE OPTIONS AND PERIPHERAL DEVICES................................................412
8.3 CONNECTING PERIPHERAL DEVICES.............................................................414
8.4 OPTION INSTALLATION.....................................................................................415
8.5 INSTALLING PERIPHERAL DEVICES................................................................425
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 409
8.1 Section Safety
8.1 Section Safety
DANGER
Electrical Shock Hazard
Before servicing, disconnect all power to the equipment.
The capacitor for the internal power supply remains charged even after the power supply is turned off. The charge indicator
LED will extinguish when the control power supply voltage is below 50 Vdc. To prevent electric shock, wait for at least the
time specified on the warning label, once all indicators are OFF, measure for unsafe voltages to confirm the drive is safe
prior to servicing.
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.
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 service must be performed only by authorized personnel familiar installation,
adjustment, and maintenance of 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.
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 use damaged wires, place excessive stress on wiring, or damage the wire insulation.
Failure to comply could result in death or serious injury.
Fire Hazard
Tighten all terminal screws to the specified tightening torque.
Loose electrical connections could result in death or serious injury by fire due to overheating of electrical connections.
410 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive 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 a Ground Fault Circuit Interrupter (GFCI) 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 a GFCI 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.
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.
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.
Properly connect all pins and connectors.
Failure to comply may prevent proper operation and possibly damage equipment.
Check all the wiring to ensure that all connections are correct after installing the option and connecting any other
devices.
Failure to comply could result in damage to the option.
Peripheral Devices &
Options
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 411
8.2 Drive Options and Peripheral Devices
8.2 Drive Options and Peripheral Devices
Table 8.1 lists the names of the various peripheral devices, 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 kΩ), 13-bit signed
• Current input: 4 to 20 mA or 0 to 20 mA (250 Ω), 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)
• Sets 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 1 or 2 tracks), line driver, 300 kHz max
Motor PG Feedback Line PG-X3 • Pulse monitor: Matches RS-422 level
Driver 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
Motor PG Feedback Open • Input: 3-track (can be used with 1 or 2 tracks), HTL encoder connection, 50 kHz max
PG-B3
Collector Interface • Output: 3-track, open collector
• Encoder power supply: 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: 20 kHz
• Pulse monitor: Matches RS-422 level
EnDat Encoder PG-F3 • Output voltage: 5 V±5%, 8 V±10%
• Maximum output current: 200 mA
• Encoder power supply: 5 V, max current 330 mA or 8 V, max current 150 mA
• Wiring length: 20 m max. for the encoder, 30 m max. for the pulse monitor
Note: The PG-F3 option can only be used in CLV/PM.
• For motor speed feedback by connecting a resolver that meets the specifications set by
Yaskawa.
Motor Feedback Resolver • Input voltage: 10 Vac rms 10 kHz
PG-RT3
Interface
• Transformation ratio: 0.5 ± 5%
• Maximum input current: 100 mA rms
Communication Option Cards
EtherNet/IP SI-EN3 Connects to an EtherNet/IP network.
Modbus TCP/IP SI-EM3 Connects to a Modbus TCP/IP network.
PROFINET SI-EP3 Connects to a PROFINET network.
LonWorks SI-W3 Connects to a LonWorks network.
DeviceNet SI-N3 Connects to a DeviceNet network
412 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
8.2 Drive Options and Peripheral Devices
Option Model Number Description
PROFIBUS-DP SI-P3 Connects to a PROFIBUS-DP network.
MECHATROLINK-II SI-T3 Connects to a MECHATROLINK-II network.
MECHATROLINK-III SI-ET3 Connects to a MECHATROLINK-III network.
BACnet SI-B3 Connects to a BACnet network.
EtherCAT SI-ES3 Connects to an EtherCAT network.
CC-Link <1> SI-C3 Connects to a CC-Link network.
CANopen <1> SI-S3 Connects to a CANopen network.
Interface Options
LED Operator JVOP-182 5-digit LED operator with Copy function
UWR000051, 1 m cable RJ-45, 8-pin straight through, UTP CAT5e, extension cable (1 m or 2 m) to connect the digital
Remote Operator Cable UWR000052, 2 m cable operator for remote operation.
• Allows the user to copy and verify parameter settings between drives.
USB Copy Unit JVOP-181
• Functions as an adapter to connect the drive to a USB port on a PC.
Mechanical Options
Attachment for External EZZ022706A-F Installation kit for mounting the drive with the heatsink outside of the panel.
Heatsink
IP20/NEMA Type 1 Kit EZZ022745A-F Parts to make the drive conform to IP20/NEMA Type 1 enclosure requirements.
IP20/NEMA Type 1, 4, 12 UUX0000526 Provides digital operator functionality on an enclosure designed for IP20/NEMA Type 1, 3R, 4,
Blank Keypad Kit 4X, 12, or IPo6 environment. This keypad has a blank label on the front.
IP20/NEMA Type 1, 4, 12 UUX0000527 Provides digital operator functionality on an enclosure designed for IP20/NEMA Type 1, 3R, 4,
Yaskawa Logo Keypad Kit 4X, 12, or IPo6 environment. This keypad has a Yaksawa brand label on the front.
PC Software Tools
DriveWizard Industrial Contact Yaskawa PC tool for drive setup and parameter management
DriveWorksEZ Contact Yaskawa PC tool for enhanced programming of the drive
<1> Limited support. Contact a Yaskawa representative or the nearest Yaskawa sales office for assistance.
Peripheral Devices &
Options
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 413
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.
Refer to the specific manual for the devices shown below for more detailed installation instructions.
Engineering Software Tools
DriveWizard
DriveWorksEZ
LED Operator/LCD Operator
Power
YASKAWA
Supply
USB Copy Unit
ERR
COM
JVOP-181
LOCK
py rify ad
Co Ve Re
USB USB Cable
Copy unit (Type-AB)
Line
Breaker Surge PC
(MCCB) Absorber
or USB Cable
Leakage (Type-AB, sold separately)
Breaker U1000
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
Magnetic
Contactor
(switches to
line power) Ground
Figure 8.1 Connecting Peripheral Devices
Note: If the drive is set to trigger a fault output when the fault restart function is activated (L5-02 = 1), then a sequence to interrupt power when
a fault occurs will turn off the power to the drive while the drive attempts to restart. The default setting for L5-02 is 0 (fault output active
during restart).
414 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
8.4 Option Installation
8.4 Option Installation
This section provides instructions on installing the options in Table 8.2.
u Prior to Installing the Option
Prior to installing the option, wire the drive, make necessary connections to the drive terminals, and verify that the drive
functions normally without the option installed.
Table 8.2 below lists the number of options that can be connected to the drive and the drive ports for connecting those options.
Table 8.2 Option Installation
Option Port/Connector Number of Options Possible
PG-B3, PG-X3 CN5-C 2 <1>
PG-F3 <2> , PG-RT3 <2> CN5-C 1
AO-A3, DO-A3 CN5-A, B, C 1
SI-B3, SI-C3, SI-EN3, SI-EM3, SI-EP3, SI-ES3, CN5-A 1
SI-ET3, SI-N3, SI-P3, SI-S3, SI-T3, SI-W3, AI-A3, DI-A3
<1> When connecting two PG option cards, use both CN5-B and CN5-C. When connecting only one PG option card, use the CN5-C connector.
<2> 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.
A
B D
C
K E
J
I
H
F
G
A – Insertion point for CN5 G – Ground wire
B – Option card H – Drive grounding terminal (FE)
Peripheral Devices &
C – Included screws I – Connector CN5-A
D – Front cover J – Connector CN5-B
E – Digital operator K – Connector CN5-C
F – Terminal cover
Options
Figure 8.2 Drive Components with Option
u PG Option Installation Example 8
Remove the front covers of the drive before installing the option. PG options can inserted into the CN5-B or CN5-C connectors
located on the drive control board.
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). Front cover removal varies by model.
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 installing the option, disconnect all power to the drive. The capacitor for the control power supply remains
charged even after the power supply is turned off. The charge indicator LED will extinguish when the control power supply voltage
is below 50 Vdc. To prevent electric shock, wait at least five minutes after all indicators are off and measure the control power
supply voltage level to confirm safe level.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 415
8.4 Option Installation
NOTICE: Damage to Equipment. Observe proper electrostatic discharge procedures (ESD) when handling the option, drive, and
circuit boards. Failure to comply may result in ESD damage to circuitry.
Figure 8.3 Remove the Front Covers and Digital Operator
2. Insert the option (B) into the CN5-B or CN5-C connector (J, K) located on the drive and fasten it using one of the
included screws (C). When connecting only one PG option, use the CN5-C connector.
B
C
K
J
Figure 8.4 Insert the Option
3. Connect the ground wire (G) to the ground terminal (H) using one of the remaining provided 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) and tighten both screws to 0.5 to 0.6 N m or (4.4 to 5.3 in lbs).
416 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
8.4 Option Installation
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 Installation 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 of PG-X3 Option on page 423 or Refer to Wire Gauges and Tightening Torques of PG-X3 Option on
page 423 to confirm that the proper tightening torque is applied to each terminal. Take particular precaution to ensure
that each wire is properly connected and that 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.
Shield Insulation
PG option terminal PG at motor
Ground Terminal
FE/SD Shield sheath
(Insulate with electrical tape
or shrink tubing)
Figure 8.6 Preparing Ends of Shielded Cable
Peripheral Devices &
Preparing wire ends: Screwdriver blade size
Pull back the shielding and lightly
Options
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
sleeves
2.5 mm or less
8
Loosen the screws and
insert the wire into the Option terminal block
opening on the terminal block.
To PG at motor
(do not solder ends)
Figure 8.7 Preparing and Connecting Cable Wiring
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 417
8.4 Option Installation
5. Wire the motor PG encoder to the terminal block on the option. Refer to Figure 8.8 and Figure 8.12 for wiring
instructions.
Refer to PG-B3 Option Terminal Functions on page 419 for a detailed description of the option terminal functions.
PG-B3 Parameter Settings
• Connecting a Single-Pulse Encoder in V/f with PG Control Mode: Connect the pulse output from the PG to the option and
set F1-21 to 0.
• Connecting 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 CLV 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: 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 F1-21 = 1 F1-37 = 1 No setting required No setting required
Quadrature)
Two Pulse with Marker F1-21 = 1 F1-37 = 1 No setting required No setting required
(ABZ)
PG-B3 Connection Diagram
Refer to PG-B3 Option Terminal Functions on page 419 for a detailed description of the option board terminal functions.
Refer to Wire Gauges and Tightening Torques of PG-B3 Option on page 420 for information on making cables.
R/L1 U/T1
S/L2 V/T2 M
T/L3 W/T3
YASKAWA TB1
Drive PG- B3 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
BO
B pulse monitor signal
IG
ZO Z pulse monitor signal
FE IG
Ground wire
Twisted-pair shielded line
Main circuit terminal Control circuit terminal
Figure 8.8 PG-B3 Option and Encoder Connection Diagram
<1> Ground the shield on the PG side and the drive side. If electrical signal interference 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.
Note: The PG-B3 option reads a maximum input frequency of 50 kHz from the PG encoder. Select a PG encoder with an output pulse frequency
of maximum 50 kHz when operating at maximum speed.
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.
418 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
8.4 Option Installation
• Use separate conduit or cable tray dividers to separate option control wiring, main circuit input power wiring, and motor
output power cables.
PG-B3 Interface Circuit
Complementary Output
PG-B3 IP Vcc PG Encoder
12 V
330 A+,B+,Z+ A,B,Z
470 A-,B-,Z- 0V
330
IG 0V
AO,BO,ZO
Monitor Signals
IG
Figure 8.9 Complementary Outputs for the Interface Circuit
Open-Collector Outputs
PG B3 IP Vcc
12 V PG Encoder
330 A+,B+,Z+
470 A,B,Z
A ,B ,Z
330
IG 0V
AO,BO,ZO
Monitor Signals
IG
Figure 8.10 Open-Collector Outputs for the Interface Circuit
PG-B3 Terminal Functions
Table 8.3 PG-B3 Option Terminal Functions
Terminal Block Terminal Function Description
A+ A+ pulse signal input
• Pulse signal inputs from the PG
A– A– pulse signal input
• Signal inputs from complementary and open-
TB1 B+ B+ pulse signal input collector outputs
B– B– pulse signal input • Signal level
A+ A- B+ B- Z+ Z-
TB1 H level: 8 to 12 V
Z+ Z+ pulse signal input
IP IG
L level: 2.0 V or less
Peripheral Devices &
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
SD FE
IP PG power supply • Output voltage: 12.0 V ± 5%
Options
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
TB2 pulses from the PG speed control card
BO B pulse monitor signal
TB2
• For open collector outputs from the option 8
ZO Z pulse monitor signal
• Max voltage: 24 V
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.
PG-B3 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.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 419
8.4 Option Installation
Table 8.4 Wire Gauges and Tightening Torques of PG-B3 Option
Tightening Bare Cable Crimp Terminals
Terminal Torque N•m
Screw Size Recomm. Applicable Recomm. Applicable Wire Type
Signal (in•lb) Gauge mm2 Gauges mm2 Gauge mm2 Gauges mm2
A+, A–, B+, B–, Stranded wire: Shielded twisted
Z+, Z–, FE, IP, IG 0.25 to 1.0 pair, etc.
0.22 to 0.25 (24 to 17 AWG) 0.25 to 0.5
M2 0.75 (18 AWG) 0.5 (20 AWG)
AO, IG, BO, IG, (1.95 to 2.21) Solid wire: (24 to 20 AWG) Shielded cable,
ZO, IG 0.25 to 1.5 etc.
(24 to 16 AWG)
PG-B3 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 Gauge Phoenix Contact
mm2 Model L mm (in) d1 mm (in) d2 mm (in)
0.25 (24 AWG) AI 0.25 - 6YE 10.5 (13/32) 0.8 (1/32) 2 (5/64)
d1 6 mm d2
0.34 (22 AWG) AI 0.34 - 6TQ 10.5 (13/32) 0.8 (1/32) 2 (5/64)
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 a LMA-ooB-S185Y (complementary output) for cables running between the option and the
PG as shown in Figure 8.11.
Refer to PG-B3 Option Terminal Functions on page 419 for instructions on wiring the terminal block.
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
L
(Pin)
Figure 8.11 Wiring the PG Encoder Cable
Table 8.6 Connecting the PG Encoder Cable Specification
PG Encoder Cable
Option Terminal
Wire Color Pin
IP 1 Blue C
IG 2 White H
A+ 3 Yellow B
A– 4 White G
B+ 5 Green A
B– 6 White F
FE E N/A (shield) D
420 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
8.4 Option Installation
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
PG-X3 Parameter Settings
• Connecting a Single-Pulse Encoder in V/f with PG Control Mode: Connect the pulse output from the PG to the option and
set F1-21 to 0.
• Connecting 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 CLV 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: 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
PG-X3 Connection Diagram
Refer to PG-X3 Option Terminal Functions on page 422 for a detailed description of the option board terminal functions.
R/L1 U/T1
S/L2 V/T2 Motor
T/L3 W/T3
TB1
YASKAWA
Drive PG- X3 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
Peripheral Devices &
or a-
CN5-C b+
B pulse monitor signal
b-
z+
Z pulse monitor signal
FE z-
Ground wire Options
twisted-pair shielded line
main circuit terminal control circuit terminal
8
Figure 8.12 PG-X3 Option and Encoder Connection Diagram
<1> Ground the shield on the PG side and the drive side. If electrical signal interference 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.
Note: The PG-X3 option reads a maximum input frequency of 300 kHz from the PG encoder. Select a PG encoder with an output pulse frequency
of maximum 300 kHz when operating at maximum speed.
Take the following steps to prevent erroneous operation caused by noise interference:
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 421
8.4 Option Installation
• 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.
PG-X3 Interface Circuit
PG X3 PG Encoder
A+,B+,Z+ A,B,Z
600
A ,B ,Z
26LS32 level A,B,Z 26LS31 level
a+,b+,z+
a ,b ,z
Monitor Signals
26LS31 level SG
Figure 8.13 PG-X3 Interface Circuit
PG-X3 Terminal Functions
Table 8.8 PG-X3 Option Terminal Functions
Terminal Block Terminal Function Description
A+ A pulse signal input
A– A inverse pulse signal input
B+ B pulse signal input • Inputs for the A channel, B channel, and Z
pulses from the PG encoder
B– B inverse pulse signal input • Signal level matches RS-422
TB1 TB1 Z+ Z pulse signal input
Z– Z inverse pulse signal input
A+ A- B+ B- Z+ Z-
Open connection port for use when cable
IP IG
SD NC pin (open) shields should not be grounded
FE Ground Used as the shield ground termination point.
SG a+ a- b+ b- z+ z-
IP PG encoder power supply • Output voltage: 12.0 V ± 5% or 5.5 V ±
5%
SD FE
IG PG encoder power supply common • Max. output current: 200 mA <1>
SG Monitor signal common
a+ A pulse monitor signal
TB2
TB2 a– A pulse inverse monitor signal • Output signal for monitoring A channel, B
b+ B pulse monitor signal channel, and Z pulses from the PG encoder
b– B pulse inverse monitor signal • Signal level matches RS-422
z+ Z pulse monitor signal
z– Z pulse inverse monitor signal
<1> A separate UL listed class 2 power supply is necessary when the PG requires more than 200 mA to operate.
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. Position the
jumper as shown in Table 8.9 to select the voltage level.
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
CN3 CN3
Jumper CN3
PG-X3 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.
422 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
8.4 Option Installation
Table 8.10 Wire Gauges and Tightening Torques of PG-X3 Option
Tightening Bare Cable Crimp Terminals
Terminal Torque N•m
Screw Size Recomm. Applicable Recomm. Applicable Wire Type
Signal (in•lb) Gauge mm2 Gauges mm2 Gauge mm2 Gauges mm2
A+, A–, B+, B–, Stranded wire: Shielded twisted
Z+, Z–, SD, FE, 0.25 to 1.0 pair, etc.
IP, IG 0.22 to 0.25 (24 to 17 AWG) 0.25 to 0.5
M2 0.75 (18 AWG) 0.5 (20 AWG)
(1.95 to 2.21) Solid wire: (24 to 20 AWG)
a+, a–, b+, b–, z+, 0.25 to 1.5 Shielded cable,
z–, SG (24 to 16 AWG) etc.
PG-X3 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 Phoenix Contact
mm2 Model L mm (in) d1 mm (in) d2 mm (in)
0.25 (24 AWG) AI 0.25 - 6YE 10.5 (13/32) 0.8 (1/32) 2 (5/64)
d1 6 mm d2
0.34 (22 AWG) AI 0.34 - 6TQ 10.5 (13/32) 0.8 (1/32) 2 (5/64)
L
0.5 (20 AWG) AI 0.5 - 6WH 14 (9/16) 1.1 (3/64) 2.5 (3/32)
Replacing the Drive Covers and Digital Operator and Checking for Proper Motor Rotation
1. Route the communication wiring inside the enclosure as shown in Figure 8.14.
Peripheral Devices &
Options
Figure 8.14 Wire Routing Examples
2. Replace and secure the front covers of the drive (D, F) and replace the digital operator (E).
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 423
8.4 Option Installation
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 no cables
are pinched between the front covers and the drive when replacing the covers.
3. Set drive parameters for proper motor rotation. (Refer to A1: Initialization on page 444 and Refer to F1: PG Speed
Control Card Settings (PG-B3, PG-X3, PG-RT3, PG-F3) on page 473 for details on parameter settings) With a two-
pulse or three-pulse PG encoder, the leading pulse determines the motor rotation direction. When a Yaskawa induction
motor rotates forward (counter-clockwise when viewing rotation from motor load side), the PG signal will have a leading
A pulse, followed by a B pulse displaced at 90 degrees.
The A pulse leads, followed
by the B pulse displaced at 90 degrees
A pulse
B pulse
Time →
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.
A+ A− B+ B− Z+ Z− SD FE A+ A− B+ B− Z+ Z− SD FE
Figure 8.17 A Channel and B Channel Wire Switching
Please note that when the drive is initialized using A1-03 =1110, 2220, 3330, the value for F1-05/F1-32 will reset to
factory default and the parameter will need to be readjusted to switch the direction. When F1-05/F1-32 are saved as
User Parameters (o2-03 = 1) and the User Parameter settings are initialized by setting A1-03 = 1110, the values for
F1-05/F1-32 will not be reset.
424 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
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 when connecting to the control terminals. Improper application of peripheral devices could result in
drive performance degradation due to improper power supply. Refer to NEC Article 725 Class 1, Class 2, and Class 3 Remote-Control,
Signaling, and Power Limited Circuits for requirements concerning class 2 power supplies.
u Installing a Molded Case Circuit Breaker (MCCB) or Ground Fault Circuit Interrupter
(GFCI)
Install an MCCB or GFCI 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 an MCCB or GFCI:
• The capacity of the MCCB or GFCI should be 1.5 to 2 times the rated output current of the drive. Use an MCCB or GFCI
to keep the drive from faulting out instead of using overheat protection (150% for one minute at the rated output current).
• If several drives are connected to one MCCB or GFCI that is shared with other equipment, use a sequence that shuts the
power OFF when errors are output by using magnetic contactor (MC) as shown in Figure 8.18.
B
A MCCB or GFCI MC
R/L1
S/L2
T/L3
MC
MB
C SA MC
MC
A – Power supply C – Control power supply
B – Drive
Figure 8.18 Power Supply Interrupt Wiring (Example)
WARNING! Electrical Shock Hazard. Disconnect the MCCB (or GFCI) and MC before wiring terminals. Failure to comply may result in
serious injury or death.
n Application Precautions when Installing a GFCI
Drive outputs generate high-frequency leakage current as a result of high-speed switching. Install a GFCI on the input side of
the drive to switch off potentially harmful leakage current.
Factors in determining leakage current:
• Size of the AC drive
• AC drive carrier frequency
Peripheral Devices &
• Motor cable type and length
• EMI/RFI filter
If the GFCI trips spuriously, consider changing these items or use a GFCI with a higher trip level.
Options
Note: Choose a GFCI designed specifically for an AC drive. The operation time should be at least 0.1 s with sensitivity amperage of at least 200
mA per drive. The output waveform of the drive and built-in EMC filter may cause an increase in leakage current. This may in turn cause
the leakage breaker to malfunction. Increase the sensitivity amperage or lower the carrier frequency to correct the problem.
8
u Installing a Magnetic Contactor at the Power Supply Side
Install a magnetic contactor (MC) to the drive input for the purposes explained below.
n Disconnecting the Power Supply
Shut off the drive with an MC when a fault occurs in any external equipment such as braking resistors.
NOTICE: Do not connect electromagnetic switches or MCs to the output motor circuits without proper sequencing. Improper sequencing of
output motor circuits could result in damage to the drive.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 425
8.5 Installing Peripheral Devices
NOTICE: Install an 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 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.
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. Install an MC to the drive input side to prevent the drive from restarting automatically when power is restored after momentary power
loss.
2. Set up a delay that prevents the MC from opening prematurely to continue operating the drive through a momentary power loss.
u 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.
WARNING! Fire Hazard. Due to surge absorber short circuit on drive output terminals U/T1, V/T2, and W/T3, do not connect surge absorbers
to the drive output power terminals. Failure to comply may result in serious injury or death by fire or flying debris.
u Reducing Noise
n Preventing Induced Noise
Use shielded cables or zero phase reactors and lay the cables at least 30 cm away from the signal line to prevent induced noise.
B
C
A MCCB D
R/L1 U/T1
S/L2 V/T2 M
T/L3 W/T3
G
F
A – Power supply E – Separate at least 30 cm
B – Drive F – Controller
C – Shielded motor cable G – Signal line
D – Motor
Figure 8.19 Preventing Induced Noise
n Reducing Noise Using Internal EMC Filter Models
Models UUoEoooo and UUoWoooo contain a built-in EMC filter. 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 99 for details.
u Attachment for External Heatsink Mounting
An external attachment can be used to project the heatsink outside of an enclosure to ensure that there is sufficient air circulation
around the heatsink.
Contact a Yaskawa sales representative or Yaskawa directly for more information on this attachment.
u Internal EMC Filter Model Installation
Internal EMC filter models (UUoEoooo and UUoWoooo) are tested according to European standards IEC/EN
61800-3 2nd Environment Category C2 and comply with the EMC guidelines. Refer to Enable the Internal EMC Filter on
page 99 for details about EMC filter selection and installation.
u 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.
426 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
8.5 Installing Peripheral Devices
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.
n General Precautions when Using Thermal Overload Relays
Consider the following application precautions when using motor thermal overload relays on the output of AC drives 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. Motor overheating may occur even when
the load current is within the motor rated value. 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 to disable thermal overload protection for the drive.
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. Failure to comply could result in death or serious injury.
Peripheral Devices &
Options
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 427
8.5 Installing Peripheral Devices
This Page Intentionally Blank
428 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
Appendix: A
Specifications
A.1 HEAVY DUTY AND NORMAL DUTY RATINGS.................................................430
A.2 POWER RATINGS...............................................................................................431
A.3 DRIVE SPECIFICATIONS....................................................................................435
A.4 DRIVE WATT LOSS DATA..................................................................................437
A.5 DRIVE DERATING DATA....................................................................................438
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 429
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 Table A.1 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 HD Rating varies by model <1> 150% rated output current for 60 s
1: Normal Duty
(default) ND Rating varies by model <1> 120% rated output current for 60 s varies by model
<1> Refer to Power Ratings on page 431 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.
430 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
A.2 Power Ratings
A.2 Power Ratings
u Three-Phase 200 V Class Drive Models 2o0028 to 2o0081
Table A.2 Power Ratings (Three-Phase 200 V Class)
Item Specification
Drive Model 2o0028 2o0042 2o0054 2o0068 2o0081
Maximum Applicable HD Rating 5.5 (7.5) 7.5 (10) 11 (15) 15 (20) 18.5 (25)
Motor Capacity kW (HP) <1> ND Rating 7.5 (10) 11 (15) 15 (20) 18.5 (25) 22 (30)
HD Rating 20 25 38 49 62
Rated Input Current (A) <2>
ND Rating 25 38 49 62 74
HD Rating 9 12 17 22 28
Rated Input Capacity (kVA) <3>
ND Rating 12 17 22 28 34
HD Rating 22 28 42 54 68
Input/ Rated Output Current (A) <4> <5>
Output ND Rating 28 42 54 68 81
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 <6>
Maximum Output Frequency (Hz) 400 Hz (User-adjustable)
Rated Voltage Three-phase 200 to 240 Vac 50/60 Hz
Rated Frequency
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 Distortion <6> 5% or less (IEEE519 compliant)
Input Power Factor <6> 0.98% or more (During rated operation)
<1> The motor capacity (HP) refers to an NEC 4-pole motor. The rated output current of the drive should be equal to or greater than the motor current.
Select the appropriate capacity drive if operating the motor continuously above motor nameplate current.
<2> 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.
<3> Rated input capacity is calculated with a power line voltage of 240 V × 1.1.
<4> The rated output current of the drive should be equal to or greater than the motor rated current.
<5> Carrier frequency is set to 4 kHz. Current derating is required to raise the carrier frequency.
<6> If one of the following specifications are needed, the maximum output voltage = [input voltage] × 0.87:
Harmonic current distortion of 5% or less
Harmonic suppression guidelines compliance
Input power factor of 0.98 or higher.
Specifications
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 431
A.2 Power Ratings
u Three-Phase 200 V Class Drive Models 2o0104 to 2o0248
Table A.3 Power Ratings (Three-Phase 200 V Class) Continued
Item Specification
Drive Model 2o0104 2o0130 2o0154 2o0192 2o0248
Maximum Applicable HD Rating 22 (30) 30 (40) 37 (50) 45 (60) 55 (75)
Motor Capacity kW (HP) <1> ND Rating 30 (40) 37 (50) 45 (60) 55 (75) 75 (100)
HD Rating 74 95 118 140 175
Rated Input Current (A) <2>
ND Rating 95 118 140 175 226
HD Rating 34 43 54 64 80
Rated Input Capacity (kVA) <3>
ND Rating 43 54 64 80 103
HD Rating 81 104 130 154 192
Input/ Rated Output Current (A) <4> <5>
Output ND Rating 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 <6>
Maximum Output Frequency (Hz) 400 Hz (User-adjustable)
Rated Voltage Three-phase 200 to 240 Vac 50/60 Hz
Rated Frequency
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 Distortion <6> 5% or less (IEEE519 compliant)
Input Power Factor <6> 0.98% or more (During rated operation)
<1> The motor capacity (HP) refers to an NEC 4-pole motor. The rated output current of the drive should be equal to or greater than the motor current.
Select the appropriate capacity drive if operating the motor continuously above motor nameplate current.
<2> 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.
<3> Rated input capacity is calculated with a power line voltage of 240 V × 1.1.
<4> The rated output current of the drive should be equal to or greater than the motor rated current.
<5> Carrier frequency is set to 4 kHz. Current derating is required to raise the carrier frequency.
<6> If one of the following specifications are needed, the maximum output voltage = [input voltage] × 0.87:
Harmonic current distortion of 5% or less
Harmonic suppression guidelines compliance
Input power factor of 0.98 or higher.
432 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
A.2 Power Ratings
u Three-Phase 400 V Class Drive Models 4o0011 to 4o0077
Table A.4 Power Ratings (Three-Phase 400 V Class)
Item Specification
Drive Model 4o0011 4o0014 4o0021 4o0027 4o0034 4o0040 4o0052 4o0065 4o0077
Maximum Applicable Motor HD Rating 3.7 (5) 5.5 (7.5) 7.5 (10) 11 (15) 15 (20) 18.5 (25) 22 (30) 30 (40) 37 (50)
Capacity kW (HP) <1> ND Rating 5.5 (7.5) 7.5 (10) 11 (15) 15 (20) 18.5 (25) 22 (30) 30 (40) 37 (50) 45 (60)
Rated Input HD Rating 8.7 10 13 19 25 31 36 47 59
Current (A) <2> ND Rating 10 13 19 25 31 36 47 59 70
Rated Input HD Rating 8 9 12 17 22 28 33 43 54
Capacity (kVA) <3> ND Rating 9 12 17 22 28 33 43 54 64
Rated Output HD Rating 9.6 11 14 21 27 34 40 52 65
Input/ Current (A) <4> <5>
Output ND Rating 11 14 21 27 34 40 52 65 77
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 <6>
Maximum Output Frequency (Hz) 400 Hz (User-adjustable)
Rated Voltage Three-phase 4Aoooo and 4Poooo 380 to 500 Vac 50/60 Hz
Rated Frequency Three-phase 4Eoooo and 4Woooo 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 2% or less
Voltage Unbalance
Harmonic Current Distortion <6> 5% or less (IEEE519 compliant)
Input Power Factor <6> 0.98% or more (During rated operation)
<1> The motor capacity (HP) refers to an NEC 4-pole motor. The rated output current of the drive should be equal to or greater than the motor current.
Select the appropriate capacity drive if operating the motor continuously above motor nameplate current.
<2> 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.
<3> Rated input capacity is calculated with a power line voltage of 480 V × 1.1.
<4> The rated output current of the drive should be equal to or greater than the motor rated current.
<5> Carrier frequency is set to 4 kHz. Current derating is required to raise the carrier frequency.
<6> If one of the following specifications are needed, the maximum output voltage = [input voltage] × 0.87:
Harmonic current distortion of 5% or less
Harmonic suppression guidelines compliance
Input power factor of 0.98 or higher.
Specifications
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 433
A.2 Power Ratings
u Three-Phase 400 V Class Drive Models 4o0096 to 4o0414
Table A.5 Power Ratings (Three-Phase 400 V Class) Continued
Item Specification
Drive Model 4o0096 4o0124 4o0156 4o0180 4o0216 4o0240 4o0302 4o0361 4o0414
Maximum Applicable Motor HD Rating 45 (60) 55 (75) 75 (100) 90 (125) 110 (150) 132 (175) 150 (200) 185 (250) 220 (300)
Capacity kW (HP) <1> ND Rating 55 (75) 75 (100) 90 (125) 110 (150) 132 (175) 150 (200) 185 (250) 220 (300) 260 (350)
Rated Input HD Rating 70 87 113 142 164 197 218 275 329
Current (A) <2> ND Rating 87 113 142 164 197 218 275 329 377
Rated Input HD Rating 64 80 103 130 150 180 200 251 300
Capacity (kVA) <3> ND Rating 80 103 130 150 180 200 251 300 344
Rated Output HD Rating 77 96 124 156 180 216 240 302 361
Input/
Output Current (A) <4> <5> ND Rating 96 124 156 180 216 240 302 361 414
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
Maximum Output Frequency (Hz) 400 Hz (User-adjustable)
Rated Voltage Three-phase 4Aoooo and 4Poooo 380 to 500 Vac 50/60 Hz
Rated Frequency Three-phase 4Eoooo and 4Woooo 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 2% or less
Voltage Unbalance
Harmonic Current Distortion <6> 5% or less (IEEE519 compliant)
Input Power Factor <6> 0.98% or more (During rated operation)
<1> The motor capacity (HP) refers to an NEC 4-pole motor. The rated output current of the drive should be equal to or greater than the motor current.
Select the appropriate capacity drive if operating the motor continuously above motor nameplate current.
<2> 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.
<3> Rated input capacity is calculated with a power line voltage of 480 V × 1.1.
<4> The rated output current of the drive should be equal to or greater than the motor rated current.
<5> Carrier frequency is set to 4 kHz. Current derating is required to raise the carrier frequency.
<6> If one of the following specifications are needed, the maximum output voltage = [input voltage] × 0.87:
Harmonic current distortion of 5% or less
Harmonic suppression guidelines compliance
Input power factor of 0.98 or higher.
434 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
A.3 Drive Specifications
A.3 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 to +40 °C)
(Temperature Fluctuation) Analog input: within ±0.1% of the max output frequency (25 °C ±10 °C)
Frequency Setting Resolution Digital inputs: 0.01 Hz
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 kΩ), DC 0 to +10 V (20 kΩ),
Frequency Setting Signal 4 to 20 mA (250 Ω), 0 to 20 mA (250 Ω)
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 r/min <1>
Control OLV/PM: 100% at 3 Hz
Character- V/f, V/f w/PG: 1:40
istics OLV: 1:200
Speed Control Range CLV, CLV/PM: 1:1500
OLV/PM: 1:20
AOLV/PM: 1:100
OLV: ±0.2% (25 °C ±10 °C) <2>
Speed Control Accuracy
CLV: ±0.02% (25 °C ±10 °C) <2>
OLV: 10 Hz (25 °C ±10 °C (77 °F ±50 °F))
Speed Response CLV: 250 Hz (25 °C ±10 °C (77 °F ±50 °F))
Parameters setting allow separate limits in four quadrants
Torque Limit (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 in motoring or regeneration.
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, Upper/lower
Main Control Functions 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),
Specifications
Fault Restart, Application Presets, DriveWorksEZ (customized function), Removable Terminal Block
with Parameter Backup Function, Online Tuning, Overexcitation Deceleration, Inertia (ASR) Tuning,
High Frequency Injection.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 435
A.3 Drive Specifications
Item Specification
Power Supply Regeneration Available
Motor Protection Electronic thermal overload relay
Momentary Overcurrent Drive stops when output current reaches about 200% of the rated current.
Protection
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
Undervoltage Protection
Functions 400 V class: Stops when input voltage falls below approx. 300 V
Momentary Power Loss Immediately stop after 2 ms or longer power loss <4>
Ride-Thru Continuous operation during power loss shorter 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 Remains lit until control power supply voltage falls below 50 V
Control Power Supply
Area of Use Indoors
IP20/NEMA Type 1 enclosure: -10 °C to +40 °C (14 °F to 104 °F)
Ambient Temperature IP00 enclosure: -10 °C to +50 °C (14 °F to 122 °F)
Humidity 95 RH% or less (no condensation)
Environment Storage Temperature -20 °C to +60 °C (short-term temperature during transportation)
Up to 1000 meters without derating, up to 3000 m with output current and voltage derating. Refer to
Altitude Altitude Derating on page 439 for details.
10 to 20 Hz: 9.8 m/s2
Vibration/Shock 20 to 55 Hz: 5.9 m/s2 (2o0028 to 2o0081 and 4o0011 to 4o0077)
2.0 m/s2 (2o0104 to 2o0248 and 4o0096 to 4o0414)
• UL508C
Standard • IEC/EN 61800-3, IEC/EN 61800-5-1
• ISO/EN 13849-1 Cat.3 PLe, IEC/EN 61508 SIL3
Protection Design IP00/Open Type enclosure <7> , IP20/NEMA Type 1 enclosure
<1> Current derating is required. Select control modes in accordance with 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.
<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> Actual specifications may vary depending on motor characteristics.
<5> A separate Momentary Power Loss Ride-Thru Unit is required if the application needs to continue running for up to 2 seconds during a momentary
power loss.
<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> Attaching the top protective cover and bottom cover on an IP00 enclosure drive will convert the drive to a NEMA Type 1 drive.
436 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
A.4 Drive Watt Loss Data
A.4 Drive Watt Loss Data
Table A.6 Watt Loss 200 V Class Three-Phase Models
Normal Duty Heavy Duty
Drive Model Rated Amps Heatsink Interior Unit Total Loss Rated Amps Heatsink Interior Unit Total Loss
(A) Loss (W) Loss (W) (W) (A) Loss (W) Loss (W) (W)
2o0028 28 659 103 762 22 543 91 634
2o0042 42 854 168 1022 28 586 138 724
2o0054 54 1037 195 1232 42 808 168 976
2o0068 68 1295 225 1520 54 1016 190 1206
2o0081 81 1420 238 1658 68 1181 208 1389
2o0104 104 1696 282 1978 81 1313 234 1547
2o0130 130 2157 341 2498 104 1673 280 1953
2o0154 154 2441 366 2807 130 2037 318 2355
2o0192 192 3064 447 3511 154 2400 366 2766
2o0248 248 3785 578 4363 192 2815 460 3275
Table A.7 Watt Loss 400 V Class Three-Phase Models
Normal Duty Heavy Duty
Drive Model Rated Amps Heatsink Interior Unit Total Loss Rated Amps Heatsink Interior Unit Total Loss
(A) Loss (W) Loss (W) (W) (A) Loss (W) Loss (W) (W)
4o0011 11 452 80 532 10 415 76 491
4o0014 14 459 79 538 11 372 70 442
4o0021 21 641 105 746 14 438 80 518
4o0027 27 675 106 781 21 549 93 642
4o0034 34 798 124 922 27 658 107 765
4o0040 40 877 174 1051 34 693 150 843
4o0052 52 1109 209 1318 40 855 178 1033
4o0065 65 1369 240 1609 52 1087 204 1291
4o0077 77 1479 251 1730 65 1238 220 1458
4o0096 96 1715 290 2005 77 1373 247 1620
4o0124 124 2256 362 2618 96 1693 290 1983
4o0156 156 2857 421 3278 124 2242 343 2585
4o0180 180 3316 482 3798 156 2833 421 3254
4o0216 216 3720 587 4307 180 3035 503 3538
4o0240 240 3897 600 4497 216 3498 551 4049
4o0302 302 5202 857 6059 240 3867 689 4556
4o0361 361 5434 863 6297 302 4384 735 5119
4o0414 414 6444 1012 7456 361 5563 902 6465
Specifications
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 437
A.5 Drive Derating Data
A.5 Drive Derating Data
The drive can be operated at above the rated temperature, altitude, and default carrier frequency by derating the drive capacity.
u Rated Current Depending on Carrier Frequency
The table below shows the drive output current depending on the carrier frequency settings.
Use the data in the following tables to linearly calculate output current values for carrier frequencies not listed.
Table A.8 Three-Phase 200 V Class Carrier Frequency and Current Derating
Three-Phase 200 V Class
Rated Current [A]
Drive Model Normal Duty Rating (ND) Heavy Duty Rating (HD)
4 kHz 6 kHz 8 kHz 10 kHz 4 kHz 6 kHz 8 kHz 10 kHz
2o0028 28 25 22 20 22 20 18 15
2o0042 42 38 34 29 28 25 22 20
2o0054 54 49 43 38 42 38 34 29
2o0068 68 61 54 48 54 49 43 38
2o0081 81 73 65 57 68 61 54 48
2o0104 104 94 83 — 81 73 65 —
2o0130 130 117 104 — 104 94 83 —
2o0154 154 139 — — 130 117 — —
2o0192 192 173 — — 154 139 — —
2o0248 248 — — — 192 — — —
Table A.9 Three-Phase 400 V Class Carrier Frequency and Current Derating
Three-Phase 400 V Class
Rated Current [A]
Drive Model Normal Duty Rating (ND) Heavy Duty Rating (HD)
4 kHz 6 kHz 8 kHz 10 kHz 4 kHz 6 kHz 8 kHz 10 kHz
4o0011 11 9.9 8.8 7.7 9.6 8.6 7.7 6.7
4o0014 14 13 11 9.8 11 9.9 8.8 7.7
4o0021 21 19 17 15 14 13 11 9.8
4o0027 27 24 22 19 21 19 17 15
4o0034 34 31 27 24 27 24 22 19
4o0040 40 36 32 28 34 31 27 24
4o0052 52 47 42 36 40 36 32 28
4o0065 65 59 52 46 52 47 42 36
4o0077 77 69 62 54 65 59 52 46
4o0096 96 86 77 — 77 69 62 —
4o0124 124 112 99 — 96 86 77 —
4o0156 156 140 — — 124 112 — —
4o0180 180 162 — — 156 140 — —
4o0216 216 — — — 180 — — —
4o0240 240 — — — 216 — — —
4o0302 302 — — — 240 — — —
4o0361 361 — — — 302 — — —
4o0414 414 — — — 361 — — —
u Carrier Frequency Derating
Derate the drive according to Figure A.1 as the carrier frequency increases above the factory default setting.
438 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
A.5 Drive Derating Data
100%
90%
80%
70%
0 4 kHz 6 kHz 8 kHz 10 kHz
Figure A.1 Carrier Frequency Derating
u Temperature Derating
To ensure the maximum performance life, the drive output current must be derated as shown in Figure A.2 when the drive is
installed in areas with high ambient temperature. Set parameters L8-12 and L8-35 according to the installation conditions to
ensure reliable drive overload protection.
n Parameter Settings
No. Name Description Range Default
Ambient Adjust the drive overload (oL2) protection level when the drive is installed
L8-12 -10 to +50 +40 °C
Temperature Setting in an environment that exceeds its ambient temperature rating.
Installation Method 0: IP00/Open-Chassis Enclosure Det. by
L8-35 2: IP20/NEMA Type 1 Enclosure 0, 2, 3
Selection o2-04
3: Finless Drive or External Heatsink Installation
Setting 0: IP00/Open-Chassis Enclosure
Drive operation between -10 °C and +50 °C allows 100% continuous current without derating.
Setting 2: IP20/NEMA Type 1 Enclosure
Drive operation between -10 °C and +40 °C allows 100% continuous current without derating. Operation between +40 °C and
+50 °C requires output current derating.
Setting 3: External Heatsink Installation, Finless Drive
Drive operation between -10 °C and +40 °C allows 100% continuous current without derating. Operation between +40 °C and
+50 °C requires output current derating.
L8-35=0: IP00 Enclosure
Drive Rating
(%)
L8-35=2: NEMA Type 1 Enclosure
100 L8-35=3: External Heatsink lnstallation
85
70
55
Specifications
0 L8-12
-10 30 40 50 (Ambient temp: °C)
Figure A.2 Ambient Temperature and Installation Method Derating
A
u Altitude Derating
The drive standard ratings are valid for installation altitudes up to 1000 m. For installations from 1000 m to 3000 m, the drive
rated voltage and the rated output current must be derated for 1% per 100 m.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 439
A.5 Drive Derating Data
This Page Intentionally Blank
440 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
Appendix: B
Parameter List
This appendix contains a full listing of all parameters and settings available in the drive.
B.1 UNDERSTANDING PARAMETER DESCRIPTIONS...........................................442
B.2 PARAMETER GROUPS ......................................................................................443
B.3 A: INITIALIZATION PARAMETERS ...................................................................444
B.4 B: APPLICATION.................................................................................................446
B.5 C: TUNING............................................................................................................455
B.6 D: REFERENCE SETTINGS................................................................................461
B.7 E: MOTOR PARAMETERS..................................................................................467
B.8 F: OPTION SETTINGS.........................................................................................473
B.9 H PARAMETERS: MULTI-FUNCTION TERMINALS..........................................483
B.10 L: PROTECTION FUNCTION...............................................................................498
B.11 N: SPECIAL ADJUSTMENTS..............................................................................507
B.12 O: OPERATOR-RELATED SETTINGS................................................................511
B.13 DRIVEWORKSEZ PARAMETERS.......................................................................514
B.14 T: MOTOR TUNING..............................................................................................515
B.15 U: MONITORS......................................................................................................519
B.16 CONTROL MODE DEPENDENT PARAMETER DEFAULT VALUES................530
B.17 V/F PATTERN DEFAULT VALUES.....................................................................534
B.18 DEFAULTS BY DRIVE MODEL AND DUTY RATING ND/HD............................536
B.19 PARAMETERS CHANGED BY MOTOR CODE SELECTION (FOR PM
MOTORS).............................................................................................................542
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 441
B.1 Understanding Parameter Descriptions
B.1 Understanding Parameter Descriptions
u 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: Refer to Control Mode Selection on page 31 for detailed instructions on each control mode.
Table B.1 Symbols and Icons Used in Parameter Descriptions
Symbol Description
All Modes Parameter is available 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.
Parameter is NOT available when operating the drive in the control mode.
Parameter can be changed during run.
Refers to a second motor when the drive is operating two motors. Switch between these motors using the multi-
Motor 2 function input terminals.
442 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.2 Parameter Groups
B.2 Parameter Groups
Table B.2 Parameter Groups
Parameter Parameter
Name Page Name Page
Group Group
A1 Initialization Parameters 444 H1 Multi-Function Digital Inputs 483
A2 User Parameters 445 H2 Multi-Function Digital Outputs 488
b1 Operation Mode Selection 446 H3 Multi-Function Analog Inputs 492
b2 DC Injection Braking 447 H4 Multi-Function Analog Outputs 494
b3 Speed Search 448 H5 MEMOBUS/Modbus Serial Communication 495
b4 Timer Function 450 H6 Pulse Train Input/Output 496
b5 PID Control 451 L1 Motor Protection 498
b6 Dwell Function 453 L2 Momentary Power Loss Ride-Thru 499
b7 Droop Control 453 L3 Stall Prevention 500
b8 Energy Saving 454 L4 Speed Detection 501
b9 Zero Servo 454 L5 Fault Restart 502
C1 Acceleration and Deceleration Times 455 L6 Torque Detection 502
C2 S-Curve Characteristics 456 L7 Torque Limit 504
C3 Slip Compensation 456 L8 Drive Protection 504
C4 Torque Compensation 457 L9 Drive Protection 2 506
C5 Automatic Speed Regulator (ASR) 457 n1 Hunting Prevention 507
C6 Carrier Frequency 459 Speed Feedback Detection Control (AFR)
n2 507
Tuning
C7 Voltage Adjustment 460
n5 Feed Forward Control 508
d1 Frequency Reference 461
n6 Online Tuning 508
d2 Frequency Upper/Lower Limits 463
n8 PM Motor Control Tuning 508
d3 Jump Frequency 463
o1 Digital Operator Display Selection 511
Frequency Reference Hold and Up/Down 2
d4 463
Function o2 Digital Operator Keypad Functions 511
d5 Torque Control 464 o3 Copy Function 512
d6 Field Weakening and Field Forcing 465 o4 Maintenance Monitor Settings 512
d7 Offset Frequency 465 q DriveWorksEZ Parameters 514
E1 V/f Pattern for Motor 1 467 r DriveWorksEZ Connection Parameters 514
E2 Motor 1 Parameters 468 T1 Induction Motor Auto-Tuning 515
E3 V/f Pattern for Motor 2 469 T2 PM Motor Auto-Tuning 516
E4 Motor 2 Parameters 470 T3 ASR and Inertia Tuning 518
E5 PM Motor Settings 471 U1 Operation Status Monitors 519
PG Speed Control Card (PG-B3, PG-X3, U2 Fault Trace 521
F1 473
PG-RT3, PG-F3) U3 Fault History 523
F2 Analog Input Card (AI-A3) 476 U4 Maintenance Monitors 523
F3 Digital Input Card (DI-A3) 476 U5 PID Monitors 525
F4 Analog Monitor Card (AO-A3) 476 U6 Operation Status Monitors 526
F5 Digital Output Card (DO-A3) 477 U8 DriveWorksEZ Monitors 528
Communication Option Card (SI-C3, SI-S3,
Parameter List
U9 Power Monitors 528
F6 SI-N3, SI-P3, SI-T3, SI-EP3, SI-ES3, SI-B3, 478
SI-W3)
Communication Option Card (SI-EN3, SI-EM3,
F7 480
SI-EP3)
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 443
B.3 A: Initialization Parameters
B.3 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.
u A1: Initialization
No.
(Addr. Name LCD Display Description Values Page
Hex)
Select Language All Modes
0: English 0: English
A1-00 1: (Japanese) 1: Japanese
(0100) 2: Deutsch 2: German
Language Selection Default: 0
3: Français 3: French 152
Range: 0 to 7
<1>
4: Italiano 4: Italian
5: Español 5: Spanish
6: Portuguêse 6: Portuguese
7: 7: Chinese
All Modes
A1-01 Access Level
(0101) 0: View and set A1-01 and A1-04. Uo-oo parameters can also
0: Operation Only be viewed. Default: 2
Access Level Selection 1: User Parameters
152
1: User Parameters (access to a set of parameters selected by the Range: 0 to 2
<2> 2: Advanced Level user, A2-01 to A2-32)
2: Advanced Access (access to view and set all parameters)
Control Method All Modes
0: V/f Control
1: V/f with PG 0: V/f Control
A1-02 2: Open Loop Vector 1: V/f Control with PG Default: 0
(0102) Control Method 2: Open Loop Vector Control
3: Closed Loop Vect Range: 0 to 3; 152
<1> Selection 3: Closed Loop Vector Control
5: PM OpenLoop Vect 5 to7
6: PM 5: Open Loop Vector Control for PM
AdvOpLoopVect 6: Advanced Open Loop Vector Control for PM
7: PM ClosedLoopVct 7: Closed Loop Vector Control for PM
All Modes
Init Parameters
0: No Initialize 0: No initialization Default: 0
A1-03 1110: User Initialize 1110: User Initialize (parameter values must be stored using Range: 0 to
Initialize Parameters parameter o2-03) 153
(0103) 2220: 2-Wire Initial 3330;
3330: 3-Wire Initial 2220: 2-Wire initialization 5550
5550: Term->Cntrl Int 3330: 3-Wire initialization
5550: oPE04 error reset
All Modes
A1-04 Default: 0000
Password Enter Password When the value set into A1-04 does not match the value set into Min.: 0000 154
(0104) A1-05, parameters A1-01 through A1-03, A1-06, A1-07, and Max.: 9999
A2-01 through A2-32 cannot be changed.
All Modes
A1-05 Default: 0000
Password Setting Select Password When the value set into A1-04 does not match the value set into Min.: 0000 154
(0105) A1-05, parameters A1-01 through A1-03, A1-06, A1-07, and Max.: 9999
A2-01 through A2-32 cannot be changed.
Application Sel All Modes
0: General 0: General-purpose
1: Pump 1: Water supply pump
A1-06 Default: 0
Application Preset 2: Conveyor 2: Conveyor 156
(0127) Range: 0 to 5
3: Exhaust Fan 3: Exhaust fan
4: Supply Fan 4: HVAC fan
5: Compressor 5: Air compressor
DWEZ Func Sel All Modes
A1-07 DriveWorksEZ 0: Disabled 0: DWEZ Disabled Default: 0 156
(0128) Function Selection 1: Enabled 1: DWEZ Enabled Range: 0 to 2
2: Terminal Control 2: Digital input (enabled when H1-oo = 9F)
<1> Parameter setting value is not reset to the default value when the drive is initialized.
<2> Default setting value is determined by he Application Preset selected in parameter A1-06.
444 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.3 A: Initialization Parameters
u A2: User Parameters
No.
(Addr. Name LCD Display Description Values Page
Hex)
A2-01 to All Modes
A2-32 Default: <1>
(0106 to User Parameters 1 to 32 User Param 1 - 32 Recently edited parameters are listed here. The user can also Range: b1-01 to 157
0125) select parameters to appear here for quicker access. o4-19
All Modes
User Parms Sel 0: Parameters A2-01 to A2-32 are reserved for the user to create
A2-33 User Parameter 0: Disabled a list of User Parameters. Default: 1 <2> 157
(0126) Automatic Selection 1: Save history of recently viewed parameters. Recently edited Range: 0, 1
1: Enabled
parameters will be saved to A2-17 through A2-32 for quicker
access.
<1> Default setting value is determined by the Application Preset selected in parameter A1-06.
<2> Default setting value is determined by parameter A1-06. Default is 0 when A1-06 = 0, and 1 when A1-06 ≠ 0.
Parameter List
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 445
B.4 b: Application
B.4 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.
u b1: Operation Mode Selection
No.
(Addr. Name LCD Display Description Values Page
Hex)
Ref Source 1 All Modes
0: Operator 0: Digital operator
b1-01 Frequency Reference 1: Analog Input 1: Analog input terminals Default: 1
(0180) Selection 1 2: Serial Com 158
2: MEMOBUS/Modbus communications Range: 0 to 4
3: Option PCB 3: Option PCB
4: Pulse Input 4: Pulse train input (terminal RP)
Run Source 1 All Modes
0: Operator 0: Digital operator
b1-02 Run Command Default: 1
1: Digital Inputs 1: Digital input terminals 159
(0181) Selection 1 Range: 0 to 3
2: Communication 2: MEMOBUS/Modbus communications
3: Option PCB 3: Option PCB
Stopping Method All Modes
0: Ramp to Stop 0: Ramp to stop Default: 0
b1-03 Stopping Method 1: Coast to Stop 1: Coast to stop Range: 0 to 3 160
(0182) Selection 2: DCInj to Stop 2: DC Injection Braking to stop <1>
3: Coast w/Timer 3: Coast with timer
Reverse Oper All Modes
b1-04 Reverse Operation Default: 0
0: Reverse Enabled 0: Reverse enabled. 163
(0183) Selection Range: 0, 1
1: Reverse Disabled 1: Reverse disabled.
V/f V/f w PG OLV CLV
OLV/PM AOLV/PM CLV/PM
Zero-Speed Oper 0: Operates according to frequency reference (E1-09 is
Action Selection below 0: RUN at Freq Ref disabled).
b1-05 Default: 0
Minimum Output 1: STOP 1: Output shuts off (coast to stop if less than E1-09). 163
(0184) Range: 0 to 3
Frequency 2: RUN at Min Freq 2: Operates according to E1-09 (frequency reference set to
RUN at Zero PRM E1-09).
3: Zero speed (frequency reference becomes zero when less than
E1-09).
All Modes
Cntl Input Scans 0: Input status is read once and processed immediately (for
b1-06 Default: 1
Digital Input Reading 0: 1 Scan quicker response) 164
(0185) Range: 0, 1
1: 2 Scans 1: Input is read twice and processed only if the status is the same
in both readings (robust against noisy signals)
All Modes
LOCAL/REMOTE Run LOC/REM Dur Run 0: An external Run command must be cycled at the new source
b1-07 Default: 0
0: Cycle Extrn RUN in order to be activated. 165
(0186) Selection Range: 0, 1
1: Accept Extrn RUN 1: An external Run command at the new source is accepted
immediately.
RUN dur PRG Mode All Modes
Run Command Selection 0: Run
b1-08 0: Run command is not accepted while in Programming Mode. Default: 0
(0187) in Programming Mode Disabled@PRG Range: 0 to 2 165
1: Run Enabled@PRG 1: Run command is accepted while in Programming Mode.
2: Prg only @ Stop 2: Prohibit entering Programming Mode during run.
V/f V/f w PG OLV CLV
Rotation Sel
b1-14 OLV/PM AOLV/PM CLV/PM Default: 0
Phase Order Selection 0: Standard 165
(01C3) Range: 0, 1
1: SwitchPhaseOrder 0: Standard
1: Switch phase order (reverses the direction of the motor)
446 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.4 b: Application
No.
(Addr. Name LCD Display Description Values Page
Hex)
All Modes
Ref Source 2 Enabled when an input terminal set for “External reference”
0: Operator (H1-oo = 2) closes.
b1-15 Frequency Reference 1: Analog Input 0: Digital operator Default: 0
(01C4) Selection 2 2: Serial Com 165
1: Terminals (analog input terminals) Range: 0 to 4
3: Option PCB 2: MEMOBUS/Modbus communications
4: Pulse Input 3: Option card
4: Pulse train input
All Modes
Run Source 2 Enabled when a terminal set for “External reference”
0: Operator (H1-oo = 2) closes.
b1-16 Run Command Default: 0
1: Digital Inputs 0: Digital operator 166
(01C5) Selection 2 Range: 0 to 3
2: Communication 1: Digital input terminals
3: Option PCB 2: MEMOBUS/Modbus communications
3: Option card
All Modes
Run Command at Power Run Cmd @ Pwr On 0: Disregarded. A new Run command must be issued after
b1-17 Default: 0
0: Cycle Ext Run power up. 166
(01C6) Up Range: 0, 1
1: Accept Ext Run 1: Allowed. Motor will start immediately after power up if a
Run command is already enabled.
V/f V/f w PG OLV CLV
OLV/PM AOLV/PM CLV/PM
Start Condition PG Start Sel Selects a condition to start CLV control. There is normally no Default: 0
b1-21 Selection at Closed Loop 0: RejectRunCmd need to change this parameter from the default value. 166
(0748) Range: 0, 1
Vector Control 1: AcceptRunCmd 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
b1-24 Commercial Power CommerclPwrSwSel Default: 0
OLV/PM AOLV/PM CLV/PM
(0B2C) Operation Switching 0: Disabled Range: 0, 1 166
Selection 1: Enabled 0: Disabled
1: Enabled
b1-25 Commercial Power V/f V/f w PG OLV CLV Default: 1.0 kHz
(0B2D) Supply Operation Freq Deviate Lvl Min.: 0.4 166
OLV/PM AOLV/PM CLV/PM
Cancellation Level Max.: 6.0
Sets the judgement value of the hysteresis comparator in the
b1-26 Commercial Power judgment section for the commercial power switching function Default: 0.2 kHz
(0B2E) Supply Operation Freq Accept Lvl in increments of 0.1 Hz. Min.: 3.0 167
Switching Level Max.: 6.0
<1> Setting range is 0, 1, 3 in CLV, OLV/PM, AOLV/PM, and CLV/PM control modes.
u b2: DC Injection Braking
No.
(Addr. Name LCD Display Description Values Page
Hex)
b2-01 DC Injection Braking
All Modes Default: <1>
DCInj Start Freq Sets the frequency at which DC Injection Braking starts when Min.: 0.0 Hz 167
(0189) Start Frequency
“Ramp to stop” (b1-03 = 0) is selected. Max.: 10.0 Hz
V/f V/f w PG OLV CLV
Default: 50%
Parameter List
b2-02 DC Injection Braking OLV/PM AOLV/PM CLV/PM
DCInj Current Min.: 0 167
(018A) Current Sets the DC Injection Braking current as a percentage of the Max.: 100
drive rated current.
b2-03 DC Injection Braking
All Modes Default: 0.00 s
DCInj Time@Start Sets DC Injection Braking (Zero Speed Control when in CLV Min.: 0.00 168
(018B) Time at Start
and CLV/PM) time at start. Disabled when set to 0.00 seconds. Max.: 10.00
All Modes Default: <1>
B
b2-04 DC Injection Braking DCInj Time@Stop Sets DC Injection Braking (Zero Speed Control when in CLV Min.: 0.00 s 168
(018C) Time at Stop
and CLV/PM) time at stop. Max.: 10.00 s
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 447
B.4 b: Application
No.
(Addr. Name LCD Display Description Values Page
Hex)
V/f V/f w PG OLV CLV
Default: 0%
b2-08 Magnetic Flux OLV/PM AOLV/PM CLV/PM
Field Comp Min.: 0 168
(0190) Compensation Value Sets the magnetic flux compensation as a percentage of the no- Max.: 1000
load current value (E2-03).
<1> Default setting is determined by parameter A1-02, Control Method Selection.
u b3: Speed Search
No.
(Addr Name LCD Display Description Values Page
Hex.)
V/f V/f w PG OLV CLV
Speed Search Selection SpdSrch at Start
b3-01 0: Disabled OLV/PM AOLV/PM CLV/PM Default: <1> 170
(0191) at Start 0: Disabled Range: 0, 1
1: Enabled
1: Enabled
V/f V/f w PG OLV CLV Default: 2.0 s
b3-03 Speed Search SpdSrch Dec Time OLV/PM AOLV/PM CLV/PM Min.: 0.1 171
(0193) Deceleration Time
Sets output frequency reduction time during Speed Search. Max.: 10.0
V/f V/f w PG OLV CLV
OLV/PM AOLV/PM CLV/PM
b3-04 V/f Gain during Speed Default: <2>
SpdSrch V/f Determines how much to lower the V/f ratio during Speed Min.: 10% 171
(0194) Search Search. Max.: 100%
Output voltage during Speed Search equals the V/f setting
multiplied by b3-04.
All Modes
b3-05 Speed Search Delay Default: 0.2 s
Search Delay When using an external contactor on the output side, b3-05 Min.: 0.0 171
(0195) Time delays executing Speed Search after a momentary power loss to Max.: 100.0
allow time for the contactor to close.
V/f V/f w PG OLV CLV
b3-06 Output Current 1 during Srch Im Lvl1 OLV/PM AOLV/PM CLV/PM Default: <2>
Sets the current injected to the motor at the beginning of Speed Min.: 0.0 171
(0196) Speed Search
Estimation Speed Search. Set as a coefficient for the motor rated Max.: 2.0
current.
V/f V/f w PG OLV CLV
OLV/PM AOLV/PM CLV/PM
b3-08 Current Control Gain Default: <3>
during Speed Search Srch ACR P Gain Sets the proportional gain for the current controller during Min.: 0.00 171
(0198) Speed Search.
(Speed Estimation Type) Max.: 6.00
There is normally no need to change this parameter from the
default setting.
V/f V/f w PG OLV CLV
OLV/PM AOLV/PM CLV/PM Default: 1.05
b3-10 Speed Search Detection Srch Detect Comp Sets the gain which is applied to the speed detected by Speed Min.: 1.00
(019A) Compensation Gain 172
Estimation Speed Search before the motor is reaccelerated. Max.: 1.20
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
Bidir Search Sel
b3-14 Bi-Directional Speed 0: Disabled OLV/PM AOLV/PM CLV/PM Default: <1> 172
(019E) Search Selection 0: Disabled (uses the direction of the frequency reference) Range: 0, 1
1: Enabled
1: Enabled (drive detects which way the motor is rotating)
V/f V/f w PG OLV CLV
b3-17 Speed Search Restart Default: 150%
SrchRestart Lvl OLV/PM AOLV/PM CLV/PM Min.: 0 172
(01F0) Current Level Sets the Speed Search restart current level as a percentage of the Max.: 200
drive rated current.
V/f V/f w PG OLV CLV Default: 0.10 s
b3-18 Speed Search Restart SrchRestart Time OLV/PM AOLV/PM CLV/PM Min.: 0.00 172
(01F1) Detection Time
Sets the time to detect Speed Search restart. Max.: 1.00
448 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.4 b: Application
No.
(Addr Name LCD Display Description Values Page
Hex.)
V/f V/f w PG OLV CLV
Default: 3
b3-19 Number of Speed Search Num of SrchRestr OLV/PM AOLV/PM CLV/PM Min.: 0 172
(01F2) Restarts Sets the number of times the drive can attempt to restart when Max.: 10
performing Speed Search.
V/f V/f w PG OLV CLV
SpdSrch Method
b3-24 Speed Search Method OLV/PM AOLV/PM CLV/PM Default: 2
1: CurrentDetection 172
(01C0) Selection 1: Current Detection Range: 1, 2
2: Speed Estimation
2: Speed Estimation
V/f V/f w PG OLV CLV
b3-25 Default: 0.5 s
Speed Search Wait Time SpdSrch WaitTime OLV/PM AOLV/PM CLV/PM Min.: 0.0 173
(01C8) Sets the time the drive must wait between each Speed Search Max.: 30.0
restart attempt.
V/f V/f w PG OLV CLV
OLV/PM AOLV/PM CLV/PM
SPD Search By AI Selects a condition to activate Speed Search Selection at Start Default: 0
b3-27 Start Speed Search 0: start from 0 (b3-01) or External Speed Search Command 1 or 2 from the Range: 0, 1 173
(01C9) Select 1: start SPD multi-function input.
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
OLV/PM AOLV/PM CLV/PM
Performs Speed Search when the motor induced voltage Default: 10%
b3-29 Speed Search Induced exceeds the set level.
SpdSrch Ind Vlvl Min.: 0 173
(077C) Voltage Level There is normally no need to change this parameter from the Max.: 10
default value, but if changes are necessary, try lowering this
value in small increments. When set too low, the drive will not
perform Speed Search.
V/f V/f w PG OLV CLV
b3-31 Speed Search Operation OLV/PM AOLV/PM CLV/PM
Default: 1.50
(0BC0) Current Level 1 (Current Search (I2) Lvl1 Min.: 1.50
Set the current level to use to limit the output current during a Max.: 3.50
173
Detection 1)
Speed Search.
V/f V/f w PG OLV CLV
b3-32 Speed Search Operation OLV/PM AOLV/PM CLV/PM
Default: 1.20
(0BC1) Current Level 2 (Current Search (I2) Lvl2 Set the current level at which to end the Speed Search for
Min.: 0.00 173
Detection 2) Max.: 1.49
Current Detection Type Speed Search 2.
All Modes
Activates and deactivates Speed Search at start in accordance
Speed Search Selection SpdSrch Start UV with whether a Run command was issued during an
b3-33 undervoltage (Uv) condition. Function is active when a Default: 0
when Run Command is 0: Disabled 173
(0B3F) momentary power loss (L2-01 = 1 or 2), Speed Search at start Range: 0, 1
Given during Uv 1: Enabled
(b3-01 = 1), and coasting to a stop (b1-03 = 1) are enabled.
0: Disabled
1: Enabled
b3-50 Backspin Search
Default: 0.0 s
(0BC7) Direction Judgment Bkspin Srch Time1 V/f V/f w PG OLV CLV Min.: 0.0 174
Time 1 Max.: 10.0
OLV/PM AOLV/PM CLV/PM
b3-51 Backspin Search Default: 0.0 s
Adjusts the direction of Speed Search to allow for backspin. Min.: 0.0
(0BC8) Direction Judgment Bkspin Srch Time2 174
Parameter List
Time 2 Max.: 10.0
V/f V/f w PG OLV CLV
OLV/PM AOLV/PM CLV/PM Default: 2.0 s
b3-52 Backspin Search BkspinSrchDecel1 Sets the search frequency deceleration rate when searching from Min.: 0.1 175
(0BC9) Deceleration Time 1
the direction command when the momentary power loss time is Max.: 10.0
shorter than the time set in b3-50.
B
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 449
B.4 b: Application
No.
(Addr Name LCD Display Description Values Page
Hex.)
V/f V/f w PG OLV CLV
OLV/PM AOLV/PM CLV/PM Default: 2.0 s
b3-53 Backspin Search Sets the search frequency deceleration rate for a Speed Search Min.: 0.1
BkspinSrchDecel2 175
(0BCA) Deceleration Time 2 from the opposite direction of the direction command when the Max.: 10.0
momentary power loss time is equal to or longer than the time
set in b3-51.
<1> Default setting is determined by parameter A1-02, Control Method Selection.
<2> Default setting is determined by parameter o2-04, Drive Model Selection.
<3> Default setting is determined by parameters A1-02, Control Method Selection, and o2-04, Drive Model Selection.
u b4: Timer Function
No.
(Addr. Name LCD Display Description Values Page
Hex)
b4-01 Timer Function On- All Modes Default: 0.0 s
Delay-ON Timer Min.: 0.0 176
(01A3) Delay Time Sets the on-delay and off-delay times for a digital timer output Max.: 3000.0
(H2-oo = 12).
The output is triggered by a digital input programmed to Default: 0.0 s
b4-02 Timer Function Off- Delay-OFF Timer H1-oo = 18). Min.: 0.0 176
(01A4) Delay Time Max.: 3000.0
b4-03 All Modes
H2-01 ON Delay Time H2-01 ON Delay
(0B30)
Sets the length of the delay time for contact outputs to open or
b4-04 close for the related functions set in H2-oo.
H2-01 OFF Delay Time H2-01 OFF Delay
(0B31)
b4-05 H2-02 ON Delay Time H2-02 ON Delay Default: 0 ms
(0B32)
Min.: 0 176
b4-06 Max.: 65000
H2-02 OFF Delay Time H2-02 OFF Delay
(0B33)
b4-07 H2-03 ON Delay Time H2-03 ON Delay
(0B34)
b4-08 H2-03 OFF Delay Time H2-03 OFF Delay
(0B35)
450 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.4 b: Application
u b5: PID Control
No.
(Addr. Name LCD Display Description Values Page
Hex)
All Modes
0: Disabled
1: Enabled (PID output becomes output frequency reference,
deviation D controlled)
2: Enabled (PID output becomes output frequency reference,
PID Mode feedback D controlled)
0: Disabled 3: Enabled (PID output added to frequency reference, deviation
1: Enabled D=Fdbk D controlled)
2: Enabled D=Fdfwd 4: Enabled (PID output added to frequency reference, feedback
3: Fref+PID D=Fdbk D controlled) <1>
b5-01 PID Function Setting 4: Fref+PID D=Fdfwd 5: Mode compatible with setting 1 of similar products from a Default: 0 180
(01A5) Range: 0 to 8
5: Enabled D=Fdbk2 previous product line
6: Enabled D=Fdfwd2 6: Mode compatible with setting 2 of similar products from a
7: Fref+PID D=Fdbk2 previous product line
8: Fref 7: Mode compatible with setting 3 of similar products from a
+PIDD=Fdfwd2 previous product line
8: Mode compatible with setting 4 of similar products from a
previous product line
Note: If the drive is replaced with Varispeed F7 drive
or a similar product from a previous product line,
use settings 5 to 8 instead of settings 1 to 4.
b5-02 All Modes Default: 1.00
(01A6) Proportional Gain PID Gain Sets the proportional gain of the PID controller. Min.: 0.00 180
Setting (P)
Max.: 25.00
b5-03 All Modes Default: 1.0 s
(01A7) Integral Time Setting (I) PID I Time Min.: 0.0 180
Sets the integral time for the PID controller.
Max.: 360.0
b5-04 All Modes Default: 100.0%
(01A8) Integral Limit Setting PID I Limit Min.: 0.0 180
Sets the maximum output possible from the integrator as a
percentage of the maximum output frequency. Max.: 100.0
b5-05 All Modes Default: 0.00 s
(01A9) Derivative Time (D) PID D Time Min.: 0.00 180
Sets D control derivative time.
Max.: 10.00
b5-06 All Modes Default: 100.0%
(01AA) PID Output Limit PID Limit Min.: 0.0 180
Sets the maximum output possible from the entire PID
controller as a percentage of the maximum output frequency. Max.: 100.0
b5-07 All Modes Default: 0.0%
(01AB) PID Offset Adjustment PID Offset Min.: -100.0 181
Applies an offset to the PID controller output. Set as a
percentage of the maximum output frequency. Max.: 100.0
b5-08 All Modes Default: 0.00 s
(01AC) PID Primary Delay Time PID Delay Time Min.: 0.00 181
Constant Sets a low pass filter time constant on the output of the PID
controller. Max.: 10.00
Output Level Sel All Modes
b5-09 PID Output Level Default: 0
0: Normal Character 0: Normal output (direct acting) 181
(01AD) Selection Range: 0, 1
1: Rev Character 1: Reverse output (reverse acting)
b5-10 All Modes Default: 1.00
Parameter List
(01AE) PID Output Gain Setting Output Gain Min.: 0.00 181
Sets the gain applied to the PID output.
Max.: 25.00
All Modes
Output Rev Sel 0: Negative PID output triggers zero limit.
b5-11 PID Output Reverse 0: 0 limit 1: Rotation direction reverses with negative PID output. Default: 0 181
(01AF) Selection Range: 0, 1
1: Reverse
Note: When using setting 1, make sure reverse
operation is permitted by b1-04.
B
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 451
B.4 b: Application
No.
(Addr. Name LCD Display Description Values Page
Hex)
All Modes
Fb loss Det Sel 0: No fault. Digital output only.
0: Disabled 1: Fault detection. Alarm output, drive continues operation.
1: Alarm @ PID Enbl 2: Fault detection. Fault output, drive output is shut off.
b5-12 PID Feedback Loss 2: Fault @ PID Enbl 3: No fault. Digital output only. No fault detection when PID Default: 0
(01B0) Detection Selection 3: DO Only@PID 182
control is disabled. Range: 0 to 5
Enbl 4: Fault detection. Alarm is triggered and drive continues to run.
4: Alarm @ PID Enbl Fault detection even when PID is disabled.
5: Fault @ PID Enbl 5: Fault detection. Drive output shuts off. No fault detection
when PID control is disabled.
b5-13 PID Feedback Low
All Modes Default: 0%
Fb loss Det Lvl Sets the PID feedback low detection level as a percentage of the Min.: 0 182
(01B1) Detection Level
maximum output frequency. Max.: 100
b5-14 PID Feedback Low All Modes Default: 1.0 s
Fb loss Det Time Min.: 0.0 183
(01B2) Detection Time Sets a delay time for PID feedback loss. Max.: 25.5
All Modes Default: 0.0 Hz
b5-15 PID Sleep Function Start PID Sleep Level Min.: 0.0 183
(01B3) Level Sets the frequency level that triggers the sleep function. Max.: 400.0
b5-16 All Modes Default: 0.0 s
PID Sleep Delay Time PID Sleep Time Min.: 0.0 183
(01B4) Sets a delay time before the sleep function is triggered. Max.: 25.5
All Modes Default: 0.0 s
b5-17 PID Accel/Decel Time PID Acc/Dec Time Min.: 0.0 184
(01B5) Sets the acceleration and deceleration time to PID setpoint. Max.: 6000.0
PID Setpoint Sel All Modes
b5-18 Default: 0
(01DC) PID Setpoint Selection 0: Disabled 0: Disabled 184
Range: 0, 1
1: Enabled 1: Enabled
b5-19 All Modes Default: 0.00%
(01DD) PID Setpoint Value PID Setpoint Sets the PID target value when b5-18 = 1. Set as a percentage Min.: 0.00 184
of the maximum output frequency. Max.: 100.00
All Modes
PID Disp Scaling
0: 0.01Hz units Sets the units for setting/display b5-19.
b5-20 0: 0.01 Hz units Default: 1
PID Setpoint Scaling 1: 0.01% units 184
(01E2) 1: 0.01% units (100% = max output frequency) Range: 0 to 3
2: r/min
3: User Units 2: r/min (number of motor poles must entered)
3: User-set (set scaling to b5-38 and b5-39)
b5-34 All Modes Default: 0.00%
(019F) PID Output Lower Limit PID Out Low Lim Sets the minimum output possible from the PID controller as a Min.: -100.00 184
percentage of the maximum output frequency. Max.: 100.00
b5-35 All Modes Default:
(01A0) PID Input Limit PID Input Limit 1000.0%
Limits the PID control input (deviation signal) as a percentage Min.: 0.0 184
of the maximum output frequency. Acts as a bipolar limit. Max.: 1000.0
All Modes Default: 100%
b5-36 PID Feedback High Fb High Det Lvl Sets the PID feedback high detection level as a percentage of Min.: 0 183
(01A1) Detection Level
the maximum output frequency. Max.: 100
b5-37 PID Feedback High All Modes Default: 1.0 s
Fb High Dly Time Min.: 0.0 183
(01A2) Detection Time Sets the PID feedback high level detection delay time. Max.: 25.5
b5-38 PID Setpoint User
All Modes Default: <2>
PID UsrDspMaxVal Sets the display value of U5-01 and U5-04 when the maximum Min.: 1 185
(01FE) Display
frequency is output. Max.: 60000
PID UsrDspDigits All Modes
0: No Dec (XXXXX) 0: No decimal places
b5-39 PID Setpoint Display 1: 1 Dec (XXXX.X) Default: <2> 185
(01FF) Digits 1: One decimal place Range: 0 to 3
2: 2 Dec (XXX.XX) 2: Two decimal places
3: 3 Dec (XX.XXX) 3: Three decimal places
452 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.4 b: Application
No.
(Addr. Name LCD Display Description Values Page
Hex)
All Modes
Frequency Reference Fref Mon Sel@PID 0: Display the frequency reference (U1-01) after PID
b5-40 Default: 0
Monitor Content during 0: Fref Mon w PID compensation has been added. 185
(017F) Range: 0, 1
PID 1: Fref Mon w/o PID 1: Display the frequency reference (U1-01) before PID
compensation has been added.
All Modes
Output Rev Sel2 Reverse operation selection when b5-01 = 3 or 4.
b5-47 Reverse Operation Default: 1
0: 0 limit 0: Zero limit when PID output is a negative value. 185
(017D) Selection 2 Range: 0, 1
1: Reverse 1: Reverse operation when PID output is a negative value
(Zero limit if the reverse operation is prohibited by b1-04).
<1> Default setting is determined by parameter o2-04, Drive Model Selection.
<2> Default setting is determined by parameter b5-20, PID Setpoint Scaling.
u b6: Dwell Function
No.
(Addr. Name LCD Display Description Values Page
Hex)
b6-01 All Modes Default: 0.0 Hz
Dwell Reference at Start Dwell Ref @Start Min.: 0.0 187
(01B6) Parameters b6-01 and b6-02 set the frequency to hold and the Max.: 400.0
time to maintain that frequency at start.
Default: 0.0 s
b6-02 Dwell Time at Start Dwell Time@Start Min.: 0.0 187
(01B7) Max.: 10.0
All Modes Default: 0.0 Hz
b6-03 Dwell Reference at Stop Dwell Ref @Stop Min.: 0.0 187
(01B8) Parameters b6-03 and b6-04 set the frequency to hold and the Max.: 400.0
time to maintain that frequency at stop.
Default: 0.0 s
b6-04 Dwell Time at Stop Dwell Time @Stop Min.: 0.0 187
(01B9) Max.: 10.0
u b7: Droop Control
No.
(Addr. Name LCD Display Description Values Page
Hex)
V/f V/f w PG OLV CLV
b7-01 Default: 0.0%
(01CA) Droop Control Gain DROOP Quantity OLV/PM AOLV/PM CLV/PM Min.: 0.0 187
Sets the speed reduction gain applied at a torque reference of Max.: 100.0
100%. Set as a percentage of motor base speed.
b7-02 V/f V/f w PG OLV CLV Default: 0.05 s
(01CB) Droop Control Delay DROOP Delay Time OLV/PM AOLV/PM CLV/PM Min.: 0.03 188
Time Max.: 2.00
Adjusts the responsiveness of Droop Control.
V/f V/f w PG OLV CLV
Droop Limit Sel
b7-03 Droop Control Limit OLV/PM AOLV/PM CLV/PM Default: 1
0: Disabled 188
(017E) Selection 0: Disabled Range: 0, 1
1: Enabled
1: Enabled
Parameter List
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 453
B.4 b: Application
u b8: Energy Saving
No.
(Addr. Name LCD Display Description Values Page
Hex)
V/f V/f w PG OLV CLV
Energy Save Sel
b8-01 Energy Saving Control 0: Disabled OLV/PM AOLV/PM CLV/PM Default: <1> 188
(01CC) Selection 0: Disabled Range: 0, 1
1: Enabled
1: Enabled
b8-02 V/f V/f w PG OLV CLV Default: <1>
(01CD) Energy Saving Gain Energy Save Gain OLV/PM AOLV/PM CLV/PM Min.: 0.0 188
Sets the gain used for Energy Saving. Max.: 10.0
b8-03 V/f V/f w PG OLV CLV Default: <2>
(01CE) Energy Saving Control Energy Save F.T OLV/PM AOLV/PM CLV/PM Min.: 0.00 s 189
Filter Time Constant
Sets a time constant for Energy Saving. Max.: 10.00 s
V/f V/f w PG OLV CLV
OLV/PM AOLV/PM CLV/PM
b8-04 Energy Saving Determines the level of maximum motor efficiency. Setting Default: <3> <4>
Energy Save COEF range is 0.0 to 2000.0 for drives 3.7 kW and smaller. The display Min.: 0.00 189
(01CF) Coefficient Value
resolution depends on the rated output current after the Drive Max.: 655.00
Duty has been set in parameter C6-01. Refer to Model Number
and Nameplate Check on page 34.
V/f V/f w PG OLV CLV Default: 20 ms
b8-05 Power Detection Filter kW Filter Time OLV/PM AOLV/PM CLV/PM Min.: 0 189
(01D0) Time
Sets a time constant filter for output power detection. Max.: 2000
V/f V/f w PG OLV CLV
b8-06 Search Operation Default: 0%
Search V Limit OLV/PM AOLV/PM CLV/PM Min.: 0 189
(01D1) Voltage Limit Sets the limit for the voltage search operation as a percentage Max.: 100
of the motor rated voltage.
V/f V/f w PG OLV CLV
OLV/PM
V/f AOLV/PM CLV/PM
Energy Saving Coefficient to adjust torque linearity. Default: 1.00
b8-16 Parameter (Ki) for PM PM Enrgy Save Ki Set to the Ki value on the motor nameplate. Min.: 0.00 189
(01F8) Motors When parameter E5-01, Motor Code Selection (for PM Max.: 3.00
Motors), is set to 1ooo or 2ooo, the automatically
calculated value will be set. This set value cannot be changed.
V/f V/f w PG OLV CLV
OLV/PM
V/f AOLV/PM CLV/PM
Energy Saving Coefficient to adjust torque linearity. Default: 1.00
b8-17 Parameter (Kt) for PM PM Enrgy Save Kt Set to the Kt value on the motor nameplate. Min.: 0.00 189
(01F9) Motors When parameter E5-01, Motor Code Selection (for PM Max.: 3.00
Motors), is set to 1ooo or 2ooo, the automatically
calculated value will be set. This set value cannot be changed.
<1> Default setting is determined by parameter A1-02, Control Method Selection.
<2> Default setting is determined by parameters A1-02, Control Method Selection, and o2-04, Drive Model Selection.
<3> Default setting is determined by parameters o2-04, Drive Model Selection, and C6-01, Drive Duty Selection.
<4> Parameter value changes automatically if E2-11 is manually changed or changed by Auto-Tuning.
u b9: Zero Servo
No.
(Addr. Name LCD Display Description Values Page
Hex)
V/f V/f w PG OLV CLV Default: 5
b9-01
(01DA) Zero Servo Gain Zero Servo Gain OLV/PM AOLV/PM CLV/PM Min.: 0 190
Sets the position loop gain for the Zero Servo function. Max.: 100
V/f V/f w PG OLV CLV
b9-02 Zero Servo Completion Zero Servo Count Default: 10
OLV/PM AOLV/PM CLV/PM Min.: 0 190
(01DB) Width Sets the range to trigger an output terminal set for “Zero Servo Max.: 16383
Complete” during Zero Servo operation.
454 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.5 C: Tuning
B.5 C: Tuning
C parameters are used to adjust the acceleration and deceleration times, S-curves, torque compensation, and carrier frequency
selections.
u C1: Acceleration and Deceleration Times
No.
(Addr. Name LCD Display Description Values Page
Hex)
C1-01 All Modes
(0200) Acceleration Time 1 Accel Time 1 191
Sets the time to accelerate from 0 to maximum frequency. Default: 10.0 s
Min.: 0.0
C1-02 All Modes
Max.: 6000.0
<1>
(0201) Deceleration Time 1 Decel Time 1 191
Sets the time to decelerate from maximum frequency to 0.
C1-03 All Modes
(0202) Acceleration Time 2 Accel Time 2 191
Sets the time to accelerate from 0 to maximum frequency. Default: 10.0 s
Min.: 0.0
C1-04 All Modes
Max.: 6000.0
<1>
(0203) Deceleration Time 2 Decel Time 2 191
Sets the time to decelerate from maximum frequency to 0.
C1-05 All Modes
(0204) Acceleration Time 3
(Motor 2 Accel Time 1) Accel Time 3 Sets the time to accelerate from 0 to maximum frequency. Default: 10.0 s 191
Min.: 0.0
C1-06 All Modes
Max.: 6000.0
(0205) Deceleration Time 3 <1>
(Motor 2 Decel Time 1) Decel Time 3 Sets the time to decelerate from maximum frequency to 0. 191
C1-07 All Modes
(0206) Acceleration Time 4
(Motor 2 Accel Time 2) Accel Time 4 Sets the time to accelerate from 0 to maximum frequency. Default: 10.0 s 191
Min.: 0.0
C1-08 All Modes
Max.: 6000.0
(0207) Deceleration Time 4 <1>
(Motor 2 Decel Time 2) Decel Time 4 Sets the time to decelerate from maximum frequency to 0. 191
C1-09 All Modes Default: 10.0 s
(0208) Min.: 0.0
Fast Stop Time Fast Stop Time Sets the time for the Fast Stop function. 192
Max.: 6000.0
<1>
Acc/Dec Units All Modes
C1-10 Accel/Decel Time Default: 1
0: 0.01 Seconds 0: 0.01 s (0.00 to 600.00 s) 192
(0209) Setting Units Range: 0, 1
1: 0.1 Seconds 1: 0.1 s (0.0 to 6000.0 s)
C1-11 Accel/Decel Time All Modes Default: <2>
Acc/Dec SW Freq Sets the frequency to switch between accel/decel time settings Min.: 0.0 Hz 193
(020A) Switching Frequency
Max.: 400.0 Hz
<1> Setting range value is determined by 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.
<2> Default setting is determined by parameter A1-02, Control Method Selection. Parameter List
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 455
B.5 C: Tuning
u C2: S-Curve Characteristics
No.
(Addr. Name LCD Display Description Values Page
Hex)
All Modes Default: 0.20 s
C2-01 S-Curve Characteristic The S-curve can be controlled at the four points shown below.
<1>
SCrv Acc @ Start 193
(020B) at Accel Start Min.: 0.00
ON OFF Max.: 10.00
Run Command
Output Frequency Default: 0.20 s
C2-02 S-Curve Characteristic SCrv Acc @ End C2-02 C2-03 Min.: 0.00 193
(020C) at Accel End Max.: 10.00
C2-01 C2-04
Default: 0.20 s
C2-03 S-Curve Characteristic SCrv Dec @ Start Time Min.: 0.00 193
(020D) at Decel Start Max.: 10.00
Default: 0.00 s
C2-04 S-Curve Characteristic SCrv Dec @ End Min.: 0.00 193
(020E) at Decel End Max.: 10.00
<1> Default setting is determined by parameter A1-02, Control Method Selection.
u C3: Slip Compensation
No.
(Addr. Name LCD Display Description Values Page
Hex)
V/f V/f w PG OLV CLV
C3-01 Default: <1>
(020F) Slip Compensation Gain Slip Comp Gain OLV/PM AOLV/PM CLV/PM 193
Min.: 0.0
Sets the gain for the motor slip compensation function used for Max.: 2.5
motor 1.
V/f V/f w PG OLV CLV
C3-02 Default: <1>
(0210) Slip Compensation OLV/PM AOLV/PM CLV/PM
Slip Comp Time Min.: 0 ms 194
Primary Delay Time Adjusts the slip compensation function delay time used for Max.: 10000 ms
motor 1.
V/f V/f w PG OLV CLV
C3-03 Default: 200%
Slip Compensation Limit Slip Comp Limit OLV/PM AOLV/PM CLV/PM Min.: 0 194
(0211) Sets an upper limit for the slip compensation function as a Max.: 250
percentage of motor rated slip for motor 1 (E2-02).
V/f V/f w PG OLV CLV
Slip Compensation OLV/PM AOLV/PM CLV/PM
C3-04 Default: 0
Selection during Slip Comp Regen 0: Disabled. 194
(0212) Range: 0 to 2
Regeneration 1: Enabled above 6 Hz.
2: Enabled whenever slip compensation is possible.
V/f V/f w PG OLV CLV
C3-05 Output Voltage Limit OLV/PM AOLV/PM CLV/PM Default: 0
Output V Lim Sel 0: Disabled. 194
(0213) Operation Selection Range: 0, 1
1: Enabled. Automatically decreases motor flux when output
voltage saturation is reached.
C3-21 V/f V/f w PG OLV CLV Default: <2>
(033E) Motor 2 Slip SlpCmp Gain Mtr2 OLV/PM AOLV/PM CLV/PM Min.: 0.0 195
Compensation Gain
Sets the slip compensation gain used for motor 2. Max.: 2.5
C3-22 Motor 2 Slip V/f V/f w PG OLV CLV Default: <2>
(0241) Compensation Primary Slip Comp Time 2 OLV/PM AOLV/PM CLV/PM Min.: 0 ms 195
Delay Time Sets the slip compensation delay time used for motor 2. Max.: 10000 ms
V/f V/f w PG OLV CLV
C3-23 Motor 2 Slip Default: 200%
Silp Comp Limit2 OLV/PM AOLV/PM CLV/PM Min.: 0 195
(0242) Compensation Limit Sets the upper limit for the slip compensation function for Max.: 250
motor 2. Set as a percentage of the motor rated slip (E4-02).
456 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.5 C: Tuning
No.
(Addr. Name LCD Display Description Values Page
Hex)
V/f V/f w PG OLV CLV
RegenSlpComp2
Motor 2 Slip OLV/PM AOLV/PM CLV/PM
C3-24 0: Disabled Default: 0
Compensation Selection 0: Disabled. 195
(0243) 1: Above 6 Hz Range: 0 to 2
During Regeneration 1: Enabled above 6 Hz.
2: Lowst possbl spd
2: Enabled whenever slip compensation is possible.
<1> Default setting is determined by parameter A1-02, Control Method Selection.
<2> Default setting is determined by parameter E3-01, Motor 2 Control Mode Selection.
u C4: Torque Compensation
No.
(Addr. Name LCD Display Description Values Page
Hex)
V/f V/f w PG OLV CLV
C4-01 Default: <1>
(0215) Torque Compensation OLV/PM AOLV/PM CLV/PM
Torq Comp Gain Min.: 0.00 196
Gain Sets the gain for the automatic torque (voltage) boost function Max.: 2.50
and helps to produce better starting torque. Used for motor 1.
C4-02 V/f V/f w PG OLV CLV Default: <2>
(0216) Torque Compensation Torq Comp Time OLV/PM AOLV/PM CLV/PM Min.: 0 ms 196
Primary Delay Time 1
Sets the torque compensation filter time. Max.: 60000 ms
V/f V/f w PG OLV CLV
C4-03 Torque Compensation at F TorqCmp@start Default: 0.0%
OLV/PM AOLV/PM CLV/PM Min.: 0.0 196
(0217) Forward Start Sets torque compensation at forward start as a percentage of Max.: 200.0
motor torque.
V/f V/f w PG OLV CLV
C4-04 Torque Compensation at R TorqCmp@start Default: 0.0%
OLV/PM AOLV/PM CLV/PM Min.: -200.0 196
(0218) Reverse Start Sets torque compensation at reverse start as a percentage of Max.: 0.0
motor torque.
V/f V/f w PG OLV CLV
C4-05 Torque Compensation Default: 10 ms
TorqCmp Delay T OLV/PM AOLV/PM CLV/PM Min.: 0 197
(0219) Time Constant Sets the time constant for torque compensation at forward start Max.: 200
and reverse start (C4-03 and C4-04).
C4-07 V/f V/f w PG OLV CLV Default: 1.00
(0341) Motor 2 Torque TrqCmp Gain Mtr2 OLV/PM AOLV/PM CLV/PM Min.: 0.00 197
Compensation Gain Max.: 2.50
Sets the torque compensation gain used for motor 2.
<1> Default setting is determined by parameter A1-02, Control Method Selection.
<2> Default setting is determined by parameters A1-02, Control Method Selection, and o2-04, Drive Model Selection.
u C5: Automatic Speed Regulator (ASR)
No.
(Addr. Name LCD Display Description Values Page
Hex)
C5-01 V/f V/f w PG OLV CLV Default: <1>
Parameter List
(021B) OLV/PM AOLV/PM CLV/PM Min.: 0.00
ASR Proportional Gain 1 ASR P Gain 1 199
Max.: 300.00
Sets the proportional gain of the speed control loop (ASR). <2>
C5-02 V/f V/f w PG OLV CLV Default: <1>
(021C) ASR Integral Time 1 ASR I Time 1 OLV/PM AOLV/PM CLV/PM Min.: 0.000 s 199
Sets the integral time of the speed control loop (ASR). Max.: 10.000 s
B
C5-03 V/f V/f w PG OLV CLV Default: <1>
(021D) OLV/PM AOLV/PM CLV/PM Min.: 0.00
ASR Proportional Gain 2 ASR P Gain 2 199
Max.: 300.00
Sets the speed control gain 2 of the speed control loop (ASR). <2>
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 457
B.5 C: Tuning
No.
(Addr. Name LCD Display Description Values Page
Hex)
C5-04 V/f V/f w PG OLV CLV Default: <1>
(021E) ASR Integral Time 2 ASR I Time 2 OLV/PM AOLV/PM CLV/PM Min.: 0.000 s 199
Sets the integral time 2 of the speed control loop (ASR). Max.: 10.000 s
V/f V/f w PG OLV CLV
C5-05 Default: 5.0%
ASR Limit ASR Limit OLV/PM AOLV/PM CLV/PM Min.: 0.0 200
(021F) Sets the upper limit for the speed control loop (ASR) as a Max.: 20.0
percentage of the maximum output frequency (E1-04).
V/f V/f w PG OLV CLV
C5-06 ASR Primary Delay Default: <1>
ASR Delay Time OLV/PM AOLV/PM CLV/PM 200
(0220) Time Constant Min.: 0.000 s
Sets the filter time constant for the time from the speed loop to Max.: 0.500 s
the torque command output.
V/f V/f w PG OLV CLV
C5-07 ASR Gain Switching Default: 0.0 Hz
ASR Gain Switch OLV/PM AOLV/PM CLV/PM Min.: 0.0 200
(0221) Frequency Sets the frequency for switching between proportional gain 1, Max.: 400.0
2 and integral time 1, 2.
V/f V/f w PG OLV CLV
C5-08 Default: 400%
ASR Integral Limit ASR I Limit OLV/PM AOLV/PM CLV/PM Min.: 0 200
(0222) Sets the ASR integral upper limit as a percentage of rated load Max.: 400
torque.
V/f V/f w PG OLV CLV
OLV/PM AOLV/PM CLV/PM
C5-12 Integral Operation 0: Disabled. Integral functions are enabled only during constant Default: 0
Acc/Dec I Sel 200
(0386) during Accel/Decel speed. Range: 0, 1
1: Enabled. Integral functions are always enabled, during accel/
decel and during constant speed.
V/f V/f w PG OLV CLV Default: <3> <4>
OLV/PM AOLV/PM CLV/PM Min.: 0.0001
C5-17 Motor Inertia Motor Inertia kgm2 201
(0276) Sets the motor inertia. This value is automatically set during Max.: 600.00
ASR or Inertia Auto-Tuning. kgm2
V/f V/f w PG OLV CLV
C5-18 Default: 1.0
Load Inertia Ratio Load Inertia OLV/PM AOLV/PM CLV/PM Min.: 0.0 201
(0277) Sets the ratio between the motor and load inertia. This value is Max.: 6000.0
automatically set during ASR or Inertia Auto-Tuning.
C5-21
V/f V/f w PG OLV CLV Default: <5>
(0356) Motor 2 ASR OLV/PM AOLV/PM CLV/PM Min.: 0.00
ASR P Gain1 Mtr2 201
Proportional Gain 1 Max.: 300.00
Sets the proportional gain of the speed control loop (ASR) for <2>
motor 2.
V/f V/f w PG OLV CLV
C5-22 Default: <5>
(0357) Motor 2 ASR Integral OLV/PM AOLV/PM CLV/PM
ASR I Time1 Mtr2 Min.: 0.000 s 201
Time 1 Sets the integral time of the speed control loop (ASR) for motor Max.: 10.000 s
2.
V/f V/f w PG OLV CLV
C5-23 Default: <5>
(0358) Motor 2 ASR OLV/PM AOLV/PM CLV/PM
ASR P Gain2 Mtr2 Min.: 0.00 201
Proportional Gain 2 Sets the speed control gain 2 of the speed control loop (ASR) Max.: 300.00 <2>
for motor 2.
V/f V/f w PG OLV CLV
C5-24 Default: <5>
(0359) Motor 2 ASR Integral OLV/PM AOLV/PM CLV/PM
ASR I Time2 Mtr2 Min.: 0.000 s 201
Time 2 Sets the integral time 2 of the speed control loop (ASR) for Max.: 10.000 s
motor 2.
V/f V/f w PG OLV CLV
C5-25 Default: 5.0%
Motor 2 ASR Limit ASR Limit Mtr2 OLV/PM AOLV/PM CLV/PM Min.: 0.0 201
(035A) Sets the upper limit for the speed control loop (ASR) for motor Max.: 20.0
2 as a percentage of the maximum output frequency (E3-04).
458 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.5 C: Tuning
No.
(Addr. Name LCD Display Description Values Page
Hex)
V/f V/f w PG OLV CLV
C5-26 Motor 2 ASR Primary Default: <5>
ASR Dly Time 2 OLV/PM AOLV/PM CLV/PM 201
(035B) Delay Time Constant Min.: 0.000 s
Sets the filter time constant for the time from the speed loop to Max.: 0.500 s
the torque command output used for motor 2.
V/f V/f w PG OLV CLV
C5-27 Motor 2 ASR Gain OLV/PM AOLV/PM CLV/PM Default: 0.0 Hz
ASRGainSwitch2 Sets the frequency for motor 2 used to switch between Min.: 0.0 201
(035C) Switching Frequency
proportional gain 1 and 2, and between the integral time 1 and Max.: 400.0
2.
V/f V/f w PG OLV CLV
C5-28 Motor 2 ASR Integral Default: 400%
ASR I limit 2 OLV/PM AOLV/PM CLV/PM Min.: 0 201
(035D) Limit Sets the ASR integral upper limit for motor 2 as a percentage Max.: 400
of rated load torque.
V/f V/f w PG OLV CLV
Integral Operation Acc/Dec I Sel 2 OLV/PM AOLV/PM CLV/PM
C5-32 0: Disabled. Integral functions for motor 2 are enabled only Default: 0
during Accel/Decel for 0: Disabled 202
(0361) during constant speed. Range: 0, 1
Motor 2 1: Enabled
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 Default: <3> <4>
OLV/PM AOLV/PM CLV/PM Min.: 0.0001
C5-37 Motor 2 Inertia Motor Inertia 2 kgm2 202
(0278) Sets the inertia of motor 2 alone without the load. This value Max.: 600.00
is automatically set during ASR or Inertia Auto-Tuning. kgm2
V/f V/f w PG OLV CLV
C5-38 Motor 2 Load Inertia Default: 1.0
Load Inertia 2 OLV/PM AOLV/PM CLV/PM Min.: 0.0 202
(0279) Ratio Sets the ratio between the motor 2 and machine inertia. This Max.: 6000.0
value is automatically set during ASR or Inertia Auto-Tuning.
<1> Default setting is determined by parameter A1-02, Control Method Selection.
<2> The setting range is 1.00 to 300.00 in CLV and AOLV/PM control modes.
<3> Default setting is dependent on parameter E5-01, Motor Code Selection.
<4> Default setting is dependent on parameters C6-01, Drive Duty Selection, and o2-04, Drive Model Selection.
<5> Default setting is determined by parameter E3-01, Motor 2 Control Mode Selection.
u C6: Carrier Frequency
No.
(Addr. Name LCD Display Description Values Page
Hex)
All Modes
0: Heavy Duty (HD)
Overload capability: 150% of drive rated Heavy Duty current
Heavy/NormalDuty for 60 s
C6-01 Default: 1
Drive Duty Selection 0: Heavy Duty Default Carrier Frequency: 2 kHz 202
(0223) Range: 0, 1
1: Normal Duty 1: Normal Duty (ND)
Overload capability: 120% of drive rated Normal Duty current
for 60 s
Parameter List
Default Carrier Frequency: 2 kHz Swing PWM
All Modes
CarrierFreq Sel 1: 4.0 kHz
1: Fc=4.0 kHz 2: 6.0 kHz
C6-02 Carrier Frequency 2: Fc=6.0 kHz 3: 8.0 kHz Default: <1> 203
(0224) Selection 3: Fc=8.0 kHz 4: 10.0 kHz Range: 1 to 4; F
4: Fc=10.0 kHz F: User-defined (determined by C6-03 to C6-05) B
F: Program
Note: Setting F is not available when A1-02 = 6
(AOLV/PM).
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 459
B.5 C: Tuning
No.
(Addr. Name LCD Display Description Values Page
Hex)
C6-03 Carrier Frequency Upper CarrierFreq Max All Modes Default: <2>
(0225) Limit Min.: 4.0 kHz 203
Note: C6-04 and C6-05 are available only in V/f and Max.: 10.0 kHz
V/f w/PG control modes.
C6-04 Carrier Frequency Default: <2>
CarrierFreq Min Determines the upper and lower limits for the carrier frequency. Min.: 4.0 kHz 203
(0226) Lower Limit In OLV, C6-03 determines the upper limit of the carrier Max.: 10.0 kHz
frequency.
Carrier Frequency
C6-03
C6-05 Carrier Frequency Default: <2>
CarrierFreq Gain C6-04 Output Frequency Min.: 0 203
(0227) Proportional Gain × (C6-05)
Output Max.: 99
E1-04 Frequency
Max Output
Frequency
V/f V/f w PG OLV CLV
Carrier Frequency Carrier in tune OLV/PM AOLV/PM CLV/PM
C6-09 0: Carrier Frequency = 4 kHz. In PM control modes, this value Default: 0
during Rotational Auto- 0: Fc = 5kHz 204
(022B) is 2 kHz. Range: 0, 1
Tuning 1: Fc = C6-03
1: Setting value for C6-03. In PM control modes, this value is
the carrier frequency set in C6-02.
<1> Default setting value is determined by parameters A1-02, Control Method Selection, C6-01, Drive Duty Selection, and o2-04, Drive Model Selection.
<2> Default setting value is determined by parameter C6-02, Carrier Frequency Selection.
u C7: Voltage Adjustment
No.
(Addr. Name LCD Display Description Values Page
Hex)
All Modes
C7-43 Input Voltage Offset Adjusts the offset for the input voltage circuit when the control Default: 0000
InputVolt Offset board is replaced. Range: 0000 to 204
(112A) Adjustment 9999
0000: Standard
0002: Offset adjustment not required
PF Control Sel All Modes
C7-56 Power Factor Control Default: 0
0: PF Ctrl Disabled 0: Power factor control disabled 204
(1107) Selection Range: 0, 1
1: PF Ctrl Enabled 1: Power factor control enabled
V Out Limit Sel All Modes
C7-60 Output Voltage Limit Default: 1
0: Limit Harmonics 0: Harmonic suppression priority mode 204
(0B1C) Mode Selection Range: 0, 1
1: Improve PF 1: High output voltage mode
460 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.6 d: Reference Settings
B.6 d: Reference Settings
Reference parameters set the various frequency reference values during operation.
u d1: Frequency Reference
No.
(Addr. Name LCD Display Description Values Page
Hex)
All Modes
d1-01 Sets the frequency reference for the drive. Setting units are Default: 0.00 Hz
(0280) determined by parameter o1-03. Min.: 0.00
Frequency Reference 1 Reference 1 205
Max.: 400.00 <1>
Note: The value set to o1-03 is changed to 1 and the <2>
unit is changed to percentage automatically
when A1-02 is set to 6 or 7.
All Modes
d1-02 Sets the frequency reference for the drive. Setting units are Default: 0.00 Hz
(0281) determined by parameter o1-03. Min.: 0.00
Frequency Reference 2 Reference 2 205
Max.: 400.00 <1>
Note: The value set to o1-03 is changed to 1 and the <2>
unit is changed to percentage automatically
when A1-02 is set to 6 or 7.
All Modes
d1-03 Sets the frequency reference for the drive. Setting units are Default: 0.00 Hz
(0282) determined by parameter o1-03. Min.: 0.00
Frequency Reference 3 Reference 3 Max.: 400.00 <1> 205
Note: The value set to o1-03 is changed to 1 and the <2>
unit is changed to percentage automatically
when A1-02 is set to 6 or 7.
All Modes
d1-04 Sets the frequency reference for the drive. Setting units are Default: 0.00 Hz
(0283) determined by parameter o1-03. Min.: 0.00
Frequency Reference 4 Reference 4 205
Max.: 400.00 <1>
Note: The value set to o1-03 is changed to 1 and the <2>
unit is changed to percentage automatically
when A1-02 is set to 6 or 7.
All Modes
d1-05 Sets the frequency reference for the drive. Setting units are Default: 0.00 Hz
(0284) determined by parameter o1-03. Min.: 0.00
Frequency Reference 5 Reference 5 Max.: 400.00 <1> 205
Note: The value set to o1-03 is changed to 1 and the <2>
unit is changed to percentage automatically
when A1-02 is set to 6 or 7.
All Modes
d1-06 Sets the frequency reference for the drive. Setting units are Default: 0.00 Hz
(0285) determined by parameter o1-03. Min.: 0.00
Frequency Reference 6 Reference 6 205
Max.: 400.00 <1>
Note: The value set to o1-03 is changed to 1 and the <2>
unit is changed to percentage automatically
when A1-02 is set to 6 or 7.
All Modes
d1-07 Sets the frequency reference for the drive. Setting units are Default: 0.00 Hz
(0286) determined by parameter o1-03. Min.: 0.00
Frequency Reference 7 Reference 7 205
Max.: 400.00 <1>
Note: The value set to o1-03 is changed to 1 and the <2>
Parameter List
unit is changed to percentage automatically
when A1-02 is set to 6 or 7.
All Modes
d1-08 Sets the frequency reference for the drive. Setting units are Default: 0.00 Hz
(0287) determined by parameter o1-03. Min.: 0.00
Frequency Reference 8 Reference 8 Max.: 400.00 <1> 205
Note: The value set to o1-03 is changed to 1 and the
unit is changed to percentage automatically
<2> B
when A1-02 is set to 6 or 7.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 461
B.6 d: Reference Settings
No.
(Addr. Name LCD Display Description Values Page
Hex)
All Modes
d1-09 Sets the frequency reference for the drive. Setting units are Default: 0.00 Hz
(0288) determined by parameter o1-03. Min.: 0.00
Frequency Reference 9 Reference 9 205
Max.: 400.00 <1>
Note: The value set to o1-03 is changed to 1 and the <2>
unit is changed to percentage automatically
when A1-02 is set to 6 or 7.
All Modes
d1-10 Sets the frequency reference for the drive. Setting units are Default: 0.00 Hz
(028B) determined by parameter o1-03. Min.: 0.00
Frequency Reference 10 Reference 10 205
Max.: 400.00 <1>
Note: The value set to o1-03 is changed to 1 and the <2>
unit is changed to percentage automatically
when A1-02 is set to 6 or 7.
All Modes
d1-11 Sets the frequency reference for the drive. Setting units are Default: 0.00 Hz
(028C) determined by parameter o1-03. Min.: 0.00
Frequency Reference 11 Reference 11 Max.: 400.00 <1> 205
Note: The value set to o1-03 is changed to 1 and the <2>
unit is changed to percentage automatically
when A1-02 is set to 6 or 7.
All Modes
d1-12 Sets the frequency reference for the drive. Setting units are Default: 0.00 Hz
(028D) determined by parameter o1-03. Min.: 0.00
Frequency Reference 12 Reference 12 205
Max.: 400.00 <1>
Note: The value set to o1-03 is changed to 1 and the <2>
unit is changed to percentage automatically
when A1-02 is set to 6 or 7.
All Modes
d1-13 Sets the frequency reference for the drive. Setting units are Default: 0.00 Hz
(028E) determined by parameter o1-03. Min.: 0.00
Frequency Reference 13 Reference 13 Max.: 400.00 <1> 205
Note: The value set to o1-03 is changed to 1 and the <2>
unit is changed to percentage automatically
when A1-02 is set to 6 or 7.
All Modes
d1-14 Sets the frequency reference for the drive. Setting units are Default: 0.00 Hz
(028F) determined by parameter o1-03. Min.: 0.00
Frequency Reference 14 Reference 14 205
Max.: 400.00 <1>
Note: The value set to o1-03 is changed to 1 and the <2>
unit is changed to percentage automatically
when A1-02 is set to 6 or 7.
All Modes
d1-15 Sets the frequency reference for the drive. Setting units are Default: 0.00 Hz
(0290) determined by parameter o1-03. Min.: 0.00
Frequency Reference 15 Reference 15 205
Max.: 400.00 <1>
Note: The value set to o1-03 is changed to 1 and the <2>
unit is changed to percentage automatically
when A1-02 is set to 6 or 7.
All Modes
d1-16 Sets the frequency reference for the drive. Setting units are Default: 0.00 Hz
(0291) determined by parameter o1-03. Min.: 0.00
Frequency Reference 16 Reference 16 Max.: 400.00 <1> 205
Note: The value set to o1-03 is changed to 1 and the <2>
unit is changed to percentage automatically
when A1-02 is set to 6 or 7.
d1-17 All Modes Default: 6.00 Hz
(0292) Jog Frequency Min.: 0.00
Jog Reference Sets the Jog frequency reference. Setting units are determined 205
Reference by parameter o1-03. Max.: 400.00 <1>
<2>
<1> Range upper limit is determined by parameters d2-01, Frequency Reference Upper Limit, and E1-04, Maximum Output Frequency.
<2> 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.
462 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.6 d: Reference Settings
u d2: Frequency Upper/Lower Limits
No.
(Addr. Name LCD Display Description Setting Page
Hex.)
d2-01 Frequency Reference
All Modes Default: 100.0%
Ref Upper Limit Sets the frequency reference upper limit as a percentage of the Min.: 0.0 207
(0289) Upper Limit
maximum output frequency. Max.: 110.0
d2-02 Frequency Reference
All Modes Default: 0.0%
Ref Lower Limit Sets the frequency reference lower limit as a percentage of the Min.: 0.0 207
(028A) Lower Limit
maximum output frequency. Max.: 110.0
d2-03 Master Speed Reference Ref1 Lower Limit
All Modes Default: 0.0%
(0293) Lower Limit Sets the lower limit for frequency references from analog inputs Min.: 0.0 208
as a percentage of the maximum output frequency. Max.: 110.0
u d3: Jump Frequency
No.
(Addr. Name LCD Display Description Values Page
Hex)
All Modes
Eliminates problems with resonant vibration of the motor/ Default: 0.0 Hz
d3-01 machine by avoiding continuous operation in predefined <1> <2>
Jump Frequency 1 Jump Freq 1 frequency ranges. The drive accelerates and decelerates the 208
(0294) Min.: 0.0 <2>
motor through the prohibited frequency ranges.
Setting 0.0 disables this function. Max.: 400.0 <2>
Parameters must be set so that d3-01 ≥ d3-02 ≥ d3-03.
All Modes
Eliminates problems with resonant vibration of the motor/ Default: 0.0 Hz
d3-02 machine by avoiding continuous operation in predefined <1> <2>
Jump Frequency 2 Jump Freq 2 frequency ranges. The drive accelerates and decelerates the 208
(0295) Min.: 0.0 <2>
motor through the prohibited frequency ranges.
Setting 0.0 disables this function. Max.: 400.0 <2>
Parameters must be set so that d3-01 ≥ d3-02 ≥ d3-03.
All Modes
Eliminates problems with resonant vibration of the motor/ Default: 0.0 Hz
d3-03 machine by avoiding continuous operation in predefined <1> <2>
Jump Frequency 3 Jump Freq 3 frequency ranges. The drive accelerates and decelerates the 208
(0296) Min.: 0.0 <2>
motor through the prohibited frequency ranges.
Setting 0.0 disables this function. Max.: 400.0 <2>
Parameters must be set so that d3-01 ≥ d3-02 ≥ d3-03.
All Modes Default: 1.0 Hz
d3-04 Sets the dead-band width around each selected prohibited
<1>
Jump Frequency Width Jump Bandwidth 208
(0297) frequency reference point. Min.: 0.0
Max.: 20.0
<1> Default setting is determined by parameter A1-02, Control Method Selection.
<2> Default setting is 0.0% and setting range is 0.0 to 100.0% in AOLV/PM and CLV/PM.
u d4: Frequency Reference Hold and Up/Down 2 Function
No.
Parameter List
(Addr. Name LCD Display Description Values Page
Hex)
All Modes
Fref Hold Sel 0: Disabled. Drive starts from zero when the power is switched Default: 0
d4-01 Frequency Reference
Hold Function Selection 0: Disabled on. 209
(0298) Range: 0, 1
1: Enabled 1: Enabled. At power up, the drive starts the motor at the Hold
frequency that was saved. B
d4-03 All Modes Default: 0.00 Hz
(02AA) Frequency Reference
Bias Step (Up/Down 2) Up/Dn 2 Step Lvl Sets the bias added to the frequency reference when the Up 2 Min.: 0.00 211
and Down 2 digital inputs are enabled (H1-oo = 75, 76). Max.: 99.99
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 463
B.6 d: Reference Settings
No.
(Addr. Name LCD Display Description Values Page
Hex)
d4-04 Frequency Reference Up/Dn 2 Ramp Sel All Modes
(02AB) Bias Accel/Decel (Up/ 0: Sel Acc/Dec Time 0: Use selected accel/decel time. Default: 0 212
Down 2) 1: Acc/Dec Time 4 Range: 0, 1
1: Use accel/decel time 4 (C1-07 and C1-08).
All Modes
d4-05 Frequency Reference Up/Dn 2 Bias Sel
(02AC) Bias Operation Mode 0: Bias value is held if no input Up 2 or Down 2 is active. Default: 0
0: Hold Bias Value 1: When the Up 2 reference and Down 2 reference are both on Range: 0, 1 212
Selection (Up/Down 2) 1: Reset Bias Value or both off, the applied bias becomes 0. The specified accel/
decel times are used for acceleration or deceleration.
All Modes
d4-06 Frequency Reference Default: 0.0%
Up/Dn 2 Bias Lvl The Up/Down 2 bias value is saved in d4-06 when the Min.: -99.9 212
(02AD) Bias (Up/Down 2) frequency reference is not input by the digital operator. Set as Max.: 100.0
a percentage of the maximum output frequency.
All Modes
d4-07 Analog Frequency Limits how much the frequency reference is allowed to change
(02AE) Reference Fluctuation while an input terminal set for Up 2 or Down 2 is enabled. If Default: 1.0%
Up/Dn 2 FluctLim the frequency reference changes for more than the set value, Min.: 0.1 213
Limit (Up/Down 2) then the bias value is held and the drive accelerates or Max.: 100.0
decelerates to the frequency reference. Set as a percentage of
the maximum output frequency.
d4-08 Frequency Reference All Modes Default: 100.0%
(02AF) Bias Upper Limit (Up/ Up/Dn 2 UpperLim Sets the upper limit for the bias and the value that can be saved Min.: 0.0 213
Down 2) in d4-06. Set as a percentage of the maximum output frequency. Max.: 100.0
d4-09 Frequency Reference All Modes Default: 0.0%
(02B0) Bias Lower Limit (Up/ Up/Dn 2 LowerLim Sets the lower limit for the bias and the value that can be saved Min.: -99.9 213
Down 2) in d4-06. Set as a percentage of the maximum output frequency. Max.: 0.0
Up/Down Frequency Up/Dn LowLim Sel All Modes
d4-10 Default: 0
Reference Limit 0: D2-02 or Analog 0: The lower limit is determined by d2-02 or an analog input. Range: 0, 1 213
(02B6) Selection 1: D2-02 Only 1: The lower limit is determined by d2-02.
u d5: Torque Control
No.
(Addr. Name LCD Display Description Values Page
Hex)
V/f V/f w PG OLV CLV
Torq Control Sel OLV/PM AOLV/PM CLV/PM
d5-01 Torque Control 0: Speed Control Default: 0
0: Speed Control 217
(029A) Selection 1: Torque Control Range: 0, 1
1: Torque Control
Set to 0 when using a digital input to switch between Speed and
Torque Control (H1-oo = 71).
V/f V/f w PG OLV CLV
d5-02 Torque Reference Delay Tq Ref Dly Time OLV/PM AOLV/PM CLV/PM Default: <1>
Sets a delay time for the torque reference signal. Used to Min.: 0 217
(029B) Time
suppress effects by noisy or fluctuating torque reference Max.: 1000
signals.
V/f V/f w PG OLV CLV
Speed Limit Sel
d5-03 OLV/PM AOLV/PM CLV/PM Default: 1
Speed Limit Selection 1: Fref Limit 217
(029C) 1: Limit set by the frequency reference in b1-01. Range: 1, 2
2: Speed Limit Sel
2: Limit set by d5-04.
V/f V/f w PG OLV CLV
OLV/PM AOLV/PM CLV/PM Default: 0%
d5-04 Sets the speed limit during Torque Control as a percentage of Min.: -120
Speed Limit Speed Limit Val 218
(029D) the maximum output frequency. Enabled when d5-03 = 2. A Max.: 120
negative setting sets a limit in the opposite direction of the Run
command.
464 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.6 d: Reference Settings
No.
(Addr. Name LCD Display Description Values Page
Hex)
V/f V/f w PG OLV CLV
OLV/PM AOLV/PM CLV/PM Default: 10%
d5-05 Sets the speed limit bias as a percentage of the maximum output Min.: 0
Speed Limit Bias Speed Limit Bias 218
(029E) 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
d5-06 Speed/Torque Control OLV/PM AOLV/PM CLV/PM Default: 0 ms
Spd/Trq Sw Timer Sets the delay time for switching between Speed and Torque Min.: 0 218
(029F) Switchover Time
Control using an input terminal (H1-oo = 71). Reference Max.: 1000
values are held during this switch delay time.
V/f V/f w PG OLV CLV
UnidirSpdLimBias
d5-08 Unidirectional Speed OLV/PM AOLV/PM CLV/PM Default: 1
0: Disabled 218
(02B5) Limit Bias 0: Disabled Range: 0, 1
1: Enabled
1: Enabled
<1> Default setting is determined by parameter A1-02, Control Method Selection.
u d6: Field Weakening and Field Forcing
No.
(Addr Name LCD Display Description Values Page
Hex.)
V/f V/f w PG OLV CLV
OLV/PM AOLV/PM CLV/PM Default: 80%
d6-01 Sets the drive output voltage for the Field Weakening function Min.: 0
Field Weakening Level Field-Weak Lvl 218
(02A0) as a percentage of the maximum output voltage. Max.: 100
Enabled when a multi-function input is set for Field Weakening
(H1-oo = 63).
V/f V/f w PG OLV CLV
OLV/PM AOLV/PM CLV/PM
Sets the lower limit of the frequency range where Field Default: 0.0 Hz
d6-02 Field Weakening Fiel-Weak Freq Weakening control is valid. Min.: 0.0 218
(02A1) Frequency Limit
The Field Weakening command is valid only at frequencies Max.: 400.0
above this setting and only when the output frequency matches
the frequency reference (speed agree).
V/f V/f w PG OLV CLV
d6-03 Field Force Sel
Field Forcing Selection 0: Disabled OLV/PM AOLV/PM CLV/PM Default: 0
(02A2) 219
1: Enabled 0: Disabled Range: 0, 1
1: Enabled
V/f V/f w PG OLV CLV
d6-06 OLV/PM AOLV/PM CLV/PM Default: 400%
Field Forcing Limit FieldForce Limit Sets the upper limit of the excitation current command during Min.: 100 219
(02A5)
magnetic field forcing. A setting of 100% is equal to motor no- Max.: 400
load current. Disabled only during DC Injection Braking.
u d7: Offset Frequency Parameter List
No.
(Addr. Name LCD Display Description Setting Page
Hex)
d7-01 All Modes
Default: 0.0%
(02B2) Offset Frequency 1 Offset Freq 1 Added to the frequency reference when the digital input Min.: -100.0 219
“Frequency offset 1” (H1-oo = 44) is switched on. A setting Max.: 100.0
of 100% is equal to the drive maximum output current. B
d7-02 All Modes
Default: 0.0%
(02B3) Offset Frequency 2 Offset Freq 2 Added to the frequency reference when the digital input Min.: -100.0 219
“Frequency offset 2” (H1-oo = 45) is switched on. A setting Max.: 100.0
of 100% is equal to the drive maximum output current.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 465
B.6 d: Reference Settings
No.
(Addr. Name LCD Display Description Setting Page
Hex)
d7-03 All Modes
Default: 0.0%
(02B4) Offset Frequency 3 Offset Freq 3 Added to the frequency reference when the digital input Min.: -100.0 219
“Frequency offset 3” (H1-oo = 46) is switched on. A setting Max.: 100.0
of 100% is equal to the drive maximum output current.
466 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.7 E: Motor Parameters
B.7 E: Motor Parameters
u E1: V/f Pattern for Motor 1
No.
(Addr. Name LCD Display Description Values Page
Hex)
V/f V/f w PG OLV CLV
V/F Selection OLV/PM AOLV/PM CLV/PM
0: 50 Hz 0: 50 Hz, Constant torque 1
1: 60 Hz Saturation 1: 60 Hz, Constant torque 2
2: 50 Hz Saturation 2: 60 Hz, Constant torque 3 (50 Hz base)
3: 72 Hz 3: 72 Hz, Constant torque 4 (60 Hz base)
4: 50 Hz VT1 4: 50 Hz, Variable torque 1
5: 50 Hz VT2 5: 50 Hz, Variable torque 2
6: 60 Hz VT1 6: 60 Hz, Variable torque 1 Default: F <2>
E1-03 V/f Pattern Selection 7: 60 Hz VT2 7: 60 Hz, Variable torque 2 Range: 0 to 9; 220
(0302) 8: 50 Hz HST1 8: 50 Hz, High starting torque 1 A to F <3>
9: 50 Hz HST2 9: 50 Hz, High starting torque 2
A: 60 Hz HST1 A: 60 Hz, High starting torque 3
B: 60 Hz HST2 B: 60 Hz, High starting torque 4
C: 90 Hz C: 90 Hz (60 Hz base)
D: 120 Hz D: 120 Hz (60 Hz base)
E: 180 Hz E: 180 Hz (60 Hz base)
F: Custom V/F F: Custom V/f, E1-04 through E1-13 settings define the V/f
pattern
E1-04 Maximum Output All Modes Default: <4> <5>
Max Frequency Parameters E1-04 and E1-06 to E1-13 can only be changed Min.: 40.0 223
(0303) Frequency <6>
when E1-03 is set to F. Max.: 400.0
To set linear V/f characteristics, set the same values for E1-07 Default: <4> <5>
E1-05 and E1-09. Min.: 0.0 V
Maximum Voltage Max Voltage In this case, the setting for E1-08 will be disregarded. Ensure 223
(0304) Max.: 255.0 V
that the five frequencies are set according to the following rules <1>
to prevent triggering an oPE10 fault:
E1-09 ≤ E1-07 < E1-06 ≤ E1-11 ≤ E1-04 Default: <4> <5>
E1-06 Setting E1-11 to 0 disables both E1-11 and E1-12 and the above
Base Frequency Base Frequency Min.: 0.0 223
(0305) conditions do not apply. Max.: E1-04 <6>
Output Voltage (V)
E1-07 Middle Output E1-05 Default: <4>
Mid Frequency A E1-12 Min.: 0.0 223
(0306) Frequency
Max.: E1-04
E1-13 Default: <4>
E1-08 Middle Output Min.: 0.0 V
Mid Voltage A 223
(0307) Frequency Voltage Max.: 255.0 V
<1>
E1-08
Default: <4> <5>
E1-09 Minimum Output Min Frequency Min.: 0.0 223
(0308) Frequency <6>
E1-10 Max.: E1-04
E1-09 E1-07 E1-06 E1-11 E1-04 Default: <4>
E1-10 Minimum Output Frequency (Hz) Min.: 0.0 V
Min Voltage 223
(0309) Frequency Voltage Max.: 255.0 V
<1>
Note: Some parameters may not be available
E1-11 depending on the control mode. Default: 0.0 Hz
(030A) Middle Output Mid Frequency B • E1-07, E1-08, and E1-10 are available only in the following Min.: 0.0 223
Frequency 2
Parameter List
<8> control modes: V/f Control, V/f with PG, Open Loop Vector. Max.: E1-04
• E1-11, E1-12, and E1-13 are available only in the following Default: 0.0 V
E1-12 control modes: V/f Control, V/f with PG, Open Loop Vector, Min.: 0.0
(030B) Middle Output Mid Voltage B Closed Loop Vector. 223
<8> Frequency Voltage 2 Max.: 255.0 V
<1>
Default: 0.0 V
<7> B
E1-13 Base Voltage Base Voltage Min.: 0.0 223
(030C)
Max.: 255.0 V
<1>
<1> Values shown are specific to 200 V class drives. Double the value for 400 V class drives.
<2> Parameter setting value is not reset to the default value when the drive is initialized.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 467
B.7 E: Motor Parameters
<3> The setting value is F in OLV modes.
<4> Default setting is determined by parameters A1-02, Control Method Selection, C6-01, Drive Duty Selection, and o2-04, Drive Model Selection.
<5> Default setting is determined by parameter E5-01, Motor Code Selection.
<6> In OLV/PM, setting range varies according to the motor code entered to E5-01. The setting range is 0.0 to 400.0 Hz when E5-01 is set to FFFF.
<7> 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.
<8> 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.
u E2: Motor 1 Parameters
No.
(Addr. Name LCD Display Description Values Page
Hex)
V/f V/f w PG OLV CLV Default: <1>
OLV/PM AOLV/PM CLV/PM Min.: 10% of
drive rated
E2-01 Sets the motor nameplate full load current in amps.
Motor Rated Current Motor Rated FLA current 224
(030E) Automatically set during Auto-Tuning. Max.: 150% of
drive rated
current <2>
V/f V/f w PG OLV CLV
E2-02 Default: <1>
Motor Rated Slip Motor Rated Slip OLV/PM AOLV/PM CLV/PM 224
(030F) Min.: 0.00 Hz
Sets the motor rated slip. Automatically set during Max.: 20.00 Hz
Auto-Tuning.
V/f V/f w PG OLV CLV
E2-03 Default: <1>
Motor No-Load Current No-Load Current OLV/PM AOLV/PM CLV/PM Min.: 0.00 A 224
(0310) Sets the no-load current for the motor. Automatically set during Max.: E2-01 <2>
Auto-Tuning.
V/f V/f w PG OLV CLV
E2-04 Default: 4
Number of Motor Poles Number of Poles OLV/PM AOLV/PM CLV/PM Min.: 2 225
(0311) Sets the number of motor poles. Automatically set during Max.: 48
Auto-Tuning.
V/f V/f w PG OLV CLV
E2-05 Motor Line-to-Line Default: <1>
Term Resistance OLV/PM AOLV/PM CLV/PM 225
(0312) Resistance Min.: 0.000 Ω
Sets the phase-to-phase motor resistance. Automatically set Max.: 65.000 Ω
during Auto-Tuning.
V/f V/f w PG OLV CLV
E2-06 Motor Leakage OLV/PM AOLV/PM CLV/PM Default: <1>
Leak Inductance Sets the voltage drop due to motor leakage inductance as a Min.: 0.0% 225
(0313) Inductance
percentage of motor rated voltage. Automatically set during Max.: 40.0%
Auto-Tuning.
V/f V/f w PG OLV CLV
E2-07 Motor Iron-Core Default: 0.50
OLV/PM AOLV/PM CLV/PM
(0314) Saturation Coefficient 1 Saturation Comp1 Min.: 0.00
Sets the motor iron saturation coefficient at 50% of magnetic Max.: 0.50
225
flux. Automatically set during Auto-Tuning.
V/f V/f w PG OLV CLV
E2-08 Motor Iron-Core Default: 0.75
OLV/PM AOLV/PM CLV/PM
(0315) Saturation Coefficient 2 Saturation Comp2 Min.: E2-07
Sets the motor iron saturation coefficient at 75% of magnetic Max.: 0.75
225
flux. Automatically set during Auto-Tuning.
V/f V/f w PG OLV CLV
E2-09 Default: 0.0%
Motor Mechanical Loss Mechanical Loss OLV/PM AOLV/PM CLV/PM Min.: 0.0 225
(0316) Sets the motor mechanical loss as a percentage of motor rated Max.: 10.0
power (kW).
V/f V/f w PG OLV CLV Default: <1>
E2-10 Motor Iron Loss for Motor Iron Loss OLV/PM AOLV/PM CLV/PM Min.: 0 W 226
(0317) Torque Compensation
Sets the motor iron loss. Max.: 65535 W
468 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.7 E: Motor Parameters
No.
(Addr. Name LCD Display Description Values Page
Hex)
V/f V/f w PG OLV CLV
E2-11 Default: <1>
Motor Rated Power Mtr Rated Power OLV/PM AOLV/PM CLV/PM 226
(0318) Min.: 0.00 kW
Sets the motor rated power in kilowatts (1 HP = 0.746 kW). Max.: 650.00 kW
Automatically set during Auto-Tuning.
<1> Default setting is dependent on parameters C6-01, Drive Duty Selection, and o2-04, Drive Model Selection.
<2> Display is in the following units:
2o0028, 2o0042, and 4o0011 to 4o0027: 0.01 A units
2o0054 to 2o0248 and 4o0034 to 4o0414: 0.1 A units
u 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 LCD Display Description Values Page
Hex)
V/f V/f w PG OLV CLV
Mot 1 Contr Meth
0: V/f Control OLV/PM AOLV/PM CLV/PM
E3-01 Motor 2 Control Mode 0: V/f Control Default: 0
1: V/f with PG 227
(0319) Selection Range: 0 to 3
2: Open Loop Vector 1: V/f Control with PG
3: Closed Loop Vect 2: Open Loop Vector Control
3: Closed Loop Vector Control
E3-04 Motor 2 Maximum V/f V/f w PG OLV CLV Default: <1>
Max Frequency Min.: 40.0 227
(031A) Output Frequency OLV/PM AOLV/PM CLV/PM
Max.: 400.0
To set linear V/f characteristics, set the same values for E3-07
and E3-09. Default: <1> <4>
E3-05 Motor 2 Maximum In this case, the setting for E3-08 will be disregarded. Ensure Min.: 0.0 V
Max Voltage that the five frequencies are set according to the following rules 227
(031B) Voltage Max.: 255.0 V
to prevent triggering an oPE10 fault: <2>
E3-09 ≤ E3-07 < E3-06 ≤ E3-11 ≤ E3-04
E3-06 Setting E3-11 to 0 disables both E3-11 and E3-12 and the above Default: <1>
Motor 2 Base Frequency Base Frequency conditions do not apply. Min.: 0.0 227
(031C)
Output Voltage (V) Max.: E3-04
E3-07 Motor 2 Mid Output
E3-05 Default: <1>
Mid Frequency A E3-12 Min: 0.0 227
(031D) Frequency
Max: E3-04
E3-13 Default: <1>
E3-08 Motor 2 Mid Output Min: 0.0 V
Mid Voltage B 227
(031E) Frequency Voltage Max: 255.0 V
<2>
E3-08
E3-09 Motor 2 Minimum Default: <1>
Min Frequency Min.: 0.0 227
(031F) Output Frequency
E3-10 Max.: E3-04
Default: <1>
Motor 2 Minimum E3-09 E3-07 E3-06 E3-11 E3-04 Min: 0.0 V
E3-10 Output Frequency Min Voltage Frequency (Hz) 227
(0320) Max: 255.0 V
Voltage <2>
Note: E3-07 and E3-08 are only available in the
E3-11 following control modes: V/f, V/f w/PG and Default: 0.0 Hz
(0345) Motor 2 Mid Output OLV.
Mid Frequency B Min.: 0.0 227
Parameter List
<3> Frequency 2 Max.: E3-04
E3-12 Default: 0.0 V
(0346) Motor 2 Mid Output Min.: 0.0
Mid Voltage B 227
<3> Frequency Voltage 2
Max.: 255.0 <2>
Default: 0.0 V
E3-13
(0347) Motor 2 Base Voltage Base Voltage
<4>
Min.: 0.0
227 B
<4>
Max.: 255.0 <2>
<1> Default setting is determined by parameter E3-01, Motor 2 Control Mode Selection. The value shown here is for V/f Control (0).
<2> Values shown are specific to 200 V class drives. Double the value for 400 V class drives.
<3> Ignored when E3-11, Motor 2 Mid Output Frequency 2, and E3-12, Motor 2 Mid Output Frequency Voltage 2, are set to 0.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 469
B.7 E: Motor Parameters
<4> When E3-13, Motor 2 Base Voltage, is set to 0.0, output voltage is controlled with E3-05, Motor 2 Maximum Voltage, = E3-13. When Auto-Tuning
is performed, E3-05 and E3-13 are automatically set to the same value.
u 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 LCD Display Description Values Page
Hex)
V/f V/f w PG OLV CLV Default: <1>
OLV/PM AOLV/PM CLV/PM Min.: 10% of
drive rated
E4-01 Sets the full load current for motor 2. Automatically set during current
Motor 2 Rated Current Motor Rated FLA 228
(0321) Auto-Tuning. Max.: 150% of
drive rated
current <2>
V/f V/f w PG OLV CLV
E4-02 Default: <1>
Motor 2 Rated Slip Motor Rated Slip OLV/PM AOLV/PM CLV/PM 228
(0322) Min.: 0.00 Hz
Sets the rated slip for motor 2. Automatically set during Max.: 20.00 Hz
Auto-Tuning.
V/f V/f w PG OLV CLV
E4-03 Motor 2 Rated No-Load No-Load Current Default: <1>
OLV/PM AOLV/PM CLV/PM Min.: 0 A 228
(0323) Current Sets the no-load current for motor 2. Automatically set during Max.: E4-01 <2>
Auto-Tuning.
V/f V/f w PG OLV CLV
E4-04 Default: 4
Motor 2 Motor Poles Number of Poles OLV/PM AOLV/PM CLV/PM Min.: 2 229
(0324) Sets the number of poles of motor 2. Automatically set during Max.: 48
Auto-Tuning.
V/f V/f w PG OLV CLV
E4-05 Motor 2 Line-to-Line Default: <1>
Term Resistance OLV/PM AOLV/PM CLV/PM 229
(0325) Resistance Min.: 0.000 Ω
Sets the phase-to-phase resistance for motor 2. Automatically Max.: 65.000 Ω
set during Auto-Tuning.
V/f V/f w PG OLV CLV
E4-06 Motor 2 Leakage OLV/PM AOLV/PM CLV/PM Default: <1>
Leak Inductance Sets the voltage drop for motor 2 due to motor leakage Min: 0.0% 229
(0326) Inductance
inductance as a percentage of rated voltage. Automatically set Max: 40.0%
during Auto-Tuning.
V/f V/f w PG OLV CLV
Motor 2 Motor Iron- Default: 0.50
E4-07 OLV/PM AOLV/PM CLV/PM
Core Saturation Saturation Comp1 Min.: 0.00 229
(0343) Set to the motor iron saturation coefficient at 50% of magnetic Max.: 0.50
Coefficient 1
flux for motor 2. Automatically set during Auto-Tuning.
V/f V/f w PG OLV CLV
Motor 2 Motor Iron- OLV/PM AOLV/PM CLV/PM Default: 0.75
E4-08 Core Saturation Saturation Comp2 Set to the motor iron saturation coefficient at 75% of magnetic Min.: E4-07 229
(0344) Coefficient 2 flux for motor 2. This value is automatically set during Max.: 0.75
Auto-Tuning.
V/f V/f w PG OLV CLV
OLV/PM AOLV/PM CLV/PM Default: 0.0%
E4-09 Motor 2 Mechanical Sets the motor mechanical loss for motor 2 as a percentage of Min.: 0.0
Mechanical Loss 229
(033F) Loss motor rated power (kW). Max.: 10.0
There is normally no need to change this parameter from the
default value.
V/f V/f w PG OLV CLV Default: <1>
E4-10 Motor 2 Iron Loss Motor Iron Loss OLV/PM AOLV/PM CLV/PM Min.: 0 W 229
(0340)
Sets the motor iron loss. Max.: 65535 W
V/f V/f w PG OLV CLV
E4-11 Default: <1>
Motor 2 Rated Power Mtr Rated Power OLV/PM AOLV/PM CLV/PM 230
(0327) Min.: 0.00 kW
Sets the motor rated capacity in kW. Automatically set during Max.: 650.00 kW
Auto-Tuning.
<1> Default setting is determined by parameters C6-01, Drive Duty Selection, and o2-04, Drive Model Selection.
470 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.7 E: Motor Parameters
<2> Display is in the following units:
2o0028, 2o0042, and 4o0011 to 4o0027: 0.01 A units
2o0054 to 2o0248 and 4o0034 to 4o0414: 0.1 A units
u E5: PM Motor Settings
No.
(Addr. Name LCD Display Description Values Page
Hex)
V/f V/f w PG OLV CLV
OLV/PM AOLV/PM CLV/PM
Enter the Yaskawa motor code for the PM motor being used.
Various motor parameters are automatically set based on the
value of this parameter. Settings that were changed manually
E5-01 will be overwritten by the defaults of the selected motor code. Default: <2>
(0329) Motor Code Selection PM Mtr Code Sel Min.: 0000 230
<1> (for PM Motors) Note: 1. Set to FFFF when using a non-Yaskawa PM
motor or a special motor. Max.: FFFF <3>
2. If an alarm or hunting occurs despite using a
motor code, enter the value indicated on the
nameplate. Refer to Auto-Tuning for
Permanent Magnet Motors on page 131 for
details.
E5-02 V/f V/f w PG OLV CLV Default: <4>
(032A) Motor Rated Power (for PM Mtr Capacity
PM Motors) OLV/PM AOLV/PM CLV/PM Min.: 0.10 kW 230
<1> Max.: 650.00 kW
Sets the rated capacity of the motor.
V/f V/f w PG OLV CLV Default: <4>
OLV/PM AOLV/PM CLV/PM Min: 10% of
E5-03 drive rated
(032B) Motor Rated Current (for Sets the motor rated current.
PM Mtr Rated FLA current 231
<1> PM Motors)
Max: 150% of
drive rated
current <5>
E5-04 V/f V/f w PG OLV CLV Default: <4>
(032C) Number of Motor Poles PM Motor Poles
(for PM Motors) OLV/PM AOLV/PM CLV/PM Min.: 2 231
<1> Max.: 48
Sets the number of motor poles.
E5-05 V/f V/f w PG OLV CLV Default: <4>
(032D) Motor Stator Resistance PM Mtr Arm Ohms
(r1) (for PM Motors) OLV/PM AOLV/PM CLV/PM Min.: 0.000 Ω 231
<1> Max.: 65.000 Ω
Set the resistance for each motor phase.
E5-06 Motor d-Axis V/f V/f w PG OLV CLV Default: <4>
(032E) Inductance (Ld) (for PM PM Mtr d Induct OLV/PM AOLV/PM CLV/PM Min.: 0.00 mH 231
<1> Motors) Max.: 300.00 mH
Sets the d-Axis inductance for the PM motor.
E5-07 Motor q-Axis V/f V/f w PG OLV CLV Default: <4>
(032F) Inductance (Lq) (for PM PM Mtr q Induct OLV/PM AOLV/PM CLV/PM Min.: 0.00 mH 231
<1> Motors) Max.: 600.00 mH
Sets the q-Axis inductance for the PM motor.
V/f V/f w PG OLV CLV
Default: <4>
OLV/PM AOLV/PM CLV/PM
E5-09 Motor Induction Voltage Min.: 0.0 mV/
Sets the induced phase peak voltage in units of 0.1 mV/(rad/s) (rad/s)
(0331) Constant 1 (Ke) (for PM PM Mtr Ind V 1 [electrical angle]. Set this parameter when using a Yaskawa Max.: 2000.0 231
<1> Motors) SSR1-Series PM motor with derated torque, or a Yaskawa mV/
Parameter List
SST4-Series motor with constant torque. (rad/s)
Set E5-24 to 0 when setting this parameter.
V/f V/f w PG OLV CLV
E5-11 Encoder Z Pulse Offset Default: 0.0 deg
Enc Z-Pulse Offs OLV/PM AOLV/PM CLV/PM Min.: -180 231
(0333) (Δθ ) (for PM Motors) Sets the offset between the rotor magnetic axis and the Z Pulse Max.: 180
of an incremental encoder during Z Pulse offset tuning.
V/f V/f w PG OLV CLV Default: <4> B
E5-24 Motor Induction Voltage OLV/PM AOLV/PM CLV/PM Min.: 0.0 mV/
(0353) Constant 2 (Ke) (for PM PM Mtr Ind V 2 (r/min) 232
<1>
Sets the induced phase-to-phase rms voltage in units of 0.1 mV/ Max.: 6500.0
Motors) (r/min) [mechanical angle]. Set this parameter when using a mV/
Yaskawa SMRA-Series SPM motor. (r/min)
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 471
B.7 E: Motor Parameters
No.
(Addr. Name LCD Display Description Values Page
Hex)
V/f V/f w PG OLV CLV
OLV/PM
V/f AOLV/PM CLV/PM
Polarity Switch for Switches polarity for initial polarity estimation.
RotPolarityInvrs 0: Disabled
E5-25 Initial Polarity Default: 0
Estimation Timeout (for 0: Disabled 1: Enabled 232
(035E) Range: 0, 1
1: Enabled There is normally no need to change this parameter from the
PM Motors)
default value.
If “Sd = 1” is listed on the nameplate or in a test report for a
Yaskawa motor, this parameter should be set to 1.
<1> Setting value is not reset to the default when drive is initialized.
<2> Default setting is determined by parameters A1-02, Control Method Selection, o2-04, Drive Model Selection, and C6-01, Drive Duty Selection.
<3> Selections may vary depending on the motor code entered to E5-01.
<4> Default setting is determined by parameter E5-01, Motor Code Selection.
<5> Display is in the following units:
2o0028, 2o0042, and 4o0011 to 4o0027: 0.01 A units
2o0054 to 2o0248 and 4o0034 to 4o0414: 0.1 A units
472 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.8 F: Option Settings
B.8 F: Option Settings
F parameters program the drive for PG feedback from the motor and to function with option cards.
u F1: PG Speed Control Card Settings (PG-B3, PG-X3, PG-RT3, PG-F3)
Parameters F1-01, F1-05, F1-06, F1-12, F1-13, and F1-18 through F1-21 include “PG 1” in the parameter name and are used
to set up a PG option card plugged into option port CN5-C of the drive.
Parameters F1-31 through F1-37 include “PG 2” in the parameter name and are used to set up a PG option card plugged into
option port CN5-B of the drive.
Other parameters in the F1 group are used to set operation for PG options plugged into port CN5-C and CN5-B.
No.
(Addr. Name LCD Display Description Values Page
Hex)
V/f V/f w PG OLV CLV
OLV/PM AOLV/PM CLV/PM
Default: 1024 ppr
F1-01 PG 1 Pulses Per Sets the number of PG (pulse generator or encoder) pulses. Sets Min.: 1
PG1 Pulses/Rev 233
(0380) Revolution the number of pulses per motor revolution. Max.: 60000
Note: Setting range is 0 to 15000 ppr when A1-02 = 7
(CLV/PM control mode).
V/f V/f w PG OLV CLV
OLV/PM AOLV/PM CLV/PM
PG Fdbk Loss Sel 0: Ramp to stop. Decelerate to stop using the deceleration time
0: Ramp to Stop in C1-02.
F1-02 Operation Selection at 1: Coast to Stop 1: Coast to stop. Default: 1
(0381) PG Open Circuit (PGo) 2: Fast-Stop 2: Fast Stop. Decelerate to stop using the deceleration time in Range: 0 to 4 233
3: Alarm Only C1-09.
4: Not Detect 3: Alarm only.
4: No alarm display
Note: Depending on motor speed and load conditions,
an oC error may occur.
V/f V/f w PG OLV CLV
OLV/PM AOLV/PM CLV/PM
0: Ramp to stop. Decelerate to stop using the deceleration time
PG Overspeed Sel in C1-02.
0: Ramp to Stop 1: Coast to stop.
F1-03 Operation Selection at Default: 1
1: Coast to Stop 2: Fast Stop. Decelerate to stop using the deceleration time in Range: 0 to 3 233
(0382) Overspeed (oS) 2: Fast-Stop C1-09.
3: Alarm Only 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.
V/f V/f w PG OLV CLV
PG Deviation Sel OLV/PM AOLV/PM CLV/PM
0: Ramp to Stop 0: Ramp to stop. Decelerate to stop using the deceleration time
F1-04 Operation Selection at in C1-02. Default: 3
1: Coast to Stop 234
(0383) Speed Deviation (dEv) 1: Coast to stop. Range: 0 to 3
2: Fast-Stop
3: Alarm Only 2: Fast Stop. Decelerate to stop using the deceleration time in
C1-09.
3: Alarm only.
Parameter List
V/f V/f w PG OLV CLV
PG1 Rotation Sel
F1-05 PG 1 Rotation Selection 0: Fwd = C.C.W OLV/PM AOLV/PM CLV/PM Default: <1> 234
(0384) 0: Pulse A leads Range: 0, 1
1: Fwd = C.W.
1: Pulse B leads
V/f V/f w PG OLV CLV
OLV/PM AOLV/PM CLV/PM B
Sets the division ratio for the pulse monitor used of the PG Default: 1
F1-06 PG 1 Division Rate for option card installed to port CN5-C.
PG1 Output Ratio Min.: 1 234
(0385) PG Pulse Monitor When setting for a three-digit number “xyz”, the division ratio Max.: 132
becomes = [(1 + x) / yz].
If only using the A pulse for one-track input, the input ratio will
be 1:1 regardless of F1-06 setting.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 473
B.8 F: Option Settings
No.
(Addr. Name LCD Display Description Values Page
Hex)
V/f V/f w PG OLV CLV
Default: 115%
F1-08 Overspeed Detection OLV/PM AOLV/PM CLV/PM
PG Overspd Level Min.: 0 233
(0387) Level Sets the overspeed detection level as a percentage of the Max.: 120
maximum output frequency.
V/f V/f w PG OLV CLV
F1-09 Overspeed Detection Default: <1>
PG Overspd Time OLV/PM AOLV/PM CLV/PM 233
(0388) Delay Time Min.: 0.0 s
Sets the time in seconds for an overspeed situation to trigger a Max.: 2.0 s
fault (oS).
V/f V/f w PG OLV CLV
Excessive Speed Default: 10%
F1-10 OLV/PM AOLV/PM CLV/PM
Deviation Detection PG Deviate Level Min.: 0 234
(0389) Sets the speed deviation detection level as a percentage of the Max.: 50
Level
maximum output frequency.
V/f V/f w PG OLV CLV
Excessive Speed Default: 0.5 s
F1-11 OLV/PM AOLV/PM CLV/PM
Deviation Detection PG Deviate Time Min.: 0.0 234
(038A) Sets the time in seconds for a speed deviation situation to trigger Max.: 10.0
Delay Time
a fault (dEv).
V/f V/f w PG OLV CLV
F1-12 OLV/PM AOLV/PM CLV/PM Default: 0
PG 1 Gear Teeth 1 PG1 Gear Teeth1 Sets the gear ratio between the motor shaft and the encoder Min.: 0 234
(038B)
(PG). Max.: 1000
A gear ratio of 1 will be used if F1-12 or F1-13 are set to 0.
V/f V/f w PG OLV CLV
F1-13 OLV/PM AOLV/PM CLV/PM Default: 0
PG 1 Gear Teeth 2 PG1 Gear Teeth2 Sets the gear ratio between the motor shaft and the encoder Min.: 0 234
(038C)
(PG). A gear ratio of 1 will be used if F1-12 or F1-13 are set to Max.: 1000
0.
V/f V/f w PG OLV CLV Default: 2.0 s
F1-14 PG Open-Circuit PGO Detect Time OLV/PM AOLV/PM CLV/PM Min.: 0.0 233
(038D) Detection Time
Sets the time required to trigger a PG Open fault (PGo). Max.: 10.0
V/f V/f w PG OLV CLV
F1-18 OLV/PM AOLV/PM CLV/PM Default: 10
(03AD) dv3 Detection Selection DV3 Det Sel 0: Disabled Min.: 0 235
n: Number of dv3 occurrences that must be detected to trigger Max.: 10
a dv3 fault.
V/f V/f w PG OLV CLV
F1-19 OLV/PM AOLV/PM CLV/PM Default: 128
(03AE) dv4 Detection Selection DV4 Det Sel 0: Disabled Min.: 0 235
n: Number of pulses that the A and B pulse are reversed that Max.: 5000
triggers dv4 detection.
V/f V/f w PG OLV CLV
PGCardDisconDet1
F1-20 PG Option Card OLV/PM AOLV/PM CLV/PM Default: 1
Disconnect Detection 1 0: Disabled 235
(03B4) 0: Disabled Range: 0, 1
1: Enabled
1: Enabled
V/f V/f w PG OLV CLV
PG1 Signal Sel 1
F1-21 OLV/PM AOLV/PM CLV/PM Default: 0
(03BC) PG 1 Signal Selection 0: A Phase Det 235
1: A,B Phase Det 0: A pulse detection Range: 0, 1
1: AB pulse detection
V/f V/f w PG OLV CLV
F1-30 PG Card Option Port for Mtr2 PG Port Sel
0: Port CN5-C OLV/PM AOLV/PM CLV/PM Default: 1
(03AA) Motor 2 Selection 235
1: Port CN5-B 0: CN5-C Range: 0, 1
1: CN5-B
V/f V/f w PG OLV CLV
F1-31 PG 2 Pulses Per Default: 1024 ppr
PG2 Pulses/Rev OLV/PM AOLV/PM CLV/PM Min.: 1 233
(03B0) Revolution Sets the number of pulses for a PG option card connected to Max.: 60000
port CN5-B.
474 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.8 F: Option Settings
No.
(Addr. Name LCD Display Description Values Page
Hex)
V/f V/f w PG OLV CLV
PG2 Rotation Sel
F1-32 OLV/PM AOLV/PM CLV/PM Default: 0
PG 2 Rotation Selection 0: Fwd = C.C.W 234
(03B1) 0: Pulse A leads Range: 0, 1
1: Fwd = C.W.
1: Pulse B leads
V/f V/f w PG OLV CLV
F1-33 OLV/PM AOLV/PM CLV/PM Default: 0
PG 2 Gear Teeth 1 PG2 Gear Teeth1 Sets the gear ratio between the motor shaft and the encoder Min.: 0 234
(03B2)
(PG). Max.: 1000
A gear ratio of 1 will be used if F1-33 or F1-34 are set to 0.
V/f V/f w PG OLV CLV
F1-34 OLV/PM AOLV/PM CLV/PM Default: 0
PG 2 Gear Teeth 2 PG2 Gear Teeth2 Sets the gear ratio between the motor shaft and the encoder Min.: 0 234
(03B3)
(PG). A gear ratio of 1 will be used if F1-33 or F1-34 are set to Max.: 1000
0.
V/f V/f w PG OLV CLV
OLV/PM AOLV/PM CLV/PM Default: 1
F1-35 PG 2 Division Rate for Sets the division ratio for the pulse monitor used of the PG
PG2 Output Ratio Min.: 1 234
(03BE) Pulse Monitor option card 2 installed to port CN5-B. Max.: 132
When setting for a three-digit number “xyz”, the division ratio
becomes = [(1 + x) / yz].
V/f V/f w PG OLV CLV
PGCardDisconDet1
F1-36 PG Option Card OLV/PM AOLV/PM CLV/PM Default: 1
Disconnect Detection 2 0: Disabled 235
(03B5) 0: Disabled Range: 0, 1
1: Enabled
1: Enabled
V/f V/f w PG OLV CLV
PG2 Signal Sel
F1-37 OLV/PM AOLV/PM CLV/PM Default: 0
(03BD) PG 2 Signal Selection 0: A Phase Det 235
1: A,B Phase Det 0: A pulse detection Range: 0, 1
1: AB pulse detection
V/f V/f w PG OLV CLV
OLV/PM AOLV/PM CLV/PM
Selects the encoder connected the PG-F3 option.
Encoder Select 0: EnDat 2.1/01, 2.2/01 Serial Communication + Sin/Cos
F1-50 0: EnDat Sin/Cos 1: EnDat 2.2/22 Serial Communication Default: 0
Encoder Selection 2: Hiperface 236
(03D2) 1: EnDat SerialOnly Range: 0 to 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 label in the field designated “C/N” (S +
four digit number).
V/f V/f w PG OLV CLV
F1-51 Default: 80%
PGoH Detection Level PGOH Det Level OLV/PM AOLV/PM CLV/PM Min.: 1 236
(03D3) Sets the level for detecting PG Hardware Fault (PGoH). Max.: 100
Available when F1-20 = 1
V/f V/f w PG OLV CLV
Ser Enc Comm Spd OLV/PM AOLV/PM CLV/PM
Communication Speed 0: 1M/9600bps Selects the communication speed between the PG-F3 option
F1-52 and serial encoder. Default: 0
of Serial Encoder 1: 500k/19200bps 236
Parameter List
(03D4) 0: 1M bps/9600 bps (EnDat 2.2/22 / Hiperface) Range: 0 to 3
Selection 2: 1M/38400bps
3: 1M/38400bps 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)
<1> Default setting is determined by parameter A1-02, Control Method Selection.
B
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 475
B.8 F: Option Settings
u F2: Analog Input Card Settings (AI-A3)
No.
(Addr. Name LCD Display Description Values Page
Hex)
All Modes
Analog Input Option AI Function Sel 0: Option card input terminals V1, V2, and V3 replace drive Default: 0
F2-01 Card Operation 0: 3ch Individual input terminals A1, A2, and A3. 236
(038F) Range: 0, 1
Selection 1: 3ch Addition 1: Input signals to terminals V1, V2, and V3 are added together
to create the frequency reference.
F2-02 All Modes Default: 100.0%
(0368) Analog Input Option AI Input Gain Sets the gain for the input signal to the analog card. Min.: -999.9 237
Card Gain
Max.: 999.9
F2-03 All Modes Default: 0.0%
(0369) Analog Input Option AI Input Bias Sets the bias for the input signal to the analog card. Min.: -999.9 237
Card Bias
Max.: 999.9
u F3: Digital Input Card Settings (DI-A3)
No.
(Addr. Name LCD Display Description Values Page
Hex)
All Modes
0: BCD, 1% units
1: BCD, 0.1% units
DI Function Sel 2: BCD, 0.01% units
0: BCD 1% 3: BCD, 1 Hz units
1: BCD 0.1% 4: BCD, 0.1 Hz units
2: BCD 0.01% 5: BCD, 0.01 Hz units
F3-01 Digital Input Option 6: BCD customized setting (5-digit), 0.02 Hz units Default: 0
3: BCD 1 Hz 237
(0390) Card Input Selection 7: Binary input Range: 0 to 7
4: BCD 0.1 Hz
5: BCD 0.01 Hz The unit and the setting range are determined by F3-03.
6: BCD(5DG) 0.01 Hz F3-03 = 0: 255/100% (-255 to +255)
7: Binary 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 Hz or
user-set units (o1-03 = 2 or 3), the units for F3-01 are
determined by parameter o1-03.
Data length Sel All Modes
Digital Input Option DI-
F3-03 0: 8bit 0: 8 bit Default: 2
A3 Data Length 237
(03B9) 1: 12bit 1: 12 bit Range: 0 to 2
Selection 2: 16bit 2: 16 bit
u F4: Analog Monitor Card Settings (AO-A3)
No.
(Addr. Name LCD Display Description Values Page
Hex)
All Modes
F4-01 Terminal V1 Monitor Sets the monitor signal for output from terminal V1. Set this Default: 102
AO Ch1 Select parameter to the last three digits of the desired Uo-oo 238
(0391) Selection Range: 000 to 999
monitor. Some U parameters are available only in certain
control modes.
F4-02 All Modes Default: 100.0%
(0392) Terminal V1 Monitor AO Ch1 Gain Sets the gain for voltage output via terminal V1. Min.: -999.9 238
Gain
Max.: 999.9
All Modes
F4-03 Terminal V2 Monitor Sets the monitor signal for output from terminal V2. Set this Default: 103
AO Ch2 Select parameter to the last three digits of the desired Uo-oo 238
(0393) Selection Range: 000 to 999
monitor. Some U parameters are available only in certain
control modes.
F4-04 All Modes Default: 50.0%
(0394) Terminal V2 Monitor AO Ch2 Gain Sets the gain for voltage output via terminal V2. Min.: -999.9 238
Gain
Max.: 999.9
476 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.8 F: Option Settings
No.
(Addr. Name LCD Display Description Values Page
Hex)
F4-05 All Modes Default: 0.0%
(0395) Terminal V1 Monitor AO Ch1 Bias Sets the amount of bias added to the voltage output via terminal Min.: -999.9 238
Bias
V1. Max.: 999.9
F4-06 All Modes Default: 0.0%
(0396) Terminal V2 Monitor AO Ch2 Bias Sets the amount of bias added to the voltage output via terminal Min.: -999.9 238
Bias
V2. Max.: 999.9
AO Opt Level Ch1 All Modes
F4-07 Terminal V1 Signal Default: 0
0: 0-10 VDC 0: 0 to 10 V 238
(0397) Level Range: 0, 1
1: -10 +10 VDC 1: -10 to 10 V
AO Opt Level Ch2 All Modes
F4-08 Terminal V2 Signal 0: 0-10 VDC Default: 0
(0398) Level 0: 0 to 10 V 238
1: -10 +10 VDC Range: 0, 1
1: -10 to 10 V
u F5: Digital Output Card Settings (DO-A3)
No.
(Addr. Name LCD Display Description Values Page
Hex)
F5-01 Terminal P1-PC Output DO Ch1 Select All Modes Default: 0
(0399) Selection 239
Range: 0 to 192
Sets the function for contact output terminals M1-M2, M3-M4,
F5-02 Terminal P2-PC Output and photocoupler output terminals P1 through P6. Default: 1
DO Ch2 Select 239
(039A) Selection Range: 0 to 192
F5-03 Terminal P3-PC Output Default: 2
DO Ch3 Select 239
(039B) Selection Range: 0 to 192
F5-04 Terminal P4-PC Output Default: 4
DO Ch4 Select 239
(039C) Selection Range: 0 to 192
F5-05 Terminal P5-PC Output Default: 6
DO Ch5 Select 239
(039D) Selection Range: 0 to 192
F5-06 Terminal P6-PC Output Default: 37
DO Ch6 Select 239
(039E) Selection Range: 0 to 192
F5-07 Terminal M1-M2 Default: F
DO Ch7 Select 239
(039F) Output Selection Range: 0 to 192
F5-08 Terminal M3-M4 Default: F
DO Ch8 Select 239
(03A0) Output Selection Range: 0 to 192
All Modes
0: Output terminals are each assigned separate output
F5-09 DO-A3 Output Mode functions. Default: 0
DO Function Sel 239
(03A1) Selection 1: Binary code output. Range: 0 to 2
2: Use output terminal functions selected by parameters F5-01
through F5-08.
Parameter List
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 477
B.8 F: Option Settings
u F6: Communication Option Card Settings (SI-C3, SI-ET3, SI-N3, SI-P3, SI-S3, SI-T3, SI-
W3)
Parameters F6-01 through F6-03 and F6-06 through F6-08 are used for CC-Link, CANopen, DeviceNet, PROFINET,
LonWorks, PROFIBUS-DP, MECHATROLINK-II, and MECHATROLINK-III options. 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.
No.
(Addr. Name LCD Display Description Values Page
Hex)
All Modes
Comm Bus Flt Sel 0: Ramp to stop. Decelerate to stop using the deceleration time
0: Ramp to Stop in C1-02.
F6-01 Communications Error Default: 1
1: Coast to Stop 1: Coast to stop. 239
(03A2) Operation Selection Range: 0 to 3
2: Fast-Stop 2: Fast Stop. Decelerate to stop using the deceleration time in
3: Alarm Only C1-09.
3: Alarm only.
External Fault from EF0 Detection All Modes
F6-02 Default: 0
Comm. Option 0: Always Detected 0: Always detected. 240
(03A3) Range: 0, 1
Detection Selection 1: Only During Run 1: Detection during run only.
All Modes
EF0 Fault Action 0: Ramp to stop. Decelerate to stop using the deceleration time
External Fault from 0: Ramp to Stop in C1-02.
F6-03 Default: 1
Comm. Option 1: Coast to Stop 1: Coast to stop. 240
(03A4) Range: 0 to 3
Operation Selection 2: Fast-Stop 2: Fast Stop. Decelerate to stop using the deceleration time in
3: Alarm Only C1-09.
3: Alarm only.
F6-04 bUS Error Detection All Modes Default: 2.0 s
BUS Err Det Time Min.: 0.0 241
(03A5) Time Sets the delay time for error detection if a bus error occurs. Max.: 5.0
V/f V/f w PG OLV CLV
Torque Reference/ Torq Ref/Lmt Sel OLV/PM AOLV/PM CLV/PM
F6-06 Default: 0
Torque Limit Selection 0: Disabled 0: Disabled. Torque reference/limit from option board 240
(03A7) Range: 0, 1
from Comm. Option 1: Enabled disabled.
1: Enabled. Torque reference/limit from option board enabled.
Multi-Step Speed All Modes
Fref PrioritySel
F6-07 Enable/Disable Default: 0
Selection when NefRef/ 0: Net/Com REF 0: Multi-step reference disabled (same as F7) 240
(03A8) Range: 0, 1
1: MultiStep Speed 1: Multi-step reference enabled (same as V7)
ComRef is Selected
All Modes
F6-08 Com Prm Init Sel 0: Communication-related parameters (F6-oo/F7-oo) are Default: 0
(036A) Reset Communication 0: Init Com Prms not reset when the drive is initialized using A1-03. 240
<1> Parameters Range: 0, 1
1: No Init Com Prms 1: Reset all communication-related parameters
(F6-oo/F7-oo) when the drive is initialized using A1-03.
F6-10 All Modes Default: 0
CC-Link Node Address CC-Link Node Add Min.: 0 241
(03B6) Sets the node address if a CC-Link option is installed. Max.: 64
CC-Link Baud All Modes
0: 156 kbps 0: 156 Kbps
F6-11 CC-Link 1: 625 kbps 1: 625 Kbps Default: 0 241
(03B7) Communication Speed 2: 2.5 Mbps 2: 2.5 Mbps Range: 0 to 4
3: 5 Mbps 3: 5 Mbps
4: 10 Mbps 4: 10 Mbps
Bus Err Auto Rst All Modes
F6-14 CC-Link bUS Error Default: 0
0: Disabled 0: Disabled 241
(03BB) Auto Reset Range: 0, 1
1: Enabled 1: Enabled
All Modes Default: 21
F6-20 MECHATROLINK <2>
Station Address Sets the station address when the MECHATROLINK option Min.: 20 241
(036B) Station Address
has been installed. Max.: 3F <2>
All Modes
F6-21 MECHATROLINK Default: 0
Frame length 0: 32-byte <3> 241
(036C) Frame Size Range: 0, 1
1: 17-byte <3>
478 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.8 F: Option Settings
No.
(Addr. Name LCD Display Description Values Page
Hex)
Link Speed All Modes
F6-22 MECHATROLINK Default: 0
0: 10MHz 0: 10 Mbps 242
(036D) Link Speed Range: 0, 1
1: 4MHz 1: 4 Mbps
F6-23 MECHATROLINK All Modes Default: 0
Mon E register Min.: 0 242
(036E) Monitor Selection (E) Sets the MECHATROLINK monitor (E). Max.: FFFF
Default: 0
F6-24 MECHATROLINK All Modes
Mon F register Min.: 0 242
(036F) Monitor Selection (F) Sets the MECHATROLINK monitor (F). Max.: FFFF
All Modes
SI-T WDTErr Sel
Operation Selection at 0: Ramp to stop. Decelerate using the deceleration time in
0: Ramp to Stop
F6-25 MECHATROLINK C1-02. Default: 1
1: Coast to Stop 242
(03C9) Watchdog Timer Error 1: Coast to stop Range: 0 to 3
2: Fast-Stop
(E5) 2: Fast stop. Decelerate using the deceleration time in C1-09.
3: Alarm Only
3: Alarm only
F6-26 MECHATROLINK All Modes Default: 2
Num of SI-T BUS Min.: 2 242
(03CA) bUS Errors Detected Sets the number of option communication errors (bUS). Max.: 10
F6-30 PROFIBUS-DP Node All Modes Default: 0
PB Node Address Min.: 0 242
(03CB) Address Sets the node address. Max.: 125
All Modes
PB Clear Select
F6-31 PROFIBUS-DP Clear 0: Resets drive operation with a Clear mode command. Default: 0
0: Reset to Zero 243
(03CC) Mode Selection 1: Maintains the previous operation state when Clear mode Range: 0, 1
1: Hold Prev Value
command is given.
PB Map Select All Modes
F6-32 PROFIBUS-DP Data Default: 0
0: PPO Type 0: PPO Type 243
(03CD) Format Selection Range: 0, 1
1: Conventional 1: Conventional
F6-35 CANopen Node ID All Modes Default: 0
CO Node Address Min.: 0 243
(03D0) Selection Sets the node address. Max.: 126
CO Baud Rate All Modes
0: Auto Detect 0: Auto-detection
1: 10 kbps 1: 10 kbps
2: 20 kbps 2: 20 kbps
F6-36 CANopen 3: 50 kbps 3: 50 kbps Default: 6 243
(03D1) Communication Speed 4: 125 kbps 4: 125 kbps Range: 0 to 8
5: 250 kbps 5: 250 kbps
6: 500 kbps 6: 500 kbps
7: 800 kbps 7: 800 kbps
8: 1Mbps 8: 1 Mbps
F6-40 CompoNet Node All Modes
CN Node Adress – –
(03D5) Address Reserved.
F6-41 CompoNet All Modes
CN Baud Rate – –
(03D6) Communication Speed Reserved.
F6-50 DeviceNet MAC All Modes Default: 64
DN MAC Address Min.: 0 243
(03C1) Address Selects the drive MAC address. Max.: 64 Parameter List
DN Baud Rate All Modes
0: 125 kbps 0: 125 kbps
F6-51 DeviceNet 1: 250 kbps 1: 250 kbps Default: 4 244
(03C2) Communication Speed 2: 500 kbps 2: 500 kbps Range: 0 to 4
3: Set from Network 3: Adjustable from network
4: Auto Detect 4: Detect automatically
F6-52 DeviceNet PCA Setting PCA Selection
All Modes Default: 21
Min.: 0 244
B
(03C3) Sets the format of the data set from the DeviceNet master to
the drive. Max.: 255
F6-53
All Modes Default: 71
DeviceNet PPA Setting PPA Selection Sets the format of the data set from the drive to the DeviceNet Min.: 0 244
(03C4)
master. Max.: 255
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 479
B.8 F: Option Settings
No.
(Addr. Name LCD Display Description Values Page
Hex)
DN Idle Flt Det All Modes
F6-54 DeviceNet Idle Mode Default: 0
0: Stop 0: Enabled 244
(03C5) Fault Detection Range: 0, 1
1: Ignore 1: Disabled, no fault detection
DN BAUD RATE All Modes
MEM Verifies the baud rate running on the network.
F6-55 DeviceNet Baud Rate Default: 0
0: 125 kbps 0: 125 kbps 244
(03C6) Monitor Range: 0 to 2
1: 250 kbps 1: 250 kbps
2: 500 kbps 2: 500 kbps
F6-56 DeviceNet Speed All Modes Default: 0
Speed Scale Min.: -15 244
(03D7) Scaling Sets the scaling factor for the speed monitor in DeviceNet. Max.: 15
All Modes Default: 0
F6-57 DeviceNet Current Current Scale Sets the scaling factor for the output current monitor in Min.: -15 244
(03D8) Scaling Max.: 15
DeviceNet.
F6-58 DeviceNet Torque All Modes Default: 0
Torque Scale Min.: -15 244
(03D9) Scaling Sets the scaling factor for the torque monitor in DeviceNet. Max.: 15
All Modes Default: 0
F6-59 DeviceNet Power Power Scale Min.: -15 244
(03DA) Scaling Sets the scaling factor for the power monitor in DeviceNet. Max.: 15
All Modes Default: 0
F6-60 DeviceNet Voltage Voltage Scale Min.: -15 244
(03DB) Scaling Sets the scaling factor for the voltage monitor in DeviceNet. Max.: 15
All Modes Default: 0
F6-61
(03DC) DeviceNet Time Scaling Time Scale Min.: -15 244
Sets the scaling factor for the time monitor in DeviceNet. Max.: 15
All Modes Default: 0
F6-62 DeviceNet Heartbeat DN Heart Beat Min.: 0 245
(03DD) Interval Sets the heartbeat interval for DeviceNet communications. Max.: 10
All Modes Default: 63
F6-63 DeviceNet Network DN MAC ID MEM Saves and monitors settings 0 to 63 of F6-50 (DeviceNet MAC Min.: 0 245
(03DE) MAC ID
Address). Max.: 63
F6-64 to All Modes
F6-71
(03DF to Reserved – Reserved for Dynamic I/O Assembly Parameters. – –
03C8)
F6-72 PowerLink Node All Modes
PowerLink NodeID – –
(03DE) Address Reserved.
<1> Parameter setting value is not reset to the default value when the drive is initialized.
<2> Values shown are for the MECHATROLINK-II option (SI-T3). Values for MECHATROLINK-III option (SI-ET3) are:
Min: 03
Max.: EF
<3> Values shown are for the MECHATROLINK-II option (SI-T3). Values for MECHATROLINK-III option (SI-ET3) are:
0: 64-byte
1: 32-byte
u F7: Communication Option Card Settings (SI-EM3, SI-EN3, SI-EP3)
F7 parameters are used for EtherNet/IP, Modbus TCP/IP, and PROFINET options. 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.
480 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.8 F: Option Settings
No.
(Addr. Name LCD Display Description Values Page
Hex)
F7-01
(03E5) IP Address 1 IP Address 1
All Modes Default: 192 –
<1> Sets the most significant octet of network static IP address. Range: 0 to 255
F7-02 All Modes
(03E6) IP Address 2 IP Address 2 Default: 168
Sets the second most significant octet of network static IP –
<1> Range: 0 to 255
address.
F7-03 All Modes
(03E7) IP Address 3 IP Address 3 Default: 1
Sets the third most significant octet of network static IP –
<1> Range: 0 to 255
address.
F7-04 All Modes
(03E8) IP Address 4 IP Address 4 Default: 20
Sets the fourth most significant octet of network static IP –
<1> Range: 0 to 255
address.
F7-05 Subnet Mask 1 Subnet Mask 1
All Modes Default: 255
(03E9) –
Sets the most significant octet of network static Subnet Mask. Range: 0 to 255
All Modes
F7-06 Default: 255
(03EA) Subnet Mask 2 Subnet Mask 2 Sets the second most significant octet of network static Subnet Range: 0 to 255 –
Mask.
All Modes
F7-07 Default: 255
(03EB) Subnet Mask 3 Subnet Mask 3 Sets the third most significant octet of network static Subnet Range: 0 to 255 –
Mask.
All Modes
F7-08 Default: 0
(03EC) Subnet Mask 4 Subnet Mask 4 Sets the fourth most significant octet of network static Subnet Range: 0 to 255 –
Mask.
F7-09 All Modes Default: 192
(03ED) Gateway Address 1 Gateway IP Add 1 –
Sets the most significant octet of network Gateway address. Range: 0 to 255
All Modes
F7-10 Default: 168
Gateway Address 2 Gateway IP Add 2 Sets the second most significant octet of network Gateway –
(03EE) Range: 0 to 255
address.
All Modes
F7-11 Default: 1
Gateway Address 3 Gateway IP Add 3 Sets the third most significant octet of network Gateway –
(03EF) Range: 0 to 255
address.
All Modes
F7-12 Default: 1
Gateway Address 4 Gateway IP Add 4 Sets the fourth most significant octet of network Gateway –
(03E0) Range: 0 to 255
address.
All Modes
IP Add Mode Sel
F7-13 Select the option address setting method
Address Mode at Startup 0: User Defined Default: 2 –
(03F1) 1: BOOTP 0: Static <2> Range: 0 to 2
2: DHCP 1: BOOTP
2: DHCP
All Modes
Duplex Select
F7-14 Selects duplex mode setting.
Duplex Mode Selection 0: Half Duplex Default: 1
(03F2) 1: Auto Negotiate 0: Half duplex forced –
Range: 0 to 2
2: Full Duplex 1: Auto-negotiate duplex mode and communication speed
2: Full duplex forced Parameter List
All Modes
Baud Rate
F7-15 Communication Speed Sets the communication speed Default: 10
10: 10 Mbps –
(03F3) Selection 10: 10 Mbps Range: 10, 100
100: 100 Mbps
100: 100 Mbps
All Modes
F7-16 Communication Loss Sets the timeout value for communication loss detection in Default: 0
(03F4) Timeout CommLoss Tout tenths of a second. A value of 0 disables the connection Min.: 0 – B
timeout. Max.: 300
Example: An entered value of 100 represents 10.0 seconds.
F7-17 EtherNet/IP Speed
All Modes Default: 0
EN Speed Scale Sets the scaling factor for the speed monitor in EtherNet/IP Min.: -15 –
(03F5) Scaling Factor
Class ID 2AH Object. Max.: 15
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 481
B.8 F: Option Settings
No.
(Addr. Name LCD Display Description Values Page
Hex)
F7-18 EtherNet/IP Current
All Modes Default: 0
EN Current Scale Sets the scaling factor for the output current monitor in Min.: -15 –
(03F6) Scaling Factor
EtherNet/IP Class ID 2AH Object. Max.: 15
F7-19 EtherNet/IP Torque
All Modes Default: 0
EN Torque Scale Sets the scaling factor for the torque monitor in EtherNet/IP Min.: -15 –
(03F7) Scaling Factor
Class ID 2AH Object. Max.: 15
F7-20 EtherNet/IP Power
All Modes Default: 0
EN Power Scale Sets the scaling factor for the power monitor in EtherNet/IP Min.: -15 –
(03F8) Scaling Factor
Class ID 2AH Object. Max.: 15
F7-21 EtherNet/IP Voltage
All Modes Default: 0
EN Voltage Scale Sets the scaling factor for the voltage monitor in EtherNet/IP Min.: -15 –
(03F9) Scaling Factor
Class ID 2AH Object. Max.: 15
F7-22 EtherNet/IP Time
All Modes Default: 0
EN Time Scale Sets the scaling factor for the time monitor in EtherNet/IP Class Min.: -15 –
(03FA) Scaling
ID 2AH Object. Max.: 15
All Modes
Parameters used in Output Assembly 116. Each parameter
F7-23 to contains a MEMOBUS/Modbus address. The value received
F7-32 Dynamic Output for Output Assembly 116 will be written to this corresponding Default: 0
– –
(03FB to Assembly Parameters MEMOBUS/Modbus address. A MEMOBUS/Modbus
0374) address value of 0 means that the value received for Output
Assembly 116 will not be written to any MEMOBUS/Modbus
register.
All Modes
Parameters used in Input Assembly 166. Each parameter
F7-33 to contains a MEMOBUS/Modbus address. The value sent for
F7-42 Dynamic Input Input Assembly 166 will be read from this corresponding
– Default: 0 –
(0375 to Assembly Parameters MEMOBUS/Modbus address. A MEMOBUS/Modbus
037E) address value of 0 means that the value sent for Input Assembly
166 is not defined by the user, therefore the option default
register value will be returned.
<1> Cycle power for setting changes to take effect.
<2> If F7-13 is set to 0, then all IP Addresses (as defined with parameters F7-01 to F7-04) must be unique.
482 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.9 H Parameters: Multi-Function Terminals
B.9 H Parameters: Multi-Function Terminals
H parameters assign functions to the multi-function input and output terminals.
u H1: Multi-Function Digital Inputs
No.
(Addr. Name LCD Display Description Values Page
Hex)
All Modes Default: 40 (F)
Multi-Function Digital Assigns a function to the multi-function digital inputs.
H1-01 <1>
Input Terminal S1 Term S1 Func Sel Refer to pages 483 to 488 for descriptions of setting values. 246
(0438) Min.: 1
Function Selection
Note: Set unused terminals to F. Max.: 9F
All Modes Default: 41 (F)
Multi-Function Digital Assigns a function to the multi-function digital inputs.
H1-02 <1>
Input Terminal S2 Term S2 Func Sel Refer to pages 483 to 488 for descriptions of setting values. 246
(0439) Min.: 1
Function Selection
Note: Set unused terminals to F. Max.: 9F
All Modes
Multi-Function Digital Assigns a function to the multi-function digital inputs. Default: 24
H1-03
Input Terminal S3 Term S3 Func Sel Refer to pages 483 to 488 for descriptions of setting values. Min.: 0 246
(0400) Function Selection Max.: 9F
Note: Set unused terminals to F.
All Modes
Multi-Function Digital Assigns a function to the multi-function digital inputs. Default: 14
H1-04 Input Terminal S4 Term S4 Func Sel Refer to pages 483 to 488 for descriptions of setting values. Min.: 0 246
(0401) Function Selection Max.: 9F
Note: Set unused terminals to F.
All Modes
H1-05 Multi-Function Digital Assigns a function to the multi-function digital inputs. Default: 3 (0) <1>
Input Terminal S5 Term S5 Func Sel Refer to pages 483 to 488 for descriptions of setting values. Min.: 0 246
(0402) Function Selection Max.: 9F
Note: Set unused terminals to F.
All Modes
H1-06 Multi-Function Digital Assigns a function to the multi-function digital inputs. Default: 4 (3) <1>
Input Terminal S6 Term S6 Func Sel Refer to pages 483 to 488 for descriptions of setting values. Min.: 0 246
(0403) Function Selection Max.: 9F
Note: Set unused terminals to F.
All Modes
H1-07 Multi-Function Digital Assigns a function to the multi-function digital inputs. Default: 6 (4) <1>
Input Terminal S7 Term S7 Func Sel Refer to pages 483 to 488 for descriptions of setting values. Min.: 0 246
(0404) Function Selection Max.: 9F
Note: Set unused terminals to F.
All Modes
Multi-Function Digital Assigns a function to the multi-function digital inputs. Default: 8
H1-08
(0405) Input Terminal S8 Term S8 Func Sel Refer to pages 483 to 488 for descriptions of setting values. Min.: 0 246
Function Selection Max.: 9F
Note: Set unused terminals to F.
<1> Value in parenthesis is the default setting when a 3-Wire initialization is performed (A1-03 = 3330).
H1 Multi-Function Digital Input Selections
H1-oo
Function LCD Display Description Page
Setting
Parameter List
All Modes
0 3-Wire sequence 3-Wire Control Closed: Reverse rotation (only if the drive is set up for 3-Wire sequence) 247
Terminals S1 and S2 are automatically set up for the Run command and Stop
command.
All Modes
1 LOCAL/REMOTE Local/Remote Sel
Open: REMOTE (parameter settings determine the source of the frequency
247
B
selection Reference 1 or 2 (b1-01, b1-02 or b1-15, b1-16)
Closed: LOCAL, Frequency reference and Run command are input from the digital
operator.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 483
B.9 H Parameters: Multi-Function Terminals
H1 Multi-Function Digital Input Selections
H1-oo
Function LCD Display Description Page
Setting
All Modes
External reference 1/2 Open: Run command and frequency reference source 1 (determined by b1-01 and
2 Ext Ref Sel b1-02) 248
selection
Closed: Run command and frequency reference source 2 (determined by b1-15
and b1-16)
All Modes
Multi-Step Speed When input terminals are set to Multi-Step Speed References 1 through 3,
3 Multi-Step Ref 1 248
Reference 1 switching combinations of those terminals will create a multi-step speed sequence
using the frequency references set in d1-01 through d1-08.
All Modes
Multi-Step Speed When input terminals are set to Multi-Step Speed References 1 through 3,
4 Multi-Step Ref 2 248
Reference 2 switching combinations of those terminals will create a multi-step speed sequence
using the frequency references set in d1-01 through d1-08.
All Modes
Multi-Step Speed When input terminals are set to Multi-Step Speed References 1 through 3,
5 Multi-Step Ref 3 248
Reference 3 switching combinations of those terminals will create a multi-step speed sequence
using the frequency references set in d1-01 through d1-08.
All Modes
6 Jog reference selection Jog Freq Ref Closed: Jog frequency reference (d1-17) selected. Jog has priority over all other 248
reference sources.
All Modes
Accel/decel time
7 Multi-Acc/Dec 1 Used to switch between accel/decel time 1 (set in C1-01, C1-02) and accel/decel 248
selection 1
time 2 (set in C1-03, C1-04).
Baseblock command All Modes
8 Ext BaseBlk N.O. 248
(N.O.) Closed: No drive output
Baseblock command All Modes
9 Ext BaseBlk N.C. 248
(N.C.) Open: No drive output
All Modes
A Accel/decel ramp hold Acc/Dec RampHold Open: Accel/decel is not held 248
Closed: The drive pauses during acceleration or deceleration and maintains the
output frequency.
Drive overheat alarm All Modes
B OH2 Alarm Signal 249
(oH2) Closed: Closes when an oH2 alarm occurs
All Modes
Analog terminal input
C Term A2 Enable Open: Function assigned by H3-14 is disabled. 249
selection
Closed: Function assigned by H3-14 is enabled.
V/f V/f w PG OLV CLV
D PG encoder disable PG Fdbk Disable OLV/PM AOLV/PM CLV/PM 249
Open: Speed feedback for V/f Control with PG is enabled.
Closed: Speed feedback disabled.
V/f V/f w PG OLV CLV
E ASR integral reset ASR Intgrl Reset OLV/PM AOLV/PM CLV/PM 249
Open: PI control
Closed: Integral reset
All Modes
F Through mode Term Not Used Select this setting when the terminal is not used or when using the terminal in the 249
pass-through mode. The terminal does not trigger a drive function, but can be used
as digital input for the controller to which the drive is connected.
All Modes
The drive accelerates when the Up command terminal closes, and decelerates when
10 Up command Up Command 1 the Down command closes. When both terminals are closed or both are open, the 249
drive holds the frequency reference. The Up and Down commands must always
be used in conjunction with one another.
484 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.9 H Parameters: Multi-Function Terminals
H1 Multi-Function Digital Input Selections
H1-oo
Function LCD Display Description Page
Setting
All Modes
The drive accelerates when the Up command terminal closes, and decelerates when
11 Down command Down Command 1 the Down command closes. When both terminals are closed or both are open, the 249
drive holds the frequency reference. The Up and Down commands must always
be used in conjunction with one another.
All Modes
12 Forward Jog Forward Jog 250
Closed: Runs forward at the Jog frequency d1-17.
All Modes
13 Reverse Jog Reverse Jog 250
Closed: Runs reverse at the Jog frequency d1-17.
All Modes
14 Fault reset Fault Reset 250
Closed: Resets faults if the cause is cleared and the Run command is removed.
All Modes
15 Fast Stop (N.O.) Fast-Stop N.O. 250
Closed: Decelerates at the Fast Stop time set to C1-09.
V/f V/f w PG OLV CLV
16 Motor 2 selection Motor 2 Select OLV/PM AOLV/PM CLV/PM 251
Open: Motor 1 (E1-oo, E2-oo)
Closed: Motor 2 (E3-oo, E4-oo)
All Modes
17 Fast Stop (N.C.) Fast-Stop N.C. 250
Open: Decelerates to stop at the Fast Stop time set to C1-09.
All Modes
18 Timer function input Timer function Triggers the timer set up by parameters b4-01 and b4-02. Must be set in conjunction 251
with the timer function output (H2-oo = 12).
All Modes
19 PID disable PID Disable Open: PID control enabled 252
Closed: PID control disabled
All Modes
Accel/decel time
1A Multi-Acc/Dec 2 Used in conjunction with an input terminal set for “Accel/decel time selection 1” 252
selection 2
(H1-oo = 7), and allows the drive to switch between accel/decel times 3 and 4.
All Modes
1B Program lockout Program Lockout Open: Parameters cannot be edited (except for U1-01 if the reference source is 252
assigned to the digital operator).
Closed: Parameters can be edited and saved.
All Modes
1E Reference sample hold Ref Sample Hold Closed: Samples the analog frequency reference and operates the drive at that 252
speed.
Parameter List
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 485
B.9 H Parameters: Multi-Function Terminals
H1 Multi-Function Digital Input Selections
H1-oo
Function LCD Display Description Page
Setting
20: NO/Always Det, All Modes
Ramp to Stop
21: NC/Always Det, 20: N.O., Always detected, ramp to stop
Ramp to Stop 21: N.C., Always detected, ramp to stop
22: NO/During RUN, 22: N.O., During run, ramp to stop
Ramp to Stop 23: N.C., During run, ramp to stop
23: NC/During RUN, 24: N.O., Always detected, coast to stop
ramp to stop 25: N.C., Always detected, coast to stop
24: NO/ Always Det, 26: N.O., During run, coast to stop
Coast to Stop 27: N.C., During run, coast to stop
25: NC/Always Det, 28: N.O., Always detected, Fast Stop
Coast to Stop 29: N.C., Always detected, Fast Stop
26: NO/During RUN, 2A: N.O., During run, Fast Stop
Coast to Stop 2B: N.C., During run, Fast Stop
27: NC/During RUN, 2C: N.O., Always detected, alarm only (continue running)
Coast to Stop 2D: N.C., Always detected, alarm only (continue running)
20 to 2F External fault 2E: N.O., During run, alarm only (continue running) 252
28: NO/Always Det,
Fast-Stop 2F: N.C., During run, alarm only (continue running)
29: NC/Always Det,
Fast-Stop
2A: NO/During RUN,
Fast-Stop
2B: NC/During RUN,
Fast- Stop
2C: NO/Always Det,
Alarm Only
2D: NC/Always Det,
Alarm Only
2E: NO/ During RUN,
Alarm Only
2F: NC/During RUN,
Alarm Only
All Modes
30 PID integral reset PID Intgrl Reset 253
Closed: Resets the PID control integral value.
All Modes
31 PID integral hold PID Intgrl Hold Open: Performs integral operation. 253
Closed: Maintains the current PID control integral value.
All Modes
Multi-Step Speed
32 Multi-Step Ref 4 Used in combination with input terminals set to Multi-Step Speed Reference 1, 2, 253
Reference 4
and 3. Use parameters d1-09 to d1-16 to set reference values.
All Modes
34 PID soft starter cancel PID SFS Cancel Open: PID soft starter is enabled. 253
Closed: Disables the PID soft starter b5-17.
All Modes
35 PID input level selection PID Input Invert 253
Closed: Inverts the PID input signal.
All Modes
Forward run command Open: Stop
40 FwdRun 2Wire Seq Closed: Forward run 253
(2-Wire sequence)
Note: Cannot be set together with settings 42 or 43.
All Modes
Reverse run command Open: Stop
41 RevRun 2WireSeq Closed: Reverse run 253
(2-Wire sequence)
Note: Cannot be set together with settings 42 or 43.
All Modes
Run command Open: Stop
42 Run/Stp 2WireSeq Closed: Run 254
(2-Wire sequence 2)
Note: Cannot be set together with settings 40 or 41.
486 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.9 H Parameters: Multi-Function Terminals
H1 Multi-Function Digital Input Selections
H1-oo
Function LCD Display Description Page
Setting
All Modes
Open: Forward
FWD/REV command
43 FWD/REV 2WireSeq Closed: Reverse 254
(2-Wire sequence 2)
Note: Determines motor direction, but does not issue a Run command.
Cannot be set together with settings 40 or 41.
All Modes
44 Offset frequency 1 Offset Freq 1 254
Closed: Adds d7-01 to the frequency reference.
All Modes
45 Offset frequency 2 Offset Freq 2 254
Closed: Adds d7-02 to the frequency reference.
All Modes
46 Offset frequency 3 Offset Freq 3 254
Closed: Adds d7-03 to the frequency reference.
All Modes
47 Node setup CanOpenNID Setup 254
Closed: Node setup for SI-S3 enabled.
V/f V/f w PG OLV CLV
DC Injection Braking
60 DCInj Activate OLV/PM AOLV/PM CLV/PM 254
command
Closed: Triggers DC Injection Braking.
V/f V/f w PG OLV CLV
External Speed Search OLV/PM AOLV/PM CLV/PM
61 Speed Search 1 254
command 1 Closed: Activates Current Detection Speed Search from the maximum output
frequency (E1-04).
V/f V/f w PG OLV CLV
External Speed Search
62 Speed Search 2 OLV/PM AOLV/PM CLV/PM 254
command 2
Closed: Activates Current Detection Speed Search from the frequency reference.
V/f V/f w PG OLV CLV
63 Field weakening Field Weak OLV/PM AOLV/PM CLV/PM 254
Closed: The drive performs Field Weakening control as set for d6-01 and d6-02.
All Modes
Communications test
67 Comm Test Mode Tests the MEMOBUS/Modbus RS-422/RS-485 interface. Displays “PASS” if the 254
mode
test completes successfully.
All Modes
6A Drive enabled Drive Enable Open: Drive disabled. If this input is opened during run, the drive will stop as 255
specified by b1-03.
Closed: Ready for operation.
V/f V/f w PG OLV CLV
Speed/Torque control OLV/PM AOLV/PM CLV/PM
71 Spd/Trq Ctl Chng 255
Sswitch Open: Speed Control
Closed: Torque Control
V/f V/f w PG OLV CLV
72 Zero servo Zero Servo Cmd OLV/PM AOLV/PM CLV/PM 255
Closed: Zero Servo enabled
All Modes
75 Up 2 command Up Command 2 Used to control the bias added to the frequency reference by the Up/Down 2 255
Parameter List
function. The Up 2 and Down 2 commands must always be used in conjunction
with one another.
All Modes
76 Down 2 command Down Command 2 Used to control the bias added to the frequency reference by the Up/Down 2 255
function. The Up 2 and Down 2 commands must always be used in conjunction
with one another.
V/f V/f w PG OLV CLV
B
77 ASR gain switch ASR Gain Switch OLV/PM AOLV/PM CLV/PM 256
Open: ASR proportional gain 1 (C5-01)
Closed: ASR proportional gain 2 (C5-03)
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 487
B.9 H Parameters: Multi-Function Terminals
H1 Multi-Function Digital Input Selections
H1-oo
Function LCD Display Description Page
Setting
V/f V/f w PG OLV CLV
External torque
78 reference polarity Tref Sign Change OLV/PM AOLV/PM CLV/PM 256
inversion Open: Forward torque reference.
Closed: Reverse polarity.
Forward/reverse V/f V/f w PG OLV CLV
detection
7E (V/f Control with Simple PG Rotate Rev OLV/PM AOLV/PM CLV/PM 256
PG feedback) Direction of rotation detection (for V/f with Simple PG Feedback)
PID Bi-Directional All Modes
7F PID BiDir Enable –
Enable Reserved.
90 to 97 DriveWorksEZ
All Modes
– 256
digital inputs 1 to 8 Reserved for DWEZ input functions
All Modes
9F DriveWorksEZ disabled DWEZ Disable Open: DWEZ enabled 256
Closed: DWEZ disabled
u H2: Multi-Function Digital Outputs
No.
(Addr. Name LCD Display Description Values Page
Hex)
Terminal M1-M2 All Modes
H2-01 Default: 0
function selection M1-M2 Func Sel 256
(040B) Refer to H2 Multi-Function Digital Output Settings on pages Range: 0 to 192
(relay)
489 to 491 for descriptions of setting values.
Terminal M3-M4
H2-02 Default: 1
function selection P1/PC Func Sel 256
(040C) Range: 0 to 192
(relay)
H2-03 Terminal M5-M6 Default: 2
function selection P2/PC Func Sel 256
(040D) (relay) Range: 0 to 192
All Modes
Sets the units for the output signal when Power Consumption
Pulse Output is selected as the digital output (H2-01, H2-02, or
H2-06 Power Consumption H2-03 = 39). Default: 1
Pwr Mon Unit Sel 0: 0.01 kWh units <1> 266
(0437) Output Unit Selection Range: 0 to 4
1: 1 kWh units
2: 10 kWh units
3: 100 kWh units
4: 1000 kWh units
H2-07 MEMOBUS Register 1 MFDO Regs1 Addr
All Modes Default: 1
(0B3A) Address Select Sets the addresses of the MEMOBUS/Modbus registers from Range: 1 to 267
which data will be sent to contact outputs 62 and 162. 1FFFH
H2-08 MEMOBUS Register 1 MFDO Regs1 Bit
All Modes Default: 0
(0B3B) Bit Select Sets the bits for the MEMOBUS/Modbus registers from which Range: 0 to 267
data will be sent to contact outputs 62 and 162. FFFFH
H2-09 MEMOBUS Register 2 MFDO Regs2 Addr
All Modes Default: 1
(0B3C) Address Select Sets the addresses of the MEMOBUS/Modbus registers from Range: 1 to 267
which data will be sent to contact outputs 63 and 163. 1FFFH
H2-10 MEMOBUS Register 2 MFDO Regs2 Bit
All Modes Default: 0
(0B3D) Bit Select Sets the bits for the MEMOBUS/Modbus registers from which Range: 0 to 267
data will be sent to contact outputs 63 and 163. FFFFH
<1> Available in drive software versions PRG: 1015 and later.
488 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.9 H Parameters: Multi-Function Terminals
H2 Multi-Function Digital Output Settings
H2-oo
Function LCD Display Description Page
Setting
All Modes
0 During run During RUN 1 257
Closed: A Run command is active or voltage is output.
All Modes
Open: Output speed is greater than or equal to the value of E1-09 (Minimum Output
1 Zero speed Zero Speed Frequency) or b2-01 (DC Injection Braking Start Frequency). 257
Closed: Output frequency is less than the value of E1-09 (Minimum Output
Frequency) or b2-01 (DC Injection Braking Start Frequency).
All Modes
2 Speed agree 1 Fref/Fout Agree1 Closed: Output frequency equals the speed reference (plus or minus the hysteresis 258
set to L4-02).
All Modes
3 User-set speed agree 1 Fref/Set Agree 1 Closed: Output frequency and speed reference equal L4-01 (plus or minus the 258
hysteresis set to L4-02).
All Modes
4 Frequency detection 1 Freq Detect 1 Closed: Output frequency is less than or equal to the value in L4-01 with hysteresis 259
determined by L4-02.
All Modes
5 Frequency detection 2 Freq Detect 2 Closed: Output frequency is greater than or equal to the value in L4-01 with 259
hysteresis determined by L4-02.
All Modes
6 Drive ready Drive Ready 260
Closed: Power up is complete and the drive is ready to accept a Run command.
All Modes
During Power Supply
7 DC Bus Undervolt Closed: The power supply voltage or the control circuit voltage fell below the drive 260
Voltage Fault
operating voltage or the power supply frequency is incorrect.
During baseblock All Modes
8 BaseBlk 1 260
(N.O.) Closed: Drive has entered the baseblock state (no output voltage).
All Modes
Frequency reference Open: External Reference 1 or 2 supplies the frequency reference (set in b1-01 or
9 Ref Source 260
source b1-15).
Closed: Digital operator supplies the frequency reference.
All Modes
A Run command source Run Cmd Source Open: External Reference 1 or 2 supplies the Run command (set in b1-02 or b1-16). 260
Closed: Digital operator supplies the Run command.
Torque detection 1 All Modes
B Trq Det 1 N.O. 261
(N.O.) Closed: An overtorque or undertorque situation has been detected.
All Modes
Frequency reference Closed: Analog frequency reference has been lost.
C Loss of Ref 261
loss Frequency reference loss is detected when the frequency reference drops below
10% of the reference within 400 ms.
All Modes
E Fault Fault 261
Closed: Fault occurred (this excludes CPF00 and CPF01).
All Modes
F Through mode Not Used Select this setting when the terminal is not used or when using the terminal in the 261
Parameter List
pass-through mode.
All Modes
10 Minor fault Minor Fault 261
Closed: An alarm has been triggered.
All Modes
Fault reset command Closed: The drive has received a reset command from the multi-function input
11 Reset Cmd Active 261
active terminals or from a serial network, or the RESET key on the digital operator has B
been pressed.
All Modes
12 Timer output Timer Output 261
Closed: Timer output.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 489
B.9 H Parameters: Multi-Function Terminals
H2 Multi-Function Digital Output Settings
H2-oo
Function LCD Display Description Page
Setting
All Modes
13 Speed agree 2 Fref/Fout Agree2 261
Closed: When drive output frequency equals the frequency reference ±L4-04.
All Modes
14 User-set speed agree 2 Fref/Set Agree 2 262
Closed: When the drive output frequency is equal to the value in L4-03 ±L4-04.
All Modes
15 Frequency detection 3 Freq Detect 3 Closed: When the drive output frequency is less than or equal to the value in L4-03 262
±L4-04.
All Modes
16 Frequency detection 4 Freq Detect 4 Closed: When the output frequency is greater than or equal to the value in L4-03 263
±L4-04.
Torque detection 1 All Modes
17 Trq Det 1 N.C.
(N.C.) Open: Overtorque or undertorque has been detected.
261
Torque detection 2 All Modes
18 Trq Det 2 N.O.
(N.O.) Closed: Overtorque or undertorque has been detected.
Torque detection 2 All Modes
19 Trq Det 2 N.C. 261
(N.C.) Open: Overtorque or undertorque has been detected.
All Modes
1A During reverse Reverse Dir 263
Closed: Drive is running in the reverse direction.
All Modes
1B During baseblock (N.C.) BaseBlk 2 264
Open: Drive has entered the baseblock state (no output voltage).
V/f V/f w PG OLV CLV
1C Motor 2 selection Motor 2 Selected OLV/PM AOLV/PM CLV/PM 264
Closed: Motor 2 is selected by a digital input (H1-oo = 16)
V/f V/f w PG OLV CLV
1D During regeneration Regenerating OLV/PM AOLV/PM CLV/PM 264
Closed: Motor is regenerating energy into the drive.
All Modes
1E Restart enabled Dur Flt Restart 264
Closed: An automatic restart is performed
All Modes
Motor overload alarm
1F Overload (OL1) Closed: oL1 is at 90% of its trip point or greater. An oH3 situation also triggers 264
(oL1)
this alarm.
Drive overheat pre- All Modes
20 OH Prealarm 264
alarm (oH) Closed: Heatsink temperature exceeds the parameter L8-02 value.
Mechanical weakening MechFatigue(OL5) All Modes
22 264
detection Closed: Mechanical weakening detected.
All Modes
2F Maintenance period Maintenance Closed: Cooling fan, capacitor for the control power supply, or the soft charge 264
bypass relay may require maintenance.
V/f V/f w PG OLV CLV
30 During torque limit Torque Limit OLV/PM AOLV/PM CLV/PM 264
Closed: When the torque limit has been reached.
V/f V/f w PG OLV CLV
31 During speed limit Speed Limit OLV/PM AOLV/PM CLV/PM 265
Closed: Speed limit has been reached.
V/f V/f w PG OLV CLV
During speed limit in
32 Spd Lim @ T Cont OLV/PM AOLV/PM CLV/PM 265
Torque Control
Closed: Speed limit has been reached while using Torque Control.
V/f V/f w PG OLV CLV
33 Zero Servo complete Zero Servo End OLV/PM AOLV/PM CLV/PM 265
Closed: Zero Servo operation has finished.
490 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.9 H Parameters: Multi-Function Terminals
H2 Multi-Function Digital Output Settings
H2-oo
Function LCD Display Description Page
Setting
All Modes
37 During frequency output During RUN 2 Open: No frequency output from drive if stopped with baseblock or DC injection 265
braking during initial excitation.
Closed: Drive is outputting a frequency.
All Modes
38 Drive enabled Drive Enable 265
Closed: Multi-function input set for “Drive enable” is closed (H1-oo = 6A)
All Modes
Power Consumption
39 Energy Pulse Out Output units are determined by H2-06. Outputs a pulse every 200 ms to indicate 265
Pulse Output
the kWh count.
Regenerated Power All Modes
3A RegEn Pulse Out 265
Pulse Output Outputs a pulse to indicate the regenerated power.
All Modes
LOCAL/REMOTE
3C Local Open: REMOTE 265
status
Closed: LOCAL
All Modes
3D During speed search During SpdSrch 266
Closed: Speed Search is being executed.
All Modes
3E PID feedback low PID Feedback Low 266
Closed: PID feedback level is too low.
All Modes
3F PID feedback high PID FeedbackHigh 266
Closed: The PID feedback level is too high.
All Modes
4C During fast stop During Fast Stop Closed: A Fast Stop command has been entered from the operator or input 266
terminals.
All Modes
4D oH Pre-alarm time limit OH Pre-Alarm 266
Closed: oH pre-alarm time limit has passed.
Internal cooling fan All Modes
60 Fan Alrm Det 266
alarm Closed: Internal cooling fan alarm
V/f V/f w PG OLV CLV
Rotor position detection RotPosDetCmpIt
61 OLV/PM AOLV/PM CLV/PM 266
completed
Closed: Drive has successfully detected the rotor position of the PM motor.
MEMOBUS Register 1 All Modes
62 (Selected with H2-07 Memobus Regs1 The contact output is closed when any of the bits specified by H2-08 for the 266
and H2-08) MEMOBUS/Modbus register address set in H2-07 turn on.
MEMOBUS Register 2 All Modes
63 (Selected with H2-09 Memobus Regs2 The contact output is closed when any of the bits specified by H2-10 for the 266
and H2-10) MEMOBUS/Modbus register address set in H2-09 turn on.
V/f V/f w PG OLV CLV
During Commercial
64 CommerclPwr Mode OLV/PM AOLV/PM CLV/PM 266
Power Operation
Closed: Operating on commercial power.
90 to 92 DriveWorksEZ
All Modes
– 266
digital outputs 1 to 3 Reserved for DWEZ digital output functions.
Parameter List
All Modes
100 to Function 0 to 92 with !Function Inverts the output switching of the multi-function output functions. 266
192 inverse output
Set the last two digits of 1oo to reverse the output signal of that specific function.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 491
B.9 H Parameters: Multi-Function Terminals
u H3: Multi-Function Analog Inputs
No.
(Addr. Name LCD Display Description Values Page
Hex)
Term A1 Level All Modes
H3-01 Terminal A1 Signal 0: 0-10V, Default: 0
(0410) Level Selection (LowLim=0) 0: 0 to 10 V 267
Range: 0, 1
1: 0-10V, (BipolRef) 1: -10 to 10 V
H3-02 Terminal A1 Function All Modes Default: 0
Term A1 FuncSel 267
(0434) Selection Sets the function of terminal A1. Range: 0 to 32
H3-03 All Modes Default: 100.0%
(0411) Terminal A1 Gain Terminal A1 Gain Sets the level of the input value selected in H3-02 when 10 V Min.: -999.9 267
Setting
is input at terminal A1. Max.: 999.9
H3-04 All Modes Default: 0.0%
(0412) Terminal A1 Bias Terminal A1 Bias Sets the level of the input value selected in H3-02 when 0 V is Min.: -999.9 267
Setting Max.: 999.9
input at terminal A1.
Term A3 Signal All Modes
H3-05 Terminal A3 Signal 0: 0-10V (LowLim=0) 0: 0 to 10 V Default: 0
(0413) Level Selection 268
1: 0-10V, (BipolRef) 1: -10 to 10 V Range: 0, 1
H3-06 Terminal A3 Function All Modes Default: 2
Terminal A3 Sel 268
(0414) Selection Sets the function of terminal A3. Range: 0 to 32
H3-07 All Modes Default: 100.0%
(0415) Terminal A3 Gain Terminal A3 Gain Sets the level of the input value selected in H3-06 when 10 V Min.: -999.9 269
Setting
is input at terminal A3. Max.: 999.9
H3-08 All Modes Default: 0.0%
(0416) Terminal A3 Bias Terminal A3 Bias Sets the level of the input value selected in H3-06 when 0 V is Min.: -999.9 269
Setting
input at terminal A3. Max.: 999.9
All Modes
0: 0 to 10 V
1: -10 to 10 V
H3-09 Terminal A2 Signal 2: 4 to 20 mA Default: 2
Term A2 Level 269
(0417) Level Selection 3: 0 to 20 mA Range: 0 to 3
Note: Use DIP switch S1 to set input terminal A2 for a
current or a voltage input signal.
H3-10 Terminal A2 Function All Modes Default: 0
Term A2 FuncSel 269
(0418) Selection Sets the function of terminal A2. Range: 0 to 32
H3-11 All Modes Default: 100.0%
(0419) Terminal A2 Gain Terminal A2 Gain Sets the level of the input value selected in H3-10 when 10 V Min.: -999.9 269
Setting
(20 mA) is input at terminal A2. Max.: 999.9
H3-12 All Modes Default: 0.0%
(041A) Terminal A2 Bias Terminal A2 Bias Sets the level of the input value selected in H3-10 when 0 V (0 Min.: -999.9 269
Setting
or 4 mA) is input at terminal A2. Max.: 999.9
H3-13 Analog Input Filter
All Modes Default: 0.03 s
A1/A2 Filter T Sets a primary delay filter time constant for terminals A1, A2, Min.: 0.00 269
(041B) Time Constant
and A3. Used for noise filtering. Max.: 2.00
All Modes
Determines which analog input terminals will be enabled or
A1/A2/A3 Sel disabled when a digital input programmed for “Analog input
1: A1 Available enable” (H1-oo = C) is activated.
2: A2 Available The terminals not set as the target are not influenced by input
H3-14 Analog Input Terminal 3: A1/A2 Available signals. Default: 7
1: Terminal A1 only 270
(041C) Enable Selection 4: A3 Available Range: 1 to 7
5: A1/A3 Available 2: Terminal A2 only
6: A2/A3 Available 3: Terminals A1 and A2 only
7: All Available 4: Terminal A3 only
5: Terminals A1 and A3
6: Terminals A2 and A3
7: All terminals enabled
492 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.9 H Parameters: Multi-Function Terminals
No.
(Addr. Name LCD Display Description Values Page
Hex)
H3-16 All Modes Default: 0
Terminal A1 Offset TerminalA1Offset Min.: -500 270
(02F0) Adds an offset when the analog signal to terminal A1 is at 0 V. Max.: 500
Default: 0
H3-17 All Modes
Terminal A2 Offset TerminalA2Offset Min.: -500 270
(02F1) Adds an offset when the analog signal to terminal A2 is at 0 V. Max.: 500
Default: 0
H3-18 All Modes
Terminal A3 Offset TerminalA3Offset Min.: -500 270
(02F2) Adds an offset when the analog signal to terminal A3 is at 0 V. Max.: 500
H3 Multi-Function Analog Input Settings
H3-oo
Function LCD Display Description When Output Is 100% Page
Setting
All Modes
0 Frequency bias Freq Ref Bias 270
E1-04 (maximum output frequency)
All Modes
1 Frequency gain Freq Ref Gain 0 to 10 V signal allows a setting of 0 to 100%. -10 to 0 V signal allows a setting 271
of -100 to 0%.
Auxiliary frequency All Modes
2 Aux Reference1 271
reference 1 E1-04 (maximum output frequency)
Auxiliary frequency All Modes
3 Aux Reference2 271
reference 2 E1-04 (maximum output frequency)
V/f V/f w PG OLV CLV
4 Output voltage bias Voltage Bias OLV/PM AOLV/PM CLV/PM 271
10 V = E1-05 (motor rated voltage)
All Modes
5 Accel/decel time gain Acc/DecTime Gain 271
10 V = 100%
V/f V/f w PG OLV CLV
DC Injection Braking
6 DC Brake Current OLV/PM AOLV/PM CLV/PM 271
current
10 V = Drive rated current
All Modes
7 Torque detection level Torque Det Level 10 V = Drive rated current (V/f, V/f w PG) 271
10 V = Motor rated torque (OLV, CLV, OLV/PM, AOLV/PM, CLV/PM)
V/f V/f w PG OLV CLV
Stall Prevention level
8 Stall Prev Level OLV/PM AOLV/PM CLV/PM 271
during run
10 V = Drive rated current
Output frequency lower Ref Lower Limit All Modes
9 272
limit level 10 V = E1-04 (maximum output frequency)
All Modes
B PID feedback PID Feedback1 272
10 V = 100%
All Modes
C PID setpoint PID Set Point 272
10 V = 100%
All Modes
Parameter List
D Frequency bias Freq Ref Bias 2 272
10 V = E1-04 (maximum output frequency)
Motor temperature All Modes
E Motor PTC 272
(PTC input) 10 V = 100%
All Modes
F Through mode Not Used Select this setting when the terminal is not used or when using the terminal in the 272
pass-through mode. B
V/f V/f w PG OLV CLV
10 Forward torque limit Fwd Torque Limit OLV/PM AOLV/PM CLV/PM 272
10 V = Motor rated torque
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 493
B.9 H Parameters: Multi-Function Terminals
H3 Multi-Function Analog Input Settings
H3-oo
Function LCD Display Description When Output Is 100% Page
Setting
V/f V/f w PG OLV CLV
11 Reverse torque limit Rev Torque Limit OLV/PM AOLV/PM CLV/PM 272
10 V = Motor rated torque
V/f V/f w PG OLV CLV
Regenerative torque
12 Regen Torq Limit OLV/PM AOLV/PM CLV/PM 272
limit
10 V = Motor rated torque
V/f V/f w PG OLV CLV
Torque reference/
13 Torque Reference OLV/PM AOLV/PM CLV/PM 272
Torque limit
10 V = Motor rated torque
V/f V/f w PG OLV CLV
14 Torque compensation Torque Comp OLV/PM AOLV/PM CLV/PM 272
10 V = Motor rated torque
V/f V/f w PG OLV CLV
15 General torque limit Torque Limit OLV/PM AOLV/PM CLV/PM 272
10 V = Motor rated torque
Differential PID All Modes
16 PID Feedback 2 272
feedback 10 V = 100%
All Modes
1F Through mode Not Used Select this setting when the terminal is not used or when using the terminal in the 272
pass-through mode.
30 to 32 DriveWorksEZ
All Modes
– 272
analog input 1 to 3 Output is determined by the function selected using DWEZ.
u H4: Analog Outputs
No.
(Addr. Name LCD Display Description Values Page
Hex)
All Modes
Multi-Function Analog Selects the data to be output through multi-function analog Default: 102
H4-01 output terminal FM.
Output Terminal FM Term FM FuncSel Range: 000 to 273
(041D) Set the desired monitor parameter to the digits available in
Monitor Selection 999
Uo-oo.
For example, enter “103” for U1-03.
H4-02 Multi-Function Analog All Modes Default: 100.0%
(041E) Output Terminal FM Terminal FM Gain Sets the signal level at terminal FM that is equal to 100% of the Min.: -999.9 273
Gain selected monitor value. Max.: 999.9
H4-03 Multi-Function Analog All Modes Default: 0.0%
(041F) Output Terminal FM Terminal FM Bias Sets the signal level at terminal FM that is equal to 0% of the Min.: -999.9 273
Bias selected monitor value. Max.: 999.9
All Modes
Multi-Function Analog Selects the data to be output through multi-function analog Default: 103
H4-04 output terminal AM.
Output Terminal AM Terminal AM Sel Range: 000 to 273
(0420) Set the desired monitor parameter to the digits available in
Monitor Selection 999
Uo-oo.
For example, enter “103” for U1-03.
H4-05 Multi-Function Analog All Modes Default: 50.0%
(0421) Output Terminal AM Terminal AM Gain Min.: -999.9 273
Sets the signal level at terminal AM that is equal to 100% of
Gain the selected monitor value. Max.: 999.9
H4-06 Multi-Function Analog All Modes Default: 0.0%
(0422) Output Terminal AM Terminal AM Bias Sets the signal level at terminal AM that is equal to 0% of the Min.: -999.9 273
Bias selected monitor value. Max.: 999.9
494 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.9 H Parameters: Multi-Function Terminals
No.
(Addr. Name LCD Display Description Values Page
Hex)
Term FM Lvl Sel All Modes
Multi-Function Analog
H4-07 0: 0-10 VDC 0: 0 to 10 V Default: 0
Output Terminal FM 274
(0423) 1: -10 +10 VDC 1: -10 to 10 V Range: 0 to 2
Signal Level Selection 2: 4-20 mA 2: 4 to 20 mA
Term AM Lvl Sel All Modes
Multi-Function Analog
H4-08 0: 0-10 VDC 0: 0 to 10 V Default: 0
Output Terminal AM 274
(0424) 1: -10 +10 VDC 1: -10 to 10 V Range: 0 to 2
Signal Level Selection 2: 4-20 mA 2: 4 to 20 mA
u H5: MEMOBUS/Modbus Serial Communication
Note: Restart the drive to enable MEMOBUS/Modbus communication settings.
No.
(Addr. Name LCD Display Description Values Page
Hex)
All Modes
H5-01 Default: 1F (Hex)
(0425) Drive Node Address Serial Comm Adr Selects drive station node number (address) for MEMOBUS/ Min.: 0 565
<1> Modbus terminals R+, R-, S+, S-. Cycle power for the setting Max.: FFH
to take effect.
All Modes
Serial Baud Rate
0: 1200 bps 0: 1200 bps
1: 2400 bps 1: 2400 bps
2: 4800 bps 2: 4800 bps
H5-02 Communication Speed 3: 9600 bps 3: 9600 bps Default: 3
(0426) Selection 4: 19.2 kbps 4: 19200 bps 565
Range: 0 to 8
5: 38.4 kbps 5: 38400 bps
6: 57.6 kbps 6: 57600 bps
7: 76.8 kbps 7: 76800 bps
8: 115.2 kbps 8: 115200 bps
Cycle power for the setting to take effect.
All Modes
Serial Com Sel
H5-03 Communication Parity 0: No Parity 0: No parity Default: 0
(0427) Selection 1: Even Parity 1: Even parity 565
Range: 0 to 2
2: Odd Parity 2: Odd parity
Cycle power for the setting to take effect.
Serial Fault Sel All Modes
Stopping Method after 0: Ramp to Stop 0: Ramp to stop
H5-04 Default: 3
Communication Error 1: Coast to Stop 1: Coast to stop 565
(0428) Range: 0 to 3
(CE) 2: Fast-Stop 2: Fast Stop
3: Alarm Only 3: Alarm only
All Modes
Serial Flt Dtct
H5-05 Communication Fault 0: Disabled Default: 1
0: Disabled 566
(0429) Detection Selection 1: Enabled. If communication is lost for more than two seconds, Range: 0, 1
1: Enabled
a CE fault will occur.
H5-06 Drive Transmit Wait All Modes Default: 5 ms
Transmit WaitTIM Min.: 5 566
(042A) Time Set the wait time between receiving and sending data. Max.: 65
RTS Control Sel All Modes
H5-07 Default: 1
Parameter List
RTS Control Selection 0: Disabled 0: Disabled. RTS is always on. 566
(042B) Range: 0, 1
1: Enabled 1: Enabled. RTS turns on only when sending.
H5-09 Communication Fault
All Modes Default: 2.0 s
CE Detect Time Sets the time required to detect a communications error. Min.: 0.0 566
(0435) Detection Time
Adjustment may be needed when networking several drives. Max.: 10.0
Unit Selection for CommReg 25h Unit
H5-10 MEMOBUS/Modbus 0: 0.1 V
All Modes
0: 0.1 V units
Default: 0 566 B
(0436) Range: 0, 1
Register 0025H 1: 1 V 1: 1 V units
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 495
B.9 H Parameters: Multi-Function Terminals
No.
(Addr. Name LCD Display Description Values Page
Hex)
All Modes
Communications Enter CommandSel 0: Drive requires an Enter command before accepting any
H5-11 Default: 0
ENTER Function 0: Enter Required changes to parameter settings. 567
(043C) Range: 0, 1
Selection 1: No EnterRequired 1: Parameter changes are activated immediately without the
Enter command (same as V7).
Run CommandSel All Modes
H5-12 Run Command Method 0: FWD Run &REV Default: 0
(043D) Selection Run 0: FWD/Stop, REV/Stop 567
Range: 0, 1
1: Run & FWD/REV 1: Run/Stop, FWD/REV
All Modes
Selects operation when an attempt is made to write data into
EEPROM via MEMOBUS/Modbus communications and
H5-17 Operation Selection Busy Enter Sel
writing into EEPROM is not possible. Default: 0
(11A1) when Unable to Write 0: No ROM Enter 567
There is normally no need to change this parameter from the Range: 0, 1
into EEPROM 1: RAM Enter
default value
0: Cannot write into EEPROM
1: Write in RAM only
All Modes
Sets the filter time constant for monitoring the motor speed Default: 0 ms
H5-18 Filter Time Constant for from MEMOBUS/Modbus communications and
(11A2) Motor Speed Monitoring MtrSpd Monitor T communication options.
Min.: 0 567
Max.: 100
Applicable MEMOBUS/Modbus registers are: 3EH, 3FH,
44H, ACH, and ADH
<1> If this parameter is set to 0, the drive will be unable to respond to MEMOBUS/Modbus commands.
u H6: Pulse Train Input/Output
No.
(Addr. Name LCD Display Description Values Page
Hex)
All Modes
Term RP Func Sel
Pulse Train Input 0: Frequency Ref 0: Frequency reference
H6-01 1: PID feedback value Default: 0
Terminal RP Function 1: PID Feedback 275
(042C) 2: PID setpoint value Range: 0 to 3
Selection 2: PID Set Point
3: PG Feedback 3: V/f Control with Simple PG feedback (possible only when
using motor 1 in V/f Control)
H6-02 All Modes Default: 1440 Hz
(042D) Pulse Train Input Term RP Scaling Min.: 100 276
Scaling Sets the terminal RP input signal frequency that is equal to
100% of the value selected in H6-01. Max.: 32000
H6-03 All Modes Default: 100.0%
(042E) Pulse Train Input Gain Terminal RP Gain Sets the level of the value selected in H6-01 when a frequency Min.: 0.0 276
with the value set in H6-02 is input. Max.: 1000.0
H6-04 All Modes Default: 0.0%
(042F) Pulse Train Input Bias Terminal RP Bias Sets the level of the value selected in H6-01 when 0 Hz is input. Min.: -100.0 276
Max.: 100.0
H6-05 All Modes Default: 0.10 s
(0430) Pulse Train Input Filter Term RP Flt Time
Time Sets the pulse train input filter time constant. Min.: 0.00 276
Max.: 2.00
H6-06 All Modes
(0431) Pulse Train Monitor Select the pulse train monitor output function (value of the Default: 102
Term MP Func Sel 276
Selection o-oo part of Uo-oo). Range: 000 to 809
For example, enter “501” for U5-01.
All Modes
H6-07
(0432) Pulse Train Monitor Sets the terminal MP output signal frequency when the monitor Default: 1440 Hz
Term RP Scaling value is 100%. Min.: 0 276
Scaling
For example, to have the pulse train monitor output equal the Max.: 32000
output frequency, set H6-06 to 102 and H6-07 to 0.
496 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.9 H Parameters: Multi-Function Terminals
No.
(Addr. Name LCD Display Description Values Page
Hex)
H6-08 Pulse Train Input
All Modes Default: 0.5 Hz
MP Lower Limit Sets the minimum frequency for the pulse train input to be Min.: 0.1 276
(043F) Minimum Frequency
detected. Enabled when H6-01 = 0, 1, or 2. Max.: 1000.0
Parameter List
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 497
B.10 L: Protection Function
B.10 L: Protection Function
L parameters provide protection to the drive and motor, including control during momentary power loss, Stall Prevention,
frequency detection, fault restarts, overtorque detection, and other types of hardware protection.
u L1: Motor Protection
No.
(Addr. Name LCD Display Description Values Page
Hex)
All Modes
Mtr OL Charact 0: Disabled
0: OL1 Disabled 1: General purpose motor (standard fan cooled)
1: VT Motor 2: Drive dedicated motor with a speed range of 1:10
L1-01 Motor Overload 2: CT Motor 3: Vector motor with a speed range of 1:100 Default: <1>
4: PM motor with variable torque 278
(0480) Protection Selection 3: Vector Motor Range: 0 to 6
4: PM Motor 5: PM motor with constant torque control
5: Constant Torque 6: General purpose motor (50 Hz)
6: 50Hz VT Motor The drive may not be able to provide protection when using
multiple motors, even if overload is enabled in L1-01. Set
L1-01 to 0 and install separate thermal relays to each motor.
L1-02 Motor Overload All Modes Default: 1.0 min
MOL Time Const Min.: 0.1 280
(0481) Protection Time Sets the motor thermal overload protection (oL1) time. Max.: 5.0
All Modes
Mtr OH Alarm Sel Sets operation when the motor temperature analog input
Motor Overheat Alarm (H3-02, H3-10, or H3-06 = E) exceeds the oH3 alarm level.
0 : Ramp to Stop
L1-03 Operation Selection 0: Ramp to stop Default: 3
1: Coast to Stop 282
(0482) (PTC input) 1: Coast to stop Range: 0 to 3
2: Fast-Stop
3: Alarm only 2: Fast Stop (decelerate to stop using the deceleration time in
C1-09)
3: Alarm only (“oH3” will flash)
All Modes
Motor Overheat Fault Mtr OH Fault Sel Sets stopping method when the motor temperature analog input
L1-04 Operation Selection 0 : Ramp to Stop (H3-02, H3-10, or H3-06 = E) exceeds the oH4 fault level. Default: 1
(0483) (PTC input) 1: Coast to Stop 0: Ramp to stop 282
Range: 0 to 2
2: Fast-Stop 1: Coast to stop
2: Fast Stop (decelerate to stop using the deceleration time in
C1-09)
Motor Temperature All Modes Default: 0.20 s
L1-05 Input Filter Time (PTC Mtr Temp Filter Adjusts the filter for the motor temperature analog input Min.: 0.00 282
(0484) input) (H3-02, H3-10, or H3-06 = E). Max.: 10.00
All Modes Default: 0.0 A
Min.: 10% of
Sets the reference current for motor thermal overload detection drive rated
L1-08 for motor 1 in amperes. current
oL1 Current Level OL1 current lvl1 282
(1103) Max.: 150% of
drive rated
current <2>
V/f V/f w PG OLV CLV Default: 0.0 A
Min.: 10% of
OLV/PM AOLV/PM CLV/PM
drive rated
L1-09 oL1 Current Level for Sets the reference current for motor thermal overload detection current
OL1 current lvl2 283
(1104) Motor 2 for motor 2 in amperes. Max.: 150% of
drive rated
current <2>
L1-13 Continuous Mtr OL Mem Sel All Modes
Default: 1
(046D) Electrothermal 0: Disabled 0: Disabled 283
Operation Selection 1: Enabled Range: 0, 1
1: Enabled
<1> Default setting is determined by parameter A1-02, Control Method Selection.
<2> Display is in the following units:
2o0028, 2o0042, and 4o0011 to 4o0027: 0.01 A units
2o0054 to 2o0248 and 4o0034 to 4o0414: 0.1 A units
498 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.10 L: Protection Function
u L2: Momentary Power Loss Ride-Thru
No.
(Addr. Name LCD Display Description Values Page
Hex)
All Modes
PwrL Selection
L2-01 Momentary Power Loss 0: Disabled 0: Disabled. Drive trips on Uv1 fault when power is lost. Default: 0
(0485) Operation Selection 1: Enbl with Timer 1: Recover within the time set in L2-02. Uv1 will be detected if Range: 0 to 2 283
2: Enbl whl CPU act power loss is longer than L2-02.
2: Recover as long as CPU has power. Uv1 is not detected.
L2-02 Momentary Power Loss PwrL Ridethru t
All Modes Default: 0.5 s
(0486) Ride-Thru Time Sets the Power Loss Ride-Thru time. Enabled only when L2-01 Min.: 0.0 284
= 1 or 3. Max.: 2.5
All Modes
Sets the minimum wait time for residual motor voltage decay <1>
Momentary Power Loss before the drive output reenergizes after performing Power Loss Default:
L2-03 Minimum Baseblock PwrL Baseblock t Ride-Thru. Min.: 0.1 s 284
(0487) Time Increasing the time set to L2-03 may help if overcurrent or Max.: 5.0 s
overvoltage occur during Speed Search or during DC Injection
Braking.
V/f V/f w PG OLV CLV
L2-04 Momentary Power Loss Default: <1>
Voltage Recovery Ramp PwrL V/F Ramp t OLV/PM AOLV/PM CLV/PM 284
(0488) Min.: 0.0 s
Time Sets the time for the output voltage to return to the preset V/f Max.: 5.0 s
pattern during Speed Search.
All Modes Default: 0.00 s
L2-07 KEB Acceleration Sets the time to accelerate to the frequency reference when Min.: 0.00
KEB Accel Time 284
(048B) Time momentary power loss is over. If set to 0.0, the active acceleration Max.: 6000.0
<2>
time (C1-01, C1-03, C1-05, or C1-07) is used.
L2-13 Input Power Frequency FDV Detect Gain All Modes Default: 1.0
(04F7) Fault Detection Gain Min.: 0.1 284
Set the gain to use to detect power supply frequency fault (Fdv). Max.: 2.0
Default: 150 V
L2-21 Low Input Voltage All Modes Min.: 100 V <3>
AVV Detect evel 284
(04F7) Detection Level Set the level at which to detect a low input voltage. Max.: 230 V
<3>
Power Supply All Modes Default: 6.0 Hz
L2-27 Frequency Fault FDV Detect Width
(04F7) Sets the frequency width to use to detect power supply frequency Min.: 3.0 Hz 284
Detection Width fault (Fdv). Max.: 20.0 Hz
<1> Default setting is determined by parameters C6-01, Drive Duty Selection, and o2-04, Drive Model Selection.
<2> 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.
<3> Values shown are specific to 200 V class drives. Double the value for 400 V class drives.
Parameter List
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 499
B.10 L: Protection Function
u L3: Stall Prevention
No.
(Addr. Name LCD Display Description Values Page
Hex)
V/f V/f w PG OLV CLV
OLV/PM AOLV/PM CLV/PM
0: Disabled.
StallP Accel Sel 1: Enabled. General purpose. Acceleration is paused as long as
Stall Prevention 0: Disabled the current is above the L3-02 setting.
L3-01 2: Intelligent. Accelerate in the shortest possible time without Default: 1
Selection during 1: General Purpose 285
(048F) exceeding the L3-02 level. Range: 0 to 3
Acceleration 2: Intelligent
3: iLim Mode 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).
Note: Settings 2 and 3 are not available when using OLV/
PM.
V/f V/f w PG OLV CLV Default: <1>
L3-02 Stall Prevention Level StallP Accel Lvl OLV/PM AOLV/PM CLV/PM Min.: 0% 286
(0490) during Acceleration <1>
Used when L3-04 = 1. 100% is equal to the drive rated current. Max.: 150%
V/f V/f w PG OLV CLV
Stall Prevention Limit OLV/PM AOLV/PM CLV/PM Default: 50%
L3-03 during Acceleration/ StallPAcc LowLim Sets Stall Prevention lower limit during acceleration/deceleration Min.: 0 286
(0491) Deceleration when operating in the constant power range. Set as a percentage Max.: 100
of drive rated current.
All Modes
0: Disabled. Deceleration at the active deceleration rate. An ov
StallP Decel Sel fault may occur.
Stall Prevention 0: Disabled 1: General purpose. Deceleration is paused when the DC bus Default: 1
L3-04 voltage exceeds the Stall Prevention level.
Selection during 1: General Purpose Range: 0 to 6 287
(0492) 4: Overexcitation Deceleration. Decelerates while increasing the <2>
Deceleration 4: High Flux Brake
6: iLim Mode 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
OLV/PM AOLV/PM CLV/PM
StallP Run Sel 0: Disabled. Drive runs at a set frequency. A heavy load may
L3-05 Stall Prevention 0: Disabled cause stalling. Default: 1 288
(0493) Selection during Run 1: Decel Time 1 1: Decel time 1. Uses the deceleration time set to C1-02 while Range: 0 to 2
2: Decel Time 2 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
L3-06 Stall Prevention Level Default: <1>
StallP Run Level OLV/PM AOLV/PM CLV/PM Min.: 30% 288
(0494) during Run Enabled when L3-05 is set to 1 or 2. 100% is equal to the drive Max.: 150% <1>
rated current.
V/f V/f w PG OLV CLV Default: <1>
L3-14 Stall Prevention Level StallP Decel Lvl OLV/PM AOLV/PM CLV/PM Min.: 80% 286
(04C7) during Deceleration <1>
Used when L3-04 = 1. 100% is equal to the drive rated current. Max.: 200%
V/f V/f w PG OLV CLV
Deceleration Time at Default: 0.0 s
L3-22 OLV/PM AOLV/PM CLV/PM
Stall Prevention during PM Acc Stall P T Min.: 0.0 288
(04F9) Sets the deceleration time used for Stall Prevention during
Acceleration Max.: 6000.0
acceleration in OLV/PM.
V/f V/f w PG OLV CLV
OLV/PM AOLV/PM CLV/PM
L3-23 Automatic Reduction CHP Stall P Sel
Selection for Stall 0: Lv1 set in L3-06 0: Sets the Stall Prevention level set in L3-04 that is used Default: 0
(04FD) Prevention during 288
Run 1: Autom. Reduction throughout the entire frequency range. Range: 0, 1
1: Automatic Stall Prevention level reduction in the constant
output range. The lower limit value is 40% of L3-06.
500 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.10 L: Protection Function
No.
(Addr. Name LCD Display Description Values Page
Hex)
V/f V/f w PG OLV CLV
Default: 50 ms
L3-27 Stall Prevention OLV/PM AOLV/PM CLV/PM
Stl Prev DetTime Min.: 0 289
(0456) Detection Time Sets the time the current must exceed the Stall Prevention level Max.: 5000
to activate Stall Prevention.
Vibration Suppression V/f V/f w PG OLV CLV
L3-36 Gain during Default: <3>
ILim Acc Gain OLV/PM AOLV/PM CLV/PM 289
(11D5) Acceleration (with Min.: 0.0
Increase the setting value if oscillation occurs in the output Max.: 100.0
Current Limit) current during acceleration.
V/f V/f w PG OLV CLV Default: 100.0
L3-39 Current-limited Integral
OLV/PM AOLV/PM CLV/PM ms
(11D5) Time Constant during ILim Acc I Time 289
Acceleration Sets the time constant for acceleration rate adjustment for current- Min.: 1.0
limited acceleration. Max.: 1000.0
Current-limited V/f V/f w PG OLV CLV
ILimAcc S-Curve
L3-40 Maximum S-curve OLV/PM AOLV/PM CLV/PM Default: 0
0: Disable 289
(11D6) Selection during 0: Disable Range: 0, 1
1: Enable
Acceleration 1: Enable
Vibration Suppression V/f V/f w PG OLV CLV
L3-41 Gain during Default: <3>
ILim Dec Gain OLV/PM AOLV/PM CLV/PM 289
(11D7) Deceleration (with Min.: 1.0
Increase the setting value if oscillation occurs in the output Max.: 100.0
Current Limit) current during deceleration.
V/f V/f w PG OLV CLV Default: 100.0
L3-44 Current-limited Integral
OLV/PM AOLV/PM CLV/PM ms
(11D8) Time Constant during ILim Dec I Time 289
Deceleration Sets the time constant for deceleration rate adjustment for current- Min.: 1.0
limited deceleration. Max.: 1000.0
V/f V/f w PG OLV CLV
Current-limited ILimDec S-Curve OLV/PM AOLV/PM CLV/PM
L3-45 Maximum S-curve Default: 0
0: Disable 0: Disable 289
(11D9) Selection during Range: 0, 1
1: Enable 1: Enable
Deceleration
Available when L3-04 = 6.
<1> The default setting and upper limit are determined by C6-01, Drive Duty Selection, and L8-38, Frequency Reduction Selection.
<2> The setting range is 0 and 1 in OLV/PM, AOLV/PM, and CLV/PM control modes.
<3> Default setting is determined by parameter A1-02, Control Method Selection.
<4> Default setting is determined by parameter A1-02, Control Method Selection.
When A1-02 = 6 (AOLV/PM), default is 0.2
When A1-02 = 7 (CLV/PM), default is 0.02.
u L4: Speed Detection
No.
(Addr. Name LCD Display Description Values Page
Hex)
All Modes
Default: 0.0 Hz
L4-01 Speed Agree Detection L4-01 sets the frequency detection level for digital output
Spd Agree Level Min.: 0.0 289
(0499) Level functions Max.: 400.0
H2-oo = 2, 3, 4, 5.
Parameter List
L4-02 Speed Agree Detection All Modes Default: <1>
Spd Agree Width L4-02 sets the hysteresis or allowable margin for speed detection. Min.: 0.0 289
(049A) Width
Max.: 20.0
All Modes
L4-03 Speed Agree Detection Default: 0.0 Hz
Spd Agree Lvl+- L4-03 sets the frequency detection level for digital output Min.: -400.0 290
(049B) Level (+/-) functions
H2-oo = 13, 14, 15, 16.
Max.: 400.0 B
L4-04 Speed Agree Detection All Modes Default: <1>
Spd Agree Wdth+- L4-04 sets the hysteresis or allowable margin for speed detection. Min.: 0.0 290
(49C) Width (+/-)
Max.: 20.0
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 501
B.10 L: Protection Function
No.
(Addr. Name LCD Display Description Values Page
Hex)
Ref Loss Sel All Modes
L4-05 Frequency Reference 0: Stop 0: Stop. Drive stops when the frequency reference is lost. Default: 0
Loss Detection Selection 290
(049D) 1: 1: Run. Drive runs at a reduced speed when the frequency Range: 0, 1
Run@L4-06PrevRef reference is lost.
L4-06 Frequency Reference at Fref at Floss
All Modes Default: 80.0%
(04C2) Reference Loss Sets the percentage of the frequency reference that the drive Min.: 0.0 290
should run with when the frequency reference is lost. Max.: 100.0
Speed Agree Detection Freq Detect Sel All Modes
L4-07 Default: 0
Selection 0: No Detection @BB 0: No detection during baseblock. 290
(0470) Range: 0, 1
1: Always Detected 1: Detection always enabled.
<1> Default setting is determined by parameter A1-02, Control Method Selection.
u L5: Fault Restart
No.
(Addr. Name LCD Display Description Values Page
Hex)
All Modes
L5-01 Number of Auto Restart Num of Restarts Default: 0
Sets the number of times the drive may attempt to restart after the Min.: 0 291
(049E) Attempts following faults occur: GF, LF, oC, oH1, oL1, oL3, oL4, ov, Sto, Max.: 10
Uv1.
Auto Restart Fault Restart Sel All Modes
L5-02 Default: 0
Output Operation 0: Flt Outp Disabld 0: Fault output not active. 291
(049F) Range: 0, 1
Selection 1: Flt Outp Enabled 1: Fault output active during restart attempt.
L5-04 Fault Reset Interval All Modes Default: 10.0 s
Flt Reset Wait T Min.: 0.5 292
(046C) Time Sets the amount of time to wait between performing fault restarts. Max.: 600.0
All Modes
Fault Reset Sel 0: Continuously attempt to restart while incrementing restart
L5-05 Fault Reset Operation Default: 0
0: Continuous counter only at a successful restart (same as F7 and G7). 292
(0467) Selection Range: 0, 1
1: Use L5-04 Time 1: Attempt to restart with the interval time set in L5-04 and
increment the restart counter with each attempt (same as V7).
u L6: Torque Detection
No.
(Addr. Name LCD Display Description Values Page
Hex)
All Modes
0: Disabled
1: oL3 detection only active during speed agree, operation
continues after detection
Torq Det 1 Sel 2: oL3 detection always active during run, operation continues
0: Disabled after detection
1: OL Alm at SpdAgr 3: oL3 detection only active during speed agree, output shuts
2: OL Alm dur RUN down on an oL3 fault
L6-01 Torque Detection 3: OL Flt at SpdAgr 4: oL3 detection always active during run, output shuts down on Default: 0
(04A1) Selection 1
293
4: OL Flt dur RUN an oL3 fault Range: 0 to 8
5: UL Alm at SpdAgr 5: UL3 detection only active during speed agree, operation
6: UL Alm dur RUN continues after detection
7: UL Flt at SpdAgr 6: UL3 detection always active during run, operation continues
8: UL Flt dur RUN after detection
7: UL3 detection only active during speed agree, output shuts
down on a UL3 fault
8: UL3 detection always active during run, output shuts down on
a UL3 fault
L6-02 Torque Detection All Modes Default: 150%
(04A2) Level 1 Torq Det 1 Lvl Min.: 0 294
Sets the overtorque and undertorque detection level. Max.: 300
502 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.10 L: Protection Function
No.
(Addr. Name LCD Display Description Values Page
Hex)
L6-03 Torque Detection Default: 0.1 s
All Modes
(04A3) Time 1 Torq Det 1 Time Sets the time an overtorque or undertorque condition must exist Min.: 0.0 294
to trigger torque detection 1. Max.: 10.0
All Modes
0: Disabled
1: oL4 detection only active during speed agree, operation
continues after detection
Torq Det 2 Sel 2: oL4 detection always active during run, operation continues
0: Disabled after detection
1: OL Alm at SpdAgr 3: oL4 detection only active during speed agree, output shuts
2: OL Alm dur RUN down on an oL4 fault
L6-04 Torque Detection 3: OL Flt at SpdAgr 4: oL4 detection always active during run, output shuts down on Default: 0
(04A4) Selection 2 4: OL Flt dur RUN an oL4 fault Range: 0 to 8 293
5: UL Alm at SpdAgr 5: UL4 detection only active during speed agree, operation
6: UL Alm dur RUN continues after detection
7: UL Flt at SpdAgr 6: UL4 detection always active during run, operation continues
8: UL Flt dur RUN after detection
7: UL4 detection only active during speed agree, output shuts
down on a UL4 fault
8: UL4 detection always active during run, output shuts down on
a UL4 fault
L6-05 Torque Detection All Modes Default: 150%
(04A5) Level 2 Torq Det 2 Lvl Min.: 0 294
Sets the overtorque and undertorque detection level. Max.: 300
L6-06 Torque Detection All Modes Default: 0.1 s
Time 2 Torq Det 2 Time Sets the time an overtorque or undertorque condition must exist Min.: 0.0 294
(04A6)
to trigger torque detection 2. Max.: 10.0
All Modes
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.
Mech Fatigue Sel 1: Continue running (alarm only). Detected when the speed
0: Disabled (signed) is greater than L6-09.
1: Alm Spd>L6-09 2: Continue running (alarm only). Detected when the speed (not
2: Alm [Spd]>L6-09 signed) is greater than L6-09.
L6-08 Mechanical Weakening 3: Flt Spd>L6-09 3: Interrupt drive output (fault). Detected when the speed (signed) Default: 0
(0468) Detection Operation 4: Flt [Spd]>L6-09 294
is greater than L6-09. Range: 0 to 8
5: Alm Spd<L6-09 4: Interrupt drive output (fault). Detected when the speed (not
6: Alm [Spd]<L6-09 signed) is greater than L6-09.
7: Flt Spd<L6-09 5: Continue running (alarm only). Detected when the speed
8: Flt [Spd]<L6-09 (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.
All Modes
L6-09 Mechanical Weakening MechFat Det Spd Default: 110.0%
Sets the speed that triggers Mechanical Weakening Detection. Min.: -110.0 295
(0469) Detection Speed Level When L6-08 is set for an unsigned value, the absolute value is Max.: 110.0
used if the setting is negative.
Parameter List
L6-10 Mechanical Weakening MechFat Det Time
All Modes Default: 0.1 s
(046A) Detection Time Sets the time mechanical weakening has to be detected before an Min.: 0.0 295
alarm or fault is triggered. Max.: 10.0
L6-11 Mechanical Weakening MechFat Det Hour
All Modes Default: 0 h
(046B) Detection Start Time Sets the operation time (U1-04) required before Mechanical Min.: 0 295
Weakening Detection is active. Max.: 65535
B
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 503
B.10 L: Protection Function
u L7: Torque Limit
No.
(Addr. Name LCD Display Description Values Page
Hex)
L7-01 V/f V/f w PG OLV CLV Default: 200%
(04A7) Forward Torque Limit Torq Limit Fwd Min.: 0 296
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
(04A8) Reverse Torque Limit Torq Limit Rev Output Torque Min.: 0 296
Positive Torque Max.: 300
L7-01 Default: 200%
L7-03 Forward Regenerative L7-04 Motor
Torq Lmt Fwd Rgn Min.: 0 296
(04A9) Torque Limit Regeneration r/min Max.: 300
REV FWD
Regeneration
Default: 200%
L7-04 Reverse Regenerative L7-03
Torq Lmt Rev Rgn Min.: 0 296
(04AA) Torque Limit L7-02
Negative Torque Max.: 300
V/f V/f w PG OLV CLV Default: 200 ms
L7-06 Torque Limit Integral Trq Lim I Time OLV/PM AOLV/PM CLV/PM Min: 5 296
(04AC) Time Constant Max: 10000
Sets the integral time constant for the torque limit.
V/f V/f w PG OLV CLV
OLV/PM AOLV/PM CLV/PM
Torque Limit Control Trq Lim d AccDec 0: Proportional control (changes to integral control at constant Default: 0
L7-07 Method Selection during P-ctrl @ Acc/Dec speed). Use this setting when acceleration to the desired speed Range: 0, 1 296
(04C9)
Accel/Decel I-ctrl @ Acc/Dec 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
L7-16 Torque Limit Process at TLim DlyTime Sel
0: Disabled OLV/PM AOLV/PM CLV/PM Default: 1
(0444D) Start 296
1: Enabled 0: Disabled Range: 0, 1
1: Enabled
u L8: Drive Protection
No.
(Addr. Name LCD Display Description Values Page
Hex)
L8-02
All Modes Default: <1>
(04AE) Overheat Alarm Level OH Pre-Alarm Lvl An overheat alarm occurs when heatsink temperature exceeds the Min.: 50 °C 297
L8-02 level. Max.: 150 °C
All Modes
OH Pre-Alarm Sel
0: Ramp to Stop 0: Ramp to stop. A fault is triggered.
L8-03 Overheat Pre-Alarm 1: Coast to Stop 1: Coast to stop. A fault is triggered. Default: 3
(04AF) Operation Selection 2: Fast-Stop 2: Fast Stop. Decelerate to stop using the deceleration time in 297
Range: 0 to 4
3: Alarm Only C1-09. A fault is triggered.
4: Run@L8-19 Rate 3: Continue operation. An alarm is triggered.
4: Continue operation at reduced speed as set in L8-19.
All Modes
0: Disabled
Outp Ph Loss Det 1: Enabled (triggered by a single phase loss)
L8-07 Output Phase Loss 0: Disabled 2: Enabled (triggered when two phases are lost) Default: 1
(04B3) Protection Selection 1: 1PH Loss Det 298
Range: 0 to 2
2: 2/3PH Loss Det Note: Output phase loss detection can mistakenly be
triggered if the motor rated current is very small
compared to the drive rated output current. Disable
this parameter in such cases.
Grnd Flt Det Sel All Modes
L8-09 Output Ground Fault Default: 1
0: Disabled 0: Disabled 298
(04B5) Detection Selection Range: 0, 1
1: Enabled 1: Enabled
504 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.10 L: Protection Function
No.
(Addr. Name LCD Display Description Values Page
Hex)
All Modes
0: Run with timer (Fan operates only during run and for L8-11
seconds after stop.)
Fan On/Off Sel 1: Run always (Cooling fan operates whenever the drive is
L8-10 Heatsink Cooling Fan Default: 0
0: Dur Run (OffDly) powered up.) 298
(04B6) Operation Selection Range: 0, 1
1: Always On
Note: If a damping resistor overheat (doH) is detected,
the cooling fan will turn on regardless of the setting
value.
L8-11 Heatsink Cooling Fan
All Modes Default: 60 s
Fan Delay Time Sets a delay time to shut off the cooling fan after the Run Min.: 0 299
(04B7) Off Delay Time
command is removed when L8-10 = 0. Max.: 300
L8-12 Ambient Temperature
All Modes Default: 40 °C
Ambient Temp Enter the ambient temperature. This value adjusts the oL2 Min.: -10 299
(04B8) Setting
detection level. Max.: 50
oL2 Characteristics OL2 Sel @ L-Spd All Modes
L8-15 Selection at Low Speeds 0: Disabled Default: 1
(04BB) 0: No oL2 level reduction below 6 Hz. 299
1: Enabled Range: 0, 1
1: oL2 level is reduced linearly below 6 Hz. It is halved at 0 Hz.
V/f V/f w PG OLV CLV
L8-18 Software Current Limit Soft CLA Sel Default: 0
0: Disabled OLV/PM AOLV/PM CLV/PM 299
(04BE) Selection 0: Disabled Range: 0, 1
1: Enabled
1: Enabled
L8-19 Frequency Reduction All Modes Default: 0.8
(04BF) Pre-Alarm Overheat
Rate during Fc Red dur OHAlm Specifies the frequency reference reduction gain at overheat pre- Min.: 0.1 299
alarm when L8-03 = 4. Max.: 0.9
V/f V/f w PG OLV CLV
OLV/PM AOLV/PM CLV/PM Default: 300.0%
L8-27 Overcurrent Detection Sets the gain for overcurrent detection as a percentage of the
OC Level Min.: 0.0 300
(04DD) Gain motor rated current. Overcurrent is detected using the lower value Max.: 400.0
between the overcurrent level of the drive or the value set to
L8-27.
V/f V/f w PG OLV CLV
LF2 Flt Det Sel
L8-29 Current Unbalance OLV/PM AOLV/PM CLV/PM Default: 2
0: Disabled 300
(04DF) Detection (LF2) 0: Disabled Range: 0, 2
2: Current Det Type
2: Enabled (current detection)
All Modes
MC/FAN PS FltSel Determines drive response when a fault occurs with the internal
L8-32 Cooling Fan Failure 0: Ramp to Stop cooling fan. Default: 1
(04E2) Selection 1: Coast to Stop 0: Ramp to stop 300
Range: 0 to 2
2: Fast-Stop 1: Coast to stop
2: Fast stop (Decelerate to stop using the deceleration time set to
C1-09)
Installation Sel All Modes
L8-35 Installation Method 0: IP00/OpenChassis 0: IP00/Open-Chassis enclosure Default: <2> 300
(04EC) Selection 2: IP20/Nema Type 1 2: IP20/NEMA Type 1 enclosure Range: 0 to 3
3: Finless/Fin Ext 3: Finless model drive or external heatsink installation
V/f V/f w PG OLV CLV
Fc Reduct dur OL
Parameter List
OLV/PM AOLV/PM CLV/PM
L8-38 Carrier Frequency 0: Disabled Default: <3> 301
(04EF) Reduction 1: Active below 6Hz 0: Disabled Range: 0 to 2
2: Active @ any Spd 1: Enabled below 6 Hz
2: Enabled for the entire speed range
V/f V/f w PG OLV CLV
L8-40 Carrier Frequency OLV/PM AOLV/PM CLV/PM Default: <4>
(04F1) Reduction Off Delay
Time
Fc Reduct Time Sets the time that the drive continues running with reduced carrier Min.: 0.00 s 301 B
frequency after the carrier reduction condition is gone. Setting Max.: 2.00 s
0.00 s disables the carrier frequency reduction time.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 505
B.10 L: Protection Function
No.
(Addr. Name LCD Display Description Values Page
Hex)
All Modes
High Cur Alm Sel
L8-41 High Current Alarm 0: Disabled Default: 0
0: Disabled 301
(04F2) Selection 1: Enabled. An alarm is triggered at output currents above 150% Range: 0, 1
1: Enabled
of drive rated current.
V/f V/f w PG OLV CLV
Default: 1.0 s
L8-93 LSo Detection Time at OLV/PM AOLV/PM CLV/PM
LSO Det Time Min.: 0.0 301
(073C) Low Speed Sets the amount of time until baseblock is executed after detecting Max.: 10.0
pull-out at low speed.
V/f V/f w PG OLV CLV Default: 3%
L8-94 LSo Detection Level at LSO Det Level OLV/PM AOLV/PM CLV/PM Min.: 0 302
(073D) Low Speed
Determines the detection level of pull-out at low speed. Max.: 10
V/f V/f w PG OLV CLV Default: 10
L8-95 Average LSo Frequency Num of LSO Avg times 302
(073F) at Low Speed OLV/PM AOLV/PM CLV/PM Min.: 1
Sets the average number of times pull-out can occur at low speed. Max.: 50
<1> Default setting is determined by parameters C6-01, Drive Duty Selection, and o2-04, Drive Model Selection.
<2> Default setting is determined by parameter o2-04, Drive Model Selection.
<3> Default setting is determined by parameters A1-02, Control Method Selection, and o2-04, Drive Model Selection.
<4> Default setting is determined by parameter A1-02, Control Method Selection.
u L9: Drive Protection 2
No.
(Addr. Name LCD Display Description Values Page
Hex)
V/f V/f w PG OLV CLV
OLV/PM AOLV/PM CLV/PM
Selects the level to start the reduction of the frequency or to clear
the current frequency level for the automatic reduction of the
Carrier Frequency Fc ReductLvl Sel carrier frequency.
L9-03 There is normally no need to change this parameter from the Default: 0
Reduction Level 0: Disabled 302
(0819) default value. Range: 0, 1
Selection 1: Enabled
0: Reduces the carrier frequency based on the drive rated current
that is not derated.
1: Reduces the carrier frequency based on the drive rated current
that is derated by the carrier frequency and the temperature
selected for C6-02.
506 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.11 n: Special Adjustments
B.11 n: Special Adjustments
The n parameters adjust more advanced performance characteristics such as Hunting Prevention, speed feedback detection,
and Online Tuning for motor line-to-line resistance.
u n1: Hunting Prevention
No.
(Addr. Name LCD Display Description Values Page
Hex)
V/f V/f w PG OLV CLV
Hunt Prev Select
n1-01 Hunting Prevention OLV/PM AOLV/PM CLV/PM Default: 1
0: Disabled 303
(0580) Selection 0: Disabled Range: 0, 1
1: Enabled
1: Enabled
V/f V/f w PG OLV CLV
n1-02 Hunting Prevention OLV/PM AOLV/PM CLV/PM Default: 1.00
Hunt Prev Gain If the motor vibrates while lightly loaded, increase the gain by Min.: 0.00 303
(0581) Gain Setting
0.1 until vibration ceases. If the motor stalls, decrease the gain Max.: 2.50
by 0.1 until the stalling ceases.
V/f V/f w PG OLV CLV Default: <1>
n1-03 Hunting Prevention Hunt Prev Time OLV/PM AOLV/PM CLV/PM Min.: 0 ms 303
(0582) Time Constant
Sets the time constant used for Hunting Prevention. Max.: 500 ms
V/f V/f w PG OLV CLV
n1-05 Hunting Prevention Default: 0.00
Hprev Gain @Rev OLV/PM AOLV/PM CLV/PM Min.: 0.00 303
(0530) Gain while in Reverse Sets the gain used for Hunting Prevention. If set to 0, the gain set Max.: 2.50
to n1-02 is used for operation in reverse.
<1> Default setting is determined by parameter o2-04, Drive Model Selection.
u n2: Speed Feedback Detection Control (AFR) Tuning
No.
(Addr. Name LCD Display Description Values Page
Hex)
V/f V/f w PG OLV CLV
Speed Feedback OLV/PM AOLV/PM CLV/PM Default: 1.00
n2-01 Sets the internal speed feedback detection control gain in the
Detection Control AFR Gain Min.: 0.00 304
(0584) automatic frequency regulator (AFR).
(AFR) Gain Max.: 10.00
If hunting occurs, increase the set value. If response is low,
decrease the set value.
V/f V/f w PG OLV CLV
Speed Feedback Default: 50 ms
n2-02 OLV/PM AOLV/PM CLV/PM
Detection Control AFR Time Min.: 0 304
(0585) Sets the time constant used for speed feedback detection control Max.: 2000
(AFR) Time Constant 1
(AFR).
u n3: Overexcitation Braking
No.
(Addr. Name LCD Display Description Values Page
Hex)
Parameter List
V/f V/f w PG OLV CLV
Default: 1.10
n3-13 Overexcitation OLV/PM AOLV/PM CLV/PM
Hflux Brake Gain Min.: 1.00 304
(0531) Deceleration Gain Sets the gain applied to the V/f pattern during Overexcitation Max.: 2.00
Deceleration (L3-04 = 4).
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 507
B.11 n: Special Adjustments
u n5: Feed Forward Control
No.
(Addr. Name LCD Display Description Values Page
Hex)
V/f V/f w PG OLV CLV
Feedfoward Sel
n5-01 Feed Forward Control OLV/PM AOLV/PM CLV/PM Default: 0
0: Disabled 305
(05B0) Selection 0: Disabled Range: 0, 1
1: Enabled
1: Enabled
V/f V/f w PG OLV CLV Default: <1>
n5-02 Motor Acceleration OLV/PM AOLV/PM CLV/PM <2>
Motor Accel Time 305
(05B1) Time Sets the time required to accelerate the motor at the rated torque Min.: 0.001 s
from stop to rated speed. Max.: 10.000 s
V/f V/f w PG OLV CLV
n5-03 Feed Forward Control Default: 1.00
Feedfoward Gain OLV/PM AOLV/PM CLV/PM Min.: 0.00 306
(05B2) Gain Sets the ratio between motor and load inertia. Lower this setting Max.: 100.00
if overshoot occurs at the end of acceleration.
<1> Default setting is determined by parameter E5-01, Motor Code Selection.
<2> Default setting is determined by parameters C6-01, Drive Duty Selection, and o2-04, Drive Model Selection.
u n6: Online Tuning
No.
(Addr. Name LCD Display Description Values Page
Hex)
V/f V/f w PG OLV CLV
OLV/PM AOLV/PM CLV/PM
n6-01 Online Tuning 0: Disabled Default: 0
Online Tune Sel 307
(0570) Selection 1: Line-to-line resistance tuning Range: 0 to 2
2: Voltage correction. Setting not possible when Energy Saving
is enabled (b8-01).
V/f V/f w PG OLV CLV
n6-05 OLV/PM AOLV/PM CLV/PM Default: 1.0
Online Tuning Gain R1 Comp Gain Decrease this setting for motors with a relatively large rotor time Min.: 0.1 307
(05C7)
constant. If overload occurs, increase this setting slowly in Max.: 50.0
increments of 0.10.
u n8: PM Motor Control Tuning
No.
(Addr. Name LCD Display Description Values Page
Hex)
V/f V/f w PG OLV CLV
OLV/PM AOLV/PM CLV/PM Default: 50%
n8-01 Initial Rotor Position InitRotPosDetCur Sets the current used for initial rotor position estimation as a Min.: 0 307
(540) Estimation Current Max.: 100
percentage of the motor rated 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
n8-02 OLV/PM AOLV/PM CLV/PM Default: 80%
Pole Attraction Current Pull-In Current Sets the current during initial polar attraction as a percentage of Min.: 0 307
(541)
the motor rated current. Enter a high value when attempting to Max.: 150
increase starting torque.
V/f V/f w PG OLV CLV
n8-11 Induction Voltage OLV/PM AOLV/PM CLV/PM Default: <1>
InducedVEstGain2 Sets the gain for estimating the speed. Min.: 0.0 307
(054A) Estimation Gain 2
There is normally no need to change this parameter from the Max.: 1000.0
default value.
508 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.11 n: Special Adjustments
No.
(Addr. Name LCD Display Description Values Page
Hex)
V/f V/f w PG OLV CLV
OLV/PM AOLV/PM CLV/PM Default: 1.000
n8-14 Polarity Compensation PoleComp Gain 3 Sets the gain for estimating the speed. Min.: 0.000 308
(054D) Gain 3 Max.: 10.000
There is normally no need to change this parameter from the
default value.
V/f V/f w PG OLV CLV
n8-15 Polarity Compensation OLV/PM AOLV/PM CLV/PM Default: 0.500
PoleComp Gain 4 Sets the gain for estimating the speed. Min.: 0.000 308
(054E) Gain 4
There is normally no need to change this parameter from the Max.: 10.000
default value.
V/f V/f w PG OLV CLV
n8-21 OLV/PM AOLV/PM CLV/PM Default: 0.90
Motor Ke Gain Back EMF Gain Sets the gain for estimating the speed. Min.: 0.80 308
(0554)
There is normally no need to change this parameter from the Max.: 1.00
default value.
V/f V/f w PG OLV CLV
Init Pole EstSel
n8-35 Initial Rotor Position 0: Pull-In Method OLV/PM AOLV/PM CLV/PM Default: 1
(562) Detection Selection 1: Harm Inj Method 0: Pull-in 308
Range: 0 to 2
2: Pulse Method 1: High frequency injection
2: Pulse injection
V/f V/f w PG OLV CLV
OLV/PM AOLV/PM CLV/PM Default: 500 Hz
n8-36 High Frequency Sets the frequency in Hz for the superimposed signal used for
PM Harm Inj Freq Min.: 200 308
(0563) Injection Level superimposed harmonics. Enabled when n8-57 = 1. Max.: 1000
There is normally no need to change this parameter from the
default value.
V/f V/f w PG OLV CLV
OLV/PM AOLV/PM CLV/PM
n8-37 High Frequency Sets the amplitude of high-frequency injection as a percentage of Default: 20.0%
PM Harm Inj Amp the voltage class standard (200 V Class: 200 V, 400 V Class: 400 Min.: 0.0 308
(0564) Injection Amplitude
V). Max.: 50.0
There is normally no need to change this parameter from the
default value.
V/f V/f w PG OLV CLV
Low Pass Filter Cutoff OLV/PM AOLV/PM CLV/PM Default: 50 Hz
n8-39 Sets the cutoff frequency of a low pass filter for high frequency Min.: 0
Frequency for High PM Harm LPF Freq 308
(0566) injection. Enabled when n8-57 = 1.
Frequency Injection Max.: 1000
There is normally no need to change this parameter from the
default value.
V/f V/f w PG OLV CLV
Speed Feedback Default: 0.80
n8-45 OLV/PM AOLV/PM CLV/PM
Detection Control Gain PM Spd Fdbk Gain Min.: 0.00 309
(0538) Increase this setting if hunting occurs. Decrease to lower the
(for PM Motors) Max.: 10.00
response.
V/f V/f w PG OLV CLV
Pull-In Current OLV/PM AOLV/PM CLV/PM
n8-47 Compensation Time Default: 5.0 s
PM Pull-in I Tc Sets the time constant to make the pull-in current reference and Min.: 0.0 309
(053A) Constant (for PM actual current value agree. Decrease the value if the motor begins Max.: 100.0
Motors)
Parameter List
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
OLV/PM AOLV/PM CLV/PM Default: 30%
n8-48 Pull-In Current (for PM PM No-load Curr Defines the d-Axis current reference during no-load operation at Min.: 20
(053B) Motors) 309
a constant speed. Set as a percentage of the motor rated current. Max.: 200
Increase this setting if hunting occurs while running at constant B
speed.
V/f V/f w PG OLV CLV
n8-49 d-Axis Current for High Default: <2>
Efficiency Control (for EnergySav ID Lvl OLV/PM AOLV/PM CLV/PM 309
(053C) Min.: -200.0%
PM Motors) Sets the d-Axis current reference when running a high load at Max.: 0.0%
constant speed. Set as a percentage of the motor rated current.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 509
B.11 n: Special Adjustments
No.
(Addr. Name LCD Display Description Values Page
Hex)
V/f V/f w PG OLV CLV
Acceleration/ Default: 50%
n8-51 Deceleration Pull-In OLV/PM AOLV/PM CLV/PM
Current (for PM Motors) PM Pull-in I@Acc Sets the d-Axis current reference during acceleration/ Min.: 0 309
(053E)
deceleration as a percentage of the motor rated current. Set to a Max.: 200
high value when more starting torque is needed.
V/f V/f w PG OLV CLV
n8-54 Voltage Error OLV/PM AOLV/PM CLV/PM Default: 1.00 s
Compensation Time PM V Error CompT Adjusts the value when hunting occurs at low speed. If hunting Min.: 0.00 309
(056D) Constant
occurs with sudden load changes, increase n8-54 in increments Max.: 10.00
of 0.1. Reduce this setting if oscillation occurs at start.
V/f V/f w PG OLV CLV
PMLoad wk2 Ratio OLV/PM AOLV/PM CLV/PM
0: Less than 1:10 Sets the ratio between motor and machine inertia. Default: 0
n8-55 Load Inertia 1: 1:10 to 1:30 0: Below 1:10 Min.: 0 310
(056E) 2: 1:30 to 1:50 1: Between 1:10 and 1:30 Max.: 3
3: More than 1:50 2: Between 1:30 and 1:50
3: Beyond 1:50
V/f V/f w PG OLV CLV
PM Harm Inj Sel OLV/PM AOLV/PM CLV/PM
n8-57 High Frequency Default: 0
0: Disabled 0: Disabled. Disable when using an SPM motor. 310
(0574) Injection Range: 0, 1
1: Enabled 1: Enabled. Use this setting to enhance the speed control range
when using an IPM motor.
V/f V/f w PG OLV CLV Default: 200.0
n8-62 Output Voltage Limit PM Vout Limit OLV/PM AOLV/PM CLV/PM V <3>
(057D) (for PM Motors) 310
Prevents output voltage saturation. Should be set just below the Min.: 0.0
voltage provided by the input power supply. Max.: 250.0 <3>
V/f V/f w PG OLV CLV
OLV/PM AOLV/PM CLV/PM Default: 1.00
n8-69 Sets the proportional gain for PLL control of an extended
(065D) Speed Estimation Gain SpdSrch Gain Min.: 0.00 310
observer. Max.: 20.00
There is normally no need to change this parameter from the
default value.
V/f V/f w PG OLV CLV
OLV/PM AOLV/PM CLV/PM
Spd Est method Sets the method to be used for estimating the speed.
n8-72 Speed Estimation Default: 1
0: Conventional 0: Conventional method 311
(0655) Method Selection Range: 0, 1
1: A1000 method 1: 1000-series method
There is normally no need to change this parameter from the
default value.
V/f V/f w PG OLV CLV
OLV/PM
V/f AOLV/PM CLV/PM
n8-84 Initial Polarity Sets the current to determine polarity for the initial polarity Default: 100%
(02D3) Estimation Timeout Polarity Det Curr calculation as a percentage of the motor rated current. Min.: 0 311
Current 100% = Motor rated current Max.: 150
Note: If an “Si” value is listed on a Yaskawa motor
nameplate, set n8-84 to “Si” value x 2.
<1> Default setting is determined by parameter n8-72, Speed Estimation Method Selection.
When n8-72 = 0, default is 50.0
When n8-72 = 1, default is 150.0.
<2> Default setting is determined by parameter E5-01, Motor Code Selection.
<3> Values shown are specific to 200 V class drives. Double the value for 400 V class drives.
510 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.12 o: Operator-Related Settings
B.12 o: Operator-Related Settings
The o parameters set up the digital operator displays.
u o1: Digital Operator Display Selection
No.
(Addr. Name LCD Display Description Values Page
Hex)
All Modes
Switches the display after the power has been turned on.
When using an LED operator, pressing the up arrow key will Default: 106
o1-01 display the following data: frequency reference → rotational (Monitor
(0500) Drive Mode Unit direction → output frequency → output current → output voltage
User Monitor Sel U1-06) 312
Monitor Selection → U1-oo. Range: 104 to
914
Note: Enter the “1-oo” portion of “U1-oo” to view
the monitor. Certain monitors are not available in
all control modes.
All Modes
Power-On Monitor Selects the information displayed on the digital operator when
o1-02 1: Frequency Ref the power is turned on.
(0501) User Monitor Selection 2: FWD/REV 1: Frequency reference (U1-01) Default: 1
after Power Up 3: Output Freq 312
2: Direction Range: 1 to 5
4: Output Current 3: Output frequency (U1-02)
5: User Monitor 4: Output current (U1-03)
5: User-selected monitor (set by o1-01)
All Modes
Display Unit Sel Sets the units the drive should use to display the frequency
reference and motor speed monitors.
Digital Operator Display 0: 0.01 Hz
o1-03 1: 0.01 % 0: 0.01 Hz Default: <1> 312
(0502) Selection 1: 0.01% (100% = E1-04) Range: 0 to 3
2: r/min
3: User Units 2: r/min (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)
V/f V/f w PG OLV CLV
V/f Ptrn Unit
o1-04 V/f Pattern Display Unit 0: Hertz OLV/PM AOLV/PM CLV/PM Default: <1> 313
(0503) 0: Hz Range: 0, 1
1: RPM
1: r/min
o1-05 All Modes Default: 3
(0504) LCD Contrast Control LCD Contrast Min.: 0 313
Sets the contrast of the LCD operator.
Max.: 5
o1-10 User-Set Display Units All Modes Default: <2>
UserDisp Scaling These settings define the display values when o1-03 is set to 3. Range: 1 to 313
(0520) Maximum Value
o1-10 sets the display value that is equal to the maximum output 60000
o1-11 User-Set Display Units frequency. Default: <2>
UserDisp Dec Sel o1-11 sets the position of the decimal position. 313
(0521) Decimal Display Range: 0 to 3
<1> Default setting is determined by parameter A1-02, Control Method Selection.
<2> Default setting is determined by parameter o1-03, Digital Operator Display Selection.
u o2: Digital Operator Keypad Functions Parameter List
No.
(Addr. Name LCD Display Description Values Page
Hex)
All Modes
LOCAL/REMOTE Key LO/RE Key
o2-01 0: Disabled Default: 1
0: Disabled 313
(0505) Function Selection 1: Enabled. LO/RE key switches between LOCAL and REMOTE Range: 0, 1
1: Enabled
operation. B
Oper STOP Key All Modes
o2-02 STOP Key Function Default: 1
0: Disabled 0: Disabled. STOP key is disabled in REMOTE operation. 314
(0506) Selection Range: 0, 1
1: Enabled 1: Enabled. STOP key is always enabled.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 511
B.12 o: Operator-Related Settings
No.
(Addr. Name LCD Display Description Values Page
Hex)
All Modes
User Default Sel 0: No change.
o2-03 User Parameter Default 0: No Change 1: Set defaults. Saves parameter settings as default values for a Default: 0
(0507) Value 1: Save User Init 314
User Initialization. Range: 0 to 2
2: Clear User Init 2: Clear all. Clears the default settings that have been saved for
a User Initialization.
o2-04
All Modes Default:
Drive Model Selection Inverter Model # Enter the drive model. Setting required only if installing a new Determined by 314
(0508)
control board. drive capacity
All Modes
Frequency Reference Oper Ref Method
o2-05 0: ENTER key must be pressed to enter a frequency reference. Default: 0
Setting Method 0: Disabled 314
(0509) 1: ENTER key is not required. The frequency reference can be Range: 0, 1
Selection 1: Enabled
adjusted using the up and down arrow keys only.
All Modes
o2-06 Operation Selection Oper Discon Det
0: The drive continues operating if the digital operator is Default: 1
(050A) when Digital Operator is 0: Disabled disconnected. Range: 0, 1 315
Disconnected 1: Enabled
1: An oPr fault is triggered and the motor coasts to stop.
All Modes
Motor Direction at For/RevSel@PwrUp 0: Forward
o2-07 Default: 0
Power Up when Using 0: Forward 1: Reverse 315
(0527) Range: 0, 1
Operator 1: Reverse This parameter requires assigning drive operation to the digital
operator.
o2-09 Factory use.
– – – –
(050D)
u o3: Copy Function
No.
(Addr. Name LCD Display Description Values Page
Hex)
All Modes
0: Copy select
COPY SELECT 1: INV → OP READ (Read parameters from the drive, saving
0: COPY SELECT them onto the digital operator).
o3-01 Copy Function Selection 1: INV→OP READ 2: OP → INV WRITE (Copy parameters from the digital Default: 0
(0515) 2: OP→INV WRITE operator, writing them to the drive). 315
Range: 0 to 3
3: OP←→INV 3: OP → INV VERIFY (Verify that parameter settings match the
VERIFY data saved on the operator).
To read the drive parameter settings into the digital operator, set
o3-02 to 1 (to allow reading).
All Modes
Read Allowable Selects whether the read operation (o3-01 = 1) is enabled or
o3-02 Default: 0
Copy Allowed Selection 0: Disabled disabled. 316
(0516) Range: 0, 1
1: Enabled 0: Read operation prohibited
1: Read operation allowed
u o4: Maintenance Monitor Settings
No.
(Addr. Name LCD Display Description Values Page
Hex)
All Modes Default: 0
o4-01 Cumulative Operation DrvElapsTimeCnt Sets the value for the cumulative operation time of the drive in Min.: 0 316
(050B) Time Setting Max.: 9999
units of 10 h.
All Modes
ElapsTimeCntSet
o4-02 Cumulative Operation 0: Logs power-on time Default: 0
0: Power-On Time 316
(050C) Time Selection 1: Logs operation time when the drive output is active (output Range: 0, 1
1: Running Time
operation time).
512 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.12 o: Operator-Related Settings
No.
(Addr. Name LCD Display Description Values Page
Hex)
o4-03 Cooling Fan Operation
All Modes Default: 0
FanElapsTimeCn Sets the value of the fan operation time monitor U4-03 in units Min.: 0 316
(050E) Time Setting
of 10 h. Max.: 9999
o4-05 Capacitor Maintenance
All Modes Default: 0%
BusCap Maint Set Sets the value of the Maintenance Monitor for the capacitors. See Min.: 0 316
(051D) Setting
U4-05 to check when the capacitors may need to be replaced. Max.: 150
All Modes
DC Bus Pre-Charge Default: 0%
o4-07 Sets the value of the Maintenance Monitor for the soft charge Min.: 0
Relay Maintenance ChrgCircMaintSet 316
(0523) bypass relay. See U4-06 to check when the bypass relay may need Max.: 150
Setting
to be replaced.
All Modes
Fault Data Init 0: U2-oo and U3-oo monitor data is not reset when the drive Default: 0
o4-11 U2, U3 Initialization 0: Disabled is initialized using A1-03. 317
(0510) Range: 0, 1
1: Enabled 1: U2-oo and U3-oo monitor data is reset when the drive is
initialized using A1-03. Parameter is automatically reset to 0.
kWh Monitor Init All Modes
o4-12 kWh Monitor Default: 0
0: No Reset 0: No action 317
(0512) Initialization Range: 0, 1
1: Reset 1: Reset kWh data
All Modes
Number of Run Run Counter Init 0: U4-02 monitor data is not reset when the drive is initialized Default: 0
o4-13 Commands Counter 0: No Reset using A1-03. 317
(0528) Range: 0, 1
Initialization 1: Reset 1: U4-02 monitor data is reset when the drive is initialized using
A1-03. Parameter is automatically reset to 0.
All Modes
o4-19 Default: 000.00
Sets the price per 1 kWh to calculate the power rate displayed for Min.: 000.00
(113A) Power Unit Price Energy Price/kWh 317
total consumed power (U9-07 to U9-10) and total regenerated Max.: 650.00
power (U9-11 to U9-14).
Parameter List
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 513
B.13 DriveWorksEZ Parameters
B.13 DriveWorksEZ Parameters
u q: DriveWorksEZ Parameters
No.
(Addr. Name Description Values Page
Hex)
q1-01 to All Modes
q6-07 Refer to Help in the
DriveWorksEZ Parameters Reserved for DriveWorksEZ 317
(1600 to DWEZ software.
1746)
u r: DriveWorksEZ Connection Parameters
No.
(Addr. Name Description Values Page
Hex)
r1-01 to DriveWorksEZ Connection All Modes
r1-40 Default: 0
Parameters 1 to 20 (upper/ DriveWorksEZ Connection Parameters 1 to 20 (upper/lower) Min.: 0 317
(1840 to lower)
1867) Max.: FFFF
514 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.14 T: Motor Tuning
B.14 T: Motor Tuning
Enter data into the following parameters to tune the motor and drive for optimal performance.
u T1: Induction Motor Auto-Tuning
No.
(Addr. Name LCD Display Description Values Page
Hex)
V/f V/f w PG OLV CLV
Select Motor
T1-00 Motor 1/Motor 2 OLV/PM AOLV/PM CLV/PM Default: 1
1: 1st Motor 137
(0700) Selection 1: Motor 1 (sets E1-oo, E2-oo) Range: 1, 2
2: 2nd Motor
2: Motor 2 (sets E3-oo, E4-oo)
V/f V/f w PG OLV CLV
OLV/PM AOLV/PM CLV/PM
0: Rotational Auto-Tuning
Tuning Mode Sel 2: Stationary Auto-Tuning for Line-to-Line Resistance
0: Standard Tuning 3: Rotational Auto-Tuning for V/f Control (necessary for Energy
T1-01 2: Term Resistance Savings and Speed Estimation Speed Search)
Auto-Tuning Mode 3: V/f Engy Sav Tun Default: 0 <2>
(0701) 4: Stationary Auto-Tuning 2 Range: 0; 2 to 5; 138
<1> Selection 4: Tune-No Rotate2 5: Stationary Auto-Tuning 3
5: Tune-No Rotate3 8, 9
8: Inertia Tuning (perform Rotational Auto-Tuning prior to
8: Inertia Tuning Inertia Tuning)
9: Tune ASR gain 9: ASR Gain Tuning (perform Rotational Auto-Tuning prior to
ASR Gain Auto-Tuning)
Note: Settings 8 and 9 may not be available when gears
are between the machine and the motor shaft.
V/f V/f w PG OLV CLV
OLV/PM AOLV/PM CLV/PM Default: <3>
T1-02 Sets the motor rated power as specified on the motor nameplate. Min.: 0.00 kW
Motor Rated Power Mtr Rated Power 138
(0702) Max.: 650.00
Note: Use the following formula to convert horsepower kW
into kilowatts:
1HP = 0.746 kW.
V/f V/f w PG OLV CLV Default: 200.0
T1-03 Motor Rated Voltage Rated Voltage V <4>
(0703)
OLV/PM AOLV/PM CLV/PM 138
Min: 0.0
Sets the motor rated voltage as specified on the motor nameplate. Max: 255.0 <4>
V/f V/f w PG OLV CLV Default: <3>
OLV/PM AOLV/PM CLV/PM Min.: 10% of
T1-04 drive rated
Motor Rated Current Rated Current Sets the motor rated current as specified on the motor nameplate. current 138
(0704)
Max.: 150% of
drive rated
current
V/f V/f w PG OLV CLV Default: 60.0
T1-05 OLV/PM AOLV/PM CLV/PM Hz
Motor Base Frequency Rated Frequency 138
(0705) Sets the rated frequency of the motor as specified on the motor Min.: 0.0
nameplate. Max.: 400.0
V/f V/f w PG OLV CLV
T1-06 Default: 4
Number of Motor Poles Number of Poles OLV/PM AOLV/PM CLV/PM Min.: 2 139
(0706) Sets the number of motor poles as specified on the motor Max.: 48
Parameter List
nameplate.
V/f V/f w PG OLV CLV Default: 1750 r/
T1-07 OLV/PM AOLV/PM CLV/PM min
Motor Base Speed Rated Speed 138
(0707) Sets the rated speed of the motor as specified on the motor Min.: 0
nameplate. Max.: 24000
V/f V/f w PG OLV CLV Default: 1024 B
T1-08 PG Number of Pulses OLV/PM AOLV/PM CLV/PM ppr
PG Pulses/Rev 138
(0708) Per Revolution Sets the number of pulses per revolution for the PG being used Min.: 1
(pulse generator or encoder). Max.: 60000
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 515
B.14 T: Motor Tuning
No.
(Addr. Name LCD Display Description Values Page
Hex)
V/f V/f w PG OLV CLV
OLV/PM AOLV/PM CLV/PM
Motor No-Load Current Sets the no-load current for the motor. After setting the motor Default: –
T1-09 (Stationary Auto- No-Load Current capacity to T1-02 and the motor rated current to T1-04, this Min.: 0 A 139
(0709) Tuning) parameter will automatically display the no-load current for a Max.: T1-04
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
Motor Rated Slip OLV/PM AOLV/PM CLV/PM Default: –
T1-10 Sets the motor rated slip. After setting the motor capacity to
(Stationary Auto- Motor Rated Slip Min.: 0.00 Hz 139
(070A) T1-02, this parameter will automatically display the motor slip
Tuning) Max.: 20.00 Hz
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
OLV/PM AOLV/PM CLV/PM Default: 14 W
T1-11 Sets the iron loss for determining the Energy Saving coefficient.
<5>
Motor Iron Loss Mtr Iron Loss(W) 139
(070B) The value is set to E2-10 (motor iron loss) set when the power is Min.: 0
cycled. If T1-02 is changed, a default value appropriate for the Max.: 65535
motor capacity that was entered will appear.
<1> The availability of certain Auto-Tuning methods is determined by the control mode selected for the drive.
<2> Default setting is determined by parameter A1-02, Control Method Setting.
<3> Default setting is determined by parameter o2-04, Drive Model Selection.
<4> Values shown are specific to 200 V class drives. Double the value for 400 V class drives.
<5> Default setting value differs depending on the motor code value and motor parameter settings.
u T2: PM Motor Auto-Tuning
No.
(Addr. Name LCD Display Description Values Page
Hex)
V/f V/f w PG OLV CLV
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
PM Tuning Mode 8: Inertia Tuning
0: Standard Tuning 9: ASR Gain Auto-Tuning
1: Tune-No Rotate 11: Back EMF Constant Tuning
2: Term Resistance Default: 0
T2-01 13: High Frequency Injection Parameter Tuning Range: 0 to 3;
(0750) PM Motor Auto-Tuning 3: Z-Pulse Tuning 14: PM Rotational Auto-Tuning
Mode Selection 8: Inertia Tuning 139
<1> 8, 9, 11, 13, 14
9: Tune ASR gain Note: 1. Settings 8 and 9 may not be available when <2>
11: IndVoltConstTun gears are between the machine and the motor
13: High Freq Tun shaft.
14: PM rotation tune 2. For special-purpose motors, Yaskawa
recommends Back EMF Constant Tuning after
performing Stationary Auto-Tuning. Back
EMF Constant Tuning rotates the motor to
measure the actual induction voltage constants,
and allows for more accurate control than
Stationary Auto-Tuning alone.
V/f V/f w PG OLV CLV
OLV/PM AOLV/PM CLV/PM
Enter the motor code when using a Yaskawa PM motor. After <3>
T2-02 PM Motor Code entering the motor code, the drive automatically sets parameters Default:
PM Mtr Code Sel T2-03 through T2-09. Set parameters T2-10 to T2-14 according Min: 0000 140
(0751) Selection
the motor nameplate or the motor test report. When using a motor Max: FFFF
without a supported motor code or a non-Yaskawa motor, set
FFFF and adjust the other T2 parameters according to the motor
nameplate or the motor test report.
516 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.14 T: Motor Tuning
No.
(Addr. Name LCD Display Description Values Page
Hex)
V/f V/f w PG OLV CLV
PM Motor Type
T2-03 OLV/PM AOLV/PM CLV/PM Default: 1
PM Motor Type 0: IPM motor 140
(0752) 0: IPM motor Range: 0, 1
1: SPM motor
1: SPM motor.
V/f V/f w PG OLV CLV
OLV/PM AOLV/PM CLV/PM Default: <4>
T2-04 Sets the motor rated power. Min.: 0.00 kW
PM Motor Rated Power Mtr Rated Power 140
(0730) Max.: 650.00
Note: Use the following formula to convert horsepower kW
into kilowatts:
1HP = 0.746 kW.
V/f V/f w PG OLV CLV Default: 200.0
T2-05 PM Motor Rated Rated Voltage OLV/PM AOLV/PM CLV/PM V <5>
(0732) Voltage 140
Enter the motor rated voltage as indicated on the motor Min.: 0.0
nameplate. Max.: 255.0 <5>
V/f V/f w PG OLV CLV Default: <4>
OLV/PM AOLV/PM CLV/PM Min.: 10% of
T2-06 drive rated
PM Motor Rated Current Rated Current Enter the motor rated current as indicated on the motor nameplate. current 141
(0733)
Max.: 150% of
drive rated
current
V/f V/f w PG OLV CLV Default: 87.5
T2-07 PM Motor Base OLV/PM AOLV/PM CLV/PM Hz
Base Frequency 141
(0753) Frequency Enter the motor base frequency as indicated on the motor Min.: 0.0
nameplate. Max.: 400.0
V/f V/f w PG OLV CLV
T2-08 Number of PM Motor Default: 6
Number of Poles OLV/PM AOLV/PM CLV/PM Min.: 2 141
(0734) Poles Enter the number of motor poles for the PM motor as indicated Max.: 48
on the motor nameplate.
V/f V/f w PG OLV CLV Default: 1750
T2-09 OLV/PM
V/f AOLV/PM CLV/PM r/min
PM Motor Base Speed Rated Speed 141
(0731) Enter the base speed for the PM motor as indicated on the motor Min.: 0
nameplate. Max.: 24000
V/f V/f w PG OLV CLV
T2-10 PM Motor Stator Default: <6>
Arm Resistance OLV/PM AOLV/PM CLV/PM 141
(0754) Resistance Min.: 0.000 Ω
Enter the rotor resistance for the PM motor as indicated on the Max.: 65.000 Ω
motor nameplate.
V/f V/f w PG OLV CLV Default: <6>
T2-11 PM Motor d-Axis OLV/PM AOLV/PM CLV/PM Min.: 0.00 mH
d-Axis Induct 141
(0735) Inductance Enter the d-axis inductance for the PM motor as indicated on the Max.: 600.00
motor nameplate. mH
V/f V/f w PG OLV CLV Default: <6>
T2-12 PM Motor q-Axis OLV/PM AOLV/PM CLV/PM Min.: 0.00 mH
q-Axis Induct 141
(0736) Inductance Enter the q-axis inductance for the PM motor as indicated on the Max.: 600.00
motor nameplate. mH Parameter List
V/f V/f w PG OLV CLV
Iduct Volt Unit OLV/PM AOLV/PM CLV/PM
T2-13 Induced Voltage 0: mV/(r/min). E5-09 will automatically be set to 0.0, and E5-24 Default: 1
Constant Unit Selection 0: mV/RPM 141
(0755) will be used. Range: 0, 1
1: mV/(rad/sec)
1: mV/(rad/sec). E5-24 will automatically be set to 0.0, and E5-09
will be used.
V/f V/f w PG OLV CLV
Default: <6>
B
T2-14 PM Motor Induced OLV/PM AOLV/PM CLV/PM
Induct Volt Coef Min.: 0.0 142
(0737) Voltage Constant (Ke) Enter the induced voltage coefficient for the PM motor as Max.: 2000.0
indicated on the motor nameplate.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 517
B.14 T: Motor Tuning
No.
(Addr. Name LCD Display Description Values Page
Hex)
V/f V/f w PG OLV CLV
OLV/PM AOLV/PM CLV/PM Default: 30%
T2-15 Pull-In Current Level for Pull-In I Lvl Min.: 0 142
(0756) PM Motor Tuning Sets the amount of pull-in current to use for Auto-Tuning as a
percentage of the motor rated current. Increase this setting for Max.: 120
high inertia loads.
V/f V/f w PG OLV CLV Default: 1024
PG Number of Pulses
T2-16 OLV/PM AOLV/PM CLV/PM ppr
Per Revolution for PM PG Pulses/Rev 142
(0738) Sets the number of pulses per revolution for the PG being used Min.: 1
Motor Tuning
(pulse generator or encoder). Max.: 15000
V/f V/f w PG OLV CLV Default: 0.0 deg
T2-17 Encoder Z-Pulse Offset Z-Pulse Offset
(0757) (Δθ) OLV/PM AOLV/PM CLV/PM Min.: -180.0 142
Sets the offset between encoder offset and the rotor magnetic axis. Max.: 180.0
<1> The availability of certain Auto-Tuning methods is determined by the control mode selected for the drive.
<2> The setting range is determined by parameter A1-02, Control Method Selection.
<3> Default setting is determined by parameters A1-02, Control Method Selection, and o2-04, Drive Model Selection.
<4> Default setting is determined by parameter o2-04, Drive Model Selection.
<5> Values shown are specific to 200 V class drives. Double the value for 400 V class drives.
<6> Default setting is determined by parameter T2-02, PM Motor Code Selection, and the drive capacity.
u T3: ASR and Inertia Tuning
No.
(Addr. Name LCD Display Description Values Page
Hex)
V/f V/f w PG OLV CLV
OLV/PM AOLV/PM CLV/PM Default: 3.0 Hz
T3-01 Inertia Tuning Test Signal Freq Sets the frequency of the test signal used during Inertia Tuning Min.: 0.1 143
(0760) Frequency Reference
and ASR Gain Auto-Tuning. Reduce this value if the inertia is Max.: 20.0
large or if a fault occurs.
V/f V/f w PG OLV CLV
T3-02 Inertia Tuning OLV/PM AOLV/PM CLV/PM Default: 0.5 rad
Test Signal Ampl Sets the amplitude of the test signal used during Inertia and ASR Min.: 0.1 143
(0761) Reference Amplitude
Gain Auto-Tuning. Reduce this value if the inertia is too large or Max.: 10.0
if a fault occurs.
V/f V/f w PG OLV CLV Default: <2>
<3>
OLV/PM AOLV/PM CLV/PM
T3-03 Min.: 0.0001
Motor Inertia Motor Inertia Sets the motor inertia. Default setting is the inertia of a Yaskawa 143
(0762) kgm2
motor.
Max.: 600.00
kgm2
V/f V/f w PG OLV CLV
T3-04 Default: 10.0 Hz
(0763) ASR Response OLV/PM AOLV/PM CLV/PM
System Resp Freq Min.: 0.1 143
<1> Frequency Sets the response frequency of the mechanical system connected Max.: 50.0
to the motor. Oscillation may result if set too high.
<1> Displayed only when performing Inertia Tuning or ASR Gain Auto-Tuning (T1-01 = 8 or T2-01 = 9).
<2> Default setting is determined by parameter E5-01, Motor Code Selection.
<3> Default setting is determined by parameters C6-01, Drive Duty Selection, and o2-04, Drive Model Selection.
518 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.15 U: Monitors
B.15 U: Monitors
Monitor parameters allow the user to view drive status, fault information, and other data concerning drive operation.
u U1: Operation Status Monitors
No. Analog
(Addr. Name Description Unit
Output Level
Hex)
U1-01
All Modes 10 V: Max
Frequency Reference Frequency Ref Monitors the frequency reference. Display units are determined frequency 0.01 Hz
(0040)
by o1-03. (-10 to +10 V)
U1-02
All Modes 10 V: Max
Output Frequency Output Freq Displays the output frequency. Display units are determined by frequency 0.01 Hz
(0041)
o1-03. (-10 to +10 V)
U1-03 Output Current Output Current
All Modes 10 V: Drive <1> <2>
(0042) Displays the output current. rated current
All Modes
U1-04 0: V/f Control No signal output
Control Method Control Method 1: V/f Control with PG –
(0043) available
2: Open Loop Vector Control
3: Closed Loop Vector Control
V/f V/f w PG OLV CLV
10 V: Max
U1-05 OLV/PM AOLV/PM CLV/PM
Motor Speed Motor Speed frequency 0.01 Hz
(0044) Displays the motor speed feedback. Display units are determined (-10 to +10 V)
by o1-03.
U1-06 Output Voltage All Modes 10 V: 200 Vrms 0.1 Vac
Output Voltage
(0045) Reference Displays the output voltage. <3>
U1-07 All Modes 10 V: 400 V
Control Circuit Voltage DC Bus Voltage 1 Vdc
(0046) Displays the control circuit voltage. <3>
U1-08 Output Power Output kWatts
All Modes 10 V: <4> <5>
(0047) Displays the output power (this value is calculated internally). (-10 to +10 V)
V/f V/f w PG OLV CLV 10 V: Motor
U1-09 Torque Reference Torque Reference OLV/PM AOLV/PM CLV/PM rated torque 0.1%
(0048)
Monitors the internal torque reference. (-10 to +10 V)
All Modes
Displays the input terminal status.
U1 - 10= 00000000
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 Input Term Sts –
(0049) 1 Digital input 4 available
(terminal S4 enabled)
1 Digital input 5
(terminal S5 enabled)
Parameter List
1 Digital input 6
(terminal S6 enabled)
1 Digital input 7
(terminal S7 enabled)
1 Digital input 8
(terminal S8 enabled)
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 519
B.15 U: Monitors
No. Analog
(Addr. Name Description Unit
Output Level
Hex)
All Modes
Displays the output terminal status.
U1 - 11= 00000000
1 Multi-Function
Digital Output
(terminal MD-ME-MF)
U1-11 1 Multi-Function No signal output
(004A) Output Terminal Status Output Term Sts Digital Output available –
(terminal M1-M2)
1 Multi-Function
Digital Output
(terminal M3-M4)
0 Not Used
1 Fault Relay
(terminal MA-MC closed
MA/MB-MC open)
All Modes
Displays the drive operation status.
U1 - 12= 00000000
1 During run
1 During zero-speed
U1-12 1 During REV No signal output
(004B) Drive Status Int Ctl Sts 1 –
1 During fault reset
signal input
available
1 During speed agree
1 Drive ready
1 During alarm
detection
1 During fault detection
U1-13 All Modes 10 V: 100%
Terminal A1 Input Level Term A1 Level 0.1%
(004E) Displays the signal level to analog input terminal A1. (-10 to +10 V)
U1-14 All Modes 10 V: 100%
Terminal A2 Input Level Term A2 Level 0.1%
(004F) Displays the signal level to analog input terminal A2. (-10 to +10 V)
U1-15 All Modes 10 V: 100%
Terminal A3 Input Level Term A3 Level 0.1%
(0050) Displays the signal level to analog input terminal A3. (-10 to +10 V)
U1-16 Output Frequency after
All Modes 10 V: Max
SFS Output Displays output frequency with ramp time and S-curves. Units frequency 0.01 Hz
(0053) Soft Starter
determined by o1-03. (-10 to +10 V)
All Modes
U1-17 Displays the reference value input from the DI-A3 option card. No signal output
DI-A3 Input Status DI Opt Status Display will appear in hexadecimal as determined by the digital available –
(0058)
card input selection in F3-01.
3FFFF: Set (1 bit) + sign (1 bit) + 16 bit
All Modes
U1-18 No signal output
oPE Fault Parameter OPE Error Code Displays the parameter number that caused the oPE02 or oPE08 available –
(0061)
operation error.
All Modes
Displays the contents of a MEMOBUS/Modbus error.
U1 - 19= 00000000
1 CRC Error
U1-19 MEMOBUS/Modbus
1 Data Length Error No signal output
(0066) Error Code Transmit Err 0 Not Used available –
1 Parity Error
1 Overrun Error
1 Framing Error
1 Timed Out
0 Not Used
520 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.15 U: Monitors
No. Analog
(Addr. Name Description Unit
Output Level
Hex)
All Modes
U1-21 AI-A3 Terminal V1 10 V: 100%
AI Opt Ch1 Level Displays the input voltage to terminal V1 on analog input card 0.1%
(0077) Input Voltage Monitor (-10 to +10 V)
AI-A3.
All Modes
U1-22 AI-A3 Terminal V2 AI Opt Ch2 Level 10 V: 100%
(072A) Input Voltage Monitor Displays the input voltage to terminal V2 on analog input card 0.1%
(-10 to +10 V)
AI-A3.
All Modes
U1-23 AI-A3 Terminal V3 10 V: 100%
AI Opt Ch3 Level Displays the input voltage to terminal V3 on analog input card 0.1%
(072B) Input Voltage Monitor (-10 to +10 V)
AI-A3.
U1-24 All Modes Determined by
(007D) Input Pulse Monitor Term RP Inp Freq 1 Hz
Displays the frequency to pulse train input terminal RP. H6-02
U1-25 Software Number All Modes No signal output
CPU 1 SW Number –
(004D) (Flash) FLASH ID available
U1-26 All Modes No signal output
(005B) Software No. (ROM) CPU 2 SW Number –
ROM ID available
200 V class
U1-54 Drive Input Power All Modes 10 V: 400 V
(1083) Voltage Effective Value PowerSupply Volt Displays the effective value of the drive input power voltage. 400 V class 1V
10 V: 800 V
U1-58 Power Supply All Modes 10 V: Rated
PoweSupply Freq 0.1 Hz
(1087) Frequency Displays the frequency of the drive input power supply. frequency
All Modes
Displays information on the input power supply.
U1 - 72= 00000000
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
Power Supply Sts (0: Not completed, 1: Completed) –
(1095) Information Bit 3: Phase order detection available
(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.
<1> Display is in the following units:
2o0028, 2o0042, and 4o0011 to 4o0027: 0.01 A units
2o0054 to 2o0248 and 4o0034 to 4o0414: 0.1 A units
<2> The values of U1-03, U2-05, and U4-13 are displayed on the digital operator in units of amperes. When those monitors are checked using
MEMOBUS/Modbus communications, the monitor values in MEMOBUS/Modbus communications are displayed as: numeric value / 8192 × drive
rated current (A) from the condition “192 (maximum value) = drive rated current (A)”
<3> Values shown are specific to 200 V class drives. Double the value for 400 V class drives.
<4> In V/f and V/f w/PG control modes, 10 V = default value of E2-11. In OLV, CLV control modes, 10 V = setting value of E2-11 (kW). OLV/PM,
AOLV/PM, and CLV/PM control modes, 10 V = setting value of E5-02.
<5> Display is in the following units:
2o0028, 2o0042, and 4o0011 to 4o0027: 0.01 kW units
2o0054 to 2o0248 and 4o0034 to 4o0414: 0.1 kW units
Parameter List
u U2: Fault Trace
No. Analog
(Addr. Name LCD Display Description Unit
Output Level
Hex)
U2-01 All Modes No signal output B
Current Fault Current Fault –
(0080) Displays the current fault. available
U2-02 All Modes No signal output
Previous Fault Last Fault –
(0081) Displays the previous fault. available
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 521
B.15 U: Monitors
No. Analog
(Addr. Name LCD Display Description Unit
Output Level
Hex)
U2-03 Frequency Reference at Frequency Ref All Modes No signal output 0.01 Hz
(0082) Previous Fault Displays the frequency reference at the previous fault. available
U2-04 Output Frequency at All Modes No signal output 0.01 Hz
Output Freq
(0083) Previous Fault Displays the output frequency at the previous fault. available
U2-05 Output Current at All Modes No signal output <1>
Output Current
(0084) Previous Fault Displays the output current at the previous fault. available <2>
V/f V/f w PG OLV CLV
U2-06 Motor Speed at Previous Motor Speed No signal output 0.01 Hz
(0085) Fault OLV/PM AOLV/PM CLV/PM available
Displays the motor speed at the previous fault.
U2-07 Output Voltage at All Modes No signal output 0.1 Vac
Output Voltage
(0086) Previous Fault Displays the output voltage at the previous fault. available
U2-08 DC Bus Voltage at All Modes No signal output 1 Vdc
DC Bus Voltage
(0087) Previous Fault Displays the DC bus voltage at the previous fault. available
U2-09 Output Power at All Modes No signal output 0.1 kW
Output kWatts
(0088) Previous Fault Displays the output power at the previous fault. available
V/f V/f w PG OLV CLV
U2-10 Torque Reference at No signal output
Torque Reference OLV/PM AOLV/PM CLV/PM 0.1%
(0089) Previous Fault available
Displays the torque reference at the previous fault.
All Modes
U2-11 Input Terminal Status at Input Term Sts No signal output
(008A) Previous Fault Displays the input terminal status at the previous fault. Displayed available –
as in U1-10.
All Modes
U2-12 Output Terminal Status No signal output
Output Term Sts Displays the output status at the previous fault. Displayed as in available –
(008B) at Previous Fault
U1-11.
All Modes
U2-13 Drive Operation Status at Inverter Status No signal output
(008C) Previous Fault Displays the operation status of the drive at the previous fault. –
available
Displayed as in U1-12.
U2-14 Cumulative Operation All Modes No signal output
Elapsed time 1h
(008D) Time at Previous Fault Displays the cumulative operation time at the previous fault. available
U2-15 Run Speed after Soft All Modes
No signal output 0.01 Hz
(07E0) Fault at Previous
Starter SFS Output Displays the run speed after a soft start when a previous fault available
occurred. Displayed as in U1-16.
V/f V/f w PG OLV CLV
U2-16 Motor q-Axis Current at Motor Iq Current OLV/PM AOLV/PM CLV/PM No signal output 0.1%
(07E1) Previous Fault Displays the q-axis current for the motor at the previous fault. available
Displayed as in U6-01.
V/f V/f w PG OLV CLV
U2-17 Motor d-Axis Current at Motor Id Current OLV/PM AOLV/PM CLV/PM No signal output
(07E2) Previous Fault 0.1%
Displays the d-axis current for the motor at the previous fault. available
Displayed as in U6-02.
V/f V/f w PG OLV CLV
U2-19 Rotor Deviation at OLV/PM AOLV/PM CLV/PM No signal output 0.1 deg
d-q Axis Dev Err
(07E4) Previous Fault Displays the degree of rotor deviation when the most recent fault available
occurred. Displayed as in U6-10.
All Modes
U2-20 Heatsink Temperature at Actual Fin Temp No signal output
(008E) Previous Fault Displays the temperature of the heatsink when the most recent 1 °C
available
fault occurred. Displayed as in U4-08.
All Modes
U2-50 No signal output
(085C) Input Power Supply Power Supply Sts Displays the input power supply information at the previous fault. available –
Displayed as in U1-72.
522 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.15 U: Monitors
No. Analog
(Addr. Name LCD Display Description Unit
Output Level
Hex)
All Modes
U2-54 Power Supply Voltage at PowerSupply Volt No signal output
(0843) Previous Fault Displays the power supply voltage at the previous fault. 1V
available
Displayed as in U1-54.
Power Supply All Modes
U2-58 Frequency at Previous PowerSupply Freq No signal output 0.1 Hz
(0847) Displays the power supply frequency at the previous fault. available
Fault Displayed as in U1-58.
<1> Display is in the following units:
2o0028, 2o0042, and 4o0011 to 4o0027: 0.01 A units
2o0054 to 2o0248 and 4o0034 to 4o0414: 0.1 A units
<2> The values of U1-03, U2-05, and U4-13 are displayed on the digital operator in units of amperes. When those monitors are checked using
MEMOBUS/Modbus communications, the monitor values in MEMOBUS/Modbus communications are displayed as: numeric value / 8192 × drive
rated current (A) from the condition “192 (maximum value) = drive rated current (A)”
Note: Note: Fault histories are not kept when CPF00, CPF01, CPF06, CPF24, oFA00, oFb00, oFC00, Uv1, Uv2, or Uv3 occur.
u U3: Fault History
No. Analog
(Addr. Name LCD Display Description Unit
Output Level
Hex)
U3-01 to All Modes
U3-04
(0090 to 1st to 4th Most Recent Displays the first to the fourth most recent faults. No signal output
0093 Fault Fault Message o available –
(0800 to
0803))
All Modes
U3-05 to Displays the fifth to the tenth most recent faults.
U3-10 5th to 10th Most Recent After ten faults, data for the oldest fault is deleted. The most No signal output
(0804 to Fault Fault Message o available –
recent fault appears in U3-01, with the next most recent fault
0809) appearing in U3-02. The data is moved to the next monitor
parameter each time a fault occurs.
U3-11 to All Modes
U3-14
(0094 to Cumulative Operation Displays the cumulative operation time when the first to the No signal output
0097 Time at 1st to 4th Most Elapsed Time o fourth most recent faults occurred. available 1h
(080A to Recent Fault
080D))
U3-15 to Cumulative Operation All Modes
U3-20 Time at 5th to 10th Most No signal output
(080E to Recent Elapsed Time o Displays the cumulative operation time when the fifth to the tenth available 1h
Fault most recent faults occurred.
0813)
Note: Note: Fault histories are not kept when CPF00, CPF01, CPF06, CPF24, oFA00, oFb00, oFC00, Uv1, Uv2, or Uv3 occur.
u U4: Maintenance Monitors
No. Analog
(Addr. Name LCD Display Description Unit
Output Level
Hex)
Parameter List
All Modes
Displays the cumulative operation time of the drive. The value
U4-01 for the cumulative operation time counter can be reset in
(004C) Cumulative Operation Drv Elapsed Time parameter o4-01. Use parameter o4-02 to determine if the
No signal output 1h
<1> Time available
operation time should start as soon as the power is switched on
or only while the Run command is present. The maximum B
number displayed is 99999, after which the value is reset to 0.
All Modes
U4-02 Number of Run Displays the number of times the Run command is entered. Reset No signal output 1 Time
RUN Cmd Counter
(0075) Commands the number of Run commands using parameter o4-13. This value available
will reset to 0 and start counting again after reaching 65535.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 523
B.15 U: Monitors
No. Analog
(Addr. Name LCD Display Description Unit
Output Level
Hex)
All Modes
U4-03 Displays the cumulative operation time of the cooling fan. The No signal output
(0067) Cooling Fan Operation Fan Elapsed TIme default value for the fan operation time is reset in parameter 1h
<2> Time available
o4-03. This value will reset to 0 and start counting again after
reaching 99999.
All Modes
U4-04 Cooling Fan Displays main cooling fan usage time as a percentage of its No signal output
Fan Life Mon expected performance life. Parameter o4-03 can be used to reset available 1%
(007E) Maintenance
this monitor.
Replace the fan when this monitor reaches 90%.
All Modes
U4-05 Displays control circuit capacitor usage time as a percentage of No signal output
(007C) Capacitor Maintenance Cap Life Mon their expected performance life. Parameter o4-05 can be used to available 1%
reset this monitor.
Replace the capacitor when this monitor reaches 90%.
All Modes
Displays the soft charge bypass relay maintenance time as a
U4-06 Soft Charge Bypass percentage of its estimated performance life. Parameter o4-07 No signal output
ChgCirc Life Mon 1%
(07D6) Relay Maintenance can be used to reset this monitor. available
Replace the soft charge bypass relay when this monitor reaches
90%.
U4-08 All Modes
Heatsink Temperature Heatsink Temp 10 V: 100 °C 1 °C
(0068) Displays the heatsink temperature.
All Modes
U4-09 No signal output
(005E) LED Check LED Oper Check Lights all segments of the LED to verify that the display is –
available
working properly.
All Modes 0.01 A
U4-13 No signal output <3> <4>
(07CF) Peak Hold Current Current PeakHold Displays the highest current value that occurred during run. available <5>
All Modes
U4-14 Peak Hold Output No signal output 0.01 Hz
Freq@ I PeakHold Displays the output frequency when the current value shown in available
(07D0) Frequency
U4-13 occurred.
All Modes
U4-16 Motor Overload Motor OL1 Level Shows the value of the motor overload detection accumulator. 10 V: 100% 0.1%
(07D8) Estimate (oL1)
100% is equal to the oL1 detection level.
All Modes
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 1-00 = Analog No signal output
Reference Source 1-01 = Analog (terminal A1) –
(07DA) Source Selection 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
U4-19 Frequency Reference All Modes
from MEMOBUS/ MEMOBUS Freq Ref Displays the frequency reference provided by MEMOBUS/ No signal output 0.01%
(07DB) Modbus Comm. available
Modbus (decimal).
All Modes
U4-20 Option Frequency No signal output
Option Freq Ref Displays the frequency reference input by an option card –
(07DC) Reference available
(decimal).
524 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.15 U: Monitors
No. Analog
(Addr. Name LCD Display Description Unit
Output Level
Hex)
All Modes
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
7 = DWEZ
U4-21 Run Command Source nn: Run command limit status data No signal output
Run Cmd Source 00: No limit status. –
(07DD) Selection available
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
All Modes
U4-22 MEMOBUS/Modbus No signal output
MEMOBUS Ref Reg Displays the drive control data set by MEMOBUS/Modbus
(07DE) Communications communications register no. 0001H as a four-digit hexadecimal available
–
Reference
number.
All Modes
U4-23 Communication Option Option Ref Reg No signal output
(07DF) Card Reference Displays drive control data set by an option card as a four-digit available –
hexadecimal number.
<1> The MEMOBUS/Modbus communications data is in 10 h units. If data in 1 h units are also required, refer to register number 0099H.
<2> The MEMOBUS/Modbus communications data is in 10 h units. If data in 1 h units are also required, refer to register number 009BH.
<3> Display is in the following units:
2o0028, 2o0042, and 4o0011 to 4o0027: 0.01 A units
2o0054 to 2o0248 and 4o0034 to 4o0414: 0.1 A units
<4> The values of U1-03, U2-05, and U4-13 are displayed on the digital operator in units of amperes. When those monitors are checked using
MEMOBUS/Modbus communications, the monitor values in MEMOBUS/Modbus communications are displayed as: numeric value / 8192 × drive
rated current (A) from the condition “192 (maximum value) = drive rated current (A)”
<5> When reading the value of this monitor via MEMOBUS/Modbus a value of 8192 is equal to 100% of the drive rated output current.
u U5: PID Monitors
No. Analog
(Addr. Name LCD Display Description Unit
Output Level
Hex)
U5-01 All Modes 10 V: 100%
PID Feedback PID Feedback 1 0.01%
(0057) (-10 to +10 V)
Parameter List
Displays the PID feedback value.
All Modes
U5-02 10 V: 100%
PID Input PID Input Displays the amount of PID input (deviation between PID 0.01%
(0063) (-10 to +10 V)
setpoint and feedback).
U5-03 All Modes 10 V: 100%
PID Output PID Output 0.01%
(0064) Displays PID control output. (-10 to +10 V)
B
U5-04 All Modes 10 V: 100%
PID Setpoint PID Setpoint 0.01%
(0065) Displays the PID setpoint. (-10 to +10 V)
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 525
B.15 U: Monitors
No. Analog
(Addr. Name LCD Display Description Unit
Output Level
Hex)
All Modes
U5-05 PID Differential 10 V: 100%
PID Feedback 2 Displays the 2nd PID feedback value if differential feedback is (-10 to +10 V) 0.01%
(07D2) Feedback
used (H3-oo = 16).
All Modes
U5-06 Displays the difference of both feedback values if differential 10 V: 100%
(07D3) PID Adjusted Feedback PID Diff Fdbk feedback is used (U5-01 - U5-05). If differential feedback is not (-10 to +10 V)
0.01%
used, then U5-01 and U5-06 will be the same.
Automatically V/f V/f w PG OLV CLV
U5-21 Calculated Energy No signal output
Ki Auto Cal Val OLV/PM
V/f AOLV/PM CLV/PM 0.01
(0872) Saving Coefficient Ki available
Value Displays the energy saving coefficient Ki value.
Automatically V/f V/f w PG OLV CLV
U5-22 Calculated Energy No signal output
Kt Auto Cal Val OLV/PM
V/f AOLV/PM CLV/PM 0.01
(0873) Saving Coefficient Kt available
Value Displays the energy saving coefficient Kt value.
u U6: Operation Status Monitors
No. Analog
(Addr. Name LCD Display Description Unit
Output Level
Hex)
All Modes 10 V: Motor
U6-01 Motor Secondary secondary rated
Mot SEC Current Displays the value of the motor secondary current (Iq). Motor 0.1%
(0051) Current (Iq) current
rated secondary current is 100%. (-10 to +10 V)
V/f V/f w PG OLV CLV 10 V: Motor
U6-02 Motor Excitation OLV/PM AOLV/PM CLV/PM secondary rated
Mot EXC Current 0.1%
(0052) Current (Id) Displays the value calculated for the motor excitation current current
(Id). Motor rated secondary current is 100%. (-10 to +10 V)
U6-03 V/f V/f w PG OLV CLV 10 V: Max
ASR Input ASR Input frequency
(0054) OLV/PM AOLV/PM CLV/PM
(-10 to +10 V)
Displays the input and output values when using ASR control. 0.01%
10 V: Motor
U6-04 secondary rated
ASR Output ASR Output
(0055) current
(-10 to +10 V)
V/f V/f w PG OLV CLV 10 V: 200 Vrms
U6-05 Output Voltage Voltage Ref (Vq) OLV/PM AOLV/PM CLV/PM (-10 to +10 V) 0.1 Vac
(0059) Reference (Vq) <1>
Output voltage reference (Vq) for the q-Axis.
V/f V/f w PG OLV CLV 10 V: 200 Vrms
U6-06 Output Voltage Voltage Ref (Vd) OLV/PM AOLV/PM CLV/PM (-10 to +10 V) 0.1 Vac
(005A) Reference (Vd) <1>
Output voltage reference (Vd) for the d-Axis.
V/f V/f w PG OLV CLV
10 V: 200 Vrms
U6-07 OLV/PM AOLV/PM CLV/PM
q-Axis ACR Output ACR(q) Output (-10 to +10 V) 0.1%
(005F) Displays the output value for current control relative to motor <1>
secondary current (q-Axis).
V/f V/f w PG OLV CLV
110 V: 200 Vrms
U6-08 OLV/PM AOLV/PM CLV/PM
d-Axis ACR Output ACR(d) Output (-10 to +10 V) 0.1%
(0060) Displays the output value for current control relative to motor <1>
secondary current (d-Axis).
V/f V/f w PG OLV CLV
U6-09 Advance Phase 10 V: 180 deg
d-q Axis Comp OLV/PM AOLV/PM CLV/PM -10 V: -180 deg 0.1 deg
(07C0) Compensation (Δθ) Displays the degree of forward phase correction after calculating (-10 to +10 V)
the deviation of Δθcmp.
V/f V/f w PG OLV CLV
U6-10 Control Axis Deviation d-q Axis Devt 10 V: 180 deg
OLV/PM AOLV/PM CLV/PM -10 V: -180 deg 0.1 deg
(07C1) (Δθ) Displays the amount of deviation between the actual d-Axis / q- (-10 to +10 V)
Axis and the γ-Axis / δ-Axis used for motor control.
526 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.15 U: Monitors
No. Analog
(Addr. Name LCD Display Description Unit
Output Level
Hex)
V/f V/f w PG OLV CLV 10 V: 180 deg
U6-13 Flux Position Detection FluxPosition Fb -10 V: -180 deg 0.1 deg
(07CA) (sensor) OLV/PM AOLV/PM CLV/PM
Monitors the value of the flux position detection (sensor). (-10 to +10 V)
V/f V/f w PG OLV CLV 10 V: 180 deg
U6-14 Flux Position Estimation FluxPosition Est
(07CB) (observer) OLV/PM AOLV/PM CLV/PM -10 V: -180 deg 0.1 deg
Monitors the value of the flux position estimation. (-10 to +10 V)
U6-18 Speed Detection PG1 All Modes
PG1 CounterValue 10 V: 65536 1 pulse
(07CD) Counter Monitors the number of pulses for speed detection (PG1).
U6-19 Speed Detection PG2 All Modes
PG2 CounterValue 10 V: 65536 1 pulse
(07E5) Counter Monitors the number of pulses for speed detection (PG2).
U6-20 Frequency Reference All Modes 10 V: Max
Up/Dn 2 Bias Val 0.1%
(07D4) Bias (Up/Down 2) Displays the bias value used to adjust the frequency reference. frequency
All Modes
U6-21 10 V: Max
(07D5) Offset Frequency Offset Frequency Displays the total value of the offset frequencies d7-01, d7-02 0.1%
frequency
and d7-03 selected with digital inputs 44 to 46.
V/f V/f w PG OLV CLV 10 V: No. of
U6-22 Zero Servo Pulse OLV/PM AOLV/PM CLV/PM pulses per
Zero Servo Pulse 1 pulse
(0062) Movement Displays how far the rotor has moved from its last position in PG revolution
pulses (multiplied by 4). (-10 to +10 V)
V/f V/f w PG OLV CLV 10 V: Motor
U6-25 Feedback Control secondary rated
ASR Out w/o Fil OLV/PM AOLV/PM CLV/PM 0.01%
(006B) Output current
Output monitor for the ASR speed loop.
(-10 to +10 V)
V/f V/f w PG OLV CLV 10 V: Motor
U6-26 Feed Forward Control secondary rated
FF Cont Output OLV/PM AOLV/PM CLV/PM 0.01%
(006C) Output current
Output monitor for Feed Forward control.
(-10 to +10 V)
V/f V/f w PG OLV CLV
OLV/PM
V/f AOLV/PM CLV/PM
U6-57 Integrated during
Current
Displays the deviation from the integrated current when judging No signal output
(07C4) Deviation PoleDis IdDifVal 1
Judging Polarity motor polarity. If this value is lower than 819, then increase the available
value set to n8-84. The value 8192 is equivalent to the motor
rated current.
U6-80 to All Modes
U6-83 No signal output
(07B0H Online IP Address – IP Address currently available; U6-80 is the most significant –
available
to 07B3) octet.
U6-84 to All Modes
U6-87 No signal output
(07B4 to Online Subnet – Subnet currently available; U6-84 is the most significant octet. available –
07B7)
U6-88 to All Modes
U6-91 No signal output
(07B8 to Online Gateway – Gateway currently available; U6-88 is the most significant octet. available –
07F1)
U6-92 10: 10 Mbps
Parameter List
All Modes
Online Speed – –
(07F2) Link Speed 100: 100 Mbps
U6-93 All Modes 0: Half
Online Duplex – –
(07F3) Duplex Setting 1: Full
U6-98 All Modes
First Fault – – –
(07F8) First Option Fault B
U6-99 All Modes
Current Fault – – –
(07F9) Current Option Fault
<1> Values shown are specific to 200 V class drives. Double the values for 400 V class drives.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 527
B.15 U: Monitors
u U8: DriveWorksEZ Monitors
No. Analog
(Addr. Name LCD Display Description Unit
Output Level
Hex)
U8-01 to All Modes
U8-10 DriveWorksEZ Custom – DriveWorksEZ Custom Monitor 1 to 10 10 V: 100% 0.01%
(1950 to Monitor 1 to 10
1959)
U8-11 to All Modes
U8-13 DriveWorksEZ Version No signal output
– DriveWorksEZ Version Control Monitor 1 to 3 –
(195A to Control Monitor 1 to 3 available
195C)
u U9: Power Monitors
No. Analog
(Addr. Name LCD Display Description Unit
Output Level
Hex)
U9-01 All Modes No signal output 1 GWh
(0820) Electric Power (GWh) GWh Consumed
available
Shows the total amount of electric power.
U9-02 000 000 000 kW No signal output 1 MWh
Electric Power (MWh) MWh Consumed
(0821) available
U9-03
U9-03 U9-02 No signal output 1 kWh
Electric Power (kWh) kWh Consumed
(0822) U9-01
available
U9-04 Regenerative Power All Modes No signal output 1 GWh
GWh Produced
(0823) (GWh) available
Shows the total amount of regenerated power.
U9-05 Regenerative Power 000 000 000 kW No signal output 1 MWh
MWh Produced
(0824) (MWh) available
U9-06
U9-06 Regenerative Power U9-05 No signal output 1 kWh
kWh Produced
(0825) (kWh) U9-04
available
All Modes
These parameters show the electric power rate in Power Unit
Price (o4-19) that is calculated from the total electrical power
consumptions in U9-01 to U9-03.
U9-10: Digit 1 to digit 3
U9-09: Digit 4 to digit 6
U9-07 to U9-08: Digit 7 to digit 9
U9-10 Electric Power Rates 1 to U9-07: Digit 10 to digit 12 No signal output
(0826 to 4 Consumed o ($) 000 000 000 000 available –
0829) U9-10
U9-09
U9-08
U9-07
The unit price is set in o4-19, and U9-07 to U9-10 are U9-01 to
U9-03 x o4-19.
528 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.15 U: Monitors
No. Analog
(Addr. Name LCD Display Description Unit
Output Level
Hex)
All Modes
These parameters show the regenerative power rate in Power
Unit Price (o4-19) that is calculated from the total electrical
power consumptions in U9-04 to U9-06.
U9-14: Digit 1 to digit 3
U9-13: Digit 4 to digit 6
U9-11 to U9-12: Digit 7 to digit 9
U9-14 Regenerative Power U9-11: Digit 10 to digit 12 No signal output
(082A to Rates 1 to 4 Produced o ($) 000 000 000 000 available –
082D) U9-14
U9-13
U9-12
U9-11
The unit price is set in o4-19, and U9-11 to U9-14 are U9-04 to
U9-06 x o4-19.
Parameter List
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 529
B.16 Control Mode Dependent Parameter Default Values
B.16 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). Changing
the control mode initializes these parameters to the values shown here.
u A1-02 (Motor 1 Control Mode) Dependent Parameters
Table B.3 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)
b1-24 Commercial Power Switching Selection 0, 1 – 0 0 0 0
b2-01 DC Injection Braking Start Frequency 0.0 to 10.0 0.1 Hz 0.5 0.5 0.5 0.5
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, 1 – 0 1 0 1
Current Control Gain during Speed Search <1> <1> <1> <1>
b3-08 0.00 to 6.00 –
(Speed Estimation Type)
b3-14 Bi-Directional Speed Search Selection 0, 1 1 1 0 1 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, 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 <2> 0.01 <2>
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 Acceleration 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 <3> 1 <3> 1 <3> 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 60.0 60.0 60.0
E1-05 Maximum Voltage 0.0 to 255.0 <4> 0.1 V 575 <5> 575 <5> 575 575
E1-06 Base Frequency 0.0 to 400.0 0.1 Hz 60.0 60.0 60.0 60.0
E1-07 Middle Output Frequency 0.0 to 400.0 0.1 Hz 3.0 3.0 3.0 3.0
E1-08 Middle Output Frequency Voltage 0.0 to 255.0 <4> 0.1 V 15.0 <5> 15.0 <5> 15.0 15.0
E1-09 Minimum Output Frequency 0.0 to 400.0 0.1 Hz 1.5 1.5 0.5 0.0
E1-10 Minimum Output Frequency Voltage 0.0 to 255.0 <4> 0.1 V 9.0 9.0 2.0 0.0
F1-01 PG 1 Pulses Per Revolution 0 to 60000 1 ppr – 600 – 600
F1-05 PG 1 Rotation Selection 0, 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
530 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.16 Control Mode Dependent Parameter Default Values
Control Modes (A1-02)
No. Name Setting Range Resolution
V/f (0) V/f w/PG (1) OLV (2) CLV (3)
Vibration Suppression Gain during
L3-36 0.0 to 100.0 – 10.0 10.0 20.0 –
Acceleration (with Current Limit)
Vibration Suppression Gain during
L3-41 0.0 to 100.0 – 10.0 10.0 20.0 –
Deceleration (with Current Limit)
L4-01 Speed Agree Detection Level 0.0 to 400.0 0.1 0.0 Hz 0.0 Hz 0.0 Hz 0.0 Hz
L4-02 Speed Agree Detection Width 0.0 to 20.0 0.1 Hz 2.0 2.0 2.0 2.0
L4-03 Speed Agree Detection Level (+/-) -400.0 to 400.0 0.1 0.0 Hz 0.0 Hz 0.0 Hz 0.0 Hz
L4-04 Speed Agree Detection Width (+/-) 0.0 to 20.0 0.1 Hz 2.0 2.0 2.0 2.0
L8-38 Carrier Frequency Reduction Selection 0 to 2 – <3> <3> <3> <3>
Carrier Frequency Reduction Off Delay
L8-40 0.00 to 2.00 0.01 s 0.50 0.50 0.50 0.50
Time
o1-03 Digital Operator Display Selection 0 to 3 – 0 0 0 0
o1-04 V/f Pattern Display Unit 0, 1 – — — — 0
<1> Default setting value is determined by parameter o2-04, Drive Model Selection.
<2> This setting value depends on rated output current in models 2o0248 and 4o0165 to 4o0414: 2.00 in Open Loop Vector Control, 0.05 in Closed
Loop Vector Control.
<3> Default setting is dependent on parameter C6-01, Drive Duty Selection.
<4> Values shown are specific to 200 V class drives. Double the values for 400 V class drives.
<5> This setting value depends on rated output current and V/f pattern selection in parameter E1-03.
Table B.4 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)
b1-24 Commercial Power Switching Selection 0, 1 – 0 0 0
b2-01 DC Injection Braking Start Frequency 0.0 to 10.0 0.1 Hz 0.5 Hz 1.0% <1> 0.5% <1>
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, 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, 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 Hz <2> 0.1 0.0 Hz 0.0% 0.0%
b6-01 Dwell Reference at Start 0.0 to 400.0 Hz <2> 0.1 0.0 Hz 0.0% 0.0%
b6-03 Dwell Reference at Stop 0.0 to 400.0 Hz <2> 0.1 0.0 Hz 0.0% 0.0%
b8-01 Energy Saving Control Selection 0, 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 Hz <2> 0.1 0.0 Hz 0.0% 0.0%
C2-01 S-Curve Time at Acceleration 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 – – Parameter List
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 B
C5-07 ASR Gain Switching Frequency 0.0 to 400.0 Hz <2> 0.1 0.0 Hz 0.0% 0.0%
C6-02 Carrier Frequency Selection 1 to 4; F – 2 2 2
d3-01 Jump Frequency 1 0.0 to 400.0 Hz <2> 0.1 0.0 Hz 0.0% 0.0%
d3-02 Jump Frequency 2 0.0 to 400.0 Hz <2> 0.1 0.0 Hz 0.0% 0.0%
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 531
B.16 Control Mode Dependent Parameter Default Values
Control Modes (A1-02)
No. Name Setting Range Resolution
OLV/PM (5) AOLV/PM (6) CLV/PM (7)
d3-03 Jump Frequency 3 0.0 to 400.0 Hz <2> 0.1 0.0 Hz 0.0% 0.0%
d3-04 Jump Frequency Width 0.0 to 20.0 <3> 0.1 1.0 Hz 1.0% 1.0%
d5-02 Torque Reference Delay Time 0 to 1000 1 ms – – –
E1-04 Maximum Output Frequency 40.0 to 400.0 0.1 Hz <4> <4> <4>
E1-05 Maximum Voltage 0.0 to 377.1 <5> 0.1 V <4> <4> <4>
E1-06 Base Frequency 0.0 to 400.0 0.1 Hz <4> <4> <4>
E1-07 Middle Output Frequency 0.0 to 400.0 0.1 Hz – – –
E1-08 Middle Output Frequency Voltage 0.0 to 377.1 <5> 0.1 V – – –
E1-09 Minimum Output Frequency 0.0 to 400.0 0.1 Hz <4> <4> 0.0
E1-10 Minimum Output Frequency Voltage 0.0 to 377.1 <5> 0.1 V – – –
F1-01 PG 1 Pulses Per Revolution 0 to 60000 1 ppr – – 1024
F1-05 PG 1 Rotation Selection 0, 1 – 1 1 1
F1-09 Overspeed Detection Delay Time 0.0 to 2.0 0.1 s – 0.0 0.0
L1-01 Motor Overload Protection Selection 0 to 6 – 4 4 5
Vibration Suppression Gain during
L3-36 Acceleration (with Current Limit) 0.0 to 100.0 – – – –
Vibration Suppression Gain during
L3-41 0.0 to 100.0 – – – –
Deceleration (with Current Limit)
L4-01 Speed Agree Detection Level 0.0 to 400.0 Hz <2> 0.1 0.0 Hz 0.0% 0.0%
L4-02 Speed Agree Detection Width 0.0 to 20.0 0.1 Hz 2.0 Hz 4.0% <1> 4.0% <1>
L4-03 Speed Agree Detection Level (+/-) 0.0 to 400.0 Hz <6> 0.1 0.0 Hz 0.0% 0.0%
L4-04 Speed Agree Detection Width (+/-) 0.0 to 20.0 0.1 Hz 2.0 Hz 4.0% <1> 4.0% <1>
L8-38 Carrier Frequency Reduction Selection 0 to 2 – 0 – 0
Carrier Frequency Reduction Off Delay
L8-40 0.00 to 2.00 0.01 s 0.00 – 0.00
Time
o1-03 Digital Operator Display Selection 0 to 3 – 0 1 1
o1-04 V/f Pattern Display Unit 0, 1 – – 1 1
<1> Value calculated as a percentage of the maximum output frequency.
<2> In AOLV/PM and CLV/PM control modes, the setting units and range are expressed as a percentage (0.0 to 100.0%) instead of in Hz.
<3> In AOLV/PM and CLV/PM control modes, the setting units and range are expressed as a percentage (0.0 to 40.0%) instead of in Hz.
<4> Default setting is dependent on parameter E5-01, Motor Code Selection.
<5> Values shown are specific to 200 V class drives. Double the values for 400 V class drives.
<6> In AOLV/PM and CLV/PM control modes, the setting units and range are expressed as a percentage (-100.0 to 100.0%) instead of in Hz.
532 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.16 Control Mode Dependent Parameter Default Values
u E3-01 (Motor 2 Control Mode) Dependent Parameters
Table B.5 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
Motor 2 Slip Compensation Primary Delay
C3-22 0 to 10000 1 ms 2000 – 200 –
Time
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 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 4; F – 7 <1> 7 <1> 7 <1> 7 <1>
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 <2> 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 <2> 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 <2> 0.0 to 255.0 0.1 V 9.0 9.0 2.0 0.0
<1> Default setting is determined by parameters o2-04, Drive Model Selection, and C6-01, Drive Duty Selection.
<2> Values shown here are specific to 200 V class drives. Double the value for 400 V class drives.
Parameter List
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 533
B.17 V/f Pattern Default Values
B.17 V/f Pattern Default Values
The following tables show the V/f pattern setting default values depending on the control mode (A1-02) and the V/f pattern
selection (E1-03 in V/f Control).
Table B.6 E1-03 V/f Pattern Settings for Drive Capacity: Models 4o0011 and 4o0014
No. Unit V/f Control
F OLV CLV
E1-03 - 0 1 2 3 4 5 6 7 8 9 A B C D E <1>
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 60.0 60.0 60.0
E1-05
V 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 230.0 230.0 230.0
<2>
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 60.0 60.0 –
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 3.0 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 17.3 13.8 –
<2>
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 1.5 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 10.2 2.9 –
<2>
<1> This value determines the default values for E1-04 through E1-10 (E3-04 through E3-10 for motor 2).
<2> Values shown here are specific to 200 V class drives. Double the value for 400 V class drives.
Table B.7 E1-03 V/f Pattern Settings for Drive Capacity: Models 2o0028 to 2o0192 and 4o0021 to 4o0124
No. Unit V/f Control
F OLV CLV
E1-03 - 0 1 2 3 4 5 6 7 8 9 A B C D E <1>
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 60.0 60.0 60.0
E1-05
V 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 230.0 230.0 230.0
<2>
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 60.0 60.0 –
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 3.0 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 16.1 12.7 –
<2>
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 1.5 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 8.1 2.3 –
<2>
<1> This value determines the default values for E1-04 through E1-10 (E3-04 through E3-10 for motor 2).
<2> Values shown here are specific to 200 V class drives. Double the value for 400 V class drives.
Table B.8 E1-03 V/f Pattern Settings for Drive Capacity: Models 2o0248 and 4o0156 to 4o0414
No. Unit V/f Control
F OLV CLV
E1-03 - 0 1 2 3 4 5 6 7 8 9 A B C D E <1>
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 60.0 60.0 60.0
E1-05
V 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 230.0 230.0 230.0
<2>
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 60.0 60.0 –
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 3.0 3.0 –
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 13.8 12.7 –
<2>
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 1.5 0.5 –
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 6.9 2.3 –
<2>
<1> This value determines the default values for E1-04 through E1-10 (E3-04 through E3-10 for motor 2).
534 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.17 V/f Pattern Default Values
<2> Values shown here are specific to 200 V class drives. Double the value for 400 V class drives.
Parameter List
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 535
B.18 Defaults by Drive Model and Duty Rating ND/HD
B.18 Defaults by Drive Model and Duty Rating ND/HD
The following tables show parameters and default settings that change with the drive model selection (o2-04) and drive duty
selection (C6-01). Parameter numbers shown in parenthesis are valid for motor 2.
Table B.9 200 V Class Drives Default Settings by Drive Model Selection and ND/HD Settings
No. Name Unit Default Settings
– Drive Model – 2o0028 2o0042 2o0054 2o0068
C6-01 Drive Duty Selection – HD ND HD ND HD ND HD ND
o2-04 Drive Model Selection Hex. 6A 6B 6D 6E
E2-11 kW
(E4-11) Motor Rated Output (HP) 5.5 (7.5) 7.5 (10) 7.5 (10) 11 (15) 11 (15) 15 (20) 15 (20) 18.5 (25)
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 Ω 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
Momentary Power Loss Minimum
L2-03 s 0.3 0.3 0.3 0.3 0.3 0.6 0.6 0.6
Baseblock Time
Momentary Power Loss Voltage Recovery
L2-04 s 150 150 150 150 150 150 150 150
Time
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 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
Table B.10 200 V Class Drives Default Settings by Drive Model Selection and ND/HD Settings
No. Name Unit Default Settings
– Drive Model – 2o0081 2o0104 2o0130 2o0154
C6-01 Drive Duty Selection – HD ND HD ND HD ND HD ND
o2-04 Drive Model Selection Hex. 6F 70 72 73
E2-11 kW
Motor Rated Output 18.5 (25) 22 (30) 22 (30) 30 (40) 30 (40) 37 (50) 37 (50) 45 (60)
(E4-11) (HP)
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
536 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.18 Defaults by Drive Model and Duty Rating ND/HD
No. Name Unit Default Settings
– Drive Model – 2o0081 2o0104 2o0130 2o0154
C6-01 Drive Duty Selection – HD ND HD ND HD ND HD ND
o2-04 Drive Model Selection Hex. 6F 70 72 73
E2-11 kW
Motor Rated Output 18.5 (25) 22 (30) 22 (30) 30 (40) 30 (40) 37 (50) 37 (50) 45 (60)
(E4-11) (HP)
E2-05 (E4-05) Motor Line-to-Line Resistance Ω 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
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
Momentary Power Loss Minimum
L2-03 s 0.6 0.6 0.6 0.6 0.6 0.6 0.6 1
Baseblock Time
Momentary Power Loss Voltage Recovery
L2-04 s 150 150 150 150 150 150 150 150
Time
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 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
Table B.11 200 V Class Drives Default Settings by Drive Model Selection and ND/HD Settings
No. Name Unit Default Settings
– Drive Model – 2o0192 2o0248
C6-01 Drive Duty Selection – HD ND HD ND
o2-04 Drive Model Selection Hex. 74 75
E2-11 (E4-11) Motor Rated Output kW (HP) 45 (60) 55 (75) 55 (75) 75 (100)
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 Ω 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 s 150 150 150 150
Parameter List
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
B
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 537
B.18 Defaults by Drive Model and Duty Rating ND/HD
Table B.12 400 V Class Drives Default Settings by Drive Model Selection and ND/HD Settings
No. Name Unit Default Settings
– Drive Model – 4o0011 4o0014 4o0021 4o0027
C6-01 Drive Duty Selection – HD ND HD ND HD ND HD ND
o2-04 Drive Model Selection Hex. 95 97 99 9A
E2-11 kW
(E4-11) Motor Rated Output (HP) 3.7 (5) 5.5 (7.5) 5.5 (7.5) 7.5 (10) 7.5 (10) 11 (15) 11 (15) 15 (20)
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 Ω 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
Momentary Power Loss Minimum
L2-03 s 0.3 0.3 0.3 0.3 0.3 0.3 0.3 0.3
Baseblock Time
Momentary Power Loss Voltage Recovery
L2-04 s 300 300 300 300 300 300 300 300
Time
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 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
Table B.13 400 V Class Drives Default Settings by Drive Model Selection and ND/HD Settings
No. Name Unit Default Settings
– Drive Model – 4o0034 4o0040 4o0052 4o0065
C6-01 Drive Duty Selection – HD ND HD ND HD ND HD ND
o2-04 Drive Model Selection Hex. 9C 9D 9E 9F
E2-11 kW
Motor Rated Output 15 (20) 18.5 (25) 18.5 (25) 22 (30) 22 (30) 30 (40) 30 (40) 37 (50)
(E4-11) (HP)
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 Ω 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
538 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.18 Defaults by Drive Model and Duty Rating ND/HD
No. Name Unit Default Settings
– Drive Model – 4o0034 4o0040 4o0052 4o0065
C6-01 Drive Duty Selection – HD ND HD ND HD ND HD ND
o2-04 Drive Model Selection Hex. 9C 9D 9E 9F
E2-11 kW
Motor Rated Output 15 (20) 18.5 (25) 18.5 (25) 22 (30) 22 (30) 30 (40) 30 (40) 37 (50)
(E4-11) (HP)
L2-02 Momentary Power Loss Ride-Thru Time s 0.9 1 1 1 1 1 1 1.1
Momentary Power Loss Minimum
L2-03 s 0.3 0.6 0.6 0.6 0.6 0.6 0.6 0.6
Baseblock Time
Momentary Power Loss Voltage Recovery
L2-04 s 300 300 300 300 300 300 300 300
Time
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 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
Table B.14 400 V Class Drives Default Settings by Drive Model Selection and ND/HD Settings
No. Name Unit Default Settings
– Drive Model – 4o0077 4o0096 4o0124 4o0156
C6-01 Drive Duty Selection – HD ND HD ND HD ND HD ND
o2-04 Drive Model Selection Hex. A1 A2 A3 A4
E2-11 kW
Motor Rated Output 37 (50) 45 (60) 45 (60) 55 (75) 55 (75) 75 (100) 75 (100) 90 (125)
(E4-11) (HP)
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 Ω 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
Momentary Power Loss Minimum
L2-03 s 0.6 0.6 0.6 0.6 0.6 1 1 1
Baseblock Time
Momentary Power Loss Voltage Recovery
L2-04 s 300 300 300 300 300 300 300 300
Time
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
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 04C U1000 Industrial MATRIX Drive Technical Manual 539
B.18 Defaults by Drive Model and Duty Rating ND/HD
Table B.15 400 V Class Drives Default Settings by Drive Model Selection and ND/HD Settings
No. Name Unit Default Settings
– Drive Model – 4o0180 4o0216 4o0240 4o0302
C6-01 Drive Duty Selection – HD ND HD ND HD ND HD ND
o2-04 Drive Model Selection Hex. A5 A6 A7 A8
E2-11 kW 110 110 132 132 160 160 185
(E4-11) Motor Rated Output (HP) 90 (125) (150) (150) (175) (175) (200) (200) (250)
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 Ω 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
Momentary Power Loss Minimum
L2-03 s 1 1 1 1 1 1 1 1
Baseblock Time
Momentary Power Loss Voltage Recovery
L2-04 s 300 300 300 300 300 300 300 300
Time
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
Table B.16 400 V Class Drives Default Settings by Drive Model Selection and ND/HD Settings
No. Name Unit Default Settings
– Drive Model – 4o0361 4o0414
C6-01 Drive Duty Selection – HD ND HD ND
o2-04 Drive Model Selection Hex. A9 AA
E2-11 (E4-11) Motor Rated Output kW (HP) 185 (250) 220 (300) 220 (300) 260 (350)
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 Ω 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
540 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.18 Defaults by Drive Model and Duty Rating ND/HD
No. Name Unit Default Settings
– Drive Model – 4o0361 4o0414
C6-01 Drive Duty Selection – HD ND HD ND
o2-04 Drive Model Selection Hex. A9 AA
E2-11 (E4-11) Motor Rated Output kW (HP) 185 (250) 220 (300) 220 (300) 260 (350)
L2-03 Momentary Power Loss Minimum Baseblock Time s 1 1 1 1
L2-04 Momentary Power Loss Voltage Recovery Time s 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
Parameter List
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 541
B.19 Parameters Changed by Motor Code Selection (for PM Motors)
B.19 Parameters Changed by 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.
u Yaskawa SMRA Series SPM Motor
Table B.17 200 V, 1800 r/min Type Yaskawa SMRA Series SPM Motor Settings
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 r/min 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
Motor Stator Resistance (r1) (for PM
E5-05 Ω 2.47 1.02 0.679 0.291 0.169
Motors)
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) mVs
E5-09 0 0 0 0 0
(for PM Motors) /rad
Motor Induction Voltage Constant 2 (Ke) mV/
E5-24 62.0 64.1 73.4 69.6 72.2
(for PM Motors) (r/min)
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
Table B.18 200 V, 3600 r/min Type Yaskawa SMRA Series SPM Motor Settings
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 r/min 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
Motor Stator Resistance (r1) (for PM
E5-05 Ω 0.538 0.20 0.15 0.097
Motors)
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) mVs
E5-09 0 0 0 0
(for PM Motors) /rad
Motor Induction Voltage Constant 2 (Ke) mV/
E5-24 32.4 32.7 36.7 39.7
(for PM Motors) (r/min)
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
542 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.19 Parameters Changed by Motor Code Selection (for PM Motors)
No. Name Unit Default Settings
n5-02 Motor Acceleration Time s 0.137 0.132 0.132 0.122
u Yaskawa SSR1 Series IPM Motor (For Derated Torque)
Table B.19 200 V, 1750 r/min Type Yaskawa SSR1 Series IPM Motor
No. Name Unit Default Settings
Motor Code Selection − 1202 1203 1205 1206 1208 120A 120B 120D
(for PM Motors)
E5-01 Voltage Class V 200 200 200 200 200 200 200 200
Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11
Rated Speed r/min 1750 1750 1750 1750 1750 1750 1750 1750
Motor Rated Power (for
E5-02 kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11.0
PM Motors)
Motor Rated Current (for
E5-03 A 1.77 3.13 5.73 8.44 13.96 20.63 28.13 41.4
PM Motors)
Number of Motor Poles
E5-04 – 6 6 6 6 6 6 6 6
(for PM Motors)
Motor Stator Resistance
E5-05 Ω 8.233 2.284 1.470 0.827 0.455 0.246 0.198 0.094
(r1) (for PM Motors)
Motor d-Axis Inductance
E5-06 mH 54.84 23.02 17.22 8.61 7.20 4.86 4.15 3.40
(Ld) (for PM Motors)
Motor q-Axis Inductance
E5-07 mH 64.10 29.89 20.41 13.50 10.02 7.43 5.91 3.91
(Lq) (for PM Motors)
Motor Induction Voltage mVs
E5-09 Constant 1 (Ke) (for PM 223.7 220.3 240.8 238.0 238.7 239.6 258.2 239.3
/rad
Motors)
Motor Induction Voltage mV/
E5-24 Constant 2 (Ke) (for PM 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(r/min)
Motors)
Maximum Output
E1-04 Hz 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5
Frequency
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
Minimum Output
E1-09 Hz 4.4 4.4 4.4 4.4 4.4 4.4 4.4 4.4
Frequency
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
Table B.20 200 V, 1750 r/min Type Yaskawa SSR1 Series IPM Motor
No. Name Unit Default Settings
Motor Code Selection − 120E 120F 1210 1212 1213 1214 1215 1216
(for PM Motors)
E5-01 Voltage Class V 200 200 200 200 200 200 200 200
Rated Power kW 15 18 22 30 37 45 55 75
Rated Speed r/min 1750 1750 1750 1750 1750 1750 1750 1750
Motor Rated Power (for
E5-02 kW 15.0 18.00 22.00 30.00 37.00 45.00 55.00 75.00
PM Motors)
Motor Rated Current (for
E5-03 A 55.4 68.2 80.6 105.2 131.3 153.1 185.4 257.3
Parameter List
PM Motors)
Number of Motor Poles
E5-04 – 6 6 6 6 6 6 6 6
(for PM Motors)
Motor Stator Resistance
E5-05 Ω 0.066 0.051 0.037 0.030 0.020 0.014 0.012 0.006
(r1) (for PM Motors)
Motor d-Axis Inductance
E5-06 mH 2.45 2.18 1.71 1.35 0.99 0.83 0.79 0.44
(Ld) (for PM Motors)
B
Motor q-Axis Inductance
E5-07 mH 3.11 2.55 2.05 1.82 1.28 1.01 0.97 0.56
(Lq) (for PM Motors)
Motor Induction Voltage mVs
E5-09 Constant 1 (Ke) (for PM 248.1 253.6 250.0 280.9 264.2 280.4 311.9 268.0
/rad
Motors)
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 543
B.19 Parameters Changed by Motor Code Selection (for PM Motors)
No. Name Unit Default Settings
Motor Induction Voltage mV/
E5-24 Constant 2 (Ke) (for PM 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(r/min)
Motors)
Maximum Output
E1-04 Hz 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5
Frequency
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
Minimum Output
E1-09 Hz 4.4 4.4 4.4 4.4 4.4 4.4 4.4 4.4
Frequency
C5-17 Motor Inertia kgm2 0.046 0.55 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
Table B.21 400 V, 1750 r/min Type Yaskawa SSR1 Series IPM Motor
No. Name Unit Default Settings
Motor Code Selection (for − 1232 1233 1235 1236 1238 123A 123B 123D
PM Motors)
E5-01 Voltage Class V 400 400 400 400 400 400 400 400
Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11
Rated Speed r/min 1750 1750 1750 1750 1750 1750 1750 1750
Motor Rated Power (for PM
E5-02 kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11.0
Motors)
Motor Rated Current (for PM
E5-03 A 0.89 1.56 2.81 4.27 7.08 10.31 13.65 20.7
Motors)
Number of Motor Poles (for
E5-04 − 6 6 6 6 6 6 6 6
PM Motors)
Motor Stator Resistance (r1)
E5-05 Ω 25.370 9.136 6.010 3.297 1.798 0.982 0.786 0.349
(for PM Motors)
Motor d-Axis Inductance
E5-06 mH 169.00 92.08 67.71 34.40 32.93 22.7 16.49 13.17
(Ld) (for PM Motors)
Motor q-Axis Inductance
E5-07 mH 197.50 119.56 81.71 54.00 37.70 26.80 23.46 15.60
(Lq) (for PM Motors)
Motor Induction Voltage mVs
E5-09 Constant 1 (Ke) (for PM 392.6 440.6 478.3 466.3 478.8 478.1 520.0 481.5
/rad
Motors)
Motor Induction Voltage mV/
E5-24 Constant 2 (Ke) (for PM 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(r/min)
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 0.0011 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
Table B.22 400 V, 1750 r/min Type Yaskawa SSR1 Series IPM Motor
No. Name Unit Default Settings
Motor Code Selection (for − 123E 123F 1240 1242 1243 1244 1245 1246
PM Motors)
E5-01 Voltage Class V 400 400 400 400 400 400 400 400
Rated Power kW 15 18 22 30 37 45 55 75
Rated Speed r/min 1750 1750 1750 1750 1750 1750 1750 1750
Motor Rated Power (for PM
E5-02 kW 15 18.50 22.00 30.00 37.00 45.00 55.00 75.00
Motors)
Motor Rated Current (for PM
E5-03 A 27.5 33.4 39.8 52.0 65.8 77.5 92.7 126.6
Motors)
Number of Motor Poles (for
E5-04 − 6 6 6 6 6 6 6 6
PM Motors)
Motor Stator Resistance (r1)
E5-05 Ω 0.272 0.207 0.148 0.235 0.079 0.054 0.049 0.029
(for PM Motors)
544 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.19 Parameters Changed by Motor Code Selection (for PM Motors)
No. Name Unit Default Settings
Motor d-Axis Inductance
E5-06 mH 10.30 8.72 6.81 5.4 4.08 3.36 3.16 2.12
(Ld) (for PM Motors)
Motor q-Axis Inductance
E5-07 mH 12.77 11.22 8.47 7.26 5.12 3.94 3.88 2.61
(Lq) (for PM Motors)
Motor Induction Voltage mVs
E5-09 Constant 1 (Ke) (for PM 498.8 509.5 503.9 561.7 528.5 558.1 623.8 594.5
/rad
Motors)
Motor Induction Voltage mV/
E5-24 Constant 2 (Ke) (for PM 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(r/min)
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 0.046 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
Table B.23 400 V, 1750 r/min Type Yaskawa SSR1 Series IPM Motor
No. Name Unit Default Settings
Motor Code Selection (for − 1247 1248 1249 124A 1302 1303 1305 1306
PM Motors)
E5-01 Voltage Class V 400 400 400 400 200 200 200 200
Rated Power kW 90 110 132 160 0.4 0.75 1.5 2.2
Rated Speed r/min 1750 1750 1750 1750 1450 1450 1450 1450
Motor Rated Power (for PM
E5-02 kW 90.00 110.00 132.00 160.00 0.4 0.75 1.5 2.2
Motors)
Motor Rated Current (for PM
E5-03 A 160.4 183.3 222.9 267.7 1.88 3.13 5.63 8.33
Motors)
Number of Motor Poles (for
E5-04 − 6 6 6 6 6 6 6 6
PM Motors)
Motor Stator Resistance (r1)
E5-05 Ω 0.019 0.017 0.012 0.008 3.190 1.940 1.206 0.665
(for PM Motors)
Motor d-Axis Inductance
E5-06 mH 1.54 1.44 1.21 0.97 32.15 26.12 14.72 12.27
(Ld) (for PM Motors)
Motor q-Axis Inductance
E5-07 mH 2.06 2.21 1.46 1.28 41.74 34.30 20.15 14.77
(Lq) (for PM Motors)
Motor Induction Voltage mVs
E5-09 Constant 1 (Ke) (for PM 524.1 583.7 563.6 601.2 264.3 269.6 284.3 287.1
/rad
Motors)
Motor Induction Voltage mV/
E5-24 Constant 2 (Ke) (for PM 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(r/min)
Motors)
E1-04 Maximum Output Frequency Hz 87.5 87.5 87.5 87.5 72.5 72.5 72.5 72.5
E1-05 Maximum Voltage V 380.0 380.0 380.0 380.0 190.0 190.0 190.0 190.0
E1-06 Base Frequency Hz 87.5 87.5 87.5 87.5 72.5 72.5 72.5 72.5
E1-09 Minimum Output Frequency Hz 4.4 4.4 4.4 4.4 3.6 3.6 3.6 3.6
C5-17 Motor Inertia kgm2 0.56 0.83 0.96 1.61 0.0017 0.0023 0.0043 0.0083
n5-02 Motor Acceleration Time s 0.208 0.254 0.243 0.338 0.098 0.071 0.066 0.087 Parameter List
Table B.24 200 V, 1450 r/min Type Yaskawa SSR1 Series IPM Motor
No. Name Unit Default Settings
Motor Code Selection (for PM − 1308 130A 130B 130D 130E 130F 1310 1312
Motors)
E5-01 Voltage Class V 200 200 200 200 200 200 200 200
Rated Power kW 3.7 5.5 7.5 11 15 18 22 30 B
Rated Speed r/min 1450 1450 1450 1450 1450 1450 1450 1450
Motor Rated Power (for PM
E5-02 kW 3.7 5.5 7.5 11.0 15.00 18.00 22.00 30.00
Motors)
Motor Rated Current (for PM
E5-03 A 14.17 20.63 27.71 39.6 55.5 65.6 75.1 105.2
Motors)
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 545
B.19 Parameters Changed by Motor Code Selection (for PM Motors)
No. Name Unit Default Settings
Number of Motor Poles (for PM
E5-04 − 6 6 6 6 6 6 6 6
Motors)
Motor Stator Resistance (r1)
E5-05 Ω 0.341 0.252 0.184 0.099 0.075 0.057 0.041 0.034
(for PM Motors)
Motor d-Axis Inductance (Ld)
E5-06 mH 8.27 6.49 6.91 4.07 3.29 2.53 1.98 1.75
(for PM Motors)
Motor q-Axis Inductance (Lq)
E5-07 mH 9.81 7.74 7.66 4.65 3.84 3.01 2.60 2.17
(for PM Motors)
Motor Induction Voltage mVs
E5-09 Constant 1 (Ke) (for PM 284.5 298.0 335.0 303.9 311.2 300.9 327.7 354.2
/rad
Motors)
Motor Induction Voltage mV/
E5-24 Constant 2 (Ke) (for PM 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(r/min)
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 0.0136 0.017 0.027 0.046 0.055 0.064 0.116 0.140
n5-02 Motor Acceleration Time s 0.085 0.072 0.084 0.096 0.085 0.080 0.122 0.108
Table B.25 200 V, 1450 r/min Type Yaskawa SSR1 Series IPM Motor
No. Name Unit Default Settings
Motor Code Selection (for PM − 1313 1314 1315 1332 1333 1335 1336 1338
Motors)
E5-01 Voltage Class V 200 200 200 400 400 400 400 400
Rated Power kW 37 45 55 0.4 0.75 1.5 2.2 3.7
Rated Speed r/min 1450 1450 1450 1450 1450 1450 1450 1450
Motor Rated Power (for PM
E5-02 kW 37.00 45.00 55.00 0.4 0.75 1.5 2.2 3.7
Motors)
Motor Rated Current (for PM
E5-03 A 126.0 153.1 186.5 0.94 1.56 2.81 4.27 6.98
Motors)
Number of Motor Poles (for
E5-04 − 6 6 6 6 6 6 6 6
PM Motors)
Motor Stator Resistance (r1)
E5-05 Ω 0.023 0.015 0.012 12.760 7.421 4.825 2.656 1.353
(for PM Motors)
Motor d-Axis Inductance (Ld)
E5-06 mH 1.48 1.04 0.87 128.60 85.11 58.87 46.42 31.73
(for PM Motors)
Motor q-Axis Inductance (Lq)
E5-07 mH 1.70 1.31 1.10 166.96 113.19 80.59 60.32 40.45
(for PM Motors)
Motor Induction Voltage mVs
E5-09 Constant 1 (Ke) (for PM 369.6 351.6 374.7 528.6 544.2 568.5 572.8 562.9
/rad
Motors)
Motor Induction Voltage mV/
E5-24 Constant 2 (Ke) (for PM 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(r/min)
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 190.0 190.0 190.0 380.0 380.0 380.0 380.0 380.0
E1-06 Base Frequency Hz 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5
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 0.259 0.312 0.42 0.0017 0.0023 0.0043 0.0083 0.0136
n5-02 Motor Acceleration Time s 0.161 0.160 0.175 0.098 0.071 0.066 0.087 0.085
Table B.26 400 V, 1450 r/min Type Yaskawa SSR1 Series IPM Motor
No. Name Unit Default Settings
Motor Code Selection (for − 133A 133B 133D 133E 133F 1340 1342 1343
PM Motors)
E5-01 Voltage Class V 400 400 400 400 400 400 400 400
Rated Power kW 5.5 7.5 11 15 18 22 30 37
Rated Speed r/min 1450 1450 1450 1450 1450 1450 1450 1450
546 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.19 Parameters Changed by Motor Code Selection (for PM Motors)
No. Name Unit Default Settings
Motor Rated Power (for PM
E5-02 kW 5.5 7.5 11.0 15 18.50 22.00 30.00 37.00
Motors)
Motor Rated Current (for PM
E5-03 A 10.21 13.85 19.5 27.4 32.9 37.6 52.5 63.2
Motors)
Number of Motor Poles (for
E5-04 − 6 6 6 6 6 6 6 6
PM Motors)
Motor Stator Resistance (r1)
E5-05 Ω 0.999 0.713 0.393 0.295 0.223 0.164 0.137 0.093
(for PM Motors)
Motor d-Axis Inductance
E5-06 mH 26.20 27.06 15.51 12.65 9.87 7.90 7.01 5.93
(Ld) (for PM Motors)
Motor q-Axis Inductance
E5-07 mH 30.94 33.45 19.63 15.87 12.40 10.38 8.68 6.79
(Lq) (for PM Motors)
Motor Induction Voltage mVs
E5-09 Constant 1 (Ke) (for PM 587.6 670.1 612.7 624.6 610.4 655.4 708.4 739.2
/rad
Motors)
Motor Induction Voltage mV/
E5-24 Constant 2 (Ke) (for PM 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(r/min)
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 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
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 0.017 0.027 0.046 0.055 0.064 0.116 0.140 0.259
n5-02 Motor Acceleration Time s 0.072 0.084 0.096 0.085 0.080 0.122 0.108 0.161
Table B.27 400 V, 1450 r/min Type Yaskawa SSR1 Series IPM Motor
No. Name Unit Default Settings
Motor Code Selection (for − 1344 1345 1346 1347 1348 1349 1402 1403
PM Motors)
E5-01 Voltage Class V 400 400 400 400 400 400 200 200
Rated Power kW 45 55 75 90 110 132 0.4 0.75
Rated Speed r/min 1450 1450 1450 1450 1450 1450 1150 1150
Motor Rated Power (for PM
E5-02 kW 45.00 55.00 75.00 90.00 110.00 132.00 0.4 0.75
Motors)
Motor Rated Current (for PM
E5-03 A 76.4 96.1 124.0 153.1 186.5 226.0 1.88 3.02
Motors)
Number of Motor Poles (for
E5-04 − 6 6 6 6 6 6 6 6
PM Motors)
Motor Stator Resistance (r1)
E5-05 Ω 0.059 0.048 0.028 0.024 0.015 0.011 4.832 2.704
(for PM Motors)
Motor d-Axis Inductance
E5-06 mH 4.17 3.11 2.32 2.20 1.45 1.23 48.68 32.31
(Ld) (for PM Motors)
Motor q-Axis Inductance
E5-07 mH 5.22 4.55 2.97 3.23 1.88 1.67 63.21 40.24
(Lq) (for PM Motors)
Motor Induction Voltage mVs
E5-09 Constant 1 (Ke) (for PM 703.0 747.1 639.3 708.0 640.7 677.0 320.4 327.1
/rad
Motors)
Motor Induction Voltage mV/
E5-24 Constant 2 (Ke) (for PM 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(r/min)
Motors)
Parameter List
E1-04 Maximum Output Frequency Hz 72.5 72.5 72.5 72.5 72.5 72.5 57.5 57.5
E1-05 Maximum Voltage V 380.0 380.0 380.0 380.0 380.0 380.0 190.0 190.0
E1-06 Base Frequency Hz 72.5 72.5 72.5 72.5 72.5 72.5 57.5 57.5
E1-09 Minimum Output Frequency Hz 3.6 3.6 3.6 3.6 3.6 3.6 2.9 2.9
C5-17 Motor Inertia kgm2 0.312 0.42 0.56 0.83 0.96 1.61 0.0017 0.0023
n5-02 Motor Acceleration Time s 0.160 0.175 0.171 0.213 0.201 0.281 0.062 0.044
B
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 547
B.19 Parameters Changed by Motor Code Selection (for PM Motors)
Table B.28 200 V, 1150 r/min Type Yaskawa SSR1 Series IPM Motor
No. Name Unit Default Settings
Motor Code Selection (for PM − 1405 1406 1408 140A 140B 140D 140E 140F
Motors)
E5-01 Voltage Class V 200 200 200 200 200 200 200 200
Rated Power kW 1.5 2.2 3.7 5.5 7.5 11.0 15 18.00
Rated Speed r/min 1150 1150 1150 1150 1150 1150 1150 1150
E5-02 Motor Rated Power (for PM Motors) kW 1.5 2.2 3.7 5.5 7.5 11 15 18.5
Motor Rated Current (for PM
E5-03 A 6.00 8.85 14.27 20.21 26.67 39.9 55.6 63.5
Motors)
Number of Motor Poles (for PM
E5-04 − 6 6 6 6 6 6 6 6
Motors)
Motor Stator Resistance (r1) (for
E5-05 Ω 1.114 0.511 0.412 0.303 0.165 0.113 0.084 0.066
PM Motors)
Motor d-Axis Inductance (Ld) (for
E5-06 mH 19.22 12.15 7.94 11.13 6.59 4.96 3.83 3.33
PM Motors)
Motor q-Axis Inductance (Lq) (for
E5-07 mH 24.38 15.35 11.86 14.06 8.55 6.12 4.65 4.5
PM Motors)
Motor Induction Voltage Constant 1 mVs
E5-09 364.4 344.4 357.5 430.8 391.5 384.4 372.1 421.3
(Ke) (for PM Motors) /rad
Motor Induction Voltage Constant 2 mV/
E5-24 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(Ke) (for PM Motors) (r/min)
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 0.0083 0.0136 0.0171 0.027 0.046 0.055 0.064 0.116
n5-02 Motor Acceleration Time s 0.080 0.090 0.067 0.072 0.088 0.073 0.062 0.091
Table B.29 200 V, 1150 r/min Type Yaskawa SSR1 Series IPM Motor
No. Name Unit Default Settings
Motor Code Selection (for PM − 1410 1412 1413 1414 1432 1433 1435 1436
Motors)
E5-01 Voltage Class V 200 200 200 200 400 400 400 400
Rated Power kW 22.00 30.00 37.00 45.00 0.4 0.75 1.5 2.2
Rated Speed r/min 1150 1150 1150 1150 1150 1150 1150 1150
E5-02 Motor Rated Power (for PM Motors) kW 22 30 37 45 0.4 0.75 1.5 2.2
Motor Rated Current (for PM
E5-03 A 74.4 104.2 129.6 154.2 0.94 1.51 3.00 4.43
Motors)
Number of Motor Poles (for PM
E5-04 − 6 6 6 6 6 6 6 6
Motors)
Motor Stator Resistance (r1) (for
E5-05 Ω 0.048 0.035 0.023 0.016 19.320 10.800 4.456 2.044
PM Motors)
Motor d-Axis Inductance (Ld) (for
E5-06 mH 2.38 2.04 1.53 1.16 194.70 129.20 76.88 48.60
PM Motors)
Motor q-Axis Inductance (Lq) (for
E5-07 mH 3.15 2.86 2.27 1.54 252.84 160.90 97.52 61.40
PM Motors)
Motor Induction Voltage Constant 1 mVs
E5-09 410.9 436.1 428.8 433.3 640.9 654.1 728.8 688.9
(Ke) (for PM Motors) /rad
Motor Induction Voltage Constant 2 mV/
E5-24 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(Ke) (for PM Motors) (r/min)
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 190.0 190.0 190.0 190.0 380.0 380.0 380.0 380.0
E1-06 Base Frequency Hz 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5
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 0.14 0.259 0.312 0.418 0.0017 0.0023 0.0083 0.0136
n5-02 Motor Acceleration Time s 0.092 0.125 0.122 0.135 0.062 0.044 0.080 0.090
548 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.19 Parameters Changed by Motor Code Selection (for PM Motors)
Table B.30 400 V, 1150 r/min Type Yaskawa SSR1 Series IPM Motor
No. Name Unit Default Settings
Motor Code Selection (for PM − 1438 143A 143B 143D 143E 143F 1440 1442
Motors)
E5-01 Voltage Class V 400 400 400 400 400 400 400 400
Rated Power kW 3.7 5.5 7.5 11 15 18 22 30
Rated Speed r/min 1150 1150 1150 1150 1150 1150 1150 1150
Motor Rated Power (for PM
E5-02 kW 3.7 5.5 7.5 11.0 15 18.50 22.00 30.00
Motors)
Motor Rated Current (for PM
E5-03 A 7.08 10.10 13.33 19.9 27.8 31.8 37.2 52.1
Motors)
Number of Motor Poles (for
E5-04 − 6 6 6 6 6 6 6 6
PM Motors)
Motor Stator Resistance (r1)
E5-05 Ω 1.483 1.215 0.660 0.443 0.331 0.264 0.192 0.140
(for PM Motors)
Motor d-Axis Inductance (Ld)
E5-06 mH 37.58 44.54 26.36 19.10 15.09 13.32 9.52 8.16
(for PM Motors)
Motor q-Axis Inductance (Lq)
E5-07 mH 47.65 56.26 34.20 24.67 18.56 18.00 12.60 11.40
(for PM Motors)
Motor Induction Voltage mVs
E5-09 Constant 1 (Ke) (for PM /rad 702.0 861.5 783.0 762.2 749.6 842.7 821.8 872.3
Motors)
Motor Induction Voltage mV/
E5-24 Constant 2 (Ke) (for PM 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(r/min)
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 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
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 0.0171 0.027 0.046 0.055 0.064 0.116 0.140 0.259
n5-02 Motor Acceleration Time s 0.067 0.072 0.088 0.073 0.062 0.091 0.092 0.125
Table B.31 400 V, 1150 r/min Type Yaskawa SSR1 Series IPM Motor
No. Name Unit Default Settings
Motor Code Selection (for PM − 1443 1444 1445 1446 1447 1448
Motors)
E5-01 Voltage Class V 400 400 400 400 400 400
Rated Power kW 37 45 55 75 90 110
Rated Speed r/min 1150 1150 1150 1150 1150 1150
Motor Rated Power (for PM
E5-02 kW 37.00 45.00 55.00 75.00 90.00 110.00
Motors)
Motor Rated Current (for PM
E5-03 A 64.8 76.6 92.0 127.1 150.5 185.4
Motors)
Number of Motor Poles (for PM
E5-04 − 6 6 6 6 6 6
Motors)
Motor Stator Resistance (r1) (for
E5-05 Ω 0.093 0.063 0.051 0.033 0.027 0.015
PM Motors)
Motor d-Axis Inductance (Ld) (for
E5-06 mH 6.13 4.63 3.96 3.03 2.60 1.89
PM Motors)
Motor q-Axis Inductance (Lq) (for
Parameter List
E5-07 mH 9.10 6.15 5.00 5.14 3.28 2.33
PM Motors)
Motor Induction Voltage Constant mVs
E5-09 857.7 866.6 854.0 823.1 853.4 829.2
1 (Ke) (for PM Motors) /rad
Motor Induction Voltage Constant mV/
E5-24 0.0 0.0 0.0 0.0 0.0 0.0
2 (Ke) (for PM Motors) (r/min)
E1-04 Maximum Output Frequency Hz 57.5 57.5 57.5 57.5 57.5 57.5
B
E1-05 Maximum Voltage V 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
E1-09 Minimum Output Frequency Hz 2.9 2.9 2.9 2.9 2.9 2.9
C5-17 Motor Inertia kgm2 0.312 0.418 0.56 0.83 0.96 1.61
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 549
B.19 Parameters Changed by Motor Code Selection (for PM Motors)
No. Name Unit Default Settings
n5-02 Motor Acceleration Time s 0.122 0.135 0.147 0.161 0.154 0.212
u Yaskawa SST4 Series IPM Motor (For Constant Torque)
Table B.32 200 V, 1750 r/min Type Yaskawa SST4 Series IPM Motor
No. Name Unit Default Settings
Motor Code Selection (for PM - 2202 2203 2205 2206 2208 220A 220B 220D
Motors)
E5-01 Voltage Class V 200 200 200 200 200 200 200 200
Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11
Rated Speed r/min 1750 1750 1750 1750 1750 1750 1750 1750
Motor Rated Power (for PM kW
E5-02 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11.0
Motors)
Motor Rated Current (for PM A
E5-03 1.77 3.54 6.56 8.96 14.79 20.94 29.58 41.1
Motors)
Number of Motor Poles (for PM –
E5-04 6 6 6 6 6 6 6 6
Motors)
Motor Stator Resistance (r1) (for Ω
E5-05 2.247 1.132 0.774 0.479 0.242 0.275 0.161 0.111
PM Motors)
Motor d-Axis Inductance (Ld) mH
E5-06 22.32 12.38 8.90 7.39 5.06 5.82 3.86 3.59
(for PM Motors)
Motor q-Axis Inductance (Lq) mH
E5-07 32.50 15.72 11.96 9.63 6.42 6.74 4.66 4.32
(for PM Motors)
Motor Induction Voltage mVs
E5-09 215.2 203.9 219.3 230.6 235.1 251.7 235.7 252.0
Constant 1 (Ke) (for PM Motors) /rad
Motor Induction Voltage mV/
E5-24 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
Constant 2 (Ke) (for PM Motors) (r/min)
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 %
n8-49 Efficiency Control (for PM -9.3 -6.4 -10.0 -9.9 -9.7 -8.4 -11.5 -13.1
Motors) (OLV/PM)
Table B.33 200 V, 1750 r/min Type Yaskawa SST4 Series IPM Motor
No. Name Unit Default Settings
Motor Code Selection (for PM - 220E 220F 2210 2212 2213 2214 2215 2216
Motors)
E5-01 Voltage Class V 200 200 200 200 200 200 200 200
Rated Power kW 15 18 22 30 37 45 55 75
Rated Speed r/min 1750 1750 1750 1750 1750 1750 1750 1750
Motor Rated Power (for PM kW
E5-02 15 18.50 22.00 30.00 37.00 45.00 55.00 75.00
Motors)
Motor Rated Current (for PM A
E5-03 54.2 68.2 78.6 104.2 129.2 153.1 205.2 260.4
Motors)
Number of Motor Poles (for PM –
E5-04 6 6 6 6 6 6 6 6
Motors)
Motor Stator Resistance (r1) (for Ω
E5-05 0.071 0.049 0.040 0.030 0.020 0.013 0.009 0.006
PM Motors)
Motor d-Axis Inductance (Ld) (for mH
E5-06 2.67 1.98 1.69 1.31 0.88 0.77 0.55 0.40
PM Motors)
Motor q-Axis Inductance (Lq) (for mH
E5-07 3.1 2.41 2.12 1.61 1.14 1.04 0.69 0.50
PM Motors)
Motor Induction Voltage Constant mVs
E5-09 253.7 244.6 256.3 283.1 266.3 260 261.5 259.3
1 (Ke) (for PM Motors) /rad
Motor Induction Voltage Constant mV/
E5-24 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
2 (Ke) (for PM Motors) (r/min)
550 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.19 Parameters Changed by Motor Code Selection (for PM Motors)
No. Name Unit Default Settings
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 %
n8-49 Efficiency Control (for PM -10.9 -14.3 -15.1 -11.3 -14.1 -18.8 -11.4 -12.2
Motors) (OLV/PM)
Table B.34 400 V, 1750 r/min Type Yaskawa SST4 Series IPM Motor
No. Name Unit Default Settings
Motor Code Selection (for - 2232 2233 2235 2236 2238 223A 223B 223D
PM Motors)
E5-01 Voltage Class V 400 400 400 400 400 400 400 400
Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11
Rated Speed r/min 1750 1750 1750 1750 1750 1750 1750 1750
Motor Rated Power (for PM kW
E5-02 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11.0
Motors)
Motor Rated Current (for PM A
E5-03 0.92 1.77 3.33 4.48 7.50 10.42 14.27 20.5
Motors)
Number of Motor Poles (for –
E5-04 6 6 6 6 6 6 6 6
PM Motors)
Motor Stator Resistance (r1) Ω
E5-05 8.935 4.570 3.096 1.906 0.972 1.103 0.630 0.429
(for PM Motors)
Motor d-Axis Inductance mH
E5-06 80.14 48.04 35.60 30.31 20.03 23.41 14.86 14.34
(Ld) (for PM Motors)
Motor q-Axis Inductance mH
E5-07 110.76 64.88 47.84 38.36 24.97 28.70 17.25 17.25
(Lq) (for PM Motors)
Motor Induction Voltage mVs
E5-09 Constant 1 (Ke) (for PM 416.5 399.4 438.5 475.5 463.7 485.8 470.4 513.4
/rad
Motors)
Motor Induction Voltage mV/
E5-24 Constant 2 (Ke) (for PM 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(r/min)
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 %
n8-49 Efficiency Control (for PM -7.5 -8.5 -9.8 -8.2 -9.1 -13.1 -9.2 -12.4
Motors) (OLV/PM)
Table B.35 400 V, 1750 r/min Type Yaskawa SST4 Series IPM Motor
No. Name Unit Default Settings
Motor Code Selection (for - 223E 223F 2240 2242 2243 2244 2245 2246
PM Motors)
Parameter List
E5-01 Voltage Class V 400 400 400 400 400 400 400 400
Rated Power kW 15 18 22 30 37 45 55 75
Rated Speed r/min 1750 1750 1750 1750 1750 1750 1750 1750
Motor Rated Power (for PM kW
E5-02 15 18.50 22.00 30.00 37.00 45.00 55.00 75.00
Motors)
Motor Rated Current (for PM A B
E5-03 26.4 34.2 38.8 52.2 65.4 77.6 99.3 130.2
Motors)
Number of Motor Poles (for –
E5-04 6 6 6 6 6 6 6 6
PM Motors)
Motor Stator Resistance (r1) Ω
E5-05 0.275 0.196 0.160 0.120 0.077 0.052 0.036 0.023
(for PM Motors)
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 551
B.19 Parameters Changed by Motor Code Selection (for PM Motors)
No. Name Unit Default Settings
Motor d-Axis Inductance mH
E5-06 9.99 7.92 6.82 5.24 3.57 2.98 1.59 1.59
(Ld) (for PM Motors)
Motor q-Axis Inductance mH
E5-07 12.37 9.64 8.51 6.44 4.65 3.75 2.78 1.97
(Lq) (for PM Motors)
Motor Induction Voltage mVs
E5-09 Constant 1 (Ke) (for PM 505.3 489.2 509.5 566.2 531.6 530.6 515.2 515.2
/rad
Motors)
Motor Induction Voltage mV/
E5-24 Constant 2 (Ke) (for PM 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(r/min)
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 %
n8-49 Efficiency Control (for PM -15.1 -14.3 -15.3 -11.3 -14.5 -13.2 -22.6 -11.9
Motors) (OLV/PM)
Table B.36 400 V, 1750 r/min Type Yaskawa SST4 Series IPM Motor
No. Name Unit Default Settings
Motor Code Selection (for - 2247 2248 2249 224A 224C 224D 224E 2302
PM Motors)
E5-01 Voltage Class V 400 400 400 400 400 400 400 200
Rated Power kW 90.00 110 132 160 200 220 300 0.4
Rated Speed r/min 1750 1750 1750 1750 1750 1750 1750 1450
Motor Rated Power (for PM kW
E5-02 90.00 110.00 132.00 160.00 200.00 250.00 300.00 0.4
Motors)
Motor Rated Current (for PM A
E5-03 153.1 184.4 229.2 269.8 346.9 421.9 520.8 1.77
Motors)
Number of Motor Poles (for –
E5-04 6 6 6 6 6 6 6 6
PM Motors)
Motor Stator Resistance (r1) Ω
E5-05 0.019 0.017 0.012 0.008 0.005 0.004 0.002 3.154
(for PM Motors)
Motor d-Axis Inductance mH
E5-06 1.51 1.43 1.13 0.96 0.65 0.67 0.40 28.46
(Ld) (for PM Motors)
Motor q-Axis Inductance mH
E5-07 1.76 1.92 1.54 1.26 0.88 0.74 0.52 39.29
(Lq) (for PM Motors)
Motor Induction Voltage mVs
E5-09 Constant 1 (Ke) (for PM 538.3 590.9 548.2 603.9 556.8 593.1 495.4 268.8
/rad
Motors)
Motor Induction Voltage mV/
E5-24 Constant 2 (Ke) (for PM 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(r/min)
Motors)
E1-04 Maximum Output Frequency Hz 87.5 87.5 87.5 87.5 87.5 87.5 87.5 72.5
E1-05 Maximum Voltage V 380.0 380.0 380.0 380.0 380.0 380.0 380.0 190.0
E1-06 Base Frequency Hz 87.5 87.5 87.5 87.5 87.5 87.5 87.5 72.5
E1-09 Minimum Output Frequency Hz 4.4 4.4 4.4 4.4 4.4 4.4 4.4 3.6
C5-17 Motor Inertia kgm2 0.55 0.82 0.96 1.60 1.95 2.82 3.70 0.0016
n5-02 Motor Acceleration Time s 0.205 0.250 0.244 0.336 0.327 0.379 0.414 0.092
d-Axis Current for High %
n8-49 Efficiency Control (for PM -8.6 -14.8 -17.5 -12.5 -14.7 -5.1 -16.3 -7.5
Motors) (OLV/PM)
552 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.19 Parameters Changed by Motor Code Selection (for PM Motors)
Table B.37 200 V, 1450 r/min Type Yaskawa SST4 Series IPM Motor
No. Name Unit Default Settings
Motor Code Selection (for PM 2302 2303 2305 2306 2308 230A 230B 230D
−
Motors)
E5-01 Voltage Class V 200 200 200 200 200 200 200 200
Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11
Rated Speed r/min 1450 1450 1450 1450 1450 1450 1450 1450
Motor Rated Power (for PM
E5-02 kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11.0
Motors)
Motor Rated Current (for PM
E5-03 A 1.77 3.33 5.94 9.48 14.17 20.42 27.92 39.6
Motors)
Number of Motor Poles (for PM
E5-04 − 6 6 6 6 6 6 6 6
Motors)
Motor Stator Resistance (r1) (for
E5-05 Ω 3.154 1.835 0.681 0.308 0.405 0.278 0.180 0.098
PM Motors)
Motor d-Axis Inductance (Ld)
E5-06 mH 28.46 19.46 10.00 6.88 8.15 5.77 6.32 3.34
(for PM Motors)
Motor q-Axis Inductance (Lq)
E5-07 mH 39.29 25.89 15.20 9.25 10.76 8.60 8.80 4.61
(for PM Motors)
Motor Induction Voltage mVs
E5-09 268.8 256.9 271.9 260.2 286.8 314.9 300.8 292.3
Constant 1 (Ke) (for PM Motors) /rad
Motor Induction Voltage mV/
E5-24 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
Constant 2 (Ke) (for PM Motors) (r/min)
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
n8-49 Efficiency Control (for PM % -7.5 -9.4 -13.9 -10.0 -15.0 -17.9 -22.7 -20.5
Motors) (OLV/PM)
Table B.38 200 V, 1450 r/min Type Yaskawa SST4 Series IPM Motor
No. Name Unit Default Settings
Motor Code Selection (for PM 230E 230F 2310 2312 2313 2314 2315 2316
−
Motors)
E5-01 Voltage Class V 200 200 200 200 200 200 200 200
Rated Power kW 15 18 22 30 37 45 55 75
Rated Speed r/min 1450 1450 1450 1450 1450 1450 1450 1450
Motor Rated Power (for PM
E5-02 kW 15.0 18.50 22.00 30.00 37.00 45.00 55.00 75.00
Motors)
Motor Rated Current (for PM
E5-03 A 54.2 68.3 75.2 102.0 131.3 160.4 191.7 257.3
Motors)
Number of Motor Poles (for PM
E5-04 − 6 6 6 6 6 6 6 6
Motors)
Motor Stator Resistance (r1) (for
E5-05 Ω 0.073 0.055 0.048 0.034 0.023 0.016 0.012 0.007
PM Motors)
Motor d-Axis Inductance (Ld)
E5-06 mH 2.94 2.23 2.08 1.67 1.39 0.94 0.82 0.56
(for PM Motors)
Parameter List
Motor q-Axis Inductance (Lq)
E5-07 mH 3.65 2.85 2.66 2.04 1.73 1.22 1.06 0.76
(for PM Motors)
Motor Induction Voltage mVs
E5-09 305.1 297.6 355.8 355.4 324.0 302.4 337.2 323.4
Constant 1 (Ke) (for PM Motors) /rad
Motor Induction Voltage mV/
E5-24 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
Constant 2 (Ke) (for PM Motors) (r/min)
B
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
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 553
B.19 Parameters Changed by Motor Code Selection (for PM Motors)
No. Name Unit Default Settings
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
n8-49 Efficiency Control (for PM % -14.6 -16.4 -11.8 -10.5 -14.5 -17.4 -13.9 -17.5
Motors) (OLV/PM)
Table B.39 400 V, 1450 r/min Type Yaskawa SST4 Series IPM Motor
No. Name Unit Default Settings
Motor Code Selection (for PM - 2332 2333 2335 2336 2338 233A 233B 233D
Motors)
E5-01 Voltage Class V 400 400 400 400 400 400 400 400
Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11
Rated Speed r/min 1450 1450 1450 1450 1450 1450 1450 1450
Motor Rated Power (for PM kW
E5-02 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11.0
Motors)
Motor Rated Current (for PM A
E5-03 0.91 1.67 3.02 4.74 7.08 10.21 13.96 20.5
Motors)
Number of Motor Poles (for PM –
E5-04 6 6 6 6 6 6 6 6
Motors)
Motor Stator Resistance (r1) Ω
E5-05 12.616 7.340 2.724 1.232 1.509 1.112 0.720 0.393
(for PM Motors)
Motor d-Axis Inductance (Ld) mH
E5-06 113.84 77.84 40.00 27.52 31.73 23.09 25.28 13.36
(for PM Motors)
Motor q-Axis Inductance (Lq) mH
E5-07 157.16 103.56 60.80 37.00 40.88 34.39 35.20 18.44
(for PM Motors)
Motor Induction Voltage mVs
E5-09 Constant 1 (Ke) (for PM 490.8 513.8 543.7 520.3 580.8 602.7 601.5 584.6
/rad
Motors)
Motor Induction Voltage mV/
E5-24 Constant 2 (Ke) (for PM 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(r/min)
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 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
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 %
n8-49 Efficiency Control (for PM -9.5 -9.4 -13.7 -10.0 -12.9 -19.9 -22.8 -19.8
Motors) (OLV/PM)
Table B.40 400 V, 1450 r/min Type Yaskawa SST4 Series IPM Motor
No. Name Unit Default Settings
Motor Code Selection (for PM - 233E 233F 2340 2342 2343 2344 2345 2346
Motors)
E5-01 Voltage Class V 400 400 400 400 400 400 400 400
Rated Power kW 15 18 22 30 37 45 55 75
Rated Speed r/min 1450 1450 1450 1450 1450 1450 1450 1450
Motor Rated Power (for PM kW
E5-02 15 18.50 22.00 30.00 37.00 45.00 55.00 75.00
Motors)
Motor Rated Current (for PM A
E5-03 27.1 34.2 37.6 50.9 65.4 80.2 96.1 129.2
Motors)
Number of Motor Poles (for PM –
E5-04 6 6 6 6 6 6 6 6
Motors)
Motor Stator Resistance (r1) Ω
E5-05 0.291 0.220 0.192 0.136 0.091 0.064 0.048 0.028
(for PM Motors)
Motor d-Axis Inductance (Ld) mH
E5-06 11.77 8.94 8.32 6.68 5.30 3.76 3.09 2.24
(for PM Motors)
Motor q-Axis Inductance (Lq) mH
E5-07 14.60 11.40 10.64 8.16 6.80 4.88 4.75 3.03
(for PM Motors)
554 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.19 Parameters Changed by Motor Code Selection (for PM Motors)
No. Name Unit Default Settings
Motor Induction Voltage mVs
E5-09 Constant 1 (Ke) (for PM 610.3 595.2 711.6 710.8 652.7 604.8 669.1 646.8
/rad
Motors)
Motor Induction Voltage mV/
E5-24 Constant 2 (Ke) (for PM 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(r/min)
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 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
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 %
n8-49 Efficiency Control (for PM -14.5 -16.1 -11.8 -10.5 -15.6 -17.4 -21.7 -17.3
Motors) (OLV/PM)
Table B.41 400 V, 1450 r/min Type Yaskawa SST4 Series IPM Motor
No. Name Unit Default Settings
Motor Code Selection (for PM - 2347 2348 2349 234A 234C 234D
Motors)
E5-01 Voltage Class V 400 400 400 400 400 400
Rated Power kW 90 110 132 160 200 250
Rated Speed r/min 1450 1450 1450 1450 1450 1450
E5-02 Motor Rated Power (for PM Motors) kW 90.00 110.00 132.00 160.00 200.00 250.00
E5-03 Motor Rated Current (for PM Motors) A 153.1 191.7 226.0 268.8 331.3 422.9
Number of Motor Poles (for PM –
E5-04 6 6 6 6 6 6
Motors)
Motor Stator Resistance (r1) (for PM Ω
E5-05 0.024 0.015 0.011 0.007 0.006 0.003
Motors)
Motor d-Axis Inductance (Ld) (for mH
E5-06 2.20 1.34 1.23 0.92 0.84 0.61
PM Motors)
Motor q-Axis Inductance (Lq) (for mH
E5-07 3.23 2.16 1.67 1.30 1.25 0.89
PM Motors)
Motor Induction Voltage Constant 1 mVs
E5-09 708.0 637.8 677.0 661.7 687.1 655.9
(Ke) (for PM Motors) /rad
Motor Induction Voltage Constant 2 mV/
E5-24 0.0 0.0 0.0 0.0 0.0 0.0
(Ke) (for PM Motors) (r/min)
E1-04 Maximum Output Frequency Hz 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
E1-06 Base Frequency Hz 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
C5-17 Motor Inertia kgm2 0.82 0.96 1.60 1.95 2.82 3.70
n5-02 Motor Acceleration Time s 0.210 0.201 0.279 0.281 0.325 0.341
d-Axis Current for High Efficiency %
n8-49 -19.6 -24.1 -15.1 -17.0 -19.8 -19.3
Control (for PM Motors) (OLV/PM)
Table B.42 200 V, 1150 r/min Type Yaskawa SST4 Series IPM Motor
No. Name Unit Default Settings
Parameter List
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 r/min 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 B
Number of Motor Poles (for PM
E5-04 − 6 6 6 6 6 6 6 6
Motors)
Motor Stator Resistance (r1) (for PM
E5-05 Ω 2.680 1.520 1.071 0.542 0.362 0.295 0.162 0.115
Motors)
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 555
B.19 Parameters Changed by Motor Code Selection (for PM Motors)
No. Name Unit Default Settings
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 mVs
E5-09 313.1 313.1 345.3 342.9 363.8 384.3 379.9 370.2
(Ke) (for PM Motors) /rad
Motor Induction Voltage Constant 2 mV/
E5-24 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(Ke) (for PM Motors) (r/min)
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)
Table B.43 200 V, 1150 r/min Type Yaskawa SST4 Series IPM Motor
No. Name Unit Default Settings
Motor Code Selection (for PM 240E 240F 2410 2412 2413 2414 2415 2416
−
Motors)
E5-01 Voltage Class V 200 200 200 200 200 200 200 200
Rated Power kW 15 18 22 30 37 45 55 75
Rated Speed r/min 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
Number of Motor Poles (for PM
E5-04 − 6 6 6 6 6 6 6 6
Motors)
Motor Stator Resistance (r1) (for PM
E5-05 Ω 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 mVs
E5-09 364.5 404.5 445.1 444.4 447.3 470.8 422.4 418.3
(Ke) (for PM Motors) /rad
Motor Induction Voltage Constant 2 mV/
E5-24 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(Ke) (for PM Motors) (r/min)
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.44 400 V, 1150 r/min Type Yaskawa SST4 Series IPM Motor
No. Name Unit Default Settings
Motor Code Selection (for PM 2432 2433 2435 2436 2438 243A 243B
−
Motors)
E5-01 Voltage Class V 400 400 400 400 400 400 400
Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5
Rated Speed r/min 1150 1150 1150 1150 1150 1150 1150
Motor Rated Power (for PM
E5-02 kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5
Motors)
Motor Rated Current (for PM
E5-03 A 0.89 1.72 3.02 4.58 7.40 10.21 13.75
Motors)
556 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
B.19 Parameters Changed by Motor Code Selection (for PM Motors)
No. Name Unit Default Settings
Number of Motor Poles (for PM
E5-04 − 6 6 6 6 6 6 6
Motors)
Motor Stator Resistance (r1) (for
E5-05 Ω 10.720 6.080 4.336 2.143 1.428 1.199 0.648
PM Motors)
Motor d-Axis Inductance (Ld) (for
E5-06 mH 122.20 61.16 70.24 46.20 33.87 41.67 21.24
PM Motors)
Motor q-Axis Inductance (Lq) (for
E5-07 mH 170.80 97.12 90.04 60.28 42.98 69.15 33.04
PM Motors)
Motor Induction Voltage mVs
E5-09 626.1 626.1 703.1 727.6 699.0 861.5 759.7
Constant 1 (Ke) (for PM Motors) /rad
Motor Induction Voltage mV/
E5-24 0.0 0.0 0.0 0.0 0.0 0.0 0.0
Constant 2 (Ke) (for PM Motors) (r/min)
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 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
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 0.0022 0.0042 0.0081 0.0133 0.0168 0.027 0.044
n5-02 Motor Acceleration Time s 0.080 0.081 0.078 0.088 0.066 0.070 0.085
d-Axis Current for High
n8-49 Efficiency Control (for PM % -8.4 -11.0 -9.9 -9.0 -11.4 -23.2 -22.1
Motors) (OLV/PM)
Table B.45 400 V, 1150 r/min Type Yaskawa SST4 Series IPM Motor
No. Name Unit Default Settings
Motor Code Selection (for PM 243D 243E 243F 2440 2442 2443 2444
−
Motors)
E5-01 Voltage Class V 400 400 400 400 400 400 400
Rated Power kW 11 15 18 22 30 37 45
Rated Speed r/min 1150 1150 1150 1150 1150 1150 1150
Motor Rated Power (for PM
E5-02 kW 11.0 15 18.50 22.00 30.00 37.00 45.00
Motors)
Motor Rated Current (for PM
E5-03 A 19.5 27.7 32.7 39.2 51.8 63.0 76.6
Motors)
Number of Motor Poles (for PM
E5-04 − 6 6 6 6 6 6 6
Motors)
Motor Stator Resistance (r1) (for
E5-05 Ω 0.460 0.325 0.260 0.209 0.140 0.106 0.076
PM Motors)
Motor d-Axis Inductance (Ld) (for
E5-06 mH 17.76 12.83 11.68 10.09 8.12 6.43 4.96
PM Motors)
Motor q-Axis Inductance (Lq) (for
E5-07 mH 22.72 17.19 15.16 16.25 9.84 7.71 6.56
PM Motors)
Motor Induction Voltage Constant mVs
E5-09 740.4 716.6 809.1 786.2 888.8 857.7 941.6
1 (Ke) (for PM Motors) /rad
Motor Induction Voltage Constant mV/
E5-24 0.0 0.0 0.0 0.0 0.0 0.0 0.0
2 (Ke) (for PM Motors) (r/min)
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 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 Parameter List
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 0.054 0.063 0.113 0.137 0.252 0.304 0.410
n5-02 Motor Acceleration Time s 0.071 0.061 0.089 0.090 0.122 0.119 0.132
d-Axis Current for High
n8-49 Efficiency Control (for PM % -16.7 -20.2 -15.2 -27.7 -9.8 -10.2 -11.5
Motors) (OLV/PM)
B
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 557
B.19 Parameters Changed by Motor Code Selection (for PM Motors)
Table B.46 400 V, 1150 r/min Type Yaskawa SST4 Series IPM Motor
No. Name Unit Default Settings
Motor Code Selection (for PM 2445 2446 2447 2448 2449 244A 244C
−
Motors)
E5-01 Voltage Class V 400 400 400 400 400 400 400
Rated Power kW 55 75 90k 110 132 160 200
Rated Speed r/min 1150 1150 1150 1150 1150 1150 1150
Motor Rated Power (for PM
E5-02 kW 55.00 75.00 90.00 110.00 132.00 160.00 200.00
Motors)
Motor Rated Current (for PM
E5-03 A 93.1 128.1 153.1 186.5 221.9 269.8 336.5
Motors)
Number of Motor Poles (for PM
E5-04 − 6 6 6 6 6 6 6
Motors)
Motor Stator Resistance (r1) (for
E5-05 Ω 0.051 0.032 0.026 0.015 0.012 0.009 0.007
PM Motors)
Motor d-Axis Inductance (Ld) (for
E5-06 mH 3.99 2.97 2.44 1.87 1.49 1.41 1.22
PM Motors)
Motor q-Axis Inductance (Lq) (for
E5-07 mH 5.39 3.90 3.23 2.46 2.08 1.88 1.51
PM Motors)
Motor Induction Voltage Constant mVs
E5-09 853.8 829.6 835.6 833.4 848.6 889.1 915.0
1 (Ke) (for PM Motors) /rad
Motor Induction Voltage Constant mV/
E5-24 0.0 0.0 0.0 0.0 0.0 0.0 0.0
2 (Ke) (for PM Motors) (r/min)
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 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
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 0.55 0.82 0.96 1.60 1.95 2.82 3.70
n5-02 Motor Acceleration Time s 0.145 0.159 0.155 0.211 0.214 0.256 0.268
d-Axis Current for High
n8-49 Efficiency Control (for PM % -16.0 -15.7 -15.7 -14.7 -16.5 -14.1 -10.4
Motors) (OLV/PM)
558 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
Appendix: C
MEMOBUS/Modbus Communications
C.1 MEMOBUS/MODBUS CONFIGURATION...........................................................560
C.2 COMMUNICATION SPECIFICATIONS................................................................561
C.3 CONNECTING TO A NETWORK.........................................................................562
C.4 MEMOBUS/MODBUS SETUP PARAMETERS...................................................565
C.5 DRIVE OPERATIONS BY MEMOBUS/MODBUS................................................568
C.6 COMMUNICATIONS TIMING...............................................................................569
C.7 MESSAGE FORMAT............................................................................................570
C.8 MESSAGE EXAMPLES.......................................................................................572
C.9 MEMOBUS/MODBUS DATA TABLE..................................................................574
C.10 ENTER COMMAND..............................................................................................590
C.11 COMMUNICATION ERRORS..............................................................................591
C.12 SELF-DIAGNOSTICS...........................................................................................592
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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 communications can be configured using one master (PLC) and up to 255 slaves. The drive has slave
functionality only, and serial communication is normally initiated from the master and responded to by the slaves.
The master communicates with the specified slave drive. The address or node for each slave must be set prior so 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 send a response back to the master.
Master (PLC or other)
Slave (Drive)
Figure C.1 Connecting Multiple Drives to a PLC
560 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
C.2 Communication Specifications
C.2 Communication Specifications
MEMOBUS/Modbus specifications appear in Table C.1:
Table C.1 MEMOBUS/Modbus Communications 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
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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 for a
connection.
u 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.
IG R+ R- S+ S- (TB5)
S– Send (–)
S+ Send (+)
R– Receive (–)
R+ Receive (+)
IG Shield Ground
Figure C.2 Serial Communications Cable Connection Terminals (TB5)
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
564 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.
562 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
C.3 Connecting to a Network
u Wiring Diagram for Multiple Connections
Figure C.3 and Figure C.4 explain the wiring diagrams for multiple connections using MEMOBUS/Modbus communication.
n RS-485 Interface
R– S– Drive
R+ S+
PLC S– R– S2
S+ R+
IG IG OFF
S– Drive
S+
R– S2
R+
IG OFF
S– Drive
S+
R– S2
R+ ON
IG
Figure C.3 RS-485 Interface
Note: 1. Set DIP switch S2 to the ON position on the drive located at the end of the network. Set DIP switch S2 to the OFF positions on all other
slave devices.
2. Set H5-07 to 1 when using the RS-485 interface.
MEMOBUS/Modbus
Communications
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C.3 Connecting to a Network
n RS-422 Interface
R– S– Drive
R+ S+
PLC S– R– S2
S+ R+
IG IG OFF
S– Drive
S+
R– S2
R+
IG OFF
S– Drive
S+
R– S2
R+ ON
IG
Figure C.4 RS-422 Interface
Note: 1. Set DIP switch S2 to the ON position on the drive located at the end of the network. Set DIP switch S2 to the OFF positions on all other
slave devices.
2. Set H5-07 to 1 when using the RS-422 interface in a multi-drop circuit.
Set H5-07 to 0 when using the RS-422 interface in a point-to-point circuit.
u 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.
564 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
C.4 MEMOBUS/Modbus Setup Parameters
C.4 MEMOBUS/Modbus Setup Parameters
u MEMOBUS/Modbus Serial Communication
Changes to MEMOBUS/Modbus communications settings become effective after restarting the drive.
n H5-01: Drive Slave Address
Sets the drive slave address used for communications.
Note: Cycle the power after changing this parameter 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.
Each slave drive must be assigned a unique slave address for serial communications to work. Setting H5-01 to any value
besides 0 assigns the drive its address in the network. Slave addresses do not need to be assigned in sequential order, but no
two drives may share the same address.
n H5-02: Communication Speed Selection
Sets the MEMOBUS/Modbus communications speed.
Note: Cycle the power after changing this parameter 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
n H5-03: Communication Parity Selection
Sets the parity used for communications.
Note: Cycle the power after changing this parameter 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
n H5-04: Stopping Method after Communication Error
MEMOBUS/Modbus
Communications
Selects the stopping method after a MEMOBUS/Modbus communications error (CE) has occurred.
No. Name Setting Range Default
H5-04 Stopping Method after CE 0 to 3 3
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C.4 MEMOBUS/Modbus Setup Parameters
Setting 0: Ramp to stop (uses the deceleration time currently enabled)
Setting 1: Cost to stop
Setting 2: Fast Stop
Setting 3: Alarm only (continue operation)
n H5-05: Communication Fault Detection Selection
Enables or disables the CE detection for 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.
n 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
PLC→Drive Drive→PLC PLC→Drive
Command message Response message Command message Time
24 bit length H5-06 setting
Figure C.5 Drive Transmit Wait Time Setting
n 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.
n H5-09: Communications 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 Communications Fault Detection Time 0.0 to 10.0 s 2.0 s
n 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
566 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
C.4 MEMOBUS/Modbus Setup Parameters
n H5-11: Communications Enter Function Selection
Selects whether an Enter command is necessary to change parameter values via MEMOBUS/Modbus communications. Refer
to Enter Command on page 590.
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.
n 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.
n H5-17: Operation Selection when Unable to Write into EEPROM
Selects the operation to be carried out when attempting to write data into EEPROM by MEMOBUS/Modbus communications
but writing into EEPROM is not enabled. There is normally no need to change this parameter from the default value.
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
n 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
options. Applicable MEMOBUS/Modbus registers are: 3EH, 3FH, 44H, ACH, and ADH
No. Name Setting Range Default
H5-18 Filter Time Constant for Motor Speed Monitoring 0 to 100 ms 0 ms
MEMOBUS/Modbus
Communications
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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.
u Observing the Drive Operation
A PLC can perform the following actions with MEMOBUS/Modbus communications at any time regardless of parameter
settings (except for H5-ooparameters):
• observe drive status and drive control terminal status from a PLC.
• read and write parameters.
• set and reset faults.
• set multi-function inputs.
Note: Input settings from the input terminals (S1 to S8) and from MEMOBUS/Modbus communications are both linked by a logical OR operation.
u Controlling the Drive
Select an external reference and adjust the parameters in Table C.2 accordingly to start and stop the drive or set the frequency
reference using MEMOBUS/Modbus communications.
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 158 and Refer to b1-02: Run Command Selection 1 on page
159 for details on external reference parameter selections. Refer to Setting 2: External Reference 1/2 Selection on page
248 for instructions on selecting external references 1 and 2.
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C.6 Communications Timing
C.6 Communications Timing
To prevent a communications 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.
u Command Messages from Master to Drive
The master must wait for a specified time between receiving a response and resending the same type of command to the same
slave drive to prevent overrun and data loss. The minimum wait time depends on the command as shown in Table C.3.
Table C.3 Minimum Wait Time for Sending Messages
Minimum
Command Type Example 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: 200 ms <1>
200 ms to 2 s, depending on the
3 Save changes using an Enter command number of 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.
Set a timer 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.
u 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.
PLC→Drive Drive→PLC PLC→Drive
Command message Response message Command message Time
24 bit length H5-06
setting
Figure C.6 Minimum Response Wait Time
MEMOBUS/Modbus
Communications
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C.7 Message Format
C.7 Message Format
u 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
FUNCTION CODE
DATA
ERROR CHECK
u 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.
u 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
u 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. 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.
u 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.
n 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.
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C.7 Message Format
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.
n Response Data
Perform a CRC-16 calculation on the response message data as described above as a validation check. The result should match
the CRC-16 checksum received within the response message.
MEMOBUS/Modbus
Communications
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C.8 Message Examples
C.8 Message Examples
Below are some examples of command and response messages.
u 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 1st storage Upper 00H Upper F1H
CRC-16
Upper 00H register 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
u Loopback Test
Function code 08H performs a loopback test that returns a response message with exactly the same content as the command
message. The response message can be used to check communications between the master and slave. User-defined test code
and data values can also 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
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C.8 Message Examples
u 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, in that the address of the first register to be written and the data quantity are 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, an Enter command may be necessary to activate or save the data
depending on the setting of H5-11. Refer to H5-11: Communications Enter Function Selection on page 567 and Refer to
Enter Command on page 590 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: Double the number of the data quantity for the number of bytes in the command message.
MEMOBUS/Modbus
Communications
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C.9 MEMOBUS/Modbus Data Table
C.9 MEMOBUS/Modbus Data Table
The tables below list all MEMOBUS/Modbus data.
u 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
0001H communications take control of the operation. 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.
Output voltage gain/
0003H Unit: 0.1%
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 1 (terminal M1-M2)
bit 1 Multi-Function Contact Output 2 (terminal M3-M4)
bit 2 Multi-Function Contact Output 3 (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
574 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
C.9 MEMOBUS/Modbus Data Table
Register No. Contents
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
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
u 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
MEMOBUS/Modbus
Communications
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C.9 MEMOBUS/Modbus Data Table
Register No. Contents
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 EF to EF8: External Fault
bit 8 CPFoo: Hardware Fault (includes oFx)
0021H Motor Overload (oL1), Overtorque Detection 1/2 (oL3/oL4), Undertorque Detection 1/2 (UL3/
bit 9 UL4)
bit A PG Disconnect (PGo), PG Hardware Fault (PGoH), Overspeed (oS), Speed Deviation (dEv)
Control Circuit Undervoltage (Uv), Power Supply Undervoltage (AUv), Power Supply Frequency
bit B Fault (Fdv)
Control Circuit Undervoltage Fault (Uv1), Control Power Supply Voltage Fault (Uv2),
bit C Undervoltage 3 (Uv3), Power 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 <2>
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 2 (PTC input) (oH4)
bit 7 to bit F Reserved
576 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
C.9 MEMOBUS/Modbus Data Table
Register No. Contents
Alarm Contents 1
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
MEMOBUS/Modbus
bit E Fault
Communications
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 C
bit 7 Fault Contact Output (terminal MA/MB-MC)
bit 8 to F Reserved
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 577
C.9 MEMOBUS/Modbus Data Table
Register No. Contents
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
0038H PID Feedback, 0.1% units, unsigned, 100% / max. output frequency
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
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 r/min <4>
Output Frequency
003FH 0.01% units
0040H to 004AH Used for various monitors U1-oo. Refer to U: Monitors on page 519 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 Alarm
bit 7 Fault
bit 8 During Operation Error (oPEoo)
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
004CH to 007EH Used for monitors U1-oo, U4-oo, U5-oo and U6-oo. Refer to U2: Fault Trace on page 521 and Refer to U3: Fault
History on page 523 for parameter details.
007FH Minor Fault Code, Refer to Alarm Register Contents on page 589 for Minor Fault codes.
0080H to 0097H Used for monitors U2-oo, U3-oo. Refer to U: Monitors on page 519 for parameter details and Refer to Fault Trace
Contents on page 587 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 <2>
578 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
C.9 MEMOBUS/Modbus Data Table
Register No. Contents
00ACH r/min 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-RT3 = 0023H
PG-X3 = 0012H
SI-B3 = 1002H
Option Code Connected to
00B0H SI-C3 = 5343H
CN5-A SI-EM3 = 1005H
SI-EN3 = 1006H
SI-ES3 = 1001H
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 r/min units <4>
00B6H Soft-starter (U1-16) 0.01% units
00B7H r/min <4>
Frequency Reference
00B8H 0.01% units
00B9H to 00BEH Reserved
00BFH Lists the last two digits of operation error code oPEoo.
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
MEMOBUS/Modbus
Communications
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 579
C.9 MEMOBUS/Modbus Data Table
Register No. Contents
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 Excessive 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
580 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
C.9 MEMOBUS/Modbus Data Table
Register No. Contents
Fault Contents 7
bit 0 PID Feedback Loss (FbH)
bit 1 External Fault 1, input terminal S1 (EF1)
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
Fault Contents 8
bit 0 LSo Fault (LSo)
bit 1 Node Setup Fault (nSE)
00C5H
bit 2 to 9 Reserved
bit A Initial Polarity Estimation Timeout (dv7)
bit B to F Reserved
00C6H to 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)
MEMOBUS/Modbus
Communications
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 581
C.9 MEMOBUS/Modbus Data Table
Register No. Contents
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 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
bit 0, 1 Reserved
bit 2 Capacitor Maintenance Time (LT-3)
00CCH
bit 3 to 7 Reserved
bit 8 DriveWorksEZ Fault (dWAL)
bit 9 to F Reserved
582 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
C.9 MEMOBUS/Modbus Data Table
Register No. Contents
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 Error (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)
MEMOBUS/Modbus
bit E Control Circuit Error (CPF30)
Communications
bit F Control Circuit Error (CPF31)
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 583
C.9 MEMOBUS/Modbus Data Table
Register No. Contents
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
oFA0o Contents (CN5-A)
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
oFA1o 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
oFA3o 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
584 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
C.9 MEMOBUS/Modbus Data Table
Register No. Contents
oFb0o 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
oFb1o 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
oFb3o 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
oFC0o 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)
MEMOBUS/Modbus
bit 6 Option Response Error (oFC06)
Communications
bit 7 to F Reserved
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 585
C.9 MEMOBUS/Modbus Data Table
Register No. Contents
oFC1o 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
oFC5o 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> Parameter o1-03, Digital Operator Display Selection, determines the units.
<2> Display is in the following units:
2o0028, 2o0042, and 4o0011 to 4o0027: 0.01 A units
2o0054 to 2o0248 and 4o0034 to 4o0414: 0.1 A units
<3> Communication error contents are saved until the fault is reset.
<4> Set the number of motor poles to parameter E2-04, E4-04, or E5-04 depending on the motor being used.
586 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
C.9 MEMOBUS/Modbus Data Table
u 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
0001H bit 5 Fault Reset
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%
u Fault Trace Contents
The table below shows the fault codes that can be read out by MEMOBUS/Modbus commands from the U2-oo monitor
parameters.
Table C.5 Fault Trace / History Register Contents
Fault Code Fault Name Fault Code Fault Name
0002H Control Circuit Undervoltage Fault (Uv1) 0021H MEMOBUS/Modbus Communication Error (CE)
0003H Control Power Supply Voltage Fault (Uv2) 0022H Option Communication Error (bUS)
0004H Undervoltage 3 (Uv3) 0025H Control Fault (CF)
0006H Ground Fault (GF) 0026H Zero-Servo Fault (SvE)
0007H Overcurrent (oC) 0027H Option Card External Fault (EF0)
0008H Control Circuit Overvoltage (ov) 0028H PID Feedback Loss (FbL)
0009H Heatsink Overheat (oH) 0029H Undertorque Detection 1 (UL3)
000AH Overheat 1 (oH1) 002AH Undertorque Detection 2 (UL4)
000BH Motor Overload (oL1) 0030H Hardware Fault (including oFx)
000CH Overload (oL2) 0032H Z Pulse Fault (dv1)
000DH Overtorque Detection 1 (oL3) 0033H Z Pulse Noise Fault Detection (dv2)
000EH Overtorque Detection 2 (oL4) 0034H Inversion Detection (dv3)
0011H External Fault at Input Terminal S3 (EF3) 0035H Inversion Prevention Detection (dv4)
0012H External Fault at Input Terminal S4 (EF4) 0036H Output Current Imbalance (LF2)
0013H External Fault at Input Terminal S5 (EF5) 0037H Pull-Out Detection (Sto)
0014H External Fault at Input Terminal S6 (EF6) 0038H PG Hardware Fault (PGoH)
0015H External Fault at Input Terminal S7 (EF7) 0039H MECHATROLINK Watchdog Timer Error (E5)
MEMOBUS/Modbus
0016H External Fault at Input Terminal S8 (EF8) 003BH Too Many Speed Search Restarts (SEr)
Communications
0017H Fan Fault (FAn) 0041H Excessive PID Feedback (FbH)
0018H Overspeed (oS) 0042H External Fault 1, Input Terminal S1 (EF1)
0019H Speed Deviation (dEv) 0043H External Fault 2, Input Terminal S2 (EF2)
001AH PG Disconnect (PGo) 0044H Mechanical Weakening Detection 1 (oL5)
001CH Output Phase Loss (LF) 0045H Mechanical Weakening Detection 2 (UL5)
001DH Motor Overheat Alarm (PTC input) (oH3) 0046H Current Offset Fault (CoF)
C
001EH Digital Operator Connection Fault (oPr) 0049H DriveWorksEZ Fault (dWFL)
001FH EEPROM Write Error (Err) EEPROM Memory DriveWorksEZ Data Error
004AH (dWF1)
0020H Motor Overheat Fault (PTC input) (oH4)
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C.9 MEMOBUS/Modbus Data Table
Fault Code Fault Name Fault Code Fault Name
0051H LSo Fault (LSo) 0107H Option Response Error (oFA06)
0052H Node Setup Fault (nSE) 0111H Option RAM Fault (oFA10)
005BH Initial Polarity Estimation Timeout (dv7) 0112H Option Operation Mode Fault (SLMOD) (oFA11)
005CH Ground Fault (GF) 0113H Unit Receive CRC Error (oFA12)
005FH Power Unit Output Phase Loss 3 (LF3) 0114H Unit Receive Frame Error (oFA13)
0066H Power Supply Undervoltage (AUv) 0115H Unit Receive Abort Error (oFA14)
0067H Power Supply Overvoltage (Aov) 0116H Option Receive CRC Error (oFA15)
0068H Power Supply Frequency Fault Detection (Fdv) 0117H Option Receive Frame Error (oFA16)
0069H Phase Order Detection Fault (SrC) 0118H Option Receive Abort Error (oFA17)
0081H Control Circuit Error (CPF00) 0131H Comm. ID Error (oFA30)
0082H Control Circuit Error (CPF01) 0132H Model Code Error (oFA31)
0083H Control Circuit Error (CPF02) 0133H Sumcheck Error (oFA32)
0084H Control Circuit Error (CPF03) Comm. Option Timeout Waiting for Response
0134H (oFA33)
0087H Control Circuit Error (CPF06)
0135H MEMOBUS Timeout (oFA34)
0088H Control Circuit Error (CPF07)
0136H Unit Timeout Waiting for Response (oFA35)
0089H Control Circuit Error (CPF08)
0137H CI Check Error (oFA36)
008CH Control Circuit Error (CPF11)
0138H Unit Timeout Waiting for Response (oFA37)
008DH Control Circuit Error (CPF12)
0139H Control Command Selection Error (oFA38)
008EH Control Circuit Error (CPF13)
013AH Unit Timeout Waiting for Response (oFA39)
008FH Control Circuit Error (CPF14)
013BH Control Response Selection 1 Error (oFA40)
0091H Control Circuit Error (CPF16)
013CH Unit Timeout Waiting for Response (oFA41)
0092H Control Circuit Error (CPF17)
013DH Control Response Selection 2 Error (oFA42)
0093H Control Circuit Error (CPF18)
013EH Control Response Selection Error (oFA43)
0094H Control Circuit Error (CPF19)
0201H Option Compatibility Error (oFB00)
0095H Control Circuit Error (CPF20)
0202H Option Connection Error (oFb01)
0096H Control Circuit Error (CPF21)
Same Type of Option Card Already Connected
0097H Control Circuit Error (CPF22) 0203H (oFb02)
0098H Control Circuit Error (CPF23) 0206H A/D Conversion Error (oFb05)
0099H Control Circuit Error (CPF24) 0207H Option Response Error (oFb06)
009AH Terminal Board not Connected (CPF25) 0211H Option RAM Fault (oFb10)
009BH Control Circuit Error (CPF26) 0212H Option Operation Mode Fault (SLMOD) (oFb11)
009CH Control Circuit Error (CPF27) 0213H Unit Receive CRC Error (oFb12)
009DH Control Circuit Error (CPF28) 0214H Unit Receive Frame Error (oFb13)
009EH Control Circuit Error (CPF29) 0215H Unit Receive Abort Error (oFb14)
009FH Control Circuit Error (CPF30) 0216H Option Receive CRC Error (oFb15)
00A0H Control Circuit Error (CPF31) 0217H Option Receive Frame Error (oFb16)
00A1H Control Circuit Error (CPF32) 0218H Option Receive Abort Error (oFb17)
00A2H Control Circuit Error (CPF33) 0232H Model Code Error (oFb31)
00A3H Control Circuit Error (CPF34) 0233H Sumcheck Error (oFb32)
00A4H Control Circuit Error (CPF35) 0234H Comm. option Timeout Waiting for Response (oFb33)
00A9H Control Circuit Error (CPF40) 0235H MEMOBUS Timeout (oFb34)
00AAH Control Circuit Error (CPF41) 0236H Unit Timeout Waiting for Response (oFb35)
00ABH Control Circuit Error (CPF42) 0237H CI Check Error (oFb36)
00ACH Control Circuit Error (CPF43) 0238H Unit Timeout Waiting for Response (oFb37)
00ADH Control Circuit Error (CPF44) 0239H Control Command Selection Error (oFb38)
00AEH Control Circuit Error (CPF45) 023AH Unit Timeout Waiting for Response (oFb39)
0101H Option Compatibility Error (oFA00) 023BH Control Response Selection 1 Error (oFb40)
0102H Option Not Properly Connected (oFA01) 023CH Unit Timeout Waiting for Response (oFb41)
Same Type of Option Card Already Connected
0103H 023DH Control Response Selection 2 Error (oFb42)
(oFA02)
023EH Control Response Selection Error (oFb43)
0106H A/D Conversion Error (oFA05)
588 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
C.9 MEMOBUS/Modbus Data Table
Fault Code Fault Name Fault Code Fault Name
0301H Option Compatibility Error (oFC00) 0317H Option Receive Frame Error (oFC16)
0303H Option Not Properly Connected (oFC01) 0318H Option Receive Abort Error (oFC17)
Same Type of Option Card Already Connected 0351H Encoder Option AD Conversion Error (oFC50)
0304H (oFC02) 0352H Encoder Option Analog Circuit Error (oFC51)
0306H A/D Conversion Error (oFC05) 0353H Encoder Communication Timeout (oFC52)
0307H Option Response Error (oFC06) 0354H Encoder Communication Data Error (oFC53)
0311H Option RAM Fault (oFC10) 0355H Encoder Error (oFC54)
0312H Option Operation Mode Fault (SLMOD) (oFC11) 0356H Resolver Error (oFC55)
0313H Unit Receive CRC Error (oFC12) 0408H Damping Resistor Overheat (doH)
0314H Unit Receive Frame Error (oFC13) 0409H Snubber Discharge Resistor Overheat (SoH)
0315H Unit Receive Abort Error (oFC14) 040AH Internal Resistance Fault (Srr)
0316H Option Receive CRC Error (oFC15)
u 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
Fault Code Fault Name Fault Code Fault Name
0001H Control Circuit Undervoltage (Uv) MEMOBUS/Modbus Communication Test Mode
0020H Error (SE)
0002H Control Circuit Overvoltage (ov)
0022H Motor Overheat (oH3)
0003H Heatsink Overheat (oH)
0027H PID Feedback Loss (FbL)
0004H Heatsink Overheat Warning (oH2)
0028H Excessive PID Feedback (FbH)
0005H Overtorque 1 (oL3)
002AH Drive Disabled (dnE)
0006H Overtorque 2 (oL4)
002BH PG Disconnect (PGo)
0007H Forward/Reverse Run commands input error (EF)
0031H MECHATROLINK Watchdog Timer Error (E5)
0008H Baseblock (bb)
0032H Station Address Setting Error (AEr)
0009H External Fault 3, input terminal S3 (EF3)
MECHATROLINK Comm. Cycle Setting Error
000AH External Fault 4, input terminal S4 (EF4) 0033H (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)
001BH Motor Switch command input during run (rUn) 0043H Soft Charge Bypass Relay Maintenance Time (LT-3)
001DH Serial Communication Transmission Error (CALL) 0049H DriveWorksEZ Fault (dWAL)
001EH Undertorque Detection 1 (UL3)
MEMOBUS/Modbus
0050H Power Supply Undervoltage (AUv)
Communications
001FH Undertorque Detection 2 (UL4)
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 589
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
whether an Enter command must be issued to enable these parameters. This section describes the types and functions of the
Enter commands.
u 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
numbers 0900H or 0910H. It is only possible to write to these registers; attempting to read from these registers will cause an
error.
Table C.7 Enter Command Types
Register No. Description
Simultaneously writes data into the EEPROM (non-volatile memory) of the drive and enables the data in RAM. Parameter
0900H changes remain after cycling power.
0910H Writes data in the RAM only. Parameter changes are lost when the drive is shut off.
Note: The EEPROM can only be written to 100,000 times, so it is recommended to limit the number of times writing to the EEPROM. The Enter
command registers are write-only and if these registers are read, the register address will be invalid (Error code: 02H). An Enter command
is not required when reference or broadcast data are sent to the drive.
590 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
C.11 Communication Errors
C.11 Communication Errors
u MEMOBUS/Modbus Error Codes
A list of MEMOBUS/Modbus errors appears below.
When an error occurs, remove whatever caused the error and restart communications.
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
• During run, the user attempted to write a parameter that cannot be written to during run.
22H • 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. (When this error code occurs, an error message is displayed and the drive continues operation.)
u 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 04C U1000 Industrial MATRIX Drive Technical Manual 591
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 capacitor for the control power supply remains charged even
after the power supply is turned off. The charge indicator LED will extinguish when the control power supply voltage is below 50 Vdc. To
prevent electric shock, wait at least one minute after all indicators are OFF and measure the control power supply 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.7, connecting terminals R+ and S+, R- and S-, and S6 and
SN.
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.7 Terminal Connections for Communication Self-Diagnostics
5. Verify that terminals SC to SP are connected by wire jumper.
6. Turn the power to the drive back on.
7. During normal operation, the drive will display “PASS” to indicate 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-SN. Reset jumper SC to SP to its original position and
set terminal S6 to its original function.
10.Return to normal operation.
592 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
Appendix: D
Standards Compliance
This appendix explains the guidelines and criteria for maintaining CE and UL standards.
D.1 SECTION SAFETY...............................................................................................594
D.2 EUROPEAN STANDARDS..................................................................................596
D.3 UL AND CSA STANDARDS................................................................................599
D.4 SAFE DISABLE INPUT........................................................................................610
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 593
D.1 Section Safety
D.1 Section Safety
DANGER
Electrical Shock Hazard
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. The charge indicator
LED will extinguish when the control power supply voltage is below 50 Vdc. To prevent electric shock, wait for at least the
time specified on the warning label, once all indicators are OFF, measure for unsafe voltages to confirm the drive is safe
prior to servicing.
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 service must be performed only by authorized personnel familiar installation,
adjustment, and maintenance of 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.
594 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive 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 a Ground Fault Circuit Interrupter (GFCI) 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 immediately operate the peripheral devices if a fuse is blown or a GFCI 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.
Standards Compliance
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 595
D.2 European Standards
D.2 European Standards
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 Table D.1.
Table D.1 European Directives
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).
u 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:
n 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.
n 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 99 for details.
n Guarding Against Harmful Materials
When installing IP00/Open Type enclosure drives, use an enclosure that prevents foreign material from entering the drive
from above or below.
u EMC Guidelines Compliance
Models UooEoooo and UooWoooo have built-in EMC filters, are tested according to European standards IEC/EN
61800-3: 2004, and comply with EMC guidelines. Use drives with built-in EMC filters to comply with EMC guidelines.
n EMC Filter Installation
Installation Method
Verify the following installation conditions to ensure that other devices and machinery used in combination with drive models
UooEoooo and UooWoooo 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.
596 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
D.2 European Standards
A D C
U/T1 U
V/T2 V
M
W/T3 W
E
A – Drive D – Metal conduit
B – 10 m max cable length between E – Ground wire should be as short as
drive and motor 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 4o0302 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.
C B
A – Braided shield cable C – Cable clamp (conductive)
B – Metal panel
Figure D.3 Ground Area
Standards Compliance
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 597
D.2 European Standards
Three-Phase 200 V / 400 V Class
D
B
C
Drive
E
D I D
F A
A
PE
G
L3
L2
L1
A – Ground the cable shield F – Motor cable (braided shield cable,
B – Enclosure panel max. 10 m)
C – Metal plate G – Motor
D – Grounding surface (remove any H – Cable clamp
paint or sealant) I – Ground plate (scrape off any
E – Drive visible paint)
Figure D.4 EMC Filter and Drive Installation for CE Compliance (Three-Phase 200 V / 400 V Class)
598 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
D.3 UL and CSA Standards
D.3 UL and CSA Standards
u 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 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:
n Installation Area
Do not install the drive to an area greater than pollution degree 2 (UL standard).
n Ambient Temperature
IP20/NEMA Type 1 Enclosure: -10 to +40 °C
IP00 Open Type Enclosure: -10 to +50 °C
n 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. Refer to Closed-Loop Crimp Terminal Recommendations on page 604 for closed-loop crimp
terminal recommendations.
The wire gauges listed in the following tables 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 Ω or less
400 V: 10 Ω or less
n Three-Phase 200 V Class
Table D.2 Wire Gauge and Torque Specifications (Three-Phase 200 V Class)
For USA and Canada For South America
Tightening
Drive Recomm. Gauge Wire Range Recomm. Gauge Wire Range Screw
Terminal Torque
Model mm2 mm2 mm2 mm2 Size N·m (lb.in.)
(AWG, kcmil) (AWG, kcmil) (AWG, kcmil) (AWG, kcmil)
10 6 to 10 4 2.5 to 10
R/L1, S/L2, T/L3 M5
(8) (10 to 8) (12) (14 to 8) 2.3 to 2.7
10 6 to 10 4 2.5 to 10 (20.4 to 23.9)
U/T1, V/T2, W/T3 M5
(8) (10 to 8) (12) (14 to 8)
2o0028
10 6 to 16 6 6 to 16 3.9 to 4.9
Standards Compliance
M6
(8) (10 to 6) (10) (10 to 5) (34.7 to 43.4)
2.5 2.5 to 4 2.5 2.5 to 4 1 to 1.4
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (8.9 to 12.4)
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 599
D.3 UL and CSA Standards
For USA and Canada For South America
Tightening
Drive Recomm. Gauge Wire Range Recomm. Gauge Wire Range Screw
Terminal Torque
Model mm2 mm2 mm2 mm2 Size N·m (lb.in.)
(AWG, kcmil) (AWG, kcmil) (AWG, kcmil) (AWG, kcmil)
16 10 to 25 10 6 to 25
R/L1, S/L2, T/L3 M6
(6) (8 to 3) (8) (10 to 3) 4 to 6
16 10 to 25 10 6 to 25 (35.4 to 53.1)
U/T1, V/T2, W/T3 M6
(6) (8 to 3) (8) (10 to 3)
2o0042
10 6 to 25 10 6 to 25 8.8 to 10.8
M8
(8) (10 to 3) (8) (10 to 3) (78.1 to 95.5)
2.5 2.5 to 4 2.5 2.5 to 4 1 to 1.4
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (8.9 to 12.4)
25 16 to 25 16 10 to 25
R/L1, S/L2, T/L3 M6
(4) (6 to 3) (5) (8 to 3) 4 to 6
25 16 to 25 16 10 to 25 (35.4 to 53.1)
U/T1, V/T2, W/T3 M6
(4) (6 to 3) (5) (8 to 3)
2o0054
16 10 to 25 10 10 to 25 8.8 to 10.8
M8
(6) (8 to 3) (8) (8 to 3) (78.1 to 95.5)
2.5 2.5 to 4 2.5 2.5 to 4 1 to 1.4
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (8.9 to 12.4)
25 25 16 16 to 25
R/L1, S/L2, T/L3 M6
(4) (4 to 3) (5) (5 to 3) 4 to 6
25 25 16 16 to 25 (35.4 to 53.1)
U/T1, V/T2, W/T3 M6
(4) (4 to 3) (5) (5 to 3)
2o0068
16 16 to 25 16 16 to 25 8.8 to 10.8
M8
(6) (6 to 3) (5) (5 to 3) (78.1 to 95.5)
2.5 2.5 to 4 2.5 2.5 to 4 1 to 1.4
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (8.9 to 12.4)
16 × 2 16 to 25 × 2 25 16 to 25
R/L1, S/L2, T/L3 M6
(6 × 2P) (6 to 3 × 2P) (3) (5 to 3 × 2P) 4 to 6
16 × 2 16 to 25 × 2 25 16 to 25 (35.4 to 53.1)
U/T1, V/T2, W/T3 M6
(6 × 2P) (6 to 3 × 2P) (3) (5 to 3 × 2P)
2o0081
16 16 to 25 16 16 to 25 8.8 to 10.8
M8
(6) (6 to 3) (5) (5 to 3) (78.1 to 95.5)
2.5 2.5 to 4 2.5 2.5 to 4 1 to 1.4
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (8.9 to 12.4)
R/L1, S/L2, T/L3
35 16 to 50 × 2 35 10 to 50 × 2P M8
(1) (6 to 1/0 × 2P) (1) (8 to 1/0 × 2P) 8 to 10
35 16 to 50 × 2 35 10 to 50 × 2P (70.8 to 88.5)
U/T1, V/T2, W/T3 M8
(1) (6 to 1/0 × 2P) (1) (8 to 1/0 × 2P)
2o0104
25 25 to 35 25 10 to 35 8.8 to 10.8
M8
(4) (4 to 1) (3) (8 to 1) (78.1 to 95.5)
2.5 2.5 to 4 2.5 2.5 to 4 1.2 to 2.0
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (10.6 to 17.7)
R/L1, S/L2, T/L3
25 × 2 16 to 50 × 2 16 × 2P 10 to 50 × 2P M8
(4 × 2P) (6 to 1/0 × 2P) (5 × 2P) (8 to 1/0 × 2P) 8 to 10
25 × 2 16 to 50 × 2 16 × 2P 10 to 50 × 2P (70.8 to 88.5)
U/T1, V/T2, W/T3 M8
(4 × 2P) (6 to 1/0 × 2P) (5 × 2P) (8 to 1/0 × 2P)
2o0130
25 25 to 35 16 16 to 35 8.8 to 10.8
M8
(4) (4 to 1) (5) (5 to 1) (78.1 to 95.5)
2.5 2.5 to 4 2.5 2.5 to 4 1.2 to 2.0
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (10.6 to 17.7)
R/L1, S/L2, T/L3
25 × 2 25 to 95 × 2 25 × 2P 16 to 95 × 2P M10
(3 × 2P) (4 to 4/0 × 2P) (3 × 2P) (5 to 4/0 × 2P) 15 to 20
25 × 2 25 to 95 × 2 25 × 2P 16 to 95 × 2P (133 to 177)
U/T1, V/T2, W/T3 M10
(3 × 2P) (4 to 4/0 × 2P) (3 × 2P) (5 to 4/0 × 2P)
2o0154
25 25 to 70 25 25 to 70 17.7 to 22.6
M10
(4) (4 to 2/0) (3) (3 to 2/0) (156 to 200)
2.5 2.5 to 4 2.5 2.5 to 4 1.2 to 2.0
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (10.6 to 17.7)
600 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
D.3 UL and CSA Standards
For USA and Canada For South America
Tightening
Drive Recomm. Gauge Wire Range Recomm. Gauge Wire Range Screw
Terminal Torque
Model mm2 mm2 mm2 mm2 Size N·m (lb.in.)
(AWG, kcmil) (AWG, kcmil) (AWG, kcmil) (AWG, kcmil)
R/L1, S/L2, T/L3
35 × 2 25 to 95 × 2 35 × 2P 25 to 95 × 2P M10
(1 × 2P) (3 to 4/0 × 2P) (1 × 2P) (3 to 4/0 × 2P) 15 to 20
35 × 2 25 to 95 × 2 35 × 2P 25 to 95 × 2P (133 to 177)
U/T1, V/T2, W/T3 M10
(1 × 2P) (3 to 4/0 × 2P) (1 × 2P) (3 to 4/0 × 2P)
2o0192
25 25 to 70 25 25 to 70 17.7 to 22.6
M10
(3) (4 to 2/0) (3) (3 to 2/0) (156 to 200)
2.5 2.5 to 4 2.5 2.5 to 4 1.2 to 2.0
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (10.6 to 17.7)
R/L1, S/L2, T/L3
70 × 2 35 to 95 × 2 50 × 2P 35 to 95 × 2P M10
(2/0 × 2P) (1 to 4/0 × 2P) (1/0 × 2P) (1 to 4/0 × 2P) 15 to 20
70 × 2 35 to 95 × 2 50 × 2P 35 to 95 × 2P (133 to 177)
U/T1, V/T2, W/T3 M10
(2/0 × 2P) (1 to 4/0 × 2P) (1/0 × 2P) (1 to 4/0 × 2P)
2o0248
25 25 to 95 35 25 to 95 31.4 to 39.2
M12
(3) (4 to 4/0) (1) (3 to 4/0) (278 to 347)
2.5 2.5 to 4 2.5 2.5 to 4 1.2 to 2.0
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (10.6 to 17.7)
n Three-Phase 400 V Class
Table D.3 Wire Gauge and Torque Specifications (Three-Phase 400 V Class)
For USA and Canada For South America
Tightening
Drive Recomm. Gauge Wire Range Recomm. Gauge Wire Range Screw
Terminal Torque
Model mm2 mm2 mm2 mm2 Size N·m (lb.in.)
(AWG, kcmil) (AWG, kcmil) (AWG, kcmil) (AWG, kcmil)
2.5 2.5 to 10 2.5 2.5 to 10
R/L1, S/L2, T/L3 M5
(14) (14 to 8) (14) (14 to 8) 2.3 to 2.7
2.5 2.5 to 10 2.5 2.5 to 10 (20.4 to 23.9)
U/T1, V/T2, W/T3 M5
(14) (14 to 8) (14) (14 to 8)
4o0011
6 4 to 16 2.5 2.5 to 16 3.9 to 4.9
M6
(10) (12 to 6) (14) (14 to 5) (34.7 to 43.4)
2.5 2.5 to 4 2.5 2.5 to 4 1 to 1.4
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (8.9 to 12.4)
4 2.5 to 10 2.5 2.5 to 10
R/L1, S/L2, T/L3 M5
(12) (14 to 8) (14) (14 to 8) 2.3 to 2.7
4 2.5 to 10 2.5 2.5 to 10 (20.4 to 23.9)
U/T1, V/T2, W/T3 M5
(12) (14 to 8) (14) (14 to 8)
4o0014
6 4 to 16 2.5 2.5 to 16 3.9 to 4.9
M6
(10) (12 to 6) (14) (14 to 5) (34.7 to 43.4)
2.5 2.5 to 4 2.5 2.5 to 4 1 to 1.4
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (8.9 to 12.4)
6 4 to 10 2.5 2.5 to 10
R/L1, S/L2, T/L3 M5
(10) (12 to 8) (14) (14 to 8) 2.3 to 2.7
6 4 to 10 2.5 2.5 to 10 (20.4 to 23.9)
U/T1, V/T2, W/T3 M5
(10) (12 to 8) (14) (14 to 8)
4o0021
6 4 to 16 2.5 2.5 to 16 3.9 to 4.9
M6
(10) (12 to 6) (14) (14 to 5) (34.7 to 43.4)
2.5 2.5 to 4 2.5 2.5 to 4 1 to 1.4
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (8.9 to 12.4)
Standards Compliance
10 6 to 10 4 2.5 to 10
R/L1, S/L2, T/L3 M5
(8) (10 to 8) (12) (14 to 8) 2.3 to 2.7
10 6 to 10 4 2.5 to 10 (20.4 to 23.9)
U/T1, V/T2, W/T3 M5
(8) (10 to 8) (12) (14 to 8)
4o0027
10 4 to 16 4 4 to 16 3.9 to 4.9
M6
(8) (12 to 6) (12) (12 to 5) (34.7 to 43.4)
2.5 2.5 to 4 2.5 2.5 to 4 1 to 1.4
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (8.9 to 12.4)
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 601
D.3 UL and CSA Standards
For USA and Canada For South America
Tightening
Drive Recomm. Gauge Wire Range Recomm. Gauge Wire Range Screw
Terminal Torque
Model mm2 mm2 mm2 mm2 Size N·m (lb.in.)
(AWG, kcmil) (AWG, kcmil) (AWG, kcmil) (AWG, kcmil)
10 10 6 4 to 10
R/L1, S/L2, T/L3 M5
(8) (8) (10) (12 to 8) 2.3 to 2.7
10 10 6 4 to 10 (20.4 to 23.9)
U/T1, V/T2, W/T3 M5
(8) (8) (10) (12 to 8)
4o0034
10 6 to 16 6 6 to 16 3.9 to 4.9
M6
(8) (10 to 6) (10) (10 to 5) (34.7 to 43.4)
2.5 2.5 to 4 2.5 2.5 to 4 1 to 1.4
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (8.9 to 12.4)
10 10 to 25 10 6 to 25
R/L1, S/L2, T/L3 M6
(8) (8 to 3) (8) (10 to 3) 4 to 6
10 10 to 25 10 6 to 25 (35.4 to 53.1)
U/T1, V/T2, W/T3 M6
(8) (8 to 3) (8) (10 to 3)
4o0040
10 10 to 25 10 6 to 25 8.8 to 10.8
M8
(8) (10 to 3) (8) (10 to 3) (78.1 to 95.5)
2.5 2.5 to 4 2.5 2.5 to 4 1 to 1.4
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (8.9 to 12.4)
16 10 to 25 10 10 to 25
R/L1, S/L2, T/L3 M6
(6) (8 to 3) (8) (8 to 3) 4 to 6
16 10 to 25 10 10 to 25 (35.4 to 53.1)
U/T1, V/T2, W/T3 M6
(6) (8 to 3) (8) (8 to 3)
4o0052
16 10 to 25 10 10 to 25 8.8 to 10.8
M8
(6) (8 to 3) (8) (8 to 3) (78.1 to 95.5)
2.5 2.5 to 4 2.5 2.5 to 4 1 to 1.4
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (8.9 to 12.4)
25 16 to 25 16 10 to 25
R/L1, S/L2, T/L3 M6
(4) (6 to 3) (5) (8 to 3) 4 to 6
25 16 to 25 16 10 to 25 (35.4 to 53.1)
U/T1, V/T2, W/T3 M6
(4) (6 to 3) (5) (8 to 3)
4o0065
16 16 to 25 16 16 to 25 8.8 to 10.8
M8
(6) (6 to 3) (5) (5 to 3) (78.1 to 95.5)
2.5 2.5 to 4 2.5 2.5 to 4 1 to 1.4
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (8.9 to 12.4)
25 25 25 16 to 25
R/L1, S/L2, T/L3 M6
(3) (4 to 3) (3) (5 to 3) 4 to 6
25 25 25 16 to 25 (35.4 to 53.1)
U/T1, V/T2, W/T3 M6
(3) (4 to 3) (3) (5 to 3)
4o0077
16 16 to 25 16 16 to 25 8.8 to 10.8
M8
(6) (6 to 3) (5) (5 to 3) (78.1 to 95.5)
2.5 2.5 to 4 2.5 2.5 to 4 1 to 1.4
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (8.9 to 12.4)
35 10 to 50 35 10 to 50 × 2P
R/L1, S/L2, T/L3 M8
(1) (8 to 1/0 × 2P) (1) (8 to 1/0 × 2P) 8 to 10
35 10 to 50 35 10 to 50 × 2P (70.8 to 88.5)
U/T1, V/T2, W/T3 M8
(1) (8 to 1/0 × 2P) (1) (8 to 1/0 × 2P)
4o0096
25 25 to 35 25 10 to 35 8.8 to 10.8
M8
(4) (4 to 1) (3) (8 to 1) (78.1 to 95.5)
2.5 2.5 to 4 2.5 2.5 to 4 1.2 to 2.0
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (10.6 to 17.7)
25 × 2 16 to 50 × 2 16 × 2P 10 to 50 × 2P
R/L1, S/L2, T/L3 M8
(4 × 2P) (6 to 1/0 × 2P) (5 × 2P) (8 to 1/0 × 2P) 8 to 10
25 × 2 16 to 50 × 2 16 × 2P 10 to 50 × 2P (70.8 to 88.5)
U/T1, V/T2, W/T3 M8
(4 × 2P) (6 to 1/0 × 2P) (5 × 2P) (8 to 1/0 × 2P)
4o0124
25 25 to 35 16 16 to 35 8.8 to 10.8
M8
(4) (4 to 1) (5) (5 to 1) (78.1 to 95.5)
2.5 2.5 to 4 2.5 2.5 to 4 1.2 to 2.0
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (10.6 to 17.7)
602 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
D.3 UL and CSA Standards
For USA and Canada For South America
Tightening
Drive Recomm. Gauge Wire Range Recomm. Gauge Wire Range Screw
Terminal Torque
Model mm2 mm2 mm2 mm2 Size N·m (lb.in.)
(AWG, kcmil) (AWG, kcmil) (AWG, kcmil) (AWG, kcmil)
25 × 2 25 to 95 × 2 25 × 2P 16 to 95 × 2P
R/L1, S/L2, T/L3 M10
(3 × 2P) (4 to 4/0 × 2P) (3 × 2P) (5 to 4/0 × 2P) 15 to 20
25 × 2 25 to 95 × 2 25 × 2P 16 to 95 × 2P (133 to 177)
U/T1, V/T2, W/T3 M10
(3 × 2P) (4 to 4/0 × 2P) (3 × 2P) (5 to 4/0 × 2P)
4o0156
25 25 to 70 25 25 to 70 17.7 to 22.6
M10
(4) (4 to 2/0) (3) (3 to 2/0) (156 to 200)
2.5 2.5 to 4 2.5 2.5 to 4 1.2 to 2.0
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (10.6 to 17.7)
35 × 2 25 to 95 × 2 25 × 2P 25 to 95 × 2P
R/L1, S/L2, T/L3 M10
(2 × 2P) (3 to 4/0 × 2P) (3 × 2P) (3 to 4/0 × 2P) 15 to 20
35 × 2 25 to 95 × 2 25 × 2P 25 to 95 × 2P (133 to 177)
U/T1, V/T2, W/T3 M10
(2 × 2P) (3 to 4/0 × 2P) (3 × 2P) (3 to 4/0 × 2P)
4o0180
25 25 to 70 25 25 to 70 17.7 to 22.6
M10
(3) (4 to 2/0) (3) (3 to 2/0) (156 to 200)
2.5 2.5 to 4 2.5 2.5 to 4 1.2 to 2.0
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (10.6 to 17.7)
50 × 2 35 to 95 × 2 35 × 2P 25 to 95 × 2P
R/L1, S/L2, T/L3 M10
(1/0 × 2P) (2 to 4/0 × 2P) (1 × 2P) (3 to 4/0 × 2P) 15 to 20
50 × 2 35 to 95 × 2 35 × 2P 25 to 95 × 2P (133 to 177)
U/T1, V/T2, W/T3 M10
(1/0 × 2P) (2 to 4/0 × 2P) (1 × 2P) (3 to 4/0 × 2P)
4o0216
25 25 to 95 35 25 to 95 31.4 to 39.2
M12
(3) (4 to 4/0) (1) (3 to 4/0) (278 to 347)
2.5 2.5 to 4 2.5 2.5 to 4 1.2 to 2.0
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (10.6 to 17.7)
50 × 2 50 to 95 × 2 50 × 2P 35 to 95 × 2P
R/L1, S/L2, T/L3 M10
(1/0 × 2P) (1/0 to 4/0 × 2P) (1/0 × 2P) (1 to 4/0 × 2P) 15 to 20
50 × 2 50 to 95 × 2 50 × 2P 35 to 95 × 2P (133 to 177)
U/T1, V/T2, W/T3 M10
(1/0 × 2P) (1/0 to 4/0 × 2P) (1/0 × 2P) (1 to 4/0 × 2P)
4o0240
35 35 to 95 50 35 to 95 31.4 to 39.2
M12
(2) (2 to 4/0) (1/0) (1 to 4/0) (278 to 347)
2.5 2.5 to 4 2.5 2.5 to 4 1.2 to 2.0
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (10.6 to 17.7)
70 × 2 50 to 95 × 2 70 × 2P 50 to 95 × 2P
R/L1, S/L2, T/L3 M10
(3/0 × 2P) (1/0 to 4/0 × 2P) (3/0 × 2P) (1/0 to 4/0 × 2P) 15 to 20
70 × 2 50 to 95 × 2 70 × 2P 50 to 95 × 2P (133 to 177)
U/T1, V/T2, W/T3 M10
4o0302 (3/0 × 2P) (1/0 to 4/0 × 2P) (3/0 × 2P) (1/0 to 4/0 × 2P)
<1>
35 35 to 150 70 35 to 150 31.4 to 39.2
M12
(1) (1 to 300) (3/0) (1 to 300) (278 to 347)
2.5 2.5 to 4 2.5 2.5 to 4 1.2 to 2.0
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (10.6 to 17.7)
95 × 2 70 to 95 × 2 95 × 2P 70 to 95 × 2P
R/L1, S/L2, T/L3 M10
(4/0 × 2P) (3/0 to 4/0 × 2P) (4/0 × 2P) (3/0 to 4/0 × 2P) 15 to 20
95 × 2 70 to 95 × 2 95 × 2P 70 to 95 × 2P (133 to 177)
U/T1, V/T2, W/T3 M10
4o0361 (4/0 × 2P) (3/0 to 4/0 × 2P) (4/0 × 2P) (3/0 to 4/0 × 2P)
<1>
50 50 to 150 95 70 to 150 31.4 to 39.2
M12
(1/0) (1/0 to 300) (4/0) (3/0 to 300) (278 to 347)
2.5 2.5 to 4 2.5 2.5 to 4 1.2 to 2.0
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (10.6 to 17.7)
Standards Compliance
150 × 2 95 to 150 × 2 95 × 2P 95 to 150 × 2P
R/L1, S/L2, T/L3 M12
(300 × 2P) (4/0 to 300 × 2P) (4/0 × 2P) (4/0 to 300 × 2P) 25 to 35
150 × 2 95 to 150 × 2 95 × 2P 95 to 150 × 2P (221 to 310)
U/T1, V/T2, W/T3 M12
4o0414 (300 × 2P) (4/0 to 300 × 2P ) (4/0 × 2P) (4/0 to 300 × 2P )
<1>
50 50 to 240 95 70 to 240 31.4 to 39.2
M12
(1/0) (1/0 to 400) (4/0) (3/0 to 400) (278 to 347)
2.5 2.5 to 4 2.5 2.5 to 4 1.2 to 2.0
p1, n1 M4
(14) (14 to 12) (14) (14 to 12) (10.6 to 17.7)
<1> Take additional measures in accordance with IEC/EN 61800-5-1 when wiring an EMC filter is installed. Refer to the Technical Manual for details. D
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 603
D.3 UL and CSA Standards
Closed-Loop Crimp Terminal Recommendations
To maintain UL/cUL approval, UL Listed closed-loop crimp terminals are specifically required when wiring the drive main
circuit terminals on models 2o0068 to 2o0248 and 4o0052 to 4o0414. Use only the tools recommended by the terminal
manufacturer for crimping. Yaskawa recommends UL Listed crimp terminals made by JST and Tokyo DIP (or equivalent)
for the insulation cap. Table D.4 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 representative or the Yaskawa sales department.
Wire gauge values shown in bold italic are the recommended values. Refer to local codes for proper selections.
Table D.4 Closed-Loop Crimp Terminal Size
Wire Gauge Tool
(AWG, kcmil) Screw Crimp Terminal Insulation Cap
Drive Model Size Model Number Model No. Code <1>
R/L1, S/L2, T/L3 Machine No. Die Jaw
U/T1, V/T2, W/T3
200 V Class
10 R5.5-5 AD-900 TP-005 100-054-030
2o0028 M5 YA-4
8 R8-5 AD-901 TP-008 100-054-032
8 R8-6 AD-901 TP-008 100-065-184
YA-4
6 R14-6 AD-902 TP-014 100-051-261
2o0042 M6
4 R22-6
YA-5 AD-953 TP-022 100-051-262
3 R22-6
6 R14-6 AD-952 TP-014 100-051-261
2o0054 4 M6 YA-5
R22-6 AD-953 TP-022 100-051-262
3
4
2o0068 M6 R22-6 YA-5 AD-953 TP-022 100-051-262
3
6 R14-6 AD-952 TP-014 100-051-261
2o0081 4 M6 YA-5
R22-6 AD-953 TP-022 100-051-262
3
6 R14-8 YA-4 AD-902 TP-014 100-054-035
4
R22-8 AD-953 TP-022 100-051-263
3
2o0104 M8
2 YA-5
R38-8 AD-954 TP-038 100-051-264
1
1/0 R60-8 AD-955 TP-060 100-051-265
6 R14-8 AD-952 TP-014 100-054-035
4
R22-8 AD-953 TP-022 100-051-263
3
2o0130 M8 YA-5
2
R38-8 AD-954 TP-038 100-051-264
1
1/0 R60-8 AD-955 TP-060 100-0051-265
4
R22-10 AD-953 TP-022 100-061-113
3
2 YA-5
R38-10 AD-954 TP-038 100-061-114
1
2o0154 1/0 M10 R60-10 AD-955 TP-060 100-051-266
TD-322
2/0 70-10 100-064-251
YF-1 TD-311
TP-080
YET-300-1 TD-323
3/0 80-10 100-051-267
TD-312
4/0 R100-10 YF-1 TD-324 TP-100 100-051-269
604 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
D.3 UL and CSA Standards
Wire Gauge Tool
(AWG, kcmil) Screw Crimp Terminal Insulation Cap
Drive Model Size Model Number Model No. Code <1>
R/L1, S/L2, T/L3 Machine No. Die Jaw
U/T1, V/T2, W/T3
3 R22-10 AD-953 TP-022 100-061-113
2
R38-10 YA-5 AD-954 TP-038 100-061-114
1
1/0 R60-10 AD-955 TP-060 100-051-266
2o0192 M10 TD-322
2/0 70-10 100-064-251
TD-311
TP-080
YF-1 TD-323
3/0 80-10 100-051-267
YET-300-1 TD-312
TD-324
4/0 R100-10 TP-100 100-051-269
TD-312
1 R38-10 YA-5 AD-954 TP-038 100-061-114
TD-321
1/0 R60-10 TP-060 100-051-266
TD-311
TD-322
2/0 70-10 100-064-251
2o0248 M10 YF-1 TD-311
TP-080
YET-300-1 TD-323
3/0 80-10 100-051-267
TD-312
TD-324
4/0 R100-10 TP-100 100-051-269
TD-312
400 V Class
14 R2-5 TP-003 100-123-030
12 AD-900
4o0011 M5 R5.5-5 YA-4 TP-005 100-054-030
10
8 R8-5 AD-901 TP-008 100-054-032
14 R2-5 TP-003 100-123-030
12 AD-900
4o0014 M5 R5.5-5 YA-4 TP-005 100-054-030
10
8 R8-5 AD-901 TP-008 100-054-032
12
R5.5-5 AD-900 TP-005 100-054-030
4o0021 10 M5 YA-4
8 R8-5 AD-901 TP-008 100-054-032
10 R5.5-5 AD-900 TP-005 100-054-030
4o0027 M5 YA-4
8 R8-5 AD-901 TP-008 100-054-032
4o0034 8 M5 R8-5 YA-4 AD-901 TP-008 100-054-032
8 R8-6 AD-901 TP-008 100-065-184
YA-4
6 R14-6 AD-902 TP-014 100-051-261
4o0040 M6
4
R22-6 YA-5 AD-953 TP-022 100-051-262
3
8 R8-6 AD-901 TP-008 100-065-184
YA-4
6 R14-6 AD-902 TP-014 100-051-261
4o0052 M6
4
R22-6 YA-5 AD-953 TP-022 100-051-262
3
6 R14-6 AD-952 TP-014 100-051-261
4o0065 4 M6 YA-5
R22-6 AD-953 TP-022 100-051-262
Standards Compliance
3
4
4o0077 M6 R22-6 YA-5 AD-953 TP-022 100-051-262
3
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 605
D.3 UL and CSA Standards
Wire Gauge Tool
(AWG, kcmil) Screw Crimp Terminal Insulation Cap
Drive Model Size Model Number Model No. Code <1>
R/L1, S/L2, T/L3 Machine No. Die Jaw
U/T1, V/T2, W/T3
8 R8-8 AD-901 TP-008 100-601-111
YA-4
6 R14-8 AD-902 TP-014 100-054-035
4
R22-8 AD-953 TP-022 100-051-263
4o0096 3 M8
2 YA-5
R38-8 AD-954 TP-038 100-051-264
1
1/0 R60-8 AD-955 TP-060 100-051-265
6 R14-8 AD-952 TP-014 100-054-035
4
R22-8 AD-953 TP-022 100-051-263
3
4o0124 M8 YA-5
2
R38-8 AD-954 TP-038 100-051-264
1
1/0 R60-8 AD-955 TP-060 100-051-265
4
R22-10 AD-953 TP-022 100-061-113
3
2 YA-5
R38-10 AD-954 TP-038 100-061-114
1
1/0 R60-10 AD-955 TP-060 100-051-266
4o0156 M10
TD-322
2/0 70-10 100-064-251
TD-311
TP-080
YF-1 TD-323
3/0 80-10 100-051-267
YET-300-1 TD-312
TD-324
4/0 R100-10 TP-100 100-051-269
TD-312
3 R22-10 AD-953 TP-022 100-061-113
2
R38-10 YA-5 AD-954 TP-038 100-061-114
1
1/0 R60-10 AD-955 TP-060 100-051-266
4o0180 M10 TD-322
2/0 70-10 100-064-251
TD-311
TP-080
YF-1 TD-323
3/0 80-10 100-051-267
YET-300-1 TD-312
TD-324
4/0 R100-10 TP-100 100-051-269
TD-312
2
R38-10 YA-5 AD-954 TP-038 100-061-114
1
TD-321
1/0 R60-10 TP-060 100-051-266
TD-311
4o0216 M10 TD-322
2/0 70-10 100-064-251
YF-1 TD-311
TP-080
YET-300-1 TD-323
3/0 80-10 100-051-267
TD-312
TD-324
4/0 R100-10 TP-100 100-051-269
TD-312
TD-321
1/0 R60-10 TP-060 100-051-266
TD-311
TD-322
2/0 70-10 100-064-251
YF-1 TD-311
4o0240 M10 TP-080
YET-300-1 TD-323
3/0 80-10 100-051-267
TD-312
TD-324
4/0 R100-10 TP-100 100-051-269
TD-312
606 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
D.3 UL and CSA Standards
Wire Gauge Tool
(AWG, kcmil) Screw Crimp Terminal Insulation Cap
Drive Model Size Model Number Model No. Code <1>
R/L1, S/L2, T/L3 Machine No. Die Jaw
U/T1, V/T2, W/T3
TD-321
1/0 R60-10 TP-060 100-051-266
TD-311
TD-322
2/0 70-10 100-064-251
YF-1 TD-311
4o0302 M10 TP-080
YET-300-1 TD-323
3/0 80-10 100-051-267
TD-312
TD-324
4/0 R100-10 TP-100 100-051-269
TD-312
TD-323
3/0 80-10 TP-080 100-051-267
YF-1 TD-312
4o0361 M10 YET-300-1 TD-324
4/0 R100-10 TP-100 100-051-269
TD-312
TD-324
4/0 R100-12 TP-100 100-051-270
TD-312
YF-1
4o0414 M12
250 YET-300-1 TD-325
R150-12 TP-150 100-051-273
300 TD-313
<1> 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 75 °C 600 Vac UL-approved vinyl-sheathed insulation.
n 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. The external
power supply shall be a UL Listed Class 2 power supply source or equivalent only.
Table D.5 Control Circuit Terminal Power Supply
Input / Output Terminal Signal Power Supply Specifications
Open Collector Outputs DM+, DM- Requires class 2 power supply
Use the internal LVLC power supply of the drive. Use class
Digital inputs S1 to S8, SN, SC, SP, HC, H1, H2 2 for external power supply.
Use the internal LVLC power supply of the drive. Use class
Analog inputs / outputs +V, -V, A1, A2, A3, AC, AM, FM 2 for external power supply.
n 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: 4Eoooo and 4Woooo), and 500 Vac maximum (400 V
class: 4Aoooo and 4Poooo) with built-in fuses manufactured by Hinode Electric Co., Ltd. and Mersen (or equivalent).
u 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.
n E2-01: Motor Rated Current
Setting Range: 10% to 180% of the drive rated current
Default Setting: Model-dependent
Parameter E2-01 protects the motor when parameter L1-01 is not set to 0. The default for L1-01 is 1, which enables protection
Standards Compliance
for standard induction motors.
If Auto-Tuning has been performed successfully, the motor data entered to T1-04 and T2-06 are automatically written to
parameter E2-01. If Auto-Tuning has not been performed, manually enter the correct motor rated current to parameter E2-01.
n L1-01: Motor Overload Protection Selection
The drive has an electronic overload protection function (oL1) based on time, output current, and output frequency that 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. D
This parameter selects the motor overload curve used according to the type of motor applied.
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 607
D.3 UL and CSA Standards
Table D.6 Overload Protection Settings
Setting Description
0 Disabled Disabled the internal motor overload protection of the drive.
Selects protection characteristics for a standard self-cooled motor with limited cooling capabilities
1 Standard fan-cooled motor (default) when running below the rated speed. The motor overload detection level (oL1) is automatically
reduced when running below the motor rated speed.
Selects protection characteristics for a motor with self-cooling capability within a speed range of
2 Drive duty motor with a speed range of 1:10 10:1. The motor 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
3 Vector motor with a speed range of 1:100 speed (externally cooled motor). The motor overload detection level (oL1) is constant over the
entire speed range.
Permanent Magnet motor with variable Selects protection characteristics for a variable torque PM motor. The motor overload detection
4 torque level (oL1) is automatically reduced when running below the motor rated speed.
Permanent Magnet motor with constant Selects protection characteristics for a constant torque PM motor. The motor overload detection
5 torque level (oL1) is constant over the whole speed range.
Selects protection characteristics for a standard self-cooled motor with limited cooling capabilities
6 Standard fan-cooled motor (50 Hz) when running below the rated speed. The motor overload detection level (oL1) is automatically
reduced when running below the motor rated speed.
When connecting the drive to more than one motor for simultaneous operation, disable the electronic overload protection
(L1-01 = 0) and wire each motor with its own motor thermal overload relay.
Enable 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 while the drive
is powered up.
n 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
a hot motor at 60 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.
Operation time (minutes)
10
7
3 Cold start
(characteristics when an
overload occurs at a
1 complete stop)
Hot start
0.4 (characteristics when an
overload occurs during
continuous operation at 100%)
0.1
Motor current (%)
0 100 150 200 E2-01 = 100% motor current
Figure D.6 Motor Overload Protection Time
n 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.
608 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
D.3 UL and CSA Standards
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.
n 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
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.
Standards Compliance
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 609
D.4 Safe Disable Input
D.4 Safe Disable Input
u Safe Disable Input Function
This section explains the Safe Disable function. Contact Yaskawa if more information is required.
n Safety Standards
The TUV mark indicates compliance with safety standards.
Figure D.7 TUV Mark
Table D.7 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.
n 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.8 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 Shorter than 3 ms
Output Stop
Response Time from Input Open of H1 and H2 Shorter than 4 ms
Terminals to EDM
Demand Rate Low PFD = 8.14E-6
Failure Probability Demand Rate High/
Continuous PFH = 1.96E-9
The Safe Disable inputs satisfy the following requirements (DC from EDM considered) Performance
Performance Level Level (PL) e according to ISO/EN 13849-1
HFT (Hardware Fault Tolerance) N=1
Classification of Subsystem Type B
u Precautions
DANGER! Sudden Movement Hazard. Improper use of the Safe Disable function can result in serious injury or even death. Make sure the
whole system or machinery in which the Safe Disable function is used complies with safety requirements. When implementing the Safe
Disable function into the safety system of a machine, perform a thorough risk assessment for the entire system to assure compliance with
relevant safety norms.
610 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
D.4 Safe Disable Input
DANGER! Sudden Movement Hazard. When using a PM motor, even if the drive output is shut off by the Safe Disable function, a breakdown
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). Make sure such a situation would have no effect on the safety of the application when using the Safe Disable function.
DANGER! Electrical Shock Hazard. The Safe Disable function can switch off the drive output, but does not cut the drive power supply and
cannot electrically isolate the drive output from the input. Always shut off the drive power supply when performing maintenance or installations
on the drive input side as well as the drive output side.
DANGER! Sudden Movement Hazard. The motor will move when an external gravitational force in the vertical axis is applied even if the
Safe Disable function is in operation. Failure to comply may result in serious injury or death.
DANGER! 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.
NOTICE: 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.
NOTICE: 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.
NOTICE: From the moment terminal inputs H1 and H2 have opened, it takes up to 2 ms for drive output to shut off completely. The sequence
set up to trigger terminals H1 and H2 should make sure that both terminals remain open for at least 2 ms in order to properly interrupt drive
output.
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, an EMC filter must be used.
u Using the Safe Disable Function
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, Category 3 PLe, and IEC/EN 61508,
SIL3.
A Safe Disable Status Monitor for error detection in the safety circuit is also provided.
n 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 use either 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 Safe Disable terminals DM+ and DM-. Refer to Output
Terminals on page 89 for signal specifications when using this output.
Additionally, a Safe Disable monitor function can be assigned to a digital output (H2-oo = 58).
Standards Compliance
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 611
D.4 Safe Disable Input
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
Motor
Figure D.8 Safe Disable Function Wiring Example (Source Mode)
n Disabling and Enabling the Drive Output (“Safe Torque Off”)
Figure D.9 illustrates the Safe Disable input operation.
Motor coasts
Output to stop
Frequency Run Command must be
released to deactivate
Safe Disable 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
When one or both Safe Disable inputs are open, the motor torque is shut off by switching off the drive output. If the motor
was running before the Safe Disable inputs opened, then the motor will coast to stop regardless of the stopping method set in
parameter b1-03.
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.
If Safe Disable was activated during stop, turn on both Safe Disable inputs by deactivating “Safe Torque Off” to resume normal
operation.
If Safe Disable was activated during run, remove the Run command then turn on the Safe Disable inputs before restarting the
drive.
n Safe Disable Monitor Output Function and Digital Operator Display
Table D.9 explains the drive output and Safe Disable monitor state depending on the Safe Disable inputs.
612 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
D.4 Safe Disable Input
Table D.9 Safety Input and EDM Terminal Status
Safe Disable Status Monitor,
Safe Disable Input Status Digital Operator
(DM+, DM-) Drive Output Status Display
Input 1, H1-HC Input 2, H2-HC S6 Switch = “N.O.” S6 Switch = “N.C.”
Safely disabled,
OFF OFF OFF ON Hbb (flashes)
“Safe Torque Off”
Safely disabled,
ON OFF ON OFF HbbF (flashes)
“Safe Torque Off”
Safely disabled,
OFF ON ON OFF HbbF (flashes)
“Safe Torque Off”
Baseblock,
ON ON ON OFF Normal display
ready for operation
Safe Disable Status Monitor
Slide Switch S6 controls the polarity of this signal. Refer to Table D.9 for functionality.
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.
Digital Operator Display
When both Safe Disable inputs are open, “Hbb” will flash in the digital operator display.
If one Safe Disable channel is 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 351 for details.
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 335 for details.
n Validating Safe Disable Function
Always perform the following validation test on the safe disable inputs after completing the wiring after start-up, when
replacing parts, or when conducting maintenance. Maintain check results 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 according to Table D.9.
If the ON/OFF status of the signals do not match the display, it is possible that there is an error in the external device, the
external wiring is disconnected, there is a short circuit in the external wiring, or a failure in the drive. Find the cause and correct
the problem.
• In normal operation, confirm the EDM signal according to Table D.9.
Standards Compliance
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 613
D.4 Safe Disable Input
This Page Intentionally Blank
614 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
Appendix: E
Quick Reference Sheet
This section provides tables to keep record of the drive specifications, motor specifications, and drive
settings. Fill in the table data after commissioning the application and have them ready when contacting
Yaskawa for technical assistance.
E.1 DRIVE AND MOTOR SPECIFICATIONS.............................................................616
E.2 BASIC PARAMETER SETTINGS........................................................................618
E.3 USER SETTING TABLE.......................................................................................620
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 615
E.1 Drive and Motor Specifications
E.1 Drive and Motor Specifications
u Drive Specifications
Normal Duty Amps / Heavy Duty Amps
AC drive model MODEL : CIMR-UU4A0011AUA REV : A
C/C :
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 B
MASS : 20 kg PRG : 1010 Software version
Lot number O/N : 6W3050-2-100
Serial number S/N : J0065F575310100
FILE NO : E131457 IP00
PASS
YASKAWA ELECTRIC CORPORATION MADE IN JAPAN
2-1 Kurosaki-shiroishi, Yahatanishi-Ku, Kitakyushu 806-0004 Japan
Items Description
Model CIMR-UU
Serial Number
Software Version (PRG)
Options Used
Date of Usage
u Motor Specifications
n Induction Motor
Items Description Items Description
Motor Rated Current
Manufacturer A
(T1-04)
Motor Base
Model Hz
Frequency (T1-05)
Motor Rated Power Number of Motor
HP
(T1-02) Poles (T1-06)
Motor Rated Voltage Motor Base Speed
V r/min
(T1-03) (T1-07)
Note: These values must be entered as part of the Auto-Tuning process.
n Permanent Magnet Motor
Items Description Items Description
Induction
Manufacturer Voltage mVs/rad
Constant
Induction
Model Voltage mV/(r/min)
Constant
PM Motor PM Motor
Rated Power kW Rated Current A
(T2-04) (T2-06)
PM Motor
PM Motor Base
Rated Voltage V Hz
Frequency
(T2-05) (T2-07)
Number of PM
q-Axis mH Motor Poles
Inductance (T2-08)
616 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
E.1 Drive and Motor Specifications
PM Motor
x-Axis mH Base Speed r/min
Inductance (T2-09)
Note: These values must be entered as part of the Auto-Tuning process.
n Motor Speed Encoder (if used)
Items Description Items Description
Manufacturer Resolution
Interface
Quick Reference Sheet
E
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 617
E.2 Basic Parameter Settings
E.2 Basic Parameter Settings
Use the following tables to keep records of important parameters. Have this data available when contacting Yaskawa technical
support.
u Basic Setup
Item Setting Value Memo
Control Mode A1-02 =
Normal/Heavy Duty Selection C6-01 =
Frequency Reference Source b1-01 =
Run Command Source b1-02 =
u V/f Pattern Setup
Item Setting Value Memo
V/f Pattern Selection E1-03 =
Max. Output Frequency E1-04 =
Max. Voltage E1-05 =
Base Frequency E1-06 =
Mid. Output Frequency E1-07 =
Mid. Output Frequency Volt. E1-08 =
Min. Output Frequency E1-09 =
Min. Output Frequency Volt. E1-10 =
u Motor Setup
Motor Type Item Setting Value Memo
Motor Rated Current E2-01 =
Motor Rated Slip E2-02 =
Motor No-Load Current E2-03 =
Induction No. of Motor Poles E2-04 =
Line-to-Line Resistance E2-05 =
Motor Leakage E2-06 =
Inductance
Motor Code Selection E5-01 =
Motor Rated Power E5-02 =
Motor Rated Current E5-03 =
No. of Motor Poles E5-04 =
Permanent Motor Stator Resistance E5-05 =
Magnet Motor d-Axis Inductance E5-06 =
Motor q-Axis Inductance E5-07 =
Induction Volt. Const. 1 E5-09 =
Encoder Z-pulse Offset E5-11 =
Induction Volt. Const. 2 E5-24 =
618 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
E.2 Basic Parameter Settings
u Multi-Function Digital Inputs
Setting Value
Terminal Input Used Memo
and Function Name
S1 H1-01 =
S2 H1-02 =
S3 H1-03 =
S4 H1-04 =
S5 H1-05 =
S6 H1-06 =
S7 H1-07 =
S8 H1-08 =
u Pulse Train Input/Analog Inputs
Setting Value
Terminal Input Used Memo
and Function Name
RP H6-01 =
A1 H3-02 =
A2 H3-10 =
A3 H3-06 =
u Multi-Function Digital Outputs
Setting Value
Terminal Output Used Memo
and Function Name
M1-M2 H2-01 =
M3-M4 H2-02 =
M5-M6 H2-03 =
u Monitor Outputs
Setting Value
Terminal Output Used Memo
and Function Name
FM H4-01 =
AM H4-04 =
MP H6-06 =
Quick Reference Sheet
E
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 619
E.3 User Setting Table
E.3 User Setting Table
Use the Verify Menu to determine which parameters have been changed from their original default settings
below the parameter number indicates that the parameter setting can be changed during run.
Parameter names in bold face type are included in the Setup Group of parameters, which can be set by A1-06 = 0.
No. Name User No. Name User
Setting Setting
A1-00 b3-06 Output Current 1 during Speed Search
Language Selection
Current Control Gain during Speed Search (Speed
b3-08 Estimation Type)
A1-01
Access Level Selection b3-10 Speed Search Detection Compensation Gain
A1-02 Control Method Selection b3-14 Bi-Directional Speed Search Selection
A1-03 Initialize Parameters b3-17 Speed Search Restart Current Level
A1-04 Password b3-18 Speed Search Restart Detection Time
A1-05 Password Setting b3-19 Number of Speed Search Restarts
A1-06 Application Preset b3-24 Speed Search Method Selection
A1-07 DriveWorksEZ Function Selection b3-25 Speed Search Wait Time
A2-01 to b3-27 Start Speed Search Select
User Parameters, 1 to 32
A2-32 b3-29 Speed Search Induced Voltage Level
A2-33 User Parameter Automatic Selection Speed Search Operation Current Level 1 (Current
b3-31
b1-01 Frequency Reference Selection 1 Detection Type 2)
b1-02 Run Command Selection 1 Speed Search Operation Current Level 2 (Current
b3-32 Detection 2)
b1-03 Stopping Method Selection
Speed Search Selection when Run Command is Given
b3-33
b1-04 Reverse Operation Selection during Uv
b1-05 Action Selection below Minimum Output Frequency b3-50 Backspin Search Direction Judgment Time 1
b1-06 Digital Input Reading b3-51 Backspin Search Direction Judgment Time 2
b1-07 LOCAL/REMOTE Run Selection b3-52 Backspin Search Deceleration Time 1
b1-08 Run Command Selection while in Programming Mode b3-53 Backspin Search Deceleration Time 2
b1-14 Phase Order Selection b4-01 Timer Function On-Delay Time
b1-15 Frequency Reference Selection 2 b4-02 Timer Function Off-Delay Time
b1-16 Run Command Selection 2 b4-03 H2-01 ON Delay Time
b1-17 Run Command at Power Up b4-04 H2-01 OFF Delay Time
Start Condition Selection at Closed Loop Vector b4-05 H2-02 ON Delay Time
b1-21 Control
b4-06 H2-03 OFF Delay Time
b1-24 Commercial Power Switching Selection
b4-07 H2-03 ON Delay Time
Commercial Power Switching Output Frequency
b1-25 b4-08 H2-03 OFF Delay Time
Non-coincidence Level
Commercial Power Switching Output Frequency b5-01 PID Function Setting
b1-26 Coincidence Level b5-02
Proportional Gain Setting (P)
b2-01 DC Injection Braking Start Frequency
b2-02 DC Injection Braking Current b5-03
Integral Time Setting (I)
b2-03 DC Injection Braking Time at Start
b2-04 DC Injection Braking Time at Stop b5-04
Integral Limit Setting
b2-08 Magnetic Flux Compensation Value
b3-01 Speed Search Selection at Start b5-05
Derivative Time (D)
b3-03 Speed Search Deceleration Time
b3-04 V/f Gain during Speed Search b5-06
PID Output Limit
b3-05 Speed Search Delay Time
620 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
E.3 User Setting Table
No. Name User No. Name User
Setting Setting
b5-07 b8-17 Energy Saving Parameter (Kt) for PM Motors
PID Offset Adjustment
b9-01 Zero Servo Gain
b5-08 b9-02 Zero Servo Completion Width
PID Primary Delay Time Constant
C1-01
Acceleration Time 1
b5-09 PID Output Level Selection
b5-10 C1-02
PID Output Gain Setting Deceleration Time 1
b5-11 PID Output Reverse Selection C1-03
Acceleration Time 2
b5-12 PID Feedback Loss Detection Selection
b5-13 PID Feedback Loss Detection Level C1-04
Deceleration Time 2
b5-14 PID Feedback Loss Detection Time
b5-15 PID Sleep Function Start Level C1-05
Acceleration Time 3 (Motor 2 Accel Time 1)
b5-16 PID Sleep Delay Time
b5-17 PID Accel/Decel Time C1-06
Deceleration Time 3 (Motor 2 Decel Time 1)
b5-18 PID Setpoint Selection
C1-07
b5-19 Acceleration Time 4 (Motor 2 Accel Time 2)
PID Setpoint Value
C1-08
b5-20 PID Setpoint Scaling Deceleration Time 4 (Motor 2 Decel Time 2)
b5-34
PID Output Lower Limit C1-09
Fast-Stop Time
b5-35
PID Input Limit C1-10 Accel/Decel Time Setting Units
C1-11 Accel/Decel Time Switching Frequency
b5-36 PID Feedback High Detection Level
C2-01 S-Curve Characteristic at Accel Start
b5-37 PID Feedback High Detection Time
C2-02 S-Curve Characteristic at Accel End
b5-38 PID Setpoint User Display
C2-03 S-Curve Characteristic at Decel Start
b5-39 PID Setpoint Display Digits
C2-04 S-Curve Characteristic at Decel End
b5-40 Frequency Reference Monitor Content during PID
C3-01
b5-47 PID Output Reverse Selection 2 Slip Compensation Gain
b6-01 Dwell Reference at Start
C3-02
b6-02 Dwell Time at Start Slip Compensation Primary Delay Time
b6-03 Dwell Reference at Stop
C3-03 Slip Compensation Limit
b6-04 Dwell Time at Stop
C3-04 Slip Compensation Selection during Regeneration
b7-01
Droop Control Gain C3-05 Output Voltage Limit Operation Selection
C3-21
b7-02 Motor 2 Slip Compensation Gain
Droop Control Delay Time
C3-22
b7-03 Droop Control Limit Selection Motor 2 Slip Compensation Primary Delay Time
b8-01 Energy Saving Control Selection
C3-23 Motor 2 Slip Compensation Limit
b8-02
Energy Saving Gain Motor 2 Slip Compensation Selection during
C3-24 Regeneration
Quick Reference Sheet
b8-03 C4-01
Energy Saving Control Filter Time Constant Torque Compensation Gain
b8-04 Energy Saving Coefficient Value C4-02
Torque Compensation Primary Delay Time
b8-05 Power Detection Filter Time
b8-06 Search Operation Voltage Limit C4-03 Torque Compensation at Forward Start
b8-16 Energy Saving Parameter (Ki) for PM Motors C4-04 Torque Compensation at Reverse Start
E
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 621
E.3 User Setting Table
No. Name User No. Name User
Setting Setting
C4-05 Torque Compensation Time Constant d1-03
Frequency Reference 3
C4-07
Motor 2 Torque Compensation Gain
d1-04
Frequency Reference 4
C5-01
ASR Proportional Gain 1
d1-05
Frequency Reference 5
C5-02
ASR Integral Time 1
d1-06
Frequency Reference 6
C5-03
ASR Proportional Gain 2
d1-07
Frequency Reference 7
C5-04
ASR Integral Time 2
d1-08
Frequency Reference 8
C5-05 ASR Limit
C5-06 ASR Primary Delay Time Constant d1-09
Frequency Reference 9
C5-07 ASR Gain Switching Frequency
C5-08 ASR Integral Limit d1-10
Frequency Reference 10
C5-12 Integral Operation during Accel/Decel
d1-11
C5-17 Motor Inertia Frequency Reference 11
C5-18 Load Inertia Ratio
d1-12
C5-21 Frequency Reference 12
Motor 2 ASR Proportional Gain 1
d1-13
C5-22 Frequency Reference 13
Motor 2 ASR Integral Time 1
d1-14
C5-23 Frequency Reference 14
Motor 2 ASR Proportional Gain 2
d1-15
C5-24 Frequency Reference 15
Motor 2 ASR Integral Time 2
d1-16
C5-25 Motor 2 ASR Limit Frequency Reference 16
C5-26 Motor 2 ASR Primary Delay Time Constant
d1-17
C5-27 Motor 2 ASR Gain Switching Frequency Jog Frequency Reference
C5-28 Motor 2 ASR Integral Limit d2-01 Frequency Reference Upper Limit
C5-32 Integral Operation during Accel/Decel for Motor 2 d2-02 Frequency Reference Lower Limit
C5-37 Motor 2 Inertia d2-03 Master Speed Reference Lower Limit
C5-38 Motor 2 Load Inertia Ratio d3-01 Jump Frequency 1
C6-01 Drive Duty Selection d3-02 Jump Frequency 2
C6-02 Carrier Frequency Selection d3-03 Jump Frequency 3
C6-03 Carrier Frequency Upper Limit d3-04 Jump Frequency Width
C6-04 Carrier Frequency Lower Limit d4-01 Frequency Reference Hold Function Selection
C6-05 Carrier Frequency Proportional Gain d4-03
Frequency Reference Bias Step (Up/Down 2)
C6-09 Carrier Frequency during Rotational Auto-Tuning
C7-43 Input Voltage Offset Adjustment d4-04
Frequency Reference Bias Accel/Decel (Up/Down 2)
C7-56 Power Factor Control Selection
C7-60 Output Voltage Limit Mode Selection d4-05 Frequency Reference Bias Operation Mode Selection
d1-01 (Up/Down 2)
Frequency Reference 1
d4-06 Frequency Reference Bias (Up/Down 2)
d1-02 d4-07 Analog Frequency Reference Fluctuation Limit (Up/
Frequency Reference 2
Down 2)
622 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
E.3 User Setting Table
No. Name User No. Name User
Setting Setting
d4-08 E3-04 Motor 2 Maximum Output Frequency
Frequency Reference Bias Upper Limit (Up/Down 2)
E3-05 Motor 2 Maximum Voltage
d4-09 E3-06 Motor 2 Base Frequency
Frequency Reference Bias Lower Limit (Up/Down 2)
E3-07 Motor 2 Mid Output Frequency
d4-10 Up/Down Frequency Reference Limit Selection E3-08 Motor 2 Mid Output Frequency Voltage
d5-01 Torque Control Selection E3-09 Motor 2 Minimum Output Frequency
d5-02 Torque Reference Delay Time E3-10 Motor 2 Minimum Output Frequency Voltage
d5-03 Speed Limit Selection E3-11 Motor 2 Mid Output Frequency 2
d5-04 Speed Limit E3-12 Motor 2 Mid Output Frequency Voltage 2
d5-05 Speed Limit Bias E3-13 Motor 2 Base Voltage
d5-06 Speed/Torque Control Switchover Time E4-01 Motor 2 Rated Current
d5-08 Unidirectional Speed Limit Bias E4-02 Motor 2 Rated Slip
d6-01 Field Weakening Level E4-03 Motor 2 Rated No-Load Current
d6-02 Field Weakening Frequency Limit E4-04 Motor 2 Motor Poles
d6-03 Field Forcing Selection E4-05 Motor 2 Line-to-Line Resistance
d6-06 Field Forcing Limit E4-06 Motor 2 Leakage Inductance
d7-01 E4-07 Motor 2 Motor Iron-Core Saturation Coefficient 1
Offset Frequency 1
E4-08 Motor 2 Motor Iron-Core Saturation Coefficient 2
d7-02
Offset Frequency 2 E4-09 Motor 2 Mechanical Loss
E4-10 Motor 2 Iron Loss
d7-03
Offset Frequency 3 E4-11 Motor 2 Rated Power
E5-01 Motor Code Selection (for PM Motors)
E1-03 V/f Pattern Selection
E5-02 Motor Rated Power (for PM Motors)
E1-04 Maximum Output Frequency
E5-03 Motor Rated Current (for PM Motors)
E1-05 Maximum Voltage
E5-04 Number of Motor Poles (for PM Motors)
E1-06 Base Frequency
E5-05 Motor Stator Resistance (for PM Motors)
E1-07 Middle Output Frequency
E5-06 Motor d-Axis Inductance (for PM Motors)
E1-08 Middle Output Frequency Voltage
E5-07 Motor q-Axis Inductance (for PM Motors)
E1-09 Minimum Output Frequency
E5-09 Motor Induction Voltage Constant 1 (for PM Motors)
E1-10 Minimum Output Frequency Voltage
E5-11 Encoder Z-pulse Offset (for PM Motors)
E1-11 Middle Output Frequency 2
E5-24 Motor Induction Voltage Constant 2 (for PM Motors)
E1-12 Middle Output Frequency Voltage 2
Polarity Switch for Initial Polarity Estimation Timeout
E1-13 Base Voltage E5-25 (for PM Motors)
E2-01 Motor Rated Current F1-01 PG 1 Pulses Per Revolution
E2-02 Motor Rated Slip F1-02 Operation Selection at PG Open Circuit (PGo)
E2-03 Motor No-Load Current F1-03 Operation Selection at Overspeed (oS)
E2-04 Number of Motor Poles F1-04 Operation Selection at Deviation
E2-05 Motor Line-to-Line Resistance F1-05 PG 1 Rotation Selection
E2-06 Motor Leakage Inductance F1-06 PG 1 Division Rate for PG Pulse Monitor
E2-07 Motor Iron-Core Saturation Coefficient 1 F1-08 Overspeed Detection Level
Quick Reference Sheet
E2-08 Motor Iron-Core Saturation Coefficient 2 F1-09 Overspeed Detection Delay Time
E2-09 Motor Mechanical Loss F1-10 Excessive Speed Deviation Detection Level
E2-10 Motor Iron Loss for Torque Compensation F1-11 Excessive Speed Deviation Detection Delay Time
E2-11 Motor Rated Power F1-12 PG 1 Gear Teeth 1
E3-01 Motor 2 Control Mode Selection F1-13 PG 1 Gear Teeth 2
E
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 623
E.3 User Setting Table
No. Name User No. Name User
Setting Setting
F1-14 PG Open-Circuit Detection Time External Fault from Comm. Option Detection
F6-02 Selection
F1-18 dv3 Detection Selection
External Fault from Comm. Option Operation
F1-19 dv4 Detection Selection F6-03 Selection
F1-20 PG Option Card Disconnect Detection 1 F6-04 bUS Error Detection Time
F1-21 PG 1 Signal Selection Torque Reference/Torque Limit Selection from
F6-06 Comm. Option
F1-30 PG Option Card Port for Motor 2 Selection
Multi-Step Speed Enable/Disable Selection when
F1-31 PG 2 Pulses Per Revolution F6-07 NefRef/ComRef is Selected
F1-32 PG 2 Rotation Selection F6-08 Reset Communication Parameters
F1-33 PG 2 Gear Teeth 1 F6-10 CC-Link Node Address
F1-34 PG 2 Gear Teeth 2 F6-11 CC-Link Communications Speed
F1-35 PG 2 Division Rate for PG Pulse Monitor F6-14 CC-Link bUS Error Auto Reset
F1-36 PG Option Card Disconnect Detection 2 F6-20 MECHATROLINK Station Address
F1-37 PG2 Signal Selection F6-21 MECHATROLINK Frame Size
F1-50 Encoder Selection F6-22 MECHATROLINK Link Speed
F1-51 PGoH Detection Level F6-23 MECHATROLINK Monitor Selection (E)
F1-52 Communication Speed of Serial Encoder Selection F6-24 MECHATROLINK Monitor Selection (F)
F2-01 Analog Input Option Card Operation Selection Operation Selection at MECHATROLINK Watchdog
F6-25
F2-02 Timer Error (E5)
Analog Input Option Card Gain
F6-26 MECHATROLINK bUS Errors Detected
F2-03 F6-30 PROFIBUS-DP Node Address
Analog Input Option Card Bias
F6-31 PROFIBUS-DP Clear Mode Selection
F3-01 Digital Input Option Card Input Selection F6-32 PROFIBUS-DP Data Format Selection
F3-03 Digital Input Option DI-A3 Data Length Selection F6-35 CANopen Node ID Selection
F4-01 Terminal V1 Monitor Selection F6-36 CANopen Communication Speed
F4-02 F6-45 BACnet Node Address
Terminal V1 Monitor Gain
F6-46 BACnet Baud Rate
F4-03 Terminal V2 Monitor Selection F6-47 Rx to Tx Wait Time
F4-04 F6-48 BACnet Device Object Identifier 0
Terminal V2 Monitor Gain
F6-49 BACnet Device Object Identifier 1
F4-05
Terminal V1 Monitor Bias F6-50 DeviceNet MAC Address
F6-51 DeviceNet Communication Speed
F4-06
Terminal V2 Monitor Bias F6-52 DeviceNet PCA Setting
F6-53 DeviceNet PPA Setting
F4-07 Terminal V1 Signal Level
F6-54 DeviceNet Idle Mode Fault Detection
F4-08 Terminal V2 Signal Level
F6-55 DeviceNet Baud Rate Monitor
F5-01 Terminal M1-M2 Output Selection
F6-56 DeviceNet Speed Scaling
F5-02 Terminal M3-M4 Output Selection
F6-57 DeviceNet Current Scaling
F5-03 Terminal P1-PC Output Selection
F6-58 DeviceNet Torque Scaling
F5-04 Terminal P2-PC Output Selection
F6-59 DeviceNet Power Scaling
F5-05 Terminal P3-PC Output Selection
F6-60 DeviceNet Voltage Scaling
F5-06 Terminal P4-PC Output Selection
F6-61 DeviceNet Time Scaling
F5-07 Terminal P5-PC Output Selection
F6-62 DeviceNet Heartbeat Interval
F5-08 Terminal P6-PC Output Selection
F6-63 DeviceNet Network MAC ID
F5-09 DO-A3 Output Mode Selection
F6-64 to
F6-01 Communications Error Operation Selection Reserved
F6-71
624 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
E.3 User Setting Table
No. Name User No. Name User
Setting Setting
F6-72 PowerLink Node Address H2-09 MEMOBUS Register 2 Address Select
F7-01 IP Address 1 H2-10 MEMOBUS Register 2 Bit Select
F7-02 IP Address 2 H3-01 Terminal A1 Signal Level Selection
F7-03 IP Address 3 H3-02 Terminal A1 Function Selection
F7-04 IP Address 4 H3-03
Terminal A1 Gain Setting
F7-05 Subnet Mask 1
F7-06 Subnet Mask 2 H3-04
Terminal A1 Bias Setting
F7-07 Subnet Mask 3
F7-08 Subnet Mask 4 H3-05 Terminal A3 Signal Level Selection
F7-09 Gateway Address 1 H3-06 Terminal A3 Function Selection
F7-10 Gateway Address 2 H3-07
Terminal A3 Gain Setting
F7-11 Gateway Address 3
H3-08
F7-12 Gateway Address 4 Terminal A3 Bias Setting
F7-13 Address Mode at Startup
H3-09 Terminal A2 Signal Level Selection
F7-14 Duplex Mode Selection
H3-10 Terminal A2 Function Selection
F7-15 Communication Speed Selection
H3-11
F7-16 Communication Loss Timeout Terminal A2 Gain Setting
F7-17 EtherNet/IP Speed Scaling Factor
H3-12
F7-18 EtherNet/IP Current Scaling Factor Terminal A2 Bias Setting
F7-19 EtherNet/IP Torque Scaling Factor H3-13 Analog Input Filter Time Constant
F7-20 EtherNet/IP Power Scaling Factor H3-14 Analog Input Terminal Enable Selection
F7-21 EtherNet/IP Voltage Scaling Factor H3-16 Terminal A1 Offset
F7-22 EtherNet/IP Time Scaling H3-17 Terminal A2 Offset
F7-23 to H3-18 Terminal A3 Offset
Dynamic Output Assembly Parameters
F7-32
Multi-Function Analog Output Terminal FM Monitor
F7-33 to H4-01
Dynamic Input Assembly Parameters Selection
F7-42
H4-02
Multi-Function Digital Input Terminal S1 Function Multi-Function Analog Output Terminal FM Gain
H1-01 Selection
Multi-Function Digital Input Terminal S2 Function H4-03
H1-02 Multi-Function Analog Output Terminal FM Bias
Selection
Multi-Function Digital Input Terminal S3 Function
H1-03 Multi-Function Analog Output Terminal AM Monitor
Selection H4-04 Selection
Multi-Function Digital Input Terminal S4 Function
H1-04 H4-05
Selection Multi-Function Analog Output Terminal AM Gain
Multi-Function Digital Input Terminal S5 Function
H1-05 Selection H4-06
Multi-Function Analog Output Terminal AM Bias
Multi-Function Digital Input Terminal S6 Function
H1-06 Selection
Multi-Function Analog Output Terminal FM Signal
H4-07
Multi-Function Digital Input Terminal S7 Function Level Selection
H1-07 Selection
Multi-Function Analog Output Terminal AM Signal
H4-08
Multi-Function Digital Input Terminal S8 Function Level Selection
H1-08 Selection
H5-01 Drive Node Address
H2-01 Multi-Function Contact Output (terminal M1-M2)
Quick Reference Sheet
H5-02 Communication Speed Selection
H2-02 Multi-Function Contact Output 2 (terminal M3-M4)
H5-03 Communication Parity Selection
H2-03 Multi-Function Contact Output 3 (terminal M5-M6)
H5-04 Stopping Method After Communication Error (CE)
H2-06 Power Consumption Output Unit Selection
H5-05 Communication Fault Detection Selection
H2-07 MEMOBUS Register 1 Address Select
H5-06 Drive Transmit Wait Time
H2-08 MEMOBUS Register 1 Bit Select
E
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 625
E.3 User Setting Table
No. Name User No. Name User
Setting Setting
H5-07 RTS Control Selection L3-06 Stall Prevention Level during Run
H5-09 CE Detection Time L3-14 Stall Prevention Level during Deceleration
Unit Selection for MEMOBUS/Modbus Register Deceleration Time at Stall Prevention during
H5-10 L3-22
0025H Acceleration
H5-11 Communications ENTER Function Selection Automatic Reduction Selection for Stall Prevention
L3-23 during Run
H5-12 Run Command Method Selection
L3-27 Stall Prevention Detection Time
Operation Selection when Unable to Write into
H5-17 EEPROM Vibration Suppression Gain during Acceleration (with
L3-36 Current Limit)
H5-18 Filter Time Constant for Motor Speed Monitoring
Current-limited Integral Time Constant during
H6-01 Pulse Train Input Terminal RP Function Selection L3-39 Acceleration
H6-02 Current-limited Maximum S-curve Selection during
Pulse Train Input Scaling L3-40 Acceleration
H6-03 Vibration Suppression Gain during Deceleration (with
L3-41
Pulse Train Input Gain Current Limit)
Current-limited Integral Time Constant during
H6-04 L3-44 Deceleration
Pulse Train Input Bias
Current-limited Maximum S-curve Selection during
L3-45
H6-05 Deceleration
Pulse Train Input Filter Time
L4-01 Speed Agree Detection Level
H6-06 L4-02 Speed Agree Detection Width
Pulse Train Monitor Selection
L4-03 Speed Agree Detection Level (+/-)
H6-07 L4-04 Speed Agree Detection Width (+/-)
Pulse Train Monitor Scaling
L4-05 Frequency Reference Loss Detection Selection
H6-08 Pulse Train Input Minimum Frequency L4-06 Frequency Reference at Reference Loss
L1-01 Motor Overload Protection Selection L4-07 Speed Agree Detection Selection
L1-02 Motor Overload Protection Time L5-01 Number of Auto Restart Attempts
Motor Overheat Alarm Operation Selection (PTC L5-02 Auto Restart Fault Output Operation Selection
L1-03 input)
L5-04 Fault Reset Interval Time
Motor Overheat Fault Operation Selection (PTC
L1-04 input) L5-05 Fault Reset Operation Selection
L1-05 Motor Temperature Input Filter Time (PTC input) L6-01 Torque Detection Selection 1
L1-08 oL1 Current Level L6-02 Torque Detection Level 1
L1-09 oL1 Current Level for Motor 2 L6-03 Torque Detection Time 1
L1-13 Continuous Electrothermal Operation Selection L6-04 Torque Detection Selection 2
L2-01 Momentary Power Loss Operation Selection L6-05 Torque Detection Level 2
L2-02 Momentary Power Loss Ride-Thru Time L6-06 Torque Detection Time 2
L2-03 Momentary Power Loss Minimum Baseblock Time L6-08 Mechanical Weakening Detection Operation
Momentary Power Loss Voltage Recovery Ramp L6-09 Mechanical Weakening Detection Speed Level
L2-04 Time
L6-10 Mechanical Weakening Detection Time
L2-07 KEB Acceleration Time
L6-11 Mechanical Weakening Detection Start Time
L2-13 Input Power Frequency Fault Detection Gain
L7-01 Forward Torque Limit
L2-21 Low Input Voltage Detection Level
L7-02 Reverse Torque Limit
L2-27 Input Power Frequency Fault Detection Width
L7-03 Forward Regenerative Torque Limit
L3-01 Stall Prevention Selection during Acceleration
L7-04 Reverse Regenerative Torque Limit
L3-02 Stall Prevention Level during Acceleration
L7-06 Torque Limit Integral Time Constant
L3-03 Stall Prevention Limit during Acceleration
Torque Limit Control Method Selection during Accel/
L3-04 Stall Prevention Selection during Deceleration L7-07 Decel
L3-05 Stall Prevention Selection during Run L7-16 Torque Limit Process at Start
626 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
E.3 User Setting Table
No. Name User No. Name User
Setting Setting
L8-02 Overheat Alarm Level Speed Feedback Detection Control Gain (for PM
n8-45 Motors)
L8-03 Overheat Pre-Alarm Operation Selection
Pull-In Current Compensation Time Constant (for PM
L8-07 Output Phase Loss Protection n8-47 Motors)
L8-09 Output Ground Fault Detection Selection n8-48 Pull-In Current (for PM Motors)
L8-10 Heatsink Cooling Fan Operation Selection d-Axis Current for High Efficiency Control (for PM
n8-49 Motors)
L8-11 Heatsink Cooling Fan Off Delay Time
Acceleration/Deceleration Pull-In Current (for PM
L8-12 Ambient Temperature Setting n8-51 Motors)
L8-15 oL2 Characteristics Selection at Low Speeds n8-54 Voltage Error Compensation Time Constant
L8-18 Software Current Limit Selection n8-55 Load Inertia
Frequency Reduction Rate during Overheat n8-57 High Frequency Injection
L8-19 Pre-Alarm
n8-62 Output Voltage Limit (for PM Motors)
L8-27 Overcurrent Detection Gain
n8-69 Speed Calculation Gain
L8-29 Current Unbalance Detection (LF2)
n8-72 Speed Estimation Method Selection
L8-32 Cooling Fan Failure Selection
n8-84 Initial Polarity Estimation Timeout Current
L8-35 Installation Method Selection
o1-01
L8-38 Carrier Frequency Reduction Selection Drive Mode Unit Monitor Selection
L8-40 Carrier Frequency Reduction Off-Delay Time
o1-02
L8-41 High Current Alarm Selection User Monitor Selection After Power Up
L8-93 LSo Detection Time at Low Speed
o1-03 Digital Operator Display Selection
L8-94 LSo Detection Level at Low Speed
o1-04 V/f Pattern Display Unit
L8-95 Average LSo Frequency at Low Speed
o1-05
L9-03 Carrier Frequency Reduction Level Selection LCD Contrast Control
n1-01 Hunting Prevention Selection
o1-10 User-Set Display Units Maximum Value
n1-02 Hunting Prevention Gain Setting
o1-11 User-Set Display Units Decimal Display
n1-03 Hunting Prevention Time Constant
o2-01 LO/RE Key Function Selection
n1-05 Hunting Prevention Gain while in Reverse
o2-02 STOP Key Function Selection
n2-01 Speed Feedback Detection Control (AFR) Gain
o2-03 User Parameter Default Value
Speed Feedback Detection Control (AFR) Time
n2-02 o2-04 Drive Model Selection
Constant 1
n3-13 Overexcitation Deceleration Gain o2-05 Frequency Reference Setting Method Selection
n5-01 Feed Forward Control Selection Operation Selection when Digital Operator is
o2-06 Disconnected
n5-02 Motor Acceleration Time
o2-07 Motor Direction at Power Up when Using Operator
n5-03 Feed Forward Control Gain
o3-01 Copy Function Selection
n6-01 Online Tuning Selection
o3-02 Copy Allowed Selection
n6-05 Online Tuning Gain
o4-01 Cumulative Operation Time Setting
n8-01 Initial Rotor Position Estimation Current
o4-02 Cumulative Operation Time Selection
n8-02 Pole Attraction Current
o4-03 Cooling Fan Maintenance Operation Time Setting
n8-11 Induction Voltage Estimation Gain 2
o4-05 Capacitor Maintenance Setting
n8-14 Polarity Compensation Gain 3
o4-07 DC Bus Pre-charge Relay Maintenance Setting
n8-15 Polarity Compensation Gain 4
o4-11 U2, U3 Initialize Selection
Quick Reference Sheet
n8-21 Motor Ke Gain
o4-12 kWh Monitor Initialization
n8-35 Initial Rotor Position Detection Selection
o4-13 Number of Run Commands Counter Initialization
n8-36 High Frequency Injection Level
o4-19 Power Unit Price
n8-37 High Frequency Injection Amplitude
q1-01 to DriveWorksEZ Parameters
Low Pass Filter Cutoff Frequency for High Frequency q6-07
n8-39 Injection
E
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 627
E.3 User Setting Table
No. Name User No. Name User
Setting Setting
r1-01 to T2-05 PM Motor Rated Voltage
DWEZ Connection Parameter 1 to 20 (upper/lower)
r1-40
T2-06 PM Motor Rated Current
T1-00 Motor 1/Motor 2 Selection
T2-07 PM Motor Base Frequency
T1-01 Auto-Tuning Mode Selection
T2-08 Number of PM Motor Poles
T1-02 Motor Rated Power
T2-09 PM Motor Base Speed
T1-03 Motor Rated Voltage
T2-10 PM Motor Stator Resistance
T1-04 Motor Rated Current
T2-11 PM Motor d-Axis Inductance
T1-05 Motor Base Frequency
T2-12 PM Motor q-Axis Inductance
T1-06 Number of Motor Poles
T2-13 Induced Voltage Constant Unit Selection
T1-07 Motor Base Speed
T2-14 PM Motor Induced Voltage Constant
T1-08 PG Number of Pulses Per Revolution
T2-15 Pull-In Current Level for PM Motor Tuning
T1-09 Motor No-Load Current (Stationary Auto-Tuning)
PG Number of Pulses Per Revolution for PM Motor
T2-16
T1-10 Motor Rated Slip (Stationary Auto-Tuning) Tuning
T1-11 Motor Iron Loss T2-17 Encoder Z Pulse Offset
T2-01 PM Motor Auto-Tuning Mode Selection T3-01 Test Signal Frequency
T2-02 PM Motor Code Selection T3-02 Test Signal Amplitude
T2-03 PM Motor Type T3-03 Motor Inertia
T2-04 PM Motor Rated Power T3-04 System Response Frequency
628 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
Index
+ Analog Input Option Card Operation Selection ....................... 236
+V, -V .........................................................................89 Analog Inputs / Pulse Train Input .........................................89
Analog Input Terminal Enable Selection ............................... 270
Numerics Analog Monitor Card Settings ........................................... 238
2-Wire Initialization ....................................................... 153 AO-A3....................................................................... 412
3-Wire Initialization ....................................................... 153 AO-A3 Settings ............................................................ 238
3-Wire Sequence........................................................... 247 Aov .......................................................................... 335
5th Most Recent Fault..................................................... 523 Application Presets ........................................................ 127
Application Selection ........................................................ 3
A
ASR.......................................................................... 197
A1 ..............................................................................89
ASR Gain Auto-Tuning................................................... 133
A1-02 (Motor 1 Control Mode) Dependent Parameters .............. 530
ASR Gain Switching Frequency......................................... 199
A1-03 ........................................................................ 147
ASR Integral Limit ........................................................ 200
A1-04, A1-05: Password and Password Setting ....................... 154
ASR Integral Time......................................................... 199
A2 ..............................................................................89
ASR Limit .................................................................. 200
A3 ..............................................................................89
ASR Primary Delay Time Constant ..................................... 200
AC .............................................................................89
ASR Proportional Gain ................................................... 199
Accel/Decel Time.......................................................... 435
ASR Response Frequency ................................................ 143
Accel/Decel Time Setting Units ......................................... 192
Attaching the Protective Cover ............................................79
Accel/Decel Time Switching Frequency ............................... 193
Attachment for External Heatsink ................................. 413, 426
Acceleration/Deceleration Pull-In Current (for PM Motors) ........ 309
Automatic Reduction for Stall Prevention during Run ......... 288, 500
Acceleration Error ......................................................... 366
Automatic Speed Regulator .............................................. 197
Acceleration Time ......................................................... 191
Auto Restart Fault Output Operation Selection........................ 291
Acceleration Time Pull-In Current (for PM Motors) ................. 510
Auto Restart Operation Selection........................................ 502
Access Level Selection.................................................... 152
Auto-Tuning ....................................................... 3, 133, 137
Action Selection below Minimum Output Frequency ................ 163
Auto-Tuning Codes........................................................ 364
Adjusted Slip Calculation Error ......................................... 364
Auto-Tuning Errors........................................................ 334
Adjusting the ASR Parameters........................................... 197
Auto-Tuning Fault Codes................................................. 135
AEr........................................................................... 351
Auto-Tuning Fault Detection............................................. 364
AI-A3........................................................................ 412
Auto-Tuning Fault Solutions ............................................. 364
AI-A3 Settings ............................................................. 236
Auto-Tuning for Induction Motors ...................................... 130
Air Compressor Application ............................................. 129
Auto-Tuning for Permanent Magnet Motors........................... 131
Alarm Outputs for Maintenance Monitors ............................. 390
Auto-Tuning Input Data ................................ 131, 132, 133, 134
Alarm Register 007FH Contents......................................... 589
Auto-Tuning Interruption and Fault Codes............................. 135
Alarms and Errors ............................................................ 3
Auto-Tuning Mode Selection ...................................... 138, 515
ALM LED Light ........................................................... 109
AUv.......................................................................... 335
Altitude........................................................................50
AM.............................................................................89 B
Ambient Temperature .......................................................50 Backing Up Parameter Values ........................................... 147
Ambient Temperature and Installation Method Derating ............ 439 Backspin Search Direction Judgment Time 1/2 ....................... 174
Ambient Temperature Setting................................ 299, 439, 505 Baseblock ................................................................... 351
Analog Frequency Reference Fluctuation Limit....................... 213 Base Frequency ............................................................ 223
Analog Frequency Reference Sample/Hold............................ 252 Base Voltage ............................................................... 223
Analog Input Card Settings............................................... 236 Basic Auto-Tuning Preparations......................................... 133
Analog Input Filter Time Constant ...................................... 269 bb............................................................................. 351
Analog Input Option Card Bias .......................................... 237 Bi-Directional Speed Search Selection ................................. 172
Analog Input Option Card Gain ......................................... 237 Bottom cover ................................................... 42, 43, 44, 45
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 629
Index
Braking Torque ................................................................. 435 Control Circuit Error ........................................................... 336
Broadcast Messages ............................................................ 587 Control Circuit Input Terminals ................................................88
bUS ......................................................................... 335, 351 Control Circuit Output Terminals ..............................................89
bUS Error Detection Time..................................................... 241 Control Circuit Overvoltage................................................... 347
Control Circuit Terminal Block Functions ....................................88
C
Control Circuit Undervoltage Fault .......................................... 350
Cable Length Between Drive and Motor ......................................86 Control Circuit Voltage ........................................................ 519
CALL............................................................................. 352 Control Fault .................................................................... 336
Cannot Reset .................................................................... 352 Control Method Selection ..................................................... 152
CANopen Communication Speed ............................................ 243 Control Method Selection Error .............................................. 361
CANopen Node ID Selection ................................................. 243 Control Mode.............................................................. 152, 519
CANopen Parameters .......................................................... 243 Control Mode Dependent Parameter Default Values ...................... 530
Capacitor Maintenance......................................................... 524 Control Mode Mismatch ....................................................... 369
Capacitor Maintenance Setting ......................................... 316, 513 Control Modes and Features ....................................................31
Capacitor Maintenance Time.................................................. 355 Control Mode Selection..........................................................31
Carrier Frequency and Current Derating .................................... 438 Control Power Supply Voltage Fault......................................... 350
Carrier Frequency Derating ................................................... 438 Conveyor Application.......................................................... 128
Carrier Frequency during Rotational Auto-Tuning ........................ 204 Cooling fan ........................................ 38, 39, 40, 41, 42, 43, 44, 45
Carrier Frequency Lower Limit............................................... 203 Cooling Fan Maintenance ..................................................... 524
Carrier Frequency Proportional Gain ........................................ 203 Cooling Fan Maintenance Setting (Operation Time) ...................... 513
Carrier Frequency Reduction.................................................. 505 Cooling Fan Maintenance Time .............................................. 355
Carrier Frequency Reduction Off-Delay Time ............................. 301 Cooling Fan Operation Time.................................................. 524
Carrier Frequency Reduction Selection...................................... 301 Cooling Fan Operation Time Setting......................................... 316
Carrier Frequency Selection.....................................................86 CoPy .............................................................................. 369
Carrier Frequency Setting Error .............................................. 362 Copy Allowed Selection ....................................................... 316
Carrier Frequency Upper Limit ............................................... 203 Copy Function................................................................... 148
CC-Link bUS Error Auto Reset............................................... 241 Copy Function Errors .......................................................... 330
CC-Link Communication Speed.............................................. 241 Copy Function Selection....................................................... 315
CC-Link Node Address ........................................................ 241 Copy Unit Error ................................................................. 369
CC-Link Parameters............................................................ 241 CopyUnitManager .............................................................. 148
CE........................................................................... 336, 352 CPEr .............................................................................. 369
CE Detection Time ............................................................. 566 CPF25 ............................................................................ 337
CE Low Voltage Directive Compliance ..................................... 596 CPyE ............................................................................. 369
CF ................................................................................. 336 CRC-16 .......................................................................... 570
Changing Parameter Settings or Values ..................................... 114 CRC-16 Checksum Calculation Example ................................... 571
Closed-Loop Crimp Terminal Size........................................... 604 CrST .............................................................................. 352
Closed Loop Vector control .....................................................31 CSEr .............................................................................. 369
Closed Loop Vector Control for PM Motors..................................31 Cumulative Operation Time................................................... 523
CoF ............................................................................... 336 Cumulative Operation Time at 5th Most Recent Fault .................... 523
Comm. option card connection error (CN5-A) ............................. 343 Cumulative Operation Time at Most Recent Fault ......................... 523
Command Messages from Master to Drive ................................. 569 Cumulative Operation Time at Previous Fault.............................. 522
Commercial Power Switching Output Freq. Coincidence Level ......... 166 Cumulative Operation Time Selection................................. 316, 512
Commercial Power Switching Selection .................................... 166 Cumulative Operation Time Setting ................................... 316, 512
Communication Error .......................................................... 369 Current Alarm ................................................................... 355
Communication Fault Detection Selection .................................. 566 Current Detection Error ........................................................ 366
Communication Option Card.................................................. 239 Current Fault .................................................................... 521
Communication Option Card Reference..................................... 525 Current Offset Fault ............................................................ 336
Communication Parity Selection ............................................. 565 Current Unbalance Detection (LF2).................................... 300, 505
Communications Enter Function Selection ................................. 567 Cyc................................................................................ 352
Communications Error Operation Selection ................................ 239 Cyclic Redundancy Check..................................................... 570
Communication Speed of Serial Encoder Selection ....................... 236
Communication Speed Selection ............................................. 565 D
Communications Timing ...................................................... 569 Daily Inspection................................................................. 386
Comparing Parameter Settings................................................ 370 Damping Resistor Overheat ................................................... 337
Component Names ...............................................................38 d-Axis ACR Output ............................................................ 526
Connecting a Surge Absorber ................................................. 426 d-Axis Current for High Efficiency Control (for PM Motors)...... 309, 509
Connecting Peripheral Devices ............................................... 414 DC Bus Pre-Charge Relay Maintenance Setting ........................... 316
Connecting to a PC (USB).......................................................98 DC Bus Voltage at Previous Fault............................................ 522
Connection of a Motor PTC ................................................... 281 DC Injection Braking Current................................................. 167
Continuous Electrothermal Operation Selection ..................... 283, 498 DC Injection Braking Input Timing Diagram............................... 254
630 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
Index
DC Injection Braking Start Frequency....................................... 160 Drive Model Mismatch ........................................................ 369
DC Injection Braking Time at Start .......................................... 161 Drive Models and Types.........................................................57
DC Injection Braking Time at Stop .......................................... 168 Drive Model Selection ......................................................... 314
D Control ........................................................................ 177 Drive Mode Unit Monitor Selection ................................... 312, 511
Deceleration Time .............................................................. 191 Drive Operation Status at Previous Fault.................................... 522
Deceleration Time at Stall Prevention during Acceleration......... 285, 500 Drive Overload.................................................................. 346
Defaults by Drive Model Selection (o2-04) and ND/HD (C6-01) ....... 135 Drive Protection 2 .............................................................. 302
Derivative Time (D) ............................................................ 180 Drive Replacement ............................................................. 405
DeviceNet Baud Rate Monitor................................................ 244 Drive Slave Address............................................................ 565
DeviceNet Communication Speed............................................ 244 Drive Specifications ............................................................ 435
DeviceNet Heartbeat Interval ................................................. 245 Drive Status...................................................................... 520
DeviceNet Idle Mode Fault Detection ....................................... 244 Drive Transmit Wait Time .................................................... 566
DeviceNet MAC Address...................................................... 243 Drive Watt Loss Data ............................................................50
DeviceNet Network MAC ID ................................................. 245 DriveWizard Industrial................................................... 148, 413
DeviceNet Parameters.......................................................... 243 DriveWorksEZ .................................................................. 413
DeviceNet PCA Setting ........................................................ 244 DriveWorksEZ Connection Parameters ..................................... 317
DeviceNet PPA Setting ........................................................ 244 DriveWorksEZ Custom Monitor 1 to 10 .................................... 528
DeviceNet Scaling Factors .................................................... 244 DriveWorksEZ Fault ........................................................... 338
dFPS .............................................................................. 369 DriveWorksEZ Function Selection........................................... 156
DI-A3............................................................................. 412 DriveWorksEZ Monitors ...................................................... 320
DI-A3 Settings .................................................................. 237 DriveWorksEZ Parameters .................................................... 317
Diagnosing and Resetting Faults ............................................. 349 Droop Control Delay Time .................................................... 188
Digital Input Card Settings .................................................... 237 Droop Control Gain ............................................................ 187
Digital Input Option Card Input Selection .................................. 237 During Commercial Power Operation ....................................... 266
Digital Input Option DI-A3 Data Length Selection ........................ 237 During Frequency Output Time Chart ....................................... 265
Digital Input Reading .......................................................... 164 During Run Time Chart........................................................ 257
Digital Operator...................................................................38 dv1 ................................................................................ 337
Digital operator ................................... 38, 39, 40, 41, 42, 43, 44, 45 dv2 ................................................................................ 337
Digital Operator Dimensions....................................................54 dv3 ................................................................................ 337
Digital Operator Display Selection..................................... 312, 511 dv3 Detection Selection........................................................ 235
Digital Operator Installation Methods and Required Tools .................54 dv4 ................................................................................ 338
Digital Operator Keypad Functions .......................................... 313 dv4 Detection Selection........................................................ 235
Digital Operator Menu and Screen Structure ............................... 112 dv7 ................................................................................ 338
Digital Operator Remote Installation ..........................................54 dWAL ............................................................................ 338
digital operator remote usage ...................................................53 Dwell Function.................................................................. 186
Digital Output Card Settings .................................................. 238 Dwell Reference at Start ....................................................... 187
Digital Output Option Card Terminal Function Selection ................ 239 Dwell Reference at Stop ....................................................... 187
Dimensions for IP00 Enclosure: 200 V Class.................................58 Dwell Time at Start............................................................. 187
Dimensions for IP00 Enclosure: 400 V Class.................................59 Dwell Time at Stop ............................................................. 187
Dimensions for IP20/NEMA Type 1 Enclosure: 200 V Class..............60 DWEZ Version Control Monitor 1 to 3...................................... 528
Dimensions for IP20/NEMA Type 1 Enclosure: 400 V Class..............61 dWF1 ............................................................................. 338
DIP Switch S1 Settings ..........................................................96 dWFL............................................................................. 338
DIP Switch S4 Settings ..........................................................96
E
DM-.................................................................................89
DM+ ................................................................................89 E (G)................................................................................89
dnE................................................................................ 353 E2-03 ............................................................................. 365
DO-A3............................................................................ 412 E3-01 (Motor 2 Control Mode) Dependent Parameters ................... 533
DO-A3 Output Mode Selection............................................... 239 E5 ................................................................................. 338
DO-A3 Settings ................................................................. 238 EDM Switch Settings ............................................................97
doH ............................................................................... 337 EEPROM Memory DriveWorksEZ Data Error............................. 338
Down Arrow Key ............................................................... 109 EEPROM Write Error.......................................................... 339
Drive/kVA Selection ........................................................... 512 EF ................................................................................. 353
Drive Cooling Fans ............................................................. 340 EF0 ......................................................................... 339, 353
Drive cover ................................................................... 40, 44 EF1 ......................................................................... 339, 353
Drive cover 1 ................................................................. 41, 45 EF2 ......................................................................... 339, 353
Drive cover 2 ................................................................. 41, 45 EF3 ......................................................................... 339, 353
Drive Derating Data ............................................................ 438 EF4 ......................................................................... 339, 354
Drive Disabled .................................................................. 353 EF5 ......................................................................... 339, 354
Drive Duty Mode Selection ................................................... 202 EF6 ......................................................................... 339, 354
Drive Mode ................................................................ 113, 114 EF7 ......................................................................... 339, 354
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 631
Index
EF8 ......................................................................... 339, 354 External Fault ............................................................. 339, 353
Electromotive Force Parameter Tuning...................................... 131 External Fault from Comm. Option Detection Selection.................. 240
EMC Filter and Drive Installation for CE Compliance.................... 598 External Fault from Comm. Option Operation Selection ................. 240
EMC Filter Installation......................................................... 596 External Interlock............................................................... 103
EMC Guidelines Compliance ................................................. 596 Eye bolt .............................................................. 38, 39, 42, 43
Enclosure Types ..................................................................37
F
Encoder Selection............................................................... 236
Encoder Z-Pulse Offset ........................................................ 142 Fan fault.......................................................................... 339
Encoder Z-Pulse Offset (for PM Motors) ................................... 231 Fast Stop Sequence ............................................................. 251
End................................................................................ 369 Fast Stop Time .................................................................. 192
End1 .............................................................................. 364 Fault Causes and Solutions .................................................... 335
End2 .............................................................................. 364 Fault Detection .................................................................. 335
End3 .............................................................................. 364 Fault Displays ................................................................... 335
End4 .............................................................................. 364 Fault History..................................................................... 319
End5 .............................................................................. 364 Fault Relay Output................................................................89
End6 .............................................................................. 364 Fault Reset Interval Time................................................ 292, 502
End7 .............................................................................. 365 Fault Reset Methods............................................................ 330
EnDat Encoder .................................................................. 412 Fault Reset Operation Selection ........................................ 292, 502
Energy Saving................................................................... 188 Fault Restart ..................................................................... 264
Energy Saving Coefficient Value............................................. 189 Faults ....................................................................... 330, 331
Energy Saving Control Filter Time Constant ............................... 189 Fault Trace................................................................. 319, 371
Energy Saving Control Selection ............................................. 188 FbH ......................................................................... 340, 354
Energy Saving Gain ............................................................ 188 FbL ......................................................................... 340, 354
Energy Savings Constants Error .............................................. 363 Fdv ................................................................................ 340
Enter Command................................................................. 567 Feed Forward Control .......................................................... 305
Enter command necessary ..................................................... 567 Feed Forward Control Diagram............................................... 305
Enter command not necessary ................................................ 567 Feed Forward Control Gain ................................................... 306
Enter Command Types......................................................... 590 Feed Forward Control Selection .............................................. 305
Enter Data from the Motor Nameplate....................................... 136 Ferrule Dimensions...............................................................90
ENTER Key ..................................................................... 109 Ferrule Terminal Types and Sizes ..............................................91
Er-01.............................................................................. 365 Ferrule-Type Wire Terminals ...................................................90
Er-02.............................................................................. 365 Field Forcing .................................................................... 218
Er-03.............................................................................. 365 Field Forcing Limit ............................................................. 219
Er-04.............................................................................. 365 Field Forcing Selection ........................................................ 219
Er-05.............................................................................. 365 Field Weakening ................................................................ 218
Er-08.............................................................................. 366 Field Weakening Frequency Limit ........................................... 218
Er-09.............................................................................. 366 Field Weakening Level ........................................................ 218
Er-10.............................................................................. 366 Fine-Tuning Advanced Open Loop Vector Control for PM Motors..... 328
Er-11.............................................................................. 366 Fine-Tuning Closed Loop Vector Control................................... 326
Er-12.............................................................................. 366 Fine-Tuning Closed Loop Vector Control for PM Motors................ 328
Er-13.............................................................................. 367 Fine-Tuning Open Loop Vector Control for PM Motors.................. 327
Er-14.............................................................................. 367 Fine-Tuning V/f Control and V/f Control with PG ........................ 324
Er-15.............................................................................. 367 FJOG/RJOG Operation ........................................................ 250
Er-16.............................................................................. 367 FM ..................................................................................89
Er-17.............................................................................. 367 Forward/Reverse Run Command Input Error............................... 353
Er-18.............................................................................. 367 Forward Regenerative Torque Limit ................................... 296, 504
Er-19.............................................................................. 367 Forward Torque Limit.................................................... 296, 504
Er-20.............................................................................. 367 Frequency Accuracy (Temperature Fluctuation) ........................... 435
Er-21.............................................................................. 368 Frequency Control Range...................................................... 435
Er-25.............................................................................. 368 Frequency Detection 1 Time Chart........................................... 259
Err................................................................................. 339 Frequency Detection 2 Time Chart........................................... 260
Error Reading Data ............................................................. 370 Frequency Detection 3 Example with a Positive L3-04 Value ........... 263
Errors and Displays When Using the Copy Function...................... 334 Frequency Detection 4 Example with Positive L3-04 Value ............. 263
Error Writing Data.............................................................. 369 Frequency Reduction Rate during Overheat Pre-Alarm............. 299, 505
European Standards ............................................................ 596 Frequency Reference ..................................................... 205, 519
Excessive PID Feedback................................................. 340, 354 Frequency Reference at Previous Fault ...................................... 522
Excessive V/f Setting........................................................... 364 Frequency Reference at Reference Loss............................... 290, 502
Exhaust Fan Application....................................................... 128 Frequency Reference Bias ..................................................... 211
Exterior and Mounting Dimensions ............................................57 Frequency Reference Bias (Up/Down 2) .................................... 527
External Digital Operator Connection Fault ................................ 347 Frequency Reference Bias Accel/Decel ..................................... 212
632 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
Index
Frequency Reference Bias Lower Limit ..................................... 211 Hunting Prevention Selection ........................................... 303, 507
Frequency Reference Bias Operation Mode Selection .................... 212 Hunting Prevention Time Constant .................................... 303, 507
Frequency Reference Bias Step............................................... 211 HVAC Fan Application ........................................................ 129
Frequency Reference Bias Upper Limit ..................................... 211
I
Frequency Reference from MEMOBUS/Modbus Comm. ................ 524
Frequency Reference Hold Function Selection ............................. 209 I/O Connections...................................................................66
Frequency Reference Loss Detection Selection ...................... 261, 502 iFEr ............................................................................... 369
Frequency Reference Lower Limit ........................................... 207 IG ...................................................................................89
Frequency Reference Monitor Content During PID ....................... 185 Incorrect Input Voltage Adjustment.......................................... 363
Frequency Reference Selection ............................................... 446 Induced Voltage Constant Unit Selection ................................... 141
Frequency Reference Selection 1............................................. 158 Induction Voltage Error........................................................ 367
Frequency Reference Selection 2............................................. 165 Induction Voltage Estimation Gain 2 ........................................ 307
Frequency Reference Setting / Decimal Display ........................... 511 Inertia Tuning ................................................................... 133
Frequency Reference Setting and User-Set Display ....................... 511 Inertia Tuning Frequency Reference ......................................... 143
Frequency Reference Setting Hierarchy ..................................... 205 Inertia Tuning Reference Amplitude......................................... 143
Frequency Reference Setting Method Selection...................... 314, 512 Initialization ..................................................................... 152
Frequency Reference Source Selection ...................................... 524 Initialization Required ......................................................... 361
Frequency Reference Upper Limit ........................................... 207 Initialize Parameters...................................................... 147, 153
Frequency Setting Resolution ................................................. 435 Initial Operation................................................................. 119
Frequency Setting Signal ...................................................... 435 Initial Polarity Estimation Timeout .......................................... 338
Front cover......................................... 38, 39, 40, 41, 42, 43, 44, 45 Initial Rotor Position Detection Selection ................................... 308
Function Code................................................................... 570 Initial Rotor Position Estimation Current.................................... 307
Functions for Terminals S1 to S8............................................. 246 Input Pulse Monitor ............................................................ 521
Input Terminals ................................................................. 118
G Input Terminal Status .......................................................... 519
GF................................................................................. 340 Input Terminal Status at Previous Fault ..................................... 522
Ground Fault .................................................................... 340 Inrush Prevention Relay Maintenance Setting .............................. 513
Ground Wiring ....................................................................86 Inspection .................................................................. 386, 387
Installation Area ..................................................................50
H
Installation Environment.........................................................50
H1 ...................................................................................88 Installation Method Selection ................................................. 300
H1 Multi-Function Digital Input Selections................................. 483 Installation Orientation...........................................................50
H2 ...................................................................................88 Installation Spacing...............................................................51
H3-02 ............................................................................. 378 Installing a GFCI................................................................ 425
H3-09 ...............................................................................96 Installing a Magnetic Contactor ................................................25
H3 Multi-Function Analog Input Settings................................... 493 Installing a Molded Case Circuit Breaker (MCCB)..........................24
Hanging bracket..................................................... 40, 41, 44, 45 Installing a Motor Thermal Overload (oL) Relay on the Drive Output . 426
HC ..................................................................................88 Installing Peripheral Devices.................................................. 425
HCA .............................................................................. 355 Installing the Cooling Fan ..................................................... 394
HD ................................................................................ 202 Integral Limit Setting........................................................... 180
Heatsink ............................................ 38, 39, 40, 41, 42, 43, 44, 45 Integral Operation during Accel/Decel ...................................... 200
Heatsink Cooling Fan Off-Delay Time ...................................... 299 Integral Operation during Accel/Decel for Motor 2........................ 202
Heatsink Cooling Fan Operation Delay Time .............................. 505 Integral Time Setting (I) ....................................................... 180
Heatsink Cooling Fan Operation Selection............................ 298, 505 Interlock Circuit Example ..................................................... 103
Heatsink Overheat ........................................................ 344, 356 Internal Resistance Fault....................................................... 349
Heatsink Overheat Warning ................................................... 356 Inversion Detection............................................................. 337
Heatsink Temperature.......................................................... 524 Inversion Prevention Detection ............................................... 338
Heavy Duty ...................................................................... 202 IP00/Open Type Enclosures.....................................................37
Heavy Duty Ratings ............................................................ 202 IP20/NEMA Type 1 Enclosures ................................................37
High Current Alarm Selection ................................................ 301 IP20/NEMA Type 1 Kit ....................................................... 413
High Frequency Injection...................................................... 153
High Frequency Injection Amplitude ........................................ 308 J
High Frequency Injection Level .............................................. 308 Jog Frequency Reference ...................................................... 205
High Frequency Injection Parameter Tuning ............................... 131 Jump Frequency Width ........................................................ 208
High Frequency Injection Parameter Tuning Error ........................ 368
K
High Performance Operation Using OLV or CLV ......................... 122
Humidity ...........................................................................50 KEB Acceleration Time ....................................................... 499
Hunting Prevention ............................................................. 303 Keys and Displays on the Digital Operator ............................... 0
Hunting Prevention Gain Setting ....................................... 303, 507 kWh Monitor Initialization .................................................... 317
Hunting Prevention Gain while in Reverse ........................... 303, 507 kWh Monitor Initial Value Selection ........................................ 513
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 633
Index
L Mechanical Weakening Detection 1 ................................... 347, 357
L3-02 ............................................................................. 380 Mechanical Weakening Detection 2 ......................................... 350
L8-12 ............................................................................. 439 Mechanical Weakening Detection Operation ......................... 294, 503
L8-35 ............................................................................. 439 Mechanical Weakening Detection Speed Level ...................... 295, 503
Language Selection............................................................. 152 Mechanical Weakening Detection Start Time ........................ 295, 503
LCD Contrast Control.......................................................... 511 Mechanical Weakening Detection Time............................... 295, 503
LCD Display .................................................................... 110 MECHATROLINK bUS Errors Detected................................... 242
Leakage Inductance Alarm .................................................... 364 MECHATROLINK Comm. Cycle Setting Error........................... 352
Leakage Inductance Error ..................................................... 367 MECHATROLINK Frame Size .............................................. 241
LED Check ...................................................................... 524 MECHATROLINK Link Speed .............................................. 242
LED Operator ................................................................... 413 MECHATROLINK Monitor Selection (Code 0EH)....................... 242
LF ................................................................................. 341 MECHATROLINK Station Address......................................... 241
LF2 ............................................................................... 341 MEMOBUS/Modbus Comm. Test Mode Complete ....................... 357
Line-to-Line Motor Resistance Online Tuning ............................. 508 MEMOBUS/Modbus Communication Error.......................... 336, 352
Line-to-Line Resistance Error................................................. 365 MEMOBUS/Modbus Communications Reference......................... 525
LO/RE ............................................................................ 111 MEMOBUS/Modbus Communication Test Mode Error .................. 358
LO/RE (LOCAL/REMOTE) Key Function Selection ..................... 165 MEMOBUS/Modbus Data Table............................................. 574
LO/RE LED ..................................................................... 111 MEMOBUS/Modbus Error Code ............................................ 520
LO/RE Light..................................................................... 109 MEMOBUS/Modbus Error Codes ........................................... 591
LO/RE Selection Key .......................................................... 109 MEMOBUS/Modbus Setup Parameters ..................................... 565
Load Inertia................................................................ 310, 510 MEMOBUS/Modbus Specifications ......................................... 561
Load Inertia Ratio............................................................... 201 MEMOBUS/Modbus Switch Settings .........................................97
LOCAL........................................................................... 118 Menu Structure for Digital Operator ......................................... 112
LOCAL/REMOTE Key Function Selection ................................ 511 Message Format................................................................. 570
LOCAL/REMOTE Run Selection............................................ 165 Middle Output Frequency ..................................................... 223
Loopback Test................................................................... 572 Middle Output Frequency 2 ................................................... 223
Loss of Reference Function ................................................... 290 Middle Output Frequency Voltage ........................................... 223
Low Pass Filter Cutoff Frequency for High Frequency Injection ........ 308 Middle Output Frequency Voltage 2 ......................................... 223
Low Voltage Wiring for Control Circuit Terminals ....................... 607 Minimum Output Frequency .................................................. 223
LSo ............................................................................... 341 Minimum Output Frequency Voltage........................................ 223
LSo Fault......................................................................... 341 Minimum Wait Time for Sending Messages................................ 569
LT-1 .............................................................................. 355 Minor Fault ...................................................................... 365
LT-2 .............................................................................. 355 Minor Fault and Alarm Displays ............................................. 333
LT-3 .............................................................................. 355 Minor Faults and Alarms ................................................ 330, 333
Model, Voltage Class, Capacity Mismatch.................................. 370
M Model Number and Nameplate Check .........................................34
M1 ..................................................................................89 Modes ............................................................................ 113
M2 ..................................................................................89 Momentary Overcurrent Protection .......................................... 436
M3 ..................................................................................89 Momentary Power Loss Minimum Baseblock Time................. 284, 499
M4 ..................................................................................89 Momentary Power Loss Operation Selection ......................... 170, 499
M5 ..................................................................................89 Momentary Power Loss Ride-Thru .................................... 283, 436
M6 ..................................................................................89 Momentary Power Loss Ride-Thru Time ............................. 284, 499
MA..................................................................................89 Momentary Power Loss Voltage Recovery Acceleration Time .......... 284
Magnetic Flux Compensation Value ......................................... 168 Momentary Power Loss Voltage Recovery Ramp Time ............ 284, 499
Main Circuit Connection Diagram .............................................69 Monitor Output....................................................................89
Main Circuit Terminal ...........................................................46 Monitor Parameters....................................................... 273, 519
Main Circuit Terminal and Motor Wiring.....................................85 Most Recent Fault .............................................................. 523
Main Circuit Terminal Functions...............................................80 Motor 1/Motor 2 Selection .................................................... 137
Main Circuit Terminal Wiring ..................................................86 Motor 1 Parameters............................................................. 224
Main Circuit Wiring ..............................................................80 Motor 2 ASR Gain Switching Frequency ................................... 201
Maintenance ..................................................................... 264 Motor 2 ASR Integral Limit................................................... 201
Maintenance Alarms ........................................................... 390 Motor 2 ASR Integral Time ................................................... 201
Maintenance Monitors ......................................................... 319 Motor 2 ASR Limit............................................................. 201
Maintenance Monitor Settings ................................................ 316 Motor 2 ASR Primary Delay Time Constant ............................... 201
Master Speed Reference Lower Limit ....................................... 208 Motor 2 ASR Proportional Gain .............................................. 201
Maximum Output Frequency.................................................. 223 Motor 2 Base Frequency....................................................... 227
Maximum Voltage.............................................................. 223 Motor 2 Base Voltage .......................................................... 227
MB ..................................................................................89 Motor 2 Control Mode Selection ............................................. 227
MC ..................................................................................89 Motor 2 Inertia .................................................................. 202
Mechanical Weakening Detection............................................ 264 Motor 2 Iron Loss............................................................... 229
634 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
Index
Motor 2 Leakage Inductance .................................................. 229 Motor PG Feedback Line Driver Interface .................................. 412
Motor 2 Line-to-Line Resistance ............................................. 229 Motor PG Feedback Open Collector Interface.............................. 412
Motor 2 Load Inertia Ratio .................................................... 202 Motor Protection ................................................................ 278
Motor 2 Max Output Frequency .............................................. 227 Motor Protection Using a PTC Thermistor.................................. 272
Motor 2 Max Voltage .......................................................... 227 Motor PTC Characteristics .................................................... 282
Motor 2 Mechanical Loss...................................................... 229 Motor q-Axis Current at Previous Fault ..................................... 522
Motor 2 Mid Output Frequency............................................... 227 Motor q-Axis Inductance (for PM Motors) ................................. 231
Motor 2 Mid Output Frequency 2 ............................................ 227 Motor Rated Current ......................................... 138, 224, 515, 607
Motor 2 Mid Output Frequency Voltage .................................... 227 Motor Rated Current (for PM Motors)....................................... 231
Motor 2 Mid Output Frequency Voltage 2 .................................. 227 Motor Rated Power ................................................. 138, 226, 515
Motor 2 Minimum Output Frequency........................................ 227 Motor Rated Power (for PM Motors) ........................................ 230
Motor 2 Minimum Output Frequency Voltage ............................. 227 Motor Rated Slip.......................................................... 139, 224
Motor 2 Motor Iron-Core Saturation Coefficient 1 ........................ 229 Motor Rated Voltage ..................................................... 138, 515
Motor 2 Motor Iron-Core Saturation Coefficient 2 ........................ 229 Motor Rotates in One Direction Only........................................ 376
Motor 2 Motor Poles ........................................................... 229 Motor Secondary Current (Iq) ................................................ 526
Motor 2 Parameters............................................................. 228 Motor Selection ................................................................. 251
Motor 2 Rated Current ......................................................... 228 Motor Selection 1/2............................................................. 515
Motor 2 Rated No-Load Current.............................................. 228 Motor Speed ..................................................................... 519
Motor 2 Rated Power........................................................... 230 Motor Speed at Previous Fault ................................................ 522
Motor 2 Rated Slip ............................................................. 228 Motor Speed Error 2............................................................ 367
Motor 2 Slip Compensation Gain............................................. 195 Motor Stator Resistance (for PM Motors)................................... 231
Motor 2 Slip Compensation Limit............................................ 195 Motor Switch during Run...................................................... 358
Motor 2 Slip Compensation Primary Delay Time.......................... 195 Motor Temperature Input Filter Time.................................. 282, 498
Motor 2 Slip Compensation Selection during Regeneration .............. 195 Motor Wiring......................................................................85
Motor 2 Torque Compensation Gain......................................... 197 MP ..................................................................................89
Motor Acceleration Time ...................................................... 305 Multi-Function Analog Input Selection Error............................... 361
Motor Base Frequency ................................................... 138, 515 Multi-Function Analog Input Terminal Settings ........................... 270
Motor Base Speed ........................................................ 139, 515 Multi-Function Analog Outputs .............................................. 197
Motor Code Selection (for PM Motors) ..................................... 230 Multi-Function Analog Output Terminal AM Bias ........................ 273
Motor Data Error................................................................ 365 Multi-Function Analog Output Terminal AM Gain........................ 273
Motor d-Axis Current at Previous Fault ..................................... 522 Multi-Function Analog Output Terminal AM Monitor Selection........ 273
Motor d-Axis Inductance (for PM Motors) ................................. 231 Multi-Function Analog Output Terminal AM Signal Level Selection .. 274
Motor Direction at Power Up when Using Operator................. 315, 512 Multi-Function Analog Output Terminal FM Bias......................... 273
Motor Direction Error .......................................................... 366 Multi-Function Analog Output Terminal FM Gain ........................ 273
Motor Does Not Rotate ........................................................ 375 Multi-Function Analog Output Terminal FM Monitor Selection ........ 273
Motor Excitation Current (ld) ................................................. 526 Multi-Function Analog Output Terminal FM Signal Level Selection... 274
Motor Feedback Resolver Interface .......................................... 412 Multi-Function Digital Inputs ...................................................88
Motor Induction Voltage Constant 1 (for PM Motors) .................... 231 Multi-Function Digital Input Terminal Settings ............................ 246
Motor Induction Voltage Constant 2 (for PM Motors) .................... 232 Multi-Function Digital Output ..................................................89
Motor Inertia .............................................................. 143, 201 Multi-Function Digital Output Terminal Settings .......................... 256
Motor Iron-Core Saturation Coefficient ..................................... 364 Multi-Function Input Selection Error ........................................ 360
Motor Iron-Core Saturation Coefficient 1 ................................... 225 Multiple Drive Wiring ...........................................................86
Motor Iron-Core Saturation Coefficient 2 ................................... 225 Multi-Step Speed Selection.................................................... 159
Motor Iron Loss ........................................................... 139, 516
N
Motor Iron Loss for Torque Compensation ................................. 226
Motor Ke Gain .................................................................. 308 n1....................................................................................80
Motor Leakage Inductance .................................................... 225 Nameplate..........................................................................34
Motor Line-to-Line Resistance ............................................... 225 ND ................................................................................ 202
Motor Mechanical Loss ........................................................ 225 ndAT.............................................................................. 370
Motor No-Load Current.................................................. 139, 224 NetRef/ComRef Function Selection.......................................... 240
Motor Overheat ................................................................. 356 Network Termination .......................................................... 562
Motor Overheat Alarm (PTC Input).......................................... 345 No-Load Current Alarm ....................................................... 365
Motor Overheat Alarm Operation Selection .................... 282, 498, 608 No-Load Current Error......................................................... 365
Motor Overheat Fault (PTC Input) ........................................... 345 No-Load Operation ............................................................. 144
Motor Overheat Fault Operation Selection...................... 282, 498, 609 No-Load Operation Test Run ................................................. 144
Motor Overload ................................................................. 345 Normal Duty..................................................................... 202
Motor Overload Estimate (oL1) .............................................. 524 Normal Duty Ratings........................................................... 202
Motor Overload Protection Selection ............................ 264, 498, 607 Notes on Inertia Tuning and ASR Gain Auto-Tuning ..................... 135
Motor Overload Protection Time ................................. 280, 498, 608 Notes on Rotational Auto-Tuning ............................................ 134
Motor Performance Fine-Tuning ............................................. 324 Notes on Stationary Auto-Tuning ............................................ 134
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 635
Index
nSE ............................................................................... 342 oPE20 ............................................................................ 363
Number of Auto Restart Attempts...................................... 291, 502 oPE30 ............................................................................ 363
Number of Motor Poles ............................................ 139, 225, 515 oPE Fault Parameter............................................................ 520
Number of Motor Poles (for PM Motors) ................................... 231 Open Loop Vector Control ......................................................31
Number of PM Motor Poles ................................................... 141 Open Loop Vector Control for IPM Motors ..................................31
Number of Run Commands ................................................... 523 Open Loop Vector Control for PM Motors ...................................31
Number of Run Commands Counter Initialization......................... 317 Open Loop Vector Control Mode Tuning ................................... 325
Number of Speed Search Restarts ............................................ 172 Open Loop Vector Control Mode Tuning Parameters ............... 327, 328
Operating with the Load Connected.......................................... 146
O
Operation Errors .......................................................... 330, 334
o2-03.............................................................................. 147 Operation Ready ................................................................ 103
oFA00 ............................................................................ 343 Operation Selection at Overspeed (oS) ...................................... 233
oFA01 ............................................................................ 343 Operation Selection at PG Open Circuit (PGo)............................. 233
oFA02 to oFA06 ................................................................ 343 Operation Selection at Watchdog Error (E5) ............................... 242
oFA10 ............................................................................ 343 Operation Selection when Digital Operator is Disconnected ....... 315, 512
oFA11 ............................................................................ 343 Operation Status Monitors..................................................... 319
oFA12 to oFA17 ................................................................ 343 Operation with Permanent Magnet Motors.................................. 124
oFA30 to oFA43 ................................................................ 343 Operator Programming Errors ................................................ 360
oFb00 ............................................................................. 343 Operator Related Settings...................................................... 312
oFb01 ............................................................................. 343 oPr ................................................................................ 347
oFb02 ............................................................................. 343 Option card connection error (CN5-A) ...................................... 343
oFb03 to oFb11 ................................................................. 344 Option Card Connection Error at Option Port CN5-A..................... 343
oFb12 to oFb17 ................................................................. 344 Option Card Connection Error at Option Port CN5-C..................... 344
oFC00 ............................................................................ 344 Option card error occurred at option port CN5-A .......................... 343
oFC01 ............................................................................ 344 Option card error occurred at option port CN5-B .......................... 344
oFC02 ............................................................................ 344 Option card error occurred at option port CN5-C .......................... 344
oFC03 to oFC11 ................................................................ 344 Option Card External Fault.............................................. 339, 353
oFC12 to oFC17 ................................................................ 344 Option Card Fault at Option Port CN5-A ................................... 343
oFC50 to oFC55 ................................................................ 344 Option Card Fault at Option Port CN5-B.................................... 343
Offset Frequency................................................................ 527 Option Card Fault at Option Port CN5-C.................................... 344
oH ........................................................................... 344, 356 Option Communication Error ........................................... 335, 351
oH1 ............................................................................... 345 Option Frequency Reference .................................................. 524
oH2 ............................................................................... 356 Option Installation .............................................................. 415
oH3 ......................................................................... 345, 356 Option Settings.................................................................. 233
oH4 ............................................................................... 345 oS ........................................................................... 347, 357
oL1................................................................................ 345 Oscillation or Hunting.......................................................... 379
oL1 Current Level .............................................................. 498 Output Current .................................................................. 519
oL1 Current Level for Motor 2 ............................................... 498 Output Current 1 during Speed Search ...................................... 171
oL2................................................................................ 346 Output Current at Previous Fault ............................................. 522
oL2 Characteristics Selection at Low Speeds......................... 299, 505 Output Current Imbalance ..................................................... 341
oL3.......................................................................... 346, 356 Output Frequency............................................................... 519
oL4.......................................................................... 347, 357 Output Frequency after Soft Start ............................................ 520
oL5.......................................................................... 347, 357 Output Frequency at Previous Fault.......................................... 522
Online Tuning Gain ............................................................ 307 Output Frequency Reduction During Overheat Alarm .................... 298
Online Tuning Selection ....................................................... 307 Output Frequency Resolution ................................................. 435
oPE01 ............................................................................ 360 Output Ground Fault Detection Selection ............................. 298, 504
oPE02 ............................................................................ 360 Output of speed control (ASR) (for Simple V/f PG)....................... 526
oPE03 ............................................................................ 360 Output Phase Loss .............................................................. 341
oPE04 ............................................................................ 361 Output Phase Loss Protection ................................................. 504
oPE05 ............................................................................ 361 Output Phase Loss Protection Selection ..................................... 298
oPE06 ............................................................................ 361 Output Power.................................................................... 519
oPE07 ............................................................................ 361 Output Power at Previous Fault............................................... 522
oPE08 ............................................................................ 362 Output Terminal Status ........................................................ 520
oPE09 ............................................................................ 362 Output Terminal Status at Previous Fault ................................... 522
oPE10 ............................................................................ 362 Output Voltage at Previous Fault ............................................. 522
oPE11 ............................................................................ 362 Output Voltage Limit (for PM Motors)...................................... 310
oPE13 ............................................................................ 363 Output Voltage Limit Operation Selection .................................. 194
oPE15 ............................................................................ 363 Output Voltage Reference ..................................................... 519
oPE16 ............................................................................ 363 Output Voltage Reference (Vd)............................................... 526
oPE18 ............................................................................ 363 Output Voltage Reference (Vq)............................................... 526
636 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
Index
ov............................................................................ 347, 357 PG Option Card Disconnection Detection 1 ................................ 235
Overcurrent ...................................................................... 342 PG Option Card Disconnection Detection 2 ................................ 235
Overcurrent Detection Gain ............................................. 300, 505 PG Option Card Port for Motor 2 Selection................................. 236
Overexcitation Deceleration................................................... 287 PG-RT3 .......................................................................... 412
Overexcitation Deceleration Gain ...................................... 304, 507 PG-X3 ............................................................................ 412
Overheat 1 (Heatsink Overheat) .............................................. 345 Phase Order Detection Fault .................................................. 349
Overheat Alarm Level.................................................... 264, 504 Phase Order Selection .......................................................... 165
Overheat Pre-Alarm Operation Selection ............................. 266, 504 PID Accel/Decel Time ......................................................... 184
Overload Protection ............................................................ 436 PID Block Diagram............................................................. 179
Overspeed.................................................................. 347, 357 PID Control...................................................................... 177
Overspeed Detection Delay Time ............................................ 233 PID Feedback ................................................................... 525
Overspeed Detection Level.................................................... 233 PID Feedback High Detection Level......................................... 183
Overtorque 1..................................................................... 356 PID Feedback High Detection Time ......................................... 183
Overtorque 2..................................................................... 357 PID Feedback Input Methods ................................................. 178
Overtorque Detection 1 ........................................................ 346 PID Feedback Loss ....................................................... 340, 354
Overtorque Detection 2 ........................................................ 347 PID Feedback Loss Detection Selection..................................... 182
Overtorque Detection Operation.............................................. 293 PID Feedback Low Detection Level ......................................... 182
Overvoltage Protection......................................................... 436 PID Feedback Low Detection Time.......................................... 183
PID Fine Tuning ................................................................ 186
P
PID Function Setting ........................................................... 180
Parameter Access Level........................................................ 147 PID Input (feedback) ........................................................... 525
Parameter Range Setting Error................................................ 360 PID Input Limit ................................................................. 184
Parameters Changed with Motor Code Selection (PM Motors) .......... 542 PID Monitors .................................................................... 319
Parameter Selection Error ..................................................... 362 PID Offset Adjustment......................................................... 181
Parameter Settings .............................................................. 114 PID Output....................................................................... 525
PASS ............................................................................. 357 PID Output Gain Setting....................................................... 181
Password ................................................................... 147, 154 PID Output Level Selection ................................................... 181
Password Setting................................................................ 154 PID Output Limit ............................................................... 180
Password Settings............................................................... 147 PID Output Lower Limit....................................................... 184
Peak Hold Current .............................................................. 524 PID Output Reverse Selection ................................................ 181
Peak Hold Output Frequency ................................................. 524 PID Output Reverse Selection 2 .............................................. 185
Performance Life ............................................................ 389, 3 PID Primary Delay Time Constant ........................................... 181
Performance Life Monitors Maintenance Monitors........................... 3 PID Setpoint ..................................................................... 525
Periodic Inspection ............................................................. 387 PID Setpoint Display Digits................................................... 185
Periodic Maintenance .......................................................... 264 PID Setpoint Input Methods................................................... 177
Permanent Magnet Motor Control............................................ 124 PID Setpoint Scaling ........................................................... 184
PG 1 Division Rate for PG Pulse Monitor .................................. 234 PID Setpoint Selection ......................................................... 184
PG 1 Gear Teeth 1 .............................................................. 235 PID Setpoint User Display .................................................... 185
PG 1 Gear Teeth 2 .............................................................. 235 PID Setpoint Value ............................................................. 184
PG 1 Pulses Per Revolution ................................................... 233 PID Sleep ........................................................................ 183
PG 1 Rotation Selection ....................................................... 234 PID Sleep Delay Time ......................................................... 183
PG 1 Signal Selection .......................................................... 235 PID Sleep Function Start Level ............................................... 183
PG 2 Division Rate for PG Pulse Monitor .................................. 234 PM Inductance Error ........................................................... 367
PG 2 Gear Teeth 1 .............................................................. 235 PM Motor Auto-Tuning Mode Selection .................................... 139
PG 2 Gear Teeth 2 .............................................................. 235 PM Motor Base Frequency .................................................... 141
PG 2 Pulses Per Revolution ................................................... 233 PM Motor Base Speed ......................................................... 141
PG 2 Rotation Selection ....................................................... 234 PM Motor Code ................................................................. 230
PG 2 Signal Selection .......................................................... 235 PM Motor Code Selection ..................................................... 140
PG-B3 ............................................................................ 412 PM Motor Control Tuning..................................................... 307
PG Disconnect (for any control modes using a PG option card) ......... 348 PM Motor d-Axis Inductance ................................................. 141
PG Disconnect (for Control Mode with PG) ................................ 357 PM Motor Induced Voltage Constant ........................................ 142
PG-F3 ............................................................................ 412 PM Motor Parameter Settings................................................. 131
PG-F3 Setting Error ............................................................ 363 PM Motor q-Axis Inductance ................................................. 141
PG Hardware Fault (detected when using a PG-X3 option card) .. 348, 358 PM Motor Rated Current ...................................................... 141
PG Number of Pulses Per Revolution........................................ 139 PM Motor Rated Power........................................................ 140
PG Number of Pulses Per Revolution for PM Motor Tuning............. 142 PM Motor Rated Voltage ...................................................... 140
PGo ......................................................................... 348, 357 PM Motor Settings ............................................................. 140
PGoH ....................................................................... 348, 358 PM Motor Stator Resistance .................................................. 141
PGoH Detection Level ......................................................... 236 PM Motor Type ................................................................. 140
PG Open-Circuit Detection Time............................................. 233 PM Rotational Auto-Tuning................................................... 131
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 637
Index
PM Stationary Auto-Tuning................................................... 131 Reattaching the Front Cover ....................................................78
PM Stationary Auto-Tuning for Stator Resistance ......................... 131 Reattaching the Terminal Cover ................................................73
Polarity Compensation Gain 3 ................................................ 307 REMOTE ........................................................................ 118
Polarity Compensation Gain 4 ................................................ 308 Removing the Cooling Fan .................................................... 393
Polarity Switch for Initial Polarity Estimation Timeout ................... 232 Removing the Digital Operator .................................................76
Pole Attraction Current ........................................................ 307 Removing the Front Cover ......................................................76
Power Consumption Output Unit Selection ................................. 265 Removing the Protective Cover.................................................79
Power Detection Filter Time .................................................. 189 Removing the Terminal Cover..................................................73
Power Factor Control Selection............................................... 204 Replacement Parts .............................................................. 389
Powering Up the Drive......................................................... 126 Replacing the Drive ............................................................ 405
Power Ratings (Three-Phase 200 V Class)............................ 431, 432 Reset Communication Parameters............................................ 240
Power Ratings (Three-Phase 400 V Class)............................ 433, 434 RESET Key...................................................................... 109
Power Supply Frequency Fault ............................................... 340 Resistance Tuning Error ....................................................... 364
Power Supply Overvoltage .................................................... 335 Response Messages from Drive to Master .................................. 569
Power Supply Undervoltage................................................... 335 Reverse Direction Output Example Time Chart............................ 264
Power Unit Price ................................................................ 317 Reverse Operation Selection .................................................. 163
Predefined V/f Patterns ........................................................ 220 Reverse Prohibited Error....................................................... 367
Preparing the Ends of Shielded Cables ........................................92 Reverse Regenerative Torque Limit ................................... 296, 504
Preset Reference Timing Diagram ........................................... 207 Reverse Torque Limit .................................................... 296, 504
Previous Fault ................................................................... 521 Rotational Auto-Tuning.................................................. 130, 134
PROFIBUS-DP Clear Mode Selection ...................................... 243 Rotational Auto-Tuning for V/f Control..................................... 130
PROFIBUS-DP Data Format Selection...................................... 243 RP ...................................................................................89
PROFIBUS-DP Node Address ............................................... 242 RS-422 Interface ................................................................ 564
PROFIBUS-DP Parameters ................................................... 242 RS-485 Interface ................................................................ 563
Programming Mode ...................................................... 113, 114 RTS Control Selection ......................................................... 566
Proportional Gain Setting (P) ................................................. 180 rUn ................................................................................ 358
PTC ............................................................................... 272 Run Command/Frequency Reference Source Selection Error............ 361
Pull-In Current (for PM Motors)........................................ 309, 509 Run Command at Power Up................................................... 166
Pull-In Current Compensation Time Constant (for PM Motors) ... 309, 509 Run Command Method Selection ............................................ 567
Pull-In Current Level for PM Motor Tuning................................ 142 Run Command Selection 1 .............................................. 159, 446
Pull-Out Detection.............................................................. 349 Run Command Selection 2 .................................................... 166
Pulse Monitor Selection Error ................................................ 363 Run command selection while in Programming Mode .................... 165
Pulse Output Connection Using External Voltage Supply ..................96 Run Command Source Selection ............................................. 525
Pulse Output Connection Using Internal Voltage Supply ...................95 RUN Key ........................................................................ 109
Pulse Train Input/Output....................................................... 256 RUN LED........................................................................ 111
Pulse Train Input Bias.......................................................... 276 RUN Light ....................................................................... 109
Pulse Train Input Filter Time ................................................. 276 Run Speed after Soft Starter at Previous Fault.............................. 522
Pulse Train Input Gain ......................................................... 276
S
Pulse Train Input Minimum Frequency...................................... 276
Pulse Train Input Scaling ...................................................... 276 S- ....................................................................................89
Pulse Train Input Terminal RP Function Selection ........................ 275 S/L2.................................................................................80
Pulse Train Monitor Scaling .................................................. 276 S+ ...................................................................................89
Pulse Train Monitor Selection ................................................ 276 S1 ...................................................................................88
S2 ...................................................................................88
Q S3 ...................................................................................88
q-axis ACR Output ............................................................. 526 S4 ...................................................................................88
S5 ...................................................................................88
R
S6 ...................................................................................88
R-....................................................................................89 S7 ...................................................................................88
R/L1 ................................................................................80 S8 ...................................................................................88
R+ ...................................................................................89 Safe Disable Circuit ............................................................ 611
Rated Current Depending on Carrier Frequency ........................... 438 Safe Disable Input Function................................................... 610
Rated Current Setting Alarm .................................................. 364 Safe Disable Inputs ...............................................................88
Rated Slip Error ................................................................. 366 Safe Disable Monitor Output Function and Digital Operator Display... 612
rdEr ............................................................................... 370 Safety Circuit Fault ............................................................. 348
READ ............................................................................ 315 Safety Monitor Output ...........................................................89
rEAd .............................................................................. 370 SC ...................................................................................88
Reading Drive MEMOBUS/Modbus Register Contents .................. 572 SCF ............................................................................... 348
Reading Parameter Settings ................................................... 370 SE ................................................................................. 358
Reattaching the Digital Operator ...............................................76 Search Operation Voltage Limit .............................................. 189
638 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
Index
Self-Diagnostics................................................................. 254 Speed Search Wait Time....................................................... 173
SEr ................................................................................ 348 SrC ................................................................................ 349
Serial Communications Cable Connection Terminals (TB5) ............. 562 Srr ................................................................................. 349
Serial Communication Terminals...............................................89 SSR1 Series IPM Motor Settings ............................................. 543
Serial Communication Transmission Error ................................. 352 SST4 Series IPM Motor Settings ............................................. 550
Serviceable Parts................................................................ 405 Stall Prevention ................................................................. 285
Setup Group ..................................................................... 117 Stall Prevention Detection Time.............................................. 289
Setup Group Parameters ....................................................... 118 Stall Prevention Level during Acceleration/Deceleration ................. 286
Setup Mode ...................................................................... 114 Stall Prevention Level during Run ..................................... 288, 500
Shielded Twisted-Pair Cables ...................................................92 Stall Prevention Limit during Acceleration/Deceleration ................. 285
Simple Motor Setup Using V/f Control...................................... 121 Stall Prevention Selection during Acceleration....................... 285, 500
Simplified Setup Using the Setup Group .................................... 114 Stall Prevention Selection during Deceleration....................... 287, 500
Sinking/Sourcing Mode for Digital Inputs ....................................88 Stall Prevention Selection during Run ................................. 288, 500
Slave Address ................................................................... 570 Standard .......................................................................... 436
Slip Compensation.............................................................. 193 Standard Connection Diagram ..................................................66
Slip Compensation Gain ....................................................... 193 Start Condition Selection at Closed Loop Vector Control ................ 166
Slip Compensation Limit ...................................................... 194 Starting Torque.................................................................. 435
Slip Compensation Primary Delay Time .................................... 194 Start Speed Search Select...................................................... 173
Slip Compensation Selection during Regeneration ........................ 194 Start-Up Flowcharts ............................................................ 119
SMRA Series SPM Motor Settings .......................................... 542 Station Address Setting Error ................................................. 351
SN...................................................................................88 Stationary Auto-Tuning........................................................ 135
Snubber Discharge Resistor Overheat ....................................... 348 Stationary Auto-Tuning 2...................................................... 130
Soft Charge Bypass Relay Maintenance..................................... 524 Stationary Auto-Tuning 3...................................................... 130
Soft Charge Bypass Relay Maintenance Time.............................. 355 Stationary Auto-Tuning for Line-to-Line Resistance ...................... 130
Soft CLA Selection ............................................................. 505 Stator Resistance Error......................................................... 367
Software Current Limit Selection ............................................ 299 STo ............................................................................... 349
Software No. (Flash) ........................................................... 521 STOP button Input.............................................................. 365
Software No. (ROM) ........................................................... 521 STOP Key ....................................................................... 109
Software version ..................................................................34 STOP Key Function Selection .......................................... 314, 511
SoH ............................................................................... 348 Stopping Method after Communication Error .............................. 565
Speed/Torque Control Switchover Time .................................... 218 Stopping Method Selection.................................................... 160
Speed Agree 1 Time Chart .................................................... 258 Storage Temperature .............................................................50
Speed Agree 2 Time Chart .................................................... 262 Surrounding Area .................................................................50
Speed Agree Detection Level ........................................... 290, 501 SvE ............................................................................... 349
Speed Agree Detection Level (+/-) ..................................... 290, 501 Swing PWM ..................................................................... 203
Speed Agree Detection Selection....................................... 290, 502 Switching Between LOCAL and REMOTE ................................ 118
Speed Agree Detection Width .......................................... 290, 501 Switching Between Torque and Speed Control............................. 216
Speed Agree Detection Width (+/-) .................................... 290, 501
T
Speed Control Accuracy ....................................................... 435
Speed Control Integral Time 1 ................................................ 357 T/L3.................................................................................80
Speed Control Loop Auto-Tuning............................................ 133 Task Complete .................................................................. 369
Speed Control Proportional Gain 1........................................... 357 Temperature Derating .......................................................... 439
Speed Control Range ........................................................... 435 Terminal A1 Bias Setting...................................................... 268
Speed Deviation........................................................... 234, 337 Terminal A1 Function Selection.............................................. 267
Speed Feedback Detection Control (AFR) Gain ..................... 304, 507 Terminal A1 Gain Setting ..................................................... 268
Speed Feedback Detection Control (AFR) Time Constant 1 ....... 304, 507 Terminal A1 Signal Level Selection ......................................... 267
Speed Feedback Detection Control Gain (for PM Motors) ......... 309, 509 Terminal A2 Bias Setting...................................................... 269
Speed Limit...................................................................... 218 Terminal A2 Function Selection.............................................. 269
Speed Limitation................................................................ 215 Terminal A2 Gain Setting ..................................................... 269
Speed Limit Bias.......................................................... 215, 218 Terminal A2 Signal Level Selection ......................................... 269
Speed Limit Selection .......................................................... 217 Terminal A3 Bias Setting...................................................... 269
Speed Response ................................................................. 435 Terminal A3 Function Selection.............................................. 268
Speed Search Deceleration Time ............................................. 171 Terminal A3 Gain Setting ..................................................... 269
Speed Search Delay Time ..................................................... 171 Terminal A3 Signal Level Selection ......................................... 268
Speed Search Detection Compensation Gain ............................... 172 Terminal Block Configuration ..................................................70
Speed Search Method Selection .............................................. 172 Terminal Board .............................................................46, 405
Speed Search Restart Current Level.......................................... 172 Terminal Board Not Connected............................................... 337
Speed Search Restart Detection Time........................................ 172 Terminal Connections for Communication Self-Diagnostics............. 592
Speed Search Selection at Start ............................................... 170 Terminal Cover ...................................................................73
Speed Search Selection when Run Command Is Given during Uv ...... 173 Terminal cover .................................... 38, 39, 40, 41, 42, 43, 44, 45
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 639
Index
Terminal DM+ and DM- Output Signal Selection ...........................97 Types of Auto-Tuning for Permanent Magnet Motors .................... 131
Terminal M1-M2 Function Selection ........................................ 256
U
Terminal M1-M2 Output Selection .......................................... 239
Terminal M3-M4 Output Selection .......................................... 239 U/T1 ................................................................................80
Terminal p1........................................................................80 U1000 Models.....................................................................31
Terminal P1-PC Output Selection ............................................ 239 U1-09 ............................................................................. 375
Terminal P2-PC Output Selection ............................................ 239 U2, U3 Initialization............................................................ 317
Terminal P3-PC Output Selection ............................................ 239 U2, U3 Initial Value Selection ................................................ 513
Terminal P4-PC Output Selection ............................................ 239 UL3 ......................................................................... 349, 358
Terminal P5-PC Output Selection ............................................ 239 UL4 ......................................................................... 350, 358
Terminal P6-PC Output Selection ............................................ 239 UL5 ............................................................................... 350
Terminal V1 Monitor Bias .................................................... 238 UL and CSA Standards ........................................................ 599
Terminal V1 Monitor Gain .................................................... 238 UL Standards Compliance..................................................... 599
Terminal V1 Monitor Selection............................................... 238 Undertorque Detection 1................................................. 349, 358
Terminal V1 Signal Level ..................................................... 238 Undertorque Detection 2................................................. 350, 358
Terminal V2 Monitor Bias .................................................... 238 Undertorque Detection Operation ............................................ 293
Terminal V2 Monitor Gain .................................................... 238 Undervoltage Protection ....................................................... 436
Terminal V2 Monitor Selection............................................... 238 Unexpected Noise from Connected Machinery............................. 379
Terminal V2 Signal Level ..................................................... 238 Unidirectional Speed Limit Bias.............................................. 218
Test Run.............................................................. 133, 135, 137 Unit Capacity Setting Fault.................................................... 360
Test Run Checklist.............................................................. 149 Unit Code ........................................................................ 314
Test Run with Load Connected ............................................... 146 Unit Selection for MEMOBUS/Modbus Register 0025H................. 566
Tightening Torque ................................................................81 Up/Down 2 Operations......................................................... 255
Timer Function Off-Delay Time.............................................. 176 Up/Down Command Operation............................................... 250
Timer Function On-Delay Time .............................................. 176 Up/Down Frequency Reference Limit Selection ........................... 213
Too Many Speed Search Restarts............................................. 348 Up Arrow Key................................................................... 109
Top protective cover................................................ 42, 43, 44, 45 USB Copy Unit ........................................................... 148, 413
Torque Compensation at Forward Start...................................... 196 User Defaults .................................................................... 147
Torque Compensation at Reverse Start ...................................... 196 User Monitor Selection after Power Up ............................... 312, 511
Torque Compensation Gain ................................................... 196 User Parameter Automatic Selection............................. 147, 157, 445
Torque Compensation Primary Delay Time ................................ 196 User Parameter Default Value .......................................... 314, 512
Torque Compensation Time Constant ....................................... 197 User Parameters 1 to 32............................................ 147, 157, 445
Torque Control .................................................................. 214 User-Set Display Units Decimal Display.................................... 313
Torque Control Block Diagram............................................... 214 User-Set Display Units Maximum Value.................................... 313
Torque Control Input Value Selection ....................................... 214 User Set Speed Agree 1 Time Chart ......................................... 259
Torque Control Reference Sources........................................... 214 User Set Speed Agree 2 Example with a Positive L3-04 Value .......... 262
Torque Control Selection ...................................................... 217 Using the Pulse Train Output ...................................................95
Torque Control Setting Error.................................................. 363 Using the Safe Disable Function.............................................. 611
Torque Control Signal Polarity ............................................... 215 Uv ................................................................................. 359
Torque Detection ............................................................... 261 Uv1 ............................................................................... 350
Torque Detection Level 1................................................ 294, 502 Uv2 ............................................................................... 350
Torque Detection Level 2................................................ 294, 503 Uv3 ............................................................................... 350
Torque Detection Selection 1 ........................................... 293, 502 V
Torque Detection Selection 2 ........................................... 293, 503 V/f Characteristics .............................................................. 435
Torque Detection Time 1 ................................................ 294, 503 V/f Control.........................................................................31
Torque Detection Time 2 ................................................ 294, 503 V/f Control Mode Tuning ..................................................... 324
Torque Limit .............................................................. 272, 435 V/f Control Mode Tuning Parameters ....................................... 324
Torque Limit Control Method Selection during Accel/Decel ...... 296, 504 V/f control using motor speed feedback .......................................31
Torque Limit Integral Time Constant .................................. 296, 504 V/f Control with Simple Speed Feedback ................................... 275
Torque Limit Process at Start ................................................. 504 V/f Data Setting Error.......................................................... 362
Torque Reference ............................................................... 519 V/f Gain during Speed Search ................................................ 171
Torque Reference/Torque Limit Selection from Comm. Option......... 240 V/f Pattern Defaults ............................................................ 534
Torque Reference at Previous Fault .......................................... 522 V/f Pattern Display Unit ....................................................... 313
Torque Reference Delay Time ................................................ 217 V/f Pattern for Motor 2......................................................... 227
Torque Specifications, Three Phase 200 V Class ......................81, 599 V/f Pattern Selection ........................................................... 220
Torque Specifications, Three Phase 400 V Class ......................83, 601 V/T2 ................................................................................80
Troubleshooting without Fault Display......................................... 3 vAEr .............................................................................. 370
Tuning Errors.................................................................... 330 VERIFY.......................................................................... 315
Types of Alarms, Faults, and Errors ......................................... 330 Verifying Parameter Changes ................................................. 116
Types of Auto-Tuning for Induction Motors................................ 130
640 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
Index
Verify Menu ..................................................................... 116
vFyE .............................................................................. 370
Voltage Class, Capacity Mismatch .......................................... 370
Voltage drop calculation formula...............................................81
Voltage Error Compensation Time Constant ............................... 309
vrFy ............................................................................... 370
W
W/T3................................................................................80
Warranty Information ............................................................28
Water Supply Pump Application ............................................. 127
Watt Hour Output Example ................................................... 267
Watt Loss 200 V Class Three Phase Models................................ 437
Watt Loss 400 V Class Three Phase Models................................ 437
Wire Gauge, Three Phase 200 V Class ..................................81, 599
Wire Gauge, Three Phase 400 V Class ..................................83, 601
Wire Gauges.......................................................................81
Wiring Checklist ................................................................ 104
Wiring Diagram for 2-Wire Sequence ....................................... 254
Wiring Distance................................................................. 203
Wiring the Control Circuit Terminal ...........................................91
WRITE ........................................................................... 315
Writing Parameter Settings .................................................... 369
Writing to Multiple Registers ................................................. 573
Z
Zero Servo ....................................................................... 190
Zero Servo Completion Width ................................................ 190
Zero Servo Fault ................................................................ 349
Zero Servo Gain................................................................. 190
Zero-Speed Time Chart ........................................................ 258
Z Pulse Correction Error....................................................... 368
Z Pulse Fault .................................................................... 337
Z Pulse Noise Fault Detection ................................................ 337
Z Pulse Offset Tuning.......................................................... 131
YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual 641
Revision History
The revision dates and the numbers of the revised manuals appear on the bottom of the back cover.
Example:
MANUAL NO. SIEP C710636 04B
Published in Japan October 2014 14-8 1
Revision number
Date of original publication
Date of publication
Revision
Date of Publication Section Revised Content
Number
Front Cover Revision: Models
Revision: Reference Motor Capacity kW (HP) values
Chapter 1 Revision: Figure 1.2
January 2015 2 Revision: Power Ratings
Appendix A Revision: Drive Watt Loss Data
Appendix B Revision: Defaults by Drive Model and Duty Rating ND/HD
Back Cover Revision: Address
All Upgraded the software version to PRG: 1015
Front Cover Revision: Title
Back Cover
Preface Revision: Applicable Documentation
October 2014 1
Revision: EMC filter switch for models 2E0248, 2W0248, 4EU0216,
Chapter 3 4W0216, 4E0240, and 4W0240
Chapter 5 Addition: H2-06 = 0 (0.1 kWh units)
Appendix B
August 2014 – – First Edition. This manual supports drive software version PRG: 1014.
642 YASKAWA ELECTRIC SIEP C710636 04C U1000 Industrial MATRIX Drive Technical Manual
U1000 Industrial MATRIX Drive
Low Harmonic Regenerative Drive for Industrial Applications
Technical Manual
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
http://www.yaskawa.com
DRIVE CENTER (INVERTER PLANT)
2-13-1, Nishimiyaichi, Yukuhashi, Fukuoka, 824-8511, Japan
Phone: 81-930-25-3844 Fax: 81-930-25-4369
http://www.yaskawa.co.jp
YASKAWA ELECTRIC CORPORATION
New Pier Takeshiba South Tower, 1-16-1, Kaigan, Minatoku, Tokyo, 105-6891, Japan
Phone: 81-3-5402-4502 Fax: 81-3-5402-4580
http://www.yaskawa.co.jp
YASKAWA ELÉTRICO DO BRASIL LTDA.
777, Avenida Piraporinha, Diadema, São Paulo, 09950-000, Brasil
Phone: 55-11-3585-1100 Fax: 55-11-3585-1187
http://www.yaskawa.com.br
YASKAWA EUROPE GmbH
185, Hauptstraβe, Eschborn, 65760, Germany
Phone: 49-6196-569-300 Fax: 49-6196-569-398
http://www.yaskawa.eu.com
YASKAWA ELECTRIC KOREA CORPORATION
9F, Kyobo Securities Bldg., 26-4, Yeouido-dong, Yeongdeungpo-gu, Seoul, 150-737, Korea
Phone: 82-2-784-7844 Fax: 82-2-784-8495
http://www.yaskawa.co.kr
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151, Lorong Chuan, #04-02A, New Tech Park, 556741, Singapore
Phone: 65-6282-3003 Fax: 65-6289-3003
http://www.yaskawa.com.sg
YASKAWA ELECTRIC (THAILAND) CO., LTD.
252/125-126, 27th Floor, Muang Thai-Phatra Tower B, Rachadapisek Road, Huaykwang, Bangkok, 10310, Thailand
Phone: 66-2693-2200 Fax: 66-2693-4200
http://www.yaskawa.co.th
YASKAWA ELECTRIC (CHINA) CO., LTD.
22F, One Corporate Avenue, No.222, Hubin Road, Shanghai, 200021, China
Phone: 86-21-5385-2200 Fax: 86-21-5385-3299
http://www.yaskawa.com.cn
YASKAWA ELECTRIC (CHINA) CO., LTD. BEIJING OFFICE
Room 1011, Tower W3 Oriental Plaza, No. 1, East Chang An Ave.,
Dong Cheng District, Beijing, 100738, China
Phone: 86-10-8518-4086 Fax: 86-10-8518-4082
YASKAWA ELECTRIC TAIWAN CORPORATION
9F, 16, Nanking E. Rd., Sec. 3, Taipei, 104, Taiwan
Phone: 886-2-2502-5003 Fax: 886-2-2505-1280
YASKAWA INDIA PRIVATE LIMITED
#17/A, Electronics City, Hosur Road, Bangalore, 560 100 (Karnataka), India
Phone: 91-80-4244-1900 Fax: 91-80-4244-1901
http://www.yaskawaindia.in
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.
© 2014-2015 YASKAWA ELECTRIC CORPORATION. All rights reserved.
MANUAL NO. SIEP C710636 04C
Published in Japan January 2015 14-8 2
14-10-13_YAI
Original instructions
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