YASKAWA AC Drive A1000
IP23/54 Floor Standing Panel
Quick Start Guide
Type: A14
Models: 400 V Class: 90 to 315 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. TOEP C710616 88A
YASKAWACopyright © 2013
YASKAWA Europe GmbH. All rights reserved.
No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means,
mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of YASKAWA. No
patent liability is assumed with respect to the use of the information contained herein. Moreover, because YASKAWA is
constantly striving to improve its high-quality products, the information contained in this manual is subject to change
without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, YASKAWA assumes no
responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the
information contained in this publication.
EN 2
YASKAWA Europe TOEP C710616 88A - AC Drive A1000 IP23/54 Floor Standing - Quick Start Guide
Table of Contents
1 SAFETY INSTRUCTIONS AND GENERAL WARNINGS . . . . . . . . . . . . . . . . . . . . . . . 4
2 MECHANICAL INSTALLATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3 ELECTRICAL INSTALLATION. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
4 KEYPAD OPERATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
5 START UP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
6 PARAMETER TABLE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
7 TROUBLESHOOTING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
8 MAINTENANCE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
9 SAFE DISABLE INPUT FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
YASKAWA Europe TOEP C710616 88A - AC Drive A1000 IP23/54 Floor Standing - Quick Start Guide
1 Safety Instructions and General Warnings
1
Safety Instructions and General Warnings
YASKAWA Europe 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. 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
products designed to incorporate a component part 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 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.
 Scope of Delivery
A1000 Floor Standing drives are prepared for indoor use. Exposure to corrosive atmosphere is not allowed.
A1000 Drive
Quick Start Guide
Panel Key
Figure 1
Figure 2
YASKAWA AC Drive A1000
IP54 Floor Standing Panel
Quick Start Guide
Type: CIMR-AC4ATAA
Models: 400 V Class: 18.5 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. TOEP C710616 96A
 Applicable Documentation
The following manuals are available for A1000 series drives:
A1000 Series AC Drive Technical Manual
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.
A1000 Series AC Drive Quick Start Guide (this book)
Read this manual first. This guide is packaged together with the product. It contains basic information required to install and wire the drive, in
addition to an overview of fault diagnostics, maintenance, and parameter settings. Use the information in this book to prepare the drive for a trial
run with the application and for basic operation.
 Drive Model Identification
A1
4
0414
A
A
A1000
Series
Voltage Class
4
3-phase, 380-480 Vac
No.
No.
Current Class
0
0208
0250
0296
0362
0414
0515
0675
90 / 110 kW (HD/ND)
110 / 132 kW (HD/ND)
132 / 160 kW (HD/ND)
160 / 185 kW (HD/ND)
185 / 220 kW (HD/ND)
220 / 250 kW (HD/ND)
315 / 355 kW (HD/ND)
A
B
C
K
L
M
EN 4
0
0
0
0
Specification
No.
No.
A
Enclosure Type
IP23 Standard
IP23 Standard with option bay 60 mm right
IP23 Standard with option bay 60 mm left
IP54 Standard
IP54 Standard with option bay 60 mm right
IP54 Standard with option bay 60 mm left
No.
0
A
B
C
E
F
K
L
M
Environmental
Specification
Standard
000
Reserved
EMC Filter /
No.
AC Choke
0
A
B
None
Standard EMC filter
IT Grid EMC filter
No.
0
A
B
C
D
Braking Option
None
1× CDBR 4090
2× CDBR 4090 Master/Slave
1× CDBR 4220
2× CDBR 4220 Master/Slave
Power Option Input
(Circuit breaker/Switch)
None
Circuit breaker
Circuit breaker, rotary mains switch internal handle
Circuit breaker, rotary mains switch door handle
Rotary mains switch with internal handle
Rotary mains switch with door handle
Input fuse
Input fuse, rotary mains switch internal handle
Input fuse, rotary mains switch door handle
No.
0
C
Power Options Output
(Output Reactor/Filter)
None
Output reactor, up to 120 Hz
YASKAWA Europe TOEP C710616 88A - AC Drive A1000 IP23/54 Floor Standing - Quick Start Guide
1 Safety Instructions and General Warnings
 Nameplate
A1000 Floor Standing drives have a full name plate inside and a type code label outside (underneath the digital operator).
6[RGEQFGNCDGN
A140414AAA0000
400V 3PHASE 185kW/220kW
S/N: IR************
(WNNPCOGRNCVG
AC Drive Model
Input Specifications
Output Specifications
A140414AAA0000
185kW/220kW REV: A
AC3PH 380-480V 50/60Hz *A/*A
AC3PH 0-480V 0/150Hz 370A/414A
271kg
Software Version
Lot Number
Serial Number
IP54 Floor Standing
Enclosure Type
 General Warnings
WARNING
•
•
•
•
Read and understand this manual before installing, operating or servicing this drive.
All warnings, cautions, and instructions must be followed.
All work must be performed by qualified personnel.
The drive must be installed according to this manual and local codes.
Heed the safety messages in this manual.
The operating company is responsible for any injuries or equipment damage resulting from failure to heed the warnings
in this manual.
The following conventions are used to indicate Safety messages in this manual:
WARNING
Indicates a hazardous situation, which, if not avoided, could result in death or serious injury.
CAUTION
Indicates a hazardous situation, which, if not avoided, could result in minor or moderate injury.
NOTICE
Indicates a property damage message.
YASKAWA Europe TOEP C710616 88A - AC Drive A1000 IP23/54 Floor Standing - Quick Start Guide
EN 5
1 Safety Instructions and General Warnings
 Safety Warnings
WARNING
Electrical Shock Hazard
Do not attempt to modify or alter the drive in any way not explained in this manual.
YASKAWA is not responsible for the damage caused by modification of the product made by the user. Failure to
comply could result in death or serious injury from operation of damaged equipment.
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. To
prevent electric shock, wait at least five minutes after all indicators are off and measure the DC bus voltage level to
confirm safe level.
Do not allow unqualified personnel to use equipment.
Failure to comply could result in death or serious injury.
Maintenance, inspection, and replacement of parts must be performed only by authorized personnel familiar with
installation, adjustment, and maintenance of AC drives.
Do not change wiring, remove covers, connectors or options cards, or attempt to service the drive with power
applied to the drive.
Failure to comply could result in death or serious injury. Disconnect all power to the drive and check for unsafe
voltages before servicing.
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.
Never short the output circuits of the drive.
Do not short the output circuits of the drive. Failure to comply could result in death or serious injury.
Use appropriate equipment for residual current monitoring/detection (RCM/RCD).
This drive can cause a residual current with a DC component in the protective earthing conductor. Where a residual
current operated protective or monitoring device is used for protection in case of direct or indirect contact, always use
an RCM or RCD of type B according to IEC 60755.
Sudden Movement Hazard
Stay clear of the motor during rotational Auto-Tuning. The motor may start operating suddenly.
During automatic starting of equipment, the machine may start moving suddenly, which could result in death or serious
injury.
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.
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.
EN 6
YASKAWA Europe TOEP C710616 88A - AC Drive A1000 IP23/54 Floor Standing - Quick Start Guide
1 Safety Instructions and General Warnings
WARNING
Do not use improper combustible materials in drive installation, repair or maintenance.
Failure to comply could result in death or serious injury by fire. Attach the drive or braking resistors to metal or other
noncombustible material.
Do not connect the AC power line to the output terminals of the drive.
Failure to comply could result in death or serious injury by fire as a result of drive damage from line voltage
application to output terminals.
• Do not connect AC line power to output terminals U, V, and W.
• Make sure that the power supply lines are connected to main circuit input terminals R/L1, S/L2, T/L3.
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.
Crush Hazard
Use a dedicated material handling system when moving and installing the drive by.
Improper lift gear may cause the drive to drop, resulting in serious injury.
Only allow qualified personnel to operate a crane or hoist to transport the drive.
Failure to comply could result in death or serious injury from falling equipment.
CAUTION
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.
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 perform a withstand voltage test on any part of the unit.
Failure to comply could result in damage to the sensitive devices within the drive. Use power off resistance checks to
determine short-circuits.
Do not operate damaged equipment.
Failure to comply could result in further damage to the equipment.
Do not connect or operate any equipment with visible damage or missing parts.
If a fuse is blown or equipment for residual current monitoring/detection (RCM/RCD) is tripped, check the
wiring and the selection of the peripheral devices.
Contact your supplier if the cause cannot be identified after checking the above.
Do not restart the drive until 5 minutes passes and CHARGE lamp is OFF or immediately operate the
peripheral devices if a fuse is blown or equipment for residual current monitoring/detection (RCM/RCD) is
tripped.
Check the wiring and the selection of peripheral devices to identify the cause.
Contact your supplier before restarting the drive or the peripheral devices if the cause cannot be identified.
YASKAWA Europe TOEP C710616 88A - AC Drive A1000 IP23/54 Floor Standing - Quick Start Guide
EN 7
1 Safety Instructions and General Warnings
NOTICE
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 carelessly connect parts or devices to the drives braking transistor terminals.
Failure to comply could result in damage to the drive or braking circuit.
Carefully review instruction manual of the Braking Unit (CDBR) when connecting it to 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.
Improper application of devices on drive output circuits can damage the drive
Do not connect unapproved LC or RC interference suppression filters, capacitors, ground fault circuits, or over voltage
protection devices to the drive.
Fire Hazard
Install adequate branch circuit short circuit protection per applicable codes.
The drive is suitable for circuits capable of delivering not more than 100,000 RMS symmetrical Amperes, 480 Vac
maximum (400V Class). Inadequate branch short circuit protection damage or serious injury by fire.
 Precautions for Low Voltage Directive Compliance (2006/95/EC)
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.
• Ground the neutral point of the main power supply for 400 V Class drives.
EN 8
YASKAWA Europe TOEP C710616 88A - AC Drive A1000 IP23/54 Floor Standing - Quick Start Guide
2 Mechanical Installation
2
Mechanical Installation
 Upon Receipt
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.
 Installation Environment
For optimum performance life of the drive, install the drive in an environment that meets the conditions listed below.
Environment
Installation Area
Ambient Temperature
Conditions
Indoors on a flat solid floor.
-10 °C to +40 °C
Drive reliability improves in environments without wide temperature fluctuations.
Humidity
95% RH or less non-condensing
Storage Temperature
-20 °C to +60 °C
Surrounding Area
Install the drive in an area free from:
• oil mist and dust
• metal shavings, oil, water or other foreign materials
• radioactive materials
• combustible materials (e.g., wood)
• harmful gases and liquids
• excessive vibration
• chlorides
• direct sunlight
Altitude
Vibration
Orientation
1000 m, up to 4000 m with derating (for details, refer to the Technical Manual)
2 to 150 Hz at 2 m/s2
Install the drive upright only.
 Installation Orientation and Spacing
Always install the drive in an upright position. Leave enough space in the area of air inlets and outlets.
Air
Air
YASKAWA Europe TOEP C710616 88A - AC Drive A1000 IP23/54 Floor Standing - Quick Start Guide
EN 9
2 Mechanical Installation
 Dimensions
 Drive Dimensions without Option Extension Bay
W
Model
CIMR-A14
0208
0250
0296
0362
0414
0515
0675
W
H
H
W
H
D
W
Device Dimensions (mm)
H
D
A
620
2350
600
B
800
2350
600
C
1200
2350
600
Drive size
Weight (kg)*
IP54
IP23
217
212
234
229
238
233
243
238
271
266
362
357
365
360
* Depending on the options built in, weight might be higher.
 Drive Dimensions with Option Extension Bay
W
Model
CIMR-A14
0208
0250
0296
0362
0414
0515
0675
H
W
H
W
H
D
W
Device Dimensions (mm)
H
D
A
1020
2350
600
B
1200
2350
600
C
1600
2350
600
Drive size
Weight (kg)*
IP54
IP23
312
307
327
324
333
328
338
333
366
361
457
452
460
455
* Depending on the options built in, weight might be higher.
EN 10
YASKAWA Europe TOEP C710616 88A - AC Drive A1000 IP23/54 Floor Standing - Quick Start Guide
2 Mechanical Installation
 Unpacking the Unit
1. Remove screws from the front of the crate, then remove the front door.
2. Remove screws from the rear of the crate, then slide the crate off the bottom pallet.
3. Remove the cardboard edging strips.
4. Use scissors carefully to remove the cellophane. Make sure not to damage the paintwork.
Depending on local conditions either follow the crane lifting instructions or the forklift lifting instructions.
 Crane Lifting Instructions
1. Remove crews on both sides of the unit and remove the side panels. The screws will be needed in step 3.
2. Remove M10 bolts on both sides of the unit and remove all washers.
3. Attach both side panels back to the unit with the screws.
4. Attach the crane to the M12 eyebolts of the unit. Carefully lift the unit off the pallet.
YASKAWA Europe TOEP C710616 88A - AC Drive A1000 IP23/54 Floor Standing - Quick Start Guide
EN 11
2 Mechanical Installation
 Forklift Lifting Instructions
1. Remove screws on both sides of the unit and remove the side panels. The screws will be needed in step 4.
2. Remove M10 bolts on both sides of the unit and remove all washers.
3. Remove screws on both sides of the unit and remove the front and rear panel.
4. Attach both side panels back to the unit with the screws.
5. Place forks carefully under the unit and lift slowly off the pallet.
6. Attach the front and the rear panel. Torque the screws to 1.3 Nm.
EN 12
YASKAWA Europe TOEP C710616 88A - AC Drive A1000 IP23/54 Floor Standing - Quick Start Guide
3 Electrical Installation
3
Electrical Installation
 Main Circuit
Notes
KTS-011 N/O Thermostat
TS1
L
1
Without the circuit breaker (Option A, B or C), or disconnect
switch option B, C, E, F, L or M the disconnect means must
be installed externally.
2
Without the input fuses option (Option K, L or M), the proper
branch circuit protection must be installed externally.
L1
3
Indicates components not supplied by YASKAWA
L2
4
Can alternatively be connected to earth bar at panel bottom
From customer’s AC lines
1 phase, 230 VAC, 50/60 Hz
From customer’s AC lines
3 phase, 400 VAC, 50/60 Hz
Ground connection
N
PE
Cooling fan
L3
Input power
Earth ground
CG1
Copper Earth bar at
panel bottom
Utility
Ground
CG1
L3
L2
L1
Power Input Option A, B or C
T3
T2
T1
Circuit Breaker CB1
1
None
Standard EMC Filter
IT Grid EMC Filter
T3
L3
T3
L3
T2
L3
T2
L2
L1
T1
Standard EMC/
IT Grid EMC Filter
T1
0
A
B
EMC Filter
A or B
T3
EMC Filter
L1
2
T2
Power Options Input
K, L or M
Drive input fuses
L2
2
Available with
Internal/Door Handle
L1
E
F
K
L
M
Power Options Input
B, C, E, F, L or M
Disconnect Switch
T1
B
C
L2
Power Options Input
None
Circuit Breaker
Circuit Breaker + Rotary Mains Switch (Int Handle)
Circuit Breaker + Rotary Mains Switch
(Door Handle)
Rotary Mains Switch (Int Handle)
Rotary Mains Switch (Door Handle)
Input Fuse
Input Fuse + Rotary Mains Switch (Int Handle)
Input Fuse + Rotary Mains Switch (Door Handle)
0
A
+
+3
R/L1 S/L2 T/L3
-
1
2
A1000 Drive
EG
EG
4
3 4
5
6
-
+0 -0
CDBR 4090/
CDBR 4220
P
1
2
3 4
0
A
B
C
D
5
6
Slave
Braking Option
None
1 x CDBR 4090
2 x CDBR 4090 Master/Slave
1 x CDBR 4220
2 x CDBR 4220 Master/Slave
T3
Motor earth CG1
ground
T2
Power Options Output
None
Output Reactor up to 120Hz
T1
0
C
+
+0 -0
Master
U/T1 V/T2 W/T3
Power Options
Output C
Output reactor
-
CDBR 4090/
CDBR 4220
AC motor 3
YASKAWA Europe TOEP C710616 88A - AC Drive A1000 IP23/54 Floor Standing - Quick Start Guide
EN 13
3 Electrical Installation
 Control Circuit
Drive
Control Circuit
Multi-function
digtial inputs
(default setting)
Forward Run / Stop
S1
Reverse Run / Stop
S2
External Fault
S3
Fault reset
S4
Multi-speed step 1
S5
Multi-speed step 2
S6
Jog speed
S7
External Baseblock
S8
Option card connectors
CN5-C
CN5-B
CN5-A
Terminal board
jumpers and switches
V
I
Off
On
DIP Switch S4
A3 Analog/PTC
Input Sel
AI
SN
V
<1>
DIP Switch S2
Term. Res. On/Off
Jumper S3
H1, H2
Sink/Source Sel.
PTC
Sink / Source mode
selection wire link
(default: Sink)
DIP Switch S1
A2 Volt/Curr. Sel
SC
I
Jumper S5
FM/AM Volt./Curr.
Selection
FM AM
SP
N.O.
+24 V
Shield ground terminal
N.C.
Slide Switch S6
DM+, DMN.C./N.O.
Selection <3>
MA
RP Pulse Train Input (max 32 kHz)
2 kΩ
Multi-function
analog/ pulse
train inputs
MB
MC
Fault relay output
250 Vac, max. 1 A
30 Vdc, max 1 A
(min. 5 Vdc, 10 mA)
+V
Power supply +10.5 Vdc, max. 20 mA
A1
Analog Input 1 (Frequency Reference Bias)
-10 to +10 Vdc (20 kΩ)
A2
Analog Input 2 (Frequency Reference Bias)
-10 to +10 Vdc (20 kΩ)
0 or 4 to 20 mA (250 Ω)
A3
Analog Input 3 / PTC Input
(Aux. frequency reference)
-10 to +10 Vdc (20 kΩ)
M4
0V
M5
Power supply, -10.5 Vdc, max. 20 mA
M6
Multi-function relay output (Speed Agree 1)
250 Vac, max. 1 A
30 Vdc, max 1 A
(min. 5 Vdc, 10 mA)
MP
AC
Multi-function pulse train output
(Output frequency)
0 to 32 kHz (2.2 kΩ)
AC
−V
M1
M2
M3
Termination resistor
(120 Ω, 1/2 W)
R+
DIP
Switch S2
Multi-function relay output (During Run)
250 Vac, max. 1 A
30 Vdc, max 1 A
(min. 5 Vdc, 10 mA)
Multi-function relay output (Zero Speed)
250 Vac, max. 1 A
30 Vdc, max 1 A
(min. 5 Vdc, 10 mA)
0V
R
Safety
switch
FM
S+
MEMOBUS/Modbus
comm. RS485/422
max. 115.2 kBps
Multi-function analog output 1
IG
AM
AC
S2
Safe Disable inputs
S1
H1
H2
FM
+ (Output frequency)
AM
+ (Output current)
−
S
−
0V
-10 to +10 Vdc (2mA) or 4 to 20 mA
Multi-function analog output 2
-10 to +10 Vdc (2mA) or 4 to 20 mA
E (G)
Open
Safety relay /
controller
Wire
jumper
<2>
DM+
HC
EDM (Safety Electronic Device Monitor)
DM−
shielded line
twisted-pair shielded line
<1> Never short terminals SP and SN as doing so will damage the drive.
<2> Disconnect the wire jumper between H1 - HC and H2 - HC when utilizing the Safe Disable input.
<3> The slide switch S6 is available with terminal board “ETC74031”.
EN 14
YASKAWA Europe TOEP C710616 88A - AC Drive A1000 IP23/54 Floor Standing - Quick Start Guide
3 Electrical Installation
 Wiring Specification
 Main Circuit
Power Cable, Ground Wire and Motor Shield Connection
Connect power supply and motor cables as shown below. Use a saddle clamp for fixing the motor cable to make sure the
cable shield is properly connected to ground. The power supply ground wire shall be connected to the earth bar at the
bottom of the panel. The motor cable ground wire shall be connected to the drive or alternatively to the earth bar at the
panel bottom.
Example configuration:
Motor cable connection
U/T1, V/T2, W/T3
Motor cable ground wire
connection
Fix motor cable shield
using a saddle clamp
Connect the power supply
ground wire here
Output motor cable
fixing points
The motor cable ground wire can
be connected here or directly to
the drive
Power supply connection
L1/L2/L3
Power supply ground wire
connection
Use motor cables and ground connections as recommended below.
0208
0250
Recommended Motor Cable (mm²)
95
120
Ground Wire Connection to Earth Bar at Panel Bottom
Stud Size
Torque (Nm)
Ground Wire Connection to Drive Terminals
Stud Size
M10
Torque (Nm)
20
0296
185
Model A14
0362
240
M8
10
0414
2× 95
0515
2× 120
0675
4× 95
M10
20
M12
32
2 x M8
10
Sizes and tightening torque values for L1/L2/L3 and T1/T2/T3 terminals vary depending on the panel configuration.
YASKAWA Europe TOEP C710616 88A - AC Drive A1000 IP23/54 Floor Standing - Quick Start Guide
EN 15
3 Electrical Installation
Power Supply Side Cable Connections
The way the drive is connected to the mains depends on the optional components installed on the input side. Refer to the
table below for terminal labelling, screw sizes and torque values.
Input
0208
Direct Connection to Drive
Terminal Screw Size
Torque (Nm)
Identification
Connection to Mains Switch (Rotary)
Terminal Screw Size
Torque (Nm)
Identification
Connection to Circuit Breaker
Terminal Screw Size
Torque (Nm)
Identification
Connection to Standard EMC Filter
Terminal Screw Size
Torque (Nm)
0250
0296
Torque (Nm)
0414
M10
20
0515
0675
M12
32
R/L1, S/L2, T/L3
M10
2× M10
20
L1, L2, L3
Busbar, L1, L2, L3
M10
2× M10
20
L1, L2, L3
Busbar, L1, L2, L3
L1, L2, L3: M8
PE: M12
L1, L2, L3: 10
PE: 32
L1, L2, L3: M10
PE: M12
L1, L2, L3: 20
PE: 32
Identification
Connection to IT Grid EMC Filter
Terminal Screw Size
Model A14
0362
L1, L2, L3
L1, L2, L3: Cage Clamp,
max. 150 mm²
L1, L2, L3: 10
PE: 32
Identification
Connection to Mains Fuses
Stud Size
Torque (Nm)
M12
L1, L2, L3: 20
PE: 32
L1, L2, L3
M10
16
M12
40
20
If the drive is not equipped with a circuit breaker or mains fuses, make sure to apply adequate branch circuit protection.
Use fuses recommended below:
0208
Main Fuse
Manufacturer: Bussmann
0250
FWH-500A
0296
FWH-600A FWH-700A
Model A14
0362
FWH-800A
0414
0515
0675
FWH-1000A FWH-1200A
Door Fan supply
For proper cooling of the unit make sure to always connect 230 V AC single-phase power supply to the door fan. The
door fan is temperature controlled and will only run if the panel inside temperature exceeds the threshold value.
All Models
Door Fan Supply (DIN Rail)
Cable Size (mm²)
Terminal Screw Size
Torque (Nm)
Identification
EN 16
1.5
M4
1
L, N, PE
YASKAWA Europe TOEP C710616 88A - AC Drive A1000 IP23/54 Floor Standing - Quick Start Guide
3 Electrical Installation
Motor side cable connections
The way the motor cable is connected to the drive depends on the optional components installed on the output side. Refer
to the table below for terminal labelling, screw sizes and torque values.
Output
Direct Connection to Drive
Terminal Screw Size
Torque (Nm)
Identification
Output Choke
Terminal Screw Size
Torque (Nm)
Identification
0208
0250
0296
Model A14
0362
0414
M10
20
0515
0675
M12
32
U/T1, V/T2, W/T3
M10
20
M12
32
U/T1, V/T2, W/T3
Braking unit connection
Braking Unit
CDBR-4090D
CDBR-4220D
Screw Size
Torque (Nm)
Identification
Control
Braking Resistor
Control
Cable Size
(mm²)
0.75 - 1.5
4-6
0.75 - 1.5
M4
M5
M4
1.5
2.5
1.5
1, 2, 3, 4, 5, 6
+0, -0’
1, 2, 3, 4, 5, 6
Braking Resistor
10 - 16
M6
4.9
Circuit
0
,
0
 Control Circuit
The control terminal board is equipped with screwless terminals. Always use wires within the specification listed below.
Wire Type
Solid
Flexible
Flexible with ferrule (recommended)
Wire size (mm2)
0.2 to 1.5
0.2 to 1.0
0.25 to 0.5
YASKAWA Europe TOEP C710616 88A - AC Drive A1000 IP23/54 Floor Standing - Quick Start Guide
Ferrule Length (mm)
8
EN 17
3 Electrical Installation
 Main and Control Circuit Wiring
 Wiring the Main Circuit Input
Consider the following precautions for the main circuit input.
•
•
•
•
If not built in the cabinet, use fuses recommended in Power Supply Side Cable Connections on page 16 only.
If using a ground fault circuit breaker, make sure that it can detect both DC and high frequency current.
If using an input switch, make sure that this switch is not operated more than once every 30 minutes.
Use insulation caps when wiring the drive with crimp terminals. Take particular care to ensure that wiring does not
touch neighboring terminals or the surrounding case.
• Use an 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 transformer (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.
Never connect a power source to the drives output.
Never short or ground the output terminals.
Do not use phase correction capacitors.
If using a contactor between the drive and motor, it should never be operated when the drive is outputting a voltage.
Operating while there is voltage output can cause large peak currents, thus tripping the over current detection or
damage the drive.
 Ground Connection
Take the following precautions when grounding the drive.
• Never share the ground wire with other devices such as welding machines, etc.
• Always use a ground wire, that complies with electrical equipment technical standards. Keep ground wires as short as
possible. Leakage current is caused by the drive. Therefore, if the distance between the ground electrode and the
ground terminal is too long, potential on the ground terminal of the drive will become unstable.
• When using more than one drive, do not loop the ground wire.
 Control Circuit Wiring Precautions
Consider the following precautions for wiring the control circuits.
• Separate control circuit wiring from main circuit wiring and other high-power lines.
• Separate wiring for control circuit terminals M1-M2, M3-M4, M5-M6, MA, MB, MC (contact output) from wiring to
other control circuit terminals.
• For external control power supply use a UL Listed Class 2 power supply.
• Use twisted-pair or shielded twisted-pair cables for control circuits to prevent operating faults.
• Ground the cable shields with the maximum contact area of the shield and ground.
• Cable shields should be grounded on both cable ends.
• If flexible wires with ferrules are connected they might fit tightly into the terminals. To disconnect them, grasp the wire
end with a pair of pliers, release the terminal using a straight-edge screw driver, turn the wire for about 45 and pull it
gently out of the terminal. For details, refer to the Technical Manual.Use this procedure for removing the wire link
between HC, H1 and H2 when the Safe Disable function is utilized.
EN 18
YASKAWA Europe TOEP C710616 88A - AC Drive A1000 IP23/54 Floor Standing - Quick Start Guide
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
Use a straight-edge screwdriver
with a blade width of max 2.5 mm
and a thickness of max 0.6 mm to
release the terminals
MA MB MC
There are four switches and two jumpers, S1 to S6, located on the terminal board.
S1
I
V
Terminal A2 Signal Selection
I
V
Current
S2
RS422/485 Termination Resistor
S3
Safe Disable Input
Sink/Source/External Supply Selection
Voltage
On
Off
Source
External 24 Vdc
Power Supply
Sink
PTC
S4
S5
PTC
Terminal A3 Analog/PTC Input Selection
Terminal FM/AM Signal Selection
AI
AI
Analog Input
PTC Input
V
V
I
I
FM AM
FM/AM: Voltage Output
FM AM
FM: Current Output
AM: Voltage Output
N.O.
S6 <1>
Terminal DM+, DM- (N.C./N.O.) Selection
N.C.
<1> The slide switch S6 is available with terminal board “ETC74031”.
YASKAWA Europe TOEP C710616 88A - AC Drive A1000 IP23/54 Floor Standing - Quick Start Guide
EN 19
3 Electrical Installation
 Control Circuit Terminal Functions
Type
No.
S1
S2
Multi-Function
Digital Inputs
Safe Disable
Inputs
Analog Inputs /
Pulse Train
Input
EN 20
Photocoupler
24 Vdc, 8 mA
Use the wire link between terminals SC and SN or SC and SP
to select between sinking, sourcing mode, and the power
supply.
Multi-function input 3 (External fault, N.O.)
S4
Multi-function input 4 (Fault reset)
S5
Multi-function input 5 (Multi-step speed reference 1)
S6
Multi-function input 6 (Multi-step speed reference 2)
S7
Multi-function input 7 (Jog reference)
S8
Multi-function input 8 (External baseblock)
SC
SN
Multi-function input common
–
Multi-function input 0 V
SP
Multi-function input 24 Vdc
H1
Safe Disable input 1
H2
Safe Disable input 2
24 V DC power supply for digital inputs, 150 mA max (if no
digital input option DI-A3 is used)
Never short terminals SP and SN as doing so will damage the
drive.
24 V DC, 8 mA
One or both open: Drive output disabled
Both closed: Normal operation
Internal impedance: 3.3 k
Off time of at least 1 ms
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.
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 k
+V
Power supply for analog inputs
10.5 Vdc (max allowable current 20 mA)
-V
Power supply for analog inputs
-10.5 Vdc (max allowable current 20 mA)
A1
Multi-function analog input 1 (Frequency reference
bias)
-10 to 10 Vdc, 0 to 10 Vdc (input impedance: 20 k)
A2
Multi-function analog input 2 (Frequency reference
bias)
A3
Multi-function analog input 3 / PTC Input (Auxiliary
frequency reference)
AC
Frequency reference common
0V
Ground for shielded lines and option cards
–
MA
N.O.
MB
N.C. output
MC
Fault output common
M1
Multi-Function
Digital Output
Function (Signal Level) Default Setting
S3
E (G)
Fault Relay
Terminal Name (Function)
Multi-function input 1 (Closed: Forward run, Open:
Stop)
Multi-function input 2 (Closed: Reverse run, Open:
Stop)
M2
M3
M4
M5
M6
-10 to 10 Vdc, 0 to 10 Vdc (input impedance: 20 k)
4 to 20 mA, 0 to 20 mA (input impedance: 250 )
Voltage or current input must be selected by DIP switch S1 and
H3-09
-10 to 10 Vdc, 0 to 10 Vdc (input impedance: 20 k)
Use switch S4 on the control terminal board to select between
analog input or PTC input. If PTC is selected, set H3-06 = E.
30 Vdc, 10 mA to 1 A; 250 Vac, 10 mA to 1 A
Minimum load: 5 Vdc, 10 mA
Multi-function digital output (During run)
30 Vdc, 10 mA to 1 A; 250 Vac, 10 mA to 1 A
Minimum load: 5 Vdc, 10 mA
Multi-function digital output (Zero speed)
30 Vdc, 10 mA to 1 A; 250 Vac, 10 mA to 1 A
Minimum load: 5 Vdc, 10 mA
Multi-function digital output (Speed agree 1)
30 Vdc, 10 mA to 1 A; 250 Vac, 10 mA to 1 A
Minimum load: 5 Vdc, 10 mA
YASKAWA Europe TOEP C710616 88A - AC Drive A1000 IP23/54 Floor Standing - Quick Start Guide
3 Electrical Installation
Type
Monitor Output
No.
Terminal Name (Function)
Function (Signal Level) Default Setting
MP
Pulse train output (Output frequency)
32 kHz (max)
FM
Analog monitor output 1 (Output frequency)
AM
Analog monitor output 2 (Output current)
-10 to +10 V DC, 0 to +10 V DC, or 4 to 20 mA
Use jumper S5 on the control terminal board to select between
voltage or current output at terminals AM and FM. Set
parameters H4-07 and H4-08 accordingly when changing the
jumper setting.
AC
Monitor common
0V
DM+
Safety monitor output
DM-
Safety monitor output common
Outputs status of Safe Disable function. Closed when both
Safe Disable channels are closed. Up to +48 V DC 50 mA
NOTICE: The terminals HC, H1, H2 are used for the Safe Disable function. Do not remove the wire link between HC, H1, or H2 unless
the Safe Disable function is used. Refer to Safe Disable Input Function on page 40 when using this function.
NOTICE: The wiring length to the terminals HC, H1 and H2 should not exceed 30 m.
YASKAWA Europe TOEP C710616 88A - AC Drive A1000 IP23/54 Floor Standing - Quick Start Guide
EN 21
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. The
name of each function appears in the lower half of the display window.
ESC Key
• Returns to the previous display.
• Moves the cursor one space to the left.
• Pressing and holding this button will return to the Frequency Reference display.
RESET Key
• Moves the cursor to the right.
• Resets the drive to clear a fault situation.
RUN Key
Starts the drive in the LOCAL mode.
The Run LED
• is on, when the drive is operating the motor.
• flashes during deceleration to stop or when the frequency reference is 0.
• flashes quickly the drive is disabled by a DI, the drive was stopped using a fast stop DI or a run
command was active during power up.
Up Arrow Key
Scrolls up to display the next item, selects parameter numbers and increments setting values.
Down Arrow Key
Scrolls down to display the previous item, selects parameter numbers and decrements setting
values.
STOP Key
Stops drive operation.
ENTER Key
• Enters parameter values and settings.
• Selects a menu item to move between displays.
LO/RE Selection
Key
Switches drive control between the operator (LOCAL) and the control circuit terminals
(REMOTE). The LED is on when the drive is in the LOCAL mode (operation from keypad).
ALM LED Light
On: When the drive detects a fault.
Flashing:
• When an alarm occurs.
• When oPE is detected.
• When a fault or error occurs during Auto-Tuning.
F2
ESC
RESET
RUN
STOP
ENTER
LO
RE
ALM
EN 22
YASKAWA Europe TOEP C710616 88A - AC Drive A1000 IP23/54 Floor Standing - Quick Start Guide
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50.00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= 0.00A LREF
JOG FWD FWD/REV
U1-02= 0.00Hz LSEQ
U1-03= 0.00A LREF
JOG FWD FWD/REV
U1-02= 0.00Hz LSEQ
U1-03= 0.00A LREF
JOG FWD FWD/REV
- MODE PRG
Modified Consts
Modified
X Parameters
HELP FWD DATA
-MONITR- DRV Rdy
Fault Trace
U2 -01= oC
-MONITR- DRV Rdy
Output Freq
U1- 02 = 0.00Hz
U2-02= oPr
LSEQ
U2-03= 0.00Hz LREF
JOG FWD FWD/REV
U1-03= 0.00A LSEQ
U1-04= 0
LREF
JOG FWD FWD/REV
- MODE PRG
Quick Setting
←
<4>
→
<3>
Initial Display <5>
HELP FWD DATA
A1000
YASKAWA
A1000
XXXVX.X/X.XkW
XX.XX/XX.XXA
<XXXXXXXXX>
- MODE PRG
Programming
<6>
HELP FWD DATA
- MODE - PRG Rdy
Auto-Tuning
AUTO
HELP FWD DATA
RUN
<1> Pressing
will start the motor.
<2> Drive cannot operate the motor.
<3> Flashing characters are shown as 0 .
<4> X characters are shown in this manual. The LCD Operator will display the actual setting values.
<5> The Frequency Reference appears after the initial display which shows the product name.
<6> The information that appears on the display will vary depending on the drive.
YASKAWA Europe TOEP C710616 88A - AC Drive A1000 IP23/54 Floor Standing - Quick Start Guide
EN 23
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 A1-03.
Set the control mode.
Select Normal / Heavy Duty
Perform Auto-Tuning or set the motor data manually.
*
*
*
*
Set/check the basic parameters:
b1-01, b1-02 for frequency reference and RUN command source
H1-, H2-, H3-, H4-, H6- to configure the I/Os
Frequency reference values
C1-, C2- for Acceleration/Deceleration times and S-curves
Run the motor without load, check the operation and verify, if the
upper controller (e.g. PLC,...) commands to the drive work as
desired.
Connect the load, run the motor and check the operation
Fine tune and set application parameters (e.g. PID,...) if necessary.
Final check the operation and verify the settings.
Drive is ready to run the application
 Power On
Before turning on the power supply,
• Make sure all wires are connected properly.
• Make sure no screws, loose wire ends or tools are left in the drive.
• After turning the power on, the drive mode display should appear and no fault or alarm should be displayed.
EN 24
YASKAWA Europe TOEP C710616 88A - AC Drive A1000 IP23/54 Floor Standing - Quick Start Guide
5 Start Up
 Control Mode Selection (A1-02)
There are three control modes available. Select the control mode that best suits the application the drive will control.
Control Mode
Parameter
V/f Control for Induction
Motors
A1-02 = 0
(default)
V/f Control with PG Speed
Feedback
A1-02 = 1
Open Loop Vector Control
A1-02 = 2
Closed Loop Vector
Control <1>
A1-02 = 3
Open Loop Vector Control
for PM <1>
Advanced Open Loop
Vector Control for PM <1>
Closed Loop Vector
Control for PM <1>
A1-02 = 5
Main Applications
• General variable speed applications, particularly useful for running multiple motors from a
single drive.
• When replacing a drive in which parameter settings are unknown.
• For general-purpose applications that do not require high dynamic response but high speed
accuracy.
• This mode should be used if the motor parameters are unknown and Auto-Tuning cannot be
performed.
• General variable speed applications
• Applications requiring high precision, high speed control
• For general, variable-speed applications that requiring precise speed control down to zero
speed, fast torque response, or precise torque control.
• A speed feedback signal from the motor is required.
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.
• A speed feedback signal is required.
<1> For explanations of these control modes, refer to the Technical Manual.
 Normal / Heavy Duty Selection (C6-01)
The drive supports two ratings, Normal Duty and Heavy Duty. Both have different output current ratings (refer to the
catalog or the Technical Manual). Set the Duty mode in accordance with the application.
Mode
C6-01
Application
Overload capability (OL2)
L3-02 Stall Prevention during
Acceleration
L3-06 Stall Prevention during
Run
Default carrier frequency
Heavy Duty Rating (HD)
0
Applications with a constant torque like extruders,
conveyors and cranes. High overload capability
might be needed.
150% of drive rated current for 60 s
Normal Duty Rating (ND)
1
Applications where the torque increases with the speed
like fans or pumps. High overload tolerance is normally
not needed.
120% of drive rated current for 60 s
150%
120%
150%
120%
2 kHz
2 kHz Swing PWM
 Auto-Tuning (T1-)
Auto-Tuning automatically sets up the motor data relevant drive parameters. Three different modes are supported.
Type
Rotational AutoTuning
Setting
Application Conditions and Benefits
T1-01 = 0
• Motor can be decoupled from the load and rotate freely
while Auto-Tuning is performed.
• Motor and load can not be decoupled but the motor load
is below 30%.
• Rotational Auto-Tuning gives the most accurate results,
and is therefore highly recommended if possible.
YASKAWA Europe TOEP C710616 88A - AC Drive A1000 IP23/54 Floor Standing - Quick Start Guide
Control Mode (A1-02)
V/f w/PG OLV (2) CLV (3)
V/f (0)
(1)
N/A
N/A
YES
YES
EN 25
5 Start Up
Type
Setting
Stationary AutoTuning 1
T1-01 = 1
Stationary AutoTuning 2
T1-01 = 4
Stationary AutoTuning for Line-toLine Resistance
T1-01 = 2
Rotational AutoTuning for V/f
Control
T1-01 = 3
Control Mode (A1-02)
V/f w/PG OLV (2) CLV (3)
V/f (0)
(1)
Application Conditions and Benefits
• Motor and load can not be decoupled and the load is
higher than 30%.
• A motor test report listing motor data is not available.
• Automatically calculates motor parameters needed for
vector control.
• Motor and load can not be decoupled and the load is
higher than 30%.
• A motor test report is available. Once the no-load current
and the rated slip have been entered, the drive calculates
and sets all other motor-related parameters.
• The drive is used in V/f Control and other Auto-Tuning
selections not possible.
• Drive and motor capacities differ.
• Tunes the drive after the cable between the drive and
motor 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.
• Assumes motor can rotate while Auto-Tuning is
executed. Increases accuracy for certain functions like
torque compensation, slip compensation, Energy Saving,
and Speed Search.
N/A
N/A
YES
YES
N/A
N/A
YES
YES
YES
YES
YES
YES
YES
YES
N/A
N/A
CAUTION
Do not touch the motor until the Auto-Tuning is finished.
Failure to comply may result in minor or moderate injury. Voltage is still applied to the motor during the tuning
process, even thought the motor may not be rotating.
For Auto-Tuning enter the Auto-Tuning menu and perform the steps shown in the figure below. The number of name
plate data to be entered depends on the selected type of Auto-Tuning. This example shows Rotational Auto-Tuning.
Drive mode
display
Select the tuning
method
Enter the AutoTuning Mode
- MODE - DRV Rdy
FREF (OPR)
U1-01= 0.00Hz
- MODE - PRG
Auto-Tuning
- A.TUNE - PRG
Tuning Mode Sel
- A.TUNE - PRG
Tuning Mode Sel
U1-02= 0.00Hz LSEQ
U1-03= 0.00A LREF
JOG FWD FWD/REV
AUTO
T1-01= 0 ∗0∗
Standard Tuning
T1-01= 0 ∗0∗
Standard Tuning
“0”
FWD
HELP FWD DATA
- A.TUNE - DRV
Tune Proceeding
- A.TUNE - DRV
Auto-Tuning
- A.TUNE - PRG
Mtr Rated Power
- A.TUNE - PRG
Rated Speed
T1-02= X.XXkW
(0.00 ~ 650.00)
“X.XXkW”
ESC FWD DATA
T1-07= 1450RPM
(0 ~ 24000)
“1750RPM”
ESC FWD DATA
Set up all name
plate data
ESC FWD DATA
0.00 Hz/ 0.00A
Tuning Ready ?
Press RUN key
ESC FWD
The tuning start
display appears
X.XX Hz/ X.XXA
Entry Accepted
- MODE -
DRV
End
Tune Successful
RUN
FWD
During the tuning the
display flashes
FWD RESET
After successful tuning
“End” is displayed
If Auto-Tuning can not be performed for some reason (no-load operation impossible etc.), then set up the maximum
frequency and voltage in the E1- parameters and enter the motor data manually into the E2- parameters.
NOTICE: The Safe Disable inputs must be closed during Auto-Tuning.
EN 26
YASKAWA Europe TOEP C710616 88A - AC Drive A1000 IP23/54 Floor Standing - Quick Start Guide
5 Start Up
 External Reference Selection and Acceleration/ Deceleration Times
 Frequency Reference Selection (b1-01)
Set parameter b1-01 according to the frequency reference used.
b1-01
Reference source
0
Operator keypad
1
2
3
4
Analog input
Serial Comm.
Option Card
Pulse input
Frequency reference input
Set the frequency references in the d1- parameters and use digital inputs to switch over between
different reference values.
Apply the frequency reference signal to terminal A1, A2, or A3.
Serial Communications using the RS422/485 port
Communications option card
Set the frequency reference at terminal RP using a pulse train signal.
 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 Card
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. The default
activated accel/decel times are C1-01/02. Adjust these times to the appropriate values required by the application. If
necessary S-curves can be activated in the C2- parameters for softer accel/decel start and end.
 Reference and Run Source
The drive has a LOCAL and a REMOTE mode.
Status
LOCAL
REMOTE
Description
The Run/ Stop command and the frequency reference are entered at the operator keypad.
The Run command source entered in parameter b1-02 and the frequency reference source entered in parameter
b1-01 are used.
If the drive is operated in the REMOTE mode, make sure that the correct sources for the frequency reference and run
command are set in parameters b1-01/02 and that the drive is in the REMOTE mode.
The LED in the LO/RE key indicates where the Run command is input from.
LO/RE LED
ON
OFF
Description
Run command is issued from operator.
Run command is issued from a different source than the operator.
YASKAWA Europe TOEP C710616 88A - AC Drive A1000 IP23/54 Floor Standing - Quick Start Guide
EN 27
5 Start Up
 I/O Setup
Note: The default setting functions can be seen in the connection diagram on page 13.
 Multi-Function Digital Inputs (H1-)
The function of each digital input can be assigned in the H1- parameters.
 Multi-Function Digital Outputs (H2-)
The function of each digital output can be assigned in the H2- parameters. The setting value of these parameters
consist of 3 digits, where the middle and right digit set the function and the left digit sets the output characteristics (0:
Output as selected; 1: Inverse output).
 Multi-Function Analog Inputs (H3-)
The function of each analog input can be assigned in the H3- parameters. Input A1 and A3 are set for -10 to +10 Vdc
input. A2 is set for 4-20 mA input.
NOTICE: If the input signal level of input A2 is switched between voltage and current, make sure that DIP switch S1 is in the correct
position and parameter H3-09 is set up correctly.
NOTICE: When using analog input A3 as PTC input, set DIP switch S4 to PTC and parameter H3-06 = E.
 Multi-Function Analog Outputs (H4-)
Use the H4- parameters to set up the output value of the analog monitor outputs and to adjust the output signal
levels. When changing signal levels in parameter H4-07/08, make sure jumper S5 is set accordingly.
 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. For
special setups like PID control etc. refer to the Technical Manual.
EN 28
YASKAWA Europe TOEP C710616 88A - AC Drive A1000 IP23/54 Floor Standing - Quick Start Guide
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.
A1-00
A1-01
A1-02
A1-03
b1-01
b1-02
b1-03
b1-04
b1-14
Name
Description
Initialization Parameters
0: English
1: Japanese
2: German
3: French
4: Italian
5: Spanish
Language
6: Portuguese
Selection
7: Chinese
8: Czech
9: Russian
10: Turkish
11: Polish
12: Greek
0: View and set A1-01 and A1-04. U-
parameters can also be viewed.
1: User Parameters (access to a set of
Access Level
parameters selected by the user, A2-01 to
Selection
A2-32)
2: Advanced Access (access to view and
set all parameters)
0: V/f Control
1: V/f Control with PG
2: Open Loop Vector Control
Control
3: Closed Loop Vector Control
Method
5: Open Loop Vector Control for PM
Selection
6: Advanced Open Loop Vector Control for
PM
7: Closed Loop Vector Control for PM
0: No initialization
1110: User Initialize (parameter values must
Initialize
be stored using parameter o2-03)
Parameters
2220: 2-wire initialization
3330: 3-wire initialization
5550: oPE04 error reset
Operation Mode Selection
0: Digital operator
Frequency
1: Analog input terminals
Reference
2: MEMOBUS/Modbus communications
Selection 1
3: Option PCB
4: Pulse input (terminal RP)
0: Digital operator
Run
1: Digital input terminals
Command
2: MEMOBUS/Modbus communications
Selection 1
3: Option PCB
0: Ramp to stop
Stopping
1: Coast to stop
2: DC Injection Braking to stop
Method
Selection
3: Coast with timer
9: Simple Positioning Stop
Reverse
0: Reverse enabled.
Operation
1: Reverse disabled.
Selection
0: Standard
Phase Order
1: Switch phase order (reverses the direction
Selection
of the motor)
No.
Name
Description
DC Injection Braking
DC Injection
Sets the frequency at which DC Injection
b2-01 Braking Start Braking starts when “Ramp to stop” (b1-03
Frequency
= 0) is selected.
DC Injection
Sets the DC Injection Braking current as a
b2-02 Braking
percentage of the drive rated current.
Current
DC Injection
Sets DC Injection Braking (Zero Speed
b2-03 Braking Time Control when in CLV/PM) time at start.
at Start
Disabled when set to 0.00 seconds.
DC Injection
b2-04 Braking Time Sets DC Injection Braking time at stop.
at Stop
Acceleration/ Deceleration
Acceleration
Sets the time to accelerate from 0 to
C1-01
Time 1
maximum frequency.
Deceleration
Sets the time to decelerate from maximum
C1-02
Time 1
frequency to 0.
Acceleration/
C1-03 to
Set the accel/decel times 2 to 4 (set like C1Deceleration
C1-08
01/02).
Time 2 to 4
S-Curve
C2-01 Characteristic S-curve at acceleration start.
at Accel Start
S-Curve
C2-02 Characteristic S-curve at acceleration end.
at Accel End
S-Curve
C2-03 Characteristic S-curve at deceleration start.
at Decel Start
S-Curve
C2-04 Characteristic S-curve at deceleration end.
at Decel End
Slip Compensation
Slip
Sets the gain for the motor slip
C3-01 Compensation
compensation function used for motor 1.
Gain
Slip
Compensation Adjusts the slip compensation function
C3-02
Primary Delay delay time used for motor 1.
Time
Torque Compensation
Sets the gain for the automatic torque
Torque
(voltage) boost function and helps to
C4-01 Compensation
produce better starting torque. Used for
Gain
motor 1.
Torque
Compensation
C4-02
Sets the torque compensation filter time.
Primary Delay
Time
Carrier Frequency
0: Heavy Duty (HD) for constant torque
Drive Duty
applications.
C6-01
Selection
1: Normal Duty (ND) for variable torque
applications.
YASKAWA Europe TOEP C710616 88A - AC Drive A1000 IP23/54 Floor Standing - Quick Start Guide
EN 29
6 Parameter Table
No.
Name
Description
1: 2.0 kHz
2: 5.0 kHz
3: 8.0 kHz
4: 10.0 kHz
5: 12.5 kHz
Carrier
6: 15.0 kHz
C6-02 Frequency
7: Swing PWM1 (Audible sound 1)
Selection
8: Swing PWM2 (Audible sound 2)
9: Swing PWM3 (Audible sound 3)
A: Swing PWM4 (Audible sound 4)
B to E: No setting possible
F: User defined (determined by C6-03
through C6-05)
Frequency Reference
Frequency
Sets the frequency reference for the drive.
d1-01 to
Reference
Setting units are determined by parameter
d1-16
1 to 16
o1-03.
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
protective features of the drive to function
Setting
properly. Failure to do so may result in
equipment damage and/or death or personal
injury.
Maximum
These parameters are only applicable when
E1-04 Output
E1-03 is set to F.
Frequency
To set linear V/f characteristics, set the
same values for E1-07 and E1-09. In this
Maximum
E1-05
case, the setting for E1-08 will be
Voltage
disregarded. Ensure that the four
Base
E1-06
frequencies are set according to these rules:
Frequency
E1-09  E1-07  E1-06 E1-04
Middle Output
E1-07
Output Voltage (V)
Frequency
E1-05
E1-12
Middle Output
E1-08 Frequency
E1-13
Voltage
Minimum
E1-08
E1-09 Output
Frequency
E1-10
Minimum
E1-09
E1-07 E1-06 E1-11 E1-04
Output
Frequency (Hz)
E1-10
Note: Some parameters may not be
Frequency
available depending on the control mode.
Voltage
• E1-07, E1-08 and E-10 are available only
in the following control modes: V/f
Control, V/f with PG, Open Loop Vector.
• E1-11, E1-12 and E-13 are available only
E1-13 Base Voltage
in the following control modes: V/f
Control, V/f with PG, Open Loop Vector,
Closed Loop Vector.
Motor 1 Parameters
Sets the motor nameplate full load current in
Motor Rated
E2-01
Amps. Automatically set during
Current
Auto-Tuning.
Motor Rated
Sets the motor rated slip. Automatically set
E2-02
Slip
during Auto-Tuning.
EN 30
No.
E2-03
E2-04
E2-05
Name
Motor
No-Load
Current
Number of
Motor Poles
Motor
Line-to-Line
Resistance
Description
Sets the no-load current for the motor.
Automatically set during Auto-Tuning.
Sets the number of motor poles.
Automatically set during Auto-Tuning.
Sets the phase-to-phase motor resistance.
Automatically set during Auto-Tuning.
Sets the voltage drop due to motor leakage
Motor Leakage inductance as a percentage of motor rated
E2-06
Inductance
voltage. Automatically set during
Auto-Tuning.
Multi-Function Digital Inputs
Multi-Function
Digital Input
Selects the function of terminals S1 to S8.
H1-01 to
Terminal S1 to Setting H1-03 = 24 (Default) must not be
H1-08
S8 Function
changed. Fan monitoring function.
Selection
Note: Major functions are listed at the end of the table.
Multi-Function Digital Outputs
Terminal M1Set the function for the relay output M1H2-01 M2 function
M2.
selection
Terminal M3Sets the function for the relay output M3H2-02 M4 function
M4.
selection
Terminal M5Sets the function for the relay output M5H2-03 M6 function
M6.
selection
Outputs a 200 ms pulse signal when the
watt-hour counter increases by the units
selected.
Watt Hour
0: 0.1 kWh units
H2-06 Output Unit
1: 1 kWh units
Selection
2: 10 kWh units
3: 100 kWh units
4: 1000 kWh units
Note: Major functions are listed at the end of the table.
Multi-Function Analog Inputs
Terminal A1
0: 0 to 10 V
H3-01 Signal Level
1: –10 to 10 V
Selection
Terminal A1
H3-02 Function
Sets the function of terminal A1.
Selection
Terminal A1
Sets the level of the input value selected in
H3-03
Gain Setting
H3-02 when 10 V is input at terminal A1.
Terminal A1
Sets the level of the input value selected in
H3-04
Bias Setting
H3-02 when 0 V is input at terminal A1.
Terminal A3
0: 0 to 10 V
H3-05 Signal Level
1: –10 to 10 V
Selection
Terminal A3
H3-06 Function
Sets the function of terminal A3.
Selection
Terminal A3
Sets the level of the input value selected in
H3-07
Gain Setting
H3-06 when 10 V is input at terminal A3.
Terminal A3
Sets the level of the input value selected in
H3-08
Bias Setting
H3-06 when 0 V is input at terminal A3.
YASKAWA Europe TOEP C710616 88A - AC Drive A1000 IP23/54 Floor Standing - Quick Start Guide
6 Parameter Table
No.
Name
Description
H3-09
Terminal A2
Signal Level
Selection
0: 0 to 10 V
1: –10 to 10 V
2: 4 to 20 mA
3: 0 to 20 mA
Note: Use DIP switch S1 to set input
terminal A2 for a current or a voltage input
signal.
H3-10
Terminal A2
Function
Selection
Sets the function of terminal A2.
H3-11
H3-12
H3-13
H3-14
H4-01
H4-02
H4-03
H4-04
H4-05
H4-06
H4-07
Sets the level of the input value selected in
H3-10 when 10 V (20 mA) is input at
terminal A2.
Sets the level of the input value selected in
Terminal A2
H3-10 when 0 V (0 or 4 mA) is input at
Bias Setting
terminal A2.
Analog Input Sets a primary delay filter time constant for
Filter Time
terminals A1, A2, and A3. Used for noise
Constant
filtering.
Determines which of the analog input
terminals will be enabled when a digital
input programmed for “Analog input
enable” (H1- = C) is activated.
Analog Input
1: Terminal A1 only
Terminal
2: Terminal A2 only
Enable
3: Terminals A1 and A2 only
Selection
4: Terminal A3 only
5: Terminals A1 and A3
6: Terminals A2 and A3
7: All terminals enabled
Multi-Function Analog Inputs
Multi-Function Selects the data to be output through multiAnalog Output function analog output terminal FM.
Terminal FM Set the desired monitor parameter to the
Monitor
digits available in U-. For example,
Selection
enter “103” for U1-03.
Multi-Function
Sets the signal level at terminal FM that is
Analog Output
equal to 100% of the selected monitor
Terminal FM
value.
Gain
Multi-Function
Analog Output Sets the signal level at terminal FM that is
Terminal FM equal to 0% of the selected monitor value.
Bias
Multi-Function Selects the data to be output through multiAnalog Output function analog output terminal AM.
Terminal AM Set the desired monitor parameter to the
Monitor
digits available in U-. For example,
enter “103” for U1-03.
Selection
Multi-Function
Analog Output Sets the signal level at terminal AM that is
Terminal AM equal to 0% of the selected monitor value.
Gain
Multi-Function
Analog Output Sets the bias value added to the terminal
Terminal AM AM output signal.
Bias
Multi-Function
Analog Output 0: 0 to 10 V
Terminal FM 1: -10 to 10 V
Signal Level
2: 4 to 20 mA
Selection
Terminal A2
Gain Setting
No.
H4-08
H6-02
H6-03
H6-04
H6-06
H6-07
L1-01
L1-02
L3-01
L3-02
Name
Description
Multi-Function
Analog Output 0: 0 to 10 V
Terminal AM 1: -10 to 10 V
Signal Level
2: 4 to 20 mA
Selection
Pulse Input Setting (Freq.)
Sets the terminal RP input signal frequency
Pulse Train
that is equal to 100% of the value selected
Input Scaling
in H6-01.
Sets the level of the value selected in H6-01
Pulse Train
when a frequency with the value set in H6Input Gain
02 is input.
Pulse Train
Sets the level of the value selected in H6-01
Input Bias
when 0 Hz is input.
Pulse Output Setting
Select the pulse train monitor output
Pulse Train
function (value of the - part of
Monitor
U-).
Selection
Example: To select U5-01, set 501.
Sets the terminal MP output signal
Pulse Train
frequency when the monitor value is 100%.
Monitor
To have the pulse train monitor output equal
Scaling
the output frequency, set H6-06 to 102 and
H6-07 to 0.
Motor Protection
0: Disabled
1: General purpose motor (standard fan
cooled)
2: Drive dedicated motor with a speed range
of 1:10
Motor
3: Vector motor with a speed range of 1:100
Overload
4: PM motor with variable torque
Protection
5: PM motor with constant torque control
Selection
6: General purpose motor (50 Hz)
The drive may not be able to provide
protection when multiple motors are used,
even if overload is enabled in L1-01. Set
L1-01 to 0 and install separate thermal relay
to each motor.
Motor
Overload
Sets the motor thermal overload protection
Protection
(oL1) time.
Time
Stall Prevention
0: Disabled.
1: General purpose. Acceleration is
Stall
paused as long as the current is above the
Prevention
L3-02 setting.
Selection
2: Intelligent. Accelerate in the shortest
during
possible time without exceeding the L3-02
Acceleration
level.
Note: Setting 2 is not available when using
OLV/PM.
Stall
Prevention
Used when L3-01 = 1 or 2. 100% is equal to
Level during
the drive rated current.
Acceleration
YASKAWA Europe TOEP C710616 88A - AC Drive A1000 IP23/54 Floor Standing - Quick Start Guide
EN 31
6 Parameter Table
No.
L3-04
L3-05
L3-06
T1-01
T1-02
T1-03
T1-04
T1-05
T1-06
T1-07
T1-08
EN 32
Name
Stall
Prevention
Selection
during
Deceleration
Stall
Prevention
Selection
during Run
Description
0: Disabled. Deceleration at the active
deceleration rate. An ov fault may occur.
1: General purpose. Deceleration is
paused when the DC bus voltage exceeds
the Stall Prevention level.
2: Intelligent. Decelerate as fast as possible
while avoiding ov faults.
3: Stall Prevention with braking resistor.
Stall Prevention during deceleration is
enabled in coordination with dynamic
braking.
4: Overexcitation Deceleration. Decelerates
while increasing the motor flux.
5: Overexcitation Deceleration 2. Adjust the
deceleration rate according to the DC bus
voltage.
6: Enabled. Decelerates adjusting the
deceleration rate according to the output
current and the DC bus voltage.
0: Disabled. Drive runs at a set frequency. A
heavy load may cause speed loss.
1: Decel time 1. Uses the deceleration
time set to C1-02 while Stall Prevention is
performed.
2: Decel time 2. Uses the deceleration time
set to C1-04 while Stall Prevention is
performed.
No.
Name
T1-09
Motor NoLoad Current
(Stationary
Auto-Tuning)
T1-10
Motor Rated
Slip
(Stationary
Auto-Tuning)
T1-11
Motor Iron
Loss
Description
Sets the no-load current for the motor.
After setting the motor capacity to T1-02
and the motor rated current to T1-04, this
parameter will automatically display the noload current for a standard 4 pole
YASKAWA motor. Enter the no-load
current as indicated on the motor test report.
Sets the motor rated slip.
After setting the motor capacity to T1-02,
this parameter will automatically display the
motor slip for a standard 4 pole YASKAWA
motor. Enter the motor slip as indicated on
the motor test report.
Sets the iron loss for determining the
Energy Saving coefficient.
The value is set to E2-10 (motor iron loss)
set when the power is cycled. If T1-02 is
changed, a default value appropriate for the
motor capacity that was entered will appear.
Stall
Enabled when L3-05 is set to 1 or 2. 100%
Prevention
Level during
is equal to the drive rated current.
Run
Induction Motor Auto-Tuning
0: Rotational Auto-Tuning
1: Stationary Auto-Tuning 1
2: Stationary Auto-Tuning for Line-to-Line
Resistance
3: Rotational Auto-Tuning for V/f Control
Auto-Tuning
(necessary for Energy Savings and Speed
Mode
Estimation Speed Search)
Selection
4: Stationary Auto-Tuning 2
8: Inertia Tuning (perform Rotational AutoTuning prior to Inertia Tuning)
9: ASR Gain Tuning (perform Rotational
Auto-Tuning prior to ASR Gain AutoTuning)
Motor Rated
Sets the motor rated power as specified on
Power
the motor nameplate.
Motor Rated
Sets the motor rated voltage as specified on
Voltage
the motor nameplate.
Motor Rated
Sets the motor rated current as specified on
Current
the motor nameplate.
Motor Base
Sets the rated frequency of the motor as
Frequency
specified on the motor nameplate.
Number of
Sets the number of motor poles as specified
Motor Poles
on the motor nameplate.
Motor Base
Sets the rated speed of the motor as
Speed
specified on the motor nameplate.
PG Number of Set the number of pulses per revolution for
Pulses Per
the PG being used (pulse generator or
Revolution
encoder).
YASKAWA Europe TOEP C710616 88A - AC Drive A1000 IP23/54 Floor Standing - Quick Start Guide
6 Parameter Table
Monitor
U1-01
U1-02
U1-03
U1-05
U1-06
U1-07
U1-08
U1-09
Description
Frequency Reference (Hz)
Output Frequency (Hz)
Output Current (A)
Motor Speed (Hz)
Output Voltage Reference (Vac)
DC Bus Voltage (Vdc)
Output Power (kW)
Torque Reference (% of motor rated torque)
Displays the input terminal status.
U1 - 10= 0 0 0 0 0 0 0 0
input 1
1 Digital
(terminal S1 enabled)
input 2
1 Digital
(terminal S2 enabled)
input 3
1 Digital
(terminal S3 enabled)
U1-10
input 4
1 Digital
(terminal S4 enabled)
input 5
1 Digital
(terminal S5 enabled)
input 6
1 Digital
(terminal S6 enabled)
1 Digital input 7
(terminal S7 enabled)
1 Digital input 8
(terminal S8 enabled)
Displays the output terminal status.
U1 - 11= 0 0 0 0 0 0 0 0
1 Multi-Function
Digital Output
Monitor
U2-05
U2-06
U2-07
U2-08
U2-09
U2-10
U2-11
U2-12
U2-13
U2-14
U2-15
U2-16
U2-17
U2-20
U3-01 to
First to 4th Most Recent Fault
U3-04
U3-05 to
5th to 10th Most Recent Fault
U3-10
U3-11 to Cumulative Operation Time at 1st to 4th Most Recent
U3-14
Fault
U3-15 to Cumulative Operation Time at 5th to 10th Most Recent
U3-20
Fault
NOTE: The following faults are not recorded in the error log.
CPF00 to 03, Uv1, and Uv2
DI/DO Sel.
(terminal M1-M2)
U1-11
1 Multi-Function
Digital Output
(terminal M3-M4)
Multi-Function
Digital Output
(terminal M5-M6)
Not Used
Fault Relay
(terminal MA-MC closed
MA-MC open)
1
1
U1-12
U2-01
U2-02
U2-03
U2-04
6
Verifies the drive operation status.
U1 - 12= 0 0 0 0 0 0 0 0
20 to 2F
1 During fault detection
U1-13
U1-14
U1-15
U1-16
U1-18
U1-24
3
4
5
7
F
14
1 During run
1 During zero-speed
1 During REV
fault reset
1 During
signal input
1 During speed agree
1 Drive ready
alarm
1 During
detection
Terminal A1 Input Level
Terminal A2 Input Level
Terminal A3 Input Level
Output Frequency after Soft Starter
oPE Fault Parameter
Input Pulse Monitor
Fault Trace
Current Fault
Previous Fault
Frequency Reference at Previous Fault
Output Frequency at Previous Fault
Description
Output Current at Previous Fault
Motor Speed at Previous Fault
Output Voltage at Previous Fault
DC Bus Voltage at Previous Fault
Output Power at Previous Fault
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
0
1
2
6
E
F
10
Description
Digital Input Function Selections
Multi-step speed reference 1
Multi-step speed reference 2
Multi-step speed reference 3
Jog reference selection (higher priority than multi-step
speed reference)
Accel/decel time selection 1
Through mode (Set when a terminal is not used)
Fault reset (Reset when turned ON)
External fault; Input mode: N.O. contact / N.C. contact,
Detection mode: Normal/during operation
Digital Output Function Selections
During Run (ON: run command is ON or voltage is being
output)
Zero Speed
Speed Agree 1
Drive Ready
Fault
Through mode
Minor fault (Alarm) (ON: Alarm displayed)
YASKAWA Europe TOEP C710616 88A - AC Drive A1000 IP23/54 Floor Standing - Quick Start Guide
EN 33
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.
To remove an alarm or reset a fault, trace the cause, remove it and reset the drive by pushing the Reset key on the
operator or cycling the power supply.
This lists up the most important alarms and faults only. Please refer to the Technical Manual for a complete list.
Digital Operator AL
Base Block
bb
FLT

Control Fault

CF
Control Circuit
Fault
CPF02 to
CPF24
Control Circuit
Fault
CrST
Option External
Fault
EF
Fan Fault
EF3
External Faults
EF1 to EF8

There is no terminal board connected to the control
board.
• Check if the terminal board is installed properly.
• Uninstall and Reapply the terminal board.
• Change the drive.
Fault reset was input when a Run command was active. Turn off the Run command and reset the drive.


Ground Fault
Safe Disable
Hbb
EN 34


GF

An external fault was tripped by the upper controller via
an option card.
• Remove the fault cause, reset the fault and restart the
drive.
• Check the upper controller program.
A forward and reverse command were input
simultaneously for longer than 500 ms. This alarm
stops a running motor.
• Check the sequence and make sure that the forward
and reverse input are not set at the same time.
• Check if connector CN2 (fan) is plugged in correctly.
• Check if the fan (at the drives top) is running properly.
• Check if the wiring S3/SP/SN is correct according to
used control logic (Sink/Source/Internal Supply)
• An external fault was triggered by an external device • Find out why the device tripped the EF. Remove the
via one of the digital inputs S1 to S8.
cause and reset the fault.
• The digital inputs are set up incorrectly.
• Check the functions assigned to the digital inputs.
• Ground leakage current has exceeded 50% of the
• Check the output wiring and the motor for short
drives rated output current.
circuits or broken insulation. Replace any broken
• Cable or motor insulation is broken.
parts.
• Excessive stray capacitance at drive output.
• Reduce the carrier frequency.
• Check why the upper controller’s safety device
disabled the drive. Remove the cause and restart.
• Check the wiring.
Both Safe Disable inputs are open. The drive output is
• If the Safe Disable function is not utilized for the
safely disabled and the motor can not be started.
ISO13849-1, Category 3 PLd, and IEC61508, SIL2 or
for disabling the drive, the terminals HC, H1, H2 must
be linked.
A1000 IP54 enclosure built-in fan does not work
properly.


• Check the load.
• Set the torque limit to the most appropriate setting
(L7-01 through L7-04).
• Check the motor parameters.
• Cycle the drive power supply.
• Initialize the drive.
• Replace the drive if the fault occurs again.
EF0
External Fault
• Check the digital inputs function selection.
• Check the upper controller sequence.
There is a problem in the drive’s control circuit.


Corrective Action

CPF25
Cannot Reset
Cause
The software base block function is assigned to one of
the digital inputs and the input is off. The drive does not
accept Run commands.
The torque limit was reached during deceleration for
longer than 3 s. when in Open Loop Vector control
• The load inertia is too big.
• The torque limit is too low.
• The motor parameters are wrong.
YASKAWA Europe TOEP C710616 88A - AC Drive A1000 IP23/54 Floor Standing - Quick Start Guide
7 Troubleshooting
Digital Operator AL
Safe Disable Fault
HbbF

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
Drive output is disabled while only one of the Safe
Disable inputs is open. (normally both input signals H1
and H2 should be open)
• One channel is internally broken and does not switch
off, even if the external signal is removed.
• Only one channel is switched off by the upper
controller.
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).

• Check the wiring from the upper controller and make
sure that both signals are set correctly by the
controller.
• If the signals are set correctly and the alarm does not
disappear, replace the drive.
• Check the motor wiring.
• Make sure all terminal screws in the drive and motor
are properly tightened.
• Check the motor and drive capacity.
• Check the output wiring and the motor for short
circuits or broken insulation. Replace the broken
parts.
• Check the machine for damages (gears, etc.) and
repair any broken parts.
• Check the drive parameter settings.
• Check the output contactor sequence.
• Check the surrounding temperature and install
cooling devices if necessary.
• Check the drive cooling fan.
• Replace filter mats.
• Check the airflow around the heatsink.
• Reduce the motor load.
• Use a motor with external cooling and set the correct
motor in parameter L1-01
• Check the sequence.
• Check the rated current setting.
• Check the load.
• Make sure that the drive is big enough to handle the
load.
• The overload capability is reduced at low speeds.
Reduce the load or increase the drive size.
• Increase the deceleration time.
• Enable stall prevention by parameter
L3-04.
• Make sure the braking resistor and braking chopper
are working correctly.
• Check motor parameter settings and adjust torque and
slip compensation as needed.
• Make sure that the power supply voltage meets the
drives specifications.
• Check the power supply.
• Make sure that all cables are properly fixed to the
correct terminals.

Short circuit or ground fault on the drive output side
The load is too heavy.
The accel./decel. times are too short.
Wrong motor data or V/f pattern settings.
A magnetic contactor was switched at the output.

Surrounding temperature is too high.
The cooling fan has stopped.
The filter mats are clogged.
The airflow to the heatsink is restricted.

The motor load is too heavy.
The motor is operated at low speed with heavy load.
Cycle times of accel./ decel. are too short.
Incorrect motor rated current has been set.

The load is too heavy.
The drive capacity is too small.
Too much torque at low speed.

DC bus voltage rose too high.
The deceleration time is too short.
Stall prevention is disabled.
Braking chopper / resistor broken.
Unstable motor control in OLV.
Too high input voltage.

Input voltage drop or phase imbalance.
One of the input phase is lost.
Loose wires at the drive input.

The internal braking transistor is broken.
• Cycle the power supply.
• Replace the drive if the fault reoccurs.

The motor thermistor is not connected properly.
Check the wiring for the thermistor.

The voltage in the DC bus fell below the undervoltage
detection level (L2-05).
• Check the power supply.
The power supply failed or one input phase has been
• Make sure, that the power supply is strong enough.
lost.
The power supply is too weak.

The drives controller power supply voltage is too low.
• Cycle power to the drive. Check if the fault reoccurs.
• Replace the drive if the fault continues to occur.

The charge circuit for the DC bus is broken.
• Cycle power to the drive. Check if the fault reoccurs.
• Replace the drive if the fault reoccurs.
rr
Thermistor
Disconnect
Corrective Action
THo
DC Undervoltage
Uv1
Controller
Undervoltage

Uv2
DC Charge Circuit
Fault
Uv3
YASKAWA Europe TOEP C710616 88A - AC Drive A1000 IP23/54 Floor Standing - Quick Start Guide
EN 35
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.
oPE02
Parameters were set outside the allowable setting range.
Set parameters to the proper values.
oPE03
oPE05
oPE07
oPE08
A contradictory setting is assigned to multi-function contact
inputs H1-01 through to H1-08.
• The same function is assigned to two inputs. (this excludes
“External fault” and “Not used”)
• Input functions which require the setting of other input
functions were set alone.
• Input functions that are not allowed to be used
simultaneously have been set.
• The run command source (b1-02) or frequency reference
source (b1-01) is set to 3 but no option card is installed.
• The frequency reference source is set to pulse input but
H6-01 is not 0.
Settings to multi-function analog inputs H3-02 and H3-10
and PID functions conflict.
• H3-02 and H3-10 are set to the same value. (this excludes
settings 0 and F)
• PID functions have been assigned to both analog inputs and
the pulse input at the same time.
A function has been set that cannot be used in the control
mode selected.(might appear after control mode change)
• Fix any incorrect settings.
• Refer to the Technical Manual for more details.
• Install the required option card.
• Correct the values set to b1-01 and b1-02.
• Fix any incorrect setting.
• Refer to the Technical Manual for more details.
•
•
•
•
Fix any incorrect setting.
Refer to the Technical Manual for more details.
Check the V/f pattern settings.
Refer to the Technical Manual for more details.
oPE10
The V/f pattern setting is incorrect.
oPE18
One of the following setting errors has occurred while Online
Tuning is enabled in OLV (A1-02 = 2):
• E2-02 has been set below 30% of the original default value Make sure E2-02, E2-03, and E2-06 are set the correct values.
• E2-06 has been set below 50% of the original default value
• E2-03 = 0
 Auto-Tuning Errors
Digital Operator
Er-01
Er-02
Er-03
Er-04
Er-05
Er-08
EN 36
Cause
Motor data fault
The input motor data are not valid. (e.g. the base frequency
and base speed do not fit).
Minor Fault
• The wiring is faulty.
• The load is too heavy.
The STOP button was pressed and Auto-Tuning was
canceled.
Resistance fault
• Wrong input data.
• Auto tuning exceeded the given time frame.
• Calculated values out of range.
No-Load Current Error
• Incorrect data was entered.
• Auto tuning took too long.
• Calculated values out of range.
Rated Slip Error
• Wrong data input.
• Auto tuning exceeded the given time frame.
• Calculated values out of range.
Corrective Action
Re-enter the data and repeat Auto-Tuning.
• Check the wiring.
• Check the load. Always perform Auto-Tuning with the load
uncoupled from the motor.
Repeat the Auto-Tuning.
• Check the input data.
• Check the wiring.
• Re-enter the data and repeat the Auto-Tuning.
YASKAWA Europe TOEP C710616 88A - AC Drive A1000 IP23/54 Floor Standing - Quick Start Guide
7 Troubleshooting
Digital Operator
Er-09
Er-11
Er-12
Er-13
Cause
Acceleration error
The motor did not accelerate for the specified acceleration
time.
Motor speed fault.
The torque reference was too high.
Current detection error
• One or all output phases are lost.
• Current is either too low or exceeds the drives rating.
• The current sensors are faulty.
Corrective Action
• Increase the acceleration time C1-01.
• Check the torque limits L7-01 and L7-02.
•
•
•
•
•
•
•
•
Leakage Inductance Error
Drive was unable to complete tuning for leakage inductance
within 300 s.
•
Increase the acceleration time (C1-01).
If possible, disconnect the load.
Check the wiring.
Make sure, that the drive rating fits to the motor.
Check the load. (Auto-Tuning should have been performed
without the load connected.)
Replace the drive.
Check all wiring and correct any mistakes.
Double check the motor rated current value that was entered
to T1-04 for Auto-Tuning.
Check the motor rated current value written on the motor
nameplate and enter the correct value.
Excessive V/f Setting
• The torque reference exceeded 20% during Auto-Tuning.
• The calculated no-load current is above 80% of the motor
rated current.
Motor iron-core saturation alarm
• Calculated core saturation values out of range.
• Incorrect data was entered.
• Check the input data.
• Check the motor wiring.
• Perform Auto-Tuning without load connected.
End3
Rated current alarm
Check the input data and repeat tuning.
End4
Adjusted Slip Calculation Error
The slip that was calculated is outside the allowable range.
End1
End2
End5
End6
End7
Resistance Tuning Error
The resistance value that was calculated is outside the
allowable range.
Leakage Inductance Alarm
The leakage inductance value that was calculated is outside
the allowable range.
No-Load Current Alarm
• The entered no-load current value was outside the
allowable range.
• Auto-Tuning results were less than 5% of the motor rated
current.
• Check the V/f pattern setting.
• Perform Auto-Tuning without the load connected.
• Check the input data and repeat Auto-Tuning.
• Make sure the data entered for Auto-Tuning is correct.
• Execute Rotational Auto-Tuning instead. If not possible, try
Stationary Auto-Tuning 2.
• Double check the data that was entered for the Auto-Tuning
process.
• Check the motor and motor cable connection for faults.
Double check the data that was entered for the Auto-Tuning
process.
• Check and correct faulty motor wiring.
• Double check the data that was entered for the Auto-Tuning
process.
YASKAWA Europe TOEP C710616 88A - AC Drive A1000 IP23/54 Floor Standing - Quick Start Guide
EN 37
8 Maintenance
8
Maintenance
 Replacing Filter Mats
WARNING
Power off the unit before replacing or removing the filter mats.
Replacing or removing filter mats while the unit is powered on may result in electric shock or malfunction of the unit.
 Base of the Unit
Perform as follows to remove the filter mats from the base of the unit:
1. Remove the screws that hold the aire intake grill.
2. Remove the front panel from the base and remove the filter mat from inside the panel for replacement.
3. Refit the filter mat inside the panel and replace the panel.
4. Torque the screws to 1.3 Nm.
Figure 3
Filter
Panel
8-M4x12
 Hood of the Unit
Perform as follows to remove the filter mats from the hood of the unit:
1. Remove the screws that hold the hood roof in place.
2. Remove the hood roof from the enclosure and remove the filter mat from inside the hood for replacement.
3. Refit the filter mat inside the hood and replace the hood roof.
4. Torque the screws to 4.5 Nm.
Figure 4
8-M4x12
Filter
Hood
EN 38
YASKAWA Europe TOEP C710616 88A - AC Drive A1000 IP23/54 Floor Standing - Quick Start Guide
8 Maintenance
 Air Inlets and Outlets
Perform as follows to remove the filter mats from the air inlets:
1. Remove the screws that hold the air inlet and outlet grills.
2. Remove the air inlets and outlets from the closure and remove the filter mat from inside the inlets and outlets for
replacement.
3. Refit the filter mat inside the inlets and replace the inlet.
4. Torque the screws to 4.5 Nm.
Figure 5
6-M6x24
Air inlet
Filter
YASKAWA Europe TOEP C710616 88A - AC Drive A1000 IP23/54 Floor Standing - Quick Start Guide
EN 39
9 Safe Disable Input Function
9
Safe Disable Input Function
 Specifications
Inputs / Outputs
Two Safe Disable inputs and one EDM output according to ISO13849-1 Cat. 3 PLd, IEC/
EN61508 SIL2.
Time from input open to drive output stop is less than 1 ms.
PFD = 5.15E-5
Operation Time
Demand Rate Low
Failure Probability
Demand Rate High or
PFH = 1.2E-9
Continuous
The Safe Disable feature satisfies all requirements of performance level d (PLd) as defined
Performance Level
by ISO/EN13849-1 (this includes DC from EDM).
 Precautions
DANGER! Improper use of the Safe Disable function can result in serious injury or even death.
Make sure the whole system or machinery that the Safe Disable function is used in complies with safety requirements. When
implementing the Safe Disable function into the safety system of a machine, a thorough risk assessment for the whole system has to
be carried out to assure it complies with relevant safety norms (e.g., ISO13849, IEC61508, EN/IEC62061,...).
DANGER! When using a PM motor, even if the drive output is shut off by the Safe Disable function, a break down of two output
transistors can cause current to flow through the motor winding, resulting in a rotor movement for a maximum angle of 180 degree
(electrically). Make sure such a situation would have no effect on the safety of the application when using the Safe Disable function.
This is not a concern with induction motors.
DANGER! 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! 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.
DANGER! 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.
DANGER! 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 1 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 1 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.
 Using the Safe Disable Function
The Safe Disable inputs provide a stop function in compliance with “Safe Torque Off” as defined in the IEC/EN61800-52. Safe Disable inputs have been designed to meet the requirements of the ISO13849-1, Category 3 PLd, and IEC/
EN61508, SIL2.
A Safe Disable Status Monitor for error detection in the safety circuit is also provided.
 Safe Disable Circuit
The Safe Disable circuit consists of two independent input channels that can block the output transistors. In addition, it
provides a monitoring channel that indicates the status of those two input channels.
The input can either use the drive internal power supply or an external power supply. Use jumper S3 on the terminal
board to select between Sink or Source mode with either internal or external power supply.
A single photo coupler output is available to monitor the status of the Safe Disable terminals. Refer to Control Circuit
Terminal Functions on page 20 for signal specifications when using this output.
EN 40
YASKAWA Europe TOEP C710616 88A - AC Drive A1000 IP23/54 Floor Standing - Quick Start Guide
9 Safe Disable Input Function
Main Power
24V
Safety Relay or PLC
with safety functionality
Control
Circuit
HC
Feedback
Safety
Outputs
H1
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.
Motor coasts
to stop
Output
Frequency
Run Command
Run Command must be
released to deactivate
Safe Disable
Run
H1, H2 Input
ON (Safe Disable off)
Drive Output
Normal operation
Drive is ready for
operation
Stop
OFF (Safe Disable activated)
Safe Torque-Off
Baseblock (Not Safe!)
Entering the “Safe Torque Off” State
Whenever either one Safe Disable input or both inputs open, the motor torque is shut off by switching off the drive
output. If the motor was running before the Safe Disable inputs opened, then the motor will coast to stop, regardless of
the stopping method set in parameter b1-03.
Notice that the “Safe Torque Off” state can only be achieved using the Safe Disable function. Removing the Run
command stops the drive and shuts the output off (baseblock), but does not create a “Safe Torque Off” status.
Note: To avoid an uncontrolled stop during normal operation, make sure that the Safe Disable inputs are opened first when the motor
has completely stopped.
Returning to Normal Operation after Safe Disable
The Safe Disable function can only be deactivated when a Run command is not active.
When Safe Disable was activated during stop, normal operation can be resumed by simply turning on both Safe Disable
inputs (i.e., by deactivating “Safe Torque Off”).
When Safe Disable was activated during run, first the Run command has to be removed and then the Safe Disable inputs
have to be turned on before the drive can be restarted.
YASKAWA Europe TOEP C710616 88A - AC Drive A1000 IP23/54 Floor Standing - Quick Start Guide
EN 41
9 Safe Disable Input Function
 Safe Disable Monitor Output Function and Digital Operator Display
The table below explains the drive output and Safe Disable monitor state depending on the Safe Disable inputs.
Safe Disable Input Status
Safe Disable Status Monitor,
DM+ - DM- <1>
S6 Selected N.C. S6 Selected N.O.
Input 1, H1-HC
Input 2, H2-HC
OFF
OFF
OFF
ON
ON
OFF
ON
OFF
OFF
ON
ON
OFF
ON
ON
ON
OFF
Drive Output Status
Safely disabled, “Safe
Torque Off”
Safely disabled, “Safe
Torque Off”
Safely disabled, “Safe
Torque Off”
Baseblock, ready for
operation
Digital Operator Display
Hbb (flashes)
HbbF (flashes)
HbbF (flashes)
Normal display
<1> The slide switch S6 is available with terminal board “ETC74031”.
Safe Disable Status Monitor
With the Safe Disable monitor output (terminals DM+ and DM-), the drive provides a safety status feedback signal. This
signal should be read by the device that controls the Safe Disable inputs (PLC or a safety relay) in order to prohibit
leaving the “Safe Torque Off” status in case the safety circuit malfunctions. Refer to the instruction manual of the safety
device for details on this function.
Digital Operator Display
When both Safe Disable inputs are open, Hbb will flash in the digital operator display.
Should only one of the Safe Disable channels be on while the other is off, HbbF will flash in the display to indicate that
there is a problem in the safety circuit or in the drive. This display should not appear under normal conditions if the Safe
Disable circuit is utilized properly. Refer to General Fault and Alarms on page 34 to resolve possible errors.
EN 42
YASKAWA Europe TOEP C710616 88A - AC Drive A1000 IP23/54 Floor Standing - Quick Start Guide
Revision History
The revision dates and the numbers of the revised manuals appear on the bottom of the back cover.
MANUAL NO.‫ޓ‬TOEP C710616 88A
Published in Germany
May 2013
Date of
publication
Date of
Publication
May 2013
YASKAWA Europe
Rev. No.

13-05 1
Revision number
Date of original
publication
Section
Revised Content
First edition
EN 43
YASKAWA AC Drive A1000
IP23/54 Floor Standing
Quick Start Guide
EUROPEAN HEADQUARTERS
YASKAWA EUROPE GmbH
Hauptstrasse 185, 65760 Eschborn, Germany
Phone: +49 (0)6196 569 300
Fax: +49 (0)6196 569 398
E-mail: info@yaskawa.eu.com Internet: http://www.yaskawa.eu.com
YASKAWA ENGINEERING EUROPE GmbH
Hauptstrasse 185, 65760 Eschborn, Germany
Phone: +49 (0)6196 569 520 Fax: +49 (0)6196 888 598
E-mail: support@yaskawa.de Internet: http://www.yaskawa-eng.eu.com
MANUFACTURING FACILITY
YASKAWA ELECTRIC UK LTD.
1 Hunt Hill, Orchardton Woods, Cumbernauld G68 9LF, United Kingdom
Phone: +44 (0)12 36 735 000
Fax: +44 (0)12 36 458 182
U.S.A.
YASKAWA AMERICA, INC.
2121 Norman Drive South, Waukegan, IL 60085, U.S.A.
Phone: +1 800 YASKAWA (927-5292) or +1 847 887 7000
Internet: http://www.yaskawa.com
Fax: +1 847 887 7310
JAPAN
YASKAWA ELECTRIC CORPORATION
New Pier Takeshiba South Tower, 1-16-1, Kaigan, Minatoku, Tokyo, 105-6891, Japan
Phone: +81 (0)3 5402 4502 Fax: +81 (0)3 5402 4580
Internet: http://www.yaskawa.co.jp
DRIVE CENTER (INVERTER PLANT)
2-13-1, Nishimiyaichi, Yukuhashi, Fukuoka, 824-8511, Japan
Phone: +81 (0)930 25 3844 Fax: +81 (0)930 25 4369
Internet: http://www.yaskawa.co.jp
YASKAWA Europe GmbH
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.
© 2013 YASKAWA EUROPE GmbH. All rights reserved.
MANUAL NO. TOEP C710616 88A
Published in Germany May 2013 13-05
10-7-3_YEU
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