YASKAWA AC Drive A1000 High Performance Vector Control Drive Quick Start Guide Type: CIMR-AC Models: 200 V Class: 0.4 to 55 kW 400 V Class: 0.4 to 90 kW To properly use the product, read this manual thoroughly and retain for easy reference, inspection, and maintenance. Ensure the end user receives this manual. MANUAL NO.
Table of Contents 1 SAFETY INSTRUCTIONS AND GENERAL WARNINGS . . . . . . . . . . . . . . . . . . . . . . . 2 2 MECHANICAL INSTALLATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 3 ELECTRICAL INSTALLATION. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 4 KEYPAD OPERATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 5 START UP . . . . . . . . . . . . . . . . . . . . . .
1 Safety Instructions and General Warnings 1 Safety Instructions and General Warnings Yaskawa Electric supplies component parts for use in a wide variety of industrial applications. The selection and application of Yaskawa products remain the responsibility of the equipment designer or end user. Yaskawa accepts no responsibility for the way its products are incorporated into the final system design.
1 Safety Instructions and General Warnings WARNING Do not touch any terminals before the capacitors have fully discharged. Failure to comply could result in death or serious injury. Before wiring terminals, disconnect all power to the equipment. The internal capacitor remains charged even after the power supply is turned off. The charge indicator LED will extinguish when the DC bus voltage is below 50 Vdc.
1 Safety Instructions and General Warnings 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. Burn Hazard Do not touch the heatsink or braking resistor hardware until a powered-down cooling period has elapsed. NOTICE Equipment Hazard Observe proper electrostatic discharge procedures (ESD) when handling the drive and circuit boards.
1 Safety Instructions and General Warnings Precautions for CE Low Voltage Directive Compliance This drive has been tested according to European standard EN61800-5-1, and it fully complies with the Low Voltage Directive. The following conditions must be met to maintain compliance when combining this drive with other devices: Do not use drives in areas with pollution higher than severity 2 and overvoltage category 3 in accordance with IEC664.
2 Mechanical Installation 2 Mechanical Installation Upon Receipt Please perform the following tasks after receiving the drive: • Inspect the drive for damage. If the drive appears damaged upon receipt, contact your supplier. • Verify receipt of the correct model by checking the information on the nameplate. If you have received the wrong model contact your supplier.
2 Mechanical Installation Dimensions IP20/NEMA Type 1 Drives Note: IP20/NEMA Type 1 drives are equipped with a top cover. Removing this cover voids NEMA Type 1 protection but still keeps IP20 conformity. H H1 1.5 4-d W1 t1 H2 W D D1 4-d H2 H3 H1 H0 H W1 1.5 Figure 1 W D t1 D1 Figure 2 Model CIMR-A Fig.
3 Electrical Installation 3 Electrical Installation The figure below shows the main and control circuit wiring. DC reactor <1> Thermal relay (option) (option) Terminals -, +1, +2, B1, B2 are for connection options.
3 Electrical Installation Wiring Specification Main Circuit Use the fuses and line filters listed up in the table below when wiring the main circuit. Make sure not to exceed the given tightening torque values.
3 Electrical Installation Wire Type Solid Flexible Flexible with ferrule Wire size (mm2) 0.2 to 1.5 0.2 to 1.0 0.25 to 0.5 EMC Filter Installation This drive has been tested in accordance with European standards EN61800-3, category C2. In order to comply to the EMC standards, wire the main circuit as described below. 1. Install an appropriate EMC noise filter to the input side. See the table in Main Circuit on page 9 or refer to the Technical Manual for details. 2.
3 Electrical Installation • Use a DC reactor or AC reactor on the input side of the drive: –To suppress harmonic current. –To improve the power factor on the power supply side. –When using an advancing capacitor switch. –With a large capacity power supply transistor (over 600 kVA). Wiring the Main Circuit Output Consider the following precautions for the output circuit wiring. • • • • • Do not connect any other load than a 3 phase motor to the drives output.
3 Electrical Installation Control Circuit Terminals The figure below shows the control circuit terminal arrangement. The drive is equipped with screwless terminals. S1 S3 S5 S2 E(G) HC H1 H2 DM+ DM- IG R+ R- S+ S- S4 M3 M6 M4 V+ AC V- A1 A2 A3 FM AM AC MP RP AC S1 S2 S3 S4 S5 S6 S7 S8 SN SC SP M1 M2 M5 MA MB MC Use a straght-edge screwdriver with a blade width of max 2.5 mm and a thickness of max 0.
3 Electrical Installation Type Safe Disable Inputs Analog Inputs / Pulse Train Input No. H2 Safe Disable input 2 HC Safe Disable function common Safe disable function common RP Multi-function pulse train input (Frequency reference) Input frequency range: 0 to 32 kHz Signal Duty Cycle: 30 to 70% High level: 3.5 to 13.2 Vdc, low level: 0.0 to 0.8 Vdc Input impedance: 3 kΩ +V Power supply for analog inputs 10.5 Vdc (max allowable current 20 mA) -V Power supply for analog inputs -10.
4 Keypad Operation 4 Keypad Operation Digital Operator and Keys The digital operator is used to program the drive, to start/stop it, and to display fault information. The LEDs indicate the drive status. ALM DIGITAL OPERATOR JVOP-180 F1 F2 ESC LO RE RESET ENTER RUN STOP Keys and Functions Key Name Function F1 Function Key (F1, F2) The functions assigned to F1 and F2 vary depending on the menu that is currently displayed.
4 Keypad Operation Menu Structure and Modes The following illustration explains the operator keypad menu structure. Figure 1.1 Programming Mode <2> Drive Mode <1> - MODE - DRV Rdy FREF (OPR) U1-01= 0.00Hz -MONITR- DRV Rdy FREF (d1-01) U1-02= 0.00Hz LSEQ U1-03= 0.00A LREF JOG FWD FWD/REV U1-01= 000.00Hz 㧔0.00㨪60.00㧕 ̌0.00Hz̍ FWD - MODE - DRV Rdy Monitor Menu U1-01= 0.00Hz -MONITR- DRV Rdy Monitor U1 -01= 0.00Hz -MONITR- DRV Rdy Frequency Ref U1- 01 = 0.00Hz U1-02= 0.00Hz LSEQ U1-03= 0.
5 Start Up 5 Start Up Drive Setup Procedure The illustration below shows the basic setup procedure. Each step is explained more detailed on the following pages. START Install and wire the drive as explained. Turn the power on. Initialize the drive if necessary using parameter A1-01. Set the control mode. Select Normal / Heavy Duty Perform Auto-Tuning or set the motor data manually.
5 Start Up Control Mode Open Loop Vector Control for PM <1> Advanced Open Loop Vector Control for PM <1> Closed Loop Vector Control for PM <1> Parameter A1-02 = 5 Main Applications Derated torque-load applications employing permanent magnet motors (SPM, IPM) and energy savings. A1-02 = 6 This control mode can be used to operate an IPM motor for constant torque applications. A1-02 = 7 • This mode can be used for high precision control of a PM motor in constant torque or variable torque applications.
5 Start Up Type Rotational AutoTuning for V/f Control Control Mode (A1-02) V/f w/PG OLV (2) CLV (3) V/f (0) (1) Setting Application Conditions and Benefits T1-01 = 3 • Recommended for applications using Speed Estimation Speed Search or using the Energy Saving function in V/f Control. • Assumes motor can rotate while Auto-Tuning is executed. Increases accuracy for certain functions like torque compensation, slip compensation, Energy Saving, and Speed Search.
5 Start Up Run Command Selection (b1-02) Set parameter b1-02 according to the run command used. b1-02 0 1 2 3 Reference source Operator keypad Multi-Function digital input Serial Comm. Option Board Run command input RUN and STOP keys on the operator Multi-Function digital input Serial Communications using the RS422/485 port Communications option card Acceleration/ Deceleration Times and S-Curves There are four sets of acceleration and deceleration times which can be set in the C1- parameters.
5 Start Up Test Run Perform the following steps to start up the machine after all parameter settings have been done. 1. Run the motor without load and check if all input, outputs and the sequence work as desired. 2. Connect the load to the motor. 3. Run the motor with load and make sure that there is no vibrations, hunting or motor stalling occurs. After taking the steps listed above, the drive should be ready to run the application and perform the basic functions.
6 Parameter Table 6 Parameter Table This parameter table shows the most important parameters. Default settings are bold type. Refer to the Technical Manual for a complete list of parameters. No. A1-01 A1-02 A1-03 b1-01 b1-02 b1-03 b1-04 b1-14 b2-01 b2-02 b2-03 b2-04 Name Description Initialization Parameters 0: View and set A1-01 and A1-04. U- parameters can also be viewed.
6 Parameter Table No. Name Description No. Jog Frequency Sets the Jog frequency reference. Setting d1-17 Reference units are determined by parameter o1-03. V/f Pattern for Motor 1 This parameter must be set to the power supply voltage. WARNING! Drive input voltage (not motor Input Voltage voltage) must be set in E1-01 for the E1-01 Setting protective features of the drive to function properly. Failure to do so may result in equipment damage and/or death or personal injury.
6 Parameter Table No. H3-14 H4-01 H4-02 H4-03 H4-04 H4-05 H4-06 H4-07 H4-08 H6-02 H6-03 H6-04 H6-06 Name Description Determines which of the analog input terminals will be enabled when a digital input programmed for “Analog input enable” (H1- = C) is activated.
6 Parameter Table No. L3-06 T1-01 T1-02 T1-03 T1-04 T1-05 T1-06 T1-07 T1-08 T1-9 T1-10 T1-11 Monitor U1-01 U1-02 U1-03 U1-05 U1-06 24 Name Description Stall Prevention Enabled when L3-05 is set to 1 or 2. 100% Level during is equal to the drive rated current.
6 Parameter Table Monitor U2-10 U2-11 U2-12 U2-13 U2-14 U2-15 U2-16 U2-17 U2-20 Description Torque Reference at Previous Fault Input Terminal Status at Previous Fault Output Terminal Status at Previous Fault Drive Operation Status at Previous Fault Cumulative Operation Time at Previous Fault Soft Starter Speed Reference at Previous Fault Motor q-Axis Current at Previous Fault Motor d-Axis Current at Previous Fault Heatsink Temperature at Previous Fault Fault History U3-01 to First to 4th Most Recent Fault
7 Troubleshooting 7 Troubleshooting General Fault and Alarms Faults and alarms indicate problems in the drive or in the machine. An alarm is indicated by a code on the data display and the flashing ALM LED. The drive output is not necessarily switched off. A fault is indicated by a code on the data display and the ALM LED is on. The drive output is always switched off immediately and the motor coast to stop.
7 Troubleshooting Digital Operator AL Output Phase Loss PF Overcurrent oC Heatsink Overheat oH or oH1 Motor Overload oL1 Drive Overload oL2 DC Overvoltage ov FLT Input Phase Loss LF Braking Transistor Fault Cause Output cable is disconnected or the motor winding is damaged. Loose wires at the drive output. Motor is too small (less than 5% of drive current). Short circuit or ground fault on the drive output side The load is too heavy. The accel./decel. times are too short.
7 Troubleshooting Operator Programing Errors An Operator Programming Error (OPE) occurs when an inapplicable parameter is set or an individual parameter setting is inappropriate. When an OPE error is displayed, press the ENTER button to display U1-18 (OPE fault constant). This monitor will display the parameter that is causing the OPE error. Digital Operator Cause Corrective Action oPE01 Drive capacity and value set to o2-04 do not match. Correct the value set to o2-04.
7 Troubleshooting Digital Operator Er-12 Er-13 End1 End2 Cause Corrective Action • Check the wiring. Current detection error • Make sure, that the drive rating fits to the motor. • One or all output phases are lost. • Check the load. (Auto-Tuning should have been performed • Current is either too low or exceeds the drives rating. without the load connected.) • The current sensors are faulty. • Replace the drive. • Check all wiring and correct any mistakes.
8 Safe Disable Input Function 8 Safe Disable Input Function Specifications Inputs / Outputs Two Safe Disable inputs and 1 EDM output according to EN61800-5-1, EN954-1/ ISO13849 Cat. 3, IEC/EN61508 SIL2, Insulation coordination: class 1. Time from input open to drive output stop is less than 1 ms. PFD = 5.16E-6 Operation Time Demand Rate Low Failure Probability Demand Rate High or PFH = 1.
8 Safe Disable Input Function Main Power Safety Relay or PLC with safety functionality 24 V HC Safety Outputs Feedback H1 Control Circuit Jumper S3 Setting: SOURCE Gate Block 1 N Power Module P H2 Gate Block 2 DM+ >=1 DMDrive M Disabling and Enabling the Drive Output (“Safe Torque Off”) The diagram below illustrates the Safe Disable input operation.
8 Safe Disable Input Function Safe Disable Input Status Input 1, H1-HC Input 2, H2-HC Safe Disable Status Monitor, DM+ - DM- OFF ON ON ON ON ON Drive Output Status Safely disabled, “Safe Torque Off” Baseblock, ready for operation Digital Operator Display HbbF (flashes) Normal display Safe Disable Status Monitor With the Safe Disable monitor output (terminals DM+ and DM-), the drive provides a safety status feedback signal.
Revision History The revision dates and the numbers of the revised manuals appear on the bottom of the back cover. MANUAL NO.ޓTOEP C710616 27A Published in Japan October 2008 08-10 Date of publication Date of Publication October 2008 Date of original publication Rev. No.
YASKAWA AC Drive A1000 High Performance Vector Control Drive Quick Start Guide EUROPEAN HEADQUARTERS YASKAWA ELECTRIC EUROPE GmbH Hauptstraβe 185, 65760 Eschborn, Germany Phone: +49 (0)6196 569 300 Fax: +49 (0)6196 569 398 E-mail: info@yaskawa.de Internet: http://www.yaskawa.eu.com YASKAWA ENGINEERING EUROPE GmbH Hauptstraβe 185, 65760 Eschborn, Germany Phone: +49 (0)6196 569 520 Fax: +49 (0)6196 569 598 E-mail: service@yaskawa.de Internet: http://www.yaskawa-eng.eu.
