Specifications

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YASKAWA Inverter Drive A1000 – Crane Software Application Manual

Closed Loop Vector Control

Notes:

• This chart assumes that Slip Prevention Time (HT) is zero (default for CLV). The Stop Timer (b2-04) should be

set to a value similar to the Brake Operation Delay Time (BDT).

• In this chart, the last condition that was met before the brake was released was the Brake Release Torque TF

(TR). For the brake to be released, it does not matter in which order the starting sequence conditions are met.

• When not using a counter weight the brake release time can usually be shortened by lowering the Brake

Release Frequency in order to shorten the operation cycle of the crane.

• The Torque Compensation Delay Time (TCDT) is the time it takes for torque compensation to go from 0 to

100%. If torque compensation is set to a value lower than 100%, the delay time will be proportionately shorter.

• Torque compensation can be input from analog terminal A3 by setting parameter H3-04 to 14.

When the frequency reference is given by analog input terminal A1 and the signal level is set to bipolar (-10 to +10 V)

using parameter H3-01, it is possible to apply and release the brake depending on the analog input value. In the following

two time charts scenarios for instant and gradual changes to the frequency reference are shown. It is important to note

that all conditions for the Brake Release Command BR to be activated in the starting sequence must still be met.

Time

BrakeOperations

BrakeReleaseCheckBX

BrakeReleaseCmdBR

OutputFrequency

OutputCurrentIOUT

FWD(REV)RunCmd

E1‐09

FRF(RRF)

IF(IR)

BDT

FHF(RHF)

BDT

TorqueReferenceITR

TF(TR)

TorqueCompensation

b2‐04

TCF(TCR)

TCDT

BDT = BrakeOperationDelayTime

BF =BrakeDelayFrequency(S1‐03)

BT =BrakeDelayTime(S1‐04)

FHF =FWDBrakeHoldFrequency(S1‐12)

FRF =FWDBrakeReleaseFrequency(S1‐01)

HF = SlipPreventionFrequency(S1‐14)

HT = SlipPreventionTime(S1‐15)

IF =FWDBrakeReleaseCurrent(S1‐05)

IR =REVBrakeReleaseCurrent(S1‐06)

RHF =REVBrake

HoldFrequency(S1‐13)

RRF =REVBrakeReleaseFrequency(S1‐02)

TCDT=TorqueCompensationDelayTime(S1‐11)

TCF =FWDTorqueCompensation(S1‐09)

TCR =REVTorqueCompensation(S1‐10)

TF =FWDBrakeReleaseTorque(S1‐07)

TR =REVBrakeReleaseTorque(S1‐08)