Yaskawa - A1000 Variable Speed Drive
Contents
1. Page 1 of 2 Rotational Auto tuning De couple Motor from Load In this step the A1000 is setup for use with the motor Make sure all protective covers have been re attached then apply power to the A1000 DO NOT RUN THE MOTOR From the main reference press Tv once until the Digital Operator shows the Auto Tuning menu then press A MODE PRG Auto Tuning aaa FD DATA Press A once until the Digital Operator shows parameter T1 02 Mtr Rated Power then press Enter Motor Power in kW Kilowatt A TUNE PRG Mtr Rated Power Motor HP to kW HP x 0 746 Example 10HP 10 x 0 746 7 46 kW Digit Flashing a Press Wea RESET J use BA acjust value and press palha to save Press to select the next parameter and follow the same to select the digit you would like to change and a Rated Voltage procedure described above to adjust its value 41 032 230 0 Vac T1 04 Rated Voltage e g 230 V 460 V For standard AC motors T1 05 Rated Frequency e g 60 0 Hz motor base frequency T1 06 Number of Poles e g 4 Poles 60Hz motor poles 4 and motor rated speed 11 07 Rated Speed e g 1750 rpm After setting parameter T1 07 press LA to select the Auto Tuning start command B gt A TUNE DRV Rdy Auto Tuning 0 00Hz 0 00A Tuning Ready Press RUN key FWD a Warning Sudden movement hazard The A1000 and motor may start unexpectedly during Auto Tuning War2. Y YASKAWA The following procedure Is a supplement to other documentation supplied with this equipment and will guide the user in properly wiring the A1000 and motor It will also show the user how to configure the A1000 in open loop vector mode for a general purpose application Danger mproper wiring can and will cause bodily harm as well as damage to the equipment When installing the system be sure to follow good wiring practices and all applicable codes Ensure that the mounting of components Is secure and that the environment such as extreme dampness poor ventilation etc will not cause system degradation Please read this cheat sheet and other documentation provided with the A1000 thoroughly before attempting any installation A1000 Model Identification and Mounting To make sure you received the correct model it is essential to verify the A1000 nameplate with your order and make sure the A1000 has the correct rating so it can be used with your motor Please check the nameplate information as shown in the example below Drive Model _ Drive Spec TPRI N b omber MODEL CIMR AA2A0021FAA MAX APPLU MOTOR 5 5kW 3 7KW REV A anat INPUT AC3PH 200 240V 50 60Hz 24A 18 94 Heavy Duty Output REE nm RIM aaan anac NDCONTEQ Amps Power TJ48 B Rating Weight Input Power Rating Software Version SIN KAOUOUONR SUL OLUUUUDOU PTE IOUO OIOI OOUUA AE DCUO DOVO O
3. 2_0056 4_0002 4 0044 and 5_0003 50011 BUS TERMINALS DO NOT CONNECT TO GROUND R L1 a i O L uu I f X U T1 ia To change direction of motor vA rotation swap any two of the three motor leads See Step 2 Connect to Input chassis Protection a E E ground Fuse or Circuit Breaker Connect frame to ground Use L1 L2 for Use L1 L2 L3 for 3 Induction 19 Input Power 3 Input Power motor Fig 2 Input Power and Output Motor Electrical Connections for Models 2_0110 amp Larger and 4_0058 amp Larger Make sure the A1000 has been properly sized for single phase input power For best performance the drive input supply voltage must be at least equal to or greater than the motor rated voltage Install PG X3 Feedback Card and wire encoder feedback In this step the PG X3 encoder feedback card is installed WITH POWER OFF install the PG X3 card as shown below Make sure to follow good wiring practices and all applicable codes Ensure that the feedback card is grounded properly as shown in fig 3 item H This option card can be inserted into either the CN5 B or CN5 C connectors located on the drive s control board If only one option card is connected to the drive use the CN5 C connector If two option cards are connected use both CN5 B and CN5 C See the A1000 User Manual Document No SIEP C710606 21A Section 3 5 for directions on remo
4. clockwise direction bah eC ROE a oles ae Ut 02 0 00Hz Tuning Ready l FWD asta Press RUN key Next press stop on the Digital Operator Output Frequency and Motor Current can be monitored FWD M P Press once until the Digital Operator shows parameter Warning Sudden movement hazard The A1 000 and If motor rotation is not correct then either reverse Phase simultaneously motor may start unexpectedly during Auto Tuning Order using parameter b1 14 or power down the drive wait T1 02 Mtr Rated Power then press i five minutes and swap 2 motor leads T it outi Aoi t R Cs Warning Electric Shock Hazard High voltage will be l NOOT OSPA MEOSE NG ANE OON E AEE O RONE RAS Enter Motor Power in kW Kilowatt supplied to the motor when stationary Auto Tuning is Q DANGER MODE yD PY A TUNE PRG performed Do not touch the motor during auto tuning onitor Menu r rni j U1 01 0 ss Hz 6 eee ae After the power has been turned OFF wait at least five individually press once tim im the press ae T1 02 000 nae poi ea 7 AG kW Notice Auto Tuning will not function properly when a minutes until the charge indicator extinguishes completely ee Bis 0 00 650 brake is engaged on the load Ensure the motor shaft before touching any wiring circuit boards or components MONT DRV Ry pus See Ws FWD 7 can freely rotate Never perform an Auto Tune with U1 01 0 00 Hz gt U1 01 0 00 Hz _ Digit Flashing motor connected to a load uai R N
5. 21A on how to access other drive monitors Step 6 Selecting Start Stop and Speed Method This step shows how to setup the sequence and reference method of the A1000 The sequence method determines how the A1000 drive receives its start and stop command and the reference method determines how the speed of the motor is controlled Make sure all protective covers have been re attached and power is turned on DO NOT RUN THE MOTOR This section may require you to change one or more A1000 parameters Please refer to Step 5 for a detailed explanation on how to change parameters SELECT SPEED METHOD b1 01 1 Adjust motor speed frequency from the Digital Operator Ref Source 1 Go to parameter b1 01 set value to m i 1 01 OF ats l P Operator MODE DRV Rdy Freq Ref d1 01 U1 01 020 00 Hz 0 00 60 00 To adjust frequency use Ag and press E j re FWD 2 Adjust motor speed frequency from external terminals 0 10V 4 20mA Signal Ref Source 1 Go to parameter b1 01 set value to b1 01 1 7 Analog Input Factory Default User Terminals V AC V A1 A2 A3 FM AM AC MP RP Aac LLL LLL User Terminals V AC V A1 AZ A3 FM AMIAC MP RP AC Hl Potentiometer 2K Ohm Note 2 row of terminal board is shown here O O 0 10Vde V AC V A1 A2 A3 FM AMJAC MP RPAC 51 v illj Factory Default Located inside the drive on the terminal board 4 20
6. ASR Integral Time 2 lt 4 gt If motor hunting and oscillation occur increase the setting oes O Onto OS E Parameter C5 04 needs to be adjusted only if C5 07 gt 0 Go to parameter b1 02 set value to emmy b1 02 0 ETEEN EE eer Operator oe eae ce PORAT eo l T Have the drive switch between two different ASR proportional gain and or the integral time at the low or high end of C5 07 ASR Gain Switching Frequency lt 4 gt integral time settings based on the output frequency 0 0 Hz 0 0 to max freq output the speed range 2 Start Stop Control from external terminals switch or relay contact If motor torque and speed response are too slow gradually Motor hunting and oscillation C5 06 ASR Primary Delay Time Constant lt 4 gt See le ee ung IeY ue oe 0 004 s 0 004 to 0 020s If the load is less rigid and subject to oscillation increase this ee Run Source 1 setting lt 02 chs Factory Default Go to parameter b1 02 set value to n i an i ry e If there is too much motor noise the carrier frequency is too low IJRA NUS Motor noise e f motor hunting and oscillation occur at low speeds reduce the Motor hunting and oscillation occurs at speeds C6 02 Carrier Frequency Selection carrier frequency 1 2KHz to max setting User Terminals User Terminals below 3 Hz Note The default setting for the carrier frequency depends on the drive capacity 02 04 and Drive Duty Selection C6 01 42G9GGGGGGGGQG A A A A EY S1 S2 S3 S4 S5 S6 S7
7. Method i 0 00A Initialization Control method suitable for Motor Rotation Test REE FO BDA aD gt gt A1 02 See 1 fs Cannes applications that require sel 3 i gt Vif with PG iiss speed eeu Lae Yo but do 2X BA fe gt Ge Initialization A PO Eo not require a high speed response vy Go to parameter A1 02 A1 02 2 2 gt or Closed Loop Vect Select Digit or Closed Loop Vector g Open Loop Vector Control Method a Hn ODE V Rdy Initialization ontrol method suitable for applications PE Ee H i alee ie f dial te ive a i ie ee ee that medium to high speed control Ut 02 0 00Hz i Jeco E E A TA To adiust control method use and press a if accuracy high torque response and full eG gt ei 01 10 0 sec C1 i 10 0 sec AZ i Ea Closed Loop Vect torque at 0 speed Acceleration Time 1 2X Acceleration Time 1 FWD FWD CE First Digit to re iY A tums on CMG Flashing saben vob Check the motor speed monitor U1 05 while turning the motor manually in forward direction CW If the sign displayed Encoder Direction is negative power down the drive wait at least five minutes until the charge indicator extinguishes completely then swap encoder wires A with A on the PG X3 card Next power up the drive and repeat this test Or reverse the encoder direction with parameter F1 05 For encoders with only A amp B outputs exchange A amp B Inc Dec Selection Go to Next Digit Inc Dec Sel
8. S8 SN SC SP S1 S2 S3 S4 S5 S6 S7 S8 SN SC SP PACERS EAR Eg EEE Ee YOTO Onn stencel when tie shee Use S Curve C2 01 C2 02 C2 03 C2 04 1 changes with high inertia load Forward Reverse Start J Normal R y everse Link Switch Open als lt 1 gt Default setting value is dependent on parameter A1 02 Control Method Selection and 02 04 Drive Model Selection Ps l St lt 2 gt Default settings change when the Control Method is changed A1 02 or a different V f pattern is selected using parameter E1 03 Wiring Diagram 2 Wire Control OP Nee lt 3 gt ASR in V f Control with PG only controls the output frequency and therefore does not allow for high gain settings like in Close Loop Vector control Switch Closed lt 4 gt Refer to C5 Automatic Speed Regulator ASR in the A1000 User Manual Document No SIEP C710606 21A for details on Automatic Speed Regulator ASR Use for maintained contacts Wiring Diagram 3 Wire Control Yaskawa America Inc i i i Use for momentary contacts erent DVARO Note 3 row of terminal board is shown here ry Waukegan IL 60085 Set Parameter A1 03 to 3330 800 YASKAWA 927 5292 Fax 847 887 7310 NOTE It is beyond the scope of this document to program the A1000 drive for network communication control DrivesHelpDesk yaskawa com www yaskawa com Please refer to the refer to the A1000 User Manual Document No SIEP C710606 21A for this selection Document Number TM A1000 02 1 4 2011
9. below show the electrical connections for the input power and motor terminals for various A1000 models Select the proper diagram for the model you are installing see Step 1 WITH POWER OFF make the appropriate connections Make sure to follow good wiring practices and all applicable codes Ensure that the equipment is grounded properly as shown in fig 1 Q DANGER LETHAL VOLTAGES ARE PRESENT Before applying power to the A1000 ensure that the terminal cover is fastened and all wiring connections are secure After the power has been turned OFF wait at least five minutes until the charge indicator extinguishes completely before touching any wiring circuit boards or components WARNING DO NOT CONNECT ANY OF THE FOLLOWING TERMINALS TO EARTH GROUND B1 B2 1 2 3 DC Bus terminals location varies by model R L1 S L2 LI L3 u VT _ W T3 TIL3 a n U T1 VIT2 Ri S L2 Al Im Iir AIMES SONHEI i cl imi Ho SS JA Sp os oN To change direction of motor rotation swap any two of the three motor leads See Step 2 7 Connect to chassis ground E A a Input Protection Fuse or Circuit Breaker L1 L2 L3 Connect frame to ground Use L1 L2 for Use L1 L2 L3 for 3 Induction 4 1 Input Power 3 Input Power m t r Fig 1 Input Power and Output Motor Electrical Connections for Models 2_0004
10. 1 02 Run Source 0 Digital Operator Start Stop motor from keypad Start Stop Control Method 1 Terminals Start Stop using external contact switch 0 Ramp to stop Motor ramps down at stop command bras ue ea Pe sete Clee 1 Coast to stop Motor freewheels at stop command l 0 Allow motor to run in reverse direction DIC o Neue tists Olea emer 1 Reverse direction prohibited C1 01 Acceleration Time The time it takes to ramp up from 0 to maximum motor speed C1 02 Deceleration Time The time it takes to ramp down from maximum motor speed to 0 0 Heavy Duty Use for conveyor mixer applications oe i oe SEN eNotes 1 Normal Duty Use for fan and pump applications d1 01 0 00 Hz Frequency Reference Frequency setting when speed is set from the keypad d2 01 100 0 Frequency Upper Limit Maximum motor speed allowed e g 100 Max rpm o azo oo Frequency Lower Limit Minimum motor speed allowed e g 100 Max rpm E2 01 ees Motor Rated Current Motor nameplate current 0 Disabled L1 01 1 Motor Overload Selection gt Standard Blower Cooled Motor 3 Vector Duty Motor L1 02 Motor Overload Time Sets the motor thermal overload protection time FREQUENTLY ASKED QUESTIONS 1 Standard Fan Cooled Motor Question How do reset the drive back to factory default settings Answer Go to parameter A1 03 and set value 2220 for 2 wire control or 3330 for 3 wire control Please refer to Step 6 for wiring diagram Question How
11. OTI UODO UOT IMT UL Fae tHFILENO E131457 IP20 g JUV Number TYPE 1 ENCLOSURE NE E YASKAWAELECTRIC CORPORATION Serial Number e Check that the available power will meet the input power requirements e Ensure that the output power from the A1000 is compatible with the motor requirements e Inthe case of systems with more than one A1000 follow the above procedure for each A1000 and motor Mounting the A1000 The mounting of the A1000 is extremely important regarding environment and accessibility Depending on your system there are various models available and the mounting dimensions footprint may be different Because the mounting procedure is fairly extensive it is beyond the scope of this document the user is referred to the A1000 User Manual Document No SIEP C710606 21A received with the A1000 Section 2 2 Mechanical Installation Match the model that you received and follow the procedure described in the manual to ensure a safe and functional installation In cases where the system has more than one A1000 refer to the proper clearances required for adequate ventilation Please pay particular attention to e The clearances to be maintained around the enclosure for adequate ventilation e The environmental specifications such as avoiding excessive dampness extreme temperatures chemical exposure corrosive areas etc to avoid damage to the equipment and to maintain safety Removing and Attaching the Term
12. Staak TRS Motor hunting and oscillation at speed up to C6 02 Carrier Frequency Selection lower the carrier frequency 1 2 kHz 1 to max setting l ue U1 01 020 00 Hz 1 J 0 00 60 00 40Hz The default setting for the carrier frequency depends on the drive To adjust frequency use and press ester lt gt 0 00Hz capacity 02 04 and the Duty Selection C6 01 Pa os i FWD Poor torque or speed response l l If motor torque and speed response are too slow decrease the 2 Adjust motor speed frequency from external terminals 0 10V 4 20mA Signal e a e C4 02 Torque Compensation Primary Delay Time setting an 200 ms lt 1 gt 100 to 1000 ms Refs lf motor hunting and oscillation occur increase the setting Ref Source Go to parameter b1 01 set value to lt b1 01 4 Ha Factory Default k 1A PNAD If irae torque is insufficient at soeeds below 10 Hz increase the Analog Input es lb Ge tia Aca ote a C4 01 Torque Compensation Gain See PETER PER 1 00 0 50 to 1 50 Motor hunting and oscillation if motor hunting and oscillation with a relatively light load decrease the setting User Terminals User Terminals If motor torque is insufficient at speeds below 10 Hz increase the setting If motor instability occurs at motor start decrease the setting E1 08 15 0 V lt 2 gt E1 10 9 0 V lt 2 gt V AC V A1 A2 A3 FM AM AC MP RP AC V AC V A1 A2 A3 FM AMJAC MP RP AC Poor motor torque at low speeds E1 08 Mid Output V
13. Yaskawa America Inc
14. been re attached At this point DO NOT RUN THE MOTOR the Digital Operator should display as shown in Fig 3 MODE DRV Rdy Freq Ref Al U1 02 0 00Hz IRSEQ U1 03 0 00A JG F Fig 3 Digital Operator JOG FIUID REW Motor Rotation Test MODE DRV Rady Freq Ref d1 01 ODE DRV Rdy Freq Ref OPR U1 01 000 0 Hz U1 02 0 00Hz LSEQ U1 03 0 00A LREF FWD eio ESC Green LED camera First Digit turns on Flashing Next press to move the cursor one MODE DRV Rdy Freq Ref d1 01 position to the right and to increase the frequency reference d1 01 to 10 00 Hz 7a g rane d Press Gans o save frequency reference 10 00 Hz Next press on the Digital Operator The motor should now be operating at low speed running in the correct forward clockwise direction Next press stor on the Digital Operator lf motor rotation is not correct then either reverse Phase Order using parameter b1 14 or power down the drive wait five minutes and swap 2 motor leads DANGER After the power has been turned OFF wait at least five minutes until the charge indicator extinguishes completely before touching any wiring circuit boards or components Use precaution and refer to Fig 1 or 2 swap any two of the three output leads to the motor U T1 V T2 and W T3 After the wiring change repeat Step 3 and recheck motor direction Digital Operator turned off
15. do adjust the time it takes the motor to speed up or slow down Answer Adjust the acceleration time parameter C1 01 and deceleration time C1 02 Question How do prevent my drive from tripping on an OV fault overvoltage while my motor is ramping down Answer Increase deceleration time parameter C1 02 Question How do prevent my drive from tripping on an OL1 fault overload while my motor is ramping down Answer Verify motor rated current parameter E2 01 and motor overload parameter settings L1 01 Motor overload selection L1 02 Motor overload protection time Question want to run my motor above the nominal motor speed Answer Increase the value of parameter E1 04 Maximum Frequency Warning Verify that the motor and system allow for this Yaskawa America Inc 2121 Norman Drive South Waukegan IL 60085 800 YASKAWA 927 5292 Fax 847 887 7310 DrivesHelpDesk yaskawa com www yaskawa com Document Number TM A1000 01 1 4 2011 Yaskawa America Inc YASKAWA A1000 Cheat Sheet Closed Loop Operation Page 1 of 3 The following procedure is a supplement to other documentation supplied with this equipment and will guide the user in properly wiring the A1000 motor and encoder It will also show the user how to configure the A1000 in closed loop mode operation using a PG X3 card for a dedicated applications Danger mproper wiring can and will cause bodily harm as well as damage to the eq
16. ection Auto tuning Procedure PRMSET PRG PRMSET PRG PRMSET DRV Rey Start here Next press to move the cursor one le Basic Setup ___ DecelTime _Decel Time 1 T1 03 Rated Voltage e g 230 V 460 V For standard AC motors FreqRef d1 01 C1 10 0 C1 02 00 J0 0Sec C1 02 00 0 0Sec use the default setting for 3 J U SEC a T1 04 Rated current e g 11 0 A 22 0 A ostort tihendid ioinereasetie Deceleration Time 1 0 00 6000 0 0 00 6000 0 From the main reference press once until the Digital Operator RONE ne motor base frequency p g 10 0 sec 10 0 sec i i T1 05 Rated Frequency e g 60 0 Hz 60Hz motor poles 4 and E E FD E o ne shows the Auto Tuning menu then press Toe NUn ber Or POE eo APO motor rated speed iaaii reference d1 01 to 10 00 HZ ws T a TAT te is gt y gt T1 07 Rated Speed e g 1750 rpm REF ES Press Nect to save frequency reference RET Switch to Edit Mode Modify Value Save New Value T1 08 Encoder PG Number of Pulses per Rev e g 1024 10 00 Hz Monitor Motor Frequency and Motor Current After setting parameter 11 08 press to select the Next press lt gt RUN on the Digital Operator The motor DRV Roy Auto Tuning start command gt gt n P DRV Rdy uto Tuning should now be operating at low speed running in the correct 441000 Diaital Overat tat Ut of 000 0 Hz oou O 00A forward
17. ext press RESET to select monitor ii igi l Use precaution and DeM emt Press Es to select the digit you would like to change and Next press on the Digital Operator The A1000 refer to Fig 1 or 2 swap l any two of the three MONTR tFn E Rdy Rss use Vv adjust value and press nen to save will now start the Auto tuning procedure oat U1 02 0 00H ashin Digital Operator output leads to the motor Use LV to select monitor signal resi l The display will show message Tune Successful when the turned off U T1 V T2 and W T3 Uu ee Press to select the next parameter and follow the same After the wiring change Ea V EA repeat Step 3 and recheck motor direction Please refer to the A1000 User Manual Document No l SIEP C710606 21A on how to access other drive monitors Continue gt NOI Rated Voltage Auto Tuning procedure has been successfully completed procedure described above to adjust its value 747 432 539 Ovas U1 02 Output Frequency Please refer to the A1000 User Manual or repeat the procedure again if the display shows an error message Y YASKAWA A1000 Cheat Sheet Closed Loop Operation Page 3 of 3 Step Step E E E 7 Selecting Start Stop and Speed Reference Sources 8 Motor Performance Fine Tuning This step shows how to setup the run and reference source of the A1000 The run source de
18. inal Cover Improper removal of the A1000 terminal cover as well as front cover can cause extensive damage to the A1000 To avoid damage to these items please pay particular attention to the A1000 User Manual Document No SIEP C710606 21A Section 3 5 Rem Cover Open Chassis A1000 Cheat Sheet Connect Motor and Line Power Fig 1 amp 2 below show the electrical connections for the input power and motor terminals for various A1000 models Select the proper diagram for the model you are installing see Step 1 WITH POWER OFF make the appropriate connections Make sure to follow good wiring practices and all applicable codes Ensure that the equipment is grounded properly as shown in fig 1 O DANGER LETHAL VOLTAGES ARE PRESENT Before applying power to the A1000 ensure that the terminal cover is fastened and all wiring connections are secure After the power has been turned OFF wait at least five minutes until the charge indicator extinguishes completely before touching any wiring circuit boards or components WARNING DO NOT CONNECT ANY OF THE FOLLOWING TERMINALS TO EARTH GROUND B1 B2 1 3 DC Bus terminals location varies by UTO VT _ W T3 Open Loop Vector R L1 S L2 Ap Hoes HEHE dt IE i UL AR ie o l i hee N F To change Connect to direction of chassis ground motor rotation iz E
19. is test is to be performed solely from the digital operator Apply well as how to monitor A1000 signals such as output frequency power to the A1000 after all the electrical connections have been and motor current e Encoder PG connected correctly to the PG X3 Card made and protective covers have been re attached At this point os ue o NANE res re altachec AE e DO NOT RUN THE MOTOR the Digital Operator should display as Make sure all protective covers have been re attached and power E ddan CO e Connected machinery should be allowed to rotate the motor shown in Fig 3 is turned on DO NOT RUN THE MOTOR Se IMPORTANT ren ret sory PY Access Parameter Menu and Change Parameter Value To achieve optimal drive performance use rotational Auto Tuning with the load decoupled from the motor If motor and load can not be decoupled oe 00 0 ie reduce the motor load so that it is no greater than 30 of the rated load Performing rotational Auto Tuning with a higher load can result in incorrect UOMA a 2 ia Fig 3 l motor parameters and may cause irregular motor rotation Digital Operator Press two times until the digital operator shows the parameter menu Next apply power to the A1000 DO NOT RUN THE MOTOR MODE DRV Rdy MODE PRG PRMSET PRE Freq Ret Al Programming Initialization Select Closed Loop Control Method A1 02 U1 01 00 0 Hz Weo0 0 Ke a U1 02 000H7 gt eae V f with PG ut w ie RSEO select Language Select Closed Loop Control
20. mA SELECT START STOP CONTROL METHOD b1 02 1 Start Stop Control from Digital Operator Go to parameter b1 02 set value to m i Operator 2 Start Stop Control from external terminals switch or relay contact ENTR O b1 02 ote Digital Inputs Go to parameter b1 02 set value to m i Factory Default User Terminals UN A User Terminals 4GQGQGQGQGQQGQOQOG oo Forward S1 S2 S3 S4 S5 S6 S7 1S8 SN SC SP Reverse rink Start J Normally Reverse Switch Open ik Stop Normally Switch T Closed Wiring Diagram 2 Wire Control Use for maintained contacts Wiring Diagram 3 Wire Control Use for momentary contacts Set Parameter A1 03 to 3330 NOTE It is beyond the scope of this document to program the A1000 drive for network communication control Please refer to the refer to the A1000 User Manual Document No SIEP C710606 21A for this selection Note 3 row of terminal board is shown here Step F Quick Start Parameters The following table lists the general purpose application parameters as well as frequently asked questions This section may require you to change one or more A1000 parameters Please refer to Step 5 for a detailed explanation on how to change parameters GENERAL PURPOSE APPLICATION PARAMETERS omm omm 01 Reference Source 0 Digital Operator Adjust Motor Speed from keypad Speed Control Method 1 Terminals Speed Pot 0 10V 4 20mA b
21. ning Electric Shock Hazard High voltage will be supplied to the motor when stationary Auto Tuning is performed Do not touch the motor during auto tuning Notice Auto Tuning will not function properly when a brake is engaged on the load Ensure the motor shaft can freely rotate Never perform an Auto Tune with motor connected to a load Next press on the Digital Operator The A1000 will now start the Auto tuning procedure The display will show message Tune Successful when the Auto Tuning procedure has been successfully completed Please reference the A1000 User Manual or repeat the procedure again if the display shows an error message A1000 Cheat Sheet Open Loop Vector Page 2 of 2 Y YASKAWA Siep Changing Parameters and 5 Monitoring the A1000 This step shows how to access and modify a A1000 parameter as well as how to monitor A1000 signals such as output frequency and motor current Make sure all protective covers have been re attached and power is turned on DO NOT RUN THE MOTOR Access Parameter Menu and Change Parameter Value Press two times until the digital operator shows the parameter menu MODE DRV Rdy MODE PRG PRMSET PRG Freg Ref Al Programming Initialization R E S EA IM 00 0 Ut 02 0 00Hz RSEQ U1 03 0 004 IRREF FWD aie Select Language FWD sas FWD DATA S gt RESET Select Digit PRMSET PRG PRMSET PRG pee ae Basic Setu
22. oltage A Motor instability at motor start E1 10 Minimum Output Voltage E EEEE ENEE EEEE Can sa pi 88 8 8 8 8 8 amp Default setting 5 V Note The recommended setting value shown is for 200 V class drives Multiply value x 2 for 400V class drives and x 2 875 for 575V class OO drives Potentiometer 0 10Vdc RF a C5 01 ASR Proportional Gain 1 lt 3 gt Adjust the ASR proportional gain 1 C5 01 and the ASR integral C5 01 0 20 Prop gain 0 10 to 1 00 2K Ohm Va AC V A1 A2 A3 EM AMJAC MP RP Ac Located inside C5 02 ASR Integral Time 1 lt 4 gt time 1 C5 02 C5 02 0 200 Int time 0 100 to 2 000 the drive on the terminal board Closed Loop Vector Control A1 02 3 S1 a 2 O 4 20mA v ill Factory Default eee ee ee ee ee ee Note 2 row of terminal board is shown here al ry If motor torque and speed response are too slow gradually in l crease the ASR gain setting by 5 SELECT RUN SOURCE b1 02 EEIN POOE TE Soin a If motor hunting and oscillation occur decrease the setting 20 00 10 00 to 50 00 C5 03 ASR Proportional Gain 1 lt 4 gt i Poor torque or speed response Parameter C5 03 needs to be adjusted only if C5 07 gt 0 ra ae Perform ASR Auto Tuning if possible 1 Start Stop Control from Digital Operator lt gt RUN stop Motor hunting and oscillation If motor torque and speed response are too slow decrease the EAS i C5 02 ASR Integral Time 1 lt 4 gt setting ET C5 04
23. p ______ pasic Setup _____ 01 10 0 sec C1 W 10 0 sec Acceleration Time 1 2X Acceleration Time 1 EEE o E wy ia k d k Inc Dec Selection x LA k ail LV Inc Dec Selection Go to Next Digit PRMSET PRG PRMSET PRG PRMSET DRV Rdy ae iat Basic Setup ____ _DecelTime Decel Time 1 _____ C1 W 10 0 sec C1 02 00 0 0 Sec C1 02 0040 0Sec Deceleration Time 1 0 00 6000 0 0 00 6000 0 10 0 sec 10 0 sec FWD a ENTER Switch to Edit Mode n ee meee l NM gt amp Modify Value save New Value Monitor Motor Frequency and Motor Current MODE DRV Rdy Freq Ref Al U1 01 000 0 Hz U1 02 0 00Hz RSEQ U1 03 0 00A FWD Output Frequency and Motor Current can be monitored A1000 Digital Operator power up state gt 4 Ps m E simultaneously To monitor output frequency and motor current or other signals DRV Rdy Monitor Menu M A a individually press PE once U1 02 0 00Hz the press GEER J U1 03 0 00A FWD MONITR DRV Rdy MONITR DRV Rdy Monitor Frequency Ref U1 01 0 00 Hz _ U1 01 0 00 Hz _ U1 02 0 00Hz RSEQ Next press to select monitor hte sae U1 03 0 00A RREF FWD HONTRS ee RH Digits u U1 02 0 00 Hz Flashing U1 03 0 00A REQ U1 04 2 FWD Use V to select monitor signal U1 02 Output Frequency Please refer to the A1000 User Manual Document No SIEP C710606
24. procedure for each A1000 and motor Mounting the A1000 The mounting of the A1000 is extremely important regarding environment and accessibility Depending on your system there are various models available and the mounting dimensions footprint may be different Because the mounting procedure is fairly extensive it is beyond the scope of this document the user is referred to the A1000 User Manual Document No SIEP C710606 21A received with the A1000 Section 2 2 Mechanical Installation Match the model that you received and follow the procedure described in the manual to ensure a safe and functional installation In cases where the system has more than one A1000 refer to the proper clearances required for adequate ventilation Please pay particular attention to e The clearances to be maintained around the enclosure for adequate ventilation e The environmental specifications such as avoiding excessive dampness extreme temperatures chemical exposure corrosive areas etc to avoid damage to the equipment and to maintain safety Removing and Attaching the Terminal Cover Improper removal of the A1000 terminal cover as well as front cover can cause extensive damage to the A1000 To avoid damage to these items please pay particular attention to the A1000 User Manual Document No SIEP C710606 21A Section 3 5 Removing and Attaching the Terminal Cover Open Chassis Connect Motor and Line Power Fig 1 amp 2
25. rt connector CN5 here Option card Mounting screw Lead line Ground Use wire cutters to create an opening for cable lines Front cover Digital Operator Terminal cover A single channel encoder can only be used in V f PG control mode A1 02 1 It is required to use a quadrature encoder in Flux Vector control mode A1 02 3 Connect Encoder PG signals to TB1 terminals of the PG X3 card as shown below Connect power supply from the PG X3 card TB1 Terminals IP and IG to the Encoder PG TB2 PG X3 Terminals A TY A LR IP IG SGlat a b b z z TB1 39999999 GG A A B B Z Z SD FE Py Laer Encoder Power Poe ail fe i i faces i Ta Encoder Signals Quadrature Dual Channel Feedback A amp B Set F1 37 1 Required for FLUX Vector Operation Suitable for V f or Flux Vector with Feedback PG X3 Encoder Wiring A YASKAWA A1000 Cheat Sheet Closed Loop Operation Page 2 of 3 Check Motor Rotation in Open Loop Changing Parameters and Rotational Auto Tuning Closed Loop Motor uncoupled from Load Monitoring the A1000 De couple Motor from Load In this step the motor is checked for proper direction and operation This step shows how to access and modify a A1000 parameter as In this step the A1000 is setup for use with the motor in closed loop operation Make sure the following has been done Th
26. swap any two a i o of the three tar ni motor leads gaa See Step 2 L1 L2 L3 EE TS ae Connect frame to ground UseL1 L2for Use L1 L2 L3 for 3 Induction 1 Input Power 3 Input Power motor i Fig 1 Input Power and Output Motor Electrical Connections for Models 2_0004 2_0056 4_0002 4 0044 and 5_0003 50011 BUS TERMINALS DO NOT CONNECT TO GROUND pe gt gt A f R L1 S L2 7 P Connect to See Step 2 Igi a i I A U T1 T L3 m Pa To change direction of motor ie vo rotation swap any two of the ok ia three motor leads Input chassis Protection aa Fuse or Circuit Breaker L1 L2 L3 p Connect frame to ground Use L1 L2 for Use L1 L2 L3 for L 1 Input Power 3 Input Power 3 Induction motor Fig 2 Input Power and Output Motor Electrical Connections for Models 2_0110 amp Larger and 4_0058 amp Larger Make sure the A1000 has been properly sized for single phase input power For best performance the drive input supply voltage must be at least equal to or greater than the motor rated voltage Check Motor Direction Motor uncoupled from Load In this step the motor is checked for proper direction and operation This test is to be performed solely from the digital operator Apply power to the A1000 after all the electrical connections have been made and protective covers have
27. termines The following tables show how to fine tune motor operation for V f with PG and Closed Loop Vector Operation how the A1000 drive receives its start and stop command and the reference source determines how Please refer to the A1000 User Manual Document No SIEP C710606 21A for additional information the speed of the motor is controlled Make sure all protective covers have been re attached and power S SE STS AAE E te TIP V f Control with encoder feedback A1 02 1 This section may require you to change one or more A1000 parameters Please refer to Step 5 l Problem Parameter Suggested Setting for a detailed explanation on how to change parameters If insufficient motor torque relative to the size of the load causes SELECT REFERENCE SOURCE b1 01 hunting reduce the setting Mohan IRR E Isto mn iepeoda bee When motor hunting and oscillation occur with a light load increase Sue B n1 02 Hunting Prevention Gain setting 1 00 0 10 to 2 00 P tween 10 and 40Hz l eee l 1 Adjust motor speed frequency from the Digital Operator Lower this setting if hunting occurs when using a motor with a mee relatively low inductance such as a high frequency motor or a motor Ref Source 1 with a larger frame size Go to parameter b1 01 set value to b1 01 0 1 MODE DRV Rdv If the motor noise is too loud increase the carrier frequency Operator Freq Ref d1 01 Motor noise When motor hunting and oscillation occur at speeds up to 40 Hz eee
28. uipment When installing the system be sure to follow good wiring practices and all applicable codes Ensure that the mounting of components is secure and that the environment such as extreme dampness poor ventilation etc will not cause system degradation Please read this cheat sheet and other documentation provided with the A1000 thoroughly before attempting any installation A1000 Model Identification and Mounting To make sure you received the correct model it is essential to verify the A1000 nameplate with your order and make sure the A1000 has the correct rating so it can be used with your motor Please check the nameplate information as shown in the example below Drive Model _ Drive Spec ee Numb MODEL CIMR AA2A0021FAA UL us rating MAXAPPLL MOTOR S 5CN 3 7K REV A ere INPUT AC3PH 200 240V 50 60Hz 24A 18 9A IND CONTEO Output or ACAH nsdn ANN aanze IND CONTEG ome ae OUTPUT ACSPH 0 240V 0 400Hz 21A 17 5A 7J48 B Rating MASS 3 5kq PRG 1010 Software Version Weight OFN C SIN Serial a Number OUOOCCOO OUID CUOU OIODOU POA TA YA QUNT UOUIA DIMO OMU FILE NO E131457 UL File Number TYPE 1 ENCLOSURE Eo YASKAWAELECTRIC CORPORATION e Check that the available power will meet the input power requirements e Ensure that the output power from the A1000 is compatible with the motor requirements e Inthe case of systems with more than one A1000 follow the above
29. ving the front cover imi Hill Underside AAA Hih ee D PG X3 Option Card A Terminal block TB1 B Ground terminal installation hole C Jumper for PG power supply voltage CN3 D Terminal block TB2 E Model number F Installation hole G Connector CN5 Option Card Installation Insert the PG X3 card connector CN5 into the matching CN5 connector on the A1000 control card Next use the screws to fasten the card into place Connect one of the ground lead lines to the ground terminal with one of the screws Two separate ground lead lines have been included with the option card Use the longer one when the option card is plugged into connector CN5 C on the A1000 control card side and use the shorter one if the PG X3 card is plugged into connector CN5 B AC TAMoOVOW LY Fig 3 Encoder Connection Encoder Power Supply Max 200mA Select Encoder Power Supply IP IG TB2 with Jumper CN3 ssv izv ssv izv oba TB2 PG X3 Terminals Default RR ES SR IP IG SGlat a b b z z IMPORTANT Verify Encoder Power Supply Rating ee _ TB1 moder RU RRYY A A B B z z SD FE Encoder Signals Single Channel Feedback A Only Set F1 37 0 default Suitable only for V f with Feedback Connector CN5 C Connector CN5 B Connector CN5 A Drive grounding terminal FE Inse
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